User Manual Kinetix 3 Component Servo Drives Catalog Numbers 2071-AP0, 2071-AP1, 2071-AP2, 2071-AP4, 2071-AP8, 2071-A10, 2071-A15
Important User Information Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.
Summary of Changes This manual contains new and updated information. Changes throughout this revision are marked by change bars, as shown to the right of this paragraph. New and Updated Information This table contains the changes made to this revision.
Summary of Changes Notes: 4 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
Table of Contents Preface 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 . . .
Table of Contents Chapter 4 Connect the Kinetix 3 Drive Understanding Basic Wiring Requirements. . . . . . . . . . . . . . . . . . . . . . . . . Building Your Own Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Routing Power and Signal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Determining Your Type of Input Power . . . . . . . . . . . . . . . . . . . . . . . . Three-phase Power Wired to Three-phase Drives . . . . . . . . . . . . . . .
Table of Contents Program the Controller for Modbus Communication with a Kinetix 3 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 Kinetix 3 Configuration Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 Alternate Method to Reset the Drive . . . . . . . . . . . . . . . . . . . . . . . . . 100 Chapter 8 Using Ultraware Software to Configure the Drive Download Ultraware Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents Notes: 8 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
Preface About This Publication This manual provides detailed installation instructions for mounting, wiring, and troubleshooting your Kinetix 3 drive, and system integration for your drive/ motor combination with a MicroLogix controller. Who Should Use This Manual This manual is intended for engineers or technicians directly involved in the installation and wiring of the Kinetix 3 drive and programmers directly involved in operation, field maintenance, and integration of the Kinetix 3 drive.
Preface These documents contain additional information concerning related products from Rockwell Automation. Additional Resources Resource Description Kinetix 3 Component Servo Drive Installation Instructions, publication 2071-IN001 Information on installing your Kinetix 3 drive system. Kinetix 3 I/O Breakout Board Installation Instructions, publication 2071-IN002 Information on installing and wiring the Kinetix 3 I/O breakout board.
Chapter 1 Start Topic Page About the Kinetix 3 Drive System 12 Catalog Number Explanation 14 Agency Compliance 14 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013 11
Chapter 1 Start The Kinetix 3 component servo drive is designed to provide a solution for applications with output power requirements between 0.6...9.9A rms (50…1500 W). About the Kinetix 3 Drive System Table 1 - Kinetix 3 Drive System Overview Kinetix 3 System Component Cat. No. Description Kinetix 3 component servo drive 2071-Axxx Kinetix 3 component servo drives are available with 230V AC input power.
Start Chapter 1 Figure 1 - Micro800 Configuration - Kinetix 3 Servo Drive System Connected Components Workbench software on personal computer with a USB port.
Chapter 1 Start Figure 3 - Typical Configuration - Kinetix 3 Servo Drive System (alternate configurations) 2071-Axxxx Kinetix 3 Servo Drive 2080-LC30-xxxxx Micro830 Controller 1 2 3 4 B A 2090-DANFCT-Sxx Motor Feedback Cable 2090-CCMCNDS-48AAx (modified) 2071-Axxxx Kinetix 3 Servo Drives 2071-Axxxx Kinetix 3 Servo Drive 2090-DANPT-16Sxx Motor Power Cable 2090-CCMDSDS-48AAxx Drive-to-Drive Cable TL-Series Rotary Motors (TL-Axxxx motor shown) Catalog Number Explanation Kinetix 3 drive catalog
Start Chapter 1 For information on electrical noise reduction, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001. To meet CE requirements, these requirements apply: • Install an AC line filter (catalog number 2090-XXLF-TCxxx) as close to the drive as possible. • Use 2090 series motor power cables and terminate the cable shields to the drive or subpanel. • Use 2090 series motor feedback cables and properly terminate the feedback cable shield.
Chapter 1 Start Notes: 16 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
Chapter 2 Install the Kinetix 3 Drive System Topic Page System Design Guidelines 17 Electrical Noise Reduction 23 Mount Your Kinetix 3 Drive 28 ATTENTION: Plan the installation of your system so that you can perform all cutting, drilling, tapping, and welding with the system removed from the enclosure. Because the system is of the open type construction, be careful to keep any metal debris from falling into it.
Chapter 2 Install the Kinetix 3 Drive System • Segregate input power wiring and motor power cables from control wiring and motor feedback cables. Use shielded cable for power wiring and provide a grounded 360° clamp termination. • Use high-frequency (HF) bonding techniques to connect the enclosure, machine frame, and motor housing, and to provide a low-impedance return path for high-frequency (HF) energy and reduce electrical noise.
Install the Kinetix 3 Drive System Chapter 2 Fuse/Contactor Specifications Make sure the selected components are properly coordinated and meet acceptable codes including any requirements for branch circuit protection. The following fuse examples are recommended for use with Kinetix 3 drives. Table 3 - Fuse and Contactor Specifications Drive Cat. No.
Chapter 2 Install the Kinetix 3 Drive System Sizing the Enclosure This example is provided to assist you in sizing an enclosure for your Bulletin 2071 drive system. You need heat dissipation data from all components planned for your enclosure to calculate the enclosure size. See Power Dissipation Specifications on page 21 for the Kinetix 3 drive power dissipation. With no active method of heat dissipation (such as fans or air conditioning) either of these approximate equations can be used.
Install the Kinetix 3 Drive System Chapter 2 Power Dissipation Specifications Use this table to size an enclosure and calculate required ventilation for your Kinetix 3 drive system Usage as% of Rated Power Output (watts) Drive Cat. No. 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.
