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Kinetix 300 EtherNet/IP Indexing Servo Drives User Manual, 2097

1. e Pin6 3 6V battery catalog number 2090 DA BAT2 only required for use with TLY Axxxx B motors high resolution 17 bit encoders Refer to Chapter 3 for feedback signal descriptions Refer to page 141 for the motor feedback interconnect drawing for your application Tie Wrap Bulletin 2090 Feedback Cable Publication 2097 UM001A EN P February 2010 Connecting the Kinetix 300 Drive System Chapter 4 Understanding Shunt Follow these guidelines when wiring your 2097 Rx shunt resistor Resistor Connections IMPORTANT When tightening screws to secure the wires refer to the tables beginning on page 63 for torque values IMPORTANT To improve system performance run wires and cables in the wireways as established in Chapter 2 e Refer to Shunt Resistors on page 28 for noise zone considerations e Refer to Shunt Resistor Wiring Example on page 140 e Refer to the installation instructions provided with your Bulletin 2097 shunt resistor publication 2097 13002 Publication 2097 UM001A EN P February 2010 79 Chapter4 Connecting the Kinetix 300 Drive System Connecting Your Ethernet Cables Ethernet Port gt Personal Computer 80 This procedure assumes you have your Logix Ethernet IP mo
2. where required by local code irty Wireway Enclosure M Clean Wireway D D Contactor No sensitive g equipment within VD g 150mm 6 0 in vD 20N Motor I Kinetix 300 Very dirty connections NT Circuit Drive p 3 segregated not in wireway Breaker e I Ethernet shielded g Cable T lem 7 AC Line DC TE Fiter Filter xema Wd uu i 7 0 Feedback Cables Route Encoder Analog Registration 1 0 Motor Power and Safety Cables Route 24V DC 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 the 150 mm 6 0 in segregation use a grounded steel shield instead for examples refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 28 Publication 2097 UM0011A EN P February 2010 Installing the Kinetix 300 Drive System Chapter 2 When mounting your shunt module inside the enclosure follow these additional guidelines e Mount the shunt resistor anywhere in the dirty zone but as close to the Kinetix 300 drive as possible e Shunt wires can be run with motor power cables e Keep unshielded wiring as short as possible Keep shunt wiring as flat to the cabinet as possible e Separate shunt wires from other sensitive low v
3. Safe Torque Off STO Connector f H E3 HU Kinetix 300 Drive Bottom View 2097 V32PR4 is shown STO Pin Description Signal 1 424V DC output fromthe drive 240 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 Publication 2097 UM001A EN P February 2010 159 AppendixD Kinetix 300 Drive Safe Torque Off Safe Torque Off Circuit Bypass Instructions 160 Use this section if your application does not require the use of the save torque off function ATTENTION A 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 For the proper safety connections refer to the Single axis Relay Configuration Stop Category 0 diagram on page 163 Under certain applications when safety connections are not required the drive may be operated with the safety circuit disabled The diagram below illustrates how to bypass the safety circuit Follow these steps to bypass the s
4. Publication 2097 UM001A EN P February 2010 Chapter 5 Configure and Start Up the Kinetix 300 Drive Introduction This chapter provides procedures for configuring your Kinetix 300 drive components Pae Introduction S a Keypad Input 82 Configure the Kinetix 300 Drive Ethernet IP Address 84 Use the Kinetix 300 MotionView OnBoard Tool 89 Configure the Logix EtherNet IP Interface Module 97 Apply Power to the Kinetix 300 Drive 101 Test and Tune the Axis 102 Tune the Axis 103 Select Drive Operating Mode 105 Configure Master Gearing Mode 106 Configure Drive Parameters and System Variables 108 Configuring Drive Mode Using Explicit Messaging 111 Publication 2097 UM001A EN P February 2010 81 Chapter 5 Configure and Start Up the Kinetix 300 Drive Keypad Input 82 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 Parameters can be scrolled by using CO To view a value press e To return back to Scroll mode press e After pressing amp on editable parameters the yellow status indicator C blinks indicating that the parameter value can be changed Use QU to change the value Press amp to store the new setting and return back to Scroll mode Status Display
5. Appendix A Specifications and Dimensions Contactor Ratings This table lists the recommended contactor ratings for the Kinetix 300 drive Contactor Rating Kinetix 300 Drive 120 240V Cat No Contactor 100 C30x10 AC coil Kinetix 300 Drive 240V Cat No een 100 C30x10 AC coil 100 C37x10 AC coil 100 C232x10 DC coil 2097 V33PR1 100 C23x10 AC coil 100 C232x10 DC coil 2097 V33PR5 100 C30x10 AC coil PURCUSSLRO 100 C30x10 DC coil Kinetix 300 Drive 480V Cat No 2097 V34PR3 100 C37x10 AC coil SURGIR 100 C232x10 DC coil 2097 V34PR6 Transformer Specifications for Input Power Attribute Value 460V system Input volt amperes 750VA Input voltage 460V AC Output voltage 120 240V AC 128 Publication 2097 UM001A EN P February 2010 Specifications and Dimensions Appendix A Power Dissipation Use the following table to size an enclosure and calculate required Specifications 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 General Specifications This section contains general specifications for your Kinetix 300 drive system components Maximum Feedback Cable Lengths Although Bulletin 2090
6. looood L Ground Grid or Power Distribution Ground 62 Publication 2097 UM001A EN P February 2010 Power Wiring Requirements Connecting the Kinetix 300 Drive System Chapter 4 Wire should be copper with 75 C 167 F minimum rating Phasing of main AC power is arbitrary and earth ground connection is required for safe and proper operation Refer to Power Wiring Examples on page 137 for interconnect diagrams IMPORTANT The National Electrical Code and local electrical codes take precedence over the values and methods provided Kinetix 300 Drive Power Wiring Requirements Cat No 2097 V31P 2097 V32P 2097 V32P 2097 V33P 2097 V33P 2097 V34P 2097 V34P 2097 V34P RO RO R2 R3 R3 R5 R6 2097 V32P 2097 V33P R4 R5 2097 V31P 2097 V33P R2 R6 Description Mains input power Terminals Strip Length Torque Value Pin Signal mm AWG mm in Nem Ibein 2 5 14 7 0 28 0 5 4 5 IPD 1 L3 IPD 2 12 IPD 3 L1 IPD 4 PE 4 0 12 7 0 28 0 5 4 5 i 2097 1 2097 V32P 2097 V32P 2097 V32P 2097 V33P 2097 V33P 2097 V33P 2097 V34P 2097 V34P 2097 V34P 2097 V31P RO RO R2 R4 R3 R5 R3 R5 R6 R2 2097 V33P Publication 2097 UM001A EN P February 2010 R6 Motor power MP 1 2 MP 3 4 2 5 14 7 0 28 0 5 4 5 c zxm 4 0 12 7 0 28 0 5 4 5
7. Lm 47 pF Kinetix 300 Drive 26 7 1 10kQ 1 to A D Converter AA A 4 AAA 1kQ 10 kQ NA PBV 7 SIN or ie COS 1 1kQ 1kQ to AqB Counter SIN or gt 1kQ m BF Stegmann Hiperface Interface DATA Signals 5V A gt 10 kQ em Dati gt to AqB Counter 1 ZR 56 pF gt 100 T 2w e ale Shaded area indicates components that are part of the circuit but support xi other feedback device types not used for Stegmann Hiperface support IT to UART Kinetix 300 Drive from UART L from UART Publication 2097 UM001A EN P February 2010 Kinetix 300 Drive Connector Data Chapter 3 Generic TTL Incremental Specifications Attribute Vae TTL incremental encoder support 5V differential A quad B Quadrature interpolation 4 counts square wave period Differential input voltage 10 70V AM BM and IN 30 max ELTE 50M max 42 ns between two edges iM pa Average AM BM gt constant y 53 Single ended TTL open collector or none Generic TTL Incremental AM and BM Signals Kinetix 300 Drive 47 pF 10 kQ AAA NWN to A D Converter WN 1 M ARS 56 pF 56 pF n Shade
8. pet DS ELA orae pole 96 Loos X bei dot EE os DEE EP OR 96 qucd detiene DICE ei e C eic cde tirs dne d 96 DAS gore eni eor Sox e eet yk ede M pure Boote eed 96 Configure the Logix EtherNet IP Interface Module 97 Configure the Logix Controller sese rores 97 Configure the Logix 98 Configure the Kinetix 300 99 Download the Program 100 Apply Power to the Kinetix 300 101 est And Tune the AES curo Re CR SOUS E 102 Tunethe 2 ade occi oc ptt pea PRADA Ste Re 103 Select Drive Operating 105 Configure Master Gearing Mode 106 Configure Drive Parameters and System Variables 108 Tools fot Viewing Parameters 4 a se eere ew d npe 108 Tools for Changing 110 Configuring Drive Mode Using Explicit Messaging 111 Chapter 6 Introduction 115 Safety 115 General 116 Display Behavior ei we Es eru seda eU eS Rr 116 Eror COGS i pipa dee MO gap ed EE Ebr os 116 Cleaning Faults oes oye acea de d rat a et ee ded Ro 120 Clearing Faults Using Digital Inputs 120 Clearing Faults Using Drive Parameters 120 5 Tabl
9. 63 Chapter 4 Connecting the Kinetix 300 Drive System Kinetix 300 Drive Power Wiring Requirements continued Terminals Recommended Cat No Description Wire Size Strip Length Torque Value Pin Signal m AWG mm in Nem Ibin 2097 V31PRO 2097 V32PRO 2097 V32PR2 2097 V32PR4 2097 V33PR1 BC 1 B 2097 V33PR3 Brake resistor and BC 2 2 5 14 7 0 28 0 5 4 5 2097 V33PR5 DC bus BC 3 BR 2097 V34PR3 us BC 4 B 2097 V34PR5 BC 5 B 2097 V34PR6 2097 V31PR2 2097 V33PR6 4 0 12 7 0 28 0 5 4 5 Control back up BP 24V DC 2097 V3xPRx power BP 2 Return sto 1 2 24V DC Control STO 2 2 Control COM 1 5 16 6 0 25 0 5 4 5 2097 V3xPRx Safe torque off STO 3 Safety Status STO 4 Safety Input 1 STO 5 Safety COM STO 6 Safety Input 2 1 Use for shunt resistor connection only 2 Use for bypassing the STO circuit only 64 Accessory 2097 Rx ATTENTION ELE A To avoid persona installation comp devices The Nati injury and or equipment damage make sure lies with specifications regarding wire types conductor sizes branch circuit protection and disconnect onal Electrical Code NEC and local codes outline provisions for safely installing electrical equipment To avoid persona injury and or equipment damage make sure motor power connectors are used for connection purposes only Do not use them to turn the unit on and off To avoid personal injury an
10. 54 Routing Power and Signal Wiring 54 Determining Your Type of Input Power 55 Three phase Power Wired to Three phase Drives 55 Single phase Power Wired to Single phase Drives 57 Isolation Transformer in Grounded Power Configurations 58 Three phase Power Wired to Single phase Drives 58 Voiding of CE 60 Grounding Your Kinetix 300 Drive 61 Grounding Your System to the Subpanel 61 Power Wiring Requirements 63 Winne Guideliness si tanaan O e a Ra Eae aes 65 Wiring the Kinetix 300 Drive Connectors 66 Wiring the Safe Torque off STO Connector 66 Wiring the Back up Power BP Connector 66 Wiring the Input Power IPD Connector 67 Wiring the Motor Power MP Connector 68 Wiring the Shunt 73 Apply the Motor Cable Shield 74 Understanding Feedback and I O Cable Connections 75 Flying lead Feedback Cable Pin outs 76 Winne O COMME COE S tayo ae ta eR OT C SOR MER OS 77 Wiring Feedback Connector 78 Wiring Low profile Connector 78 Understanding Shunt Resistor Connections 79 Connecting Your Ethernet Cables 80 Chapter 5 Introduction eeri Hoge d o Rob PIG bip dbi S o mde ord 81
11. Attribute 2090 XXLF TC116 Use with Kinetix 300 Drive 2097 V31PRO Cat No 2097 V31PR2 Voltage 250V AC 50 60 Hz Phase Single Current A 50 C 122 F 16 Power loss W Leakage current mA 87 Weight approx kg Ib 0 80 1 7 Humidity 90 relative humidity Vibration 10 200 Hz 1 8 g vibration Operating temperature 25 100 C 13 212 F AC Line Filter Specifications catalog number 2097 Fx Attribute Sh M 300 Drive 2097 V33PR6 2097 v34PR6 2097 v33PR1 2097 V34PR3 2097 V34PR5 2097 V33PR3 2097 V33PRS Voltane 120 240V AC 480V AC 120 240V AC 480V AC 120 240V AC 9 50 60 Hz 50 60 Hz 50 60 Hz 50 60 Hz 50 60 Hz Phase OneorThree Three OneorThree Three One or Three Current A 40 C 104 F 24 10 44 6 9 15 0 Power loss W 5 2 2 8 12 13 4 1 Leakage current mA 9 1 Weight approx g b 0 6 1 3 0 8 1 8 Humidity 5 95 noncondensing Vibration 5 2000 Hz Q 2 5 g peak 0 015 mm 0006 in maximum displacement Operating temperature 1 Kinetic 300 drives catalog n 132 0 40 C 32 104 F mbers 2097 V32PRO 2097 V32PR2 and 2097 V32PR4 have integrated AC line filters Publication 2097 UM001A EN P February 2010 Specifications and Dimensions Appendix A Shunt Resistor Bulletin 2097 passive shunt resistor wire to the Kinetix 300 drive Specifications Shunt Resist
12. ControlLogix Controllers User Manual publication 1756 0 001 Information on installing configuring programming and operating a ControlLogix system Logix5000 Controllers Motion Instructions Reference Manual publication 1756 RM007 The instructions needed to program a motion application ControlFLASH Firmware Upgrade Kit User Manual publication 1756 05105 For ControlFLASH information not specific to any drive family Rockwell Automation Configuration and Selection Tools website www ab com e tools Online product selection and system configuration tools including AutoCAD DXF drawings Rockwell Automation Product Certification website www rockwellautomation com products certification For declarations of conformity DoC currently available from Rockwell Automation National Electrical Code published by the National Fire Protection Association of Boston MA An article on wire sizes and types for grounding electrical equipment 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 To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative 10 Publication 2097 UM001A EN P February 2010 Chapter 1 Start Introduction Use this chapter to bec
13. Cycle power to the drive The change takes effect 85 Chapter 5 86 Configure and Start Up the Kinetix 300 Drive When DHCP is disabled and power cycled to the drive it reverts back to its previous static IP address If you are connecting more than one drive to the personal computer create 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 keypad IP 1 IP2 and IP 3 are read only accessed this way The dive power must be cycled for any changes to take effect To configure the Kinetix 300 drive for specific subnet or change its full IP address use the MotionView configuration tool 1 2 Run a Java enabled web browser Enter the drive s current IP address into the browser MotionView OnBoard dialog box is displayed Click Run Click Connect Enter the drive s IP address Click Connect From the Drive Oganizer choose 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 are invalid and they are not applied Configure IP Address Communication Obtaw IP Address using DHCP Ethemet bo EtherieviP address 10 01 04 190 10 T Subnet Mask 2552552550 Gateway 10 01 04 1 rive B12021132100020 10 02 50 20 Publication 2097 UM001A EN P F
14. Kinetix 300 circuit I Drive Breaker Bulletin 2097 AC 4 Ethernet line filter mounts to I shielded side as shown or Cable behind the drive m nm I DC I No sensitive T equipment within Gi I 150 mm 6 0 in 2 i C i 1 0 and Feedback Cables 1 0 1 Motor Power and Safety Cables Route encoder analog registration Route 24V DC 1 0 shielded cables Shielded Cable 1 If drive system 1 0 cable contains dirty relay wires route cable in dirty wireway 2 For tight spaces use a grounded steel shield For examples refer to 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 26 Publication 2097 UM0011A EN P February 2010 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 Kinetix 300 Drive Components Zone Method Wire Cable Connector Dirty dlean Ferrite Shielded L1 L2 L3 unshielded cable IPD X U V W motor power MP X X B B BR shunt resistor BC 24V DC BP X Control COM 24V DC control safe
15. Message Type CIP Generic v rede Set Attribute Single v Source Element Fault eset Source Length 4 ES Service f cei 1o Hex Class 374 Hex Instance 3 Attribute O Hex Q Enable Enable Waiting Q Start Q Done Done Length 0 Q Error Code Extended Error Code Timed Out Error Path Error Text Cancel Apply Help 120 Publication 2097 0 February 2010 Publication 2097 UM001A EN P February 2010 Troubleshooting the Kinetix 300 Drive System Chapter 6 UserDefinedData Drive parameter used in the Explicit Message section can be mapped into the integer UserDefinedData by using the MotionView software Then the parameter can be toggled by using the UserDefinedIntegerDataO or UserDefinedIntegerDatal tags within RSLogix 5000 software Drive Enable The drive clears runtime faults if the drive enable command from RSLogix 5000 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 a 1 By changing that from a 1 back to a 0 the fault clears as the drive disables 121 Chapter6 Troubleshooting the Kinetix 300 Drive System Notes 122 Publication 2097 UM001A EN P February 2010 Appendix A Specifications and Dimensions Introduction This appendix provides product specifications and mounting dimensions for your Kinetix 3
16. eans this digital inp ut on the drive is c urrently asserted DigitallnputA3Status A non zero value in this field m eans this digital inp ut on the drive is c urrently asserted DigitallnputA4Status A non zero value in this field m eans this digital inp ut on the drive is c urrently asserted DigitallnputB1 Status A non zero value in this field m eans this digital inp ut on the drive is c urrently asserted DigitallnputB2Status A non zero value in this field m eans this digital inp ut on the drive is c urrently asserted DigitallnputB3Status A non zero value in this field m eans this digital inp ut on the drive is c urrently asserted DigitallnputB4Status A non zero value in this field m eans this digital inp ut on the drive is c urrently asserted DigitallnputC1Status A non zero value in this field m eans this digital inp ut on the drive is c urrently asserted DigitallnputC2Status A non zero value in this field m eans this digital inp ut on the drive is c urrently asserted DigitallnputC3Status A non zero value in this field m eans this digital inp ut on the drive is c urrently asserted DigitallnputC4Status A non zero value in this field m eans this digital inp ut on the drive is c urrently asserted Activelndex This field indicates the currently executing ind
17. q Current Id Current IMPORTANT Output values can vary during powerup until the specified power supply voltage is reached 49 Chapter3 Kinetix 300 Drive Connector Data Analog Output Circuit CHI Analog Output Specifications Parameter Scan time Value 0 0625 ms Current max 10 mA Voltage range 10 10V DC For configuration setup of the analog outputs refer to Configure Drive Parameters and System Variables beginning on page 108 Ethernet Connection An RJ45 Ethernet connector port 1 is provided on the Kinetix 300 drive Ethernet Communication Specifications Attribute Value Communications 100BASE TX full duplex Cyclic update period 2 ms min Auto MDI MDIX crossover Ves detection correction Cabling CAT5E or CAT6 unshielded or shielded 100 m 328 ft 50 Publication 2097 UM001A EN P February 2010 Publication 2097 UM001A EN P February 2010 Kinetix 300 Drive Connector Data Chapter 3 24V DC Back Up Power The Kinetix 300 drive can use an external power supply to power the logic and communication circuit During a mains input power loss the logic and communication remains active if an independent 24V power supply is connected to the BP connector 24V DC Back Up Power Attribute Value Current 500 mA 30A Inrush max 51 Chapter3 Kinetix 300 Drive Connector Data Notes 52 Publication 2097 UM001A EN P
18. 4 or 512 A Bulletin MPL mult drive and outputs 10 of 1 1 the Master va i turn motor is connected to the master 24 pulses to achieve a motor rotation ratio ue would be 1 and the System value would be 262144 1024 4 or 64 When the Kinetix 300 master drive is using a multi turn IMPORTANT IMPORTANT absolute Allen Bradley TL Series or Bulletin TLY motor the encoder outputs from the Kinetix 300 drive are not capable of generating pulses at the rated speed of the motor and these motors should not be used on the master drive 107 Chapter 5 Configure and Start Up the Kinetix 300 Drive Configure Drive Parameters This section provides information for accessing and changing and System Variables parameters not accessible through RSLogix 5000 software Tools for Viewing Parameters To view parameters follow these steps 1 From MotionView software click Tools 2 Click Parameter gt IO View Mi Diagnostic 10 91 84 224 Variable Name Hexadecimal Decimal Load C Seton Top Inputs A1 A4 Oupusi 44 OOOO Inputs B1 B4 Inputs C1 C4 108 Publication 2097 UM001A EN P February 2010 Configure and Start Up the Kinetix 300 Drive Chapter 5 Publication 2097 UM001A EN P February 2010 3 To add a parameter to the viewer click Add Parameters 10 91 84 224 Variable Name Indexing 10 Monitor Motion Identification HE EE H Configuration
19. Load Configuration Restore Defaults Upgrade e 10 82 50 20 Motor GPS z Description Value Units Min General e Communication Drive Mode Analog Velocity Input X Ethernet Current Limits EtherNetiIP CIP eo Current Limit 12 0000 A 0 0000 Digital lO Analog 10 8 KHZ Peak Current Limit 15 0000 A 0 0000 Q Limits Velocity Limits Velocity Mode Acceleration Position Limits ANN D Enable Accel Decel Limits Enable ynamics Indexing Accel Limit 1000 0000 RPM Sec 0 1000 P Decel Limit 1000 0000 RPM Sec 0 1000 Monitor Faults Fault Reset Manual Only ASTER ENCODER Master To System Ratio 1 Master 32768 System 1 User Units 1 0000 Revolutions Units 0 0000 106 Publication 2097 UM001A EN P February 2010 Publication 2097 UM001A EN P February 2010 Configure and Start Up the Kinetix 300 Drive Chapter 5 When using a Bulletin MPL absolute encoder for Master Gearing the Kinetix 300 planner treats both the 128 and the 1024 pulse encoders as having 262144 interpolated counts per revolution for the purpose of calculating the gearing ratios EXAMPLE A Bulletin MPL multi drive and outputs 128 pulses to achieve a motor rotation ratio of 1 1 the Master va turn motor is connected to the master ue would be 1 and the System value would be 262144 128
20. Publication 2097 UM001A EN P February 2010 Dynamics Configure and Start Up the Kinetix 300 Drive Chapter 5 The Dynamics window displays the configuration of the modifiable dynamics parameters which are shown in the following table Dynamics Parameters Parameter Velocity P Gain Velocity Gain Description The proportional and integral gain of the velocity loops gains are based on counts as the fundamental units and they are not physical units Position P Gain Position I Gain Position D Gain The proportional integral and derivative gain of the position loops gains are based on counts as the fundamental units and they are not physical units A clamping limit on the position loop gain compensator to prevent excessive Position Limit torque overshooting caused by an over accumulation of the gain A 2n factor applied to the gains in the velocity loop useful for scaling the gains Gain Scaling when using encoders with a high number of counts per revolution such as the MPL Series motors Autotuning Click this button to begin the auto tuning of the drive Indexing The Indexing window displays the configuration of the modifiable indexing parameters which are shown in the following table Indexing Parameters Parameter Description Index Type Absolute registration incremental registration or blended incremental Move Type Trapezoidal or s curve Distance The incremental distance to move o
21. 2097 V33PR3 185 1 7 29 68 5 2 70 2097 V31PR2 185 1 7 29 68 5 2 70 2097 V33PR5 185 1 7 29 94 4 3 72 2097 V32PRO 229 6 9 04 68 0 2 68 2097 V33PR6 229 6 9 04 68 0 2 68 2097 V32PR2 229 6 9 04 68 5 2 70 2097 V34PR3 185 1 7 29 68 5 2 70 2097 V32PR4 229 6 9 04 86 8 3 42 2097 V34PR5 185 1 7 29 94 4 3 72 2097 V33PR1 185 1 7 29 68 0 2 68 2097 V34PR6 229 6 9 04 68 0 2 68 Publication 2097 UM001A EN P February 2010 Appendix B Interconnect Diagrams Introduction This appendix provides wiring examples and system block diagrams for your Kinetix 300 drive system components Topic Page Introduction 135 Wiring Examples 136 Publication 2097 UM001A EN P February 2010 135 Appendix B Interconnect Diagrams Wiring Examples This appendix provides wiring examples to assist you in wiring the Note Kinetix 300 system The notes below apply to the wiring examples on the pages that follow Information For power wiring specifications refer to Power Wiring Requirements on page 63 2 For input fuse and circuit breaker sizes refer to Circuit Breaker Fuse Specifications on page 127 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 fil
