Allen-Bradley Kinetix 5700 User Manual
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Allen-Bradley Kinetix 5700 User Manual

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See also: Reference Manual , Instruction and Installation Manual
User Manual
Original Instructions
Kinetix 5700 Servo Drives
Catalog Numbers 2198-P031, 2198-P070, 2198-P141, 2198-P208, 2198-RP088, 2198-RP200, 2198-RP263, 2198-RP312,
2198-D006-ERS3, 2198-D012-ERS3, 2198-D020-ERS3, 2198-D032-ERS3, 2198-D057-ERS3, 2198-S086-ERS3,
2198-S130-ERS3, 2198-S160-ERS3, 2198-S263-ERS3, 2198-S312-ERS3, 2198-D006-ERS4, 2198-D012-ERS4,
2198-D020-ERS4, 2198-D032-ERS4, 2198-D057-ERS4, 2198-S086-ERS4, 2198-S130-ERS4, 2198-S160-ERS4,
2198-S263-ERS4, 2198-S312-ERS4, 2198T-W25K-ER, 2198-CAPMOD-2240, 2198-CAPMOD-DCBUS-IO,
2198-DCBUSCOND-RP312

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  • Page 1 User Manual Original Instructions Kinetix 5700 Servo Drives Catalog Numbers 2198-P031, 2198-P070, 2198-P141, 2198-P208, 2198-RP088, 2198-RP200, 2198-RP263, 2198-RP312, 2198-D006-ERS3, 2198-D012-ERS3, 2198-D020-ERS3, 2198-D032-ERS3, 2198-D057-ERS3, 2198-S086-ERS3, 2198-S130-ERS3, 2198-S160-ERS3, 2198-S263-ERS3, 2198-S312-ERS3, 2198-D006-ERS4, 2198-D012-ERS4, 2198-D020-ERS4, 2198-D032-ERS4, 2198-D057-ERS4, 2198-S086-ERS4, 2198-S130-ERS4, 2198-S160-ERS4, 2198-S263-ERS4, 2198-S312-ERS4, 2198T-W25K-ER, 2198-CAPMOD-2240, 2198-CAPMOD-DCBUS-IO,...
  • Page 2 Important User Information Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.

  • Page 3: Table Of Contents

    Start Kinetix 5700 Servo Drives Series Change......16 About the Kinetix 5700 Servo Drive System ..... 17 DC-bus Power Supply Input Power Configurations .
  • Page 4 Connector Data and Feature Kinetix 5700 Connector Data ........94 Safe Torque-off Connector Pinout.
  • Page 5 Kinetix 5700 Inverters ........136...
  • Page 6 Configure and Start the Understand the Kinetix 5700 Display......188 Menu Screens ..........189 Kinetix 5700 Drive System Setup Screens .
  • Page 7 SAFE FLT Fault Codes ........277 Kinetix 5700 Status Indicators......278 Kinetix 5700 Accessory Module Status Indicators .
  • Page 8 Active Shunt Wiring Examples ....... . 360 Kinetix 5700 Servo Drive and Rotary Motor Wiring Examples . . . 362 Kinetix 5700 Servo Drive and Linear Actuator Wiring Examples .
  • Page 9 DC-bus Power Supply Configurations ......402 Regenerative Bus Supply Configurations ..... . . 404 for Kinetix 5700 Power Supplies Appendix E Motor Control Feature Support Frequency Control Methods .
  • Page 10 Table of Contents Field Weakening Mode ........446 Extended Speed Feature.

  • Page 11: Preface

    Updated the maximum current rating (40 A) for the 24V input power shared-bus connection system. Moved fault code tables (FLT Sxx, FLT Mxx, and INIT FLT for example), previously in Troubleshoot the Kinetix 5700 Drive System (chapter 7), to the attached spreadsheet.

  • Page 12: Conventions Used In This Manual

    Added Active Shunt Wiring Examples. Added external-bus capacitance calculations and updated the System Sizing Example with the external-bus capacitance value. Added the Maximum Motor Cable Lengths for Kinetix 5700 Power Supplies (Appendix D). Updated Motor Analyzer Category Troubleshooting with rated slip-speed information.

  • Page 13: Access The Attachments

    Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004 profile connector kits, drive power components, and other servo drive accessory items. Provides information on installing and wiring the Kinetix 5500 and Kinetix 5700 AC AC Line Filter Installation Instructions, publication 2198-IN003 line filters.
  • Page 14 System design guide to select the required (drive specific) drive module, power Kinetix 5700 Drive Systems Design Guide, publication KNX-RM010 accessory, feedback connector kit, and motor cable catalog numbers for your Kinetix 5700 drive system.

  • Page 15: Start

    Topic Page Kinetix 5700 Servo Drives Series Change About the Kinetix 5700 Servo Drive System DC-bus Power Supply Input Power Configurations Regenerative Bus Supply Input Power Configurations 8720MC-RPS Power Supply Input Power Configuration Motor and Auxiliary Feedback Configurations...

  • Page 16: Kinetix 5700 Servo Drives Series Change

    Chapter 1 Start Kinetix 5700 Servo Drives Single-axis and dual-axis inverters, catalog numbers 2198-xxxx-ERS3 (series B), include an enhancement that is not included in series A drives, but Series Change that is included in 2198-xxxx-ERS4 drives. • The drive-based (Monitored SS1 and Timed SS1) stopping functions...

  • Page 17: About The Kinetix 5700 Servo Drive System

    8720MC-RPSxxx Power Supply for one or more servo drives in multi-axis DC common-bus configurations. 2198-TCON-24VDCIN36 24V input wiring connectors, T-connectors, and bus-bars for most Kinetix 5700 drive modules that use the 24V shared- 2198-xxxx-P-T bus connection system (optional). 2198-BARCON-xxDCAC100 Shared-bus...
  • Page 18 Cat. No. Description Component Kinetix 5700 System 2198-K5700-MOUNTKIT Use to position the drive modules and identify drill-holes for mounting your Kinetix 5700 servo drive system. Mounting Toolkit Kinetix 5700 Cable 2198-K5700-CLAMPSPACER Replacement cable clamp spacers for 2198-Dxxx-ERSx dual-axis inverters. Clamp Spacer Kit The Allen-Bradley®...

  • Page 19: Dc-Bus Power Supply Input Power Configurations

    Chapter 1 DC-bus Power Supply Input A single 2198-Pxxx DC-bus (converter) power supply can supply the Kinetix 5700 drive system with 458…747V shared DC-bus power (7…46 kW). Power Configurations For additional output power (kW) you can install two or three 2198-P208 DC-bus power supplies.

  • Page 20: Multiple Dc-Bus Power Supply Configuration Example

    Input Capacitor AC Input Power 2198-P208 DC-bus Power Supplies Module Single-axis Inverter Dual-axis Inverters Bulletin 2198 shared-bus Kinetix 5700 Servo Drive System connection system for DC-bus (front view) and 24V DC control power. DC BUS 324…528V AC Three-phase Input Power...

  • Page 21: Extended Dc-Bus Configuration Example

    DC-bus at the end of cluster 1 and the beginning of cluster 2. The Kinetix 5700 servo drive system is capable of up to 208 A DC-bus current. Two accessory modules are needed when the DC-bus system current exceeds 104 A.

  • Page 22: Itrak Power Supply Configuration Example

    Digital inputs are wired to sensors and the control circuitry at the IOD connectors. The contactor-enable relay protects the DC-bus power supply in the event of shutdown fault conditions. Figure 4 - Typical iTRAK Power Supply Installation Bulletin 2198 Kinetix 5700 iTRAK System Shunt Module (top view) (optional component) Shared DC-bus Power...

  • Page 23: Regenerative Bus Supply Input Power Configurations

    Chapter 1 Regenerative Bus Supply The 2198-RPxxx regenerative bus supply (24…140 kW) provides full-line motoring and regenerative power to and from the Kinetix 5700 drive system. Input Power Configurations In addition, you can extend the DC-bus voltage to additional inverter clusters via accessory modules.
  • Page 24 MF-A MF-B MBRK 324…506V AC Three-phase Input Power 21mm (4 AWG-250 kcmil) 21mm (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin) Kinetix 5700 Servo Drive System 15-20 Nm (132-177 lbin) Line Disconnect (front view) Device Bonded Cabinet 2198-DBRxx-F Circuit Ground Bus...
  • Page 25 • Reduce circulating currents between different systems • Prevent all power supplies on the same input power source from nuisance thermal overload faults Figure 7 - Input Power to Multiple Kinetix 5700 Drive Systems DC-bus Power Dual-axis...

  • Page 26: Extended Regenerative Bus Configuration Example

    • Kinetix 5700 accessory modules provide connection points for the DC bus at the end of cluster 1 and the beginning of cluster 2. • The Kinetix 5700 servo drive system is capable of up to 208 A DC-bus current. Two parallel accessory modules are needed when the DC-bus system current exceeds 104 A.

  • Page 27: Itrak Power Supply Configuration Example

    Digital inputs are wired to sensors and the control circuitry at the IOD connectors. The contactor-enable relay protects the regenerative bus supply in the event of shutdown fault conditions. Figure 9 - Typical iTRAK Power Supply Installation Kinetix 5700 iTRAK System (top view) Active Shunt (optional component) DC–...

  • Page 28: 8720Mc-Rps Power Supply Input Power Configuration

    In this example, three-phase AC input power is fed to the Bulletin 8720MC regenerative power supply. The 8720MC-RPS DC-bus voltage supplies the Input Power Configuration Kinetix 5700 DC-bus via the capacitor module. • The 8720MC-RPS065 provides 65 A of DC-bus current. The 2198- CAPMOD-2240 capacitor module and 2198-DCBUSCOND-RP312 DC-bus conditioner are required to reduce voltage stress on the system components.

  • Page 29: Motor And Auxiliary Feedback Configurations

    Start Chapter 1 Motor and Auxiliary Feedback connections are made at the 2-pin motor feedback (MF) connector and the 15-pin universal feedback (UFB) connector. These examples illustrate Feedback Configurations how you can use the Bulletin 2198 connector kits for making these connections.

  • Page 30: Typical Communication Configurations

    Chapter 1 Start Typical Communication The Kinetix 5700 drives support any Ethernet topology including linear, ring, and star by using ControlLogix, GuardLogix, or CompactLogix controllers. Configurations These examples feature the ControlLogix 5570 programmable automation controllers with support for integrated motion and integrated safety over the EtherNet/IP network.

  • Page 31: Ring Topology

    Embedded Switch Technology Application Guide, publication ENET-AP005. Devices without dual ports, for example the display terminal, require a 1783-ETAP module to complete the network ring. Figure 13 - Kinetix 5700 Ring Communication Installation ControlLogix Controller Programming Network EtherNet/IP ControlLogix 5570 Controller...

  • Page 32: Star Topology

    Kinetix 5700 drive modules have dual ports, so linear topology is maintained from one module to another, but the Kinetix 5700 system and other devices operate independently. The loss of one device does not impact the operation of other devices.

  • Page 33: Functional Safety Configurations

    Start Chapter 1 Functional Safety Kinetix 5700 servo drives are capable of safe torque-off (STO) and safe stop 1 (SS1) drive-based safety functions via hardwired connections or integrated Configurations over the EtherNet/IP network. In addition, safely limited speed (SLS) and other controller-based safety instructions are also possible.

  • Page 34: Integrated Safety Configurations

    The GuardLogix or Compact GuardLogix safety controller issues the safe torque-off (STO) or safe stop (SS1) command over the EtherNet/IP network and the Kinetix 5700 servo drive executes the command. In this example, a single GuardLogix safety controller makes the Motion and Safety connections.
  • Page 35 Figure 17 - Motion and Safety Configuration (multi-controller) EtherNet/IP Studio 5000 Logix Designer LNK1 LNK2 NET OK 1783-BMS Application Stratix 5700 Switch Kinetix 5700 Servo Drive System 1585J-M8CBJM-x Any Logix 5000 Controller (top view) Ethernet (shielded) Cable (ControlLogix 5570 controller is shown) Motion Program 1734-AENTR...

  • Page 36: Safe Stop And Safe Monitor Configurations

    Chapter 1 Start Safe Stop and Safe Monitor Configurations Kinetix 5700 servo drives are capable of safe stop and safe monitor functions via drive-based and controller-based integrated safety over the EtherNet/IP network. IMPORTANT For applications with safe stop and safe monitor safety functions, the GuardLogix 5580 or Compact GuardLogix 5380 controllers must be used.

  • Page 37: Catalog Number Explanation

    Start Chapter 1 Catalog Number Explanation Kinetix 5700 drive module catalog numbers and performance descriptions. Table 5 - Kinetix 5700 Drive Module Catalog Numbers Module Continuous Continuous Output Continuous Output Kinetix 5700 Drive Width Output Power Current to Bus Current Cat.
  • Page 38 Chapter 1 Start Table 7 - Shared-bus Connector Kit Catalog Numbers Shared-bus Connector Kits Drive Module Application Description Cat. No. Cat. No. 2198-P031, 2198-P070, 2198-P141, 2198-P208 2198-CAPMOD-2240 (1) (2) 2198-TCON-24VDCIN36 2198-RP088, 2198-RP200, 2198-DCBUSCOND-RP312 24V DC input power to control bus 24V DC input wiring connector 2198T-W25K-ER, 2198-RP263, 2198-RP312, (1) (2)

  • Page 39: Agency Compliance

    3 m (9.8 ft), not to exceed 30 m (98.4 ft). • Use Bulletin 2198T power cables with iTRAK systems. • Install the Kinetix 5700 system inside an approved enclosure. Run input power wiring in conduit (grounded to the enclosure) outside of the enclosure.
  • Page 40 Chapter 1 Start Notes: Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...

  • Page 41: Plan The Kinetix 5700 Drive System Installation

    AutoCAD (DXF) drawings of the product, refer to https://www.rockwellautomation.com/global/support/selection.page. System Mounting Requirements • To comply with UL and CE requirements, the Kinetix 5700 drive system must be mounted in a grounded conductive enclosure offering protection as defined in standard IEC 60529 to IP20 such that they are not accessible to an operator or unskilled person.

  • Page 42: Dc-Bus Voltage Regulation

    (HF) energy and reduce electrical noise. Bond the Kinetix 5700 system power supply, inverter modules, iTRAK® power supply, accessory modules, and line filter grounding screws by using a braided ground strap as shown in Figure 91 on page 139.
  • Page 43 Plan the Kinetix 5700 Drive System Installation Chapter 2 In Enable Request mode, you must issue an MSO instruction (after AC is applied and CIP_Axis_State = STOPPED) to enable voltage regulation on the regenerative bus supply and an MSF instruction to disable voltage regulation.

  • Page 44: Ac Line Filter Selection

    Chapter 2 Plan the Kinetix 5700 Drive System Installation 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-Pxxx DC-bus power supply or 2198-RPxxx regenerative bus supply as possible.

  • Page 45: Ac Line Impedance Considerations

    A transformer can be required to match the voltage requirements of the power supply to the available service. For the AC input voltage requirements, refer to the Kinetix 5700 power specifications in the Kinetix Servo Drives Technical Data, publication KNX-TD003.
  • Page 46 Chapter 2 Plan the Kinetix 5700 Drive System Installation • Powering multiple (two or more) regenerative bus supplies from the same AC input-power source. – Switching ripple from each regenerative bus supply can interfere with other regenerative bus supplies on the same AC input power source.
  • Page 47 Plan the Kinetix 5700 Drive System Installation Chapter 2 EXAMPLE The DC-bus power supply or regenerative bus supply is rated 1 Hp, 480V, 2.7 A input. The supply transformer is rated 50,000VA (50 kVA), 5% impedance. 480V line-line = 102.6 Ohms...

  • Page 48: Circuit Breaker/Fuse Selection

    Plan the Kinetix 5700 Drive System Installation Circuit Breaker/Fuse Selection The Kinetix 5700 power supplies 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 200,000 A (fuses) and 65,000 A (circuit breakers).

  • Page 49: 24V Control Power Evaluation

    2198-RPxxx regenerative bus supply. 24V Control Power Evaluation The Kinetix 5700 drive system requires 24V DC input for its control circuitry. Due to the 24V shared-bus connection system and the 24V current requirements of the Kinetix 5700 drives, a thorough evaluation of control power is required prior to implementation.

  • Page 50: Contactor Selection

    • three-phase power is removed and the power supply is protected under various fault conditions. • three-phase power is never applied to the Kinetix 5700 drive system before control power is applied. Contactor with auxiliary contacts is strongly recommended when used with 2198-RPxxx regenerative bus supply.

  • Page 51: Passive Shunt Considerations

    Plan the Kinetix 5700 Drive System Installation Chapter 2 Passive Shunt Considerations The 2198-Pxxx DC-bus power supplies all include an internal shunt that is wired to the shunt resistor (RC) connector at the factory. Bulletin 2198-Rxxx external passive shunts are available to provide additional shunt capacity for applications where the internal shunt capacity is exceeded.

  • Page 52: Active Shunt Considerations

    AC input power, 24V DC input power, or has a fault condition. ATTENTION: To avoid damage to the Kinetix 5700 drive system, wire the active shunt thermal switch to a digital input on the power supply and configure the Shunt Thermal Switch OK function in the Logix Designer application.
  • Page 53 Plan the Kinetix 5700 Drive System Installation Chapter 2 Table 17 - Compatible Active Shunt Specifications (no internal brake resistor) Continuous Resistance Resistance Continuous Peak Powerohm Input Voltage, Turn -on Power (internal) (minimum) Current Current Kinetix 5700 Power Supply Resistors Bus Voltage Cat.

  • Page 54: Enclosure Selection

    If the maximum ambient rating of the Kinetix 5700 drive system is 50 °C (122 °F) and if the maximum environmental temperature is 20 °C (68 °F), then T=30. In this example, the total heat dissipation is 416 W (sum of all components in enclosure).
  • Page 55 Plan the Kinetix 5700 Drive System Installation Chapter 2 Table 18 - Power Dissipation Specifications Usage as % of Rated Power Output (watts) DC-bus Power Supply Cat. No. 100% 2198-P031 2198-P070 2198-P141 2198-P208 Regenerative Bus Supply Cat. No. 2198-RP088 2198-RP200...

  • Page 56: Minimum Clearance Requirements

    Chapter 2 Plan the Kinetix 5700 Drive System Installation Minimum Clearance Requirements This section provides information to assist you in sizing your cabinet and positioning your Kinetix 5700 drive system: • Additional clearance is required for cables and wires or the shared-bus connection system connected to the top of the drive modules.