Chapter 2 Install the Kinetix 3 Drive System Minimum Clearance Requirements This section provides information to assist you in sizing your cabinet and positioning your Kinetix 3 drive system components. IMPORTANT Mount the module in an upright position as shown. Do not mount the module on its side. Figure 4 illustrates minimum clearance requirements for proper airflow and installation: • Additional clearance is required depending on the accessory items installed.
Install the Kinetix 3 Drive System Electrical Noise Reduction Chapter 2 This section outlines best practices that minimize the possibility of noise-related failures as they apply specifically to Kinetix 3 system installations. For more information on the concept of high-frequency (HF) bonding, the ground plane principle, and electrical noise reduction, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001.
Chapter 2 Install the Kinetix 3 Drive System The illustrations that follow show details of recommended bonding practices for painted panels, enclosures, and mounting brackets.
Install the Kinetix 3 Drive System Chapter 2 Bonding Multiple Subpanels Bonding multiple subpanels creates a common low impedance exit path for the high frequency energy inside the cabinet. Subpanels that are not bonded together 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.) Ground bus bonded to the subpanel.
Chapter 2 Install the Kinetix 3 Drive System Establishing Noise Zones When the several components such as AC line filter, contactors, circuit breaker, and transformer are used in the Kinetix 3 system, observe these guidelines when laying out your panel: • The clean zone (C) is beneath the Kinetix 3 drives and includes the I/O wiring, feedback cable, serial communication cable, and DC filter (grey wire way).
Install the Kinetix 3 Drive System Chapter 2 Cable Categories for Kinetix 3 Drive Components This table shows the zoning requirements of cables connecting to the Kinetix 3 drive components. Table 4 - Kinetix 3 Drive Components Zone Wire/Cable Connector Very Dirty L1, L2, L3, L1C, L2C (unshielded cable) IPD X U, V, W (motor power) MP Motor feedback MF Analog outputs Others Analog output Serial Communication IOD Dirty Method Clean X Shielded Cable X X X X X X A.
Chapter 2 Install the Kinetix 3 Drive System Mount Your Kinetix 3 Drive The procedures in this section assume you have prepared your panel and understand how to bond your system. For installation instructions regarding other equipment and accessories, refer to the instructions that came with each of the accessories for their specific requirements. ATTENTION: This drive contains electrostatic discharge (ESD) sensitive parts and assemblies.
Chapter 3 Kinetix 3 Drive Connector Data Topic Page Kinetix 3 Drive Connectors and Indicators 30 Motor Feedback Specifications 36 Control Signal Specifications 40 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013 29
Chapter 3 Kinetix 3 Drive Connector Data Although the physical size of the higher current drives is larger, the location of the connectors and indicators is identical. Kinetix 3 Drive Connectors and Indicators Figure 8 - Kinetix 3 Drive Connector and Indicators 16 15 14 1 13 2 12 3 11 4 I/O 10 DC - 5 6 Motor Feedback 7 9 8 Item Description Item Description 1 Left/right and up/down keys 9 Motor feedback (MF) connector 2 Analog output (A.
Kinetix 3 Drive Connector Data Chapter 3 Table 5 - Kinetix 3 Drive Connectors Designator Description Connector A.
Chapter 3 Kinetix 3 Drive Connector Data I/O (IOD) Connector Pinout(1) IOD Pin Description Signal IOD Pin Description Signal 1 Digital input common 24V COM 26 Digital input 8 INPUT8 2 Digital input common 24V COM 27 Digital input 9 INPUT9 3 Digital input 1 (/SV-ON) INPUT1 28 Digital input 10 INPUT10 4 Digital input 2 (P-OT) INPUT2 29 Buffered encoder channel A+ AM+ 5 Digital input 3 (N-OT) INPUT3 30 Buffered encoder channel A- AM- 6 Digital input 4 (/P-CON) INPUT4 31
Kinetix 3 Drive Connector Data Chapter 3 I/O Interface Diagram I/O 24V [or COM] INPUT OUTPUT 1 COM [or 24V] 2 37 FAULT 1 / OUTPUT 4 24V Active Low/High Programmable Digital Inputs INPUT1 (/SV-ON) 3 38 INPUT2 (P-OT) 4 39 INPUT3 (N-OT) 5 40 INPUT4 (/P-CON) 6 29 AM + 30 AM - INPUT5 (/A-RST) 7 INPUT6 (/N-TL) 8 INPUT7 (/P-TL) 9 INPUT8 26 INPUT9 27 INPUT10 28 E-STOP 10 24V_PULS+ 49 PULS + PULS Position Command High Frequency Position Command 24V_SIGN+ _ 25 SIGN - 14 H
Chapter 3 Kinetix 3 Drive Connector Data Motor Feedback (MF) Connector Pinout MF Pin Description Signal MF Pin Description Signal 1 Encoder power ground ECOM 11 Reserved — 2 Thermal sensor input(1) TS 12 Reserved — 3 A positive differential input A+ 13 Serial negative SD- 4 A negative differential input 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
Kinetix 3 Drive Connector Data Chapter 3 Input Power Connector Pinout Table 8 - Input Power (IPD) 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- Shunt Resistor Connector Pinout Table 9 - Shunt Resistor (BC) Connector BC Pin Description Signal B1 Shunt resistor + DC bus positive (not supported) B1 B2 Shunt resistor - B2 Motor Power Co
Chapter 3 Kinetix 3 Drive Connector Data Motor Feedback Specifications The Kinetix 3 drive accepts motor feedback signals from these types of encoders with these general 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 supply voltage (EPWR5V) 5.08…5.
