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272

Rockwell Automation Publication 2198-UM002E-EN-P - February 2018

Chapter 9

Kinetix 5700 Safe Torque-off Function

Figure 121 - Safety State Indications After Controller Transitions to Program Mode 
(MDC executing)

IMPORTANT

The persistent warning message text Safe Torque Off bypassed appears 
when a motion direct command is executed. 

The warning message persists even after the dialog is closed and 
reopened as long as the integrated safety drive is in STO Bypass mode.

The persistent warning message is removed only after the integrated 
safety drive's Safety State is restored to the Running state.

Summary of Contents for Kinetix 5700

Page 1: ...130 ERS3 2198 S160 ERS3 2198 D006 ERS3 2198 D012 ERS3 2198 D020 ERS3 2198 D032 ERS3 2198 D057 ERS3 2198 S086 ERS4 2198 S130 ERS4 2198 S160 ERS4 2198 D006 ERS4 2198 D012 ERS4 2198 D020 ERS4 2198 D032 E...

Page 2: ...nformation 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 T...

Page 3: ...n Configurations 24 Linear Topology 24 Ring Topology 25 Star Topology 26 Functional Safety Configurations 27 Hardwired Configuration 27 Integrated Safety Configurations 28 Safe Stop and Safe Monitor C...

Page 4: ...nector Pinout 71 Motor Power Brake and Feedback Connector Pinouts 71 Motor Feedback Connector Pinouts 72 Universal Feedback Connector Pinouts 73 Understand Control Signal Specifications 74 Digital Inp...

Page 5: ...gle Motor Cable Shield Clamp 115 Wiring Power Brake and Feedback Cables 117 Motor Power and Brake Cables 117 Motor Power and Brake Connections 118 Motor Power Brake Cable Series Change 118 Maximum Cab...

Page 6: ...es 183 Configure Induction motor Closed loop Control Axis Properties 187 Configure Feedback Properties 194 Configure Module Properties 194 Configure Axis Properties 196 Download the Program 199 Apply...

Page 7: ...uit 255 Safe Torque off Wiring Requirements 257 Safe Torque off Feature Bypass 258 Cascade the Safe Torque off Signal 259 Hardwired Safe Torque off Electrical Specifications 260 Integrated Safe Torque...

Page 8: ...323 System Sizing Application Example 324 AppendixD Motor Control Feature Support Frequency Control Methods 326 Basic Volts Hertz 327 Basic Volts Hertz for Fan Pump Applications 328 Sensorless Vector...

Page 9: ...ntion 358 Phase Loss Detection 359 Phase loss Detection Attributes 360 Phase loss Detection Configuration 360 Phase Loss Detection Current Example 361 Velocity Droop 362 Closed Loop Control 362 Freque...

Page 10: ...10 Rockwell Automation Publication 2198 UM002E EN P February 2018 Table of Contents Notes...

Page 11: ...ure with link to PCDC 147 Updated dialog boxes for changes due to Studio 5000 Logix Designer version 31 and drive firmware 9 001 Throughout Chapter 6 Added table to specify where to begin configuring...

Page 12: ...es Updated bullets for use of MDS instructions 353 Added Motion Drive Start MDS Instruction 353 Changed Torque Proving section title to Phase Loss Detection 359 Changed Extended Speed section title to...

Page 13: ...ential steps or hierarchical information Additional Resources These documents contain additional information concerning related products from Rockwell Automation IMPORTANT Throughoutthispublication wh...

Page 14: ...analyzer rockwellautomation com Comprehensive motion application sizing tool used for analysis optimization selection and validation of your Kinetix Motion Control system ProductCertifications website...

Page 15: ...installation requirements for Kinetix 5700 drive systems Topic Page About the Kinetix 5700 Servo Drive System 16 Drive Hardware and Input Power Configurations 18 Motor and Auxiliary Feedback Configur...

Page 16: ...APMOD DCBUS IO The extension module paired with a capacitor module is used to extend the DC bus voltage to another inverter cluster in the Kinetix 5700 drive system Regenerative Power Supply 8720MC RP...

Page 17: ...motors include LDC Series iron core 400V class linear motors Induction Motors N A Induction motors with open loop frequency control and closed loop control are supported Cables 2090 CSxM1DE xxAxxx Bu...

Page 18: ...XL Power Supply Input Allen Bradley MOD NET MOD NET MOD NET MOD NET 2 1 1 1 4 I O I O 6 5 10 2 1 2 1 2 1 1 I O A 6 5 10 1 I O B 6 5 10 1 I O A 6 1 I O B 6 5 10 5 10 UFB UFB A UFB B UFB A UFB B D D D...

Page 19: ...NC S1A SCA S2A SB S1B SCB S2B 1 9 8 16 1 9 8 16 DC SH MOD NET 2 1 1 4 I O MOD NET 2 1 1 4 I O MOD DC BUS D D MF MODULE STATUS Bulletin 2198 Shunt Module optional component Magnetic Contactor M1 Contr...

Page 20: ...BRK SB NC S1A SCA S2A SB NC NC NC 1 9 8 16 SB NC S1A SCA S2A SB S1B SCB S2B SB NC S1A SCA S2A SB S1B SCB S2B 1 9 8 16 1 9 8 16 REGENERATIVE POWER SUPPLY REGENERATIVE POWER SUPPLY 8720 8720 MC MC RST P...

Page 21: ...MF A MF B D D MOD NET MOD NET 2 1 2 1 1 I O A 6 5 10 1 I O B 6 5 10 1 I O A 6 1 I O B 6 5 10 5 10 UFB A UFB B UFB A UFB B D D D D D D MF A MF B MF A MF B D D MOD NET 2 1 1 I O A 6 1 I O B 6 5 10 5 10...

Page 22: ...T 1 2 3 4 5 6 7 8 9 10 MOD NET 2 1 1 4 I O 2 1 1 6 I O 5 10 iPS RDY MOD NET 1 2 3 4 5 6 7 8 9 10 SH DC 1606 XL Power Supply Input Allen Bradley Bulletin 2198 Shunt Module optional component Magnetic C...

Page 23: ...tary motors MP Series Bulletin MPAS MPAR MPAI linear actuators LDAT Series linear thrusters LDC Series linear motors Heidenhain EnDat high resolution absolute encoders RDD Series direct drive motors V...

Page 24: ...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 7 Kinetix 5700 Linear Communication Installation...

Page 25: ...odule Status Network Activity Network Status Point Bus Status System Power Field Power POINT I O Link 1 Activity Status Link 2 Activity Status MOD NET MOD NET MOD NET MOD NET 2 1 1 1 4 I O I O 6 5 10...

Page 26: ...1 1 4 I O I O 6 5 10 2 1 2 1 2 1 1 I O A 6 5 10 1 I O B 6 5 10 1 I O A 6 1 I O B 6 5 10 5 10 UFB UFB A UFB B UFB A UFB B D D D D D D MF A MF B MF A MF B D D MBRK MOD NET 2 1 1 I O A 6 1 I O B 6 5 10 5...

Page 27: ...B A UFB B D D D D D D MF A MF B MF A MF B D D MBRK SB NC S1A SCA S2A SB NC NC NC 1 9 8 16 SB NC S1A SCA S2A SB S1B SCB S2B SB NC S1A SCA S2A SB S1B SCB S2B 1 9 8 16 1 9 8 16 DC SH LNK1LNK2 NET OK Ethe...

Page 28: ...I O A 6 5 10 1 I O B 6 5 10 1 I O A 6 1 I O B 6 5 10 5 10 UFB UFB A UFB B UFB A UFB B D D D D D D MF A MF B MF A MF B D D MBRK SB NC S1A SCA S2A SB NC NC NC 1 8 SB NC S1A SCA S2A SB S1B SCB S2B SB NC...

Page 29: ...S1A SCA S2A SB S1B SCB S2B SB NC S1A SCA S2A SB S1B SCB S2B 1 9 8 16 1 9 8 16 DC SH 1585J M8CBJM x Ethernet shielded Cable Compact GuardLogix 5370 Controller Compact GuardLogix 5380 Safety Controller...

Page 30: ...D MF A MF B Controller based Instruction Example Compact GuardLogix 5380 or GuardLogix 5580 Safety Controller GuardLogix 5580 Safety Controller is shown Kinetix 5700 Servo Drive System with Integrated...

Page 31: ...rent max Rated Voltage Capacitance 2198 CAPMOD 2240 100 A 458 747V DC nom 2240 F 2198 CAPMOD DCBUS IO extension module 200 A N A Shared bus Connector Kits Cat No Drive Module Cat No Application Descri...

Page 32: ...er compatible Allen Bradley motors and actuators Use Bulletin 2198T power cables with iTRAK systems Combined motor power cable length for all axes on the same DC bus must not exceed 400 m 1312 ft Driv...

Page 33: ...onents Topic Page System Design Guidelines 34 Electrical Noise Reduction 40 ATTENTION Plan theinstallation ofyour system so thatyoucan performall cutting drilling tapping and welding with the system r...

Page 34: ...ection class IP20 EN 60529 Size the system enclosure so as not to exceed the maximum ambient temperature rating Consider heat dissipation specifications for all system components Combined motor power...

Page 35: ...the wiring diagram IMPORTANT When using an autotransformer make sure that the phase to neutral ground voltage does not exceed the input voltage ratings of the power supply IMPORTANT Use aform factoro...

Page 36: ...ionsrequiringCSAcertification fuses Bussmann catalognumber170M1760 must beaddedtotheDClinkbetweenthetwodriveclusters whencircuitbreakersareusedforbranchcircuit protection The DC bus fuses are not requ...

Page 37: ...e the minimum cabinet depth to house the Kinetix 5700 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 3...

Page 38: ...nce to route DC bus wiring into or away from the drive system Additional clearance left and right of the drive module is required when mounted adjacent to noise sensitive equipment or clean wire ways...

Page 39: ...CAPMOD 2240 module is shown Clearance above for wiring to DC bus studs and lug cover installation Clearance where cover and DC bus cabling attaches IMPORTANT Mount the drive module in an upright posi...

Page 40: ...nding Modules Bonding is the practice of connecting metal chassis assemblies frames shields and enclosures to reduce the effects of electromagnetic interference EMI Unless specified most paints are no...

Page 41: ...non conductive material anodized orpainted scrapethematerialaround the mounting hole Star Washer Nut Nut Flat Washer Mounting Bracket or Ground Bus Use a wire brush to remove paint from threads to max...

