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Allen-Bradley Kinetix 5100 2198-E1004-ERS User Manual Download Page 374

374

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019

Chapter 12

Motion Control Applications

IMPORTANT

This function is accumulative. If the command is triggered for N times 
consecutively, it pauses the E-Cam for N cycles. The accumulated pause 

distance cannot exceed the range. When the pause cycle is complete, the slave 
axis continues to operate and the accumulated pause distance is cleared to 0.

Summary of Contents for Kinetix 5100 2198-E1004-ERS

Page 1: ...5100 Single axis EtherNet IP Servo Drives Catalog Numbers 2198 E1004 ERS 2198 E1007 ERS 2198 E1015 ERS 2198 E1020 ERS 2198 E2030 ERS 2198 E2055 ERS 2198 E2075 ERS 2198 E2150 ERS User Manual OriginalInstructions ...

Page 2: ...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 Labels may also be on or inside the equipment to provide specific precautions WARNING Identifies informati...

Page 3: ... 30 Mount Your Kinetix 5100 Drive 37 Chapter3 Connector Data and Feature Descriptions Kinetix 5100 Connector Data 40 Control Signal Specifications 47 Feedback Specifications 64 Safe Torque Off Features 69 Operation Modes 70 Chapter4 Connect the Kinetix 5100 Drive System Basic Wiring Requirements 71 Determine the Input Power Configuration 72 Ground the Drive System 77 Wiring Requirements 78 Wiring ...

Page 4: ...e Position Velocity and Current Loops 155 Digital I O and Jog Function in KNX5100C Software 158 Chapter8 Configure the Drive in Studio 5000 Logix Designer Application Studio 5000 Logix Designer Application 161 Configure the Logix 5000 Controller 162 Configure the Kinetix 5100 Drive Modules 166 Download the Program 168 Chapter9 Tuning Tuning Process 169 Autotuning 170 Tuning via Tuning Mode 1 and T...

Page 5: ... a Dangerous Failure per Hour 381 Safe Torque Off Connector Data 382 Wire the Safe Torque Off Circuit 383 Safe Torque Off Feature 384 Safe Torque Off Specifications 385 Safe Torque Off Wiring Diagrams 386 Chapter14 Absolute Position Recovery System Requirements 389 Compatible Servo Motors 389 Install the Battery 390 System Initialization 391 Chapter15 Programming via Drive Parameters Organization ...

Page 6: ...pgrade 454 AppendixC Use Add On Instructions Download the Add On Instruction Files and Data Types 456 Import the Add On Instruction Files and Data Types 456 Create an Application 458 Add On Instruction Configuration 459 Error Codes 462 Add On Instruction Details 464 AppendixD Full Closed Loop Control Full Closed loop Control 486 AppendixE Use the Scope Function in KNX5100C Software Get Started 489...

Page 7: ...ories SpecificationsTechnical Data publication KNX TD004 Provides product specifications for Bulletin 2090 motor and interface cables low profile connector kits drive power components and other servo drive accessory items Kinetix 5100 Drive Systems Design Guide publication KNX RM011 System design guide to select the required drive specific drive module power accessory feedback connector kit and mo...

Page 8: ...001 Provides information on how to install wire and troubleshoot the Micro800 programmable controllers Micro820 Programmable Controllers User Manual publication 2080 UM005 Micro830 Micro850 Micro870 Programmable Controllers User Manual publication 2080 UM002 GuardLogix 5570 Controllers User Manual publication1756 UM022 Provides information on how to install configure program and use ControlLogix c...

Page 9: ...stem and obtain an overview of installation configurations Topic Page About the Kinetix 5100 Drive System 10 Typical Hardware Configuration 11 Motor and Auxiliary Feedback Configurations 12 Typical Communication Configurations 13 Typical Control Configurations 16 SafeTorque Off Configurations 19 Catalog Number Explanation 19 Agency Compliance 20 ...

Page 10: ...thWindows based computing 1756 EN2T 1756 EN2TR and 1756 EN3TR module EtherNet IP network communication modules for use with ControlLogix 5570 and ControlLogix 5580 controllers Logix PLC Controller Platforms MicroLogix 1100 and 1400 controllers provide communications ports an isolated combination RS 232 485 communication port an Ethernet port and MiroLogix 1400 only a non isolated RS 232 communicat...

Page 11: ...phase Input Power 5100 2 1 NET MOD CHARGE I 0 AUX U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C L1 L2 L3 Kinetix 5100 Servo Drive 2198 E1020 ERS drive is shown 2198 DBxx F or 2198 DBRxx F AC Line Filter required for CE Line Disconnect Device Circuit Protection Three phase Input Power Bulletin 2090 Motor Power Cable 2198 TBIOTerminal Expansion Block 2198 Rxxx or 2097 Rx Shunt Resistor optional equipme...

Page 12: ...it Accepts incremental encoder feedback TTL Application uses Load feedback PT mode dual loop Master feedback PR mode used as E CAM command source Kinetix MPx Servo Motors MPL Axxxx motor is shown 10 pin Auxiliary Feedback AUX Connector 15 pin Motor Feedback MFB Connector KinetixTLP Servo Motors TLP A046 010 motor is shown 2198 K51CK D15M Motor Feedback Connector Kit Accepts multiple encoder feedba...

Page 13: ...evices are connected in linear topology The Kinetix 5100 drives include dual port connectivity however if any device becomes disconnected all devices downstream of that device lose communication Devices without dual ports must include the 1783 ETAP module or be connected at the end of the line Figure 3 Kinetix 5100 Linear Communication Installation 1 Front 2 Rear 00 00 BC 2E 69 F6 2 1 I 0 AUX 5100...

Page 14: ...al require a 1783 ETAP module to complete the network ring Figure 4 Kinetix 5100 Ring Communication Installation 1 Front 2 Rear 00 00 BC 2E 69 F6 2 1 I 0 AUX 5100 NET MOD CHARGE 2 1 I 0 AUX 5100 NET MOD CHARGE 2 1 I 0 AUX 5100 NET MOD CHARGE 0 2 0 1734 AENTR Module Status Network Activity Network Status Point Bus Status System Power Field Power POINT I O Link 1 Activity Status Link 2 Activity Stat...

Page 15: ... Figure 5 Kinetix 5100 Star Communication Installation 1 Front 2 Rear 00 00 BC 2E 69 F6 2 1 I 0 AUX 5100 NET MOD CHARGE 2 1 I 0 AUX 5100 NET MOD CHARGE 0 2 0 1734 AENTR Module Status Network Activity Network Status Point Bus Status System Power Field Power POINT I O Link 1 Activity Status Link 2 Activity Status 1585J M8CBJM x Ethernet shielded Cable CompactLogix Controller Programming Network 1783...

Page 16: ... P2 DC L1 L2 L3 L1C L2C 5100 2 1 NET MOD CHARGE I 0 AUX U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C 2 3 5 4 1 R W P PanelView Plus 7 DisplayTerminal Studio 5000 Logix Designer Application Optional Controllers ControlLogix 5570 Controllersor GuardLogix 5570 Safety Controllers ControlLogix 5580 Controllersor GuardLogix 5580 Safety Controllers CompactLogix 5370 Controllers or Compact GuardLogix 5370 S...

Page 17: ...ions with Explicit Messaging Capability Kinetix 5100 Servo Drive 2198 E1020 ERS drive is shown To Other EtherNet IP Devices Third party Controller with EtherNet IP Network 2080 LCxx xxxx Micro830 Controller 1766 L32xx MicroLogix 1400 Controller Connected ComponentsWorkbench software for programming Micro800 controllers RSLogix 500 software for programming MicroLogix 1100 and 1400 controllers KNX51...

Page 18: ...ital I O indexing Kinetix 5100 Servo Drive 2198 E1020 ERS drive is shown 2080 LCxx xxxx Micro830 Controller 1766 L32xx MicroLogix 1400 Controller Third party Controller with PulseTrain Output or Analog or Digital I O 2198 USBC Mini USB Interface Cable with 2198 USBF filter Connected ComponentsWorkbench software for programming Micro800 controllers RSLogix 500 software for programming MicroLogix 11...

Page 19: ...2 1 NET MOD CHARGE I 0 AUX U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C 5100 2 1 NET MOD CHARGE I 0 AUX U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C 1606 XL Power Supply Input Allen Bradley AC Input Power Safety Device 1606 XLxxx 24V DC Functional Safety Power customer supplied SafeTorque Off STO Connectors Kinetix 5100 Servo Drives 2198 E1020 ERS drives are shown Cat No InputVoltage Continuous Output...

Page 20: ...high resolution encoder feedback 30 m 98 4 ft for axes with incremental encoder feedback Install the Kinetix 5100 system inside an enclosure Run input power wiring in conduit grounded to the enclosure outside of the enclosure Separate signal and power cables Segregate input power wiring and motor power cables from control wiring and motor feedback cables Use shielded cable for power wiring and pro...

Page 21: ...rator or unskilled person To maintain the functional safety rating of the Kinetix 5100 drive system this enclosure must be appropriate for the environmental conditions of the industrial location and provide a protection class of IP54 or higher The panel you install inside the enclosure for mounting your system components must be on a flat rigid vertical surface that won t be subjected to shock vib...

Page 22: ...n for Control of Electrical Noise Reference Manual publication GMC RM001 for a better understanding the concept of electrical noise reduction AC Line Filter Selection An AC line filter is required to meet CE requirements Install an AC line filter for input power as close to the 2198 Exxxx ERS servo drive as possible AC Line Filter Selection IMPORTANT Kinetix 5100 servo drives support only grounded...

Page 23: ...etix 5100 drive CircuitBreaker FuseSpecifications Kinetix 5100 servo drives use internal solid state motor short circuit protection and when protected by suitable branch circuit protection are rated for use on a circuit capable of delivering up to 5000 A when protected by fuses or circuit breakers These fuses and Allen Bradley circuit breakers are recommended for use with 2198 Exxxx ERS drives Tab...

Page 24: ...1489 M3D300 2198 E2030 ERS 230V three phase LPJ 50SP 50 A 1489 M3D350 2198 E2055 ERS LPJ 70SP 70 A 1489 M3D600 2198 E2075 ERS LPJ 80SP 80 A 140G G2C3 C70 2198 E2150 ERS LPJ 125SP 125 A 140G G2C3 D12 1 There are no recommended motor protection circuit breakers for the Kinetix 5100 servo drives Kinetix 5100 Drive Cat No DriveVoltage DIN gG Fuses Amps Max Miniature CB 1 Cat No Molded Case CB Cat No 2...

Page 25: ...sformer auto transformer is not supported must haveWYE secondary with grounded neutral Phase to neutral voltage must not exceed the input voltage rating of the drive IMPORTANT Useaformfactorof1 5forsingleandthree phasepower whereformfactoris used to compensate for transformer drive and motor losses and to account for utilization in the intermittent operating area of the torque speed curve Forexamp...

Page 26: ...hunts connect to the Kinetix 5100 drive is explained in External Passive shunt Connections on page 92 and illustrated with interconnect diagrams in Passive Shunt Wiring Example on page 441 ATTENTION See Table 8 for the minimum external shunt resistance Connecting an external shunt resistor of with resistance rating lower than specified results in drive side shunt circuitry damage 2198 R031 Shunt M...

Page 27: ... that value in the calculation Because the minimum cabinet depth to house the Kinetix 5100 system selected for this example is 300 mm 11 8 in the cabinet needs to be approximately 1500 x 700 x 300 mm 59 0 x 27 6 x 11 8 in HxWxD 1 5 x 0 300 x 0 70 1 5 x 0 300 x 2 0 1 5 x 0 70 x 2 0 3 31 m2 Because this cabinet size is considerably larger than what is necessary to house the system components it can ...

Page 28: ...rements of their own Additional clearance left and right of the drive module is required when mounted adjacent to noise sensitive equipment or clean wireways Recommended minimum cabinet depth 300 mm 11 81 in for 2198 E1004 2198 E1007 2198 E1015 2198 E1020 2198 E2030 2198 E2055 and 2198 E2075 servo drives 350 mm 13 78 in for 2198 E2150 servo drives To maintain adequate ventilation Install cooling f...

Page 29: ... m s 1 6 ft s air flow at 10 mm 0 4 in above the top center of the drive 20 0 8 Cabinet 50 2 0 D 80 3 2 Airflow 100 4 0 20 0 8 Airflow 20 0 8 20 0 8 D D 50 2 0 Air Flow Air Flow Dimension D is determined inTable 11 Measure Airflow Here Cooling Fans 10 0 4 Dimensions are in mm in Kinetix 5100 Drive Cat No Cooling Method Temperature AmbientVersus Dimension D 2198 E1004 ERS Natural 2198 E1007 ERS 219...

Page 30: ...practice where you connect the metal chassis assemblies frames shields and enclosures to reduce the effects of electromagnetic interference EMI Unless specified most paints are not conductive and act as insulators To achieve a good bond between drive and the subpanel surfaces must be paint free or plated Bonding the metal surfaces creates a low impedance return path for high frequency energy Impro...

Page 31: ...conductive material anodized orpainted scrapethematerialaround the mounting hole StarWasher Nut Nut FlatWasher Mounting Bracket or Ground Bus Use a wire brush to remove paint from threads to maximize ground connection BackWall of Enclosure Welded Stud Subpanel StarWasher Use plated panels or scrape paint on front of panel Subpanel Nut Nut StarWasher FlatWasher StarWasher StarWasher Scrape paint on...

Page 32: ... This difference in impedance can affect networks and other devices that span multiple panels Bond the top and bottom of each subpanel to the cabinet by using 25 4 mm 1 0 in by 6 35 mm 0 25 in wire braid As a rule the wider and shorter the braid is the better the bond Scrape the paint from around each fastener to maximize metal to metal contact Figure 13 Multiple Subpanels and Cabinet Recommendati...

Page 33: ... supply Shielded cable is required only if the very dirty cables enter a wireway Figure 14 Noise Zones 1 When space to the right of the module does not permit 150 mm 6 0 in segregation use a grounded steel shield instead For examples refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 D C D D VD C C D 5100 2 1 NET MOD CHARGE I 0 AUX U V W DC ISH ESH P1...

Page 34: ...in 2198 line filter mount the filter on the same panel as the Kinetix 5100 drive and as close to the drive as possible Good HF bonding to the panel is critical For painted panels see the examples on page 31 Segregate input and output wiring as far as possible Wire Cable Connector Function Zone Method Very Dirty Dirty Clean Ferrite Sleeve Shielded Cable L1 L2 L3 shielded cable Mains input power X X...

Page 35: ... 5100 2 1 NET MOD CHARGE I 0 AUX U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C L1 L2 L3 VD Clean wireway 150 mm 6 0 in clearance min on all four sides of the shunt module Metal Conduit where required by local code No sensitive equipment within 150 mm 6 0 in Enclosure Dirty wireway Kinetix 5100 Servo Drive Motor Power Cable Digital Inputs and Ethernet shielded Cables AC Line Filter required for CE Cir...

Page 36: ...nt Resistor Mounted Inside the Drive System Enclosure D C D D VD C C D 5100 2 1 NET MOD CHARGE I 0 AUX U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C L1 L2 L3 VD DirtyWireway Nosensitive equipment within 150 mm 6 0 in CleanWireway Enclosure Shunt PowerWiring Methods Twisted pair in conduit 1st choice Twisted pair two twists per foot min 2nd choice 76 mm 3 0 in clearance min below left and right of the...

Page 37: ...rvice or repair this assembly If you do not follow ESD control procedures components can be damaged If you are not familiar with static controlprocedures seeAllen Bradleypublication8000 4 5 2 GuardingAgainst Electrostatic Damage or any other applicable ESD Protection Handbook 7 0 0 28 170 6 67 81 0 3 19 7 0 0 12 5 0 0 20 3 0 0 12 7 0 0 12 5 5 0 22 2 0 0 08 8 2 0 32 173 6 79 5 5 0 22 2 0 0 08 162 6...

Page 38: ... mounting your servo drive Refer to Drill hole Patterns on page 37 For drive dimensions see the Kinetix Servo Drives Specifications Technical Data publication KNX TD003 3 Loosely attach the servo drive to the panel The recommended mounting hardware is M4 8 32 steel machine screws Observe bonding techniques as described in Bonding Drives on page 30 4 Tighten all mounting fasteners 5 Apply 2 0 N m 1...

Page 39: ...ndicators for the Kinetix 5100 servo drives Also included in this chapter are control feedback signal specifications and overviews of the functional safety feature and the Kinetix 5100 drive modes of operation Topic Page Kinetix 5100 Connector Data 40 Control Signal Specifications 47 Feedback Specifications 64 SafeTorque Off Features 69 Operation Modes 70 ...

Page 40: ...HARGE U V W DC ISH ESH Kinetix 5100 Drive BottomView 2198 E1004 ERS drive is shown Kinetix 5100 Drive FrontView 2198 E1004 ERS drive is shown Kinetix 5100 Drive TopView 2198 E1004 ERS drive is shown Item Description Item Description 1 Status display 9 Motor cable ground plate 2 Navigation push buttons 10 Safe torque off STO connector 3 Module Network and Charge status indicators 11 Mains input pow...

Page 41: ... U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C STO MFB 3 13 12 11 16 15 14 17 Kinetix 5100 Drive BottomView 2198 E1020 ERS drive is shown Kinetix 5100 Drive FrontView 2198 E1020 ERS drive is shown Kinetix 5100 Drive TopView 2198 E1020 ERS drive is shown 14 9 16 3 12 11 2 13 8 15 7 6 5 4 1 10 17 17 18 P1 P2 DC L1 L2 L3 L1C L2C DC ESH U V W NET MOD CHARGE 5100 I O AUX STO MFB Kinetix 5100 Drive BottomV...

Page 42: ...nector Pinout Item Description Item Description 1 Status display 10 Safe torque off STO connector 2 Navigation push buttons 11 Mains input power terminals 3 Module Network and Charge status indicators 12 Control power input terminals 4 Mini USB connector 13 Motor feedback MFB connector 5 Ethernet PORT2 RJ45 connector 14 Motor power output terminals 6 Ethernet PORT1 RJ45 connector 15 Shunt resistor...

Page 43: ...n be connected to the DC and ESH terminals Table 19 Shunt Resistor Connector Pinout Signal Description DC Positive DC bus ISH Internal shunt connection 1 applies to only 2198 E1004 ERS 2198 E1007 ERS 2198 E1015 ERS 2198 E1020 ERS 2198 E2030 ERS drives 1 For internal shunt keep jumper applied between DC and ISH default Remove jumper and connect external shunt between DC and ESH ESH External shunt c...

Page 44: ...al inputs connected to 24 or 0V DC 36 BX Pulse input B DIR CCW 12 AGND Analog input signal ground 37 BX Pulse input B DIR CCW 13 AGND Analog input signal ground 38 INPUT10 Digital input 10 high speed 14 Reserved 1 39 APWR Externalpower input of AX AX for single endoperation 15 AOUT2 Analog monitor output 2 40 OUTPUT6 Digital output 6 16 AOUT1 Analog monitor output 1 41 AX Pulse input A Step CW 17 ...

Page 45: ...ect commutation 5 DATA IM Data differential input Index pulse 13 S2 Single ended 5V Hall effect commutation 6 ECOM Common 14 EPWR_5V 2 Encoder power 5V 7 EPWR_9V 2 Encoder power 9V 15 Reserved 8 S3 Single ended 5V Hall effect commutation 1 Not applicable unless motor has integrated thermal protection 2 Determine which power supply your encoder requires and connect to only the specified supply Do n...

Page 46: ...Differential Input 6 IM Channel Index Differential Input 2 AM Channel A Differential Input 7 ECOM Encoder Common 3 BM Channel B Differential Input 8 EPWR5V Encoder 5V Power Output 4 BM Channel B Differential Input 9 Reserved Reserved 5 IM Channel Index Differential Input 10 Reserved Reserved 1 2 3 4 5 6 7 8 9 10 View from rear of connector kit Soldered Pins Front of Connector Kit Port 1 Pin Signal...

Page 47: ...input DI points to provide maximum flexibility There are two fast inputs to support registration or print marks Registration inputs can only be assigned to high speed inputs as shown in Table 22 Table 22 Digital Input Assignments Digital Input Function Function INPUT1 Digital input 1 User configurable excluding registration INPUT2 Digital input 2 INPUT3 Digital input 3 INPUT4 Digital input 4 INPUT...

Page 48: ...9 Input Control Mode PT PR S Sz T Tz PT S PT T PR S PR T S T IO Default Signal 1 0x01 0x01 0x01 0x01 0x01 0x01 0x01 0x01 0x01 Servo On Servo On Servo On Servo On Servo On Servo On Servo On Servo On Servo On 2 0x04 0x08 0x09 0x10 0x04 0x04 0x08 0x08 CCLR CTRG TRQLM SPDLM CCLR CCLR CTRG CTRG 3 0x16 0x11 0x14 0x16 0x14 0x16 0x11 0x1 0x14 TCM0 POS0 SPD0 TCM0 SPD0 TCM0 POS0 POS0 SPD0 4 0x17 0x12 0x15 0...

Page 49: ...t 0x10 SPDLM Speed limit enabled 0x11 POS0 Internal position command selection 1 99 Bit0 0x12 POS1 Internal position command selection 1 99 Bit1 0x14 SPD0 Internal speed command selection 1 4 Bit0 0x15 SPD1 Internal speed command selection 1 4 Bit1 0x16 TCM0 Internal speed torque selection 1 4 Bit0 0x17 TCM1 Internal speed torque selection 1 4 Bit1 0x18 S P Speed Position mode switching 0x20 T P T...

Page 50: ...igital inputs scan time Standard inputs 500 µs max Fast inputs 1 µs Type Current sourcing and current sinking IEC61131 2Type 1 Dedicated functions Standard inputs INPUT1 INPUT8 and DCOM Fast inputs registration inputs INPUT9 INPUT10 and DCOM WhenconfiguredasDisabled inputscan be usedbyprograms as a programming condition Only one function at a time is possible Input current with 26 4V applied 6 mA ...

Page 51: ...tion needs to change to meet your application requirements you can program the function of DO1 DO6 by using the corresponding parameters listed in Table 28 Table 28 DO Signal Parameters Output PT PR Communication Speed Torque Signal Function Signal Function OUTPUT1 Servo Ready SRDY Servo ready Ready SRDY Servo ready OUTPUT2 Zero Speed Range ZSPD Zero speed of motor Zero Speed ZSPD Zero speed of mo...

Page 52: ...pply to a resistive load Inthis example thedrive applies the external 24V DC power supply to an inductive load Servo Drive Servo Drive Parameter Description Min Max ON state current Current flow when the output transistor is ON 40 mA OFF state current Current flow when the output transistor is OFF 0 1 mA ON state voltage Voltage across the output transistor when ON 1 5V 40 mA OFF state voltage Vol...

Page 53: ...ignals they can be wired as current sinking NPN or sourcing PNP inputs Figure 29 Pulse Input Single ended Configuration current sourcing Parameter Description Analog inputs voltage 10V 10Vs Analog inputs resolution 11 bits min Analog inputs scan time 0 0625 ms max Analog inputs impedance 12 kΩ typical approx AGND 10V 10 kΩ 13 18 42 COMMAND1 Torque COMMAND2 Speed Analog GND Servo Drive Controller I...

Page 54: ...er Figure 31 Pulse Input line driver Configuration 51 Ω 51 Ω 51 Ω 51 Ω 24V DC 1 5 kΩ 1 5 kΩ Pulseinputfrequency max 200kHz Pulseinputfrequency max 200kHz 39 41 BPWR 35 37 Pulse B APWR Pulse A Servo Drive Controller I O Connector with 2198 TBIO Expansion Block 51 Ω 51 Ω 51 Ω 51 Ω SIGN PULSE SIGN 36 37 43 PULSE 41 Pulseinputfrequency max 4MHz Pulseinputfrequency max 4MHz Pulse B Pulse B Pulse A Puls...