  • Page 57: Multi-Axis Shared Dc-Bus Configurations

    Zero-stack Tab and Cutout Aligned Multi-axis Shared DC-Bus Configurations The Kinetix 5700 shared DC-bus system can be supplied by the following sources: • Single 2198-Pxxx DC-bus power supply • Multiple 2198-P208 DC-bus power supplies (up to three are possible) •...
  • Page 58 Group of power supply and/or drive modules that are directly connected together via Cluster Kinetix 5700 DC bus-bars only. Group of drive modules that are directly connected together via Kinetix 5700 DC bus-bars Extended cluster and connected to the power supply cluster via customer-supplied DC-bus cable.

  • Page 59: Accessory Module Selection

    8720MC-RPS regenerative power supplies follow the same requirements as 2198-RPxxx regenerative bus supplies for accessory modules needed for extended clusters. See 8720MC-RPS wiring examples beginning on page 352. Table 21 - Introduction to Kinetix 5700 Accessory Modules Accessory Module Accessory Module Description Cat. No.
  • Page 60 DC Bus • 1 Drive cluster IMPORTANT In both of these examples, the Kinetix 5700 drive system includes two accessory modules per cluster. Flexible bus bars are included with only the 2198-CAPMOD-DCBUS-IO extension module. So, if you have two capacitor...

  • Page 61: Regenerative Bus Supply Systems

    Plan the Kinetix 5700 Drive System Installation Chapter 2 Regenerative Bus Supply Systems Mount the 2198-DCBUSCOND-RP312 DC-bus conditioner module on the far right or far left of any 2198-RPxxx regenerative bus supply system cluster, depending on the input power configuration.
  • Page 62 Chapter 2 Plan the Kinetix 5700 Drive System Installation Figure 27 - Regenerative Bus Supply Example/Extended Cluster/104 A System Regenerative Capacitor Capacitor Dual-axis Single-axis DC-bus Conditioner Bus Supply Inverters Module Module Inverters Module DC Bus DC Bus 90 m (295 ft) x 4 axes = 360 m (1182 ft)
  • Page 63 Extension module required on Cluster #2 for making DC-bus connections to Cluster #1. IMPORTANT In Figure 30, the Kinetix 5700 drive system includes two accessory modules in each of the clusters. Flexible bus bars are included with only the 2198-CAPMOD-DCBUS-IO extension module. So, if you have two capacitor...

  • Page 64: 8720Mc-Rps Or Other Regenerative Power Supply

    • 1 Drive cluster DC-bus conditioner is required only if the total power-cable length exceeds 400 m (1312 ft). IMPORTANT In both of these examples, the Kinetix 5700 drive system includes two accessory modules. Flexible bus bars are included with only the 2198-CAPMOD-DCBUS-IO extension module.

  • Page 65: Accessory Module Flowcharts

    Plan the Kinetix 5700 Drive System Installation Chapter 2 Accessory Module Flowcharts The following flowcharts are designed to help you determine the minimum number of accessory modules that are needed for your application. IMPORTANT Specific system demands can justify additional accessory modules based on the previously mentioned benefits.
  • Page 66 Chapter 2 Plan the Kinetix 5700 Drive System Installation In this flowchart, a 2198-Pxxx DC-bus power supply or 2198-RPxxx regenerative bus supply supplies DC-bus power to a multi-cluster drive system. TIP The ‘power supply’ cluster includes the 2198-Pxxx DC-bus power supply or 2198-RPxxx regenerative bus supply.

  • Page 67: Electrical Noise Reduction

    Electrical Noise Reduction This section outlines best practices that minimize the possibility of noise- related failures as they apply specifically to Kinetix 5700 system installations. For more information on the concept of high-frequency (HF) bonding, the ground plane principle, and electrical noise reduction, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001.
  • Page 68 Chapter 2 Plan the Kinetix 5700 Drive System Installation These illustrations show details of recommended bonding practices for painted panels, enclosures, and mounting brackets. Figure 36 - Recommended Bonding Practices for Painted Panels Stud-mounting the Subpanel Stud-mounting a Ground Bus...

  • Page 69: Bonding Multiple Subpanels

    Plan the Kinetix 5700 Drive System Installation Chapter 2 Bonding Multiple Subpanels Bonding multiple subpanels creates a common low impedance exit path for the high frequency energy inside the cabinet. Subpanels that are not bonded together do not necessarily share a common low impedance path. This...

  • Page 70: Establishing Noise Zones

    Plan the Kinetix 5700 Drive System Installation Establishing Noise Zones The Kinetix 5700 DC-bus system power can be supplied by the 2198-Pxxx DC-bus power supply or 2198-RPxxx regenerative bus supply. Observe these guidelines when routing cables used in the Kinetix 5700 system: •...
  • Page 71 Plan the Kinetix 5700 Drive System Installation Chapter 2 Figure 39 - Noise Zones (regenerative bus supply) Clean Wireway Dirty Wireway 24V DC Kinetix 5700 Servo Drive System Power Supply Safety Cable (hardwired drives only) DC BUS Circuit Protection I/O-A...

  • Page 72: Cable Categories For Kinetix 5700 Systems

    Chapter 2 Plan the Kinetix 5700 Drive System Installation Cable Categories for Kinetix 5700 Systems These tables indicate the best zone for running cables and wires. The tables also show how the use of ferrite sleeves and shielded cable can reduce the noise effects of dirty and very-dirty wires and cables.

  • Page 73: Noise Reduction Guidelines For Drive System Accessories

    129, mount the AC line filter on the same panel as the Kinetix 5700 power supply and as close to the power supply as possible. • Good HF bonding to the panel is critical. For painted panels, refer to...
  • Page 74 Chapter 2 Plan the Kinetix 5700 Drive System Installation External Passive Shunt Modules Observe these guidelines when mounting your 2198-R014, 2198-R031, or 2198-R127 external passive shunt modules: • Mount the shunt module outside of the drive system enclosure. • Mount the shunt module so that wiring routes in the very dirty zone inside the drive system enclosure.
  • Page 75 Plan the Kinetix 5700 Drive System Installation Chapter 2 Observe these guidelines when mounting your 2198-R004 external passive shunt resistor: • Mount the shunt resistors anywhere in the dirty zone, but as close to the Kinetix 5700 power supply as possible.
  • Page 76 Chapter 2 Plan the Kinetix 5700 Drive System Installation External Active Shunt Modules Observe these guidelines when mounting external active shunt outside the drive system enclosure: • Mount the shunt module so that wiring routes in the very dirty zone inside the drive system enclosure.
  • Page 77 Plan the Kinetix 5700 Drive System Installation Chapter 2 Observe these guidelines when mounting your external active shunt inside the drive system enclosure: • Mount the shunt resistors anywhere in the dirty zone, but as close to the Kinetix 5700 power supply as possible.
  • Page 78 Chapter 2 Plan the Kinetix 5700 Drive System Installation Notes: Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...
  • Page 79 SHOCK HAZARD: To avoid the hazard of electrical shock, perform all mounting and wiring of the Kinetix 5700 drive system before applying power. Once power is applied, connector terminals can have voltage present even when not in use.

  • Page 80: Determine Mounting Order

    IMPORTANT We recommend that you mount inverter modules and iTRAK power supplies according to power rating (highest to lowest) from left to right (or right to left) starting with the highest power rating. Table 27 - Kinetix 5700 Single-axis Inverter Modules Attribute 2198-S086-ERSx...
  • Page 81 Mount the Kinetix 5700 Drive System Chapter 3 IMPORTANT The maximum number of inverter modules depends on the maximum system capacitance precharge capability of the power supplies and the total system capacitance. When there are two or three DC-bus power supplies, they must be catalog number 2198-P208.
  • Page 82 Chapter 3 Mount the Kinetix 5700 Drive System This example is powered by the regenerative bus supply (positioned on the right) with inverter modules mounted according to power rating (highest to lowest) from right to left. Figure 46 - System Mounting Order Example (regenerative bus supply)

  • Page 83: Mount Accessory Modules

    Mount the Kinetix 5700 Drive System Chapter 3 Mount Accessory Modules Mount the 2198-CAPMOD-2240 capacitor module on the far right or far left of any system cluster, depending on the input power configuration. A capacitor module is required in the following situations: •...

  • Page 84: Zero-Stack Tab And Cutout

    Figure 48 - Zero-stack Tab and Cutout Example Zero-stack Tab and Cutout Engaged Kinetix 5700 Drive Modules (front view) For Kinetix 5700 system sizing examples, refer to Appendix C on page 391. The shared-bus connection system is used to extend the DC-bus power and Install Shared-bus 24V control power from one drive module to another.

  • Page 85: 24V Input Power Connection System

    Mount the Kinetix 5700 Drive System Chapter 3 Figure 49 - DC-bus Connector Example End Caps (2) DC-bus Link, 85 mm Align the DC-bus link DC-bus Link, 55 mm lower pivots with the DC-bus Link, 100 mm latches and push downward (seated) until they latch.
  • Page 86 Chapter 3 Mount the Kinetix 5700 Drive System Figure 50 - 24V Connector Example Bus-bar Connectors 24V Input Wiring 55 mm 85 mm Bus-bar 100 mm Bus-bar Bus-bar T-connectors Zero-stack Tab and Cutout Engaged 24V Input Wiring Connector Kinetix 5700 Drive System...

  • Page 87: Drill-Hole Patterns

    However, the far left position is preferred to accommodate the 24V shared bus. Also available to assist you in mounting Kinetix 5700 drive modules is the 2198-K5700-MOUNTKIT system mounting toolkit. Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...

  • Page 88: Drill-Hole Pattern Calculations

    Mount the Kinetix 5700 Drive System Drill-hole Pattern Calculations Figure 52 to calculate the left-to-right hole pattern for Kinetix 5700 drive system configurations that include the 2198-Pxxx DC-bus power supply. 1. The first hole location is zero. 2. The second hole location is module width minus 55 mm.
  • Page 89 Kinetix 5700 drive system configurations that include the 2198-RPxxx regenerative bus supply. Mounting holes for the Kinetix 5700 regenerative bus supply modules are based on 55 mm spacing, however, only the holes specified for each module are required.

  • Page 90: Drill-Hole Patterns By Using The System Mounting Toolkit

    2198-RP263, and 2198-RP312. For lifting instructions, see the Kinetix 5700 Regenerative Bus Supply Installation Instructions, publication 2198-IN014. Follow these steps to mount your Kinetix 5700 drive modules to the panel. 1. Lay out the hole pattern for each drive module in the enclosure.
  • Page 91 Mount the Kinetix 5700 Drive System Chapter 3 3. Loosely 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 page 4. Attach the DC-bus supply (or supplies) or the regenerative bus supply to the cabinet panel.
  • Page 92 Chapter 3 Mount the Kinetix 5700 Drive System Notes: Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...
  • Page 93 This chapter illustrates connectors and indicators for the Kinetix® 5700 drive system components, including the DC-bus power supply, regenerative bus supply, single-axis inverter, dual-axis inverter, and accessory modules. Also included in this chapter are connector pinouts and descriptions for Kinetix 5700 system components. Topic Page Kinetix 5700 Connector Data...

  • Page 94: Kinetix 5700 Connector Data

    Chapter 4 Connector Data and Feature Descriptions Kinetix 5700 Connector Data Use these illustrations to identify the connectors and indicators for the Kinetix 5700 drive modules. Figure 55 - DC-bus Power Supply Features and Indicators MOD– NET– 5700 DC– 24V–...
  • Page 95 Connector Data and Feature Descriptions Chapter 4 Figure 56 - Regenerative Bus Supply Features and Indicators 2198-RPxxx DC– 5700 Regenerative Bus Supply Top View (2198-RP088 is shown) OK– EN– DC– 24V– 24V+ 2198-RPxxx Regenerative Bus Supply Front View (2198-RP088 is shown) 2198-RP088 and 2198-RP200 Regenerative Bus Supply Bottom View...
  • Page 96 Chapter 4 Connector Data and Feature Descriptions Figure 57 - Dual-axis Inverter Features and Indicators MOD– NET– 5700 I/O-A I/O-B DC– 24V– UFB-A UFB-B 24V+ SB+/NC MF-A MF-B Dual-axis Inverter, Bottom View Dual-axis Inverter, Top View (2198-D006-ERS4 module is shown) (2198-D006-ERS4 module is shown) Dual-axis Inverter, Front View (2198-D006-ERS4 module is shown)
  • Page 97 Connector Data and Feature Descriptions Chapter 4 Figure 58 - Single-axis Inverter Features (2198-S086-ERSx, 2198-S130-ERSx, 2198-S160-ERSx) MOD– NET– 5700 DC– 24V– 24V+ SB+/NC Single-axis Inverter, Bottom View Single-axis Inverter, Top View (2198-S086-ERS4 module is shown) (2198-S086-ERS4 module is shown) – Single-axis Inverter, Front View MBRK (2198-S086-ERS4 module is shown)
  • Page 98 Chapter 4 Connector Data and Feature Descriptions Figure 59 - Single-axis Inverter Features (2198-S263-ERSx, 2198-S312-ERSx) MOD– NET– 5700 DC– 24V– 24V+ SB+/NC Single-axis Inverter, Top View (2198-S263-ERSx and 2198-S312-ERSx modules) – MBRK 21mm (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin) Single-axis Inverter, Bottom View Single-axis Inverter, Front View (2198-S263-ERSx and 2198-S312-ERSx modules)
  • Page 99 Connector Data and Feature Descriptions Chapter 4 Figure 60 - iTRAK Power Supply Features and Indicators MOD– NET– 5700 – iPS RDY IN 24V - IN 24V + iTRAK Power Supply (bottom view) iTRAK Power Supply (top view) iTRAK Power Supply (front view) iTRAK®...
  • Page 100 Chapter 4 Connector Data and Feature Descriptions Figure 61 - Capacitor Module and DC-bus Conditioner Module Features and Indicators 2198-CAPMOD-2240 Capacitor Module and DC BUS 5700 2198-DCBUSCOND-RP312 DC-bus Conditioner Module (side view, lug cover removed) MODULE STATUS 2198-CAPMOD-2240 Capacitor Module and 2198-DCBUSCOND-RP312 DC-bus Conditioner Module (front view) 24V–...
  • Page 101 Connector Data and Feature Descriptions Chapter 4 Figure 62 - Extension Module Features and Indicators 5700 2198-CAPMOD-DCBUS-IO Extension Module (side view, lug cover removed) 2198-CAPMOD-DCBUS-IO Extension Module (front view) 2198-CAPMOD-DCBUS-IO Extension Module (top views) Item Description Item Description Ground lug DC–...

  • Page 102: Safe Torque-Off Connector Pinout

    Description Signal Module Relay-driven contact that provides a 24V signal CONV OK+ to non-Kinetix 5700 inverters indicating that they can draw power from the regenerative Regenerative bus supply power supply. This signal is intended for use with OK– CONV OK–...

  • Page 103: Dc Bus And Shunt Resistor Connector Pinouts

    Connector Data and Feature Descriptions Chapter 4 DC Bus and Shunt Resistor Connector Pinouts The 2198-Pxxx DC-bus power supply RC connector wires to an external passive shunt when the internal shunt capacity is exceeded. The 2198-RPxxx regenerative bus supply has no internal shunt and the RC connector wires to an external active shunt.
  • Page 104 Chapter 4 Connector Data and Feature Descriptions Single-axis inverters, dual-axis inverters, and the regenerative bus supply have four configurable digital inputs with fast response times and ten configurable functions to choose from in the Logix Designer application. Table 37 - Inverter and Regenerative Bus Supply Digital Input Pinouts IOD Pin Description Signal...

  • Page 105: Ethernet Communication Connector Pinout

    Three-phase motor power Black Blue Chassis ground Green ATTENTION: To avoid damage to the Kinetix 5700 system power supply and inverter, make sure the motor power signals are wired correctly. Refer to Figure 100 Figure 101 beginning on page 153 for connector wiring examples.

  • Page 106: Motor Feedback Connector Pinouts

    Chapter 4 Connector Data and Feature Descriptions Motor Feedback Connector Pinouts These connector pinouts apply to the single-axis and dual-axis inverter. Table 42 - DSL Feedback Connector MF Pin Description Signal Bidirectional data and power for digital encoder interface D– Cable shield and grounding plate (internal to 2198-KITCON-DSL connector kit) termination point.

  • Page 107: Universal Feedback Connector Pinouts

    Connector Data and Feature Descriptions Chapter 4 Universal Feedback Connector Pinouts These connector pinouts apply to the single-axis and dual-axis inverter. Table 43 - Stegmann Hiperface and TTL Sine/Cosine Universal Feedback Connector UFB Pin Description Signal UFB Pin Description Signal Sine differential input + MTR_SIN+ Clock output +...

  • Page 108: Understand Control Signal Specifications

    Shared-DC Non-CIP Motion™ Converter and assigned to Regeneration OK. This signal is wired from RDY on the 8720MC-RPS unit and indicates to the Kinetix 5700 drive system that the 8720MC-RPS unit is ready to supply power. Enabled inverters enumerate a Bus Power Sharing fault if the Regeneration OK input goes inactive.

  • Page 109: Ethernet Communication Specifications

    – Figure 65 - Digital Input Circuitry IOD-1 or IOD-3 INPUT 24V DC IOD-2 Kinetix 5700 Drive Module Ethernet Communication Specifications The PORT1 and PORT2 (RJ45) Ethernet connectors provide communication with the Logix 5000™ controller. Attribute Value The drive auto-negotiates speed and duplex modes. These modes Communication can be forced through the Logix Designer application.

  • Page 110: Contactor Enable Relay

    The contactor-enable circuitry includes a relay-driven contact within the 2198-Pxxx DC-bus power supply and 2198-RPxxx regenerative bus supply. The relay protects the Kinetix 5700 drive system in the event of overloads or other fault conditions. An AC three-phase mains contactor must be wired in series between the branch circuit protection and the power supply.

  • Page 111: Converter Ok Relay

    The converter OK circuitry includes a relay-driven contact within the 2198-RPxxx regenerative bus supply. The relay provides a 24V signal to non- Kinetix 5700 inverters indicating that they can draw power from the regenerative power supply and that the power supply is not faulted.
  • Page 112 Turn-on and turn-off delays are specified by the MechanicalBrakeEngageDelay and MechanicalBrakeReleaseDelay settings. IMPORTANT Holding brakes that are available on Allen-Bradley® rotary motors are designed to hold a motor shaft at 0 rpm for up to the rated brake- holding torque, not to stop the rotation of the motor shaft, or be used as a safety device.

  • Page 113: Control Power

    Connector Data and Feature Descriptions Chapter 4 Control Power The Kinetix 5700 drive modules require 24V DC (21.6…26.4V) input power for control circuitry. IMPORTANT SELV or PELV rated power supplies must be used to energize external safety devices connected to the Kinetix 5700 safety inputs.