Kinetix 3 Drive Connector Data Chapter 3 Motor Feedback Specifications The Kinetix 3 drives support multiple types of feedback devices by using the 20-pin (MF) motor feedback connector and sharing connector pins in many cases.
Chapter 3 Kinetix 3 Drive Connector Data State Resistance at TS No Fault 1.6 kΩ Fault 3.2 kΩ Table 14 - Generic TTL Incremental Specifications Attribute Value TTL incremental encoder support 5V, differential A quad B Quadrature interpolation 4 counts/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) 3.5 MHz, max Edge separation (1) (AM and BM) 50 ns min.
Kinetix 3 Drive Connector Data Chapter 3 Table 15 - 17-Bit Serial Specifications 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 Feedback Power Supply The Kinetix 3 drive generates +5V DC for motor feedback power. Short circuit protection and separate common mode filtering for each channel are included.
Chapter 3 Kinetix 3 Drive Connector Data Control Signal Specifications This section provides a description of the Kinetix 3 drive I/O (IOD) connector, analog output (A.out) connector, and serial interface (Comm0A and Comm0B) ports. Digital Inputs The Kinetix 3 drive contains 10 assignable digital inputs, INPUT1…INPUT10, sharing a common power supply, 24V COM. These functions can be associated with an assignable digital input.
Kinetix 3 Drive Connector Data Chapter 3 Table 17 - Digital Inputs (continued) Input Input States Analog Speed Command Enable When this input is ON, the drive uses the analog velocity input instead of the preset. 2nd Electronic Gear Bank Selection When the input is ON, the drive uses the second gear ratio, defined by [Pr3.05 - 2nd Gear Ratio, Follower Counts] and by [Pr3.06 - 2nd Gear Ratio, Master Counts].
Chapter 3 Kinetix 3 Drive Connector Data Figure 18 - Digital Inputs (NPN sinking configuration) COM Kinetix 3 Drive +5V 3.3 KΩ 4.7 KΩ + 24V Supply 0.01 μF 3300 Ω Opto-coupler INPUTS Logic GND Table 18 - Digital Input Specifications 42 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.
Kinetix 3 Drive Connector Data Chapter 3 High Frequency Pulse Command Table 19 - High Frequency Pulse Command Specifications Parameter Description Min Max On-state input voltage Input voltage difference between the + input and the 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.
Chapter 3 Kinetix 3 Drive Connector Data Digital Outputs There are three digital outputs, OUTPUT1…OUTPUT3 available on the IOD connector. Outputs are optically isolated open collector/emitter and are fully isolated from the drive circuits. Each output, OUTPUT1…OUTPUT3, can be assigned to one of these functions. Output Function States Fault This output is not configurable. It is ON when the drive is healthy, and OFF when the drive has a fault condition.
Kinetix 3 Drive Connector Data Chapter 3 When the alarm signal is active there is a fault. If the three alarm outputs are decoded they indicate the eight different fault types that are active. Table 20 - Fault Codes Fault Group 0 1 2 Fault Code Output State Possible Faults FAULT3 FAULT2 FAULT1 ON ON ON No Faults OFF E.005 IPM Fault E.054 Current Feedback Offset Fault E.057 PWM Hardware Fault E.079 Shunt Circuit Over Current Fault E.114 Motor Phase Over Current ON E.
Chapter 3 Kinetix 3 Drive Connector Data Table 21 - Digital Output Signal Specifications 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.
Kinetix 3 Drive Connector Data Chapter 3 Analog Inputs The Kinetix 3 drive has two single-ended analog inputs. One is dedicated as the command input for Analog Velocity mode, and the second is dedicated as the command input for Analog Current mode. Figure 21 shows the configuration of the analog input. Figure 21 - Analog Input Configuration VCC GND 10 nF +12V V_REF -12V VCMD 2.5V REF GND VCC GND GND GND +12V T_REF -12V ICMD 2.
Chapter 3 Kinetix 3 Drive Connector Data Analog Outputs The Kinetix 3 drive contains two analog outputs (A.out) that can be configured through Ultraware software to represent internal drive variables.
Kinetix 3 Drive Connector Data Chapter 3 Figure 22 - Analog Output Configuration VCC MP LM224 A_MON LM224 GND GND IMPORTANT Output values can vary during powerup until the specified power supply voltage is reached. This table provides a description of the analog output specifications. Parameter Description 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.
Chapter 3 Kinetix 3 Drive Connector Data Serial Interface Connection The IEEE-1394 connectors (Comm0A and Comm0B) are provided on the Kinetix 3 drive. This table provides the drive’s default serial port configuration. This configuration is used for communication between a drive and personal computer with Connected Component Workbench software.
Kinetix 3 Drive Connector Data Chapter 3 This table provides the configuration is used for communication between a drive and programmable logic controller and drive-to-drive communication. You can change the serial communication protocol by using front panel input keys.
Chapter 3 Kinetix 3 Drive Connector Data Notes: 52 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
Chapter 4 Connect the Kinetix 3 Drive Understanding Basic Wiring Requirements Topic Page Understanding Basic Wiring Requirements 53 Grounding Your Kinetix 3 Drive 59 Power Wiring Requirements 61 Wiring Guidelines 62 Wiring the Kinetix 3 Drive Connectors 63 Apply the Motor Cable Shield Clamp 70 Feedback and I/O Cable Connections 71 Wiring the Feedback Connector 75 This section contains basic wiring information for the Kinetix 3 drive.
