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Kinetix 7000 High Power Servo Drive User Manual

1. Gums dos E WO 10u00 FAD ud LL 330N 235 0 1 Jonuo w Dn us jou uonow e Wu i peuo ENO 9010 14u04 sai m H fey ney EN Buys wers doys naar K T 00300 uon aol di ES I l Wo Ed suomouuoy 98999 Nv Zid Hp uuo Fwon rT n Jamod olds un XN ET xD IS nig Ls sW gar aR cal mnm AAE guey Suomeuuo 20 30 suomeuuoy 5 a e sng Jd ss HH 5d s a i 8001 018 1 W0C 8 IN ER Jopeay aur 598 6607 i 3AU 000 XR UY TION 236 9800L 0L81 WOZ 8 Buisn4 lopeay aur E EE induj m ZalON 236 sir ire a gt A 06143 W0ZZ8 Jayealg pene angeiauabay m A T1 ur NI WD Gio 5 L a10N 235 ZH 09 SWY DY A097 10 ZH OS SW JV AOE S1 0L Ndu seud aa1u y figuration requires the power regenerative mode settings as described in the 8720MC Regenerative Power Supply This con IMPORTANT Installation Manual publication 8720MC RM001 and setting of the power tab in RSLogix 5000 software is set to the appropriate bus regula
2. utput 756 MxxSE SERCOS Interface Module ControlLogix Input Power Chassis bash RSLogix 5000 Software Commissioning Harmonic Filter included with 2090 SCxxx x 8720MC RPSO65BM HV2 SERCOS Fiber Optic Ring Regenerative Power Supply Magnetic Varistor 8720MC LRex Contactor included with Line Reactor 8720MC RPSOGSBM HV2 Regenerative Power Supply 8720MC RPS065BM HV2 o Regenerative Power Supply e Allen Bradley 2099 BMxx S Kinetix 7000 lis 2099 BMxx S B 4 Kinetix 7000 Drive 3 li n o C o Ld 2090 K6CK Dxxx 2090 K6CK Dxxx m Low Profile Connector Kits for Low Profile Connector Kits for 1 0 Motor Feedback 1 0 Motor Feedback and Auxiliary Feedback and Auxiliary Feedback jg er 1606 XLxxx 1606 XLxxx 24V DC 24V DC Ground Control Power Control Power Fault n Control Power Protection Control Power s i Supply Input S Fusing Supply Input To retain logic To retain logic control DC Bus control when DC Bus when main DC power is Fusing main DC power Fusing
3. tud5 bums dos m 72 Jonuo mal WO AC LL910N Tm q s ee ESNA 1 juauodwo paljddns sasp saqeripuy y 4 xl xD J 0AVC T se z I y xipuaddy is elo IO Ul aqe aas an m f sasng aur yq x p uosa nMs dus aD Suis uns ues dois say sng Jd 310 92 suomauuo X0 N3938 Neo n XN wo WONN F Q an an oY usixy oid5 e rae aseyd apfuis DW ADPZ AOZL S XXW8 6607 aNd Xnv 71 anaq O00L Xnouy ET Xie 0 cal sasn4 Lal fue T aun cag UH m peo 40 0728 OW 10 eu0 4OISUP y w enm Jopeayaur eseud aaij 8 pue 9 sa oN aas wn m m fungdos cr Tau EE 5 00007 H i e Jonue rsy yap wO WOD n 0p E 2 ji oo 2 UMY lI e o NO a WO Ave LL RON e i WW lal t l mw 34 E i WD ag NA xw p 31 a rm L SKY QOI yxpuaddy xnvIWs egi DIUOWJEH y UI 9 qe 335 Wgs90Sdu W0c 8 usn S95h4 aul 0 x Aiddng amod andu suorpauuo anyerauabay sng jd al Jayealg IDy 9000 suomauuo YONI 7 JaM0d WO N3538 8 910N 225 LSY Old9 JaMOd UL 10 133 9Ur DY sseud aa1u sng punog ma rauigey papuog LO L RON 235 7H 09 SWY V A09p 10 ZH 0S SWY JY AOE SL 0L jnduj aseud aa1u SXW8 660C PAU 0007 XNoUly figuration requires the po
4. Rockwell Automation Publication 2099 UMOOTE EN P July 2015 i z Fut O 2 ES 3 4 Z 5 9 o 5 see rowe meme Is d Auxilian fbi m 6 g J 7 10 Power terminal block located 8 behind protective cover 2099 BM08 S shown Item Designator Label Description Connector See Page 1 Node Address SERCOS Node Address Switches Chapter 6 2 Fault Status Fault Status Display Chapter 7 3 Drive Drive Status Indicator Chapter 7 4 Comm Communication Status Indicator Chapter 7 5 Bus Bus Status Indicator Chapter 7 6 AF Auxiliary Feedback Connector 15 pin high density D shell male 49 7 MF Motor Feedback Connector 15 pin high density D shell female 47 8 10D Digital and Analog Input Output Connector 26 pin high density D shell 45 9 Control Power Status Indicator Chapter 7 10 PTB Power Terminal Block Terminal block 51 Kinetix 7000 Connector Data Chapter 3 Figure 18 Kinetix 7000 Top Panel Connectors and Switches Top View i 2099 BM08 5 shown y
5. Kinetix 7000 Drive E Side View 2090 Kxxx Dxxx LI Low profile Connector Kit with Flying lead Feedbackor 1 1 0 Cable Tightening the mounting screws is essential to be sure of shield integrity between the low profile connector covers and the drive feedback connector D shells Tightening torque is 0 4 N m 35 Ib in x Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Connect the Kinetix 7000 Drive System Chapter 4 Figure 57 Wiring 15 pin Flying lead Feedback Cable Connections 2090 K6CK D15M and 2090 K6CK D15F Connector Kits Interconnect Drawing for Your Application S Shield Clamp 72 Exposed Braid Under Clamp 15 pin male Motor Feedback 15 pin female Auxiliary Feedback Low profile Connector Low profile Connector Bare wires Wire insulation yO Pin 10 9 2 Pin 6 Foil shield gt Mounting Pin 5 Ime Pin 15 Pin 1 Pan Pin 11 Screws ete 998 Braided shield gt I oso Pin 1 2t Pin 11 Pin 5 oo Outer insulation TEN ae Pin6 Pin 10 pis on Bulletin 2090 jo o o Feedback Cable IS 7I 2090 K6CK D15x T Low profile Connector Kit Tie See page 66 for
6. JaMOd 014U0 JQ ApZ L ooo ENON aas weiBelp SIY ur UMOYS Jou JN AAUP 000 XHOULY UZIM bursnj pauinbal UE BARS a qneduio ooc addy ye Lzel Bums eo ur LW idi zt 10peay aur 10pe3u0 aseud aaJ L fte 1 I n 1 ro suorpauuo s senis n duj jy uty wuy udal lI LT D u al Pus ueyS doys aug e 8 3 0N S x i Buns dos E w l aD CO uw H il EI IM MM ZZ 2 22QOou E fond wo E is OTS GI l 3 Jd Avc 10 sto somo UEN id IMS dOS aD It sp W Aly butns dos uo LW EET T J01283U0 aul H x Nr Ms un em de us aen week eve in a Bums jogu Won w H peo ON e auy i bung wers dors cd 11010 4 WO giu 7 TEES uF fejynej DN aseyd lt fumsue s dos aava 1 m Em ajbuls WAOPZ AOZL x Jonuo uonow doi o T3412 E l WO Wd WOND L7 ee xw SUOFD9UUO gygy no xwa PMOd gus 3 1 M xwn za yun sau 40 WOZL8 OW joe1uo ae x5 i J0 S Ue Fs Dy Jopeay aur eseud aaJl I x v a 00009 31 I i 1 ae ere 97 289 SNL A09 10 a 00009 311 i EST sedani L ZH 0S SWY 2V A08E suon2auU0 H Y lI T i T I 9 SL 0L sngq ur n induj seud aa1U 1 s u n Wgs90sdu 2WOC 8 y PUL sngpunoiy S XXW9 6602 K ddns 1amog JIUOWUEH uqe papuog LO ej AAU 000 XN UIY annesauabay This configuration requires the power regenerative mode settings as de
7. Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Chapter 4 99 Chapter4 Connect the Kinetix 7000 Drive System Connector Kit Cat No 2090 K7CK KENDAT Wire Low profile Connectors Low profile connectors 2090 K6CK Dxxx are suitable for motor feedback MF auxiliary feedback AF and I O connections IOD on Kinetix 7000 drive Table 49 Low profile Connector Kits Description Low profile feedback module for connecting to Heidenhain EnDat high resolution feedback device 15 pin male D sub Use with any Kinetix 7000 drive and Bulletin RDB direct drive motor with EnDat high resolution feedback NOTE Only 2099 BMxx S drives with firmware revision 1 104 or higher support the use of this feedback module 2090 K6CK D15M Low profile connector kit for motor feedback 15 pin male D sub Use with any Kinetix 7000 drive and compatible motors Cable Compatibility 2090 XXxFMP Sxx 2090 XXNFMF Sxx 2090 CFBMxDF CxAxxx 2090 K6CK D15F Low profile connector kit for auxiliary feedback 15 pin female D sub Use with any Kinetix 7000 drive for auxiliary feedback applications 2090 K6CK D26M IMPORTANT 100 Low profile connector kit for 1 0 26 pin male D sub Use with any Kinetix 7000 drive or 2094 BL02 LIM module for making 1 0 connections Customer supplied
8. Clean Wireway C Dirty Wireway D T Kinetix 7000 Drive B No sensitive 4 equipment within 150 gt gt mm 6 0 in i 24V DCI 0 Shielded Cable Shield Clamps A q beneath cover r Motor Power Shielded Cable VD D Keep very dirty connections as short as possible and segregated not in wireway Se S Chait o ACLine Breaker Filter Contactor C C D Route Encoder Analog Registration Shielded Cable or Lu X Shielded Clamps Conduit Shielded Cable When space does not permit the 150 mm 6 0 in segregation use a grounded steel shield instead For examples see the System Design for Control of electrical Noise Reference Manual publication GMC RM001 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 33 Chapter 2 34 Install the Kinetix 7000 Drive System 1756 MxxSE SERCOS Interface Module Noise Zones Observe the following guidelines when installing your 1756 MxxSE SERCOS interface module e The clean zone C is beneath the less noisy I O modules analog encoder registration grey wireway e The dirty zone D is above and below the power supply and noisy modules black wireway e The SERCOS fiber optic cables are immune to electrical noise Figure 13 Establishing Noise Zones ControlLogix Dirty Wireway D Clean Wireway C Route dirty wireways directly above the Co
9. Transformer L1 T ny Line i ie Filter L3 T J a O Si Bonded Cabinet Ground To Ground Stud Ground Grid or Power Distribution Ground 76 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Connect the Kinetix 7000 Drive System Chapter 4 Figure 46 Impedance grounded Power Configuration WYE Secondary 2099 BM08 S shown with Lower Front Panel Removed Transformer WYE Secondary i Transformer U i n j Ni 2 Line t mm e 1 Three phase T a PE Input VAC 0g L mex eodem Er Ko d Phase Ground Bonded Cabinet E Ground d Ground Grid or To Ground Stud Power Distribution Ground IMPORTANT Even though impedance grounded and corner grounded power configurations have a ground connection treat them as ungrounded when installing Kinetix 7000 drives See Interconnect Diagrams beginning on page 163 for input power interconnect diagrams Rockwell Automation Publication 2099 UM001E EN P July 2015 77 Chapter 4 78 Connect the Kinetix 7000 Drive System Ungrounded Power Configurations Kinetix 7000 drives contain protective MOV devices and common mode capacitors that are refe
10. lala c3 c3 o a gt c Comme ei c Ux CI Jr Jr a C CLARO di 5 c E al c a gt at 5 c CREER ar 5 c CALL di 3 p a c J poze M P YT Ste Vis S S JS SS ee x s m sr d P pG QU i in so BS 49x cPio JE 2 w Mee 1 4 5 6 7 2 GPIO General Purpose 1 0 Terminal Block 8 position plug header 63 3 GPR General Purpose Relay Terminal Block 6 position plug header 64 4 Rx SERCOS Fiber optic Receive Port SERCOS fiber optic 65 5 DPI Device Peripheral Interface Connector 6 Tx SERCOS Fiber optic Transmit Port SERCOS fiber optic 65 7 Baud Rate SERCOS Baud Rate and Optical Power Switches 65 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 43 Chapter 3 Kinetix 7000 Connector Data Figure 19 Kinetix 7000 Bottom Panel Connectors 2 Bottom View 2099 BM06 S and 2099 BM07 S shown
11. Clean Wireway Cx GPIO GPR and SO Cables Dirty Wireway Dx Dirty Wireway Dx C1 D1 D3 O 8720MC RPS065BM HV2 Kinetix 7000 Drive O Regenerative Power Supply 8 e Allen Bradley B 4 No sensitive i equipment within 8 150 mm 6 0 in W Registration 1 0 24V DC1 0 Shielded Cable Varistor is Shield Clamps Encoder Feedback beneath cover VD ll 24V DC DC Bus lt 2m 78 7 in VD 8720MC Shielded Cable or ER sede inl Conduit Keep very dirty VD connections as short as ontactor possible and segregated not in wireway 9 Harmonic Gi 24V DC Filter Power Suppl i Motor Power D2 Shielded Cable D2 Route Encoder Analog Registration Shielded Cable Rockwell Automation Publication 2099 UMOOTE EN P July 2015 31 Chapter2 Install the Kinetix 7000 Drive System Figure 11 Establishing Noise Zones Regenerative Power Supply with Line Filter Unit Clean Wireway Cx GPIO GPR and SO Cables Dirty Wireway Dx Dirty Wireway Dx C1 8720MC RPS190BM HV2 Regenerative Power Supply DI o l Kinetix 7000 Drive O o E Allen Bradley VD a gt Line Circuit Vo sensitive Fuses Breaker equipment within 15m 150 mm 6 0 in 5 ft VD Registration 1
12. W406LSdu JWOZZ8 Ajddng amod anesauabay 9001 O0LY1 W0ZZ8 J0peay aur 9 06133 W0C 8 193 2U IW juauoduio paljddns sasp seje2tpuJ y TAON S Buisny duly C910 235 l9yeolg UN OOo Pe LION 295 ZH 09 SW DV A09p 10 ZH 0S SWY JY A08 SL 0L jnduj aseyd aasy y figuration requires the power regenerative mode settings as described in the 8720MC Regenerative Power Supply Installation Manual publication 8720MC RM001 and setting of the power tab in RSLogix 5000 software is set to the This con IMPORTANT appropriate bus regulator catalog number Common mode capacitors should be disconnected on DC common bus drives 171 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Interconnect Diagrams Appendix B Figure 79 8720MC RPS190BM Regenerative Power Supply to Multiple Kinetix 7000 Drives 8 pue 9 Sa ON 226 T Suone runululo pue o BALI Jamod pue pasn J ayeig peqpea 1010 7 laMog J03u0 0 AbZ L swuesbeIp SIY ur UMOYS Jou yng pauinbai Suoimaeuuo jeuonippy Bungdog I sni 9 013u0 TETUEDYD S WO AVZ LL 910N maa p 1 d J0AvC 1 i u sixy d0l r suolpauuo J0 N3934 1 J9MOd WOND32 fg U SIXY oido suoauu 20 sngyg 20 y xipuaddy S9 9 6607 eae anug 000
13. Decrements MSD Decrements LSD MSD LSD Increments MSD Increments LSD IMPORTANT When two or more drives are connected to the same SERCOS interface module each node address must be unique Refer to the node addressing examples beginning on page 110 3 Cycle control power to initialize the drive IMPORTANT The base node address setting takes effect only after the drive is initialized 4 Set the SERCOS communication rate using DIP switches 2 and 3 For This Communication Rate SetSwith2 Set Switch 3 4 Mbps OFF ON 8 Mbps ON OFF 108 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Configure and Start the Kinetix 7000 Drive System Chapter 5 5 Set the SERCOS optical power level to High using DIP switch 1 For This Optical Power Level Set Switch 1 Low OFF High ON IMPORTANT All drives on the SERCOS ring must have the same baud rate and power setting Figure 64 SERCOS DIP Switch Settings and Locations DIP Switches Set for DIP Switches Set for 4 Mbps Applications 8 Mbps Applications high power setting high power setting SERCOS switch and connectors typical orientation around DPI connector E 6 1 E cl ON ON ud OFF OFF SERCOS Baud Rate and Optical Power Switches Switch in ON Position Note 8 Mbps setting shown 6 Repeat Steps 4 and 5 for each Kinetix 7000 drive Rockwell Automation Publi
14. 047 0 1 85 2X 165 1 034 9 650 O 010 6 0 2 0 0 1 37 2X BRCACSOSOSOSORS I OO Re ea d 31 9 66 0 1 26 7 32 Bottom View 2099 BM08 S Rockwell Automation Publication 2099 UMO01E EN P July 2015 Specifications and Dimensions Appendix A Figure 70 2099 BM09 S and 2099 BM10 S Approximate Dimensions Dimensions are in millimeters inches 065 0 26 2X 0150 225 0 37 5 286 7 0 59 2x e Fa 11 29 l i i E e m o I i H a DONOBOOROOCOQRRQTOORAORQDOQQD L E P NE LN 6445 25 37 644 5 2099 BM09 2537 _ _ONONOAREC0LO00G8 0000 A009 eee A HORA i e o 690 3 Cle 27 18 2099 BM10 d p e q p e el e n So Sa l ft 3 z A o 120 d 65 zelo 0 47 zi 002X 204 T a 10 20 2X Im 0 80 2X Important Ad
15. 1 Encoder power supply uses either 5V or 9V DC based on encoder used Pin Description Signal 9 Reserved 10 Hiperface data channel DATA 11 Reserved 12 Reserved 13 Reserved 14 Encoder power 5V EPWR_5V 1 15 Reserved Pin Description Signal 9 Reserved 10 Index pulse 11 Reserved 12 Reserved 13 Reserved 14 Encoder power 5V EPWR_5V 1 15 Reserved Rockwell Automation Publication 2099 UMOOTE EN P July 2015 49 Chapter3 Kinetix 7000 Connector Data Safe off S0 Terminal Block Connections Figure 25 Safe off S0 Terminal Block 123456789 Table 16 Safe off S0 Terminal Block Terminal Description Signal Name 1 Normally dosed monitoring contact for safety relay 2 FDBK2 2 Return for safety relay 2 FDBK2 3 Normally closed monitoring contact for safety relay 1 FDBK1 4 Return for safety relay 1 FDBK1 5 Coil of safety relay 2 ENABLE2 6 Common for safety relays 1 and 2 ENABLE 7 Coil of safety relay 1 ENABLE1 8 24V DC 500 mA max power for Safe Off circuit SO 24VDC 9 Common for 24V power Safe off circuit S0 COM IMPORTANT Terminals 8 and 9 24V and Common are only used by the motion allowed jumper When using the Safe off feature the 24V supply must come from an external source 50 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Kinetix 7000 Connector
16. i K UUU NA a al REAGRRARGAR ARBOR Control Power Terminal Block 2 position terminal 2 PTB Power Terminal Block Access Terminal block 51 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Kinetix 7000 Connector Data Chapter 3 Digital and Analog Input Output 10D Connector Pinout The following diagram and table provide the signal description and pin out information for the 26 pin Digital and Analog Input Output connector See Kinetix 7000 Front Panel Connectors and Displays on page 42 for the location of the 26 pin connector IOD signals are described in greater detail later in this chapter Figure 20 Pin Orientation for 26 pin 1 0 10D Connector Table 8 Digital and Analog Input Output 26 pin 10D Connector 1 Drive supplied 24V DC HW_Enable_Pwr 14 Registration 1 Input Reg_1_In 2 Hardware Enable Switch Input HW_Enable_In 15 Registration 1 Common Reg_1_Com 3 Hardware Enable Common HW_Enable_Com 16 Drive supplied Registration 2 Output Reg_2_Pwr Power 4 Drive supplied 24V DC Home_Switch_Pw
17. removed is removed K Full Regenerative DC Bus ncoder edback lable Motor Power Cable ncoder Feedback Cable Motor Power Cable LL HPK Series Motors RDD Series Direct eooo Drive Motors MPM B165xx and MPM Cari B215xx and MPL B5xxx MPL B6xxx ees MPL BBxx and MPL B9xxx shown a O Servo Motors 1L 3 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 17 Chapter1 Start Catalog Number Expla nation Kinetix 7000 drive catalog numbers and descriptions are listed in the table below Kinetix 7000 Drive Cat No Kinetix 7000 460V 22 kW 40 A continuous output 2099 BM06 S Kinetix 7000 460V 30 kW 52 A continuous output 2099 BM07 S Kinetix 7000 460V 37 kW 65 A continuous output 2099 BM08 S Kinetix 7000 460V 56 kW 96 A continuous output 2099 BM09 S Kinetix 7000 460V 75 kW 125 A continuous output 2099 BM10 S Kinetix 7000 460V 112 kW 180 A continuous output 2099 BM11 S Kinetix 7000 460V 149 kW 248 A continuous output 2099 BM12 S Agency Compliance If this product is installed within the European Union or EEC regions and has the CE mark the following regulations apply grounding the AC line filter and drive must match Failure to do this renders the ATTENTION Meeting CE requires a grounded system and the method of filter ineffective and may cause damage to the filter For grounding examples see Grounded Power Configurations on page 75 For more information on elect
18. 10D 24V DC ENABLE 24V COM 1 2 Notion Control 1 0 See Note 11 See Note 10 GPR GPR2 GPR2 See Notes 6 and 8 Additional connections required but not shown in this diagram 1 24V DC Control Power 2 Motor Feedback Brake if used and Power 3 Drive 1 0 and Communications 4 5 16 Regenerative Power Supply 8720MC RPS190BM EMC Line Filter 8720MC EF190 VB Line Reactor 8720MC LR10 100B Fan2 Circuit Breaker See Note 2 DCLine Fuses TB1 OG DC DC Bus Connections Line Reactor i 8720MC tRt0 1008 RPS Stop Start String Input CR1 STOP START RPS On Fusing Fan3 L See Note 2 AE 120V 240V AC single phase ji ACLine Filter Indicates User Supplied Component IMPORTANT This configuration requires the power regenerative mode settings as described in the 8720MC Regenerative Power Supply Installation Manual publication 8720MC RM001 and setting of the power tab in RSLogix 5000 software is set to the appropriate bus regulator catalog number Common mode capacitors should be disconnected on DC common bus drives Rockwell Automation Publication 2099 UMOOTE EN P July 2015 173 AppendixB X Interconnect Diagrams Kinetix 7000 Drive Rotary Motor Wiring Examples IMPORTANT The Bulletin MPL motor wiring example on this page applies to motors equipp
19. a uun sdy x28 ON 158 40 W0748 LW Jopequo MISSIS uD an Jopeay aul aseud ao1u i eal a FR gongs H i M al RUN H kd aud H b u E Suop UU0 CANN a sna 1 LaL NA dE qe n JU All tr JW fy oiuouueg Are WgS90sdu WOc 8 if aol 3 Kjddns 120g TONIS 2 anneau y pios andul Suoneiunuiuio pue Q aAUQ E Toe JaMmog pue pasn ji eye1g peqpaeJ 1010 Z o J MOd URW 10 19M0d j0u0 Q AvCt L o Jay our jy swesbelp siy ur uwous jou yng Oo aseud aa1u pauinbai suonauuoo euonippy AION 285 son 18 134919 m aseyd ajbuls mur E 660 2 t pw J0AVC Ssuomauuo XoN53 7 3 aisa W ow e 4A aur jv ds sng punong amod pue NoNo DESI 2S DW sseud ajDuis 0 1 jeubig rr 8 E did e JV AOPZ ADZL Jeuiqe papuog Qld lud xnvel xn et M ZOZ ZT T xnv 8pueosq xs ETT tal uun sdy Dunsdos T nu 10 0248 DW oeo NY i208 lopeoyour Seud oouu ud sD UOSdH IVIS sdoIs ae TM n al 00009 bung wers dors say a 00e H uo aa T 31 I E 489504 T _ aunq Lal a 4 un NA e IH 7 TON S a yxpu ddy d ia 8890544 3W07Z8 auouuey Hulk ond ul ag 325 Aids Tamod dy Fiet sesion eoe Lamas l o o pe p ZH 09 SWH DV AO9 v 10 ZHOS SWY JV A08 A8 MOgq URW SES s1 01 o sy aseyd a0lyy 3ndu aseud aalu y t8 1342319 man t i 660 i Sng punog xo 3auige papuog This configuration requires the power regenerative mode settings as described in the 8720MC Regenerative
20. x oa A dialog will display the progress of the flash update Catalog Number 2099 3M08 Sesal Number 00000000 Cunert Revision 1 90 New Revision 190 Tranendtierg block 1185 of 5377 NENNEN While this display is active the Status display on the drive will display an F Rockwell Automation Publication 2099 UMOOTE EN P July 2015 185 AppendixC Upgrade Firmware The Update Status dialog indicates success or failure as described below Update Status Catalog Number 2089 BMOG Senal Number 00000000 Cunert Revision 1 30 View Log New Revisiox 1 90 T Mr qi nera OK di Flashing Succeeded 5 Update complete appears in a GREEN status dialog 6 Go to Step 2 Failed 1 Update failure appears in a RED status dialog 2 Contact Technical Support 14 Click OK The ControlFLASH software returns to the Welcome screen where you can flash another drive or select Cancel to exit the program 186 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Numerics 1756 module properties 114 1756 MxxSE interface module 112 2090 K6CK D15F 99 2090 K6CK D15M 99 2090 K6CK D26M 99 2090 K7CK KENDAT 48 99 100 A ACline filters noise reduction 36 accessories 10 applying power 128 auxiliary feedback pin outs 49 specifications 66 axis unstable 146 bandwidth 134 base node address 108 example with two ControlLogix chassis 110 111 baud rate communication rate 108 block diagrams
21. 5 Return to main step 6 and run the test again RSLogix 5000 x d i Test command cannot be completed Command timed out Test Increment maybe to large OK Help Error 16382 0 Tune the Axes Follow these steps to tune the axes 1 Verify the load is still removed from the axis being tuned ATTENTION To reduce the possibility of unpredictable motor response tune your motor with the load removed first then reconnect the load and perform the tuning procedure again to provide an accurate operational response 2 Click the Tune tab Axis Properties Axis 1 J iol xj General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag Travel Limit foo Position Units et Tuning Speed o 0 Position Units s DANGER This tuning A procedure may cause axis mobon with the controller Torque Force 100 0 Rated yeu Direction Forward Uni directional gt Forward Uni directiona Damping Factor Forward Bi directional Reverse Uni directional Reverse Bi directional I Position Eror Integratce Velocity Enoe Integrator Friction Compensation Velocity Feedtoward Acceleration Feedforward Torque Oise Output Filter Tune Rockwell Automation Publication 2099 UMO01E EN P July 2015 133 Chapter5 Configure and Start the Kinetix 7000 Drive System
22. kab 17 Select the appropriate motor catalog number for your application It is important to verify the motor catalog number on the motor nameplate as well as in your design specification 18 Click OK 19 Click Calculate to configure the drive resolution and conversion constant The position unwind is also calculated if rotary load is used 20 In this example a linear load is used and a 25 4 mm 1 in movement on a ballscrew is made with every 1 motor revolution The total position movement on the ballscrew is 254 mm 9 8 in Calculate Position Parameters x Position Unit Scaling 25 4 Load millimeter per f 0 Motor Rev Position Range 254 0 Load millimeter m Calculate Parameters Calculate Drive Resolution 762000 Drive Counts Motor Rev Conversion Constant 320000 0 Drive Counts Load millimeter Update Close Help 21 Click Update 22 Click Close 23 The Drive Enable Input Checking is selected by default When checked default a hard drive enable input signal on the IOD connector pin 2 is required Uncheck Drive Enable Input Checking if a hard drive enable input signal is not required Rockwell Automation Publication 2099 UM001E EN P July 2015 Configure and Start the Kinetix 7000 Drive System Chapter 5 The Drive Motor tab and Conversion tabs should look similar to these examples or reflect your application configuration Position Unwind Rockw
23. suoouuoy X0N3938 7 Ave zal 4amod WOD NIDN g No YMd D un sd om Joysue 1 aopwozzg _ 70210 He JW sopeay aul seyd XNWOW eal 1 e 0009 H Md e a m A RNP lI e suomauuo 0 NA sng Jd I4 JUOWIPH y S XXW9 6607 WaS90SdY JWOZLS Buisn4 PAL 000 XUY Ajddng samog n du eAnelauaDay Jayeaig 01D OOo E 30N 226 Jamog ULP 10 Jo3H BUN JY aseud aaJu sng punoJb i i 3oulqe papuog 090 figuration requires the power regenerative mode settings as described in the 8720MC Regenerative Power Supply This con IMPORTANT Installation Manual publication 8720MC RM001 and setting of the power tab in RSLogix 5000 software is set to the appropriate bus regulator catalog number Common mode capacitors should be disconnected on DC common bus drives 167 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Figure 75 8720MC RPS065BM Regenerative Power Supply to Multiple Kinetix 7000 Drives Interconnect Diagrams Appendix B suonexunuuuo pue o AUG E Jamod pue pasn Ji ayerg peqpaaJ 1010 Z J9MOq oQu0 IC ArC L ureJfelp sip ur umous JOU nq paunbai suopauuo jeuonippy 8 pue 9 5330 225
24. 10 11 Set the node address in the software to match the node setting on the drive Refer to Configure the Drive Modules step 2 on page 108 c Check Open Module Properties Click OK Select the Associated Axes tab Wil Module Properties SERCOS 2099 BM06 1 1 Node 129 lt none gt w Auxiliary Axis Status Offine Assign Axis_1 to Node 1 in the Associated Axis folder This assigns Axis 1 in the motion group to the Kinetix 7000 drive at node address 1 Select the Associated Axes tab Wil Module Properties SERCOS 2099 BM06 1 1 General Connection Associated Axes Power Module Info Node 1 Tv Node 129 none Auxiliary Axis Click Apply Click next to xis 1 The Axis Properties dialog box opens on the General tab Select the Units tab Select the correct position units to be used in your application This example uses load millimeter Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Configure and Start the Kinetix 7000 Drive System Chapter 5 12 Select the Conversion tab Based on the type of application the system can be configured for a linear or rotary system To simplify the setup a linear system is utilized The calculate tool on the Drive Motor tab will be used to set the drive resolution and conversion constant If a rotary system is used the Drive Motor tab calculate tool will be used to set the drive resolution conversion constant and p
25. Figure 60 CompactLogix ControlLogix and SoftLogix SERCOS Connector Locations SERCOS interface Fi AS CompactLogix Platform ControlLogix Platform 1768 MO4SE SERCOS sss 1756 MxxSE SERCOS interface Module interface Module Su on 2n SoftLogix Platform 1756 PM16SE SERCOS interface PCI Card as viewed from the back of your personal computer SERCOS Transmit Connector Tx SERCOS Receive Connector Rx Connect the cable from transmit on the Logix module to receive on the Kinetix 7000 drive then transmit to receive drive to drive and from transmit on the last finger tight torque when attaching the fiber optic cables to the Kinetix 7000 For more information see the Fiber optic Cable Installation and Handling X Receive Transmit En Kinetix 7000 Drive ok 9o RSLogix 5000 Software cv Lj E TX Front View c a O w 7 u RX Teen ront View Rx ront sz Q i O Bottom View O O SERCOS Receive Connector Rx front O SERCOS Transmit Connector Tx rear Rl c Si drive back to receive on the Logix module ATTENTION To avoid damage to the SERCOS Rx and Tx connectors use only A drive Do not use a wrench
26. Figure 76 Dual 8720MC RPS065Bx Regenerative Power Supplies to a Single Kinetix 7000 Drive 169 Figure 77 Kinetix 7000 Drive AC Powered with a 8720MC RPS190BM Regenerative Power Supply 170 Figure 78 8720MC RPS190BM Regenerative Power Supply to a Single Kinetix 7000 Drive 171 Figure 79 8720MC RPS190BM Regenerative Power Supply to Multiple Kinetix 7000 Drives 172 Figure 80 Dual 8720MC RPS190Bx Regenerative Power Supplies to a Single Kinetix 7000 Drive 173 Figure 81 Bulletin MPL Motors Bayonet Style Connector 174 Figure 83 Bulletin MPL and MPM Motors Circular DIN Style Connector 176 Figure 84 HPK Series High power Motors 177 Figure 86 Example with RDD Series Bulletin RDB B Motors 179 Figure 87 Kinetix Safe off Feature Block Diagram 180 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 163 AppendixB Interconnect Diagrams Interconnect Diagram Notes The notes below apply to the Kinetix 7000 drive wiring examples on the following pages Note Information 1 For power wiring specifications refer to Power Wiring Requirements on page 86 2 For input fuse and circuit breaker sizes refer to Circuit Breaker Fuse Specifications on page 153 and 148 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 unavoidable use shielded cable with shields grounded to the drive chassis and filter case For line filter specifications
27. Who Should Use This Manual Conventions Used in This Preface This manual provides detailed installation instructions for mounting wiring and troubleshooting your Kinetix 7000 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 the Kinetix 7000 drive and programmers directly involved in the operation field maintenance and integration of the Kinetix 7000 drive with a SERCOS interface module If you do not have a basic understanding of the Kinetix 7000 drive contact your local Rockwell Automation sales representative before using this product for the availability of training courses These conventions are used throughout this manual Manual e Bulleted lists such as this one provide information not procedural steps e Numbered lists provide sequential steps or hierarchical information Additional Resources The following documents contain additional information concerning related products from Rockwell Automation Resource Kinetix 7000 DC DC Converter and Control Board Kits publication 2099 IN002 Description Provides information on removing and replacing the DC DC converter DC DC converter fuse and the control board assembly in a Kinetix 7000 drive Kinetix 7000 Drive Installation Instructions publication 2099 IN003 Provides information on installing a Kinetix
28. publication 2090 IN010 for more information Rockwell Automation Publication 2099 UM001E EN P July 2015 105 Chapter4 Connect the Kinetix 7000 Drive System The following example depicts the second Kinetix system consisting of Kinetix 7000 drives 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 for making plastic to plastic cable connections only Figure 63 Fiber optic Cable Connections ControlLogix CompactLogix 1756 MxxSE SERCOS Interface Module o j Logix Chassis ControlLogix is shown er 2 Transmit Receive SERCOS Fiber optic Bulkhead Adapter x SERCOS Fiber optic Ring Receive Transmit E B Uem Qaa Taa aa Toa Kinetix 6000 System SERCOS Fiber optic Bulkhead Adapter 106 Rockwell Automation Publication 2099 UM001E EN P July 2015 SERCOS Ring x Transmit Kinetix 7000 Drive System Chapter 5 Configure and Start the Kinetix 7000 Drive System This chapter provides procedures for configuring your Kinetix 7000 system components with the Logix SERCOS module Topic Page Configure the Drive Mod
29. 1 24V DC source range 21 6 26 4V supplied by the drive not to exceed 300 mA total Maximum current input 10 mA 56 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Kinetix 7000 Connector Data Chapter 3 Positive and Negative Overtravel The Positive and Negative Overtravel detection is provided by two optically isolated 500V single ended normally closed active high signals Breaking the 24V DC input at either pin indicates an overtravel condition You can enable hard travel limits on the axis servo drive Limit tab in RSLogix Hard travel limits require power to both the positive and negative overtravel inputs You can monitor the positive and negative overtravel input status in the axis servo drive tag El K k ais NegO vertravellnputStatus 0 Decimal BOOL Notes e A status of 1 indicates a normally closed input and a drive ready for movement e Hard overtravel limits can only be selected in a linear conversion selection This input is level sensitive See Table 19 Digital Input Descriptions and Table 20 Digital Input Specifications starting on page 54 for On Off signal voltages and current levels IMPORTANT Overtravel limit input devices must be normally closed Kinetix 7000 drive Positive and Negative Overtravel functions and faults actions are programmed through RSLogix software Kinetix 7000 drive firmware provides an additional 50ms of debounce ATTENTION Ov
30. 1 Prepare the wires for attachment to each connector by removing insulation equal to an acceptable strip length The actual strip length will vary based on the wire gauge and terminal size of the Kinetix 7000 drive 2 Route the wires to your Kinetix 7000 drive 3 Insert the wires into the connector or connect the wires to the terminals 4 Tighten the terminal screws nuts to the recommended torque for the specific terminal 5 Pullon each wire to make sure it does not come out of its terminal If any wires are loose reinsert connect and tighten the wire to the recommended torque Wire the Kinetix 7000 Drive See Appendix B for all Kinetix 7000 drive interconnect diagrams Connectors Wire the Control Power CP Connector Wire the 24V DC control power supply to your Kinetix 7000 drive as described in Table 35 See Control Power CP Terminal Block Connections for more information Table 35 Control Power Connections Signal Terminal Recommended Wire Size Strip Length Torque mm AWG mm in Nem Ib in CP 24VDC 1 0 75 18 CP COM 2 stranded wire with ferrule 7 0 0 275 0 235 2 0 1 5 16 solid wire Rockwell Automation Publication 2099 UMOOTE EN P July 2015 89 Chapter4 Connect the Kinetix 7000 Drive System Wire AC Input Power Wire 460V AC input power to your Kinetix 7000 drive as described in Table 36 See Power Terminal Block PTB Connections for more information Table 36 AC Input
