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2097-UM001 - Rockwell Automation

1. Main VAC Cat No rie Allen Bradley Circuit Breaker 0 oltage Bussmann Fuse Disconnect 2 Magnetic Contactor 3 120V KTK R 20 204 1492 SP1D200 140M F8E C20 2097 V31PRO 240V 10 10 1492 SP1D100 140M F8E C10 120V KTK R 30 30 1492 5 10300 140M F8E 32 2097 V31PR2 240V KTK R 20 20A 1492 5 10200 140M F8E C20 2097 V32PRO 240V KTK R 20 20 1492 5 30200 140M F8E C20 2097 V32PR2 2097 V32PR4 240V KTK R 30 30A 1492 5 30320 140M F8E 32 120V KTK R 20 20A 1492 SP1D200 140M F8E C20 2097 V33PR1 240V KTK R 15 15 1492 SP3D150 140M F8E C16 120V KTK R 20 204 1492 SP1D200 140M F8E C20 2097 V33PR3 240V KTK R 15 15 1492 5 30150 140M F8E C16 120V KTK R 30 30 1492 5 10300 140M F8E 32 2097 V33PR5 240V KTK R 20 20A 1492 SP3D200 140M F8E C20 120V N A N A N A 2097 V33PR6 240V KTK R 30 304 1492 5 30300 140M F8E 32 2097 V34PR3 KTK R 10 10A 1492 5 30100 140M F8E C10 2097 V34PR5 480V KTK R 10 10 1492 SP3D100 140 2097 V34PR6 KTK R 20 20A 1492 SP3D200 140M F8E C20 1 When using Bulletin 1492 circuit protection devices the maximum short circuit current available from the source is limited to 5000 A 2 Use fully rated short circuit protection circuit breaker for device branch circuit protection only when there is an upstream fully rated breaker 3 Fully rated breaker for overload current and s
2. w Memory module socket Ethernet communication port Port 1 1 0 100 connector 36 Motor feedback MF connector a 4 7 gt D gt 14 10 Ss Kinetix 3001 Q 1 d ru gt Lig ac 9 gt 12 8 i 7 Kinetix 300 Drive Front View Kinetix 300 Drive Bottom View 2097 V33PR5 drive is shown 2097 V33PR5 drive is shown Item Description 7 Ground lug 8 Shunt resistor and DC bus BC connector 9 Back up power BP connector 10 Display control push buttons 3 11 Motor power MP connector 12 Safe torque off STO connector Table 7 Kinetix 300 Drive Connectors Designator Description Connector PORT Ethernet communication port RJ45 Ethernet 100 10 SCSI 50 pin high density connector MF Motor feedback 15 pin high density D shell male CPD Back up power 2 pin quick connect terminal block BC Shunt Resistor and DC Bus 7 pin quick connect terminal block MP Motor power 6 pin quick connect terminal block STO Safe torque off STO terminal 6 pin quick connect terminal block Rockwell Automation Publication 2097 UM001D EN P November 2012 Safe Torque off Connector Pinout Kinetix 300 Drive Connector Data and Feature Descriptions Chapter 3 The Kinetix 300 drive ships with the 6 pin wiring plug header that co
3. X IY se pasn 51 SIY 5 pue 152 WY Way LEZ 0000155000 01 sbumas asn Pey spoyyaw 104 y se pasn si X siu Bugas auo asn zey 104 Wad otc synod 19poouo ZL Lp c abuey 1950 uonisog INIG 6 504 0197 MAU SIY 0 9 ae X SHUN jasn 9 76 19776 aynjosqe juanbasqns jy ajajdwiod 51 ayuanbas WY Wid 877 Hulwoy Jaye ay Jo uonisod Mau au X puodas 194 000 000 01 0 abuey 3181 WY Ltt X syun 1950 ALIAN 1 0 319558 M IY NW Waid occ jas pay real 124 uonisod UC SLUIT YOS JI m m eu ajqesiq pue aq padwey 7 pasn X BEC Pur ati p aq syu 5 10 40 INIG 8 X sjuno papaaoxa 51 10144 ay uauM WY INIG AZ 1013 0011504 5592 3 Lasse M aU YDIYM JO X 504 syuno gt japoou3 apis no uonisod ay 2 103 IYL WY 1NIQ 947 X 19 02 3 10149 01504 X
4. Kinetix 300 Drive Bottom View 2097 V32PR4 is shown STO Pin Description Signal 1 24V DC output from the drive 24V DC control 2 24V DC output common Control COM 3 Safety status Safety Status 4 Safety input 1 24V DC to enable Safety Input 1 5 Safety common Safety COM 6 Safety input 2 24V DC to enable Safety Input 2 Rockwell Automation Publication 2097 UM001D EN P November 2012 163 Chapter8 Kinetix 300 Drive Safe Torque off Feature Wiring Your Safe Torque off Circuit This section provides guidelines for wiring your Kinetix 300 safe torque off drive connections European Union Directives If this product is installed within the European Union or EEC regions and has the CE mark the following regulations apply For more information on the concept of electrical noise reduction see System Design for Control of Electrical Noise Reference Manual publication GMC RM001 EMC Directive This unit is tested to meet Council Directive 2004 108 EC Electromagnetic Compatibility EMC by using these standards in whole or in part EN 61800 3 Adjustable Speed Electrical Power Drive Systems Part 3 EMC Product Standard including specific test methods e EN 61000 6 4 EMC Emission Standard Part 2 Industrial Environment EN 61000 6 2 Immunity Standard Part 2 Industrial Environment The product described in this man
5. Y 50400 quejog Indu M 899 panauo 51 uonipuoo ay 2 IP Jamod e 0 59495 11 uo Japooua Sqy 19594 0M 1 99 Japorua 53959 pjay 51 0 0 7 X Aejdsip ay uo 51 apo 3po 3 08 69 51 axe1q j s zey auum 34 0 pajqeua X Suu 1010 SI Y SI SIY 69 241 0 paubisse uaaq sey yey 1nd3no 943 104 pabebua si 4 pue paddojs 51 Jey aun 0 pa qesip su erap abebu ye1q 1070W SI Y ay S SIY 140 19 0 paubisse uaaq sey yey 1 ay 104 X V 00 0 Juan Wid 059 XI X 2 5 M 00000001 0 1 eoueypede Mi 179 X X M 00000001 0 abuey 14 92001551 AWAY MW 979 S X 0 uo si siuj gt 8 1010 19 5 2 215 2 gt
6. Kinetix 300 Drive Demand dh d Al 511 552 512 13 23 33 41 Allen Bradley Monitoring Safety Relay MSR127RP 440R N23135 Safe Torque off STO E X Connector with Wiring Header 11 24V DC 521 52 534 A2 14 24 34 42 2 COM 3 Ab Al Status 7 Safety Input 1 5 ee Safety Common 5 Safety Input 2 External 24V COM Lo Pins 1 and 2 are not used when using Safety Inputs Pin 3 is a sinking output Rockwell Automation Publication 2097 UM001D EN P November 2012 167 Chapter8 Kinetix 300 Drive Safe Torque off Feature Figure 80 Single axis Relay Configuration Stop Category 1 with Automatic Reset External 24V DC Safe Torque off Kinetix 300 Drive Digital Input 7 Allen Bradley Monitoring Safety Relay 1 0 MSR138DP 440R M23151 100 Connector Auxiliary Signal to PLC Safe Torque off STO Connector the Giles d ca Status Safety Input 1 2 4 5 6 Safety Common External 24V COM Safety Input 2 Pins 1 and 2 are not used when using Safety Inputs Pin 3 is a sinking output 1 The digital input configured for Abort Index in MotionView software must be active high when the safety function is requested so an
7. 79 Wire the I O Connector Seance ad tes danas 79 Wire the Low profile Connector Kit o2 ences ws 80 Shunt Resistor 81 Ethernet Cable Connections io uade f Ne ER DES RN 82 Chapter 5 Drive Organizer and IdentiDeatiol espere Lucha tie et YS 84 Motor Cate Soy i aq aid aute uc E cinis 84 Synchronous Motor Database ucro eet rrr ete LV rete 85 Linear Motor Database usb azucar d 86 General Category ois ses cbs Siete Pn A RE 87 Communication Categories s isa soa nada de REM NR Ra E Rep 91 Ethernet Communication ened ey Sines 91 Ethernet 92 6 Rockwell Automation Publication 2097 UM001D EN P November 2012 Configure and Start Up the Kinetix 300 Drive Table of Contents Input Output Categories Snc 93 Digital 93 Analog 94 Limits Categories 95 Velocity Limits eo do usto o Sosa oa 95 Position E 96 Dynamics CERA 97 Tools Category E UN Qu t OR U
8. 03002 sajqeua Jo anjeA pasn aq ue uorpunj WY 0 7 uone runuluo ay sa qeu3 pue 3no auin e yuanaid paypeal 41 1 13 pasn aq ue uorpunj SI 0 pue siy sp uorpe 0 payread M 6 AWE snw He sy ur anie uo aja ON 0 o3 xapul saymax3 uonisueJ 010 Y 03 0 uonisue uod 890 5 2 5 8 3 2 5 5 gg 5 5 8 5 sajyoy anjeA uondipsaq 55822 eyed 5 maiAuonow penunuo ssaquiny 00 8L 19 1 205 Rockwell Automation Publication 2097 UM001D EN P November 2012 Kinetix 300 Drive ID Tag Numbers Appendix Y P S xapu ZL LL 129195 Xapu OL 42 95 6 0129195 8 s y Wels 9 UYA p 11236 Z uoqy paublssy 0 vg Mdu 10 puawu isse aj
9. 180 See table on page 172 for note information 2097 V3xPRx continuous flex Kinetix 300 Drives Motor Power Cable and MPAS A Bxxoxxx VxxSxA Notes 9 10 Ballscrew Linear Stages Use 2090 CPWM4DF xxA Fx with High Resolution Feedback 2090 K2CK D15M cable for continuous flex non brake applications Connector Kit m E 4 n 1 SIN 1 4 Green Yellow otor rower 2 S sn 2 Motor Power Blue C W 3 RED 05 3 W GND gt gt MP Connector Black 2 Ex WHT RED XX 65 4 Brown A 5 GREEN DATA 5 U lt lt Motor 5 51 10 Motor Feedback Feedback 9 gt GRAY 5VDC 14 MF Connector 55 6 Th 11 gt 9VDC 7 ermostat WHT ORANGE TS 11 E il BLUE E Black G lt lt BR 14 TS ile n V Motor Brake gt gt See low profile connector illustration lower left 1 0000 for proper grounding technique OUT4 E 2090 XXNFMF Sxx standard or Connector 9 Cable Shield 2090 CFBMADF CDAFxx continuous flex Note 77 Clamp flying lead Feedback Cable 2A DC 24V DC COM User Supplied 24V DC Grounding Technique for Feedback Cable Shield Clamp Exposed shield secured under clamp Clamp Screws 2 Low Profile Connector 2090
10. Topic Page Drive Organizer and Identification 84 Motor Category 84 General Category 87 Communication Categories 91 Input Output Categories 93 Limits Categories 95 Dynamics Category 97 Tools Category 98 Monitor Category 99 Faults Category 100 Indexing Category 101 Homing Category 113 Upgrade Firmware 124 Rockwell Automation Publication 2097 UM001D EN P November 2012 83 Chapter 5 MotionView Software Configuration Drive Organizer and Identification On the left side of MotionView software is the Drive Organizer The Drive Organizer displays the node address for the drives that are currently connected to the software and lists the categories for each drive under the drive node address This section contains a description of the parameters displayed in each category listed in the Drive Organizer Drive Identification displays the drive IP address and status The dialog box displays drive identification information such as catalog number and firmware revision In this window you can assign the Drive Name and the Group ID Drive Identification 192 168 124 200 DISABLED Motor Descripti Val Genemi escription alue Communication Drive ID String B12154140100020 Ethernet 3 d 2 EtherNetllP Device Family 1 10 Firmware Revision 1 54 T Digital 10 9 Vector Processor Revision 1 40 Analog IO Drive Hardware Revision 1 00 Organizer
11. Analog Output Not Assigned 9 Ethernet EtherNet IP CIP 10 Analog Output Velocity Scale 1 0000 mV RPM Digital 10 Analog IO Limits Analog Input Velocity Scale 100 0000 RPM Volt Velocity Limits Analog Output Current Scale 1 0000 Volt Amp Analog Input Current Scale 10 8500 AI Volt Analog Input Dead Band 0 mV Position Limits Dynamics Analog Input Offset lt lt Successfully connected to drive 04100133100020 192 168 124 200 Indexing Table 44 Analog 1 0 Category ID Parameter Name Description Value Notes 35 Analog Input Analog input 1 current reference scale Range X X Amps Volt current scale X drive peak output current 10 36 Analog Input Analog input 1 velocity reference scale Range 10 000 10 000 rpm Volt velocity scale 85 Analog Output Analog output function 0 Notassigned 1 Phase Current RMS 2 Phase Current Peak Value 3 Motor Velocity 4 Phase Current U 5 Phase Current V 6 Phase Current W 7 lq current 8 Id current 86 Analog Output Analog output scale for velocity quantities 0 10 mV rpm velocity scale 87 Analog Output Analog output scale for current related Range 0 10 V A current scale quantities 89 Analog Input Dead Analog input 1 dead band Applied when Range 0 100 mV Band used as current or velocity re
12. 12 Chapter 1 Start About the Kinetix 300 Drive System o4 ree eve ka 14 Catalog Number Explanation esent tene Re adu o uo pe Rr eH es 16 Agency Compliance iue eer ore I UD IEEE E EE 17 17 Chapter 2 Installing the Kinetix 300 Drive System Design Guidelines 20 System System Mounting Requirements oo Re s 20 Transformer Vi que 21 Circuit Breaker Fuse Selection 21 Circuit Breaker Fuse Specificati ns c coul eoe Ro edet d 22 Enclosure Selection a de a dat one CREER ERN 23 Power Dissipation Specifications 24 Minimum Clearance 25 Electrical Noise Reduetlotiez oves xoc aede 26 Bording 26 Bonding Multiple Subpanels eec or 28 Establishing Noise devo s itur did 29 Cable Categories for Kinetix 300 Drive Components 31 Noise Reduction Guidelines for Drive 31 Mount Your Kinetix 300 Drive 34 Chapter 3 Kinetix 300 Drive Connector Dataand Kinetix 300 Drive Connectors and Indicators 36 Feature Descriptions Safe Torque off Connector 37 I O Connector 38 Motor F
13. Parameter Name 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Index Type 448 459 470 481 492 503 514 525 536 547 558 569 580 591 602 613 Move 449 460 471 482 493 504 515 526 537 548 559 570 581 592 603 614 Distance 450 461 472 483 494 505 516 527 538 549 560 571 582 593 604 615 Register Distance 451 462 473 484 495 506 517 528 539 550 561 572 583 594 605 616 Batch Count 452 463 474 485 496 507 518 529 540 551 562 573 584 595 606 617 Dwell 453 464 475 486 497 508 519 530 541 552 563 574 585 596 607 618 Velocity 454 465 476 487 498 509 520 531 542 553 564 575 586 597 608 619 Accel 455 466 477 488 499 510 521 532 543 554 565 576 587 598 609 620 Decel 456 467 478 489 500 511 522 533 544 555 566 577 588 599 610 621 Next Index 457 468 479 490 501 512 523 534 545 556 567 578 589 600 611 622 Action 458 469 480 491 502 513 524 535 546 557 568 579 590 601 62 623 112 Rockwell Automation Publication 2097 UM001D EN P November 2012 Homing Category MotionView Software Configuration Chapter 5 The Kinetix 300 drives have a predefined firmware based homing functionality The supported homing methods include limit switches at the ends of travel a dedicated home switch an index pulse or zero reference from the motor feedback device or a combination of the above MotionView OnBoard 3 25 Allen Bradley 192 168 124 200 DISABLED Kinetix 300
14. 09 Jo paads yy punoje s syiun Jasn ayy Indul cune 1319 smeyopo1 apoja au pue J X 00001 0 auey 3ndino jeubig paads u aui 195 Wid 65 YDYM 10 10 5 5 Jasn jquiassy ynduy T di 49NI9033 Y U 4 au pue X uidi goL 0 abuey ji andino 24610 0197 495 Wid 8S s syun Jasn anjeA aynjosqy PPP 54016 2160 5 X 9rte uaap Jo UaWUbIsse I4 01 dnosb MW ld LS 3 5 UOR oN 0 19591 9410 Id ES X V 91 abuey 25 sure Id 15 X 00002 0 abuey 400 1011504 WY INIG 6 L9LTE 70 jeuasayip doo 001504 Id X 8 9L 0 9buey 400 uonisog WY INIG Ly X 19175 0 abuey 400 uonisog WY 10 X 19175 Q abuey 400 WY 1 X 19105 0 9 doo WY 0 pagesid 0 01293044 4020 Wy INIG X Q00 0L 000 01 abuey 5 4 3ndui bojeuy MWY Wid 9 an y
15. 0192 03 of 0 g L4 jaraquogy au 5250 55916014 suoqy 1NIQ 559 0 paypads 5116 ZL P J S T Palas Xapu OL 42 95 6 0109 95 8 1959 Wels 9 c UYA y 11236 c paniasay 7 xapu paubissy 0 Y 1 10 JuawWubisse ndu ajqewwesborg 159 ZL Palas Xopu Z Palas OL Peas 6 0109 95 8 yasay Wels 9 204 UYA y 11636 7 paubissy 0N 0 7 10 Juawubisse 3ndui MWY 059 syne H pul 4 uonisod 0 1 Bojeuy 0 1 je iq dI 1 NY snouoJtpu s je1ouar JeaUr 10 0W snouoJtpu S 1010 Janay 401 p sn Y Peas ZL Xopu LL OL xapu 6 0109 95 8 yasay yney UBS 9 1100 c aWOH UYG y Xapu paniasay 7 paubiss
16. 14 White 1 See low profile connector boo d SNS Se illustration lower left Motor Brake for proper grounding technique 2090 CFBM6DF CBAAxx flying lead 2090 gt CFBM6DD CCAAxx with drive end connector 4 ous vat ave Feedback Cable Note 4 0UT4 C SIFF Note 8 Note 6 24N DC 24N DC COM User Supplied 24V DC Grounding Technique for Feedback Cable Shield Low Profile Connector 2090 K2CK D15M shown 3 6V battery 2090 DA BAT2 required for use with TLAR Axxxxx B electric cylinders high resolution 17 bit encoders Exposed shield secured under clamp Clamp Clamp Screws 2 182 Turn clamp over to hold small cables secure Rockwell Automation Publication 2097 UM001D EN P November 2012 Kinetix 300 Drive to Interconnect Diagrams Appendix The Kinetix 300 drive accepts unipolar or bipolar inputs MicroLogix Controller Wiring Figure 94 Analog Velocity or Current Control Mode Examples 2097 V3xPRx MicroLogix 1400 Kinetix 300 Drive Controller 1766 L32BXB 1766 L32BXBA 1 0 100 Connector DIRECTION 3 05 n Digital DIRECTION 4 COM 22 AIN 23 0 1
17. Deviation Revision 020 Dynamics MotionView OnBoard Revision 3 48 Indexing Motor Database Revision 006 Homing Tools Serial Number 45290949 Monitor Catalog Number 2097 V33PR6 Faults Product Code 280 Drive Name Group ID 0 _ RID Successfully connected to drive B12154140100020_192 168 124 200 Table 36 Drive Identification Category ID Parameter Name Description Value Notes 1 Drive ID String Drive identification string B12 154 140 100 020 Device Firmware Vector Hardware Deviation Family Revision Processor Revision Revision Revision 2 Drive Name Drive symbolic name Up to 20 user defined characters 3 Serial Number Drive serial number Unique number assigned to drive at the factory 57 Group ID Network group ID Allows the assignment of Range 1 32767 different drives into logical groups N A Motor Database Revision The motor database resides the drive firmware 006 this example Motor Category 84 Allen Bradley motors and actuators with intelligent feedback devices are automatically populated into the motor configuration In this example no motor is attached to the drive MPLATS1OV Hoe TE Meter Modal Feedback Encoder PPR befor Hall Inverted B leads A for Cw 2 2 E Thermal crow 111 Rockwell Automation Publication 2097 UM001D EN P November 2012 Motor Database Revision 009 9 Motors Vamipr Synchronous ee
18. Ly Indu 681 X Sas nd 1 02 3 10149 011504 Y 1 981 X sasnd Jopoou3 uonisod WY cgl X Ses nd 13po u3 uonisod 1 781 X sduy 3191102 aseud Way EBL IY 0 anjeA 19110 X SUNO Jo o1az q 19584 1a3uno yndul japoou3 al X Jasn Jad 40301 Jo suonnjoAag suun 1950 WY Way 181 41 39 49433 BY 319 514120700111504 X 195 IM Y Jo uonisod 1410 64 y sun Jasn a2ueJaJo3 au 195 51 19 Buruopuoqy X 29000295 sad aas 10 painfijuoo jr payasse s xapu WY 8 1 10 au dos e 0 JoJOW a4 asn Jey Y L anuadajad O A X 000 01 00001 se pasn paljddy 7950 1 06 sed 10 Juan Nu 001 0 Se pasn uauM pueq peap 1 Dojeuy Wad 68 re 100119551 69 anjen Bey sp X 101 0 3ndino 04302 anjea ndino M Wad 88 X V AOL 0 sennuenb 10 325
19. 2097 Fx AC Line Filter optional equipment 2097 F1 Filter Shown 24V DC Control Back up J 2097 Rx Shunt Resistor optional equipment 2097 TB1 Terminal Power Supply Expansion Block optional equipment LDAT Series Integrated zm zm Linear Thruster 2090 K2CK D15M z 7996 LDAT Sooox linear thruster Low profile Connector Kit SS J shown Bulletin 2090 Bulletin 2090 Motor Power Cables 2 Integrated Motor Feedback Cables Allon Grea inear stages MPAS xxxxx ALM direct Ee 2 drive shown Rotary Motors LDL Series Linear Motors LDL xxxxxxx linear motor shown MP Series and TL Series Electric Cylinders MPAR Bxxxx electric cylinders shown MP Series Heavy Duty Electric Cylinders LDC Series Linear Motors LDC Cxxxxxxx linear motor shown Rockwell Automation Publication 2097 UM001D EN P November 2012 MPAI Bxxxx electric cylinders shown 15 Chapter 1 Catalog Number Expla nation 300 drive catalog numbers and descriptions
20. ID Parameter Name Description Value Notes 653 Last Fault Code Fault E code Same fault code that is displayed on the servo drive display N A Device Time The time since powerup of the drive that the fault occurred N A N A Load Faults Recall the last 15 faults the drive reported N A N A Clear Fault History Clear the fault history of the drive N A N A Clear Faults Clear the current fault in the drive N A 100 Rockwell Automation Publication 2097 UM001D EN P November 2012 MotionView Software Configuration Chapter 5 Indexing Category The software for the onboard indexing operation is accessed via the MotionView software and is also configurable over the EtherNet IP connection by using explicit messaging in RSLogix 5000 and RSLogix 500 software In Indexing mode the Kinetix 300 drive begins executing indexes based on either a command received over the EtherNet IP connection or immediately upon assertion of the hardware enable signal MotionView OnBoard 3 25 192 168 124 200 DISABLED DEAR Allen Bradley Kinetix 300 English Load Connection Stop Reset Save Configuration Load Configuration Restore Defaults Upgrade 192 168 124 200 Motor TER Becas Description Communication Auto Start Index Ethernet EtherNet IP CIP lo Current Index Digital Analog 10 r 1 Limits Start Indexing Reset Index Velocity Limits Position Limits aaa Fe Indexing Homing
21. The default action is Not Assigned These actions are configured via the pull down menu Disable and Coast immediately disables the drive upon detecting overtravel condition Disable and Coast is the only stopping action available when overtravel is tripped in Analog Velocity Mode Decel and Disable uses the Abort Decel rate to stop the servo and then disable the drive Decel and Disable is not available for Analog Velocity Mode 218 Rockwell Automation Publication 2097 UM001D EN P November 2012 Overtravel Inputs Appendix E If the drive is in a position operating mode the overtravel limits are functional and will generate an error when the overtravel is reached The drive will not allow axis movement in the direction of the overtravel limit until after the overtravel fault is reset Only movement in the opposite direction is allowed If the drive is in a non positioning mode of operation the overtravel limits are functional and will generate an error when the overtravel is reached However it is up to the controller via programming to manage recovery and axis position after an overtravel fault The drive will not limit axis movement once the fault has been cleared IMPORTANT Ifan overtravel fault is reset and the drive is enabled while the axis is on or beyond the overtravel limit a runaway condition could occur when using the overtravel limits in a non positioning mode An overtravel
22. e se pasn aq pjnous yey ndu jew Hip ayy 1410 ve 7119024 uo 66 91461 x 996 aq 0 Jo 2044 59 1410 aq y 59 s s 5 5 Z 3 2 2888 5 2 5 5 5 uondipseq 55822 eyed 5 2 wv waiAuonow Rockwell Automation Publication 2097 UM001D EN P November 2012 4 e Appendix Kinetix 300 Drive ID Tag Numbers Palas Xapuy ZL Palas Xopu Z Palas OL xapu 6 Q Palas Xopu 8 s y X 31215 9 Lg indui 10 zuawwu isse WY Woqy c UYA y paniasay 7 paubissy oN 0 Y 12996 xapu ZL Palas Z Palas OL 6 0129 95 8 yasay X 9 1 10 uawWubisse INIG 779 204 c aWOH UYG y Xapu 34635 paniasay 7 paubissy 10N 0 42555 y pue 511220 ay 10 90 5 000177701 abuey 10 n So beri 03002 INIG ut di 19N 9U13 pasn aq 0
23. Analog Input 0 027 v Positive Limit Switch Negative Switch is shown as being SUV above the Neg OT input being high ON 1 indicated the axis is on OT switch ON Outputs Rockwell Automation Publication 2097 UM001D EN P November 2012 Negative Limit Switch Exclusive Owner Owner Timeout User Watchdog Timeout Set on Top 219 AppendixE Overtravel Inputs Overtravel Fault Recovery Follow these steps to recover from an overtravel fault condition while in a Positioning mode 1 Reset the drive to clear the overtravel fault either through MotionView software or via logic Typically the overtravel input is still active after the reset because the axis is still on the limit switch Enable the servo Move the axis off the limit switch The drive allows a position based move in the direction opposite the limit switch For example if the axis is on a positive limit switch it can move in a negative direction or if the axis is on a negative limit switch it can move in a positive direction Once the axis is moved off the limit switch the input goes low and the motion routine can begin again Follow these steps to recover from an overtravel fault condition while in a non positioning mode 1 4 Change the motion command reference velocity or current to value opposite the axis overtravel is on set to a negative value if
24. Service Generic Set Attibute Singe Service Code 10 0 Class es 574 deck Instance Attribute hex 212 Rockwell Automation Publication 2097 UM001D EN P November 2012 MicroLogix Explicit Messaging Appendix D REAL Data Type Examples In this example the instance decimal is ID tag 183 phase current Figure 103 Reading REAL from Volatile Memory In this example the instance decimal is ID tag 58 zero speed window Figure 104 Writing REAL into Nonvolatile Memory MSG MG9 0 1 Elements Rockwell Automation Publication 2097 UM001D EN P November 2012 213 AppendixD MicroLogix Explicit Messaging String Data Type Examples In this example the instance decimal is ID tag 3 drive serial number Figure 105 Reading String from Volatile Memory MSG MG9 0 1 Elements General Send Data Receive Data This Controller Control Bits Communication Command CIP Geneis ___________ Biss Loreen Bn Data Table Address 110 Send Awaiting Execution EW 0 Size in Bytes Receive Send Enor ER 0 Target Device Message done DN 0 Message Timeout 3 Message Transmitting ST 0 Message Enabled 0 Local Remote Local Extended Routing Info Fie RIX 2100 Te Service Generic Get Atibute Sine Service Code t
25. PED and PFH Definitions Nach PED and PEH Data foie Safe l orque off des ner STO Connector Pinonts oed ee Wiring Your Sate Rockwell Automation Publication 2097 UM001D EN P November 2012 Interconnect Diagrams Input and Output Assembly Kinetix 300 Drive ID Tag Numbers MicroLogix Explicit Messaging Table of Contents European Union Directives ye n 164 Safe Torque off Wiring Requirements 165 Kinetix 300 Drive Safe Torque off 166 Sate Torque off Feature Bypass RUE 166 Kinetix 300 Drive Safe Torque off Wiring Diagrams 167 Safe Torque off Signal Specifications 168 Safety Input and Output Schematics 222 eee exte ere 169 Appendix A Interconnect Diagram Notes ecce rc i Pcia Ree e 172 Power Wiring Examples aes eR cu nea edere teat td dea 173 Shunt Resistor Wiring Example 175 Kinetix 300 Drive Rotary Motor Wiring 1 176 300 Drive Linear Motor Wiring 1 179 Kinetix 300 Drive Actuator Wiring 180 Kinetix 300 Drive to MicroLogix Controller Wiring Examples 183 Kinetix 300 Drive Master Gearing Wiring Example EP EE 184 Motor Bra
26. Updated Homed bit cleared events Added requirement for Indexing mode and its use with an incremental encoder Added Upgrade Firmware procedure Updated the Autotuning procedure including graphic Update Important note Added Configure Drive for Linear Motors and Stages section Added error code E23 Updated error code E67 Added error code E72 Updated error code E92 Updated Wiring diagrams Added input and output schematics Added linear motor interconnect schematics Added direct drive stage schematics to MPAS linear stage interconnect Updated MPAR and MPAI electric cylinder cable compatibility Updated MotionComplete status bit Updated Tag ID list to include linear motor tags and updated several tag IDs Updated footnote Updated Overtravel Hardware Inputs section 222 Rockwell Automation Publication 2097 UM001D EN P November 2012 Numerics 120 240V single phase input power 174 120V single phase input power 173 1766 L32BXB 183 1766 L32BXBA 183 2097 master gearing example 184 2097 with LDAT Series linear thruster 180 240 480V three phase input power 175 A about this publication 11 ACinput power pinouts 40 actuators interconnect diagram MPAI 181 MPAR 181 MPAS 180 TLAR 182 additional resources 12 add on profiles 132 analog current 142 148 analog 1 0 category 94 analog output 47 analog reference 46 analog velocity
27. 661 sw 0001 0 auin 2 861 sw 0001 0 161 SW 0001 0 abuey yg 1 M 961 SUI 0001 0 aw Ndu W 661 SW 0001 0 aui 74 244 WY 761 SUI 000 0 abuey aw aunog ap Lg Ndu 561 gt lt SW Q00L 0 abuey aun py Kinetix 300 Drive ID Tag Numbers Appendix syne H 4 uonisod gt lt 0 1 Bojeuy 0 1 jex iq PNY snouoJtpu s JeaUr 10 0W 103 Janay 401 abeg SUI 0001 0 abuey 5 cy uondipseq penunuo ssaquiny 00 8 19 1 MW Ssa y eeg L6L Rockwell Automation Publication 2097 UM001D EN P November 2012 2 e Appendix Kinetix 300 Drive ID Tag Numbers od e daa 0 pasn 51 He siu
28. 7 0 28 Torque Value Nem 0 5 4 5 Factory supplied motor power cables for MP Series and TL Series motors and actuator are shielded The braided cable shield must terminate near the drive during installation Remove small portion of the cable jacket to expose the shield braid and clamp the exposed shield to the panel ATTENTION avoid hazard of electrical shock ensure shielded power cables are grounded at a minimum of one point for safety For TL Series motors also connect the 152 mm 6 0 in termination wire to the closest earth ground See Pigtail Terminations on page 72 for more information Rockwell Automation Publication 2097 UM001D EN P November 2012 71 Chapter 4 Motor Power Cable Connecting the Kinetix 300 Drive System Pigtail Terminations TL Series motors have a short pigtail cable that connects to the motor but is not shielded The preferred method for grounding the TL Series power cable on the motor side is to expose a section of the cable shield and clamp it directly to the machine frame The motor power cable also has a 150 mm 6 0 in shield termination wire with a ring lug that connects to the closest earth ground Use this method in addition to the cable clamp The termination wire may be extended to the full length of the motor pigtail if necessary but it is best to connect the supplied wire directly to ground without lengthening Figure 4
29. 8 KHZ Peak Current Limit 15 0000 e Limits Velocity Limits Table 61 Available Drive Modes Velocity Mode Acceleration Mode 7 Ove ject Value Auto Tune 0 EtherNet IP External Reference 1 Master Gearing 2 Step and Direction 3 Analog Velocity Input 4 Analog Current Input 5 Indexing 6 Rockwell Automation Publication 2097 UM001D EN P November 2012 Master Gearing Mode Examples Configure and Start Up the Kinetix 300 Drive Chapter 6 When using Bulletin MPL encoder for master gearing the Kinetix 300 planner treats the 128 and 1024 pulse encoders as having 262 144 interpolated counts per revolution for the purpose of calculating the gearing ratios User units in the MotionView software General category is not used in Master Gearing mode therefore any transmission ratio besides 1 1 needs to be configured in the master to system units Master Gearing Example 1 A Bulletin MPL multi turn motor is connected to the slave drive and outputs 128 pulses per revolution ppr A master encoder outputs 128 ppr TTL to the master gearing inputs on the Kinetix 300 slave drive A 1 1 master encoder to motor revolution is required The drive interpolated counts are 262 144 counts rev and the master encoder is 128 x 4 512 counts rev The Master parameter is 1 and the System parameter is 262 144 512 or 512 Master Gearing Example 2 A Bulletin MPL multi turn motor is c
30. Electrical Motor Database Custom Motor 9 Linear Motor Database Custom Motor MotionView Software Configuration Chapter 5 Synchronous Motor Database For Allen Bradley synchronous motors and actuators with incremental encoders click Change Motor and choose the device from the Synchronous gt Motor Database In this example the MPL B320P H motor is configured 192 168 0 8 Allen Bradley Motor je Motor Model 1510 2 693 Lm Inductance phase phase 23 Feedback Kt Torque Constant 0 373 Ke Voltage Constant 1 3 03 Sine Peak Intermittent Current Nominal Drive Bus Voltage 325 Number of poles e Mechanical Jm Rotor Moment of Inertia 0 000007 Maximum Velocity 8000 RPM Encoder PPR before quad 2000 Halls order 3 1 Inverted B leads Afor CW Thermal Rt W A 2 2 Ct w A 111 _ Create Custom Open File Update Drive ID Parameter Name 10 Motor ID Table 37 Motor Category Description Value Notes Motor serial number for Rockwell Automation motor 11 Motor Model Motor catalog number for Rockwell Automation motor 12 Motor Vendor Rockwell Automation 14 Halls Order Hallcode index Range 0 5 18 Jm Motor momen
31. Index 01 Successfully connected to drive 04100133100020 192 168 124 200 Start Index Table 50 Indexing Category ID Parameter Name Description Value Notes 267 AutoStart Index Enable Auto Start index function for Indexing mode when drive becomes enabled 0 Disable 1 Enable 632 Start Index Indexing starts from index specified 0 31 637 Current Index Index currently executing This tag is valid only in Indexing mode 0 31 An index controls drive operation when Drive mode is set to Indexing in the General category The drive starts indexing at the index whose number 0 31 is reflected in the cumulative binary values of the Index Select 0 1 2 3 and 4 that are selected in the Digital Inputs category The digital input Index Select binary values are as follows e Index Select 0 1 if active 0 if not e Index Select 1 2 if active 0 if not e Index Select 2 4 if active 0 if not e Index Select 3 8 if active 0 if not e Index Select 4 16 if active 0 if not If an Index Select is not assigned to a digital input the Index Select is considered inactive Rockwell Automation Publication 2097 UM001D EN P November 2012 101 Chapter 5 MotionView Software Configuration When the Kinetix 300 drive is in Indexing mode the drive performs the required index based position move for each index according to the parameters shown below The Kinetix 300 drive supports up to 32 i
32. 2 238 81588 5 8 5 5 uondipseq 55922 eyed al 5 abeg Appendix penunuo 00 8L 19 1 Rockwell Automation Publication 2097 UM001D EN P November 2012 8 uoue au uo ayy Jo 51 1521 ay Aq aq ue uolsiAad al 4 UOISIAad uo pasn 51 1 SIY uado AjjeUOU se syndu Jo gt au 0 seu 1 1 05 au uoneinbruo IYI L Appendix X w sun aunseayy IN 8 9 2 0 a2 X 000000171 abuey sun 1950 Wau 9 9 S X 00 0 abuey duiep yndyno juan MH way 9 e 22 21215 215 5 2 2 gt 5 5 215 lt 2 a S m z 3 2 5 8185188 ad 5 8 uondipseq Sso y maijuonow penunuo 00 8L 19 1 Rockwell Automation Publication 2097 UM001D EN P November 2012 209 Appendix Kinetix 300 Drive ID Tag N
33. 2 Master encoder A Step input MA 31 Digital input group BCOM terminal IN_B_COM 3 Master encoder B Direction input MB 32 Digital input B1 1 4 Master encoder B Direction input MB 33 Digital input B2 IN_B2 5 Reserved 3 Digital input B3 B3 6 Reserved 35 Digital input B4 IN B4 7 Buffered encoder output channel A BA 36 Digital input Group CCOM Terminal IN_C_COM 8 Buffered encoder output channel A BA 37 Digital input 9 Buffered encoder output channel B BB 38 Digital input C2 C 10 Buffered encoder output channel BB 39 Registration input sensor 3 1 Buffered encoder output channel 7 BZ 40 Digital input C4 4 12 Buffered encoder output channel Z BZ 4 Ready output collector RDY 13 21 Reserved 2 Ready output emitter RDY 22 Analog common ACOM 43 Programmable output 1 collector OUTI C 23 Analog output max 10 mA AO 44 Programmable output 1 emitter OUT1 E 24 Positive of analog signal input AIN1 45 Programmable output 2 collector OUT2 C 25 Negative of analog signal input AIN1 46 Programmable output 2 emitter OUT2 E 26 Digital input group ACOM terminal IN A 47 Programmable output 3 collector OUT3 C 27 Negative travel limit switch IN_A1 48 Programmable output 3 emitter OUT3 E 28 Positive travel limit switch IN A2 49 Programmable output 4 collector OUT4 C 29 Inhibit enable input IN_A3 50 Programmable output 4 emitter OUT4 E 38 Figure 11 Pin Orientat
34. AIN 24 COM Analog AOUT 25 M Chassis Figure 95 Step and Direction 2097 N3xPRx MicroLogix 1400 Kinetix 300 Drive Controller 1766 L32BXB 1766 L32BXBA 1 0 100 Connector Step 1 02 Step 2 COM Direction 3 05 Direction 4 L Chassis Rockwell Automation Publication 2097 UM001D EN P November 2012 183 AppendixA Interconnect Diagrams Kinetix 300 Drive Master Gearing Wiring Example Bulletin MPL or Bulletin TLY Incremental Feedback Motor 184 This wiring diagram applies to Kinetix 300 drives 2097 V3xPRx 2097 V3xPRx Kinetix 300 Drive Kinetix 300 Drive Master Slave Motor MA Master Feedback 3 Encoder MF Connector 4 Inputs H Buffered 8 Encoder 7 1 0 10D BB Connector Outputs ep 5 GND 1 0 100 Motor Connector Feedback MF Connector Bulletin MPL or Bulletin TLY Incremental Feedback Motor IMPORTANT Master Gearing mode is not compatible with SICK Stegmann or Tamagawa high resolution motor feedback Rockwell Automation Publication 2097 UM001D EN P November 2012 Motor Brake Currents Interconnect Diagrams Appendix Use these coil current values to size the interposing relay required for your application See the interconnect diagram for your Kinetix 300 drive motor beginning on page 176 for typi
35. Chapter8 Kinetix 300 Drive Safe Torque off Feature Notes 170 Rockwell Automation Publication 2097 UM001D EN P November 2012 Interconnect Diagrams Appendix A Topic Page Interconnect Diagram Notes 172 Power Wiring Examples 173 Kinetix 300 Drive Rotary Motor Wiring Examples 176 Kinetix 300 Drive Actuator Wiring Examples 180 Kinetix 300 Drive Linear Motor Wiring Examples 179 Kinetix 300 Drive to MicroLogix Controller Wiring Examples 183 Kinetix 300 Drive Master Gearing Wiring Example 184 Motor Brake Currents 185 System Block Diagrams 186 Rockwell Automation Publication 2097 UM001D EN P November 2012 171 AppendixA Interconnect Diagrams Interconnect Diagram Notes This appendix provides wiring examples to assist you in wiring the Kinetix 300 system The notes below apply to the wiring examples on the pages that follow Note Information 1 For power wiring specifications see Power Wiring Requirements on page 65 2 For input fuse and circuit breaker sizes see Circuit Breaker Fuse Specifications on page 22 3 Place the AC EMC line filters as close to the drive as possible and do not route very dirty wires in the wireway If routing in wireway is unavoidable use shielded cable with Shields grounded to the drive chassis and filter case For AC line filter specifications see Kinetix Servo Drives Specifications Technical Data publication GMC TD003 This filter do
36. If the indexing configuration Type is set to Blended the acceleration and deceleration parameters are not programmable Instead they are calculated internally by the drive based on distance and velocity between the two points of the move The index table contains the position and velocities necessary to assemble the profile IMPORTANT _ The full profile is assembled by stitching together a sequence of positions and velocities rather than complete move operations Figure 55 Example of Blended Indexing Index 1 Index 2 Velocity Position Rotary Absolute With an Rotary Absolute based move the direction of travel depends on the current position of the motor and is not necessarily the shortest path to the end position For starting positions less than the end position within the unwind the result is motion in the positive direction while starting positions greater than the end position within the unwind results in motion in the negative direction The command position can be greater than the unwind value Negative position values are equivalent to their corresponding positive values and are useful when rotating the axis through 0 For example 90 is the same as 270 When the position is greater than or equal to the unwind value the axis moves through more than one revolution of the unwind before stopping at an absolute position The actual position on each revolution through the unwind will start at zero re
