Allen-Bradley Kinetix 300 User Manual
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Allen-Bradley Kinetix 300 User Manual

Ethernet/ip indexing servo drives
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User Manual
Kinetix 300 EtherNet/IP Indexing Servo Drives
Catalog Numbers 2097-V31PR0, 2097-V31PR2, 2097-V32PR0, 2097-V32PR2, 2097-V32PR4, 2097-V33PR1, 2097-V33PR3,
2097-V33PR5, 2097-V33PR6, 2097-V34PR3, 2097-V34PR5, 2097-V34PR6

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  • Page 1 User Manual Kinetix 300 EtherNet/IP Indexing Servo Drives Catalog Numbers 2097-V31PR0, 2097-V31PR2, 2097-V32PR0, 2097-V32PR2, 2097-V32PR4, 2097-V33PR1, 2097-V33PR3, 2097-V33PR5, 2097-V33PR6, 2097-V34PR3, 2097-V34PR5, 2097-V34PR6...
  • Page 2 IMPORTANT Identifies information that is critical for successful application and understanding of the product. Allen-Bradley, CompactLogix, ControlFLASH, ControlLogix, Kinetix, MP-Series, TL-Series, RSLogix, SoftLogix, Rockwell Automation, Rockwell Software, Stratix 6000, MicroLogix, and TechConnect are trademarks of Rockwell Automation, Inc. Trademarks not belonging to Rockwell Automation are property of their respective companies.
  • Page 3 Summary of Changes This manual contains new and updated information. Changes throughout this revision are marked by change bars, as shown to the right of this paragraph. New and Updated This was a minor revision that includes the addition of linear actuators configuration and updated information encoder capabilities.
  • Page 4 Summary of Changes Notes: Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...

  • Page 5: Table Of Contents

    Mount Your Kinetix 300 Drive ........
  • Page 6 Voiding of CE Compliance ........63 Grounding Your Kinetix 300 Drive System ......64 Ground Your Drive to the System Subpanel .
  • Page 7 Kinetix 300 Drive Configure the Kinetix 300 Drive Ethernet IP Address....128 Ethernet Connection ........128 Kinetix 300 Drive Ethernet Port Configuration.
  • Page 8 Configure the Ethernet Module....... 135 Configure the Kinetix 300 Drive ......136 Download the Program .
  • Page 9 Safe Torque-off Wiring Requirements ......165 Kinetix 300 Drive Safe Torque-off Feature ......166 Safe Torque-off Feature Bypass .
  • Page 10 Table of Contents Appendix E Overtravel Inputs Modes of Operation ..........217 Overtravel Hardware Inputs.

  • Page 11: Preface

    Kinetix 300 drive and programmers directly involved in operation, field maintenance, and integration of the Kinetix 300 drive. If you do not have a basic understanding of the Kinetix 300 drive, contact your local Rockwell Automation sales representative for information on available training courses.

  • Page 12: Additional Resources

    Information on installing and wiring the Kinetix 300 shunt resistors. Kinetix 300 AC Line Filter Installation Instructions, publication 2097-IN003 Information on installing and wiring the Kinetix 300 AC line filter. Kinetix 300 I/O Terminal Expansion Block Installation Instructions, Information on installing and wiring the Kinetix 300 I/O terminal expansion...
  • Page 13 Chapter Start Topic Page About the Kinetix 300 Drive System Catalog Number Explanation Agency Compliance Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...

  • Page 14: About The Kinetix 300 Drive System

    AC Line Filters 2090 Bulletin 2090 and Bulletin 2097-Fx AC line filters are required to meet CE with Kinetix 300 drives without an 2097-Fx integrated line filter. Bulletin 2097 filters are available in foot mount and side mount. Shunt Module 2097-Rx Bulletin 2097 shunt resistors connect to the drive and provide shunting capability in regenerative applications.
  • Page 15 Start Chapter 1 Figure 1 - Typical Kinetix 300 Drive Installation 1783-EMS08T Three-phase CompactLogix L23E CompactLogix Controller Platform Stratix 6000™ Input Power 1769-L23E-QB1B Shown Switch Line Disconnect Device RSLogix 5000 Software Input Fusing 1585J-M8CBJM-x Ethernet (shielded) Cable 2097-Rx Shunt Resistor...

  • Page 16: Catalog Number Explanation

    Chapter 1 Start Catalog Number Explanation Kinetix 300 drive catalog numbers and descriptions are listed in these tables. Table 2 - Kinetix 300 Drives (single-phase) Continuous Output Cat. No. Input Voltage Features Current A (0-pk) 2097-V31PR0 • 120V Doubler mode 120/240V, 1 Ø...

  • Page 17: Agency Compliance

    Drive-to-motor power and feedback cables must not exceed 20 m (65.6 ft). • Install the Kinetix 300 system inside an enclosure. Run input power wiring in conduit (grounded to the enclosure) outside of the enclosure. Separate signal and power cables.
  • Page 18 Chapter 1 Start Notes: Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...
  • Page 19 Chapter Installing the Kinetix 300 Drive System Topic Page System Design Guidelines Electrical Noise Reduction Mount Your Kinetix 300 Drive ATTENTION: Plan the installation of your system so that you can perform all cutting, drilling, tapping, and welding with the system removed from the enclosure.

  • Page 20: System Design Guidelines

    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 IP4X such that they are not accessible to an operator or unskilled person.

  • Page 21: Transformer Selection

    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.

  • Page 22: Circuit Breaker/Fuse Specifications

    Use class CC or T fast-acting current-limiting type fuses, 200,000 AIC, preferred. Use Bussmann KTK-R, JJN, JJS or equivalent. Thermal-magnetic type breakers preferred. The following fuse examples and Allen-Bradley® circuit breakers are recommended for use with Kinetix 300 drives. Main VAC Drive Cat.

  • Page 23: Enclosure Selection

    Where d (depth), w (width), and h (height) are in meters. Where d (depth), w (width), and h (height) are in inches. If the maximum ambient rating of the Kinetix 300 drive system is 40 °C (104 °F) and if the maximum environmental temperature is 20 °C (68 °F), then T=20. In this example, the total heat dissipation is 416 W (sum of all components in enclosure).

  • Page 24: Power Dissipation Specifications

    Chapter 2 Installing the Kinetix 300 Drive System Power Dissipation Specifications Use this table to size an enclosure and calculate required ventilation for your Kinetix 300 drive system. Cat. No. Power Dissipation, W 2097-V31PR0 2097-V31PR2 2097-V32PR0 2097-V32PR2 2097-V32PR4 2097-V33PR1 2097-V33PR3...

  • Page 25: Minimum Clearance Requirements

    Installing the Kinetix 300 Drive System Chapter 2 Minimum Clearance Requirements This section provides information to assist you in sizing your cabinet and positioning your Kinetix 300 system components. Mount the module in an upright position as shown. Do not mount the drive IMPORTANT module on its side.

  • Page 26: Electrical Noise Reduction

    Electrical Noise Reduction This section outlines best practices that minimize the possibility of noise-related failures as they apply specifically to Kinetix 300 system installations. For more information on the concept of high-frequency (HF) bonding, the ground plane principle, and electrical noise reduction, see the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001.
  • Page 27 Installing the Kinetix 300 Drive System Chapter 2 These illustrations show recommended bonding practices for painted panels, enclosures, and mounting brackets. Figure 3 - Recommended Bonding Practices for Painted Panels Stud-mounting the Subpanel Stud-mounting a Ground Bus to the Enclosure Back Wall...

  • Page 28: Bonding Multiple Subpanels

    Chapter 2 Installing the Kinetix 300 Drive System Bonding Multiple Subpanels Bonding multiple subpanels creates a common low impedance exit path for the high frequency energy inside the cabinet. Subpanels that are not bonded together may not share a common low impedance path. This difference in impedance may affect networks and other devices that span multiple panels.

  • Page 29: Establishing Noise Zones

    Observe these guidelines when individual input power components are used in the Kinetix 300 system: • The clean zone (C) exits left of the Kinetix 300 system and includes the I/ O wiring, feedback cable, Ethernet cable, and DC filter (grey wireway).
  • Page 30 Chapter 2 Installing the Kinetix 300 Drive System Figure 6 - Noise Zones (Bulletin 2097 AC line filters) Dirty Wireway Clean Wireway Contactors Very Dirty Zone Segregated (not in wireway) 24V Motor Brake PS Kinetix 300 Circuit Drive Breaker Bulletin 2097 AC line filters...