  • Page 114: Feedback Specifications

    (UFB) feedback 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) universal feedback connector and sharing connector pins in many cases. Use the 2198-K57CK-D15M universal feedback connector kit for terminating the feedback conductors.
  • Page 115 Connector Data and Feature Descriptions Chapter 4 Table 52 - Universal Feedback Signals by Device Type Stegmann Generic TTL Generic Sine/Cosine Heidenhain Heidenhain UFB Pin Hiperface Incremental Incremental EnDat Sine/Cosine EnDat Digital MTR_SIN+ MTR_AM+ MTR_SIN+ ENDAT_B+ – MTR_SIN– MTR_AM– MTR_SIN– ENDAT_B–...
  • Page 116 Figure 69 - Motor Thermostat Interface 8.25 kΩ 1 kΩ Jumper MTR_TS 0.1 μF Kinetix 5700 Servo Drive Stegmann Hiperface Feedback Figure 70 - Stegmann Hiperface Interface, MTR_SIN and MTR_COS Signals 220 pF Kinetix 5700 Servo Drive 2 kΩ...
  • Page 117 Hall inputs Single-ended, TTL, open collector, or none (MTR_S1, MTR_S2, and MTR_S3) Figure 72 - Generic TTL Incremental, MTR_AM and MTR_BM Signals 220 pF Kinetix 5700 Servo Drive 2 kΩ 1 kΩ to A/D Converter 1 kΩ...
  • Page 118 Chapter 4 Connector Data and Feature Descriptions Figure 73 - Generic TTL Interface, MTR_IM Signals Kinetix 5700 Servo Drive 1 kΩ MTR_IM+ 121 Ω to AqB Counter 1 kΩ MTR_IM- 56 pF 56 pF Shaded area indicates components that are part of the circuit, but support other feedback device types (not used for Generic TTL incremental support).
  • Page 119 Connector Data and Feature Descriptions Chapter 4 Generic Sine/Cosine Feedback Table 54 - Generic Sine/Cosine Incremental Specifications Attribute Value Sine/Cosine interpolation 2048 counts/sine wave period Input frequency 250 kHz, max (MTR_SIN and MTR_COS) Differential input voltage 0.6…1.2V, p-p (MTR_SIN and MTR_COS) Commutation angle verification performed at the first Hall signal Commutation verification transition and periodically verifies thereafter...
  • Page 120 EnDat sine/cosine interface schematic. It is identical to the Stegmann Hiperface (MTR_SIN and MTR_COS) schematic. Figure 75 - EnDat Sin/Cos and EnDat Digital Interface Schematic for Serial Communication Kinetix 5700 Servo Drive Shaded area indicates components that are part of the circuit, but support other feedback device types (not used for EnDat support).

  • Page 121: Auxiliary Feedback Specifications

    Contact your local distributor or Rockwell Automation representative for support options. Auxiliary Feedback Specifications The Kinetix 5700 inverters support multiple types of feedback devices by using the 15-pin (UFB) connector and sharing connector pins in many cases. Refer Configure Feedback-only Axis Properties...
  • Page 122 114. Allen-Bradley Bulletin 842HR, 844D, 847H, and 847T encoders are the preferred encoders for auxiliary feedback connections. Table 59 - Allen-Bradley Auxiliary Feedback Encoders Cat. No.

  • Page 123: Encoder Phasing Definitions

    Connector Data and Feature Descriptions Chapter 4 Encoder Phasing Definitions For TTL encoders, the drive position increases when A leads B. Clockwise motor rotation is assumed, when looking at the shaft. Figure 76 - TTL Encoder Phasing 360° 90° 90° 90°...

  • Page 124: Absolute Position Feature

    Chapter 4 Connector Data and Feature Descriptions The drive UFB feedback connector uses Hall signals to initialize the commutation angle for permanent magnet motor commutation. Figure 78 - Hall Encoder Phasing Absolute Position Feature The absolute position feature tracks the position of the motor, within the multi-turn retention limits, while the drive is powered off.

  • Page 125: Functional Safety Features

    Chapter 4 Functional Safety Features Kinetix 5700 drives have the capability to safely turn off the inverter power transistors in response to a monitored digital input, in accordance with Stop Category 0 behavior. Hardwired and integrated safety options are available on all Kinetix 5700 servo drives.
  • Page 126 Chapter 4 Connector Data and Feature Descriptions Notes: Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...

  • Page 127: Connect The Kinetix 5700 Drive System

    This chapter provides procedures for wiring your Kinetix® 5700 system components and making cable connections. Topic Page Basic Wiring Requirements Input Power Configurations for Kinetix 5700 Power Supplies Ground Screw/Jumper Settings Ground the Drive System Wiring Requirements Wiring Guidelines Wire the Power Connectors...

  • Page 128: Basic Wiring Requirements

    Connect the Kinetix 5700 Drive System Basic Wiring Requirements This section contains basic wiring information for the Kinetix 5700 drive system power supplies, servo drives, the iTRAK® power supply, and accessories. ATTENTION: Plan the installation of your system so that you can perform all cutting, drilling, tapping, and welding with the system removed from the enclosure.

  • Page 129: Input Power Configurations For Kinetix 5700 Power Supplies

    Connect the Kinetix 5700 Drive System Chapter 5 Input Power Configurations The Kinetix 5700 drive system power supply can be either the 2198-Pxxx DC-bus power supply or the 2198-RPxxx regenerative bus supply. The input for Kinetix 5700 Power power components and wiring depend on which power supply is used.
  • Page 130 Chapter 5 Connect the Kinetix 5700 Drive System Figure 81 - Impedance-grounded Power Configuration (WYE secondary) 2198-Pxxx DC-bus Power Supply (bottom view) Transformer (WYE) Secondary Transformer Three-phase Circuit Input VAC Protection Contactor Phase Ground Connect to Bonded Cabinet drive module Ground ground stud.
  • Page 131 Connect the Kinetix 5700 Drive System Chapter 5 Ungrounded Power Configurations The ungrounded power configuration (Figure 83), corner-grounded (Figure 82), and impedance-grounded (Figure 81) power configurations do not provide a neutral ground point. IMPORTANT If you determine that you have ungrounded, corner-grounded, or...

  • Page 132: Regenerative Bus Supply

    Chapter 5 Connect the Kinetix 5700 Drive System Regenerative Bus Supply Before wiring input power to your 2198-RPxxx regenerative bus supply, you must determine the type of input power within your facility. The regenerative bus supply is designed to operate in grounded-wye and impedance grounded environments.
  • Page 133 Connect the Kinetix 5700 Drive System Chapter 5 This impedance-grounded power configuration (Figure 85) does not provide a neutral ground point. ATTENTION: Ungrounded systems do not reference each phase potential to a power distribution ground. This can result in an unknown potential to earth ground.
  • Page 134 Chapter 5 Connect the Kinetix 5700 Drive System This corner-grounded power configuration (Figure 86) includes an isolation transformer that results in grounded-wye power distribution. Figure 86 - Corner-grounded Power Configuration (with isolation transformer) 2198-RPxxx Regenerative Bus Supply (bottom view) Isolation...

  • Page 135: Ground Screw/Jumper Settings

    Kinetix 5700 inverters. Settings Kinetix 5700 Drive System Power Supply The Kinetix 5700 drive system power supply can be either 2198-Pxxx DC-bus power supply or 2198-RPxxx regenerative bus supply. DC-bus Power Supply The 2198-Pxxx DC-bus power supply has a factory-installed ground screw for grounded-wye power distribution.

  • Page 136: Kinetix 5700 Inverters

    (1) Ground screw/jumper is included with the drive, but not installed. Table 64 summarizes the ground screw/jumper settings required for the 2198-xxxx-ERSx inverters depending on the Kinetix 5700 power supply in use. Table 64 - Ground Screw/Jumper Setting for 2198-xxxx-ERSx Inverters Inverter Ground Jumper Setting Based on Selected Power Supply •...

  • Page 137: Kinetix 5700 Itrak Power Supply

    Connect the Kinetix 5700 Drive System Chapter 5 Kinetix 5700 iTRAK Power Supply The 2198T-W25K-ER iTRAK power supply has a factory-installed ground screw for grounded-wye power distribution and is compatible with the 2198-Pxxx DC-bus power supply and 2198-RPxxx regenerative bus supply.
  • Page 138 Chapter 5 Connect the Kinetix 5700 Drive System Single-axis inverters (catalog numbers 2198-S086-ERSx, 2198-S130-ERSx, and 2198-S160-ERSx) have a ground-jumper access door on the back of the unit. Two captive screws secure the jumper. Figure 89 - Remove/Install the Single-axis Inverter Ground Jumper...

  • Page 139: Ground The Drive System

    Agency Compliance page Ground the System Subpanel Ground Kinetix 5700 power supplies, inverters, and accessory modules to a bonded cabinet ground bus with a braided ground strap. Keep the braided ground strap as short as possible for optimum bonding. Figure 91 - Connect the Ground Terminal...

  • Page 140: Ground Multiple Subpanels

    Chapter 5 Connect the Kinetix 5700 Drive System Ground Multiple Subpanels In this figure, the chassis ground is extended to multiple subpanels. Figure 92 - Subpanels Connected to a Single Ground Point Follow NEC and applicable local codes. Bonded Ground Bus...

  • Page 141: Wiring Requirements

    Connect the Kinetix 5700 Drive System Chapter 5 Wiring Requirements Wires must be copper with 75 °C (167 °F) minimum rating. Phasing of main AC power is arbitrary and earth ground connection is required for safe and proper operation. Refer to...
  • Page 142 (1) Shared DC-bus power connections are always made from power supply to power supply over the bus-bar connection system. These terminals do not receive discrete wires. (2) 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.
  • Page 143 Connect the Kinetix 5700 Drive System Chapter 5 Table 68 - Single-axis Inverter Wiring Requirements Connects to Terminals Wire Size Strip Length Torque Value Single-axis Inverter Description Cat. No. (AWG) mm (in.) N•m (lb•in) Signal Motor power cable depends on motor/ 2198-S086-ERSx drive combination.
  • Page 144 Chapter 5 Connect the Kinetix 5700 Drive System Table 69 - Dual-axis Inverter Wiring Requirements Connects to Terminals Wire Size Strip Length Torque Value Dual-axis Inverter Description Cat. No. (AWG) mm (in.) N•m (lb•in) Signal Motor power cable 2198-D006-ERSx depends on motor/ 2198-D012-ERSx drive combination.

  • Page 145: Wiring Guidelines

    Wiring Guidelines Use these guidelines as a reference when wiring the power connectors on your Kinetix 5700 drive modules. IMPORTANT For connector locations of the Kinetix 5700 drive modules, refer to Kinetix 5700 Connector Data page When removing insulation from wires and tightening screws to secure the...
  • Page 146 0.7…0.8 2198T-W25K-ER 6 (10) (6.1…7.0) (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. See 24V Control Power Evaluation page 49 for more information.

  • Page 147: Wire The Input Power Connector

    Connect the Kinetix 5700 Drive System Chapter 5 Wire the Input Power Connector The input power (IPD) connector applies to the 2198-Pxxx DC-bus power supply and 2198-RPxxx regenerative bus supply. ATTENTION: Make sure the input power connections are correct when wiring the IPD connector plug.

  • Page 148: Wire The Contactor Enable Connector

    Converter OK relay. ATTENTION: Wiring the contactor enable relay is required. To avoid personal injury or damage 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 or regenerative bus supply is protected under various fault conditions.

  • Page 149: Wire The Digital Input Connectors

    Connect the Kinetix 5700 Drive System Chapter 5 Wire the Digital Input This section provides guidelines to assist you in making digital input connections. The digital inputs (IOD) and safety (STO) connector plugs for Connectors all 2198-xxxx-ERS3 and 2198-xxxx-ERS4 drives require special attention to help keep the plugs seated properly during normal operation.

  • Page 150: Connector Plugs

    Chapter 5 Connect the Kinetix 5700 Drive System 2198-xxxx-ERS4 and 2198-xxxx-ERS3 (series B) Connector Plugs The safety and digital-input connector plugs have two locking leavers that you push in a clockwise direction as you insert the plugs into the drive connector.

  • Page 151: Wire The Digital Inputs Connector

    Connect the Kinetix 5700 Drive System Chapter 5 Wire the Digital Inputs Connector The digital inputs (IOD) connector applies to the DC-bus power supply, 2198-RPxxx regenerative bus supply, single-axis inverter, and dual-axis inverters and use spring tension to hold wires in place.

  • Page 152: Wire Motor Power And Brake Connectors

    Chapter 5 Connect the Kinetix 5700 Drive System Wire Motor Power and Brake Motor power connections are made at the MP connector on the bottom of the dual-axis and single-axis inverters. Motor brake connections are made at the Connectors BC connector. On dual-axis inverters, the BC connectors are on either side of the MP connectors on the bottom of the drive.
  • Page 153 Connect the Kinetix 5700 Drive System Chapter 5 Figure 100 - MP and BC Connector Wiring (dual-axis inverters) 2198-Dxxx-ERSx Dual-axis Inverters (2198-D006-ERS4 drive is shown) Motor Brake I/O-A I/O-B (BC) Connector Plugs UFB-A UFB-B MBRK-A MBRK-B W-A V-A U-A W-B V-B U-B –...
  • Page 154 Chapter 5 Connect the Kinetix 5700 Drive System Figure 101 - MP and BC Connector Wiring (single-axis inverters) 2198-S086-ERSx 2198-S130-ERSx or 2198-S160-ERSx Single-axis Inverters (front view) (2198-S086-ERS4 drive is shown) – Motor Brake MBRK (BC) Connector Plug – MBRK Tie Wrap...

  • Page 155: Maximum Cable Lengths

    Connect the Kinetix 5700 Drive System Chapter 5 Figure 102 - MP and BC Connector Wiring (single-axis inverters) 2198-S263-ERSx or 2198-S263-ERSx or 2198-K57CK-D15M 2198-S312-ERSx 2198-S312-ERSx Motor Feedback Single-axis Inverters Single-axis Inverters Connector Kit (side view) (front view) MBRK Motor Brake Motor Power –...
  • Page 156 Chapter 5 Connect the Kinetix 5700 Drive System IMPORTANT These examples feature the 2198-RPxxx regenerative bus supply, however, they also apply to the 2198-Pxxx DC-bus power supply. Figure 103 - Regenerative Bus Supply Example/Center Power Supply Cluster/104 A, max Regenerative...
  • Page 157 Connect the Kinetix 5700 Drive System Chapter 5 Table 79 - Recommended DC-bus Cable Gauge Recommended DC-bus Cable Gauge Regenerative Bus Supply Cat. No. (AWG/MCM) 2198-RP088 53.5 (1/0) 2198-RP200 2198-RP263 152 (300 MCM) 2198-RP312 DC-bus Power Supply Recommended DC-bus Cable Gauge Cat.
  • Page 158 IMPORTANT For more information on maximum motor cable lengths, see the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002. This cable length example is based on the Kinetix 5700 system in Figure 103 page 156.

  • Page 159: Wiring Single Cables

    (2) Due to the motor power conductor size, VPC-B3004 motors do not support single cable technology. See the Motor Power Cable Compatibility table on page 163 for VPC-Bxxxxx-S and VPC-Bxxxxx-Y motor cables intended for use with Kinetix 5700 drives. Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...

  • Page 160: Motor Feedback Connections

    Chapter 5 Connect the Kinetix 5700 Drive System Motor Feedback Connections Single motor-cable feedback connections are made by using the 2198-KITCON-DSL feedback connector kit. • 2090-CSxM1DE cables include the connector kit pre-wired to the feedback conductors. • 2090-CSxM1DG cables have flying-lead feedback conductors. The 2198-KITCON-DSL feedback connector kit must be purchased separately and installed.

  • Page 161: Apply The Single Motor Cable Shield Clamp

    Connect the Kinetix 5700 Drive System Chapter 5 Apply the Single Motor Cable Shield Clamp Factory-supplied 2090-Series single motor cables are shielded, and the braided cable shield must terminate at the drive during installation. A small portion of the cable jacket has been removed to expose the shield braid. The exposed area must be clamped (with the clamp provided) at the bottom front of the drive.
  • Page 162 Chapter 5 Connect the Kinetix 5700 Drive System 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-tight torque on the clamp knob is required. The cable should not move within the clamp under its own weight or when slight pressure is applied by hand.

  • Page 163: Wiring Power/Brake And Feedback Cables

    4 for each drive in multi-axis configurations. Wiring Power/Brake and Kinetix 5700 drives are also compatible with many other Allen-Bradley® motors and actuators that have separate power/brake and feedback cables. Feedback Cables Follow these guidelines when 2090-CPxM7DF (power/brake) cables and 2090-CFBM7DF (feedback) cables are used in a new installation or reused in an existing installation with Kinetix 5700 servo drives.

  • Page 164: Motor Power/Brake Cable Series Change

    Chapter 5 Connect the Kinetix 5700 Drive System Table 86 - Legacy Motor Power Cables Motor Cable Description Cat. No. Power/brake, threaded 2090-XXNPMF-xxSxx Standard Power-only, bayonet 2090-XXNPMP-xxSxx Power/brake, threaded 2090-CPBM4DF-xxAFxx Continuous-flex Power-only, threaded 2090-CPWM4DF-xxAFxx Power-only, bayonet 2090-XXTPMP-xxSxx Table 87 - Induction Motor Power Cable Specifications...

  • Page 165: Dual-Axis Inverter Power/Brake Cable Installation

    Cable Preparation for 12 and 10 AWG Cables 2090-CPBM7DF (series 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 short and stiff to reach the MP connector plug and provide adequate stress relief.
  • Page 166 Chapter 5 Connect the Kinetix 5700 Drive System Include a new 12 mm (0.5 in.) section of cable jacket and slide it down to the end of the shield braid. 221 (8.7) Dimensions are in mm (in.) 10.0 (0.39) Edge of...
  • Page 167 Connect the Kinetix 5700 Drive System Chapter 5 Only finger-tight torque on the clamp knob is required. The cable should not move within the clamp under its own weight or when slight pressure is applied by hand. IMPORTANT If the power/brake cable shield on the dual-axis inverter has a loose fit inside the shield clamp, use a clamp spacer to reduce the clamp diameter.

