Transcript Rockwell Automation External LTS Template

Kinetix 300
Ethernet/IP Indexing
Servo Drive
Presenter Name
Date
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
Kinetix 300 Benefits
• Standard Unmodified Ethernet
– Lower wiring costs
– Simplified Integration of the entire control solution on
one network. including HMI, PAC, I/O and motion.
• Integration with CompactLogix PACs with Kinetix
300 Add On Profile.
– Easy commissioning, configuration, and start up of the
servo solution.
• Safe Torque Off
– Protect personnel and increase machine productivity
• Wide array of Voltage and Power ranges along
with a flexible control architecture to meet global
machine requirements .
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
2
Kinetix 300 Features
• Flexible Control to satisfy many application requirements
– Indexing
• Five different Indexing types
• S-Curve and trapezoidal moves
• 32 Index capability
– Commanded Control Over EtherNet/IP
• Velocity and Current
• Absolute and Incremental Position with or without Registration
– Drive to Drive gearing
– Analog Input Control
– Step and Direction Control
• Scalable Platform to meet global machine standards
–
–
–
–
120 V models drive 240V motors at full speed
240V single phase w/ integrated filters
240 and 460 3-phase voltage models
400W – 3kW power ranges
• Enhancing Machine Productivity
– Integrated Safe Torque Off
– Memory Module for Automatic Device Replacement
– Premier integration of Rockwell Automation MP series and TLY series motors and cylinders.
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
3
Kinetix 300 Applications
• Target Markets
• Emerging Compact Machine Solution
– Network connected, simple moves, OEM uses RSLogix 5000, lower speed applications, may require higher power
servos.
• Component Compact Machine Solution
– MicroLogix 1400 based, non-coordinated, simple independent moves. OEM does not use RSLogix 5000, lower power
applications.
• Target Applications
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–
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–
–
–
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–
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Indexing tables
Automatic Assembly Machines
Tool Changing machinery
Intermittent Vertical Form Fill and Seal Equipment
Intermittent Horizontal Form Fill and Seal Equipment
Laboratory Automation Equipment
Simple Sleevers
Intermittent Shrink Wrappers
Simple case packers and erectors
Medical technology applications
Light Manufacturing Systems
Solar Panel Tracking Equipment
Feed and Withdrawal Equipment
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
4
Kinetix 300 Anatomy
400W – 3kW Power Range
120/230V single phase,
230/460V 3-phase models
ODVA certified EtherNet/IP support
32 Indexes w/ S-Curve capability
Commanded Control over
Ethernet/IP
4 Character Display
Keypad Input
Analog and Digital I/O
Memory Module for ADR
Analog and PTO Control
Drive to Drive Gearing
24V backup power for
“Keep Alive” function
Absolute and Incremental
Feedback, MP and TLY motors.
Smart Motor Recognition
Technology – Plug and Play
Integrated Safe Torque Off
Auto Tuning
ISO 13849-1 Safety Category 3
PL d
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
5
Kinetix 300 Product Positioning
Drive Continuous Power Rating
500W
1.2 KW
120V
Voltage
230V 1 phase 230V 3 phase
460V 3 phase
250W
3 KW 7.5 KW 11 KW
Kinetix 6000
22 KW
112 KW
Kinetix 7000
Kinetix 2000
Kinetix 300
Ultra3000
(Confidential – For Copyright
Internal Use
© 2009
Only)Rockwell
CopyrightAutomation,
© 2007 Rockwell
Inc. AllAutomation,
rights reserved.
Inc. All rights reserved.
6
Kinetix 300 Anatomy
32 Indexes w/ S-Curve capability
Commanded Control over
Ethernet/IP
400W – 3kW Power Range
120/230V single phase,
230/460V 3-phase models
4 Character Display
ODVA certified EtherNet/IP support
Keypad Input
Analog and Digital I/O
Memory Module for ADR
Analog and PTO Control
Drive to Drive Gearing
24V backup power for
“Keep Alive” function
Absolute and Incremental
Feedback, MP and TLY motors.
Smart Motor Recognition
Technology – Plug and Play
Integrated Safe Torque Off
Auto Tuning
ISO 13849-1 Safety Category 3
PL d
Copyright © 2009
7
Kinetix 300 Benefits
• Standard Unmodified Ethernet
– Simplified Integration of the entire control solution on
one network. including HMI, PAC, I/O and motion.
– Lower wiring costs
• Integration with CompactLogix PACs with Kinetix
300 Add On Profile.
– Easy commissioning, configuration, and start up of the
servo solution.
• Safe Torque Off
– Protect personnel and increase machine productivity
• Wide array of Voltage and Power ranges along
with a flexible control architecture to meet global
machine requirements .
