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Allen-Bradley Kinetix 350 Manuals
Manuals and User Guides for Allen-Bradley Kinetix 350. We have
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Allen-Bradley Kinetix 350 manuals available for free PDF download: Reference Manual, User Manual
Allen-Bradley Kinetix 350 Reference Manual (497 pages)
Integrated Motion on the EtherNet/IP Network
Brand:
Allen-Bradley
| Category:
Industrial Electrical
| Size: 12.35 MB
Table of Contents
Table of Contents
5
Additional Resources
11
Preface
11
Legal Notices
12
Integrated Motion on the Ethernet/Ip Network
15
Integrated Motion Axis Control Modes and Methods
16
Control Modes
16
Position Control Mode
17
Velocity Control Mode
18
Torque Control Mode
20
No Control Mode
21
Control Methods
21
Motion Instruction Compatibility
22
Chapter 1
15
Chapter 2 Acceleration Control Behavior
25
Acceleration Limiter
26
Load Observer
27
Command Generation Behavior
28
Command Data Sources
29
Command Fine Interpolation
30
Command Ramp Generator
33
Feedforward Signal Selection
34
Command Notch Filter
35
Current Control Behavior
35
Current Vector Limiter
36
Voltage Output
37
Current Feedback
37
Motor Commutation
38
Event Capture Behavior
38
Event Input Sources
39
Event Latches
40
Event Time Stamps
40
Fault and Alarm Behavior
41
Exceptions
41
Exceptions on
41
Rockwell Automation Publication MOTION-RM003I-EN-P - February
42
Absolute Position Recovery
43
Absolute Position Loss Without APR Faults
44
APR Fault Conditions
44
APR Fault Generation
45
APR Fault Examples
47
APR Recovery Scenarios
48
Reset an APR Fault
50
Motion Control Axis Behavior Model
51
Active Control Axis Behavior Model
52
Feedback Only Axis Behavior Model
54
CIP Motion Converter Axis Behavior Model
56
Motor Attributes Model
57
Position Control Behavior
58
Position Feedback Selection
59
Position PI Gains
60
Velocity Feedforward
60
Position Loop Output Filters
61
State Behavior
61
Torque Control Behavior
71
Torque Input Sources
72
Inertia Compensation
73
Friction Compensation
75
Torque Filters
77
Torque Limiter
78
Torque to Current Scaling
78
Velocity Control Behavior
79
Closed Loop Velocity Control
80
Open Loop Frequency Control
83
Chapter 3
87
Interpret the Attribute Tables
87
Chapter 3
89
Attribute Units
90
Device Function Codes
91
Tables CIP Data Types
91
Required Vs. Optional Axis Attributes
93
Identify Motion Axis Attributes Based on Device Function Codes
95
Attribute Conversion from SERCOS to Integrated Motion on the Ethernet/Ip Network
111
Drive Supported Optional Attributes
114
Kinetix 350 Drive Module Optional Attributes
116
Kinetix 5500 Hardwired STO Drive Module Optional Attributes
122
Kinetix 5500 Integrated STO Drive Module Optional Attributes
130
Kinetix 5700 Safety Drive Module Optional Attributes
138
Kinetix 5700 Advanced Safety Drive Module Optional Attributes
147
Kinetix 6500 Drive Module Optional Attributes
155
Powerflex 527 Axis Instance Optional Attributes
161
Powerflex 755 Standard Drive Module Optional Attributes
168
Powerflex 755 Safety Drive Module Optional Attributes
174
MSG Instruction Access Only Attributes
181
Rockwell Automation Publication MOTION-RM003I-EN-P - February
182
Acceleration Control Attributes on
185
APR Fault Attributes on
186
Chapter 4 Control Mode Attributes ....................................................................................................
