Allen Bradley Allen-Bradley 2198-P031 Kinetix 5700 DC-Bus Power Supply Instruction manual
Allen Bradley Allen-Bradley 2198-P031 Kinetix 5700 DC-Bus Power Supply is a vital component of your automation system, providing reliable power for your Kinetix 5700 servo drives. It offers various configuration options to meet your specific application needs, with multiple DC-bus supply input power configurations, regenerative bus supply input power configurations, and 8720MC-RPS power supply input power configuration options.
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This manual links to the Kinetix 5700 Servo Drive Fault Codes, publication 2198-RD003; download the spreadsheet for offline access. Kinetix 5700 Servo Drives User Manual 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 User Manual Original Instructions Kinetix 5700 Servo Drives User Manual User Manual 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. Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice. If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired. In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment. The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams. No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual. Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited. Throughout this manual, when necessary, we use notes to make you aware of safety considerations. WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss. ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence. IMPORTANT Identifies information that is critical for successful application and understanding of the product. These labels may also be on or inside the equipment to provide specific precautions. SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present. BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures. ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE). The following icon may appear in the text of this document. Identifies information that is useful and can help to make a process easier to do or easier to understand. 2 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Table of Contents Preface Summary of Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Download Firmware, AOP, EDS, and Other Files . . . . . . . . . . . . . . . . . . . 11 Access Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 CIP Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Chapter 1 Start Kinetix 5700 Servo Drives Series Change . . . . . . . . . . . . . . . . . . . . . . . . . . 16 About the Kinetix 5700 Servo Drive System . . . . . . . . . . . . . . . . . . . . . . . . 16 DC-bus Power Supply Input Power Configurations. . . . . . . . . . . . . . . . . 19 Typical DC-bus Power Supply Configuration Example . . . . . . . . . . 19 Multiple DC-Bus Power Supply Configuration Example . . . . . . . . . 20 Extended DC-bus Configuration Example . . . . . . . . . . . . . . . . . . . . . 21 iTRAK Power Supply Configuration Example. . . . . . . . . . . . . . . . . . . 22 Regenerative Bus Supply Input Power Configurations . . . . . . . . . . . . . . 23 Typical Regenerative Bus Configuration Examples. . . . . . . . . . . . . . 23 Extended Regenerative Bus Configuration Example . . . . . . . . . . . . 26 8720MC-RPS Power Supply Input Power Configuration . . . . . . . . . . . . 27 Motor and Auxiliary Feedback Configurations . . . . . . . . . . . . . . . . . . . . . 28 Typical Communication Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Linear Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Ring Topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Star Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Functional Safety Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Hardwired Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Integrated Safety Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Safe Stop and Safe Monitor Configurations . . . . . . . . . . . . . . . . . . . . 35 Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Chapter 2 Plan the Kinetix 5700 Drive System Installation System Design Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 System Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 DC-bus Voltage Regulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 AC Line Filter Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 AC Line Impedance Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Circuit Breaker/Fuse Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 24V Control Power Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Contactor Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 Passive Shunt Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Active Shunt Considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Enclosure Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Multi-axis Shared DC-Bus Configurations . . . . . . . . . . . . . . . . . . . . . 57 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 3 Table of Contents Accessory Module Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 DC-bus Power Supply Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 Regenerative Bus Supply Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 8720MC-RPS or Other Regenerative Power Supply. . . . . . . . . . . . . . 63 Accessory Module Flowcharts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Electrical Noise Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 HF Bond for Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 HF Bond for Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 Establish Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 Cable Categories for Kinetix 5700 Systems . . . . . . . . . . . . . . . . . . . . . 71 Noise Reduction Guidelines for Drive System Accessories . . . . . . . 72 Chapter 3 Mount the Kinetix 5700 Drive System Determine Mounting Order. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 Mount Accessory Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Zero-stack Tab and Cutout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 Install Shared-bus Connection Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 DC-bus Connection System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 24V Input Power Connection System . . . . . . . . . . . . . . . . . . . . . . . . . . 83 Drill-hole Patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Drill-hole Pattern Calculations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Drill-hole Patterns by Using the System Mounting Toolkit . . . . . . . 88 Mount Your Kinetix 5700 Drive Modules . . . . . . . . . . . . . . . . . . . . . . . . . . 88 Chapter 4 Connector Data and Feature Descriptions 4 Kinetix 5700 Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 Safe Torque-off Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 Input Power Connector Pinouts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 DC Bus and Shunt Resistor Connector Pinouts . . . . . . . . . . . . . . . . 100 Digital Inputs Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 Ethernet Communication Connector Pinout . . . . . . . . . . . . . . . . . . 102 Motor Power, Brake, and Feedback Connector Pinouts . . . . . . . . . 102 Motor Feedback Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . 103 Universal Feedback Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . 104 Accessory Module Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 Understand Control Signal Specifications . . . . . . . . . . . . . . . . . . . . . . . . 105 Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 Ethernet Communication Specifications. . . . . . . . . . . . . . . . . . . . . . 106 Contactor Enable Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 Converter OK Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 Motor Brake Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 Control Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Encoder Feedback Supported on the DSL Feedback Connector. . . 111 Encoder Feedback Supported on the UFB Feedback Connector. . . 111 Auxiliary Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 Encoder Phasing Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 Absolute Position Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Functional Safety Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Table of Contents Hardwired STO Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 Integrated Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 Chapter 5 Connect the Kinetix 5700 Drive System Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 Routing the Power and Signal Cables . . . . . . . . . . . . . . . . . . . . . . . . . 120 Input Power Configurations for Kinetix 5700 Power Supplies . . . . . . 121 DC-bus Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 Regenerative Bus Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 Ground Screw/Jumper Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 Kinetix 5700 Drive System Power Supply . . . . . . . . . . . . . . . . . . . . . 127 Kinetix 5700 Inverters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 Kinetix 5700 iTRAK Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 Remove/Install the Ground Screw/Jumper . . . . . . . . . . . . . . . . . . . . . . . 130 Ground the Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 Ground the System Subpanel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 Ground Multiple Subpanels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 Wiring Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 Wire the Power Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 Wire the 24V Control Power Input Connector . . . . . . . . . . . . . . . . . 137 Wire the Input Power Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 Wire the Contactor Enable Connector . . . . . . . . . . . . . . . . . . . . . . . . 140 Wire the Digital Input Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 2198-xxxx-ERS3 (series A) Connector Plugs. . . . . . . . . . . . . . . . . . . . 141 2198-xxxx-ERS4 and 2198-xxxx-ERS3 (series B or later) Connector Plugs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 Wire the Safe Torque-off Connector . . . . . . . . . . . . . . . . . . . . . . . . . . 142 Wire the Digital Inputs Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 Wire Motor Power and Brake Connectors . . . . . . . . . . . . . . . . . . . . . . . . 144 Maximum Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 Connect Single Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151 Motor Feedback Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 Apply the Single Motor Cable Shield Clamp . . . . . . . . . . . . . . . . . . . 153 Connect Power/Brake and Feedback Cables . . . . . . . . . . . . . . . . . . . . . . 155 Motor Power and Brake Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 Motor Power/Brake Cable Series Change . . . . . . . . . . . . . . . . . . . . . 156 Dual-axis Inverter Power/Brake Cable Installation . . . . . . . . . . . . . 156 Single-axis Inverter Power/Brake Cable Installation . . . . . . . . . . . 159 Motor Feedback Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 Customer-supplied Motor Power Cables . . . . . . . . . . . . . . . . . . . . . . . . . 169 Accessory Module Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 External Passive-shunt Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 External Active-shunt Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 DC-bus Power Supply Active Shunt Connections . . . . . . . . . . . . . . 173 Regenerative Bus Supply Active Shunt Connections. . . . . . . . . . . . 173 Wire the External DC-bus Connections . . . . . . . . . . . . . . . . . . . . . . . 174 Kinetix VPC Motors and the Extended Speed Feature . . . . . . . . . . 175 Considerations for Powerohm Shunt Installation. . . . . . . . . . . . . . 175 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 5 Table of Contents Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176 Chapter 6 Configure and Start the Kinetix 5700 Drive System Understand the Kinetix 5700 Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178 Menu Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 Setup Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182 Startup Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187 Configure the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188 Set the Network Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188 Studio 5000 Logix Designer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188 Version History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188 Install the Kinetix 5700 Add-On Profile . . . . . . . . . . . . . . . . . . . . . . . 189 Configure the Logix 5000 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190 Configure the Kinetix 5700 Drive Modules . . . . . . . . . . . . . . . . . . . . . . . 193 Configure the DC-bus Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . 193 Configure the Regenerative Bus Supply. . . . . . . . . . . . . . . . . . . . . . . 197 Configure the iTRAK Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . 200 Configure the Inverter Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204 Continue Inverter Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211 Configure the Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215 Configure Regenerative Bus Supply Axis Properties . . . . . . . . . . . . . . . 216 Configure Vertical Load Control Axis Properties . . . . . . . . . . . . . . . . . . 221 Configure Feedback-only Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223 Configure Induction-motor Frequency-control Axis Properties. . . . . 224 General and Motor Categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224 Basic Volts/Hertz Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225 Sensorless Vector Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227 Fan/Pump Volts/Hertz Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229 Configure IPM Motor Closed-loop Control Axis Properties . . . . . . . . . 230 Configure SPM Motor Closed-loop Control Axis Properties . . . . . . . . 234 Configure Induction-motor Closed-loop Control Axis Properties . . . 239 Configure Feedback Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245 Configure Module Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245 Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247 Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250 Apply Power to the Kinetix 5700 Drive System . . . . . . . . . . . . . . . . . . . . 250 Understand Bus-sharing Group Configuration . . . . . . . . . . . . . . . . . . . 252 Bus-sharing Group Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253 Configure Bus-sharing Groups. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254 Test and Tune the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255 Test the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256 Tune the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257 Chapter 7 Troubleshoot the Kinetix 5700 Drive System 6 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259 Interpret Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 Display Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 Fault Code Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Table of Contents Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261 SAFE FLT Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261 Kinetix 5700 Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262 Kinetix 5700 Accessory Module Status Indicators . . . . . . . . . . . . . . 263 Axis Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264 Regenerative Bus Supply Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . 265 Logix 5000 Controller and Drive Module Behavior . . . . . . . . . . . . . . . . 266 DC-bus Power Supply Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267 Regenerative Bus Supply Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . 269 iTRAK Power Supply Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270 Inverter Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272 Chapter 8 Remove and Replace Drive Modules Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277 Remove and Replace Kinetix 5700 Drive Modules . . . . . . . . . . . . . . . . . 278 Remove Power and All Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 278 Remove the Drive Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280 Replace the Drive Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281 Start and Configure the Drive Module . . . . . . . . . . . . . . . . . . . . . . . . . . . 282 Replace 2198-xxxx-ERS3 (series A) with (series B or later) Drives 282 Chapter 9 Kinetix 5700 Safe Torque-off Function Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285 Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286 Average Frequency of a Dangerous Failure . . . . . . . . . . . . . . . . . . . . 287 Safe Torque-off Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287 Out of Box State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288 Safe Torque-off Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291 Explicit Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292 Hardwired Safe Torque-off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293 Compatible Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293 Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294 Troubleshoot the Safe Torque-off Function. . . . . . . . . . . . . . . . . . . . 296 Safe Torque-off Connector Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298 Wire the Safe Torque-off Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299 Safe Torque-off Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . 301 Safe Torque-off Feature Bypass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302 Cascade the Safe Torque-off Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . 302 Hardwired Safe Torque-off Electrical Specifications . . . . . . . . . . . 304 Integrated Safe Torque-off. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304 Compatible Safety Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304 Safety Application Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305 Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306 Safe Torque-off Assembly Tags. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306 STO Fault Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309 Understand Integrated Safety Drive Replacement . . . . . . . . . . . . . 310 Replace an Integrated Safety Drive in a GuardLogix System . . . . 311 Motion Direct Commands in Motion Control Systems . . . . . . . . . 312 Integrated Safe Torque-off Specifications. . . . . . . . . . . . . . . . . . . . . 318 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 7 Table of Contents Appendix A Interconnect Diagrams Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321 Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323 Capacitor Module Status Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . 337 DC-bus Conditioner Module Status Wiring Example . . . . . . . . . . . . . . 337 Contactor Wiring Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338 Passive Shunt Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339 Active Shunt Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340 Kinetix 5700 Servo Drive and Rotary Motor Wiring Examples . . . . . . 342 Kinetix 5700 Servo Drive and Linear Actuator Wiring Examples . . . . 349 System Block Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355 Appendix B Upgrade the Drive Firmware Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363 Inhibit the Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365 Upgrade Your Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365 Use ControlFLASH Plus Software to Upgrade Your Drive Firmware 366 Use ControlFLASH Software to Upgrade Your Drive Firmware . . 369 Verify the Firmware Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374 Appendix C Size Multi-axis Shared-bus Configurations Shared DC-bus Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375 Shared DC-bus Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375 General Sizing Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377 System Sizing Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377 Select Drive/Motor Combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378 Select the Power Supply and Define the DC-bus Groups . . . . . . . . 378 Calculate System and External-bus Capacitance . . . . . . . . . . . . . . . 378 Calculate the Total Motor Power Cable Length. . . . . . . . . . . . . . . . . 379 Calculate 24V DC Control Power Current Demand . . . . . . . . . . . . . 380 24V DC Voltage Drop Calculation Example. . . . . . . . . . . . . . . . . . . . 381 System Sizing Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383 System Sizing Application Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384 Appendix D Maximum Motor Cable Lengths DC-bus Power Supply Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . 386 for Kinetix 5700 Power Supplies Regenerative Bus Supply Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 389 Third-party Motor Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390 DC-bus Power Supply Configurations . . . . . . . . . . . . . . . . . . . . . . . . 390 Regenerative Bus Supply Configurations . . . . . . . . . . . . . . . . . . . . . 391 Appendix E Regenerative Bus Supply Sequence Operation 8 Converter Startup Method - Enable Request . . . . . . . . . . . . . . . . . . . . . . 394 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394 Precharge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395 Start Inhibited . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Table of Contents Stopped . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396 Starting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396 Running . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396 Converter Startup Method - Automatic. . . . . . . . . . . . . . . . . . . . . . . . . . . 397 Sequence Operation of Discharging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398 Appendix F Motor Control Feature Support Frequency Control Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400 Basic Volts/Hertz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401 Basic Volts/Hertz for Fan/Pump Applications . . . . . . . . . . . . . . . . . 402 Sensorless Vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403 Current Limiting for Frequency Control. . . . . . . . . . . . . . . . . . . . . . . . . . 404 The Effects of Current Limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404 Enable the Current Limiting Feature . . . . . . . . . . . . . . . . . . . . . . . . . 406 Set the CurrentVectorLimit Attribute Value . . . . . . . . . . . . . . . . . . . 406 Stability Control for Frequency Control . . . . . . . . . . . . . . . . . . . . . . . . . . 407 Enable the Stability Control Feature . . . . . . . . . . . . . . . . . . . . . . . . . . 408 Skip Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409 Multiple Skip Speeds. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410 Flux Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411 Flux Up Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412 Configure the Flux Up Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413 Current Regulator Loop Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414 Motor Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414 Motor Tests and Autotune Procedure . . . . . . . . . . . . . . . . . . . . . . . . . 416 Motor Analyzer Category Troubleshooting . . . . . . . . . . . . . . . . . . . . 417 Selection of Motor Thermal Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420 Generic Motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420 Rotary Motor Fan Cooling Attribute Information . . . . . . . . . . . . . . 421 Thermally Characterized Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422 Speed Limited Adjustable Torque (SLAT) . . . . . . . . . . . . . . . . . . . . . . . . . 423 Motion Polarity Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423 SLAT Min Speed/Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424 SLAT Max Speed/Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425 SLAT Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425 Configure the Axis for SLAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426 Motion Drive Start (MDS) Instruction . . . . . . . . . . . . . . . . . . . . . . . . 429 Motor Overload Retention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434 Phase Loss Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435 Phase-loss Detection Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435 Phase-loss Detection Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 436 Phase Loss Detection Current Example . . . . . . . . . . . . . . . . . . . . . . . 437 Velocity Droop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 437 Closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 437 Frequency Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438 Velocity Droop Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438 Commutation Self-sensing Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439 Commutation Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 440 Adaptive Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 9 Table of Contents Virtual Torque Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441 Field Weakening Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442 Extended Speed Feature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442 Configure Extended Speed Operation . . . . . . . . . . . . . . . . . . . . . . . . 443 Appendix G History of Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449 10 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Preface This manual provides detailed installation instructions for mounting and wiring your Kinetix® 5700 power supplies, single-axis inverters, dual-axis inverters, and accessory modules. Also included is system configuration with the Studio 5000 Logix Designer® application, integration of your drive modules with a Logix 5000™ controller, system startup, and troubleshooting. Also provided in this manual are installation instructions for mounting and wiring input power for your iTRAK® power supply. For wiring iTRAK digital inputs, outputs to the motor modules, and startup, troubleshooting, and commissioning with the AOI, see iTRAK System with TriMax Bearings User Manual, publication 2198T-UM002, or iTRAK 5730 System User Manual, publication 2198T-UM003. This manual is intended for engineers or technicians directly involved in the installation and wiring of the Kinetix 5700 drive modules, and programmers directly involved in the operation, field maintenance, and integration of these modules with the EtherNet/IP™ communication module or controller. Summary of Changes This publication contains the following new or updated information. This list includes substantive updates only and is not intended to reflect all changes. Topic Added UKCA information. Download Firmware, AOP, EDS, and Other Files Page Throughout Download firmware, associated files (such as AOP, EDS, and DTM), and access product release notes from the Product Compatibility and Download Center at rok.auto/pcdc. Access Fault Codes For Kinetix 5700 fault code descriptions and possible solutions, See Kinetix 5700 Servo Drive Fault Codes, publication 2198-RD003; download the spreadsheet for offline access. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 11 Preface Conventions Used in This Manual These conventions are used throughout this manual: • • • Bulleted lists such as this one provide information, not procedural steps Numbered lists provide sequential steps or hierarchical information When catalog number 2198-xxxx-ERS3 appears in this publication without series designation, the topic applies to all series drives IMPORTANT • CIP Security Throughout this publication, when the Kinetix 5700 inverter catalog number ends in -ERSx, for example 2198-D057-ERSx, the variable (x) indicates that the inverter (using this example) can be 2198-D057-ERS3 or 2198-D057-ERS4. The 2198-CAPMOD-2240 capacitor module, 2198-CAPMOD-DCBUS-IO extension module, and 2198-DCBUSCOND-RP312 DC-bus conditioner module are collectively referred to as accessory modules CIP Security™ is a standard, open-source communication method that helps to provide a secure data transport across an EtherNet/IP network. It lets CIP-connected devices authenticate each other before transmitting and receiving data. CIP Security uses the following security properties to help devices protect themselves from malicious communication: • • • Device Identity and Authentication Data Integrity and Authentication Data Confidentiality Rockwell Automation uses the following products to implement CIP Security: • FactoryTalk® Services Platform, version 6.11 or later, with the following components enabled: – FactoryTalk Policy Manager – FactoryTalk System Services • • • FactoryTalk Linx, version 6.11 or later Studio 5000® Design Environment, version 32.00.00 or later CIP Security-enabled Rockwell Automation® products, for example, the product described in this publication For more information on CIP Security, including which products support CIP Security, see the CIP Security with Rockwell Automation Products Application Technique, publication SECURE-AT001. 12 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Preface Additional Resources These documents contain additional information concerning related products from Rockwell Automation. You can view or download publications at rok.auto/literature. Table 1 - Additional Resources Resource Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001 Kinetix Linear Motion Specifications Technical Data, publication KNX-TD002 Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003 Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004 Kinetix 3, 300, 350, 2000, 6000, 6200, 6500, 7000 Servo Drives Specifications, publication KNX-TD005 Kinetix Servo Drive Performance Specifications per Ecodesign Regulation (EU) 2019/1781 Technical Data, publication KNX-TD006 Kinetix 5700 Servo Drives Fault Codes Reference Data, publication 2198-RD003 Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication 2198-RM001 iTRAK System User Manual, publication 2198T-UM001 iTRAK System with TriMax Bearings User Manual, publication 2198T-UM002 iTRAK 5730 System User Manual, publication 2198T-UM003 1321 Power Conditioning Products Technical Data, publication 1321-TD001 System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001 Servo Drive Installation Best Practices Application Technique, publication MOTION-AT004 Kinetix 5700 Drive Systems Design Guide, publication KNX-RM010 Motor Nameplate Datasheet Entry for Custom Motor Applications Application Technique, publication 2198-AT002 Vertical Load and Holding Brake Management Application Technique, publication MOTION-AT003 Motion System Tuning Application Technique, publication MOTION-AT005 Integrated Motion on the EtherNet/IP Network Configuration and Startup User Manual, publication MOTION-UM003 Integrated Motion on the EtherNet/IP Network Reference Manual, publication MOTION-RM003 GuardLogix 5570 Controllers User Manual, publication 1756-UM022 GuardLogix 5580 Controllers User Manual, publication 1756-UM543 Compact GuardLogix 5370 Controllers User Manual, publication 1769-UM022 Compact GuardLogix 5380 Controllers User Manual, publication 5069-UM001 GuardLogix 5570 and Compact GuardLogix 5370 Controller Systems Safety Reference Manual, publication 1756-RM099 GuardLogix 5580 and Compact GuardLogix 5380 Controller Systems Safety Reference Manual, publication 1756-RM012 Motion Analyzer System Sizing and Selection Tool website https://motionanalyzer.rockwellautomation.com/ EtherNet/IP Network Devices User Manual, ENET-UM006 Ethernet Reference Manual, ENET-RM002 CIP Security with Rockwell Automation Products Application Technique, publication SECURE-AT001 Description Product specifications for Kinetix VPL, VPC, VPF, VPH, VPS, Kinetix MPL, MPM, MPF, MPS; Kinetix TL and TLY, Kinetix RDB, Kinetix MMA, and Kinetix HPK rotary motors. Provides product specifications for Kinetix MPAS and MPMA linear stages, Kinetix VPAR, MPAR, and MPAI electric cylinders, Kinetix LDAT linear thrusters, and Kinetix LDC linear motors. Provides product specifications for Kinetix Integrated Motion over the EtherNet/IP network and EtherNet/IP networking servo drive families. Product specifications for Kinetix 2090 motor and interface cables. Provides product specifications for Kinetix Integrated Motion over the EtherNet/IP network (Kinetix 6500 and Kinetix 350), Integrated Motion over Sercos interface (Kinetix 6200, Kinetix 6000, Kinetix 2000, and Kinetix 7000), and component (Kinetix 3) servo drive families. Provides energy efficiency performance data for Rockwell Automation Kinetix servo drives. This data supports IE2 compliance of Kinetix servo drives per EU 2019/1781. Provides the fault codes for Kinetix 5700 servo drives. Provides a description of integrated stopping functions and safe monitoring functions with a GuardLogix® controller and Kinetix 5700 servo drives. Provides information on how to install the Kinetix 5700 iTRAK power supply with an iTRAK system and program the iTRAK system. Provides information on typical use cases, specifications, terminations, and dimensions of Bulletin 1321 line reactors. Provides information, examples, and techniques designed to minimize system failures caused by electrical noise. Best practice examples to help reduce the number of potential noise or electromagnetic interference (EMI) sources in your system and to make sure that the noise sensitive components are not affected by the remaining noise. System design guide to select the required (drive specific) drive module, power accessory, feedback connector kit, and motor cable catalog numbers for your Kinetix 5700 drive system. Provides information on the use of nameplate data entry for custom induction motors and permanent-magnet motors that are used in applications with Kinetix 5700 servo drives. Provides information on vertical loads and how the servo motor holding-brake option can be used to help keep a load from falling. Provides information on tuning a Kinetix drive system. Provides information on configuring and troubleshooting your ControlLogix® and CompactLogix™ EtherNet/IP network modules. Provides information on the AXIS_CIP_DRIVE attributes and the Studio 5000 Logix Designer application Control Modes and Methods. Provides information on how to install, configure, program, and use ControlLogix controllers and GuardLogix controllers in Studio 5000 Logix Designer projects. Provides information on how to install, configure, program, and use CompactLogix and Compact GuardLogix controllers. Provides information on how to achieve and maintain Safety Integrity Level (SIL) and Performance Level (PL) safety application requirements for GuardLogix and Compact GuardLogix controllers. Comprehensive motion application sizing tool used for analysis, optimization, selection, and validation of your Kinetix Motion Control system. Describes how to configure and use EtherNet/IP devices to communicate on the EtherNet/IP network. Describes basic Ethernet concepts, infrastructure components, and infrastructure features. Provides information on CIP Security, including which Rockwell Automation products support CIP Security. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 13 Preface Table 1 - Additional Resources (Continued) Resource System Security Design Guidelines Reference Manual, SECURE-RM001 ControlFLASH User Manual, publication 1756-UM105 ControlFLASH Plus Quick Start Guide, publication CFP-QS001 Safety Guidelines for the Application, Installation, and Maintenance of Solid-State Control, publication SGI-1.1 Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Product Certifications website, rok.auto/certifications 14 Description Provides guidance on how to conduct security assessments, implement Rockwell Automation products in a secure system, harden the control system, manage user access, and dispose of equipment. Provides guidance on how to use ControlFLASH™ or ControlFLASH Plus™ software to upgrade drive firmware. Refer to your product release notes to determine whether it supports firmware upgrades by using ControlFLASH or ControlFLASH Plus software. Designed to harmonize with NEMA Standards Publication No. ICS 1.1-1987 and provides general guidelines for the application, installation, and maintenance of solid-state control in the form of individual devices or packaged assemblies incorporating solid-state components. Provides general guidelines for installing a Rockwell Automation industrial system. Provides declarations of conformity, certificates, and other certification details. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 1 Start Use this chapter to become familiar with the Kinetix® 5700 drive system and obtain an overview of installation configurations. Topic 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 Typical Communication Configurations Functional Safety Configurations Catalog Number Explanation Agency Compliance Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Page 16 16 19 23 27 28 29 32 36 37 15 Chapter 1 Start Kinetix 5700 Servo Drives Series Change Single-axis and dual-axis inverters, catalog numbers 2198-xxxx-ERS3 (series B or later), include an enhancement that is not included in series A drives, but that is included in 2198-xxxx-ERS4 drives. • • • The drive-based (Monitored SS1 and Timed SS1) stopping functions and controller-based monitoring functions apply to the 2198-xxxx-ERS4 drives The drive-based Timed SS1 stopping function and STO with configurable delay applies to the 2198-xxxx-ERS3 (series B or later) drives When catalog number 2198-xxxx-ERS3 appears in this publication without series designation, the topic applies to all series drives Table 2 - Integrated Functional Safety Support Integrated Safety Over the EtherNet/IP™ Network Drive-based stopping functions Safety Function Dual-axis Inverters Cat. No. Single-axis Inverters Cat. No. Timed Safe Stop 1 (SS1) 2198-Dxxx-ERS3 (series B or later) 2198-Dxxx-ERS4 2198-Sxxx-ERS3 (series B or later) 2198-Sxxx-ERS4 2198-Dxxx-ERS4 2198-Sxxx-ERS4 2198-Dxxx-ERS4 2198-Sxxx-ERS4 2198-Dxxx-ERS3 2198-Sxxx-ERS3 Minimum Controller (1) Required Monitored Safe Stop 1 (SS1) Controller-based stopping functions • Monitored Safe Stop 1 (SS1) • Safe Stop 2 (SS2) Controller-based monitoring functions • Safe Operational Stop (SOS) • Safely Limited Speed (SLS) • Safety Limited Position (SLP) • Safe Direction (SDI) Safety feedback function Safety Feedback Interface (SFX) Integrated STO mode Safe Torque Off (STO) • GuardLogix® 5580 • Compact GuardLogix 5380 • GuardLogix 5570 • Compact GuardLogix 5370 (1) Where a ControlLogix or CompactLogix (non-safety) controller is specified, a GuardLogix or Compact GuardLogix controller is backwards compatible. Also, GuardLogix 5580 and Compact GuardLogix 5380 controllers are backwards compatible with GuardLogix 5570 and Compact GuardLogix 5370 controllers. About the Kinetix 5700 Servo Drive System The Kinetix 5700 drive modules are zero-stacked and use the shared-bus connection system to extend power from one drive module to another. Systems are designed to support Integrated Motion over the EtherNet/IP network. Table 3 - Kinetix 5700 Drive System Overview Drive System Component Cat. No. Description Kinetix 5700 DC-bus Power Supply 2198-Pxxx Converter power supply with 200V and 400V-class (three-phase) AC input. Provides output current in a range of 10.5…69.2 A. Systems typically consist of one module, however, up to three modules in parallel is possible. Parallel modules increase available power for Bulletin 2198 single-axis and dual-axis inverters. Kinetix 5700 Regenerative Bus Supply 2198-RPxxx Regenerative bus supply with 400V-class (three-phase) AC input provides continuous output power and current to Bulletin 2198 single-axis and dual-axis inverters for applications with requirements in the range of 24…140 kW and 35…207 A, output current. 2198-Sxxx-ERS3 Single-axis inverters with current ratings up to 192 A rms. Drives feature TÜV Rheinland certified safe torque-off function with hardwired and integrated safety connection options, PL e and SIL 3 safety ratings, and support for Hiperface DSL, Hiperface, and EnDat encoder feedback. 2198-Sxxx-ERS3 (series B) drives also support Timed SS1 drive-based stopping functions. 2198-Sxxx-ERS4 Single-axis inverters with the same power structure and encoder feedback support as -ERS3 inverters, plus support for Monitored SS1 and Timed SS1 drive-based stopping functions. Also, support for controller-based safe stop and safe monitor functions over the EtherNet/IP network. Kinetix 5700 Singleaxis Servo Drives 16 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 1 Start Table 3 - Kinetix 5700 Drive System Overview (Continued) Drive System Component Cat. No. Description 2198-Dxxx-ERS3 Dual-axis inverters with current ratings up to 23 A rms. Drives feature TÜV Rheinland certified safe torque-off function with hardwired and integrated safety connection options, PL e and SIL 3 safety ratings, and support for Hiperface DSL, Hiperface, and EnDat encoder feedback. 2198-Dxxx-ERS3 (series B or later) drives also support Timed SS1 drive-based stopping functions. 2198-Dxxx-ERS4 Dual-axis inverters with the same power structure and encoder feedback support as -ERS3 inverters, plus support for Monitored SS1 and Timed SS1 drive-based stopping functions. Also, support for controller-based safe stop and safe monitor functions over the EtherNet/IP network. 2198T-W25K-ER DC-DC converter that generates DC-bus power for iTRAK® systems. Kinetix 5700 Dual-axis Servo Drives Kinetix 5700 iTRAK Power Supply Kinetix 5700 Capacitor 2198-CAPMOD-2240 Module Use for energy storage, external active-shunt connection, and to extend the DC-bus voltage to another inverter cluster. Modules are zero-stacked with servo drives and use the shared-bus connection system to extend the external DC-bus voltage in applications up to 104 A. Can parallel with itself or with another accessory module for up to 208 A with required 2198-KITCON-CAPMOD2240 kit that includes flexible bus-bars. Kinetix 5700 Extension 2198-CAPMOD-DCBUS-IO Module The extension module, paired with a capacitor module or DC-bus conditioner module, is used to extend the DC-bus voltage to another inverter cluster in systems with ≥104 A current and up to 208 A. Kinetix 5700 DC-bus Conditioner Module 2198-DCBUSCOND-RP312 Decreases the voltage stress on insulation components in an inverter system and used to extend the DC-bus voltage to another inverter cluster. Modules are zero-stacked with servo drives and use the shared-bus connection system to extend the external DC-bus voltage in applications up to 104 A. Can parallel with itself or with another accessory module for up to 208 A with required 2198-KITCON-DCBUSCOND kit that includes flexible busbars. 8720MC Regenerative Power Supply 8720MC-RPSxxx Sinusoidal PWM converter that can control the increase of DC-bus voltage and perform continuous power generation for one or more servo drives in multi-axis DC common-bus configurations. 2198-TCON-24VDCIN36 2198-xxxx-P-T 2198-BARCON-xxDCAC100 24V input wiring connectors, T-connectors, and bus-bars for most Kinetix 5700 drive modules that use the 24V shared-bus connection system (optional). 2198T-W25K-P-IN 2198T-W25K-P-T 24V input wiring connector, T-connector, and bus-bar for the iTRAK motor module and other select Kinetix 5700 drive modules that use the 24V shared-bus connection system (optional). 2198-BARCON-xxDC200 2198-KITCON-ENDCAP200 DC-bus links (55, 85, 100, and 220 mm) and end caps for the DC-bus shared-bus connection system (required and included with each respective drive module). DC-bus links (165, 275, and 440 mm) are optional and do not ship with any modules. DSL Feedback Connector Kit 2198-KITCON-DSL Replacement DSL motor feedback connector kit with 2-pin connector plug and grounding plate inside the connector housing. Supports Kinetix VPL, VPC-Q, VPH, VPF, VPS rotary motors. Included with 2090-CSxM1DE motor cables. Must be purchased separately when used with 2090-CSxM1DG motor cables. Universal Feedback Connector Kit 2198-K57CK-D15M Universal feedback connector kit for motor and auxiliary feedback connections with the 15-pin connector plug and grounding plate inside the connector housing. Supports Kinetix MPL, MPM, MPF, MPS, Kinetix HPK rotary motors, Kinetix MPAS, MPMA, MPAR, MPAI linear actuators, Kinetix LDAT linear thrusters, and Kinetix LDC linear motors. Hiperface to DSL Converter Kit 2198-H2DCK (series B or later) Provides Hiperface-to-DSL feedback conversion for use with compatible motors and actuators. Kinetix 5700 System Mounting Toolkit 2198-K5700-MOUNTKIT Use to position the drive modules and identify drill-holes for mounting your Kinetix 5700 servo drive system. Kinetix 5700 Cable Clamp Spacer Kit 2198-K5700-CLAMPSPACER Replacement cable clamp spacers for 2198-Dxxx-ERSx dual-axis inverters. Encoder Output Module 2198-ABQE The Allen-Bradley® encoder output module is a DIN-rail mounted EtherNet/IP network-based standalone module capable of outputting encoder pulses to a customer-supplied peripheral device (cameras, for example, used in line-scan vision systems). Bulletin 1769 Bulletin 5069 Integrated Motion on the EtherNet/IP network in CompactLogix 5370, CompactLogix 5380, and CompactLogix 5480 controllers and Integrated Safety in Compact GuardLogix 5370 and Compact GuardLogix 5380 controllers. Linear, device-level ring (DLR), and star topology is supported. 1756-EN2T module 1756-EN2TR module 1756-EN3TR module EtherNet/IP network communication modules for use with ControlLogix 5570, ControlLogix 5580, GuardLogix 5570, and GuardLogix 5580 controllers. Linear, device-level ring (DLR), and star topology is supported. N/A Studio 5000 Logix Designer® application, version 26.00 or later, provides support for programming, commissioning, and maintaining the CompactLogix, ControlLogix, and GuardLogix controller families. Kinetix VP motors • Compatible 400V-class motors include Kinetix VPL, VPC, VPF, VPH, and VPS servo motors. • Compatible 200V-class motors include Kinetix VPL, VPF, and VPH servo motors. Kinetix MP motors Compatible 200V and 400V-class motors include Kinetix MPL, MPM, MPF, and MPS servo motors. Kinetix HPK motors Compatible motors include 460V and 400V-class Kinetix HPK asynchronous servo motors. Kinetix MMA motors Compatible motors include 400V-class Kinetix MMA asynchronous main motors. Shared-bus Connector Kits Logix 5000™ Controller Platform Studio 5000® Environment Rotary Servo Motors Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 17 Chapter 1 Start Table 3 - Kinetix 5700 Drive System Overview (Continued) Drive System Component Cat. No. Description Linear Actuators Kinetix MPAS, VPAR, MPAR, and MPAI actuators Kinetix LDAT Compatible actuators include 400V-class Kinetix MPAS and MPMA linear stages, Kinetix VPAR, MPAR, and MPAI electric cylinders, and Kinetix LDAT linear thrusters. Linear Motors Kinetix LDC Compatible motors include Kinetix LDC iron-core (200V and 400V-class) linear motors. Induction Motors N/A Induction motors with open-loop frequency control and closed-loop control are supported. 2090-CSxM1DE-xxxxxx Kinetix 2090 single cable for motor power, feedback, and optional 24V DC brake power with Kinetix VPL, VPC-Q, VPH, VPF, VPS motors. Feedback conductors are wired to the 2198-KITCON-DSL feedback connector kit. 2090-CSxM1DG-xxxxxx Kinetix 2090 single cable for motor power, feedback, and optional 24V DC brake power with Kinetix VPL, VPC-Q, VPH, VPF, VPS motors. 2090-CSxM1DG cables have flying-lead feedback conductors for connection to a customersupplied 2198-KITCON-DSL feedback connector kit. 2090-CFBM7DF-CEAxxx Kinetix 2090 motor feedback cables for Kinetix MPL, MPM, MPF, and MPS rotary motors and Kinetix MPAS, MPMA, MPAR, and MPAI linear actuators with Hiperface encoders. 2090-CPxM7DF-xxAxxx Kinetix 2090 motor power/brake cables for Kinetix MPL, MPM, MPF, and MPS rotary motors and Kinetix MPAS, MPMA, MPAR, MPAI linear actuators. 2090-XXNFMF-Sxx 2090-CFBM7DF-CDAFxx Kinetix 2090 standard and continuous-flex feedback cables that include additional conductors for use with incremental and EnDat encoders. Cables 2198T-CHBFLS8-12AAxx Kinetix 2198T power cables for iTRAK power supply to iTRAK motor modules. 1585J-M8CBJM-x Ethernet cables are available in standard lengths. Shielded cable is required to meet EMC specifications. 2198-DB20-F, 2198-DB42-F, 2198-DB80-F, 2198-DB290-F Bulletin 2198 three-phase AC line filters are required to meet CE and UK and are available for use with DC-bus power supplies. Use 2198-DBxx-F filters as field replacements in existing installations that use DC-bus power supplies with inverter ground jumpers installed. Select 2198-DBRxx-F filters for all new systems and remove all inverter ground jumpers. 2198-DBR20-F, 2198-DBR40-F, 2198-DBR90-F, 2198-DBR200-F Bulletin 2198 three-phase AC line filters are required to meet CE and UK and are available for use with DC-bus power supplies and regenerative bus supplies. Select 2198-DBRxx-F filters for all new systems and remove all inverter ground jumpers. Line Reactors 1321-3Rxx-x Bulletin 1321 line reactors help keep equipment running longer by absorbing many of the power line disturbances that can shut down your power supply. For 2198-RPxxx regenerative bus supplies, line reactors can significantly reduce the amount of circulating currents between the integrated LC filter and other devices on the common AC power source. AC Contactor 100-Cxxxxx 100-Dxxxxx 100-Exxxxx The AC three-phase contactor control string must be wired in series with the contactor-enable relay at the CED connector to make sure that three-phase power is removed under various fault conditions to protect the power supply. 24V DC Power Supply 1606-XLxxx Bulletin 1606 24V DC power supply for control circuitry, digital inputs, safety, and motor brake. External Passive Shunt Resistors 2198-R014, 2198-R031, 2198-R127, 2198-R004 Bulletin 2198 external passive-shunt resistors for use when the DC-bus power supply internal shunt capability is exceeded. Not for use with regenerative bus supplies. AC Line Filters External Active Shunts N/A 18 External active shunts from Rockwell Automation Encompass™ partner, Powerohm Resistors, Inc., are available for connecting to Bulletin 2198 DC-bus power supplies and regenerative bus supplies. See External Active-shunt Connections on page 173 for catalog numbers. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 1 DC-bus Power Supply Input Power Configurations Start A single 2198-Pxxx DC-bus (converter) power supply can supply the Kinetix 5700 drive system with 276…747V shared DC-bus power. For additional output power (kW) you can install two or three 2198-P208 DC-bus power supplies. You can also extend the DC-bus to additional inverter clusters via accessory modules. Typical DC-bus Power Supply Configuration Example In this multi-axis example, AC input power is fed to the DC-bus (converter) power supply. One single-axis (inverter) module and two dual-axis (inverter) modules support five axes of motion. The DC-bus power supply is mounted on the far left and the inverters are positioned on the right, but the reverse mounting order (right to left) is also possible. 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 1 - Typical DC-bus Power Supply Installation Bulletin 2198 Shunt Module (optional component) Kinetix 5700 Servo Drive System (top view) SH DC+ Shared DC-bus Power 1 1606-XLxxx 24V DC Control, Digital Inputs, and Motor Brake Power (customer-supplied) 9 1 Allen-Bradley 8 1 9 SB+/NC S1A SCA S2A SBNC NC NC 16 8 Shared 24V Control Power (24V shared-bus connection system is optional) 9 SB+/NC S1A SCA S2A SBNC NC NC SB+/NC S1A SCA S2A SBNC NC NC 16 8 16 1606-XL Powe r S u p p l y Input AC Input Power DC-bus Power Supply Kinetix 5700 Servo Drive System (front view) Converter Digital Inputs MOD NET 2 2 1 1 MOD NET 1 10 5 Inverter Digital Inputs 2 1 1 6 I/O-A 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 Bulletin 2198 shared-bus connection system for DC-bus and 24V DC control power. MOD DC BUS I/O-A 6 1 I/O-B 6 4 I/O MODULE STATUS 5 UFB 195…528V AC Three-phase Input Power D+ D- D+ D- D+ D- MF-A MF Line Disconnect Device MOD NET 2 I/O Capacitor Module Dual-axis Inverters MOD NET 1 1 Magnetic Contactor (M1) Control String Single-axis Inverter 10 5 10 UFB-A UFB-B D+ D- D+ D- MF-B MF-A MF-B - MBRK + Circuit Protection Magnetic (M1) Contactor 2198-DBRxx-F AC Line Filter (required for CE and UK) Bonded Cabinet Ground Bus Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 19 Chapter 1 Start Multiple DC-Bus Power Supply Configuration Example In this example, three DC-bus (converter) power supplies all receive AC input power and feed the inverter modules for increased output power. Contactor enable relays from each of the DC-bus power supplies are wired in series to protect the DC-bus power supply in the event of shutdown fault conditions. Figure 2 - Multiple DC-bus Power Supply Installation Bulletin 2198 Shunt Module (optional component) SH SH SH DC+ DC+ DC+ Kinetix 5700 Servo Drive System (top view) Shared DC-bus Power 1 1606-XLxxx 24V DC Control Power (customer-supplied) 1 9 Allen-Bradley 8 1 9 8 16 Shared 24V Control Power (24V shared-bus connection system is optional) 9 SB+/NC S1A SCA S2A SBNC NC NC SB+/NC S1A SCA S2A SBNC NC NC SB+/NC S1A SCA S2A SBNC NC NC 8 16 16 1606-XL Powe r S u p p l y Input AC Input Power 2198-P208 DC-bus Power Supplies Kinetix 5700 Servo Drive System (front view) 195…528V AC Three-phase Input Power Line Disconnect Device Magnetic Contactor (M1) Control String MOD NET MOD NET MOD NET 2 2 2 2 1 1 1 1 1 1 4 I/O 6 1 10 5 Bulletin 2198 shared-bus connection system for DC-bus and 24V DC control power. 2 1 1 I/O MOD DC BUS MOD NET 2 1 4 MOD NET MOD NET 1 Capacitor Module Dual-axis Inverters Single-axis Inverter I/O-A 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 I/O-A 6 1 I/O-B 6 4 I/O I/O MODULE STATUS 5 D+ D- Circuit Protection D+ D- MF-A 10 5 10 UFB-A UFB-B D+ D- D+ D- MF-B MF-A MF-B - MBRK + Magnetic (M1) Contactor W V U 21mm2 (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin) 2198-DBR200-F AC Line Filter (required for CE and UK) Circuit Protection Bonded Cabinet Ground Bus 1321-3R80-B Line Reactors (required components) IMPORTANT 20 When two or three DC-bus power supplies are wired together in the same drive cluster, they must all be catalog number 2198-P208. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 1 Start Extended DC-bus Configuration Example In this example, two drive clusters in the same cabinet are connected by the same 276…747V DC bus voltage. 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 accessory modules are needed when the DC-bus system current exceeds 104 A. See Accessory Module Selection on page 58 for more information on the when accessory modules are required. Figure 3 - Extended DC-bus Installation Extension Capacitor Module Module Kinetix 5700 Extended Servo Drives Cluster 2 (front view) Dual-axis Inverters MOD NET MOD DC BUS MOD NET 2 DC-bus Extension 5 I/O-A 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 MF-A Line Disconnect Device Magnetic Contactor (M1) Control String MOD NET MOD NET 2198-DBR200-F AC Line Filter (required for CE and UK) 10 5 10 UFB-A UFB-B 5 MF-A 1 10 5 10 UFB-A UFB-B 5 D+ D- 1 10 5 10 UFB-A UFB-B 5 D+ D- D+ D- MF-A 2 2 2 1 1 1 1 1 6 1 I/O-B 10 5 UFB-A 6 1 10 UFB-B 5 D+ D- MF-B MF-A 1 10 5 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 D+ D- MF-A I/O-A I/O-B 6 D+ D- D+ D- MF-B 6 1 10 5 10 UFB-A UFB-B MF-A MF-B Capacitor Extension Module Module MOD NET DC-bus Extension MOD DC BUS 2 1 1 6 1 I/O-A D+ D- MF-B Dual-axis Inverters 2 I/O 2 1 I/O-A MOD NET I/O-A 6 1 I/O-B I/O-A 6 1 10 5 10 UFB-A UFB-B 5 6 1 I/O-B 6 4 I/O I/O MODULE STATUS 5 UFB D+ D- D+ D- Kinetix 5700 Servo Drives Cluster 1 (front view) D+ D- MF-A MF Circuit Protection 6 D+ D- MF-B I/O-B 6 1 Shared DC-bus and 24V DC Control Power MOD NET 2 1 I/O-A MOD NET 1 4 6 MF-A MOD NET 2 I/O I/O-B Single-axis Inverter 1 4 6 1 MOD NET 2 1 I/O-A D+ D- MF-B 1 Circuit Protection Magnetic (M1) Contactor 1 D+ D- MF-B 2198-P208 DC-bus Power Supplies 195…528V AC Three-phase Input Power 6 1 I/O-B 6 D+ D- D+ D- Bulletin 2198 Shared-bus Connection System (24V shared-bus connection system is optional) I/O-A MOD NET 2 1 1 1 MOD NET 2 2 1 MODULE STATUS MOD NET - MBRK + UFB-A 10 UFB-B D+ D- D+ D- MF-B 10 5 MF-A MF-B ATTENTION: Circuit protection can be added after the power supply cluster to help protect converters and inverters from damage in the event of a DC-bus cable short-circuit. 1321-3R80-B Line Reactors (required components) Bonded Cabinet Ground Bus IMPORTANT When two or three DC-bus power supplies are wired together in the same drive cluster, they must all be catalog number 2198-P208. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 21 Chapter 1 Start iTRAK Power Supply Configuration Example In this example, AC input power is fed to the DC-bus (converter) power supply. Two iTRAK power supplies support up to 36 iTRAK motor modules, depending on cable lengths and iTRAK motor-module power consumption. 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 Shunt Module (optional component) Kinetix 5700 iTRAK System (top view) SH DC+ Shared DC-bus Power Shared 24V Control Power (1) (24V shared-bus connection system is optional) 1606-XLxxx 24V DC Control, Digital Inputs, and iTRAK Motor Module Control Power (customer-supplied) Allen-Bradley 1606-XL Powe r S up pl y Input AC Input Power Converter Digital Inputs MOD– NET– MOD NET 2 MOD– NET– 2 2 1 1 I/O 1 4 1 2 3 4 5 I/O 5 iTRAK Power Supply Digital Inputs 1 1 Magnetic Contactor (M1) Control String iTRAK Power Supply Shared-bus connection system for DC-bus and 24V DC control power. Kinetix 5700 iTRAK System (front view) 324…528V AC Three-phase Input Power iTRAK Power Supply DC-bus Power Supply 6 6 7 8 9 10 I/O 1 1 2 3 4 5 – iPS RDY + 10 5 6 6 7 8 9 10 – iPS RDY + 10 Line Disconnect Device Circuit Protection Magnetic (M1) Contactor 2198-DBRxx-F AC Line Filter (can be required for CE and UK) 2198T-CHBFLS8 Motor Power Cables Bonded Cabinet Ground Bus iTRAK Motor Modules iTRAK Motor Modules (1) If total control power current exceeds 16 A, a second input connector (catalog number 2198T-W25K-P-IN) can be added to the leftmost iTRAK power supply. 22 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 1 Regenerative Bus Supply Input Power Configurations Start The 2198-RPxxx regenerative bus supply (24…140 kW) provides full-line motoring and regenerative power to and from the Kinetix 5700 drive system. In addition, you can extend the DC-bus voltage to additional inverter clusters via accessory modules. Typical Regenerative Bus Configuration Examples In this example, the inverter modules are mounted to the right of the regenerative bus supply. One single-axis (inverter) module and three dual-axis (inverter) modules support seven axes of motion. Other features include: • • • 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. The DC-bus conditioner module is required when the combined motor cable length exceeds 400 m (1312 ft). See Accessory Module Selection on page 58 for more information on accessory module requirements. Figure 5 - Typical Shared DC-bus Installation (mounted left to right) Active Shunt (optional component) See External Active-shunt Connections on page 173 for more information. Kinetix 5700 Servo Drive System (top view) DC– DC+ Shared DC-bus Power 1606-XLxxx 24V DC Control, Digital Inputs, and Motor Brake Power (customer-supplied) 1 9 1 Allen-Bradley 8 1 9 SB+/NC S1A SCA S2A SBNC NC NC 9 16 8 1 16 8 Shared 24V Control Power (24V shared-bus connection system is optional) 9 SB+/NC S1A SCA S2A SBNC NC NC SB+/NC S1A SCA S2A SBNC NC NC SB+/NC S1A SCA S2A SBNC NC NC 16 8 16 1606-XL Powe r S u p p l y Single-axis Inverter Input Regenerative Bus Supply (1) AC Input Power Kinetix 5700 Servo Drive System (front view) MOD NET MOD NET MOD NET Converter Digital Inputs 2 2 1 I/O 1 6 Magnetic Contactor (M1) Control String MOD NET 6 1 10 5 I/O-A I/O-B 6 1 10 5 10 UFB-A UFB-B 5 6 1 MOD DC BUS Inverter Digital Inputs 2 1 1 I/O Shared-bus connection system for DC-bus and 24V DC control power. MOD NET 2 2 1 1 Dual-axis Inverters 1 I/O-A 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 I/O-A 6 1 I/O-B 6 OK+ OK– MODULE STATUS EN– EN+ 5 324…506V AC Three-phase Input Power 10 5 UFB D+ D- D+ D- Line Disconnect Device D+ D- MF-A MF D+ D- D+ D- MF-B MF-A 10 5 10 UFB-A UFB-B D+ D- D+ D- MF-B MF-A MF-B DC-bus Conditioner Module - MBRK + Circuit Protection Magnetic (M1) Contactor 2198-DBRxx-F AC Line Filter (required for CE and UK) Bonded Cabinet Ground Bus (1) The regenerative bus supply can be left or right of the inverters. Further, we recommend that the highest inverter power ratings are positioned closest to the regenerative bus supply and in decreasing order leading away from the regenerative bus supply. In this example, the 2198-RP312 regenerative bus supply is mounted on the far right and followed by the 2198-S312-ERSx single-axis inverter, and two 2198-D020-ERSx dual-axis inverters. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 23 Chapter 1 Start • The 2198-BARCON-440DC200 DC-bus link extends the DC-bus from the regenerative bus supply to the single-axis inverter. The 2198-BARCON-220DC200 DC-bus link extends the DC-bus from the single-axis inverter to the dual-axis inverter. The regenerative bus supply has 24V DC wired to the connector plug The 2198-xxxx-P-T bus-bar connector extends 24V control power from the input wire connector to the dual-axis and single-axis inverters. The DC-bus conditioner module is required when the combined motor cable length exceeds 400 m (1312 ft). See Accessory Module Selection on page 58 for more information on accessory module requirements. • • • • Figure 6 - Typical Shared DC-bus Installation (mounted right to left) Kinetix 5700 Servo Drive System (top view) Shared DC-bus Power 24V DC Control Power Connector Plug Shared 24V Control Power 1 9 1 1606-XLxxx 24V DC Control Power (customer-supplied) 9 SB+/NC S1A SCA S2A SBNC NC NC SB+/NC S1A SCA S2A SBNC NC NC 16 8 1 9 SB+/NC S1A SCA S2A SBNC NC NC 8 16 8 16 Dual-axis Inverters Regenerative Bus Supply (1) Single-axis Inverter Allen-Bradley 1606-XL Powe r S u p p l y MOD NET MOD DC BUS MOD NET MOD NET MOD NET Input AC Input Power 2 2 2 1 1 1 1 I/O-A 6 1 I/O-B I/O-A 6 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 I/O 6 1 MODULE STATUS DC-bus Conditioner Module 5 10 5 10 UFB-A UFB-B D+ D- D+ D- MF-A 5 6 10 Magnetic Contactor (M1) Control String D+ D- D+ D- MF-B I/O 10 MF-A MF-B - 324…506V AC Three-phase Input Power MBRK + W Kinetix 5700 Servo Drive System (front view) V L1 U L2 L3 21mm2 (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin) 21mm2 (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin) Bonded Cabinet Ground Bus 1321-3Rxx-x Line Reactor (recommended) Line Disconnect Device 2198-DBRxx-F AC Line Filter (required for CE and UK) Circuit Protection Magnetic (M1) Contactor (1) The regenerative bus supply can be left or right of the inverters. Further, we recommend that the highest inverter power ratings are positioned closest to the regenerative bus supply and in decreasing order leading away from the regenerative bus supply. In this example, three-phase input power feeds two 2198-RPxxx regenerative power supplies and one 2198-Pxxx DC-bus power supply. IMPORTANT 24 We recommend that Bulletin 1321 line reactors be used in any system with multiple regenerative bus supplies sharing the same AC inputpower source. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 1 Start Bulletin 1321 line reactors are used in the regenerative power supply input power circuits to help do the following: • • 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 Dual-axis Inverter Regenerative Bus Supply Kinetix 5700 Servo Drive Systems (front view) 2 2 1 1 1 Magnetic Contactor (M1) Control String 6 1 I/O-A OK– EN– EN+ 5 5 10 10 5 10 UFB-A UFB-B Circuit Protection Additional Inverters 2 1 1 M1 Control String I/O 6 1 I/O-A I/O-B 6 OK+ OK– EN– EN+ 5 5 10 10 5 10 UFB-A UFB-B D+ D- MF-B 6 1 D+ D- MF-A MOD NET MOD NET 2 1 D+ D- MF-A Line Disconnect Device 6 OK+ D+ D- 324…506V AC Three-phase Input Power 6 1 I/O-B MOD NET MOD NET MOD NET MOD NET I/O Regenerative Bus Supply DC-bus Power Dual-axis Supply Inverter Dual-axis Inverter Additional Inverters M1 Control String Additional Inverters 2 2 1 1 1 4 I/O 1 I/O-A 5 6 1 6 UFB-A UFB-B 10 5 10 D+ D- MF-B I/O-B D+ D- MF-A MF-B 2198-DBRxx-F AC Line Filter (required for CE and UK) Circuit Protection Magnetic (M1) Contactors Bulletin 1321 Line Reactors Bonded Cabinet Ground Bus IMPORTANT The regenerative bus supply is not compatible with the iTRAK power supply. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 25 Chapter 1 Start Extended Regenerative Bus Configuration Example In this example, two drive clusters in the same cabinet are connected by the same 458…747V DC bus voltage. • • • 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. The DC-bus conditioner module is required when the combined motor cable length exceeds 400 m (1312 ft). See Accessory Module Selection on page 58 for more information on accessory module requirements. Figure 8 - Extended DC-bus Installation Single-axis Inverter Dual-axis Inverters Regenerative Bus Supply Kinetix 5700 Drive System Cluster 1 (front view) MOD NET 2 ATTENTION: Circuit protection can be added after the power supply cluster to help protect converters and inverters from damage in the event of a DC-bus cable short-circuit. 