Related Manuals for Rockwell Automation Allen-Bradley Kinetix 3 2071-AP0
Summary of Contents for Rockwell Automation Allen-Bradley Kinetix 3 2071-AP0
- Page 1 User Manual Kinetix 3 Component Servo Drives Catalog Numbers 2071-AP0, 2071-AP1, 2071-AP2, 2071-AP4, 2071-AP8, 2071-A10, 2071-A15...
- Page 2 Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE). Allen-Bradley, Connected Components Workbench, Data Highway Plus, Kinetix, LDC-Series, LDL-Series, Micro800, Micro810, Micro830, Micro850, MicroLogix, MP-Series, PanelView, Rockwell Automation, Rockwell Software, RSLogix, and TL-Series are trademarks of Rockwell Automation, Inc.
- Page 3 Added Chapter 7 Configure Your Drive for Communication with a Personal Computer Running Connected Components Workbench Software Added Reset Drive to Default Values by Using Ultraware Software Added Kinetix 3 to MicroLogix™ and Micro800™ controller interconnect diagrams for PTO Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 4 Summary of Changes Notes: Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 5: Table Of Contents
Serial Interface Connection ........50 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 6 Micro850 Controller........97 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 7 ............131 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 8 Table of Contents Notes: Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 9: Preface
Kinetix 3 drive. If you do not have a basic understanding of the Kinetix 3 drive, contact your local Rockwell Automation sales representative for information on available training courses. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 10: Additional Resources
Micro830™ and Micro850™ Programmable Controllers User Manual, publication 2080-UM002 Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines for installing a Rockwell Automation™ industrial system. Kinetix 3 Component Servo Drive Serial Host Command Reference Manual, publication 2071- Information on the serial communication commands, both ASCII and ModBus- RM001 RTU, for interfacing a motion controller with the Kinetix 3 drive. -
Page 11: Start
Chapter Start Topic Page About the Kinetix 3 Drive System Catalog Number Explanation Agency Compliance Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 12: About The Kinetix 3 Drive System
Serial communication cables provide an interface between your system components by using RS-232 or Serial communication cables RS-485 protocols. 2090-CCMDSDS-48AAxx 2090-CCMUSDS-48AAxx The 1203-USB converter provides a Drive Serial Interface (DSI) communication between a computer and 1203-USB Converter 1203-USB Kinetix 3 drive. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 13 Figure 2 - MicroLogix Controller Configuration - Kinetix 3 Servo Drive System Ultraware Software on personal computer with a RS-232 serial port. 1766-L32xxx MicroLogix 1400 Controller 2090-CCMPCDS-23AAxx 2071-Axxxx Programming Cable Kinetix 3 Servo Drive (programming only) 2090-CCMCNDS-48AAxx Controller Cable Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 14: Catalog Number Explanation
AC line filter and drive must match. Failure to do this renders the filter ineffective and can cause damage to the filter. For grounding examples, refer to Grounding Your Kinetix 3 Drive page 59. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 15 Use shielded cable for power wiring and provide a grounded 360° clamp termination. Refer to Appendix A page 123 for interconnect diagrams, including input power wiring and drive/motor interconnect diagrams. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 16 Chapter 1 Start Notes: Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 17: Install The Kinetix 3 Drive System
• Size the drive enclosure so as not to exceed the maximum ambient temperature rating. Consider heat dissipation specifications for all drive components. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 18: Fuse Selection
Refer to Fuse/Contactor Specifications on page 19 for recommended fuses. Refer to Kinetix Servo Drives Specifications Technical Data for input current and inrush current specifications for your Kinetix 3 drive. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 19: Fuse/Contactor Specifications
(3) LPJ fuses are described as dual-element time-delay fuses, Class J. (4) FRS-R fuses are described as dual-element time-delay fuses, Class RK5. (5) For contactors: x represents coil voltage, y represents the number of contacts. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 20: Sizing The Enclosure
