Rockwell Automation Allen-Bradley Kinetix 3 2071-A10 Page 5 User Manual Download

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Rockwell Automation Publication 2071-UM001E-EN-P - November 2013

Table of Contents

About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Chapter 1

Start

About the Kinetix 3 Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .   12
Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .   14
Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .   14

Chapter 2

Install the Kinetix 3 Drive System

System Design Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Electrical Noise Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Bonding Drives  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .   23
Bonding Multiple Subpanels  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .   25
Establishing Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .   26
Cable Categories for Kinetix 3 Drive Components . . . . . . . . . . . . . .   27
Noise Reduction Guidelines for Drive Accessories. . . . . . . . . . . . . . .   27

Mount Your Kinetix 3 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Chapter 3

Kinetix 3 Drive Connector Data

Kinetix 3 Drive Connectors and Indicators. . . . . . . . . . . . . . . . . . . . . . . . . 30

Motor Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Replacement Battery Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . .   36
Motor Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .   37
Feedback Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .   39

Control Signal Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Summary of Contents for Allen-Bradley Kinetix 3 2071-A10

Page 1: ...Kinetix 3 Component Servo Drives Catalog Numbers 2071 AP0 2071 AP1 2071 AP2 2071 AP4 2071 AP8 2071 A10 2071 A15 User Manual ...

Page 2: ...hibited Throughout this manual when necessary we use notes to make you aware of safety considerations Labels may also be on or inside the equipment to provide specific precautions Allen Bradley Connected Components Workbench Data Highway Plus Kinetix LDC Series LDL Series Micro800 Micro810 Micro830 Micro850 MicroLogix MP Series PanelView Rockwell Automation Rockwell Software RSLogix and TL Series ...

Page 3: ...d Kinetix 3 system components to figures that work with Connected Components Workbench software 13 14 Added I O interface diagram 33 Added information to Digital Inputs and Digital Output tables 40 44 Updated Table 30 2090 CFBM6DF CBAAxx Feedback Cable 72 Added reset drive procedure 83 Added Chapter 6 Configure Drive for Communication 85 Added Chapter 7 Configure Your Drive for Communication with ...

Page 4: ...4 Rockwell Automation Publication 2071 UM001E EN P November 2013 Summary of Changes Notes ...

Page 5: ...23 Bonding Multiple Subpanels 25 Establishing Noise Zones 26 Cable Categories for Kinetix 3 Drive Components 27 Noise Reduction Guidelines for Drive Accessories 27 Mount Your Kinetix 3 Drive 28 Chapter3 Kinetix3DriveConnectorData Kinetix 3 Drive Connectors and Indicators 30 I O IOD Connector Pinout 32 I O Interface Diagram 33 Motor Feedback MF Connector Pinout 34 Input Power Connector Pinout 35 Sh...

Page 6: ...Motor Cable Shield Clamp 70 Feedback and I O Cable Connections 71 Flying lead Feedback Cable Pinouts 72 Wiring the I O Connector 74 Wiring the Feedback Connector 75 Connecting Premolded Motor Feedback Cables 75 Wiring the Feedback Breakout Board 76 Chapter5 UsingtheKeypadInterface Keypad Input 79 Status Display Operation Mode 81 Reset Drive to Default Value 83 Chapter6 ConfigureYourDrivefor Commun...

Page 7: ...or 106 Configure Displayed Units 107 Test Your Motor non indexing move 108 Test Your Motor indexing move 109 Chapter9 MaintainandTroubleshootYour Kinetix3ServoDrive Safety Precautions 113 Maintaining Your Kinetix 3 Drive 114 General Troubleshooting 114 Overtravel Condition 114 Fault Codes 115 Warning Messages 115 Error Displays 116 AppendixA InterconnectDiagrams Interconnect Diagram Notes 122 Powe...

Page 8: ...8 Rockwell Automation Publication 2071 UM001E EN P November 2013 Table of Contents Notes ...

Page 9: ...ination 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 sale...

Page 10: ...ustrial system Kinetix 3 Component Servo Drive Serial Host Command Reference Manual publication2071 RM001 Information on the serial communication commands both ASCII and ModBus RTU for interfacing a motion controller with the Kinetix 3 drive Micro800 and Connected Components Workbench Getting Started Guide publication 2080 QR001 ProvidesinformationonbasicMicro800 controllerandConnectedComponents W...

Page 11: ...Rockwell Automation Publication 2071 UM001E EN P November 2013 11 Chapter 1 Start Topic Page About the Kinetix 3 Drive System 12 Catalog Number Explanation 14 Agency Compliance 14 ...

Page 12: ...otors 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 Linear actuators MP Series and TL Series CompatibleactuatorsincludeMP Seriesdirectdrive230Vintegratedlinear stagesandTL Serieselectric cylinders Linear motors LDC Series and LDL Series Compatible linear motors include L...

Page 13: ...r motor shown LDC Series Linear Motors LDC Cxxxxxxx linear motor shown 2090 CCMCNDS 48AAxx Cable modified TL Series Rotary Motors TLY Axxxx motor shown TL Series Electric Cylinders TLAR Axxxx electric cylinder shown 2090 CPxM6DF 16AAxx Motor Power Cable 2090 CFBM6DF CBAAxx Motor Feedback Cable Line Disconnect Device Line Fusing 2090 CCMUSDS 48AAxx Cable for configuration only USB Cable 1203 USB Co...