  • Page 168: Single-Axis Inverter Power/Brake Cable Installation

    2090-CPBM7DF (series B) 10 AWG cables are designed for use with Kinetix 5700 single-axis inverters and do not require any modifications. SHOCK HAZARD: To avoid hazard of electrical shock, make sure shielded power cables are grounded according to recommendations.
  • Page 169 Connect the Kinetix 5700 Drive System Chapter 5 Table 90 - Brake Conductor Trimmed Length Power Conductor Size Brake Conductor Length mm (in.) 6, 8, 10 315 (12.4) 2 and 4 375 (14.7) Figure 112 page 170 for a typical series-A installation example. For strip...
  • Page 170 Chapter 5 Connect the Kinetix 5700 Drive System Figure 112 - Single-axis Inverter Cable Installation (series A and B, 10 AWG cables) 2198-K57CK-D15M 2198-Sxxx-ERSx Motor Feedback Single-axis Inverter Connector Kit (front view) Overall Cable Shield Clamp Screw Motor Brake –...
  • Page 171 Connect the Kinetix 5700 Drive System Chapter 5 2. Align the clamp-bracket captive screw with hole in chassis and tighten to 1.6 N•m (14 lb•in). 2198-S263-ERSx or 2198-S312-ERSx Captive Screw Single-axis Inverter (bottom view) Ground Conductor Termination Block Cable Clamp Cable Clamp Bracket 3.

  • Page 172: Motor Feedback Connections

    Chapter 5 Connect the Kinetix 5700 Drive System Motor Feedback Connections You can connect motor feedback to the 2-pin motor feedback (MF) connector or the 15-pin universal feedback (UFB) connector with the associated feedback connector kit. Table 91 - Feedback Connector Kit Options...
  • Page 173 Connect the Kinetix 5700 Drive System Chapter 5 Table 93 - Legacy Motor Feedback Cables Motor Cable Description Cable Cat. No. 2090-XXNFMF-Sxx Encoder feedback, threaded 2090-UXNFBMF-Sxx Standard 2090-UXNFBMP-Sxx Encoder feedback, bayonet 2090-XXNFMP-Sxx Encoder feedback, bayonet 2090-XXTFMP-Sxx Continuous-flex Encoder feedback, threaded...
  • Page 174 Chapter 5 Connect the Kinetix 5700 Drive System Motor Feedback Cable Preparation Observe the lead preparation guidelines for each of the connector kits. IMPORTANT This length of wire is needed 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.
  • Page 175 Connect the Kinetix 5700 Drive System Chapter 5 Apply the Converter Kit/Connector Kit Shield Clamp Follow these steps to apply the shield clamp. 1. Apply the shield clamp to the 12 mm (0.5 in.) of exposed cable shield. IMPORTANT Cable preparation and positioning/wiring that provides a high- frequency bond between the shield braid/drain wire and ground is required to optimize system performance.
  • Page 176 Chapter 5 Connect the Kinetix 5700 Drive System Table 94 - 2090-CFBM7DF-CEAxxx Feedback Cables MPL-B15xxx…MPL-B2xxx-V/Ex4/7xAA MPL-B3xxx…MPL-B9xxx-M/Sx7xAA Rotary Rotary MPF-Bxxx-M/S, MPS-Bxxx-M/S Motors Motors MPM-Bxxxxx-M/S, VPC-Bxxxxx-S 2198-H2DCK 2198-K57CK-D15M 2198-K57CK-D15M HPK-Bxxxxx-M/S, HPK-Exxxxx-M/S VPC-Bxxxxx-Y Converter Kit Pin Connector Kit Pin Connector Kit Pin MPAS-Bxxxxx-VxxSxA...
  • Page 177 Connect the Kinetix 5700 Drive System Chapter 5 A mounting bracket is included with the 2198-H2DCK converter kit to secure the kit to the drive. Install the mounting bracket in the bottom mounting position on the kit, and the kit mounting holes on the drive.

  • Page 178: Customer-Supplied Motor Power Cables

    Chapter 5 Connect the Kinetix 5700 Drive System Customer-supplied Motor For 2198-S263-ERSx and 2198-S312-ERSx single-axis inverters that are paired with motors that require power cables greater than 2 AWG and up to Power Cables 250 kcmil, customer supplied cable is necessary.
  • Page 179 Plug in motor feedback and brake connectors, as required for your application. IMPORTANT The supplied ground terminal is suitable for use with 16…120 mm (6 AWG…250 kcmil) Class B and C power cables and all Allen-Bradley Bulletin 2090 motor cables. A customer-supplied lug is required for all other applications.
  • Page 180 Chapter 5 Connect the Kinetix 5700 Drive System Motor brake conductors are customer supplied. We recommend unshielded cable up to 90 m (295 ft). Table 97 - Motor Brake (BC) Connector Specifications Recommended Strip Length Torque Value Drive Module Wire Size Signal Cat.

  • Page 181: Accessory Module Connections

    Connect the Kinetix 5700 Drive System Chapter 5 Accessory Module Follow these guidelines when wiring the 2198-CAPMOD-2240 capacitor module, 2198-CAPMOD-DCBUS-IO extension module, and Connections 2198-DCBUSCOND-RP312 DC-bus conditioner module: • Wire module status (MS) output connections to digital input Bus Capacitor OK, Bus Conditioner OK, or the Logix 5000™ controller (optional).

  • Page 182: External Passive-Shunt Connections

    Chapter 5 Connect the Kinetix 5700 Drive System External Passive-shunt Passive shunts attach to only 2198-Pxxx DC-bus power supplies. See Passive Shunt Considerations page 51 for shunts compatible with your DC-bus Connections power supply. Follow these guidelines when wiring your 2198-Rxxx passive shunt: •...

  • Page 183: External Active-Shunt Connections

    Active shunts are available from the Rockwell Automation Encompass™ partner Powerohm Resistors, Inc. See Active Shunt Considerations page 52 Connections Powerohm shunts compatible with your Kinetix 5700 power supply. Rockwell Automation Encompass Partners Contact Information 5713 13th Street Katy, Texas 77493 Powerohm Resistors, Inc.

  • Page 184: Wire The External Dc-Bus Connections

    Chapter 5 Connect the Kinetix 5700 Drive System Connections at the Active Shunt (RC) Connector You can make active shunt connections in drive systems that include the regenerative bus supply and Powerohm PKBxxx-800 active shunts at the Active Shunt (RC) connector.

  • Page 185: Bulletin Vpc Motors And The Extended Speed Feature

    Connect the Kinetix 5700 Drive System Chapter 5 Figure 125 - Active Shunt Connections Spacer Active Shunt Lug Connections (above spacer) 2198-DCBUSCOND-RP312 2198-CAPMOD-2240 or DC-bus 2198-CAPMOD-DCBUS-IO Lug Connections and Accessory Modules (2198-CAPMOD-2240 Flexible Bus-bars capacitor module is shown) (below spacer) (1) An external active shunt can be wired to any of the accessory modules.

  • Page 186: Ethernet Cable Connections

    Ethernet Cable Connections This procedure assumes that you have your Logix 5000 controller and Kinetix 5700 modules mounted and are ready to connect the network cables. The EtherNet/IP™ network is connected by using the PORT 1 and PORT 2 connectors. Refer to...

  • Page 187: Configure And Start The Kinetix 5700 Drive System

    Configure Induction-motor Closed-loop Control Axis Properties Configure Feedback Properties Download the Program Apply Power to the Kinetix 5700 Drive System Understand Bus-sharing Group Configuration Test and Tune the Axes TIP Before you begin, make sure that you know the catalog number for each drive module, the Logix module and /or controller, and the motor used in your motion control application.

  • Page 188: Understand The Kinetix 5700 Display

    Chapter 6 Configure and Start the Kinetix 5700 Drive System Understand the Kinetix 5700 The Kinetix 5700 drives have two status indicators and an LCD status display. The indicators and display are used to monitor the system status, set network Display parameters, and troubleshoot faults.

  • Page 189: Menu Screens

    Configure and Start the Kinetix 5700 Drive System Chapter 6 Menu Screens The menu screens provide information about the drives, motors, diagnostics, and the fault log. Parameters cannot be updated in the menu screens. Press one of the menu buttons to access the menu.
  • Page 190 Chapter 6 Configure and Start the Kinetix 5700 Drive System Table 101 - Navigating the Inverter Menu (continued) Menu/Sub Menu Attributes Description Example Values Selections Fault text Fault code as listed in Fault Codes page 277. FLT S20 - CONV OVERLOAD FL...
  • Page 191 Configure and Start the Kinetix 5700 Drive System Chapter 6 Table 103 - Navigating the Regenerative Bus Supply Menu Menu/Sub Menu Attributes Description Example Values Selections Catalog number 2198-RPxxx Firmware revision FW REV: 10.1.10500409 Module Info Hardware revision HW REV: 2.1...

  • Page 192: Setup Screens

    Chapter 6 Configure and Start the Kinetix 5700 Drive System Table 104 - Navigating the iTRAK Power Supply Menu Menu/Sub Menu Attributes Description Example Values Selections Catalog number 2198T-W25K-ER Firmware revision FW: 6.1.7100254 Module Info Hardware revision HW REV: 1.1...
  • Page 193 Configure and Start the Kinetix 5700 Drive System Chapter 6 Table 105 - Navigating the Inverter Settings Menu Settings Menu Selections Sub Menu Selections Attributes Default Description When Enabled (default), identity object or ENABLED Reset ENABLED safety resets are not possible when a DISABLED controller connection is open.
  • Page 194 Chapter 6 Configure and Start the Kinetix 5700 Drive System Table 106 - Navigating the DC-bus Power Supply Settings Menu Settings Menu Selections Sub Menu Selections Attributes Default Description When Enabled (default), identity object or ENABLED Reset ENABLED safety resets are not possible when a DISABLED controller connection is open.
  • Page 195 Configure and Start the Kinetix 5700 Drive System Chapter 6 Table 107 - Navigating the Regenerative Bus Supply Settings Menu Settings Menu Selections Sub Menu Selections Attributes Default Description When Enabled (default), identity object or ENABLED Reset ENABLED safety resets are not possible when a DISABLED controller connection is open.
  • Page 196 Chapter 6 Configure and Start the Kinetix 5700 Drive System Table 108 - Navigating the iTRAK Power Supply Settings Menu Settings Menu Selections Sub Menu Selections Attributes Default Description IP address 192.168.1.1 Indicates current IP address ->Static IP Subnet mask 255.255.255.000...

  • Page 197: Startup Sequence

    Configure and Start the Kinetix 5700 Drive System Chapter 6 Startup Sequence On initial powerup, the drive performs a self test. Upon successful completion, the drive firmware revision is displayed. until Kinetix 5700 is spelled out… Kinetix 57 Kinetix 5700 then…...

  • Page 198: Configure The Drive

    Allen-Bradley® motors, actuators, power supplies, and drive features not available in previous versions. IMPORTANT To configure additional motors, actuators, and drive features with your Kinetix 5700 servo drive, you must have drive firmware 4.001 or later. Refer to Table 110 to determine if you need to install the Kinetix 5700 Add-on Profile.

  • Page 199: Install The Kinetix 5700 Add-On Profile

    Download Add-On profiles (AOP) from the Product Compatibility Download Center (PCDC) website: http://compatibility.rockwellautomation.com/Pages/home.aspx. Follow these steps to download the Kinetix 5700 Add-On profile. 1. Go to the Product Compatibility Download Center. The Compatibility & Downloads webpage appears. 2. Enter Kinetix 5700 in the Search PCDC window.

  • Page 200: Configure The Logix 5000 Controller

    Chapter 6 Configure and Start the Kinetix 5700 Drive System Configure the Logix 5000 These procedures assume that you have wired your Kinetix 5700 drive system. In this example, the GuardLogix® 5580 safety controller and Compact Controller GuardLogix 5380 controller dialog boxes are shown.
  • Page 201 3. Click Next. The New Project dialog box appears. 4. From the Revision pull-down menu, choose your software revision. IMPORTANT To configure Kinetix 5700 drive systems, you must be using the Logix Designer application, version 26.00 or later. 5. Click Finish.
  • Page 202 Chapter 6 Configure and Start the Kinetix 5700 Drive System 6. Configure the Logix 5000 controller. Your new Logix 5000 controller appears under the I/O Configuration folder in the Controller Organizer. In this example, a GuardLogix 5580 controller with 1756-EN2TR communication module is used.

  • Page 203: Configure The Kinetix 5700 Drive Modules

    Configure and Start the Kinetix 5700 Drive System Chapter 6 Configure the Kinetix 5700 IMPORTANT To configure Kinetix 5700 drive systems, you must be using the Drive Modules Logix Designer application, version 26.00 or later. IMPORTANT The iTRAK® power supply is not configured in the Logix Designer application.
  • Page 204 Chapter 6 Configure and Start the Kinetix 5700 Drive System The New Module dialog box appears. 4. Configure the new module. a. Type the module Name. b. Select an Ethernet Address option. In this example, the Private Network address is selected.
  • Page 205 Configure and Start the Kinetix 5700 Drive System Chapter 6 6. From the pull-down menus, choose the power options appropriate for your hardware configuration. Attribute Menu Description Bus Configuration Shared AC/DC Applies to 2198-Pxxx DC-bus power supply (converter) modules. • Group1 Bus Sharing Group •...
  • Page 206 Chapter 6 Configure and Start the Kinetix 5700 Drive System 12. From the Digital Input pull-down menu choose Bus Capacitor OK or Shunt Thermal Switch OK to monitor your capacitor module status or the shunt thermal switch, respectively, depending on your application.

  • Page 207: Configure The Regenerative Bus Supply

    The Select Module Type dialog box appears. Enter 2198-RP here to further limit your search. 2. By using the filters, check Motion and Allen-Bradley, and select your 2198-RPxxx regenerative bus supply as appropriate for your hardware configuration. 3. Click Create.
  • Page 208 Chapter 6 Configure and Start the Kinetix 5700 Drive System The New Module dialog box appears. 4. Configure the new module. a. Type the module Name. b. Select an Ethernet Address option. In this example, the Private Network address is selected.
  • Page 209 Configure and Start the Kinetix 5700 Drive System Chapter 6 6. From the pull-down menus, choose the power options appropriate for your hardware configuration. Attribute Menu Description Bus Configuration Shared AC/DC Applies to 2198-RPxxx regenerative bus supply modules. • Group1 Bus Sharing Group •...
  • Page 210 Chapter 6 Configure and Start the Kinetix 5700 Drive System 13. Click the Associated Axes category. 14. Click New Axis. The New Tag dialog box appears. 15. Type the axis Name. AXIS_CIP_DRIVE is the default Data Type. 16. Click Create.

  • Page 211: 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-D006-ERS4 dual-axis inverter is configured. Follow these steps to configure Kinetix 5700 inverter drives. 1. Above the DC-bus power supply (converter) you just created, right-click Ethernet and choose New Module.
  • Page 212 Chapter 6 Configure and Start the Kinetix 5700 Drive System This example shows the 2198-Dxxx-ERSx dual-axis inverters you can choose from. 2. Enter 2198 to narrow your choices and select your 2198-xxxx-ERS3 or 2198-xxxx-ERS4 inverter as appropriate for your hardware configuration.
  • Page 213 Configure and Start the Kinetix 5700 Drive System Chapter 6 The fields to configure in the Module Definition dialog box are dependent on your drive, Logix Designer version, and drive firmware revision. Use the following table to navigate to the series of steps intended for your drive system.
  • Page 214 Chapter 6 Configure and Start the Kinetix 5700 Drive System The Safety Network Number (SNN) field populates automatically when the Connection mode includes an integrated Motion and Safety or Safety-only connection. For a detailed explanation of the safety network number, refer to the appropriate GuardLogix controller...
  • Page 215 (1) For 2198-Dxxx-ERS4 (dual-axis) inverters, you must configure axes 1 and 3 as either Networked or Hardwired, they cannot be mixed. (2) See the Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication 2198-RM001, for more information on these Drive Safety instructions.
  • Page 216 Monitoring • Safety Only Feedback port. See the Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication 2198-RM001, to evaluate SIL levels possible with a single feedback device. In addition to primary feedback, an external feedback device is used to improve SIL levels. For...
  • Page 217 Configure and Start the Kinetix 5700 Drive System Chapter 6 Configure the Power and Safety Categories 1. Click the Power category. IMPORTANT The Logix Designer application enforces shared-bus configuration rules for Kinetix 5700 drives. 2. From the pull-down menus, choose the power options appropriate for your hardware configuration.
  • Page 218 Chapter 6 Configure and Start the Kinetix 5700 Drive System Your 2198-xxxx-ERS4 inverter appears in the Controller Organizer under the Ethernet network in the I/O Configuration folder. 5. Right-click the drive you just created in the Controller Organizer and choose Properties.

  • Page 219: Continue Inverter Configuration

    2 (axis 1 and 3) 2 (axis 2 and 4) 2198-Dxxx-ERS4 Follow these steps to configure the axes for your Kinetix 5700 drive system. 1. Right-click the 2198-xxxx-ERS4 inverter you just created and choose Properties. Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...
  • Page 220 Chapter 6 Configure and Start the Kinetix 5700 Drive System The Module Properties dialog box appears. 2. Select the Associated Axes category. In this 2198-D006-ERS4 (dual-axis inverter) example, four axes are possible. Single-axis inverters support only two axes. • Axis 1 and Axis 2 apply to Motor (DSL) Feedback Connector A (Port 1) and Universal Feedback Connector A (Port 1).
  • Page 221 Configure and Start the Kinetix 5700 Drive System Chapter 6 The Feedback Devices are configured for either the DSL Feedback Port or the Universal Feedback Port. Motor Feedback Options Description Applies to motors and actuators compatible with the 2198-KITCON-DSL DSL Feedback Port connector kit and 2198-H2DCK converter kit (series B or later).
  • Page 222 Chapter 6 Configure and Start the Kinetix 5700 Drive System The axis (Axis_1 in this example) appears in the Controller Organizer under Motion Groups> Ungrouped Axes and is assigned as Axis 1. TIP You can configure an axis as Feedback Only. Refer to...

  • Page 223: Configure The Motion Group

    Configure and Start the Kinetix 5700 Drive System Chapter 6 11. Click OK. 12. Repeat step 1 through step 11 for each 2198-xxxx-ERSx servo drive. Follow these steps to configure the motion group. Configure the Motion Group 1. In the Controller Organizer, right-click Motion Groups and choose New Motion Group.

  • Page 224: Configure Regenerative Bus Supply Axis Properties

    Chapter 6 Configure and Start the Kinetix 5700 Drive System Configure Regenerative Bus Follow these steps to configure Axis Properties for your 2198-RPxxx regenerative bus supply. Supply Axis Properties 1. In the Controller Organizer, right-click the regenerative-bus supply axis and choose Properties.
  • Page 225 Configure and Start the Kinetix 5700 Drive System Chapter 6 6. Click the AC Line category. Source Power is the kVA rating of the transformer feeding the regenerative power supply. The default Source Power setting is 10 times the power rating of the regenerative power supply.
  • Page 226 Chapter 6 Configure and Start the Kinetix 5700 Drive System 9. Click the Bus Voltage Loop category. We do not recommend changing the default bandwidth values. The default Gains are set to support peak load current. See Detuned Gain Setting Examples...
  • Page 227 Configure and Start the Kinetix 5700 Drive System Chapter 6 11. From the BusVoltageReferenceSource pull-down menu, choose: – In the Automatic (default) setting, the converter optimizes the Bus Voltage Reference for the best converter performance – In the Manual setting, you configure the desired Bus Voltage Set...
  • Page 228 Chapter 6 Configure and Start the Kinetix 5700 Drive System 15. Click the Current Reference category. Low Pass Filter Bandwidth adjusts the filtering of the reference to the current regulator. To minimize the effect on bus voltage regulator stability, this value should be no lower than five times the Bus Voltage Loop bandwidth.

