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Rockwell Automation Allen-Bradley Kinetix 7000 User Manual

Rockwell Automation Allen-Bradley Kinetix 7000
194 pages
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User Manual
Original Instructions
Kinetix 7000 High Power
Servo Drive
Catalog Numbers 2099-BM06-S, 2099-BM07-S, 2099-BM08-S,
2099-BM09-S, 2099-BM10-S, 2099-BM11-S, 2099-BM12-S

Table of Contents

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Rockwell Automation Allen-Bradley Kinetix 7000 Specifications

General IconGeneral
Protection RatingIP20
Feedback OptionsResolver, encoder (single-turn/multi-turn), absolute encoder
Safety FeaturesSafe Torque Off (STO), Safe Speed Monitor (SSM)
Communication ProtocolsEtherNet/IP
Control ModesTorque, Velocity, Position
Relative Humidity5% to 95% (non-condensing)
Shock Resistance15 g

Summary

Preface

Additional Resources

Lists related documents containing additional information concerning Rockwell Automation products.

Chapter 1 Start

About the Drive System

Provides an overview of the Kinetix 7000 drive system components and their functions.

Typical Drive System Diagrams

Catalog Number Explanation

Agency Compliance

CE and UK Requirements - System without LIM

Chapter 2 Install the Kinetix 7000 Drive System

System Design Guidelines

Provides guidelines for designing the enclosure and planning component mounting.

Minimizing Electrical Noise

Outlines best practices to minimize noise-related failures.

Circuit Breaker/Fuse Selection

Enclosure Selection

Minimum Clearance Requirements

Bonding Modules

Establish Noise Zones

Cable Categories for Kinetix 7000 Systems

Mount the Kinetix 7000 Drive

Chapter 3 Kinetix 7000 Connector Data

Locate and Identify Connectors and Indicators

Identifies Kinetix 7000 front panel connectors and displays, with their descriptions.

Digital and Analog Input/Output (IOD) Connector Pinout

Provides signal descriptions and pin-out information for the 26-pin IOD connector.

General-purpose I/O (GPIO) Terminal Block Connections

General-purpose Relay (GPR) Terminal Block Connections

Motor Feedback (MF) Connector Pinouts

Auxiliary Feedback (AF) Connector Pinouts

Safe Torque Off (STO) Terminal Block Connections

Control Power (CP) Terminal Block Connections

Power Terminal Block (PTB) Connections

Control Signal Specifications

Digital Inputs (IOD Connector)

Describes the two fast registration inputs and four other inputs available for machine interface.

Hardware Enable

Home

Positive and Negative Overtravel

Registration

Analog Inputs (IOD Connector)

Analog Outputs (IOD Connector)

General-purpose I/O (GPIO Connector)

General-purpose Relay (GPR Connector)

Sercos Connections

Safe Torque Off (SO Connector)

Control Power Specifications

Motor (MF) and Auxiliary Feedback (AF) Connections

Motor and Auxiliary Feedback Specifications

Chapter 4 Connect the Kinetix 7000 Drive System

Basic Wiring Requirements

Contains basic wiring information for the Kinetix 7000 drive.

Determine the Input Power Configuration

Guides users to determine the type of input power within their facility.

Grounded Power Configurations

Ungrounded Power Configurations

Set the Ground Jumper in Select Power Configurations

Grounding the Kinetix 7000 Drive System

Grounding Your System to the Subpanel

Illustrates how the drive is properly grounded to the bonded cabinet ground.

Grounding Multiple Subpanels

Motor Power Cable Shield Termination

Input Power Wiring Requirements

Acceptable Cable Types

Shielded/Armored Cable

Contactors

Power Wire Specifications

Power Wiring Guidelines

Wire the Control Power (CP) Connector

Details how to wire the 24V DC control power supply to the Kinetix 7000 drive.

Wire AC Input Power

Wire DC Input Power (Common Bus Configurations Only)

Wire the Safe Torque Off (STO) Connector

Wire the General Purpose Relay (GPR) and General Purpose I/O (GPIO) Connectors

Wire Motor Output Power

Wire the Motor Brake

Feedback and I/O Cable Connections

Connect Premolded Motor Feedback Cables

Instructs to plug motor feedback cables directly into MF connectors on the Kinetix 7000 drive.

Wire Panel-mounted Breakout Board Kits

Wire Low-profile Connectors

External Shunt Module Connections

Sercos Fiber-optic Cable Connections

Chapter 5 Configure and Start the Kinetix 7000 Drive System

Configure the Drive Modules

Provides steps to configure the Kinetix 7000 drive.

Configure the Logix Sercos Interface Module

Details procedures for configuring the Kinetix 7000 system components with the Logix Sercos module.

Apply Power to the Drive

Assumes prior tasks are completed and provides steps to apply power to the Kinetix 7000 system.

Test and Tune the Axes

Provides procedures for testing and tuning axes.

Node Addressing Examples

Configure the Logix Controller

Configure the Sercos Module

Configure the Motion Group

Configure the Kinetix 7000 Drive Modules

Test the Axes

Tune the Axes

Configure Drive Parameters and System Variables

Tools for Changing Parameters

Lists methods for changing parameters, including software and HIM modules.

Chapter 6 Troubleshoot the Kinetix 7000 Drive System

Safety Precautions

Provides safety precautions to observe when troubleshooting the Kinetix 7000 drive.

Interpret Error Codes and Status Indicators

Guides users to identify faults, potential causes, and actions to resolve them.

Error Codes

Status Indicators

Drive Status Indicator

Explains the states of the Drive Status LED and their potential causes/resolutions.

Comm Status Indicator

Explains the states of the Comm Status LED and their potential causes/resolutions.

Bus Status Indicator

Explains the states of the Bus Status LED and their potential causes/resolutions.

General System Anomalies

Axis or system is unstable

Troubleshooting tips for axis or system instability issues.

Logix/Drive Fault Behavior

Appendix A Specifications and Dimensions

Power Specifications

Contains detailed power specifications for the Kinetix 7000 drive.

Circuit Breaker/Fuse Specifications

Lists recommended circuit breaker and fuse examples and ratings.

Contactor Ratings

Power Dissipation Specifications

Maximum Feedback Cable Lengths

Weight Specifications

Certifications

Environmental Specifications

AC Line Filter Specifications

AC Line Reactors

External Shunt Modules

Precharge Capacities of the Regenerative Power Supply

Product Dimensions

Appendix B Interconnect Diagrams

Interconnect Diagram Notes

Provides notes applicable to Kinetix 7000 drive wiring examples.

Power Wiring Examples

Illustrates AC power wiring for the Kinetix 7000 drive.

Kinetix 7000 Drive/Rotary Motor Wiring Examples

Figure 82 - Kinetix MPL Motors (Bayonet Style Connector)

Shows wiring for Kinetix MPL motors equipped with bayonet connectors.

Kinetix Safe Torque Off Feature Block Diagram

Appendix C Upgrade Firmware

Before You Begin

Lists prerequisites and required software/firmware for upgrading Kinetix 7000 drive firmware.

Upgrade Firmware

Provides procedures for using ControlFLASH utility to upgrade firmware in a Kinetix 7000 drive.

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