Chapter 4 Connect the Kinetix 3 Drive Building Your Own Cables IMPORTANT Factory-made cables are designed to minimize EMI and are recommended over hand-built cables to optimize system performance • Connect the cable shield to the connector shells on both ends of the cable with a complete 360° connection. • Use twisted pair cable whenever possible. Twist differential signals with each other and twist single-ended signals with the appropriate ground return.
Connect the Kinetix 3 Drive Chapter 4 Three-phase Power Wired to Three-phase Drives These examples illustrate grounded three-phase power wired to three-phase Kinetix 3 drives when phase-to-phase voltage is within drive specifications. The ungrounded power configuration does not include the ground connection labeled as ‘optional’ in these figures.
Chapter 4 Connect the Kinetix 3 Drive Figure 25 - Three-phase Power Configuration (Delta secondary) IPD Terminals Transformer (Delta) Secondary L1 L1 L2 L2 AC Line Filter L3 L1 IPD L1 L2 L2 L3 E L3 L1C L3 L2C Corner Grounded (optional) Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground Feeder and branch short circuit protection is not illustrated.
Connect the Kinetix 3 Drive Chapter 4 Single-phase Power Wired to Single-phase Drives These examples illustrate grounded single-phase power wired to single-phase Kinetix 3 drives when phase-to-phase voltage is within drive specifications. The ungrounded power configuration does not include the ground connection labeled as ‘optional’ in these figures.
Chapter 4 Connect the Kinetix 3 Drive Three-phase Power Wired to Single-phase Drives This example illustrates grounded three-phase power wired to single-phase Kinetix 3 drives when phase-to-phase voltage is within drive specifications. The optional grounded neutral is omitted on ungrounded systems.
Connect the Kinetix 3 Drive Grounding Your Kinetix 3 Drive Chapter 4 All equipment and components of a machine or process system must have a common earth ground point connected to their chassis. A grounded system provides a safety ground path for short circuit protection. IMPORTANT Grounding your drives and panels minimizes shock hazard to personnel and damage to equipment caused by short circuits, transient overvoltages, and accidental connection of energized conductors to the equipment chassis.
Chapter 4 Connect the Kinetix 3 Drive Figure 29 - Chassis Ground Configuration (multiple Kinetix 3 drives on one panel) Always follow NEC and applicable local codes. 1 1 1 1 3 2 4 Item Description 1 Chassis ground 2 Bonded ground bar (optional) 3 Bonded cabinet ground bus 4 Ground grid or power distribution ground Grounding Multiple Subpanels To ground multiple subpanels, refer to the figure below. HF bonding is not illustrated.
Connect the Kinetix 3 Drive Power Wiring Requirements Chapter 4 USe copper wire with 75 °C (167 °F) minimum rating. Phasing of main AC power is arbitrary and earth ground connection is required for safe and proper operation. Refer to Power Wiring Examples on page 123 for interconnect diagrams. Terminals Cat. No.
Chapter 4 Connect the Kinetix 3 Drive Wiring Guidelines Use these guidelines as a reference when wiring the connectors on your Kinetix 3 drive. IMPORTANT For connector locations of the Kinetix 3 drives, refer to Kinetix 3 Drive Connectors and Indicators on page 30. When removing insulation from wires, refer to the table on 61 for strip lengths. IMPORTANT To improve system performance, run wires and cables in the wireways as established in Establishing Noise Zones on page 26.
Connect the Kinetix 3 Drive Wiring the Kinetix 3 Drive Connectors Chapter 4 This section provides examples and wiring tables to assist you in making connections to the Kinetix 3 drive. Wire the Input Power (IPD) and Motor Power (MP) Connectors Figure 31 - Kinetix 3 Drive (IPD) and (MP) connector L1 L2 L3 L1C IPD Kinetix 3 Drive Top View L2C L1 L2 L3 L1C L2C DCDC- U V W MP U V W The IPD is used for input power to the drive and the control circuits.
Chapter 4 Connect the Kinetix 3 Drive Pigtail Terminations TL-Series motors have a short pigtail cable that connects to the motor, but is not shielded. The preferred method for grounding the TL-Series power cable on the motor side is to expose a section of the cable shield and clamp it directly to the machine frame. The motor power cable also has a 150 mm (6.0 in.) shield termination wire with a ring lug that connects to the closest earth ground. Use this method in addition to the cable clamp.
Connect the Kinetix 3 Drive Chapter 4 This diagram shows an example of three-phase power wires for TL-Series (Bulletin TL) motors that have no brakes. Thermal switch wires are included in the feedback cable. Refer to Kinetix 3 Drive/Rotary Motor Wiring Examples beginning on page 124 for interconnect diagrams.
Chapter 4 Connect the Kinetix 3 Drive This diagram shows an example of three-phase power wires for MP-Series (Bulletin MPAS), TL-Series (Bulletin TLY and TLAR), LDC-Series, and LDLSeries motors and actuators that have no brakes. Thermal switch wires are included in the feedback cable.
Connect the Kinetix 3 Drive Chapter 4 This diagram shows an example of wiring with three-phase power wires and brake wires by using motor power cable, catalog numbers 2090-XXNPMF-xxSxx, 2090-CPBM4DF-xxAFxx, or 2090-CPBM6DF-16AAxx cables. The brake wires have a shield braid (shown below as gray) that folds back under the cable clamp before the conductors are attached to the motor brake circuit. Thermal switch wires are included in the feedback cable.
