Allen-Bradley Kinetix 6500 Manuals

Manuals and User Guides for Allen-Bradley Kinetix 6500. We have 5 Allen-Bradley Kinetix 6500 manuals available for free PDF download: Reference Manual, User Manual, Design Manual, Safety Manual

Allen-Bradley Kinetix 6500 Reference Manual (497 pages)

Integrated Motion on the EtherNet/IP Network

Brand: Allen-Bradley | Category: Industrial Electrical | Size: 12.35 MB

Table of Contents
5
Additional Resources
11
Preface

11
- Legal Notices
  12
Integrated Motion on the Ethernet/Ip Network

15
- Integrated Motion Axis Control Modes and Methods
  16
  - Control Modes
    16
    
    Position Control Mode
    17
    
    Velocity Control Mode
    18
    
    Torque Control Mode
    20
    
    No Control Mode
    21
  - Control Methods
    21
  - Motion Instruction Compatibility
    22
Chapter 1

15
Chapter 2 Acceleration Control Behavior

25
- Acceleration Limiter
  26
- Load Observer
  27
- Command Generation Behavior
  28
  - Command Data Sources
    29
  - Command Fine Interpolation
    30
  - Command Ramp Generator
    33
  - Feedforward Signal Selection
    34
  - Command Notch Filter
    35
- Current Control Behavior
  35
  - Current Vector Limiter
    36
  - Voltage Output
    37
  - Current Feedback
    37
  - Motor Commutation
    38
- Event Capture Behavior
  38
  - Event Input Sources
    39
  - Event Latches
    40
  - Event Time Stamps
    40
- Fault and Alarm Behavior
  41
  - Exceptions
    41
  - Exceptions on
    41
  - Rockwell Automation Publication MOTION-RM003I-EN-P - February
    42
  - Absolute Position Recovery
    43
    
    Absolute Position Loss Without APR Faults
    44
    
    APR Fault Conditions
    44
    
    APR Fault Generation
    45
    
    APR Fault Examples
    47
    
    APR Recovery Scenarios
    48
    
    Reset an APR Fault
    50
- Motion Control Axis Behavior Model
  51
  - Active Control Axis Behavior Model
    52
  - Feedback Only Axis Behavior Model
    54
  - CIP Motion Converter Axis Behavior Model
    56
  - Motor Attributes Model
    57
  - Position Control Behavior
    58
    
    Position Feedback Selection
    59
    
    Position PI Gains
    60
    
    Velocity Feedforward
    60
    
    Position Loop Output Filters
    61
  - State Behavior
    61
  - Torque Control Behavior
    71
    
    Torque Input Sources
    72
    
    Inertia Compensation
    73
    
    Friction Compensation
    75
    
    Torque Filters
    77
    
    Torque Limiter
    78
    
    Torque to Current Scaling
    78
  - Velocity Control Behavior
    79
    
    Closed Loop Velocity Control
    80
    
    Open Loop Frequency Control
    83
Chapter 3

87
Interpret the Attribute Tables

87
Chapter 4 Control Mode Attributes ....................................................................................................

187
CIP Axis Attributes

187
- Data Attributes
  233
  - Axis Info Attributes
    234
  - Axis Statistical Attributes
    235
  - CIP Axis Status Attributes
    236
  - Event Capture Attributes
    247
- Drive Attributes
  249
- Drive Commissioning and Tuning Attributes
  257
- Faults and Alarms Attributes
  279
- Feedback Attributes
  302
  - Feedback Interface Types
    302
  - Feedback Configuration Attributes
    304
  - General Feedback Info Attributes
    316
  - General Feedback Signal Attributes
    316
- Motion Control Attributes
  317
- Motor Attributes
  388
  - General Linear Motor Attributes
    388
  - General Motor Attributes
    389
  - General Permanent Magnet Motor Attributes
    396
  - General Rotary Motor Attributes
    399
  - Induction Motor Attributes
    401
  - Linear PM Motor Attributes
    404
  - Interior Permanent Magnet Motor Attributes
    406
  - Load Transmission and Actuator Attributes
    409
  - Rotary PM Motor Attributes
    412
- Safety Attributes
  414
  - Axis Safety Status Attributes
    414
  - Guard Safety Attributes
    425
  - Guard Safety Status Attributes
    426
- Stopping and Braking Attributes
  431
  - Stopping Sequences
    445
  - Proving Operational Sequences
    448
  - DC Bus Control Attributes
    451
  - Start Inhibits Attributes
    453
    
