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Rockwell Automation Publication 2097-UM001D-EN-P - November 2012

Chapter 5

MotionView Software Configuration

Ethernet (CIP) Communication

The EtherNet/IP (CIP) category provides access to the modifiable drive object 
parameters that are used in the Input and Output Assembly EtherNet/IP data 
links.

The Enable parameters determine if the parameter should be copied into or out 
of the assembly.

Table 42 - Ethernet (CIP) Communication Category

ID

Parameter Name

Description

Value/Notes

249

Enable - Input Assembly 
Links

Datalink A for input assembly

UserDefinedIntegerData0

250

Datalink B for input assembly

UserDefinedIntegerData1

251

Datalink C for input assembly

UserDefinedIntegerReal0

252

Datalink D for input assembly

UserDefinedIntegerReal1

253

Enable - Output 
Assembly Links

Datalink A for output assembly

UserDefinedIntegerData0

254

Datalink B for output assembly

UserDefinedIntegerData1

255

Datalink C for output assembly

UserDefinedIntegerReal0

256

Datalink D for output assembly

UserDefinedIntegerReal1

Summary of Contents for Kinetix 300

Page 1: ...00 EtherNet IP Indexing Servo Drives Catalog Numbers 2097 V31PR0 2097 V31PR2 2097 V32PR0 2097 V32PR2 2097 V32PR4 2097 V33PR1 2097 V33PR3 2097 V33PR5 2097 V33PR6 2097 V34PR3 2097 V34PR5 2097 V34PR6 Use...

Page 2: ...t 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...

Page 3: ...mation encoder capabilities Section Topic Page Chapter 3 Updated the Buffered Encoder Outputs text and the important block 49 Chapter 5 Updated Analog Input current scale range 94 Chapter 6 Updated th...

Page 4: ...4 Rockwell Automation Publication 2097 UM001D EN P November 2012 Summary of Changes Notes...

Page 5: ...ctrical Noise Reduction 26 Bonding Drives 26 Bonding Multiple Subpanels 28 Establishing Noise Zones 29 Cable Categories for Kinetix 300 Drive Components 31 Noise Reduction Guidelines for Drive Accesso...

Page 6: ...ing Your Kinetix 300 Drive System 64 Ground Your Drive to the System Subpanel 64 Ground Multiple Subpanels 65 Power Wiring Requirements 65 Wiring Guidelines 68 Wiring the Kinetix 300 Drive Connectors...

Page 7: ...Offset 116 Homing Switch 116 Homing Firmware Algorithm 117 Homing Methods Timing Diagrams 118 Homing Methods 7 14 118 Homing Method 23 119 Homing Method 25 120 Homing Method 27 120 Homing Method 33 1...

Page 8: ...Linear Motors and Direct Drive Stages 150 Motor Temperature Sensor 150 Understanding Encoder Resolution Setting 150 Change the Encoder Resolution for an Incremental Encoder 151 Chapter7 Troubleshootin...

Page 9: ...ples 176 Kinetix 300 Drive Linear Motor Wiring Examples 179 Kinetix 300 Drive Actuator Wiring Examples 180 Kinetix 300 Drive to MicroLogix Controller Wiring Examples 183 Kinetix 300 Drive Master Geari...

Page 10: ...lication 2097 UM001D EN P November 2012 Table of Contents AppendixE OvertravelInputs Modes of Operation 217 Overtravel Hardware Inputs 218 Operation 219 Overtravel Fault Recovery 220 AppendixF History...

Page 11: ...ination with a Logix controller Who Should Use This Manual This manual is intended for engineers and technicians directly involved in the installation and wiring of the Kinetix 300 drive and programme...

Page 12: ...vides information about planning mounting wiring and troubleshooting your CompactLogix system ControlLogix Controllers User Manual publication 1756 UM001 Information on installing configuring programm...

Page 13: ...Rockwell Automation Publication 2097 UM001D EN P November 2012 13 Chapter 1 Start Topic Page About the Kinetix 300 Drive System 14 Catalog Number Explanation 16 Agency Compliance 17...

Page 14: ...rm 1769 L23E xxx 1769 L3xE xxxx 1768 L4x 1756 L6x 1766 L32xxx 1763 L16xxx EtherNet IPinterfacemodulesserveasalinkbetweentheControlLogix CompactLogix MicroLogix platformandthe Kinetix 300 drive system...

Page 15: ...upply optional equipment MP Series and TL Series Rotary Motors MPL Bxxxx motors shown Bulletin 2090 Motor Feedback Cables Bulletin 2090 Motor Power Cables 1585J M8CBJM x Ethernet shielded Cable 2097 T...

Page 16: ...1 2 8 120V Doubler mode Safe Torque off 2097 V31PR2 5 7 2097 V32PR0 240V 1 2 8 Integrated AC line filter Safe Torque off 2097 V32PR2 5 7 2097 V32PR4 11 3 Cat No Input Voltage Continuous Output Current...

Page 17: ...tor kits and properly terminate the feedback cable shield Drive to motor power and feedback cables must not exceed 20 m 65 6 ft Install the Kinetix 300 system inside an enclosure Run input power wirin...

Page 18: ...18 Rockwell Automation Publication 2097 UM001D EN P November 2012 Chapter 1 Start Notes...

Page 19: ...inetix 300 Drive 34 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...

Page 20: ...ce that won t 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 s...

Page 21: ...uirements for branch circuit protection When applying the 140M 140U product evaluation of the short circuit available current is critical and must be kept below the short circuit current rating of the...

Page 22: ...n devices the maximum short circuit current available from the source is limited to 5000 A Disconnect 2 2 Usefully ratedshort circuitprotectioncircuitbreakerfordevicebranchcircuitprotectiononlywhenthe...

Page 23: ...ot be included in the calculation Because the minimum cabinet depth to house the Kinetix 300 system selected for this example is 332 mm 13 in the cabinet needs to be approximately 2000 x 700 x 332 mm...

Page 24: ...on Specifications Use this table to size an enclosure and calculate required ventilation for your Kinetix 300 drive system Cat No Power Dissipation W 2097 V31PR0 28 2097 V31PR2 39 2097 V32PR0 28 2097...