Page 55: ...e 31 Analog Output Specifications Figure 32 Analog Output Configuration Parameter Description Analog outputs voltage 8V 8V DC or 10V 10VDC user configurable Analog outputs resolution 10 bits min Analog outputs current 1 mA max Analog outputs scan time 0 25 ms max AGND 24 kΩ Output 1 mA max 8 kΩ 8V Full scale V 13 16 15 AOUT1 AOUT2 Analog GND Servo Drive Controller I O Connector with 2198 TBIO Expa...

Page 56: ...Ω 21 22 AMOUT AMOUT Output Current max 20 mA 25 23 BMOUT BMOUT 50 24 ZMOUT ZMOUT Servo Drive Receiving Device I O Connector with 2198 TBIO Expansion Block I O Connector with 2198 TBIO Expansion Block I O Connector with 2198 TBIO Expansion Block 21 22 AMOUT AMOUT Output Current max 20 mA 25 23 BMOUT BMOUT 50 24 ZMOUT ZMOUT 200 Ω 200 Ω 200 Ω High Speed Photo Coupler High Speed Photo Coupler High Spe...

Page 57: ...0 controller Table 32 Ethernet Communication Specifications 24V 48 13 30V max 50 mA OCZMOUT Analog GND AGND Servo Drive I O Connector with 2198 TBIO Expansion Block Attribute Value Communication The drive auto negotiates Speed and Duplex modes These modes can be forced through the Logix Designer application 100BASE TX full duplex is recommended for maximum performance Request Packet Interval RPI 2...

Page 58: ...ing Examples beginning on page 442 External customer supplied 24V power supply is required Figure 36 Brake Control Circuit Example 1 Customer supplied diode or MOV suppression device An example brake circuit contains the following components Digital output 40 mA max continuous current Relay 700 HK36Z24 with DIN mount 700 HN121 or equivalent Suppression device examples include 1N4004 diode Bulletin...

Page 59: ...inetix Rotary Motion Specifications Technical Data publication KNX TD001 Coil current and motor brake response time specifications are shown on page 62 for your convenience If any discrepancies exist between the technical data and this publication KNX TD001 takes precedence Brake control is configurable in KNX5100C software An active signal releases the motor brake Turn on and turn off delays are ...

Page 60: ...D149 P1 042 Disengage Delay Time and ID150 P1 043 Engage Delay Time parameter values 8 Verify that the MotorStopMode ID675 P1 032 parameter is set to 0000 Refer to Parameter Editor screen General parameter group TIP Forverticalloads MotorStopMode0000controlsthemotortobelowtheID145 P1 038 motor speed where the brake function executes see Figure 37 ...

Page 61: ...or speed rpm is below the Zero Speed Range value the zero speed condition is met When the Servo On condition is OFF digital input Servo On is removed Add On Instruction command raC_Dvc_k5100MSF is issued or the drive faults ID150 P1 043 Engage Delay Time begins timing The Zero Speed Range condition is actively evaluated If the zero speed condition occurs before the Engage Delay Time expires the br...

Page 62: ...control circuit TLP A046 0 25 0 36 20 35 TLP A070 0 30 0 42 50 TLP A090 0 33 0 47 60 TLP A100 0 35 0 50 70 TLP A115 0 81 1 13 80 TLP A145 0 90 1 26 50 110 TLP A200 200 1 29 1 81 30 120 TLP A200 300 TLP A200 350 TLP A200 450 50 150 TLP A200 550 TLP A200 750 TLP A235 1 32 1 85 100 300 Motor Cat No Coil Current at 24V DC A Brake ResponseTime Release ms Engage 1 ms 1 Engage time ms includes diode as a...

Page 63: ...rol Power Specifications Servo Drive Cat No Input Current of Control Power A rms 120V rms nom Inrush Current of Control Power max A 0 pk 120V rms nom Input Current of Control Power A rms 230V rms nom Inrush current of Control Power max A 0 pk 230V rms nom 2198 E1004 ERS 0 34 15 80 0 20 37 0 2198 E1007 ERS 0 38 18 20 0 22 37 40 2198 E1015 ERS 0 38 19 20 0 22 39 80 2198 E1020 ERS 0 63 19 20 0 35 32 ...

Page 64: ...ribute Value Feedback device support GenericTTL incremental Stegmann Hiperface 24 bit absolute single turn and multi turn Power supply EPWR5V 5 09 5 41V 300 mA max Power supply EPWR9V 8 3 9 9V 150 mA max Motor thermostat Single ended input Under 500 Ω No Fault Over 10 kΩ Fault 5V 1 k 8 25k 0 1 PF MTR_TS 5V Jumper Kinetix 5100 Servo Drive Attribute Value TTL incremental encoder support 5V different...

Page 65: ..._BM 2 k 1 k 1 k 220 pF 220 pF 2 k to AqB Counter Shaded area indicates components that are part of the circuit but support other feedback device types not used for GenericTTL incremental support Kinetix 5100 Servo Drive to UART from UART from UART MTR_IM MTR_IM to AqB Counter 100 100 120 1 2 k 1 2 k 5V 330 pF Shaded area indicates components that are part of the circuit but support other feedback ...

Page 66: ...48 counts sine period Input frequency AM BM 250 kHz max Input voltage AM BM 0 6 1 2V p p which is measured at the drive inputs Line loss detection AM BM Average sin2 cos2 constant MTR_SIN or MTR_COS MTR_SIN or MTR_COS 100 to AqB Counter 1 k 1 k 100 120 2 k 220 pF to A D Converter 2 k 220 pF 330 pF Kinetix 5100 Servo Drive Shaded area indicates components that are part of the circuit but support ot...

Page 67: ...PhasingDefinitions For TTL encoders the drive position increases when A leads B Clockwise motor rotation is assumed when looking at the motor shaft Figure 44 TTL Encoder Phasing For Sin Cos encoders Stegmann Hiperface the drive position increases when Cosine B leads Sine A Clockwise motor rotation is assumed when looking at the motor shaft Attribute Value Communication protocol Proprietary format ...

Page 68: ...TANT The Sine Cosine encoder signal phasing is different than theTTL encoder signal phasing IMPORTANT When using absolute feedback devices for example Stegmann Hiperface the drive synthesizes a marker signal because these devices don t have a marker signal required for the home to marker sequence and the marker hookup test to complete EncoderType Cat No Designator Motor Cat No Retention Limits Tur...

Page 69: ...rs in response to the removal of the STO digital inputs resulting in Stop Category 0 behavior 2198 Exxxx ERS hardwired servo drives support parallel input terminals for cascading to adjacent drives over duplex wiring For applications that do not require the STO safety function you must install jumper wires to bypass the safe torque off feature Refer to Safe Torque Off Feature on page 384 for the S...

Page 70: ...ct the command with binary weighted DI signals Torque mode T 03 The servo drive receives theTorque command and commands the motor to run with the target torque TheTorque commands can be issued from the internal registers 3 sets in total and by analog voltage 10V 10V that is communicated through the terminal block You can select the commandwith binary weighted DI signals Torque mode no analog input...

Page 71: ...tions 92 Ethernet Cable Connections 94 ATTENTION Plan the installation of your system so that you can cut drill tap andweldwiththesystemremovedfromtheenclosure Becausethesystemisof theopentypeconstruction becarefultokeepanymetaldebrisfromfallinginto it Metal debris or other foreign matter can become lodged in the circuitry which can result in damage to components SHOCK HAZARD To avoid hazard of el...

Page 72: ...nals Radiated noise can cause system faults and communication anomalies See Electrical Noise Reduction on page 30 for examples of routing high and low voltage cables in wireways See the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 for more information DeterminetheInputPower Configuration Before wiring input power to your Kinetix 5100 drive you must determine...

Page 73: ...L1 L3 L2 L1 E L3 L2 L1 L3 L2 L1 2198 Exxxx ERS Servo Drives L1C L2C Transformer wye Secondary Mains AC Input Power Connector Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground AC Line Filter Circuit Protection Feeder and branch short circuit protection is not illustrated M1 Contactor Control AC Input Power Connector Circuit Protection ATTENTION Forthe230VKinetix 5100 drivesto meetp...

Page 74: ... Circuit Protection M1 Contactor Mains AC Input Power Connector Control AC Input Power Connector Circuit Protection 2198 E1004 ERS 2198 E1007 ERS 2198 E1015 ERS and 2198 E1020 ERS Drives with Single phase Operation L2 L1 Neutral L2 L1N L2 L1N L2 L1 E L1C L2C Transformer Secondary Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground AC Line Filter 230V AC Output Circuit Protection M1 ...

Page 75: ... phase is brought directly into the filter and no isolating transformer is present ATTENTION Failure to connect the neutral can result in supply voltage swings at the individual drives Voltage swings occur when the neutral point moves in a vectorial as a result of load variations that experienced by the individual drives The supply voltage swing can cause undervoltage and overvoltage trips on the ...

Page 76: ...rking by Rockwell Automation is voided when three phase and neutral in line filters are used IMPORTANT Transformer auto transformer is not supported must haveWYE secondary with grounded neutral Phase to neutral voltage must not exceed the input voltage rating of the drive ATTENTION The three phase isolation transformer and neutral in line filter applications that are described in this document hav...

Page 77: ... 5 in by 0 8 mm 0 03 in Keep the braided ground strap as short as possible for optimum bonding Figure 52 Connect the Braided Ground Strap Example Refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 for more information IMPORTANT To improve the bond between the Kinetix 5100 drive and subpanel construct your subpanel out of zinc plated paint free steel A...

Page 78: ... improve safety and proper operation See Appendix A beginning on page 435 for interconnect diagrams 2 1 I 0 AUX 5100 NET MOD CHARGE 2 1 I 0 AUX 5100 NET MOD CHARGE 2 1 I 0 AUX 5100 NET MOD CHARGE 2 1 I 0 AUX 5100 NET MOD CHARGE Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground Always follow NEC and applicable local codes Chassis Ground Chassis Ground Chassis Ground Chassis Ground ...

Page 79: ... 14 4 3 1 3 27 44 3 Attach using a terminal crimp lug 2198 E2075 ERS 2198 E2150 ERS 2198 E1004 ERS 2198 E1007 ERS 2198 E1015 ERS Shunt resistor DC ISH ESH 0 20 3 31 24 12 11 0 4 N A 2 2198 E1020 ERS 2198 E2030 ERS 0 20 5 26 24 10 13 0 5 N A 2 2198 E2055 ERS 0 82 8 36 18 8 1 8 3 15 49 2198 E2075 ERS 11 0 4 1 6 3 13 90 2198 E2150 ERS 2 08 21 1 14 4 13 0 5 3 1 3 27 44 2198 E1004 ERS 2198 E1007 ERS 21...

Page 80: ...ves use spring tension to hold wires in place 2198 E1004 ERS 2198 E1007 ERS and 2198 E1015 ERS drives include connector plugs and a wiring tool 4 Gently pull on each wire to make sure that it does not come out of its terminal reinsert and or tighten any loose wires 5 Insert the connector plug into the drive connector IMPORTANT For connector locations of the Kinetix 5100 drives see Kinetix 5100 Con...

Page 81: ...S drive is shown TopView Mains Input Power Connector P1 P2 DC L1 L2 L3 L1C L2C P1 P2 DC L1 L2 L3 L1C L2C NET 5100 MOD CHARGE 2 1 I O AUX U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C 2198 E1020 ERS and 2198 E2030 ERS Kinetix 5100 Servo Drives FrontView 2198 E2055 ERS 2198 E2075 ERS and 2198 E2150 ERS Kinetix 5100 Servo Drives FrontView Kinetix 5100 Servo Drives 2198 E1020 ERS drive is shown FrontView...

Page 82: ...lock Installation Instructions publication 2198 IN020 for more information Figure 57 Kinetix 5100 Drive I O connector and terminal block Table 46 I O Terminal Expansion Block Specifications Wire the SafeTorque Off Connector For the Safe Torque Off STO connector pinouts feature descriptions and wiring information see Chapter 13 beginning on page 382 I O AUX 1 I O Connector 2198 TBIO Terminal Expans...

Page 83: ...1004 ERS drive is shown BottomView Motor Power Connector U V W NET 5100 MOD CHARGE 2 1 I O AUX U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C U V W 2198 E1020 ERS and 2198 E2030 ERS Kinetix 5100 Servo Drives FrontView 2198 E2055 ERS 2198 E2075 ERS and 2198 E2150 ERS Kinetix 5100 Servo Drives FrontView Kinetix 5100 Servo Drives 2198 E1020 ERS drive is shown FrontView Motor Power Connections Kinetix 510...

Page 84: ...F power brake cables and 2090 CFBM7DF feedback cables Kinetix MPx motors have separate connectors for 2090 CPxM7DF power brake cables and 2090 CFBM7DF feedback cables Table 48 AOP Installation Requirement See Install the Kinetix 5100 Add On Profile on page 161 for information on downloading the AOP IMPORTANT To configure these motors see Table 49 and Table 50 with your Kinetix 5100 servo drive you...

Page 85: ...0 300 TLP A200 350 2090 CTPB MDDF 12Axx standard or 2090 CTPB MDDF 12Fxx continuous flex 2090 CTPW MDDF 12Axx standard or 2090 CTPW MDDF 12Fxx continuous flex TLP A200 450 2090 CTPB MDDF 08Axx standard or 2090 CTPB MDDF 08Fxx continuous flex 2090 CTPW MDDF 08Axx standard or 2090 CTPW MDDF 08Fxx continuous flex TLP A200 550 TLP A200 750 1 TLP A235 11K 2090 CTPW MEDF 06Axx standard or 2090 CTPW MEDF...

Page 86: ...d If you are building your own cables see Build Your Own Kinetix TLP Motor Cables Installation Instructions publication 2090 IN048 to attach motor side power and feedback connector kits to bulk cable Also see Kinetix 5100 Feedback Connector Kit Installation Instructions publication 2198 IN019 to terminate the flying lead feedback cable connections Cable Preparation for Kinetix MPx Servo Motors Mot...

Page 87: ...motors are shielded The braided cable shield must terminate at the drive during installation 2090 CTPx MxDx motor power cables are designed specifically for Kinetix TLP motors and require no preparation For 2090 CPxM7DF cables used with MP Series motors ring lugs need to be crimped to the PE U V and W conductors when attaching to 2198 E2055 2198 E2075 2198 E2150 servo drives See Build Your Own Kin...

Page 88: ...ighten the PE ground screw until the maximum torque value of 2 0 N m 17 7 lb in is achieved Figure 52 displays examples of how the motor cable conductors and shield can be routed and attached for each of the servo drives Table 52 Kinetix 5100 Drive Ground Plate Examples D 5100 2 1 NET MOD CHARGE I 0 AUX U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C TieWraps PE Ground Screws Grounding Plate IMPORTANT ...

Page 89: ...feedback connector kit 2090 CFBM7DF flying lead cables require preparation to make sure the ground plate attaches properly and conductors route smoothly to the connector terminals All of the current and legacy feedback cables listed below are compatible with the 2198 K51CK D15M connector kit Table 53 Kinetix TLP Motor Feedback Cable Compatibility Table 54 Compatible Motors and Actuators Servo Moto...

Page 90: ...ck threaded 2090 CFBM4DF CDAFxx Kinetix MPx Servo Motors 2090 CFBM7DF CEAxxx CablesWithThese Motors MPL A15xxx MPL A2xxx V Ex4 7xAA MPL A3xxx MPL A5xxx M Sx7xAA MPF Axxx M S MPS Axxx M S MPM Axxxxx M S 2090 XXNFMF Sxx or 2090 CFBM7DF CDAxxx Feedback CablesWithThese Motors MPL A15xxx MPL A2xxx Hx4 7xAA MPL A3xxx MPL A45xxx Hx4 7xAA 2198 K51CK D15M Connector Kit Pin 1 SIN AM 1 2 SIN AM 2 3 COS BM 3 ...

Page 91: ... Bulletin 2090 Feedback Cable Mounting Screws 2x 1 Place exposed cable shield in the channel 2 Placetheshieldclampover the exposed shield 3 Tighten screws torque 0 35 N m 3 097 lb in Terminal Signal Wire Color 1 SIN AM Black 2 SIN AM White Black 3 COS BM Red 4 COS BM White Red 5 DATA IM Green 6 ECOM 1 1 The ECOM andTS connections are tied together and connect to the cable shield White Gray 7 EPWR_...

Page 92: ...C to ISH jumper connects the internal shunt resistor Figure 63 2198 E1004 ERS 2198 E1007 ERS and 2198 E1015 ERS Servo Drives Figure 64 2198 E1020 ERS 2198 E2030 ERS 2198 E2055 ERS 2198 E2075 ERS and 2198 E2150 ERS Servo Drives IMPORTANT To improve system performance run wires and cables in the wireways as established in Chapter 2 IMPORTANT You must remove the internal shunt jumper between DC and I...

Page 93: ...o drive Kinetix 5100 Drive Cat No Connects to Terminals RecommendedWire Size mm2 AWG Strip Length mm in TorqueValue N m lb in 2198 E1004 ERS 2198 E1007 ERS 2198 E1015 ERS DC ISH ESH 0 20 3 31 24 12 11 0 4 N A 1 1 This connector uses spring tension to hold wires in place 2198 E1020 ERS 2198 E2030 ERS 0 20 5 26 24 10 13 0 5 N A 1 2198 E2055 ERS 0 82 8 36 18 8 1 8 15 49 2198 E2075 ERS 11 0 4 1 6 13 9...

Page 94: ...pecifications Technical Data publication KNX TD004 for more information Figure 65 ControlLogix and CompactLogix Ethernet Port Locations The Logix 5000 controllers accept linear ring DLR and star network configurations Refer to Typical Communication Configurations on page 13 for linear ring and star configuration examples 1 Front 2 Rear 00 00 BC 2E 69 F6 1 2 LNK1LNK2 NET OK 1 2 OK FORCE SD RUN Logi...

Page 95: ...d Panel Display 95 Drive Displays 96 Edit Settings From the Display 101 Item Key Name Description 1 Display A 5 digit 7 segment status indicator that displays the monitoring values parameters and setting values 2 Mode key Use this key to return to the parentmenu or if there is one to return to the previous menu 3 Up key Use this key to return to the previous menu It is also increases the values th...

Page 96: ... Main displays are as follows Real time data Drive status Setting Real Time Data Real Time Data screen shows the real time value of the selected parameter The Real Time Data display format is as follows Use the keys to move between parameters When the drive is enabled servo on you can use the key to access the Drive Status screen to view information If no button is pressed and no fault or alarm oc...

Page 97: ...59 Real Time Display Symbols Code RealTime Displayed Symbol Description Unit 0 Motor feedback pulse number after the scaling of electronic gear ratio User unit 1 Inputpulsenumberofpulsecommandafterthescalingof electronic gear ratio User unit 2 The deviation between control command pulse and feedback pulse number User unit 3 Motorfeedbackpulsenumber encoderunit 1 28million count rev Count 4 Input p...

Page 98: ... equals the homing value 0 The absolute pulse number can be 5000 or 5000 pulses depending on whether the motor rotates in a forward or reverse direction 19 Map parameter number 1 displays the content of parameterID55 P0 025 Specifythemaptargetbyusing ID60 P0 035 20 Map parameter number 2 displays the content of parameterID56 P0 026 Specifythemaptargetbyusing ID61 P0 036 21 Map parameter number 3 d...

Page 99: ...ode by using ID669 P0 018 25 Monitor variable number 3 displays the content of parameter ID665 P0 011 Specify the monitoring variable code by using ID670 P0 019 26 Monitor variable number 4 displays the content of parameter ID666 P0 012 Specify the monitoring variable code by using ID667 P0 020 27 Offset value between motor position and Z phase in PUU unit The value is 0 when the position overlaps...

Page 100: ... address or drive parameters or reset the drive For more information see Edit Settings From the Display on page 101 Drive Status Name Display String Description Standby Stdby If the drive has passed boot steps and self testing but the drive has not been configured Stopped StoP If the drive has been configured but it is still not enabled servo on Running RUN The drive is enabled servo on Fault A fa...

Page 101: ...key to return to the previous display Figure 68 State Switch Machine of Information Display and Setup Edit Network Settings From the Setting display perform the following steps 1 Press the key to go to Network Setting display 2 Press again to enter the Static IP display From that display there are two choices Press again to set a static IP address See Set Static IP Address Press the key to turn DH...

Page 102: ...n the IP Address Gateway and Subnet setting screens See Detail A in Figure 69 4 Press the key in any one of those settings displays and use the keys to edit the values 5 Press the key to set the values and return to the setting display 6 Press the key to return to the IP Address display Figure 69 State Switch Machine of Setting A ...

Page 103: ...the key to return to the IP Setting display Edit Parameter Settings From Settings display perform the following steps 1 Press the key to get to Network Settings 2 Press the key for Parameters 3 Press the key for the parameter editing mode Starting with group 0 Use the keys to move between parameter numbers within the group 4 Use the key to move to the next parameter group Use the keys to move betw...

Page 104: ... the value and displays Saved or another status message on the display See Table 60 on page 104 SaveDisplay When you have set the parameter press the key to save The display shows one of the following symbols for one second Table 60 Parameter Status Display Displayed Symbol Meaning Description Saved Correctly saved the setting value Locked Entered the wrong password or no password has been inputte...

Page 105: ...ey again The drive resets 4 Press the key to return to the Parameters display S S S Power On Stand by Display Press key for Set menu Press key to select and press keys for Parameter menu Press key toselect ID100 P0 000 is displayed Press key toselect Power cycle the Kinetix 5100 to activate the ControlMode setting Press key to navigate to ID116 P1 000 Then press keys to for ID117 P1 001 It display...

Page 106: ... How the panel displays 16 bit and 32 bit values is shown in Table 61 Parameter values are displayed as shown in the Knowledgebase article 1090034 Kinetix 5100 Servo Drive Parameter Data and Fault Codes Table 61 16 Bit and 32 Bit Display Formats Example of the displayed value Description Dec 16 bits Ifthevalueispositive12345 thedisplayshows12345 in decimal format Hex If the value is 0x011F the dis...

Page 107: ...nd low byte Parameter ID274 P4 000 FaultRecordN displays the most recent fault It is not read only and can be set to 0 to reset all fault records Parameters ID275 ID278 P4 001 P4 004 are read only Diagnosis Parameters via Keypad You can use the keypad to display the status of digital inputs and outputs Positive Sign Negative Sign The secondrecent error The firstrecent error The thirdrecent error T...

Page 108: ...lOutputDiagnosisOperation The output signal DO1 DO5 are triggered and the corresponding signals are shown on the display by bit When 1 is displayed the DO is on For example if hexadecimal number 1F is displayed the binary equivalent for F is 1111 then DO1 DO4 are on Display Firmware Upgrade Information See Upgrade the Drive Firmware on page 453 S 1 1 1 1 1 1 1 1 1 0 0 0 0 1 14 13 12 11 10 9 8 7 6 ...

Page 109: ... Designer application Changes to the IP addressing take effect after power is cycled If configure DHCP is turned ON in the Network Parameters you must configure the IP address of drive by using BOOTP DHCP tool Use one of the following three methods to set the network parameters Panel display KNX5100C software on page 111 BOOTP DHCP tool on page 112 The drive is factory programmed to static IP addr...

Page 110: ...tets To enter the SUBNET press key and use the keys to enter the subnet address octets To enter the GATE press key and use the keys to enter the Gateway octets Press to return to the Static IP display 6 Press key DHCP appears on the display To show the current DHCP setting OFF or ON press key To change the DHCP setting and press or key The display toggles between OFF and ON To apply the setting pr...

Page 111: ...3 To go online with the drive click the OFFLINE button The KNX5100C software reads the parameters from your drive 4 From the Function List click Drive IP Address Setting The Drive IP Address Setting dialog box appears and the current IP Settings are displayed 5 Choose between STATIC IP and DHCP The default setting is STATIC IP 6 If STATIC IP then configure the following parameters IP address Gatew...