Page 42: ...his 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 brai...

Page 43: ...t 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 2 When the 2198 H2DCK fee...

Page 44: ...only no wiring connector DC SH shunt RC X CONT EN and CONT EN M1 contactor CED X 24V DC CP X Registration input greater than 30 m 98 4 ft IOD X X Registration input less than 30 m 98 4 ft X Ethernet s...

Page 45: ...as possible Good HF bonding to the panel is critical For painted panels refer to the examples on page 41 Segregate input and output wiring as far apart as possible Wire Cable Connector Zone Method Ve...

Page 46: ...O MOD NET 2 1 1 I O A 6 1 I O B 6 5 10 5 10 UFB A UFB B D D MF A MF B D D MOD NET 2 1 1 I O A 6 1 I O B 6 5 10 5 10 UFB A UFB B D D MF A MF B D D D MOD DC BUS C Dirty Wireway Clean Wireway Motor Cabl...

Page 47: ...FB B D D MF A MF B D D MOD NET 2 1 1 4 I O MOD NET 2 1 1 I O A 6 1 I O B 6 5 10 5 10 UFB A UFB B D D MF A MF B D D MOD NET 2 1 1 I O A 6 1 I O B 6 5 10 5 10 UFB A UFB B D D MF A MF B D D MOD DC BUS C...

Page 48: ...48 Rockwell Automation Publication 2198 UM002E EN P February 2018 Chapter 2 Plan the Kinetix 5700 Drive System Installation Notes...

Page 49: ...etermine Mounting Order 50 Drill hole Patterns 56 Mount Your Kinetix 5700 Drive Modules 61 SHOCK HAZARD To avoid the hazard of electrical shock perform all mounting and wiring of the Kinetix 5700 driv...

Page 50: ...eft Position your single axis inverter modules to the right of the DC bus power supplies and the dual axis inverter modules on the far right Attribute 2198 S086 ERSx 2198 S130 ERSx 2198 S160 ERSx Cont...

Page 51: ...bus power supplies they must be catalog number 2198 P208 Refer to Appendix C onpage 317 for more system sizing information MOD NET MOD NET MOD NET MOD NET 2 1 1 1 4 I O I O 6 5 10 2 1 2 1 2 1 1 I O A...

Page 52: ...ANT Capacitor modules always mount on the far right or far left of the system cluster Extensionmodulesalwaysmountnexttoacapacitormodule in systemsup to 200 A Cat No Position Description 2198 CAPMOD 22...

Page 53: ...wer Supply Extension Module This example includes 1 Bus group 1 Drive cluster 2198 Sxxx ERSx 2198 Dxxx ERSx 2198 Sxxx ERSx 2198 Dxxx ERSx 2198 P208 2198 CAPMOD 2240 2198 Sxxx ERSx 2198 Dxxx ERSx 2198...

Page 54: ...The DC bus connection system is required and comprised of these two components DC bus links that are inserted between drive modules to extend the DC bus from one drive module to another DC bus end ca...

Page 55: ...ownstream from the power supply or first module supplied by the 24V external power where the 24V control power is shared Bus bars that connect between drive modules to extend the 24V control power fro...

Page 56: ...holes are essential for engaging the zero stack tab and cutout from module to module so that the DC bus connectors are spaced properly to accept the DC bus links Also available to assist you in mounti...

Page 57: ...Mounting Hole 420 16 54 Lower Mounting Hole 465 18 31 Lower Mounting Hole 6 0 0 24 Typical 6 0 0 24 Typical 00 0 0 00 Upper Mounting Holes 45 0 1 77 See Mounting Hole Pattern Calculations 30 0 1 18 Se...

Page 58: ...three 3 6 mm 0 14 in holes 506 mm 19 9 in below the line you drew in step 1 for attaching the mounting bar to the panel 3 Attach the mounting bar to the panel by using the two M4 fasteners 4 Determin...

Page 59: ...this example the next module is also 85 mm wide 9 Repeat step 6 through step 8 for each module in your drive system 10 Remove the mounting bar from the panel when you are finished 100 100 85 85 55 100...

Page 60: ...mm 19 9 in 55 55 Module width holes are 55 85 and 100 mm Reference Lines Always draw your lines in the slot on the side marked with the reference lines Left sidealignmentslotmoved righttoalignwithline...

Page 61: ...osely attach the mounting hardware to the panel The recommended mounting hardware is M5 10 32 steel bolts Observe bonding techniques as described in Bonding Modules on page 40 4 Attach the DC bus supp...

Page 62: ...62 Rockwell Automation Publication 2198 UM002E EN P February 2018 Chapter 3 Mount the Kinetix 5700 Drive System Notes...

Page 63: ...he Kinetix 5700 drive system components including the DC bus power supply single axis inverter and dual axis inverter modules Also included in this chapter are connector pinouts and descriptions for K...

Page 64: ...onnector 8 Navigation pushbuttons 14 DC bus DC connector 3 Ethernet PORT2 RJ45 connector 9 Link speed status indicators 15 24V control input power CP connector 4 Zero stack mounting tab cutout 10 Link...

Page 65: ...otor power MP connector B 6 Universal feedback UFB connector B 15 Navigation pushbuttons 24 Motor brake BC connector B 7 Digital inputs IOD connector A 16 Link speed status indicators 25 Cooling fan 8...

Page 66: ...Inverter Bottom View 2198 S086 ERSx module is shown Item Description Item Description 1 Motor cable clamp 12 LCD display 2 Tie wrap bracket for feedback cable 13 Navigation pushbuttons 3 Motor brake B...

Page 67: ...dicators 18 24V control output power ICP connector B 5 Ethernet PORT2 RJ45 connector 12 Link Activity status indicators 19 DC bus output IDC connector B 6 Zero stack mounting tab cutout 13 iTRAK power...

Page 68: ...or enable CED connector pinouts apply to DC bus power supply The 24V input power CP connector pinout applies to DC bus power supply single axis inverter dual axis inverter and iTRAK power supply Table...

Page 69: ...and four configurable functions to choose from in the Logix Designer application Table 23 DC bus Supply Digital Input Pinouts Table 24 DC bus Supply Configurable Functions Figure 38 Pin Orientation fo...

Page 70: ...ng fast input 1 IN1 2 I O common for customer supplied 24V supply COM 3 24V current sinking fast input 2 IN2 4 I O common for customer supplied 24V supply COM 5 Chassis ground SHLD 6 24V current sinki...

Page 71: ...Description Signal 1 Transmit TD 2 Transmit TD 3 Receive RD 4 Reserved 5 Reserved 6 Receive RD 7 Reserved 8 Reserved MP Pin Description Signal Color U Three phase motor power U Brown V V Black W W Bl...

Page 72: ...tor MF Pin Description Signal 1 Bidirectional data and power for digital encoder interface D 2 D SHIELD Cable shield and grounding plate internal to 2198 KITCON DSL connector kit termination point SHI...

Page 73: ...ferential input output Index differential input MTR_DATA MTR_IM 3 Cosine differential input B differential input MTR_COS MTR_BM 11 Motor thermostat normally closed 2 MTR_TS 4 Cosine differential input...

Page 74: ...tion OK 1 In the active state the inverters can be enabled An inactive state indicates that the Bulletin 8720MC RPS unit is not ready to supply DC bus power The inverters cannot be enabled When a bus...

Page 75: ...ering home input function debounce filter 20 ms nom Propagation delay registration functions 0 delay compensated Registration accuracy 3 s Registration repeatability 700 ns Windowed registration inval...

Page 76: ...Output Specifications Motor Brake Circuit The brake option is a spring set holding brake that releases when voltage is applied to the brake coil in the motor The customer supplied 24V power supply dri...

Page 77: ...seDelay times in the Logix Designer application Refer to Axis Properties Parameter List The delay times must be from the appropriate motor family brake specifications table in the Kinetix Rotary Motio...

Page 78: ...plies 2198 P031 0 8 N A 4 0 2198 P070 2198 P141 1 9 2198 P208 Dual axis Inverters 2198 D006 ERSx 1 4 2 5 5 3 4 0 2198 D012 ERSx 2198 D020 ERSx 2198 D032 ERSx 1 7 2 7 7 3 2198 D057 ERSx 2 3 2 8 3 3 Sin...

Page 79: ...back connector for those motors and actuators Encoder Feedback Supported on the UFB Feedback Connector The Kinetix 5700 drives also support multiple types of feedback devices by using the 15 pin UFB u...

Page 80: ..._SIN ENDAT_B 2 MTR_SIN MTR_AM MTR_SIN ENDAT_B 3 MTR_COS MTR_BM MTR_COS ENDAT_A 4 MTR_COS MTR_BM MTR_COS ENDAT_A 5 MTR_DATA MTR_IM MTR_IM MTR_DATA MTR_DATA 6 MTR_ECOM MTR_ECOM MTR_ECOM MTR_ECOM MTR_ECO...

Page 81: ...R_DATA Signals 56 pF MTR_SIN or MTR_COS MTR_SIN or MTR_COS 1 k to AqB Counter 1 k 1 k 1 k 121 56 pF 220 pF 2 k 220 pF to A D Converter 2 k 2 5V 2 5V Kinetix 5700 Servo Drive to UART from UART from UAR...

Page 82: ...draw MTR_AM MTR_BM and MTR_IM 30 mA max Input signal frequency MTR_AM MTR_BM and MTR_IM 5 0 MHz max Edge separation MTR_AM and MTR_BM 42 ns min between any two edges Commutation verification Commutat...

Page 83: ...erface MTR_S1 MTR_S2 or MTR_S3 Signals to UART from UART from UART MTR_IM 56 pF MTR_IM 1 k to AqB Counter 1 k 1 k 1 k 121 56 pF 100 pF 100 pF 5V Shaded area indicates components that are part of the c...

Page 84: ...to page 83 for the Hall MTR_S1 MTR_S2 and MTR_S3 signal schematic Refer to Encoder Phasing Definitions on page 88 for encoder phasing alignment diagrams Attribute Value Sine Cosine interpolation 2048...

Page 85: ...Schematic for Serial Communication Attribute Value Protocol EnDat Sine Cosine EnDat Sine Cosine data communication 2 Mbps synchronous Sine Cosine interpolation 2048 counts sine wave period Input freq...