37. Kinetix 300 Drive Safe Torque off Wiring Diagrams This appendix provides typical wiring diagrams for the Kinetix 300 drive safe torque off feature with other Allen Bradley safety products For additional information regarding Allen Bradley safety products including Kinetix 300 Drive Safe Torque off Feature Chapter 8 safety relays light curtain and gate interlock applications see the Safety Products Catalog website http www ab com catalogs The drive is shown in a single axis relay configuration for both category 0 and category 1 stops per EN 60204 1 Safety of Machinery Directive These are examples however and user applications can differ based on the required overall machine performance level requirements IMPORTANT The Kinetix 300 drive has been qualified and rated as a component to meet ISO 13849 1 performance level 4 PLd safety level category 3 Dual inputs and drive monitoring of the safe torque off circuit STO 4 and 570 6 are done to prevent drive enable should either or both of these inputs not function Itis suggested to evaluate the entire machine performance level required with a risk assessment and circuit analysis Contact your local distributor or Rockwell Automation Sales for more information Figure 79 Single axis Relay Configuration Stop Category 0 with Automatic Reset External 24V DC 1 Safe Torque off
38. MPL A B15xxx V Ex4xAA MPL A B2xxx V Ex4xAA Feedback Type Feedback Cable Premolded Incremental encoder MPAR A B3xxxx MPAR A B1xxxx MPAR A B2xxxx series A Circular threaded DIN MPAI A Bxxxx MPS A Bxxxx M S MPAS A Bxxxx V A MPL A B15xxx V Ex7xAA MPL A B2xxx V Ex7xAA MPL A B15xxx Hx7xAA MPL A B2xxx Hx7xAA High resolution encoder MPL A B3xxx Hx7xAA MPL A B4xxx Hx7xAA MPL A B45xxx Hx7xAA LDAT SxxxxxxxBx MPL A B3xxx M Sx7xAA MPL A B4xxx M Sx7xAA 45 5 7 Incremental encoder N A Circular Speedtec MPM A Bxxxxx M S DIN MPF A Bxxxx M S MPAR A B1xxxx MPAR A B2xxxx series LDAT Sxxxxxx xDx High resolution encoder Absolute Linear Encoder Feedback TLY Axxxx B TLAR Axxxxx Circular Plastic TLY Axxxx H High resolution encoder Flying lead 2090 XXNFMF Sxx standard 2090 CFBM4DF CDAFxx continuous flex 2090 XXNFMF Sxx standard 2090 CFBM7DF CDAFxx continuous flex 2090 CFBM7DF CEAAxx or 2090 CFBM7DD CEAAxx standard non flex 2090 CFBM7DF CEAFxx 2090 CFBM7DD CEAFxx continuous flex Pinout page 78 2090 CFBM6DF CBAAxx standard Incremental encoder 2090 CFBM6DD CCAAxx Rockwell Automation Publication 2097 UM001D EN P November 2012 page 78 77 Chapter4 Connecting the Kinetix 300 Drive System Flyi
39. Motor Power MP Connector y gt Connections PE gt Note 9 29 Use discrete logic or PLC 26 Cable Shield gt 1 to control ENABLE to drive 1 0 100 amp 1 Clamp and monitor RDY signal gt back from drive lt Connector Noreg e w Indicates User Supplied Component Rockwell Automation Publication 2097 UM001D EN P November 2012 173 Appendix Single phase AC Input 120 240V rms AC 50 60 Hz 174 Notes 1 2 Interconnect Diagrams In this example single phase 240V AC is applied to 2097 V31PRx and 2097 V32PRx drives IMPORTANT The2097 V32PRx models have integrated AC line filters and not require the ACline filter shown in this diagram Figure 84 Kinetix 300 Drives 240V single phase input power See table on 172 for note information 2097 V31PRx and 2097 V32PRx Ground Stud Kinetix 300 Drive Bonded Cabinet Ground Bus 2097 V31PRx 2097 V32PRx LO Z lo AC Line Filter Optional N n e u Note 3 npu o re Lou rou IPD Connector L2 N 12 N 2 Fuse Disconnect Input Fusing Shunt Resistor Shunt Resistor or Circuit Breakers 0165 and DC Bus Connections BC Connector Back up Power
40. RMS 14 85099593 V m s SLCC APE jum Motor Database 1 50 Custom Motor Lm Inductance phase phase 21 6 mH Resolution x4 5 0 ue Rm Resistance 23 Halls order Nominal phase current 2 900000095 Amp Inverted a B leads A for forward Intermittent Current 8 56000042 Amp Nominal Drive Bus Voltage 680 Vde Thermal LA 12 2 Pole pitch 50 mm bl 24 ew Ex 1205 WeslC Mechanical Motor block mass 1 28 Kg M Maximum Velocity 10 mis Table 38 Linear Motor Category ID Parameter Name Description Value Notes 10 Motor ID Motor serial number for Allen Bradley motor 11 Motor Model Motor catalog number for Allen Bradley motor 1 Motor Vendor Allen Bradley 14 Halls Order Hallcode index Range 0 5 243 Motor Block Mass Motor block mass Range 0 100 kg 244 Kf Linear motor force constant Range 1 1000 N A rms 245 Ke Motor voltage or back EMF constant Range 1 500V rms m s 21 Lm Motor phase to phase inductance Range 0 1 500 mH 22 Rm Motor phase to phase resistance Range 0 01 5000 23 Nominal Phase Current Motor max current RMS Range 0 5 50 24 Maximum Velocity Motor max velocity Range 0 10 m s 240 Pole Pitch Pole pitch Range 2 200 mm 246 Resolution x1 Linear encoder resolution Range 0 4 40 um 27 Nominal Drive Bus Voltage Nominal motor
41. The MicroLogix controller uses long file elements such as L12 0 for DINT data types floating point file elements such as F13 0 for Real data types and string file elements such as ST 14 0 for string data types The attribute value is used to designate the data format as DINT REAL string and the memory location as volatile or nonvolatile Table 81 Data Type Attributes Attribute Format Memory Stored In 0 DINT Volatile 1 DINT Nonvolatile 2 REAL Volatile 3 REAL Nonvolatile 4 String Volatile 5 String Nonvolatile Explicit messaging lets DINT data types to be read into and written from long file elements directly and Real data types to be read into and written from floating point file elements directly String data types must be read into integer file elements such as N11 0 by the MSG instruction and then copied into a string file element Similarly strings must be copied into integer file elements first before being written by the MSG instruction Rockwell Automation Publication 2097 UM001D EN P November 2012 211 AppendixD MicroLogix Explicit Messaging IMPORTANT For each CIP Generic message MSG instruction you must use both unique message file element for example MG9 0 and a unique extended routing information file element for example RIX10 0 The routing information file element stores not only the path to the destination Kinetix 300 drive IP address but also the specific Class Instance Att
42. The brake wires have a shield braid shown below as gray that folds back under the cable clamp before the conductors are attached to the motor brake circuit Thermal switch wires are included in the feedback cable See Kinetix 300 Drive Rotary Motor Wiring Examples beginning on page 176 for interconnect diagrams Figure 43 Motor Power Terminations three phase and brake wires gt Q Kinetix 300 Qc em o19 EM 8 JO I amm 8 019 5 9 5 E JANGER 7 1918 9 Jo 00000 00000 00000 OVECEEI VOLON 7 2 s 1 To Motor Item Description Item Description 19 power supply 5 1 0 100 connector 2 20 Relay and diode assembly 8 6 2097 V3xPRx Kinetix 300 drive 3 Minimize unshielded wires in brake circuit 7 Motor power MP connector 4 MP Series cable brake wires 8 Cable clamp 9 1 User supplied Size as required by motor brake See Motor Brake Currents on page
43. W and GND or 172 A B C and D respectively Rockwell Automation Publication 2097 UM001D EN P November 2012 Interconnect Diagrams Appendix Wiring Examples You must supply input power components The single phase and three phase line filters are wired downstream of fusing and the M1 contactor In this example the 2097 V31PRx drives are wired to use the voltage doubling circuit The 120V input voltage provides 240V output to motors The 2097 V33PRx drives are wired for single phase 120V operation Figure 83 Kinetix 300 Drive 120V single phase input power 2097 V31PRx and 2097 V33PRx Kinetix 300 Drives Ground Stud See table on page 172 for note information Bonded Cabinet Ground Bus 2097 V31PRx 2097 V33PRx J lo LI AC Line Filter Mains LIN Single phase AC Input gt N 120V rms 50 60 Hz nput Notes 1 2 1 IPD Connector Fuse Disconnect Input Fusing M1 B or Circuit Breakers Notes 5 7 Shunt Resistor gt Shunt Resistor and DCBus 3 Connections BC Connector Back up Power 2 v0c lt _User supplied BP Connector lt 24V DC U Three phase Motor Power 7 gt
44. 0 31 Range 0 1000 counts B 5 DI R W Dwell time to remain at current position before executing for index 0 31 Range 0 10 000 ms B 6 DINT R W Maximum velocity in UU while in motion for index 0 31 Velocity speed when moving towards new position B 7 DI R W Maximum acceleration in UU while in motion for index 0 31 Acceleration how quickly towards configured velocity B8 DI R W Maximum deceleration in UU while in motion for index 0 31 ose aa how quickly towards zero velocity from configured velocity B 9 DI R W Next index to execute if action so indicates for index 0 31 Next Index next index to execute if any B 10 DI R W Action to execute upon completing motion for index 0 31 0 Stop 1 Wait for Start 2 Next Index 210 Rockwell Automation Publication 2097 UM001D EN P November 2012 Explicit Messaging Data Types Appendix D MicroLogix Explicit Messaging You can use MicroLogix CIP Generic MSG instructions also known as explicit messages to read and write to the drive ID tags over the EtherNet IP network This capability is present in the MicroLogix 1100 Series B and MicroLogix 1400 controllers You can write to read write ID tags however read R ID tags are read only For the complete list of Kinetix 300 ID tags see Appendix C Topic Page Explicit Messaging Data Types 211 Explicit Messaging Data Type Examples 212 ID tags are designated as either DINT REAL or string data types
45. 10 100 Mbps Ethernet Bridge Twisted Pair Media Allen Bradley 1756 Ethernet Communication Interface Allen Bradley 1756 Ethernet Communication Interface Allen Bradley 1756 10 100 Mbps Ethernet Bridge w Enhanced Web Serv Allen Bradley 1756 5 SynchLink Interface Allen Bradley gt Find 1 Add Favorite By Category By Vendor Favorites 2 Expand the Communications category and select 1756 Exx x appropriate for your actual hardware configuration In this example che 1756 ENET B module is chosen 3 Click OK The New Module dialog box opens Type 1756 ENET B 1756 Ethemet Communication Interface Change Type Vendor Allen Bradley Parent Local Wane Address Host Name Description IP Address 192 168 124 2 O Host Name Slot 1 23i Revision ZE z Electronic Keying Compatible Keying Open Module Properties OK Gancal Help Rockwell Automation Publication 2097 UM001D EN P November 2012 135 Chapter 6 Configure and Start Up the Kinetix 300 Drive 136 4 Configure the new module a Name the module b Enter the IP address of the Ethernet module In this example the IP address is 192 168 124 2 This is the controller Ethernet address not the drive Ethernet address c Enter the slot where your module resides leftmost slot 0 5 Click OK Configure the Kinetix 300 Drive F
46. 11 Switch Marker Reverse Bi directional Active Rising 12 Switch Marker Reverse Uni directional Active Rising 13 Switch Marker Reverse Bi directional Active Falling 14 Switch Marker Reverse Uni directional Active Falling 23 Switch Fast Forward Home to sensor Active Rising 25 Switch Slow Forward Home to sensor Active Falling 27 Switch Slow Reverse Home to sensor Active Falling 29 Switch Fast Reverse Home to sensor Active Rising 33 Marker Reverse Home to marker N A 34 Marker Forward Home to marker N A 35 Immediate N A N A 1 All other values of HomeMethod are not used for the Kinetix 300 drive and attempts to use those values will result in a drive fault 2 Home to torque is not available Immediate Homing The immediate home operation on the drive defines the current position of the motor to be the home and the position set to the HomeOffset parameter The drive must be in Indexing mode or EtherNet IP Positioning mode and the drive must be enabled Absolute Homing The absolute homing on the drive behaves similarly to the Immediate Homing operation The homing does not induce shaft motion on the motor The current position of the motor is the home position and the position is set to the HomeOffset parameter The difference between the absolute position in the encoder and the HomeOffset parameter is stored in nonvolatile memory so that all absolute motion is relative to the current position
47. 16AAxx 2090 CFBM7DF CEAAxx standard standard MPAR A B2xxx series 40 3090 CPxM7DF 16AFxx 2090 CFBM7DF CEAFxx MPAR A B3xxx 63 continuous flex continuous flex T MPAI A B2xxxx 64 a secured MPAI A B3xxxx 83 under clamp 91 MPAR A B4xxxx 110 Turn clamp over to hold small cables secure MPAI B5xxxx 144 Low Profile Connector 5 2090 CPxM7DF 14AAxx 2090 K2CK D15M shown standard 2090 CPxM7DF 14AFxx continuous flex Rockwell Automation Publication 2097 UM001D EN P November 2012 181 AppendixA Interconnect Diagrams Figure 93 Kinetix 300 Drive with TL Series Bulletin TLAR Electric Cylinders 2097 V3xPRx TLAR Axxxxx B 230V Seen nds Kinetix 300 Drives Servo Motors with ee table on page 172 for note information Motor Power and Brake Cable High Resolution Feedback Notes 9 10 Use 2090 CPWME6DF 16AAxx 0 cable for non brake applications Three phase Green Yellow 5 Motor Power 3 Motor Power Blu 3 2090 K2CK D1SM 4 MP Connector Black 2 Connector Kit U Brown 1 gt GREEN DATA 5 6 7 Motor Feedback gt WHT GREEN XX DATA 10 8 MF Connector GRAY 5VDC 14 9 Feedback 6 ORANGE BAT BAT 1 WHT ORANGE BAT BAT 24 SHIELD 13 Black 2
48. 2097 UM001D EN P November 2012 1 Installing the Kinetix 300 Drive System Chapter 2 Minimum Clearance Requirements This section provides information to assist you in sizing your cabinet and positioning your Kinetix 300 system components IMPORTANT Mount the module an upright position as shown Do not mount the drive module on its side Figure 2 illustrates minimum clearance requirements for proper airflow and installation Additional clearance is required depending on the accessory items installed Anadditional 9 7 mm 0 38 in clearance is required left of the drive if the I O expansion terminal block is used Anadditional 26 mm 1 0 in clearance is required right of the drive when the heatsink is present An additional 36 mm 1 42 in is required right of the drive when the side mount line filter is present An additional 50 mm 2 0 in is required behind the drive when the rear mount line filter is present An additional 5 0 mm 0 19 in clearance is required in front of the drive when the 2090 K2CK D15M feedback connector kit is used Additional clearance is required for the cables and wires connected to the top front and bottom of the drive An additional 150 mm 6 0 in is required when the drive is mounted adjacent to noise sensitive equipment or clean wireways See Kinetix Servo Drives Specifications Technical Data publicatio
49. 2097 drive as appropriate for your actual hardware configuration In this example the 2097 V33PR3 drive is selected 3 Click OK Rockwell Automation Publication 2097 UM001D EN P November 2012 Configure and Start Up the Kinetix 300 Drive Chapter 6 The New Module dialog box opens New Module General Connection Module Info Type 2097 V33FR3 Kinetix 300 44 240 No Filter Vendor Allen Bradley Parent LocalENB Name UM_K300 IP Address 192 168 124 200 Ethemet Address D cb 1 escription Host Name ow ue Module Definition Revision 14 Electronic Keying Compatible Module Connection Data Status Creating 4 Configure the new module a Name the module b Set the drive Ethernet address Set the Ethernet address in the software to match the Ethernet address scrolling on the drive See Current IP Address Ethernet Setting on page 129 5 Click the Connection tab Wil Module Properties LocalENB 2097 V33PR3 1 1 General Connection Module Info Requested Packet Interval RPI 2 0 5 ms 2 0 100 0 C Inhibit Module C Major Fault On Controller If Connection Fails While in Run Mode Module Fault Status Cancel Apply 6 Configure Requested Packet Interval RPI for your application The default setting is 20 ms Yours could be different 7 Click Ok Download the Program Aft
50. 24voc _ lt User supplied BP Connector 24V DC gt Three phase Motor Power MP Connector Z otor Power w gt Connections PE gt Note9 29 Use discrete logic or PLC 26 EN to control ENABLE to drive 2 7 and monitor RDY signal 1 0 100 el 18 ra back from drive lt 477 aes w Indicates User Supplied Component Rockwell Automation Publication 2097 UM001D EN P November 2012 In this example three phase 240V is applied to 2097 drives and 480V AC is applied to 2097 V34P Rx drives Interconnect Diagrams Appendix Figure 85 Kinetix 300 Drive 240 480V three phase input power See table on page 172 for note information 2097 V33PRx and 2097 V34PRx Kinetix 300 Drives Shunt Resistor Ground Stud and DC Bus BC Connector Bonded Cabinet Ground 19 PE 9 Mains H u Three phase Input Three phase AC Input optional Note 3 IPD Connector 240 480V rms 50 60 Hz o Notes 1 2 13 a i Back up Power Fuse Disconnect Fusing a or Circuit Breakers Notes 5 7 BP Connector gt m Motor Power Use discrete logic or PLC to 26 control ENABLE to drive and 2 4 monitor R
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52. After a power cycle the drive continues to operate as though it was homed For absolute homing on motors with absolute encoders execute an Immediate Home Rockwell Automation Publication 2097 UM001D EN P November 2012 115 Chapter 5 116 MotionView Software Configuration Home to Marker On incremental encoders the marker pulse generated by the encoder is used by the drive as the marker for active homing On absolute encoders without a marker pulse the drive synthesizes internal to the drive firmware only a marker pulse that is a consistent position once per mechanical rotation of the motor This generated marker pulse is used by the drive as the marker for active homing of an absolute encoder Home Offset The home offset parameter is the difference between the zero position for the application and the machine home position found during homing Once homing is completed the zero position is offset from the home position by adding the home offset to the home position All subsequent absolute moves are taken relative to this new zero position Homing Switch The homing switch tag enables you to select the drive input used for the Home Switch connection The Homing Switch Input Assignment range is 0 11 Inputs 1 4 are assigned 0 3 respectively inputs 1 4 are assigned 4 7 respectively and inputs C1 C4 are assigned 8 11 respectively Do not assign to AL A2 A3 or C3 as these inputs have predefined fun
53. B45xx 24V DC COM Servo Motors with User Supplied Incremental Feedback 24V DC Grounding Technique for amp Feedback Cable Shield Low Profile Connector 2090 2 015 shown Clamp Exposed shield secured under clamp Clamp Screws 2 Turn clamp over to hold small cables secure Rockwell Automation Publication 2097 UM001D EN P November 2012 2090 K2CK D15M Connector Kit gt gt BLACK AM 1 WHT BLACK 2 lt gt gt L C GND 3 RED BM 3 lt Three phase 4 gt gt WHT RED XX BM 4 lt Motor Power 22 GE A lt 6 5 WHUGREN m 10 Motor 5 S GMT 5VDC 14 Feedback 7 5 51 wien 6 1 gt ORANGE Thermostat 35 S WHT oRANGE TS 11 4 TS lt gt gt fe 5 WHUBLE XX os Motor Brak 6 gt gt YELLOW 52 13 otor Brake 7 WHT VELLOW XX 8 8 gt gt 2 SSH See low profile connector illustration lower left for proper grounding technique 477 2090 XXNFMF Sxx standard 2090 CFBM7DF CDAFxx continuous flex flying lead Feedback Cable Note 9 177 AppendixA Interconnect Diagrams Figure 89 Kinetix 300 Drive with TL Series TLY A Motors 2097 V3xPRx TLY Axxxx H 230V See table on page 172 for note information Kinetix 300 Drives Servo Motors with 2090 CPBM6DF 16AAxx Motor Power and Brake Cable Increment
54. CompactLogix or SoftLogix EtherNet IP modules See Additional Resources on page 12 Configure the Logix Controller Follow these steps to configure the Logix controller 1 Apply power to your Logix chassis containing the Ethernet interface module PCI card and open your RSLogix 5000 software 2 From the File menu choose New Rockwell Automation Publication 2097 UM001D EN P November 2012 3 Configure and Start Up the Kinetix 300 Drive The New Controller dialog box opens New Controller Vendor Allen Bradley Type 17694 23 081 CompactLogiv6323E 0B1 Controler w Revision 18 Enabled Name UM _ Description Create In CARSLoaix S000 Projects Configure the new controller a From the Type pull down menu choose your controller type Chapter 6 In this example the CompactLogix L23E QBI controller is chosen b Enter your RSLogix 5000 software version c From the Chassis Type pull down menu choose your chassis This step applies only for ControlLogix controllers d Enter the slot where your module resides leftmost slot 0 This step applies only for ControlLogix controllers e Name the file Click OK From the Edit menu choose Controller Properties The Controller Properties dialog box opens Controller Properties UM Serial Port System Protocol User Protocol Major Faults Minor Faults Date Time Advanced S
55. Index is transitioned to an active state The configuration for Start Index requires setting the following parameters either over EtherNet IP Explicit Messaging or through the MotionView software interface Table 52 Start Index Configuration ID Parameter Name Description Value Notes N A Drive Mode Set to Indexing N A 267 AutoStart Index Enable Auto Start index function for Indexing mode 0 Disable when drive becomes enabled 1 Enable 632 Start Index Indexing starts from index specified 0 31 29 EnableSwitchType Enable switch function 0 Inhibit only 1 Run Abort Indexing An active state terminates an indexing sequence by decelerating to a stop and holding zero velocity while remaining enabled No further indexing is executed until commanded by the user or controller The configuration for Abort Index can be set in the add on profile or through MotionView software interface as a digital input Reset Index Reset Index will set the current index to the Start Index Rockwell Automation Publication 2097 UM001D EN P November 2012 109 Chapter 5 110 MotionView Software Configuration Explicit Messages for Indexing The Kinetix 300 drive provides an EtherNet IP assembly for configuring all parameters associated with a single index from within a single Explicit Message To do this make a User Defined type in the RSLogix 5000 or RSLogix 500 program that follows the structure below Send the User defined
56. Modes of Operation Appendix E Overtravel Inputs The Kinetix 300 drive has built in hardware overtravel inputs These digital inputs are positive and negative relative to the direction of movement on your axis The overtravel limits are switches wired to the drive s inputs and mounted at the physical extremes positive negative of your axis to indicate no movement condition for your axis Topic Page Modes of Operation 217 Overtravel Hardware Inputs 218 Operation 219 Overtravel Fault Recovery 220 The operation of the Kinetix 300 drives overtravel limits is only applicable in Positioning mode You can also use non positioning modes but they must work in conjunction with an external controller or PLC Table 82 Overtravel Input Modes of Operation Positioning Modes Non positioning Modes Indexing mode EtherNet IP External Reference mode 0 Current torque Reference 1 Velocity Reference EtherNet IP External Reference mode Analog Velocity Input mode 2 Incremental Position 3 Absolute Position 4 Incremental Registration 5 Absolute Registration Jog Profiler mode Analog Current Input mode Figure 107 Modes of Operation in MotionView Software 192 168 124 200 DISABLED Motor General Description Value Communication Drive Mode Auto Tune K Pernes Current Limits Auto Tune Ks 210 EtherNet IP External Reference e Current Limit Wr 2 r Digital 10 Mast
57. Motor wiring error Check motor wiring Incorrect motor selection Verify the proper motor has been selected E06 Hardware overtravel Dedicated overtravel input is inactive Check wiring Verify motion profile E07 Feedback lost The feedback wiring is open shorted or missing Check motor encoder wiring 154 Rockwell Automation Publication 2097 UM001D EN P November 2012 Make sure that the motor is recognized from drive s Web based configuration motor screen Table 66 Error Codes continued Troubleshooting the Kinetix 300 Drive System Chapter 7 Error Anomaly Possible Cause Action Solution Code E09 Bus undervoltage Low AC line AC power input e Verify voltage level of the incoming AC power Check AC power source for glitches or line drop e Install an uninterruptible power supply UPS on your AC input E10 Bus overvoltage Excessive regeneration of power Change the deceleration or motion profile Use larger system motor and Kinetix 300 When the motor is driven by an external dive mechanical power source it may regenerate too Usearesistive shunt TM much peak energy through the Kinetix 300 drives Ifa shunt is connected verify the wiring is power supply The system faults to save itself from correct an overload Excessive AC input voltage Verify input is within specifications E11 Illegal Hall state Incorrect phas
58. POL Jo Ob gt 0 5 X abeyon sng painseaw Y Way EZ 2 SHOA zi X NIV nduj y 2921 4495 950 L X Jenuew 950 1 0 X ze dnuamod sabueyp ssappy ssauppe dI Aemajey 19419413 69 X anjeA dnuamod ysew 4119119113 1 99 5 X ZE dnuamod sabueyp ssauppe Ssalppe 411919 19 p nding Y zug ending e 0 paubisse uaaq 100 PYL Bro Ei 99 5 Lug z Inding 695 594915 511000 Jeb i amp indio 89559lqel 0 59415 syndyno 21610 19 3nduy p 0119 1 619 1041 81g g t B sayeys 23161 y ug 8 9 Ndu py zug ndul cy 119 zy 0319 Ly 5 8 5 55 Z 58 5 51518 8 adh 218517165 uondipseq 55992 5 5 eje maijuonow 0 Appendix Kinetix 300 Drive ID Tag Numbers X 5 00010 1 061 X sw 0001 0 aun
59. Reference the limits in the Output Assembly apply 88 Rockwell Automation Publication 2097 UM001D EN P November 2012 MotionView Software Configuration Chapter 5 Figure 52 General Category for Linear Motors 10 82 50 26 D Motor Communication Indexing Ethernet EtherNet IP 2 9000001 Digital IO Analog 10 KHZ Peak Current Limi 8 560004 nt t Clai 400 0000 Limits Velocity Limits Position Limits Dynamics Indexing Enabl MD Lim Disable Hormiga mit 000 0000 Tools Monitor Limit 000 0000 Faults Fault Reset Motor Temperature Sensor ODER Measure Units User Units Scaling 0 000101 Negative Motion Polarity E ni o 5 lt Rockwell Automation Publication 2097 UM001D EN P November 2012 89 Chapter 5 MotionView Software Configuration Table 40 General Category for Linear Motors ID Parameter Name Description Value Notes 300 Current Limit Continuous RMS current for motor selected User may lower this value This lets you trigger a motor current alarm However the drive will not limit the actual current to the motor The actual RMS current limit to the motor is not configurable 320 8 kHz Peak Current Limit Peak current limit for 8 kHz operation based on User may lower this peak value to limit current to motor Do not set below the motor selected RMS Current for motor tag 30 39 Motor Temperature
60. Value Notes 67 IP address Ethernet IP address IP address changes at next powerup 32 bit value 68 Subnet Mask Ethernet IP NetMask Mask changes at next powerup 32 bit value 69 Default Gateway Ethernet Gateway IP address Address changes at next powerup 32 bit value 70 Obtain IP Address Use DHCP Checked Use DHCP service using DHCP Unchecked Manual Rockwell Automation Publication 2097 UM001D EN P November 2012 91 Chapter5 MotionView Software Configuration Ethernet CIP Communication The EtherNet IP CIP category provides access to the modifiable drive object parameters that are used in the Input and Output Assembly EtherNet IP data links 192 168 124 200 Motor F Description Value Units Communication Ethernet input Assembly Links EtherNet IP CIP lO Enable Description Parameter ID Number Units Digital 10 Link A 100 RAM Integer 4 Bytes Analog 10 E 2 Limits Link B 101 Integer 4 Bytes Velocity Limits Link C 102 Float 4 Bytes Position Limits 5 Link D 103 Float 4 Bytes Indexing Homing Tools Output Assembly Links Monitor rare z Faults Enable Description Parameter ID Number Units o Link A 104 2 RAM Integer 4 Bytes o Link B 105 RAM Integer 4 Bytes Link 106 RAM Float 4 Bytes Link D 107 RAM Float 4 Bytes The Enable parameters determine if the p
61. Wiring Examples Figure 87 MP Series Bulletin MPL A B and MPS A B Motors 2090 XXNPMF xxSxx standard 2097 V3xPRx or 2090 MPL A B15xxx MPM A B2xxx See table on page 172 for note information Kinetix 300 Drives and MPS A Bxxx Notes 9 10 Servo Motors with Use 2090 CPWMxDF xxA bor High Resolution Feedback 2090 K2CK D15M cable for continuous flex non brake applications Connector Kit 0 Shield 5 Three phase TEN BLACK 9 1 lt lt Motor Power 2 55 sin 2 3 Blue CN w l GND 3 ED 05 3 Motor Power gt gt 4 Black B 55 WHT RED XX 4 MP Connector lt lt 5 5 x GREEN DATA 5 6 lt lt Motor 55 WHUGREN 10 7 Motor Feedback Feedback 9 5 GRAY 5VDC 14 9 MF Connector Note 12 0 55 1 WHT GRAY 6 1 ORANGE 9VDC 7 10 gt gt E i Thermostat amp 13 55 WHT ORANGE XX 11 wp 13 Black AL M s BLUE 15 14 X White 3 BR 15 y lt 2 OO DOTT Motor Brake See low profile connector 1 0 100 illustration lower left for proper grounding technique Connector 0014 T 2090 XXNFMF Sxx standard or Note 4 OUT4 C 2090 CFBM4DF CDAFxx continuous flex flying lead Feedback Cable Cable Shield CR1 e
62. and coast 6 Start Homin 2 Ramped Decel and Disable 9 7 Fault Reset 189 Input A1 A4 Debounce time 0 1000 ms of the individual 629 Input C1 Function 8 Index Select 0 de bounce time digital inputs 9 Index Select 1 192 10 Index Select 2 11 Index Select 3 193 hatha ae 630 Input C Function 12 Index Select 4 196 Configure Home Sensor input from Homing Category 197 4 631 Input C4 Function ya de bounce time 200 201 Output 1 Function OUT1 Configuration of the specific function for the 651 Brake Engage Dela Time ms from when the drive is disabled to the time that 9 949 individual digital outputs motion is stopped and brake is engaged 202 Output 2 Function 0072 0 Not Assigned 203 Output 3 Function 0073 Spend Window 652 Brake Release Delay Time ms from when the drive is enabled to the time that 3 Current Limit motion is allowed to begin brake is released 4 fault 204 Output 4 Function 0014 5 Ready 6 Brake 7 In position Rockwell Automation Publication 2097 UM001D EN P November 2012 93 Chapter5 MotionView Software Configuration Analog 1 0 M MotionView OnBoard 3 25 192 168 124 200 DISABLED DER Allen Bradley Kinetix 300 English Load Connection Stop Reset Save Configuration Load Configuration Restore Defaults Upgrade 192 168 124 200 Mot sees Description Value Units General
63. background or cydic task RSLogix 5000 Tags Description Fault A non zero value in this field means the connection to the drive is not operational and no other fields in the Input Assembly should be used DriveEn A non zero value in this field means the drive is currently enabled and the servo loops are closed PhysicalAxisFault A non zero value in this field means the drive has faulted PositionLockStatus A non zero value in this field means the drive is within the position tolerance window of the commanded position CurrentLimitStatus non zero value in this field means the drive has reached the current limit This does not mean the drive is limiting current if the current limit was set to a lower value than the drive or motor supports RegistrationEventStatus A non zero value in this field means the drive has captured a registration event and position IndexingStatus A non zero value in this field means the drive is currently operating out of the indexing table within the drive MotionComplete A non zero value in this field means the drive has completed a position based move This bit does not apply when in Indexing Current mode PositiveOvertravellnput A non zero value in this field means the positive overtravel input to the drive has been asserted NegativeOvertravellnput A non zero value in this field means the negative overtravel input to the drive has been asserted HomingStatus A non
64. below for details on grounding your Kinetix 300 drive See Appendix A for the power wiring diagram for your Kinetix 300 drive ATTENTION The National Electrical Code contains grounding requirements If the Kinetix 300 drive is mounted on a painted subpanel ground the drive to a bonded cabinet ground bus by using a braided ground strap or 4 0 mm 12 AWG solid copper wire 100 mm 3 9 in long Figure 38 Connecting the Braided Ground Strap Example Braided Bonded Cabinet Ground Strap gt Ground Bus Ground Stud 8004 Ground Grid or Power X Y A Distribution Ground x 5757 300 9 For drive dimensions See Kinetix Servo Drives Specifications Technical Data publication GMC TD003 Rockwell Automation Publication 2097 UM001D EN P November 2012 Connecting the Kinetix 300 Drive System Chapter 4 Figure 39 Chassis Ground Configuration multiple Kinetix 300 drives on one panel Chassis Ground Chassis Ground Chassis Ground eee 1 Ex m 8 __ Chassis Ground 1 Bonded Ground Bar optional Bonded Cabinet EE Ground Bus Ground Grid or Power Distributio
65. communication module Shielded Ethernet cable is available in lengths up to 78 m 256 ft However the total length of Ethernet cable connecting drive to drive drive to controller or drive to switch must not exceed 100 m 328 ft If the entire channel is constructed of stranded cable no fixed cable then this is the equation for calculating maximum length Maximum Length 113 2N y meters where N the number of connections in the channel and the loss factor compared to fixed cable typically 1 2 1 5 Figure 49 CompactLogix Ethernet Port Location CompactLogix Controller Platform 1769 L23E QB1B Shown CompadlogkL3E E ooo mum 0000 D D D 0000 The Port 1 Ethernet connection is used for connecting a web browser and configuring your Logix module Figure 50 Ethernet Wiring Example External Switch CompactLogix Controller Platform 1769 L23E QB1B Shown m m qp 8 8 xa di E Kl Kd Kinetix 300 Drives c 82 Rockwell Automation Publication 2097 UM001D EN P November 2012 Chapter 5 MotionView Software Configuration
66. dirty connections Drive 1 segregated not in wireway 21 or o E Ethernet HELS Acli L shielded a Tee DC I Cable Filter XFMR I Ta Ethernet and C Feedback Cables C Route Encoder Analog Registration 1 0 Motor Power and Safety Cables Shielded Cables Route 24V DCI O Shielded Cable 1 If drive system 1 0 cable contains dirty relay wires route cable in dirty wire way 2 When space does not permit 150 mm 6 0 in clearance install a grounded steel shield between the drive and clean wireway For examples see the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 32 Rockwell Automation Publication 2097 UM001D EN P November 2012 Installing the Kinetix 300 Drive System Chapter 2 When mounting your shunt module inside the enclosure follow these additional guidelines Mount the shunt resistor anywhere in the dirty zone but as close to the Kinetix 300 drive as possible Shunt wires can be run with motor power cables Keep unshielded wiring as short as possible Keep shunt wiring as flat to the cabinet as possible Separate shunt wires from other sensitive low voltage signal cables Figure 8 Shunt Resistor Inside the Enclosure Clean Wireway YE Shunt Wiring Methods Dirty Wireway Endosure Twisted pair in conduit first choice Shielded twisted pair second choice Twisted pair two twists per foot min third c
67. drive and system integration for your drive motor combination with a Logix controller Who Should Use This Manual This manual is intended for engineers and technicians directly involved in the installation and wiring of the Kinetix 300 drive and programmers directly involved in operation field maintenance and integration of the Kinetix 300 drive If you do not have a basic understanding of the Kinetix 300 drive contact your local Rockwell Automation sales representative for information on available training courses Rockwell Automation Publication 2097 UM001D EN P November 2012 11 Preface Additional Resources These documents contain additional information concerning related products from Rockwell Automation Resource Kinetix 300 Shunt Resistor Installation Instructions publication 2097 14002 Description Information on installing and wiring the Kinetix 300 shunt resistors Kinetix 300 AC Line Filter Installation Instructions publication 2097 14003 Information on installing and wiring the Kinetix 300 AC line filter Kinetix 300 1 0 Terminal Expansion Block Installation Instructions publication 2097 005 Information on installing and wiring the Kinetix 300 1 0 terminal expansion block Kinetix 300 Memory Module Installation Instructions publication 2097 1007 Information on installing the Kinetix 300 memory module Kinetix 300 Memory Module Programmer Quick Start publication 2097 05001
68. is not illustrated L 1 0 Filter 0 12 AC Inpu 9 Input Fusing M1 E Contactor Ground Grid or Power Distribution Ground r Bonded Cabinet Ground Bus 1 Leakage current from the line filter in this configuration typically is higher than a balanced center ground configuration Rockwell Automation Publication 2097 UM001D EN P November 2012 59 Chapter4 Connecting the Kinetix 300 Drive System Single phase Power Wired to Single phase Drives These examples illustrate grounded single phase power wired to single phase Kinetix 300 drives when phase to phase voltage is within drive specifications IMPORTANT The 2097 V32PRx models have integrated AC line filters and not require the ACline filter shown in this diagram Figure 35 Single phase Grounded Power Configurations Transformer Secondary 2097 V31PRx 2097 V32PRx po IPD IPD T 1 1 actine L1 L1 Kinetix 300 Drives 240V AC Filter Single phase AC Input Output 2 L2 N 12 i M 12 Contactor E L Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground i Transformer Secondary 2097 V31PRx 2097 V33PR MENGE C IPD l 0 4
69. module error Bad memory module Replace memory module E72 Drive temperature too high The heat sink Improper airflow environmental temperature Check for clogged vents or defective fan Make sure temperature sensor has detects an exceeds specifications or an application anomaly cooling is not restricted by insufficient space overtemperature condition around the unit Check ambient temperature in enclosure Reduce acceleration rates Reduce duty cycle ON OFF of commanded motion Increase time permitted for motion E74 Drive has exceeded peak current limit Drive Motor cables shorted Verify continuity of motor power cables and cannot regulate current properly connector Motor winding shorted internally Disconnect motor power cables form the motor If the motor is difficult to turn by hand it must be replaced The machine duty cycle requires an RMS current Change the command profile to reduce speed or exceeding the continuous rating of the controller increase time Operation above continuous power rating and or Verify ambient temperature is not too high product environmental rating Operate within the continuous power rating Reduces acceleration rates The Kinetix 300 drive has a short circuit Remove all power and motor connections and overcurrent or failed component preform a continuity check form the DC bus to the U V and W motor outputs If a continuity exists check for wire fibers between terminal or send drive in for rep
70. motor If these values are set lower than the motor capabilities the drive will report CurrentLimitStatus in the EtherNet IP Input assembly at the new value but will not clamp the current output until it reaches the motor peak current 2 These values apply only if the drive is in Velocity mode over EtherNet IP External Reference In Indexing mode the limits within the individual indexes apply In Positioning mode over EtherNet IP External Reference the limits in the Output Assembly apply 90 Rockwell Automation Publication 2097 UM001D EN P November 2012 MotionView Software Configuration Chapter 5 Communication Categories The communication categories provide access to setting the IP address for your drive and object parameters used in the Input and Output Assembly EtherNet IP data links Ethernet Communication The Ethernet category provides access to the IP address configuration You can configure your drive to obtain the IP address automatically by using DHCP or set the values manually 192 168 124 200 Motor General Configure IP Address Communication Ethernet Obtain IP Address using DHCP EtherNet IP IP Address 192 168 124 200 IO Digital lO Subnet Mask 255 255 255 0 Analog lO Limits Default Gateway 192 168 124 1 Velocity Limits Position Limits Dynamics Table 41 Ethernet Communication Category ID Parameter Name Description