Page 25: ...additional 5 0 mm 0 19 in clearance is required in front of the drive when the 2090 K2CK D15M feedback connector kit is used Additional clearance is required for the cables and wires connected to the...

Page 26: ...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...

Page 27: ...ls or scrape paint on front of panel Nut Star Washer Welded Stud Flat Washer Stud mounting a Ground Bus or Chassis to the Subpanel Scrape Paint Flat Washer If the mounting bracket is coated with a non...

Page 28: ...difference in impedance may affect networks and other devices that span multiple panels Bond the top and bottom of each subpanel to the cabinet by using 25 4 mm 1 0 in by 6 35 mm 0 25 in wire braid A...

Page 29: ...Noise Zones Bulletin 2090 AC line filters 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 see the System...

Page 30: ...t 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 Clean...

Page 31: ...ACLineFilters Observe these guidelines when mounting your AC line filter If you are using a Bulletin 2090 line filter mount the filter on the same panel as the Kinetix 300 drive and as close to the dr...

Page 32: ...grounded steel shield between the drive and clean wireway For examples see the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 Contactor Dirty Wireway Customer su...

Page 33: ...ween the drive and clean wireway For examples see the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 MotorBrake The brake is mounted inside the motor and how you...

Page 34: ...D003 2 Attach the Kinetix 300 drive to the cabinet first by using the upper mounting slots of the drive and then the lower The recommended mounting hardware is M4 6 32 steel machine screws torqued to...

Page 35: ...on 2097 UM001D EN P November 2012 35 Chapter 3 Kinetix 300 Drive Connector Data and Feature Descriptions Topic Page Kinetix 300 Drive Connectors and Indicators 36 Control Signal Specifications 41 Moto...

Page 36: ...Display control push buttons 3 5 I O IOD connector 11 Motor power MP connector 6 Motor feedback MF connector 12 Safe torque off STO connector 10 2 0 0 3 0 0 3 4 5 6 9 8 1 12 11 7 7 Kinetix 300 Drive...

Page 37: ...Kinetix 300 Drive Safe Torque off Connector Pinout 1 2 3 4 5 6 24VDCcontrol ControlCOM Safetystatus Safetyinput1 SafetyCOM Safetyinput2 Bottom view of the Kinetix 300 drive 2097 V33PR5 drive is shown...

Page 38: ...C1 IN_C1 9 Buffered encoder output channel B BB 38 Digital input C2 IN_C2 10 Buffered encoder output channel B BB 39 Registration input sensor IN_C3 11 Buffered encoder output channel Z BZ 40 Digital...

Page 39: ...fferential input BM differential input COS BM 12 Single ended 5V Hall effect commutation S1 5 Data differential input Index pulse DATA IM 13 Single ended 5V Hall effect commutation S2 6 Common ECOM 14...

Page 40: ...L2 L1 AC Power In L1 L1 AC Power In L1 N AC Power Neutral 120V doubler only N PE Protective Earth ground PE PE Protective Earth ground PE IPD Designator Description 2097 V33PRx and 2097 V34PRx drives...

Page 41: ...r Explicit Messaging The inputs are separated into three groups A B and C Each group has four inputs and share one common ACOM BCOM and CCOM respectively Travel limit switches the inhibit enable input...

Page 42: ...diagrams apply Figure 14 Enable Timing Diagram enable switch function configured for Run Figure 15 Enable Timing Diagram enable switch function configured for Inhibit Figure 16 Homing Timing Diagram...

Page 43: ...ical details are shown in Table 10 on page 44 You can set up the inputs for PNP sourcing or NPN sinking Figure 18 Sourcing of Digital Inputs Start Index Input digital I O from MotionView software Star...

Page 44: ...300 Drive Connector Data and Feature Descriptions Figure 19 Sinking of Digital Inputs Table 10 Digital Input Signal Specifications GND IN_A2 IN_A_COM 24V IN_A1 1 2 k 1 2 k Parameter Value Scan time 5...

Page 45: ...he drive circuits Each output OUT1 OUT4 can be assigned to one of these functions Not assigned Zero speed In speed window Current limit Run time fault Ready Brake motor brake release The Ready Output...

Page 46: ...reference voltage as seen by the drive is the voltage difference between AIN1 and AIN1 If used in Single ended mode one of the inputs must be connected to a voltage source while the other one must be...

Page 47: ...t Motor Velocity Phase Current U Phase Current V Phase Current W Iq Current Id Current Figure 21 Analog Output Circuit Table 13 Analog Output Specifications For configuration setup of the analog outpu...

Page 48: ...perate from any voltage source in the range of 5 24V DC and do not require additional series resistors for normal operation Figure 22 Step and Direction Timing Diagram Figure 23 Master Encoder Timing...

Page 49: ...e supplied to the Kinetix 300 drive determines the position of the servo motor Direction input controls direction of the motion Buffered Encoder Outputs There are many applications where it is desired...

Page 50: ...xternal power supply to power the logic and communication circuits If an independent 24V 1 A power supply is connected to the BP connector the logic and communication circuits remain active during a m...

Page 51: ...rt SICK Stegmann Hiperface Generic TTL Incremental Tamagawa 17 bit Serial Power supply voltage EPWR5V 5 13 5 67V Power supply current EPWR5V 400 mA max 1 2 1 400 mA on the 5V supply with no load on th...

Page 52: ...r thermostat interface schematic Although the thermostat signal is shown for all feedback types some motors may not support this feature because it is not part of the feedback device Figure 25 Motor T...

Page 53: ...9600 baud 8 data bits no parity Sine Cosine interpolation 2048 counts sine period Input frequency AM BM 250 kHz max Input voltage AM BM 0 6 1 2V p p measured at the drive inputs Line loss detection A...

Page 54: ...tage AM BM and IM 1 0 7 0V DC current draw AM BM and IM 30 mA max Input signal frequency AM BM and IM 5 0 MHz max Edge separation AM and BM 42 ns min between any two edges Line loss detection AM and B...

Page 55: ...ematic to UART from UART from UART MTR_IM 56 pF MTR_IM 10 kW to AqB Counter 10 kW 1 kW 1 kW 56 pF 5V Kinetix 300Drive Shaded area indicates components that are part of the circuit but support other fe...

