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Rockwell Automation Publication 2198T-UM002C-EN-P - March 2019

Table of Contents

Using Multiple iTRAK Power Supplies . . . . . . . . . . . . . . . . . . . . . 48

Wire the Digital USB I/O Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Wire the Gateway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Numbering the Motor Modules  . . . . . . . . . . . . . . . . . . . . . . . . . . . .  53
Wire a 2918T-G02-xxx-E Gateway  . . . . . . . . . . . . . . . . . . . . . . . . .  54
Wire a 2918T-G03-xxx-E Gateway  . . . . . . . . . . . . . . . . . . . . . . . . .  55

Logix Designer Application Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Chapter 4

Power on Your System

Before You Power On the Track. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Identify Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  57
Identify Firmware Revision. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  57
Configure and Customize Project File. . . . . . . . . . . . . . . . . . . . . . .  58

Apply Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Commission with Programming Manual . . . . . . . . . . . . . . . . . . . . . . . . 59

Chapter 5

Maintenance

Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Preventive Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Add or Replace Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Update Gateway Firmware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Firmware Update Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . 99
Downgrade Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Update Motor Module Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Lubrication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

Initial Lubrication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Normal Operation Lubrication . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

Chapter 6

Troubleshooting

Errors Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Summary of Contents for iTRAK

Page 1: ...iTRAK System with TriMax Bearings Bulletin 2198T User Manual OriginalInstructions...

Page 2: ...nformation circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited T...

Page 3: ...ons 28 Machine Guarding 29 Avoid Accidents Injury and Property Damage 30 Avoid Electrical Shock 30 Pinch Point Hazard 30 Protection Against Contact with Hot Parts 31 Protection Against Magnetic and El...

Page 4: ...entive Maintenance 61 Cleaning 61 Add or Replace Components 62 Install or Remove a Position Magnet Assembly 62 Magnet Plate Assembly Installation 64 Install or Replace a Mover 66 Replace a Straight Mo...

Page 5: ...112 Performance Level and Safety Integrity Level SIL 112 Safety Distance Calculations 112 Functional Safety Description 112 Considerations for Category 1 Stop 113 Overall System Stopping Performance 1...

Page 6: ...6 Rockwell Automation Publication 2198T UM002C EN P March 2019 Table of Contents Notes...

Page 7: ...s These conventions are used throughout this manual Bulleted lists provide information not procedural steps Numbered lists provide steps or hierarchical information Appropriate Use Read and understand...

Page 8: ...K Bus Conditioner Module Supply Installation Instruction publication 2198T IN001 Providesinformation forwiringandconnectingthe Kinetix5700iTRAK powersupply to the iTRAK system iTRAK System Programming...

Page 9: ...nd more movers can be added as the system grows The movers can be stopped and positioned on the curves with high accuracy When the curves are applied to create an oval new machine shapes and dynamic p...

Page 10: ...r to the appropriate DC bus voltage The USB I O module provides discrete communications between the power supply and the gateway Figure 1 ExplodedView of the Servo and Mechanical Components with TriMa...

Page 11: ...ol Components of an iTRAK System iTRAK System Component Description Power circuitry and components The iTRAK power supply connects to the Kinetix 5700 power supply and generates the voltages that are...

Page 12: ...traight Motor Module Figure 3 2198T L16 Txx04 B09x 2E1E NS Curved Motor Module 6 7 4 5 3 1 8 2 2198T L16 T0504 AOON 2E1E NS StraightMotor Module is shown 5 8 3 2 4 6 7 1 2198T L16 T0504 B09R 2E1E NS R...

Page 13: ...CAUTION WARNING CONTROL POWER COMMUNICATION DRIVE ENABLED DANGER Hazardous Voltage Inside Power Off Lockout Tagout and wait 5 minutes PINCH POINTS NEARBY Sudden motion Stand Clear Power Off Lockout T...

Page 14: ...TION See Safety Information on page 28 before handling a mover Item Description Item Description 1 Flexure 4 Magnet assembly 2 Cam follower x12 1 1 2198T xT05xx C 2198T xT1050 C 2198T xT1010 C and 219...

Page 15: ...ter that 2 4 m 8 2 ft in length use a multi plate design for items 2 3 4 See https ramotionanalyzer blob core windows net 3dmodels 2198T 3DCAD zip for more detail Rockwell Automation offers the iTRAK...

Page 16: ...98T IN001 Figure 8 iTRAK Power Supply iTRAK Bus Conditioner Module The bus conditioner module is mounted near the iTRAK for each power cable when using the iTRAK power supply The packaging for the bus...