71. on the positive limit and vice versa if on the negative limit IMPORTANT The drive will not limit motion in the direction of the overtravel when in a non positioning mode provided the overtravel input is still active and the initial overtravel fault has been reset Reset the drive to clear the overtravel fault either through MotionView software or via logic Typically the overtravel input is still active after the reset because the axis is still on the limit switch Enable the servo IMPORTANT With a non zero command reference motion begins immediately upon Enable when in a current or velocity mode of operation Verify that the user program code permits continued axis motion and manages the motion routine 220 Rockwell Automation Publication 2097 UM001D EN P November 2012 Appendix F History of Changes This appendix summarizes the revisions to this manual Reference this appendix if you need information to determine what changes have been made across multiple revisions This may be especially useful if you are deciding to upgrade your hardware or software based on information added with previous revisions of this manual Table 84 2097 UM001B EN P August 2010 Change Updated Catalog Number Explanation input voltage and phase description Updated clearance diagram and added bullet statements to clarify how drive accessories and cables attached to the drive affect installation Updated 1 0 connector pi
72. restored with Rotary Unwind is designed only for these modes in the unwind cycle These modes are available as Rotary Absolute Index Types in indexing mode or as a Reference Rotary Incremental Source in EtherNet IP operation mode Rotary Shortest Path Rotary Positive Rotary Negative Rotary unwind mode in conjunction with Blended or Registered moves is not supported Attempting to use these move options without having configured rotary unwind will result in a drive fault 671 User units per unwind Number of revolutions in 1 user unit Range 0 1000000 8 Negative motion polarity Inverts the motion polarity 0 Unchecked Normal 1 Checked Reverse Step and Direction and Gear based modes and position based moves such as incremental absolute as well as velocity based jogs obey the motion polarity Current based operating modes do not obey the motion polarity The drive must be disabled to change the motion polarity 1 By default these values are set based on the configured motor If these values are set lower than the motor capabilities the drive will report CurrentLimitStatus in the EtherNet IP Input assembly at the new value but will not clamp the current output until it reaches the motor peak current 2 These values apply only if the drive is in Velocity mode over EtherNet IP External Reference In Indexing mode the limits within the individual indexes apply In Positioning mode over EtherNet IP External
73. switching in the pattern necessary to generate AC power to the motor You can use the safe torque off circuit in combination with other safety devices to meet the stop and protection against restart requirements of ISO 13849 1 ATTENTION This option is suitable for performing mechanical work on the N drive system or affected area of a machine only It does not provide electrical Safety SHOCK HAZARD In Safe Torque off mode hazardous voltages may still be present at the motor To avoid an electric shock hazard disconnect power to the motor and verify that the voltage is zero before performing any work on the motor Safe Torque off Feature Bypass The drive is supplied from the factory with the safe torque off circuit enabled The drive is not operational until 24V is present at terminals STO 4 and STO 6 When safety connections are not required the drive can be operated with the safety circuit disabled Use jumper wires as shown to defeat the safe torque off function Figure 78 STO Motion allowed Jumpers STO 1 STO 2 STO 3 STO 4 510 5 6 6 6 6 6 510 6 IMPORTANT PinsSTO 1 24V DC Control and STO 2 Control COM used only by the motion allowed jumpers to defeat the safe torque off function When the safe torque off function is in operation the 24V supply must come from an external source 166 Rockwell Automation Publication 2097 UM001D EN P November 2012
74. the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 3 This is a clean 24V DC available for any device that may require it The 24V enters the clean wireway and exits to the left 4 This is a dirty 24V DC available for motor brakes and contactors The 24V enters the dirty wireway and exits to the right 30 Rockwell Automation Publication 2097 UM001D EN P November 2012 Installing the Kinetix 300 Drive System Chapter 2 Cable Categories for Kinetix 300 Drive Components These table indicate the zoning requirements of cables connecting to the Kinetix 300 drive components Table 6 Kinetix 300 Drive Components Wire Cable Connector Zone Method Very Dirty Clean Ferrite Shielded Dirty Sleeve Cable 11 12 13 unshielded cable IPD X U V W motor power MP X X SH shunt resistor BC X 24V DC BP X Control COM 24V DC control safety enable and STO X feedback signals for safe off feature Motor feedback MF X X Registration and analog outputs 100 Others X Ethernet Port 1 X Noise Reduction Guidelines for Drive Accessories See this section when mounting an AC line filter or shunt resistor module for guidelines designed to reduce system failures caused by excessive electrical noise AC Line Filters Observe these guidelines when mounting your AC line filter Ifyou are using a Bulletin 2090 line filter mount the filter on the s
75. the position in the CommandPosition field below assuming the drive is enabled DefineHome Upon transition from 0 to 1 of this field the drive defines the current position of the motor to be home AbortHoming Upon transition from 0 to 1 of this field the drive aborts decel to zero velocity the homing operation StartHoming Upon transition from 0 to 1 of this field the drive begins homing as configured by the Homing section of the MotionView software assuming the drive is enabled DriveEn Upon transition from 0 to 1 of this field the drive enables it turns on power structure closes servo loops tracks commands Startinglndex This field defines the first index the drive should execute if the drive is operating in Indexing mode ReferenceSource This field defines the type of control being exerted over EtherNet IP network 0 current 1 velocity 2 incremental position 3 absolute position 4 incremental registration 5 absolute registration 6 Rotary Absolute 7 Rotary Incremental 8 Rotary Shortest Path 9 Rotary Positive 10 Rotary Negative AccelerationLimit This field defines the maximum acceleration the drive uses in accelerating towards the commanded position DecelerationLimit This field defines the maximum deceleration the drive uses in accelerating towards the commanded position CommandCurrentOrVelocity This field defines the commanded current Amps RMS or Velocity User Units s if the Refe
76. this field means this digital input on the drive is currently asserted DigitallnputB3Status A non zero value in this field means this digital input on the drive is currently asserted DigitallnputB4Status Anon zero value in this field means this digital input on the drive is currently asserted DigitallnputC1Status A non zero value in this field means this digital input on the drive is currently asserted DigitallnputC2Status A non zero value in this field means this digital input on the drive is currently asserted DigitallnputC3Status A non zero value in this field means this digital input on the drive is currently asserted DigitallnputC4Status A non zero value in this field means this digital input on the drive is currently asserted Activelndex This field indicates the currently executing index from within the indexing table in the drive ActualVelocity This field indicates the current velocity of the motor controlled by the drive ActualPosition This field indicates the current position of the motor controlled by the drive PositionCommand This field indicates the position the drive is moving the motor towards PositionError This field indicates the error between the current command position and the actual position MotorCurrent This field indicates the average RMS current being applied to the motor RegistrationPosition This field indicates the position the motor w
77. updates and to sign up for product notification updates For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com support Installation Assistance If you experience a problem within the first 24 hours of installation 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 support americas phone_en html or contact your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures 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 documentati
78. with ferrules to prevent short circuits per table D7 of EN 13849 Recommended Wire Size Strip Length Pin STO 1 510 2 510 3 STO 4 STO 5 510 6 Signal 24V DC Control Control COM Safety Status Safety Input 1 Safety COM Safety Input 2 Stranded Wire with Ferrule mm AWG 0 75 18 IMPORTANT IMPORTANT Solid Wire mm AWG 1 5 16 mm in 6 0 25 Torque Value Nem Ibein 0 2 1 8 Pins STO 1 24V DC Control and 5 0 2 Control are used only by the motion allowed jumpers to defeat the safe torque off function When the safe torque off function is in operation the 24V supply must come from an external source To be sure of system performance run wires and cables in the wireways as established in the user manual for your drive Rockwell Automation Publication 2097 UM001D EN P November 2012 165 Chapter8 Kinetix 300 Drive Safe Torque off Feature Kinetix 300 Drive Safe Torque off Feature The safe torque off circuit when used with suitable safety components provides protection according to ISO 13849 1 PLd The safe torque off option is just one safety control system All components in the system must be chosen and applied correctly to achieve the desired level of operator safeguarding The safe torque off circuit is designed to safely remove power from the gate firing circuits of the drives output power devices IGBTs This prevents them from
79. 0 Use 2090 CPWMxDF xxAFxx 2097 V3xPRx Kinetix 300 Drives cable for continuous flex non brake applications MPL A B15xxx MPL A B45xxx See table on page 172 for note information MPF A Bxxx Servo Motors with 2090 K2CK D15M Connector Kit High Resolution Feedback 0 TN Seld m Three phase ae BLACK SIN 1 Green Yellow lt lt Motor Power 2 551 XX Blue C w il 3 ED 05 Motor Power 6 GND Wn XX MP Connector ac BN lt lt gt 5 Brown AW lt U 5 GREEN DATA 5 6 Motor amp S S WHT GREEN XX ___ 10 7 Motor Feedback Feedback 9 gt gt GRAY 510 14 9 MF Connector Note 12 10 5 WHIGRY 10 ORANGE 9VDC 7 Thermostat B WHT ORANGE TS 11 11 oO gt gt E 4 n Black Ts 14 X White 15 L Ne lt lt 2 5 77 Motor Brake See low profile connector illustration lower left 1 0 100 for proper grounding technique C t OUT4 E 2090 CFBM7DF CEAAxx standard or T 2090 CFBM7DF CEAFxx continuous flex Note SEE flying lead Feedback Cable 1 i Cable Shield Notes 9 11 camp 877 8 6 24V DC MPL A B15xx MPL A
80. 0 software is cycled and the fault reset in the MotionView software is configured for On Disable For the drive to be enabled the DriveEn bit in the Output Assembly needs to be set to 1 By changing that from 1 back to 0 the fault clears as the drive disables Rockwell Automation Publication 2097 UM001D EN P November 2012 Certification Chapter 8 Kinetix 300 Drive Safe Torque off Feature This appendix introduces you to how the safe torque off feature meets the requirements for ISO 13849 1 performance level d PLd safety category 3 Topic Page Certification 159 Description of Operation 161 Functional Proof Tests 161 PFD and PFH Definitions 162 PFD and PFH Data 162 Safe Torque off Connector Data 163 Wiring Your Safe Torque off Circuit 164 Kinetix 300 Drive Safe Torque off Feature 166 Kinetix 300 Drive Safe Torque off Wiring Diagrams 167 Safe Torque off Signal Specifications 168 The safe torque off circuit is type approved and certified for use in safety applications up to and including ISO 13849 1 performance level d safety category 3 The Rheinland group has approved the Kinetix 300 drives for use safety related applications up to ISO 13849 1 performance level d PLd safety category 3 in which the de energized state is considered to be the safe state All of the examples related to I O included in this manual are based on achieving de energization as the safe state
81. 000 Revolutions Units 0 0000 144 Rockwell Automation Publication 2097 UM001D EN P November 2012 Configure and Start Up the Kinetix 300 Drive Chapter 6 Configure the Drive This section provides information for accessing and changing parameters Parameters and System not accessible through RSLogix 5000 software Variables Tools for Viewing Parameters Follow these steps to view parameters 1 From MotionView software click Tools MotionView OnBoard 3 25 192 168 124 200 DISABLED Allen Bradley Kinetix300 Load Connection _ Configuration Load Configuration Restore Defaults 192 168 124 200 Motor General Communication Parameter 8 10 View 9 Ethernet EtherNetIP CIP 10 Digital IO Analog 10 Limits Velocity Limits Position Limits Dynamics Indexing Homing Tools Monitor Faults Successfully connected to drive 04100133100020 192 168 124 200 2 Click Parameter gt IO View M Diagnostic 192 168 124 200 Variable Name Hexadecimal Decimal Load Seton Inputs 1 4 Outputs 1 4 OOOO OO Inputs B1 B4 GOA OO Inputs C1 C4 O Rockwell Automation Publication 2097 UM001D EN P November 2012 145 Chapter 6 146 Configure and Start Up the Kinetix 300 Drive 3 Click Add to add a parameter to the viewer Parameters 192 168 124 200 Var
82. 097 filters are available in foot mount and side mount Shunt Module 2097 Rx Bulletin 2097 shunt resistors connect to the drive and provide shunting capability in regenerative applications Terminal block for 1 0 2097 1 50 terminal block Use with 100 connector for control interface connections connector Memory Module 2097 PGMR The EPM programmer is used to duplicate the memory and configuration of the Kinetix 300 drives Programmer Memory Modules 2097 MEM These removable memory modules are used by the drive to store parameters 12 Pack Logix Controller Platform 1769 L23E xxx 1769 1 3 EtherNet IP interface modules serve as a link between the ControlLogix CompactLogix MicroLogix platform and the Kinetix 300 drive system The communication link uses EtherNet IP protocol over a copper cable 1768 L4x 1756 L6x 1766 L32xxx 1763 L16xxx RSLogix 5000 Software 9324 RLD300ENE RSLogix 5000 software provides support for programming commissioning and maintaining the Logix family of controllers Rotary Servo Motors MP Series TL Series Compatible rotary motors include the MP Series Bulletin MPL MPM MPF and MPS and TL Series motors Linear Stages MP Series Compatible stages include MP Series Bulletin MPAS Integrated Linear Stages Linear Actuators LDAT Series Compatible actuators include LDAT Series Bulletin LDAT Integrated Linear Thrusters Linear Motors LDC Series LDL Series Comp
83. 1 2 5 14 7 0 28 0 5 4 5 4 0 12 7 0 28 0 5 4 5 6 0 10 7 0 28 0 56 0 79 5 0 7 0 2097 V31PRO 2097 V31PR2 2097 V32PRO 2097 V32PR2 2097 V32PR4 2097 N33PR1 2097 V33PR3 2097 V33PR5 2097 V34PR3 2097 V34PR5 2097 V34PR6 2097 V33PR6 Motor power MP connector 2 5 14 7 0 28 0 5 4 5 4 0 12 7 0 28 0 5 4 5 2097 V31PRO 2097 V31PR2 2097 V32PRO 2097 V32PR2 2097 V32PRA 2097 N33PR1 2097 V33PR3 2097 V33PR5 2097 V34PR3 2097 V34PR5 2097 V34PR6 2097 V33PR6 Shunt DC Bus BC connector 2 5 14 7 0 28 0 5 4 5 4 0 12 7 0 28 0 5 4 5 2097 Control back up power BP connector 24V DC 24V DC 2097 Safe torque off STO connector 5 0 1 9 510 2 9 510 3 510 4 510 5 510 6 24V DC Control Control COM Safety Status Safety Input 1 Safety COM Safety Input 2 1 5 16 6 0 25 0 5 4 5 66 Use for shunt resistor connection only Use for bypassing the STO circuit only Applies to 2097 V33PRx and 2097 V34PRx drive modules Applies to 2097 V31PRx drive modules Applies to 2097 V32PRx drive modules Rockwell Automation Publication 2097 UM001D EN P November 2012 Connecting the Kinetix 300 Drive System Chapter4 installation complies with specifications regarding wire types conductor sizes branch circuit
84. 1 Chapter5 MotionView Software Configuration The axis accelerates to slow homing velocity in the rightward direction Motion continues until the falling edge of the homing switch is detected position 29 This is the home position excluding offset TIP If the axis is on the wrong side of the homing switch when homing is started the axis moves reverse until it contacts the negative limit switch A1 Upon activating the negative limit switch the axis will change direction forward following the procedure as detailed above but ignoring the initial move in the reverse direction Figure 71 Homing Method 29 Home Switch Homing Method 33 Using this method the initial direction of movement is reverse The home position is the first index pulse past the shaft starting position The axis accelerates to fast homing velocity in the reverse direction and continues until the rising edge of the first index pulse position 33 is detected Figure 72 Homing Method 33 Home Switch 122 Rockwell Automation Publication 2097 UM001D EN P November 2012 MotionView Software Configuration Chapter 5 Homing Method 34 Using this method the initial direction of movement is forward The home position is the first index pulse past the shaft starting position The axis accelerates to fast homing velocity in the forward direction a
85. 1 Pigtail Terminations Cable Braid Clamped to Machine Frame Connectors Machine Frame 1 150 6 0 Termination Pigtail Cable TL Series Motor 1 1 Remove paint from machine frame to be sure of proper HF bond between machine frame and motor case shield clamp and ground stud Table 29 Motor Power Cable Compatibility Connector Motor Power Cables Motor Power Cables Motor Actuator Type Motor Actuator Cat No with brake wires without brake wires MP Series Bulletin MPL MPL A B15xxx 4xAA and MPL A B2xxx 4xAA MP Series Bulletin MPS Circular MPS A Bxxxx 2090 XXNPMF xxSxx standard or 8 Threaded 2090 CPBMA4DF xxAFxx Bulletin MPAS DIN MPAS A Bxxxx continuous flex continuous flex MP Series Bulletin MPAR MPAR A B1xxx and MPAR A B2xxx Series MPL A B15xxx 7XAA MPL A B2xxx 7xAA 2090 CPWM7DF xxAAxx standard MP Series Bulletin MPL MPL A B3xxx 7xAA MPL A B4xxx 7xAA and or 2090 CPWM7DF xxAFxx 45 7 continuous flex MP Series Bulletin MPM MPM A Bxxxx MP Series Bulletin MPF MPF A Bxxxx Circular 2090 CPBM7DF xxAAxx standard MP Series Bulletin MPAR Speedtec r or 2090 CPBM7DF xxAFxx DIN MPAR A B1xxx and MPAR A B2xxx series continuous flex MP Series Bulletin MPAI MPAI A B3xxxx LDC Series LDC Cx
86. 142 148 183 apply power 138 auto tune 142 back up power 50 pinouts 40 block diagrams power block diagram 186 voltage doubler block diagram 187 bonding 27 EMI ElectroMagnetic Interference 26 high frequency energy 28 subpanels 28 brake currents 185 buffered encoder outputs 49 build your own cables 58 C cables build your own cables 58 Ethernet cable length 82 length CE 20 motor feedback 77 motor power 72 shield damp 76 catalog numbers 16 Index category 3 requirements 160 stop category definitions 160 CE compliance 17 63 comply with CE 164 conformity 164 invalidate compliance 63 meet requirements 164 certification TUV Rheinland 159 user responsibilities 160 circuit breaker selection 21 specifications 22 clamp 76 clean zone 29 clear faults 157 clearance requirements 25 communication category 91 configuration add on profiles 132 controller properties 133 coordinated system time master 134 date and time tab 134 drive 136 drive mode explicit messaging 148 drive parameter tools changing 147 viewing 145 drive parameters 145 drive properties 137 Ethernet module ControlLogix 135 module properties 135 Ethernet port CompactLogix 134 module properties 134 EtherNet IP 128 DHCP 131 dynamic address 131 static address 129 EtherNet IP module 132 keypad input 126 master gearing 144 select drive mode 142 status indicators 127 test the axis 139 tune the axis 140 configuration system variables 145 co
87. 180 2097 with MPL MPM MPF MPS motor 176 2097 with TLAR actuator 182 2097 with TLY motor 178 240 480V three phase input power 175 notes 172 shunt resistor 175 IS0 13849 1 CAT 3 requirements 160 Stop category definitions 160 K keypad input 126 LDAT 180 limits category 95 linear motor database 86 linear motors interconnect diagram LDL series and LDC series 179 low profile connector kits wiring 80 low voltage directive 164 M master gearing 48 142 144 148 184 examples 143 MicroLogix diagrams 183 Index mode analog velocity 183 current 183 master gearing 48 step and direction 183 monitor category 99 MotionView software analog 1 0 category 94 communication category 91 configuration 83 digital 1 0 category 93 drive organizer 84 dynamics category 97 Ethernet category 91 faults category 100 general category 87 homing category 113 absolute homing 115 home offset 116 home to marker 116 homing firmware algorithm 117 homing method 23 119 homing method 25 120 homing method 27 120 homing method 29 121 homing method 33 122 homing method 34 123 homing method 35 123 homing methods 113 homing methods 7 14 118 homing switch 116 immediate homing 115 indexing category 101 abort index 109 absolute 103 action parameter 108 next index 108 stop 108 wait for start 108 blended 104 current 107 explicit messaging 110 incremental 103 index configuration assembly instance 111 registration d
88. 185 2 Configure one emitter and collector pair from the Digital Outputs OUT 1 OUT 4 pins 43 50 as Brake and Brake by using MotionView software Wire the output as sourcing and set brake engage and disengage times for motor selected Motor brake is active on enable For Digital Output specifications see page 45 3 Diode 1N4004 rated 1 0 A 400V DC See Interconnect Diagram Notes beginning on page 176 4 Exposed shield under clamp and place within 50 75 mm 2 3 in of drive see page 76 for details Rockwell Automation Publication 2097 UM001D EN P November 2012 Exposed Braid 25 4 mm 1 0 in Connecting the Kinetix 300 Drive System Chapter 4 Cable shield and lead preparation is provided with most Allen Bradley cable assemblies Follow these guidelines if your motor power cable shield and wires require preparation Figure 44 Cable Shield and Lead Preparation Outer Insulation Motor Power Cable Strip Length see table below gt 00009000090 1929220032505200 ORI 655555525556 lt As required to have ground clamp within 50 75 gt mm 2 3 in of the drive See Shunt Resistor Wiring Example beginning on page 176 for interconnect diagrams Table 30 Motor Power MP Connector MP Series or TL Series Servo Terminal Motor U Brown U V Black V W Blue W L Green Yellow L Table 31 Motor Power MP Termination Spe
89. 25 0 5 4 5 24V Rockwell Automation Publication 2097 UM001D EN P November 2012 69 Chapter4 Connecting the Kinetix 300 Drive System Wire the Input Power IPD Connector Table 27 Input Power IPD Connector Recommended Strip Length Torque Value Drive Cat No Terminals Wire Size in Nem Ib in mm AWG 2097 V31PRO 2097 V32PRO 2097 V32PR2 2097 V33PR1 2097 V33PR3 2 5 14 7 0 28 0 5 4 5 2097 V34PR3 13 L2 N D 2097 V34PR5 i T 2097 V34PR6 T 2097 V32PR4 2097 V33PR5 4 0 12 7 0 28 0 5 4 5 2097 V31PR2 0 56 0 79 2097 V33PR6 6010 7 0 28 50 72 1 Applies to 2097 V33PRx and 2097 V34PRx drive modules 2 Applies to 2097 V31PRx drive modules 3 Applies to 2097 V32PRx drive modules 70 Rockwell Automation Publication 2097 UM001D EN P November 2012 Wire the Motor Power MP Connector Connecting the Kinetix 300 Drive System Chapter 4 Connections to the motor power MP connector include rotary motors and rotary motor driven actuators Table 28 Motor Power MP Termination Specifications Drive Cat No 2097 V31PRO 2097 V31PR2 2097 V32PRO 2097 V32PR2 2097 V32PR4 2097 V33PR1 2097 V33PR3 2097 V33PR5 2097 V34PR3 2097 V34PR5 2097 V34PR6 Terminals 2097 V33PR6 Cable Shield Terminations Recommended Wire Size mm AWG 2 5 14 4 0 12 Kinetix 300 Drive Bottom View Strip Length mm in
90. 26 Mount Your Kinetix 300 Drive 34 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 2097 UM001D EN P November 2012 19 Chapter2 Installing the Kinetix 300 Drive System System Design Guidelines Use the information in this section when designing your enclosure and planning to mount your system components on the panel For on line product selection and system configuration tools including AutoCAD DXF drawings of the product see http www ab com e tools System Mounting Requirements To comply with UL and CE requirements the Kinetix 300 system must be enclosed in a grounded conductive enclosure offering protection as defined in standard EN 60529 IEC 529 to IP X such that they are not accessible to an operator or unskilled person A NEMA 4X enclosure exceeds these requirements providing protection to IP66 The panel you install inside the enclosure for mounting your system components must be on a flat rigid vertical surface that won t be subjected to shock vibration moisture oil mist dust or corrosive vapors Size the drive enclosure so as not to exceed
91. 30UJ 0 JUALIN 03 yead siu Jamo 1951 UO paseq ZHY 8 40 JUAIND ead Wid JOU S 10101 9 0 WI JUBLIND PNPL 1010 X X 94 21326 Y 3ruui JOU IY 198 10 Siy snonunuo 0 juaun e no 5191 sl siu 195 ung X fuo 0 Yon UN YUMs 9123 1 6 X X A008 06 abuey 1030 y 1 lt X Ydd Ul sajodN z X 92659 01 9S7 abuey uonnjosal Japoou3 y 9c X 000 59 00 jo Jaquunu 1010 Y l 4 uidi 00002 00 1010 Y 74 067 lt 0 SW Juaund 1010 1 X X 6006 7100 924191591 aseyd 0 aseyd 1030 y a x x 005 L0 aseud oj eseud 1010 Y l X v U N 0177100 14615000 9210 10 anb10 1010 y 0 X wdi y A 005 3121502 4 3 4224 10 1010 1 61 X by 110 0 enjaur Jo 1010 y XI X lt 0 1 X xX a pe1g uajy 10 1010 y X xX Ka pe1g us v 104 1040 LL X xX 10101 104 Jaq
92. 49V DC for motor feedback power Short circuit protection and separate common mode filtering for each channel is included Table 23 Motor Feedback Power Specifications Supply Reference Voltage Current mA Min Nominal Max Min Max 5V DC EPWR 5V 5 13 54 5 67 0 400 9V DC EPWR 9V 83 9 1 9 9 0 275 Figure 31 Pin Orientation for 15 pin Motor Feedback MF Connector Pin 10 Pin 15 11 65 5 H Pint 12 56 Rockwell Automation Publication 2097 UM001D EN P November 2012 Chapter 4 Connecting the Kinetix 300 Drive System Topic Page Basic Wiring Requirements 57 Grounding Your Kinetix 300 Drive System 64 Power Wiring Requirements 65 Wiring Guidelines 68 Wiring the Kinetix 300 Drive Connectors 69 Apply the Motor Cable Shield Clamp 76 Feedback and 1 0 Cable Connections 77 Wiring the Feedback and 1 0 Connectors 79 Kinetix 300 Drive 100 connector and terminal block 79 Shunt Resistor Connections 81 Ethernet Cable Connections 82 Basic Wiring Requirements This section contains basic wiring information for the Kinetix 300 drive 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 othe
93. 7 TB1 I O Terminal Expansion Block See the Kinetix 300 I O Terminal Expansion Block Installation Instructions publication 2097 IN005 Figure 45 Kinetix 300 Drive 100 connector and terminal block 7 SPAJA ENTRY D acm 30 2097 1 m 1 0 Terminal Expansion Block 9 1 0 100 Connector 40 9 gt OOO0000000000000000000 50 GND OO00000000000000000000 Rockwell Automation Publication 2097 UM001D EN P November 2012 79 Chapter4 Connecting the Kinetix 300 Drive System Wire the Low profile Connector Kit The 2090 K2CK D15M low profile connector kit is suitable for terminating flying lead motor feedback cables Use it with the Kinetix 300 drive and all motors with incremental or high resolution feedback It has a 15 pin male D sub connector and is compatible with all Bulletin 2090 feedback cables TLY Axxxx B rotary motors and TLAR Axxxxx electric cylinders also require the 2090 DA BAT2 battery to back up the high resolution encoder Figure 46 Kinetix 300 Drive MF connector Kinetix 300 Drive Front View 2097 V33PR5 drive is shown Motor Feedback MF Connector Kinetix 300
94. 7 UM001D EN P November 2012 Kinetix 300 Drive Connector Data and Feature Descriptions Chapter 3 be used Single ended inputs can be used but are not recommended Sinking type outputs cannot be used if single ended inputs are used The function of these master gearing step and direction inputs is software selectable Use the MotionView software General category to choose the desirable function An external pulse train signal step supplied by an external device such as a PLC or stepper indexer can control the speed and position of the servo motor The speed of the motor is controlled by the frequency of the step signal and the number of pulses that are supplied to the Kinetix 300 drive determines the position of the servo motor Direction input controls direction of the motion Buffered Encoder Outputs There are many applications where it is desired to close the feedback loop to an external device This feature is accessible through the buffered encoder output connections IOD 7 IOD 12 for TTL differential line encoder types A master drive powering a motor with a SICK Stegmann or Tamagawa high resolution encoder does not generate buffered encoder outputs for master gearing to a slave drive IMPORTANT The buffered encoder outputs are not compatible with SICK Stegmann or Tamagawa high resolution motor feedback If a motor with encoder feedback is being used the A A B B Z and Z signals are passed directly through drive p
95. 7 UM001D EN P November 2012 MotionView Software Configuration Chapter 5 Index Type Parameter You can set the Index Type parameter to e Absolute e Incremental Registration Absolute Registration Incremental Blended Rotary Absolute Rotary Incremental Rotary Shortest Path Rotary Positive Rotary Negative e Current Absolute Moves from its starting position to the specified Position below Note The axis must be homed before the drive can execute an absolute index otherwise an E27 fault is asserted Incremental Moves from its starting position the specified Distance Registration Distance Registration Distance is the relative distance the motor travels beyond the position when a registration digital input is detected If the indexing configuration Type is set to Registration Absolute or Registration Incremental you must also configure the Registration Distance parameter In Registration Indexing mode the drive moves the motor from its starting position the specified Distance provided the registration sensor input is not detected If the registration sensor input is detected the move is adjusted such that the end position is determined by the Registration Distance setting Figure 54 Registration Index Type Registration E Velocity Position Rockwell Automation Publication 2097 UM001D EN P November 2012 103 Chapter 5 104 MotionView Software Configuration Blended
96. Automation Publication 2097 UM001D EN P November 2012 Kinetix 300 Drive Connector Data and Feature Descriptions Chapter 3 Figure 29 Generic TTL Interface IM Signals 10 kW MTR_IM MTR_IM to AqB Counter 56 pF 56 pF L Shaded area indicates components that are part of the circuit but support other feedback device types not used for Generic TTL incremental support Kinetix 300 Drive 1 gt gt to lt from UART from UART Figure 30 Generic TTL Interface 51 52 53 Signals 45V 1kQ 1 52 or 53 1 56 pF ZX Kinetix 300 Drive Table 22 Tamagawa 17 bit Serial Specifications Attribute Value Tamagawa model support TS5669N124 Protocol Tamagawa proprietary Memory support Programmed with Allen Bradley motor data Differential input voltage 1 0 7 0V Data communication 2 5 Mbps 8 data bits no parity Battery 3 6V located external to drive in low profile connector kit See Figure 27 for the Tamagawa 17 bit serial interface schematic It is identical to the SICK Stegmann Hiperface DATA signals schematic Rockwell Automation Publication 2097 UM001D EN P November 2012 55 Chapter3 Kinetix 300 Drive Connector Data and Feature Descriptions Feedback Power Supply The Kinetix 300 drive generates 5V and
97. CK Stegmann Hiperface e Generic TTL Incremental Tamagawa 17 bit Serial Power supply voltage EPWR5V 5 13 5 67V Power supply current EPWR5V 400 mA max 90 Power supply voltage EPWR9V 8 3 9 9V Power supply current EPWR9V 275 mA max 20 Thermostat Single ended under 500 no fault over 10 fault 1 400 mA on the 5V supply with no load on the 9V supply 2 300 on the 5V supply with 150 mA on the 9V supply 3 275 mA on the 9V supply with no load on the 5V supply TIP Auto configuration is possible by using the Kinetix 300 drive MotionView OnBoard software for Allen Bradley motors Rockwell Automation Publication 2097 UM001D EN P November 2012 51 Chapter3 Kinetix 300 Drive Connector Data and Feature Descriptions Motor Feedback Specifications The Kinetix 300 drives support multiple types of feedback devices by using the 15 pin MF motor feedback connector and sharing connector pins in many cases Table 18 Motor Feedback Signals by Device Type MF Pin SICK Stegmann Hiperface Generic TTL Incremental Tamagawa 17 bit Serial 1 SIN AM 2 SIN 3 05 4 05 BM 5 DATA IM DATA 6 ECOM ECOM ECOM 7 EPWROV 8 53 9 10 DATA IM DATA 1 TS TS 12 51 13 52 14 EPWR5V EPWR5V 15 This is the motor thermostat interface schematic Alt
98. Cables sexe 58 Route Power and Signal Wiring 58 Determine the Input Power 58 Three phase Power Wired to Three phase Drives 59 Single phase Power Wired to Single phase Drives 60 Voltage Doubler Operations 60 Isolation Transformer in Grounded Power Configurations 61 Three phase Power Wired to Single phase Drives 61 Voiding of CE veo m ER Ret e et eda 63 Grounding Your Kinetix 300 Drive 5 64 Ground Your Drive to the System Subpanel 64 Ground Multiple Subpanels 65 Power Wiring Requirements oi iis canta s KR 65 Wiring Guidelines 68 Wiring the Kinetix 300 Drive 69 Wire the Safe Torque off STO 69 Wire the Back up Power BP 69 Wire the Input Power IPD 70 Wire the Motor Power MP Connector 71 Apply the Motor Cable Shield 76 Feedback and I O Cable Connections 77 Flying lead Feedback Cable 8 78 Wiring the Feedback and I O
99. Clamp Notes 9 11 pees 7 77 8 ote 6 2A DC MPL A B15xx and MPL A B2xx 24V DC COM Servo Motors with User Supplied Incremental Feedback 24V DC K2CK Connector Kit BLACK 1 lt x WHT BLACK awe 2 C lt GND 3 RED BM 3 Three phase gt gt WHT RED 4 BM 4 8 lt Motor Power XX T1 lt 5 5 GREEN IM 5 6 WHT GREEN m 10 Grounding Technique for 25 Motor m Feedback Cable Shield m Feedback XX 6 2090 K2CK D15M shown 1 ORANGE Thermostat 3 441 WHT ORANGE TS 11 BR 4 BLUE 15 6 lt 5 X 12 Clamp lt gt gt Exposed shield secured 2 Motor Brake S YELLOW 52 13 inder 7 SSH XX s3 8 I 2 Clamp Screws 2 P See low profile connector Turn damp over to hold small cables secure illustration lower left for proper grounding technique 477 2090 XXNFMF Sxx non flex or 2090 CFBM4DF CDAFxx continuous flex flying lead Feedback Cable Note 9 176 Rockwell Automation Publication 2097 UM001D EN P November 2012 Appendix Interconnect Diagrams Figure 88 MP Series Bulletin MPL A B MPM A B and MPF A B Motors 2090 CPxM7DF xxAAxx standard or 2090 CPxM7DF xxAFxx continuous flex Motor Power Cable Notes 9 1
100. Configure the Kinetix 300 Drive Ethernet IP Address 128 Ethernet 128 Kinetix 300 Drive Ethernet Port Configuration 128 Current IP Address Ethernet Setting 129 Configure the IP Address Manually static address 129 Configure the IP Address Automatically dynamic address 131 ear d ie cepe eaa e uc addict 132 Configuring the Logix EtherNet IP Module 132 Configure the Logix Controller seva verto sa one mete pata 132 Rockwell Automation Publication 2097 UM001D EN P November 2012 7 Table of Contents Troubleshooting the Kinetix 300 Drive System Kinetix 300 Drive Safe Torque off Feature Configure the Ethernet bc a eri repe es Configure the Ethernet Module Configure the Kinetix 300 Drive ee ertt ee ee Download the Program ice eie sero ere EOS Apply Power to the Kinetix 300 Drive Test and Tune the Axis os oS ornate e Rae ES od eed avons uso tas dd it da oh at baat outrage AS as ve etu ace eus d s rue caue Select Drive Operating Mode ii xev yip RR Sun od dry Master Gearing Mode Examples ainda Need Master Gearing Example 1 5 ER banc asters Master Gearing Example 2225 Sa Aur d Master Gearing Exampl
101. DY signal back from drive lt 1 0 100 _ Connector Indicates User Supplied Component IMPORTANT L gt Shunt Resistor SH gt Connections 424v DC lt User supplied Return lt 24V DC U gt Three phase gt Motor Power gt Connections PE gt Note 9 Cable Shield El Camp 77 Wote8 For the 480V Kinetix 300 drives to meet ISO 13849 1 PLd spacing requirements each phase voltage to ground must be less than or equal to 300V AC rms This means that the power system must use center grounded wye secondary configuration for 400 480V AC mains Shunt Resistor Wiring Example See the Kinetix Servo Drives Specifications Technical Data publication GMC 003 for the Bulletin 2097 Rx shunt resistors available for the Kinetix 300 drives See the Kinetix 300 Shunt Resistor Installation Instructions publication 2097 IN002 for additional installation information Figure 86 Shunt Resistor Wiring Example 2097 V3xPRx Kinetix 300 Drive Shunt DC Bus BC Connector 2097 Rx Shunt Resistor Rockwell Automation Publication 2097 UM001D EN P November 2012 175 AppendixA Interconnect Diagrams Kinetix 300 Drive Rota ry These wiring diagrams apply to Kinetix 300 drives with compatible rotary motors Motor
102. Direction ID Parameter Name Description Value 266 Drive Mode Set to Step and Direction 3 79 M2SRatioMaster Master to system ratio numerator Range 32767 32767 master counts 29 EnableSwitchType Enable switch function 0 Inhibit only 1 Enable as soon as asserted 148 Rockwell Automation Publication 2097 UM001D EN P November 2012 Configure and Start Up the Kinetix 300 Drive Table 64 Analog Velocity Chapter 6 ID Parameter Name Description Value 266 Drive Mode Set to Analog Velocity 4 36 VelocityScale Analog input velocity reference scale Range 10000 10000 rpm V Velocity Vinput x VelocityScale 76 AccelLimit Accel value for Velocity mode Range 0 1 5 000 000 00 5 7 DecelLimit Decel value for Velocity mode Range 0 1 5 000 000 UU s 75 EnableVelAccDec Enable Accel Decel function for Velocity mode 0 Disable 1 Enable 89 AnalogInput1Deadband Analog input dead band Applied when used as a Range 0 100 mV velocity reference 90 AnalogInput10ffset Analog input offset Applied when used as current Range 10 000 10 000 velocity reference 85 AnalogOutFunction Analog output function 0 Not assigned 1 Phase current rms 2 Phase current peak value 3 Motor velocity 4 Phase current R 5 Phase current S 6 Phase current T 7 Iq current 8 Id current 86 AnalogOutVelocityScale Analog output scale for velocity quantities Range 0 10 m
