Rockwell Automation Logix5000 Control System User Manual

Quick Start

Logix5000 Control Systems: Connect Kinetix 350 Drives over an EtherNet/IP Network

Catalog Numbers Logix5000 Controllers, Kinetix 350 Drives

Important User Information

IMPORTANT

Solid-state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1

your local Rockwell Automation



sales office or online at http://www.rockwellautomation.com/literature/) describes some important differences between solid-state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid-state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited.

Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

available from

WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.

ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.

SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.

BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures.

Identifies information that is critical for successful application and understanding of the product.

Allen-Bradley, CompactLogix, Integrated Architecture, Kinetix, Logix5000 , MP-Series, PanelView, POINT I/O, Rockwell Software, Rockwell Automation, R SLogix, Stratix 200 0, and TechConnect are trademarks of Rockwell Automation , Inc.

Trademarks not belonging to Rockwell Automation are property of their respective companies.

Preface

Prepare the Kinetix 350 Drive Hardware

About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Before Using This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Other Logix5000 Control System Quick Starts . . . . . . . . . . . . . . . . . . . . . . 8

Use Each Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Where to Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

How Hardware is Connected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Required Software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Chapter 1

Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

What You Need. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Prepare the Panel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Mount the Kinetix 350 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Ground the Kinetix 350 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Disable the Safe Torque-off Feature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Wiring Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Wire the IOD Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Wire the Back-up Power Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Wire the Input Power Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Wire the Motor Power Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Apply the Motor Cable Shield Clamp. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Wire the Motor Feedback Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Connect the Kinetix 350 Drive to the EtherNet/IP Network . . . . . . . . 27

Assign an IP Address to the Kinetix 350 Drive . . . . . . . . . . . . . . . . . . . . . . 27

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Add a Kinetix 350 Drive to an RSLogix 5000 Project

Index

Chapter 2

Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

What You Need. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Add the Kinetix 350 Drive to the RSLogix 5000 Project. . . . . . . . . . . . . 34

Configure the Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Configure Axis Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Apply Power to the Kinetix 350 Drive System . . . . . . . . . . . . . . . . . . . . . . 41

Test the Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Tune an Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 3

Table of Contents

Notes:

4 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Preface

IMPORTANT

About This Publication

This quick start provides examples and procedures for integrating a Kinetix 350 drive into any



Logix5000 examples are not complex, and offer easy solutions to verify that devices are functioning and communicating properly.

Before Using This Publication

controllers control system over an EtherNet/IP network. The programming

This publication describes basic example tasks you can complete when using a Kinetix 350 drive over an EtherNet/IP network. The tasks described are not the only tasks you can complete with the drive on an EtherNet/IP network. You will likely need to complete additional tasks when using a Kinetix 350 drive in a specific Logix5000 control system.

You can only complete the tasks described in this publication after first completing some prequisite tasks with a Logix5000 controller. For example, before you can add a Kinetix 350



drive to an RSLogix

5000 project, as described on page 31, you must first create the project in a

Logix5000 controller.

The example graphics shown in Table 1 - Required Tasks to Complete before Using This Quick Start on page 6 are for CompactLogix 5370 L3 controllers. Depending on the Logix5000 controller you are using, the specific steps to

complete the tasks described in the table might vary.

For more information on how to complete these tasks with specific Logix5000 controllers, see



the Integrated Architecture publication IASIMP-QR024

: Logix5000 Control Systems Quick Starts Quick Reference, .

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 5

Preface

Table 1 - Required Tasks to Complete before Using This Quick Start

Task Description

Prepare the Logix5000 control system hardware

Assemble the control system and connect to necessary communication networks. Some components, for example, the Logix5000 controller and system power supply, are required. Other components, for example, a network communication module, are optional.

These example graphics show the assembly of one Logix5000 controller.

1 (Front) 2 (Rear)

IMPORTANT: This task does not include installation of specific hardware components, for example, Kinetix 350 drives, used over the networks included in your application.

Prepare the computer Install necessary software on your complete. Some software, for example, RSLogix 5000 software.

6 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Table 1 - Required Tasks to Complete before Using This Quick Start

Task Description

Preface

Configure the networks

Create an RSLogix 5000 project

Complete required tasks associated with the networks used in your application, such as assigning an IP address to the controller’s communication port or communication module in your Logix5000 control system.