  • Page 31: Cable Categories For Kinetix 300 Drive Components

    • If you are using a Bulletin 2090 line filter, mount the filter on the same panel as the Kinetix 300 drive, and as close to the drive as possible. • Good HF bonding to the panel is critical. For painted panels, see the...
  • Page 32 Chapter 2 Installing the Kinetix 300 Drive System Shunt Resistors Observe these guidelines when mounting your shunt resistor outside the enclosure: • Mount shunt resistor and wiring in the very dirty zone or in an external shielded enclosure. • Mount resistors in a shielded and ventilated enclosure outside the cabinet.
  • Page 33 Installing the Kinetix 300 Drive System Chapter 2 When mounting your shunt module inside the enclosure, follow these additional guidelines: • Mount the shunt resistor anywhere in the dirty zone, but as close to the Kinetix 300 drive as possible.

  • Page 34: Mount Your Kinetix 300 Drive

    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. Lay out the position for the Kinetix 300 drive and accessories in the enclosure. Establishing Noise Zones...
  • Page 35 Chapter Kinetix 300 Drive Connector Data and Feature Descriptions Topic Page Kinetix 300 Drive Connectors and Indicators Control Signal Specifications Motor Feedback Specifications Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...

  • Page 36: Kinetix 300 Drive Connectors And Indicators

    Chapter 3 Kinetix 300 Drive Connector Data and Feature Descriptions Kinetix 300 Drive Connectors Although the physical size of the Kinetix 300 drives vary, the location of the connectors and indicators is identical. and Indicators Figure 9 - Kinetix 300 Drive Connector and Indicators...

  • Page 37: Safe Torque-Off Connector Pinout

    Safe Torque-off Connector Pinout The Kinetix 300 drive ships with the (6-pin) wiring-plug header that connects 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...

  • Page 38: I/O Connector Pinout

    Chapter 3 Kinetix 300 Drive Connector Data and Feature Descriptions I/O Connector Pinout IOD Pin Description Signal IOD Pin Description Signal Master encoder A+/Step+ input Digital input A4 IN_A4 Master encoder A-/Step- input Digital input group BCOM terminal IN_B_COM Master encoder B+/Direction+ input...

  • Page 39: Motor Feedback (Mf) Connector Pinout

    Kinetix 300 Drive Connector Data and Feature Descriptions Chapter 3 Motor Feedback (MF) Connector Pinout MF Pin Description Signal MF Pin Description Signal Sine differential input+ SIN+ Reserved — AM+ differential input+ Sine differential input- SIN- Data differential input -...

  • Page 40: Ac Input Power Connector Pinout

    Chapter 3 Kinetix 300 Drive Connector Data and Feature Descriptions AC Input Power Connector Pinout Description (2097-V31PRx drives) Signal Description (2097-V32PRx drives) Signal Designator Designator L2/N AC Power In (non-doubler operation) L2/N AC Power In AC Power In AC Power In...

  • Page 41: Control Signal Specifications

    Digital Inputs The Kinetix 300 drive has twelve digital inputs. They can be used for travel limit switches, proximity sensors, push buttons, and hand shaking with other devices. Each input can be assigned an individual de-bounce time via MotionView software or Explicit Messaging.
  • Page 42 Chapter 3 Kinetix 300 Drive Connector Data and Feature Descriptions Some of the digital inputs exercise control over functions under the control of the Output Assembly. When a digital input is mapped to the same function as exists in the Output Assembly, the following timing diagrams apply.
  • Page 43 Kinetix 300 Drive Connector Data and Feature Descriptions Chapter 3 Figure 17 - Indexing Timing Diagram Start Index Input (digital I/O from MotionView software) Start Motion Bit in Output Assembly Abort Index Input (digital I/O from MotionView software) Abort Index...
  • Page 44 Chapter 3 Kinetix 300 Drive Connector Data and Feature Descriptions Figure 19 - Sinking of Digital Inputs Ω 1.2 k IN_A1 Ω 1.2 k IN_A2 IN_A_COM +24V Table 10 - Digital Input Signal Specifications Parameter Value Scan time 500 μs...

  • Page 45: Digital Outputs

    Kinetix 300 Drive Connector Data and Feature Descriptions Chapter 3 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 these functions: •...

  • Page 46: Analog Reference Input

    Chapter 3 Kinetix 300 Drive Connector Data and Feature Descriptions Analog Reference Input The analog reference input AIN1+ and AIN1- (IOD-24 and IOD-25) accepts up to a ±10V DC analog signal as shown in Table 12. The analog signal is converted to a digital value with 12 bit resolution (11-bit plus sign).

  • Page 47: Analog Output

    Kinetix 300 Drive Connector Data and Feature Descriptions Chapter 3 Analog Output The analog output (AO) on pin IOD-23 has a 10-bit resolution. The analog output is a single-ended signal with reference to Analog Common (ACOM) that can represent this motor data: •...

  • Page 48: Master Gearing/Step And Direction Inputs

    You can connect a master encoder with quadrature outputs to the Kinetix 300 drive and control position in the Master Gearing operating mode. You can connect a step and direction signal pair to the Kinetix 300 drive and control position in the Step and Direction operating mode.

  • Page 49: Buffered Encoder Outputs

    Kinetix 300 drive determines the position of the servo motor. Direction input controls direction of the motion.

  • Page 50: Ethernet Connections

    CAT5E or CAT6, unshielded or shielded, 100 m (328 ft) 24V DC Back-up Power The Kinetix 300 drive can use an external power supply to power the logic and communication circuits. If an independent 24V (@ 1 A) power supply is connected to the BP connector, the logic and communication circuits remain active during a mains input power loss.

  • Page 51: Motor Feedback Specifications

    Kinetix 300 Drive Connector Data and Feature Descriptions Chapter 3 Motor Feedback The Kinetix 300 drive accepts motor feedback signals from the following types of encoders with these general specifications. Specifications Table 17 - Motor Feedback General Specifications Attribute Motor Feedback Feedback device support •...

  • Page 52: Motor Feedback Specifications

    Chapter 3 Kinetix 300 Drive Connector Data and Feature Descriptions Motor Feedback Specifications The Kinetix 300 drives support multiple types of feedback devices by using the 15-pin (MF) motor feedback connector and sharing connector pins in many cases. Table 18 - Motor Feedback Signals by Device Type...
  • Page 53 Kinetix 300 Drive Connector Data and Feature Descriptions Chapter 3 Table 20 - SICK-Stegmann Hiperface Specifications Attribute Value Protocol Hiperface Memory support Not programmed, or programmed with Allen-Bradley motor data Hiperface data communication RS485, 9600 baud, 8 data bits, no parity...
  • Page 54 Chapter 3 Kinetix 300 Drive Connector Data and Feature Descriptions Table 21 - Generic TTL Incremental Specifications Attribute Value TTL incremental encoder support 5V, differential A quad B Quadrature interpolation 4 counts/square wave period Differential input voltage 1.0…7.0V (AM, BM, and IM)
  • Page 55 Kinetix 300 Drive Connector Data and Feature Descriptions Chapter 3 Figure 29 - Generic TTL Interface, IM Signals MTR_IM+ to AqB Counter MTR_IM- 56 pF 56 pF Shaded area indicates components that are part of the circuit, but support other feedback device types (not used for Generic TTL incremental support).

  • Page 56: Feedback Power Supply

    Chapter 3 Kinetix 300 Drive Connector Data and Feature Descriptions Feedback Power Supply 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. Table 23 - Motor Feedback Power Specifications...

  • Page 57: Connecting The Kinetix 300 Drive System

    Ethernet Cable Connections Basic Wiring Requirements This section contains basic wiring information for the Kinetix 300 drive. ATTENTION: Plan the installation of your system so that you can perform all cutting, drilling, tapping, and welding with the system removed from the enclosure.

  • Page 58: Build Your Own Cables

    Reference Manual, publication GMC-RM001, for more information. Determine the Input Power This section contains examples of typical single-phase and three-phase facility input power wired to single-phase and three-phase Kinetix 300 drives. Configuration The grounded power configuration lets you ground your single-phase or three- phase power at a neutral point.

  • Page 59: Three-Phase Power Wired To Three-Phase Drives

    Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground For the 480V Kinetix 300 drives to meet ISO 13849-1 (PLd) spacing IMPORTANT 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.

