Catalog Numbers 2097-V31PR0, 2097-V31PR2, 2097-V32PR0, 2097-V32PR2, 20
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Kinetix 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
Solid-state equipment operational characteristics differing from those electromechanical equipment. Safety Guidelines Application, Installation Maintenance Solid State Controls (publication SGI-1.1 available from your local Rockwell Automation sales office online describes some important differences between solid-state equipment hard-wired electromechanical devices. Because this difference, also because wide variety uses solid-state equipment, persons responsible applying this equipment must satisfy themselves that each intended application this equipment acceptable. event will Rockwell Automation, Inc. responsible liable indirect consequential damages resulting from application this equipment. examples diagrams this manual included solely illustrative purposes. Because many variables requirements associated with particular installation, Rockwell Automation, Inc. cannot assume responsibility liability actual based examples diagrams. patent liability assumed Rockwell Automation, Inc. with respect information, circuits, equipment, software described this manual. Reproduction contents this manual, whole part, without written permission Rockwell Automation, Inc., prohibited. Throughout this manual, when necessary, notes make aware safety considerations.
WARNING: Identifies information about practices circumstances that cause explosion hazardous environment, which lead personal injury death, property damage, economic loss. ATTENTION: Identifies information about practices circumstances that lead personal injury death, property damage, economic loss. Attentions help identify hazard, avoid hazard, recognize consequence SHOCK HAZARD: Labels inside equipment, example, drive motor, alert people that dangerous voltage present. BURN HAZARD: Labels inside equipment, example, drive motor, alert people that surfaces reach dangerous temperatures. IMPORTANT Identifies information that critical successful application understanding product.
Allen-Bradley, CompactLogix, ControlFLASH, ControlLogix, Kinetix, MP-Series, TL-Series, RSLogix 500, RSLogix 5000, SoftLogix, Rockwell Automation, Rockwell Software, Stratix 6000, MicroLogix, TechConnect trademarks Rockwell Automation, Inc. Trademarks belonging Rockwell Automation property their respective companies.
Summary Changes
This manual contains updated information.
Updated Information
Section Chapter Chapter
This major revision that includes minor changes throughout manual, updated information many existing topics, material.
Topic Updated Catalog Number Explanation input voltage phase description. Updated clearance diagram added bullet statements clarify drive accessories cables attached drive affect installation. Updated connector pins IOD-5 IOD-6 reserved. Updated Input Power Connector Pinout table include additional configurations Chapter Converted Enable/Inhibit, Homing, Indexing truth tables timing diagrams Added Master Gearing/Step Direction Inputs section. Added Buffered Encoder Outputs section. Added Voltage Doubler Operation section. Updated Motor Power Cable Compatibility table. Chapter Updated Motor Feedback Cables Specific Motor/Feedback Combinations table. Updated Shunt Resistor Connections section with graphic illustration shunt connections drive. Chapter This chapter updates existing MotionView software parameter descriptions adds screen captures better illustrate configuration software. Additional information indexing homing included. Updated default drive address 197.168.124.200. Added Add-on Profiles section users with RSLogix 5000 software, version Chapter Added Configure Ethernet Port section users with CompactLogix 1769-L23E controllers. Updated Configure Ethernet Module section users with ControlLogix controllers. Added Master Gearing Mode Examples Configure Master Gearing Mode sections. Chapter Chapter Updated description error code E26. Added error code E39. Kinetix Drive Safe Torque-off Feature converted chapter includes updates throughout clarify safe torque-off functionality. Updated Kinetix Drive Power Specifications tables. Updated Circuit Breaker/Fuse Specifications table. Appendix Updated Contactor Ratings specifications table. Updated Certifications specifications table. Updated Line Filter Specifications tables. Updated Power Wiring Examples with proper voltage/phase ratings. Appendix Updated pinouts Kinetix Drive with TL-Series (TLY-A) Motors diagram. Added System Block Diagrams section. Page
Rockwell Automation Publication 2097-UM001B-EN-P August 2010
Summary Changes
Section
Topic Added Input Assembly Instance table
Page
Appendix Added Output Assembly Instance table Added Output Assembly Examples section. Appendix Appendix Updated Kinetix Drive Numbers table. Added Index Base Addressing section. This appendix provides detailed description overtravel digital inputs.
Rockwell Automation Publication 2097-UM001B-EN-P August 2010
Table Contents
Preface
About This Publication Should This Manual Conventions Used This Manual Additional Resources
Chapter Start
Introduction About Kinetix Drive System Catalog Number Explanation Agency Compliance Requirements.
Chapter Installing Kinetix Drive System
Introduction System Design Guidelines System Mounting Requirements Transformer Selection Circuit Breaker/Fuse Selection Enclosure Selection Minimum Clearance Requirements Electrical Noise Reduction Bonding Drives. Bonding Multiple Subpanels. Establishing Noise Zones Cable Categories Kinetix Drive Components Noise Reduction Guidelines Drive Accessories Mount Your Kinetix Drive.
Chapter Kinetix Drive Connector Data
Introduction Kinetix Drive Connectors Indicators Safe Torque-off Connector Pinout Connector Pinout Motor Feedback (MF) Connector Pinout Ethernet Communication Connector Pinout Input Power Connector Pinout Back-up Power Connector Pinout Shunt Resistor Connector Pinout. Motor Power Connector Pinout Control Signal Specifications Digital Inputs Digital Outputs Analog Reference Input
Rockwell Automation Publication 2097-UM001B-EN-P August 2010
Table Contents
Analog Output Master Gearing/Step Direction Inputs Buffered Encoder Outputs Ethernet Connections Back-up Power. Motor Feedback Specifications Motor Feedback Specifications Feedback Power Supply
Chapter Connecting Kinetix Drive System
Introduction Basic Wiring Requirements Build Your Cables Route Power Signal Wiring. Determine Input Power Configuration Three-phase Power Wired Three-phase Drives Single-phase Power Wired Single-phase Drives Voltage Doubler Operation Isolation Transformer Grounded Power Configurations. Three-phase Power Wired Single-phase Drives Voiding Compliance. Grounding Your Kinetix Drive System. Ground Your Drive System Subpanel Power Wiring Requirements Wiring Guidelines. Wiring Kinetix Drive Connectors. Wire Safe Torque-off (STO) Connector Wire Back-up Power (BP) Connector. Wire Input Power (IPD) Connector. Wire Motor Power (MP) Connector Apply Motor Cable Shield Clamp Feedback Cable Connections Flying-lead Feedback Cable Pin-outs Wiring Feedback Connectors. Wire Connector Wire Low-profile Connector Shunt Resistor Connections. Ethernet Cable Connections
Chapter MotionView OnBoard Software Introduction Drive Organizer Identification Configuration
Motor Category Motor Database General Category.
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Table Contents
Communication Categories Ethernet Communication Ethernet (CIP) Communication. Input/Output Categories Digital I/O. Analog Limits Categories. Velocity Limits Position Limits Dynamics Category. Tools Category. Monitor Category Faults Category Indexing Category. Registration Distance Blended. Action Parameter Start Index Abort Index Explicit Messages Indexing Homing Category Homing Methods Immediate Homing. Absolute Homing Home Marker Home Offset Homing Switch Homing Firmware Algorithm Homing Methods Timing Diagrams Homing Methods 7.14. Homing Method Homing Method Homing Method Homing Method Homing Method Homing Method Homing Method
Chapter Configure Start Kinetix Drive
Introduction Keypad Input Status Indicators. Configure Kinetix Drive Ethernet Address Ethernet Connection Kinetix Drive Ethernet Port Configuration
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Table Contents
Current Address Ethernet Setting Configure Address Manually (static address). Configure Address Automatically (dynamic address) Add-on Profiles Configuring Logix EtherNet/IP Module. Configure Logix Controller Configure Ethernet Port. Configure Ethernet Module Configure Kinetix Drive. Download Program Apply Power Kinetix Drive Test Tune Axis Test Axis Tune Axis Select Drive Operating Mode. Master Gearing Mode Examples Master Gearing Example Master Gearing Example Master Gearing Example Configure Master Gearing Mode. Configure Drive Parameters System Variables Tools Viewing Parameters. Tools Changing Parameters Configure Drive Mode with Explicit Messaging.
Chapter Troubleshooting Kinetix Introduction Safety Precautions Drive System
General Troubleshooting Display Behavior Error Codes Clearing Faults Digital Inputs Clear Faults. Drive Parameters Clear Faults.
Chapter Kinetix Drive Safe Torque-off Feature
Introduction Certification Important Safety Considerations. Safety Category Requirements Stop Category Definition Performance Level Safety Integrity Level (SIL) Description Operation Functional Proof Tests. Troubleshooting Safe Torque-off Function.
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Table Contents
Definitions Data Safe Torque-off Connector Data Connector Pinouts Wiring Your Safe Torque-off Circuit European Union Directives. Safe Torque-off Wiring Requirements. Kinetix Drive Safe Torque-off Feature Safe Torque-off Feature Bypass Kinetix Drive Safe Torque-off Wiring Diagrams Safe Torque-off Signal Specifications.
Appendix Specifications Dimensions Introduction
Kinetix Drive Power Specifications Circuit Breaker/Fuse Specifications Contactor Ratings Transformer Specifications Input Power Power Dissipation Specifications General Specifications Environmental Specifications Maximum Feedback Cable Lengths Weight Specifications Certifications Line Filter Specifications Shunt Resistor Specifications Product Dimensions.
Appendix Interconnect Diagrams
Introduction Interconnect Diagram Notes Power Wiring Examples Shunt Resistor Wiring Example. Kinetix Drive/Rotary Motor Wiring Examples Kinetix Drive/Actuator Wiring Examples Kinetix Drive MicroLogix Controller Wiring Examples. Kinetix Drive Master Gearing Wiring Example Motor Brake Currents System Block Diagrams
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Table Contents
Appendix Input Output Assembly
Introduction Input Output Assembly. Output Assembly Examples Incremental Position Point-to-Point Profile Velocity Motion Profile
Appendix Kinetix Drive Numbers
Introduction Number Descriptions Index Base Addressing
Appendix MicroLogix Explicit Messaging Introduction
Explicit Messaging Data Types Explicit Messaging Data Type Examples DINT Data Type Examples REAL Data Type Examples. String Data Type Examples
Appendix Overtravel Inputs
Introduction Modes Operation Overtravel Hardware Inputs Operation Overtravel Fault Recovery.
Index
Rockwell Automation Publication 2097-UM001B-EN-P August 2010
Preface
About This Publication
This manual provides detailed installation instructions mounting, wiring, troubleshooting your Kinetix drive; system integration your drive/motor combination with Logix controller.
Should This Manual
This manual intended engineers technicians directly involved installation wiring Kinetix drive programmers directly involved operation, field maintenance, integration Kinetix drive. have basic understanding Kinetix drive, contact your local Rockwell Automation sales representative information available training courses.
Conventions Used This Manual
conventions starting below used throughout this manual: Bulleted lists such this provide information, procedural steps. Numbered lists provide sequential steps hierarchical information.
Rockwell Automation Publication 2097-UM001B-EN-P August 2010
Preface
Additional Resources
Resource
These documents contain additional information concerning related Rockwell Automation products.
Description Information installing your Kinetix drive system. Information installing wiring Kinetix shunt resistors. Information installing wiring Kinetix line filter. Information installing wiring Kinetix terminal expansion block. Information installing Kinetix memory module. Information using memory module programmer duplicate memory module. Information assemble mount controller, upgrade firmware, controller technical specifications. Information assemble mount controller, upgrade firmware, controller technical specifications.