Because this cabinet size is considerably larger than what is necessary to house the system components, it can be more efficient to provide a means of cooling in a smaller cabinet. Contact your cabinet manufacturer for options available to cool your cabinet. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 21: Power Dissipation Specifications
23.1 24.6 26.2 2071-AP2 21.70 24.6 27.6 30.6 33.7 2071-AP4 25.59 31.9 38.4 45.2 52.2 2071-AP8 26.36 32.3 38.6 45.1 52.0 2071-A10 30.87 40.2 50.1 60.6 71.5 2071-A15 37.37 50.1 63.8 78.4 94.0 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 22: Minimum Clearance Requirements
30 mm (1.18 in.) clearance to side wall of enclosure. 10 mm (0.39 in.) 50.0 mm (2.0 in.) clearance clearance between drives. for airflow and Installation. Refer to page 21 for power dissipation specifications. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 23: Electrical Noise Reduction
(paint-free) steel. Improper bonding of metal surfaces blocks the direct return path and lets high- frequency energy travel elsewhere in the cabinet. Excessive high-frequency energy can effect the operation of other microprocessor controlled equipment. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 24 Flat Washer Star Washer Flat Washer If the mounting bracket is coated with a non-conductive material (anodized Star Washer or painted), scrape the material around the mounting hole. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 25: Bonding Multiple Subpanels
Figure 6 - Multiple Subpanels and Cabinet Recommendations Wire Braid 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.) Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 26: Establishing Noise Zones
(3) This is a clean 24V DC available for any device that requires it. The 24V enters the clean wireway and exits to the left. (4) This is a dirty 24V DC available for motor brakes and contactors. The 24V enters the dirty wireway and exits to the right. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 27: Cable Categories For Kinetix 3 Drive Components
The brake is mounted inside the motor. How you connect to the drive depends on the motor series. Refer to Kinetix 3 Drive/Rotary Motor Wiring Examples beginning on page 124 for the interconnect diagram of your drive/motor combination. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 28: Mount Your Kinetix 3 Drive
1.1 N•m (9.8 lb•in). Observe bonding techniques as described Bonding Drives on page To improve the bond between the Kinetix 3 drive and subpanel, construct your IMPORTANT subpanel out of zinc plated (paint-free) steel. 3. Tighten all mounting fasteners. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 29: Kinetix 3 Drive Connector Data
Chapter Kinetix 3 Drive Connector Data Topic Page Kinetix 3 Drive Connectors and Indicators Motor Feedback Specifications Control Signal Specifications Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 30: Kinetix 3 Drive Connectors And Indicators
Enter key Shunt resistor (BC) connector Mode/set key Motor power (MP) connector 7-segment status indicator Ground lug 2071-AP0 Kinetix 3 drive shown (1) 2071-AP4 Kinetix 3 drives and larger have two ground screws. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 31 AOUT1 Analog output #1 ground ACOM Analog output #2 AOUT2 Analog output #2 ground ACOM Figure 9 - Pin Orientation for 4-pin Header (A.out) Connector Pin 2 Pin 4 Pin 1 Pin 3 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 32: I/O (Iod) Connector Pinout
— Figure 10 - Pin Orientation for 50-pin I/O (IOD) Connector Pin 1 Pin 26 Pin 25 Pin 50 (1) The default settings for configurable digital inputs and outputs are shown in parenthesis. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 33: I/O Interface Diagram
SIGN - OUTPUT1- HF_PULS + OUTPUT2+ HF_PULS - Programmable High Frequency Digital OUTPUT2- Position Outputs HF_SIGN + Command OUTPUT3+ HF_SIGN - OUTPUT3- 16-bit Speed Command -10V to +10V 12-bit Current Command -10V to +10V Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 34: Motor Feedback (Mf) Connector Pinout
RS-232 receive +5V power +5V DC +5V power ground RS-485 + RS-485 - Figure 12 - Pin Orientation for 6-pin Serial Interface (Comm0A and CommOB) Connector Pin 2 Pin 6 Pin 5 Pin 1 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 35: Input Power Connector Pinout
Shunt resistor + DC bus positive (not supported) Shunt resistor - Motor Power Connector Pinout Table 10 - Motor Power (MP) Connector MP Pin Description Signal Motor power U Motor power V Motor power W Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 36: Motor Feedback Specifications
Table 12 - Replacement Battery Specifications Attribute Value International size reference 1/2AA, ER14252 Nominal capacity @ 0.5 mA, to 2V 1.2 Ah Rated Voltage 3.6V Max Recommended continuous current 50 mA Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 37: Motor Feedback Specifications