Page 56: ...9V DC for motor feedback power Short circuit protection and separate common mode filtering for each channel is included Table 23 Motor Feedback Power Specifications Figure 31 Pin Orientation for 15 pi...

Page 57: ...r 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 de...

Page 58: ...ectronic 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 See Ele...

Page 59: ...300 Drives Three phase AC Input Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground AC Line Filter M1 Contactor Input Fusing Feeder and branch short circuit protection is not illustrate...

Page 60: ...r To use the voltage doubler circuit connect the 120V single phase input power to the IPD L1 and IPD N terminals For Kinetix 300 drive power specifications see Kinetix Servo Drives Specifications Tech...

Page 61: ...igure 36 Single phase Amplifiers on Three phase Power WYE 1 Contactors MI M2 and M3 may be optional For more information see Understanding the Machinery Directive publication SHB 900 AC line filter is...

Page 62: ...ht directly into the filter and no isolating transformer is present ATTENTION Failure to connect the neutral can result in supply voltage swings at the individual drives This occurs when the neutral p...

Page 63: ...utral in line filter applications described in this document have not been tested for EMC by RockwellAutomationandproductsusedinsuchinstallationsarenotconsidered CE marked by Rockwell Automation If th...

Page 64: ...e Kinetix 300 drive is mounted on a painted subpanel ground the drive to a bonded cabinet ground bus by using a braided ground strap or 4 0 mm2 12 AWG solid copper wire 100 mm 3 9 in long Figure 38 Co...

Page 65: ...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 See Power Wiring Examples on page 173...

Page 66: ...V33PR1 2097 V33PR3 2097 V33PR5 2097 V34PR3 2097 V34PR5 2097 V34PR6 Motor power MP connector PE W V U 2 5 14 7 0 28 0 5 4 5 2097 V33PR6 4 0 12 7 0 28 0 5 4 5 2097 V31PR0 2097 V31PR2 2097 V32PR0 2097 V...

Page 67: ...t 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 connecto...

Page 68: ...or the interconnect diagrams in Appendix A 4 Tighten the connector screws 5 Gently pull on each wire to make sure it does not come out of its terminal reinsert and tighten any loose wires 6 Insert the...

Page 69: ...to the Kinetix 300 drive Wire the Safe Torque off STO Connector For the safe torque off STO connector pinouts feature descriptions and wiring information see Chapter 8 on page 159 Wire the Back up Pow...

Page 70: ...t No Terminals Recommended Wire Size mm2 AWG Strip Length mm in Torque Value N m lb in 2097 V31PR0 2097 V32PR0 2097 V32PR2 2097 V33PR1 2097 V33PR3 2097 V34PR3 2097 V34PR5 2097 V34PR6 L3 L2 L1 PE 1 L2...

Page 71: ...small portion of the cable jacket to expose the shield braid and clamp the exposed shield to the panel W V U PE W V U Kinetix 300Drive Bottom View Drive Cat No Terminals Recommended Wire Size mm2 AWG...

Page 72: ...chine Frame 150 mm 6 0 Termination Cable Braid Clamped 1 to Machine Frame Motor Actuator Connector Type Motor ActuatorCat No Motor Power Cables with brake wires Motor Power Cables without brake wires...

Page 73: ...tch wires are included in the feedback cable See Kinetix 300 Drive Rotary Motor Wiring Examples beginning on page 176 for interconnect diagrams Figure 42 Motor Power Terminations three phase wires onl...

Page 74: ...on Item Description 1 1 24V power supply 5 I O IOD connector 2 2 1 Relay and diode assembly 3 6 2097 V3xPRxKinetix 300 drive 3 Minimize unshieldedwires in brake circuit 7 Motor power MP connector 4 MP...

Page 75: ...ams Table 30 Motor Power MP Connector Table 31 Motor Power MP Termination Specifications W V U Motor Power Cable Exposed Braid 25 4 mm 1 0 in Outer Insulation Asrequiredtohavegroundclampwithin50 75 mm...

Page 76: ...he 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 by using the clamp and 2 6 32 x 1 screws provided 6 Repeat ste...

Page 77: ...r Type Feedback Type Feedback Cable Pinout Premolded Flying lead MPL A B15xxx Hx4xAA MPL A B2xxx Hx4xAA Circular threaded DIN Incremental encoder N A 2090 XXNFMF Sxx standard 2090 CFBM4DF CDAFxx conti...

Page 78: ...AM 2 3 Cos Cos BM 3 4 Cos Cos BM 4 5 Data Data IM 5 6 Data Data IM 10 9 Reserved EPWR_5V EPWR_5V 14 10 Reserved ECOM ECOM 6 11 EPWR_9V Reserved Reserved 7 12 ECOM Reserved Reserved 6 13 TS TS TS 11 14...

Page 79: ...eted the power wiring and are ready to connect motor feedback Wire the I O Connector Connect your I O wires to the IOD connector by using the 2097 TB1 I O Terminal Expansion Block See the Kinetix 300...

Page 80: ...flying lead feedback cable Motor Feedback MF Connector Kinetix 300 Drive Front View 2097 V33PR5 drive is shown Kinetix 300 Drive Side View 2097 V33PR5 drive is shown 1 2 3 4 5 6 7 8 9 10 11 12 13 14 1...

Page 81: ...See Shunt Resistor Wiring Example on page 175 See the installation instructions provided with your Bulletin 2097 shunt resistor publication 2097 IN002 Figure 48 Shunt DC Bus BC Connector IMPORTANT Wh...

Page 82: ...nnecting drive to drive drive to controller or drive to switch must not exceed 100 m 328 ft If the entire channel is constructed of stranded cable no fixed cable then this is the equation for calculat...

Page 83: ...on Topic Page Drive Organizer and Identification 84 Motor Category 84 General Category 87 Communication Categories 91 Input Output Categories 93 Limits Categories 95 Dynamics Category 97 Tools Categor...

Page 84: ...ow you can assign the Drive Name and the Group ID Table 36 Drive Identification Category Motor Category Allen Bradley motors and actuators with intelligent feedback devices are automatically populated...