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
8
Kinetix 300 Features
• Flexible Control to satisfy many application requirements
– Indexing
• Five different Indexing types
• S-Curve and trapezoidal moves
• 32 Index capability
– Commanded Control Over EtherNet/IP
• Velocity and Current
• Absolute and Incremental Position with or without Registration
– Drive to Drive gearing
– Analog Input Control
– Step and Direction Control
• Scalable Platform to meet global machine standards
–
–
–
–
120 V models drive 240V motors at full speed
240V single phase w/ integrated filters
240 and 460 3-phase voltage models
400W – 3kW power ranges
• Enhancing Machine Productivity
– Integrated Safe Torque Off
– Memory Module for Automatic Device Replacement
– Premier integration of Rockwell Automation MP series and TLY series motors and cylinders.
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
9
Kinetix 300 Environmental Specifications
•
•
•
•
•
•
•
RoHS Compliant
Ambient Operating Temperature Range of 0 to 40ºC (de-rate 2.5% per
degree up to 50ºC)
Ambient Storage Temperature Range of -10 to 70ºC
Humidity of 5 - 90% non-condensing
Vibration of 5-2000 Hz @ 2.5g peak, 0.0006 mm (0.015 in.) maximum
displacement
Shock of 15g, 11 ms half-sine
Altitude of 1500m/5000ft [de-rate by 1% per 300m (1000 ft) above
1500m (5000 ft)]
Copyright © 2009
10
Kinetix 300 Product Performance
•
•
•
•
•
•
•
•
•
•
•
Performance Requirements
Acceleration Time Range (Zero to Max Speed)
Deceleration Time Range (Max Speed to Zero)
Speed Regulation (typical with 5000 count encoder)
Power Device Carrier Frequency (sinusoidal commutation)
Servo loop update rate
Velocity loop command update rate
Position loop command update rate
Minimum EtherNet/IP Requested Packet Interval
Registration input capture time (5V inputs)
Registration input capture time (24V inputs)
= 0.1 to 5x106 RPM/sec
= 0.1 to 5x106 RPM/sec
= ± 1 RPM
= 8 kHz
= 125 uSec
= 500 uSec
= 500 uSec
= 10 mSec
= 7 uSec
= 5 uSec
• The EtherNet/IP Requested Packet Interval shall be synchronized to the servo loop such that the
delay between the arrival of new command data and when it is applied is consistent and the delay
between the calculation of feedback and the start of class 1 transmission is consistent.
Copyright © 2009
11
Kinetix 300 Power Ratings
Copyright © 2009
12
Kinetix 300 I/O ratings
(Confidential – For Internal Use Only) Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
13
Kinetix 300 Certifications
• Industry & Regulatory Certification Requirements
• UL Industrial Control Equipment Recognition using UL508C Power Conversion
Equipment
• cUL – UL Listed Industrial Control Equipment for use in Canada
• ODVA EtherNet/IP
• RoHS compliant
• TUV for ISO-13849-1 Safety circuit.
• Country or Geographic Region Certifications or Approvals
• CE. (Low Voltage Directive and EMC) This product shall meet the appropriate
requirements necessary for CE marking.
– IEC 61800-5-1
– EN 61800-3, Category C3 (CISPR 11, Class A, Group 2 or “PDS”) Limits
– EN 55081-2
(Confidential – For Internal Use Only) Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
14
Kinetix 300 EtherNet/IP ODVA Specifications
• Device Profile Type: (0x73) Rockwell Automation Misc
Total CIP Connections Supported:
–
Total Max # of connections: ……………………..10
• Explicit Messaging:
–
–
Originator Maximum Number of Connections: …….0
Target Max. Number of Connections ……………..10
• I/O Messaging:
–
–
–
Originator (Scanner) Max. Number of Connections ……. 0
Target (Adapter) Max. Number of Connections ………….10
Number of connections used by Logix Processor ………..1
• MAC Parameter Configuration:
• Speed:
–
Auto
• Duplex:
–
Auto
• IP Address Configuration:
–
Software
(Confidential – For Internal Use Only) Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
15
Kinetix 300 Dimensions
Cat. No.