This is the motor thermostat interface schematic. Although the thermostat signal is shown for all feedback types, some motors do not support this feature. Figure 13 - Motor Thermostat Interface Kinetix 3 Drive 6.8 kΩ 1 kΩ 0.01 µF Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 38 BM + or IM+ AM - BM - or IM - Figure 15 - Generic TTL Interface, S1, S2, or S3 Signals Kinetix 3 Drive 4.7 kΩ or S3 1 kΩ 10 nF Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 39: Feedback Power Supply
Table 16 - Motor Feedback Power Specifications Attribute Value Signal EPWR 5.08 Voltage nominal 5.25 5.45 Current, mA Figure 16 - Pin Orientation for 20-pin Motor Feedback (MF) Connector Pin 1 Pin 11 Pin 10 Pin 20 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 40: Control Signal Specifications
(and set to zero instead) if the commanded speed is below [Pr5.05 - Zero Clamp]. Position Clear </PCLR> When this input is ON, the position command, position feedback, and position error are cleared. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 41 Specifications. The inputs can be set up for PNP sourcing or NPN sinking. Figure 17 - Digital Inputs (PNP sourcing configuration) 3.3 KΩ 4.7 KΩ 24V Supply 3300 Ω 0.01 μF Opto-coupler INPUTS Logic GND Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 42 On-state current at min voltage 6.3 mA On-state current at max voltage 7.71 mA Off-state voltage, max Off-state current, max 0 mA Hardware delay, off to on 8.4 μs Hardware delay, on to off 50.1 μs Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 43: High Frequency Pulse Command
Step Up/Down inputs. Figure 19 - High Frequency Pulse Command Differential Circuit Kinetix 3 Drive 4.7 kΩ Controller HF_PULS+/HF_SIGN+ I/O 15/23 220 Ω Line Receiver HF_PULS-/HF_SIGN- I/O 16/24 4.7 kΩ Logic Ground Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 44: Digital Outputs
The fault outputs, FAULT1…FAULT3, can be reassigned through the parameter setting giving you three additional digital outputs, OUTPUT4…OUTPUT6. The drive contains four alarm outputs. The four alarm outputs include the alarm signals FAULT+ and FAULT- and three bits of fault information, FAULT1…FAULT3. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 45 E.012 Home Search Failed E.027 Axis Not Homed E.060 Drive Initialization Fault E.100 Drive Setup Fault Digital and fault outputs are grounded through FCOM/OUT COM. All digital outputs are active low, current sinking. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 46 Maximum on-state voltage drop @ 50 mA 1.2 mV DC Hardware delay, off to on, max 2.36 ms Hardware delay, on to off, max 310 ms Figure 20 - Digital Outputs Logic Power 200 Ω OUTPUT1+ OUTPUT1- TLP127 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 47: Analog Inputs
(to the number of bits) ICMD 12 bits — Resolution Input Open circuit impedance measured between the positive (+) 10 kΩ — Impedance input and analog common. Input Signal Voltage applied to the input. -10V +10V Range Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 48: Analog Outputs
• Bus Voltage • Velocity Command Offset • Current Command Offset • Motor Temperature • Analog Command – Velocity • Analog Command – Current Figure 22 shows the configuration of the analog outputs. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 49 Number of states that the output signal is divided into, Resolution 12 Bits — (to the number of bits) Output Current Current capability of the output. -10 mA +10 mA Output Signal Range of the output voltage. -10V +10V Range Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 50: Serial Interface Connection
Ultraware software. Table 23 - RS-232 Serial Communication Specifications Attribute Value Communication Protocol RS-232 Baud 57,600 Data bits Parity None Stop bit Operator interface bit pattern 0005 Cabling Catalog number 2090-CCMPCDS Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 51 Table 24 - RS-485 Serial Communication Specifications Attribute Value Communication Protocol RS-485 Baud 192,000 Data bits Parity None Stop bit Operator interface bit pattern 1102 Cabling Catalog numbers 2090-CCMCNDS and 2090-CCMDSDS Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 52 Chapter 3 Kinetix 3 Drive Connector Data Notes: Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 53: Understanding Basic Wiring Requirements
National Electrical Code, local electrical codes, special operating temperatures, duty cycles, or system configurations take precedence over the values and methods provided. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 54: Building Your Own Cables