Page 85: ...ell Automation 14 Halls Order Hallcode index Range 0 5 18 Jm Motor moment of inertia Range 0 0 1 Kg m2 19 Ke Motor voltage or back EMF constant Range 1 500V K rpm 20 Kt Motor torque or force constant...

Page 86: ...ls Order Hallcode index Range 0 5 243 Motor Block Mass Motor block mass Range 0 100 kg 244 Kf Linear motor force constant Range 1 1000 N A rms 245 Ke Motor voltage or back EMF constant Range 1 500V rm...

Page 87: ...otionView Software Configuration Chapter 5 General Category The General category provides access to the basic configuration of motion The parameters displayed will depend on the motor type chosen in t...

Page 88: ...rent measured in percentage of motor rated current Range 0 400 670 Enable rotary unwind Enable rotary unwind for rotary motors When rotary unwind is used with a motor with an absoluteencoder thepositi...

Page 89: ...Rockwell Automation Publication 2097 UM001D EN P November 2012 89 MotionView Software Configuration Chapter 5 Figure 52 General Category for Linear Motors...

Page 90: ...m counts range 1 32767 266 Drive Mode Sets the mode of operation for the drive 0 Auto Tune 1 EtherNet IP External Reference 2 Master Gearing 3 Step and Direction 4 Analog Velocity Input 5 Analog Curre...

Page 91: ...ss to the IP address configuration You can configure your drive to obtain the IP address automatically by using DHCP or set the values manually Table 41 Ethernet Communication Category ID Parameter Na...

Page 92: ...ernet CIP Communication Category ID Parameter Name Description Value Notes 249 Enable Input Assembly Links Datalink A for input assembly UserDefinedIntegerData0 250 Datalink B for input assembly UserD...

Page 93: ...Start Homing 7 Fault Reset 8 Index Select 0 9 Index Select 1 10 Index Select 2 11 Index Select 3 12 Index Select 4 Configure Home Sensor input from Homing Category 84 Hard Limit Switches Action Confi...

Page 94: ...alog Output Analog output function 0 Not assigned 1 Phase Current RMS 2 Phase Current Peak Value 3 Motor Velocity 4 Phase Current U 5 Phase Current V 6 Phase Current W 7 Iq current 8 Id current 86 Ana...

Page 95: ...which the drive willset the Zero Speed Digital Output if configured and the VelocityStandstillStatus bit in the EtherNet IP Input Assembly Range 0 100 rpm 59 Speed Window Value in user units s for th...

Page 96: ...AbortHoming bit is set in the EtherNet IP Output Assembly User units s2 179 Position Limit The tolerance around the commandedposition inside of which the drive will set the PositionLockStatus bit in t...

Page 97: ...sed on counts as the fundamental units and they are not physical units Range 0 32767 45 Velocity I Gain Range 0 32767 46 Position P Gain The proportional integral and derivative gain respectively of t...

Page 98: ...e performance parameters Kd Ki Kp z 1 z 1 z 1 Position D Gain Difference Position Integrator Saturation Velocity Command Ki Kp 1 z 1 Velocity Integrator Saturation by Scalled Current Limit Encoder Fee...

Page 99: ...Input Bit 3 B1 Input Bit 4 B2 Input Bit 5 B3 Input Bit 6 B4 Input Bit 7 C1 Input Bit 8 C2 Input Bit 9 C3 Input Bit 10 C4 Input Bit 11 66 Outputs Digital outputs states Writing to these variables sets...

Page 100: ...egistration Position Registration position User units 209 Target Position Target position User units 210 Actual Position Actual position User units 211 Position Error Position error Encoder counts Tab...

Page 101: ...neral category The drive starts indexing at the index whose number 0 31 is reflected in the cumulative binary values of the Index Select 0 1 2 3 and 4 that are selected in the Digital Inputs category...

Page 102: ...or target position based on the Index Type 1 268435 4560 User Units 275 Register Distance 276 Batch Count How many times to execute index before moving on to the next index 1 2147483647 277 Dwell The...

Page 103: ...om its starting position the specified Distance Registration Distance Registration Distance is the relative distance the motor travels beyond the position when a registration digital input is detected...

Page 104: ...ction while starting positions greater than the end position within the unwind results in motion in the negative direction The command position can be greater than the unwind value Negative position v...

Page 105: ...ll start at zero regardless of the number of revolutions actually performed If your system has an absolute encoder home the axis before initiating an absolute move otherwise the drive will fault with...

Page 106: ...osition Rotary Positive mode is only possible when Rotary Unwind mode is set up in the General category Figure 58 Rotary Positive Absolute Move RotaryNegative The Rotary Negative move is a special typ...

Page 107: ...Position or Velocity mode the drive begins tracking commands with the current position or velocity of the drive The drive will not attempt to correct for the movement of the motor while in Current mo...

Page 108: ...in the Index system parameter Figure 61 Example of Stop and Hold Index Action WaitForStart This action waits for either the Start Motion bit to transition in the EtherNet IP Output Assembly or for the...

Page 109: ...Index is transitioned to an active state The configuration for Start Index requires setting the following parameters either over EtherNet IP Explicit Messaging or through the MotionView software inter...

Page 110: ...of the index Trapezoidal or S Curve Index Distance This REAL contains the move distance of the index Index Batch Count This DINT contains the number of times the index should execute before moving to...

Page 111: ...47 Index Registration Distance REAL Byte Parameter Value 0 Index Number Low byte 1 Index Number Low middle byte 2 Index Number High middle byte 3 Index Number High byte Parameter Name 00 01 02 03 04 0...

Page 112: ...60 571 582 593 604 615 Register Distance 451 462 473 484 495 506 517 528 539 550 561 572 583 594 605 616 Batch Count 452 463 474 485 496 507 518 529 540 551 562 573 584 595 606 617 Dwell 453 464 475 4...

Page 113: ...asserts the Homed bit in the EtherNet IP Output Assembly ID Parameter Name Description Value Notes 227 Home Accel Decel Homing acceleration deceleration rate Range 0 10 000 000 UU per second 2 228 Ho...

Page 114: ...cles With any other homing method the Homed bit is not set following a power cycle until the homing has been repeated The absolute position information within the drive if absolute homed is cleared an...