31. 20 Ohms 165000 uF 10 Ohms External Circuit Min Resistance 8 220000 uF 4 7 Ohms 495000 uF 1 5 Ohms 1 For 8720MC RPS065 HV2 and 8720MC RPS190 you may have up to two slave units with a master unit Multiply these values by the number of slave units 2 Use this case only when the bus capacitance exceeds the internal precharge rating You must use the specified resistor Calculate rated wattage and surge resistivity for that resistor See the 8720MC Regenerative Power Supply Installation Manual publication 8720MC RM001 for configuration details 3 Use this case only when the bus capacitance exceeds the external resistor rating You must use the specified resistor Calculate rated wattage and surge resistivity for that resistor See the 8720MC Regenerative Power Supply Installation Manual publication 8720MC RM001 for configuration details IMPORTANT Large levels of load capacitance may require modification of the 8720 regenerative power supply internal precharge discharge circuit See the Wiring instructions in the 8720MC Regenerative Power Supply Installation Manual publication 8720MC RM001 for information on how to determine the appropriate precharge discharge resistance power value Ohms Watt to accommodate the capacitance of your system Product Dimensions This section provides a quick reference table to common dimensions for Kinetix 7000 drives height width depth and mounting hole locations and outline drawings
32. 3 Click Next The Catalog Number dialog opens 182 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Upgrade Firmware Appendix C 4 Select the catalog number of the Kinetix 7000 2099 BMxx S drive to upgrade Erter the catalog number of the target device 2093803 1768 CNF TES CNER 176 DNEO TTE ENST TT94 ACNT5 TISAACHRTS T9433 1794 34 TISPACNRTS IESIM 2083 BM06 20S BM06 5 Click Next 6 Select the SERCOS interface module and Kinetix 7000 drive to flash in the RSLinx Gateway dialog Select the 2099 BMOB device to update and click OK V Ambwe ram 2a a Browsing node 73 nat found m workstation USMEQUITENNES amp Line Gateways Ethermet ge a8 ETH L Etherret fj 10 91 36 69 175 amp ENET A 1756 ENBT A 9 Backplane 1755 A7 A fJ 00 1756 163 LOGD9863 1786 L63 A L6x 1 24 Bj 01 1755 MtesE 16 Asis SERCOS interface Fe SERCOS interface SERCOS network 00 1756 M165 amp 10 Kinettx 7000 46DVAC 7SDUDC 9LA 147A 2023 BMD08 j 03 1755 Ov16E A 1756 0v16 A DCOUT EFUSE 04 1756 1816 A 1756 1516 A DCIM 05 1756 ENST A 1755 ENBT A 06 1756 ENBT A 7 Click OK Rockwell Automation Publication 2099 UMOOTE EN P July 2015 183 AppendixC Upgrade Firmware 8 Select the firmware revision to use in this update Catalog Number 20998M08 Serial Number 00000000 Curent Reviewer 1 90 Control Select the new revision for this update Revi Re
33. 914 Cont 1474 Peak Allen Bradley 2099 BM09 Kinetix 7000 460VAC 750VDC 1354 Cont 2174 Peak Allen Bradley 2099 BM10 Kinetix 7000 460VAC 750VDC 1764 Cont 230A Peak Allen Bradley 2099 BM11 Kinetix 7000 460VAC 750VDC 254A Cont 441A Peak Allen Bradley 2099 BM12 Kinetix 7000 460VAC 750VDC 350A Cont 5264 Peak Allen Bradley 8720MC B014 8720MC 460 VAC 750VDC SERCOS Drive 14A Cont Allen Bradley 8720MC B021 8720MC 460 VAC 750VDC SERCOS Drive 21A Cont Allen Bradley gt Fed Add Favorite By Category By Vendor Favorites 2 Expand the Drives category and select your drive as appropriate for your actual hardware configuration IMPORTANT __ Inorder for the Kinetix 7000 drive to communicate with the SERCOS interface module indicated by three solid green status indicators on the SERCOS module your RSLogix 5000 software must be revision 15 0 or later 3 Click OK The New Module dialog box opens New Module Type 2099 BM0O6 Kinetix 7000 460VAC 750VDC 564 Cont 964 Peak Vendor Allen Bradley Name Drivel Node 1 Description Revision Electronic Keying Compatible Keying Open Module Properties Cancel Help 4 Configure the new drive module a Type the module Name b Enter the Node address Rockwell Automation Publication 2099 UMO01E EN P July 2015 119 Chapter 5 Configure and Start the Kinetix 7000 Drive System 120
34. Analog Input Circuit Diagram TAN A Analog Input 1 Ret 10D 20 gt 100 Q Food 4 Anlg In 1 0 1 UF AR L 7 1 1 9 H Analog_Input_1 OluF zm T I0D 19 gt gt 11 i 1 1 1 A A Analog_Input_2_Ret RE 10D 22 gt 100 Q A 4 gt gt Anlg In 2 0 1uF ARN Tm 7 l P p I I FA EN V Analog Input 2 age 10D 21 gt gt T Customer supplied Kinetix 7000 Drive Input Device 60 Rockwell Automation Publication 2099 UM001E EN P July 2015 Kinetix 7000 Connector Data Chapter 3 Reading Analog Input Voltage Values When connecting to the Kinetix 7000 drive via DriveExecutive or DriveExplorer the input voltage is displayed as a percentage in parameters 691 AnaInput 1 Value and 692 AnaInput 2 Value e2 DriveExp lorer Bi File Edit Explore Actions Help D a Li 2aeB amp 5 mwo0 259 Torque Config Acceleration R 1 0 691 Analnput 1 Value 69 79 Servo Loop 1 0 692 Analnput 2 Value 0 15 Homing Registration Dat Registration Cfg Procedure For Help press Fl In the example above analog input 1 displays 69 79 This value equals 100 of 10V DC Therefore the actual value of analog input 1 is 6 98V DC When viewed in RSLogix 5000 using a real time attribute on the Drive Motor tab on the Module Properties dialog the corresponding bit value displays as in the example below TEST
35. Catalog Number Explanation 18 Agency Compliance 18 Rockwell Automation Publication 2099 UM001E EN P July 2015 11 Chapter1 Start About the Drive System The Kinetix 7000 high power servo drive is designed to provide a Kinetix Integrated Motion solution for applications with output power requirements in the range of 22 149 kW 40 248 A Table 1 Kinetix 7000 Drive System Overview Kinetix 7000 Catalog Numbers Description Component Servo Drive 2099 BMxx S The Kinetix 7000 servo drive with safe off feature is available with 460V AC input power or capable of operating with a Shared DC bus Regenerative Power 8720MC RPS The 8720MC RPS is a sinusoidal PWM converter that may serve as a regenerative power supply for one or more drives Supply Logix Controller 1756 L60M03SE module The SERCOS interface module PCl card serves as a link between the ControlLogix CompactLogix SoftLogix platform and Platform 1756 MxxSE module Kinetix 7000 drive system The communication link uses the IEC 61491 SErial Real time Communication System SERCOS 1768 MO4SE module protocol over a fiber optic cable 1784 PM16SE PCI card RSLogix 5000 9324 RLD300ENE RSLogix 5000 provides support for programming commissioning and maintaining the Logix family of controllers Software Rotary Servo Motors MP Series HPK Series and Compatible rotary servo motors include MP Series Bulletin MPL and MPM 400V class motors HPK Series motor
36. HF bonding techniques to connect the modules enclosure machine frame and motor housing and to provide a low impedance return path for HF energy and reduce electrical noise See the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 to better understand the concept of electrical noise reduction Transformer Selection The Kinetix 7000 drive 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 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Install the Kinetix 7000 Drive System Chapter2 To size a transformer for the AC power inputs to devices peripheral to the Kinetix 7000 drive refer to the manufacturer continuous output power specification 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 For example using a secondary of 480 VAC and a 2099 BM06 S with a rated power output 22 kW continuous 22 1 5 33 kVA transformer Circuit Breaker Fuse Selection The Kinetix 7000 drive uses internal solid state motor sh
37. Impedance Input Line Reactor 1 Kinetix 7000 Drive Cat No IP00 Open Style IP11 NEMA UL Type 1 IP00 Open Style IP11 NEMA UL Type 1 Cat No Cat No Cat No Cat No 2099 BM06 S 1321 3R45 B 1321 3RA45 B 1321 3R45 C 1321 3RA45 C 2099 BM07 S 1321 3R55 B 1321 3RA55 B 1321 3R55 C 1321 3RA55 C 2099 BM08 S 1321 3R80 B 1321 3RA80 B 1321 3R80 C 1321 3RA80 C 2099 BM09 S 1321 3R100 B 1321 3RA100 B 1321 3R100 C 1321 3RA100 C 2099 BM10 S 1321 3R130 B 1321 3RA130 B 1321 3R130 C 1321 3RA130 C 2099 BM11 S 1321 3R200 B 1321 3RA200 B 1321 3R200 C 1321 3RA200 C 2099 BM12 S 1321 3RB250 B 1321 3RAB250 B 1321 3RB250 C 1321 3RAB250 C 1 Input line reactors were sized based on the NEC fundamental motor amps Rockwell Automation Publication 2099 UMOO1E EN P July 2015 157 Appendix A Specifications and Dimensions External Shunt Modules 158 Line reactors compatible with a 8720M C RPS Regenerative Power Supply sourcing input power from an AC power supply are listed below They must be configured as shown in the Regenerative Power Supply example on page 171 Table 64 Compatible Kinetix 7000 Drives 8720MC RPS Regenerative Power Supplies and 8720MC Line Reactors Kinetix 7000 Drive 8720MC RPS Regenerative Power 8720MC Line Reactor Cat No Supply Cat No Cat No 2099 BM07 S 8720MC RPS065BM 8720MC LR05 048B 2099 BM08 S 2099 BM09 S 8720MC LR10 062B 8720MC RPS065BM and 8720MC LR05 048B 8720MC RPS065BS
38. Xn2uny sasnj aut JQ x 8 pue 9 53 oN 23 m Qid5 Buis dols p Em oquo LSIKY ud5 WOD Ave TANG LLION 32 DO Ave aD Lsixy qoi Suonouuo X0 N3538 JoM0d WO N3934 LSIXY 0ld5 juauoduo payddng sasp sayeorpuy x suomouuo 20 sngjq 0 y xipuaddy S XWW8 6602 AUG 0007 XNoUly UI 9 qe1 295 S954 oul 0 sasn4 aul 0x l Jit air Danie aseyd ajbuis l it I OS JV AOVZINDCL o O 2 2 x UOSdY LUVIS xd OLS xU L Duus ue15 dois sy S8 OW y8 Azt fg 1no SNs t8 E0 18 AvC SV ON yV cN0 V tNC wj OW iV DW IND 4 m peo E0 F u Aejay ane ENT Mm val L dl T I YN Wo Eyd NC ad M TW t UMd t Xnv 1 1S4 ma E xnv e SV M Xnv t1 i eal 38 cal T I0 zND guey 5i al s a fl aNd 1n n a OQ suopouuo edi d 0 sga amp War zz je Que WS0GLSdtJWO 8 Lr A jddns samog m a 9A 06143 IW0ZZ8 aaneauabay n
39. amp XIS ActualPosition TEST amp XIS ActualVelocity TEST amp XIS Analoglnputi 0 0 Float REAL 0 0 Float REAL TEST_AXIS AttributeE rrorCode TEST AWIG AtributeF rrell 1640000 1 amp annnn Hev INT Divide the value displayed by 100 to determine the actual voltage on the input 6978 100 69 7896 or 6 98V DC Rockwell Automation Publication 2099 UMOOTE EN P July 2015 61 Chapter 3 62 VDD SCLK SDIN SYNC LDAC SDO CLR GND Kinetix 7000 Connector Data RFSA IOUT1A IOUT2A RFSB I0UT1B 10UT2B VRBFA VRBFB Analog Outputs IOD Connector The two analog outputs Analog Out 1 and Analog Out 2 are strictly for troubleshooting and cannot be used to drive other loads The analog outputs provide 12 bit resolution 11 data bits plus sign of the gain and filtering parameters within RSLogix software In this way a data stream can be displayed by a meter or scale as velocity torque or following error information The 10V outputs provide positive and negative direction range with a null setting of OV For example 10V range with OV 0 The drive update rate for these outputs is 125 us and is current limited to 25 mA Analog output functions are programmed in RSLogix software using a message instruction The default pin assignments and the default gain values for the velocity torque and following error parameters are listed below Signal
40. guidelines with additional attention to zone locations 30 Rockwell Automation Publication 2099 UMOO1E EN P July 2015 Install the Kinetix 7000 Drive System Chapter2 Noise Zones when Using Regenerative Power Supplies with without a Line Filter Unit Observe the following guidelines when laying out a Kinetix 7000 system panel if a regenerative power supply 8720 RPSxxxxx is used see Figure 10 and if a regenerative power supply and line filter unit are used see Figure 11 on page 32 e Mount the regenerative power supply to the right of the drive e The clean zone C is beneath and left of the Kinetix 7000 drive This zone includes the motor feedback auxiliary feedback and registration signals from the IOD connector grey wireway e The dirty zone D is to the right of the Kinetix 7000 drive This zone includes the motor power GPIO GPR SO and IOD connections black wireway e The very dirty zone VD includes both the 8720MC RPS DC output to the Kinetix 7000 drive and the fuses contactors circuit breakers and AC line input to the EMC line filter to the right of the 8720MC RPS Shielded cable is required only if the very dirty cables enter a wireway e The SERCOS fiber optic cables are immune to electrical noise Figure 10 Establishing Noise Zones Regenerative Power Supply
41. safe off feature 180 bonding EMI ElectroMagnetic Interference 28 high frequency energy 30 mounting 28 subpanels 30 build motor cables 72 bus regulator 127 bus status LED 145 C cables build motor cables 72 categories 35 fiber optic 102 maximum fdbk cable length 155 maximum length of fiber optic 102 catalog number integrated axis module 18 CB1 CB2 CB3 128 CE meeting requirements 20 certifications Rockwell Automation Product Certification 10 changing parameters HIM 137 circuit breaker specifications Kinetix 7000 153 Rockwell Automation Publication 2099 UMOO1E EN P July 2015 Index circuit breakers 128 sizing 23 configuring base node address 108 baud rate IAM 108 delay times 124 IAM 108 optical power level 109 SERCOS module 112 connecting external shunt resistor 102 feedback 93 1 0 93 input power 88 motor brake 92 motor power 92 premolded feedback cables 96 97 SERCOS cables 102 connecting your Kinetix 7000 71 contactor specifications Kinetix 7000 154 controller properties 112 conventions used in this manual 9 D data rate 115 date and time tab 113 DC common bus total bus capacitance 17 typical installation 16 delay times 124 digital inputs 54 dip switches 115 disable drive 148 download program 127 drive status indicators 130 drive status LED 145 drive tab 125 EMC motor ground termination 82 EMI ElectroMagnetic Interference bonding 28 enable time synchronization
42. standard non flex or 2090 CFBM7DF CEAFxx continuous flex N A 1 You must remove the motor side o ring when using 2090 CFBM7xx xxAxxx cables Flying lead Feedback Cable Pinouts Table 46 2090 XXxFMP Sxx Feedback Cable Motor Bayonet Rotary Motors with High Resolution Feedback Drive MF Connector Pin MPL B5xxxx M Sx2xAA MPL B6xxxx M Sx2xAA Connector Pin MPL B8xxxx M Sx2xAA and MPL B9xxxx M Sx2xAA Signal A Sine 1 B Sine 2 C Cos 3 D Cos 4 E Data 5 F Data 10 K Reserved L Reserved N EPWR_9V 7 P ECOM 6 R TS 11 S TS T Reserved U Reserved V Reserved 2090 XXNFMF Sxx standard non flex or 2090 CFBM7DF CDAFxx continuous flex 1 The 2090 XXxFMP Sxx cables are available as standard non flex catalog number 2090 XXNFMP Sxx and continuous flex catalog number 2090 XXTFMP Sxx Rockwell Automation Publication 2099 UMOO1E EN P July 2015 95 Chapter4 Connect the Kinetix 7000 Drive System Table 47 2090 XXNFMF Sxx and 2090 CFBMxDF CDAFxx Feedback Cable Motor Motors with High Resolution Feedback Drive MF Circular DIN MPL B5xxxx M Sx7xAA MPL B6xxxx M Sx7xAA Connector Pin Connector Pin MPL B8xxxx M Sx7xAA MPL B9xxxx S M M Sx7xAA HPK Bxxxx S M and HPK Exxxx S M Signal 1 Sine 1 2 Sine 2 3 Cos 3 4 Cos 4 5 Data 5 6 Data 10 9 Reserved 0 Reserved 1 EPWR 9V
43. status 129 logic power status indicator 128 low profile connector kits wiring 99 M maintenance 140 maximum fdbk cable length Kinetix 7000 155 module properties 1756 SERCOS interface 114 Motion 10 motor accel decel problems 147 motor overheating 147 motor velocity 147 motors 10 94 feedback pin outs 47 feedback specifications 66 ground termination 82 power wiring 92 testing 131 tuning 131 motors brake wiring 92 mounting external shunt resistor 37 38 guidelines to reduce noise 36 no communication 145 no rotation 147 node address 119 noise abnormal 148 feedback 147 noise zones 31 32 33 34 0 optical power level 109 P panel cable categories 35 noise zones 30 31 32 ControlLogix 33 34 requirements 22 pin outs auxiliary feedback connector 49 motor feedback connector 47 94 power dissipation specifications Kinetix 7000 154 power supply feedback 68 power up 128 premolded feedback cables 96 97 reference documents Allen Bradley automation glossary 10 CompactLogix controllers user manual 9 CompactLogix Sercos interface installation instructions 9 control of electrical noise 9 ControlLogix motion module configuration 9 ControlLogix SERCOS interface installation 9 fiber optic cable installation and handling 9 Kinetix 7000 installation instructions 9 Kinetix motion control selection guide 10 motion coordinate system configuration 10 national electrical code 10 safet
44. us ok cm Help The Motion Planner coarse update period must be set according to the application needs Guidelines for the coarse update period for the processor used and the number of servo drive axes created in the motion group can be found in the following resources e Rockwell Automation Knowledgebase at http www rockwellautomation com knowledgebase e SERCOS and Analog Motion Configuration and Startup User Manual publication MOTION UMO001 e The various Logix controller user manuals Only 1 Motion group per processor is allowed Click Ok Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Configure and Start the Kinetix 7000 Drive System Chapter 5 Configure the Kinetix 7000 Drive Modules Follow these steps to configure the Kinetix 7000 drive modules 1 Right click the Logix module you just created and choose New Module The Select Module dialog box opens E Select Module Module Description Vendor 2098 DSD HV150 Ultra3000 460VAC SERCOS Drive 344 Cont 68A Peak Allen Bradley 2098 DSD HV220 Ultra3000 460VAC SERCOS Drive 47A Cont 94A Peak Allen Bradley 2099 BM04 Kinetix 7000 460VAC 750VDC 38A Cont 624 Peak Allen Bradley 2099 BM05 Kinetix 7000 460VAC 750VDC 48A Cont 764 Peak Allen Bradley K 100 460VACJ7 564 Cont 964 Peak Allen Bradley 2099 BM07 Kinetix 7000 460VAC 750VDC 73A Cont 1134 Peak Allen Bradley 2099 BM08 Kinetix 7000 460VAC 750VDC
45. 0000 ee 82 MP Series Bulletin MPL Motor Connectors suuue 83 Input Power Wiring Requirements 00 cece cece cece ee 85 Acceptable Gable Types qocetesass ket ops eio Reed aeons 85 Shielded Armored Cables 4 2122 222404 choubiue tenis bees eee 85 GOnCACtONS cosi fos eu tees ier tee pe ed E wea a eat ees 86 Power Wire Specifications ver ed e ctv im P stude ede rbi 87 Power Wiring Guidelines 2 20 e rir EL ee Rer tA 88 Wire the Kinetix 7000 Drive Connectors 0 0c cece eee e eee 88 Wire the Control Power CP Connector 00 0 ee cence 88 Wire AC Input Power su ciotinnees texere Nt erp rei tendis 89 Wire DC Input Power Common Bus Configurations Only 89 Wire the Safe off SO Connector cecsceecececceeeees 90 Rockwell Automation Publication 2099 UM001E EN P July 2015 Table of Contents Wire the General Purpose Relay GPR and General Purpose I O GPIO C OHOBELOESS cet eseitacvet cero IEEE hl ce wees armen 91 Wire Motor Output Power 155 agit dede dade Ene ne bx 92 Wire the Motor Brake 125r te duo Aes er E ECCE RS 92 Feedback and I O Cable Connections 0ccceeceeeeeeees 93 Flying lead Feedback Cable Pinouts 000 0000 eee ee eee 94 Wire Feedback and I O Connectors 0ccccececcecnceeeees 96 Connect Premolded Motor Feedback Cables 96 Wire Panel mounted Breakout Board Kits 0 000005 97 Wire Low profile Connectors 222 sehr eren dec
46. 500 39500 329000 21000 A 2099 BM12 S 281 FWJ 500A 500 39500 329000 21000 A Contactor Ratings The table below lists the recommended contactor ratings for Kinetix 7000 drives installed without a Line Interface Module LIM Drive Cat No Contactor Safety Contactor Coil Type Coil Voltage Requirements 2099 BM06 S 100 C43DJ01 1005 C43 DJD4C Standard with Diode 24V DC 2099 BM07 S 2099 BM08 S 100 D95EN11 100S D95EN22C 2099 BM09 S eT NERO TEE Electronic Coil 24V DC for control and 480V AC for coil power 2099 BM11 S 100 D180EN11 100S D180EN22C 2099 BM12 S 100 D250EN11 100S D250EN22C 1 Electronic coil control power requirements 24V DC 15 mA Power Dissipation Specifications 154 Use this table to size an enclosure and calculate required ventilation for your Kinetix 7000 drive system Usage as a of Rated Power Output Drive Cat No W 5096 10096 2099 BM06 S 294 465 2099 BM07 S 388 619 2099 BM08 S 452 730 2099 BM09 S 645 1072 2099 BM10 S 882 1479 2099 BM11 S 1275 2125 2099 BM12 S 1438 2437 Rockwell Automation Publication 2099 UMOO1E EN P July 2015 General Specifications Maximum Feedback Cable Lengths Specifications and Dimensions Appendix A Although motor power and feedback cables are available in standard lengths up to 90 m 295 3 ft the drive motor feedback combination may limit the maximum feedback cable length These tables assume the use of recommended 2090 series
47. 7 2 ECOM 6 3 TS 11 4 TS 5 Reserved 6 Reserved 7 Reserved Table 48 2090 XXNFMF Sxx and 2090 CFBMxDF CDAFxx Feedback Cable Motor Circular DIN RDB Bxxxxx 3 7 Motors 2090 K7CK KENDAT Connector Pin Pin Signal 1 Sine 1 2 Sine 2 3 Cos 3 4 Cos 4 5 Data 9 6 Data 10 7 CLK 7 8 CLK 8 9 EPWR 5V 5 10 ECOM 6 11 Reserved 12 Reserved 13 TS 11 14 TS 15 Reserved 16 Reserved 17 Reserved 96 Rockwell Automation Publication 2099 UM001E EN P July 2015 Wire Feedback and 1 0 Connectors To make this type of connection Premolded Cable Connect the Kinetix 7000 Drive System Chapter 4 Wire your feedback and I O cables Go to Connect Premolded Motor Feedback Cables below Panel mounted Breakout Board Wire Panel mounted Breakout Board Kits on page 98 Low profile Connector Wire Low profile Connectors on page 100 Connect Premolded Motor Feedback Cables Motor feedback cables with premolded connectors plug directly into 15 pin motor feedback MF connectors on Kinetix 7000 drive no wiring is necessary IMPORTANT When using Bulletin 2090 cables with premolded connectors tighten the mounting screws finger tight to improve system performance Figure 55 Premolded Motor Feedback Cable Connection pin Kinetix 70
48. 7000 Drive System Motor brake wiring varies slightly depending on the motor connector type The table below identifies the brake wire option for your servo motor and the appropriate brake cable or connector kit catalog number required Motor Series Connector Brake Wire Option Cable Cat No Type Bulletin MPL Circular DIN The brake terminals are in the motor power 2090 CPBM7DF xxAAxx connector Drive to motor power cables must 2090 XXNPMF xxSxx be ordered with the brake option standard non flex 2090 CPBMXDF xxAFxx continuous flex Bayonet The motor has a separate brake connector and 2090 UXxBMP 18Sxx brake cable 9 requires a brake power cable Bulletin MPM Circular DIN The brake terminals are in the motor power 2090 CPBM7DF xxAAxx connector Drive to motor power cables must 2090 XXNPMF xxSxx be ordered with the brake option standard non flex 2090 CPBMxDF xxAFxx continuous flex HPK Series N A The motor has a separate brake wiring connection 1 You must remove the motor side o ring when using 2090 CPxM7DF xxAxxx cables 2 For Bulletin MPL motors equipped with bayonet connectors These cables are available as standard non flex catalog number 2090 UXNBMP 18Sxx and continuous flex catalog number 2090 UXTBMP 18Sxx Customer supplied Factory made cables with premolded connectors are designed to minimize EMI and are recommended over hand built cables to improve system per
49. 7000 drive Fiber optic Cable Installation and Handling Instructions publication 2090 IN010 Provides information on proper handling installing testing and troubleshooting fiber optic cables ControlLogix SERCOS interface Module Installation Instructions publication 1756 IN572 Provides details about installing a 3 8 or 16 Axis ControlLogix SERCOS interface module Logix5000 Controllers General Instructions Reference Manual publication 1756 RM003 Provides programmers with details about each available instruction for a Logix5000 controller You should be familiar with how the Logix5000 controller stores and processes data before consulting this publication ControlLogix System User Manual publication 1756 UM001 Provides information about configuring and troubleshooting a ControlLogix system CompactLogix SERCOS interface Module Installation Instructions publication 1768 1N005 Provides information on installing and troubleshooting a CompactLogix SERCOS interface motion module CompactLogix Controllers User Manual publication 1768 UM001 Provides information on installing configuring programming and operating a CompactLogix system SoftLogix Motion Card Setup and Configuration Manual publication 1784 UM003 Provides information on configuring and troubleshooting a SoftLogix PCI card SoftLogix 5800 User Manual publication 1789 UM002 Provides information on configuring program
50. BM08 S LPJ 125SP 80 125 80 250 100 2099 BM09 S LPJ 200SP 125 200 125 300 125 2099 BM10 S LPJ 250SP 150 250 150 500 150 2099 BM11 S LPJ 400SP 225 400 225 600 250 2099 BM12 S LPJ 500SP 300 550 300 700 400 Common DC Bus Fuse Specifications Table 60 Ferraz Shawmut Fuse Recommendations it A sec Drive Current Recommended Fuse Current Max Clearing Peak Let Through Current Drive Cat No Rating ADC Fuse Rating Pre Arc 600V AC at 100 kArms 2099 BM06 S 42 9 HSJ80 80 1600 15000 7000 A 2099 BM07 S 55 7 HSJ90 90 2300 21000 7400 A 2099 BM08 S 69 7 HSJ100 100 2700 23000 7700A 2099 BM09 S 105 HSJ175 175 8000 60000 12000 A 2099 BM10 S 137 HSJ200 200 14000 92000 13000 A 2099 BM11 S 204 HSJ400 400 63000 450000 21000 A 2099 BM12 S 281 HSJ400 400 63000 450000 21000 A Rockwell Automation Publication 2099 UMOO1E EN P July 2015 153 Appendix A Specifications and Dimensions Table 61 Bussmann Fuse Recommendations Pt A sec Drive Current Recommended Fuse Current Max Clearing Peak Let Through Current Drive Cat No Rating ADC Fuse Rating Pre Arc 600V AC at 100 kA rms 2099 BM06 S 42 9 FWJ 80A 80 1550 9700 6300A 2099 BM07 S 55 7 FWJ 100A 100 2800 17500 8000 A 2099 BM08 S 69 7 FWJ 125A 125 4800 35000 10000 A 2099 BM09 S 105 FWJ 175A 175 7500 65000 12000 A 2099 BM10 S 137 FWJ 200A 200 11700 80000 13000 A 2099 BM11 S 204 FWJ 500A
51. Cables D2 C1 Endosure Metal conduit where required by local code Dirty Wireway D1 Shunt Power Wiring Methods Twisted pair in conduit 1st choice Shielded twisted pair 2nd choice Twisted pair 2 twists per foot min 3rd choice D1 D2 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 37 Chapter2 Install the Kinetix 7000 Drive System When mounting your shunt module inside the enclosure follow these additional guidelines e Metal clad modules can be mounted anywhere in the dirty zone but as close to the Kinetix 7000 system as possible e Shunt power wires can be run with motor power cables e Keep unshielded wiring as short as possible Keep shunt wiring as flat to the cabinet as possible e Separate shunt power cables from other sensitive low voltage signal cables e The shunt module watts dissipation must be included in the Kinetix 7000 system heat dissipation calculation for selecting an enclosure Figure 15 External Shunt Resistor Inside the Enclosure Clean Wireway Dirty Wireway Route Encoder Analog Registration C1 Shielded Cables D1 CJ a Shunt Module No sensitive R Observe minimum clearance equipment within requirements for shunt 150 mm 6 0 in z module spacing ro Shunt Wiring Methods z T Kinetix 7000 Twisted pair in conduit 1st choice VD Shielded twisted pair 2nd choice 1 0 and Feedb
52. Check the wiring The motor has malfunctioned Repair or replace the motor The coupling between motor and machine has broken For example the motor moves but the load machine does not 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 Presence of noise on command or motor feedback signal wires Recommended grounding per installation instructions have not been followed e Verify grounding e Route wire away from noise sources Refer to System Design for Control of Electrical Noise publication GMC RMO001 Line frequency may be present e Verify grounding Route wire away from noise sources Variable frequency may be velocity feedback ripple or a disturbance caused by gear teeth ballscrew balls or other mechanical wear 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 the performance of the gearbox ballscrew and other mechanical items 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
53. Click OK 38 In the Module Properties click the Power tab Ml Module Properties Report Sercos_1 205 General Connection Associated Axes Power Module Info Bus Regulator Configuration 8720m C RPS190BM z Status Offline Cancel Apply Help Rockwell Automation Publication 2099 UMO01E EN P July 2015 Configure and Start the Kinetix 7000 Drive System Chapter 5 39 From the Bus Regulator Configuration pull down menu choose the component appropriate for your actual hardware configuration Note The Kinetix 7000 drive internal dynamic brake IGBT is not utilized by the drive main control for bus regulation therefore any type of regulation must come from an external source If your drive requires Then choose No bus regulator configuration lt none gt External Shunt configuration 1336 MOD KB005 KB010 or KB050 1336 WB009 WB035 or WB110 External regeneration power supply 8720MC RPS027 8720MC RPS065 or 8720MC RPS190 2909 1 External shunt configuration 1336 MOD KBxxx and 1336 WBxxx are no longer available for new sale but are selectable as of this manual release 2 8720MC RPSxxx is an external regenerative converter system used to regulate the DC bus connected to the Kinetix 7000 drive Selecting this device will require the Kinetix 7000 drive GPIO terminal block pins 7 and 8 to be wired See Figure 74 on page 167 for an example 3 8720MC RPS027BM HV1 is no longer available for sale 4 8720MC RPS06
54. Default Pin Parameter Gain Value Analog Output Analog Out 1 I0D 23 Velocity 0 0060 1V 1000 rpm Analog Out 2 10D 25 Torque 0 1 1V 100 torque A single pole low pass digital filter is provided for each analog output The digital filter frequency range is 1 4 kHz The schematic depicts the Analog Output circuits It is provided as a reference only Figure 38 Analog Outputs Circuit Diagram j 10 kQ 10 kQ 0 1 uF 0 1 uF 3 9 uF 4 09 kQ 100 kQ 10 kQ gt gt 100 23 2 2 uF AR 10 kQ r gt 0D 24 4 09 kQ 100 KQ 10 kQ gt gt 10D 25 2 2 UF 7m 10 kQ tees 100 26 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Analog Out 1 Analog Out 1 Ret Analog Out 2 Analog Out 2 Ret Kinetix 7000 Connector Data Chapter 3 General Purpose 1 0 GPIO Connector Two 24V digital outputs are user programmable You can monitor the status the an optional regenerative power supply An isolated external 24V DC power source must be customer supplied to power the digital outputs Table 21 General Purpose 1 0 Digital Output Specifications Pin Signal Description On Condition Off Condition Leakage 1 Digital Out 1 Optically isolated to 500V current sourcing up to 75 mA 24 40V DC 0 25 mA 2 DO 24VDC 1 24V DC power source to digital inputs cus
55. Disable Drive M Feedback Disable Drive ne Position Error Disable Drive m Cancel Apply Help 148 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Troubleshoot the Kinetix 7000 Drive System Chapter 6 Table 58 Logix Drive Fault Behavior Definitions Logix Fault Message Error Description Drive Fault Action RSLogix HIM Code Attribute Programmable Fault Action The motor thermal switch was tripped MotorOvertempFault E04 Firmware lt protection does not generate a fault rather it dynamically folds back STOP MOTION Motor Yes Motor Overtemp current when 110 of motor rating is reached Setting the Motor Thermal fault action Thermal to Status Only will bypass this function etie E05 An instantaneous overcurrent was detected in the inverter power section SHUTDOWN No HardOvertravelFault E06 Axis moved beyond the physical travel limits in the positive negative direction This STOP MOTION Hard Yes Hard Overtravel fault can be configured for status only Overtravel M eR E E07 The feedback wiring is open shorted or missing DISABLE DRIVE No e With three phase present the DC bus voltage is below limits BusUndervoltageFault The trip point is 800V DC for 460 drives Bus Under Voltage E09 SHUTDOWN No DC bus voltage is below limits when any axis on common bus follower was enabled DriveOvervoltageFault The DC bus voltage i
56. ER 65 Motor MF and Auxiliary Feedback AF Connections 66 Motor and Auxiliary Feedback Specifications 66 Chapter 4 Basic Wiring Requirements vai vad veces ted ET e eei uevatevs 71 Building Your Own Motor Cables eee va de cueR esaet 72 Shielded Motor ablezse15s 43 tee Spese EAE EIE 12 Required Cable Typesins i254 7080S encnne 2 24 aude ses Rene Ps 72 Cable Sizes miti Mes asec C LAM acit I ei EIS 73 CLOTicd b oe emen mi Ut v ae hebetes id tdi se adios Ud E aden 73 General Wire Guidelines 0 c cc cece eee ence ence enes 74 Routing the Power and Signal Cables i cere Ie tre 74 Determine the Input Power Configuration 000 eee aee 75 Grounded Power Configurations 00 esse cece ees 75 Power Distribution Systems Without a Ground Reference 77 Setting the Ground Jumper in Ungrounded Power Configurations 78 Removing the Ground Jumper on 2099 BM06 S 2099 BM07 S and 2099 BM08 S Drives cece cc ece cee ee ence e 79 Removing the Ground Wires on 2099 BM09 S and 2099 DBM TI0 S Drives veloce xen er ee o De e Cd ein 80 Removing the Ground Wires on 2099 BM11 S and 2099 BNI12 S Drives ncnesesteg UE oro vEY Ted bep i kanani 80 Grounding the Kinetix 7000 Drive System 0 0000 eee eee 81 Grounding Your System to the Subpanel suus 81 Grounding Multiple Subpanels eee ehe eta 82 Motor Power Cable Shield Termination 0
57. Fusing Full Regenerative DC Bus Encoder Feedback Motor Encoder Motor Cable Power Cable Feedback Cable Power Cable Le r2 j HPK Series Motors RDD Series Direct E x Drive Motors MPM B165xx and MPM HPK Series Motors L Bat5xx and MPL BSux MPL Boway E MPL B8xxx and MPL B9xxx shown 7 Servo Motors 16 Rockwell Automation Publication 2099 UM001E EN P July 2015 Statt Chapter 1 8720MC RF180 AC Line Filter Three Phase The Kinetix 7000 drive system shown in Figure 5 illustrates a DC common bus configuration with two follower Kinetix 7000 drives and an 8720MC regenerative power supply RPS The harmonic filter and varistor are available separately but are included when ordering the 8720MC RPS065BM HV2 RPS unit In full line regenerative mode the 8720MC RPS065BM HV2 unit provides motoring power and regenerative power In common bus mode you must calculate the total bus capacitance of your DC common bus system This lets you plan your panel layout and sufficiently size the 8720MC RPS to precharge the entire system Figure 5 Kinetix 7000 System Configuration with DC Input from 8720MC RPS065 Providing Full line Regeneration Input Logix 5000 Controller
