Control de Movimiento

Mayo • 28 • 2020
Miguel Orihuela

PUBLIC
Indexing

Units
•define Axis movement parameters.
•selected to provide meaningful information to machine operators. • Degrees
• Revolution
•Typical units: Inches, mm, Degrees, revs
ROTARY Axis
Linear Axis Units Units

• Inches
• Millimeters

Load
Motor
Smart Machines – Value for End Users
Integrated Safety: Networked Safe Torque Off Solutions
 Traditional VSD Interface
Traditional Modern Smart Hardwired

 Limited Diagnostics
 lowest MTBF (most
components)
 Maximum Panel Space
 Modern VSD Interface
Networked Communication
 Improved Diagnostics
 Improved level of reliability, no
contactors required
 Smart VSD Interface
 Networked Safety and Comms
 Advanced Diagnostics
 Highest MTBF, no contactors,
no relays

Network Safety – add advanced diagnostics while reducing cost, complexity, and panel space3
PUBLIC | Copyright ©2018 Rockwell Automation, Inc.

3
Integrated Safety
 Kinetix Servo Drives

Why so many
options?

Kinetix 6000
Kinetix
Kinetix 6200
5700
Kinetix Kinetix 6500
5500

Kinetix
5300
Kinetix
350

Kinetix
5100
Kinetix 300

Kinetix 3
Ultra 3000
IMC 1394
Positioning within the Kinetix Portfolio
Core Features of the Kinetix Families

Standalone Machines Small to Medium Machines Medium machines Large Machines

Kinetix 5100 Core Features Kinetix 5300 Core Features Kinetix 5500 Core Features Kinetix 5700 Core Features
• EtherNet/IP Standalone drive • Entry-level CIP motion drive • Midrange CIP motion drive • Advanced CIP motion drive
• Standalone / simple machines • Simple to medium machines • Medium machines • Large machines
• Low axes count • Low axes count • Low axes count • High axes count
• Indexing drive • Hardwired safety • DC bus sharing • Diode / AFE power source
• Hardwired safety • Single axis modules • Single- and dual-axis
• KNX5100C Configuration Tool • Hardwired and network modules
safety • Hardwired and network
safety
• Advanced safety features
 Kinetix 300

Flexible Control Scalable Platform

• Five different indexing • 120V and 240V single
types phase, 240 and 460 3-
• Commanded Control phase voltage models.
Over EtherNet/IP • 400W – 3kW power
• Absolute and incremental ranges.
position with or without • Safe Torque Off
registration
• Electronic gearing
• Analog input control
• Step and direction control
Kinetix 300 Indexing
Kinetix 350 Servo Drive

Simplified system Scalable Platform

design: • Optimized for lower axis
• One standard count systems
EtherNet/IP network • 100V and 200V single
and configuration phase, 200V and 400V 3-
environment phase class voltage
• Equipped with models
embedded safe • 400W – 3kW power
Torque-Off ranges
• Ability to support standard
Studio 5000 motion
instruction set including
Kinematics

9
 Kinetix 5100 & TLP Servo Available
System Overview now!

Backward & Forward Compatibility

Comprehensive Product Offerings  Kinetix 5100 compatible with variety of
Nominal Voltage Phase System Output
existing motors together with TLP
 Easy Modernization or Migration
100V class 1P 0.05-2.0kW

200V class 1 & 3P 0.05-2.0kW

200V class 3P 3.0-15kW

400V class (future release) 3P 0.4-15kW

Cost Competitive Solution

 Competitive System pricing
Easy System Sizing Selection
 Third party cable bulk acceptable as
 Different from other Kinetix systems,
option
Rated Power of Kinetix 5100 drive
refers to Shaft Power at the motor
 Similar selection methodology seen Scalability
with Asian style competitors  Simplicity feature sets for customers’ easy of use
 Reduces consulting & sizing effort,  Enable better scalability from Connected
thus Making Motion easy to sell! Components to Integrated Architecture systems
with Kinetix5100
 Kinetix® 5100 Overview
Safety EtherNet/IP with Device Level Ring
 Hardwire Safe Torque Off  Dual Ethernet ports
IOs
 No need for additional accessories. e.g.: eTaps
 10 Digital Input & 5 Digital Output
 2 Analog Input & 2 Analog Output
 2 Fast Digital Input