Page 115: ...es to operate as though it was homed For absolute homing on motors with absolute encoders execute an Immediate Home Home Method 1 2 1 All other values of HomeMethod are not used for the Kinetix 300 dr...

Page 116: ...te encoder Home Offset The home offset parameter is the difference between the zero position for the application and the machine home position found during homing Once homing is completed the zero pos...

Page 117: ...r 5 Homing Firmware Algorithm Figure 65 Homing Algorithm Flowchart Homing Start Select Homing Method Start Homing Motor with Absolute Encoder Execute Immediate Home State offset value and set Home Fla...

Page 118: ...except if the home switch is active at the start of motion In this case the initial direction of motion is dependent on the edge being sought The home position is at the index pulse on either side of...

Page 119: ...until the falling edge of the homing switch is detected position B where the axis decelerates to 0 velocity The axis accelerates to slow homing velocity in the forward direction and motion continues...

Page 120: ...rightward direction Motion continues until the falling edge of the homing switch is detected position 25 This is the home position excluding offset Figure 69 Homing Method 25 Homing Method 27 Using t...

Page 121: ...l the homing switch is activated rising edge shown at position A The axis decelerates to zero velocity If the homing switch is already active when the homing routine commences then this initial move i...

Page 122: ...home position is the first index pulse past the shaft starting position The axis accelerates to fast homing velocity in the reverse direction and continues until the rising edge of the first index pu...

Page 123: ...st the shaft starting position The axis accelerates to fast homing velocity in the forward direction and continues until the rising edge of the first index pulse position 34 is detected Figure 73 Homi...

Page 124: ...n the MotionView software 3 Click Upgrade This dialog box appears 4 Comply with dialog box requests and click yes This dialog box appears 5 Enter the IP address of the Kinetix 300 drive you intend to...

Page 125: ...Drive Ethernet IP Address 128 Configuring the Logix EtherNet IP Module 132 Apply Power to the Kinetix 300 Drive 138 Test and Tune the Axis 139 Select Drive Operating Mode 142 Master Gearing Mode Exam...

Page 126: ...cription StAt Currentdrivestatus run driverunning diS drivedisabled EXX Drivefault whereXX is the fault code Hx xx Hardware revision For example H2 00 Fx xx Firmware revision For example F2 06 FLtS St...

Page 127: ...the system status activity and troubleshoot faults Figure 74 Front Panel Display Figure 75 Status Indicators Status Indicator Function Description A Enable Orange status indicator means that the driv...

Page 128: ...m to the Class C Subnet structure Valid configurations for sub octets are between 001 254 The default IP address for any Kinetix 300 drive is 192 168 124 200 There are two methods of changing the curr...

Page 129: ...he address assigned is displayed by the drive in the above parameters See Configure the IP Address Automatically dynamic address on page 131 Configure the IP Address Manually static address When conne...

Page 130: ...ss into the browser MotionView OnBoard dialog box opens 3 Click Run 4 Click Connect 5 Enter the drive s IP address 6 Click Connect 7 From the Drive Organizer select Communications Ethernet The IP addr...

Page 131: ...ver it displays in each of the four octet parameters IP_1 IP_2 IP_3 and IP_4 on its display Once the address is assigned by the server it appears in these parameters If this parameter continues to dis...

Page 132: ...r drive to access the download file Configuring the Logix EtherNet IP Module This procedure assumes that you have wired your Kinetix 300 drive For help using RSLogix 5000 software as it applies to con...

Page 133: ...In this example the CompactLogix L23E QB1 controller is chosen b Enter your RSLogix 5000 software version c From the Chassis Type pull down menu choose your chassis This step applies only for ControlL...

Page 134: ...mpactLogix controller catalog number 1769 L23E QB1 is used Follow these steps to configure the Ethernet port 1 Right click the embedded 1769 L23E QB1 Ethernet port and choose Properties The Module Pro...

Page 135: ...catalog number 1756 ENET B is used Follow these steps to configure the Ethernet module 1 Right click I O Configuration in the Controller Organizer and choose New Module The Select Module dialog box op...

Page 136: ...rnet address not the drive Ethernet address c Enter the slot where your module resides leftmost slot 0 5 Click OK Configure the Kinetix 300 Drive Follow these steps to configure the Kinetix 300 drive...

Page 137: ...dress Set the Ethernet address in the software to match the Ethernet address scrolling on the drive See Current IP Address Ethernet Setting on page 129 5 Click the Connection tab 6 Configure the Reque...

Page 138: ...sapplied connectorterminalsmay have voltage present even when not in use ATTENTION To avoid personal injury or damage to equipment disconnect the load to the motor Make sure each motor is free of all...

Page 139: ...Enable Input signal IOD 29 for the axis you are testing 6 Click Start Autophasing 7 Determine if your test completed successfully IMPORTANT Before proceeding with testing and tuning your axis verify...

Page 140: ...ron do the following Otherwise continue with the next step a Set FeedBack Filter to Yes b Set the time constant to 1 ms 7 Click Autotuning The Autotuning dialog box opens 8 Check desired Tuning boxes...

Page 141: ...tion 16 Select General 17 From the Drive Mode pull down menu choose the mode you desire If Then Your test completed successfully this dialog box opens 1 Click Yes 2 Remove Enable Input signal 3 Go tos...

Page 142: ...onfigure the drive from MotionView software or by Explicit Messaging instance 266 to the drive object Follow these steps to select the drive operating mode by using MotionView software 1 Verify the lo...

Page 143: ...ster parameter is 1 and the System parameter is 262 144 512 or 512 Master Gearing Example 2 A Bulletin MPL multi turn motor is connected to the slave drive and outputs 1024 ppr A master encoder output...

Page 144: ...See the examples on page 143 4 Enter the values into the Master and System ratio fields Use a negative value in the Master field to reverse the relative direction of the of the drive compared to the...

Page 145: ...Chapter 6 Configure the Drive Parameters and System Variables This section provides information for accessing and changing parameters not accessible through RSLogix 5000 software Tools for Viewing Pa...

Page 146: ...tomation Publication 2097 UM001D EN P November 2012 Chapter 6 Configure and Start Up the Kinetix 300 Drive 3 Click Add to add a parameter to the viewer 4 Select a parameter from within the tree struct...

