Allen-Bradley Kinetix 3 AP0, AP1, AP2, AP4, AP8, A10, A15 Servo Drives User Manual

User Manual

Kinetix 3 Component Servo Drives

Catalog Numbers 2071-AP0, 2071-AP1, 2071-AP2, 2071-AP4, 2071-AP8, 2071-A10, 2071-A15

Important User Information

Solid-state equipment has operational characteristics differing from those of electromechanical equipment. Safety

Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1

available from your local Rockwell Automation sales office or online at http://www.rockwellautomation.com/literature/ ) describes some important differences between solid-state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid-state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,

Inc., is prohibited.

Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.

ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence

SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.

BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures.

IMPORTANT

Identifies information that is critical for successful application and understanding of the product.

Allen-Bradley, Kinetix, LDC-Series, LDL-Series, MicroLogix, MP-Series, Rockwell Automation, Rockwell Software, RSLogix 500, RSLogix 5000, TechConnect, and TL-Series are trademarks of Rockwell Automation, Inc.

Trademarks not belonging to Rockwell Automation are property of their respective companies.

Table of Contents

Preface

Start

Installing the Kinetix 3 Drive

System

About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Chapter 1

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

About the Kinetix 3 Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

CE Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Chapter 2

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

System Design Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

System Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Fuse Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Sizing the Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Electrical Noise Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Bonding Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Bonding Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Establishing Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Cable Categories for Kinetix 3 Drive Components . . . . . . . . . . . . . . 21

Noise Reduction Guidelines for Drive Accessories. . . . . . . . . . . . . . . 21

Mount Your Kinetix 3 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Chapter 3

Kinetix 3 Drive Connector Data

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Kinetix 3 Drive Connectors and Indicators. . . . . . . . . . . . . . . . . . . . . . . . . 24

I/O (IOD) Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Motor Feedback (MF) Connector Pinout . . . . . . . . . . . . . . . . . . . . . . 27

Input Power Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Shunt Resistor Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Motor Power Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Motor Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Motor Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Feedback Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Control Signal Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Serial Interface Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

3

Table of Contents

4

Chapter 4

Connecting the Kinetix 3 Drive

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Understanding Basic Wiring Requirements. . . . . . . . . . . . . . . . . . . . . . . . . 45

Building Your Own Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Routing Power and Signal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Determining Your Type of Input Power . . . . . . . . . . . . . . . . . . . . . . . . 47

Three-phase Power Wired to Three-phase Drives. . . . . . . . . . . . . . . . 47

Single-phase Power Wired to Single-phase Drives. . . . . . . . . . . . . . . . 49

Isolation Transformer in Grounded Power Configurations. . . . . . . 49

Three-phase Power Wired to Single-phase Drives. . . . . . . . . . . . . . . . 50

Grounding Your Kinetix 3 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Grounding Your System to the Subpanel . . . . . . . . . . . . . . . . . . . . . . . 51

Power Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Shunt Resistor Power Wiring Requirement . . . . . . . . . . . . . . . . . . . . . 54

Wiring Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Wiring the Kinetix 3 Drive Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Wire the Input Power (IPD) and Motor Power (MP) Connectors 55

Shunt Resistor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Apply the Motor Cable Shield Clamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Feedback and I/O Cable Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Flying-lead Feedback Cable Pin-outs . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Wiring the I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Wiring the Feedback Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Connecting Premolded Motor Feedback Cables. . . . . . . . . . . . . . . . . 67

Wiring the Feedback Breakout Board. . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Serial Communication Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . 70

Configure and Start Up the

Kinetix 3 Drive

Chapter 5

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Keypad Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Status Display/Operation Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Download Ultraware Software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Configuring the Communication Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Configure Your Kinetix 3 Drive for RS-232 Communication with

Personal Computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Configure Your Kinetix 3 Drive for RS-485 Communication with

MicroLogix Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Apply Power to Your Kinetix 3 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Detect Your Kinetix 3 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Understanding the Workspace and Drive Branches. . . . . . . . . . . . . . 84

Select a Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Tune Your Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Configure Displayed Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Test Your Motor (non-indexing move) . . . . . . . . . . . . . . . . . . . . . . . . . 91

Test Your Motor (indexing move). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Table of Contents

Maintaining and

Troubleshooting Your Kinetix 3

Servo Drive

Chapter 6

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Maintaining Your Kinetix 3 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

General Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Overtravel Condition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Fault Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Warning Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Error Displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Appendix A

Specifications and Dimensions

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Kinetix 3 Drive Power Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

Fuse/Contactor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Power Dissipation Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Maximum Feedback Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Weight Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Environmental Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

AC Line Filter Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

Replacement Battery Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

Product Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

Interconnect Diagrams

Appendix B

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Kinetix 3 Drive/Rotary Motor Wiring Examples . . . . . . . . . . . . . . . 114

Kinetix 3 Drive/Linear Motor and Actuator Wiring Examples . . 115

Kinetix 3 Drive/Micrologix Controller Wiring Examples . . . . . . . 117

Motor Brake Currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

Index

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

5

Table of Contents

Notes:

6

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Preface

About This Publication

This manual provides detailed installation instructions for mounting, wiring, and troubleshooting your Kinetix 3 drive, and system integration for your drive/ motor combination with a MicroLogix controller.

Who Should Use This

Manual

This manual is intended for engineers or technicians directly involved in the installation and wiring of the Kinetix 3 drive and programmers directly involved in operation, field maintenance, and integration of the Kinetix 3 drive.

If you do not have a basic understanding of the Kinetix 3 drive, contact your local

Rockwell Automation sales representative for information on available training courses.

Conventions Used in This

Manual

The conventions starting below are used throughout this manual.

•

Bulleted lists such as this one provide information, not procedural steps

•

Numbered lists provide sequential steps or hierarchical information

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

7

8

Preface

Additional Resources

These documents contain additional information concerning related Rockwell

Automation products.

Resource Description

Kinetix 3 Component Servo Drive Installation Instructions, publication 2071-IN001 Information on installing your Kinetix 3 drive system.

Kinetix 3 I/O Breakout Board Installation Instructions, publication 2071-IN002

Kinetix 3 Feedback Breakout Board Installation Instructions, publication 2071-IN003

Serial Communication Cables Installation Instructions, publication 2090-IN019

Information on installing and wiring the Kinetix 3 I/O breakout board.

Information on installing and wiring the Kinetix 3 feedback breakout board.

Information on installing and schematics for the serial communication cables used with Kinetix 3 drive.

MicroLogix 1100 Programmable Controllers User Manual, publication 1763-UM001

MicroLogix 1400 Programmable Controllers User Manual, publication 1766-UM001

Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1

Kinetix 3 Component Servo Drive Serial Host Command Reference Manual, publication 2071-RM001

Information on how to install, wire, and troubleshoot your controller.

Information on how to install, wire, and troubleshoot your controller.

Provides general guidelines for installing a Rockwell Automation industrial system.

Information on the serial communication commands, both ASCII and

ModBus-RTU, for interfacing a motion controller with the Kinetix 3 drive.

Ultraware Software User Manual, publication 2098-UM001

Product Certifications website, http://www.ab.com

System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001

Kinetix Motion Control Selection Guide, publication GMC-SG001

Information on Ultraware software used to configure and operate

Kinetix 3 drives, or when designing, testing or running C language programs or cam tables on these drives.

Provides declarations of conformity, certificates, and other certification details.

Information, examples, and techniques designed to minimize system failures caused by electrical noise.

Specifications, motor/servo-drive system combinations, and accessories for Kinetix motion control products.

Drive and motor sizing with application analysis software.

Motion Analyzer CD, download at http://www.ab.com/motion/software/ analyzer_download.html

Rockwell Automation Configuration and Selection Tools, website http://www.ab.com/e-tools

Rockwell Automation Product Certification, website http://www.rockwellautomation.com/products/certification

National Electrical Code, published by the National Fire Protection Association of

Boston, MA

Rockwell Automation Industrial Automation Glossary, publication AG-7.1

Online product selection and system configuration tools, including

AutoCAD (DXF) drawings.

For declarations of conformity (DoC) currently available from

Rockwell Automation.

An article on wire sizes and types for grounding electrical equipment.

A glossary of industrial automation terms and abbreviations.

You can view or download publications at http://www.rockwellatuomation.com/literature . To order paper copies of technical documentation, contact your local Rockwell Automation distributor or sales representative.

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Introduction

Chapter

1

Start

Use this chapter to become familiar with the Kinetix 3 drive components. This chapter also reviews design and installation requirements for Kinetix 3 drive systems.

Topic

Introduction

About the Kinetix 3 Drive System

Agency Compliance

Page

9

10

12

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

9

Chapter 1 Start

About the Kinetix 3 Drive

System

The Kinetix 3 component servo drive is designed to provide a solution for applications with output power requirements between 0.6...9.9A rms (50…1500

W).

Table 1 - Kinetix 3 Drive System Overview

Kinetix 3 System

Component

Kinetix 3 component servo drive

Cat. No.

2071-A

xxx

Description

AC line filters

Limited I/O adaptor board

2090-XXLF-TC316 and

2090-XXLF-TC116

2071-TBIO

Motor feedback adaptor board 2071-TBMF

Ultraware software

3.6V Battery

Rotary servo motors

Linear actuators

Linear motors

Cables

2098-UWCPRG

Customer supplied

TL-Series

MP-Series and TL-Series

LDC-Series and LDL-Series

TL-Series motor power, feedback, and brake cables

Kinetix 3 component servo drives are available with 230V

AC input power.

2090-XXLF-TC316 three-phase or 2090-XXLF-TC116 single-phase AC line filters are required to meet CE and available for use in 230V systems.

24-pin breakout board. Use with the Kinetix 3 drives (IOD connector) or for control interface connections it accesses

24 of the 50 pins of the I/O connector.

20-pin breakout board. Use with the Kinetix 3 drives (MF connector) or for motor feedback connections.

Kinetix 3 drives are configured by using Ultraware

Version 1.80 or higher.

3.6 Volt lithium battery necessary for absolute positioning with the TL-Series motors.

TL-Series motors are available for use with the Kinetix 3 drive. Important: Other motors can be used with a

Kinetix 3 drive, as long as they include incremental encoder feedback and Hall signals).

Compatible actuators include MP-Series direct drive

230V integrated linear stages and TL-Series electric cylinders.

Compatible linear motors include LDC-Series and LDL-

Series 230V linear motors.

Motor power, feedback, and brake cables include quick connect/quick-release connectors at the motor. Power and brake cables have flying leads on the drive end connectors that connect to servo motors. Standard feedback cables have angled, molded connectors on the drive end and connectors that connect to servo motors.

Drive mounted connector kits are also available.

MicroLogix 1100/1200/1400/

1500 platforms

1763-L16

xxx

1766-L32

xxx

1762-L24

xxx

1762-L40

xxx,

1764-24

xxx

1764-28

xxx

MicroLogix 1100 and 1400 programmable logic controllers with Modbus-RTU allow simple PLC-based motion solutions with the Kinetix 3 drive. In addition

MicroLogix 1200 and 1500 programmable logic controllers with pulse train outputs (PTO) can be used.

RSLogix 500 software 9324-RL0300ENE

RSLogix 500 provides support for programming, commissioning, and maintaining the SLC 500 and

MicroLogix controller families.

Serial communication cables

2090-CCMPCDS-23AAxx

2090-CCMCNDS-48AAxx

2090-CCMDSDS-48AAxx

Serial communication cables provide an interface between your system components by using RS-232 or RS-

485 protocols.

10

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Start

Chapter 1

Figure 1 - Typical Configuration - Kinetix 3 Servo Drive System

Ultraware Software

1766-L32

xxx

MicroLogix 1400

Controller

Line

Disconnect

Device

Three-phase

Input Power

Line Fusing

2090-XXLF-TC

xxx

AC Line Filter

(optional equipment)

2071-A

xxxx

Kinetix 3 Servo Drive

ESC

OK

2090-CP

xM6DF-16AAxx

Motor Power Cable

2090-CCMPCDS-23AA

xx

Programming Cable (programming only)

2090-CCMCNDS-48AA

xx

Controller Cable

2071-TBIO I/O

Breakout Board

(optional equipment)

2071-TBMF Motor Feedback

Breakout Board

(optional equipment)

2090-CFBM6DF-CBAA

xx

Motor Feedback Cable

MP-Series Integrated Linear Stages

MPAS-A

xxxx Linear

(direct drive) stage shown

TL-Series Rotary Motors

(TLY-A

xxxx motor shown)

TL-Series Electric Cylinders

(TLAR-A

xxxx electric cylinder shown)

LDL-Series Linear Motors

(LDL-

xxxxxxx linear motor shown)

LDC-Series Linear Motors

(LDC-C

xxxxxxx linear motor shown)

SERIE

S A

SERIAL

NO.

C-M0

XXXX

755

Figure 2 - Typical Configuration - Kinetix 3 Servo Drive System (alternate configurations)

2071-A

xxxx

Kinetix 3 Servo Drive

1766-L32

xxx

MicroLogix 1400 Controller

ESC

OK

2090-DANPT-16S

xx

Motor Power Cable

2090-DANFCT-S

xx

Motor Feedback Cable

2071-A

xxxx

Kinetix 3 Servo Drive

2090-CCMCNDS-48AA

xx

Controller Cable

2071-A

xxxx

Kinetix 3 Servo Drives

2090-CCMDSDS-48AA

xx

Drive-to-Drive Cable

TL-Series Rotary Motors

(TL-A

xxxx motor shown)

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

11

Chapter 1 Start

Catalog Number

Explanation

Kinetix 3 drive catalog numbers and descriptions are listed in the table.

Table 2 - Kinetix 3 Drive Catalog Numbers

Cat. No.

2071-AP0

2071-AP1

2071-AP2

2071-AP4

2071-AP8

2071-A10

2071-A15

Component Servo Drives

Kinetix 3, 230V AC, 1 Ø, 0.6 A

Kinetix 3, 230V AC, 1 Ø, 1.1 A

Kinetix 3, 230V AC, 1 Ø, 1.7 A

Kinetix 3, 230V AC, 1 Ø, 3.3 A

Kinetix 3, 230V AC, 1 or 3 Ø, 5.0 A

Kinetix 3, 230V AC, 3 Ø, 7.0 A

Kinetix 3, 230V AC, 3 Ø, 9.9 A

Agency Compliance

12

If this product is installed within the European Union and has the CE mark, the following regulations apply.

ATTENTION: Meeting CE requires a grounded system, and the method of grounding the AC line filter and drive must match. Failure to do this renders the filter ineffective and may cause damage to the filter.

For grounding examples, refer to Grounding Your Kinetix 3 Drive

on

page 51.

For more information on electrical noise reduction, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001 .

CE Requirements

To meet CE requirements, these requirements apply:

•

Install an AC line filter (catalog number 2090-XXLF-TCxxx) as close to the drive as possible.

•

Use 2090 series motor power cables and terminate the cable shields to the drive or subpanel.

•

Use 2090 series motor feedback cables and properly terminate the feedback cable shield. Drive-to-motor feedback cables must not exceed

30 m (98.4 ft). Drive-to-motor power cables must not exceed 30 m

(98.4 ft).

•

Install the Kinetix 3 system inside an enclosure. Run input power wiring in conduit (grounded to the enclosure) outside of the enclosure. Separate signal and power cables.

•

Segregate input power wiring and motor power cables from control wiring and motor feedback cables. Use shielded cable for power wiring and provide a grounded 360° clamp termination.

Refer to

Appendix B

on page 113

for interconnect diagrams, including input power wiring and drive/motor interconnect diagrams.

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Installing the Kinetix 3 Drive System

Chapter

2

Introduction

This chapter describes system installation guidelines used in preparation for mounting your Kinetix 3 drive components.

Topic

Introduction

System Design Guidelines

Electrical Noise Reduction

Mount Your Kinetix 3 Drive

Page

13

13

17

22

ATTENTION: Plan the installation of your system so that you can perform all cutting, drilling, tapping, and welding with the system removed from the enclosure. Because the system is of the open type construction, be careful to keep any metal debris from falling into it. Metal debris or other foreign matter can become lodged in the circuitry, which can result in damage to components.

System Design Guidelines

Use the information in this section when designing your enclosure and planning to mount your system components on the panel.

For on-line product selection and system configuration tools, including

AutoCAD (DXF) drawings of the product, refer to http://www.ab.com/e-tools .

System Mounting Requirements

•

To comply with UL and CE requirements, the Kinetix 3 system must be enclosed in a grounded conductive enclosure offering protection as defined in standard EN 60529 (IEC 529) to IP55 such that they are not accessible to an operator or unskilled person. A NEMA 4X enclosure exceeds these requirements providing protection to IP66.

•

The panel you install inside the enclosure for mounting your system components must be on a flat, rigid, vertical surface that will not be subjected to shock, vibration, moisture, oil mist, dust, or corrosive vapors.

•

Size the drive enclosure so as not to exceed the maximum ambient temperature rating. Consider heat dissipation specifications for all drive components.

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

13

Chapter 2 Installing the Kinetix 3 Drive System

•

Segregate input power wiring and motor power cables from control wiring and motor feedback cables. Use shielded cable for power wiring and provide a grounded 360º clamp termination.

•

Use high-frequency (HF) bonding techniques to connect the enclosure, machine frame, and motor housing, and to provide a low-impedance return path for high-frequency (HF) energy and reduce electrical noise.

•

Use 2090 series motor feedback cables or use connector kits and properly terminate the feedback cable shield. Drive-to-motor feedback cables must not exceed 30 m (98.4 ft). Drive-to-motor power cables must not exceed

30 m (98.4 ft).

IMPORTANT System performance was tested at these cable length specifications.

These limitations are also a CE requirement.

Refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001 , to better understand the concept of electrical noise reduction.

Fuse Selection

The Kinetix 3 drives use internal solid-state motor short-circuit protection and, when protected by suitable branch circuit protection, are rated for use on a circuit capable of delivering up to 100,000 A. Fuses or circuit breakers, with adequate withstand and interrupt ratings, as defined in NEC or applicable local codes, are permitted.

Refer to

Fuse/Contactor Specifications on page 105

for recommended fuses.

Refer to

Kinetix 3 Drive Power Specifications on page 104

for input current and inrush current specifications for your Kinetix 3 drive.