Page 112: ...o the drive 2 Open BOOTP DHCP tool in your workstation and select network interface according to your environment as shown In this example the IP address of workstation is 192 168 1 25 The BOOTP DHCP tool automatically scans the devices that are configured to DHCP on the network and displays the device MAC addresses as shown You can find the MAC address of your drive on the drive label In this exa...

Page 113: ... EN P October 2019 113 Set Up EtherNet IP Communication Chapter 6 3 From the BOOTP DHCP dialog box double click the MAC address of your drive The New Entry dialog appears 4 Type your specified IP address in the New Entry dialog and then click OK ...

Page 114: ...114 Rockwell Automation Publication 2198 UM004A EN P October 2019 Chapter 6 Set Up EtherNet IP Communication Notes ...

Page 115: ...cro800 controllers See Additional Resources on page 7 The Connected Components Workbench application version 11 00 or later makes it possible to launch KNX5100C Configuration Tool and to configure a Kinetix 5100 drive These procedures assume that you have wired your Kinetix 5100 drive system Topic Page BeforeYou Begin 115 Connect to the Drive 121 Set the IP Address 122 Select a Motor and Configure...

Page 116: ...e the Drive with KNX5100C Software Configure the Micro800 Controller To configure the Micro800 controller perform the following steps 1 Apply power to your controller and open your Connected Components Workbench software 2 From the Project menu choose New 3 Type a name and click Create ...

Page 117: ...s used 5 Click Add To Project 6 From the Controller Menu click Ethernet to configure the Network settings of the controller This step is required to control the Kinetix 5100 drive through message instructions In this example we used the IP address of 192 168 1 89 7 From the Controller menu expand Plug in Modules or Expansion Modules then right click empty to add analog output module 2080 OF2 or 20...

Page 118: ...e is used 8 From the Controller menu expand Motion then right click New Axis to add one PTO Channel for motion control Download KNX5100C Software KNX5100C configuration software is available for download at the Product Compatibility Download Center PCDC website https compatibility rockwellautomation com Pages home aspx To download the KNX5100C configuration software perform the following steps 1 G...

Page 119: ...ract the zip file and run Setup Launch KNX5100C ConfigurationTool To launch the KNX5100C configuration tool perform the following steps 1 Use one of two methods to launch the KNX5100C software a On your personal computer desktop double click the KNX5100C shortcut icon b If you have Connected Components Workbench software installed open it and select Tools KNX5100C When the KNX5100C configuration s...

Page 120: ...with KNX5100C Software 2 Choose the COM port associated with your drive 3 Click Add to add your drive to the Function List By default Kinetix 5100 is used as the device name TIP To add more drives that are connected your computer select File Add New Drive or right click Start in the Function List ...

Page 121: ... To change the COM port perform the following steps 1 From the Function List click Communication Setting 2 Choose the COM port associated with your drive 3 Click Connect to connect your drive The online process options dialog appears 4 From the three options choose the one that is best suited as your online process and then click OK TIP You can choose the COM port from the pull down menu or click ...

Page 122: ...s You can change the IP address network setting through the Function List To change the IP address perform the following steps 1 Under the Function List click Drive IP Address Setting 2 Choose between STATIC IP and DHCP If Static IP then configure the IP address Gateway and Subnet mask For more information on setting the network parameters refer to Chapter 6 Set Up EtherNet IP Communication IMPORT...

Page 123: ...tify the attached motors Catalog number Motor parameter values are from a catalog number Select the motor from the motor database embedded into the KNX5100C software Nameplate datasheet Motor parameter values are from a motor nameplate and data sheet You must input this data manually TIP The parameters displayed in the Motor Selection dialog box depend on the data source and the type of motor sele...

Page 124: ...If the attached MPx motor has no smart encoder then fault E 60B occurs which means motor selection error If the attached motor has a Nikon encoder that is not a smart encoder and no motor parameters are stored then fault E 004 occurs which means motor combination error When Motor NV is selected as the data source then all parameter data is disabled on the Motor Device Specification dialog box exce...

Page 125: ...eminds you that the drive power cycles if you download parameters After you click Yes the drive performs the following sequence Sets ID628 PN 000 MotorDataSource to 0 Motor NV selection Sets the value of ID629 PN 001 MotorOverloadLimit Automatically triggers a power cycle After power cycle the identified motor catalog number is shown in the motor page and the motor related parameters are updated a...

Page 126: ...thod is set as Incremental B in next figure The position feedback is zero You can change the startup method to Absolute from the pull down menu If you do click Download to initiate the change Then parameter ID242 P2 069 AbsoluteSystemSetting is set to 1 and the drive automatically triggers a power cycle Warning A 06A Absolute position is not initialized occurs after the power cycle so you must ini...

Page 127: ... Data Source pull down menu 2 Click Change Catalog IMPORTANT IfthestartupmethodissettoAbsolutebuttheattachedmotorisnotequipped with an appropriate encoder or is not configured correctly then the following faults are posted For fault codes and descriptions see the Knowledgebase article 1090034 Kinetix 5100 Servo Drive Parameter Data and Fault Codes Kinetix MPx Motor related Faults SingleTurn E S Mu...

Page 128: ...fication click Download 6 Drive power is automatically cycled When power is restored to the drive all motor parameter values for the selected catalog number are downloaded to the drive and take effect TIP Catalog number availability is from the motor database embedded into the KNX5100C software Use the Family and FeedbackType pull down menus to further filter the related motors IMPORTANT Ifyousele...

Page 129: ...se to Neutral Parameters section click Next 3 On Motor Model Phase to Neutral Parameters add data manually When you are done click Next 4 On Motor Feedback Device Specification select applicable feedback type from the Type pull down menu 5 Click Download 6 After the motor parameters are downloaded you can use the motor analyzer feature where the drive analyzes the motor and provides suggested para...

Page 130: ...otor type selections the feedback type is automatically selected for the corresponding motor For others the selection can be changed For example when the Nameplate Datasheet method is used to select a motor only AqB feedback type motors can be chosen These motors can be operated in only the incremental mode so the startup method is also always incremental In this scenario there are two choices for...

Page 131: ...lly ConsiderationsforDriveOffsetAlignment If you select Drive Offset as the Commutation Alignment type the valid range of the Commutation Offset is calculated based on the Commutation Offset from the encoder s internal value x x 85 Commutation Offset setting x 85 unit degree TIP The chosen startup method determines how the device applies the feedback count value during drive startup For Incrementa...

Page 132: ... also be used to determine the unknown polarity of the start up commutation wiring You can also use the commutation test to verify a known commutation offset and the polarity start up commutation wiring You can decide whether to use the test results The following parameters are updated after commutation test Phase Sequence PM 006 Commutation Offset PM 007 Hall Hysteresis Width PM 008 IMPORTANT Thi...

Page 133: ...feedback type is Digital AqB with UVW A in the following figure and the Commutation Alignment is Drive Offset B then you must add additional data to the Hall Hysteresis Width C and Hall Feedback Polarity D fields 5 Click Test Commutation After you click Test Commutation the following message appears to alert you that this operation might reset the drive ATTENTION To avoid personal injury or damage...

Page 134: ...ve with KNX5100C Software 6 Click Yes A message window alerts you that the process might take some time to complete When the process is complete a results window appears with suggested parameter values 7 Click Accept to use those values or click Cancel to stay with the original parameter values ...

Page 135: ... Parameter Editor You can also use it to write all Kinetix5100 parameters and download them to the servo drive In addition you can display read write and edit the setting values of individual parameters The Parameter Editor consists of parameter groups a toolbar and a status indicator that includes the firmware version and other information To access the Parameter Editor select Start Kinetix 5100 ...

Page 136: ... Drive General Status monitor Control I O Communication Diagnosis Motion Click each parameter group tab to toggle between tabs The following information is displayed for each parameter ID Name Property Value Min value Max value Default value Parameter Number Description Parameter Editor also provides the status indicator for firmware version note and parameter property description as below shown ...

Page 137: ...re those also saved to your personal computer are saved as a par file OpenParameterFile When this button is pressed all Kinetix 5100 parameters that are saved as a par file on your personal computer are opened and displayed ReadParameters When this button is pressed all Kinetix 5100 parameters are read If a parameter configuration does not exist the system writes its parameter configuration from t...

Page 138: ...g parameters 1 On your personal computer navigate to your target saved par file 2 Select the file and click Open A message appears that the comparison process has started Choose an Operation Mode There are three methods to change the operation mode in the KNX5100C software From the Operation Mode Selection List From the Setting page Via the Parameter Editor For detailed information on how the driv...

Page 139: ...ting When you choose a new operation mode setting the following message appears From the Setting Page To change the operation mode setting perform the following steps 1 From the Function List select Start Kinetix 5100 Settings TIP If you clickYes a power cycle is triggered If you click No you are returned to the Settings view without a power cycle However a reminder appears until you initiate a po...

Page 140: ...sage appears Via the Parameter Editor To change the control mode in the Parameter Editor perform the following steps 1 From Function List select Start Kinetix 5100 Setting Parameter Editor 2 There are two ways to change parameter ID117 P1 001 ControlMode Change the ControlMode value by clicking directly in its value field and typing a new value TIP If you clickYes a power cycle is triggered If you...

Page 141: ...are Chapter 7 Double click the Control Mode value field to open the Parameter Setting Wizard and change its value After the parameter value is changed the following reminder appears TIP When the parameter value is changed and has not been downloaded to the drive there will be a mark next to the value field ...

Page 142: ...NX5100C Software Configure Settings From the Settings page you can view and change the operation mode The control flow chart is updated based on the chosen Operation Mode When the Operation Mode value is changed from the pull down menu subsequent pull down menus related to the new operation mode appear ...

Page 143: ...Configure General Settings The General page lets you configure parameters related to the motor shunt and brake operation To access the General page perform the following steps 1 From the Function List select Start Kinetix 5100 Setting General Setting 2 On General Settings change the fields manually as needed TIP The gray boxes show the functions included in the each operation mode You can double c...

Page 144: ...ock input speed mode and torque mode but not for position mode with register input or I O mode CommandSourceforPositionmode Terminalblockinput Command Source for Position mode terminal block input as shown below 1 From the Function List select Start Kinetix 5100 Setting Command Source 2 In Command Source select the Position Mode terminal block input tab IMPORTANT If you have configured a dual or m...

Page 145: ...Pulse Input Type Source Filter Type and Pulse Filter Width 5 Click Download to download any changed parameters to the servo drive For more information see PT Mode Position Command with Terminal Block Input on page 196 CommandSourceforSpeedMode 1 From the Function List select Start Kinetix 5100 Setting Command Source 2 In Command Source select the Speed Mode tab IMPORTANT The Speed Mode tab is visi...

Page 146: ...onfigure the DI to N O or N C 4 Click Download to download any changed parameters to the servo drive For more information see Selection of Speed Command on page 210 CommandSourceforTorqueMode 1 From the Function List select Start Kinetix 5100 Setting Command Source 2 In Command Source select the Torque Mode tab 3 On Torque Mode select the torque command source from either analog input or torque re...

Page 147: ...n page 224 Configure Pulse Output Use Pulse Output to configure the polarity and source of the pulse output To access and use Pulse Output perform the following steps 1 From the Function List select Start Kinetix 5100 Setting Pulse Output 2 On Pulse Output you can configure the following The output polarity of OA OB OZ to either forward or reverse The source of pulse output from motor encoder auxi...

Page 148: ...e E gear parameters To access and use Pulse Output perform the following steps 1 From the Function List select Start Kinetix 5100 Setting E gear Ratio 2 On E gear Ratio Kinetix 5100 you can configure the following The E gear Ratio value via the set P1 044 P1 045 value The gear ratio follower counts for parameters ID236 P2 060 and ID152 P1 045 The numerator via a digital input signal IMPORTANT Outp...

Page 149: ... page 204 Configure Filter Use Filter to configure the Kinetix 5100 Low Pass and Moving Average Filters To access Filter perform the following steps 1 From the Function List select Start Kinetix 5100 Setting Filter 2 On Filter you can configure the following The smoothing constant times for parameters ID122 ID124 P1 006 P1 008 of the Low Pass Filter The command times for position ID170 P1 068 and ...

Page 150: ...ters available for Position Mode Speed Mode and Torque Mode are described in Chapter 10 Modes of Operation 3 Click Download to download any changed parameters to the servo drive Configure Notch Filter Use Notch Filter to configure the Kinetix 5100 resonance suppression To access Notch Filter perform the following steps 1 From the Function List select Start Kinetix 5100 Setting Notch Filter ...

Page 151: ...oad to download any changed parameters to the servo drive For more information see Resonance Suppression Notch Filter on page 218 Configure Limits From the Function List choose Limit to configure Position Speed and Torque Limits On the Limit page there are two tabs Position and Speed Limit and Torque Limit TIP Toeditanynotch filterparameter you mustfirstcheckManual for that notch filter ...

Page 152: ...mit Functions on page 242 TorqueLimit On the Torque Limit tab you can enable or disable torque limits and set torque limit values You can also select torque command by changing digital input settings For more information on the torque limit see Speed and Torque Limit Functions on page 242 For more information on digital input function descriptions see Description of Digital Input Functions on page...

Page 153: ... On the Analog I O dialog box there are two tabs Command Input and Output Monitor On the Command Input tab you can configure three types of analog input position mode terminal block input speed input and torque input PositionMode terminalblockinput Tab On this tab you can enable the analog position function set the initial position of the motor and the max output value Click Download to download a...

Page 154: ...can change the maximum output torque command by using parameter ID148 P1 041 Click Download to download any changed parameters to the servo drive Output Monitor Tab On the Output Monitor tab you can change the output monitor setting s for each of the two analog channels for monitoring MON1 and MON2 by changing the values of parameters ID103 P0 003 ID119 P1 003 and ID120 P1 004 The Mon Calculator l...

Page 155: ...the configured operating mode Each dialog box lets you configure the parameters for the gain and filter values that correspond to the command type Configure Position Loop From the Function List choose Position Loop to change the parameters that apply to position command Table 62 Relevant Parameters Parameter Name ID185 P2 000 PositionProportionalGain ID187 P2 002 VelocityFeedforwardGain ID188 P2 0...

Page 156: ...ervo drive ConfigureVelocity Loop Choose Velocity Loop from the Function List to change the parameters that apply to velocity command Table 63 Relevant Parameters Parameter Name ID189 P2 004 VelocityProportionalGain ID191 P2 006 VelocityIntegralGain ID192 P2 007 AccelerationFeedforwardGain ID232 P2 049 VelocityFeedforwardLowPassFilterTimeConstant ID144 P1 037 LoadInertiaRatio ...

Page 157: ... to download any changed parameters to the servo drive Configure Current Loop From the Function List choose Current Loop to change the parameters that apply to current command The affected parameter is ID210 P2 025 Resonance Suppression Low Pass Filter Time Constant Click Download to download any changed parameters to the servo drive ...

Page 158: ...nputs DI and digital outputs DO or to activate signals manually There are three areas on the dialog box Digital Input DI Digital Output DO and Jog ConfigurationandStatusofDigitalInput DI andDigitalOutput DO Signals In the DI and DO areas both signal types are shown with their individual settings and contact type If the contact type of the DI or DO signal is normally closed NC is added at the end o...

Page 159: ...x first that is next to the On Off button 3 Press On Off to change the status of the DI signals directly To control the digital outputs via the communication software settings when the servo drive is connected check the Enable DO Override box Edit DIO Configurations When the editing function is enabled the function of the digital input DI and digital output DO becomes disabled temporarily To chang...

Page 160: ...otor rotation direction There are two ways to activate the Servo ON signal Enable the On Off button of DI1 Servo On signal manually Check the box next to Forced Servo On After you activate the Forced Servo ON press the forward or reverse arrow to enable the Jog operation If rotation is in the reverse direction check the box next to Invert Direction and then press the forward or reverse arrow to jo...

Page 161: ...rsions Install the Kinetix 5100 Add On Profile Download Add On profiles AOP from the Product Compatibility Download Center PCDC website http compatibility rockwellautomation com Pages home aspx Topic Page Studio 5000 Logix Designer Application 161 Configure the Logix 5000 Controller 162 Configure the Kinetix 5100 Drive Modules 166 Download the Program 168 IMPORTANT To configure additional motors a...

Page 162: ...tup Configure the Logix 5000 Controller These procedures assume that you have wired your Kinetix 5100 drive system These procedures show the dialog boxes for following devices ControlLogix 5570 controller with a 1756 EN2TR Ethernet IP communication module CompactLogix 5370 controller with an embedded Ethernet IP connection See the list of other compatible Logix PAC and PLC Controller Platforms in ...

Page 163: ...g box appears In this example the typical dialog boxes for 1756 ENxT EtherNet IP modules and CompactLogix 5370 controllers with embedded Ethernet are shown Follow these steps to configure your Logix 5000 controller 1 Expand the Logix 5000 controller family and select your controller 2 Type the file Name 3 Click Next The New Project dialog box appears 4 From the Revision pull down menu choose your ...

Page 164: ...your hardware configuration In this example the 1756 EN2T module is selected IMPORTANT IfyourprojectincludesaControlLogixorGuardLogix 5570controller youneed to add an EtherNet IP communication module to your Bulletin 1756 chassis and configure it for use in your application For ControlLogix 5570 and GuardLogix 5570 controllers go to step 6 For CompactLogix 5370 Compact GuardLogix 5370 CompactLogix...

Page 165: ...le a Type the module Name b Enter the Logix EtherNet IP module slot leftmost slot 0 c Select an Ethernet Address option In this example the Private Network address is selected d Enter the address of your EtherNet IP module In this example the last octet of the address is 32 e Click Change in the Module Definition area The Module Definition dialog box opens 10 To close the Module Definition dialog ...

Page 166: ... ENxT Ethernet module appears under the I O Configuration folder in the Controller Organizer 13 Click OK Configure the Kinetix 5100 Drive Modules In this example a 2198 E1004 ERS drive is configured Follow these steps to configure Kinetix 5100 drives 1 Right click Ethernet IP Module and choose New Module The Select Module Type dialog box appears IMPORTANT To configure Kinetix 5100 drive systems yo...

Page 167: ...onfiguration 3 Click Create The New Module dialog box appears 4 Configure the new drive a Type the drive Name b Select an Ethernet Address option In this example the Private Network address is selected c Enter the address of your 2198 Exxxx ERS drive In this example the last octet of the address is 2 d Under Module Definition click Change The Module Definition dialog box appears e Set Series and R...

Page 168: ...he Module Definition dialog box click OK 6 To close the Module Properties dialog box click OK 7 To close the Select Module Type dialog box click Close Your 2198 xxxx ERS drive appears in the Controller Organizer under the Ethernet network in the I O Configuration folder Download the Program When the Logix Designer application is complete and the file saved the file you must download your program t...

Page 169: ...estimation and upload the velocity and position loop control gains resonance suppression filter parameters and so on If autotuning does not provide suitable performance then tuning mode 1 tuning mode 2 and the manual tuning mode can be used The flowchart in Figure 70 provides an overview of the tuning process Topic Page Tuning Process 169 Autotuning 170 Tuning viaTuning Mode 1 andTuning Mode 2 181...

Page 170: ...lication Through the autotuning function the servo drive helps you find the most suitable parameters according to the machine characteristics for your system The values of the parameters listed in the following tables can change as a result of autotuning Motor runs smoothly without load Satisfactory performance Satisfactory performance Satisfactory performance Satisfactory performance Enter AutoTu...

Page 171: ...able 67 Filter and Resonance Suppression Parameters Parameter Name ID135 P1 025 LowFreqVibrationSuppression1Frequency ID136 P1 026 LowFreqVibrationSuppression1Gain ID137 P1 027 LowFreqVibrationSuppression2Frequency ID138 P1 028 LowFreqVibrationSuppression2Gain ID208 P2 023 NotchFilter1Frequency ID210 P2 025 ResonanceSuppressionLowPassFilterTime ID226 P2 043 Notch Filter2Frequency ID227 P2 044 Notc...

Page 172: ...adjust the bandwidth when autotuning If the value is larger the bandwidth after autotuning is higher but the bandwidth margin may be insufficient causing machine jitter If the value is smaller the bandwidth after autotuning is lower but the response is slower Figure 71 AutoTuningBandwidth Parameter Graph For parameter descriptions and data see the Knowledgebase article 1090034 Kinetix 5100 Servo D...

Page 173: ...e faster If the value is smaller the maximum overshoot that is allowed by autotuning will be smaller but the response will be slower Figure 72 AutoTuningOvershoot Parameter Graph For parameter descriptions and data see the Knowledgebase article 1090034 Kinetix 5100 Servo Drive Parameter Data and Fault Codes Autotuning via the Drive Panel See Figure 73 for an overview of autotuning via the drive pa...

Page 174: ...y to complete the setting of Position 1 Press the Up and Down keys to set Position 2 Then the system starts to do positioning between the two points that you just set The blinking SPEED reminds you to adjust the positioning speed Set the speed with the Up Down and Shift keys Press the S key to complete the speed setting Use the Up and Down keys to select Yes or No YES means the setting is complete...

Page 175: ...ne the drive There are two options available that determine how the motor is commanded to drive host controller plans the path and issues the command to drive the motor drive plans the path and issues the command to drive the motor Connect to Driveand SelectAutotuning 1 Select Add New Drive from the New menu 2 On the New Device dialog box click Add ATTENTION The motor rotates during this tuning pr...

Page 176: ...s that are shown in Motion Command From Controller or Motion Command From Drive MotionCommandFromController Follow these steps to have the host controller plan the path and issue the command to drive the motor 1 Select Controller Motion Command From Controller and make sure that the motion machining path is set correctly TIP Set the motor to operate at least one cycle in both forward and backward ...

Page 177: ...otor repeatedly using the path you just set Then click Next 3 Wait until the tuning progress bar reaches 100 a dialog box showing autotuning completed is displayed and then click OK You can click Emergency Stop to stop the tuning process A table is displayed that shows the values of parameters before and after autotuning ...

Page 178: ...these steps to have the drive plan the path and issue the command to drive the motor 1 Select Drive Motion Command From Drive 2 Complete the following steps to set the motor s running path a Set the system to Servo ON state b Set the acceleration deceleration time and jog speed The default setting of acceleration deceleration time is 500 ms The jog speed should be set to no less than 500 rpm c Cli...

Page 179: ...en click Start to run between two positions The motor will operate to position 1 and 2 in forward and backward directions 3 Wait until the tuning progress bar reaches 100 a dialog box showing Auto tuning completed is displayed and then click OK You can click Emergency Stop to stop the tuning process A table is displayed that shows the values of parameters before and after autotuning ...

Page 180: ... autotuning mode it is vital to program the command path including the operation cycle such as acceleration constant speed and deceleration and dwell time See Figure 74 Figure 74 Settings Required for Autotuning If any of these settings are not correct the servo drive will stop and display a fault See Table 68 for possible causes and solutions Acc time Max speed Dwell Operation cycle Operation cyc...

Page 181: ...xternal source command Cable connection error Check the cable connection Position 1 and 2 were the same when command was issued Reconfigure position 1 and 2 E 08B Inertia estimation error Acceleration deceleration time was too long Verify that the acceleration deceleration time for motor to start from 0 3000 rpm is within 1 5 sec Speed tis oo slow The recommended speed setting is 500 rpm The lowes...

Page 182: ...ameters in the Manual Tuning column can be adjusted while in Tuning Mode 1 but the parameters in the Autotune column are still adjusted automatically Start Tuning Mode 1 ID217 P2 032 1 Adjust ID216 P2 031 Keep estimating ID144 P1 037 Satisfactory Performance Satisfactory Performance Yes No Yes Tuning Mode 2 ID217 P2 032 2 No Adjust ID216 P2 031 ID144 1 037 Enter Manual Mode ID217 P2 032 0 All para...