Auto-Tuning and Vibration Suppression Function

 Optimize machine performance with less tuning effort
 Eliminating vibration without slowing down system
response
Aux Feedback port
 ½ axis feedback
 Dual Loop control function

AOIs for Logix user experience

Featured Functions
 Ease of use via EtherNet/IP versus Explicit
 Built-in Electronic CAM Function - Max of Exchange messaging
720 points in one simple cam profile
 Indexing Function – 99 sophisticated
motion commands and segments
 Gearing Mode (Master and Slave)
MP-series™ motor support
 PTO & Analog Control
TLP series motors  To support migration of Ultra 3000
 Control Mode changes
 JIS Frame type
 24-bit absolute feedback
 Kinetix® TLP Motor & Cable Overview

One physical encoder with both single or multi-turn

Wide Product Coverage option
• 200V class: 0.05-15kW with 8 frames • 24 bit absolute single turn encoder
• 400V class: 0.4-15kW with 6 frames (next • 24 bit absolute multi-turn, enabled by battery
phase)

Reliable and Flexible Motor Cable

Metric Mounting Flange for TL/Y migration connectivity
• Mounting flange consistent with TL/Y • Dual cable design
• Bolt circle diameter flange size: 46, 70, 90, 100, • F46-100: 0.3 and 1 meter on-motor cable
115, 145, 200, 235 options with molded connectors
• NEMA 17, 23, 34 (next phase, through adaptor • F115-235: military style connectors
Comprehensive Cable Options
plates) • Cable connector kits available as “build your
• Total cable length up to 50 meter
• Individual cable length options: 3, 5, 10, 15, own cable” option
20, 30, 50 meter
• Flex & non flex options
• Extension cable offers up to 10 meter
KNX5100C Software
 Kinetix 5300 Sero Drive & TLP Servo Motor System Overview
Broad Product Options
Backward & Forward Compatible
Nominal • Kinetix 5300 compatible with variety of
existing motors together and with Kinetix
Voltage Phase System Output
TLP
110V 1P 0.05…2.0 kW • Easy modernization or migration
240V 1 & 3P 0.05…2.0 kW
240V 3P 3.0…7.5 kW Cost-Competitive Solution
480V 3P 0.4…7.5 kW • Competitive system unit pricing
• Expand growth and coverage of
“Midrange Minus” and other
markets

Easy System Sizing

Different from other Kinetix systems, rated
power of Kinetix® 5300 drive refers to shaft
power at the motor
• Similar selection methodology seen at Scalable
Asian competitors • Improves scalability of Kinetix within Integrated
• Reduces consulting and sizing effort, Architecture® systems
making motion easy to sell! • Provides a better economy of scale motion
system offer for Integrated Architecture systems
Kinetix 5300 Overview
Safety Device Level Ring
• Hardwire Safe Torque Off • Dual ethernet ports
• No need for additional accessories. e.g.: eTaps

Control Loop Updates

• 125usec for current, Load Observer Functionality
speed and position • Advanced tuning technologies that
improve performance and eliminate tuning

IOs
• 4 Digital Input CIP Motion
with 2 Fast
Digital Input • A full Integrated Architecture
drive
Multi-Motor Support
Aux Feedback Port • MP-series: supports migration of Kinetix 3x0, Kinetix 2000 and
• ½ axis feedback Ultra 3000
• Dual loop control function • TL/Y-series: supports migration of Kinetix 3x0 & Kinetix 2000
• Linear motors: covers most of the Allen-Bradley portfolio
TLP-Series Motors • Closed-loop induction motors: only with TTL feedback
• JIS frame type • Third-party permanent magnet motors: with TTL &
• 24-bit absolute feedback SinCosfeedback
Kinetix 5500 Servo Drive

Flexible Control
• Safety options for Simplified system design
hardwired or integrated • Innovative common AC/DC
safety over EtherNet/IP bus improves energy
• Integrated with SIL3/Ple efficiency while eliminating
and Hardwired SIL2/PLd hardware, reduces
installation time and lowers
costs
Scalable Platform • Single cable solution reduces
• Dual- port Ethernet for installation errors inventory
Linear or Device Level Ring and wiring pathways
topologies • Zero stacked drives, no
backplane or power rail
required, reduces panel size
and simplifies installation
 Kinetix 5500 Servo Drive
Benefits and Features
50% smaller

Supports 195 –
528 VAC input

Innovative Common
AC/DC bus
24 VDC control
power,
reduces overall
power consumption Zero stacked
of the drive. drives

Clamp design
enforces 360°
Induction motor bonding for noise
(V/Hz) support Single cable immunity
Kinetix 5500 Servo Drive
Flexible Power Connectivity

AC/DC
supply sharing

DC bus sharing Hybrid Configuration

Kinetix 5500 Servo Drive
Power Density

 Best in class power density.