187
Acceleration Control Attributes
187
DC Bus Control Attributes on
187
Acceleration Control Configuration Attributes
189
Command Reference Generation Attributes
191
Command Generator Configuration Attributes
191
Command Generator Signal Attributes
195
Current Control Configuration Attributes
196
Current Control Signal Attributes
201
Frequency Control Configuration Attributes
204
Frequency Control Signal Attribute
206
Position Loop Signal Attributes
206
Position Loop Configuration Attributes
208
Torque/Force Control Configuration Attributes
211
Torque/Force Control Signal Attributes
220
Velocity Loop Configuration Attributes
221
Velocity Loop Signal Attributes
228
CIP Axis Attributes
187
Data Attributes
233
Axis Info Attributes
234
Axis Statistical Attributes
235
CIP Axis Status Attributes
236
Event Capture Attributes
247
Drive Attributes
249
Drive General Purpose I/O Attributes
249
Drive Output Attributes
251
Power and Thermal Management Configuration Attributes
252
Power and Thermal Management Status Attributes
254
Drive Commissioning and Tuning Attributes
257
Auto-Tune Configuration Attributes
258
Hookup Test Configuration Attributes
266
Hookup Test Result Attributes
267
Inertia Test Configuration Attributes
269
Inertia Test Result Attributes
272
Motor Test Result Attributes
275
Faults and Alarms Attributes
279
APR Fault Attributes
279
Axis Exception Action Configuration Attributes
281
Axis Exception Action
283
Configuration Fault Attributes
287
CIP Error Codes
287
Exception Factory Limit Info Attributes
290
Exception User Limit Configuration Attributes
292
Exception, Fault and Alarm Attributes
293
Initialization Faults Attributes
295
Standard Initialization Faults
296
Rockwell Automation Specific Initialization Faults
296
Module/Node Fault and Alarm Attributes
297
Feedback Attributes
302
Feedback Interface Types
302
Feedback Configuration Attributes
304
General Feedback Info Attributes
316
General Feedback Signal Attributes
316
Motion Control Attributes
317
Motion Control Configuration Attributes
317
Motion Control Interface Attributes
323
Motion Control Signal Attributes
330
Motion Control Status Attributes
341
Motion Database Storage Attributes
352
Motion Dynamic Configuration Attributes
354
Motion Homing Configuration Attributes
357
Motion Planner Configuration Attributes
367
Motion Planner Output Attributes
374
Motion Scaling Attributes
375
Motion Resolution Value Examples
386
Motor Attributes
388
General Linear Motor Attributes
388
General Motor Attributes
389
General Permanent Magnet Motor Attributes
396
General Rotary Motor Attributes
399
Induction Motor Attributes
401
Linear PM Motor Attributes
404
Interior Permanent Magnet Motor Attributes
406
Load Transmission and Actuator Attributes
409
Rotary PM Motor Attributes
412
Safety Attributes
414
Axis Safety Status Attributes
414
Guard Safety Attributes
425
Guard Safety Status Attributes
426
Stopping and Braking Attributes
431
Stopping Sequences
445
Proving Operational Sequences
448
DC Bus Control Attributes
451
Start Inhibits Attributes
453
Standard Start Inhibits
454
Rockwell Automation Specific Start Inhibits
455
Exceptions
456
Standard Exceptions
456
Standard CIP Axis Fault and Alarm Names
461
Rockwell Automation Specific Exceptions
465
Rockwell Automation Specific CIP Axis Fault Names
467
Rockwell Automation Specific CIP Axis Alarm Names
468
Rockwell Automation Publication MOTION-RM003I-EN-P - February
469
Module Configuration Attributes
472
Chapter 5 Module Configuration Block Attributes ........................................................................ 471
473
Module Class Attributes
473
Module Axis Attributes
474
Module Feedback Port Attributes
489
Module Timing Attributes
490
Module Support Attributes
492
Index
495
Allen-Bradley Kinetix 350 User Manual (354 pages)
Integrated Motion on the EtherNet/IP Network, Configuration and Startup
Brand:
Allen-Bradley
| Category:
Controller
| Size: 13.01 MB
Table of Contents
Table of Contents
3
Additional Resources
9
Preface
9
Summary of Changes
9
Chapter 1
11
Controller, Communication, Drive, and Software Options
11
Module Options
11
Integrated Motion on Ethernet/Ip Drives
13
Software Options
13
Options for Powerflex 755 Drives