  • Page 60: Single-Phase Power Wired To Single-Phase Drives

    Connecting the Kinetix 300 Drive System Single-phase Power Wired to Single-phase Drives These examples illustrate grounded single-phase power wired to single-phase Kinetix 300 drives when phase-to-phase voltage is within drive specifications. The 2097-V32PRx models have integrated AC line filters and do not require the IMPORTANT AC line filter shown in this diagram.

  • Page 61: Isolation Transformer In Grounded Power Configurations

    Three-phase Power Wired to Single-phase Drives This example illustrates grounded three-phase power wired to single-phase Kinetix 300 drives when phase-to-phase voltage is within drive specifications. Figure 36 - Single-phase Amplifiers on Three-phase Power (WYE) 2097-V32PRx Transformer...
  • Page 62 Connecting the Kinetix 300 Drive System This example illustrates grounded three-phase power wired to single-phase Kinetix 300 drives when phase-to-phase voltage exceeds drive specifications. A neutral must be connected when single-phase drives are attached to a three- phase isolating transformer secondary. It is not necessary that all three-phases be loaded with drives, but each drive must have its power return via the neutral connection.

  • Page 63: Voiding Of Ce Compliance

    Connecting the Kinetix 300 Drive System Chapter 4 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.

  • Page 64: Grounding Your Kinetix 300 Drive System

    Kinetix 300 drive. If the Kinetix 300 drive is mounted on a painted subpanel, ground the drive to a bonded cabinet ground bus by using a braided ground strap or 4.0 mm (12 AWG) solid copper wire 100 mm (3.9 in.) long.

  • Page 65: Ground Multiple Subpanels

    Connecting the Kinetix 300 Drive System Chapter 4 Figure 39 - Chassis Ground Configuration (multiple Kinetix 300 drives on one panel) Chassis Ground Chassis Ground Chassis Ground Chassis Ground Bonded Ground Bar (optional) Bonded Cabinet Ground Grid or Power Ground Bus...
  • Page 66 Chapter 4 Connecting the Kinetix 300 Drive System Table 24 - Kinetix 300 Drive Power Wiring Requirements Terminals Recommended Strip Length Torque Value Cat. No. Description Wire Size mm (in.) N•m (lb•in) Pins Signals (AWG) 2097-V31PR0 2097-V32PR0 2097-V32PR2 2097-V33PR1 2.5 (14) 7 (0.28)
  • Page 67 Connecting the Kinetix 300 Drive System Chapter 4 ATTENTION: To avoid personal injury and/or equipment damage, make sure installation complies with specifications regarding wire types, conductor sizes, branch circuit protection, and disconnect devices. The National Electrical Code (NEC) and local codes outline provisions for safely installing electrical equipment.

  • Page 68: Wiring Guidelines

    IMPORTANT established in Establishing Noise Zones page 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. Use caution not to nick, cut, or otherwise damage strands as you IMPORTANT remove the insulation.

  • Page 69: Wiring The Kinetix 300 Drive Connectors

    Connecting the Kinetix 300 Drive System Chapter 4 Wiring the Kinetix 300 Drive This section provides examples and wiring tables to assist you in making connections to the Kinetix 300 drive. Connectors Wire the Safe Torque-off (STO) Connector For the safe torque-off (STO) connector pinouts, feature descriptions, and wiring information, see Chapter 8 on page 159.

  • Page 70: Wire The Input Power (Ipd) Connector

    Chapter 4 Connecting the Kinetix 300 Drive System Wire the Input Power (IPD) Connector Kinetix 300 Drive Top View Table 27 - Input Power (IPD) Connector Recommended Strip Length Torque Value Drive Cat. No. Terminals Wire Size mm (in.) N•m (lb•in)

  • Page 71: Wire The Motor Power (Mp) Connector

    Connecting the Kinetix 300 Drive System Chapter 4 Wire the Motor Power (MP) Connector Connections to the motor power (MP) connector include rotary motors, and rotary motor driven actuators. Kinetix 300 Drive Bottom View Table 28 - Motor Power (MP) Termination Specifications...
  • Page 72 Chapter 4 Connecting the Kinetix 300 Drive System Pigtail Terminations TL-Series motors have a short pigtail cable that connects to the motor, but is not shielded. The preferred method for grounding the TL-Series power cable on the motor side is to expose a section of the cable shield and clamp it directly to the machine frame.
  • Page 73 Connecting the Kinetix 300 Drive System Chapter 4 This diagram shows an example of three-phase power wires for motors/actuators that have no brakes. Thermal switch wires are included in the feedback cable. Kinetix 300 Drive/Rotary Motor Wiring Examples beginning on page 176 for interconnect diagrams.
  • Page 74 Chapter 4 Connecting the Kinetix 300 Drive System This 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.
  • Page 75 Connecting the Kinetix 300 Drive System Chapter 4 Cable shield and lead preparation is provided with most Allen-Bradley cable assemblies. Follow these guidelines if your motor power cable shield and wires require preparation. Figure 44 - Cable Shield and Lead Preparation...

  • Page 76: Apply The Motor Cable Shield Clamp

    5. Clamp the exposed shield to the panel by using the clamp and 2 #6-32 x 1 screws provided. 6. Repeat step 1…step 5 for each Kinetix 300 drive you are installing. Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...

  • Page 77: Feedback And I/O Cable Connections

    Connecting the Kinetix 300 Drive System Chapter 4 Feedback and I/O Cable Factory made cables with premolded connectors are designed to minimize EMI and are recommended over hand-built cables to improve system performance. Connections However, other options are available for building your own feedback and I/O cables.

  • Page 78: Flying-Lead Feedback Cable Pin-Outs

    Chapter 4 Connecting the Kinetix 300 Drive System Flying-lead Feedback Cable Pin-outs Table 34 - 2090-XXNFMF-Sxx or 2090-CFBMxDF-CDAFxx Feedback Cable Incremental High-resolution Feedback Drive MF Feedback Connector Pin Connector Pin 9V Encoder 5V Encoder 5V Encoder Sin+ Sin+ Sin- Sin-...

  • Page 79: Wiring The Feedback And I/O Connectors

    Connecting the Kinetix 300 Drive System Chapter 4 Wiring the Feedback and I/O These procedures assume you have mounted your Kinetix 300 system, completed the power wiring, and are ready to connect motor feedback. Connectors Wire the I/O Connector Connect your I/O wires to the IOD connector by using the 2097-TB1 I/O Terminal Expansion Block.

  • Page 80: Wire The Low-Profile Connector Kit

    Wire the Low-profile Connector Kit The 2090-K2CK-D15M low-profile connector kit is suitable for terminating flying-lead motor feedback cables. Use it with the Kinetix 300 drive and all motors with incremental or high-resolution feedback. It has a 15-pin, male, D- sub connector and is compatible with all Bulletin 2090 feedback cables.

  • Page 81: Shunt Resistor Connections

    Connecting the Kinetix 300 Drive System Chapter 4 Shunt Resistor Connections Follow these guidelines when wiring your 2097-Rx shunt resistor. When tightening screws to secure the wires, see the tables beginning on IMPORTANT page 65 for torque values. To improve system performance, run wires and cables in the wireways as...

  • Page 82: Ethernet Cable Connections

    The EtherNet/IP network is connected by using the Port 1 connector. See page 36 to locate the Ethernet connector on your Kinetix 300 drive. See the figure below to locate the connector on your Logix 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).

  • Page 83: Motionview Software Configuration

    Chapter MotionView Software Configuration Topic Page Drive Organizer and Identification Motor Category General Category Communication Categories Input/Output Categories Limits Categories Dynamics Category Tools Category Monitor Category Faults Category Indexing Category Homing Category Upgrade Firmware Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...

  • Page 84: Drive Organizer And Identification

    The motor database resides in the drive firmware. 006 in this example Motor Category Allen-Bradley motors and actuators with intelligent feedback devices are automatically populated into the motor configuration. In this example, no motor is attached to the drive. Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...

  • Page 85: Synchronous Motor Database

    MotionView Software Configuration Chapter 5 Synchronous Motor Database For Allen-Bradley synchronous motors and actuators with incremental encoders, click Change Motor and choose the device from the Synchronous>Motor Database. In this example, the MPL-B320P-H motor is configured. Table 37 - Motor Category...

  • Page 86: Linear Motor Database

    Chapter 5 MotionView Software Configuration Linear Motor Database For Allen-Bradley motors and actuators with incremental encoders, click Change Motor and choose the device from the Linear>Motor Database. In this example, the LCD-C030100-DHTxxA linear motor is configured. Table 38 - Linear Motor Category...