Kinetix EtherNet/IP Indexing Servo Drive Installation Instructions, publication 2097-IN001 Kinetix Shunt Resistor Installation Instructions, publication 2097-IN002 Kinetix Line Filter Installation Instructions, publication 2097-IN003 Kinetix Terminal Expansion Block Installation Instructions, publication 2097-IN005 Kinetix Memory Module Installation Instructions, publication 2097-IN007 Kinetix Memory Module Programmer Quick Start, publication 2097-QS001 1769-L32E 1769-L35E CompactLogix Controller Installation Instructions, publication 1769-IN020 1769-L32C 1769-L35CR CompactLogix Controller Installation Instructions, publication 1769-IN070
1769-L31 CompactLogix Controller Installation Instructions, publication 1769-IN069 Information assemble mount controller, upgrade firmware, controller technical specifications. Industrial Automation Wiring Grounding Guidelines, publication 1770-4.1 System Design Control Electrical Noise Reference Manual, publication GMC-RM001 Noise Management DVD, publication GMC-SP004 Kinetix Motion Control Selection Guide, publication GMC-SG001 Motion Analyzer software, download www.ab.com/e-tools ControlLogix Controllers User Manual, publication 1756-UM001 ControlFLASH Firmware Upgrade User Manual, publication 1756-QS105 Rockwell Automation Configuration Selection Tools, website www.ab.com/e-tools Rockwell Automation Product Certification, website National Electrical Code, published National Fire Protection Association Boston, Rockwell Automation Industrial Automation Glossary, publication AG-7.1 Provides general guidelines installing Rockwell Automation industrial system. Information, examples, techniques designed minimize system failures caused electrical noise. Specifications, motor/servo-drive system combinations, accessories Kinetix motion control products. Drive motor sizing with application analysis software. Information installing, configuring, programming, operating ControlLogix system. ControlFLASH information specific drive family. Online product selection system configuration tools, including AutoCAD (DXF) drawings. declarations conformity (DoC) currently available from Rockwell Automation. article wire sizes types grounding electrical equipment. glossary industrial automation terms abbreviations.
view download publications order paper copies technical documentation, contact your local Rockwell Automation distributor sales representative.
Rockwell Automation Publication 2097-UM001B-EN-P August 2010
Chapter
Start
Introduction
this chapter become familiar with Kinetix drive components. This chapter also reviews design installation requirements Kinetix drive systems.
Topic Introduction About Kinetix Drive System Catalog Number Explanation Agency Compliance Page
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Chapter
Start
About Kinetix Drive System
Kinetix System Component Kinetix EtherNet/IP Indexing Servo Drive Line Filters Shunt Module Terminal block connector Memory Module Programmer Memory Modules Pack
Kinetix EtherNet/IP indexing servo drive designed provide solution applications with output power requirements between 0.4.3.0 (2.12 rms).
Table Kinetix Drive System Overview
Cat. 2097-V3xPRx 2090 2097-Fx 2097-Rx 2097-TB1 2097-PGMR 2097-MEM 1769-L23E-xxx 1769-L3xE-xxxx 1768-L4x 1756-L6x 1766-L32xxx 1763-L16xxx 9324-RLD300ENE MP-Series, TL-Series MP-Series (Ballscrew) MP-Series, TL-Series Motor/brake feedback cables Communication cables
Description Kinetix EtherNet/IP indexing drives with safe torque-off feature available with 120/240V 480V input power. Bulletin 2090 Bulletin 2097-Fx line filters required meet with Kinetix drives without integrated line filter. Bulletin 2097 filters available foot mount side mount. Bulletin 2097 shunt resistors connect drive provide shunting capability regenerative applications. 50-pin terminal block. with connector control interface connections. programmer used duplicate memory configuration Kinetix drives. These removable memory modules used drive store parameters.
Logix Controller Platform
EtherNet/IP interface modules serve link between platform Kinetix drive system. communication link uses EtherNet/IP protocol over copper cable. RSLogix 5000 software provides support programming, commissioning, maintaining Logix family controllers. Compatible rotary motors include MP-Series (Bulletin MPL, MPM, MPF, MPS) TL-Series motors. Compatible stages include MP-Series (Bulletin MPAS) Integrated Linear Stages. Compatible electric cylinders include MP-Series Series (Bulletin MPAR, TLAR, MPAI) Electric Cylinders. Motor power/brake feedback cables include SpeedTec threaded connectors motor. Power/brake cables have flying leads drive straight connectors that connect servo motors. Feedback cables have flying leads that wire low-profile connector kits drive straight connectors motor end. 1585J-M8CBJM-x (shielded) Ethernet cable.
RSLogix 5000 Software Rotary Servo Motors Linear Stages Electric Cylinders
Cables
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Chapter
Figure Typical Kinetix Drive Installation
1783-EMS08T Stratix 6000 Switch
CompactLogix L23E
CompactLogix Controller Platform 1769-L23E-QB1B Shown
Three-phase Input Power Line Disconnect Device Input Fusing
RSLogix 5000 Software 1585J-M8CBJM-x Ethernet (shielded) Cable
2097-V3xxxx Kinetix Drive
2097-TB1 Terminal Expansion Block
2097-Fx Line Filter (optional equipment) 2097-F1 Filter Shown Control Back-up Power Supply (optional equipment)
2097-Rx Shunt Resistor (optional equipment)
2090-K2CK-D15M Low-profile Connector Bulletin 2090 Motor Feedback Cables MP-Series TL-Series Rotary Motors (MPL-Bxxxx motors shown) Bulletin 2090 Motor Power Cables
MP-Series Integrated Linear Stages (MPAS-B9xxx ballscrew shown)
MP-Series TL-Series Electric Cylinders (MPAR-Bxxxx electric cylinders shown) MP-Series Heavy Duty Electric Cylinders (MPAI-Bxxxx electric cylinders shown)
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Start
Catalog Number Explanation
Kinetix drive catalog numbers descriptions listed these tables.
Table Kinetix Drives (single-phase)
Cat. 2097-V31PR0 2097-V31PR2 2097-V32PR0 2097-V32PR2 2097-V32PR4 Description Kinetix 300,120/240V, Kinetix 300, 120/240V, Kinetix 300, 240V, with integrated filter Kinetix 300, 240V, with integrated filter Kinetix 300, 240V, with integrated filter
Table Kinetix Drives (single/three-phase)
Cat. 2097-V33PR1 2097-V33PR3 2097-V33PR5 2097-V33PR6 Description Kinetix 300, 120V 240V Kinetix 300, 120V 240V Kinetix 300, 120V 240V Kinetix 300, 120V 240V 12.0
Table Kinetix Drives (three-phase)
Cat. 2097-V34PR3 2097-V34PR5 2097-V34PR6 Description Kinetix 300, 480V, Kinetix 300, 480V, Kinetix 300, 480V,
Table Kinetix Drive Accessories
Cat. 2097-Fx 2097-TB1 2097-Rx 2097-PGMR 2097-MEM Drive Components line filters Terminal block connector Shunt resistors Memory module programmer Memory modules pack
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Chapter
Agency Compliance
this product installed within European Union mark, following regulations apply.
ATTENTION: Meeting requires grounded system, method grounding line filter drive must match. Failure this renders filter ineffective cause damage filter. grounding examples, refer Grounding Your Kinetix Drive System page
more information electrical noise reduction, refer System Design Control Electrical Noise Reference Manual, publication GMC-RM001.
Requirements
meet requirements, these requirements apply: Install line filter (Bulletin 2090 2097) close drive possible. 2090 series motor power cables connector kits terminate cable shields subpanel with clamp provided. 2090 series motor feedback cables connector kits properly terminate feedback cable shield. Drive-to-motor power feedback cables must exceed (65.6 ft). Install Kinetix system inside enclosure. input power wiring conduit (grounded enclosure) outside enclosure. Separate signal power cables. Segregate input power wiring motor power cables from control wiring motor feedback cables. shielded cable power wiring provide grounded 360° clamp termination. Refer Appendix page interconnect diagrams, including input power wiring drive/motor interconnect diagrams.
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Start
Notes:
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Installing Kinetix Drive System
Introduction
This chapter describes system installation guidelines used preparation mounting your Kinetix drive components.
Topic Introduction System Design Guidelines Electrical Noise Reduction Mount Your Kinetix Drive Page
ATTENTION: Plan installation your system that perform cutting, drilling, tapping, welding with system removed from enclosure. Because system open type construction, careful keep metal debris from falling into Metal debris other foreign matter become lodged circuitry, which result damage components.
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Installing Kinetix Drive System
System Design Guidelines
information this section when designing your enclosure planning mount your system components panel. on-line product selection system configuration tools, including AutoCAD (DXF) drawings product, refer http://www.ab.com/e-tools.
System Mounting Requirements
comply with requirements, Kinetix system must enclosed grounded conductive enclosure offering protection defined standard 60529 (IEC 529) IP4X such that they accessible operator unskilled person. NEMA enclosure exceeds these requirements providing protection IP66. panel install inside enclosure mounting your system components must flat, rigid, vertical surface that won't subjected shock, vibration, moisture, mist, dust, corrosive vapors. Size drive enclosure exceed maximum ambient temperature rating. Consider heat dissipation specifications drive components. Segregate input power wiring motor power cables from control wiring motor feedback cables. shielded cable power wiring provide grounded 360° clamp termination. high-frequency (HF) bonding techniques connect enclosure, machine frame, motor housing, provide low-impedance return path high-frequency (HF) energy reduce electrical noise. 2090 series motor feedback cables connector kits properly terminate feedback cable shield. Drive-to-motor power feedback cables must exceed (65.6 ft).
IMPORTANT System performance tested these cable length specifications. These limitations also requirement.
Refer System Design Control Electrical Noise Reference Manual, publication GMC-RM001, better understand concept electrical noise reduction.
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Chapter
Transformer Selection
Kinetix drive does require isolation transformer three-phase input power. However, transformer required match voltage requirements controller available service. size transformer main power inputs, refer Circuit Breaker/Fuse Specifications page Transformer Specifications Input Power page 162.
IMPORTANT using autotransformer, make sure that phase neutral/ground voltages exceed input voltage ratings drive. form factor single three-phase power (where form factor used compensate transformer, drive, motor losses, account utilization intermittent operating area torque speed curve). example, sizing transformer voltage requirements catalog number 2097-V34PR6 continuous transformer.
IMPORTANT
Circuit Breaker/Fuse Selection
Kinetix drives internal solid-state motor short-circuit protection and, when protected suitable branch circuit protection, rated circuit capable delivering 100,000 Fuses circuit breakers, with adequate withstand interrupt ratings, defined applicable local codes, permitted. Bulletin 140M 140U products another acceptable means protection. with fuses circuit breakers, must make sure that selected components properly coordinated meet applicable codes including requirements branch circuit protection. When applying 140M/140U product, evaluation short circuit available current critical must kept below short circuit current rating 140M/140U product. most cases, class fuses selected match drive input current rating will meet requirements applicable local codes, provide full drive capabilities. Dual element, time delay (slow-acting) fuses should used avoid nuisance trips during inrush current power initialization. Refer Kinetix Drive Power Specifications page input current inrush current specifications your Kinetix drive. Refer Circuit Breaker/Fuse Specifications page recommended circuit breakers fuses.
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Installing Kinetix Drive System
Enclosure Selection
This example provided assist sizing enclosure your Bulletin 2097 drive system. need heat dissipation data from components planned your enclosure calculate enclosure size. With active method heat dissipation (such fans conditioning) either following approximate equations used.
Metric Standard English
0.38Q 1.8T
4.08Q
Where temperature difference between inside outside ambient (°C), heat generated enclosure (Watts), enclosure surface area (m2). exterior surface sides enclosure calculated Where (depth), (width), (height) meters.