22. EPWR 9v 2 15 Reserved 8 Single ended 5V Hall effect S3 commutation 1 Not applicable unless motor has integrated thermal protection 2 Encoder power supply uses either 5V or 9V DC based on encoder motor used 36 Pin Orientation for 15 pin Motor Feedback MF Connector Pin 15 fe H Pin 11 12 Pin 10 Pin 1 Ethernet Communication Port port 1 Port 1 Pin Signal Description 1 TX Transmit Port Data Terminal 2 TX Transmit Port Data Terminal 3 RX Receive Port Data Terminal 4 5 S 6 RX Receive Port Data Terminal 7 8 Pin Orientation for 8 pin Ethernet Communication Port port 1 1 Publication 2097 UM001A EN P February 2010 Kinetix 300 Drive Connector Data Chapter 3 AC Input Power IPD Connector IPD Pin Description Signal 1 Protective Earth ground PE 2 AC Power In L1 3 AC Power In 12 4 AC Power In 3 phase models L3 Back up Power Pinout Back up Power BP Connector 1 Positive 24V DC 24V DC 2 24V DC power supply return Return Shunt Resistor and DC Bus Pinout Shunt Resistor and DC Bus BC Connector BC Pin Description Signal 12 2 Positive DC bus brake resistor B 3 Brake Resistor BR 4 5 Negative DC bus B Motor Power Pinout Motor Power MP Connector
23. General Communication a_i a Ethernet EtherNetiIP CIP 10 Currently selected Motor Synchronous Motor Digital 10 Analog IO Limits Vendor RA Motor Motor Model MPL B320F Velocity Limits Electrical Position Limits Kt Torque Constant 1 1240 Nm A w Encode Dynamics SS m Indexing Ke Voltage Constant 39 2000 Homing p p Sine Peak 102 Publication 2097 UM001A EN P February 2010 Configure and Start Up the Kinetix 300 Drive Chapter 5 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 IOD 29 only to the axis you are testing 6 Click Start Autophasing 7 Determine if your test completed successfully If Then 1 Click Ok Your test completed successfully and dialog box 9 opens that states motor is phased correctly 3 Go to Tune the Axis on page 103 Remove Enable Input signal 1 Click Ok Verify that the Enable Input signal is applied to the axis you are testing Your test did not complete successfully Verify the motor feedback is wired as required s 369 Return to main step 6 and run the test again Tune the Axis Follow these steps to tune the axes 1 Verify the load is removed from the axis you want to tune To reduce the possibility of unpredictable motor response ATTENTION tune your motor w
24. MP Pin Description Signal 1 2 Reserved 3 Motor power out U 4 Motor power out V 5 Motor power out 6 Protective Earth ground PE Publication 2097 UM001A EN P February 2010 37 Chapter3 Kinetix 300 Drive Connector Data Understanding Motor The Kinetix 300 drive accepts motor feedback signals from the Feedback Specifications following types of encoders with these general specifications Motor Feedback General Specifications Attribute Motor Feedback e Stegmann Hiperface Feedback device support e Generic TTL Incremental e Tamagawa 17 bit Serial Power supply voltage EPWR5V 5 13 5 67V Power supply current EPWR5V 400 mA 1 2 Power supply voltage EPWR9V 8 3 9 9V Power supply current EPWR9V 275 mA max 21 Single ended under 500 no fault Thermostat over 10 kQ fault 1 400 mA on the 5V supply with no load on the 9V supply 2 300 mA 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 using the Kinetix 300 drive MotionView OnBoard software for Allen Bradley motors 38 Publication 2097 UM001A EN P February 2010 Publication 2097 UM001A EN P February 2010 Kinetix 300 Drive Connector Data Motor Feedback Specifications Chapter 3 The Kinetix 300 drives support multiple types of feedback devices using the 15 pin MF motor feedback connector and sharing connect
25. WHT BLACK XX AM 2 1 Brown 1 lt U 3 gt RED BM 3 7 Motor Feedback Eos XX BM 4 8 5 GREEN IM 5 B Motor 49 WHT GREEN IM 10 10 Feedback A 11 ee 7 GRAY 5VDC 14 13 Black 2 lt BR 85 WHT GRAY XX 6 ite 1 lt lt BR 6 WHT BLUE 81 12 55 Motor Brake YELLOW S2 13 Cable WHT YELLOW S3 8 1 0 100 Shield SHIELD V Connector Clamp D MEE NC MS Note 4 Note 7 Refer to low profile connector E illustration lower left for proper grounding technique 2090 flying lead or 2090 CFBM6DD CCAAxx with drive end connector Feedback Cable Note 9 24V DC 24V DC COM TLY Axxxx B 230V User Supplied Servo Motors with 24V DC High Resolution Feedback Grounding Technique for Low Profile Connector Feedback Cable Shield 090 BROWN DATA 5 WHT BROWN DATA 10 3 6V battery 2090 DA BAT2 only AX required for use with TLY Axxxx B GRAY 5VDC 14 motors high resolution 17 bit a WHI GRAY XX ECOM 6 Exposed ues Min encoders ORANGE BAT BAT4 ud pss sm WHT ORANGE XX BAT BAT SHIELD 1 Clamp Screws 2 Turn clamp over to hold Refer to low profile connector illustration lower left 2 BR for proper grounding technique 1 BR 2090 CFBM6DF CBAA xx flying lead lt lt 2090 CFBM6DD CCAAxx with drive end connector Feedback Cabl
26. gt P 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 drive s 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 safety category 3 both safety channels must be used and monitored 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 Publication 2097 UM001A EN P February 2010 Kinetix 300 Drive Safe Torque Off Appendix D Safe Torque Off Connector This section provides safe torque off STO connector and header Data 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
27. 13 WHT ORANGE XX TS 11 Oo gt G BR 1 14 BLUE TS lt lt 12 T COM F 3 gt V lt lt Refer to low profile connector FH 8 Notor Brake illustration below 1 f ding technique or proper grounding technique 2090 XXNFMF Sxx standard or 1 0 100 A y 2090 CFBMADF CDAF x continuous flex Connector BUE i Cable flying lead Feedback Cable Note 4 Note 9 prm 2 Note 7 24V DC 24V DC COM User Supplied 24V DC MP Series Electric Cylinder Power and Feedback Cables MP Series Electric Cylinder Power Cable Feedback Cable Cat No Cat No Cat No MPAR A B1 xxx 32 2090 XXNFMF Sxx standard 2090 CPxM4DF 16AFxx 2090 CFxM4DF 16AFxx MPAR A B2xxx 40 continuous flex Grounding Technique for Low Profile Connector VUES S _ A B3xxx Feedback Cable Shield 2090 K2CK D15M shown 2090 XXNFME Sxx standard 83 2090 CPxM7DF 16AFxx 2090 CFXM7DF 16AFxx MPAI A Bxxx continuous flex 110 Clamp Exposed shield secured under clamp Clamp Screws 2 y fe Turn clamp over to hold small cables secure 144 Publication 2097 UM001A EN P February 2010 Interconnect Diagrams Appendix B 2097 V3xPRx Kinetix 300 Drive Kinetix 300 Drive 230V Wiring Example with TL Series TLAR Electric Cylinders 2090 CPBM6DF 16AAxx Motor Power and Brake Cable Note 9 10 Use 20
28. 167 Indexing Parameters 168 Explicit Messages for Indexing 173 ineti j The software for the onboard indexing operation is accessed via a out Ninetix rive Indexin g Motion View OnBoard program that is downloaded to any host computer that accesses the IP address of the drive The indexing operation is also configurable over the EtherNet IP connection using explicit message in RSLogix 5000 software 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 in table on page 168 The Kinetix 300 drive supports up to 32 indexes 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 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 Publication 2097 UM001A EN P February 2010 167 Appendix E Configuring Indexing Parameters Indexing Parameters 168 Parameter Possible Values Units Description Type Absolute Selects the indexing type and adjust the Incremental input parameters for that type Registration absolute Registration incremental Blended M
29. 2090 XXNFMF Sxx standard or Connector rer pla Cable 2090 CFBM4DF CDAFxx continuous flex Note 4 OUT4 C 4 yum flying lead Feedback Cable Note 9 1 Note 7 24V DC 24V DC COM User Supplied 24V DC Grounding Technique for Feedback Cable Shield Low Profile Connector 2090 K2CK D15M shown Clamp Exposed shield secured under clamp Clamp Screws 2 SS Turn clamp over to hold small cables secure Publication 2097 UM001A EN P February 2010 143 Appendix B Interconnect Diagrams Kinetix 300 Drive Wiring Example with MP Series Electric Cylinders 2090 XXNPMF 16S xx standard 2097 V3xPRx rege eet Kinetix 300 Drive Motor Power Cable and MPAI A Bxxx Use BEER NBN Electric Cylinder with 2090 K2CK D15M cable for continuous flex High Resolution Feedback Connector Kit non brake applications f u 9 1 5 BLACK W SIN 4 Green Yellow D 2 WHT BLACK SIN 2 mel 3 Blue C w enp 3 gt RED COS 3 onnector 4 vu Black B l V Three phase CENE WHTRED XX COS 4 3 U Brown A y Motor Power 5 y GREEN DATA 5 6 lt lt ict 6 WHT GREEN XX DATA 10 7 otor 9 GRAY 5VDC 14 8 Motor Feedback Feedback 10 gt gt waten WY ECOM MF Connector gt Thermostat 11 ORANGE 9VDC 7
30. 300 drive If the Kinetix 300 drive is mounted on a painted subpanel ground to a bonded cabinet ground bus using a braided ground strap or 4 0 mm 12 AWG solid copper wire 100 mm 3 9 in long Connecting the Braided Ground Strap Example Braided Ground Strap Bonded Cabinet Ground Bus Ground Stud OG A Ground Grid or Power Distribution Ground x XX XX For dimensions Product Dimensions page 134 61 Chapter4 Connecting the Kinetix 300 Drive System Chassis Ground Configuration multiple Kinetix 300 drives on one panel Chassis Ground Chassis Ground Chassis Ground 9 Chassis Ground Bonded Ground optional o 9 7 Bonded Cabinet zz Ground Bus Ground Grid or Power Distribution Ground Always follow NEC and applicable local codes Grounding Multiple Subpanels To ground multiple subpanels refer to the figure below HF bonding is not illustrated For information refer to Bonding Multiple Subpanels on page 24 Subpanels Connected to a Single Ground Point Always follow NEC and applicable local codes Bonded Ground Bus M
31. 300 drive continuously scrolls the drives IP address Upon powerup the display shows its status diS 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 anda two digit error code until the anomaly is cleared Anomaly Possible Cause Action Solution Ur No AC power or backup power Verify AC power or backup power is a Status indicator not displaying any applied to the Kinetix 300 drive messages Internal power supply malfunction Call your Allen Bradley representative Motor wiring error Check motor wiring Motor jumps when first enabled Incorrect motor chosen Verify the proper motor is selected e Operate within not above the Motor thermostat trips due to continuous torque rating for the ambient temperature 40 C 104 F e High motor ambient temperature maximum E04 Motor overtemperature e Excessive current Lower ambient temperature increase motor cooling Motor wiring error Check motor wiring hcorrectimoior Verify the proper motor has been selected 116 Publication 2
32. 4 DINT R W Number of types to repeat index before executing for index 0 31 B 5 DINT R W US to remain at current position before executing for index 0 B 6 REAL RAN Maximum velocity in UU while in motion for index 0 31 7 REAL R W Maximum acceleration in UU while in motion for index 0 31 B 8 REAL R W Maximum deceleration in UU while in motion for index 0 31 B 9 DINT R W Next index to execute if action so indicates for index 0 31 B 10 DINT R W Action to execute upon completing motion for index 0 31 624 DINT R W Programmable input assignment 625 DINT R W Programmable input assignment 626 DINT R W Programmable input assignment 627 DINT R W Programmable input assignment 628 DINT R W Programmable input assignment 629 DINT R W Programmable input assignment 630 DINT R W Programmable input assignment 631 DINT R W Programmable input assignment 632 DINT W Indexing starts from index specified 633 DINT R Aborts index in progress 634 DINT R Aborts homing in progress 637 DINT R Index currently executing 651 DINT RAW Motor Brake Release delay in ms 652 DINT RAN Motor Brake Engage delay in ms 653 DINT RO Fault E code 654 DINT WO Reset ABS encoder error method 180 Publication 2097 UM001A EN P February 2010 Appendix G Introduction Publication 2097 UM001A EN P February 2010 Using MicroLogix Explicit Messages with Kinetix 300 Drives You can use the MicroLogix CIP Generic MSG instruction also know as
33. 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_COM 47 Programmable output 3 collector OUT3 C 27 Digital input A1 IN A1 48 Programmable output 3 emitter OUT3 E 28 Digital input A2 IN A2 49 Programmable output 4 collector OUT4 C 29 Digital input A3 IN_A3 50 Programmable output 4 emitter OUT4 E Pin Orientation for 50 pin SCSI 1 0 IOD Connector OL Ht fe quo BH BH LL BH BH BH od BH BH BH BH LL 25 B BJ 50 eo Publication 2097 UM001A EN P February 2010 35 Chapter 3 Kinetix 300 Drive Connector Data Motor Feedback MF Connector Pinout MF Pin Description Signal MF Pin Description Signal 1 Sine differential input SIN 9 Reserved AM differential input AM 2 Sine differential input SIN 10 Data differential input DATA differential input AM Index pulse IM 3 Cosine differential input COS 11 Motor thermal switch normally TS differential input BM closed 4 Cosine differential input COS 12 Single ended 5V Hall effect 1 BM differential input BM commutation 5 Data differential input DATA 13 Single ended 5V Hall effect 52 Index pulse IM commutation 6 Common ECOM 14 Encoder power 5V EPWR 5v 2 7 Encoder power 49V
34. Appendix C Introduction sn ve Ea OUT RO hae Da 149 About the Input and Output Assembly 149 Input and Output Assembly 150 Appendix D IBIEOUGCUOD a Lo odit aede tup EE do En AU os 155 Certification oa 8 282 eer 2S PSX ESTATE PS 155 Safety Category 3 Requirements 157 Stop Category Definition 157 Understanding the Kinetix 300 Drive Safe Torque off 157 Description of 158 Safe Torque Connector 159 STO Connector 159 Safe Torque Off Circuit Bypass Instructions 160 Wiring Your Kinetix 300 Drive Safe Torque Off Circuit 161 Publication 2097 UM001A EN P February 2010 Configuring Indexing Parameters Kinetix 300 Drive Tag Numbers Using MicroLogix Explicit Messages with Kinetix 300 Drives Publication 2097 UM001A EN P February 2010 Table of Contents European Union Directives 161 EMG coo qoe d Fixe atn oce e E ied 161 CE CGOBFOPTI CI ov deed Mrs teda 161 Low Voltage Directive 162 Safe Torque Off Wiring Requirements 162 Kinetix 300 Drive Safe Torque Off Wiring Diagrams 163 Functional Proof 164 Troubleshooting the Safe Torque Off Function
35. CE marking of the system becomes the user s responsibility If CE compliance is a customer requirement single phase line filters which have been tested by Rockwell and specified for the product should be used Refer to AC Line Filter Specifications on page 132 for catalog numbers 60 Publication 2097 UM001A EN P February 2010 Connecting the Kinetix 300 Drive System Chapter 4 Grounding Your Kinetix 300 All equipment and components of a machine or process system Drive Publication 2097 UM001A EN P February 2010 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 refer to CE Requirements in Chapter 1 To improve the bond between the Kinetix 300 drive and subpanel construct your subpanel out of zinc plated paint free steel Grounding Your System to the Subpanel ATTENTION The National Electrical Code contains grounding requirements conventions and definitions Follow all applicable local codes and regulations to safely ground your system Refer to the illustration below for details on grounding your Kinetix 300 drive Refer to Appendix B for the power wiring diagram for your Kinetix
36. Connect the MotionView software to one or more drives multiple drives can be connected to a single instance of MotionView Disconnect Disconnect from the currently selected drive Save connection Save the connection information from the currently connected drives to a file If multiple drives are connected connection information for all drives is saved Load connection Load a previously saved connection if multiple drives were saved then multiple drive connections will be opened Print Print the configuration of the selected drive Save configuration Saves the configuration of the currently selected drive to a file Load configuration Copies the configuration from a file into the selected drive Restore defaults Restore factory defaults to all drive parameters Upgrade Upgrade the firmware in the drive Stop Reset Disables and resets faults on the currently selected drive Publication 2097 UM001A EN P February 2010 Configure and Start Up the Kinetix 300 Drive Chapter 5 Configuring Drive Using On the left side of MotionView software is the Drive Organizer The Drive Organizer shows node address for the drives that are currently Kinetix 300 MotionView connected to the software and lists the information for each drive OnBoard Software under the drive node address This section contains a description of the parameters displayed in windows listed in the Drive Or
37. 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 These are the safe torque off STO wiring requirements Wire should be copper with 75 C 167 F minimum rating IMPORTANT The National Electrical Code and local electrical codes take precedence over the values and methods provided Stranded wires must terminate with ferrules to prevent short circuits per table D7 of EN 13849 IMPORTANT Safe Torque Off STO Terminal Plug Safe Torque Off STO Terminal Plug Wiring Safe Torque Off STO Connector Recommended Wire Size Stranded Wire Strip Length Torque Value Pin Signal with Ferrule Wire mm in Nem Ibein mm AWG AWG STO 1 24V DC Control STO 2 Control COM STO 3 Safety Status 704 Safety Input 1 0 75 18 1 5 16 6 0 25 0 2 1 8 STO 5 Safety COM STO 6 Safety Input 2 162 Publication 2097 UM001A EN P February 2010 Kinetix 300 Drive Safe Torque Off Wiring Diagrams External 24V DC Kinetix 300 Drive Safe Torque Off Appendix D Pins STO 1 24V DC Control and STO 2 Control COM 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 IMPORTANT To be su
38. February 2010 Chapter Introduction Understanding Basic Wiring Requirements Publication 2097 UM001A EN P February 2010 Connecting the Kinetix 300 Drive System This chapter provides procedures for wiring your Kinetix 300 system components and making cable connections Topic Page Introduction 53 Understanding Basic Wiring Requirements 53 Grounding Your Kinetix 300 Drive 61 Power Wiring Requirements 63 Wiring Guidelines 65 Wiring the Kinetix 300 Drive Connectors 66 Apply the Motor Cable Shield Clamp 74 Understanding Feedback and 1 0 Cable Connections 75 Wiring 1 0 Connector 77 Wiring Feedback Connector 78 Understanding Shunt Resistor Connections 79 Connecting Your Ethernet Cables 80 This section contains basic wiring information for the Kinetix 300 drive Plan the installation of your system so that you can perform all cutting drilling tapping and welding with the system removed from the enclosure Because the system is of the open type construction be careful to keep any metal debris from falling into it Metal debris or other foreign matter can become lodged in the circuitry which can result in damage to components Tevet avoid hazard of electrical shock perform all mounting and wiring of the Bulletin 2097 drive prior to applying power Once AN power is applied connector terminals may have voltage present even when not in use Chapter 4 54 Con
39. Feedback Combinations Feedback Cable Motor Cat No Feedback Type Pinout Premolded Flying lead MPL A B3xxx M S MPL A B45xxx M S MPL A B3xxx H MPL A B45xxx H 2090 XXNFMF MPM A Bxxxxx M S re EA MPF A Bxxxx M S 2090 CFBM7DF CDAFxx continuous flex MPAR A B3xxxx MPAI A Bxxxx High resolution encoder 76 MPL A B15 xxx V E MPL A B2xxx V E N A MPS A Bxxxx M S 2090 XXNFMF Sxx standard MPAR A B1 and 2 2090 CFBMADF CDAFXx MPAR A B3xxxx continuous flex MPL A B15xxx H tal d MPL A B2 xoc H ncremental encoder T m d igh reso ution encoder 2090 CFBM6DF CBAAxx TLAR Axxxxx standard or page 77 TLY Axxxx H Incremental encoder 2090 CFBM6DD CCAAxx Publication 2097 UM001A EN P February 2010 75 Chapter 4 76 Connecting the Kinetix 300 Drive System Flying lead Feedback Cable Pin outs 2090 XXNFMF S xx or 2090 CFBMxDF CDAFxx Feedback Cable High resolution Feedback Miet Bite ME apay Morar 9V Encoder 5V Encoder 5 V Encoder d 1 Sin Sin AM 1 2 Sin Sin AM 2 3 Cos Cos BM 3 4 Cos Cos BM 4 5 Data Data IM 5 6 Data Data M 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 51 12 16 Reserved Reserved 52 1
40. Keypad Input tae keto Ra qe re pal a e f og 82 Status Indicators oe Detracto aet 83 Configure the Kinetix 300 Drive Ethernet IP Address 84 Ethernet Connection 84 Kinetix 300 Drive Ethernet Port Configuration 84 Obtaining the Kinetix 300 Drives Current Ethernet Settings 85 Configuring the IP Address Manually static address 85 Publication 2097 UM001A EN P February 2010 Troubleshooting the Kinetix 300 Drive System Publication 2097 UM001A EN P February 2010 Table of Contents Configuring the IP Address Automatically dynamic 5 87 Use the Kinetix 300 MotionView OnBoard Tool 89 Kinetix 300 MotionView OnBoard Menu 90 Configuring Drive Using Kinetix 300 MotionView OnBoard Softwate Heme ck e pr lode del C d oen o 91 Drive Identification 91 teu opa ebat de CURAE RAR ay d 91 Generaly Trgi auod dr etie eb e foc Sat etse Dati doa Been to 92 Ethernet Communication 92 Digtal DA ESCAPE PETS 93 cop iret Rae qp qetsk 93 Velocity 4 94 Positi n DIES nmn pee ao eaten e Hoi 94 lbi SED Ile E e DARLES MP MERECE EM DUCERE 95 TANS RAINE oed ut ur decidua ed no of Sa eh aC a 95 HOMINO
41. P February 2010 Publication 2097 UM001A EN P February 2010 Kinetix 300 Drive Connector Data Chapter 3 Analog Reference Input The analog reference input AIN1 and AIN1 IOD 24 and IOD 25 accepts up to a 10V DC analog signal across AIN1 and AIN1 with electrical details shown Analog Signal Input Specifications table on page 49 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 If used 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 ACOM If used in Differential mode the voltage source is connected across AIN1 and AIN1 and the driving circuit common if available is connected to the drive Analog Common ACOM terminal 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 Analog Output The analog output AO on pin IOD 23 has a 10 bit resolution with electrical details shown Analog Output Specifications table on page 50 The analog output is a single ended signal with reference to Analog Common ACOM which can represent the following motor data e Not Assigned e RMS Phase Current e RMS Peak Current e Motor Velocity e Phase Current R e Phase Current S e Phase Current T
42. Power Cables Motor Feedback Cables MP Series and TL Series Electric Cylinders J Lr MPAR Bxxxx electric cylinders shown MP Series and TL Series Rotary Motors i MPL Bxxxx motors shown o MP Series Heavy Duty Electric Cylinders MPAI Bxxxx electric cylinders shown Publication 2097 UM001A EN P February 2010 13 Chapter 1 Start Catalog Number Kinetix 300 drive catalog numbers and descriptions are listed in the Explanation Kinetix 300 Drive Catalog Numbers Cat No EtherNet IP Indexing Servo Drive 120 240V 2097 V31PRO Kinetix 300 120 240V AC 1 0 2 0A 2097 V31PR2 Kinetix 300 120 240V AC 1 4 0 A EtherNet IP Indexing Servo Drive 240V 2097 V32PRO Kinetix 300 240V AC 1 2 0 A with integrated filter 2097 V32PR2 Kinetix 300 240V AC 1 4 0 A with integrated filter 2097 V32PR4 Kinetix 300 240V AC 1 8 0 A with integrated filter 2097 V33PR1 Kinetix 300 240V AC 1 or 3 2 0 A 2097 V33PR3 Kinetix 300 240V AC 1 or 3 4 0 A 2097 V33PR5 Kinetix 300 240V AC 1 or 3 8 0 A 2097 V33PR6 Kinetix 300 240V AC 1 or 3 12 0 A EtherNet IP Indexing Servo Drive 480V 2097 V34PR3 Kinetix 300 480V AC 3 2 0 A 2097 V34PR5 Kinetix 300 480V AC 3 4 0 A 2097 V34PR6 Kinetix 300 480V AC 3 6 0 A Kinetix 300 Drive Accessories Catalog Numbers Cat No Drive Components 2097 Fx AC Line Filters 2097 TB1 Terminal blo
43. XX AM 2 C W GND 3 RED BM 113 lt V Three phase 4 WHT RED BM 4 A lt u Motor Power 5 GREEN IM 5 onec AERE RR CC IE 2090 K2CK D15M shown Feedback 10 WHT GRAY XX ECOM 6 gt gt 1 gt OBANGE Thermostat 3 S weronwwcE XX TS 11 4 BLUE TS 5 ui WHT BLUE XX Si 12 Exposed shield Ma Motor Brake 6 YELLOW 52 13 under clamp 7 WHT VELLOW __ 3 8 2 COM Clamp Screws 2 Refer to low profile connector Turn clamp over to hold i illustration lower left small cables secure for proper grounding technique S77 2090 XXNFMF S xx non flex 2090 CFBM xDF CDAF xx continuous flex flying lead Feedback Cable Note 9 Publication 2097 UM001A EN P February 2010 141 Appendix B Interconnect Diagrams Kinetix 300 Drive 230V Wiring Example with TL Series TLY A Motors Refer to table on page 136 for note information 2097 V3xPRx Kinetix 300 Drive TLY Axxxx H 230V Servo Motors with Incremental Feedback 2090 CPBM6DF 16AAxx Motor Power and Brake Cable Note 9 10 Use 2090 CPWMGDF 16AAxx cable for non brake applications 2090 K2CK D15M 0 2 Three phase Connector Kit 4 Green Yellow 5 lt Motor Power B Mec EX a 3 Motor Power 3 Blue 3 lt W GND BLACK AM 1 4 MP Connector 2 Black 2 lt lt
