Copyright © 2009 Rockwell Automation, Inc. All rights reserved. Kinetix 300 Ethernet/IP Indexing Servo Drive Presenter Name Date.

Copyright © 2009 Rockwell Automation, Inc. All rights reserved.

Kinetix 300Ethernet/IP Indexing Servo Drive

Presenter NameDate

Copyright © 2009 Rockwell Automation, Inc. All rights reserved. 2

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 .


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.


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– 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


Kinetix 300 Anatomy

ODVA certified EtherNet/IP support

Absolute and Incremental Feedback, MP and TLY motors.

Smart Motor Recognition Technology – Plug and Play

Auto Tuning

Analog and PTO Control

Integrated Safe Torque Off

ISO 13849-1 Safety Category 3 PL d

4 Character Display

Memory Module for ADR

Keypad Input

Drive to Drive Gearing

400W – 3kW Power Range120/230V single phase, 230/460V 3-phase models

32 Indexes w/ S-Curve capabilityCommanded Control over Ethernet/IP

24V backup power for “Keep Alive” function

Analog and Digital I/O

Copyright © 2009 Rockwell Automation, Inc. All rights reserved. 6(Confidential – For Internal Use Only) Copyright © 2007 Rockwell Automation, Inc. All rights reserved. 6

Kinetix 300 Product Positioning

250W 3 KW 22 KW 112 KW1.2 KWDrive Continuous Power Rating

Kinetix 6000 Kinetix 7000

Kinetix 2000

Vo

ltag

e

1

20

V

23

0V

1 p

ha

se

2

30

V 3

ph

as

e

46

0V

3

ph

as

e

11 KW7.5 KW

Ultra3000

500W

Kinetix 300Kinetix 300


7

Kinetix 300 Anatomy

ODVA certified EtherNet/IP support

Absolute and Incremental Feedback, MP and TLY motors.

Smart Motor Recognition Technology – Plug and Play

Auto Tuning

Analog and PTO Control

Integrated Safe Torque Off

ISO 13849-1 Safety Category 3 PL d

4 Character Display

Memory Module for ADR

Keypad Input

Drive to Drive Gearing

400W – 3kW Power Range120/230V single phase, 230/460V 3-phase models

32 Indexes w/ S-Curve capabilityCommanded Control over Ethernet/IP

24V backup power for “Keep Alive” function

Analog and Digital I/O


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 .


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.


10

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)]


11

Kinetix 300 Product Performance

• Performance Requirements• Acceleration Time Range (Zero to Max Speed) = 0.1 to 5x106 RPM/sec• Deceleration Time Range (Max Speed to Zero) = 0.1 to 5x106 RPM/sec• Speed Regulation (typical with 5000 count encoder) = ± 1 RPM• Power Device Carrier Frequency (sinusoidal commutation) = 8 kHz• Servo loop update rate = 125 uSec• Velocity loop command update rate = 500 uSec• Position loop command update rate = 500 uSec• Minimum EtherNet/IP Requested Packet Interval = 10 mSec• Registration input capture time (5V inputs) = 7 uSec• Registration input capture time (24V inputs) = 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.


12

Kinetix 300 Power Ratings

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


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


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



Kinetix 300 Interfaces


18

Input and Output Power

Pin Name Function Name Function1 PE Protective Earth (ground) PE Protective Earth (ground)2 L1 AC Power In N AC Power Neutral3 L2 AC Power In L1 AC Power In4 L3 AC Power In (3 phase models) L2/N AC Power In (non-doubler operation)

P1 Pin Assignments (Input Power)Standard Models Doubler Models

P7 Pin Assignments (Output Power)Pin Terminal Function1 U Motor Power Out2 V Motor Power Out3 W Motor Power Out4 PE Protective Earth (ground)


19

I/O Connector

Pin Name Description

1 MA+ Master Encoder A+ / Step+ Input2 MA- Master Encoder A- / Step- Input3 MB+ Master Encoder B+ / Direction+ Input4 MB- Master Encoder B- / Direction- Input5 GND Drive Logic Common6 Unused in the Kinetix 3007 BA+ Buffered Encoder Output: Channel A+8 BA- Buffered Encoder Output: Channel A-9 BB+ Buffered Encoder Output: Channel B+10 BB- Buffered Encoder Output: Channel B-11 BZ+ Buffered Encoder Output: Channel Z+12 BZ- Buffered Encoder Output: Channel Z-