58. Min Max Leakage ON state voltage Voltage applied to the input with respect to IOCOM to guarantee an ON state 10 8V 26 4V ON state current Current flow to guarantee an ON state 3 0 mA 10 0 mA OFF state voltage Voltage applied to the input with respect to IOCOM to guarantee an OFF state 1 0V 3 0V 1 5 mA 24V 1 0 Power IMPORTANT Signals 24V_PWR and 24V COM are a 24V DC source that can be used 54 only for the inputs listed below The Kinetix 7000 drive provides 24V DC power 2 300 mA total for the HW Enable Pwr Home Switch Pwr Pos OverIravel Pwr Neg OverIravel Pwr Reg 1 Pwr and Reg 2 Pwr inputs on the specific drive The supply is protected with an automatically reset fuse A temperature versus time curve automatically controls closing of the fuse A common mode choke filters the registration power connection An additional common mode choke is provided for the remaining inputs Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Kinetix 7000 Connector Data Chapter 3 Hardware Enable The Hardware Enable input is an optically isolated 500V single ended active high signal A 24V DC input applied to this pin enables the drive The status of this digital input can be monitored in the axis servo drive tag in RSLogix fal K7k asis EnablelnputStatus 0 Decimal BOOL If the Drive Hardware Enable option is selected in Logix an MSO Motion Servo On instruction must
59. Power Connections Kinetix 7000 Signal Terminal Recommended Wire Size Torque Drive Cat No mm AWG N m Ib in 2099 BM06 S L1 R 2099 BM07 S L2 S sence T 1 25 2 5 3 14 1 8 16 Ground PE 2099 BM09 S L1 R L2 S 50 4 1 0 12 3 6 32 L3 T Ground PE 50 4 1 0 12 5 44 2099 BM10 S L1 R L2 S 70 10 2 0 8 15 133 L3 T Ground PE 50 4 1 0 12 5 44 2099 BM11 S L1 R 2099 BM12 S v S 100 10 4 0 8 12 104 L3 T Ground PE 50 4 1 0 12 5 44 Wire DC Input Power Common Bus Configurations Only Wire the DC input power from a leader regenerative power supply 8720MC RPS to a Kinetix 7000 drive as described in Table 37 See Power Terminal Block PTB Connections on page 51 for more information IMPORTANT 90 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 DC power from the regenerative power supply 87 20MC RPS is typically routed to a power distribution box Fusing will be placed before and after the distribution box providing protection for both the 8720MC RPS and Kinetix 7000 drive Connect the Kinetix 7000 Drive System Chapter 4 Table 37 DC Input Power Connections Kinetix 7000 Signal Description Terminal s Recommended Wire Size Torque Drive Cat No mm AWG N m Ib in 2099 BM06 S DC DC 2099 BM07 S DC DC 25 2 5 3 14 1 8 16 2099 BM08 S 2099 BM09 S DC DC DC DC 50 4 1 0 12 3 6 32 2099 BM10 S DC
60. Power Supply Installation Manual publication 8720MC RM001 and setting of the power tab in RSLogix 5000 software is set to the IMPORTANT appropriate bus regulator catalog number Common mode capacitors should be disconnected on DC common bus drives 169 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Interconnect Diagrams Appendix B Figure 77 Kinetix 7000 Drive AC Powered with a 8720MC RPS190BM Regenerative Power Supply suone iunuiuio pue o AUG Jamog pue pasn 41 eye1g peqpaaj 1010 7 JaM0d onuo 0 Avt L weabeip sig ur UMOYS Jou nq pa1inbai suoneuuo euonippy SjuauiaJInbay JWI YM duio o3 paunbay Buri jemog Jo Buipjalys 09 aid Suorpauuo ynduy Jy a a ul T al 8 30N 226 sng punou aporo yu uodwo paljddns sas SILIPUI x uqe pepuog 777 000 EION 305 AUP 000 Xhauty YIM Busnj neduio o ad ue LzE1 Buas ouo ut LW idu Jopeay aul lopeiuo aseud aalU Rag 1 gg 2ur y 1 i aseud a21U E ERR T L pu og x T Nc IH ola o Ce au M lt 40 QUA UO SdH LWVIS d0lS DD aseyd IVAO buts DI AOZLs
61. Power Supply 2090 SCxxx x Gen bradey SERCOS Fiber optic Ring la j C ineti i ia Kinetix 7000 High Power 2099 BM S Servo Drive System Kinetix 7000 Drive a 2090 K6CK Dxxx Low Profile Connector s Kits for 1 0 Motor and Auxiliary Feedback 1606 XLxxx 24V DC Control Power Control Power Supply Input y Motor Encoder Power Feedback Regenerative Cable Cable DC Bus lt lt Power Only HPK Series Motors RDD Series Direct e e Drive Motors MPM B165xx and MPM Three phase C OISSSo L B215xx and MPL B5xxx MPL B6xxx Vins coo MPL B8xx and MPL B9xxx shown nput tower SEE Servo Motors L 4 B ER zz J Input Magnetic 2090 XXLF TCxxxx 1321 3R Type Line Reactor Fusing Contactor AC Line Filter 3 compatible with required for CE Kinetix 7000 Drive Rockwell Automation Publication 2099 UMOOTE EN P July 2015 15 Chapter1 Start The Kinetix 7000 drive system shown in Figure 4 illustrates a DC common bus configuration with two follower Kinetix 7000 2099 BM11 S drives and an 8720MC regenerative power supply RPS In full line regenerative mode the 8720MC RPS190 unit provides motoring and regenerative power Figure 4 Kinetix 7000 System Configuration with AC Input and 8720MC RPS190 with Full line Regeneration Three phase Input Power m lt Input Fusing 8720MC EF190 VB EMC Line Filter contactor harmonic filter and varistor 8720MC RPS190 regenerat
62. Return the motor for repair i i e Check brake wiring and function The motor brake is engaged if supplied Return the motor for repair The motor is not connect to the load Check coupling The duty cyde is excessive Change the command profile to reduce accel decel or increase time Motor overheating The rotor is partially demagnetized causing excessive motor current Return the motor for repair Rockwell Automation Publication 2099 UMOOTE EN P July 2015 17 Chapter6 Troubleshoot the Kinetix 7000 Drive System Condition Potential Cause Motor tuning limits are set too high Possible Resolution Run Tune in RSLogix 5000 software again Loose parts are present in the motor Abnormal noise Remove the loose parts Return motor for repair Replace motor 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 Motor power phases U and V U and W or V and W reversed Check and correct motor power wiring Erratic operation Motor locks into position runs without control or with reduced torque Sine Cosine or Rotor leads are reversed in the feedback cable EORRSCUE Check and correct motor feedback wiring Sine Cosine Rotor lead sets of resolver feedback are reversed Check and correct mo
63. at both ends to minimize the external magnetic field If you use cable trays or large conduits to distribute the motor leads for multiple drives use shielded cable to reduce noise from the motor leads 72 Rockwell Automation Publication 2099 UM001E EN P July 2015 Connect the Kinetix 7000 Drive System Chapter 4 Cable Sizes In the table below the appropriate VFD shielded cable to use based on 150 overload capability and 25 C 77 F operating temperature is shown For applications above 130 Amps use thick insulation lead wire such as RHW 2 or equal Make sure you thread the four wires U V W and ground through a single grounded metal conduit Table 30 1 5x Rated Continuous Motor Current Cable Size Motor Current Cable Size mm AWG 12A 1 5 16 17A 25 14 21A 4 12 30A 6 10 55A 10 8 65A 16 6 95A 25 4 130A 35 2 Conduit For applications above 130 Amperes metal conduit is required for cable distribution Follow these guidelines Drives are normally mounted in cabinets and ground connections are made at a common ground point in the cabinet If the conduit is connected to the motor junction box and the drive end is connected to the ground panel in the cabinet you do not need any additional conduit connections Route no more than three sets of motor leads and a ground wire through a single conduit This minimizes cross talk that also reduces the effectiveness of the noise reduction met
64. be executed in RSLogix software This causes IOD 1 to supply 24V DC to IOD 2 and completes the enable circuit for servo loop and drive power structure If the Drive Hardware Enable option is not selected in Logix an MSO instruction will enable the drive without the need for a Drive Enable signal confirmation This input is level sensitive See Table 19 Digital Input Descriptions and Table 20 Digital Input Specifications starting on page 54 for On Off signal voltages and current levels Kinetix 7000 drive Hardware Enable functions and faults actions are programmed through RSLogix software Kinetix 7000 dive firmware provides an additional 50 ms of debounce ATTENTION Overvoltage protection is not provided for the Hardware Enable N input signal It is recommended to use the on drive power to power the Hardware Enable signal If an external power source is used you must take responsibility to be sure that the voltage current does not exceed the rating ofthe input The schematic below depicts the Hardware Enable circuit It is provided as a reference only Figure 31 Hardware Enable Digital Input Circuit Diagram i 0 t24v0c 1 0 SUPPLY ll Lee INPUT ie vcc 2k Q 1 5110 y CIRL INPUT 1 1 I0 COM ibid ko 4 L Customer supplied Input Device Kinetix 7000 Drive V 1 1 1 24V DC source range 21 6V 26 4V supplied by the drive not to exceed 300 mA total Maximum c
65. cables Table 62 Cable Lengths for Compatible Rotary Motors Absolute High resolution 5V Absolute High resolution 9V Motor Cat No Encoder Encoder m ft m ft MPL B5xxx MPL B9xxx S M 90 295 3 MPM B165xx MPM B215xx S M 90 295 3 RDB B215xx 7 3 30 98 4 RDB B290xx 7 3 or RDB B410xx 7 3 90 295 3 HPK Bxxxxx S M or HPK Exxxxx S M 90 295 3 Weight Specifications z Weight approx Drive Cat No kg lb 2099 BM06 S 2099 BM07 S 18 55 40 9 2099 BM08 S 2099 BM09 S 37 2 82 0 2099 BM10 S 2099 BM11 S 71 4 157 5 2099 BM12 S Rockwell Automation Publication 2099 UMOO1E EN P July 2015 155 AppendixA Specifications and Dimensions Agency Certification M cUL us Certifications Standards UL Listed to U S and Canadian safety standards UL 508C File 59272 Solid state motor overload protection provides dynamic fold back of motor current when 110 of the motor rating is reached with a peak current limit based on the peak rating of the motor as investigated by UL to comply with UL 508C UL File E59272 volume 1 section 22 CE European Union 2004 108 EC EMC Directive compliant with EN 60034 1 2004 Rotating electrical machines Part 1 Rating and performance EN 61800 3 2004 Adjustable speed electrical power drive systems Part 3 EMC requirements and specific test methods European Union 2006 95 EC Low Voltage Directive compl
66. communication Do This Wait for steady green on all three LEDs Steady green Communication is ready Go to Test and Tune the Axes on page 131 Not flashing green and red not steady green SERCOS module is faulted Go to the appropriate Logix manual for specific instructions and troubleshooting 130 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Configure and Start the Kinetix 7000 Drive System Chapter 5 Test and Tune the Axes This procedure assumes that you have configured your Kinetix 7000 drive your SERCOS interface module and applied power to the system 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 9 Test the Axes Follow these steps to test the axes 1 Verify the load was removed from each axis ATTENTION To reduce the possibility of unpredictable motor N response tune your motor with the load removed first then reconnect the load and perform the tuning procedure again to provide an accurate operational response 2 Right click an axis in your Motion Group folder and choose Properties The Axis Properties dialog box opens 3 Click the Hookup tab e Axis Properties Axis_1 ioj xj Dynamics Gains Output Limits Offset Fault Actions Tag General Units Conversion Drive Motor Feedback Homing Hookup Tune
67. condition indicated by on screen Hookup procedure failed Motor or feedback device malfunction message Refer to displayed message for resolution Check motor power feedback wiring No Fault Message Refer to displayed message for resolution E66 condition indicated by on screen Autotune procedure failed Motor or feedback device malfunction message Perform Hookup in RSLogix 5000 software Consult RSLogix 5000 help message Cycle power E67 DriveHardFault Operating system failed ae t en fault detected die to SLE If fault persists replace module E68 DriveHardFault DPI communication failed The DPI device or cable is faulty Check DPI connections Rockwell Automation Publication 2099 UMOOTE EN P July 2015 143 Chapter 6 Troubleshoot the Kinetix 7000 Drive System Table 51 Seven segment Status Indicator Error Codes Continued zd Fault Message RSLogix Anomaly or Symptom Potential Cause Possible Resolution Load default parameters save to nonvolatile E69 DriveHardFault Nonvolatile memory is corrupt due to control board hardware failure memory and recycle power or reset the drive If fault persists replace module Load default parameters save to nonvolatile E70 DriveHardFault Nonvolatile memory is corrupt due to control board software error memory and recycle power or reset the drive If fault persists replace module Cycle powe
68. connections The Kinetix 7000 motor MF and auxiliary AF feedback ports can accept the following encoder types e SRM SRS Stegmann Hiperface encoders e 5V TTL differential line driver with index pulse and hall commutation e Sin Cos differential input with index pulse and hall commutation Motor feedback requires RSLogix 5000 motion db file to properly commutate the motor Motors available in RSLogix software include feedback types designated as S and M in Allen Bradley catalog numbers Following are further definitions of these feedback types Stype single turn 1024 cycles per rotation interpolated to over 2 million counts in the drive For example the MPL B980D SJ72AA has this feedback type e Mtype multi turn 1024 cycles per rotation interpolated to over 2 million counts in the drive For example the MPL 980D MJ72AA has this feedback type The M type allows for 4096 cycles absolute retention when the encoder is powered down RDD motor feedback from Heidenhain EnDat high resolution encoders is also accepted but only when using drive firmware revision 1 104 or higher and the 2090 K7CK KENDAT low profile feedback module Third party motor requests must be pre qualified and a custom motor file developed Contact your local distributor or Rockwell Automation Sale Representative for more information Kinetix 7000 drives cannot drive open loop no feedback or other motor types not defined in the Kinetix motor datab
69. connections 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 xj Command Status Command Complete OK N Move axis manually in positive direction toi i ait for command to complete Lose Check for errors if command fails Help 7 Click OK 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 Online Command Apply Test x Command Status Command Complete OK Wait for command to complete toi Check for errors if command fails 8 Click OK 132 Rockwell Automation Publication 2099 UM001E EN P July 2015 Configure and Start the Kinetix 7000 Drive System Chapter 5 9 Determine if your test completed successfully If Then Your test completes successfully this dialog box opens 1 Click OK 2 Remove Hardware Enable Input signal I0D 2 3 Go to Tune the Axes on page 133 N Apply test completed successfully Feedback polarity has been updated x Your test failed this dialog box opens 1 Click OK 2 Verify the Bus Status LED turned solid green during the test 3 Verify that the Hardware Enable Input signal I0D 2 is applied to the axis you are testing 4 Verify conversion constant entered in the Conversion tab
70. contact connected to GPR1 and GPRI is rated 2 Amps inductive 250V AC 30 VDC maximum e See the Kinetix Motion Control Selection Guide publication GMC SG001 for HPK series motor brake ratings Figure 85 Customer supplied HPK Series Motor Brake Wiring Example 3 Kinetix 7000 Dashed lines HPK Series Motor Drive denote customer supplied components l GPR1 3 2 a GPR1 COM 24VDC go A cam KEV 24V DC 460V AC Supply Supply HPK Series Motor Blower Connections e The HPK series motor blower must be used to ensure proper motor performance e The blower connections can use either a Star 460 V AC or Delta 230V AC three phase configuration See the HPK Series Asynchronous Servo Motor Installation Instructions publication HPK INOOI for connection diagrams e HPK series Motors with a brake and without a brake have different blower assemblies and therefore have different connection and electrical characteristics e The HPK series motor has a conduit box with terminals leads for external power connections e See the Kinetix Motion Control Selection Guide publication GMC SG001 for HPK series motors blower voltage and current specifications 178 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Interconnect Diagrams Appendix B Figure 86 Example with RDD Series Bulletin RDB B Motors Refer to table on page 164 f
71. requires two units one for the master RPS unit and one for the slave RPS unit 2099 BM11 S 8720MC LR10 062B requires two units one for the master RPS unit and one for the slave RPS unit 8720MC RPS190BM 8720MC LR10 100B required two units 2099 BM12 S 1 Regenerative Power Supply RPS selection is for a single motor drive combination When combining multiple drives on the same RPS module the selection will change Refer to this table for active shunt solutions for use with Kinetix 7000 drives from Rockwell Automation Encompass Partners Rockwell Automation Encompass Partner Contact Information Powerohm Resistors Inc 5713 13th Street Katy TX 77493 Tel 800 838 4694 http www powerohm com Bonitron Inc 521 Fairground Court Nashville TN 37211 Tel 615 244 2825 http www bonitron com Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Specifications and Dimensions Appendix A Precha rge Ca pacities of the Internal built in and external precharge capacities of the regenerative power Regenerative Power Supply supply RPS are listed below Attribute 8720MC RPS065Bx HV2 8720MC RPS190Bx Rated Output kVa 750V DC bus 1 45 133 DC Amperes Continuous m 64 190 DC Amperes Peak 1 minute M 96 285 Built in Capacitor 1900 uF 7600 uF Built in Resistor Resistance W 7000 pF 22 Ohms 120 W 25000 pF 10 Ohms 400 W External Resistor Min Resistance 2 8 110000 pF
72. the amplifier is using the primary node for Servo motor configuration Axis Properties Axis 1 Aux a oes ee ___FautActions Ta General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Amplifier Catalog Number 3 x Jog Nu Loop Configuration Aux Feedb ack Only x Drive Resolution 200000 Diive Counts Aux Rev D Drive Enable Input Checking C Drive Enable Input Fault Real Time Axis Information Attribute 1 I lt none Attribute 2 lt none gt Rockwell Automation Publication 2099 UM001E EN P July 2015 125 Chapter 5 126 Configure and Start the Kinetix 7000 Drive System 33 Configure the drive resolution conversion constant position unwind if rotary as in step 19 22 of this procedure 34 Click the Aux Feedback tab se Axis Properties Axis_1_Aux 1 BR Homing Hookup Fault Actions Tag General Motion Planner Units Drive Motor_ Motor Feedback Aux Feedback Conversion Feedback Type SRM v Cycles 1024 per Rev v Interpolation Factor 2048 Feedback Resolution 2097152 Feedback Counts per Rev IMPORTANT The Aux Feedback tab must be configured for the auxiliary feedback type being used In this example an SRM feedback device is being used 35 From the Feedback Type pull down menu choose the feedback type appropriate for your auxiliary feedback motor 36 Click Apply 37
73. 0 ji qu m 8720MC EF190 VB EMC Line Filter Shield Clamps Encoder Feedback beneath cover 24V DC DC Bus lt 2 m 78 7 in Line Reactor VD Shielded Cable or VD VD Conduit Line Reactor Naw Keep very dirty connections as short as C1 24V DC possible and segregated not in wireway Power 8720MC LR10 100B Suppl Line Reactors Motor Power D2 Shielded Cable D2 Route Encoder Analog Registration Shielded Cable 32 Rockwell Automation Publication 2099 UM001E EN P July 2015 Install the Kinetix 7000 Drive System Chapter2 AC Power Noise Zones Observe the following guidelines when laying out a Kinetix 7000 system panel if an AC power supply is used and regenerative power will not be used e The clean zone C is beneath and left of the Kinetix 7000 drive This zone includes the motor feedback auxiliary feedback and registration signals from the IOD connector grey wireway e One dirty zone D is beneath and right of the Kinetix 7000 drive This zone includes fuses contactors circuit breakers AC line input to the EMC line filter black wireway e The very dirty zone VD is limited to where the AC line output exits from the EMC line filter and connects to the Kinetix 7000 drive Shielded cable is required only if the very dirty cables enter a wireway e The SERCOS fiber optic cables are immune to electrical noise Figure 12 Establishing Noise Zones AC Power
74. 00 Drive 0 Side View Premolded Connector Cable 2090 CFBM7DD CEAAxx standard non flex D or 2090 CFBM7DD CEAFxx continuous flex Oo i mH Q Rockwell Automation Publication 2099 UMOOTE EN P July 2015 97 Chapter4 Connect the Kinetix 7000 Drive System Wire Panel mounted Breakout Board Kits The panel mounted breakout board kit catalog number 2090 UXBK D15xx includes a DIN rail terminal block and cable The cable connects between the terminal block and the motor feedback MF connector Wires from your flying lead motor feedback cable connect to the terminals 98 Rockwell Automation Publication 2099 UMO01E EN P July 2015 Connect the Kinetix 7000 Drive System Figure 56 Panel mounted Breakout Board Connection Example gos Kinetix 7000 Drive m Side View See the Motor Feedback Breakout Board Installation Instructions publication 2090 IN006 0 for Connector Breakout Board Specifications i _ H m 2090 UXBB D15xx 2090 UXBC D15xx Panel mounted Breakout Board Breakout Cable 7 S S g e a il 28 aL BT Sje E O
75. 06 S 2099 BM07 S and 2099 BM08 S Drives Figure 48 shows the location of the jumpers in 2099 BM06 S 2099 BM07 S and 2099 BM08 S drives on the power chassis The common mode capacitor jumper is indicated by callout 1 PEA and the MOV jumper is indicated by callout 2 PEB Remove each jumper by carefully pulling it straight out Figure 48 Ground Jumper Location on 2099 BM06 S 2099 BM07 S and 2099 BM08 S DC UTI VT WT3 RLI S2 TL3 2233323233 s eld o SHLD Ia Important Do not discard or replace the grounding hardware 80 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Connect the Kinetix 7000 Drive System Chapter 4 Remove the Ground Wires on 2099 BM09 S and 2099 BM10 S Drives Figure 49 shows the locations of the common mode capacitor and MOV input filter capacitor ground wires in 2099 BM09 S and 2099 BM10 S drives The common mode capacitor ground wire is indicated by callout 3 and the MOV input filter cap ground wire is indicated by callout 4 Figure 49 Ground Wire Locations on Terminal Block of 2099 BM09 S and 2099 BM10 S Note You must remove the DC DC converter and drive top cover to access and remove the common mode capacitor ground wire See the Kinetix 7000 DC DC Converter and Control
76. 099 UMOOTE EN P July 2015 Configure and Start the Kinetix 7000 Drive System Chapter 5 The Controller Properties dialog box opens f Controller Properties Kinetix 7000 Startup Advanced SFC Execution File Redundancy Nonvolatile Memory Memory General SerialPort System Protocol User Protocol Major Faults Minor Faults Date Time i The Date and Time displayed here is Controller local time not workstation local time Use these fields to configure Time attributes of the Controller Date and Time Time Zone Time Synchronize 3 E A DANGER If time synchronization is Enable Time Synchronization disabled online active axes in any controller in this chassis or any other Is the system time master synchronized device may experience A A unexpected motion Safety controllers may s a synchronized time slave fault if no other time master exists in the Duplicate CST master detected local chassis O CST Mastership disabled Q No CST master 6 Click the Date Time tab 7 Check Enable Time Synchronization This assigns the controller as the Grandmaster clock The motion modules set their clocks to the module you assign as the Grandmaster IMPORTANT You can assign only one module in the Logix chassis as the Grandmaster clock 8 Click OK Rockwell Automation Publication 2099 UMOOTE EN P July 2015 113 Chapter 5 114 Configure and Start the Kinetix 7000 Drive System Configure
77. 1 Determine your source of control power If Your Control Power Then Verify that the LIM CB1 CB2 and CB3 are in the OFF position Apply three phase input power to the LIM VAC Line connector 1 2 Is sourced from a LIM 3 Set CB3 to the ON position 4 5 module Set CB2 to the ON position Goto main step 2 Is not sourced from a LIM 1 Apply 24V DC control power to the drive CP connector module 2 Go to main step 2 2 Verify the status of the drive logic power status indicator H Seven segment Fault Status Indicator o Logic Power Status Indicator If the Logic Power Status Indicator is Go to step 3 Not ON 1 Check your control power connections 2 Go back to main step 1 128 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Kinetix 7000 Drive Status Indicator Actively cycling phase 0 Configure and Start the Kinetix 7000 Drive System Chapter 5 3 Define the three phase input power as described below If Your Three phase Power Then Is sourced from a LIM module 1 2 3 Set the LIM CB1 to the ON position Verify that the LIM IPL and OPL connections for phase to phase voltage is 324 528V AC 460V Verify that the input voltage at terminals R L1 S L2 and T L3 on the Kinetix 7000 drive is 324 528V AC 460V If used verify that the Kinetix 7000 drive Hardware Enable Input signal IOD pin 2 for each axis is off Goto main ste
78. 113 enclosure requirements 22 enclosure sizing Kinetix 7000 154 environmental specifications Kinetix 7000 156 erratic operation 148 error codes 140 establishing communication 145 external shunt resistor wiring 102 187 Index 188 F fault action 149 fault action programmable 149 fault actions tab 124 feedback power supply 68 fiber optic cables maximum length 102 receive and transmit connectors 102 fiber optic signals 65 full line regen typical installation 17 fuse sizing 23 fuse specifications Kinetix 7000 153 G grounding high impedance ground 78 high frequency energy 30 hookup tab 131 1 0 connections 93 specifications 54 indicator drive status 130 indicators status 129 input power wiring determining input power 75 three phase delta 76 without LIM 88 installation fiber optic cable 9 installing your Kinetix 7000 11 21 integrated axis module catalog number 18 configuring 108 K Kinetix 7000 accessories 10 motors 10 specifications circuit breaker fuse 153 contactor ratings 154 enclosure sizing 154 environmental 156 maximum fdbk cable length 155 power dissipation 154 power section 152 weight 155 typical configuration Rockwell Automation Publication 2099 UM001E EN P July 2015 DC common bus 16 full line regen 17 regen braking 15 typical installation with LIM 13 typical installation without LIM 14 LED bus status 145 drive status 145 SERCOS interface module 130
79. 3 4 9 10 Enter values for Travel Limit and Speed In this example Travel Limit 5 and Speed 10 The actual value of programmed units depend on your application From the Direction pull down menu choose a setting Forward Uni directional is default Check Tune boxes as appropriate for your application Apply Hardware Enable Input signal IOD 2 for the axis you are tuning ATTENTION To avoid personal injury or damage to equipment apply 24V ENABLE signal IOD 2 only to the axis you are tuning Click Start Tuning to auto tune your axis The Online Command Tune Servo dialog box opens When the test completes the Command Status changes from Executing to Command Complete Online Command Tune Servo x Command Status Command Complete Q ait for command to complete after axis motion Stop Check for errors if command fails di Help Click OK The Tune Bandwidth dialog box opens Tune Bandwidth xj feat 0144 i Hertz Velocity Loop Bandwidth p 5 2997 3 Hertz Tune Inertia oo27 Rated MCPS High Inertia Application epp Wotput Lowi Pass Alter DANGER The Bandwidth determined by the tune process is the maximum bandwidth Increasing the bandwidth may cause loop instability OK Cancel Help Actual bandwidth values Hz depend on your application and may require adjustment once motor and load are connected Record your bandwidth data for future reference Click O
80. 31 9 13 07 286 7 11 29 625 0 24 61 225 0 8 86 37 5 1 48 M6 0 25 2099 BM10 S 690 3 38 47 331 9 13 07 286 7 11 29 625 0 24 61 225 0 8 86 37 5 1 48 M6 0 25 2099 BM11 S 977 1 38 47 429 2 16 90 282 7 11 13 824 0 32 44 300 0 11 81 49 6 1 95 M8 0 3125 2099 BM12 S IMPORTANT Each Kinetix 7000 drive requires four mounting screws 40 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Chapter 3 Kinetix 7000 Connector Data This chapter provides power feedback and I O connector locations and signal descriptions for a Kinetix 7000 drive Topic Page Locate and Identify Connectors and Indicators 42 Control Signal Specifications 54 Control Power Specifications 65 Motor MF and Auxiliary Feedback AF Connections 66 Rockwell Automation Publication 2099 UMOO1E EN P July 2015 41 Chapter3 Kinetix 7000 Connector Data Although the physical size of the drives vary the location of the connectors and indicators is identical Locate and Identify Connectors and Indicators 42 Figure 17 Kinetix 7000 Front Panel Connectors and Displays
81. 4 5 8 1756 0B16D 16 point output module 4 64 3 3 1756 ENXTx EtherNet IP communication module 4 0 0 0 Backplane total 1718 2 N A 1756 PB72 24V DC ControlLogix power supply N A 25 02 1756 A7 7 slot mounting chassis N A N A Total ControlLogix system wattage 34 1 1 For ControlLogix module specifications see the ControlLogix Selection Guide publication 1756 SG001 2 Real power heat dissipation is determined by applying the backplane power load 17 18 W to the graph in Figure 6 Figure 6 ControlLogix Real Power 75 1756 P B72 Backplane 60 1756 P B75 Power Load 45 DC Watts 30 15 0 0 20 40 60 80 100 Real Power Watts For backplane power loading requirements of other ControlLogix power supplies see the ControlLogix Selection Guide publication 1756 SG001 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 25 Chapter 2 Install the Kinetix 7000 Drive System In this example the amount of power dissipated inside the cabinet is the sum of the Kinetix 7000 drive 2099 BM08 S and 2099 BM11 S system value 1727 W and the ControlLogix value 34 1 W for a total of 1761 W With no active method of heat dissipation such as fans or air conditioning either of the following approximate equations can be used Metric 0 380 A T8T 11 Standard English 4 080 A FT Where T is temperature difference between inside air and outside ambient C Q is heat generated in enclosure Watts and A is enclosure surface ar
82. 5BM HV1 has been superseded by 8720MC RPS065BM HV2 40 Click OK 41 Repeat steps 1 27 for each additional axis 42 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 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 127 Chapter5 Configure and Start the Kinetix 7000 Drive System Apply Power to the Drive This procedure assumes that you have completed the following tasks e Wired your Kinetix 7000 drive e Connected your Logix controller SERCOS interface module fiber optic connections to your Kinetix 7000 drive e Configured and verified a RSLogix 5000 program e Connected the motor power and motor feedback cables to your Kinetix 7000 drive and wiring prior to applying power Once power is applied connector terminals A SHOCK HAZARD To avoid hazard of electrical shock complete all mounting may have voltage present even when notin use Refer to the Line Interface Module Installation Instructions publication 2094 IN005 when troubleshooting the LIM status indicators and for the location of LIM circuit breakers connectors and status indicators Follow these steps to apply power to the Kinetix 7000 system load to the motor Make sure each motor is free of all linkages when initially ATTENTION To avoid personal injury or damage to equipment disconnect the applying power to the system
83. 5V 12 Reserved 6 Common ECOM 13 Reserved 7 Serial data clock signal CLK 1 Not applicable unless motor has integrated thermal protection IMPORTANT Drive to motor power cables must not exceed 90 m 295 3 ft 48 Rockwell Automation Publication 2099 UMOO1E EN P July 2015 Auxiliary Feedback AF Connector Pinouts Kinetix 7000 Connector Data Chapter 3 For TTL devices the position count will increase when A leads B For sinusoidal devices the position count will increase when cosine leads sine Figure 24 Pin Orientation for 15 pin Auxiliary Feedback AF Connector Pin6 Pin 11 Pin 15 o No Pin 1 ct Pin 5 Pin10 Table 14 Stegmann Hiperface SRS and SRM only Pin Description Signal 1 Sine differential input SIN 2 Sine differential input SIN 3 Cosine differential input C0S4 4 Cosine differential input cos 5 Hiperface data channel DATA 6 Common ECOM 7 Encoder power 9V EPWR_9V 1 8 Reserved 1 Encoder power supply uses either 5V or 9V DC based on encoder used Table 15 TTL or Sine Cosine with Index Pulse Pin Description Signal 1 A Sine differential input A SIN A Sine differential input A SIN 3 B Cosine differential input B COS 4 B Cosine differential input B COS 5 Index pulse I 6 Common ECOM 7 Encoder power 9V EPWR_9V 1 8 Reserved
84. Board Kits Installation instructions publication 2099 N002 for instructions CM Cap Older Drives j o MOV Input Filter Cap Remove the Ground Wires on 2099 BM11 S and 2099 BM12 S Drives Figure 50 shows the locations of the common mode capacitor and MOV ground wires in 2099 BM11 S and 2099 BM12 S drives The common mode capacitor ground wire is indicated by callout 5 and the MOV ground wire is indicated by callout 6 Figure 50 Ground Wire Location on Power Terminal Block of 2099 BM11 S and 2099 BM12 S DO NOT REMOVE C Rockwell Automation Publication 2099 UMOOTE EN P July 2015 81 Chapter4 Connect the Kinetix 7000
85. C COPPER WIRE ONLY V wy TORQUE 2 3 2 L3 T 52 IN LB 6 NM OUTPUT L Motor aps Table 18 Power Terminal Block Fan Terminals Enlarged View OVAC 120 VAC 240 VAC Terminal Description Name DC DC Bus Power DC Bus DC DCBus PE Main Ground of the Drive System PE Ground GND Motor Ground Motor Ground U T1 Motor Phase U Output U T1 V 12 Motor Phase V Output V 12 W T3 Motor Phase W Output W T3 R L1 Main 380 480V AC 10 Input Power Three phase to R S and T Input Terminals R 2 s TB T 120VAC 120V AC Input for Fan Power VAC FAN 1 240VAC 240V AC Input for Fan Power VAC FAN 2 OVAC Fan Common GND_FAN PS For factory use only PS4 For factory use only Rockwell Automation Publication 2099 UMOOTE EN P July 2015 53 Chapter3 Kinetix 7000 Connector Data Control Signal Specifications This section provides specifications for the Kinetix 7000 drive input output motor feedbac auxiliary feedbac and brake IOD SERCOS feedback MF auxiliary feedback AF and brak BC connectors Digital Inputs IOD Connector Two fast registration inputs and four other inputs are available for the machine interface on the Kinetix 7000 drive The drive supplies 24V DC 2 300 mA for the purpose of registration home enable over travel positive and over travel negative inputs Thes