Page 183: ...e less than 50 times the motor inertia The change in the external force or inertia ratio cannot be too great TuningMode1inKNX5100CSoftware You can use KNX5100C software for manual tuning in Mode 1 by choosing Manual Tuning from the Function List and selecting Mode 1 Table 69 Tuning Mode 1 Related Parameters ID217 P2 032 SettingValue Tuning Mode Inertia Estimation Parameter ManualTuning Autotuning ...

Page 184: ...See Chapter 10 for details on filters and s curves Tuning Mode 2 When Tuning Mode 1 cannot meet your demand you can try Tuning Mode 2 to tune the servo system In Tuning Mode 2 the system will not automatically estimate the inertia As shown in Table 70 note that the parameters in the Manual Tuning column can be adjusted while in Tuning Mode 2 but the parameters in the Autotune column are still adju...

Page 185: ...st the bandwidth level according to the actual situation For instance if the setting value of ID218 P2 031 was 30 the bandwidth level can be reduced to 28 When adjusting the value of this parameter its corresponding parameters will be adjusted by the servo system such as ID185 P2 000 PositionProportionalGain and and ID189 P2 004 VelocityProportional Gain Table 70 Tuning Mode 2 Related Parameters I...

Page 186: ...2019 Chapter 9 Tuning Figure 77 Settings for SysGainResponseLevel Command Response Feedback Position Time Before Command Response Feedback Position Time After Servo Bandwidth Level Increases 84 Hz 26 Hz ID216 P2 031 30 ID216 P2 031 20 5 Inertia Ratio ID144 P1 037 ...

Page 187: ...anual tuning in Mode 2 by choosing Manual Tuning from the Function List and selecting Mode 2 Figure 78 Selecting Mode 2 ManualTuning The Smoothing and Filtering tab lets you configure the parameters related to the Low Pass and Moving filters and S curve depending upon your configured Operating mode See Chapter 10 for details on filters and s curves ...

Page 188: ...gher stiffness is used to solve this problem When the resonance frequency is unknown you can gradually increase the gain parameter values to increase the system response bandwith until you hear the sound of resonance Then decrease the gain parameter values The following are the descriptions of the gain adjustment parameters Table 71 Manual Mode Tuning ID 217 P2 032 Gain Adjustment Mode Setting Tun...

Page 189: ...f the speed loop and the lower the following error However if you set the value too high it could cause machinery resonance The response frequency of the speed loop must be 4 6 times higher than the response frequency of the position loop otherwise the machinery might vibrate or it might cause overshoot when positioning The calculation of speed loop frequency response is as follows JM Motor Inerti...

Page 190: ...s suggested that you set the value as follows ID211 P2 026 AntiInterferenceGain DST Use this parameter to increase the ability to resist external force and mitigate overshoot during acceleration deceleration The default value is 0 Adjusting this value in Manual mode is not suggested unless it is for fine tuning ID187 P2 002 VelocityFeedforwardGain PFG This parameter can reduce the position error a...

Page 191: ...rs and S curve depending upon your configured Operating mode See Chapter 10 for details on filters and s curves Mechanical Resonance Suppression Figure 80 shows an overview of the procedure to suppress mechanical resonance Five sets of notch filters are provided to suppress mechanical resonance All five sets can be set to auto resonance suppression set by parameter ID230 P2 047 ResonanceSuppressio...

Page 192: ...lytic tool provided by KNX5100C to display the point of resonance The servo issues the command to accelerate and decelerate the motor alternatively High frequency resonance No Yes Complete Save the value of resonance frequency to ID208 P2 023 and set ID209 P2 024 to 4 Resonance eliminated Yes No Increase the value of ID209 P2 024 Tuning Completed ...

Page 193: ...y setting DI SON to OFF 2 Set ID117 P1 001 and refer to YX Control Mode Setting for the mode selection 3 After setting the parameter cycle power to the servo drive The following tables explain how to set the ID117 P1 001 Control Mode parameter Settings Topic Page Select Operation Mode and Direction Control 193 Position Control 195 Speed Mode 210 Torque Mode 223 Dual and Multi modes 227 I O Mode 23...

Page 194: ...gister which can be selected by DI TCM0 and DI TCM1 signals Sz Speed control Itscommandsourceisfromzerospeedandinternalspeedregister whichcanbe selected by DI SPD0 and DI SPD1 signals Tz Torque control Its command source is from zero torque and internal torque register which can be selected by DI TCM0 and DI TCM1 signals Dual Canswitchthemodeviaexternaldigitalinput Forexample DI S Psignalcanbe use...

Page 195: ...ets per second Mpps You can also complete the position control by internal register PR without external pulse command The drive provides 99 command registers with two input modes You can set the 99 registers first before switching the drive to Servo On state and set DI POS0 DI POS6 signals of the I O connector for the switch You can directly set the register values via communication The position c...

Page 196: ...rnal Pulse Type parameter Settings Z LogicType Digital circuits use 0 and 1 to represent the voltage level of high and low In positive logic 1 represents high voltage and 0 represents low voltage in negative logic 1 represents low voltage and 0 represents high voltage X Command Source Z Logic Type UY FilterWidth Where 0 I O AB phase pulse 4x 1 I O Clockwise and counterclockwise pulse 2 I O Pulse d...

Page 197: ...FilterWidthSetting When the pulse frequency is too high the pulse width becomes smaller than the filter width setting which causes this pulse to be filtered out as noise Thus the filter width must be set smaller than the actual pulse width Set the filter width to be four times smaller than the actual pulse width ...

Page 198: ...tered out If this first pulse width is shorter than 0 8 µs 625 kHz it can be filtered and thus two input pulses are regarded as one pulse If this pulse width is shorter than 0 2 µs 2500 kHz it is filtered If this low level pulse width is shorter than 0 8 µs 625 kHz it can be filtered and thus two input pulses are regarded as one pulse If this low level pulse width is shorter than 0 2 µs 2500 kHz i...

Page 199: ...P1 066 is set to 30 from the panel and the external voltage is input 5V then the analog position command is as follows Table 72 Relevant Parameters Parameter Name ID167 P1 064 AnalogToPositionStartupConfiguration ID168 P1 065 AnalogToPositionSmoothTime ID169 P1 066 AnalogToPositionMaxRotationNum X Analog Position Command Function Y Initial Position Setting of Analog Position Command UZ Reserved Wh...

Page 200: ... command When this DI is off the motor completes the command that is changed during the time when the DI is on VPRS DIcode 0x0D ClearFunctionofAnalogPositionCommand If this DI is on motor position is held at the current position when the DI is triggered Even if the analog command changes while the DI is on the motor remains at the current position which includes when the DI is off However the curr...

Page 201: ...eed Position Jump Parameter write Arithmetic operation The drive provides the following PR triggering methods Digital input DI Event triggered ID300 P5 007 Capture high speed position capturing Compare triggered high speed position comparing E Cam You can choose the most suitable triggering method according to the applications and requirements For detailed descriptions of the methods see Trigger M...

Page 202: ...37 ID138 P1 027 P1 028 PulseType Selection ID116 P1 000 Counter Position Command Processing Unit High Speed Pulse Signal Inhibit 1 Inhibit 1 I O Controller POS0 POS6 CRTG Low Speed DelayTime ID332 ID347 P5 040 P5 055 CyclicMoveType for example YX of ID399 P6 002 Acceleration Reference Starting Index I O Mode Index Position Reference I O Mode Position Deceleration Reference Acceleration Reference P...

Page 203: ...If the load inertia increases the operation of the motor will be influenced by friction and inertia when it starts or stops rotating Setting a larger acceleration deceleration constant of S curve TSL and acceleration deceleration time numbers 0 15 in ID312 ID327 P5 020 P5 035 can increase the smoothness of operation When the position command source is pulse its speed and angular acceleration are c...

Page 204: ...nd lead to a high jerk To solve this problem you can apply S curve acceleration deceleration or low pass filter to reduce the jerk For example The ball screw pitch is 3 mm when using a 4 bit encoder if the E Gear ratio is set to 16777216 3000 then the workpiece moves 1 µm per 1 pulse command E Gear Status Gear Ratio Moving Distance per 1 Pulse Command E Gear is not applied E Gear is applied Table ...

Page 205: ...ecomes smoother IMPORTANT If you change gear ratio during operation you can cause an abrupt uncontrolled acceleration event ID236 P2 060 ID237 P2 061 andID238 P2 062 areforPTmodeonly ID151 P1 044 isfor both PR mode and PT mode All of the parameters can be changed in PT mode only If PT PR mode is selected and ID151 P1 044 is changed in PT mode it remains active through any subsequent execution if y...

Page 206: ...O timing diagram Cmd_OK is on when PR command is completed TPOS is on when the error is smaller than value set by the ID159 P1 054 In Position Window parameter MC_OK is on when Cmd_OK and TPOS are both on When the deviation between the target position and the actual motor position is smaller than the setting range of ID159 P1 054 in PR mode then the DO TPOS signal is on IMPORTANT These values are ...

Page 207: ...ld not be larger than the speed loop bandwidth In counts the region around the commanded position where integral gain is active If the position error is greater than the Position Loop Izone the integrator is reset When you set the value of position control gain KPP ID185 P2 000 too high the bandwidth for the position loop is increased and the phase margin is reduced Meanwhile the motor rotates and...

Page 208: ...gidity is too low the vibration of transmission part will persist even when the motor stops running after positioning command is executed completely The function of low frequency vibration suppression can reduce the vibration of mechanism The suppression range is between 1 0 Hz and 100 0 Hz Both manual setting and auto setting are available Table 76 Relevant Parameters Parameter Name ID135 P1 025 ...

Page 209: ...s been detected Lower the value of parameter ID140 P1 030 and set parameter ID139 P1 029 to 1 so as to search the vibration frequency again Auto Low frequency Vibration Suppression IMPORTANT When the detection level is set too small noise might be regarded as low frequency vibration Repeat position control function Check if vibration occurs when positioning Set ID139 P1 029 to 1 Vibration reduced ...

Page 210: ...P1 026 and ID138 P1 028 are the better the response is However if the value is set too big the motor might not operate smoothly The default values of parameters ID136 P1 026 and ID138 P1 028 are 0 which means the two filters are disabled Speed Mode This servo drive includes three types of command input analog register and I O mode Analog command controls the motor speed by external voltage Registe...

Page 211: ...e 215 When either DI SPD0 or DI SPD1 signal is not 0 the Speed command comes from the internal register The command is activated once the status of DI SPD0 and DI SPD1 signals are changed There is no need to use the DI CTRG signal for triggering The parameter setting range internal register is 60000 60000 Setting value setting range x unit 0 1 rpm For example If ID125 P1 009 30000 then rotation sp...

Page 212: ...g command and the lower path is the processing path of Ethernet communication The command is selected according to the status of the DI SPD0 and DI SPD1 signals and ID117 P1 001 S or Sz In this condition S curve and low pass filter are applied for the purpose of achieving a smoother response ID125 ID127 P1 009 P1 011 Speed Limit SettingValue Valid Speed Range Speed Limit In Forward Direction In Re...

Page 213: ...ve TSL to improve the status of motor activation and stop This device can calculate the total time for executing the command T ms signifies the operation time and S rpm signifies the absolute speed command which is the absolute value of initial speed minus end speed Analog Speed Command Filter Analog speed command filter provided by the drive helps to stabilize the motor operation when the analog ...

Page 214: ...nd ID143 P1 036 according to the actual application to improve the performance Low Pass Filter for Speed Command Parameter ID122 P1 006 filters out unwanted high frequency response or noise so that the speed becomes smoother ID122 P1 006 is a low pass filter while ID164 P1 059 is a moving filter Their difference is that ID164 P1 059 smooths at the beginning and end of the step command while ID122 ...

Page 215: ...Scale and ID679 P1 081 Analog To Velocity Scale 2 to adjust the slope of speed and its range Speed ModeTiming In the above diagram the following applies Off signifies the contact is open while On signifies the contact is closed When the drive is in Sz mode the speed command S1 0 Table 78 Relevant Parameters Parameter Name ID147 P1 040 AnalogToVelocityScale ID679 P1 081 AnalogToVelocityScale2 IMPOR...

Page 216: ...rd Gain More detail about adjusting the gains is as follows Speed loop gain The higher the gain the bigger bandwidth of speed loop response is Integral gain Increasing this gain will increase the low frequency rigidity and reduce the steady state error However phase margin will be smaller If this gain is set too high the system stability will be reduced Feed forward gain Diminish the deviation of ...

Page 217: ...tting The higher the KVP value the larger the bandwidth and the speed increase time also shortens However if the value is set too high the phase margin is too small The effect is not as good as KVI for the steady state error but is better for the effect on following Impact of Speed Integral Gain KVI Setting The higher the KVI value the larger the low frequency gain It shortens the time for the ste...

Page 218: ...epth ID226 P2 043 NotchFilter2Frequency ID227 P2 044 NotchFilter2Depth ID228 P2 045 NotchFilter3Frequency ID229 P2 046 NotchFilter3Depth ID254 P2 095 NotchFilter1QValue ID255 P2 096 NotchFilter2QValue ID256 P2 097 NotchFilter3QValue ID257 P2 098 NotchFilter4Frequency ID258 P2 099 NotchFilter4Depth ID259 P2 100 NotchFilter4QValue ID260 P2 101 NotchFilter5Frequency ID261 P2 102 NotchFilter5Depth ID2...

Page 219: ...stable If the resonance frequency is known you can mitigate the suppression by using the Notch filter which is better than the low pass filter in this case If the resonance frequency drifts along with time or other causes and the drifting amount is too great using notch filter is not recommended The following figure shows the system open loop gain with resonance suppression When the value of param...

Page 220: ...eter Parameter Name ID230 P2 047 ResonanceSuppressionConfig X Auto resonance Suppression Function Y Fixed Resonance Suppression Parameter Z Fixed Resonance Suppression Parameter U Reserved Where See below See below See below If Then The servo is stable and resonance is suppressed No other resonance is present No other interference source is present The servo automatically saves the data of resonan...

Page 221: ...of resonance suppression parameters Therefore the second set is skipped Auto resonanceDetection Level The smaller the parameter value is the more sensitive to resonance If the set value of the ID231 P2 048 parameter is bigger then the resonance sensitivity becomes lower on the other hand if the set value of the ID231 P2 048 parameter is smaller then the resonance sensitivity becomes higher ZCLAMP ...

Page 222: ...without acceleration deceleration to determine if this function should be enabled The motor is clamped at the position where ZCLAMP conditions are met 0 Command source is register ZCLAMP function uses the register speed command without acceleration deceleration to determine if this function should be enabled The motor is clamped at the position where ZCLAMP conditions are met ...

Page 223: ...ion uses the register speed command with acceleration deceleration to determine if this function should be enabled When ZCLAMP conditions are met the motor speed is set to 0 rpm For more information on the ZCLAMP function see the Description of Digital Input Functions on page 405 Torque Mode Torque control mode T or Tz is suitable for torque control applications such as printing machine winding ma...

Page 224: ...e command Tz mode is applicable and can avoid the problem of zero drift If it is in T mode the command will be the voltage difference between T REF and GND Its input voltage range is 10V 10V which means the corresponding torque is adjustable via ID148 P1 041 AnalogToTorqueScale When either the DI TCM0 or DI TCM1 signal is not 0 parameters become the source of torque command The command will be exe...

Page 225: ...ernal analog command The command is selected according to the status of the DI TCM0 and DI TCM1 signals and with the ID117 P1 001 parameter set to T or Tz The torque can be adjusted by the ID148 P1 041 parameter and the response can be smoothed by the ID123 P1 007 parameter Table 84 Relevant Parameters Parameter Name ID117 P1 001 ControlMode ID123 P1 007 TorqueCmdLowPassFilterTime ID148 P1 041 Ana...

Page 226: ...t voltage is 10V the torque command is 100 of the rated torque If the ID148 P1 041 parameter is set to 300 and the external analog input voltage is 10V the torque command is 300 of the rated torque If the ID148 P1 041 parameter is set at its default setting of 100 and the external analog input voltage is 5V the torque command is 50 of the rated torque Table 85 Relevant Parameter Parameter Name ID1...

Page 227: ... the contact is open while on signifies the contact is closed When it is in Tz mode the torque command T1 equals 0 when it is in T mode the torque command T1 is the external analog voltage input In servo on state the command is selected according to the state of DI TCM0 and DI TCM1 inputs Dual and Multi modes Eight dual multiple modes are provided for operation in addition to the single mode for p...

Page 228: ... signal The timing diagram is as follows In Speed mode the DI S P signal is on the speed command is selected via the DI SPD0 and DI SPD1 signals The DI CTRG signal is not working at the moment When switching to Position mode DI S P signal is off since position command has not been issued needs to wait for the rising edge of the DI CTRG signal the motor stops The position command is determined by t...

Page 229: ...mmand is selected via the DI TCM0 and DI TCM1 signals When switching to speed mode the DI S T signal is off the torque command is selected via the DI SPD0 and DI SPD1 signals The motor operates according to the speed command When the DI S T signal is on it resumes to the torque mode For more information see Speed Mode on page 210 and Torque Mode on page 223 Torque PositionDualMode In torque positi...

Page 230: ...e on page 223 I O Mode The Kinetix 5100 drive is working in I O mode when the Control Mode parameter ID117 P1 001 is set to 0x0C In this mode commands come from the programmable controller through the I O assembly Two assembly instances are supported by the K1500 drive No configuration assembly is supported by the Kinetix 5100 drive No configuration assembly is supported by the Kinetix 5100 drive ...

Page 231: ...Torque RampTime DINT 33 34 35 36 Starting Index 37 38 39 Table 88 Kinetix 5100 Drive Output Assembly Data Description Name Data Type Description Semantics ofValues Operating mode output SINT Indicate which output assembly parameters will have effectwhen StartMotion hasazero to one transition 128 1 Reserved 0 Mode not specified 1 Position mode 2 Speed mode 3 Home mode 4 Torque mode 5 Gear mode 6 In...

Page 232: ...me mode is the operating mode For a rotary motor the return speed is 0 1 rpm sec 1 5000 Non cyclic move type SINT Enumerated attribute used to determine the noncyclic move type 128 1 Reserved 0 Absolute 1 Relative 2 Incremental 3 High speed capture 4 127 Reserved Cyclic move type Enumerated attribute used to determine the cyclic move type 128 1 Reserved 0 Rotary positive 1 Rotary negative 2 Rotary...

Page 233: ...dor specific Table 89 Kinetix 5100 Input Assembly Data Instance 154 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Diagnostic Active Connection Faulted Run Mode 1 Diagnostic sequence count 2 Pad bytes for LINT alignment 3 4 5 6 7 8 Uncertain Fault 9 At Reference Stopped Homed Status Command in Progress Ready Active Warning Present 10 Reserved 11 Operating Mode 12 Active Index 13 Reserved 1...

Page 234: ... whether the connection is faulted 0 Connection is not faulted 1 Connection is faulted Diagnostic active Indicates whether the diagnostic is active 0 Diagnostic is not active 1 Diagnostic is active Diagnostic sequence count SINT The sequence count for the diagnostic Fault BOOL Indicates whether the drive is in a faulted state 0 Drive is not in a faulted state 1 Drive is in a faulted state Uncertai...

Page 235: ...t reference position speed torque based on mode Operating mode input SINT Indicates at which state the drive stays Its value may be 128 1 Reserved 0 Mode not specified 1 Position mode 2 Speed mode 3 Home mode 4 Torque mode 5 Gear mode 6 Index mode 7 127 Reserved Active index Indicates the currently executing index Currently executing index 128 1 Reserved 0 PR 0 1 99 PPR 1 PR 99 100 127 Reserved Mo...

Page 236: ...r is selected 0x0001 0xFFFF parameter instance ID is selected Parameter monitor 4 value Parameter monitor selection 0 no parameter is selected 0x0001 0xFFFF parameter instance ID is selected Parameter monitor 5 value Parameter monitor selection 0 no parameter is selected 0x0001 0xFFFF parameter instance ID is selected Table 90 Kinetix 5100 Drive Input Assembly Data Description Continued Name Data ...

Page 237: ...mental positioning 3 High speed position capturing 4 127 Reserved Move method Movement directions when selection is 10 128 1 Reserved 0 Rotary positive 1 Rotary negative 2 Rotary shortest path 3 127 Reserved Interrupt BOOL When this movement is executed it interrupts the previous movement 0 Does not interrupt previous movement 1 Can interrupt previous movement Overlap Permits overlapping of the ne...

Page 238: ...For a rotary motor the deceleration reference is 0 1 rpm sec Position reference The relationship between user unit and motor encoder counts is defined by position factor numerator denominator Home return speed When operation mode is the home mode then the creep speed for the rotary motor is 0 1 rpm sec Table 92 Homing Method Values Value Description 0 Homing in forward direction and regard PL as h...

Page 239: ...when encounter limit 24 Homing in forward direction ORG ON OFF as homing origin Go forward to Z pulse Shows error when encounter limit 25 Homing in forward direction ORG ON OFF as homing origin Go forward to Z pulse Reverse direction when encounter limit 26 Homing in forward direction ORG ON OFF as homing origin Do not look for Z pulse Shows error when encounter limit 27 Homing in forward directio...

Page 240: ... Controller POS0 POS6 CRTG Low Speed DelayTime ID332 ID347 P5 040 P5 055 CyclicMoveType for example YX of ID399 P6 002 Acceleration Reference Starting Index I O Mode Index Position Reference I O Mode Position Deceleration Reference Acceleration Reference Position Reference I O Mode Home I O Mode Gear Home Return Speed Speed Reference Homing Method Deceleration Reference Target Speed ID352 ID367 P5...

Page 241: ...D152 P1 045 Target Speed ID352 ID367 P5 060 P5 075 1 ID117 P1 001 2 O Operation Mode Setting Other Position Commands Numerators Denominator Filters ID124 P1 008 ID134 ID138 P1 024 P1 028 ID143 P1 036 ID170 P1 068 DelayTime ID332 ID347 P5 040 P5 055 Accel DecelTime ID312 ID327 P5 020 P5 035 Command Source ID397 ID596 P6 000 P7 099 O StartingIndex NOTE O xxx istheoutputparameteroftheI Oassembly Name...

Page 242: ...s what output assembly parameters have effect when Start Motion has a 0 to 1 transition Must be 2 speed mode Speed reference DINT For a rotary motor the speed reference is 0 1 rpm sec Acceleration reference For a rotary motor the acceleration reference is 0 1 rpm sec Deceleration reference For a rotary motor the deceleration reference is 0 1 rpm sec Name DataType Description Semantics ofValues Ope...

Page 243: ...licable only in torque mode T for controlling the motor s maximum speed If using external analog voltage in torque mode DI signals will be available and can be set to SPD0 SPD1 for motor speed limit selection internal parameters If not users can use analog voltage input as the speed limit command When parameter ID118 P1 002 is set to 1 the speed limit function is enabled See the following timing d...

Page 244: ... If not enough DI signal is available torque limit command can be issued by analog voltage When the parameter ID118 P1 002 is set to 1 the torque limit function is enabled See the timing diagram below To set the torque limit see the following diagram Analog Monitoring You can observe the needed voltage signal via analog monitoring Two analog channels are provided by the servo drive and are located...

Page 245: ...96 Relevant Parameters Parameter Name ID103 P0 003 AOMonitorSelection ID119 P1 003 EncoderOutputPolarity ID120 P1 004 AnalogOutput1Scale ID121 P1 005 AnalogOutput2Scale ID290 P4 020 AnalogOuput1Offset ID291 P4 021 AnalogOuput2Offset ID120 1 004 x 100 x 100 20 Required speed Max speed 1000 rpm 5000 rpm P1 004 100 MON1 8V x x 100 2 4V Current speed Max speed x 20 100 8V x x 100 300 rpm 5000 rpm x P1...

Page 246: ...e voltage level defined as zero voltage is different from the set zero point To tackle this problem DOF1 ID290 P4 020 AnalogOutput1Offset and DOF2 ID291 P4 021 AnalogOutput2Offset can be used to calibrate the offset voltage output Table 97 Relevant Parameters Parameter Name ID290 P4 020 AnalogOuput1Offset ID291 P4 021 AnalogOuput2Offset ...