Page 147: ...arameters by using Explicit Messaging 1 Create a Set Attribute Single MSG instruction in the ladder logic program 2 Use a Class value of 374 Hex 3 Use the ID of the parameter as listed in Appendix C a...

Page 148: ...ble 62 Master Gearing Table 63 Step and Direction ID Parameter Name Description Value 266 Drive Mode Set to Master Gearing 2 79 M2SRatioMaster Master to system ratio master counts Range 32767 32767 80...

Page 149: ...ase current rms 2 Phase current peak value 3 Motor velocity 4 Phase currentR 5 Phase currentS 6 Phase currentT 7 Iq current 8 Id current 86 AnalogOutVelocityScale Analog output scale for velocity quan...

Page 150: ...ture Sensor For LDAT Series linear thrusters LDL Series and LDC Series linear motors and MPAS Series linear stages do the following 1 Run MotionView software 2 Click General Category 3 Set Motor Tempe...

Page 151: ...om the Drive Organizer click Motor 3 Click Change Motor 4 Click Custom Motor 5 Click Create Custom 6 Create a Vendor Name 7 Create a Motor Model 8 Enter either the Resolution x1 or the Resolution x4 v...

Page 152: ...f you choose auto phasing the following appears 13 Follow the instructions in the dialog box If your system is wired by using one of the interconnect diagrams in Appendix A then you get the following...

Page 153: ...levelorwaitthefulltimeintervallistedon the drive warning label Failure to observe this precaution could result in severe bodily injury or loss of life Do not attempt to defeat or override the drive fa...

Page 154: ...s designed to help you resolve anomalies When a fault is detected the status indicator displays an E and a two digit error code until the anomaly is cleared Table 66 Error Codes Error Code Anomaly Pos...

Page 155: ...cables for noise Check tuning E19 Excess position error Position error limit was exceeded Increase following error limit or time Check position loop tuning E23 Drive Thermal Protection The internal f...

Page 156: ...ponent Remove all power and motor connections and preform a continuity check form the DC bus to the U V andW motor outputs If a continuity exists check for wire fibers between terminal or send drive i...

Page 157: ...MotionView software to clear faults by configuring a digital input as Fault Reset To clear faults by using this input you must make the input active until the fault clears and then deactivate it Use...

Page 158: ...ggled by using the UserDefinedIntegerData0 or UserDefinedIntegerData1 tags within RSLogix 5000 software Figure 77 UserDefinedDataLink Example Using Parameter 53 DriveEnable The drive clears runtime fa...

Page 159: ...netix 300 drives for use in safety related applications up to ISO 13849 1 performance level d PLd safety category 3 in which the de energized state is considered to be the safe state All of the exampl...

Page 160: ...ticable Accumulation of undetected faults can lead to the loss of the safety function which results in an uncontrolled coast to stop Stop Category Definition Stop category 0 is achieved with immediate...

Page 161: ...s be performed on the equipment used in the system Proof tests are performed at user defined intervals not to exceed one year and are dependent upon PFD and PFH values To proof test the safe torque of...

Page 162: ...h Demand Continuous mode safety related system is directly related to the probability of a dangerous failure occurring per hour PFH PFD and PFH Data These PFD and PFH calculations are based on the equ...

Page 163: ...extend the STO connector signals for use in wiring or to defeat not use the safe torque off function 6 pin Safe Torque off STO Connector 1 2 3 4 5 6 STO Safe Torque off STO Connector Kinetix 300 Drive...

Page 164: ...00 6 4 EMC Emission Standard Part 2 Industrial Environment EN 61000 6 2 EMC Immunity Standard Part 2 Industrial Environment The product described in this manual is intended for use in an industrial en...

Page 165: ...tatus Safetyinput1 SafetyCOM Safetyinput2 Safe Torque off STO Terminal Plug Wiring Safe Torque off STO Connector Recommended Wire Size Strip Length mm in Torque Value N m lb in Pin Signal Stranded Wir...

Page 166: ...13849 1 Safe Torque off Feature Bypass The drive is supplied from the factory with the safe torque off circuit enabled The drive is not operational until 24V is present at terminals STO 4 and STO 6 Wh...

Page 167: ...ements Figure 79 Single axis Relay Configuration Stop Category 0 with Automatic Reset IMPORTANT TheKinetix300drivehasbeenqualifiedand ratedasacomponent tomeetISO 13849 1 performance level d PLd safety...

Page 168: ...specifications for the safe torque off signals used in the Kinetix 300 servo drives A1 S52 S11 S12 S21 S22 S33 S34 13 23 37 47 57 A2 X1 X2 X3 X4 Y39 Y40 Y2 Y1 14 24 38 48 58 24V DC COM Status SafetyIn...

Page 169: ...Input and Output Schematics The following are generic safety input and output schematics for the Kinetix 350 drive Figure 81 Safety Input Figure 82 Safety Status Output Sinking Type Safety Input 1 2 S...

Page 170: ...170 Rockwell Automation Publication 2097 UM001D EN P November 2012 Chapter 8 Kinetix 300 Drive Safe Torque off Feature Notes...

Page 171: ...Power Wiring Examples 173 Kinetix 300 Drive Rotary Motor Wiring Examples 176 Kinetix 300 Drive Actuator Wiring Examples 180 Kinetix 300 Drive Linear Motor Wiring Examples 179 Kinetix 300 Drive to Mic...

Page 172: ...are For Digital Output specifications see Digital Outputs onpage 45 5 Contactor coil M1 needs integrated surge suppressors for AC coil operation See Kinetix Servo Drives Specifications Technical Data...

Page 173: ...DY RDY L1 L2 N 29 26 41 42 U V W PE L2 N PE L2 L3 L1 2097 V31PRx 2097 V33PRx Return Single phase AC Input 120V rms AC 50 60 Hz Notes 1 2 Bonded Cabinet Ground Bus Ground Stud Mains Single phase AC Inp...

Page 174: ...rn Single phase AC Input 120 240V rms AC 50 60 Hz Notes 1 2 Ground Stud Fuse Disconnect or Circuit Breakers Input Fusing M1 Notes 5 7 Use discrete logic or PLC tocontrolENABLEtodrive and monitor RDY s...

