Release Notes

Kinetix 300 EtherNet/IP Indexing Servo Drives,

Firmware Revision 1.71
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 1.67 2
Enhancements with Revision 1.50 2
Enhancements with Revision 1.40 2
Enhancements with Revision 1.30 2
Enhancements with Revision 1.00 3
Corrected Anomalies 4
Corrected Anomalies with Revision 1.71 4
Corrected Anomalies with Revision 1.67 4
Corrected Anomalies with Revision 1.50 5
Corrected Anomalies with Revision 1.40 5
Corrected Anomalies with Revision 1.30 5
Additional Resources 6

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.
2 Kinetix 300 EtherNet/IP Indexing Servo Drives, Firmware Revision 1.71

Enhancements Enhancements are provided with these firmware revisions:

• Enhancements with Revision 1.67
• Enhancements with Revision 1.50
• Enhancements with Revision 1.40
• Enhancements with Revision 1.30
• Enhancements with Revision 1.00

Table 1 - Enhancements with Revision 1.67

Enhancement Description
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
• The ability to configure overtravel polarity via an Ethernet/IP message instruction.
• The 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.

Table 2 - Enhancements with Revision 1.50

Enhancement Description
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 Software. 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 using EtherNet/IP will cause the RSLogix 5000 Software MSG
instruction to error.

Table 3 - Enhancements with Revision 1.40

Enhancement Description
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.

Table 4 - Enhancements with Revision 1.30

Enhancement Description
Added registration event and feedback filtering. A single-position capture registration event may 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.

Rockwell Automation Publication 2097-RN001F-EN-P - July 2012


Table 4 - Enhancements with Revision 1.30
Enhancement
Drive tuning enhanced.
Velocity loop integration
Table 5 - Enhancements with Revision 1.00
Enhancement
Controller support expanded.
Kinetix 300 EtherNet/IP Indexing Servo Drives, Firmware Revision 1.71 3
Description
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.
The velocity loop integrator may 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.
Description
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.
Rockwell Automation Publication 2097-RN001F-EN-P - July 2012
4 Kinetix 300 EtherNet/IP Indexing Servo Drives, Firmware Revision 1.71

Corrected Anomalies These system anomalies are corrected with these firmware revisions:
• Corrected Anomalies with Revision 1.71
• Corrected Anomalies with Revision 1.67
• Corrected Anomalies with Revision 1.50
• Corrected Anomalies with Revision 1.40
• Corrected Anomalies with Revision 1.30

Table 6 - Corrected Anomalies with Revision 1.71

Corrected Anomaly Description
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.

Table 7 - Corrected Anomalies with Revision 1.67

Corrected Anomaly Description
Code clarifications CORRECTED: Modifications made for:
• 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 0.1…10 μm.
• 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

Rockwell Automation Publication 2097-RN001F-EN-P - July 2012


Table 8 - Corrected Anomalies with Revision 1.50
Corrected Anomaly
Performance and support enhancements
Table 9 - Corrected Anomalies with Revision 1.40
Corrected Anomaly
Performance and support enhancements
Fault History editing and protection.
Registration enhancements for HR 1.00 and higher.
Table 10 - Corrected Anomalies with Revision 1.30
Corrected Anomaly
Performance enhancements
Kinetix 300 EtherNet/IP Indexing Servo Drives, Firmware Revision 1.71 5
Description
CORRECTED: Modifications made for:
• 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.
Description
CORRECTED: Modifications made for:
• 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 110ms to 120ms.
• 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 reboot.
• Soft Limit Switch faults
• Brake delay cannot be controlled through Ethernet/IP with a Reset Faults on Disable configuration.
CORRECTED: Password added to Faults History reset.
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
Description
CORRECTED: Modifications made for:
• Absolute positioning does not report the appropriate actual position at power up.
• 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.
Rockwell Automation Publication 2097-RN001F-EN-P - July 2012
Additional Resources These documents contain additional information concerning related products
from Rockwell Automation®.

Resource
Kinetix 300 EtherNet/IP Indexing Servo Drive User
Manual, publication 2097-UM001
Kinetix 300 EtherNet/IP Indexing Servo Drive Installation
Instructions, publication 2097-IN001
Industrial Automation Wiring and Grounding Guidelines,
publication 1770-4.1
Product Certifications website, http://www.ab.com
Description
Provides information on installing, configuring, starting
up, troubleshooting, and specifications for your Kinetix
300 servo drive system.
Provides information on installing y our Kinetix 300 drive
system.
Provides general guidelines for installing a Rockwell
Automation industrial system.
Provides declarations of conformity, certificates, and other
certification 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.

Allen-Bradley, CompactLogix, ControlLogix, Kinetix, MicroLogix, RSLogix, Rockwell Software, Rockwell Automation,
SoftLogix, and TechConnect are trademarks of Rockwell Automation, Inc.

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

Rockwell Otomasyon Ticaret A.Ş., Kar Plaza İş Merkezi E Blok Kat:6 34752 İçerenköy, İstanbul, Tel: +90 (216) 5698400

Publication 2097-RN001F-EN-P - July 2012

Supersedes Publication 2097-RN001E-EN-P - March 2012 Copyright © 2012 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.