Page 247: ... commands Except for the basic arithmetic operation commands all settings are saved in the parameter file of the servo drive Thus changing parameter values will change the PR commands simultaneously The drive provides 100 PR commands which let you configure the following homing method position command speed command jump command write command index positioning command arithmetic operation commands ...

Page 248: ... 003 specifies the target PR to jump to For the remaining PR commands the PRCmdXSetting and PRCmdXData parameters are grouped in pairs as shown in Figure 81 Figure 81 Setting Parameters for Each PR Command PR Command Setting and Data Definitions The Command setting defines the type of command Speed Position Jump Write Index Arithmetic Statement CMD is the position command selection 00 ABS Absolute...

Page 249: ... automatically load the next command DLY is the delay time index SPD is the target speed index ACC is the acceleration time index DEC is the deceleration time index For parameter descriptions and data see the Knowledgebase article 1090034 Kinetix 5100 Servo Drive Parameter Data and Fault Codes PRCommandSetting The PRCmdXSetting parameters define how the PR commands PR 01 PR 99 function ID399 P6 00...

Page 250: ...mmand when completed INS 7 Jump to the specified PR command ROM AUTO INS 8 Write to parameter or Data Array DIR OVLP INS A Index position control B Statement arithmetic operation U DEC DecelerationTime Z ACC AccelerationTime Corresponding Parameter DefaultValue ms 0 0 ID312 P5 020 200 1 1 ID313 P5 021 300 2 2 ID314 P5 022 500 3 3 ID315 P5 023 600 4 4 ID316 P5 024 800 5 5 ID317 P5 025 900 6 6 ID318...

Page 251: ...5 067 800 8 ID360 P5 068 1000 9 ID361 P5 069 1300 10 ID362 P5 070 1500 11 ID363 P5 071 1800 12 ID364 P5 072 2000 13 ID365 P5 073 2300 14 ID366 P5 074 2500 15 ID367 P5 075 3000 B Corresponding parameter Default value ms 0 ID332 P5 040 0 1 ID333 P5 041 100 2 ID334 P5 042 200 3 ID335 P5 043 400 4 ID336 P5 044 500 5 ID337 P5 045 800 6 ID338 P5 046 1000 7 ID339 P5 047 1500 8 ID340 P5 048 2000 9 ID341 P...

Page 252: ... as shown in Figure 82 If a given setting that is used by multiple PR commands is changed then all PR commands applying this setting will be changed as well For example if multiple PR commands apply the target speed setting of ID352 P5 060 PresetVelocity0 when value of ID352 P5 060 is changed those PR commands target speed will also be modified In these data the acceleration deceleration time is s...

Page 253: ...sition and then updates the PR command end register Feedback position PUU monitoring variable code 000 The feedback position coordinates for the motor simplified as Fb_PUU Feedback PUU Position error PUU monitoring variable code 002 The deviation between the command position PUU and the feedback position PUU simplified as Err_PUU Error PUU PR Command Setting ACC 1 DEC 4 DLY 2 SPD 5 Acceleration De...

Page 254: ...back position and Err_PUU is the deviation of Cmd_O minus Fb_PUU Figure 83 Timing Diagram of PR Mode MonitoringVariables The detailed command behavior of each stage is illustrated in Figure 84 Cmd_E is the endpoint specified by the command its setting is completed once the PR command is triggered Fb_PUU is the feedback position which is motor s actual position For example Cmd_O is the target of th...

Page 255: ...drive operates based on the command from the internal register Once the execution is completed DO Cmd_OK 0x15 turns on And when motor reaches its target position range which is set by ID159 P1 054 InPositionWindow DO TPOS 0x05 is on Once the PR position command completes and the motor reaches the target position both DO signals are on and the servo drives outputs the MC_OK 0x17 signal to signify t...

Page 256: ...formation Homing The drive provides 11 homing methods in PR mode They include home sensor limit or collision point and come with sub selections such as whether to refer to Z pulse and limit signal as the trigger Homing method is specified by ID297 P5 004 HomingMode and the homing definition is determined by ID397 P6 000 HomingSetting Setting Homing Mode ID297 P5 004 Settings X Homing method Z Limi...

Page 257: ...origin X 4 lookforZpulseinforwarddirectionanddefineitas homing origin X 5 look for Z pulse in reverse direction and define it as homing origin Y 0 return to Z pulse Y 1 go forward to Z pulse Y 2 do not look for Z pulse X 6 homing in forward direction ORG ON OFF as homing origin X 7 homing in reverse direction ORG ON OFF as homing origin X 8 define current position as the origin Y 0 return to Z pul...

Page 258: ...he drive is powered on whether to search for the origin 0 do not execute homing 1 execute homing automatically servo switches to Servo On status for the first time after applying power Note 1 After the origin is found sensor or Z it has to decelerate to a stop The stop position exceeds the origin by a short distance If returning to the origin is not needed set CMD to 0 If returning to the origin i...

Page 259: ...hat it created the system automatically calculates the position of the 0 point As soon as the PR motion command is issued the motor moves to the specified position Figure 87 Reference Origin Origin and Speed Settings for Homing Parameter ID398 P6 001 HomePosition defines the origin The range is 2147483648 2147483647 The homing procedure goes through two stages high speed and low speed Homing start...

Page 260: ...or switches to low speed second speed value to look for the Z pulse When the motor finds the Z pulse it decelerates and stops completing the homing procedure If you set the motor to look for the Z pulse and the limit signal remains un triggered low Start point 1 the servo motor operates at high speed first speed setting and then decelerates once it reaches the limit rising edge triggers the signal...

Page 261: ...re 90 ORG Signal rising edge as Reference Point Figure 90 shows an example of reversing to look for the Z pulse If the home sensor signal for the start position is un triggered low Start point 1 the servo motor operates at high speed first speed setting until it reaches the rising edge of ORG signal Then it decelerates switching to low speed second speed setting and reverses to look for the Z puls...

Page 262: ... low the motor returns to look for the Z pulse Once the Z pulse is found homing is complete If you set the servo motor to look for the Z pulse or not to look for the Z pulse in the forward direction this is similar to the first method mentioned above going in the reverse direction or not to look for the pulse Z ReferencingtheZPulse This method uses the Z pulse as the reference origin One Z pulse i...

Page 263: ...perates in reverse to reach the ORG signal Once it reaches the ORG signal it decelerates and runs at low speed second speed setting until it reaches the falling edge of ORG signal Then it reverses to look for Z pulse When found the servo decelerates to a stop completing the homing If the ORG signal is triggered at the start point high Start point 3 the servo motor operates at low speed second spee...

Page 264: ...nate positioning is completed Figure 93 Referencing Current Position as the Origin See Description of Digital Input Functions in Chapter 15 for details about the DI SHOM signal Referencing theTorqueLimit This method uses the motor s stop position as the origin by referring to the limit on the mechanism ID177 P1 087 HomingCollisionTorqueLimit and ID178 P1 088 HomingCollisionTorqueLimitTime You can ...

Page 265: ...ches the collision protector Then the servo outputs a greater current to resist the external force When the motor torque reaches the set limit ID177 P1 087 and the output duration is longer than the time setting ID178 P1 088 the motor stop stops completing the homing The Torque limit setting range 1 300 is only for Torque limit homing mode As shown in Figure 95 when the homing command is triggered...

Page 266: ...itoring variables is different during homing In the Homing command s default setting the contents of Cmd_E and Cmd_O are identical After it finds the reference origin in the coordinate system it sets the content of Cmd_E to the coordinate of the reference origin However once it finds the reference origin it still requires some distance for motor to decelerate to a stop Meanwhile Cmd_O continues to...

Page 267: ...celeration deceleration time delay time and target speed Figure 97 Parameter for PR Mode Speed Control Err_PUU Before command issued Fb_PUU Cmd_O Cmd_E Err_PUU Fb_PUU Cmd_O Cmd_E Err_PUU Fb_PUU Cmd_O Cmd_E Err_PUU Fb_PUU Cmd_O Cmd_E Err_PUU Fb_PUU Cmd_O Cmd_E After command issued Command in execution Command completed Motor positioned Target speed Acceleration time Time Speed Feedback speed Comman...

Page 268: ...5 035 AccelDecelTimeX The required duration for accelerating from 0 to the target speed is calculated and shown by the software DLY is the delay time command that is determined by the shared PR parameters ID332 P5 040 ID347 P5 055 PositionCompletedDelayX it is used to delay the command In other words the delay time starts counting when the target speed is reached Figure 98 PR Mode Speed Screen Bel...

Page 269: ...nd that is currently being executed when decelerating If this function is applied setting the delay time to 0 is suggested ACC DEC is the acceleration deceleration time configured by the shared PR parameters ID312 P5 020 ID327 P5 035 The required duration to accelerate from 0 to the target speed will be calculated and shown by the software SPD is the target speed specified by the shared PR paramet...

Page 270: ...and another type of command is inserted To see how the position commands are combined see Figure 101 1 Absolute position command ABS when executed the target position value equals the absolute command value In Figure 101 an ABS command with the value of 60000 PUU is inserted in the previous PR command with setting target position of 60000 PUU on the coordinate axis PR parameters D C B A U Z Y X Co...

Page 271: ...ast position acquired by the Capture function plus the position command value In the following example a high speed capturing command with the value of 60000 PUU is inserted in the previous PR command The target position value is the captured position value of 10000 PUU plus the relative command of 60000 PUU which equals 70000 PUU The target position specified by the original command is omitted Fi...

Page 272: ... command number to be jumped to by using PR mode setting screen in the configuration software Among the options INS stands for an interrupt command which interrupts the previous motion command DLY is the delay time determined by shared PR parameters ID332 ID347 P5 040 P5 055 Once a jump command is issued the servo drive will start counting the delay time Figure 102 Jump Command in PR Mode Figure 1...

Page 273: ... is an interrupt command which can interrupt the previous motion command AUTO command signifies that the next PR will be loaded automatically once current PR completes the next one will be automatically executed The ROM command lets the drive write parameters to both RAM and EEPROM at the same time However frequent usage will shorten the life of EEPROM DLY is the delay time selected by shared PR p...

Page 274: ...igure 104 Using PR Write Command Below are the functions of each bit when a write command is applied using the ID399 ID595 P6 002 P7 098 PRCmdXSetting Note 1 Y OPT option PR parameters D C B A U Z Y X Command type 0 SOUR_DEST DLY DESTINATION OPT 8 Data content SOURCE BIT 3 2 1 0 Command type ROM AUTO INS ...

Page 275: ...nge of indexing coordinate Using the index coordinate system users are able to divide a total moving distance into several equal moving distances BIT 3 2 1 0 Description Command type SOUR DEST Data source Writing target Data content 0 0 0 0 Constant Parameter 0 1 0 Parameter Parameter 1 0 0 Data array Parameter 1 1 0 Monitoring variable Parameter 0 0 1 Constant Data array 0 1 1 Parameter Data arra...

Page 276: ... Then the origin of the motor s feedback position and that of the motor s index position can be identical If homing is not executed E 237 Indexing mode cannot start occurs Among the options INS is the interrupt command which interrupts the previous motion command OVLP is the overlap command which allows the next PR command to overlap the current one during deceleration If this OVLP is used setting...

Page 277: ... deceleration time setting determined by shared PR parameters ID312 ID327 P5 020 P5 035 SPD is the target speed set by the PR shared parameters ID352 ID367 P5 060 P5 075 DLY is the delay time When motor reaches the target position the servo drive will start counting the delay time Position command is the target position of each index segment Figure 106 PR Mode Index Position Screen Below are the f...

Page 278: ...of 32 bits And data size of each constant is also 32 bit After all arithmetic operation commands are executed you can set a jump condition in the PR command so that it will jump to different PR command and then carry on the next one or stop once operation is done and it can also serve as a loop function The arithmetic operation commands support negative numbers operations but not floating points N...

Page 279: ...relevant parameters in PR mode Choose PR Mode Editor from the Function List to configure the following Speed and Time Settings General Parameter Settings Homing Settings and PR Mode Settings for the PR commands Speed andTime Settings You can use KNX5100C software to configure the shared PR parameters for these Speed and Time Settings Accel Decel Time shown in Figure 108 Delay Time Internal Target ...

Page 280: ...ed Time Setting Tab General Parameter Settings You can set the general parameters such as electronic gear ratio software limit Deceleration time and Event On Off See Configure E gear Ratio on page 148 Configure Limits on page 151 and Event Trigger on page 296 for more information Figure 109 General Parameter Settings ...

Page 281: ... PR Mode Chapter 11 Homing Setting The Homing tab lets you configure the Homing mode speed settings and Homing Definition parameters See Homing on page 256 for more information Figure 110 Homing Tab PR Mode Setting PR Mode Setting part of the dialog lets you configure the PR commands ...

Page 282: ...type and corresponds to the X value in the PRCmdXSetting parameters for example ID399 P6 002 PRCmd1Setting X TYPE Command Type 1 Constant speed control 2 Point to point command 3 Point to point command Proceed to the next command when completed 7 Jump to the specified PR command 8 Write to parameter or Data Array A Index position control B Statement arithmetic operation ...

Page 283: ...ond to the Y A U A B and C values of the PRCmdXSetting parameters for example ID399 P6 002 PRCmd1Setting See PR Command Setting and Data Definitions on page 248 for more information For 7 Jump to the specified PR command you can configure a PR command number to jump to For 8 Write to Parameter or Data Array you can configure a Target parameter or data array and a Data Source The data source can be...

Page 284: ...OPTIONS and the Speed and Time Setting on the PR Mode tab Figure 113 PR Mode Editor for Index Position Command You can use the Index Coordinates Setting Wizard in the PR screen of the configuration software to help you configure the Index Position command Click Index Coordinates Setting Wizard in the PR screen of the configuration software to launch the wizard Figure 114 Indexing Coordinates Setti...

Page 285: ...ftware When you configure a PR command type as 0xB Statement you must use the Arithmetic Operations dialog box in KNX5100C software to define the commands including addition subtraction multiplication division and logic conditions The configuration dialog box has three sections Expressions Procedure and Statement 4 5 6 7 8 3 2 1 Indexing Coordinate Target position Current position Total index movi...

Page 286: ...upported operators and calculation data with data format in DEC and HEX Table 99 Description of Each Field in the Expressions Section Data Format Value Data Format Value Data to beWritten Calculation Data Operator Calculation Data User variable User 0 63 User variable User 0 63 Addition Subtraction Multiplication Division Obtain remainder And Or User variable User 0 63 Constant Constant Parameter ...

Page 287: ...a from the expression and procedure sections Data in the expression and procedure sections of the same statement always remain identical and can be shared by multiple PR commands If data in those two sections are different then the data is saved to another statement The time required to execute the statement is shown in the Spend Time field Total Capacity shows the servo drive s memory capacity Ba...

Page 288: ...ents the execution order and calling sequence of all PR procedures Parts of the PR Display The PR display includes five parts number execution property command type next PR command and command data Figure 118 PR Display 1 Number the PR number ranging from PR 0 PR 99 100 sets of PR commands 2 Execution property B Execute homing when power on O Command overlap R write data to EEPROM I command interr...

Page 289: ...rd R signifies running in reverse ORG signifies origin CUR signifies current position BUMP represents the collision point PR 0 B Homing 0 PLZ Offset 0 PR 1 Speed1 100 Speed2 20 1 2 3 4 5 6 Homing methods Y 0 reverse to look for Z pulse Y 1 go forward to look for Z pulse Y 2 do not look for Z pulse X 0 homing in forward direction with PL as the homing origin 0 PLZ 0 PL X 1 homing in reverse directi...

Page 290: ...layed 2 Delay time DLY determined by shared PR parameters It is defined by a command from the controller the servo drive starts counting the delay time once it reaches the target speed 3 Target speed the set target speed 4 Acceleration time ACC determined by shared PR parameters length of time to reach the 3000 rpm speed from stopped 5 Deceleration time DEC determined by shared PR parameters lengt...

Page 291: ... Delay time DLY determined by shared PR parameters It is defined by a command from the controller The servo drive starts counting the delay time once it reaches the target position 3 Target position the set target position 4 Position command type ABS means an absolute positioning command REL means relative positioning INC means incremental positioning CAP means high speed position capture 5 Target...

Page 292: ...d or indicated as Write See Figure 123 Figure 123 Write Command Display 1 Command execution type a write command can interrupt INS the previous PR command If the Interrupt function is enabled it displays I if not no information is displayed You can determine whether to write the data to EEPROM If writing data to EEPROM is required it shows R if not no information is displayed 2 Delay time DLY dete...

Page 293: ...next PR command If delay time is set to 0 when this function is enabled it displays O If the Overlap function is not used no information is displayed 3 Delay time DLY determined by shared PR parameters It is defined by a command from the controller The servo drive starts counting the delay time once it reaches the target position 4 Position command the numerator is the position of this PR command ...

Page 294: ...n arrow pointing to the next PR appears with a dotted line You can choose to execute the next PR command and stop once the execution is completed See Figure 125 Figure 125 Arithmetic Operation Display 1 Command execution type an arithmetic operation command can interrupt INS the previous PR command If the Interrupt function is enabled it displays I if not no information is displayed 2 Statement nu...

Page 295: ...ware as shown in Figure 126 Figure 126 I O Setting Screen Table 101 Use DI to Select the PR Command to be Triggered Status of DI POS0 DI POS6 signals 0 On 1 Off DI CTRG up arrow This signifies the moment that the digital input is switched from off to on In addition there are two sets of DI for special functions DI SHOM 0x27 return to homing origin and DI STP 0x46 motor stop If the former is trigge...

Page 296: ...d Two types of event triggering are selectable rising edge trigger and falling edge trigger Range of PR numbers that can be specified is from 51 63 Before using event trigger for PR commands you have to define the related DI functions which are DI EV1 0x39 event trigger command 1 DI EV2 0x3A event trigger command2 DI EV3 0x3B event trigger command 3 and DI EV4 0x3C event trigger command 4 See Desc...

Page 297: ...ing information describes the functions of ID386 P5 098 EventRisingEdgePRNumber Settings X PR triggered when EV1 is on 0 no action 1 D execute PR 51 63 Y PR triggered when EV2 is on 0 no action 1 D execute PR 51 63 X PR triggered by EV1 rising edge Z PR triggered by EV3 rising edge Y PR triggered by EV2 rising edge U PR triggered by EV4 rising edge Y Z U X ...

Page 298: ... 51 63 Y PR triggered when EV2 is off 0 no action 1 D execute PR 51 63 Z PR triggered when EV3 is off 0 no action 1 D execute PR 51 63 U PR triggered when EV4 is off 0 no action 1 D execute PR 51 63 Trigger Position Command ID300 P5 007 Write the PR number to be executed in ID300 P5 007 PRCmdTrigger and the servo drive will execute the specified PR command If you write 0 to the PR command trigger ...

Page 299: ...You can use high speed position capturing Capture high speed position comparing Compare and E Cam function to trigger the specified PR command While the capturing completes you can set Bit3 of ID331 P5 039 X or ID395 P5 110 X to determine whether to trigger PR 50 or set Bit 0 of ID351 P5 059 U to determine whether to trigger PR 45 once the last data is compared If E Cam disengagement setting is 2 ...

Page 300: ... ms the servo drive will send the lead PR and the PR group it leads to the PR executor no matter whether a PR command is being executed Therefore as long as a PR command is triggered the PR queue collects it and sends it to the executor PR executor Once the PR executor receives the lead PR and its PR group the PR group in execution will be replaced immediately If a PR group includes motion command...

Page 301: ...the generator it will be integrated with the current command in the generator and the integration is based on the setting The setting includes whether multiple motion commands are sequence commands and whether it is set with overlap or interrupt function all integration varies with each PR command setting Sequence Command Execution Configurable commands in PR command are motion commands which are ...

Page 302: ... the generator to start the second part of speed control see Figure 132 If the first speed command is set with a delay the PR executor starts counting the delay time right after the motor reaches the target speed Then it issues the second speed command to the generator for the second part of speed control as shown in Figure 132 PR 1 Position DLY 0 0 ms 10000 PUU ABS 200 rpm PR 2 Position DLY 0 0 m...

Page 303: ...ds they are executed in the PR queue immediately Command with Delay Command without Delay PR executor Motion command generator Time Speed rpm PR 1 Speed DLY 0 0 ms 100 rpm Acc 11 100 ms Dec 11 100 ms PR 2 Speed DLY 0 0 ms 500 rpm Acc 0 33 3 ms Dec 0 33 3 ms 100 500 1 ms command cycle 1 ms command cycle PR executor Motion command generator Time PR 1 Speed DLY 1 100 ms 100 rpm Acc 11 100 ms Dec 11 1...

Page 304: ...eue receives a position command After the first position command is completed the PR executor will issue it to the generator and the generator starts executing it promptly Figure 133 Sequence Command Multiple Commands Command Interrupts Execution Interruption INS is an action that results in a command in execution being replaced or integrated Results of interruption differ based on the command typ...

Page 305: ...position commands and the second command has an interrupt configured Position command Position Command I Position Command the executor treats the first and second commands as one PR group As the first position command is unexecuted the executor will replace the first with the second It only issues the second to the motion command generator for execution After the second is completed the executor i...

Page 306: ...ion is the previous target position plus the current See the example below PR 1 Position DLY 0 0 ms 1000 PUU ABS 100rpm PR 3 Position DLY 0 0 ms 10000 PUU ABS 500rpm PR executor 1 ms Cmd cycle Motion command generator Time Speed PR 2 I Position DLY 0 0 ms 5000 PUU ABS 200rpm 1 ms Cmd cycle PR 1 Position DLY 1 100 ms 1000 PUU ABS 100 rpm PR 3 Position DLY 0 0 ms 10000 PUU ABS 500 rpm PR executor Mo...

Page 307: ... the generator see Figure 137 If the first command is set with a delay then the PR executor will issue the first to the generator and then start counting the delay time After the delay is over it then issues the second command and the generator starts the second part of speed control While the first command is still being executed it will be integrated with the second command Once the second is co...

Page 308: ...and without Delay PR executor Motion command generator Time Speed rpm PR 2 I Speed DLY 0 0 ms 200 rpm Acc 12 333 ms Dec 12 333 ms PR 3 Speed DLY 0 0 ms 500 rpm Acc 0 33 3 ms Dec 0 33 3 ms PR 1 Speed DLY 0 0 ms 100 rpm Acc 11 100 ms Dec 11 100 ms 1 ms command cycle 1 ms command cycle 200 500 PR executor Motion command generator Time Speed rpm PR 2 I Speed DLY 0 0 ms 200 rpm Acc 12 333 ms Dec 12 333...

Page 309: ...a delay are regarded as the first PR group and what follows is regarded as the second PR group Thus this PR procedure can execute up to two PR commands with motion commands as shown in Figure 138 Figure 138 Internal Interruption Multiple Commands PR 1 I Position DLY 0 0 ms 1000 PUU ABS 200 rpm PR 7 I Position DLY 0 0 ms 10000 PUU ABS 500 rpm PR executor Motion command generator Time Speed PR 2 I W...

Page 310: ...once the PR queue receives an external interruption command the motion commands in the latter part will be executed by the generator and integrated with the previous Procedure of external interruption is as shown in Figure 139 If a PR command with external interruption enters the PR executor the executor will issue this position command promptly to the generator so that the motor can run in accord...

Page 311: ...xternal interruption 1 ms command cycle 1 ms command cycle 1 ms command cycle 1 ms command cycle PR executor Motion command generator Time Speed rpm PR 10 I Speed DLY 0 0 ms 200 rpm Acc 12 333 ms Dec 12 333 ms PR 11 Speed DLY 0 0 ms 500 rpm Acc 0 33 3 ms Dec 0 33 3 ms PR 1 Speed DLY 1 100 ms 100 rpm Acc 11 100 ms Dec 11 100 ms PR 2 Speed DLY 0 0 ms 500 rpm Acc 11 33 3 ms Dec 11 33 3 ms External in...