    Standard Start Inhibits
    454
    
    Rockwell Automation Specific Start Inhibits
    455
- Exceptions
  456
Module Configuration Attributes

472
Chapter 5 Module Configuration Block Attributes ........................................................................ 471

473
- Module Class Attributes
  473
- Module Axis Attributes
  474
- Module Feedback Port Attributes
  489
- Module Timing Attributes
  490
- Module Support Attributes
  492
Index

495

Allen-Bradley Kinetix 6500 User Manual (354 pages)

Integrated Motion on the EtherNet/IP Network, Configuration and Startup

Brand: Allen-Bradley | Category: Controller | Size: 13.01 MB

Table of Contents
3
Additional Resources
9
Preface

9
- Summary of Changes
  9
Chapter 1

11
Controller, Communication, Drive, and Software Options

11
Chapter 2

24
- Set Time Synchronization
  24
- Add an Ethernet Communication Module
  26
  - Network
    27
  - Network
    28
  - Network
    29
  - Network
    31
- Add a Kinetix Ethernet/Ip Drive
  32
Chapter 3

36
Chapter 4 Ethernet/Ip Drive

60
Chapter 5

101
Chapter 6

130
Chapter 7 About Axis Scheduling

146
- Timing Model
  147
  - One Cycle Timing
    148
  - Two Cycle Timing
    149
- Axis Scheduling Configuration
  150
- Configure the Update Periods
  151
- Motion Utilization
  158
- Example 1: Position Loop with Motor Feedback Only
  159
Chapter 8

163
Chapter 9

188
Chapter 10 Example 2: Velocity Control with Motor Feedback

214
- The Powerflex 527 Drive Example 2: Velocity Control with Motor Feedback
  214
- Example 3: Position Control with Motor Feedback
  217
Chapter 11 Commission an Axis Scaling

222
- Direct Coupled Rotary
  223
- Direct Coupled Linear
  224
- Rotary Transmission
  224
- Linear Actuator
  225
- Changing Scaling Factors
  225
Scaling

222
- Hookup Tests
  226
  - Run a Motor and Feedback Test
    228
  - Run a Motor Feedback Test
    230
  - Run a Marker Test
    230
- Applying the Commutation Hookup Test
  232
- Run a Commutation Test
  234
- Autotune
  235
- Polarity
  235
- Load
  239
- Load Observer
  241
  - Benefits of Load Observer
    241
  - How Load Observer Functions
    241
  - Load Observer Configuration
    242
- Adaptive Tuning
  243
  - Benefits of Adaptive Tuning
    244
  - How Adaptive Tuning Functions
    244
  - Adaptive Tuning Configuration
    245
  - Status Bits
    248
- Load Ratio Data from Motion Analyzer
  249
- Test an Axis with Motion Direct Commands
  249
Chapter 12 Guidelines for Homing

256
- Active Homing
  256
- Passive Homing
  257
Homing

256
- Examples
  258
  - Active Homing
    258
  - Passive Homing
    261
- Absolute Position Recovery (APR)
  262
  - APR Terminology
    262
  - Controllers
    262
  - Absolute Feedback Device
    263
  - SERCOS Versus Integrated Motion on Ethernet Networks
    263
  - APR Scenarios
    264
- APR Faults
  269
  - APR Fault Conditions
    269
  - APR Fault Generation
    270
  - Scaling
    272
  - Online Scaling
    272
  - Resetting an APR Fault
    273
  - Absolute Position Loss Without APR Faults
    273
  - Behavior of APR for Incremental Encoders
    274
  - Saving an ACD File Versus Upload of a Project
    274
Chapter 13 When to Manually Tune an Axis