 Smaller footprint to reduce cabinet space.
 Zero Stacking capability for flexible design.

Kinetix 5500 reduces drive footprint size by up to 60% based

on application
Integrated Safety on EtherNet/IP

Integrated Safety Enhances Machine Performance

and Flexibility
Application Example
GuardLogix for Safety and Motion Control

Zone 1 Zone 2

Zone 2

Machine flexibility for modular design, configuration and

safety zoning
 Kinetix 5700 Servo System

200A common DC bus Combined Safety Technology.

for shared energy usage Integrated or Hardwired Safety
and savings - Safe Torque-Off SIL3/PLe

Advanced tuning
technologies that
Multiple motor types
help improve
supported, including DSL
performance and
Single Cable Technology
reduce tuning
Load Observer

Dual Loop
and Half Axis
Power dense design DC Bus Dual Axis
saves cabinet space Supplies Single Axis Servos
Advanced motor
Servos control technology

22
Kinetix 5700 Servo System Benefits
More is Better
 More Motor Options….
 Support for VP and MP Motor families
 Support for RDB and HPK motors
 Support for RA Linear motors, actuators, and thrusters
 More Power Options…..
 From 1.6kW to 60kW drive models
 Modular Power Architecture
 Configure larger systems
 More Control Options…..
 Servo Control
 Flux Vector Control, with encoder
 Frequency: Sensorless Vector Control
23
Drive safety Instructions
IEC 61800-5-2 safety instructions
Motion safety
Description
functions
SS1 When the motor is at standstill, the Safe
(Safe Stop 1) Torque Off (STO) function is triggered.
Safety Task Logix – Safety Instructions
SS2 When the motor is at standstill, a Safe
Compact (Safe Stop 2) Operating Stop (SOS) is triggered
GuardLogix® 5380
SIL 3/PLe Stratix® Helps prevent the motor from deviating more
SOS
controller switch than a defined amount from the stopped
(Safe Operating Stop)
position.
SLS Helps prevent the motor from exceeding the
Kinetix® 5700 drive
(Safely-limited Speed) specified speed limit.
E-stop

Compact 5000™ SLP Helps prevent the motor shaft from exceeding
safety I/O
(Safety-limited Position) the specified position limit.
Light curtain Helps prevent the motor shaft from moving
SDI
more than a defined amount in the
(Safe Direction)
unintended direction.
Drive safety instructions reduce cost and hardware,
which enable use of smaller cabinets, and SBC Provides a safe output signal to control an
they allow for quicker installation and commissioning. (Safe Brake Control) external brake.
 Safe Stop functions

Safe Torque Off Safe Stop 1 Safe Break Control

Removes power that can cause rotation Initiates and monitors the motor Provides a safe output signal to control
or motion. The drive will not provide deceleration rate within set limits to stop an external brake. The SBC function is
energy to the motor, which can generate the motor and initiate the Safe Torque coordinated with the STO function.
torque or force. Off (STO) function when the motor
speed is below a specified limit.
Safe Stop functions

Safe Stop 2 Safe Operating Stop (SOS) Can monitor

either position
or speed of
motor while
stopped

Initiates and monitors the motor The SOS function helps prevent the
deceleration rate within set limits to stop motor from deviating more than a defined
the motor and initiates the Safe amount from the stopped position. The
Operating Stop function when the motor drive provides energy to the motor to
speed is below a specified limit. enable it to resist external forces.
Safe Monitoring functions

Safely-limited Speed Safe Direction Safety-limited Position

The SLS function helps prevent the The SDI function helps prevent the The SLP function helps prevent the
motor from exceeding the specified motor shaft from moving in the motor shaft from exceeding the
speed limit. unintended direction. specified position limit.
Kinetix® 5700 Servo System

A Single Platform for

Complete Motion Control
Ability to regenerate excess energy back to the Features Integrated Safety — controller-based
grid. Leverage EtherNet/IP to monitor energy safety that is delivered via EtherNet/IP for safe and
usage. flexible machines.