The Kinetix 3 drive is designed to operate in both grounded and ungrounded environments. The grounded power configuration lets you ground your single- phase or three-phase power at a neutral point. The ungrounded power configuration does not have a neutral ground point. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 55: Three-Phase Power Wired To Three-Phase Drives
IPD Terminals AC Line Filter Kinetix 3 Drive Three-phase AC Input Grounded Center-tap (optional) Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground Feeder and branch short circuit protection is not illustrated. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 56 Transformer (Delta) Secondary AC Line Filter Kinetix 3 Drive Three-phase AC Input Bonded Cabinet Ground Bus Corner Grounded (optional) Ground Grid or Power Distribution Ground Feeder and branch short circuit protection is not illustrated. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 57: Single-Phase Power Wired To Single-Phase Drives
ATTENTION: If the supply transformer is an auto transformer (not recommended), a chassis earth ground must not be added. A chassis earth ground must already be included elsewhere in the system, and adding another creates a short circuit. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 58: Three-Phase Power Wired To Single-Phase Drives
If a three-phase line filter is used to feed multiple single-phase drives (not recommended), it is important that the filter include a neutral connection as shown above. This applies if three-phase is brought directly into the filter and no isolating transformer is present. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 59: Grounding Your Kinetix 3 Drive
Figure 28 - Connecting the Braided Ground Strap Example See Kinetix Servo Drives Specifications Technical Data, publication GMC -TD003, for Kinetix 3 drive dimensions Item Description Mounting screw Braided ground strap Bonded cabinet ground bus Ground grid or power distribution ground Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 60 For information, refer to Bonding Multiple Subpanels on page Figure 30 - Subpanels Connected to a Single Ground Point Always follow NEC and applicable local codes. Bonded Ground Ground Grid or Power Distribution Ground Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 61: Power Wiring Requirements
The B1 and B2 terminals are used to connect a shunt resistor. On the four largest drives, the built-in shunt resistor is connected to B1 and B2. Because 2071-AP0, 2071-AP1, and 2071-AP2 models do not support shunt resistors, do not make terminations to the B1 and B2 terminals. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 62: Wiring Guidelines
Appendix 4. Gently pull on each wire to make sure it does not come out of its terminal; reinsert and tighten any loose wires. 5. Insert the connector plug into the drive connector. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 63: Wiring The Kinetix 3 Drive Connectors
For TL-Series motors, also connect the 152 mm (6.0 in.) termination wire to the IMPORTANT closest earth ground. Refer to Pigtail Terminations on page 64 for more information. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 64 MP-Series (Bulletin MPAS) MPAS-Axxxx 2090-CPBM4DF-xxAFxx (continuous-flex) (continuous-flex) Rectangular 2090-DANPT-16Sxx for power TL-Series (Bulletin TL) TL-Axxxx-B 2090-DANPT-16Sxx plastic 2090-DANBT-18Sxx for brake TL-Series (Bulletin TLY) TLY-Axxxx Circular plastic 2090-CPBM6DF-16AAxx (standard) 2090-CPWM6DF-16AAxx (standard) TL-Series (Bulletin TLAR) TLAR-Axxxx Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 65 Motor power (MP) connector plug Drive ground screw Motor cable ground wire Cable shield is tied to the ground wire in the cable. No further grounding is required with motor power cable, catalog number 2090-DANPT-16Sxx. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 66 Description 2071-AP4 Kinetix 3 drive shown Motor power cable Ground wire Ground lug - user supplied Cable shield clamp Ground and secure the motor power cable in your system following instructions page 70. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 67 (3) Diode 1N4004 rated 1.0A @ 400V DC. See Power Wiring Examples beginning on page 124. (4) Exposed shield under clamp and place within 50…75 mm (2…3 in.) of drive, see page 70 for details. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 68 MP-Series, TL-Series MP Pin Signal U / Brown V / Black W / Blue Green/yellow ground wire with ring lug is connected to the screw provided on the drive. Shown Figure on page Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 69: Shunt Resistor