Page 175: ...es 1 2 Ground Stud Mains Three phase Input IPD Connector Fuse Disconnect or Circuit Breakers Input Fusing M1 Notes 5 7 Three phase Motor Power Connections Note 9 Motor Power MP Connector Cable Shield...

Page 176: ...MPL A B15xxx MPM A B2xxx and MPS A Bxxx Servo Motors with High Resolution Feedback Motor Feedback MF Connector Three phase Motor Power Motor Feedback Thermostat User Supplied 24V DC Three phase Motor...

Page 177: ...High Resolution Feedback Motor Feedback MF Connector Three phase Motor Power Motor Feedback Thermostat User Supplied 24V DC Three phase Motor Power Motor Feedback Thermostat MPL A B15xx MPL A B45xx S...

Page 178: ...or 2090 CFBM6DD CCAAxx with drive end connector Feedback Cable Note 9 I O IOD Connector Note 4 Motor Power MP Connector 2097 V3xPRx Kinetix 300 Drives Motor Feedback MF Connector 2090 CPBM6DF 16AAxx...

Page 179: ...1 1 4 2 5 3 6 8 7 15 13 14 16 17 1 2 3 4 5 10 14 6 11 12 13 8 Motor Power MP Connector 2097 V3xPRx Kinetix 300 Drives Motor Feedback MF Connector Three phase Motor Power Motor Feedback Thermal Sensor...

Page 180: ...solution Feedback Motor Brake Three phase Motor Power Motor Feedback 2090 K2CK D15M Connector Kit I O IOD Connector Note 4 Motor Power MP Connector 2097 V3xPRx Kinetix 300 Drives Motor Feedback MF Con...

Page 181: ...Connector 2090 K2CK D15M shown Grounding Technique for Feedback Cable Shield Turn clamp over to hold small cables secure Exposed shield secured under clamp Clamp Screws 2 Clamp 2097 V3xPRx Kinetix 30...

Page 182: ...DF CBAAxx flying lead or 2090 CFBM6DD CCAAxx with drive end connector Feedback Cable Note 9 I O IOD Connector Note 4 Motor Power MP Connector 2097 V3xPRx Kinetix 300 Drives Motor Feedback MF Connector...

Page 183: ...94 Analog Velocity or Current Control Mode Figure 95 Step and Direction 4 3 O5 Chassis COM 23 22 25 24 DIRECTION DIRECTION ACOM AIN AIN AOUT COM IV1 OV1 Digital 2097 V3xPRx Kinetix 300 Drive I O IOD C...

Page 184: ...2 3 4 5 2097 V3xPRx Kinetix 300 Drive Master 2097 V3xPRx Kinetix 300 Drive Slave Motor Feedback MF Connector Master Encoder Inputs Motor Feedback MF Connector Buffered Encoder Outputs I O IOD Connect...

Page 185: ...oil Currents Compatible Brake Motors Actuators 1 1 Use of the variable x indicates this specification applies to 230V and 460V motors Coil Current MPL x1510 MPL x1520 MPL x1530 0 43 0 53 A MPL x210 MP...

Page 186: ...PRx and 2097 V34PRx servo drives Figure 96 Power Block Diagram L1 L2 L3 W V U Three phase Motor Output Inverter Section SH Chassis DC 2097 Rx Shunt Shunt Transistor DC 1 L1 and L2 inputs apply to 2097...

Page 187: ...ts the drives with 120V input power get full performance from 240V motors Figure 97 Voltage Doubler Block Diagram L1 L2 N N W V U Three phase Motor Output Inverter Section SH Chassis DC 2097 Rx Shunt...

Page 188: ...188 Rockwell Automation Publication 2097 UM001D EN P November 2012 Appendix A Interconnect Diagrams Notes...

Page 189: ...0 drive is an adapter device and the controller using RSLogix 5000 software as a scanner device The drive contains EtherNet IP Assembly Object Instances that pertain to these RSLogix 5000 connection p...

Page 190: ...abled and the servo loops are closed PhysicalAxisFault A non zero value in this field means the drive has faulted PositionLockStatus A non zero value in this field means the drive is within the positi...

Page 191: ...his digital input on the drive is currently asserted DigitalInputC3Status A non zero value in this field meansthis digital input on the drive is currently asserted DigitalInputC4Status A non zero valu...

Page 192: ...omplete Indexing Status 5 7 Reserved 8 Reserved Power Structure En Velocity LockStatus VelocityStandstill Status 9 11 Reserved 12 Digital Input B4Status Digital Input B3Status Digital Input B2Status D...

Page 193: ...ute registration 6 Rotary Absolute 7 Rotary Incremental 8 Rotary Shortest Path 9 Rotary Positive 10 Rotary Negative AccelerationLimit This field defines the maximum acceleration the drive uses in acce...

Page 194: ...bly Objects Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Drive En Reserved Start Homing Abort Homing Define Home Start Motion Reserved Abort Index 1 Reserved 2 Reserved 3 Reserved 4 7 Starti...

Page 195: ...iting the tag directly in the tag structure This is an example of moving a value into the ReferenceSource of the Output Assembly Figure 98 Set Value of Output Assembly Tag This is an example of latchi...

Page 196: ...ecelerationLimit DriveEn Enable the drive by turning tag on StartMotion Start profile by turning tag on ID Tag RSLogix 5000 Tags Value N A ReferenceSource Set value to 1 N A CommandCurrentOrVelocity S...

Page 197: ...he message to target class 374 The instance corresponds to the ID tag number in Table 78 The attribute is defined by the Drive Object Attributes table on page 190 Topic Page Tag Number Descriptions 19...

Page 198: ...llcode index Range 0 5 X X 18 DINT R Motor moment of inertia Jm Range 0 0 1 Kg m 2 X 19 DINT R Motor voltage or back EMF constant Ke Range 1 500 V K rpm X 20 DINT R Motor torque or force constant Kt R...

Page 199: ...solute value in user units s below which the drive will set the Zero Speed Digital Output if configured and the VelocityStandstillStatus bit in the EtherNet IP Input Assembly Range 0 100 rpm X 59 REAL...