  • Page 229: Configure Vertical Load Control Axis Properties

    Configure and Start the Kinetix 5700 Drive System Chapter 6 Detuning to a desired level, while maintaining stability, can be achieved by setting a current loop bandwidth and maintaining proportional spacing of 10x between the voltage and current loop, and 4x spacing from the loop bandwidth to integral loop bandwidth.

  • Page 230: Configure Feedback-Only Axis Properties

    Feedback Only axis. The Module Type and Power Structure fields populate with the chosen drive catalog number. 6. Click Apply. 7. Configure module properties for your Kinetix 5700 servo drive for Master Feedback. See Configure Module Properties on page 256 for configuration examples.
  • Page 231 Configure and Start the Kinetix 5700 Drive System Chapter 6 The Master Feedback Device Specification appears. 9. From the Type pull-down menu, choose a feedback device type. See Configure Axis Properties beginning on page 258 for configuration examples. 10. Review other categories in the Controller Organizer and make changes as needed for your application.

  • Page 232: Configure Induction-Motor Frequency-Control Axis Properties

    Chapter 6 Configure and Start the Kinetix 5700 Drive System Configure Induction-motor Follow these steps to configure induction-motor axis properties for various frequency control methods. Frequency-control Axis Properties General and Motor Categories 1. In the Controller Organizer, right-click an axis and choose Properties.
  • Page 233 Configure and Start the Kinetix 5700 Drive System Chapter 6 7. Select the Motor 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.

  • Page 234: Basic Volts/Hertz Method

    Chapter 6 Configure and Start the Kinetix 5700 Drive System Basic Volts/Hertz Method 1. Configure the General category and Motor category as shown in General and Motor Categories page 232. 2. Select the Frequency Control category. 3. From the Frequency Control Method pull-down menu, select Basic Volts/Hertz.
  • Page 235 Configure and Start the Kinetix 5700 Drive System Chapter 6 The Motion Axis Parameters 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.

  • Page 236: Sensorless Vector Method

    Chapter 6 Configure and Start the Kinetix 5700 Drive System Sensorless Vector Method 1. Configure the General category and Motor category as shown in General and Motor Categories page 232. 2. Select the Frequency Control category. 3. From the Frequency Control Method pull-down menu, choose Sensorless Vector.
  • Page 237 Configure and Start the Kinetix 5700 Drive System Chapter 6 7. The Motion Axis Parameters dialog box appears. 8. From the Parameter Group pull-down menu, choose Frequency Control. 9. Set the FluxUp, SkipSpeed, VelocityDroop, MaximumFrequency, MaximumVoltage, and CurrentVectorLimit attributes appropriate for your application.
  • Page 238 Chapter 6 Configure and Start the Kinetix 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...

  • Page 239: Fan/Pump Volts/Hertz Method

    Configure and Start the Kinetix 5700 Drive System Chapter 6 Fan/Pump Volts/Hertz Method 1. Configure the General category and Motor category as shown in General and Motor Categories page 232. 2. Select the Frequency Control category. 3. From the Frequency Control Method pull-down menu, select Fan/ Pump Volts/Hertz.
  • Page 240 Chapter 6 Configure and Start the Kinetix 5700 Drive System The Motion Axis Parameters dialog box appears. 7. From the Parameter Group pull-down menu, choose Frequency Control. 8. Set the FluxUp, SkipSpeed, VelocityDroop, RunBoost, MaximumFrequency, MaximumVoltage and CurrentVectorLimit attributes appropriate for your application.

  • Page 241: Configure Ipm Motor Closed-Loop Control Axis Properties

    Configure and Start the Kinetix 5700 Drive System Chapter 6 Configure IPM Motor Closed- Follow these steps to configure interior permanent-magnet (IPM) motor closed-loop axis properties. loop Control Axis Properties 1. In the Controller Organizer, right-click an axis and choose Properties.
  • Page 242 Chapter 6 Configure and Start the Kinetix 5700 Drive System The Motor Device Specification dialog box appears. 7. From the Data Source pull-down menu, choose Catalog Number. IMPORTANT Motor NV is not a supported data source in the Logix Designer application for axes configured as interior permanent-magnet (IPM) motor closed-loop.
  • Page 243 Configure and Start the Kinetix 5700 Drive System Chapter 6 12. For Extended Speed operation, check Extended Speed permissive in the Extended Speed field. See Field Weakening Mode page 446, for more information. 13. Select the Scaling category and edit the default values as appropriate for your application.
  • Page 244 Chapter 6 Configure and Start the Kinetix 5700 Drive System 17. Select the Actions category. From this dialog box, you can program actions and change the action for exceptions (faults). Refer to Logix 5000 Controller and Drive Module Behavior page 283 for more information.

  • Page 245: Configure Spm Motor Closed-Loop Control Axis Properties

    Configure and Start the Kinetix 5700 Drive System Chapter 6 Configure SPM Motor Closed- Follow these steps to configure surface permanent-magnet (SPM) motor closed-loop axis properties. loop Control Axis Properties 1. In the Controller Organizer, right-click an axis and choose Properties.
  • Page 246 Chapter 6 Configure and Start the Kinetix 5700 Drive System The Motor Device Specification dialog box appears. 7. From the Data Source pull-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.
  • Page 247 Configure and Start the Kinetix 5700 Drive 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 values as appropriate for your application.
  • Page 248 Chapter 6 Configure and Start the Kinetix 5700 Drive System The Actions to Take Upon Conditions dialog box appears. From this dialog box, you can program actions and change the action for exceptions (faults). Refer to Logix 5000 Controller and Drive Module...

  • Page 249: Configure Induction-Motor Closed-Loop Control Axis Properties

    Configure and Start the Kinetix 5700 Drive System Chapter 6 Configure Induction-motor Follow these steps to configure induction-motor closed-loop control axis properties. Closed-loop Control Axis Properties 1. In the Controller Organizer, right-click an axis and choose Properties. 2. Select the General category.
  • Page 250 Configure and Start the Kinetix 5700 Drive System The Motor Device Specification dialog box appears. 7. From the Data Source pull-down menu, choose Nameplate Datasheet. This is the default setting. If you have an Allen-Bradley HPK-Series™ asynchronous rotary motor, refer to page 246...
  • Page 251 Configure and Start the Kinetix 5700 Drive System Chapter 6 b. For Motor Polarity, click Inverted (default is Normal). c. Click Apply and return to the Motor category. 8. From the Motor Type pull-down menu, choose Rotary Induction. 9. From the motor nameplate or datasheet, enter the phase-to-phase values for your motor.
  • Page 252 Chapter 6 Configure and Start the Kinetix 5700 Drive System 14. Select the Scaling category and edit the default 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.
  • Page 253 Configure and Start the Kinetix 5700 Drive System Chapter 6 The Motion Axis Parameters dialog box appears. 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 E, beginning on...
  • Page 254 Chapter 6 Configure and Start the Kinetix 5700 Drive 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.
  • Page 255 Configure and Start the Kinetix 5700 Drive System Chapter 6 25. The Analyze Motor to Determine Motor Model dialog box opens. IMPORTANT The Dynamic motor test cannot be run without a non-zero motor inertia. 26. Click the tab corresponding to the Motor Test you want to run.

  • Page 256: Configure Feedback Properties

    Properties Configure Module Properties Configure the module properties of your Kinetix 5700 servo drive depending on how you intend to use the feedback connectors. 1. Right-click a drive in the Controller Organizer to configure and choose Properties.
  • Page 257 • EnDat Digital wired to the 2198-K57CK-D15M universal connector kit. feedback (UFB) Applies to Allen-Bradley Bulletin MPL, MPM, MPF, MPS (-M/S or -V/E), and VPC-Bxxxxx-S rotary motors; Bulletin MPAS (ballscrew), MPAR, MPAI, linear actuators; HPK-Series rotary motors; and LDAT-Series (-xDx) linear thrusters wired to the 2198-K57CK-D15M universal connector kit.

  • Page 258: Configure Axis Properties

    Chapter 6 Configure and Start the Kinetix 5700 Drive System Configure Axis Properties In this section you configure the axis properties of your Kinetix 5700 servo drive for the type of feedback you intend use in your application. Table 121 defines valid feedback assignments for each feedback type.
  • Page 259 Configure and Start the Kinetix 5700 Drive System Chapter 6 4. Enter values for the Digital AqB specification fields. The only valid value for Cycle Interpolation is 4. 5. From the Startup Method pull-down menu, choose Incremental. 6. Click Apply.
  • Page 260 Chapter 6 Configure and Start the Kinetix 5700 Drive System Sine/Cosine Feedback In this example, a motor feedback device is configured for Sine/Cosine feedback. IMPORTANT When Motor Mounted Feedback is the Device Function, Sine/Cosine is not a valid feedback type for permanent magnet motors.

  • Page 261: Download The Program

    Configure and Start the Kinetix 5700 Drive System Chapter 6 Sine/Cosine with Hall Feedback In this example, a motor feedback device is configured for Sine/Cosine with UVW feedback. IMPORTANT When Motor Mounted Feedback is the Device Function, Sine/Cosine with UVW is the only valid feedback type for permanent magnet motors.

  • Page 262: Apply Power To The Kinetix 5700 Drive System

    Chapter 6 Configure and Start the Kinetix 5700 Drive System Apply Power to the This procedure assumes that you have wired and configured your Kinetix 5700 system, your Logix 5000 controller, and iTRAK power supply if present. Kinetix 5700 Drive System SHOCK HAZARD: To avoid hazard of electrical shock, perform all mounting and wiring of the Bulletin 2198 servo drives prior to applying power.

  • Page 263: Understand Bus-Sharing Group Configuration

    Overview page 276. Understand Bus-sharing When configuring Module Properties>Power category for each Kinetix 5700 drive, you can breakout drives from one or more servo systems into multiple Group Configuration bus-sharing (power) groups. A drive that faults in Group 1 does not affect the operation of Group 2, even though all of the drives in Groups 1 and 2 are in the same Motion group in the Logix Designer application.
  • Page 264 Chapter 6 Configure and Start the Kinetix 5700 Drive System However, the twelve axes of motion are also configured as two bus-sharing groups in Module Properties>Power category. By creating two bus-sharing groups, a converter drive that faults in Group 1 only disables Group 1 drives, and has no effect on the drive operation of Group 2 drive.

  • Page 265: Configure Bus-Sharing Groups

    Configure and Start the Kinetix 5700 Drive System Chapter 6 Configure 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 132 - Group 1 DC-bus Power Supply (converter) Configuration...

  • Page 266: Test And Tune The Axes

    Figure 136 - Group 2 Dual-axis Inverter Configuration Test and Tune the Axes This procedure assumes that you have configured your Kinetix 5700 drive, your Logix 5000 controller, and applied power to the system. IMPORTANT Before proceeding with testing and tuning your axes, verify that the MOD...

  • Page 267: Test The Axes

    Configure and Start the Kinetix 5700 Drive System Chapter 6 Test the Axes Follow these steps to test the axes. 1. Verify the load was removed from each axis. ATTENTION: To avoid personal injury or damage to equipment, you must remove the load from each axis as uncontrolled motion can occur when an axis with an integral motor brake is released during the test.
  • Page 268 Chapter 6 Configure and Start the Kinetix 5700 Drive System The Position Units are defined in Axis Properties>Scaling category. Hookup Test Definitions Verifies marker detection capability as you manually rotate the motor shaft. The test completes when the drive either detects the marker or when the motor moves the distance specified in the Test Distance field.

  • Page 269: Tune The Axes

    Configure and Start the Kinetix 5700 Drive System Chapter 6 10. If the test fails, this dialog box appears. a. Click OK. b. Verify the DC bus voltage. c. Verify unit values entered in the Scaling category. d. Verify the motor power and feedback wiring.
  • Page 270 Chapter 6 Configure and Start the Kinetix 5700 Drive System b. Verify that only the Velocity Feedforward box is checked. Uncheck Torque Low Pass Filter (that is checked by default). 3. Click the Load category in the Axis Properties dialog box.
  • Page 271 Configure and Start the Kinetix 5700 Drive System Chapter 6 The Load Observer Bandwidth and other gains are set automatically. 5. Click the Compliance category in the Axis Properties dialog box. a. From the Adaptive Tuning Configuration pull-down menu, choose Tracking Notch.
  • Page 272 Chapter 6 Configure and Start the Kinetix 5700 Drive System Tune Induction Motors IMPORTANT The Automatic FluxUpControl setting is recommended for best Autotune results. Follow these steps to tune the induction motor axes. 1. Verify the load is removed from the axis being tuned.
  • Page 273 Configure and Start the Kinetix 5700 Drive System Chapter 6 The Logix Designer - Autotune dialog box appears. When the test completes, the Test State changes from Executing to Success. Tuned values populate the Loop and Load parameter tables. Actual bandwidth values (Hz) depend on your application and can require adjustment once motor and load are connected.
  • Page 274 Chapter 6 Configure and Start the Kinetix 5700 Drive System Notes: Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...

  • Page 275: Safety Precautions

    Chapter Troubleshoot the Kinetix 5700 Drive System This chapter provides troubleshooting tables and related information for your Kinetix® 5700 drive system. Topic Page Safety Precautions Interpret Status Indicators Axis Troubleshooting Regenerative Bus Supply Troubleshooting Logix 5000 Controller and Drive Module Behavior...

  • Page 276: Interpret Status Indicators

    Chapter 7 Troubleshoot the Kinetix 5700 Drive System Interpret Status Indicators Refer to these troubleshooting tables to identify faults, potential causes, and the appropriate actions to resolve the fault. If the fault persists after attempting to troubleshoot the system, please contact your Rockwell Automation sales representative for further assistance.

  • Page 277: Fault Codes

    329 (integrated safety). For troubleshooting 2198-xxxx-ERS4 inverter SAFE FLT fault codes, refer to the Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication 2198-RM001. TIP Fault codes triggered by conditions that fall outside factory set limits are identified by FL at the end of the display message.

  • Page 278: Kinetix 5700 Status Indicators

    Troubleshoot the Kinetix 5700 Drive System Kinetix 5700 Status Indicators These status indicators apply to the Kinetix 5700 DC-bus power supply, the regenerative bus supply, the inverters, and the iTRAK® power supply. The module status and network status indicators are just above the LCD status display.

  • Page 279: Kinetix 5700 Accessory Module Status Indicators

    Troubleshoot the Kinetix 5700 Drive System Chapter 7 Kinetix 5700 Accessory Module Status Indicators The Kinetix 5700 accessory modules include the 2198-CAPMOD-2240 capacitor module and 2198-DCBUSCOND-RP312 DC-bus conditioner module. Capacitor Module Status indicators and the module status (MS) connector are on the front of the module.

  • Page 280: Axis Troubleshooting

    Chapter 7 Troubleshoot the Kinetix 5700 Drive System Axis Troubleshooting These conditions do not always result in a fault code, but can require troubleshooting to improve servo drive performance. See the iTRAK System User Manual, publication 2198T-UM001 for general iTRAK troubleshooting.

  • Page 281: Regenerative Bus Supply Troubleshooting

    Troubleshoot the Kinetix 5700 Drive System Chapter 7 Table 129 - Axis Troubleshooting (continued) Condition Potential Cause Possible Resolution The motor connections are loose or open. Check motor wiring and connections. Foreign matter is lodged in the motor. Remove foreign matter.
  • Page 282 Potential Cause Possible Resolution Bus overvoltage on other converters sharing Remove AC line filter or ground jumper from other non-Kinetix 5700 drives sharing Common mode current from regenerative bus supply interacting AC input with the regenerative bus supply as the AC input with the regenerative bus supply. Additionally, properly sized input with common-mode filter capacitors in non-Kinetix 5700 drives.

  • Page 283: Logix 5000 Controller And Drive Module Behavior

    Logix 5000 Controller and By using the Logix Designer application, you can configure how the Kinetix 5700 system responds when a module fault/exception occurs. Drive Module Behavior TIP The INIT FLT xxx faults are always generated after powerup, but before the drive is enabled, so the stopping behavior does not apply.

  • Page 284: Dc-Bus Power Supply Behavior

    The StopDrive exception action for a DC-bus power supply means the power supply enters into a Major Fault state that opens the contactor-enable output, removing three-phase power from the Kinetix 5700 drive system. The Shutdown exception action exhibits the same behavior as Stop Drive, except the power supply enters into Shutdown as the final state and requires a Shutdown Reset to recover.
  • Page 285 Troubleshoot the Kinetix 5700 Drive System Chapter 7 Table 133 - DC-bus Power Supply Behavior, FLT Sxx Fault Codes (continued) Fault Action Exception Fault Code Exception Text FLT S31 – BUS REG FAILURE Bus Regulator Failure – – – FLT S32 – BUS CAPACITOR MODULE FAILURE Bus Capacitor Module Failure FLT S35 –...

  • Page 286: Regenerative Bus Supply Behavior

    The Disable exception action for a regenerative bus supply means the power supply enters into a Major Fault state that opens the contactor-enable output, removing three-phase power from the Kinetix 5700 drive system. The Shutdown exception action exhibits the same behavior as Disable, except the power supply enters into Shutdown as the final state and requires a Shutdown Reset to recover.
  • Page 287 Troubleshoot the Kinetix 5700 Drive System Chapter 7 Table 136 - Regenerative Bus Supply Behavior, FLT Sxx Fault Codes (continued) Fault Action Exception Fault Code Exception Text FLT S23 – AC PHASE LOSS AC Single Phase Loss Fault – –...

  • Page 288: Itrak Power Supply Behavior

    Chapter 7 Troubleshoot the Kinetix 5700 Drive System iTRAK Power Supply Behavior The iTRAK power supply exceptions behavior, as defined in Table 138, is shown in the following tables. Table 138 - iTRAK Power Supply Exception Action Definitions Exception Action Definition Hold Continue regulating the iTRAK DC buses.