86. Codes and Status Indicators beginning on page 140 Bus power is present in follower drive Follower drive is not configured as Common Bus Follow in RSLogix 5000 software After DC bus voltage is applied a 2 50 second delay occurs before the indicator begins flashing green This is normal operation and provides the common bus leader time to complete precharge Alternating Red Green Bus power not present Normal when bus power is not applied Verify 460V AC connections 24V DC control power is present Fault exists see the Interpret Error Codes and Status Indicators beginning on page 140 Flashing Green No faults or failures Bus power is present axis disabled Normal when e 24V is not applied to Hardware Enable Input 10D 2 MSO instruction is not commanded in RSLogix 5000 software Steady Green No faults or failures Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Bus power is present axis enabled Normal when e 24V is applied to Hardware Enable Input 10D 2 MSO instruction is commanded in RSLogix 5000 software 145 Chapter 6 SERCOS Status Actively cycling Troubleshoot the Kinetix 7000 Drive System Table 55 SERCOS Status Indicator Status The drive is looking for a closed SERCOS ring Wait Condition Check fiber optic connections Phase 0 for phase 1 to complete or take corrective action Serial ring must enter at the Rx co
87. DC DC DC 70 10 2 0 8 15 133 2099 BM11 S DC DC 2099 BM12 5 DC DC 100 10 4 0 8 12 104 Wire the Safe off S0 Connector Wire the Safe off connections to your Kinetix 7000 drive as described in Table 38 See Safe off SO Terminal Block Connections for more information IMPORTANT Terminals 8 and 9 24V and Common are only used by the motion allowed jumper When using the Safe off feature the 24V supply must come from an external source Table 38 Safe off Connections Signal Terminal Recommended Wire Size Strip Length Torque mm AWG mm in N m Ib in FDBK2 1 FDBK2 2 FDBK1 3 FDBK1 4 0 75 18 ENABLEZ 5 Do METERS 7 0 0 275 0 235 2 0 ENABLE 6 solid wire ENABLE1 7 0_24VDC 8 S0 COM 9 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 91 Chapter 4 92 Connect the Kinetix 7000 Drive System Wire the General Purpose Relay GPR and General Purpose 1 0 GPIO Connectors Wire the control and interface signals on the General Purpose Relay GPR and General Purpose I O GPIO connectors as described in Table 39 and Table 40 See General Purpose I O GPIO Terminal Block Connections on page 46 and General Purpose Relay GPR Terminal Block Connections on page 46 for more information required To avoid injury or damage to the drive wire the DRIVE OK relay into ATTENTION Wiring the DRIVE OK signal on the G
88. Data Chapter 3 Control Power CP Terminal Block Connections Kinetix 7000 drives must be wired to a 24V DC control power source through the Control Input Power CP connector The Control Power input terminal is located on the bottom of the drive as illustrated in Figure 19 on page 44 IMPORTANT An external power supply provides the ability to retain control of the drive s logic independent of its bus power status Figure 26 Control Power CP Terminal Block Detail Terminal Block Label on bottom of drive on front of drive 220 m S52 q Ge JS QN C9 O ele O ee Ep eo Signal Name CP 24VDC Control Power 24V DC Input CP COM Power Terminal Block PTB Connections The power terminals are located behind the lower front panel of the drive The figures below identify the input power motor power DC bus ground and cooling fan input terminals The 2099 BM09 S or 2099 BM10 S drives frame 5 and the 2099 BM11 S or 2099 BM 12 S drives frame 6 provide connections for you to supply 120V AC or 240V AC to power an internal cooling fan The fan VA rating is 100 VA for 2099 BM09 S and 2099 BM 10 S and 138 VA for the 2099 BM11 S and 2099 BM12 S drives The 2099 BM06 S 2099 BM07 S and 2099 BMO8 S drives frame 3 use the internal power supply for fan power and thus no terminals are provided Rockwell A
89. Drive System Grounding the Kinetix 7000 Drive System 82 All equipment and components of a machine or process system must have a common earth ground point connected to their chassis A grounded system provides a ground path for short circuit protection Grounding your modules and panels minimize shock hazard to personnel and damage to equipment caused by short circuits transient overvoltages and accidental connection of energized conductors to the equipment chassis See Agency Compliance on page 18 for CE grounding requirements IMPORTANT To improve the bond between the drive and subpanel construct your subpanel out of zinc plated paint free steel Grounding Your System to the Subpanel In Figure 51 the drive is shown properly grounded to the bonded cabinet ground on the subpanel conventions and definitions Follow all applicable local codes and regulations to safely ground your system See the Interconnect Diagram Notes diagrams beginning on page 164 ATTENTION The National Electrical Code contains grounding requirements Figure 51 Drive Chassis Ground Connection Bonded Cabinet Ground Kinetix 7000 Drive Of CIO Ground grid or power Brad around Sta distribution ground Indicates customer supplied item Rockwell Automation Publication 2099 UMOOTE EN P Ju
90. E voltage for 460V system is below 275V Verify integrity and consistency of AC power source is below precharge limits l Install an uninterruptible power supply UPS on E09 BusUndervoltageFault your AC input Bus voltage is at least 180V DC below th Verify bus supply is OK DC bus voltage fell below US voltage I5 at leas OW Me the undervoltage limit precharge level of 323 525V DC Disable axis before removing input power while an axis was enabled One of more phases of AC input power failed Check AC input power on all phases Excessive regeneration of power Change the deceleration or motion profile When the motor is driven by an external Use a larger system motor and drive mechanical power source it may regenerate ER TA too much peak energy through the drive s Install shunt module E10 DriveOvervoltageFault Mn Dus voltage isabave power supply The system faults to save itself f from an overload Install larger active shunt module or regenerative converter module Bus voltage for 460V system is over 800V DC RU li integrity and that it is within Verify the Hall wiring at the MF connector on the drive State of Hall feedback inputs dr MotFeedbackFault is incorrect linproper connection Verify 5V power supply to the encoder Check feedback device E16 SoftOvertravelFault Axis moved beyond the software axis position in either the positive or Verify motion profile negative direction Rockwell Automation Publicati
91. Feedback Signal Descriptions Wrap E y See Appendix B for the Motor Feedback T Seethe Low Profile Connector Kit Installation Instructions Publication SJ B 2094 IN007 for Connector Kit Specifications 0151 TNS Turn Clamp Over aon Small Wires Secure Bulletin 2090 Feedback Cable Figure 58 Wiring 15 pin Flying lead Feedback Cable Connections 2090 K7CK KENDAT Feedback Module St eeN 15 pin male Motor Feedback Bare Wires atus Ht o Low profile Connector Wire Insulation gt J p Pin 10 Q Foil Shield ri Pin 5 lg ye Pin 15 Mounting MM Braided Shield Screws Pin 1 ote Pin 11 Outer Insulati gt Pins uter Insulation Bulletin 2090 o o Feedback Cable m hl e 2090 K7CK KENDAT Low profile Feedback Module See page 66 for Feedback Signal Descriptions See Appendix B for the Motor Feedback Interconnect Drawing for Your Application d See the Low Profile Connector Kit Installation Instructions Publication 2 2094 IN007 for Connector Lit Specifications Exposed Braid Under Clamp Cy ea Ml REN IE BERCEKR NE TT p N D Tur
92. Guidelines 22 To design your enclosure and plan where to mount the system components on the panel use this section and the information in the Kinetix Servo Drives Specifications Technical Data publication GMC TD003 For online product selection and system configuration tools including AutoCAD DXF drawings of the product go to http www rockwellautomation com en e tools System Mounting Requirements Follow these system mounting requirements e To comply with UL and CE requirements the Kinetix 7000 drive system must be enclosed in a grounded conductive enclosure offering protection as defined in standard EN 60529 IEC 529 to NEMA UL Type IP2X such that they are not accessible to an operator or unskilled person A NEMA UL Type 4X enclosure exceeds these requirements providing protection to IP66 e 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 as specified in Environmental Specifications on page 156 e Size the drive enclosure so as not to exceed the maximum ambient temperature rating Consider heat dissipation specifications for all drive components e Segregate input power wiring and motor power cables from control wiring and motor feedback cables Use shielded cable for power wiring and provide a grounded 360 clamp termination e Use high frequency
93. J9yH OU JWF 3001 018 T2WOC 8 Jopeay aur TRONAS Buisn4 nduj TRON 995 Joyealg DID ANON LION ZH09 SWY DV A097 10 ZH 0S SWY JY A08E SL 01 nduj aseud aa1u Ly figuration requires the power regenerative mode settings as described in the 8720MC Regenerative Power Supply Installation Manual publication 8720MC RM001 and setting of the power tab in RSLogix 5000 software is set to the This con IMPORTANT appropriate bus regulator catalog number Common mode capacitors should be disconnected on DC common bus drives Rockwell Automation Publication 2099 UM001E EN P July 2015 172 Interconnect Diagrams Appendix B Figure 80 Dual 8720MC RPS190Bx Regenerative Power Supplies to a Single Kinetix 7000 Drive u l4 Three phase Input EMC Line Filter Line Reactor E Regenerative 10 15 8720MC EF190 VB Ty 8720MC ART0 108 Power Supply Kinetix 7000 Drive 380V ACRMS 50 Hz 8720MC RPS1908M 2099 BMxx S or 460V AC RMS 60 Hz Axisn See Note 1 Fan2 DC Line Fuses mE DCLine see table in Breaker Fuses Appendix A TB See Note 2 DC Bus Connections DC Bus Connections DC DC uu D Line Reactor 13 8720MC LR10 1008 n 5 16 Input Fusing See Note 2 Fan3 a x 2 2 a GPIO REGEN COM REGEN OK Fault Relay Contact
94. K 134 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Configure and Start the Kinetix 7000 Drive System Chapter 5 The Online Command Apply Tune dialog box opens When the test completes the Command Status changes from Executing to Command Complete Online Command Apply Tune x Command Status Command Complete ait for command to complete Check for errors if command fails mio 11 Click OK K Stop did Help 12 Determine if your test completed successfully If Then Your test completes successfully this dialog box opens 1 Click OK 2 Remove the Hardware Enable Input signal I0D 2 applied an on E 3 Goto step 13 N Apply tune completed successfully Tune dependent attributes have been updated Refer to Help for a list of dependent attributes DK Your test failed this dialog box opens 1 Click OK 2 Make an adjustment to motor velocity i Tune command cannot be completed Command timed out OK Help Error 16382 0 Refer to appropriate Logix motion module setup and configuration manual for more information Return to step 7 and run the test again 13 Repeat Test and Tune the Axes for each axis Rockwell Automation Publication 2099 UMO01E EN P July 2015 135 Chapter 5 Configure Drive Parameters and System Variables Configure and Start the Kinetix 7000 Drive System This section provides information for accessing and changing parameters not
95. Logix drive fault behavior 148 programmable fault action 149 shutdown 148 status only 148 stop motion 148 tuning axes bandwidth 134 tune tab 133 typical configuration Kinetix 7000 DC common bus 16 full line regen 17 regen braking 15 typical installation Kinetix 7000 with LIM 13 Kinetix 7000 without LIM 14 W weight specifications Kinetix 7000 155 who should use this manual 9 189 Index wiring build motor cables 72 common dc bus power 78 external shunt resistor 102 ground reference 77 grounding 81 1 0 connections 93 impedance grounded power system 78 input power determining type 75 without LIM 88 low profile connectors 99 motor brake 92 motor power 92 requirements 71 routing power and signal wiring 74 SERCOS fiber optic cables 102 unbalanced power system 78 ungrounded power system 78 190 Rockwell Automation Publication 2099 UMO01E EN P July 2015 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 and application notes sample code and links to software service packs You can also visit our Support Center at https rockwellautomation custhelp com for software updates support chats and forums technical information FAQs and to sign up for product notification updates In addition we offer multiple support programs for installation configuration and troubles
96. N P July 2015 175 Appendix B 176 Interconnect Diagrams IMPORTANT The Bulletin MPL motor wiring example on this page applies to motors equipped with circular DIN connectors Figure 83 Bulletin MPL and MPM Motors Circular DIN Style Connector 2090 CPBM7DF xxAAxx or 2090 XXNPMF xxSxx standard non flex or 2090 CPBM7DF xxAFxx or 2090 CPBM4DF xxAFxx continuous flex MPL Bxx and MPM Bxx 460V Servo Motors with High Resolution Feedback Kinetix 7000 Drive Cable Shield bu Motor Power Cable Clamp Shield Motor Connector Shell 4 Green Yellow J Motor Power W 3 Blue CNW lt W GND MP Connector V 2 Black B V V Motor Power Three phase 2 U 1 Brown NU lt U General Purpose Relay GPR Connector pe A T 3 A Black f G BR X an F lt 3 Motor Brake GPR14 2 Y White J BR 4 V K COM lt Gustomer supplied t 1 K 4VDC 1 24V DC 2A max occ E Dashed lines denote an internal circuit 1 SIN BLACK 1 2 SIN WHT BLACK XX lt lt 2 3 C0S RED lt 3 4 i CoS XX WHT RED EF MotorFeedback 5 DATA GREEN 5 Motor Feedback MF Connector 10 DATA XX _WHT GREEN 6 2090 K6CK D15M 14 connector kit 6 ECOM N WHT GRAY 7 9VDC ORANGE f 11 TS XY WHT ORANGE TS BLUE Cable shield cl
97. Output 2 use arrows to select and press 4 Press Sel 5 Enter parameter number and press J Rockwell Automation Publication 2099 UMOO1E EN P July 2015 137 Chapter5 Configure and Start the Kinetix 7000 Drive System Notes 138 Rockwell Automation Publication 2099 UMO01E EN P July 2015 Chapter 6 Troubleshoot the Kinetix 7000 Drive System This chapter provides troubleshooting tables for your Kinetix 7000 system components Topic Page Safety Precautions 139 Interpret Error Codes and Status Indicators 140 General System Anomalies 146 Logix Drive Fault Behavior 148 IMPORTANT Equipment connected to the Kinetix 7000 drive may store error data and may take precedence when troubleshooting the system For example the regenerative power supply 8720MC RPSxxxxx should be examined first when the DC common bus is providing system power Refer to the product manuals listed in the Additional Resources section on page 9 for troubleshooting information on other products Safety Precautions Observe the following safety precautions when troubleshooting your Kinetix 7000 drive A gt gt 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 se
98. S SuoIauuo squawarinbay JWI uim K duio o pauinbay x SNg punog nds 1010 Bum 2M0d Jo Huipjaiys 09 yaulqe papuog aseud MUL x MN ee ee sy cee ce Gee ee ee ee ee ee ee N c e a ese a e e oe gee a te ee ees Se See see ees ie p aS9 qe j JaMmod 8 30N 335 lt 1010 buts dos T upes amod ma 101 u0 indui yew jsnur Sjuauoduio papauuo sbune110J 9 abed uo 10122uu0 4q5 Aejay asoding eJous5 l UO JoMOd xd OLS 295 IWAOP OZL uley aug asn ose ue Jd AVZ LYON 235 1uvIs sMo ee Lee u e me D0 AC Suopauuo WO d jndu jq J9MOd 01U0 S XXIN8 6602 AUG 0002 XHeuly 165 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 SUOHeDIUNWWOD pue oy AUG E Jamog pue pasn ji ayerg peqpaay 100W Z sjuawalinbay JWI yum duio 03 pasinbay Bunty smog Jo Dutpjatus 09 sng punon yuige papuog 247 juauodwioy parjddns sasp sayeripuy y Interconnect Diagrams Appendix B Figure 73 Kinetix 7000 Drive AC Powered with a 8720MC RPS065BM Regenerative Power Supply
99. Test Increment B 0 Revs Test Marker Drive Polarity Test Feedback Test Command amp Feedback DANGER These tests may cause axis motion with the controller in program mode Modifying polarity determined after executing the Test Command amp Feedback test may cause axis runaway condition A Cancel Apply Help Rockwell Automation Publication 2099 UMOOTE EN P July 2015 131 Chapter5 Configure and Start the Kinetix 7000 Drive System 4 Type 2 0 as the number of revolutions for the test or another number more appropriate for your application This Test Performs this Test Test Marker Verifies marker detection capability as you rotate the motor shaft Test Feedback Verifies feedback connections are wired correctly as you rotate the motor shaft Verifies motor power and feedback connections are wired correctly as Test Command amp Feedback you command the motor to rotate Also lets you define polarity 5 If Drive Enable Input Checking was selected in step 18 of the Configure the Kinetix 7000 Drive Modules section apply Hardware Enable Input signal IOD 2 for the axis you are testing ATTENTION To avoid personal injury or damage to equipment apply 24V ENABLE signal I0D 2 only to the axis you are testing time during hookup and autotune N ATTENTION The drive will enable the power module at the appropriate 6 Select the Test Marker Feedback Command amp Feedback to verify
100. User Manual Allen Bradley Kinetix 7000 High Power Servo Drive Catalog Numbers 2099 BM06 S 2099 BM07 5 2099 BM08 S 2099 BM09 S 2099 BM10 S 2099 BM11 S 2099 BM12 S Allen Bradley Rockwell Software Automation Important User Information Read this document and the documents listed in the additional resources section about installation configuration and operation of this equipment before you install configure operate or maintain this product Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes laws and standards Activities including installation adjustments putting into service use assembly disassembly and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice If this equipment is used in a manner not specified by the manufacturer the protection provided by the equipment may be impaired 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 as
101. accessible through RSLogix 5000 software Tools for Changing Parameters Most parameters are accessible through RSLogix 5000 software Alternatives include the DPI compatible Human Interface Module HIM and DriveExplorer and DriveExecutive software Table 50 Software For Changing Parameters Method Description Cat No Firmware Revision DriveExplorer DriveExplorer software D 9306 4EXPO2ENE 2 01 or later Serial to SCANport adapter 1203 SSS Series B or 3 004 or later 1203 USB Drive HIM Full numeric LCD HIM 20 HIM A3 N A 1 Refer to DriveExplorer Getting Results Manual publication 9306 GRO001 for instructions 2 Compatible catalog numbers include all 20 HIM Ax Change Parameters with DriveExplorer Software To edit a parameter using DriveExplorer software refer to the example dialog box below In this example the I O Interface group folder is open and the Analog Outputs file is selected in the tree view pane on the left The parameters and corresponding elements are displayed in the pane to the right Double click on a parameter in the list to open the edit dialog box where you can change the value for the desired parameter Figure 67 DriveExplorer Software Example IX DriveExplorer File Edit Explore Actions Help 15 x Dg E S5m als uooss Devices Node 1 2099D SERVO E 0 2099p 5tT Parameter List E Module E Diagnostics E Axis E Procedure E I O Interface Digital I
102. ack Twisted pair 2 twists per foot min Cables 3rd choice VD 4 VD 7 4 Very dirty connections segregated not Route 24V DCI 0 in wireway Shielded Cable AC Line D1 i Filter D2 Motor Power Cables D2 C1 Enclosure 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 See Wire Motor Output Power on page 93 for wiring guidelines specific to your drive motor combination and to Interconnect Diagram Notes on page 164 for the interconnect diagram of your drive motor combination 38 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Install the Kinetix 7000 Drive System Chapter2 Mount the Kinetix 7000 Drive SHOCK HAZARD To avoid hazard of electrical shock perform all mounting and A wiring of the drive prior to applying power Once power is applied connector terminals may have voltage present even when not in use 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 ATTENTION Plan the installation of your system so that you can perform all Follow these steps to install your Kinetix 7000 drive 1 Layout and mark the position for your drive
103. age RSLogix Anomaly or Symptom Potential Cause Possible Resolution Klotercailesshofted Verify continuity of motor power cable and connector Disconnect motor power cables from the motor If Motor winding shorted internally the motor is difficult to turn by hand it may need to be replaced Check for clogged vents or defective fan Drive temperature too high Verify cooling is not restricted by insufficient space Inverter Overcurrent OC around the unit E05 DriveOvercurrent Fault indicates a major power related fault condition Verify ambient temperature is not too high Operation above continuous power rating Operate within the continuous power rating and or product environmental ratings Reduce acceleration rates Remove all power and motor connections and ave A preform a continuity check from the DC bus to the U WX dela s d RE V and W motor outputs If a continuity exists check d p i for wire fibers between terminals or send drive in for repair Check wiring Axis moved beyond the E06 HardOvertravelFault physical travel limits in the Dedicated overtravel input is inactive Verify motion profile positive negative direction EE E Verify axis configuration in RSLogix 5000 software Check motor encoder and wiring E07 MotFeedbackFault The feedback wiring is open shorted or missing Run Hookup test in RSLogix 5000 software Verify voltage level of the incoming AC power With three phase power TERN present the DC bus voltage
104. age difference between the input and 1 0V 10V OFF state the input that is detected as an OFF state Input Voltage Common Mode Potential difference between any encoder signal and 7 0V 12 0V Input Voltage logic ground DC Current Draw Current draw into the or input 30mA 30mA AM BM Input Frequency of the AM or BM signal inputs The count 5 0 MHz Signal Frequency frequency is 4 times this frequency since the circuitry counts all four transitions Rockwell Automation Publication 2099 UMOOTE EN P July 2015 67 Chapter 3 68 Kinetix 7000 Connector Data Parameter Description Minimum Maximum IM Pulse Width Pulse width of the index input signal Since the index 125 nS is active for a percentage of a revolution the speed will determine the pulse width AM BM Phase Error Amount that the phase relationship between the AM 22 5 3422 5 2 5 MHz Line and BM inputs can deviate from the nominal 90 Frequency AM BM Phase Error Amount that the phase relationship between the AM 45 4 45 1 MHz Line and BM inputs can deviate from the nominal 90 Frequency The table provides a description of the AM and BM inputs for Sine Cosine encoders Table 27 AM BM and IM Input Specifications for Sine Cosine Encoders Parameter Description Minimum Maximum Sine cosine Frequency of the Sine or Cosine signal inputs 250 kHz Input Signal Frequency Sine cosine Peak to peak in
105. amp must be used to meet CE requirements No external connection to ground required SSS COM 2090 CFBM7DF CEAAxx or 2090 XXNFMF Sxx standard non flex or 2090 CFBM7DF CEAFxx or CFBM4DF CDAFxx continuous flex 1 See Customer supplied 24V DC Power Supply Notes on page 175 for important wiring information 2 See MP Series Bulletin MPL Motor Connectors on page 84 for more information on bayonet and circular DIN connectors 3 See Wire Low profile Connectors on page 100 for more information on grounding feedback cables when using low profile connectors Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Interconnect Diagrams Appendix B Figure 84 HPK Series High power Motors Kinetix 7000 Drive HPK B Exxxx 460V High power Servo Motors with High Resolution Feedback Motor Power Cable customer supplied Cable Shield Clamp lt Motor Connector Shell De 4 Green Yellow Motor Power w 3 1 Blue lt lt W l GND MP Connector v 2 2 Black lt lt V Motor Power Three phase U 1 3 Brown lt U VU V 3 suppli BR X GPR1 gt e Ee E Spring set Brake Hs AG ACP PE Single phase du GPR1 A ower m i T COM Customer supplied KI 24VDC lt wo EEEE Dashed lines den
106. ase 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 Figure 42 is a schematic of the AM BM and IM inputs Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Kinetix 7000 Connector Data Figure 42 AM BM and IM Motor Encoder Inputs I O 45V 1kQ AR 10kQ i 56 pF KQ P t y He ANN e KQ E ANN M 56 pF 100 pF 1 1 NZ l ko wa iiS a I e e ANNA e WWW A MNv hum ko L ia i i 10kQ Vv V os A 56pF l h v 10kO id 100pF j Drive v oS Drive AM and BM Channel Inputs IM Channel Input Table 25 Motor Encoder Feedback Specifications Attribute Value Encoder Types Incremental A quad B Sine Cosine Intelligent and Absolute Chapter 3 Maximum Input Frequency 5 0 MHz TTL input per channel 250 kHz Sine Cosine input Commutation Feedback Hall sensor Table 26 provides a description of the AM BM and IM inputs for TTL encoders Table 26 TTL Encoder Specifications Parameter Description Minimum Maximum AM BM and IM Input voltage difference between the input and 1 0V 7 0V ON state the input that is detected as an ON state Input Voltage AM BM and IM Input volt
107. ation of Boston MA Provides access to articles on wire sizes and types for grounding electrical equipment Safety Products publication 117 CA001 Provides information on principle standards and implementation of safety products and catalogs available safety products Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI IN001 Provides general guidelines for the application installation and maintenance of solid state control in the form of individual devices or packaged assemblies incorporating solidstate components Understanding the Machinery Directive publication SHB 900 Provides information on the CE marking process with references to key European requirements and resources and examples of safety component applications Allen Bradley Industrial Automation Glossary publication AG 7 1 A glossary of industrial automation terms and abbreviations You can view or download publications at http literature rockwellautomation com To order paper copies of technical documentation contact your local Allen Bradley distributor or Rockwell Automation sales representative 10 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Start Chapter 1 Use this chapter to become familiar with the design and installation requirements for Kinetix 7000 drive systems Topic Page About the Drive System 12 Typical Drive System Diagrams 13
108. ault Message RSLogix Anomaly or Symptom Potential Cause No AC power or auxiliary logic power Power PWR indicator not Possible Resolution Verify AC control power is applied to the Kinetix 7000 system ON 1 Call your Rockwell Automation sales representative Internal power supply malfunction to return module for repair No Error Code Displayed Motor wiring error Check motor wiring REUS when first 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 High motor ambient temperature and or Operate within not above the continuous torque rating for the ambient temperature 40 C 104 F maximum Lower ambient temperature increase motor cooling Check motor wiring at MF connector on the drive excessive current E04 MotorOvertemp Fault Motor thermal switch tripped m Motor wiring error Incorrect motor selection Verify the proper motor has been selected Mechanical failure 140 Rockwell Automation Publication 2099 UMOO1E EN P July 2015 Check for motor bearing failure or machine jam Troubleshoot the Kinetix 7000 Drive System Table 51 Seven segment Status Indicator Error Codes Continued Chapter 6 zd Fault Mess
109. back port as shown below E Module Properties SERCOS 2099 BM06 1 1 General Connection Associated Axes Power Module Info Node 1 Axis 1 v J Node 123 Axis 1 Aux VIE Ausia Asis Status Offline 124 Rockwell Automation Publication 2099 UM001E EN P July 2015 Configure and Start the Kinetix 7000 Drive System Chapter 5 Axis_1_Aux is configured similar to Axis_1 except that only a feedback device is configured 29 Configure the Auxiliary Axis properties Click next to xis 1 Aux The Axis Properties dialog box opens on the General tab If an axis is associated to the auxiliary axis node set the Axis Configuration on the General tab of the Axis Properties dialog box to Feedback Only Axis ropes xis id Aix mis Homing Hookup FawtActions Ta General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Axis Configuration Feedback Ony ov Motion Group UM_Motion T v Associated Module Module Drive hd Module Type B 2099 BM06 Node 129 Aurii v Apply 30 Select the Units tab and configure the same as in steps 10 13 of this procedure 31 Select the Conversion tab and configure the same as in steps 10 13 of this procedure 32 Select the Drive Motor tab The Drive Motor tab displays the amplifier being used and the Loop Configuration is Aux Feedback Only This is the only choice if
110. bus voltage See Set the Ground Jumper in Select Power Configurations on page 79 for additional information Grounded 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 Figure 44 Grounded Three phase Power Configuration WYE Secondary 2099 BM08 S shown with Lower Front Panel Removed Transformer WYE Secondary Transformer U L2 Three phase 1 E InputVAC Bog J 71 U Phase Ground R Bonded Cabinet Ground I Ground Grid or To Ground Stud Power Distribution Ground N IMPORTANT Ifyou determine that you have grounded power distribution in your facility you do not need to set the ground jumper Rockwell Automation Publication 2099 UMOOTE EN P July 2015 75 Chapter4 Connect the Kinetix 7000 Drive System Figure 45 Corner grounded Power Configuration Transformer Delta Secondary t 8 o LL _ e Dag 2099 BM08 S Shown with Lower mofo Of Om Om Om lO Jo O Oo Obl so o om Front Panel Removed
111. cation 2099 UMOOTE EN P July 2015 109 Chapter5 Configure and Start the Kinetix 7000 Drive System Node Addressing Examples The examples below illustrate how each axis in the fiber optic ring is assigned a node address The ControlLogix platform is used in the examples but the node addressing is typical for Logix platforms Figure 65 Node Addressing Example 1 1756 MxxSE SERCOS interface Module 2 Logix Chassis PCI Card ControlLogix chassis is shown 1756 MxxSE SERCOS interface Module 1 Logix Chassis PCI Card ControlLogix chassis is shown Transmit Receive Transmit Receive Transmit SERCOS Fiber optic Rings Transmit Kinetix 7000 Drive System Receive Receive 03 Drive axis 3 Node Address 02 Drive axis 2 Node Address 01 Drive axis 1 Base Node Address In this example SERCOS interface module 1 controls Kinetix 7000 axes 1 and 2 SERCOS interface module 2 controls Kinetix 7000 axis 3 TIP You can mount the two SERCOS interface modules in two separate Logix chassis as shown above or you can mount them in the same chassis Utilizing two SERCOS interface modules to control axes from a single Kinetix 7000 drive lets you reduce cycle times 110 Rockwell Automation Publication 2099 UM001E EN P July 2015 Configure and Start the Kinetix 7000 Drive System Chapter 5 Figure 66 Node Addressing Example 2 1756 MxxSE SERCOS E Y 5 interface Module Logix Cha
112. disconnect devices 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 ATTENTION To avoid personal injury and or equipment damage make sure 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 Acceptable Cable Types Do not use cable with an insulation thickness less than or equal to 15 mils 0 4 mm 0 015 in Use copper wire only Wire gauge requirements and recommendations are based on 75 C Do not reduce wire gauge when using higher temperature wire As an approximate guide provide spacing of 0 3 meters 1 foot for every 10 meters 32 8 feet of length In all cases long parallel runs must be avoided Shielded Armored Cable Shielded cable contains all of the general benefits of multi conductor cable with the added benefit ofa copper braided shield that can contain much of the noise generated by a typical AC drive Strong consideration for shielded cable should be given in installations with sensitive equipment such as weigh scales capacitive proximity switches and other devic
113. ditional clearance below the connector is 1269 7 7 11 81 necessary to provide the recommended cable bend radius 0222 0 87 3X 0349 22 2 0 87 34 9 8g 137 2X 62 7 2 47 2X 1 37 2 47 2x f 45 5 318 zi Ha 347 Sge le E e a G a an A a A ais A os eg ka 75 oy al rp 1 3 EET e i e i E a 0 010 0 0 910 0 0010 0 4 5 s LOKAKE KOKOKOKOKO DKO EIEIO 1595 O RERI 086 2x se Cb BEREICH 6 28 Q O Q O 9 O 9 9 9 O 0 O9 Y Oy ej CE CL OLLO BOF ESCO OHO OOO 6 04 2x ORAE KOKORE ROKON KOKOKOKOKO Rouen VOR oRen KEKEKE KORG ex OCA SCA exe OREO OKOKON ORORO CK DOKO KOKONO p loOpooodqoouoocQioo p I EC 31 9 851 34 224 126 3 35 34 7 0 88 650 LL cm 128 1 ed 2 1 930 2 56 2X 5 04 2 08 2X 1043 130 4 10 5 12 170 T 66 Rockwell Automation Publication 2099 UMOO1E EN P July 2015 161 AppendixA Specifications and Dimensions Figure 71 2099 BM11 S and 2099 BM12 S Approximate Dimensions Dimens
114. do Key Failure often indicates that the motor selection does not match the motor installed CP Status LED off Table 56 Control Power Status Indicator Control power not present Condition Normal when auxiliary power is not applied to the Control Power CP terminal Steady Green General System Anomalies Condition Axis or system is unstable 146 Control power applied Normal when auxiliary power is applied to the Control Power CP terminal These anomalies do not always result in a fault code but may require troubleshooting to improve performance Potential Cause The position feedback device is incorrect or open Possible Resolution 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 set Position loop gain or position controller accel decel rate is improperly Run Tune in RSLogix 5000 software causing erratic axis movement Improper grounding or shielding techniques are causing noise to be transmitted into the position feedback or velocity command lines Check wiring and ground module Motor Select limit is incorrectly set servo motor is not matched to axis e Check setups Run Tune in RSLogix 5000 software Mechanical resonance Notch filter or output filter may be required Refer to Axis Properties dialog Outp