  • Page 87: General Category

    MotionView Software Configuration Chapter 5 General Category The General category provides access to the basic configuration of motion. The parameters displayed will depend on the motor type chosen in the Motor Category. Figure 51 - General Category for Synchronous Motors Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...
  • Page 88 Chapter 5 MotionView Software Configuration Table 39 - General Category for Synchronous Parameter Name Description Value/Notes Current Limit Continuous RMS current for motor selected User may lower this value. This lets you trigger a motor current alarm. However, the drive will not limit the actual current to the motor. The actual RMS current limit to the motor is not configurable.
  • Page 89 MotionView Software Configuration Chapter 5 Figure 52 - General Category for Linear Motors Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...
  • Page 90 Chapter 5 MotionView Software Configuration Table 40 - General Category for Linear Motors Parameter Name Description Value/Notes Current Limit Continuous RMS current for motor selected User may lower this value. This lets you trigger a motor current alarm. However, the drive will not limit the actual current to the motor. The actual RMS current limit to the motor is not configurable.

  • Page 91: Communication Categories

    MotionView Software Configuration Chapter 5 Communication Categories The communication categories provide access to setting the IP address for your drive and object parameters used in the Input and Output Assembly EtherNet/IP data links. Ethernet Communication The Ethernet category provides access to the IP address configuration. You can configure your drive to obtain the IP address automatically (by using DHCP) or set the values manually.

  • Page 92: Ethernet (Cip) Communication

    Chapter 5 MotionView Software Configuration Ethernet (CIP) Communication The EtherNet/IP (CIP) category provides access to the modifiable drive object parameters that are used in the Input and Output Assembly EtherNet/IP data links. The Enable parameters determine if the parameter should be copied into or out of the assembly.

  • Page 93: Input/Output Categories

    MotionView Software Configuration Chapter 5 Input/Output Categories The Input/Output categories provide access to the configuration of the modifiable Digital I/O and Analog I/O parameters. Digital I/O Drive object parameters of type DINT can be used only in the RAM integer data IMPORTANT links, parameters of type REAL can be used only in the RAM float data links.

  • Page 94: Analog I/O

    Chapter 5 MotionView Software Configuration Analog I/O Table 44 - Analog I/O Category Parameter Name Description Value/Notes Analog Input Analog input #1 current reference scale Range: - X…+X Amps/Volt (current scale) X = drive peak output current/10 Analog Input Analog input #1 velocity reference scale Range: -10,000…+10,000 rpm/Volt (velocity scale) Analog Output...

  • Page 95: Limits Categories

    MotionView Software Configuration Chapter 5 Limits Categories The Limits categories provide access to the configuration of the modifiable velocity and position limit parameters. Velocity Limits Table 45 - Velocity Limits Category Parameter Name Description Value/Notes Zero Speed Value in user units/s below which the drive will set the Zero Speed Digital Output (if Range: 0…100 rpm configured) and the VelocityStandstillStatus bit in the EtherNet/IP Input Assembly.

  • Page 96: Position Limits

    Chapter 5 MotionView Software Configuration Position Limits Table 46 - Position Limits Category Parameter Name Description Value/Notes Max Error Time The amount of time that the drive can be outside of the Position Error before the Range: 0.25…8000 ms drive asserts an Excess Position Error Fault. Abort Decel The deceleration rate that the drive will use to bring the motor to a stop when either User units/s...

  • Page 97: Dynamics Category

    MotionView Software Configuration Chapter 5 Dynamics Category The Dynamics category provides access to the configuration of the modifiable dynamics parameters. Click Autotuning to begin autotuning. Table 47 - Dynamics Category Parameter Name Description Value/Notes Velocity P-Gain The proportional and integral gain (respectively) of the velocity loops. Range: 0…32767 Gains are based on counts as the fundamental units and they are not Velocity I-Gain...

  • Page 98: Tools Category

    Chapter 5 MotionView Software Configuration Figure 53 - Servo Loop Diagram Encoder z - 1 Feedback Position D-Gain Difference Target z - 1 Velocity Command Position Position Error Position Position I-Gain Saturation Integrator Position P-Gain Filter 1 z - 1 Filter 2 Target Velocity...

  • Page 99: Monitor Category

    MotionView Software Configuration Chapter 5 Monitor Category The monitor category provides access to pre-configured status information for the drive. This information is displayed in a floating window that updates in real time. Table 48 - Monitor Category Parameter Name Description Value/Notes Actual Velocity Actual measured motor velocity...

  • Page 100: Faults Category

    Chapter 5 MotionView Software Configuration Table 48 - Monitor Category (continued) Parameter Name Description Value/Notes Target Position (EC) Target position Encoder pulses Actual Position (EC) Actual position Encoder pulses Position Error (EC) Position error Encoder pulses Registration Position (EC) Registration position Encoder counts Registration Position Registration position...

  • Page 101: Indexing Category

    EtherNet/IP connection by using explicit messaging in RSLogix 5000 and RSLogix 500 software. In Indexing mode, the Kinetix 300 drive begins executing indexes based on either a command received over the EtherNet/IP connection or immediately upon assertion of the hardware enable signal.
  • Page 102 Chapter 5 MotionView Software Configuration When the Kinetix 300 drive is in Indexing mode the drive performs the required index based position move, for each index, according to the parameters shown below. The Kinetix 300 drive supports up to 32 indexes.

  • Page 103: Index Type Parameter

    MotionView Software Configuration Chapter 5 Index Type Parameter You can set the Index Type parameter to: • Absolute • Incremental • Registration Absolute • Registration Incremental • Blended • Rotary Absolute • Rotary Incremental • Rotary Shortest Path • Rotary Positive •...
  • Page 104 Chapter 5 MotionView Software Configuration Blended If the indexing configuration Type is set to Blended, the acceleration and deceleration parameters are not programmable. Instead, they are calculated internally by the drive based on distance and velocity between the two points of the move.
  • Page 105 MotionView Software Configuration Chapter 5 Rotary Incremental With an Rotary Incremental based move, the direction of travel depends on polarity of the commanded position. Positive commands result in motion in the positive direction and negative commands result in motion in the negative direction.
  • Page 106 Chapter 5 MotionView Software Configuration Rotary Positive The Rotary Positive move is a special type of Absolute move where the motor is moved to the commanded position within the unwind in the positive direction of travel moving through 0 degrees if necessary. With Rotary Positive move the motor will not move more than 1 revolution of unwind before stopping at an absolute position.
  • Page 107 Chapter 5 Current The Kinetix 300 drive has a special indexing configuration type of Current that supplies a specified current for a fixed time as part of executing the index table. You are able to transition to this type of index without disabling the drive. When in this mode, the position and velocity loops do not engage.

  • Page 108: Action Parameter

    Chapter 5 MotionView Software Configuration Action Parameter You can set the Action parameter to Stop, Wait for Start, or Next Index. Stop This action stops and holds zero velocity while remaining enabled. Upon assertion of the Start Index digital input or the Start Motion bit in the EtherNet/ IP Output Assembly, the drive begins executing the index in the Index system parameter.

  • Page 109: Start Index

    MotionView Software Configuration Chapter 5 Start Index During powerup the Kinetix 300 drive does one of the following: • Automatically start the indexing program upon enabling of the drive. • Waiting for a digital input transition before starting the index.

  • Page 110: Explicit Messages For Indexing

    MotionView Software Configuration Explicit Messages for Indexing The Kinetix 300 drive provides an EtherNet/IP assembly for configuring all parameters associated with a single index from within a single Explicit Message. To do this, make a User-Defined type in the RSLogix 5000 or RSLogix 500 program that follows the structure below.
  • Page 111 MotionView Software Configuration Chapter 5 Table 54 - Index Configuration Assembly Instance Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0…3 Index Number (DINT) 4…7 Index Type (DINT) 8…11 Index Move Type (DINT) 12…15 Index Distance (REAL) 16…19...
  • Page 112 Chapter 5 MotionView Software Configuration Table 57 - ID Tag Numbers for Indexes 16…31 Parameter Name Index Type Move Distance Register Distance Batch Count Dwell Velocity Accel Decel Next Index Action Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...

  • Page 113: Homing Category

    Chapter 5 Homing Category The Kinetix 300 drives have a predefined (firmware based) homing functionality. The supported homing methods include limit switches at the ends of travel, a dedicated home switch, an index pulse or zero reference from the motor feedback device, or a combination of the above.
  • Page 114 Chapter 5 MotionView Software Configuration The drive indicates whether the homing completed successfully or not. Once homing has been initiated, the Homing Active status bit in the EtherNet/IP Input Assembly is set. If the Homing Active status bit is no longer set and the Homed status bit is also not set, then an error occurred in the homing and the drive is not homed.