Page 14: ...d 2090 CCMDSDS 48AAxx Drive to Drive Cable TL Series Rotary Motors TL Axxxx motor shown 2090 DANPT 16Sxx Motor Power Cable 2090 DANFCT Sxx Motor Feedback Cable Table 2 Kinetix 3 Drive Catalog Numbers Cat No Component Servo Drives 2071 AP0 Kinetix 3 230V AC 1 Ø 0 6 A 2071 AP1 Kinetix 3 230V AC 1 Ø 1 1 A 2071 AP2 Kinetix 3 230V AC 1 Ø 1 7 A 2071 AP4 Kinetix 3 230V AC 1 Ø 3 3 A 2071 AP8 Kinetix 3 230...

Page 15: ...0 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 mot...

Page 16: ...16 Rockwell Automation Publication 2071 UM001E EN P November 2013 Chapter 1 Start Notes ...

Page 17: ...sure 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 is 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...

Page 18: ...er cables must not exceed 30 m 98 4 ft 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 deliverin...

Page 19: ...Drive Cat No AC Input Power 1 2 3 Recommended Fuse 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 Control Power 2 4 Recommended Fuse 4 FRS R fuses are described as dual element time delay fuses Class RK5 Contactor 5 5 For contactors x represents coil voltage y represents the number of ...

Page 20: ...inet 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 54m2 Because this cabinet size is considerably larger than what is necessary to house the system components it can be more efficient to provide a means of cooling in a smaller cabinet Contact ...

Page 21: ...e and calculate required ventilation for your Kinetix 3 drive system Drive Cat No Usage as of Rated Power Output watts 20 40 60 80 100 2071 AP0 19 29 20 0 20 6 21 3 22 0 2071 AP1 20 14 21 6 23 1 24 6 26 2 2071 AP2 21 70 24 6 27 6 30 6 33 7 2071 AP4 25 59 31 9 38 4 45 2 52 2 2071 AP8 26 36 32 3 38 6 45 1 52 0 2071 A10 30 87 40 2 50 1 60 6 71 5 2071 A15 37 37 50 1 63 8 78 4 94 0 ...

Page 22: ...he 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 See Kinetix Servo Drives Specifications Technical Data publication GMC TD003 for Kinetix 3 drive dimensions Figure 4 Minimum Clearance Requirements Refer to page 21 for power dissipation specifications IMPORTANT Mount the ...

Page 23: ...g 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 high frequency energy Impro...

Page 24: ...ated panels 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 conductive material anodized orpainted scrapethematerialaround the mounting hole Mounting Bracket or Ground Bus Subpanel Subpanel Nut Nut Star Washer Flat Washer Star Washer Star Washer Scra...

Page 25: ...igh frequency energy inside the cabinet Subpanels that are not bonded together can not share a common low impedance path This difference in impedance can affect networks and other devices that span multiple panels Figure 6 Multiple Subpanels and Cabinet Recommendations Wire Braid 25 4 mm 1 0 in by 6 35 mm 0 25 in Remove paint from cabinet Ground bus bondedtothe subpanel Wire Braid 25 4 mm 1 0 in b...

Page 26: ...e Zones for Installations With Bulletin 2090 AC Line Filter 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 requires it The 24V enters the clean wirewa...

Page 27: ...ter If you use 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 24 Segregate input and output wiring as far as possible MotorBrake The brake is mounted inside the motor How you connect to the drive depends on the motor series Refer to Kin...

Page 28: ...a publication GMC TD003 2 Attach the Kinetix 3 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 screw torqued to 1 1 N m 9 8 lb in Observe bonding techniques as described in Bonding Drives on page 23 3 Tighten all mounting fasteners ATTENTION This drive contains electrostatic discharge ESD sensit...

Page 29: ...mation Publication 2071 UM001E EN P November 2013 29 Chapter 3 Kinetix 3 Drive Connector Data Topic Page Kinetix 3 Drive Connectors and Indicators 30 Motor Feedback Specifications 36 Control Signal Specifications 40 ...

Page 30: ...right and up down keys 9 Motor feedback MF connector 2 Analog output A out connector 10 Input output IOD connector 3 RS 485 communication termination switch 11 Serial interface Comm0B down port 4 Input power IPD connector 12 Serial interface Comm0A up port 5 Main power indicator 13 Enter key 6 Shunt resistor BC connector 14 Mode set key 7 Motor power MP connector 15 7 segmentstatus indicator 8 Gro...

Page 31: ...in quick connect terminal block BC Shunt power 2 pin quick connect terminal block MP Motor power 3 pin quick connect terminal block CommOA Serial interface up 6 pin IEEE 1394 connector CommOB Serial interface down 6 pin IEEE 1394 connector IOD I O 50 pin mini D connector MF Motor feedback 20 pin mini D connector Table 6 Analog Output A out Connector A out Pin Description Signal 1 Analog output 1 A...

Page 32: ...STOP default disable ESTOP 35 Serial data of absolute encoder PS 11 Follower input A PLUS 36 Serial data of absolute encoder PS 12 Follower input A PLUS 37 Alarm output 1 Digital output4 FAULT1 OUTPUT4 13 Follower input B SIGN 38 Alarm output 2 Digital output5 FAULT2 OUTPUT5 14 Follower input B SIGN 39 Alarm output 3 Digital output6 FAULT3 OUTPUT6 15 High frequency pulse input A HF_PULS 40 Alarm o...

Page 33: ...LS HF_PULS SIGN SIGN 24V_SIGN _ PULS PULS E STOP INPUT OUTPUT Binary Fault Code Outputs Digital Outputs Binary Fault Code Ground Digital Outputs Ground Buffered Encoder Output Absolute Position Serial Output Encoder Marker Pulse Fault Output 24V Programmable Digital Outputs OUTPUT1 OUTPUT1 OUTPUT3 OUTPUT3 OUTPUT2 OUTPUT2 Z PULSE Z PULSE FAULT FAULT I O FCOM OUTCOM AM AM BM BM IM IM PS PS 24V or CO...