14

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Installing the Kinetix 3 Drive System

Chapter 2

Sizing the Enclosure

With no active method of heat dissipation (such as fans or air conditioning) either of these approximate equations can be used.

Metric Standard English

A =

0.38

Q

1.8T-1.1

A =

4.08

Q

T-1.1

Where T is temperature difference between inside air and outside ambient (°C), Q is heat generated in enclosure (Watts), and A is enclosure surface area (m

2

). The exterior surface of all six sides of an enclosure is calculated as

A = 2dw + 2dh + 2wh

Where d (depth), w (width), and h (height) are in meters.

Where T is temperature difference between inside air and outside ambient (°F), Q is heat generated in enclosure (Watts), and A is enclosure surface area (ft

2)

. The exterior surface of all six sides of an enclosure is calculated as

A = (2dw + 2dh + 2wh) /144

Where d (depth), w (width), and h (height) are in inches.

If the maximum ambient rating of the Kinetix 3 system is 50 °C (122 °F) and if the maximum environmental temperature is 30 °C (86 °F) then Q=416 and

T=20 in the equation below.

A =

0.38(416)

1.8(20) -1.1

~ 4.5 m

2

In this example, the enclosure must have an exterior surface of 4.53 m the calculation.

2

. If any portion of the enclosure is not able to transfer heat, it should not be included in

Because the minimum cabinet depth to house the 230V drive (selected for this example) is 200 mm (7.9 in.), then the cabinet needs to be approximately 2000 mm (high) x 850 mm (wide) x 200 mm (deep).

2 x (0.2 x 0.85) + 2 x (0.2 x 2.0) + 2 x (0.85 x 2.0) = 4.54m

2

Because this cabinet size is considerably larger than what is necessary to house the system components, it may be more efficient to provide a means of cooling in a smaller cabinet. Contact your cabinet manufacturer for options available to cool your cabinet.

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

15

Chapter 2 Installing the Kinetix 3 Drive System

Minimum Clearance Requirements

This section provides information to assist you in sizing your cabinet and positioning your Kinetix 3 system components.

IMPORTANT Mount the module in an upright position as shown. Do not mount the module on its side.

Figure 3

illustrates minimum clearance requirements for proper airflow and installation:

•

Additional clearance is required depending on the accessory items installed.

•

Additional clearance is required for the cables and wires connected to the front of the drive.

•

An additional 150 mm (6.0 in.) is required when the drive is mounted adjacent to noise sensitive equipment or clean wireways.

Refer to

page 109 for Kinetix 3 drive dimensions

Figure 3 - Minimum Clearance Requirements

50.0 mm (2.0 in.) clearance for airflow and Installation.

Allow 30 mm (1.18 in.) clearance to side wall of enclosure.

Allow 10 mm (0.39 in.) clearance between drives.

50.0 mm (2.0 in.) clearance for airflow and Installation.

Refer to

page 106 for power dissipation specifications.

16

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Installing the Kinetix 3 Drive System

Chapter 2

Electrical Noise Reduction

This section outlines best practices that minimize the possibility of noise-related failures as they apply specifically to Kinetix 3 system installations. For more information on the concept of high-frequency (HF) bonding, the ground plane principle, and electrical noise reduction, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001 .

Bonding Drives

Bonding is the practice of connecting metal chassis, assemblies, frames, shields, and enclosures to reduce the effects of electromagnetic interference (EMI).

Unless specified, most paints are not conductive and act as insulators. To achieve a good bond between drive and the subpanel, surfaces need to be paint-free or plated. Bonding metal surfaces creates a low-impedance return path for highfrequency energy

IMPORTANT To improve the bond between the drive and subpanel, construct your subpanel out of zinc plated (paint-free) steel.

Improper bonding of metal surfaces blocks the direct return path and allows high-frequency energy to travel elsewhere in the cabinet. Excessive highfrequency energy can effect the operation of other microprocessor controlled equipment.

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

17

Chapter 2 Installing the Kinetix 3 Drive System

Subpanel

Star Washer

Nut

The illustrations that follow show details of recommended bonding practices for painted panels, enclosures, and mounting brackets.

Figure 4 - Recommended Bonding Practices for Painted Panels

Stud-mounting the Subpanel to the Enclosure Back Wall

Back Wall of

Enclosure

Stud-mounting a Ground Bus or Chassis to the Subpanel

Subpanel

Mounting Bracket or

Ground Bus

Welded Stud

Flat Washer

Scrape Paint

Welded Stud

Use a wire brush to remove paint from threads to maximize ground connection.

Use plated panels or scrape paint on front of panel.

Nut

Star Washer

Flat Washer

If the mounting bracket is coated with a non-conductive material

(anodized or painted), scrape the material around the mounting hole.

Bolt-mounting a Ground Bus or Chassis to the Back-panel

Subpanel

Bolt

Tapped Hole

Ground Bus or

Mounting Bracket

Nut

Flat Washer

Nut

Flat Washer

Star Washer

Scrape paint on both sides of panel and use star washers.

Star Washer

Star Washer

If the mounting bracket is coated with a non-conductive material

(anodized or painted), scrape the material around the mounting hole.

18

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Installing the Kinetix 3 Drive System

Chapter 2

Bonding Multiple Subpanels

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

Figure 5 - Multiple Subpanels and Cabinet Recommendations

Wire Braid.

25.4 mm (1.0 in.) by

6.35 mm (0.25 in.)

Remove paint from cabinet.

Wire Braid.

25.4 mm (1.0 in.) by

6.35 mm (0.25 in.)

Ground bus bonded to the subpanel.

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

19

Chapter 2 Installing the Kinetix 3 Drive System

Establishing Noise Zones

When the several components such as AC line filter, contactors, circuit breaker, and transformer are used in the Kinetix 3 system, observe these guidelines when laying out your panel:

•

The clean zone (C) is beneath the Kinetix 3 drives and includes the I/O wiring, feedback cable, serial communication cable, and DC filter (grey wire way).

•

The dirty zone (D) is above the Kinetix 3 drives (black wire way) and includes the circuit breakers, transformer, 24V DC power supply, contactors, AC line filter, and motor power cables.

•

The very dirty zone (VD) is limited to where the AC line (EMC) filter

VAC output connects to the Kinetix 3 drives. Shielded cable is required only if the very dirty cables enter a wire way.

Figure 6 - Noise Zones for Installations With Bulletin 2090 AC Line Filter

Dirty Wireway

Circuit

Breaker

24V Motor

Brake PS

Clean Wireway

Very dirty zone EMC/drive connection segregated (not in wireway).

2071-AP0

Kinetix 3 Drive

D

2071-AP4

Kinetix 3 Drive

2071-A10

Kinetix 3 Drive

VD

(2)

No sensitive equipment within

150 mm (6.0 in.).

(2)

Optional

AC Line

Filter

Contactors

XFMR

(4)

(3)

DC

Filter

C

DC

Filter

(2)

Serial

Communication

(shielded) Cable

I/O

(1) and Feedback Cables C

Route encoder/analog/registration shielded cables.

I/O

(1),

Motor Power, and Safety Cables

D

Route 24V DC I/O

Shielded Cable

(1) If drive system I/O cable contains dirty relay wires, route cable in dirty wireway.

(2) For tight spaces use a grounded steel shield. For examples, refer to the System Design for Control of Electrical

Noise Reference Manual, publication GMC-RM001 .

(3) This is a clean 24V DC available for any device that may require it. The 24V enters the clean wireway and exits to the left.

(4) This is a dirty 24V DC available for motor brakes and contactors. The 24V enters the dirty wireway and exits to the right.

20

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Installing the Kinetix 3 Drive System

Chapter 2

Cable Categories for Kinetix 3 Drive Components

This table shows the zoning requirements of cables connecting to the Kinetix 3 drive components.

Table 3 - Kinetix 3 Drive Components

Wire/Cable Connector

Very

Dirty

X

Zone

Dirty Clean

Method

Shielded

Cable

L1, L2, L3, L1C, L2C (unshielded cable)

U, V, W (motor power)

Motor feedback

Analog outputs

Others

Analog output

Serial Communication

IPD

MP

MF

IOD

A.out

Comm0A

Comm0B

X

X

X

X

X

X

X

X

X

X

Noise Reduction Guidelines for Drive Accessories

Refer to this section when mounting an AC line filter or shunt resistor module for guidelines designed to reduce system failures caused by excessive electrical noise.

AC Line Filters

Observe these guidelines when mounting your AC line filter:

•

If using Bulletin 2090 ac line filter, mount the filter on the same panel as the Kinetix 3 drive and as close to drive as possible.

•

Good HF bonding to the panel is critical. For painted panels, refer to the examples on

page 18 .

•

Segregate input and output wiring as far as possible.

Motor Brake

The brake is mounted inside the motor. How you connect to the drive depends on the motor series.

Refer to Kinetix 3 Drive/Rotary Motor Wiring Examples beginning on page 114

for the interconnect diagram of your drive/motor combination.

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

21

Chapter 2 Installing the Kinetix 3 Drive System

Mount Your Kinetix 3 Drive

The procedures in this section assume you have prepared your panel and understand how to bond your system. For installation instructions regarding other equipment and accessories, refer to the instructions that came with each of the accessories for their specific requirements.

ATTENTION: This drive contains electrostatic discharge (ESD) sensitive parts and assemblies. You are required to follow static control precautions when you install, test, service, or repair this assembly. If you do not follow ESD control procedures, components can be damaged. If you are not familiar with static control procedures, refer to Allen-Bradley publication 8000-4.5.2

, Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook.

Follow these steps to mount your Kinetix 3 drive.

1. Layout the position for the Kinetix 3 and accessories in the enclosure (refer

to Establishing Noise Zones on page 20

for panel layout recommendations).

Mounting hole dimensions for the Kinetix 3 are shown in

Appendix A .

2. Attach the Kinetix 3 drive to the cabinet, first using the upper mounting slots of the drive and then the lower.

The recommended mounting hardware is M4 (#6-32) steel machine screw torqued to 1.1 N•m (9.8 lb•in). Observe bonding techniques as described

in Bonding Drives on page 17

.

IMPORTANT To improve the bond between the Kinetix 3 drive and subpanel, construct your subpanel out of zinc plated (paint-free) steel.

3. Tighten all mounting fasteners.

22

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Introduction

Chapter

3

Kinetix 3 Drive Connector Data

This chapter provides power, feedback, and I/O connector locations and signal descriptions for your Kinetix 3 drive.

Topic Page

Introduction

Kinetix 3 Drive Connectors and Indicators

Motor Feedback Specifications

Control Signal Specifications

23

24

29

34

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

23

Chapter 3 Kinetix 3 Drive Connector Data

Kinetix 3 Drive Connectors and Indicators

Although the physical size of the higher current drives is larger, the location of the connectors and indicators is identical.

Figure 7 - Kinetix 3 Drive Connector and Indicators

16

15

1

14

13

12

2

3

11

4

5

6

7

10

6

7

4

5

8

2

3

Item

1

Description

Left/right and up/down keys

Analog output (A.out) connector

RS-485 communication termination switch

Input power (IPD) connector

Main power indicator

Shunt resistor (BC) connector

Motor power (MP) connector

Ground lug

(1)

(1)

2071-AP4 Kinetix 3 and larger drives have 2 ground screws.

8

12

13

14

15

16

Item

9

10

11

9

Description

Motor feedback (MF) connector

Input/output (IOD) connector

Serial interface (Comm0B) (down) port

Serial interface (Comm0A) (up) port

Enter key

Mode/set key

7-segment status indicator

2071-AP0 Kinetix 3 drive shown

24

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Kinetix 3 Drive Connector Data

Chapter 3

Table 4 - Kinetix 3 Drive Connectors

Designator Description

A.out

Analog output

IPD

BC

AC and control power input

Shunt power

MP

CommOA

CommOB

IOD

MF

Motor power

Serial interface up

Serial interface down

Motor feedback

Table 5 - Analog Output (A.out) Connector

2

3

A.out Pin Description

1 Analog output #1

4

Analog output #1 ground

Analog output #2

Analog output #2 ground

Signal

AOUT1

ACOM

AOUT2

ACOM

Connector

4-pin connector header

6-pin quick-connect terminal block

2-pin quick-connect terminal block

3-pin quick-connect terminal block

6-pin IEEE 1394 connector

6-pin IEEE 1394 connector

20-pin mini-D connector

Figure 8 - Pin Orientation for 4-pin Header (A.out) Connector

Pin 2

Pin 1

Pin 4

Pin 3

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

25

Chapter 3 Kinetix 3 Drive Connector Data

15

19

20

21

22

16

17

18

23

24

25

13

14

7

8

9

10

11

12

5

6

3

4

IOD Pin

1

2

Description

24V power supply input

24V power supply input

Digital input 1 (/SV-ON)

Digital input 2 (P-OT)

Digital input 3 (N-OT)

Digital input 4 (/P-CON)

Digital input 5 (A-RST)

Digital input 6 (/N-TL)

Digital input 7 (/P-TL)

ESTOP (default: disable)

Follower input A+

Follower input A-

Follower input B+

Follower input B-

High frequency pulse input A+

High frequency pulse input A-

Encoder z-pulse

Encoder z-pulse

Velocity command input+

Velocity command input-

Current command input+

Current command input-

High frequency pulse input B+

High frequency pulse input B-

O/C for sign of 24V level

I/O (IOD) Connector Pinout

Signal IOD Pin Description

24V COM

24V COM

26

27

Digital input 8

Digital input 9

INPUT1

INPUT2

INPUT3

INPUT4

INPUT5

INPUT6

INPUT7

ESTOP

PLUS +

PLUS -

32

33

34

35

28

29

30

31

36

37

SIGN +

SIGN -

HF_PULS +

HF_PULS -

Z-PULSE+

Z-PULSE-

VCMD+

VCMD-

ICMD+

ICMD-

HF_SIGN +

HF_SIGN -

24V_SIGN +

38

39

40

44

45

46

47

41

42

43

48

49

50

Digital input 10

Buffered encoder channel A+

Buffered encoder channel A-

Buffered encoder channel B+

Buffered encoder channel B-

Buffered encoder channel Z+

Buffered encoder channel Z-

Serial data of absolute encoder

Serial data of absolute encoder

Alarm output 1

Digital output4

Alarm output 2

Digital output5

Alarm output 3

Digital output6

Alarm output

Digital outputs ground

Digital output 1 + (P_COM+)

Digital output 1 – (P_COM-)

Digital output 2 + (TG_ON+)

Digital output 2 – (TG_ON-)

Servo alarm +

Servo alarm -

Digital output 3 + (BK+)

Digital output 3 – (BK-)

O/C for pulse of 24V level

Reserved

Figure 9 - Pin Orientation for 50-pin I/O (IOD) Connector

Pin 1 Pin 26

BM-

IM+

IM-

PS+

PS-

FAULT1

OUTPUT4

FAULT2

OUTPUT5

FAULT3

OUTPUT6

Signal

INPUT8

INPUT9

INPUT10

AM+

AM-

BM+

FCOM

OUT COM

OUTPUT1+

OUTPUT1-

OUTPUT2+

OUTPUT2-

FAULT+

FAULT-

OUTPUT3+

OUTPUT3-

24V_PULS +

—

26

Pin 25 Pin 50

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Kinetix 3 Drive Connector Data

Chapter 3

7

8

5

6

3

4

MF Pin Description

1

2

Encoder power ground

Thermal sensor input

(1)

A positive differential input

A negative differential input

9

10

B positive differential input

B negative differential input

Negative limit sensor input

Serial positive

Hall feedback S1

Motor Feedback (MF) Connector Pinout

Signal

ECOM

TS

A+

A-

B+

B-

Index positive differential input I+

Index negative differential input I-

LMT-

SD+

S1

MF Pin

15

16

17

18

11

12

13

14

19

20

Description

Reserved

Reserved

Serial negative

Hall feedback S2

Reserved

Hall feedback S3

Positive limit sensor input

BAT+ for motor side

BAT- for motor side

Encoder +5 input power

(1) Not applicable unless motor has integrated thermal protection.

Figure 10 - Pin Orientation for 20-pin Motor Feedback (MF) Connector

Signal

—

—

SD-

S2

—

S3

LMT+

—

—

EPWR

Pin 1 Pin 11

Pin 10 Pin 20

Table 6 - Serial Interface (Comm0A and CommOB) Connector

5

6

3

4

1

2

Comm0A or

CommOB

Pin

Description

RS-232 transmit

RS-232 receive

Reserved

+5V power ground

RS-485 +

RS-485 -

Signal

XMT

RCV

—

GND

DX+

DX-

Figure 11 - Pin Orientation for 6-pin Serial Interface (Comm0A and CommOB)

Connector

Pin 2

Pin 6

Pin 1

Pin 5

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

27

Chapter 3 Kinetix 3 Drive Connector Data

Input Power Connector Pinout

Table 7 - Input Power (IPD) Connector

IPD Pin

L1

L2

L3

L1C

L2C

DC

Description

Main AC power

Main AC power

Main AC power

L1C - Control power

L2C - Control power

Signal

L1

L2

L3

L1C

L2C

DC bus negative (not supported) DC-

Shunt Resistor Connector Pinout

Table 8 - Shunt Resistor (BC) Connector

BC Pin Description Signal

B1 B1

B2

Shunt resistor +

DC bus positive (not supported)

Shunt resistor B2

Motor Power Connector Pinout

Table 9 - Motor Power (MP) Connector

MP Pin Description

U

V

W

Motor power U

Motor power V

Motor power W

V

W

Signal

U

28

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Motor Feedback

Specifications

Kinetix 3 Drive Connector Data

Chapter 3

The Kinetix 3 drive accepts motor feedback signals from these types of encoders with these general specifications.

Table 10 - Motor Feedback General Specifications

Attribute

Feedback device support

Power supply voltage (EPWR5V)

Power supply current (EPWR5V)

Thermostat

Motor Feedback

• Generic TTL incremental

• Generic TTL incremental with Hall and thermistor sensors

• 17-bit Serial

5.08…5.45V

300 mA, max

Single-ended, under 1.6 k

= no fault, over

3.2 k

= fault

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

29

Chapter 3 Kinetix 3 Drive Connector Data

Motor Feedback Specifications

The Kinetix 3 drives support multiple types of feedback devices by using the

20-pin (MF) motor feedback connector and sharing connector pins in many cases.