A (mm)
B (mm)
C (mm)
D (mm)
2097-V31PR0
68
190.5
185.1
182.4
2097-V31PR2
68.5
190.5
185.1
182.4
2097-V32PR0
68
190.5
229.6
182.4
2097-V32PR2
68.5
190.5
229.6
182.4
2097-V32PR4
86.8
190.5
229.6
182.4
2097-V33PR1
68
190.5
185.1
182.4
2097-V33PR3
68.5
190.5
185.1
182.4
2097-V33PR5
94.4
190.5
185.1
182.4
2097-V33PR6
68
190.5
229.6
182.4
2097-V34PR3
68.5
190.5
185.1
182.4
2097-V34PR5
94.4
190.5
185.1
182.4
2097-V34PR6
68
190.5
229.6
182.4
(Confidential – For Internal Use Only) Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
16
Kinetix 300 Interfaces
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
17
Input and Output Power
Pin
1
2
3
4
P1 Pin Assignments (Input Power)
Standard Models
Doubler Models
Name
Function
Name
Function
PE
Protective Earth (ground)
PE
Protective Earth (ground)
L1
AC Power In
N
AC Power Neutral
L2
AC Power In
L1
AC Power In
L3
AC Power In (3 phase models)
L2/N
AC Power In (non-doubler operation)
Pin
1
2
3
4
Copyright © 2009
Terminal
U
V
W
PE
P7 Pin Assignments (Output Power)
Function
Motor Power Out
Motor Power Out
Motor Power Out
Protective Earth (ground)
18
I/O Connector
Pin
Name
1
2
3
4
5
6
7
8
9
10
11
12
13 – 21
22
23
24
25
26
MA+
MAMB+
MBGND
Description
Pin
27
28
29
30
Master Encoder A+ / Step+ Input
Master Encoder A- / Step- Input
Master Encoder B+ / Direction+ Input
Master Encoder B- / Direction- Input
Drive Logic Common
Unused in the Kinetix 300
BA+
Buffered Encoder Output: Channel A+
BABuffered Encoder Output: Channel ABB+
Buffered Encoder Output: Channel B+
BBBuffered Encoder Output: Channel BBZ+
Buffered Encoder Output: Channel Z+
BZBuffered Encoder Output: Channel ZUnused in the Kinetix 300
ACOM Analog Common
AO
Analog Output
AIN1+ Positive (+) of Analog Signal Input
AIN1Negative (-) of Analog Signal Input
IN_A_COM Digital Input Group ACOM Terminal
IN_A1
IN_A2
IN_A3
IN_A4
Copyright © 2009
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
Digital Input A1
Digital Input A2
Digital Input A3
Digital Input A4
19
Name
Description
IN_B_COM Digital Input Group BCOM Terminal
IN_B1
IN_B2
IN_B3
IN_B4
IN_C_CO
M
IN_C1
IN_C2
IN_C3
IN_C4
RDY+
RDYOUT1-C
OUT1-E
OUT2-C
OUT2-E
OUT3-C
OUT3-E
OUT4-C
OUT5-E
Digital Input B1
Digital Input B2
Digital Input B3
Digital Input B4
Digital Input Group CCOM Terminal
Digital Input C1
Digital Input C2
Digital Input C3
Digital Input C4
Ready Output Collector
Ready Output Emitter
Programmable Output #1 Collector
Programmable Output #1 Emitter
Programmable Output #2 Collector
Programmable Output #2 Emitter
Programmable Output #3 Collector
Programmable Output #3 Emitter
Programmable Output #4 Collector
Programmable Output #4 Emitter
Feedback Connector
Pin
Pin
1
2
3
4
Description
Mnemonic
Motor Sine +
(Stegmann)
MTR_SINE+
Motor Sine (Stegmann)
MTR_SINE Motor Cosine
+ (Stegmann) MTR_COSINE+
Motor Cosine (Stegmann)
MTR_COSINE -
1
2
3
4
5
5
6
7
8
9
10
11
12
13
14
15
Data
Differential
Input/Output +
Encoder
Common
Encoder 9V
Power Output
(460V motors
only)
Unused
Unused
Data
Differential
Input/Output Motor
Thermostat
Unused
Unused
Encoder 5V
Power Output
Unused
6
MTR_DATA+
MTR_ECOMM
7
8
9
MTR_EPWR9V
10
11
MTR_DATAMTR_TS
12
13
MTR_EPWR5V
14
15
Absolute Feedback
Copyright © 2009
Description
A Differential
Input +
A Differential
Input B Differential
Input +
B Differential
Input Index
Differential
Input +
Encoder
Common
Encoder 9V
Power Output
(460V motors
only)
Hall
Commutation
S3 Input
Unused
Index
Differential
Input Motor
Thermostat
Hall
Commutation
S1 Input
Hall
Commutation
S2 Input
Encoder 5V
Power Output
Unused
Mnemonic
MTR_A+
MTR_AMTR_B+
MTR_B-
MTR_I+
MTR_ECOMM
MTR_EPWR9V
MTR_S3
MTR_IMTR_TS
MTR_S1
MTR_S2
MTR_EPWR5V
Incremental Feedback
20
24 VDC Back Up Power Connector
• 2-pin quick-connect terminal block that can be used with an external 24 VDC power
supply to provide “Keep Alive” capability: during a power loss, the logic and
communications will remain active.
– When the enable input remains asserted, the back up circuit shall restart the motor upon
restoration of mains power. If this action is not desired, then disable the enable input prior to reapplication of input power.
Pin
1
4
Name
24 VDC
Return
Function
Positive 24 VDC Input
24V power supply return
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
21
Braking Resistor and DC Bus connector
• 5-pin quick-connect terminal block that can be used with an external braking resistor
(the indexing drive has the regeneration circuitry built-in). The Brake Resistor connects
between the Positive DC Bus (either P6.1 or 2) and P6.3.
Pin
1
2
3
4
5
Name
B+
BBR
BB-
Function
Positive DC Bus / Brake Resistor
Brake Resistor
Negative DC Bus
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
22
Drive based back up memory
• The drive based ADR is done through
the memory module. The memory
module is based on EEPROM
technology, and is good for 1 million
write cycles.
• All configured tags are stored in the
memory memory (when drive is not in
run mode).
• Any tags that get changed during via
Ethernet during runtime are not written
to memory module.