Page 34: ...put A 14 Hall feedback S2 S2 5 B positive differential input B 15 Reserved 6 B negative differential input B 16 Hall feedback S3 S3 7 Index positive differential input I 17 Positive limit sensor input LMT 8 Index negative differential input I 18 BAT for motor side 9 Negative limit sensor input LMT 19 BAT for motor side 10 Serial positive Hall feedback S1 SD S1 20 Encoder 5 input power EPWR 1 Not a...

Page 35: ...C Connector Motor Power Connector Pinout Table 10 Motor Power MP Connector IPD Pin Description Signal L1 Main AC power L1 L2 Main AC power L2 L3 Main AC power L3 L1C L1C Control power L1C L2C L2C Control power L2C DC DC bus negative not supported DC BC Pin Description Signal B1 Shunt resistor DC bus positive not supported B1 B2 Shunt resistor B2 MP Pin Description Signal U Motor power U U V Motor ...

Page 36: ...ng and disposal requirements Review and comply with all relevant local state and country regulations dealing with the handling and disposal of these materials Table 12 Replacement Battery Specifications Table 11 Motor Feedback General Specifications Attribute Motor Feedback Feedback device support Generic TTL incremental Generic TTL incremental with Hall and thermistor sensors 17 bit Serial Power ...

Page 37: ... Motor Feedback Signals by Device Type This is the motor thermostat interface schematic Although the thermostat signal is shown for all feedback types some motors do not support this feature Figure 13 Motor Thermostat Interface MF Pin Generic TTL Incremental with Hall Tamagawa 17 bit Serial 1 ECOMM ECOMM 2 TS 1 1 If thermal sensor is used 3 AM 4 AM 5 BM 6 BM 7 IM 8 IM 9 LIMIT 10 S1 DATA 11 12 13 D...

Page 38: ...nts square wave period Differential input voltage AM BM and IM 0 5 2 5V DC current draw AM BM and IM 30 mA max Input signal frequency 1 AM BM and IM 1 Propagation time differences in cables reduce the edge separation by 0 2 ns per meter Both the propagation time differences and the edge separation can reduce the maximum attainable input signal frequency 3 5 MHz max Edge separation 1 AM and BM 50 n...

Page 39: ...filtering for each channel are included Table 16 Motor Feedback Power Specifications Figure 16 Pin Orientation for 20 pin Motor Feedback MF Connector Attribute Value Memory support Programmed with Allen Bradley motor data Differential input voltage 1 0 7 0V Data communication 2 5 Mbps 8 data bits no parity Battery 3 6V external to drive on the breakout board Attribute Value Signal EPWR Voltage min...

Page 40: ...usedto suppress overshoot andcomplete afaster step response Operation Mode Override C SEL WhenthisinputisON thesecondarycontrolmodeisusedfor command When this input is OFF the primary control mode is used for command Overtravel Negative N OT When this input is OFF it prohibits the motor from being commanded in the negative direction Overtravel Positive P OT When this input is OFF it prohibits the ...

Page 41: ...gear ratio defined by Pr3 05 2nd Gear Ratio Follower Counts and by Pr3 06 2nd Gear Ratio Master Counts Home Sensor H_SENS WhenthisinputisON itindicatesthatthehomingsensorhas been triggered This is an essential part of the Home to Sensor feature Start Homing SHOME When activated the system starts returning to home Start Indexing START_I Starts Indexing when it is set to ON Stop Homing H_STOP Stops ...

Page 42: ...pecifications Parameter Value 24V power supply 21 6 26 4V DC On state voltage range 14 26 4V DC On state current at min voltage 6 3 mA On state current at max voltage 7 71 mA Off state voltage max 1V Off state current max 0 mA Hardware delay off to on 8 4 μs Hardware delay on to off 50 1 μs 5V INPUTS COM 4 7 KΩ Logic GND Opto coupler 3300 Ω 0 01 μF 3 3 KΩ Kinetix 3 Drive 24V Supply ...

Page 43: ...he input that is detected as an On state 2 8V 3 7V Off state input voltage Input voltage difference between the input and the input that is detected as an Off state 1V 3V Signal frequency high frequency differential driver input drive Input frequency of the HF_PULS or HF_SIGN inputs Count frequency is four times this frequency for A B type inputs andequaltothisfrequencyforStep Directionand Step Up...

Page 44: ...rorislessthan Pr5 03 Speed Window Current Limited T LMT Thisoutputturns to ON whentorque reaches the setvalueofthe torque limit Velocity Limited V LMT This output turns to ON when speed reaches the set value of the speed limit Within Near Position NEAR This output turns ON when the position error is less than Pr5 02 Near Position Size Warning WARN Thisoutput turns ON whenthe drive encounters a con...

Page 45: ...75 Shunt Over load Protection Fault E 101 Motor Power Cable Open Fault E 102 Motor Instantaneous Current Overload Fault E 103 Motor Mismatch Fault 3 ON OFF OFF 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 ...

Page 46: ...utput Signal Specifications Figure 20 Digital Outputs Parameter Value Output voltage range 0 50V DC Output current rating 50 C 122 F 50 mA Minimum load current 0 1 mA Maximum on state voltage drop 50 mA 1 2 mV DC Hardware delay off to on max 2 36 ms Hardware delay on to off max 310 ms OUTPUT1 TLP127 200 Ω OUTPUT1 Logic Power ...