Table 11 - Motor Feedback Signals by Device Type

MF Pin

Generic TTL

Incremental with Hall

Tamagawa 17-bit

Serial

–

S2

–

S3

–

–

-LIMIT

S1

BM+

BM-

IM+

IM-

ECOMM

TS+

(1)

AM+

AM-

+LIMIT

–

–

EPWR

13

14

15

16

9

10

11

12

17

18

19

20

7

8

5

6

3

4

1

2

–

–

–

DATA+

–

–

DATA-

–

–

–

–

–

–

–

ECOMM

–

–

BAT+

BAT-

EPWR

(1) If thermal sensor is used.

30

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Kinetix 3 Drive Connector Data

Chapter 3

This is the motor thermostat interface schematic. Although the thermostat signal is shown for all feedback types, some motors may not support this feature.

Figure 12 - Motor Thermostat Interface

Kinetix 3 Drive

+5V

+5V

6.8 k

Ω

1 k

Ω

TS

0.01 µF

State

No Fault

Fault

Resistance at TS

1.6 k



3.2 k



Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

31

Chapter 3 Kinetix 3 Drive Connector Data

Table 12 - Generic TTL Incremental Specifications

Attribute Value

TTL incremental encoder support

Quadrature interpolation

Differential input voltage

(AM, BM, and IM)

DC current draw

(AM, BM, and IM)

Input signal frequency

(1)

(AM, BM, and IM)

Edge separation

(1)

(AM and BM)

Hall inputs

(S1, S2, and S3)

5V, differential A quad B

4 counts/square wave period

0.5…2.5V

30 mA, max

3.5 MHz, max

50 ns min., between any two edges

0.5…2.5V, Single-ended, TTL, open collector, or none

(1) Propagation time differences in cables will reduce the edge separation by 0.2 ns per meter. Both the propagation time differences and the edge separation may reduce the maximum attainable input signal frequency.

Figure 13 - Generic TTL Incremental, AM, BM and IM Signals

Kinetix 3 Drive

+5V

4.7 k

Ω

AM +

BM + or IM+

AM -

BM or IM -

220 k

Ω

4.7 k

Ω

GND

Figure 14 - Generic TTL Interface, S1, S2, or S3 Signals

+5V

Kinetix 3 Drive

S1,

S2, or S3

4.7 k

Ω

1 k

Ω

10 nF

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Kinetix 3 Drive Connector Data

Chapter 3

Table 13 - 17-Bit Serial Specifications

Attribute Value

Memory support

Differential input voltage

Data communication

Battery

Programmed with Allen-Bradley motor data

1.0…7.0V

2.5 Mbps, 8 data bits, no parity

3.6V, located external to drive in breakout board

Feedback Power Supply

The Kinetix 3 drive generates +5V DC for motor feedback power. Short circuit protection and separate common mode filtering for each channel are included.

Table 14 - Motor Feedback Power Specifications

Attribute

Signal

Voltage

Current, mA min nominal max min max

Value

EPWR

5.08

5.25

5.45

10

300

Figure 15 - Pin Orientation for 20-pin Motor Feedback (MF) Connector

Pin 1 Pin 11

Pin 10 Pin 20

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Chapter 3 Kinetix 3 Drive Connector Data

Control Signal

Specifications

34

This section provides a description of the Kinetix 3 drive I/O (IOD) connector, analog output (A.out) connector, and serial interface (Comm0A and Comm0B) ports.

Digital Inputs

The Kinetix 3 drive contains 10 assignable digital inputs, INPUT1…INPUT10, sharing a common power supply, 24V COM. These functions can be associated with an assignable digital input:

•

Alternate Gain Select

•

Current Limit – Negative

•

Current Limit – Positive

•

Drive Enable

•

Fault Reset

•

Integrator Inhibit

•

Operation Mode Override

•

Overtravel – Negative

•

Overtravel – Positive

•

Pause Follower

•

Position Strobe

•

Velocity Direction

•

Moving Enable

•

Preset Select 1

•

Preset Select 2

•

Preset Select 3

•

Reset Multiturn Data

•

Zero Speed Clamp Enable

•

Position Clear

•

Analog Speed Command Enable

•

2nd Electronic Gear Bank Selection

•

Home Sensor

•

Start Homing

•

Start Indexing

•

Stop Homing

•

Stop Indexing

•

Pause Indexing

•

Index Select 0

•

Index Select 1

•

Index Select 2

•

Index Select 3

•

Index Select 4

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Kinetix 3 Drive Connector Data

Chapter 3

•

Index Select 5

•

Gain Bank Select

All digital inputs can be active low or active high and depend on wiring method.

Active low, PNP, current sourcing - means connecting the input to the ground turns on the input. Active high, NPN, current sinking - means that connecting the input to the IO power turns on the input. This table lists specifications for the digital inputs.

The digital inputs are optically isolated and can be setup for PNP sourcing or

NPN sinking. Electrical details are shown in

Table 15 , Digital Input

Specifications . The inputs can be set up for PNP sourcing or NPN sinking.

Figure 16 - Digital Inputs (PNP sourcing configuration)

24V IN

Kinetix 3

Drive

3.3 K

Ω

+5V

4.7 K

Ω

-

+

24V Supply

0.01 µF

3300

Ω

Opto-coupler

INPUTS

Logic GND

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Chapter 3 Kinetix 3 Drive Connector Data

Figure 17 - Digital Inputs (NPN sinking configuration)

24V COM

Kinetix 3

Drive

3.3 K

Ω

+

-

24V Supply

0.01 µF

3300

Ω

+5V

4.7 K

Ω

INPUTS

Table 15 - Digital Input Specifications

Parameter

24V power supply

On-state voltage range

On-state current at min voltage

On-state current at max voltage

Off-state voltage, max

Off-state current, max

Hardware delay, off to on

Hardware delay, on to off

Value

21.6…26.4V DC

14...26.4V DC

6.3 mA

7.71 mA

-1V

0 mA

8.4 µs

50.1 µs

Opto-coupler

Logic GND

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Kinetix 3 Drive Connector Data

Chapter 3

Digital Outputs

There are three digital outputs, OUTPUT1…OUTPUT3 available on the IOD connector. Outputs are optically isolated open collector/emitter and are fully isolated from the drive circuits. Each output, OUTPUT1…OUTPUT3, can be assigned to one of these functions:

•

Within Position Window

•

Up to Speed

•

Brake

•

Within Speed Window

•

Current Limited

•

Velocity Limited

•

Within Near Window

•

Warning

•

Absolute Position Valid

•

Ready

•

In Motion

•

In Dwell

•

Axis Homed

•

Index Select 0 Output

•

Index Select 1 Output

•

Index Select 2 Output

•

Index Select 3 Output

•

Index Select 4 Output

•

Index Select 5 Output

•

End of Sequence

The fault outputs, FAULT1…FAULT3, can be reassigned through the parameter setting giving you three additional digital outputs, OUTPUT4…OUTPUT6.

The drive contains four alarm outputs. The four alarm outputs include the alarm signals FAULT+ and FAULT- and three bits of fault information,

FAULT1…FAULT3.

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Chapter 3 Kinetix 3 Drive Connector Data

When the alarm signal is active there is a fault. If the three alarm outputs are decoded they would indicate which of eight different fault types are active.

Table 16 - Fault Codes

Fault

Group

0

Fault Code Output State

FAULT3 FAULT2 FAULT1

ON ON ON

Possible Faults

1

2

3

4

5

6

7

ON

ON

ON

OFF

OFF

OFF

OFF

ON

OFF

OFF

ON

ON

OFF

OFF

OFF

ON

OFF

ON

OFF

ON

OFF

No Faults

E.005 IPM Fault

E.054 Current Feedback Offset Fault

E.057 PWM Hardware Fault

E.079 Shunt Circuit Over Current Fault

E.114 Motor Phase Over Current

E.004 Motor Over temperature Fault

E.022 Motor Continuous Current Overload Fault

E.023 Drive Overload Fault

E.036 Drive Over temperature Fault

E.075 Shunt Over load Protection Fault

E.101 Motor Power Cable Open Fault

E.102 Motor Instantaneous Current Overload Fault

E.103 Motor Mismatch Fault

E.028 Encoder Data Range Fault

E.030 Encoder Cable Open Fault

E.031 Encoder Data Parameter Fault

E.083 Absolute Encoder Battery Fault

E.084 Absolute Encoder Overspeed

E.085 Absolute Multi-turn CountFault

E.105 Encoder Type Mismatch Fault

E.106 Encoder Communication Fault

E.009 Bus Undervoltage Fault

E.010 Bus Overvoltage Fault

E.037 AC Line Loss Fault

E.018 Motor Overspeed Fault

E.019 Excess Position Error Fault

E.056 Watchdog Timeout Fault

E.108 Position Command Frequency Fault

E.112 Emergency Stop

E.053 User Parameter Initialization Fault

E.055 User Parameter Checksum Fault

E.058 User Parameter Range Fault

E.107 Serial Communication Fault

E.113 Indexing Position Range Overflow

E.012 Home Search Failed

E.027 Axis Not Homed

E.060 Drive Initialization Fault

E.100 Drive Setup Fault

Digital and fault outputs are grounded through FCOM/OUT COM.

All digital outputs are active low, current sinking.

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Kinetix 3 Drive Connector Data

Chapter 3

Table 17 - Digital Output Signal Specifications

Parameter

Output voltage range

Output current rating @ 50 °C (122 °F)

Minimum load current

Maximum on-state voltage drop @ 50 mA

Hardware delay, off to on, max

Hardware delay, on to off, max

Figure 18 - Digital Outputs

Value

0…50V DC

50 mA

0.1 mA

1.2mV DC

2.36 ms

310 ms

Logic Power

200

Ω

OUTPUT1+

OUTPUT1-

TLP127

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39

Chapter 3 Kinetix 3 Drive Connector Data

V_REF

T_REF

VCC GND

GND

VCC GND

Analog Inputs

The Kinetix 3 has two single-ended analog inputs. One is dedicated as the command input for Analog Velocity mode, and the second is dedicated as the

command input for Analog Current mode. Figure 19

shows the configuration of the analog input.

Figure 19 - Analog Input Configuration

10 nF

+12V

-12V

VCMD

2.5V REF

GND

GND

+12V -12V

ICMD

2.5V REF

GND

GND GND

This table provides a description of the analog input specifications.

Parameter Description

VCMD

Resolution

Number of states that the input signal is divided into,

[which is 2

(to the number of bits)

].

ICMD

Resolution

Input

Impedance

Input Signal

Range

Open circuit impedance measured between the positive (+) input and analog common.

Voltage applied to the input

Minimum Maximum

16 bits

12 bits

10 k



-10V

—

—

—

+10V

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Kinetix 3 Drive Connector Data

Chapter 3

Analog Outputs

The Kinetix 3 contains two analog outputs

(A.out) that can be configured through Ultraware software to represent internal drive variables. These variables can be assigned to an analog output:

•

Motor Feedback Position

•

Master Position

•

Follower Position

•

Position Error

•

Position Command Count Frequency

•

Velocity Command

•

Velocity Feedback

•

Velocity Error

•

Current Command

•

Current Feedback

•

U Phase Current

•

V Phase Current

•

W Phase Current

•

Commutation Angle

•

Mechanical Angle

•

Shunt Power Limit Ratio

•

Instantaneous Shunt Power

•

Drive Utilization

•

Absolute Rotations

•

Bus Voltage

•

Velocity Command Offset

•

Current Command Offset

•

Motor Temperature

•

Analog Command – Velocity

•

Analog Command – Current

Figure 20

shows the configuration of the analog outputs.

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Chapter 3 Kinetix 3 Drive Connector Data

Figure 20 - Analog Output Configuration

VCC

MP

LM224

LM224

A_MON

GND GND

IMPORTANT Output values can vary during powerup until the specified power supply voltage is reached.

This table provides a description of the analog output specifications.

Parameter Description

Resolution

Number of states that the output signal is divided into, which is 2

(to the number of bits)

.

Output

Current

Output

Signal Range

Current capability of the output.

Range of the output voltage.

Minimum Maximum

12 Bits —

-10 mA

-10V

+10 mA

+10V

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Kinetix 3 Drive Connector Data

Chapter 3

Serial Interface Connection

The IEEE-1394 connectors (Comm0A and Comm0B) are provided on the

Kinetix 3 drive.

This table provides the drive’s default serial port configuration. This configuration is used for communication between a drive and personal computer with Ultraware software.

Table 18 - RS-232 Serial Communication Specifications

Attribute Value

Communication Protocol

Baud

RS-232

57,600

Data bits 8

Parity None

Stop bit

Operator interface bit pattern

Cabling

1

0005

Catalog number 2090-CCMPCDS

This table provides the configuration is used for communication between a drive and programmable logic controller and drive-to-drive communications. You can change the serial communication protocol using front panel input keys.

Table 19 - RS-485 Serial Communication Specifications

Attribute Value

Communication Protocol

Baud

RS-485

192,000

Data bits 8

Parity None

Stop bit

Operator interface bit pattern

Cabling

1

1102

Catalog numbers 2090-CCMCNDS and 2090-CCMDSDS

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43

Chapter 3 Kinetix 3 Drive Connector Data

Notes:

44

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Chapter

4

Connecting the Kinetix 3 Drive

Introduction

Understanding Basic

Wiring Requirements

This chapter provides procedures for wiring your Kinetix 3 system components and making cable connections.

Topic Page

Introduction

Understanding Basic Wiring Requirements

Grounding Your Kinetix 3 Drive

Power Wiring Requirements

Wiring Guidelines

Wiring the Kinetix 3 Drive Connectors

Apply the Motor Cable Shield Clamp

Feedback and I/O Cable Connections

Wiring the I/O Connector

Wiring the Feedback Connector

Serial Communication Cable Connections

54

55

62

63

45

45

51

53

66

67

70

This section contains basic wiring information for the Kinetix 3 drive.

ATTENTION: Plan the installation of your system so that you can perform all cutting, drilling, tapping, and welding with the system removed from the enclosure. Because the system is of the open type construction, be careful to keep any metal debris from falling into it. Metal debris or other foreign matter can become lodged in the circuitry, which can result in damage to components.

SHOCK HAZARD: To avoid hazard of electrical shock, perform all mounting and wiring of the Bulletin 2071 drive prior to applying power.

Once power is applied, connector terminals may have voltage present even when not in use.

IMPORTANT This section contains common PWM servo system wiring configurations, size, and practices that can be used in a majority of applications.

National Electrical Code, local electrical codes, special operating temperatures, duty cycles, or system configurations take precedence over the values and methods provided.

45

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Chapter 4 Connecting the Kinetix 3 Drive

Building Your Own Cables

IMPORTANT Factory-made cables are designed to minimize EMI and are recommended over hand-built cables to optimize system performance

•

Connect the cable shield to the connector shells on both ends of the cable with a complete 360° connection.

•

Use twisted pair cable whenever possible. Twist differential signals with each other and twist single-ended signals with the appropriate ground return.

Refer to the Kinetix Motion Control Selection Guide, publication GMC-

SG001 , for low-profile connector kit, drive-end (mating) connector kit, and motor-end connector kit catalog numbers.

Routing Power and Signal Wiring

Be aware that when you route power and signal wiring on a machine or system, radiated noise from nearby relays, transformers, and other electronic drives can be induced into motor or encoder feedback signals, input/output communication, or other sensitive low voltage signals. This can cause system faults and communication anomalies.

Refer to

Electrical Noise Reduction on page 17

for examples of routing high and low voltage cables in wireways. Refer to the System Design for Control of

Electrical Noise Reference Manual, publication GMC-RM001 , for more information.

46

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Connecting the Kinetix 3 Drive

Chapter 4

Determining Your Type of Input Power

On the following pages are examples of typical single-phase and three-phase facility input power wired to single-phase and three-phase Kinetix 3 drives.

The Kinetix 3 drive is designed to operate in both ground and ungrounded environments. The grounded power configuration lets you ground your singlephase or three-phase power at a neutral point. The ungrounded power configuration does not allow for a neutral ground point.

Three-phase Power Wired to Three-phase Drives

These examples illustrate grounded three-phase power wired to three-phase

Kinetix 3 drives when phase-to-phase voltage is within drive specifications. The ungrounded power configuration will not include the ground connection labeled as ‘optional’ in these figures.

Figure 21 - Three-phase Power Configuration (WYE Secondary)

Transformer (WYE) Secondary

L1

L2

L3

L1

AC Line

Filter

L2

L1

L2

L3 L3

E

IPD Terminal

IPD

L1

L2

Kinetix 3 Drive

Three-phase AC

Input

L3

L1C

L2C

Grounded Neutral

(Optional)

Bonded Cabinet Ground Bus

Ground Grid or

Power Distribution Ground

Feeder and branch short circuit protection is not illustrated.

Figure 22 - Three-phase Power Configuration (Delta secondary)

Transformer (Delta) Secondary

L1

L1

AC Line

Filter

L2

L1

L2

IPD Terminals

IPD

L1

L2

L3

L3

L2

L3

L1C

L2C

Kinetix 3 Drive

Three-phase AC Input

Grounded Center-tap

(Optional)

L3

E

Bonded Cabinet Ground Bus

Ground Grid or

Power Distribution Ground

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

47

Chapter 4 Connecting the Kinetix 3 Drive

Feeder and branch short circuit protection is not illustrated.

Figure 23 - Three-phase Power Configuration (Delta secondary)

Transformer (Delta) Secondary

L1

L2

L3

L1

L2

AC Line

Filter

L1

L2

L3 L3

E

IPD Terminals

IPD

L1

L2

L3

L1C

Kinetix 3 Drive

Three-phase AC Input

L2C

Corner Grounded

(Optional)

Bonded Cabinet Ground Bus

Ground Grid or

Power Distribution Ground

Feeder and branch short circuit protection is not illustrated.

48

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Connecting the Kinetix 3 Drive

Chapter 4

Single-phase Power Wired to Single-phase Drives

These examples illustrate grounded single-phase power wired to single-phase

Kinetix 3 drives when phase-to-phase voltage is within drive specifications. The ungrounded power configuration will not include the ground connection labeled as ‘optional’ in these figures.