The information supplied here is for reference only. There are no adjustments IMPORTANT or user serviceable parts associated with the shunt resistor. Figure 37 - Shunt Resistor (BC) Connector Kinetix 3 Drive Front view is shown. Shunt Resistor (BC) Connector Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 70: Apply The Motor Cable Shield Clamp
4. Position the exposed portion of the cable braid directly in line with the clamp. 5. Clamp the exposed shield to the panel with the clamp and two #6-32 x 1 screws provided. 6. Repeat steps 1…5 for each Kinetix 3 drive you are installing. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 71: Feedback And I/O Cable Connections
High-resolution encoder TLAR-Axxxxx 2090-CFBM6DF-CBAAxx (standard) page 72 TLY-Axxxx-H Incremental encoder TL-Axxxx-B High-resolution encoder 2090-DANFCT-Sxx 2090-DANFCT-Sxx page 73 (1) Remove the premolded connector on the drive end and use Feedback Breakout Board, catalog number 2071-TBMF. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 72: Flying-Lead Feedback Cable Pinouts
AM - BM + BM - IM + IM - S1 + S1 - — — S2 + S2 - — — S3 + S3 - — — EPWR 5V EPWR ECOM ECOM SHIELD Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 73 Motor Drive Drive MF Connector Pin Signal Name Signal Name Connector Pin EPWR EPWR ECOM/BAT - ECOM (internally connected) BAT- SHIELD DATA + SD + DATA - SD - BAT + BAT + Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 74: Wiring The I/O Connector
I/O interface cable, catalog number 2090-DAIO-D50xx provides access to all 50 pins of I/O. Figure 39 - Kinetix 3 Drive (IOD connector and I/O Interface cable) 2090-DAIO-D50xx I/O Interface Cable I/O (IOD) Connector Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 75: Wiring The Feedback Connector
Figure 40 - Kinetix 3 Drive (MF connector) Kinetix 3 Drive Front View Kinetix 3 Drive, Side View (2071-AP4 drive is shown) (2071-AP4 drive is shown) Premolded Connector 2090-DANFCT-Sxx Cable Motor Feedback (MF) Connector Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 76: Wiring The Feedback Breakout Board
Figure 41 - Kinetix 3 Drive (MF connector) Kinetix 3 Drive, Side View Kinetix 3 Drive Front View (2071-AP4 drive is shown) (2071-AP4 drive is shown) Motor Feedback (MF) 2071-TBMF Feedback breakout board. Connector Use with flying-lead feedback cable. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 77 13 mm (0.5 in.) exposed cable shield Bulletin 2090 feedback cable, catalog numbers 2090-XXNFMF-Sxx, 2090-CFBMxDF-CDAFxx, 2090-CFBM6DF-CBAAxx, or 2090-DANFCT Ground pad 3.6V battery Mounting screws (1) Battery required if absolute position must be stored. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 78 Chapter 4 Connect the Kinetix 3 Drive Notes: Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 79: Keypad Input
• The Mode/Set, and Enter keys provide the operator with access to drive functions. The directional keys (Up, Down, Left, and Right) edit drive function settings. These keys let the operator monitor and change the drive’s program. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 80 1. Press RIGHT to move from least significant digit in parameters to the groups digit An invalid key for the Status mode. (PR-x.xX to PR-X.xx). 2. Press RIGHT again to move to the most significant digit in Parameters (Pr-x.Xx). Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 81: Status Display/Operation Mode
Figure 46 - Error Number Parameter Edit From this screen, scroll through the general parameter groups (before the period) and then pick the parameter you wish to view or edit (after the period). Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 82 0.1% of motor rated continuous torque Follower Position counts Master Position counts Position Error counts Position Command Count 0.1 kcounts/s Frequency Commutation Angle Mechanical Angle Shunt Power Limit Ratio Bus Voltage Absolute Rotations revolutions Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 83: Reset Drive To Default Value
2. Use the keypad to navigate to the parameter run-12 and then press Enter. 3. At the prompt, start the reset by pressing Set, or cancel by pressing Enter. When finished, the drive displays -donE-. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 84 Chapter 5 Using the Keypad Interface Notes: Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 85 Topic Page Apply Power to Your Kinetix 3 Drive Configure Your Kinetix 3 Drive for USB Communication with a Personal Computer Configure Your Kinetix 3 Drive for RS-232 Communication with a Personal Computer Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 86: Apply Power To Your Kinetix 3 Drive
