2097 rn003 - en P

Release Notes
Kinetix 300 EtherNet/IP Indexing Servo Drives,

Firmware Revisions 1.00.001.81.00
Catalog Numbers 2097-V31PR0, 2097-V31PR2, 2097-V32PR0, 2097-V32PR2, 2097-V32PR4, 2097-V33PR1,
2097-V33PR3, 2097-V33PR5, 2097-V33PR6, 2097-V34PR3, 2097-V34PR5, 2097-V34PR6
Topic Page
Enhancements 2
Enhancements with Revision 1.77.00 2
Corrected Anomalies 3
Corrected Anomalies with Revision 1.81.00 3
Additional Resources 7
ATTENTION: If the drive is displaying an E76 fault after you have upgraded the drive
firmware, press the Enter key on the front of the drive.
Rockwell Automation Publication 2097-RN003B-EN-P - October 2013
2 Kinetix 300 EtherNet/IP Indexing Servo Drives
Enhancements
Enhancements are provided with these firmware revisions:
Enhancements with Revision 1.77.00
Table 1 - Enhancements with Revision 1.77.00
Enhancement Description
Feature set expansion The following features have been added:
Motor i
2
t trip and fold back modification
Added option to ignore Tamagawa encoder battery checking
Encoder feedback accuracy improvement at low speed
Feature set expansion The following features have been added:
Rotary Unwind mode
Indexing in Current mode
Current Output Clamp mode
Inverted motion polarity
Linear motor support
Support for Wittenstein (TPM+) and Elwood-Gettys (M4x) motors
Ability to configure overtravel polarity via an Ethernet/IP message instruction
Ability to select the start index via an externally configured digital input
IPM Thermal Protection fault (E23)
Drive over temperature (E72) has been isolated to the heat sink temperature sensor detection of an overtemperature
condition
Fault update The following faults have been enhanced to prevent erroneous nuisance trip events:
Motor overspeed detection (E18)
Overcurrent detection (E74)
Drive over temperature (E72)
Motor feedback loss detection for MP-Series motors with absolute encoders only (E07)
Integration with RSLogix 5000 The firmware revision has been tied to the Identify Object for keying against the Module Revision in RSLogix 5000 software.
Attempting to set an attribute to an out-of-range value by using the EtherNet/IP network will cause the RSLogix 5000
software MSG instruction to error.
Fault update The current sensor fault E94 filters transient power anomalies when powering the drive with 24V DC at start time.
Added hardware and overtravel configurations The hardware overtravel configuration in the MotionView OnBoard software has been enhanced to allow the configuration of
the inputs as normally-open or normally-closed when this firmware is used on revision 1B hardware. The hardware revision is
the last four digits of the Type field on the carton label.
Kinetix 300 EtherNet/IP Indexing Servo Drives 3
Corrected Anomalies
These system anomalies are corrected with these firmware revisions:
Corrected Anomalies with Revision 1.81.00
Added registration event and feedback filtering A single-position capture registration event can be armed by performing an integer based 0-to-1 transition of
parameter 667.
A feedback filter has been added and is configured from the Dynamics view of the OnBoard software.
Drive tuning enhanced The default gain calculations have been enhanced to improve the out-of-box tuning of the drive. Click Set Default Gains in the
Dynamics view of the OnBoard software to revert the gains to values appropriate for the connected motor.
Velocity loop integration The velocity loop integrator can now be disabled while in Position mode by clearing the Enable Velocity Integrator checkbox
in the Position Mode field from the Dynamics view of the MotionView OnBoard software.
Two additional filters have been added to the output of the velocity loop. The filters can be configured as a low pass, notch, or
resonance filters. The choice of filters and the particulars of the filter configuration are accessed from the Dynamics view of
the MotionView OnBoard software by clicking Type for either Filter 1 or Filter 2.
Controller support expanded When teamed with the CompactLogix Programmable Automation Controller (PAC), you can program the Kinetix 300 drive
with RSLogix 5000 software by using an Add-on Profile.
You can use the Kinetix 300 drive with the MicroLogix 1400 controller to achieve a simple and cost-effective component
motion solution. Setup via a web browser lets you implement non-coordinated, independent indexing moves, and the ability
to control the indexing moves on an EtherNet/IP network.
Table 7 - Corrected Anomalies with Revision 1.81.00
Correction Description
Fault E27 behavior CORRECTED: The drive does not fault with E27 when an absolute move is attempted when not homed.
Linear Motors Maximum Velocity value truncated CORRECTED: Linear Motors Maximum Velocity value truncated in MotionView motor screen.
Velocity jump in Blended move CORRECTED: The velocity jumps to a very high value at the beginning of the last segment of the blended move if the
segments position is 4096uu or higher.
Error code 23 CORRECTED: Missing description for error code 23.
AxisHomeStatus remains low CORRECTED: When an axis has been homed and the axis homed status is set, if from the Faults tab Load Faults is clicked then