2 1 I/O 6 1 2198-CAPMOD-DCBUS-IO Extension Module 1 1 6 MOD NET 2 1 I/O Shared DC-bus and 24V DC Control Power MOD NET 2 1 1 Magnetic Contactor (M1) Control String MOD NET MOD NET I/O-A 6 1 I/O-B 1 6 I/O-A 6 1 I/O-B 6 OK+ OK– EN– MODULE STATUS EN+ 5 10 5 10 5 UFB D+ D- D+ D- 10 5 UFB-A D+ D- MF-A MF 5 10 5 10 UFB-A UFB-B D+ D- D+ D- MF-B 10 UFB-B MF-A 2198-CAPMOD-2240 Capacitor Module MF-B - MBRK + 324…506V AC Three-phase Input Power Combined motor cable lengths equal 300 m (984 ft). Line Disconnect Device DC-bus Extension Kinetix 5700 Extended Drive System Cluster 2 (front view) Circuit Protection Dual-axis Inverters Magnetic (M1) Contactor 2198-DBRxx-F AC Line Filter (required for CE and UK) Bulletin 1321 Line Reactor (recommended) MOD NET MOD NET 2 2 1 I/O-A 6 1 I/O-B 6 6 1 I/O-B 1 6 I/O-A 6 1 I/O-B 6 1 I/O-A 6 1 I/O-B 6 MODULE STATUS 5 Bonded Cabinet Ground Bus 10 5 10 5 D+ D- D+ D- MF-A D+ D- MF-B 5 10 5 10 UFB-A UFB-B MF-A 10 5 10 UFB-A UFB-B MF-A Combined motor cable lengths equal 480 m (1575 ft). 26 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 5 10 5 UFB-A MF-B MODULE STATUS 2198-DCBUSCOND-RP312 DC-bus Conditioner Module 10 UFB-B D+ D- D+ D- D+ D- D+ D- MF-B MOD NET 1 1 I/O-A 1 MOD NET 2 2 1 1 MOD NET MOD NET MF-A MF-B 2198-CAPMOD-2240 Capacitor Module Chapter 1 8720MC-RPS Power Supply Input Power Configuration Start 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 Kinetix 5700 DC-bus via the capacitor module. • The 8720MC-RPS065 provides 65 A of DC-bus current. The 2198CAPMOD-2240 capacitor module and 2198-DCBUSCOND-RP312 DC-bus conditioner are required to reduce voltage stress on the system components. If the 8720MC-RPS190 is used, the capacitor module and DC-bus conditioner module provide up to 208 A of DC input current. DC-bus full-regeneration is possible with this configuration. The DC-bus conditioner module is required when the combined motor cable length exceeds 400 m (1312 ft). See Accessory Module Selection on page 58 for more information on accessory module requirements. • • The 8720MC-RPS power supply is not compatible with the iTRAK power supply. IMPORTANT Figure 9 - 8720MC-RPS Power Supply Installations 324…506V AC Three-phase Input Power Circuit Protection 8720MC-RFI80 AC Line Filter (required for CE and UK) Bonded Cabinet Ground Bus Kinetix 5700 Servo Drive System (top view) 8720MC-HF-B2 Harmonic Filter Magnetic (M1) Contactor Shared DC-bus Power Input (1) 1 8720MC-VA-B Varistor 8720MC-LRxx Line Reactor 9 1 8 1 9 SB+/NC S1A SCA S2A SBNC NC NC 16 8 MOD DC BUS READY FAULT PROGRAM MOD DC BUS 8 16 Dual-axis Inverters MOD NET MOD NET 2 A SB+/NC S1A SCA S2A SBNC NC NC 16 DC-bus Conditioner Capacitor Single-axis Module Module Inverter MOD NET Bulletin 2198 shared-bus connection system for DC-bus and 24V DC control power. MOD NET 2 2 V Shared 24V Control Power Input (24V shared-bus connection system is optional) 9 SB+/NC S1A SCA S2A SBNC NC NC 2 kW RST PRG ENT 1 8720 MC 1 1 1 I/O 6 1 10 5 I/O-A 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 1 I/O-A 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 I/O-A 6 1 I/O-B 6 REGENERATIVE POWER SUPPLY POWER SUPPLY REGENERATIVE MODULE STATUS MODULE STATUS 5 UFB D+ D- D+ D- 8720MC-RPS065-BM-HV2 Regenerative Power Supply 1606-XLxxx 24V DC Control, Digital Inputs, and Motor Brake Power (customer-supplied) D+ D- MF-A MF D+ D- D+ D- MF-B MF-A D+ D- MF-B Kinetix 5700 Servo Drive System (front view) 10 5 10 UFB-A UFB-B D+ D- MF-B - MBRK + Allen-Bradley 1606-XL Powe r S u p p l y Input AC Input Power (1) This M1 contactor is controlled by the 8720MC regenerative power supply. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 27 Chapter 1 Start Motor and Auxiliary Feedback Configurations Feedback connections are made at the 2-pin motor feedback (MF) connector and the 15-pin universal feedback (UFB) connector. These examples illustrate how you can use the Bulletin 2198 connector kits for making these connections. To see motor power and brake connections, refer to Chapter 5 on page 119. Figure 10 - Feedback Configuration Example UFB-A 2198-Dxxx-ERSx or 2198-Sxxx-ERSx Inverters (2198-Dxxx-ERSx dual-axis inverter is shown) UFB-B MOD– NET– 5 UFB-A D+ D- 10 5 I/O-B D+ D- 6 D+ D- MF-B MF-A 10 UFB-B UFB-A D+ D- MF-A D+ D- MF-B MF-A UFB-A D+ D- UFB-B D+ D- MF-A MF-B 2-pin Motor Feedback (MF) Connectors 2090-CSxM1DE Single Motor Cables 2198-KITCON-DSL Connector Kit Accepts Hiperface DSL motor feedback from VPC-Bxxxxx-Q, Kinetix VPL, VPF, VPH, VPS rotary motors, and Kinetix VPAR electric cylinders. MF-B 2198-K57CK-D15M Universal Connector Kit Accepts multiple encoder feedback types: • Hiperface high-resolution absolute multi-turn and single-turn encoders – Kinetix VPC (-S and -B3004x-M) rotary motors – Kinetix MPL (-S/M or -E/V), MPM, MPF, MPS rotary motors – Kinetix HPK asynchronous rotary motors – Kinetix MMA asynchronous rotary motors – Kinetix MPAS (ballscrew), MPMA, VPAR, MPAR, MPAI linear actuators – Kinetix LDAT (-xDx) linear thrusters • Sin/Cos or Digital AqB incremental encoder • Sin/Cos or Digital AqB with UVW incremental encoders – Kinetix LDAT (-xBx) linear thrusters – Kinetix MPL (-H) – Kinetix MPAS (linear stage) – Kinetix LDC linear motors – Kinetix MMA asynchronous rotary motor • EnDat high-resolution absolute encoders – Kinetix VPC (-Y) rotary motors – Kinetix MMA asynchronous rotary motors – Kinetix RDB motors • Feedback-only, master feedback, or load feedback (absolute single-turn/multi-turn Hiperface) • Feedback-only, master feedback, or load feedback (incremental) Kinetix VPL, VPF, VPH, VPS, and VPC (-Q) Rotary Motors (VPL-Bxxxx motor is shown) Kinetix VPC (-S, -Y, and -B3004x-M) Rotary Motors Kinetix MPL, MPM, MPF, MPS Rotary Motors (MPL-Bxxxx motor is shown) Kinetix 2090 Motor Power and Feedback Cables 2198-H2DCK Converter Kit Converts 15-pin Hiperface feedback into 2-pin DSL feedback for: • Kinetix VPC (-S and -B3004x-M) rotary motors • Kinetix MPL, MPM, MPF, MPS rotary motors and Kinetix MPAS, MPMA, MPAR, MPAI linear actuators • Kinetix HPK and Kinetix MMA asynchronous rotary motors • Kinetix LDAT linear thrusters and Kinetix LDC linear motors • Feedback-only, master feedback, or load feedback (absolute single-turn/multi-turn Hiperface) Kinetix LDAT Linear Thrusters Kinetix LDC Linear Motors Kinetix MPAR Electric Cylinders www.ab.com IN USA MADE 75500 X XXXX SERIES Kinetix RDB Direct Drive Rotary Motors A LDC-M0 NO. XXXX CAT. NO. SERIAL Kinetix MPAS Integrated Linear Stages Kinetix HPK or Kinetix MMA Asynchronous Rotary Motors (closed-loop control) 28 Kinetix VPAR Electric Cylinders D+ D- MF-A D+ D- UFB-B MF-B D+ D- UFB-B 2090-CSxM1DG Single Motor Cables 2 1 1 I/O-A 6 1 UFB-A 15-pin Universal Feedback (UFB) Connectors Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Kinetix MPAI Heavy-duty Electric Cylinders Chapter 1 Typical Communication Configurations Start The Kinetix 5700 drives support any Ethernet topology including linear, ring, and star by using ControlLogix, GuardLogix, or CompactLogix controllers. These examples feature the ControlLogix 5570 programmable automation controllers with support for integrated motion and integrated safety over the EtherNet/IP network. Other Allen-Bradley controllers are also compatible with the Kinetix 5700 servo drives. Refer to ControlLogix Communication Module Specifications Technical Data, publication 1756-TD003, for more information on ControlLogix 1756-EN2T, 1756-EN2TR, and 1756-EN3TR communication modules. These example configurations use the 2198-Pxxx DC-bus power supply. However, 2198-RPxxx regenerative bus supply can be used instead. Linear Topology In this example, all devices are connected by using linear topology. The Kinetix 5700 drive modules include dual-port connectivity, however, if any device becomes disconnected, all devices downstream of that device lose communication. Devices without dual ports must include the 1783-ETAP module or be connected at the end of the line. Figure 11 - Kinetix 5700 Linear Communication Installation ControlLogix Controller Programming Network Studio 5000 Logix Designer Application EtherNet/IP LNK1 LNK2 NET OK ControlLogix 5570 Controller with Bulletin 1756 EtherNet/IP Module Kinetix 5700 Servo Drive System 2 1 MOD NET 1585J-M8CBJM-x Ethernet (shielded) Cable 2198-ABQE Encoder Output Module MOD NET 2 2 1 1 1 MOD NET MOD NET 1 MOD NET 2 2 6 1 10 5 2 1 1 I/O I/O-A 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 1585J-M8CBJM-OM15 0.15 m (6 in.) Ethernet cables for drive-to-drive connections. MOD NET 1 I/O-A 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 I/O-A 6 1 I/O-B 6 4 I/O 002 1734-AENTR POINT I O Module Status 5 UFB Network Activity 10 5 10 UFB-A UFB-B Network Status Point Bus Status Link 1 Activity/ Status System Power Field Power OUTPUT-A 1734-AENTR POINT I/O™ EtherNet/IP Adapter OUTPUT-B D+ D- D+ D- D+ D- D+ D- D+ D- D+ D- Link 2 Activity/ Status MF-A MF-B MF-A MF-B - MBRK + Line Scan Cameras Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 MF-A MF-B PanelView™ 5510 Display Terminal L8 29 Chapter 1 Start Ring Topology In this example, the devices are connected by using ring topology. If only one device in the ring is disconnected, the rest of the devices continue to communicate. For ring topology to work correctly, a device level ring (DLR) supervisor is required (for example, the Bulletin 1783 ETAP device). DLR is an ODVA standard. For more information, refer to the EtherNet/IP 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 12 - Kinetix 5700 Ring Communication Installation ControlLogix Controller Programming Network EtherNet/IP LNK1 LNK2 NET OK ControlLogix 5570 Controller with Bulletin 1756 EtherNet/IP Module Studio 5000 Logix Designer Application 2 1 1585J-M8CBJM-x Ethernet (shielded) Cable PanelView 5510 Display Terminal 1783-ETAP Module L8 002 1734-AENTR POINT I O Module Status Network Activity Network Status Link 1 Activity/ Status Point Bus Status System Power Field Power 2198-ABQE Encoder Output Module MOD NET 1734-AENTR POINT I/O EtherNet/IP Adapter Link 2 Activity/ Status Kinetix 5700 Servo Drive System OUTPUT-A OUTPUT-B MOD NET 2 2 1 1 1 MOD NET MOD NET MOD NET 2 2 I/O 6 1 10 5 2 1 1 1 MOD NET I/O-A 6 1 I/O-B 6 1 10 UFB-B 5 1 I/O-A 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 I/O-A 6 1 I/O-B 6 4 I/O Line Scan Cameras 5 UFB-A D+ D- 10 5 D+ D- MF-A - MBRK + 30 D+ D- D+ D- MF-B Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 MF-A UFB-A 10 UFB-B D+ D- D+ D- MF-B 10 5 MF-A MF-B 1585J-M8CBJM-OM15 0.15 m (6 in.) Ethernet cable for drive-to-drive connections. Chapter 1 Start Star Topology In this example, the devices are connected by using star topology. Each device is connected directly to the switch. 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. Figure 13 - Kinetix 5700 Star Communication Installation ControlLogix Controller Programming Network EtherNet/IP LNK1 LNK2 NET OK ControlLogix 5570 Controller with Bulletin 1756 EtherNet/IP Module Studio 5000 Logix Designer Application 2 Kinetix 5700 Servo Drive System 1 MOD NET 1585J-M8CBJM-x Ethernet (shielded) Cable 2 2 1 1 1 MOD NET MOD NET 1 MOD NET 2 2 6 1 10 5 2 1 1 I/O MOD NET I/O-A 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 1 I/O-A 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 I/O-A 6 1 I/O-B 6 4 I/O 5 UFB D+ D- D+ D- MF-A 2198-ABQE Encoder Output Module D+ D- D+ D- MF-B MF-A 10 5 10 UFB-A UFB-B D+ D- D+ D- MF-B MF-A MF-B MOD NET - MBRK + OUTPUT-A OUTPUT-B 1585J-M8CBJM-OM15 0.15 m (6 in.) Ethernet cable for drive-to-drive connections. 1783-BMS Stratix® 5700 Switch Line Scan Cameras PanelView 5510 Display Terminal L8 842E-CM Integrated Motion Encoder 1734-AENTR POINT I/O EtherNet/IP Adapter You can use the 842E-CM integrated motion encoder for applications requiring an external encoder for gearing or camming to the Kinetix 5700 drive. By providing auxiliary feedback directly through the EtherNet/IP network, the 842E-CM encoder mitigates the need for point-to-point wiring while letting you use the encoder in a variety of network topologies. For more information, see the 842E-CM Integrated Motion on EtherNet/IP Product Profile, publication 842ECM-PP001. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 31 Chapter 1 Start Functional Safety Configurations 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 over the EtherNet/IP network. In addition, safely limited speed (SLS) and other controller-based safety instructions are also possible. These examples illustrate the functional safety configuration options. These example configurations use the 2198-Pxxx DC-bus power supply. However, 2198-RPxxx regenerative bus supply can be used instead. Hardwired Configuration Kinetix 5700 servo drives use the safe torque-off (STO) connector for wiring external safety-devices and cascading hardwired safety-connections from one drive to another. Figure 14 - Safe Torque-off (hardwired) Configuration Kinetix 5700 Servo Drive System (top view) EtherNet/IP LNK1 LNK2 NET OK SH DC+ 2 1 Any Logix 5000 Controller (ControlLogix 5570 controller is shown) Studio 5000 Logix Designer Application 1 9 1 9 SB+/NC S1A SCA S2A SBNC NC NC Module Definition Configured with Motion Only Connection 8 1606-XLxxx 24V DC Control, Digital Inputs, and Motor Brake Power (customer-supplied) 1585J-M8CBJM-x Ethernet (shielded) Cable Safety Device Allen-Bradley 1606-XL Powe r S u p p l y 1 9 8 16 SB+/NC S1A SCA S2A SBNC NC NC SB+/NC S1A SCA S2A SBNC NC NC 16 8 16 Safe Torque-off (STO) Connectors Kinetix 5700 Servo Drive System (front view) Input AC Input Power MOD NET Digital Inputs to Sensors and Control String 2 2 1 1 1 MOD NET MOD NET MOD NET 2 2 1 1 1 I/O 6 1 10 5 I/O-A 6 1 I/O-B 6 1 10 UFB-B 5 I/O-A 6 1 I/O-B 6 4 I/O 5 UFB UFB-A D+ D- D+ D- MF-A Logix5585 TM SAFETY ON NET 0000 RUN FORCE SD LINK OK DC INPUT DC INPUT AC OUTPUT ControlLogix 5570 Controllers or GuardLogix 5570 Safety Controllers ControlLogix 5580 Controllers or GuardLogix 5580 Safety Controllers - MBRK + CompactLogix 5370 Controllers or Compact GuardLogix 5370 Safety Controllers CompactLogix 5380 Controllers or Compact GuardLogix 5380 Safety Controllers Kinetix VP Servo Motors 32 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 10 5 10 5 10 UFB-A UFB-B D+ D- D+ D- MF-B MF-A MF-B Chapter 1 Start 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. If only one controller is used in an application with Motion and Safety connections, it must be a GuardLogix or Compact GuardLogix safety controller. For more information, see the Integrated Functional Safety Support table on page 16. IMPORTANT Figure 15 - Motion and Safety Configuration (single controller) Compact GuardLogix 5370 Controller, Compact GuardLogix 5380 Safety Controller or GuardLogix 5570 Controller, GuardLogix 5580 Safety Controller (GuardLogix 5570 Safety Controller is shown) EtherNet/IP LNK1 LNK2 NET OK Kinetix 5700 Servo Drive System (top view) 2 SH 1 DC+ Studio 5000 Logix Designer Application Module Definition Configured with Motion and Safety Connection 1783-BMS Stratix 5700 Switch 1585J-M8CBJM-x Ethernet (shielded) Cable 1 1734-AENTR POINT Guard I/O™ EtherNet/IP Adapter Safety Device Allen-Bradley 1 9 9 SB+/NC S1A SCA S2A SBNC NC NC SB+/NC S1A SCA S2A SBNC NC NC 16 8 16 8 16 Kinetix 5700 Servo Drive System (front view) 1606-XL Powe r S u p p l y Input AC Input Power Digital Inputs to Sensors and Control String 1 SB+/NC S1A SCA S2A SBNC NC NC 8 1606-XLxxx 24V DC Control, Digital Inputs, and Motor Brake Power (customer-supplied) 9 MOD NET 2 2 1 1 1 MOD NET MOD NET 1 MOD NET 2 2 1 1 I/O 6 1 10 5 I/O-A 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 I/O-A 6 1 I/O-B 6 4 I/O 5 UFB D+ D- D+ D- MF-A 10 5 10 UFB-A UFB-B D+ D- D+ D- MF-B MF-A MF-B - MBRK + Kinetix VP Servo Motors Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 33 Chapter 1 Start In this example, a non-safety controller makes the Motion-only connection and a separate GuardLogix safety controller makes the Safety-only connection. IMPORTANT If two controllers are used in an application with Motion Only and Safety Only connections, the Safety Only connection must be a GuardLogix or Compact GuardLogix safety controller and the Motion Only connection must be any Logix 5000 controller. For more information, see the Integrated Functional Safety Support table on page 16. Figure 16 - Motion and Safety Configuration (multi-controller) EtherNet/IP Studio 5000 Logix Designer Application 1783-BMS Stratix 5700 Switch LNK1 LNK2 NET OK 2 1 Kinetix 5700 Servo Drive System (top view) 1585J-M8CBJM-x Ethernet (shielded) Cable Any Logix 5000 Controller (ControlLogix 5570 controller is shown) SH Motion Program Module Definition Configured with Motion Only Connection DC+ 1734-AENTR POINT Guard I/O EtherNet/IP Adapter Safety Device 1 1606-XLxxx 24V DC Control, Digital Inputs, and Motor Brake Power (customer-supplied) LNK1 LNK2 NET OK 1 9 SB+/NC S1A SCA S2A SBNC NC NC 8 EtherNet/IP 9 1 9 8 16 SB+/NC S1A SCA S2A SBNC NC NC SB+/NC S1A SCA S2A SBNC NC NC 16 8 16 Kinetix 5700 Servo Drive System (front view) Allen-Bradley 1606-XL Powe r S u p p l y Input AC Input Power MOD NET MOD NET MOD NET MOD NET 2 1 Compact GuardLogix 5370 Controller, Compact GuardLogix 5380 Safety Controller or GuardLogix 5570 Controller, GuardLogix 5580 Safety Controller (GuardLogix 5570 Safety Controller is shown) Digital Inputs to Sensors and Control String 2 1 1 1 2 2 1 1 I/O 6 1 10 5 I/O-A 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 I/O-A 6 1 I/O-B 6 4 I/O 5 UFB D+ D- D+ D- MF-A Safety Program Module Definition Configured with Safety Only Connection - MBRK + Kinetix VP Servo Motors 34 2 1 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 10 5 10 UFB-A UFB-B D+ D- D+ D- MF-B MF-A MF-B 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. For more information, see the Integrated Functional Safety Support table on page 16. In this example, the SS1 stopping function is used in a motion and safety controller-based configuration with dual-feedback monitoring. Figure 17 - Safe Motion-monitoring Configuration Compact GuardLogix 5380 or GuardLogix 5580 Safety Controller (GuardLogix 5580 Safety Controller is shown) EtherNet/IP 1783-BMS Stratix 5700 Switch LNK1 LNK2 NET OK 2 1 1585J-M8CBJM-x Ethernet (shielded) Cable Studio 5000 Logix Designer Application 1734-AENTR POINT Guard I/O EtherNet/IP Adapter Safety Device Kinetix 5700 Servo Drive System with Integrated Safety Functions 2 2 1 DSL feedback connector kit with primary feedback from the motor is hidden behind the universal feedback connector kit with secondary feedback from the external encoder. MOD NET MOD NET 1 1 1 I/O-A 5 6 10 5 10 UFB-A UFB-B D+ D- MF-A Secondary Feedback Bulletin 842HR SIN/COS Encoder for Dual Feedback Monitoring Applications I/O-B I/O D+ D- Controller-based Instruction Example 6 1 4 MF-B Position feedback is sent separately to the drive for safety and for motion control. Secondary Feedback to UFB Connector Primary Feedback to MF Connector Primary Feedback • Kinetix VPL/VPF/VPH) servo motors with -W or -Q encoders • Kinetix VPC servo motors with -Q encoders • Kinetix VPAR electric cylinders with -W or -Q encoders Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 35 Chapter 1 Start Catalog Number Explanation Kinetix 5700 drive module catalog numbers and performance descriptions. Table 4 - Kinetix 5700 Drive Module Catalog Numbers Kinetix 5700 Drive Modules DC-bus Power Supply (195…528V AC rms, three-phase input power) Regenerative (1) Power Supply (324…506V AC rms, three-phase input power) Single-axis Inverters Dual-axis Inverters iTRAK Power Supply Cat. No. 2198-P031 2198-P070 2198-P141 2198-P208 2198-RP088 2198-RP200 2198-RP263 2198-RP312 2198-S086-ERS3 2198-S130-ERS3 2198-S160-ERS3 2198-S263-ERS3 2198-S312-ERS3 2198-D006-ERS3 2198-D012-ERS3 2198-D020-ERS3 2198-D032-ERS3 2198-D057-ERS3 2198T-W25K-ER Continuous Output Current to Bus ADC rms Module Width mm 10.5 25.5 46.9 69.2 35.3 100.0 176.4 207.0 2198-S086-ERS4 2198-S130-ERS4 2198-S160-ERS4 2198-S263-ERS4 2198-S312-ERS4 2198-D006-ERS4 2198-D012-ERS4 2198-D020-ERS4 2198-D032-ERS4 2198-D057-ERS4 55 85 165 275 440 85 100 220 55 85 100 Continuous Output Power 240V Input 480V Input kW kW 3.5 7 8.5 17 15.5 31 23.0 46 – 24 – 67 – 119 – 140 14.9 29.7 22.5 44.9 30.1 60.1 45.0 90 56.0 112 0.9 1.7 1.7 3.4 2.8 5.5 4.5 8.9 8.0 15.9 – – Output Current Peak A 0-pk Continuous A 0-pk – – – – 60.8 91.9 120.2 212.1 271.5 3.5 7.0 11.3 18.3 32.5 2x12.5 121.6 183.8 226.2 371.9 441.2 8.8 17.6 28.2 45.9 81.3 2x12.5 (1) Applies when DC-bus voltage regulation is enabled. If DC-bus voltage regulation is not enabled, the input voltage range is 324….528V AC. For more information on these two modes of operation, see DC-bus Voltage Regulation on page 42. Table 5 - Accessory Module Catalog Numbers Accessory Modules (1) Cat. No. Module Width mm System Current (2) Rated Voltage Capacitor Module Extension Module DC-bus Conditioner Module 2198-CAPMOD-2240 2198-CAPMOD-DCBUS-IO 2198-DCBUSCOND-RP312 55 104 A 276…747V DC, nom Capacitance 2240 µF – (1) Combination of any two accessory modules increases system current up to 208 A. However, modules must be mounted side-by-side and joined by two flexible bus-bars. (2) Flexible bus-bars are included with only the 2198-CAPMOD-DCBUS-IO extension module. So, if you have two capacitor modules, two DC-bus conditioner modules, or a capacitor module and DC-bus conditioner module mounted side by side, you must order the 2198-KITCON-CAPMOD2240 or 2198-KITCON-DCBUSCOND connector set separately. 36 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 1 Start Table 6 - Shared-bus Connector Kit Catalog Numbers Shared-bus Connector Kits Cat. No. 2198-TCON-24VDCIN36 (1) (2) 2198T-W25K-P-IN (1) (2) 2198-H040-P-T 2198-H070-P-T 2198-S160-P-T 2198T-W25K-P-T 2198-S312-P-T Drive Module Cat. No. 2198-P031, 2198-P070, 2198-P141, 2198-P208 2198-CAPMOD-2240 2198-RP088, 2198-RP200, 2198-DCBUSCOND-RP312 2198T-W25K-ER, 2198-RP263, 2198-RP312, 2198-S263-ERSx, 2198-S312-ERSx 2198-D006-ERSx, 2198-D012-ERSx 2198-D020-ERSx, 2198-D032-ERSx 2198-CAPMOD-2240, 2198-DCBUSCOND-RP312 2198-D057-ERSx, 2198-S086-ERSx, 2198-S130-ERSx 2198-S160-ERSx 2198T-W25K-ER 2198-S263-ERSx, 2198-S312-ERSx Application Description 24V DC input power to control bus 24V DC input wiring connector Control power sharing Control power T-connector with bus bars, 55 mm Control power sharing Control power T-connector with bus bars, 85 mm Control power sharing Control power T-connector with bus bars, 100 mm Control power sharing Control power T-connector with bus bars, 220 mm (1) The input wiring connector can be inserted into any drive module (mid-stream in the drive system) to begin a new 24V control bus when the maximum current value is reached. However, the input connector must always extend the 24V DC-bus from left to right. The 2198T-W25K-P-IN male plug is physically larger than the male plug on 2198-TCON-24VDCIN36. (2) For drive module amp ratings and connector wire size information, see Control Power on page 110, and CP Connector Plug Wiring Specifications table on page 138, respectively. Agency Compliance If this product is installed within the European Union and has the CE mark, or within the United Kingdom and has the UKCA mark, the following regulations apply. ATTENTION: Meeting CE and UK requires a grounded system, and the method of grounding the AC line filter and drive module must match. Failure to do this renders the filter ineffective and can cause damage to the filter. For grounding examples, refer to Grounded Power Configurations on page 121. For more information on electrical noise reduction, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001. To meet CE and UK requirements, these requirements apply: • • • • • Install an AC line filter (catalog number 2198-DBRxx-F) for input power with 50 mm (1.97 in.) minimum clearance between the 2198-Pxxx DC-bus power supply or 2198-RPxxx regenerative bus supply. Minimize the cable length as much as possible. Bond DC-bus power supplies, regenerative bus supplies, inverter modules, capacitor modules, and line filter grounding screws by using a braided ground strap as shown in Figure 83 on page 132. When using the 2198-P070 DC-bus power supply above 45 °C (113 °F) with stranded input power wiring, conductors must be single-core 6 mm2 stranded copper with 90 °C minimum rating. When using the 2198-RP088 regenerative power supply above 40 °C (104 °F) with stranded input power wiring, conductors must be singlecore 6 mm2 stranded copper with 90 °C minimum rating. Use Kinetix 2090 single motor cables with Kinetix VP motors and actuators. Use Kinetix 2090 motor power/brake and feedback cables for other compatible Allen-Bradley motors and actuators. Motor cable shield-clamp on the drive must be used. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 37 Chapter 1 Start • Combined motor power cable length for all axes on the same DC bus must not exceed: - 1200 m (3937 ft) for 2198-P070, 2198-P141, and 2198-P208, DC-bus power supplies and 2198-RPxxx regenerative bus supplies when paired with 2198-DBRxx-F line filters. - 400 m (1312 ft) for 2198-Pxxx DC-bus power supplies when paired with 2198-DBxx-F line filters. - 400 m (1312 ft) for 2198-P031 DC-bus power supplies when paired with 2198-DBxx-F or 2198-DBRxx-F line filters. Drive-to-motor feedback cables must not exceed 90 m (295 ft), depending on system components. • • • • Motor cable length for the iTRAK power supply to iTRAK motor modules must be at least 3 m (9.8 ft), not to exceed 30 m (98.4 ft). Use Kinetix 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. Separate signal and power cables. Segregate input power wiring from control wiring and motor cables. Refer to Appendix A on page 321 for input power wiring and drive/motor interconnect diagrams. 38 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 2 Plan the Kinetix 5700 Drive System Installation This chapter describes system installation guidelines used in preparation for mounting your Kinetix® 5700 drive system components. Topic System Design Guidelines Accessory Module Selection Electrical Noise Reduction Page 41 58 66 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. Because the system is of the open type construction, be careful to keep metal debris from falling into it. Metal debris or other foreign matter can become lodged in the circuitry and result in damage to the components. System Design Guidelines Use the information in this section when planning to mount your system components on the panel. For on-line product selection and system configuration tools, including AutoCAD (DXF) drawings of the product, refer to https://www.rockwellautomation.com/global/support/selection.page. System Mounting Requirements • To comply with UL, CE, and UK 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. To maintain the functional safety rating of the Kinetix 5700 drive system, this enclosure must be appropriate for the environmental conditions of the industrial location and provide a protection class of IP54 or higher. • The panel you install inside the enclosure for mounting your system components must be on a flat, rigid, vertical surface that won’t be subjected to shock, vibration, moisture, oil mist, dust, or corrosive vapors in accordance with pollution degree 2 (EN 61800-5-1) because the product is rated to protection class IP20 (EN 60529). Size the system enclosure so as not to exceed the maximum ambient temperature rating. Consider heat dissipation specifications for all system components. • Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 41 Chapter 2 Plan the Kinetix 5700 Drive System Installation • Use high-frequency (HF) bonding techniques to connect the modules, enclosure, machine frame, and motor housing, and to provide a lowimpedance return path for high-frequency (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 83 on page 132. Refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001, to better understand the concept of electrical noise reduction. DC-bus Voltage Regulation The 2198-Pxxx DC-bus power supply does not regulate DC-bus voltage. As a result, the DC-bus power supply always has DC-bus voltage regulation disabled. The 2198-RPxxx regenerative bus supply can be configured to provide active DC-bus voltage regulation or passive AC rectification like the 2198-Pxxx DC-bus (converter) power supply. IMPORTANT Active or passive DC-bus voltage regulation must be determined during system configuration in the Studio 5000 Logix Designer® application. IMPORTANT Regeneration back to the AC source is only possible when the DC-bus voltage regulation is enabled. Converter Startup Method The Converter Startup Method (Axis Properties>General category) specifies the method to be used to initiate transition of the regenerative converter axis from the STOPPED state to the STARTING state. ATTENTION: To help prevent permanent inverter damage, make sure that all inverter ground jumpers are removed before enabling DC-bus voltage regulation. Set the Converter Startup Method to one of these two settings: • • Automatic (default): After applying AC, the converter automatically transitions to the RUNNING state with active DC-bus voltage regulation loops operational Enable Request: After applying AC, the converter stays in the STOPPED state and performs passive AC rectification. Once it receives an Enable Request from the controller, the converter transitions to the RUNNING state with active DC-bus voltage control loops operational 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. 42 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 2 Plan the Kinetix 5700 Drive System Installation Bus Voltage Loop Parameters The regenerative bus supply uses an active control loop to maintain the DC bus voltage at a specified level (or reference) and has two settings for the Bus Voltage Reference Source (Axis Properties>Bus Voltage Loop category> Parameters): • • Automatic (default) setting: The converter optimizes the BusVoltageReference for the best converter performance Manual setting: You configure the desired BusVoltageSetPoint value for the BusVoltageReference signal In Manual mode, the BusVoltageSetPoint must be greater than 5% of the peak input AC voltage (or it is clamped automatically) with a maximum of 747V DC. Bus Voltage Set Point (VDC ) > AC Input Voltage (VRMS) • 2 • 1.05 Boost voltage is the difference between the rectified AC voltage and the BusVoltageSetPoint. Boost Voltage = Bus Voltage Set Point (V DC ) – AC Input Voltage (VRMS) • 2 IMPORTANT Setting a manual fixed DC-bus voltage sets peak motor output power performance regardless of the variance of the input AC rms. Higher boost voltage increases Total Harmonic Distortion (THD), reduces efficiency, and increases acoustic noise, but this is normal and expected. For example, optimal operation is best achieved for 460V AC motors when the input AC rms is also at 460V AC nominal, Automatic mode is selected, and the DC-bus voltage regulates at approximately 683V DC. Refer to Configure Regenerative Bus Supply Axis Properties on page 216 for more information. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 43 Chapter 2 Plan the Kinetix 5700 Drive System Installation AC Line Filter Selection An AC line filter is required to meet CE and UK requirements. Install an AC line filter for input power with 50 mm (1.97 in.) minimum clearance between the 2198-Pxxx DC-bus power supply or 2198-RPxxx regenerative bus supply. Minimize the cable length as much as possible. IMPORTANT AC line filters are recommended only with grounded WYE power configurations. For facility power configuration examples, see Input Power Configurations for Kinetix 5700 Power Supplies on page 121. Table 7 - AC Line Filter Selection DC-bus Power Supply Cat. No. 2198-P031 2198-P070 2198-P141 2198-P208 2198-P208 (2 in parallel) 2198-P208 (3 in parallel) AC Line Filter (1) (2) (3) Cat. No. • 2198-DBR20-F or • 2198-DB20-F • 2198-DBR40-F or • 2198-DB42-F • 2198-DBR90-F or • 2198-DB80-F • 2198-DBR200-F or • 2198-DB290-F Regenerative Bus Supply Cat. No. AC Line Filter(1) (2) (4) Cat. No. 2198-RP088 2198-DBR40-F 2198-RP200 2198-DBR90-F 2198-RP263 2198-RP312 2198-DBR200-F (1) The use of 2198-DBRxx-F line filters provide a maximum motor-power cable length of up to 1200 m (3937 ft). Maximum motor-power cable length with 2198-DBxx-F line filters is 400 m (1312 ft). Maximum motor-power cable length for 2198-P031 DC-bus power supplies when paired with 2198-DBxx-F or 2198-DBRxx-F line filters is with 400 m (1312 ft). (2) See Chapter 5 on page 119 for more information on maximum cable lengths and how the use of 2198-DBRxx-F line filters affect ground screw/jumper settings. See Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003, for AC line filter specifications. (3) When using 2198-DBRxx-F line filters with DC-bus power supplies, remove all inverter ground jumpers to reduce overall system leakage current. (4) When using 2198-DBRxx-F line filters with regenerative bus supplies, remove all inverter ground jumpers to prevent permanent damage to the inverters. IMPORTANT 44 Use 2198-DBxx-F line filters only as field replacements in existing installations that use DC-bus power supplies and have inverter ground jumpers installed. Select 2198-DBRxx-F line filters for all new systems and remove inverter ground jumpers. 2198-DBRxx-F line filters can also be used to replace existing 2198-DBxx-F line filters, but you must remove the inverter ground jumpers. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 2 Plan the Kinetix 5700 Drive System Installation AC Line Impedance Considerations DC-bus power supplies do not require an isolation transformer for threephase input power. Regenerative bus supplies also do not require an isolation transformer for three-phase input power unless they are connected to cornergrounded or ungrounded facility power. See Input Power Configurations for Kinetix 5700 Power Supplies on page 121 for example configurations. IMPORTANT These recommendations are advisory and do not address all situations. Site-specific conditions must be considered for proper installation. 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 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003. IMPORTANT When using an autotransformer, make sure that the phase to neutral/ ground voltage does not exceed the input voltage ratings of the power supply. Use a safety factor of 1.5 for three-phase power (where safety factor is used to compensate for transformer, drive modules, motor losses, and to account for utilization in the intermittent operating area of the torque speed curve). EXAMPLE Sizing a transformer to the voltage requirements of this power supply: 2198-P141: 31kW x 1.5 = 46.5 kVA transformer. In the following use cases, an additional transformer or line reactor is required due to faults or potential damage associated with AC line disturbances: • • • • Installation site has switched power-factor correction capacitors. Installation site has lightning strikes or voltage spikes in excess of 6000V peak. Installation site has power interruptions or voltage dips in excess of 200V AC. The transformer kVA is more than 10 times larger than the drive kVA, or the percent source impedance relative to each converter is less than 0.5%. In the following use cases, a line reactor is required due to faults associated with sharing AC line-input on multiple converters: • Repetitive AC input line-voltage notching is present. For example, if silicon controlled rectifier drive is connected to the same AC input-power source. - In drive systems that include the regenerative bus supply, repetitive AC line voltage notching can cause the integrated AC line filter to overheat and result in FLT S18 converter overtemperature fault. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 45 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. Powering 2198-Pxxx DC-bus power supply and 2198-RPxxx regenerative bus supply from the same AC input-power source. - Switching ripple from the regenerative bus supply can impact the temperature of DC-bus capacitors in the DC-bus power supply. In this use case, a line reactor is required in the AC input-power string leading to the regenerative bus supply. - Line reactor in the AC input-power string is not required for the DCbus power supply in this use case, but is recommended for the prevention of issues caused by other use cases. Powering two or three 2198-P208 DC-bus power supplies from the same AC input-power source that share the same DC-bus. - In this use case, a line reactor is required for each 2198-P208 DC-bus power supply to make sure that they share current more evenly. Use these equations to calculate the impedance of the DC-bus power supply, regenerative bus supply, or transformer to check the percent sourceimpedance relative to the power supply to make sure it is not less than 0.5%. An additional transformer or line reactor is required in this use case. EXAMPLE: DC-bus Power Supply or Regenerative Bus Supply Impedance (in ohms) Zdrive = Vline-line 3 • Iinput-rating EXAMPLE: Transformer Impedance (in ohms) Zxfmr = Vline-line • % Impedance 3 • Ixfmr-rated Or Zxfmr = (Vline-line ) VA 2 • % Impedance % impedance is the nameplate impedance of the transformer. EXAMPLE: Transformer Impedance (in ohms) Zxfmr = Vline-line • % Impedance 3 • Ixfmr-rated % impedance is the nameplate impedance of the transformer. 46 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 2 EXAMPLE Plan the Kinetix 5700 Drive System Installation The DC-bus power supply or regenerative bus supply is rated 1 Hp, 480V, 2.7 A input. The supply transformer is rated 50,000 VA (50 kVA), 5% impedance. Zdrive = Zxfmr = Vline-line 3 • Iinput-rating (Vline-line )2 VA = 480V 3 • 2.7 = 102.6 Ohms 4802 • % Impedance = • 0.05 = 0.2304 Ohms 50,000 The percent (%) impedance has to be in per unit (5% becomes 0.05) for the formula. Zxfmr 0.2304 = = 0.00224 = 0.22% Zdrive 102.6 0.22% is less than 0.5%. Therefore, this transformer is too large for the DC-bus power supply or regenerative bus supply. Consider adding either a line reactor or isolation transformer. Table 8 - Bulletin 1321 Line Reactor Selection Kinetix 5700 Power Supply DC-bus Power Supply Power Supply Cat. No. 2198-P031 2198-P070 2198-P141 2198-P208 Regenerative Bus Supply 2198-RP088 2198-RP200 2198-RP263 2198-RP312 Number of Power Supplies in a Bus Group 1 1 1 1 2 3 1 1 1 1 Bulletin 1321 Line Reactor Cat. No. 1321-3R12-B 1321-3R35-B 1321-3R55-B 1321-3R80-B 1321-3R35-A 1321-3R100-A 1321-3R160-B 1321-3R200-A Status Recommended Recommended Recommended Recommended Required Required Recommended Recommended Recommended Recommended See Power Wiring Examples on page 323 for AC input-power interconnect diagrams. For Bulletin 1321 line reactor specifications, see the 1321 Power Conditioning Products Technical Data, publication 1321-TD001. IMPORTANT You can group multiple 2198-Pxxx DC-bus power supplies on one line reactor if they do not share same DC bus. However, the line reactor percent impedance must be large enough when evaluated for each DC-bus power supply separately, not evaluated for all loads connected at once. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 47 Chapter 2 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). Refer to Power Wiring Examples, on page 323, for the wiring diagram. ATTENTION: Do not use circuit protection devices on the output of an AC drive as an isolating disconnect switch or motor overload device. These devices are designed to operate on sine wave voltage and the drive’s PWM waveform does not allow it to operate properly. As a result, damage to the device occurs. Table 9 - DC-bus Power Supply UL/CSA Circuit-protection Specifications DC-bus Power Supply Cat. No. Input Voltage (three-phase) nom 2198-P031 2198-P070 2198-P141 2198-P208 195…528V AC rms Bussmann Fuses (1) Cat. No. Miniature CB (2) Cat. No. LPJ-15SP (15A) 1489-M3D250 LPJ-40SP (40A) LPJ-70SP (70A) LPJ-100SP (100A) N/A N/A N/A Motor Protection CB, (2) Self Protected CMC Cat. No. 140M-D8E-C25 140MT-D9E-C25 140M-F8E-C45 N/A N/A Molded Case CB Cat. No. 140G-G6C3-C25 140G-G6C3-C50 140G-G6C3-C90 140G-G6C3-D12 (1) For applications requiring CSA certification, fuses (Bussmann catalog number 170M1760) must be added to the DC link between the two drive clusters when circuit breakers are used for branch circuit protection. The DC bus fuses are not required when AC line fuses are used for branch circuit protection. (2) These Bulletin 140M/MT Motor Protection Circuit Breakers, when used as self-protected (Type E) devices, and Bulletin 1489 circuit breakers can be used on only WYE power systems (480Y/277V). Table 10 - Regenerative Bus Supply UL/CSA Circuit-protection Specifications Regenerative Bus Supply Cat. No. 2198-RP088 2198-RP200 2198-RP263 2198-RP312 Input Voltage (1) (three-phase) nom Bussmann Fuses (2) Cat. No. LPJ-45SP (45A) LPJ-125SP (125A) LPJ-200SP (200A) LPJ-250SP (250A) 324…506V AC rms Mersen Fuses Cat. No. Miniature CB Cat. No. Molded Case CB Cat. No. AJT45 (45A) AJT125 (125A) AJT200 (200A) AJT250 (250A) – – – – 140G-G6C3-C60 140G-J6F3-D15 140G-K6F3-D30 140G-K6F3-D40 (1) Applies when DC-bus voltage regulation is enabled. If DC-bus voltage regulation is not enabled, then the input voltage range is 324….528V AC. For more information on these two modes of operation, see DC-bus Voltage Regulation on page 42. (2) For applications requiring CSA certification, fuses (Bussmann catalog number 170M1760) must be added to the DC link between the two drive clusters when circuit breakers are used for branch circuit protection. The DC bus fuses are not required when AC line fuses are used for branch circuit protection. Table 11 - DC-bus Power Supply IEC (non-UL/CSA) Circuit-protection Specifications DC-bus Power Supply Cat. No. Drive Voltage (three-phase) nom 2198-P031 2198-P070 2198-P141 2198-P208 48 195…528V AC rms DIN gG Fuses Amps, max Miniature CB Cat. No. 16 1489-M3D250 N/A 40 75 110 N/A N/A N/A 1492-SPM3D400 1492-SPM3D630 N/A Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Motor Protection CB Cat. No. 140M-D8E-C25 140MT-D9E-C25 140M-F8E-C45 140MG-H8E-C60 140MG-H8E-D10 Molded Case CB Cat. No. 140G-G6C3-C25 140G-G6C3-C50 140G-G6C3-C90 140G-G6C3-D12 Chapter 2 Plan the Kinetix 5700 Drive System Installation Table 12 - Regenerative Bus Supply IEC (non-UL/CSA) Circuit-protection Specifications Regenerative Bus Supply Cat. No. 2198-RP088 2198-RP200 2198-RP263 2198-RP312 Input Voltage (1) (three-phase) nom 324…506V AC rms DIN gG Fuses Amps, max 50 125 200 250 Miniature CB Cat. No. 1489-M3C600 – – – 1492-SPM3C630 – – – Motor Protection CB Cat. No. Molded Case CB Cat. No. 140MG-H8E-C60 140MG-J8E-D15 – – 140G-G6C3-C60 140G-J6F3-D15 140G-K6F3-D30 140G-K6F3-D40 (1) Applies when DC-bus voltage regulation is enabled. If DC-bus voltage regulation is not enabled, then the input voltage range is 324….528V AC. For more information on these two modes of operation, see DC-bus Voltage Regulation on page 42. Refer to the Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003, for additional power specifications for your 2198-Pxxx DC-bus power supply and 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. Consider the following when sizing such a system: • • Verify that the 24V DC power supply is capable of supplying the 24V current requirements of your Kinetix 5700 drive system. See Calculate 24V DC Control Power Current Demand on page 380 to determine the 24V current requirements. For systems with a high 24V current demand, consider the following: - Install separate 24V power supplies for each cluster or change the cluster configuration to more evenly divide the 24V current demand. - Install separate 24V power supplies for each Bulletin 2198 power supply and inverter. Verify that the wiring being used is capable of supplying the Kinetix 5700 drive system with a voltage within the 24V input-voltage range; 24V ±10% (21.6…26.4V DC). Consider the following: - Mount the 24V power supply as close to the Kinetix 5700 drive system as possible to minimize input voltage drop. - Install larger gauge wire, up to 4 mm2 (12 AWG) and 6 mm2 (10 AWG) for 24V control power when using the CP connectors included with the module; or use the 24V shared-bus connection system to lower the DC wire resistance with up to 10 mm2 (6 AWG) and result in a lower voltage drop. IMPORTANT The 24V current demand, wire gauge, and wire length all impact the voltage drop across the wiring being used. For an example, see 24V DC Voltage Drop Calculation Example on page 381. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 49 Chapter 2 Plan the Kinetix 5700 Drive System Installation Contactor Selection The AC three-phase contactor control string must be wired in series with the contactor-enable relay at the CED connector. The contactor-enable relay (applies to 2198-Pxxx DC-bus power supply and 2198-RPxxx regenerative bus supply) is rated at 24V DC (28V, max) and 1.0 A, max. IMPORTANT Applying more than 28V DC control voltage or more than 1.0 A control current to the contactor can cause permanent damage to the DC-bus power supply or regenerative bus supply. ATTENTION: Wiring the contactor-enable relay is required. To avoid personal injury or damage to the system, wire the contactor-enable relay into your control string so that: • 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. Wire auxiliary contact to digital input #2 (default setting) to monitor the three-phase input power. See Contactor Wiring Examples on page 338 for wiring examples. Table 13 - DC-bus Power Supply Contactor Specifications DC-bus Power Supply Cat. No. 2198-P031 2198-P070 2198-P141 2198-P208 2198-P208 (2 in parallel) 2198-P208 (3 in parallel) Contactor (1) (2) Cat. No. 100-C16EJ10 100-C37EJ10 100-C72DJ10 100-C97DJ10 100-E190KJ11 100-E305KJ11 Intermediate Relay (3) Cat. No. N/A 700-HB32Z24 (relay) 700-HN153 (socket) (1) Auxiliary contact configuration 10 indicates there is 1 N.O. and 0 N.C. contacts. Other configurations are available. (2) For contactors that are not Bulletin 100-E type, the integrated diode is required with the contactor coil. See Knowledgebase Technote: Surge Suppressors: for Relays, Contactors and Starters for more information. (3) These DC-bus power supplies require an additional intermediate relay used with the contactor. Table 14 - Regenerative Bus Supply Contactor Specifications Regenerative Bus Supply Cat. No. 2198-RP088 2198-RP200 2198-RP263 2198-RP312 Contactor (1) (2) Cat. No. 100-C43EJ10 100-E116KJ11 100-E205KJ11 100-E265KJ11 Intermediate Relay Cat. No. N/A (1) Auxiliary contact configuration 10 indicates there is 1 N.O. and 0 N.C. contacts. 11 indicates there is 1 N.O. and 1 N.C. contact. Other configurations are available. (2) These contactor catalog numbers include a 24V DC coil. For contactors that are not Bulletin 100-E type, see Knowledgebase Technote: Surge Suppressors: for Relays, Contactors and Starters for more information. 50 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 2 Plan the Kinetix 5700 Drive System Installation 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. IMPORTANT Keep the DC-bus power supply internal shunt wires connected unless you have an external passive shunt to connect. IMPORTANT 2198-RPxxx regenerative bus supplies do not support passive shunts. The active shunt (RC) connector is used for making active shunt connections. Table 15 - DC-bus Power Supply Passive-shunt Options DC-bus Power Supply Cat. No. 2198-P031 2198-P070 2198-P141 2198-P208 Internal Shunt Specifications Ω W 37.5 75 13.5 200 2198-R127 – – X X External Shunt Module Compatibility (1) Cat. No. 2198-R031 2198-R014 – X – X X X X X 2198-R004 X X X X (1) Shunt resistor selection is based on the needs of your actual hardware configuration. Catalog numbers 2198-R014, 2198-R031, and 2198-R127 are composed of resistor coils that are housed inside an enclosure. Catalog number 2198-R004 is a shunt resistor without an enclosure. Figure 18 - External Passive Shunts 2198-R014, 2198-R031, and 2198-R127 Shunt Modules 2198-R004 Shunt Resistor Table 16 - External Shunt Module Specifications Shunt Module Cat. No. 2198-R004 2198-R014 2198-R031 Resistance Ω 33 9.4 33 Continuous Power W 400 1400 3100 Weight, approx kg (lb) 1.8 (4.0) 9.1 (20) 16.8 (37) 2198-R127 (1) 13 12,700 22.2 (49) (1) This product presents a lift hazard. To avoid personal injury, use care when lifting the product. How the Bulletin 2198-Rxxx shunts connect to the 2198-Pxxx DC-bus power supply is explained in External Passive-shunt Connections on page 172 and illustrated with interconnect diagrams in Passive Shunt Wiring Examples on page 339. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 51 Chapter 2 Plan the Kinetix 5700 Drive System Installation Active Shunt Considerations External active shunts are required in the following use cases: • • • • • The 2198-RPxxx regenerative bus supply provides DC-bus power while DC-bus regulation is not enabled. One permanent magnet motor runs above its bus overvoltage speed. See Field Weakening Mode on page 442 for a description of this feature. One permanent magnet motor drives a vertical load that could make the motor accelerate above the bus overvoltage speed during a fault condition. Any condition where total shared DC-bus regenerative power is greater than the 2198-RPxxx regenerative bus supply capacity. For example, consider a peak-power stopping condition. The 2198-RPxxx regenerative bus supply is operating with DC-bus regulation enabled and the regenerative bus supply loses three-phase 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. ATTENTION: DC-bus failure can cause damage to all drive modules in the bus group, not just the inverter connected to the motor. Active shunts are available from the Rockwell Automation Encompass™ partner Powerohm Resistors, Inc. See https://www.hubbell.com/powerohm/ en for more information on Powerohm active shunts. IMPORTANT Powerohm Bulletin PKBxxx active shunt modules use built-in internal brake resistors. Bulletin PWBxxx active shunt modules require appropriately sized external brake resistors. Table 17 - Compatible Active Shunt Specifications (internal brake resistor) Powerohm Resistors Cat. No. (1) PKB005 2198-Pxxx DC-bus power supply or PKB010 2198-RPxxx regenerative bus supply when DC-bus regulation is not enabled. PKB050 PKB005-800 2198-RPxxx regenerative bus supply PKB010-800 when DC-bus regulation is enabled. PKB050-800 Kinetix 5700 Power Supply Input Voltage, nom 240V (DC-bus power supply only) or 480V AC Turn -on Bus Voltage 750V DC 800V DC Continuous Power kW Resistance (internal) Ω Resistance (minimum) Ω Continuous Current Amps Peak Current Amps 1.50 2.06 7.00 1.50 2.06 7.00 108 52.7 10.5 108 52.7 10.5 – – – – – – 2.00 2.75 9.30 1.88 2.58 8.72 6.9 14.2 71.4 7.4 15.2 76.2 (1) How the Powerohm PKBxxx shunts connect to the 2198-Pxxx DC-bus power supply and 2198-RPxxx regenerative bus supply is explained in External Active-shunt Connections on page 173 and illustrated with interconnect diagrams in Active Shunt Wiring Examples on page 340. 52 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 2 Plan the Kinetix 5700 Drive System Installation Continuous Power kW Resistance (internal) Ω Resistance (minimum) Ω Continuous Current Amps Peak Current Amps 26.25 – 7.5 35 100 82.5 – 2.5 110 300 26.25 82.5 – – 8.0 2.7 35 110 100 300 Table 18 - Compatible Active Shunt Specifications (no internal brake resistor) Kinetix 5700 Power Supply Powerohm Resistors Cat. No. (1) PWB035 2198-Pxxx DC-bus power supply or 2198-RPxxx regenerative bus supply when DC-bus regulation is not enabled. PWB110 PWB035-800 2198-RPxxx regenerative bus supply when DC-bus regulation is enabled. PWB110-800 Input Voltage, nom Turn -on Bus Voltage 750V DC 480V AC 800V DC (1) How the Powerohm PWBxxx shunts connect to the 2198-Pxxx DC-bus power supply and 2198-RPxxx regenerative bus supply is explained in External Active-shunt Connections on page 173 and illustrated with interconnect diagrams in Active Shunt Wiring Examples on page 340. ATTENTION: Do not use Powerohm active-shunt modules at input line voltages that exceed 528V AC. Active-shunt thermal-overload shutdown can occur if input line voltage exceeds 528V AC. See External Active-shunt Connections on page 173, when making active shunt connections. Enclosure Selection This example is provided to assist you in sizing an enclosure for your Kinetix 5700 drive system. You need heat dissipation data from all components planned for your enclosure to calculate the enclosure size (refer to Table 19). With no active method of heat dissipation (such as fans or air conditioning) either of the following approximate equations can be used. Metric Standard English 0.38Q A= 1.8T - 1.1 A= Where T is temperature difference between inside air and outside ambient (°C), Q is heat generated in enclosure (Watts), and A is enclosure surface area (m2). The exterior surface of all six sides of an enclosure is calculated as: A = 2dw + 2dh + 2wh Where d (depth), w (width), and h (height) are in meters. 4.08Q T - 1.1 Where T is temperature difference between inside air and outside ambient (°F), Q is heat generated in enclosure (Watts), and A is enclosure surface area (ft2). The exterior surface of all six sides of an enclosure is calculated as: A = (2dw + 2dh + 2wh) /144 Where d (depth), w (width), and h (height) are in inches. 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). So, in the equation below, T=30 and Q=416. A= 0.38 (416) = 2.99 m 2 1.8 (30) - 1.1 In this example, the enclosure must have an exterior surface of at least 2.99 m2. If any portion of the enclosure is not able to transfer heat, do not include that value in the calculation. Because the minimum cabinet depth to house the Kinetix 5700 system (selected for this example) is 300 mm (11.8 in.), the cabinet needs to be approximately 1500 x 700 x 300 mm (59.0 x 27.6 x 11.8 in.) HxWxD. 1.5 x (0.300 x 0.70) + 1.5 x (0.300 x 2.0) + 1.5 x (0.70 x 2.0) = 3.31 m2 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 53 Chapter 2 Plan the Kinetix 5700 Drive System Installation Because this cabinet size is considerably larger than what is necessary to house the system components, it can be more efficient to provide a means of cooling in a smaller cabinet. Contact your cabinet manufacturer for options available to cool your cabinet Table 19 - Power Dissipation Specifications DC-bus Power Supply Cat. No. 20% 97 108 249 265 2198-P031 2198-P070 2198-P141 2198-P208 Regenerative Bus Supply Cat. No. 2198-RP088 253 2198-RP200 532 2198-RP263 850 2198-RP312 1037 Dual-axis Inverter Cat. No. 2198-D006-ERSx 17 2198-D012-ERSx 34 2198-D020-ERSx 52 2198-D032-ERSx 100 2198-D057-ERSx 252 Single-axis Inverter Cat. No. 2198-S086-ERSx 190 2198-S130-ERSx 225 2198-S160-ERSx 270 2198-S263-ERSx 556 2198-S312-ERSx 610 iTRAK Power Supply Cat. No. 2198T-W25K-ER 206 Capacitor Module Cat. No. 2198-CAPMOD-2240 28 2198-CAPMOD-DCBUS-IO 1.1 DC-bus Conditioner Module Cat. No. 2198-DCBUSCOND-RP312 1.4 54 40% 101 119 267 294 Usage as % of Rated Power Output (watts) 60% 80% 105 109 130 140 286 304 323 352 100% 113 151 323 380 399 832 1261 1576 544 1132 1672 2115 690 1432 2083 2654 835 1732 2494 3193 29 58 84 155 354 41 82 116 210 456 53 106 148 265 558 65 130 180 320 660 255 340 420 759 883 325 460 570 989 1200 400 590 760 1245 1561 475 725 950 1529 1965 272 338 404 470 34 1.4 42 1.6 51 2.1 62 2.5 2.1 3.2 4.7 6.7 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 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. - Accessory modules require extra clearance above for wiring DC-bus stud connections and installing the cover. Additional clearance is required if other devices are installed above and/ or below the drive module and have clearance requirements of their own. - Accessory modules require extra clearance to route DC-bus wiring into or away from the drive system. Additional clearance left and right of the drive module is required when mounted adjacent to noise sensitive equipment or clean wire ways. The recommended minimum cabinet depth is 300 mm (11.81 in.). Figure 19 - Minimum Clearance Requirements Clearance where cover and DC-bus cabling attaches. 29.5 (1.16) Clearance above module for airflow and installation (see Table 19 on page 54 for values). Clearance above for wiring to DC-bus studs and lug cover installation. MOD NET MOD DC BUS 2 Clearance left of the module is not required. 1 1 4 I/O Clearance right of the module is not required. MODULE STATUS Kinetix 5700 Drive Module (DC-bus power supply is shown) Kinetix 5700 Accessory Module (2198-CAPMOD-2240 module is shown) Refer to the Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003, for Kinetix 5700 drive module dimensions. Clearance below module for airflow and installation (see Table 19 on page 54 for values). IMPORTANT Mount the drive module in an upright position as shown. Do not mount the module on its side. See the table on page 56 for clearance specifications. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 55 Chapter 2 Plan the Kinetix 5700 Drive System Installation Table 20 - Kinetix 5700 Drive Module Clearance Specifications Kinetix 5700 Drive Modules Drive Module Cat. No. Clearance Above, min mm (in.) Clearance Below, (1) min mm (in.) DC-bus power supply 2198-P031 2198-P070 2198-P141 2198-P208 40 (1.57) 100 (3.94) 2198-RP088 2198-RP200 40 (1.57) 100 (3.94) 150 (5.91) 2198-RP263 2198-RP312 2198-S086-ERSx 2198-S130-ERSx 2198-S160-ERSx 2198-S263-ERSx 2198-S312-ERSx 2198-D006-ERSx 2198-D012-ERSx 2198-D020-ERSx 2198-D032-ERSx 2198-D057-ERSx 2198T-W25K-ER 2198-CAPMOD-2240 2198-CAPMOD-DCBUS-IO 2198-DCBUSCOND-RP312 80 (3.15) 200 (7.87) 40 (1.57) 185 (7.28) 80 (3.15) 200 (7.87) 40 (1.57) 100 (3.94) 40 (1.57) 100 (3.94) 115 (4.53) 100 (3.94) Regenerative bus supply Single-axis inverters Dual-axis inverters iTRAK power supply Capacitor module Extension module DC-bus conditioner module (1) Additional clearance can be required depending on the actual wiring harness being installed. In multi-axis shared-bus configurations, drive modules must be spaced (left to right) by aligning the zero-stack tab and cutout. Install the AC line filter (required for CE and UK) with 50 mm (1.97 in.) minimum clearance between the power supply and filter or between filters, when more than one filter is used. Minimize the cable length as much as possible. Figure 20 - Shared-bus and Line Filter Clearance Requirements Shared-bus connection system is not shown for clarity. MOD– NET– MOD– NET– MOD– NET– MOD– NET– Zero-stack Tab and Cutout Aligned MOD– NET– Wire Connection (1) Terminals 2 2 1 1 1 1 4 5 50 mm (1.97 in.) 50 mm (1.97 in.) 6 7 8 9 10 1 2 3 4 5 I/O 50 mm (1.97 in.) 2 2 1 I/O-A I/O-B 6 1 1 2 3 4 5 6 1 6 7 8 9 10 D+ D- D+ D- MF-A 6 7 8 9 10 1 2 3 4 5 10 5 10 UFB-A UFB-B 5 I/O-B 6 1 1 2 3 4 5 6 1 6 7 8 9 10 D+ D- MF-A 1 I/O-A 6 7 8 9 10 1 2 3 4 5 10 5 10 UFB-A UFB-B D+ D- MF-B 2 1 I/O-A 5 1 2 3 4 5 6 1 6 7 8 9 10 D+ D- MF-A I/O-A 6 7 8 9 10 1 2 3 4 5 10 5 10 UFB-A UFB-B D+ D- MF-B I/O-B 6 1 5 1 2 3 4 5 6 6 7 8 9 10 10 5 10 UFB-A UFB-B D+ D- MF-B I/O-B 6 1 D+ D- MF-A MF-B Wire Connection (1) Terminals (1) Clearance required at the terminals for NEC specified bend radius depends on the wire size in use. 56 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 2 Plan the Kinetix 5700 Drive System Installation Multi-axis Shared DC-Bus Configurations The Kinetix 5700 shared DC-bus 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) Single 2198-RPxxx regenerative bus supply Multiple 8720MC-RPS regenerative power supplies Table 21 - Shared DC-bus Terminology Term DC-bus group Cluster Extended cluster Power supply cluster Extended DC-bus Definition Drive modules that are all connected to the same DC bus. Group of power supply and/or drive modules that are directly connected together via Kinetix 5700 DC bus-bars only. Group of drive modules that are directly connected together via Kinetix 5700 DC bus-bars and connected to the power supply cluster via customer-supplied DC-bus cable. The cluster that contains the AC to DC converter (power supply). When 2 drive clusters are part of the same DC-bus group joined by the DC bus-bars and customer-supplied DC-bus cable. The Kinetix 5700 DC-bus power is shared in the following ways: • • Across drive clusters by DC-bus links (included with the drive module). From the power supply cluster to an extended cluster by connection points provided on accessory modules. System Sizing Considerations Multi-axis Kinetix 5700 shared-bus drive systems require thorough evaluation to make sure each drive will perform as expected. Consider the following when sizing your system to determine the appropriate configuration: Consider the following to determine your system configuration: • • • • • • • • • Determine motor/drive combinations for full-motor performance No more than three 2198-P208 DC-bus power supplies can be used to increase the converter power Define the DC-bus groups Calculate system and external-bus capacitance Calculate the total motor-power cable length Calculate the 24V DC control-power current demand If using the 24V DC shared-bus connection system to distribute control input power to a cluster of drive modules, current from the 24V power supply must not exceed 40 A Calculate the 24VDC voltage drops Minimize drive-to-motor cable lengths. Overall system design can significantly limit the drive-to-motor cable lengths. See Appendix C on page 375 for more information and sizing examples. See Appendix D on page 385 for more information on cable lengths. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 57 Chapter 2 Plan the Kinetix 5700 Drive System Installation Accessory Module Selection The requirements for when to use accessory modules vary depending on whether your system is powered by the 2198-Pxxx DC-bus power supply or 2198-RPxxx regenerative bus supply. 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 332. Table 22 - Introduction to Kinetix 5700 Accessory Modules Accessory Module Cat. No. Accessory Module 2198-CAPMOD-2240 Capacitor Module 2198-CAPMOD-DCBUS-IO Extension Module 2198-DCBUSCOND-RP312 DC-bus Conditioner Module Description Use for energy storage and to extend the DC-bus voltage to another inverter cluster. Modules are zero-stacked with servo drives and use the shared-bus connection system to extend the external DC-bus voltage in applications up to 104 A. Can parallel with itself or with another accessory module for up to 208 A. The extension module, paired with a capacitor module or DC-bus conditioner module, is used to extend the DCbus voltage to another inverter cluster in systems with ≥104 A current and up to 208 A. Decreases the voltage stress on insulation components in an inverter system with long cable lengths and used to extend the DC-bus voltage to another inverter cluster. Modules are zero-stacked with servo drives and use the shared-bus connection system to extend the external DC-bus voltage in applications up to 104 A. Can parallel with itself or with another accessory module for applications up to 208 A. On the following pages (by power supply) are system configurations showing which accessory modules are required. The examples account for single (power supply) clusters, extended clusters, maximum system current, the input-power ground configuration, and total motor-cable length. Also included are flowcharts to help you determine your accessory module requirements. DC-bus Power Supply Systems The following system configurations illustrate the minimum number of accessory modules required. Figure 21 - DC-bus Power Supply Example/Extended Cluster (104 A, max) 58 Dual-axis Inverters Capacitor Module Capacitor Module Single-axis Inverters Dual-axis Inverters 2198-Dxxx-ERSx 2198-Dxxx-ERSx 2198-Sxxx-ERSx 2198-CAPMOD-2240 2198-Dxxx-ERSx 2198-Dxxx-ERSx 2198-Sxxx-ERSx 2198-Sxxx-ERSx Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 2198-Sxxx-ERSx DC Bus DC Bus 2198-Pxxx This example includes: • 1 Bus group • 2 Drive clusters Single-axis Inverters 2198-CAPMOD-2240 DC-Bus Power Supply Chapter 2 Plan the Kinetix 5700 Drive System Installation This example includes: • 1 Bus group • 1 Drive cluster Single-axis Inverters Dual-axis Inverters Capacitor Module Capacitor Module 2198-CAPMOD-2240 DC-Bus Power Supply 2198-CAPMOD-2240 Figure 22 - DC-bus Power Supply Example/Multiple Capacitor Modules 2198-Dxxx-ERSx 2198-Dxxx-ERSx 2198-Sxxx-ERSx 2198-Sxxx-ERSx 2198-Pxxx DC Bus 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 modules, two DC-bus conditioner modules, or a capacitor module and DC-bus conditioner module mounted side by side, you must order the 2198-KITCON-CAPMOD2240 or 2198-KITCON-DCBUSCOND connector set separately. IMPORTANT Figure 23 - Multiple DC-bus Power Supply Example/Extended Cluster (208 A, max) DC-Bus Power Supply DC-Bus Power Supply DC-Bus Power Supply Single-axis Inverters Capacitor Module Dual-axis Inverters Extension Module Capacitor Module Single-axis Inverters Dual-axis Inverters IMPORTANT 2198-Dxxx-ERSx 2198-Dxxx-ERSx 2198-Sxxx-ERSx 2198-Sxxx-ERSx 2198-CAPMOD-2240 2198-CAPMOD-DCBUS-IO 2198-CAPMOD-2240 2198-Dxxx-ERSx 2198-Dxxx-ERSx 2198-Sxxx-ERSx 2198-Sxxx-ERSx 2198-P208 2198-P208 This example includes: • 1 Bus group • 2 Drive clusters 2198-CAPMOD-DCBUS-IO DC Bus DC Bus 2198-P208 Extension Module The systems that are shown are typical. The maximum number of inverter modules depends on the maximum system capacitance precharge capability of the power supply. With multiple 2198-P208 modules, there is more precharge capability. When there are two or three DC-bus power supplies, they must be catalog number 2198-P208. Refer to Appendix C on page 375 for more system sizing information. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 59 Chapter 2 Plan the Kinetix 5700 Drive System Installation 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. • • A DC-bus conditioner module is required on all extended clusters A DC-bus conditioner module is required on the power supply cluster if the total motor cable length connected to the power supply cluster is ≥400 m (1312 ft) A DC-bus conditioner module is required on each cluster of drive systems with impedance-grounded input power When a DC-bus conditioner module is installed and there is no use-case for installation, the module does not provide any benefit • • The following system configurations illustrate the minimum number of accessory modules required. Figure 24 - Regenerative Bus Supply Example/Single Cluster Single-axis Inverters Regenerative Bus Supply Dual-axis Inverters DC-bus Conditioner Module DC-bus conditioner is required on this single cluster only because cable length exceeds 400 m (1312 ft). 