Chapter 4 Connect the Kinetix 3 Drive The cable shield clamp shown above is mounted to the subpanel. Ground and secure the power cable in your system following instructions on page 70. Cable shield and lead preparation is provided with most Allen-Bradley® cable assemblies. Follow these guidelines if your motor power cable shield and wires require preparation. The recommended wire size 2.5 mm2 (14 AWG). Figure 36 - Cable Shield and Lead Preparation 7 mm (0.28 in.
Connect the Kinetix 3 Drive Chapter 4 Shunt Resistor The B1 and B2 terminals are used to connect the shunt resistor. On the 2071AP4, 2071-AP8, 2071-A10, and 2071-A15 Kinetix 3 drives, the built-in shunt resistor is pre-wired to B1 and B2 at the factory. On the 2071-AP0, 2071-AP1, and 2071-AP2 Kinetix 3 drives, shunt resistors are not supported; no terminations can be made to the B1 and B2 terminals for these drives. IMPORTANT The information supplied here is for reference only.
Chapter 4 Connect the Kinetix 3 Drive Apply the Motor Cable Shield Clamp This procedure assumes you have completed wiring your motor power (MP) connector and are ready to apply the cable shield clamp. Follow these steps to apply the motor cable shield clamp. 1. Locate a suitable position for installing the cable shield clamp within 50…75 mm (2…3 in.) of the drive. Motor Power Ground Shield Clamp 25 (1.0) 34.0 (1.34) 12.7 (0.50) 50…75 mm (2…3 in.) Dimension are in mm (in.). 50…75 mm (2…3 in.
Connect the Kinetix 3 Drive Chapter 4 Factory-made cables with premolded connectors are designed to minimize electro-magnetic interference (EMI) and are recommended over hand-built cables to improve system performance. However, options are available for building your own feedback and I/O cables. Feedback and I/O Cable Connections Table 27 - Options for Connecting Motor Feedback and I/O Connection Option Cat. No.
Chapter 4 Connect the Kinetix 3 Drive Flying-lead Feedback Cable Pinouts Table 29 - 2090-XXNFMF-Sxx or 2090-CFBMxDF-CDAFxx Feedback Cable Motor/Actuator Connector 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 Table 30 - 2090-CFBM6DF-CBAAxx Feedback Cable 72 Motor/Actuator Connector Pin Motor/Actuator Signal Dr
Connect 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 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013 73
Chapter 4 Connect the Kinetix 3 Drive Wiring the I/O Connector Connect your I/O wires to the IOD connector by using catalog number 2071-TBIO, I/O Breakout Board. Refer to publication 2071-IN002. Figure 38 - Kinetix 3 Drive (IOD connector and I/O Breakout Board) 2071-TBIO I/O Breakout Board I/O (IOD) Connector I/O interface cable, catalog number 2090-DAIO-D50xx provides access to all 50 pins of I/O.
Connect the Kinetix 3 Drive Wiring the Feedback Connector Chapter 4 These procedures assume you have mounted your Kinetix 3 drive, completed all power wiring, and are ready to connect your feedback. Connecting Premolded Motor Feedback Cables The motor feedback cables with premolded connectors plug directly into the 20pin motor feedback (MF) connectors on the Kinetix 3 drive, no wiring is necessary.
Chapter 4 Connect the Kinetix 3 Drive Wiring the Feedback Breakout Board The 2071-TBMF Feedback breakout board is suitable for terminating flying-lead motor feedback cables. Use it with the Kinetix 3 drive and all motors with incremental or high-resolution feedback. It has a 20-pin, male, mini D-sub connector and is compatible with all Bulletin 2090 feedback cables. The TLY-Axxxx-B high-resolution motors with 17-bit encoder require a 3.
Connect the Kinetix 3 Drive Chapter 4 Figure 42 - Wiring 2071-TBMF Feedback Breakout Board 1 2 3 7 4 5 6 Refer to Chapter 3 for feedback signal descriptions. Refer to page 124 for the motor feedback interconnect drawing for your application. 2 Item Description 1 2071-TBMF Kinetix 3 feedback breakout board 2 Tie wrap 3 13 mm (0.5 in.
Chapter 4 Connect the Kinetix 3 Drive Notes: 78 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
Chapter 5 Using the Keypad Interface Keypad Input Topic Page Keypad Input 79 Status Display/Operation Mode 81 Reset Drive to Default Value 83 The operator interface provides immediate access to the Kinetix 3 drive status displays and monitoring, parameter settings, and functional commands. The features of the Kinetix 3 drive operator interface are identified in Figure 44 and described below.
Chapter 5 Using the Keypad Interface The following briefly explains the Mode/Set, Enter, and directional keys and their use. Key Name Function Example Set Saves the current value of the setting in memory. To save any change: • Press and hold Set until the display blinks. Mode Toggles the display between the four modes. To advance the display through the various mode displays: 1. Press Mode to advance from the Status mode (default display) to Set Parameter mode, 2.
Using the Keypad Interface Status Display/Operation Mode Chapter 5 Operation mode - When the drive is powered up, if there are no faults, this is the default status screen. It shows the Control mode, status indicators, and whether the drive is enabled. Character: 5 4 1 3 2 2 1 0 3 Item Description 1 Control Mode: Characters 4 and 5 F S C SF CF CS P PF PS PC I 2 Row Display: Character 3 Top Row 3 Status: Characters 0…2 rdy = Drive is disabled, but ready to be enabled.
Chapter 5 Using the Keypad Interface Figure 47 - Parameter Edit Index Edit From this screen, scroll through the indexing parameter groups (before the period) and then pick the parameter you wish to view or edit (after the period). Figure 48 - Index Edit Display Mode The Display mode displays numerical data about drive and motor functions of twenty four parameters. Follow these steps to access the data. 1. Enter the Display mode by pressing the Mode key.