16
Configuration and Startup Scenarios
18
Help for Selecting Drives and Motors
20
Create a Controller Project
21
Configure Integrated Motion Control Using Kinetix Drives
21
Chapter 2
24
Set Time Synchronization
24
Add an Ethernet Communication Module
26
Network
27
Network
28
Network
29
Network
31
Add a Kinetix Ethernet/Ip Drive
32
Chapter 3
36
Configure the Safety Category - Kinetix 5500 Drives
36
Configure the Power Options
37
Configure Digital Inputs
39
Create an Associated Axis
40
Create an Axis for a Kinetix Drive
40
Establish Feedback Port Assignments
41
Create a Motion Group
42
Set the Base Update Period
44
Configure the Axis Properties
46
Configure the Associated Axis and Control Mode
47
Specify the Motor Data Source
50
Choose the Catalog Number as the Motor Data Source
51
Choose Nameplate as the Motor Data Source
52
Choose Motor NV as the Motor Data Source
53
Assign Motor Feedback
54
Display Motor Model Information
54
Configure the Load Feedback
55
Configure Feedback Only Axis Properties
57
Configure Integrated Motion Control Using Kinetix 5700 Drives
59
Configure the Master Feedback
57
Chapter 4 Ethernet/Ip Drive
60
Configure the DC-Bus Power Supply and Associate an Axis
60
Configure the Regenerative Bus Supply
64
Continue Inverter Configuration
69
Configure the Inverter Drives
72
Create an Associated Axis and Establish Feedback Assignments for an Inverter Drive
80
Create a Motion Group
83
Set the Base Update Period
84
Configure the Axis Properties
86
Configure the Associated Axis and Control Mode
88
Specify the Motor Data Source
91
Choose the Catalog Number as the Motor Data Source
91
Choose Nameplate as the Motor Data Source
93
Choose Motor NV as the Motor Data Source
94
Assign Motor Feedback
95
Display Motor Model Information
95
Configure the Load Feedback
97
Configure the Master Feedback
98
Add a Powerflex 755 Drive
99
Configure Integrated Motion Using a Powerflex 755 Drive
99
Chapter 5
101
Select a Peripheral Feedback Device and Slot Assignment
101
Select an I/O Device
102
Assign a Power Structure
104
Configure Power Options
106
Configure Digital Inputs
107
Configure Digital Outputs
108
Create an Associated Axis
109
Create an Axis for a Powerflex 755 Drive
109
Establish Feedback Port Assignments
110
Create a Motion Group
111
Set the Base Update Period
112
Configure the Axis Properties
115
Configure the Associated Axis and Control Mode
116
Specify the Motor Data Source
119
Choose Catalog Number as the Motor Data Source
119
Choose Nameplate as the Motor Data Source
121
Choose Drive NV as the Motor Data Source
122
Display Motor Model Information
123
Assign Motor Feedback
125
Rockwell Automation Publication MOTION-UM003K-EN-P - January
126
Configure Integrated Motion Using a Powerflex 527 Drive
129
Add a Powerflex 527 Drive
130
Chapter 6
130
Set the Network Configuration
130
Configure the Powerflex 527 Drive
132
Configure the Drive with Hard-Wired Safety Connections
132
Configure the Drive with Integrated Safety Connections
134
Configure Power Options
137
Configure Digital Inputs
138
Create an Axis for a Powerflex 527 Drive
138
Create the Motion Group
139
Configure the Axis Properties
140
Configure the Associated Axis and Control Mode
142
Chapter 7 About Axis Scheduling
146
Timing Model
147
One Cycle Timing
148
Two Cycle Timing
149
Axis Scheduling Configuration
150
Configure the Update Periods
151
Motion Utilization
158
Example 1: Position Loop with Motor Feedback Only
159
Chapter 8
163
Example 2: Position Loop with Dual Feedback
163
Example 3: Feedback Only
167
Example 4: Kinetix 5500 Drive, Velocity Loop with Motor Feedback
172
With Motor Feedback
176
Example 5: Kinetix 350 Drive, Position Loop with Motor Feedback
176
With no Feedback
180
Example 6: Kinetix 5700 Drive, Frequency Control with no Feedback
180
Example 7: 842E-CM Integrated Motion Encoder with Master Feedback
183
Chapter 9
188
UFB Feedback Device
188
Example 1: Position Loop with Motor Feedback Via a UFB Feedback Device
188
Example 2: Position Loop with Dual Motor Feedback Via a UFB Feedback Device
191
Example 3: Velocity Loop with Motor Feedback Via a UFB Feedback Device
196
UFB Feedback Device
196
Example 4: Velocity Loop with no Feedback
199