Page 47: ...ion of the analog input Figure 21 Analog Input Configuration This table provides a description of the analog input specifications VCMD 12V 12V GND 2 5V REF GND 10 nF GND VCC V_REF GND T_REF GND VCC GND GND 2 5V REF GND 12V 12V ICMD Parameter Description Min Max VCMD Resolution Number of states that the input signal is divided into 2 to the number of bits 16 bits ICMD Resolution 12 bits Input Imped...

Page 48: ...back 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...

Page 49: ...tput specifications GND GND MP LM224 LM224 VCC A_MON IMPORTANT Output values can vary during powerup until the specified power supply voltage is reached Parameter Description Min Max Resolution Number of states that the output signal is divided into 2 to the number of bits 12 Bits Output Current Current capability of the output 10 mA 10 mA Output Signal Range Range of the output voltage 10V 10V ...

Page 50: ...USB Communication Specification 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 23 RS 232Serial Communication Specifications Attribute Value Communication Protocol RS 485 Baud 192 000 Data bits 8 Parity None Stop bit 1 Operator interface bit pattern 1102 Cabling Catalo...

Page 51: ...ve and programmable logic controller and drive to drive communication You can change the serial communication protocol by using front panel input keys Table 24 RS 485Serial Communication Specifications Attribute Value Communication Protocol RS 485 Baud 192 000 Data bits 8 Parity None Stop bit 1 Operator interface bit pattern 1102 Cabling Catalog numbers 2090 CCMCNDS and 2090 CCMDSDS ...

Page 52: ...52 Rockwell Automation Publication 2071 UM001E EN P November 2013 Chapter 3 Kinetix 3 Drive Connector Data Notes ...

Page 53: ...ng 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 that can result in damage to components SHOCKHAZARD Toavoidhazardofelectricalshock performallmountingand wiring of the Bulletin 2071 drive prior to applying powe...

Page 54: ...o 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 23 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 Determining...

Page 55: ...ondary Feeder and branch short circuit protection is not illustrated Figure 24 Three phase Power Configuration Delta secondary Feeder and branch short circuit protection is not illustrated L1 L2 L3 IPD L1 L2 L3 E L1 L2 L3 L1 L2 L3 L1C L2C Bonded Cabinet Ground Bus Transformer WYE Secondary Kinetix 3 Drive Three phase AC Input Ground Grid or Power Distribution Ground AC Line Filter IPD Terminal Gro...

Page 56: ...er Configuration Delta secondary Feeder and branch short circuit protection is not illustrated L1 L2 L3 L1 L2 L3 E L1 L2 L3 IPD L1 L2 L3 L1C L2C Transformer Delta Secondary Ground Grid or Power Distribution Ground Kinetix 3 Drive Three phase AC Input Bonded Cabinet Ground Bus AC Line Filter IPD Terminals Corner Grounded optional ...

Page 57: ...wire to the neutral connection This accomplishes the following Prevents the system from floating and thereby avoids any high voltages that can otherwise occur for example due to static electricity Provides a solid earth path for fault conditions ATTENTION If the supply transformer is an auto transformer not recommended a chassis earth ground must not be added A chassis earth ground must already be...

Page 58: ...eed 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 L1 L2 L3 L1 L2 L3 L2 L3 L1 L1 L2 L1 L2 E L1 L2 L1 L2 E L1 L2 L1 L2 E IPD L1 L2 L3 LC1 LC2 IPD L1 L2 L3 LC1 LC2 IPD L1 L2 L3 LC1 LC2 Bonded Cabinet Ground Bus Transformer W...

Page 59: ... 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 IMPORTANT To improve the bond between the Kinetix 3 drive and subpanel construct your subpanel out of zinc plated paint free steel ATTENTION The National Electrical Code contains grounding requireme...

Page 60: ...gure below HF bonding is not illustrated For information refer to Bonding Multiple Subpanels on page 25 Figure 30 Subpanels Connected to a Single Ground Point Item Description 1 Chassis ground 2 Bonded ground bar optional 3 Bonded cabinet ground bus 4 Ground grid or power distribution ground 2 3 4 Always follow NEC and applicable local codes 1 1 1 1 Always follow NEC and applicable local codes Gro...

Page 61: ...nd screw Ground 1 25 11 2071 AP8 IPD L1 IPD L2 IPD L3 IPD L1C IPD L2C L1 L2 L3 L1C L2C N A Ground screw Ground 1 25 11 2071 A10 2071 A15 IPD L1 IPD L2 IPD L3 IPD L1C IPD L2C L1 L2 L3 L1C L2C N A Ground screw Ground 1 25 11 2071 xxx Motor power MP U MP V MP W U V W N A Ground screw GND 1 25 11 2071 xxx Shunt resistor 1 1 Use for only shunt resistor connection BC B1 BC B2 B1 B2 N A ATTENTION To avoi...

Page 62: ... to connectors a Open terminal locking clamp with connector tool b Insert wire c Release tool Refer to connector pinout tables in Chapter 3 or the interconnect diagrams in Appendix A 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 IMPORTANT For connector locations of the Kinetix 3...

Page 63: ...n Follow procedure in Wiring Guidelines on page 62 CableShieldTerminations 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 shie...

Page 64: ...ompatibility 1 1 4 5 3 1 7 6 2 Item Description 1 Motor power cable 2 Cable braid clamped to machine frame 1 3 Connectors 4 Pigtail cable 5 TL Series motor 6 150 mm 6 0 in termination 7 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 Motor Actuator Connector Motor Actuator Cat No Motor Power Cables with ...