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
23
Keypad
• The Kinetix 300 drive is equipped with a
diagnostic LED display and three push
buttons that are used to select displayed
information and to edit a limited set of
parameter values.
• Parameters can be scrolled by using the
“UP” and “DOWN”
buttons.
• To view a value, press “Enter”
. To
return back to scroll mode press “Enter”
again.
• After pressing the ”Enter” button on editable
parameters, the yellow LED “C” will blink
indicating that parameter value can be
changed. Use “UP” and “DOWN” buttons to
change the value.
• Press “Enter” to store new setting and
return back to scroll mode.
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
24
Status Display Behavior
• By default, if there is no activity on the
input keypad for 30 seconds, the Kinetix
300 drive continuously scrolls the drives’
IP address.
• Upon power up, the display shows its
status: “diS” (disabled) or “run”
(enabled), then after 30 seconds, the
drive shall alternately scroll the drives’ IP
address along with its status.
• If the Kinetix 300 is faulted, the drive
displays the fault code (non-scrolling).
Then after 30 seconds, the drive shall
alternately scroll the drives’ IP address
along with its fault code.
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
25
Status Display Information
Copyright © 2009
26
Display LEDs
Copyright © 2009
27
Safe Off
• The Kinetix 300 has an ISO 13849-1
Safety Category 3 Performance Level d,
compliant safety circuit.
• Safety functionality is implemented to
allow the drive output to the motor to be
disabled so that the drive cannot
generate torque in the motor.
• 6-pin quick-connect terminal block for
the safety function interface.
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
28
Safety Interface wiring
Safety Connection with
External Power
Connecting an Indicator to
the Safety Status Output
Copyright © 2009
30
Analog Inputs
•
Analog Reference Input
–
–
–
–
The analog reference input shall accept up to a ±10V analog signal across AIN1+
and AIN1-.
The analog signal will be converted to a digital value with 13 bit resolution (12 bit
plus sign).
If used in single-ended mode, one of the inputs must be connected to a voltage
source while the other one must be connected to Analog Common (ACOM).
If used in differential mode, the voltage source is connected across AIN1+ and
AIN1- and the driving circuit common (if any) needs to be connected to the drive
Analog Common (ACOM) terminal.
Copyright © 2009
31
Analog Output
•
Analog Output
–
–
–
–
–
–
–
–
–
–
•
The analog output is a single-ended signal (with reference to Analog Common
(ACOM)) which can represent the following motor data:
Not Assigned
RMS Phase Current
RMS Peak Current
Motor Velocity
Phase Current R
Phase Current S
Phase Current T
Iq Current
Id Current
The analog output resolution is 10 bit, and supplies a maximum of 10
mA from -10 to +10 VDC
Copyright © 2009
32
Digital Inputs
•
•
The Kinetix 300 shall have twelve digital inputs that can be utilized by the drive.
Example uses includes travel limit switches, proximity sensors, push buttons and
hand shaking with other devices. Each input can be assigned an individual debounce time via tags.
Some inputs can have additional special functionality such as Travel Limit switch,
Enable input, Homing, and Registration input and can only be used on certain
digital inputs as shown below:
Input
Special Function
A1
Negative Limit Switch
A2
Positive Limit Switch
A3
Inhibit/Enable Input
A4
Not Assigned
B1
Not Assigned
B2
Not Assigned
B3
Not Assigned
B4
Not Assigned
C1
Not Assigned
C2
Not Assigned
C3
Registration
C4
Not Assigned
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
33
Digital Inputs
• The inputs listed as Not Assigned are
configurable to be any of the following
inputs:
–
–
–
–
–
–
Abort Homing
Start Homing
Home Sensor
Start Index
Abort Index
Reset Faults
• The digital inputs are optically isolated
and will source/sink up to 24 VDC.
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
34
Digital Outputs
•
Digital Outputs
–
•
•
There are a total of five digital outputs (“OUT1” - “OUT4” and “RDY”) available on the
Kinetix 300. Outputs are open collector/emitter and are fully isolated from the rest of the
drive circuits. These outputs can be used as Special Purpose, each output (OUT1-OUT4)
can be assigned to one of the following functions:
• Not assigned
• Zero speed
• In-speed window
• Current limit
• Run-time fault
• Ready
• Brake (motor brake release)
The “RDY” Output has a fixed function that will become active when the drive is
enabled and the output power transistors become energized.
The digital outputs are optically isolated open collector/emitter circuits with a
maximum output of 30 VDC and 100 mA,
Copyright © 2009
35
Homing
•
•
The Kinetix 300 supports predefined (firmware based) homing
functionality.
Absolute, Immediate, and Home to Switch/Marker
–
–
–
–
When the Kinetix 300 has been homed it asserts the Homed bit in the EtherNet/IP
Output Assembly.
If the Kinetix 300 has not been homed, any absolute position moves will generate
a fault. Incremental position moves are allowed.
Absolute homing is the only method that persist power cycles of the Kinetix 300.
The absolute position information within the drive (if absolute homed) will be
cleared and the Homed bit cleared if any of the following events occur:
• A change of motor encoder is detected.
• A feedback related fault has occurred.