Figure 24 - Single-phase Grounded Power Configurations

Transformer Secondary

L1

230V AC

Output

L1

AC Line

Filter

L2

L1

L2

L2

E

IPD

L1

L2

L3

L1C

L2C

Kinetix 3 Drive

Single-phase

IDP Terminals

Bonded Cabinet Ground Bus

Ground Grid or

Power Distribution Ground

Transformer Secondary

230V AC

Output

L1

L2 (Neutral)

L1

AC Line

Filter

L2/N

L1

L2/N

E

IPD

L1

L2

L3

L1C

Kinetix 3 Drive

Single-phase

IDP Terminals

L2C

Bonded Cabinet Ground Bus

Ground Grid or

Power Distribution Ground

Reducing transformer output reduces motor speed. Feeder and branch short circuit protection is not illustrated.

Isolation Transformer in Grounded Power Configurations

When using an isolation transformer, attach a chassis ground wire to the neutral connection. This accomplishes the following:

•

Prevents the system from floating and thereby avoids any high voltages that might otherwise occur, for example due to static electricity.

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49

Chapter 4 Connecting the Kinetix 3 Drive

•

Provides a solid earth path for fault conditions.

ATTENTION: If the supply transformer is an auto transformer (not recommended), a chassis earth ground should not be added.

A chassis earth ground should already be included elsewhere in the system, and adding another would create a short circuit.

Three-phase Power Wired to Single-phase Drives

This example illustrates grounded three-phase power wired to single-phase

Kinetix 3 drives when phase-to-phase voltage is within drive specifications. The optional grounded neutral would be omitted on ungrounded systems.

Figure 25 - Single-phase Amplifiers on Three-phase Power (WYE)

L1

L2

L1

L2

AC Line

Filter

(1)

L1

L2

E

IPD

L1

L2

L3

LC1

LC2

Kinetix 3 Drive

(System A)

Single-phase AC Input

IDP Terminals

Transformer

(WYE) Secondary

L1

L2

L3

L2

L3

L1

L2

AC Line

Filter

(1)

L1

L2

E

IPD

L1

L2

L3

LC1

LC2

Kinetix 3 Drive

(System B)

Single-phase AC Input

IDP Terminals

Grounded Neutral

(Optional)

L3

L1

L1

L2

AC Line

L1

Filter

(1)

L2

E

Bonded Cabinet

Ground Bus

Bonded Cabinet

Ground Bus

Ground Grid or

Power Distribution Ground

(1) AC line filter is optional, but is required for CE compliance.

Ground Grid or

Power Distribution Ground

IPD

L1

L2

L3

LC1

Kinetix 3 Drive

(System C)

Single-phase AC Input

IDP Terminals

LC2

Feeder short circuit protection is not illustrated.

If a three-phase line filter is used to feed multiple single-phase drives (not recommended), it is important that the filter include a neutral connection as shown above. This applies if three-phase is brought directly into the filter and no isolating transformer is present.

50

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Connecting the Kinetix 3 Drive

Chapter 4

Grounding Your Kinetix 3

Drive

All equipment and components of a machine or process system should have a common earth ground point connected to their chassis. A grounded system provides a safety ground path for short circuit protection.

IMPORTANT Grounding your drives and panels minimizes shock hazard to personnel and damage to equipment caused by short circuits, transient overvoltages, and accidental connection of energized conductors to the equipment chassis.

For CE grounding requirements, refer to

CE Requirements in Chapter 1

.

IMPORTANT To improve the bond between the Kinetix 3 drive and subpanel, construct your subpanel out of zinc plated (paint-free) steel.

Grounding Your System to the Subpanel

ATTENTION: The National Electrical Code contains grounding requirements, conventions, and definitions. Follow all applicable local codes and regulations to safely ground your system. Refer to the illustration below for details on grounding your Kinetix 3 drive. Refer to

Appendix B for the power wiring diagram for your Kinetix 3 drive.

If the Kinetix 3 drive is mounted on a painted subpanel, ground to a bonded cabinet ground bus by using a braided ground strap or 4.0 mm

2

(12 AWG) solid copper wire 100 mm (3.9 in.) long.

Figure 26 - Connecting the Braided Ground Strap Example

3

2

1

4

Item

3

4

1

2

Description

Mounting Screw

Braided Ground Strap

Bonded Cabinet Ground Bus

Ground Grid or Power Distribution Ground

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

For dimensions, See Product

Dimensions on page 109

.

51

Chapter 4 Connecting the Kinetix 3 Drive

Figure 27 - Chassis Ground Configuration (multiple Kinetix 3 drives on one panel)

Always follow NEC and applicable local codes.

1

1

1

1

3

2

4

2

3

Item

1

4

Description

Chassis Ground

Bonded Ground Bar (optional)

Bonded Cabinet Ground Bus

Ground Grid or Power Distribution Ground

Grounding Multiple Subpanels

To ground multiple subpanels, refer to the figure below. HF bonding is not illustrated. For information, refer to

Bonding Multiple Subpanels on page 19

.

Figure 28 - Subpanels Connected to a Single Ground Point

Always follow NEC and applicable local codes.

Bonded Ground

Bus

Ground Grid or Power

Distribution Ground

52

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Power Wiring

Requirements

Connecting the Kinetix 3 Drive

Chapter 4

Wire should be copper with 75 °C (167 °F) minimum rating. Phasing of main

AC power is arbitrary and earth ground connection is required for safe and proper operation.

Refer to

Power Wiring Examples on page 113

for interconnect diagrams.

Cat. No.

Description

Pin

Terminals

Signal

Recommended

Wire Size

mm

2

(AWG)

Strip

Length

mm (in.)

Torque Value

N•m (lb•in)

2071-AP0

2071-AP1

2071-AP2

2071-AP4

IPD-L1

IPD-L2

IPD-L1C

IPD-L2C

L1

L2

L1C

L2C

N/A

2071-AP8

AC Input and control power

Ground screw Ground

IPD-L1

IPD-L2

(IPD-L3)

IPD-L1C

IPD-L2C

L1

L2

(L3)

L1C

L2C

1.25 (11)

N/A

2071-A10

2071-A15

Ground screw Ground

IPD-L1

IPD-L2

IPD-L3

IPD-L1C

IPD-L2C

L1

L2

L3

L1C

L2C

2.5 (14) 8 (0.3)

1.25 (11)

N/A

1.25 (11)

2071-

xxx

2071-

xxx

Motor power

Shunt resistor

(1)

Ground screw Ground

MP-U

MP-V

MP-W

U

V

W

Ground screw GND

BC-B1

BC-B2

B1

B2

N/A

1.25 (11)

N/A

(1) Use for shunt resistor connection only.

ATTENTION: To avoid personal injury and/or equipment damage, make sure installation complies with specifications regarding wire types, conductor sizes, branch circuit protection, and disconnect devices. The

National Electrical Code (NEC) and local codes outline provisions for safely installing electrical equipment.

To avoid personal injury and/or equipment damage, make sure motor power connectors are used for connection purposes only. Do not use them to turn the unit on and off.

To avoid personal injury and/or equipment damage, make sure shielded power cables are grounded to prevent potentially high voltages on the shield.

IMPORTANT The National Electrical Code and local electrical codes take precedence over the values and methods provided.

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

53

Chapter 4 Connecting the Kinetix 3 Drive

Wiring Guidelines

54

Shunt Resistor Power Wiring Requirement

The B1 and B2 terminals are used to connect a shunt resistor. On the four largest drives, the built-in shunt resistor is connected to B1 and B2. Because 2971-AP0,

2971-AP1 and 2971-AP2 models do not support shunt resistors, do not make terminations to the B1 and B2 terminals.

Use these guidelines as a reference when wiring the connectors on your Kinetix 3 drive.

IMPORTANT For connector locations of the Kinetix 3 drives, refer to

Kinetix 3 Drive

Connectors and Indicators on page 24

.

When removing insulation from wires, refer to the table on 53 for strip

lengths.

IMPORTANT To improve system performance, run wires and cables in the wireways as

established in Establishing Noise Zones on page 20 .

Follow these steps when wiring the connectors on your Kinetix 3 drive.

1. Prepare the wires for attachment to each connector plug by removing insulation equal to the recommended strip length.

IMPORTANT Use caution not to nick, cut, or otherwise damage strands as you remove the insulation.

2. Route the cable or wires to your Kinetix 3 drive.

3. Follow these steps to attach wires to connectors. a. Open terminal locking clamp with connector tool. b. Insert wire.

c. Release tool.

Figure 29 - Using the Connector Tool

b c a

Refer to connector pinout tables in

Chapter 3 or the interconnect

diagrams in

Appendix B

.

4. Gently pull on each wire to make sure it does not come out of its terminal; reinsert and tighten any loose wires.

5. Insert the connector plug into the drive connector.

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Connecting the Kinetix 3 Drive

Chapter 4

Wiring the Kinetix 3 Drive

Connectors

This section provides examples and wiring tables to assist you in making connections to the Kinetix 3 drive.

Wire the Input Power (IPD) and Motor Power (MP) Connectors

Figure 30 - Kinetix 3 Drive (IPD) and (MP) connector

Kinetix 3 Drive

Top View

IPD

L1 L2 L3 L1C L2C DC-

L1

L2

L3

L1C

L2C

DC-

MP

U

V

W

U

V

W

The IPD is used for input power to the drive and the control circuits. The MP connector is used to connect output power to the motor. Use 2.5 mm

N•m (11 lb•in) Follow procedure in

Wiring Guidelines on page 54

.

2

(14 AWG) wire for all connections. Connect ground to ground screw and torque to 1.25

Cable Shield Terminations

Factory-supplied motor power cables for MP-Series (Bulletin MPAS), TL-Series

(Bulletin TLY and TLAR), LDC-Series, and LDL-Series motors and actuators are shielded. The braided cable shield must terminate near the drive during installation. Remove small portion of the cable jacket to expose the shield braid and clamp the exposed shield to the panel.

ATTENTION: To avoid hazard of electrical shock, ensure shielded power cables are grounded at a minimum of one point for safety.

IMPORTANT For TL-Series motors, also connect the 152 mm (6.0 in.) termination wire to the closest earth ground.

Refer to

Pigtail Terminations on page 56 for more information.

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Chapter 4 Connecting the Kinetix 3 Drive

1

7

Pigtail Terminations

TL-Series motors have a short pigtail cable that connects to the motor, but is not shielded. The preferred method for grounding the TL-Series power cable on the motor side is to expose a section of the cable shield and clamp it directly to the machine frame. The motor power cable also has a 150 mm (6.0 in.) shield termination wire with a ring lug that connects to the closest earth ground. Use this method in addition to the cable clamp. The termination wire may be extended to the full length of the motor pigtail if necessary, but it is best to connect the supplied wire directly to ground without lengthening.

Figure 31 - Pigtail Terminations

2 3 4

5

6

(1) (1)

Motor/Actuator

LDC-Series (Bulletin LDC)

LDL-Series (Bulletin LDL)

MP-Series (Bulletin MPAS)

TL-Series (Bulletin TL)

TL-Series (Bulletin TLY)

TL-Series (Bulletin TLAR)

6

7

4

5

2

3

Item

1

Description

Motor power cable

Cable braid clamped to machine frame

(1)

Connectors

Pigtail cable

TL-Series motor

150 mm (6.0 in.) termination

Machine frame

(1) Remove paint from machine frame to be sure of proper HF-bond between machine frame and motor case, shield clamp, and ground stud.

Table 20 - Motor and Actuator Power Cable Compatibility

Connector Motor/Actuator Cat. No.

Motor Power Cables

(with brake wires)

Motor Power Cables

(without brake wires)

LDC-C

xxxxxx-xxxTx1

LDL-

xxxxxxx-xxxTx1

Not applicable

2090-CPWM7DF-

xxAFxx

(continuous-flex)

Circular DIN

MPAS-A

xxxx

Rectangular plastic

TL-A

xxxx-B

Circular plastic

TLY-A

xxxx

TLAR-A

xxxx

2090-XXNPMF-

xxSxx (standard) or

2090-CPBM4DF-xxAFxx

(continuous-flex)

2090-DANPT-16S

xx for power

2090-DANBT-18S

xx for brake

2090-CPWM4DF-

xxAFxx

(continuous-flex)

2090-DANPT-16S

xx

2090-CPBM6DF-16AA

xx

(standard)

2090-CPWM6DF-16AA

xx

(standard)

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Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Connecting the Kinetix 3 Drive

Chapter 4

This diagram shows an example of three-phase power wires for TL-Series

(Bulletin TL) motors that have no brakes. Thermal switch wires are included in the feedback cable.

Refer to Kinetix 3 Drive/Rotary Motor Wiring Examples beginning on page 114

for interconnect diagrams.

Figure 32 - Motor Power Terminations (Bulletin TL three-phase wires only)

1

2

4

3

2

3

Item

1

4

Description

2071-AP4 Kinetix 3 drive shown

Motor power (MP) connector plug

Drive ground screw

Motor cable ground wire

Cable shield is tied to the ground wire in the cable. No further grounding is required with motor power cable, catalog number 2090-DANPT-16Sxx.

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Chapter 4 Connecting the Kinetix 3 Drive

This diagram shows an example of three-phase power wires for MP-Series

(Bulletin MPAS), TL-Series (Bulletin TLY and TLAR), LDC-Series, and LDL-

Series motors and actuators that have no brakes. Thermal switch wires are included in the feedback cable.

Figure 33 - Motor Power Terminations (Bulletin TLY, TLAR, MPAS, LDC-Series, and

LDL-Series three-phase wires only)

1

3

4

2

5

4

5

2

3

Item

1

Description

2071-AP4 Kinetix 3 drive shown

Motor power cable

Ground wire

Ground lug - user supplied

Cable shield clamp

Ground and secure the motor power cable in your system following instructions on

page 62.

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Connecting the Kinetix 3 Drive

Chapter 4

This diagram shows an example of wiring with three-phase power wires and brake wires by using motor power cable, catalog numbers 2090-XXNPMF-xxSxx,

2090-CPBM4DF-xxAFxx or 2090-CPBM6DF-16AAxx cables. The brake wires have a shield braid (shown below as gray) that folds back under the cable clamp before the conductors are attached to the motor brake circuit. Thermal switch wires are included in the feedback cable.

Refer to Kinetix 3 Drive/Rotary Motor Wiring Examples beginning on page 114

for interconnect diagrams.

Figure 34 - Motor Power Terminations (Bulletin TLY, TLAR, MPAS, LDC-Series, and

LDL-Series three-phase and brake wires)

6

5

7

3

8

2

To

Motor

4

1

Item

1

(1)

Description

24V power supply

2

(1)

Relay and diode assembly

(3)

3

4

Minimize unshielded wires in brake circuit.

Brake wires

Item Description

5

6

I/O (IOD) connector with Kinetix 3 I/O breakout board installed

(2)

2071-A

xx Kinetix 3 drive

7

8

Motor power (MP) connector

Cable clamp

(4)

(1) User supplied. Size as required by motor brake, See

Motor Brake Currents on page 118

.

(2) Configure one emitter and collector pair from the Digital Outputs, OUTPUT1… OUTPUT3, pins 41…44 or pins 47 and 48, as

Brake+ and Brake - by using Ultraware software. Wire the output as sourcing and set brake engage and disengage times for motor selected. Motor brake is active on enable. For Digital Output specifications, refer to

page 37

(3) Diode 1N4004 rated 1.0A @ 400V DC. See

Power Wiring Examples

beginning on

page 114

.

(4) Exposed shield under clamp and place within 50…75 mm (2…3 in). of drive, see

page 62

for details.

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Chapter 4 Connecting the Kinetix 3 Drive

Exposed Braid

25.4 mm (1.0 in.)

The cable shield clamp shown above is mounted to the subpanel. Ground and

secure the power cable in your system following instructions on page 62

.

Cable shield and lead preparation is provided with most Allen-Bradley cable assemblies. Follow these guidelines if your motor power cable shield and wires require preparation. The recommended wire size 2.5 mm

2

(14 AWG).

Figure 35 - Cable Shield and Lead Preparation

7 mm (0.28 in.)

Outer Insulation

U

V

W

Motor Power Cable

As required to have ground clamp within

50…75 mm (2…3 in.) of the drive.

Attach a ring or fork lug to yellow and green ground wire.

Refer to Kinetix 3 Drive/Rotary Motor Wiring Examples beginning on page 114

for interconnect diagrams.

Table 21 - Motor Power (MP) Connector

Servo Motor

MP-Series, TL-Series

U / Brown

V / Black

W / Blue

2

3

MP Pin

1

MP Connector

Signal

U

V

W

Green/yellow ground wire with ring lug is connected to the screw provided on the drive. Shown

Figure on page 62 .

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Connecting the Kinetix 3 Drive

Chapter 4

Shunt Resistor

The B1 and B2 terminals are used to connect the shunt resistor. On the 2071-

AP4, 2071-AP8, 2071-A10 and 2071-A15 Kinetix 3 drives, the built-in shunt resistor is pre-wired to B1 and B2 at the factory. On the 2071-AP0, 2071-AP1 and 2071-AP2 Kinetix 3 drives, shunt resistors are not supported; no terminations can be made to the B1 and B2 terminals for these drives.

IMPORTANT The information supplied here is for reference only. There are no adjustments or user serviceable parts associated with the shunt resistor.

Figure 36 - Shunt Resistor (BC) Connector

Kinetix 3 Drive

Front view is shown.

Shunt Resistor (BC)

Connector

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Chapter 4 Connecting the Kinetix 3 Drive

Apply the Motor Cable

Shield Clamp

This procedure assumes you have completed wiring your motor power (MP) connector and are ready to apply the cable shield clamp.

Follow these steps to apply the motor cable shield clamp.

1. Locate a suitable position for installing the cable shield clamp within

50…75 mm (2…3 in.) of the drive.

Motor Power Ground

Shield Clamp

25

(1.0)

34.0

(1.34)

12.7

(0.50)

50…75 mm

(2…3 in.)

Dimension are in mm (in.).

50…75 mm

(2…3 in.)

If panel is painted, remove paint to provide metal-to-metal contact.