  • Page 115: Immediate Homing

    Forward Home to marker Immediate (1) All other values of [HomeMethod] are not used for the Kinetix 300 drive and attempts to use those values will result in a drive fault. (2) Home-to-torque is not available. Immediate Homing The immediate home operation on the drive defines the current position of the motor to be the home and the position set to the [HomeOffset] parameter.

  • Page 116: Home To Marker

    Chapter 5 MotionView Software Configuration Home to Marker On incremental encoders, the marker pulse generated by the encoder is used by the drive as the marker for active homing. On absolute encoders without a marker pulse, the drive synthesizes (internal to the drive firmware only) a marker pulse that is a consistent position once per mechanical rotation of the motor.

  • Page 117: Homing Firmware Algorithm

    MotionView Software Configuration Chapter 5 Homing Firmware Algorithm Figure 65 - Homing Algorithm Flowchart Homing Start Select Homing Method Start Homing Motor with Absolute Encoder? Execute Immediate Home State offset value and set Home Flag. Store motor serial number for use during next power-up session.

  • Page 118: Homing Methods Timing Diagrams

    Chapter 5 MotionView Software Configuration Homing Methods Timing For a summary of the homing methods, see Table 59 on page 115. Diagrams Homing Methods 7…14 Homing methods 7…14 use a home switch that is active over only a portion of the travel.

  • Page 119: Homing Method 23

    MotionView Software Configuration Chapter 5 Homing Method 23 Using this method, the initial direction of movement is forward (if the homing switch is inactive). The home position is the leading edge of the homing switch. The axis accelerates to fast-homing velocity in the forward direction and motion continues until the homing switch is activated (rising edge) shown at position A.

  • Page 120: Homing Method 25

    Chapter 5 MotionView Software Configuration Homing Method 25 Using this method, the initial direction of movement is forward. The home position is the falling-edge of the homing switch. The axis accelerates to fast-homing velocity in the forward direction and motion continues until the homing switch is deactivated (falling edge) shown at position A.
  • Page 121 MotionView Software Configuration Chapter 5 The axis accelerates to slow-homing velocity in the forward direction. Motion continues until the rising-edge of the homing switch is detected (position B), where the axis decelerates to 0 velocity. The axis accelerates to slow-homing velocity in the reverse direction. Motion continues until the falling-edge of the homing switch is detected (position 27).

  • Page 122: Homing Method 33

    Chapter 5 MotionView Software Configuration The axis accelerates to slow-homing velocity in the rightward direction. Motion continues until the falling-edge of the homing switch is detected (position 29). This is the home position (excluding offset). If the axis is on the wrong side of the homing switch when homing is started, the axis moves reverse until it contacts the negative limit switch (A1).

  • Page 123: Homing Method 34

    MotionView Software Configuration Chapter 5 Homing Method 34 Using this method, the initial direction of movement is forward. The home position is the first index pulse past the shaft starting position. The axis accelerates to fast-homing velocity in the forward direction and continues until the rising-edge of the first index pulse (position 34) is detected.

  • Page 124: Upgrade Firmware

    4. Comply with dialog box requests and click yes. This dialog box appears. 5. Enter the IP address of the Kinetix 300 drive you intend to upgrade. 6. Navigate to the .lar file that you downloaded in step 1. 7. Click Upgrade Firmware.
  • Page 125 Chapter Configure and Start Up the Kinetix 300 Drive Topic Page Keypad Input Configure the Kinetix 300 Drive Ethernet IP Address Configuring the Logix EtherNet/IP Module Apply Power to the Kinetix 300 Drive Test and Tune the Axis Select Drive Operating Mode...

  • Page 126: Keypad Input

    Configure and Start Up the Kinetix 300 Drive Keypad Input The Kinetix 300 drive is equipped with a diagnostic status indicator and three push buttons that are used to select displayed information and to edit a limited set of parameter values. You can scroll the parameters by using .

  • Page 127: Status Indicators

    Configure and Start Up the Kinetix 300 Drive Chapter 6 Status Indicators The Kinetix 300 drive has five status indicators located around the periphery of the front panel display as shown below. These status indicators used to monitor the system status, activity, and troubleshoot faults.

  • Page 128: Configure The Kinetix 300 Drive Ethernet Ip Address

    Kinetix 300 drive. Kinetix 300 Drive Ethernet Port Configuration The IP address of the Kinetix 300 drive is composed of four sub-octets that are separated by three dots to conform to the Class C Subnet structure. Valid configurations for sub-octets are between 001…254.

  • Page 129: Current Ip Address Ethernet Setting

    Configure and Start Up the Kinetix 300 Drive Chapter 6 Current IP Address Ethernet Setting The current Ethernet setting and IP address of the Kinetix 300 drive can be obtained from the drive display and keypad. Press on the display and use to access parameters IP_1, IP_2, IP_3 and IP_4.
  • Page 130 IP_1, IP2, and IP_3 are read-only accessed this way. The drive power must be cycled for any changes to take effect. To configure the Kinetix 300 drive for a specific subnet or change its full IP address, use the MotionView configuration tool.

  • Page 131: Configure The Ip Address Automatically (Dynamic Address)

    5. Cycle power to the drive to make this change take effect. When the Kinetix 300 drive is waiting for an IP address to be assigned to it by the server it displays ‘----‘ in each of the four octet parameters (IP_1, IP_2, IP_3, and IP_4) on its display.

  • Page 132: Add-On Profiles

    Chapter 6 Configure and Start Up the Kinetix 300 Drive Add-on Profiles To select Kinetix 300 drives in RSLogix 5000 software, version 17, you must load Add-on Profiles from www.ab.com. To navigate to the Add-on Profiles, follow this path: – Technical Support –...
  • Page 133 Configure and Start Up the Kinetix 300 Drive Chapter 6 The New Controller dialog box opens. 3. Configure the new controller. a. From the Type pull-down menu, choose your controller type. In this example, the CompactLogix L23E-QB1 controller is chosen.

  • Page 134: Configure The Ethernet Port

    Chapter 6 Configure and Start Up the Kinetix 300 Drive 6. Click the Date and Time tab. 7. Check the box Make this controller the Coordinated System Time master. You can assign only one ControlLogix controller as the Coordinated IMPORTANT System Time master.

  • Page 135: Configure The Ethernet Module

    Configure and Start Up the Kinetix 300 Drive Chapter 6 Configure the Ethernet Module This section applies when the ControlLogix controller, catalog number 1756- ENET/B, is used. Follow these steps to configure the Ethernet module. 1. Right-click I/O Configuration in the Controller Organizer and choose New Module.

  • Page 136: Configure The Kinetix 300 Drive

    Enter the slot where your module resides (leftmost slot = 0). 5. Click OK. Configure the Kinetix 300 Drive Follow these steps to configure the Kinetix 300 drive. 1. Right-click the embedded 1769-L23E Ethernet port and choose New Module.

  • Page 137: Download The Program

    Configure and Start Up the Kinetix 300 Drive Chapter 6 The New Module dialog box opens. 4. Configure the new module. a. Name the module. b. Set the drive Ethernet address. Set the Ethernet address in the software to match the Ethernet address scrolling on the drive.

  • Page 138: Apply Power To The Kinetix 300 Drive

    Mains input power Go to step 6 6. Verify that Hardware Enable Input signal IOD connector pin 29 is at 0V. 7. Observe the status indicator on the front of the Kinetix 300 drive. Status Indicator Condition Status Do This...

  • Page 139: Test And Tune The Axis

    Chapter 6 Test and Tune the Axis This procedure assumes that you have configured your Kinetix 300 drive, your Logix Ethernet module, and applied power to the system. Before proceeding with testing and tuning your axis, verify that the Kinetix...

  • Page 140: Tune The Axis

    Chapter 6 Configure and Start Up the Kinetix 300 Drive Tune the Axis Follow these steps to tune the axes. 1. Verify the load is removed from the axis you want to tune. ATTENTION: To reduce the possibility of unpredictable motor response...
  • Page 141 Configure and Start Up the Kinetix 300 Drive Chapter 6 This is the maximum distance in User Units that the motor shaft or actuator can safely travel during the tuning procedure 10. Apply Enable Input signal for the axis you are tuning.