  • Page 289: Inverter Behavior

    Troubleshoot the Kinetix 5700 Drive System Chapter 7 Inverter Behavior For the single-axis inverters and dual-axis inverters, only selected exceptions are configurable. In the drive behavior tables, the controlling attribute is given for programmable fault actions. Table 142 - Configurable Stopping Actions...
  • Page 290 Chapter 7 Troubleshoot the Kinetix 5700 Drive System Safety Actions The Action Source pull-down menus include Connected Drive mode and Running Controller mode. When configured for Connected Drive (default), the drive initiates the stopping sequence according to the selected stopping action. However, the drive must have an open connection to the motion controller for the configured stopping action to occur.
  • Page 291 Troubleshoot the Kinetix 5700 Drive System Chapter 7 Table 144 - Drive Behavior, FLT Sxx Fault Codes Fault Action Inverter Permanent Best Available Induction Modules Exception Fault Code Exception Text Magnet Stopping Action Motor Motor (applies to major faults) 2198-xxxx FLT S02 –...
  • Page 292 Chapter 7 Troubleshoot the Kinetix 5700 Drive System Table 144 - Drive Behavior, FLT Sxx Fault Codes (continued) Fault Action Inverter Permanent Best Available Induction Modules Exception Fault Code Exception Text Magnet Stopping Action Motor Motor (applies to major faults)
  • Page 293 Troubleshoot the Kinetix 5700 Drive System Chapter 7 Table 145 - Drive Behavior, FLT Mxx Fault Codes Fault Action Inverter Permanent Best Available Induction Modules Exception Fault Code Exception Text Magnet Stopping Action Motor Motor (applies to major faults) 2198-xxxx FLT M02 –...
  • Page 294 Chapter 7 Troubleshoot the Kinetix 5700 Drive System Notes: Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...

  • Page 295: Before You Begin

    Topic Page Before You Begin Remove and Replace Kinetix 5700 Drive Modules Start and Configure the Drive Module ATTENTION: This drive contains electrostatic discharge (ESD) sensitive parts and assemblies. You are required to follow static-control precautions when you install, test, service, or repair this assembly. If you do not follow ESD control procedures, components can be damaged.

  • Page 296: Remove And Replace Kinetix 5700 Drive Modules

    Remove and Replace Follow these steps to remove and replace DC-bus power supplies, regenerative bus supplies, dual-axis inverters, single-axis inverters, iTRAK® power supplies, Kinetix 5700 Drive Modules or accessory modules from the system panel. Remove Power and All Connections 1. Verify that all control and input power has been removed from the system.
  • Page 297 Remove and Replace Drive Modules Chapter 8 7. For 2198-Dxxx-ERSx dual-axis inverters, unplug the motor feedback, motor power, and motor brake connectors and loosen the shield clamp until you can remove the cable from the clamp. 2198-Dxxx-ERSx Dual-axis Inverters Motor Feedback Connectors Motor Power and Brake Connectors...
  • Page 298 Chapter 8 Remove and Replace Drive Modules b. For 2198-S263-ERSx and 2198-S312-ERSx single-axis inverters, unplug the motor feedback and brake connectors, and remove the tie wrap holding the feedback cable. Motor Feedback Connector 2198-S263-ERSx, 2198-S312-ERSx, Single-axis Inverters Motor Brake MBRK Connectors Tie Wrap M8 Hex Nut...
  • Page 299 DC-bus and 24V Output Connectors Loosen Motor Cable Shield Clamp 11. Remove the ground screw or lug nut and braided ground strap. Kinetix 5700 Drive Module Ground Screw or Lug Nut Braided Ground Strap Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...

  • Page 300: Remove The Drive Module

    IMPORTANT This procedure applies to any Kinetix 5700 drive module in any configuration. Follow these steps to remove Kinetix 5700 drive modules from the panel.

  • Page 301: Replace The Drive Module

    Remove and Replace Drive Modules Chapter 8 Replace the Drive Module To replace the drive module, reverse the steps that are shown above or refer to Mount Your Kinetix 5700 Drive Modules page Table 147 - Drive Module Torque Values Torque Value...

  • Page 302: Start And Configure The Drive Module

    308. 1. Reapply power to the drive system. Refer to Apply Power to the Kinetix 5700 Drive System page 262 the procedure. 2. Configure the network settings for the drive module. For example, if your old module was configured as Static IP, you must set the IP address, gateway, and subnet mask in the new module identical to the old module.
  • Page 303 Remove and Replace Drive Modules Chapter 8 Figure 140 - Module Definition for 2198-xxxx-ERS3 (series B) drives Module Definition With Compatible Module Electronic Keying Module Definition With Exact Match Electronic Keying In this flowchart, a 2198-xxxx-ERS3 series A drive (with drive firmware revision 7 or earlier) was programmed by using Studio 5000 Logix Designer®, version 30 or earlier, and is replaced by a 2198-xxxx-ERS3 series B drive (with drive firmware revision 9 or later).
  • Page 304 Chapter 8 Remove and Replace Drive Modules Notes: Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...

  • Page 305: Overview

    2198-xxxx-ERS3 and 2198-xxxx-ERS4 dual-axis and single-axis inverters. The Kinetix 5700 dual-axis and single-axis inverters are also equipped for integrated safe torque-off (STO) over the EtherNet/IP™ network. Integrated STO mode, as described in this chapter, applies to 2198-xxxx-ERS3 and 2198-xxxx-ERS4 dual-axis and single-axis inverters.

  • Page 306: Certification

    Chapter 9 Kinetix 5700 Safe Torque-off Function Certification The TÜV Rheinland group has approved the 2198-Dxxx-ERSx and 2198-Sxxx-ERSx inverters with hardwired and integrated safe torque-off for use in safety-related applications up to ISO 13849-1 Performance Level e (PL e), SIL CL 3 per IEC 61508, IEC 61800-5-2, and IEC 62061, in which removing the motion producing power is considered to be the safe state.

  • Page 307: Average Frequency Of A Dangerous Failure

    Kinetix 5700 Safe Torque-off Function Chapter 9 Average Frequency of a Dangerous Failure Safety-related systems are classified as operating in a High-demand/continuous mode. The SIL value for a High-demand/continuous mode safety-related system is directly related to the probability of a dangerous failure per hour (PFH).

  • Page 308: Out Of Box State

    321 for a wiring example. Out of the box, you can use Kinetix 5700 servo drives in Integrated STO mode only after a Motion and Safety or Safety-only connection has been established at least once in the Logix Designer application.
  • Page 309 Module Properties>General category. After the integrated safety connection configuration is applied to the Kinetix 5700 servo drive at least once, you can restore the drive to the Hardwired STO mode by using the Logix Designer application. IMPORTANT Only authorized personnel should attempt Reset Ownership.
  • Page 310 Restore Hardwired STO mode by Using the Drive Display After the integrated safety connection configuration is applied to the Kinetix 5700 servo drive at least once, you can restore the drive to Hardwired STO mode by using the drive display and navigation buttons.

  • Page 311: Safe Torque-Off Status

    IMPORTANT The status data described in this section is STANDARD data (not SAFETY data) and cannot be used as part of a safety function. When a Kinetix 5700 add on profile (AOP) is added to a Logix Designer application I/O tree, axis tags are added to the controller tags.

  • Page 312: Explicit Messages

    Chapter 9 Kinetix 5700 Safe Torque-off Function Table 151 - Safety Related Axis Tags (continued) Logix Designer Tag Name Attribute [bit] Type Description SafeTorqueOffDisableStatus BOOL Status of SI.TorqueDisabled SafetyOutputConnectionClosed [30] BOOL 1 if all output connections are closed SafetyOutputConnectionIdleStatus [31]...
  • Page 313 Kinetix 5700 Safe Torque-off Function Chapter 9 Safe Torque-off Mode You can use the attribute STO Mode to check if the Kinetix 5700 inverter is in STO Bypass mode. Table 154 - Safe Torque-off Mode: MSG Parameter Value Description Service Code...

  • Page 314: Hardwired Safe Torque-Off

    Kinetix 5700 Safe Torque-off Function Hardwired Safe Torque-off This section introduces you to the Kinetix 5700 hardwired safe torque-off (STO) feature that meets the requirements of Performance Level e (PL e) per ISO 13849-1 and SIL CL 3 per IEC 61508, IEC 61800-5-2 and IEC 62061.
  • Page 315 Kinetix 5700 Safe Torque-off Function Chapter 9 ATTENTION: If any of the safety enable inputs de-energize, the Start Inhibit field indicates the SafeTorqueOffInhibit and GuardStopRequestStatus bits of the AxisGuardStatus tag are set to 1. Both inputs must be de-energized within 1 second and re-energized within 1 second to avoid GuardStopInputFault conditions.

  • Page 316: Troubleshoot The Safe Torque-Off Function

    Kinetix 5700 Safe Torque-off Function Troubleshoot the Safe Torque-off Function For hardwired STO fault code descriptions and possible solutions, see the Kinetix 5700 Fault Codes.xlsx file attached to this publication. For more information about the file, see Access the Attachments...

  • Page 317: Safe Torque-Off Connector Data

    Kinetix 5700 Safe Torque-off Function Chapter 9 Figure 144 - System Operation when Safety Enable Inputs Mismatch Momentarily Safety Input S1 Safety Input S2 1 Second No Fault Faulted GuardFault SafeTorqueOffInhibit Start Inhibited GuardOKStatus Not OK GuardGateDriveOutputStatus Torque Disabled GuardStopInputStatus...

  • Page 318: Wire The Safe Torque-Off Circuit

    Chapter 9 Kinetix 5700 Safe Torque-off Function Table 159 - Safe Torque-off Connector Pinouts Description Description STO Pin Signal 2198-Dxxx-ERSx 2198-Sxxx-ERSx Safety bypass plus signal. Connect to both safety inputs to disable safe torque-off function. Safe stop input channel 1, axis A.
  • Page 319 Kinetix 5700 Safe Torque-off Function Chapter 9 Figure 146 - Insert the 2198-xxxx-ERS3 (series A) Safety Connector Plug Off-center Push Kinetix 5700 Inverter Drive Push the Right-hand Side Locking Features (2198-xxxx-ERS3, series A, inverter is shown) Safety (STO) Connector Plug MOD–...

  • Page 320: Safe Torque-Off Wiring Requirements

    Chapter 9 Kinetix 5700 Safe Torque-off Function Safe Torque-off Wiring Requirements The safe torque-off (STO) connector uses spring tension to secure the wire. Depress the numbered tab along side each pin to insert or release each wire. Two rows of pins are provided for drive-to-drive connections. Wire must be copper with 75 °C (167 °F) minimum rating.

  • Page 321: Safe Torque-Off Feature Bypass

    Chapter 9 Safe Torque-off Feature Bypass The Kinetix 5700 inverters do not operate without a safety circuit or safety bypass wiring. For applications that do not require the safe torque-off feature you must install jumper wires to bypass the safe torque-off circuitry.
  • Page 322 Chapter 9 Kinetix 5700 Safe Torque-off Function In this example, the cascaded safe torque-off (STO) wiring is for an application with three dual-axis inverters and two separate safety devices. Figure 151 - Cascaded STO Wiring - Dual-axis Inverters with Two Safety Devices...

  • Page 323: Hardwired Safe Torque-Off Electrical Specifications

    Optically isolated and reverse voltage protected (1) SELV or PELV rated power supplies must be used to energize external safety devices connected to the Kinetix 5700 safety inputs. (2) The maximum number of drives cascaded with safe torque-off wiring is 50.

  • Page 324: Compatible Safety Controllers

    IMPORTANT You must read, understand, and fulfill the requirements detailed in the GuardLogix controller systems safety reference manual prior to operating a safety system that uses a GuardLogix controller and Kinetix 5700 drive. Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...

  • Page 325: Description Of Operation

    These conditions must be met for integrated control of the STO function: • The Kinetix 5700 drive module must be added to the GuardLogix 5570 or Compact GuardLogix 5370 controller I/O Configuration.
  • Page 326 Kinetix 5700 safety output assembly to control the safe torque-off function. The SI.Status tags are sent from the Kinetix 5700 inverter to the GuardLogix safety input assembly and indicate the Kinetix 5700 safety control status. The SI.ConnectionStatus tags indicate the safety input connection status.
  • Page 327 Kinetix 5700 Safe Torque-off Function Chapter 9 Table 166 - Dual-axis Inverter Integrated STO Specifications Safe Stop Only - No Feedback Tag Names Attribute Logix Designer Tag Name Studio 5000 Logix Designer Type Description [bit] (version 31 and later) (1) (2) SI.ConnectionStatus...

  • Page 328: Sto Fault Reset

    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 inverter axes enter the faulted state if any STO function fault is detected. Refer to...

  • Page 329: Troubleshoot The Safe Torque-Off Function

    STO tag name changes. Troubleshoot the Safe Torque-off Function For integrated STO fault code descriptions and possible solutions, see the Kinetix 5700 Fault Codes.xlsx file attached to this publication. For more information about the file, see Access the Attachments...

  • Page 330: Understand Integrated Safety Drive Replacement

    Application page 309. Replacing a Kinetix 5700 servo drive that sits on an integrated safety network is more complicated than replacing standard devices because of the safety network number (SNN). The device number and SNN make up the safety device’s DeviceID. Safety devices require this more complex identifier to make sure that duplicate device numbers do not compromise communication between the correct safety devices.

  • Page 331: Replace An Integrated Safety Drive In A Guardlogix System

    Kinetix 5700 Safe Torque-off Function Chapter 9 Replace an Integrated Safety Drive in a GuardLogix System When you replace an integrated safety drive, the replacement device must be configured properly and the replacement drives operation must be user-verified. ATTENTION: During drive replacement or functional test, the safety of the system must not rely on any portion of the affected drive.

  • Page 332: Motion Direct Commands In Motion Control Systems

    ATTENTION: Enable the Configure Always feature only if the entire integrated safety control system is not being relied on to maintain SIL 3 behavior during the replacement and functional testing of a Kinetix 5700 drive. Do not place drives that are in Hardwired STO mode on an integrated safety network when the Configure Always feature is enabled.
  • Page 333 Understand STO Bypass When Using Motion Direct Commands If a Safety-only connection between the GuardLogix safety controller and the Kinetix 5700 servo drive was established at least once after the drive was received from the factory, the drive does not allow motion while the safety controller is in Program mode by default.
  • Page 334 Logix Designer Application Warning Messages When the controller is in Run mode, executing safety functions, the Kinetix 5700 servo drive follows the commands that it receives from the safety controller. The controller reports Safety state = Running and Axis state =...
  • Page 335 Kinetix 5700 Safe Torque-off Function Chapter 9 When you issue a motion direct command to an axis to produce torque in Program mode, for example MSO or MDS, with the safety connection present to the drive, a warning message is presented before the motion direct command...
  • Page 336 Chapter 9 Kinetix 5700 Safe Torque-off Function Figure 161 - 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.
  • Page 337 Kinetix 5700 Safe Torque-off Function Chapter 9 Torque Permitted in a Multi-workstation Environment The warning in Figure 162 is displayed to notify a second user working in a multi-workstation environment that the first user has placed the integrated safety drive in the STO state and that the current action is about to bypass the STO state and permit torque.
  • Page 338 Chapter 9 Kinetix 5700 Safe Torque-off Function Figure 165 - Axis and Safe State Indications on the Motion Console Dialog Box Functional Safety Considerations ATTENTION: Before maintenance work can be performed in Program mode, the developer of the application must consider the implications of allowing...

  • Page 339: Integrated Safe Torque-Off Specifications

    Kinetix 5700 Safe Torque-off Function Chapter 9 Integrated Safe Torque-off Specifications IMPORTANT To maintain safety rating, Kinetix 5700 drives must be installed inside protected control panels or cabinets appropriate for the environmental conditions of the industrial location. The protection class of the panel or cabinet must be IP54 or higher.
  • Page 340 Chapter 9 Kinetix 5700 Safe Torque-off Function Table 169 - Dual-axis Inverter STO Assembly Specifications Attribute Value Logix Designer Tag Name Byte 0 Bit 0: Torque disabled 1 Drv:SI.TorqueDisabled1 Byte 0 Bit 6: Safety fault 1 Drv:SI.SafetyFault1 Byte 0 Bit 7: Reset required 1 Drv:SI.ResetRequired1...

  • Page 341: Interconnect Diagram Notes

    System Block Diagrams Interconnect Diagram Notes This appendix provides wiring examples to assist you in wiring the Kinetix 5700 drive system. These notes apply to the wiring examples on the following pages. Table 170 - Interconnect Diagram Notes Note Information...
  • Page 342 MPAS-Bxxxxx-VxxSxA (ballscrew) linear stages use the 9V supply. MPAS-Bxxxxx-ALMx2C (direct-drive) linear stages use the 5V supply. Mount the 8720MC-RPS unit on the same panel and as close to the Kinetix 5700 drive system as possible. DC-bus cables not to exceed 2.0 m (6.5 ft), maximum length. See the 8720MC Regenerative Power Supply User Manual, publication 8720MC-RM001, for installation and wiring instructions.