115. e 140 1 To get diagnostic information from the module highlight the module name in RSLogix 5000 software A Pseudo Key Failure often indicates that the motor selection does not match the motor installed Rockwell Automation Publication 2099 UMOOTE EN P July 2015 129 Chapter5 Configure and Start the Kinetix 7000 Drive System 5 Observe the three status indicators on the front of the drive Status Indicator Condition Status Do This s Steady red Drive is faulted Go to Status Indicators on page 145 Flashing green Establishing communication with network Wait for steady green Comm Steady green Communication is ready Observe the Bus status LED Off No ring present Go to Interpret Error Codes and Status Indicators on page 140 1 Verify Hardware Enable Input ID 2 is open Steady green Axis is enabled when status should be disabled 2 HON instruction is not commarided n ReLorb 5000 Bus 3 Return to Apply Power to the Drive on page 128 Flashing green m Bus is up axis is disabled normal status Go to step 6 Off DC bus is not present Go to Status Indicators on page 145 1 The follower drive has a 2 5 second delay after DC bus voltage is applied before the Bus Status LED begins flashing This provides the common bus leader time to complete precharge 6 Observe the three SERCOS status indicators on the SERCOS module SERCOS Status Indicators Flashing green and red Status Establishing
116. e are sinking inputs that require a sourcing device A 24V DC power and common connection is provided for each input IMPORTANT To improve registration input EMC performance see the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 Table 19 Digital Input Descriptions 10D Pin Signal Description Capture Time Edge Level Sensitive 100 2 ENABLE Single optically isolated single ended active high signal Current loading is nominally 10 20 ms Level mA A 24V DC input is applied to this terminal to enable each axis I0D 5 HOME Single optically isolated single ended active high signal Current loading is nominally 10 20 ms Level mA Home switch normally open contact inputs for each axis require 24V DC nominal I0D 14 REG1 Fast registration inputs are required to inform the motor interface to capture the 500 ns Edge 10D 17 REG2 positional information with less than 3 us uncertainty Single optically isolated single ended active high signal Current loading is nominally 10mA A 24V DC input is applied to this terminal to enable each axis 10D 8 OT Overtravel detection is available as a dual input optically isolated single ended active 20 ms Level 10D 11 oT high signal Current loading is nominally 10 mA per input The pos neg limit switch normally closed contact inputs for each axis require 24V DC nominal Table 20 Digital Input Specifications Parameter Description
117. e contains ESD Electrostatic Discharge sensitive parts See publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD protection handbook 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 ATTENTION To avoid personal injury and or equipment damage be sure the To avoid personal injury and or equipment damage be sure the 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 be sure the shielded power cables are grounded to prevent potentially high voltages on the shield Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Connect the Kinetix 7000 Drive System Chapter 4 Power Wiring Guidelines Use these guidelines when wiring the power connectors on your Kinetix 7000 drive without a LIM IMPORTANT To achieve system performance run wires and cables in the wireways as established in Chapter 1 IMPORTANT To limit coil switching transients generated by the LINE contactor use of a surge suppressor is recommended For an example see Appendix B This procedure assumes you have separate power supply line filter components mounted on your panel and are ready to wire the AC input power to the drive
118. ea m The exterior surface of all six sides of an enclosure is calculated as Where T is temperature difference between inside air and outside ambient F Q is heat generated in enclosure Watts and A is enclosure surface area ft The exterior surface of all six sides of an enclosure is calculated as A 2dw 2dh 2wh A 2dw 2dh 2wh 144 Where d depth w width and h height are in meters Where d depth w width and h height are in inches The maximum ambient rating of the Kinetix 7000 drive is 50 C 122 F and if the maximum environmental temperature is 30 C 86 F then Q 1761 and T 20 in this equation fes 0 38 1761 1 8 20 1 1 A 192m In this example the enclosure must have an exterior surface of 19 2 m If any portion of the enclosure is not able to transfer heat it should not be included in the calculation For instance if an externally mounted shunt system is used with the Kinetix 7000 system it should not be included in the equation The minimum enclosure size must take into account the physical size and minimum clearance requirements of the two Kinetix 7000 drives and the additional ControlLogix and other devices required to meet the application needs If the enclosure size is considerably larger than what is necessary to house the system components it may be more efficient to provide a means of cooling in a smaller enclosure Contact your enclosure ma
119. ebounce Table 22 General Purpose 1 0 Regenerative Power Supply OK Specifications 7 Regen_OK Optically isolated 500V single ended active high signal 12 38VDC less than 6 6V DC less 3 3 12mA than 1 5 mA 8 Regen OK Figure 40 General Purpose 1 0 Regenerative Power Supply OK Diagram VCC A Regen_OK 2kQ 5 J AR 01uF YS b Regen OK Regen OK 1kQ ikav General Purpose Relay GPR Connector Two general purpose relay connections are accessed through the GPR connector GPR1 is a normally open dry relay contact supporting 2 A at 30V DC 10 with suppression This relay defaults to Motor Brake control and specifically provides suppression GPR2 is a normally open dry relay contact supporting 2 A at 250V AC or 2 A at 30V DC without suppression This relay defaults to Drive OK An external 24V DC power source must be supplied The following are default values for the general purpose relays Table 23 General Purpose Relay Outputs Descriptions Output Default Relay Setting in Description RSLogix Software GPR1 Motor Brake Turn on and turn off delays are specified by the Brake Engage Delay Time and Brake Release Delay Time in RSLogix software GPR2 Drive OK DROK 64 Rockwell Automation Publication 2099 UMO01E EN P July 2015 Kinetix 7000 Connector Data Chapter 3 SERCOS Connections Two fiber optic connectors transm
120. ed with bayonet connectors Figure 81 Bulletin MPL Motors Bayonet Style Connector MPL Bxx 460V Servo Motors with High Resolution Feedback Kinetix 7000 Drive Cable Shield Clamp 2090 XXxPMP xxSxx Motor Power Cable lt Motor Connector Shell T 4 Green Yellow D lt Y a fe 1 8 Motor Power W E C M GND MP Connector V 2 2y Black B V Motor Power Three phase U 1 3 Brown j A U U S General Purpose Relay 2090 UXxBMP 185xx GPR Connector Brake Cable ie 3 Black C BR GPRI i lt dines 2 White otor Brake rs GPRI cette K COM HM lt Customer supplied q 1 2AVDC 1 1 24V DC 2A max a rn Dashed lines denote aerate lt Motor Connector Shell 1 SIN BLACK A 2 m SIN XX _WHT BLACK gt B 3 C0S4 RED lt lt C 4 COS XX WHT RED D Motor Feedback 5 DATA GREEN k lt E Motor Feedback MF Connector 19 DATA XX WHT GREEN Pe F 2090 K6CK D15M connector 14 Eo fhe bd lt i 6 kit 7 9VDC ORANGE Ti TS XX WHT ORANGE 2090 XXxFMP Sxx lt Cable shield clamp must be used to Flying lead Feedback Cable meet CE requirements No external connection to ground required 8 1 See Customer supplied 24V DC Power Supply Notes on page 175 for importan
121. eden Eee 99 External Shunt Module Connections 0ccceceeeeeeeeee 102 SERCOS Fiber optic Cable Connections 0 eee eee eee 102 Chapter 5 Configure and Start the Kinetix 7000 Configure the Drive Modules e 108 Drive System Node Addressing Examples i 12er tenes dae S n hes 110 Configure the Logix SERCOS interface Module 112 Configure the Logix Gobbtolleg c cet eei pue eee tias 112 Configure the SERCOS Module nonnene 114 Configure the Motion GrOUp e ces exter oer Rex meus panes 116 Configure the Kinetix 7000 Drive Modules sese 119 Download the Program cie cere gina rep cenon e EY 127 Apply Power to the Diy Cried sheets eid un zem ret ED pex dete vie tme 128 Test and Tune the Axes iste Big atin hawks C EPI PDiQag 131 WSU the AES oo eos o or T ee ae i tud 131 Tunethe A Res nicus eI LE DL Soh Bia 8 uU 133 Configure Drive Parameters and System Variables 136 Tools for Changing Pardmie bets evwev ivy ex a ru ucepiecetrer 136 Chapter 6 Troubleshoot the Kinetix 7000 Drive Safety Precautions sisse 139 System Interpret Error Codes and Status Indicators suus 140 Peto odes uU qus enon uud ui TL I IA I dud 140 Status Indicators 221 n cen fra wip Seo depher Ba ga Get UR cabinet 145 General System Anomalies eI e rhe ad 146 Lopgi Drive Fault Behavior us issceeius om pone done es ered eae es eos 148 Appendix A Specifications and Dimensions Pow
122. edure assumes that you have wired your Kinetix 7000 system and set the Kinetix 7000 baud rate and optical power switches IMPORTANT Forthe Kinetix 7000 drive to communicate with the SERCOS interface module indicated by three solid green status indicators on the SERCOS module your RSLogix 5000 software must be revision 15 0 or later For resources on using RSLogix 5000 software as it applies to configuring the ControlLogix CompactLogix or SoftLogix SERCOS modules refer to Additional Resources on page 9 Configure the Logix Controller Follow these steps to configure the Logix controller 1 Apply power to your Logix chassis containing the SERCOS interface module and open your RSLogix 5000 software 2 From the File menu choose New The New Controller dialog box opens New Controller Vendor Allen Bradley Type 1756 L63 ControlLogix5563 Controller Redundancy Enabled Name Kinetix_7000_Startup Description Chassis Type 1756 410 10 Slot ControlLogix Chassis Slot fo Create In CARS ogix SOO0 Projects Browse J 3 Configure the controller a From the Type pull down menu choose the controller type b From the Revision pull down menu choose the revision c Type the file Name d From the Chassis Type pull down menu choose the chassis e Choose the Logix processor Slot 4 Click OK 5 From the Edit menu choose Controller Properties Rockwell Automation Publication 2
123. eedback MF connector for each applicable feedback device Figure 23 Pin Orientation for 15 pin Motor Feedback MF Connector O Pin10 Pin 15 s fot Pin5 Pin 11 L2 9 4 Pin 1 Ping Oo Table 11 Motor Feedback MF Connections for Stegmann Hiperface SRS SRM Pin Description sgnl Pin Description Signal 1 Sine differentialinput 9M 9 Reserved 2 Sine differential input SIN 10 Hiperface data channel DATA 3 Cosine differential input C0S4 11 Motor thermal switch normally closed 1 TS 4 Cosine differential input cos 12 Reserved 5 Hiperface data channel DATA 13 Reserved 6 Common ECOM 14 Encoder power 5V EPWR_5V 2 7 Encoder power 9V EPWR_9V 2 15 Reserved Reserved 1 Not applicable unless the motor has integrated thermal protection 2 Encoder power supply uses either 5V or 9V DC based on encoder motor used Table 12 Motor Feedback MF Connections for TTL or Sine Cosine with Index Pulse and Hall Commutation Pin Desmipin Signal Pin Description Signal 1 AM4 Sine differential input AM SING 9 Reserved 2 AM Sine differential input AM SIN 10 Index pulse IM 3 BM Cosine differential input BM COS 11 Motor thermal switch normally closed 1 TS 4 BM Cosine differential
124. ell Automation Publication 2099 UMOOTE EN P July 2015 123 Chapter5 Configure and Start the Kinetix 7000 Drive System 24 Click the Fault Actions tab Axis Properties Axis_1 General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Set Custom Stop Action Drive Thermal Disable Drive Motor Thermal Disable Drive BETISCTHSTOT Ca LIT VEG TTL CTS Feedback Noise Disable Drive Feedback Disable Drive St T 3237106 S6 Rated 1020s 00s Ye T T Hard Overtravel ble Dive keReleaseDelayTime 00 s 00s Position Error Disable Drive 25 Click Set Custom Stop Action The Custom Stop Action Attributes dialog box opens and lets you set delay times for servo motors with a brake and resistive brake modules For recommended motor brake delay times refer to refer to the Kinetix Motion Control Selection Guide publication GMC SGO001 26 Configure the delay times a Type the Brake Engage Delay Time b Type the Brake Release Delay Time c Set the Resistive Brake Contact Delay time 0 1000 ms range d Click Close 27 Click OK 28 In the Module Properties Associated Axes tab select the auxiliary axis Axis 1 Auxand dick Apply TIP The base node is the servo axis utilizing the motor feedback and the base node plus 128 is a feedback only axis utilizing the auxiliary feed
125. em includes a common DC bus with an 8720MC RPS follow all the requirements as stated in the CE Requirements System without LIM on page 19 the recommended installation and wiring in the 8720MC Regenerative Power Supply Reference Manual publication 8720M C RMOOI and these additional requirements e Install a three phase line filter on the AC input power line of the RPS as indicated in Interconnect Diagrams beginning on page 163 e Install a single phase line filter when attaching an AC line input to the RPS MC1 2 circuit as indicated in the Interconnect Diagrams beginning on page 163 20 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Chapter 2 Install the Kinetix 7000 Drive System This chapter describes system installation guidelines in preparation for mounting your Kinetix 7000 drive components Topic Page System Design Guidelines 22 Minimizing Electrical Noise 28 Mount the Kinetix 7000 Drive 39 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 ATTENTION Plan the installation of your system so that you can perform all Rockwell Automation Publication 2099 UM001E EN P July 2015 21 Chapter2 Install the Kinetix 7000 Drive System System Design
126. eneral Purpose Relay is your safety control string In common bus configurations a REGEN connection on the General Purpose Input Output connector is also required for the drives This connection must be wired in series to the safety control string and also wired from the 8720MC RPS to the Kinetix 7000 drive to indicate bus voltage is present Table 39 General Purpose Relay Connections Recommended Wire Size mm AWG 0 75 18 stranded wire with ferrule 1 5 16 solid wire Recommended Wire Size mm AWG 0 75 18 stranded wire with ferrule Signal Terminal Description DRIVE OK 5 Programmable N 0 Relay 2 output DRIVE OK 6 Programmable Relay 2 common Table 40 General Purpose 1 0 Connections Signal Terminal Description Regen_OK 7 Regenerative power supply status Regen_OK 8 Regenerative power supply status common 1 5 16 solid wire Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Strip Length mm in 7 0 0 275 Strip Length mm in 7 0 0 275 Torque Value Nem Ib in 0 235 2 0 Torque Value Nem Ib in 0 235 2 0 Connect the Kinetix 7000 Drive System Chapter 4 Wire Motor Output Power Wire motor output power as described in Table 41 See Power Terminal Block PTB Connections on page 51 for more information Table 41 HPK Series and MP Series Servo Motor Power Connections Kinetix 7000 Signal T
127. er 5 Your new module appears under the I O Configuration folder in the Controller Organizer and the Module Properties dialog box opens 6 Click the SERCOS Interface tab and reference the table below E Module Properties Local 3 1756 M16SE 18 1 General Connection SERCOS Interface SERCOS Interface Info Module Info Backplane Data Rate Cycle Time 2 Transmit Power High Transition To Phase 4 Status Offline auto Detect ROMS ms v a Logix SERCOS Module Number of Axes Data Rate 1756 M03SE or Up to3 1756 L60MO3SE P 1756 M08SE Up to 8 4 or 8 Mbps 1756 M16SE or Upto 16 1784 PM16SE id 1768 M04SE Up to4 7 Verify that the Data Rate setting matches DIP switches 2 and 3 communication rate as set on the drive or use the Auto Detect setting 8 From the Cycle Time pull down menu choose the Cycle Time according 10 11 12 to the following table Data Rate Number of Axes Cycle Time Up to 2 0 5 ms Up to 4 1ms 4 Mbps Upto8 2ms No support for axes 9 16 Up to 4 0 5 ms 8 Mbps Up to8 1ms Upto 16 2ms TIP The number of axes module is limited to the number of axes as shown in step 6 Verify that the Transmit Power setting high matches the Optical Power DIP switch 1 as set on the drive Enter the Transition to Phase setting The Transition to Phase default setting is 4 phase 4 The Transition to Phase setting stops the ring in the p
128. er Specifications ou torso oS els o prob d4g 152 Circuit Breaker Fuse Specifications c3 ecb e e eue reete 153 Contactor Ratings Cs 15 uus S do eben cake naeulds aay ns RENE 154 Power Dissipation Specifications iude exmexk eere Ore en this 154 General SpeciBicatl nSu c esee Du daos decoro va I edo bees eed 155 Maximum Feedback Cable Lengths 0 00000 155 Weight SDe C DOAtIODISLa dstestor e rlpaser enis BOCA etu dp iud tpa 155 CCERUBCIEDODS d cereo der Eb nd ELA datore rdi Li ud 156 Rockwell Automation Publication 2099 UMOO1E EN P July 2015 7 Table of Contents Interconnect Diagrams Upgrade Firmware Environmental Specifications 2 1 cede exe 156 AC Line FJterSpeclDUatlaBs cos eu veia olv alte ex CURVE Ses ava 157 AC Line Reactors cies eh ta dates eerte te dea ees Mo 157 External Shunt Modules sso sube Sous cig teste eb rd ute ui 158 Precharge Capacities of the Regenerative Power Supply 159 Product Dimensions erobert LR HE REP LES 159 Appendix B Interconnect Diagram Notes 234 255 up Pere quc ne RE EET SENS 164 Power Wiring Examplesiciescic reeds saan re reme 165 Kinetix 7000 Drive Rotary Motor Wiring Examples 174 Kinetix Safe off Feature Block Diagram 0 00 eee e eee 180 Appendix C Before Yon Desi tiie visual euo obiter guise WO Rh IE t ada 181 Upgrade Firmware 9 e pae err Re dee I uS 182 Rockwell Automation Publication 2099 UM001E EN P July 2015 About This Publication
129. erminal Recommended Wire Size Torque Drive Cat No mm AWG N m Ib in 2099 BM06 S U Brown U 2099 BM07 S V Black V 2099 BM08 S w Blue W 25 2 5 3 14 1 8 16 _L Green Yellow L 2099 BM09 S U Brown U V Black V 50 4 1 0 12 3 6 32 w Blue W L reen Yellow L 50 4 1 0 12 5 44 2099 BM10 S U Brown U V Black V 70 10 2 0 8 15 133 w Blue W L Green Yellow L 50 4 1 0 12 5 44 2099 BM11 S U Brown U 2099 BM12 S V Black V 100 10 4 0 8 12 104 w Blue W L Green Yellow al 50 4 1 0 12 5 44 Wire the Motor Brake Wire the motor brake if applicable as described in Table 42 See Power Terminal Block PTB Connections on page 51 for more information on the motor power connections IMPORTANT Use surge suppression when controlling a brake coil See Figure 81 on page 174 Table 42 Motor Brake Connections Motor Brake Terminal Signal Drive Terminal Recommended Wire Size Strip Length Torque Value Signal mm AWG i ej Bulletin MPL Bulletin MPx dne Me mm in Nem bein w Bayonet Connector w Circular DIN Connector A BR F BR 2 GPR1 05 06 2 5 14 10 0 38 Hs C BR G BR 3 GPR1 44 5 3 Notes HPK Series motor brake terminations are BR and BR RDD Series motors do not have a motor brake Rockwell Automation Publication 2099 UMOOTE EN P July 2015 93 Chapter 4 Feedback and 1 0 Cable Connections 94 Connect the Kinetix
130. ervoltage protection is not provided for the Positive and N Negative Overtravel input signal It is recommended to use the on drive power to power the Positive and Negative Overtravel signals If an external power source is used you must take responsibility to be sure that the voltage current does not exceed the rating of the input The schematic below depicts the Positive and Negative Overtravel circuits It is provided as a reference only Figure 33 Positive and Negative Overtravel Input Diagram 24V DCO vosurpty 1007 10 T o opo u 10D 8 9 Di vec Xo T i i Positive Overtravel gt 0 1 pr 510 Y K y o Negative Overtravel o c 10D 9 12 id Customer supplied Input Device Kinetix 7000 Drive 1 24V DC source range 21 6 26 4V supplied by the drive not to exceed 300 mA total Maximum current input 10 mA Rockwell Automation Publication 2099 UMOOTE EN P July 2015 57 Chapter 3 58 Kinetix 7000 Connector Data Registration The two fast Registration inputs are provided on the Kinetix 7000 drive Reg 1 IOD 14 and Reg 2 IOD 17 Unlike the Drive Enable Home and Overtravel signals these inputs are either positive edge or negative edge triggered They are based on the user defined MAR Motion Axis Registration configured using RSLogix software Figure 34 MAR Motion Axis Registration Entry in RSLogix Software MAR Motion Arm Regis
131. es that may be affected by electrical noise in the distribution system Applications with large numbers of drives in a similar location imposed EMC regulations or a high degree of communication and networking are also good candidates for shielded cable Shielded cable may also help reduce shaft voltage and induced bearing currents for some applications In addition the increased impedance of shielded cable may help extend the distance that the motor can be located from the drive without the addition of motor protective devices such as terminator networks Consideration should be given to the general specifications dictated by the environment of the installation including temperature flexibility moisture characteristics and chemical resistance In addition a braided shield should be included and be specified by the cable manufacturer as having coverage of at least 7596 An additional foil shield can greatly improve noise containment Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Connect the Kinetix 7000 Drive System Chapter 4 A good example of recommended cable is Belden E 295xx xx determines gauge This cable has four XLPE insulated conductors with a 10096 coverage foil and an 8596 coverage copper braided shield with drain wire surrounded by a PVC jacket Other types of shielded cable are available but the selection of these types may limit the allowable Particularly some of the newer cables twist four conductors o
132. et connectors can be mounted facing the motor shaft or end plate and provide a separate connector for power feedback and brake connections Circular DIN connectors rotate up to 180 and combine power and brake wires in the same connector eliminating the brake connector Figure 54 Bayonet and Circular DIN Motor Connectors Bayonet Connectors Circular DIN Connectors without Brake Feedback Power Brake Motor Connectors Feedback Power Motor Connectors Power and Brake Feedback Motor Motor Connector Connector Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Connect the Kinetix 7000 Drive System Table 33 Motor Power Cable Compatibility Chapter 4 Motor Actuator Connector Motor Actuator Cat No Motor Power Cables Motor Power Cables with brake wires without brake wires MP Series Bulletin MPL Circular DIN MPL B5xxx MPL B6xxx MPL B8xxx and 2090 CPBM7DF xxAAxx or 2090 CPWM7DF xxAAxx MPL B9xxx 2090 XXNPMF xxSxx standard non flex standard non flex 2090 CPWM7DF xxAExx U 2090 CPBM7DF xxAFxx continuous flex continuous flex Bayonet MPL A BSxxx MPL B xxx and N A 2090 XXxPMP xxSxx 2 MPL B8xxx MPL B960B MPL B960C MPL B980B and MPL B980C MPL B960D and MPL B980D 2090 MCNPMP 6Sxx MP Series Bulletin MPM Circular DIN MPM B165 and MPM B215 2090 CPBM7DF xxAAxx or 2090 CPWM7DF xxAAxx 2090 XXNPMF xxSxx
133. etix 7000 2 3 1 For ControlFLASH information not specific to the Kinetix 7000 drive family refer to the ControlFLASH Firmware Upgrade Kit Quick Start publication1756 05105 2 Contact Rockwell Automation Technical Support at 440 646 5800 for firmware upgrade files and assistance 3 Goto http support rockwellautomation com firmware asp for firmware upgrades Rockwell Automation Publication 2099 UMOOTE EN P July 2015 181 AppendixC Upgrade Firmware Upgrade Firmware This procedure requires you to use ControlFLASH software to upgrade the firmware in a Kinetix 7000 drive 1 Verify 24V DC control power is supplied to the Kinetix 7000 drive requiring firmware upgrade IMPORTANT The seven segment LED on the Kinetix 7000 must display a 2 3 or 4 before beginning this procedure Only these displays indicates the drive has been recognized by the SERCOS interface motor activity do not apply main input power to the drive or source drive ATTENTION To avoid injury or damage to equipment due to unpredictable power from a DC common bus 2 Open your ControlFLASH software or select ControlFLASH from the Tools menu of RSLogix 5000 software The Welcome to ControlFLASH dialog opens ControlFLASH 4 00 09 Miglecme te Corte LASH tho meer Update tool Cono LAS need the 1 Pe Gating Marber of the eat deme 27 aon paran Votered Merry Poth te the bonget dnce 5 we Mes 4 Te onera Maon bor the update
134. etix Safe off Feature Safe Off Option Safe Off S0 Gate Control 9 pin Connector Power Supply 8 o SC 3 mee me 7 ENABLE1 6 ENABLE Safety Monitor Gate Control ee uC Circuit CCP 5 ENABLE2 1 meos meo Motion Allowed Jumper p Gate Control Enable Signal DRIVE ENABLE 4 24V COM Wiring Header 180 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Before You Begin Appendix C Upgrade Firmware This appendix provides procedures for using ControlFLASH utility to upgrade the firmware in a Kinetix 7000 drive Before You Begin Upgrade Firmware 182 Upgrading the firmware of a Kinetix 7000 servo drive using ControlFLASH involves entering the name of the target device locating the SERCOS interface module and Kinetix 7000 servo drive to be flashed finding the existing new firmware levels and flashing the drive firmware Before you begin this procedure make sure you have the following Description Catalog Numbers Version RSLogix 5000 Software 9324 RLD300NE 15 0 or later RSLinx Software 0355 RSLETENE 2 50 00 or later ControlFLASH Kit N A 4 00 09 or later Firmware for Logix SERCOS interface module or 1756 MxxSE 15 32 or later sn 1756 L60M03SE 15 4 or later 1768 M04SE 15 35 or later 1784 PM16SE 15 33 or later Firmware upgrade file for Kin
135. evere injury or death Wear proper Personal Protective Equipment PPE Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment PPE gt gt gt Allen Bradley Rockwell Software Rockwell Automation and TechConnect are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Summary of Changes This manual contains new and updated information Changes throughout this revision are marked by change bars as shown to the right of this paragraph This table contains the changes made to this revision ew and Update g Information Topic Page In Figure 1 updated the image of the LIM to reflect the current design of the LIM 13 Revised Figure 49 to reflect current design and location of ground wires 81 In the Feedback and 1 0 Cable Connections section updated the information about 94 the cables that can be used with HPK Series motors In Figure 83 updated the information about the cables that can be used with 176 Bulletin MPL and MPM motors In Figure 84 updated the information about the cables that can be used with HPK 177 Series motors Rockwell Automation Publication 2099 UMO01E EN P July 2015 3 Summary of Changes Notes 4 Rockwell Automation Publication 2099 UM001E EN P July 2015 Table of Contents Important User Information coeutene v vecet E ek deum ete riu td 2 Sum
136. f THHN wire and wrap them tightly with a foil shield This construction increases the cable charging current required and reduces the overall drive performance Unless specified in the individual distance tables as tested with the drive these cables are not recommended and their performance against the lead length limits supplied is not known The table below describes the recommended shielded cables Table 34 Shielded Cable Ratings and Types Location Rating Type Description Standard 600V 90 C 194 F Option 1 XHHW2 RHW 2 Anixter B209500 B209507 Belden B29501 B229507 or equivalent Four tinned copper conductors with XLPE insulation Copper braid aluminum foil combination shield and tinned copper drain wire PVC jacket Standard 600V 90 C 194 F Option 2 RHH RHW 2 Anixter OLF 7xxxxx or equivalent Three tinned copper conductors with XLPE insulation 5 mil single helical copper tape 25 overlap minimum with three bare copper grounds in contact with shield PVC jacket Three bare copper conductors with XLPE insulation and impervious corrugated continuously welded aluminum armor Black sunlight resistant PVC jacket overall Three copper grounds on 5 mm 10 AWG and smaller Class amp Il Tray rated 600V 90 C 194 F Division 1 amp II XHHW2 RHW 2 Anixter 7V 7xxxxx 3g or equivalent Contactors A contactor or other device that routinely disconnects and reapplies the AC line to the d
137. formance However other options are available for building your own feedback and I O cables Table 43 Motor Feedback Cable Compatibility Bayonet Connectors Motor Actuator Connector Type Feedback Type Feedback Cable Premolded High resolution encoder 2090 UXNFBMP Sxx Flying lead 2090 XXxF MP Sxx 1 For Bulletin MPL and 1326AB M2L S2L motors equipped with bayonet connectors These cables are available as standard non flex catalog number 2090 XXNFMP Sxx and continuous flex catalog number 2090 XXTFMP Sxx Table 44 Motor Feedback Cable Compatibility Circular Threaded DIN Feedback Cable Connector Motor Actuator Feedback Type Type Premolded HPK Series ae d DIN High resolution encoder N A Rockwell Automation Publication 2099 UMOO1E EN P July 2015 Flying lead 2090 XXNFMF Sxx standard non flex 2090 CFBM4DF CDAFxx continuous flex Connect the Kinetix 7000 Drive System Table 45 Motor Feedback Cable Compatibility SpeedTec DIN Connectors Motor Actuator MPL B5xxx S Mx7xAA MPL B6xxx S Mx7xAA MPL B8xxx S Mx7xAA MPL B9xxx S Mx7xAA MPM Bxxxxx S M HPK Series RDB Bxxxx 7 3 Connector Type SpeedTec DIN Feedback Type High resolution encoder Chapter 4 Feedback Cable Premolded 2090 CFBM7DD CEAAxx standard non flex or 2090 CFBM7DD CEAFxx continuous flex Flying lead 2090 CFBM7DF CEAAxx
138. g must be braided shielded cable with a coverage of 7596 or better metal conduit or equivalent attenuation All shielded cables should terminate with a properly shielded connector See the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 for information on electrical noise reduction and grounding practices Rockwell Automation Publication 2099 UM001E EN P July 2015 19 Chapter1 Start CE Requirements System with LIM To meet CE requirements when your Kinetix 7000 system includes the line interface module LIM follow all the requirements as stated in CE Requirements System without LIM on page 19 and these additional requirements that also apply to the AC line filter e Install the LIM 2094 XL75S Cx or 2094 BL50 758 and line filter 2090 X XLF T Cxxx as close to the Kinetix 7000 drive as possible IMPORTANT The full rated current on the AC input line should not exceed that of the line interface module Catalog numbers 2094 XL75S Cx or 2094 BL50S for 2099 BM06 S and 2099 BM07 S Kinetix 7000 drives or 2094 BL75S for 2099 BM08 S Kinetix 7000 drives IMPORTANT CE requires use of a grounded secondary or source with a 2099 BMxx S drive Never use a LIM in an ungrounded input due to the potential for high line to neutral voltages damaging components within the line filter CE Requirements System with DC Common Bus through 8720MC RPS To meet CE requirements when your Kinetix 7000 syst
139. hase specified Click OK Repeat steps 1 11 for each SERCOS module Rockwell Automation Publication 2099 UMOOTE EN P July 2015 115 Chapter5 Configure and Start the Kinetix 7000 Drive System Configure the Motion Group Follow these steps to configure the motion group 1 Right click Motion Groups in the Controller Organizer and choose New Motion Group The New Tag dialog opens Name UM_Motior Description Usage Type Base Alias For Data Type MOTION_GROUP Scope fa Kinetix_7000_Startup pei Read wiite Style C Constant C Open MOTION_GROUP Configuration 2 Type the new motion group Name 3 Click OK The new motion group appears under the Motion Groups folder 4 Right click the new motion group and select Properties The Motion Group Properties dialog box opens amp Motion Group Properties UM_Motion ni xj Axis Assignment Attribute Tag Unassigned Assigned EN Add gt lt Remove Cancel Apply Help 116 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Configure and Start the Kinetix 7000 Drive System Chapter 5 No axis have been created yet For this setup a servo axis named Axis_1 and a feedback only axis named Axis_1_Aux will be created Both axes will be assigned to the Kinetix 7000 axis in the Configure the Kinetix 7000 Drive Modules section 5 Right click the Motion group name created and selec
140. he Kinetix Motion Control Selection Guide publication GMC SG001 for cables compatible with the Kinetix 7000 drive and motor e Low profile connector let you develop a custom cable for the Motor Feedback MF or Auxiliary Feedback AF connectors The following table details power supply specifications for the motor and auxiliary feedback connectors Table 29 Motor and Auxiliary Feedback Power Supply Specifications Power Signal Name Voltage V DC Current mA Supply Min Nom Max Min Max 5V EPWR 5V 5 13 54 5 67 10 4090 0 8 49V EPWR_9V 83 91 99 10 2750 8 1 400 mA on the 5V supply split in any manner between the channels with no load on the 5V supply 2 275 mA on the 9V supply split in any manner between the channels with no load on the 9V supply 3 300 mA on the 5V supply on one channel with 150 mA on the 9V supply on the second channel Rockwell Automation Publication 2099 UMOOTE EN P July 2015 69 Chapter3 Kinetix 7000 Connector Data Notes 70 Rockwell Automation Publication 2099 UMOO1E EN P July 2015 Chapter 4 Connect the Kinetix 7000 Drive System This chapter provides procedures for wiring your Kinetix 7000 drive system components and making cable connections Topic Page Basic Wiring Requirements 71 Determine the Input Power Configuration 75 Set the Ground Jumper in Select Power Configurations 79 Grounding the Kinetix 7000 Drive System 82 Inp