62

2. Lay out and drill holes for the cable clamp.

ATTENTION: Plan the installation of your system so that you can perform all cutting, drilling, tapping, and welding with the system removed from the enclosure. Because the system is of the open type construction, be careful to keep any metal debris from falling into it. Metal debris or other foreign matter can become lodged in the circuitry, which can result in damage to components.

3. Locate the position on the motor power cable that comes under the clamp and remove about an 25.4 mm (1.0 in.) of the cable jacket to expose the shield braid.

4. Position the exposed portion of the cable braid directly in line with the clamp.

5. Clamp the exposed shield to the panel with the clamp and two #6-32 x 1 screws provided.

6. Repeat steps 1

…

5 for each Kinetix 3 drive you are installing.

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Connecting the Kinetix 3 Drive

Chapter 4

Feedback and I/O Cable

Connections

Factory-made cables with premolded connectors are designed to minimize electro-magnetic interference (EMI) and are recommended over hand-built cables to improve system performance. However, options are available for building your own feedback and I/O cables.

Connection Option

Premolded connectors

Feedback terminal block

I/O terminal block

Table 22 - Options for Connecting Motor Feedback and I/O

Cat. No.

N/A

2071-TBMF

2071-TBIO

Cable

Motor feedback

Feedback interface

I/O interface

Using This Type of Cable

Refer to the table below for the premolded motor feedback cable available for your motor.

Refer to the table below for the flying-lead motor feedback cable available for your motor.

User-supplied flying-lead cable.

Table 23 - Motor/Actuator Feedback Cables for Specific Motor/Feedback

Combinations

Feedback Cable

Motor/Actuator Cat. No.

Feedback Type Pinout

Premolded Flying-lead

MPAS-A

xxxx-ALMx2C

LDC-C

xxxxxx

LDL

-xxxxxxx

Incremental encoder N/A

2090-XXNFMF-S

xx (standard)

2090-CFBM4DF-CDAF

xx

(continuous-flex)

2090-XXNFMF-S

xx (standard)

2090-CFBM7DF-CDAF

xx

(continuous-flex)

page 64

TLY-A

xxxx-B

TLAR-A

xxxxx

TLY-A

xxxx-H

TL-A

xxxx-B

High-resolution encoder

N/A

2090-CFBM6DF-CBAA

xx

(standard)

Incremental encoder

High-resolution encoder 2090-DANFCT-Sxx 2090-DANFCT-Sxx

(1)

page 64

page 65

(1) Remove the premolded connector on the drive end and use Feedback Breakout Board, catalog number 2071-TBMF.

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Chapter 4 Connecting the Kinetix 3 Drive

Flying-lead Feedback Cable Pin-outs

Table 24 - 2090-XXNFMF-Sxx or 2090-CFBMxDF-CDAFxx Feedback Cable

14

22

23

Motor/Actuator

Connector Pin

6

13

Motor/Actuator

Signal Name

BAT +

DATA +

DATA -

EPWR 5V

ECOM / BAT -

(internally connected)

SHIELD

Drive

Signal Name

BAT +

SD +

SD -

EPWR

ECOM

BAT -

GND

13

20

1

19

11

Drive MF

Connector Pin

18

10

24

Table 25 - 2090-CFBM6DF-CBAAxx Feedback Cable

19

20

22

23

24

15

16

17

18

11

12

13

14

Motor/Actuator

Connector Pin

9

10

S1 +

S1 -

S2 +

S2 -

S3 +

S3 -

EPWR 5V

ECOM

SHIELD

Motor/Actuator

Signal Name

AM +

AM -

BM +

BM -

IM +

IM -

S1

—

S2

—

S3

—

EPWR

ECOM

GND

B +

B -

I +

I -

Drive

Signal Name

A +

A -

15

—

20

1

11

10

—

14

—

7

8

5

6

3

4

Drive MF

Connector Pin

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Connecting the Kinetix 3 Drive

Chapter 4

9

12

13

14

Table 26 - 2090-DANFCT-Sxx Feedback Cable

7

8

Motor

Connector Pin

Motor

Signal Name

EPWR

ECOM/BAT -

(internally connected)

SHIELD

DATA +

DATA -

BAT +

Drive

Signal Name

EPWR

ECOM

BAT-

GND

SD +

SD -

BAT +

1

19

11

10

Drive MF

Connector Pin

20

13

18

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65

Chapter 4 Connecting the Kinetix 3 Drive

Wiring the I/O Connector

Connect your I/O wires to the IOD connector by using catalog number

2071-TBIO, I/O Breakout Board. Refer to publication 2071-IN002

.

Figure 37 - Kinetix 3 Drive (IOD connector and I/O Breakout Board)

2071-TBIO

I/O Breakout Board

I/O (IOD)

Connector

I/O interface cable, catalog number 2090-DAIO-D50 xx provides access to all 50 pins of I/O.

Figure 38 - Kinetix 3 Drive (IOD connector and I/O Interface cable)

2090-DAIO-D50xx

I/O Interface Cable

I/O (IOD)

Connector

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Connecting the Kinetix 3 Drive

Chapter 4

Wiring the Feedback

Connector

These procedures assume you have mounted your Kinetix 3 drive, completed all power wiring, and are ready to connect your feedback.

Connecting Premolded Motor Feedback Cables

The motor feedback cables with premolded connectors plug directly into the 20pin motor feedback (MF) connectors on the Kinetix 3 drive, no wiring is necessary.

IMPORTANT When using Bulletin 2090 cables with premolded connectors, tighten the mounting screws (finger tight) to improve system performance.

Figure 39 - Kinetix 3 Drive (MF connector)

Kinetix 3 Drive Front View

(2071-AP4 drive is shown)

Kinetix 3 Drive, Side View

(2071-AP4 drive is shown)

Premolded Connector

2090-DANFCT-Sxx Cable

Motor Feedback

(MF) Connector

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Chapter 4 Connecting the Kinetix 3 Drive

Wiring the Feedback Breakout Board

The 2071-TBMF Feedback breakout board is suitable for terminating flying-lead motor feedback cables. Use it with the Kinetix 3 drive and all motors with incremental or high-resolution feedback. It has a 20-pin, male, mini D-sub connector and is compatible with all Bulletin 2090 feedback cables.

The TLY-A

xxxx-B high-resolution motors with 17-bit encoder require a 3.6V battery, purchased separately, see

Replacement Battery Specifications on page 108

.

Figure 40 - Kinetix 3 Drive (MF connector)

Kinetix 3 Drive Front View

(2071-AP4 drive is shown)

Kinetix 3 Drive, Side View

(2071-AP4 drive is shown)

Motor Feedback

(MF) Connector

2071-TBMF Feedback breakout board. Use with flying-lead feedback cable.

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Connecting the Kinetix 3 Drive

Chapter 4

Figure 41 - Wiring 2071-TBMF Feedback Breakout Board

1

2

3

7

4

5

6

2

Refer to

Chapter 3 for feedback

signal descriptions.

Refer to

page 114 for the motor feedback

interconnect drawing for your application.

2

3

Item

1

4

5

6

7

Description

2071-TBMF Kinetix 3 feedback breakout board

Tie wrap

13 mm (0.5 in.) exposed cable shield

Bulletin 2090 feedback cable, catalog numbers

2090-XXNFMF-Sxx, 2090-CFBM

xDF-CDAFxx, 2090-CFBM6DF-CBAAxx or 2090-DANFCT

Ground pad

3.6V battery

(1)

Mounting screws

(1) Battery required if absolute position must be stored.

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Chapter 4 Connecting the Kinetix 3 Drive

Serial Communication

Cable Connections

This procedure assumes you have your Kinetix 3 drive mounted and ready to connect the network cables.

The Modbus-RTU network is connected by using the Comm0A and Comm0B connectors. Refer to

page 24 to locate the Modbus-RTU connectors on your

Kinetix 3 drive. Refer to the figure below to locate the connector on your

MicroLogix controller.

Shielded serial communication cables are available in lengths up to 3 m (9.8 ft).

The maximum total cable length is up to 600 m (1968.5 ft) in the same network.

A repeater should be used when there are more than 32 nodes.

Terminators are required at both ends of an RS-485 network cable. Kinetix 3 drives have a built-in termination resistor for RS-485. To use a terminator for RS-

485 communication, turn on pin 1 and 2 of the termination switch on the display board. The internal terminator is 220 . The 1/4 W or higher 120  resistor can be used if an external termination resistor is needed.

If the entire channel is constructed of stranded cable (no fixed cable), then this is the equation for calculating maximum length:

Maximum Length (in meters) = (113-2N)/y where N = the number of connections in the channel and y = the loss factor compared to fixed cable (typically 1.2…1.5).

Figure 42 - Micrologix Serial Communication Port Location

MicroLogix 1400 Programmable Controller

1766-L32BWAA Shown

ESC

OK

Comm Port 1 for RS-485

Modbus-RTU serial communications.

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7

1

Connecting the Kinetix 3 Drive

Chapter 4

Figure 43 - RS-485 Modbus-RTU Serial Communication Wiring Example

4

5

5

2

6

3

Item

1

2

5

6

3

4

7

Description

Micrologix 1400 controller

Controller-to-drive RS-485 Modbus-RTU Serial Communication Cable, catalog number

2090-CCMCNDS-48AA

Kinetix 3 drive

Drive-to-drive serial communication cable, catalog number 2090-CCMDSDS-48AA

Termination switch (turn on switch 1 and 2 for termination)

Personal computer with Ultraware software

Communications cable via RS-232, Ethernet or DF1

(1)

xx

(1) See MicroLogix 1400 Programmable Controllers User Manual, publication 1766-UM001 or MicroLogix 1100

Programmable Controllers User Manual, publication 1763-UM001 for communication protocol.

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Chapter 4 Connecting the Kinetix 3 Drive

Figure 44 - RS-232 Serial Communication Wiring Example

2

3

1

2

3

Item

1

Description

Kinetix 3 drive

RS-232 serial communication cable, catalog number 2090-CCMPCDS-23AA

Personal computer with Ultraware software

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Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Introduction

Keypad Input

Chapter

5

Configure and Start Up the Kinetix 3 Drive

This chapter provides procedures for configuring your Kinetix 3 drive components.

Topic

Introduction

Keypad Input

Download Ultraware Software

Configuring the Communication Port

Configure Your Kinetix 3 Drive for RS-232 Communication with Personal Computer

Configure Your Kinetix 3 Drive for RS-485 Communication with MicroLogix Controller

Apply Power to Your Kinetix 3 Drive

78

79

80

82

Page

73

73

78

The operator interface provides immediate access to the Kinetix 3 drive status displays and monitoring, parameter settings, and functional commands. The

major features of the Kinetix 3 drive operator interface are identified in Figure 45

and described below.

Figure 45 - Kinetix 3 Operator Interface

1

2

3

4

2

3

Item

1

4

Description

7-segment status indicator

Up, down, left, and right directional keys

Mode/Set key

Enter key

•

The 7-segment status indicator displays status, parameters, function commands, and allows drive monitoring.

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Chapter 5 Configure and Start Up the Kinetix 3 Drive

Key Name

Set

Mode

Enter

Up

Down

Left

Right

•

The Control Power illuminates when the drive's control electronics are powered by application of 200…230V power to the L1C, and L2C

Control Power pins.

•

The Mode/Set, and Enter keys provide the operator with access to drive functions. The directional keys (Up, Down, Left, and Right) edit drive function settings. These keys allow the operator to monitor and change the drive’s program.

The following briefly explains the Mode/Set, Enter, and directional keys and their use.

Function

Saves the current value of the setting in memory.

Toggles the display between the four modes.

Important: The Status mode is the default display at powerup.

Enter or exit a display containing the settings for the selected mode.

Important: Before exiting the display, Set must be pressed and held until the display blinks to save any modified value to memory.

Example

To save any change:

• Press and hold Set until the display blinks.

To advance the display through the various mode displays:

1. Press Mode to advance from the Status mode

(default display) to Set Parameter mode,

2. Press Mode again to advance to Monitor mode.

3. Press Mode again to advance to the Function mode.

4. Press Mode once more to return to the Status mode.

To access the settings for Pr-0.00 from the

Status mode:

1. Press Mode to advance to the initial

Parameter display (PR-0.00).

2. Then press Enter to access the parameter's value (01 is the default setting).

Increments the value to a larger integer.

A non-functional key in the Status mode.

In any Parameter Setting, Monitor, or Function mode:

• Press and hold the UP key to scroll to the maximum value.

Decrements the value to a smaller integer.

A non-functional key in the Status mode.

Shifts the active digit to the left.

An invalid key for the Status mode.

Shifts the active digit to the right.

An invalid key for the Status mode.

In any Parameter Setting, Monitor, or Function mode:

• Press and hold the DOWN key to scroll to the minimum value.

In the Set Parameter mode:

1. Press Left to move from least to the most significant digit in parameters

(PR-x.x

X to PR-x.Xx).

2. Press LEFT again to move to the groups digit

(PR-

X.xx).

In the Set Parameter mode:

1. Press RIGHT to move from least significant digit in parameters to the groups digit

(PR-x.x

X to PR-X.xx).

2. Press RIGHT again to move to the most significant digit in Parameters (Pr-x.

Xx).

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Configure and Start Up the Kinetix 3 Drive

Chapter 5

Status Display/Operation Mode

Operation mode - When the drive is powered up, if there are no faults, this is the default status screen. It shows the Control mode, status indicators, and whether the drive is enabled.

Character: 5 4 3 2 1 0

1 2 3

Item Description

1

2

3

Control Mode: Characters 4 and 5

Row Display: Character 3

Status: Characters 0…2

F = Follower

S = Analog Velocity Input

C = Analog Current Input

SF = Analog Velocity Input/Follower

CF = Analog Current Input /Follower

CS = Analog Current Input/Analog Velocity Input

P = Preset Velocity

PF = Preset Velocity/Follower

PS = Present Velocity/Analog Velocity Input

PC = Present Velocity/Analog Current Input

I = Indexing

Top Row = Inactive for any Current mode.

Active if Velocity mode and Velocity Error is within velocity window.

Active if Follower mode and Position Error is within following error setting.

Middle Row = Active if velocity exceeds Up To Speed parameter.

Bottom Row = Active for Hall start-up motors once the commutation angle is set.

rdy = Drive is disabled, but ready to be enabled.

run = Drive is enabled and motor is under control.

Error Display

If the drive is faulted, it will not show the Operation Mode screen. Instead it will alternate between the Error Description and the Error Number. For an

Emergency Stop error, this is what it would look like.

Figure 46 - Error Descriptor

Figure 47 - Error Number

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Chapter 5 Configure and Start Up the Kinetix 3 Drive

Parameter Edit

From this screen, scroll through the general parameter groups (before the period) and then pick the parameter you wish to view or edit (after the period).

Figure 48 - Parameter Edit

Index Edit

From this screen, scroll through the indexing parameter groups (before the period) and then pick the parameter you wish to view or edit (after the period).

Figure 49 - Index Edit

76

Display Mode

The Display mode displays numerical data about drive and motor functions of twenty four parameters. To access the data:

1. Enter the Display mode by pressing the Mode key.

The display indicates the selected function by displaying where

nn is a display attribute number shown in Table 27 .

2. Using either the Up, Down, Right, or Left keys, select a display attribute number.

3. Press the Enter key.

The the value of the attribute displayed.

Table 27 - Display Mode

02

03

04

05

06

Display

Attribute

Number

00

01

Attribute

Velocity Feedback

Velocity Command

Velocity Error

Current Command

Follower Position

Master Position

Position Error

Unit

rpm or mm/s rpm or mm/s rpm or mm/s

0.1% of motor rated continuous torque counts counts counts

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Configure and Start Up the Kinetix 3 Drive

Chapter 5

Table 27 - Display Mode (cont.)

Display

Attribute

Number

Attribute

07

08

09

10

11

12

13

14

Unit

Position Command

Count Frequency

0.1 kcounts/s

Commutation Angle

Mechanical Angle

0.1

o

0.1

o

Shunt Power Limit Ratio %

Bus Voltage V revolutions Absolute Rotations

Velocity Command

Offset

Current Command

Offset mV mV

D igital Inputs 1-10

10 9 8 7 6 5 4 3 2 1

15

16

17

18

19

20

21

22

23

Input and Output State

Error History

Firmware Revision

Motor Model

Analog Velocity

Command Voltage

Analog Current

Command Voltage

Drive Rated Output

Power

Absolute Single-Turn

Motor Position

3 2 1

(6 5 4)

3 2 1

Servo Alarm

Digital Outputs 3 - 1

E-Stop:

Not active

Alarm Codes 3 - 1:

(Digital Outputs 6 - 4)

Up to eight alarms stored in numerical order where most recent =1, to oldest =8, with error code number:

Most significant digit is alarm number (1–8),

Least significant six digits are the error code number

referenced in the Error Displays beginning on page 98 .

For example; 1-E004 = most recent error is a Motor

Overtemp

For Example; vEr

x.yy where x = version, yy = revision

–

0.01V

0.01V

W

–

–

Run

The Run mode is reserved for future use. There are no user accessible commands or information available from this screen.

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Download Ultraware

Software

To communicate and configure your Kinetix 3 drive by using serial communication from a personal computer, download and install Ultraware software on your personal computer. To get the latest Ultraware software follow these steps.

1. Run internet browser.

2. Navigate to http://www.rockwellautomation.com/rockwellsoftware/ downloads/.

3. Set Category = Downloads

Sub-Category = Utilities (Downloads)

Product = Misc.

4. Click Search.

5. Click Ultraware.

6. Click Download Ultraware.

Configuring the

Communication Port

The Kinetix 3 drive communication port can be configured for RS-232 communication with your personal computer or RS-485 Modbus-RTU communication to a MicroLogix controller. These figures are cable pin-outs for

RS-232 or RS-485 Modbus-RTU. Note that the configuration of the serial port includes both Comm0A and Comm0B. Changing between RS-232 and RS-485

Modbus-RTU requires different cabling and serial port configurations. If you are not using the pre-made RS-232 Serial Communication Cable, catalog number

2090-CCMPCDS-23AA xx, use this schematic to make your own cable.

Figure 50 - RS-232 Connection with Personal Computer

Personal Computer

Serial Port

1

RXD

TXD

COM

4

5

2

3

6

7

8

9

Use 2090-CCMPCDS-23AA

xx Serial

Communication Cable for easy computer to drive connection.