Page 312: ...nds transit smoothly setting the delay time of the previous to 0 is suggested In addition if deceleration time of the previous is identical to acceleration time of the next the transition between commands can be very smooth and discontinuous speed during transition can be avoided see Figure 140 The calculation is as follows An interrupt command has a higher priority over an overlap command Thus wh...

Page 313: ...ns commands of this PR command will be executed in the first ms And the rest will be arranged to the PR queue in the next ms PR 2 Position DLY 0 0 ms 10000 PUU ABS 500 rpm Acc 0 16 65 ms Acc 0 16 65 ms PR executor Motion command generator Time Speed PR 1 O Position DLY 0 0 ms 5000 PUU ABS 200 rpm Acc 0 6 67 ms Dec 0 6 67 ms Deceleration time of the 1st command is different from acceleration time o...

Page 314: ...e the command specified by PR command trigger register will be executed in the next ms And logic condition commands will not be executed see Figure 141 Figure 141 Multiple Commands with Arithmetic Operations Figure 142 Writing Trigger Command in Statement Section PR executor PR 1 I Write DLY 0 0 ms P5 045 100 PR 6 I Statement S0 Exe Time 3 89μs true false PR 10 I Write DLY 0 0 ms P5 045 200 PR 20 ...

Page 315: ...ion is enabled the servo drive inputs the DI9 or DI10 signal as capture signal which is not user defined The following parameters define the function Topic Page High speed Position Capture Function CAP 315 High speed Position Compare Function CMP 322 E Cam 333 Macro Commands 367 Table 102 High speed Capture Related Parameters Parameter Name ID328 P5 036 DI9CaptureStartAddress ID392 P5 107 DI10Capt...

Page 316: ...greater than 0 otherwise the Capture function is invalid When the Capture function is executing the ID330 P5 038 DI9CaptureRemainedCount parameter indicates the remaining number of data that has not been captured read only With each instance where data is captured this value decrements by 1 until the value is 0 which indicates that the Capture function has completed Then the next cycle automatical...

Page 317: ...t 1 1 after the first data is captured the Capture axis position will be set to the value of ID368 P5 076 DI9FirstCaptureResetPosition 2 Enable Compare function after the first data is captured 1 If bit 2 1 whenthe first datais captured the Compare functionis enabled ID351 X P5 059 X CompareControl bit 0 1 and ID350 P5 058 CompareRemainedCount resets to the previous setting amount If the Compare f...

Page 318: ... Normally Closed P5 039 Z 1 DI9 CAP Switch P5 039 X Bit 0 CAP Axis Psoition P5 037 7890 CAP Axis Source Aux Encoder P5 039 Y 1 Pulse Command P5 039 Y 2 Main Encoder P5 039 Y 3 Data Array Reset the First Position P5 039 X Bit 1 1 First Position P5 076 Enable CMP after the first data is captured P5 039 X Bit 2 1 CAP Amount P5 038 Start Address P5 036 CAP Amount P5 038 P5 038 1 CAP Completed P5 038 0...

Page 319: ...Bit 0 0 2 PR 2 sets the start position of data array to 100 3 PR 3 sets the capturing amount as 3 4 PR 4 sets the capturing axis position to 0 for the first capture point 5 PR 5 sets the cyclic capture mode and then delay 1 ms to execute the next PR command 6 PR 6 enables the capture function and resets the first point Once the data capture is complete the drive executes PR 50 It selects motor s e...

Page 320: ...and the position data of the capturing axis is written to data array 100 again Therefore the data written in the previous cycle is replaced At the moment DI9 is triggered for the fifth and sixth times the position of capturing axis is written to data arrays 101 and 102 respectively As soon as the second capture cycle is finished DO CAP_OK 0x16 CAP turns on and then PR 50 high speed position captur...

Page 321: ...ications Chapter 12 Figure 146 High speed Capture Application Example CAP axis position PUU Time 10000 PUU DI9 CAP DO CAP_OK 0 x 16 10000 PUU PR path 50 50 51 51 1 6 7 Data array 0 0 0 45678 45678 45678 100 0 12501 12501 12501 50345 50345 101 0 0 26789 26789 26789 56789 102 1 2 1 2 3 3 ...

Page 322: ... Data and Fault Codes To configure the Compare function you need to Define and enable the operation of the compare function including definition of the axis source and trigger logic Define the start position for data compare in the data array Set the amount of data to be compared Enable the cyclic mode Figure 147 describes the compare function Use parameter ID351 P5 059 CompareControl to enable or...

Page 323: ... completed ID350 P5 058 resets to the setting value and then compare procedure starts again 2 Enable Capture function after data compared If bit 2 is 1 after all comparing is done enable the Capture function Set ID331 P5 039 X bit 0 to 1 and set the previous value to ID330 P5 038 as the data size to be captured if Capture function has been enabled then this function is invalid 3 Reset position of ...

Page 324: ...chart OA OB output 2500 5 500 pulse OA OB output 2500 7 357 142857 pulse CMP axis position P5 057 CMP switch P5 059 X Bit0 Start address P5 056 CAP amount P5 058 AUX ENC P5 059 Y 1 Pulse Cmd P5 059 Y 2 Main ENC P5 059 Y 3 CMP axis source CMP completed P5 058 0 No Enable CAP after completed P5 059 X Bit 2 1 Cyclic CMP P5 059 X Bit 1 1 P5 058 Previous setting value Call PR 45 P5 059 U Bit 0 1 Data a...

Page 325: ... default is based on the comparing axis runs 10000 pulses per rotation of motor 1 PR 1 use write commands to edit data array 50 2 PR 2 use write commands to edit data array 51 3 PR 3 use write commands to edit data array 52 4 PR 4 confirms that the Compare function is disabled ID331 X P5 039 X Bit 0 0 5 PR 5 sets the start position to 50 6 PR 6 sets the compare amount to 3 with a delay of 1 ms to ...

Page 326: ...nction is executed PR 6 I Write DLY 10 1 ms P5 058 3 PR 5 I Write DLY 0 0 ms P5 056 50 PR 45 I Position DLY 0 0 ms 50000 PUU INC 100rpm PR 8 I Speed DLY 0 0 ms 50 rpm Acc 0 3 33 ms Dec 0 3 33 ms PR 46 Speed DLY 0 0 ms 50 rpm Acc 0 3 33 ms Dec 0 3 33 ms PR 3 I Write DLY 0 0 ms Arr 52 40000 PR 4 I Write DLY 0 0 ms P5 059 0x00640030 PR 2 I Write DLY 0 0 ms Arr 51 30000 PR 7 I Write DLY 0 0 ms P5 059 ...

Page 327: ...ons Chapter 12 Figure 149 Application Example of High speed Compare CMP axis position PUU Time DO4 CMP PR path 8 45 45 46 46 5000 20000 30000 40000 1 7 Data array 20000 20000 20000 20000 20000 20000 50 30000 30000 30000 30000 30000 30000 51 40000 40000 40000 40000 40000 40000 52 1 1 2 2 3 3 ...

Page 328: ...d to read write but the behaviors after reading writing differ See Table 106 Channel 2 can be set by ID304 P5 011 ID388 ID391 P5 100 103 ID304 P5 011 sets the address for reading writing of data array ID388 P5 100 can read data from or write data to the data array address following the address set by ID304 P5 011 ID305 P5 012 and ID391 P5 103 work the same way If the address number has reached the...

Page 329: ...12 100 Write P5 012 200 Read P5 012 100 Read P5 012 200 P5 011 writing address adds 1P5 011 13 Write P5 012 300 Read P5 013 100 P5 011 reading address remains P5 011 11 Write P5 011 12 P5 011 reading address remains P5 011 12 Read P5 012 300 Write P5 011 13 P5 011 reading address adds 1 P5 011 12 Read P5 013 200 P5 011 reading address adds 1 P5 011 1 Write to data array Read from data array Set th...

Page 330: ...on Control Applications Figure 151 Capture or Compare User Interface Click Capture CAP Compare CMP node from the project tree to open Capture Compare Figure 152 ProjectTree Capture Compare KNX5100C software provides two channels of Capture including First Capture and Second Capture ...

Page 331: ...of the relevant Capture parameters and enable On Line operation directly The High speed Capture Function can change the data in Data Array Press Update to display the data stored in Data Array Figure 154 Capture Data Array High speedCompareFunction The High speed Compare Function is a reverse process of the High speed Capture Function The items stored in Data Array are compared to the signal of a ...

Page 332: ... data for the functions of Capture Compare and E Cam Up to 800 records all together to max 800 records can be stored in the Data Array Ensure not to overwrite the data stored in Data Array Use the Update Array Address button to update the parameter setting values of the Capture Compare and E Cam functions Select the Burn to EEPROM check box to put the data into EEPROM for permanently keeping the d...

Page 333: ...tions to plan the motion path between Master Axis and Slave Axis It cannot only replace the mechanical cam but also break the shape limit of mechanical cam The electronic cams can be used as long as they are master slave control and can find the mathematical equations of the master slave position relationship Mechanical cam and electric cam is illustrated in Figure 157 Figure 157 Mechanical Cam an...

Page 334: ...utch time to engage or disengage is set by ID376 P5 088 UZ ID375 P5 087 ID377 P5 089 3 Master Axis Gear Ratio pulse input resolution is set by ID371 P5 083 ID372 P5 084 4 E Cam Curve curve is set by ID369 P5 081 ID370 P5 082 ID373 P5 085 scale is set by ID311 P5 019 5 Slave Axis Gear Ratio output signal resolution is set by ID151 P1 044 ID152 P1 045 Table 107 E Cam General Settings Parameter Name ...

Page 335: ...us display Z Engaging condition U Disengaging condition Bit Function Description 0 E Cam activation 0 E Cam is disabled 1 E Cam is enabled relevant parameters cannot be modified once E Cam is enabled 1 E Cam does not disengage when servo is off 0 when the servo is stopped by alarm or servo is off the clutch disengages 1 when the servo stops because of alarm or servo is off the clutch can remain en...

Page 336: ...MFB is used as the source of the master axis signal And the master axis position can be obtained by reading ID309 P5 017 AuxEncoderPosition Pulse Input when ID376 P5 088 Y 2 the pulse input from the I O connector is used as the source of the master axis signal And the master axis position can be obtained by reading ID310 P5 018 PulseCmdPosition Time Axis 1ms when ID376 P5 088 Y 4 the 1ms pulse gen...

Page 337: ...ID379 P5 091 DO CAM_AREA1 0x18 is on when the master axis position angle is bigger than ID379 P5 091 but not bigger than ID378 P5 090 ID378 P5 090 ID379 P5 091 DO CAM_AREA1 0x18 is on when the master axis position angle is bigger than ID378 P5 090 but not bigger than ID379 P5 091 The relationship between DO CAM_Area2 and the parameter values is shown in Figure 162 When E Cam is not engaged this si...

Page 338: ...ter Axis system variable 059 3Bh the cumulative number of pulses of the E Cam master axis equivalent to P5 086 Incremental Pulse of Master Axis system variable 060 3Ch the incremental number of pulses of the E Cam master axis in 1ms Lead Pulse of Master Axis system variable 061 3Dh when the clutch is engaged the lead pulse of E Cam master axis before disengaged ID377 P5 089 decreases to zero will ...

Page 339: ...ignal attenuated to a pulse signal which can t be recognized by the servo drive then the wire diameter must be increased or the signal line shortened If the signal delay time caused by the wire is not considered the delay time between each servo drive to transmit the signal is 50 nanoseconds ns The Kinetix 5100 drive only provides four pulse output pins OA OA OB OB respectively The pulse can be in...

Page 340: ...onditionforEngagement When the E Cam function is enabled the slave axis can only be operated according to the master axis signal and the cam curve when the clutch is in the engaged state as shown in Figure 165 The timing condition of the clutch engagement can be set by parameter ID376 P5 088 Z Kinetix 5100 provides two kinds of timing conditions for users to choose Immediate engagement ID376 P5 08...

Page 341: ...l waiting It is engaged until the lead pulse is reached as shown in Figure 166 Figure 166 Clutch Engagement Lead Pulses ConditionforDisengagement When the E Cam function is enabled and the clutch is engaged the slave axis operates according to the master axis signal and the cam curve When the slave axis completes its motion it is stopped either by disabling the E Cam function or disengaging the cl...

Page 342: ...engagement controlled by Digital Input ID376 P5 088 U 1 The clutch is disengaged when the digital input DI CAM 0x036 is triggered to OFF It remains in disengaged state when this DI is OFF the E Cam system is in the stop state Immediate stop after disengagement ID376 P5 088 U 2 The clutch is disengaged and stops immediately when the number of pulses of the master axis reaches the value set by ID377...

Page 343: ...ters the loop mode when the number of pulses of master axis reached the value set by instance ID377 P5 089 ECamMasterPositionToDisengage Then the E Cam system enters the pre engage state as shown in Figure 170 The clutch engages again and operates the next motion cycle when the number of skipped master position pulses before re engage reached the value set by ID380 P5 092 ECamSkippedMasterPulses F...

Page 344: ...aged The E Cam function is completely shut down when the E Cam function is disabled When the clutch is disengaged the slave axis is stopped but the E Cam system is still operating And the slave axis is still monitoring the pulse input signal from master axis You can set the PR command after the condition of immediate stop after disengagement or deceleration stop after disengagement or entering loo...

Page 345: ...the stop state if on of the following conditions is reached digital input DI controlled disengagement stop immediately after disengagement decelerate stop after disengagement ID376 P5 088 D 1 2 6 If the disengagement condition of entering loop mode after disengagement ID376 P5 088 U 4 reached the system will enter into the pre engaged state Pre engaged state ID376 P5 088 D 2 In this state the clut...

Page 346: ...371 P5 083 one cycle means the cam curve running from 0 360 degrees Figure 173 E Cam Gear Ratio The following example explains the resolution adjustment method of the master axis As shown in Figure 174 the original setting is 10000 master axis pulses for one cycle When the ratio becomes larger ID372 P5 084 increases or ID371 P5 083 decreases the phase interval which corresponds to one master axis ...

Page 347: ...inal curve If ID311 P5 019 0 5 the output curve of the slave axis becomes half of the original curve If ID311 P5 019 1 is set the output curve of the slave axis is opposite of the original curve The effective condition of the scaled electronic cam curve can be set by parameter instance ID376 P5 088 X Bit2 The condition can be effective immediately or effective after the clutch is re engaged For ex...

Page 348: ... and the correct phase The difference is stored in the PR program You can choose to compensate immediately or later For parameter descriptions and data see the Knowledgebase article 1090034 Kinetix 5100 Servo Drive Parameter Data and Fault Codes E CamAlignmentOperationSetting The settings for ID245 P2 073 ECamConfiguration are described below Table 109 E Cam Alignment Settings Parameter Name ID245...

Page 349: ... smooth the process but it may need more time to complete the alignment correction BA PR number PR 0 PR 99 After each alignment any shortage of pulse numbers from the slave axis is stored in a specified PR This PR can compensate for the slave position at the appropriate timing point If BA is set to 0 any shortage of pulse numbers is not stored in PR DC masking range 0 95 When the DI ALGN signal is...

Page 350: ... bit to 0 to disable this function set this bit to 1 to enable this function If enabled the E Cam alignment correction is executed when DI ALGN is on 1 Trigger PR immediately Set this bit to 1 to enable this function When the E Cam alignment is executing the correction is stored in the PR data location specified by ID245 P2 073 which triggers the PR immediately Setthisbitto0todisablethisfunction W...

Page 351: ...nic cam the mechanical cam must be divided into several equal parts The greater the division the higher the accuracy This example divides it into 8 equal parts Each part is separated by 45 degrees this is an example the actual application must be fine cut otherwise the path will be seriously distorted and each distance between cam shaft and edge is filled into the data array The starting point of ...

Page 352: ...terface is shown in Figure 178 The following are the steps to manually create the table 1 Set the number of E Cam segments A single cam can be divided into up to 720 segments 721 points For a period of 360 degrees that means every 0 5 degrees corresponds to a slave axis position The more points the higher the resolution and more accurate the curve To select the most suitable number of segments mea...

Page 353: ...n be held after the power is turned off Figure 178 E Cam Table Manual Creation ImportPoints If you use the third party software such as Excel to create the table you must save the position of each point as a text file txt Separator symbol between each point should be indicated by Space Tab Enter or comma Figure 179 illustrates the following steps 1 Open the E Cam editor in KNX5100C software select...

Page 354: ...method to create the E Cam table This method divides an E Cam cycle into five zones waiting zone acceleration zone constant speed zone deceleration zone and stop zone as shown in Figure 180 The proportion of each zone can be adjusted The E Cam curve is designed from the position point of view The corresponding speed to the master slave axis is determined by the position change per time unit The KN...

Page 355: ...urve is usually the same as the number of data points in the stop zone or less than the number of data points in the stop zone 4 After confirming that the curve is correct click Download Table then the E Cam curve is written to the data array If you have selected Burn to EEPROM when download when you click Download the data array is written to the EEPROM that can be held after the power is turned ...

Page 356: ...nal increasing or decreasing curve with an equal acceleration and deceleration Only the starting angle can be adjusted Cubic curve Both the starting angle and the ending angle can be adjusted The change of the angle will affect the speed change when leaving the starting point and entering the target point Improper angle setting causes the speed to change sharply which causes the machine to oscilla...

Page 357: ...axis is too small that can cause the speed jitter You can adjust the parameter instance ID311 P5 019 ECamCurveScale to enlarge the value in the table to improve the speed jitter 3 After confirming that the curve is correct click Download Table The E Cam curve is written to the data array If you have selected Burn to EEPROM when download when you click the download button the data array is written ...

Page 358: ...Cam curve is only applicable to the sharp knife application and is created by using KNX5100C software 1 Set the gear number A of the motor and the gear number B of the cutter 2 Set the number of cutters based on the application 3 Set the diameter of cutter based on the application This value does not change if the number of cutters changed The KNX5100C software automatically calculates the perimet...

Page 359: ...is RotaryShear FixedSyncZone This method can create the E Cam curve with a fixed sync zone of 51 degrees Use KNX5100 software to create this E Cam curve The parameter settings are similar to the rotary shear without sync zone The software automatically limits the cutting length by the ratio of cutting length and arc length between cutters R L a here R 0 07 2 5 You can also use macro 6 of the drive...

Page 360: ...B c ID384 P5 096 C Vc 1000000 Vc 1 means there is no speed compensation Vc 0 9 means the speed of the cutter axis in the sync zone is 0 9 times of the speed of master axis Vc 1 1 means the speed of the cutter axis in the sync zone is 1 1 times of the speed of master axis 5 Write parameter ID385 P5 097 0x0006 to create the E Cam curve by macro 6 6 Then read parameter ID385 P5 097 If it equals to 0x...

Page 361: ...by the KNX5100 software You can also use the macro 7 of the drive to build the same E Cam curve as the KNX5100C software The advantage of using a macro to build a cam curve is that when the cutting length needs to be changed you just change the parameters to generate a new curve This method is convenient for users who change the cutting length frequently 1 Set the E Cam storage start address by pa...

Page 362: ...in these equations 360 2W 2Acc 2S Y Since the sync zone can be adjusted Macro 7 has a limitation on the waiting zone for building the E Cam curve The restrictions are as follows When waiting zone W Wmin error code 0xF07A occurs This error code indicates that the waiting zone should be larger or the sync zone should be smaller When waiting zone W Wmin the speed of cutter axis in the waiting zone is...

Page 363: ... the printing is started at the same line speed as the printing axis When the printing operation is finished and the printing plate is separated from the paper the dragging axis starts to decelerate and stop then runs to the specific area in the opposite direction Then the previous steps repeat to perform the next printing cycle For this type of E Cam curve the corresponding relationship between t...

Page 364: ...L and BL set the length of printing range and blank range 3 For d1 set the diameter of dragging axis 4 For d2 and N set the diameter of printing axis and its single turn pulse number 5 Set the PUU numbers per revolution of the motor in one cycle by using ID151 P1 044 GearRatioFollowerCountsN1 and ID152 P1 045 GearRatioMasterCounts In this application the ratio of the circumference length of the pr...

Page 365: ...s in the same direction as the position increment command the slave axis speed is 300 rpm At the same time if a co directional position increment command with a target speed of 200 rpm triggered then the target speed changes to 500 rpm The slave axis superimposes the PR position increment command with the E Cam command during the PR command operation and completes the 5000 PUU position increment c...

Page 366: ...unction to perform the cam phase alignment Generate a positive offset phase by setting the forward incremental command and generate a reverse offset phase by setting the reverse incremental command Figure 187 E Cam Phase Correction E CamTroubleshooting If the E Cam does not work properly you can check the following points for detection Control Mode Make sure that the control mode is PR mode and th...

Page 367: ... is controlled by digital input ID376 P5 088 D 1 Check the setting of the number of pulses before disengagement ID377 P5 089 D if the disengagement condition is stopped immediately after disengagement ID376 P5 088 D 2 or deceleration stop after disengagement ID376 P5 088 D 6 ID376 P5 088 D 2 means that the clutch is in the pre engaged state Check the value of lead pulse number ID375 P5 087 D The c...

Page 368: ...93 parameter write protected level 0 1 0 no protection 1 enable protection ID382 P5 094 protection level of data array 1 7 0 password protection of all data array 1 password protection of data array 100 799 2 password protection of data array 200 799 3 password protection of data array 300 799 4 password protection of data array 400 799 5 password protection of data array 500 799 6 password protec...

Page 369: ...also resets all parameters to the default values Failure code Ennnh Incorrect password setting failed to unlock nnn remaining attempts to enter the password The number decrementsby oneaftereachfailed attempt Whenthenumberdisplays0 it islockedanddoes notallow further attempts Success code 1004h Command code 0006h Build up the E Cam table rotary shear including synchronous area 7 areas General param...

Page 370: ...data array ID370 P5 082 N 30 72 area number of E Cam ID151 P1 044 and ID152 P1 045 E Gear ratio must be set up in advance Macro parameters ID381 P5 093 H16 high 16 bit S ID381 P5 093L16 low 16 bit W S curve level 1 4 levels W degree of waiting area 1 to 170 degrees W 1 is available in firmware versionV1 038 sub29 or later versions ID382 P5 094 Y degree of synchronous area 0 330 degrees ID383 P5 09...

Page 371: ...time that this macro command is triggered the function of ID311 P5 019 is enabled immediately However if the value of ID311 P5 019 is changed and this macro is not triggered then the function of ID311 P5 019 is not enabled immediately This macro command has to be triggered again to enable the function of ID311 P5 019 There are no failure codes with this command code Failure code F077h Address spec...

Page 372: ...sition X where E Cam is engaged E Cam disengages after rotating one cycle in the forward direction General parameters N A Macro parameters ID381 P5 093 new engaged positionX Unit pulse number of master axis Monitoring variable 062 3Eh displays the current engaged position X of master axis IMPORTANT When the E Cam is disengaged the servo position might shift slightly which can cause a position erro...

Page 373: ...ro is usually used for the empty pack prevention function on the packing machine The operation is shown in Figure 188 Figure 188 Macro 10 Operation Diagram 1 Engage the clutch 2 Set ID385 P5 097 0x0010 to enable Macro 10 3 Read ID385 P5 097 and if it returns 0x1010 it means the macro execution is successful 4 If any of the following failure codes shows modify the setting according to the descripti...

Page 374: ...ns IMPORTANT This function is accumulative If the command is triggered for N times consecutively it pauses the E Cam for N cycles The accumulated pause distance cannot exceed the range When the pause cycle is complete the slave axis continues to operate and the accumulated pause distance is cleared to 0 ...

Page 375: ...r Certification The TÜV Rheinland group has approved 2198 Exxxx ERS servo drives with hardwired safe torque off for use in safety related applications up to ISO 13849 1 Performance Level d PL d and Category 3 SIL CL 2 per IEC 61508 IEC 61800 5 2 and IEC 62061 in which removing the motion producing power is considered to be the safe state For product certifications currently available from Rockwell...