Using the Keypad Interface Chapter 5 Table 32 - Display Mode (continued) Display Attribute Number Attribute Unit 13 Velocity Command Offset mV 14 Current Command Offset mV 15 Input and Output State D igital Inputs 1-10 10 9 8 7 6 3 2 1 (6 5 4) 5 4 3 2 1 3 2 1 Servo Alarm Digital Outputs 3 - 1 E-Stop: Not active Alarm Codes 3 - 1: (Digital Outputs 6 - 4) 16 Error History Up to eight alarms stored in numerical order where most recent =1, to oldest =8, with error code number: Most signific
Chapter 5 Using the Keypad Interface Notes: 84 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
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 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013 85
Chapter 6 Configure Your Drive for Communication Apply Power to Your Kinetix 3 Drive This procedure assumes that you have completed the following: • Wired your Kinetix 3 system • Verified the wiring • Are ready to begin establishing communication to the drive To apply power to your Kinetix 3 drive, follow these steps. 1. Disconnect any load to the motor. IMPORTANT Be sure that the motor is free of all linkages when initially applying power to the system. 2.
Configure Your Drive for Communication Configure Your Kinetix 3 Drive for USB Communication with a Personal Computer Chapter 6 Use the 1203-USB converter to connect your drive to your personal computer if you are using Connected Components Workbench software to configure your drive. Download Connected Components Workbench Software 1. Open your Internet browser. 2. Navigate to http://ab.rockwellautomation.com/ProgrammableControllers/Connected-Components-Workbench-Software.
Chapter 6 Configure Your Drive for Communication Item Description 1 Kinetix 3 drive 2 1203-USB converter cable, catalog number 2090-CCMUSDS-48AAxx 3 1203-USB converter 4 USB cable 5 Personal computer with Connected Components Workbench software For information on the serial communication cables, refer to Serial Communication Cables Installation Instructions, publication 2090IN019. 4.
Configure Your Drive for Communication Chapter 6 To configure the Kinetix 3 drive communication port for RS-232/ASCII 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. Parameter Name Parameter Setting Drive Address Pr0.07 Required address (1 - Default) Serial Port Configuration Pr0.
Chapter 6 Configure Your Drive for Communication Notes: 90 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
Chapter 7 Configure Your Drive for Communication with a Personal Computer Running Connected Components Workbench Software Download Connected Components Workbench Software Topic Page Download Connected Components Workbench Software 91 Configure the Plug in Serial Port on the Micro830 or Micro850 Controller 97 Program the Controller for Modbus Communication with a Kinetix 3 Drive 97 Kinetix 3 Configuration Wizard 98 Use this procedure to download your Connected Components Workbench Software. 1.
Chapter 7 Configure Your Drive for Communication with a Personal Computer 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.
Configure Your Drive for Communication 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.
Chapter 7 Configure Your Drive for Communication with a Personal Computer Running 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. TIP You can also reset drive default values from the Kinetix 3 Configuration Wizard see page 100 12. Click Next.
Configure Your Drive for Communication with a 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.
Chapter 7 Configure Your Drive for Communication with a Personal Computer 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.
Configure Your Drive for Communication with a Personal Computer Running Connected Components Workbench Software Chapter 7 1. Under Plug-In Modules right-click the first empty slot and choose Communication>2080-SERIALISOL. Configure the Plug in Serial Port on the Micro830 or Micro850 Controller 2. Under Common Settings, from the Driver pull-down menu, choose Modbus RTU. If necessary, change the other properties to match the dialog box below. 3.
Chapter 7 Configure Your Drive for Communication with a Personal Computer Running Connected Components Workbench Software Kinetix 3 Configuration Wizard This section provides a description of the Connected Components Workbench workspace and the drive panes. Use this wizard to make advanced configuration changes.
Configure Your Drive for Communication with a Personal Computer Running Connected Components Workbench Software Chapter 7 Table 33 - Connected Components Workbench Workspace Pane Uses Pane Use the Pane to Follower • Configure the Follower parameters • Follower parameters control drive operation when the Operating mode is set to Follower in the Drive properties pane • The Follower page has no associated statuses Indexing • Configure up to 64 indexes (0…63) • Open the Indexing Control Panel where you c
Chapter 7 Configure Your Drive for Communication with a Personal Computer Running Connected Components Workbench Software Alternate Method to Reset the Drive In addition to resetting the drive from the Startup 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.
Chapter 8 Using Ultraware Software to Configure the Drive Download Ultraware Software Topic Page Detect Your Kinetix 3 Drive 101 Reset Drive to Default Values with Ultraware Software 102 Understanding the Workspace and Drive Branches 103 Select a Motor 104 Tune Your Motor 106 Configure Displayed Units 107 Test Your Motor (non-indexing move) 108 Test Your Motor (indexing move) 109 To communicate and configure your Kinetix 3 drive by using serial communication from a personal computer, d
Chapter 8 Using Ultraware Software to Configure the Drive 3. Click Stop Scanning when your drive is detected or wait for the scanning to time out. 4. Look for the Kinetix 3 icon under the On-Line Drives tree. The Kinetix 3 icon indicates that your drive is detected. 5. Click the [+] next to the Kinetix 3 icon to expand the branch menu. Reset Drive to Default Values with Ultraware Software If Your Kinetix 3 Drive Then Is detected and listed under the On-Line Drives tree. 1.