103. DoR English Load Connection Load Configuration Restore Defaults 192 168 124 200 Motor General Communication Ethernet Offset EtherNetIP 4456 lO Digital IO Analog lO Limits Velocity Limits Position Limits Dynamics Indexing Tools Monitor Home Switch Homing Status Description Home Accel Decel Home Velocity Fast Home Method Value 10 0000 2147483648 0000 1 0000 Home Velocity Slow Input B1 Not Homed Start Homing Direction Logix Type Units Min User Units Sec 0 0000 User Units 2147483648 0000 User Units Sec 0 0000 User Units Sec 0 0000 Home Sensor Polarity Switch Marker Forward Bi directional Active Rising Successfully connected to drive B04100133100020 192 168 124 200 The configuration for Homing requires setting the these parameters either over EtherNet IP Explicit Messaging or through the embedded software interface Table 58 Homing Category ID Parameter Name Description Value Notes 227 Home Accel Decel Homing acceleration deceleration rate Range 0 10 000 000 UU per second 2 228 Home Offset The new position of the motor after the homing sequence is Range 32767 32767 user units complete All subsequent absolute moves are taken relative to this new zero position 230 Home Velocity Fast For homing methods that use one veloci
104. Drive Side View 2097 V33PR5 drive is shown 2090 K2CK D15M Connector Kit with flying lead feedback cable Figure 47 Wiring 15 pin Flying lead Feedback Cable Connections 2090 K2CK D15M Connector Kit Bare Wires Wire Insulation Mounting Foil Shield T Braided Shield gt Outer Insulation Bulletin 2090 Feedback Cable Low Profile Connector Kit 2090 K2CK D15M aJ Clamp Iz Exposed Braid Under Clamp Turn clamp over to hold 2 small wires secure See Low Profile Connector Kit Installation Instructions publication 2093 005 for connector kit specifications 15 pin male Motor Feedback Low profile Connector 0987654321 O Pin 10 pins I Pints Pint H 3 6V battery catalog number 2090 DA BAT2 only lt required for use with TLY Axxxx B motors and TLAR Axx electric cylinders high resolution 17 bit encoders See Chapter 3 for feedback signal Ty descriptions See Appendix for the motor feedback xg interconnect drawing for your application 77 Tie Wrap Bulletin 2090 Feedback Cable 80 Roc
105. Error Code Timed Out Error Path Error Text Cancel Apply Rockwell Automation Publication 2097 UM001D EN P November 2012 157 Chapter 7 158 Troubleshooting the Kinetix 300 Drive System Figure 77 UserDefinedDataLink Example Using Parameter 53 UserDefinedDataLink Drive parameters used in the Explicit Messaging section can be mapped into the integer UserDefinedDataLink by using MotionView software Then the parameter can be toggled by using the UserDefinedIntegerData0 or UserDefinedIntegerDatal tags within RSLogix 5000 software 300 01 192 168 1 70 Motor EIE General Description Value 9 Communication Ethernet Input Assembly Links EtherNet IP CIP Qo Enable Description Parameter ID Number Units Digital lO LinkA 184 RAM Integer 4 Bytes Analog 10 4B e limita v Lin 185 Integer 4 Bytes Velocity Limits Link C 102 Float 4 Bytes Position Limits gt Link D 103 RAM Float 4 Bytes Indexing Homing Tools Output Assembly Links Monitor Faults Enable Description Parameter ID Number Units LinkA 53 RAM Integer 4 Bytes Link B 66 RAM Integer 4 Bytes Link C 106 RAM Float 4 Bytes Link D 107 RAM Float 4 Bytes Drive Enable The drive clears runtime faults if the drive enable command from RSLogix 500
106. FC Execution File Memory The Date and Time displayed here is Controller local time not workstation local time Use these fields to configure Time attributes of the Controller Set Date Time and Zone kstation Date and Time Time Zone Time Synchronize eee DANGER If time synchronization is Enable Time Synchronization EU disabled online active axes in any controller in this chassis or any other synchronized device may experience gt unexpected motion Safety controllers may Is a synchronized time slave fault if no other time master exists in the Duplicate CST master detected local chassis CST Mastership disabled Q CST master Is the system time master Rockwell Automation Publication 2097 UM001D EN P November 2012 133 Chapter 6 134 Configure and Start Up the Kinetix 300 Drive 6 Click the Date and Time tab 7 Check the box Make this controller the Coordinated System Time master IMPORTANT You can assign only one ControlLogix controller as the Coordinated System Time master 8 Click OK Configure the Ethernet Port This section applies when the CompactLogix controller catalog number 1769 L23E QBI is used Follow these steps to configure the Ethernet port 1 Right click the embedded 1769 L23E QB 1 Ethernet 5 9 YO Configuration CompactLogix5323E QB1 System port and choose Properties ff 1769 123 0 UM 1769 L23E OB1 Et
107. Gains are based counts as the fundamental units and 47 Position they are not physical units Range 0 16383 48 Position D Gain Range 0 32767 49 Position Limit clamping limit on the position loop gain compensator to prevent Range 0 20000 excessive torque overshooting caused by an over accumulation of the Gain 51 Gain Scaling A 2x factor applied to the gains in the velocity loop useful for scaling the Range 16 4 gains when using encoders with a high number of counts per revolution See the Servo Loop diagram on page 98 for more information on these parameters Rockwell Automation Publication 2097 UM001D EN P November 2012 97 Chapter5 MotionView Software Configuration Figure 53 Servo Loop Diagram Encoder 254 Feedback Position D Gain Difference gt 1 gt gt 2 1 Ji J Velocity Command Position Integrator Target Position lt Position Error Position Saturation Position P Gain 1 gt gt gt J Filter Filter 2 Target ity I Gai Velocit i Current Command Velocity fg Velocity Error Velocity Gaiti gt 1 Saturation by Sv 2 11 GainScaling Scalled Current Limit Velocity P Gain LPF Velocity Feedback Feedback Low pass Filter Tools Category The tools category prov
108. Information on using the memory module programmer to duplicate the memory module CompactLogix System User Manual User Manual publication 1769 0 011 Provides information about planning mounting wiring and troubleshooting your CompactLogix system ControlLogix Controllers User Manual publication 1756 UM001 Information on installing configuring programming and operating a ControlLogix system ControlFLASH Firmware Upgrade Kit User Manual publication 1756 05105 For ControlFLASH information not specific to any drive family Kinetix Rotary Motion Specifications Technical Data publication GMC TD001 Specifications for Kinetix rotary motion products Kinetix Linear Motion Specifications Technical Data publication GMC TD002 Specifications for Kinetix linear motion products Kinetix Servo Drives Specifications Technical Data publication GMC TD003 Specifications for Kinetix servo drive motion control products Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Provides general guidelines for installing a Rockwell Automation industrial system System Design for Control of Electrical Noise Reference Manual publication GMC RM001 EMC Noise Management DVD publication GMC SP004 Information examples and techniques designed to minimize system failures caused by electrical noise Rockwell Automation Product Certification website www rockwellautomation com p
109. K2CK D15M shown Turn damp over to hold small cables secure Note 8 Notes 9 11 LDAT xxxxxxB Linear Thrusters and MPAS A Bxxxxx ALMx2C Direct Drive Linear Stages with Incremental Feedback See low profile connector illustration lower left Three phase 1 sb BLACK AM 1 D lt lt Motor Power 2 K WHUBUCK X 2 C lt lt W 1 GND 3 RED BM 3 8 2 v a S 4 A 2 5 yb GREEN IM LLS WHT GREEN d Motor gt 10 Feedback 9 GRAY 5VDC 14 10 WHT GRAY 6 11 ORANGE Thermostat 13 T WHT ORANGE XX TS 1 E 14 BLUE ous 22 ww 12 YELOW 52 13 uy XX 53 8 Ds for proper grounding technique 2090 XXNFMF Sxx standard or 2090 CFBM4DF CDAFxx continuous flex flying lead Feedback Cable Notes 9 11 Rockwell Automation Publication 2097 UM001D EN P November 2012 Interconnect Diagrams Appendix Figure 92 Kinetix 300 Drive with MP Series Bulletin MPAR and Electric Cylinders 2097 V3xPRx Kinetix 300 Drives See Table 67 for motor power cable 7 24V DC 24V DC COM and MPAI A Bxxx Electric Cylinder with H
110. N To reduce the possibility of unpredictable motor response tune your motor with the load removed first then re attach the load and preform the tuning procedure again to provide an accurate operational response Run the MotionView OnBoard software Select General From the Drive Mode pull down menu choose Auto Tune oe N Select Dynamics The current velocity and position gains position limit and scaling are displayed 6 Ifyou are usingan linear incremental encoder with a resolution greater than one micron do the following Otherwise continue with the next step a Set FeedBack Filter to Yes b Set the time constant to 1 ms TIP To reduce the audible noise when a LDAT Series linear thruster with an absolute encoder option is under servo control we recommend that you use a low pass filter with the cut off frequency set to 150 Hz You can set up the filter in the Dynamics category 7 Click Autotuning The Autotuning dialog box opens Autotuning 192 168 1 82 1 Enable switch should be enabled 2 During auto tuning motor can operate resulting in mechanical part to move or rotate Do touch it 3 Select input parameters for auto tuning 4 Hit Start Auto tuning button when ready 5 Verify return parameters in dialog box before accepting it 5 Accept or decline new parameters Travel Limit 60 0 User Units Position Tuning Velocity Tuning 8 Check desir
111. Navigate to the file that you downloaded in step 1 Click Upgrade Firmware Do not turn off power to the computer or the drive When the upgrade is finished restart the drive Access the upgraded MotionView software by entering the drives IP address in a web browser Rockwell Automation Publication 2097 UM001D EN P November 2012 Chapter 6 Configure and Start Up the Kinetix 300 Drive Topic Page Keypad Input 126 Configure the Kinetix 300 Drive Ethernet IP Address 128 Configuring the Logix EtherNet IP Module 132 Apply Power to the Kinetix 300 Drive 138 Test and Tune the Axis 139 Select Drive Operating Mode 142 Master Gearing Mode Examples 143 Configure the Drive Parameters and System Variables 145 Configure Drive Mode with Explicit Messaging 148 Configure Drive for Linear Motors and Direct Drive Stages 150 Rockwell Automation Publication 2097 UM001D EN P November 2012 125 Chapter6 Configure and Start Up the Kinetix 300 Drive Keypad Input 126 The Kinetix 300 drive is equipped with a diagnostic status indicator and three push buttons that are used to select displayed information and to edit a limited set of parameter values You can scroll the parameters by using OW To view a value press 6 return to Scroll mode press again When you press on editable parameters the yellow status indicator blinks indicating that the parameter value can be changed Use QUO to
112. P If motion performance is not what you expected after tuning the drive several filters are available to improve performance These filters are configured from the Dynamics view ofthe MotionView software and their placement within the servo loops are shown in the figure on page 98 Rockwell Automation Publication 2097 UM001D EN P November 2012 141 Chapter 6 Select Drive Operating Mode 142 Configure and Start Up the Kinetix 300 Drive This procedure assumes that you have configured your Kinetix 300 drive your Logix Ethernet module and applied power to the drive The drive operating mode determines the command source for the drive You can configure the drive from MotionView software or by Explicit Messaging instance 266 to the drive object Follow these steps to select the drive operating mode by using MotionView software Verify the load was removed from each axis Run the MotionView software 1 2 3 From the Drive Organizer select General 4 From the Drive Mode pull down menu choose your drive mode M Motionview OnBoard 3 19 Allen Bradley 10 82 50 20 Kinetix 300 Load Connection Save Configuration Load Configuration Restore Defaults Upgrade 9 16 82 50 20 Motor General e Communication Ethernet EtherNeti IP 9 lo Digital lO Analog 10 Drive Mode Analog Velocity Input Current Limits Current Limit 12 0000
113. Sensor Motor thermal protection function 0 Disable 1 Enable 75 Enable Accel Decel Limits Enable Accel Decel function limits for Velocity 0 Disable mode 1 Enable 76 Accel Limit Accel value for Velocity mode Range 0 1 5 000 000 m s 715 Decel Limit Decel value for Velocity mode Range 0 1 5 000 000 m s 78 Fault Reset Reset fault configuration Manual Only On Disable 79 Master Master to system ratio numerator Master counts range 32767 32767 80 System Master to system ratio denominator System counts range 1 32767 266 Drive Mode Sets the mode of operation for the drive 0 Auto Tune 4 Analog Velocity Input 1 EtherNet IP External Reference 5 Analog Current Input 2 Master Gearing 6 Indexing 3 Step and Direction 672 Current Output Camp Value to clamp output current measured in Range 0 400 percentage of motor rated current 676 User Units Scaling Shows how many user units in one Measure unit Range 1 1000000 678 Measure Units Measure units 0 12m 2 in 8 Negative Motion Polarity Inverts the motion polarity 0 Unchecked Normal 1 Checked Reverse Step and Direction and Gear based modes and position based moves such as incremental absolute as well as velocity based jogs obey the motion polarity Current based operating modes do not obey the motion polarity The drive must be disabled to change the motion polarity 1 By default these values are set based on the configured
114. Single phase AC Input Filter Grounded Neutral PD u E 1 11 Kinetix 300 Drives Input Fusing 1 AC Line D System Contactor Filter Single phase AC Input he Slips i Grounded Neutral OO lt Bonded Cabinet Ground Bus Ground Grid Power Distribution Ground Feeder and branch short circuit protection is not illustrated IMPORTANT Providing an EMC line filter for each drive is the preferred configuration and required for CE compliance If a three phase line filter is used to feed multiple single phase drives not recommended it is important that the filter include a neutral connection as shown above This applies if three phase is brought directly into the filter and no isolating transformer is present 62 Rockwell Automation Publication 2097 UM001D EN P November 2012 Connecting the Kinetix 300 Drive System Chapter4 Voiding of CE Compliance The three phase and neutral in line filter applications described above may not be adequate from an EMC aspect for CE compliance Therefore EMC validity and CE marking by Rockwell Automation is voided when three phase and neutral in line filters are used applications described in this document have not been tested for EMC by Rockwell Automation and products used in such installations are not considered CE marked by Rockwell Automation ATTENTION The three phase isolation transformer and n
115. U ERE NS 98 99 Laeli 100 Indexing Category sese 101 Index Type 103 Action Parameter beds Ai ee bbe 108 Share Index Seres vacio rec C ted ladies A wae arden 109 109 Reset Index 109 Explicit Messages for Indexing 110 Homing cat odie prided 113 Homing Methods eet hate es p ta uid dal 113 Immediate re PEPPER 115 Absolute Homing suction eR RETE RENS REI Tg 115 Home to Marker Sed ta duda umo s 116 Home Offset indice REESE MN dq b 116 aa rupi etch 116 Homing Firmware Algorithm i ertet eren 117 Homing Methods Timing Diagrams teint rne envies 118 Homing Methods 7 14 118 Homing Method 23 ese ease EE 119 Homing Method 25 120 Homing Method 275 bre ei eee Cer rn 120 Homing Method eei 122 Homing Method 24 123 Homing Method 35 ose vencer ictu estet Ua 123 Metu buses E a dadas VE es eM oett 124 Chapter 6 Keypad ieee ee 126 Status cs qua uus ote a cett dup ra De Rat ATIS 127
116. User Manual Allen Bradley Kinetix 300 EtherNet IP Indexing Servo Drives Catalog Numbers 2097 V31PRO 2097 V31PR2 2097 V32PRO 2097 V32PR2 2097 V32PR4 2097 V33PR1 2097 V33PR3 2097 5 2097 V33PR6 2097 V34PR3 2097 V34PR5 2097 V34PR6 Allen Bradley Rockwell Software Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI 1 1 available from your local Rockwell Automation sales office or online at http www rockwellautomation com literature describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and d
117. V DC Igh Reso ution Feedbac Grounding Technique for 2 Feedback Cable Shield ow Profile Connector 5 n 2090 K2CK D15M shown 3 X GND 13 gt GREEN DATA 5 3 6V battery 2090 DA BAT2 ony lt 4 S S wwe 10 required for use with TLY Axxxx B 1 U motors high resolution 17 bit lt lt 2 T XX e 5 encoders gt gt 6 ORANGE BAT BAT Clamp gt WHT ORANGE X BAT BAT Ee clamp over to hold See low profile connector pus small cables secure 2 BR illustration lower left for proper grounding technique 1 lt lt BR 2090 CFBM6DF CBAAxx flying lead or 2090 CFBM6DD CCAAxx with drive end connector Feedback Cable Note 9 178 Rockwell Automation Publication 2097 UM001D EN P November 2012 Interconnect Diagrams Appendix Kinetix 300 Drive Linear These wiring diagrams apply to Kinetix 300 drives with compatible linear e t Motor Wiring Examples PS Figure 90 Kinetix 300 Drive with LDC Series and LDL Linear Motors 2090 CPWM7DF xxAAxx standard or 2090 CPWM7DF xxAFxx continuous flex Motor Power Cable 2097 V3xPRx Kinetix 300 Drives LDC Series and LDL Series Linear Motor Coil Notes 9 10 1 Brown mb Black Three phase Motor Power 3 Blue Motor Power MP Connector l4 Gree
118. V rpm 29 EnableSwitchType Enable switch function 0 Inhibit only 1 Enable as soon as asserted Table 65 Analog Current ID Parameter Name Description Value 266 Drive Mode Set to Analog Current 5 35 CurrentScale Current scale Range X X Amps Volt drive peak output current 10 89 AnalogInput1Deadband Analog input dead band Applied when used as a Range 0 100 mV velocity reference 90 AnalogInput10ffset Analog input offset Applied when used as current Range 10 000 10 000 velocity reference 85 AnalogOutFunction Analog output function 0 Not assigned 1 Phase current rms 2 Phase current peak value 3 Motor velocity 4 Phase current 5 Phase current S 6 Phase current T 7 lq current 8 Id current 87 AnalogOutCurrentScale Analog output scale for current related quantities Range 0 10V A 29 EnableSwitchType Enable switch function 0 Inhibit only Rockwell Automation Publication 2097 UM001D EN P November 2012 1 Enable as soon as asserted 149 Chapter6 Configure and Start Up the Kinetix 300 Drive Configure Drive for Linear Motors and Direct Drive Stages Use this section to configure your Kinetix 300 drive for use with linear motor and linear stages Motor Temperature Sensor For LDAT Series linear thrusters LDL Series and LD C Series linear motors and MPAS Series linear stages do the following 1 Run MotionView software 2 Click General Category 3 Set Motor T
119. actine L1 Kinetix 300 Drives 120V AC l Filter Single phase AC Input Output N L2 Input Fusing M1 12 Neutral Contactor E L Bonded Cabinet Ground Bus Ground Grid c C Power Distribution Ground 1 This configuration applies to voltage doubler operation for 2097 V31PRx drives Reducing transformer output reduces motor speed Feeder and branch short circuit protection is not illustrated Voltage Doubler Operation You can wire the 2097 V31PRx drives with 120V input power and achieve twice the output voltage at half the output current while maintaining the same output power To use the voltage doubler circuit connect the 120V single phase input power the IPD L1 and IPD N terminals For Kinetix 300 drive power specifications see Kinetix Servo Drives Specifications Technical Data publication GMC TD0023 For Kinetix 300 drive input wiring diagrams see Power Wiring Examples on page 173 60 Rockwell Automation Publication 2097 UM001D EN P November 2012 Connecting the Kinetix 300 Drive System Chapter 4 Isolation Transformer in Grounded Power Configurations When using an isolation transformer attach a chassis ground wire to the neutral connection This grounded neutral connection does the following Prevents the system from floating and thereby avoids any high voltages that might otherwise occur for example due to s
120. air E76 Blank memory module A Blank MEM module has been inserted into the Push and hold the drive s enter key bottom most drive red button on the drive s front display until the drive shows bUSY This will make the drive format the blank memory module for usage with the drive E91 User watchdog has timed out Ladder program error Not writing to WatchDogKick Tag frequently enough to prevent timeout Watchdog timeout period set to too low a value Increase timeout period or change controller application to kick watchdog more frequently E92 Bad battery Tamagawa absolute feedback battery voltage Replace battery low or missing Abattery error is set at drive powerup when main power to the encoder is not present or the battery voltage is below 2 75V E93 Motion set up parameters calculate an acceleration Check indexing profiles or motion set up profiles Increase or decrease acceleration profile Increase value above or below the drive capability or decrease permitted time for motion E94 Motor or motor feedback cable Motor or feedback device malfunction Check motor power feedback wiring Replace motor or encoder Recommenced grounding per installation e Verify grounding instructions has not been followed Route feedback cables away from noise sources See System Design for Control of Electric Noise Reference Manual publication GMC RM001 E95 Wrong Indexing Mode Index Type or ReferenceSource no
121. al The SIL value for a low demand safety related system is directly related to order of magnitude ranges of its average probability of failure to satisfactorily perform its safety function on demand or simply average probability of failure on demand PFD The SIL value for a High Demand Continuous mode safety related system is directly related to the probability of a dangerous failure occurring per hour PFH These PFD and PFH calculations are based on the equations from EN 61508 and show wotst case values This table provides data for a 20 year proof test interval and demonstrates the worst case effect of various configuration changes on the data PFD and PFH for 20 year Proof Test Interval Attribute Value PFH 1e 9 59 PFD 1e 3 1 0 Rockwell Automation Publication 2097 UM001D EN P November 2012 Safe Torque off Connector Data Kinetix 300 Drive Safe Torque off Feature Chapter 8 This section provides safe torque off STO connector and header information for the Kinetix 300 drive safe torque off STO Connector Pinouts Headers extend the STO connector signals for use in wiring or to defeat not use the safe torque off function 6 pin Safe Torque off STO Connector Safe Torque off STO Connector
122. al Feedback Notes 9 10 Use 2090 CPWM6DF 16AAxx 2090 K2CK D15M cable for non brake applications Y 2 NEC DELI NES Connector Kit Green Yell otor Fower r 2 1 E lt lt 3 Motor Power GND 9 y BLACK 1 MP Connector s 2 lt 0 55 XX 2 mE 1 U 11 RED 3 6 0 lt lt gt WHT RED 7 Motor Feedback 25 www 4 8 MF Connector Motor B 5 9 Feedback 4 5 wem IM 10 10 1 7 1 22 GRAY 5VDC 14 ii Bla 2 lt lt BR 5 ECOM 6 14 U White 1 BR 3 51 51200 lt lt 15 gt gt WHT BLUE 12 17 gt gt YELLOW 52 13 19 WHT YELLOW 3 8 nig ELIE Cable Shield 0 00 OH 24 syl Vm ON Connector Note 8 Note 4 See low profile connector CRI illustration lower left eee for proper grounding technique ote 6 2090 CFBM6DF CBAAxx flying lead or 2090 CFBM6DD CCAAxx with drive end connector Feedback Cable 24V DC 24V DC COM TLY Axxxx B 230V User Supplied Hi np k 24
123. ame panel as the Kinetix 300 drive and as close to the drive as possible Good HF bonding to the panel is critical For painted panels see the examples on page 27 Segregate input and output wiring as far as possible Rockwell Automation Publication 2097 UM001D EN P November 2012 31 Chapter2 Installing the Kinetix 300 Drive System Shunt Resistors Observe these guidelines when mounting your shunt resistor outside the enclosure Mount shunt resistor and wiring in the very dirty zone or in an external shielded enclosure e Mount resistors in a shielded and ventilated enclosure outside the cabinet Keep unshielded wiring as short as possible Keep shunt wiring as flat to the cabinet as possible Figure 7 Shunt Resistor Outside the Enclosure Dirty Wireway Circuit o Breaker Shunt Wiring Methods ustomer supplied 150 mm 6 0 in Twisted pair in conduit first choice Metal clearance all four Shielded twisted pair second choice sides of the shunt module Twisted pair two twists per foot min third choice Metal Conduit where required by local code Clean Wireway Enclosure I Contactor I 1 No sensitive equipment within 150 mm 6 0 in VD VD 24V Motor I Brake PS L Kinetix 300 Very
124. and AINI and the driving circuit common if available is connected to the drive Analog Common terminal Table 12 Analog Signal Input Specifications Parameter Value Scan time 0 0625 ms Current max Depend on load Input impedance 47 typical Voltage range 10 10V DC Rockwell Automation Publication 2097 UM001D EN P November 2012 Kinetix 300 Drive Connector Data and Feature Descriptions Chapter 3 Analog Output The analog output AO on pin IOD 23 has a 10 bit resolution The analog output is a single ended signal with reference to Analog Common ACOM that can represent this motor data Not Assigned RMS Phase Current RMS Peak Current Motor Velocity Phase Current U Phase Current V Phase Current W Current Id Current IMPORTANT Output values can vary during powerup until the specified power supply voltage is reached MotionView software refers to Phase Current U V and W as R S and T respectively Figure 21 Analog Output Circuit Kinetix 300 Drive E Table 13 Analog Output Specifications Parameter Value Scan time 0 0625 ms Current max 10mA Voltage range 10 10V DC For configuration setup of the analog outputs see Configure the Drive Parameters and System Variables beginning on page 145 Rockwell Automation Publication 2097 UM001D EN P November 2012 47 Chapter3 Kinetix 300 Drive Connector Data and Feature Descri
125. anel Rockwell Automation Publication 2097 UM001D EN P November 2012 Installing the Kinetix 300 Drive System Chapter 2 Establishing Noise Zones Observe these guidelines when individual input power components are used in the Kinetix 300 system The clean zone exits left of the Kinetix 300 system and includes the 1 O wiring feedback cable Ethernet cable and DC filter grey wireway The dirty zone D exits right of the Kinetix 300 system black wireway and includes the circuit breakers transformer 24V DC power supply contactors AC line filter motor power and safety cables The very dirty zone VD is limited to where the AC line EMC filter VAC output jumpers over to the drive Shielded cable is required only if the very dirty cables enter a wireway Figure 5 Noise Zones Bulletin 2090 AC line filters Clean Wireway Dirty Wireway D D Very Dirty Zone Contactors Segregated not in wireway Bulletin 2090 VD VD AC Line Filter optional 24V Motor Brake PS uU Kinetix 300 fe a reaker Drive 4 o oue xe 4 Ethernet shielded Tn Cable 26 Filter No sensitive equipment within 150 mm 6 0in 2 i 1 0 m Ethernet and Feedback Cables 1 0 Motor Power and Safety Cables D Route encoder analog registration Route 24V DC 1 0 shielded cables Shie
126. arameter should be copied into or out of the assembly Table 42 Ethernet CIP Communication Category ID Parameter Name Description Value Notes 249 Enable Input Assembly Datalink A for input assembly UserDefinedIntegerData0 250 Datalink for input assembly UserDefinedIntegerData1 251 Datalink C for input assembly UserDefinedIntegerReal0 252 Datalink D for input assembly UserDefinedIntegerReal1 253 Enable Output Datalink A for output assembly UserDefinedIntegerDataO 254 Datalink for output assembly UserDefinedIntegerData1 255 Datalink C for output assembly UserDefinedIntegerReal0 256 Datalink D for output assembly UserDefinedIntegerReal1 92 Rockwell Automation Publication 2097 UM001D EN P November 2012 Input Output Categories MotionView Software Configuration The Input Output categories provide access to the configuration of the modifiable Digital I O and Analog I O parameters Digital 1 0 Chapter 5 IMPORTANT Drive object parameters of type DINT can be used only in the RAM integer data links parameters of type REAL can be used only in the RAM float data links 192 168 124 200 Description Value Description Value e Communication nput A4 Function Not Assigned nput A2 Debounce Time 0 no nput B1 Function Not Assigned nput Debounce T
127. are listed in these tables 16 Table 2 Kinetix 300 Drives single phase Continuous Output Cat No Input Voltage Current A 0 pk Features 2097 V31PRO 28 120 240V 10 2097 V31PR2 5 7 2097 V32PRO 2 8 Integrated AC line filter 2097 V32PR2 2401 10 5 7 Safe Torque off 2097 V32PR4 11 3 Table 3 Kinetix 300 Drives single three phase Continuous Output Cat No Input Voltage Current A 0 pk Features 2097 V33PR1 28 2097 V33PR3 1201 10 57 2401 10 Safe Torque off 2097 V33PR5 2401 30 113 2097 V33PR6 17 0 Table 4 Kinetix 300 Drives three phase Continuous Output Cat No Input Voltage Current A 0 pk Features 2097 2 8 2097 V34PR5 4801 30 5 7 Safe Torque off 2097 V34PR6 8 5 Table 5 Kinetix 300 Drive Accessories Cat No Drive Components 2097 Fx AC line filters 2097 TB1 Terminal block for 1 0 connector 2097 Rx Shunt resistors 2097 PGMR Memory module programmer 2097 MEM Memory modules 12 pack Rockwell Automation Publication 2097 UM001D EN P November 2012 Agency Compliance Start Chapter 1 If this product is installed within the European Union and has the CE mark the following regulations apply grounding the AC line filter and drive must match Failure to do this renders the A ATTENTION Meeting CE requires a grounded system and the method of filter ineffective and may cause damage
128. as at when the registration input was asserted UserDefinedIntegerData0 This field is a copy of the current value of whatever parameter it was configured to be in the MotionView software Data Link UserDefinedIntegerData1 This field is a copy of the current value of whatever parameter it was configured to be in the MotionView software Data Link UserDefinedIntegerRealO This field is a copy of the current value of whatever parameter it was configured to be in the MotionView software Data Link UserDefinedIntegerReal1 This field is a copy of the current value of whatever parameter it was configured to be in the MotionView software Data Link Rockwell Automation Publication 2097 UM001D EN P November 2012 191 AppendixB Input and Output Assembly Table 71 Input Assembly Instance Assembly 113 Byte Bit 7 Bit 6 Bit 5 Bit4 Bit 3 Bit 2 Bit 1 Bit 0 0 Reserved Registration Current Reserved Reserved Position Physical Drive En EventStatus LimitStatus LockStatus AxisFault 1 22 Reserved 4 Reserved Axis Homed Homing Status Negative Positive Reserved Motion Complete Indexing Status Status Overtravel Input Overtravel Input 5 7 Reserved 8 Reserved Power Structure Velocity Velocity Standstill En LockStatus Status 9 11 Reserved 12 Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Inp
129. at these specifications and also apply when meeting CE requirements Figure 12 Pin Orientation for 15 pin Motor Feedback MF Connector Pin 15 Pin 10 Pin 11 Pin 5 Pin 6 Pin 1 Ethernet Communication Connector Pinout Port1Pin Description Signal 1 Transmit Port Data Terminal 2 Transmit Port Data Terminal TX 3 Receive Port Data Terminal 4 Port1Pin Description Signal 5 6 Receive Port Data Terminal RX 7 8 zs Figure 13 Pin Orientation for 8 pin Ethernet Communication port 1 Port 1 Rockwell Automation Publication 2097 UM001D EN P November 2012 39 Chapter3 Kinetix 300 Drive Connector Data and Feature Descriptions AC Input Power Connector Pinout IPD Description 2097 V31PRx drives Signal IPD Description 2097 V32PRx drives Signal Designator Designator L2 N AC Power In non doubler operation L2 N L2 AC Power In 2 L1 AC Power In L1 L1 AC Power In L1 N AC Power Neutral 120V doubler only N PE Protective Earth ground PE PE Protective Earth ground PE IPD Description 2097 V33PRx and 2097 V34PRx Signal Designator drives L3 AC Power In three phase models L3 D AC Power In L2 L1 AC Power In L1 PE Protective Earth ground PE 40 Back up Power Connector Pinout BP Description Signal Designator 24V Posi
130. atible linear motors include LDC Series and LDL Series Bulletin LDC and LDL Linear Motors Electric Cylinders MP Series TL Series Compatible electric cylinders include MP Series and TL Series Bulletin MPAR TLAR and MPAI Electric Cylinders Cables 14 Motor brake and feedback cables Motor power brake and feedback cables include SpeedTec and threaded DIN connectors at the motor 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 Communication cables 1585J M8CBJM x shielded Ethernet cable Rockwell Automation Publication 2097 UM001D EN P November 2012 Figure 1 Typical Kinetix 300 Drive Installation 1783 508 Stratix 60007 Switch CompactLogix Controller Platform 1769 L23E QB1B Shown RSLogix 5000 Software 1585J M8CBJM x Ethernet shielded Cable 2097 Kinetix 300 Drive Start Chapter 1 Three phase Input Power ill bee Line Disconnect Device Input Fusing MP Series and TL Series MPL Bxxxx motors shown
131. cal motor brake circuitry Table 68 Motor Brake Coil Currents Compatible Brake Motors Actuators 0 Coil Current MPL x1510 MPL x1520 MPL x1530 0 43 0 53 MPL x210 MPL x220 MPL x230 0 46 0 56 MPL MPF x310 MPL MPF x320 MPL MPF x330 0 45 0 55 115 5 330 MPL x420 MPL x430 MPL x4520 MPL x4530 MPL x4540 0 576 0 704 4560 MPM x130 MPF x430 MPF x4530 MPF x4540 5 4540 TLY A110T TLY A120T and 130 0 18 0 22 TLY A220T and TLY A230T 0 333 0 407 TLY A2530P TLY A2540P and TLY A310M 0 351 0 429 1 Use of the variable x indicates this specification applies to 230V and 460V motors Rockwell Automation Publication 2097 UM001D EN P November 2012 185 Interconnect Diagrams Appendix A 00 Y 51 yuNYs XY Z607 Su 1 1011296 1 11 90 5 606 602 27 pue 2111 JOjSISUEJ V ib 1178 1600 SeAUp 01195 XYdZEA LE0Z Ajdde 21 pue 10138uu05 sng 70 0145 This power block diagram applies to 2097 V32PR 2097 V33PRx and 2097 V34PRx servo drives Figure 96 Power Block Diagram Rockwell Automation Publication 2097 UM001D EN P Nove
132. cel Done Length 0 Timed Out 2 Use Class value of 374 Hex 3 Use the ID of the parameter as listed in Appendix as the Instance 4 Use the Attribute value to reflect the format of the value and the nonvolatile status of the value Attribute Format Memory Stored In 0 32 bit integer Volatile 1 32 bit integer Nonvolatile 32 bit floating point Volatile 3 32 bit floating point Nonvolatile 4 String Volatile 5 String Nonvolatile Rockwell Automation Publication 2097 UM001D EN P November 2012 147 Chapter6 Configure and Start Up the Kinetix 300 Drive Configure Drive Mode with These Kinetix 300 drive modes can be set via explicit messaging Explicit Messaging Master Gearing Step and Direction e Analog Velocity e Analog Current e Indexing Set the drive mode by entering the parameters from the appropriate table via EtherNet IP Explicit Messaging or through the MotionView software For Indexing mode see page 101 Table 62 Master Gearing ID Parameter Name Description Value 266 Drive Mode Set to Master Gearing 2 79 M2SRatioMaster Master to system ratio master counts Range 32767 32767 80 M2SRatioSystem Master to system ratio denominator Range 1 32767 system counts 29 EnableSwitchType Enable switch function 0 Inhibit only 1 Enable as soon as asserted IMPORTANT Do not set parameter 80 to 0 or unexpected motion will occur Table 63 Step and
133. change the value Press amp to store the new setting and return to Scroll mode Table 60 Status Display Information Status Indicator Description StAt Current drive status run drive running diS drive disabled EXX Drive fault where XX is the fault code Hardware revision For example H2 00 FX XX Firmware revision For example F2 06 FLtS Stored fault s history You can scroll through stored faults EOXX E7XX where XX is the fault code Ht Heatsink temperature Heatsink temperature in is shown C if greater than 40 C Otherwise LO low is displayed EnC Encoder activity Primary encoder counts are displayed for encoder diagnostics bus Displays drive DC bus voltage Curr Displays motor s phase current RMS Shows current value if drive is enabled otherwise shows DiS boot 0 autostart disabled 1 autostart enabled dHCP Ethernet DHCP Configuration 0 dHCP is disabled 1 dHCP is enabled 1 First octet of the IP address 2 Second octet of the IP address 3 Third octet of the address 4 Fourth octet of the IP address changeable Rockwell Automation Publication 2097 UM001D EN P November 2012 Configure and Start Up the Kinetix 300 Drive Chapter 6 Status Indicators The Kinetix 300 drive has five status indicators located around the periphery of the front panel display as shown below These status indicators us
134. cifications Drive Cat No Terminals 2097 V31PRO 2097 V31PR2 2097 V32PRO 2097 V32PR2 2097 V32PR4 2097 V33PR1 2097 V33PR3 2097 V33PR5 2097 V34PR3 2097 V34PR5 2097 V34PR6 e 2097 V33PR6 Recommended Wire Size aie mm AWG 2 5 14 7 0 28 4 0 12 Rockwell Automation Publication 2097 UM001D EN P November 2012 Torque Value Nem 0 5 4 5 75 Chapter4 Connecting the Kinetix 300 Drive System Apply the Motor Cable Shield This procedure assumes you have completed wiring your motor power da amp connector and are ready to apply the cable shield clamp Follow these steps to apply the motor cable shield clamp 1 Locate a suitable position for installing cable shield clamp within 50 75 mm 2 3 in of the drive Motor Power Ground pem iss Shield Clamp Dimensions are in mm in If panel is painted remove paint to sd provide metal to metal contact 2 Lay out and drill holes for cable clamp ATTENTION Plan the installation of your system so that you can N perform all cutting drilling tapping and welding with the system removed from the enclosure Because the system is of the open type construction be careful to keep any metal debris from falling into it Metal debris or other foreign matter can become lodged in the circuitry which can result in da
135. city The axis accelerates to slow homing velocity in the forward direction and motion continues until the rising edge of the homing switch is detected position C where the axis decelerates to 0 velocity The axis accelerates to slow homing velocity in the reverse direction and motion continues until the falling edge of the homing switch is detected position 23 This is the home position excluding offset TIP If the axis is on the wrong side of the homing switch when homing is started the axis moves forward until it contacts the positive limit switch Upon activating the positive limit switch the axis changes direction reverse following the procedure detailed above but ignoring the initial move in the forward direction Figure 68 Homing Method 23 i Rockwell Automation Publication 2097 UM001D EN P November 2012 119 Chapter5 MotionView Software Configuration Homing Method 25 Using this method the initial direction of movement is forward The home position is the falling edge of the homing switch The axis accelerates to fast homing velocity in the forward direction and motion continues until the homing switch is deactivated falling edge shown at position A The axis decelerates to zero velocity The axis accelerates to slow homing velocity in the leftward direction Motion continues until the rising edge of the homing switch is detected position B where the axis decelerates to 0 velo