Where temperature difference between inside outside ambient (°F), heat generated enclosure (Watts), enclosure surface area (ft2). exterior surface sides enclosure calculated (2dw 2wh) /144 Where (depth), (width), (height) inches.
maximum ambient rating Kinetix drive system (104 maximum environmental temperature °F), then T=20. this example, total heat dissipation (sum components enclosure). equation below, T=20 Q=416.
0.38 (416) 4.53 (20)
this example, enclosure must have exterior surface least 4.53 portion enclosure able transfer heat, should included calculation. Because minimum cabinet depth house Kinetix system (selected this example) in.), cabinet needs approximately 2000 (78.7 27.6 13.0 in.) HxWxD.
(0.332 0.70) (0.332 2.0) (0.70 2.0) 4.59
Because this cabinet size considerably larger than what necessary house system components, more efficient provide means cooling smaller cabinet. Contact your cabinet manufacturer options available cool your cabinet.
Rockwell Automation Publication 2097-UM001B-EN-P August 2010
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Chapter
Minimum Clearance Requirements
This section provides information assist sizing your cabinet positioning your Kinetix system components.
IMPORTANT Mount module upright position shown. mount drive module side.
Figure illustrates minimum clearance requirements proper airflow installation: Additional clearance required depending accessory items installed. Additional clearance required cables wires connected top, front, bottom drive. additional (6.0 in.) required when drive mounted adjacent noise sensitive equipment clean wireways. Refer page Kinetix drive dimensions.
Figure Minimum Clearance Requirements
25.0 (1.0 in.) Clearance Airflow Installation
Drive Cat. 2097-V31PR0 2097-V31PR2 2097-V32PR0
(7.29) (7.29) (9.04) (9.04) (9.04) (7.29) (7.29) (7.29) (9.04) (7.29) (7.29) (9.04)
2097-V32PR2
(0.12 in.) Side Clearance
(0.12 in.) Side Clearance
2097-V32PR4 2097-V33PR1 2097-V33PR3 2097-V33PR5 2097-V33PR6 2097-V34PR3
25.0 (1.0 in.) Clearance Airflow Installation
2097-V34PR5 2097-V34PR6
Refer page power dissipation specifications.
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Installing Kinetix Drive System
Electrical Noise Reduction
This section outlines best practices that minimize possibility noise-related failures they apply specifically Kinetix system installations. more information concept high-frequency (HF) bonding, ground plane principle, electrical noise reduction, refer System Design Control Electrical Noise Reference Manual, publication GMC-RM001.
Bonding Drives
Bonding practice connecting metal chassis, assemblies, frames, shields, enclosures reduce effects electromagnetic interference (EMI). Unless specified, most paints conductive insulators. achieve good bond between drive subpanel, surfaces need paint-free plated. Bonding metal surfaces creates low-impedance return path high-frequency energy.
IMPORTANT improve bond between drive subpanel, construct your subpanel zinc plated (paint-free) steel.
Improper bonding metal surfaces blocks direct return path allows high-frequency energy travel elsewhere cabinet. Excessive high-frequency energy effect operation other microprocessor controlled equipment.
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Chapter
These illustrations show recommended bonding practices painted panels, enclosures, mounting brackets.
Figure Recommended Bonding Practices Painted Panels
Stud-mounting Subpanel Enclosure Back Wall
Back Wall Enclosure Subpanel Star Washer Welded Stud wire brush remove paint from threads maximize ground connection. plated panels scrape paint front panel. Flat Washer
Stud-mounting Ground Chassis Subpanel
Subpanel Mounting Bracket Ground Welded Stud Scrape Paint Flat Washer mounting bracket coated with non-conductive material (anodized painted), scrape material around mounting hole.
Star Washer
Bolt-mounting Ground Chassis Back-panel
Subpanel Tapped Hole Ground Mounting Bracket Star Washer Scrape paint both sides panel star washers. Star Washer Flat Washer mounting bracket coated with non-conductive material (anodized painted), scrape material around mounting hole. Bolt
Flat Washer
Star Washer
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Installing Kinetix Drive System
Bonding Multiple Subpanels
Bonding multiple subpanels creates common impedance exit path high frequency energy inside cabinet. Subpanels that bonded together share common impedance path. This difference impedance affect networks other devices that span multiple panels. Bond bottom each subpanel cabinet using 25.4 (1.0 in.) 6.35 (0.25 in.) wire braid. rule, wider shorter braid better bond. Scrape paint from around each fastener maximize metal-to-metal contact.
Figure Multiple Subpanels Cabinet Recommendations
Wire Braid. 25.4 (1.0 in.) 6.35 (0.25 in.) Ground bonded subpanel. Wire Braid. 25.4 (1.0 in.) 6.35 (0.25 in.)
Remove paint from cabinet.
Rockwell Automation Publication 2097-UM001B-EN-P August 2010
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Chapter
Establishing Noise Zones
Observe these guidelines when individual input power components used Kinetix system: clean zone exits left Kinetix system includes wiring, feedback cable, Ethernet cable, filter (grey wireway). dirty zone exits right Kinetix system (black wireway) includes circuit breakers, transformer, power supply, contactors, line filter, motor power, safety cables. very dirty zone (VD) limited where line (EMC) filter output jumpers over drive. Shielded cable required only very dirty cables enter wireway.
Figure Noise Zones (Bulletin 2090 line filters)
Clean Wireway
Dirty Wireway
Very Dirty Zone Segregated (not wireway)
Bulletin 2090 Line Filter (optional)
Contactors
Motor Brake Circuit Breaker
Kinetix Drive
Ethernet (shielded) Cable sensitive equipment within (6.0 in.).(2)
Filter
XFMR
(1), Ethernet, Feedback Cables
(1), Motor Power, Safety Cables
Route encoder/analog/registration shielded cables.
Route Shielded Cable
drive system cable contains (dirty) relay wires, route cable dirty wireway. tight spaces grounded steel shield. examples, refer System Design Control Electrical Noise Reference Manual, publication GMC-RM001. This clean available device that require enters clean wireway exits left. This dirty available motor brakes contactors. enters dirty wireway exits right.
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Installing Kinetix Drive System
Figure Noise Zones (Bulletin 2097 line filters)
Clean Wireway
Contactors
Dirty Wireway
Very Dirty Zone Segregated (not wireway)
Motor Brake Circuit Breaker
Kinetix Drive Ethernet (shielded) Cable sensitive equipment within (6.0 in.).(2)
Bulletin 2097 line filters mount side, shown, behind drive.
Filter
XFMR
(1), Ethernet, Feedback Cables
(1), Motor Power, Safety Cables Route encoder/analog/registration shielded cables. Route Shielded Cable
drive system cable contains (dirty) relay wires, route cable dirty wireway. tight spaces grounded steel shield. examples, refer System Design Control Electrical Noise Reference Manual, publication GMC-RM001. This clean available device that require enters clean wireway exits left. This dirty available motor brakes contactors. enters dirty wireway exits right.
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Installing Kinetix Drive System
Chapter
Cable Categories Kinetix Drive Components
These table indicate zoning requirements cables connecting Kinetix drive components.
Table Kinetix Drive Components
Zone Wire/Cable (unshielded cable) (motor power) B+-, (shunt resistor) Control COM, control, safety enable, feedback signals safe-off feature Motor feedback Registration analog outputs Others Ethernet Connector Port Very Dirty Dirty Clean Method Ferrite Sleeve Shielded Cable
Noise Reduction Guidelines Drive Accessories
Refer this section when mounting line filter shunt resistor module guidelines designed reduce system failures caused excessive electrical noise.
Line Filters
Observe these guidelines when mounting your line filter: using Bulletin 2090 line filter, mount filter same panel Kinetix drive, close drive possible. Good bonding panel critical. painted panels, refer examples page Segregate input output wiring possible.
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Installing Kinetix Drive System
Shunt Resistors
Observe these guidelines when mounting your shunt resistor outside enclosure: Mount shunt resistor wiring very dirty zone external shielded enclosure. Mount resistors shielded ventilated enclosure outside cabinet. Keep unshielded wiring short possible. Keep shunt wiring flat cabinet possible.
Figure Shunt Resistor Outside Enclosure
Shunt Wiring Methods: Twisted pair conduit (first choice). Shielded twisted pair (second choice). Twisted pair, twists foot (min) (third choice).
Customer-supplied Metal Enclosure
(6.0 in.) clearance (min) four sides shunt module. Metal Conduit (where required local code) Dirty Wireway
Clean Wireway Enclosure
Contactor
sensitive equipment within (6.0 in.).(2) Kinetix Drive Ethernet (shielded) Cable
Very dirty connections segregated (not wireway). Line Filter (1), Ethernet, Feedback Cables
Motor Brake Circuit Breaker
Filter
XFMR
Route Encoder/Analog/Registration Shielded Cables
(1), Motor Power Safety Cables
Route Shielded Cable
drive system cable contains (dirty) relay wires, route cable dirty wire way. When space does permit (6.0 in.) clearance, install grounded steel shield between drive clean wireway. examples, refer System Design Control Electrical Noise Reference Manual, publication GMC-RM001.
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When mounting your shunt module inside enclosure, follow these additional guidelines: Mount shunt resistor anywhere dirty zone, close Kinetix drive possible. Shunt wires with motor power cables. Keep unshielded wiring short possible. Keep shunt wiring flat cabinet possible. Separate shunt wires from other sensitive, low-voltage signal cables.
Figure Shunt Resistor Inside Enclosure
Clean Wireway Dirty Wireway Shunt Wiring Methods: Twisted pair conduit (first choice). Shielded twisted pair (second choice). Twisted pair, twists foot (min) (third choice).
Enclosure
Contactor
Very dirty zone segregated (not wireway). Kinetix Drive Ethernet (shielded) Cable sensitive equipment within (6.0 in.).(2)
Motor Brake Circuit Breaker
Line Filter
Filter
XFMR
(1), Ethernet, Feedback Cables
Route Encoder/Analog/Registration Shielded Cables (1), Motor Power, Safety Cables
Route Shielded Cable
drive system cable contains (dirty) relay wires, route cable dirty wire way. When space does permit (6.0 in.) clearance, install grounded steel shield between drive clean wireway. examples, refer System Design Control Electrical Noise Reference Manual, publication GMC-RM001.
Motor Brake
brake mounted inside motor connect drive depends motor series. Refer Kinetix Drive/Rotary Motor Wiring Examples beginning page interconnect diagram your drive/motor combination.
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Mount Your Kinetix Drive
This procedure assumes have prepared your panel understand bond your system. installation instructions regarding other equipment accessories, refer instructions that came with those products.
ATTENTION: This drive contains electrostatic discharge (ESD) sensitive parts assemblies. required follow static control precautions when install, test, service, repair this assembly. follow control procedures, components damaged. familiar with static control procedures, refer Allen-Bradley publication 8000-4.5.2, Guarding Against Electrostatic Damage other applicable Protection Handbook.
Follow these steps mount your Kinetix drive. position Kinetix drive accessories enclosure. Refer Establishing Noise Zones page panel layout recommendations. Mounting hole dimensions Kinetix drive shown Appendix page 157. Attach Kinetix drive cabinet, first using upper mounting slots drive then lower. recommended mounting hardware (#6-32) steel machine screws torqued (9.8 Observe bonding techniques described Bonding Drives page
IMPORTANT improve bond between Kinetix drive subpanel, construct your subpanel zinc plated (paint-free) steel.
Tighten mounting fasteners.
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Introduction
This chapter provides power, feedback, connector locations signal descriptions your Kinetix drive.
Topic Introduction Kinetix Drive Connectors Indicators Control Signal Specifications Motor Feedback Specifications Page
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Kinetix Drive Connectors Indicators
Although physical size Kinetix drives vary, location connectors indicators identical.