Page 17: ...016 E Gateway The gateway computer is dedicated to the control and coordination of the iTRAK motor modules and to provide an interface for them to the Logix system Therefore the only connector and po...

Page 18: ...e Ethernet connection as marked on the chassis 1 Power Connector SideView USB SideView The USB cable from the digital I O can be connected to any of the USB ports on the gateway USB 2 0 Ports 7 6 5 4...

Page 19: ...t is the only Ethernet port that can be used on gateway Table 6 2198T G02 xxx E Gateway Power Connector Pinout Pin Signal Description 1 V 19 26V DC 2 V 0V DC 3 Field Ground Chassis Ground Pin Signal D...

Page 20: ...ery as a replacement Battery Location 2198T G02 xxx EGatewayCFastCard The 2198T G02 xxx E gateway includes a 4 Gb CFast card to store the operating system and Logix Designer application interface soft...

Page 21: ...and status Table 8 Status Indicator Description Status Indicator Status Description Ethernet status Solid green Ethernet connection is linked Ethernet active Blinking yellow Transmitting and receivin...

Page 22: ...stem Therefore the only connector and ports that you can use on the gateway computer are the power input one of the USB ports and the Ethernet port LAN1 Do not use any other input or output on the gat...

Page 23: ...n be used on gateway Pin Signal Description 1 V 0V DC 2 V 9 36V DC 3 V 9 36V DC 4 V 0V DC Screw Field Ground Chassis Ground Pin Signal Description 1 VBUS Power 2 D USB 2 0 differential pair 3 D 4 GND...

Page 24: ...lace only with a BR2032 battery do not use CR2032 battery as a replacement Battery Location 2198T G03 xxx ECFastCard The 2198T G03 xxx E gateway includes a 4 Gb CFast card to store the operating syste...

Page 25: ...ery and Ethernet active and status Status Indicator Description Status Indicator Status Description Ethernet status Solid green Ethernet connection is linked Ethernet active Blinking yellow Transmitti...

Page 26: ...ply Figure 13 2198T GUSB Digital USB I O Module The status indicator indicates power and data transmissions When the status indicator is in an illuminated steady green state the module is successfully...

Page 27: ...s without a cabinet Mover Quantity Number of movers Mover Magnet Stack Length 05 5 cm 10 10 cm 15 15 cm Mechanical Solution Style A Vee wheel bearings C TriMax bearings Short Dimension width Curve cen...

Page 28: ...e must be considered Unintended machine movements or other malfunctions are possible if safety devices are disabled bypassed or not activated General Assembly Instructions When integrating the iTRAK s...

Page 29: ...install ferromagnetic material near the movers Maintain a minimum distance is 50 mm 2 0 in for any installation ferromagnetic material Control systems must be designed and constructed in such a way a...

Page 30: ...rium of the vertical axes Avoid the operation of high frequency remote control and radio equipment near system electronics and their power supply leads If the use of these devices is necessary check t...

Page 31: ...etal implants and hearing aids MagneticFieldStrength The movers of the iTRAK system contain components with strong magnetic fields The motor modules also produce magnetic fields while movers are being...

Page 32: ...0 7 1 135 5 3 260 10 2 120 4 7 125 4 9 70 2 8 140 5 5 55 2 1 2198T VT0515 x 220 8 7 190 7 5 320 12 6 140 5 5 190 7 5 145 5 7 190 7 5 130 5 1 140 5 5 70 2 8 100 3 9 50 2 0 2198T VT1005 x 170 6 7 200 7...

Page 33: ...8 55 2 2 2198T VT0515 x 300 11 8 150 5 9 140 5 5 220 8 7 100 3 9 130 5 1 120 4 7 30 1 2 60 2 4 2198T VT1005 x 330 13 0 125 4 9 170 6 7 175 6 9 95 3 7 130 5 1 75 3 0 40 1 6 70 2 8 2198T VT1010 x 340 1...

Page 34: ...metal over the wood or cardboard Figure 16 Magnet Plate Keeper Magnet plates that are covered with a keeper are fairly safe to handle They must be kept at least 305 mm 12 in away from other magnet pl...

Page 35: ...rsons can work with components of the system or within their proximity Observe the relevant statutory regulations of accident prevention Use protective equipment such as hard hat safety goggles safety...

Page 36: ...re met In accordance with EMC requirements the machine or installation manufacturer is responsible for compliance with the limit values as prescribed in the national regulations Mount an Oval Track To...

