Rockwell-automation 2093-xxxx Kinetix 2000 Multi-axis Servo Drive User Manual de usuario Pagina 4
- Pagina / 226
- Tabla de contenidos
- MARCADORES
Valorado. / 5. Basado en revisión del cliente
Publication 2093-UM001A-EN-P — March 2007
4
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
SERCOS Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Contactor Enable Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Motor Brake Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Control Power Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Feedback Specifications Explained . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Motor and Auxiliary Feedback Specifications . . . . . . . . . . . . . . . . 57
Motor Encoder Feedback Specifications . . . . . . . . . . . . . . . . . . . . 58
Feedback Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Locating Shunt Module Connectors and Indicators. . . . . . . . . . . . . . . 60
Chapter 5
Connecting the Kinetix 2000 Drive
System
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Building Your Own Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Routing Power and Signal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Determining Your Type of Input Power . . . . . . . . . . . . . . . . . . . . . . . 63
Grounded Three-phase Power Configurations . . . . . . . . . . . . . . . 63
Ungrounded Three-phase Power Configurations . . . . . . . . . . . . . 65
Grounded Single-phase Power Configurations . . . . . . . . . . . . . . . 66
DC Common Bus Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Common Bus Fusing Requirements . . . . . . . . . . . . . . . . . . . . . . . . 68
Setting the Ground Jumper in Ungrounded Power Configurations . . 69
Set Ground Jumper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Grounding Your System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Grounding Your System to the Subpanel. . . . . . . . . . . . . . . . . . . . 71
Grounding Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Power Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Wiring Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Wiring the LIM Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Wiring the Auxiliary Input Power (APL) Connector . . . . . . . . . . . 77
Wiring the VAC LINE (IPL) Connector . . . . . . . . . . . . . . . . . . . . 77
Wiring the VAC LOAD (OPL) Connector . . . . . . . . . . . . . . . . . . 78
Wiring the Control Power Output (CPL) Connector . . . . . . . . . . 79
Wiring the Auxiliary Power Output (P2L) Connector . . . . . . . . . . 79
Wiring the Brake Power Output (24V dc) Connector . . . . . . . . . . 80
Wiring the IAM/AM Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Wiring the Control Power (CPD) Connector. . . . . . . . . . . . . . . . . 81
Wiring the Input Power (IPD) Connector . . . . . . . . . . . . . . . . . . . 82
Wiring the Contactor Enable (CED) Connector . . . . . . . . . . . . . . 84
Wiring the Motor Power (MP) Connector . . . . . . . . . . . . . . . . . . . 85
Wiring the Motor Brake (BC) Connector . . . . . . . . . . . . . . . . . . . . 89
Feedback and I/O Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . 92
Flying-lead Feedback Cable Pin-outs . . . . . . . . . . . . . . . . . . . . . . . 93
Wiring Feedback and I/O Connectors . . . . . . . . . . . . . . . . . . . . . . . . . 95
Connecting Premolded Motor Feedback Cables . . . . . . . . . . . . . . 95
Wiring Low-profile Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . 95
- Kinetix 2000 Multi-axis 1
- Servo Drive 1
- Important User Information 2
- Table of Contents 3
- Chapter 5 4
- 5 5
- 6 6
- Appendix D 7
- 8 8
- Additional Resources 10
- Introduction 11
- About the Kinetix 2000 12
- Drive System 12
- Start 13 13
- 14 Start 14
- Start 15 15
- Catalog Number 16
- Explanation 16
- Agency Compliance 17
- 18 Start 18
- Installation 19
- Transformer Selection 20
- Enclosure Selection 21
- ControlLogix Real Power 22
- Minimizing Electrical 26
- MAIN VAC 30
- Line Interface Module 35
- Line Filters, ac 36
- Installing the 2093 Power 37
- Determining Mounting 38
- Mount the Modules 40
- Mounting the Line Interface 41
- Segregating Power and 42
