Allen-Bradley 2099-BM06-S Operation & User’s Manual

173, Allen-Bradley 2099-BM06-S Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 173 Interconnect Diagrams Appendix B Customer-supplied 24V DC Power Supply Notes • The contact connected to GPR1+ and GPR1- is rated 2 Amps inductive @ 250V AC/30V DC maximum. • MPx motors with a brake have various coil current requirements. Refer to the Kinetix Motion Control Selection Guide, publication GMC-SG001 for coil current requirements. • For motors that utilize above 2 Amp coil current it is recommended that a customer-supplied ext…

109, Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 109 Configure and Startup the Kinetix 7000 Drive System Chapter 5 Figure 66 - Node Addressing Example 2 In this example, a Kinetix 6000 (8-axis) power rail contains a double-wide IAM, and three double-wide AMs. The leftmost slot of a double-wide module determines the node address. So, in the example above, node addresses 02, 04, and 06 (the rightmost slots of the double-wide modules) are not used. The Kinetix 7000 (2-axis) drive …

52, 52 Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 Chapter 3 Kinetix 7000 Connector Data Figure 27 - 2099-BM06-S, 2099-BM07-S, and 2099-BM08-S Figure 28 - 2099-BM09-S Figure 29 - 2099-BM10-S DC+ DC- U V W R (L1) S (L2) T (L3) Cable clamps for Motor and AC inputs. PS+ PS- NC NC DC+ DC- U V W PE PE R (L1) S (L2) T (L3) PS+ PS- Motor FAN AC Line Fan Terminals Enlarged View 0 VAC 120 VAC 240 VAC Fan Terminals Enlarged View PS+ PS- 0 VAC 120 VAC 240 VAC DC+ DC- U V …

60, 60 Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 Chapter 3 Kinetix 7000 Connector Data Analog Inputs (IOD Connector) Two analog inputs are provided, with 14-bit resolution (13 data bits, plus sign). The analog data streamed to RSLogix by these inputs is useful for managing dynamic machine operations, for example tension transducers in an outer tension control loop. The input range of these inputs is ±10V, and…

78, 78 Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 Chapter 4 Connect the Kinetix 7000 Drive System Setting the Ground Jumper in Ungrounded Power Configurations To disconnect the ground reference for Kinetix 7000 drives in an ungrounded, impedance grounded, high-resistive grounded, B-phase grounded, or common DC bus power distribution system, remove the jumpers or wires as instructed in the following table. Table 31 - Jumper/Wire Location and Removal Instructions ATTENTIO…

144, 144 Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 Chapter 6 Troubleshoot the Kinetix 7000 Drive System Table 54 - SERCOS Status Indicator Table 55 - Control Power Status Indicator General System Anomalies These anomalies do not always result in a fault code, but may require troubleshooting to improve performance. SERCOS Status Status Condition Actively cycling Phase 0 The drive is looking for a closed SERCOS ring. Wait for phase 1 to complete or take corrective action to reach phase 1. Check fib…

83, Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 83 Connect the Kinetix 7000 Drive System Chapter 4 Figure 52 - Power Cable Shielding Techniques Recommended for Kinetix 7000 Drives MP-Series (Bulletin MPL) Motor Connectors Bulletin MPL motors equipped with circular DIN connectors (specified by 7 in the catalog number) are not compatible with cables designed for motors equipped with bayonet connectors (specified by 2 in the catalog number). The motors with bayone…

5, Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 5 Table of Contents Preface About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . .…

74, Allen-Bradley 2099-BM06-S 74 Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 Chapter 4 Connect the Kinetix 7000 Drive System General Wire Guidelines Observe all applicable safety and national and local regulations when selecting the appropriate wire size for your system. Due to the drive overload capacity of 150% of the continuous current rating, the conductors for the transformer primary and secondary must be sized (at a minimum) for 125…160% of the maximum continuous input current for the motor selected. The motor conductors must also be rated …

13, Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 13 Start Chapter 1 Typical Drive System Diagrams Typical Kinetix 7000 system installations include three-phase AC configurations, with and without the line interface module (LIM), and DC common bus configurations. Figure 1 - Kinetix 7000 System Configuration with LIM and External Resistive Shunt MAIN VACMAIN VAC 24V DC Control Power External Shunt Module (optional component). See External Shunt Modules on page 156 for more information. 2090-XXLF-TCxxxx AC Line Fi…