Page 37: ...and transfer track section to its intended location Mount by using the M16 x 2 threaded holes and the slots in mounting plate Strap Position for Horizontal Installation Strap Position forVertical Ins...

Page 38: ...r example Misumi Adjuster Feet Resin Rubber Type Misumi part number AJPDR16 100E 6 If your system was shipped multiple segments do the following otherwise skip to next step a Apply Loctite 243 to all...

Page 39: ...shoulder screw holes in the section and the motor module to align e Attach the motor module from the intermediate section to the left most curved section track bottom and top plates by using the stai...

Page 40: ...aight Rails on page 91 Bearing rails are scribed with the location identifiers See mechanical installation diagram that is shipped with your system for placement 7 Repeat step 6 for each additional se...

Page 41: ...sembled with right angle fittings Additional straight hex nipple fittings are provided to let you redirect pump tubing If your system requires straight exit from the pump use the supplied straight fit...

Page 42: ...ing the pumps status indicators Observe the clearance requirements that are shown in Figure 18 2 Adjust the beam clamp to accommodate the attachment surface by using a 7 16 in open end wrench The beam...

Page 43: ...during normal operation 372 5 14 65 326 12 8 287 11 3 45 4 1 79 108 4 25 108 4 25 108 4 25 95 25 3 750 127 0 5 02 6 35 0 250 102 4 0 33 1 3 89 3 50 63 5 2 50 62 2 5 5 0 m 16 4 22 0 mm 0 87 108 4 25 Mi...

Page 44: ...44 Rockwell Automation Publication 2198T UM002C EN P March 2019 Chapter 2 Track Installation Notes...

Page 45: ...of a Kinetix 5700 system TypicaliTRAKSystemwithan iTRAK Power Supply The iTRAK power supply interfaces to the gateway computer via a USB I O module The gateway sends enable and disable signals and cl...

Page 46: ...m Description Item Description 1 24V control power 14 Studio 5000 Programming Interface not supplied with system 2 Kinetix 5700 power supply 15 Gateway 3 Kinetix 5700 iTRAK power supply 16 Communicati...

Page 47: ...listed in Table 15 Table 15 Components of an iTRAK System Using an iTRAK Power Supply Item Description iTRAK track Frame bearings motor modules and movers iTRAK power supply bus conditioner and power...

Page 48: ...y is found in Kinetix 5700 iTRAK Power Supply and iTRAK Bus Conditioner Module publication 2198T IN001 Using Multiple iTRAK Power Supplies Follow these guidelines when using multiple iTRAK power suppl...

Page 49: ...re 21 Connecting Multiple iTRAK Power Supplies in a System One gateway can interface to multiple iTRAK power supplies through the Digital USB I O Module When you use this configuration connect the Ena...

Page 50: ...0 A IN00 B 1 2 3 4 ENABLE CLEAR FAULT 24V COM 1 24V COM 1 SHIELD IPS READY IPS READY IN IN1 COM IN2 COM SHLD 2198T GUSB Digital USB I O Module 2198T W25K ER Kinetix 5700 iTRAK Power Supply 2 Digital I...

Page 51: ...igital USB I O Module Connector Wiring Figure 24 Connect the USB Cable OUT 00 C IN00 OUT 00 NO OUT 01 C OUT 01 NO A B 2198T GUSB Digital USBI OModulewith cover removed top view Digital Inputs Digital...

Page 52: ...B LAN and 24V Power Plug Wiring USB 2 0 2198T G02 016 E Gateway is shown 24V Power Plug Machine Ethernet Connection Machine Ethernet connection as marked on the chassis 1 USB cable connection to Digit...

Page 53: ...machine Ethernet connection use LAN1 only 1 USB cable connection to Digital USB I O Module The USB cable can be connected to any ofthe USB Ports onthegateway 1 Make only this connection Do not use any...

Page 54: ...step 4 2 Attach the 2198T CC xx communication cables Start by connecting motor module 0 to communication port 0 3 Continue to make connections for each motor module by matching the motor module number...

Page 55: ...C xx communication cables Start by connecting motor module 0 to communication port 0 3 Continue to make connections for each motor module by matching the motor module number as numbered in Numbering t...

Page 56: ...r disabling the iTRAK power supply via the gateway Name the DC bus power supply axis DFE If you use a name other then DFE update the DFE tags to match the name that is given to the DC bus power supply...

Page 57: ...ed for you see Knowledgebase Article 1040301 How to size an iTRAK in IAB for more information Identify Firmware Revision Each firmware revision is designed to operate with a paired version of the iTRA...