136. city The axis accelerates to slow homing velocity in the rightward direction Motion continues until the falling edge of the homing switch is detected position 25 This is the home position excluding offset TIP If the axis is on the wrong side of the homing switch when homing is started the axis moves forward until it contacts the positive limit switch A2 Upon activating the positive limit switch the axis will change direction reverse continuing motion until it sees the rising edge of the homing switch The axis stops and follows the procedure as detailed above Figure 69 Homing Method 25 E Home Switch Homing Method 27 Using this method the initial direction of movement is reverse The home position is the falling edge of the homing switch The axis accelerates to fast homing velocity in the reverse direction and motion continues until homing switch is deactivated falling edge shown at position A The axis decelerates to zero velocity 120 Rockwell Automation Publication 2097 UM001D EN P November 2012 MotionView Software Configuration Chapter 5 The axis accelerates to slow homing velocity in the forward direction Motion continues until the rising edge of the homing switch is detected position B where the axis decelerates to 0 velocity The axis accelerates to slow homing velocity in the reverse direction Motion continues until the falling edge of the homing switch is detec
137. ctions Rockwell Automation Publication 2097 UM001D EN P November 2012 MotionView Software Configuration Chapter 5 Homing Firmware Algorithm Figure 65 Homing Algorithm Flowchart Homing Start Select Homing Method Start Homing lt lt Motor with Absolute Encoder Yes gt Execute Immediate Home No State offset value and set Home Store motor serial number for use during next power up session Homing Done No Yes Homing Complete Rockwell Automation Publication 2097 UM001D EN P November 2012 117 Chapter5 MotionView Software Configuration Homing Methods Timing Diagrams 1 1 1 1 Index Pulse 7 1 1 1 1 1 1 1 1 1 Home Switch 1 1 1 1 Positive Limit Switch i i i i 118 Index Pulse Home Switch Positive Limit Switch 7 For a summary of the homing methods see Table 59 on page 115 Homing Methods 7 14 Homing methods 7 14 use a home switch that is active over only a portion of the travel In effect the switch has a momentary action as the axis position sweeps past the switch Using methods 7 10 the initial direction of movement is forward and by using methods 11 14 the initial direction of movement is reverse except if the home switch is active at the start of motion In this case the initial direction of motion is dependent on th
138. d and the VelocityLockStatus bit in the EtherNet IP Input Assembly 60 At Speed The range in user units s around the At Speed for setting the In Speed Window Range 10000 10000 rpm Digital Output if configured and the VelocityLockStatus bit in the EtherNet IP Input Assembly Rockwell Automation Publication 2097 UM001D EN P November 2012 95 Chapter5 MotionView Software Configuration Position Limits Motionview OnBoard 3 51 192 168 0 9 1 DISABLED Allen Bradley Kinetix 300 English Connect Load Connection Stop Reset Save Configuration Load Configuration Restore Defaults e 192 168 0 9 DISAE Motor General e Communication Position Error 32767 Ethernet EtherNetIP CIP lo Abort Decel 100 0000 User Units Sec Digital 10 Analog IO e Limits Soft Motion Limits Velocity Limits Position Limits Dynamics Positive Limit User Units Indexing Homing Tools Description Max Error Time 100 0000 ms In Position Limit 0 1000 User Units Soft Limits User Units Negative Limit User Units Successfully connected to drive B12155141100020 192 168 0 9 Table 46 Position Limits Category ID Parameter Name Description Value Notes 62 Max Error Time The amount of time that the drive can be outside ofthe Position Error before the Range 0 25 8000 ms drive asserts an Excess Position Error Fault 178 Abort Dec
139. d RDY available on the IOD connector Outputs are optically isolated open collector emitter and are fully isolated from the drive circuits Each output OUT1 OUT4 can be assigned to one of these functions Not assigned Zero speed In speed window e Current limit Run time fault Ready Brake motor brake release The Ready Output has a fixed function that becomes active when the drive is enabled and the output power transistors become energized Table 11 Digital Output Signal Specifications Parameter Value Scan time 500 ps Current max 100 mA Voltage max 30V DC Figure 20 Digital Output Circuit Drive Logic Power 0011 o OUTI C GND Rockwell Automation Publication 2097 UM001D EN P November 2012 45 Chapter 3 46 Kinetix 300 Drive Connector Data and Feature Descriptions Analog Reference Input The analog reference input AIN1 and AIN1 IOD 24 and IOD 25 accepts up to a 10V DC analog signal as shown in Table 12 The analog signal is converted to a digital value with 12 bit resolution 11 bit plus sign The total reference voltage as seen by the drive is the voltage difference between AIN1 and AIN1 Ifused in Single ended mode one of the inputs must be connected to a voltage source while the other one must be connected to Analog Common Ifused in Differential mode the voltage source is connected across AIN1
140. e HE E e Configure Master Gearing Configure the Drive Parameters and System Tools for Viewing Parameters ean ks Tools for Changing Parameters ces alas ds tere nie Configure Drive Mode with Explicit Configure Drive for Linear Motors and Direct Drive Stages Motor Temperature Sensor eL eR rr reme Understanding Encoder Resolution Change the Encoder Resolution for an Incremental Encoder Chapter 7 Safety Precautions tego af oua eta General Troubleshooting 55 ees Ve VeRO RENE Display Behavior sor tice ete ater ioa dn PROP God ieu eorura ed pae Clearing Faults eau e TEE TR ROUGE GREG Use Digital Inputs to Clear fer eret bI Soria Use Drive Parameters to Clear Chapter 8 Mila pa pin Important Safety Safety Category 3 Requirements Stop Category DenniGont Performance Level and Safety Integrity Level SIL CL3 Description of OpetatiOti s q s deae o wee ee Functional Proof Tests HC ert Ex Troubleshooting the Safe Torque off Function
141. e Homing Sequence Time 42 Rockwell Automation Publication 2097 UM001D EN P November 2012 Kinetix 300 Drive Connector Data and Feature Descriptions Chapter 3 Figure 17 Indexing Timing Diagram Start Index Input digital 1 0 from MotionView software 1 Start Motion Bit in Output Assembly 1 1 1 Abort Index Input i 1 1 1 1 digital 1 0 from MotionView software Abort Index from Output Image 1 Drive Status Indexing TIP The drive must be enabled for homing and indexing mode The digital inputs are optically isolated and sinks up to 24V DC Electrical details are shown in Table 10 on page 44 You can set up the inputs for PNP sourcing or NPN sinking Figure 18 Sourcing of Digital Inputs 12 24V O IN_A_COM GND Rockwell Automation Publication 2097 UM001D EN P November 2012 43 Chapter3 Kinetix 300 Drive Connector Data and Feature Descriptions Figure 19 Sinking of Digital Inputs GND TAN 1 2 IN A COM Table 10 Digital Input Signal Specifications Parameter Value Scan time 500 ps Current max 9 mA typical Input impedance 1 2 kQ typical Voltage range 5 24V DC 44 Rockwell Automation Publication 2097 UM001D EN P November 2012 Kinetix 300 Drive Connector Data and Feature Descriptions Chapter 3 Digital Outputs There are five digital outputs OUT 1 OUT4 an
142. e edge being sought The home position is at the index pulse on either side of the rising or falling edges of the home switch as shown in the following two diagrams If the initial direction of movement leads away from the home switch the drive must reverse on encountering the relevant limit switch All of these methods use the fast acceleration parameter Figure 66 Homing Methods 7 10 forward initial move A 8 QU a EZ 4 5 Figure 67 Homing Methods 11 14 reverse initial move Rockwell Automation Publication 2097 UM001D EN P November 2012 Home Switch MotionView Software Configuration Chapter 5 Homing Method 23 Using this method the initial direction of movement is forward if the homing switch is inactive The home position is the leading edge of the homing switch The axis accelerates to fast homing velocity in the forward direction and motion continues until the homing switch is activated rising edge shown at position A The axis decelerates to zero velocity If the homing switch is already active when the homing routine commences then this initial move is not executed The axis accelerates to fast homing velocity in the reverse direction and motion continues until the falling edge of the homing switch is detected position B where the axis decelerates to 0 velo
143. ead X ius duy i p 95 aduadajad quan Lg WY Way 2151518181515 5 5 3 2 28818 5 2 5 5 5 5 uondipsaq Ssa y eyed 5 maiAuonow 199 Rockwell Automation Publication 2097 UM001D EN P November 2012 Kinetix 300 Drive ID Tag Numbers Appendix ssaquiny 00 xneunj gzaldel 5 9198510 tt ant 4955 594 45 X 1 gi poe 361 0 UOI Jo 140 X X 19771 sabuer suno Ulajs s 10 Uajs s 0119 5 MA INIG 08 X X 19106 7 LOLTE sabuel SUNO 19 5 oned 15 6 01 945 INIG 6 ev 1ndui qiyul ajqeuq o uo ev qiquj ajqeu3 0 Wa aL s wids 000005 1 0 abuey 10 9290 LL x xX s wuda 000000610 10 anjeA addy Wad 9 x x Boxes o 10y syu uopuny xy mal sZ 4 701 2 0 lt yuis eau jenpy Y Ms aunyesadwia quisjead y bl do
144. ectromagnetic interference EMI Unless specified most paints are not conductive and act as insulators To achieve a good bond between drive and the subpanel surfaces must be paint free or plated Bonding metal surfaces creates a low impedance return path for high frequency energy IMPORTANT the bond between the drive and subpanel construct your subpanel out of zinc plated paint free steel Improper bonding of metal surfaces blocks the direct return path and allows high frequency energy to travel elsewhere in the cabinet Excessive high frequency energy can effect the operation of other microprocessor controlled equipment Rockwell Automation Publication 2097 UM001D EN P November 2012 Installing the Kinetix 300 Drive System Chapter 2 These illustrations show recommended bonding practices for painted panels enclosures and mounting brackets Figure 3 Recommended Bonding Practices for Painted Panels Stud mounting the Subpanel to the Enclosure Back Wall Back Wall of Enclosure Subpanel Washer Use a wire brush to remove paint from threads to maximize ground connection Use plated panels or scrape paint on front of panel Stud mounting a Ground Bus or Chassis to the Subpanel Subpanel Mounting Bracket or Ground Bus Welded Stud Flat Washer Scrape Paint Flat Washer If the mounting bracket is coated with a non conductive material anodized or painted scrape the material a
145. ed Tuning boxes Velocity Position or both 9 Enter the Travel Limit 140 Rockwell Automation Publication 2097 UM001D EN P November 2012 Configure and Start Up the Kinetix 300 Drive Chapter 6 This is the maximum distance in User Units that the motor shaft or actuator can safely travel during the tuning procedure 10 Apply Enable Input signal for the axis you are tuning 11 enable the axis set the DriveEn bit in RSLogix 5000 software for the axis being tuned 12 Click Start The Tune gains dialog box opens 13 Click Yes 14 Determine if your test completed successfully If Then Your test completed successfully this dialog box opens 1 Click Yes 2 Remove Enable Input signal Important Message 3 Go to step 16 1 AutoTuning completed with Success Do you like to accept following coefficients Velocity P Gain 10069 482 Velocity 2840 3726 Gain Scaling 3 Position P Gain 9568 064 Position 200 0 1 Click Ok 2 Verify that the Enable Input signal is applied to the axis you are testing Important Message 3 Verify the motor feedback is wired as required US 4 Verify the safe torque off is wired correctly Motion attempt while drive disabled 5 Return to main step 6 and run the test again 15 Check that the Position Error is in the range of 25 40 mm for safest operation 16 Select General 17 From the Drive Mode pull down menu choose the mode you desire TI
146. ed to match the drive input current rating will meet the NEC requirements or applicable local codes 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 Kinetix 300 Drive Power Specifications in Kinetix Servo Drives Specifications Technical Data publication GMC TD003 for input current and inrush current specifications for your Kinetix 300 drive See Circuit Breaker Fuse Specifications on page 22 for recommended circuit breakers and fuses Rockwell Automation Publication 2097 UM001D EN P November 2012 21 Chapter 2 22 Installing the Kinetix 300 Drive System 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 or T fast acting current limiting type fuses 200 000 AIC preferred Use Bussmann KTK R JJN JJS or equivalent Thermal magnetic type breakers preferred The following fuse examples and Allen Bradley circuit breakers are recommended for use with Kinetix 300 drives
147. ed to monitor the system status activity and troubleshoot faults Figure 74 Front Panel Display Figure 75 Status Indicators Status Function Description Indicator A Enable Orange status indicator means that the drive is enabled running Regen Yellow status indicator means the drive is in Regeneration mode C Data entry Yellow status indicator flashes when changing D Drive fault Red status indicator illuminates upon a drive fault E Comm activity Green status indicator flashes to indicate communication activity Rockwell Automation Publication 2097 UM001D EN P November 2012 127 Chapter6 Configure and Start Up the Kinetix 300 Drive Configure the Kinetix 300 Drive Ethernet IP Address 128 This section offers guidance on configuring your Ethernet connection to the Kinetix 300 drive TIP To run MotionView OnBoard on a Mac OS run the personal computer emulation tool first Ethernet Connection Configuration programming and diagnostics of the Kinetix 300 drive are performed over the standard 10 100 Mbps Ethernet communication port by using the MotionView OnBoard software contained within the drive itself To access the MotionView OnBoard software the Kinetix 300 drive and your personal computer must be configured to operate on the same Ethernet network The IP addresses of the Kinetix 300 drive the personal computer or both drive and personal computer ma
148. eedback MF Connector Pinout 39 Ethernet Communication Connector 39 AC Input Power Connector 40 Back up Power Connector 40 Shunt Resistor and DC Bus Connector Pinout 40 Motor Power Connector 40 Control Signal Spectfications ix veas omoi Sees ora Sax awe 4l Digital 41 Digital Outputs 45 Analog Reference ey eater 46 Analog O tplit 5 aie echte eR ayes ou vasa e Up I ACH 47 Master Gearing Step and Direction 48 Rockwell Automation Publication 2097 UM001D EN P November 2012 5 Table of Contents Connecting the Kinetix 300 Drive System MotionView Software Configuration Buffered Encoder Outputs ye ccs cae eK ee a es 49 Ethernet CODEC COD inal tested atl ovalis 50 24V DC Back up Power iios EE bre 50 Motor Feedback Spectfications 51 Motor Feedback Specifications 52 M XR I Ot 56 Chapter 4 Basic Wiring Requirements s dE ous 57 Build Your Own
149. egative travel limit switch IN A2 Positive travel limit switch IN Inhibit enable input M N A B1 N A IN N A B3 N A IN N A IN Ci N A IN Q N A 3 Registration input sensor 4 You configure the inputs listed as N A for any of these functions e Abort Homing Abort Index e Start Homing e Start Index e Fault Reset e Home Sensor e Index Select Rockwell Automation Publication 2097 UM001D EN P November 2012 41 Chapter3 Kinetix 300 Drive Connector Data and Feature Descriptions Some ofthe digital inputs exercise control over functions under the control of the Output Assembly When a digital input is mapped to the same function as exists in the Output Assembly the following timing diagrams apply Figure 14 Enable Timing Diagram enable switch function configured for Run Enable Input input 100 29 Drive Enabled Time IMPORTANT EtherNet IP for control and for configuring the Enable switch function for Run Figure 15 Enable Timing Diagram enable switch function configured for Inhibit 1 1 1 1 1 1 Enable Input input 100 29 1 1 1 1 1 Enable Bit in Output Assembly 1 EK 1 Drive Enabled Figure 16 Homing Timing Diagram Start Homing Input Start Homing Bit in AOP Abort Homing Bit Input Abort Homing in AOP Driv
150. el The deceleration rate that the drive will use to bring the motor to stop when either User units s the Abort Homing or Abort Index Digital Inputs is asserted if configured or either the or AbortHoming bit is set in the EtherNet IP Output Assembly 179 Position Limit The tolerance around the commanded position inside of which the drive will set the User units PositionLockStatus bit in the EtherNet IP Input Assembly 217 Position Error Thetolerance around the commanded position outside of which the drive willassert Encoder counts a Excess Position Error Fault when the Max Error Time is exceeded 218 Soft Limits 0 Off or On depending if software travel limits should be used 0 Off 1 Disable and Coast 2 Ramped Decel and Disable 219 Positive Limit If Soft Limits are On the position that when reached the drive will asserta Software User units Overtravel fault 220 Negative Limit User units 1 Soft Limits parameters can only be used in Positioning mode 96 Rockwell Automation Publication 2097 UM001D EN P November 2012 Dynamics Category The Dynamics category provides access to the configuration of the modifiable MotionView Software Configuration dynamics parameters TES OnBoard 3 5 192 168 0 9 DISABLED Chapter 5 zix Allen Bradley Load Connection Kinetix 300 Pint 52 Configuration 192 168 0 9 DISAE Motor General Communica
151. elated control systems Performance Level PL according to ISO 13849 1 and SIL levels according to EN 61508 and EN 62061 include a rating of the systems ability to perform its safety functions All of the safety related components of the control system must be included in both a risk assessment and the determination of the achieved levels See the ISO 13849 1 EN 61508 and EN 62061 standards for complete information on requirements for PL and SIL determination 160 Rockwell Automation Publication 2097 UM001D EN P November 2012 Description of Operation Functional Proof Tests Kinetix 300 Drive Safe Torque off Feature Chapter 8 The safe torque off feature provides a method with sufficiently low probability of failure on demand to force the power transistor control signals to a disabled state When disabled or any time power is removed from the safety enable inputs all of the drives output power transistors are released from the ON state effectively removing motive power generated by the drive This results in a condition where the motor is in a coasting condition stop category 0 Disabling the power transistor output does not provide mechanical isolation of the electrical output which may be required for some applications Under normal drive operation the safe torque off switches are energized If either of the safety enable inputs are de energized the gate control circuit is disabled To meet ISO 13849 1 PLd both safety c
152. emperature Sensor to Enable Understanding Encoder Resolution Setting Figure 76 shows the relationship of Resolution x1 and Resolution x4 Figure 76 Relationship between Resolution 1x and Resolution 4x EncA EncB Here is a simple example EXAMPLE If Resolution x1 4 um then Resolution x4 1 um 150 Rockwell Automation Publication 2097 UM001D EN P November 2012 Configure and Start Up the Kinetix 300 Drive Chapter 6 Change the Encoder Resolution for an Incremental Encoder The encoder resolution defaults to 5 um per encoder count If you must change the resolution do this Run the MotionView software From the Drive Organizer click Motor Click Change Motor Click Custom Motor Click Create Custom Create a Vendor Name EXAMPLE AB Custom 7 Create a Motor Model EXAMPLE LDC c030100DHT1u 8 Enter either the Resolution x1 or the Resolution x4 value 9 Click Save File 10 Enter lt filename gt cmt xml 11 Click Update Drive This important message appears Important Message Would you like to set default gains for velocity and position regulator 12 Answer yes or no according to your motor needs This important message appears Important Message xj 4 Do you wantto execute auto phasing IMPORTANT recommended you do auto phasing when commissioning new motors and wiring Rockwell Automation Publication 2097 UM001D EN P N
153. eneric TTL incremental 51 ground multiple subpanels 65 system to subpanel 64 grounded power configuration 59 HF bonding 26 high frequency energy 28 homing category 113 1 0 connections 77 1 0 connector wiring 79 1 0 specifications analog output 47 analog reference 46 back up power 50 buffered encoder outputs 49 digital inputs 41 digital outputs 45 Ethernet 50 master gearing 48 pinouts 38 step and direction 48 ID tag descriptions 197 index base addressing 210 index configuration assembly instance 111 index select 101 indexing 142 148 indexing category 101 input and output assembly 189 input assembly instance 192 tags 190 Rockwell Automation Publication 2097 UM001D EN P November 2012 input power wiring 3 phase Delta 59 3 phase WYE 59 determine input power 58 grounded power configuration 59 single phase 60 voltage doubler 60 single phase amplifiers on 3 phase power 61 62 input output category 93 install drive accessories 1 0 terminal block 79 low profile connector kits 80 shunt resistor 81 install your drive bonding subpanels 28 circuit breakers 21 fuse selection 21 HF bonding 26 system mounting requirements 20 transformer 21 interconnect diagrams 120 240V single phase input power 174 120V single phase input power 173 2097 master gearing example 184 2097 with LDL series and LDC series linear motor 179 2097 with MicroLogix 183 2097 with MPAI actuator 181 2097 with MPAR actuator 181 2097 with MPAS actuator
154. er Figure 61 Example of Stop and Hold Index Action Velocity Position Wait For Start This action waits for either the Start Motion bit to transition in the EtherNet IP Output Assembly or for the Start Index configured digital input to perform an active transition Figure 62 Example of Wait for Start Index Action Hold zero velocity until Start Index command Velocity Index 2 Index 1 Position Next Index This action immediately moves to the next index as defined by the Next Index parameter Figure 63 Example of Next Index Action Dwell time at zero velocity v Index 1 Index 2 Position Rockwell Automation Publication 2097 UM001D EN P November 2012 MotionView Software Configuration Chapter 5 Start Index During powerup the Kinetix 300 drive does one of the following Automatically start the indexing program upon enabling of the drive e Waiting for a digital input transition before starting the index Waiting for a software signal over EtherNet IP network before starting the index When the drive is configured for AutoStart Index the drive begins executing the configured index immediately after the drive enables If the drive is not configured for AutoStart Indexing the drive does not begin executing the configured index until either the Start Motion bit transitions in the EtherNet IP Output Assembly or the digital input configured for Start
155. er Gearing Analog 10 8 KHZ Peak Current Limit Step And Direction Limits L Analog Velocity Input Velocity Limits Velocity Mode Acceleration J Analog Current Input Pasitian limite Rockwell Automation Publication 2097 UM001D EN P November 2012 217 AppendixE Overtravel Inputs Overtravel Hardware Inputs Overtravel inputs are dedicated inputs and cannot be used for anything else Table 83 Overtravel Pin Assignments Positive overtravel input 10D Pin 100 28 2 100 27 Negative overtravel input A1 The overtravel inputs edge triggered and once the overtravel limit is exceeded the drive will perform the configured shutdown Overtravel checking is configured via MotionView software under DriveIP IO gt Digital IO gt Hard Limit Switches Action Overtravel inputs can be programed for normally open or normally closed operation Use EtherNet IP Explicit Messaging tag ID 668 to modify this parameter Figure 108 Overtravel Configuration in MotionView Software 192 168 124 200 DISABLED Motor Description Value General Communication Input C2 Debounce Time 10 Ethernet Ti EtherNetIP CIP Input C3 Debounce Time Input C4 Debounce Time Hard Limit Switches Action Analog Limits Enable Switch Function ET Dis Yolociy Limits Brake Engage Delay usable indiGonst Position Limits Decel And Disable Dynamics
156. er completing the Logix configuration you must download your program to the Logix processor Rockwell Automation Publication 2097 UM001D EN P November 2012 137 Chapter6 Configure and Start Up the Kinetix 300 Drive Apply Power to the This procedure assumes that you have wired and configured your Kinetix 300 Kinetix 300 Drive drive system and your Ethernet IP interface module 2097 drive before applying power Once power is applied connector terminals may To avoid hazard of electrical shock perform all mounting and wiring of the Bulletin have voltage present even when not in use Follow these steps to apply power to the Kinetix 300 drive system 1 Disconnect the load to the motor ATTENTION To avoid personal injury or damage to equipment N disconnect the load to the motor Make sure each motor is free of all linkages when initially applying power to the system 2 Determine the source of the drive logic power If Your Logic Power 1 from 24V DC back up power Apply 24V DC back up power to the drive BP connector Is from Mains input power Apply mains input power to the drive IPD connector 3 Apply mains input power to the Kinetix 300 drive IPD connector Observe the four character status indicator x E Four Character 1 V Activity Status Indicator Status Indicator If the status indicator is diS Go to step 5 Blank Go back to main ste
157. es not apply to 2097 V32PRx drives because they have integrated AC line filters 4 Terminal block is required to make connections Configure one pair from the Digital OUT 1 OUT 4 pins 43 50 as Brake in MotionView software For Digital Output specifications see Digital Outputs on page 45 5 Contactor coil M1 needs integrated surge suppressors for AC coil operation See Kinetix Servo Drives Specifications Technical Data publication GMC TD003 6 See the Motor Brake Currents table on page 185 to size the interposing relay for your application 7 Drive Enable input must be opened when main power is removed or a drive fault occurs A delay of at least 1 0 second must be observed before attempting to enable the drive after main power is restored 8 Cable shield clamp must be used to meet CE requirements No external connection to ground is required 9 For motor cable specifications see the Kinetix Motion Control Selection Guide publication GMC SG001 10 Motor power cables 2090 XXNPMF xxSxx and 2090 CPBM6DF 16AAxx have a drain wire that must be folded back under the cable shield clamp 11 LDAT xxxxxxB MPL Axxx MPM Axxx MPF Axxx MPS Axxx MPAR Axxx MPAI Axxx and MPAS Axxx encoders use the 5V DC supply LDAT xxxxxxD MPL Bxxx MPM Bxxx MPS Bxxx MPAR Bxxx MPAI Bxxx and MPAS Bxxx encoders use 9V DC 12 Brake connector pins are labeled plus and minus or F and G respectively Power connector pins are labeled U V
158. eutral in line filter If this three phase isolation transformer and neutral in line filter application is used the responsibility for EMC validation lies with the user and CE marking of the system becomes the user s responsibility If CE compliance is a customer requirement single phase line filters that have been tested by Rockwell Automation and specified for the product should be used See Kinetix Servo Drives Specifications Technical Data publication GMC TD003 for catalog numbers Rockwell Automation Publication 2097 UM001D EN P November 2012 63 Chapter4 Connecting the Kinetix 300 Drive System Grounding Your Kinetix 300 Drive System 64 All equipment and components of a machine or process system should have a common earth ground point connected to their chassis A grounded system provides a safety 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 For CE grounding requirements see CE Requirements in Chapter 1 IMPORTANT Toimprove the bond between the Kinetix 300 drive and subpanel construct your subpanel out of zinc plated paint free steel Ground Your Drive to the System Subpanel conventions and definitions Follow all applicable local codes and regulations to safely ground your system See the illustration
159. fault Communication was not established with an e Verify motor selection intelligent encoder Verify the motor supports automatic identification e Verify motor encoder wiring E31 Encoder data Encoder data is corrupted Replace the motor encoder E39 Safe torque off while enabled The safety circuit was opened while drive was Check safety circuit enabled or while attempting to enable E43 Drive enable input An attempt was made to enable the axis through Verify that Drive Enable hardware input is active software while the Drive Enable hardware input whenever the drive is enabled through software was inactive The Drive Enable input transitioned from active to inactive while the axis was enabled E44 Controller changed to PROG mode Program downloaded or turned key on logix Place controller back in RUN mode clear faults controller to program position Rockwell Automation Publication 2097 UM001D EN P November 2012 155 Chapter 7 Troubleshooting the Kinetix 300 Drive System Table 66 Error Codes continued Error Anomaly Possible Cause Action Solution Code E67 Operating system failed Hardware or configuration failure Cycle power Check configuration settings to be sure that drive tags setting are valid Check your program to ensure there are not explicit messages to internal drive variables which have been noted as unpublished or reserved E70 Memory
160. fault registers when the drive is enabled and motion causes the axis to pass the overtravel switch Once the overtravel is triggered the drive performs the configured Hard Limit Switches Action and drive is disabled An example of this is if the drive was in EtherNet IP drive mode had an overtravel fault and the overtravel fault is reset If a value still exists in the CommandCurrentOrVelocity parameter of the drive Add on Profile and that value is in the incorrect direction the axis will continue to move in that direction regardless of overtravel condition Figure 109 MotionView Monitor Category Description Value Units General Motion Enabled e Actual Velocity 0 0001192090567201 User Units Sec AtFault e sees 01042 User Units ig Faulted EOS displayed ual Position EC 1248807236 274 on front of Display 5 Target Position 4763 818161725998 User Units Current Limit Folded Target Position EC 1248806348 Regening Registration Position IEEE User Units Motion Registration Position EC Homing Position Error 0 0000 User Units Indexing Position Error EC 0 E EC counter 0 In Position amp Drive Monitor Motion Stack Full Phase Current Motion Stack Empty Bus Voltage 1 Motion Completed Heatsink Temperature 1 deg C Begistrati i 2 Analog 10 Motion Limits
161. ference 90 Analog Input Offset Analog input 1 offset Applied when used Range 10 000 10 000 mV as current velocity reference 94 Rockwell Automation Publication 2097 UM001D EN P November 2012 MotionView Software Configuration Chapter 5 Limits Categories The Limits categories provide access to the configuration of the modifiable velocity and position limit parameters Velocity Limits MotionView OnBoard 3 25 192 168 124 200 DISABLED D Allen Bradley Kinetix 300 Engin v Connect Disconnect Connection Load Connection Stop Reset Load Configuration Restore Defaults 192 168 124 200 Motor are Description Units Communication Zero Speed 10 1500 User Units Sec Speed Window 1 8000 User Units Sec At Speed 16 0000 User Units Digital 10 Analog IO Limits Velocity Limits Position Limits Successfully connected to drive B04100133100020 192 168 124 200 Table 45 Velocity Limits Category ID Parameter Name Description Value Notes 58 Zero Speed Value in user units s below which the drive will set the Zero Speed Digital Output if Range 0 100 rpm configured and the VelocityStandstillStatus bit in the EtherNet IP Input Assembly 59 Speed Window Value in user units s for the target velocity for which the drive will set the In Speed Range 10 10000 rpm Window Digital Output if configure
162. ff functionality Updated the Kinetix 300 Drive Power Specifications tables Updated the Circuit Breaker Fuse Specifications table Updated the Contactor Ratings specifications table Updated the Certifications specifications table Updated the AC Line Filter Specifications tables Rockwell Automation Publication 2097 UM001D EN P November 2012 221 AppendixF History of Changes Table 84 2097 UM001B EN P August 2010 continued Change Updated the Power Wiring Examples with proper voltage phase ratings Updated the pinouts for Kinetix 300 Drive with TL Series TLY A Motors diagram Added System Block Diagrams section Added Input Assembly Instance table Added Output Assembly Instance table Added Output Assembly Examples section Updated Kinetix 300 Drive Tag Numbers table Added Index Base Addressing section Added appendix that provides a detailed description of the overtravel digital inputs Table 85 2097 0 001 March 2012 Change Updated Important note Added Unwind Negative motion polarity and Current output clamp features to the General Category for synchronous motors Added General and Motor categories for linear motors Updated Digital input assignment list Added Index selects to the Indexing category Added unwind mode types Rotary Absolute Rotary Incremental Rotary Shortest Path Rotary Positive Rotary Negative
163. fications Technical Data publication GMC TD003 IMPORTANT an autotransformer make sure that the phase to neutral ground voltages do not exceed the input voltage ratings of the drive IMPORTANT Usea form factor of 1 5 for single and three phase power where form factor is used to compensate for transformer drive and motor losses and to account for utilization in the intermittent operating area of the torque speed curve For example sizing a transformer to the voltage requirements of catalog number 2097 V34PR6 3 kW continuous x 1 5 4 5 KVA transformer Circuit Breaker Fuse Selection The Kinetix 300 drives use internal solid state motor short circuit protection and when protected by suitable branch circuit protection are rated for use on a circuit capable of delivering up to 100 000 A Fuses or circuit breakers with adequate withstand and interrupt ratings as defined in NEC or applicable local codes are permitted The Bulletin 140M and 140U products 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 140U product evaluation of the short circuit available current is critical and must be kept below the short circuit current rating of the 140M 140U product In most cases class CC J L and R fuses select
164. for typical machine safety systems Rockwell Automation Publication 2097 UM001D EN P November 2012 159 Chapter8 Kinetix 300 Drive Safe Torque off Feature Important Safety Considerations The system user is responsible for the following Validation of any sensors or actuators connected to the drive system e Completing a machine level risk assessment Certification of the machine to the desired ISO 13849 1 performance level Project management and proof testing Programming the application software and the device configurations in accordance with the information in this safety reference manual and the drive product manual Safety Category 3 Requirements Safety related parts are designed with these attributes A single fault in any of these parts does not lead to the loss of the safety function A single fault is detected whenever reasonably practicable Accumulation of undetected faults can lead to the loss of the safety function which results in an uncontrolled coast to stop Stop Category Definition Stop category 0 is achieved with immediate removal of power to the actuator IMPORTANT event of drive or control failure the most likely stop category is category 0 When designing the machine application timing and distance should be considered for a coast to stop For more information regarding stop categories see EN 60204 1 Performance Level and Safety Integrity Level SIL CL3 For safety r
165. g is the only method retained after power cycles With any other homing method the Homed bit is not set following a power cycle until the homing has been repeated The absolute position information within the drive if absolute homed is cleared and the Homed bit cleared if any of these events occur change of motor encoder is detected A change of motion polarity is made The absolute position information within the motor nonvolatile memory does not match the absolute position information within the drive nonvolatile memory if absolute homed e A feedback related fault has occurred e At power up drive is reporting a battery error If your drive is set to Indexing mode and you are not using a controller a home switch is required to automatically home your incremental encoder at power up IMPORTANT All homing methods write to the drive s non volatile memory which is limited to 1 million write cycles The drive should not be homed more often than this Rockwell Automation Publication 2097 UM001D EN P November 2012 MotionView Software Configuration Chapter 5 Table 59 Homing Methods Summary Home Method 01 2 Direction Homing Type Home Sensor Polarity 7 Switch Marker Forward Bi directional Active Rising 8 Switch Marker Forward Uni directional Active Rising 9 Switch Marker Forward Bi directional Active Falling 10 Switch Marker Forward Uni directional Active Falling
166. gardless of the number of revolutions actually performed Rotary Absolute mode is only possible when Rotary Unwind mode is set up in the General category Figure 56 Rotary Absolute Move Rockwell Automation Publication 2097 UM001D EN P November 2012 MotionView Software Configuration Chapter 5 Rotary Incremental With an Rotary Incremental based move the direction of travel depends on polarity of the commanded position Positive commands result in motion in the positive direction and negative commands result in motion in the negative direction The command position can be greater than the unwind value When the position is greater than or equal to the unwind value the axis moves through more than one revolution of the unwind before stopping The actual position on each revolution through the unwind will start at zero regardless of the number of revolutions actually performed If your system has an absolute encoder home the axis before initiating an absolute move otherwise the drive will fault with an E27 Rotary Incremental mode is only possible when Rotary Unwind mode is set up in the General category Rotary Shortest Path The Rotary Shortest Path move is a special type of Absolute move where the motor is moved to the commanded position within the unwind in whichever direction of travel is the shortest moving through 0 degrees if necessary With Rotary Shortest Path the motor will not more than 1 revolution of unwind befo