• The Tamagawa battery is disconnected or a battery error is reported if
Tamagawa encoder used.
Copyright © 2009
36
Homing
• Besides Absolute and Immediate Homing, the Kinetix 300 implements a subset of the
CANOpen homing methods for Home to switch/marker.
– There is a total of 14 methods specified:
Number
Home Method
Direction
Homing Type
Home Sensor
Polarity
7
Switch-Marker
Forward
Bi-directional
Active/Rising
8
Switch-Marker
Forward
Uni-directional
Active/Rising
9
Switch-Marker
Forward
Bi-directional
Inactive/Falling
10
Switch-Marker
Forward
Uni-directional
Inactive/Falling
11
Switch-Marker
Reverse
Bi-directional
Active/Rising
12
Switch-Marker
Reverse
Uni-directional
Active/Rising
13
Switch-Marker
Reverse
Bi-directional
Inactive/Falling
14
Switch-Marker
Reverse
Uni-directional
Inactive/Falling
23
Switch-Fast
Forward
Home to sensor
Active/Rising
25
Switch-Slow
Forward
Home to sensor
Inactive/Falling
27
Switch-Slow
Reverse
Home to sensor
Inactive/Falling
29
Switch-Fast
Reverse
Home to sensor
Active/Rising
33
Marker
Reverse
Home to marker
N/A
34
Marker
Forward
Home to marker
N/A
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
37
Kinetix 300 Motor Support
• Premiere support for TL-Series and MPSeries based motors, electric cylinders,
and MP-Series stages.
– Absolute Feedback devices
• Smart motor recognition “Plug and
Play”
• Auto-populate gains
– Incremental Feedback Devices
• Select motor from Web-based
Interface
• Custom motor profile built into drive
– If the motor is not in the database, it can
still be used, but some electrical and
mechanical data must be provided to
create a custom motor profile.
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
38
Operating modes
•
•
•
•
•
Master Gearing
Step and Direction
Analog Input (Velocity or Current)
EtherNet/IP External Reference
Indexing
Copyright © 2009
39
Master Gearing
• When the Kinetix 300 is in Master Gearing mode the drive shall command the
motor to a position geared to the master encoder A-quad-B signals in the
digital input I/O connection. The gearing is scaled by a fixed ratio.
Encoder Input
Buffered Encoder
Output
Master
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
Slave
40
Step and Direction
• When the Kinetix 300 is in Step and Direction mode the drive shall command the motor to
a position geared to the step and direction signals in the digital input I/O connection.
These commands are scaled by a fixed ratio.
– A step and direction pair of signals can be connected to the Kinetix 300 to control position in
the external positioning operating mode. These inputs are optically isolated from the rest of the
drive circuits and from each other.
– Both inputs can operate from any voltage source in the range of 5 to 24 VDC and do not
require additional series resistors for normal operation.
Input Parameter
Input type/ output compatibility
Description
Insulated, compatible with differential inputs (5-24 VDC)
Max frequency (per input)
2 MHz
Min pulse width (negative or positive)
500nS
Input impedance
700 Ω (approx)
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
41
Analog Input Mode
• When the Kinetix 300 is in Analog Velocity Input mode the drive
commands the motor to a velocity or current.
– This can be the actual voltage on the analog inputs or a tag value within the drive.
– This reference (internal or external) is programmable. A separate configured offset
may be applied to the velocity command.
– Bipolar and uni-polar mode support.
– For uni-polar voltage level applications the direction input normally used for the Step
and Direction inputs may be to set the direction of the analog velocity.
– If the direction signal is asserted the same velocity shall be applied in the reverse
direction.
Copyright © 2009
42
EtherNet/IP External Reference
•
When the Kinetix 300 is in EtherNet/IP External Reference mode the
drive commands the motor to a current, velocity or position value
based on the reference value in the EtherNet/IP Output Assembly
object.
–
–
–
The external positioning is capable of supporting incremental, absolute, incremental
registration, and absolute registration.
Incremental registration commands the motor to move an incremental distance and if the
registration input is asserted in process of that move the motor will move an additional
displacement beyond the registration position.
Absolute registration commands the motor to move to an absolute position and if the
registration input is asserted in process of that move the motor will move an additional
distance beyond the registration position.
Commanded
Value
Velocity
Registration
Velocity or
Current
Copyright © 2009
Registration
Distance
Position
43
Ethernet/IP Output Assembly Object
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
44
Ethernet/IP Input Assembly Object
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
45
Using Logix AOIs
• For Customers who are familiar with Logix Integrated Motion Programming….
– Rockwell will be developing a set of AOIs that correlate to the existing Logix Integrated
Motion commands, so you can control the drive similar to other Kinetix family servos.