Page 65: ...back cable Refer to Kinetix 3 Drive Rotary Motor Wiring Examples beginning on page 124 for interconnect diagrams Figure 33 Motor Power Terminations Bulletin TL three phase wires only 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 2 1 4 3 Item Description 1 2071 AP4 Kinetix 3 drive shown 2 Motor power MP c...

Page 66: ...Series motors and actuators that have no brakes Thermal switch wires are included in the feedback cable Figure 34 Motor Power Terminations Bulletin TLY TLAR MPAS LDC Series and LDL Series three phase wires only Ground and secure the motor power cable in your system following instructions on page 70 1 5 4 2 3 Item Description 1 2071 AP4 Kinetix 3 drive shown 2 Motor power cable 3 Ground wire 4 Grou...

Page 67: ...d brake wires 1 2 3 To Motor 6 7 5 8 4 Item Description Item Description 1 1 24V power supply 5 I O IOD connector with Kinetix 3 I O breakout board installed 2 2 1 Relay and diode assembly 3 6 2071 AxxKinetix 3 drive 3 Minimize unshielded wires in brake circuit 7 Motor power MP connector 4 Brake wires 8 Cable clamp 4 1 User supplied Size as required by motor brake See Motor Brake Currents on page ...

Page 68: ...ecommended wire size 2 5 mm2 14 AWG Figure 36 Cable Shield and Lead Preparation Refer to Kinetix 3 Drive Rotary Motor Wiring Examples beginning on page 124 for interconnect diagrams Table 26 Motor Power MP Connector Green yellow ground wire with ring lug is connected to the screw provided on the drive Shown Figure on page 70 W V U Motor Power Cable Exposed Braid 25 4 mm 1 0 in Outer Insulation As ...

Page 69: ...nt 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 Figure 37 Shunt Resistor BC Connector IMPORTANT The information supplied here is for reference only There are no adjustments or user serviceable parts associated with the shunt resistor ...

Page 70: ...e 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 50 75 mm 2 3 in 50 75 mm 2 3 in 34 0 1 34 25 1 0 12 7 0 50 If panel is painted remove paint to provide metal to metal contact Motor Power Ground Shi...

Page 71: ...edback cable available for your motor Feedback terminal block 2071 TBMF Feedback interface Refer to the table below for the flying lead motor feedback cable available for your motor I O cable 2090 DIAO D50xx I O Interface I O terminal block 2071 TBIO I O interface User supplied flying lead cable Motor Actuator Cat No Feedback Type Feedback Cable Pinout Premolded Flying lead MPAS Axxxx ALMx2C Incre...

Page 72: ...onnector Pin Motor Actuator Signal Name Drive Signal Name Drive MF Connector Pin 6 BAT BAT 18 13 DATA SD 10 14 DATA SD 13 22 EPWR 5V EPWR 20 23 ECOM BAT internally connected ECOM BAT 1 19 24 SHIELD GND 11 Motor Actuator Connector Pin Motor ActuatorSignal Name Drive Signal Name Drive MF Connector Pin 9 AM A 3 10 AM A 4 11 BM B 5 12 BM B 6 13 IM I 7 14 IM I 8 15 S1 S1 10 16 S1 17 S2 S2 14 18 S2 19 S...

Page 73: ...ect the Kinetix 3 Drive Chapter 4 Table 31 2090 DANFCT Sxx Feedback Cable Motor Connector Pin Motor Signal Name Drive Signal Name Drive MF Connector Pin 7 EPWR EPWR 20 8 ECOM BAT internally connected ECOM BAT 1 19 9 SHIELD GND 11 12 DATA SD 10 13 DATA SD 13 14 BAT BAT 18 ...

Page 74: ...log number 2071 TBIO I O Breakout Board Refer to publication 2071 IN002 Figure 38 Kinetix 3 Drive IOD connector and I O Breakout Board I O interface cable catalog number 2090 DAIO D50xx provides access to all 50 pins of I O Figure 39 Kinetix 3 Drive IOD connector and I O Interface cable I O IOD Connector 2071 TBIO I O Breakout Board I O IOD Connector 2090 DAIO D50xx I O Interface Cable ...

Page 75: ... The motor feedback cables with premolded connectors plug directly into the 20 pin motor feedback MF connectors on the Kinetix 3 drive no wiring is necessary Figure 40 Kinetix 3 Drive MF connector IMPORTANT When using Bulletin 2090 cables with premolded connectors tighten the mounting screws finger tight to improve system performance Motor Feedback MF Connector Kinetix 3 Drive Front View 2071 AP4 ...

Page 76: ...h resolution feedback It has a 20 pin male mini D sub connector and is compatible with all Bulletin 2090 feedback cables The TLY Axxxx B high resolution motors with 17 bit encoder require a 3 6V battery purchased separately see Replacement Battery Specifications on page 36 Figure 41 Kinetix 3 Drive MF connector 2071 TBMF Feedback breakout board Use with flying lead feedback cable Motor Feedback MF...

Page 77: ...fer to page 124 for the motor feedback interconnect drawing for your application 6 5 3 2 Item Description 1 2071 TBMF Kinetix 3 feedback breakout board 2 Tie wrap 3 13 mm 0 5 in exposed cable shield 4 Bulletin 2090 feedback cable catalog numbers 2090 XXNFMF Sxx 2090 CFBMxDF CDAFxx 2090 CFBM6DF CBAAxx or 2090 DANFCT 5 Ground pad 6 3 6V battery 1 7 Mounting screws 1 Battery required if absolute posi...

Page 78: ...78 Rockwell Automation Publication 2071 UM001E EN P November 2013 Chapter 4 Connect the Kinetix 3 Drive Notes ...

Page 79: ...atus parameters function commands and provides drive monitoring 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 let the operator monit...