Figure Kinetix Drive Connector Indicators
Kinetix Drive, View (2097-V33PR5 drive shown) Kinetix Drive, Front View (2097-V33PR5 drive shown) Kinetix Drive, Bottom View (2097-V33PR5 drive shown)
Item
Description Mains (IPD) connector Status diagnostic display Memory module socket Ethernet communication port (Port (IOD) connector Motor feedback (MF) connector
Item
Description Ground Shunt resistor (BC) connector Back-up power (BP) connector Display control push buttons Motor power (MP) connector Safe torque-off (STO) connector
Table Kinetix Drive Connectors
Designator PORT1 Description input power Ethernet communication port Motor feedback Back-up power Brake Resistor Motor power Safe torque (STO) Terminal Connector 3-position 4-position plug/header RJ45 Ethernet SCSI high density connector 15-pin high-density D-shell (male) 2-pin quick-connect terminal block 5-pin quick-connect terminal block 6-pin quick-connect terminal block 6-pin quick-connect terminal block
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Safe Torque-off Connector Pinout
Kinetix drive ships with (6-pin) wiring-plug header that connects your safety circuit Kinetix drive safe torque-off (STO) connector. your system does safe torque-off feature, follow instructions Safe Torque-off Feature Bypass starting page wire drive with motion-allowed jumpers.
Figure Safe Torque-off Connector
Bottom view Kinetix drive. (2097-V33PR5 drive shown)
ontr trol afet input Safe Safe inpu Safe
Wiring Plug Header
Safe Torque-off (STO) Connector
Table Kinetix Drive Safe Torque-off Connector Pinout
Description +24V output from drive +24V output common Safety status Safety input (+24V enable) Safety common Safety input (+24V enable) Signal +24V control Control Safety Status Safety Input Safety Safety Input
IMPORTANT
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Pins STO-1 (+24V Control) STO-2 (Control COM) used only motion-allowed jumpers defeat safe torque-off function. When safe torque-off function operation, supply must come from external source.
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Kinetix Drive Connector Data
Connector Pinout
13.21 Description Master encoder A+/Step+ input Master encoder A-/Step- input Master encoder B+/Direction+ input Master encoder B-/Direction- input Reserved Reserved Buffered encoder output: channel Buffered encoder output: channel ABuffered encoder output: channel Buffered encoder output: channel BBuffered encoder output: channel Buffered encoder output: channel ZReserved Analog common Analog output (max Positive analog signal input Negative analog signal input Digital input group ACOM terminal Negative travel limit switch Positive travel limit switch Inhibit/enable input Signal MAMB+ BABB+ BBBZ+ ACOM AIN1+ AIN1IN_A_COM IN_A1 IN_A2 IN_A3 Description Digital input Digital input group BCOM terminal Digital input Digital input Digital input Digital input Digital input Group CCOM Terminal Digital input Digital input Registration input sensor Digital input Ready output collector Ready output emitter Programmable output collector Programmable output emitter Programmable output collector Programmable output emitter Programmable output collector Programmable output emitter Programmable output collector Programmable output emitter Signal IN_A4 IN_B_COM IN_B1 IN_B2 IN_B3 IN_B4 IN_C_COM IN_C1 IN_C2 IN_C3 IN_C4 RDY+ RDYOUT1-C OUT1-E OUT2-C OUT2-E OUT3-C OUT3-E OUT4-C OUT4-E
Figure Orientation 50-pin SCSI (IOD) Connector
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Motor Feedback (MF) Connector Pinout
Description Sine differential input+ differential input+ Sine differential inputAM- differential inputCosine differential input+ differential input+ Cosine differential inputBM- differential inputData differential input Index pulse+ Common Encoder power (+9V) Single-ended Hall effect commutation Signal SIN+ SINAMCOS+ COSBMDATA+ ECOM EPWR_9V Description Reserved Data differential input Index pulseMotor thermal switch (normally closed) Single-ended Hall effect commutation Single-ended Hall effect commutation Encoder power (+5V) Reserved Signal DATAIMTS EPWR_5V
applicable unless motor integrated thermal protection. Encoder power supply uses either based encoder/motor used.
IMPORTANT
Drive-to-motor power feedback cable length must exceed (65.6 ft). System performance tested these specifications also apply when meeting requirements.
Figure Orientation 15-pin Motor Feedback (MF) Connector
Ethernet Communication Connector Pinout
Port Description Transmit Port Data Terminal Transmit Port Data Terminal Receive Port Data Terminal Signal Port Description Receive Port Data Terminal Signal
Figure Orientation 8-pin Ethernet Communication (port Port
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Input Power Connector Pinout
Designator L2/N Description (2097-V31PRx drives) Power (non-doubler operation) Power Power Neutral (120V doubler only) Protective Earth (ground) Signal L2/N Designator Description (2097-V33PRx, 2097-V34PRx drives) Power (three-phase models) Power Power Protective Earth (ground) Signal Designator Description (2097-V32PRx drives) Power Power Protective Earth (ground) Signal
Back-up Power Connector Pinout
Designator +24V -24V Description Positive power supply return Signal +24V Return
Shunt Resistor Connector Pinout
Designator BBDescription Positive bus/brake resistor Brake Resistor Negative Signal
Motor Power Connector Pinout
Designator Description Protective Earth (ground) Motor power Motor power Motor power Signal
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Control Signal Specifications
This section provides description Kinetix drive (IOD), communication, shunt resistor (BC), back-up power (BP) connectors.
Digital Inputs
Kinetix drive twelve digital inputs. They used travel limit switches, proximity sensors, push buttons, hand shaking with other devices. Each input assigned individual de-bounce time MotionView software Explicit Messaging. inputs separated into three groups: Each group four inputs share common: ACOM, BCOM, CCOM respectively. Travel limit switches, inhibit/enable input, registration input have dedicated inputs shown Table more information overtravel inputs, refer Appendix page 211.
Table Digital Input Assignments
Digital Input IN_A1 IN_A2 IN_A3 IN_A4 IN_B1 IN_B2 IN_B3 IN_B4 IN_C1 IN_C2 IN_C3 IN_C4 Function Negative travel limit switch Positive travel limit switch Inhibit/enable input Registration input sensor
configure inputs listed these functions. Abort Homing Abort Index Start Homing Start Index Fault Reset Home Sensor
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Some digital inputs exercise control over functions under control Output Assembly. When digital input mapped same function exists Output Assembly, following timing diagrams apply.
Figure Enable Timing Diagram (enable switch function configured Run)
Enable Input (input IOD-29)
Drive Enabled Time
IMPORTANT
EtherNet/IP control configuring Enable switch function Run.
Figure Enable Timing Diagram (enable switch function configured Inhibit)
Enable Input (input IOD-29)
Enable Output Assembly
Drive Enabled Time
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Figure Homing Timing Diagram
Start Homing Input Start Homing Abort Homing Input Abort Homing Drive Homing Sequence Time
Figure Indexing Timing Diagram
Start Index Input (digital from MotionView software) Start Motion Output Assembly Abort Index Input (digital from MotionView software) Abort Index (from Output Image) Drive Status Indexing Time
drive must enabled homing indexing mode.
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digital inputs optically isolated sinks Electrical details shown Table page inputs sourcing sinking.
Figure Sourcing Digital Inputs
+24V IN_A1
IN_A2
IN_A_COM
Figure Sinking Digital Inputs
IN_A1
IN_A2
IN_A_COM +24V
Table Digital Input Signal Specifications
Parameter Scan time Current, Input impedance Voltage range Value typical typical 5.24V
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Digital Outputs
There five digital outputs, OUT1.OUT4 RDY, available connector. Outputs optically isolated open collector/emitter fully isolated from drive circuits. Each output, OUT1.OUT4, assigned these functions: assigned Zero speed In-speed window Current limit Run-time fault Ready Brake (motor brake release) Ready Output fixed function that becomes active when drive enabled output power transistors become energized.
Table Digital Output Signal Specifications
Parameter Scan time Current, Voltage, Value
Figure Digital Output Circuit
Kinetix Drive
Logic Power
OUT1-C OUT1-E
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Analog Reference Input
analog reference input AIN1+ AIN1- (IOD-24 IOD-25) accepts ±10V analog signal shown Table analog signal converted digital value with resolution (11-bit plus sign). total reference voltage seen drive voltage difference between AIN1+ AIN1-. used Single-ended mode, inputs must connected voltage source while other must connected Analog Common (ACOM). used Differential mode, voltage source connected across AIN1+ AIN1- driving circuit common, available, connected drive Analog Common (ACOM) terminal.
Table Analog Signal Input Specifications
Parameter Scan time Current, Input impedance Voltage range Value 0.0625 Depend load typical -10.10V
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Analog Output
analog output (AO) IOD-23 10-bit resolution. analog output single-ended signal with reference Analog Common (ACOM) that represent this motor data: Assigned Phase Current Peak Current Motor Velocity Phase Current Phase Current Phase Current Current Current
IMPORTANT
Output values vary during powerup until specified power supply voltage reached. MotionView software refers Phase Current respectively.
Figure Analog Output Circuit
Kinetix Drive
Table Analog Output Specifications
Parameter Scan time Current, Voltage range Value 0.0625 -10.10V
configuration/setup analog outputs, refer Configure Drive Parameters System Variables beginning page 135.
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Master Gearing/Step Direction Inputs
connect master encoder with quadrature outputs Kinetix drive control position Master Gearing operating mode. connect step direction signal pair Kinetix drive control position Step Direction operating mode. These inputs optically isolated from rest drive circuits from each other. Both inputs operate from voltage source range 5.24V require additional series resistors normal operation.
IMPORTANT Master gearing inputs must incremental encoders with outputs.
Figure Step Direction Timing Diagram
Step
Direction
Figure Master Encoder Timing Diagram
Table Input Type Output Compatibility
Attribute Recommended voltage Input frequency, Pulse width (negative positive) Input impedance Value 5.24V
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Figure Master Gearing/Step Direction Input Circuit Diagram
MA+/STEP+ MB+/DIR+
5.6V
MA-/STEPMB-/DIR-
Differential signal inputs preferred when using master gearing/step direction. When using differential signal inputs, sinking sourcing outputs used. Single-ended inputs used recommended. Sinking type outputs cannot used single-ended inputs used. function these master gearing/step direction inputs software selectable. MotionView software, General category, choose desirable function. external pulse train signal (step) supplied external device, such stepper indexer, control speed position servo motor. speed motor controlled frequency step signal, number pulses that supplied Kinetix drive determines position servo motor. Direction input controls direction motion.
Buffered Encoder Outputs
There many applications where desired close feedback loop external device. This feature accessible through buffered encoder output connections (IOD-7.IOD-12) differential line encoder types. Master drives powering motors with Stegmann Tamagawa encoders generate buffered encoder outputs master gearing slave drive.
IMPORTANT buffered encoder outputs compatible with Stegmann Tamagawa high-resolution motor feedback.
motor with encoder feedback being used, Zsignals passed directly through drive pins IOD-7.IOD-12 with filtering, speed MHz. encoder pass through delay approximately
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Ethernet Connections
RJ45 Ethernet connector (port provided Kinetix drive.
Table Ethernet Communication Specifications
Attribute Communications Cyclic update period Auto MDI/MDIX crossover detection/correction Cabling Value 100BASE-TX, full duplex CAT5E CAT6, unshielded shielded, (328
Back-up Power
Kinetix drive external power supply power logic communication circuits. independent power supply connected connector, logic communication circuits remain active during mains input power loss.
Table Back-up Power Specifications
Attribute Input voltage Current Inrush, Value 20.26V
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Motor Feedback Specifications
Kinetix drive accepts motor feedback signals from following types encoders with these general specifications.