275
- Axis Configuration Types
  275
- Current Tuning Configuration
  276
- Loop Responses
  277
- Motion Generator and Motion Direct Commands
  279
Manual Tune

275
- Additional Tune
  281
  - Feedforward Parameters
    281
  - Compensation Parameters
    282
  - Filters Parameters
    283
  - Limits Parameters
    284
  - Planner Parameters
    284
  - Configure Torque Values
    285
- Monitor Tags with the Quick Watch Window
  285
- Use Motion Generator
  286
Faults and Alarms Dialog Box

289
Chapter 14

291
- Quickview Pane
  291
- Connection Faults and Errors
  292
- Data Monitor
  292
- Drive Status Indicators
  292
- Manage Motion Faults
  293
- Troubleshoot Faults
  293
- Configure the Exception Actions for AXIS_CIP_DRIVE
  294
- Inhibit an Axis
  297
  - Example: Inhibit an Axis
    298
  - Example: Uninhibit an Axis
    299
- Digital I/O Status Indicators
  300
Parameter Dialog-Box Listings

303
Appendix A

305
Appendix B

305
- Definition of Jerk
  305
- Choose a Profile
  306
- Use % of Time for the Easiest Programming of Jerk
  307
- Velocity Profile Effects
  308
- Jerk Rate Calculation
  308
- Profile Operand
  313
- Program a Velocity Profile and Jerk Rate
  305
- Enter Basic Logic
  316
  - Example Motion Control Program
    317
  - Download a Project
    318
- Choose a Motion Instruction
  318
- Troubleshoot Axis Motion
  321
- Programming with the MDSC Function
  329
- Powerflex Out-Of-Box Configuration
  332
  - Recommended Out-Of-Box Settings
    332
- Setting the ACO/AVO Attributefor PF527 Drives Only
  336
Glossary

337
Index

341
- Rockwell Automation Publication MOTION-UM003K-EN-P - January
  342

Allen-Bradley Kinetix 6500 User Manual (336 pages)

Modular Multi-axis Servo Drives

Brand: Allen-Bradley | Category: Servo Drives | Size: 33.16 MB

Table of Contents
3
Summary of Changes

9
- Conventions Used in this Manual
  11
- Additional Resources
  12
Chapter 1 About the Kinetix 6200 and Kinetix 6500 Drive Systems

14
Chapter 2

28
Chapter 3 Before You Begin

53
Chapter 4 2094 Power Module and Control Module Features

62
Connector Data and Feature Descriptions

62
Chapter 5 Basic Wiring Requirements

91
Connect the Kinetix 6200 and Kinetix 6500 Drive System

91
Chapter 6

141
- Configure the Kinetix 6000M Integrated Drive-Motor System
  141
- Configure the Drive Modules
  142
- Kinetix 6200 Drive System Configure the Drive Modules
  142
- Configure the Logix5000 Sercos Interface Module
  148
  - Configure the Logix5000 Controller
    148
  - Configure the Logix5000 Module
    150
  - Configure the Kinetix 6200 Drive Modules
    152
  - Configure the Motion Group
    156
  - Configure Axis Properties
    157
  - Download the Program
    160
- Apply Power to the Kinetix 6200 Drive
  161
- Test and Tune the Axes
  163
  - Test the Axes
    163
  - Tune the Axes
    165
- Configure the Drive Modules
  169
Configure and Start the Kinetix 6200 Drive System

141
Kinetix 6500 Drive System

171
Chapter 7 Configure the Logix Ethernet/Ip Module

173
- Configure the Logix Controller
  173
- Configure the Logix Module
  175
- Configure the Kinetix 6500 Drive Modules
  177
- Configure the Motion Group
  183
- Configure Axis Properties
  184
- Download the Program
  188
- Apply Power to the Kinetix 6500 Drive
  189
- Test and Tune the Axes
  191
  - Test the Axes
    191
  - Tune the Axes
    194
- Safety Precautions
  197
Chapter 8 Interpret Status Indicators