  • Page 343: Power Wiring Examples

    Interconnect Diagrams Appendix A Power Wiring Examples You must supply input power components. The three-phase line filter is wired downstream of the circuit protection devices. Each drive module includes the appropriate DC-bus link and connector set. The 24V supply can be jumpered from drive-to-drive by using discrete wires or the shared-bus connection system.
  • Page 344 Appendix A Interconnect Diagrams Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...
  • Page 345 Interconnect Diagrams Appendix A In this example, the 2198-CAPMOD-2240 capacitor module is included for energy storage and to improve dynamic performance. Figure 168 - DC-bus Power Supply with Capacitor Module 2198-Sxxx -ERSx or 2198-CAPMOD-2240 2198-Pxxx 2198-Dxxx -ERSx Capacitor Module DC-bus Power Supply Refer to table on page 341 for note information.
  • Page 346 Appendix A Interconnect Diagrams Figure 169 - DC-bus Power Supply (single iTRAK power supply) Configuration 2198-P070 2198T-W25K-ER Kinetix 5700 Kinetix 5700 Refer to table on page 341 for note information. DC-bus Power Supply iTRAK Power Supply Cable Shield Clamp DC–...
  • Page 347 24V current requirements needed for proper distribution for 24V control power. Figure 170 - DC-bus Power Supply (multiple iTRAK power supply) Configuration 2198-P141 2198T-W25K-ER 2198T-W25K-ER 2198T-W25K-ER Kinetix 5700 Kinetix 5700 Kinetix 5700 Kinetix 5700 Refer to table on page 341 for note information.
  • Page 348 Appendix A Interconnect Diagrams In this example, the inverter drives and optional accessory modules are downstream of a 2198-RPxxx regenerative bus supply. Figure 171 - Regenerative Bus Supply Configuration 2198-RPxxx 2198-Sxxx -ERSx or Additional Inverters or Regenerative Bus Supply 2198-Dxxx -ERSx Refer to table on page 341 for note information.
  • Page 349 Interconnect Diagrams Appendix A In this example, the 2198-DCBUSCOND-RP312 DC-bus conditioner module is included because total motor cable length exceeds 400 m (1312 ft). Figure 172 - Regenerative Bus Supply with DC-bus Conditioner Module 2198-Sxxx -ERSx or 2198-DCBUSCOND-RP312 2198-RPxxx Refer to table on page 341 for note information.
  • Page 350 Appendix A Interconnect Diagrams Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...
  • Page 351 Interconnect Diagrams Appendix A Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...
  • Page 352 In this example, three-phase AC input power is fed to two 8720MC-RPS065 units in a leader/follower configuration. The DC-bus (TB1) terminals connect to the Kinetix 5700 DC-bus via the DC-bus conditioner module because the system current exceeds 104 A. Figure 175 - 8720MC-RPS065 Leader/Follower Units with Kinetix 5700 Drive System 324…506V AC rms...
  • Page 353 Interconnect Diagrams Appendix A IMPORTANT The 8720MC-RPS regenerative power supply is not compatible with the iTRAK power supply. 8720MC-RPS065 Leader/Follower Units with Kinetix 5700 Drive System (continued) 2198-DCBUSCOND-RP312 2198-CAPMOD-2240 Refer to table on page 341 for note information. DC-bus Conditioner Module...
  • Page 354 Interconnect Diagrams In this example, three-phase AC input power is fed to the 8720MC-RPS190 unit. The DC-bus (TB1) terminals connect to the Kinetix 5700 DC-bus via the DC-bus conditioner module because the system current exceeds 104 A. IMPORTANT The 8720MC-RPS regenerative power supply is not compatible with the iTRAK power supply.
  • Page 355 Interconnect Diagrams Appendix A 8720MC-RPS190 Unit with Kinetix 5700 Drive System (continued) 2198-DCBUSCOND-RP312 2198-CAPMOD-2240 Refer to table on page 341 for note information. DC-bus Conditioner Module Capacitor Module 2198-Sxxx -ERSx 2198-Dxxx -ERSx Inverter Inverter Note 8 Circuit Protection * Additional Inverters...
  • Page 356 Appendix A Interconnect Diagrams Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...

  • Page 357: Capacitor Module Status Wiring Example

    Power Supply Configurable Functions table on page 103. Refer to the Kinetix 5700 Capacitor Modules Installation Instructions, publication 2198-IN008, for additional installation information. DC-bus Conditioner Module You can configure any of the regenerative bus supply digital inputs as Bus Conditioner OK in the Logix Designer application to monitor the Module Status Wiring Example Status output.

  • Page 358: Contactor Wiring Examples

    Appendix A Interconnect Diagrams Contactor Wiring Examples We recommend that you wire an Allen-Bradley® (Bulletin 100) auxiliary contactor to the 2198-RPxxx regenerative-bus supply digital input (IOD connector) and configure AC Line Contactor OK to monitor three-phase input power. Use the Normally Open (N.O.) auxiliary contact, if more than one auxiliary contact is available.

  • Page 359: Passive Shunt Wiring Examples

    Do not connect both internal and external shunt resistors to the DC-bus power supply. ATTENTION: To avoid damage to the Kinetix 5700 drive system, wire the 2198-R014, 2198-R031, or 2198-R127 shunt thermal switch to a digital input on the DC-bus power supply and configure the Shunt Thermal Switch OK function in the Logix Designer application.

  • Page 360: Active Shunt Wiring Examples

    Connections page 183. ATTENTION: To avoid damage to the Kinetix 5700 drive system, wire the active shunt thermal switch to a digital input on the power supply and configure the Shunt Thermal Switch OK function in the Logix Designer application.
  • Page 361 Interconnect Diagrams Appendix A IMPORTANT Due to the 10 A connector current rating, connections to the Active Shunt (RC) connector on the regenerative bus supply are limited to Powerohm PKBxxx-xxx active shunts. PWBxxx-xxx active shunt connections must be made to the 2198-CAPMOD-2240 capacitor module. Figure 186 - 2198 Power Supply with External Active Shunt (external brake resistor) 2198- 2198-Pxxx...

  • Page 362: Kinetix 5700 Servo Drive And Rotary Motor Wiring Examples

    These Kinetix VP motors use single cable technology. The motor power, brake, and feedback wires are all packaged in a single cable. Rotary Motor Wiring Examples Figure 187 - Kinetix 5700 Drives with Kinetix VP (Bulletin VPL, VPC-Bxxxxx-Q, VPF, VPS) Motors VPL-Bxxxx-C/P/Q/W, 2198-Sxxx -ERSx or VPC-Bxxxxx-Q,...
  • Page 363 Interconnect Diagrams Appendix A Figure 189 - Kinetix 5700 Drives with Kinetix VP Continuous Duty Motors 2198-Sxxx -ERSx VPC-Bxxxx-Y Continuous Duty 2198-Dxxx -ERSx Servo Motors with Refer to table on page 341 for note information. Kinetix 5700 Servo Drives High Resolution Feedback...
  • Page 364 Appendix A Interconnect Diagrams These compatible Allen-Bradley rotary motors have separate cables for motor power/brake and feedback connections. Figure 190 - Kinetix 5700 Drives with MP-Series and Kinetix VP (Bulletin VPC-Bxxxxx-S) Motors 2198-Sxxx -ERSx or MPL-B15xx…MPL-B9xx, Refer to table on page 341 for note information.
  • Page 365 Interconnect Diagrams Appendix A Figure 191 - Kinetix 5700 Drives with HPK-Series Rotary Motors 2198-Sxxx -ERSx HPK-Series™ Refer to table on page 341 for note information. Kinetix 5700 Servo Drives HPK-Bxxx and HPK-Exxx Asynchronous Servo Motors with Note 8 High Resolution Feedback...
  • Page 366 Appendix A Interconnect Diagrams Figure 192 - Kinetix 5700 Drives with RDD-Series Direct Drive Motors 2198-Sxxx -ERSx or RDB-Bxxxx Direct Drive 2198-Dxxx -ERSx Servo Motors with Refer to table on page 341 for note information. Kinetix 5700 Servo Drives High Resolution Feedback...

  • Page 367: Kinetix 5700 Servo Drive And Linear Actuator Wiring Examples

    Kinetix 5700 Servo Drive and Compatible linear actuators have separate cables for power/brake and feedback connections. Linear Actuator Wiring Examples Figure 193 - Kinetix 5700 Drives with LDAT-Series Linear Thrusters 2198-Dxxx -ERSx LDAT-Sxxxxxx-xDx Kinetix 5700 Servo Drives Refer to table on page 341 for note information.
  • Page 368 Appendix A Interconnect Diagrams Figure 194 - Kinetix 5700 Drives with MP-Series Linear Stages 2198-Dxxx -ERSx MPAS-Bxxxxx-VxxSxA Refer to table on page 341 for note information. Kinetix 5700 Servo Drives Ballscrew Linear Stages with 2198-H2DCK Feedback High Resolution Feedback Note 8...
  • Page 369 Interconnect Diagrams Appendix A Figure 195 - Kinetix 5700 Drives with Kinetix VP Electric Cylinders VPAR-Bxxxxx-P/Q/W 2198-Dxxx -ERSx Electric Cylinders Kinetix 5700 Servo Drives Refer to table on page 341 for note information. with High-resolution Note 8 Feedback Note 7...
  • Page 370 Appendix A Interconnect Diagrams Figure 196 - Kinetix 5700 Drives with MP-Series Electric Cylinders 2198-Dxxx -ERSx MPAR-Bxxxxx and MPAI-Bxxxxx Kinetix 5700 Servo Drives 2198-H2DCK Feedback Refer to table on page 341 for note information. Electric Cylinders with Converter Kit or...
  • Page 371 Interconnect Diagrams Appendix A Figure 197 - Kinetix 5700 Drives with LDC-Series Linear Motors (cable connectors) 2198-Dxxx -ERSx LDC-Series™ Refer to table on page 341 for note information. Kinetix 5700 Servo Drives LDC-Cxxxxxx-xHTx1 Note 8 Linear Motor Coil with 2198-H2DCK Feedback...
  • Page 372 Appendix A Interconnect Diagrams Figure 198 - Kinetix 5700 Drives with LDC-Series Linear Motors (flying-lead cables) 2198-Dxxx -ERSx Refer to table on page 341 for note information. Kinetix 5700 Servo Drives Note 8 LDC-Cxxxxxx-xHTx0 Linear Motor Coil with Cable Shield...

  • Page 373: System Block Diagrams

    Interconnect Diagrams Appendix A System Block Diagrams This section provides block diagrams of the Kinetix 5700 drive modules. Figure 199 - DC-bus Power Supply Block Diagram Shunt Resister (RC) Connector Internal Shunt Resistor DC Bus Power Three-phase (DC) Connector Input Power (IDP) Connector DC–...
  • Page 374 Appendix A Interconnect Diagrams Figure 200 - Regenerative Bus Supply Block Diagram Active Shunt (RC) Connector DC Bus Power Three-phase (DC) Connector Input Power (IDP) Connector DC– Ground Screw Chassis CONV OK+ 24V DC – CONV OK– Contactor Enable (CED) Connector CONT EN+ CONT EN–...
  • Page 375 Interconnect Diagrams Appendix A Figure 201 - Single-axis Inverter Block Diagram DC Bus Power Motor Power (DC) Connector (MP) Connector DC– Ground Jumper Chassis Motor Brake (BC) Connector BR– 24V+ 24V Control Power Control (CP) Connector 24V– (1) Ground jumper installed on 2198-Sxxx-ERS3 (series A) drives. Ground jumper removed on 2198-Sxxx-ERS4 and 2198-Sxxx-ERS3 (series B) drives.
  • Page 376 Appendix A Interconnect Diagrams Figure 202 - Dual-axis Inverter Block Diagram Motor Power (MP) Connector - A Chassis DC Bus Power (DC) Connector Motor Power (MP) Connector - B DC– Ground Jumper Chassis Motor Brake (BC) Connector - A BR– Motor Brake (BC) Connector - B BR–...
  • Page 377 Interconnect Diagrams Appendix A Figure 203 - iTRAK Power Supply Block Diagram 2x DC-DC DC-bus Output Converters IDC Connector - A DC-bus Power Chassis (DC) Connector 24V Control Output 24V+ ICP Connector - A 24V– Chassis DC– DC-bus Output Ground Jumper IDC Connector - B Chassis Chassis...
  • Page 378 Appendix A Interconnect Diagrams Figure 204 - Capacitor Module Block Diagram Fuse Detection Module Status Status Indicator Module Status (MS) Connector DC Bus Output Lug Connector DC– DC-bus Detection DC-bus Status Status Indicator Capacitor Bank Fuse DC Bus Input Bleeder Link Connector Resistor DC–...
  • Page 379 Interconnect Diagrams Appendix A Figure 205 - DC-bus Conditioner Module Block Diagram Module Status Status Indicator Fuse Detection and Over Temperature Protection Module Status (MS) Connector DC Bus Output Lug Connector DC– DC-bus Status DC-bus Detection Status Indicator Conditioning Circuit Fuse DC Bus Input Link Connector...
  • Page 380 Appendix A Interconnect Diagrams Notes: Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...
  • Page 381 Appendix Upgrade the Drive Firmware This appendix provides procedures for upgrading your Kinetix® 5700 firmware by using ControlFLASH™ software. Topic Page Before You Begin Upgrade Firmware Verify the Firmware Upgrade Upgrading drive firmware by using ControlFLASH software involves configuring your Logix 5000™ controller communication, selecting the drive to upgrade, and upgrading the firmware.

  • Page 382: Before You Begin

    ControlFLASH software kit 12.01.00 or later Catalog numbers of the targeted Kinetix 5700 drive module you want to upgrade. Network path to the targeted Kinetix 5700 drive module you want to upgrade. (1) Download the ControlFLASH kit from http://support.rockwellautomation.com/controlflash. Contact Rockwell Automation®...

  • Page 383: Configure Logix 5000 Controller Communication

    Upgrade the Drive Firmware Appendix B Configure Logix 5000 Controller Communication This procedure assumes that your communication method to the Logix 5000 controller is the Ethernet network. It also assumes that your Ethernet communication module or Logix 5000 controller has already been configured. For more controller information, refer to Additional Resources page...

  • Page 384: Inhibit Feedback Only Axis

    Appendix B Upgrade the Drive Firmware 7. Type the IP address of your Kinetix 5700 servo drive. 8. Click OK. The new Ethernet driver appears under Configured Drivers. 9. Click Close. 10. Minimize the RSLinx application dialog box. Inhibit Feedback Only Axis If an axis is configured as Feedback Only, you must inhibit the axis prior to performing the firmware upgrade.

  • Page 385: Upgrade Firmware

    Upgrade the Drive Firmware Appendix B Upgrade Firmware Follow these steps to select the drive module to upgrade. 1. In the Logix Designer application, from the Tools menu, choose ControlFLASH. TIP You can also open ControlFLASH software by choosing Start>Programs>FLASH Programming Tools>ControlFLASH. The Welcome to ControlFLASH dialog box appears.
  • Page 386 Appendix B Upgrade 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 Firmware Revision dialog box appears. 8.
  • Page 387 Upgrade the Drive Firmware 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 ready). This ControlFLASH warning dialog box appears. 13.
  • Page 388 Appendix B Upgrade the Drive Firmware The Progress dialog box appears and updating begins. The axis state on the LCD display changes from CONFIGURING, STOPPED, or PRECHARGE to FIRMWARE UPDATE IN PROGRESS, which indicates that the upgrade is in progress. After the upgrade information is sent to the drive, the drive resets and performs diagnostic...

  • Page 389: Verify The Firmware Upgrade

    Upgrade the Drive Firmware Appendix B Verify the Firmware Upgrade Follow these steps to verify your firmware upgrade was successful. TIP Verifying the firmware upgrade is optional. 1. Open your RSLinx software. 2. From the Communications menu, choose RSWho. 3. Expand your Ethernet node, Logix backplane, and EtherNet/IP network module.
  • Page 390 Appendix B Upgrade the Drive Firmware Notes: Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...

  • Page 391: Shared Dc-Bus Configurations

    Group of power supply and/or drive modules that are directly connected together via Cluster Kinetix 5700 DC bus-bars only. Group of drive modules that are directly connected together via Kinetix 5700 DC bus-bars Extended cluster and connected to the power supply cluster via customer-supplied DC-bus cable.
  • Page 392 Size Multi-axis Shared-bus Configurations In this example, two drive clusters in the same cabinet are connected by the same 458…747V DC-bus voltage. Kinetix 5700 capacitor modules provide connection points for the DC bus. The extension module is needed only when the DC-bus system current exceeds 104 A, and can support up to 208 A maximum external DC-bus current.

  • Page 393: General Sizing Guidelines

    24V power supply must not exceed 40 A. • The Kinetix 5700 system can have multiple drive clusters in a single DC-bus group. See DC Bus Cluster-to-Cluster Cable Lengths page 155 for more information on extended clusters.

  • Page 394: Select Drive/Motor Combinations

    Drive/motor performance specifications and torque/speed curves are also available in the Kinetix 5700 Drive Systems Design Guide, publication KNX-RM010. Select the Power Supply and Define the DC-bus Groups • Determine the converter DC-bus motoring and bus-regulation power requirements based on the load profile.

  • Page 395: Calculate The Total Motor Power Cable Length

    Size Multi-axis Shared-bus Configurations Appendix C Table 174 - Power Supply Capacitance Supported Capacitance, max Internal Capacitance DC-bus Power Supply Power Supply Cat. No. μF μF 2198-P031 8,000 2198-P070 Single DC-bus Power Supply 2198-P141 1640 13,000 2198-P208 2050 2198-P208 x 2 26,000 4100 Multiple DC-bus Power Supplies...

  • Page 396: Calculate 24V Dc Control Power Current Demand

    Appendix C Size Multi-axis Shared-bus Configurations Calculate 24V DC Control Power Current Demand If using the 24V DC shared-bus connection system to distribute control input power to a drive cluster, output current from the 24V power supply must not exceed 40 A. Table 176 - Control Power Current Specifications 24V Current Per Module 24V Current, max...

  • Page 397: 24V Dc Voltage Drop Calculation Example

    24V DC Voltage Drop Calculation Example In this example, the 24V DC power supply is 21.3 m (70 ft) away from the Kinetix 5700 drive system. The drive system includes one 2198-RP312 regenerative bus supply, two 2198-S312-ERS4 single-axis inverters, and two 2198-D057-ERS4 dual-axis inverters.
  • Page 398 Appendix C Size Multi-axis Shared-bus Configurations You must obtain the wire resistance value from the wire manufacturer. Resistance values used below are only examples. Wire Gauge Wire Length Calculation Voltage Drop mm2 (AWG) 1.5 (16) 22.9 A • 0.281 Ω 6.43V 21.3 m (70 ft) 4.0 (12)

  • Page 399: System Sizing Example

    Size Multi-axis Shared-bus Configurations Appendix C System Sizing Example This example shows how a single Kinetix 5700 drive cluster meets the total bus capacitance, power cable length, and 24V DC current limitations. Figure 208 - Example DC-bus Group (single drive cluster)

  • Page 400: System Sizing Application Example

    Example motor kW value in your drive system. The Kinetix 5700 drive modules are zero-stacked and use the shared-bus connection system to extend power from the 2198-Pxxx DC-bus power supply or 2198-RPxxx regenerative bus supply to multiple drive modules. For best results, use the Motion Analyzer system sizing and selection tool, available at https://motionanalyzer.rockwellautomation.com.

  • Page 401: Maximum Motor Cable Lengths For Kinetix 5700 Power Supplies

    – For more information on DC bus voltage regulation, refer to DC-bus Voltage Regulation page 42 • Whether the drive cluster includes a DC-bus conditioner module • Allen-Bradley® servo motor or actuator connected to the inverter Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...

  • Page 402: Dc-Bus Power Supply Configurations

    Appendix D Maximum Motor Cable Lengths for Kinetix 5700 Power Supplies DC-bus Power Supply 2198-RPxxx regenerative power supplies have the same maximum drive-to- motor cable length limits as 2198-Pxxx DC-bus power supplies when they Configurations operate with DC-bus regulation disabled.
  • Page 403 Maximum Motor Cable Lengths for Kinetix 5700 Power Supplies Appendix D Table 181 - DC-bus Power Supply (400V AC input) Drive-to-Motor AC Input Power Source Type Motor/Actuator Cat. No. Cable Length, max m (ft) • LDAT-Sxxxxxx • LDC-Cxxxxxx 10 (32.8) •...

  • Page 404: Regenerative Bus Supply Configurations

    DC-bus regulation is enabled. However, the DC Bus can be Configurations extended up to 70 m (230 ft) to remote clusters of Kinetix 5700 inverters. The result is a shorter distance from the inverter to the motor and thus shorter individual motor cable lengths.