13 – 21 Unused in the Kinetix 30022 ACOM Analog Common23 AO Analog Output 24 AIN1+ Positive (+) of Analog Signal Input25 AIN1- Negative (-) of Analog Signal Input26 IN_A_COM Digital Input Group ACOM Terminal

27 IN_A1 Digital Input A128 IN_A2 Digital Input A229 IN_A3 Digital Input A330 IN_A4 Digital Input A4

Pin Name Description

31 IN_B_COM Digital Input Group BCOM Terminal

32 IN_B1 Digital Input B133 IN_B2 Digital Input B234 IN_B3 Digital Input B335 IN_B4 Digital Input B436 IN_C_CO

MDigital Input Group CCOM Terminal

37 IN_C1 Digital Input C138 IN_C2 Digital Input C239 IN_C3 Digital Input C340 IN_C4 Digital Input C441 RDY+ Ready Output Collector42 RDY- Ready Output Emitter43 OUT1-C Programmable Output #1 Collector44 OUT1-E Programmable Output #1 Emitter45 OUT2-C Programmable Output #2 Collector46 OUT2-E Programmable Output #2 Emitter47 OUT3-C Programmable Output #3 Collector48 OUT3-E Programmable Output #3 Emitter49 OUT4-C Programmable Output #4 Collector50 OUT5-E Programmable Output #4 Emitter


20

Feedback Connector

Pin Description Mnemonic

1Motor Sine + (Stegmann) MTR_SINE+

2Motor Sine - (Stegmann) MTR_SINE -

3Motor Cosine + (Stegmann) MTR_COSINE+

4Motor Cosine - (Stegmann) MTR_COSINE -

5

Data Differential Input/Output + MTR_DATA+

6Encoder Common MTR_ECOMM

7

Encoder 9V Power Output (460V motors only) MTR_EPWR9V

8 Unused9 Unused

10

Data Differential Input/Output - MTR_DATA-

11Motor Thermostat MTR_TS

12 Unused13 Unused

14Encoder 5V Power Output MTR_EPWR5V

15 Unused

Pin Description Mnemonic

1A Differential Input + MTR_A+

2A Differential Input - MTR_A-

3B Differential Input + MTR_B+

4B Differential Input - MTR_B-

5

Index Differential Input + MTR_I+

6Encoder Common MTR_ECOMM

7

Encoder 9V Power Output (460V motors only) MTR_EPWR9V

8

Hall Commutation S3 Input MTR_S3

9 Unused

10

Index Differential Input - MTR_I-

11Motor Thermostat MTR_TS

12


13


14Encoder 5V Power Output MTR_EPWR5V

15 Unused

Absolute Feedback Incremental Feedback


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 re-application of input power.

Pin Name Function1 24 VDC Positive 24 VDC Input4 Return 24V power supply return


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 Name Function1 B+2 B-3 BR Brake Resistor4 B-5 B-

Positive DC Bus / Brake Resistor

Negative DC Bus


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.


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.


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.


26

Status Display Information


27

Display LEDs


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.


30

Safety Interface wiring

Safety Connection with

External Power

Connecting an Indicator to

the Safety Status Output


31

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.


32

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


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 de-bounce 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


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.


35

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,


36

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.


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


Kinetix 300 Motor Support

• Premiere support for TL-Series and MP-Series 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.


39

Operating modes

• Master Gearing• Step and Direction• Analog Input (Velocity or Current)• EtherNet/IP External Reference• Indexing


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.

Master Slave

Buffered Encoder Output

Encoder Input


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 Description Input type/ output compatibility 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)


42

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.


43

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.

Vel

ocity

Position

Registration

Registration Distance

Com

man

ded

Valu

e

Velocity or Current

Ethernet/IP Output Assembly Object


Ethernet/IP Input Assembly Object



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.


47

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.