44. and Output refer to the point of view of the scanner Assembly 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 the controller using RSLogix 5000 software is a scanner device The drive contains EtherNet IP Assembly Object Instances that pertain to the following RSLogix 5000 connection parameters e Input actual values such as actual velocity actual position e Output enable and reference value going to the drive e Index Configuration see Appendix E on page 167 Assembly instances are accessible using Class 3 explicit messages as well as the Class 1 I O messaging Publication 2097 UM001A EN P February 2010 149 Appendix Input and Output Assembly Kinetix 300 drive parameters are modifiable using Explicit Messaging The system object to which the Explicit Messages is directed to is described in the following table Kinetix 300 Drive Object Attribute Value Comment Service type Get Attribute Single Service code hex Set Attribute Single Service code 0x10 hex Class 374 Hex Instance ID tag from Appendix F 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 using Explicit Messaging the Set Attribute Single message instruction is directed at this cl
45. digital input to perform an active transition Example of Wait for Start Index Action Hold zero velocity until Start Index command Velocity Publication 2097 UM001A EN P February 2010 Configuring Indexing Parameters Appendix E Next Index This action immediately moves to the next index as defined by the Next Index parameter Example of Next Index Action Dwell Time at zero velocity Velocity Index 1 Index 2 Start Index During powerup the Kinetix 300 drive is can do one of the following e Automatically start the indexing program upon enabling of the drive e Waiting for a digital input transition before starting the index e 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 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 OnBoard software interface Publication 2097 UM001A EN P February 2010 171 Appendix E Configuring Indexing Parameters Start Inde
46. dissipation such as fans or air conditioning either of the following approximate equations can be used Metric _ 0380 7 187 14 Standard English 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 m2 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 fd The exterior surface of all six sides of an enclosure is calculated as 2dw 2dh 2wh 20 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 system is 40 C 104 F and if the maximum environmental temperature is 20 C 68 F then Q 416 and T 20 in the equation below 0 38 416 453 m2 In this example the enclosure must have an exterior surface of 4 53 m If any portion of the enclosure is not able to transfer heat it should not be included in the calculation 20 Publication 2097 UM0011A EN P February 2010 Installing the Kinetix 300 Drive System Chapter 2 Since the minimum cabinet depth to house the 230V drive selected for this example is 200 mm 7 9 in then the cabinet needs to be ap
47. explicit message capability of the MicroLogix 1100 Series B and MicroLogix 1400 controllers to read and write to the Kinetix 300 drive tags using EtherNet IP For a list of Kinetix 300 drive tags see Appendix F There are three data types for these tags DINT REAL and string The MicroLogix drive uses long file elements such as L12 0 for DINTS floating point file elements such as F13 0 for Real and string file elements such as ST14 0 for strings The attribute value is used to designate the data format DINT REAL or string and memory location volatile or nonvolatile as shown in the following table Attribute Value and Properties Attribute Format Memory StoredIn _ 0 DINT Volatile 1 DINT Nonvolatile 2 REAL Volatile 3 REAL Non volatile 4 String Volatile 5 String Nonvolatile Explicit messaging allows DINTs to be read into and written from long file elements directly and Real to be read into and written from floating point file elements directly Strings 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 Examples of each of these are shown in the pages that follow IMPORTANT For each CIP Generic message MSG instruction you must use both a unique message file element for example MG9 0 and a unique extended routing informati
48. handle high current inrush as Specifications cleans 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 Bussman 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 Fusing and Circuit Breakers Main VAC Cat No Allen Bradley Circuit Breaker 1 Bussman Fuse ee Magnetic Contactor 2097 V31PRO 2097 V31PR2 TINTE KTK R 20 20A 1492 SP3D300 140M F8T C32 2097 V32PR2 2097 V32PR4 LPJ 45SP 45A 1492 SP3D400 140M F8E C45 2097 V33PR1 2097 V33PR3 KTK R 20 20A 1492 SP3D300 140M D8T C20 2097 V33PR5 2097 V33PR6 KTK R 30 30A N A 140U F8T C32 2097 V34PR3 2097 V34PR5 KTK R 20 20A 1492 SP3D400 140M F8T C32 2097 V34PR6 1 When using Bulletin 1492 circuit protection devices the maximum short circuit current 2 Use fully rated short circuit protection circuit breaker for device branch circuit protection only 3 Fully rated breaker for overload current and short circuit rating Publication 2097 UM001A EN P February 2010 127
49. m eans the drive has captured a registration event and position IndexingStatus A non zero value in this field m drive eans the drive is currently operating out of the indexing table within the MotionComplete A non zero value in this field m eans the drive has completed a position based move PositiveOvertravellnput A non zero value in this field m eans the positive overtravel input to the drive has been asserted NegativeOvertravellnput A non zero value in this field m eans the negative overtravel input to the drive has been asserted HomingStatus A non zero value in this field m the MotionView software eans the drive is currently homing as configured by the Homing section of AxisHomedStatus A non zero value in this field m eans the drive has been successfully homed VelocityStandstillStatus A non zero value in this field m eans the drive is within the configured tolerance for being at zero velocity VelocityLockStatus A non zero value in this field m velocity eans the drive is within the configured tolerance around the commanded PowerStructureEn A non zero value in this field m the motor eans the drive power structure is currently enabled and providing current to DigitallnputA1Status A non zero value in this field m eans this digital inp ut on the drive is c urrently asserted DigitallnputA2Status A non zero value in this field m
50. motor feedback cables are available in standard lengths up to 90 m 295 3 ft the maximum feedback cable length for connecting motors or actuators to a Kinetix 300 drive is 20 m 65 6 ft Publication 2097 UM001A EN P February 2010 129 Appendix A Specifications and Dimensions Certification 1 Kinetix 300 Drive Weight Specifications Kinetix 300 Drive Value approx Cat No kg Ib 2097 V31PRO 3 2 86 2097 V31PR2 5 3 31 2097 V32PRO 1 4 3 09 2097 V32PR2 1 7 3 75 2097 V32PR4 2 2 4 85 2097 V33PR1 1 3 2 86 2097 V33PR3 1 5 3 31 2097 V33PR5 2 0 4 41 2097 V33PR6 1 9 4 19 2097 V34PR3 1 5 3 31 2097 V34PR5 2 0 4 41 2097 V34PR6 1 8 3 97 Certifications Standards when product is marked c UL us UL Listed to U S and Canadian safety standards UL 508 C File E59272 CE European Union 2004 108 EC EMC Directive compliant with EN 61800 3 2004 Adjustable Speed Electrica including specific test meth Power Drive Systems Part 3 EMC Product Standard ods European Union 2006 95 EC Low Voltage Directive compliant with e EN 61800 5 1 2003 Sa ety of Machinery Electrical Equipment of Machines e EN 50178 1997 Electronic Equipment for use in Power Installations Functional Safety e EN 60204 1 1997 Safe y of Machinery Electrical Equipment of Machines e 61508 Part 1 7 2000 Functional Safety of Electrical Electronic Program
51. motor travels beyond the position when a registration digital input is detected Registration Index Type Registration 2 D gt Registration Distance Position Blended If the indexing configuration Type is set to Blended the acceleration and deceleration parameters are not programmable but calculated internally by the drive based upon distance and velocity between the two points of the move The full profile is assembled by stitching together a sequence of positions and velocities rather than complete move operations The index table simply contains the position and velocities necessary to assemble the profile Example of Blended Indexing Index 1 Index 2 Index 3 Index 4 Velocity Position Publication 2097 UM001A EN P February 2010 169 Appendix E 170 Configuring Indexing Parameters Action Parameter The Action parameter can be set to be one of the following Stop e Wait for Start e 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 Kinetix 300 drive begins executing the index in the Index system parameter 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
52. 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 2 32 bit floating point Volatile 3 32 bit floating point Nonvolatile 4 String Volatile 5 String Nonvolatile 110 Publication 2097 UM001A EN P February 2010 Configure and Start Up the Kinetix 300 Drive Chapter 5 Configuring Drive Mode Using Explicit Messaging Publication 2097 UM001A EN P February 2010 The following Kinetix 300 drive modes can be set via explicit messaging e Master Gearing e 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 OnBoard software For Indexing mode see page 167 Master Gearing Parameter Name M Description OperationMode 266 Set to Master Encoder Master system ratio M2SRatioMaster 13 Master counts range 32767 32767 Master to system ratio M2SRatioSystem 80 System counts range 1 32767 Enable switch function EnableSwitchType 29 0 Inhibit only 1 Enable as soon as asserted Step and Direction Parameter Name i RR Description OperationMode 266 Set to Step and Direction Master system ratio M2SRatioMaster 7 Master counts range 32767 32767 Enable switch function EnableSwitchType 29 0 Inhibit only 1 Enabl
53. off STO e Reset error and run proof test HW Fit motion connector e f error persists return the drive to e Safe torque off circuit missing Rockwell Automation 24V DC The safe torque off fault E67 is detected upon demand of the safe torque off function After troubleshooting a proof test must be performed to verify correct operation ATTENTION l 164 Publication 2097 UM001A EN P February 2010 Safe Torque Off Signal Specifications Publication 2097 UM001A EN P February 2010 Kinetix 300 Drive Safe Torque Off Appendix D The following tables provide specifications for the safe torque off signals used in the Kinetix 300 drives Specifications for the ENABLE signals are described in this table Safe Torque Off Enable Signal Specifications Attribute Safety inputs Value 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 KQ Safety status Isolated Open Collector Emitter is grounded Output load capability 100 mA Digital outputs max voltage 30V DC 165 AppendixD Kinetix 300 Drive Safe Torque Off Notes 166 Publication 2097 UM001A EN P February 2010 Appendix E Configuring Indexing Parameters j Use this appendix when setting up the drive to run in Index mode niroduction PP p Topic Page Introduction 167 About Kinetix 300 Drive Indexing
54. position 210 REAL R W Actual position 211 REAL R Position error 216 DINT R W Positive Software limit switch value in Encoder counts 217 DINT R W Negative Software limit switch value in Encoder counts 218 DINT R W Soft limit switch action code 219 REAL R W Positive Software limit switch value in User Units 220 REAL R W Negative Software limit switch value in User Units 227 REAL R W Homing Mode ACCEL rate 228 REAL R W Homing Mode Home Position Offset 229 DINT R W Homing Mode Home Position Offset in encoder counts 230 REAL R W Homing Mode Fast Velocity 231 REAL R W Homing Mode Slow Velocity 232 DINT R W Homing Mode Homing Method 234 DINT R W Homing Mode Home Switch Input Assignment to a physical input 249 DINT R W Datalink A for input assembly 250 DINT R W Datalink B for input assembly 251 DINT R W Datalink C for input assembly 252 DINT R W Datalink D for input assembly 253 DINT R W Datalink A for output assembly 254 DINT R W Datalink B for output assembly 255 DINT R W Datalink C for output assembly 256 DINT R W Datalink D for output assembly 264 DINT R W TCP reply delay value 178 Publication 2097 UM001A EN P February 2010 Kinetix 300 Drive Tag Numbers continued Kinetix 300 Drive Tag Numbers Appendix F ID Data Type Access Description 266 DINT RAN Sets the mode of operation for the drive 267 DINT RAN Enable Auto Start index function for
55. 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 Motor Power Cable the full length of the motor pigtail if necessary but it is best to connect the supplied wire directly to ground without lengthening Pigtail Terminations Cable Braid Clamped to Machine Frame Connectors Pigtail Cable Machine Frame DOOM AS TL Series Motor 1 1 Remove paint from machine frame to ensure proper HF bond between machine frame and motor case shield clamp and ground stud Motor Power Cable Compatibility Motor Power Cables Motor Power Cables Motor Actuator Connector Motor Actuator Cat No with brake wires without brake wires 2090 XXNPMF xxS xx standard 5 2 MPL A B15xxx and MPL A B2xxx or 2090 CPBM4DF xxAFxx Paes AREE continuous flex continuous flex MP Series Bulletin MPL 2090 Sx standard XXSxx standart MPL A B3xxx MPL A B4xxx 2090 CPRM DEF tl 2090 CPWM7DF xxAFxx MPL A B45xxx MPL A B5xxx continuous flex continuous flex MP Series Bulletin MPS MPS A Bxxxx 2090 XXNPMIF xxSxx standard XXSxx standar MP Series Bulletin MPAS Circular DIN apas A Bxxxx or 2090 CPBM
56. 00 drive system components Topic TPage Introduction 123 Kinetix 300 Drive Power Specifications 124 Circuit Breaker Fuse Specifications 127 Power Dissipation Specifications 129 General Specifications 129 AC Line Filter Specifications 132 Shunt Resistor Specifications 133 Product Dimensions 134 Publication 2097 UM001A EN P February 2010 123 Appendix A Specifications and Dimensions Kinetix 300 Drive Power This section contains power specifications for your Kinetix 300 drive Specifications system components The 2097 V31PRx drives are capable of driving 240V motors at full speed Kinetix 300 Drive single phase Power Specifications Attribute 2097 V31PRO 2097 V32PR4 AC input voltage 120 240V rms single phase 240V rms single phase AC input frequency 48 62 Hz Main AC input current 1 Nom rms 120V input 97A 16 8A Max inrush 0 pk 120V input 2 3 A 2 3A Nom rms 240V input 50A 8 6 A 50A 8 6 A 150A Max inrush 0 pk 240V input 1 1A 136 23 23 Integrated AC line filter No No Yes Yes Yes Control power backup input voltage 20 26V DC Control power backup input current Nom 500 mA Max inrush 0 pk 30A Continuous output current rms 20A 40A 20A 40A 80A Continuous output current 0 pk 28A 57A 28A 57A 11 3A Peak output current rms 2 6 0A 12 0 A 6 0 A 12 0 A 24 0 A Peak output current 0 85A 17
57. 097 UM001A EN P February 2010 Error Codes continued Error Troubleshooting the Kinetix 300 Drive System Chapter 6 Code Anomaly Possible Cause Action Solution e Check wiring E06 Hardware overtravel Dedicated overtravel input is inactive 3 e Verify motion profile e Check motor encoder wiring E07 Feedback lost The feedback wiring is open shorted e Ensure that motor is recognized or missing from drive s Web based configuration motor screen e Verify voltage level of the incoming AC power E09 Bus undervoltage Low AC line AC power input Check AC or line drop e Install an uninterruptible power supply UPS on your AC input Excessive regeneration of power e Change the deceleration or motion profile ae e Use a larger system motor and When the motor is driven by an Kinetix 300 drive external mechanical power source it En E10 Bus overvoltage may regenerate too much peak energy Use a resistive shunt through the Kinetix 300 drives power e Ifa shunt is connected verify the supply The system faults to save itself wiring is correct from an overload Excessive AC input voltage Verify input is within specifications Incorrect phasing Check the Hall phasing E11 Illegal Hall state Verify the Hall wiring Bad connections e Verify 5V power supply to the encoder e Check wiring Home sensor and or marker is outside 2 g 2 12 Home search failed ihe overir
58. 0A 85A 170A 39 9A Continuous power output 0 40 kW 0 80 kW 0 40 kW 0 80 kW 1 70 kW Shunt On 390V DC 780V DC Shunt Off 375V DC 750V DC Overvoltage 430V DC 850V DC Short circuit current rating 100 000 A rms symmetrical 1 Kinetix 300 drive modules are limited to 1 AC mains power cycling per minute 2 Peak RMS current allowed for up to 2 seconds with a 5096 duty cycle 124 Publication 2097 UM001A EN P February 2010 Specifications and Dimensions Appendix A Kinetix 300 Drive single phase and three phase Power Specifications Attribute 2097 V33PR1 2097 V33PR6 AC input voltage 120 240V rms single phase or three phase AC input frequency 48 62 Hz Main AC input current 1 om rms 120V input 50 8 6 A 15 0 A 24 0 A Max inrush 0 pk 120V input 136 A 2 3 A 23A 113A om rms 240V input 3 0A 5 0A 8 7A 13 9A Max inrush 0 pk 240V input 136A 23A 23A 11 3A Integrated AC line filter No No No No Control power backup input voltage 20 26V DC Control power backup input current Nom 500 mA Max inrush 0 pk 30A Continuous output current rms 20A 40A 8 0A 12 0A Continuous output current 0 pk 28A 57A 113A 17 0 A Peak output current rms 2 6A 12A 24 36A Peak output current 0 pk 85A 17 0A 33 9A 50 9A Continuous power output 0 50 kW 1 00 kw 2 00 kW 3 00 kW Shunt On 390 V DC Shunt Off 375V DC Overvoltage 430V DC Short circuit current rating 100 000 A rms symme
59. 100 1 0 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 Brake Resistor and DC Bus 5 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 Chapter 3 33 Chapter 3 34 Kinetix 300 Drive Connector Data Safe Torque off Pinout The Kinetix 300 drive ships with the 6 pin wiring plug header that connects to 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 Appendix D starting on page 155 to wire the drive with motion allow jumpers Safe Torque off Connector Bottom view of the Kinetix 300 drive 2097 V33PR5 drive is shown Safe Torque off STO Connector Wiring Plug Header Kinetix 300 Drive Safe Torque off STO Connector STO Pin Description Signal 1 241 DC output from the drive 24V DC control 2 24V DC output common Control COM 3 Safety status Safety Status 4 Safety input 1 424V DC to enable Safety Input 1 5 Safety common Safety COM 6 Safety input 2 24V DC to enable Safety Input 2 Pins STO 1 24V DC Control and STO 2 Control COM 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 24
60. 164 Safe Torque Signal 5 165 Appendix E TN ET 167 About Kinetix 300 Drive Indexing 167 Indexing 168 Registration 169 Blended aue gea PES Re ak RL 169 ACTOR Parameters s oor HA hk Raha 170 ys gt stds Gack teary and db oes d eda dto s ets 171 AOU NICs me os PAN ARA Sp ERES Gi Sa 172 Explicit Messages for Indexing ew 173 Appendix F ice arp uted PC il ee oq eed uini 175 Appendix G TOU OCHC HORIS ure atat GU ACA GR e con ACE hi ORE ES 181 Index 7 Table of Contents Notes 8 Publication 2097 UMO001A EN P February 2010 Preface About This Publication Who Should Use This Manual Conventions Used in This Manual Publication 2097 UM001A EN P February 2010 This manual provides detailed installation instructions for mounting wiring and troubleshooting your Kinetix 300 drive and system integration for your drive motor combination with a Logix controller This manual is intended for engineers or technicians directly involved in the installation and wiring of the Kinetix 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 Automati
61. 2097 UM001A EN P February 2010 This procedure assumes that you have wired and configured your Kinetix 300 drive system and your Ethernet IP interface module avoid hazard of electrical shock perform all mounting and wiring of the Bulletin 2097 drive prior to applying power Once A power is applied connector terminals may 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 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 Apply 24V DC back up power to the drive BP connector Apply 195 265V AC 230 or 324 528V AC mains input power to the drive IPD connector Is from 24V DC back up power Mains input power 3 Apply 195 265V AC 230V or 324 528V AC 460V mains input power to the Kinetix 300 drive IPD connector Observe the four character status indicator Four Character Status Indicator C WD Bx Comm Activity Status Indicator If the status indicator is Then diS Go to step 5 Blank Go back to main step 2 If Your Logic Power Apply 195 265V AC 230 or 324 528V AC mains input power to the drive IPD connector Mains input power Go to step 6 Is fr
62. 2097 V34PR5 2097 V34PR6 2097 V31 PR2 2 5 14 7 0 28 2097 V33 72 PRG 4 0 12 0 5 4 5 Publication 2097 UM001A EN P February 2010 Publication 2097 UM001A EN P February 2010 Connecting the Kinetix 300 Drive System Chapter 4 Wiring the Shunt Resistor If you are using a shunt resistor in your system wire it to the BC connector using instructions found in the Kinetix 300 Shunt Resistor Installation Instructions publication 2097 13002 Brake DC Bus BC Connector Kinetix 300 Drive Front view is shown Brake DC Bus BC Connector 73 Chapter4 Connecting the Kinetix 300 Drive System Apply the Motor Cable This de assumes MP connector and are ready to apply the cable shield clamp Shield Clamp pem Follow these steps to apply the motor cable shield clamp 1 Locate a suitable position for installing cable shield clamp within 100 150 mm 2 3 in of the drive lt gt Motor Power Shield Clamp 2k 1 0 4 12 7 340 1 34 0 50 100 150 Dimension are in mm in 2 3 2 3 d SS If panel is painted remove paint provide metal to metal contact 2 Layout and drill holes for cable clamp 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 ty
63. 3 17 Reserved Reserved S3 8 Publication 2097 UM001A EN P February 2010 Connecting the Kinetix 300 Drive System 2090 CFBM6DF CBAAxx Feedback Cable Chapter 4 Rotary Motor High Resolution Incremental Feedback Drive MF Connector Pin TLY Axxxx H Connector Pin 6 BAT Reserved BAT 9 AM 1 10 AM 2 Reserved Tm 7 12 BM 4 13 DATA IM 5 14 DATA IM 10 15 S1 12 17 Reserved S2 13 19 S3 8 22 EPWR 5V EPWR 5V 14 23 ECOM and BAT ECOM 6 24 Shield Shield Connector housing Wiring 1 0 Connector Connect your I O wires to the IOD connector using a 2097 TB1 I O Terminal Expansion Block Wiring and installation instructions are found in the Kinetix 300 I O Terminal Expansion Block Installation Instructions publication 2097 1005 Kinetix 300 Drive IOD connector and terminal block 30 2097 TB1 1 0 Terminal Expansion Block 40 50 GND Publication 2097 UM001A EN P February 2010 E 1 0 100 BONS Connector 71 Chapter4 Connecting the Kinetix 300 Drive System Wiring Feedback Connector Wiring Low profile Connector Kit These procedures assume you have mounted your Kinetix 300 system completed all power wiring and are ready to connect your feedback The 2090
64. 3 Tighten all mounting fasteners Publication 2097 UM0011A EN P February 2010 Chapter J Kinetix 300 Drive Connector Data Introduction This chapter provides power feedback and I O connector locations and signal descriptions for your Kinetix 300 drive Topic 7 70 Page Introduction 31 Kinetix 300 Drive Connectors and Indicators 32 Understanding Motor Feedback Specifications 38 Understanding Control Signal Specifications 44 Publication 2097 UMO001A EN P February 2010 31 Chapter 3 Kinetix 300 Drive Connector Data Kinetix 300 Drive Connectors and Indicators Front Panel View 2097 V33PR5 Kinetix 300 drive is shown Q a 11 D B fe 10 A MEM AI Kinetix 300 Qe 9 L E COMM ACTIVITY n za DANGER SHOCK HAZARD o HY 5 I f B E IBS PE O pel a Although the physical size of the 460V modules is larger than the 230V modules the location of the connectors and indicators is identical Kinetix 300 Drive Connector and Indicators Item Description 1
65. 39 interconnect diagram 120V single phase input power 137 240V single phase input power 138 interconnect diagrams 2097 with MPL MPF MPS motor 141 notes 136 shunt resistor 140 ISO 13849 1 CAT 3 requirements 157 stop category definitions 157 L linear stage 143 low profile connector kits wiring 78 low voltage directive 162 maintenance troubleshooting 116 master gearing 92 105 106 111 147 ratio 106 maximum fdbk cable length 129 specifications 129 mode analog velocity 146 current 146 step and direction 146 module properties Ethernet module 99 motors brake wiring 73 feedback pin outs 76 ground termination 68 interconnect diagram MPL MPF MPS 141 power wiring 3 phase and brake 71 3 phase only 70 TL Series 69 shield clamp wiring 74 Publication 2097 UM001A EN P February 2010 testing 102 thermal specifications 39 tuning 102 mounting Kinetix 300 drive 30 torque mounting hardware 30 MPL motor 142 noise 25 0 operation 158 understanding 157 P panel requirements 18 pin outs motor feedback connector 76 power supply feedback 43 power up 101 proof tests 164 publications related 10 related publications 10 requirements clearance 21 RJ45 Ethernet connector 80 routing power and signal wiring 54 RSLogix 5000 software 97 S safe torque off feature connector location 159 safe torque off wiring 66 safe off feature operation 158 proof tests 164 understanding operation 157 wiring requirem