Kinetix 3 Drive

Comm0A or Comm0B Port

4

5

6

1

2

3

XMT RS232 Transmit

RCV RS232 Receive

NC

GND +5V Power Ground

DX+ RS485 +

DX= RS485-

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Chapter 5

MicroLogix 1400 Controller or

MicroLogix 1100 Controller

Channel 0

The following shows connection to a MicroLogix 1100 or 1400. This requires a

1763-NC01 8-pin mini DIN to 6-pin RS-485 connector. If the Kinetix 3 is the last device on the network, the RS-485 termination switches on the front of the drive need to be set to “ON”. If you are not using the pre-made RS-485 Serial

Communication Cable, catalog number 2090-CCMCNDS-48AA xx, use this schematic to make your own cable.

Figure 51 - RS-485 Connection with MicroLogix Controller.

Comm0A or Comm0B

1763-NC01

Term

COM

SHLD

A

B

CGND

BK

RD

BK

RD

4

5

6

1

2

3

XMT RS232 Transmit

RCV RS232 Receive

NC

GND +5V Power Ground

DX+ RS485 +

DX- RS485-

Use 2090-CCMCNDS-48AA

xx Serial

Communication Cable for easy controller- to-drive connection.

1763-NC01

6 -pin mini DIN to 6-pin RS485 connector

Configure Your Kinetix 3 Drive for RS-232 Communication with

Personal Computer

To configure Kinetix 3 drive communication port for RS-232/ASCII communication follow these steps.

1. Using the keypad on the front of the drive, set the following parameters.

See

Status Display/Operation Mode

for keypad operation.

Parameter Name

Drive Address

Serial Port Configuration

Parameter Setting

Pr0.07

required address. (1 - Default)

Pr0.09

0005 - Default where, 5 - 57600bps Baud Rate

0 - 8 Data Bits, No Parity, 1 Stop Bit

0 - ASCII protocol

0 - RS-232

2. Connect to your personal computer with the RS-232 serial communication cable, catalog number 2090-CCMPCDS-23AA

xx.

For information on the serial communication cables refer to Serial

Communication Cables Installation Instructions, publication 2090-IN019

3. Run Ultraware software, version 1.80 or greater on your personal

computer and proceed with Detect Your Kinetix 3 Drive .

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Chapter 5 Configure and Start Up the Kinetix 3 Drive

Configure Your Kinetix 3 Drive for RS-485 Communication with

MicroLogix Controller

To configure Kinetix 3 drive communication port for RS-485 Modbus-RTU communication follow these steps.

1. Using the keypad on the front of the drive, set the following parameters.

See

Status Display/Operation Mode

for keypad operation

Parameter Name

Drive address

Serial port configuration

Parameter

Pr0.07

Pr0.09

Setting

Required address (1 - Default)

1102 where, 2 - 19200bps Baud Rate

0 - 8 Data Bits, No Parity, 1 Stop Bit

1 - Modbus-RTU protocol

1 - RS-485

2. Using RSLogix 500 software, configure MicroLogix 1100 or 1400 controller channel 0 for Modbus-RTU.

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Chapter 5

For details on MicroLogix controllers refer to their installation instructions.

If using

MicroLogix 1100 controller

MicroLogix 1400 controller

Refer to

MicroLogix 1100 Programmable Controllers Installation

Instructions, publication 1763-IN001

MicroLogix 1400 Programmable Controllers Installation

Instructions, publication 1766-IN001

3. Connect to the MicroLogix controller with the RS-485 serial communication cable, catalog number 2090-CCMCNDS-48AA

xx.

For information on the serial communication cables refer to Serial

Communication Cables Installation Instructions, publication 2090-IN019.

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Apply Power to Your

Kinetix 3 Drive

This procedure assumes that you have:

•

wired your Kinetix 3 system,

•

verified the wiring, and

•

are ready to begin using the Ultraware software.

To apply power to your Kinetix 3 drive:

1. Disconnect any load to the motor.

IMPORTANT Be sure that the motor is free of all linkages when initially applying power to the system.

2. Apply main and control input power to the Kinetix 3, and observe the operator interface on the front of the drive. The drive should enter a

normal startup, as outlined below and shown in Figure 52

.

If the Main Power

Status Indicator is

ON

OFF

Then

Go to step 3

.

Check your input power connections and repeat step 2

.

Figure 52 - Kinetix 3 Drive Operator Interface at Startup

Startup Normal An error detected during Startup

82

3. Verify the status of the drive startup, as outlined below and shown in

Figure 52 .

If the six characters on the

7-segment display indicator

rdY in the three least significant characters

E. in the most significant character followed by a text string or error code number.

Then

The drive is ready.

Go to

Detect Your Kinetix 3 Drive on page 83 .

Refer to Error Displays on page 98 to troubleshoot the fault

condition.

Important: If a 17-bit serial motor is not connected or a 17-bit serial motor is installed without a battery backup, a fault

condition will occur. Go to Detect Your Kinetix 3 Drive on page 83 .

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Chapter 5

Detect Your Kinetix 3 Drive

This procedure assumes you have successfully applied power to your drive. These steps are designed to make sure that your Kinetix 3 drive is communicating with your Ultraware software.

Follow these steps to detect your Kinetix 3 drive.

1. Start your Ultraware software.

Refer to the Ultraware User Manual, publication 2098-UM001 , for more information on starting the Ultraware software.

2. Create a new file.

The software will scan for online drives.

3. Click Stop Scanning when your drive is detected or wait for the scanning to time out.

4. Look for the Kinetix 3 icon under the On-Line Drives tree.

The Kinetix 3 icon indicates that your drive is detected.

5. Click the [+] next to the Kinetix 3 icon to expand the branch menu.

If Your Kinetix 3 Drive

Is detected and listed under the On-Line

Drives tree.

Is not detected.

Then

1. The software and hardware are communicating and the system is ready.

2. Go to Select a Motor

on

page 87 .

1. Check your serial cable connections.

2. Use Recover Communications (in Ultraware) to establish a connection.

3. Go to main step 1

of this section.

4. Verify no other program such as RSLinx is using the serial port.

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Understanding the Workspace and Drive Branches

This section provides a description of the Ultraware workspace and various drive branches.

5 6 7

1

2

3

4

5

6

3

4

7

Item

1

2

Description

Click the [+] next to K3 Drive to expand the parameter group.

Double-click the K3 Drive icon in the Ultraware workspace to display the various drive branches.

Configure drive parameters for an on-line drive.

Monitor the status of an online drive.

Software Enable icon.

Disable All Drives icon.

Execute commands to clear faults, reset the drive, or reset the EEPROM.

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Mode Configuration Branch

Configure and Start Up the Kinetix 3 Drive

Chapter 5

Click the [+] next to Mode Configuration to select the drive’s command source.

Motor Branch

Use the Motor Branch to:

•

select a motor for the associated online or offline Kinetix 3 drive. Once you select a motor, the status values associated with the selected motor appear in the Status pane of this dialog box.

•

monitor the status as related to the selected motor.

•

perform diagnostics on the motor.

Tuning Branch

Use the Tuning Branch to:

•

configure Velocity and Position Regulator Gains that are used in tuning.

•

monitor Velocity, Position, and Current loop status.

•

open dialog boxes where you can execute commands for autotuning, manual position tuning, and manual velocity tuning.

Encoders Branch

Use the Encoders Branch to configure the motor encoder.

Digital Inputs Branch

Use the Digital Inputs Branch to:

•

assign functionality to digital inputs.

•

monitor the status of digital inputs.

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Digital Outputs Branch

Use the Digital Outputs Branch to:

•

assign functionality to digital outputs.

•

set both active and inactive brake delays.

•

monitor the status of digital outputs and the digital relay.

Analog Outputs Branch

Use the Analog Outputs Branch to:

•

assign drive signals to analog outputs.

•

monitor the status of analog outputs.

Monitor Branch

Use the Monitor Branch to:

•

view a collection of statuses.

•

open the Monitor Setup dialog box where you can select the collection of statuses to display in this dialog box.

•

load a monitor previously saved.

•

save a monitor for later use.

Oscilloscope Branch

Use the Oscilloscope Branch to trace one of four drive signals by:

•

configuring the oscilloscope by selecting the drive signal to trace.

•

executing commands that run the oscilloscope's tracing function continuously or in response to the configured trigger.

•

monitoring the oscilloscope as it traces the selected drive signal.

Faults Branch

Use the Faults Branch to:

•

set fault limits.

•

monitor fault status.

•

execute the Clear Faults command.

•

open a dialog box where you can review the drive's fault history.

Service Information Branch

Use the Service Information Branch to:

•

display and monitor service information about the drive.

•

display the firmware revision of the drive.

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Chapter 5

Select a Motor

This procedure assumes you have power applied to your drive and the drive is detected by the Ultraware software.

Refer to the Ultraware User Manual, publication 2098-UM001

, for more information on selecting a motor.

Follow these steps to select a motor.

1. Double-click the Kinetix 3 icon under the On-Line Drives tree.

The Kinetix 3 Drive properties dialog box opens.

Actual values depend on your application. Auto Motor Iden default value is Enabled and remains Enabled if a motor with intelligent encoder is detected or selected. Value changes to Disabled if a motor without intelligent encoder is selected.

2. Check the Motor Model parameter value.

If motor is

An Allen-Bradley motor with intelligent encoder

Not an Allen-Bradley motor with intelligent encoder

Value (motor cat. no.) Go To

Is recognized by the

Ultraware software

Assign Digital Inputs on page 88 .

Go to Fault Codes in Chapter 6 and

refer to troubleshooting for E30.

Is not recognized by the

Ultraware software

Step 3

.

3. From the Motor Model pull-down menu, choose your motor.

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Assign Digital Inputs

Follow these steps to assign Digital Inputs.

1. Double-click the Digital Inputs branch.

The Digital Inputs properties dialog box opens.

2. Verify that Input 1 value is set to Drive Enable (this is default).

The Drive Enable switch can be removed from the digital inputs, but can lead to immediate motion upon drive powerup.

ATTENTION: To avoid fault action or damage to the drive due to improper sequencing of input power and the Drive Enable signal, assign one of the ten inputs as Drive Enable (Input 1 is the default setting).

3. Configure remaining digital inputs as required by your application.

4. Close the Digital Inputs properties dialog box.

Tune Your Motor

This procedure assumes your drive is detected and you have selected a motor. In this procedure you will autotune your motor.

Follow these steps to autotune your motor.

1. Double-click the Tuning branch.

The Tuning properties dialog box opens.

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Configure and Start Up the Kinetix 3 Drive

Chapter 5

2. Click Start Autotuning.

The Autotuning warning dialog box opens.

ATTENTION: Autotuning will begin even if the drive is disabled.

3. If you are ready to Autotune, Click Ok.

The default Autotune dialog box opens.

4. Click Start Autotune.

The motor responds and the tuning process is complete. Actual values depend on your application.

5. Copy the Main Gains to alternate gains as needed, repeat, and then close the Tuning properties dialog box.

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Configure Displayed Units

The default value setting for Displayed Units is metric. English units are also an option. For values of your own choosing, select User. User units is similar to setting up an application conversion constant. This is useful when the application requires the use of a transmission or other equipment. For example, if motor encoder activity is being measured in counts and the number of revolutions (rpm) is more meaningful, you can change counts to rpm.

1. Double-click the Kinetix 3 icon under the On-Line Drives tree.

The Kinetix 3 Drive properties dialog box opens.

90

2. Click the Value field next to Display Units and choose User.

3. Click the [+] next to Motor Encoder Units.

Use these parameter settings for an incremental encoder.

Use these parameter settings for a 17-bit serial encoder.

The Indexing parameters now list the position as revs and acceleration/ deceleration as revs/sec/sec as defined above. These examples are for rotary motors directly coupled to the machine.

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Chapter 5

Test Your Motor (non-indexing move)

This procedure assumes you have applied power to your drive, the Ultraware software is running, the drive is detected, and you have selected a motor. In this procedure you will enable the drive and set the motor velocity to test the motor.

Refer to the Ultraware User Manual, publication 2098-UM001 , for more information on using the velocity control panel.

Follow these steps to jog the motor at a constant speed.

1. Double-click the Kinetix 3 icon.

The drive properties dialog box opens.

2. Click Velocity Control Panel.

The velocity control panel dialog box opens.

3. Click Jog Enable.

4. In the Velocity Command box, enter an appropriate low speed.

5. Press Jog Forward.

The motor should be turning at the velocity you entered in step 4 .

6. Click Disable All.

The motor stops.

7. Close the velocity control panel.

The drive is software disabled and the enable icon in the tool bar is no longer illuminated.

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Test Your Motor (indexing move)

This procedure assumes you have applied power to your drive, the Ultraware software is running, the drive is detected, the drive is set to user defined units of

Revs, and you have selected a motor. In this procedure you will enable the drive and make an incremental move to test the motor. The drive needs to be in indexing mode for testing an indexing move.

Refer to the Ultraware User Manual, publication 2098-UM001 , for more information on using the indexing control panel.

Follow these steps to test your motor.

1. Double-click the Kinetix 3 icon.

The drive properties dialog box opens.

2. Expand the Mode Configuration branch and double-click Indexing.

The Indexing Setup dialog box opens.

92

3. Expand Index 0 Setup.

4. Configure your incremental move with these values for Index 0:

•

Mode = Incremental

•

Distance = 1.0 Revs

•

Dwell = 500 ms

•

Velocity = 750 rpm

•

Acceleration = 13 Rev/s

2

•

Deceleration = 13 Rev/s

2

•

Next Index = 0

•

Action When Complete = Stop

In this example, the Bulletin TL motor uses a 17-bit serial encoder, with

131,072 counts per revolution. Because the user units were already defined as 131,072 units per revolution, the distance here can be entered as 1.0

Revs. If using a Bulletin TLY motor with an incremental encoder, it would be 8,000 counts per revolution.

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Chapter 5

5. Click Indexing Control Panel in the drive properties dialog box.

6. Click Enable Drive.

7. Click Software Enable to the depressed position.

8. Click Start Index.

9. Close the indexing control panel dialog box.

The drive is software disabled and the tool bar Enable icon is no longer on.

10. Close the Indexing mode dialog box.

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Notes:

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Introduction

Safety Precautions

Chapter

6

Maintaining and Troubleshooting Your

Kinetix 3 Servo Drive

This chapter provides a description of maintenance and troubleshooting activities for the Kinetix 3 Servo Drive.

Observe the following safety precautions when troubleshooting your Kinetix 3 drive

SHOCK HAZARD: DC bus capacitors may retain hazardous voltages after input power has been removed. Before working on the drive, measure the

DC bus voltage to verify it has reached a safe level or wait the full time interval listed on the drive warning label. Failure to observe this precaution could result in severe bodily injury or loss of life.

ATTENTION: Do not attempt to defeat or override the drive fault circuits.

You must determine the cause of a fault and correct it before you attempt to operate the system. If you do not correct a drive or system malfunction, it could result in personal injury and/or damage to the equipment as a result of uncontrolled machine system operation.

SHOCK HAZARD: Test equipment (such as an oscilloscope or chart recorder) must be properly grounded. Failure to include an earth ground connection could result in a potentially fatal voltage on the oscilloscope chassis.

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Chapter 6 Maintaining and Troubleshooting Your Kinetix 3 Servo Drive

Maintaining Your Kinetix 3

Drive

The Kinetix 3 is designed to function with a minimum of maintenance.

To maintain your Kinetix 3 drive:

•

Clean the drive periodically, by using an OSHA approved nozzle that provides compressed air under low pressure, less than 20 kPa (30 psi), to blow the exterior surface and the vents clean.

•

Visually inspect all cables for abrasion.

•

Cable connectors should be inspected for proper seating and signal continuity end-to-end.

General Troubleshooting

Refer to the

Fault Codes

section below to identify anomalies, potential causes, and appropriate actions to resolve the anomalies. If anomalies persist after attempting to troubleshoot the system, please contact your Allen-Bradley representative for further assistance. To determine if your Kinetix 3 drive has an error, refer to the table immediately below.

Then If the Main Power and Control Power Status

Indicators are ON and the Status Display on the

Drive is

Displays ‘rdy’ in the three right-most characters

Displays ‘Pot’ or ‘not’

Displays a three-digit warning message

Alternates between a three-digit error code and a six-digit text message

The Kinetix 3 drive is ready.

The Kinetix 3 drive encountered an

Overtravel Condition and motion restrictions

are in effect.

The Kinetix 3 drive is functional, but a drive warning is displayed.

Proceed to the section

Warning Messages

.

An Kinetix 3 drive error has occurred.

Proceed to the section

Error Displays .

Overtravel Condition

Overtravel displays (see the following table) occur if the drive detects an overtravel condition.

Overtravel Display Possible Cause

A Positive Overtravel condition is detected.

Action/Solution

Apply motion in a negative direction to move off of overtravel limit switch.

Positive Overtravel

A Negative Overtravel condition is detected.

Apply motion in a positive direction to move off of overtravel limit switch.

Negative Overtravel

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Fault Codes

Maintaining and Troubleshooting Your Kinetix 3 Servo Drive

Chapter 6

The following list of assigned error codes is designed to help you resolve anomalies.

Warning Messages

Warnings are drive abnormalities that allow motor control to continue. Warnings are displayed on the drive's Status display using the last three segments of the display to display an abbreviated title.

Warning Display Possible Cause

The Absolute Encoder has exceeded its rotational limit.

Action/Solution

Reset the absolute encoder.

Absolute Encoder Counter

Overflow

Low battery warning, less than 3.2V is being supplied.

Replace battery or verify external power supply.

(1)

Absolute Encoder Battery

Control power is applied to the drive while the motor is in motion.

After verifying motor has stopped, recycle control power.

Power Up Overspeed

Over Current Command

Over Speed Command

Digital I/O Assignment

Improper setting of analog current scale.

Verify scaling parameter corresponds to analog signal range.

System cannot meet motion profile.

• Verify velocity loop tuning.

• Verify system sizing.

Incorrect current limit settings.

Verify current limits do not restrict current to less than system capabilities.

Improper setting of analog velocity scale.

Verify scaling parameter corresponds to analog signal range.

System cannot meet motion profile.