Create a project to be used with your Logix5000 controller. A project includes all desired control system components and necessary programming. For example, add ladder logic to test tasks associated with individual

system components.

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 7

Preface

Other Logix5000 Control System Quick Starts

This quick start describes how to use one device on one network in a Logix5000 control system. Typically, though, a Logix5000 control system includes more than the controller and one device on one network.

For example, if a Logix5000 control system operates on an EtherNet/IP network, in addition to a controller, power supply, and communication modules, the system might use remote I/O modules, drives, and HMI terminals.

Other quick starts describe how to use different devices on different networks in Logix5000 control systems. For more information, see the Integrated Architecture: Logix5000 Control Systems Quick Starts Quick Reference, publication IASIMP-QR024

Use Each Chapter

The beginning of each chapter contains the following information. You should read these sections before beginning work in each chapter:

• Before You Begin - This section lists the tasks you must complete before starting

the chapter.

• What You Need - This section lists the tools that are required to complete the tasks in

the chapter.

• Follow These Steps - This section illustrates the steps in the current chapter.

8 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Where to Start

Prepare the Kinetix 350

Drive Hardware

page 13

Prerequisite Tasks

Described in Before Using This Publication

on page 5.

1. Prepare the Logix5000 control system hardware

2. Prepare the computer

3. Configure the networks

4. Create an RSLogix 5000 project

Logix5000

Control ler

Add a Kinetix 350 Drive to

an RSLogix 5000 Project

page 31

Preface

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 9

Preface

IMPORTANT

Logix5000 Controller

Stratix 2000



Switch

Computer with RSLogix 5000 Software

MP-Series



Rotary Motor

Single-phase Input Power

Shunt Resistor

Motor Feedback Cable

Kinetix 350 Drive

Terminal Expansion Block

1734 POINT I/O



Modules

Pane lView



Plus Terminal

AC Line Filter

How Hardware is Connected

This graphic shows an example control system that uses a Kinetix 350 drive.

Required Software

To complete examples in this quick start, you need RSLogix 5000 software. RSLogix 5000 software is required to create or change RSLogix 5000 projects that use Kinetix 350 drives.

This quick start uses RSLogix 5000 software, version 20.00.00 or later, because the example Logix5000 controller, and associated tasks, described herein are completed in a CompactLogix 5370 L3 control system. CompactLogix 5370 L3 control systems require RSLogix 5000 software, version 20.00.00 or later.

If you connect a Kinetix 350 drive over an EtherNet/IP network in a Logix5000 control system that uses a different Logix 5000 controller, the minimum version may differ.

10 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Parts List

You need these parts to complete the tasks described in this quick start.

Preface



Quantity Cat. No. Description

1 2097-V31PR2-LM Kinetix 350 Single Axis Ethernet/IP Servo Drive 1 MPL-A310P-MJ72AA MP-Series Low-inertia Servo Motor 1 The connectors required to 1 6-pin Motor Power (MP) Connector 1 24V DC Back-up Power (BP) Connector 1 4- pin General-purpose AC Input Power (IPD) Connector

1 2097-TB1 Bulletin 2097 I/O Terminal Expansion Block - 50-pin SCSI I/O (IOD) Connector 1 2090-CPWM7DF-16AA03 6-pin Standard Power Cable with SpeedTec DIN Connector Type 923 1 2090-CFBM7DD-CEAA03 Standard Feedback Cable with SpeedTec DIN Connector Type 623 1 1585J-M8PBJM-2 RJ45 to RJ45 patchcord Ethernet cables 3 Jumper wires

use Kinetix 350 drives vary by drive catalog number.

The specific connectors to be used with your 2097-V31PR2-LM drive ship with the drive.

You do not need to order this part separately.

6-pin Safe Torque Off (STO) Connector

For a list of parts required to complete the prerequisite tasks listed in Tab le 1 -

Required Tasks to Complete before Using This Quick Start on page 6, see the documentation describing those

tasks.