141. heating has tripped Reduce acceleration rates Reduce duty cycle ON OFF of commanded motion Increase time permitted for motion Use larger Kinetix 7000 drive and motor Check tuning 30 MotFeedbackFault Communication was not established with an intelligent encoder Verify motor selection Verify the motor supports automatic identification Verify motor encoder wiring 34 GroundShortFault Excessive ground current detected in the converter Wiring error Check motor power wiring Check input power wiring Motor internal ground short Replace motor Internal malfunction Disconnect motor power cable from drive and enable drive with current limit set to 0 If fault clears then a wiring error or motor internal problem exists If fault remains call your Rockwell Automation sales representative Remove ground from control power input Wire control power to use main power as shown in Appendix B Add isolation transformer for control power E35 DriveUndervoltageFault Converter precharge cyde failed Low AC input voltage Check input AC voltage on all phases Internal malfunction Call your Rockwell Automation sales representative E37 12 PowerPhaseLossFault One or more phases of the AC input power is missing Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Check input AC voltage and fusi
142. hods described If more than three drive motor connections per conduit are required use shielded cable If practical each conduit should contain only one set of motor leads You should use a thick insulation lead wire such as type RHW 2 or equal Rockwell Automation Publication 2099 UMOO1E EN P July 2015 73 Chapter 4 74 Connect the Kinetix 7000 Drive System General Wire Guidelines Observe all applicable safety and national and local regulations when selecting the appropriate wire size for your system Due to the drive overload capacity of 150 of the continuous current rating the conductors for the transformer primary and secondary must be sized at a minimum for 125 160 of the maximum continuous input current for the motor selected The motor conductors must also be rated for a minimum of 125 160 of the full load motor continuous current If less than 150 overload is required the torque limit parameters must be set in the drive accordingly The distance between the drive and motor may affect the size of the conductors used To protect against interference use shielded wire in motor and control circuits A shielded cable is required for all feedback signal wires ATTENTION To avoid a possible shock hazard caused by induced voltages N ground unused wires in the conduit at both ends For the same reason if a drive sharing a conduit is being serviced or installed disable all drives using this conduit This removes the
143. hooting For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com services online phone Installation Assistance If you experience a problem within the first 24 hours of installation review the information that is contained in this manual You can contact Customer Support for initial help in getting your product up and running United States or Canada 1 440 646 3434 Outside United States or Canada Use the Worldwide Locator at http www rockwellautomation com rockwellautomation support overview page or contact your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to help 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 United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return 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 li
144. iant with EN 50178 1997 Electronic equipment for use in power installations Functional Safety EN 60204 1 2006 Safety of Machinery Electrical equipment of machines Part 1 General requirements EC61508 Part 1 7 2000 Functional safety of electrical electronic programmable electronic safety related systems ENISO 13849 1 2008 Safety of machinery Safety related parts of control systems Part 1 General principles for design C Tick e Radiocommunications Act 1992 Radiocommunications Electromagnetic Compatibility Standard 1998 e Radiocommunications Compliance Labelling Incidental Emissions Notice 1998 e AS NZS CISPR 11 2002 Group 2 Class A KC Korean Registration of Broadcasting and Communications Equipment compliant with Article 58 2 of Radio Waves Act Clause 3 Registration Number KCC REM RAA 2099 1 When product is marked refer to www rockwellautomation com products certification for Declarations of Conformity Certificates 2 Underwriters Laboratories Inc has not evaluated the safe off safe torque off or safe speed monitoring options in these products Environmental Specifications Attribute Operational Range Storage Range nonoperating Temperature ambient 0 50 C 32 122 F 40 70 C 40 158 F Relative humidity 5 95 noncondensing 5 95 noncondensing 1000 m 3281 ft Altitude 3000 m 9843 ft with derating 3000 m 9843 ft during transp
145. ible IMPORTANT CE test certification applies only to AC line filter and single drive Sharing a line filter with multiple drives may perform satisfactorily but the user takes legal responsibility 36 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Shunt Resistor Install the Kinetix 7000 Drive System Chapter2 Observe the following guidelines when mounting your external shunt resistor outside the enclosure e Mount circuit components and wiring in the very dirty zone or in an external shielded enclosure Run shunt power and fan wiring inside metal conduit to minimize the effects of EMI and RFI e Mount resistors other than metal clad in a shielded and ventilated enclosure outside the cabinet e Keep unshielded wiring as short as possible Keep shunt wiring as flat to the cabinet as possible e Route thermal switch and fan wires separate from shunt power Figure 14 External Shunt Resistor Outside the Enclosure Customer supplied metal enclosure Minimum of 150 mm 6 0 in of clearance onall sides of the shunt module aa Route Encoder Analog Registration Clean Wireway Shielded Cables C1 a D3 No sensitive equipment within a 150 mm 6 0 in i Kinetix 7000 drive ii VD 1 0 and Feedback Cables Very dirty connections segregated not in wireway VD VD Route 24V DC 1 0 Shielded Cable Motor Power
146. in the enclosure Follow the Kinetix 7000 mounting information provided in Figure 16 on page 40 Clearance requirements on page 27 must also be followed 2 Attach the drive to the cabinet The recommended mounting bolts are listed in the table on page 40 Follow the recommended high frequency HF bonding techniques as shown in Bonding Modules beginning on page 28 Follow the lifting instructions found in the Kinetix 7000 High Power Servo Drive Installation Instructions publication 2099 IN003 3 Tighten all mounting fasteners Rockwell Automation Publication 2099 UMOOTE EN P July 2015 39 Chapter2 Install the Kinetix 7000 Drive System Figure 16 Kinetix 7000 Approximate Mounting Dimensions Il ullL LI Y 2099 BM07 shown Bi Kinetix 7000 Drive Dimensions in mm in Cat No A B C M1 M2 M3 Mounting Screw Size 2099 BM06 S 517 5 20 37 254 12 10 0 224 3 8 83 495 0 19 49 192 0 7 56 15 3 0 60 M6 0 25 2099 BM07 S 2099 BM08 S 2099 BM09 S 644 5 25 37 3
147. input BM COS 12 Single ended 5V hall effect commutation 1 5 Index pulse IM 13 Single ended 5V hall effect commutation S2 6 Common ECOM 14 Encoder power 5V EPWR_5V 2 7 Encoder power 9V EPWR_9V 2 15 Reserved 8 Single ended 5V hall effect commutation 3 1 Not applicable unless motor has integrated thermal protection 2 Encoder power supply uses either 5V or 9V DC based on encoder motor used Rockwell Automation Publication 2099 UMOOTE EN P July 2015 47 Chapter 3 Kinetix 7000 Connector Data Kinetix 7000 drives do not natively support Heidenhain EnDat high resolution feedback However you can use the drive motor feedback connection with the 2090 K7 CK KENDAT feedback module to convert Heidenhain EnDat 2 1 high resolution feedback from an RDD motor Use the table below to connect the motor feedback wires to the 2090 K7CK KENDAT feedback module IMPORTANT Table 13 Connections for Heidenhain EnDat Only 2099 BMxx S drives with firmware revision 1 104 or higher support the use of 2090 K7CK KENDAT feedback modules Pin Description Signal Pin Description Signal 1 Sine differential input SIN 8 Serial data clock signal CLK 2 Sine differential input SIN 9 Serial data differential signal DATA 3 Cosine differential input C0S4 10 Serial data differential signal DATA 4 Cosine differential input cos 11 Motor thermal switch TS 5 Encoder power 5V EPWR_
148. ion Ifthe mounting bracket is coated with a non conductive material anodized Star Washer painted etc scrape the material Use plated panels or scrape paint off around the mounting hole front of panel Bolt mounting a Ground Bus or Chassis to the Back panel Subpanel Ground Bus or Mounting Bracket Ree Washer Scrape paint on both sides of panel and use star washers Flat Washer Washer T Ifthe mounting bracket is coated with a non conductive Star Washer material anodized or painted for example scrape the material around the mounting hole Rockwell Automation Publication 2099 UMOOTE EN P July 2015 29 Chapter2 Install the Kinetix 7000 Drive System 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 Figure 9 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 XXXXXXXE Cabinet ground bus bonded to the subpanel ESSA Scrape the paint around each fastener to maximize metal to metal contact Establish Noise Zones When designing a panel for a Kinetix 7000 system observe the following
149. ions are in millimeters inches 85 0 33 2X 18 0 300 0 49 6 282 8 0 71 2x ma 1 95 n 11 13 Es 5 O 3 i amp 1 1 I e 79 2 F 0 31 o9 9 80997 C 3 Li 33 46 850 0 Dee eh e esee l 33 46 824 0 32 44 9771 38 47 e i I e o 1 e CJ Y t ind Ld th TI 145 E 0 04 30 0 9 1 1 18 7 Y 85 0 33 2X Important Additional clearance below the connector is 360 6 m 14 20 2X necessary to provide the recommended cable bend radius 399 2 15 72 22 2 0 87 4X 0349 1 37 EI e 738 E 1 UN as i 67 2 2 80 36 9 1 45 4x ZREN W 2 64 i LI le e e 484 BIS dif 1517 5 84 I ESEI coran 5 97 ap Es 4 DER So lee t 45 0 31 69 1 25 iti 22 0 0 86 2X H 128 1 10 5 04 3 94 162 j 150 5 90 2X 200 7 87 e Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Appendix B Interconnect Diagrams This appendix provides wiring examples and system block diagrams to assist you in wiring your Kinetix 7000 system components Topic Page Interconnect Diagram Notes 164 Figure 72 Kinetix 7000 Drive AC Power Wiring 165 Figure 73 Kinetix 7000 Drive AC Powered with a 8720MC RPSO65BM Regenerative Power Supply 166 Figure 74 8720MC RPS065BM Regenerative Power Supply to a Single Kinetix 7000 Drive 167 Figure 75 8720MC RPS065BM Regenerative Power Supply to Multiple Kinetix 7000 Drives 168
150. ise Feedback oe P Mtr Fdbk Noise E64 Presence of noise on motor feedback cable No Fault Message MEA SR byon 65 Hookup procedure failed DISABLE DRIVE No Hookup Fault No Fault Message on Ta byon gcc Autotune procedure failed DISABLE DRIVE No Atune Fit ae E67 Operating system failed SHUTDOWN No CAD Comm E68 DPI communication failed STOP MOTION No DERE E69 Nonvolatile memory attribute out of range SHUTDOWN No MEM E70 Nonvolatile memory corrupted SHUTDOWN No Meee E71 RAM or flash memory validation failure SHUTDOWN No DriveOvertempFault E Inverter temperature limit exceeded Firmware rt protection does not generate a fault SHUTDOWN Yes Drive Overtemp rather it dynamically folds back current when 110 of drive rating is reached Gaui Ta E76 Either DPI or backplane CAN initialization failure SHUTDOWN No PAPAE E78 Control hardware fault detected SHUTDOWN No HardwareFault CPLD FLT E80 Control hardware fault detected SHUTDOWN No a E109 Junction temperature of IGBT exceeded SHUTDOWN No con E110 EEPROM failure EEPROM data corrupt or bus not calibrated SHUTDOWN No core E111 Regenerative PS missing at GPIO SHUTDOWN No All Others RESERVED 1 The Logix Motor Thermal Fault Action is tied to the motor thermostat fault If this is set to Shutdown or Disable in Logix the drive will fold back the current when the T calculation indicates that the motor temperature has exceeded 10 of i
151. it and receive are provided on the Kinetix 7000 drive Table 24 SERCOS Communication Specifications Specification Description Data Rates 4 and 8 Mbps Node Addresses 01 99 0 1 Node addresses for additional axes on the same system are assigned by sequentially incrementing each additional axis See Node Addressing Examples on page 110 for more information Safe off SO Connector Kinetix 7000 drives provide safety functions and system integrity The Kinetix 7000 drive ships with a 9 pin wiring plug header having a motion allowed jumper installed in the safe off SO connector With the motion allowed jumper installed the safe off feature is disabled For safe off wiring information see the Kinetix Safe off Feature Safety Reference Manual publication GMC RM002 Figure 41 Safe Off Motion allowed Jumper Motion allowed Jumper Safe off SO Connector Wiring Plug Header Control Power Specifications The following table provides specifications for the Control Power CP connector Attribute Value 24V DC 3 A max range 18 30 V DC Auxiliary DC input voltage Rockwell Automation Publication 2099 UMOOTE EN P July 2015 65 Chapter3 Kinetix 7000 Connector Data Motor MF and Auxiliary Feedback AF Connections 66 The motor interface and auxiliary feedback interfaces are consistent across the Kinetix product line This section provides information on motor and auxiliary feedback
152. ive power supply 8720MC LR10 100B This unit includes an AC line filter required for CE magnetic IMPORTANT The 8720MC EF190 VB line filter unit and two 8720MC LR10 1008 line reactors are required when using the RSLogix 5000 Software Logix SERCOS interface Module Logix Controller Programming Network Line Reactor two units in parallel 2090 SCxxx x 8720MC RPS190BM SERCOS Fiber optic Ring Regenerative Power Supply e Allen Bradley C Kinetix 7000 Drive E 2099 BM11 S 2099 BM11 S Al Kinetix 7000 Drive Al 2090 K6CK Dexx o 2090 K6CK Dox 113 Low Profile Connector Low Profile Connector Kits for 1 0 Motor and SE Kits for 1 0 Motor and Auxiliary Feedback Auxiliary Feedback 1606 XLxxx 1606 XLxxx 2NDC e 24V DC Control Power Control Power Control Power Control Power li Supply Input gt Supply Input gt Ground DC Bus DC Bus Fault Fusing li li Fusing li Li Protection
153. l Automation Publication 2099 UM001E EN P July 2015 Drive Status LED Status Indicators Table 52 Drive Status Indicator Troubleshoot the Kinetix 7000 Drive System Chapter 6 Possible Resolution Off Normal no faults N A N A Steady Red Drive faulted Seven segment status indicator displays error code See the Error Codes on page 140 section and continue troubleshooting Table 53 Comm Status Indicator Comm Status LED Status Potential Cause Possible Resolution Off No communication Loose fiber optic connection Verify proper fiber optic cable connection Broken fiber optic cable Replace fiber optic cable Receive fiber optic cable connected to SERCOS transmit connector and vice versa Check proper SERCOS fiber optic cable connections Flashing Green Establishing communication System is still in the process of establishing SERCOS communication Wait for steady green indicator Node address setting on the drive module does not match SERCOS controller configuration Verify proper node switch setting Steady Green Communication ready No faults or failures 1 Refer to Fiber optic Cable Installation and Handling Instructions publication 2090 IN010 for more information Table 54 Bus Status Indicator N A Bus Status LED Status Condition Off Bus power not present Normal when bus power is not applied e Fault exists see the Interpret Error
154. ly 2015 Connect the Kinetix 7000 Drive System Chapter 4 Grounding Multiple Subpanels To extend the chassis ground to multiple subpanels see Figure 52 IMPORTANT HF bonding is not illustrated For HF bonding information see Bonding Multiple Subpanels on page 30 Figure 52 Subpanels Connected to a Single Ground Point Always follow NEC and applicable local codes Bonded Ground Bus OOOOO Ground grid or power distribution ground Motor Power Cable Shield Termination Factory supplied motor power cables for MP series motors are shielded and the braided cable shield must terminate at the drive when installed A small portion of the cable jacket must be removed to expose the shield braid The exposed area must be clamped using the clamp provided on the 2099 BM06 S BM07 S and BMOS S drives to the drive to provide a 360 termination Factory supplied power cables must also be terminated in the motor power MP connector plug ATTENTION To avoid hazard of electrical shock be sure the shielded power cables are grounded at a minimum of one point for safety Customer supplied power cables must be shielded and the braided cable shield or conduit must terminate at the drive when installed An area ofthe power cable shield must be exposed and terminated for 360 at the drive In a similar manner conduit enclosing discrete power cables must be termina
155. mary of Changes New and Updated Information ic eeexiivevtc ekr et uet orrore orreee 3 Preface About T his Publication sissi rir Sa e pe o C 9 Who Should Use This Manual 2s us udscevevotentt once bv sorties 9 Conventions Used in This Manual 0 cece cee ee eee nner 9 Additional Resources o ide heehee pu RR bebe eek Saba RATE 9 Chapter 1 Start About the Drive System occa oae dE er EHE EHE keels 12 Typical Drive System Diagrams i3 sono ou E QUSE CH EN ERU REPAS 13 Catalog Number Explanation s 4525s er ERR S ARR aS ERETEEEUS 18 Agency Compliance o e enerne ieie as Tae bed oe ebrei S 18 CE Requirements System without LIM ssuueue 19 CE Requirements System with LIM sseesseseses 20 CE Requirements System with DC Common Bus through a 20MC RPS Ct see paced pd uma etie 20 Chapter 2 Install the Kinetix 7000 Drive System System Design Guidelines e 22 System Mounting Requirements 0 6 0 c eee eee eens 22 Transformer Selection eus ote ux ianaewt oe leas RUE ee ees 22 Circuit Breaker Fuse Selection 24 ox coetu a Eus e T wees 23 Enclosure Selectiolocsus ee ook EVA endo serail aas 24 Minimum Clearance Requirements eco utes reci ees 27 Minimizing Electrical Noise certe ER CHE HE os 28 Bonding Modules soit ewetscere t etnies rato dee re adiu 28 Bonding Multiple Subpatiels 2 selected Neko eis 30 Establish Noise Zones act sia vente de aot ede guSUU IS Eia 30 Cable Categories f
156. ming and operating a SoftLogix system 8720MC Regenerative Power Supply Installation Manual publication 8720MC RM001 Provides a hardware description and start up and programming procedures for the 8720MC RPS Regenerative Power Supply System Design for Control of Electrical Noise Reference Manual publication GMC RM001 Provides information examples and techniques designed to minimize system failures caused by electrical noise Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Preface Resource Kinetix Safe off Feature Safety Reference Manual publication GMC RM002 Description Provides detailed installation instructions for wiring and troubleshooting a Kinetix 7000 safe off drive Kinetix Motion Control Selection Guide publication GMC SG001 Provides descriptions and specifications for the 2099 product family including motors and accessories Kinetix 7000 Drive Systems Design Guide publication GMC RM007 The purpose of this publication is to assist you in identifying the drive system components and accessory items you ll need for your Kinetix 7000 drive motor combination Kinetix Servo Drives Specifications Technical Data publication GMC TD003 Provides catalog numbers and product specifications including performance environmental certifications load force and dimension drawings for Allen Bradley servo drives Kinetix Motion Accessories Specifications Technical Data publicati
157. minimize EMI and are recommended over hand built cables to optimize system performance e Connect the cable shield to the connector shells on both ends of the cable with a complete 360 connection If separate power wires are used in a customer supplied power cable the shield may alternatively be connected to a ground terminal e Use a twisted pair cable whenever possible Twist differential signals with each other and twist single ended signals with the appropriate ground return e Discrete power cables require 360 shielding Connect the shield to a ground terminal See 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 Shielded Motor Cable The use of a four wire type Variable Frequency Drive VFD 600 volt UL listed cable is strongly recommended for all motor currents at or below 130 Amperes The illustration below illustrates the type of cable required Figure 43 Type of Cable Required for Kinetix 7000 Drive Interconnects Stranded Drain Wire sy A Foil Shield N Mt WM l M M A Stranded Tinned Copper D Conductors Cable Jacket T Tinned Copper Braid with 85 Coverage Oversized Insulation Required Cable Types You should always use shielded motor cable The shield must connect to the drive chassis PE connection and the motor frame Make the connection
158. mper is necessary when using an ungrounded corner grounded and impedance grounded power configuration Also set the ground jumper when you are using the Bulletin 8720MC regenerative power supply or any active converter for DC bus voltage Setting the ground jumper involves accessing the power chassis and removing jumper plugs or disconnecting wires on the power terminals kept closed when power is applied If power was present and then removed wait at least 5 minutes for the DC bus voltage to dissipate and verify that no DC bus voltage exists before accessing the ground jumper f ATTENTION To avoid personal injury the ground jumper access area must be Because the unit no longer maintains line to neutral voltage protection risk of equipment damage exists when you remove the ground jumper Table 31 Ground Jumper Configurations Example Diagram Ground Jumper Configuration Benefits of Correct Configuration UL and EMC compliance Reduced electrical noise Figure 44 on page 75 Installed default setting e Most stable operation Reduced voltage stress on components and motor bearings e Corner grounded Impedance grounded e AC fed ungrounded Figure 45 on page 76 Figure 46 on page 77 Helps avoid severe equipment damage Figure 47 on page 78 Removed when ground faults occurs Reduced leakage current DC bus from active converter Figure 74 on page 167 Table 32 Jumper Wire Location and Removal I
159. n Clamp Over to Hold Small Wires Secure Bulletin 2090 Feedback Cable IMPORTANT The purpose of the cable shield clamp is to provide a proper ground and improve system performance not stress relief Clamping the exposed braid under the shield clamp is critical Turn the clamp over if necessary to be sure of a proper ground Rockwell Automation Publication 2099 UM001E EN P July 2015 101 Chapter 4 102 Connect the Kinetix 7000 Drive System Figure 59 Wiring 26 pin 1 0 Cable Connections 2090 K6CK D26M Connector Kit Pinig O Pind Pin 26 Mounting Screws Pin 1 4 Pin 19 Pin 10 26 pin male 1 0 Low profile Connector e22 12 11 10 Seethe Low Profile Connector Kit Installation Instructions Publication 2094 IN007 for Connector Kit Specifications 2090 K6CK D26M Low profile Connector Kit LZevogl 86 Tie Wrap Slot S 26 25 24 S 2322 21 201918 17 16 15 14 13 cf 2 SI Turn Clamp Over to f Hold Small Wires Secure Three Conductor 1 0 Cable s Discrete 1 0 Wire IMPORTANT The purpose of the cable shield clamp is to provide a proper ground and improve system performance not stress relief Clamping the exposed braid under the shield clamp is critical Turn the clamp over if necessary to be sure of a proper ground Rockwell Automation P
160. ng on all phases and DC bus Disable axis before removing power Troubleshoot the Kinetix 7000 Drive System Table 51 Seven segment Status Indicator Error Codes Continued Chapter 6 me Fault Message RSLogix Anomaly or Symptom Potential Cause Possible Resolution The SERCOS ring is not active E38 SERCOSFault after being active and Cable disconnected Check that fiber optic cable is present and properly connected operational Verify that there are no impediments to motion at startup such as hard limits E39 DriveHardFault Self sensing Commutation Obstruction prevents motion required for self Increase self sensing current if high friction or load Startup Error sensing startup commutation conditions exist Check motor or encoder wiring using wiring diagnostics Disable the Drive Enable Input fault Attempted to enable the axis through 7 MENTIONS software while the Drive Enable hardware Verify that Drive Enable hardware input is active iccina Dri i inacti whenever the drive is enabled through software E43 DriveEnablelnputFault oe Drive Efiableinput ANU na TAS signal The Drive Enable input transition from active Verify wiring and shielding to inactive occurred while the axis was enabled If error persists return the drive to Rockwell Automation Verify wire terminations cable header connections C Loose wiring at SO c
161. nnector and exit TX connector to reach phase 1 Baud rate switch settings conflict Verify drive and Logix setup parameters Displaying a fixed 1 The drive is looking for active nodes Wait for Check node addressing on drive and in ControlLogix and RSLogix 5000 Phase 1 phase 2 to complete or take corrective action to reach phase 2 Displaying a fixed 2 Logix is configuring nodes for communication Check RSLogix programming to verify drive configuration against installed hardware Phase 2 Wait for phase 3 to complete or take corrective action to reach phase 3 Verify the appropriate drive model is selected in RSLogix software Displaying a fixed 3 The drive is configuring device specific Check RSLogix software programming to verify motor configuration against installed hardware m Phase 3 parameters Wait for phase 4 to complete or take corrective action to reach phase 4 Verify motor feedback cable connects to MF connector on the drive If low profile connector is used verify the connection for correct pinout pinched insulation and loose wires Verify motor feedback cable for continuity and shorts Replace the motor Displaying a fixed 4 The drive is configured and the SERCOS ring is active Phase 4 Flashing an E followed by two numbers Drive is faulted See the Error Codes section on page 140 1 You can access diagnostic information from the module by highlighting the module name in RSLogix 5000 software A Pseu
162. not be used between the input of the drive and a common DC bus without the use of an external precharge device 152 Rockwell Automation Publication 2099 UMO01E EN P July 2015 Specifications and Dimensions Appendix A 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 Make sure the selected components are properly coordinated and meet acceptable codes including any requirements for branch circuit protection Evaluation of the short circuit available current is critical and must be kept below the short circuit current rating of the circuit breaker Use class CC T RK1 or J fuses with current rating as indicated in the table below The following fuse examples and short circuit current ratings are recommended for use with the 2099 BMxx S drives when the Line Interface Module LIM is not used IMPORTANT LIM modules catalog numbers 2094 BLxxS and 2094 XL75S Cx provide branch circuit protection to the Kinetix 7000 drive Follow all applicable NEC and local codes Table 59 460V AC Input Drive Fuse and Motor Circuit Protector Specifications Dual Element Time Delay Non Time Delay Motor Circuit Drive Cat No Bussmann Fuse min max Fuse min max Protector max Fuse Arms Arms Arms 2099 BM06 S LPJ 90SP 50 90 50 150 50 2099 BM07 S LPJ 110SP 60 110 60 200 70 2099
163. nputs Digital Outputs Analog Inputs Analog Outputs Signal Generator SCANp Data In SCANp Data Out E 2 1203 555 R5232 DF1 Parameter List Custom Views Compare Results Double click on a parameter in the list to open the edit dialog box For Help press F1 136 1 0 682 1 0 653 1 0 657 1 0 982 1 0 683 1 0 684 1 0 654 1 0 658 1 0 983 1 0 685 1 0 686 1 0 655 1 0 659 1 0 984 1 0 687 1 0 688 1 0 656 1 0 660 1 0 985 p AnaOut Chi Gai AOut Chi Overi AnaOut Ch1 BW AnaOut Ch1 Value AnaOut Ch2 Selec AnaOut Ch2 Gain AOut Ch2 Overide AnaOut Ch2 BW AnaOut Ch2 Value AnaOut Ch3 Selec AnaOut Ch3 Gain AOut Ch3 Overide AnaOut Ch3 BW AnaOut Ch3 Value AnaOut Ch4 Selec AnaOut Ch4 Gain AOut Ch4 Overide AnaOut Ch4 BW AnaOut Ch4 Value Rockwell Automation Publication 2099 UMOOTE EN P July 2015 local DPT Configure and Start the Kinetix 7000 Drive System Chapter 5 Change Parameters with the HIM Module When using the HIM module to monitor or change parameters use the up and down arrows and v to arrive at selections Refer to the instructions that came with your HIM module for more information Follow these steps to monitor or change parameters with the HIM module 1 Select parameter and press J 2 Select I O AMI Group for IAM module and press J 3 Select Analog Outputs and press 4 a Analog Output 1 is displayed and press J b For Analog
164. ns Rockwell Automation Publication 2099 UMOO1E EN P July 2015 35 Chapter2 Install the Kinetix 7000 Drive System Table 6 Line Interface Module Wire Cable Connector Zone Method Very Dirty Clean Ferrite Shielde Dirty Sleeve dCable VAC line main input IPL X 230V AC input APL X VAC load shielded option X OPL VAC load unshielded option X Control power output CPL X MBRK PWR MBRK COM PIL PSL X Status 1 0 IOL X Auxiliary 230V AC P2L X Table 7 External Shunt Resistor Kit Wire Cable Connector Zone Method Very Dirty Clean Ferrite Shielded Dirty Sleeve Cable COL DC shielded option X X COL DC unshielded option n X Thermal switch TS X X Fan if present N A X Noise Reduction Guidelines for Drive Accessories When mounting an AC EMC line filter or external shunt resistor refer to the sections below for guidelines designed to reduce system failures caused by excessive electrical noise AC Line Filters Observe the following guidelines when mounting your AC EMC line filter See the Establishing Noise Zones AC Power on page 33 for an example e Mount the AC line filter on the same panel as the Kinetix 7000 drive and as close to the power input as possible e Good HF bonding to the panel is critical For painted panels refer to the examples on page 29 e Segregate input and output wiring as far as poss
165. nstructions Drive Jumper Wire ID No Component Location 2099 BM06 S 2099 BM07 S and PEA Common mode capacitor Remove the two jumpers located above the power terminal block See 2099 BM08 S Remove the Ground Jumper on 2099 BM06 S 2099 BM07 S and 2099 BMO8 S Drives on page 80 PEB MOVs 2099 BM09 S and Green yellow Common mode capacitor Remove DC DC converter and drive top cover and disconnect the green 2099 BM10 S wire yellow wire from the drive chassis Insulate and secure the wire to prevent unintentional contact with the chassis or components See Remove the Ground Wires on 2099 BM09 S and 2099 BM10 S Drives on page 81 MOVs input filter cap Disconnect the green yellow wire next to the power terminal block Insulate and secure the wire to prevent unintentional contact with the chassis or components See Remove the Ground Wires on 2099 BM09 S and 2099 BM10 S Drives on page 81 2099 BM11 S and 2099 BM12 S Green yellow wire Common mode capacitor Disconnect the two green yellow wires from the PE terminals on the power terminal block Insulate and secure each of these wires to prevent unintentional contact with the chassis or components See Remove the MOVs Ground Wires on 2099 BM11 S and 2099 BM12 S Drives on page 81 o0 00 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 79 Chapter4 Connect the Kinetix 7000 Drive System Remove the Ground Jumper on 2099 BM
166. ntrolLogix rack D shielded by the chassis ACLine Filter a ola ola ola ole aula ola ola ola u D Spare Slot s c Line Filter Power Supply Dirty 1 0 Clean 1 0 Connections Segregated 24V DC 1 0 AC 1 0 Analog Encoder not in wireway Registration Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Install the Kinetix 7000 Drive System Chapter2 Cable Categories for Kinetix 7000 Systems The table below indicates the zoning requirements of input power cables connecting to the Kinetix 7000 drive Table 4 Kinetix 7000 Drive Wire Cable Connector Zone Method Very Dirty Clean Ferrite Shielded Dirty Sleeve Cable Control Power CP X DC DC4 X L1 L2 L3 shielded cable PTB X X L1 L2 L3 unshielded cable X DPI DPI X X The table below indicates the zoning requirements of power and control cables connecting to the Kinetix 7000 system Table 5 Kinetix 7000 System Wire Cable Connector Zone Method Very Dirty Clean Ferrite Shielded Dirty Sleeve Cable U V W Motor Power MP X X GPR GPR Motor Brake GPR X 24V DC PWR COM filtered X GPIO GPR 24V DC PWR COM unfiltered X 24V DC PWR COM safety enable and feedback signals for safe off S0 X feature Motor Feedback MF X X Auxiliary Feedback AF X X Registration and Analog Outputs T X X Others X Fiber optic RxandTx No Restrictio
167. nufacturer for options available to cool your enclosure 26 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Install the Kinetix 7000 Drive System Chapter2 Minimum Clearance Requirements This section provides information to assist you in sizing your cabinet and positioning your Kinetix 7000 system components Mount the module in an upright position as shown Do not mount the IMPORTANT module on its side Figure 7 Minimum Clearance Requirements 101 6 mm 4 0 in clearance for airflow and installation ane ES ge 50 8 mm 2 0 in clearance right of module is required 50 8 mm 2 0 in clearance left o of module is required a Minimum cabinet depth 300 mm 11 8 in Cable bend radius requires a minimum of 60 mm 2 4 in from the front panel connections 101 6 mm 4 0 in clearance for airflow and installation See page 154 for power dissipation specifications Rockwell Automation Publication 2099 UMOOTE EN P July 2015 27 Chapter2 Install the Kinetix 7000 Drive System Minimizing Electrical Noise 28 This section outlines best practices that minimize the possibility of noise related failures as they apply specifically to Kinetix 7000 drive installations For more information on the concept of high frequency HF bonding the ground plane principle and electrical noise reduction see