  • Page 142: Select Drive Operating Mode

    Configure and Start Up the Kinetix 300 Drive Select Drive Operating Mode This procedure assumes that you have configured your Kinetix 300 drive, your Logix Ethernet module, and applied power to the drive. The drive operating mode determines the command source for the drive. You can configure the drive from MotionView software or by Explicit Messaging, instance 266, to the drive object.

  • Page 143: Master Gearing Mode Examples

    A Bulletin MPL multi-turn motor is connected to the slave drive and outputs 128 pulses per revolution (ppr). A master encoder outputs 128 ppr TTL to the master gearing inputs on the Kinetix 300 slave drive. A 1:1 master encoder to motor revolution is required.
  • Page 144 Chapter 6 Configure and Start Up the Kinetix 300 Drive Follow these steps to configure the master gearing ratio. 1. Run the MotionView software. 2. From the Drive Organizer, click General. The buffered output is supported only for use with incremental IMPORTANT encoder motor feedback.

  • Page 145: Configure The Drive Parameters And System Variables

    Configure and Start Up the Kinetix 300 Drive Chapter 6 Configure the Drive This section provides information for accessing and changing parameters not accessible through RSLogix 5000 software. Parameters and System Variables Tools for Viewing Parameters Follow these steps to view parameters.
  • Page 146 Chapter 6 Configure and Start Up the Kinetix 300 Drive 3. Click Add to add a parameter to the viewer. 4. Select a parameter from within the tree structure. 5. Click Add. Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...

  • Page 147: Tools For Changing Parameters

    Configure and Start Up the Kinetix 300 Drive Chapter 6 Tools for Changing Parameters Some parameters are accessible through RSLogix 5000 software. The alternative is to use Explicit Messaging from the Ethernet module. Follow these steps to change parameters by using Explicit Messaging.

  • Page 148: Configure Drive Mode With Explicit Messaging

    Chapter 6 Configure and Start Up the Kinetix 300 Drive Configure Drive Mode with These Kinetix 300 drive modes can be set via explicit messaging: • Master Gearing Explicit Messaging • Step and Direction • Analog Velocity • Analog Current •...
  • Page 149 Configure and Start Up the Kinetix 300 Drive Chapter 6 Table 64 - Analog Velocity Parameter Name Description Value Drive Mode Set to Analog Velocity VelocityScale Analog input velocity reference scale: Range: -10000…10000 rpm/V Velocity = Vinput x VelocityScale AccelLimit Accel value for Velocity mode Range: 0.1…5,000,000 UU/s...

  • Page 150: Configure Drive For Linear Motors And Direct Drive Stages

    Chapter 6 Configure and Start Up the Kinetix 300 Drive Configure Drive for Linear Use this section to configure your Kinetix 300 drive for use with linear motor and linear stages. Motors and Direct Drive Stages Motor Temperature Sensor For LDAT-Series linear thrusters, LDL-Series™ and LDC-Series™ linear motors and MPAS-Series linear stages, do the following.

  • Page 151: Change The Encoder Resolution For An Incremental Encoder

    Configure and Start Up the Kinetix 300 Drive Chapter 6 Change the Encoder Resolution for an Incremental Encoder The encoder resolution defaults to 5 μm per encoder count. If you must change the resolution, do this. 1. Run the MotionView software.
  • Page 152 Chapter 6 Configure and Start Up the Kinetix 300 Drive If you choose auto phasing, the following appears. 13. Follow the instructions in the dialog box. If your system is wired by using one of the interconnect diagrams in Appendix A, then you get the following results.

  • Page 153: Safety Precautions

    General Troubleshooting Clearing Faults Safety Precautions Observe the following safety precautions when troubleshooting your Kinetix 300 drive. ATTENTION: DC bus capacitors may retain hazardous voltages after input power has been removed. Before working on the drive, measure the DC bus voltage to verify it has reached a safe level or wait the full time interval listed on the drive warning label.

  • Page 154: General Troubleshooting

    If anomalies 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, see the table below. Display Behavior By default, if there is no activity on the input keypad for 30 seconds, the Kinetix 300 drive continuously scrolls the drives' IP address.
  • Page 155 AC input. Bus overvoltage. Excessive regeneration of power. • Change the deceleration or motion profile. • Use a larger system (motor and Kinetix 300 drive). When the motor is driven by an external • Use a resistive shunt.
  • Page 156 Operate within the continuous power rating. Reduces acceleration rates. The Kinetix 300 drive has a short circuit Remove all power and motor connections and overcurrent, or failed component. preform a continuity check form the DC bus to the U, V, and W motor outputs.

  • Page 157: Clearing Faults

    Troubleshooting the Kinetix 300 Drive System Chapter 7 Clearing Faults This section provides methods for clear faults in the Kinetix 300 drive. You can clear drive faults by using digital inputs or drive parameters. Use Digital Inputs to Clear Faults You can use MotionView software to clear faults by configuring a digital input as Fault Reset.
  • Page 158 Chapter 7 Troubleshooting the Kinetix 300 Drive System UserDefinedDataLink Drive parameters used in the Explicit Messaging section can be mapped into the integer UserDefinedDataLink by using MotionView software. Then the parameter can be toggled by using the UserDefinedIntegerData0 or UserDefinedIntegerData1 tags within RSLogix 5000 software.

  • Page 159: Certification

    ISO 13849-1 performance level d (PLd) safety category 3. The TÜV Rheinland group has approved the Kinetix 300 drives for use in safety- related applications up to ISO 13849-1 performance level d (PLd) safety category 3, in which the de-energized state is considered to be the safe state. All of the examples related to I/O included in this manual are based on achieving de- energization as the safe state for typical machine safety systems.

  • Page 160: Important Safety Considerations

    Chapter 8 Kinetix 300 Drive Safe Torque-off Feature Important Safety Considerations The system user is responsible for the following: • Validation of any sensors or actuators connected to the drive system • Completing a machine-level risk assessment • Certification of the machine to the desired ISO 13849-1 performance level •...

  • Page 161: Description Of Operation

    Kinetix 300 Drive Safe Torque-off Feature Chapter 8 Description of Operation The safe torque-off feature provides a method, with sufficiently low probability of failure on demand, to force the power-transistor control signals to a disabled state. When disabled, or any time power is removed from the safety enable inputs, all of the drives output-power transistors are released from the ON state, effectively removing motive power generated by the drive.

  • Page 162: Troubleshooting The Safe Torque-Off Function

    Chapter 8 Kinetix 300 Drive Safe Torque-off Feature Troubleshooting the Safe Torque-off Function Error Fault Message Anomaly Potential Cause Possible Resolution Code RSLogix (HIM) DriveHardFault Safe torque-off function • Loose wiring at safe torque-off (STO) • Verify wire terminations, cable/header mismatch.

  • Page 163: Safe Torque-Off Connector Data

    Chapter 8 Safe Torque-off Connector This section provides safe torque-off (STO) connector and header information for the Kinetix 300 drive safe torque-off. Data STO Connector Pinouts Headers extend the STO connector signals for use in wiring or to defeat (not use) the safe torque-off function.

  • Page 164: Wiring Your Safe Torque-Off Circuit

    Chapter 8 Kinetix 300 Drive Safe Torque-off Feature Wiring Your Safe Torque-off This section provides guidelines for wiring your Kinetix 300 safe torque-off drive connections. Circuit European Union Directives If this product is installed within the European Union or EEC regions and has the CE mark, the following regulations apply.

  • Page 165: Safe Torque-Off Wiring Requirements

    Kinetix 300 Drive Safe Torque-off Feature Chapter 8 Safe Torque-off Wiring Requirements These are the safe torque-off (STO) wiring requirements. Wire should be copper with 75 °C (167 °F) minimum rating. The National Electrical Code and local electrical codes take precedence over the IMPORTANT values and methods provided.

  • Page 166: Kinetix 300 Drive Safe Torque-Off Feature

    Chapter 8 Kinetix 300 Drive Safe Torque-off Feature Kinetix 300 Drive Safe The safe torque-off circuit, when used with suitable safety components, provides protection according to ISO 13849-1 (PLd). The safe torque-off option is just Torque-off Feature one safety control system. All components in the system must be chosen and applied correctly to achieve the desired level of operator safeguarding.

  • Page 167: Kinetix 300 Drive Safe Torque-Off Wiring Diagrams

    The Kinetix 300 drive has been qualified and rated as a component to meet ISO IMPORTANT 13849-1 performance level d (PLd), safety-level category 3. Dual inputs and drive monitoring of the safe torque-off circuit, STO-4 and ST0-6, are done to prevent drive enable should either or both of these inputs not function.