Table Motor Feedback General Specifications
Attribute Motor Feedback Stegmann Hiperface Feedback device support Generic Incremental Tamagawa 17-bit Serial Power supply voltage (EPWR5V) Power supply current (EPWR5V) Power supply voltage (EPWR9V) Power supply current (EPWR9V) Thermostat 5.13.5.67V 8.3.9.9V (2)(3) Single-ended, under fault, over fault
supply with load supply. supply with supply. supply with load supply.
Auto-configuration possible using Kinetix drive MotionView OnBoard software Allen-Bradley motors.
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Motor Feedback Specifications
Kinetix drives support multiple types feedback devices using 15-pin (MF) motor feedback connector sharing connector pins many cases.
Table Motor Feedback Signals Device Type
Stegmann Hiperface SIN+ SINCOS+ COSDATA+ ECOM EPWR9V DATATS Generic Incremental AMBM+ BMIM+ ECOM IMTS EPWR5V Tamagawa 17-bit Serial DATA+ ECOM DATA- EPWR5V
This motor thermostat interface schematic. Although thermostat signal shown feedback types, some motors support this feature because part feedback device.
Figure Motor Thermostat Interface
6.81 MTR_TS 0.01
Kinetix Drive
Table Motor Thermostat State Specifications
State Fault Fault Resistance
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Table Stegmann Hiperface Specifications
Attribute Protocol Memory support Hiperface data communication Sine/Cosine interpolation Input frequency (AM/BM) Input voltage (AM/BM) Line loss detection (AM/BM) Value Hiperface programmed, programmed with Allen-Bradley motor data RS485, 9600 baud, data bits, parity 2048 counts/sine period kHz, 0.6.1.2V, p-p, measured drive inputs Average (sin2 cos2) constant
Figure Stegmann Hiperface Interface, Signals
Kinetix Drive
26.7 Converter
SIN+ COS+ SIN- COS1
Counter
Figure Stegmann Hiperface Interface, DATA Signals
DATA+
Counter
DATA10
Shaded area indicates components that part circuit, support other feedback device types (not used Stegmann Hiperface support).
UART
Kinetix Drive
from UART from UART
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Table Generic Incremental Specifications
Attribute incremental encoder support Quadrature interpolation Differential input voltage (AM, current draw (AM, Input signal frequency (AM, Edge separation Line loss detection Hall inputs (S1, Value differential quad counts/square wave period 1.0.7.0V MHz, min, between edges Average (AM2 BM2) constant Single-ended, TTL, open collector, none
Figure Generic Incremental, Signals
Kinetix Drive
26.7 Converter
Shaded area indicates components that part circuit, support other feedback device types (not used Generic incremental support).
Counter
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Figure Generic Interface, Signals
MTR_IM+ Counter
MTR_IM-
Shaded area indicates components that part circuit, support other feedback device types (not used Generic incremental support).
UART from UART from UART
Kinetix Drive
Figure Generic Interface, Signals
Kinetix Drive
Table Tamagawa 17-bit Serial Specifications
Attribute Tamagawa model support Protocol Memory support Differential input voltage Data communication Battery Value TS5669N124 Tamagawa proprietary Programmed with Allen-Bradley motor data 1.0.7.0V Mbps, data bits, parity 3.6V, located external drive low-profile connector
Refer Figure Tamagawa 17-bit serial interface schematic. identical Stegmann Hiperface (DATA) signals schematic.
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Feedback Power Supply
Kinetix drive generates motor feedback power. Short circuit protection separate common mode filtering each channel included.
Table Motor Feedback Power Specifications
Supply Reference EPWR_5V EPWR_9V Voltage 5.13 Nominal 5.67 Current
Figure Orientation 15-pin Motor Feedback (MF) Connector
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Introduction
This chapter provides procedures wiring your Kinetix system components making cable connections.
Topic Introduction Basic Wiring Requirements Grounding Your Kinetix Drive System Power Wiring Requirements Wiring Guidelines Wiring Kinetix Drive Connectors Apply Motor Cable Shield Clamp Feedback Cable Connections Wiring Feedback Connectors Kinetix Drive (IOD connector terminal block) Shunt Resistor Connections Ethernet Cable Connections Page
Basic Wiring Requirements
This section contains basic wiring information Kinetix drive.
ATTENTION: Plan installation your system that perform cutting, drilling, tapping, welding with system removed from enclosure. Because system open type construction, careful keep metal debris from falling into Metal debris other foreign matter become lodged circuitry, which result damage components. SHOCK HAZARD: avoid hazard electrical shock, perform mounting wiring Bulletin 2097 drive prior applying power. Once power applied, connector terminals have voltage present even when use. IMPORTANT This section contains common servo system wiring configurations, size, practices that used majority applications. National Electrical Code, local electrical codes, special operating temperatures, duty cycles, system configurations take precedence over values methods provided.
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Build Your Cables
IMPORTANT Factory-made cables designed minimize recommended over hand-built cables optimize system performance.
Connect cable shield connector shells both ends cable with complete 360° connection. twisted pair cable whenever possible. Twist differential signals with each other twist single-ended signals with appropriate ground return. Refer Kinetix Motion Control Selection Guide, publication GMC-SG001, low-profile connector kit, drive-end (mating) connector kit, motor-end connector catalog numbers.
Route Power Signal Wiring
aware that when route power signal wiring machine system, radiated noise from nearby relays, transformers, other electronic drives induced into motor encoder feedback signals, input/output communication, other sensitive voltage signals. This cause system faults communication anomalies. Refer Electrical Noise Reduction page examples routing high voltage cables wireways. Refer System Design Control Electrical Noise Reference Manual, publication GMC-RM001, more information.
Determine Input Power Configuration
This section contains examples typical single-phase three-phase facility input power wired single-phase three-phase Kinetix drives. grounded power configuration lets ground your single-phase three-phase power neutral point. Match your secondary examples certain include grounded neutral connection.
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Three-phase Power Wired Three-phase Drives
These examples illustrate grounded three-phase power wired three-phase Kinetix drives when phase-to-phase voltage within drive specifications.
Figure Three-phase (400/480V) Power Configuration (WYE Secondary)
Transformer (WYE) Secondary
2097-V34PRx
Feeder branch short circuit protection illustrated.
Input Fusing Contactor
Line Filter
Kinetix Drives Three-phase Input
Bonded Cabinet Ground Ground Grid Power Distribution Ground
IMPORTANT
480V Kinetix drives meet 13849-1 (PLd) spacing requirements, each phase voltage ground must less than equal 300V rms. This means that power system must center grounded secondary configuration 400/480V mains.
Figure Three-phase (240V) Power Configuration (Delta secondary)
Transformer (Delta) Secondary
2097-V33PRx
Feeder branch short circuit protection illustrated.
Line Filter
Kinetix Drives Three-phase Input
Input Fusing
Contactor
Bonded Cabinet Ground Ground Grid Power Distribution Ground
Leakage current from line filter, this configuration, typically higher than balanced (center ground) configuration.
Figure Three-phase (240V) Power Configuration (Delta secondary)
Transformer (Delta) Secondary
2097-V33PRx
Feeder branch short circuit protection illustrated.
Line Filter
Kinetix Drives Three-phase Input
Input Fusing
Contactor
Bonded Cabinet Ground Ground Grid Power Distribution Ground
Leakage current from line filter, this configuration, typically higher than balanced (center ground) configuration.
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Single-phase Power Wired Single-phase Drives
These examples illustrate grounded single-phase power wired single-phase Kinetix drives when phase-to-phase voltage within drive specifications.
IMPORTANT 2097-V32PRx models have integrated line filters require line filter shown this diagram.
Figure Single-phase Grounded Power Configurations
Transformer Secondary
2097-V31PRx
2097-V32PRx
Kinetix Drives Single-phase Input
240V Output
Line Filter
L2/N
Input Fusing
Contactor
Bonded Cabinet Ground Ground Grid Power Distribution Ground 2097-V31PRx 2097-V33PRx
Transformer Secondary
120V Output
Line Filter
Kinetix Drives Single-phase Input
L2/N
L2/N
(Neutral)
Input Fusing
Contactor
Bonded Cabinet Ground Ground Grid Power Distribution Ground This configuration applies voltage-doubler operation 2097-V31PRx drives.
Reducing transformer output reduces motor speed. Feeder branch short circuit protection illustrated.
Voltage Doubler Operation
wire 2097-V31PRx drives with 120V input power achieve twice output voltage half output current, while maintaining same output power. voltage-doubler circuit, connect 120V single-phase input power IPD-L1 IPD-N terminals. Kinetix drive power specifications, refer Kinetix Drive Power Specifications page 158. Kinetix drive input wiring diagrams, refer Power Wiring Examples page 171.
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Isolation Transformer Grounded Power Configurations
When using isolation transformer, attach chassis ground wire neutral connection. This grounded neutral connection does following: Prevents system from floating thereby avoids high voltages that might otherwise occur, example static electricity Provides solid earth path fault conditions
ATTENTION: supply transformer auto transformer (not recommended), chassis earth ground should added. chassis earth ground should already included elsewhere system adding another would create short.
Three-phase Power Wired Single-phase Drives
This example illustrates grounded three-phase power wired single-phase Kinetix drives when phase-to-phase voltage within drive specifications.
Figure Single-phase Amplifiers Three-phase Power (WYE)
Transformer (WYE) Secondary
2097-V32PRx
Input Fusing
Input Fusing
Kinetix Drives (System Single-phase Input
Kinetix Drives (System Single-phase Input
Kinetix Drives (System Single-phase Input
Grounded Neutral
Input Fusing
Bonded Cabinet Ground
Ground Grid Power Distribution Ground
Contactors (MI, optional. more information, refer Understanding Machinery Directive, publication SHB-900. line filter optional, required compliance.
Feeder short circuit protection illustrated.
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This example illustrates grounded three-phase power wired single-phase Kinetix drives when phase-to-phase voltage exceeds drive specifications. neutral must connected when single-phase drives attached three-phase isolating transformer secondary. necessary that three-phases loaded with drives, each drive must have power return neutral connection.
ATTENTION: Failure connect neutral result supply voltage swings individual drives. This occurs when neutral point moves vectorially result load variations normally experienced individual drives. supply voltage swing cause undervoltage overvoltage trips drives, drive damaged overvoltage limit exceeded. Figure Single-phase Amplifiers (one line filter drive)
Transformer (WYE) Secondary
2097-V31PRx 2097-V33PRx
Line Filter
Kinetix Drives (System Single-phase Input
Kinetix Drives (System Single-phase Input
Line Filter
Line Filter
Grounded Neutral
Input Fusing Contactor
Kinetix Drives (System Single-phase Input
Grounded Neutral Bonded Cabinet Ground
Ground Grid Power Distribution Ground
Feeder branch short circuit protection illustrated.
IMPORTANT Providing line filter each drive preferred configuration, required compliance.
three-phase line filter used feed multiple single-phase drives (not recommended), important that filter include neutral connection shown above. This applies three-phase brought directly into filter isolating transformer present.
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Voiding Compliance
three-phase neutral in-line filter applications described above adequate from aspect compliance. Therefore, validity marking Rockwell Automation voided when three-phase neutral line filters used.
ATTENTION: three-phase isolation transformer neutral in-line filter applications described this document have been tested Rockwell Automation products used such installations considered marked Rockwell Automation. ATTENTION: this three-phase isolation transformer neutral in-line filter application used, responsibility validation lies with user marking system becomes user's responsibility. ATTENTION: compliance customer requirement, single-phase line filters that have been tested Rockwell Automation specified product should used. Refer Line Filter Specifications page catalog numbers.