10, 10 Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 Preface You can view or download publications at http://literature.rockwellautomation.com . To order paper copies of technical documentation, contact your local Allen-Bradley distributor or Rockwell Automation® sales representative. Kinetix Safe-off Feature Safety Reference Manual, publication GMC-RM002 Provides detailed installation instructions for wiring and troubleshooting a Kinetix 7000 safe-off drive. Kinetix Motion Control Selection Guide, pub…

178, 178 Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 Appendix B Interconnect Diagrams Kinetix Safe-off Feature Block Diagram Kinetix 7000 drives with the Safe-off feature installed ship with the wiring header and a motion-allowed jumper installed. In this configuration, the safe-off feature is disabled (not used). Figure 87 - Kinetix Safe-off Feature K1 K2 K1-A K2-A K2-C K1-C +24V M Safe-O Option 6 5 7 3 4 1 2 8 9 Wiring Header Motion Allowed Jumper Gate Control Power Supply Safety Monitor uC …

68, 68 Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 Chapter 3 Kinetix 7000 Connector Data The table provides a description of the AM and BM inputs for Sine/Cosine encoders. Table 27 - AM, BM and IM Input Specifications for Sine/Cosine Encoders Table 28 - Specifications for Heidenhain EnDat Encoders Auxiliary Feedback (AF) These requirements apply to the Auxiliary Feedback signals. • For TTL devices, the position count increases when A leads B. • For …

129, Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 129 Configure and Startup the Kinetix 7000 Drive System Chapter 5 Test and Tune the Axes This procedure assumes that you have configured your Kinetix 7000 drive, your SERCOS interface module, and applied power to the system. For help using RSLogix 5000 software as it applies to testing and tuning your axes with ControlLogix, CompactLogix, or SoftLogix SERCOS modules, refer to Additional Resources on page 9 . Test the Axes Follo…

77, Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 77 Connect the Kinetix 7000 Drive System Chapter 4 Power Distribution Systems Without a Ground Reference Kinetix 7000 drives contain protective MOVs and Common Mode Capacitors that are referenced to ground. To guard against unstable operation and/or drive damage, these devices must be disconnected if the drive is installed on an ungrounded, impedance grounded, high resistive grounded, B phase grounded, or common DC bus power distribution …

116, Allen-Bradley 2099-BM06-S 116 Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 Chapter 5 Configure and Startup the Kinetix 7000 Drive System Both Axis_1 and Axis_1_Aux are Assigned to the Motion Group. This means both axis will be part of the SERCOS and Motion planner updates from/to the controller/SERCOS card/drive. 11. Open the Attribute folder. The Motion Planner coarse update period must be set according to the application needs…

88, Allen-Bradley 2099-BM06-S 88 Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 Chapter 4 Connect the Kinetix 7000 Drive System Power Wiring Guidelines Use these guidelines when wiring the power connectors on your Kinetix 7000 drive (without a LIM). This procedure assumes you have separate power supply/line filter components mounted on your panel and are ready to wire the AC input power to the drive. 1. Prepare the wires for attachment to each connector by removing insulation equal to an acceptable st…

72, 72 Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 Chapter 4 Connect the Kinetix 7000 Drive System Building Your Own Motor Cables • Connect the cable shield to the connector shells on both ends of the cable with a complete 360° connection. If separate power wires are used in a customer-supplied power cable, the shield may alternatively be connected to a ground terminal. • Use a twisted pair cable whenever possible. Twist differential signals with …

99, Allen-Bradley 2099-BM06-S Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 99 Connect the Kinetix 7000 Drive System Chapter 4 Figure 56 - Wiring (15-pin) Flying-lead Feedback Cable Connections 2090-K6CK-D15M and 2090-K6CK-D15F Connector Kits Figure 57 - Wiring (15-pin) Flying-lead Feedback Cable Connections 2090-K7CK-KENDAT Feedback Module Pin 1 Pin 11 Pin 10 Pin 5 Pin 6 Pin 15 Pin 1 Pin 10 Pin 5 Pin 11 Pin 6 Pin 15 1 2 34 5 67…

6, Allen-Bradley 2099-BM06-S 6 Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 Table of Contents Control Signal Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Digital Inputs (IOD Connector). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Analog Inputs (IOD Connector) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Analog Outputs (IOD Connector). . . . . . . . . . . .…