Page 86: ...1313 EQN 1325 ECN 413 EQN 425 ROQ 425 1 ECI119 can be procured from Heidenhain as either EnDat Sin Cos or EnDat Digital LIC 4000 ECl 119 1 ROQ 437 ECN 1123 EQN 1135 ECN 1325 EQN 1337 ECI 1319 EQI 133...

Page 87: ...6 AUX_ECOM AUX_ECOM AUX_ECOM AUX_ECOM AUX_ECOM 7 AUX_EPWR9V 1 AUX_EPWR9V 1 AUX_EPWR9V 1 9 AUX_CLK AUX_CLK 10 AUX_DATA AUX_IM AUX_IM AUX_DATA AUX_DATA 14 AUX_EPWR5V 1 AUX_EPWR5V AUX_EPWR5V AUX_EPWR5V 1...

Page 88: ...ation is assumed when looking at the shaft Figure 53 Sine Cosine Encoder Phasing A A 90 90 90 90 360 B B Z Z B A IMPORTANT TheSine CosineencodersignalphasingisdifferentthantheTTLencoder signal phasing...

Page 89: ...UN VWN VVN S1 S2 S3 300 0 60 120 180 240 300 60 0 Encoder Type Cat No Designator Motor Actuator Cat No Retention Limits Turns rotary mm in linear Stegmann Hiperface DSL P VPL Bxxxxx P VPF Bxxxxx P VPS...

Page 90: ...98 xxxx ERS3 inverters in integrated STO mode when any GuardLogix or Compact GuardLogix safety controller issues the safe torque off STO command over the EtherNet IP network and the Kinetix 5700 drive...

Page 91: ...Requirements 92 Determine the Input Power Configuration 93 Ground Screw Jumper Settings 96 Grounding the Drive System 98 Wiring Requirements 101 Wiring Guidelines 104 Wiring the Power Connectors 104 W...

Page 92: ...e cables in wireways Refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 for more information ATTENTION Plan the installation of your system so that you c...

Page 93: ...uration is preferred Figure 56 Grounded Power Configuration WYE Secondary Figure 57 Impedance grounded Power Configuration WYE Secondary L3 L2 L1 L3 L2 L1 Transformer Three phase Input VAC Phase Groun...

Page 94: ...nterconnect diagrams L3 L1 L2 L3 L2 L1 Transformer Delta Secondary Bonded Cabinet Ground Transformer Ground Grid or Power Distribution Ground Connect to drive module ground stud Three phase AC Line Fi...

Page 95: ...dance grounded power distribution in your facility you must remove the ground screws in each of your DC bus power supplies and iTRAK power supplies and install the ground screw jumper in each of your...

Page 96: ...not remove the ground screw from the DC bus power supply or iTRAK power supply Remove the ground screw when using ungrounded corner grounded or impedance groundedpower the Bulletin 8720MC regenerativ...

Page 97: ...crew Jumper Settings on page 96 ATTENTION When the ground screw jumper is not installed the unit no longer maintains line to neutral voltage protection and the risk of equipment damage exists Ground S...

Page 98: ...mine if you need to remove or install the ground jumper see Ground Screw Jumper Settings on page 96 ATTENTION Risk of equipment damage exists The module ground configuration must be accurately determi...

Page 99: ...ding Figure 62 Connect the Ground Terminal Refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 for more information MBRK D D MF Braided Ground Straps 12 m...

Page 100: ...In this figure the chassis ground is extended to multiple subpanels Figure 63 Subpanels Connected to a Single Ground Point High frequency HF bonding is not illustrated For HF bonding information refe...

Page 101: ...RC 2 SH DC 1 5 6 16 10 12 0 0 47 0 5 0 6 4 5 5 3 Digital inputs IOD 1 IOD 2 IOD 3 IOD 4 IN1 COM IN2 COM 0 14 1 5 26 16 10 0 0 39 N A 2 1 Shared DC bus power connections are always made from one drive...

Page 102: ...4 ST0 5 ST0 6 ST0 7 ST0 8 ST0 9 ST0 10 ST0 11 ST0 12 ST0 13 ST0 14 ST0 15 ST0 16 SB NC S1A SCA S2A SB NC NC NC 0 14 1 5 26 16 10 0 0 39 N A 4 Digital inputs IOD 1 IOD 2 IOD 3 IOD 4 IOD 5 IOD 6 IOD 7 I...

Page 103: ...IOD 10 IN1 COM IN2 COM SHLD IN3 COM IN4 COM SHLD 0 14 1 5 26 16 10 0 0 39 N A 4 1 Building your own cables or using third party cables for Kinetix VP Bulletin VPL VPF VPS and VPC Bxxxxx Q motors is n...

Page 104: ...rt and tighten any loose wires 6 Insert the connector plug into the drive module connector Wiring the Power Connectors This section provides examples and guidelines to assist you in making connections...

Page 105: ...0 1 Use sufficient wire size to support the complete control power load including the Kinetix 5700 drive modules and pass through current for the attached motor modules 2 Depending on 24V current dem...

Page 106: ...N Make sure the input power connections are correct when wiring the IPD connector plug Insert the plug into the module connector and tighten screws to 0 8 N m 7 1 lb in Incorrect wiring polarity or lo...

Page 107: ...to the Kinetix 5700 drive system wire the contactor enable relay into your control string so that three phase power is removed and the DC bus power supply is protected under various fault conditions...

Page 108: ...This applies to 2198 xxxx ERS3 single axis and dual axis inverters Figure 68 2198 xxxx ERS3 Safety and Digital Input Connector Plugs IMPORTANT An off center push is required to engage the locking feat...

Page 109: ...xxx ERS4 Safety and Digital Input Connector Plugs Wire the Safe Torque off Connector For the hardwired safe torque off STO connector pinouts feature descriptions and wiring information refer to Chapte...

Page 110: ...6 5 10 UFB A UFB B D D D D MF A MF B MOD NET 2 1 5 1 10 5 6 1 2 3 4 5 10 9 8 7 6 2198 Sxxx ERSx Single axis Inverters or 2198 Dxxx ERSx Dual axis Inverters Front View 2198 xxxx ERS3 is shown Digital...

Page 111: ...s on the front of the drive On 2198 Sxxx ERSx single axis inverters the motor power connector and shield clamp are mounted to a separate bracket that plugs into the bottom of the drive and has mountin...

Page 112: ...ose wiring can cause damage to equipment Dual axis Inverter Cat No Pin Signal Wire Color Recommended Wire Size mm2 AWG Strip Length mm in Torque Value N m lb in 2198 D006 ERSx 2198 D012 ERSx 2198 D020...

Page 113: ...lange Screws 2 0 8 N m 7 1 lb in Tie Wrap WARNING Makesurethemotorpowerconnectionsarecorrectwhenwiring the MP connector plug Insert the plug into the module connector and tighten flange screws to 0 8...

Page 114: ...ations MOD NET 2 1 1 I O A 6 5 10 1 I O B 6 5 10 UFB A UFB B D D D D MF A MF B 1 I O 5 UFB MOD NET 2 1 6 10 MBRK Motor Cable Shield Clamp Motor Feedback Connector Kits 2198 KITCON DSL Feedback Connect...

Page 115: ...rs that are too small for a tight fit within the drive clamp alone The spacers are held captive by nylon rivets Remove the rivets and spacers when your cable shield is of sufficient diameter for the c...

Page 116: ...available Follow these steps to apply the single axis inverter motor cable shield clamp 1 Remove the larger lower position clamp 2 Loosen the clamp screw Figure 75 Cable Installation IMPORTANT If the...

Page 117: ...bles The motors and actuators in Table 62 have separate power brake and feedback cables The motor power brake cable attaches to the cable clamp on the drive and the power brake conductors attach to th...

Page 118: ...to Table 58 Table 59 and Table 60 beginning on page 112 for the MP and BC connector specifications Motor Power Brake Cable Series Change Motor power and brake conductors on 2090 CPBM7DF series A cable...

Page 119: ...65 Drive to Motor Feedback Cable Length Dual axis Inverter Power Brake Cable Installation Dual axis inverters are compatible with several Allen Bradley motor families that require 16 14 12 and 10 AWG...

Page 120: ...B 12 and 10 AWG cables are designed for use with Kinetix 5700 dual axis inverters and do not require any modifications For dual axis inverters 2090 CPBM7DF series A 12 and 10 AWG conductors are too sh...

Page 121: ...ctly in line with the clamp 3 Hand tighten the clamp knob Make sure the cable clamp tightens around the cable shield and provides a good bond between the cable shield and the drive chassis Only finger...

Page 122: ...t view Universal Feedback UFB Connectors Clamp Knob Motor Power MP and Motor Brake BC Connectors Bulletin2090 CPBM7DF Power Brake Cables Conductors enter into the motor and brake connectors at approxi...

Page 123: ...es 4 and 2 AWG We recommend that you measure from the edge of the cable jacket that is covered with heat shrink and trim the power conductors as shown in Table 67 Table 67 Power Conductor Trimmed Leng...

Page 124: ...Torque value 5 6 N m 50 lb in max In Figure 80 10 AWG series A cables are prepared per Table 67 and Table 68 on page 123 and series B cables do not require preparation Figure 80 Single axis Inverter...

Page 125: ...ght through encoderto drive for motor feedback or auxiliary feedback Motor Actuator Families Single turn or Multi turn Absolute Encoders Incremental Encoders Motor Actuator Cat No Feedback Cable Cat N...

Page 126: ...COS White Red 5 DATA Green 6 ECOM 1 1 The ECOM and TS connections are tied together and connect to the cable shield White Gray 7 EPWR_9V 2 2 The converter kit generates 9V and 5V from a 12V supply com...

Page 127: ...eeded to provide a service loop for the longest wires terminated at the terminal block However most wires need to be trimmed shorter depending on the terminal they are assigned to 12 0 0 5 5 0 0 2 115...

Page 128: ...ce loop as shown on page 130 and refer to the connector pinout on page 126 3 Tighten each terminal screw Apply 0 22 0 25 N m 1 9 2 2 lb in torque to each screw 4 Gently pull on each wire to make sure...

Page 129: ...MPAI Bxxxx LDAT Sxxxxxx xDx Linear Actuators 1 SIN 1 1 1 1 2 SIN 2 2 2 2 3 COS 3 3 3 CLK 9 4 COS 4 4 4 CLK 15 5 DATA 5 5 5 DATA 5 6 DATA 10 10 6 DATA 10 9 EPWR_5V 14 9 EPWR_9V 7 10 ECOM 6 1 6 1 10 EC...