• Verify position loop tuning.

• Verify system sizing.

Inappropriate assignment of digital inputs or outputs.

• If operated in preset mode, verify presets are assigned.

• If operated in a normal/override mode, verify the override function is assigned.

Motor rating larger than drive rating.

Match motor and drive sizing.

Motor Over Rated

Output Power

(1) Battery replacement causes loss of absolute position. Homing may be necessary.

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Table 28 - Error Displays

Error Displays

Errors are serious abnormalities that cause loss of motor control. The Error display alternates between a three-digit error code and a six-digit text message.

The error displays repeat until the anomaly is cleared.

Error

Code

Text

Message

Possible Cause Action/Solution

Motor Overtemperature

IPM Error

Bus Undervoltage

Bus Overvoltage

Home Search Failed

Motor thermal switch trips due to:

• High motor ambient temperature, and/or

• Excessive current

Motor wiring error

Incorrect motor selection

Motor power cables shorted

Motor winding shorted internally

Operation above continuous power rating

Drive has a bad IPM output, short circuit, or overcurrent

Low AC line/AC power input

• Operate within (not above) the continuous torque rating for the ambient temperature.

• Lower ambient temperature, or increase motor cooling.

Check motor wiring.

Verify the proper motor has been selected.

Verify continuity of motor power cable and connector.

Disconnect motor power cables from the motor. If the motor is difficult to turn by hand, it may need to be replaced.

• Verify ambient temperature is not too high.

• Operate within the continuous power rating.

• Reduce acceleration rates.

Remove all power and motors connections, then perform a continuity check from the DC bus to the U, V, and

W motor terminals. If continuity exists, check for wire strands between terminals, or replace the drive.

• Verify voltage level of the incoming

AC power.

• Check AC power sources for glitches or line drop.

• Install uninterruptible power supply

(UPS) on the AC input.

Apply main power before enabling drive. Attempted to enable drive without main power active.

Excessive regeneration of power

(that is when the motor is driven by an external mechanical force, it may regenerate too much peak energy through the drive’s power supply and the drive faults to save itself from an overload.)

Excessive AC input voltage

Homing is not complete within the time defined in Homing time limit

(IN-01.11) is elapsed.

• Verify shunt circuit.

• Adjust motion profile to stay within the range of the regenerative resistor.

• Replace regenerative transistor.

• Replace the drive.

Verify input is within specification.

• Increase the time defined in Homing time limit (IN-01.11).

• Set a value other than '0' in Homing

Velocity (IN-01.02) and Creep Velocity

(IN-01.03).

• Check if there is any obstacle that disturbs Homing.

• Check mechanical parts and parameter settings for Homing.

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Chapter 6

Table 28 - Error Displays (cont.)

Error

Code

Text

Message

Possible Cause Action/Solution

Motor Overspeed

Motor speed exceeds maximum

Position error exceeds permitted value

• Confirm encoder wiring.

• Retune drive system.

• Verify input gain of external speed or torque command.

• Increase following error limit.

• Check position loop tuning.

Excess Position Error

Motor Continuous

Current Overload

Drive Overload

The internal filter protecting the motor from overheating has tripped

The motion application requires average drive current in excess of rated capability

• Reduce acceleration rates.

• Reduce duty cycle (ON/OFF) of commanded motion.

• Increase time permitted for motion.

• Use larger drive and motor.

• Check tuning.

• Reduce acceleration rates.

• Reduce duty cycle (ON/OFF) of commanded motion.

• Increase time permitted for motion.

• Use larger drive and motor.

• Check tuning.

Encoder not programmed correctly Replace motor.

Encoder memory corrupted

Encoder Data Range

Error

Encoder Cable Open

Communication not established with an intelligent encoder.

Hall error

• Verify motor selection if it does not support automatic identification.

• Verify the motor supports automatic

• identification.

• Verify encoder wiring.

Encoder not programmed correctly Replace motor.

Encoder memory corrupted

Encoder Data

Parameter Error

Drive Overtemperature

AC Line Loss

Excessive heat exists in the drive

Poor quality power

• Verify cooling fan operation (2071-

AP8, 2071-A10, and 2071-A15 only).

• Check tuning.

• Reduce acceleration rate.

• Reduce duty cycle (ON/OFF) of commanded motion.

• Increase time permitted for motion.

• Use larger drive and motor.

• Increase Ride Through time.

Attempted to enable drive without main power active

Phase connection missing

• Apply main power before enabling drive.

• Remove power and verify all physical connections.

Fault Delay parameter is set too short

• Increase the Fault Delay parameter setting.

Error in parameter memory storage

• Reinitialize parameter.

• Reset drive to factory defaults.

User Parameter

Initialization Error

Defective hardware Replace the drive.

Current Feedback Offset

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Table 28 - Error Displays (cont.)

Error

Code

Text

Message

Possible Cause

Checksum error

User Parameter

Checksum Error

Watchdog Timeout

Excessive electrical noise

Defective hardware

Defective hardware

PWM Hardware Error

Range of parameter is invalid

User Parameter Range

Error

Hardware error

Drive Initialization Error

Shunt Overload

Protection

Shunt Overcurrent

Protection

Absolute Encoder

Battery Error

Absolute Encoder

Overspeed

Action/Solution

• Confirm and reset parameter.

• Reset drive to factory defaults.

Verify wiring, grounding and bonding.

Replace the drive.

Replace the drive.

• Enter parameter with a value or values within range.

• Reset drive to factory defaults.

Replace the drive.

Power at regenerative resistor exceeds the permitted value

Shunt resistor is disconnected or damaged

Shunt current exceeded allowable instantaneous value

Adjust motion profile to stay within the range of the regenerative resistor.

• Verify resistor connection.

• Verify resistance of shunt resistor.

• Verify shunt is not shorted or damaged.

• Verify load energy is not excessive during deceleration.

Set Encoder Backup Battery parameter to Not Installed.

Encoder Backup Battery parameter is set to installed, but a battery is not installed.

Battery voltage is sensed below

2.7V DC.

Battery powered encoder is mechanically rotated at high speed while drive is powered down

• Confirm battery voltage and connection.

• Replace battery.

• Mechanically disengage motor from system.

• Cycle power to drive and reset alarm.

Absolute Encoder

Multi-turn Count Error

Electrical noise in the encoder

Defective encoder

Cycle power to drive and reset alarm.

Replace motor.

The drive operating mode and motor selection are incompatible.

Change the operating mode and/or the motor selection, and reset the drive.

Drive Set Up

Motor cable open Verify power connection between motor and drive.

Motor Power Cable

Open

Motor Instantaneous

Current Overload

Motor Mismatch

Motion profile requires a peak current for an excessive time interval

• Verify motor wiring.

• Adjust accel/decel time.

• Confirm motor selection.

Defective current feedback sensing Verify phase currents.

Dynamic braking current of the selected motor exceeds twice the drive peak current rating

Install a different motor.

100

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Maintaining and Troubleshooting Your Kinetix 3 Servo Drive

Chapter 6

Table 28 - Error Displays (cont.)

Error

Code

Text

Message

Possible Cause

Motor encoder signals do not match drive configuration

Encoder Type Mismatch

Defective encoder

Encoder Communication

Error

Wiring between drive and encoder is faulty or disconnected, or EMI

(noise) disrupts encoder signals.

Special Communication

Error

Communication error between host and drive (noise)

Input frequency limit exceeded

Position Command

Frequency Error

Action/Solution

Verify motor selection.

Replace motor.

• Verify encoder wiring.

• Verify serial cable.

• Check for noise on serial communication interface.

• Verify hardware type selected in the drive matches the physical hardware.

• Change from open collector to line drive.

• Reduce the speed command.

• Apply gearing.

• Remove Emergency stop conditions

• Clear E-STOP

Emergency Stop

Emergency stop (E-STOP) signal detected

• Use a value within the range of

-2

31

…+2

31

Index Position Range

Overflow

The value of a Position Parameter for indexing is out of the range

Motor Phase Over

Current

Axis Not Homed

• Anomaly with control or main power circuitry if this error occurs when power is turned on

• Excessive current to the motor if this error occurs during operation

(current more than 300% of the rated current to the motor more than 10 ms)

A user tries any indexing without

Homing operation completed

• Check wiring and power

• Check power and set/adjust acceleration/decceleration time

Complete homing before indexing

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

101

Chapter 6 Maintaining and Troubleshooting Your Kinetix 3 Servo Drive

Notes:

102

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Introduction

Appendix

A

Specifications and Dimensions

This appendix provides product specifications and mounting dimensions for your Kinetix 3 drive system components.

Topic

Introduction

Kinetix 3 Drive Power Specifications

Fuse/Contactor Specifications

Power Dissipation Specifications

General Specifications

AC Line Filter Specifications

Product Dimensions

106

106

108

109

Page

103

104

105

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

103

Appendix A Specifications and Dimensions

Kinetix 3 Drive Power

Specifications

Attribute

AC input voltage

This section contains power specifications for your Kinetix 3 drive system components.

Table 29 - Kinetix 3 Drive Power Specifications

2071-AP0

170…264V rms

2071-AP1 2071-AP2 2071-AP4 2071-AP8 2071-A10 2071-A15

AC input phase Single-phase

Single-phase/

Three-phase

Three-phase

AC input frequency 47…63 Hz

Mains AC input current

(1)

Nom (rms)

Max inrush (0-pk)

Mains AC line loss ride through

Nominal bus output voltage

1.30 A

21.9 A

20 ms

311V DC

2.38 A 3.68 A 7.14 A

6.25 A (three-phase)

10.52 A (single-phase) 8.75 A

22.6 A

12.37 A

Bandwidth

(2)

Velocity loop

Current loop

PWM frequency

Control power AC input voltage

Control power input current

Nom (rms)

Max inrush (0-pk)

Continuous output current (rms)

Continuous output current (0-pk)

Peak output current (rms)

Peak output current (0-pk)

Continuous power output

Bus Overvoltage

Bus Undervoltage

Internal shunt resistor

Internal shunt

Continuous power

Peak power

Shunt On

Shunt Off

Efficiency

Bus Capacitance

Capacitive energy absorption

Short circuit current rating

550 Hz

2000 Hz

10 kHz

170…264V rms

0.1 A rms

31 A

0.61 A

0.85 A

1.22 A

2.55 A

50 W

405V DC

190V DC

N/A

1.11 A

1.56 A

2.22 A

4.67 A

100 W

N/A

N/A

390V DC

380V DC

90%

390

13 J

F

780

F

26 J

100,000 A (rms) symmetrical

1.72 A

2.40 A

3.44 A

7.21 A

200 W

3.33 A

4.67 A

6.66 A

14.0 A

400 W

50



30 W

300 W

5.05 A

7.07 A

10.10 A

21.21 A

800 W

30



70 W

700 W

1170

F

39 J

7.07 A

9.90 A

14.14 A

26.70 A

1.0 kW

9.9 A

13.99 A

20.0 A

41.99 A

1.5 kW

(1) Kinetix 3 drive modules are limited to 1 AC mains power cycling every 2 minutes.

(2) Bandwidth values vary based on tuning parameters and mechanical components.

104

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Fuse/Contactor

Specifications

Specifications and Dimensions

Appendix A

Make sure the selected components are properly coordinated and meet acceptable codes including any requirements for branch circuit protection.

The following fuse examples are recommended for use with Kinetix 3 drives.

Table 30 - Fuse and Contactor Specifications

Drive Cat. No.

AC Input Power

(1) (2) (3)

Recommended Fuse

Control Power

(2) (4)

Recommended Fuse

2071-AP0

2071-AP1

2071-AP2

2071-AP2

2071-AP8

2071-A10

FNQ-R-7

FNQ -R-10

FNQ-R-20

LPJ-20

FRS-R-2-1/2

FNQ-R-7-1/2

LPJ-6

2071- A15

FNQ-R-30

LPJ-30

(1) Fuses specified are Bussmann fuses.

(2) FNQ-R fuses are described as time-delay fuses, Class CC.

(3) LPJ fuses are described as dual-element time-delay fuses, Class J.

(4) FRS-R fuses are described as dual-element time-delay fuses, Class RK5.

(5) For contactors:

x represents coil voltage, y represents the number of contacts.

Contactor

(5)

100-M05N

xy

100-M09N

xy

100-M12N

xy

100-C16

xy

100-C23

xy

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

105

Appendix A Specifications and Dimensions

Power Dissipation

Specifications

Use this table to size an enclosure and calculate required ventilation for your

Kinetix 3 drive system

Drive Cat. No.

2071-AP0

2071-AP1

2071-AP2

2071-AP4

2071-AP8

2071-A10

2071-A15

20%

19.29

20.14

21.70

25.59

26.36

30.87

37.37

24.6

31.9

32.3

40.2

50.1

40%

Usage as% of Rated Power Output

(watts)

60% 80%

20.0

21.6

20.6

23.1

21.3

24.6

27.6

38.4

38.6

50.1

63.8

30.6

45.2

45.1

60.6

78.4

52.2

52.0

71.5

94.0

100%

22.0

26.2

33.7

General Specifications

This section contains general specifications for your Kinetix 3 drive system components.

Maximum Feedback Cable Lengths

Although motor power and feedback cables are available in standard lengths up to 90 m (295.3 ft), Kinetix 3 drive maximum feedback cable length is 30 m (98.4 ft). These tables assume the use of recommended cables as shown in the Kinetix

Motion Control Selection Guide, Publication GMC-SG001 .

Table 31 - Maximum Cable Lengths for Compatible Motors and Actuators

Rotary Motor Cat. No.

Incremental/TTL

(5V) Encoder

m (ft)

Absolute High-resolution

(5V) 17-bit Encoder

m (ft)

TL-A

xxxx-B

TLY-A

xxxx-B

TLY-A

xxxx-H

30 (98.4)

Actuator Cat. No.

30 (98.4)

Incremental/TTL

(5V) Encoder

m (ft)

Absolute High-resolution

(5V) 17-bit Encoder

m (ft)

MPAS-A

xxxx (direct drive)

TLAR-A

xxxxx-B

30 (98.4)

30 (98.4)

Linear Motor Cat. No.

Incremental/TTL

(5V) Encoder

m (ft)

–

LDC-Series or LDL-Series 30 (98.4) –

106

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Specifications and Dimensions

Appendix A

Weight Specifications

Drive Cat. No.

2071-AP0

2071-AP1

2071-AP2

2071-AP4

2071-AP8

2071-A10

2071-A15

Weight, approx.

kg (lb)

0.70 (1.5)

0.75 (1.6)

1.0 (2.2)

1.75 (3.9)

Certifications

Agency Certification

c-UL-us

CE

C-Tick

(1)

Standards

UL Listed to U.S. and Canadian safety standards (UL 508C File E59272).

This drive provides integral solid state short circuit protection, but does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the

National Electrical Code and any additional local codes.

This drive provides solid state motor overload protection that is adjustable. Refer to the

Kinetix 3 Component Servo Drives User Manual, publication 2071-UM001

, for more information.

European Union 2004/108/EC EMC Directive compliant with EN 61800-3:2004: Adjustable

Speed Electrical Power Drive Systems - Part 3; EMC Product Standard including specific test methods.

European Union 2006/95/EC Low Voltage Directive compliant with

EN 61800-5-1:2007 - Safety of Machinery - Electrical Equipment of Machines.

• Radio Communications Act: 1992

• Radio Communications (Electromagnetic Compatibility) Standard: 1988

• Radio Communications (Compliance Labeling - Incidental Emissions) Notice: 1998

• AS/NZS CISPR 11: 2003 (Group 2, Class A)

(1) When product is marked, refer to http://www.ab.com

for Declarations of Conformity Certificates.

Attribute

Ambient temperature

Relative humidity

Altitude

Vibration

Shock

Environmental Specifications

Operational Range

0…50

C (32…122 F)

5…95% noncondensing

1000 m (3281 ft)

3000 m (9843) with derating

Storage Range (nonoperating)

-25…85

C (-13…185F)

5…95% noncondensing

3000 m (9843 ft) during transport

5…55 Hz @ 0.35 mm (0.014 in.) double amplitude, continuous displacement; 55…500 Hz @

2.0 g peak constant acceleration (10 sweeps in each of 3 mutually perpendicular directions).

15 g, 11 ms half-sine pulse (3 pulses in each direction of 3 mutually perpendicular directions)

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

107

Appendix A Specifications and Dimensions

AC Line Filter

Specifications

AC Line Filter

Cat. No.

2090-XXLF-TC116

2090-XXLF-TC316

Voltage

250V AC

50/60 Hz

520V AC

50/60 Hz

Phase

Single

Three

The Kinetix 3 servo drives were tested by using recommended line filters. Use of these filters is also needed to meet CE requirements.

Table 32 - AC Line Filter Specifications

Current

A @

50 °C (122 °F)

Leakage

Current

mA

87

16

38

Weight, approx.

kg (lb)

0.80 (1.7)

Humidity

90%

Vibration

Operating

Temperature

10…200 Hz

@ 1.8 g

-25…100 °C

(-13…212 °F)

Table 33 - AC Line Filter Selection

AC Line Filter Cat. No.

Drive Cat. No.

2071-AP0

2071-AP1

2071-AP2

2071-AP4

2071-AP8

2071-A10

2071-A15

2090-XXLF-TC116 (single-phase)

2090-XXLF-TC316 (three-phase)

2090-XXLF-TC116 (single-phase)

2090-XXLF-TC316 (three-phase)

Replacement Battery

Specifications

The 3.6V lithium battery, when installed in a Kinetix 3 drive, provides multi-turn encoder operation to TL-Series (Bulletin TL, TLY, and TLAR) motors and actuators.

Lithium batteries have special storage, shipping, and disposal requirements.

Review and comply with all relevant local, state, and country regulations dealing with the handling and disposal of these materials.

Table 34 - Replacement Battery Specifications

Attribute Value

International size reference

Nominal capacity @ 0.5 mA, to 2V

Rated Voltage

Max Recommended continuous current

1/2AA, ER14252

1.2 Ah

3.6V

50 mA

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Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Product Dimensions

5.0

(0.20)

C

Specifications and Dimensions

Appendix A

This section contains product dimensions for your Kinetix 3 drives.

A

B

Dimensions are in mm (in.)

2071-AP0 drive is shown.