  • Page 168: Safe Torque-Off Signal Specifications

    Chapter 8 Kinetix 300 Drive Safe Torque-off Feature Figure 80 - Single-axis Relay Configuration (Stop Category 1) with Automatic Reset External +24V DC Safe Torque-off Kinetix 300 Drive Digital Input Allen-Bradley Monitoring Safety Relay (IOD) Connector MSR138DP (440R-M23151) Auxiliary Signal...

  • Page 169: Safety Input And Output Schematics

    Kinetix 300 Drive Safe Torque-off Feature Chapter 8 Safety Input and Output The following are generic safety input and output schematics for the Kinetix 350 drive. Schematics Figure 81 - Safety Input Safety Input 1/2 STO-4/6 Safety COM STO-5 SAFETYCOM...
  • Page 170 Chapter 8 Kinetix 300 Drive Safe Torque-off Feature Notes: Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...
  • Page 171 Power Wiring Examples Kinetix 300 Drive/Rotary Motor Wiring Examples Kinetix 300 Drive/Actuator Wiring Examples Kinetix 300 Drive/Linear Motor Wiring Examples Kinetix 300 Drive to MicroLogix Controller Wiring Examples Kinetix 300 Drive Master Gearing Wiring Example Motor Brake Currents System Block Diagrams...

  • Page 172: Interconnect Diagram Notes

    Appendix A Interconnect Diagrams Interconnect Diagram Notes This appendix provides wiring examples to assist you in wiring the Kinetix 300 system. The notes below apply to the wiring examples on the pages that follow. Note Information For power wiring specifications, see...

  • Page 173: Power Wiring Examples

    In this example, the 2097-V31PRx drives are wired to use the voltage doubling circuit. The 120V input voltage provides 240V output to motors. The 2097- V33PRx drives are wired for single-phase 120V operation. Figure 83 - Kinetix 300 Drive (120V single-phase input power) 2097-V31PRx and 2097-V33PRx See table on page 172 for note information.
  • Page 174 V32PRx drives. The 2097-V32PRx models have integrated AC line filters and do not require the IMPORTANT AC line filter shown in this diagram. Figure 84 - Kinetix 300 Drives (240V single-phase input power) 2097-V31PRx and 2097-V32PRx See table on page 172 for note information.

  • Page 175: Shunt Resistor Wiring Example

    Clamp Note 8 * Indicates User Supplied Component For the 480V Kinetix 300 drives to meet ISO 13849-1 (PLd) spacing IMPORTANT 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.

  • Page 176: Kinetix 300 Drive/Rotary Motor Wiring Examples

    Appendix A Interconnect Diagrams Kinetix 300 Drive/Rotary These wiring diagrams apply to Kinetix 300 drives with compatible rotary motors. Motor Wiring Examples Figure 87 - MP-Series (Bulletin MPL-A/B and MPS-A/B) Motors 2090-XXNPMF-xxSxx (standard) or 2090-CPBMxDF-xxAFxx 2097-V3xPRx MPL-A/B15xxx, MPM-A/B2xxx See table on page 172 for note information.
  • Page 177 Figure 88 - MP-Series (Bulletin MPL-A/B, MPM-A/B, and MPF-A/B) Motors 2097-V3xPRx 2090-CPxM7DF-xxAAxx (standard) or MPL-A/B15xxx, MPL-A/B45xxx See table on page 172 for note information. 2090-CPxM7DF-xxAFxx (continuous-flex) Kinetix 300 Drives MPM-A/Bxxx, MPF-A/Bxxx Motor Power Cable Servo Motors with Notes 9, 10 2090-K2CK-D15M High Resolution Feedback Use 2090-CPWMxDF-xxAFxx Connector Kit cable for continuous flex non-brake applications.
  • Page 178 Appendix A Interconnect Diagrams Figure 89 - Kinetix 300 Drive with TL-Series (TLY-A) Motors See table on page 172 for note information. TLY-Axxxx-H (230V) 2097-V3xPRx Servo Motors with Kinetix 300 Drives 2090-CPBM6DF-16AAxx Incremental Feedback Motor Power and Brake Cable Notes 9, 10...

  • Page 179: Kinetix 300 Drive/Linear Motor Wiring Examples

    Appendix A Kinetix 300 Drive/Linear These wiring diagrams apply to Kinetix 300 drives with compatible linear motors. Motor Wiring Examples Figure 90 - Kinetix 300 Drive with LDC-Series and LDL Linear Motors 2090-CPWM7DF-xxAAxx (standard) 2097-V3xPRx LDC-Series and LDL-Series or 2090-CPWM7DF-xxAFxx (continuous-flex)

  • Page 180: Kinetix 300 Drive/Actuator Wiring Examples

    Kinetix 300 Drive/Actuator These wiring diagrams apply to Kinetix 300 drives with compatible linear actuators. Wiring Examples Figure 91 - Kinetix 300 Drive with MP-Series (Bulletin MPAS-A/B) Linear Stages and LDAT-Series Linear Thrusters 2090-XXNPMF-xxSxx (standard) See table on page 172 for note information.
  • Page 181 Interconnect Diagrams Appendix A Figure 92 - Kinetix 300 Drive with MP-Series (Bulletin MPAR and MPAI) Electric Cylinders 2097-V3xPRx MPAR-A/Bxxxxx-xxx See table on page 172 for note information. Kinetix 300 Drives and MPAI-A/Bxxx Electric Cylinder with 2090-K2CK-D15M High Resolution Feedback Table 67 for motor power cable.
  • Page 182 Appendix A Interconnect Diagrams Figure 93 - Kinetix 300 Drive with TL-Series (Bulletin TLAR) Electric Cylinders 2097-V3xPRx TLAR-Axxxxx-B (230V) See table on page 172 for note information. Kinetix 300 Drives Servo Motors with 2090-CPBM6DF-16AAxx High Resolution Feedback Motor Power and Brake Cable...

  • Page 183: Kinetix 300 Drive To Micrologix Controller Wiring Examples

    Interconnect Diagrams Appendix A Kinetix 300 Drive to The Kinetix 300 drive accepts unipolar or bipolar inputs. MicroLogix Controller Wiring Figure 94 - Analog Velocity (or Current) Control Mode Examples MicroLogix 1400 2097-V3xPRx Controller Kinetix 300 Drive 1766-L32BXB 1766-L32BXBA I/O (IOD)

  • Page 184: Kinetix 300 Drive Master Gearing Wiring Example

    Appendix A Interconnect Diagrams Kinetix 300 Drive Master This wiring diagram applies to Kinetix 300 drives. Gearing Wiring Example 2097-V3xPRx 2097-V3xPRx Kinetix 300 Drive Kinetix 300 Drive (Slave) (Master) Master Motor Encoder Feedback Inputs (MF) Connector Buffered I/O (IOD) Encoder...

  • Page 185: Motor Brake Currents

    Interconnect Diagrams Appendix A Motor Brake Currents Use these coil current values to size the interposing relay required for your application. See the interconnect diagram for your Kinetix 300 drive/motor beginning on page 176 for typical motor brake circuitry. Table 68 - Motor Brake Coil Currents...

  • Page 186: System Block Diagrams

    Appendix A Interconnect Diagrams System Block Diagrams This power block diagram applies to 2097-V32PRx, 2097-V33PRx, and 2097- V34PRx servo drives. Figure 96 - Power Block Diagram Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...
  • Page 187 Interconnect Diagrams Appendix A This power block diagram applies to 2097-V31PRx servo drives. The voltage- doubler circuitry lets the drives with 120V input power get full performance from 240V motors. Figure 97 - Voltage Doubler Block Diagram Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...
  • Page 188 Appendix A Interconnect Diagrams Notes: Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...