Page 130: ...on 2198 IN006 for converter kit specifications 10 pin Connector Converter Kit Mounting Holes 2198 Dxxx ERSx example is shown Tie Wrapfor Stress Relief and Wire Management 1 Place exposed cable shield...

Page 131: ...mance run wires and cables in the wireways as established in Chapter 2 Connections to the DC bus must be made with the shared bus connection system MODULE STATUS MOD DC BUS 8 24V 24V 2 3 4 1 7 6 24V 2...

Page 132: ...Lug spacer 1 Thisexampleshowsthelugcoverorientedforwiresexitingtotheleft extensionmoduleisonthefarleftofdriveconfiguration Rotate lug cover 180 when wires exit to the right extension module is on the...

Page 133: ...6 Shunt Resistor Compatibility IMPORTANT To improve system performance run wires and cables in the wireways as established in Chapter 2 1 2 2198 Pxxx DC bus Power Supply Top View DC bus Power Supply C...

Page 134: ...A See Mounting Capacitor Modules on page 52 for example configurations that include these capacitor modules Table 77 Active Shunts Compatible with Kinetix 5700 Drive Systems Rockwell Automation Encomp...

Page 135: ...shunt module to install wire and configure the module To avoid nuisance thermal overload trips configure Bulletin PKB and PWB active shunt modules to the highest shunt turn on voltage setting The reco...

Page 136: ...on page 24 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 Logix5585 LINK NET TM SAFETY ON 0000 ControlLogix 5570 Controller wi...

Page 137: ...Load Control Axis Properties 167 Configure Feedback only Axis Properties 168 Configure Induction motor Frequency control Axis Properties 170 Configure IPM Motor Closed loop Control Axis Properties 179...

Page 138: ...to perform the following PRECHARAGE 192 168 1 1 DC BUS 0 3V PRECHARGE 192 168 1 1 DC BUS 0 3V MOD NET 5700 Soft Menu Navigation Buttons Status Indicators seepage 223 PRECHARAGE 192 168 1 1 DC BUS 0 3...

Page 139: ...ere is a communication link already established at the drive end The LINK QUAL value must always be 100 Persistent values below 100 indicates a poor feedback ground connection LINK QUAL 100 0 Remote s...

Page 140: ...nostics CONV UTIL 0 7 CONV TEMP 31 7C Shunt utilization SHUNT UTIL 0 0 Fault Log Fault text Fault code as listed in Fault Codes beginning on page 214 FLT S45 FDBK COMM FL Fault details The problem as...

Page 141: ...tion buttons to view the information and make changes Press to validate your changes If the change is invalid the value doesn t change If the change is valid an asterisk appears next to the changed at...

Page 142: ...ess Subnet mask 255 255 255 000 Indicates current subnet mask Gateway 192 168 001 001 Indicates current gateway DHCP On Turns DHCP on Off Turns DHCP off Display Backlight Timeout 30 sec NEVER NEVER no...

Page 143: ...en a controller connection is open Network Static IP 1 IP address 192 168 1 1 Indicates current IP address Subnet mask 255 255 255 000 Indicates current subnet mask Gateway 192 168 001 001 Indicates c...

Page 144: ...splay Cyclic Data Select 2 BUS VOLT 1 DC bus voltage in volts OUT1 VOLT Output 1 voltage in volts OUT1 AMPS Output 1 current in amps OUT1 PWR Output 1 power in kilowatts OUT1 UTIL Output 1 utilization...

Page 145: ...ice STOPPED The drive has DC bus ready but the control loops are not enabled PRECHARGE The drive is ready for mains input power STARTING The drive is enabled and checking various conditions before ent...

Page 146: ...red in nonvolatile memory IP addressing can also be changed through the Module Configuration dialog box in RSLinx software Changes to the IP addressing take effect after power is cycled The drive is f...

Page 147: ...the appropriate firmware revision and follow prompts to download 4 Extract the AOP zip file and run Setup Drive Cat No Drive Firmware Revision Logix Designer Application Version Kinetix 5700 AOP Neede...

Page 148: ...gix 5380 controller dialog boxes are shown Follow these steps to configure the controller 1 Apply power to your controller and open your Logix Designer application 2 From the Create menu choose New Pr...

Page 149: ...ion pull down menu choose your software revision 5 Click Finish The new controller appears in the Controller Organizer under the I O Configuration folder Controller Organizer with Compact GuardLogix 5...

Page 150: ...ontroller with 1756 EN2TR communication module is used 7 From the Edit menu choose Controller Properties The Controller Properties dialog box appears 8 Click the Date Time tab 9 Check Enable Time Sync...

Page 151: ...ule The Select Module Type dialog box appears 2 By using the filters check Motion and Allen Bradley and select your 2198 Pxxx DC bus power supply as appropriate for your hardware configuration 3 Click...

Page 152: ...e 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 Pxxx DC bus power supply In this exam...

Page 153: ...shunt option Shunt Regulator Enables the internal and external shunt options Shunt Regulator Resistor Type Internal Enables the internal shunt external shunt option is disabled External Enables the e...

Page 154: ...se Bus Capacitor OK or Shunt Thermal Switch OK to monitor your capacitor module status or the shunt thermal switch respectively depending on your application needs In this example Bus Capacitor OK is...

Page 155: ...one 2198 P208 DC bus power supply Configure the Inverter Drives This procedure applies to single axis and dual axis inverters with hardwired or integrated safety connections In this example a 2198 D0...

Page 156: ...eate 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 o...

Page 157: ...3 31 or earlier 7 or earlier Configure Module Definition for 2198 xxxx ERS3 Drives on page 157 2198 xxxx ERS4 31 or later 9 or later Configure Module Definition for 2198 xxxx ERS4 Drives on page 158 T...

Page 158: ...d Safety Categories on page 160 ConfigureModuleDefinitionfor2198 xxxx ERS4Drives 1 Under Module Definition click Change The Module Definition dialog box appears Depending on the Module Definition revi...

Page 159: ...based safety functions 2198 xxxx ERS4 Motion and Safety Motion Only Safety Only GuardLogix 5580 CompactLogix 5380 1 For 2198 Dxxx ERS4 dual axis inverters you must configure axis 1 and 3 as Networked...

Page 160: ...nction that is associated with the 2198 xxxx ERS3 inverters Single Feedback Monitoring Primary feedback is used in the safety object for safe monitoring The feedback can be a SIL rated HiperfaceDSLenc...

Page 161: ...nerative power supply Bus Sharing Group 1 3 Group1 Group2 Group3 Applies to anybus sharing configuration 1 For more information on bus sharing groups refer to Understand Bus sharing Group Configuratio...

Page 162: ...low yield icon appears in the controller project tree after you download the program 8 Click Advanced The Advanced Connection Reaction Time Limit Configuration dialog box appears Analyze each safety c...

Page 163: ...8 xxxx ERS4 inverter you just created and choose Properties The Module Properties dialog box appears 2 Select the Associated Axes category In this 2198 D006 ERS4 dual axis inverter example four axes a...

Page 164: ...1 I O A 6 10 1 I O B 6 5 10 UFB A UFB B D D D D MF A MF B 2 1 5 MOD NET UFB A UFB B D D D D MF A MF B Kinetix 5700 Dual axis Inverter Universal and DSL Hiperface Feedback Connectors See Detail A Motio...

Page 165: ..._1 in this example appears in the Controller Organizer under Motion Groups Ungrouped Axes and is assigned as Axis 1 8 Click Apply 9 Repeat step 1 through step 8 for each 2198 xxxx ERSx servo drive TIP...

Page 166: ...g dialog box appears 2 Type the new motion group Name 3 Click Create Your new motion group appears in the Controller Organizer under the Motion Groups folder 4 Right click the new motion group and cho...

Page 167: ...ings the motor to a controlled stop and engages the holding brake prior to disabling the power structure When Vertical Load Control is enabled and the drive supports Torque Proving and Brake Proving f...

Page 168: ...dialog box appears 3 From the Axis Configuration pull down menu choose Feedback Only 4 From the Feedback Configuration pull down menu choose Master Feedback 5 From the Module pull down menu choose the...

Page 169: ...down menu choose a feedback device type See Configure Axis Properties beginning on page 196 for configuration examples 10 Review other categories in the Controller Organizer and make changes as needed...

Page 170: ...otor Categories 1 In the Controller Organizer right click an axis and choose Properties 2 Select the General category The General dialog box appears 3 From the Axis Configuration pull down menu choose...

Page 171: ...tor category 8 From the Data Source pull down menu choose Nameplate Datasheet This is the default setting 9 From the Motor Type pull down menu choose Rotary Induction 10 From the motor nameplate or da...

Page 172: ...the General category and Motor category as shown in General and Motor Categories on page 170 2 Select the Frequency Control category 3 From the Frequency Control Method pull down menu select Basic Vol...

Page 173: ...ters dialog box appears 7 From the Parameter Group pull down menu choose Frequency Control 8 Set the FluxUp SkipSpeed VelocityDroop and CurrentVectorLimit attributes appropriate for your application S...

Page 174: ...the General category and Motor category as shown in General and Motor Categories on page 170 2 Select the Frequency Control category 3 From the Frequency Control Method pull down menu choose Sensorles...

Page 175: ...ityDroop MaximumFrequency MaximumVoltage and CurrentVectorLimit attributes appropriate for your application See the corresponding section in Appendix D beginning on page 325 for information and config...

Page 176: ...x 5700 Drive System 13 The Analyze Motor to Determine Motor Model dialog box opens 14 Click one of the motor test tabs In this example Calculate Model is chosen See Motor Tests and Autotune Procedure...

Page 177: ...the General category and Motor category as shown in General and Motor Categories on page 170 2 Select the Frequency Control category 3 From the Frequency Control Method pull down menu select Fan Pump...

Page 178: ...ars 7 From the Parameter Group pull down menu choose Frequency Control 8 Set the FluxUp SkipSpeed VelocityDroop RunBoost MaximumFrequency MaximumVoltage and CurrentVectorLimit attributes appropriate f...

Page 179: ...right click an axis and choose Properties 2 Select the General category The General and Associated Module dialog box appears 3 From the General pull down menus change configuration settings as needed...

Page 180: ...Select the motor catalog number appropriate for your application To verify the motor catalog number refer to the motor name plate 10 Click OK to close the Change Catalog Number dialog box 11 Click Ap...