66. 90 CPWMEDF 16AAxx cable for non brake applications TLAR Axxxx 230V Servo Motors with High Resolution Feedback Refer to table on page 136 for note information Three phase ae ee oN RE Motor Power 2 i 4 N Green Yellow 5 3 Motor Power W 3 Blue 3 M 4 MP Connector 2 Black 2 onnector Kit u U Brown 1 y p Brown DATA N 5 7 Motor Feedback TA WHT BROWN XX DATA 10 8 s gt GRAY 5VDC 14 Feedback Q uev ECOM 6 10 5 ORANGE BAT BAT i WHT ORANGE XX BAT BAT Wy WA ee SHIELD 13 eese ee 14 i Refer to low profile connector 15 M V illustration lower left P RN for proper grounding technique 2090 CFBM6DF CBAAxx flying lead 2090 CFBM6DD CCAAxx with drive end connector 1 0 100 OUT4 E Feedback Cable Connector ej Cable Note 9 Note 4 OUT4 C Shield Clamp Note 7 24N DC 24N DC COM User Supplied 24V DC Grounding Technique for Feedback Cable Shield Exposed shield secured under clamp Clamp Clamp Screws 2 Low Profile Connector 2090 K2CK D15M shown high resolution 17 bit encoders Turn clamp over hold small cables secure Publication 2097 UM001A EN P February 2010 3 6V battery 2090 DA BAT2 only required for use with T
67. ADF xxAF xx a i aad continuous flex continuous flex MP Series Bulletin MPAR MPAR A B1xxx and MPAR A B2xxx MP Series Bulletin MPM MPM A Bxxxx Serj i 3 2090 XXNPMF xxS xx standard MP Series Bulletin MPF MPF A Bxxxx 2090 CPWM7DF oA Fc MP Series Bulletin MPAR MPAR A B3xxx continuous flex continuous flex MP Series Bulletin MPAI MPAI A Bxxxx TL Series Bulletin TE Circular 2090 CPBM6DF 16AAxx 2090 CPWMEDF 16AAxx TL Series Bulletin TLAR Plastic TLAR A Bxoox standard standard 1 For motors with circular DIN connectors either 2090 CPXM7DF XxAFxx 2090 CPxM4DF xxAFxx or 2090 XXNPMF xxSxx cables are compatible However you must remove the motor side o ring when using 2090 CPxM7DF xxAFxx cables Publication 2097 UM001A EN P February 2010 69 Chapter4 Connecting the Kinetix 300 Drive System The following 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 Refer to Kinetix 300 Drive Rotary Motor Wiring Examples beginning on page 141 for interconnect diagrams Motor Power Terminations three phase wires only _ N m zz W ei Motor Power MP Connector Plug DS o O o Motor Cable Shield Clamp Kinetix 300 Drive L3 ELI ES EHI I The cable shield clamp shown above is mounted to th
68. EN P February 2010 Analog Current Parameter Name OperationMode Tag Number 266 Description Se 0 Analog Current CurrentScale 35 Range 1 2 1 2 A V Analoglnput Deadband 89 Analog input dead band Applied when used as a velocity reference Range 0 100 mV Analoglnput1 Offset 90 Analog input offset Applied when used as current velocity reference Range 10 000 10 000 AnalogOutFunction 85 Analog output function Range 0 8 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 19 current 8 Id current AnalogOutCurrentScale 87 Analog output scale for current related quantities Range 0 10V A EnableSwitchType 29 Enable switch function 0 Inhibit only 1 Enable as soon as asserted 113 Chapter 5 Configure and Start Up the Kinetix 300 Drive Notes 114 Publication 2097 UM001A EN P February 2010 Chapter 6 Troubleshooting the Kinetix 300 Drive System Introduction This chapter provides a description of maintenance and troubleshooting activities for the Kinetix 300 drive Topic Page Safety Precautions 115 General Troubleshooting 116 Clearing Faults 120 Safety Precautions Observe the following safety precautions when troubleshooting your Kinetix 300 drive ATTENTION A Publi
69. Ground lug 2 Status and diagnostic display 3 Display control push buttons 3 4 Back up power BP connector 5 Shunt resistor and DC bus BC connector 6 Bottom mounting flange 7 Motor feedback MF connector 8 1 0 IOD connector 32 Top View 2097 V33PR5 Kinetix 300 drive is shown E E 2 nooo lg 3 3mm li 12 p 4 010 5 13 png 14 Bl AE BGB i Ej m Bottom View 2097 V33PR5 Kinetix 300 drive is shown Item Description 9 Ethernet communication port Port 1 0 Memory module 11 Top mounting flange 2 Mains IPD connector 13 Motor power MP connector 4 Safe torque off STO connector 15 Heat sink on some models Publication 2097 UM001A EN P February 2010 Publication 2097 UM001A EN P February 2010 Kinetix 300 Drive Connectors Kinetix 300 Drive Connector Data Designator Description Connector IPD AC input power 4 position plug header PORT1 Ethernet communication port RJ45 Ethernet
70. Homing Motor Analog IO Ethernet Limits Dynamics EtherNet IP CIP EE EH EH EH EH EH EH EH EH Cancel Select a parameter from within the tree structure and click Add M Diagnostic 10 91 84 224 Iie Variable Name 3 SerialNumber Hexadecimal Decimal 0x0209DD64 34200932 0000 C Set on Inputs 1 4 Inputs B1 B4 Inputs C1 C4 Outputs 1 4 109 Chapter 5 Configure and Start Up the Kinetix 300 Drive Tools for Changing Parameters Some parameters are accessible through RSLogix 5000 software The alternative is to use Explicit Messaging from the Ethernet module To change parameters using Explicit Messaging follow these steps 1 Create a Set Attribute Single MSG instruction in the ladder logic program Message Configuration SetHomeMethodMSG Configuration Communication Tag Message Type Ee Set Attribute Single Source Element HomingMethod Generic Service Code 10 Hex Class 374 Instance 232 Attribute Source Length 1 ES Bytes New Tag Q Enable Q Error Code Error Path Error Text Enable Waiting Start Extended Error Code Done Done Length 0 Timed Out 2 Use a Class value of 374 Hex 3 Use the ID of the parameter as listed in Appendix F as the Instance 4 Use the Attribute value to reflect the format
71. Indexing mode when drive becomes enabled 268 DINT RAN Upon change from 0 to 1 the drive begins executing index 269 DINT W Value in this tag must change before time out time is reached otherwise the fault action is initiated 270 DINT RAN Enable of the communication watchdog function 271 DINT R W Time out value in milliseconds between 10 and 1000 Indexing section There are 11 tags per index 32 Indexes total Index Base Address B Index 0 272 Index 1 283 Index 2 294 Index 3 305 Index 4 316 Index 5 327 Index 6 338 Index 7 349 Index 8 360 Index 9 371 Index 10 382 Index 11 393 Index 12 404 Index 13 415 Index 14 426 Index 15 437 Index 16 448 Index 17 459 Index 18 470 Index 19 481 Index 20 492 Index 21 503 Index 22 514 Index 23 525 Index 24 536 Index 25 547 Index 26 558 Index 27 569 Index 28 580 Index 29 591 Index 30 602 Index 31 622 B 0 DINT R W Index move type of absolute incremental registration or blended incremental for index 0 31 B 1 DINT R W S Curve or Trapezoidal move for index 0 31 Publication 2097 UM001A EN P February 2010 179 AppendixF Kinetix 300 Drive Tag Numbers Kinetix 300 Drive Tag Numbers continued ID Data Type Access Description B 2 REAL R W Maximum distance to move for index 0 31 B 3 REAL R W Relative distance to move after registration event for registration types for index 0 31 B
72. Information Status Indicator Description Current drive status run drive running diS drive disabled EXX Drive Stat fault Where XX is the fault code Hx xx Hardware revision For example H2 00 Px 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 015 boot 0 autostart disabled 1 autostart enabled dHCP Ethernet DHCP Configuration 0 dHCP is disabled 1 dHCP is enabled IP 1 First octet of the IP address IP 2 Second octet of the IP address IP 3 Third octet of the IP address IP 4 Fourth octet of the IP address changeable Publication 2097 UM001A EN P February 2010 Configure and Start Up the Kinetix 300 Drive Chapter 5 Publication 2097 UM001A EN P February 2010 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 used to monitor the system status activity and troubleshoot faults Front
73. 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 high resolution motors with 17 bit encoder require a 3 6V battery purchased separately catalog number 2090 DA BAT2 Kinetix 300 Drive MF connector Kinetix 300 Drive Front View 2097 V33PR5 drive is shown Motor Feedback MF Connector Kinetix 300 Drive Side View 2097 V33PR5 drive is shown 2090 K2CK D15M Connector Kit with flying lead feedback cable Wiring 15 Pin Flying lead Feedback Cable Connections 2090 K2CK D15M Connector Kit taam R Foil Shield gt Screws Braided Shield Outer Insulation Bulletin 2090 Feedback Cable Low Profile Connector Kit 2090 K2CK D15M 7 IES Exposed Braid Under Clamp GI Turn clamp over hold small wires secure 27 78 0 15 14 13 12 1110987654321 15 e Motor Feedback Low profile Connector Pin 10 5 Pin 15 Pin 11 C
74. Kinetix 300 EtherNet IP Indexing Servo Drives Catalog Numbers 2097 V31PR0 2097 V31PR2 2097 V32PRO 2097 V32PR2 2097 V32PR4 2097 V33PR1 2097 V33PR3 2097 V33PR5 2097 V33PR6 2097 V34PR3 2097 V34PR5 2097 V34PR6 User Manual Allen Bradley 23 E M i T E 4 Ld Rockwell 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 liabi
75. LS Shield 77 Clamp Note 7 ndicates User Supplied Component 137 Appendix B Interconnect Diagrams Single phase AC Input Kinetix 300 Drive Wiring Example 240V single phase input power Refer to table on page 136 for note information 2097 V31PRx and 240V AC RMS 50 60 Hz 2097 V33PRx D t Notes 1 2 Kinetix 300 Drive Pasisir Shunt Resistor Fuse Disconnect or Circuit Breakers and DC Bus BC BR Bonded Cabinet Ground Bus Ground Stud Connector ea User supplied Isolation Bulletin2097 Bs Mains 424V DC Transformer o m AC Line Filter Single phase Backup 2v Dc lt i Power BP Optional u Input IPD bii Com MM Je r T1L 1 Connector Three phase MI Motor Power Notes 5 6 Connections 2 u Note 9 5 vu Motor Power sTo al L2 N MP Connector yMotor o PE 29 Use discrete logic or 78 EN PLC to control Cable ENABLE to drive and rie I I Shield monitor RDY signal 41 7 Clam back from drive c 42 BOY Note T lt RDY 138 Refer to Attention statement Note 8 Indicates User Supplied Component Publication 2097 UM001A EN P February 2010 Interconnect Diagrams Appen
76. LY Axxxx B motors 145 Appendix B Interconnect Diagrams 146 Kinetix 300 Drive Micrologix Controller Wiring Examples The Kinetix 300 drive accepts unipolar or bipolar inputs Kinetix 300 Drive Wiring Example to MicroLogix Controller Analog Velocity or Current Control Mode 2097 V3xPRx MiroLogix 1400 Kinetix 300 Drive Controller 1766 L32BXB 1766 L32BXBA 1 0 100 DIRECTION 3 05 Digital DIRECTION 4 7 77 11 OOM 22 e 23 0 1 Aine 24 COM Analog aout 25 U M Chassis Kinetix 300 Drive Wiring Example to MicroLogix Controller Step and Direction 2097 V3xPRx MiroLogix 1400 Kinetix 300 Drive Controller 1766 L32BXB 1766 L32BXBA 1 0 10D Connector Step 1 02 Step 2 COM Direction 4 05 Direction 4 Chassis Publication 2097 UM001A EN P February 2010 Interconnect Diagrams Appendix B Kinetix 300 Drive Master Gearing Wiring Example 2097 V3xPRx 2097 V3xPRx Kinetix 300 Drive Kinetix 300 Drive Master Slave Motor Master Feedback 3 Encoder MF Connector 1 UE Inputs HZ Buffered L8 Encoder x 1 0 100 Outputs BB 7c 5 Conne
77. PR6 IPD 3 L1 IPD 4 PE AS 40 12 7 0 28 05 4 5 2097 V31PR2 0 56 0 79 2097 V33PR6 6 0 10 7 0 28 5 0 7 0 Publication 2097 UM001A EN P February 2010 67 Chapter 4 68 Connecting the Kinetix 300 Drive System Wiring the Motor Power MP Connector Connections to the motor power MP connector include rotary motors and rotary motor driven actuators Kinetix 300 Drive MP Connector Kinetix 300 Drive Bottom View Cable Shield Terminations 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 To avoid hazard of electrical shock ensure shielded power cables are grounded at a minimum of one point for safety A IMPORTANT For TL Series motors also connect the 152 mm 6 0 in termination wire to the closest earth ground Refer to Pigtail Terminations on page 69 for more information Publication 2097 UM001A EN P February 2010 Connecting the Kinetix 300 Drive System Chapter 4 Pigtail Terminations TL Series motors have a short pigtail cable which 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
78. Panel Display 8 BN Status Indicators Status indicatur Function Description A Enable Orange status indicator means that the drive is enabled running B 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 83 Chapter 5 Configure and Start Up the Kinetix 300 Drive Configure the Kinetix 300 Drive Ethernet IP Address 84 This section offers guidance on configuring your Ethernet connection to the Kinetix 300 drive run MotionView OnBoard on a Mac OS 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 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 may require configuring to enable Ethernet communication between the two devices Any changes made to the Ethernet communication settings on IMTORTART the Kinetix 300 dri
79. Software Stratix 6000 MicroLogix Logix5000 and TechConnect are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Start Installing the Kinetix 300 Drive System Kinetix 300 Drive Connector Data Publication 2097 UM001A EN P February 2010 Table of Contents Preface About This Publication 9 Who Should Use This Manual RE IE 9 Conventions Used in This 9 Additional 10 Chapter 1 us xoa tet tana neg tae 2 Sy qe Eo Aes e 11 About Kinetix 300 Drive System 4s prr rm needs 12 Catalog Number 14 Agency Compliance 15 CE 15 Chapter 2 2 aus et op Ant cde devo Sor debe o Seep At ater b eto 17 System Design 18 System Mounting Requirements 18 Transformer Selection 19 Circuit Breaker Fuse Selection 19 Sizing the 1 20 Minimum Clearance Requirements 21 Minimizing Electrical 22 Bonding 22 Bonding Multiple Subpanels 24 Estab
80. V supply must come from an external source IMPORTANT Publication 2097 UM001A EN P February 2010 Kinetix 300 Drive Connector Data Chapter 3 1 0 100 Connector Pinout IOD Pin Description Signal 10D Pin Description Signal 1 Master encoder A Step input 30 Digital input A4 IN A4 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 IN B1 4 Master encoder B Direction input MB 33 Digital input B2 IN B2 5 Drive logic common GND 34 Digital input B3 IN 6 5V DC Output max 100 mA 5V DC 35 Digital input B4 IN B4 7 Buffered encoder output channel A 36 Digital input Group CCOM Terminal IN C COM 8 Buffered encoder output channel A BA 37 Digital input C1 IN C1 9 Buffered encoder output channel BB 38 Digital input C2 IN C2 10 Buffered encoder output channel B BB 39 Digital input C3 IN C3 11 Buffered encoder output channel Z4 BZ 40 Digital input C4 IN_C4 12 Buffered encoder output channel Z BZ 41 Ready output collector RDY 13 21 Reserved 42 Ready output emitter RDY 22 Analog common ACOM 43 Programmable output 1 collector OUT1 C 23 Analog output max 10 mA AO
81. a Li 230V AC Output 12 L 1 L2 Bonded Cabinet Ground Bus Ground Grid or 7 Power Distribution Ground Transformer Secondary j LH 115V AC Output 12 Neutral coe ee ee IPD AC Line L1 Filter L2 L2 N E IDP AC Line L1 Filter L2 N L2 N L2 N E 690 4 Bonded Cabinet Ground Bus Ground Grid or V Power Distribution Ground Kinetix 300 Drive Single phase IDP Terminals Kinetix 300 Drive Single phase IDP Terminals Reducing transformer output reduces motor speed Feeder and branch short circuit protection is not illustrated 57 Chapter 4 Connecting the Kinetix 300 Drive System 58 Isolation Transformer in Grounded Power Configurations When using an isolation transformer attach a chassis ground wire to the neutral connection This accomplishes the following e Prevents the system from floating and thereby avoids any high voltages that might otherwise occur for example due to static electricity e Provides a solid earth path for fault conditions If the supply transformer is an auto transformer not recommended a chassis earth ground should not be added A A chassis earth ground should already be included elsewhere in the system and adding anoth
82. afe torque off circuit 1 Prepare wires as listed Quantity Wire Size Length Strip Length mm AWG mm in mm in 1 5 16 6 0 25 2 Tin striped ends 3 Wire STO terminal plug as shown Item Description 5701 A 1 Black wire 570 2 4 P 2 Red wire S3 57040 A 7050 P Y STO 6 2 L rd 1 This voltage must under no circumstances be used to supply the safety circuits terminals STO 3 STO 6 This voltage is intended only for use in bypassing disabling the STO circuits should they not be required 2 A Separate 24V DC supply rated to ISO 13849 1 category must be supplied to STO 4 STO 6 to operate these inputs IMPORTANT Pins STO 1 24V DC Control and STO 2 Control COM 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 4 Torque all contacts to 0 2 Nem 1 8 lbein 5 Install STO terminal plug in STO connector Publication 2097 UM001A EN P February 2010 Wiring Your Kinetix 300 Drive Safe Torque Off Circuit European Union Directives Publication 2097 UM001A EN P February 2010 Kinetix 300 Drive Safe Torque Off Appendix D This section provides guidelines for wiring your Kinetix 300 safe torque off drive connections If this product is installed within the European Union or EEC regions a
83. age 74 REAL R Heatsink temperature 176 Publication 2097 UM001A EN P February 2010 Kinetix 300 Drive Tag Numbers continued Kinetix 300 Drive Tag Numbers Appendix ID Data Type Access Description 75 DINT R W Enable Accel Decel function limits for Velocity mode 76 REAL R W Accel value for Velocity mode 77 REAL RAW Decel value for Velocity mode 78 DINT RAW Reset fault configuration 79 DINT R W Master to system ratio numerator 80 DINT R W Master to system ratio denominator 83 DINT R Extended status register 84 DINT R W Hardware limit switches 85 DINT R W Analog output function range 0 8 86 REAL R W Analog output scale for velocity quantities 87 REAL R W Analog output scale for current related quantities 88 REAL W Analog output value Used if tag 85 is set to 0 89 REAL RAN Analog input deadband Applied when used as current or velocity reference 90 REAL RAN Analog input offset Applied when used as current velocity reference 138 DINT W Turns on Profile Velocity for Internal Position Mode Jogs motor in Position mode Also set tags 176 and 177 for acceleration and deceleration and tag 180 for velocity 176 REAL RAN Accel value for position jog 177 REAL RAN Decel value for position jog 178 REAL RAW Decel value used for faults and aborts 179 DINT RAN Sets window for In Position Limits 180 REAL RAN Velocity
84. ass 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 is 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 Ensure that all writes targeted at the Memory Module are necessary and not done as part of a background or cyclic task Input and Output Assembly Input Assembly RSLogix 5000 Field 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 150 A non zero value in this field means the drive is within the position tolerance window of the commanded position Publication 2097 UM001A EN P February 2010 Input and Output Assembly Appendix C Input Assembly continued RSLogix 5000 Field CurrentLimitStatus Description A 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
85. ation Instructions publication 1769 IN020 nformation on how to assemble and mount the controller how to upgrade firmware and controller technical specifications 1769 L32C and 1769 L35CR CompactLogix Controller Installation Instructions publication 1769 1 070 nformation on how to assemble and mount the controller how to upgrade firmware and controller technical specifications 1769 L31 CompactLogix Controller Installation Instructions publication 1769 IN069 nformation on how to assemble and mount the controller how to upgrade firmware and controller technical specifications Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Provides general guidelines for installing a Rockwell Automation industrial system Product Certifications website www ab com Provides declarations of conformity certificates and other certification details 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 Kinetix Motion Control Selection Guide publication GMC SG001 Specifications motor servo drive system combinations and accessories for Kinetix motion control products Motion Analyzer CD download at www ab com e tools Drive and motor sizing with application analysis software
86. avel limits e Reposition the overtravel limits or sensor Check wiring and Ethernet cables and routing Check controller program to E14 Ethernet 1 0 connection lost Ethernet 1 0 Connection lost ensure that 1 0 is scanned at correct RPI rate e Verify motion profile Programmed overtravel limit has been P E16 Software overtravel sxceeded e Verify overtravel settings are appropriate E17 User specified current fault Increase a less restrictive setting 18 Motor speed has exceeded 125 of Check cables for noise maximum rated speed e Check tuning e Increase following error limit or E19 Excess position error Position error limit was exceeded me Publication 2097 UM001A EN P February 2010 e Check position loop tuning 117 Chapter 6 Troubleshooting the Kinetix 300 Drive System Error Codes continued Error Code Anomaly Possible Cause Action Solution E26 User specified velocity fault User specified velocity level was Increase to a less restrictive setting exceeded e Verify motor selection E30 Encoder Communicationtauit Communication was not established e Verify the motor supports with an intelligent encoder automatic identification e Verify motor encoder wiring E31 Encoder data Encoder data is corrupted Replace the motor encoder The safety circuit was opened while E37 Safe torque off while enabled drive was enabled or w
87. back Refer to table on page 136 for note information 2090 K2CK D15 Connector Kit 0 Shield Three phase 1 BLACK SIN zu I re 1 4 Green Yellow Me lt Motor Power 2 WHUBACK XX SIN A 7 COS 3 Motor Power 2 lt lt W T GND m XX COR 1 4 MP Connector 2 Black B V lt V gt gt 5 1 B NU U 5 GREEN DATA 5 6 Ug Motor 6 5 wee XC DATA 10 Motor Feedback Feedback g 5 gt GRAY 5VDC 14 MF Connector 105 wow XX ECOM 6 10 11 SL ORANGE 9VDC 7 s Thermostat 13 warvoranee XX TS Jm Me i E ets 4 H 13 Black G lt BR o 4 sly BLUE TS E 12 COM y Motor Brake Refer to low profile connector illustration lower left jee for proper grounding technique OUT4 E 2090 XXNFMF Sxx standard or 2090 CFBMXDF CDAF x continuous flex Noe QUT4 C dH Ha flying lead Feedback Cable 1 le Note 9 crt 19 Clamp ECT LY 7 Note 7 24V DC MPL A B15xx and MPL A B2xx 24V DC COM MPL A3xx 45 User Supplied MPL A B15xx MPL A B45xx 24V DC Servo Motors with 2090 K2CK D15M Incremental Feedback Connector Kit 1 BLACK AM 1 D 2 WHT BLACK
88. c 42 Publication 2097 UM001A EN P February 2010 Feedback Power Supply Kinetix 300 Drive Connector Data Chapter 3 The Kinetix 300 drive generates 5V and 9V DC for motor feedback power Short circuit protection and separate common mode filtering for each channel is included Motor Feedback Power Specifications Voltage Current mA Supply Reference Min Nominal Max Min Max 5V DC EPWR_5V 5 13 5 4 5 67 0 400 9V DC EPWR_9V 8 3 9 1 9 9 0 275 Publication 2097 UM001A EN P February 2010 Pin Orientation for 15 pin Motor Feedback MF Connector Pin 11 Pin 6 Pin 10 Pin 5 Pin 1 43 Chapter3 Kinetix 300 Drive Connector Data Understanding Control Signal Specifications 44 This section provides a description of the Kinetix 300 drive I O GOD communication shunt resistor and DC bus DC and backup 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 or Explicit Message The inputs are separated into three groups A B and C Each group has four inputs and share one common ACOM BCOM and CCOM respectfully The inputs are labeled individually as IN_A1 IN_A4 IN_B1 IN_B4 and IN_C1 IN_C4 Travel limit switches inhibit enable input homing and r
89. cables shorted Verify continuity of motor power cables and connector Disconnect motor power cables form mo the motor If the motor is difficult to Motor winding shorted internally turn by hand it may need to be replaced The machine duty cycle requires an Change the command profile to reduce RMS current exceeding the continuous speed or increase time rating of the controller E74 Drive has exceeded peak current limit pn ambient temperature is not too Drive cannot regulate current properly Operation above continuous power rating and or product environmental Operate within the continuous power rating rating Reduces acceleration rates Remove all power and motor connections and preform a continuity he ae Lg SUE check form the DC bus to the U V and circuit overcurrent or failed cam W motor outputs If a continuity exists check for wire fibers between terminal or send drive in for repair e Not writing to WatchDogKick Tag frequently enough to prevent timeout E91 User watchdog has timed out Ladder program error e Watchdog timout period set to too low a value Increase timout period or change controller application to kick watchdog more frequently E92 Bad battery Tamagawa absolute feedback battery Replace battery voltage low or missing Motion setup parameters calculate an Increase or decrease acceleration Check indexing profiles or motion set E93 acceleration value above or be