Example 5: Frequency Control with no Feedback
202
Example 6: Torque Loop with Feedback
206
This Chapter Provides Example Axis Configurations When Using a
209
Example 1: Frequency Control with no Feedback
210
Chapter 10 Example 2: Velocity Control with Motor Feedback
214
The Powerflex 527 Drive Example 2: Velocity Control with Motor Feedback
214
Example 3: Position Control with Motor Feedback
217
Chapter 11 Commission an Axis Scaling
222
Direct Coupled Rotary
223
Direct Coupled Linear
224
Rotary Transmission
224
Linear Actuator
225
Changing Scaling Factors
225
Scaling
222
Hookup Tests
226
Run a Motor and Feedback Test
228
Run a Motor Feedback Test
230
Run a Marker Test
230
Applying the Commutation Hookup Test
232
Unknown Commutation Offset
232
Verification of Known Commutation Offset
233
Non-Standard or Incorrect Wiring
233
Run a Commutation Test
234
Autotune
235
Polarity
235
Load
239
Load Observer
241
Benefits of Load Observer
241
How Load Observer Functions
241
Load Observer Configuration
242
Adaptive Tuning
243
Benefits of Adaptive Tuning
244
How Adaptive Tuning Functions
244
Adaptive Tuning Configuration
245
Status Bits
248
Load Ratio Data from Motion Analyzer
249
Test an Axis with Motion Direct Commands
249
Access Motion Direct Commands for an Axis or Group
250
Motion Direct Commands
252
Rockwell Automation Publication MOTION-UM003K-EN-P - January
253
Chapter 12 Guidelines for Homing
256
Active Homing
256
Passive Homing
257
Homing
256
Examples
258
Active Homing
258
Passive Homing
261
Absolute Position Recovery (APR)
262
APR Terminology
262
Controllers
262
Absolute Feedback Device
263
SERCOS Versus Integrated Motion on Ethernet Networks
263
APR Scenarios
264
APR Faults
269
APR Fault Conditions
269
APR Fault Generation
270
Scaling
272
Online Scaling
272
Resetting an APR Fault
273
Absolute Position Loss Without APR Faults
273
Behavior of APR for Incremental Encoders
274
Saving an ACD File Versus Upload of a Project
274
Chapter 13 When to Manually Tune an Axis
275
Axis Configuration Types
275
Current Tuning Configuration
276
Loop Responses
277
Motion Generator and Motion Direct Commands
279
Manual Tune
275
Additional Tune
281
Feedforward Parameters
281
Compensation Parameters
282
Filters Parameters
283
Limits Parameters
284
Planner Parameters
284
Configure Torque Values
285
Monitor Tags with the Quick Watch Window
285
Use Motion Generator
286
Faults and Alarms Dialog Box
289
Chapter 14
291
Quickview Pane
291
Connection Faults and Errors
292
Data Monitor
292
Drive Status Indicators
292
Manage Motion Faults
293
Troubleshoot Faults
293
Configure the Exception Actions for AXIS_CIP_DRIVE
294
Inhibit an Axis
297
Example: Inhibit an Axis
298
Example: Uninhibit an Axis
299
Digital I/O Status Indicators
300
Parameter Dialog-Box Listings
303
Appendix A
305
Appendix B
305
Definition of Jerk
305
Choose a Profile
306
Use % of Time for the Easiest Programming of Jerk
307
Velocity Profile Effects
308
Jerk Rate Calculation
308
Profile Operand
313
Program a Velocity Profile and Jerk Rate
305
Enter Basic Logic
316
Example Motion Control Program
317
Download a Project
318
Choose a Motion Instruction
318
Troubleshoot Axis Motion
321
Why Does My Axis Accelerate When I Stop It
321
Why Does My Axis Overshoot Its Target Speed
322
Why Is There a Delay When I Stop and then Restart a Jog
325
Why Does the Axis Reverse Direction
327
When Stopped and Started
327
Programming with the MDSC Function
329
Powerflex Out-Of-Box Configuration
332
Recommended Out-Of-Box Settings
332
Setting the ACO/AVO Attributefor PF527 Drives Only
336
Glossary
337
Index
341
Rockwell Automation Publication MOTION-UM003K-EN-P - January
342
allen bradley Kinetix 350 User Manual (162 pages)
Single-axis EtherNet/IP Servo Drives
Brand:
allen bradley
| Category:
Servo Drives
| Size: 12.63 MB
Table of Contents
Table of Contents
5
Additional Resources
9
Conventions
9
Preface
9
Start
11
Chapter 1 About the Kinetix 350 Drive System
12
Catalog Number Explanation
15
Agency Compliance
16
CE Requirements
16
Chapter 2 System Design Guidelines
17
System Mounting Requirements
17
Circuit Breaker/Fuse Selection
18
Contactor Ratings
20
Transformer Selection
20
Transformer Specifications for Input Power
21