167. gory 98 training 11 transformer sizing 21 troubleshooting 154 clear faults 157 error code E39 162 error codes 154 safe torque off 162 tune the axis 140 servo loop diagram 98 velocity limits category 95 velocity mode 183 voltage doubler block diagram 187 operation 60 power diagram 173 Rockwell Automation Publication 2097 UM001D EN P November 2012 Index who should use this manual 11 wiring build your own cables 58 diagram safe torque off 167 drive BP connector 69 IPD connector 70 MP connector 71 STO connector 69 Ethernet connections 82 grounded power configuration 59 grounding drive 64 guidelines 68 1 0 connector 79 input power determine type 58 low profile connectors 80 master gearing 184 motor cable shield clamp 76 motor feedback 77 motor power 72 73 74 requirements 57 165 drive 66 shunt resistor 67 route power and signal wiring 58 shunt resistor 81 227 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support you can find technical manuals technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools You can also visit our Knowledgebase at http www rockwellautomation com knowledgebase for FAQs technical information support chat and forums software
168. hannels must be used and monitored A The functional safety standards require that functional proof tests be performed on the equipment used in the system Proof tests are performed at user defined intervals not to exceed one year and are dependent upon PFD and PFH values ATTENTION Permanent magnet motors may in the event of two simultaneous faults in the IGBT circuit result in a rotation of up to 180 electrical degrees IMPORTANT Users specific applications determine the time frame for the proof test interval but it must not exceed one year due to the use of switches internal to the drive as required by ISO 13849 1 To proof test the safe torque off function you must interrupt power to the inputs of the safe torque off function at pins STO 4 and STO 6 and verify that the drive is in the disabled state Proof Test Truth Table Safety Function State Safety Input 1 SafetyInput2 Safety Status Drive Status STO 4 STO 6 Output STO 3 Indication Normal operation Energized Energized Energized Run Safe torque off mismatch Energized De energized Energized E39 De energized Energized Energized E39 Safe torque off function De energized De energized De energized E39 engaged 1 Drive display changes to condition shown on enable of the drive IN Enable Normal operation of the safe torque off function if monitored and verified constitutes the proof test A safe torque off mismatch results in err
169. hen A Class Instance deck 1 then 6 dec 1 Read Wnite Message MSG File MG20 Setup Screen Copy Word Source 41120 Dest AST140 DATA 0 Length 41 214 Rockwell Automation Publication 2097 UM001D EN P November 2012 MicroLogix Explicit Messaging In this example the instance decimal is ID tag 2 drive symbolic name Figure 106 Writing String into Nonvolatile Memory General Send Data Receive Data This Controller Channet Communication Command Data Table Address Receive Send Niro Size in Bytes Receive N A Sendt 2 Target Device Message Timeout 7 Local Remote MuliHop Extended Routing Info File AIX 914100 Service Generic Set Attribute Single Service Code ro Class hex panes deck pm PW Copy Word Souce 5 14 0 0 Dest 110 Length 41 MSG Read Write Message MSG File MG 0 Setup Screen Rockwell Automation Publication 2097 UM001D EN P November 2012 Control Bits Ignore if timed out TO 0 Break Connection BK 0 Awaiting Execution EW 0 Error 0 Message done DN 0 Message Transmitting ST 0 Message Enabled 0 Appendix D 215 AppendixD MicroLogix Explicit Messaging Notes 216 Rockwell Automation Publication 2097 UM001D EN P November 2012
170. hernet Port LocalENB 25 Ethernet Module S g CompactBus Local 5 Embedded 1 0 B 1 Embeddec 2 Embedded Expansion Cross Reference Properties Alt Enter Print 4 The Module Properties dialog box opens Module Properties Controller 1 1769 L23E QB1 Ethernet Port 18 1 General Connection RSNetwWors Module Info Port Configuration Port Diagnostics Type 1759 L23E QB1 Ethernet Port 10 100 Mbps Ethernet Port on CompactLogix5323E QB1 Vendor Allen Bradley Parent Controller Address Host Name Name IP Address 168 124 2 Host Name Description Slot 5 Major Revision 2 Enter the IP address of the Ethernet port In this example the IP address is 192 168 124 2 This is the controller Ethernet address not the drive Ethernet address 3 Click OK Rockwell Automation Publication 2097 UM001D EN P November 2012 Configure and Start Up the Kinetix 300 Drive Chapter 6 Configure the Ethernet Module This section applies when the ControlLogix controller catalog number 1756 ENET B is used Follow these steps to configure the Ethernet module 1 Right click I O Configuration in Controller Organizer the Controller Organizer and B OBEN TS New ode 5 1756 Bac choose New Module fon The Select Module dialog box opens Select Module Analog Communications 1756 ENBT 1756
171. hoice D Very dirty zone Contactor segregated not in wireway VD 24V Motor Brake PS Kinetix 300 Circuit o 5 e Breaker Drive Ethernet shielded 1 1 AC Line Cable a Filter No sensitive equipment within 150 mm 6 0 in 1 0 m Ethernet and Feedback Cables Route Encoder Analog Registration 1 0 0 Motor Power and Safety Cables Route 24V 0 1 0 Shielded Cables Shielded Cable 1 If drive system 1 0 cable contains dirty relay wires route cable in dirty wire way 2 When space does not permit 150 mm 6 0 in clearance install a grounded steel shield between the drive and clean wireway examples see the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 Motor Brake The brake is mounted inside the motor and how you connect to the drive depends on the motor series See Kinetix 300 Drive Rotary Motor Wiring Examplesbeginning on page 176 for the interconnect diagram of your drive motor combination Rockwell Automation Publication 2097 UM001D EN P November 2012 33 Chapter2 Installing the Kinetix 300 Drive System Mount Your Kinetix 300 Drive This procedure assumes you have prepared your panel and understand how to bond your system For installation instructions regarding other equipment and accessories see the instructio
172. hort circuit rating Rockwell Automation Publication 2097 UM001D EN P November 2012 Enclosure Selection Installing the Kinetix 300 Drive System Chapter 2 This example is provided to assist you in sizing an enclosure for your Bulletin 2097 drive system You need heat dissipation data from all components planned for your enclosure to calculate the enclosure size See Power Dissipation Specifications on page 24 for the Kinetix 300 drive power dissipation With no active method of heat dissipation such as fans or air conditioning either of the following approximate equations can be used Metric _ 0380 187 14 Standard English _ 4080 T 1 1 Where T is temperature difference between inside air and outside ambient C Q is heat generated in enclosure Watts and A is enclosure surface area 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 The exterior surface of all six sides of an enclosure is calculated as 2dw 2dh 2wh 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 If the maximum ambient rating of the Kinetix 300 drive system is 40 C 104 F and if the maximum environmental temperature is 20 C 68 F
173. hough the thermostat signal is shown for all feedback types some motors may not support this feature because it is not part of the feedback device Figure 25 Motor Thermostat Interface 5V A 6 81 kW 1 kW MTR TS ANN Kinetix 300 Drive Table 19 Motor Thermostat State Specifications Resistance at TS No Fault Fault 10 52 Rockwell Automation Publication 2097 UM001D EN P November 2012 Kinetix 300 Drive Connector Data and Feature Descriptions Chapter 3 Table 20 SICK Stegmann Hiperface Specifications Attribute Value Protocol Hiperface Memory support Not programmed or programmed with Allen Bradley motor data Hiperface data communication RS485 9600 baud 8 data bits no parity Sine Cosine interpolation 2048 counts sine period Input frequency AM BM 250 kHz max Input voltage AM BM 0 6 1 2V measured at the drive inputs Line loss detection AM BM Average sin cos gt constant Figure 26 SICK Stegmann Hiperface Interface SIN and COS Signals 47 pF Kinetix 300 Drive 36 7 kW 1kW he AAA to A D Converter sp KCK ue kw SIN or 05 O to Counter SIN or cos O e Tu Figure 27 SICK Stegmann Hiperface Interface DATA Signals 5V A ie to Counter 1kW DATA 21 56
174. iable Indexing 10 Monitor Motion EH EH H Identification Homing Analog 10 Motor Configuration Ethernet Limits Dynamics EtherNeUIP EB HH EH EH EH 4 Select a parameter from within the tree structure Diagnostic 192 168 124 200 Variable Name Hexadecimal Decimal 267 AutoStartindex 0 00000000 0 0000 Save C Set on Inputs 1 4 outputs 1 4 OOOO Inputs B1 B4 OOGO 5 Click Add Rockwell Automation Publication 2097 UM001D EN P November 2012 Configure and Start Up the Kinetix 300 Drive Tools for Changing Parameters Chapter 6 Some parameters are accessible through RSLogix 5000 software The alternative is to use Explicit Messaging from the Ethernet module Follow these steps to change parameters by using Explicit Messaging 1 Create a Set Attribute Single MSG instruction in the ladder logic program Message Configuration SetHomeMethodMSG Configuration Communication Tag i Message Type Source Element Set Attribute Single Source Length 10 Hex Class 374 Attribute Hex Service Code Instance 232 HomingMethod Bytes gj New Tag Enable Enable Waiting Start Done Error Code Extended Error Code Error Path Error Text Can
175. iagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations 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 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 gt gt gt gt IMPORTANT Identifies information that is critical for successful application and understanding of the product Allen Bradley CompactLogix ControlFLASH ControlLogix Kinetix MP Series TL Series RSLogix SoftLogix Rockwell Automation Rockwell Software Stratix 6000 MicroLogix and TechConnect a
176. ical for each parameter in Table 54 Table 55 Index Configuration Assembly Example Byte Parameter Value 0 Index Number Low byte 1 Index Number Low middle byte 2 Index Number High middle byte 3 Index Number High byte Table 56 ID Tag Numbers for Indexes 00 15 Parameter Name 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 Index Type 272 283 294 305 1316 37 338 39 360 371 382 123 44 415 426 437 Move 273 24 12 306 37 328 339 350 364 372 383 24 405 416 427 438 Distance 274 125 126 307 318 39 30 351 362 373 34 29 406 47 08 439 Register Distance 25 126 297 308 319 330 341 352 363 34 385 26 47 48 429 440 Batch Count 276 27 298 309 190 331 342 353 364 375 386 27 48 49 40 44 Dwell 27 28 299 0310 321 332 343 34 365 376 387 298 409 40 431 442 Velocity 278 29 300 311 322 133 344 355 366 377 388 299 410 41 432 443 279 290 301 312 323 34 135 356 367 378 389 400 41 422 433 444 Decel 280 291 302 313 134 335 36 357 368 379 390 401 42 423 434 445 Next Index 281 292 303 314 325 36 37 358 39 380 39 402 413 424 435 446 Action 282 123 34 315 96 337 348 359 370 381 392 403 44 025 436 447 Rockwell Automation Publication 2097 UM001D EN P November 2012 111 Chapter 5 MotionView Software Configuration Table 57 ID Tag Numbers for Indexes 16 31
177. ides access to the oscilloscope and digitally monitor drive performance parameters MotionView OnBoard 3 25 192 168 124 1 DISABLED Allen Bradley 300 t 192 168 124 200 Motor General Communication Parameter amp 10 View Ethernet iia EtherNet IP CIP English Oscilloscope Scope 192 168 124 200 Digital IO Analog lO Limits Velocity Limits Position Limits Dynamics Indexing Homing Tools Monitor Time 1 ms Div Successfully connected to drive 04100133100020 Wel Trigger Level 000 Single Stopped Seton Top 98 Rockwell Automation Publication 2097 UM001D EN P November 2012 MotionView Software Configuration Chapter 5 Monitor Category The monitor category provides access to pre configured status information for the drive This information is displayed in a floating window that updates in real time Monitor 192 168 124 200 Description Value Units General Enabled Motion 5 Actual Velocity 0 0 User Units Sec At Fault Actual Position 2147483648 0 User Units Undervoltage Actual Position EC gcc Current Limit Target Position 21474836480 User Units Current Limit Folded Target Position EC 0 EC Regening 00 User Units Motion Registration Position EC ixl EC Homing Posi
178. igh Resolution Feedback table on page 172 for note information 2090 K2CK D15M Connector Kit Notes 9 10 1 9 1 gt LACK SIN 1 3 Green Yellow D lt e Motor Power 12 XX SIN 2 8 Tou Power T Blue C y 2 W Lon 3 05 3 4 MP Connector d 2 4 5 s 14 5 5 GREEN DATA 5 Brown A U 6 0 lt lt 6 WHT GREEN DATA 10 7 otor 9 GRAY 5VDC 14 8 Motor Feedback Feedback gt gt 10 WHT GRAY ECOM 6 MF Connector gt 1 11 ORANGE 9VDC 7 Thermostat B WHT ORANGE WC Ta m gt Black G lt BR d 14 gt T5 Whi 12 COM ii F BR gt lt lt See low profile connector 777 Motor Brake illustration below for proper grounding technique 1 0 100 5 Cable Shield See Table 67 for feedback cable C t amp Clamp Notes 9 10 11 onnector OUTAC Note 8 Note 4 Table 67 MP Series Electric Cylinder Power and Feedback Cables MP Series Electric Power Cable Feedback Cable User Supplied Cylinder Cat No S Cat No Cat No 24V DC 1 series 32 2090 165 2090 XXNFMF Sxx standard standard Tene MPAR A B2xxx series A 40 qg9 cpyMADF 16AFxx 2090 CFBM4DE CDAFxx 1 Cabl Mur eld continuous flex continuous flex 1 series 32 2090 CPxM7DF
179. ime 0 e 10 nput B2 Function Not Assigned nput Debounce Time 0 nput B3 Function Not Assigned TE nput B1 Debounce Time 0 nalog c Limits nput B4 Function B2 Debounce Time 0 AN pu nput C1 Function Je nput B3 Debounce Time 0 osition Limits Dynamics nput C2 Function B4 Debounce Time 0 nput C4 Function nput 1 Debounce Time 0 i Output 1 Function nput C2 Debounce Time 0 Output 2 Function Is nput C3 Debounce Time 0 Faults Output 3 Function Not Assigned nput C4 Debounce Time 0 Output 4 Function Not Assigned _ Hard Limit Switches Action Not Assigned Input 41 Debounce Time 0 Enable Switch Function Inhibit Brake Engage Delay 160 Brake Release Delay 110 Hard Limit Polarity N Open Table 43 Digital 1 0 Category ID Parameter Name Description ID Parameter Name Description 29 Enable Switch Function Configuration of the enable digital input A3 624 Input A4 Function Configuration of the specific function for the individual digital 9 9 9 9 0 Inhibit only Must be asserted before the drive inputs pre assigned inputs such as Enable and Registration can be enabled are not configurable 1 Run Enables drive when asserted 1 Abort Index 2 Reserved 84 Hard Limit Switches Action Configuration of the action to take when the limit 625 InputB1 B4 Function 3 Start Index switches are asserted 4 Define Home 0 Not used 5 Abort Homing 1 Disable
180. inetix 300 Drive Add on Profiles To select Kinetix 300 drives in RSLogix 5000 software version 17 you must load Add on Profiles from www ab com Rockwell Automation About Us News amp Events Products Services amp Support Industies amp Solutions Allen Bradley PROCESS SOLUTIONS knowledge i Contact Us Turn information into ENS bili Sici your profita 4 to Z Product Directory Configuration and Selection Tools Knowledgebase Events Listing Resources Product Directory Literature Library Locate Us 3 Tools amp Resources Knowledgebase Forums Newsletters amp Magazines Product Catalogs Technical Sui rt Product Certification Product Configuration amp Training Selection Publications Library To navigate to the Add on Profiles follow this path Technical Support Software Updates Firmware and Other Downloads RSLogix 5000 I O Modules Add On Profiles You will be required to establish a login and provide the serial number of your drive to access the download file Configuring the Logix This procedure assumes that you have wired your Kinetix 300 drive EtherNet IP Module 132 IMPORTANT For the Kinetix 300 drive to communicate with the Ethernet network module your RSLogix 5000 software must be version 17 or later For help using RSLogix 5000 software as it applies to configuring the ControlLogix
181. ing Check the Hall phasing Bad connections e Verify the Hall wiring Verify 5V power supply to the encoder E12 Home search failed Home sensor and or marker is outside the e Check wiring overtravel limits Reposition the overtravel limits or sensor E14 Ethernet 1 0 connection lost Ethernet 1 0 Connection lost Check wiring and Ethernet cables and routing Check controller program to be sure that 1 0 is scanned at correct RPI rate E16 Software overtravel Programmed overtravel limit has been exceeded Verify motion profile e Verify overtravel settings are appropriate E18 Overspeed fault Motor speed has exceeded 125 of maximum e Check cables for noise rated speed e Check tuning E19 Excess position error Position error limit was exceeded Increase following error limit or time e Check position loop tuning E23 Drive Thermal Protection The internal filter algorithm protecting the drive Reduce acceleration rates from overheating has tripped Reduce duty cycle ON OFF of commanded motion Increase time permitted for motion e Use larger Kinetix 300 drive and motor e Check tuning E26 Index parameter out of range Parameters specified in the index table are beyond Verify index parameters such as position and system capabilities velocity E27 Absolute move fault Initiated move without being homed When using an absolute encoder home the axis before attempting an absolute move E30 Encoder communication
182. ins IOD 7 IOD 12 with no filtering up to a speed of 2 MHz The encoder pass through delay is approximately 100 ns Rockwell Automation Publication 2097 UM001D EN P November 2012 49 Chapter 3 50 Kinetix 300 Drive Connector Data and Feature Descriptions Ethernet Connections An RJ45 Ethernet connector port 1 is provided on the Kinetix 300 drive Table 15 Ethernet Communication Specifications Attribute Communications Value 100BASE TX full duplex Cyclic update period 2ms min Auto MDI MDIX crossover Yes detection correction Cabling or CAT6 unshielded shielded 100 m 328 ft 24V DC Back up Power The Kinetix 300 drive can use an external power supply to power the logic and communication circuits If an independent 24V 1 A power supply is connected to the BP connector the logic and communication circuits remain active during a mains input power loss Table 16 24V DC Back up Power Specifications Attribute Value Input voltage 20 26V DC Current 500 mA Inrush max 30A Rockwell Automation Publication 2097 UM001D EN P November 2012 Motor Feedback Specifications Kinetix 300 Drive Connector Data and Feature Descriptions Chapter 3 The Kinetix 300 drive accepts motor feedback signals from the following types of encoders with these general specifications Table 17 Motor Feedback General Specifications Attribute Motor Feedback Feedback device support SI
183. interposing relay may be required to invert the signal Digital input common IN_x_COM must be used in this signal activation de activation transition You can also bring this input into a PLC where you can use an AOP add on profile or assembly object to activate the recommended digital input abort index Safe Torque off Sign al This table provides specifications for the safe torque off signals used in the Specifications Kinetix 300 servo drives Attribute Value Safety inputs 1 Insulated compatible with single ended output 24V DC Enable voltage range 20 24V DC Disable voltage range 0 1 0V DC Input impedance 6 8 k Safety status Isolated Open Collector Emitter is grounded Output load capability 100 mA Digital outputs max voltage 30V DC 1 Safety inputs are not designed for pulse testing 168 Rockwell Automation Publication 2097 UM001D EN P November 2012 Kinetix 300 Drive Safe Torque off Feature Chapter 8 Safety Input and Output The following are generic safety input and output schematics for the Kinetix 350 Schematics NE Figure 81 Safety Input Safety Input 1 2 ST0 4 6 Safety COM 4 4 510 5 SAFETYCOM Figure 82 Safety Status Output Sinking Safety Status i Ai NNV 510 3 c wy B 3 2 E COM E Safety COM e 4 V 510 5 SAFETYCOM Rockwell Automation Publication 2097 UM001D EN P November 2012 169
184. ion for 50 pin SCSI 1 0 100 Connector Bo 15 0 1 LH O 0O H O LH B O i LI 0O LI 0 LI O O Bd 50 S 8 25 Rockwell Automation Publication 2097 UM001D EN P November 2012 Motor Feedback MF Connector Pinout MF Pin Description Signal 1 Sine differential input SIN differential input AM 2 Sine differential input SIN differential input AM 3 Cosine differential input 05 differential input BM 4 Cosine differential input 05 differential input BM 5 Data differential input DATA Index pulse IM 6 Common ECOM 7 Encoder power 9V EPWR_9V 2 8 Single ended 5V Hall effect 53 commutation 1 Not applicable unless motor has integrated thermal protection 2 IMPORTANT Encoder power supply uses either 5V or 9V DC based on encoder motor used Kinetix 300 Drive Connector Data and Feature Descriptions Chapter 3 MF Pin Description Signal 9 Reserved 10 Data differential input DATA Index pulse IM 11 Motor thermal switch normally closed 0 15 12 Single ended 5V Hall effect commutation 51 13 Single ended 5V Hall effect commutation 52 14 Encoder power 5V EPWR_5V 2 15 Reserved Drive to motor power and feedback cable length must not exceed 20 m 65 6 ft System performance was tested
185. is an example of moving a value into the ReferenceSource of the Output Assembly Figure 98 Set Value of Output Assembly Tag Source K300 N1 EnetlP ExRefSP 0 ReferenceSource 2 Dest K300 N1 O ReferenceSource 2 This is an example of latching on the StartMotion bit of the Output Assembly Figure 99 Turn on the Output Assembly Tag START K300 N1 O StartMotion This is an example of turning on the StartMotion bit of the Output Assembly by editing the tag directly Figure 100 Changing a Value in the Output Assembly Tag Structure K300 1 1 K300 N1 0 K300 0 AbortHoming o Rockwell Automation Publication 2097 UM001D EN P November 2012 195 AppendixB Input and Output Assembly Incremental Position Point to Point Profile To execute an incremental position move set these tag values as shown Table 76 Output Assembly Tags RSLogix 5000 Tags Value ReferenceSource Set value to 2 CommandPosition Configure the motion profile by setting tags to the desired values VelocityLimit AccelerationLimit DecelerationLimit DriveEn Enable the drive by turning tag on StartMotion Start profile by turning tag on Velocity Motion Profile To execute a velocity move set these tag values as shown Table 77 Output Assembly Tags ID Tag RSLogix 5000 Tags Value N A ReferenceSource Set value to 1 N A CommandcCurrentOrVe
186. istance 103 reset index 109 rotary absolute 104 rotary incremental 105 rotary negative 106 rotary positive 106 rotary shortest path 105 start index 109 input output category 93 limits category 95 linear motor database 86 monitor category 99 motor category 84 motor database 85 position limits category 96 tools category 98 velocity limits category 95 motor category 84 motor database 85 Rockwell Automation Publication 2097 UM001D EN P November 2012 225 Index 226 motor feedback pinouts 39 specifications general 51 thermostat 52 wiring 77 motor power pinouts 40 wiring 72 motors brake currents 185 feedback pinouts 78 ground termination 71 interconnect diagram MPL MPM MPF MPS 176 TLY 178 power wiring 3 phase and brake 74 3 phase only 73 TL Series 72 shield clamp wiring 76 mount Kinetix 300 drive 34 noise 29 0 output assembly examples 195 incremental examples 196 instance 194 tags 193 velocity examples 196 overtravels dedicated inputs 218 fault recovery 220 modes of operation 217 operation 219 P panel requirements 20 PFD and PFH data 162 PFD and PFH definition 162 pinouts ACinput power IPD 40 back up power BP 40 Ethernet Port 1 39 1 0 100 38 motor feedback MF 39 motor feedback connector 78 motor power MP 40 safe torque off STO 37 shunt resistor and DC bus 40 PL 160 position limits category 96 power block diagram 186 power dissipation specifications 24 power s
187. ke 185 System Block Diagrams e d neo Vetere 186 Appendix B Input and Output Assembly ove cU ELE uet tetur 189 Output Assembly Examples eis epis 195 Incremental Position Point to Point Profile 196 Velocity Motion d cela es 196 Appendix C Tag Number Descriptions xscxexuse ves 197 Index Base Addressing kx e 210 Appendix D Explicit Messaging Data Types secs eh e rre ms 211 Explicit Messaging Data Type 212 DINT Data Examples 212 REAL Data Type Examples s usce 213 String Data Type Examples iio err 214 Rockwell Automation Publication 2097 UM001D EN P November 2012 9 Table of Contents Overtravel Inputs Appendix Modes of Operation xia co deiode tad ieee eee 217 Overtravel Hardware Inputs ouest caosa eei ae aee 218 Operati n 219 Overttavel Fault Recovery cuoi oae t c rb eed ducas 220 Appendix F History of Cables secte e e ue hte es p epe 221 Indek f 225 Rockwell Automation Publication 2097 UM001D EN P November 2012 Preface About This Publication This manual provides detailed installation instructions for mounting wiring and troubleshooting your 300
188. kwell Automation Publication 2097 UM001D EN P November 2012 Connecting the Kinetix 300 Drive System Chapter4 Shunt Resistor Connections Follow these guidelines when wiring your 2097 Rx shunt resistor IMPORTANT When tightening screws to secure the wires see the tables beginning on page 65 for torque values IMPORTANT To improve system performance run wires and cables in the wireways as established in Chapter 2 SeeShunt Resistors on page 32 for noise zone considerations See Shunt Resistor Wiring Example on page 175 Seethe installation instructions provided with your Bulletin 2097 shunt resistor publication 2097 IN002 Figure 48 Shunt DC Bus BC Connector Kinetix 300 Drive Front view is shown Shunt DC Bus BC Connector Rockwell Automation Publication 2097 UM001D EN P November 2012 81 Chapter4 Connecting the Kinetix 300 Drive System Ethernet Cable Connections Personal Computer 1783 508 fi Stratix 6000 Switch E This procedure assumes you have your Logix Ethernet IP module and Kinetix 300 drive mounted and ready to connect the network cables The EtherNet IP network is connected by using the Port 1 connector See page 36 to locate the Ethernet connector on your Kinetix 300 drive See the figure below to locate the connector on your Logix
189. lded Cable 1 system 1 0 cable contains dirty relay wires route cable in dirty wireway 2 Fortight spaces use a grounded steel shield For examples see the System Design for Control of Electrical Noise Reference Manual publication GMC RMOOT 3 Thisisa clean 24V DCavailable for any device that may require it The 24V enters the clean wireway and exits to the left 4 This is a dirty 24V DC available for motor brakes and contactors The 24V enters the dirty wireway and exits to the right Rockwell Automation Publication 2097 UM001D EN P November 2012 29 Chapter2 Installing the Kinetix 300 Drive System Figure 6 Noise Zones Bulletin 2097 AC line filters g Clean Wireway Dirty Wireway I I a Contactors I Very Dirty Zone I Segregated not in wireway I 24V Motor I Kinetix300 7 ee I Drive Bulletin 2097 AC line filters Ethernet mount to side as shown or I shielded behind the drive Cable I 0 a No sensitive equipment Filter gp Within 150 mm 6 0 in 6 C 1 0 Ethernet and Feedback Cables 1 0 Motor Power and Safety Cables Route encoder analog registration Route 24V DC 1 0 shielded cables Shielded Cable 1 system 1 0 cable contains dirty relay wires route cable in dirty wireway 2 For tight spaces use a grounded steel shield For examples see
190. ll not limit the actual current to the motor The actual RMS current limit to the motor is not configurable 32 8 kHz Peak Current Limit Peak current limit for 8 kHz operation based on User may lower this peak value to limit current to motor Do not set below the motor selected RMS Current for motor tag 30 39 Motor Temperature Sensor Motor thermal protection function 0 Disable 1 Enable 752 Enable Accel Decel Limits Enable Accel Decel function limits for Velocity 0 Disable mode 1 Enable 76 Accel Limit Accel value for Velocity mode Range 0 1 5 000 000 rpm s 77 Decel Limit Decel value for Velocity mode Range 0 1 5 000 000 rpm s 78 Fault Reset Reset fault configuration Manual Only On Disable 79 Master Master to system ratio numerator Master counts range 32767 32767 80 System Master to system ratio denominator System counts range 1 32767 266 Drive Mode Sets the mode of operation for the drive 0 Auto Tune 4 Analog Velocity Input EtherNet IP External Reference 5 Analog Current Input 2 Master Gearing 6 Indexing 3 Step and Direction 181 User Units User units Revolutions of motor per user unit 672 Current output clamp Value to clamp output current measured in Range 0 400 percentage of motor rated current 670 Enable rotary unwind Enable rotary unwind for rotary motors When 0 Unchecked Disable rotary unwind is used with a motor with an 1 Checked Enable absolute encoder the position will be
191. locity Set the velocity value 750 Enable Accel Decel function limits for Use internal defaults for Accel Decel ID 75 set to 0 Disable Velocity mode Set Accel Decel values by writing to ID 76 and 77 by using explicit 76 Accel value for Velocity mode Tag 75 1 70 Decel value for Velocity mode N A DriveEn Enable the drive by turning tag on 1 You can also set these parameters by using MotionView software General category Velocity Mode Acceleration 196 Rockwell Automation Publication 2097 UM001D EN P November 2012 Appendix Kinetix 300 Drive ID Tag Numbers Topic Page Tag Number Descriptions 197 Index Base Addressing 210 Tag Number Description change these parameters using an Explicit Message you configure the message to target class 374 The instance corresponds to the ID tag number in Table 78 The attribute is defined by the Drive Object Attributes table on page 190 IMPORTANT Memory module writes are limited to 1 000 000 per device Make sure that all writes targeted at the memory module are necessary and not done as part of a background or cyclic task Rockwell Automation Publication 2097 UM001D EN P November 2012 197 10 JUALIN Mojaq 5 195 JOU 0q 40
192. m Acceleration This REAL contains the maximum acceleration the axis should use in reaching the index velocity Index Maximum Deceleration This REAL contains the maximum deceleration the axis should use in when approaching the target position Index Next Index This DINT contains the next index the drive should begin executing after completing this index Index Action This DINT contains the action the drive should take once this index is complete Index Registration Distance This REAL contains the displacement from the registration position the axis should move to if a registration index is used Rockwell Automation Publication 2097 UM001D EN P November 2012 Table 54 Index Configuration Assembly Instance MotionView Software Configuration Chapter 5 0 3 Index Number DINT 4 7 Index Type DINT 8 11 Index Move Type DINT 12 15 Index Distance REAL 16 19 Index Batch Count DINT 20 23 Index Dwell DINT 24 27 Index Velocity REAL 28 31 Index Maximum Acceleration REAL 32 35 Index Maximum Deceleration REAL 36 39 Index Next Index DINT 40 43 Index Action DINT 44 47 Index Registration Distance REAL In this Index Configuration Assembly example the parameter Index Number with a range of 0 3 bytes is expanded to show the low byte low middle byte high middle byte and high byte These values are typ
193. mage to components 3 Locate the position on the motor power cable that comes under the clamp and remove about an inch of the cable jacket to expose the shield braid Position the exposed portion of the cable braid directly in line with the clamp 5 Clamp the exposed shield to the panel by using the clamp and 2 46 32 x 1 screws provided 6 Repeat step 1 step 5 for each Kinetix 300 drive you are installing 76 Rockwell Automation Publication 2097 UM001D EN P November 2012 Connecting the Kinetix 300 Drive System Chapter 4 Feedback and 1 0 Cable Factory made cables with premolded connectors are designed to minimize EMI Connections and are recommended over hand built cables to improve system performance However other options are available for building your own feedback and I O cables Table 32 Options for Connecting Motor Feedback and 1 0 Connection Option Cat No Cable Using This Type of Cable Prem ld dtonnect rs N A Motor feedback See the table below for the premolded motor feedback cable available for your motor Low profile connector 2090 K2CK D15M Motor feedback See the table below for the flying lead cable available for your motor 1 0 Terminal Block Motor Cat No MPL A B15xxx Hx4xAA MPL A B2xxx Hx4xAA 2097 TB1 1 0 interface for Master Gearing mode User supplied flying lead cable Table 33 Motor Feedback Cables for Specific Motor Feedback Combinations Connector Type
194. mber 2012 110410 1010JN eseud eaJu System Block Diagrams 186 Three phase Motor Output Interconnect Diagrams Appendix This power block diagram applies to 2097 V31PR x servo drives The voltage doubler circuitry lets the drives with 120V input power get full performance from 240V motors Figure 97 Voltage Doubler Block Diagram Inverter Section L Transistor Shunt DC Bus Connector DC pues eal UA L1 and N inputs apply to 2097 V31PRx servo drives using the voltage doubler feature Rockwell Automation Publication 2097 UM001D EN P November 2012 The 2097 Rx shunt module is external to the Kinetix 300 drive 1 187 AppendixA Interconnect Diagrams Notes 188 Rockwell Automation Publication 2097 UM001D EN P November 2012 Input and Output Assembly Appendix B Input and Output Assembly Topic Page Input and Output Assembly 189 Output Assembly Examples 195 The terms input and output refer to the point of view of the scanner device Output data is produced by the scanner and consumed by the adapter Input data is produced by the adapter and consumed by the scanner The Kinetix 300 drive is an adapter device and the controller using RSLogix 5000 software as a scanner device The drive contains EtherNet IP Assembly Object Instances that pe
195. mouype ue a10Jaq ejap anea 421 X 195 Ajquiasse yndyno 10 1 yulyeyeq WY 967 X Qleaysabayujpauyaquasy Ajquiasse yndyno 10 yuijeyeq 1 667 X Leeg au pauyag sn Ajquiasse 10 9 1 WY 774 X 19 Aquiasse yndyno 10 y yuljeyeq WY l ESZ X Lleayabaquipauyaquasy Ajquiasse 3ndui 10 q yuijeeq WY TST X 5 Ajquiasse 10 gt yuljeyeq WY l LSZ X Leyequabaujpauyaquasy Ajquiasse yndut 10 g yuijeyeq WY 0 lt X 0 1195 Ajquiasse yndui 10 y WY l X ur Op 0 uonnjosal Jeaur 97 X s w swu 005 1 5 10 abeo 1010 NS Way 774 X SW Y N 0001 1 40045002 210 10 0 WY Way vc X 6y 001 0 55 420 10301 Mi trc 5 01770 paads 1eaur Wid Uc X 002 c abuey ajo Mi Wau Orc plea aq aynjosqe pue 559 10 0 0 seu 194124 9 319 1NIQ Lyc ssa 10 30 jana 11g pue Japooua aynjosqe 59 95 1 944 10 1915 6291 513015 suorunj poyjaw 10 X pauyapaid asau se gt 10 zv Ly uDisse you oq
196. n GMC TD003 for Kinetix 300 drive dimensions Figure 2 Minimum Clearance Requirements 25 0 mm 1 0 in Clearance 2 Drive A for Airflow and Installation Cat No 2097 V31PRO 185 7 29 2097 V31PR2 185 7 29 2097 V32PRO 230 9 04 2097 V32PR2 230 9 04 mm 0 12 in 2097 V32PR4 230 9 04 Side Clearance 2097 V33PR1 185 7 29 2097 V33PR3 185 7 29 2097 V33PR5 185 7 29 2097 V33PR6 230 9 04 2097 V34PR3 185 7 29 25 0 mm 1 0 in Clearance for Airflow and Installation 2097 V34PR5 185 7 29 2097 V34PR6 230 9 04 5 oo gt gt 1 3mm 0 12 in Side Clearance Rockwell Automation Publication 2097 UM001D EN P November 2012 25 Chapter2 Installing the Kinetix 300 Drive System Electrical Noise Reduction 26 This section outlines best practices that minimize the possibility of noise related failures as they apply specifically to Kinetix 300 system installations For more information on the concept of high frequency HF bonding the ground plane principle and electrical noise reduction see the System Design for Control of Electrical Noise Reference Manual publication 001 Bonding Drives Bonding is the practice of connecting metal chassis assemblies frames shields and enclosures to reduce the effects of el
197. n Ground Always follow NEC and applicable local codes Ground Multiple Subpanels To ground multiple subpanels see the figure below HF bonding is not illustrated For information see Bonding Multiple Subpanels on page 28 Figure 40 Subpanels Connected to a Single Ground Point Bonded Ground Bus Ground Grid or Power Distribution Ground Always follow NEC and applicable local codes 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 Power Wiring Requirements proper operation See Power Wiring Examples on page 173 for interconnect diagrams IMPORTANT The National Electrical Code and local electrical codes take precedence over the values and methods provided Rockwell Automation Publication 2097 UM001D EN P November 2012 65 Chapter 4 Connecting the Kinetix 300 Drive System Table 24 Kinetix 300 Drive Power Wiring Requirements Terminals Recommended 8 Wire Size Strip Length Torque Value Description Pins Signals mm AWG mm in Nem 2097 V31PRO 2097 V32PRO 2097 V32PR2 2097 V33PR1 2097 V33PR3 2097 V34PR3 2097 V34PR5 2097 V34PR6 2097 V32PR4 2097 V33PR5 2097 V31PR2 2097 V33PR6 Mains input power IPD connector L2 N 12
198. n Yellow GND Id Thermal Sensor T WHT Orange TS Blue TS N C N C S WHT Blue 51 Yellow 52 WHT Yellow 53 8 lt lt Motor WHT Gray lt 10 Feedback Motor Feedback 6 lt lt C Gra 45V DC 2 9 MF Connector White Green IM gt 6 10 Green IM lt 5 lt lt WHT Red BM 4 Red BM 3 XX WHT Black AM 2 Black AM 1 2090 XXNFMF Sxx standard 2090 CFBM7DF CDAFxx continuous flex flying lead Feedback Cable See low profile connector illustration Notes 9 lower left for proper grounding and shield termination techniques AMS 1 4 5 BM 2 a 5 gt gt IM 3 Ss YX 6 gt gt 5VDC 8 ECOM 7 Grounding Technique for TTL Encoder Feedback Cable Shield Low Profile Connector 2090 K2CK D15M shown Clamp Exposed shield secured under clamp Wh Clamp Screws 2 D Turn clamp over to hold small cables secure Rockwell Automation Publication 2097 UM001D EN P November 2012 179 Appendix Kinetix 300 Drive Actuator Wiring Examples Interconnect Diagrams actuators These wiring diagrams apply to Kinetix 300 drives with compatible linear Figure 91 Kinetix 300 Drive with MP Series Bulletin MPAS A B Linear Stages and LDAT Series Linear Thrusters 2090 XXNPMF xxSxx standard or 2090 CPBM4DF xxAFxx LDAT xxxxxxD Linear Thrusters