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 11

Preface

Additional Resources

Resource Description

Kinetix 350 Single-axis EtherNet/IP Servo Drives User Manual, publication 2097-UM002

Kinetix 350 Single-axis EtherNet/IP Servo Drives Installation Instructions, publication 2097-IN008

EtherNet/IP Modules in Logix5000 Control Systems, publication ENET-UM001

Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1

Product Certifications website, http://www.ab.com Provides declarations of conformity, certificates, and other certification

Describes how to install, wire, configure, operate, and troubleshoot your Kinetix 350 drive.

Describes how to install and wire your Kinetix 350 drive.

Describes how to install, configure, and operate EtherNet/IP modules.

Provides general guidelines for installing a Rockwell Automation industrial system.

details.

You can view or download publications at http://www.rockwellautomation.com/literature/. To



order paper copies of technical documentation, contact your local Allen-Bradley

distributor or

Rockwell Automation sales representative.

12 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Chapter

Prepare the Kinetix 350 Drive Hardware

In this chapter, you learn how to complete the following tasks:

• Mount a 2097-V31PR2-LM drive.

• Make multiple connections, for example, power, feedback and resistor connections to

the drive.

• Configure EtherNet/IP communication for the drive.

Before You Begin

You must complete these tasks described in Before Using This Publication on page 5 before using this chapter:

• Prepare the Logix5000 control system hardware

• Prepare the computer

• Configure the networks - The tasks described in this chapter require an

EtherNet/IP network.

• Create an RSLogix 5000 project

The example RSLogix 5000 project used in this chapter uses a CompactLogix 5370 L3 controller.

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 13

Chapter 1 Prepare the Kinetix 350 Drive Hardware

What You Need

This table lists the products you need to complete the tasks described in this chapter.



Quantity Cat. No. Description

use Kinetix 350 drives vary by drive catalog number.

The specific connectors to be used with your 2097-V31PR2-LM drive ship with the drive.

You do not need to order this part separately.

6-pin Safe Torque Off (STO) Connector

14 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Follow These Steps

Prepare the Panel

Ground the

Kinetix 350 Drive

page 16

page 17

Mount the

Kinetix 350 Drive

page 17

Apply the Motor

Cable Shield Clamp

page 25

Wire the Motor

Feedback Connector

page 26

Connect the Kinetix 350 Drive to the EtherNet/IP

Network

page 27

Disable the Safe

Torque-off Feature

page 18

Wire the Motor Power

Conne ctor

page 24

Assign an IP Address to

the Kinetix 350 Drive

page 27

Wire the IOD

Conne ctor

page 20

Pin 26

Pin 25

Pin 46 Pin 47 Pin 48 Pin 49 Pin 50

Pin 29

Pin 28

Pin 27

Wire the Back- up Power Connector

page 22

Wire the Input

Power Connector

page 23

Prepare the Kinetix 350 Drive Hardware Chapter 1

1 2 3 4 5 6

STO

+24V DC

-24V DC

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 15

Chapter 1 Prepare the Kinetix 350 Drive Hardware

25.0 mm (1.0 in.)

3 mm (0.12 in.)

25.0 mm (1.0 in.)

Prepare the Panel

You must install the 2097-V31PR2-LM drive on a grounded panel. This quick start assumes you installed a panel when you fulfilled the prerequisite task of installing the Logix5000 control system hardware:

• If you have already installed a painted, grounded panel, move to section Mount the Kinetix

350 Drive.

• If you have not already installed a painted, grounded panel, do so before proceeding to the

next section.

For more information on properly installing a panel that you can use with a Kinetix 350 drive, see the Kinetix 350 Single-axis EtherNet/IP Servo Drives User Manual, publication 2097-UM002

Mount the Kinetix 350 Drive

1. Verify that you have at least the

minimum clearance to mount your 2097-V31PR2-LM drive on the panel.

16 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

+ 36 hidden pages

Rockwell Automation Logix5000 Control System User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of Contents

Preface

About This Publication

Before Using This Publication

Other Logix5000 Control System Quick Starts

Use Each Chapter

Where to Start

How Hardware is Connected

Required Software

Parts List

Additional Resources

Before You Begin

What You Need

Follow These Steps

Prepare the Panel

Mount the Kinetix 350 Drive