Enclosure Selection
21
Power Dissipation Specifications
22
Minimum Clearance Requirements
23
Electrical Noise Reduction
24
Bonding Drives
24
Bonding Multiple Subpanels
26
Establish Noise Zones
27
Cable Categories for Kinetix 350 Drive Components
29
Noise Reduction Guidelines for Drive Accessories
29
Mount Your Kinetix 350 Drive
32
Install the Kinetix 350 Drive System
17
Kinetix 350 Drive Connector Data
33
Chapter 3 Kinetix 350 Drive Connectors and Indicators
34
Safe Torque-Off Connector Pinout
35
I/O Connector Pinout
36
Motor Feedback (MF) Connector Pinout
37
Ethernet Communication Connector Pinout
37
AC Input Power Connector Pinout
38
Back-Up Power Connector Pinout
38
Shunt Resistor and DC Bus Connector Pinout
38
Motor Power Connector Pinout
38
Control Signal Specifications
39
Digital Inputs
39
Motor Brake Output
42
Ethernet Communication Specifications
43
24V DC Back-Up Power Specifications
43
Motor Feedback Specifications
44
Feedback Power Supply
49
Basic Wiring Requirements
51
Chapter 4
52
Recommended Cables
52
Route Power and Signal Wiring
52
Determine the Input Power Configuration
52
Three-Phase Power Wired to Three-Phase Drives
53
Single-Phase Power Wired to Single-Phase Drives
54
Voltage Doubler Operation
54
Isolation Transformer in Grounded Power Configurations
55
Three-Phase Power Wired to Single-Phase Drives
55
Voiding of CE Compliance
57
Grounding Your Kinetix 350 Drive System
58
Ground Your Drive to the System Subpanel
58
Ground Multiple Subpanels
59
Power Wiring Requirements
60
Wiring Guidelines
61
Wiring the Kinetix 350 Drive Connectors
62
Wire the Safe Torque-Off (STO) Connector
62
Wire the Back-Up Power (BP) Connector
62
Wire the Input Power (IPD) Connector
63
Wire the Motor Power (MP) Connector
64
Apply the Motor Cable Shield Clamp
69
Feedback and I/O Cable Connections
70
Flying-Lead Feedback Cable Pin-Outs
71
Wiring the Feedback and I/O Connectors
72
Wire the I/O Connector
72
Wire the Low-Profile Connector Kit
73
Shunt Resistor Connections
74
Ethernet Cable Connections
74
Keypad Input
78
Chapter 5 Status Indicators
79
Configure the Kinetix 350 Drive Ethernet IP Address
81
Ethernet Connection
81
Kinetix 350 Drive Ethernet Port Configuration
81
Obtain the Kinetix 350 Drives' Current Ethernet Settings
81
Configure the IP Address Manually (Static Address)
82
Configure the IP Address Automatically (Dynamic Address)
83
Configure the Logix5000 Ethernet/Ip Controller
84
Configure the Logix5000 Controller
84
Configure the Kinetix 350 Drive
86
Configure the Motion Group
89
Configure Axis Properties
90
Download the Program
93
Apply Power to the Kinetix 350 Drive
93
Test and Tune the Axes
94
Test the Axes
94
Tune the Axes
97
Disable Enableinputchecking by Using a Logix
100
Designer Message Instruction
100
Certification
101
Chapter 6
101
Important Safety Considerations
101
Safety Category 3 Requirements
102
Stop Category Definition
102
Performance Level and Safety Integrity Level (SIL) CL2
102
Description of Operation
102
Troubleshoot the Safe Torque-Off Function
103
PFD and PFH Definitions
103
PFD and PFH Data
103
Safe Torque-Off Connector Data
104
STO Connector Pinouts
104
Wiring Your Safe Torque-Off Circuit
105
European Union Directives
105
Safe Torque-Off Wiring Requirements
106
Kinetix 350 Drive Safe Torque-Off Feature
107
Safe Torque-Off Feature Bypass
107
Kinetix 350 Drive Safe Torque-Off Wiring Diagrams
108
Safe Torque-Off Signal Specifications
109
Safety Input and Output Schematics
110
Safety Precautions
111
Chapter 7 Interpret Status Indicators
112
Four-Digit Display Messages
112
Error Codes
113
Fault Codes
113
Status Indicators
119
General System Behavior
120
Logix5000 Controller and Drive Behavior
124
Kinetix 350 Drive Exception Behavior
124
Web Server Interface
128
Appendix A Interconnect Diagram Notes
130
Power Wiring Examples
131
Shunt Resistor Wiring Example
133
Kinetix 350 Drive/Rotary Motor Wiring Examples
134
Kinetix 350 Drive/Actuator Wiring Examples
137
Motor Brake Currents
140
System Block Diagrams
141
Before You Begin
143
Appendix B
144
Configure Logix5000 Communication
144
Upgrade Firmware
145
Verify the Firmware Upgrade
149
Appendix C
155
Index
155
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