199. nd continues until the rising edge of the first index pulse position 34 is detected Figure 73 Homing Method 34 i Home Switch Homing Method 35 Using this method the current position is assumed to be the home position There is no motion of the motor shaft during this procedure Any offset specified is added to the stored home position Rockwell Automation Publication 2097 UM001D EN P November 2012 123 Chapter5 MotionView Software Configuration Upgrade Firmware 124 Follow these steps to upgrade the firmware in your Kinetix 300 drive 1 2 3 4 5 6 M 8 Obtain the latest firmware from http www rockwellautomation com compatibility Run the MotionView software Click Upgrade This dialog box appears Important Message x You are about 4 upgrade firmware to a drive 2 Before continuing make sure drive is not connected communicating with external components i e Motor PLC etc Note During upgrade MotionView will lose connection to the drive and will disconnect Yes No Comply with dialog box requests and click yes This dialog box appears Upgrade Enter drive s IP address 192 168 124 200 Select lar file w12097 Kinetix 300 feature enhancementisupport FirmwareK300 lar Select Upgrade Firmware Cancel Enter the IP address of the Kinetix 300 drive you intend to upgrade
200. ndexes The drive validates the index table before execution During validation if the drive encounters an error such as index entries that contain invalid values the drive issues a fault and does not allow execution of the index table until the anomaly has been corrected MotionView OnBoard 3 25 192 168 124 200 DISABLED Allen Bradley Kinetix 300 TEE Save Configuration Load Configuration Enaisi sj Restore Defaults Stop Reset 192 168 124 200 Motor General Index Type Absolute Ivi Communication Move Trapezoidal ly 8 Ethernet m EtherNetllP CIP Distance 0 0000 User Units 10 Register Distance nla User Units Digital IO 1 Analog IO Batch Count 1 Limits Dwell 0 ms ee Velocity 1 0000 User Units Sec Dynamics Accel 10 0000 User Units Sec indexing Decel 10 0000 User Units Sec Homing Tools Next Index 0 Stop el Faults zi Table 51 Index 00 31 ID Parameter Name Description Value Notes 2 272 Index Type Absolute with and without registration incremental with and without registration or 0 Absolute 6 Rotary incremental blended incremental 1 Incremental 7 Rotary shortest path 2 Registration absolute 8 Rotary positive 3 Registration incremental 9 Rotary negative 4 Blended 10 Current 5 Rotary absolute 273 Move T
201. nect Save Configuration Load Configuration Restore Defaults English Rockwell Automation 192 168 124 200 Motor Configure IP Address 8 Communication Ethernet 1 Obtain IP Address using DHCP EIKA IP Address 192 168 124 200 M Digital 10 Subnet Mask 255 255 255 0 Analog IO Default Gateway 192 168 124 1 Limits Velocity Limits Position Limits Successfully connected to drive 04100133100020_192 168 124 200 Click Obtain IP Address using DHCP to enable DHCP To disable DHCP click DHCP again Cycle power to make changes to take effect The first time you change an Ethernet parameter the following dialog box opens Click OK and cycle power for changes to take effect Important Message A Nou must REBOOT the drive for changes to take effect and reconnect Proper operation of MotionView is not guaranteed if you don t reboot the drive Rockwell Automation Publication 2097 UM001D EN P November 2012 Configure and Start Up the Kinetix 300 Drive Chapter 6 Configure the IP Address Automatically dynamic address When connecting a Kinetix 300 drive to a network domain with a DHCP enabled server the IP address of the Kinetix 300 drive is assigned automatically To have the address assigned automatically the drive must have its DHCP mode enabled Follow these steps by using the drive keypad and display 1 P
202. netix 300 Drive Chapter 6 Current IP Address Ethernet Setting The current Ethernet setting and IP address of the Kinetix 300 drive can be obtained from the drive display and keypad Press f on the display and use QU to access parameters IP_1 IP 2 IP_3 and IP_4 Each of these parameters contain one sub octet of the full IP address for example in the case of the drive default factory set address parameters IP 1 192 IP 2 168 IP 3 124 IP 4 200 By accessing these four parameters the full IP address on the drive can be obtained If parameters IP 1 IP 2 IP 3and IP_4 all contain rather than a numerical values it means that the drive has DHCP enabled and the DHCP server is yet to assign the drive its dynamic IP address As soon as an IP address is assigned by the server the address assigned is displayed by the drive in the above parameters See Configure the IP Address Automatically dynamic address on page 131 Configure the IP Address Manually static address When connecting directly from the Kinetix 300 drive to the personal computer without a server or when connecting to a private network where all devices have static IP addresses assign the IP address of the Kinetix 300 manually To assign the address manually disable the DHCP mode Do this by using the drive keypad and following these steps 1 Press 6 2 Use QU to access parameter DHCP 3 Verify DHCP parameter is set to a value of 0 If the DHCP pa
203. nfiguration type of Current that supplies a specified current for a fixed time as part of executing the index table You are able to transition to this type of index without disabling the drive When in this mode the position and velocity loops do not engage When transitioning from Current mode to Position or Velocity mode the drive begins tracking commands with the current position or velocity of the drive The drive will not attempt to correct for the movement of the motor while in Current mode When using Current Mode distance velocity acceleration deceleration and batch count parameters are not programmable In this type of index the drive applies the specified current for the Dwell parameter number of milliseconds All of the thermal protections continue to be active if the specified current exceeds the continuous current rating of the drive or motor Figure 60 shows an example of a current index Figure 60 Current Indexing I Dwell Time Current Time Rockwell Automation Publication 2097 UM001D EN P November 2012 107 Chapter 5 108 MotionView Software Configuration Action Parameter You can set the Action parameter to Stop Wait for Start or Next Index Stop This action stops and holds zero velocity while remaining enabled Upon assertion of the Start Index digital input or the Start Motion bit in the EtherNet IP Output Assembly the drive begins executing the index in the Index system paramet
204. ng lead Feedback Cable Pin outs Table 34 2090 5 or 2090 CFBMxDF CDAFxx Feedback Cable RUN High resolution Feedback Drive MF 9V Encoder 5V Encoder 5V Encoder 1 Sin Sin AM 1 2 Sin Sin AM 2 3 05 05 BM 3 4 Cos Cos BM 4 5 Data Data IM 5 6 Data Data IM 10 9 Reserved EPWR_5V EPWR_5V 14 10 Reserved ECOM ECOM 6 11 EPWR_9V Reserved Reserved 7 12 ECOM Reserved Reserved 6 13 TS TS TS 11 14 TS TS TS 15 Reserved Reserved 5 12 16 Reserved Reserved 52 13 17 Reserved Reserved 53 8 Table 35 2090 CFBM6DF CBAAxx Feedback Cable High Resolution Incremental Feedback Connector Pin Drive MF _ TLAR Axxxxx 6 BAT Reserved BAT 9 AM 1 10 AM 2 Reserved 11 3 12 4 13 DATA IM 5 14 DATA IM 10 15 51 12 17 Reserved 52 13 19 53 8 2 EPWR 5V EPWR 5V 14 23 ECOM and BAT ECOM 6 24 Shield Shield Connector housing 78 Rockwell Automation Publication 2097 UM001D EN P November 2012 Connecting the Kinetix 300 Drive System Chapter 4 Wiring the Feedback and 1 0 These procedures assume you have mounted your Kinetix 300 system completed Connectors the power wiring and are ready to connect motor feedback Wire the 1 0 Connector Connect your I O wires to the connector by using the 209
205. nnect Ethernet 82 external shunt resistor 81 feedback 77 1 0 77 motor shield clamp 76 connector designators 36 locations 36 163 Rockwell Automation Publication 2097 UM001D EN P November 2012 223 Index 224 controller properties 133 coordinated system time master 134 current mode 183 D date and time tab 134 digital 1 0 category 93 digital inputs 41 digital outputs 45 dirty zone 29 download program 137 drive object attributes 190 organizer drive ID 84 properties 137 wiring BP connector 69 wiring IPD connector 70 wiring MP connector 71 wiring requirements 66 wiring STO connector 69 drive mode selection 142 drive parameter tools changing 147 viewing 145 dynamics category 97 servo loop diagram 98 EMC directive 164 motor ground termination 71 motor ground termination at motor 71 EMI ElectroMagnetic Interference bonding 26 EN 61508 160 EN 62061 160 enclosure requirements 20 sizing 23 error codes 154 Ethernet 50 cable length 82 cables RJ45 connector 82 category 91 pinouts 39 wiring 82 Ethernet module ControlLogix 135 Ethernet port CompactLogix 134 EtherNet IP address 128 dynamic address 131 static address 129 DHCP 131 EtherNet IP external reference 142 explicit messaging data types 211 DINT data 212 REAL data 213 string data 214 F fault codes 154 faults category 100 feedback connections 77 feedback power supply 56 fuse selection 21 specifications 22 G general category 87 g
206. nnects your safety circuit to the Kinetix 300 drive safe torque off STO connector If your system does not use the safe torque off feature follow instructions in Safe Torque off Feature Bypass starting on page 166 to wire the drive with motion allowed jumpers Figure 10 Safe Torque off Connector Wiring Plug Header Bottom view of the Kinetix 300 drive 2097 V33PR5 drive is shown Safe Torque off STO Connector Table 8 Kinetix 300 Drive Safe Torque off Connector Pinout STO Pin Description Signal 1 24V DC output from the drive 24V DC control 2 24V DC output common Control COM 3 Safety status Safety Status 4 Safety input 1 24V DC to enable Safety Input 1 5 Safety common Safety COM 6 Safety input 2 24V DC to enable Safety Input 2 IMPORTANT Pins STO 1 24V DC Control and STO 2 Control COM are used only by the Rockwell Automation Publication 2097 UM001D EN P November 2012 motion allowed jumpers to defeat the safe torque off function When the safe torque off function is in operation the 24V supply must come from an external source 37 Chapter 3 Kinetix 300 Drive Connector Data and Feature Descriptions 1 0 Connector Pinout 10D Pin Description Signal 100 Pin Description Signal 1 Master encoder A Step input MA 30 Digital input A4 IN_A4
207. ns 100 5 and 100 610 reserved Updated AC Input Power Connector Pinout table to include two additional configurations Converted Enable Inhibit Homing and Indexing truth tables to timing diagrams Added the Master Gearing Step and Direction Inputs section Added the Buffered Encoder Outputs section Added the Voltage Doubler Operation section Updated Motor Power Cable Compatibility table Updated Motor Feedback Cables for Specific Motor Feedback Combinations table Updated Shunt Resistor Connections section with a graphic illustration of the shunt connections on the drive Added new chapter to update the existing MotionView software parameter descriptions and add screen captures to better illustrate how to use the configuration software Additional information on indexing and homing is included Updated default drive IP address to 197 168 124 200 Added Add on Profiles section for users with RSLogix 5000 software version 17 Added Configure the Ethernet Port section for users with CompactLogix 1769 L23E controllers Updated Configure the Ethernet Module section for users with ControlLogix controllers Added Master Gearing Mode Examples and Configure Master Gearing Mode sections Updated the description for error code E26 Added error code E39 Kinetix 300 Drive Safe Torque off Feature was converted to a chapter and includes updates throughout to clarify the Safe torque o
208. ns that came with those products 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 see Allen Bradley publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook ATTENTION This drive contains electrostatic discharge ESD sensitive parts Follow these steps to mount your Kinetix 300 drive 1 Lay out the position for the Kinetix 300 drive and accessories in the enclosure See Establishing Noise Zones on page 29 for panel layout recommendations Mounting hole dimensions for the Kinetix 300 drive are shown in Kinetix Servo Drives Specifications Technical Data publication GMC TD003 2 Attach the Kinetix 300 drive to the cabinet first by using the upper mounting slots of the drive and then the lower The recommended mounting hardware is M4 46 32 steel machine screws torqued to 1 1 Nem 9 8 Ibein Observe bonding techniques as described in Bonding Drives on page 26 IMPORTANT Toimprove the bond between the Kinetix 300 drive and subpanel construct your subpanel out of zinc plated paint free steel 3 Tighten all mounting fasteners 34 Rockwell Automation Publication 2097 UM001D EN P November 2012 Chapter 3 Kinetix 300 Drive Connector Data and Feature Descripti
209. o determine if your Kinetix 300 drive has an error see the table below Display Behavior By default if there is no activity on the input keypad for 30 seconds the Kinetix 300 drive continuously scrolls the drives IP address Upon powerup the display shows its status 415 disabled or run enabled then after 30 seconds the drive alternately scrolls the drives IP address along with its status If the Kinetix 300 drive is faulted the drive displays the fault code non scrolling Then after 30 seconds the drive alternately scrolls the drives IP address along with its fault code Error Codes The following list is designed to help you resolve anomalies When a fault is detected the status indicator displays an E and a two digit error code until the anomaly is cleared Possible Cause No AC power or back up power Action Solution Verify AC power or back up power is applied to the Kinetix 300 drive Internal power supply malfunction Call your Allen Bradley representative Motor jumps when first enabled Motor wiring error Check motor wiring Incorrect motor chosen Verify the proper motor is selected E04 Motor overtemperature Motor thermostat trips due to e Operate within not above the continuous High motor ambient temperature torque rating for the ambient temperature 40 C Excessive current 104 F maximum Lower ambient temperature increase motor cooling
210. ollow these steps to configure the Kinetix 300 drive 1 Right click the embedded Controller Organizer B Ex Configuration 1769 L23E Ethernet ort CompactLogixS323E QB1 System and choose New Module 5 12694 2 1 UM 17 B x Ethernet 2 88 CompactBus Local Embedded 1 0 1 Embeddec B 2 Embedded 22 Expansion Cross Reference Properties Alt Enter Print 4 The Select Module dialog box opens Select Module Module Description endor 2097 31PRO Kinetix 300 24 120 240V No Filter Allen Bradley 2097 V31PR2 Kinetix 300 4A 120 240V No Filter Allen Bradley 2097 V32PRO Kinetix 300 24 240 Integrated Filter Allen Bradley 2097 V32PR2 Kinetix 300 44 240 Integrated Filter Allen Bradley 2097 V32PR4 Kinetix 300 240 Integrated Filter Allen Bradley 2097 V32PR5 Kinetix 300 10A 240 Integrated Filter Allen Bradley 2097 V33PR1 Kinetix 300 2A 240 No Filte Allen Bradley 2097 V33PR3 Kinetix 300 4A 2 Iter Allen Bradley 2097 V33PR5 Kinetix 300 8A 240V No Filter Allen Bradley 2097 V33PR6 Kinetix 300 12A 240V No Filter Allen Bradley 2097 V34PR3 Kinetix 300 2A 480V No Filter Allen Bradley 2097 V34PR5 Kinetix 300 4A 480V No Filter Allen Bradley 2097 V34PR6 Kinetix 300 6A 480V No Filter Allen Bradley gt Add Favorite By Category Vendor Favorites 2 Expand the Drives category and select your Bulletin
211. on needs better If you have any suggestions on how to improve this document complete this form publication RA DU002 available at http www rockwellautomation com literature 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 2097 UM001D EN P November 2012 Supersedes Publication 2097 UM001C EN P March 2012 Copyright 2012 Rockwell Automation Inc All rights reserved Printed in the U S A Allen Bradley Kinetix 300 EtherNet IP Indexing Servo Drives User Manual
212. onnected to the slave drive and outputs 1024 ppr A master encoder outputs 2048 ppr TTL to the master gearing inputs on the Kinetix 300 slave drive A 1 1 master encoder to motor revolution is required The drive interpolated counts are 262 144 counts rev and the master encoder is 2048 x 4 8192 counts rev The Master parameter is 1 and the System parameter is 262 144 8192 or 32 Master Gearing Example 3 The same configuration as used in example 2 exists however the slave motor that generates the 1024 ppr is connected to 5 1 gear box Therefore 1 revolution of the gear box requires 5 motor revolutions The drive interpolated counts are 262 144 counts rev x 5 motor rev 1 output gear box revolution The master encoder is 2048 x 4 8192 counts rev The Master parameter is 1 and the System parameter is 262 144 x 5 8192 or 160 Configure Master Gearing Mode This procedure assumes that you have configured your Kinetix 300 drive for Master Gearing mode configured your Logix Ethernet module and applied power to the system Rockwell Automation Publication 2097 UM001D EN P November 2012 143 Chapter6 Configure and Start Up the Kinetix 300 Drive Follow these steps to configure the master gearing ratio 1 Run the MotionView software 2 From the Drive Organizer click General IMPORTANT The buffered output is supported only for use with incremental encoder motor feedback SICK Stegmann or Tamagawa high resolution mot
213. ons Topic Page Kinetix 300 Drive Connectors and Indicators 36 Control Signal Specifications 4 Motor Feedback Specifications 51 Rockwell Automation Publication 2097 UM001D EN P November 2012 35 Chapter3 Kinetix 300 Drive Connector Data and Feature Descriptions Kinetix 300 Drive Connectors Although the physical size of the Kinetix 300 drives vary the location of the connectors and indicators is identical and Indicators 1 Kinetix 300 Drive View 2097 V33PR5 drive is shown Description Mains IPD connector Figure 9 Kinetix 300 Drive Connector and Indicators Status and diagnostic display
214. or code E39 Rockwell Automation Publication 2097 UM001D EN P November 2012 161 Chapter 8 Kinetix 300 Drive Safe Torque off Feature Error Fault Message Code RSLogix HIM E39 DriveHardFault safe torque off HW Fit Troubleshooting the Safe Torque off Function Anomaly Safe torque off function mismatch Drive will not allow motion Potential Cause Loose wiring at safe torque off STO connector Cable header not seated properly in safe torque off STO connector Safe torque off circuit missing 24V Possible Resolution Verify wire terminations cable header connections and 24V Reset error and run proof test If error persists return the drive to Rockwell Automation PFD and PFH Definitions PFD and PFH Data 162 DC ATTENTION The safe torque off fault E39 is detected upon demand of the Safe torque off function After troubleshooting a proof test must be performed to verify correct operation Safety related systems be classified as operating in either a Low Demand mode or in a High Demand Continuous mode Low Demand mode where the frequency of demands for operation made on a safety related system is no greater than one per year or no greater than twice the proof test frequency High Demand Continuous mode where the frequency of demands for operation made on a safety related system is greater than once per year or greater than twice the proof test interv
215. or feedback must not be used on the master drive because they are not capable of generating buffered encoder output pulses Conversely the master gearing input supports only incremental encoder inputs 3 Determine the ratio of buffered encoder output counts to the number of system motor counts See the examples on page 143 Enter the values into the Master and System ratio fields Use a negative value in the Master field to reverse the relative direction of the of the drive compared to the master MotionView OnBoard 3 19 10 82 50 20 Allen Bradley Kinetix300 Disconnec Load Configuration Restore Defaults Upgrade 9 10 82 50 20 Motor 5 General Description Value Units Min 9 Communication Drive Mode Analog Velocity Input Ethernet Current Limits EtherNet IP qo Current Limit 12 0000 0 0000 Digital lO Analog 10 8 KHZ Peak Current Limit 15 0000 A 0 0000 Limits Velocity Limits Velocity Mode Acceleration Position Limits lm D Enable Accel Decel Limits Enable lynamics Indexing Accel Limit 1000 0000 RPM Sec 0 1000 RM Decel Limit 1000 0000 RPM Sec 0 1000 Monitor Faults Fault Reset Manual Only Motor Disable ASTER ENCODER Master To System Ratio Master 1 32768 System 1 1 User Units 1 0
216. otionView OnBoard software 3 Select the Motor category 4 Click Check Phasing MotionView OnBoard 3 23 GoPack 10 91 84 224 Allen Bradley Kinetix 300 ___ GoPack 10 91 84 224 Motor General Communication o Ethernet EtherNet lP Check Phasing Synchronous Motor 10 Currently selected Digital IO Analog 10 Limite Vendor RA Motor Motor Model MPL 8320F Velocity Limits Electrical Feedbacl Dacitinn imita 5 Apply Enable Input signal IOD 29 for the axis you are testing ATTENTION To avoid personal injury or damage to equipment apply Enable Input 100 29 only to the axis you are testing 6 Click Start Autophasing 7 Determine if your test completed successfully Then Click Ok states motor is phased correctly 2 Remove Enable Input signal 3 Go to Tune the Axis on page 140 Your test did not complete successfully Click Ok Verify that the Enable Input signal is applied to the axis you are testing Verify the motor feedback is wired as required Return to main step 6 and run the test again Rockwell Automation Publication 2097 UM001D EN P November 2012 139 Chapter6 Configure and Start Up the Kinetix 300 Drive Tune the Axis Follow these steps to tune the axes 1 Verify the load is removed from the axis you want to tune ATTENTIO
217. ovember 2012 151 Chapter 6 152 Configure and Start Up the Kinetix 300 Drive If you choose auto phasing the following appears Auto Phasing 10 82 51 12 x Autophasing procedure helps you to determine the following feedback parameters of the motor halls order and inversion flag polarity of encoder AB signals 1 Make sure drive is disable DO NOT ENABLE drive during autophasing 2 Make sure the motor is disconnected from any mechanical load and motor shaft can freely 3 During autophaseing motor shaft will go about one revolution Do not touch it 4 Hit Start Autophasing button when ready 5 Wait 5 10 seconds 6 Verify return parameters in your Custom Motor dialog box 7 Save return parameters in your custom motor or create another file as you wish 8 Hit OK button to send autophased motor data to the drive Start Autophasing 13 Follow the instructions in the dialog box If your system is wired by using one of the interconnect diagrams Appendix A then you get the following results Parameter Value Resolution x1 20 um Resolution x4 5 um Halls order 3 Inverted Checked Blead A for forward Unchecked Rockwell Automation Publication 2097 UM001D EN P November 2012 Chapter 7 Troubleshooting the Kinetix 300 Drive System Topic Page Safety Precautions 153 General Troubleshooting 154 Clearing Faults 157 Safety Precautions Observe the foll
218. owing safety precautions when troubleshooting your Kinetix 300 drive ATTENTION DC bus capacitors 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 listed on the drive warning label Failure to observe this precaution could result in severe bodily injury or loss of life Do not attempt to defeat or override the drive fault circuits You must determine the cause of a fault and correct it before you attempt to operate the system If you do not correct a drive or system malfunction it could result in personal injury and or damage to the equipment as a result of uncontrolled machine system operation Test equipment such as an oscilloscope or chart recorder must be properly grounded Failure to include an earth ground connection could result a potentially fatal voltage on the oscilloscope chassis Rockwell Automation Publication 2097 UM001D EN P November 2012 153 Chapter7 Troubleshooting the Kinetix 300 Drive System General Troubleshooting Table 66 Error Codes Error Anomaly Code Status indicator not displaying any messages See the Error Codes section below to identify anomalies potential causes and appropriate actions to resolve the anomalies If anomalies persist after attempting to troubleshoot the system contact your Allen Bradley representative for further assistance T
219. p 2 5 Determine the source of logic power If Your Logic Power Is from 24V DC back up power Apply mains input power to the drive IPD connector Mains input power Go to step 6 6 Verify that Hardware Enable Input signal connector 29 is at OV 7 Observe the status indicator on the front of the Kinetix 300 drive Status Indicator Condition Status Do This Drive Fault Off Normal condition Observe the Comm Activity status indicator E Steady red Drive is faulted Go to Status Indicators on page 127 Comm Activity Flashing Communication is ready Go to Test and Tune the Axis on page 139 Off No communication Go to Status Indicators on page 127 138 Rockwell Automation Publication 2097 UM001D EN P November 2012 Test and Tune the Axis If Your test completed successfully and dialog box opens that Configure and Start Up the Kinetix 300 Drive Chapter 6 This procedure assumes that you have configured your Kinetix 300 drive your Logix Ethernet module and applied power to the system IMPORTANT Before proceeding with testing and tuning your axis verify that the Kinetix 300 drive status indicators are operating as described in step 7 on page 138 Test the Axis This procedure applies only to motors with incremental encoders When using motors with absolute encoders skip to Tune the Axis Follow these steps to test the axis 1 Verify the load was removed from each axis 2 Run the M
220. pF 56 pF Shaded area indicates components that are part of the circuit but support other feedback device types not used for SICK Stegmann Hiperface support gt to UART Kinetix 300 Drive c lt from UART from UART Rockwell Automation Publication 2097 UM001D EN P November 2012 53 Chapter3 Kinetix 300 Drive Connector Data and Feature Descriptions Table 21 Generic TTL Incremental Specifications Attribute Value TTL incremental encoder support 5V differential A quad Quadrature interpolation 4 counts square wave period Differential input voltage 1 0 7 0V AM BM and IM DC current draw 30 mA max AM BM and IM Input signal frequency 5 0 MHz max AM BM and IM Edge separation 42 ns min between any two edges AM and BM Line loss detection Average gt constant BM Hall inputs Single ended TTL open collector or none 91 52 and 53 Figure 28 Generic TTL Incremental AM and BM Signals Kinetix 300 Drive 1kW AAA to A D Converter ANN 1kW 10 kW 56 pF 56 pF Shaded area indicates components that are part of the circuit but support other feedback device types not used for Generic TTL incremental support or W KW to AqB Counter AM or TW BM m ZW 560 54 Rockwell
221. protection and disconnect devices The National Electrical Code NEC and local codes outline provisions for safely installing electrical equipment To avoid personal injury and or equipment damage make sure motor power connectors are used for connection purposes only Do not use them to turn the unit onand off ATTENTION To avoid personal injury and or equipment damage make sure To avoid personal injury and or equipment damage make sure shielded power cables are grounded to prevent potentially high voltages on the shield Table 25 Shunt Resistor Power Wiring Requirements Recommended Wire Size mm AWG Torque Value Nem Ibein Connects to Accessory Description SH Rockwell Automation Publication 2097 UM001D EN P November 2012 67 Chapter4 Connecting the Kinetix 300 Drive System Wiring Guidelines Use these guidelines as a reference when wiring the connectors on your Kinetix 300 drive power modules IMPORTANT connector locations of the Kinetix 300 drives see Kinetix 300 Drive Connectors and Indicators on page 36 When tightening screws to secure the wires see the tables beginning on page 65 for torque values When removing insulation from wires see the tables beginning on page 65 for strip lengths IMPORTANT To improve system performance run wires and cables in the wireways as established in Establishing Noise Zones on page 29 Follow these steps when wiring the connec
222. ptions Master Gearing Step and Direction Inputs You can connect a master encoder with quadrature outputs to the Kinetix 300 drive and control position in the Master Gearing operating mode You can connect a step and direction signal pair to the Kinetix 300 drive and control position in the Step and Direction operating mode These inputs are optically isolated from the rest of the drive circuits and from each other Both inputs can operate from any voltage source in the range of 5 24V DC and do not require additional series resistors for normal operation IMPORTANT Master gearing inputs must be incremental encoders with TTL outputs Figure 22 Step and Direction Timing Diagram Direction cw Figure 23 Master Encoder Timing Diagram A 76 W cw gt Table 14 Input Type and Output Compatibility Attribute Value Recommended voltage 5 24V DC Input frequency max 2 MHz Pulse width 500 ns negative or positive Input impedance 7000 Figure 24 Master Gearing Step and Direction Input Circuit Diagram MA STEP MB DIR 600W 100W AZ Z 54 ea 6 MA STEP MB DIR Differential signal inputs are preferred when using master gearing step and direction When using differential signal inputs sinking or sourcing outputs can 48 Rockwell Automation Publication 209
223. qewwesbolg 809 Palas ZL Palas Xopu 129 OL xapu 6 0129 95 Xopu 8 yasay UAS 9 Woqy UYA y 11636 paniasay 7 Woqy paubissy 0 10 juauiufisse ajqewwesborg 109 syne Jo3iuow H 4 uonisod 0 1 Bojeuy 0 1 jex iq 199413 snouoJtpu s JeaUr 10 0W snouoJtpu S 1010 Janay 401 abeg Y Peas ZL Palas Z Palas OL Palas 6 0129 95 Xopu 8 yasay 1 UBS 9 Woqy UYG y 7 paubissy 0 5 cg 10 UaWUbIsse 3ndui uondipseq 55822 1NIQ 909 penunuo 00 8 19 1 Rockwell Automation Publication 2097 UM001D EN P November 2012 206 Appendix Kinetix 300 Drive ID Tag Numbers 0492 0 of o3 6 14 Ja aWeLed jaraqUogy 5950 suioqy 100 759
224. r foreign matter can become lodged in the circuitry which can result in damage to components SHOCK HAZARD To avoid hazard of electrical shock perform all mounting and wiring of the Bulletin 2097 drive before 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 2097 UM001D EN P November 2012 57 Chapter4 Connecting the Kinetix 300 Drive System Determine the Input Power Configuration 58 Build Your Own Cables IMPORTANT Factory made cables are designed to 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 Use twisted pair cable whenever possible Twist differential signals with each other and twist single ended signals with the appropriate ground return 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 Route Power and Signal Wiring Be aware that when you ro
225. rameter is set to 1 use 9 to change the value to 0 4 Cycle power to the drive The change takes effect When DHCP is disabled and power cycled to the drive it reverts to the previous static IP address If you are connecting more than one drive to the personal computer create a unique IP address for each drive Do this by using the keypad on each drive to change the IP_4 parameter IP_4 is the only octet that can be changed via the Rockwell Automation Publication 2097 UM001D EN P November 2012 129 Chapter 6 130 Configure and Start Up the Kinetix 300 Drive keypad IP_1 IP2 and IP_3 are read only accessed this way The drive power must be cycled for any changes to take effect To configure the Kinetix 300 drive for a specific subnet or change its full IP address use the MotionView configuration tool 1 2 NAW 8 9 10 Java enabled web browser Enter the drive s current IP address into the browser MotionView OnBoard dialog box opens Click Run Click Connect Enter the drive s IP address Click Connect From the Drive Organizer select Communications gt Ethernet The IP address subnet mask and default gateway address can be edited in this screen If the text turns red when entered the values or format used invalid and they are not applied MotionView OnBoard 3 25 192 168 124 200 DISABLED Allen Bradley 300 Discon
226. rapezoidal or S curve 0 Trapezoidal 1 S curve 274 Distance The incremental distance to move or target position based on the Index Type 1 268435 4560 User Units 275 Register Distance 276 Batch Count How many times to execute index before moving on to the next index 1 2147483647 277 Dwell The time to remain at position before moving on to the next index This is not applied 0 65535 ms between batches If Index Type is Current then Dwell is amount of time current level is applied 278 Velocity The target speed when moving towards the new position If the acceleration rate is too low 0 0000 10 000 000 0000 User Units s the axis may not actually reach the target velocity If Index type is Current then Velocity is rated current applied 279 Accel The rate to accelerate towards the configured velocity 0 0000 10 000 000 0000 User Units s 280 Decel The rate to decelerate towards zero velocity from configured velocity 0 0000 10 000 000 0000 User Units s 281 Next Index The next index to execute after the current index completes 031 282 Action What to do when current index is complete 0 Stop 1 Wait for start 2 Next index 1 10 tag numbers in this example is for Index 00 See Table 56 on page 111 and Table 57 on page 112 2 Numerical values 0 1 2 for example for menu choices appear only in explicit messages sent when using RSLogix 5000 or RSLogix 500 software 102 Rockwell Automation Publication 209
227. re stopping at an absolute position Rotary Shortest Path mode is only possible when Rotary Unwind mode is set up in the General category Figure 57 Rotary Shortest Path Absolute Move Rockwell Automation Publication 2097 UM001D EN P November 2012 105 Chapter5 MotionView Software Configuration Rotary Positive The Rotary Positive move is a special type of Absolute move where the motor is moved to the commanded position within the unwind in the positive direction of travel moving through 0 degrees if necessary With Rotary Positive move the motor will not move more than 1 revolution of unwind before stopping at an absolute position Rotary Positive mode is only possible when Rotary Unwind mode is set up in the General category Figure 58 Rotary Positive Absolute Move Rotary Negative The Rotary Negative move is a special type of Absolute move where the motor is moved to the commanded position within the unwind in the negative direction of travel moving through 0 degrees if necessary With Rotary Negative the motor cannot be moved more than 1 revolution of unwind before stopping at an absolute position Rotary Negative mode is only possible when Rotary Unwind mode is set up in the General category Figure 59 Rotary Negative Absolute Move 106 Rockwell Automation Publication 2097 UM001D EN P November 2012 MotionView Software Configuration Chapter 5 Current The Kinetix 300 drive has a special indexing co
228. re 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 New and Updated This was a minor revision that includes the addition of linear actuators configuration and updated information encoder capabilities Information 5 B P Section Topic Page Chapter 3 Updated the Buffered Encoder Outputs text and the important block 49 Chapter 5 Updated Analog Input current scale range 94 Updated the important block 144 Updated Analog Input current scale range 149 Chapter 6 Added Low Pass Filter tip 140 Added expected results table to step 13 152 Chapter 7 Added error code E95 156 Updated shunt signal names in power wiring examples 173 Appendix A Updated interconnect diagram for LDAT Series linear thrusters 180 Appendix C Updated Analog Input current scale range 199 Rockwell Automation Publication 2097 UM001D EN P November 2012 3 Summary of Changes Notes 4 Rockwell Automation Publication 2097 UM001D EN P November 2012 Table of Contents Preface About This Publication ats lace aude ava seeks 11 Who Should Use This 11 Additional RESO MESES Quat Pire irte
229. renceSource is 0 or 1 respectively and the drive is enabled VelocityLimit This field defines the maximum velocity the drive uses in the profile towards the commanded position CommandPosition This field defines the next position command the drive should move the motor towards takes effect only upon 0 to 1 transition of StartMotion field above RegistrationOffset This field defines the offset from the registration event the drive should move to during an incremental or absolute registration based move UserDefinedIntegerData0 The value in this field is written to whatever parameter it was configured to be in the MotionView software Data Link UserDefinedIntegerData1 The value in this field is written to whatever parameter it was configured to be in the MotionView software Data Link UserDefinedIntegerReal0 The value in this field is written to whatever parameter it was configured to be in the MotionView software Data Link UserDefinedIntegerReal1 The value in this field is written to whatever parameter it was configured to be in the MotionView software Data Link Rockwell Automation Publication 2097 UM001D EN P November 2012 193 Appendix Input and Output Assembly Table 74 Output Assembly Instance Assembly 114 Drive En Reserved Start Homing Abort Homing Define Home Start Motion Reserved Abort Index 1 Rese
230. ress e 2 Use QU to access parameter DHCP 3 Check this parameter is set to 1 4 Ifthe DHCP parameter is set to 0 use and Q change the parameter setting to 1 5 Cycle power to the drive to make this change take effect When the Kinetix 300 drive is waiting for an IP address to be assigned to it by the server it displays in each of the four octet parameters IP_1 IP_2 IP 3 and IP_4 on its display Once the address is assigned by the server it appears in these parameters If this parameter continues to display then it is likely that a connection between the drive and server has not been established or the server is not DHCP enabled DHCP can be enabled through the MotionView software If you choose to configure the drive by using a manual static IP address you can switch over to an automatic dynamic address once configuration is complete See Current IP_ Address Ethernet Setting on page 129 for information on enabling DHCP from within the MotionView software TIP Auseful feature of the MotionView software and communication interface to the Kinetix 300 drive is the ability to assign the drive a name text string This name can then be used to discover the drives IP address and is useful when the drive has its IP address assigned automatically by the server for easy connection Rockwell Automation Publication 2097 UM001D EN P November 2012 131 Chapter 6 Configure and Start Up the K
231. ribute settings Explicit Messaging Data Type This section provides examples for DINT REAL and String data types Examples DINT Data Type Examples In this example the instance decimal is ID tag 73 bus voltage Figure 101 Reading DINT from Volatile Memory This Controller Control Bis Carr imo Communication Command Break Connection 0 Data Table Addiess Receive Send Awaiting Execution EW 0 Size in Bytes Receive 4 Send l J Error ER 0 Target Device 1 Message done ON 0 Message Timeout 533 _____ Message Transmitting S7 0 Local Remote Message Enabled o Extended Routing Info Fle RIX Service Service Code hex Chass frend eect Error Code Hex 0 Instance hex Attribute hex 0 deck p In this example the instance decimal is ID tag 232 homing method Figure 102 Writing DINT into Nonvolatile Memory MG9 0 1 Elements This Controller Control Chennet tros feed GH Communication Command Break Connection BK 0 Data Table Address Receive Send Awaiting Execution Ew 01 Size in Bytes Receive 4 Error ER 0 Target Device 1 Message done DN 0 Message Timeout 5 1 1 1 Message Transmitting ST 0 Local Remote MultHop Message Enabled EN 0 Extended Routing Info File RDX