90. cation 2097 UM001A EN P February 2010 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 in a potentially fatal voltage on the oscilloscope chassis 115 Chapter 6 General Troubleshooting Troubleshooting the Kinetix 300 Drive System Refer to the Error Codes section below to identify anomalies potential causes and appropriate actions to resolve the anomalies If anomalies Error Codes persist after attempting to troubleshoot the system contact your Allen Bradley representative for further assistance To determine if your Kinetix 300 drive has an error refer to the table below Display Behavior By default if there is no activity on the input keypad for 30 seconds the Kinetix
91. ck for 1 0 connector 2097 Rx Shunt Resistors 2097 PGMR Memory Module Programmer 2097 MEM Memory Modules 12 Pack 14 Publication 2097 UM001A EN P February 2010 Stat Chapter 1 Agency Compliance If this product is installed within the European Union and has the CE mark the following regulations apply ATTENTION Meeting CE requires a grounded system and the method of ATTENTION grounding the AC line filter and drive must match Failure to do this renders the filter ineffective and may cause damage to the filter For grounding examples refer to Grounding Your Kinetix 300 Drive on page 61 For more information on electrical noise reduction refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 CE Requirements To meet CE requirements the following requirements apply e Install an AC line filter catalog number 2097 Fx as close to the drive as possible e Use 2090 series motor power cables or use connector kits and terminate the cable shields to the subpanel with clamp provided e Use 2090 series motor feedback cables or use connector kits and properly terminate the feedback cable shield Drive to motor feedback cables must not exceed 20 m 65 6 ft Drive to motor power cables must not exceed 20 m 65 6 5 ft e Install the Kinetix 300 system inside an enclosure Run input power wiring in conduit grounded to the enclosure outside of the enclosure Separate signa
92. controller module not the drive Ethernet address c Enter the slot where your module resides leftmost slot 0 d Choose an Electronic Keying option select Disable Keying if unsure e Check the box Open Module Properties 5 Click OK Your new module appears under the I O Configuration folder in the Explorer dialog box and the Module Properties dialog box opens 6 Repeat steps 1 5 for each Logix module Configure the Kinetix 300 Drive Follow these steps to configure the Kinetix 300 drive 1 Right click the new Logix module you just created and choose New Module The Select Module dialog box opens Publication 2097 UM001A EN P February 2010 99 Chapter 5 Configure and Start Up the Kinetix 300 Drive 2 Expand the Drives category and select your Bulletin 2097 drive as appropriate for your actual hardware configuration 3 Click OK The New Module dialog box opens 4 Configure the new module a Name the module b Set the Ethernet address Set the Ethernet address in the software to match the Ethernet address on the drive Refer to Obtaining the Kinetix 300 Drives Current Ethernet Settings on page 85 Download the Program After completing the Logix configuration you must download your program to the Logix processor 100 Publication 2097 UM001A EN P February 2010 Configure and Start Up the Kinetix 300 Drive Chapter 5 Apply Power to the Kinetix 300 Drive Publication
93. ctor GND GND 1 0 100 Motor Connector Feedback Bulletin MPL or Bulletin TLY Connector Incremental Feedback Motor Bulletin MPL or Bulletin TLY Incremental Feedback Motor Publication 2097 UM001A EN P February 2010 147 Appendix B Interconnect Diagrams Motor Brake Currents The motor brake currents are listed in the following tables Use these values to size the 24V DC transformer required for your application Coil Currents Rated at 1 0 A Compatible Brake Motors Actuators 1 Coil Current MPL x1510 MPL x1520 MPL x1530 0 43 0 53 A MPL x210 MPL x220 MPL x230 0 46 0 56 A MPL MPF x310 MPL MPF x320 MPL MPF x330 0 45 0 55A MPS x330 MPL x420 MPL x430 MPL x4520 MPL x4530 MPL x4540 MPL B4560 MPF x430 MPF x4530 MPF x4540 0 576 0 704 MPS x4540 TLY A110T TLY A120T and TLY A130T 0 18 0 22A TLY A220T and TLY A230T 0 333 0 407 A TLY A2530P TLY A2540P and TLY A310M 0 351 0 429 A Use of the variable x indicates this specification applies to 230V and 460V motors 148 Publication 2097 UM001A EN P February 2010 Appendix C Input and Output Assembly Introduction This section describes the input and output assembly used to communicate with RSlogix 5000 software Topic Page Introduction 149 About the Input and Output Assembly 149 Input and Output Assembly 150 About the Input and Output The terms Input
94. d area indicates components that are part of the circuit but support other feedback device types not used for Generic TTL incremental support AM or BM I KQ to AqB Counter AM or BM 0 7 96 pF T 56pF Publication 2097 UM001A EN P February 2010 41 Chapter3 Kinetix 300 Drive Connector Data Generic TTL Interface IM Signals Kinetix 300 ue 10 kQ kQ gt to AqB Counter v e mS 56 pF 56 pF 10 kQ Shaded area indicates components that are part of the circuit but support other feedback device types not used for Generic TTL incremental support MTR_IM CJ MTR_IM M n gt gt to UART lt from UART from UART Generic TTL Interface S1 S2 or S3 Signals Kinetix 300 Drive 45V A 1kQ A 1 52 G4 AA 4 po gt or S3 1 kQ _ 56 pF ZN L L 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 Refer to page 40 for the Tamagawa 17 bit serial interface schematic It is identical to the Stegmann Hiperface DATA signals schemati
95. d or equipment damage make sure shielded power cables are grounded to prevent potentially high voltages on the shield Shunt Resistor Power Wiring Requirements Description Shunt Resistor Connects to Terminals Pin BC 1 or BC 2 Signal B BC 3 BR Recommended Wire Size mm AWG 2 5 14 Torque Value Nem Ibein 0 5 4 5 Publication 2097 UM001A EN P February 2010 Wiring Guidelines Publication 2097 UM001A EN P February 2010 Connecting the Kinetix 300 Drive System Chapter 4 Use these guidelines as a reference when wiring the connectors on your Kinetix 300 drive power modules IMPORTANT For connector locations of the Kinetix 300 drives refer to Kinetix 300 Drive Connectors and Indicators on page 32 When tightening screws to secure the wires refer to the tables beginning on page 63 for torque values When removing insulation from wires refer to the tables beginning on page 63 for strip lengths IMPORTANT To improve system performance run wires and cables in the wireways as established in Establishing Noise Zones on page 25 Follow these steps when wiring the connectors 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 Route the cable wires to your Kinet
96. de IMPORTANT Although clearance left and right is 3 mm 0 12 in for ventilation additional clearance is required when mounted adjacent to noise sensitive equipment or clean wireways Refer to page 129 for power dissipation specifications Publication 2097 UM0011A EN P February 2010 21 Chapter2 Installing the Kinetix 300 Drive System Minimizing Electrical Noise 22 This section outlines best practices which 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 refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 Bonding Drives Bonding is the practice of connecting metal chassis assemblies frames shields and enclosures to reduce the effects of electromagnetic interference EMD Unless specified most paints are not conductive and act as insulators To achieve a good bond between drive and the subpanel surfaces need to be paint free or plated Bonding metal surfaces creates a low impedance return path for high frequency energy IMPORTANT To improve the bond between the drive and subpanel construct your subpanel out of zinc plated paint free steel Improper bonding of metal surfaces blocks the direct return path and allows high frequency energy to travel elsewhere in the cabinet Exc
97. der resolution 27 DINT R Nominal Motor s terminal voltage 29 DINT RAN Enable switch function 30 REAL R W Continuous RMS Current for motor selected 32 REAL R W Peak current limit for 8kHz operation based upon motor selected 35 REAL R W Analog input current reference scale 36 REAL R W Analog input velocity reference scale 39 DINT R W Motor thermal protection function 44 DINT R W Velocity loop Proportional gain 45 DINT R W Velocity loop Integral gain 46 DINT R W Position loop Proportional gain 47 DINT R W Position loop Integral gain 48 DINT R W Position loop Differential gain 49 DINT R W Position loop integral gain limit 51 DINT R W Gains scaling coefficient 53 DINT R W Drive reset 54 DINT R Drive s status register 57 DINT RAN Network group ID 58 REAL RAN Zero Speed window 59 REAL RAN At Speed window 60 REAL R W Target Velocity for At Speed window 61 DINT R W Position error 62 REAL R W Position error time time which position error has to remain to set off position error fault 65 DINT R Digital inputs states A1 occupies Bit 0 A2 Bit 1 C4 Bit 11 66 DINT R W Digital outputs states 67 DINT R W Ethernet IP address IP address changes at next boot up 32 bit value 68 DINT R W Ethernet IP NetMask Mask changes at next boot up 32 bit value 69 DINT R W Ethernet Gateway IP address Address changes at next boot up 32 bit value 70 DINT R W Use DHCP 71 REAL R Analog Input AIN1 current value 73 REAL R Measured Bus volt
98. dered 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 for typical machine safety systems Wiel hae system user is responsible for e validation of any sensors or actuators connected to the drive system e completing a machine level risk assessment e certification of the machine to the desired ISO 13849 1 Safety category e project management and proof testing e programming the application software and the device configurations in accordance with the information in this safety reference manual and the drive product manual Publication 2097 UM001A EN P February 2010 Understanding the Kinetix 300 Drive Safe Torque off Feature Publication 2097 UM001A EN P February 2010 Kinetix 300 Drive Safe Torque Off Appendix D Safety Category 3 Requirements Safety related parts are designed such that e asingle fault in any of these parts does not lead to the loss of the safety function e asingle fault is detected whenever reasonably practicable e accumulation of undetected faults can lead to the loss of the safety function Stop Category Definition Stop category 0 is achieved with immediate removal of power to the actuator IMPORTANT In the 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 F
99. dix B Kinetix 300 Drive Wiring Example 240 480V three phase input power Three phase AC Input 240 480V rms AC 50 60 Hz Notes 1 2 Refer to table on page 136 for note information Fuse Disconnect 2097 V33PRx and or Circuit Breakers 2097 V34PRx Shunt Kinetix 300 Drives Resistor Vien Shunt Resistor i Iranstormer i Bonded Cabinet Ground Bus and DC Bus BC B Ground Stud Connector B B Bonded Cabinet erie Neutral Ground Bus 424V DC Input Fusing M Mains Back up 24v I lt IL 1 Single phase Power BP lt 5 C Input IPD onnector o Connector Three phase crass otor Power UT M1 Connections u Notes 5 6 AC Line Filter Note 9 2 optional o Note 3 U z T Motor Power To MP Connector Motor o E Hy 13 Three Phase 230V or 460V rms B mw Cable Use discrete logic or 26 Shield PLC to control ENABLE COM Clam to drive and monitor 1 0 100 477 Note RDY back from g kl RDY Connector rive 42 DV Refer to Attention statement Note 8 ndicates User Supplied Component IMPORTANT For the 480V Kinetix 300 drives
100. dule and Kinetix 300 drive mounted and ready to connect the network cables The EtherNet IP network is connected using the Port 1 connector Refer to page 32 to locate the Ethernet connector on your Kinetix 300 drive Refer to the figure below to locate the connector on your Logix 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 y the loss factor compared to fixed cable typically 1 2 1 5 Compact Logix Ethernet Port Location CompactLogix Controller Platform 1769 L23E 0B1B Shown al a al Er B EE CompactLogix L23E x E E I sgg qp ew The Port 1 Ethernet connection is used for connecting to a web browser and configuring your Logix module Ethernet Wiring Example External Switch CompactLogix Controller Platform 1769 L23E 0B1B Shown 1783 EMSO8T rz 1 2 Stratix 6000 iem Switch 108 i
101. e 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 Maximum 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 Publication 2097 UM001A EN P February 2010 173 Appendix E Configuring Indexing Parameters Notes 174 Publication 2097 UM001A EN P February 2010 Appendix F Introduction Kinetix 300 Drive Tag Numbers Kinetix 300 Drive Tag Numbers This section lists the Kinetix 300 drive tag ID numbers and their description This section lists the Kinetix 300 drive tag ID number
102. e Note 9 small cables secure 142 Publication 2097 UM001A EN P February 2010 Interconnect Diagrams Appendix B Kinetix 300 Drive Actuator Wiring Examples Kinetix 300 Drive 230V Wiring Example with MP Series Bulletin MPAS A B Linear Stages 2090 XXNPMF xxS xx standard 2097 V3xPRx or po io ad MPAS A Bxxxxx VxxSxA Refer to table on page 136 for note information Kinetix 300 Drive Motor Power Cable Ballscrew Linear Stages Note 9 with Use 2090 CPWM4DF xxAF salle for 080 High Resolution Feedback 2090 K2CK D15M non brake applications Connector Kit 1 Shield Three phase 2 o Motor Power 1 BLACK SIN A 1 3 1 4 Green Yellow D lt 2 WHT BLACK XX SIN 2 4 Motor Power W 3 Blue E lt lt W l GND 3 RED COS 3 5 MP Connector 2 Blac B 2 V 4 5 WHT RED XX COS 6 U 1 Brown A U 5 GREEN DATA 5 1 lt lt Motor 6 K WHT GREEN XX DATA 10 8 Motor Feedback Feedback g 5VDC 14 MF Connector ws WHT GRAY XX ECOM 6 11 11 ES st ORANGE 9VDC 7 T o 13 S XX TS 11 13 4 14 Black G d BR 6114 BLUE TS 15 DU White F BR 3 12 COM 777 V lt lt Motor Brake gt Refer to low profile connector d illustration lower left for proper grounding technique 1 0 100 i O QUT4 E 1 f
103. e as soon as asserted 111 Chapter 5 Configure and Start Up the Kinetix 300 Drive 112 Analog Velocity Parameter Name OperationMode Tag Number 266 Description Set to Analog Velocity VelocityScale 36 Analog input velocity reference scale Velocity Vinput x VelocityScale Range 10000 10000 rpm V AccelLimit 76 Accel value for Velocity mode Range 0 1 5000000 UU s DecelLimit 77 Decel value for Velocity mode Range 0 1 5000000 UU s EnableVelAccDec 75 Enable Accel Decel function for Velocity mode 0 Disable 1 Enable Analoglnput Deadband 89 Analog input dead band Applied when used as a velocity reference Range 0 100 mV Analog nput1 Offset 90 Analog input offset Applied when used as current velocity reference Range 10 000 10 000 AnalogOutFunction 85 Analog output function range 0 8 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 lq current 8 Id current AnalogOutVelocityScale 86 Analog output scale for velocity quantities Range 0 10 mV rpm EnableSwitchType 29 Enable switch function 0 Inhibit only 1 Enable as soon as asserted Publication 2097 UM001A EN P February 2010 Configure and Start Up the Kinetix 300 Drive Chapter 5 Publication 2097 UM001A
104. e drive Memory Modules 12 Pack 2097 MEM to store parameters 1769 L23E xxx don EtherNet IP interface module serves as a link between L4X the ControlLogix CompactLogix MicroLogix platform and Logix Controller Platform 1756 L6x the Kinetix 300 drive system The communication link 1766 L32xxx uses EtherNet IP protocol over a copper cable 1763 L16xxx RSLogix 5000 software provides support for RSLogix 5000 Software 9324 RLD300ENE 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 MPF and MPS 230 and 460V motors TL Series motors Li near Stages MP Series Ballscrew Compatible stages include MP Series Bulletin MPAS 230 and 460V Integrated Linear Stages Electric Cylinders MP Series TL Series Compatible electric cylinders include MP Series and TL Series Bulletin MPAR and TLAR 230 and 460V Electric Cylinders Cables 12 Motor brake and feedback cables Motor power brake and feedback cables include SpeedTec and threaded 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 Feedback cables are also available with angled 45 premolded connectors on the drive
105. e of Contents Specifications and Dimensions Interconnect Diagrams Input and Output Assembly Kinetix 300 Drive Safe Torque Off Appendix A Tris OCMC ORG ecd rte UR DC UE CR XR EORR CERCA Rodi on 123 Kinetix 300 Drive Power Specifications 124 Circuit Breaker Fuse Specifications 127 Contactor Ratings llle 128 Transformer Specifications for Input Power 128 Power Dissipation Specifications 129 General 5 129 Maximum Feedback Cable Lengths 129 Kinetix 300 Drive Weight Specifications 130 Sacs dead RESI E Deep ae 130 Environmental Specifications 131 AC Line Filter Specifications s 2s oe ERE 132 Shunt Resistor Specifications 133 Product Dimensions 134 Appendix B Introd ge Hot ES RC OLY ESSO XO ES VERA 135 Wiring 136 Power Wiring 137 Shunt Resistor Wiring 140 Kinetix 300 Drive Rotary Motor Wiring Examples 141 Kinetix 300 Drive Actuator Wiring Examples 143 Kinetix 300 Drive Micrologix Controller Winne EXamMpl S eeu ani wh e to e CPU eee 146 Kinetix 300 Drive Master Gearing Wiring Example 147 Motor Brake 148
106. e subpanel Ground and secure the motor power cable in your system following instructions on page 74 70 Publication 2097 UM001A EN P February 2010 Connecting the Kinetix 300 Drive System Chapter 4 The following diagram shows an example of wiring with three phase power wires and brake wires 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 Refer to Kinetix 300 Drive Rotary Motor Wiring Examples beginning on page 141 for interconnect diagrams Motor Power Terminations three phase and brake wires To Motor Mem Description Item Description QU 2Vpowersupply 000 1 0 IOD connector 2 Relay and diode assembly 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 3 4 Publication 2097 0 Febr User supplied Size as required by motor brake See Motor Brake Currents on page 148 Configure one emitter and collector pair from the Digital Outputs OUT 1 OUT 4 pins 43 50 as Brake and Brake 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 Digi
107. ebruary 2010 Configure and Start Up the Kinetix 300 Drive Chapter 5 5 To enable DHCP click Obtain IP Address using DHCP 6 To disable DHCP click DHCP again 7 Cycle power to make changes to take effect The first time you change an Ethernet parameter the following dialog box appears Click Ok and cycle power for changes to take effect Important Message must REBOOT the drive for changes to take effect and reconnect Proper operation of MotionView is not guaranteed if you don t rebootthe drive Configuring 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 using the drive keypad and display 1 Press 2 Use the QU to access parameter DHCP 3 Check this parameter is set to 1 4 If the DHCP parameter is set to 0 use to set the parameter 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 A 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 like
108. ection and system configuration tools including AutoCAD DXP drawings of the product refer to 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 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 feedback cables must not exceed 20 m 65 6 ft Drive to motor power cables must not e
109. egistration input can be used only on specific digital inputs as shown in table Input A3 can be used only for inhibit enable input function Digital Input Assignments Digital Input Function Input A1 Negative travel limit switch Input A2 Positive travel limit switch Input A3 Inhibit enable input Input A4 N A Input B1 N A Input B2 N A Input B3 N A Input B4 N A Input C1 N A Input C2 N A Input C3 N A Input C3 Homing and registration input sensor Input C4 N A Publication 2097 UM001A EN P February 2010 Publication 2097 UM001A EN P February 2010 Kinetix 300 Drive Connector Data Chapter 3 The digital inputs explicitly shown in Digital Input Assignments table are fixed functions those inputs can be used only for those functions and those functions can be used only on those inputs The inputs listed as N A are configurable to be any of the following inputs e Abort Homing e Abort Index e Start Homing e Start Index e Fault Reset e Home Sensor Some of the digital inputs exercise control over functions also under the control of the Output Assembly In the case of a digital input being mapped to the same function as exists in the Output Assembly the following truth tables applies Enable Truth Table configured for Run Drive Input Value Enable Input Off ipe to On n Drive Enable bit in Output Move to Move to Assembly 1 Off On Resu
110. end and straight connectors that connect to servo motors Communication cables 1585J M8CBJM x shielded Ethernet cable Publication 2097 UM001A EN P February 2010 Stat Chapter 1 Typical Kinetix 300 Drive Installation Three phase 1783 508 Stratix 6000 CompactLogix Controller Platform Input Power Switch 1769 L23E 0B1B Shown Y 4 T Line x Disconnect RSLogix 5000 Device Software i Input 1585J M8CBJM x H HI Fusing Ethernet shielded Cable A cC 2097 Rx cual Shunt Resistor 2097 V3xxxx 2097 Fx optional equipment Kinetix 300 Drive O MS X519 AC Line Filter optional equipment re 2097 F1 Filter Shown 24V DC Control Backup 2097 TB1 Terminal Power Supply Expansion Block optional equipment Wm m MP Series Integrated Linear Stages re 5 Q Air e MPAS B9xxx ballscrew shown Low profile Connector Ki Bulletin 2090 Bulletin 2090 Motor
111. ents 162 safety products catalog 163 shield clamp 74 Publication 2097 UM001A EN P February 2010 Index shunt resistor 28 29 interconnect diagram 140 wiring 79 wiring requirements 64 software RSLogix 5000 97 specification circut breaker 127 specifications AC line filters 132 ac line filters 132 analog outputs 49 analog reference inputs 49 certifications 130 circuit breakers 127 contactor ratings 128 digital inputs 44 digital outputs 48 environmental 131 Ethernet connection 50 feedback motor general 38 power supply 43 fuse 127 maximum fdbk cable length 129 motor feedback generic TTL 41 Stegmann 40 Tamagawa 42 motor thermal 39 transformer 128 weight 130 Stegmann 38 step and direction 105 111 146 system mounting requirements 18 system overview 12 T Tamagawa 38 training 9 transformer sizing 19 transformer specifications 128 troubleshooting 116 error code E67 164 error codes 116 table 164 V velocity mode 146 189 Index W weight specifications 130 who should use this manual 9 wiring 190 building your own cables 54 drive BP connector 66 IPD connector 67 MP connector 68 STO connector 66 electric cylinder 144 grounded power configuration 55 grounding 61 1 0 connections 75 input power determining type 55 linear stage 143 low profile connectors 78 maste gearing 147 Micrologix 146 motor brake 73 motor cable shield clamp 74 motor power 69 70 71 MPL motor 142 requ
112. er to the System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 for more information Publication 2097 UM001A EN P February 2010 Publication 2097 UM001A EN P February 2010 Connecting the Kinetix 300 Drive System Chapter 4 Determining Your Type of Input Power On the following pages are 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 allows you to 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 Three phase Power Wired to Three phase Drives The following examples illustrate grounded three phase power wired to three phase Kinetix 300 drives when phase to phase voltage is within drive specifications Three phase Power Configuration WYE Secondary Transformer WYE Secondary IPD Hy L1 u 1 12 icd Kinetix 300 Dri Filter inetix rive Three phase AC Input IPD Terminals L3 13 13 L3 L E 9 Bonded Cabinet fo Bonded Cabinet Ground Bus Ground Bus Ground Grid or D D Ground Grid or Power Distribution Ground Power Distribution Ground Feeder and branch short circuit protection is not illustrated 55 Chapter4 Connecting the Kinetix 300 Drive Sys