  • Page 189: Input And Output Assembly

    Output data is produced by the scanner and consumed by the adapter. Input data is produced by the adapter and consumed by the scanner. The Kinetix 300 drive is an adapter device and the controller using RSLogix 5000 software as a scanner device.
  • Page 190 String, RAM String, MEM When a Kinetix 300 drive parameter is changed by using explicit messaging, the Set Attribute Single message instruction is directed at this class, the instance is the identifier of the actual parameter and the attribute depends upon the type of data being written.
  • Page 191 Input and Output Assembly Appendix B Table 70 - Input Assembly (continued) RSLogix 5000 Tags Description VelocityLockStatus A non-zero value in this field means the drive is within the configured tolerance around the commanded velocity. PowerStructureEn A non-zero value in this field means the drive power structure is currently enabled and providing current to the motor. DigitalInputA1Status A non-zero value in this field means this digital input on the drive is currently asserted.
  • Page 192 Appendix B Input and Output Assembly Table 71 - Input Assembly Instance (Assembly 113) Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved Registration Current Reserved Reserved Position Physical Drive En EventStatus LimitStatus LockStatus...
  • Page 193 Input and Output Assembly Appendix B Table 73 - Output Assembly RSLogix 5000 Tags Description AbortIndex Upon transition from 0 to 1 of this field the drive aborts the current index or position based move the drive is executing and decel to zero velocity.
  • Page 194 Appendix B Input and Output Assembly Table 74 - Output Assembly Instance (Assembly 114) Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Drive En Reserved Start Homing Abort Homing Define Home Start Motion Reserved Abort Index...

  • Page 195: Output Assembly Examples

    You can manage the values in the Output Assembly by manipulating them in ladder code or by editing the tag directly in the tag structure. IMPORTANT The Kinetix 300 drive must be in EtherNet/IP External Reference mode. This is an example of moving a value into the .ReferenceSource of the Output Assembly.

  • Page 196: Incremental Position Point-To-Point Profile

    Appendix B Input and Output Assembly Incremental Position Point-to-Point Profile To execute an incremental position move, set these tag values as shown. Table 76 - Output Assembly Tags RSLogix 5000 Tags Value ReferenceSource Set value to 2. CommandPosition Configure the motion profile by setting tags to the desired values. VelocityLimit AccelerationLimit DecelerationLimit...

  • Page 197: Tag Number Descriptions

    Appendix Kinetix 300 Drive ID Tag Numbers Topic Page Tag Number Descriptions Index Base Addressing Tag Number Descriptions To change these parameters by using an Explicit Message you configure the message to target class 374. The instance corresponds to the ID tag number in Table 78.
  • Page 198 Appendix C Kinetix 300 Drive ID Tag Numbers Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...
  • Page 199 Kinetix 300 Drive ID Tag Numbers Appendix C Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...
  • Page 200 Appendix C Kinetix 300 Drive ID Tag Numbers Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...
  • Page 201 Kinetix 300 Drive ID Tag Numbers Appendix C Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...
  • Page 202 Appendix C Kinetix 300 Drive ID Tag Numbers Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...
  • Page 203 Kinetix 300 Drive ID Tag Numbers Appendix C Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...
  • Page 204 Appendix C Kinetix 300 Drive ID Tag Numbers Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...
  • Page 205 Kinetix 300 Drive ID Tag Numbers Appendix C Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...
  • Page 206 Appendix C Kinetix 300 Drive ID Tag Numbers Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...
  • Page 207 Kinetix 300 Drive ID Tag Numbers Appendix C Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...
  • Page 208 Appendix C Kinetix 300 Drive ID Tag Numbers Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...
  • Page 209 Appendix C Kinetix 300 Drive ID Tag Numbers Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...

  • Page 210: Index Base Addressing

    Appendix C Kinetix 300 Drive ID Tag Numbers Index Base Addressing There are 11 tags per index and 32 indexes total. Table 79 - Index Base Address Index x = Base Address (B) Index x = Base Address (B) Index 0 = 272...

  • Page 211: Explicit Messaging Data Types

    This capability is present in the MicroLogix 1100 Series B and MicroLogix 1400 controllers. You can write to read/write (R/W) ID tags, however, read (R) ID tags are read-only. For the complete list of Kinetix 300 ID tags, see Appendix...

  • Page 212: Explicit Messaging Data Type Examples

    MG9:0 and a unique extended routing information file element, for example RIX10:0. The routing information file element stores not only the path to the destination Kinetix 300 drive IP address, but also the specific Class/Instance/Attribute settings.

  • Page 213: Real Data Type Examples

    MicroLogix Explicit Messaging Appendix D REAL Data Type Examples In this example, the instance decimal is ID tag 183 (phase current). Figure 103 - Reading REAL from Volatile Memory In this example, the instance decimal is ID tag 58 (zero speed window). Figure 104 - Writing REAL into Nonvolatile Memory Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...

  • Page 214: String Data Type Examples

    Appendix D MicroLogix Explicit Messaging String Data Type Examples In this example, the instance decimal is ID tag 3 (drive serial number). Figure 105 - Reading String from Volatile Memory Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...
  • Page 215 MicroLogix Explicit Messaging Appendix D In this example, the instance decimal is ID tag 2 (drive symbolic name). Figure 106 - Writing String into Nonvolatile Memory Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...
  • Page 216 Appendix D MicroLogix Explicit Messaging Notes: Rockwell Automation Publication 2097-UM001D-EN-P - November 2012...

  • Page 217: Modes Of Operation

    Operation Overtravel Fault Recovery Modes of Operation The operation of the Kinetix 300 drives overtravel limits is only applicable in Positioning mode. You can also use non-positioning modes, but they must work in conjunction with an external controller or PLC.

  • Page 218: Overtravel Hardware Inputs

    Appendix E Overtravel Inputs Overtravel Hardware Inputs Overtravel inputs are dedicated inputs and cannot be used for anything else. Table 83 - Overtravel Pin Assignments IOD Pin Description Signal IOD-28 Positive overtravel input IN_A2 IOD-27 Negative overtravel input IN_A1 The overtravel inputs are edge triggered and once the overtravel limit is exceeded, the drive will perform the configured shutdown.

  • Page 219: Operation

    Overtravel Inputs Appendix E Operation If the drive is in a position operating mode, the overtravel limits are functional and will generate an error when the overtravel is reached. The drive will not allow axis movement in the direction of the overtravel limit until after the overtravel fault is reset.

  • Page 220: Overtravel Fault Recovery

    Appendix E Overtravel Inputs Overtravel Fault Recovery Follow these steps to recover from an overtravel fault condition while in a Positioning mode. 1. Reset the drive to clear the overtravel fault, either through MotionView software or via logic. Typically, the overtravel input is still active after the reset, because the axis is still on the limit switch.

  • Page 221: History Of Changes

    Updated the description for error code E26. Added error code E39. Kinetix 300 Drive Safe Torque-off Feature was converted to a chapter and includes updates throughout to clarify the safe torque-off functionality. Updated the Kinetix 300 Drive Power Specifications tables.
  • Page 222 Table 84 - 2097-UM001B-EN-P, August 2010 (continued) Change Updated the Power Wiring Examples with proper voltage/phase ratings. Updated the pinouts for Kinetix 300 Drive with TL-Series (TLY-A) Motors diagram. Added System Block Diagrams section. Added Input Assembly Instance table. Added Output Assembly Instance table.

  • Page 223: Index

    Index Numerics category 3 requirements 160 120/240V single-phase input power 174 stop category definitions 160 120V single-phase input power 173 1766-L32BXB 183 compliance 17 1766-L32BXBA 183 comply with CE 164 conformity 164 2097 master gearing example 184 invalidate compliance 63 2097 with LDAT-Series linear thruster 180 meet requirements 164 240/480V three-phase input power 175...
  • Page 224 Index controller properties 133 explicit messaging coordinated system time master 134 data types 211 DINT data 212 current mode 183 REAL data 213 string data 214 date and time tab 134 digital I/O category 93 fault codes 154 digital inputs 41 faults category 100 digital outputs 45 feedback connections 77...
  • Page 225 Index input power wiring mode 3-phase Delta 59 analog velocity 183 3-phase WYE 59 current 183 determine input power 58 master gearing 48 grounded power configuration 59 step and direction 183 single-phase 60 monitor category 99 voltage doubler 60 MotionView software single-phase amplifiers on 3-phase power 61 analog I/O category 94 communication category 91...
  • Page 226 3-phase only 73 TL-Series 72 safe torque-off shield clamp wiring 76 bypass 166 mount connector location 163 Kinetix 300 drive 34 operation 161 PFD and PFH data 162 PFD and PFH definition 162 pinouts 37 proof tests 161 noise 29...
  • Page 227 Index Tamagawa 55 motor thermostat interface 52 who should use this manual 11 power dissipation 24 wiring safe torque-off 168 step and direction 48 build your own cables 58 status indicators 127 diagram, safe torque-off 167 drive step and direction 48 BP connector 69 system block diagrams IPD connector 70...
  • Page 228 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products. At http://www.rockwellautomation.com/support, you can find technical manuals, technical and application notes, sample code and links to software service packs, and a MySupport feature that you can customize to make the best use of these tools.

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