Page 58: ...ete these steps 1 Energize your ControlLogix or CompactLogix processor 2 Download the ACD file to the controller 3 Start the initialization sequence of the Kinetix 5700 system motor modules and the ga...

Page 59: ...There are two controller tags that indicate the status of the gateway and iTRAK power supply The iTRAK_Control Status GatewayRunning indicates that the iTRAK system initialization is finished and the...

Page 60: ...60 Rockwell Automation Publication 2198T UM002C EN P March 2019 Chapter 4 Power onYour System Notes...

Page 61: ...Maintenance Cleaning To prolong the life of your iTRAK system do the following cleaning procedures The frequency in which to perform them is depended on the machine usage the environment in which it i...

Page 62: ...f duct tape or clay Add or Replace Components The following procedures show you how to install or replace system components Install or Remove a Position Magnet Assembly To install or remove a position...

Page 63: ...socket head cap screws by using 2 5 mm hex driver torque to 0 85 N m 7 5 lb in 3 Check that the polarity of position magnets alternate between north and south on adjacent movers You can check the pola...

Page 64: ...Safety Information on page 28 ATTENTION If you are using your own design for a mover make sure of the following The mounting hardware is not too long that it protrudes past or pops through the magnet...

Page 65: ...nstall or Replace a Mover on page 66 2 Clean all screws and apply Loctite 243 3 Install magnet plate assembly and torque M6 socket head cap screws to 9 N m 6 6 ft lb and M6 flat head cap screws to 7 N...

Page 66: ...e curved section Move all other movers off the curved end of the track WhatYouNeed Left and right straight to curved clamps from 2198T A04 iTRAK alignment tool kit 4 mm hex driver Loctite 243 2198T A0...

Page 67: ...and remove the rail Be sure to save the two spacers with the screws 3 Attach mover installation fixtures to the end of straight bearing rails by using two socket head cap screws from the curved bearin...

Page 68: ...mover 5 Remove the mover installation fixtures 6 Clean all bearing rail screws and apply fresh Loctite 243 7 Install the spacers and the top and bottom curved bearing rails Torque the middle screws t...

Page 69: ...t and right straight to curved rail clamp as shown 9 Torque the two screws under the clamp to 9 N m 6 6 lb ft by using 4 mm hex driver 10 Repeat steps 8 and 9 to the bottom rail 11 Install the positio...

Page 70: ...xxxx A00N 2E1E NS straight motor module To remove the straight motor module complete these steps 1 Remove the M8 x 25 socket head cap screws and shoulder screws shoulder 20 x10 thread M8 x 25 that sec...

Page 71: ...bus cables 5 Remove the motor module 6 Clean all screws and apply Loctite 243 7 Install new module by reversing step 5 step 1 8 Torque shoulder screws to 13 N m 9 6 lb ft and torque socket head cap s...

Page 72: ...area where the curved module is to be replaced and the adjacent motor module If you have to remove the movers follow steps in Install or Replace a Mover on page 66 2 From the bottom of the track remo...

Page 73: ...thread M8 x 25 from the curved top plate adjacent straight motor module and two from the next adjacent motor module 5 Remove the M5 x 20 socket head cap screws that secure the top and traverse rails t...

Page 74: ...plate and rail assembly off the track and remove the curved shims 8 Slide the adjacent straight motor module halfway off the base plate and disconnect the communication and power bus connectors Curved...

Page 75: ...motor module towards the end of the track about 25 4 mm 1 in and lift straight up and out ATTENTION The motor modules can weigh up to approximately 29 kg 64 lb Be sure to use a two man lift when movin...

Page 76: ...replacement curved motor module into its final position To place the curved motor module position the module about 25 mm 1 in past the edge of the bottom plate then slide back into position 4 Slide s...

Page 77: ...dules to the base plate Torque shoulder screws to 13 N m 9 6 lb ft and torque M8 socket head cap screws to 22 N m 16 2 lb ft 6 Connect the curved motor communication and power bus connectors 7 Slide i...

Page 78: ...The loosely placed screws assist with the alignment of the shims 9 Slide the shims into place until they are flush with the motor modules 10 Torque shoulder screws to 13 N m 9 6 lb ft and M8 socket he...

Page 79: ...4 Apply a straight to straight rail clamp to the left and right transverse straight to curved rail transitions 15 Install three M5 x 20 socket head cap screw at each transition and torque to 9 N m 6 6...