the AxisHomeStatus will go low and will remain low. The drive will not respond to MotionView when the Homing tab Start
Homing is clicked or from Studio 5000 Logix Designer when a Start Homing command is issued.
Start index delay CORRECTED: Intermittent Index takes 1224 ms longer to start index.
Absolute indexing distance CORRECTED: After a Home instruction, it was possible to observe incorrect position or fault when stepping to a distance of
+/-4097 or +/-4096.
Performance and support enhancements CORRECTED: Modifications were made for the following:
A request to execute Define Home is now ignored while the homing function is active.
Motor names that start with LX were added to the motor name filter.
Fixed an issue where the absolute position was wrong after a power cycle in Rotary Unwind mode.
Motor parameters Ke and Kt not scaling properly was fixed.
For motors with multi-turn absolute-feedback devices performing a home to marker operation, errors in the
interpretation of the registration position, causing the motors to stop at a non-marker location, were fixed.
A new version of motor database version 12 has been implemented with support for LDATxxx motors.
On the Motion View Motor screen, the text for encoder TYPE: was changed from TK70 Absolute Linear, 1mm sin-cos cycle to
TTK Absolute Linear, 1mm sin-cos cycle.
Reset fault retained CORRECTED: Reset fault fails if connection is lost while the drive is in a fault state.
Stegmann encoder support enhanced CORRECTED: The drive may not recognize a motor with the latest Stegmann encoder firmware. Firmware updated to also
recognize latest Stegmann encoder firmware.
Code clarifications CORRECTED: Modifications were made for the following:
Battery error generated in place of battery alarm for a Tamagawa battery-backed encoder.
I/O message inconsistency occurs every 4*Requested Packet Interval.
Brake output is not enabled during Check Phasing test.
Kf calculation method.
Encoder range restricted to 0.110 m.
The global Homed flag is explicitly cleared at the start of auto tune routine.
Remarks: The Homed flag only can be restored by a homing task. Clearing global flag does not effect the homing methods
of operation or any logic of homing task.
Autotuning of linear motors added.
Battery Fault is set when encoder alarm flag, instead of BatteryAlarm.
Velocity feedback is correct when the motor is externally driven.
E72 fault multi-plexes with subcode.
Safe Torque-off inputs are energized when the drive enables. Lgx00126557
Homed Status and Absolute Position retained on a power cycle. Lgx00126560
Clarified entry of the encoder resolution for a custom linear motor. Lgx00125618
Autotune works with reversed polarity.
Rotary Unwind Position command made consistent. Lgx00125522
Arithmetic overflow of Minimum and Maximum Index values corrected.
Changing of drive mode while the drive is enabled does not return error Ethernet/IP mode.
MVOB: Rotary unwind checkbox disabled, when drive is Enabled.
PID_StartingIndex was returning fractional part different then 0, when read as float.
PID_LinearMotorUnits was fixed to 1, but now is changeable by the user.
PID_LinearUserUnits Min and Max can cause Arithmetic overflow. Both are dynamically recalculated based on encoder
resolution and PID_LinearUnits selected.
AxisHomedStatus is not reset when a Rotary Unwind is enabled. Lgx00125288
Absolute move executes as shortest path move, without causing of an arithmetic overflow exception.
Motor magnet pitch for a LDL linear motor with a TTK70 encoder.
Soft Positive Limit for a linear motor running at a small velocity.
OverTravel Positive Limit for a linear motor running at a small velocity.
Linear motor run away condition occurs when the current is clamped and the motor is at the limit.
Noise resistance of autotune improved by detecting a disconnected power cord.
Disabled Target position field in the Index entry of MotionView for the current index type.
Modified Autotune error message in the Distance Default values dialog box.
Added text description for E27 fault code.
Added Device_State_Conflict error when setting the following PIDs while the drive is Enabled:
PID_Operation Mode
PID_Direction Reverse
PID_Rotary Unwind Enabled
PID_User Units Unwind
PID_Linear User Units
PID_Linear Motor Units
PID_Linear Units
The ActualPosition periodically reports an extremely large change for a single Requested Packet Interval.
The ActiveIndex and IndexStatus bits do not update properly following an Abort of a previously executing index.
Current readouts.
Brake release output active with enable
Limit switch polarity TAG is writable.
Ten-step Over Temperature qualifier initiated to prevent spurious Over Temperature faults.
Spurious Over Voltage Control (OVC) fixed. OVC (over current algorithm) has five-step qualifier (introduced at
revision 1.43).
Sin/Cos limits increased.
Four-step qualifier initiated to prevent spurious Over Speed faults.
Abort function fixed.
Wrong actual position for one RPI fixed.
The Brake Engage Delay does not apply the appropriate delay while operating in EtherNet/IP mode with a Fault Reset