Page 80: ...mory 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 Up 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 Down D...

Page 81: ...meter you wish to view or edit after the period Item Description 1 Control Mode Characters 4 and 5 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...

Page 82: ...lay indicates the selected function by displaying where nn is a display attribute number shown in Table 32 2 By using either the Up Down Right or Left keys select a display attribute number 3 Press the Enter key The value of the attribute appears Table 32 Display Mode Display Attribute Number Attribute Unit 00 Velocity Feedback rpm or mm s 01 Velocity Command rpm or mm s 02 Velocity Error rpm or m...

Page 83: ...ssing Enter When finished the drive displays donE 13 Velocity Command Offset mV 14 Current Command Offset mV 15 Input and Output State 16 Error History 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 Leastsignificantsixdigitsaretheerrorcodenumberreferencedinthe Error Displays beginning on page 116 For ex...

Page 84: ...84 Rockwell Automation Publication 2071 UM001E EN P November 2013 Chapter 5 Using the Keypad Interface Notes ...

Page 85: ...5 Chapter 6 Configure Your Drive for Communication Topic Page Apply Power to Your Kinetix 3 Drive 86 Configure Your Kinetix 3 Drive for USB Communication with a Personal Computer 87 Configure Your Kinetix 3 Drive for RS 232 Communication with a Personal Computer 88 ...

Page 86: ... below and shown in below 3 Verify the status of the drive startup as outlined below and shown in above IMPORTANT Be sure that the motor is free of all linkages when initially applying power to the system If the Main Power Status Indicator is Then ON Go tostep 3 OFF Check your input power connections and repeat step 2 If the Six Characters on the 7 segment Display Indicator Then rdY in the three l...

Page 87: ...ult Micro800 and Connected Components Workbench Getting Started Guide publication 2080 QR001 for details on the download process To configure the Kinetix 3 drive communication port for USB communication follow these steps 1 Use the keypad on the front of the drive to set the following parameters See Status Display Operation Mode for keypad operation 2 Use the USB cable to connect your personal com...

Page 88: ... Ultraware software The following schematic shows the cable pinouts for RS 232 communication If you are not using the pre made RS 232 Serial Communication Cable catalog number 2090 CCMPCDS 23AAxx use this schematic to make your own cable Figure 49 RS 232 Connection with a Personal Computer Item Description 1 Kinetix 3 drive 2 1203 USB converter cable catalog number 2090 CCMUSDS 48AAxx 3 1203 USB c...

Page 89: ...catalog number 2090 CCMPCDS 23AAxx For information on the serial communication cables refer to Serial Communication Cables Installation Instructions publication 2090 IN019 3 Proceed with Chapter 8 Using Ultraware Software to Configure the Drive on page 101 Parameter Name Parameter Setting Drive Address Pr0 07 Required address 1 Default Serial Port Configuration Pr0 09 0005 Default where 5 57 600 K...

Page 90: ...90 Rockwell Automation Publication 2071 UM001E EN P November 2013 Chapter 6 Configure Your Drive for Communication Notes ...

Page 91: ...0 and Connected Components Workbench Getting Started Guide publication 2080 QR001 for details on the download process Add Your Device to the Connected Components Workbench Project Use this procedure to add your Kinetix 3 drive to your Connected Components Workbench project 1 Start the Connected Components Workbench software 2 From the Device Toolbox expand Drives click Kinetix 3 and drag to it to ...

Page 92: ...E EN P November 2013 Chapter 7 Configure Your Drive for Communication with a PersonalComputer Running Connected Components Workbench Software 3 From the Project Organizer double click the Kinetix 3 icon 4 From the Kinetix 3 pane click the Add tab ...

Page 93: ...nication with a Personal Computer Running Connected Components Workbench Software Chapter 7 5 Click the1203 USB USB to DSI icon then click Add 6 Click the 0 Kinetix 3 tab then click Connect 7 Expand AB_DF1 Data Highway Plus and click 01 AB DSI 8 Click OK 9 From the menu bar click the Wizards icon ...

Page 94: ...unning Connected Components Workbench Software 10 From the Available Wizards dialog box select Kinetix 3 Startup Wizard 11 Click Reset to Factory Settings then choose the options for Encoder Backup Battery and Emergency Stop Input 12 Click Next TIP You can also reset drive default values from the Kinetix 3 Configuration Wizard see page 100 ...

Page 95: ...Personal Computer Running Connected Components Workbench Software Chapter 7 13 Choose the appropriate options for your Controller and Operation Mode 14 Click Next 15 Enter the First Gear Ratio 16 Click Next 17 Verify your motor has been identified correctly 18 Click Next Your motor catalog string can be different ...

Page 96: ...r 7 Configure Your Drive for Communication with a PersonalComputer Running Connected Components Workbench Software 19 Click Start Autotuning Status displays Autotuning Now then Autotuning Successful 20 Click Finish 21 From the File menu choose Save 22 Create a project name ...

Page 97: ...ll down menu choose Modbus RTU If necessary change the other properties to match the dialog box below 3 Under Protocol Control settings from the Media pull down menu choose RS485 4 Right click the controller icon and choose Build Program the Controller for ModbusCommunicationwith a Kinetix 3 Drive Please refer to Kinetix 3 Motion Control Indexing Device Building Block Quick Start publication CC QS...

Page 98: ...nch Workspace Pane Uses Pane Use the Pane to Kinetix 3 Properties Configure the drive properties for an offline or an online drive Monitor parameters of an online drive Execute commands that save current working values as power up values Execute commands that restore the drives original default settings AnalogConfiguration Set Analog Velocity or Analog Current Command Input drive parameters for an...