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
46
Indexing
• When the Kinetix 300 is in indexing mode the drive performs the required index based
position move according to the following parameters:
–
–
–
–
–
–
–
–
–
–
Type (absolute, incremental, registration or blended incremental)
Move Type (S-Curve or Trapezoidal)
Distance (how far to move)
Batch Count (how many times to execute index before moving on to next index)
Dwell (milliseconds to remain at position before moving on to next index)
Velocity (speed when moving towards new position)
Acceleration (how quickly towards configured velocity)
Deceleration (how quickly towards zero velocity from configured velocity)
Next Index (next index to execute if any)
Action When Complete
• The Kinetix 300 begins executing indexes based on either a command received over
the EtherNet/IP connection or immediately upon assertion of the hardware enable
signal.
Copyright © 2009
47
Indexing Modes Supported
Index 1
Index 2
Index 3
Index 4
Velocity
Velocity
Registration
Registration
Distance
Position
Position
Registration action
Velocity
Blended Incremental action
Position
Stop and hold action
Dwell Time
Velocity
Velocity
‘Start Index’ command
Index 1
Index 2
Index 2
Position
Position
Wait for Start Command action
Copyright © 2009
Index 1
Wait time action
48
Kinetix 300 component solution
Solution
Micrologix 1400, Kinetix 300, TLY motor and PanelView Component
and Stratix switch
Ethernet/IP
Features
•Power – 400W to 3kW
•Voltage – 120/230/460V
•Network – EtherNet/IP Class 3 Messaging
•Control – PTO, Indexing, Analog, or EtherNet/IP
•Safety – Safe Off
•Motor – TLY series
•Feedback – 17 bit abs
•Configuration – RSLogix 500, Kinetix 300 web browser
•Tuning – Auto tuning
Copyright © 2009
49
Kinetix 300 Architecture solution
Solution
CompactLogix L2x, Kinetix 300, MPL motor and PanelView Plus Compact
and Stratix switch
Ethernet/IP
Features
•Power – 400W to 3kW
•Voltage – 120/230/460V
•Network – EtherNet/IP Class 1 Messaging
•Control – EtherNet/IP, Indexing
•Safety – Safe Off
•Motor – MPL series
•Feedback – High Resolution
•Configuration
•RSLogix 5000 with Add-On-Profile
•Kinetix 300 web browser
•Tuning – Auto tuning
Copyright © 2009
50
Leveraging EtherNet/IP
Kinetix 300 is the simple motion
solution for EtherNet/IP based
systems
• Leverage EtherNet/IP for:
• Seamless Integration of products
• Easily re-use and migrate projects
• Link plant floor to enterprise systems
• Integrate control and
information infrastructures
• Simple diagnostics and monitoring
• Ease of Configuration
• Simplify maintenance
• Leverage tools
• HMI Faceplates
• Logix Add On Instructions
PanelView Plus
Compact
CompactLogix L23
Stratix
Point I/O
Kinetix 300
Servo Drive
(Indexing
Position &
Velocity
control)
PowerFlex
4 AC Drive
(Confidential – For Copyright
Internal Use
© 2008
Only)Rockwell
CopyrightAutomation,
© 2008
2007 Rockwell
Inc. AllAutomation,
rights reserved.
Inc. All rights reserved.
51
Sale Opportunities – Customer Profiles
• Profile 1: Current customers using Allen-Bradley for high axis machines but using a
competitor’s solution on their low axis machines.
– Point out that we can now be competitive on low axis motion applications and there is a documented savings associated
with using a single supplier.
• Profile 2: Current customers using Allen-Bradley for some automation but using a
competitor’s motion solution because customer has standardized on Ethernet/IP.
– Point out that with the Kinetix 300, we now have the single network solution for their motion applications that they have
been looking for. Also there is a documented savings associated with using a single supplier.
• Profile 3: Customers building primarily low axis machines who like the idea of working
with Rockwell Automation but use a competitor’s solution because they think we can’t be
cost competitive with motion control.
– Tell them about this product and explain the benefits of the Kinetix 300 in a low axis solution.
• Profile 4: Customers with whom we currently don’t have a relationship.
– These customers may have dismissed using Rockwell Automation in the past because they perceived that our prices
were too high.
– This is an excellent opportunity for them to purchase a premier product from a single vendor at a very competitive price.
(Confidential – For Internal Use Only) Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
52
Sale Opportunities – Target Markets
• Low Complexity application spaces
– Intermittent or slower speed machines.
– Loose coordination of axes or drive to drive gearing.
– Analog, PTO, Indexing, or Ethernet/IP control
• Emerging Compact Machine Solution
– Network connected, simple moves, OEM uses RSLogix 5000, lower speed
applications, may require higher power servos.
• Component Compact Machine Solution
– MicroLogix 1400 based, non-coordinated, simple independent moves. OEM does
not use RSLogix 5000, lower power applications.
(Confidential – For Internal Use Only) Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
53
Sale Opportunities – Target Applications
• Target Applications
–
–
–
–
–
–
–
–
–
–
–
–
–
Indexing tables
Automatic Assembly Machines
Tool Changing machinery
Intermittent Vertical Form Fill and Seal Equipment
Intermittent Horizontal Form Fill and Seal Equipment
Laboratory Automation Equipment
Simple Sleevers
Intermittent Shrink Wrappers
Simple case packers and erectors
Medical technology applications
Light Manufacturing Systems
Solar Panel Tracking Equipment
Feed and Withdrawal Equipment
(Confidential – For Internal Use Only) Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
54
Sale Opportunities – Targets
• Current OEMs who buy motion solutions from Rockwell Automation and:
–
–
–
–
are currently standardized or considering standardizing on Ethernet/IP for control.
are looking to replace Ultra 3000 DeviceNet-based Indexing drives.
are developing simpler, low cost machines as part of their machine portfolio
that customize large machines by incorporating additional non-coordinated axes of motion for
feed and withdrawal equipment.