2198-DCBUSCOND-RP312 2198-Dxxx-ERSx 2198-Dxxx-ERSx 2198-Sxxx-ERSx 2198-RPxxx (power supply cluster) DC Bus This example includes: • 1 Bus group • 1 Drive clusters 90 m (295 ft) x 5 axes = 450 m (1476 ft) M Motor Array Figure 25 - Regenerative Bus Supply Example/Extended Cluster Single-axis Inverters Dual-axis Inverters Capacitor Module DC-bus Conditioner Module DC-bus Conditioner Module 90 m (295 ft) x 5 axes = 450 m (1476 ft) M Motor Array This example includes: • 1 Bus group • 2 Drive clusters Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 M 2198-Sxxx-ERSx 2198-Sxxx-ERSx 90 m (295 ft) x 3 axes = 270 m (886 ft) Motor Array DC-bus conditioner requirements: • Required on Cluster #1 because cable length exceeds 400 m (1312 ft) • Required on Cluster #2 because it’s an extended cluster 2198-Sxxx-ERSx 2198-DCBUSCOND-RP312 (extended cluster) Cluster #2 2198-DCBUSCOND-RP312 2198-CAPMOD-2240 2198-Dxxx-ERSx 2198-Dxxx-ERSx 2198-Sxxx-ERSx 2198-RPxxx (power supply cluster) Cluster #1 Single-axis Inverters DC Bus DC Bus 60 Capacitor Module 2198-CAPMOD-2240 Regenerative Bus Supply Chapter 2 Plan the Kinetix 5700 Drive System Installation Figure 26 - Regenerative Bus Supply Example/Extended Cluster/104 A System Regenerative Bus Supply Capacitor Module Dual-axis Inverters DC-bus Conditioner Module Single-axis Inverters M 2198-Sxxx-ERSx 2198-Sxxx-ERSx 2198-CAPMOD-2240 2198-DCBUSCOND-RP312 (extended cluster) Cluster #2 2198-CAPMOD-2240 2198-Dxxx-ERSx 2198-Dxxx-ERSx 90 m (295 ft) x 4 axes = 360 m (1182 ft) 2198-Sxxx-ERSx DC Bus DC Bus 2198-RP088 (power supply cluster) Cluster #1 Capacitor Module 90 m (295 ft) x 3 axes = 270 m (886 ft) Motor Array Motor Array M This example includes: • 1 Bus group • 2 Drive clusters DC-bus conditioner requirements: • Not required on Cluster #1 because cable length <400 m (1312 ft) • Required on Cluster #2 because it’s an extended cluster Extension module not required because the power supply cluster < 104 A Figure 27 - Regenerative Bus Supply Example/Extended Cluster/208 A System Capacitor Module Extension Module DC-bus Conditioner Module DC-bus conditioner requirements: • Not required on Cluster #1 because cable length <400 m (1312 ft) • Required on Cluster #2 because it’s an extended cluster Extension module required on Cluster #1 because the power supply cluster ≥104 A, but <208 A. 2198-Sxxx-ERSx 2198-Sxxx-ERSx 2198-Sxxx-ERSx 2198-DCBUSCOND-RP312 (extended cluster) Cluster #2 2198-CAPMOD-DCBUS-IO 2198-CAPMOD-2240 2198-RP200 (power supply cluster) Cluster #1 Single-axis Inverters DC Bus DC Bus This example includes: • 1 Bus group • 2 Drive clusters Capacitor Module 2198-CAPMOD-2240 Regenerative Bus Supply 90 m (295 ft) x 3 axes = 270 m (886 ft) Motor Array M Figure 28 - Regenerative Bus Supply Example/Two Extended Clusters/208 A, max DC-bus Conditioner Module Single-axis Inverters Capacitor Module Extension Module DC-bus Conditioner Capacitor Module Module Single-axis Inverters 90 m (295 ft) x 2 axes = 180 m (591 ft) 2198-Sxxx-ERSx 90 m (295 ft) x 2 axes = 180 m (591 ft) DC-bus conditioner requirements: Motor Array M • Not required on Cluster #1 because cable length <400 m (1312 ft) • Required on Cluster #2 and #3 because they are extended clusters Extension module required on Cluster #1 and #2 because the entire extended bus system must have the same current rating (208 A, in this example). Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 2198-Sxxx-ERSx 2198-CAPMOD-DCBUS-IO 2198-CAPMOD-2240 2198-Sxxx-ERSx 2198-Sxxx-ERSx DC Bus 2198-DCBUSCOND-RP312 2198-CAPMOD-DCBUS-IO DC Bus 2198-CAPMOD-2240 2198-RPxxx (power supply cluster) Cluster #1 DC Bus Extension Module 2198-CAPMOD-2240 Extension Module 2198-DCBUSCOND-RP312 (extended cluster) Cluster #3 Capacitor Module 2198-CAPMOD-DCBUS-IO (extended cluster) Cluster #2 Regenerative Bus Supply M 61 Chapter 2 Plan the Kinetix 5700 Drive System Installation Figure 29 - Regenerative Bus Supply Example/Center Power Supply Cluster/104 A, max Single-axis Inverters Capacitor Module Regenerative Bus Supply Extension Module DC-bus Conditioner Module Capacitor Module DC Bus DC-bus Conditioner Capacitor Module Module Single-axis Inverters 90 m (295 ft) x 2 axes = 180 m (591 ft) M 2198-Sxxx-ERSx 2198-Sxxx-ERSx 2198-CAPMOD-2240 2198-DCBUSCOND-RP312 (extended cluster) Cluster #3 2198-CAPMOD-2240 2198-RPxxx (power supply cluster) Cluster #2 2198-CAPMOD-DCBUS-IO 2198-DCBUSCOND-RP312 2198-CAPMOD-2240 (extended cluster) Cluster #1 2198-Sxxx-ERSx 2198-Sxxx-ERSx DC Bus 90 m (295 ft) x 2 axes = 180 m (591 ft) Motor Array Motor Array DC-bus conditioner requirements: • Not required on Cluster #2 because cable length <400 m (1312 ft) • Required on Cluster #1 and #3 because they are extended clusters Extension module required on Cluster #2 for making DC-bus connections to Cluster #1. IMPORTANT M This example includes: • 1 Bus group • 3 Drive clusters In Figure 29, the Kinetix 5700 drive system includes two accessory modules in each of the clusters. Flexible bus bars are included with only the 2198CAPMOD-DCBUS-IO extension module. So, if you have two capacitor modules, two DC-bus conditioner modules, or a capacitor module and DCbus conditioner module mounted side by side, you must order the 2198KITCON-CAPMOD2240 or 2198-KITCON-DCBUSCOND connector set separately. Figure 30 - Regenerative Bus Supply Example/Impedance-grounded Input Power Regenerative Bus Supply DC-bus conditioner requirements for impedance-grounded systems: • Required on single cluster system • Required on each cluster of multi-cluster systems DC Bus L3 L2 L3 L2 L1 2198-Dxxx-ERSx 2198-Dxxx-ERSx L1 2198-RPxxx Three-phase Input Voltage DC-bus Conditioner Module 2198-DCBUSCOND-RP312 Impedance Ground Input Power Dual-axis Inverters 90 m (295 ft) x 4 axes = 360 m (1181 ft) M IMPORTANT 62 The regenerative bus supply is not compatible with the iTRAK power supply. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 2 Plan the Kinetix 5700 Drive System Installation 8720MC-RPS or Other Regenerative Power Supply The following system configurations illustrate the minimum number of accessory modules required. Figure 31 - Regenerative Power Supply Example (104 A, max) Regenerative Power Supply This example includes: • 1 Bus group • 1 Drive cluster DC-bus Conditioner Module Capacitor Module Single-axis Inverters Dual-axis Inverters 2198-Dxxx-ERSx 2198-Dxxx-ERSx 2198-Sxxx-ERSx 2198-Sxxx-ERSx 2198-CAPMOD-2240 8720MC-RPS065 2198-DCBUSCOND-RP312 DC Bus 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. So, if you have two capacitor modules, two DC-bus conditioner modules, or a capacitor module and DC-bus conditioner module mounted side by side, you must order the 2198-KITCON-CAPMOD2240 or 2198-KITCON-DCBUSCOND connector set separately. Figure 32 - Regenerative Power Supply Example Power (208 A, max) Regenerative Power Supply This example includes: • 1 Bus group • 1 Drive cluster DC-bus Conditioner Module Capacitor Module Single-axis Inverters Dual-axis Inverters 2198-Dxxx-ERSx 2198-Dxxx-ERSx 2198-Sxxx-ERSx 2198-Sxxx-ERSx 2198-CAPMOD-2240 2198-DCBUSCOND-RP312 8720MC-RPS190 DC Bus DC-bus conditioner is required because this is a 208 A system. DC-bus conditioner is also required if the total power-cable length exceeds 400 m (1312 ft). IMPORTANT The 8720MC-RPS power supply is not compatible with the iTRAK power supply. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 63 Chapter 2 Plan the Kinetix 5700 Drive System Installation 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. In this flowchart, a 2198-Pxxx DC-bus power supply or 2198-RPxxx regenerative bus supply supplies DC-bus power to a single cluster of drives. System variables that you need to know include the following: • • • The type of AC to DC converter used The input power ground configuration The total motor cable length Figure 33 - Single-cluster Drive System Start What type of AC to DC converter is used? DC-bus Power Supply Regenerative Bus Supply Yes Is this an impedance grounded system? No What is the total motor cable length? <400 m (1312 ft) ≥400 m (1312 ft) DC-bus Conditioner Module 64 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 No accessory modules required. 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. System variables that you need to know include the following: The ‘power supply’ cluster includes the 2198-Pxxx DC-bus power supply or 2198-RPxxx regenerative bus supply. Extended clusters are part of the same DC-bus group and connected to the power supply cluster via stud terminals that are available on accessory modules. • • • • The type of AC to DC converter used The input-power ground configuration The external DC-bus current The total motor-cable length of the power supply cluster Figure 34 - Multi-cluster Drive System Start Regenerative Bus Supply What type of AC to DC converter is used? DC-bus Power Supply <104 A What is the external DC-bus current? Each Cluster: Capacitor Module Is this an impedance grounded system? No ≥104 A up to 208 A, max <400 m (1312 ft) Each Cluster: • Capacitor Module • Extension Module <104 A Power Supply Cluster: • Capacitor Module All Extended Clusters: • Capacitor Module • DC-bus Conditioner Module Yes What is the external DC-bus current? ≥104 A up to 208 A, max What is the total motor cable length of the power supply cluster? ≥400 m (1312 ft) Each Cluster: • Capacitor Module • DC-bus Conditioner Module Power Supply Cluster: • Capacitor Module • Extension Module All Extended Clusters: • Capacitor Module • DC-bus Conditioner Module Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 65 Chapter 2 Plan the Kinetix 5700 Drive System Installation Electrical Noise Reduction This section outlines best practices that minimize the possibility of noiserelated 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. HF Bond for Modules Bonding is the practice of connecting metal chassis, assemblies, frames, shields, and enclosures to reduce the effects of electromagnetic interference (EMI). Unless specified, most paints are not conductive and act as insulators. To achieve a good bond between the drive module and subpanel, surfaces need to be paint-free or plated. Bonding metal surfaces creates a low-impedance return path for high-frequency energy. IMPORTANT To improve the bond between the drive module and subpanel, construct your subpanel out of zinc plated (paint-free) steel. Improper bonding of metal surfaces blocks the direct return path and allows high-frequency energy to travel elsewhere in the cabinet. Excessive highfrequency energy can effect the operation of other microprocessor controlled equipment. 66 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 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 35 - Recommended Bonding Practices for Painted Panels Stud-mounting the Subpanel to the Enclosure Back Wall Stud-mounting a Ground Bus or Chassis to the Subpanel Subpanel Back Wall of Enclosure Mounting Bracket or Ground Bus Subpanel Welded Stud Star Washer Nut Scrape Paint Flat Washer Welded Stud Nut Flat Washer Use a wire brush to remove paint from threads to maximize ground connection. Use plated panels or scrape paint on front of panel. If the mounting bracket is coated with a non-conductive material (anodized or painted), scrape the material around the mounting hole. Star Washer Bolt-mounting a Ground Bus or Chassis to the Back-panel Subpanel Bolt Tapped Hole Ground Bus or Mounting Bracket Nut Star Washer Scrape paint on both sides of panel and use star washers. Star Washer Flat Washer Nut Flat Washer Star Washer If the mounting bracket is coated with a non-conductive material (anodized or painted), scrape the material around the mounting hole. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 67 Chapter 2 Plan the Kinetix 5700 Drive System Installation HF Bond for 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 difference in impedance can affect networks and other devices that span multiple panels: • • Bond the top and bottom of each subpanel to the cabinet by using 25.4 mm (1.0 in.) by 6.35 mm (0.25 in.) wire braid. As a rule, the wider and shorter the braid is, the better the bond. Scrape the paint from around each fastener to maximize metal-to-metal contact. Figure 36 - Multiple Subpanels and Cabinet Recommendations Wire Braid 25.4 mm (1.0 in.) by 6.35 mm (0.25 in.) Cabinet ground bus bonded to the subpanel. Paint removed from cabinet. 68 Wire Braid 25.4 mm (1.0 in.) by 6.35 mm (0.25 in.) Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 2 Plan the Kinetix 5700 Drive System Installation Establish 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: • • • The clean zone (C) is right of the drive system and includes the digital inputs wiring and Ethernet cable (gray wireway). The dirty zone (D) is left and below the drive system (black wireways) and includes the circuit breakers, 24V DC power supply, safety, and motor cables. The very dirty zone (VD) is limited to where the AC (EMC) line filter VAC output jumpers over to the DC-bus power supply. Shielded cable is required only if the very dirty cables enter a wireway. Figure 37 - Noise Zones (DC-bus power supply) Clean Wireway Dirty Wireway (1) D D (1) 24V DC Power Supply Safety Cable (hardwired drives only) Circuit Protection C Kinetix 5700 Servo Drive System MOD NET MOD NET MOD NET MOD NET MOD DC BUS VD 2 2 2 2 1 1 1 1 1 Very Dirty Filter/AC Input Connections Segregated (not in wireway) 1 I/O-A 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 I/O-A 6 1 I/O-B 6 C 1 6 1 6 4 I/O 5 50 mm (1.97 in.) D+ D- D+ D- MF-A 10 5 10 UFB-A UFB-B D+ D- D+ D- MF-B MF-A UFB-A D+ D- D+ D- MF-B UFB-B MF-A MF-B AC Line Filter (required for CE) (1) Module Status Contactor Enable D D C Route motor cables in shielded cable. Motor Cables (2) Route registration and communication signals in shielded cables. (1) When space to the right of the module does not permit 150 mm (6.0 in.) segregation, use a grounded steel shield instead. For examples, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001. (2) When the 2198-H2DCK feedback converter kit or 2198-K57CK-D15M universal feedback kit is used, feedback cable routes in the clean wireway. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 69 Chapter 2 Plan the Kinetix 5700 Drive System Installation Figure 38 - Noise Zones (regenerative bus supply) Clean Wireway Dirty Wireway (1) D (1) 24V DC Power Supply Safety Cable (hardwired drives only) D C Kinetix 5700 Servo Drive System MOD NET MOD NET MOD NET MOD NET MOD DC BUS VD Circuit Protection 2 1 1 Very Dirty Filter/AC Input Connections Segregated (not in wireway) I/O 2 2 2 1 1 1 6 1 I/O-A I/O-B 6 1 6 1 10 5 10 UFB-A UFB-B 5 I/O-A 6 1 I/O-B 6 C 1 6 1 6 OK+ OK– EN– EN+ 5 10 5 50 mm (1.97 in.) D+ D- D+ D- MF-A AC Line Filter (required for CE) 10 5 10 UFB-A UFB-B D+ D- D+ D- MF-B MF-A UFB-A D+ D- D+ D- MF-B UFB-B MF-A MF-B (1) Module Status Contactor Enable D D C Route motor cables in shielded cable. Motor Cables (2) Route registration and communication signals in shielded cables. (1) When space to the right of the module does not permit 150 mm (6.0 in.) segregation, use a grounded steel shield instead. For examples, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001. (2) When the 2198-H2DCK feedback converter kit or 2198-K57CK-D15M universal feedback kit is used, feedback cable routes in the clean wireway. 70 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 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. Table 23 - DC-bus Power Supply or Regenerative Bus Supply Zone Dirty X – Wire/Cable Power Supply Cat. No. Connector L1, L2, L3 (shielded cable) L1, L2, L3 (unshielded cable) 2198-Pxxx 2198-RPxxx IPD DC-/DC+ (DC bus) 2198-Pxxx 2198-RPxxx 2198-Pxxx 2198-RPxxx 2198-Pxxx 2198-RPxxx 2198-RPxxx 2198-Pxxx 2198-RPxxx 2198-Pxxx 2198-RPxxx 2198-Pxxx 2198-RPxxx DC Bus-bar only, no wiring connector. RC – – DC+/SH (passive shunt) DC+/DC– (active shunt) CONT EN– and CONT EN+ (M1 contactor) CONV OK– and CONV OK+ 24V DC Dedicated digital inputs Ethernet (shielded cable) Very Dirty – X Clean – – X – CED Method Ferrite Sleeve Shielded Cable – X – – X – – – – – – – – – – – – – CP – X – – – IOD – X – – – PORT1 PORT2 – – X – X Very Dirty Zone Dirty Table 24 - Dual-axis and Single-axis Inverters Wire/Cable (1) Connector DC-/DC+ (DC bus) U, V, W (motor power) Kinetix VPL, VPC-Q Motor feedback VPF, VPH, VPS motors Motor brake U, V, W (motor power) Kinetix HPK, MMA, VPC-S/M/Y, MPL, Motor feedback MPM, MPF, MPS Motor brake motors 24V DC Safety enable for safe torque-off (hardwired) Registration input Dedicated digital inputs (other than registration inputs) DC MP MF BC MP MF or UFB BC CP STO Ethernet (shielded cable) PORT1 PORT2 IOD – – – – X X X X – X X X – X – – – – Method Clean Ferrite Sleeve Shielded Cable Bus-bar only, no wiring connector. X – – X X – X X X – – X – – – – – – X – X – – – X – X Ferrite Sleeve Method Shielded Cable (1) Kinetix HPK and MMA motor power, brake, and blower cables are customer supplied. Table 25 - iTRAK Power Supply Wire/Cable Connector DC-/DC+ (DC bus) iTRAK DC-bus output A and B 24V DC control input power iTRAK 24V DC control output power A and B iTRAK digital inputs iTRAK ready output DC IDC CP ICP IOD IR PORT1 PORT2 Ethernet (shielded cable) Zone Very Dirty Dirty Clean Bus-bar only, no wiring connector. – X – – X – X – – X – – – – X X – – – – – – X – X Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 71 Chapter 2 Plan the Kinetix 5700 Drive System Installation Table 26 - Capacitor Module or DC-bus Conditioner Module Wire/Cable Connector DC-/DC+ (DC bus) DC-/DC+ 24V DC Module status DC M8 Stud CP MS Zone Very Dirty Dirty Clean Bus-bar only, no wiring connector. – X – – X – – X – Ferrite Sleeve Method Shielded Cable – – – – – – Table 27 - Extension Module Wire/Cable Connector DC-/DC+ (DC bus) DC-/DC+ DC M8 Stud Zone Very Dirty Dirty Clean Bus-bar only, no wiring connector. – X – Ferrite Sleeve Method Shielded Cable – – Noise Reduction Guidelines for Drive System Accessories Refer to this section when mounting an AC (EMC) line filter or external shunt resistor for guidelines designed to reduce system failures caused by excessive electrical noise. AC Line Filters Observe these guidelines when mounting your AC (EMC) line filter (refer to the figure on page 69 for an example): • • • • With grounded WYE power, as shown in Figure 72 on page 121, mount the AC line filter on the same panel as the power supply with 50 mm (1.97 in.) minimum clearance between the drive and filter. Minimize the line filter cable length as much as possible. Good HF bonding to the panel is critical. For painted panels, refer to the examples on page 67. Segregate input and output wiring as far apart as possible. External Passive Shunt Modules Observe these guidelines when mounting your 2198-R014, 2198-R031, or 2198-R127 external passive shunt modules: • • • 72 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. Keep unshielded wiring as short as possible, not to exceed 3 m (9.8 ft). Keep shunt wiring as flat to the cabinet as possible. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 2 Plan the Kinetix 5700 Drive System Installation Figure 39 - External Passive Shunt Module Mounted On Top of the Drive System Enclosure 610 mm (24 in.) clearance (min) above the shunt module. 150 mm (6.0 in.) clearance (min) on all four sides of the shunt module. Metal Conduit (where required by local code) Dirty Wireway Shunt Power Wiring Methods: Twisted pair in conduit (1st choice). Twisted pair, two twists per foot (min) (2nd choice). Enclosure D VD 24V DC Power Supply D MOD NET MOD NET MOD NET MOD NET MOD DC BUS VD 2 2 1 1 1 Very Dirty Filter/AC Input Connections Segregated (not in wireway) 1 2 1 I/O-A 6 1 I/O-B 6 1 Digital Inputs and Ethernet Cables 2 1 I/O-A 6 1 I/O-B 6 1 I/O-A 6 1 I/O-B 6 4 C I/O 5 10 UFB-A UFB-B UFB-A UFB-B UFB-A UFB-B Module Status 50 mm (1.97 in.) D+ D- D+ D- MF-A D+ D- D+ D- MF-B MF-A D+ D- D+ D- MF-B MF-A AC Line Filter (required for CE and UK) MF-B No sensitive equipment within 150 mm (6.0 in.). Contactor Enable D C Kinetix 5700 Servo Drive System Safety Cable (hardwired safety only) Circuit Protection Clean Wireway C D Motor Cables Route motor cables in shielded cable. Route registration and communication signals in shielded cables. 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. Route the shunt power wires with other very dirty wires. Keep unshielded wiring as short as possible, not to exceed 457 mm (18 in.). Keep shunt wiring as flat to the cabinet as possible. Separate shunt power cables from other sensitive low-voltage signal cables. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 73 Chapter 2 Plan the Kinetix 5700 Drive System Installation Figure 40 - External Shunt Resistor Mounted Inside the Drive System Enclosure 150 mm (6.0 in.) clearance (min) above the shunt resistor. Enclosure D Dirty Wireway VD Safety Cable (hardwired safety only) D Kinetix 5700 Servo Drive System MOD NET MOD NET MOD NET MOD NET MOD DC BUS VD Circuit Protection 2 2 2 2 1 1 1 1 I/O-A 1 Very Dirty Filter/AC Input Connections Segregated (not in wireway) AC Line Filter (required for CE and UK) C Shunt Power Wiring Methods: Twisted pair in conduit (1st choice). Twisted pair, two twists per foot (min) (2nd choice). 76 mm (3.0 in.) clearance (min) below, left, and right of the shunt resistor. 24V DC Power Supply Clean Wireway 1 I/O-B 6 1 6 1 I/O-A 6 1 I/O-B 6 1 No sensitive equipment within 150 mm (6.0 in.). Digital Inputs and Ethernet Cables I/O-A 6 1 I/O-B 6 4 C I/O 5 50 mm (1.97 in.) 10 UFB-A UFB-B D+ D- D+ D- MF-A UFB-A D+ D- D+ D- MF-B UFB-B MF-A UFB-A D+ D- D+ D- MF-B UFB-B MF-A MF-B Module Status C D Motor Cables Route motor cables in shielded cable. Route registration and communication signals in shielded cables. External Active Shunt Modules Observe these guidelines when mounting external active shunt outside the drive system enclosure: • • 74 Mount the shunt module so that wiring routes in the very dirty zone inside the drive system enclosure. Keep unshielded wiring as short as possible, not to exceed 3 m (9.8 ft). Keep shunt wiring as flat to the cabinet as possible. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 2 Plan the Kinetix 5700 Drive System Installation Figure 41 - External Active Shunt Module Mounted On Top of the Drive System Enclosure 610 mm (24 in.) clearance (min) above the shunt module. 150 mm (6.0 in.) clearance (min) on all four sides of the shunt module. External Active Shunt Metal Conduit (where required by local code) Dirty Wireway Enclosure D Shunt Power Wiring Methods: Twisted pair in conduit (1st choice). Twisted pair, two twists per foot (min) (2nd choice). 24V DC Power Supply D Clean Wireway C VD Kinetix 5700 Servo Drive System Safety Cable (hardwired safety only) MOD NET MOD NET MOD NET MOD NET VD MOD NET VD Circuit Protection Very Dirty Filter/AC Input Connections Segregated (not in wireway) 2 2 2 1 1 1 1 I/O 1 6 I/O-A 6 1 I/O-B 6 1 Digital Inputs and Ethernet Cables 2 1 I/O-A 6 1 I/O-B 6 1 I/O-A 6 1 I/O-B 6 OK+ C MODULE STATUS OK– EN– EN+ 5 5 10 10 UFB-A UFB-B UFB-A UFB-B UFB-A UFB-B Module Status 50 mm (1.97 in.) D+ D- D+ D- MF-A D+ D- D+ D- MF-B MF-A D+ D- D+ D- MF-B AC Line Filter (required for CE and UK) MF-A MF-B No sensitive equipment within 150 mm (6.0 in.). Contactor Enable D C D Motor Cables Route motor cables in shielded cable. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Route registration and communication signals in shielded cables. 75 Chapter 2 Plan the Kinetix 5700 Drive System Installation 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. Route the shunt power wires with other very dirty wires. Keep unshielded wiring as short as possible, not to exceed 3 m (9.8 ft). Keep shunt wiring as flat to the cabinet as possible. Separate shunt power cables from other sensitive low-voltage signal cables. Figure 42 - External Active Shunt Mounted Inside the Drive System Enclosure Clean Wireway 150 mm (6.0 in.) clearance (min) above the shunt resistor. Enclosure Dirty Wireway D 76 mm (3.0 in.) clearance (min) below, left, and right of the shunt resistor. External Active Shunt C VD Shunt Power Wiring Methods: Twisted pair in conduit (1st choice). Twisted pair, two twists per foot (min) (2nd choice). 24V DC Power Supply D Kinetix 5700 Servo Drive System Safety Cable (hardwired safety only) MOD NET MOD NET MOD NET MOD NET VD MOD NET VD Circuit Protection 2 2 1 1 1 Very Dirty Filter/AC Input Connections Segregated (not in wireway) AC Line Filter (required for CE and UK) 2 1 I/O 1 6 I/O-A 6 1 I/O-B 6 1 2 Digital Inputs and Ethernet Cables 1 I/O-A 6 1 I/O-B 6 1 I/O-A 6 1 I/O-B 6 OK+ C MODULE STATUS OK– EN– EN+ 5 5 10 50 mm (1.97 in.) 10 UFB-A UFB-B D+ D- D+ D- MF-A UFB-A D+ D- D+ D- MF-B UFB-B MF-A UFB-A D+ D- D+ D- MF-B UFB-B MF-A MF-B No sensitive equipment within 150 mm (6.0 in.). Module Status D Motor Cables Route motor cables in shielded cable. 76 C D Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Route registration and communication signals in shielded cables. Chapter 3 Mount the Kinetix 5700 Drive System This chapter provides installation procedures for mounting your Kinetix® 5700 drive system to the system panel and installing DC-bus links and 24V sharedbus connector kits to the drive modules. Topic Determine Mounting Order Mount Accessory Modules Zero-stack Tab and Cutout Install Shared-bus Connection Systems Drill-hole Patterns Mount Your Kinetix 5700 Drive Modules Page 78 81 82 82 85 88 This procedure assumes that you have prepared your panel and understand how to bond your system. For installation instructions regarding equipment and accessories not included here, refer to the instructions that came with those products. 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. 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. Because the system is of the open type construction, be careful to keep metal debris from falling into it. Metal debris or other foreign matter can become lodged in the circuitry and result in damage to the components. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 77 Chapter 3 Mount the Kinetix 5700 Drive System Determine Mounting Order Mount the DC-bus power supply or regenerative bus supply on the far right or far left, whichever makes the best use of panel space. Mount inverter modules and iTRAK® power supplies in order from left to right (as shown in Figure 43) or right to left (as shown in Figure 45). 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 28 - Kinetix 5700 Single-axis Inverter Modules Attribute Continuous Power Output, nom 2198-S086-ERSx 2198-S130-ERSx 2198-S160-ERSx 2198-S263-ERSx 2198-S312-ERSx 29.7 kW 44.9 kW 60.1 kW 90 kW 112 kW Table 29 - Kinetix 5700 Dual-axis Inverter Modules Attribute Continuous Power Output, nom 2198-D006-ERSx 2198-D012-ERSx 2198-D020-ERSx 2198-D032-ERSx 2198-D057-ERSx 2 x 1.7 kW 2 x 3.4 kW 2 x 5.5 kW 2 x 8.9 kW 2 x 15.9 kW Table 30 - iTRAK Power Supply Attribute Continuous Power Output, nom 2198T-W25K-ER 4.1 kW The Kinetix 5700 drive system in Figure 43 could be powered by the 2198-Pxxx DC-bus power supply or 2198-RPxxx regenerative bus supply. This example is powered by the DC-bus power supply (positioned on the left) with inverter modules mounted according to power rating (highest to lowest) from left to right. Figure 43 - System Mounting Order Example (single DC-bus power supply) Highest Power Utilization 2198-S086-ERSx Single-axis Inverter Lowest Power Utilization 2198-D006-ERSx Dual-axis Inverter 2198-D012-ERSx Dual-axis Inverter Shared-bus Connection Systems (DC-bus and 24V DC) 2198-P141 DC-bus Power Supply MOD NET 2 2 1 1 1 MOD NET MOD NET 1 MOD NET 2 2 1 1 I/O 6 1 10 5 I/O-A 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 I/O-A 6 1 I/O-B 6 4 I/O 5 UFB D+ D- D+ D- MF-A 10 5 10 UFB-A UFB-B D+ D- D+ D- MF-B MF-A MF-B - MBRK + 78 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 3 IMPORTANT Mount the Kinetix 5700 Drive System 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. Refer to Appendix C on page 375 for more system sizing information. Figure 44 - System Mounting Order Example (multiple DC-bus power supplies) Highest Power Utilization 2198-S086-ERSx Single-axis Inverter Lowest Power Utilization 2198-D006-ERSx Dual-axis Inverter 2198-D012-ERSx Dual-axis Inverter 2198-P208 DC-bus Power Supplies (1) Shared-bus Connection Systems (DC-bus and 24V DC) MOD NET MOD NET MOD NET 2 2 2 2 1 1 1 1 1 1 1 I/O 1 MOD NET 2 2 1 1 I/O 6 1 10 5 I/O-A 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 I/O-A 6 1 I/O-B 6 4 4 4 MOD NET MOD NET I/O I/O 5 UFB D+ D- D+ D- MF-A 10 5 10 UFB-A UFB-B D+ D- D+ D- MF-B MF-A MF-B - MBRK + (1) The DC-bus power supplies can be left or right of the inverters. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 79 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 45 - System Mounting Order Example (regenerative bus supply) Lowest Power Utilization 2198-D006-ERSx Dual-axis Inverter Highest Power Utilization 2198-S312-ERSx Single-axis Inverter 2198-D012-ERSx Dual-axis Inverter Dual-axis Inverters MOD NET MOD DC BUS Regenerative Bus Supply (1) Single-axis Inverters Shared-bus Connection System (DC-bus and 24V DC) MOD NET MOD NET 2 2 1 1 MOD NET 2 1 1 I/O-A I/O-B 6 1 I/O-A 6 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 I/O 6 1 MODULE STATUS 2198-DCBUSCOND-RP312 DC-bus Conditioner 5 10 5 10 UFB-A UFB-B D+ D- D+ D- MF-A 5 6 10 D+ D- D+ D- MF-B I/O 10 MF-A MF-B - MBRK + W V U 21mm2 (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin) L1 L2 L3 21mm2 (4-4/0 AWG) 15-20 Nm (132-177 lbin) (1) The regenerative bus supply can be mounted left or right of the inverters. 80 IMPORTANT The maximum number of inverter modules depends on the maximum system capacitance precharge capability of the power supply and the total system capacitance. Refer to Appendix C on page 375 for more system sizing information. IMPORTANT The regenerative bus supply is not compatible with the iTRAK power supply. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 3 Mount Accessory Modules Mount the Kinetix 5700 Drive System 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: • • Required in each cluster of a multi-cluster system More than one capacitor module can be used in a cluster, if needed IMPORTANT Each additional capacitor module adds to the total system capacitance and increased energy storage. The 2198-CAPMOD-DCBUS-IO extension module is always mounted next to a capacitor module or DC-bus conditioner module and always positioned on the outside of the system cluster (either first or last). The extension module can be paired with another accessory module and flexible bus-bars if external DC-bus current is ≥104 A up to a maximum of 208 A. IMPORTANT When the extension module is mounted next to another accessory module, they must be connected by flexible bus-bars. Figure 46 - Flexible Bus Bar Example External DC-bus Wire Lug Connections Flexible Bus-bars DC-bus Link Connections DC-bus Links 1 9 SB+/NC S1A SCA S2A SBNC NC NC 2198-xxxx-ERSx Inverters 8 IMPORTANT 16 2198-CAPMOD-DCBUS-IO Extension Module 2198-DCBUSCOND-RP312 DC-bus Conditioner Module In a multi-cluster system with a power supply rated ≥104 A, two accessory modules connected by flexible bus-bars must be used to create a 208 A extended cluster system. See the Accessory Module Connector Specifications on page 172 for DC-bus wiring requirements. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 81 Chapter 3 Mount the Kinetix 5700 Drive System Zero-stack Tab and Cutout Engaging the zero-stack tab and cutout from one drive module to another makes efficient use of panel space, especially for high axis-count installations. IMPORTANT Engaging the zero-stack tab and cutout from module-to-module is required for any input power configuration. This is done to make sure that the DC-bus connectors are spaced properly to accept the sharedbus connection system. Figure 47 - Zero-stack Tab and Cutout Example Zero-stack Tab and Cutout Engaged Kinetix 5700 Drive Modules (front view) MOD NET MOD NET For Kinetix 5700 system sizing examples, refer to Appendix C on page 375. Install Shared-bus Connection Systems The shared-bus connection system is used to extend the DC-bus power and 24V control power from one drive module to another. IMPORTANT The zero-stack tab and cutout must be engaged between adjacent drive modules for the shared-bus connection system to fit properly. DC-bus Connection System The DC-bus connection system is required and comprised of these two components: • DC-bus links that are inserted between drive modules to extend the DC-bus from one drive module to another. IMPORTANT • 82 DC-bus links are included with inverter and accessory modules, so when two or three 2198-P208 DC-bus power supplies are connected in parallel, order extra 2198-BARCON-85DC200 DC-bus links. DC-bus end-caps that are inserted into the first and last drive modules to cover the exposed DC-bus connector on both ends of the bus. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 3 Mount the Kinetix 5700 Drive System Figure 48 - DC-bus Connector Example DC-bus Link, 85 mm DC-bus Link, 100 mm (seated) Zero-stack Tab and Cutout Engaged End Caps (2) DC-bus Link, 55 mm Align the DC-bus link lower pivots with the latches and push downward until they latch. Upper Pivot Lower Pivot Kinetix 5700 Drive System Latch DC-bus power supply is mounted leftmost followed by drive with largest amp rating. DC Link Latched (1) Dual Axis Inverter, 55 mm DC-bus Power Supply Single Axis Inverter, 85 mm Single Axis Inverter, 100 mm (1) DC-bus links latch on both sides when inserted into the DC-bus connectors. To remove the DC-bus link, depress both sets of upper pivots to unlatch the lower pivots and hold the DC-bus link firmly while pulling upward. 24V Input Power Connection System The optional 24V input power connection system always feeds 24V DC from left to right and is comprised of three components: • • • The 24V input wiring connector that plugs into the DC-bus power supply or first module supplied by the 24V external power receives 24V DC input wiring. 24V DC T-connectors that plug into the drive modules downstream from the power supply or first module supplied by the 24V external power where the 24V control power is shared. Bus bars that connect between drive modules to extend the 24V control power from one drive module to another. Multiple 24V shared-bus input wiring connectors can be used in a high axiscount system. If the 40 A shared-bus current rating is exceeded, you can add another connector at any point in the cluster. 2198-S263-ERSx and 2198-S312-ERSx drives and 2198-RP263 and 2198-RP312 bus supplies use the 2198T-W25K-P-IN input wiring connector. All other modules use the 2198TCON-24VDCIN36 input wiring connector. Both wiring connectors accept up to 10 mm2 (6 AWG) wire. The CP connectors that are included with each module accept up to 10 mm2 (12 AWG) or 6 mm2 (10 AWG), so the shared-bus input wiring connectors can provide the means to use larger gauge conductors for reduced voltage drop on long wire runs. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 83 Chapter 3 Mount the Kinetix 5700 Drive System Figure 49 - 24V Connector Example Bus-bar Connectors 24V Input Wiring 100 mm Bus-bar Zero-stack Tab and Cutout Engaged 85 mm Bus-bar 55 mm Bus-bar 24V T-connectors 24V Input Wiring Connector Kinetix 5700 Drive System DC-bus power supply is mounted leftmost followed by drive with largest amp rating. The three 24V input power components must assemble from left to right across the drive system. 1. Attach wiring to 24V input wiring connector. 2. Insert input wiring connector and T-connectors into the appropriate drive module connectors. 3. Insert bus-bars to connect between wiring connector and T-connectors. IMPORTANT The input wiring connector can be inserted into any drive module (midstream in the drive system) to begin a new 24V control bus when the maximum current value is reached. However, the input connector must always extend the 24V DC-bus from left to right. IMPORTANT Mount the 24V power supply as close to the drive system as possible to minimize voltage drop on the 24V input power wiring. The following configurations require more than one 24V input wiring connector: • • • 84 The 40 A maximum current rating is exceeded The 2198-RPxxx regenerative bus supply is positioned between the inverters or accessory modules in any single cluster The 2198-RPxxx regenerative bus supply is positioned to the right of any other module Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 3 Mount the Kinetix 5700 Drive System In this example, one 24V connection system spans (left to right) across the dual-axis inverters only. In the other 24V input connection system, the 2198-S312-P-T control power T-connector and bus-bar connects the regenerative bus supply and single-axis inverter only. 24V control power bus-bars that bridge across 2198-RPxxx regenerative bus supplies are not available. Figure 50 - Multiple 24V Input Wiring Connector Example Kinetix 5700 Servo Drive System (top view) Shared DC-bus Power First 24V Input Wiring Connector 1 9 1 9 SB+/NC S1A SCA S2A SBNC NC NC 16 8 1606-XLxxx 24V DC Control Power (customer-supplied) 1 9 SB+/NC S1A SCA S2A SBNC NC NC 8 1 16 8 Second 24V Input Wiring Connector 9 SB+/NC S1A SCA S2A SBNC NC NC SB+/NC S1A SCA S2A SBNC NC NC 16 8 Dual-axis Inverters 16 Single-axis Inverter Regenerative Bus Supply Allen-Bradley 1606-XL Powe r S u p p l y MOD NET MOD NET MOD NET MOD NET MOD NET Input AC Input Power 2 2 2 1 1 1 1 I/O-A 6 1 I/O-B I/O-A 6 6 1 I/O-B 6 I/O-A 6 1 I/O-B 6 1 5 10 5 10 UFB-A UFB-B 10 5 10 UFB-A UFB-B D+ D- D+ D- MF-A D+ D- D+ D- MF-B 10 5 10 UFB-A UFB-B MF-A I/O 1 5 5 I/O 6 6 10 10 D+ D- MF-B MF-A MF-B - MBRK + Kinetix 5700 Servo Drive System (front view) Drill-hole Patterns L1 L2 L3 21mm2 (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin) W V U 21mm2 (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin) This section provides drill-hole patterns for Kinetix 5700 drive modules that are mounted in zero-stack (shared-bus) configurations. Properly spaced drillholes are essential for engaging the zero-stack tab and cutout from module-tomodule so that the DC-bus connectors are spaced properly to accept the DCbus links. The DC-bus power supply and regenerative bus supply can be mounted on the far right, far left, or anywhere in between. 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-UM002O-EN-P - December 2022 85 Chapter 3 Mount the Kinetix 5700 Drive System Drill-hole Pattern Calculations Use Figure 51 to calculate the left-to-right hole pattern for Kinetix 5700 drive system configurations that include the 2198-Pxxx DC-bus power supply. 1. 2. 3. 4. The first hole location is zero. The second hole location is module width minus 55 mm. The next hole location is 55 mm. Repeat step 2 and step 3 for the remaining holes. Figure 51 - DC-bus Power Supply Mounting Hole Patterns 27.5 mm 45.0 mm See Mounting Hole Pattern Calculations First Mounting Hole (typical) Upper and Lower Mounting Hole (all drive modules) 45.0 mm See Mounting Hole Pattern Calculations 30.0 mm See Mounting Hole Pattern Calculations Ø 6.0 mm Typical 00.0 mm Upper Mounting Holes Module Top, reference 32.0 mm Module Top, reference 55 mm Wide Module Applies to only 2198-CAPMOD-DCBUS-IN Extension Module 176 mm Lower Mounting Hole 100 mm Wide Module 100 mm Wide Module 85 mm Wide Module 55 mm Wide Module Applies to 2198-P031 and 2198-P070 Power Supplies 2198-D006-ERSx, 2198-D012-ERSx, 2198-D020-ERSx, and 2198-D032-ERSx, Inverters 2198-CAPMOD-2240 Capacitor Module 2198-DCBUSCOND-RP312 DC-bus Conditioner Module 345 mm Lower Mounting Hole Applies to 2198-P141, 2198-P208 Power Supplies 2198-S086-ERSx and 2198-S130-ERSx Inverters, and 2198-D057-ERSx Inverters 420 mm Lower Mounting Hole 465 mm Lower Mounting Hole Applies to only 2198T-W25K-ER iTRAK Power Supply Applies to only 2198-S160-ERSx Single-axis Inverter IMPORTANT 86 Ø 6.0 mm Typical Hole spacing is measured in millimeters and not converted to inches to avoid errors due to rounding. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 465 Lower Mounting Hole 345 Lower Mounting Hole 32.00 8.0 27.5 55.0 55.0 110 55.0 110 2198-RP200 Regenerative Bus Supply (275 mm module width) 110 2198-S263-ERSx 2198-S312-ERSx Single-axis Inverter (220 mm module width) 165 452 Module Height 465 Ground Stud 470 2198-RP088 Regenerative Bus Supply (165 mm module width) 110 Hole spacing is measured in millimeters and not converted to inches to avoid errors due to rounding. 2198-RP312 2198-RP263 Regenerative Bus Supply (440 mm module width) 110 IMPORTANT 332 Module Height 345 Ground Stud 350 0.0 Upper Mounting Holes Chapter 3 Mount the Kinetix 5700 Drive System Use Figure 52 to calculate the left-to-right hole pattern for 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. Figure 52 - Regenerative Bus Supply Mounting Hole Patterns 87 Chapter 3 Mount the Kinetix 5700 Drive System Drill-hole Patterns by Using the System Mounting Toolkit The mounting bar must be mounted horizontally on the system panel. The drill-hole guide inserts behind the mounting bar and slides left and right. Holes and slots in the drill-hole guide let you establish the location of each Kinetix 5700 drive module. Figure 53 - Mounting Bar 100 100 Dimensions are in mm (in.) Drill-hole Guide M4 thread-forming fasteners, 1.7 N•m (15 lb•in) Mounting Bar 3x Ø4.50 (0.18) 43.2 (1.70) Ref 10 (0.39) 2x 10 (0.39) 2x 190 (7.48) 400 (15.75) For step-by-step instructions on how to use the system mounting toolkit, see the Kinetix 5700 System Mounting Toolkit Installation Instructions, publication 2198-IN012. Mount Your Kinetix 5700 Drive Modules This procedure assumes that you have prepared your panel and understand how to bond your system. For installation instructions regarding other equipment and accessories, refer to the instructions that came with those products. A hoist, straps, and J-hooks with a lockable clasp capable of supporting the maximum module weight are recommended for catalog numbers 2198-RP200, 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. See Establish Noise Zones on page 69 for panel layout recommendations. IMPORTANT To improve the bond between the drive modules and subpanel, construct your subpanel out of zinc plated (paint-free) steel. 2. Drill holes in the panel for mounting your drive system. Refer to Drill-hole Patterns beginning on page 85. 88 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 3 Mount the Kinetix 5700 Drive System 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 HF Bond for Modules on page 66. 4. Attach the DC-bus supply (or supplies) or the regenerative bus supply to the cabinet panel. 1 Top Screws (bottom screws not shown) Kinetix 5700 Drive System (DC bus supply and dual-axis inverter are shown) 2 Zero-stack Tab and Cutout Engaged 5. Attach additional drive modules to the right or left of the previous module by using the same method, but also making sure that the zerostack tabs and cutouts are engaged. Zero-stack mounting is required for all configurations. See the Zerostack Tab and Cutout Example on page 82. 6. Tighten all mounting fasteners. Apply 4.0 N•m (35.4 lb•in) maximum torque to each fastener. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 89 Chapter 3 Mount the Kinetix 5700 Drive System Notes: 90 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 4 Connector Data and Feature Descriptions 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 Kinetix 5700 Connector Data Understand Control Signal Specifications Feedback Specifications Functional Safety Features Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Page 92 105 111 118 91 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 54 - DC-bus Power Supply Features and Indicators 4 SH 4 13 MOD– NET– 5700 DC+ 5 6 7 8 2 2 1 1 DC+ 9 14 10 1 L3 L2 L1 3 16 4 I/O DC– 11 24V– 24V+ 15 17 Shared-bus 24V Input Wiring Connector DC-bus Power Supply, Bottom View (2198-P031 module is shown) DC-bus Power Supply, Top View (2198-P031 module is shown) 12 DC-bus Power Supply, Front View (2198-P031 module is shown) Item 1 2 3 4 5 6 92 Description Digital inputs (IOD) connector Ethernet (PORT1) RJ45 connector Ethernet (PORT2) RJ45 connector Zero-stack mounting tab/cutout Module status indicator Network status indicator Item 7 8 9 10 11 12 Description LCD display Navigation pushbuttons Link speed status indicators Link/Activity status indicators Contactor-enable (CED) connector Ground terminal Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Item 13 14 15 16 17 Description Shunt resistor (RC) connector DC bus (DC) connector 24V control input power (CP) connector AC Input power (IPD) connector Cooling fan Chapter 4 Connector Data and Feature Descriptions Figure 55 - Regenerative Bus Supply Features and Indicators 15 6 6 7 8 MOD NET 5700 2198-RPxxx Regenerative Bus Supply Top View (2198-RP088 is shown) 9 5 4 DC– 16 DC+ 10 2 DC+ 1 1 I/O 12 11 17 6 OK+ 3 OK– EN– EN+ 5 13 10 DC– 24V– 18 24V+ 15 2198-RPxxx Regenerative Bus Supply Front View (2198-RP088 is shown) 1 14 2 2198-RP088 and 2198-RP200 Regenerative Bus Supply Bottom View (2198-RP088 is shown) 19 L3 L2 L1 19 20 2198-RP263 and 2198-RP312 Regenerative Bus Supply (bottom view) 20 Item Description Item Description Item Description 1 Ground jumper in operation 8 Network status indicator 15 Lifting points 2 Ground jumper in storage 9 LCD display 16 Active shunt (RC) connector 3 Digital inputs (IOD) connector 10 Navigation push buttons 17 DC bus (DC) connector 4 Ethernet (PORT1) RJ45 connector 11 Link speed status indicators 18 24V control input power (CP) connector 5 Ethernet (PORT2) RJ45 connector 12 Link/Activity status indicators 19 AC Input power (IPD) connector (1) 6 Zero-stack mounting tab/cutout 13 Contactor enable (CED) connector 20 Cooling fans 7 Module status indicator 14 Ground lug (partially obscured behind input plug) (1) Connector plug orientation applies to 2198-RP088 and 2198-RP200 modules (2198-RP200 connector size is larger). See adjacent figure for 2198-RP263 and 2198-RP312 connector plug size and orientation. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 93 Chapter 4 Connector Data and Feature Descriptions Figure 56 - Dual-axis Inverter Features and Indicators 11 11 12 13 MOD– NET– 5700 14 MBRK-A –+ 10 2 9 1 16 I/O-A 6 7 8 9 10 1 2 3 4 5 7 5 DC+ I/O-B 6 1 1 2 3 4 5 19 17 6 6 7 8 9 10 8 DC– 24V– 10 5 10 UFB-A UFB-B 24V+ 5 1 6 3 8 D+ D- MF-A 21 22 23 24 20 25 9 1 2 3 4 5 6 7 8 18 D+ D- W-B V-B U-B MBRK-B –+ 1 W-A V-A U-A 15 9 10 11 12 13 14 15 16 SB+/NC S1A SCA S2A SBNC NC NC 25 16 4 MF-B Dual-axis Inverter, Bottom View (2198-D006-ERS4 module is shown) Dual-axis Inverter, Top View (2198-D006-ERS4 module is shown) Dual-axis Inverter, Front View (2198-D006-ERS4 module is shown) 2 1 Item 1 2 3 4 5 6 7 8 9 94 Description Motor cable clamp with spacers Ground terminal Motor feedback (MF) connector - A Motor feedback (MF) connector - B Universal feedback (UFB) connector - A Universal feedback (UFB) connector - B Digital inputs (IOD) connector - A Digital inputs (IOD) connector - B Ethernet (PORT1) RJ45 connector Item 10 11 12 13 14 15 16 17 18 Description Ethernet (PORT2) RJ45 connector Zero-stack mounting tab/cutout Module status indicator Network status indicator LCD display Navigation pushbuttons Link speed status indicators Link/Activity status indicators Safe torque-off (STO) connector Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Item 19 20 21 22 23 24 25 Description DC bus (DC) connector 24V control input power (CP) connector Motor brake (BC) connector - A Motor power (MP) connector - A Motor power (MP) connector - B Motor brake (BC) connector - B Cooling fan Chapter 4 Connector Data and Feature Descriptions Figure 57 - Single-axis Inverter Features (2198-S086-ERSx, 2198-S130-ERSx, 2198-S160-ERSx) 9 9 11 MOD– NET– 10 5700 19 12 13 8 2 7 1 DC+ 14 17 15 I/O 1 5 20 6 7 8 9 10 1 2 3 4 5 6 6 UFB DC– 24V– 10 24V+ 1 5 4 8 D+ D- 9 1 2 3 4 5 6 7 8 16 18 9 10 11 12 13 14 15 16 SB+/NC S1A SCA S2A SBNC NC NC 20 16 21 MF Single-axis Inverter, Bottom View (2198-S086-ERS4 module is shown) Single-axis Inverter, Top View (2198-S086-ERS4 module is shown) 3 2 – MBRK + Single-axis Inverter, Front View (2198-S086-ERS4 module is shown) Item 1 2 3 4 5 6 7 8 9 10 11 Description Motor cable clamp Tie-wrap bracket for feedback cable Motor brake (BC) connector Motor feedback (MF) connector Universal feedback (UFB) connector Digital inputs (IOD) connector Ethernet (PORT1) RJ45 connector Ethernet (PORT2) RJ45 connector Zero-stack mounting tab/cutout Module status indicator Network status indicator Item 12 13 14 15 16 17 18 19 20 21 Description LCD display Navigation pushbuttons Link speed status indicators Link/Activity status indicators Safe torque-off (STO) connector DC bus (DC) connector 24V control input power (CP) connector Motor power (MP) connector Cooling fans Ground terminal 1 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 95 Chapter 4 Connector Data and Feature Descriptions Figure 58 - Single-axis Inverter Features (2198-S263-ERSx, 2198-S312-ERSx) 17 9 9 DC+ 10 11 MOD– NET– 5700 21 12 DC– 13 8 2 7 1 I/O 1 5 1 15 6 UFB 8 24V+ 9 9 10 11 12 13 14 15 16 1 2 3 4 5 6 7 8 18 6 7 8 9 10 1 2 3 4 5 6 22 14 24V– SB+/NC S1A SCA S2A SBNC NC NC 17 16 10 Single-axis Inverter, Top View (2198-S263-ERSx and 2198-S312-ERSx modules) 5 19 4 W V U 16 – MBRK + 3 23 2 W V U 2 21mm (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin) 20 Single-axis Inverter, Front View (2198-S263-ERSx and 2198-S312-ERSx modules) 1 96 Item 1 2 3 4 5 6 7 8 9 10 11 12 Single-axis Inverter, Bottom View (2198-S263-ERSx and 2198-S312-ERSx modules) Description Motor cable clamp Tie-wrap bracket for feedback cable Motor brake (BC) connector Motor feedback (MF) connector Universal feedback (UFB) connector Digital inputs (IOD) connector Ethernet (PORT1) RJ45 connector Ethernet (PORT2) RJ45 connector Zero-stack mounting tab/cutout Module status indicator Network status indicator LCD display Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Item 13 14 15 16 17 18 19 20 21 22 23 Description Navigation pushbuttons Link speed status indicators Link/Activity status indicators Ground jumper in operation Lifting points Safe torque-off (STO) connector Motor power (MP) connector Ground terminal DC bus (DC) connector 24V control input power (CP) connector Cooling fans (replacement kits available) Chapter 4 Connector Data and Feature Descriptions Figure 59 - iTRAK Power Supply Features and Indicators 6 6 7 8 MOD– NET– 5700 5 4 9 16 10 17 2 11 12 1 I/O 1 1 2 3 4 5 3 5 18 DC+ 6 6 7 8 9 10 – iPS RDY + 19 13 10 14 DCIN 24V - 15 IN 24V + 18 21 20 iTRAK Power Supply (bottom view) iTRAK Power Supply (top view) iTRAK Power Supply (front view) 2 2 iTRAK® Power Supply (left side view) 1 Item Description Item Description Item Description 1 Power bus cable clamp 8 Network status indicator 15 24V control input power (CP) connector 2 Ground lug (partially obscured behind output plugs) 9 LCD display 16 24V control output power (ICP) connector -A 3 Digital inputs (IOD) connector 10 Navigation push buttons 17 DC bus output (IDC) connector - A 4 Ethernet (PORT1) RJ45 connector 11 Link speed status indicators 18 24V control output power (ICP) connector - B 5 Ethernet (PORT2) RJ45 connector 12 Link/Activity status indicators 19 DC bus output (IDC) connector - B 6 Zero-stack mounting tab/cutout 13 iTRAK power-supply ready (IR) connector 20 Cooling fan 7 Module status indicator 14 DC bus input (DC) connector 21 Power supply internal fuse IMPORTANT For IOD, IR, IDC, and ICP connector pinouts, and internal fuse information see iTRAK System with TriMax Bearings User Manual, publication 2198T-UM002, or iTRAK 5730 System User Manual, publication 2198T-UM003. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 97 Chapter 4 Connector Data and Feature Descriptions Figure 60 - Capacitor Module and DC-bus Conditioner Module Features and Indicators MOD DC BUS 5700 4 3 12 11 2198-CAPMOD-2240 Capacitor Module and 2198-DCBUSCOND-RP312 DC-bus Conditioner Module (side view, lug cover removed) 5 10 MODULE STATUS 6 2 9 7 2198-CAPMOD-2240 Capacitor Module and 2198-DCBUSCOND-RP312 DC-bus Conditioner Module (front view) 24V– 24V+ 8 24V– 24V+ 2198-CAPMOD-2240 Capacitor Module and 2198-DCBUSCOND-RP312 DC-bus Conditioner Module (top views) 1 Item Description Item Description Item 1 Ground stud 5 Stud/lug cover with wires (1) 9 2 Module status (MS) connector 6 Stud cover without wires 10 3 4 DC-bus status indicator Module status indicator 7 8 DC-bus (DC) connector 24V control input power (CP) connector 11 12 Description DC– M8 stud (external DC-bus), shown with flexible bus-bar (2) DC+ M8 stud (external DC-bus), shown with wire lug M8 hex nut Lug spacer (1) This example shows the lug cover oriented for wires exiting to the left (module is on the far left of the drive configuration). Rotate lug cover 180° when wires exit to the right (module is on the far right of the drive configuration). (2) Flexible bus-bars are included with only the 2198-CAPMOD-DCBUS-IO extension module. So, if you have two capacitor modules, two DC-bus conditioner modules, or a capacitor module and DC-bus conditioner module mounted side by side, you must order the 2198-KITCON-CAPMOD2240 or 2198-KITCON-DCBUSCOND connector set separately. 98 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 4 Connector Data and Feature Descriptions Figure 61 - Extension Module Features and Indicators 8 7 5700 2 2198-CAPMOD-DCBUS-IO Extension Module (side view, lug cover removed) 6 1 3 2198-CAPMOD-DCBUS-IO Extension Module (front view) 5 4 2198-CAPMOD-DCBUS-IO Extension Module (top views) Item 1 Description Ground lug Item 5 2 Stud/lug cover with wires (1) 6 3 4 Stud cover without wires DC-bus (DC) connector 7 8 Description DC– M8 stud (external DC-bus) DC+ M8 stud (external DC-bus), shown with flexible bus-bar (2) M8 hex nut Lug spacer (1) This example shows the lug cover oriented for wires exiting to the left (module is on the far left of drive configuration). Rotate lug cover 180° when wires exit to the right (module is on the far right of drive configuration). (2) Flexible bus-bars are included with only the 2198-CAPMOD-DCBUS-IO extension module. Safe Torque-off Connector Pinout The hardwired safe torque-off (STO) connector pinouts apply to single-axis and dual-axis inverters. For feature descriptions and wiring information, refer to Chapter 9 beginning on page 285. Input Power Connector Pinouts Input power connectors include the AC input power (IPD) connector, contactor enable (CED) connector, and the 24V input power (CP) connector. Table 31 - AC Input Power Connector IPD Pin Description Signal Module L3 L2 L1 • DC-bus power supply • Regenerative bus supply Chassis ground L3 L2 L1 Three-phase input power Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 99 Chapter 4 Connector Data and Feature Descriptions Table 32 - 24V Input Power Connector CP Pin 1 Description 24V power supply, customer supplied Signal 24V+ 2 24V common 24V– Module • DC-bus power supply • Regenerative bus supply • Inverters • Capacitor module • DC-bus conditioner module • iTRAK power supply Table 33 - Contactor Enable Connector CED Pin OK+ OK– EN– EN+ Description Signal Relay-driven contact that provides a 24V signal to CONV OK+ non-Kinetix 5700 inverters indicating that they can draw power from the regenerative power supply. This signal is intended for use with Kinetix 6000, CONV OK– Kinetix 7000, or PowerFlex® drive migration. CONT EN– Relay-driven contact that is used in the control string for a three-phase power contactor. CONT EN+ Module Regenerative bus supply • DC-bus power supply • Regenerative bus supply 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. Table 34 - DC Bus Power Connector DC Pin Description Bus bar DC bus connections Signal DC– DC+ Module • DC-bus power supply • Regenerative bus supply • Inverters • Accessory modules • iTRAK power supply Table 35 - Shunt Connector RC Pin 1 2 1 2 100 Description Passive shunt connections Active shunt connections Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Signal SH DC+ DC– DC+ Module DC-bus power supply Regenerative bus supply Chapter 4 Connector Data and Feature Descriptions Digital Inputs Connector Pinouts The DC-bus power supply has two configurable digital inputs and four configurable functions to choose from in the Logix Designer application. Table 36 - DC-bus Power Supply Digital Input Pinouts Pin 1 Pin 4 Pin Orientation for 4-pin Digital Inputs (IOD) Connector IOD Pin 1 2 3 4 Description 24V current sinking fast input #1 I/O common for customer-supplied 24V supply 24V current sinking fast input #2 I/O cable shield termination Signal IN1 COM IN2 SHLD Module DC-bus power supply Table 37 - DC-bus Power Supply Configurable Functions Default Configuration Digital input1 = Enable Digital input2 = Unassigned Description Unassigned Enable Bus Capacitor OK Shunt Thermal Switch OK Bus Conditioner OK 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 38 - Inverter and Regenerative Bus Supply Digital Input Pinouts 1 2 3 4 5 6 7 8 9 10 Pin Orientation for 10-pin Digital Inputs (IOD) Connector IOD Pin 1 2 3 4 5 6 7 8 9 10 Description 24V current sinking fast input #1 I/O common for customer-supplied 24V supply 24V current sinking fast input #2 I/O common for customer-supplied 24V supply Chassis ground 24V current sinking fast input #3 I/O common for customer-supplied 24V supply 24V current sinking fast input #4 I/O common for customer-supplied 24V supply Chassis ground Signal IN1 COM IN2 COM SHLD IN3 COM IN4 COM SHLD Module • Inverters • Regenerative bus supply Table 39 - Inverter Configurable Functions Default Configuration Digital input1 = Enable Digital input2 = Home Digital input3 = Registration 1 Digital input4 = Registration 2 Description Unassigned Enable Home Registration 1 Registration 2 Positive overtravel Negative overtravel Regeneration OK Bus Capacitor OK Shunt Thermal Switch OK Bus Conditioner OK Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 101 Chapter 4 Connector Data and Feature Descriptions Table 40 - Regenerative Bus Supply Configurable Functions Default Configuration Description Unassigned Enable Bus Capacitor OK Shunt Thermal Switch OK AC Line Contactor OK Bus Conditioner OK Digital input1 = Enable Digital input2 = AC Line Contactor OK Digital input3 = Unassigned Digital input4 = Unassigned Ethernet Communication Connector Pinout Pin 1 2 3 4 5 6 7 8 Description Transmit+ Transmit– Receive+ Reserved Reserved Receive– Reserved Reserved Signal TD+ TD– RD+ – – RD– – – Module • DC-bus power supply • Regenerative bus supply • Inverters • iTRAK power supply 1 8 Motor Power, Brake, and Feedback Connector Pinouts These connector pinouts apply to the single-axis and dual-axis inverter. Table 41 - Motor Power Connector MP Pin U V W Description Three-phase motor power Chassis ground Signal U V W Color Brown Black Blue 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 92 and Figure 93 beginning on page 145 for connector wiring examples. IMPORTANT Drive-to-motor power cables must not exceed 90 m (295 ft), depending on feedback type and overall system design. See Appendix D, beginning on page 385, for more information. System performance was tested at this cable length. These limitations also apply when meeting CE and UK requirements. Table 42 - Motor Brake Connector BC Pin 1 2 102 Description Motor brake connections Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Signal MBRK+ MBRK– Chapter 4 Connector Data and Feature Descriptions Motor Feedback Connector Pinouts These connector pinouts apply to the single-axis and dual-axis inverter. Table 43 - DSL Feedback Connector MF Pin 1 2 SHIELD Description Bidirectional data and power for digital encoder interface Cable shield and grounding plate (internal to 2198-KITCON-DSL connector kit) termination point. Cable shield and shield clamp (internal to 2198-H2DCK converter kit) termination point IMPORTANT Signal D+ D– SHIELD Drive-to-motor power cables must not exceed 90 m (295 ft), depending on feedback type and overall system design. See Appendix D, beginning on page 385, for more information. System performance was tested at these cable length specifications. These limitations also apply when meeting CE and UK requirements. Figure 62 - Pin Orientation for 2-pin DSL Feedback (MF) Connector Pin 1 Pin 2 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 103 Chapter 4 Connector Data and Feature Descriptions Universal Feedback Connector Pinouts These connector pinouts apply to the single-axis and dual-axis inverter. Table 44 - Hiperface and TTL Sine/Cosine Universal Feedback Connector UFB Pin Signal MTR_SIN+ MTR_AM+ MTR_SIN– MTR_AM– MTR_COS+ MTR_BM+ MTR_COS– MTR_BM– MTR_DATA+ MTR_IM+ UFB Pin Description Signal 9 Clock output + MTR_CLK+ 10 Data differential input/output – Index differential input – MTR_DATAMTR_IM– 11 Motor thermostat (normally closed) (1) MTR_TS 12 Hall commutation S1 input MTR_S1 5 Description Sine differential input + A differential input + Sine differential input– A differential input– Cosine differential input + B differential input + Cosine differential input – B differential input – Data differential input/output + Index differential input + 13 Hall commutation S2 input MTR_S2 6 Encoder common MTR_ECOM 14 Encoder 5V power output MTR_EPWR5V (2) 7 Encoder 9V power output 15 Clock output – MTR_CLK– 8 Hall commutation S3 input MTR_EPWR9V (2) MTR_S3 1 2 3 4 (1) Not applicable unless motor has integrated thermal protection. (2) Determine which power supply your encoder requires and connect to only the specified supply. Do not make connections to both supplies. Figure 63 - Pin Orientation for 15-pin Universal Feedback (UFB) Connector Pin 15 Pin 11 Pin 6 Pin 10 Pin 5 Pin 1 Accessory Module Pinouts The module status (MS) connector applies to capacitor modules and DC-bus conditioner modules. Table 45 - Module Status Connector MS Pin 1 2 104 Description Module status output Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Signal MS MS Chapter 4 Understand Control Signal Specifications Connector Data and Feature Descriptions This section provides a description of the Kinetix 5700 digital inputs, Ethernet communication, power and relay specifications, encoder feedback specifications, and safe torque-off features. Digital Inputs Digital inputs are available for the machine interface on the IOD connector. Two for the DC-bus power supply, four for the single-axis inverter, four per axis for the dual-axis inverters, and four for the regenerative bus supply. Digital inputs require a 24V DC @ 15 mA supply. These are sinking inputs that require a sourcing device. A common connection is provided on the IOD connector for each of the digital inputs. IMPORTANT To improve registration input EMC performance, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001. Functions Description (1) 2198-Pxxx 2198-xxxx-ERSx 2198-RPxxx Table 46 - Understand Digital Input Functions Enable A 24V DC input is applied to this terminal as a condition to enable each module. An active state indicates to a homing sequence that the referencing sensor has been seen. Typically, a transition of this signal is used to establish a reference position for the machine axis. X X X – X – An inactive-to-active transition (also known as a positive transition) or active-to-inactive transition (also known as a negative transition) is used to latch position values for use in registration moves. – – X X – – The positive/negative limit switch (normally closed contact) inputs for each axis require 24V DC (nominal). – X – – X – X X X X X X X X X – – X Home Registration 1 Registration 2 Positive Overtravel Negative Overtravel Regeneration OK (2) Shunt Thermal Switch OK Bus Capacitor OK Bus Conditioner OK AC Line Contactor OK In the active state the inverters can be enabled. An inactive state indicates that the Bulletin 8720MC-RPS unit is not ready to supply DCbus power. The inverters cannot be enabled. When a bus group is supplied by an 8720MC-RPS unit, one inverter in the bus group must be configured in the Logix Designer application as 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. When the 2198-R014, 2198-R031, or 2198-R127 external shunt resistor is wired to the DC-bus power supply, this input must be configured in the Logix Designer application to monitor the status of the external shunt module thermal switch and assigned to Shunt thermal switch OK. This function does not apply to the 2198-R004 shunt resistor. You can also use this input to monitor the status of an active shunt module in DC-bus power supply systems that are connected via the capacitor module or extension module, or in regenerative bus supply systems that are connected via the RC connector or an accessory module. You can configure this input in the Logix Designer application and wire the module status (MS) output from the 2198-CAPMOD-2240 capacitor module to indicate to the DC-bus power supply, regenerative bus supply, or inverters that a major fault is present on the capacitor module. You can configure this input in the Logix Designer application and wire the module status (MS) output from the 2198-DCBUSCOND-RP312 DC-bus conditioner module to indicate to the DC-bus power supply, regenerative bus supply, or inverters that a major fault is present on the DC-bus conditioner module. You can configure this input in the Logix Designer application to tell the 2198-RPxxx regenerative bus supply that the main AC line contactor has closed and is sending L1…L3 AC line voltage. This is accomplished by wiring an auxiliary Normally Open contact off the main M1 contactor into one of the regenerative bus supply digital inputs. (1) The function is always inactive unless assigned to a digital input in the Logix Designer application. To configure your DC-bus power supply digital input for Shunt Thermal Switch OK or Bus capacitor OK, refer to step 10 on page 195. To configure your regenerative bus supply digital input for Bus Conditioner OK or AC Line Contactor OK, refer to step 10 on page 199. (2) For more information on configuring a Shared-bus Non-CIP Motion Converter, refer to step 1 on page 209. For more information on wiring the 8720MC-RPS unit, refer to Figure 170 on page 336. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 105 Chapter 4 Connector Data and Feature Descriptions Table 47 - Digital Input Specifications Attribute Value 2198-Pxxx 2198-xxxx-ERSx 2198-RPxxx Drive Module Digital input type Input current (with 24V applied) On-state input voltage Off-state input voltage Pulse reject filtering (applies to registration function only) Pulse reject filtering (debounce filter) Applies to all other input functions, Home, for example. Propagation delay (registration functions, inverters only) Registration accuracy (inverters only) Registration repeatability (inverters only) Windowed registration invalid-to-valid event delay (inverters only) Optically isolated, active high, single-ended, current sinking (EN 61131-2 Type 1) 12 mA, typical 15…30V @ 15 mA, max -1.0…5.0V 12.0 µs X X X X – X X X X X X X X X – 20 ms, nom X X X 0 (delay compensated) ±3 µs 700 ns 125 µs, min – – – – X X X X – – – – Figure 64 - Digital Input Circuitry INx IOD-1 or IOD-3 INPUT 24V DC COM IOD-2 Kinetix 5700 Drive Module Ethernet Communication Specifications The PORT1 and PORT2 (RJ45) Ethernet connectors provide communication with the Logix 5000™ controller. Attribute Communication Value The drive auto-negotiates speed and duplex modes. These modes can be forced through the Logix Designer application. 100BASE-TX, full duplex is recommended for maximum performance. Cyclic update period (1) 1.0 ms, min Embedded switch features Three-port, cut-through, time correction on IEEE-1588 packets, limited filtering, quality of service with four priority levels Yes 100 ns, max CAT5e shielded, 100 m (328 ft) max Auto MDI/MDIX crossover detection/correction Port-to-port time synchronization variation Cabling (1) With CIP Security™ enabled on the 2198-Pxxx DC-bus power supply, the cyclic update period cannot be faster than 4.0 ms. 106 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 4 Connector Data and Feature Descriptions 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. In addition, the AC threephase contactor control string must be wired in series with the contactorenable relay at the contactor-enable (CED) connector. Refer to Power Wiring Examples on page 323 for wiring examples. ATTENTION: Wiring the contactor-enable relay is required. To avoid personal injury or damage to the drive, wire the contactor-enable relay into your control string so that: • 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. Figure 65 - Contactor-enable Relay Circuit CONT EN+ Normally Open Relay CONT EN- Power Supply Surge suppression (diode, varistor module, RC module, or DC electronic interface) is required across the auxiliary and main contactor coils. Table 48 - Regenerative Bus Supply (CED) Relay Output Specifications Attribute On-state current On-state resistance Off-state voltage Value Current flow when the relay is closed. Contact resistance when the relay is closed. Voltage across the contacts when the relay is open. Nominal – 0.1 24V DC Maximum 1A – 28V DC Table 49 - DC-bus Power Supply (CED) Relay Output Specifications Attribute On-state current On-state resistance Off-state voltage Value Current flow when the relay is closed. Contact resistance when the relay is closed. Voltage across the contacts when the relay is open. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Nominal – 1.0 24V DC Maximum 1A – 28V DC 107 Chapter 4 Connector Data and Feature Descriptions 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 nonKinetix 5700 inverters indicating that they can draw power from the regenerative power supply and that the power supply is not faulted. This signal is intended for use with Kinetix 6000, Kinetix 6200, Kinetix 6500, Kinetix 7000, or PowerFlex drives when migrating from the 8720MC-RPS to the 2198-RPxxx regenerative bus supply. Refer to Power Wiring Examples on page 323 for wiring examples. Figure 66 - Converter OK Relay Circuit 24V PWR Internally Controlled Relay Regenerative Bus Supply OK+ Resettable Fuse OK– 24V COM Current limited output with auto-resettable fuse. Table 50 - Converter OK Relay Output Specifications Attribute On-state current Off-state voltage On-state voltage Value Current flow when the relay is closed. Min – – Voltage across the contacts when the relay is open or closed. – Max 0.8 A 0V DC 24V DC Motor Brake Circuit The brake option is a spring-set holding brake that releases when voltage is applied to the brake coil in the motor. The customer-supplied 24V power supply drives the brake output through a solid-state relay. The dual-axis inverters have separate brake circuits for each axis. The solid-state brake driver circuit provides the following: • • Brake current-overload protection Brake over-voltage protection For a detailed information on vertical loads and how the servo motor holdingbrake option can be used to help keep a load from falling, see the Vertical Load and Holding Brake Management Application Technique, publication MOTION-AT003. 108 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 4 Connector Data and Feature Descriptions Two connections (BC-1 and BC-2) are required for the motor brake output (refer to Figure 67). Connections are rated for 2.0 A @ +24V (dual-axis inverters) and 5.0 A @ +24V (single-axis inverters). Figure 67 - Motor Brake Circuit 24V PWR INT PWR Control Board Inductive Energy Clamp Kinetix 5700 Servo Drive MBRK+ (BC-1) MBRK– (BC-2) 24V COM IMPORTANT Motor holding-brake switching frequency must not exceed 10 cycles/min. Control of the solid-state relay to release the motor brake is configurable in the Logix Designer application (refer to Configure SPM Motor Closed-loop Control Axis Properties on page 234). An active signal releases the motor brake. 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 brakeholding torque, not to stop the rotation of the motor shaft, or be used as a safety device. You must command the servo drive to 0 rpm and engage the brake only after verifying that the motor shaft is at 0 rpm. These steps provide one method you can use to control a brake. 1. Wire the mechanical brake according to the appropriate interconnect diagram in Appendix A beginning on page 321. 2. Enter the MechanicalBrakeEngageDelay and Mechanical BrakeReleaseDelay times in the Logix Designer application. Refer to Axis Properties>Parameter List. The delay times must be from the appropriate motor family brake specifications table in the Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001. 3. Use the drive stop-action default setting (Current Decel & Disable). Refer to Axis Properties>Actions>Stop Action in the Logix Designer application. 4. Use the motion instruction Motion Axis Stop (MAS) to decelerate the servo motor to 0 rpm. 5. Use the motion instruction Motion Servo Off (MSF) to engage the brake and disable drive. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 109 Chapter 4 Connector Data and Feature Descriptions 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. The National Electrical Code and local electrical codes take precedence over the values and methods provided. Implementation of these codes is the responsibility of the machine builder. Table 51 - Control Power Current Specifications Drive Module DC-bus Power Supplies Regenerative Bus Supplies Dual-axis Inverters Single-axis Inverters iTRAK Power Supply (5) Capacitor Module Extension Module DC-bus Conditioner Module (1) (2) (3) (4) (5) 110 24V Current Per Module (non-brake motor) ADC Drive Module Cat. No. 2198-P031 2198-P070 2198-P141 2198-P208 2198-RP088 2198-RP200 2198-RP263 2198-RP312 2198-D006-ERSx 2198-D012-ERSx 2198-D020-ERSx 24V Current, max (with maximum brake current) ADC 24V Inrush Current (1) A – 4.0 – 4.0 0.8 1.9 4.3 5.4 9.1 1.4 (2) 5.5 (3) 2198-D032-ERSx 1.7 (2) 7.7 (3) 2198-D057-ERSx 2.3 (2) 8.3 (3) 2198-S086-ERSx 2198-S130-ERSx 2198-S160-ERSx 2198-S263-ERSx 2198-S312-ERSx 4.6 9.6 (4) 2198T-W25K-ER 1.3 – 2.2 2198-CAPMOD-2240 2198-CAPMOD-DCBUS-IO 2198-DCBUSCOND-RP312 0.1 – 0.1 – 7.0 – 7.0 4.0 4.0 Inrush current duration is less than 30 ms. Values are base current per module. Values assume two brake motors, each drawing the maximum rating of 2 A, are attached to each module. Values assume the maximum rated brake current of 5 A. These values represent only the iTRAK power supply. They do not include the iTRAK motor modules that are connected to the iTRAK power supply and also draw current from this 24V control power input. For more information regarding 24V control power requirements, see iTRAK System with TriMax Bearings User Manual, publication 2198T-UM002, or iTRAK 5730 System User Manual, publication 2198T-UM003. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 4 Feedback Specifications Connector Data and Feature Descriptions The Kinetix 5700 drives accept motor feedback signals from Hiperface digitalservo-link (DSL) encoders on the motor feedback (MF) connector and Hiperface, incremental, and EnDat encoders on the universal feedback (UFB) connector. IMPORTANT Auto-configuration in the Logix Designer application of intelligent absolute, high-resolution encoders, incremental, and EnDat encoders is possible with only Allen-Bradley motors. The MF and UFB connectors can be used in the following applications: • • • Motor feedback Auxiliary feedback-only axis Dual-loop control applications Encoder Feedback Supported on the DSL Feedback Connector The Kinetix 5700 drives support Kinetix VPL, VPC-Q, VPF, VPH, and VPS servo motors with Hiperface digital-servo-link (DSL) encoders by using the 2-pin (MF) feedback connector. Other Allen-Bradley® motors and actuators with Hiperface single-turn or multi-turn high-resolution absolute encoders are also accepted. However, to connect these devices to the MF connector, you must also use the 2198-H2DCK Hiperface-to-DSL (series B or later) converter kit for Hiperface-to-DSL feedback conversion. Alternatively, you can use the universal (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. Table 52 - Universal Feedback General Specifications Attribute Motor Feedback Auxiliary Feedback Feedback device support • Hiperface • Generic TTL Incremental (1) • Generic Sine/Cosine Incremental (1) • EnDat Sin/Cos (2) • EnDat Digital (3) • Hiperface • Generic TTL Incremental (1) • Generic Sine/Cosine Incremental (1) • EnDat Sin/Cos (2) • EnDat Digital (3) Power supply voltage (MTR_EPWR5V) 5.27…5.50V (4) Power supply current (MTR_EPWR5V) 300 mA, max Power supply voltage (MTR_EPWR9V) 8.30…9.90V (4) Power supply current (MTR_EPWR9V) 150 mA, max Thermostat (1) (2) (3) (4) • Single-ended, under 500 = no fault • Single-ended, over 10 k= fault These could be with or without HALL effects (UVW). EnDat sine/cosine encoders support only Kinetix RDB motors. EnDat digital encoders support VPC-Bxxxxx-Y motors and applicable third-party motors as described in Table 59 on page 113. For 2198-Dxxx-ERSx (dual-axis) drives, these motor feedback voltage and current ratings are per axis. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 111 Chapter 4 Connector Data and Feature Descriptions Table 53 - Universal Feedback Signals by Device Type UFB Pin Hiperface Generic TTL Incremental 1 2 3 4 5 6 MTR_SIN+ MTR_SIN– MTR_COS+ MTR_COS– MTR_DATA+ MTR_ECOM MTR_AM+ MTR_AM– MTR_BM+ MTR_BM– MTR_IM+ MTR_ECOM Generic Sine/ Cosine Incremental MTR_SIN+ MTR_SIN– MTR_COS+ MTR_COS– MTR_IM+ MTR_ECOM 7 MTR_EPWR9V (1) – – MTR_DATA– MTR_TS – – – – MTR_S3 – MTR_IM– MTR_TS MTR_S1 MTR_S2 MTR_S3 – MTR_IM– MTR_TS MTR_S1 MTR_S2 MTR_EPWR5V (1) – MTR_EPWR5V MTR_EPWR5V – – 8 9 10 11 12 13 14 15 EnDat Sine/Cosine EnDat Digital ENDAT_B+ ENDAT_B– ENDAT_A+ ENDAT_A– MTR_DATA+ MTR_ECOM – – – – MTR_DATA+ MTR_ECOM MTR_EPWR9V (1) – MTR_CLK+ MTR_DATA– MTR_TS – – MTR_EPWR9V (1) – MTR_CLK+ MTR_DATA– MTR_TS – – MTR_EPWR5V (1) MTR_CLK– MTR_EPWR5V (1) MTR_CLK– (1) Determine which power supply your encoder requires and connect to only the specified supply. Do not make connections to both supplies. ATTENTION: To avoid damage to components, determine which power supply your encoder requires and connect to either the 5V or 9V supply, but not both. Table 54 - Hiperface Specifications Attribute Memory support Hiperface data communication Sine/cosine interpolation Input frequency (AM/BM) Input voltage (AM/BM) Value Not programmed, or programmed with Allen-Bradley motor data 9600 baud, 8 data bits, no parity 4096 counts/sine period 250 kHz, max 0.6...1.2V, peak to peak, measured at the drive inputs Line loss detection (AM/BM) Average (sin2 + cos2) > constant Two-stage coarse count pulse reject filter with rejected pulse tally Position compare between incremental accumulator and serial data performed every 50 ms or less Noise filtering (AM and BM) Incremental position verification Table 55 - Generic TTL Incremental Specifications Attribute TTL incremental encoder support Quadrature interpolation Differential input voltage (MTR_AM, MTR_BM, and MTR_IM) DC current draw (MTR_AM, MTR_BM, and MTR_IM) Input signal frequency (MTR_AM, MTR_BM, and MTR_IM) Edge separation (MTR_AM and MTR_BM) Value 5V, differential A quad B 4 counts / square wave period Commutation verification (1) Commutation angle verification performed at the first Hall signal transition and periodically verifies thereafter Hall inputs (MTR_S1, MTR_S2, and MTR_S3) Single-ended, TTL, open collector, or none 5V DC, differential line driver (DLD) output compatible 30 mA, max 5.0 MHz, max 42 ns min, between any two edges (1) These could be with or without HALL effects (UVW). Refer to Commutation Self-sensing Startup on page 439. 112 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 4 Connector Data and Feature Descriptions Table 56 - Generic Sine/Cosine Incremental Specifications Attribute Sine/Cosine interpolation Input frequency (MTR_SIN and MTR_COS) Differential input voltage (MTR_SIN and MTR_COS) Value 2048 counts/sine wave period 250 kHz, max Commutation verification (1) Commutation angle verification performed at the first Hall signal transition and periodically verifies thereafter Hall inputs (MTR_S1, MTR_S2, and MTR_S3) Single-ended, TTL, open collector, or none 0.6…1.2V, p-p (1) These could be with or without HALL effects (UVW). Refer to Commutation Self-sensing Startup on page 439. Refer to Encoder Phasing Definitions on page 115 for encoder phasing alignment diagrams. Table 57 - EnDat Sine/Cosine Interface Specifications Attribute Protocol EnDat Sine/Cosine data communication Sine/Cosine interpolation Input frequency (MTR_SIN and MTR_COS) Differential input voltage (MTR_SIN and MTR_COS) Value EnDat Sine/Cosine 2 Mbps, synchronous 2048 counts/sine wave period Incremental position verification Position compare between incremental accumulator and serial data performed every 50 ms or less. 250 kHz, max 0.6…1.2V, p-p Table 58 - EnDat Digital Interface Specifications Attribute EnDat Digital data communication Value 4 Mbps, synchronous Table 59 - Support Requirements for EnDat Encoders Requirement Supported models Position initialization Position tracking Data frequency Sine/cosine frequency EnDat Sine/Cosine LC 483 ECl 119 (1) ECN 113 ECN 1313/EQN 1325 ECN 413/EQN 425 ROQ 425 ECI 1118/EQI 1130 Digital Uses sine/cosine signals 100 kHz 0…250 kHz EnDat Digital LIC 4000 ECl 119 (1) ROQ 437 ECN 1123/ EQN 1135 ECN 1325 / EQN 1337 ECI 1319/EQI 1331 ECN 125 Digital 4.125 MHz – (1) ECI119 can be procured as either EnDat Sin/Cos or EnDat Digital. IMPORTANT To properly support system EnDat feedback, the keying configuration in drive Module Properties of the Logix Designer application must be selected to use Kinetix 5700 drive firmware revision 5.0 or later. IMPORTANT Unprogrammed Smart feedback devices (Hiperface Sin/Cos, Hiperface DSL, EnDat Sin/Cos, and EnDat Digital) are not supported. Unprogrammed as load or feedback-only feedback types are supported, except unprogrammed Hiperface DSL encoders. Contact your local distributor or Rockwell Automation representative for support options. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 113 Chapter 4 Connector Data and Feature Descriptions 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 to Configure Feedback-only Axis Properties on page 223 to use these in your application. Table 60 - Auxiliary Feedback Signals by Device Type UFB Pin Hiperface Generic TTL Incremental Generic SIN/COS Incremental EnDat SIN/COS EnDat Digital 1 AUX_SIN+ AUX_AM+ AUX_SIN+ ENDAT_B+ – 2 AUX_SIN- AUX_AM- AUX_SIN- ENDAT_B– – 3 AUX_COS+ AUX_BM+ AUX_COS+ ENDAT_A+ – 4 AUX_COS- AUX_BM- AUX_COS- ENDAT_A– – 5 AUX_DATA+ AUX_IM+ AUX_IM+ AUX_DATA+ AUX_DATA+ 6 AUX_ECOM AUX_ECOM AUX_ECOM AUX_ECOM AUX_ECOM 7 AUX_EPWR9V (1) – – AUX_EPWR9V (1) AUX_EPWR9V (1) 9 – – – AUX_CLK+ AUX_CLK+ 10 AUX_DATA- AUX_IM- AUX_IM- AUX_DATA- AUX_DATA- AUX_EPWR5V AUX_EPWR5V AUX_EPWR5V (1) AUX_EPWR5V (1) – – AUX_CLK- AUX_CLK- 14 AUX_EPWR5V 15 – (1) (1) Determine which power supply your encoder requires and connect to only the specified supply. Do not make connections to both supplies. ATTENTION: To avoid damage to components, determine which power supply your encoder requires and connect to either the 5V or 9V supply, but not both. Specifications for the auxiliary feedback channel are identical to the motor feedback channel, except for specifications related to commutation and BLOB programming. The 9.0V and 5.0V power supplies for auxiliary feedback devices are shared with the motor feedback channel, and the total current capability is outlined in the table on page 111. Allen-Bradley Bulletin 842HR, 844D, 847H, and 847T encoders are the preferred encoders for auxiliary feedback connections. Table 61 - Allen-Bradley Auxiliary Feedback Encoders Cat. No. 842HR-MJDZ115FWYD (multi-turn) 842HR-SJDZ115FWYD (single-turn) 844D-B5CC1FW 844D-B5CC1CS 844D-B5CC1DR 847H-DN1A-RH01024 847H-DN1A-RH02048 847H-DN1A-RH05000 847T-DN1A-RH01024 847T-DN1A-RH02048 114 Description Size 25, sine/cosine (serial), square flange, 3/8 in. solid shaft with flat, 5…12V DC, digital RS-485 interface, M23, 17-pin connector HS35, hollow-shaft incremental encoders, rear (through-shaft), 5/8 inch, tether, 3/8 in. bolt on a 2.5…4.0 in. diameter, 5V DC in, 5V DC DLD out, MS connector, 10-pin Size 25, incremental encoder, standard square flange, 3/8 inch diameter shaft with flat, 4.5…5.5V line driver, TTL (B-Leads-A, CW, Z gated with BN), MS connector, 10-pin Size 20, incremental encoder, standard square flange, 3/8 inch diameter shaft with flat, 4.5…5.5V line driver, TTL (B-Leads-A, CW, Z gated with BN), MS connector, 10-pin Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 4 Connector Data and Feature Descriptions You can add and configure the Allen-Bradley Bulletin 842E-CM Integrated Motion on EtherNet/IP™ absolute encoder into your Studio 5000 Logix Designer® application to function as a feedback-only CIP Motion axis in the Logix 5000 controller. Table 62 - Allen-Bradley 842E-CM Absolute Network Encoders Cat. No. Description • Support for the standard motion instruction set in the Studio 5000 Logix Designer application • EtherNet/IP interface compliant with IEEE 1588 • Support for linear, ring, and star Ethernet topologies • IP67 environmental rating • Available with solid and hollow shaft 842E-CM-Mxxxx (30-bit multi-turn) 842E-CM-Sxxxx (18-bit single-turn) The Allen-Bradley Bulletin 843ES CIP Safety absolute network encoder is designed for safety applications that require speed, direction, or position monitoring safety functions. Table 63 - Allen-Bradley 843ES Absolute Network Encoders Cat. No. Description • Rated up to and including SIL 3 according to IEC 61800-5-2, IEC 620261, and IEC 61508-1 • Rated up to and including PLe, Cat. 3, according to ISO 13849-1 • Clamping, synchro, and square flange options for solid shaft • Blind-hollow shaft available with stator coupling • Feather-key solid shaft to prevent relative rotation • Dual Ethernet ports with embedded EtherNet/IP switch for linear networks and Device Level Ring topologies • IP67 washdown rating 843ES-MIPxBAx (12-bit multi-turn) 843ES-SIPxBAx (18-bit standard, 15-bit safety resolution single-turn) Refer to the Kinetix Motion Accessories Technical Data, publication KNX-TD004, for more information on these Allen-Bradley encoders. 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 68 - TTL Encoder Phasing 360° 90° 90° 90° 90° A /A B /B Z /Z For Sin/Cos encoders (Hiperface and EnDat), the drive position increases when Cosine (B) leads Sine (A). Clockwise motor rotation is assumed, when looking at the shaft. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 115 Chapter 4 Connector Data and Feature Descriptions Figure 69 - Sine/Cosine Encoder Phasing A B IMPORTANT The Sine/Cosine encoder signal phasing is different than the TTL encoder signal phasing. IMPORTANT When using an incremental Sine/Cosine feedback device, the drive cannot synthesize a marker signal, so a physical marker signal is required for the home-to-marker sequence (and the marker hookup test) to complete. When using absolute feedback devices (for example, Hiperface) the drive synthesizes a marker signal because these devices don't have a marker signal required for the home-to-marker sequence (and the marker hookup test) to complete. The drive UFB feedback connector uses Hall signals to initialize the commutation angle for permanent magnet motor commutation. The commutation self-sensing feature initializes the commutation angle for motors that do not have the Hall effect sensors. Figure 70 - Hall Encoder Phasing V UN V WN V VN S1 S2 S3 300 116 0 60 120 180 240 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 300 0 60 Chapter 4 Connector Data and Feature Descriptions 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. The absolute position feature is available with only multi-turn encoders. Table 64 - Absolute Position Retention Limits Encoder Type Hiperface DSL Cat. No. Designator Rotary Motor Cat. No. Linear Actuator Cat. No. -P VPL-A/Bxxxxx-P VPF-A/Bxxxxx-P VPS-Bxxxxx-P -W Turns (rotary) mm (linear) VPAR-A/Bxxxxx-P 4096 (±2048) – VPL-A/Bxxxxx-W, VPF-A/Bxxxxx-W VPH-A/Bxxxxx-W VPAR-Bxxxxx-W 4096 (±2048) – -Q VPL-A/Bxxxxx-Q VPC-Bxxxxx-Q VPF-A/Bxxxxx-Q VPH-A/Bxxxxx-Q VPAR-Bxxxxx-Q 512 (±256) – -M VPC-B3004x-M MPL-A/Bxxxxx-M MPM-A/Bxxxxx-M MPF-A/Bxxxxx-M MPS-A/Bxxxxx-M HPK-B/Exxxxx-M MPAR-A/B3xxxx-M MPAI-A/BxxxxxM 2048 (±1024) – -M1 / -M2 MMA-Bxxxxxx-M1/M2 – -V MPL-A/Bxxxxx-V MPAS-A/Bxxxx1-V05, MPAS-A/Bxxxx2-V20 MPAR-A/B1xxxx-V, MPAR-A/B2xxxx-V MPAI-A/BxxxxxV 4096 (±2048) – -xDx – LDAT-Sxxxxxx-xDx – 960 (37.8) -7 RDB-Bxxxxxx-7 – 1024 (±512) – -Y VPC-Bxxxxx-Y – -M3 / -M4 MMA-Bxxxxxx-M3/M4 – 128 (±64) – Hiperface Hiperface (magnetic scale) EnDat Retention Limits Figure 71 - Absolute Position Limits (measured in turns) 4096 Turns 2048 Turns 1024 Turns 512 Turns 128 Turns -2048 -1024 -512 -256 -128 -64 0 Position at Power Down +64 +128 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 +256 +512 +1024 +2048 117 Chapter 4 Connector Data and Feature Descriptions Functional Safety Features Kinetix 5700 servo drives have safe torque-off (STO) capability and can safely turn off the inverter power transistors in response to the removal of the STO digital inputs, resulting in Stop Category 0 behavior. Hardwired and integrated safety options are available on all Kinetix 5700 servo drives. Hardwired STO Mode Hardwired safe torque-off (STO) mode supports parallel input terminals for cascading to adjacent drives over duplex wiring. For applications that do not require the safety function you must install jumper wires to bypass the safe torque-off feature. This applies to 2198-xxxx-ERS3 and 2198-xxxx-ERS4 inverters. Refer to Hardwired Safe Torque-off on page 293 for the STO connector pinout, installation, and wiring information. Integrated Mode For 2198-xxxx-ERS3 inverters in integrated STO mode, when any GuardLogix® or Compact GuardLogix safety controller issues the safe torque-off (STO) command over the EtherNet/IP network and the Kinetix 5700 drives execute the STO commands. Refer to Integrated Safe Torque-off on page 304 for integrated safety drive specifications, configuring motion and safety connections, direct motion commands, and the STO bypass feature. For 2198-xxxx-ERS4 inverters in integrated mode, the GuardLogix 5580 or Compact GuardLogix 5380 safety controller activates the Timed/Monitored SS1 stopping function STO and any of the Drive Safety instructions providing controller-based safety functions over the EtherNet/IP network. For 2198-xxxx-ERS3 (series B or later) drives, Timed SS1 and STO are drivebased safety functions that are activated by the GuardLogix 5580 or Compact Guardlogix 5380 controller over the EtherNet/IP network. Configure these safety functions through the drive properties once the Add-on Profile is installed. Refer to the Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication 2198-RM001, for a description and configuration examples of the integrated stopping functions in the Studio 5000 Logix Designer application. 118 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Connect the Kinetix 5700 Drive System This chapter provides procedures for wiring your Kinetix® 5700 system components and making cable connections. Topic Basic Wiring Requirements Input Power Configurations for Kinetix 5700 Power Supplies Ground Screw/Jumper Settings Remove/Install the Ground Screw/Jumper Ground the Drive System Wiring Requirements Wiring Guidelines Wire the Power Connectors Wire the Digital Input Connectors Wire Motor Power and Brake Connectors Connect Single Cables Connect Power/Brake and Feedback Cables Customer-supplied Motor Power Cables Accessory Module Connections External Passive-shunt Connections External Active-shunt Connections Ethernet Cable Connections Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Page 120 121 127 130 131 133 137 137 141 144 151 155 169 171 172 173 176 119 Chapter 5 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. Because the system is of the open type construction, be careful to keep metal debris from falling into it. Metal debris or other foreign matter can become lodged in the circuitry and result in damage to components. SHOCK HAZARD: To avoid hazard of electrical shock, perform all mounting and wiring of the Bulletin 2198 drive modules prior to applying power. Once power is applied, connector terminals can have voltage present even when not in use. IMPORTANT This section contains common PWM servo system wiring configurations, size, and practices that can be used in a majority of applications. National Electrical Code, local electrical codes, special operating temperatures, duty cycles, or system configurations take precedence over the values and methods provided. Routing the Power and Signal Cables Be aware that when you route power and signal wiring on a machine or system, radiated noise from nearby relays, transformers, and other electronic devices can be induced into I/O communication, or other sensitive low voltage signals. This can cause system faults and communication anomalies. The Kinetix 2090 single motor cable contains the power, brake, and feedback wires, but is properly shielded to protect the noise-sensitive feedback signals. Refer to Electrical Noise Reduction on page 66 for examples of routing high and low voltage cables in wireways. Refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001, for more information. 120 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Input Power Configurations for Kinetix 5700 Power Supplies Connect the Kinetix 5700 Drive System 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 power components and wiring depend on which power supply is used. DC-bus Power Supply Before wiring input power to your 2198-Pxxx DC-bus power supply, you must determine the type of input power within your facility. The drive modules are designed to operate in both grounded and ungrounded environments. IMPORTANT For IEC 61800-3 category C3 compliance, use the appropriate 2198-DBRxx-F line filter with a grounded WYE configuration. The use of a line filter in an ungrounded, corner-grounded, or impedance-grounded configuration can affect the line filter components and result in equipment damage. 2198-DBxx-F line filters also provide compliance, but are not the preferred solution because they require inverter ground jumpers installed manually. Grounded Power Configurations The grounded (WYE) power configuration grounds your three-phase power at a neutral point. This type of grounded power configuration is preferred. Figure 72 - Grounded Power Configuration (WYE Secondary) 2198-Pxxx DC-bus Power Supply (bottom view) Transformer (WYE) Secondary L3 L2 Three-phase Input VAC L1 Circuit Protection Phase Ground Bonded Cabinet Ground L3 L2 L1 Three-phase (1) AC Line Filter (required for CE) Transformer M1 Contactor Connect to drive module ground stud. Ground Grid or Power Distribution Ground (1) When using 2198-DBxx-F line filter, 2198-Pxxx power supply has the ground jumper installed and 2198-xxxx-ERSx inverters have the ground jumpers installed. When using 2198-DBRxx-F line filter, 2198-Pxxx power supply has the ground jumper installed, 2198-xxxx-ERSx inverters have the ground jumpers removed. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 121 Chapter 5 Connect the Kinetix 5700 Drive System Figure 73 - Impedance-grounded Power Configuration (WYE secondary) 2198-Pxxx DC-bus Power Supply (1) (bottom view) Transformer (WYE) Secondary L3 L3 L2 L1 Transformer L2 Three-phase Input VAC L1 Phase Ground Circuit M1 Protection Contactor Connect to drive module ground stud. Bonded Cabinet Ground Ground Grid or Power Distribution Ground (1) 2198-Pxxx power supply has the ground jumper removed. 2198-xxxx-ERSx inverters have the ground jumpers removed. Figure 74 - Corner-grounded Power Configuration (Delta secondary) 2198-Pxxx DC-bus Power Supply (1) (bottom view) Transformer (Delta) Secondary L3 L2 L3 L2 L1 Transformer M1 Circuit Protection Contactor L1 Bonded Cabinet Ground Connect to drive module ground stud. Ground Grid or Power Distribution Ground (1) 2198-Pxxx power supply has the ground jumper removed. 2198-xxxx-ERSx inverters have the ground jumpers removed. Refer to Power Wiring Examples beginning on page 323 for input power interconnect diagrams. 122 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Connect the Kinetix 5700 Drive System Ungrounded Power Configurations The ungrounded power configuration (Figure 75), corner-grounded (Figure 74), and impedance-grounded (Figure 73) power configurations do not provide a neutral ground point. IMPORTANT If you determine that you have ungrounded, corner-grounded, or impedance-grounded power distribution in your facility, you must remove the ground screw in each of your DC-bus power supplies, iTRAK power supplies, and dual-axis inverters, and the ground jumper in each of your single-axis inverters. Refer to Ground Screw/Jumper Settings on page 127 for more information. Figure 75 - Ungrounded Power Configuration 2198-Pxxx DC-bus Power Supply (1) (bottom view) L3 Transformer L3 L2 L1 L2 Three-phase Input VAC L1 Chassis Ground Bonded Cabinet Ground Circuit Protection M1 Contactor Connect to drive module ground stud. Ground Grid or Power Distribution Ground (1) 2198-Pxxx power supply has the ground jumper removed. 2198-xxxx-ERSx inverters have the ground jumpers removed. ATTENTION: Ungrounded and corner-grounded systems do not reference each phase potential to a power distribution ground. This can result in an unknown potential to earth ground. Drive-to-motor cable lengths are limited with these AC power source types. See Appendix D, beginning on page 385, for more information. Refer to Power Wiring Examples beginning on page 323 for input power interconnect diagrams. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 123 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. Corner-grounded and ungrounded power can be used, but you must add an isolation transformer to the input power circuit to provide grounded-wye power. ATTENTION: For IEC 61800-3 category C3 compliance, use the appropriate 2198-DBRxx-F AC line filter with a grounded WYE configuration. Use of the AC line filter in an ungrounded or corner-grounded configuration (without an isolation transformer) or in an impedance-grounded configuration can affect the line filter components and result in equipment damage. 2198-DBxx-F line filters are not compatible with regenerative bus supplies. Grounded Power Configurations This grounded (WYE) power configuration (Figure 76) grounds the threephase input power at a neutral point. This is the preferred grounded power configuration. Figure 76 - Grounded Power Configuration (WYE secondary) 2198-RPxxx (1) Regenerative Bus Supply (bottom view) Transformer (WYE) Secondary L3 Transformer AC Line Filter (required for CE and UK) L2 Three-phase Input VAC L1 Phase Ground Bonded Cabinet Ground Circuit Protection L3 L2 L1 M1 Contactor Connect to drive module ground stud. Ground Grid or Power Distribution Ground (1) 2198-RPxxx power supply has the ground jumper installed. 2198-xxxx-ERSx inverters have the ground jumpers removed. 124 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Connect the Kinetix 5700 Drive System This impedance-grounded power configuration (Figure 77) 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. Figure 77 - Impedance-grounded Power Configuration (WYE secondary) Transformer (WYE) Secondary 2198-RPxxx (1) Regenerative Bus Supply (bottom view) L3 Transformer L3 L2 L1 L2 Three-phase Input VAC L1 Phase Ground Bonded Cabinet Ground Circuit M1 Protection Contactor Connect to drive module ground stud. Ground Grid or Power Distribution Ground (1) 2198-RPxxx power supply has the ground jumper removed. 2198-xxxx-ERSx inverters have the ground jumpers removed. IMPORTANT If you determine that you have impedance-grounded power distribution in your facility, you must remove the ground screw in your regenerative power supply, iTRAK power supplies, and dual-axis inverters, and the ground jumper in each of your single-axis inverters. Refer to Ground Screw/Jumper Settings on page 127 for more information. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 125 Chapter 5 Connect the Kinetix 5700 Drive System This corner-grounded power configuration (Figure 78) includes an isolation transformer that results in grounded-wye power distribution. Figure 78 - Corner-grounded Power Configuration (with isolation transformer) 2198-RPxxx (1) Regenerative Bus Supply (bottom view) Isolation Transformer Transformer (Delta) Secondary AC Line Filter (required for CE and UK) L3 Transformer L3 L2 L1 M1 Circuit Protection Contactor L2 L1 Bonded Cabinet Ground Connect to drive module ground stud. Ground Grid or Power Distribution Ground (1) 2198-RPxxx power supply has the ground jumper installed. 2198-xxxx-ERSx inverters have the ground jumpers removed. Refer to Power Wiring Examples beginning on page 323 for input power interconnect diagrams. Ungrounded Power Configurations This ungrounded power configuration (Figure 79) includes an isolation transformer that results in grounded-wye power distribution. Figure 79 - Ungrounded Power Configuration (with isolation transformer) Transformer Three-phase Input VAC L3 Isolation Transformer AC Line Filter (required for CE and UK) L2 L1 Chassis Ground 2198-RPxxx (1) Regenerative Bus Supply (bottom view) Bonded Cabinet Ground L3 L2 L1 M1 Circuit Protection Contactor Connect to drive module ground stud. Ground Grid or Power Distribution Ground (1) 2198-RPxxx power supply has the ground jumper installed. 2198-xxxx-ERSx inverters have the ground jumpers removed. 126 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Ground Screw/Jumper Settings Connect the Kinetix 5700 Drive System Determine the ground screw/jumper setting for your Kinetix 5700 drive system power supply, iTRAK power supply, and Kinetix 5700 inverters. 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. Table 65 summarizes the ground screw/ jumper settings for the 2198-Pxxx DC-bus power supply. Table 65 - Ground Screw Setting for the DC-bus Power Supply Ground Configuration Example Diagram 2198-Pxxx DC-bus Power Supply Grounded (wye) Figure 72 on page 121 Ground screw installed (default setting) (1) • Impedance grounded • Corner grounded • AC-fed ungrounded Figure 73 on page 122 Figure 74 on page 122 Figure 75 on page 123 Remove ground screw/jumper (1) Ground screw is factory installed. IMPORTANT If you have grounded-wye power distribution in your facility, do not remove the ground screw from the DC-bus power supply. Remove the ground screw when using ungrounded, corner-grounded, or impedancegrounded power. Regenerative Bus Supply The 2198-RPxxx regenerative bus supply includes a factory-installed ground jumper for grounded-wye power distribution. Table 66 summarizes the ground jumper settings for the 2198-RPxxx regenerative bus supply. Table 66 - Ground Jumper Setting for the Regenerative Bus Supply Ground Configuration Example Diagram 2198-RPxxx Regenerative Bus Supply • Grounded (wye) • Corner-grounded with isolation transformer • Ungrounded with isolation transformer Figure 76 on page 124 Figure 78 on page 126 Figure 79 on page 126 Ground jumper is factory installed (default setting) Impedance grounded Figure 77 on page 125 Remove ground jumper (1) (1) When the regenerative bus supply ground jumper is removed, it can be permanently stored in threaded holes at the bottom of the chassis. IMPORTANT If you have grounded-wye power distribution in your facility, or cornergrounded or ungrounded power with an isolation transformer, do not remove the ground jumper from the regenerative bus supply. Remove the ground jumper when using impedance-grounded power. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 127 Chapter 5 Connect the Kinetix 5700 Drive System Kinetix 5700 Inverters The 2198-Dxxx-ERSx dual-axis and 2198-Sxxx-ERSx single-axis inverters also have a ground screw/jumper setting that depends on the input-power ground configuration and whether a 2198-DBxx-F or 2198-DBRxx-F filter is used. Table 67 summarizes the ground screw/jumper default settings for the 2198-xxxx-ERSx inverters. Table 67 - Ground Screw/Jumper Setting for 2198-xxxx-ERSx Inverters 2198-xxxx-ERS3 (series A) 2198-xxxx-ERS3 (series B or later) Ground screw is factory installed (default setting) Ground screw/jumper is not installed (1) (default setting) 2198-xxxx-ERS4 (1) Ground screw/jumper is included with the drive, but not installed. Table 68 summarizes the ground screw/jumper settings required for the 2198-xxxx-ERSx inverters depending on the Kinetix 5700 power supply in use. Table 68 - Ground Screw/Jumper Setting for 2198-xxxx-ERSx Inverters Inverter Ground Jumper Setting Based on Selected Power Supply AC Power Source Type 2198-Pxxx (1) DC-bus Power Supply Grounded (wye) Inverter ground screw/ jumper installed. • AC-fed ungrounded • Corner grounded • Impedance grounded Inverter ground screw/ jumper not installed. • 2198-Pxxx DC-bus Power Supply (2) • 2198-RPxxx Regenerative Bus Supply • 8720MC-RPS Regenerative Power Supply • Any Other Active Converter Inverter ground screw/jumper not installed (3). (1) 2198-Pxxx DC-bus power supply when 2198-DB20-F, 2198-DB42-F, 2198-DB80-F, or 2198-DB290-F AC line filter is used. (2) 2198-Pxxx DC-bus power supply when 2198-DBR20-F, 2198-DBR40-F, 2198-DBR90-F, or 2198-DBR200-F AC line filter is used. (3) When the 2198-S263-ERSx or 2198-S312-ERSx inverter ground jumper is removed, it can be permanently stored in threaded holes at the bottom of the chassis. 128 IMPORTANT If you have grounded-wye power distribution and the 2198-Pxxx DC-bus power supply with: • 2198-DB20-F, 2198-DB42-F, 2198-DB80-F, or 2198-DB290-F AC line filters, install the ground jumper in the inverters. EMC performance can be affected if the ground jumper is not installed. • 2198-DBR20-F, 2198-DBR40-F, 2198-DBR90-F, or 2198-DBR200-F AC line filters, remove the ground jumper in the inverters. Ground jumper removed is preferred when using the 2198-DBRxx-F AC line filters. EMC performance is achieved with or without the ground jumper installed. IMPORTANT If you are using the 2198-RPxxx regenerative bus supply, always remove the ground jumper in the inverters. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Connect the Kinetix 5700 Drive System Kinetix 5700 iTRAK Power Supply The 2198T-W25K-ER iTRAK power supply has a factory-installed ground screw for grounded-wye power distribution. Table 69 summarizes the ground screw settings required for the 2198T-W25K-ER iTRAK power supply depending on the AC power source. Table 69 - Ground Screw Setting for 2198T-W25K-ER iTRAK Power Supply AC Power Source Type Grounded (wye) • AC-fed ungrounded • Corner grounded • Impedance grounded 2198-Pxxx (1) (2) DC-bus Power Supply Ground screw installed (default setting). Ground screw not installed. (1) 2198-Pxxx DC-bus power supply when 2198-DB20-F, 2198-DB42-F, 2198-DB80-F, or 2198-DB290-F AC line filter is used. (2) L16 motor modules are compatible with only the grounded-wye configuration. IMPORTANT If you have grounded-wye power distribution and the 2198-Pxxx DC-bus power supply with: • 2198-DB20-F, 2198-DB42-F, 2198-DB80-F, or 2198-DB290-F AC line filters, install the ground jumper in the iTRAK power supply. EMC performance can be affected if the ground jumper is not installed. • 2198-DBR20-F, 2198-DBR40-F, 2198-DBR90-F, or 2198-DBR200-F AC line filters, remove the ground jumper in the iTRAK power supply. Ground jumper removed is preferred when using the 2198-DBRxx-F AC line filters. EMC performance is achieved with or without the ground jumper installed. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 129 Chapter 5 Connect the Kinetix 5700 Drive System Remove/Install the Ground Screw/Jumper We recommend that you remove or install the ground screw/jumper when the drive module is removed from the panel and placed on its side on a solid work surface (does not apply to catalog numbers 2198-RPxxx, 2198-S263-ERSx, or 2198-S312-ERSx). IMPORTANT To determine if you need to remove or install the ground screw/jumper, see Ground Screw/Jumper Settings on page 127. ATTENTION: When the ground screw/jumper is not installed on DC-bus power supplies, the risk of equipment damage exists because the unit no longer maintains line-to-neutral or line-to-line voltage protection. To access or remove/install the ground screw on DC-bus power supplies, dualaxis inverters, and the iTRAK power supply, open the small plastic door on the right side of the module. Figure 80 - Remove/Install the Ground Screw Ground Screw Access Door DC-bus Power Supply, Dual-axis Inverter, or iTRAK Power Supply (side view) (DC-bus power supply is shown) Ground Screw To determine if you need to remove or install the ground screw, see Ground Screw/Jumper Settings on page 127. ATTENTION: To avoid personal injury, the ground screw/jumper access door must be kept closed when power is applied. If power was present and then removed, wait at least 5 minutes for the DC-bus voltage to dissipate and verify that no DC-bus voltage exists before accessing the ground screw/ jumper. This applies to the DC-bus power supply, regenerative bus supply, dual-axis inverters, and single-axis inverters. 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 81 - Remove/Install the Single-axis Inverter Ground Jumper Captive Screws (2) 2198-S086-ERSx, 2198-S130-ERSx, and 2198-S160-ERSx Single-axis Inverter (rear view) Ground Jumper Access Door 130 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Jumper TIP Hold the jumper with needle-nose pliers and remove/install the captive screws. To determine if you need to remove or install the ground jumper, see Ground Screw/Jumper Settings on page 127. Chapter 5 Connect the Kinetix 5700 Drive System Regenerative bus supplies (catalog numbers 2198-RPxxx) and single-axis inverters (catalog numbers 2198-S263-ERSx and 2198-S312-ERSx) have a ground-jumper access door on the front of the unit. Two captive screws secure the jumper. Figure 82 - Remove/Install the Ground Jumper 2198-RPxxx Regenerative Bus Supply or 2198-S263-ERSx and 2198-S312-ERSx Single-axis Inverter (single-axis inverter, front view is shown) TIP Hold the jumper with needle-nose pliers and remove/install the captive screws. MOD NET 2 1 1 5 I/O 6 10 Captive Screws (2) Ground Jumper (1) Access Door Jumper - MBRK + W V U 21mm2 (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin) Jumper Storage To determine if you need to remove or install the ground jumper, see Ground Screw/Jumper Settings on page 127. (1) When the regenerative bus supply or 2198-S263-ERSx or 2198-S312-ERSx inverter ground jumper is removed, it can be permanently stored in threaded holes at the bottom of the chassis. ATTENTION: Risk of equipment damage exists. The module ground configuration must be accurately determined. See Ground Screw/Jumper Settings on page 127. Ground the Drive System All equipment and components of a machine or process system must have a common earth-ground point that is connected to chassis. A grounded system provides a ground path for protection against electrical shock. Grounding your drive modules and panels minimize the shock hazard to personnel and damage to equipment caused by short circuits, transient overvoltages, and accidental connection of energized conductors to the equipment chassis. ATTENTION: The National Electrical Code contains grounding requirements, conventions, and definitions. Follow all applicable local codes and regulations to safely ground your system. For CE and UK grounding requirements, refer to Agency Compliance on page 37. Ground the System Subpanel Ground Kinetix 5700 power supplies, inverters, and accessory modules to a bonded cabinet ground bus with a braided of at least 10 mm2 (0.0155 in2) in cross-sectional area. Keep the braided ground strap as short as possible for optimum bonding. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 131 Chapter 5 Connect the Kinetix 5700 Drive System Figure 83 - Connect the Ground Terminal Kinetix 5700 Drive System (typical system) DC-bus Power Supply (typical example) - MBRK + Braided Ground Straps Provide at least 10 mm2 (0.0155 in2) in cross-sectional area. Keep straps as short as possible. 1 2 3 4 Item 1 2 3 4 Description Ground screw (green) 2.0 N•m (17.7 lb•in), max Braided ground strap (customer supplied) Ground grid or power distribution ground Bonded cabinet ground bus (customer supplied) Refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001, for more information. Ground Multiple Subpanels In this figure, the chassis ground is extended to multiple subpanels. Figure 84 - Subpanels Connected to a Single Ground Point Follow NEC and applicable local codes. Bonded Ground Bus Ground Grid or Power Distribution Ground High-frequency (HF) bonding is not illustrated. For HF bonding information, refer to HF Bond for Multiple Subpanels on page 68. 132 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Wiring Requirements Connect the Kinetix 5700 Drive System 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 Power Wiring Examples on page 323 for interconnect diagrams. IMPORTANT The National Electrical Code and local electrical codes take precedence over the values and methods provided. Table 70 - DC-bus Power Supply Wiring Requirements DC-bus Power Supply Cat. No. Description Connects to Terminals Signal Pin Wire Size mm 2 (AWG) Strip Length mm (in.) Torque Value N•m (lb•in) 10.0 (0.39) 0.5…0.8 (4.4…7.1) (10…8) 10…35 (8…2) 20.0 (0.79) 2.5…4.5 (22…40) 2198-P031 6…10 (1) (10…8) 2198-P070 6…10 (2) L3 L2 L1 Mains input power 2198-P141 2198-P208 2198-Pxxx L3 L2 L1 PELV/SELV 24V power (connector plug) CP-1 CP-2 24V+ 24V– 0.5…4 (20…12) 7.0 (0.28) 0.22…0.25 (1.9…2.2) DC Bus power Bus bar N/A (3) N/A (3) N/A (3) Contactor enable EN– EN+ RC-1 RC-2 IOD-1 IOD-2 IOD-3 IOD-4 DC– DC+ CONT EN– CONT EN+ SH DC+ IN1 COM IN2 SHLD 0.14…2.5 (26…12) 1.5…6 (16…10) 7.0 (0.28) 12.0 (0.47) 0.4…0.5 (3.5…4.4) 0.5…0.6 (4.5…5.3 0.14…1.5 (26…16) 10.0 (0.39) N/A (4) Shunt resistor Digital inputs (1) Applies to solid wire. If using stranded wire, the maximum wire size is 6 mm2 (10 AWG). (2) Applies to solid wire. If using stranded wire, the maximum wire size is 6 mm2 (10 AWG). To meet CE and UK requirements above 45 °C (113 °F) for 6 mm2 stranded wires, single-core copper conductors must be used with 90 °C (194 °F) minimum rating. (3) Shared DC-bus power connections are always made from one drive module to another over the bus-bar connection system. These terminals do not receive discrete wires. (4) This connector uses spring tension to hold wires in place. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 133 Chapter 5 Connect the Kinetix 5700 Drive System Table 71 - Regenerative Bus Supply Wiring Requirements Regen Bus Supply Cat. No. Description Pin Connects to Terminals Signal 6…10 (1) (10…8) 10…35 (8…2) 21.1…120 (4…250 kcmil) 0.5…4 (20…12) 1.5…4 (16…12) 2198-RP088 2198-RP200 2198-RP263 2198-RP312 2198-RP088 2198-RP200 2198-RP263 2198-RP312 Mains input power PELV/SELV 24V power (connector plug) L3 L2 L1 CP-1 CP-2 Wire Size mm 2 (AWG) L3 L2 L1 24V+ 24V– Strip Length mm (in.) Torque Value N•m (lb•in) 10.0 (0.39) 0.5…0.8 (4.4…7.1) 20.0 (0.79) 2.5…4.5 (22…40) 15…20 (132…177) 0.22…0.25 (1.9…2.2) 0.5…0.6 (4.4…5.3) 0.7…0.8 (6.1…7.0) 27.0 (1.06) 7.0 (0.28) 10.0 (0.39) 6 (10) DC Bus power Bus bar Contactor enable Active shunt 2198-RPxxx Digital inputs OK+ OK– EN– EN+ RC-2 RC-1 IOD-1 IOD-2 IOD-3 IOD-4 IOD-5 IOD-6 IOD-7 IOD-8 IOD-9 IOD-10 DC– DC+ CONV OK+ CONV OK– CONT EN– CONT EN+ DC+ DC– IN1 COM IN2 COM SHLD IN3 COM IN4 COM SHLD N/A (2) N/A (3) N/A (3) 0.14…2.5 (26…12) 7.0 (0.28) 0.4…0.5 (3.5…4.4) 1.5…6 (16…10) 12.0 (0.47) 0.5…0.6 (4.5…5.3) 0.14…1.5 (26…16) 10.0 (0.39) N/A (3) (1) Applies to solid wire. If using stranded wire, the maximum wire size is 6 mm2 (10 AWG). To meet CE and UK requirements above 40 °C (104 °F) for 6 mm2 stranded wires, single-core copper conductors must be used with 90 °C minimum rating. (2) Shared DC-bus power connections are always made from drive to drive over the bus-bar connection system. These terminals do not receive discrete wires. (3) This connector uses spring tension to hold wires in place. Table 72 - iTRAK Power Supply Wiring Requirements iTRAK Power Supply Cat. No. Connects to Terminals Pin Signal DC– Bus bar DC+ Description DC-bus input power 2198T-W25K-ER SELV/PELV rated 24V power (connector plug) CP-1 CP-2 24V+ 24V– Wire Size mm² (AWG) Strip Length mm (in.) Torque Value N•m (lb•in) N/A (1) N/A (1) N/A (1) 1.5…4 (2) (16…12) 6 (10) (2) 10.0 (0.39) 0.5…0.6 (4.4…5.3) 0.7…0.8 (3) (6.1…7.0) (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. (3) Depending on 24V current demand, 6 mm2 (10 AWG) wire can be required. When 6 mm2 (10 AWG) wire is used, these torque specifications apply. For iTRAK power supply wiring requirements not shown here, see iTRAK System with TriMax Bearings User Manual, publication 2198T-UM002, or iTRAK 5730 System User Manual, publication 2198T-UM003. 134 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Connect the Kinetix 5700 Drive System Table 73 - Single-axis Inverter Wiring Requirements Single-axis Inverter Cat. No. Description Pin Connects to Terminals Signal Motor power U V W U V W 2198-S160-ERSx 2198-S263-ERSx 2198-S312-ERSx Strip Length mm (in.) Torque Value N•m (lb•in) 20.0 (0.79) 2.5…4.5 (22…40) 27.0 (1.06) Motor power cable depends on motor/ drive combination. 2198-S086-ERSx 2198-S130-ERSx 2198-S263-ERSx 2198-S312-ERSx 2198-S086-ERSx 2198-S130-ERSx Wire Size mm 2 (AWG) PELV/SELV 24V power (connector plug) CP-1 CP-2 24V+ 24V- 6…25 (1) (10…4) 10…35 (1) (8…2) 21.1…120 (4…250 kcmil) 0.5…4 (20…12) 1.5…4 (16…12) N/A (2) 7.0 (0.28) 15…20 (132…177) 0.22…0.25 (1.9…2.2) 0.5…0.6 (4.4…5.3) 0.7…0.8 (6.1…7.0) 0.22…0.25 (1.9…2.2) N/A (3) N/A (3) N/A (3) 0.14…1.5 (26…16) 10.0 (0.39) N/A (4) 0.14…1.5 (26…16) 10.0 (0.39) N/A (4) 7.0 (0.28) 10.0 (0.39) 6 (10) Brake power BC-1 BC-2 DC Bus power Bus bar Safety 2198-Sxxx-ERSx Digital inputs ST0-1 ST0-2 ST0-3 ST0-4 ST0-5 ST0-6 ST0-7 ST0-8 IOD-1 IOD-2 IOD-3 IOD-4 IOD-5 IOD-6 IOD-7 IOD-8 IOD-9 IOD-10 ST0-9 ST0-10 ST0-11 ST0-12 ST0-13 ST0-14 ST0-15 ST0-16 MBRK+ MBRKDCDC+ SB+/NC S1A SCA S2A SBNC NC NC IN1 COM IN2 COM SHLD IN3 COM IN4 COM SHLD (1) Building your own single cables or using third-party single cables for Kinetix VP motors and actuators is not an option. Use 2090-CSxM1DE/DG single motor cables. Refer to the Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004, for cable specifications. (2) Motor brake wires are included in the Kinetix 2090 motor cable. (3) Shared DC-bus power connections are always made from one drive module to another over the bus-bar connection system. These terminals do not receive discrete wires. (4) This connector uses spring tension to hold wires in place. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 135 Chapter 5 Connect the Kinetix 5700 Drive System Table 74 - Dual-axis Inverter Wiring Requirements Dual-axis Inverter Cat. No. 2198-D006-ERSx 2198-D012-ERSx 2198-D020-ERSx 2198-D032-ERSx Description Pin Connects to Terminals Signal U V W Motor power (axis A and B) U V W Strip Length mm (in.) Torque Value N•m (lb•in) 10.0 (0.39) 0.5…0.6 (4.4…5.3) 10.0 (0.39) 0.5…0.8 (4.4…7.1) 7.0 (0.28) 0.22…0.25 (1.9…2.2) N/A (3) N/A (3) N/A (3) 0.14…1.5 (26…16) 10.0 (0.39) N/A (4) 0.14…1.5 (26…16) 10.0 (0.39) N/A (4) Motor power cable depends on motor/ drive combination. 0.75…2.5 (1) (18…14) 2.5…6 (1) (14…10) 2198-D057-ERSx 2198-Dxxx-ERSx Wire Size mm 2 (AWG) PELV/SELV 24V power (connector plug) Brake power (axis A and B) CP-1 CP-2 24V+ 24V– 0.5…4 (20…12) BC-1 BC-2 N/A (2) DC Bus power Bus bar MBRK+ MBRK– DC– DC+ SB+ /NC S1A SCA S2A SBS1B SCB S2B IN1 COM IN2 COM SHLD IN3 COM IN4 COM SHLD Safety Digital inputs ST0-1 ST0-2 ST0-3 ST0-4 ST0-5 ST0-6 ST0-7 ST0-8 IOD-1 IOD-2 IOD-3 IOD-4 IOD-5 IOD-6 IOD-7 IOD-8 IOD-9 IOD-10 ST0-9 ST0-10 ST0-11 ST0-12 ST0-13 ST0-14 ST0-15 ST0-16 (1) Building your own single cables or using third-party single cables for Kinetix VP motors and actuators is not an option. Use 2090-CSxM1DE/DG single motor cables. Refer to the Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004, for cable specifications. (2) Motor brake wires are included in the Kinetix 2090 motor cable. (3) Shared DC-bus power connections are always made from one drive module to another over the bus-bar connection system. These terminals do not receive discrete wires. (4) This connector uses spring tension to hold wires in place. ATTENTION: To avoid personal injury and/or equipment damage, observe the following: • Make sure installation complies with specifications regarding wire types, conductor sizes, branch circuit protection, and disconnect devices. The National Electrical Code (NEC) and local codes outline provisions for safely installing electrical equipment. • Use motor power connectors for connection purposes only. Do not use them to turn the motor on and off. • Ground shielded power cables to prevent potentially high voltages on the shield. 136 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Wiring Guidelines Connect the Kinetix 5700 Drive System 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 on page 92. When removing insulation from wires and tightening screws to secure the wires, refer to the table on page 133 for strip lengths and torque values. IMPORTANT To improve system performance, run wires and cables in the wireways as established in Establish Noise Zones on page 69. Follow these steps when wiring the connectors for your Kinetix 5700 drive modules. 1. Prepare the wires for attachment to each connector plug by removing insulation equal to the recommended strip length. Some cables come prepared with wires appropriately stripped. IMPORTANT Use caution not to nick, cut, or otherwise damage strands as you remove the insulation. 2. Route the cable/wires to your Kinetix 5700 drive module connector. 3. Insert wires into connector plugs. Refer to the connector pinout tables in Chapter 4 or the interconnect diagrams in Appendix A. 4. Tighten the connector screws. 5. Gently pull on each wire to make sure it does not come out of its terminal; reinsert and tighten any loose wires. 6. Insert the connector plug into the drive module connector. Wire the Power Connectors This section provides examples and guidelines to assist you in making connections to the input power connectors. Refer to Power Wiring Examples on page 323 for interconnect diagrams. Wire the 24V Control Power Input Connector The 24V power (CP) connector requires 24V DC input for the control circuitry. The connector plug ships with the drive module and shared-bus connector kits are purchased separately. IMPORTANT Mount the 24V power supply as close to the drive system as possible to minimize voltage drop on the 24V input power wiring. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 137 Chapter 5 Connect the Kinetix 5700 Drive System Figure 85 - CP Connector Wiring - Connector Plug 2198-Pxxx DC-bus Power Supply or 2198-RPxxx Regenerative Bus Supply, Top View (DC-bus power supply is shown) 24V + 24V 2 24V (CP) Connector Plug 1 Table 75 - CP Connector Plug Wiring Specifications Drive Module Cat. No. CP Pin Signal Recommended Wire Size mm2 (AWG) Strip Length mm (in.) Torque Value N•m (lb•in) 2198-Pxxx, 2198-RP088, 2198-RP200, 2198-Dxxx-ERSx, 2198-S086-ERSx, 2198-S130-ERSx, 2198-S160-ERSx, 2198-CAPMOD-2240 and 2198-DCBUSCOND-RP312 CP-1 CP-2 24V+ 24V- 0.5…4 (1) (20…12) 7.0 (0.28) 0.22…0.25 (1.9…2.2) 2198-RP263, 2198-RP312, 2198-S263-ERSx, 2198-S312-ERSx, 2198T-W25K-ER CP-1 CP-2 24V+ 24V- 1.5…4 (1) (16…12) 10.0 (0.39) 6 (10) 0.5…0.6 (4.4…5.3) 0.7…0.8 (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 on page 49 for more information. Figure 86 - CP Connector Wiring - Shared Bus 24V DC Input Wiring Connector Kinetix 5700 Drive System (top view) V24 V+ 24 Wiring Connector for 2198-Pxxx, 2198-Dxxx-ERSx, 2198-S086-ERSx, 2198-S130-ERSx, 2198-S160-ERSx, 2198-RP088, 2198-RP200, 2198-CAPMOD-2240, and 2198-DCBUSCOND-RP312 modules: Catalog Number 2198-TCON-24VDCIN36 Wiring Connector for 2198-RP263, 2198-RP312, 2198-S263-ERSx, 2198-S312-ERSx, and 2198T-W25K-ER modules: Catalog Number 2198T-W25K-P-IN Table 76 - CP Shared-bus Wiring Specifications Drive Module (1) (2) Cat. No. CP Pin Signal Input Current, max A rms Recommended Wire Size mm2 (AWG) Strip Length mm (in.) Torque Value N•m (lb•in) 2198-RPxxx and 2198-Pxxx 2198-Dxxx-ERSx, 2198-Sxxx-ERSx, 2198-CAPMOD-2240, 2198-DCBUSCOND-RP312, 2198T-W25K-ER CP-1 CP-2 24V+ 24V- 40 10 (6) 11.0 (0.43) 1.7…1.8 (15.0…15.9) (1) Catalog numbers 2198T-W25K-ER, 2198-RP263, 2198-RP312, 2198-S263-ERSx, and 2198-S312-ERSx, use a slightly larger input wiring connector than the other Kinetix 5700 drive modules. (2) Bus-bars and T-connectors can be added only to the right of the 24V DC input wiring connector. 138 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Connect the Kinetix 5700 Drive System 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. Insert the plug into the module connector and tighten screws to the specified torque value. Incorrect wiring/polarity or loose wiring can cause damage to equipment. Figure 87 - IPD Connector Wiring 2198-Pxxx DC-bus Power Supply or 2198-RP088 and 2198-RP200 Regenerative Bus Supply, Bottom View (DC-bus power supply is shown) Connector Screws (2) 0.8 N•m (7.1 lb•in) L3 L2 L1 L3 L2 L1 Input Power (IPD) Connector Plug Bottom View Front View L1 L2 L3 L1 L2 L3 2 21mm (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin) Input Power (IPD) Connector Screws (3x): 6 mm Hex Driver Torque: 15…20 N•m (132…177 lb•in) L1 Input Power Ground Terminal Screw: 8 mm Hex Driver Torque: 5.6 N•m (50 lb•in) L2 L3 The IPD connector on 2198-RP263 and 2198-RP312 power supplies is not removable. 2198-RP263 and 2198-RP312 Regenerative Bus Supply, Bottom View Table 77 - Input Power (IPD) Connector Specifications Regenerative Bus Supply Cat. No. DC-bus Power Supply Cat. No. 2198-RP088 2198-RP200 2198-P031 2198-P070 2198-P141 2198-P208 2198-RP263 2198-RP312 – Pin Signal L3 L2 L1 L3 L2 L1 Recommended Wire Size mm2 (AWG) 6…10 (10…8) 10…35 (8…2) 21.1…120 (4…250 kcmil) Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Strip Length mm (in.) Torque Value N•m (lb•in) 10.0 (0.39) 0.8 (7.1) 20.0 (0.79) 27.0 (1.06) 15…20 (132…177) 139 Chapter 5 Connect the Kinetix 5700 Drive System Wire the Contactor Enable Connector The contactor enable (2-pin CED) connector applies to the DC-bus power supply. The regenerative bus supply has a 4-pin CED connector and includes wiring to the 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. • three-phase power is never applied to the Kinetix 5700 drive system before control power is applied. Figure 88 - CED Connector Wiring - Connector Plug 2198-Pxxx DC-bus Power Supply (front view) EN– EN+ 2-pin Contactor Enable (CED) Connector Plug MOD– NET– 2198-RPxxx Regenerative Bus Supply (front view) MOD NET 5700 2 2 1 1 1 OK+ 1 I/O 6 4 OK+ I/O OK– EN– EN+ 5 4-pin Contactor Enable (CED) Connector Plug 10 OK– EN– EN+ Table 78 - CED Connector Plug Specifications Regenerative Bus Supply Cat. No. 2198-RP088 2198-RP200 2198-RP263 2198-RP312 140 DC-bus Power Supply Cat. No. Pin Signal 2198-P031 2198-P070 2198-P141 2198-P208 EN– EN+ CONT EN– CONT EN+ – OK+ OK– CONV OK+ CONV OK– Recommended Wire Size mm2 (AWG) Strip Length mm (in.) Torque Value N•m (lb•in) 0.14…2.5 (26…12) 7.0 (0.28) 0.4…0.5 (3.5…4.4) Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Wire the Digital Input Connectors Connect the Kinetix 5700 Drive System This section provides guidelines to assist you in making digital input connections. The digital inputs (IOD) and safety (STO) connector plugs for all 2198-xxxx-ERS3 and 2198-xxxx-ERS4 drives require special attention to help keep the plugs seated properly during normal operation. IMPORTANT When replacing 2198-xxxx-ERS3 (series A) single-axis and dual-axis inverters with 2198-xxxx-ERSx (series B or later) inverters, you must use the connector plugs that are included with your drive/inverter. 2198-xxxx-ERS3 (series A) Connector Plugs The right side of the safety and digital-input connector plugs require an offcenter push when inserting them into their respective connectors. This applies to 2198-xxxx-ERS3 (series A) single-axis and dual-axis inverters. IMPORTANT An off-center push is required to engage the locking features on the bottom of the safety and digital-input connector plugs and seat properly with the drive (STO and IOD) connectors. Failure to do this can result in the connector plugs pulling out of the drive connector during normal operation. Figure 89 - 2198-xxxx-ERS3 (series A) Connector Plugs Off-center Push Push the Right-hand Side Kinetix 5700 Inverter Safety or Digital Inputs Connector Plug (safety connector plug is shown) Locking Features Safety (STO) Connector Plug MOD– NET– Digital Inputs Plug Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Safety Plug 141 Chapter 5 Connect the Kinetix 5700 Drive System 2198-xxxx-ERS4 and 2198-xxxx-ERS3 (series B or later) 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. This is the locked position. Rotate the leavers counter-clockwise (open position) to release the connector plugs. This applies to 2198-RPxxx regenerative bus supply and 2198-xxxx-ERS4 and 2198-xxxx-ERS3 (series B or later) single-axis and dual-axis inverters. IMPORTANT Push the locking leavers clockwise into the locked position as you insert the (STO and IOD) connector plugs. Failure to do this can result in the connector plugs pulling out of the drive connector during normal operation. Figure 90 - 2198-xxxx-ERS4 and 2198-xxxx-ERS3 (series B or later) Connector Plugs Push to Lock Push to Lock Kinetix 5700 Inverter Safety or Digital Inputs Connector Plug (safety connector plug is shown) Push to Unlock Locking Leavers in Locked Position Open Position (rotated counter-clockwise) Safety (STO) Connector Plug MOD– NET– Locked Position (rotated clockwise) Wire the Safe Torque-off Connector For the hardwired safe torque-off (STO) connector pinouts, feature descriptions, and wiring information, refer to Chapter 9 beginning on page 285. 142 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Connect the Kinetix 5700 Drive System 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. Figure 91 - IOD Connector Wiring 2198-RPxxx Regenerative Bus Supply (front view) MOD NET MOD NET 5700 2 1 2 2 1 1 1 4 4 2198-Sxxx-ERSx Single-axis Inverters or 2198-Dxxx-ERSx Dual-axis Inverters Front View (2198-xxxx-ERS4 is shown) MOD NET 1 1 I/O 6 1 I/O-A 6 1 I/O-B 6 OK+ OK– I/O EN– EN+ 4-pin Digital Inputs (IOD) Connector Plug 5 10 5 UFB-A 10 5 10 UFB-B 1 6 1 2 3 4 5 6 7 8 9 10 5 10 10-pin Digital Inputs (IOD) Connector Plug 2198-Pxxx DC-bus Power Supply (front view) D+ D- D+ D- MF-A MF-B Table 79 - Digital Inputs (IOD) Connector Specifications Drive Module Cat. No. 2198-Pxxx 2198-RPxxx 2198-Dxxx-ERSx 2198-Sxxx-ERSx IOD Pin Signal IOD-1 IOD-2 IOD-3 IOD-4 IOD-1 IOD-2 IOD-3 IOD-4 IOD-5 IOD-6 IOD-7 IOD-8 IOD-9 IOD-10 IN1 COM IN2 SHLD IN1 COM IN2 COM SHLD IN3 COM IN4 COM SHLD Recommended Wire Size mm2 (AWG) Strip Length mm (in.) Torque Value N•m (lb•in) 0.14…1.5 (26…16) 10.0 (0.39) N/A (1) 0.14…1.5 (26…16) 10.0 (0.39) N/A (1) (1) This connector uses spring tension to hold wires in place. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 143 Chapter 5 Connect the Kinetix 5700 Drive System Wire Motor Power and Brake Connectors 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 BC connector. On dual-axis inverters, the BC connectors are on either side of the MP connectors on the bottom of the drive. On single-axis inverters, the BC connector is on the front of the drive. • On 2198-S086-ERSx, 2198-S130-ERSx, and 2198-S160-ERSx single-axis inverters, the motor power connector and shield clamp are mounted to a separate bracket that plugs into the bottom of the drive and has mounting screws to hold it secure. Motor Power Connector Bracket (side view) 2198-S086-ERSx, 2198-S130-ERSx, and 2198-S160-ERSx Single-axis Inverter Clamp Bracket Clamp • On 2198-S263-ERSx and 2198-S312-ERSx single-axis inverters, the motor power connector is part of the drive. The clamp bracket is included with the drive, but requires some assembly. Hole for M8 Stud Bracket (front view) 2198-S263-ERSx and 2198-S312-ERSx Single-axis Inverter Clamp Bracket Clamp IMPORTANT 144 The clamp included with 2198-S263-ERSx and 2198-S312-ERSx inverters is compatible with Kinetix 2090 (4 and 2 AWG) motor power cable. Do not use the clamp for smaller or larger cables. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Connect the Kinetix 5700 Drive System Figure 92 - MP and BC Connector Wiring (dual-axis inverters) 2198-Dxxx-ERSx Dual-axis Inverters (2198-D006-ERS4 drive is shown) MOD NET 2 1 5 I/O-A 6 1 I/O-B Motor Brake (BC) Connector Plugs 6 10 5 10 UFB-A UFB-B MBRK-A –+ W-B V-B U-B MBRK-B –+ W-A V-A U-A D+ D- MF-B 2 1 W V U MF-A 2 1 D+ D- W V U 1 Motor Power (MP) Connector Plugs Kinetix 2090 Motor Power Cable (2090-CSxM1DE/DG cable is shown) Motor Cable Shield Clamp ATTENTION: Make sure the motor power connections are correct when wiring the MP connector plug and that the plug is fully engaged in the module connector. Incorrect wiring/polarity or loose wiring can cause damage to equipment. Table 80 - Motor Power (MP) Connector Specifications (dual-axis inverters) Dual-axis Inverter Cat. No. Pin 2198-D006-ERSx 2198-D012-ERSx 2198-D020-ERSx 2198-D032-ERSx Signal/Wire Color U V W U V W Brown Black Blue Green/Yellow Recommended Wire Size mm2 (AWG) Motor power cable depends on motor/ drive combination. Torque Value N•m (lb•in) 10.0 (0.39) 0.5…0.6 (4.4…5.3) 10.0 (0.39) 0.5…0.8 (4.4…7.1) 0.75…2.5 (1) (18…14) 2.5…6 (1) (14…10) 2198-D057-ERSx Strip Length mm (in.) (1) Building your own single cables or using third-party single cables with Kinetix VP motors and actuators is not an option. Use 2090-CSxM1DE/DG single motor cables. Refer to the Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004, for cable specifications. Table 81 - Motor Brake (BC) Connector Specifications Drive Module Cat. No. Pin Signal/ Wire Color Recommended Wire Size (AWG) Strip Length mm (in.) Torque Value N•m (lb•in) 2198-Dxxx-ERSx 2198-Sxxx-ERSx BC-1 BC-2 MBRK+/Black MBRK-/White N/A (1) 7.0 (0.28) 0.22…0.25 (1.9…2.2) (1) Motor brake wires are part of the Kinetix 2090 motor power cable. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 145 Chapter 5 Connect the Kinetix 5700 Drive System Figure 93 - 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) MOD NET 2 1 1 5 I/O 6 10 UFB – MBRK + 2 1 Motor Brake (BC) Connector Plug – MBRK + Tie Wrap W Motor Power (MP) Connector Plug V U Motor Power Connector Motor Cable Bracket Motor Cable Shield Clamp Motor Cable Shield Clamp Connector Flange Screws (2) 0.8 N•m (7.1 lb•in) Kinetix 2090 Motor Power Cable (2090-CSxM1DE/DG cable is shown) Attach the motor power wires to the motor power connector, plug in the motor feedback and brake connectors, and then connect the bracket to the drive. ATTENTION: Make sure the motor power connections are correct when wiring the MP connector plug. Insert the plug into the module connector and tighten flange screws to 0.8 N•m (7.1 lb•in). Incorrect wiring/polarity or loose wiring can cause damage to equipment. Table 82 - Motor Power (MP) Connector Specifications (single-axis inverters) Drive Module Cat. No. 2198-S086-ERSx 2198-S130-ERSx 2198-S160-ERSx Pin U V W Signal/Wire Color U V W Brown Black Blue Green/Yellow Recommended Wire Size Strip Length mm (in.) mm2 (AWG) Terminal Torque Value N•m (lb•in) Flange Torque Value, max N•m (lb•in) 2.5…4.5 (22…40) 0.8 (7.1) Motor power cable depends on motor/drive combination. 6…16 (1) (10…6) 10…35 (8…2) 20.0 (0.79) (1) Building your own single cables or using third-party single cables for Kinetix VP motors and actuators is not an option. Use 2090-CSxM1DE/DG single motor cables. Refer to the Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004, for cable specifications. 146 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Connect the Kinetix 5700 Drive System Figure 94 - MP and BC Connector Wiring (single-axis inverters) 2198-S263-ERSx or 2198-S312-ERSx Single-axis Inverters (side view) 2198-S263-ERSx or 2198-S312-ERSx Single-axis Inverters (front view) 2198-K57CK-D15M Motor Feedback Connector Kit - Motor Power (MP) Connector (bottom view) + W W Motor Cable Bracket V Motor Brake (BC) Connector Plug MBRK U V – MBRK + 2 1 U 21mm2 (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin) Motor Power Ground Terminal Screw: 8 mm Hex Driver Torque: 5.6 N•m (50 lb•in) Motor Power (MP) Connector Screws (3x): 6 mm Hex Driver Torque: 15…20 N•m (132…177 lb•in) Motor Cable Connections Kinetix 2090 Motor Power Cable (2090-CPBM7DF cable is shown) Install the motor cable bracket (see page page 161), then attach motor power and ground wires to the motor power connector and ground terminal. Plug in motor feedback and brake connectors. Table 83 - Motor Power and Brake Connector Specifications (single-axis inverters) Drive Module Cat. No. 2198-S263-ERSx 2198-S312-ERSx Pin Signal/Wire Color U V W U V W Brown Black Blue Green/Yellow Recommended Wire Size mm2 (AWG) Strip Length mm (in.) Terminal Torque Value N•m (lb•in) 21.1…120 (4…250 kcmil) 27.0 (1.06) 15…20 (132…177) Maximum Cable Lengths There are maximum cable length limitations that apply to the DC-bus cables (cluster to cluster) and motor power/brake and feedback cables (drive to motor). DC Bus Cluster-to-Cluster Cable Lengths In this example, the power supply (center) feeds two extended clusters. The following DC-bus cable length limitations apply: • • The maximum DC-bus cable length (power supply cluster to extended cluster) is 70 m (230 ft) The maximum total DC-bus cable length is 140 m (459 ft) IMPORTANT These examples feature the 2198-RPxxx regenerative bus supply, however, they also apply to the 2198-Pxxx DC-bus power supply. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 147 Chapter 5 Connect the Kinetix 5700 Drive System Figure 95 - Regenerative Bus Supply Example/Center Power Supply Cluster/104 A, max Extension Regenerative Capacitor Module Bus Supply Module Single-axis Capacitor DC-bus Conditioner Module Inverters Module DC-bus Conditioner Capacitor Single-axis Module Inverters Module DC+ DC+ 90 m (295 ft) x 2 axes = 180 m (591 ft) M 2198-CAPMOD-2240 70 m (230 ft), max 2198-Sxxx-ERSx DC– Circuit (1) Protection (optional) 2198-DCBUSCOND-RP312 (extended cluster) Cluster #3 70 m (230 ft), max 2198-CAPMOD-2240 Circuit (1) Protection (optional) 2198-RPxxx (power supply cluster) Cluster #2 2198-CAPMOD-DCBUS-IO 2198-DCBUSCOND-RP312 2198-CAPMOD-2240 (extended cluster) Cluster #1 2198-Sxxx-ERSx 2198-Sxxx-ERSx DC– 2198-Sxxx-ERSx DC Bus DC Bus 90 m (295 ft) x 2 axes = 180 m (591 ft) Motor Array Motor Array M (1) The National Electrical Code and local electrical codes take precedence over the values and methods provided. When the power supply is positioned right or left of the extended clusters, the maximum total DC-bus cable length is 70 m (230 ft). Figure 96 - Regenerative Bus Supply Example/Two Extended Clusters/208 A, max Extension DC-bus Conditioner Single-axis Module Inverters Module Capacitor Extension Module Module DC-bus Conditioner Capacitor Single-axis Module Inverters Module DC+ DC+ DC– 35 m (115 ft) 90 m (295 ft) x 2 axes = 180 m (591 ft) 90 m (295 ft) x 2 axes = 180 m (591 ft) M Motor Array M (1) The National Electrical Code and local electrical codes take precedence over the values and methods provided. IMPORTANT 148 2198-Sxxx-ERSx Circuit (1) Protection (optional) 2198-CAPMOD-2240 2198-CAPMOD-DCBUS-IO 2198-CAPMOD-2240 2198-Sxxx-ERSx 2198-Sxxx-ERSx 35 m (115 ft) 2198-DCBUSCOND-RP312 DC– 2198-CAPMOD-DCBUS-IO (extended cluster) Cluster #2 2198-CAPMOD-DCBUS-IO Circuit (1) Protection (optional) 2198-Sxxx-ERSx DC Bus DC Bus 2198-CAPMOD-2240 2198-RPxxx (power supply cluster) Cluster #1 DC Bus 2198-DCBUSCOND-RP312 (extended cluster) Cluster #3 Regenerative Capacitor Extension Module Module Bus Supply It is important to use low-inductance DC cable routing to help reduce the risk of voltage oscillations between clusters. Low-inductance DC cable routing can be achieved by means of positive and negative cables routed in parallel and as close to one another as possible, less than 0.3 m (1.0 ft). Size the DC cable in accordance with UL or applicable agency guidelines. The voltage drop across the DC cable can be further reduced by using a bigger cable size because voltage drop is directly proportional to cable resistance (see Recommended DC-bus Cable Gauge on page 149). Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Connect the Kinetix 5700 Drive System Table 84 - Recommended DC-bus Cable Gauge Recommended DC-bus Cable Gauge mm2 (AWG/MCM) Regenerative Bus Supply Cat. No. 2198-RP088 2198-RP200 2198-RP263 2198-RP312 53.5 (1/0) 152 (300 MCM) Recommended DC-bus Cable Gauge mm2 (AWG/MCM) DC-bus Power Supply Cat. No. 2198-P031 2198-P070 2198-P141 2198-P208 2198-P208 x 2 2198-P208 x 3 53.5 (1/0) 152 (300 MCM) Observe the following guidelines when installing DC-bus cable: • • • • • Use only unshielded cable for DC-bus voltage Use 1000V rated insulation cable in this application Make the DC+ and DC- cable distance as short as possible to help reduce cable inductance Twisting the DC-bus cable together is not required, but we recommend twisting to make sure the DC cables are routed close to each other To prevent nuisance bus-overvoltage faults, the maximum Bus Voltage Set Point reduces linearly from 750V DC to 715V DC as the DC-bus cable length per cluster increases from 0 to 70 m (230 ft) respectively. DC-bus Cable Length per Cluster (ft) Maximum Bus Voltage Set Point (Volts DC) 750 0 32.8 65.6 98.4 131 164 197 230 0 10 20 30 40 50 60 70 745 740 735 730 725 720 715 DC-bus Cable Length per Cluster (m) Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 149 Chapter 5 Connect the Kinetix 5700 Drive System Drive to Motor Cable Lengths Combined motor-power cable length for all axes on the same DC bus depends on the Kinetix 5700 system power supply in use. • • For applications that include the 2198-Pxxx DC-bus power supply and 2198-DBxx-F AC line filter, the maximum length is up to 400 m (1312 ft) - When 2198-P070, 2198-P141, and 2198-P208 DC-bus power supplies are used with 2198-DBRxx-F AC line filters, the maximum length is up to 1200 m (3937 ft) - When 2198-P031 DC-bus power supplies are used with 2198-DBxx-F or 2198-DBRxx-F line filters, the maximum length is up to 400 m (1312 ft) For applications that include the 2198-RPxxx regenerative bus supply and 2198-DBRxx-F AC line filter, the maximum length is up to 1200 m (3937 ft) The maximum drive-to-motor cable length for Kinetix 5700 drives and motor/ actuator combinations with 2090-CSxM1Dx cables is up to 90 m (295 ft), depending on the feedback type and overall system design. IMPORTANT For more information on maximum motor cable lengths, see Appendix D, beginning on page 385. This cable length example is based on the Kinetix 5700 system in Figure 95 on page 148. Table 85 - Combined Cable Length Example Cluster Extended Cluster #1 Power Supply Cluster #2 Extended Cluster #3 Total 150 Total Motor Power Cable Length m (ft) 180 (591) – 180 (591) 360 (1182) Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Total DC-bus Cable Length m (ft) 70 (230) – 70 (230) 140 (460) Chapter 5 Connect Single Cables Connect the Kinetix 5700 Drive System Kinetix 5700 inverters and Kinetix VPL, VPC-Q, VPF, VPH, VPS servo motors and Kinetix VPAR electric cylinder combinations use single motor-cable technology with motor power, feedback, and brake wires (when specified) housed in a single cable. Feedback wires are shielded separately and provide a shield braid for grounding in the connector kit. IMPORTANT Due to the unique characteristics of single cable technology, designed for and tested with Kinetix 5700 inverters and Kinetix VP motors and actuators, you cannot build your own single cables or use third-party single cables. Refer to the Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004, for cable specifications. Table 86 - Single Cable Catalog Numbers Motor /Actuator Cat. No. VPL-A/Bxxxx VPF-A/Bxxxx VPH-A/Bxxxx VPS-Bxxxxx VPC-Bxxxxx-Q VPAR-Bxxxxx Feedback Kit Cat. No. 2198-KITCON-DSL Motor Cable Cat. No. (with brake wires) 2090-CSBM1DE-xxxAxx (standard) cables 2090-CSBM1DE-xxxFxx (continuous-flex) cables Motor Cable Cat. No. (without brake wires) Feedback Connections 2090-CSWM1DE-xxxAxx (standard) cables 2198-KITCON-DSL kit is pre-wired to feedback conductors 2090-CSBM1DG-xxxAxx (standard) cables 2090-CSBM1DG-xxxFxx (continuous-flex) cables 2090-CSWM1DG-xxxAxx (standard) cables Flying-lead feedback conductors. 2198-KITCON-DSL connector kit is purchased separately Table 87 - Kinetix VPL, VPF, VPH, VPS, VPC-Q, and VPAR Motor/Actuator Compatibility Drive Module (1) Cat. No. 2198-Dxxx-ERSx 2198-Sxxx-ERSx Kinetix VPL Kinetix VPF Kinetix VPH Kinetix VPS X – X – X – X – VPC-Bxxxxx-Q (2) Kinetix VPAR X X – (1) For wiring to compatible motors with 2198-S160-ERSx drives, see Single-axis Inverter Power/Brake Cable Installation on page 159. For wiring to compatible motors with 2198-S263-ERSx, 2198-S312-ERSx drives, see Customer-supplied Motor Power Cables on page 169. (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 155 for VPC-Bxxxxx-S, VPC-B3004x-M, and VPC-Bxxxxx-Y motor cables intended for use with Kinetix 5700 drives. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 151 Chapter 5 Connect the Kinetix 5700 Drive System Motor Feedback Connections ATTENTION: When routing 2090-CSxM1DE cables through tight spaces, we recommend removing the 2198-KITCON-DSL feedback connector kit to avoid causing damage to the kit. 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 2198KITCON-DSL feedback connector kit must be purchased separately and installed. • Figure 97 - MF Connector Wiring Example 2198-Sxxx-ERSx Single-axis Inverters (2198-S086-ERS4 drive is shown) MOD NET 2 Refer to Kinetix 5500 Feedback Connector Kit Installation Instructions, publication 2198-IN002, for connector kit specifications. 2 1 1 1 Motor Feedback Connector Kits 2198-Dxxx-ERSx Dual-axis Inverters (2198-D006-ERS4 drive is shown) MOD NET I/O 5 6 1 10 5 UFB I/O-A 6 1 I/O-B 6 Mounting Screws (2) 10 5 10 UFB-A UFB-B 2198-KITCON-DSL Feedback Connector Kit Cover Clamp Screws (2) Exposed Shield D+ D- Connector Housing – MBRK + Feedback Cable (EPWR+, EPWR-) Internal Grounding Plate Motor Cable Shield Clamp Motor Cable Shield Clamp Table 88 - Motor Feedback (MF) Connector Specifications 152 Drive Module Cat. No. Pin 2198-Dxxx-ERSx 2198-Sxxx-ERSx MF-1 MF-2 Signal/ Wire Color D+/Blue D-/White/Blue Wire Size AWG Strip Length mm (in.) Torque Value N•m (lb•in) 22 10.0 (0.39) 0.4 (3.5) Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Connect the Kinetix 5700 Drive System Apply the Single Motor Cable Shield Clamp Factory-supplied Kinetix 2090 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. SHOCK HAZARD: To avoid hazard of electrical shock, make sure shielded power cables are grounded according to recommendations. These procedures assume you have completed wiring your motor power, brake, and feedback connectors and are ready to apply the cable shield clamp. Dual-axis Inverter Shield Clamp Installation Follow these steps to apply the dual-axis inverter cable shield clamp. 1. Loosen the clamp knob and determine if you need the clamp spacers. Clamp spacers are included with the dual-axis inverters for cable diameters that are too small for a tight fit within the drive clamp alone. The spacers are held captive by nylon rivets. Remove the rivets and spacers when your cable shield is of sufficient diameter for the clamp to hold the cable secure. IMPORTANT Use clamp spacers (supplied with drive) when the cable shield diameter is too small for a tight fit within the shield clamp. Remove the clamp spacers when not needed. Figure 98 - Dual-axis Inverter Shield Clamp Installation 2198-KITCON-DSL Motor Feedback Connector Kits D+ D- 2198-Dxxx-ERSx Dual-axis Inverter, (side view) D+ D- MF-A MF-B Exposed Shield Braid Under Clamp Motor Power (MP) and Motor Brake (BC) Connectors 2090-CSxM1DE/DG Single Motor Cables Service Loops Clamp Spacers (2) Rivets (2) Clamp Screw and Nut Kinetix 2090-CSBM1DE/DG Single Motor Cables Motor Cable Shield Clamp Clamp Knob (hand tighten) 2. Position the exposed portion of each cable braid directly in line with the clamp. 3. Hand tighten the clamp knob. Make sure the cable clamp tightens around the cable shield and provides a good bond between the cable shield and the drive chassis. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 153 Chapter 5 Connect the Kinetix 5700 Drive System 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. When the clamp knob is tightened, the result must be a high-frequency bond between the cable shield and the drive chassis. Make sure the clamp is aligned with the shield braid and not heat shrink. 4. Repeat step 1 through step 3 for each dual-axis inverter. Single-axis Inverter Shield Clamp Installation Single-axis inverters include a two-position cable-shield clamp. Use which ever clamp holds your cable shield firmly. Replacement clamps are available. Follow these steps to apply the single-axis inverter motor-cable shield clamp. 1. Remove the larger (lower position) clamp. 2. Loosen the clamp screw. Figure 99 - Cable Installation Example 2198-KITCON-DSL Motor Feedback Connector Kit Exposed Shield Braid Under Clamp 2198-Sxxx-ERSx Single-axis Inverter (front view) Clamp Screw (M10) – MBRK + Motor Brake (BC) Connector Motor Power (MP) Connector Motor Power Wires Small Cable Clamp (10, 8, 6 AWG) Large Cable Clamp (4 and 2 AWG) Motor Cable Shield Clamp Small Cable Clamp Kinetix 2090-CSxM1DE/DG Single Motor Cable 3. Position the exposed portion of the cable braid directly in line with the clamp. IMPORTANT Make sure the clamp is aligned with the shield braid and not the heat shrink. 4. Tighten the clamp screw. Make sure the cable clamp tightens around the overall cable shield and provides a good bond between the cable shield and the drive chassis. Torque value 5.6 N•m (50 lb•in), max. 5. Repeat step 1 through step 4 for each drive in multi-axis configurations. 154 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Connect Power/Brake and Feedback Cables Connect the Kinetix 5700 Drive System Kinetix 5700 drives are also compatible with many other Allen-Bradley® motors and actuators that have separate power/brake and 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. Motor Power and Brake Cables The motors and actuators in Table 89 have separate power/brake and feedback cables. The motor power/brake cable attaches to the cable clamp on the drive and the power/brake conductors attach to the MP and BC connectors, respectively. Table 89 - Motor Power Cable Compatibility Motor Power Cables (1) (with brake wires) Motor/Actuator Cat. No. MPL-A/B15xxx-xx7xAA, MPL-A/B2xxx-xx7xA MPL-A/B3xxx-xx7xAA…MPL-A/B9xxx-xx7xAA MPM-A/Bxxxx, MPF-A/Bxxxx, MPS-A/Bxxxx MPAS-Bxxxx1-V05SxA, MPAS-Bxxxx2-V20SxA MPAI-Bxxxx, MPAR-B3xxx (series B) MPAR-B1xxx and MPAR-B2xxx (series B or later) VPC-Bxxxxx-S VPC-B3004x-M, VPC-Bxxxxx-Y RDB-Bxxxx-7/3 MPAS-Bxxxxx-ALMx2C LDAT-Sxxxxxx-xDx LDAT-Sxxxxxx-xBx LDC-xxxxxx-xHTxx HPK-B/Exxxx, MMA-Bxxxxxx 2090-CPBM7DF-xxAAxx (standard) or 2090-CPBM7DF-xxAFxx (continuous-flex) Motor Power Cables (1) (without brake wires) 2090-CPWM7DF-xxAAxx (standard) or 2090-CPWM7DF-xxAFxx (continuous-flex) N/A Customer-supplied (2) (1) See the Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004, for cable specifications. (2) See Kinetix MMA Asynchronous Motor Frequently Asked Questions for Good Installation Processes, Knowledgebase article for additional information, “search Knowledgebase” for Kinetix MMA. Table 90 - Legacy Motor Power Cables Motor Cable Description Power/brake, threaded Power-only, bayonet Power/brake, threaded Power-only, threaded Power-only, bayonet Standard Continuous-flex Cat. No. 2090-XXNPMF-xxSxx 2090-XXNPMP-xxSxx 2090-CPBM4DF-xxAFxx 2090-CPWM4DF-xxAFxx 2090-XXTPMP-xxSxx Table 91 - Induction Motor Power Cable Specifications Cable Manufacturer Belden Lapp Group SAB Cable Series 29500-29507 ÖLFEX VFD XL VFD XLPE TR Voltage Rating Temperature Rating 600V 90 °C (194 °F) Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 155 Chapter 5 Connect the Kinetix 5700 Drive System Motor Power/Brake Cable Series Change Motor power and brake conductors on 2090-CPBM7DF (series A) cables have the following dimensions from the factory. If your cable is reused from an existing application, the actual conductor lengths could be slightly different. Figure 100 - 2090-CPBM7DF (series A) Power/brake Cable Dimensions 102 (4.0) Edge of Cable Jacket Dimensions are in mm (in.) Power Conductors 150 (5.9) Compatible Motors and Actuators Brake Conductors Overall Cable Shield Brake Shield (remove) 635 (25) Motor power and brake conductors on 2090-CPBM7DF (series B) 12 and 10 AWG standard, non-flex cables provide (drive end) shield braid and conductor preparation designed for compatibility with multiple Kinetix servo-drive families, including Kinetix 5700 drives. Figure 101 - 2090-CPBM7DF (series B, 10 or 12 AWG) Power/brake Cable Dimensions 305 (12.0) Dimensions are in mm (in.) 234 (9.20) 15.0 (0.59) 71 (2.80) Compatible Motors and Actuators 12.7 (0.50) 5.0 (0.20) Power Conductors Brake Conductors Overall Cable Shield Heat Shrink 5.0 (0.20) 8.0 (0.31) Dual-axis Inverter Power/Brake Cable Installation Dual-axis inverters are compatible with several Allen-Bradley motor families that require 16, 14, 12, and 10 AWG power/brake cables. Refer to Table 92 for the proper procedure designed for your 2090-CPxM7DF cable. SHOCK HAZARD: To avoid hazard of electrical shock, make sure shielded power cables are grounded according to recommendations. Table 92 - Cable Preparation for 2090-CPxM7DF Cables Cable Power Conductor Size AWG 16 and 14 12 and 10 156 Go to: Cable Preparation for 16 and 14 AWG Cables Cable Preparation for 12 and 10 AWG Cables Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Connect the Kinetix 5700 Drive System Cable Preparation for 16 and 14 AWG Cables For dual-axis inverters, the 2090-CPBM7DF power conductor length, 102 mm (4.0 in.), is sufficiently long to reach the MP connector plug and provides adequate stress relief. However, you must remove additional insulation from the power conductors to achieve a strip length of 10 mm (0.39 in.). The brake conductor length, 635 mm (25 in.), is much longer than necessary. We recommend that you measure 188 mm (7.4 in.) from the edge of the cable jacket (that is covered by heat shrink) and trim off the rest. Refer to Figure 102 and on page 158 for a typical installation example. For strip lengths and torque values, refer to Table 80 and Table 81 on page 145. 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. Follow these steps to prepare your existing (series A) 12 and 10 AWG cables. 1. Remove any heat shrink or small sections of cable jacket from your existing cable. 2. Remove additional cable jacket and shield braid from your cable following the diagram below. 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.) Edge of Cable Jacket Compatible Motors and Actuators 10.0 (0.39) Power Conductors 12 (0.50) 71 (2.8) Brake Shield (trimmed back) 305 (12) Brake Conductors 7.0 (0.28) 3. Apply heat shrink to the small section of cable jacket. Refer to Figure 103 for typical installation examples for series A and series B cables. For strip lengths and torque values, refer to Table 80 and Table 81 on page 145. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 157 Chapter 5 Connect the Kinetix 5700 Drive System Dual-axis Inverter Shield Clamp Installation Follow these steps to apply the dual-axis inverter cable shield clamp. 1. Loosen the clamp knob and determine if you need the clamp spacers. The power/brake cable shield attaches to the dual-axis inverter cable clamp. Clamp spacers are included with the dual-axis inverters for cable diameters that are too small for a tight fit within the drive clamp alone. The spacers are held captive by nylon rivets. Remove the rivets and spacers when your cable shield is of sufficient diameter for the clamp to hold the cable secure. IMPORTANT Most 2090-CPxM7DF power/brake cables require the spacers. Only 10 AWG cables with brake conductors have a diameter large enough to fit in the clamp without the spacers. 2. Position the exposed portion of each cable braid directly in line with the clamp. 3. Hand tighten the clamp knob. Make sure the cable clamp tightens around the cable shield and provides a good bond between the cable shield and the drive chassis. Only finger-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. When the clamp knob is tightened, the result must be a high-frequency bond between the cable shield and the drive chassis. Make sure the clamp is aligned with the shield braid and not heat shrink. Figure 102 - Dual-axis Inverter Cable Installation (16 and 14 AWG cable) UFB-A Universal Feedback (UFB) Connectors D+ D- UFB-B Dual-axis Inverter (front view) Dual-axis Inverter (side view) 2198-K57CK-D15M Motor Feedback Connector Kit D+ D- MF-A MF-B Motor Power (MP) and Motor Brake (BC) Connectors Nylon Rivet Stress Relief Bends Clamps Compressed Around Shields Close to the Heat Shrink Clamp Knob Clamp Spacer Conductors enter into the motor and brake connectors at approximately 90° (between 75° and 105° is acceptable). Kinetix 2090-CPBM7DF Power/Brake Cables 12 and 10 AWG (series A) cables, prepared as shown on page 157, and series B cables have longer conductors that support service loops. 158 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Connect the Kinetix 5700 Drive System Figure 103 - Dual-axis Inverter Cable Installation (series A and B, 12 and 10 AWG cable) Motor Power (MP) and Motor Brake (BC) Connectors Dual-axis Inverter (side view) 75°…105° Entry Into Connectors Service loops provide stress relief and the conductors enter into the motor and brake connectors at approximately 90° (between 75 and 105° is acceptable). IMPORTANT Clamps Compressed Around Shields Close to the Heat Shrink Kinetix 2090-CPBM7DF Power/Brake Cables Avoid sharp bends in the power and brake conductors. You must route the power and brake conductors from where they exit the clamp and enter the motor and brake connectors so that stress-relief bends or service loops are formed. 4. Repeat step 1 through step 3 for each dual-axis inverter. Single-axis Inverter Power/Brake Cable Installation All single-axis inverters include a cable-shield clamp bracket that is designed to ground (bond) 2090-CPBM7DF cable shields with the drive chassis. • • 2198-S086-ERSx, 2198-S130-ERSx, and 2198-S160-ERSx single-axis inverters include a two-position cable-shield clamp that accommodates 10, 8, 6, 4, and 2 AWG power conductors. The clamp bracket is connected to the motor power connector and ships with the drive. 2198-S263-ERSx and 2198-S312-ERSx single-axis inverters include a single-position cable-shield clamp that accommodates 4 and 2 AWG power conductors. The clamp bracket ships with the drive, but requires some assembly. 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. For single-axis inverters, the 2090-CPBM7DF (series A) cable power conductors, 102 mm (4.0 in.), require adjustment only when the smaller (upper position) clamp is used. The upper position is for smaller cables (10, 8, and 6 AWG). The lower position is for larger cables (4 and 2 AWG). We recommend that you measure from the edge of the cable jacket (that is covered with heat shrink) and trim the power conductors as shown in Table 93. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 159 Chapter 5 Connect the Kinetix 5700 Drive System Table 93 - Power Conductor Trimmed Length Power Conductor Size AWG 6 and 8 10 2 and 4 Power Conductor Length mm (in.) 75 (2.9) No trimming required 85 (3.3) The (series A) 2090-CPBM7DF brake conductor length, 635 mm (25 in.) is longer than necessary. Measure from the edge of the heat shrink and trim the brake conductors as shown in Table 94. Table 94 - Brake Conductor Trimmed Length Power Conductor Size AWG 6, 8, 10 2 and 4 Brake Conductor Length mm (in.) 315 (12.4) 375 (14.7) See Figure 104 on page 161 for a typical series-A installation example. For strip lengths and torque values, see Table 81 and Table 82 on page 145 and Table 83 on page 147. Single-axis Inverter Shield Clamp Installation Follow these steps to apply the 2198-S086-ERSx, 2198-S130-ERSx, and 2198-S160-ERSx single-axis inverter motor-cable shield clamp when using 2090-CPBM7DF motor power cables. 1. Remove the larger (lower position) clamp or small (upper position) clamp, depending on the power conductor size used in your application. IMPORTANT Make sure to use the proper size clamp depending on cable diameter. 2. Loosen the clamp screw. 3. Position the exposed portion of the cable braid directly in line with the clamp. IMPORTANT Make sure the clamp is aligned with the shield braid and not heat shrink. 4. Tighten the clamp screw. Make sure the cable clamp tightens around the overall cable shield and provides a good bond between the cable shield and the drive chassis. Torque value 5.6 N•m (50 lb•in), max. 160 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Connect the Kinetix 5700 Drive System In Figure 104, 10 AWG (series A) cables are prepared per Table 93 and Table 94 on page 160, and series B cables do not require preparation. Figure 104 - Single-axis Inverter Cable Installation (series A and B, 10 AWG cables) 2198-K57CK-D15M Motor Feedback Connector Kit Overall Cable Shield Under Clamp 2198-Sxxx-ERSx Single-axis Inverter (front view) Clamp Screw (M10) – MBRK + Motor Brake (BC) Connector Motor Power (MP) Connector Motor Power Wires Small Cable Clamp (10, 8, and 6 AWG) Large Cable Clamp (4 and 2 AWG) Motor Cable Shield Clamp Small Cable Clamp Kinetix 2090-CPBM7DF Power/Brake Cable 5. Repeat step 1 through step 4 for each drive in multi-axis configurations. Follow these steps to apply the 2198-S263-ERSx and 2198-S312-ERSx single-axis inverter motor-cable shield clamp when using 2090-CPBM7DF motor power cables. 1. Install the clamp bracket. a. Remove the M8 hex nut by using a 13 mm socket. b. Remove the termination block. c. Insert the cable clamp bracket over the M8 stud. d. Replace the termination block and hex nut. e. Tighten the hex nut to 5.6 N•m (50 lb•in), max. Ground Conductor Termination Block M8 Hex Nut 2198-S263-ERSx or 2198-S312-ERSx Single-axis Inverter (front/side view) M8 Stud Cable Clamp Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Cable Clamp Bracket 161 Chapter 5 Connect the Kinetix 5700 Drive System 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 Single-axis Inverter (bottom view) Captive Screw Ground Conductor Termination Block Cable Clamp Cable Clamp Bracket 3. Loosen the clamp screw. 4. Position the exposed portion of the cable braid directly in line with the clamp. IMPORTANT Make sure the clamp is aligned with the shield braid and not the heat shrink. 5. Tighten the clamp screw. Make sure the cable clamp tightens around the overall cable shield and provides a good bond between the cable shield and the drive chassis. Torque value 5.6 N•m (50 lb•in), max. In Figure 105, the Kinetix 2090 (4 and 2 AWG) cable requires no preparation. Figure 105 - Single-axis Inverter Cable Installation (4 and 2 AWG cables) 2198-S263-ERSx or 2198-S312-ERSx Single-axis Inverter (side view) 2198-K57CK-D15M Motor Feedback Connector Kit 2198-S263-ERSx or 2198-S312-ERSx Single-axis Inverter (front view) Motor Brake (BC) Connector - MBRK Overall Cable Shield Under Clamp + Clamp Screw (M10) W V U 21mm2 (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin) Motor Power (MP) Connector Cable Clamp Bracket Motor Power Conductors Cable Clamp Motor Cable Shield Clamp Kinetix 2090-CPBM7DF Power/Brake Cable 6. Repeat step 1 through step 5 for each drive in multi-axis configurations. 162 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 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 95 - Feedback Connector Kit Options Connector Kit Cat. No. 2198-H2DCK (series B or later) Kinetix 5700 Drive Feedback Connectors Encoder Feedback Type Description Motor feedback (MF) 2198-K57CK-D15M Universal feedback (UFB) Single-turn or multi-turn absolute Single-turn/ multi-turn absolute, incremental, or EnDat Converts the 15-pin Hiperface feedback signals from the encoder to 2-pin DSL feedback signals at the drive. Feedback signals pass straight through encoder to drive for motor feedback or auxiliary feedback. Feedback cables attach to the connector kit and are wired to the connector inside the connector kit. Kinetix 2090 feedback cables require preparation to make sure the shield clamp attaches properly and conductors route smoothly to the connector terminals. All of the current and legacy feedback cables listed below are compatible with the 2198-H2DCK converter kit and 2198-K57CK-D15M connector kit. Table 96 - Compatible Motors and Actuators Motor/Actuator Families Kinetix MPL servo motors Kinetix MPM servo motors Kinetix MPF servo motors Kinetix MPS servo motors Kinetix VPC servo motors Kinetix HPK asynchronous servo motors Kinetix MMA asynchronous main motors Kinetix MPAS/MPMA integrated linear stages Kinetix MPAR electric cylinders Kinetix MPAI heavy-duty electric cylinders Kinetix LDAT integrated linear thrusters Kinetix LDC iron-core linear motors Kinetix RDB motors Single-turn or Multi-turn Absolute Encoders Feedback Cable Motor /Actuator Cat. No. Cat. No. MPL-A/B15xxx…MPL-A/B2xxx-V/E MPL-A/B3xxx…MPL-A/B9xxx-M/S MPM-A/Bxxxxx-M/S MPF-A/Bxxxx-M/S MPS-A/Bxxxx-M/S VPC-Bxxxxx-S 2090-CFBM7DF-CEAAxx VPC-B3004x-M 2090-CFBM7DD-CEAAxx VPC-Bxxxxx-Y 2090-CFBM7DF-CERAxx (standard) or HPK-B/Exxxxxx-M/S 2090-CFBM7DF-CEAFxx MMA-Bxxxxxx-Mx 2090-CFBM7DD-CEAFxx MMA-Bxxxxxx-Sx 2090-CFBM7DF-CDAFxx (continuous-flex) MPAS-Bxxxxx-VxxSxA (ballscrew) MPAR-Bxxxxx MPAI-Bxxxxx LDAT-Sxxxxxx-xDx N/A 2090-XXNFMF-Sxx RDB-Bxxxx-7/3 2090-CFBM7DF-CDAFxx Incremental Encoders Motor/Actuator Cat. No. MPL-A/B15xxx…MPL-A/B2xxx-H MPL-A/B3xxx…MPL-A/B45xxx-H N/A N/A N/A Feedback Cable Cat. No. N/A 2090-XXNFMF-Sxx (standard) 2090-CFBM7DF-CDAFxx (continuous-flex) N/A MMA-Bxxxxxx-L2 MPAS-Bxxxxx-ALMx2C (direct drive) N/A N/A LDAT-Sxxxxxx-xBx LDC-xxxxxx-xHTxx N/A Table 97 - Legacy Motor Feedback Cables Motor Cable Description Cable Cat. No. Encoder feedback, threaded 2090-XXNFMF-Sxx 2090-UXNFBMF-Sxx Encoder feedback, bayonet 2090-UXNFBMP-Sxx 2090-XXNFMP-Sxx Encoder feedback, bayonet 2090-XXTFMP-Sxx Encoder feedback, threaded 2090-CFBM4DF-CDAFxx Standard Continuous-flex Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 163 Chapter 5 Connect the Kinetix 5700 Drive System 14 11 10 7 6 5 4 3 2 1 Figure 106 - 2198-H2DCK Converter Kit Pinout 10-pin Connector Terminal Signal Wire Color 1 2 3 4 5 SIN+ SIN– COS+ COS– DATA+ Black White/Black Red White/Red Green 6 ECOM (1) White/Gray 7 Orange 10 11 EPWR_9V (2) DATA– TS 14 EPWR_5V (2) Gray Strip Length mm (in.) Torque Value N•m (lb•in) 5.0 (0.2) 0.22…0.25 (1.9…2.2) White/Green White/Orange (1) The ECOM and TS- connections are tied together and connect to the cable shield. (2) The converter kit generates 9V and 5V from a 12V supply coming from the drive. The 9V supply is used by 9V encoders in 460V motors and actuators. 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Figure 107 - 2198-K57CK-D15M Connector Kit Pinout 16-pin Connector Terminal Signal 1 2 3 4 5 SIN+ SIN– COS+ COS– DATA+ 6 ECOM (1) EPWR_9V S3 CLK+ DATA– TS S1 S2 EPWR_5V CLK– Drain 7 8 9 10 11 12 13 14 15 16 Wire Color AM+ AM– BM+ BM– IM+ Strip Length mm (in.) Torque Value N•m (lb•in) 5.0 (0.2) 0.22…0.25 (1.9…2.2) Black White/Black Red White/Red Green White/Gray IM– Orange White/Yellow Brown White/Green White/Orange White/Blue Yellow Gray White/Brown N/A (1) The ECOM and TS- connections are tied together and connect to the cable shield. 164 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 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. Figure 108 - Lead Preparation for 2198-H2DCK Converter Kit Dimensions are in mm (in.) Cable Jacket Cable Shield 12.0 (0.5) 103 (4.0) 5.0 (0.2) 115 (4.5) Figure 109 - Lead Preparation for 2198-K57CK-D15M Connector Kit Dimensions are in mm (in.) Cable Jacket Cable Shield 5.0 (0.2) Drain Wire Drain Wire 12.0 (0.5) 97 (3.8) 110 (4.3) IMPORTANT For the 2198- K57CK-D15M universal connector kit, if your Kinetix 2090 motor cable does not include a drain wire, you must create one from the overall shield during wire preparation and connect it to pin 16. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 165 Chapter 5 Connect the Kinetix 5700 Drive System 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 highfrequency bond between the shield braid/drain wire and ground is required to optimize system performance. Also, make sure that the cable is positioned where the cover clamps onto the jacket for added stress relief. a. For the 2198-H2DCK converter kit, the shield clamp achieves a highfrequency bond between the shield braid and ground. Apply 0.30 N•m (2.6 lb•in) torque to the clamp screws. Shield Clamp Cable Positioned Where Cover Clamps Onto the Cable Jacket b. For the 2198- K57CK-D15M connector kit, you must attach the drain wire to pin 16 to achieve a high-frequency bond. IMPORTANT If your Kinetix 2090 motor cable does not include a drain wire, you must create one from the overall shield braid. Apply 0.34 N•m (3.0 lb•in) torque to the clamp screws. Drain Wire 16 15 3 41 12 11 10 1 Cable Positioned Where Cover Clamps Onto the Cable Jacket 2. Route and insert each wire to its assigned terminal. Include a service loop, as shown on page 168, and refer to the connector pinout on page 164. 3. Tighten each terminal screw. Apply 0.22…0.25 N•m (1.9…2.2 lb•in) torque to each screw. 4. Gently pull on each wire to make sure it does not come out of its terminal; reinsert and tighten any loose wires. 5. Attach the tie wrap for added stress relief. 166 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Connect the Kinetix 5700 Drive System Table 98 - 2090-CFBM7DF-CEAxxx Feedback Cables Rotary Motors Linear Actuators 1 2 3 4 5 6 9 10 11 12 13 MPL-A/B15xxx…MPL-A/B2xxx-V/Ex4/7xAA MPL-A/B3xxx…MPL-A/B9xxx-M/Sx7xAA MPF-A/Bxxx-M/S, MPS-A/Bxxx-M/S MPM-A/Bxxxxx-M/S, VPC-Bxxxxx-S, VPC-B3004x-M HPK-B/Exxxxx-M/S, MMA-Bxxxxxx-Sx/Mx MPAS-Bxxxxx-VxxSxA MPAR-Bxxxx MPAI-Bxxxx LDAT-Sxxxxxx-xDx 2198-H2DCK Converter Kit Pin SIN+ SIN– COS+ COS– DATA+ DATA– EPWR_5V ECOM EPWR_9V ECOM TS 1 2 3 4 5 10 – 6 (1) 7 6 11 Rotary Motors 2198-K57CK-D15M Connector Kit Pin VPC-Bxxxxx-Y, 2198-K57CK-D15M MMA-Bxxxxxx-S4/M4 Connector Kit Pin (EnDat) Linear Actuators 1 2 3 4 5 10 14 6 (1) 7 6 11 1 2 3 4 5 6 9 10 11 12 13 – – CLK+ CLK– DATA+ DATA– EPWR_5V ECOM – ECOM TS 1 2 9 15 5 10 14 6 (1) – 6 11 (1) The ECOM and TS- connections are tied together and connect to the cable shield. Table 99 - 2090-XXNFMF-Sxx or 2090-CFBM7DF-CDAxxx Feedback Cables Rotary Motors Linear Actuators 1 2 3 4 5 6 9 10 12 13 15 16 17 MPL-A/B15xxx…MPL-A/B2xxx-Hx4/7xAA MPL-A/B3xxx…MPL-A/B45xxx-Hx4/7xAA MPAS-Bxxxxx-ALMx2C LDAT-Sxxxxxx-xBx LDC-xxxxxx-xHTxx AM+ AM– BM+ BM– IM+ IM– EPWR_5V ECOM ECOM TS S1 S2 S3 RDB-Bxxxx-7/3, MMA-Bxxxxxx-S3/M3 2198-K57CK-D15M Connector Kit Pin (EnDat) SIN+ SIN– COS+ COS– DATA+ DATA– EPWR_5V ECOM ECOM TS – – – 1 2 3 4 5 10 14 6 (1) 6 11 12 13 8 (1) The ECOM and TS- connections are tied together and connect to the cable shield. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 167 Chapter 5 Connect the Kinetix 5700 Drive System 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. Figure 110 - Wiring the 2198-H2DCK Feedback Converter Kit Mounting Screws (2) D+ D- D+ D- MF-A 10-pin Connector MF-B Service Loops 14 11 10 7 6 5 4 3 2 1 Tie Wrap for Stress Relief and Wire Management The bottom mounting position applies to all dual-axis and single-axis inverters. Converter Kit Mounting Holes (2198-Dxxx-ERSx example is shown) Clamp Screws (2) 1. Place exposed cable shield in the channel. 2. Place the shield clamp over the exposed shield. 3. Tighten screws, torque 0.3 N•m (2.6 lb•in). Mounting Bracket Exposed Shield Aligned in the Cable Channel Shield Clamp Refer to Hiperface to DSL Feedback Converter Kit Installation Instructions, publication 2198-IN006, for converter kit specifications. Figure 111 - Wiring the 2198-K57CK-D15M Feedback Connector Kit UFB Pin 15 Mounting Screws 16-pin Connector Exposed Shield Aligned on the Ground Pad 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 2198-K57CK-D15M Connector Kit Pin 11 Pin 6 Pin 1 Service Loops Tie Wrap is recommended for Stress Relief and Wire Management Clamp Screws (2) Shield Clamp Kinetix 2090 Feedback Cable Refer to Universal Feedback Connector Kit Installation Instructions, publication 2198-IN010, for connector kit specifications. 168 Pin 10 Pin 5 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 1. Place exposed cable shield in the channel. 2. Place the shield clamp over the exposed shield. 3. Tighten screws, torque 0.34 N•m (3.0 lb•in). Chapter 5 Customer-supplied Motor Power Cables Connect the Kinetix 5700 Drive System 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 250 kcmil, customer supplied cable is necessary. IMPORTANT The cable clamp bracket and shield clamp, included with your drive, does not apply to customer supplied cables larger than 2 AWG. We recommend six conductor cables with three conductors for power and another three conductors that can be twisted together to form a suitable ground wire. Follow these steps to prepare customer-supplied motor power cables. 1. Remove 279 mm (11.0 in.) of the cable jacket. In addition, remove the same amount of shield braid, copper foil, or other overall shielding. 279 mm (11.0 in.) Typical End View Remove Overall Cable Shield 2. Separate the power conductors from the ground conductors. In this example, the power conductors are insulated and the ground conductors are not. 3. Twist the three ground conductors together to form a single ground conductor. 4. Apply heat shrink to the ground conductor. 27 mm (1.06 in.) Edge of Cable Jacket 25 mm (0.98 in.) 5. Apply heat shrink over the cable jacket and the four insulated conductors. 6. Trim the insulation to leave a strip length of 27 mm (1.06 in.) Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 169 Chapter 5 Connect the Kinetix 5700 Drive System Figure 112 - MP and BC Connector Wiring (single-axis inverters) 2198-S263-ERSx or 2198-S312-ERSx Single-axis Inverters (side view) 2198-S263-ERSx or 2198-S312-ERSx Single-axis Inverters (front view) 2198-K57CK-D15M Motor Feedback Connector Kit MBRK + W W V U Motor Brake (BC) Connector Plug - Motor Power (MP) Connector (bottom view) V – MBRK + 2 1 U 21mm2 (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin) Motor Power Ground Terminal Screw: 8 mm Hex Driver Torque: 5.6 N•m (50 lb•in) Customer-supplied Motor Brake Cable Motor Power (MP) Connector Screws (3x): 6 mm Hex Driver Torque: 15…20 N•m (132…177 lb•in) Motor Cable Connections Customer-supplied Motor Power Cable Prepare the customer-supplied motor power cable (see page 169), then attach motor power and ground wires to the motor power connector and ground terminal. Plug in motor feedback and brake connectors, as required for your application. IMPORTANT The supplied ground terminal is suitable for use with 16…120 mm2 (6 AWG…250 kcmil) Class B and C power cables and all Allen-Bradley Kinetix 2090 motor cables. A customer-supplied lug is required for all other applications. Table 100 - Motor Power Connector Specifications (single-axis inverters) Drive Module Cat. No. Pin Signal/Wire Color 2198-S263-ERSx 2198-S312-ERSx U V W U V W Brown Black Blue Green/Yellow Recommended Wire Strip Length Size mm (in.) mm2 (AWG) Terminal Torque Value N•m (lb•in) 21.1…120 (4…250 kcmil) 15…20 (132…177) 27.0 (1.06) If you replace the ground-conductor termination block with a lug, the lug size must not exceed these maximum dimensions. Figure 113 - Maximum Customer-supplied Lug Dimensions 25.4 mm (1.00 in.) 8 mm (0.315 in.) (inside diameter hole) 11.43 mm (0.45 in.) 170 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Lug size according to cable size and classification. Flexible wires (Class K…G) must use flex-rated lugs. 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 101 - Motor Brake (BC) Connector Specifications Drive Module Cat. No. Pin Signal Recommended Wire Size (AWG) Strip Length mm (in.) Torque Value N•m (lb•in) 2198-S263-ERSx 2198-S312-ERSx BC-1 BC-2 MBRK+ MBRK- 16 7.0 (0.28) 0.22…0.25 (1.9…2.2) Motors used with 2198-S263-ERSx and 2198-S312-ERSx inverters typically use a brake coil that is not 24V DC. In this case, use a customer-supplied auxiliary relay to power the customer-supplied brake coil. Accessory Module Connections Follow these guidelines when wiring the 2198-CAPMOD-2240 capacitor module, 2198-CAPMOD-DCBUS-IO extension module, and 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). • Flexible bus-bars (included with 2198-CAPMOD-DCBUS-IO extension modules) are required whenever two accessory modules are mounted side-by-side in 208 A systems. If your system does not include the extension module, order the 2198-KITCON-DCBUSCOND or 2198KITCON-CAPMOD2240 replacement kit. • Refer to DC-bus Power Supply with Capacitor Module wiring example on page 325. • Refer to Regenerative Bus Supply with DC-bus Conditioner Module wiring example on page 329. • Refer to Kinetix 5700 Accessory Module Status Indicators on page 263 for troubleshooting the module status indicators and relay output. IMPORTANT To improve system performance, run wires and cables in the wireways as established in Chapter 2. Connections to the DC bus must be made with the shared-bus connection system. Figure 114 - MS Connector Wiring (capacitor module and DC-bus conditioner module) MOD DC BUS 2198-CAPMOD-2240 Capacitor Module or 2198-DCBUSCOND-RP312 DC-bus Conditioner Module 2 Module Status (MS) Connector Plug 1 MODULE STATUS Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 171 Chapter 5 Connect the Kinetix 5700 Drive System Table 102 - Accessory Module Connector Specifications Connector Description Pin Signal Module Status PELV/SELV 24V power (plug) MS-1 MS-2 CP-1 CP-2 MS MS 24V+ 24V- DC-bus power Bus-bar N/A (1) N/A 53.5 (1/0 AWG) 104 A 152 (300 kcmil) 208 A DCDC+ Bus-bar DC-bus studs Lugs Recommended Wire Size mm2 (AWG) 0.14…1.5 (28…16) 0.5…4 (20…12) Strip Length mm (in.) Torque Value N•m (lb•in) 7.0 (0.28) 0.22…0.25 (1.9…2.2) 0.22…0.25 (1.9…2.2) 7.0 (0.28) N/A (1) N/A N/A (2) N/A (1) 18 (156) (1) DC bus connections are always made from one drive module to another over the shared-bus connection system. These terminals do not receive discrete wires. (2) Strip length for the DC-bus studs depend on the customer-supplied lugs. External Passive-shunt Connections Passive shunts attach to only 2198-Pxxx DC-bus power supplies. See Passive Shunt Considerations on page 51 for shunts compatible with your DC-bus power supply. Follow these guidelines when wiring your 2198-Rxxx passive shunt: • • • Refer to External Passive Shunt Modules on page 72 for noise zone considerations. Refer to Passive Shunt Wiring Examples on page 339. Refer to the installation instructions provided with your Bulletin 2198 shunt module, publication 2198-IN011. IMPORTANT To improve system performance, run wires and cables in the wireways as established in Chapter 2. Figure 115 - RC Connector Wiring 2198-Pxxx DC-bus Power Supply Top View Shunt Resistor (RC) Connector Plug 1 2 Table 103 - Shunt Resistor (RC) Connector Specifications DC-bus Power Supply Cat. No. Pin Signal 2198-Pxxx RC-1 RC-2 SH DC+ IMPORTANT 172 Recommended Wire Size mm2 (AWG) 1.5…6 (16…10) Strip Length mm (in.) Torque Value N•m (lb•in) 12.0 (0.47) 0.5…0.6 (4.4…5.3) You must disconnect the internal shunt wires at the RC connector before connecting the Bulletin 2198 passive shunt resistor wires. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 External Active-shunt Connections Connect the Kinetix 5700 Drive System Active shunts are available from the Rockwell Automation Encompass™ partner Powerohm Resistors, Inc. See Active Shunt Considerations on page 52 for Powerohm shunts compatible with your Kinetix 5700 power supply. Rockwell Automation Encompass Partners Powerohm Resistors, Inc. Contact Information 5713 13th Street Katy, Texas 77493 Tel: (800) 838-4694 https://www.hubbell.com/powerohm/en Follow these guidelines when wiring your Powerohm active shunt: • • • Refer to External Active Shunt Modules on page 74 for noise zone considerations. Refer to Active Shunt Wiring Examples on page 340. Refer to the installation instructions provided with your Bulletin PWBxxx and PKBxxx Powerohm shunt module. IMPORTANT To improve system performance, run wires and cables in the wireways as established in Chapter 2. DC-bus Power Supply Active Shunt Connections Make active shunt connections in drive systems that include the DC-bus power supply and Powerohm PKBxxx or PWBxxx active shunts at the external DC-bus studs on accessory modules. Refer to Wire the External DC-bus Connections on page 174. Regenerative Bus Supply Active Shunt Connections Make active shunt connections to the 2198-RPxxx regenerative bus supply at the active shunt (RC) connector or the external DC-bus studs on accessory modules, depending on the shunt type. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 173 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. Figure 116 - RC Connector Wiring 2198-RPxxx Regenerative Bus Supply Top View 1 Active Shunt (RC) Connector Plug 2 Table 104 - Active Shunt (RC) Connector Specifications Regenerative Bus Supply Cat. No. Pin Signal Continuous (1) Current, max 2198-RPxxx RC-1 RC-2 DC– DC+ 10 A Recommended Wire Size mm2 (AWG) 2.5…6 (14…10) Strip Length mm (in.) Torque Value N•m (lb•in) 12.0 (0.47) 0.5…0.6 (4.4…5.3) (1) This connector applies to only Powerohm PKBxxx-xxx active shunts rated at 7 kW or less. IMPORTANT Due to the 10 A connector current rating, connections to the RC connector are limited to only Powerohm PKBxxx-xxx active shunts rated at 7 kW or less. All other PKBxxx-xxx and PWBxxx-xxx active shunt connections must be made to the 2198-CAPMOD-2240 capacitor module. Connections at the External DC-bus Studs You can make active shunt connections in drive systems that include the regenerative bus supply and Powerohm PKBxxx-800 or PWBxxx-800 active shunts at the external DC-bus studs on accessory modules. Refer to Wire the External DC-bus Connections. Wire the External DC-bus Connections Accessory modules are equipped with spacers that slide onto the M8 studs. When the system configuration includes external DC-bus and active shunt connections, external DC-bus connections are made below the spacer and active shunt connections are made above the spacer. 174 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 5 Connect the Kinetix 5700 Drive System Figure 117 - Active Shunt Connections Spacer Active Shunt Lug Connections (above spacer) 2198-DCBUSCOND-RP312 2198-CAPMOD-2240 or 2198-CAPMOD-DCBUS-IO (1) Accessory Modules (2198-CAPMOD-2240 capacitor module is shown) DC-bus Lug Connections and Flexible Bus-bars (2) (below spacer) (1) An external active shunt can be wired to any of the accessory modules. See Mount Accessory Modules on page 81 for more information on mounting and accessory module example configurations. The 2198-CAPMOD-2240 capacitor module is preferred because it provides additional system capacitance. (2) Position flexible bus-bars (when two accessory modules are used) below the DC-bus lug connections. The flexible bus-bars are used to parallel the extended DC-bus with another accessory module in 208 A systems (not required when only one accessory module is used in 104 A systems). Flexible bus-bars are included with 2198-CAPMOD-DCBUS-IO extension modules or you can order 2198-KITCON-CAPMOD2240 or 2198-KITCON-DCBUSCOND replacement kits. Kinetix VPC Motors and the Extended Speed Feature The extended speed feature is implemented in the Logix Designer application to prevent accidental motor operation at unsafe speeds. See Field Weakening Mode on page 442 for a description of this feature. WARNING: Kinetix VPC motor operation at speeds exceeding the busovervoltage speed limit can result in personal injury and/or damage to the drive. To avoid equipment damage and personal injury, an active shunt must be configured in the Logix Designer application to protect the DC-bus system from an overvoltage condition. IMPORTANT Refer to Motion Analyzer software to verify drive/shunt system sizing. Access the tool at https://motionanalyzer.rockwellautomation.com. Powerohm Bulletin PKB and PWB active-shunt modules are required for DCbus system protection when Kinetix VPC motors are expected to operate in the extended speed region at speeds exceeding the bus-overvoltage speed limit. Considerations for Powerohm Shunt Installation Refer to the Powerohm documentation included with your Bulletin PKB or PWB shunt module to install, wire, and configure the module. • • To avoid nuisance thermal overload trips, configure Bulletin PKB and PWB active-shunt modules to the highest shunt turn-on voltage setting. The recommended setting for Line Voltage Level Jumper is JP5. Configure Bulletin PKB and PWB active-shunt modules in Internal (automatic) mode. Unless an external enable signal is provided, configure the Brake Enable Jumper in Internal (automatic) mode (JP6 is in the downward position). Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 175 Chapter 5 Connect the Kinetix 5700 Drive System 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 92 to locate the Ethernet connectors on your drive module. Refer to Figure 118 to locate the connectors on your Logix 5000 controller. Shielded Ethernet cable is required for EMC compliance and is available in several standard lengths. Ethernet cable lengths connecting drive-to-drive, drive-to-controller, or drive-to-switch must not exceed 100 m (328 ft). Refer to the Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004, for more information. Figure 118 - ControlLogix and CompactLogix Ethernet Port Locations CompactLogix™ 5370 Controller, Compact GuardLogix® 5370 Controller (CompactLogix 5370 controller is shown) ControlLogix® 5570 Controller with Bulletin 1756 EtherNet/IP Communication Module LNK1 LNK2 NET OK ControlLogix Ethernet Ports The 1756-EN2T modules have only one port, 1756-EN2TR and 1756-EN3TR modules have two. 2 Front Views 1 00:00:BC:2E:69:F6 Front View 1 (Front) 2 (Rear) Logix5585 TM SAFETY ON NET 0000 ControlLogix 5580 and GuardLogix 5580 Controller RUN FORCE SD LINK OK CompactLogix 5380 Controller, or Compact GuardLogix 5380 Controller (CompactLogix 5380 controller is shown) Front View Port 1, Front 1 GB Ethernet Port Port 2, Rear Bottom View The Logix 5000 controllers accept linear, ring (DLR), and star network configurations. Refer to Typical Communication Configurations on page 29 for linear, ring, and star configuration examples. 176 IMPORTANT When using an external Ethernet switch for routing traffic between the controller and the drive, switches with IEEE-1588 time synchronization capabilities (boundary or transparent clock) must be used to make sure switch delays are compensated. IMPORTANT When configured for standalone operation, the iTRAK power supply requires an Ethernet connection for firmware upgrades that use ControlFLASH™ or ControlFLASH Plus™ software. This connection can also be used to access real-time data, for example, event logging. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System This chapter provides procedures for configuring your Kinetix® 5700 drive system with a Logix 5000™ controller by using the Logix Designer application. Topic Understand the Kinetix 5700 Display Configure the Drive Studio 5000 Logix Designer Configure the Kinetix 5700 Drive Modules Configure the Motion Group Configure Regenerative Bus Supply Axis Properties Configure Vertical Load Control Axis Properties Configure Feedback-only Axis Properties Configure Induction-motor Frequency-control Axis Properties Configure IPM Motor Closed-loop Control Axis Properties Configure SPM Motor Closed-loop Control Axis Properties 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 Page 178 188 188 193 215 216 221 223 224 230 234 239 245 250 250 252 255 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. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 177 Chapter 6 Configure and Start the Kinetix 5700 Drive System Understand the Kinetix 5700 Display 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 parameters, and troubleshoot faults. Four navigation buttons, directly below the display, are used to select items from a soft menu. Figure 119 - Kinetix 5700 Drive LCD Display and Status Indicators PRECHARGE 192.168.1.1 DC BUS: 0.3V Status Indicators (see page 262) MOD– NET– 5700 PRECHARGE 192.168.1.1 DC BUS: 0.3V Navigation Buttons Soft Menu This is the Home • • screen. The setup selections are tied to the Setup (left-side) buttons and the menu selections are tied to the Menu (right-side) buttons. For dual-axis inverters, the Drive (center) buttons toggle the display between drive A and B (A is the default drive). DC-bus Power Supplies and Single-axis Inverters PRECHARGE 192.168.1.1 DC BUS: 0.3V Setup Menu Dual-axis Inverters PRECHARGE 192.168.1.1 DC BUS: 0.3V AB Setup Drive Menu The soft menu provides a changing selection that corresponds to the current screen. Use the navigation buttons to perform the following. Press to go back. Pressing enough times results in the Home screen. Pressing either arrow moves the selection to the next (or previous) item. When changing values, pressing the up arrow increments the highlighted value. Values rollover after reaching the end of the list. Press to select values to change, moving from right to left. Values rollover when reaching the end of the list. Each soft menu item is executed by pressing the navigation button directly below the item, as shown in this example. MAIN MENU MODULE INFO MOTOR INFO Press to select a menu item. Press to return to the Home screen. ? Press to display the fault help (possible solutions in troubleshooting tables). (1) (1) For Kinetix 5700 fault code descriptions and possible solutions, see Kinetix 5700 Servo Drive Fault Codes, publication 2198-RD003. 178 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System 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. You can use the soft menu items and navigation buttons to view the information. MAIN MENU MODULE INFO MOTOR INFO Table 105 - Navigating the Inverter Menu Menu/Sub Menu Selections Drive Info Motor Info Diagnostics> Drive Diagnostics Diagnostics> Motor Diagnostics Attributes Description Catalog number 2198-Dxxx-ERSx or 2198-Sxxx-ERSx Firmware revision FW REV: 1.1.450167 Hardware revision HW REV: 1.1 Serial number SERIAL#: xxxxxxxxxxx Model number MODEL: VPL-B1306F Serial number SERIAL#: xxxxxxxxxxx BUS VOLT: 0.0V Bus diagnostics BUS CUR: 0.0A INV UTIL: 0.0% Inverter diagnostics INV TEMP: 31.7C Motor speed SPEED:0.0 RPM Motor current MTR CUR:0.0A RMS Motor utilization MTR UTIL:0.0% Motor temperature MTR TEMP:0.00C Serial number SERIAL#xxxxxxxxxxx Resolution RESOLUTION: 262144 Number of turns NO OF TURNS: 1 Encoder temperature ENC TEMP:33.7C Supply voltage Diagnostics> Encoder Diagnostics Diagnostics> Safety Inputs Diagnostics> Safety Diagnostics SUPP VOLT:11.3V Link quality The link quality attribute indicates how noisy a communication link is and also indicates if there is a communication link already established at the drive end. The LINK QUAL value must always be 100%. Persistent values below 100% indicates a poor feedback ground connection. LINK QUAL: 100.0% Remote signal strength indicator Similar to Link Quality, RSSI reports the quality of link as seen at the motor end by the encoder. Maintain the RSSI value between 80 and 100%. Persistent values below 80% indicates a poor feedback ground connection. RSSI: 100.0% Accumulated position errors This is an aggregated number of errors in the primary position feedback channel of DSL feedback. POS ERRORS: 1 Channel position errors This is an aggregated number of errors on a secondary communication channel of the DSL feedback. CHNL ERRORS: 5 1 OFF Hardwired input status Safety state This attribute indicates the state of the safety supervisor object (refer to Safety Supervisor State on page 292. Input connections This attribute indicates the number of safety controllers that have an input connection established. The input connection provides the controller with the drive’s safety status. The drive supports up to three input connections. Output connections This attribute indicates the number of safety controllers that have an output connection established. The output connection provides a controller with the ability to control the drive's STO function. The drive allows only one output connection. Fault text Fault Log Example Values Fault details 2 OFF SAFETY STATE:CONFIGURING INPUT CONNECTIONS:1 OUTPUT CONNECTIONS:1 1 ON 2 ON SAFETY STATE:RUNNING INPUT CONNECTIONS:1 OUTPUT CONNECTIONS:1 FLT S20 - CONV OVERLOAD FL The converter thermal model indicates that the For Kinetix 5700 fault code descriptions and possible solutions, see Kinetix 5700 Servo Drive temperature has exceeded the factory set capacity Fault Codes, publication 2198-RD003. rating of 110%. • Reduce the number of drives in the same bus group • Reduce duty-cycle of commanded motion Fault help Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 179 Chapter 6 Configure and Start the Kinetix 5700 Drive System Table 106 - Navigating the DC-bus Power Supply Menu Menu/Sub Menu Selections Module Info Attributes Description Catalog number 2198-Pxxx Firmware revision FW REV: 1.1.450167 Hardware revision HW REV: 1.1 Serial number SERIAL#: xxxxxxxxxxx BUS VOLT: 0.0V Bus diagnostics Diagnostics> Converter Diagnostics BUS CUR: 0.0A CONV UTIL: 0.7% Converter diagnostics CONV TEMP: 31.7C Shunt utilization SHUNT UTIL: 0.0% FLT S18 - CONV OVERTEMP FL Fault text Fault Log Fault details For Kinetix 5700 fault code descriptions and possible solutions, see Kinetix 5700 Servo Drive Fault Codes, publication 2198-RD003. Fault help 180 Example Values The measured converter temperature has exceeded the factory set temperature limit. Reduce the number of drives in the same bus group. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System Table 107 - Navigating the Regenerative Bus Supply Menu Menu/Sub Menu Selections Module Info Attributes Description Example Values Catalog number 2198-RPxxx Firmware revision Hardware revision FW REV: 10.1.10500409 HW REV: 2.1 Serial number SERIAL#: xxxxxxxxxxx CONV UTIL: 0.7% CONV TEMP: 31.7C SHUNT UTIL: 0.0% Converter diagnostics Diagnostics> Converter Diagnostics Digital Inputs Digital Outputs Fault text Fault Log Fault details Fault help DC BUS: 0.0V IBUS: 0.0A CONV UTIL: 0.0% CONV TEMP: 22.6C PWR OUT: 0.0kW IGND:0.0A RMS AC FREQ: 0.1Hz IL1: 0.0A RMS IL2: 0.0A RMS IL3: 0.0A RMS VL1-2: 0.0V RMS VL2-3: 0.0V RMS VL3-1: 0.0V RMS VL1-N: 0.0V RMS VL2-N: 0.0V RMS VL3-N: 0.0V RMS VBUS REF: 690V SYNC STS: 0 ACT PWR: 0.0kW PF: 0.0 VAC UNBAL: 0.0% IAC UNBAL: 0.0% PHASE SEQ: 0.0 IN1: OFF IN2: OFF IN3: OFF IN4: OFF CONT ENABLE: 0 PWR SUP OK: 0 FLT S23 – AC PHASE LOSS For Kinetix 5700 fault code descriptions and possible solutions, see Kinetix 5700 Servo Drive One AC phase has been lost on the AC line to the Fault Codes, publication 2198-RD003. converter. Check AC input voltage on all phases. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 181 Chapter 6 Configure and Start the Kinetix 5700 Drive System Table 108 - Navigating the iTRAK Power Supply Menu Menu/Sub Menu Selections Module Info Attributes Description Example Values Catalog number 2198T-W25K-ER Firmware revision FW: 6.1.7100254 Hardware revision HW REV: 1.1 Serial number SERIAL#: xxxxxxxxxxx Bus diagnostics BUS VOLT: 0.0V OUT1 VOLT: 0.0V OUT1 AMPS: 0.0A Output 1 diagnostics OUT1 PWR: 0.0kW OUT1 UTIL: 0.0% Diagnostics> Converter Diagnostics OUT2 VOLT: 0.0V OUT2 AMPS: 0.0A Output 2 diagnostics OUT2 PWR: 0.0kW OUT2 UTIL: 0.0% Fault Log Converter diagnostics TOTAL PWR: 0.0kW Fault text FLT S38 - FUSE BLOWN Fault details Fault help For Kinetix 5700 fault code descriptions and possible solutions, see Kinetix 5700 Servo Drive The internal DC-bus power fuse is blown Fault Codes, publication 2198-RD003. Return drive for repair if fault continues Setup Screens The setup screens provide the means of changing drive settings, for example, the IP address. Press one of the setup buttons to access the setup screens. You can use the soft menu items and navigation buttons to view the information and make changes. Press • • to validate your changes: If the change is invalid, the value doesn’t change. If the change is valid, an asterisk appears next to the changed attribute. IMPORTANT 182 SETTINGS NETWORK DISPLAY STATIC IP IP ADDRESS* SUBNET MASK You must cycle control power to make network configuration changes persistent. In this example, the IP address was changed. The change takes affect and the asterisk disappears after control power is cycled. Display configuration changes take effect immediately. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System Table 109 - Navigating the Inverter Settings Menu Settings Menu Selections Sub Menu Selections Attributes Default Description Network Config ENABLED DISABLED ENABLED When Enabled (default), network configuration changes are not possible when a controller connection is open. Device Config ENABLED DISABLED ENABLED When Enabled (default), only attribute writes are possible when a controller connection is open. IP address 192.168.1.1 Indicates current IP address Protected Mode ->Static IP (1) Network DHCP Backlight Timeout Display Cyclic Data Select (2) Subnet mask 255.255.255.000 Indicates current subnet mask Gateway 192.168.001.254 Indicates current gateway On Turns DHCP on Off Turns DHCP off 30 sec…NEVER (NEVER=no timeout period, the backlight is always on) -> 3 min (1) Sets backlight timeout period of the display ->DC BUS (1) DC bus voltage INV UTIL Inverter utilization in percent INV TEMP Inverter temperature in °C MOTOR UTIL Motor utilization in percent SPEED RPM OUT PWR Output power in watts OUT FREQ Output frequency in hertz OUT CUR Output current in amps Set Contrast -10…+10 Factory Reset Reset Defaults? Are you sure? Resets drive to factory default state Safety Reset Ownership Are you sure? Resets safety ownership (reset fails after 30 seconds) Web 0 Contrast setting of the display Enabled Enables the web server ->Disabled Disables the web server (1) An arrow (->) appears in front of the chosen attribute indicating that this attribute is currently configured. This is also the factory default setting. (2) The DC bus voltage is one of several cyclic data attributes. You can select any of the Cyclic Data Select attributes to be displayed on the Home screen. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 183 Chapter 6 Configure and Start the Kinetix 5700 Drive System Table 110 - Navigating the DC-bus Power Supply Settings Menu Settings Menu Selections Sub Menu Selections Attributes Default Description Reset ENABLED DISABLED ENABLED When Enabled (default), identity object or safety resets are not possible when a controller connection is open. Network Config ENABLED DISABLED ENABLED When Enabled (default), network configuration changes are not possible when a controller connection is open. Flash Update ENABLED DISABLED ENABLED When Enabled (default), firmware updates are not possible when a controller connection is open. Device Config ENABLED DISABLED ENABLED When Enabled (default), only attribute writes are possible when a controller connection is open. IP address 192.168.1.1 Indicates current IP address Subnet mask 255.255.255.000 Indicates current subnet mask Gateway 192.168.001.001 Indicates current gateway Protected Mode ->Static IP (1) Network DHCP Backlight Timeout Display Cyclic Data Select (2) Set Contrast On Turns DHCP on Off Turns DHCP off 30 sec…NEVER (NEVER=no timeout period, the backlight is always on) -> 3 min (1) Sets backlight timeout period of the display ->DC BUS (1) DC bus voltage CONV UTIL Converter utilization in percent CONV TEMP Converter temperature in °C SHUNT UTIL Shunt utilization in percent OUT PWR Output power in watts DC BUS CUR Output current in amps -10…+10 0 Contrast setting of the display (1) An arrow (->) appears in front of the chosen attribute indicating that this attribute is currently configured. This is also the factory default setting. (2) The DC bus voltage is one of several cyclic data attributes. You can select any of the Cyclic Data Select attributes to be displayed on the Home screen. 184 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System Table 111 - Navigating the Regenerative Bus Supply Settings Menu Settings Menu Selections Sub Menu Selections Attributes Default Description Reset ENABLED DISABLED ENABLED When Enabled (default), identity object or safety resets are not possible when a controller connection is open. Network Config ENABLED DISABLED ENABLED When Enabled (default), network configuration changes are not possible when a controller connection is open. Flash Update ENABLED DISABLED ENABLED When Enabled (default), firmware updates are not possible when a controller connection is open. Device Config ENABLED DISABLED ENABLED When Enabled (default), only attribute writes are possible when a controller connection is open. IP address 192.168.1.1 Indicates current IP address Subnet mask 255.255.255.000 Indicates current subnet mask Gateway 192.168.001.001 Indicates current gateway Protected Mode ->Static IP (1) Network DHCP Backlight Timeout Display Cyclic Data Select (2) On Turns DHCP on Off Turns DHCP off 30 sec…NEVER (NEVER=no timeout period, the backlight is always on) -> 3 min (1) -> DC BUS DC bus voltage CONV UTIL Converter utilization in % Rated CONV TEMP Converter temperature in °C PWR OUT Output power in Watts IBUS Output current in Amps AC FREQ Input frequency in Hz IAC LINE AC Line current in Amps VAC LINE AC Line voltage in Volts VBUS REF Bus Voltage Reference in Volts ACTV PWR Active power in Watts REACT PWR Reactive power in kVAR PF Power Factor ACTV IREF Active Current reference in % Rated REACT IREF Set Contrast Web Sets backlight timeout period of the display Reactive current reference in % Rated -10…+10 0 Contrast setting of the display ENABLED DISABLED ENABLED When Enabled (default), the drive's diagnostic webpage is accessible. (1) An arrow (->) appears in front of the chosen attribute indicating that this attribute is currently configured. This is also the factory default setting. (2) The DC bus voltage is one of several cyclic data attributes. You can select any of the Cyclic Data Select attributes to be displayed on the Home screen. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 185 Chapter 6 Configure and Start the Kinetix 5700 Drive System Table 112 - Navigating the iTRAK Power Supply Settings Menu Settings Menu Selections Sub Menu Selections Static IP (1) Network Default IP address 192.168.1.1 Indicates current IP address Subnet mask 255.255.255.000 Indicates current subnet mask Gateway 192.168.001.254 Indicates current gateway ->On ->DHCP (2) (2) (1) Cyclic Data Select (3) Turns DHCP off 30 sec…NEVER (NEVER=no timeout period, the backlight is always on) -> 3 min (2) Web DC bus voltage in volts OUT1 VOLT Output 1 voltage in volts OUT1 AMPS Output 1 current in amps OUT1 PWR Output 1 power in kilowatts OUT1 UTIL Output 1 utilization in percent OUT2 VOLT Output 2 voltage in volts OUT2 AMP Output 2 current in amps OUT2 PWR Output 2 power in kilowatts OUT2 UTIL Output 2 utilization in percent Total power in kilowatts Contrast setting of the display Enables the web server Disables the web server Disabled Network Config Flash Update Device Config Disables drive reset protection ->Enabled (2) Enables drive reset protection Disabled Disables network configuration protection ->Enabled (2) Enables network configuration protection Disabled Disables flash update protection ->Enabled (2) Enables flash update protection Disabled Disables device configuration protection ->Enabled (2) Enables device configuration protection ->Disabled Disables standalone operation Enabled (2) Enables standalone operation The default network setting was changed from Static IP to DHCP in drive firmware revision 12.001 to comply with EtherNet/IP™ standards An arrow (->) appears in front of the chosen attribute indicating that this attribute is currently configured. This is also the factory default setting. The DC bus voltage is one of several cyclic data attributes. You can select any of the Cyclic Data Select attributes to be displayed on the Home screen. Settings menu items available for the iTRAK power supply in drive firmware revision 12.001 and later. Protected mode settings prevent the corresponding operation from being performed when Class 1 CIP™ connections are open. IMPORTANT 186 0 ->Disabled (2) Protect (4) (5) (1) (2) (3) (4) (5) -10…+10 Enabled Reset Standalone (4) Sets backlight timeout period of the display -> BUS VOLT (2) TOTAL PWR Set Contrast Description Turns DHCP on Off (1) Backlight Timeout Display Attributes Standalone mode was added to the iTRAK® power supply in drive firmware revision 12.001 to provide backward compatibility with iTRAK medium frame systems. Enable Standalone operation only when providing power to iTRAK medium frame systems. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System Startup Sequence On initial powerup, the drive performs a self test. Upon successful completion, the drive firmware revision is displayed. Kinetix 57 until Kinetix 5700 is spelled out… Kinetix 5700 then… SELF-TEST FW REV: 3.1 75% until the test is complete… SELF-TEST FW REV: 3.1 100% Next, the CIP axis state, the IP address, and the default cyclic data attribute (in this example DC-bus voltage) appears. In addition, the setup and menu soft keys are displayed. This is the Home screen. PRECHARGE 192.168.1.1 DC BUS: 0.3V <-- Axis State <-- IP Address <-- Cyclic Data Attribute In this example PRECHARGE is the axis state attribute. Table 113 lists the other axis states and their descriptions. Table 113 - CIP Axis States on the Home Screen Axis State STANDBY CONNECTING CONFIGURING SYNCING STOPPED PRECHARGE STARTING RUNNING TESTING STOPPING ABORTING MAJOR FAULTED START INHIBITED SHUTDOWN Description The drive is waiting to receive configuration information from the controller. The drive is trying to establish communication with the EtherNet/IP controller. The drive is receiving configuration information from the controller. The drive is waiting for a successful Group Sync service. The drive has DC bus ready, but the control loops are not enabled. The drive is ready for mains input power. The drive is enabled and checking various conditions before entering the RUNNING or TESTING state. For example, the drive checks the Brake Release delay time during the STARTING state. • The drive is enabled, configured with an active control mode, and actively tracking a command. • The drive is configured for No Control and is fully operational. The drive is actively executing a test procedure, for example, a hookup test. The drive is decelerating to a stop as the result of a disable. The drive is decelerating to a stop as the result of a fault or an abort request. The drive is faulted due to an existing or past fault condition. The drive has an active condition that inhibits it from being enabled. The drive has been shut down. For more information on the 2198-RPxxx regenerative bus supply CIP axis states, see Regenerative Bus Supply Sequence Operation on page 393. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 187 Chapter 6 Configure and Start the Kinetix 5700 Drive System Configure the Drive You can include the drive in your Studio 5000 Logix Designer® application by adding it to a configured EtherNet/IP module or controller under the I/O configuration tree. After setting network parameters, you can view the drive status information in Studio 5000® environment and use it in your Logix Designer application. Set the Network Parameters You must program network parameters by using the LCD display. 1. From the LCD display, select SETUP>NETWORK and choose between STATIC IP and DHCP. The default setting is STATIC IP. 2. If STATIC IP, then press • IP address • Gateway • Subnet mask to configure the following parameters: Settings are stored in nonvolatile memory. IP addressing can also be changed through the Module Configuration dialog box in RSLinx® software. Changes to the IP addressing take effect after power is cycled. The drive is factory programmed to static IP address of 192.168.1.1. Refer to Setup Screens on page 182 for help setting the network parameters. Studio 5000 Logix Designer For help using the Studio 5000 Logix Designer application as it applies to configuring the ControlLogix® or CompactLogix™ controllers, refer to Additional Resources on page 13. Version History Each release of the Studio 5000 Logix Designer application makes possible the configuration of additional Allen-Bradley® motors, actuators, power supplies, and drive features not available in previous versions. IMPORTANT 188 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 114 to determine if you need to install the Kinetix 5700 Add-on Profile. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System Table 114 - AOP Installation Requirement Drive Module Cat. No. Designer Application Drive Firmware Revision Logix Version 26.00 or 27.00 4.001 28.00 or later 26.00, 27.00, 28.00 5.001 29.00 or later Kinetix 5700 AOP Needed? Yes No Yes No 7.001 or later (1) 29.00 or later No 2198-xxxx-ERS3 (series B or later) 2198-xxxx-ERS4 9.001 or later (1) 31.00 or later No 2198-RPxxx 10.001 or later (1) 32.00 or later No 11.001 or later 32.00 Yes 12.001 or later 33.00 Yes 13.001 or later (1) 33.00 or later No 2198-xxxx-ERS3 (series A) (2) for: CIP Security™ 2198-Pxxx, 2198-RPxxx 2198-xxxx-ERS3 (series B or later) 2198-xxxx-ERS4 2198T-W25K-ER 2198-xxxx-ERS3 (series B or later) 2198-xxxx-ERS4 (1) These firmware enhancements are available only with the applicable Studio 5000 Logix Designer, version. There is no AOP available for download. (2) For information on CIP Security, see CIP Security on page 12. 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. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 189 Chapter 6 Configure and Start the Kinetix 5700 Drive System Configure the Logix 5000 Controller These procedures assume that you have wired your Kinetix 5700 drive system. In this example, the GuardLogix® 5580 safety controller and Compact GuardLogix 5380 controller dialog boxes are shown. Follow these steps to configure the controller. 1. Apply power to your controller and open your Logix Designer application. 2. From the Create menu, choose New Project. The New Project dialog box appears. IMPORTANT 190 If you are configuring a safety application, you must use a GuardLogix or Compact GuardLogix safety controller. If you are configuring a 2198-xxxx-ERS4 inverter in a safety application, you must use a GuardLogix 5580 or Compact GuardLogix 5380 safety controller. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System In this example, the typical dialog boxes for ControlLogix and GuardLogix 5580 controllers and CompactLogix 5380 controllers with embedded Ethernet are shown. Follow these steps to configure your Logix 5000 controller. 1. Expand the Logix 5000 controller family and select your controller. 2. Type the file Name. 3. Click Next. The New Project dialog box appears. 4. From the Revision pull-down menu, choose your 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. The new controller appears in the Controller Organizer under the I/O Configuration folder. Controller Organizer with Compact GuardLogix 5380 controller. Controller Organizer with GuardLogix 5580 controller. 6. From the Edit menu, choose Controller Properties. The Controller Properties dialog box appears. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 191 Chapter 6 Configure and Start the Kinetix 5700 Drive System 7. Click the Date/Time tab. 8. Check Enable Time Synchronization. The motion modules set their clocks to the module you assign as the Grandmaster. IMPORTANT Check Enable Time Synchronization for all controllers that participate in CIP Sync™. The overall CIP Sync network automatically promotes a Grandmaster clock, unless the priority is set in Advanced. 9. Click OK. 192 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure the Kinetix 5700 Drive Modules Configure and Start the Kinetix 5700 Drive System The Kinetix 5700 drive modules consist of the power supply, optional iTRAK power supply, and inverter modules. IMPORTANT To configure Kinetix 5700 drive systems, you must be using the Logix Designer application, version 26.00 or later. IMPORTANT When the iTRAK power supply is configured for Standalone operation, the Logix Designer application is not used. For more information, see iTRAK System with TriMax Bearings User Manual, publication 2198T-UM002. Configure the DC-bus Power Supply Follow these steps to configure the DC-bus power supply. 1. Below the controller you just created, right-click Ethernet and choose New Module. The Select Module Type dialog box appears. Enter 2198 here to further limit your search. 2. By using the filters, check Motion and Allen-Bradley, and select your 2198-Pxxx DC-bus power supply as appropriate for your hardware configuration. 3. Click Create. The New Module dialog box appears. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 193 Chapter 6 Configure and Start the Kinetix 5700 Drive System 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. c. Enter the address of your 2198-Pxxx DC-bus power supply. In this example, the last octet of the address is 1. 5. Click the Power category. IMPORTANT The Logix Designer application enforces shared-bus configuration rules for Kinetix 5700 drives. 6. From the pull-down menus, choose the power options appropriate for your hardware configuration. Attribute Menu Description Bus Configuration Shared AC/DC (1) Applies to 2198-Pxxx DC-bus power supply (converter) modules. Bus Sharing Group (2) • Group1 • Group2 • Group3… Applies to any bus-sharing configuration. Disabled Disables the internal shunt resistor and external shunt option. Shunt Regulator Enables the internal and external shunt options. Internal Enables the internal shunt (external shunt option is disabled). External Enables the external shunt (internal shunt option is disabled). • None • 2198-R004, 2198-R014 • 2198-R031, 2198-R127 Selects external shunt option. Only the shunt catalog number intended for the specific DC-bus power supply is shown. Bus Regulator Action Shunt Regulator Resistor Type External Shunt (3) (1) Shared AC/DC bus configuration is the default selection for DC-bus power supplies. (2) For more information on bus-sharing groups, refer to Understand Bus-sharing Group Configuration on page 252. (3) Refer to the Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003, for more information on the Bulletin 2198 external passive shunt resistors. ATTENTION: To avoid damage to equipment all modules physically connected to the same shared-bus connection system must be part of the same Bus Sharing Group in the Logix Designer application. 7. Click OK to close the New Module dialog box. To configure the remaining DC-bus power supply properties, you must close the New Module dialog box and reopen it as the Module Properties dialog box. 8. Click Close to close the Select Module Type dialog box. 194 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System 9. To open the Module Properties dialog box, right-click the DC-bus power supply you just created in the Controller Organizer and choose Properties. 10. Click the Digital Input category. 11. 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. In this example, Bus Capacitor OK is chosen. 12. Click the Associated Axes category. 13. Click New Axis. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 195 Chapter 6 Configure and Start the Kinetix 5700 Drive System The New Tag dialog box appears. 14. Type the axis Name. AXIS_CIP_DRIVE is the default Data Type. 15. Click Create. The axis (Axis_1 in this example) appears in the Controller Organizer under Motion Groups> Ungrouped Axes and is assigned as Axis 1. 16. Click Apply. 17. Repeat step 1 through step 16 if you have more than one 2198-P208 DC-bus power supply. 196 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System Configure the Regenerative Bus Supply Follow these steps to configure the regenerative bus supply. 1. Below the controller you just created, right-click Ethernet and choose New Module. 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. 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. c. Enter the address of your 2198-RPxxx regenerative bus supply. In this example, the last octet of the address is 1. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 197 Chapter 6 Configure and Start the Kinetix 5700 Drive System 5. Click the Power category. IMPORTANT The Logix Designer application enforces shared-bus configuration rules for Kinetix 5700 drives. 6. From the pull-down menus, choose the power options appropriate for your hardware configuration. Attribute Menu Description Bus Configuration Shared AC/DC (1) Applies to 2198-RPxxx regenerative bus supply modules. Bus Sharing Group (2) • Group1 • Group2 • Group3… Applies to any bus-sharing configuration. (1) Shared AC/DC bus configuration is the default selection for regenerative bus supplies. (2) For more information on bus-sharing groups, refer to Understand Bus-sharing Group Configuration on page 252. ATTENTION: To avoid damage to equipment all modules physically connected to the same shared-bus connection system must be part of the same Bus Sharing Group in the Logix Designer application. 7. Click OK to close the New Module dialog box. To configure the remaining regenerative bus supply properties, you must close the New Module dialog box and reopen it as the Module Properties dialog box. 8. Click Close to close the Select Module Type dialog box. 9. To open the Module Properties dialog box, right-click the regenerative bus supply you just created in the Controller Organizer and choose Properties. 198 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System 10. Click the Digital Input category. 11. From the Digital Input pull-down menu choose Bus Conditioner OK or AC Line Contactor OK to monitor your DC-bus conditioner module status or the M1 contactor status, respectively, depending on your application. In this example, Bus Capacitor OK is chosen. 12. Click the Associated Axes category. 13. Click New Axis. The New Tag dialog box appears. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 199 Chapter 6 Configure and Start the Kinetix 5700 Drive System 14. Type the axis Name. AXIS_CIP_DRIVE is the default Data Type. 15. Click Create. The axis (Axis_1 in this example) appears in the Controller Organizer under Motion Groups> Ungrouped Axes and is assigned as Axis 1. 16. Click Apply. 17. Repeat step 1 through step 16 if you have more than one 2198-RPxxx regenerative bus supply. Configure the iTRAK Power Supply Follow these steps to configure the iTRAK power supply. 1. Below the controller you just created, right-click Ethernet and choose New Module. The Select Module Type dialog box appears. Enter 2198 here to further limit your search. 2. Select your 2198T-W25K-ER power supply. 3. Click Create. 200 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 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. c. Enter the address of your iTRAK power supply. In this example, the last octet of the address is 1. 5. Click the Power category. IMPORTANT The Logix Designer application enforces shared-bus configuration rules for Kinetix 5700 drives. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 201 Chapter 6 Configure and Start the Kinetix 5700 Drive System 6. From the pull-down menus, choose the power options appropriate for your hardware configuration. Attribute Menu Description Bus Configuration Shared DC/DC (1) Applies to iTRAK power supply modules. Primary Bus-sharing Group (2) • Group1 • Group2 Secondary Bus-sharing Group • Group3… Bus Regulator Action Shunt Regulator Resistor Type External Shunt Selects the Bus Sharing Group shared with the AC/DC converter suppling DC voltage to the iTRAK power supply. Selects the Bus Sharing Group shared with the iTRAK Small Frame modules connected to the iTRAK power supply output. Disabled Disables the internal shunt resistor and external shunt option. Shunt Regulator Enables the internal and external shunt options. Internal Enables the internal shunt (external shunt option is disabled). External Enables the external shunt (internal shunt option is disabled). None (3) Selects external shunt option. (1) Shared DC/DC bus configuration is the default selection for iTRAK power supplies. (2) For more information on bus-sharing groups, refer to Understand Bus-sharing Group Configuration on page 252. For more information on primary and secondary bus-sharing groups, see iTRAK 5730 System User Manual, publication 2198T-UM003. (3) The iTRAK power supply does not support external shunts. ATTENTION: To avoid damage to equipment all modules physically connected to the same shared-bus connection system must be part of the same Bus Sharing Group in the Logix Designer application. 7. Click OK to close the New Module dialog box. To configure the remaining iTRAK power supply properties, you must close the New Module dialog box and reopen it as the Module Properties dialog box. 8. Click Close to close the Select Module Type dialog box. 9. To open the Module Properties dialog box, right-click the iTRAK power supply you just created in the Controller Organizer and choose Properties. 10. Click the Digital Input category. 11. From the Digital Input pull-down menu choose Enable (default) to monitor an external enable input signal or choose Unassigned depending on your application. In this example, Enable is chosen. 202 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System 12. Click the Associated Axes category. 13. Click New Axis. The New Tag dialog box appears. 14. Type the axis Name. AXIS_CIP_DRIVE is the default Data Type. 15. Click Create. The axis (Axis_1 in this example) appears in the Controller Organizer under Motion Groups> Ungrouped Axes and is assigned as Axis 1. 16. Click Apply. 17. Repeat step 1 through step 16 if you have more than one iTRAK power supply. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 203 Chapter 6 Configure and Start the Kinetix 5700 Drive System 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. The Select Module Type dialog box appears. This example shows the 2198-Sxxx-ERSx single-axis inverters you can choose from. 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. 3. Click Create. 204 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System The New Module dialog box appears. 4. Configure the new drive. a. Type the drive Name. b. Select an Ethernet Address option. In this example, the Private Network address is selected. c. Enter the address of your 2198-xxxx-ERSx inverter. In this example, the last octet of the address is 6. d. Click Advanced if using network address translation with safety connection to add drive module configured IP address. 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. Table 115 - How to Navigate Module Definition For Drive Cat. No. 2198-xxxx-ERS3 (series A) 2198-xxxx-ERS3 (series B or later) 2198-xxxx-ERS4 Logix Designer Version 30 or earlier 31 or later Drive Firmware Revision Go to: 7 or earlier Configure Module Definition for 2198-xxxx-ERS3 (series A) Drives on page 206 Configure Module Definition for 2198-xxxx-ERS4 and 2198-xxxx-ERS3 (series B or 9 or later later) Drives on page 207 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 205 Chapter 6 Configure and Start the Kinetix 5700 Drive System Configure Module Definition for 2198-xxxx-ERS3 (series A) Drives 1. Under Module Definition click Change. The Module Definition dialog box appears. Depending on the Module Definition revision selection, alternate product features and feedback types can be selected. 2. From the Connection pull-down menu, choose the Connection mode for your motion application. When ‘Safety’ appears in the Connection mode, integrated safety is implied. IMPORTANT If the STO bypass jumper wires were applied during machine commissioning or maintenance, they must be removed before the drive will operate in Integrated (Networked) safety mode. Table 116 - Module Connection Definitions Connection Mode Safety Options Description Motion and Safety Integrated mode Motion connections and integrated STO are managed by this controller. Motion Only • Hardwired STO mode • Integrated mode if there is a secondary safety controller • Motion connections are managed by this controller. • Hardwired STO is controlled by the hardwired safety inputs or Integrated is managed by another controller that has a Safety-only connection to the drive. Safety Only Integrated mode • Integrated STO is managed by this controller. • Motion connections are managed by another controller that has a Motion-only connection to the drive. 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 publication as defined in Additional Resources on page 13. 3. Click OK to close the Module Definition dialog box. 4. Click Apply. 5. Go to Configure the Power and Safety Categories on page 209. 206 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System Configure Module Definition for 2198-xxxx-ERS4 and 2198-xxxx-ERS3 (series B or later) Drives Follow these steps to configure 2198-xxxx-ERS4 and 2198-xxxx-ERS3 (series B or later) inverters. 1. Under Module Definition click Change. The Module Definition dialog box appears. Module Definition for 2198-xxxx-ERS3 (series B or later) inverters (no feedback configuration). Module Definition for 2198-xxxx-ERS4 inverters (includes feedback configuration). Depending on the Module Definition revision selection, alternate product features and feedback types can be selected. • 2198-xxxx-ERS4 drives appear in only drive firmware revision 9.001 or later • With drive firmware revision 9.001 or later, 2198-xxxx-ERS3 (series B and later) drives support Timed SS1 function and STO function with configurable delay • 2198-xxxx-ERS3 drives do not support feedback monitoring 2. If you are replacing a 2198-xxxx-ERS3 (series A) drive with a 2198-xxxx-ERS3, (series B or later) drive, determine your Electronic Keying option from the pull-down menu (Compatible Module is the default setting). See Replace 2198-xxxx-ERS3 (series A) with (series B or later) Drives on page 282 for more information. Drive Cat. No. Studio 5000 Logix Designer Electronic Keying Options 2198-xxxx-ERS3 (replacing series A with series B or later) Version 30 or earlier Compatible Module Version 31 or later Exact Match (1) (1) See the Logix 5000 Controllers I/O and Tag Data Programming Manual, publication 1756-PM004, for more information on Electronic Keying settings. 3. From the Safety Application pull-down menu, choose between Hardwired for Hardwired STO mode or Networked for an integrated safety application (see Table 117 on page 208 for definitions). IMPORTANT If the STO bypass jumper wires were applied during machine commissioning or maintenance, they must be removed before the drive will operate in Integrated (Networked) safety mode. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 207 Chapter 6 Configure and Start the Kinetix 5700 Drive System Table 117 - Safety Application Definitions Safety Application Mode (1) Safety Functions Drive Module Minimum Drive Module (2) Required Connection Options Minimum Controller Required (3) Hardwired Safe Torque-off (STO) 2198-xxxx-ERS3 (series A) Motion Only • ControlLogix 5570 • CompactLogix 5370 Safe Torque-off (STO) 2198-xxxx-ERS3 (series A) • Motion and Safety • Safety Only GuardLogix 5570 Compact GuardLogix 5370 Timed SS1 2198-xxxx-ERS3 (series B or later) • Motion and Safety • Safety Only 2198-xxxx-ERS4 • Motion and Safety • Safety Only Networked (integrated) • Timed SS1 • Monitored SS1 • Controller-based safety functions (4) • GuardLogix 5580 • Compact GuardLogix 5380 (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) Where a 2198-xxxx-ERS3 drive is specified, a 2198-xxxx-ERS4 drive is backwards compatible. Where a 2198-xxxx-ERS3 (series A) drive is specified, a 2198-xxxx-ERS3 (series B or later) drive is backwards compatible. (3) Where a ControlLogix or CompactLogix (non-safety) controller is specified, a GuardLogix or Compact GuardLogix controller is backwards compatible. Also, GuardLogix 5580 and Compact GuardLogix 5380 controllers are backwards compatible with GuardLogix 5570 and Compact GuardLogix 5370 controllers. (4) See the Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication 2198-RM001, for more information on these Drive Safety instructions. 4. From the Connection pull-down menu, choose the Connection mode for your motion application (see Table 118 for definitions). When ‘Safety’ appears in the Connection mode, integrated safety is implied. Table 118 - Module Connection Definitions Connection Mode Safety Options Description Motion and Safety Integrated mode Motion connections and integrated STO are managed by this controller. Motion Only • Hardwired STO mode • Integrated mode if there is a secondary safety controller • Motion connections are managed by this controller. • Hardwired STO is controlled by the hardwired safety inputs or Integrated is managed by another controller that has a Safety-only connection to the drive. Safety Only Integrated mode • Integrated STO is managed by this controller. • Motion connections are managed by another controller that has a Motion-only connection to the drive. 5. From the Motion Safety x pull-down menu, choose the integrated safety type (see Table 119 on page 209 for definitions). ‘Motion Safety’ applies to 2198-Sxxx-ERS4 (single-axis) inverters. ‘Motion Safety 1’ and ‘Motion Safety 2’ applies to 2198-Dxxx-ERS4 (dual-axis) inverters. Motion Safety and Motion Safety 1 align with Axis 1 configured in Associated Axes. Motion Safety 2 aligns with Axis 3 configured in Associated Axes. 208 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System Table 119 - Motion Safety Definitions Motion Safety Mode Safety Application Module Connection Description Mode Options STO Only 2198-xxxx-ERS3 STO function only. Safe Stop Only No Feedback • 2198-xxxx-ERS4: STO function and Timed SS1 Safe Stop functions are available. • 2198-xxxx-ERS3 (series B or later): STO function and Timed SS1 Safe Stop functions are available. Single Feedback Monitoring Networked Primary feedback is used in the safety object for safe monitoring. The feedback can be a SIL rated Hiperface DSL encoder, for example, a VPL-B1003P-Q or W motor used in the DSL Feedback port. This • Motion and Safety can also be a Sine/Cosine or EnDat device, for example, an MPL-B310P-M motor used in the Universal • Safety Only Feedback port. See the Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication 2198RM001, 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 example, the Bulletin 842HR type encoder can be used in the Universal Feedback port as a Sine/Cosine device. See the Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication 2198-RM001, to evaluate SIL levels possible with two feedback devices. Dual Feedback Monitoring 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 publication as defined in Additional Resources on page 13. 6. Click OK to close the Module Definition dialog box. 7. Click Apply. 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. Attribute Menu Shared DC (1) Bus Configuration Bus Sharing Group (3) (2) Shared DC - Non-CIP Motion™ Converter (2) • Group1 • Group2 • Group3… Description Applies to 2198-Sxxx-ERSx and 2198-Dxxx-ERSx inverter drives. Applies to the designated inverter in drive systems powered by the 8720MC-RPS regenerative power supply. Applies to any bus-sharing configuration. (1) Shared DC bus configuration is the default selection for single-axis and dual-axis inverters. (2) Because the 8720MC-RPS unit is not an EtherNet/IP network device the Logix 5000 controller does not communicate with it. The designated inverter, configured as the Shared DC - Non-CIP Motion Converter, monitors the 8720MC-RPS unit status through a digital input (Regen OK) and communicates with the other inverters to signal when the DC-bus voltage is present. (3) For more information on bus-sharing groups, refer to Understand Bus-sharing Group Configuration on page 252. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 209 Chapter 6 Configure and Start the Kinetix 5700 Drive System ATTENTION: To avoid damage to equipment all modules physically connected to the same shared-bus connection system must be part of the same Bus Sharing Group in the Logix Designer application. 3. Click OK to close the Module Properties dialog box. 4. Click Close to close the Select Module Type dialog box. 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. The Module Properties dialog box appears. To configure the remaining inverter properties, you must close the New Module dialog box and reopen it as the Module Properties dialog box. If Then Your application includes integrated safety Go to step 6 on page 210. Your application includes hardwired safety or has no safety connections Go to Continue Inverter Configuration on page 211. 6. Click the Safety category. 7. The connection between the owner and the 2198-xxxx-ERSx inverter is based on the following: • Servo drive safety network number • GuardLogix slot number • GuardLogix safety network number • Path from the GuardLogix controller to the 2198-xxxx-ERSx drive • Configuration signature If any differences are detected, the connection between the GuardLogix controller and the 2198-xxxx-ERSx inverter is lost, and the yellow yield icon appears in the controller project tree after you download the program. 8. Click Advanced. 210 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System The Advanced Connection Reaction Time Limit Configuration dialog box appears. Analyze each safety channel to determine the appropriate settings. The smallest Input RPI allowed is 6 ms. Selecting small RPI values consumes network bandwidth and can cause nuisance trips because other devices cannot get access to the network. For more information about the Advanced Connection Reaction Time Limit Configuration, refer to Additional Resources on page 13 for the appropriate user manual for your GuardLogix or Compact GuardLogix controller. 9. Click OK to close the Advanced dialog box. 10. Click Apply to save the Safety category parameters. Continue Inverter Configuration After you’ve established your Kinetix 5700 inverters in the Logix Designer application, the feedback options need to be defined for each axis. Each physical axis supports motor and auxiliary feedback. Table 120 - Kinetix 5700 Feedback Axis Summary Kinetix 5700 Inverter Single-axis Inverters Dual-axis Inverters Inverter Cat. No. 2198-Sxxx-ERS3 or 2198-Sxxx-ERS4 2198-Dxxx-ERS3 or 2198-Dxxx-ERS4 Motor Feedback Auxiliary Feedback 1 (axis 1) 1 (axis 2) 2 (axis 1 and 3) 2 (axis 2 and 4) Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 211 Chapter 6 Configure and Start the Kinetix 5700 Drive System 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. 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). • Axis 3 and Axis 4 apply to Motor (DSL) Feedback Connector B (Port 2) and Universal Feedback Connector B (Port 2). Figure 120 - Dual-axis Inverter Feedback Detail A Kinetix 5700 Dual-axis Inverter MOD– NET– UFB-A UFB-B 2 1 1 5 I/O-A 6 1 UFB-A I/O-B 10 5 6 10 UFB-B Motion Safety 1 Associated Axes - Axis 1 Motion Safety 2 Associated Axes - Axis 3 D+ D- See Detail A D+ D- MF-A D+ D- MF-A D+ D- MF-B MF-B UFB-A MF-A UFB-B MF-B Universal and DSL Hiperface Feedback Connectors 212 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System The Feedback Devices are configured for either the DSL Feedback Port or the Universal Feedback Port. Motor Feedback Options Description DSL Feedback Port Applies to motors and actuators compatible with the 2198-KITCON-DSL connector kit and 2198-H2DCK converter kit (series B or later). These kits plug into the 2-pin motor feedback (MF) connector. Universal Feedback Port Applies to motors and actuators compatible with the 2198-K57CK-D15M universal connector kit. These kits plug into the 15-pin universal feedback (UFB) connector. 3. From the Axis x pull-down menu, choose an axis to assign to that motor feedback or auxiliary feedback device. 4. From the Feedback Device pull-down menu, choose either DSL Feedback x Port or Universal Feedback x Port to associate with each axis. 5. Click New Axis. The New Tag dialog box appears. 6. Type the axis Name. AXIS_CIP_DRIVE is the default Data Type. 7. Click Create. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 213 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. You can configure an axis as Feedback Only. Refer to Configure Feedback-only Axis Properties on page 223 for more information. Refer to Configure Module Properties on page 245 for configuring motor feedback, load feedback, and master feedback devices. 8. Click Apply. 9. Click the Digital Input category. 10. From the Digital Input pull-down menus choose the functions appropriate for your application. In this example, Digital Input 2 is assigned Bus Capacitor OK to monitor your 2198-CAPMOD-2240 capacitor module. For 8720MC-RPS power supplies: • When a 2198-Sxxx-ERSx single-axis inverter is the first drive module (adjacent to the 2198-CAPMOD-2240 capacitor module) you must configure the Digital Input category as Regeneration OK and wire the IOD connector. • When a 2198-Dxxx-ERSx dual-axis inverter is the first drive module (adjacent to the 2198-CAPMOD-2240 capacitor module) and Axis 1 and 3 are used, you must configure the Digital Input category as Regeneration OK and wire the IOD connector for each axis. 11. Click OK. 12. Repeat step 1 through step 11 for each 2198-xxxx-ERSx servo drive. 214 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure the Motion Group Configure and Start the Kinetix 5700 Drive System Follow these steps to configure the motion group. 1. In the Controller Organizer, right-click Motion Groups and choose New Motion Group. The New Tag dialog box appears. 2. Type the new motion group Name. 3. Click Create. Your new motion group appears in the Controller Organizer under the Motion Groups folder. 4. Right-click the new motion group and choose Properties. The Motion Group Properties dialog box appears. 5. Click the Axis Assignment tab and move your axes (created earlier) from Unassigned to Assigned. 6. Click the Attribute tab and edit the default values as appropriate for your application. 7. Click OK. Your axes moves to the new motion group. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 215 Chapter 6 Configure and Start the Kinetix 5700 Drive System Configure Regenerative Bus Supply Axis Properties Follow these steps to configure Axis Properties for your 2198-RPxxx regenerative bus supply. 1. In the Controller Organizer, right-click the regenerative-bus supply axis and choose Properties. 2. Select the General category. The General dialog box appears. 3. From the Loop Response pull-down menu choose Medium (default). Loop Response is for BusVoltageSetPoint dynamic changes during operation, not voltage regulation stiffness or stability. The default setting is appropriate for most applications. Loop Response Setting Impact High Under-damped voltage set-point step response (Z = 0.8) Medium Critically-damped voltage set-point step response (Z = 1.0) Low Over-damped voltage set-point step response (Z = 1.5) 4. From the Converter Startup Method pull-down menu choose: • Automatic for active DC-bus voltage regulation • Enable Request (default) for passive AC rectification like the 2198-Pxxx DC-bus (converter) power supply For more information on the Converter Startup Method, see DC-bus Voltage Regulation on page 42. 5. Click Apply. 216 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System 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. When the transformer rating is less than the regenerative power supply rating, enter the kVA rating of the transformer. The Source Power attribute applies detuning and current limiting only when Source Power is set lower than the rating of the regenerative power supply (1/10 of default). 7. Click the DC Bus category. External bus capacitance is the sum of all drive and accessory module capacitance. IMPORTANT An accurate bus capacitance value is required for proper operation. 8. Manually calculate the sum of the drive and accessory module capacitance values and enter the External Bus Capacitance value. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 217 Chapter 6 Configure and Start the Kinetix 5700 Drive System See Calculate System and External-bus Capacitance on page 378 to calculate external bus capacitance. 9. Click the Bus Voltage Loop category. We do not recommend changing the default bandwidth values, unless required for stability. The default Gains are set to support peak load current. See Example Gain Setting on page 220 for an example of a detuned gain set. Detuned gains increase system stability and can improve THD, but voltage regulation will be less stiff. IMPORTANT Reduced voltage regulation stiffness can result in overvoltage or undervoltage faults during peak load. 10. Click Parameters. With the default BusVoltageRateLimit, if the BusVoltageSetPoint value changes (while running) the power supply will draw peak current to change the bus voltage as fast as possible. You can reduce the rate limit to limit the current during changes to the BusVoltageSetPoint attribute without any effect to stability or load response. 218 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System 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 Point value for the Bus Voltage Reference signal For more information on these Bus Voltage parameter settings, see DC-bus Voltage Regulation on page 42. 12. Enter a value for the BusVoltageSetPoint. We recommend a maximum value of 715V DC. Over 715V DC can result in higher motor-insulation stress, higher THD, and higher likelihood of over temperature fault in the regenerative bus supply. 13. Click Apply. 14. Click the Bus Observer category. The Bus Observer setting is used for bus stiffness. If Bus Observer is disabled, you significantly increase the likelihood of getting an overvoltage fault during regeneration. We do not recommend changing the default Bus Observer setting, unless required for stability. Table 121 - Bus Observer Configurations Bus Observer Configuration Observer Operation • Load Estimate Decoupling Disabled • Voltage Feedback Filtering Disabled • Load Estimate Decoupling Disabled Voltage Estimate Only • Voltage Feedback Filtering Enabled • Load Estimate Decoupling Enabled Bus Observer Only • Voltage Feedback Filtering Disabled Bus Observer with • Load Estimate Decoupling Enabled Voltage Estimate • Voltage Feedback Filtering Enabled (Default) Disabled Impact • Increased DC-bus voltage ripple • Reduced current THD • Reduced voltage regulation stiffness • Decreased DC-bus voltage ripple • Increased current THD • Increased voltage regulation stiffness 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 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 219 Chapter 6 Configure and Start the Kinetix 5700 Drive System stability, this value should be no lower than five times the Bus Voltage Loop bandwidth. Notch Filter Frequency can be used to address DC-bus resonances in the case of some long cable distributed DC-bus systems. Notch Filter Frequency cannot be used to address line side resonances. A value of 0.0 Hz disables the notch filter. 16. Click the Current Loop category. If the Regenerative Bus Supply exhibits a FLT M30 - AC Line Resonance FL fault, detuning may be necessary to achieve stable operation. When this is the case, it is recommended to first determine if the appropriate line reactor is installed for the application. For more information on line reactor requirements, see AC Line Impedance Considerations on page 45. If the required AC-line input components are installed, detune to increase the stability margin. This can be achieved by first holding the current loop bandwidth constant, increasing the proportional spacing between loops (Observer to Current and Voltage to Observer) and increasing the proportional spacing of the integral to proportional terms by the same factor (see Table 122). If further detuning is required, iteratively decrease each of the gains proportionally by 10%. If several iterations of detuning the system do not resolve the fault, an evaluation of the system transformer and branch circuit is likely required. Table 122 - Example Gain Setting Example Gain Setting With Reduced Performance to Increase Stability (Loop Spacing Factor of 5) Bus Voltage Loop Bandwidth Bus Voltage Loop Integrator Bandwidth Prior Value Detuned Value 34 20 9 4 Bus Observer Bandwidth 137 100 Current Loop Bandwidth 500 500 Current Loop Integrator Bandwidth 125 100 IMPORTANT Detuned gains increase system stability and can improve THD, but voltage regulation will be less stiff. Reduced voltage regulation stiffness can result in overvoltage or undervoltage faults during peak load. In some circumstances, the transformer which supplies the Regenerative Bus Supply has a lower power rating (kVA) than the bus supply, for example for initially testing a machine without full load motoring and 220 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System regeneration capabilities. When this is the case, the AC Line Source Power should be set to the actual power rating (kVA) of the transformer. IMPORTANT When reducing the Source Power value below the power rating of the Regenerative Bus Supply, the Observer and Current bandwidth values are reduced. Detuned gains increase system stability and can improve THD, but voltage regulation will be less stiff. Reduced voltage regulation stiffness can result in overvoltage or undervoltage faults during peak load. 17. Click OK. Configure Vertical Load Control Axis Properties The 2198-xxxx-ERS4 servo drives (firmware 9.001 or later) support the Vertical Load Control feature. A vertical load is an axis that can move due to stored potential energy. Some examples include a robot arm, lift, or compressed spring. When set to Enabled, rather than applying Stop Category 0 stopping actions in response to most Major fault conditions, the drive brings the motor to a controlled stop and engages the holding brake prior to disabling the power structure. When Vertical Load Control is enabled and the drive supports Torque Proving and Brake Proving functionality, the controller sets the associated Proving Configuration attribute default value to enable. IMPORTANT Brake proving functionality is applicable only to drive control modes that are capable of generating holding torque based on a feedback device. Therefore, Brake Proving is not applicable to Frequency Control mode with Sensorless Vector control method. For more information on controlling vertical loads, see the Vertical Load and Holding Brake Management Application Technique, publication MOTION-AT003. Figure 121 - Configure Vertical Load Control Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 221 Chapter 6 222 Configure and Start the Kinetix 5700 Drive System Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure Feedback-only Axis Properties Configure and Start the Kinetix 5700 Drive System Follow these steps to configure stopping-action axis properties. 1. In the Controller Organizer, right-click an axis and choose Properties. 2. Select the General category. The General dialog box appears. 3. From the Axis Configuration pull-down menu, choose Feedback Only. 4. From the Feedback Configuration pull-down menu, choose Master Feedback. 5. From the Module pull-down menu, choose the drive to associate with your 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 245 for configuration examples. 8. Select the Master Feedback Category. The Master Feedback Device Specification appears. 9. From the Type pull-down menu, choose a feedback device type. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 223 Chapter 6 Configure and Start the Kinetix 5700 Drive System See Configure Axis Properties beginning on page 247 for configuration examples. 10. Review other categories in the Controller Organizer and make changes as needed for your application. 11. Click OK. See Auxiliary Feedback Specifications on page 114 for more information on auxiliary feedback signals and Allen-Bradley auxiliary feedback encoders available for use. Configure Induction-motor Frequency-control Axis Properties Follow these steps to configure induction-motor axis properties for various frequency control methods. General and Motor Categories 1. In the Controller Organizer, right-click an axis and choose Properties. 2. Select the General category. The General dialog box appears. 3. From the Axis Configuration pull-down menu, choose Frequency Control. 4. From the Feedback Configuration pull-down menu, choose No Feedback. 5. From the Module pull-down menu, choose the drive to associate with your Frequency Control (induction motor) axis. The Module Type and Power Structure fields populate with the chosen drive catalog number. 6. Click Apply. 224 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System 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. 10. From the motor nameplate or datasheet, enter the phase-to-phase values for your motor. See Motor Category on page 414 for a motor performance datasheet example. Also, see Motor Nameplate Datasheet Entry for Custom Motor Applications, publication 2198-AT002. 11. Click Apply. Basic Volts/Hertz Method 1. Configure the General category and Motor category as shown in General and Motor Categories on page 224. 2. Select the Frequency Control category. 3. From the Frequency Control Method pull-down menu, select Basic Volts/ Hertz. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 225 Chapter 6 Configure and Start the Kinetix 5700 Drive System 4. Enter the Basic Volts/Hertz attribute values appropriate for your application. Default values are shown. 5. Click Apply. 6. Select the Parameter List category. 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. See the corresponding section in Appendix F, beginning on page 399, for information and configuration examples regarding all of these topics. 9. Click OK. 226 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 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 on page 224. 2. Select the Frequency Control category. 3. From the Frequency Control Method pull-down menu, choose Sensorless Vector. 4. Enter the Basic Volts/Hertz attribute values appropriate for your application. Default values are shown. 5. Click Apply. 6. Select the Parameter List category. 7. The Motion Axis Parameters dialog box appears. 8. From the Parameter Group pull-down menu, choose Frequency Control. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 227 Chapter 6 Configure and Start the Kinetix 5700 Drive System 9. Set the FluxUp, SkipSpeed, VelocityDroop, MaximumFrequency, MaximumVoltage, and CurrentVectorLimit attributes appropriate for your application. See the corresponding section in Appendix F, beginning on page 399, for information and configuration examples regarding all of these topics. 10. Click Apply. 11. Select the Motor>Model category. Motor model attributes are automatically estimated from the Nameplate/Datasheet parameters. For improved performance, motor tests can be run. 12. Select the Motor>Analyzer category. 13. The Analyze Motor to Determine Motor Model dialog box opens. 14. Click one of the motor test tabs. In this example, Calculate Model is chosen. See Motor Tests and Autotune Procedure on page 416 for information about each of the tests. 15. Click Start. 16. Click Accept Test Results. 17. Click OK. 228 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System Fan/Pump Volts/Hertz Method 1. Configure the General category and Motor category as shown in General and Motor Categories on page 224. 2. Select the Frequency Control category. 3. From the Frequency Control Method pull-down menu, select Fan/Pump Volts/Hertz. 4. Enter the Basic Volts/Hertz attribute values appropriate for your application. Default values are shown. 5. Click Apply. 6. Select the Parameter List category. The Motion Axis Parameters dialog box appears. 7. From the Parameter Group pull-down menu, choose Frequency Control. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 229 Chapter 6 Configure and Start the Kinetix 5700 Drive System 8. Set the FluxUp, SkipSpeed, VelocityDroop, RunBoost, MaximumFrequency, MaximumVoltage and CurrentVectorLimit attributes appropriate for your application. See the corresponding section in Appendix F, beginning on page 399, for information and configuration examples regarding all of these topics. 9. Click OK. Configure IPM Motor Closedloop Control Axis Properties Follow these steps to configure interior permanent-magnet (IPM) motor closed-loop axis properties. 1. In the Controller Organizer, right-click an axis and choose Properties. 2. Select the General category. The General and Associated Module dialog box appears. 3. From the General pull-down menus, change configuration settings as needed for your application. IMPORTANT Frequency Control is not supported for interior permanent magnet (IPM) motors. 4. From the Associated Module>Module pull-down menu, choose your Kinetix 5700 drive. The drive catalog number populates the Module Type and Power Structure fields. 5. Click Apply. 6. Select the Motor category. 230 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 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. In addition, third-party IPM motors are not supported. 8. Click Change Catalog. The Change Catalog Number dialog box appears. 9. Select the motor catalog number appropriate for your application. To verify the motor catalog number, refer to the motor name plate. 10. Click OK to close the Change Catalog Number dialog box. 11. Click Apply. Motor data specific to your motor appears in the Nameplate / Datasheet Phase to Phase parameters field. 12. For Extended Speed operation, check Extended Speed permissive in the Extended Speed field. See Phase Loss Detection on page 435, for more information. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 231 Chapter 6 Configure and Start the Kinetix 5700 Drive System 13. Select the Scaling category and edit the default values as appropriate for your application. 14. Click Apply, if you make changes. 15. Select the Load category and edit the default values as appropriate for your application. 16. Click Apply, if you make changes. 232 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 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 on page 266 for more information. 18. Select the Parameter List category. From this dialog box you can set brake engage and release delay times for servo motors. For recommended motor brake delay times, refer to the Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001. 19. Click OK. 20. Repeat step 1 through step 19 for each servo motor axis. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 233 Chapter 6 Configure and Start the Kinetix 5700 Drive System Configure SPM Motor Closed-loop Control Axis Properties Follow these steps to configure surface permanent-magnet (SPM) motor closed-loop axis properties. 1. In the Controller Organizer, right-click an axis and choose Properties. 2. Select the General category. The General and Associated Module dialog box appears. 3. From the General pull-down menus, change configuration settings as needed for your application. IMPORTANT Frequency Control is not supported for permanent magnet motors. 4. From the Associated Module>Module pull-down menu, choose your Kinetix 5700 drive. The drive catalog number populates the Module Type and Power Structure fields. 5. Click Apply. 6. Select the Motor category. 234 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 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. To verify the motor catalog number, refer to the motor name plate. 10. Click OK to close the Change Catalog Number dialog box. 11. Click Apply. Motor data specific to your motor appears in the Nameplate / Datasheet Phase to Phase parameters field. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 235 Chapter 6 Configure and Start the Kinetix 5700 Drive System 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. 15. Click Apply, if you make changes. 16. Select the Actions category. 236 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 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 for the drive module to take. Refer to Logix 5000 Controller and Drive Module Behavior on page 266 for more information. 17. Select the Exceptions category. The Action to Take Upon Exception Condition dialog box appears. From this dialog box you can change the action for exceptions (faults). Refer to Logix 5000 Controller and Drive Module Behavior on page 266 for more information. In the Logix Designer application, version 32 and later, Disable replaced StopDrive as the default Action. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 237 Chapter 6 Configure and Start the Kinetix 5700 Drive System 18. Select the Parameter List category. The Motion Axis Parameters dialog box appears. From this dialog box you can set brake engage and release delay times for servo motors. For recommended motor brake delay times, refer to the Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001. 19. Click OK. 20. Repeat step 1 through step 19 for each servo motor axis. 238 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure Induction-motor Closed-loop Control Axis Properties Configure and Start the Kinetix 5700 Drive System Follow these steps to configure induction-motor closed-loop control axis properties. 1. In the Controller Organizer, right-click an axis and choose Properties. 2. Select the General category. The General and Associated Module dialog box appears. 3. From the General pull-down menus, change configuration settings as needed for your application. 4. From the Associated Module>Module pull-down menu, choose your Kinetix 5700 drive. The drive catalog number populates the Module Type and Power Structure fields. 5. Click Apply. 6. Select the Motor category. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 239 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 Nameplate Datasheet. This is the default setting. If you have a Kinetix HPK asynchronous rotary motor, refer to page 235 to see how to populate the Nameplate / Datasheet parameters by selecting the motor catalog number. IMPORTANT When you configure Kinetix HPK motor parameters by selecting the motor catalog number, you must also configure the Polarity category. This requirement applies to only Kinetix HPK asynchronous motors. See Knowledgebase Technote: Kinetix HPK motor polarity setting with Kinetix 5700 drives for more information. IMPORTANT Motor NV is not a supported data source in the Logix Designer application for axes configured as Induction-motor closed-loop. a. Select the Polarity category. 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. 240 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System See Motor Category on page 414 for a motor performance datasheet example. Also see Motor Nameplate Datasheet Entry for Custom Motor Applications, publication 2198-AT002. 10. Click Apply. 11. Select the Motor Feedback category. The Motor Feedback Device Specification dialog box appears. 12. From the Type pull-down menu, choose the feedback type appropriate for your application. See Configure Feedback Properties on page 245 for feedback configuration examples. 13. Click Apply. 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. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 241 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 for the drive module to take. Refer to Logix 5000 Controller and Drive Module Behavior on page 266 for more information. 17. Select the Exceptions category. The Action to Take Upon Exception Condition dialog box appears. From this dialog box you can change the action for exceptions (faults). Refer to Logix 5000 Controller and Drive Module Behavior on page 266 for more information. In the Logix Designer application, version 32 and later, Disable replaced StopDrive as the default Action. 18. Select the Parameter List category. 242 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System The Motion Axis Parameters dialog box appears. 19. From the Parameter Group pull-down menu, choose Torque/Current Loop. 20. Set the FluxUp attributes appropriate for your application. See the corresponding section in Appendix F, beginning on page 399, for information and configuration examples regarding this topic. IMPORTANT The Automatic FluxUpControl setting is recommended for best autotune results. 21. Click Apply. 22. Select the Load category and edit the default values as appropriate for your application. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 243 Chapter 6 Configure and Start the Kinetix 5700 Drive System 23. Click Apply, if you make changes. 24. Click OK. 25. Select the Motor>Model category. Motor model attributes are automatically estimated from the Nameplate/Datasheet parameters. For improved performance, motor tests can be run. 26. Select the Motor>Analyzer category. The Analyze Motor to Determine Motor Model dialog box opens. IMPORTANT The Dynamic motor test cannot be run without a non-zero motor inertia. 27. Click the tab corresponding to the Motor Test you want to run. See Motor Tests and Autotune Procedure on page 416 for information about each of the tests. 28. Click Start. 29. Click Accept Test Results. 30. Click Apply. 31. Select the Autotune category. 32. Repeat step 1 through step 31 for each induction motor axis. 244 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure Feedback Properties Configure and Start the Kinetix 5700 Drive System This section provides more configuration detail for module properties and axis properties when incremental feedback types are used in your application. 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. The Module Properties dialog box appears. 2. Under Module Definition click Change. The Module Definition dialog box appears. Depending on the Module Definition revision selection, alternate feedback types can be selected. However, 2198-xxxx-ERS4 drives only appear in firmware revision 9.001 or later. 3. Click the Associated Axes category. 4. Configure each axis for Motor feedback, Load feedback, and Master feedback devices appropriate for your application. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 245 Chapter 6 Configure and Start the Kinetix 5700 Drive System See Continue Inverter Configuration on page 211 for more information on configuring module properties for dual-axis and single-axis inverters. IMPORTANT The Logix Designer application prevents making feedback port assignments with incompatible feedback types. For example, you cannot assign the same port for multiple devices. The same port cannot be used for Motor Feedback Device, Load Feedback Device, and Master Feedback Device. Table 123 - Motor Feedback Compatibility Motor Feedback Device Option Feedback Type Universal Feedback 1 Port • • • • • • Description Digital AqB Digital AqB with UVW Sine/Cosine Sine/Cosine with UVW EnDat Sine/Cosine EnDat Digital Hiperface Incremental Applies to Kinetix MPL (-H) rotary motors, Kinetix MMA (-L2) Kinetix MPAS (direct-drive) linear actuators, Kinetix LDAT (-xBx) linear thrusters, and Kinetix LDC linear motors wired to the 2198-K57CK-D15M universal connector kit. High-resolution, absolute, single-turn and multi-turn Applies to Kinetix RDB, Kinetix MMA (-S3/-S4, -M3/-M4) and VPC-Bxxxxx-Y motors wired to the 2198-K57CK-D15M universal connector kit. Applies to Kinetix MPL, MPM, MPF, MPS (-M/S or -V/E), and VPC-Bxxxxx-S and VPC-B3004x-M rotary motors; Kinetix MPAS (ballscrew), MPAR, MPAI, linear actuators; Kinetix HPK rotary motors and Kinetix MMA (-S1/-S2, -M1/-M2); and Kinetix LDAT (-xDx) linear thrusters wired to the 2198-K57CK-D15M universal connector kit. Applies to Kinetix MPL, MPM, MPF, MPS (-M/S or -V/E) and VPC-Bxxxxx-Q rotary motors; Kinetix MPAS (ballscrew), MPAR, MPAI linear actuators; Kinetix HPK rotary motors and Kinetix MMA (-S1/-S2, -M1/-M2); Kinetix LDAT (-xDx) linear thrusters wired to the 2198-H2DCK converter kit. Applies to Kinetix VPL, VPF, VPH, VPS and VPC-Bxxxxx-Q rotary motors and Kinetix VPAR electric cylinders wired to the 2198-KITCON-DSL connector kit. DSL Feedback 1 Port Hiperface DSL IMPORTANT 15-pin universal feedback (UFB) 2-pin motor feedback (MF) Unprogrammed Smart feedback devices (Hiperface Sin/Cos, Hiperface DSL, EnDat Digital, and EnDat Sin/Cos) are not supported. Unprogrammed as load or feedback-only feedback types are supported, except unprogrammed Hiperface DSL encoders. Contact your local distributor or Rockwell Automation representative for support options. This example shows acceptable feedback port assignments. 