D

50.0

1.97

29.0

(1.14)

145

(5.70)

155

(6.11)

5.0

(0.20)

Chassis Ground

Terminals

Mounting hole (top) and slot (bottom) require:

M4 x 10 bolts (catalog numbers 2071-AP0, 2071-AP1, 2071-AP2, and 2071-AP4)

M5 x 10 bolts (catalog numbers 2071-AP8, 2071-A10, 2071-A15)

32.0

(1.26)

Drive Cat. No.

2071-AP0

2071-AP1

2071-AP2

2071-AP4

2071-AP8

2071-A10

2071-A15

A

mm (in.)

153

(6.04)

198

(7.82)

B

mm (in.)

141

(5.55)

186

(7.33)

C

mm (in.)

Chassis Ground Terminals

(2071-AP4, 2071-AP8, 2071-A10,

2071-A15 models include two terminal screws)

2071-TBIO I/O Breakout Board

2071-TBMF Motor Feedback

Breakout Board for Bulletin 2090

(flying-lead) Feedback Cables

D

mm (in.)

48.3

(1.90)

59.0

(2.32)

53.0

(2.09)

58.0

(2.29)

81.0

(3.19)

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

109

Appendix A Specifications and Dimensions

Notes:

110

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Introduction

Appendix

B

Interconnect Diagrams

This appendix provides wiring examples and system block diagrams for your

Kinetix 3 drive system components.

Topic

Introduction

Interconnect Diagram Notes

Page

111

112

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

111

Chapter B Interconnect Diagrams

Interconnect Diagram

Notes

This appendix provides wiring examples to assist you in wiring the Kinetix 3 system. The notes below apply to the wiring examples on the pages that follow.

5

6

7

8

Note Information

1

2

3

4

For power wiring specifications, refer to Power Wiring Requirements on page 53

.

For input fuse sizes, refer to Fuse/Contactor Specifications on page 105 .

Place the AC (EMC) line filters as close to the drive as possible and do not route very dirty wires in the wireway. If routing in wireway is unavoidable, use shielded cable with shields grounded to the drive chassis and filter case. For AC line filter specifications, refer to

AC Line

Filter Specifications on page 108

.

Terminal block is required to make connections. Configure one pair from the Digital OUTPUT1… OUTPUT3, pins 41…44 or pins 47 and 48,

as Brake in Ultraware software. For Digital Output specifications, refer to page 37 .

Contactor coil (M1) needs integrated surge suppressors for AC coil operation. Refer to Fuse/Contactor Specifications on page 105

.

Drive Enable input must be opened when main power is removed, or a drive fault occurs. A delay of at least 1.0 second must be observed before attempting to enable the drive after main power is restored.

Cable shield clamp must be used to meet CE requirements. No external connection to ground is required.

ATTENTION: Implementation of safety circuits and risk assessment is the responsibility of the machine builder. Please reference international standards EN 1050 and EN 954 estimation and safety performance categories. For more information refer to Understanding the Machinery Directive, publication SHB-900 .

9

10

11

For motor cable specifications, refer to the Kinetix Motion Control Selection Guide, publication GMC-SG001 .

Motor power cables (2090-XXNPMF-

xxSxx and 2090-CPBM6DF-16AAxx) have a drain wire that must be folded back under the cable shield clamp.

Digital Input 1 configured as SV-ON (Enable), Digital Output 1 configured as RDY (Ready)

112

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Interconnect Diagrams

Chapter B

Power Wiring Examples

You must supply input power components. The single-phase and three-phase line filters are wired downstream of fusing and the M1 contactor.

Figure 53 - Kinetix 3 Drive Wiring Example (230V single-phase input power)

Single-phase AC Input

230V AC RMS, 50/60 Hz

Notes 1

Refer to table on page 112

for note information.

2071-Axx

Kinetix 3 Drive

Fuse Disconnect or Circuit Breakers

Isolation

Transformer *

Bonded Cabinet Ground Bus *

M1 *

Notes 5, 6

2090-XXLF-TC116

xx*

AC Line Filter

(Optional)

L1

L2

Input Fusing *

Note 2

AC Line Filter*

(Optional)

Isolation

Transformer *

Use discrete logic or

PLC to control SV-ON

(ENABLE) to drive and monitor RDY signal back from drive.

Refer to

Attention statement (Note 8).

Ground

Screw

L1

L2

L3

L1C

L2C

Input (IPD)

Connector

41

42

2

3

24V IN

SV-ON

RDY +

RDY -

I/O (IOD)

Connector

Note 11

Motor Power

(MP) Connector

Ground

Screw

U

V

W

Three-phase

Motor Power

Connections

Note 9

To

Motor

Cable

Shield

Clamp

Note 7

* Indicates User Supplied Component

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

113

Chapter B Interconnect Diagrams

2071-Axx

Kinetix 3 Drive

11

12

13

14

7

8

9

10

5

6

3

4

0

1

2

15

16

17

18

19

20

Motor Power

(MP) Connector

Motor Feedback

(MF) Connector

I/O (IOD)

Connector

Note 4

OUTPUT3+ (BK+)

OUTPUT3- (BK-)

W

V

U

47

48

CR1

24V DC

24V DC COM

User Supplied

24V DC

Kinetix 3 Drive/Rotary Motor Wiring Examples

These wiring diagrams apply to Kinetix 3 drives with compatible rotary motors.

Figure 54 - Kinetix 3 Drive (230V) Wiring Example with TL-Series (TLY-A) Motors

Refer to table on

page 112

for note information.

2090-CPBM6DF-16AA

xx

Motor Power and Brake Cable

Note 9, 10

Use 2090-CPWM6DF-16AA

xx

cable for non-brake applications.

TLY-Axxxx-H (230V)

Servo Motors with

Incremental Feedback

Three-phase

Motor Power

2071-TBMF

Motor Feedback

Breakout Board

Green/Yellow

Blue

Black

Brown

5

3

2

1

W

V

U

GND

Motor

Feedback

9

10

11

12

13

14

BLACK

WHT/BLACK

RED

WHT/RED

GREEN

WHT/GREEN

AM+

AM-

BM+

BM-

IM+

IM-

5

6

3

4

7

8

Cable

Shield

Clamp

Note 7

Black

White

9

7

MBRK-

MBRK+

Motor Brake

TLY-Axxxx-B (230V)

Servo Motors with

High-Resolution

Feedback

22

23

15

17

19

24

GRAY

WHT/GRAY

WHT/BLUE

YELLOW

WHT/YELLOW

Refer to Motor Feedback

Breakout Board Installation

Instruction Publication

2071-IN003 for proper grounding technique.

2090-CFBM6DF-CBAA

xx (flying-lead)

Feedback Cable

Note 9

+5VDC

ECOM

S1

S2

S3

SHIELD

2071-TBMF

Motor Feedback

Breakout Board with battery installed

20

1

10

14

16

5

3

2

1

9

7

W

V

U

MBRK-

MBRK+

GND

13

14

22

23

6

24

BROWN

WHT/BROWN

GRAY

WHT/GRAY

ORANGE

WHT/ORANGE

DATA+

DATA-

+5VDC

ECOM

BAT+

BAT-

SHIELD

Refer to Motor Feedback

Breakout Board Installation

Instruction Publication

2071-IN003 for proper grounding

2090-CFBM6DF-CBAA

xx (flying-lead)

Feedback Cable

Note 9

10

13

20

1

BAT+

BAT-

114

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Interconnect Diagrams

Chapter B

Kinetix 3 Drive/Linear Motor and Actuator Wiring Examples

2071-Axx

Kinetix 3 Drive

11

12

13

14

7

8

9

10

5

6

3

4

0

1

2

15

16

17

18

19

20

Motor Power

(MP) Connector

Motor Feedback

(MF) Connector

I/O (IOD)

Connector

Note 4

W

V

U

OUTPUT 3+ (BK+)

OUTPUT 3- (BK-)

47

48

CR1

These wiring diagrams apply to Kinetix 3 drives with compatible actuators and linear motors.

Figure 55 - Kinetix 3 Drive (230V) Wiring Example with MP-Series

(Bulletin MPAS-A) Linear Stages and LDC-Series, LDL-Series Linear Motors

2090-XXNPMF-

xxSxx (standard) or 2090-CPBM

xDF-xxAFxx

(continuous-flex)

Motor Power Cable

Note 9

Use 2090-CPWM

xDF-xxAFxx cable for continuous-flex nonbrake applications.

Shield

Green/Yellow

Blue

Black

Brown

C

B

D

MPAS-Axxxx-ALMx2C

Linear Motor Stages or

LDC-Series, LDL-Series

Linear Motor with Incremental Feedback

Three-phase

Motor Power

1

2

W

GND

A

V

U

3

4

Motor

Feedback

5

6

9

10

11

13

Refer to table on

page 112

for note information.

BLACK

WHT/BLACK

RED

WHT/RED

GREEN

WHT/GREEN

GRAY

WHT/GRAY

ORANGE

WHT/ORANGE

2071-TBMF

Motor Feedback

Breakout Board

AM+

AM-

BM+

BM-

IM+

IM-

+5VDC

ECOM

–

TS+

5

6

3

4

8

7

20

1

2

Cable

Shield

Clamp

Note 7

Black

White

G

F

BR-

BR+

Motor Brake

14

15

16

17

12

BLUE

WHT/BLUE

TS-

S1

YELLOW

WHT/YELLOW

S2

S3

COM

Refer to Motor Feedback

Breakout Board Installation

Instruction Publication

2071-IN003 for proper grounding

2090-XXNFMF-S

xx (standard) or

2090-CFBM

xDF-CDAFxx (continuous-flex)

(flying-lead) Feedback Cable

Note 9

10

14

16

24V DC

24V DC COM

User Supplied

24V DC

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

115

Chapter B Interconnect Diagrams

2071-Axx

Kinetix 3 Drive

10

11

12

13

8

9

6

7

4

5

2

3

0

1

18

19

20

14

15

16

17

Motor Power

(MP) Connector

Motor Feedback

(MF) Connector

I/O (IOD)

Connector

Note 4

W

V

U

OUTPUT 3+ (BK+)

47

OUTPUT 3- (BK-)

48

CR1

Figure 56 - Kinetix 3 (230V) Wiring Example with TL-Series (TLAR) Electric

Cylinders

Refer to table on

page 112

for note information.

2090-CPBM6DF-16AA

xx

Motor Power and Brake Cable

Note 9, 10

Use 2090-CPWM6DF-16AA

xx

cable for non-brake applications.

TLAR-Axxxx (230V)

Servo Motors with

High Resolution Feedback

Green/Yellow

Blue

Black

Brown

5

3

2

1

W

V

U

Three-phase

Motor Power

GND

Motor

Feedback

13

14

22

23

6

BROWN

WHT/BROWN

2071-TBMF

Motor Feedback

Breakout Board with battery installed

DATA+

DATA-

+5VDC

ECOM

BAT+

BAT-

SHIELD

10

13

20

1

BAT+

BAT-

Black

9

MBRK-

24

GRAY

WHT/GRAY

ORANGE

WHT/ORANGE

White

7

Refer to Motor Feedback

Breakout Board Installation

Instruction Publication

2071-IN003 for proper grounding

2090-CFBM6DF-CBAA

xx (flying-lead) or 2090-

CFBM6DD-CCAA

xx (with drive-end connector)

Feedback Cable

Note 9

Cable

Shield

Clamp

Note 7

MBRK+

Motor Brake

24V DC

24V DC COM

User Supplied

24V DC

116

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Interconnect Diagrams

Chapter B

Kinetix 3 Drive/Micrologix Controller Wiring Examples

The Kinetix 3 drive accepts unipolar or bipolar inputs.

Table 35 - Kinetix 3 Drive Wiring Example to Analog Voltage Device

2071-Axx

Kinetix 3 Drive

Analog Voltage Device or PLC

I/O (IOD)

Connector

VCMD +

VCMD -

19

20

ICMD +

21

ICMD -

22

-10V…+10V

COM

-10V…+10V

COM

Velocity

Current

Commons should not be tied together. Use one control at a time. Choose either velocity or current control.

Table 36 - Kinetix 3 Drive Wiring Example to Pulse Train Output Device (PTO) or

PLC

2071-Axx

Kinetix 3 Drive

PTO or PLC

I/O (IOD)

Connector

HF_PULS +

15

HF_PULS -

16

HF_SIGN +|

23

HF_SIGN -

24

STEP +

STEP -

DIRECTION +

DIRECTION -

Chassis Chassis

STEP +/- and DIRECTION +/- should be twisted pairs. Use shield cable and ground and bond it to the chassis.

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

117

Chapter B Interconnect Diagrams

Motor Brake Currents

Use these values to size the interposing relay required for your application.

Table 37 - Motor Brake Coil Currents Rated at

<

1.0 A

Compatible Brake Motors/Actuators

TL/TLY-A110, TL/TLY-A120, and TL/TLY-A130

TL/TLY-A220 and TL/TLY-A230

TL/TLY-A2530, TL/TLY-A2540, and TL/TLY-A310

Coil Current

0.18…0.22 A

0.33…0.41 A

0.35…0.43 A

118

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

Index

Numerics

17-bit serial encoder

29

230V single-phase input power

113

A

about this publication

7

additional resources

8

analog input

40

analog output

41

analog outputs branch

86

analog reference

40

B

bonding

18

EMI (ElectroMagnetic Interference)

17

high frequency energy

19

subpanels

19

brake currents

118

building your own cables

46

C

cable

length

CE

14

length, max

106

cables

building your own cables

46

maintenance

96

maximum feedback cable length

106

Modbus-RTU, cable length, RS-232

70

shield clamp

62

shield, EMC

57

,

58

,

59

CE compliance

12

certification

specifications

107

clamp

62

clearance requirements

16

configuring

drive detection

83

Ultraware software

83

connecting

feedback

63

motor brake

61

motor shield clamp

62

premolded feedback cables

67

connector designators

25

contactor specifications

105

control power status indicator

96

conventions used in this manual

7

D

digital inputs

34

digital inputs branch

85

,

88

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

digital outputs

37

digital outputs branch

86

drive

maintenance

96

wiring IPD connector

55

wiring MP connector

55

E

EMC

cable shield

57

,

58

,

59

motor ground termination

55

motor ground termination at motor

55

EMI (ElectroMagnetic Interference)

bonding

17

enclosure

requirements

13

sizing

15

encoders branch

85

environmental specifications

107

error displays

98

F

faults branch

86

feedback

cables and pinouts

63

specifications

29

feedback power supply

33

fuse

113

selection

14

specifications

105

G

general troubleshooting

96

grounded power configuration

47

grounding

51

multiple subpanels

52

system to subpanel

51

H

HF bonding

17

high frequency energy

19

I

I/O

specifications

34

,

37

,

40

input power wiring

3-phase Delta

47

,

48

3-phase WYE

47

determining input power

47

grounded power configuration

47

single-phase

49

single-phase amplifiers on 3-phase power

50

installing your drive

119

Index

120

bonding subpanels

19

fuse

14

fuse selection

14

HF bonding

17

system mounting requirements

13

interconnect diagram

230V single-phase input power

113

interconnect diagrams

notes

112

K

Kinetix 3

I/O breakout board

108

maintenance

95

monitor mode

76

specifications contactor ratings

105

troubleshooting status indicators

95

L

linear motor

115

linear stage

115

M

main power status indicator

96

maintenance

cleaning the drive

96

inspecting cables

96

troubleshooting

96

maximum feedback cable length

106

specifications

106

Modbus-RTU, RS-232, RS-485, serial communcations

70

mode configuration

85

mode displays

monitor

76

monitor branch

86

motor brake

21

motor branch

85

motors

brake wiring

61

feedback pin-outs

64

ground termination

55

power wiring

3-phase and brake

59

3-phase only

57

TL-Series

56

selecting

87

shield clamp wiring

62

testing

91

,

92

thermal specifications

31

tuning

88

mounting

hardware

22

Kinetix 3 drive

22

torque

22

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

noise

20

N

O

oscilloscope

branch

86

P

panel

requirements

13

pin-outs

motor feedback connector

64

power supply, feedback

33

premolded feedback cables

67

publications, related

8

R

related publications

8

requirements

clearance

16

routing power and signal wiring

46

S

selecting a motor

87

service information branch

86

shield clamp

62

shunt resistor

wiring requirements

54

specification fuse

105

specifications

analog reference inputs

40

certifications

107

digital inputs

34

digital outputs

37

environmental

107

feedback motor , general

29

power supply

33

fuse

105

Kinetix 3 contactor ratings

105

I/O breakout board

108

maximum feedback cable length

106

motor feedback

17-bit serial encoder

33

generic TTL

32

motor thermal

31

weight

107

status display panel

96

status indicator display

fault codes

97

operational

96

warning messages

97

system mounting requirements

13

system overview

10

T

testing your axis

91

,

92

TLY motor

114

training

7

troubleshooting

error displays

97

fault codes

97

status indicator display

96

status indicators

95

warning messages

97

tuning branch

85

tuning your axis

88

U

Ultraware software

83

analog outputs branch

86

digital inputs branch

85

digital outputs branch

86

encoders branch

85

faults branch

86

mode configuration

85

monitor branch

86

motor branch

85

oscilloscope branch

86

service information branch

86

tuning branch

85

workspace

84

W

warning messages

97

weight specifications

107

who should use this manual

7

wiring

analog device

117

building your own cables

46

drive

IPD connector

55

MP connector

55

grounded power configuration

47

grounding

51

input power determining type

47

linear actuator

115

linear motor

115

linear stage

115

Micrologix

117

motor brake

61

motor cable shield clamp

62

motor power

56

,

57

,

59

PTO device

117

requirements

45

shunt resistor

54

routing power and signal wiring

46

TLY motor

114

wiring guidelines

54

Index

Rockwell Automation Publication 2071-UM001A-EN-P - September 2010

121

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Installation Assistance

If you experience a problem within the first 24 hours of installation, review the information that is contained in this manual.

You can contact Customer Support for initial help in getting your product up and running.

United States or Canada

Outside United States or

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1.440.646.3434

Use the Worldwide Locator at http://www.rockwellautomation.com/support/americas/phone_en.html

, or contact your local Rockwell Automation representative.

New Product Satisfaction Return

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