• OEMs that bought more than $25K over the past 3 years, did not buy Rockwell Automation
motion, and bought CompactLogix L2’s and/or L3’s and/or MicroLogix 1400.
• OEMs who are using EtherNet/IP for machine control but not motion control.
– Target current customers that buy Powerflex 4 and PowerFlex 70 with EtherNet/IP or
currently buying w Stratix 2000 and 6000 Ethernet switches.
• OEMs using competitive solutions (Yaskawa, Emerson, Mitsubishi) that may value the
advantages of an Integrated, Ethernet/IP-based motion solution.
(Confidential – For Internal Use Only) Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
55
Kinetix 300 Catalog Nomenclature
2097 – V31 PR2 XX
Options (future)
PR0 = 400 W (V31 and V32 models only)
PR1 = 500 W (V33 model only)
PR2 = 800 W (V31 and V32 models only)
PR3 = 1.0 kW (V33 and V34 models only)
PR4 = 1.7 kW (V32 model only)
PR5 = 2.0 kW (V33 and V34 models only)
PR6 = 3.0 kW (V33 and V34 models only)
V31 = 120/230VAC 1Φ
V32 = 230VAC 1Φ w/ integrated EMC filter
V33 = 230VAC 1Φ or 3 Φ
V34 = 460VAC 3Φ
(Confidential – For Internal Use Only) Copyright © 2008 Rockwell Automation, Inc. All rights reserved.
56
Kinetix 300 Models
Power
[kW]
RA Catalog Number
Description
2097-V31PR0
1Φ, 2A, 120/240V, No Filter (120VAC input can drive 240V
motor at full speed)
0.4
2097-V31PR2
1Φ, 4A, 120/240V, No Filter (120VAC input can drive 240V
motor at full speed)
0.8
2097-V32PR0
1Φ, 2A, 240V, Integral Filter
0.4
2097-V32PR2
1Φ, 4A, 240V, Integral Filter
0.8
2097-V32PR4
1Φ, 8A, 240V, Integral Filter
1.7
2097-V33PR1
1Φ 3Φ, 2A, 240V, No Filter
0.5
2097-V33PR3
1Φ 3Φ, 4A, 240V, No Filter
1.0
2097-V33PR5
1Φ 3Φ, 8A, 240V, No Filter
2.0
2097-V33PR6
1Φ 3Φ, 12A, 240V, No Filter
3.0
2097-V34PR3
3Φ, 2A, 480V, No Filter
1.0
2097-V34PR5
3Φ, 4A, 480V, No Filter
2.0
2097-V34PR6
3Φ, 6A, 480V, No Filter
3.0
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
57
Kinetix 300 Configuration
•
Smart Motor recognition for RA motors
•
•
•
•
Sizing in Motion Analyzer
•
•
Product Selection
Access I/O assembly Instances
V17 and V18 compatible
RSLogix 5000 Add On Instructions
•
•
Supported in Version 4.8
RSLogix 5000 Add On Profile
•
•
•
•
Plug and Play operation
Automatic population of gains
Auto and manual tuning if required
Logix Motion Commands
Additional Web-based Interface
•
Tools and configuration
Copyright © 2009
58
Kinetix 300 Configuration
RSLogix5000
Web Based
Motor
Selection
No
Yes
Tuning
No
Yes
Firmware
upgrade
No
Yes
O-Scope
No
Yes
Homing
User program
Yes
Configuration
User program
Yes
(Confidential – For Internal Use Only)
59
Kinetix 300 Web Configuration
Copyright © 2009
60
Kinetix 300 Web-based Configuration
Common Configuration Environment (Web Browser – Requires
Java 1.4 or higher installed on Computer)
Smart Motor Recognition (MP and TLY motors) Absolute feedback motors.
Select incremental motors. 3rd party motor database. Pre population of gains.
Ability to add motors into database.
Auto Tuning
Mode selection and tag population (Analog, Gearing, Step/Direction, Indexing)
Drive Information (hardware and firmware revision, ID, etc)
EtherNet/IP Parameters (IP address, mode, multi cast, data links)
I/O (Digital and analog assignments, debounce, scaling)
Limits (Velocity and Position Limits)
Fault History (time stamped, last 16 faults)
Tools (Configurable Oscilloscope, Tag monitoring, I/O monitoring, Homing)
Save and load configuration files from PC
Print out all drive configured settings
Upgrade drive firmware
Configure all drives that are on the network.
(Confidential – For Internal Use Only) Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
61
Kinetix 300 Motor Configuration
• Premiere support for TL-Series and MPSeries based motors, electric cylinders,
and MP-Series stages.