5. Click OK. 246 Feedback Connector Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 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 124 defines valid feedback assignments for each feedback type. Table 124 - Valid Feedback Assignments Permanent Magnet Motors Feedback Type Hiperface DSL Hiperface Induction Motors Feedback Only High-resolution single-turn and multi-turn, absolute Digital AqB Digital AqB with UVW Incremental Sine/Cosine Sine/Cosine with UVW EnDat Sine/Cosine High-resolution single-turn and EnDat Digital multi-turn, absolute Motor feedback Load feedback Master feedback Digital AqB (TTL) Feedback In this example, a motor feedback device is configured for Digital AqB feedback. 1. In the Controller Organizer, right-click an axis and choose Properties. 2. Select the Motor Feedback category. The Motor Feedback Device Specification dialog box appears. 3. Configure the device function and type. In this example, Motor Feedback is the device function and Digital AqB is the feedback type. 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. When the Device Function is Load-Side Feedback or Master Feedback, configuration is identical to Motor Mounted Feedback. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 247 Chapter 6 Configure and Start the Kinetix 5700 Drive System Digital AqB with UVW (TTL w/Hall) Feedback In this example, a motor feedback device is configured for Digital AqB with UVW feedback. 1. In the Controller Organizer, right-click an axis and choose Properties. 2. Select the Motor Feedback category. The Motor Feedback Device Specification dialog box appears. 3. Configure the device function and type. In this example, Motor Feedback is the device function and Digital AqB with UVW is the feedback type. 4. Enter values for the Digital AqB with UVW specification fields. The only valid value for Cycle Interpolation is 4. 5. From the Startup Method pull-down menu, choose Incremental. 6. From the Alignment pull-down menu, choose Not Aligned. 7. Click Apply. 248 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 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. 1. In the Controller Organizer, right-click an axis and choose Properties. 2. Select the Motor Feedback category. The Motor Feedback Device Specification dialog box appears. 3. Configure the device function and type. In this example, Motor Feedback is the device function and Sine/Cosine is the feedback type. 4. Enter values for the Sine/Cosine specification fields. The only valid values for Cycle Interpolation are powers of 2 from 4 through 65536. 5. From the Startup Method pull-down menu, choose Incremental. 6. Click Apply. When the Device Function is Load-Side Feedback or Master Feedback, configuration is identical to Motor Mounted Feedback. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 249 Chapter 6 Configure and Start the Kinetix 5700 Drive System Sine/Cosine with Hall Feedback In this example, a motor feedback device is configured for Sine/Cosine with UVW feedback. 1. In the Controller Organizer, right-click an axis and choose Properties. 2. Select the Motor Feedback category. The Motor Feedback Device Specification dialog box appears. 3. Configure the device function and type. In this example, Motor Feedback is the device function and Sine/Cosine with UVW is the feedback type. 4. Enter values for the Sine/Cosine with UVW specification fields. The only valid values for Cycle Interpolation are powers of 2 from 4 through 65536. 5. From the Startup Method pull-down menu, choose Incremental. 6. From the Alignment pull-down menu, choose Not Aligned. 7. Click OK. Download the Program After completing the Logix Designer application and saving the file you must download your program to the Logix 5000 processor. Apply Power to the Kinetix 5700 Drive System This procedure assumes that you have wired and configured your Kinetix 5700 system, your Logix 5000 controller, and iTRAK power supply if present. SHOCK HAZARD: To avoid hazard of electrical shock, perform all mounting and wiring of the Bulletin 2198 servo drives prior to applying power. Once power is applied, connector terminals can have voltage present even when not in use. IMPORTANT 250 If multiple iTRAK power supplies are used on a track, they all need to power up within 4 seconds of each other (or at least downstream sections need to power up within 4 seconds of the bankmaster). Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System Follow these steps to apply power to the Kinetix 5700 system. 1. Disconnect the load to the motor (does not apply to iTRAK PS). ATTENTION: To avoid personal injury or damage to equipment, disconnect the load to the motor. Make sure each motor is free of all linkages when initially applying power to the system. 2. Apply 24V DC control power. The LCD display begins the startup sequence. Refer to Startup Sequence on page 187. If the startup sequence does not begin, check the 24V control power connections. 3. When the startup sequence completes, verify the following: a. DC-bus and iTRAK power supply NET status indicators are steady green. b. DC-bus and iTRAK power supply MOD status indicators are flashing. c. DC-bus power supply or regenerative bus supply axis-state is PRECHARGE. d. iTRAK power supply axis-state is PRECHARGE. If the DC-bus power supply/regenerative bus supply/iTRAK power supply does not reach the specified axis state and the two status indicators are not as specified, refer to Kinetix 5700 Status Indicators on page 262. IMPORTANT Apply control power before applying three-phase AC power. This makes sure the shunt is enabled, which can prevent nuisance faults or Bus Overvoltage faults. 4. Apply mains input power and monitor the DC BUS voltage on the LCD display. If the DC BUS does not reach the expected voltage level, check the threephase input power connections. It can take as long as 1.8 seconds after input power is applied before the drive can accept motion commands (does not apply to iTRAK power supply). a. Verify that all NET and MOD status indicators are steady green. b. Verify that the DC-bus power supply axis-state is RUNNING. c. Verify that the regenerative bus-supply axis-state is RUNNING or STOPPED depending on the Converter Startup Method used (see DCbus Voltage Regulation on page 42). d. Verify that the iTRAK power supply axis-state is RUNNING. If the DC-bus power supply/regenerative bus supply/iTRAK power supply does not reach the specified axis state, refer to Fault Code Overview on page 260. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 251 Chapter 6 Configure and Start the Kinetix 5700 Drive System Understand Bus-sharing Group Configuration When configuring Module Properties>Power category for each Kinetix 5700 drive, you can breakout drives from one or more servo systems into multiple 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. As many as 25 bus-sharing groups are possible. Figure 122 - Bus-sharing Group Configuration IMPORTANT 252 When used with an iTRAK system consisting of L16 motor modules, the iTRAK power supply is not configured as part of a bus-sharing group in the Logix Designer application. The gateway computer monitors bus status and controls enabling and disabling the iTRAK power supply. See iTRAK System with TriMax Bearings User Manual, publication 2198T-UM002. When used with the iTRAK 5730 system, both primary and secondary bus-sharing groups must be configured. See iTRAK 5730 System User Manual, publication 2198T-UM003, for more information. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System Bus-sharing Group Example In Figure 123, twelve axes are needed to support the motion application. All twelve axes are configured in the same Motion group in the Logix Designer application. 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. ATTENTION: To avoid damage to equipment all modules physically connected to the same shared-bus connection system must be part of the same Bus Sharing Group in the Logix Designer application. Figure 123 - Bus-sharing Group Example CompactLogix Controller Programming Network Logix Designer Application CompactLogix 5370 Controller Logix Designer Application Kinetix 5700 Servo Drive System Group 1 24V Input Power MOD NET MOD NET 2 2 1585J-M8CBJM-x Ethernet (shielded) Cable MOD NET 1 MOD NET 2 1 1 2 1 I/O-A 1 6 1 I/O-B Controller Organizer 1 I/O-A 6 1 10 5 10 UFB-A UFB-B 5 6 1 I/O-B I/O-A 6 1 10 5 10 UFB-A UFB-B 5 6 1 I/O-B 6 4 I/O 5 D+ D- D+ D- MF-A D+ D- D+ D- MF-B MF-A 10 5 10 UFB-A UFB-B MF-A MF-B Three-phase Input Power 2198-Pxxx DC-bus (converter) Power Supply Bus Sharing Group 1 Axis_01 Axis_02 Axis_03 Axis_04 Axis_05 Axis_06 Axis_07 D+ D- D+ D- MF-B Module Properties>Power Category Bus Sharing Group 2 Axis_08 Axis_09 Axis_10 Axis_11 Axis_12 2198-D006-ERS3 Dual-axis Inverters Kinetix 5700 Servo Drive System Group 2 24V Input Power MOD NET MOD NET 2 2 2 1 1 1 1 MOD NET MOD NET 2 1 I/O 6 1 10 5 1 I/O 6 1 10 5 I/O-A 6 1 I/O-B 6 4 I/O 5 UFB UFB 10 5 10 UFB-A UFB-B D+ D- D+ D- MF-A - MBRK + 2198-D006-ERS3 Dual-axis Inverter MF-B - MBRK + Three-phase Input Power 2198-P208 DC-bus (converter) Power Supply 2198-S086-ERS3 Single-axis Inverters Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 253 Chapter 6 Configure and Start the Kinetix 5700 Drive System 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 124 - Group 1 DC-bus Power Supply (converter) Configuration Figure 125 - Group 1 Dual-axis Inverter Configuration Figure 126 - Group 2 DC-bus Power Supply (converter) Configuration 254 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System Figure 127 - Group 2 Single-axis Inverter Configuration Figure 128 - 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 and NET status indicators are operating as described in Kinetix 5700 Status Indicators on page 262. For help using the Logix Designer application as it applies to testing and tuning your axes with ControlLogix EtherNet/IP modules or CompactLogix 5370 controllers, refer to Additional Resources on page 13. Also, see Motor Nameplate Datasheet Entry for Custom Motor Applications, publication 2198-AT002, for detailed information on testing and tuning custom motors. For testing and tuning iTRAK movers see iTRAK System with TriMax Bearings User Manual, publication 2198T-UM002, or iTRAK 5730 systems, see the iTRAK 5730 System User Manual, publication 2198T-UM003. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 255 Chapter 6 Configure and Start the Kinetix 5700 Drive System 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. 2. In your Motion Group folder, right-click an axis and choose Properties. The Axis Properties dialog box appears. 3. Select the Hookup Tests category. 4. In the Test Distance field, enter the desired test distance. The Position Units are defined in Axis Properties>Scaling category. Hookup Test Definitions Marker 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. If the marker remains undetected and the test completes successfully, it means the motor moved the full test distance. If the marker remains undetected and the test fails, the motor did not move the full test distance. Run this test after running the Motor Feedback and Motor and Feedback tests. Commutation Verifies the commutation offset and commutation polarity of the motor. This test applies to third-party or custom permanent-magnet motors equipped with (TTL with Hall and Sine/Cosine with Hall) incremental encoders that are not available as a catalog number in the Motion Database. See Commutation Test on page page 440. Motor Feedback Verifies feedback connections are wired correctly as you manually rotate the motor shaft. The test completes when the drive determines that the motor moved the full distance specified in the Test Distance field. Run this test before the Motor and Feedback Test to verify that the feedback can be read properly. Motor and Feedback Verifies motor power and feedback connections are wired correctly as the drive commands the motor to rotate. Because the drive is rotating the motor, this test requires full bus power to run. Run the Motor Feedback test before running this test to verify that the feedback is being read correctly. 5. Click the desired test to verify connections. 256 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 6 Configure and Start the Kinetix 5700 Drive System 6. Click Start. The Logix Designer - Motor and Feedback Test dialog box appears. The Test State is Executing. TESTING appears on the drive LCD display. Drive LCD Display TESTING 192.168.1.1 DC BUS: 680.0V When the test completes successfully, the Test State changes from Executing to Passed. 7. Click OK. This dialog box appears asking if the axis moved in the forward direction. 8. Click Yes if you agree. 9. Click Accept Test Results. 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. e. Return to step 5 and run the test again. Tune the Axes With Studio 5000 Logix Designer application, version 33 and later, the load observer and adaptive tuning (tuningless) features are enabled by default for the following servo drives and drive firmware, so drive configuration is not required for tuningless operation. Table 125 - For Applications with Tuningless Capability Drive Cat. No. 2198-xxxx-ERS3 (series B or later) 2198-xxxx-ERS4 Drive Firmware Revision Logix Designer Version 13.001 33.00 For any other combination of servo drives, drive firmware, or Logix Designer version, see Tuningless Feature Configuration Quick Start, publication MOTION-QS001. If additional tuning is required, see the Motion System Tuning Application Technique, publication MOTION-AT005, for more information. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 257 Chapter 6 Configure and Start the Kinetix 5700 Drive System Notes: 258 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 7 Troubleshoot the Kinetix 5700 Drive System This chapter provides troubleshooting tables and related information for your Kinetix® 5700 drive system. Topic Safety Precautions Interpret Status Indicators Axis Troubleshooting Regenerative Bus Supply Troubleshooting Logix 5000 Controller and Drive Module Behavior Safety Precautions Page 259 260 264 265 266 Observe the following safety precautions when troubleshooting your Kinetix 5700 drive system. ATTENTION: Capacitors on the DC bus can retain hazardous voltages after input power has been removed. Before working on the drive module, measure the DC bus voltage to verify it has reached a safe level or wait the full time interval as indicated in the warning on the front of the module. Failure to observe this precaution could result in severe bodily injury or loss of life. ATTENTION: Do not attempt to defeat or override the module fault circuits. You must determine the cause of a fault and correct it before you attempt to operate the system. Failure to correct the fault could result in personal injury and/or damage to equipment as a result of uncontrolled machine operation. ATTENTION: Provide an earth ground for test equipment (oscilloscope) used in troubleshooting. Failure to ground the test equipment could result in personal injury. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 259 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. Display Interface The LCD display provides fault messages and troubleshooting information by using the soft menu items and navigation buttons. MAIN MENU DIAGNOSTICS FAULT LOG Under the Main Menu, select FAULT LOG by using the up/down arrows. Press to display the list of active fault codes. Press again to display the fault details (the problem in troubleshooting tables). ? Press to display the fault help (possible solutions in troubleshooting tables). Refer to Understand the Kinetix 5700 Display on page 178 for more information on navigating the LCD display menu. Fault Code Overview The fault code tables are designed to help you determine the source of the fault or exception. When a fault condition is detected, the drive module performs the appropriate fault action, the fault is displayed, and the fault is added to a persistent fault log (along with diagnostics data). The earlier faults have priority to be displayed. The drive module removes the fault text from the display when a Fault Reset service is sent from the controller and the fault is no longer active. If a fault condition is still active following a Fault Reset service, the fault is again posted to the display and written to the fault log. However, there can be a delay before the fault is posted again. In a Studio 5000 Logix Designer® application, this delay results as the AxisFault tag on the drive axis being cleared until the fault is posted again. During this delay, the AxisState tag continues to indicate that the axis is faulted. Use the AxisState tag on the axis object only to determine if an axis is faulted. Although software overtravel fault codes do not exist, software overtravel detection for the AXIS_CIP_DRIVE axis type is determined in the Logix 5000™ controller. For more information, see Integrated Motion on the EtherNet/IP™ Network Reference Manual, publication MOTION-RM003. The DC-bus power supply, regenerative bus supply, single-axis inverters, and dual-axis inverters maintain a fault log of the last 128 faults. The fault log includes time stamps and is stored in persistent memory. However, the fault log cannot be cleared on the module. 260 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 7 Troubleshoot the Kinetix 5700 Drive System Table 126 - Fault Code Summary Fault Code Type (1) (2) Description FLT Sxx Standard runtime axis exceptions. The exception can apply to an individual axis or to all axes. Manufacturer-specific runtime axis exception. The exception can apply to an individual axis or to all axes. FLT Mxx INIT FLT Sxx INIT FLT Mxx NODE FLTxx NODE ALARM xx Exceptions that prevent normal operation and occur during the initialization process. Exceptions that can prevent normal operation of the drive module and apply to the entire module and affect all axes. Exceptions that can prevent normal operation of the drive module, but do not result in any action other than reporting the alarm to the controller. INHIBIT Sxx INHIBIT Mxx ALARM Sxx ALARM Mxx Conditions that prevent normal operation and indicate the drive module is prevented from being enabled. SAFE FLTxx (3) Exception generated by a fault condition detected in the safety function. An underlying exception condition that does not result in any action other than reporting the alarm to the controller. (1) Sxx refers to Standard exceptions. (2) Mxx refers to Manufacturer-specific exceptions. (3) For troubleshooting 2198-xxxx-ERS3 inverter SAFE FLT fault codes, refer to Troubleshoot the Safe Torque-off Function on page 296 (hardwired safety) or page 310 (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. Fault codes triggered by conditions that fall outside factory set limits are identified by FL at the end of the display message. For example, FLT S07 – MTR OVERLOAD FL. Fault codes triggered by conditions that fall outside user set limits are identified by UL at the end of the display message. For example, FLT S08 – MTR OVERLOAD UL. Fault Codes For Kinetix 5700 fault code descriptions and possible solutions, see Kinetix 5700 Servo Drive Fault Codes, publication 2198-RD003; download the spreadsheet for offline access. SAFE FLT Fault Codes For troubleshooting 2198-xxxx-ERS4 inverter SAFE FLT fault codes, refer to the Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication 2198-RM001. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 261 Chapter 7 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. IMPORTANT Kinetix 5700 Modules Status indicators are not reliable for safety functions. Use them only for general diagnostics during commissioning or troubleshooting. Do not attempt to use status indicators to determine operational status. Table 127 - Module Status Indicator Module Status Network Status Condition Steady Off Steady Green Flashing Green Flashing Red Steady Red Flashing Green/Red Status No power applied to the drive. Drive is operational. No faults or failures. Standby (drive not configured) and Precharge (drive is configured). Major recoverable fault. The drive detected a recoverable fault, for example, an incorrect or inconsistent configuration. Major fault. The drive detected a non-recoverable fault. Self-test. The drive performs self-test during powerup. Once self-test is complete, Flashing Green/Red condition continues if drive is waiting for: • Safety configuration when in Integrated STO mode • Safety inputs when in Hardwired STO mode Table 128 - Network Status Indicator Condition Steady Off Flashing Green Steady Green Flashing Red Steady Red Flashing Green/Red Table 129 - Ethernet Link Speed Status Indicator Ethernet RJ45 Connectors Link Speed Status Indicators Link/Activity Status Indicators 262 Status No power applied to the drive or IP address is not configured. No Motion or Safety connection is established, but drive has obtained an IP address. Motion or Safety connection is established and no timeout has occurred. Normal operation. Connection timeout. One or more of the connections, for which this drive is the target, has timed out. Duplicate IP address. IP address specified is already in use. Self-test. The drive performs self-test during powerup. Once self-test is complete, Flashing Green/Red condition continues if drive is processing a safety device ID proposal. Condition Steady Off Steady On Status 10 Mbit 100 Mbit Table 130 - Ethernet Link/Activity Status Indicator Condition Steady Off Steady On Blinking Status No link Link established Network activity Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 7 Troubleshoot the Kinetix 5700 Drive System 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. The module status connector is an output suitable for wiring to a DC-bus power supply, regenerative bus supply, or inverter digital input assigned as Bus Capacitor OK, or the Logix 5000 controller. Table 131 - Capacitor Module Status Indicators and Relay Output Kinetix 5700 Accessory Modules MOD DC BUS Module Status Indicator DC-bus Status Indicator Status Indicators Module status MODULE STATUS Module Status (MS) Connector DC-bus status Steady off Relay (1) Output Open Steady green Closed 24V DC is not present. 24V DC is present and internal fuse is closed. Steady red Open 24V DC is present and internal fuse is open. Steady off Open Steady green Closed Status Description Resolution – 24V DC is not present or DC-bus measures < 50V DC. 24V DC is present and DC-bus measures > 50V DC. – • Cycle control and bus power • Verify that AC input meets specifications • Replace the module if fault persists – – (1) Wiring the module status relay output is optional. DC-bus Conditioner Module Status indicators and the module status (MS) connector are on the front of the module. The module status connector is an output suitable for wiring to a DC-bus power supply, regenerative bus supply, or inverter digital input assigned as Bus Conditioner OK, or the Logix 5000 controller. Table 132 - DC-bus Conditioner Module Status Indicators and Relay Output Status Indicators Module status DC-bus status Steady off Steady green Relay Output Open Closed Steady red (1) Open Steady off Steady green – – Status Description 24V DC is not present 24V DC is present and internal fuse is closed • 24V DC is present and internal fuse is open • Over temperature event occurred 24V DC is not present or DC-bus measures < 50V DC 24V DC is present and DC-bus measures > 50V DC (1) Remove DC-bus power and cycle control power. If the fault persists, the internal fuse is blown and the module needs to be replaced. If the fault clears, then there was a thermal fault caused by a system issue. If the fault persists and the rest of the system is functioning properly, add more DC-bus conditioners to the system to reduce thermal stress on the module. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 263 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. For general iTRAK troubleshooting, see iTRAK System with TriMax Bearings User Manual, publication 2198T-UM002, or iTRAK 5730 System User Manual, publication 2198T-UM003. Table 133 - Axis Troubleshooting Condition Axis or system is unstable. Potential Cause The position feedback device is incorrect or open. Unintentionally in Torque mode. Motor tuning limits are set too high. Position loop gain or position controller accel/decel rate is improperly set. Improper grounding or shielding techniques are causing noise to be transmitted into the position feedback or velocity command lines, causing erratic axis movement. Motor Select limit is incorrectly set (servo motor is not matched to axis module). Mechanical resonance. Torque Limit limits are set too low. Incorrect motor selected in configuration. The system inertia is excessive. You cannot obtain the motor acceleration/deceleration that you want. The system friction torque is excessive. Available current is insufficient to supply the correct accel/decel rate. Acceleration limit is incorrect. Velocity Limit limits are incorrect. The motor is operating in the field-weakening range of operation. The axis cannot be enabled until stopping time has expired. The motor wiring is open. The motor cable shield connection is improper. Motor does not respond to a command. The motor has malfunctioned. The coupling between motor and machine has broken (for example, the motor moves, but the load/machine does not). Primary operation mode is set incorrectly. Velocity or torque limits are set incorrectly. Brake connector not wired Recommended grounding per installation instructions have not been followed. Presence of noise on command or motor feedback Line frequency can be present. signal wires. Variable frequency can be velocity feedback ripple or a disturbance caused by gear teeth or ballscrew, and so forth. The frequency can be a multiple of the motor power transmission components or ballscrew speeds resulting in velocity disturbance. 264 Possible Resolution Check wiring. Check to see what primary operation mode was programmed. Run Tune in the Logix Designer application. Run Tune in the Logix Designer application. Check wiring and ground. • Check setups. • Run Tune in the Logix Designer application. • Notch filter or output filter can be required (refer to Axis Properties dialog box, Compliance tab in the Logix Designer application). • Enable adaptive tuning. See Adaptive Tuning on page 441 for more notch filter information. Verify that torque limits are set properly. Select the correct motor and run Tune in the Logix Designer application again. • Check motor size versus application need. • Review servo system sizing. Check motor size versus application need. • Check motor size versus application need. • Review servo system sizing. Verify limit settings and correct them, as necessary. Verify limit settings and correct them, as necessary. Reduce the commanded acceleration or deceleration. Disable the axis, wait the configured stopping time, and enable the axis. Check the wiring. • Check feedback connections. • Check cable shield connections. Repair or replace the motor. Check and correct the mechanics. Check to see what primary operation mode was programmed. Check and properly set the limits. Check brake wiring • Verify grounding. • Route wire away from noise sources. • Refer to System Design for Control of Electrical Noise, publication GMC-RM001. • Verify grounding. • Route wire away from noise sources. • Decouple the motor for verification. • Check and improve mechanical performance, for example, the gearbox or ballscrew mechanism. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 7 Troubleshoot the Kinetix 5700 Drive System Table 133 - Axis Troubleshooting (Continued) Condition No rotation Potential Cause The motor connections are loose or open. Foreign matter is lodged in the motor. The motor load is excessive. The bearings are worn. The motor brake is engaged (if supplied). Motor overheating The motor is not connect to the load. The duty cycle is excessive. The rotor is partially demagnetized causing excessive motor current. Motor tuning limits are set too high. Erratic operation - Motor locks into position, runs without control or with reduced torque. Return the motor for repair. Mechanical resonance. Run Tune in the Logix Designer application. • Remove the loose parts. • Return motor for repair. • Replace motor. Tighten bolts. Return motor for repair. Notch filter can be required (refer to Axis Properties dialog box, Compliance tab in the Logix Designer application). Motor power phases U and V, U and W, or V and W reversed. Check and correct motor power wiring. Loose parts are present in the motor. Abnormal noise Possible Resolution Check motor wiring and connections. Remove foreign matter. Verify the servo system sizing. Return the motor for repair. • Check brake wiring and function. • Return the motor for repair. Check coupling. Change the command profile to reduce accel/decel or increase time. Through bolts or coupling is loose. The bearings are worn. Regenerative Bus Supply Troubleshooting These conditions do not always result in a fault code, but can require troubleshooting to improve regenerative bus supply performance. Table 134 - Regenerative Bus Supply Troubleshooting Condition AC current appears distorted, non-sinusoidal on oscilloscope. Audible (loud) noise from regenerative bus supply. DC-bus voltage fluctuations. Potential Cause Possible Resolution AC voltage distortion. Improve AC voltage waveform with isolation transformer or line reactor on input power. Distortion from the utility cannot be addressed. Excessive boost voltage. Reduce the BusVoltageSetPoint or set to automatic mode. See DC-bus Voltage Regulation on page 42. for definition of boost voltage. Current Saturation. Normal operation, distortion improves closer to rated current. Ride through condition. Normal operation, distortion clears once input voltage disturbance ends. Load current (<50%). Normal operation, distortion improves closer to rated current. Excessive bus stiffness. Detune the voltage and observer bandwidths. Excessive boost voltage. Reduce the bus voltage set point or set to automatic mode. Notching on AC line voltage. Add isolation transformer or line reactor to isolate from notching source. Current overload. Normal peak operation, no resolution needed. Cooling fans enabled when AC input power is applied. Normal operation. Loop response. If changed, set loop response to medium (default). Dynamic load change. DC-bus voltage transient is normal with a peak-load step change, but adding a capacitor module can help reduce voltage transients and adding an external active shunt module can help prevent nuisance over-voltage faults. Voltage loop or observer bandwidths. Optimal voltage loop bandwidth setting is 1/10 of the current loop bandwidth or lower. Optimal observer bandwidth is >2x the voltage loop bandwidth. Normal voltage ripple of 1…2% or approximately 7…15V. Normal operation. External bus capacitance not entered correctly. Enter the sum of all bus capacitance external to the regenerative bus supply into the Logix Designer application. See Calculate System and External-bus Capacitance on page 378 to calculate external bus capacitance. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 265 Chapter 7 Troubleshoot the Kinetix 5700 Drive System Table 134 - Regenerative Bus Supply Troubleshooting (Continued) Condition Potential Cause Possible Resolution Bus overvoltage on other converters sharing AC input with the regenerative bus supply as soon as DC-bus regulation is enabled. Common mode current from regenerative bus supply interacting with common-mode filter capacitors in nonKinetix 5700 drives. Remove AC line filter or ground jumper from other non-Kinetix 5700 drives sharing the AC input with the regenerative bus supply. Additionally, properly sized input reactors can help reduce DC-bus pump-up on nonKinetix 5700 drives. Input overcurrent or ground current fault on non-Kinetix 5700 drives connected to the regenerative bus supply as soon as DC-bus regulation is enabled. Single-axis inverters (catalog numbers 2198-S086-ERSx, Update the single-axis inverter firmware (catalog numbers 2198-S0862198-S130-ERSx, 2198-S160-ERSx) firmware 10.3 or later is ERSx, 2198-S130-ERSx, 2198-S160-ERSx). required. DC bus voltage remains low (<50V) after the AC contactor closes and AC is present at the input to the regenerative bus supply. Actual DC bus voltage is not equal to the DC voltage set point in the Logix Designer application. Motor insulation breakdown. Replace the motor. DC-bus short circuit. Find and resolve the DC-bus short circuit. Inverter internal short circuit. • Test regenerative bus supply with all inverters disconnected • Replace the shorted inverter Inverter ground jumpers installed. Remove inverter ground jumpers. DC voltage set point too high. Set the DC-bus voltage set point to a value <747V or use automatic mode. DC voltage set point too low. Set the DC-bus voltage to a value > (input AC voltage rms • 1.414 • 1.05) or use automatic mode. External bus capacitance entered incorrectly in the Logix Startup draws excessive current from Designer application. the AC input on DC-bus voltage regulation enable. Voltage rate limit set too high in the Logix Designer application. AC contactor won’t close. Reduce the bus voltage rate limit in the Logix Designer application. Loop Response Set the loop response to medium or low. Filter Bandwidth Increase the filter bandwidth (if lower than 4x the voltage regulator bandwidth). Notch Frequency. Increase the notch frequency bandwidth (if lower than 4x the voltage regulator bandwidth). Source kVA. Source kVA set too low. Set the source kVA to the actual kVA rating of the AC input transformer or input reactor. Current loop vector limit set too low. Set the current loop vector limit back to the default. Stuck in configuring. Check for messages on quick view pane of the controller organizer in the Logix Designer application. Current oscillations at no load. AC current is limited to less than the peak rating of the regenerative bus supply. Enter the sum of all bus capacitance external to the regenerative bus supply into the Logix Designer application. See Calculate System and External-bus Capacitance on page 378 to calculate external bus capacitance. Contactor enable unplugged. Plug in the contactor enable. AC contactor coil failure. Replace contactor. Logix 5000 Controller and Drive Module Behavior By using the Logix Designer application, you can configure how the Kinetix 5700 system responds when a module fault/exception occurs. The INIT FLT xxx faults are always generated after powerup, but before the drive is enabled, so the stopping behavior does not apply. NODE ALARM xxx faults do not apply because they do not trigger stopping behavior. For troubleshooting SAFE FLT fault codes, refer to Chapter 9 on page 293 (hardwired safety) or page 304 (integrated safety). The iTRAK power supply cannot be configured by using the Studio 5000 Logix Designer application, but the pre-configured faults are shown on page 270. 266 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 7 Troubleshoot the Kinetix 5700 Drive System The DC-bus power supplies and servo drives support fault actions for Ignore, Alarm, Minor Fault, and Major Fault as defined in Table 135. The drives also support five configurable stopping actions as defined in Table 146. Table 135 - Kinetix 5700 Module Exception Action Definitions Exception Action Ignore Alarm Minor Fault Major Fault Definition The drive module completely ignores the exception condition. For some exceptions that are fundamental to the operation of the planner, Ignore is not an available option. The drive module sets the associated bit in the Motion Alarm Status word, but does not otherwise affect axis behavior. Like Ignore, if the exception is so fundamental to the drive, Alarm is not an available option. When an exception action is set to Alarm, the Alarm goes away by itself when the exceptional condition has cleared. The drive module latches the exception condition, but the drive does not execute any exception action. The drive module latches the exception condition and executes the configured exception action. You can configure exception behavior in the Logix Designer application from the Axis Properties dialog box, Actions category. These controller exception actions are mapped to the drive exception actions. Table 136 - Logix Designer Exception Action Definitions Exception Action Ignore Alarm Fault Status Only Stop Planner StopDrive (v31 and earlier) Disable (v32 and later) Shutdown Definition The controller completely ignores the exception condition. For some exceptions that are fundamental to the operation of the planner, Ignore is not an available option. The controller sets the associated bit in the Motion Alarm Status word, but does not otherwise affect axis behavior. Like Ignore, if the exception is so fundamental to the drive, Alarm is not an available option. When an exception action is set to Alarm, the Alarm goes away by itself when the exceptional condition has cleared. Like Alarm, Fault Status Only instructs the controller to set the associated bit in the Motion Fault Status word, but does not otherwise affect axis behavior. However, unlike Alarm an explicit Fault Reset is required to clear the fault once the exceptional condition has cleared. Like Ignore and Alarm, if the exception is so fundamental to the drive, Fault Status Only is not an available option. The controller sets the associated bit in the Motion Fault Status word and instructs the Motion Planner to perform a controlled stop of all planned motion at the configured maximum deceleration rate. An explicit Fault Reset is required to clear the fault once the exceptional condition has cleared. If the exception is so fundamental to the drive, Stop Planner is not an available option. When the exception occurs, the associated bit in the Fault Status word is set and the axis comes to a stop by using the stopping action defined by the drive for the particular exception that occurred. In the event of a fault, there is no controller-based configuration to specify what the stopping action is. The stopping action is device dependent. When the exception occurs, the drive brings the motor to a stop by using the stopping action defined by the drive (as in Stop Drive) and the power module is disabled. An explicit Shutdown Reset is required to restore the drive to operation. DC-bus Power Supply Behavior Stopping action for exception fault codes does not apply to the DC-bus power supply. The Disable 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 Disable, except the power supply enters into Shutdown as the final state and requires a Shutdown Reset to recover. Fault actions are shown in Table 137 and Table 138. In the Logix Designer application, version 32 and later, Disable replaced StopDrive as the default Action. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 267 Chapter 7 Troubleshoot the Kinetix 5700 Drive System Figure 129 - Logix Designer Axis Properties - Exceptions Categor y Table 137 - DC-bus Power Supply Behavior, FLT Sxx Fault Codes Fault Action Alarm Minor Fault Major Fault Exception Text Ignore Exception Fault Code Precharge Failure Fault – – – – X – – – – – – X – – – – – – X – – X X X X X X X FLT S27 – BUS REG OVERTEMP FL (1) Bus Regulator Overtemperature Factory Limit Fault – – – X FLT S29 – BUS REG OVERLOAD FL Bus Regulator Thermal OverLoad Factory Limit Fault – – – X FLT S30 – BUS REG OVERLOAD UL Bus Regulator Thermal Overload User Limit Fault FLT S31 – BUS REG FAILURE Bus Regulator Failure X – X – X – X X FLT S32 – BUS CAPACITOR MODULE FAILURE Bus Capacitor Module Failure X X X X FLT S35 – BUS OVERVOLT FL Bus Overvoltage Factory Limit Fault FLT S40 – BUS POWER SHARING FAULT Bus Power Sharing Fault FLT S61 – ENABLE INPUT Enable Input Deactivated – – – – – – – – – X X X FLT S15 – CONV OVERCURRENT Converter Overcurrent Fault FLT S16 – GROUND CURRENT Ground Current Factory Limit Fault FLT S18 – CONV OVERTEMP FL Converter OverTemp Factory Limit Fault FLT S20 – CONV OVERLOAD FL Converter Thermal OverLoad Factory Limit Fault FLT S21 – CONV OVERLOAD UL Converter Thermal Overload User Limit Fault FLT S23 – AC PHASE LOSS AC Single Phase Loss Fault FLT S25 – PRECHARGE FAILURE Best Available Stopping Action (applies to major faults) DC-bus power supply does not perform stopping actions. DC-bus power supply does not perform stopping actions. (1) Supported when shunt thermal switch is connected to the power supply digital input and configured in the Logix Designer application. Table 138 - DC-bus Power Supply Behavior, FLT Mxx Fault Codes Exception Fault Code Exception Text Ignore Alarm Minor Fault Major Fault Fault Action FLT M12 – POWER CYCLE FL (1) Converter Precharge Overload Factory Limit Fault – – – X FLT M26 – RUNTIME ERROR Runtime Error – – – X (1) Single-axis and dual-axis drives assert Bus Power Sharing Exception. 268 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Best Available Stopping Action (applies to major faults) DC-bus power supply does not perform stopping actions. Chapter 7 Troubleshoot the Kinetix 5700 Drive System Table 139 - DC-bus Power Supply Behavior, NODE FLT Fault Codes Control Connection Update Fault Processor Watchdog Fault NODE FLT 03 – HARDWARE Hardware Fault NODE FLT 05 – CLOCK SKEW FLT Clock Skew Fault NODE FLT 06 – LOST CTRL CONN Lost Controller Connection Fault NODE FLT 07 – CLOCK SYNC Clock Sync Fault NODE FLT 09 – DUPLICATE IP ADDRESS Duplicate IP Address Fault Major Fault NODE FLT 01 – LATE CTRL UPDATE NODE FLT 02 – PROC WATCHDOG Minor Fault Exception Text Alarm Exception Fault Code Ignore Fault Action – – – – – – – – – – – – – – – – – – – – – X X X X X X X Best Available Stopping Action (applies to major faults) DC-bus power supply does not perform stopping actions. Regenerative Bus Supply Behavior Stopping action for exception fault codes does not apply to the regenerative bus supply. The Disable exception action for a regenerative bus supply means the power supply enters into a Major Fault state that opens the contactorenable 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. Fault actions are shown in Table 140 and Table 141. Figure 130 - Logix Designer Axis Properties - Exceptions Category Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 269 Chapter 7 Troubleshoot the Kinetix 5700 Drive System Table 140 - Regenerative Bus Supply Behavior, FLT Sxx Fault Codes Exception Fault Code Exception Text Ignore Alarm Minor Fault Major Fault Fault Action FLT S15 – CONV OVERCURRENT Converter Overcurrent Fault FLT S16 – GROUND CURRENT Ground Current Factory Limit Fault – – – – – – X X FLT S17 – GROUND CURRENT UL (1) Ground Current User Limit Fault X X X X FLT S18 – CONV OVERTEMP FL Converter OverTemp Factory Limit Fault – – X X – – – – X X – – X X X X X X FLT S22 – AC POWER LOSS Converter AC Power Loss Fault FLT S23 – AC PHASE LOSS AC Single Phase Loss Fault FLT S25 – PRECHARGE FAILURE Precharge Failure Fault – – X X – – FLT S27 – BUS REG OVERTEMP FL (1) Bus Regulator Overtemperature Factory Limit Fault – – – X FLT S32 – BUS MODULE FAILURE Bus Module Failure FLT S35 – BUS OVERVOLT FL Bus Overvoltage Factory Limit Fault FLT S58 – EXCESSIVE BUS VOLTAGE ERROR Excessive Bus Voltage Error FLT S61 – ENABLE INPUT Enable Input Deactivated AC Line Overvoltage FL X – – – – X – – – – X – – – – X X X X X AC Line Undervoltage FL – – – X FLT S68 – AC LINE HIGH FREQUENCY FL AC Line High Frequency FL FLT S70 – AC LINE LOW FREQUENCY FL AC Line Low Frequency FL FLT S72 – AC LINE VOLTAGE UNBALANCE AC Line Voltage Unbalance AC Line Current Unbalance – – – – – – – – – – – – X X X X AC Line Voltage Sag – – – X FLT S75 – AC LINE FREQUENCY CHANGE AC Line Frequency Change – – – X FLT S76 – AC LINE SYNCHRONIZATION LOSS (2) AC Line Synchronization Loss – – – X FLT S76 – AC LINE SYNCHRONIZATION FAILURE AC Line Synchronization Failure – – – X FLT S20 – CONV OVERLOAD FL Converter Thermal OverLoad Factory Limit Fault FLT S21 – CONV OVERLOAD UL Converter Thermal Overload User Limit Fault FLT S64 – AC LINE OVERVOLTAGE FL FLT S66 – AC LINE UNDER VOLTAGE FL (2) FLT S73 – AC LINE CURRENT UNBALANCE FLT S74 – AC LINE VOLTAGE SAG (2) Best Available Stopping Action (applies to major faults) Regenerative bus supply does not perform stopping actions. Regenerative bus supply does not perform stopping actions. (1) Supported when shunt thermal switch is connected to the power supply digital input and configured in the Logix Designer application. (2) A single or three-phase open circuit can result in a number of different faults depending on the converter loading. Table 141 - Regenerative Bus Supply Behavior, FLT Mxx Fault Codes Fault Action Alarm Minor Fault Major Fault Exception Text Ignore Exception Fault Code FLT M12 – POWER CYCLE FL (1) Converter Precharge Overload Factory Limit Fault – – – X FLT M26 – RUNTIME ERROR Runtime Error FLT M29 – AC LINE CONTACTOR AC Line Contactor FLT M30 – AC LINE RESONANCE FL AC Line Resonance FL – – – – – – – – – X X X (1) Single-axis and dual-axis inverters assert Bus Power Sharing Exception. 270 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Best Available Stopping Action (applies to major faults) Regenerative bus supply does not perform stopping actions. Chapter 7 Troubleshoot the Kinetix 5700 Drive System iTRAK Power Supply Behavior The iTRAK power supply exceptions behavior, as defined in Table 142, is shown in the following tables. Table 142 - iTRAK Power Supply Exception Action Definitions Exception Action Hold Disable Shutdown Definition Continue regulating the iTRAK DC buses. Actively discharge the iTRAK DC buses then disable the regulators. Disable the regulators, iTRAK DC buses passively discharge. Table 143 - iTRAK Power Supply Behavior, FLT Sxx Fault Codes Fault Action Minor Fault Major Fault Stopping Action Alarm Exception Text Ignore Exception Fault Code FLT S10 – INV OVERCURRENT Inverter Overcurrent Fault – – – X Shutdown FLT S15 – CONV OVERCURRENT (1) Converter Overcurrent Fault – – – X Shutdown FLT S16 - GROUND CURRENT FL Ground Current Factory Limit Fault Converter OverTemp Factory Limit Fault FLT S20 - CONV OVERLOAD FL Converter Thermal Overload Factory Limit Fault FLT S21 – CONV OVERLOAD UL Converter Thermal Overload User Limit Fault FLT S25 - PRECHARGE FAILURE Precharge Failure Fault FLT S31 - BUS REG FAILURE Bus Regulator Failure FLT S35 - BUS OVERVOLT FL Bus Overvoltage Factory Limit Fault FLT S38 - FUSE BLOWN Bus Power Fuse Blown Fault FLT S58 -BUS VOLTAGE ERROR Bus Voltage Error Fault FLT S61 - ENABLE INPUT Enable Input Deactivated – – – X – – – – – – – – – X – – – – – – X X X X X X X X X X Shutdown FLT S18 - CONV OVERTEMP FL – – – X – – – – – – Shutdown Shutdown Hold Shutdown Shutdown Shutdown Shutdown Shutdown Disable (1) All modules in the same bus group assert a Bus Power Sharing Exception if they are enabled. Table 144 - iTRAK Power Supply Behavior, FLT Mxx Fault Codes Fault Action Major Fault Runtime Error Minor Fault FLT M26 - RUNTIME ERROR Stopping Action Alarm Exception Text Ignore Exception Fault Code – – – X Shutdown Table 145 - iTRAK Power Supply Behavior, NODE FLT Fault Codes Fault Action NODE FLT 03 - HARDWARE Hardware Fault NODE FLT 05 - CLOCK SKEW FLT Clock Skew Fault NODE FLT 06 - LOST CTRL CONN Lost Controller Connection Fault NODE FLT 07 - CLOCK SYNC Clock Sync Fault NODE FLT 09 - DUPLICATE IP ADDRESS Duplicate IP address Fault Major Fault Control Connection Update Fault Processor Watchdog Fault Minor Fault NODE FLT 01 - LATE CTRL UPDATE NODE FLT 02 - PROC Stopping Action Alarm Exception Text Ignore Exception Fault Code – – – – – – – – – – – – – – – – – – – – – X X X X X X X Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Shutdown Shutdown Shutdown Shutdown Shutdown Shutdown Shutdown 271 Chapter 7 Troubleshoot the Kinetix 5700 Drive System 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 146 - Configurable Stopping Actions Stopping Action Description Ramped Decel & Hold (1) Most control Current Decel & Hold Ramped Decel & Disable Current Decel & Disable Most control (1) Disable & Coast (2) Less control Less control The best available stopping action is the one that maintains the most control over the motor. However, not all faults support every stopping action. Least control (1) Ramped Decel is available only when General>Axis Configuration is set to Velocity Loop or Frequency Control. (2) When configured for Frequency Control (induction motors only), select Decel & Disable only when the Current Limiting feature is enabled. For more information on this feature, see Current Limiting for Frequency Control on page 404. Actions define the drive behavior in response to specific conditions. The Actions category includes Standard Actions and Safety Actions. Table 147 - Actions Definitions Action Category Standard Action Name Action Trigger Condition Disable (MSF) Stopping Action Execution of an MSF motion instruction. Connection Loss Stopping Action Loss of the motion connection (for example, inhibiting the module or a network cable disconnect). Motor Overload Action Receiving MTR OVERLOAD fault. Inverter Overload Action Receiving INV OVERLOAD fault. Safe Torque Off Action Transition from logic 0 to 1 of the SafeTorqueOffActiveStatus axis tag, which indicates a safe torque-off action was commanded (STO). (1) Available Actions • Ramped Decel & Hold • Current Decel & Hold • Ramped Decel & Disable • Current Decel & Disable • Disable & Coast • Ramped Decel & Disable • Current Decel & Disable • Disable & Coast • Current Foldback • None • Current Foldback • None • Ramped Decel & Disable • Current Decel & Disable • Disable & Coast Safe Stopping Action Transition from logic 0 to 1 of the SS1ActiveStatus or SS2ActiveStatus axis tag which indicates a safe stopping action was commanded (SS1, SS2). (2) • Ramped Decel (3) • Current Decel Safety (1) This action is executed only if the axis tag transitions due to a requested STO, not if it was triggered by another safe-stop function (SS1, for example). (2) See Knowledgebase Technote: Kinetix 5700 ERS4 Drive based SS1 monitored - Stopping method for more information. (3) Applies to only Velocity Control mode. Standard Actions When a control connection update fault (NODE FLT 01) occurs or a controller connection loss fault (NODE FLT 06) occurs, it is possible with firmware revision 11.001 and later, that other node faults can occur first, which triggers a fault action of Current Decel & Disable. Without knowing if NODE FLT 01 or NODE FLT 06 will occur first on a connection loss fault, we recommend that you do not change the default connection loss setting of Current Decel & Disable. Use DLR ring topology (see Ring Topology on page 30) for applications where the possibility of connection loss must be minimized. 272 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 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. When configured for Running Controller and the controller is in Run mode, the stopping sequence is controlled by your application program in the motion controller. This provides flexibility based on your application and requires that your program provide the desired action in response to the safety function active status. If no logic is created, no stopping action will occur. If the motion controller is in Program mode (not actively running the application program), the drive ignores the Action Source and initiates the configured stopping sequence according to the corresponding Action selected in the pull-down menu. Figure 131 - Logix Designer Axis Properties - Actions Category Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 273 Chapter 7 Troubleshoot the Kinetix 5700 Drive System Table 148 - Drive Behavior, FLT Sxx Fault Codes Motor Commutation Fault -ERSx FLT S03 – MTR OVERSPEED FL Motor Overspeed Factory Limit Fault -ERSx X X – X Major Fault FLT S02 – MTR COMMUTATION Exception Fault Code Minor Fault Induction Motor Alarm Exception Text Permanent Magnet Motor Ignore Fault Action Inverter Modules 2198-xxxx – – – – – – X X FLT S04 – MTR OVERSPEED UL FLT S05 – MTR OVERTEMP FL Motor Overspeed User Limit Fault Motor Overtemperature Factory Limit Fault -ERS3 (series A) Motor Overtemperature Factory Limit Fault (If #589 vertical load control) Motor Overtemperature Factory Limit Fault (If not #589 vertical load control) -ERS4 -ERS3 (series B or later) X Motor Thermal Overload Factory Limit Fault -ERS4 -ERS3 (series B or later) FLT S08 – MTR OVERLOAD UL Motor Thermal OverLoad User Limit Fault X X X X X – – – – – Disable/Coast – – – – Current Decel/Disable – – – – Disable/Coast – – – X X X -ERS4 -ERS3 (series B or later) X X X FLT S09 – MTR PHASE LOSS Motor Phase Loss -ERSx Inverter Overcurrent Fault -ERSx Inverter Overtemperature Factory Limit Fault -ERS3 (series A) FLT S11 – INV OVERTEMP FL Inverter Overtemperature Factory Limit Fault (If #589 vertical load control) Inverter Overtemperature Factory Limit Fault (If not #589 vertical load control) -ERS4 -ERS3 (series B or later) – – – X X X X X – X X – X – X – X X – – – – – – – – – Disable/Coast – – – Disable/Coast FLT S13 – INV OVERLOAD FL -ERS4 -ERS3 (series B or later) – – – FLT S14 – INV OVERLOAD UL Inverter Thermal Overload User Limit Fault -ERS4 -ERS3 (series B or later) FLT S16 – GROUND CURRENT Ground Current Factory Limit Fault FLT S22 – AC POWER LOSS Converter AC Power Loss Fault FLT S27 – BUS REG OVERTEMP FL (2) Bus Regulator Overtemperature Factory Limit Fault FLT S32 – BUS CAPACITOR MODULE FAILURE Bus Capacitor Module Failure FLT S33 – BUS UNDERVOLT FL Bus Undervoltage Factory Limit Fault FLT S34 – BUS UNDERVOLT UL Bus Undervoltage User Limit Fault FLT S35 – BUS OVERVOLT FL Bus Overvoltage Factory Limit Fault X X Ramped Decel(1)/Hold Disable/Coast Disable/Coast Disable/Coast X X Current Decel/Disable X X X X X X X X X X – – – X -ERS4 -ERS3 (series B or later) X X X X X X -ERSx X X – – – X -ERS4 -ERS3 (series B or later) X X X X X X -ERS3 (series A) X X – – – X Disable/Coast -ERS4 -ERS3 (series B or later) X X – – – X Disable/Coast (3) -ERS4 -ERS3 (series B or later) X X X X X X -ERSx X X – – – X -ERS3 (series A) -ERSx Single-axis inverters Current Decel/Disable Decel/Hold Ramped Decel(1)/Hold Disable/Coast Decel/Disable -ERS3 (series A) -ERS3 (series A) Ramped Decel(1)/Disable Disable/Coast Decel/Hold -ERS3 (series A) 274 Ramped Decel(1)/Disable Decel/Hold -ERS3 (series A) Inverter Thermal Overload Factory Limit Fault Ramped Decel(1)/Hold Decel/Disable X -ERS3 (series A) FLT S10 – INV OVERCURRENT Disable/Coast X -ERS3 (series A) FLT S07 – MTR OVERLOAD FL Disable/Coast Decel/Hold -ERS3 (series A) -ERS4 -ERS3 (series B or later) Best Available Stopping Action (applies to major faults) Ramped Decel(1)/Hold Decel/Hold Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Ramped Decel(1)/Hold Disable/Coast Chapter 7 Troubleshoot the Kinetix 5700 Drive System Table 148 - Drive Behavior, FLT Sxx Fault Codes (Continued) Fault Action Exception Fault Code Exception Text Minor Fault Major Fault Induction Motor Alarm Permanent Magnet Motor Ignore Inverter Modules 2198-xxxx FLT S37 – BUS POWER LOSS Bus Power Loss -ERS4 -ERS3 (series B or later) X X X X X X FLT S38 – FUSE BLOWN Bus Power Fuse Blown Fault -ERSx X X – – – X Best Available Stopping Action (applies to major faults) Decel/Disable -ERS3 (series A) -ERS3 (series A) Ramped Decel(1)/Disable Disable/Coast Decel/Disable FLT S40 – BUS POWER SHARING FAULT Bus Power Sharing Fault -ERS4 -ERS3 (series B or later) FLT S41 – MTR AQB STATE FL Feedback Signal Noise FL -ERSx X X – – – X Disable/Coast (4) (6) Feedback Signal Loss FL -ERSx X X – – – X Disable/Coast -ERS4 -ERS3 (series B or later) X X X X X X -ERSx X X – – – X FLT S43 – FDBK LOSS FL X X X X X X -ERS3 (series A) FLT S44 – FDBK LOSS UL (4) (6) Feedback Signal Loss UL Motor Feedback Data Loss Factory Limit Fault FLT S45 – FDBK COMM FL (5) (6) Decel/Hold -ERS3 (series A) FLT S46 – FDBK COMM UL (4) (6) FLT S47 – FDBK DEVICE FAILURE -ERS4 -ERS3 (series B or later) X X X X X X Feedback Device Failure -ERSx X X – – – X Brake Slip Exception Hardware Overtravel - Positive -ERS4 -ERS3 (series B or later) FLT S51 – NEG HW OTRAVEL Hardware Overtravel - Negative -ERS4 -ERS3 (series B or later) Excessive Position Error Fault -ERS3 (series A) FLT S54 – POSN ERROR (6) Excessive Position Error Fault (If #589 vertical load control) X X X X X X X X X X X X Excessive Position Error Fault (If not #589 vertical load control) Excessive Velocity Error Fault Excessive Velocity Error Fault (If #589 vertical load control) FLT S55 – VEL ERROR (6) Excessive Velocity Error Fault (If not #589 vertical load control) X X X X X X X X X X X X FLT S56 – OVERTORQUE LIMIT Overtorque Limit Fault -ERS4 -ERS3 (series B or later) Undertorque Limit Fault -ERS4 -ERS3 (series B or later) FLT S57 – UNDERTORQUE LIMIT Enable Input Deactivated -ERS4 -ERS3 (series B or later) X X X X X X (1) (2) (3) (4) (5) (6) Current Decel/Disable Current Decel/Disable Disable/Coast Decel/Hold X X X X X X Ramped Decel(1)/Hold Decel/Hold X X X X X X Ramped Decel(1)/Hold Disable/Coast -ERS3 (series A) FLT S61 – ENABLE INPUT Ramped Decel(1)/Hold Disable/Coast -ERS3 (series A) (6) Ramped Decel(1)/Hold Disable/Coast -ERS3 (series A) (6) Ramped Decel(1)/Hold Disable/Coast -ERS3 (series A) -ERS4 -ERS3 (series B or later) Disable/Coast Decel/Hold -ERS3 (series A) -ERS4 -ERS3 (series B or later) Ramped Decel(1)/Hold Decel/Hold -ERS3 (series A) FLT S50 – POS HW OTRAVEL Disable/Coast Decel/Hold -ERS3 (series A) FLT S49 – BRAKE SLIP FLT Ramped Decel(1)/Hold Decel/Hold Motor Feedback Data Loss User Limit Fault -ERS4 -ERS3 (series B or later) Ramped Decel(1)/Disable X X X X X X Ramped Decel(1)/Disable Available only in Velocity Control mode. Available stopping action is Current Decel in Position Control mode. Supported when shunt thermal switch is connected to the inverter digital input and configured in the Logix Designer application. Drives running firmware revision 11.003 or earlier use Stopping Time Limit attribute instead of the Coasting Time Limit attribute to determine when the brake will engage. Applies to all compatible feedback devices, except DSL encoder feedback. Applies to DSL and Hiperface feedback devices. Does not apply to induction motors in frequency control mode. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 275 Chapter 7 Troubleshoot the Kinetix 5700 Drive System Table 149 - Drive Behavior, FLT Mxx Fault Codes Exception Text Ignore Alarm Minor Fault Major Fault Fault Action Inverter Modules 2198-xxxx FLT M02 – MOTOR VOLTAGE (1) Motor Voltage Mismatch Fault -ERSx X X X X X X Disable/Coast FLT M05 – FDBK BATTERY LOSS Feedback Battery Loss Fault X – – – – X Disable/Coast X – X X X X Disable/Coast Exception Fault Code Permanent Induction Magnet Motor Motor Best Available Stopping Action (applies to major faults) FLT M06 – FDBK BATTERY LOW Feedback Battery Low Fault -ERS4 -ERS3 (series B or later) FLT M07 – FEEDBACK INCREMENTAL COUNT ERROR FAULT Feedback Incremental Count Error Fault -ERSx X X X X X X Disable/Coast FLT M26 – RUNTIME ERROR Runtime Error -ERSx X X – – – X Disable/Coast Safety Module Communication Error -ERSx X X – – – X Disable/Coast FLT M28 – SAFETY COMM (2) (1) Does not apply to induction motors in frequency control mode. (2) Applies to drives in Integrated STO mode. Table 150 - Drive Behavior, NODE FLT Fault Codes Control Connection Update Fault NODE FLT 02 – PROC WATCHDOG NODE FLT 03 – HARDWARE -ERS3 (series A) -ERS4 -ERS3 (series B or later) X X Processor Watchdog Fault -ERSx Hardware Fault -ERSx X X X X -ERS3 (series A) NODE FLT 05 – CLOCK SKEW FLT Clock Skew Fault -ERS4 -ERS3 (series B or later) X X -ERS3 (series A) NODE FLT 06 – LOST CTRL CONN Lost Controller Connection Fault -ERS4 -ERS3 (series B or later) X X -ERS3 (series A) NODE FLT 07 – CLOCK SYNC Clock Sync Fault -ERS4 -ERS3 (series B or later) NODE FLT 09 – DUPLICATE IP ADDRESS Duplicate IP Address Fault -ERSx X X X X (1) Available only in Velocity Control mode. Available stopping action is Current Decel in Position Control mode. (2) With firmware revision 9.xxx. Do not change the default stopping action. 276 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – Major Fault NODE FLT 01 – LATE CTRL UPDATE Permanent Induction Magnet Motor Motor Minor Fault Exception Text Alarm Exception Fault Code Ignore Fault Action Inverter Modules 2198-xxxx Best Available Stopping Action (applies to major faults) Decel/Disable X X X Ramped Decel(1)/Disable Disable/Coast Disable/Coast Decel/Disable X Ramped Decel(1)/Disable Decel/Disable X Programmable per (2) Connection Loss Stopping Action (see Table 147 on page 272). Decel/Disable X X Ramped Decel(1)/Disable Disable/Coast Chapter 8 Remove and Replace Drive Modules This chapter provides remove and replace procedures for Kinetix® 5700 drive modules. Topic Before You Begin Remove and Replace Kinetix 5700 Drive Modules Start and Configure the Drive Module Page 277 278 282 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. If you are not familiar with static control procedures, refer to Guarding Against Electrostatic Damage, publication 8000-4.5.2, or any other applicable ESD awareness handbook. Before You Begin When each drive module is installed, network settings are configured from the setup screens. Before removing the module, revisit the Network menu and make note of the static IP or DHCP settings. Refer to Configure the Drive on page 188 to access those settings. IMPORTANT If you intend to use the same Logix Designer application after replacing your drive module, the new module must be the same catalog number as the old module. You also need these tools available before you begin removal and replacement procedures: • • Screwdrivers (to loosen/remove screws) Voltmeter (to make sure that no voltage exists on drive connectors) Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 277 Chapter 8 Remove and Replace Drive Modules Remove and Replace Kinetix 5700 Drive Modules Follow these steps to remove and replace DC-bus power supplies, regenerative bus supplies, dual-axis inverters, single-axis inverters, iTRAK® power supplies, 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. ATTENTION: To avoid shock hazard or personal injury, make sure that all power has been removed before proceeding. This system can have multiple sources of power. More than one disconnect switch can be required to de-energize the system. 2. Wait 5 minutes for the DC bus to discharge completely before proceeding. SHOCK HAZARD: This product contains stored energy devices. To avoid the hazard of electrical shock, verify that voltage on capacitors has been discharged before attempting to service, repair, or remove this unit. Do not attempt the procedures in this document unless you are qualified to do so and are familiar with solid-state control equipment and the safety procedures in publication NFPA 70E. 3. Using a voltmeter, verify that the DC-bus voltage has discharged, and for iTRAK power supply, verify that the output bus (ICP and IDC connectors) has discharged. 4. Label and remove all wiring connectors from the module that you are removing. To identify each connector, refer to Kinetix 5700 Connector Data on page 92. For 2198-Pxxx DC-bus power supplies, you do not need to remove the shunt (RC) connector, unless there is an external shunt wired to it. 5. Unplug the DC-bus links and end caps from on top of the power supply, inverters, and accessory modules you are removing. 6. Unplug the shared-bus 24V input wiring connector, T-connectors, and bus-bars from on top of the drive module that you are removing (if applicable). 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 Loosen Motor Cable Shield Clamp 278 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 8 Remove and Replace Drive Modules 8. Single-axis inverters differ by catalog number in how the motor cable bracket attaches to the drive, when the bracket is used. a. For 2198-S086-ERSx, 2198-S130-ERSx, and 2198-S160-ERSx single-axis inverters, unplug the motor feedback and brake connectors, remove the tie wrap, and remove the motor power bracket. 2198-S086-ERSx, 2198-S130-ERSx, 2198-S160-ERSx, Single-axis Inverters Motor Feedback Connector Motor Brake Connectors Tie Wrap Bracket Screws W V U Motor Power Connector (bottom view Motor Cable Bracket 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 Connectors - MBRK + Tie Wrap M8 Hex Nut W V U 21mm2 (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin) Ground Conductor Termination Motor Power Connector Screws Motor Cable Bracket Shield Clamp If your axis uses 2090-CPBM7DF power/brake (2 or 4 AWG) cable, remove the motor power cable and bracket from the drive (do not loosen the shield clamp). Refer to the steps and illustrations on page 161 to see how the bracket is attached. If your axis uses customer-supplied cable (larger than 2 or 4 AWG), the motor cable bracket does not apply. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 279 Chapter 8 Remove and Replace Drive Modules 9. For 2198T-W25K-ER iTRAK power supplies, unplug the iPS ready connector, 24V control power output connectors, and DC-bus output connectors. 10. Loosen the shield clamp until you can remove the cable from the clamp. iTRAK PS Ready Connector 2198T-W25K-ER iTRAK Power Supply 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 Remove the Drive Module You can remove DC-bus power supplies, regenerative bus supplies, dual-axis inverters, single-axis inverters, iTRAK power supplies, or accessory modules from the panel in any configuration by using the same procedure. 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. 1. Loosen the top and bottom screws of the module you are removing. Modules with 55 mm width have one top and bottom screw. Two or more top and bottom screws are present on modules of greater width. 2. Handling and positioning of the 2198-RPxxx regenerative bus supply and all other Kinetix 5700 drive modules, varies by catalog number. Follow these steps to lift and remove the modules. 