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Grounding Your Kinetix Drive System
equipment components machine process system should have common earth ground point connected their chassis. grounded system provides safety ground path short circuit protection. Grounding your modules panels minimize shock hazard personnel damage equipment caused short circuits, transient overvoltages, accidental connection energized conductors equipment chassis. grounding requirements, refer Requirements Chapter
IMPORTANT improve bond between Kinetix drive subpanel, construct your subpanel zinc plated (paint-free) steel.
Ground Your Drive System Subpanel
ATTENTION: National Electrical Code contains grounding requirements, conventions, definitions. Follow applicable local codes regulations safely ground your system. Refer illustration below details grounding your Kinetix drive. Refer Appendix power wiring diagram your Kinetix drive.
Kinetix drive mounted painted subpanel, ground drive bonded cabinet ground using braided ground strap AWG) solid copper wire (3.9 in.) long.
Figure Connecting Braided Ground Strap Example
Braided Ground Strap Bonded Cabinet Ground
Ground Stud
Ground Grid Power Distribution Ground
drive dimensions, refer Product Dimensions page 167.
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Figure Chassis Ground Configuration (multiple Kinetix drives panel)
Chassis Ground Chassis Ground Chassis Ground
Chassis Ground Bonded Ground (optional) Bonded Cabinet Ground Ground Grid Power Distribution Ground Always follow applicable local codes.
Ground Multiple Subpanels
ground multiple subpanels, refer figure below. bonding illustrated. information, refer Bonding Multiple Subpanels page
Figure Subpanels Connected Single Ground Point
Bonded Ground
Ground Grid Power Distribution Ground Always follow applicable local codes.
Power Wiring Requirements
Wire should copper with (167 minimum rating. Phasing main power arbitrary earth ground connection required safe proper operation. Refer Power Wiring Examples page interconnect diagrams.
IMPORTANT National Electrical Code local electrical codes take precedence over values methods provided.
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Table Kinetix Drive Power Wiring Requirements
Terminals Cat. 2097-V31PR0 2097-V32PR0 2097-V32PR2 2097-V33PR1 2097-V33PR3 2097-V34PR3 2097-V34PR5 2097-V34PR6 2097-V32PR4 2097-V33PR5 2097-V31PR2 2097-V33PR6 2097-V31PR0 2097-V31PR2 2097-V32PR0 2097-V32PR2 2097-V32PR4 2097-V33PR1 2097-V33PR3 2097-V33PR5 2097-V34PR3 2097-V34PR5 2097-V34PR6 2097-V33PR6 2097-V31PR0 2097-V31PR2 2097-V32PR0 2097-V32PR2 2097-V32PR4 2097-V33PR1 2097-V33PR3 2097-V33PR5 2097-V34PR3 2097-V34PR5 2097-V34PR6 2097-V33PR6 2097-V3xPRx Control back-up power connector) STO-1 STO-2 STO-3 STO-4 STO-5 STO-6 +24V -24V +24V Control Control Safety Status Safety Input Safety Safety Input (16) (0.25) (4.5) Description Pins Signals Recommended Wire Size (AWG) Strip Length (in.) Torque Value
(14) Mains input power (IPD connector) L2/N (12) (10)
(0.28)
(4.5)
(0.28) (0.28)
(4.5) 0.56.0.79 (5.0.7.0)
Motor power connector)
(14)
(0.28)
(4.5)
(12)
(0.28)
(4.5)
Brake connector)
(14)
(0.28)
(4.5)
(12)
(0.28)
(4.5)
2097-V3xPRx
Safe torque-off (STO connector)
Applies 2097-V33PRx, 2097-V34PRx drive modules. Applies 2097-V31PRx drive modules. Applies 2097-V32PRx drive modules. shunt resistor connection only. bypassing circuit only.
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ATTENTION: avoid personal injury and/or equipment damage, make sure installation complies with specifications regarding wire types, conductor sizes, branch circuit protection, disconnect devices. National Electrical Code (NEC) local codes outline provisions safely installing electrical equipment. ATTENTION: avoid personal injury and/or equipment damage, make sure motor power connectors used connection purposes only. them turn unit off. ATTENTION: avoid personal injury and/or equipment damage, make sure shielded power cables grounded prevent potentially high voltages shield. Table Shunt Resistor Power Wiring Requirements
Accessory Description Connects Terminals Recommended Wire Size (AWG) (14) Torque Value (4.5)
2097-Rx
Shunt Resistor
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Wiring Guidelines
these guidelines reference when wiring connectors your Kinetix drive power modules.
IMPORTANT connector locations Kinetix drives, refer Kinetix Drive Connectors Indicators page When tightening screws secure wires, refer tables beginning page torque values. When removing insulation from wires, refer tables beginning page strip lengths. IMPORTANT improve system performance, wires cables wireways established Establishing Noise Zones page
Follow these steps when wiring connectors your Kinetix drive modules. Prepare wires attachment each connector plug removing insulation equal recommended strip length.
IMPORTANT caution nick, cut, otherwise damage strands remove insulation.
Route cable/wires your Kinetix drive. Insert wires into connector plugs. Refer connector pinout tables Chapter interconnect diagrams Appendix Tighten connector screws. Gently pull each wire make sure does come terminal; reinsert tighten loose wires. Insert connector plug into module connector.
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Wiring Kinetix Drive Connectors
This section provides examples wiring tables assist making connections Kinetix drive.
Wire Safe Torque-off (STO) Connector
safe torque-off (STO) connector pinouts, feature descriptions, wiring information, refer Chapter page 147.
Wire Back-up Power (BP) Connector
Kinetix Drive, Front View
+24V RETURN
Table Back-up Power (BP) Connector
Drive Cat. Terminals +24V -24V Recommended Wire Size (AWG) (16) Strip Length (in.) (0.25) Torque Value (4.5)
2097-V3xPRx
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Wire Input Power (IPD) Connector
Kinetix Drive View
L2/N
L2/N
Table Input Power (IPD) Connector
Drive Cat. 2097-V31PR0 2097-V32PR0 2097-V32PR2 2097-V33PR1 2097-V33PR3 2097-V34PR3 2097-V34PR5 2097-V34PR6 2097-V32PR4 2097-V33PR5 2097-V31PR2 2097-V33PR6
Applies 2097-V33PRx, 2097-V34PRx drive modules. Applies 2097-V31PRx drive modules. Applies 2097-V32PRx drive modules.
Terminals
Recommended Wire Size (AWG)
Strip Length (in.)
Torque Value
(14) L2/N (12) (10)
(0.28)
(4.5)
(0.28) (0.28)
(4.5) 0.56.0.79 (5.0.7.0)
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Wire Motor Power (MP) Connector
Connections motor power (MP) connector include rotary motors, rotary motor driven actuators.
Kinetix Drive Bottom View
Table Motor Power (MP) Termination Specifications
Drive Cat. 2097-V31PR0 2097-V31PR2 2097-V32PR0 2097-V32PR2 2097-V32PR4 2097-V33PR1 2097-V33PR3 2097-V33PR5 2097-V34PR3 2097-V34PR5 2097-V34PR6 2097-V33PR6 Terminals Recommended Wire Size (AWG) Strip Length (in.) Torque Value
(14)
(0.28)
(4.5)
(12)
Cable Shield Terminations
Factory-supplied motor power cables MP-Series TL-Series motors actuator shielded. braided cable shield must terminate near drive during installation. Remove small portion cable jacket expose shield braid clamp exposed shield panel.
ATTENTION: avoid hazard electrical shock, ensure shielded power cables grounded minimum point safety.
IMPORTANT
TL-Series motors, also connect (6.0 in.) termination wire closest earth ground. Refer Pigtail Terminations page more information.
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Pigtail Terminations
TL-Series motors have short pigtail cable that connects motor, shielded. preferred method grounding TL-Series power cable motor side expose section cable shield clamp directly machine frame. motor power cable also (6.0 in.) shield termination wire with ring that connects closest earth ground. this method addition cable clamp. termination wire extended full length motor pigtail necessary, best connect supplied wire directly ground without lengthening.
Figure Pigtail Terminations
Motor Power Cable Cable Braid Clamped Machine Frame Connectors Pigtail Cable TL-Series Motor Machine Frame
(6.0) Termination
Remove paint from machine frame sure proper HF-bond between machine frame motor case, shield clamp, ground stud.
Table Motor Power Cable Compatibility
Motor/Actuator Connector Motor/Actuator Cat. MPL-A/B15xxx-4xAA MPL-A/B2xxx-4xAA MP-Series (Bulletin MPL) MPL-A/B3xxx-7xAA, MPL-A/B4xxx-7xAA, MPL-A/B45xxx-7xAA MPS-A/Bxxxx Circular MPAS-A/Bxxxx MPAR-A/B1xxx MPAR-A/B2xxx MPM-A/Bxxxx MPF-A/Bxxxx MPAR-A/B3xxx MPAI-A/Bxxxx Circular Plastic TLY-Axxxx TLAR-Axxxx 2090-CPBM6DF-16AAxx (standard) 2090-CPWM6DF-16AAxx (standard) 2090-XXNPMF-xxSxx (standard) 2090-CPBM7DF-xxAFxx (continuous-flex) 2090-CPWM7DF-xxAFxx (continuous-flex) Motor Power Cables (with brake wires) 2090-XXNPMF-xxSxx (standard) 2090-CPBM4DF-xxAFxx (continuous-flex) 2090-XXNPMF-xxSxx (standard) 2090-CPBM7DF-xxAFxx (continuous-flex) 2090-XXNPMF-xxSxx (standard) 2090-CPBM4DF-xxAFxx (continuous-flex) Motor Power Cables (without brake wires) 2090-CPWM4DF-xxAFxx (continuous-flex) 2090-CPWM7DF-xxAFxx (continuous-flex)
MP-Series (Bulletin MPS) MP-Series (Bulletin MPAS) MP-Series (Bulletin MPAR) MP-Series (Bulletin MPM) MP-Series (Bulletin MPF) MP-Series (Bulletin MPAR) MP-Series (Bulletin MPAI) TL-Series (Bulletin TLY) TL-Series (Bulletin TLAR)
2090-CPWM4DF-xxAFxx (continuous-flex)
motors with circular connectors, either 2090-CPxM7DF-xxAFxx, 2090-CPxM4DF-xxAFxx, 2090-XXNPMF-xxSxx cables compatible. However, must remove motor-side o-ring when using 2090-CPxM7DF-xxAFxx cables.
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This diagram shows example three-phase power wires motors/actuators that have brakes. Thermal switch wires included feedback cable. Refer Kinetix Drive/Rotary Motor Wiring Examples beginning page interconnect diagrams.
Figure Motor Power Terminations (three-phase wires only)
Motor Power (MP) Connector Plug
Motor Cable Shield Clamp Kinetix Drive
cable shield clamp shown above mounted subpanel. Ground secure motor power cable your system following instructions page
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This diagram shows example wiring with three-phase power wires brake wires. brake wires have shield braid (shown below gray) that folds back under cable clamp before conductors attached motor brake circuit. Thermal switch wires included feedback cable. Refer Kinetix Drive/Rotary Motor Wiring Examples beginning page interconnect diagrams.
Figure Motor Power Terminations (three-phase brake wires)
Motor
Item
Description power supply Relay diode assembly Minimize unshielded wires brake circuit MP-Series cable brake wires
Item
Description (IOD) connector 2097-V3xPRx Kinetix drive Motor power (MP) connector Cable clamp
User supplied. Size required motor brake, Motor Brake Currents page 181. Configure emitter collector pair from Digital Outputs, OUT-1. OUT-4, pins 43.50, Brake+ Brake using MotionView software. Wire output sourcing brake engage disengage times motor selected. Motor brake active enable. Digital Output specifications, refer page Diode 1N4004 rated 400V Interconnect Diagram Notes beginning page 174. Exposed shield under clamp place within 50.75 (2.3 in.) drive, page details.