IMPORTANT: If a 17-bit serial motor is not connected or a 17-bit serial motor is installed without a battery backup, a fault condition occurs. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 87: With A Personal Computer
1 - Modbus-RTU protocol 1 - RS-485 2. Use the USB cable to connect your personal computer with the 1203-USB converter. 3. Connect the1203-USB converter to the Kinetix 3 drive with the 2090- CCMUSDS-48AAxx communication cable. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 88: With A Personal Computer
Serial Port Comm0A or Comm0B Port XMT RS-232 Transmit RCV RS-232 Receive +5V Power GND +5V Power Ground DX+ RS-485 + DX- RS-485- Use 2090-CCMPCDS-23AAxx Serial Communication Cable for easy computer to drive connection. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 89: Drive Address Pr0.07
Personal computer with Ultraware software For information on the serial communication cables, refer to Serial Communication Cables Installation Instructions, publication 2090-IN019 3. Proceed with Chapter 8, Using Ultraware Software to Configure the Drive, on page 101. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 90 Chapter 6 Configure Your Drive for Communication Notes: Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 91: Download Connected Components Workbench Software
Use this procedure to add your Kinetix 3 drive to your Connected Components Workbench project. Connected Components Workbench Project 1. Start the Connected Components Workbench software. 2. From the Device Toolbox, expand Drives, click Kinetix 3 and drag to it to the Project Organizer. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 92 Configure Your Drive for Communication with a Personal Computer Running Connected Components Workbench Software 3. From the Project Organizer, double-click the Kinetix 3 icon. 4. From the Kinetix 3 pane, click the Add+ tab. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 93 5. Click the1203-USB USB to DSI icon, then click Add. 6. Click the 0-Kinetix 3 tab, then click Connect. 7. Expand AB_DF1, Data Highway Plus, and click 01, AB DSI. 8. Click OK. 9. From the menu bar, click the Wizards icon. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 94 11. Click Reset to Factory Settings, then choose the options for Encoder Backup Battery and Emergency Stop Input. You can also reset drive default values from the Kinetix 3 Configuration Wizard see page 12. Click Next. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 95 13. Choose the appropriate options for your Controller and Operation Mode. 14. Click Next. 15. Enter the First Gear Ratio. 16. Click Next. 17. Verify your motor has been identified correctly. 18. Click Next. Your motor catalog string can be different. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 96 Configure Your Drive for Communication with a Personal Computer Running Connected Components Workbench Software 19. Click Start Autotuning. Status displays Autotuning Now then Autotuning Successful. 20. Click Finish. 21. From the File menu, choose Save. 22. Create a project name. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 97: Configure The Plug In Serial Port On The Micro830 Or
Start, publication CC-QS025 and Micro800 Programmable Controllers General Modbus Communication with Instructions Reference Manual, publication 2080-RM001 for information about a Kinetix 3 Drive Modbus messaging and programming the Micro800 controllers and Kinetix 3 drive. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 98: Kinetix 3 Configuration Wizard
• Preset parameters control drive operation when the Operating mode is set to Preset Velocity in the Drive properties pane • The drive uses the preset velocity value selected by the Preset Select 1, 2 and 3, as set in the Digital Inputs group Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 99 • Assign functionality to digital outputs • Set both active and inactive brake delays • Monitor the status of digital outputs Analog Outputs • Assign drive signals to analog outputs • The Analog Outputs page has no statuses Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 100: Alternate Method To Reset The Drive
3. From the menu bar, click the Wizards icon. 4. From the Available Wizards dialog box, select Application Wizard>Kinetix 3 Configuration and click Select. 5. From the rightmost section of the pane, click Reset Drive. 6. Click Yes to confirm. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 101: Download Ultraware Software