Page 181: ...tended Speed permissive in the Extended Speed field See Field Weakening Mode on page 365 for more information 13 Select the Scaling category and edit the default values as appropriate for your applica...

Page 182: ...exceptions faults Refer to Logix5000 Controller and Drive Module Behavior on page 226 for more information 18 Select the Parameter List category From this dialog box you can set brake engage and relea...

Page 183: ...nizer right click an axis and choose Properties 2 Select the General category The General and Associated Module dialog box appears 3 From the General pull down menus change configuration settings as n...

Page 184: ...down menu choose Catalog Number 8 Click Change Catalog The Change Catalog Number dialog box appears 9 Select the motor catalog number appropriate for your application To verify the motor catalog numbe...

Page 185: ...ve System Chapter 6 12 Select the Scaling category and edit the default values as appropriate for your application 13 Click Apply if you make changes 14 Select the Load category and edit the default v...

Page 186: ...faults Refer to Logix5000 Controller and Drive Module Behavior on page 226 for more information 17 Select the Parameter List category The Motion Axis Parameters dialog box appears From this dialog box...

Page 187: ...roperties 1 In the Controller Organizer right click an axis and choose Properties 2 Select the General category The General and Associated Module dialog box appears 3 From the General pull down menus...

Page 188: ...refer to page 184 to see how to populate the Nameplate Datasheet parameters by selecting the motor catalog number a Select the Polarity category IMPORTANT When you configure HPK Series motor paramete...

Page 189: ...tary Induction 9 From the motor nameplate or datasheet enter the phase to phase values for your motor See Motor Category on page 340 for a motor performance datasheet example 10 Click Apply 11 Select...

Page 190: ...values as appropriate for your application 15 Click Apply if you make changes 16 Select the Actions category The Actions to Take Upon Conditions dialog box appears From this dialog box you can program...

Page 191: ...ears 18 From the Parameter Group pull down menu choose Torque Current Loop 19 Set the FluxUp attributes appropriate for your application See the corresponding section in Appendix D beginning on page 3...

Page 192: ...System 21 Select the Load category and edit the default values as appropriate for your application 22 Click Apply if you make changes 23 Click OK 24 Select the Motor Model category Motor model attribu...

Page 193: ...g to the Motor Test you want to run See Motor Tests and Autotune Procedure on page 342 for information about each of the tests 27 Click Start 28 Click Accept Test Results 29 Click Apply 30 Select the...

Page 194: ...rive depending on how you intend to use the feedback connectors 1 Right click a drive in the Controller Organizer to configure and choose Properties The Module Properties dialog box appears 2 Under Mo...

Page 195: ...iversal connector kit 15 pinuniversal feedback UFB EnDat Sine Cosine EnDat Digital High resolution single turn and multi turn absolute Applies to Allen Bradley Bulletin RDB and Bulletin VPC Bxxxxx Y m...

Page 196: ...alog box appears 3 Configure the device function and type In this example Motor Feedback is the device function and Digital AqB is the feedback type Feedback Type Permanent Magnet Motors Induction Mot...

Page 197: ...edback category The Motor Feedback Device Specification dialog box appears 3 Configure the device function and type In this example Motor Feedback is the device function and Digital AqB with UVW is th...

Page 198: ...Configure the device function and type In this example Motor Feedback is the device function and Sine Cosine is the feedback type 4 Enter values for the Sine Cosine specification fields The only vali...

Page 199: ...is example Motor Feedback is the device function and Sine Cosine with UVW is the feedback type 4 Enter values for the Sine Cosine with UVW specification fields The only valid values for Cycle Interpol...

Page 200: ...green refer to Kinetix 5700 Status Indicators on page 223 4 Apply mains input power and monitor the DC BUS voltage on the LCD display If the DC BUS does not reach the expected voltage level check the...

Page 201: ...Groups 1 and 2 are in the same Motion group in the Logix Designer application As many as 25 bus sharing groups are possible Figure 95 Bus sharing Group Configuration Bus sharing Group Example In Figu...

Page 202: ...UFB A UFB B D D MF A MF B D D MOD NET 2 1 1 I O A 6 1 I O B 6 5 10 5 10 UFB A UFB B D D MF A MF B D D MOD NET MOD NET MOD NET 2 1 1 1 4 I O I O 6 5 10 2 1 2 1 1 I O A 6 5 10 1 I O B 6 5 10 UFB UFB A...

Page 203: ...e Bus sharing Groups In both groups the Bus Configuration for the converter drive is Shared AC DC and the Bus Configuration for the inverter drives is Shared DC Figure 97 Group 1 DC bus Power Supply c...

Page 204: ...th ControlLogix EtherNet IP modules or CompactLogix 5370 controllers refer to Additional Resources on page 13 For testing and tuning iTRAK movers see the iTRAK System User Manual publication 2198T UM0...

Page 205: ...the motor did not move the full test distance Run this test after running the Motor Feedback and Motor and Feedback tests Commutation Verifies the commutation offset and commutation polarity of the mo...

Page 206: ...tes successfully the Test State changes from Executing to Passed 7 Click OK This dialog box appears asking if the axis moved in the forward direction 8 Click Yes if you agree 9 Click Accept Test Resul...

Page 207: ...load observer feature 1 Verify that the load is connected Re attach the load if it was disconnected for the Hookup Test 2 Click the Autotune category in the Axis Properties dialog box a From the pull...

Page 208: ...a From the Configuration pull down menu choose Load Observer with Velocity Estimate b Click Apply and click Yes to update all dependent attributes The Load Observer Bandwidth and other gains are set a...

Page 209: ...command to make sure that no audible squealing noise is present 7 Repeat Test and Tune the Axes for each axis IMPORTANT If an audible squealing noise is heard go to Axis Properties Load Compliancecat...

Page 210: ...ed 2 0 The actual value of programmed units depend on your application 4 From the Direction pull down menu choose a setting appropriate for your application Forward Uni directional is default 5 Edit o...

Page 211: ...les Actual bandwidth values Hz depend on your application and can require adjustment once motor and load are connected 7 Click Accept Tuned Values 8 Click OK to close the Logix Designer Autotune dialo...

Page 212: ...212 Rockwell Automation Publication 2198 UM002E EN P February 2018 Chapter 6 Configure and Start the Kinetix 5700 Drive System Notes...

Page 213: ...r input power has been removed Before working on the drive module measure the DC bus voltage to verify it has reached a safe level or wait the full time interval as indicated in the warning on the fro...

Page 214: ...t service is sent from the controller and the fault is no longer active If a fault condition is still active following a Fault Reset service the fault is again posted to the display and written to the...

Page 215: ...limitsareidentifiedbyUL at the end of the display message For example FLT S08 MTR OVERLOAD UL Table 95 FLT Sxx Fault Codes Exception Code on Display Exception Text Problem Possible Solutions Module FL...

Page 216: ...that the temperature has exceeded the factory set capacity rating of 110 Reduce the number of drives in the same bus group Reduce duty cycle of commanded motion Verify iTRAK power supply requirements...

Page 217: ...laceable fuse Return drive for repair if fault continues Verify output power wiring iTRAK power supply Inverters iTRAK PS The internal DC bus power fuse is blown The nn sub code is defined as follows...

Page 218: ...COMMAND AGRUMENT IS NOT ALLOWED 14 THE SELECTED DATA FIELD MAY NOT BE WRITTEN TO 15 INCORRECT ACCESS CODE 16 SIZE OF SPECIFIED DATA FIELD CANNOT BE CHANGED 17 SPECIFIED WORD ADDRESS LIES OUTSIDE THE D...

Page 219: ...llowable Voltage Drop 650V DC 100 3 Applies to all compatible feedback devices except DSL encoder feedback 4 Applies to DSL and Hiperface feedback devices 5 Does not apply to induction motors in frequ...

Page 220: ...Firmware The loaded Safety firmware is not compatible with the drive firmware Cycle control power Update the drive firmware Return drive for repair if fault continues Inverters INIT FLT M20 UNKNOWN M...

Page 221: ...mmunication with the power board could not be established Cycle control power Update the drive firmware Return drive for repair if fault continues Inverters DC bus PS iTRAK PS NODE FLT 03 HARDWARE 02...

Page 222: ...Change network topology so that fewer devices share common paths Use high performance network equipment Use shielded cables Separate signal wiring from power wiring Inverters DC bus PS NODE ALARM 03 C...

Page 223: ...he drive detected a non recoverable fault Flashing Green Red Self test The drive performs self test during powerup Once self test is complete Flashing Green Red condition continues if drive is waiting...

Page 224: ...ule if fault persists DC bus status Steady off Open 24V DC is not present or DC busmeasures 50VDC N A Steady green Closed 24V DC is presentand DC busmeasures 50VDC N A MOD DC BUS MODULE STATUS Module...

Page 225: ...al wires Recommended grounding per installation instructions have not been followed Verify grounding Route wire away from noise sources Refer to System Design for Control of Electrical Noise publicati...

Page 226: ...hes the exception condition but the drive does not execute any exception action Major Fault The drive module latches the exception condition and executes the configured exception action Exception Acti...

Page 227: ...Table 109 DC bus Power Supply Behavior FLT Sxx Fault Codes Exception Fault Code Exception Text Module Fault Action Ignore Alarm Minor Fault Major Fault FLT S15 CONV OVERCURRENT Converter Overcurrent...

Page 228: ...PS X 1 Supported when shunt thermal switch isconnected to the power supply digital input and configured in the Logix Designer application Table 109 DC bus Power Supply Behavior FLT Sxx Fault Codes con...

Page 229: ...Thermal Overload Factory Limit Fault iTRAK PS X Shutdown FLT S25 PRECHARGE FAILURE Precharge Failure Fault iTRAK PS X Shutdown FLT S33 BUS UNDERVOLT FL Bus Undervoltage Factory Limit Fault iTRAK PS X...

Page 230: ...Most control Ramped Decel Disable 1 Less control Current Decel Disable Less control Disable Coast 2 2 WhenconfiguredforFrequencyControl inductionmotorsonly selectDecel DisableonlywhentheCurrentLimitin...

Page 231: ...en configured for Running Controller and the controller is in Run mode the stopping sequence is controlled by your application program in the motion controller This provides flexibility based on your...