113. er would create a short Three phase Power Wired to Single phase Drives The following example illustrate grounded three phase power wired to single phase Kinetix 300 drives when phase to phase voltage is within drive specifications Single phase Amplifiers on Three phase Power WYE Transformer 1 Input Fusing e WYE Seconda L1 eee 10 Kinetic 300 Drive See 1 1 B AE ine H 12 N System A L2 T 2 12 sing ise AC Input E erminals M2 2 Input Fusing L2 10 Kinetic 300 Drive i 7 IT ee L2 N System IL 2 12 Single phase AC Input L E amp D IDP Terminals Wey cem M3 2 Input Fusing L3 IPD Kinetic 300 Drive L1 1 Grounded Neutral 1 LI kd L1 System C 1 FALLI L2 N Single phase AC Input E QD IDP Terminals Bonded Cabinet Bonded Cabinet OO Ground Bus OOOOOOOOOOO Ground Bus Ground Grid or TN Ground Grid or Power Distribution Ground J Power Distribution Ground 1 AC line filter is optional but is required for CE compliance 2 Contactors MI M2 and M3 may be optional For more information refer to Understanding the Machinery Directive publication SHB 900 Feeder short circuit protection is not illustrated Publication 2097 UM001A EN P February 2010 Connecting t
114. essive high frequency energy can effect the operation of other microprocessor controlled equipment Publication 2097 UM0011A EN P February 2010 Installing the Kinetix 300 Drive System Chapter 2 The illustrations that follow show details of recommended bonding practices for painted panels enclosures and mounting brackets Recommended Bonding Practices for Painted Panels Stud mounting the Subpanel Stud mounting a Ground Bus to the Enclosure Back Wall or Chassis to the Subpanel Back Wall of Subpanel Enclosure Mounting Bracket or Ground Bus Subpanel A Welded Stud Star Washer Flat Washer Scrape Paint Welded Stud Flat Washer Use a wire brush to remove paint from threads to maximize ground connection If the mounting bracket is coated with a non conductive material anodized or painted scrape the Use plated panels or scrape paint on Star Washer material around the mounting hole front of panel Bolt mounting a Ground Bus or Chassis to the Back panel Subpanel Tapped Hole Ground Bus or Mounting Bracket Star Washer Scrape paint on both sides of panel and use star washers Star Washer Hat Washer If the mounting bracket is coated with a non conductive material Star Washer anodized or painted scrape the material around the mounting hole Publication 2097 UM0011A EN P February 2010 23 Chapter2 Installing the Kinetix 300 Drive System Bonding Multiple Subpanels Bonding mult
115. etting and IP address of the Kinetix 300 drive can be obtained from the drive display and keypad Press amp on the display and use 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 4 120 By accessing these four parameters the full IP address on the drive can be obtained If parameters IP 1 IP 2 IP 3 and IP 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 Configuring the IP Address Automatically dynamic address on page 87 Configuring 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 2 Use QU to access parameter DHCP 3 Check this parameter is set to a value of 0 If the DHCP parameter is set to 1 then use amp and to set to 0
116. ex 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 was 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 Publication 2097 UM001A EN P February 2010 151 Appendix C Input Assembly continued RSLogix 5000 Field UserDefinedIntegerData1 Input and Output Assembly Description This field is a copy of the current value of whatever parameter it was configured to be in the MotionView software Data Link UserDefinedIntegerReal0 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 Lin
117. ganizer Drive Identification Drive Identification is labeled with the drive name IP address drive name and status the window 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 and Organizer RM amp 10 82 50 20 Motor Drive Identification General e Communication Ethernet EtherNet IP CIP I 0 F Digital IO Drive Analog lO Organizer Limits Velocity Limits Position Limits Dynamics Indexing Homing Tools Monitor Faults Motor Motor window displays motor information and allows you to change the motor e Allen Bradley motors and actuators with intelligent feedback devices will automatically be populated into the motor configuration e For Allen Bradley motors and actuators with incremental encoders click Change Motor and choose the device from the provided list Publication 2097 UM001A EN P February 2010 91 Chapter 5 Configure and Start Up the Kinetix 300 Drive General The General window displays basic configuration of motion with modifiable parameters shown in the following table General Parameters Parameter Description By default these values are set based on the configured motor if these values are set lower than the motor capabilities the drive will Current Limits report CurrentLimitStatus in the EtherNet IP Input assembl
118. he Kinetix 300 Drive System Chapter 4 Publication 2097 UM001A EN P February 2010 The following 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 Failure to connect the neutral can result in supply voltage swings at the individual drives This occurs when the neutral point moves vectorially as a result of load variations normally experienced by the individual drives The supply voltage swing may cause undervoltage and overvoltage trips on the drives and the drive can be damaged if the overvoltage limit is exceeded Single phase Amplifiers one AC line filter per drive Transformer WYE Secondary EE IDP L1 L1 11 Kinetix 300 Drive AC Li System A 12 Fiter L N Single phase AC Input Y e IDP Terminals 2 EU 13 IDP Kinetix 300 Drive d a L1 System L AC Line L2 N Single phase AC Input Filter IDP Terminals o 2 12 LI IDP Kinetix 300 Drive L L1 System C Single phase AC Input AC Line Grounded Neutral Fi
119. hile attempting Check safety circuit to enable An attempt was made to enable the axis through software while the Drive Disable the Drive Enable Input fault Enable hardware input was inactive E43 Drive enable input The Drive Enable input transitioned Verify that Drive Enable hardware from active to inactive while the axis input is active whenever the drive is was enabled enabled through software E44 Controller changed to PROG mode Program downloaded or turned key on Place controller back in RUN mode logix controller to program position clear faults e Cycle power E67 Operating system failed Hardware or configuration failure Check configuration settings to ensure that drive tags setting are valid E70 Memory module error Bad memory module Replace memory module Check for clogged vents or defective fan Make sure cooling is not restricted by insufficient space around the unit Improper airflow environmental oM Check ambient temperature in E72 Drive temperature too high temperature exceeds specifications or Red lerati an application anomaly enclosure Reduce acceleration rates Reduce duty cycle ON OFF of commanded motion Increase time permitted for motion 118 Publication 2097 UM001A EN P February 2010 Error Codes continued Troubleshooting the Kinetix 300 Drive System Chapter 6 Anomaly Possible Cause Action Solution Motor
120. inetix 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 19 Chapter2 Installing the Kinetix 300 Drive System In most cases class CC J L and R fuses selected 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 Refer to Circuit Breaker Fuse Specifications on page 127 for recommended circuit breakers and fuses Refer to Kinetix 300 Drive Power Specifications on page 124 for input current and inrush current specifications for your Kinetix 300 drive Sizing the Enclosure With no active method of heat
121. iple subpanels creates a common low impedance exit path for the high frequency energy inside the cabinet Subpanels that are not bonded together may not share a common low impedance path This difference in impedance may affect networks and other devices that span multiple panels Multiple Subpanels and Cabinet Recommendations XXX XXXXXXX6 N Wire Braid 7 25 4 mm 1 0 in by 6 35 mm 0 25 in Ground bus bonded to the subpanel Wire Braid Remove paint 25 4 mm 1 0 in by from cabinet 6 35 mm 0 25 in IXXXXXXX6 24 Publication 2097 UM0011A EN P February 2010 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 e The clean zone exits left of the Kinetix 300 system and includes the I O wiring feedback cable Ethernet cable and DC filter grey wireway e The dirty zone D exits right of the Kinetix 300 system black wireway and includes the circuit breakers transformer 24 DC power supply contactors AC line filter motor power and safety cables e 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 Establishing Noise Zones for Installations With Bulletin 2090 AC Line Filter Clean Wireway Kine
122. irements 53 shunt resistor 64 routing power and signal wiring 54 safe torque off feature 66 shunt resistor 79 wiring guidelines 65 wiring requirements 162 Publication 2097 UM001A EN P February 2010 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com support Installation Assistance If you experience an anomoly within the first 24 hours of installation review the information that s 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 Use the Worldwide Locator at http www rockwellautomation com support americas phone en html Canada or contact your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to en
123. ith the load removed first then re attach the load and preform the tuning procedure again to provide an accurate operational response 2 Run the MotionVeiw OnBoard software 3 Select General From the Drive Mode pull down menu choose Auto Tune 5 Select Dynamics The current velocity and position gains position limit and scaling are displayed 6 Click Autotuning The Autotuning dialog box opens 7 Check desired Tuning boxes Velocity Position or both Publication 2097 UM001A EN P February 2010 103 Chapter 5 Configure and Start Up the Kinetix 300 Drive 8 Apply Enable Input signal for the axis you are tuning To enable the axis set the DriveEn bit in RSLogix 5000 software for the axis being tuned 9 Click Start The Tune gains dialog box opens 10 Click Yes 11 Determine if your test completed successfully If Your test completed successfully this dialog box opens Important Message lAutoTuning completed with Success Do you like to accept following coefficients Velocity P Gain 10069 482 Velocity l Gain 2840 3726 Gain Scaling 3 Position P Gain 9568 064 Position l Gain 200 0 Yes Then 1 Click Yes 2 Remove Enable Input signal 3 Goto step 12 If your test did not complete successfully this dialog box opens Important Message x Motion attempt while drive disabled 12 Select General 1 Click Ok 2 Verify that the Enab
124. its Velocity Limits Velocity Mode Acceleration Available Drive Modes Mode Auto Tune Drive Object Value 0 EtherNet IP External Reference Pe Master Gearing Step and Direction Analog Velocity Analog Current Indexing Publication 2097 UM001A EN P February 2010 oO oo N 105 Chapter 5 Configure and Start Up the Kinetix 300 Drive Configure Master Gearing This procedure assumes that you have configured your Kinetix 300 Mod drive for Master Gearing mode configured your Logix Ethernet ode interface module and applied power to the system To configure the master gearing ratio follow these steps 1 Verify the load was removed from each axis 2 Run the MotionView software 3 On the Drive Organizer select General 4 Determine the buffered encoder output counts per revolution from the master drive Bulletin xxx Motor Encoder Type Resolution MPL H incremental 2000 lines rev TLY E and V sine cosine 128 lines rev MPL M and S sine cosine 1024 line rev 5 Determine the ratio of buffered encoder output counts to the number of system motor counts 6 Enter the ratio 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 Engish Disconnect
125. ix 300 drive Insert wires into connector plugs Refer to connector pinout tables in Chapter 3 or the interconnect diagrams in Appendix B Tighten the connector screws Gently pull on each wire to make sure it does not come out of its terminal reinsert and tighten any loose wires Insert the connector plug into the module connector 65 Chapter4 Connecting the Kinetix 300 Drive System Wiring the Kinetix 300 Drive This section provides examples and wiring tables to assist you in Connectors making connections to the Kinetix 300 drive Wiring the Safe Torque off STO Connector To wire the safe off connector refer to Appendix D on page 155 Wiring the Back up Power BP Connector Kinetix 300 Drive BP Connector Kinetix 300 Drive Front View Back up Power BP Connector Cat No zer Strip Length Torque Value MIS Pin Signal mm AWG mm in Nem Ibein BP 1 24V DC 2097 V3XPRx 1 5 16 6 0 25 0 5 4 5 BP 2 Return 66 Publication 2097 UM001A EN P February 2010 Connecting the Kinetix 300 Drive System Chapter 4 Wiring the Input Power IPD Connector Kinetix 300 Drive IPD connector Kinetix 300 Drive Top View Input Power IPD Connector Cat No eius 0 Strip Length Torque Value Pin Signal mm AWG mm in Nem Ibein 2097 V31PRO 2097 V32PRO 2097 V32PR2 A SP 2 5 14 7 0 28 05 4 5 2097 V34PR3 IPD 1 L3 2097 V34PR5 IPD 2 L2 2097 V34
126. k Output Assembly RSLogix 5000 Field Description Abortlndex 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 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 StartingIndex 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 absolute position 4 incremental registration 5 absolute registration AccelerationLimit This field defines the maximum acceleration the drive uses in accelerating towards the commanded position Decelera
127. l and power cables e Segregate input power wiring and motor power cables from control wiring and motor feedback cables Use shielded cable for power wiring and provide a grounded 360 clamp termination Refer to Appendix B on page 123 for interconnect diagrams including input power wiring and drive motor interconnect diagrams Publication 2097 UM001A EN P February 2010 15 Chapter 1 Start Notes 16 Publication 2097 UM001A EN P February 2010 Chapter 2 Installing the Kinetix 300 Drive System Introduction This chapter describes system installation guidelines used in preparation for mounting your Kinetix 300 drive components Topic Page Introduction 17 System Design Guidelines 18 Minimizing Electrical Noise 22 Mounting Your Kinetix 300 Drive 30 ATTENTION Publication 2097 UM0011A EN P February 2010 Plan the installation of your system so that you can perform all cutting drilling tapping and welding with the system removed from the enclosure Because the system is of the open type construction be careful to keep any metal debris from falling into it Metal debris or other foreign matter can become lodged in the circuitry which can result in damage to components 17 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 sel
128. le Input signal is applied to the axis you are testing 3 Verify the motor feedback is wired as required 4 Verify the safe torque off is wired correctly 5 Return to main step 6 and run the test again 13 From the Drive Mode pull down menu choose the mode you desire 104 Publication 2097 UMO001A EN P February 2010 Configure and Start Up the Kinetix 300 Drive Chapter 5 Select Drive Operating This procedure assumes that you have configured your Kinetix 300 Mod drive your Logix Ethernet interface module and applied power to the ode system The drive operating mode determines the command source for the drive it can be configured from the MotionView software or by Explicit Messaging instance 266 to the drive object Using the MotionView software do the follow to select the operating mode for the drive 1 Verify the load was removed from each axis 2 Run the MotionView software 3 From the Drive Organizer select General 4 Select Drive Mode Motionview OnBoard 3 19 10 82 50 20 Allen Bradley Kinetix 300 Connect Load Connection Save Configuration Load Configuration Restore Defaults Upgrade e 10 82 50 20 Motor D intion alue General e Communication Drive Mode Analog Velocity Input ba 9 Ethernet Current Limits EtherNetlIP CIF 9o Current Limit 12 0000 Digital lO Analog IO 8 KHZ Peak Current Limit 15 0000 Lim
129. lishing Noise 25 Cable Categories for Kinetix 300 Drive Components 27 Noise Reduction Guidelines for Drive Accessories 27 Mounting Your 300 Drive 30 Chapter 3 Introducir sa tace Hoe voe de ee 31 Kinetix 300 Drive Connectors and Indicators Safe Torque off 34 I O AOD Connector 35 Back up Power 37 Shunt Resistor and DC Bus Pinout 37 Motor Power 37 Understanding Motor Feedback Specifications 38 Motor Feedback 5 39 Feedback Power 43 Understanding Control Signal Specifications 44 Digital PWS es Be Kok hg OES EERE Dee LEDS 44 Digital Outputs ioter sep ta ae e peso Mo hace Piana 48 Analog Reference 2 223 nae tee eO EE e DD et s 49 Table of Contents Connecting the Kinetix 300 Drive System Configure and Start Up the Kinetix 300 Drive Analog OU Uv seada bag qe dtes Pro e EC eee Gibran dA 49 Ethernet Connection 50 24V DC Back Up 51 Chapter 4 nes erges aa e a soa SES RO APR eae 53 Understanding Basic Wiring Requirements 53 Building Your Own
130. lity for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in 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 Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss IMPORTANT Identifies information that is critical for successful application and understanding of the product 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 A A A Allen Bradley CompactLogix ControlFLASH ControlLogix Kinetix MP Series TL Series RSLogix 5000 SoftLogix Rockwell Automation Rockwell
131. low the 6 profile Increase or decrease permitted m up profiles drive capability time for motion e Check motor power feedback Motor or feedback device malfunction wiring e Replace motor or encoder e Verify grounding E94 Motor or motor feedback cable Publication 2097 UM001A EN P February 2010 Recommenced grounding per installation instructions has not been followed Route feedback cables away from noise sources Refer to System Design for Control of Electric Noise Reference Manual publication GMC RM001 119 Chapter6 Troubleshooting the Kinetix 300 Drive System Clearing Faults This section shows you how to clear the faults in the Kinetix 300 drive There are a two methods to clear faults using digital input or drive parameters Clearing Faults Using Digital Inputs There is a digital input Fault Reset on the Kinetix 300 drive that you can configure through the MotionView software To clear faults using this input make the input active until the fault clears and then deactivate it Clearing Faults Using Drive Parameters You can use the Kinetix 300 drive parameter to reset faults using Explicit Message or UserDefinedData Explicit Message Send Explicit Message 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
132. lter UN IDP Terminals E I2 E 12 Grounded Neutral BonedCabnt 5 60 0 Ground Bus Ground Grid or Ground Grid or Power Distribution Ground Power Distribution Ground Feeder and branch short circuit protection is not illustrated 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 present 59 Chapter4 Connecting the Kinetix 300 Drive System 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 The three phase isolation transformer and neutral in line filter 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 If this three phase isolation transformer and neutral in line filter application is used the responsibility for EMC validation lies with the user and
133. lting Drive State Disabled Enabled Disabled Enabled 1 Only applicable if EtherNet IP External Reference mode Enable Input configured for Inhibit Drive Input Value Enable Input On On Off Drive Enable bit in Output Move to Move to Assembly On Off Resulting Drive State Enabled Disabled Disabled 45 Chapter3 Kinetix 300 Drive Connector Data Homing Truth Table Drive Input Value Move to Start Homing Input On Start Homing bit in Moveto __ Output Assembly On Abort Homing Input On Off Off mee 5 Abort Homing bit in Move to Output Assembly on 2 m On Previous Drive State Enabled Enabled Enabled Enabled Homing Homing Willnot Starts Starts Aborts Aborts Resulting Drive State home homing homing homing homing Indexing Truth Table Drive Input Value Move to Start Index Input Start Motion bit in Move to u u Output Assembly On Abort Index Input On Off Off D uj Abort Index bit in Move to Output Assembly On Bt Off On Previous Drive State Enabled Enabled Enabled Enabled Indexing Indexing Resulting Drive State Will not Willnot Starts Starts Aborts Aborts index index indexing indexing indexing Indexing The digital inputs are optically isolated and sinks up to 24V DC Electrical details are shown in Digital I
134. ly that a connection between the drive and server has not been established or the server is not DHCP enabled Publication 2097 UM001A EN P February 2010 87 Chapter 5 Configure and Start Up the Kinetix 300 Drive DHCP can be enabled through the MotionView software If you choose to configure the drive using a manual static IP address you can switch over to an automatic dynamic address once configuration is complete See Obtaining the Kinetix 300 Drives Current Ethernet Settings on page 85 for information on enabling DHCP from within the MotionView software TIP A useful 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 drive s IP address and is useful when the drive has its IP address assigned automatically by the server for easy connection Publication 2097 UM001A EN P February 2010 Configure and Start Up the Kinetix 300 Drive Chapter 5 Use the Kinetix 300 The Kinetix 300 drives contains Kinetix 300 MotionView OnBoard MotionVi OnB d Tool software in short MotionView for configuration of the drive Follow ouonview Unboard 100 these steps to connect to the software 1 Open a Java enabled web browser on the host personal computer 2 Enter the IP address of the drive into the Address field of the browser A File Download dialog box will prompt you to Open or Save the MotionVie
135. mable Electronic Safety related Systems e EN954 1 1996 Safety of machinery Safety related parts of control systems Part 1 General principle S for design C Tick e Radio communications Act 1992 e Radio communications Electromagnetic Compatibility Standard 1998 e Radio communications Compliance Labelling Incidental Emissions Notice 1998 e AS NZS CISPR 11 2003 Group 1 Class A 1 Refer to http Awww ab com for Declarations of Conformity Certificates 130 Publication 2097 UM001A EN P February 2010 Specifications and Dimensions Appendix A Attribute Ambient temperature Environmental Specifications Operating Range 0 40 C 32 104 F Storage Range nonoperating 10 70 C 14 158 F Relative humidity 5 95 noncondensing 5 95 noncondensing Altitude De rate by 196 per 300 m 1000 ft above 1500 m 5000 ft 3000 m 9843 ft during transport Vibration 5 2000 Hz Q 2 5 g peak 0 015 mm 0006 in max displacement Shock 15 g 11 ms half sine pulse 3 pulses in each direction of 3 mutually perpendicular directions Publication 2097 UM001A EN P February 2010 131 Appendix A Specifications and Dimensions AC Line Filter Specifications The tables below contain specifications for AC line filters available for Kinetix 300 servo drive systems AC Line Filter Specifications catalog number 2090 XXLF TC116
136. mode 146 D date and time tab 98 digital inputs 44 digital outputs 48 dirty zone 25 download program 100 drive module properties 100 wiring BP connector 66 wiring IPD connector 67 wiring MP connector 68 wiring STO connector 66 drive properties drive 100 E electric cylinder 144 EMC cable shield 70 71 directive 161 motor ground termination 68 motor ground termination at motor 68 187 Index EMI ElectroMagnetic Interference bonding 22 enclosure requirements 18 sizing 20 environmental specifications 131 error codes and messages 116 Ethernet address 100 cables RJ45 connectors 80 connection 50 module 97 properties 99 F feedback cables and pinouts 75 specifications 38 feedback power supply 43 fuse 138 selection 19 specifications 127 G generic TTL incremental 38 grounded power configuration 55 grounding 61 multiple subpanels 62 system to subpanel 61 H HF bonding 22 high frequency energy 24 1 0 connections 75 specifications 44 48 49 indexing 95 105 151 167 input power wiring 3 phase Delta 56 3 phase WYE 55 determining input power 55 grounded power configuration 55 single phase 57 single phase amplifiers on 3 phase power 58 59 installing drive accessories low profile connector kits 78 188 installing your drive bonding subpanels 24 circuit breakers 19 fuse selection 19 HF bonding 22 system mounting requirements 18 transformer 19 inteconnect diagram three phase input power 1