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Cable shield lead preparation provided with most Allen-Bradley cable assemblies. Follow these guidelines your motor power cable shield wires require preparation.
Figure Cable Shield Lead Preparation
Strip Length (see table below)
Outer Insulation
Motor Power Cable Exposed Braid 25.4 (1.0 in.) required have ground clamp within 50.75 (2.3 in.) drive.
Refer Shunt Resistor Wiring Example beginning page interconnect diagrams.
Table Motor Power (MP) Connector
MP-Series TL-Series Servo Motor Brown Black Blue Green/Yellow Terminal
Table Motor Power (MP) Termination Specifications
Drive Cat. 2097-V31PR0 2097-V31PR2 2097-V32PR0 2097-V32PR2 2097-V32PR4 2097-V33PR1 2097-V33PR3 2097-V33PR5 2097-V34PR3 2097-V34PR5 2097-V34PR6 2097-V33PR6 Terminals Recommended Wire Size (AWG) Strip Length (in.) Torque Value
(14)
(0.28)
(4.5)
(12)
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Apply Motor Cable Shield Clamp
This procedure assumes have completed wiring your motor power (MP) connector ready apply cable shield clamp. Follow these steps apply motor cable shield clamp. Locate suitable position installing cable shield clamp within 50.75 (2.3 in.) drive.
Motor Power Ground Shield Clamp
(1.0)
34.0 (1.34)
12.7 (0.50)
Dimensions (in.).
50.75 (2.3) 50.75 (2.3)
panel painted, remove paint provide metal-to-metal contact.
drill holes cable clamp.
ATTENTION: Plan installation your system that perform cutting, drilling, tapping, welding with system removed from enclosure. Because system open type construction, careful keep metal debris from falling into Metal debris other foreign matter become lodged circuitry, which result damage components.
Locate position motor power cable that comes under clamp remove about inch cable jacket expose shield braid. Position exposed portion cable braid directly line with clamp. Clamp exposed shield panel using clamp #6-32 screws provided. Repeat step 1.step each Kinetix drive installing.
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Feedback Cable Connections
Factory made cables with premolded connectors designed minimize recommended over hand-built cables improve system performance. However, other options available building your feedback cables.
Table Options Connecting Motor Feedback
Connection Option Premolded connectors Low-profile connector Terminal Block
Cat. 2090-K2CK-D15M 2097-TB1
Cable Motor feedback Motor feedback interface Master Gearing mode
Using This Type Cable Refer table below premolded motor feedback cable available your motor. Refer table below flying-lead cable available your motor. User-supplied flying-lead cable.
Table Motor Feedback Cables Specific Motor/Feedback Combinations
Motor Cat. MPL-A/B15xxx-V/Ex4xAA, MPL-A/B2xxx-V/Ex4xAA MPL-A/B15xxx-Hx4xAA, MPL-A/B2xxx-Hx4xAA MPL-A/B3xxx-M/Sx7xAA, MPL-A/B4xxx-M/Sx7xAA, MPL-A/B45xxx-M/Sx7xAA MPL-A/B3xxx-Hx7xAA, MPL-A/B4xxx-Hx7xAA, MPL-A/B45xxx-Hx7xAA MPM-A/Bxxxxx-M/S MPF-A/Bxxxx-M/S MPAR-A/B3xxxx MPAI-A/Bxxxx MPS-A/Bxxxx-M/S MPAS-A/Bxxxx-V/A MPAR-A/B1xxxx, MPAR-A/B2xxxx TLY-Axxxx-B TLAR-Axxxxx TLY-Axxxx-H High-resolution encoder Incremental encoder 2090-CFBM6DD-CCAAxx High-resolution encoder 2090-XXNFMF-Sxx (standard) 2090-CFBM4DF-CDAFxx (continuous-flex) Feedback Type High-resolution encoder Incremental encoder High-resolution encoder Feedback Cable Premolded Flying-lead 2090-XXNFMF-Sxx (standard) 2090-CFBM4DF-CDAFxx (continuous-flex) Pinout
Incremental encoder
2090-XXNFMF-Sxx (standard) 2090-CFBM7DF-CDAFxx (continuous-flex)
page
2090-CFBM6DF-CBAAxx (standard)
page
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Flying-lead Feedback Cable Pin-outs
Table 2090-XXNFMF-Sxx 2090-CFBMxDF-CDAFxx Feedback Cable
Connector Sin+ SinCos+ CosData+ DataReserved Reserved EPWR_9V ECOM TSReserved Reserved Reserved High-resolution Feedback Encoder Encoder Sin+ SinCos+ CosData+ DataEPWR_5V ECOM Reserved Reserved TSReserved Reserved Reserved Incremental Feedback Encoder AMBM+ BMIM+ IMEPWR_5V ECOM Reserved Reserved TSS1 Drive Connector
Table 2090-CFBM6DF-CBAAxx Feedback Cable
High Resolution Connector EPWR ECOM BATShield Reserved DATA+ DATAReserved TLY-Axxxx-B TLAR-Axxxxx BAT+ Incremental Feedback TLY-Axxxx-H Reserved AMBM+ BMIM+ IMS1 EPWR ECOM Shield Drive Connector BAT+ Connector housing
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Wiring Feedback Connectors
These procedures assume have mounted your Kinetix system, completed power wiring, ready connect motor feedback.
Wire Connector
Connect your wires connector using 2097-TB1 Terminal Expansion Block. Refer Kinetix Terminal Expansion Block Installation Instructions, publication 2097-IN005.
Figure Kinetix Drive (IOD connector terminal block)
2097-TB1 Terminal Expansion Block (IOD) Connector
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Wire Low-profile Connector
2090-K2CK-D15M low-profile connector suitable terminating flying-lead motor feedback cables. with Kinetix drive motors with incremental high-resolution feedback. 15-pin, male, D-sub connector compatible with Bulletin 2090 feedback cables. TLY-Axxxx-B rotary motors TLAR-Axxxxx electric cylinders also require 2090-DA-BAT2 battery back high-resolution encoder.
Figure Kinetix Drive connector)
Kinetix Drive, Side View (2097-V33PR5 drive shown)
Kinetix Drive, Front View (2097-V33PR5 drive shown)
2090-K2CK-D15M Connector with flying-lead feedback cable.
Motor Feedback (MF) Connector
Figure Wiring (15-pin) Flying-lead Feedback Cable Connections 2090-K2CK-D15M Connector
Bare Wires Wire Insulation Foil Shield Braided Shield
Bulletin 2090 Feedback Cable
15-pin (male) Motor Feedback Low-profile Connector Mounting Screws
3.6V battery (catalog number 2090-DA-BAT2) only required with TLY-Axxxx-B motors TLAR-Axxxxx electric cylinders (high-resolution 17-bit encoders). Refer Chapter feedback signal descriptions. Refer Appendix motor feedback interconnect drawing your application. Wrap
Outer Insulation
Profile Connector (2090-K2CK-D15M) Clamp
Exposed Braid Under Clamp Turn clamp over hold small wires secure. Refer Profile Connector Installation Instructions, publication 2093-IN005, connector specifications.
Bulletin 2090 Feedback Cable
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Shunt Resistor Connections
Follow these guidelines when wiring your 2097-Rx shunt resistor.
IMPORTANT When tightening screws secure wires, refer tables beginning page torque values. improve system performance, wires cables wireways established Chapter
IMPORTANT
Refer Shunt Resistors page noise zone considerations. Refer Shunt Resistor Wiring Example page 173. Refer installation instructions provided with your Bulletin 2097 shunt resistor, publication 2097-IN002.
Figure Brake/DC (BC) Connector
Kinetix Drive Front view shown.
Brake (BC) Connector
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Ethernet Cable Connections
This procedure assumes have your Logix Ethernet/IP module Kinetix drive mounted ready connect network cables. EtherNet/IP network connected using Port connector. Refer page locate Ethernet connector your Kinetix drive. Refer figure below locate connector your Logix communication module. Shielded Ethernet cable available lengths (256 ft). However, total length Ethernet cable connecting drive-to-drive, drive-to-controller, drive-to-switch must exceed (328 ft). entire channel constructed stranded cable fixed cable), then this equation calculating maximum length: Maximum Length (113-2N)/y, meters where number connections channel loss factor compared fixed cable (typically 1.2.1.5).
Figure CompactLogix Ethernet Port Location
CompactLogix Controller Platform 1769-L23E-QB1B Shown
CompactLogix L23E
Ethernet Port
Port Ethernet connection used connecting browser configuring your Logix module.
Figure Ethernet Wiring Example External Switch
CompactLogix Controller Platform 1769-L23E-QB1B Shown 1783-EMS08T Stratix 6000 Switch
CompactLogix L23E
Personal Computer
Kinetix Drives
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MotionView OnBoard Software Configuration
Introduction
This chapter provides information configuring MotionView OnBoard software your Kinetix drive.
Topic Introduction Drive Organizer Identification Motor Category General Category Communication Categories Input/Output Categories Limits Categories Dynamics Category Tools Category Monitor Category Faults Category Indexing Category Homing Category Page
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Drive Organizer Identification
left side MotionView software Drive Organizer. Drive Organizer displays node address drives that currently connected software lists categories each drive under drive node address. This section contains description parameters displayed each category listed Drive Organizer. Drive Identification displays drive address status. dialog displays drive identification information such catalog number firmware revision. this window, assign Drive Name Group
Drive Identification
Drive Organizer
Table Drive Identification Category
Parameter Name Description Value/Notes
Vector Hardware Deviation Processor Revision Revision Revision
Drive String
Drive identification string
Device Family
Firmware Revision
Drive Name Serial Number Group Motor Database Revision
Drive symbolic name Drive serial number Network group Allows assignment different drives into logical groups. motor database resides drive firmware.
user-defined characters Unique number assigned drive factory Range: 1.32767 this example
Motor Category
Allen-Bradley motors actuators with intelligent feedback devices automatically populated into motor configuration. this example, motor attached drive.
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Motor Database
Allen-Bradley motors actuators with incremental encoders, click Change Motor choose device from Motor Database. this example, MPL-B320P-H motor configured.
Table Motor Category
Parameter Name Motor Motor Model Motor Vendor Halls order Nominal phase current Maximum Velocity Number poles before quad Description Value/Notes
Motor serial number (for Rockwell Automation motor) Motor catalog number (for Rockwell Automation motor) Rockwell Automation Hallcode index Motor moment inertia Motor voltage back constant Motor torque force constant Motor phase-to-phase inductance Motor phase-to-phase resistance Motor current (RMS) Motor velocity Motor number poles Encoder resolution Range: Range: 0.0.1 Kg-m2 Range: 1.500 Range: 0.01.10 Range: 0.1.500 Range: 0.01.500 Range: 0.5.50 Range: 500.20,000 Range: 2.200 Range: (65536 12/Npoles) expressed Range: 50.80V
Nominal Drive Voltage Nominal Motor terminal voltage
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MotionView OnBoard Software Configuration
General Category
General category provides access basic configuration motion.