Page 232: ...Sx X X X Disable Coast FLT S11 INV OVERTEMP FL Inverter Overtemperature Factory Limit Fault ERS3 X X X Disable Coast Inverter Overtemperature Factory Limit Fault If 589 vertical load control ERS4 Curr...

Page 233: ...ror Fault If 589 vertical load control ERS4 Current Decel Disable Excessive Position Error Fault If not 589 vertical load control Disable Coast FLT S55 VEL ERROR 4 Excessive Velocity Error Fault ERS3...

Page 234: ...requency control mode 2 Applies to drives in Integrated STO mode Table 119 System Behavior NODE FLT Fault Codes Exception Fault Code Exception Text Inverter Modules 2198 xxxx Permanent Magnet Motor In...

Page 235: ...Voltmeter to make sure that no voltage exists on drive connectors Topic Page Before You Begin 235 Remove and Replace Kinetix 5700 Drive Modules 236 Start and Configure the Drive Module 240 ATTENTION T...

Page 236: ...r Data on page 64 5 Unplug the DC bus links and end caps from on top of the DC bus power supply or other drive module you are removing 6 Unplug the shared bus 24V input wiring connector T connectors a...

Page 237: ...the cable from the clamp 8 For 2198 Sxxx ERSx single axis inverters unplug the motor feedback and brake connectors remove the tie wrap and remove the motor power bracket Motor Feedback Connectors Moto...

Page 238: ...trol power output connectors and DC bus output connectors and loosen the shield clamp until you can remove the cable from the clamp 10 Remove the ground screw or lug nut and braided ground strap iTRAK...

Page 239: ...e with both hands and pull the module straight out and away from the panel clearing the zero stack mounting tabs and cutouts Replace the Drive Module To replace the drive module reverse the steps that...

Page 240: ...ured as Static IP you must set the IP address gateway and subnet mask in the new module identical to the old module Refer to Configure the Drive on page 146 to access those settings 3 Download the Log...

Page 241: ...xis inverters The integrated Monitored SS1 and Timed SS1 stopping functions are supported by the 2198 Dxxx ERS4 dual axis and 2198 Sxxx ERS4 single axis inverters For integrated Monitored SS1 and Time...

Page 242: ...e level or IEC 62061 SIL level Project management and proof testing in accordance with ISO 13849 StopCategoryDefinition Stop Category 0 as defined in IEC 60204 or safe torque off as defined by IEC 618...

Page 243: ...ly to achieve the desired level of operator safeguarding The 2198 xxxx ERS3 and 2198 xxxx ERS4 STO circuit is designed to turn off all of the output power transistors when the STO function is requeste...

Page 244: ...uts are OFF then Safety Supervisor state is Not Configured 8 and if STO inputs are ON then Safety Supervisor state is Not Configured torque permitted 51 Table 122 Safety Supervisor States ATTENTION Pe...

Page 245: ...Hardwired STO mode 1 Right click the Kinetix 5700 servo drive you just created and choose Properties 2 Select the Connection category The Connection category appears 3 Check Inhibit Module 4 Click Ap...

Page 246: ...You can do this in Module Properties or by unplugging the Ethernet cable 2 From the Home screen on the drive display press the settings button 3 From the SETTINGS menu scroll down by using the arrows...

Page 247: ...eDriveOutputStatus 2 BOOL Torque allowed Hardwired GuardStopInputStatus 3 BOOL Safety inputs active Hardwired GuardStopRequestStatus 4 BOOL Safety input requesting STO Hardwired GuardFault 981 DINT Gu...

Page 248: ...etyOutputConnectionIdleStatus 31 BOOL 1 if safety controller is in program mode AxisSafetyFaults 763 DINT SafetyCoreFault 1 BOOL Loss of communications to safety control SafetyTorqueOffFault 3 BOOL St...

Page 249: ...e of the fault can be read using an explicit message Table 128 Safe Torque off Fault Type MSG Table 129 Safe Torque off Fault Type Values Parameter Value Description Service Code 0x0E Get attribute si...

Page 250: ...hen disabled or any time power is removed from the safety enable inputs all of the drive output power transistors are released from the ON state This results in a condition where the drive performs a...

Page 251: ...questsStatus GuardStopInputFault No Fault 1 Second Debounce Time 1 Second Descrepancy Limit Start Inhibit OK Torque Disabled Disable Torque Torque Disabled Event Description 1 At least one input is sw...

Page 252: ...k state of safety inputs Reset error and run proof test If error persists return the drive to Rockwell Automation SAFE FLT S01 Safety Core Internal SafetyCoreFault Drivesafetydiagnosticdetectedinterna...

Page 253: ...Inhibited GuardOKStatus OK GuardGateDriveOutputStatus Torque Disabled Stop Requested GuardStopInputStatus GuardStopRequestsStatus GuardStopInputFault No Fault 1 Second No Fault Faulted Not OK Faulted...

Page 254: ...S2A SB N C N C N C 2198 Dxxx ERSx Dual axis Inverter Safety STO Connector Plug 2198 Sxxx ERSx Single axis Inverter Safety STO Connector Plug STO Pin Description 2198 Dxxx ERSx Description 2198 Sxxx E...

Page 255: ...to the STO connector This applies to 2198 xxxx ERS3 single axis and dual axis inverters Figure 108 Insert the 2198 xxxx ERS3 Safety Connector Plug IMPORTANT An off center push is required to engage th...

Page 256: ...plugs pulling out of the drive connector during normal operation MOD NET Locking Leavers in Locked Position Locked Position rotated clockwise Kinetix 5700 Inverter Drive 2198 xxxx ERS4 inverter is sh...

Page 257: ...alues and methods provided IMPORTANT Stranded wires must terminate with ferrules to prevent short circuits per table D7 of ISO 13849 SB NC S1A SCA S2A SB S1B SCB S2B SB NC S1 SC S2 SB NC NC NC 1 2 3 4...

Page 258: ...evices To bypass the safety function wire these signals as shown in Figure 111 With the jumper wires installed the safe off feature is not used Figure 111 Safe Torque off Bypass Wiring SB NC S1A SCA S...

Page 259: ...is inverter application with a separate safety device for each axis Figure 113 Cascaded STO Wiring Dual axis Inverter with Two Safety Devices 1 2 12 3 4 5 6 7 8 9 10 11 13 14 15 16 1 2 12 3 4 5 6 7 8...

Page 260: ...DC SB NC S1A SCA S2A SB S1B SCB S2B SB NC S1A SCA S2A SB S1B SCB S2B SB NC S1A SCA S2A SB S1B SCB S2B First Drive Middle Drive Last Drive Dual channel Equivalent Safety Device IMPORTANT To maintain t...

Page 261: ...safety connection can originate from either of these controller configurations Single safety controller that provides both safety and motion control Safety controller that controls only the safety wh...

Page 262: ...mmunication module configured as part of the GuardLogix 5570 or Compact GuardLogix 5370 controller I O tree The AOP must be configured for Safety only or Motion and Safety connections The safety bypas...

Page 263: ...gix I O configuration and the connection is configured for Motion and Safety or Safety only The attribute values listed are the Assembly Object attribute values Table 137 Single axis Inverter Integrat...

Page 264: ...ive to the controller using integrated safety protocol 0x1A8 SINT Inverter Axis 1 SI TorqueDisabled1 0 BOOL 0 Torque Permitted 1 Torque Disabled SI SafetyFault1 6 BOOL 1 STO Fault present SI ResetRequ...

Page 265: ...ce Manual publication 2198 RM001 IMPORTANT Transition of the SO SafeTorqueOff tag to logic 1 must always be executed prior to transition of the SO Reset tag to logic 1 IMPORTANT All Kinetix 5700 inver...

Page 266: ...n page 267 for integrated safety drive replacement information Exception Code on Drive Display Fault Message Logix Designer Problem Possible Solutions SAFE FLT S01 Safety Core Internal Fault SafetyFau...

Page 267: ...cts the GuardLogix controller to automatically configure a safety drive only when the safety task does not have a safety task signature and the replacement drive is in an out of box condition meaning...

Page 268: ...enance engineer under certain restricted scenarios in accordance with safe machine operating procedures wanting to move an axis like a conveyor to clear a jam before resuming normal operation ATTENTIO...

Page 269: ...TO function in single safety controller configurations You can use the MDC feature to allow motion while following all the necessary and prescribed steps per your machine s safety operating procedures...

Page 270: ...ontroller The controller reports Safety state Running and Axis state Stopped Running as shown in Figure 118 Figure 118 Safety State Indications When Controller is in Run Mode safety task executing Whe...

Page 271: ...s shown in Figure 121 The controller reports Safety state Not Running torque permitted Axis state Stopped Running and Persistent Warning Safe Torque Off Bypassed ATTENTION Unexpected motion and the po...

Page 272: ...DC executing IMPORTANT The persistent warning message text Safe Torque Off bypassed appears when a motion direct command is executed The warning message persists even after the dialog is closed and re...

Page 273: ...about to bypass the STO state and permit torque Figure 122 STO Bypass Prompt When MDC is Issued in Multi workstation Environment WarningIconandTextinAxisProperties In addition to the other warnings t...

Page 274: ...e requirements of machine safety operating procedures ATTENTION Motion is allowed and the STO function is not available when motion direct commands are used in Program mode Motion direct commands issu...

Page 275: ...1 Output assembly connections 1 N A Integrated safety open request support Type 1 and Type 2 requests N A Axis safety status Bit 0 Safety fault Axis SafetyFaultStatus Bit 1 Safety reset request Axis...

Page 276: ...ueDisabled1 Byte 0 Bit 6 Safety fault 1 Drv SI SafetyFault1 Byte 0 Bit 7 Reset required 1 Drv SO SafeTorqueOff1 Byte 1 Bit 0 Torque disabled 2 Drv SI TorqueDisabled2 Byte 1 Bit 6 Safety fault 2 Drv SI...

Page 277: ...tion KNX TD003 5 Terminal block is required to make connections 6 Cable shield clamp must be used to meet CE requirements 7 2198 Dxxx ERSx dual axis inverters include separate digital inputs DSL feedb...

Page 278: ...sories Specifications Technical Data publication KNX TD004 17 Brake connector pins are labeled plus and minus or F and G respectively Power connector pins are labeled U V W and GND or A B C and D resp...

Page 279: ...ol Power CP Connectors Three phase Input IPD Connector 2198 DBxx F Three phase AC Line Filter Note 4 Indicates User Supplied Component Chassis Customer Supplied 24V DC Power Supply Refer to table on p...