168. omation Publication 2099 UMOOTE EN P July 2015 Start Chapter 1 Typical Kinetix 7000 system installations include three phase AC configurations Typical Drive System Diaarams with and without the line interface module LIM and DC common bus g configurations Figure 1 Kinetix 7000 System Configuration with LIM and External Resistive Shunt RSLogix 5000 Software Input Output Logix 5000 Controller Safe off Commissioning General Purpose 1 0 General Purpose Relay 2090 SCxxx x Connections SERCOS Fiber Optic Ring 1756 MxxSE SERCOS Interface Module ControlLogix Chassis 460V AC Three Phase Input Power 2099 BMxx S Kinetix 7000 Drive zi EY o z z i oe 2090 K6CK Dxxx 2094 BL75S Low Profile Connector Kits for i 1 0 Motor Feedback Line Interface Module and Auxiliary Feedback optional component 24V DC Control Power LLLA 2090 XXLF TCo0x ib E AC Line Filter External Shunt Module optional component See Encoder External Shunt Modules on page 158 for more Feedback information Cable Motor Power Cable HPK Series Motors RDD Series Direct Drive Motors MPM B165xx and MPM B215xx and MPL B5xxx MPL B6xxx MPL B8xxx and MPL B9xxx shown Servo Motors Rockwell Automa
169. on 2099 UMOO1E EN P July 2015 Verify overtravel settings are appropriate 11 Chapter 6 Troubleshoot the Kinetix 7000 Drive System Table 51 Seven segment Status Indicator Error Codes Continued Error Code 18 Fault Message RSLogix OverSpeedFault Anomaly or Symptom Potential Cause Motor speed has exceeded 150 of maximum rated speed The 100 trip point is dictated by the lesser of the user velocity limits or the motor rated base speed Possible Resolution Check cables for noise Check tuning Check feedback device Verify velocity limit settings E19 PositionErrorFault Position error limit exceeded Increase the feed forward gain Increase following error limit or time Check position loop tuning Verify sizing of system Verify mechanical integrity of system within specification limits E20 MotFeedbackFault Motor encoder state error The motor encoder encountered an illegal transition Use shielded cables with twisted pair wires Route the feedback away from potential noise Sources Check the system grounds Replace the motor encoder Check feedback device and wiring E21 AuxFeedbackFault Communication was not established with an intelligent encoder Verify auxiliary encoder wiring E23 DriveOvertempFault IPM thermal protection fault The internal filter protecting the drive from over
170. on GMC TD004 Provides catalog numbers product specifications and dimensions for Allen Bradley servo drive accessories Motion Analyzer Sizing and Selection Tool https motionanalyzer rockwellautomation com Online tool for sizing and selecting servo drive systems with the compatible motor actuator and accessories required for each axis Rockwell Automation Configuration and Selection Tools http www rockwellautomation com global support configuration page Provides online product selection and system configuration tools including AutoCAD DXF drawings Rockwell Automation Product Certification Website http www rockwellautomation com products certification Provides online access to declarations of conformity DoC currently available from Rockwell Automation SERCOS and Analog Motion Configuration and Startup publication MOTION UMOO1 Provides information to create a motion coordinate system with SERCOS or analog motion modules Motion Coordinate System User Manual publication MOTION UM002 Provides information on configuring and troubleshooting your ControlLogix CompactLogix and SoftLogix SERCOS interface modules Logix5000 Controllers Motion Instructions Reference Manual publication MOTION RM002 Provides programmers with details about the motion instructions that are available for a Logix5000 controller National Electrical Code published by the National Fire Protection Associ
171. onnector and 24V DC afe off function mismatch Drive will not permit pea not seated properly in SQ Reset error and run proof test motion E49 DriveHardFault Safe off circuit missing 24V DC If error persists return the drive to Rockwell Automation Refer to the Kinetix Safe off Feature Safety Reference Manual GMC RM002 for additional troubleshooting information and proof test procedures E50 SERCOSFault Duplicate node address detected on SERCOS ring Verify that each SERCOS IVO asian que node address E54 DriveHardFault Excessive Current Feedback Defective current feedback sensing If error persists return the drive to Rockwell Offset Automation Use shielded cables with twisted pair wires 7 l Route the feedback away from potential noise E61 AuxFeedbackFault a Encoder State The auxiliary encoder encountered an illegal sources rror transition Check the system grounds Replace the motor encoder E62 AuxFeedbackFault The feedback wiring is open shorted or missing Check the motor feedback cable connectors wiring to the drive and motor E63 AuxFeedbackNoise Noise on auxiliary feedback e Verify grounding s cable a e Route feedback cable away from noise sources ETIN grounding per ree eee Refer to System Design for Control of Electrical Noise on motor feedback ee nes MO LOREN TOWEN Noise Reference Manual publication GMC E64 MotorFeedbackNoise ER cable RM001 No Fault Message Check motor power feedback wiring E65
172. or Kinetix 7000 Drive RDB Bxxxx Direct Drive note information Servo Motors with High Resolution Feedback Cable Shield 2090 K7CK KENDAT Clamp Feedback Module Shield 1 BLACK SIN 1 4 Green Yellow T 2 WHT BLACK XX SIN 2 3 0S 3 Motor Power aE Thr Uh 12T WHERE XC cs 4 MP Connector 2 ak BN a fee Pads ur 1 Brown NU y Motor Power NEN GREEN DATA 9 U U lt lt 6S S WHUGREN XX DATA 10 Motor L gt BROWN CLK 7 2090 CPWM7DF xxAAxx or olor F s WHT BROWN XX CLK ls 2090 XXNPMF xxSxx Feedback 2 GRAY 5VDC 5 standard non flex 10 1 WHT GRAY XX EOM 6 or 2090 CPWM7DF xxAFxx 11 S gt ORANGE continuous flex es 13 WHT ORANGE XX TS 11 Motor Power Cable Thermistor Y A M ssl BUE TS l iD COM a Cable shield clamp must be t used in order to meet CE requirements No external connection to ground is required 2090 XXNFMF Sxx standard non flex or 2090 CFBM7DF CDAFxx continuous flex Flying lead Feedback Cable Rockwell Automation Publication 2099 UMOOTE EN P July 2015 179 AppendixB Interconnect Diagrams Kinetix Safe off Feature Kinetix 7000 drives with the Safe off feature installed ship with the wiring header and a motion allowed jumper installed In this configuration the safe off feature Block Diagram is disabled not used Figure 87 Kin
173. or Kinetix 7000 Systems 00008 35 Noise Reduction Guidelines for Drive Accessories 36 Mount the Kinetic 7000 Dives leat ewer etr RR er ete ade 39 Chapter 3 Kinetix 7000 Connector Data Locate and Identify Connectors and Indicators ssuuu 42 Digital and Analog Input Output IOD Connector Pinout 45 General Purpose I O GPIO Terminal Block Connections 46 General Purpose Relay GPR Terminal Block Connections 46 Motor Feedback MF Connector Pinouts 00 0 ee eees 47 Auxiliary Feedback AF Connector Pinouts s 49 Safe off SO Terminal Block Connections 0 00000 50 Control Power CP Terminal Block Connections 51 Power Terminal Block PTB Connections 0 00008 51 Control Signal Speciications 460de55synee nte de me dada das go RREH EE 54 Rockwell Automation Publication 2099 UMOO1E EN P July 2015 5 Table of Contents Connect the Kinetix 7000 Drive System Digital Inputs IOD Connector i ere V one e d x ex uas 54 Analog Inputs IOD Connector 2 2 edere rerebes ve oreet 60 Analog Outputs IOD Connector ces Ce terunt 62 General Purpose I O GPIO Connector 0002e eee ees 63 General Purpose Relay GPR Connector 00e ee eee ees 64 SERCOS ConnecHODSece eesececbe b REA WA Te iad den His 65 Safe off SO Connector coco reci to oot dele ona eZ P d 65 Control Power Specifications cse e te ee er meer
174. or any other mechanical assistance Instructions publication 2090 IN010 Figure 61 Fiber optic Cable Connections to a SoftLogix Module SoftLogix 1784 PM16SE SERCOS interface PCI Card Transmit Receive SERCOS Fiber optic Ring Receive LO K Transmit E E Wer Qaa ae aal Ton Kinetix 6000 System 104 Rockwell Automation Publication 2099 UM001E EN P July 2015 The following fiber Connect the Kinetix 7000 Drive System Chapter 4 optic cable examples are shown using ControlLogix modules CompactLogix modules connect in the same way however the ring cannot include more than four drives Figure 62 Fiber optic Cable Connections to ControlLogix CompactLogix Modules 1 Logix Cont fe Transmit Receive 1756 MxxSE SERCOS interface Module chassis rolLogix is shown T SERCOS Fiber optic Ring z Receive 4 Transmit Receive Transmit E d q q on a n Kinetix 6000 System Kinetix 7000 Drive System You can also mount the two Logix SERCOS modules in two separate chassis or you can mount them in the same chassis IMPORTANT Clean the fiber optic cable connectors prior to installation Dust in the connectors can reduce signal strength See the Fiber optic Cable Installation and Handling Instructions
175. or brake if used The default setting for GPR2 and GPR2 is DROK or Drive OK The GPR2 contacts close when external 24V DC control power is applied to the Control Power terminals and there are no shutdown faults 9 External AC input power for the cooling fan is required only for 2099 BM09 S 2099 BM10 S 2099 BM11 S and 2099 BM12 S drives The cooling fans on 2099 BM06 S 2099 BM07 S and 2099 BM08 S drives are powered internally 10 Dual 8720MC RPSxxx units use a ribbon cable to connect the master unit to the slave unit control The ribbon cable is included with the slave unit 11 Contact for use with a safety circuit or other system requirement 164 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Appendix B Interconnect Diagrams Power Wiring Examples juauodwio paijddns Jas sa3eotpu y SUOne Iunuuio IAUC O aug pue yeqpaa aunpey Z peqpae pue pasn JI axe1g 1030 L ueJDeip siu ur UMoYs JOU Ing pauinbay suonpeuuo jeuonippy 6 ION 395 vaoz AOvC umoys Buum JY AOZL Suonauuo AOL ZH 09 08 Jamog Ue4 SWY DVA OFZ 10 AOZL aseud ajbuis SL 0L 3nduj aseyd ajbuis Buts jo3u0 ut LW TON 285 x J0De UO aseyg aasy y Duisnj ndu l E 330N 935 5 i nosis g suonauuo aa To SNo EA jndino sng 3q x PH Ul DY SL 0L pue ynduy Jy aseyd aalyy d d z aa a l E T lt 3nduj aseyd aasy g aseud oa1u E S
176. ort T 5 55 Hz 0 35 mm 0 014 in double amplitude continuous displacement 55 500 Hz 2 0 g peak constant acceleration 10 sweeps in Vibration bip each of 3 mutually perpendicular directions Shock 15 g 11 ms half sine pulse 3 pulses in each direction of 3 mutually perpendicular directions 156 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 AC Line Filter Specifications AC Line Reactors Specifications and Dimensions Appendix A Line filters compatible with a Kinetix 7000 drive sourcing input power from an AC power supply are listed below Kinetix 7000 Drive ACLine Filter Cat No Cat No 2099 BM06 S 2090 XXLF TC350 2099 BM07 S 2099 BM08 S 2090 XXLF TC365 2099 BM09 S 2090 XXLF TC3100 2099 BM10 S 2090 XXLF TC3150 2099 BM11 S 2090 XXLF TC3200 2099 BM12 S 2090 XXLF TC3250 Line filters compatible with a Kinetix 7000 drive sourcing input power from a regenerative DC bus with a 8720MC RPS unit are listed below 8720MC RPS Cat No ACLine Filter Manufacturer and Cat No 8720MC RPS065BM HV2 Schaffner FN3100 80 35 Soshin Electric HF3080C TOA 8720MC RPS190BM 8720MC EF190 VB 380 480V 50 60 Hz three phase line reactors compatible with a Kinetix 7000 drive connected to a three phase AC input power source are listed below Table 63 Compatible Kinetix 7000 Drives and AC Line Reactors ce hte 3 Impedance Input Line Reactor 1 5
177. ort circuit protection and when protected by suitable branch circuit protection are rated for use on a circuit capable of delivering up to 200 000 A Fuses or circuit breakers with adequate withstand and interrupt ratings as defined in NEC or applicable local codes are permitted The 2094 BL50 and 2094 BL75S LIMs contain supplementary protection devices but require a customer supplied external line filter See the Line Interface Module Installation Instructions publication 2094 IN005 for power specifications and more information on using the LIM module The Bulletin 140M motor protection circuit breakers are another acceptable means of protection As with fuses and circuit breakers you must make sure that the selected components are properly coordinated and meet applicable codes including any requirements for branch circuit protection When applying the 140M product evaluation of the short circuit available current is critical and must be kept below the short circuit rating of the 140M product 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 See Circuit Breaker Fuse Specifications on page 153 for recommended circuit breakers and fuses See Power Specifications on page 152 for input current and inrush curren
178. osition unwind iBix Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions l Tag l General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Positioning Made Linear x ioo Drive Counts 1 0 Load millimeter Conversion Constant 1000000 0 Based on 1000000 Counts Motor Rev Position Unwind 200000 ounts Motor Rey e La 9 13 Click Apply 14 Select the Drive Motor tab 72 Axis Properties Aris 1 ini xd Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback AuxFeedback Conversion Amplifier Catalog Number psssM6 S YS Motor Catalog Number I 3 2 Change Catalog Loop Configuration Position Servo x Drive Resolution fi 000000 Drive Counts Motor Rev X Calculate Drive Enable Input Checking Drive Enable Input Fault Real Time Axis Information Altibue 1 m 7 gj Attribute 2 nons o a e 15 Click Change Catalog in order to select the appropriate motor for configuration Rockwell Automation Publication 2099 UM001E EN P July 2015 121 Chapter 5 Configure and Start the Kinetix 7000 Drive System 122 16 The Change Catalog Number dialog box appears xi Catalog Number MPL B580F M OK MPL B560F 5 n Cancel Help 3j Filters Voltage Family Feedback Type alb kai x
179. ote FAN R an internal circuit FAN Blower Connections 1 lt Motor Connector Shell 1 SIN BLACK A 1 2 SIN WHT BLACK T COS m 3 RED 3 K lt 4 COS XX WHT RED 4 Motor Feedback 5 DATA GREEN lt lt 5 Motor Feedback MF Connector 1g DATA XX WHT GREEN a 2090 K6CK D15M connector 14 9 kit 6 EOM N WHUGRY PET 7 9VDC ORANGE lt 11 11 TS XX WHT ORANGE i B Thermostat Cable shield clamp must be used to PL meet CE requirements No external O connection to ground required 2090 CFBM7DF CEAAxx or lt lt 2090 XXNFMF Sxx standard non flex or 2090 CFBM7DF CEAFxx or CFBM4DF CDAFxx continuous flex 1 See Customer supplied 24V DC Power Supply Notes HPK series motors on page 178 for important wiring information 2 See HPK Series Motor Blower Connections on page 178 for more information Rockwell Automation Publication 2099 UMOOTE EN P July 2015 177 AppendixB Interconnect Diagrams Customer supplied 24V DC Power Supply Notes HPK series motors e HPK series motors require a customer supplied 460V AC single phase supply rather than a 24V DC supply However the brake current ratings required by HPK series motors are higher than the contact rating of the GPR connector Therefore if using an HPK series motor with a brake it is recommended that a customer supplied external interposing relay or equivalent circuit be used See Figure 85 below e The
180. p 4 Is not sourced from a LIM module 2 3 Apply 324 528V AC 460V input power to the Kinetix 7000 drive R L1 S L2 and T L3 input terminals If used verify that the Kinetix 7000 drive Hardware Enable Input signal IOD pin 2 is off Go to main step 4 4 Observe the seven segment fault status indicator display on the drive The status indicator will first flash the SERCOS node address then cycle through phases until final configuration phase 4 is reached Status The drive is looking for a closed SERCOS ring Wait for phase 1 or take corrective action until you reach phase 1 Do This Check fiber optic connections Displaying a fixed 1 phase 1 The drive is looking for active nodes Wait for phase 2 or take corrective Check node addressing action until you reach phase 2 Displaying a fixed 2 phase 2 The drive is configuring nodes for communication Wait for phase 3 or take corrective action until you reach phase 3 Check program motor and drive configuration against installed hardware Displaying a fixed 3 phase 3 The drive is configuring device specific parameters Wait for phase 4 or take corrective action until you reach phase 4 Check motor catalog number against selection 1 Displaying a fixed 4 phase 4 The drive is configured and active Go to step 5 Flashing an E followed by two numbers Drive is faulted Go to Error Codes on pag
181. possible shock hazard from cross coupled drive motor leads Routing the Power and Signal Cables Be aware that when you route power 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 communication or other sensitive low voltage signals This can cause system faults and communication problems See Minimizing Electrical Noise on page 28 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 RMO001 for more information Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Connect the Kinetix 7000 Drive System Chapter 4 Determine the Input Power Before wiring input power to your Kinetix 7000 drive system you must Confi gur ation determine the type of input power within your facility The drive is designed to operate in both grounded and ungrounded environments ATTENTION When you are using a LIM module with your Kinetix 7000 drive N the AC line input power must come from a grounded power configuration When you are not using a LIM module with your Kinetix 7000 drive ungrounded corner grounded and impedance grounded input power configurations are permitted but you must set the ground jumper as indicated in Table 32 In addition set the ground jumper when an active converter supplies the DC
182. put voltages of the Sine or Cosine 0 5V p p 2 0V p p Input Voltage inputs Table 28 Specifications for Heidenhain EnDat Encoders Command Set Order Description Designation EnDat 2 1 EnDat 01 1V p p Sin Cos 2 MHz dock frequency Auxiliary Feedback AF These requirements apply to the Auxiliary Feedback signals e For TTL devices the position count increases when A leads B e For sinusoidal devices the position count increases when cosine leads sine e TTL devices must be 5V devices within the input voltage specification e Use the Low Profile Connector Kit catalog number 2090 K6CK D15F to access the Auxiliary Feedback signals You must supply cabling that has shielding and other EMI protection for motor feedback cables Feedback Power Supply The power circuit board generates the 5V and 9V DC for the motor and auxiliary feedback power supplies Short circuit protection and separate common mode filtering for each channel is included e MPx B and HPK B and E motors all use 9V power sources from the MF connector e Compatible Auxiliary Feedback devices include Stegmann Hiperface Sine Cosine and 5V TTL encoder types Note Heidenhain EnDat 2 1 encoders are only compatible when using the 2090 K7CK KENDAT feedback module however an interface module does not exist for the auxiliary encoder input Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Kinetix 7000 Connector Data Chapter 3 e See t
183. r E71 DriveHardFault RAM or flash memory validation failure If fault persists replace module The drive fan failed Replace the failed module The cabinet ambient temperature is above Check the cabinet temperature See System Design rating Guidelines on page 22 DriveOvertemp Fault Inverter thermal switch The machine duty cycle requires an RMS x Drive Overtemp tripped current eed the connote rating of Change the command profile to reduce speed or the controller increase time The airflow access to the Kinetix 7000 drive is Check airflow and remove any fan blockage limited or blocked initializati Reset System E76 DriveHardFault Peri ca Control board hardware failure alir gerecteg If fault persists replace system module i Cycle power E78 DriveHardFault Control hardware fault detected Sercos Init If fault persists replace module i A to D conversion state machine error E80 DriveHardFaul Control hardware fault detected CPLD Fit If fault persists replace module Check for proper drive sizing E109 IGBT_TempFault Junction temperature of Insulated Gate Bipolar Transistor exceeded Install larger kW rated drive E110 EEPROM Fault EEPROM failed EEPROM data corrupted or bus not calibrated If fault persists replace module Check error displays on RPS and troubleshoot per E111 Regen_PS_OK The Regen_OK signal is missing at pins 7 and 8 of the GPIO connector EMON Message Reset system All others RESERVED 144 Rockwel
184. r 17 Registration 2 Input Reg_2_In 5 Home Switch Input Home_Switch_In 18 Registration 2 Common Reg_2_Com 6 Home Common Home_Switch_Com 19 Differential Analog Channel 1 Input Analog_Input_1 7 Drive supplied 24V DC Pos Overlravel Pwr 20 Differential Analog Channel 1 Common Analog Input 1 Ret 8 Positive Overtravel Limit Switch Input Pos Overlravel In 21 Differential Analog Channel 2 Input Analog Input 2 9 Positive Overtravel Common Pos Overlravel Com 22 Differential Analog Channel 2 Common Analog Input 2 Ret 10 Drive supplied 24V DC Neg OverTravel Pwr 23 Programmable Analog Channel 1 Analog Out 1 Output 11 Negative Overtravel Limit Switch Input Neg OverTravel In 24 Analog Channel 1 Common Analog Out 1 Ret 12 Negative Overtravel Common Neg OverTravel Com 25 Programmable Analog Channel 2 Analog Out 2 Output 13 Drive supplied Registration 1 Output Reg 1 Pwr 26 Analog Channel 2 Common Analog Out 2 Ret Power IMPORTANT The Drive supplied 24V DC and Common source signals at pins 1 3 4 6 7 9 10 and 12 can only be used for the inputs listed above Rockwell Automation Publication 2099 UMOOTE EN P July 2015 45 Chapter 3 46 Kinetix 7000 Connector Data General Purpose 1 0 GPIO Terminal Block Connections The following diagram and table provide the orientation and signal description for the General Purpose Input Output terminal block Figure 21 Orientation for General Purpose 1 0 GPIO Terminal Block s SE NS Wy Xk
185. refer to the AC Line Filter Specifications on page 157 See Establish Noise Zones on page 30 for wire routing guidelines 4 Contactor coil M1 needs integrated surge suppressors for AC coil operation Refer to the Contactor Ratings on page 154 for more information 5 The default configuration for the ground jumper is for grounded power at the customer site Ungrounded impedance grounded high resistive grounded B phase grounded or common DC bus power distribution system sites must disconnect the protective MOVs and Common Mode Capacitors to guard against unstable operation and or drive damage Refer to Determine the Input Power Configuration on page 75 for more information reference international standards EN 1050 and EN 954 estimation and safety performance categories For more ATTENTION Implementation of safety circuits and risk assessment is the responsibility of the machine builder Please information refer to Understanding the Machinery Directive publication SHB 900 7 Use of an external 24V DC control power supply is recommended for energizing the main control board This allows the SERCOS ring to remain active when main power is removed The main control board is powered from the DC bus during drive operation and can be used in this manner if necessary 8 The General Purpose Relay outputs on the Kinetix 7000 drive are configured as follows GPR1 and GRP1 have noise suppression circuitry and should be used for the mot
186. renced to ground Disconnect the protective MOV devices and capacitors if the drive has an ungrounded impedance grounded or corner grounded power configuration where the line to ground voltages on any phase exceeds 125 of the nominal line to voltage must be disconnected if the drive has an ungrounded impedance grounded or ATTENTION To avoid unstable operation and or drive damage these devices corner grounded power configuration Ungrounded systems do not reference each phase potential to a power distribution ground This can result in an unknown potential to earth ground A Kinetix 7000 drive application using an active converter for DC bus voltage is considered an ungrounded power distribution system Figure 47 Ungrounded Power Wiring i a o C ale C q 2099 BM08 S Shown with Lower PAETE ETETE z see Front Panel Removed olololololo Stololo q Conduit 4 Wire Cable Three Phaselnput 1 VAC J Ground J Bonded Cabinet LY Ground Ground Grid or Power to Ground Stud Distribution Ground Rockwell Automation Publication 2099 UM001E EN P July 2015 Set the Ground Jumper in Select Power Configurations Ground Configuration Grounded wye Connect the Kinetix 7000 Drive System Chapter 4 Setting the ground ju
187. rical noise reduction see the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 18 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Start Chapter 1 CE Requirements System without LIM To meet CE requirements when your Kinetix 7000 system does not use a 2094 line interface module to supply AC line and DC control power the following requirements apply Install an 8720MC RF180 line filter as close to the 8720MC RPS unit as possible and the AC line filter 2090 XXLF T Cxxxx as close to the Kinetix 7000 drive as possible For MPx motors use 2090 series motor power cables or use connector kits Terminate cable shields at the chassis and the motor terminal block with a 360 connection For HPK Series motors use UL Approved 4 wire 600V AC shield VFD cabling Terminate cable shields at the chassis and the motor with a 360 connection Combined motor power feedback cables must not exceed 90 m 295 3 ft Use 2090 series motor feedback cables or connector kits and terminate the feedback shield as shown in Chapter 4 for wiring instructions and Appendix B for motor feedback connector kit catalog numbers Drive to motor feedback cables must not exceed 90 m 295 3 ft Install the Kinetix 7000 system inside an enclosure Run input power wiring in conduit grounded to the enclosure outside of the enclosure Separate signal and power cables Output power control I O and signal wirin
188. rive to start and stop the motor can cause drive hardware damage The drive is designed to use control input signals that will start and stop the motor If an input device is used operation must not exceed four cycles per minute maximum or damage will occur to the drive precharge circuit The start stop enable control circuitry for the drive includes solid state components If hazards due to accidental contact with moving machinery or unintentional flow of liquid gas or solids exist an additional stop circuitry may be required to remove the AC line to the drive An auxiliary braking method also may be required IMPORTANT contactor cycling Rockwell Automation Publication 2099 UMOO1E EN P July 2015 Itis recommended that the drive safe off function be used to minimize 87 Chapter 4 88 Connect the Kinetix 7000 Drive System Power Wire Specifications 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 For additional information see Power Specifications on page 152 and Interconnect Diagram Notes on page 164 for interconnect diagrams 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 ATTENTION This driv
189. s and RDD Series RDD Series direct drive motors Cables Motor Power Feedback and Bulletin 2090 motor power brake and feedback cables are available with bayonet threaded and SpeedTec connectors Brake cables Power brake cables have flying leads on the drive end and straight connectors that connect to servo motors Feedback cables have flying leads that wire to low profile connector kits on the drive end and straight connectors on the motor end Large power motors may require user power wiring to handle larger current requirements Communication Bulletin 2090 SERCOS fiber optic cables are available as enclosure only PVC nylon and glass with connectors at both ends AC Line Filters 2090 XXLF TCxxxx Bulletin 2090 XXLF TCxxxx three phase AC line filters are required to meet CE and available for use in all Kinetix 7000 drive systems Line Interface Module 2094 BL50 75S or 2094 XL75S x The line interface module LIM contains the circuit breakers power supplies and safety contactor required for Kinetix 7000 operation Individual components can be purchased separately in place of the LIM External Shunt Modules NA See External Shunt Modules on page 158 for active shunt solutions from Rockwell Automation Encompass Partners and intended for use with Kinetix 7000 drives 1 See the Kinetix Safe off Feature Safety Reference Manual publication GMC RM002 for more information 12 Rockwell Aut
190. s above limits Bus Overvoltage E10 The trip point is 800V DC for 460 drives SHUTDOWN No S E11 State of Hall feedback inputs in incorrect DISABLE DRIVE No SoftOvertravelFault E16 Axis position exceeded maximum software setting in the positive negative direction STOP MOTION Soft Yes Software Overtravel This fault can be configured for status only Overtravel OverSpeedFault E18 Axis speed has reached 150 of the maximum rated setting The 100 trip point is DISABLE DRIVE No Overspeed Fault dictated by the lesser of the user velocity limits or the motor rated base speed icri A E19 Axis position error limit has been exceeded This fault can be configured for status only ee Yes MEET E20 Motor encoder has encountered an illegal state transition DISABLE DRIVE No AuxFeedbackFault Communication was not established with an intelligent Stegmann encoder on the Aux Feedback Comm E21 Auxiliary feedback port STOP MOTION No DriveOvertempFault DISABLE Drive Overtemperature Fault E23 An IPM thermal protection fault occurred Drive Thermal Yes MotFeedbackFault Communication was not established with an intelligent Stegmann encoder on the Motor Feedback Comm E30 motor feedback port STOP MOTION No reer ia EM Excessive ground current in the converter was detected SHUTDOWN No Perche an E35 The converter precharge cycle has failed SHUTDOWN No PowerPhaseLossFault One or more phases of the input AC power is missing SHUTDOWN STOP Phase Loss Fl
191. scribed in the 8720MC Regenerative Power Supply Installation Manual publication 8720MC RM001 and setting of the power tab in RSLogix 5000 software is set to the IMPORTANT appropriate bus regulator catalog number Common mode capacitors should be disconnected on DC common bus drives Rockwell Automation Publication 2099 UMOOTE EN P July 2015 166 Appendix B Interconnect Diagrams Figure 74 8720MC RPS065BM Regenerative Power Supply to a Single Kinetix 7000 Drive Ssuone iunuluo pue o aAJQ Jamo pue pasn jl ayerg peqpae 1010 7 49M0d 0300 Jq AvC t L urejbelp si ur uwous JOU nq pauinbad suorpauuoo euonippy x UO Sd LUYIS xd OLS LW re RC mx a imei emm BU ue1s dois du Juauodwio paijddns Jasp se1eotpuj y 910N S ZH 0S SWH OV A08 ZH 0S SWH DY A08 9651 01 indu seyd Ly L dd 9 T_ n6 S 8 pue 9 sajon 235 ud5 Y 310N 295 ENON 226 OW Qn e gau H 0C DW aseyd ajous lt 7 i IW AFC NCL tud WO Arc i a peuo TIANA u T fejyijnej Lud 318vN3 Ave AY Xnv 1 L 0 1 10140 aol uogow dl Xnv ci Wo Xnv L1 e
192. ssis PCI Card ControlLogix chassis is shown Kinetix 6000 8 axis power rail m Receive Transmit Tess SERCOSFibe optic Ring a cue N A Kinetix 7000 1 d 2 axis mu cam amm ry k n 10 Drive axis 2 Node Address 09 Drive axis 1 Node Address r 08 Not Used AM rightmost slot 7 AM axis 4 Node Address L 06 Not Used AM rightmost slot 05 AM axis 3 Node Address m 04 Not Used AM rightmost slot 03 AM axis 2 Node Address 02 Not Used IAM rightmost slot 01 IAM axis 1 Base Node Address In this example a Kinetix 6000 8 axis power rail contains a double wide IAM and three double wide AMs The leftmost slot of a double wide module determines the node address So in the example above node addresses 02 04 and 06 the rightmost slots of the double wide modules are not used The Kinetix 7000 2 axis drive system contains two drives The base node address of the system must be set for an address of 2 9 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 111 Chapter5 Configure and Start the Kinetix 7000 Drive System Configure the Logix SERCOS interface Module 112 This proc
193. standard non flex standard non flex 2090 CPWM7DF xxAFxx U 2090 CPBM7DE xxAFxx continuous flex continuous flex RDD Series Circular DIN RDB Bxxxx N A 2090 CPWM7DF xxAAxx standard non flex 2090 CPWM7DF xxAFxx continuous flex HPK Series N A HPK Bxxxxx HPK Exxxxx Customer supplied 1 You must remove the motor side o ring when using 2090 CPxM7DF xxAxxx cables 2 For Bulletin MPL motors equipped with bayonet connectors These cables are available as standard non flex catalog number 2090 XXNPMP xxSxx and continuous flex catalog number 2090 XXTPMP XXSXX Motors may have a separate brake connector or need routing of thermal switch wires These are often separately shielded and routed in an existing cable See Wiring Examples beginning on page 164 for interconnect diagrams and the Power Terminal Block PTB Connections diagram on page 51 for the location of the U V W and ground PE motor power terminals IMPORTANT improve stress relief Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Securing the cable shield in the clamp with a tie wrap is recommended to 85 Chapter4 Connect the Kinetix 7000 Drive System Input Power Wiring Requirements 86 National codes and standards NEC VDE BSI etc and local codes outline provisions for safely installing electrical equipment Installation must comply with specifications regarding wire types conductor sizes branch circuit protection and
194. stick ia Curent Folder c proge Tyconiro1 Show Al Heini au Nes Cancel Help Select the new firmware from the list or browse for it using the Current Folder option 9 Click Next 10 Confirm the catalog number and serial number of the drive and its current revision and new revision of firmware Summary DANGER The target module is about to be update wih nev imreas During the update the module wil be unsble to pesiorm its normal cortrol i function Please make sure that al processes Control alieched by this equipment have been suspended and that al safety critical function are not alleched To abor frs linmvare update press der To begin the update now pess nah Catalog Number 2089 BMOG Serial Number 00000000 Curent Revsi 1 90 New Revisor 1 90 Mere Into 11 Click Finish 184 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Upgrade Firmware Appendix C 12 Click Yes to confirm updating of the target device Summary DANGER The target module is about to be update vafi new lmmsase During the update the module wil be unsble to pesform its nomal corirel function Please make sure that al processes elected by this equipment have been suspended Feist Are you sure you want to begin lt updating the target device Exwazr Ese More Into 13 Click OK to acknowledge the Motion Stop notice PN Flashing the Orive Wil Cause All Motion to Stop on the SERCOS Ring