Page 99: ...associated online or offline Kinetix 3 drive Once you select a motor the status parameters values associated with the selected motor appears in the Parameters window Monitor the statuses that relate to the selected motor Tuning Configure Velocity Position and Current Regulator Gains Configure and execute autotuning Configure an alternate set of gains that can be activated by a digital input Monito...

Page 100: ... Wizard you can also reset the drive from the Kinetix 3 Configuration Wizard Follow these steps to reset the drive from the Kinetix 3 Startup Wizard 1 Start the Connected Components Workbench software 2 Click the Kinetix 3 tab then click Connect 3 From the menu bar click the Wizards icon 4 From the Available Wizards dialog box select Application Wizard Kinetix 3 Configuration and click Select 5 Fr...

Page 101: ...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 so...

Page 102: ...lues with Ultraware Software Follow these steps to reset your drive with Ultraware software 1 Start the Ultraware software 2 Establish a connection to the drive 3 Navigate to the main drive dialog box 4 Click Reset to Defaults If Your Kinetix 3 Drive Then Is detected and listed under the On Line Drives tree 1 The software and hardware are communicating and the system is ready 2 Go to Select a Moto...

Page 103: ...onBranch 1 2 3 6 7 4 5 Item Description 1 Click the next to K3 Drive to expand the parameter group 2 Double click the K3 Drive icon in the Ultraware workspace to display the various drive branches 3 Configure drive parameters for an online drive 4 Monitor the status of an online drive 5 Software Enable icon 6 Disable All Drives icon 7 Execute commands to clear faults reset the drive or reset the E...

Page 104: ... for autotuning manual position tuning and manual velocity tuning Encoders Configure the motor encoder Digital Inputs Assign functionality to digital inputs Monitor the status of digital inputs Digital Outputs Assign functionality to digital outputs Set both active and inactive brake delays Monitor the status of digital outputs and the digital relay Analog Outputs Assign drive signals to analog ou...

Page 105: ...or without intelligent encoder is selected 2 Check the Motor Model parameter value 3 From the Motor Model pull down menu choose your motor AssignDigitalInputs Follow these steps to assign Digital Inputs 1 Double click the Digital Inputs branch If motor is Value motor cat no Go To An Allen Bradley motorwith intelligent encoder Is recognized by the Ultraware software Assign Digital Inputs on page 10...

Page 106: ...igure 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 autotunes your motor Follow these steps to autotune your motor 1 Double click the Tuning branch The Tuning properties dialog box appears ATTENTION To avoid fault action or da...

Page 107: ...epeat and then close the Tuning properties dialog box 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 encod...

Page 108: ...t 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 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 enable the drive and set the motor velocity...

Page 109: ...icon in the tool bar is no longer illuminated 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 enable the drive and make an incremental move to test the motor The drive needs to be in indexing mode for te...

Page 110: ...ncremental Distance 1 0 Revs Dwell 500 ms Velocity 750 rpm Acceleration 13 Rev s2 Deceleration 13 Rev s2 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 you use a Bulletin TLY motor w...

Page 111: ...er 8 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 ...

Page 112: ...112 Rockwell Automation Publication 2071 UM001E EN P November 2013 Chapter 8 Using Ultraware Software to Configure the Drive Notes ...

Page 113: ...tagetoverifyithasreachedasafelevelorwaitthefulltimeintervallistedon thedrivewarninglabel Failuretoobservethisprecautioncouldresultinsevere bodily injury or loss of life ATTENTION Do not attempt to defeat or override the drive fault circuits You mustdeterminethecauseofafaultandcorrectitbeforeyouattempttooperate thesystem Ifyoudonotcorrectadriveorsystemmalfunction itcouldresultin personal injury and...

Page 114: ...f your Kinetix 3 drive has an error refer to the table immediately below Overtravel Condition Overtravel displays see the following table occur if the drive detects an overtravel condition IftheMainPowerandControl PowerStatusIndicators are ON and the Status Display on the Drive is Then Displays rdy in the three right most characters The Kinetix 3 drive is ready Displays Pot or not The Kinetix 3 dr...

Page 115: ...le the motor is in motion After verifying motor has stopped recycle control power Over Current Command 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 O...

Page 116: ...ck 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 Bus Undervoltage Low AC line AC power input 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 Attempted to enable drive without main power active Apply main power ...

Page 117: ...rogrammed correctly Replace motor Encoder memory corrupted Drive Overtemperature Excessive heat exists in the drive Verify cooling fan operation catalog numbers 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 AC Line Loss Poor quality power Increase Ride Through time...

Page 118: ...rn Count Error Electrical noise in the encoder Cycle power to drive and reset alarm Defective encoder Replace motor Drive Set Up The drive operating mode and motor selection are incompatible Change the operating mode and or the motor selection and reset the drive Motor Power Cable Open Motor cable open Verify power connection between motor and drive Motor Instantaneous Current Overload Motion prof...

Page 119: ...he range of 231 231 Motor Phase Over Current Anomaly with control or main power circuitryifthiserroroccurswhenpower is turned on Excessive current to the motor if this error occurs during operation current more than300 of the rated current to the motor more than 10 ms Check wiring and power Check power and set adjust acceleration decceleration time Axis Not Homed A user tries any indexing without ...

Page 120: ...120 Rockwell Automation Publication 2071 UM001E EN P November 2013 Chapter 9 Maintain and Troubleshoot Your Kinetix 3 Servo Drive Notes ...

Page 121: ...UM001E EN P November 2013 121 Appendix A Interconnect Diagrams This appendix provides wiring examples and system block diagrams for your Kinetix 3 drive system components Topic Page Interconnect Diagram Notes 122 Power Wiring Examples 123 ...