137. modules refer to Additional Resources on page 10 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 The New Controller dialog box opens New Controller Vendor Allen Bradley Type 1756 L63 ControlLogix5563 Controller M OK Revision 7 Y Cancel Redundancy Enabled Help Name UM Description Chassis Type 175610 10 Slot ControlLogis Chassis Slot p Create In C RSLogix 5000 Projects Browse 3 Configure the new controller a Choose controller type b Choose your RSLogix 5000 software version c Name the file d Choose the Logix chassis size e Enter the Logix processor slot 4 Click OK 5 From the Edit menu choose Controller Properties 97 Chapter 5 Configure and Start Up the Kinetix 300 Drive 98 The Controller Properties dialog box opens f Controller Properties UM x General Serial Port System Protocol User Protocol Major Faults Minor Faults Date Time Advanced SFC Execution File Redundancy Nonvolatie Memory Memory i The Date and Time displayed here is Controller local time not workstation local time Use these fields to configure Time attributes of the Controller Date and Time e Time Zone e Make this contr
138. nd has the CE mark the following regulations apply For more information on the concept of electrical noise reduction refer to System Design for Control of Electrical Noise Reference Manual publication GMC RMO01 EMC Directive This unit is tested to meet Council Directive 2004 108 EC Electromagnetic Compatibility using the following standards in whole or in part e 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 e EN 61000 6 2 EMC Immunity Standard Part 2 Industrial Environment The product described in this manual is intended for use in an industrial environment CE Conformity Conformity with the Low Voltage Directive and Electromagnetic Compatibility EMC Directive is demonstrated 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 161 Appendix D Kinetix 300 Drive Safe Torque Off Safe Torque Off Wiring Requirements 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
139. nect or Circuit Breakers Power 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 Kinetix 300 Drive Wiring Example 120V single phase input power Refer to table on page 136 for note information Bonded Cabinet Ground Bus Isolation Transformer A gt 1 Input Fusing 1 L L2 N o ojo o 2097 V31PRx and 2097 V33PRx Kinetix 300 Drive Ground Stud AC Line Filter 1 Catalog Number PE Mains 2090XLFTCHG 4 Single phase Optional u Input IPD 4 Connector L2 N MI Notes 5 6 29 Use discrete logic or 76 EN PLC to control 1 0 100 ENABLE to drive and Connector monitor RDY signal 41 back from drive 42 o RDY Refer to Attention statement Note 8 Publication 2097 UM001A EN P February 2010 Shunt Resistor and DC Bus BC Connector Back up Power BP Connector Motor Power MP Connector To Shunt Resistor User supplied 24V DC 24V DC amp Com Three phase Motor Power Connections Note 9 U v HHL 10 w Motor PE gt Cable E
140. necting the Kinetix 300 Drive System IMPORTANT This section contains common PWM servo system wiring configurations size and practices that can be used ina 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 Building 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 e Use twisted pair cable whenever possible Twist differential signals with each other and twist single ended signals with the appropriate ground return Refer to the Kinetix Motion Control Selection Guide publication GMC SG001 for low profile connector kit drive end mating connector kit and motor end connector kit catalog numbers Routing Power and Signal Wiring Be aware that when you route 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 Refer to Minimizing Electrical Noise on page 22 for examples of routing high and low voltage cables in wireways Ref
141. nits s around the At Speed for setting the In Speed Window Speed Window Digital Output if configured and the VelocityLockStatus bit in the EtherNet IP nput Assembly Position Limits The Position Limits window displays the configuration of the modifiable position limits parameters which are shown in the following table Position Limits Parameters Parameter Description The tolerance in encoder counts around the commanded position Position Error outside of which the drive will assert a Excess Position Error Fault when the Max Error Time is exceeded The amount of time in ms that the drive can be outside of the Max Error Time Position Error before the drive asserts a Excess Position Error Fault The deceleration rate in User Units s that the drive will use to bring the motor to a stop when either the Abort Homing or Abort Abort Decel Index Digital Inputs is asserted if configured or either the AbortIndex or AbortHoming bit is set in the EtherNet IP Output Assembly The tolerance in User Units around the commanded position Position Limit inside of which the drive will set the PositionLockStatus bit in the EtherNet IP Input Assembly Soft Limits Off or On depending if software travel limits should be used Positive Limit and Negative If Soft Limts are On the position in User Units when reached the Limit drive will assert a Software Overtravel fault 94 Publication 2097 UM001A EN P February 2010
142. nput Signal Specifications The inputs can be setup for PNP sourcing or NPN sinking 46 Publication 2097 UM001A EN P February 2010 Publication 2097 UM001A EN P February 2010 Kinetix 300 Drive Connector Data Chapter 3 Sourcing of Digital Inputs 12 24V IN A COM GND Sinking of Digital Inputs GND 12k IN A COM 24V Digital Input Signal Specifications Parameter Value Scan time 500 ys Current max 9 mA typical Input impedance 1 2 typical Voltage range 10 24V DC 47 Chapter 3 48 Kinetix 300 Drive Connector Data Digital Outputs There are five digital outputs OUT1 OUT4 and 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 the following functions e Not assigned e Zero speed e In speed window e Current limit e Run time fault e Ready e 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 Digital Output Signal Specifications Parameter Value Scan time 500 us Current max 100 mA Voltage range 30V DC max Digital Outputs Kinetix 300 Drive Logic Power OUTI C VE nu OUT1 E e reed J GND Publication 2097 UM001A EN
143. o be in the MotionView software Data Link Publication 2097 UM001A EN P February 2010 153 Appendix C Input and Output Assembly Notes 154 Publication 2097 UM001A EN P February 2010 Introduction Certification Publication 2097 UM001A EN P February 2010 Kinetix 300 Drive Safe Torque Off This appendix introduces you to how the safe torque off feature Appendix D meets the requirements for safety category CAT 3 performance level d applications Topic Page Introduction 155 Certification 155 Understanding the Kinetix 300 Drive Safe Torque off Feature 157 Description of Operation 158 Safe Torque Off Connector Data 159 Safe Torque Off Circuit Bypass Instructions 160 Wiring Your Kinetix 300 Drive Safe Torque Off Circuit 161 European Union Directives 161 Safe Torque Off Wiring Requirements 162 Kinetix 300 Drive Safe Torque Off Wiring Diagrams 163 Functional Proof Tests 164 Safe Torque Off Signal Specifications 165 The safe torque off circuit is type approved and certified for use in safety applications up to and including safety category CAT 3 according to ISO 13849 1 Safety Category 3 Performance Level d 155 Appendix D 156 Kinetix 300 Drive Safe Torque Off The T V Rheinland group has approved the Kinetix 300 drives for use in safety related applications up to ISO 13849 1 Safety Category 3 Performance Level d in which the de energized state is consi
144. of action combinations of switch marker and immediate for 1 ome Method f defining the axis home 1 Home to torque is not available Tools The tools screen provides access to the oscilloscope and parameter viewer drive tools Monitor The monitor screen provides access to pre configured status information for the drive This information is displayed in a floating window that updates in real time Faults The Faults window displays the configuration of the modifiable faults parameters which are shown in the following table Faults Parameters Parameter Description Last Fault Code The last fault the drive reported Device Time The time since boot of the drive that the fault occurred Load Faults Recall the last 15 faults the drive reported Clear Fault History Clear the fault history of the drive Clear Faults Clear the current fault in the drive Publication 2097 UM001A EN P February 2010 Configure and Start Up the Kinetix 300 Drive Chapter 5 Configure the Logix EtherNet IP Interface Module Publication 2097 UM001A EN P February 2010 This procedure assumes that you have wired your Kinetix 300 drive For the Kinetix 300 drive to communicate with the Ethernet IMPORTANT IMPORTANT interface module your RSLogix 5000 software must be version 17 00 or later For help using RSLogix 5000 software as it applies to configuring the ControlLogix CompactLogix or SoftLogix EtherNet IP
145. oller the Coordinated gf DANGER If CST master is cleared online System Time master active axes in any controller in this chassis or chassis synchronized by SynchLink may Q Is the master experience unexpected motion Synchronized with a master Duplicate master detected Timer hardware faulted Cancel Apply Help Click the Date and Time tab 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 Click OK Configure the Logix Module Follow these steps to configure the Logix module 1 Right click I O Configuration in the Explorer dialog box and choose New Module The Select Module dialog box opens Expand the Motion category and select 1769 L3xE or 1756 Exx x appropriate for your actual hardware configuration Click OK Publication 2097 UMO001A EN P February 2010 Configure and Start Up the Kinetix 300 Drive Chapter 5 The New Module dialog box opens New Module Type 1756 ENET B 1756 Ethernet Communication Interface Vendor Allen Bradley Parent Local Address Host Name Name Description Address C Host Name Slot 1 Revision 1 Electronic Keying Compatible Keying Open Module Properties Cancel Help 4 Configure the new module a Name the module b Enter the IP address of the Ethernet card or Ethernet
146. oltage signal cables Shunt Resistor Inside the Enclosure Shunt Wiring Methods DUE Twisted pair in conduit first choice Shielded twisted pair second choice Twisted pair two twists per foot min third choice equipment within 150 mm 6 0 in I Dirty Wireway L Very dirty zone I segregated not in wireway 24V Motor 0 Brake PS I Kinetix 300 Circuit o I Drive Ethernet I shielded AC Line DC Cable Filter I Filter I No sensitive 1 and Feedback Cables 1 0 1 Motor Power and Safety Cables Route Encoder Analog Registration Route 24V DC 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 the 150 mm 6 0 in segregation use a grounded steel shield instead for examples refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 Publication 2097 UM0011A EN P February 2010 29 Chapter2 Installing the Kinetix 300 Drive System Mounting Your Kinetix 300 Drive 30 Motor Brake The brake is mounted inside the motor how you connect to the axis module depends on the motor series Refer to Kinetix 300 Drive Rotary Motor Wiring Examples beginning on page 141 for the interconnect diagram of y
147. om 24V DC back up power 101 Chapter 5 Configure and Start Up the Kinetix 300 Drive 6 Verify that Hardware Enable Input signal IOD connector pin 29 is at OV 7 Observe the status indicator on the front of the Kinetix 300 drive Status Indicator Condition Status Do This T Observe the Comm Activity status Off Normal condition indicator E Steady red Drive is faulted Go to Status Indicators on page 83 aan T Go to Test and Tune the Axis on Flashing Communication is ready Comm Activity page 102 Off No communication Go to Status Indicators on page 83 Test and Tune the Axis This procedure assumes that you have configured your Kinetix 300 drive your Logix Ethernet interface module and applied power to the system Before proceeding with testing and tuning your axis IMPORTANT bt mE verify that the Kinetix 300 drive status indicators are operating as described in step 7 on page 102 Follow these steps to test the axis This procedure applies only to motors with incremental encoders When using motors with absolute encoders skip to Tune the Axis 1 Verify the load was removed from each axis 2 Run the MotionView OnBoard software 3 Select Motor Click Check Phasing at the top of the dialog box MotionView OnBoard 3 23 GoPack 10 91 84 224 Allen Bradley Kinetix 300 Cornet Disconnect Save Connection LoadConnection ff GoPack 10 91 84 224 Motor
148. ome familiar with the Kinetix 300 drive components This chapter also reviews design and installation requirements for Kinetix 300 drive systems Topic ti Pae Introduction S o About the Kinetix 300 Drive System 12 Agency Compliance 15 Publication 2097 UM001A EN P February 2010 11 Chapter 1 Start About the Kinetix 300 Drive 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 System Kinetix 300 Drive System Overview Kinetix 300 System or Component Cat No Description TEC Kinetix 300 EtherNet IP indexing drives with safe hese oneal ae 2097 V3xPRx torque off feature are available with 120 240V or 480V 9 AC input power Bulletin 2097 Fx three phase AC line filters are required MEE to meet CE and available for use in 230V and 460V AC Line Filters 2097 Fx systems They are available in foot mount and side mount models Bulletin 2097 shunt module connects to the drive and Shunt Module 2097 Rx provides shunting capability in regenerative applications Terminal block for 1 0 2097 1 50 terminal block Use with the Kinetix 300 drives connector 100 connector or for control interface connections The EPM programmer is use to duplicate the memory and Memory Module Programmer 2037 PGMR configuration of the Kinetix 300 drives These removable memory modules used by th
149. on 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 Attribute settings 181 Appendix Using MicroLogix Explicit Messages with Kinetix 300 Drives Reading a DINT from volatile memory example ID 73 bus voltage MSG Rung 2 0 MG9 0 182 Publication 2097 UM001A EN P February 2010 Using MicroLogix Explicit Messages with Kinetix 300 Drives Appendix G Reading a REAL from volatile memory example ID 183 phase current MSG MG9 0 1 Elements MSG MG9 0 1 Elements Publication 2097 UM001A EN P February 2010 183 Appendix G Using MicroLogix Explicit Messages with Kinetix 300 Drives 184 Reading a String from volatile memory example ID 3 drive s serial number MSG MG9 0 1 Elements General MutiHop Send Data Receive Data This Controller pe Channel i integral Ignore if timed out TOP 0 Communication Command Break Connection BK 0 Data Table Address Receive Cend Awaiting Execution Ew 0 Size in Bytes Receive Send Error ER 0 r Target Device Message done DN 0 Message Tineout 3 Extended Routing Info FiefRI lt Class hen dec Instance thext 3 deck BG Atribute hest a deck 4 Local Remote Local MuliHop Service Gene
150. on sales representative for information on available training courses The conventions starting below are used throughout this manual e Bulleted lists such as this one provide information not procedural steps e Numbered lists provide sequential steps or hierarchical information Preface Additional Resources These documents contain additional information concerning related Rockwell Automation products Resource Kinetix 300 EtherNet IP Indexing Servo Drive Installation Instruction publication 2097 IN001 Description nformation on installing your Kinetix 300 drive system Kinetix 300 Shunt Resistor Installation Instructions publication 2097 IN002 nformation on installing and wiring the Kinetix 300 shunt resistors wz inetix 300 AC Line Filter Installation Instructions publication 2097 IN003 nformation on installing and wiring the Kinetix 300 AC line filter inetix 300 1 0 Terminal Expansion Block Installation Instructions publication nformation on installing and wiring the Kinetix 300 1 0 terminal expansion block K 2097 IN005 Kinetix 300 Memory Module Installation Instructions publication 2097 INO07 nformation on installing the Kinetix 300 memory module inetix 300 Memory Module Programmer Quick Start publication 2097 05001 nformation on using the memory module programmer to duplicate the memory module 1769 L32E and 1769 L35E CompactLogix Controller Install
151. or Power Specifications Attribute 2097 R2 2097 R3 2097 R4 2097 R6 2097 R7 2097 V31PRO a 2097 1 2 T ML E E LS 2097 V33PR1 2097 V33PR3 Resistor value Q 20 30 40 75 150 Peak power kW 76 5 1 3 8 79 4 0 Peak current A 19 5 13 0 9 8 10 3 5 1 Continuous power W 150 80 150 80 RD Application max 1 97 2 96 240 1 90 2 02 Weight approx kg Ib 0 3 0 7 0 2 0 4 0 3 0 7 0 2 0 4 1 RD Application is the application duty cycle in percent For the intermittent regeneration applications use RD Application t T Where t is the duration when regeneration is needed and T is the time interval between two regenerations Both t and T must use the same time units such as seconds Publication 2097 UM001A EN P February 2010 133 Appendix A Product Dimensions 134 Specifications and Dimensions This section contains product dimensions for your Kinetix 300 drives Dimensions are in mm in 30 8 dia 4 57 i 1 21 8 a 1 Q Kinetix 300 182 4 7 18 190 5 U 7 50 6 6 9 Hi 457 11 8 4 38 1 0 18 0 46 1 5 B B A B Cat No mm in mm in Cat No mm in mm in 2097 V31PRO 185 1 7 29 68 0 2 68
152. or more information regarding stop categories refer to EN 60204 1 The safe torque off circuit when used with suitable safety components provides protection according to ISO 13849 1 Safety Category 3 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 drive s output power devices This prevents them from 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 This option is suitable for performing mechanical work on the drive system or affected area of a machine only It does not provide electrical safety 157 AppendixD Kinetix 300 Drive Safe Torque Off Description of Operation 158 To avoid an electric shock hazard verify that the voltage on the bus capacitors has discharged before performing any work on the drive Be sure the DC bus voltage across the B and B terminals n 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
153. or pins in many cases Motor Feedback Signals by Device Type MF Pin Stegmann Hiperface Rene Tem 1 SIN AM 2 SIN AM 3 COS BM 4 COS BM 5 DATA IM DATA 6 ECOM ECOM ECOM 7 EPWR9V 8 53 g Z m 0 DATA IM DATA 1 TS TS E 2 51 3 52 4 EPWR5V EPWR5V 5 Z This is the motor thermostat interface schematic Although the thermostat signal is shown for all feedback types some motors may not support this feature since it is not part of the feedback device Motor Thermostat Interface Kinetix 300 Drive 5V 45V A 6 81 KQ 1kQ A MTR_TS AAA 4 gt mima Motor Thermostat State State Resistance at TS No Fault 500 Q Fault 10 KQ 39 Chapter 3 40 Kinetix 300 Drive Connector Data 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 p p measured at the drive inputs Line loss detection AM BM Average sin cos constant Stegmann Hiperface Interface SIN and COS Signals
154. ot to exceed one year 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 Input 1 SafetyInput2 Safety Status Drive Status Safety Function State STO 4 STO 6 Output STO 3 Indication Normal operation Energized Energized Energized Run Energized De energized Energized E67 Safe torque off mismatch De energized Energized Energized E67 Safe torque off function engaged De energized De energized De energized E67 f 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 error code E67 Troubleshooting the Safe Torque Off Function Error Fault Message Code RSLogix HIM Anomaly Potential Cause Possible Resolution e loose wiring at safe torque off STO connector Verify wire terminations DriveHardFault 20 torque off e Cable header not seated cable header connections and 24V E67 safe torque off M properly in safe torque
155. our drive motor combination The procedures in this section assume you have prepared your panel and understand how to bond your system For installation instructions regarding other equipment and accessories refer to the instructions that came with each of the accessories for their specific requirements This drive contains electrostatic discharge ESD sensitive parts and assemblies You are required to follow static control precautions when you install test service or repair this assembly If you do not follow ESD control procedures components can be damaged If you are not familiar with static control procedures refer to Allen Bradley publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook Follow these steps to mount your Kinetix 300 drive 1 Layout the position for the Kinetix 300 and accessories in the enclosure refer to Establishing Noise Zones for panel layout recommendations Mounting hole dimensions for the Kinetix 300 are shown in Appendix A 2 Attach the Kinetix 300 drive to the cabinet first using the upper mounting slots of the drive and then the lower The recommended mounting hardware is M4 6 32 steel machine screw torqued to 1 1 Nem 9 8 lbein Observe bonding techniques as described in Bonding Drives IMPORTANT To improve the bond between the Kinetix 300 drive and subpanel construct your subpanel out of zinc plated paint free steel
156. ove Type S curve The acceleration and deceleration profile Trapezoidal type Distance 1 268435 4560 User units How far to move Register Distance 1 268435 4560 User units Batch Count 1 2147483647 How many times to execute index before moving on to next index Dwell 0 65535 ms Time to remain at position before moving on to next index Velocity 0 0000 10 000 000 0000 User Speed when moving towards new position units s Acceleration 0 0000 10 000 000 0000 User How quickly to accelerate towards units s configured velocity Deceleration 0 0000 10 000 000 0000 User How quickly to decelerate towards zero units s velocity from configured velocity Next Index 0 31 Next index to execute if any Action Next index What to do when current index is complete Wait for start Next index Publication 2097 UM001A EN P February 2010 Configuring Indexing Parameters Appendix E Registration Distance If the indexing configuration Type is set to Registration Absolute or Registration Incremental an additional parameter of Registration Distance needs to be configured In Registration Index mode the drive moves the motor from its starting position the specified Distance provided that the registration sensor input is not detected If the registration sensor input is detected the move is adjusted so that the end position is determined by the Registration Distance setting Registration Distance is the relative distance the
157. pe 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 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 4 Position the exposed portion of the cable braid directly in line with the clamp 5 Clamp the exposed shield to the panel using the clamp and 2 6 32 x 1 screws provided 6 Repeat steps 1 5 for each Kinetix 300 drive you are installing 74 Publication 2097 UM001A EN P February 2010 Understanding Feedback and 1 0 Cable Connections Connecting the Kinetix 300 Drive System Chapter 4 Factory made cables with premolded connectors are designed to minimize EMI and are recommended over hand built cables to improve system performance However other options are available for building your own feedback and I O cables Options for Connecting Motor Feedback Connection Option Cat No Cable Using This Type of Cable Refer to the table below for the premolded Premolded connectors N A Motor feedback motor feedback cable available for your motor Refer to the table below for the flying lead Low profile connector 2090 K2CK D15M Motor feedback cable available for your motor 1 0 Terminal Block 2097 TB1 1 0 interface User supplied flying lead cable Motor Feedback Cables for Specific Motor
158. proximately 2000 mm high x 850 mm wide x 200 mm deep 2 x 0 2 x 0 85 2 x 0 2 x 2 0 2 x 0 85 x 2 0 4 54m 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 Minimum Clearance Requirements This section provides information to assist you in sizing your cabinet and positioning your Kinetix 300 system components Minimum Clearance Requirements 25 0 mm 1 0 in Clearance Depth min for airflow and Installation mm in dt 2097 V31PRO 332 13 m 2097 V31PR2 cis 2097 V32PRO 377 15 3 mm 0 12 Allow mm 0 12 2097 V32PR2 side Clearance amp ide Cl side Clearance 2097 V82PR 2097 V33PR1 332 13 7 2097 V33PR3 25 0 mm 1 0 in Clearance 2097 V33PR5 for airflow and Installation 2097 V33PR6 377 15 2097 V34PR3 332 13 1 Allow additional space for side mount or rear mount AC line 2097 V34PR5 filters See the table and the Kinetix 300 AC Line Filter Installation Instructions publication 2097 IN003 2097 V34PR6 377 15 1 If using an AC line filter add 50 mm 2 in IMPORTANT Mount the module in an upright position as shown Do not mount the module on its si