– Absolute Feedback devices
• Smart motor recognition “Plug and
Play”
• Auto-populate gains
– Incremental Feedback Devices
• Select motor from Web-based
Interface
• Custom motor profile built into drive
– If the motor is not in the database, it can
still be used, but some electrical and
mechanical data must be provided to
create a custom motor profile.
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
62
Kinetix 300 Required Accessories
• Motor Cables
• Feedback Cables
– Feedback support aligned with Kinetix 2000.
• The Kinetix 2000 feedback connector kit (2090-K2CK-D15M) is used in the
Kinetix 300.
• Use Kinetix 2000 feedback cables for Kinetix 300.
– The Kinetix 300 supports feedback cables of up to 20 meters
• Power cables
– Kinetix 300 uses existing Kinetix “flying lead” Motor power cables
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
63
Kinetix 300 Required Accessories
• Kinetix 2000 Feedback Connector and TL Battery
– Catalog Numbers 2090-K2CK-D15M, 2090-DA-BAT2
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
64
Kinetix 300 Required Accessories
• I/O Breakout board, Catalog number 2097-TB1
– Increases width of drive by xx mm.
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
65
Kinetix 300 Optional Accessories
• Motor Brake Module
• I/O Expansion Cable
• Side Mount EMI Filters
• Footprint Mount EMI Filter
• Shunt Resistors
• Memory Module 12 pack
• Memory Module Programmer
• Spare Connector Set
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
66
Kinetix 300 Optional Accessories
• Motor Brake Module 2097-MBM
–
–
–
–
–
Used to control Braking
Requires External 24VDC 1.2A power supply
Uses Digital Output #2
Increases mounting width
Must use with 2097-CBL1
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
Motor Brake
Module
67
Kinetix 300 Optional Accessories
• I/O Expansion Cable 2097-CBL1
– Clip On Design
– 2 meter length. Flying leads. Color Coded wiring.
– Must use the motor brake module (2097-MBM)
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
68
Kinetix 300 Optional Accessories
•
•
•
•
•
•
Shunt Resistors
2097-R2
2097-R3
2097-R4
2097-R6
2097-R7
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
69
Kinetix 300 Optional Accessories
• Recommended % of Regenerative Dump (RD) into resistor
– RDapplication is the application duty cycle in percent. For the intermittent
regeneration applications, use RDapplication = t/T.
– Where t is the duration when regeneration is needed and T is the time interval
between two regenerations. Both t and T must use the same time unit, e.g., seconds
Catalog Number
Brake
Resistor
Max RD_application
2097-V31PR0
2097-R4
2097-V31PR2
2097-R4
2097-V32PR0
2097-R4
2097-V32PR2
2097-R4
2097-V32PR4
2097-R2
2097-V33PR1
2097-R4
2097-V33PR3
2097-R4
2097-V33PR5
2097-R2
2097-V33PR6
2097-R3
2097-V34PR3
2097-R7
2097-V34PR5
2097-R6
2097-V34PR6
2097-R6
2.10%
2.10%
2.10%
2.10%
1.97%
2.10%
2.10%
1.97%
2.96%
2.02%
1.90%
1.90%
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
70
Kinetix 300 Optional Accessories
• 2097-F1 and 2097-F2 AC line
filters are mounted to the right
side of the drive.
– Increase the width of drive
• 2097-F4, 2097-F5, and 2097-F6
AC line filters are mounted to the
back of the drive.
– Increase the depth of the drive
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
71
Kinetix 300 Optional Accessories
• Line filter Combinations
Catalog Number
Description
EMI Filter
2097-V31PR0
Kinetix 300, 2A, 120/240V, No Filter
2097-F4
2097-V31PR2
Kinetix 300, 4A, 120/240V, No Filter
2097-F5
2097-V32PR0
Kinetix 300, 2A, 240V, Integrated Filter
N/A
2097-V32PR2
Kinetix 300, 4A, 240V, Integrated Filter
N/A
2097-V32PR4
Kinetix 300, 8A, 240V, Integrated Filter
N/A
2097-V33PR1
Kinetix 300, 2A, 240V, No Filter
2097-F4
2097-V33PR3
Kinetix 300, 4A, 240V, No Filter
2097-F5
2097-V33PR5
Kinetix 300, 8A, 240V, No Filter
2097-F6
2097-V33PR6
Kinetix 300, 12A, 240V, No Filter
2097-F1
2097-V34PR3
Kinetix 300, 2A, 480V, No Filter
2097-F4
2097-V34PR5
Kinetix 300, 4A, 480V, No Filter
2097-F5
2097-V34PR6
Kinetix 300, 6A, 480V, No Filter
2097-F2
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
72
Kinetix 300 Accessories
• Memory Module 12 pack
– 2097-MEM
– For customers who need to have
backup/spare memory modules
• Memory Module Programmer
– 2097-PGMR
– Allows customer to duplicate
memory modules
• Spare Connector Set
– 2097-CONN1, contains a set of all
connectors used on all drives
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
73
(Confidential – For Internal Use Only)
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
74