195. sumed 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 WARNING 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 ATTENTION 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 P IMPORTANT Identifies information that is critical for successful application and understanding of the product Labels may also be on or inside the equipment to provide specific precautions SHOCK HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present BURN HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures ARCFLASH HAZARD Labels may be on or inside the equipment for example a motor control center to alert people to potential Arc Flash Arc Flash will cause s
196. t E37 e Axis was enabled when main three phase power was removed MOTION No Common bus follower axis was enabled when DC bus power was removed CSEACOS hing Fy E38 The SERCOS ring is not active after being active and operational STOP MOTION No miei E39 Self sensing commutation fault detected DISABLE DRIVE No DriveEnablelnputFault E43 Generated when Enable input switches off when drive is enabled STOP MOTION Yes Drive Enable Flt P i DriveHardFault Safe off function mismatch Drive will not permit motion Refer to the Kinetix Safe off Safe Off HW Fit E49 Feature Safety Reference Manual publication GMC RM002 for more information Only SHUTDOWN No applies to drives with Safe off feature rane ADDR E50 Duplicate node address detected on SERCOS ring STOP MOTION No unpaid E54 Current feedback hardware fault detected SHUTDOWN No Rockwell Automation Publication 2099 UMOOTE EN P July 2015 149 Chapter 6 Troubleshoot the Kinetix 7000 Drive System Logix Fault Message Error Description Drive Fault Action RSLogix HIM Code Attribute Programmable Fault Action AuxFeedhackFault E61 Auxiliary encoder has encountered an illegal state transition DISABLE DRIVE No Aux Fdbk AQB AuxFeedbackFault E62 The feedback wiring is open shorted or missing DISABLE DRIVE No Aux Fdbk Loss AuxFeedbackNoise m E63 Presence of noise on auxiliary feedback cable Aux Fdbk Noise MotorFeedbackNo
197. t specifications for your Kinetix 7000 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 23 Chapter2 Install the Kinetix 7000 Drive System r Component Details Summary Motor Drive Motor Enclosure Selection To assist you in sizing an enclosure the following example is provided The example system consists of the following components e 2 axis Kinetix 7000 servo drive system e ControlLogix chassis and modules Size the Kinetix 7000 servo drive using Motion Analyzer software version 4 2 or later and use the results to predict the amount of heat dissipated into the enclosure You will also need heat dissipation data from other equipment inside the enclosure such as ControlLogix Once the total amount of heat dissipation in watts is known the minimum enclosure size can be calculated It is recommended that you also contact the enclosure manufacturer for the best enclosure fit including possible cooling methods to help reduce enclosure size Using Motion Analyzer to Determine Heat Dissipation To obtain Motion Analyzer software go to http ab rockwellautomation com Motion Control Motion Analyzer Software Complete the Motion Analyzer Axis View data to find an acceptable Kinetix 7000 drive and motor solution to meet the application needs In the Axis View Solutions window find the Drive Capacity value In this example the 2099 BM11 S Drive Capacity characteristic can be used for the estimation of
198. t Diagram 1 1 sav oc 10D 13 0r 16 i 1 0 SUPPLY gt VCC 1 10D 14 or 17 1 INPUT T D KQ 3kQ 0 001 uF 51Q y Do4 REG INPUT io COM 10D 15 or 18 HCPL 0631 J 2 Customer Supplied Kinetix 7000 Drive Registration Input Device 1 1 24V DC source range 21 6V 26 4V supplied by the drive not to exceed 300 mA total Maximum current input 10 mA Rockwell Automation Publication 2099 UMOOTE EN P July 2015 59 Chapter3 Kinetix 7000 Connector Data Analog Inputs IOD Connector IMPORTANT RSLogix 5000 software version 15 does not support analog input utilization Two analog inputs are provided with 14 bit resolution 13 data bits plus sign The analog data streamed to RSLogix by these inputs is useful for managing dynamic machine operations for example tension transducers in an outer tension control loop The input range of these inputs is 10V and overvoltage protection is 12V Inputs are updated at the drive every 125 us Frequency response of the input is up to 4 kHz and input impedance is 12 kQ Analog inputs are available as a real time attribute and Get System Value GSV within RSLogix software ATTENTION Gain and offset attributes are not provided for the Analog Inputs input signals and no drive faults are issued The schematic below depicts the Analog Input circuits It is provided as a reference only Figure 37
199. t New Axis 6 Select an Axis Servo Drive SERCOS controlled axis The New Tag dialog opens Name XN DK Description ES Cancel Help Usage normal 7 Type Bae Connection Alias For Data Type axiS_SERVO_DRIVE f Scope FE Kinetix 7000_Statup z External Readwite TES Read Write X Style M T Constant penAXIS SERVO DRIVE Configuration 7 Type Axis 1 or the name of your axis in the Name field Axis Servo Drive is the correct Data Type 8 Click Ok 9 Repeat steps 5 and 6 above for the Axis 1 Aux Feedback Only axis 10 Right click on the Motion Group name created and select Properties inixi BF Motion Group Properties UM_Moti Asis Assignment Attribute Tag Unassigned Assigned Axis_1 Axis_1_Aux Add gt lt Remove Cancel Apply Help Rockwell Automation Publication 2099 UMOO01E EN P July 2015 17 Chapter 5 Configure and Start the Kinetix 7000 Drive System 118 Both Axis_1 and Axis_1_Aux are Assigned to the Motion Group This means both axis will be part of the SERCOS and Motion planner updates from to the controller SERCOS card drive 11 Open the Attribute folder 12 Motion Group Properties Ut ioj xj Axis Assignment Attribute Tag Coarse Update Period 2o a ms in 0 5 increments Auto Tag Update Enabled General Fault Type Non Major Fault Scan Times elapsed time Max us Last
200. t wiring information 2 See MP Series Bulletin MPL Motor Connectors on page 84 for more information on bayonet and circular DIN connectors 3 See Wire Low profile Connectors on page 100 for more information on grounding feedback cables when using low profile connectors 174 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Interconnect Diagrams Appendix B Customer supplied 24V DC Power Supply Notes e The contact connected to GPR1 and GPRI is rated 2 Amps inductive 250V AC 30V DC maximum e MPx motors with a brake have various coil current requirements Refer to the Kinetix Motion Control Selection Guide publication GMC SG001 for coil current requirements e For motors that utilize above 2 Amp coil current it is recommended that a customer supplied external device such as an interposing relay be used between the drive and motor See Figure 82 below e Acustomer supplied diode or metal oxide varistor MOV is recommended for use with an interposing relay to prevent an electrical arc that may occur before the brake coil power dissipates Use of an MOV can also reduce the amount of time required to mechanically engage the brake See Figure 82 below Figure 82 Customer supplied 24V DC Power Supply Wiring Example Kinetix 7000 Dashed lines MPL Motor Drive denote customer supplied components C BR A BR 3 Rockwell Automation Publication 2099 UM001E E
201. ted for 360 at the drive Rockwell Automation Publication 2099 UMOOTE EN P July 2015 83 Chapter 4 1 2 84 Connect the Kinetix 7000 Drive System Wire Restraint Figure 53 Power Cable Shielding Techniques Recommended for Kinetix 7000 Drives Conduit or Cable Braid Clamped at Drive Frame Provides 360 Shield Termination Drive Clamp Also Connects to the Nearest Available Bonded Cabinet Ground Enclosure Junction Box Beneath Drive 2099 BM10 S Enclosure Clamp Terminates 2099 BM11 S and 360 Shield at Enclosure 2 2099 BM12 5 Only Metallic Conduit with Wires For examples of shield clamp attachment see the System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 Conduit in Contact with Clamp 9 Cable Shield Under lt q ERE G Clamp Cable with Braided Shield Three phase Power with Ground If enclosure is painted remove paint to provide metal to metal contact Bayonet Connectors with Brake MP Series Bulletin MPL Motor Connectors Bulletin MPL motors equipped with circular DIN connectors specified by 7 in the catalog number are not compatible with cables designed for motors equipped with bayonet connectors specified by 2 in the catalog number The motors with bayonet connectors are being discontinued Bayon
202. terature Rockwell Automation maintains current product environmental information on its website at http www rockwellautomation com rockwellautomation about us sustainability ethics product environmental compliance page Rockwell Otomasyon Ticaret A S Kar Plaza Is Merkezi E Blok Kat 6 34752 erenk y stanbul 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 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 Publication 2099 UM001E EN P July 2015 Supersedes Publication 2099 UM001D EN P December 2012 Copyright 2015 Rockwell Automation Inc All rights reserved Printed in the U S A
203. the Rated Power Output used for the percentage of watts dissipated y Axis Setup y Cycle Profile x Mechanism x Transmission Stages Selection Solutions Axis Stop x Configure Axis BOM Axis System Performance Torque Speed Power Speed Load Thermal RBM Power Supply Motor Capacity Temp Peak Speed Peak Torque Brake Rating Inertia Ratio Drive AC3ph 480 10 10 Drive Capacity Temp Average Current Peak Current Bus Utilization Gearbox 24 Mitadrant Taras Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Install the Kinetix 7000 Drive System Chapter2 Table 2 Kinetix 7000 System Heat Dissipation Example Enclosure Description Loading 1 Heat Dissipation 2 Component Motion Analyzer Watts 2099 BM08 S Kinetix 7000 Servo Drive 50 452 2099 BM11 S Kinetix 7000 Servo Drive 50 1275 Total Wattage of Kinetix 7000 system 1727 1 Loading determined using Motion Analyzer software 2 To determine heat dissipation specifications for the Kinetix 7000 drive see Power Dissipation Specifications on page 154 Table 3 ControlLogix Heat Dissipation Example Enclosure Description Backplane Power Load Heat Dissipation Component Watts Watts 1756 M08SE 8 axis SERCOS interface module 3 2 0 0 1756 15563 L63 ControlLogix processor 4 5 0 0 1756 IB16D 16 point input module 0 8
204. the SERCOS Module Follow these steps to configure the SERCOS module 1 Right click on I O Configuration in the Controller Organizer and choose New Module The Select Module dialog box opens Wi Select Module 4 Digital G Drives Motion 1756 HYD02 2 Axis Hydraulic Servo Allen Bradley 1756 MO24E 2 Axis Analog Encoder Servo Allen Bradley 1756 M02AS 2 Axis Analog SSI Servo Allen Bradley 1756 M035E 3 Axis SERCOS Interface Allen Bradley 1756 M08SE 8 Axis SERCOS Interface Allen Bradley 1756 MO8SEG 8 Axis Generic SERCOS Interface Allen Bradley 1756 M165E COS Interface Allen Bradley 6 Other E Specialty 3 Add Favorite By Category By Vendor Favorites A 2 Expand the Motion category and select 1756 MxxSE 1756 L60M03SE 1768 MO4SE or 1784 PMI6SE as appropriate for your actual hardware configuration In this example the 1756 M16SE module is selected 3 Click OK The New Module dialog box opens New Module Type 1756 M16SE 16 Axis SERCOS Interface Vendor Allen Bradley Name SERCOS shot E a Description Revision e i a Electronic Keying Compatible Keying Ww pen Module Properties Configure the module a Type the module Name b Enter the Logix SERCOS module slot leftmost slot 0 c Check Open Module Properties 5 Click OK Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Configure and Start the Kinetix 7000 Drive System Chapt
205. the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 Bonding Modules Bonding is the practice of connecting metal chassis assemblies frames shields and enclosures to reduce the effects of electromagnetic interference EMI Unless specified most paints are not conductive and act as insulators To achieve a good bond between the drive and subpanel surfaces need to be unpainted or plated Bonding metal surfaces creates a low impedance return path for high frequency energy IMPORTANT To improve the bond between the drive and subpanel construct your subpanel out of zinc plated unpainted steel Improper bonding blocks the direct return path and routes high frequency energy to elsewhere in the cabinet Excessive high frequency energy can effect the operation of other microprocessor controlled equipment Figure 8 shows details of recommended bonding practices for painted panels enclosures and mounting brackets Rockwell Automation Publication 2099 UMO01E EN P July 2015 Install the Kinetix 7000 Drive System Chapter2 Figure 8 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 allot Mounting Bracket or j Enclosure Ground Bus Subpanel N Welded Stud Star Washer Scrape Paint Flat Washer Use a wire brush to remove paint from threads to maximize ground connect
206. tion Publication 2099 UMOOTE EN P July 2015 13 Chapter1 Start Figure 2 Kinetix 7000 System Configuration without Line Interface Module LIM RSLogix 5000 Software Input Logix 5000 Controller Output 1756 MxxSE SERCOS Interface Module ControlLogix Chassis Commissioning Safe off 4 General Purpose 1 0 Y 2090 SCox x General Purpose Relay SERCOS Fiber Optic Ring connections C Insee 2099 BMwx S Kinetix 7000 Drive Input Power a i JG 2090 K6CK Dxxx Low Profile Connector Kits for 1 0 Motor Feedback and Auxiliary Feedback Input Fusing i 1606 XLox 24V DC Control Power Input OISSISIO Control Power Supply Contactor a Input e TO 2090 XXLF TCxxxx AC Line Filter Encoder External Shunt Module optional component Feedback See External Shunt Modules on page 158 for more Cable information Motor Power Cable HPK Series Motors RDD Series Direct Drive Motors MPM C B165xx and MPM B215xx and MPL B5xxx MPL B6xxx MPL B8xxx and MPL B9xxx shown Servo Motors Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Start Chapter 1 The Kineti
207. tomer supplied 3 DO 24VDC 2 4 Digital Out 2 Optically isolated to 500V current sourcing up to 75 mA 24 40V DC 0 25 mA 5 Reserved 6 The two DC current sourcing outputs default settings are Zero Speed Digital Out 1 and In Position Digital Out 2 Zero Speed is the motor at 0 rpm velocity In Position can be set to the commanded position by the Position Lock Tolerance set in Axis Properties Limits Default parameter selections can also be set with an IDN function Figure 39 General Purpose 1 0 Digital Output Diagram Dig Out 1 1kQ DO 24VDC 1 lt ZVN KE Digital_Out_1 lt Dig_Out_2 1kQ X KI DO 24VDC 2 lt 0 1 UF E 332kQ K 10 Q AVANAN Digital_Out_2 lt Rockwell Automation Publication 2099 UMOOTE EN P July 2015 63 Chapter3 Kinetix 7000 Connector Data The regenerative power supply OK provides status on the regenerative converter in doing so provides status to the Kinetix 7000 drive that there is DC bus power Selecting the 8720M C RPSxxx on the Power tab in the Kinetix 7000 drive I O configuration in RSLogix requires the customer to provide a 24V DC power source to GPIO pins 7 and 8 as shown in Table 22 and in the interconnect diagrams in Appendix B A failure to do so will cause a Regen PS OK E111 fault which indicates that he Regen OK signal is missing at pins 7 and 8 of the GPIO connector Kinetix 7000 drive firmware provides an additional 50 ms d
208. tor catalog number Common mode capacitors should be disconnected on DC common bus drives Rockwell Automation Publication 2099 UMOOTE EN P July 2015 170 Appendix B Interconnect Diagrams Figure 78 8720MC RPS190BM Regenerative Power Supply to a Single Kinetix 7000 Drive suonexrunuiuio pue Q ING E Jamog pue pasn ji ayeig yeqpaa 10104 Z JaMOd OUD JG AbZ L uiejDeip SIY ur uwous Jou yng pannba suorauuo euonippy xD fet voles UO SdY 1YYIS xdOLS LW Buns wers dors sdy 93H 9Ur JY aseyd ajbuis u sxy 288 660 9NJQ 0002 XHOUly 8 pue 9 sajoN 235 add r LLAN 235 0 11030 WO AvC uonow NYI 1 XN dol H ma peuo ENO yd Aejayyney EAbT AQu vai di I Wo edd YO N3038 d NC Qd WO N3934 m M TU 1 Olas D E MA xnv a Xv L1 eal m suopau 20 J0 suomouw 900L 0LU1 WOC 8 sng 0 e 30 sng a 10pe y aul
209. tor feedback wiring Logix Drive Fault Behavior These RSLogix 5000 fault actions are configurable from the Axis Properties dialog box Fault Actions tab Table 57 Drive Fault Action Definitions Drive Fault Action Definition Shutdown The drive is disabled and the contactor enable relay opens An uncontrolled stop occurs and the motor coasts to a stop Disable Drive The drive is disabled An uncontrolled stop occurs and the motor coasts to a stop Logix configuration for velocity loop Kp Ki is followed When zero speed is reached or Stop Motion stopping time is exceeded the drive is disabled Stopping time and stopping torque are configurable parameters in RSLogix 5000 software Status Onl Drive continues to operate Status is provided by the seven segment status indicator drive y status indicator and DPI if used Only selected faults are programmable In Table 58 on page 149 the controlling attribute is given for programmable fault actions Figure 68 RSLogix 5000 Axis Properties Fault Actions Tab Example Axis Properties rem General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag z Set Custom Stop Action Drive Thermal Disable Drive x Drive Fault Action Attribute for a Tieni Bann otor ermal v Motor Overtemp fault E04 sia Feedback Noise
210. tration END Axis K7k axis DN Motion Control KIK reaistration CER Trigger Condition g IP Windowed Registrps osivo Ede ee PC Min Position Negative Edge Max Position Input Number The MAR instruction captures position data within a 3 us uncertainty The position is directly input to the axis servo drive Registration Position register in Logix software Figure 35 Logix Position Register Entry K7k axis Registration Position 0 0 Float REAL K7k_axis Registration2Position 0 0 Float REAL Power for the inputs is supplied by an internally supplied 24V DC supply See Table 19 Digital Input Descriptions and Table 20 Digital Input Specifications starting on page 54 for On Off signal voltages and current levels Registration functions and faults actions are programmed through RSLogix software Kinetix 7000 firmware provides an additional 50 ms of debounce ATTENTION Overvoltage protection is not provided for the Registration input N signal It is recommended to use the on drive power to power Registration If an external power source is used you must take responsibility to be sure that the voltage current does not exceed the rating of the input The schematic below depicts the Registration circuits It is provided as a reference only Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Kinetix 7000 Connector Data Chapter 3 Figure 36 Registration Digital Input Circui
211. ts rated temperature If it is set to Stop Motion or Status Only the drive will not fold back the current The PT calculation never generates a fault 150 Rockwell Automation Publication 2099 UMOO1E EN P July 2015 Appendix A Specifications and Dimensions This appendix provides product specifications and mounting dimensions for your Kinetix 7000 system components Topic Page Power Specifications 152 Power Dissipation Specifications 154 General Specifications 155 AC Line Filter Specifications 157 AC Line Reactors 157 External Shunt Modules 157 Precharge Capacities of the Regenerative Power Supply 159 Product Dimensions 159 Rockwell Automation Publication 2099 UMOO1E EN P July 2015 151 AppendixA Specifications and Dimensions Power Specifications Attribute ACinput voltage This section contains power specifications for the Kinetix 7000 drive 2099 BM07 S 2099 BM08 S 2099 BM09 S 2099 BM10 S 2099 BM11 S 342 528V AC rms three phase 380 480V nom 2099 BM06 S 2099 BM12 S AC input frequency 47 63 Hz Bandwidth Velocity loop 500 Hz 500 Hz Current loop 1300 Hz 500 Hz PWM frequency 4kHz 2kHz Main AC input current Nom rms 367A 47 7 A 59 6 A 90 1 A 117A 169A 233A DC input voltage 450 750V DC DC input current 42 9 A 55 7 A 69 7 A 105A 137A 204A 281A Control power input Voltage 18 30V DC 24V DC nom Control power DC input c
212. ublication 2099 UMOOTE EN P July 2015 Connect the Kinetix 7000 Drive System Chapter 4 Extern al Shunt Module External active shunt modules listed in the table on page 158 are compatible with Kinetix 7000 drives Follow these guidelines when wiring your external active Connections shunt module kit e Refer to Shunt Resistor on page 37 for important wiring recommendations e Refer to Appendix B for the Kinetix 7000 drive interconnect diagrams e Refer to the installation instructions provided with your shunt module IMPORTANT When tightening screws to secure the wires to the DC bus terminals see Table 37 on page 91 for torque values SERCOS Fiber optic Cable b n n have m s or d card and Kinetix 7000 drive mounted and are ready to connect the fiber optic Connections is The SERCOS fiber optic ring is connected using the SERCOS receive Rx and transmit Tx connectors See page 65 to locate the SERCOS connectors on your Kinetix 7000 drive See the figure below to locate the connectors on your SERCOS interface module or PCI card Plastic cable is available in lengths up to 32 m 105 ft Glass cable is available in lengths between 50 m 164 ft and 200 m 656 ft IMPORTANT When connecting Kinetix 7000 drives use at least a 2090 SCEP1 0 1 m 3 ft or longer cable Larger drives may require longer cables Rockwell Automation Publication 2099 UMOOTE EN P July 2015 103 Chapter4 Connect the Kinetix 7000 Drive System
213. ules 108 Configure the Logix SERCOS interface Module 112 Apply Power to the Drive 128 Test and Tune the Axes 131 Configure Drive Parameters and System Variables 136 Before you begin make sure you know the characteristics of the following system components e Logix processor e Logix module s including the SERCOS module e Kinetix 7000 drive s and accessories e Servo motor s actuator s e transmission load for the conversion constant Rockwell Automation Publication 2099 UMOO1E EN P July 2015 107 Chapter5 Configure and Start the Kinetix 7000 Drive System Configure the Drive Modules Follow these steps to configure the Kinetix 7000 drive 1 Verify that there is no power applied to the drive and that the SERCOS fiber optic cables are plugged into the Tx and Rx connectors To verify your fiber optic cable connections refer to page 103 2 Set the base node address for the drive by setting the SERCOS Node Address switch Valid node addresses are 01 99 The left hand switch sets the most significant digit MSD and the right hand switch sets the least significant digit LSD Refer to the table and figure below for switch operation Table 49 Node Addressing Switch Settings To Press Increment the MSD LSD node address The plus switch Decrement the MSD LSD node address The minus switch Figure 63 N ode Addressing Switch Settings
214. urrent Nom rms 33A Maximum inrush rms 6 04 Continuous output current rms 40 0A 52 0A 65 0A 96 0A 125A 180A 248 A Continuous output current 0 pk 56 0 A 73 0 A 92 0 A 135 A 176A 254A 351A Peak output current rms 3 s duration 68 0 A 80 0 A 104A 154A 163 A 312A 372A 60 s duration 51 0 A 60 0 A 78 0A 115A 138A 234A 273A Peak output current 0 pk 3s duration 96 0A 113A 147A 217 7 A 230 5 A 441A 526 A 60 s duration 72 0 A 84 8 A 110A 162 6 A 195 A 331A 386 A Bus overvoltage 800V DC Bus undervoltage 275 560V pc Continuous power output nom 22 kW 30 kW 37 kW 56 kW 75kW 112 kW 149 kW Continuous power output Hp 30 Hp 40 Hp 50 Hp 75 Hp 100 Hp 150 Hp 200 Hp Maximum power cycles minute ACline 4 per minute pre charge provided by drive 2 per minute DC pre charge provided by the regenerative power supply DC bus DC bus discharge time 3 minutes after removal of main AC power Efficiency 97 5 Total capacitance 1800 uF 2400 uF 3000 uF 4500 uF 6000 uF 8400 uF 8400 uF Short circuit current rating 200 000 A rms symmetrical 1 Bandwidth values vary based on tuning parameters and mechanical components 2 Bus undervoltage will vary based on input line voltage 3 If DC input is supplied to 2099 BM09 S 2099 BM10 S 2099 BM11 S or 2099 BM12 S drives the precharge capability must be provided at the system level Disconnect switches must
215. urrent input 10 mA Rockwell Automation Publication 2099 UMOOTE EN P July 2015 55 Chapter3 Kinetix 7000 Connector Data Home The Home input is an optically isolated 500V single ended active high signal A 24V DC input applied to this pin by a normally open contact indicates this axis is in the home position Firmware provides an additional 50 ms of debounce You can configure the required Home type in the axis servo drive properties in RSLogix You can monitor the Home input on off status in the axis servo drive tag zu Decimal poor E K7k ais HomelnputStatus This input is level sensitive See Table 19 Digital Input Descriptions and Table 20 Digital Input Specifications starting on page 54 for On Off signal voltages and current levels It is recommended to use the on drive power to power the Home signal If an external power source is used you must take responsibility to be sure that the voltage current does not exceed the rating ofthe input ATTENTION Overvoltage protection is not provided for the Home input signal The schematic below depicts the Home circuit It is provided as a reference only Figure 32 Home Digital Input Circuit Diagram i i 24v oc 1 0 SUPPLY BEN f 10D 5 INPUT O O gt n 2k Q 1 1 eps OTHE no Yl gt gt CIRL INPUT 1 10D 6 I0 COM kQ Customer supplied Input Device Kinetix 7000 Drive V 1
216. ut Power Wiring Requirements 86 Power Wiring Guidelines 89 Wire the Kinetix 7000 Drive Connectors 89 Feedback and 1 0 Cable Connections 94 Wire Feedback and 1 0 Connectors 97 External Shunt Module Connections 103 SERCOS Fiber optic Cable Connections 103 Basic Wiring Requirements This section contains basic wiring information for the Kinetix 7000 drive A A IMPORTANT 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 that can result in damage to components SHOCK HAZARD To avoid hazard of electrical shock perform all mounting and wiring prior to applying power Once power is applied connector terminals may have voltage present even when not in use 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 Rockwell Automation Publication 2099 UM001E EN P July 2015 71 Chapter4 Connect the Kinetix 7000 Drive System Building Your Own Motor Cables IMPORTANT Factory made cables are designed to
217. ut tab in RSLogix 5000 software Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Troubleshoot the Kinetix 7000 Drive System Chapter 6 Condition You cannot obtain the motor acceleration deceleration that you want Potential Cause Torque Limit limits are set too low Possible Resolution Verify that current limits are set properly Incorrect motor selected in configuration Select the correct motor and run Tune in RSLogix 5000 software The system inertia is excessive e Check motor size against the application need Review servo system sizing The system friction torque is excessive Check motor size against the application need Available current is insufficient to supply the correct accel decel rate e Check motor size against the application need 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 Enable signal has not been applied or the enable wiring 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
218. utomation Publication 2099 UMOOTE EN P July 2015 51 Chapter3 Kinetix 7000 Connector Data 52 Figure 27 2099 BM06 S 2099 BM07 S and 2099 BM08 S P3a2aO ODOOOOO Oo ps Sean 1 i YV V Y bj lt gt zm 025 gt Be arm PE Cable clamps for Motor and AC inputs Figure 28 2099 BM09 S OO HH O OTOTO o Q oj o o o QU OJO HH OlIOIOIO PS U Zz 2932 aqg2aaqgqg ya SF Ba SG RB cuc L Motor B Latins EM Figure 29 2099 BM10 S PS F CH O A o 3 C3 O DOJ PS DC DC U R LU ra gt Fea L Motor _ E AC Line Rockwell Automation Publication 2099 UM001E EN P July 2015 Fan Terminals Enlarged View O O 0 VAC 120 VAC 240 VAC Fan Terminals Enlarged View OOO Q Q O 0 VAC 120 VAC 240 VAC Figure 30 Kinetix 7000 Connector Data Chapter 3 2099 BM11 S and 2099 BM12 S Ps lan A 5 Co Cory Q PS Ips D DC ETET USE 75
219. vat HS OY Ce GPIO Table 9 General Purpose 1 0 GPIO Terminal Block Terminal Description Signal Name 1 Digital Output 1 Digital Out 1 2 24V DC for digital output 1 customer supplied DO 24VDC 1 3 24V DC for digital output 2 customer supplied DO 24VDC 2 4 Digital Output 2 Digital Out 2 5 Reserved N C 6 Reserved N C 7 Regenerative power supply OK customer supplied Regen OK4 8 Common for Regenerative power supply OK Regen 0K General Purpose Relay GPR Terminal Block Connections The following diagram and table provide the orientation and signal description for the General Purpose Relay terminal block Figure 22 Orientation for General Purpose Relay GPR Terminal Block Note The GPR terminal number orientation is rotated 180 degrees relative to the other 1 0 connectors Table 10 General Purpose Relay GPR Terminal Block Terminal Description Signal Name 1 24V DC customer supplied power input for Relay 1 24VDC 2 Programmable N 0 Relay 1 output GPR1 3 Programmable Relay 1 common GPR1 4 24V DC customer supplied power supply common COM 5 Programmable N 0 Relay 2 output GPR2 6 Programmable Relay 2 common GPR2 Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Kinetix 7000 Connector Data Chapter 3 Motor Feedback MF Connector Pinouts The following diagram and tables provide the orientation and signal description for the Motor F
220. vere bodily injury or loss of life ATTENTION 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 Provide an earth ground for test equipment oscilloscope used in troubleshooting Failure to ground the test equipment could result in personal injury Rockwell Automation Publication 2099 UMOOTE EN P July 2015 139 Chapter6 Troubleshoot the Kinetix 7000 Drive System Interpret Error Codes and Status Indicators representative for further assistance Error Codes Refer to 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 Common hardware errors that prevent a drive from completing the power sequencing and fault assessment are listed first Error codes that may appear on the Fault Status display immediately follow the start up errors When a fault is detected the seven segment status 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 Table 51 Seven segment Status Indicator Error Codes Error Code F
221. wer regenerative mode settings as described in the 8720MC Regenerative Power Supply Rockwell Automation Publication 2099 UMOOTE EN P July 2015 Installation Manual publication 8720MC RM001 and setting of the power tab in RSLogix 5000 software is set to the appropriate bus regulator catalog number Common mode capacitors should be disconnected on DC common bus drives This con IMPORTANT 168 Appendix B Interconnect Diagrams Figure 76 Dual 8720MC RPS065Bx Regenerative Power Supplies to a Single Kinetix 7000 Drive YON 325 JODe1u0 aseyd ajbuls quauodwio parjddns sf sayeoipuy DW on palidans asf IPUI y YF penu DW a j kepyyneg Eld Add ld 0 1 ele uonow di F L d Wo Xnv 1 o wt xnva M xwu T aio ow am
222. with dimensions related to the specific frame sizes Rockwell Automation Publication 2099 UMOOTE EN P July 2015 159 Appendix A Specifications and Dimensions Figure 69 2099 BM06 S 2099 BM07 S and 2099 BM08 S Approximate Dimensions Dimensions are in millimeters inches 870 0 28 X2 s 192 zi 1527 7 56 0 60 i i E n T h M a 3 jj o 5175 A 20 37 g l 495 0 19 49 HA i O fi i ee 0 31 m 0 28 0 28 1 HEID OL s 254 12 10 00 165 9 160 1 6 53 6 30 n Ea Co o O 6 50 5 95 f a Ph QOO f i 0 9 040 31 9 E 66 0 1 26 2 60 97 0 3 82 a 137 2 5 40 a 187 0 7 36 Bottom View 160 2099 BM06 S and 2099 BM07 S 165 9 6 53 Important Additional clearance below the connector is necessary to provide the recommended cable bend radius
223. x 7000 drive system shown in Figure 3 illustrates a regenerative power only configuration with a 8720MC regenerative power supply RPS The harmonic filter and varistor are available separately but are included with the RPS unit when ordering the 8720MC RPS065BM HV2 In this configuration the Kinetix 7000 drive provides motoring power and the 8720MC RPS065 provides regenerative power Figure 3 Kinetix 7000 System Configuration with AC Input and Regenerative Power Supply 8720MC REI80 RSLogix 5000 Software Logix Controller Input AC Line Filter Programming Network Logix SERCOS Fusing required for CE ERES interface Module E Three phase E A ControlLogix Chassis Input Power 1l IESU Tied 8720MC HF B2 Harmonic Filter Included with 8720MC RPS065BM HV2 Magnetic Contactor 8720MC VA B Varistor Included with 8720MC RPS065BM HV2 8720MC LRxx Line Reactor o 8720MC RPS065BM HV2 o Regenerative
224. y guidelines for solid state controls 10 SoftLogix 5800 user manual 9 SoftLogix motion card configuration 9 understanding the machinery directive 10 routing power and signal wiring 74 RSLogix 5000 software 112 S safe off block diagram 180 SERCOS connecting cables 102 connections 65 seven segment status indicator 129 shutdown 148 software RSLogix 5000 112 specifications feedback motor and auxiliary 66 power supply 68 1 0 digital inputs 54 Kinetix 7000 circuit breaker fuse 153 contactor ratings 154 environmental 156 maximum fdbk cable length 155 power dissipation 154 power section 152 weight 155 SERCOS connections 65 status indicator 129 logic power 128 status LEDs 129 Rockwell Automation Publication 2099 UM001E EN P July 2015 Index status only 148 stop motion 148 surge suppression 92 switches base node address 108 baud rate 108 optical power level 109 system block diagrams safe off feature 180 system mounting requirements circuit breakers 23 fuse sizing 23 transformer sizing 22 T testing axes hookup tab 131 total bus capacitance 17 training 9 transformer sizing 22 transmit power level 115 troubleshooting bus status LED 145 disable drive 148 drive status LED 145 error codes 140 fault action 149 general system problems 146 abnormal noise 148 axis unstable 146 erratic operation 148 feedback noise 147 motor accel decel problems 147 motor overheating 147 motor velocity 147 no rotation 147

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