Using Ultraware Software to Configure the Drive Understanding the Workspace and Drive Branches Chapter 8 This section provides a description of the Ultraware workspace and various drive branches. 5 6 7 1 2 3 4 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.
Chapter 8 Using Ultraware Software to Configure the Drive Table 34 - Branch Descriptions Select a Motor Branch Use the Motor Branch to Motor • Select a motor for the associated online or offline Kinetix 3 drive. Once you select a motor, the status values associated with the selected motor appear in the Status pane of this dialog box. • Monitor the status as related to the selected motor. • Perform diagnostics on the motor.
Using Ultraware Software to Configure the Drive Chapter 8 The Kinetix 3 Drive properties dialog box appears. Actual values depend on your application. Auto Motor Iden default value is Enabled and remains Enabled if a motor with intelligent encoder is detected or selected. Value changes to Disabled if a motor without intelligent encoder is selected. 2. Check the Motor Model parameter value.
Chapter 8 Using Ultraware Software to Configure the Drive The Digital Inputs properties dialog box appears. 2. Verify that Input 1 value is set to Drive Enable (this is default). The Drive Enable switch can be removed from the digital inputs, but can lead to immediate motion upon drive powerup. ATTENTION: To avoid fault action or damage to the drive due to improper sequencing of input power and the Drive Enable signal, assign one of the ten inputs as Drive Enable (Input 1 is the default setting). 3.
Using Ultraware Software to Configure the Drive Chapter 8 2. Click Start Autotuning. The Autotuning warning dialog box appears. ATTENTION: Autotuning begins even if the drive is disabled. 3. If you are ready to Autotune, Click Ok. The default Autotune dialog box appears. 4. Click Start Autotune. The motor responds and the tuning process is complete. Actual values depend on your application. 5. Copy the Main Gains to alternate gains as needed, repeat, and then close the Tuning properties dialog box.
Chapter 8 Using Ultraware Software to Configure the Drive The Kinetix 3 Drive properties dialog box appears. 2. Click the Value field next to Display Units and choose User. 3. Click the [+] next to Motor Encoder Units. Use these parameter settings for an incremental encoder. Use these parameter settings for a 17-bit serial encoder. The Indexing parameters now list the position as revs and acceleration/ deceleration as revs/sec/sec as defined above.
Using Ultraware Software to Configure the Drive Chapter 8 The drive properties dialog box appears. 2. Click Velocity Control Panel. The velocity control panel dialog box appears. 3. Click Jog Enable. 4. In the Velocity Command box, enter an appropriate low speed. 5. Press Jog Forward. The motor begins turning at the velocity you entered in step 4. 6. Click Disable All. The motor stops. 7. Close the velocity control panel.
Chapter 8 Using Ultraware Software to Configure the Drive The Indexing Setup dialog box appears. 3. Expand Index 0 Setup. 4. Configure your incremental move with these values for Index 0: • Mode = Incremental • Distance = 1.0 Revs • Dwell = 500 ms • Velocity = 750 rpm • Acceleration = 13 Rev/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.
Using Ultraware Software to Configure the Drive Chapter 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.
Chapter 8 Using Ultraware Software to Configure the Drive Notes: 112 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
Chapter 9 Maintain and Troubleshoot Your Kinetix 3 Servo Drive Safety Precautions Topic Page Safety Precautions 113 Maintaining Your Kinetix 3 Drive 114 General Troubleshooting 114 Fault Codes 115 Observe the following safety precautions when troubleshooting your Kinetix 3 drive SHOCK HAZARD: DC bus capacitors can retain hazardous voltages after input power has been removed.
Chapter 9 Maintain and Troubleshoot Your Kinetix 3 Servo Drive Maintaining Your Kinetix 3 Drive The Kinetix 3 is designed to function with a minimum of maintenance. General Troubleshooting Refer to the Fault Codes section below to identify anomalies, potential causes, and appropriate actions to resolve the anomalies. If anomalies persist after attempting to troubleshoot the system, please contact your Allen-Bradley representative for further assistance.
Maintain and Troubleshoot Your Kinetix 3 Servo Drive Fault Codes Chapter 9 The following list of assigned error codes is designed to help you resolve anomalies. Warning Messages Warnings are drive abnormalities that let motor control to continue. Warnings appear on the drive's Status display by using the last three segments of the display to show an abbreviated title.
Chapter 9 Maintain and Troubleshoot Your Kinetix 3 Servo Drive Error Displays Errors are serious abnormalities that cause loss of motor control. The Error display alternates between a three-digit error code and a six-digit text message. The error displays repeat until the anomaly is cleared. Table 35 - Error Displays Error Code Text Message Motor Overtemperature IPM Error Possible Cause Action/Solution Motor thermal switch trips due to: • High motor ambient temperature. • Excessive current.
Maintain and Troubleshoot Your Kinetix 3 Servo Drive Chapter 9 Table 35 - Error Displays (continued) Error Code Text Message Possible Cause Action/Solution The internal filter protecting the motor from overheating has tripped. • Reduce acceleration rates. • Reduce duty cycle (ON/OFF) of commanded motion. • Increase time permitted for motion. • Use larger drive and motor. • Check tuning. The motion application requires average drive current in excess of rated capability. • Reduce acceleration rates.
Chapter 9 Maintain and Troubleshoot Your Kinetix 3 Servo Drive Table 35 - Error Displays (continued) Error Code Text Message Possible Cause Action/Solution Range of parameter is invalid. • Enter parameter with a value or values within range. • Reset drive to factory defaults. Hardware error. Replace the drive. Power at regenerative resistor exceeds the permitted value. Adjust motion profile to stay within the range of the regenerative resistor. Shunt resistor is disconnected or damaged.