Page 80: ...198T A05 iTRAK TriMax wheel preload tool 2198T AV WHL Cx iTRAK TriMax wheel spare kit 2198T AV FLX Cx iTRAK TriMax flexure spare kit Small rod 9 mm 0 35 in in diameter Flat metal plate approximately 5...

Page 81: ...rom the top plate 5 Clamp the top plate to a sturdy surface 6 To remove the fixed cam follower nuts use 14 mm socket wrench To help prevent the cam follower shafts from turning use a 5 mm hex driver o...

Page 82: ...ll rod with a minimum of 9 mm 0 35 in in diameter 9 To remove the flexure cam follower nuts use 14 mm socket wrench To help prevent the cam follower shafts from turning use a 5 mm hex driver on the op...

Page 83: ...e shims from the flexure use a hard rubber mallet to tap out the cam follower 12 Position new cam follower stud into bore and engage with the fixed cam follower bore chamfer Make sure that stud is not...

Page 84: ...ess head of cam follower stud until the stud side end cap is seated on the mover plate 14 Position flexure on arbor press support plate and align to an 11 13 5 mm 0 43 0 53 in opening Cam Follower Top...

Page 85: ...the fixed cam followers by using a 14 mm socket head driver Help prevent the cam follower from turning by using a 5 mm hex driver 17 Apply fresh Loctite 243 to the flexure cam follower threads 18 Att...

Page 86: ...There is no need to separate the middle plate from the bottom plate to follow this procedure for these cams 23 Clean the M6 x 30 socket head cap screws and apply fresh Loctite243 24 Align the datum m...

Page 87: ...the track InstallTop and Bottom Straight Rails Use this procedure to install top and bottom straight rails BeforeYouBegin The straightening bar can be used with the track motor modules in any of three...

Page 88: ...se the rail configuration that you would like to install from Figure 29 2 Apply Loctite 243 to the M5 x 0 8 x 20 mm LHCS rail screws as required 3 Place straight rail loosely into position 4 Lightly i...

Page 89: ...and right holes the three module configuration is shown here 6 Mount the straightening bar on the track by using two shoulder screws 7 To straighten and locate the rail evenly tighten all straighteni...

Page 90: ...ing bar 11 Clean and apply fresh Loctite 243 to the shoulder screw 12 Reinstall shoulder screw for the motor modules and torque to 13 N m 9 6 lb ft 13 Repeat steps 3 13 for additional straight rails 1...

Page 91: ...late by using three transverse rail to track alignment clamps as shown 2 Check that the rail end faces are flush with adjacent rails 3 Apply Loctite 243 to the M5 x 0 8 x 20 mm LHCS rail screws as req...

Page 92: ...e or install top and bottom straight bearing rail with lubrication port BeforeYouBegin WhatYouNeed M5 x 0 8 x 20 mm low head socket cap screws as required A straight bearing rail with lubrication port...

Page 93: ...n rail complete these steps 1 Install baffle into rail tapped hole orient baffle with the flat side such that it faces the outside of the rail as shown 2 Install the push fitting into the lubrication...

Page 94: ...t to straight rail alignment clamps from the 2198T A04 iTRAK TriMax rail aligning tool kit To install a transverse rail complete these steps 1 Loosen the two straight rail end screws that are next to...

Page 95: ...b ft 8 Release push force and clamp tools Install aTop or Bottom Radial Curved Rail Use this procedure to install a top or bottom radial curved rail BeforeYouBegin Install top or bottom straight rails...

Page 96: ...ly Loctite 243 to the M5 x 20 mm LHCS rail screws as required 6 Install the M5 x 20 mm low head socket cap screws and torque to 9 N m 6 6 lb ft Start at the apex and work toward the rail ends and alte...

Page 97: ...LAN1 on a 2198TG03 xxx E gateway computer 3 Run iTFlash exe on the computer 4 From the dialog box change the base IP address if needed and click Update Gateway and Section Firmware with iTFlash The so...

Page 98: ...K System Programming Manual publication 2198T PM001 for detail on Logix Designer application project file changes associated with firmware revisions TIP If the dialog box has not appeared within 5 min...

Page 99: ...rt at ICTSupport ra rockwell com Downgrade Firmware If the currently installed firmware revision is revision 1 101 contact Rockwell Automation Technical support at ICTSupport ra rockwell com All other...

Page 100: ...onmental factors Use 68 viscosity mineral oil such as Kluber 4 UH1 68N to lubricate the bearing rails To provide continuous lubrication we recommend that you use the iTRAK Lubrication System catalog n...