148, 148 Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 Chapter 6 Troubleshoot the Kinetix 7000 Drive System AuxFeedbackFault (Aux Fdbk AQB) E61 Auxiliary encoder has encountered an illegal state transition. DISABLE DRIVE No AuxFeedbackFault (Aux Fdbk Loss) E62 The feedback wiring is open, shorted or missing. DISABLE DRIVE No AuxFeedbackNoise (Aux Fdbk Noise) E63 Presence of noise on auxiliary feedback cab…

67, Allen-Bradley 2099-BM06-S Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 67 Kinetix 7000 Connector Data Chapter 3 Figure 42 - AM, BM, and IM Motor Encoder Inputs Table 25 - Motor Encoder Feedback Specifications Tab l e 26 provides a description of the AM, BM, and IM inputs for TTL encoders. Table 26 - TTL Encoder Specifications +5 V + - 56 pF 56 pF 10k Ω 1k Ω 1k Ω 100 pF + - 100 pF 56 pF 56 pF 1k Ω 1k Ω 1k Ω 1k Ω 1k Ω 56 pF 56 pF 10k Ω 10k Ω 10k Ω 1k Ω 1k Ω AM and BM Channel Inpu…

136, 136 Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 Chapter 5 Configure and Startup the Kinetix 7000 Drive System Notes: …

57, Allen-Bradley 2099-BM06-S Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 57 Kinetix 7000 Connector Data Chapter 3 Positive and Negative Overtravel The Positive and Negative Overtravel detection is provided by two optically isolated (500V), single-ended, normally-closed, active high signals. Breaking the 24V DC input at either pin indicates an overtravel condition. You can enable hard travel limits on the axis servo drive Limit tab in RSLogix. Hard travel limits require power to both the positive and negative overtravel inputs. You can moni…

47, Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 47 Kinetix 7000 Connector Data Chapter 3 Motor Feedback (MF) Connector Pinouts The following diagram and tables provide the orientation and signal description for the Motor Feedback (MF) connector for each applicable feedback device. Figure 23 - Pin Orientation for 15-pin Motor Feedback (MF) Connector Table 11 - Motor Feedback (MF) Connections for Stegmann Hiperface (SRS/SRM) Table 12 - Motor Feedb…

183, Allen-Bradley 2099-BM06-S Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 183 Upgrade Firmware Appendix C 12. Click Yes to confirm updating of the target device. 13. Click OK to acknowledge the Motion Stop notice. A dialog will display the progress of the flash update. While this display is active, the Status display on the drive will display an F. …

18, 18 Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 Chapter 1 Start Catalog Number Explanation Kinetix 7000 drive catalog numbers and descriptions are listed in the table below. Agency Compliance If this product is installed within the European Union or EEC regions and has the CE mark, the following regulations apply. For more information on electrical noise reduction, see the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001 . Kinetix 7000 Drive Cat. No.…

37, Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 37 Install the Kinetix 7000 Drive System Chapter 2 Shunt Resistor Observe the following guidelines when mounting your external shunt resistor outside the enclosure. • Mount circuit components and wiring in the very dirty zone or in an external shielded enclosure. Run shunt power and fan wiring inside metal conduit to minimize the effects of EMI and RFI. • Mount resist…

89, Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 89 Connect the Kinetix 7000 Drive System Chapter 4 Wire AC Input Power Wire 460V AC input power to your Kinetix 7000 drive as described in Table 3 5. See Power Terminal Block (PTB) Connections for more information. Table 35 - AC Input Power Connections Wire DC Input Power (Common Bus Configurations Only) Wire the DC input power from a leader regenerative power supply (8720MC- RPS) to a Kine…

14, 14 Rockwell Automation Publication 2099-UM001D-EN-P - December 2012 Chapter 1 Start Figure 2 - Kinetix 7000 System Configuration without Line Interface Module (LIM) 1606-XL Power Supply Input Allen-Bradley 1606-XLxxx 24V DC Control Power 2090-XXLF-TCxxxx AC Line Filter Input Fusing Three-Phase Input Power Input Logix 5000 Controller Output 1756-MxxSE SERCOS Interface Module 2090-SCxxx-x SERCOS Fiber-Optic Ring Commissioning 2099-BMxx-S Kinetix 7000 Drive Control…