Table General Category
Parameter Name Current Limit Peak Current Limit Motor Temperature Sensor Enable Accel/Decel Limits Accel Limit Decel Limit Fault Reset Master System User Units Drive Mode Description Value/Notes
User lower this value. This lets trigger motor current Continuous current motor selected alarm. However, drive will limit actual current motor. actual current limit motor configurable. Peak current limit operation (based motor selected) Motor thermal protection function Enable Accel/Decel function/limits velocity mode Accel value velocity mode Decel value velocity mode Reset fault configuration Master system ratio (numerator) Master system ratio (denominator) User units Sets mode operation drive User lower this peak value limit current motor. below Current motor (tag #30). Disable Enable Disable Enable Range: 0.1.5,000,000 rpm/s Range: 0.1.5,000,000 rpm/s Manual Only Disable Master counts range: -32767.+32767 System counts range: 1.32767 Revolutions motor user unit Auto Tune EtherNet/IP External Reference Master Gearing Step Direction Analog Velocity Input Analog Current Input Indexing
default, these values based configured motor. these values lower than motor capabilities, drive will report CurrentLimitStatus EtherNet/IP Input assembly value, will clamp current output until reaches motor peak current. These values apply only drive Velocity mode over EtherNet/IP External Reference. Indexing mode, limits within individual indexes apply. Positioning mode, over EtherNet/IP External Reference, limits Output Assembly apply.
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Communication Categories
communication categories provide access setting address your drive object parameters used Input Output Assembly EtherNet/IP data links.
Ethernet Communication
Ethernet category provides access address configuration. configure your drive obtain address automatically using DHCP) values manually.
Table Ethernet Communication Category
Parameter Name Description address Subnet Mask Default Gateway Obtain Address using DHCP Ethernet address Ethernet NetMask Ethernet Gateway address DHCP Value/Notes address changes next powerup. value. Mask changes next powerup. value. Address changes next powerup. value. Checked DHCP service Unchecked Manual
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Ethernet (CIP) Communication
EtherNet/IP (CIP) category provides access modifiable drive object parameters that used Input Output Assembly EtherNet/IP data links.
Enable parameters determine parameter should copied into assembly.
Table Ethernet (CIP) Communication Category
Enable Output Assembly Links Enable Input Assembly Links Parameter Name Description Datalink input assembly Datalink input assembly Datalink input assembly Datalink input assembly Datalink output assembly Datalink output assembly Datalink output assembly Datalink output assembly Value/Notes UserDefinedIntegerData0 UserDefinedIntegerData1 UserDefinedIntegerReal0 UserDefinedIntegerReal1 UserDefinedIntegerData0 UserDefinedIntegerData1 UserDefinedIntegerReal0 UserDefinedIntegerReal1
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Input/Output Categories
Input/Output categories provide access configuration modifiable Digital Analog parameters.
Digital
IMPORTANT Drive object parameters type DINT used only integer data links, parameters type REAL used only float data links.
Table Digital Category
Parameter Name Description Configuration enable digital input Inhibit only. Must asserted before drive enabled. Run. Enables drive when asserted. Configuration action take when limit switches asserted. used Ramped Decel Disable Disable coast Parameter Name Description
Enable Switch Function
Input Function Configuration specific function individual digital inputs, pre-assigned inputs such Enable Registration configurable. Assigned Abort Homing Abort Index Start Homing Start Index Fault Reset Configure Home Sensor input from Homing Category.
Hard Limit Switches Action
Input B1.B4 Function
Input A1.A4 de-bounce time Input B1.B4 de-bounce time Input C1.C4 de-bounce time Output Function (OUT1) Output Function (OUT2) Output Function (OUT3) Output Function (OUT4) Configuration specific function individual digital outputs. Assigned Zero Speed Speed Window Current Limit time fault Ready Brake position Debounce time (0.1000 individual digital inputs.
Input Function
Input Function
Input Function Time (ms) from when drive enabled time that motion allowed begin (brake released). Time (ms) from when drive disabled time that motion stopped brake engaged.
Brake Release Delay
Brake Engage Delay
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Analog
Table Analog Category
Parameter Name Analog Input (current scale) Analog Input (velocity scale) Description Analog input current reference scale Analog input velocity reference scale Value/Notes Range: -1.2.+1.2 Amps/Volt Range: -10,000.+10,000 rpm/Volt assigned Phase Current (RMS) Phase Current (Peak Value) Motor Velocity Phase Current Phase Current Phase Current current current Range: 0.10 mV/rpm Range: 0.10 Range: 0.100
Analog Output
Analog output function
Analog Output (velocity scale) Analog Output (current scale) Analog Input Dead-Band Analog Input Offset
Analog output scale velocity quantities Analog output scale current related quantities Analog input dead-band. Applied when used current velocity reference. Analog input offset. Applied when used current/velocity reference
Range: -10,000.+10,000
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Limits Categories
Limits categories provide access configuration modifiable velocity position limit parameters.
Velocity Limits
Table Velocity Limits Category
Parameter Name Zero Speed Description Value user units/s below which drive will Zero Speed Digital Output configured) VelocityStandstillStatus EtherNet/IP Input Assembly. Value user units/s target velocity which drive will In-Speed Window Digital Output configured) VelocityLockStatus EtherNet/IP Input Assembly. range user units/s around Speed setting In-Speed Window Digital Output configured) VelocityLockStatus EtherNet/IP Input Assembly. Value/Notes Range: 0.100
Speed Window
Range: 10.10000 Range: -10000.+10000
Speed
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Position Limits
Table Position Limits Category
Parameter Name Error Time Description amount time that drive outside Position Error before drive asserts Excess Position Error Fault. deceleration rate that drive will bring motor stop when either Abort Homing Abort Index Digital Inputs asserted configured) either AbortIndex AbortHoming EtherNet/IP Output Assembly. tolerance around commanded position inside which drive will PositionLockStatus EtherNet/IP Input Assembly. tolerance around commanded position outside which drive will assert Excess Position Error Fault when Error Time exceeded. depending software travel limits should used. Value/Notes Range: 0.25.8000
Abort Decel
User units/s2
Position Limit
User units
Position Error
Encoder counts Disable Coast Ramped Decel Disable User units User units
Soft Limits Positive Limit Negative Limit
Soft Limits position that when reached, drive will assert Software Overtravel fault.
Soft Limits parameters only used Positioning mode.
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Dynamics Category
Dynamics category provides access configuration modifiable dynamics parameters.
Click Autotuning begin autotuning.
Table Dynamics Category
Parameter Name Velocity P-Gain Velocity I-Gain Position P-Gain Position I-Gain Position D-Gain Position I-Limit Description proportional integral gain (respectively) velocity loops. Gains based counts fundamental units they physical units. proportional, integral, derivative gain (respectively) position loops. Gains based counts fundamental units they physical units. clamping limit position loop I-gain compensator prevent excessive torque overshooting caused over accumulation I-Gain. factor applied gains velocity loop useful scaling gains when using encoders with high number counts revolution. Value/Notes Range: 0.32767 Range: 0.32767 Range: 0.32767 Range: 0.16383 Range: 0.32767 Range: 0.20000
Gain Scaling
Range: -16.+4
Servo Loop diagram page more information these parameters.
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Figure Servo Loop Diagram
Encoder Feedback Position D-Gain Target Position Position Error Position I-Gain Position P-Gain Difference Position Integrator
Saturation
Velocity Command
Target Velocity
Velocity Integrator
Filter
Filter Current Command
Velocity Error
Velocity I-Gain
Saturation Scalled Current Limit
GainScaling)
Velocity P-Gain
Feedback Low-pass Filter
Velocity Feedback
Tools Category
tools category provides access oscilloscope digitally monitor drive performance parameters.
Rockwell Automation Publication 2097-UM001B-EN-P August 2010
MotionView OnBoard Software Configuration
Chapter
Monitor Category
monitor category provides access pre-configured status information drive. This information displayed floating window that updates real time.
Table Monitor Category
Parameter Name Actual Velocity Description Actual measured motor velocity Value/Notes UU/s Input Input Input Input Input Input Input Input Input Input Input Input Output Output Output Output Volts Temperatures (104 Actual heat sink temperature Temperatures (104 Counts
Inputs
Digital inputs states
Outputs Analog Input Voltage Heatsink Temperature Counter
Digital outputs states. Writing these variables sets resets digital outputs that have been assigned special function. Analog Input AIN1 value Measured voltage Heatsink temperature Master Encoder (ME) input counter value, reset writing zero other value parameter.
Rockwell Automation Publication 2097-UM001B-EN-P August 2010
Chapter
MotionView OnBoard Software Configuration
Table Monitor Category (continued)
Parameter Name Phase Current Target Position (EC) Actual Position (EC) Position Error (EC) Registration Position (EC) Registration Position Target Position Actual Position Position Error Description Phase current Target position Actual position Position error Registration position Registration position Target position Actual position Position error Value/Notes Amps Encoder pulses Encoder pulses Encoder pulses Encoder counts User units User units User units Encoder counts
Faults Category
Faults category provides access configuration modifiable fault parameters.
Table Faults Category
Parameter Name Last Fault Code Device Time Load Faults Clear Fault History Clear Faults Description Fault E-code time since powerup drive that fault occurred. Recall last faults drive reported. Clear fault history drive. Clear current fault drive. Value/Notes Same fault code that displayed servo drive display.
Rockwell Automation Publication 2097-UM001B-EN-P August 2010
MotionView OnBoard Software Configuration
Chapter
Indexing Category
software onboard indexing operation accessed MotionView OnBoard program also configurable over EtherNet/IP connection using explicit messaging RSLogix 5000 RSLogix software. Indexing mode, Kinetix drive begins executing indexes based either command received over EtherNet/IP connection immediately upon assertion hardware enable signal.
Table Indexing Category
Parameter Name AutoStart Index Start Index Current Index Description Enable Auto Start index function Indexing mode when drive becomes enabled Indexing starts from index specified Index currently executing. This valid only Indexing mode. Value/Notes Disable Enable 0.31 0.31
Rockwell Automation Publication 2097-UM001B-EN-P August 2010
Chapter
MotionView OnBoard Software Configuration
When Kinetix drive Indexing mode drive performs required index based position move, each index, according parameters shown below. Kinetix drive supports indexes. drive validates index table before execution. During validation, drive encounters error such index entries that contain invalid values, drive issues fault does allow execution index table until anomaly been corrected.
Table Index 00.31
Parameter Name Description Value/Notes Absolute Incremental Registration absolute Registration incremental Blended Trapezoidal S-curve 1.268435.4560 User Units 1.2147483647 0.65535 0.0000.10,000,000.0000 User Units/s 0.0000.10,000,000.0000 User Units/s 0.0000.10,000,000.0000 User Units/s 0.31 Stop Wait start Next index
Index Type
Absolute with without registration, incremental with without registration, blended incremental.
Move Distance
Trapezoidal S-curve. incremental distance move target position, based Index Type.
Register Distance Batch Count Dwell Velocity Accel Decel Next Index Action many times execute index before moving next index. time remain position before moving next index. This applied between batches. target speed when moving towards position. acceleration rate low, axis actually reach target velocity. rate accelerate towards configured velocity. rate decelerate towards zero-velocity from configured-velocity. next index execute after current index completes. What when current index complete.
numbers this example Index Refer Table Table page Numerical values example) menu choices appear only explicit messages sent when using RSLogix 5000 RSLogix software.
Rockwell Automation Publication 2097-UM001B-EN-P August 2010
MotionView OnBoard Software Configuration
Chapter
Table Numbers Indexes 00.15
Parameter Name Index Type Move Distance Register Distance Batch Count Dwell Velocity Accel Decel Next Index Action
Table Numbers Indexes 16.31
Parameter Name Index Type Move Distance Register Distance Batch Count Dwell Velocity Accel Decel Next Index Action
Rockwell Automation Publication 2097-UM001B-EN-P August 2010
Chapter
MotionView OnBoard Software Configuration
Registration Distance
Registration Distance relative distance motor travels beyond position when registration digital input detected. indexing configuration Type Registration Absolute Registration Incremental, must also configure Registration Distance parameter. Registration Index mode, drive moves motor from starting position specified Distance, provided registration sensor input detected. registration sensor input detected, move adjusted such that position determined Registration Distance setting.
Figure Registration Index Type
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