Best in class power density. 40…70% cabinet Servo and vector motor control with extended
space reduction. power range up to 112 kW.
Single Cable Technology – 60% less wiring. Embedded runtime tuning technologies to
dramatically reduce commissioning time and
improve machine performance
 Kinetix® 5700 Large Frame Inverters
Features

Advanced Safety Capable

Kinetix 5700 Common
Safely Monitor Speed, Direction,
Bus Capability
and Position

Advanced Tuning
Common Format Improve performance and
Bookshelf zero stack format minimize tuning

Reduced Footprint Kinetix 5700 Motor

Power dense 90 kW and 112 kW Control Core
design supporting STO and Advanced Safety Native application
Kinetix 5700 systems capabilities for synchronous
and asynchronous motors
 Less Energy Usage
Regenerate energy back to the AC power source to be used by
other devices
Value: Savings from energy reuse

Less Wiring
Integrated L-C harmonic filter; one less module to mount and
wire
Value: Reduce installation costs 25…40%

Less Cabinet Space

Kinetix® 5700 40…70% cabinet space savings
Value: Cost savings from smaller cabinets and smaller
Regenerative Bus Supply machine footprint size
Kinetix® 5700 Regenerative Bus Supplies reduce
cost and add value Less Harmonics
Features built-in power quality management with unity power
factor for efficient power usage and minimized harmonics
Value: Allows customers to meet IEEE 519
 Kinetix® 5700 Regenerative Bus Supply
Features

Mounting Flexibility Consistent UX

Mount inverters to right Studio 5000 design
and left of the environment software
regenerative bus supply integration and configuration

Right Sized Global Performance

Wide power range in DC-bus regulation across
bookshelf zero stack format wide input voltage and low
harmonic operation

Reduced Footprint Integrated L-C Filter

Power dense Four Modules: Integrated harmonic filter
design supporting 35 A…207 A continuous reduces wiring and
Kinetix 5700 servo DC output current components required for
systems complete solution
 Kinetix® VP-Series Motors
Meet Your Application Need
• Kinetix® VPL low inertia servo motors feature low inertia
rotor, optional shaft seal, optional holding brake
for dynamic applications.
• Kinetix® VPC continuous duty servo motor features a
Kinetix ® VPL Low
cooling fan, shaft seal, upsized bearings, foot mount,
Inertia Servo Motor
Kinetix® VPC and implements interior permanent magnet technology
Continuous Duty for IE4 energy efficiency and increased max speeds
Servo Motor
• Kinetix® VPH hygienic servo motor features 316 grade
stainless steel housing, IP69K environmental rating,
design per EHEDG guideline, 3A & NSF certification,
SIL2 safety rated feedback
• Kinetix® VPF food grade servo motors feature food
grade white paint, stainless steel shaft and fasteners,
and food grade and REACH-compliant shaft seal
Kinetix ® VPH Hygienic grease
Servo Motor Kinetix ® VPF Food
Grade Servo Motor
Kinetix VPL Servo Motor
Benefits and Features

Single cable
Windings options reduces installation
matched to drive time and inventory
ratings allow for
optimized system
sizing and costs

Flexible part creation

allows for custom
variants

Mechatronic tools
simplify
commissioning and
reduce operational Energy efficient
costs drive/motor
Based on proven matching and
magnetic core MP capacitor module
technology for market reduces power
leading reliability and required and
performance system cost
 Kinetix Motors Lineup
0.2kW 1.5kW 3.0kW 4kw 5.5kw 7.5kw 11kw 15kw 18.5kw 30kw 57kw 75kw 95kw 150kw
0.05kW 0.5kW 2.0kW
TLY TLP

F46 F70 F90 F100 F115

F145 F200 F235
TL

F46 F70 F90 F100 F115

MPL

F63 F75 F165

F100 F115 F130 F215 F265 F300
MPM

F115 F130 F165 F215

MPS
VPS

F100 F100/130 F130 F165

VPH

F63 F75 F100 F115 F130 F165

MPF
VPF

F63 F75 F100 F115 F130 F165

VPL

F63 F75 F100

F115 F130 F165
VPC

F165 (SH80) F215 (SH100) F300 (SH132)