232. roducts certification For declarations of conformity DoC currently available from Rockwell Automation Rockwell Automation Industrial Automation Glossary publication AG 7 1 A glossary of industrial automation terms and abbreviations You can view or download publications at http www rockwellatuomation com literature order paper copies of technical documentation contact your local Allen Bradley distributor or Rockwell Automation sales representative 12 Rockwell Automation Publication 2097 UM001D EN P November 2012 Start Chapter 1 About the Kinetix 300 Drive System 14 Catalog Number Explanation 16 Agency Compliance 17 Rockwell Automation Publication 2097 UM001D EN P November 2012 13 Chapter1 About the Kinetix 300 Drive System The Kinetix 300 EtherNet IP indexing servo drive is designed to provide a solution for applications with output power requirements between 0 4 3 0 kW 2 12 A rms Table 1 Kinetix 300 Drive System Overview Kinetix 300 System Cat No Description Component Kinetix 300 EtherNet IP 2097 V3xPRx Kinetix 300 EtherNet IP indexing drives with safe torque off feature are available with 120 240V or 480V AC input Indexing Servo Drive power AC Line Filters 2090 Bulletin 2090 and Bulletin 2097 Fx AC line filters are required to meet CE with Kinetix 300 drives without an 2097 Fx integrated line filter Bulletin 2
233. round Star Washer the mounting hole Bolt mounting a Ground Bus or Chassis to the Back panel Ground Bus or Mounting Bracket Flat Washer Nut Star Washer Subpanel Tapped Hole Star Washer Scrape paint on both sides of panel and use star washers Star Washer Flat Washer If the mounting bracket is coated with a non conductive material anodized or painted scrape the material around the mounting hole Rockwell Automation Publication 2097 UM001D EN P November 2012 27 Chapter 2 28 Installing the Kinetix 300 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 common low impedance path This difference in impedance may affect networks and other devices that span multiple panels Bond the top and bottom of each subpanel to the cabinet by using 25 4 mm 1 0 in by 6 35 mm 0 25 in wire braid Asa rule the wider and shorter the braid is the better the bond Scrape the paint from around each fastener to maximize metal to metal contact Figure 4 Multiple Subpanels and Cabinet Recommendations Remove paint from cabinet OO 90000000 s Wire Braid 25 4 1 0 in by 6 35 mm 0 25 in Wire Braid 25 4mm 1 0 in by 6 35 mm 0 25 in 90000000 Ground bus bonded to the subp
234. rtain to these RSLogix 5000 connection parameters Input actual values such as actual velocity actual position Output enable and reference value going to the drive Index Configuration see Indexing Category on page 101 Assembly instances are accessible by using Class 3 explicit messages as well as the Class 1 I O messaging Rockwell Automation Publication 2097 UM001D EN P November 2012 189 AppendixB Input and Output Assembly Table 70 Input Assembly Kinetix 300 drive parameters are modifiable by using Explicit Messaging Table 69 Drive Object Attributes Attribute Value Comment Service type Get Attribute Single Service code OxOE hex Set Attribute Single Service code 0x10 hex Class 374 Hex Instance ID tag from Appendix C Attribute 0 DINT RAM 1 DINT MEM 2 REAL RAM 3 REAL MEM 4 String RAM 5 String MEM When a Kinetix 300 drive parameter is changed by using explicit messaging the Set Attribute Single message instruction is directed at this class the instance is the identifier of the actual parameter and the attribute depends upon the type of data being written IMPORTANT If power is removed from the drive data stored in RAM is lost Data stored in the memory module remains through power cycles IMPORTANT Memory module writes are limited to 1 000 000 per device Make sure that all writes targeted at the memory module are necessary and not done as part of a
235. rved 2 Reserved 3 Reserved 4 7 Startinglndex DINT 8 11 ReferenceSource DINT 12 15 AccelerationLimit REAL 16 19 DecelerationLimit REAL 20 23 CommandCurrentOrVelocity REAL 24 27 VelocityLimit REAL 28 31 CommandPosition REAL 32 35 RegistrationOffset REAL 36 39 UserDefinedIntegerData0 DINT 40 43 UserDefinedIntegerData1 DINT 44 47 UserDefinedIntegerRealO REAL 48 51 UserDefinedIntegerReal1 REAL 194 In this Output Assembly example the parameter StartingIndex with a range of 4 7 bytes is expanded to show the low byte low middle byte high middle byte and high byte These values are typical for each parameter in Table 74 Table 75 Output Assembly Example Byte Parameter Value 4 StartingIndex Low byte 5 Startinglndex Low middle byte 6 StartingIndex High middle byte 7 StartingIndex High byte The Attribute Values in this example only apply to Class 374 and not to Class 4 Assembly Objects Rockwell Automation Publication 2097 UM001D EN P November 2012 Input and Output Assembly Appendix Output Assembly Examples This section provides examples of various motion profiles by showing which tags in the Output Assembly to manipulate You can manage the values in the Output Assembly by manipulating them in ladder code or by editing the tag directly in the tag structure IMPORTANT Kinetix 300 drive must be in EtherNet IP External Reference mode This
236. suun 1957 uonisod NU 0 X syun 1850 uonisod D 602 X Syun 1950 uonisod uonensibay Y 307 X sun 19 02 3 uonisod uonensibay y INIG 10 suno 19 02 3 anea Y 907 1119 3po jua 1NIQ S0c 0319 uonisod uj 9 Apeay 5 x uopoun ndino ina paads paads 0187 paubissy 10N 0 si 5 28 5 5 5 sayoy anjeA uondibsaq Ssa y eje al 5 waiAuonow penunuo 00 8 19 1 203 Rockwell Automation Publication 2097 UM001D EN P November 2012 Kinetix 300 Drive ID Tag Numbers Appendix penunuo ssaquiny 00 8 19 1 ajqeuq pajqeua 914290 0 13s ojny a qeu3 140 197 9 yuan fapojaA y X x pue days 10 uonerado Jo 5196 WY INIG 997 Hupean saysey 7 92 919 41 1949 433 ony 0 3969 421 X e 0 JUaWabpaj
237. t of inertia Range 0 0 1 Kg m 19 Ke Motor voltage or back EMF constant Range 1 500V K rpm 20 Kt Motor torque or force constant Range 0 01 10 N m A 21 Lm Motor phase to phase inductance Range 0 1 500 mH 22 Rm Motor phase to phase resistance Range 0 01 5000 23 Nominal Phase Current Motor max current RMS Range 0 5 50 24 Maximum Velocity Motor max velocity Range 500 20 000 rpm 25 Number Of Poles Motor number of poles Range 2 200 26 PPR Before Quad Encoder resolution Range 256 to 65536 x12 Npoles expressed PPR 27 Nominal Drive Bus Voltage Nominal motor terminal voltage Range 50 800V 646 Rt Thermal resistance Range 0 10000000 C W 647 t Thermal capacitance Range 0 10000000 W s C Rockwell Automation Publication 2097 UM001D EN P November 2012 85 Chapter5 MotionView Software Configuration Linear Motor Database For Allen Bradley motors and actuators with incremental encoders click Change Motor and choose the device from the Linear gt Motor Database In this example the LCD C030100 DHTxxA linear motor is configured Motor Database Revision 009 192 168 0 8 Motors Vendor Allen Bradley Linear x Motor Model LDC C030100 DHTixA 110 1018 9 Synchronous Meter Database Electrical Custom Motor Kf Force Constant 25 74 NIA RMS Enceder Oneal Ke back EMF L L
238. t supported in Change the Index Type or ReferenceSource to 156 configured Linear Rotary Unwind mode Rockwell Automation Publication 2097 UM001D EN P November 2012 values that are supported by selecting Linear or Rotary Unwind mode Clearing Faults Troubleshooting the Kinetix 300 Drive System Chapter 7 This section provides methods for clear faults in the Kinetix 300 drive You can clear drive faults by using digital inputs or drive parameters Use Digital Inputs to Clear Faults You can use MotionView software to clear faults by configuring a digital input as Fault Reset To clear faults by using this input you must make the input active until the fault clears and then deactivate it Use Drive Parameters to Clear Faults You can use the Kinetix 300 drive parameter to reset faults by using Explicit Messaging or UserDefinedDataLink Explicit Messaging Send Explicit Messages from within the RSLogix 5000 software to Class 374 hex Instance 53 Attribute 0 to set it to a 1 and then back to a 0 when the fault is cleared Message Configuration SetOpModeEIPMSG Configuration Communication Tag Message Type CIP Generic Service Set Attribute Single Source Element FaultReset Type Source Length 4 Bytes Service Code 1o Hex Class 374 Hex Instance 53 Attribute 0 D Enable Enable Waiting Q Start Done Done Length 0 Q Error Code Extended
239. tatic electricity Provides a solid earth path for fault conditions ATTENTION If the supply transformer is an auto transformer not recommended a chassis earth ground should not be added A chassis earth ground should already be included elsewhere in the system and adding another would create a short Three phase Power Wired to Single phase Drives This example illustrates grounded three phase power wired to single phase Kinetix 300 drives when phase to phase voltage is within drive specifications Figure 36 Single phase Amplifiers on Three phase Power WYE 2097 V32PRx Transformer WYE Secondary L1 IPD Kinetix 300 Drives 3 CI n System A IL I 12 Single phase AC Input Input Fusing M10 D IPD Kinetix 300 Drives H 1 Single phase AC Input Input Fusing M20 B 201 91 Grounded Neutral IL 1 D Single phase Input Input Fusing M30 onded Cabinet Ground Bus 0000 Ground Grid or Power Distribution Ground 1 Contactors M2 and M3 may be optional For more information see Understanding the Machinery Directive publication SHB 900 AC line filter is optional but is required for CE compliance Feeder short circuit protection is not illustrated Rockwell Automation Publication 2097 UM001D EN P No
240. ted position 27 This is the home position excluding offset TIP If the axis is on the wrong side of the homing switch when homing is started then the axis moves reverse until it contacts the negative limit switch A1 Upon activating the negative limit switch the axis changes direction forward continuing motion until it sees the rising edge of the homing switch The axis stops and follows the procedure as detailed above Figure 70 Homing Method 27Homing Method 29 il Home Switch Using this method the initial direction of movement is reverse if the homing switch is inactive The home position is the leading edge of the homing switch The axis accelerates to fast homing velocity in the leftward direction and continues until the homing switch is activated rising edge shown at position A The axis decelerates to zero velocity If the homing switch is already active when the homing routine commences then this initial move is not executed The axis accelerates to fast homing velocity in the forward direction Motion continues until the falling edge of the homing switch is detected position B where the axis decelerates to 0 velocity The axis accelerates to slow homing velocity in the reverse direction Motion continues until the rising edge of the homing switch is detected position C where the axis decelerates to 0 velocity Rockwell Automation Publication 2097 UM001D EN P November 2012 12
241. ter Encoder ME input counter value reset by writing zero or other value to the Counts parameter 183 Phase Current Phase current Amps Rockwell Automation Publication 2097 UM001D EN P November 2012 99 Chapter 5 MotionView Software Configuration Table 48 Monitor Category continued ID Parameter Name Description Value Notes 184 Target Position EC Target position Encoder pulses 185 Actual Position EC Actual position Encoder pulses 186 Position Error EC Position error Encoder pulses 207 Registration Position EC Registration position Encoder counts 208 Registration Position Registration position User units 209 Target Position Target position User units 210 Actual Position Actual position User units 211 Position Error Position error Encoder counts The Faults category provides access to the configuration of the modifiable fault Faults Category parameters DAR W MotionView OnBoard 3 25 192 168 124 200 DISABLED Allen Bradley Kinetix 300 Load Configuration Restore Defaults Upgrade Stop Reset 192 168 124 200 Motor Load Faults Clear Fault History Clear Faults e Communication 9 Ethernet Last Fault Code E00 No Error Fors Cade Device Time 1 Io Digital IO Analog 10 Tools Monitor Faults Successfully connected to drive 04100133100020_192 168 124 200 Table 49 Faults Category
242. terminal voltage Range 50 800V 650 Intermittent Current Intermittent current Range 0 100 646 Rt Thermal resistance Range 0 10000000 C W 647 t Thermal capacitance Range 0 10000000 W s C 86 Rockwell Automation Publication 2097 UM001D EN P November 2012 MotionView Software Configuration Chapter 5 General Category The General category provides access to the basic configuration of motion The parameters displayed will depend on the motor type chosen in the Motor Category Figure 51 General Category for Synchronous Motors 192 168 0 9 Motor Communication laster Gearing Ethernet EtherNeti IP C rent Limit 8 4899998 Digital lO Analog IO 2 rrent Lim 6 8700008 Limits Current Output 400 0000 Velocity Limits Position Limits Dynamics Indexing Enab Decel Limit isable Bomoa 000 0000 ools Monitor Decel Lir 000 0000 Faults Fault Reset Motor Temperature Sensor User Units Revolutions Units E a 1000 3 m Negative Motion Polarity Rockwell Automation Publication 2097 UM001D EN P November 2012 87 Chapter 5 MotionView Software Configuration Table 39 General Category for Synchronous ID Parameter Name Description Value Notes 300 Current Limit Continuous RMS current for motor selected User may lower this value This lets you trigger a motor current alarm However the drive wi
243. the maximum ambient temperature rating Consider heat dissipation specifications for all drive components 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 Use high frequency HF bonding techniques to connect the enclosure machine frame and motor housing and to provide a low impedance return path for high frequency HF energy and reduce electrical noise Use 2090 series motor feedback cables or use connector kits and properly terminate the feedback cable shield Drive to motor power and feedback cables must not exceed 20 m 65 6 ft IMPORTANT System performance was tested at these cable length specifications These limitations are also a CE requirement See the System Design for Control of Electrical Noise Reference Manual publication 001 to better understand the concept of electrical noise reduction 20 Rockwell Automation Publication 2097 UM001D EN P November 2012 Installing the Kinetix 300 Drive System Chapter 2 Transformer Selection The Kinetix 300 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 To size a transformer for the main AC power inputs see Circuit Breaker Fuse Specifications on page 22 and Kinetix Servo Drives Speci
244. then T 20 In this example the total heat dissipation is 416 W sum of all components in enclosure So in the equation below T 20 and 416 0 38 416 A 290 453 2 1 8 20 1 1 In this example the enclosure must have an exterior surface of at least 4 53 If any portion of the enclosure is not able to transfer heat it should not be included in the calculation Because the minimum cabinet depth to house the Kinetix 300 system selected for this example is 332 mm 13 in the cabinet needs to be approximately 2000 x 700 x 332 mm 78 7 x 27 6 x 13 0 in HxWxD 2x 0 332x 0 70 2x 0 332 x 2 0 2 x 0 70 x 2 0 4 59 m Because this cabinet 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 cabinet Contact your cabinet manufacturer for options available to cool your cabinet Rockwell Automation Publication 2097 UM001D EN P November 2012 23 Chapter2 Installing the Kinetix 300 Drive System Power Dissipation Specifications Use this table to size an enclosure and calculate required ventilation for your Kinetix 300 drive system Cat No Power Dissipation W 2097 V31PRO 28 2097 V31PR2 39 2097 V32PRO 28 2097 V32PR2 39 2097 V32PR4 67 2097 V33PR1 28 2097 V33PR3 39 2097 V33PR5 67 2097 V33PR6 117 2097 V34PR3 39 2097 V34PR5 58 2097 V34PR6 99 24 Rockwell Automation Publication
245. tion Ethernet EtherNetIP CIP 0 Digital lO Analog IO e Limits Velocity Limits Position Limits Dynamics Indexing Homing Tools Monitor Faults Velocity P Gain Velocity l Gain Position P Gain Position Position D Gain Position l Limit Gain Scaling Feedback Filter Load Configuration Description English Rockwell Automation Stop Reset Restore Defaults Value 9639 3203125 561 0250244 1435 8393555 0 0000 365 7369995 0 0000 3 Enable Velocity Integrator In Position Mode Autotuning Feedback Filter Time Constant Filter 1 Type Cut off Frequency Low Pass 200 0000 Filter 2 Type Center Frequency Bandwidth Gain Resonator 200 0000 50 0000 10 0000 Successfully connected to drive B12155141100020_192 168 0 9 Click Autotuning to begin autotuning Table 47 Dynamics Category ID Parameter Name Description Value Notes 44 Velocity P Gain The proportional and integral gain respectively of the velocity loops Range 0 32767 Gains are based on counts as the fundamental units and they are not 45 Velocity I Gain physical units Range 0 32767 46 Position P Gain The proportional integral and derivative gain respectively of the Range 0 32767 position loops
246. tion Error 0000 User Units Indexing Position Error EC resi EC Homed counter 1 In Position Motion Stack Full Registration Position Drive Monitor Phase Current 0 00 Motion Stack Empty Bus Voltage 163 Motion Completed Heatsink Temperature Less than 40 Registration Triggered Analog 10 Motion Limits 0035 Positive Limit Switch Analog Input 0 035 Negative Limit Switch EtherNeUIP CIP Exclusive Owner Exclusive Owner Timeout User Watchdog Timeout Set on Table 48 Monitor Category ID Parameter Name Description Value Notes 7 Actual Velocity Actual measured motor velocity UU s 65 Inputs Digital inputs states A1 Input Bit 0 A2 Input Bit 1 A3 Input Bit 2 M Input Bit 3 B1 Input Bit 4 B2 Input Bit 5 B3 Input Bit 6 B4 Input Bit 7 C1 Input Bit 8 C Input Bit 9 G Input Bit 10 C4 Input Bit 11 66 Outputs Digital outputs states Writing to these variables sets or resets digital outputs that have not Output 1 Bit 0 been assigned to a special function Output 2 Bit 1 Output 3 Bit 2 Output 4 Bit 3 71 Analog Input Analog Input AIN1 value Volts 73 Bus Voltage Measured Bus voltage 74 Heatsink Temperature Heatsink temperature 0 Temperatures lt 40 C 104 F Actual heat sink temperature Temperatures gt 40 C 104 F 182 ME Counter Mas
247. tive 24V DC 24V DC 24V 24V DC power supply return Return Shunt Resistor and DC Bus Connector Pinout BC Description Signal Designator Positive DC bus Shunt resistor n SH Shunt Resistor SH Negative DC bus Motor Power Connector Pinout MP Description Signal Designator PE Protective Earth ground PE W Motor power out W V Motor power out U Motor power out U Rockwell Automation Publication 2097 UM001D EN P November 2012 Control Signal Specifications Kinetix 300 Drive Connector Data and Feature Descriptions Chapter 3 This section provides a description of the Kinetix 300 drive I O IOD communication shunt resistor and DC bus BC and back up power BP connectors Digital Inputs The Kinetix 300 drive has twelve digital inputs They can be used for travel limit switches proximity sensors push buttons and hand shaking with other devices Each input can be assigned an individual de bounce time via MotionView software or Explicit Messaging The inputs are separated into three groups A B and C Each group has four inputs and share one common ACOM BCOM and CCOM respectively Travel limit switches the inhibit enable input and registration input have dedicated inputs as shown in Table 9 For more information on the overtravel inputs see Appendix E on page 217 Table 9 Digital Input Assignments Digital Input Function A1 N
248. to the filter For grounding examples see Grounding Your Kinetix 300 Drive System on page 64 For more information on electrical noise reduction see the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 CE Requirements To meet CE requirements these requirements apply Install an AC line filter Bulletin 2090 or 2097 as close to the drive as possible Use 2090 series motor power cables or use connector kits and terminate the cable shields to the subpanel with clamp provided Use 2090 series motor feedback cables or use connector kits and properly terminate the feedback cable shield Drive to motor power and feedback cables must not exceed 20 m 65 6 ft Install the Kinetix 300 system inside an enclosure Run input power wiring in conduit grounded to the enclosure outside of the enclosure Separate signal and power cables 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 See Appendix A on page 171 for interconnect diagrams including input power wiring and drive motor interconnect diagrams Rockwell Automation Publication 2097 UM001D EN P November 2012 17 Chapter1 Notes 18 Rockwell Automation Publication 2097 UM001D EN P November 2012 Chapter 2 Installing the Kinetix 300 Drive System Tre age Electrical Noise Reduction
249. tors on your Kinetix 300 drive modules 1 Prepare the wires for attachment to each connector plug by removing insulation equal to the recommended strip length IMPORTANT Use caution not to nick cut or otherwise damage strands as you remove the insulation 2 Route the cable wires to your Kinetix 300 drive 3 Insert wires into connector plugs See connector pinout tables in Chapter 3 or the interconnect diagrams in Appendix A 4 Tighten the connector screws 5 Gently pull on each wire to make sure it does not come out of its terminal reinsert and tighten any loose wires 6 Insert the connector plug into the module connector 68 Rockwell Automation Publication 2097 UM001D EN P November 2012 Connecting the Kinetix 300 Drive System Chapter4 Wiring the Kinetix 300 Drive This section provides examples and wiring tables to assist you in making Connectors connections to the Kinetix 300 drive Wire the Safe Torque off STO Connector For the safe torque off STO connector pinouts feature descriptions and wiring information see Chapter 8 on page 159 Wire the Back up Power BP Connector Kinetix 300 Drive Front View Table 26 Back up Power BP Connector Recommended Drive Cat No Terminals Wire Size ale xd Value 2 AWG mm in m 24V DC 2097 V3xPRx 5 16 6 0
250. ty setting this tagis Range 10 000 10 000 UU sec used as the velocity 231 Home Velocity Slow For homing methods that use two velocity settings fast and slow this tag is used as the slow velocity Typically this tag is used to creep to a homing position 232 Home Method Defines the type of homing to be performed See Table 59 N A page 115 234 Home Switch The digital input that should be used as a home switch for Do not assign to A1 A2 A3 or C3 as these inputs appropriate homing method have predefined functions Homing Methods To use homing methods involving Motor Index Pulse zero pulse the index pulse of the motor must be connected to the drive input When the drive has been homed it asserts the Homed bit in the EtherNet IP Output Assembly Rockwell Automation Publication 2097 UM001D EN P November 2012 113 Chapter 5 114 MotionView Software Configuration The drive indicates whether the homing completed successfully or not Once homing has been initiated the Homing Active status bit in the EtherNet IP Input Assembly is set If the Homing Active status bit is no longer set and the Homed status bit is also not set then an error occurred in the homing and the drive is not homed If the drive has not been homed or the stored absolute position information from an absolute home is no longer valid any absolute position moves generate a fault Incremental position moves do not generate a fault Absolute homin
251. type in a Set Attribute Single Explicit Message to class 4 instance 115 and attribute 3 Figure 64 Message Assembly Example Message Configuration K300_Nodet24 MSGWriteAssemblyi15indexO Configuration Communication Tag Set Attribute Single x Source Element K300_Node1 24index New Tag Source Length Service Code Hex Class 4 Instance 115 Attribute 3 Enable Enable Waiting Start 9 Done Done Length 0 Error Code Extended Error Code Timed Dut Error Path Error Text Cancel Apply Table 53 Explicit Messaging for Indexing RSLogix 5000 Field Description Index Number This DINT contains the index number that is being modified Index Type This DINT contains the type of the index absolute incremental registration or blended incremental Index Move Type This DINT contains the move type of the index Trapezoidal or 5 Index Distance This REAL contains the move distance of the index Index Batch Count This DINT contains the number of times the index should execute before moving to the next index Index Dwell This DINT contains the number of milliseconds the axis should remain at position before moving to the next index Index Velocity This REAL contains the velocity the axis should move at while moving the specified distance Index Maximu
252. ual is intended for use in an industrial environment CE Conformity Conformity with the Low Voltage Directive and Electromagnetic Compatibility EMC Directive is demonstrated by using harmonized European Norm EN standards published in the Official Journal of the European Communities The safe torque off circuit complies with the EN standards when installed according instructions found in this manual CE Declarations of Conformity are available online at www rockwellautomation com products certification ce Low Voltage Directive These units are tested to meet Council Directive 2006 95 EC Low Voltage Directive The EN 60204 1 Safety of Machinery Electrical Equipment of Machines Part 1 Specification for General Requirements standard applies in whole or in part Additionally the standard EN 50178 Electronic Equipment for use in Power Installations apply in whole or in part 164 Rockwell Automation Publication 2097 UM001D EN P November 2012 Safe Torque off STO Terminal Plug Wiring Safe Torque off STO Connector Kinetix 300 Drive Safe Torque off Feature Chapter 8 Safe Torque off Wiring Requirements These are the safe torque off STO wiring requirements Wire should be copper with 75 C 167 F minimum rating IMPORTANT IMPORTANT Safe Torque off STO Terminal Plug The National Electrical Code and local electrical codes take precedence over the values and methods provided Stranded wires must terminate
253. umbers Index Base Addressing There are 11 tags per index and 32 indexes total Table 79 Index Base Address Index x Base Address B Index x Base Address B Index 0 272 Index 16 448 Index 1 283 Index 17 459 Index 2 294 Index 18 470 Index 3 305 Index 19 481 Index 4 316 Index 20 492 Index 5 327 Index 21 503 Index 6 338 Index 22 514 Index 7 349 Index 23 525 Index 8 360 Index 24 536 Index 9 371 Index 25 547 Index 10 382 26 558 Index 11 393 ndex 27 569 Index 12 404 28 580 Index 13 415 29 591 Index 14 426 ndex 30 602 Index 15 437 31 613 Table 80 Indexing Tag Numbers ID Data Access Description Value Notes B 0 DINT R W Index move type of absolute incremental registration or blended incremental for index 0 Absolute 0 31 1 Incremental 2 Registered Absolute 3 Registered Incremental 4 Blended B 1 DI R W Trapezoidal or S curve move for index 0 31 0 Trapezoidal 1 5 B 2 DI R W Maximum distance to move for index 0 31 Distance how far to move B 3 DI R W Relative distance to move after registration event for registration types for index 0 31 Move distance after registration B 4 DI RW Batch count Number of times to repeat index before executing for index
254. upply feedback 56 power up 138 proof tests 161 publications related 12 related publications 12 requirements clearance 25 45 Ethernet connector 82 route power and signal wiring 58 RSLogix 5000 software 132 5 safe torque off bypass 166 connector location 163 Operation 161 166 PFD and PFH data 162 PFD and PFH definition 162 pinouts 37 proof tests 161 specifications 168 troubleshooting 162 wiring diagram 167 wiring requirements 165 safety products catalog 167 select drive mode 142 servo loop diagram 98 shield clamp 76 shunt resistor 32 33 interconnect diagram 175 wiring requirements 67 shunt resistor and DC bus pinouts 40 shunt DC bus connector 81 SICK Stegmann 51 software MotionView 84 RSLogix 5000 132 specifications analog output 47 analog reference inputs 46 back up power 50 buffered encoder outputs 49 circut breaker 22 digital inputs 41 digital outputs 45 Ethernet 50 feedback power supply 56 fuse 22 master gearing 48 motor feedback 51 generic TTL 54 SICK Stegmann 53 Rockwell Automation Publication 2097 UM001D EN P November 2012 Tamagawa 55 motor thermostat interface 52 power dissipation 24 safe torque off 168 step and direction 48 status indicators 127 step and direction 48 142 148 183 system block diagrams power block diagram 186 voltage doubler block diagram 187 system mounting requirements 20 system overview 14 diagram 15 T Tamagawa 51 test the axis 139 tools cate
255. ut Digital Input B4Status B3Status B2Status B1Status A4Status A3Status A2Status A1Status 13 15 Reserved 16 Reserved Digital Input Digital Input Digital Input Digital Input C4Status CG3Status 257 157 17 19 Reserved 20 23 Activelndex DINT 24 27 ActualVelocity REAL 28 31 ActualPosition REAL 32 35 PositionCommand REAL 36 39 PositionError REAL 40 43 MotorCurrent REAL 44 47 RegistrationPosition REAL 48 51 UserDefinedIntegerData0 DINT 52 55 UserDefinedIntegerData1 DINT 56 59 UserDefinedIntegerRealO REAL 60 64 UserDefinedIntegerReal1 REAL In this Input Assembly example the parameter ActiveIndex with a range of 24 27 bytes is expanded to show the low byte low middle byte high middle byte and high byte These values are typical for each parameter in Table 71 Table 72 Input Assembly Example Byte Parameter Value 20 Activelndex Low byte 21 Activelndex Low middle byte 22 Activelndex High middle byte 23 Activelndex High byte 192 Rockwell Automation Publication 2097 UM001D EN P November 2012 Table 73 Output Assembly Input and Output Assembly Appendix RSLogix 5000 Tags Description AbortIndex Upon transition from 0 to 1 of this field the drive aborts the current index or position based move the drive is executing and decel to zero velocity StartMotion Upon transition from 0 to 1 of this field the drive begins moving towards
256. ute 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 anomalies See Electrical Noise Reduction on page 26 for examples of routing high and low voltage cables in wireways See the System Design for Control of Electrical Noise Reference Manual publication 01 for more information This section contains examples of typical single phase and three phase facility input power wired to single phase and three phase Kinetix 300 drives The grounded power configuration lets you ground your single phase or three phase power at a neutral point Match your secondary to one of the examples and be certain to include the grounded neutral connection Rockwell Automation Publication 2097 UM001D EN P November 2012 Connecting the Kinetix 300 Drive System Chapter 4 Three phase Power Wired to Three phase Drives These examples illustrate grounded three phase power wired to three phase Kinetix 300 drives when phase to phase voltage is within drive specifications Figure 32 Three phase 400 480V Power Configuration WYE Secondary Transformer WYE Secondary 2097 V34PRx ONDE B IPD E Feeder and branch short circuit me Kineti
257. uunu 21195 10704 11010 yY 0L X X aAnisog 0 abuey fauejog INIA 8 X 295 11 ul 10 0 painseaw enpy Y 1 X Kao ay paublsse saquinu Jaquunu Au buns X pauyap sasn 05 03 dy ijoqui s X 78 obed uo 9146 995 5 uonethuepi lt 52 5 gt 58 51518 8 gu 5 5 8 5 sajoy anjeA uondipseq 55822 125 5 E pasf Appendix 00 8 Rockwell Automation Publication 2097 UM001D EN P November 2012 198 Appendix Kinetix 300 Drive ID Tag Numbers penunuo ssaquiny 00 8L 19 1 yne 1013 1011504 X sw 0009 cz 0 abuey 5592 1 UP 5419558 IAP BY 910490 1013 011504 WY 79 JO aq ULI au 1241 Jo au X Sjuno Japooua 9 0677 10143 1011504 WY INIG 19 294 P Y 31 sneyopoj pojaA ay pue X 0000 00001 nding euibiq paads uy
258. vember 2012 61 Chapter4 Connecting the Kinetix 300 Drive System Transformer WYE Secondary This example illustrates grounded three phase power wired to single phase Kinetix 300 drives when phase to phase voltage exceeds drive specifications A neutral must be connected when single phase drives are attached to a three phase isolating transformer secondary It is not necessary that all three phases be loaded with drives but each drive must have its power return via the neutral connection ATTENTION Failure to connect the neutral can result in supply voltage swings at the individual drives This occurs when the neutral point moves vectorially as result of load variations normally experienced by the individual drives supply voltage swing may cause undervoltage and overvoltage trips on the drives and the drive can be damaged if the overvoltage limit is exceeded Figure 37 Single phase Amplifiers one AC line filter per drive 2097 V31PRx 2097 V33PRx H m m Kinetix 300 Dri inetix rives 1 n System A D E N 12 Single phase AC Input E Kinetix 300 Drives 1 u System A L ACLine 4 0
259. x 300 Drives protection is not illustrated Filter 12 Three phase AC Input UL rru SENE TRI Input Fusing Bonded Cabinet Ground Bus 04 o a Ground Grid or Power Distribution Ground Wax IMPORTANT Forthe 480V Kinetix 300 drives to meet ISO 13849 1 PLd spacing requirements each phase voltage to ground must be less than or equal to 300V AC rms This means that the power system must use center grounded wye secondary configuration for 400 480V AC mains Figure 33 Three phase 240V Power Configuration Delta secondary Transformer Delta Secondary 2097 V33PRx p E ERU ESTRUM B IPD B B Bl ina 1 Feeder and branch short circuit Line 0 i protection is not illustrated 11 D Filter 2 12 ree phase 1 2 prs 05 Input Fusing 1 P Contactor L1 96 Bonded Cabinet Ground Bus 000 e Ground Grid or Power Distribution Ground 1 Leakage current from the line filter in this configuration typically is higher than balanced center ground configuration Figure 34 Three phase 240V Power Configuration Delta secondary Transformer Delta Secondary 2097 V33PRx 13 IPD 1 8 B Feeder and branch short circuit AC Line 0 1 a protection
260. xxx LDL Series LDL xxxxxxx LDAT Series LDAT SXXXXXXXX TL Series Bulletin TLY TL Series Bulletin TLAR 72 Circular Plastic TLY Axxxx TLAR Axxxx 2090 CPBM6DF 16AAxx standard Rockwell Automation Publication 2097 UM001D EN P November 2012 2090 CPWM6DF 16AAxx standard Connecting the Kinetix 300 Drive System Chapter 4 This diagram shows an example of three phase power wires for motors actuators that have no brakes Thermal switch wires are included in the feedback cable See Kinetix 300 Drive Rotary Motor Wiring Examples beginning on page 176 for interconnect diagrams Figure 42 Motor Power Terminations three phase wires only EJE Motor Power MP Connector Plug Motor Cable Shield Clamp l P SS EZ ES 211 Kinetix 300 Drive The cable shield clamp shown above is mounted to the subpanel Ground and secure the motor power cable in your system following instructions on page 76 Rockwell Automation Publication 2097 UM001D EN P November 2012 73 Chapter 4 74 Connecting the Kinetix 300 Drive System This diagram shows an example of wiring with three phase power wires and brake wires
261. y 10N 0 5 L Ndu 10 ajqewwesborg uondipseq penunuo ssaquiny 00 g 19 1 55822 1NIQ ejeq 609 207 Rockwell Automation Publication 2097 UM001D EN P November 2012 X 000000170 abuey puymun Jad syun 1950 Wau 19 e gt noui 5101140 9594 asn 03 buljdwayypayioddns jou 51 paiajsibay papualg uy 504 0 X yed 3594046 1209 pulmun A18301 0 9 aynjosqy 5 25914 10 si 12009 L 9142510 0 1 00 Woy suonysuen paseq 516 e ausum JOU ay UoeNsibay pue K quiassy 3ndu anup ayy uds Pera cetus eder M 199 y Play uonisog pasa sibay ay our 02 painyded sruonisod 1040 ay paiasse saworaq ayy UIM LO OW giy uonenstbau 3ndui Ajjewson syndul IY uo uondaoxe ay ubiu 1 uado
262. y require configuring to enable Ethernet communication between the two devices IMPORTANT changes made to Ethernet communication settings on the Kinetix 300 drive do not take effect until the drive is powered off and powered on again The drive continues to use the previous settings until power is cycled TIP For personal computers with an Ethernet port that is used for a specific purpose such as email or web browsing it may be more convenient for you to add an Ethernet port to the personal computer Installing a USB Ethernet dongle or a PCMCIA Ethernet card is an easy way to gain an additional port for communication to the Kinetix 300 drive Kinetix 300 Drive Ethernet Port Configuration The IP address of the Kinetix 300 drive is composed of four sub octets that are separated by three dots to conform to the Class C Subnet structure Valid configurations for sub octets are between 001 254 The default IP address for Kinetix 300 drive is 192 168 124 200 There are two methods of changing the current IP address An address can be assigned to the drive automatically dynamic IP address when the drive is connected to a DHCP Dynamic Host Configuration Protocol enabled server or the drive can have an IP address assigned to it manually be the user static IP address Both methods of configuring the drives IP address are shown here Rockwell Automation Publication 2097 UM001D EN P November 2012 Configure and Start Up the Ki
263. zero value in this field means the drive is currently homing as configured by the Homing section of the MotionView software AxisHomedStatus A non zero value in this field means the drive has been successfully homed VelocityStandstillStatus 190 A non zero value in this field means the drive is within the configured tolerance for being at zero velocity Rockwell Automation Publication 2097 UM001D EN P November 2012 Input and Output Assembly Table 70 Input Assembly continued Appendix B RSLogix 5000 Tags Description VelocityLockStatus A non zero value in this field means the drive is within the configured tolerance around the commanded velocity PowerStructureEn Anon zero value in this field means the drive power structure is currently enabled and providing current to the motor DigitallnputA1Status non zero value in this field means this digital input on the drive is currently asserted DigitallnputA2Status A non zero value in this field means this digital input on the drive is currently asserted DigitallnputA3Status A non zero value in this field means this digital input on the drive is currently asserted DigitallnputA4Status A non zero value in this field means this digital input on the drive is currently asserted DigitallnputB1Status A non zero value in this field means this digital input on the drive is currently asserted DigitallnputB2Status A non zero value

2097-UM001 - Rockwell Automation

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