48

Indexing Modes SupportedV

eloc

ity

Position

Registration

Registration Distance V

eloc

ity

Position

Index 1 Index 2 Index 3 Index 4

Vel

ocity

Position

Vel

ocity

Position

Index 1

Index 2

Dwell Time

Vel

ocity

Position

Index 1 Index 2

‘Start Index’ command

Registration action

Wait time actionWait for Start Command action

Stop and hold action

Blended Incremental action


49

Kinetix 300 component solution

Ethernet/IP

SolutionMicrologix 1400, Kinetix 300, TLY motor and PanelView Component and Stratix switch

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


50

Kinetix 300 Architecture solution

Ethernet/IPSolutionCompactLogix L2x, Kinetix 300, MPL motor and PanelView Plus Compact and Stratix switch

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

(Confidential – For Internal Use Only) Copyright © 2007 Rockwell Automation, Inc. All rights reserved. 51(Confidential – For Internal Use Only) Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 51

Leveraging EtherNet/IP


Kinetix 300 Servo Drive(Indexing Position & Velocity control)

CompactLogix L23PanelView Plus

Compact

Stratix

Point I/O

PowerFlex 4 AC Drive

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

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.


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.


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


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.



Kinetix 300 Catalog Nomenclature

2097 – V31 PR2 XX

V31 = 120/230VAC 1Φ V32 = 230VAC 1Φ w/ integrated EMC filter

V33 = 230VAC 1Φ or 3 Φ

V34 = 460VAC 3Φ

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)



Options (future)


Kinetix 300 Models

RA Catalog Number DescriptionPower[kW]

2097-V31PR01Φ, 2A, 120/240V, No Filter (120VAC input can drive

240V motor at full speed) 0.4

2097-V31PR21Φ, 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-V33PR1 1Φ 3Φ, 2A, 240V, No Filter 0.5




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


58

Kinetix 300 Configuration

• Smart Motor recognition for RA motors• Plug and Play operation• Automatic population of gains• Auto and manual tuning if required

• Sizing in Motion Analyzer • Supported in Version 4.8

• RSLogix 5000 Add On Profile• Product Selection• Access I/O assembly Instances• V17 and V18 compatible

• RSLogix 5000 Add On Instructions• Logix Motion Commands

• Additional Web-based Interface• Tools and configuration

(Confidential – For Internal Use Only) Copyright © 2009 Rockwell

Automation, Inc. All rights reserved.

59

Kinetix 300 Configuration

O-Scope

Firmware upgrade

Configuration

Homing

Tuning

Motor Selection

Web BasedRSLogix5000

Yes

Yes

Yes

Yes

Yes

YesUser program

User program

No

No

No

No


60

Kinetix 300 Web Configuration

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.


Kinetix 300 Motor Configuration

• Premiere support for TL-Series and MP-Series 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.


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



• Kinetix 2000 Feedback Connector and TL Battery– Catalog Numbers 2090-K2CK-D15M, 2090-DA-BAT2


• I/O Breakout board, Catalog number 2097-TB1– Increases width of drive by xx mm.



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


• 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


Motor BrakeModule


• 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)



• Shunt Resistors• 2097-R2• 2097-R3• 2097-R4• 2097-R6• 2097-R7



• 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_application2097-V31PR0 2097-R4 2.10%2097-V31PR2 2097-R4 2.10%2097-V32PR0 2097-R4 2.10%2097-V32PR2 2097-R4 2.10%2097-V32PR4 2097-R2 1.97%2097-V33PR1 2097-R4 2.10%2097-V33PR3 2097-R4 2.10%2097-V33PR5 2097-R2 1.97%2097-V33PR6 2097-R3 2.96%2097-V34PR3 2097-R7 2.02%2097-V34PR5 2097-R6 1.90%2097-V34PR6 2097-R6 1.90%


• 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



• Line filter CombinationsCatalog 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-V33PR1 Kinetix 300, 2A, 240V, No Filter 2097-F4








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


(Confidential – For Internal Use Only)


74

Copyright © 2009 Rockwell Automation, Inc. All rights reserved. Kinetix 300 Ethernet/IP Indexing Servo Drive Presenter Name Date.

Documents

w kinetix

entire control solution

phase models

flexible control architecture

features flexible control

phase voltage models

registration drive

power ranges