Page 376: ...emove motion producing power from the motor Stop Category Definition Stop Category 0 as defined in IEC 60204 or Safe Torque Off STO as defined by IEC 61800 5 2 is achieved with immediate removal of motion producing power to the actuator Performance Level PL and Safety Integrity Level SIL For safety related control systems Performance Level PL according to ISO 13849 1 and SIL levels according to IE...

Page 377: ...he appropriate wiring must be connected to the Safety connector plug Refer to Safe Torque Off Specifications on page 385 for more information on the safety inputs Under normal operation the safe torque off inputs are energized If an STO fault is detected then all of the output power transistors turn off The safe torque off response time is less then 20 ms The ServoOutputStatus parameter represents...

Page 378: ...s E 502 and has no motor torque current ServoOutputStatus Servo Ready Bit 0 0 Torque off 4 4 When STO_A is lost for more than 1 second with STO_B high the Kinetix 5100 drivefaults E 501 and has no motor torque current ServoOutputStatus Servo Ready Bit 0 0 Torque off 5 5 When both STO_Aand STO_B are lost for more than 10 ms the Kinetix 5100drivefaults E 500 andhas nomotortorque current ServoOutputS...

Page 379: ...O self diagnostic STO circuit and wiring for example fails fault E 503 is posted Figure 192 demonstrates when both inputs in the OFF state are detected and fault E 500 STO enabled is posted Figure 192 System Operation When Both Safety Enable Inputs are in OFF State Simultaneously 24V DC 24V DC 0V DC 0V DC 1 0 1 Second 1 0 STO Fault Code E 501 STO_A S1 STO_B S2 ServoOutputStatus Servo Ready Bit 0 2...

Page 380: ... 1 0 STOFault Code E 500 STO_A S1 STO_B S2 Fault Reset Command IMPORTANT The STO fault E 500 can be reset only if both inputs are in the ON state After the fault reset requirement is satisfied a Fault Reset command in the application software or DI ARST physical input must be issued to reset the E 500 fault You can reset faults E 501 E 502 and E 503 with power cycle Servo Drive Status SS Signal St...

Page 381: ... of a dangerous failure occurring per hour PFH PFH calculation is based on the equations from IEC 61508 and show worst case values Table 112 provides data for a 20 year proof test interval and demonstrates the worst case effect of various configuration changes on the data Table 112 PFH for 20 year Proof Test Interval IMPORTANT Determination of safety parameters is based on the assumptions that the...

Page 382: ...Safe Torque Off feature Remove the jumper wires when the Safe Torque Off feature is used Figure 195 Pin Orientation for 8 pin SafeTorque off Connector Table 113 Kinetix 5100 Drive Safe Torque Off Connector Pinout SB S1C S2C SS SB S1 S2 SS Description Signal Used for safety jumper SB Used for safety jumper SB STO_A S1 STO_A S1C STO_B S2 STO_B S2C Safety status or feedback SS Safety status or feedba...

Page 383: ...ods provided IMPORTANT To improve system performance run wires and cables in the wireways as established in Establish Noise Zones beginning on page 33 IMPORTANT Pins SB and SB are used to disable the safe torque off function When wiring to the STO connector use an external 24V supply for the external safety device that triggers the safe torque off request To avoid jeopardizing system performance d...

Page 384: ...that do not require the Safe Torque Off STO feature you must install jumper wires included with the drive to bypass the safe torque off circuitry Each 2198 Exxxx ERS drive includes one 8 pin wiring plug for wiring to safety devices Jumper wires are installed by default to bypass the safety function as shown in Figure 197 With the jumper wires installed the Safe Torque Off feature is not used Figur...

Page 385: ...l conditions of the industrial location The protection class of the panel or cabinet must be IP54 or higher Table 115 Safe Torque Off Signal Specifications 24V DC SB S1 S2 SS SB S1C S2C SS SB S1 S2 SS SB S1C S2C SS SB S1 S2 SS SB S1C S2C SS First Drive Middle Drive Last Drive Dual channel Equivalent Safety Device Attribute Value Safety inputs per channel Input ON voltage 11 30V DC Input OFF voltag...

Page 386: ...differ based on the required overall machine performance level requirements Figure 199 Single axis Relay Configuration Stop Category 0 1 Bypass Jumper is removed from SB and SB Sinking output status is true 1 when the drive displays E 500 status SS and SS are closed IMPORTANT The Kinetix 5100 drive has been qualified and rated as a component to meet ISO 13849 1 performance level d PLd category 3 I...

Page 387: ...ypass Jumper is removed from SB and SB Sinking output status is true 1 when the drive displays E 500 status SS and SS are closed SS SS S1 S1C S2C S2 S21 S22 S34 A2 14 24 34 42 A1 S11 S52 S12 13 23 33 41 SS SS S1 S1C S2C S2 Kinetix 5100 Drive STO 1 Connector with Wiring Header External 24V COM STO Demand External 24V DC Allen Bradley Monitoring Safety Relay MSR127RP 440R N23135 Kinetix 5100 Drive S...

Page 388: ...val of digital input Servo On the drive behavior in Table 116 executes Table 116 MotorStopMode Settings in Drive Firmware Figure 202 Digital Input Servo On Figure 203 MotorStopMode Setting SS SS S1 S1C S2C S2 Servo On DCOM 9 11 A1 S52 S11 S12 S21 S22 S33 S34 13 23 37 47 55 A2 X1 X2 X3 X4 Y39 Y40 Y2 Y1 14 24 38 48 56 Allen Bradley Monitoring Safety Relay MSR138 1DP 440R M23088 External 24V COM STO ...

Page 389: ... rotated after the power is off The absolute servo system must work with an absolute motor If it is arranged with an incremental type motor and the related parameters of an absolute system are enabled E 069 Wrong motor encoder type occurs Compatible Servo Motors Following motors are compatible with Kinetix 5100 drives They are listed with variables but include the appropriate encoder V E M S D typ...

Page 390: ...MPL A15xxx V E 1 MPL A2xxx V E 1 MPL A3xxx M S 1 MPL A4xxx M S 1 1 Also available with H incremental encoders MPL A45xxx M S 1 MPL A5xxx M S 1 Kinetix MPM Medium Inertia Motors 200V class MPM A115xx M S MPM A130xx M S MPM A13xx M S MPM A165xx M S MPM A215xx M S Kinetix MPF Food Grade Motors 200V class MPF A3xxx M S MPF A4xxx M S MPF A45xxx M S MPF A5xxx M S Kinetix MPS Stainless Steel Motors 200V ...

Page 391: ...first time a fault A 060 Absolute Position Lost occurs because the coordinate system has not been created Clear the fault by configuring the coordinate system Insufficient battery power or the failure of the main power supply also causes loss of the coordinate system and the reoccurrence of A 060 In the absolute system when the PUU position value goes outside the range 2147483648 2147483647 A 289 ...

Page 392: ...he cycle number is expressed as a positive value When the motor runs in the counterclockwise direction the cycle number is expressed as a negative value Table 117 Relevant Parameters and Faults In the examples below the encoder resolution of 16777216 single turn is used In addition to the cycle counter there are 16 777 216 pulses 0 16777215 in one rotation Pay attention to the motor s running dire...

Page 393: ...eases when it is running in the reverse direction the PUU number decreases The forward direction does not mean that the motor is running clockwise the direction is defined by ID117 P1 001 Z If the PUU number exceeds the range 2147483648 2147483647 the position counter overflows and A 289 occurs Reinitialize the system to clear the fault A 289 You can determine A 289 when the position overflows thr...

Page 394: ... DI ABSC signal from off to on At that point the pulse number is set to 0 and the PUU number is the value of ID398 P6 001 HomePosition See to the following diagram for detailed descriptions TIP After initializing the absolute coordinate system any change to ID117 P1 001 Z or E Gear ratio ID151 P1 044 and ID152 P1 045 changes the original setting of the absolute coordinate system If the parameters ...

Page 395: ...r descriptions and data see the Knowledgebase document 1090034 Kinetix 5100 Servo Drive Parameter Data and Fault Codes TS ms TQ ms Min TS TQ Value of ID194 P2 009 2 Max ID194 P2 009 2 ID194 P2 009 250 Table 118 Relevant Faults Parameter Name ID102 P0 002 LEDMonitorSelection ID108 P0 049 EncoderDataUpdateConfiguration ID109 P0 050 AbsSysStatus ID110 P0 051 MultiTurnAbsPosition ID111 P0 052 SingleTu...

Page 396: ...l is output by DO2 whichis no longer configured by ID204 P2 019 The DO ABSR signal always output by DO2 Whenthe DI ABSE signal is on the DI ABSQ signal is input by DI4 which is no longer configured by ID198 P2 013 The DI ABSQ signal always input by DI4 When the DI ABSE signalis on the DO ABSD signal is output by DO3 whichis no longer configured by ID197 P2 012 TheDO ABSDsignalalways output by DO3 ...

Page 397: ...tions Description Check Sum WORD_0 0xA700 XOR WORD_1 0x605A XOR WORD_2 0x30A5 XOR WORD_3 0x5A06 NOTES 1 This algorithm has no positive or negative sign 2 0xA700 0x605A 0x30A5 and 0x5A06 are the constants for hexadecimal format 3 WORD_0 encoder status Bit 15 0 WORD_1 encoder turn Bit 31 16 WORD_2 encoder pulse number Bit 47 32 WORD_3 encoder pulse number Bit 63 48 Bit 79 Bit 64 Bit 63 Bit 32 Bit 31...

Page 398: ...on Recovery You can read the pulse number or PUU number with DI DO and ID243 P2 070 See the following timing diagram See Description of Digital Input Functions on page 405 and Description of Digital Output Functions on page 410 for information about the DI and DO signals in the timing diagram ...

Page 399: ...sent to the DO ABSD signal Now the servo drive turns on the DO ABSR signal and the host controller can access the data If the host controller still cannot detect the DO ABSR signal status while it is changing to high after the maximum TQ time there may be a communication error 5 After the DO ABSR signal is set high the host controller accesses the data and the DI ABSQ signal is set high to notify ...

Page 400: ...he encoder s status absolute position cycle number and pulse number or PUU are stored in ID109 P0 050 AbsSysStatus ID110 P0 051 MultiTurnAbsPosition and ID111 P0 052 SingleTurnAbsPosition respectively You can choose to read the pulse number or PUU through ID243 P2 070 Bit 1 Even when the motor is stopped it still moves slightly forward and backward When you set ID108 P0 049 to 1 the encoder contin...

Page 401: ...e controller can access the values of ID109 P0 050 ID111 P0 052 ID109 P0 050 shows the status of the absolute encoder When absolute position lost or absolute position overflow is shown this is an indication that the absolute position is invalid You must redo the homing procedure and reinitialize the absolute coordinates ...

Page 402: ...402 Rockwell Automation Publication 2198 UM004A EN P October 2019 Chapter 14 Absolute Position Recovery Notes ...

Page 403: ...the parameters belong are listed in the Additional Groups column of that spreadsheet and are identified in the table Topic Page Organization of Parameters 403 Description of Digital Input Functions 405 Description of Digital Output Functions 410 Description of SystemVariable Monitoring 417 Description of Parameter Monitoring 422 Use a MSG Instruction to Set Parameters 423 TIP When searching for a ...

Page 404: ...imal digit represented by D C B A high and U Z Y X low For example ID230 P2 047 is a 16 bit parameter that translates to one hexadecimal number with four digits This settings for this parameter are defined both by the actual value of the X hexadecimal digit and by the values of the individual bits in the Y and Z digits 9 Motion_1 19 Current Loop 10 Motion_2 20 Tuning 21 Speed Setting 22 Event Sett...

Page 405: ...its 4 7 of the 16 bit parameter Function Description Bit 0 Notch 1 auto manual setting 0 Auto resonance suppression 1 Manually set the first set of resonance suppression Bit 1 Notch 2 auto manual setting 0 Auto resonance suppression 1 Manually set the second set of resonance suppression Bit 2 Notch 3 auto manual setting 0 Auto resonance suppression 1 Manually set the third set of resonance suppres...

Page 406: ...gnal to 0 to clear position pulse deviation applicable to PT mode When this DI is on the accumulative pulse deviation of the drive will be cleared to 0 Rising edge triggered level triggered PT PR I O Position Index Gear 0x05 ZCLAMP Zero Speed Clamp When the speed is slower than the setting of zero speed ID145 P1 038 ZeroSpeedWindow motor stops operating when this DI is on See ZCLAMP Function on pa...

Page 407: ...igital Input DI Trigger on page 294 for more information Level triggered PR 0x1A POS3 Position Command Internal Position Command Selection 1 99 Bit 3 See section Digital Input DI Trigger on page 294 for more information Level triggered PR 0x1B POS4 Position Command Internal Position Command Selection 1 99 Bit 4 See section Digital Input DI Trigger on page 294 for more information Level triggered P...

Page 408: ...al is on See Initializing Coordinates with Digital Input and Digital Output Signals on page 394 for additional information Rising and falling edge triggered All 0x14 SPD0 Internal Speed Command Selection 1 4 Bit 0 See Selection of Speed Command on page 210for more information Level triggered S T I O Torque for speed limit function 0x15 SPD1 Internal Speed Command Selection 1 4 Bit 1 See Selection ...

Page 409: ...s DI is on it is in PR mode Level triggered Dual Mode 0x35 ALGN E Cam Alignment WhentheE CamalignmentfunctionisenabledID248 P2 076 ECamControlConfigurationbit0 1and bit1 1 it will execute an alignment correction after this DI is on Rising edge triggered PR I O Position Index 0x36 CAM E Cam Engaging Control Refer to the setting of ID376 P5 088 U Z value ECamControl See E Cam on page 333 Rising and ...

Page 410: ...is used to set the emergency stop of deceleration time The setting of deceleration time is the same as ID236 P5 003 AutoProtectionDecelTime If this DI is triggered A 35F occurs and the motor will start decelerating When the speed reaches 0 A 3CF occurs and the servo is off Reset the fault to switch the drive to the servo on state Rising edge triggered PT PR T S Table 123 Digital Inputs Continued S...

Page 411: ...this DO is off after homing is completed this DO is on Level triggered PR 0x0D ABSW AbsoluteType System Error When there are faults regarding the absolute encoder this DO is on Level triggered All 0x0E IDXD Definition of Index Coordinates Indexing coordinate is defined When homing is completed indexing coordinate is defined as well PR 0x10 OLW EarlyWarning for Overload This DO is on when the overl...

Page 412: ...this DO is off after homing is completed this DO is on Level triggered PR 0x0D ABSW AbsoluteType System Error When there are faults regarding the absolute encoder this DO is on Level triggered All 0x0E IDXD Definition of Index Coordinates Indexing coordinate is defined When homing is completed indexing coordinate is defined as well PR 0x10 OLW EarlyWarning for Overload This DO is on when the overl...

Page 413: ..._OK Speed Reached Output Motor speed reaches target speed In speed mode when the deviation between the speed feedback and the command is smaller than the setting value of ID154 P1 047 SpeedWindow this DO is on Level triggered S Sz I O Speed 0x1A CAM_ AREA2 E Cam area 2 When the master axis position angle is between ID249 P2 078 and ID250 P2 079 this DO is on Level triggered PR 0x2C Zon_1 Zone Acti...

Page 414: ...places the DO2 assigned by ID204 P2 019 DO2Configuration WhentheDI ABSEsignalison theDO ABSDsignaltriggeredbyDO3 will replace the DO3 assigned by ID205 P2 020 DO3Configuration When the DO ABSR signal is off it indicates the servo drive can receive request issued by the DI ABSQ signal when the DO ABSR signal is on itindicatesafterreceivingtherequest thedatahasbeenpreparedandtheABSDsignaldataisvalid...

Page 415: ...C_OK Digital Output servo procedure completed ID155 P1 048 ToSpeedAction controls the operation of the digital output DO MC_OK X DO output hold option 0 Output status will not hold 1 Output status will hold Y Position deviation fault A 380 option 0 A 380 not functioning 1 A 380 functioning Diagram Description 1 Command triggered New PR command is effective Command 3 starts to output and clear sign...

Page 416: ...l 4 status 7 Can only select one of the signal 5 or signal 6 to output and it is specified by ID155 P1 048 X ToSpeedAction 8 Position deviation When number 7 happens if signal 4 or 5 is off it means the position is deviated and A 380 Position deviation fault of DO MC_OK can be triggered This fault may be set via ID155 P1 048 Y ToSpeedAction DO Zon_1 Digital Output system variable in range When the...

Page 417: ...017 P0 021 to set the code and monitor the system variable Each system variable is stored in the 32 bit format long integer of the drive There are two ways to monitor the system variables You can monitor via the panel display or you can monitor via the system variable monitoring parameters Panel Display When the panel is in Real Time Data Display mode press the UP DOWN keys to select the variable ...

Page 418: ...e SystemVariable Monitor 3Value The value to be monitored can be set by P0 019 Set ID102 P0 002 to 25 to display the value of this parameter on the panel display ID666 P0 012 SystemVariableMonitor4Value SystemVariable Monitor 4Value The value to be monitored can be set by ID670 P0 020 Set ID102 P0 002 to 26 to display the value of this parameter on the panel display ID667 P0 013 SystemVariableMoni...

Page 419: ...and and feedback position count 006 06h Pulse command frequency B DEC Frequency of the pulse command received by the drive Applicable to PT PR and I O Gear modes Kpps 007 07h Speed feedback B DEC Current motor speed This is the speed after applying the low pass filter which makes it more stable 0 1 rpm 008 08h Speed command analog B DEC Speed command from the analog channel 0 01Volt 009 09h Speed ...

Page 420: ...viation between the main encoder and auxiliary encoder PUU 035 23h Indexing coordinate command DEC Current command forthe indexing coordinates PUU 037 25h Compare data of COMPARE DEC The actual Compare data is the Compare data plus a specified value CMP_DATA DATA_ARRAY P1 023 P1 024 PUU 039 27h DI status integrated DEC Integrated DI status of the drive Each bit corresponds to one DI channel Source...

Page 421: ...e in PR mode E Cam and register Speed command PUU 072 48h Speed command analog DEC Speed command from the analog channel 0 1 rpm 081 51h SynchronousCapture axis Incremental pulse input DEC When the synchronous Capture axis is enabled the actual Mark distance can be measured by the received pulse number between two captures PUU 084 54h SynchronousCapture axis Pulse number of synchronous deviation D...

Page 422: ... P0 026 ParameterMonitor2Value Parameter Monitor 2Value ID61 P0 036 can be used to specify the mapping parameter instance ID number The content of the parameterthatisspecifiedbyID61 P0 036 isshownin ID56 P0 026 ID57 P0 027 ParameterMonitor3Value Parameter Monitor 3Value ID62 P0 037 can be used to specify the mapping parameter instance ID number The content of the parameterthatisspecifiedbyID62 P0 ...

Page 423: ...25 is equal to ID4 PM 029 Use a MSG Instruction to Set Parameters Some parameters can be set by using the Logix Designer Application Alternately you can use a MSG instruction to set parameters by following these steps 1 Create a Parameter Write MSG instruction in the ladder logic program 2 Use the ID of the parameter for the instance 3 Select or create a Source Element and specify the length of it...

Page 424: ...tion Publication 2198 UM004A EN P October 2019 Chapter 15 Programming via Drive Parameters For parameter descriptions and data see the Knowledgebase article 1090034 Kinetix 5100 Servo Drive Parameter Data and Fault Codes ...

Page 425: ... the drive measure the DC bus voltagetoverifyithasreachedasafelevelorwaitthefulltimeintervallistedon the drive warning label When the DC bus voltage is above 50V DC the charge LEDlightonthedrivemustbeon Failuretoobservethisprecautioncouldresult in severe bodily injury or loss of life Do not attempt to defeat or override the drive fault circuits You must determine the cause of a fault and correct i...

Page 426: ...een Flashing red Major recoverable fault or Minor recoverable fault If the device has detected a major or minor recoverable fault the module status indicator shall be flashing red NOTE An incorrect or inconsistent configuration could be considered a major recoverable fault Steady red Major unrecoverable fault If the device has detected a major unrecoverable fault the module status indicator shall ...

Page 427: ...e Knowledgebase article 1090034 Kinetix 5100 Servo Drive Parameter Data and Fault Codes Drive Fault Code Display The drive display panel indicates a fault or warning on the display For more information on faults and warnings see Clear Faults on page 431 Monitoring Status in KNX5100C Software In KNX5100C software you can monitor the status of the servo drive To monitor the servo drive perform the f...

Page 428: ...ems and their setting values are shown On the Select Monitoring Items tab you can select what items to monitor 2 Click Save Changes if any changes are made which are shown subsequently on the Monitoring Items tab IMPORTANT Click Run to run the Monitoring Status function If you do the same buttontogglestoStop whichyouthenclickwhenyouwanttostopthe monitoring status ...

Page 429: ...ny faults perform the following steps 1 In the Function List of the KNX5100C software click Fault Information On the Fault Information tab the most current fault is shown with detailed information including possible causes and subsequent corrective actions 2 Click either available button for the following reasons Click Show Faults to refresh the current fault information Click Fault Reset to reset...

Page 430: ... Fault and Status Information in Studio 5000 Application Major faults and minor faults warnings are shown on the Module Info tab in the Studio 5000 Logix Designer application To view faults the Studio 5000 Logix Designer application perform the following steps 1 Under the hierarchy click Module Info Any fault is shown in the Status field 2 If the fault is recoverable click Reset Module to clear th...

Page 431: ...Click Reset Module in the Studio 5000 Logix Designer software For more information see Fault and Status Information in Studio 5000 Application on page 430 By using the DI ARST signal By clicking Fault Reset in the Fault Information dialog of the KNX5100C software see Fault Information in the KNX5100C Software on page 429 Set ID101 P0 001 FltWarnCode to 0 By using the raC_Dvc_K5100_MAFR add on inst...

Page 432: ...celeration rate Check motor size versus application need Review servo system sizing Acceleration limit is incorrect Verify limit settings and correct them as necessary Velocity limits are incorrect Verify limit settings and correct them as necessary The motor is operating in the field weakening range of operation Reduce the commanded acceleration or deceleration Motor does not respond to a command...

Page 433: ...The duty cycle is excessive Change the command profile to reduce acceleration deceleration or increase time The rotor is partially demagnetized causing excessive motor current Return the motor for repair Abnormal noise Motor tuning limits are set too high RunTune by using KNX5100C software or the LED panel See Tuning Process on page 169 Loose parts are present in the motor Remove the loose parts R...

Page 434: ...434 Rockwell Automation Publication 2198 UM004A EN P October 2019 Chapter 16 Troubleshoot the Kinetix 5100 Drive System Notes ...

Page 435: ...edtothedrivechassis andfiltercase ForAClinefilterspecifications see KinetixServoDrivesSpecificationsTechnicalData publication KNX TD003 7 2198 TBIO I O terminal block is required to make connections Configurea digital output OUTPUT1 OUTPUT6 as BrakeControl in KNX5100C software For digital output specifications see Digital Outputs on page 51 8 Contactor coil M1 requires integrated surge suppressors...

Page 436: ... 18 Motor brake connector pins are labeled plus and minus or F and G respectively Motor power connector pins are labeled U V W and GND or A B C and D respectively Table 134 Interconnect Diagram Notes Continued Note Information L1 U V W L2 L3 DC ISH ESH L1C L2C P1 P2 DC OUTPUT1 SRDY OUTPUT1 SRDY 7 6 Single phase AC Input 120V or 230V rms AC 50 60 Hz Notes 1 3 5 Bonded Cabinet Ground Bus PE mounting...