  • Page 405: Motor Control Feature Support

    Appendix Motor Control Feature Support This appendix provides feature descriptions for the 400V-class induction motors and permanent-magnet motors that are supported by Kinetix® 5700 servo drives. Topic Page Frequency Control Methods Current Limiting for Frequency Control Stability Control for Frequency Control Skip Speeds Flux Up Current Regulator Loop Settings...

  • Page 406: Frequency Control Methods

    Motor cable length, max 90 m (295 ft) (1) Applies to all Kinetix 5700 drives and compatible motors/actuators with Hiperface and Hiperface DSL high-resolution absolute feedback. For compatible motors/actuators with incremental feedback, 30 m (98 ft) is the maximum cable length.

  • Page 407: Basic Volts/Hertz

    Motor Control Feature Support Appendix E Basic Volts/Hertz Volts/hertz operation creates a fixed relationship between output voltage and output frequency. Voltage is applied to the motor, which is based on the operating frequency command at a fixed volts/hertz ratio. The ratio is calculated from the motor nameplate data and entered into the Logix Designer application>Axis Properties>Frequency Control category.

  • Page 408: Basic Volts/Hertz For Fan/Pump Applications

    Appendix E Motor Control Feature Support Basic Volts/Hertz for Fan/Pump Applications The Basic Volts/Hertz Fan/Pump (fan/pump) method is based on the Basic Volts/Hertz (V/Hz) method, but is specifically tailored for fan/pump applications. Figure 210 - Output Voltage Equation Where: = Output voltage –...

  • Page 409: Sensorless Vector

    Motor Control Feature Support Appendix E Sensorless Vector The Sensorless Vector method uses a volts/hertz core enhanced by a current resolver, slip estimator, and a voltage-boost compensator based on the operating conditions of the motor. Figure 212 - Sensorless Vector Method Motor Pole Pairs Velocity Trim...

  • Page 410: Current Limiting For Frequency Control

    Appendix E Motor Control Feature Support Current Limiting for The current limiting module prevents the OutputCurrent value from exceeding the OperativeCurrentLimit value when the drive is configured in Frequency Control Frequency Control mode. Figure 214 - Current Limiting Module Fine Velocity Velocity from Planner Command...
  • Page 411 Motor Control Feature Support Appendix E Figure 216 - Effects of Current Limiting on an Impact Load Impact Load, No Current Limiting Impact Load, Current Limiting Active 4000 4200 5600 4000 4200 5600 4400 4600 4800 5000 5200 5400 5800 4400 4600 4800...

  • Page 412: Enable The Current Limiting Feature

    Appendix E Motor Control Feature Support Enable the Current Limiting Feature In this example, a Message Configuration (MSG) instruction is configured to set the CurrentLimitingEnable attribute for axis 3 of a dual-axis inverter. The Instance field is used to direct the message to the proper axis. For single-axis inverters the value of 1 is used for Instance.

  • Page 413: Stability Control For Frequency Control

    Motor Control Feature Support Appendix E Stability Control for Stability control is available for induction motors configured for frequency control. This feature can be used to help remove resonances that are sometimes Frequency Control seen on larger motors. The stability control feature adjusts the OutputFrequency and OutputVoltage commands to stabilize the OutputCurrent.

  • Page 414: Enable The Stability Control Feature

    Appendix E Motor Control Feature Support Enable 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 is used to direct the message to the proper axis. For single-axis inverters the value of 1 is used for Instance.

  • Page 415: Skip Speeds

    Motor Control Feature Support Appendix E Skip Speeds Some machines have a resonant operating frequency (vibration speed) that is undesirable or could cause equipment damage. To guard against continuous operation at one or more resonant points, you can configure the skip-speed attributes in the Logix Designer application>Axis Properties>Parameter List category.

  • Page 416: Multiple Skip Speeds

    Appendix E Motor Control Feature Support Multiple Skip Speeds The Kinetix 5700 drives feature two independent skip-speed attributes (SkipSpeed1 and SkipSpeed2) that use the same SkipSpeedBand. Figure 219 - Multiple Skip Speed Example SkipSpeed2 SkipSpeedBand SkipSpeedBand SkipSpeed1 Time When skip-speed band boundaries of SkipSpeed1 and SkipSpeed2 overlap, the skip-speed hysteresis is calculated using the effective skip band.

  • Page 417: Flux Up

    Motor Control Feature Support Appendix E Flux Up AC induction motors require that flux builds in the motor stator before controlled torque can develop. To build flux, voltage is applied. There are two methods to flux the motor and three configurable FluxUpControl settings. With the No Delay setting (normal start), flux is established when the output voltage and frequency are applied to the motor.

  • Page 418: Flux Up Attributes

    Appendix E Motor Control Feature Support Once rated flux is reached in the motor, normal operation can begin and the desired acceleration profile achieved. Figure 223 - Rated Flux Reached IR Voltage - SVC Greater of IR Voltage or Voltage Boost - V/Hz Flux Up Stator Voltage Voltage...

  • Page 419: Configure The Flux Up Attributes

    Motor Control Feature Support Appendix E Configure the Flux Up Attributes Follow these steps to configure the flux-up attributes. 1. In the Controller Organizer, right-click an axis and choose Properties. 2. Select the Parameter List category and scroll to FluxUpControl. 3.

  • Page 420: Current Regulator Loop Settings

    Appendix E Motor Control Feature Support Current Regulator Loop Current loop bandwidth is set differently based on the selected motor type. Settings Table 189 - Current Regulator Loop Settings Default Torque/Current Loop Bandwidth Motor Type Rotary permanent magnet Rotary interior permanent magnet 1000 Linear permanent magnet Rotary induction...
  • Page 421 Motor Control Feature Support Appendix E Figure 225 - Motor Manufacturer Performance Data Sheet C E R T I FI C A T I ON DA T A SHE E T T Y PI C A L M OT OR PE R FOR M A NC E DA T A SY NC .

  • Page 422: Motor Tests And Autotune Procedure

    Appendix E Motor Control Feature Support Motor>Analyzer Category From the Motor>Analyzer category you can perform three types of tests to identify motor parameters. In this example, the Calculate Model test was run. If the Motor>Analyzer test executes successfully, and you accept the test values, they populate the Model Parameter attributes.

  • Page 423: Motor Analyzer Category Troubleshooting

    Motor Control Feature Support Appendix E The Motor>Analyzer category offers three choices for calculating or measuring electrical motor data. Follow these steps to run motor tests and identify motor parameters. 1. In the Controller Organizer, right-click an axis and choose Properties. 2.
  • Page 424 Appendix E Motor Control Feature Support motor movement. The drive also calculates the rated slip speed based on rated speed and rated frequency. The Static test requires that you enter initial estimates for Rated Flux Current, Rated Slip Speed, Stator Resistance (Rs), Stator Leakage Reactance (X1), and Rotor Leakage Reactance (X2) into the Motor Model fields.
  • Page 425 Motor Control Feature Support Appendix E that the dynamic test will not return expected results if the torque limit is set below 30.0. Table 191 - Slip Test via Messaging Attribute Conditional Type Attribute Name Description Offset Implementation Sets positive and negative torque limits for the slip test within the Dynamic motor test 3095 REAL IM Slip Test Torque Limit...

  • Page 426: Selection Of Motor Thermal Models

    Appendix E Motor Control Feature Support Selection of Motor Thermal The Kinetix 5700 drives contain two motor thermal-overload protection algorithms that you can use to prevent the motor from overheating. Models Generic Motors The default thermal model is a generic I T Class 10 overload protection algorithm.

  • Page 427: Thermally Characterized Motors

    Motor Control Feature Support Appendix E Thermally Characterized Motors If the MotorWindingToAmbientResistance and MotorWindingToAmbientCapacitance attribute values are both non-zero, the motor is considered thermally characterized and an alternate motor thermal model is run. The purpose of this algorithm is to limit the time a motor is operating with excessive levels of current.

  • Page 428: Speed Limited Adjustable Torque (Slat)

    Appendix E Motor Control Feature Support Speed Limited Adjustable Speed limited adjustable torque (SLAT) is a special mode of operation used primarily in web handling applications. While configured for SLAT, the drive Torque (SLAT) typically operates as a torque regulator. The drive can automatically enter velocity regulation based on conditions within the velocity regulator and the magnitude of the velocity regulator's output, relative to the applied TorqueTrim attribute.

  • Page 429: Slat Min Speed/Torque

    Motor Control Feature Support Appendix E Table 193 - SLAT Operation When Motion Polarity Is Inverted Velocity Command Motion Polarity SLAT Configuration Normal Positive (clockwise) Inverted Normal Negative (CCW) Inverted SLAT Min Speed/Torque SLAT Min Speed/Torque is a special mode of operation primarily used in web handling applications.

  • Page 430: Slat Max Speed/Torque

    Appendix E Motor Control Feature Support SLAT Max Speed/Torque SLAT Max Speed/Torque is a special mode of operation primarily used in web handling applications. The drive typically operates as a torque regulator, provided that the TorqueTrim attribute is greater than the torque output due to the velocity regulator's control effort.

  • Page 431: Configure The Axis For Slat

    Motor Control Feature Support Appendix E Configure the Axis for SLAT Follow these steps 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.
  • Page 432 Appendix E Motor Control Feature Support 5. Click Apply. 6. Select the Parameters List category. The Motion Axis Parameters dialog box appears. 7. From the SLATConfiguration pull-down menu, choose the SLAT configuration appropriate for your application. IMPORTANT SLAT parameters are configurable only when Velocity Loop is chosen from the General category, Axis Configuration pull-down menu.
  • Page 433 Appendix E The Drive Parameters to Controller Mapping dialog box appears. When using SLAT with the Kinetix 5700, the velocity command is sent to the drive via an MAJ instruction (2198-xxxx-ERS3 series A drives, firmware 7.001 or earlier) or MDS instruction (2198-xxxx-ERS4 and 2198-xxxx-ERS3 series B drives, firmware 9.001 or later).

  • Page 434: Motion Drive Start (Mds) Instruction

    For information regarding the MDS instruction, refer to the Logix 5000™ Controllers Motion Instructions Reference Manual, publication MOTION-RM002. For the Kinetix 5700 drive, the MDS instruction is valid only when the axis configuration is set to one of these control modes: • Frequency Control •...
  • Page 435 Motor Control Feature Support Appendix E Motion Drive Start Instruction Configuration The MDS instruction is configured in a similar fashion to most motion instructions, as seen in this example. Figure 231 - Typical MDS Instruction Selected Axis Motion Instruction Tag Speed Reference Units per sec % of Maximum...
  • Page 436 Appendix E Motor Control Feature Support The speed is increased by updating the speed reference and then re-executing the MDS instruction. Figure 233 - Increase Speed The speed is decreased by updating the speed reference and then re-executing the MDS instruction. Figure 234 - Decrease Speed Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...
  • Page 437 • RampVelocity - Negative • RampJerk - Control IMPORTANT Ramp attributes are available only when the Kinetix 5700 drive axis configuration is set to Frequency Control or Velocity Loop. Ramp attributes are not available when the axis configuration is set to Torque Loop or Position Loop.
  • Page 438 Appendix E Motor Control Feature Support Table 194 - Ramp Attributes Ramp Attribute Access Description Ramp Velocity - Positive attribute is a positive value that defines the maximum positive velocity command RampVelocity - Positive output of the Ramp Generator. Ramp Velocity - Negative attribute is a negative value that defines the maximum negative velocity command RampVelocity - Negative output of the Ramp Generator.

  • Page 439: Motor Overload Retention

    Motor Control Feature Support Appendix E Motor Overload Retention The motor overload retention feature protects the motor in the event of a drive power-cycle, in which the motor thermal state is lost. With motor overload retention, upon drive power-up the MotorCapacity attribute initially reads: •...

  • Page 440: Phase Loss Detection

    Appendix E Motor Control Feature Support Phase Loss Detection The phase-loss detection feature is designed to determine if motor power wiring is electrically connected to a motor and that reasonable current control exists. This attribute enables the operation of the drive's torque proving functions that work in conjunction with mechanical brake control.

  • Page 441: Phase-Loss Detection Attributes

    Motor Control Feature Support Appendix E Phase-loss Detection Attributes Access Attribute Conditional Implementation 0 = Disabled Proving Configuration 1 = Enabled % Motor Rated Units: Amps Torque Prove Current Default: 0.000 Min/Max: 0/10,000 Phase-loss Detection Configuration Follow these steps to configure the phase-loss detection attributes. 1.

  • Page 442: Phase Loss Detection Current Example

    Appendix E Motor Control Feature Support rating. The higher the TorqueProveCurrent value the more current the drive delivers to the motor to verify that the motor phase wiring is available and capable of that current level. High current levels conversely cause more thermal stress and (potentially) can cause more torque to be driven against the motor brake during the test.

  • Page 443: Velocity Droop

    Motor Control Feature Support Appendix E Velocity Droop The velocity droop function can be useful when some level of compliance is required due to rigid mechanical coupling between two motors. The feature is supported when the axis is configured for Frequency Control, Velocity Control, or Position Control.

  • Page 444: Velocity Droop Configuration

    Appendix E Motor Control Feature Support Velocity 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 scroll to VelocityDroop. 3. Enter a value in the Velocity Droop attribute appropriate for your application.

  • Page 445: Commutation Test

    267. Adaptive Tuning The adaptive tuning feature is an algorithm inside the Kinetix 5700 servo drives. The algorithm continuously monitors and, if necessary, adjusts or adapts various filter parameters and, in some cases, control-loop gains to compensate for unknown and changing load conditions while the drive is running.

  • Page 446: Field Weakening Mode

    Appendix E Motor Control Feature Support Field Weakening Mode Kinetix VP (Bulletin VPC) interior permanent-magnet (IPM) motors are designed to operate in Field Weakening mode to widen the speed range. Operation in Field Weakening mode can result in Back EMF voltage increasing to a level that exceeds the DC-bus voltage if a loss of control occurs.

  • Page 447: Configure Extended Speed Operation

    Motor Control Feature Support Appendix E Configure Extended Speed Operation The extended speed feature is only configurable with Kinetix 5700 drives and Kinetix VP continuous-duty IPM motors. You can configure the Extended Speed feature in Axis Properties>Motor category of the Logix Designer application (version 29.00 or later).
  • Page 448 Appendix E Motor Control Feature Support Notes: Rockwell Automation Publication 2198-UM002G-EN-P - February 2019...

  • Page 449: Index

    Index Numerics adaptive tuning 445 additional resources 13 1321 line reactors 14 alarm 283 2090-CFBM7DF-CD 18 2090-CFBM7DF-CE 18 drive module 2090-CPBM7DF 18 firmware 199 2090-CPWM7DF 163 PCDC download 199 2090-CSBM1DE 18 application requirements 324 2090-CSBM1DG 18 applying power 262 2090-XXNFMF 18 associated axes 206 2198-BARCON-55DC200 17 category 220...
  • Page 450 Index configuration 24V DC voltage drop 397 cables 8720MC-RPS 28 Bulletin 2090 18 DC-bus power supply 19 cable lengths, max 155 extended DC-bus 21 cable preparation extended regenerative bus supply 26 customer-supplied motor power 178 feedback examples 29 dual-axis power cable 165 input power to multiple drive systems 25 motor feedback 174 iTRAK power supply 22...
  • Page 451 Index application 215 converter kit connection 215 2198-H2DCK 17 scaling category 243 converter OK sensorless vector 236 relay 111 setup converter startup method 224 menu 193 cooling fan replacement 13 screens 192 corner-grounded power configuration 130 SLAT 431 SPM motor closed-loop axis properties 245 startup sequence 197 CP connector torque proving 441...
  • Page 452 Index earth ground 139 general category 204 motor ground termination 161 ground EMI (electromagnetic interference) multiple subpanels 140 bonding 67 screw/jumper 135 enable time synchronization 202 grounded-wye power configuration 129 enclosure power dissipation 55 requirements 41 sizing 54 encoder 122 hardwired STO mode 33 phasing 123 operation 314...
  • Page 453 Index input power wiring iTRAK power supplies 347 notes 341 24V control 145 passive shunt resistor 359 contactor enable 148 regenerative bus supply 348 corner-grounded power configuration 130 single converter 343 determine input power 129 iTRAK power supply 346 ground screw/jumper 135 motor cable 362 grounded-wye power configuration 129 inverters 96...
  • Page 454 Index low voltage directive 314 length, max 158 category 233 compatible motors 172 data sheet 421 extended speed 447 mains input power connector feedback pinouts 102 category 251 wiring 147 compatibility 257 major fault 283 connector wiring 172 MAS instruction 437 feedback connector pinouts 106 master feedback 231...
  • Page 455 Index new tag publications, related 13 data type 206 noise abnormal 281 feedback 280 ramp attributes 438 reduction 73 rated slip speed 423 zones 70 regenerative bus supply 17 Bus Observer 227 BusVoltageReferenceSource 227 catalog numbers 37 open-loop frequency control 406 configure axis properties out of box state 308 BusVoltageSetPoint 224...
  • Page 456 Index safety feedback encoders 122 brake relay 111 actions contactor enable relay 110 connected drive 290 control power input 113 running controller 290 converter OK relay 111 application 215 DC-bus voltage regulation 42 category 218 digital inputs 108 connection 215 encoder phasing 123 products catalog 323 EtherNet/IP connections 109...
  • Page 457 Index shared DC-bus 25 tuning sizing induction motor 272 example 399 PM motor 269 system sizing 393 typical installation 24V DC voltage drop 397 8720MC-RPS 28 DC-bus power supply 19 EtherNet/IP 30 testing axes extended DC-bus 21 hookup test 267 iTRAK power supply 22 time synchronization 202 multiple DC-bus power supplies 20...
  • Page 458 Index passive shunt resistor 182 ground screw/jumper 135 grounded-wye power configuration 129 guidelines 145 impedance-grounded power configuration input power type 129 IOD connector 151 IOD digital inputs 149 IPD connector 147 MF connector 160 motor cable shield clamp 161 MP connector 153 passive shunt 182 remove ground screws 138 requirements 128...
  • Page 460 Rockwell Automation maintains current product environmental information on its website at http://www.rockwellautomation.com/rockwellautomation/about-us/sustainability-ethics/product-environmental-compliance.page. Allen-Bradley, CompactLogix, ControlFLASH, ControlLogix, Encompass, GuardLogix, HPK-Series, iTRAK, Kinetix, LDC-Series, Logix 5000, MP-Series, PanelView, POINT Guard I/O, POINT I/O, PowerFlex, Rockwell Automation, Rockwell Software, RSLinx, Stratix, Studio 5000, and Studio 5000 Logix Designer are trademarks of Rockwell Automation, Inc.

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