- Logic Wires 42
- Kinetix 2000 Connector Data 43
- Axis Module, Front View 44
- (2093-AMPx shown) 44
- (2093-AMx shown) 44
- I/O Connector Pinouts 46
- IAM Input Connector Pinouts 49
- IAM/AM Signal 51
- Specifications Explained 51
- SERCOS Connections 53
- Contactor Enable Relay 53
- Normally 54
- Kinetix 2000 IAM 54
- Feedback Specifications 57
- Explained 57
- Feedback Power Supply 59
- Locating Shunt Module 60
- Connectors and Indicators 60
- Basic Wiring Requirements 61
- Building Your Own Cables 62
- Determining Your Type of 63
- Input Power 63
- Setting the Ground Jumper 69
- Configurations 69
- Grounding Your System 71
- Follow NEC and 72
- Bonded Ground Bus 72
- Ground Grid or Power 72
- Distribution Ground 72
- Power Wiring 73
- Requirements 73
- ATTENTION 74
- Wiring Guidelines 76
- 2094-XL75S-Cx models 77
- 1 2 3 4 78
- (2094-XL75S-Cx is shown) 80
- Integrated Axis Module 81
- (2093-AC05-MP 81
- CONT EN+ 84
- CONT EN 84
- Cable Shield Terminations 85
- K2k Two-Axis System 87
- (2093-PRS2, 2093-AC05-MP 87
- , and 2093-AMP 87
- Pigtail Terminations 88
- 4 3 2 1 89
- 105 mm (4.1 in.) 90
- Outer Insulation 90
- Strip Length 7 mm (0.28 in.) 90
- Brake Cable 90
- Motor Brake (BC) Connector 91
- Termination Specifications 91
- Feedback and I/O Cable 92
- Connections 92
- 2090-XXNFY-Sxx Feedback Cable 94
- Wiring Feedback and I/O 95
- Connectors 95
- Chapter 2 96
- Appendix B 96
- 4…0.14 mm 97
- (12…26 AWG) 97
- Shunt Module Connections 98
- Connecting Your SERCOS 99
- Fiber-optic Cables 99
- SERCOS interfac e 101
- Tx (rear) 101
- Rx (front) 101
- Configure and Startup the 103
- Kinetix 2000 Drive System 103
- Node Addressing Example 1 105
- SERCOS interface 107
- Configure the Logix 109
- SERCOS Interface Module 109
- Configure the Motion Group 118
- Configure Axis Properties 118
- Download the Program 122
- Apply Power to the 123
- Kinetix 2000 Drive 123
- Test and Tune the Axes 126
- Tune the Axes 128
- Safety Precautions 133
- Interpreting Status 134
- Indicators 134
- IAM/AM Status Indicators 139
- SM Status Indicators 140
- Bus Status LED Indicator 141
- Shunt Fault LED Indicator 141
- All SM Status LED Indicators 141
- Contactor Enable Status 142
- Troubleshooting General 143
- System Problems 143
- Logix/Drive Fault Behavior 145
- Drive Modules 149
- Remove Modules from the 150
- Power Rail 150
- Replace Modules on the 151
- Remove the Power Rail 151
- Replace the Power Rail 152
- Appendix 153
- Power Specifications 154
- Filler 156
- SM Power Specifications 157
- Contactor Ratings 159
- Power Dissipation 160
- Specifications 160
- General Specifications 161
- Environmental Specifications 162
- Weight Specifications 162
- Line Filter Specifications 163
- Product Dimensions 164
- Shunt Module Dimensions 165
- 2093-ASP06 165
- Slot Filler Dimensions 165
- 2093-PRF 165
- Power Rail Dimensions 166
- Interconnect Diagrams 167
- Wiring Examples 168
- Contactor Enable 169
- (CED) Connector 169
- 170 Interconnect Diagrams 170
- 172 Interconnect Diagrams 172
- 174 Interconnect Diagrams 174
- 176 Interconnect Diagrams 176
- 178 Interconnect Diagrams 178
- KINETIX 2000 180
- IAM (inverter) or AM 180
- IMPORTANT 181
- < 1.0 A 182
- System Block Diagrams 183
- IAM (converter) Block Diagram 184
- 186 Interconnect Diagrams 186
- Upgrading Firmware 187
- Selecting Software Tools to 188
- Upgrade the Kinetix 2000 188
- Drive Firmware 188
- 190 Upgrading Firmware 190
- 192 Upgrading Firmware 192
- Power LED 193
- Serial Communication 193
- Connector 193
- SCANport/DPI 193
- 194 Upgrading Firmware 194
- 196 Upgrading Firmware 196
- 198 Upgrading Firmware 198
- Using Hyperterminal to 202
- FLASH the Kinetix 2000 202
- 204 Upgrading Firmware 204
- 206 Upgrading Firmware 206
- 208 Upgrading Firmware 208
- DC Common Bus Applications 209
- Calculating Total Bus 210
- Capacitance 210
- Calculating Additional Bus 210
- Kinetix 2000 Capacitance 211
- Common Bus Capacitance 212
- Example 212
- Setting the Additional Bus 213
- Capacitance Parameter 213
- N: P 214
- 219 219
- 221 221
- 223 223
- , 87, 88 224
- Rockwell Automation 226
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