Follow these steps to detect your Kinetix 3 drive. 1. Start your Ultraware software. Refer to the Ultraware User Manual, publication 2098-UM001, for more information on starting the Ultraware software. 2. Create a new file. The software scans for online drives. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 102: Reset Drive To Default Values With Ultraware Software
Follow these steps to reset your drive with Ultraware software. with Ultraware Software 1. Start the Ultraware software. 2. Establish a connection to the drive. 3. Navigate to the main drive dialog box. 4. Click Reset to Defaults. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 103: Understanding The Workspace And Drive Branches
Software Enable icon. Disable All Drives icon. Execute commands to clear faults, reset the drive, or reset the EEPROM. Mode Configuration Branch Click the [+] next to Mode Configuration to select the drive’s command source. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 104: Select A Motor
Refer to the Ultraware User Manual, publication 2098-UM001, for more information on selecting a motor. Follow these steps to select a motor. 1. Double-click the Kinetix 3 icon under the On-Line Drives tree. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 105 Not an Allen-Bradley motor with Step 3. intelligent encoder 3. From the Motor Model pull-down menu, choose your motor. Assign Digital Inputs Follow these steps to assign Digital Inputs. 1. Double-click the Digital Inputs branch. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 106: Tune Your Motor
This procedure assumes your drive is detected and you have selected a motor. In Tune Your Motor this procedure you autotunes your motor. Follow these steps to autotune your motor. 1. Double-click the Tuning branch. The Tuning properties dialog box appears. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 107: Configure Displayed Units
(rpm) is more meaningful, you can change counts to rpm. 1. Double-click the Kinetix 3 icon under the On-Line Drives tree. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 108: Test Your Motor (Non-Indexing Move)
Refer to the Ultraware User Manual, publication 2098-UM001, for more information on using the velocity control panel. Follow these steps to jog the motor at a constant speed. 1. Double-click the Kinetix 3 icon. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 109: Test Your Motor (Indexing Move)
Follow these steps to test your motor. 1. Double-click the Kinetix 3 icon. The drive properties dialog box appears. 2. Expand the Mode Configuration branch and double-click Indexing. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 110 131,072 counts per revolution. Because the user units were already defined as 131,072 units per revolution, the distance here can be entered as 1.0 Revs. If you use a Bulletin TLY motor with an incremental encoder use 8,000 counts per revolution. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 111 8. Click Start Index. 9. Close the indexing control panel dialog box. The drive is software disabled and the tool bar Enable icon is no longer on. 10. Close the Indexing mode dialog box. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 112 Chapter 8 Using Ultraware Software to Configure the Drive Notes: Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 113: Safety Precautions
SHOCK HAZARD: 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. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 114: Maintaining Your Kinetix 3 Drive
A Positive Overtravel condition is detected. Apply motion in a negative direction to move off of overtravel limit switch. Positive Overtravel A Negative Overtravel condition is Apply motion in a positive direction to move off detected. of overtravel limit switch. Negative Overtravel Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 115: Fault Codes
Motor rating larger than drive rating. Match motor and drive sizing. Motor Over Rated Output Power (1) Battery replacement causes loss of absolute position. Homing can be necessary. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 116: Error Displays
• Retune drive system. Motor Overspeed • Verify input gain of external speed or torque command. Position error exceeds permitted value. • Increase following error limit. • Check position loop tuning. Excess Position Error Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 117 • Reset drive to factory defaults. User Parameter Checksum Error Excessive electrical noise. Verify wiring, grounding and bonding. Watchdog Timeout Defective hardware. Replace the drive. Defective hardware. Replace the drive. PWM Hardware Error Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 118 Input frequency limit exceeded. • Verify hardware type selected in the drive matches the physical hardware. Position Command • Change from open collector to line drive. Frequency Error • Reduce the speed command. • Apply gearing. