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Kinetix 300
Allen-Bradley Kinetix 300 User Manual
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Kinetix 300 EtherNet/IP Indexing Servo Drives
Catalog Numbers 2097-V31PR0, 2097-V
31PR2, 2097-V32PR0, 2097-V32PR2, 2097-V32PR4, 2097-V33PR1, 2097-V33PR3,
2097-V33PR5, 2097-V33PR6, 2097-V34PR3, 2097-V34PR5, 2097-V34PR6
User Manual
2
Table of Contents
Default Chapter
5
Table of Contents
5
About this Publication
11
Preface
11
Who Should Use this Manual
11
Additional Resources
12
Chapter 1
14
About the Kinetix 300 Drive System
14
Catalog Number Explanation
16
Agency Compliance
17
CE Requirements
17
System Design Guidelines
20
Chapter 2
20
System Mounting Requirements
20
Transformer Selection
21
Circuit Breaker/Fuse Selection
21
Circuit Breaker/Fuse Specifications
22
Enclosure Selection
23
Power Dissipation Specifications
24
Minimum Clearance Requirements
25
Electrical 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 Accessories
31
Mount Your Kinetix 300 Drive
34
Kinetix 300 Drive Connectors and Indicators
36
Chapter 3
37
Safe Torque-Off Connector Pinout
37
I/O Connector Pinout
38
Motor Feedback (MF) Connector Pinout
39
Ethernet Communication Connector Pinout
39
AC Input Power Connector Pinout
40
Back-Up Power Connector Pinout
40
Shunt Resistor and DC Bus Connector Pinout
40
Motor Power Connector Pinout
40
Control Signal Specifications
41
Digital Inputs
41
Digital Outputs
45
Analog Reference Input
46
Analog Output
47
Master Gearing/Step and Direction Inputs
48
Buffered Encoder Outputs
49
Ethernet Connections
50
24V DC Back-Up Power
50
Motor Feedback Specifications
51
Motor Feedback Specifications
52
Feedback Power Supply
56
Chapter 4 Basic Wiring Requirements
57
Build Your Own Cables
58
Route Power and Signal Wiring
58
Determine the Input Power Configuration
58
Three-Phase Power Wired to Three-Phase Drives
59
Single-Phase Power Wired to Single-Phase Drives
60
Voltage Doubler Operation
60
Isolation Transformer in Grounded Power Configurations
61
Three-Phase Power Wired to Single-Phase Drives
61
Voiding of CE Compliance
63
Grounding 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
69
Wire the Safe Torque-Off (STO) Connector
69
Wire the Back-Up Power (BP) Connector
69
Wire the Input Power (IPD) Connector
70
Wire the Motor Power (MP) Connector
71
Apply the Motor Cable Shield Clamp
76
Feedback and I/O Cable Connections
77
Flying-Lead Feedback Cable Pin-Outs
78
Wiring the Feedback and I/O Connectors
79
Wire the I/O Connector
79
Kinetix 300 Drive (IOD Connector and Terminal Block)
79
Wire the Low-Profile Connector Kit
80
Shunt Resistor Connections
81
Ethernet Cable Connections
82
Connecting the Kinetix 300 Drive System
57
Motionview Software Configuration
83
Chapter 5
84
Drive Organizer and Identification
84
Motor Category
84
Synchronous Motor Database
85
Linear Motor Database
86
General Category
87
Communication Categories
91
Ethernet Communication
91
Ethernet (CIP) Communication
92
Input/Output Categories
93
Digital I/O
93
Rockwell Automation Publication 2097-UM001D-EN-P - November
93
Analog I/O
94
Limits Categories
95
Velocity Limits
95
Position Limits
96
Dynamics Category
97
Tools Category
98
Monitor Category
99
Faults Category
100
Indexing Category
101
Index Type Parameter
103
Action Parameter
108
Start Index
109
Abort Indexing
109
Reset Index
109
Explicit Messages for Indexing
110
Homing Category
113
Homing Methods
113
Immediate Homing
115
Absolute Homing
115
Home to Marker
116
Home Offset
116
Homing Switch
116
