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Kinetix 7000
Allen-Bradley Kinetix 7000 User Manual
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136
Rockwell Automation Publ
ication 2099-UM001D
-EN-P - December 2012
Chapt
er 5
Configur
e and Startup the Kinetix 7000 Driv
e System
Notes
:
135
137
Table of Contents
Default Chapter
5
Table of Contents
5
About this Publication
9
Additional Resources
9
Conventions Used in this Manual
9
Preface
9
Who Should Use this Manual
9
Start
11
Chapter 1
12
About the Drive System
12
Typical Drive System Diagrams
13
Catalog Number Explanation
18
Agency Compliance
18
CE Requirements - System Without LIM
19
CE Requirements - System with LIM
20
CE Requirements - System with DC Common Bus through 8720MC
20
Rps
20
Install the Kinetix 7000 Drive System
21
Chapter 2 System Design Guidelines
22
System Mounting Requirements
22
Transformer Selection
22
Circuit Breaker/Fuse Selection
23
Enclosure Selection
24
Minimum Clearance Requirements
27
Minimizing Electrical Noise
28
Bonding Modules
28
Bonding Multiple Subpanels
30
Establish Noise Zones
30
Cable Categories for Kinetix 7000 Systems
35
Noise Reduction Guidelines for Drive Accessories
36
Mount the Kinetix 7000 Drive
39
Kinetix 7000 Connector Data
41
Chapter 3 Locate and Identify Connectors and Indicators
42
Digital and Analog Input/Output (IOD) Connector Pinout
45
General Purpose I/O (GPIO) Terminal Block Connections
46
General Purpose Relay (GPR) Terminal Block Connections
46
Motor Feedback (MF) Connector Pinouts
47
Auxiliary Feedback (AF) Connector Pinouts
49
Safe-Off (SO) Terminal Block Connections
50
Control Power (CP) Terminal Block Connections
51
Power Terminal Block (PTB) Connections
51
Control Signal Specifications
54
Digital Inputs (IOD Connector)
54
Analog Inputs (IOD Connector)
60
Analog Outputs (IOD Connector)
62
General Purpose I/O (GPIO Connector)
63
General Purpose Relay (GPR Connector)
64
SERCOS Connections
65
Safe-Off (so Connector)
65
Control Power Specifications
65
Motor (MF) and Auxiliary Feedback (AF) Connections
66
Motor and Auxiliary Feedback Specifications
66
Chapter 4 Basic Wiring Requirements
71
Building Your Own Motor Cables
72
Shielded Motor Cable
72
Required Cable Types
72
Cable Sizes
73
Conduit
73
General Wire Guidelines
74
Routing the Power and Signal Cables
74
Determine the Input Power Configuration
75
Grounded Power Configurations
75
Power Distribution Systems Without a Ground Reference
77
Setting the Ground Jumper in Ungrounded Power Configurations
78
Removing the Ground Jumper on 2099-BM06-S, 2099-BM07-S, and 2099-BM08-S Drives
79
Removing the Ground Wires on 2099-BM09-S and 2099-BM10-S
80
Drives
80
Removing the Ground Wires on 2099-BM11-S and 2099-BM12-S
80
Grounding the Kinetix 7000 Drive System
81
Grounding Your System to the Subpanel
81
Grounding Multiple Subpanels
82
Motor Power Cable Shield Termination
82
MP-Series (Bulletin MPL) Motor Connectors
83
Input Power Wiring Requirements
85
Acceptable Cable Types
85
Shielded/Armored Cable
85
Contactors
86
Power Wire Specifications
87
Power Wiring Guidelines
88
Wire the Kinetix 7000 Drive Connectors
88
Wire the Control Power (CP) Connector
88
Wire AC Input Power
89
Wire DC Input Power (Common Bus Configurations Only)
89
Wire the Safe-Off (SO) Connector
90
(GPIO) Connectors
91
Wire Motor Output Power
92
Wire the Motor Brake
92
Feedback and I/O Cable Connections
93
Flying-Lead Feedback Cable Pinouts
94
Wire Feedback and I/O Connectors
95
Connect Premolded Motor Feedback Cables
95
Wire Panel-Mounted Breakout Board Kits
96
Wire Low-Profile Connectors
98
External Shunt Module Connections
101
SERCOS Fiber-Optic Cable Connections
101
Connect the Kinetix 7000 Drive System
71
Configure and Startup the Kinetix 7000 Drive System
105
Chapter 5 Configure the Drive Modules
106
Node Addressing Examples
108
Configure the Logix SERCOS Interface Module
110
Configure the Logix Controller
110
Configure the SERCOS Module
112
Configure the Motion Group
114
Configure the Kinetix 7000 Drive Modules
117
Download the Program
125
Apply Power to the Drive
126
Test and Tune the Axes
129
Test the Axes
129
Tune the Axes
131
Configure Drive Parameters and System Variables
134
Tools for Changing Parameters
134
Chapter 6
137
Safety Precautions
137
Interpret Error Codes and Status Indicators
138
Error Codes
138
Status Indicators
143
General System Anomalies
144
Logix/Drive Fault Behavior
146
Power Specifications
150
Troubleshoot the Kinetix 7000 Drive System
137
Appendix A
151
Circuit Breaker/Fuse Specifications
151
Contactor Ratings
152
Power Dissipation Specifications
152
General Specifications
153
Maximum Feedback Cable Lengths
153
Weight Specifications
153
Certifications
154
Environmental Specifications
154
AC Line Filter Specifications
155
AC Line Reactors
155
External Shunt Modules
156
Precharge Capacities of the Regenerative Power Supply
157
Product Dimensions
157
Appendix B Interconnect Diagram Notes
162
Power Wiring Examples
163
Kinetix 7000 Drive/Rotary Motor Wiring Examples
172
Kinetix Safe-Off Feature Block Diagram
178
Appendix C
179
Before You Begin
179
Upgrade Firmware
180
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Allen-Bradley Kinetix 7000 Specifications
General
Brand
Allen-Bradley
Model
Kinetix 7000
Category
Servo Drives
Language
English
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