Page 200: ...X 74 REAL R Heatsink temperature 0 Temperatures 40 C 104 F Actual heat sink temperature Temperatures 40 C 104 F X 75 DINT R W Enable Accel Decel function limits for Velocity mode 0 Disabled 1 Enabled...

Page 201: ...t Homing or Abort Index Digital Inputs is asserted if configured or either the AbortIndex or AbortHoming bit is set in the EtherNet IP Output Assembly User units per seconds 2 X 179 DINT R W The toler...

Page 202: ...C4 de bounce time in mS Range 0 1000 X 201 DINT R W Programmable Output Function OUT1 0 Not Assigned 1 Zero Speed 2 In Speed Window 3 Current Limit 4 Run time fault 5 Ready 6 Brake 7 In position X 20...

Page 203: ...cel and Disable X 219 REAL R W If Soft Limits are On the position that when reached the drive will assert a Software Overtravel fault User units positive X 220 REAL R W User units negative X 227 REAL...

Page 204: ...ntegerData0 X 250 DINT R W Datalink B for input assembly UserDefinedIntegerData1 X 251 DINT R W Datalink C for input assembly UserDefinedIntegerReal0 X 252 DINT R W Datalink D for input assembly UserD...

Page 205: ...with EtherNet IP explicit messaging control This tag sets the window of time before the time out occurs and the fault is generated Range 10 1000 ms 624 DINT R W Programmable input assignment for input...

Page 206: ...ort Homing 6 Start Homing 7 Fault Reset 8 Index Select 0 9 Index Select 1 10 Index Select 2 11 Index Select 3 12 Index Select 4 X 628 DINT R W Programmable input assignment for input B4 0 Not Assigned...

Page 207: ...lect 4 X 631 DINT R W Programmable input assignment for input C4 0 Not Assigned 1 Abort Index 2 Reserved 3 Start Index 4 Define Home 5 Abort Homing 6 Start Homing 7 Fault Reset 8 Index Select 0 9 Inde...

Page 208: ...rected 668 DINT W Overtravel Input Polarity 1 Controls the active level of the exception on the overtravel inputs 0 Normally open input active high 1 Normally closed input active low X 667 DINT W Regi...

Page 209: ...to allow the configuration of the inputs as normally open or normally closed when this firmware is used on hardware revision 1B The hardware revision can be found by reading the last four digits of t...

Page 210: ...Blended B 1 DINT R W Trapezoidal or S curve move for index 0 31 0 Trapezoidal 1 S Curve B 2 DINT R W Maximum distance to move for index 0 31 Distance how far to move B 3 DINT R W Relative distance to...

Page 211: ...for Real data types and string file elements such as ST14 0 for string data types The attribute value is used to designate the data format as DINT REAL string and the memory location as volatile or no...

Page 212: ...Reading DINT from Volatile Memory In this example the instance decimal is ID tag 232 homing method Figure 102 Writing DINT into Nonvolatile Memory IMPORTANT For each CIP Generic message MSG instructi...

Page 213: ...xplicit Messaging Appendix D REAL Data Type Examples In this example the instance decimal is ID tag 183 phase current Figure 103 Reading REAL from Volatile Memory In this example the instance decimal...

Page 214: ...ublication 2097 UM001D EN P November 2012 Appendix D MicroLogix Explicit Messaging String Data Type Examples In this example the instance decimal is ID tag 3 drive serial number Figure 105 Reading Str...

Page 215: ...mation Publication 2097 UM001D EN P November 2012 215 MicroLogix Explicit Messaging Appendix D In this example the instance decimal is ID tag 2 drive symbolic name Figure 106 Writing String into Nonvo...

Page 216: ...216 Rockwell Automation Publication 2097 UM001D EN P November 2012 Appendix D MicroLogix Explicit Messaging Notes...

Page 217: ...vel limits is only applicable in Positioning mode You can also use non positioning modes but they must work in conjunction with an external controller or PLC Table 82 Overtravel Input Modes of Operati...

Page 218: ...for normally open or normally closed operation Use EtherNet IP Explicit Messaging tag ID 668 to modify this parameter Figure 108 Overtravel Configuration in MotionView Software The default action is...

Page 219: ...ive will not limit axis movement once the fault has been cleared An overtravel fault registers when the drive is enabled and motion causes the axis to pass the overtravel switch Once the overtravel is...

Page 220: ...low and the motion routine can begin again Follow these steps to recover from an overtravel fault condition while in a non positioning mode 1 Change the motion command reference velocity or current t...

Page 221: ...ity table Updated Motor Feedback Cables for Specific Motor Feedback Combinations table Updated Shunt Resistor Connections section with a graphic illustration of the shunt connections on the drive Adde...

Page 222: ...igital input assignment list Added Index selects to the Indexing category Added unwind mode types Rotary Absolute Rotary Incremental Rotary Shortest Path Rotary Positive Rotary Negative Updated Homed...

Page 223: ...eedback 77 motor power 72 shield clamp 76 catalog numbers 16 category 3 requirements 160 stop category definitions 160 CE compliance 17 63 comply with CE 164 conformity 164 invalidate compliance 63 me...

Page 224: ...outs 39 wiring 82 Ethernet module ControlLogix 135 Ethernet port CompactLogix 134 EtherNet IP address 128 dynamic address 131 static address 129 DHCP 131 EtherNet IP external reference 142 explicit me...

Page 225: ...tor kits wiring 80 low voltage directive 164 M master gearing 48 142 144 148 184 examples 143 MicroLogix diagrams 183 mode analog velocity 183 current 183 master gearing 48 step and direction 183 moni...

Page 226: ...PL 160 position limits category 96 power block diagram 186 power dissipation specifications 24 power supply feedback 56 power up 138 proof tests 161 publications related 12 R related publications 12 r...

Page 227: ...E39 162 error codes 154 safe torque off 162 tune the axis 140 servo loop diagram 98 V velocity limits category 95 velocity mode 183 voltage doubler block diagram 187 operation 60 power diagram 173 W...

Page 228: ...n 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...

Page 229: ...Kinetix 300 EtherNet IP Indexing Servo Drives User Manual...

Page 230: ......

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