198
- Kinetix 6000M IDM System Error Codes
  198
- Four-Character Display Messages
  198
- And Kinetix 6500 Drive System Interpret Status Indicators
  198
- Fault Codes
  200
- Control Module Status Indicators
  210
- Shunt Module Status Indicators
  211
- General System Anomalies
  213
- Logix5000 Controller and Drive Behavior
  215
- Before You Begin
  223
Chapter 9 Remove Kinetix 6200 and Kinetix 6500 Drive Modules

224
- Remove the Control Module
  225
- Remove the Drive Modules
  226
- Replace Kinetix 6200 and Kinetix 6500 Drive Modules
  227
  - Replace the Drive Modules
    227
  - Replace the Control Modules
    228
- Remove the Power Rail
  228
- Replace the Power Rail
  229
Appendix A Interconnect Diagram Notes

232
Upgrade Kinetix 6000M System Firmware

257
Appendix B Upgrade Drive Firmware with Controlflash Software

258
- Before You Begin
  258
- Configure Logix5000 Communication
  259
- Upgrade Firmware
  261
- Verify the Firmware Upgrade
  265
- Rockwell Automation Publication 2094-UM002G-EN-P - August
  266
Before You Begin

267
Appendix C

268
Appendix D

271
- Benefits
  271
- How It Works
  271
- Configuration
  272
  - Remaining IDN Parameter Descriptions
    274
  - Out-Of-Box Gain Settings
    276
  - Auto-Tune Gain Settings
    278
  - Tuning Mode Summary
    282
  - Manual Tuning for Further Optimization
    282
- Setting Gains with Sercos IDN Write Messages
  284
- Compensate for High Frequency Resonances
  285
Configure the Load Observer Feature

271
Appendix E Overview

287
- Web-Server Interface Categories
  288
- Home Category
  289
- Diagnostics Category
  290
  - Drive Indicators
    290
  - Drive Information
    291
  - Motor Information
    292
  - Network Settings
    293
  - Ethernet Statistics
    294
  - CIP Statistics
    295
  - Encoder Statistics
    296
  - Peak Detection
    297
  - Monitor Signals
    298
  - Oscilloscope
    299
- Fault Logs Category
  300
  - Configure Fault Log
    300
- Data Logs Category
  301
  - Temperatures
    301
- Administrative Settings Category
  302
- Browse Power Rail Category
  302
- Safety Category
  303
  - Safety Main
    303
  - Safety Configuration
    304
  - Configuration Summary
    305
  - Change Safety Password
    306
- Before You Begin
  307
Web Server Interface

287
Appendix F Change IDN Parameter Values

308
- Read the Present IDN Parameter Value
  308
- Calculate/Select the New IDN Value
  310
- Write the New IDN Parameter Value
  311
- Before You Begin
  313
Appendix G RBM Module Wiring Examples

314
Appendix H EC Type - Examination Certificate

317
- EC Declaration of Conformity
  319
Index

327
- Rockwell Automation Publication 2094-UM002G-EN-P - August
  328

Allen-Bradley Kinetix 6500 Design Manual (114 pages)

Drive Systems

Brand: Allen-Bradley | Category: Servo Drives | Size: 13.14 MB

Rockwell Automation Publication KNX-RM003B-EN-P - March
2
Kinetix

3
- Kinetix 6200/
  
  4
- Kinetix
  
  4
  - Bm05-S
    53
  - Bm01-S
    103
  - Rockwell Automation Publication KNX-RM003B-EN-P - March
    104
  - Kinetix
    105

Allen-Bradley Kinetix 6500 Safety Manual (42 pages)

Servo drives 2094-SE02F-M00-S0; 2094-EN02D-M01-S0

Brand: Allen-Bradley | Category: Control Systems | Size: 4.12 MB

Table of Contents
5
About this Publication
7
Preface

7
Chapter 1

9
- Introduction
  9
- Safety Certification
  9
Safety Concept

9
- PFD and PFH Data
  11
- PFD and PFH Definitions
  11
- Automatic Drive Replacement (ADR)
  12
- Contact Information if Failure Occurs
  12
- Safe State
  12
- Safety Reaction Time
  12
Chapter 2