159. r target position based on Index Type Batch Count How many times to execute index before moving on to next index Dwell The number ms to remain at position before moving on to next index it is not applied between batches Velocity The target speed in User Units s when moving towards new position axis may not actually reach the target velocity if the acceleration rate is too low Acceleration The rate in User Units s when accelerating towards velocity Deceleration The rate in User Units s when deceleration towards zero velocity Next Index The next index to execute after the current index completes Action When 1 1 Complete Stop wait for start or next index 95 Chapter 5 Configure and Start Up the Kinetix 300 Drive 96 Homing The Homing window displays the configuration of the modifiable homing parameters which are shown in the following table Homing Parameters Parameter Description The rates in User Units s the drive should use in accelerating to or Home Accel Decel S from the homing velocities The difference between the zero position for the application and the Home Offset machine home position found during homing The velocity in User Units s to be used in homing based on home Home Velocity Fast or Slow method The digital input that should be used as a home switch for Home Switch appropriate homing method A list
160. re of system performance run wires and cables in the wireways as established in the user manual for your drive This appendix provides typical wiring diagrams for the Kinetix 300 dive safe torque off feature with other Allen Bradley safety products For additional information regarding Allen Bradley safety products including safety relays light curtain and gate interlock applications refer to the Safety Products Catalog website www ab com catalogs In the diagram below the Kinetix 300 drive safe torque off connector is shown wired to an Allen Bradley safety relay Single axis Relay Configuration Stop Category 0 Safe Torque Off Demand Kinetix 300 Drive M si 52 siz 13 23 33 Allen Bradley n Monitoring Safety Vc Relay MSR127RP Safe Torque Off STO 440R N23135 Connector with N Wiring Header NC ouv pc 521 522 34 2 2 4 2 NC 2 cg 7 f f M NC 1 Status i cin Safety Input 1 5 Safety Common Safety Input 2 External 24V COM Publication 2097 UM001A EN P February 2010 163 AppendixD Kinetix 300 Drive Safe Torque Off Functional Proof Tests ISO 13849 1 requires that functional proof tests be performed on the equipment used in the system Proof tests are performed at user defined intervals n
161. reference for Profiled velocity 181 REAL RAN User units 182 DINT R W A B inputs reference counter value 183 REAL R Phase current 184 DINT R W Target position in encoder pulses 185 DINT R W Actual position in encoder pulses 186 DINT R Position error in encoder pulses 189 DINT R W Input A1 de bounce time in ms 190 DINT R W Input A2 de bounce time in ms 191 DINT R W Input A3 de bounce time in ms 192 DINT R W Input A4 de bounce time in ms 193 DINT R W Input B1 de bounce time in ms 194 DINT R W Input B2 de bounce time in ms 195 DINT R W Input B3 de bounce time in ms 196 DINT R W Input B4 de bounce time in ms Publication 2097 UM001A EN P February 2010 177 Appendix F Kinetix 300 Drive Tag Numbers Kinetix 300 Drive Tag Numbers continued ID Data Type Access Description 197 DINT RAN Input C1 de bounce time in ms 198 DINT RAN Input C2 de bounce time in ms 199 DINT RAN Input C3 de bounce time in ms 200 DINT RAN Input C4 de bounce time in ms 201 DINT R W Programmable Output function 202 DINT R W Programmable Output Function 203 DINT R W Programmable Output Function 204 DINT R W Programmable Output Function 205 DINT R Current hall code 206 DINT R Primary encoder current value 207 DINT R Registration position 208 REAL R Registration position 209 REAL R W Target
162. ric Get Attibute Single Service Code hex E Message Transmitting ST 0 Message Enabled EN 0 r Error Error Code Hex 0 Read Wnte Message MSG File MG90 Setup Screen Dest 4ST140 DATA 0 Length 41 Publication 2097 UM001A EN P February 2010 Publication 2097 UMO001A EN P February 2010 Using MicroLogix Explicit Messages with Kinetix 300 Drives Appendix G Writing a String into non volatile memory example ID 2 drive s symbolic name MSG Rung 2 0 MG9 0 General MutiHop Send Data Receive Data This Controller a cnet Ignore i timed out TO 0 Communication Command Break Connection BK 0 Data Table Address Receive Awaiting Execution EW 0 Size in Bytes Receive Send Enor 0 p Target Device Message done DN 0 Message Timeout Message Transmitting ST B Message Enabled EN 0 Local Remote MultiHop Extended Routing Info File AIX 815100 _ Enor Service Generic Set Attribute Single _ Service Code hex Error Code Hex 0 5 Instance hex dec Attribute hex 5__ dec 5 PW Copy Word Source 5T14 0 DATA 0 Dest N11 0 Length 4l MSG Read Wnte Message MSG File MG9 0 Setup Screen 185 Appendix G Using MicroLogix Explicit Messages with Kinetix 300 Drives Notes 186 Publication 2097 UM001A EN P February 2010 Numerics 120V single phase inpu
163. rive Chapter 5 Publication 2097 UM001A EN P February 2010 Digital 1 0 Drive object parameters of type DINT can only be used in the IMPORTANT IMPORTANT RAM integer data links parameters of type REAL can only be used in the RAM float data links The Digital I O window displays the configuration of the modifiable digital I O parameters which are shown in the following table Digital 1 0 Parameters Parameter Description Configuration of the specific function for the individual digital inputs Input Function pre assigned inputs such as Enable and Registration are not configurable Configuration of the specific function for the individual digital Output Function outputs Debounce Time Debounce time in ms of the individual digital inputs Configuration of the action to take when the limit switches are Hard Limit Switches Action asserted Configuration of the enable digital input A3 as either Enable Switch Function e Run enable drive when asserted e Inhibit must be asserted before the drive can be enabled Brake Engage Delay Configuration of the engage delay of the motor holding brake Brake Release Delay Configuration of the release delay of the motor holding brake Analog 1 0 The Analog I O window displays the configuration of the modifiable analog I O parameters which are shown in the following table Analog 1 0 Parameters Parameter Description Analog Ou
164. s and their description To change these parameters using an Explicit Message configure the message to target class 374 the instance corresponds to the ID in the table below and the attribute is defined by the Kinetix 300 Drive Object attribute table on page 150 IMPORTANT Memory module writes are limited to 1 000 000 per device Ensure that all writes targeted at the memory module are necessary and not done as part of a background or cyclic task ID Data Type Access Description 1 String R Drives identification string 2 String R W Drive s symbolic name 3 String R Drive s serial number 7 REAL R Actual measured motor velocity 9 DINT R Drive Fault Register 10 String R Motor ID 11 String R Motor model 12 String R Motor vendor 14 DINT R Hallcode index 18 DINT R Motor moment of inertia Jm 19 DINT R Motor voltage or back EMF constant Ke 20 DINT R Motor torque or force constant Kt 21 DINT R Motor phase to phase inductance Lm 22 DINT R Motor phase to phase resistance Rm 23 DINT R Motor s max current RMS Publication 2097 UM001A EN P February 2010 175 Appendix F Kinetix 300 Drive Tag Numbers Kinetix 300 Drive Tag Numbers continued ID Data Type Access Description 24 DINT R Motor s max velocity 25 DINT R Motor s poles number 26 REAL R Enco
165. sure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure Documentation Feedback Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA DU002 available at http www rockwellautomation com literature www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication 2097 UM001A EN P February 2010 Copyright 2010 Rockwell Automation Inc All rights reserved Printed in the U S A
166. t power 137 1756 Exx x 97 1766 L32BXB 146 1766 L32BXBA 146 1769 L3xE 97 240V single phase input power 138 A about this publication 9 AC line filters specifications 132 ac line filters specifications 132 additional resources 10 analog current 105 111 113 analog outputs 49 analog reference 49 analog velocity 105 111 112 146 applying power 101 back up power 51 bonding 23 EMI ElectroMagnetic Interference 22 high frequency energy 24 subpanels 24 brake currents 148 building your own cables 54 C cable length CE 18 length max 129 cables building your own cables 54 Ethernet cable length 80 maximum fdbk cable length 129 shield clamp 74 shield EMC 70 71 catalog safety products 163 category 3 requirements 157 stop category definitions 157 CE CE conformity 161 complying with CE 161 invalidating compliance 60 Publication LDC UMOO1A EN P February 2010 Index meeting requirements 162 CE compliance 15 60 certification specifications 130 TUV Rheinland 156 user responsibilities 156 circuit breaker selection 19 specifications 127 clamp 74 clean zone 25 clearance requirements 21 configuring Ethernet module 97 connecting external shunt resistor 79 feedback 75 1 0 75 motor brake 73 motor shield clamp 74 connector designators 33 connector location 159 contactor specifications 128 controller properties 97 conventions used in this manual 9 coordinated system time master 98 current
167. tal Output specifications refer to page 48 Diode 1N4004 rated 1 0 400V DC See Wiring Examples beginning on page 141 Exposed shield under clamp and place within 2 3 in 50 75 mm of drive see page 74 for details uary 2010 71 Chapter4 Connecting the Kinetix 300 Drive System The cable shield clamp shown above is mounted to the subpanel Ground and secure the power cable in your system following instructions on page 74 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 Cable Shield and Lead Preparation Outer Insulation y Strip Length see table below Motor Power Cable c Exposed Braid 25 4 mm 1 0 in gt As required to have ground clamp within 100 150 mm 2 3 in of the drive Refer to Shunt Resistor Wiring Example beginning on page 141 for interconnect diagrams Motor Power MP Connector Servo Motor MP Connector MP Series TL Series MP Pin U Brow n Signal V Black W Blue gt N U V W L Green Yellow Termination Specifications Cat No Recommended Wire Size mm AWG Strip Length mm in Torque Value Nem Ibein 2097 V31 PRO 2097 V32PRO 2097 V32PR2 2097 V32PR4 2097 V33PR1 2097 V33PR3 2097 V33PR5 2097 V34PR3
168. tem IMPORTANT The next two configurations are for 230V AC installations only They are not recommended for 400 480V AC installation Three phase Power Configuration preferred Delta secondary L1 AC Line 12 Filter 12 L1 L3 955 Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground an Kinetix 300 Drive Three phase AC Input IPD Terminals Feeder and branch short circuit protection is not illustrated Three phase Power Configuration tolerated Delta secondary Transformer Delta Secondary L1 12 13 Li ul AC Line T Filter T L3 L3 IPD L1 L2 L3 Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground Kinetix 300 Drive Three phase AC Input IPD Terminals Feeder and branch short circuit protection is not illustrated 56 Publication 2097 UM001A EN P February 2010 Connecting the Kinetix 300 Drive System Chapter 4 Publication 2097 UM001A EN P February 2010 Single phase Power Wired to Single phase Drives The following examples illustrate grounded single phase power wired to single phase Kinetix 300 drives when phase to phase voltage is within drive specifications Single phase Grounded Power Configurations Transformer Secondary
169. ter case For AC line filter specifications refer to AC Line Filter Specifications on page 132 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 refer to page 48 5 Contactor coil M1 needs integrated surge suppressors for AC coil operation Refer to Contactor Ratings on page 128 6 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 7 Cable shield clamp must be used to meet CE requirements No external connection to ground is required 8 Implementation of safety circuits and risk assessment is the responsibility of the machine builder Please reference international standards EN 1050 and EN 954 estimation and safety performance categories For more information refer to Understanding the Machinery Directive A publication SHB 900 9 For motor cable specifications refer to the Kinetix Motion Control Selection Guide publication GMC SG001 10 Motor power cables 2090 and 2090 CPBM6DF 16AA xx have a drain wire that must be folded back under the cable shield clamp 136 Publication 2097 UM001A EN P February 2010 Interconnect Diagrams Appendix B Single phase AC Input 120V rms AC 50 60 Hz Notes 1 2 V V UD po Fuse Discon
170. tionLimit 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 ReferenceSource 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 Publication 2097 UM001A EN P February 2010 Input and Output Assembly Appendix C Output Assembly continued RSLogix 5000 Field Description 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 UserDefinedlntegerReal1 The value in this field is written to whatever parameter it was configured t
171. tix 300 Drive Ethernet shielded Cable No sensitive equipment within 150 mm 6 0 2 Route encoder analog registration shielded cables Dirty Wireway D Contactors Very Dirty Zone Segregated not in wireway Optional AC Line Filter 2090 XXLF TC116 24V Motor Brake PS Circuit Breaker o DC Filter 3 1 0 1 and Feedback Cables 1 0 1 Motor Power and Safety Cables Route 24V DC 1 0 Shielded Cable 1 If drive system 1 0 cable contains dirty relay wires route cable in dirty wireway 2 For tight spaces use a grounded steel shield For examples refer to 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 the left 4 This is a dirty 24V DC available for motor brakes and contactors The 24V enters the dirty wireway and exits to Publication 2097 UM0011A EN P February 2010 he right 25 Chapter2 Installing the Kinetix 300 Drive System Establishing Noise Zones for Installations With Bulletin 2097 AC Line Filter M Clean Wireway Dirty Wireway Contactors L Very Dirty Zone I Segregated not in wireway VD I 24V Motor Brake PS
172. to meet ISO 13843 1 Safety Category 3 Performance Level d 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 Publication 2097 UM001A EN P February 2010 139 Appendix B 140 Interconnect Diagrams Shunt Resistor Wiring Example Refer to the Shunt Resistor Specifications on page 133 for the Bulletin 2097 Rx shunt resistors that are available for the Kinetix 300 drives Refer to the Kinetix 300 Shunt Resistor Installation Instructions publication 2097 IN002 for additional installation information Shunt Resistor Wiring Example 2097 V3xPRx Kinetix 300 Drive 2097 Rx Shunt Resistor Brake DC Bus BC Connector Cc 4Ajco Nj Publication 2097 UM001A EN P February 2010 Interconnect Diagrams Appendix B 2097 V3xPRx Kinetix 300 Drive Kinetix 300 Drive Rotary Motor Wiring Examples Kinetix 300 Drive Wiring Example with MP Series Bulletin MPL A B MPM A B MPF A B and MPS A B Motors 2090 XXNPMF xxS xx standard or 2090 CPBMxDF xxAFxx continuous flex Motor Power Cable Note 9 Use 2090 CPWMxDF xxAF xx cable for continuous flex non bral e applications MPL A B xxx MPM A B xxx MPF A Bxxx and MPS A B Servo Motors with High Resolution Feed
173. tput Source of the analog output values Scaling in V A of the analog output for output values that are Analog Output Current Scale curent based Scaling in mV rpm of the analog output for output values that are Analog Output Velocity Scale velocity based Scaling in A V of the analog input for output values that are Analog Input Current Scale e based Scaling in rpm V of the analog input for output values that are velocity based c Analog Input Velocity Scale The number of mV when the input voltage is below will still be Analog Input Dead Band treated as OV The offset from OV for the analog input click the lt lt to set the Analog Input Offset offset to the current value of the analog input Chapter 5 Configure and Start Up the Kinetix 300 Drive Velocity Limits The Velocity Limits window displays the configuration of the modifiable velocity limits parameters which are shown in the following table Velocity Limits Parameters Parameter Description Absolute value in User Units s below which the drive will set the Zero Speed Zero Speed Digital Output if configured and the VelocityStandstillStatus bit in the EtherNet IP Input Assembly Value in User Units s for the target velocity for which the drive will set the At Speed n Speed Window Digital Output if configured and the VelocityLockStatus bit in he EtherNet IP Input Assembly The range in User U
174. trical 1 Kinetix 300 drive modules are limited to 1 AC mains power cycling per minute 2 Peak RMS current allowed for up to 2 seconds with a 50 duty cycle Publication 2097 UM001A EN P February 2010 125 Appendix A Specifications and Dimensions Kinetix 300 Drive three phase Power Specifications Attribute 2097 V34PR3 2097 V34PR5 2097 V34PR6 AC input voltage 480V rms three phase AC input frequency 48 62 Hz Main AC input current Nom rms 2 7A 55A 79A Max inrush 0 pk 45A 45 22 6 Integrated AC line filter No No No Control power backup input voltage 20 26V DC Control power backup input current om 500 mA Max inrush 0 pk 30A Continuous output current rms 2 0A 40A 6 0A Continuous output current 0 28A 57 85A Peak output current rms 2 6A 12A 18A Peak output current 0 pk 85A 17 0A 255A Continuous power output 1 00 kw 2 00 kW 3 00 kW Shunt On 780V DC Shunt Off 750V DC Overvoltage 850V DC Short circuit current rating 100 000 A rms symmetrical 1 Kinetix 300 drive modules are limited to 1 AC mains power cycling per minute 2 Peak RMS current allowed for up to 2 seconds with a 5096 duty cycle 126 Publication 2097 UM001A EN P February 2010 Specifications and Dimensions Appendix A Circuit Breaker Fuse While circuit breakers offer some convenience there are limitations TR for their use Circuit breakers do not
175. ty enable and feedback signals for safe off STO X feature Motor feedback MF X X Registration and analog outputs 00 Others X Ethernet Port 1 X X Noise Reduction Guidelines for Drive Accessories Refer to 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 the following guidelines when mounting your AC line filter e Good HF bonding to the panel is critical For painted panels refer to the examples on page 223 e Segregate input and output wiring as far as possible Publication 2097 UM0011A EN P February 2010 21 Chapter2 Installing the Kinetix 300 Drive System Shunt Resistors Observe these guidelines when mounting your shunt resistor outside the enclosure e 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 e Keep unshielded wiring as short as possible Keep shunt wiring as flat to the cabinet as possible Shunt Resistor Outside the Enclosure Shunt Wiring Methods Twisted pair in conduit first choice Shielded twisted pair second choice Twisted pair two twists per foot min third choice 150 mm 6 0 in Customer supplied clearance min on all four Metal Enclosure sides of the shunt module Metal Conduit
176. ve do not take effect until the drive is powered off and powered on again Until the power is cycled the drive continues to use its previous settings 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 Each sub octet can be configured with number between 1 and 254 As shipped from the factory the default IP address of a drive is 192 168 124 120 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 drive s IP address are shown here Publication 2097 UM001A EN P February 2010 Configure and Start Up the Kinetix 300 Drive Chapter 5 Publication 2097 UM001A EN P February 2010 Obtaining the Kinetix 300 Drives Current Ethernet Settings The current Ethernet s
177. w jnlp file 3 Click Open File Download Do you want to open or save this file Name MotionView jnlp Type JNLP File 489 bytes From 10 82 50 20 While files from the Internet can be useful some files can potentially Q harm your computer If you do not trust the source do not open or save this file what s the risk If the digital signature of the file cannot be verified Click Run to continue running the application The MotionView dialog box is displayed 4 Click Connect MotionView OnBoard 3 19 Jof x H H English v Rockwell Allen Bradley Kinetix 300 Euih cdi m 4 Dicomes Load Connection E Load Configuration Restore Defaults Upgrade The Connection dialog box is displayed Publication 2097 UM001A EN P February 2010 89 Chapter 5 Configure and Start Up the Kinetix 300 Drive Kinetix 300 MotionView OnBoard Menu 90 5 Enter the IP address for the drive Connection x Connected Connectto drive Discover Connect Find by name 6 Click Connect When connected the drive will appear in the Drive Organizer on the left side of the MotionView dialog box Across the top of the MotionView dialog box are control options for working with the drive A description of their functions is shown in the following table MotionView Control Functions Function Description
178. x Configuration Parameter Name Drive Mode Description Set to Indexing AutoStartIndex Enable Auto Start index function for Indexing mode when drive becomes enabled 0 disable 1 enable StartingIndex The index to start executing EnableSwitchType Abort Index Enable switch function 0 inhibit only 1 Enable as soon as asserted 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 172 Publication 2097 UM001A EN P February 2010 Explicit Messages for Indexing Configuring Indexing Parameters Appendix E The Kinetix 300 drive provides an EtherNet IP assembly for configuring all parameters associated with a a single index from within a single Explicit Message To do this make a User Defined type in the RSLogix 5000 program that follows the structure below Send the User Defined type in a Set Attribute Single Explicit Message to class 4 instance 115 and attribute 3 Structure for Indexing User Defined Type RSLogix 5000 Field Index Type Description This DINT contains the type of the index absolute incremental registration or blended incremental Index Number This DINT contains the index number that is being modified Index Move Type This DINT contains the move type of the index S Curve or Trapezoidal Index Distanc
179. xceed 20 m 65 6 5 ft IMPORTANT System performance was tested at these cable length specifications These limitations are also a CE requirement Refer to the System Design for Control of Electrical Noise Reference Manual publication 001 to better understand the concept of electrical noise reduction Publication 2097 UM0011A EN P February 2010 Publication 2097 UM0011A EN P February 2010 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 refer to Circuit Breaker Fuse Specifications on page 127 and Transformer Specifications for Input Power on page 128 IMPORTANT If using an autotransformer make sure that the phase to neutral ground voltages do not exceed the input voltage ratings of the drive IMPORTANT Use a form factor of 1 5 for 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 EXAMPLE Sizing a transformer the voltage requirements of a 2097 V34PR6 Servo Drive 2097 V34PR6 3 kW continuous x 1 5 4 5 KVA transformer Circuit Breaker Fuse Selection The K
180. y at the new value but will not clamp the current output until it reaches the motor peak current These values only apply if the drive is in a velocity mode over EtherNet IP External Reference In Indexing the limits within the individual indexes apply in a positioning mode over EtherNet IP External Reference the limits in the Output Assembly apply Velocity Mode Acceleration Fault Reset Configuration of when the drive should clear the current fault Motor Temperature Sensor By default this value will be set based on the configured motor Master Encoder Configuration of the Master Gearing functionality Ethernet Communication The Ethernet window displays the IP address configuration Here you can set your drive to obtain the IP address automatically using DHCP or set the values manually EtherNet IP Network CIP The EtherNet IP CIP window displays the modifiable drive object parameters that are used in the Input and Output Assembly EtherNet IP data links EtherNet IP CIP Parameters Parameter Description Determines if the parameter should be copied into or out of the assembly Enable even if the data link is disabled empty data will still be transferred over EtherNet IP network The drive object ID number that the data link should map to see Parameter ID Number Appendix F for full list of drive parameters 92 Publication 2097 UM001A EN P February 2010 Configure and Start Up the Kinetix 300 D

Kinetix 300 EtherNet/IP Indexing Servo Drives User Manual, 2097

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