Homing Firmware Algorithm
117
Homing Methods Timing Diagrams
118
Homing Methods 7
118
Homing Method 23
119
Homing Method 25
120
Homing Method 27
120
Homing Method 33
122
Homing Method 34
123
Homing Method 35
123
Upgrade Firmware
124
Keypad Input
126
Chapter 6 Status Indicators
127
Configure the Kinetix 300 Drive Ethernet IP Address
128
Ethernet Connection
128
Kinetix 300 Drive Ethernet Port Configuration
128
Current IP Address Ethernet Setting
129
Configure the IP Address Manually (Static Address)
129
Configure the IP Address Automatically (Dynamic Address)
131
Add-On Profiles
132
Configuring the Logix Ethernet/Ip Module
132
Configure the Logix Controller
132
Configure the Ethernet Port
134
Configure the Ethernet Module
135
Configure the Kinetix 300 Drive
136
Download the Program
137
Apply Power to the Kinetix 300 Drive
138
Test and Tune the Axis
139
Test the Axis
139
Tune the Axis
140
Select Drive Operating Mode
142
Master Gearing Mode Examples
143
Master Gearing Example 1
143
Master Gearing Example 2
143
Master Gearing Example 3
143
Configure Master Gearing Mode
143
Configure the Drive Parameters and System Variables
145
Tools for Viewing Parameters
145
Tools for Changing Parameters
147
Configure Drive Mode with Explicit Messaging
148
Configure Drive for 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
Safety Precautions
153
Chapter 7 General Troubleshooting
154
Display Behavior
154
Error Codes
154
Drive System General Troubleshooting
154
Clearing Faults
157
Use Digital Inputs to Clear Faults
157
Use Drive Parameters to Clear Faults
157
Certification
159
Chapter 8
160
Important Safety Considerations
160
Safety Category 3 Requirements
160
Stop Category Definition
160
Performance Level and Safety Integrity Level (SIL) CL3
160
Description of Operation
161
Functional Proof Tests
161
Troubleshooting the Safe Torque-Off Function
162
PFD and PFH Definitions
162
PFD and PFH Data
162
Safe Torque-Off Connector Data
163
STO Connector Pinouts
163
Wiring Your Safe Torque-Off Circuit
164
European Union Directives
164
Safe Torque-Off Wiring Requirements
165
Rockwell Automation Publication 2097-UM001D-EN-P - November
165
Kinetix 300 Drive Safe Torque-Off Feature
166
Safe Torque-Off Feature Bypass
166
Kinetix 300 Drive Safe Torque-Off Wiring Diagrams
167
Safe Torque-Off Signal Specifications
168
Safety Input and Output Schematics
169
Interconnect Diagram Notes
172
Appendix A Interconnect Diagrams Interconnect Diagram Notes
172
Power Wiring Examples
173
Shunt Resistor Wiring Example
175
Kinetix 300 Drive/Rotary Motor Wiring Examples
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 Gearing Wiring Example
184
Motor Brake Currents
185
System Block Diagrams
186
Input and Output Assembly
189
Appendix B Output Assembly Examples
195
Incremental Position Point-To-Point Profile
196
Velocity Motion Profile
196
Tag Number Descriptions
197
Appendix C Index Base Addressing
210
Explicit Messaging Data Types
211
Explicit Messaging Data Type Examples
212
DINT Data Type Examples
212
Appendix D Micrologix Explicit Messaging Explicit Messaging Data Types
212
REAL Data Type Examples
213
String Data Type Examples
214
Appendix E
217
Modes of Operation
217
Overtravel Hardware Inputs
218
Operation
219
Overtravel Fault Recovery
220
Appendix F
221
History of Changes
221
Index
223
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Allen-Bradley Kinetix 300 Specifications
General
Brand
Allen-Bradley
Model
Kinetix 300
Category
Servo Drives
Language
English
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