Page 101: ...be adjusted for each application to strike a balance between a thin film of oil on the rail contact surfaces and over lubrication that causes excess oil splatter TriMax bearing system has three rails...

Page 102: ...102 Rockwell Automation Publication 2198T UM002C EN P March 2019 Chapter 5 Maintenance Notes...

Page 103: ...escription iTRAK_Control Status GatewayFaultCode This tag contains the error codes from the gateway InTable 23 it is referred to as the Gateway Code iTRAK_Control Status SectionFaultCode This tag cont...

Page 104: ...nd power cables Reset power supply There can be anissue with the power supply that is being reported by a motor module The iTRAK_Control Status SectionNumberFaulted tag contains the motor module that...

Page 105: ...ps 1 Correct the value in the iTRAK_Control Data ActiveMovers tag 2 Renumber the movers by latching iTRAK_Control Cmd RenumberMovers 3 Reset the fault by latching iTRAK_Control Cmd FaultReset If the i...

Page 106: ...mmunication failure between the gateway and a motor module The iTRAK_Control Status SectionNumberFaulted tag contains the motor module that is reportingthis fault The iTRAK_Control Status SectionDevic...

Page 107: ...module that is reportingthis fault The iTRAK_Control Status SectionFaultData tag is the number of the sensor whose analog to digital converter is out of range Replace the failed motor module 17 ERR_C...

Page 108: ...supply 22 ERR_PWRSTAGE_TEMP Power stage is overtemperature Check mover bearings venting reduce demands IF problem persists call FOR service Power stage is overtemperature The iTRAK_Control Status Sect...

Page 109: ...Otherwise iTRAK_Control Status SectionNumberFaultedtagcontains the motor module that has reported this fault 20 30 The iTRAK power supply has a fault Check the iTRAK power supply screen and gateway te...

Page 110: ...number thatis notin the range of 0 15 Per mover gains may be specified only for the first 16 movers on an iTRAK system 26 0 Mover size mismatch size of movers are not consistent on the track Check se...

Page 111: ...on of the machine to the desired EN ISO 13849 performance level or IEC 62061 SIL level Project management and proof tests in accordance with EN ISO 13849 or IEC 62061 Category 3 Requirements according...

Page 112: ...n before the safeguarding system has brought that hazardous motion to a halt These issues are addressed in safety standards relevant to this application that are listed here IS0 14119 Safety of machin...

Page 113: ...topping performance is equal to or greater than the access time an interlock with guard locking must be used the distance from the safeguard to the hazard must be increased or another more suitable me...

Page 114: ...UT 1 COM COM REST IN SAFE OUT 2 324 528V AC rms Three phase Input Bonded Cabinet Ground Bus Control Power CP Connectors Three phase Input IPD Connector 2198 DBxx F Three phase AC Line Filter Indicates...

Page 115: ...ging force in the motors and can require modifications to the tuning when replacing with Bulletin 2198T iTRAK motor modules If a Bulletin 2198T iTRAK motor module is replacing s a Bulletin IT3 iTRAK m...

Page 116: ...use firmware revision 1 110 or later and the associated ladder logic that is referenced in Knowledgebase Article 778917 If you are using a Kinetix 5700 iTRAK Power Supply at lower firmware revisions c...

Page 117: ...n Pinch Point Keep clear during operat ion Haz ard ous volt age insi de Disc onn ect pow er befo re ope ning WA RN ING CA UT IO N He avy Ob jec t Two per son lift req uire d CAUTION Hot Surface Do not...

Page 118: ...d ferrous metal mounting surfaces or structures Maintenance personnel must avoid the use of metallic tools and secure items such as badge clips other personnel effect that could be attracted to the st...

Page 119: ...troller 116 gateway 116 motor module 115 mover 116 component description curved motor module 12 46 gateway 46 mover 14 46 straight motor module 12 46 connector locations digital USB I O 51 gateway 52...

Page 120: ...stall curved 72 straight 70 numbering 53 mount track 35 mounting holes 37 mover compatibility 116 description 14 installation 66 magnetic field strength 31 replace 66 N number motor modules 53 P posit...

Page 121: ...Rockwell Automation Publication 2198T UM002C EN P March 2019 121 Index Notes...

Page 122: ...122 Rockwell Automation Publication 2198T UM002C EN P March 2019 Index...

Page 123: ......

Page 124: ...e your call directly to a technical support engineer http www rockwellautomation com global support direct dial page Literature Library Installation Instructions Manuals Brochures and Technical Data h...

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