Page 437: ...und Bus Mains AC Input Power Connector Circuit Protection Motor Power Connector 2198 E1004 ERS 2198 E1007 ERS 2198 E1015 ERS 2198 E1020 ERS and 2198 E2030 ERS Kinetix 5100 Servo Drives Indicates User Supplied Component See table on page 435 for note information AC Line Filter Note 6 Three phase Motor Power Connections Note15 Ground Plate Note 13 M1 Contactor Notes 8 10 PE mounting screw Note 14 No...

Page 438: ...et Ground Bus Mains AC Input Power Connector Circuit Protection Motor Power Connector 2198 E2055 ERS 2198 E2075 ERS and 2198 E2150 ERS Kinetix 5100 Servo Drives Indicates User Supplied Component See table on page 435 for note information AC Line Filter Note 6 Three phase Motor Power Connections Note15 Ground Plate Note 13 M1 Contactor Notes 8 10 PE mounting screw Note 14 Note 2 External Passive Sh...

Page 439: ...ital inputs are configured with default settings and two are disabled All the inputs are configurable with KNX5100C software See Digital Inputs Default Functions on page 48 for the default digital input assignments for Kinetix 5100 drives In this example Servo On is assigned to digital input 1 as a sinking type input Figure 208 Digital Input Example 24V DC Supply Servo On INPUT1 DCOM 24V DC 24V CO...

Page 440: ...d are configurable with KNX5100C software An example brake circuit contains the following components Digital output 40 mA max continuous current Relay 700 HK36Z24 with DIN mount 700 HN121 or equivalent Choose from these suppression devices 1N4004 diodes or equivalent Bulletin 199 MSMV1 MOV or equivalent See Digital Outputs Default Functions on page 51 for the default digital output assignments for...

Page 441: ...tWiring Example IMPORTANT When wiring an external shunt to the 2198 E1004 ERS 2198 E1007 ERS 2198 E1015 ERS 2198 E1020 ERS and 2198 E2030 ERS drives you must remove the jumper between DC and ISH Set the ID157 P1 052 ShuntResistorValue and ID158 P1 053 ShuntResistorPower accordingly to make the external shunt resistor take effect DC ESH ISH 2198 E1xxx ERS and 2198 E2030 ERS Kinetix 5100 Drives 2198...

Page 442: ...PUT6 OUTPUT6 Motor Brake Motor Power Connector 2198 Exxxx ERS Kinetix 5100 Drives TLP A046 xxx TLP A235 xxx Servo Motors with High Resolution Feedback Motor Feedback MFB Connector Three phase Motor Power Motor Feedback Customer Supplied 24V DC 2198 K51CK D15M Connector Kit See connector kit illustration below for proper ground technique Use the 2198 K51CK D15M feedback connector kit when building ...

Page 443: ...back Thermostat MPL A15xx MPL A45xx Servo Motors with Incremental Feedback 2198 K51CK D15M Connector Kit 2198 K51CK D15M Connector Kit See connector kit illustration lower left for proper ground technique See connector kit illustration lower left for proper ground technique 2198 K51CK D15M Feedback Connector Kit GroundTechnique for Feedback Cable Shield 360 exposed shield that is secured under cla...

Page 444: ...Diagram L1 L2 L3 W V U ESH DC DC DC DC ISH Only 2198 E1004 ERS 2198 E1007 ERS 2198 E1015 ERS 2198 E1020 ERS and 2198 E2030 ERS drives have internal shunt and ISH terminal Chassis Shunt DC bus Connector Shunt Transistor Internal Shunt Resistor Inverter Section Three phase Motor Output Only 2198 E1004 ERS 2198 E1007 ERS 2198 E1015 ERS and 2198 E1020 ERS drives support both single phase and three pha...

Page 445: ...re by using ControlFLASH software you configure your Logix 5000 controller communication select the drive to upgrade and upgrade the firmware Topic Page BeforeYou Begin 446 Upgrade the Firmware 450 Verify the Firmware Upgrade 454 IMPORTANT To update the drive firmware in IO mode you must first inhibit the connection To update the drive firmware in all modes you must also disable servo off the driv...

Page 446: ...specific seethe ControlFLASHFirmwareUpgrade SoftwareUserManual publication 1756 UM105 14 01 00 or later Catalog numbers of the targeted Kinetix 5100 drive that you want to upgrade Network path to the targeted Kinetix 5100 drive that you want to upgrade IMPORTANT IMPORTANT Control power must be present at L1 110 230V AC and L2 110 230V AC prior to upgrading your target module IMPORTANT The state on...

Page 447: ...roller has already been configured For more controller information see Additional Resources on page 7 Follow these steps to configure Logix 5000 controller communication 1 Open your RSLinx Classic software 2 From the Communications menu choose Configure Drivers The Configure Drivers dialog box appears 3 From the Available Driver Types pull down menu choose EtherNet IP Driver 4 Click Add New The Ad...

Page 448: ... EN P October 2019 Appendix B Upgrade the Drive Firmware 7 Select the Ethernet connection of your workstation address 8 Click OK The new EtherNet IP driver appears under Configured Drivers 9 Click Close 10 Minimize the RSLinx application dialog box ...

Page 449: ...s IO mode you must inhibit the connection before performing the firmware upgrade Follow these steps to inhibit the connection 1 Open your Logix Designer application 2 Right click the 2198 Exxxx ERS drive and choose Properties The Module Properties dialog box appears 3 Click the Connection tab 4 Check Inhibit Module 5 Click OK 6 Save your file and download the program to the controller ...

Page 450: ...irmware Follow these steps to select the drive module to upgrade 1 In the Logix Designer application from the Tools menu choose ControlFLASH The Welcome to ControlFLASH dialog box appears 2 Click Next The Catalog Number dialog box appears 3 Select your drive module In this example the 2198 E1004 ERS drive is selected ...

Page 451: ... Firmware Appendix B 4 Click Next The Select Device to Update dialog box appears 5 Expand your Ethernet node Logix backplane and EtherNet IP network module 6 Select the servo drive to upgrade 7 Click OK The Firmware Revision dialog box appears 8 Select the firmware revision to upgrade ...

Page 452: ...ion 2198 UM004A EN P October 2019 Appendix B Upgrade the Drive Firmware 9 Click Next The Summary dialog box appears 10 Confirm the drive catalog number and firmware revision 11 Click Finish This ControlFLASH warning dialog box appears ...

Page 453: ...as described below 15 Click OK IMPORTANT Do not cycle power to the drive during this process or the firmware upgrade does not complete successfully Upgrading Status If Success Update complete appears in a GREEN Status dialog box then go to step 15 Failure Update failure appears in a RED Status dialog box then see the ControlFLASH Firmware Upgrade Software User Manual publication 1756 UM105 for tro...

Page 454: ...s menu choose RSWho 3 Expand your Ethernet node Logix backplane and EtherNet IP network module 4 Right click the drive module and choose Device Properties The Device Properties dialog box appears 5 Verify the new firmware revision level 6 Click Close IMPORTANT If you checked Inhibit Module on the Connection tab in Module Properties you must clear the Inhibit Module check box before resuming normal...

Page 455: ...tion Axis Servo Off Use the Motion Servo Off raC_Dvc_K5100_MSF instruction to deactivate the drive output for the specified axis and to deactivate the axis servo loop raC_Dvc_K5100_MAJ Motion Axis Jog Use the Motion Axis Jog raC_Dvc_K5100_MAJ instruction to move an axis at a constant speed until you tell it to stop raC_Dvc_K5100_MAT Motion AxisTorque Use the Motion AxisTorque raC_Dvc_K5100_MAT ins...

Page 456: ...pplication 1 From the File menu click Import Component Add On Instruction to import Add On Instruction Files Or click Import Component Data Type to import Data Types raC_Dvc_K5100_MAS Motion Axis Stop Use the Motion Axis Stop raC_Dvc_K5100_MAS instruction to stop a specific motion process on an axis or to stop the axis completely raC_Dvc_K5100_MAFR Motion Axis Fault Reset Use the Motion Axis Fault...

Page 457: ...d On Instruction file Data Types Your Add On Instruction files appear in the Controller Organizer under the Add On Instructions folder along with the Add On Defined Data Types which appear in the Controller Organizer under Data Types Add On Defined folder Your Data Types appear in the Controller Organizer under Data Types User Defined folder There are ten Add On Instruction files and three user de...

Page 458: ...he Add On Instruction Add a New Program 1 Right click MainTask select Add and click New Program The New Program dialog box appears 2 Enter a name for example K5100Program for your new program and click OK The new K5100Program that you created appears in the controller organizer under MainTask Add a New Routine 1 Right click the new K5100Program select Add and click New Routine ...

Page 459: ...s in the Controller Organizer under the K5100Program Add Add On Instruction to your Routine Double click the K5100Routine and add the Add On Instructions into your new routine An error shows in the rung before you configure the Add On Instruction arguments Add On Instruction Configuration Follow these steps to configure your Add On Instruction Create the Add On Instruction Tag 1 In the Controller ...

Page 460: ...On Instruction for example raC_Dvc_K5100_MSO 4 Click OK The Add On Instruction tag that you created with the module defined data types populates in the Controller Tags group Create the Ref_AxisTag To use the Kinetix 5100 drive Add On Instructions you must create a tag Ref_Axis whose type is raC_UDT_Dvc_K5100_Assm Follow these steps to create a Ref_Axis tag 1 In the Controller Organizer right click...

Page 461: ...k Browse and choose an Add On Instruction for example raC_UDT_Dvc_K5100_Assm 4 Click OK The Add On Instruction tag that you created with the module defined data types populates in the Controller Tags group Configure the Add On Instruction 1 Double click the entry of raC_Dvc_K5100_MSO argument and choose the MSO_1 Tag created earlier IMPORTANT All Add On Instructions use the K5100_Axis as the opera...

Page 462: ... 5100 drive before any K5100 RA motion Add On Instruction is used you must use the CPS function to copy all input assembly data of the Kinetix 5100 drive to the Input element of K5100_Axis After all of the K5100 RA motion Add On Instructions are used you must use the CPS function to copy the Output element of K5100_Axis to the output assembly data of Kinetix 5100 drive This figure shows an example...

Page 463: ...disabled _ERR_DriveDisable raC_Dvc_K5100_MAM raC_Dvc_K5100_MAH raC_Dvc_K5100_MAS raC_Dvc_K5100_MAI raC_Dvc_K5100_MAG raC_Dvc_K5100_MAT raC_Dvc_K5100_MAJ 106 Another raC_Dvc_K5100_MAFR message is executing _ERR_AnotherMAFRExecuting raC_Dvc_K5100_MAFR 107 raC_Dvc_K5100_MAS is executing _ERR_MASIsExecuting raC_Dvc_K5100_MAS raC_Dvc_K5100_MAG raC_Dvc_K5100_MAH raC_Dvc_K5100_MAI raC_Dvc_K5100_MAJ raC_D...

Page 464: ...otCompleted raC_Dvc_K5100_MAM raC_Dvc_K5100_MAH raC_Dvc_K5100_MAS raC_Dvc_K5100_MAI raC_Dvc_K5100_MAG raC_Dvc_K5100_MAT raC_Dvc_K5100_MAJ 129 Motor is not connected _ERR_MotorNotConnected raC_Dvc_K5100_MSO raC_Dvc_K5100_MSF raC_Dvc_K5100_MAS raC_Dvc_K5100_MAJ raC_Dvc_K5100_MAT raC_Dvc_K5100_MAI raC_Dvc_K5100_MAM raC_Dvc_K5100_MAH raC_Dvc_K5100_MAG Table 137 Kinetix 5100 Drive Add On Instruction Er...

Page 465: ...F is executing 129 Motor not connected See Error Codes on page 462 for details raC_Dvc_K5100_MSF Use the Motion Servo Off raC_Dvc_K5100_MSF instruction to deactivate the drive output for the specified axis and to deactivate the axis servo loop Figure 215 MSF Ladder Diagram IMPORTANT Theinstructionexecutioncantakemultiplescanstoexecutebecauseitrequires multiple course updates to complete the reques...

Page 466: ...K5100_Assm Tag Name of the axis to perform operation on Mnemonic Description Sts_EN Enable This bit is set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false Sts_DN Done Thisbitissetwhentheaxisservoactionhasbeensuccessfullydisabledandthedriveenablebit have been cleared Sts_ER Error This bit is set to indicate that...

Page 467: ...te fault action is taken the raC_Dvc_K5100_MAFR instruction is used to clear some motion faults for an axis Other faults cannot be cleared until you power cycle the drive In this transitional instruction the relay ladder toggle the Rung condition in from cleared to set each time that the instruction executes Operand Type Format Description Instance raC_Dvc_K5100_MAFR Tag Instance of raC_Dvc_K5100_...

Page 468: ...n is true The Sts_EN bit is cleared to false if the Sts_DN or Sts_ER bit is true Postscan Operand Type Format Description Instance raC_Dvc_K5100_MAS Tag Instance of raC_Dvc_K5100_MAS Ref_Axis raC_UDT_Dvc_K5100_Assm Tag Name of the axis to perform operation on Set_DecelReference DINT Tag The Deceleration Rate in 0 1 RPM s for rotary motor Range 458 30 000 000 Mnemonic Description Sts_EN Enable This...

Page 469: ...faulted 103 MSF is executing 105 Drive is disabled 107 Another raC_Dvc_K5100_MAS message is executing 113 Decel_Rate is out of range 127 Previous motion has not completed 129 Motor is not connected to drive See Error Codes on page 462 for details raC_Dvc_K5100_MAJ Use the Motion Axis Jog MAJ instruction to move an axis at a constant speed without regard to position Figure 218 MAJ Ladder Diagram Co...

Page 470: ... set until the process is complete and the rung goes false Sts_DN Done This bit is set when the jog command is successfully initiated Sts_ER Error This bit is set to indicate that the instruction detected an error Sts_IP In Process This bit is set when the axis is jogging Sts_PC Process Complete This bit is set when the axis has reached the target speed Guidelines Details In the ladder diagram tog...

Page 471: ...raC_Dvc_K5100_MAS is executing 108 Other RA motion Add On Instruction is sending the command 111 Input speed is out of range 112 Accel_rate is out of range 113 Decel_rate is out of range 127 Previous motion has not completed 129 Motor is not connected to drive See Error Codes on page 462 for details raC_Dvc_K5100_MAM Use the Motion Axis Move raC_Dvc_K5100_MAM instruction to move an axis to a speci...

Page 472: ...ning 01 relative positioning 10 incremental positioning 11 high speed position capturing Cfg_CapturedPositionSelect BOOL Tag This operand is effective only when the Cfg_TravelMode 0b0010 and Cfg_NonCyclicMoveType 0b11 0 DI9 1 DI10 Cfg_CyclicMoveType USINT Tag This operand is effective only when the Cfg_TravelMode 0b1010 00 Rotary Positive 01 Rotary Negative 10 Rotary shortest path Cfg_PositionComm...

Page 473: ...ction is sending the command 112 AccelReference is out of range 113 DecelReference is out of range 111 SpeedReference is out of range 117 NonCyclicMoveType is out of range 118 CyclicMoveType is out of range 119 TravelMode is out of range 126 Homing not completed 127 Previous motion has not completed 129 Motor is not connected to drive See Error Codes on page 462 for details Condition State Action ...

Page 474: ...ng Operation Cfg_Selection is set to 2 0b0010 Four types of move operations Cfg_MoveType are executed as shown Positioning Operation Cfg_Selection is set to 10 0b1010 Three types of move operations Cfg_MoveMethod are executed as shown Define Indexing Coordinate Rotate Positive or Rotate Negative or Rotate Shortest Path ...

Page 475: ...n Command with Overlap option Position Command with Interrupt option raC_Dvc_K5100_MAI Use the Motion Axis Index raC_Dvc_K5100_MAI instruction to execute motion control by internal register PR in Kinetix 5100 drives The 99 built in command registers selects the PR command source Figure 220 MAI Ladder Diagram ...

Page 476: ...100_MAI Tag Instance of raC_Dvc_K5100_MAI Ref_Axis raC_UDT_Dvc_K5100_Assm Tag Name of the axis to perform operation on Cfg_StartingIndex USINT Tag The first index the drive SHOULD execute Range 1 99 Sts_ActiveIndex USINT Tag The active index the drive executing Mnemonic Description Sts_EN Enable Thisbitissetwhentherungmakesafalse to truetransitionandremainssetuntiltheprocessis completed and the ru...

Page 477: ...and deceleration of the slave axis Execution Operand Type Format Description Instance raC_Dvc_K5100_MAG Tag Instance of raC_Dvc_K5100_MAG Ref_Axis raC_UDT_Dvc_K5100_Assm Tag Name of the axis to perform operation on Mnemonic Description Sts_EN Enable This bit is set when the rung makes a false to true transition and remains set until the process is completed and the rung goes false Sts_DN Done This...

Page 478: ...ulted 103 MSF is executing 105 Drive is disabled 107 raC_Dvc_K5100_MAS is executing 108 Other RA motion Add On Instruction is sending the command 127 Previous motion has not completed 129 Motor is not connected to drive See Error Codes on page 462 for details raC_Dvc_K5100_MAH Use the Motion Axis Home raC_Dvc_K5100_MAH instruction to home an axis Figure 222 MAH Ladder Diagram ...

Page 479: ...en encounter limit 8 Homing in forward direction ORG OFF to ON as homing origin Go forward to Z pulse Shows error when encounter limit 9 Homing in forward direction ORG OFF to ON as homingorigin Go forward to Z pulse Reverse direction when encounter limit 10 Homing in forward direction ORG OFF to ON as homing origin Do not look for Z pulse Shows error when encounter limit 11 Homing in forward dire...

Page 480: ...G ON to OFF as homing origin Go forward to Z pulse Reverse direction when encounter limit 32 Homing in reverse direction ORG ON to OFF as homing origin Do not look for Z pulse Shows error when encounter limit 33 Homing in reverse direction ORG ON to OFF as homing origin Do not look for Z pulse Reverse direction when encounter limit 34 Define current position as the origin 35 Look for the collision...

Page 481: ... of range 113 DecelReference is out of range 122 HomingMethod is out of range 127 Previous motion has not completed 129 Motor is not connected to drive See Error Codes on page 462 for details raC_Dvc_K5100_MAT Use the Motion Axis Torque raC_Dvc_K5100_MAT instruction to move an axis at a constant torque without regard to position or speed Figure 223 MAT Ladder Diagram Condition State Action Taken P...

Page 482: ...lse Sts_DN Done The torque command is successfully initiated Sts_ER Error This bit is set to indicate that the instruction detected an error Sts_IP In Progress The axis is outputting the torque Sts_PC Process Completed The output torque has reached the torque Table 138 Programming Guidelines Guidelines Details In ladder diagram toggle the rung condition each time you wantto execute the instruction...

Page 483: ... 5100 drive is faulted 103 raC_Dvc_K5100_MSF is executing 105 Drive is disabled 107 raC_Dvc_K5100_MAS is executing 108 Other RA motion Add On Instruction is sending the command 116 TorqueReference is out of range 125 TorqueRampTime is out of range 127 Previous motion has not completed 129 Motor is not connected to drive See Error Codes on page 462 for details ...

Page 484: ...484 Rockwell Automation Publication 2198 UM004A EN P October 2019 Appendix C Use Add On Instructions Notes ...

Page 485: ...n it may cause the bigger position error offset between the motor and the load if only the encoder of the motor end is used even if the motor has high precision and fast response time The full closed loop control function acts to reduce the position error offset and improve the positioning accuracy Figure 224 Wiring Diagram Topic Page Full Closed loop Control 486 IMPORTANT This function applies to...

Page 486: ... encoder ID172 P1 073 MotorAndAuxFeedbackErrorLimit When commissioning set ID172 P1 073 with a smaller value to avoid the motor runaway due to auxiliary encoder disconnection or polarity configuration issue Gear Ratio Error Counter Full closed loop function switch 0 reset error when switching Position Loop Gain Speed Loop Speed Evaluator Motor Encoder Coupling Mechanism Motor Feedback Count Low pa...

Page 487: ...tch between full closed loop control and half closed loop control ID676 P1 084 FullClosedLoopPositionErrorResetConfiguration 8 Configure the error auto reset condition ID677 P1 085 FullClosedLoopPositionErrorAutoResetThreshold 9 Configure encoder output parameters if necessary ID119 P1 003 Y ID173 P1 074 Y ID153 P1 046 ID175 P1 076 ID179 P1 097 10 Start full closed loop control function ID173 P1 0...

Page 488: ...488 Rockwell Automation Publication 2198 UM004A EN P October 2019 Appendix D Full Closed Loop Control Notes ...

Page 489: ... use two scope modes 8K and 16K to measure and monitor many signals quickly without oscilloscope equipment Get Started To open the Scope dialog box select Scope from the Function list Topic Page Get Started 489 Scope Functions 490 Quick Setup of Communication Channels 490 Select Communication Channels 491 Enable Stop Condition 494 FFT Display and Show RMSValue 495 Fine Tune the Scope 496 Set Prefe...

Page 490: ...on the current screen Screen second switch 20 120 It is used to select the data buffer X axis that the screen can display one time When selecting 20 it indicates that the screen can display 20 seconds of data buffer for one time Run start to execute the Scope Quick tool select the Quick Setup from the Quick tool template Add add the current channel setting to Quick tool template Update update the ...

Page 491: ...to a 32 bit data and CH3 is disabled By the same logic the data of CH2 and CH4 is combined into a 32 bit data channel and CH4 is disabled When the checkbox is not checked it indicates it is 16 bit data You can enable each channel Color Selection 3 You can choose the channel display color by preference When you click a color selection dialog box appears and you can choose your favorite color Data 4...

Page 492: ...in KNX5100C Software General From the pull down menu choose General The General setting lets you choose what to monitor Parameters From the pull down menu choose Parameters For parameter descriptions and data see the Knowledgebase article 1090034 Kinetix 5100 Servo Drive Parameter Data and Fault Codes ...

Page 493: ... KNX5100C Software Appendix E User Array From the pull down menu choose User Array Set the array between 0 63 for the array you want to monitor CH 5 8 This function is only available for 8K baud rate enabled You can observe all eight channels of data Channels 5 8 function just as Channels 1 4 ...

Page 494: ...on checkbox 2 Select the channel 3 Select the logical condition and add a value that determines the threshold for when the monitoring operation is to stop and click Set 4 Add a value for Continue after condition satisfied This option is used to set the time lasting time for which the digital scope collects data after the stop conditions are met For example select CH2 select and set the value to 10...

Page 495: ...to display the frequency spectrum of the waveforms From the Condition tab you can select FFT Display and Show RMS Value When you check FFT Display use the zoom in zoom out tools or use the mouse to drag a rectangle area and drop it on the screen to display the frequency spectrum of the waveforms When you check Show RMS Value the RMS value of each channel is also displayed ...

Page 496: ...trum of the waveforms The title bar of FFT Display window such as FFT 32768 Pts indicates the data number of the selected area The larger the number the better the resolution DPI We recommended a value of at least 512 or higher The image of the FFT Display screen can also be saved as a picture bmp file Place the cursor on the FFT Display screen right click the mouse and choose Save as picture bmp ...

Page 497: ...hannel Specify Display Range The start and end values are the start and end points of the data To convert these values into time multiply by the time unit For example Time unit is 0 125 ms Start point is 100 therefore 100 0 125 12 5 ms Endpoint is 2000 therefore 2000 0 125 250 ms Set Preferences Keep current Max Min while running The scope remains the current Max Min value after the user pressing ...

Page 498: ...Save Options When you right click the mouse on the screen the following popup menu appears Save as a picture bmp Save the signal data as a picture bmp file Save Scope Data as Text File txt Save all signal data as a text file txt file Save Data of Current Display as Text txt Save the signal data on the current display as a text file txt file ...

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Page 500: ...chures and Technical Data http www rockwellautomation com global literature library overview page Product Compatibility and Download Center PCDC Get help determining how products interact check features and capabilities and find associated firmware http www rockwellautomation com global support pcdc page Rockwell Otomasyon Ticaret A Ş Kar Plaza İş Merkezi E Blok Kat 6 34752 İçerenköy İstanbul Tel ...

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