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 119 (current more than 300% of the rated current to the motor more than 10 ms). A user tries any indexing without Homing Complete homing before indexing operation completed. Axis Not Homed Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 120 Chapter 9 Maintain and Troubleshoot Your Kinetix 3 Servo Drive Notes: Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 121 Appendix Interconnect Diagrams This appendix provides wiring examples and system block diagrams for your Kinetix 3 drive system components. Topic Page Interconnect Diagram Notes Power Wiring Examples Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 122: Interconnect Diagram Notes
Motor power cables (2090-XXNPMF-xxSxx and 2090-CPBM6DF-16AAxx) have a drain wire that must be folded back under the cable shield clamp. Digital Input 1 configured as SV-ON (Enable), Digital Output 1 configured as RDY (Ready). Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 123: Power Wiring Examples
(ENABLE) to drive and Ground Connector monitor RDY signal RDY + Screw Note 11 back from drive. Cable RDY- Shield Clamp Refer to Attention statement (Note 8). Note 7 * Indicates User Supplied Component Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 124: Kinetix 3 Drive/Rotary Motor Wiring Examples
DATA- +5VDC GRAY ECOM WHT/GRAY BAT+ ORANGE BAT+ BAT- WHT/ORANGE BAT- SHIELD Refer to Motor Feedback Breakout Board Installation Instruction MBRK- Publication 2071-IN003 for proper grounding MBRK+ 2090-CFBM6DF-CBAAxx (flying-lead) Feedback Cable Note 9 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 125: Kinetix 3 Drive/Linear Motor And Actuator Wiring Examples
Board Installation Instruction Shield Publication OUTPUT 3+ (BK+) Clamp 2071-IN003 for proper grounding Note 7 technique. 2090-XXNFMF-Sxx (standard) or 2090-CFBMxDF-CDAFxx (continuous-flex) (flying-lead) Feedback Cable Note 9 24V DC 24V DC COM User Supplied 24V DC Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 126 Note 4 technique. OUTPUT 3- (BK-) 2090-CFBM6DF-CBAAxx (flying-lead) or 2090- Cable CFBM6DD-CCAAxx (with drive-end connector) OUTPUT 3+(BK+) Shield Feedback Cable Clamp Note 9 Note 7 24V DC 24V DC COM User Supplied 24V DC Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 127: Kinetix 3 Drive And Micrologix Controller Wiring Examples
MicroLogix 1400 Controller Sourcing Outputs Kinetix 3 Drive Open Collector Inputs MicroLogix 1400 Kinetix 3 Drive Controller 24V_PULS VDC 2 PLUS - OUT x 24V_SIGN + OUT y SIGN - COM 2 24 V DC Supply Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 128: Kinetix 3 Drive And Micro830 Controller Wiring Examples
– of the Power Supply 2. To help you configure Kinetix 3 drive parameters so the drive can communicate and be controlled by a Micro830 or Micro850 controller, see publication CC-QS025. Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... -
Page 129: Motor Brake Currents
Table 36 - Motor Brake Coil Currents Rated at 1.0 A Compatible Brake Motors/Actuators Coil Current TL/TLY-A110, TL/TLY-A120, and TL/TLY-A130 0.18…0.22 A TL/TLY-A220 and TL/TLY-A230 0.33…0.41 A TL/TLY-A2530, TL/TLY-A2540, and TL/TLY-A310 0.35…0.43 A Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 130 Appendix A Interconnect Diagrams Notes: Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
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Page 131: Index
Connected Components Workbench software download 87 general troubleshooting 114 connecting grounded power configuration 54 feedback 71 grounding 59 motor brake 69 multiple subpanels 60 motor shield clamp 70 system to subpanel 59 premolded feedback cables 75 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013... - Page 132 89 troubleshooting 114 wiring 89 Micro 800 PTO wiring 128 Micro800 PTO signals 128 selecting a motor 104 MicroLogix service information branch 104 PTO wiring 127 mode configuration 103 shield clamp 70 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 133 104 mode configuration 103 motor branch 104 service information branch 104 tuning branch 104 workspace 103 1203-USB wiring 87 drive configuration 87 warning messages 115 who should use this manual 9 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013...
- Page 134 New Product Satisfaction Return Rockwell Automation tests all of its products to help ensure that they are fully operational when shipped from the manufacturing facility. However, if your product is not functioning and needs to be returned, follow these procedures.
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