Page 280: ...te information DC Bus DC Connectors 2198 P208 DC bus Power Supply Circuit Protection Note 2 2198 DB290 F Three phase AC Line Filter Note 4 2198 P208 DC bus Power Supply 2198 P208 DC bus Power Supply 2...

Page 281: ...onnector DC Power Bus A to iTRAK Motor Modules Cable Shield Clamp Note 6 Digital Input IOD Connector Digital Input IOD Connector 2198 TCON 24VDCIN36 24V Input Power Wiring Connector DC Power Bus B to...

Page 282: ...Power Supply 2198T W25K ER Kinetix 5700 iTRAK Power Supply Contactor Enable CED Connector 2198T W25K P T T connectors and Bus Bars Shunt Power RC Connector 2198 TCON 24VDCIN36 24V Input Power Wiring C...

Page 283: ...60 Hz Refer to Attention statement Note 14 324 528V AC rms Three phase Input Notes 1 2 Three phase Input IPD Connectors 2198 DBxx F Three phase AC Line Filter Note 4 PE Ground Note 9 PE Ground Note 9...

Page 284: ...Supplied Component Relay output to digital input Bus Capacitor OK or Logix5000 controller to monitor capacitor module status refer to Capacitor Module Status Wiring Example on page 290 for an example...

Page 285: ...13 8720MC RPS065 8720MC Regenerative Power Supply Three phase Input 10 15 380V AC rms 50 Hz or 460V AC rms 60 Hz Notes 1 2 Bonded Cabinet Ground Bus Three phase AC Line Filter Note 4 Indicates User S...

Page 286: ...0MC RPS065 Regenerative Power Supply Slave Three phase Input 10 15 380V AC rms 50 Hz or 460V AC rms 60 Hz Notes 1 2 Bonded Cabinet Ground Bus Three phase AC Line Filter Note 4 Indicates User Supplied...

Page 287: ...PE Ground Note 9 2198 xxxx P T T connector and Bus Bar 2198 xxxx P T T connector and Bus Bar PE Ground Note 9 Bonded Cabinet Ground Bus PE Ground Note 9 Chassis Note 5 Customer Supplied 24V DC Power S...

Page 288: ...PR2 PR3 TB2 L1 L2 L3 L4 L5 L6 RED BLK YLW Fan 2 CN1 A1 A2 A3 A4 A5 B1 B2 B3 B4 B5 CN2 A1 A2 A3 A4 A5 B1 B2 B3 B4 B5 CN4 1 2 3 24V3 0V3 SENS 24V2 0V2 MC1 TB4 MC2 R1 S1 T1 MC1 MC2 24V2 0V2 NC 24V3 0V3...

Page 289: ...198 xxxx P T T connector and Bus Bar PE Ground Note 9 Bonded Cabinet Ground Bus PE Ground Note 9 Chassis Note 5 Customer Supplied 24V DC Power Supply Bonded Cabinet Ground Bus 2198 Sxxx ERSx or 2198 D...

Page 290: ...application Refer to page 153 to see how the DC bus power supply Digital Inputs category is configured Figure 135 DC bus Power Supply with Capacitor Module Refer to the Kinetix 5700 Capacitor Modules...

Page 291: ...s publication 2198 IN011 for additional installation information IMPORTANT Before wiring the Bulletin 2198 external shunt to the RC connector remove the wires from the internal servo drive shunt Do no...

Page 292: ...Black Blue Green Yellow Blue White Blue Black White A U B V C W E 1 H 2 F G Shield MBRK MBRK Motor Brake Motor Brake BC Connector Motor Power MP Connector CableShield Clamp Note 6 2198 Sxxx ERSx or 2...

Page 293: ...back Thermostat Refer to feedback kit illustration lower left for proper grounding technique Refer to table on page 277 for note information 2090 CFBM7DF CEAAxx standard or 2090 CFBM7DF CEAFxx continu...

Page 294: ...lower left for proper grounding technique Grounding Techniques for Feedback Cable Shield Cable Clamp Exposed shield secured under clamp Clamp Screws 2 Refer to table on page 277for note information N...

Page 295: ...t illustrations below for proper grounding technique Grounding Techniques for Feedback Cable Shield Cable Clamp Exposed shield secured under clamp Clamp Screws 2 Refer to table on page 277for note inf...

Page 296: ...r Three phase Motor Power Motor Feedback Thermistor Refer to feedback kit illustration lower left for proper grounding technique Refer to table on page 277 for note information 2090 XXNFMF Sxx standar...

Page 297: ...e Clamp Exposed shield secured under clamp Clamp Screws 2 Refer to table on page 277 for note information Cable Shield Clamp Note 6 Power Connector Feedback Connector SpeedTec DIN Motor Connectors 209...

Page 298: ...age 277 for note information Cable Shield Clamp Note 6 Refer to Hiperface to DSL Feedback Converter Kit Installation Instructions publication2198 IN006 for converter kit specifications Power Connector...

Page 299: ...ication 2198 IN006 for converter kit specifications Refer to Table 144 for flying lead motor feedback cable Note 16 Refer to Table 144 for motor power cable Notes 16 Power Connector Feedback Connector...

Page 300: ...FBM7DF CDAFxx continuous flex flying lead Feedback Cable Note 16 2090 CPWM7DF xxAAxx standard or 2090 CPWM7DF xxAFxx continuous flex Motor Power Cable Notes 16 20 External Sin Cos or TTL Encoder Motor...

Page 301: ...MF Connector Thermostat Refer to table on page 277 for note information External Sin Cos or TTL Encoder Hall Effect Module Wire as shown using cable type appropriatefor your application Motor Power MP...

Page 302: ...5700 drive modules Figure 149 DC bus Power Supply Block Diagram 1 Ground screw in the installed default configuration L1 L2 L3 DC DC SH DC 24V 24V CONT EN CONT EN Three phase Input Power IDP Connecto...

Page 303: ...grams Appendix A Figure 150 Single axis Inverter Block Diagram 1 Ground jumper in the installed default configuration 24V 24V DC DC BR BR U V W 24V Control Power CP Connector Ground Jumper 1 Control C...

Page 304: ...Inverter Block Diagram 1 Ground screw in the installed default configuration 24V 24V DC BR BR U V W DC U V W BR BR 24V Control Power CP Connector Ground Jumper 1 Control Chassis Motor Brake BC Connec...

Page 305: ...n from 24V to Chassis is made inside of the iTRAK power supply 24V 24V DC DC DC L H 24V 24V DC L H 24V 24V H L DC Ground Jumper 1 Control Chassis Chassis Chassis Chassis Chassis 2x DC DC Converters DC...

Page 306: ...Diagrams Figure 153 Capacitor Module Block Diagram DC DC DC DC DC DC DC MS MS DC Bus Input Link Connector DC Bus Output Lug Connector Module Status Status Indicator DC bus Status Status Indicator Modu...

Page 307: ...onfiguring your Logix5000 controller communication selecting the drive to upgrade and upgrading the firmware Topic Page Before You Begin 308 Upgrade Firmware 311 Verify the Firmware Upgrade 315 IMPORT...

Page 308: ...x 5700 drive module you want to upgrade Network path to the targeted Kinetix 5700 drive module you want to upgrade IMPORTANT Control power must be present at CP 1 24V and CP 2 24V prior to upgrading y...

Page 309: ...r has already been configured For more controller information refer to Additional Resources on page 13 Follow these steps to configure Logix5000 controller communication 1 Open your RSLinx Classic sof...

Page 310: ...box Inhibit Feedback Only Axis If an axis is configured as Feedback Only you must inhibit the axis prior to performing the firmware upgrade Follow these steps to inhibit an axis 1 Open your Logix Desi...

Page 311: ...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...

Page 312: ...the Drive Firmware 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 Firmwar...

Page 313: ...rmware Appendix B The Summary dialog box appears 10 Confirm the drive catalog number and firmware revision 11 Click Finish This ControlFLASH warning dialog box appears 12 Click Yes only if you are rea...

Page 314: ...es 15 Verify that the Update Status dialog box appears and indicates success or failure as described below 16 Click OK IMPORTANT Do not cycle power to the drive during this process or the firmware upg...

Page 315: ...e upgrade was successful 1 Open your RSLinx software 2 From the Communications menu choose RSWho 3 Expand your Ethernet node Logix backplane and EtherNet IP network module 4 Right click the drive modu...

Page 316: ...316 Rockwell Automation Publication 2198 UM002E EN P February 2018 Appendix B Upgrade the Drive Firmware Notes...

Page 317: ...us power supplies up to three are possible 8720MC RPS regenerative power supply RPS unit Shared bus Definitions Throughout this manual these terms are used to describe how drive modules are grouped to...

Page 318: ...D D MOD NET MOD NET 2 1 2 1 1 I O A 6 5 10 1 I O B 6 5 10 1 I O A 6 1 I O B 6 5 10 5 10 UFB A UFB B UFB A UFB B D D D D D D MF A MF B MF A MF B D D MOD NET 2 1 1 I O A 6 1 I O B 6 5 10 5 10 UFB A UFB...

Page 319: ...must not exceed 52 A The Kinetix 5700 system cannot have more than two drive clusters in a single DC bus group Refer the 8720MC Regenerative Power Supply Installation Manual publication 8720MC RM001 f...

Page 320: ...us regulator capacity based on the load profiles Determine if 2198 CAPMOD 2240 capacitor modules are required For best results use the Motion Analyzer system sizing and selection tool available at htt...

Page 321: ...Single Power Supply 2198 P031 8 000 2198 P070 2198 P141 13 000 2198 P208 Multiple Power Supplies 2 x 2198 P208 26 000 3 x 2198 P208 39 000 Drive Module Drive Module Cat No Internal Capacitance F DC b...

Page 322: ...Sx 4 6 9 6 4 4 0 2198 S130 ERSx 2198 S160 ERSx iTRAK Power Supply 1 2198T W25K ER 1 3 N A 2 2 Capacitor Modules 2198 CAPMOD 2240 0 5 N A N A 2198 CAPMOD DCBUS IO N A 1 These values represent only the...

Page 323: ...P208 DC bus Power Supply In this example only 1 drive cluster defines the DC bus group Two drive clusters are possible by extending the DC bus Maximum motor power cable length 400 m 1312 ft Total moto...