NEW Fanless Option
3.4kW – 24.4kW
HPK

F300 (SH132) F400 (SH180)

F350 (SH160) (SH 200mm)

(SH 225mm) (SH 254mm)

 Kinetix family of motors
Filling out the Allen-Bradley motor portfolio
*VPC fanless slightly de-rates power ratings
3.4kw 24.4kw
0.2kw 4kw 7.5kw 18kw 30kw 150kw
Dynamic

MPL
VPL

Fanless VPC Fanless

MPM
Continuous

HPK
Sicme / Oemer Partnership

Dynamic: intermittent, bidirectional motion (point-to-point) with typically higher stall / peak torque requirements
Continuous: steady, unidirectional motion at a rated speed requiring continuous torque over long periods

The Kinetix VPC motor covers Dynamic and Continuous applications - now with a Fanless option
Linear Motion Portfolio Full Integration with
Full Linear Motion Portfolio available Kinetix® Drives !!!
Linear Motors Linear Stages / Thrusters Linear Actuators

• High levels of acceleration and servo • Varying degrees of payload for high • Flexible, efficient servo controlled
responsiveness to increase throughput thrust force applications rod actuation
• No mechanical wear items results in • Provide an out-of-the-box precise two- • Fully assembled, ready to install
highly reliable motion dimensional linear motion solution • Clean, energy-efficient alternative
to pneumatic and hydraulic actuators
ControlLogix 5580 Example Architecture
Star - High Performance Architecture
Plant
Network
PowerFlex® Drives PanelView™ Plus

1 Gb Optional Redundant
1 Gb Uplink

100MB for Safety – VLAN 5 Stratix® 5400™

1 Gb – VLAN 10 100 MB
100 MB
100 MB

1 Gb 100 MB 1 Gb
100 MB
VLAN 5

5069 Compact I/O™ 5069 Compact I/O™

Kinetix® Drives
1734 POINT Guard I/O™

Note: Only the 5580 Controller can own devices connected to its 1 Gb embedded Ethernet port.
A 1756-ENxT(R) communication module is required to communicate with a GuardLogix® controller.
ControlLogix 5580 Example Architecture
Linear
Plant
Network PanelView™ Plus 5069 Compact I/O™

1 Gb Optional Redundant
1 Gb Uplink
Stratix® 5400™
100 MB for Safety – VLAN 5

1 Gb – VLAN 10 100 MB 1 Gb

100 MB

5069 Compact I/O™

1 Gb

1734 POINT Guard I/O™ PowerFlex® Drives

Kinetix® Drives

Note: Only the 5580 Controller can own devices connected to its 1 Gb embedded Ethernet port.
A 1756-ENxT(R) communication module is required to communicate with a GuardLogix® controller.
ControlLogix 5580 Example Architecture
Device Level Ring with Stratix 5400™
Plant
Network
5069 Compact I/O™ 5069 Compact I/O™

1 Gb Optional Redundant
1 Gb Uplink
Stratix 5400™
100MB for Safety – VLAN 5
1 Gb
1 Gb – VLAN 10 1 Gb 50 Device DLR Ring

100 MB 100 MB
100 MB 50 Device DLR Ring 100 MB 50 Device DLR Ring
100 MB

PanelView™ Plus

Kinetix® Drives 1734 POINT Guard

I/O™
Kinetix® Drives 1734 POINT Guard PowerFlex® Drives
I/O™

Note: Only the 5580 Controller can own devices connected to its 1 Gb embedded Ethernet port.
A 1756-ENxT(R) communication module is required to communicate with a GuardLogix® controller.
Up to 3 DLR rings supported with latest Stratix 5400 software (all must be on same VLAN)
 Independent Cart Technology Portfolio

MagneMover® Lite iTRAK®

• Intelligent conveyor system for • Intelligent propulsion and control system • Intelligent positioning and
light payloads (<10 kg) • Payloads from 10s to 1,000s of kilograms flexible conveyor system
• Easy design and setup • Flexible, modular, and scalable • Deterministic closed loop servo
• Flexible, modular, and scalable • Simple programming and control of 1,000s of carts performance
• Simple programming and • Automatic synchronization with
control of 1,000s of carts other motion axes
• High dynamic performance and
force
Thank you
www.rockwellautomation.com