13
- General Safety Information
  13
Installation and Wiring

13
Chapter 3

19
- Inputs
  19
  - Discrepancy Time
    20
  - Reset Input (Reset_In)
    23
- Introduction
  19
Safe Torque-Off I/O Signals

19
- Outputs
  23
  - Safe Stop Output (Ss_Out)
    23
  - Safe Stop Reset
    25
- Safe Stop Wiring Example
  26
- Cascaded Configurations
  27
Chapter 4

27
- Introduction
  27
- Safe Stop Wiring Examples
  28
  - 2090-K6CK-D44M Connector Kit Examples
    28
  - 2090-K6CK-D44S0 Connector Kit Examples
    29
Chapter 5

33
- Fault Recovery
  33
- Introduction
  33
- Nonrecoverable Faults
  33
- Fault Codes and Descriptions
  34
- Input and Output Faults
  34
- Status Attributes
  35
  - Guard Status Attributes
    35
  - Guard Fault Attributes
    36
Appendix A

37
- General Specifications
  37
- Introduction
  37
- Certifications
  38
- Rockwell Automation Publication 2094-RM002B-EN-P - May
  39
Index

40

Allen-Bradley Categories

Control Unit Controller I/O Systems

Power Supply

Switch

More Allen-Bradley Manuals

Allen-Bradley Kinetix 6500 Manuals

Allen-Bradley Kinetix 6500 Reference Manual (497 pages)

Table of Contents

Preface

Integrated Motion on the Ethernet/Ip Network

Chapter 1

Chapter 2 Acceleration Control Behavior

Chapter 3

Interpret the Attribute Tables

Chapter 4 Control Mode Attributes ....................................................................................................

CIP Axis Attributes

Module Configuration Attributes

Chapter 5 Module Configuration Block Attributes ........................................................................ 471

Index

Allen-Bradley Kinetix 6500 User Manual (354 pages)

Table of Contents

Preface

Chapter 1

Controller, Communication, Drive, and Software Options

Chapter 2

Chapter 3

Chapter 4 Ethernet/Ip Drive

Chapter 5

Chapter 6

Chapter 7 About Axis Scheduling

Chapter 8

Chapter 9

Chapter 10 Example 2: Velocity Control with Motor Feedback

Chapter 11 Commission an Axis Scaling

Scaling

Chapter 12 Guidelines for Homing

Homing

Chapter 13 When to Manually Tune an Axis

Manual Tune

Faults and Alarms Dialog Box

Chapter 14

Parameter Dialog-Box Listings

Appendix A

Appendix B

Glossary

Index

Allen-Bradley Kinetix 6500 User Manual (336 pages)

Table of Contents

Summary of Changes

Chapter 1 About the Kinetix 6200 and Kinetix 6500 Drive Systems

Chapter 2

Chapter 3 Before You Begin

Chapter 4 2094 Power Module and Control Module Features

Connector Data and Feature Descriptions

Chapter 5 Basic Wiring Requirements

Connect the Kinetix 6200 and Kinetix 6500 Drive System

Chapter 6

Configure and Start the Kinetix 6200 Drive System

Kinetix 6500 Drive System

Chapter 7 Configure the Logix Ethernet/Ip Module

Chapter 8 Interpret Status Indicators

Chapter 9 Remove Kinetix 6200 and Kinetix 6500 Drive Modules

Appendix A Interconnect Diagram Notes

Upgrade Kinetix 6000M System Firmware

Appendix B Upgrade Drive Firmware with Controlflash Software

Before You Begin

Appendix C

Appendix D

Configure the Load Observer Feature

Appendix E Overview

Web Server Interface

Appendix F Change IDN Parameter Values

Appendix G RBM Module Wiring Examples

Appendix H EC Type - Examination Certificate

Index

Allen-Bradley Kinetix 6500 Design Manual (114 pages)

Table of Contents

Kinetix

Kinetix 6200/

Kinetix

Allen-Bradley Kinetix 6500 Safety Manual (42 pages)

Table of Contents

Preface

Chapter 1

Safety Concept