configuration of On Disable.
The Soft Overtravel Limit checking does not allow the drive to move off the overtravel limits when using a
Disable and Coast fault action.
The registration-based move operations do not detect the registration input consistently.
The analog output does not use the appropriate voltage polarity when representing phase current.
Recompile revision 1.38 changes.
Brake release time default changed from 110 ms to 120 ms.
E94 (current sensors offset too large) problem resolution. E94 fault issued after third failure.
Analog voltage polarity corrected when representing currents.
Missing registration signal provided.
Start of Homing causes drive to restart.
Soft Limit Switch faults.
Brake delay cannot be controlled through the Ethernet/IP network with a Reset Faults on Disable configuration.
Fault History editing and protection CORRECTED: Password added to Faults History reset.
Registration enhancements for HR 1.00 and higher CORRECTED: Registration anomaly fixed.
N.O N.C selection is disabled and hidden for boards with HR 1.00.
Feature automatically enabled if installed on boards with HR >1.00.
Performance enhancements CORRECTED: Modifications were made for the following:
Absolute positioning does not report the appropriate actual position at powerup.
MotionView OnBoard software does not work with the Microsoft Windows 7 operating system.
Brake engage and release delays do not maintain torque during the delay.
Brake does not release when Stop/Reset button is pressed.
Position Only auto tuning corrected.
Additional Resources
These documents contain additional information concerning related products
from Rockwell Automation.
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.
Resource Description
Kinetix 300 EtherNet/IP Indexing Servo Drive User
Manual, publication 2097-UM001
Provides information on installing, configuring, starting,
troubleshooting, and specifications for your Kinetix 300
servo drive system.
Kinetix 300 EtherNet/IP Indexing Servo Drive Installation
Instructions, publication 2097-IN001
Provides information on installing your Kinetix 300 drive
system.
Industrial Automation Wiring and Grounding Guidelines,
publication 1770-4.1
Provides general guidelines for installing a Rockwell
Automation industrial system.
Product Certifications website, http://www.ab.com Provides declarations of conformity, certificates, and other
certification details.
Publication 2097-RN003B-EN-P - October 2013
Supersedes Publication 2097-RN003A-EN-P - Apri 2013 Copyright 2013 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.
Rockwell Automation Support
Rockwell Automation provides technical information on the Web to assist you in using its products.
At http://www.rockwellautomation.com/support you can find technical and application notes, sample code, and links to
software service packs. You can also visit our Support Center at https://rockwellautomation.custhelp.com/ for software
updates, support chats and forums, technical information, FAQs, and to sign up for product notification updates.
In addition, we offer multiple support programs for installation, configuration, and troubleshooting. For more
information, contact your local distributor or Rockwell Automation representative, or visit
http://www.rockwellautomation.com/services/online-phone.
Installation Assistance
If you experience a problem within the first 24 hours of installation, review the information that is contained in this
manual. You can contact Customer Support for initial help in getting your product up and running.
New Product Satisfaction Return
Rockwell Automation tests all of its products to help ensure that they are fully operational when shipped from the
manufacturing facility. However, if your product is not functioning and needs to be returned, follow these procedures.
Documentation Feedback
Your comments will help us serve your documentation needs better. If you have any suggestions on how to improve this
document, complete this form, publication RA-DU002, available at http://www.rockwellautomation.com/literature/.
United States or Canada 1.440.646.3434
Outside United States or Canada Use the Worldwide Locator at http://www.rockwellautomation.com/rockwellautomation/support/overview.page, or contact your
local Rockwell Automation representative.
United States Contact your distributor. You must provide a Customer Support case number (call the phone number above to obtain one) to your
distributor to complete the return process.
Outside United States Please contact your local Rockwell Automation representative for the return procedure.
Allen-Bradley, CompactLogix, Kinetix, MicroLogix, MP-Series, RSLogix, Rockwell Software, Rockwell Automation, and, Studio 5000 Logix Designer are trademarks of Rockwell
Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Rockwell Otomasyon Ticaret A.., Kar Plaza Merkezi E Blok Kat:6 34752 erenky, stanbul, Tel: +90 (216) 5698400

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Release Notes

Kinetix 300 EtherNet/IP Indexing Servo Drives,

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