Page 324: ...on deceleration motion profile Use this formula to calculate the minimum continuous output power kW for your Kinetix 5700 drive system 2198 Pxxx Largest motor rated kW x axis count x 0 6 axis count x...

Page 325: ...5700 servo drives Topic Page Frequency Control Methods 326 Current Limiting for Frequency Control 330 Stability Control for Frequency Control 333 Skip Speeds 335 Flux Up 337 Current Regulator Loop Set...

Page 326: ...e Logix Designer application refer to Configure Induction motor Frequency control Axis Properties on page 170 Open loop frequency control is suitable in applications such as conveyors pumps and fans F...

Page 327: ...Hertz Definitions Figure 156 Basic Volts Hertz Method Curve Feature Definition Start boost Used to create additional torque for breakaway from zero speed and acceleration of heavy loads at lower speed...

Page 328: ...fan pump loads use variable frequency drives that are equipped with a specific V Hz curve where voltage is proportional to square of the frequency Figure 158 Basic Volts Hertz Fan Pump Method V 2 x f...

Page 329: ...value or you can run a motor test to identify the motor resistance value see Motor Tests and Autotune Procedure on page 342 Motor nameplate data and test results are ways to accurately estimate the re...

Page 330: ...mpact loads The Current Limiting attribute uses a PI regulator to control the OutputCurrent by adjusting the velocity reference Figure 162 Effects of Current Limiting on an Aggressive Acceleration Vel...

Page 331: ...Attribute Name Conditional Implementation Description 3022 SINT Current Limiting Enable Frequency Control Induction Motor only When enabled limits the rate of change to the velocity reference during h...

Page 332: ...mit Attribute Value For current limiting the CurrentVectorLimit attribute is used to help determine the OperativeCurrentLimit of the drive Set the CurrentVectorLimit value to artificially lower Operat...

Page 333: ...Feedback A pk Commanded Frequency Hz Iq Feedback Id Feedback TIP We recommend you leave the angle voltage gains and filter bandwidth at the default values Attribute Offset Type Attribute Name Conditi...

Page 334: ...able the Stability Control Feature In this example a Message Configuration MSG instruction is configured to enable the StabilityControl attribute for axis 3 of a dual axis inverter The Instance field...

Page 335: ...e SkipSpeedx attribute Any command set point within this band is adjusted by the skip speed feature to fall at either the upper or lower skip speed band boundary value The skip speed feature contains...

Page 336: ...is set to 15 hz The skip band is 10 hz wide At point A the axis is enabled and the motor begins to rotate at 5 Hz even though the command is 0 Hz As the command reaches hysteresis point the output fr...

Page 337: ...llow the commanded acceleration profile due to the lack of developed torque Figure 168 Acceleration Profile during Normal Start No Flux Up With the Automatic setting default DC current is applied to t...

Page 338: ...tor Voltage Rotor Speed Motor Flux Stator Frequency Flux Up Voltage Time Flux Up Normal Operation IR Voltage SVC Greater of IR Voltage or Voltage Boost V Hz ID Access Attribute Conditional Implementat...

Page 339: ...nizer right click an axis and choose Properties 2 Select the Parameter List category and scroll to FluxUpControl 3 From the FluxUpControl pull down menu choose the proper delay value appropriate for y...

Page 340: ...et parameters were taken from a typical motor performance datasheet Max Speed and Peak Current values are typically application dependent Figure 171 Motor Nameplate Datasheet Example Motor Type Defaul...

Page 341: ...FOR MANC E DAT A H P kW SY NC R PM F L R PM FR AME ENCL OSUR E K V A CODE DESIG N 1 75 1800 1725 56C TENV P A PH H z V OL TS FL AMPS STAR T TY PE DUTY INSL S F AMB C EL EV ATION 3 60 230 3 1 5 INVER...

Page 342: ...e Induction Motors on page 210 for more information Control Mode Description Calculate Static Dynamic Autotune inertia test Induction motor Frequency control Basic volts hertz Not required Not require...

Page 343: ...s 5 Click OK Motor Analyzer Category Troubleshooting CalculateModel When a Calculate test is run the drive uses motor nameplate data to estimate the motor s Rated Flux Current Stator Resistance Rs Sta...

Page 344: ...nter initial estimates for Rated Flux Current Stator Resistance Rs Stator Leakage Reactance X1 and Rotor Leakage Reactance X2 into the Motor Model fields For the Logix Designer application version 29...

Page 345: ...orithms that you can use to prevent the motor from overheating Generic Motors The default thermal model is a generic I2T Class 10 overload protection algorithm This model is active if the MotorWinding...

Page 346: ...etermined from the MotorWindingToAmbientResistance and MotorWindingToAmbientCapacitance values to estimate the motor thermal capacity based on the motor output current The MotorOverloadLimit attribute...

Page 347: ...on and vice versa The SLAT feature can be configured via the SLATConfiguration attribute as Table 160 SLAT Configuration Descriptions Direction of the applied torque and direction of the material move...

Page 348: ...cityCommand is set to a level that results in the velocity regulator s control effort becoming saturated when the motor s speed is mechanically limited The TorqueReference value equals the TorqueTrim...

Page 349: ...e TorqueReference value equals the TorqueTrim value resulting in a positive VelocityError value Should the mechanical speed limitation be removed example web break the motor accelerates and VelocityEr...

Page 350: ...ps to configure the SLAT attributes 1 In the Controller Organizer right click an axis and choose Properties 2 Select the General category The General dialog box appears 3 From the Axis Configuration p...

Page 351: ...pears 7 From the SLATConfiguration pull down menu choose the SLAT configuration appropriate for your application 8 Click Apply 9 Enter values for SLATSetPoint and SLATTimeDelay attributes appropriate...

Page 352: ...n the EtherNet IP Network Reference Manual publication MOTION RM003 for more information on cyclic read and cyclic write For MAJ instruction 2198 xxxx ERS3 drives firmware 7 001 or earlier When using...

Page 353: ...Tag DirectCommandVelocity to alter the Velocity Command when the existing MDS instruction is being executed To stop the axis use MAS instructions keeping the Change Decel to NO and by using an SSV ins...

Page 354: ...is similar to a Motion Axis Jog MAJ instruction however the MDS instruction does not set the acceleration deceleration rates The acceleration rate is dynamically set by the ramp attributes configured...

Page 355: ...rol Feature Support Appendix D The speed is increased by updating the speed reference and then re executing the MDS instruction Figure 180 Increase Speed The speed is decreased by updating the speed r...

Page 356: ...RTANT You must command zero torque in the CommandTorque and TorqueTrim attributes before you can use the Motion Axis Stop MAS instruction to stop aspecificmotionprocessonanaxisortostoptheaxiscompletel...

Page 357: ...hat defines the maximum deceleration decreasing speed of the velocity command output by the Ramp Generator RampJerk Control Set 379 TheRampJerkControlattribute setsthepercentageof accelerationordecele...

Page 358: ...not configured to use an integral thermal switch or an integral motor winding temperature is not available If you have a separate monitoring algorithm within your Logix5000 controller you can use the...

Page 359: ...y current to the motor phases such that all current through the motor is flux current However due to the electrical angle of the motor at the time of the MSO instruction it may not be possible to veri...

Page 360: ...ProvingConfiguration pull down menu choose Enabled to enable the torque proving feature 4 Enter a value in the TorqueProveCurrent attribute appropriate for your application 5 Click OK The TorqueProve...

Page 361: ...urrent depends on catalog number of the drive Phase Loss Detection Current Example In this example a 2198 D020 ERS3 dual axis inverter is paired with a VPL B1003T C motor with 6 77 A rms rated current...

Page 362: ...n is also supported when configured for Frequency Control As the estimated Iq current within the motor increases the velocity reference is reduced in proportion to the VelocityDroop attribute Therefor...

Page 363: ...ity Droop Configuration Follow these steps to configure the velocity droop attribute 1 In the Controller Organizer right click an axis and choose Properties 2 Select the Parameter List category and sc...

Page 364: ...ry adjusts or adapts various filter parameters and control loop gains to compensate for unknown and changing load conditions while the drive is running Its primary function is to Automatically adjust...

Page 365: ...86 Field Weakening Region Extended Speed Feature The Extended Speed feature is implemented in the Logix Designer application to help prevent accidental operation at unsafe speeds With this feature the...

Page 366: ...d Speed feature in Axis Properties Motor category of the Logix Designer application version 29 00 or later Follow these steps to enable operating at speeds greater than the Bus Overvoltage Speed 1 In...

Page 367: ...64 category 163 194 audience for this manual 13 auxiliary feedback encoders 87 axis properties 168 170 179 183 187 196 axis unstable 224 B back EMF 365 basic volts hertz 172 327 BC connector pinouts 7...

Page 368: ...ion 309 master feedback 169 MDS instruction 354 menu screens 139 140 moduleproperties 152 153 154 156 160 161 163 165 194 inhibit module 310 motion group 166 safety 159 motor analyzer category 176 193...

Page 369: ...3 shield clamp 121 E earth ground 99 EMC motor ground termination 115 EMI electromagnetic interference bonding 40 enable time synchronization 150 enclosure power dissipation 38 requirements 34 sizing...

Page 370: ...ing your drive 33 bonding examples 41 subpanels 42 cable categories 44 circuit breakers 35 clearance requirements 38 contactor selection 36 fuse selection 35 HF bonding 40 noise zones 43 system mounti...

Page 371: ...nect diagram 290 motion direct commands STO bypass 269 warning messages 270 drive start instruction 353 group 166 safety 159 Motion Analyzer website 14 motor accel decel problems 225 analyzer category...

Page 372: ...ulator 153 bus sharing group 153 161 201 group example 201 power structure 152 160 power dissipation 38 power up 200 power brake cable preparation 119 product selection website 14 publications related...

Page 373: ...mann 81 motor thermal 80 speed limited adjustable torque 347 SPM motor closed loop axis properties 183 SS1 stopping function 30 stability control 333 standard actions 230 startup sequence 145 status i...

Page 374: ...wiring 125 ungrounded power configuration 95 universal feedback connector kit 125 V valid feedback types 196 digital AqB TTL 196 digital AqB with UVW 197 sine cosine 198 sine cosine with Hall 199 velo...

Page 375: ......

Page 376: ...iterature Library Installation Instructions Manuals Brochures and Technical Data http www rockwellautomation com global literature library overview page Product Compatibility and Download Center PCDC...

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