Maintain and Troubleshoot Your Kinetix 3 Servo Drive Chapter 9 Table 35 - Error Displays (continued) Error Code Text Message Possible Cause Action/Solution Emergency stop (E-STOP) signal detected. • Remove Emergency stop conditions. • Clear E-STOP. The value of a Position Parameter for indexing is out of the range. • Use a value within the range of -231…+231. • Anomaly with control or main power circuitry if this error occurs when power is turned on.
Chapter 9 Maintain and Troubleshoot Your Kinetix 3 Servo Drive Notes: 120 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
Appendix A Interconnect Diagrams This appendix provides wiring examples and system block diagrams for your Kinetix 3 drive system components.
Appendix A Interconnect Diagrams Interconnect Diagram Notes This appendix provides wiring examples to assist you in wiring the Kinetix 3 system. The notes below apply to the wiring examples on the pages that follow. Note Information 1 For power wiring specifications, refer to Power Wiring Requirements on page 61. 2 For input fuse sizes, refer to Fuse/Contactor Specifications on page 19.
Interconnect Diagrams Appendix A You must supply input power components. The single-phase and three-phase line filters are wired downstream of fusing and the M1 contactor. Power Wiring Examples Figure 50 - Kinetix 3 Drive Wiring Example (230V single-phase input power) Refer to table on page 122 for note information.
Appendix A Interconnect Diagrams Kinetix 3 Drive/Rotary Motor Wiring Examples These wiring diagrams apply to Kinetix 3 drives with compatible rotary motors. Figure 51 - Kinetix 3 Drive (230V) Wiring Example with TL-Series (TLY-A) Motors 2071-Axx Kinetix 3 Drive 2090-CPBM6DF-16AAxx Motor Power and Brake Cable Note 9, 10 Use 2090-CPWM6DF-16AAxx cable for non-brake applications.
Interconnect Diagrams Appendix A Kinetix 3 Drive/Linear Motor and Actuator Wiring Examples These wiring diagrams apply to Kinetix 3 drives with compatible actuators and linear motors.
Appendix A Interconnect Diagrams Figure 53 - Kinetix 3 Drive (230V) Wiring Example with TL-Series (TLAR) Electric Cylinders Refer to table on page 122 for note information. 2071-Axx Kinetix 3 Drive 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 TLAR-Axxxx (230V) Servo Motors with High Resolution Feedback 2090-CPBM6DF-16AAxx Motor Power and Brake Cable Note 9, 10 Use 2090-CPWM6DF-16AAxx cable for non-brake applications.
Interconnect Diagrams Appendix A Kinetix 3 Drive and MicroLogix Controller Wiring Examples The Kinetix 3 drive accepts unipolar or bipolar inputs. Figure 54 - Kinetix 3 Drive Wiring Example to Analog Voltage Device Kinetix 3 Drive I/O (IOD) Connector Analog Voltage Device or PLC VCMD + 19 -10V…+10V VCMD - 20 COM ICMD + 21 -10V…+10V ICMD - 22 COM Velocity Current Commons must not be tied together. Use one control at a time. Choose either velocity or current control.
Appendix A Interconnect Diagrams Kinetix 3 Drive and Micro830 Controller Wiring Examples Figure 56 - Kinetix 3 Drive and 2080-LCxx-xxQBB Micro830 Controller 2080-LC30-xxQBB 2080-LC50-xxQBB Micro830 Controllers +CM0 Kinetix 3 Drive 1 2 49 12 CLK+ CLK- O-06 25 14 3 DIR+ DIREnable O-07 7 RST +CM1 O-00 O-03 + +DC 24 -DC 24 – -CM0 -CM1 – + 24V Power Supply 24V Power Supply 1 2 Drive Enable (Pin 3) and Reset Drive (Pin 7) operates as sinking inputs when (Pin 1, 2) connected to + of the Powe
Interconnect Diagrams Motor Brake Currents Appendix A 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.
Appendix A Interconnect Diagrams Notes: 130 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
Index Symbols 94 connector designators 31 contactor specifications 19 control power status indicator 114 Numerics 1203-USB add device 93 17-bit serial encoder 36 230V single-phase input power 123 A about this publication 9 add drive 91 add device 1203-USB 93 additional resources 10 analog input 47 analog output 48 analog outputs branch 104 analog reference 47 D digital inputs 40 digital inputs branch 104, 105 digital outputs 44 digital outputs branch 104 download Connected Components Workbench software
Index H HF bonding 23 high frequency energy 25 high frequency pulse command 43 I I/O interface diagram 33 specifications 40, 44, 47 input power wiring 3-phase Delta 55, 56 3-phase WYE 55 determining input power 54 grounded power configuration 54 single-phase 57 single-phase amplifiers on 3-phase power 58 installing your drive bonding subpanels 25 fuse 18 fuse selection 18 HF bonding 23 system mounting requirements 17 interconnect diagram 230V single-phase input power 123 interconnect diagrams notes 122 K
Index shunt resistor wiring requirements 61 specifications analog reference inputs 47 digital inputs 40 digital outputs 44 feedback motor, general 36 power supply 39 fuse 19 Kinetix 3 contactor ratings 19 I/O breakout board 36 motor feedback 17-bit serial encoder 39 generic TTL 38 motor thermal 37 status display panel 114 status indicator display fault codes 115 operational 114 warning messages 115 system mounting requirements 17 system overview 12 T testing your axis 108, 109 TLY motor 124 training 9 tro
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