Page 122: ...s Brake in Ultraware software For Digital Output specifications refer to page 44 5 Contactor coil M1 needs integrated surge suppressors for AC coil operation Refer to Fuse Contactor Specificationson page 19 6 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 beobserved before attempting to enable the drive after main power is r...

Page 123: ...60 Hz Notes 1 Isolation Transformer Bonded Cabinet Ground Bus Ground Screw Input IPD Connector Fuse Disconnect or Circuit Breakers Input Fusing Note 2 M1 Notes 5 6 Use discrete logic or PLC to control SV ON ENABLE todriveand monitor RDY signal back from drive Refer toAttention statement Note8 Three phase Motor Power Connections Note 9 Motor Power MP Connector Cable Shield Clamp Note 7 I O IOD Conn...

Page 124: ... 14 10 13 CR1 OUTPUT3 BK OUTPUT3 BK 24V DC 24V DC COM 48 47 Motor Brake Three phase Motor Power Motor Feedback TLY Axxxx H 230V Servo Motors with Incremental Feedback 2090 CFBM6DF CBAAxx flying lead Feedback Cable Note 9 I O IOD Connector Note 4 Motor Power MP Connector 2071 Axx Kinetix 3 Drive Motor Feedback MF Connector 2090 CPBM6DF 16AAxx Motor Power and Brake Cable Note 9 10 Use 2090 CPWM6DF 1...

Page 125: ...WN BLACK WHITE GND SHIELD W V U 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 CR1 OUTPUT 3 BK OUTPUT 3 BK 24V DC 24V DC COM MPAS Axxxx ALMx2C Linear Stages or LDC Series LDL Series Linear Motor with Incremental Feedback Motor Brake Three phase Motor Power Motor Feedback I O IOD Connector Note 4 Motor Power MP Connector 2071 Axx Kinetix 3 Drive Motor Feedback MF Connector User Supplied 24V D...

Page 126: ...Brake Three phase Motor Power Motor Feedback TLAR Axxxx 230V Servo Motors with High Resolution Feedback 2090 CFBM6DF 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 2071 Axx Kinetix 3 Drive Motor Feedback MF Connector 2090 CPBM6DF 16AAxx Motor Power and Brake Cable Note 9 10 Use 2090 CPWM6DF 16AAxx cable for...

Page 127: ... Kinetix 3 Drive Wiring for Pulse Train Output 20 19 22 21 COM 10V 10V COM 10V 10V VCMD VCMD ICMD ICMD Kinetix 3 Drive I O IOD Connector Analog Voltage Device or PLC Velocity Current V 24V DC 0 x 24 V DC V 49 12 25 14 VDC 2 OUT x OUT y COM 2 0 y 24V_PULS SIGN 24V_SIGN PLUS 24V_PULS SIGN 24V_SIGN PLUS 49 12 25 14 MicroLogix 1400 Controller Kinetix 3 Drive Kinetix 3 Drive MicroLogix 1100 Controller ...

Page 128: ... Drive Pin 7 operate as sourcing inputs when Pin1 2 connected to of the Power Supply 2 To help you configure Kinetix 3 drive parameters so the drive can communicate and be controlled by a Micro830 or Micro850 controller see publicationCC QS025 CM0 CM1 O 00 O 03 O 06 O 07 CM0 CM1 CLK CLK DIR DIR Enable RST 1 2 49 12 25 14 3 7 1 2 DC 24 DC 24 2080 LC30 xxQVB 2080 LC50 xxQVB Micro830 Controllers Kine...

Page 129: ...s Use these values to size the interposing relay required for your application Table 36 Motor Brake Coil Currents Rated at 1 0 A Compatible Brake Motors Actuators Coil Current TL TLY A110 TL TLY A120 and TL TLY A130 0 18 0 22 A TL TLY A220 and TL TLY A230 0 33 0 41 A TL TLY A2530 TL TLY A2540 and TL TLY A310 0 35 0 43 A ...

Page 130: ...130 Rockwell Automation Publication 2071 UM001E EN P November 2013 Appendix A Interconnect Diagrams Notes ...

Page 131: ...ng feedback 71 motor brake 69 motor shield clamp 70 premolded feedback cables 75 connector designators 31 contactor specifications 19 control power status indicator 114 D digital inputs 40 digital inputs branch 104 105 digital outputs 44 digital outputs branch 104 download Connected Components Workbenchsoftware 91 Connected Componets Workbench software 87 drive maintenance 114 reset configuration ...

Page 132: ...ndicator 114 maintenance cleaning the drive 114 inspecting cables 114 troubleshooting 114 Micro 800 PTO wiring 128 Micro800 PTO signals 128 MicroLogix PTO wiring 127 mode configuration 103 mode displays monitor 82 motor brake 27 motor brake current 129 motor branch 104 motors brake wiring 69 feedback pinouts 72 ground termination 63 power wiring 3 phase and brake 67 3 phase only 65 TL Series 64 se...

Page 133: ...ges 115 tuning branch 104 tuning your axis 106 U Ultraware software 101 analog outputs branch 104 digital inputs branch 104 digital outputs branch 104 encoders branch 104 faults branch 104 mode configuration 103 motor branch 104 service information branch 104 tuning branch 104 workspace 103 USB 1203 USB wiring 87 drive configuration 87 W warning messages 115 who should use this manual 9 wiring 128...

Page 134: ...is manual You can contact Customer Support for initial help in getting your product up and running New Product Satisfaction Return Rockwell Automation tests all of its products to help ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures Documentation Feedback Your comments wi...

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