280 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 8 Remove and Replace Drive Modules a. For the 2198-RP088 regenerative bus supply and all other Kinetix 5700 drive modules, grasp the top and bottom of the module with both hands and pull the module straight out and away from the panel, clearing the zero-stack mounting tabs and cutouts. 2 Top Screws (bottom screws not shown) Kinetix 5700 Drive System (DC bus supply and dual-axis inverter are shown) 1 Zero-stack Tab and Cutout Engaged b. For the 2198-RP200, 2198-RP263, and 2198-RP312, modules, a hoist, straps, and J-hooks with a lockable clasp capable of supporting the maximum module weight is required to lift the module off the mounting screws and away from the panel. For lifting instructions, see the Kinetix 5700 Regenerative Bus Supply Installation Instructions, publication 2198-IN014. 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 on page 88. Table 151 - Drive Module Torque Values Kinetix 5700 Drive Module Cat. No. Fasteners Torque Value N•m (lb•in) All Kinetix 5700 Bulletin 2198-drive modules Module mounting screws Module ground lug 4.0 (35.4) 2198-Pxxx, 2198-RP088, 2198-RP200 Input power connector screws 2198-RP263, 2198-RP312 2198-Sxxx-ERSx 2198-Dxxx-ERSx, 2198-Sxxx-ERSx 2198-S086-ERSx, 2198-S130-ERSx, 2198-S160-ERSx 2198-S263-ERSx, 2198-S312-ERSx Input power ground screw Shield clamp screw Feedback connector kit screws Motor power bracket screws Motor power connector screws Motor power ground screw 0.8 (7.1) 15…20 (132…177) 5.6 (50.0) 5.6 (50.0) 0.4 (3.5) 0.8 (7.1) 15…20 (132…177) 5.6 (50.0) If replacing a drive module that was configured for Integrated STO mode, refer to Understand Integrated Safety Drive Replacement on page 310. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 281 Chapter 8 Remove and Replace Drive Modules Start and Configure the Drive Module Follow these steps to configure the replacement module. IMPORTANT If you intend to use the same Logix Designer application after replacing your drive module, the new module must be the same catalog number as the old module. IMPORTANT If a servo drive was previously configured by a safety controller, reset the drive to the Out of Box state. Refer to Out of Box State on page 288. 1. Reapply power to the drive system. Refer to Apply Power to the Kinetix 5700 Drive System on page 250 for 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. Refer to Configure the Drive on page 188 to access those settings. 3. If you are replacing a 2198-xxxx-ERS3 (series A) drive with a 2198-xxxx-ERS3 (series B or later) drive, see Replace 2198-xxxx-ERS3 (series A) with (series B or later) Drives for more information. 4. Download the Logix Designer application to the controller. 5. Verify that the drive system is working properly. Replace 2198-xxxx-ERS3 (series A) with (series B or later) Drives When replacing a 2198-xxxx-ERS3 (series A) drive with a 2198-xxxx-ERS3 (series B or later) drive, the procedure depends on how Electronic Keying is configured in the Module Definition. IMPORTANT 282 If Electronic Keying in the Module Definition is configured for Exact Match, the following guidelines apply: • The Module Definition Revision level must match the 2198-xxxx-ERS3 (series B and later) drive firmware (revision 9 or later) • For backwards compatibility with series A drives, Motion Safety in the Module Definition of the 2198-xxxx-ERS3 (series B or later) drive must be configured for STO Only. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 8 Remove and Replace Drive Modules Figure 132 - Module Definition for 2198-xxxx-ERS3 (series B or later) 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 or later) drives (with drive firmware revision 9 or later). Figure 133 - 2198-xxxx-ERS3 (series B or later) Replacement Drive Flowchart Start How is Electronic Keying configured? Exact Match Compatible Module No Program Changes (select Revision 7or earlier in Module Definition) Must use Logix Designer Version 31 or later. Is the Connection configured for Motion and Safety or Safety Only? Download Program No • Motion Only Connection • Must select Drive Revision 9 or later Download Program Yes Must select Revision 9 or later in Module Definition (selection must match firmware revision in drive) Must configure Motion Safety (1) and Motion Safety 2 as STO Only to avoid any change in the application program. Download Program Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 283 Chapter 8 Remove and Replace Drive Modules Notes: 284 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 9 Kinetix 5700 Safe Torque-off Function Use this chapter to become familiar with the safe torque-off functionality built into Kinetix® 5700 dual-axis and single-axis inverters. Topic Overview Hardwired Safe Torque-off Integrated Safe Torque-off Overview Page 285 293 304 The Kinetix 5700 dual-axis and single-axis inverters are equipped for hardwired safe torque-off (STO). Hardwired STO mode, as described in this chapter, applies to 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. The integrated Monitored SS1 is supported by the 2198-Dxxx-ERS4 dual-axis and 2198-Sxxx-ERS4 single-axis inverters. The Timed SS1 stopping functions are supported by the 2198-Dxxx-ERS3 (series B or later), the 2198-Dxxx-ERS4 dual-axis, and the 2198-Sxxx-ERS4 single-axis inverters. For integrated Monitored SS1 and Timed SS1 stopping function operations, see the Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication 2198RM001. Table 152 - Kinetix 5700 Functional Safety Mode Support Safety Mode Hardwired STO mode Integrated STO mode Monitored SS1 stopping function Timed SS1 stopping function Dual-axis Inverters Cat. No. 2198-Dxxx-ERS3 2198-Dxxx-ERS4 2198-Dxxx-ERS3 2198-Dxxx-ERS4 2198-Dxxx-ERS4 2198-Dxxx-ERS4 2198-Dxxx-ERS3 (series B or later) Single-axis Inverters Cat. No. 2198-Sxxx-ERS3 2198-Sxxx-ERS4 2198-Sxxx-ERS3 2198-Sxxx-ERS4 2198-Sxxx-ERS4 2198-Dxxx-ERS4 2198-Sxxx-ERS3 (series B or later) The hardwired and integrated STO modes and SS1 stopping functions meet 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. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 285 Chapter 9 Kinetix 5700 Safe Torque-off Function Certification The TÜV Rheinland group has approved 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. For product certifications currently available from Rockwell Automation, go to rok.auto/certifications. Important Safety Considerations The system user is responsible for the following: • • • • Validation of any sensors or actuators connected to the system Completing a machine-level risk assessment Certification of the machine to the desired ISO 13849 performance level or IEC 62061 SIL level Project management and proof testing in accordance with ISO 13849 Stop Category Definition Stop Category 0 as defined in IEC 60204 or safe torque-off as defined by IEC 61800-5-2 is achieved with immediate removal of motion producing power to the actuator. IMPORTANT In the event of a malfunction, the most likely stop category is Stop Category 0. When designing the machine application, timing and distance must be considered for a coast to stop. For more information regarding stop categories, refer to IEC 60204-1. Performance Level (PL) and Safety Integrity Level (SIL) For safety-related control systems, Performance Level (PL), according to ISO 13849-1, and SIL levels, according to IEC 61508 and IEC 62061, include a rating of the systems ability to perform its safety functions. All of the safetyrelated components of the control system must be included in both a risk assessment and the determination of the achieved levels. Refer to the ISO 13849-1, IEC 61508, and IEC 62061 standards for complete information on requirements for PL and SIL determination. 286 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 9 Kinetix 5700 Safe Torque-off Function 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 safetyrelated system is directly related to the probability of a dangerous failure per hour (PFH). PFH calculation is based on the equations from IEC 61508 and show worst-case values. Table 153 provides data for a 20-year proof test interval and demonstrates the worst-case effect of various configuration changes on the data. IMPORTANT Determination of safety parameters is based on the assumptions that the system operates in High-demand mode and that the safety function is requested at least once every three months. Table 153 - PFH for 20-year Proof Test Interval (STO function) Attribute PFH (1e-9) HFT (hardware fault tolerance) (1) Proof test (years) 2198-Sxxx-ERS3 Single-axis Inverters 1.57 2198-Dxxx-ERS3 Dual-axis Inverters 1.64 1 1 20 20 (1) Hardware fault tolerance is the minimum number of faults that can cause a loss of the safety function as defined by IEC 61508-2. Safe Torque-off Feature The safe torque-off (STO) circuit, when used with suitable safety components, provides protection according to ISO 13849-1 (PL e), according to IEC 61508, IEC 61800-5-2, and IEC 62061 (SIL CL 3). All components in the system must be chosen and applied correctly to achieve the desired level of operator safeguarding. The 2198-xxxx-ERS3 and 2198-xxxx-ERS4 STO circuit is designed to turn off all of the output-power transistors when the STO function is requested. You can use the 2198-xxxx-ERSx STO circuit in combination with other safety devices to achieve a Stop Category 0 stop as described in Stop Category Definition on page 286, and protection-against-restart as specified in IEC 60204-1. ATTENTION: The safe torque-off (STO) feature is suitable only for performing mechanical work on the drive system or affected area of a machine. It does not provide electrical safety. SHOCK HAZARD: In Safe Torque-off mode, hazardous voltages can still be present at the drive. To avoid an electric shock hazard, disconnect power to the system and verify that the voltage is zero before performing any work on the drive. ATTENTION: Personnel responsible for the application of safety-related programmable electronic systems (PES) shall be aware of the safety requirements in the application of the system and shall be trained in using the system. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 287 Chapter 9 Kinetix 5700 Safe Torque-off Function Out of Box State Kinetix 5700 servo drives are capable of safe torque-off (STO) functionality in Hardwired STO mode or Integrated STO mode. Out of the box, the Kinetix 5700 servo drives are in Hardwired STO mode, which means they are ready for hardwired connections to the safety (STO) connector. To bypass the hardwired safety function, jumper wires must be installed in the STO connector. IMPORTANT Out of the box, Kinetix 5700 servo drives are in Hardwired STO mode. IMPORTANT To bypass the STO feature while commissioning or testing the drive, the drive must be configured for Hardwired STO mode. Refer to Safe Torque-off Feature Bypass on page 302 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. How to Recognize Hardwired STO Mode You can read the safety control state from the axis tag AxisSafetyState, or by using an MSG command in the Logix Designer application to read the Safety Supervisor status. In Hardwired STO mode, if STO inputs are OFF then Safety Supervisor state is Not Configured (8) and if STO inputs are ON then Safety Supervisor state is Not Configured, torque permitted (51). Table 154 - Safety Supervisor States 288 Value 2 4 7 Safety Supervisor State Configured (no safety connection) Running Configuring 8 Not Configured 51 Not Configured (torque permitted) 52 Running (torque permitted) Definition Safety Mode No active connections Integrated Normal running state Integrated Transition state Integrated Hardwired STO mode with torque Hardwired (out of the box) disabled Hardwired STO mode with torque Hardwired (out of the box) permitted STO bypass state Integrated Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 9 Kinetix 5700 Safe Torque-off Function Restore the Hardwired STO Mode by Using the Logix Designer Application IMPORTANT This section applies to 2198-xxxx-ERS3 (series A) drives. The 2198-xxxx-ERS4 and 2198-xxxx-ERS3 (series B or later) drives are configured for Hardwired or Networked mode in the Module Definition dialog box under 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. The safety connection must be inhibited before the reset is attempted. If any active connection is detected, the safety reset is rejected and Reset Failed appears on the display. Follow these steps to restore your Kinetix 5700 servo drive to the Hardwired STO mode. 1. Right-click the Kinetix 5700 servo drive you just created and choose Properties. 2. Select the Connection category. The Connection category appears. 3. Check Inhibit Module. 4. Click Apply. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 289 Chapter 9 Kinetix 5700 Safe Torque-off Function 5. Click the Safety category. 6. In the Configuration Ownership field, click Reset Ownership. The drive reverts back to Hardwired STO mode. 7. Click OK. 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. IMPORTANT Only authorized personnel should attempt Reset Ownership. The safety connection must be inhibited before the reset is attempted. If any active connection is detected, the safety reset is rejected and Reset Failed appears on the display. Follow these steps to restore your Kinetix 5700 drive to the Hardwired STO mode. 1. Disable any Motion and Safety connections configured in the Logix Designer application. You can do this in Module Properties or by unplugging the Ethernet cable. 2. From the Home screen on the drive display, press the settings 3. From the SETTINGS menu, scroll down by using the select SAFETY. button. arrows and 4. Press to request a Reset Ownership. Are You Sure? appears on the display. 5. Press to acknowledge and begin the reset ownership. If a reset ownership is requested, but not acknowledged within 30 seconds, the display automatically reverts back to the Home screen and the drive does not complete the reset ownership. If a reset ownership is requested and acknowledged within 30 seconds, the drive reverts back to Hardwired STO mode. 290 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 9 Kinetix 5700 Safe Torque-off Function Safe Torque-off Status This section describes the safety related status data that is available to the motion controller. 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. This table lists the safety related STANDARD tags that are added when a new AXIS_CIP_DRIVE axis is defined. Table 155 - Safety Related Axis Tags Logix Designer Tag Name AxisFaults GuardFaultStatus SafetyFaultStatus ModuleFaults GuardStatus GuardOKStatus GuardGateDriveOutputStatus GuardStopInputStatus GuardStopRequestStatus GuardFault GuardStopInputFault GuardGateDriveFault CIPAxisFaultsRA SafetyModuleCommunicationErrorFault CIPAxisAlarmsRA SafetyModuleCommunicationErrorAlarm CIPInitializationFaultsRA InvalidSafetyFirmwareFault CIPStartInhibits SafeTorqueOffActiveInhibit CIPStartInhibitsRA SafeTorqueOffInhibit AxisSafetyState Attribute [bit] 34 [5] [8] 163 980 [0] [2] [3] [4] 981 [9] [2] 903 [28] 904 [28] 910 [14] 676 [5] 912 [5] 760 Type DINT BOOL BOOL DINT DINT BOOL BOOL BOOL BOOL DINT BOOL BOOL DINT BOOL DINT BOOL DINT BOOL DINT BOOL DINT BOOL DINT AxisSafetyStatus (1) SafetyFaultStatus SafetyResetRequestStatus SafetyResetRequiredStatus SafeTorqueOffActiveStatus SafeTorqueOffDisableStatus SafetyOutputConnectionClosed SafetyOutputConnectionIdleStatus AxisSafetyFaults SafetyCoreFault SafetyTorqueOffFault 761 DINT [0] [1] [2] [3] [4] [30] [31] 763 [1] [3] BOOL BOOL BOOL BOOL BOOL BOOL BOOL DINT BOOL BOOL Description STO fault - Hardwired STO fault - Integrated Not STO fault - Hardwired Torque allowed - Hardwired Safety inputs active - Hardwired Safety input requesting STO - Hardwired STO fault - Hardwired Internal STO circuit fault - Hardwired Loss of communication to safety control Loss of communication to safety control Invalid safety control firmware Torque disabled - Integrated Torque disabled - Hardwired Safety supervisor state Status of SI.SafetyFault Status of SO.Reset or SO.ResetRequest Status of SI.ResetRequired Status of SO.SafeTorqueOff or SO.STOOutput Status of SI.TorqueDisabled 1 if all output connections are closed 1 if safety controller is in program mode Loss of communications to safety control Status of SI.SafetyFault (1) Bits not shown are always zero. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 291 Chapter 9 Kinetix 5700 Safe Torque-off Function Explicit Messages You can use explicit messages to obtain additional diagnostic information from the safety controller by using an MSG instruction. Safety Supervisor State The safety supervisor state provides information on the state of the integrated safety connection and the mode of operation. There is only one safety supervisor object per drive module. Therefore, for dual-axis inverters, the safety supervisor is the same on both axes. Table 156 - Safety Supervisor State: MSG Parameter Service Code Class Instance Attribute Data Type Value 0x0E 0x39 1 0x0B SINT Description Get attribute single Safety supervisor Device status Short integer Table 157 - Safety Supervisor States Value 2 4 7 Safety Supervisor State Configured (no safety connection) Running Configuring 8 Not Configured 51 Not Configured (torque permitted) 52 Running (torque permitted) Definition Safety Mode No active connections Integrated Normal running state Integrated Transition state Integrated Hardwired STO mode with torque Hardwired (out of the box) disabled Hardwired STO mode with torque Hardwired (out of the box) permitted STO bypass state Integrated Safe Torque-off Mode You can use the attribute STO Mode to check if the Kinetix 5700 inverter is in STO Bypass mode. Table 158 - Safe Torque-off Mode: MSG Parameter Service Code Class Instance Attribute Data Type Value 0x0E 0x5A 1 or 2 0x104 SINT Table 159 - Safe Torque-off Mode: Values Value 1 2 292 Definition Normal operation STO bypass mode Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Description Get attribute single Safety stop functions Inverter axis number STO mode Short integer Chapter 9 Kinetix 5700 Safe Torque-off Function Safe Torque-off Faults When a safety fault is indicated in any of the following tags: • • • SI.SafetyFault Axis.SafetyFaultStatus Axis.SafetyTorqueOffFault The cause of the fault can be read using an explicit message. Table 160 - Safe Torque-off Fault Type: MSG Parameter Service Code Class Instance Attribute Data Type Value 0x0E 0x5A 1 or 2 0x108 SINT Description Get attribute single Safety stop functions Inverter axis number STO fault type Short integer Table 161 - Safe Torque-off Fault Type: Values Value 1 3 104 Hardwired Safe Torque-off Definition No Fault Circuit Error Hardwired input in Network mode 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. The 2198-xxxx-ERS3 and 2198-xxxx-ERS4 inverters use the STO connector for wiring external safety devices and cascading hardwired safety connections from drive-to-drive. Compatible Controllers A ControlLogix® 5570, ControlLogix 5580, CompactLogix™ 5370 or CompactLogix 5380 controller is required for drive control. The Studio 5000 Logix Designer® application provides support for programming, commissioning, and maintaining these CompactLogix and ControlLogix controllers with Kinetix 5700 drive systems. Table 162 - Studio 5000 Logix Designer Requirements Studio 5000 Logix Designer Application Version 26 or later Version 31 or later Kinetix Dual-axis Inverters Cat. No. 2198-Dxxx-ERS3 (series A) 2198-Dxxx-ERS4 2198-Dxxx-ERS3 (series B or later) Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Kinetix Single-axis Inverters Cat. No. 2198-Sxxx-ERS3 (series A) 2198-Sxxx-ERS4 2198-Sxxx-ERS3 (series B or later) 293 Chapter 9 Kinetix 5700 Safe Torque-off Function Description of Operation The safe torque-off feature provides a method, with sufficiently low probability of failure, to force the power-transistor control signals to a disabled state. When disabled, or any time power is removed from the safety enable inputs, all of the drive output-power transistors are released from the ON-state. This results in a condition where the drive performs a Category 0 Stop (refer to Stop Category Definition on page 286). Disabling the power transistor output does not provide physical isolation of the electrical output that is required for some applications. For hardwired control of the safe torque-off (STO) function: • • The STO function needs to be in Hardwired STO mode The appropriate wiring must be connected to the Safety (STO) connector plug Refer to Hardwired Safe Torque-off Electrical Specifications on page 304 for more information on the safety inputs. Under normal operation, the safe torque-off inputs are energized. If either of the safety enable inputs are de-energized, then all of the output power transistors turn off. The safe torque-off response time is less than 12 ms. ATTENTION: Permanent magnet motors can, in the event of two simultaneous faults in the IGBT circuit, result in a rotation of up to 180 electrical degrees. 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. 294 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 9 Kinetix 5700 Safe Torque-off Function Figure 134 - Normal System Operation SS_IN_CH0 24V DC 0V DC SS_IN_CH1 24V DC 0V DC 1 Second Discrepancy Limit GuardFault 1 0 No Fault SafeTorqueOffInhibit 1 0 Start Inhibit GuardOkStatus 1 0 OK GuardGateDriveOutputStatus 1 0 Torque Disabled Torque Permitted GuardStopInputStatus 1 0 Disable Torque Permit Torque GuardStopRequestStatus 1 0 Torque Disabled Torque Permitted GuardStopInputFault 1 0 No Fault Event 1 2 1 Second Debounce Time Start Permit 3 4 56 Table 163 - Normal System Operation Legend Event Description 1 At least one input is switched-off. The GuardStopRequestStatus bit is set to 1. 2 Second input is switched off. If both STO inputs are not in the OFF state simultaneously within 100 ms or after 1 second, then GuardStopInputFault is posted. 3 First input is switched-on. 4 Second input is switched-on within 1 second of event 3. 5 Both inputs are in the ON state simultaneously within 1 second. As a result, GuardStopInputFault is not posted. 6 The GuardStopRequestStatus bit sets back to 0 if event 4 occurs within a 100 ms interval after event 3. If event 4 is outside of the 100 ms interval, but within the a 1 second interval after event 3, then the GuardStop RequestStatus bit sets back to 0 after the 1 second interval following event 3 (not immediately following event 4). Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 295 Chapter 9 Kinetix 5700 Safe Torque-off Function Troubleshoot the Safe Torque-off Function For Kinetix 5700 fault code descriptions and possible solutions, see Kinetix 5700 Servo Drive Fault Codes, publication 2198-RD003; download the spreadsheet for offline access. IMPORTANT If both STO inputs are not in the OFF state simultaneously within 100 ms or after 1 second, then GuardStopInputFault is posted. Figure 135 illustrates when the safe torque-off mismatch is detected and GuardStopInputFault is posted. Figure 135 - System Operation in the Event of STO Inputs Discrepancy (fault case 1) SS_IN_CH0 SS_IN_CH1 24V DC 0V DC 24V DC 0V DC GuardFault 0 SafeTorqueOffInhibit 1 Second Discrepancy Limit 1 No Fault 1 Faulted Start Inhibited 0 GuardOkStatus 1 0 GuardGateDriveOutputStatus OK 1 Torque Disabled 0 GuardStopInputStatus Not OK 1 0 GuardStopRequestStatus 1 Stop Requested 0 GuardStopInputFault 1 0 No Fault Faulted When one safety input is turned off, the second input must also be turned off, otherwise a fault is asserted (see Figure 136). The fault is asserted even if the first safety input is turned on again, without the second input transitioning to the ON state. 296 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 9 Kinetix 5700 Safe Torque-off Function Figure 136 - System Operation in the Event of STO Inputs Discrepancy (fault case 2) SS_IN_CH0 24V DC 0V DC SS_IN_CH1 24V DC 0V DC GuardFault 1 Second Discrepancy Limit 1 0 SafeTorqueOffInhibit 1 0 GuardOkStatus 1 0 GuardGateDriveOutputStatus 1 0 GuardStopInputStatus 1 0 GuardStopRequestStatus 1 0 GuardStopInputFault 1 0 No Fault Faulted Start Inhibited OK Not OK Torque Disabled Stop Requested No Fault Faulted Figure 137 - System Operation in the Event of STO Inputs Discrepancy (fault case 3) SS_IN_CH0 SS_IN_CH1 24V DC 0V DC 1 Second Discrepancy Limit 24V DC 0V DC GuardFault 1 0 SafeTorqueOffInhibit 1 0 GuardOkStatus 1 0 100 ms No Fault Start Inhibited OK GuardGateDriveOutputStatus 1 1 0 GuardStopRequestStatus 1 0 GuardStopInputFault 1 0 Not OK Torque Disabled 0 GuardStopInputStatus Faulted Stop Requested No Fault Faulted ATTENTION: The safe torque-off fault is detected upon demand of the safe torque-off function. After troubleshooting the STO function or performing maintenance that might affect the STO function, the STO function must be executed to verify correct operation. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 297 Chapter 9 Kinetix 5700 Safe Torque-off Function The GuardStopInputFault can be reset only if both inputs are in the OFFstate for more than 1 second. After the fault reset requirement is satisfied, an MAFR command in the Logix Designer application must be issued to reset the GuardStopInputFault. IMPORTANT Safe Torque-off Connector Data Two rows of eight pins are provided for making drive-to-drive connections. The dual-axis inverters have pins designated for axis A and axis B. The singleaxis inverters do not use STO-6, -7, -8 and STO-14, -15, -16. Figure 138 - Pin Orientation for 16-pin Safe Torque-off (STO) Connector 2198-Dxxx-ERSx Dual-axis Inverter Safety (STO) Connector Plug 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 SB+/NC S1A SCA S2A SBS1B SCB S2B 2198-Sxxx-ERSx Single-axis Inverter Safety (STO) Connector Plug 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 SB+/NC S1A SCA S2A SBN/C N/C N/C Table 164 - Safe Torque-off Connector Pinouts STO Pin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Description Description 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. Safe stop input common, axis A. Safe stop input channel 2, axis A. Safety bypass minus signal. Connect to safety common to disable safe torque-off function. Safe stop input channel 1, axis B. N/C Safe stop input common, axis B. N/C Safe stop input channel 2, axis B. N/C N/C N/C IMPORTANT 298 STO-3 and STO-7 is common for the digital inputs, the safety inputs, and the encoder power supply (optional). Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Signal SB+ S1A SCA S2A SBS1B SCB S2B – Chapter 9 Kinetix 5700 Safe Torque-off Function Wire the Safe Torque-off Circuit This section provides guidelines for wiring safe torque-off connections to your Kinetix 5700 drive. IMPORTANT When replacing 2198-xxxx-ERS3 (series A) single-axis and dual-axis inverters with 2198-xxxx-ERSx (series B or later) inverters, you must use the connector plugs that are included with your inverter/drive. Install 2198-xxxx-ERS3 (series A) Safety (STO) Connector Plugs The right side of the safety connector plug requires an off-center push when inserting it into the STO connector. This applies to 2198-xxxx-ERS3 (series A) single-axis and dual-axis inverters. IMPORTANT An off-center push is required to engage the locking features on the bottom of the safety connector plugs and seat properly with the drive STO connector. Failure to do this can result in the connector plug pulling out of the drive connector during normal operation. Figure 139 - Insert the 2198-xxxx-ERS3 (series A) Safety Connector Plug Off-center Push Kinetix 5700 Inverter Drive (2198-xxxx-ERS3, series A, inverter is shown) Locking Features Push the Right-hand Side Safety (STO) Connector Plug MOD– NET– Safety Plug Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 299 Chapter 9 Kinetix 5700 Safe Torque-off Function Install 2198-xxxx-ERS4 and 2198-xxxx-ERS3 (series B or later) Safety Connector Plugs The safety connector plugs have two locking leavers that you push in a clockwise direction as you insert the plugs into the drive connector. This is the locked position. Rotate the leavers counter-clockwise to the open position to release the connector plugs. This applies to 2198-xxxx-ERS4 and 2198-xxxx-ERS3 (series B or later) single-axis and dual-axis inverters. IMPORTANT Push the locking leavers clockwise into the locked position as you insert the STO connector plugs. Failure to do this can result in the connector plugs pulling out of the drive connector during normal operation. Figure 140 - Insert the 2198-xxxx-ERS4 and 2198-xxxx-ERS3 (series B or later) Safety Connector Plugs Push to Lock Push to Lock Kinetix 5700 Inverter Drive (2198-xxxx-ERS4 inverter is shown) Push to Unlock Open Position (rotated counter-clockwise) Safety (STO) Connector Plug Locked Position (rotated clockwise) MOD– NET– 300 Locking Leavers in Locked Position IMPORTANT The National Electrical Code and local electrical codes take precedence over the values and methods provided. IMPORTANT To improve system performance, run wires and cables in the wireways as established in Establish Noise Zones beginning on page 69. IMPORTANT Pins ST0-1 and ST0-5 (SB+ and SB-) are used to disable the safe torqueoff function. When wiring to the STO connector, use an external 24V supply for the external safety device that triggers the safe torque-off request. To avoid jeopardizing system performance, do not use pin ST0-1 as a power supply for the external safety device. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 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. IMPORTANT The National Electrical Code and local electrical codes take precedence over the values and methods provided. IMPORTANT Stranded wires must terminate with ferrules to prevent short circuits, per table D7 of ISO 13849. Figure 141 - Safe Torque-off (STO) Terminal Plug 2198-Sxxx-ERSx Single-axis Inverter Safety (STO) Connector Plug /NC SB+ 9 S1 10 SC 1 S2 11 2 12 SB3 13 NC 4 NC 14 5 NC 15 6 7 16 8 Kinetix 5700 Inverter, Top View (2198-D057-ERS4 dual-axis inverter is shown) 2198-Dxxx-ERSx Dual-axis Inverter Safety (STO) Connector Plug /NC SB+ A 9 S1 10 1 SC A 11 2 S2A 12 3 SB13 S1B 4 14 5 SCB 15 S2B 6 7 8 16 Table 165 - Safe Torque-off (STO) Connector Plug Wiring Safe Torque-off (STO) Connector STO Pin 1 2 10 3 11 4 12 5 13 6 14 7 15 8 16 9 Signal 2198-Dxxx-ERSx SB+ S1A SCA S2A SBS1B SCB S2B NC 2198-Sxxx-ERSx SB+ S1 SC S2 SBNC NC NC NC Recommended Wire Size mm2 (AWG) Strip Length mm (in.) Torque Value N•m (lb•in) 0.14…1.5 (26…16) 10 (0.39) N/A (1) (1) This connector uses spring tension to hold wires in place. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 301 Chapter 9 Kinetix 5700 Safe Torque-off Function 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. Kinetix 5700 inverters ship with a 16-pin wiring plug for wiring to safety devices. To bypass the safety function, wire these signals as shown in Figure 142. With the jumper wires installed, the safe-off feature is not used. Figure 142 - Safe Torque-off Bypass Wiring 2198-Dxxx-ERSx Dual-axis Inverter Safety (STO) Connector Plug 1 2 3 4 5 6 7 8 IMPORTANT 9 10 11 12 13 14 15 16 2198-Sxxx-ERSx Single-axis Inverter Safety (STO) Connector Plug 1 2 3 4 5 6 7 8 SB+/NC S1A SCA S2A SBS1B SCB S2B 9 10 11 12 13 14 15 16 SB+/NC S1A SCA S2A SBN/C N/C N/C If the safe torque-off function is not required, the drive safety configuration must be returned to Hardwired STO mode and the bypass jumper wires applied to the safety (STO) connector plugs. Cascade the Safe Torque-off Signal The total number of drives in a single cascaded safety circuit is limited by the current carrying capacity of the cascaded safety wiring. Refer to Table 166 for current rating per channel, per drive. In this example, the cascaded safe torque-off (STO) wiring is for an application with three single-axis inverters and a single safety device. Figure 143 - Cascaded STO Wiring - Single-axis Inverters Dual-channel Equivalent Safety Device 24V DC 302 Middle Drive First Drive SB+/NC S1A SCA S2A SBN/C N/C N/C 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 SB+/NC S1A SCA S2A SBN/C N/C N/C Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Last Drive SB+/NC S1A SCA S2A SBN/C N/C N/C 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 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 144 - Cascaded STO Wiring - Dual-axis Inverters with Two Safety Devices Dual-channel Equivalent Safety Device Middle Drive First Drive SB+/NC S1A SCA S2A SBS1B SCB S2B 24V DC 1 2 3 4 5 6 7 8 SB+/NC S1A SCA S2A SBS1B SCB S2B 9 10 11 12 13 14 15 16 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Last Drive SB+/NC S1A SCA S2A SBS1B SCB S2B 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Dual-channel Equivalent Safety Device In this example, the cascaded STO wiring is for an application with three dualaxis inverters and a single safety device for all axes. Figure 145 - Cascaded STO Wiring - Dual-axis Inverter with Single Safety Device Dual-channel Equivalent Safety Device 24V DC Middle Drive First Drive SB+/NC S1A SCA S2A SBS1B SCB S2B 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 SB+/NC S1A SCA S2A SBS1B SCB S2B 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Last Drive SB+/NC S1A SCA S2A SBS1B SCB S2B 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 303 Chapter 9 Kinetix 5700 Safe Torque-off Function Hardwired Safe Torque-off Electrical Specifications IMPORTANT To maintain their safety rating, Kinetix 5700 inverters 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. Table 166 - Hardwired STO Electrical Specifications Attribute Safety inputs (per channel) Input current Input ON voltage range Input OFF voltage, max Value < 10 mA 18…26.4V DC 5V DC Input ON current, per input, max 10 mA, each drive (1) Input OFF current, max (@ V in < 5V DC) Pulse rejection width 2 mA External power supply (2) SELV/PELV Input type Optically isolated and reverse voltage protected 700 s (1) The maximum number of drives cascaded with safe torque-off wiring is 50. (2) SELV or PELV rated power supplies must be used to energize external safety devices connected to the Kinetix 5700 safety inputs. For additional information regarding Allen-Bradley® safety products, including safety relays, light curtain, and gate interlock applications, refer to https://ab.rockwellautomation.com/Safety. Integrated Safe Torque-off This section introduces you to the Kinetix 5700 safe torque-off (STO) feature over the EtherNet/IP network that meets the requirements of Performance Level e (PL e) per ISO 13849-1 and SIL 3 per IEC 61508, IEC 61800-5-2, and IEC 62061. Integrated STO applies to 2198-xxxx-ERS3 and 2198-xxxx-ERS4 dualaxis and single-axis inverters. In Integrated STO mode, the GuardLogix® safety controller issues the STO command over the EtherNet/IP network and the 2198-xxxx-ERS3 and 2198-xxxx-ERS4 dual-axis and single-axis inverters execute the STO command. Compatible Safety Controllers A GuardLogix 5570 or Compact GuardLogix 5370 safety controller is required for integrated safety control of the Kinetix 5700 safe torque-off function. The Studio 5000 Logix Designer application, version 26.00 or later, provides support for programming, commissioning, and maintaining Logix 5000™ safety controllers with Kinetix 5700 drive systems. The safety connection can originate from either of these controller configurations: • • 304 Single safety controller that provides both safety and motion control Safety controller that controls only the safety, while a separate ControlLogix 5570, ControlLogix 5580, CompactLogix 5370, or CompactLogix 5380 controller that controls motion Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 9 Kinetix 5700 Safe Torque-off Function Table 167 - Studio 5000 Logix Designer Requirements Studio 5000 Logix Designer Application Version 26 or later Version 31 or later Kinetix Dual-axis Inverters Cat. No. 2198-Dxxx-ERS3 (series A) 2198-Dxxx-ERS4 2198-Dxxx-ERS3 (series B or later) (1) Kinetix Single-axis Inverters Cat. No. 2198-Sxxx-ERS3 (series A) 2198-Sxxx-ERS4 2198-Sxxx-ERS3 (series B or later) (1) When 2198-xxxx-ERS3 (series B or later) drives are used in Timed SS1 safety applications, Studio 5000 Logix Designer application, version 31, must be used. Safety Application Requirements Safety application requirements include evaluating probability of failure rates (PFH), system reaction time settings, and functional verification tests that fulfill SIL 3 criteria. Refer to Average Frequency of a Dangerous Failure on page 287 for more PFH information. Creating, recording, and verifying the safety signature is also a required part of the safety application development process. Safety signatures are created by the safety controller. The safety signature consists of an identification number, date, and time that uniquely identifies the safety portion of a project. This includes all safety logic, data, and safety I/O configuration. For safety system requirements, including information on the safety network number (SNN), verifying the safety signature, and functional verification tests refer to the appropriate GuardLogix controller publication as defined in Additional Resources on page 13. 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-UM002O-EN-P - December 2022 305 Chapter 9 Kinetix 5700 Safe Torque-off Function Description of Operation The safe torque-off (STO) feature provides a method, with sufficiently low probability of failure, to force the power-transistor control signals to a disabled state. When the command to execute the STO function is received from the GuardLogix controller, all of the drive output-power transistors are released from the ON-state. This results in a condition where the motor is coasting. Disabling the power transistor output does not provide isolation of the electrical output that is required for some applications. 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. The module must be configured for Safety Only or Motion and Safety connections The safety bypass jumper wires must be removed. IMPORTANT If the STO bypass jumper wires were applied during machine commissioning or maintenance, they must be removed before the drive will operate in Integrated STO mode. The Kinetix 5700 drive STO function reaction time is less than 10 ms. Reaction time for the drive is the delay between the time the drive STO command receives the CIP Safety™ packet with an STO request and the time when motion producing power is removed from the motor. Table 168 - Safe Torque-off Network Specifications Attribute STO function reaction time Safety connection RPI, min 2198-xxxx-ERS3 10 ms, max 6 ms 2198-xxxx-ERS4 Input assembly connections (1) 3 1 Output assembly connections (1) 1 Integrated safety open request support Type 1 and Type 2 requests (1) Motion and Safety and Safety Only connections with the inverter uses 1 input assembly connection and 1 output assembly connection. Safe Torque-off Assembly Tags In Integrated safe torque-off (STO) mode, a GuardLogix 5570 or Compact GuardLogix 5370 safety controller commands the Kinetix 5700 safe torque-off function through the appropriate tag in the safety output assembly. IMPORTANT The tag names listed in Table 169 changed in the Logix Designer application, version 31 and later, depending on how Motion Safety is configured in the Module Definition. Table 169 - STO Tag Name Changes in the Logix Designer Application STO Tag Names Studio 5000 Logix Designer (version 30 and earlier) SO.SafeTorqueOff SO.Reset 306 STO Only Tag Names Studio 5000 Logix Designer (version 31 and later) SO.SafeTorqueOff SO.Reset Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Safe Stop Only - No Feedback Tag Names Studio 5000 Logix Designer (version 31 and later) SO.STOOutput SO.ResetRequest Chapter 9 Kinetix 5700 Safe Torque-off Function The SO.Command tags are sent from the GuardLogix safety output assembly to the 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. Table 170 and Table 171 list the safety tags added to the controller tags when a Kinetix 5700 servo drive is added to a GuardLogix I/O Configuration and the connection is configured for Motion and Safety or Safety Only. IMPORTANT The SO.SafeTorqueOff and SO.ResetRequest tag names change when Motion Safety in the Module Definition is configured as Safe Stop Only No Feedback. The attribute values listed are the Assembly Object attribute values. Table 170 - Single-axis Inverter Integrated STO Specifications Logix Designer Tag Name Safe Stop Only - No Feedback Tag Names Studio 5000 Logix Designer (version 31 and later) SI.ConnectionStatus (1) (2) SI.RunMode SI.ConnectionFault Attribute [bit] Description DINT [0] [1] SI.Status (1) (3) BOOL BOOL Combinations of the RunMode and ConnectionFaulted states SINT SI.TorqueDisabled [0] BOOL SI.SafetyFault SI.ResetRequired [6] [7] BOOL BOOL SO.Command (1) (4) (1) (2) (3) (4) Type 0 = Torque Permitted 1 = Torque Disabled 1 = STO fault present 1 = Reset is required SINT SO.SafeTorqueOff SO.STOOutput [0] BOOL SO.Reset SO.ResetRequest [7] BOOL 0 = Disable Permit 1 = Permit Torque 0 --> 1 = Reset STO fault Bits not listed are always zero. ConnectionStatus is determined by the Safety Validator in the GuardLogix controller. Status is sent from the drive to the controller using integrated safety protocol. Commands are sent from the controller to the drive using integrated safety protocol. IMPORTANT Only the data listed in Table 170 is communicated with SIL 3 integrity. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 307 Chapter 9 Kinetix 5700 Safe Torque-off Function Table 171 - Dual-axis Inverter Integrated STO Specifications Logix Designer Tag Name Safe Stop Only - No Feedback Tag Names Studio 5000 Logix Designer (version 31 and later) SI.ConnectionStatus (1) (2) SI.RunMode SI.ConnectionFaulted [0] [1] [0] [6] [7] SI.Status2 (1) (3) SI.TorqueDisabled2 SI.SafetyFault2 SI.ResetRequired2 SO.Command2 (1) (4) SO.SafeTorqueOff2 SO.Reset2 (1) (2) (3) (4) Type Description DINT SI.Status1 (1) (3) SI.TorqueDisabled1 SI.SafetyFault1 SI.ResetRequired1 SO.Command1 (1) (4) SO.SafeTorqueOff1 SO.Reset1 Attribute [bit] [0] [6] [7] SO.STOOutput1 SO.ResetRequest1 [0] [7] SO.STOOutput2 SO.ResetRequest2 [0] [7] BOOL BOOL Combinations of the RunMode and ConnectionFaulted states SINT Motion Safety 1 BOOL BOOL BOOL 0 = Torque Permitted; 1 = Torque Disabled 1 = STO Fault present 1 = A reset is required SINT Motion Safety 2 BOOL BOOL BOOL 0 = Torque Permitted; 1 = Torque Disabled 1 = STO Fault present 1 = A reset is required SINT Motion Safety 1 BOOL BOOL 0 = Disable Permit; 1 = Permit Torque 0-->1 = Reset STO Fault SINT Motion Safety 2 BOOL BOOL 0 = Disable Permit; 1 = Permit Torque 0-->1 = Reset STO Fault Bits not listed are always zero. ConnectionStatus is determined by the Safety Validator in the GuardLogix controller. Status is sent from the drive to the controller using integrated safety protocol. The Command is sent from the controller to the drive using integrated safety protocol. IMPORTANT Only the data listed in Table 171 is communicated with SIL 3 integrity. In these examples, the appropriate STO bit permits torque when the bit is high (see Table 169 on page 306 for changes in STO tag names). Figure 146 - STO Function (Logix Designer, version 30 or earlier) Figure 147 - STO Function with STO Only (Logix Designer, version 31 or later) 308 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 9 Kinetix 5700 Safe Torque-off Function Figure 148 - STO Function with Safe Stop Only-No Feedback (Logix Designer, version 31 or later) STO Fault Reset To clear the STO Fault condition, a transition from logic 0 to 1 of the SO.Reset tag is required after the SO.SafeTorqueOff tag has transitioned from logic 0 to 1 (see Table 169 on page 306 for changes in STO tag names). If the Kinetix 5700 servo drive safety controller detects a fault, the input assembly tag SI.SafetyFault is set to 1. To reset Axis.SafetyFault, an MAFR command must be issued. 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 Understand Integrated Safety Drive Replacement on page 310 for integrated safety troubleshooting. Refer to Figure 149 for an understanding of the Kinetix 5700 STO state restart functionality. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 309 Chapter 9 Kinetix 5700 Safe Torque-off Function Figure 149 - Reset Safe Torque-off Fault Diagram Safety Fault Occurs Drv:SO,SafeTorqueOff (1) Drv:SO, Reset Disable Torque Permit Torque (1) Drv:SI.TorqueDisabled Torque Permited Drv:SI.SafetyFault No Fault Drv:SI.ResetRequired Axis.SafetyFault Axis.SafeTorqueOffActiveInhibit Axis.SafetyFaultStatus Torque Disabled Reset Not Required No Fault Faulted (cleared by MAFR) Start Permitted Start Inhibitted No Fault Faulted Axis.SafetyResetRequestStatus S0.ResetRequest Axis.SafetyResetRequiredStatus Reset Not Required Reset Required Axis.SafeTorqueOffActiveStatus Permit Torque Disable Torque Axis.SafeTorqueDisabledStatus Torque Permited Torque Disabled Axis.SafeTorqueOffFault No Fault (1) See Table 169 on page 306 for STO tag name changes. Understand Integrated Safety Drive Replacement GuardLogix controllers retain I/O device configuration on-board and are able to download the configuration to the replacement device. IMPORTANT If the Kinetix 5700 replacement drive was used previously, clear the existing configuration before installing it on a safety network by resetting the drive to Hardwired STO mode. To see how this is done, refer to Restore the Hardwired STO Mode by Using the Logix Designer Application on page 289. 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. The SNN is also used to provide integrity on the initial download to the Kinetix 5700 servo drive. When the Logix Designer application is online, the Safety category of the Module Properties dialog box displays the current configuration ownership. When the opened project owns the configuration, Local is displayed. A communication error is displayed if the module read fails. Refer to Replace an Integrated Safety Drive in a GuardLogix System on page 311 for integrated safety drive replacement information. 310 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 9 Kinetix 5700 Safe Torque-off Function 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 userverified. ATTENTION: During drive replacement or functional test, the safety of the system must not rely on any portion of the affected drive. Two options for safety drive replacement are available on the Safety category of the Controller Properties dialog box in the Logix Designer application: • • Configure Only When No Safety Signature Exists Configure Always Figure 150 - Safety Drive Replacement Options Configure Only When No Safety Signature Exists This setting instructs the GuardLogix controller to automatically configure a safety drive only when the safety task does not have a safety task signature, and the replacement drive is in an out-of-box condition, meaning that a safety network number does not exist in the safety drive. If the safety task has a safety task signature, the GuardLogix controller automatically configures the replacement CIP Safety I/O device only if the following is true: • • • The device already has the correct safety network number. The device electronic keying is correct. The node or IP address is correct. For detailed information, refer to Additional Resources on page 13 for the appropriate user manual for your GuardLogix or Compact GuardLogix controller. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 311 Chapter 9 Kinetix 5700 Safe Torque-off Function Configure Always When the Configure Always feature is enabled, the controller automatically checks for and connects to a replacement drive that meets all of the following requirements: • • The controller has configuration data for a compatible drive at that network address The drive is in Hardwired STO mode or has an SNN that matches the configuration 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. If other parts of the integrated safety control system are being relied upon to maintain SIL 3, make sure that the controller’s Configure Always feature is disabled. It is your responsibility to implement a process to make sure proper safety functionality is maintained during device replacement. ATTENTION: Do not place any devices in the out-of-box condition on any integrated safety network when the Configure Always feature is enabled. For the device replacement procedure, refer to Additional Resources on page 13 for the appropriate user manual for your GuardLogix or Compact GuardLogix controller. Motion Direct Commands in Motion Control Systems You can use the Motion Direct Command (MDC) feature to initiate motion while the controller is in Program mode, independent of application code that is executed in Run mode. These commands let you perform a variety of functions, for example, move an axis, jog an axis, or home an axis. A typical use might involve a machine integrator testing different parts of the motion system while the machine is being commissioned or a maintenance engineer, under certain restricted scenarios in accordance with safe machine operating procedures, wanting to move an axis (like a conveyor) to clear a jam before resuming normal operation. ATTENTION: To avoid personal injury or damage to equipment, follow these rules regarding Run mode and Program mode. • Only authorized, trained personnel with knowledge of safe machine operation should be allowed to use Motion Direct Commands • Additional supervisory methods, like removing the controller key switch, should be used to maintain the safety integrity of the system after returning the safety controller to RUN mode 312 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 9 Kinetix 5700 Safe Torque-off Function 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. This is because the safety task is not executed while the GuardLogix safety controller is in Program mode. This applies to applications running in a singlesafety controller (with Motion and Safety connections). When an integrated safety drive has a Motion connection to a standard controller and a separate Safety connection to a safety controller, the standard controller can transition to Program mode while the safety controller stays in Run mode and continues to execute the safety task. However, Kinetix 5700 drive systems are designed with a bypass feature for the STO function in single-safety controller configurations. You can use the MDC feature to allow motion while following all the necessary and prescribed steps per your machine’s safety operating procedures. ATTENTION: Consider the consequences of allowing motion through the use of MDC when the controller is in Program mode. You must acknowledge warning messages in the Logix Designer application that warn of the drive bypassing the STO function and unintended motion can occur. The integrated safety drive does not respond to requests of the STO function if MDC mode is entered. It is your responsibility to maintain machine safety integrity while executing motion direct commands. One alternative is to provide ladder logic for Machine Maintenance mode that leaves the controller in Run mode with safety functions executing. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 313 Chapter 9 Kinetix 5700 Safe Torque-off Function 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 = Stopped/Running, as shown in Figure 151. Figure 151 - Safety State Indications When Controller is in Run Mode (safety task executing) When the controller transitions to Program mode, the integrated safety drive is in the safe state (torque is not permitted). The controller reports Safety state = Not Running and Axis state = Start Inhibited, as shown in Figure 152). Figure 152 - Safety State Indications After Controller Transitions to Program Mode 314 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 9 Kinetix 5700 Safe Torque-off Function 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 is executed, as shown in Figure 153. Figure 153 - STO Bypass Prompt When the Safety Controller is in Program Mode ATTENTION: Unexpected motion and the possibility of personal injury or equipment damage exists if a motion direct command is issued for one axis of any 2198-Dxxx-ERS3 dual-axis inverter. Both (A and B) inverters associated with the physical drive permit torque after you acknowledge this warning message by clicking Yes. Make sure that preventive measures are in place for both axes to maintain the safety integrity of the machine. IMPORTANT The warning in Figure 153 is displayed only the first time a motion direct command is issued. After you acknowledge the warning message by clicking Yes, torque is permitted by the drive and a warning message is indicated in the software as shown in Figure 154. The controller reports Safety state = Not Running (torque permitted), Axis state = Stopped/Running and Persistent Warning = Safe Torque Off Bypassed. IMPORTANT Switch the controller to Run mode to exit Motion Direct Command mode and end the STO function bypass. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 315 Chapter 9 Kinetix 5700 Safe Torque-off Function Figure 154 - Safety State Indications After Controller Transitions to Program Mode (MDC executing) IMPORTANT The persistent warning message text Safe Torque Off bypassed appears when a motion direct command is executed. The warning message persists even after the dialog is closed and reopened as long as the integrated safety drive is in STO Bypass mode. The persistent warning message is removed only after the integrated safety drive's Safety State is restored to the Running state. Torque Permitted in a Multi-workstation Environment The warning in Figure 155 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. Figure 155 - STO Bypass Prompt When MDC is Issued in Multi-workstation Environment 316 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Chapter 9 Kinetix 5700 Safe Torque-off Function Warning Icon and Text in Axis Properties In addition to the other warnings that require your acknowledgment, the Logix Designer application also provides warning icons and persistent warning messages in other Axis Properties dialog boxes when the integrated safety drive is in STO Bypass mode. Figure 156 - Axis and Safe State Indications on the Hookup Services Dialog Box Figure 157 - Axis and Safe State Indications on Motion Direct Commands Dialog Box Figure 158 - Axis and Safe State Indications on the Motion Console Dialog Box Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 317 Chapter 9 Kinetix 5700 Safe Torque-off Function Functional Safety Considerations ATTENTION: Before maintenance work can be performed in Program mode, the developer of the application must consider the implications of allowing motion through motion direct commands and should consider developing logic for run-time maintenance operations to meet the requirements of machine safety operating procedures. ATTENTION: Motion is allowed and the STO function is not available when motion direct commands are used in Program mode. Motion direct commands issued when the controller is in Program mode cause the drive to bypass the STO Active condition. It is your responsibility to implement additional preventive measures to maintain safety integrity of the machinery during execution of motion direct commands in Program mode. ATTENTION: To avoid personal injury and damage to equipment in the event of unauthorized access or unexpected motion during authorized access, return the controller to Run mode and remove the key before leaving the machine unattended. 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. Table 172 - Integrated STO Specifications Attribute Safety connection RPI, min Input assembly connections (2198-xxxx-ERS3 drives) Input assembly connections (2198-xxxx-ERS4 drives) Output assembly connections Integrated safety open request support Axis safety status Axis safety faults 318 Value 6 ms Logix Designer Tag Name N/A 3 N/A 1 1 Type 1 and Type 2 requests Bit 0: Safety fault Bit 1: Safety reset request Bit 2: Safety Reset Required Bit 3: Safe torque-off active Bit 4: Safe torque disabled Bit 5…31: Undefined (0) Bit 1: Safety core fault Bit 3: Safe torque-off fault All others: Undefined (0) Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 N/A N/A Axis.SafetyFaultStatus Axis.SafetyResetRequestStatus Axis.SafetyResetRequiredStatus Axis.SafeTorqueOffActiveStatus Axis.SafeTorqueDisabledStatus N/A Axis.SafetyCoreFault Axis.SafeTorqueOffFault N/A Chapter 9 Kinetix 5700 Safe Torque-off Function Table 173 - Single-axis Inverter STO Assembly Specifications Attribute Safety input assembly Safety output assembly Value Bit 0: Torque disabled Bit 6: Safety fault Bit 7: Reset required Bit 0: Safe torque-off output Bit 7: Reset request Logix Designer Tag Name Drv:SI.TorqueDisabled Drv:SI.SafetyFault Drv:SI.ResetRequired Drv:SO.SafeTorqueOff or Drv:SO.STOOutput Drv:SO.Reset or Drv:SO.ResetRequest Table 174 - Dual-axis Inverter STO Assembly Specifications Attribute Safety input assembly Value Byte 0 Bit 0: Torque disabled 1 Byte 0 Bit 6: Safety fault 1 Byte 0 Bit 7: Reset required 1 Byte 1 Bit 0: Torque disabled 2 Byte 1 Bit 6: Safety fault 2 Byte 1 Bit 7: Reset required 2 Byte 0 Bit 0: Safe torque-off output 1 Safety output assembly Byte 0 Bit 7: Reset request 1 Byte 1 Bit 0: Safe torque-off output 2 Byte 1 Bit 7: Reset request 2 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Logix Designer Tag Name Drv:SI.TorqueDisabled1 Drv:SI.SafetyFault1 Drv:SI.ResetRequired1 Drv:SI.TorqueDisabled2 Drv:SI.SafetyFault2 Drv:SI.ResetRequired2 Drv:SO.SafeTorqueOff1 or Drv:SO.STOOutput1 Drv:SO.Reset1or Drv:SO.ResetRequest1 Drv:SO.SafeTorqueOff2 or Drv:SO.STOOutput2 Drv:SO.Reset2or Drv:SO.ResetRequest2 319 Chapter 9 Kinetix 5700 Safe Torque-off Function Notes: 320 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix A Interconnect Diagrams This appendix provides wiring examples and system block diagrams for your Kinetix® 5700 system components. Topic Interconnect Diagram Notes Power Wiring Examples Capacitor Module Status Wiring Example DC-bus Conditioner Module Status Wiring Example Contactor Wiring Examples Passive Shunt Wiring Examples Active Shunt Wiring Examples Kinetix 5700 Servo Drive and Rotary Motor Wiring Examples Kinetix 5700 Servo Drive and Linear Actuator Wiring Examples System Block Diagrams Interconnect Diagram Notes Page 321 323 337 337 338 339 340 342 349 355 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 175 - Interconnect Diagram Notes Note 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Information For power wiring specifications, refer to Wiring Requirements on page 133. For input fuse and circuit breaker sizes, refer to Circuit Breaker/Fuse Selection on page 48. For fuse and circuit breaker sizes and other 8720MC-RPS specifications, see the 8720MC Regenerative Power Supply User Manual, publication 8720MC-RM001. The iTRAK® system with TriMax bearings power supply must have three-phase power sourced from grounded-wye power distribution. AC (EMC) line filter is required for CE and UK compliance. Mount the line filter with 50 mm (1.97 in.) minimum clearance between the drive and filter. If routing in wireway is unavoidable, use shielded cable with shields grounded to the drive chassis and filter case. For AC line filter specifications, refer to Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003. 2198-DBRxx-F line filters are preferred. Terminal block is required to make connections. Cable shield clamp must be used to meet CE and UK requirements with Kinetix 2090 power cables 2 AWG and smaller. See Customer-supplied Motor Power Cables on page 169 to meet CE and UK when wiring 2198-S263-ERSx and 2198-S312-ERSx drives with power cables larger than 2 AWG. 2198-Dxxx -ERSx dual-axis inverters include separate digital inputs, DSL feedback, universal feedback, motor power, and motor brake wiring plugs for each axis. See Digital Inputs Connector Pinouts beginning on page 101 for digital input configurable functions and default settings. • When a 2198-Sxxx-ERSx single-axis inverter is the first drive module (adjacent to the 2198-CAPMOD-2240 capacitor module) you must configure the Digital Input category in the Logix Designer application as Regeneration OK and wire the IOD connector. • When a 2198-Dxxx-ERSx dual-axis inverter is the first drive module (adjacent to the 2198-CAPMOD-2240 capacitor module) and Axis 1 and 3 are used, you must configure the Digital Input category in the Logix Designer application as Regeneration OK and wire the IOD connector for each axis. PE ground connection bonded to the panel must be used to meet CE and UK requirements. See Ground the Drive System on page 131. Contactor coil (MC) needs integrated surge suppressors for AC coil operation and must have a normally-open auxiliary contact that is terminated at TB3 (24V DC to MC input as shown). See the 8720MC Regenerative Power Supply User Manual, publication 8720MC-RM001 for contactor types and wiring examples. For M1 contactor selection and specifications, refer to Contactor Selection on page 50. Internal shunt wired to the RC connector is default configuration. Remove internal shunt wires to attach external shunt wires. Default configuration for ground screws or jumper is for grounded power at customer site. For impedance-grounded power configurations, remove the screws/jumper. Refer to Input Power Configurations for Kinetix 5700 Power Supplies on page 121 for more information. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 321 Appendix A Interconnect Diagrams Table 175 - Interconnect Diagram Notes (Continued) Note 16 17 18 19 20 21 22 23 24 25 26 27 322 Information Leave jumper between PR2 and PR3 as shown to use the internal precharge resistor. Remove jumper when external precharge/circuit is required. For more information, refer to the 8720MC Regenerative Power Supply User Manual, publication 8720MC-RM001. ATTENTION: Implementation of control circuits and risk assessment is the responsibility of the machine builder. Reference international standards IEC 62061 and ISO 13849-1 estimation and safety performance categories. ATTENTION: An AC three-phase mains contactor must be wired in series between the branch circuit protection and the Kinetix 5700 system power supply. In addition, the AC three-phase contactor control string must be wired in series with the contactor-enable relay at the CED connector. Refer to Contactor Enable Relay on page 107, for more information. The recommended minimum wire size for wiring the circuitry to the contactor-enable connector is 1.5 mm2 (16 AWG). For motor cable specifications, refer to Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004. Brake connector pins are labeled plus (+) and minus (-) or F and G respectively. Power connector pins are labeled U, V, W, and (GND) or A, B, C, and (D) respectively. Kinetix LDAT linear thrusters do not have a brake option, so only the 2090-CPWM7DF-xxAAxx or 2090-CPWM7DF-xxAFxx motor power cables apply. 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. MPL-A/B15xx-H…MPL-A/B45xx-H, MPL-A15xx-V/E…MPL-A2xx-V/E, MPL-A3xx-S/M…MPL-A45xx-S/M, MPM-A115xx…MPM-A130xx, MPF-A3xx…MPF-A45xx, MPS-Axxx, MPASBxxx (direct drive), and encoders use the +5V DC supply. MPL-B15xx-V/E…MPL-B2xx-V/E, MPL-B3xx-S/M…MPL-B6xx-S/M, MPL-A5xx, MPM-Bxx, MPM-A165xx…MPM-A215xx, MPF-Bxx, MPF-A5xx, MPS-Bxxx, MPAR-Bxxx, and MPASBxxx (ballscrew) encoders use the +9V DC supply. The 2198-CAPMOD-2240 capacitor module is used in applications with up to 104 A maximum external DC-bus current. You can add the 2198-DCBUSCOND-RP312 DC-bus conditioner module to the left or right of the capacitor module when the external DC-bus current exceeds 104 A, up to a maximum of 208 A. The Converter OK 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. This signal is intended for use with Kinetix 6000, Kinetix 6200, or Kinetix 7000 drives when migrating from the 8720MC-RPS to the 2198-RPxxx regenerative bus supply. Interposing relay can be required if more than one drive is attached. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix A Power Wiring Examples Interconnect Diagrams 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. In this example, the inverter drives and optional accessory modules are downstream of a single 2198-Pxxx DC-bus power supply. Figure 159 - DC-bus Power Supply (single converter) Configuration 2198-Pxxx DC-bus Power Supply Refer to table on page 321 for note information. 2198-Sxxx -ERSx or 2198-Dxxx -ERSx Inverter Additional Inverters or Accessory Modules Note 8 Shunt Power (RC) Connector DC+ SH Cable Shield Clamp Internal Shunt Note 14 Bonded Cabinet Ground Bus * Digital Input (IOD) Connector Grounding Screws/Jumpers Note 15 CR1 * 2 24V_COM 1 +24V 1 2 3 4 EN+ EN– START * CR1 * M1 * Motor Power (MP) Connector U V W Motor Brake (BC) Connector MBRK - DC Bus (DC) Connectors MBRK + 4 3 2 1 Three-phase Motor Power Connections Notes 8,19 2 MBRK - 1 MBRK + Motor Brake Connections Note 8 Chassis Customer Supplied +24V DC Power Supply * 24V AC/DC 50/60 Hz DC+ DC- DC+ DC- Note 7 IN1 COM IN2 SHLD 24V_COM Control Power (CP) Connectors +24V 2198-TCON-24VDCIN36 24V Input Power Wiring Connector CONT EN+ CONT EN– STOP * Notes 13,18 Digital Input Connections Note 9 Digital Input (IOD) Connector Contactor Enable (CED) Connector Note 18 PE Ground Note 11 CR1 * Refer to Attention statement (Note 17). Three-phase Input (IPD) Connector Bonded Cabinet Ground Bus * Circuit Protection* Note 2 IN1 1 COM 2 IN2 3 SHLD 4 COM 5 IN3 6 COM 7 IN4 8 COM 9 SHLD 10 Digital Input Connections Note 8 PE Ground Note 11 L3 L2 L1 2198-DBRxx-F Three-phase AC Line Filter Note 5 195…528V AC rms Three-phase Input Notes 1, 2 2198-xxxx-P-T T-connectors and Bus Bars * Indicates User Supplied Component M1 Contactor Note 13 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 323 324 24V AC/DC 50/60 Hz Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 195…528V AC rms Three-phase Input Notes 1, 2 Circuit Protection* Note 2 M1 Contactor Note 13 Bonded Cabinet Ground Bus * Grounding Screws/Jumpers Note 15 CONT EN+ CONT EN– 2198-DBR200-F Three-phase AC Line Filter Note 5 Circuit Protection * Note 2 L3 L2 L1 PE Ground Note 11 2198-TCON-24VDCIN36 24V Input Power Wiring Connector 1321-3R80-B Line Reactors (required components) SH Internal Shunt Note 14 SH DC+ Internal Shunt Note 14 Shunt Power (RC) Connector CONT EN+ CONT EN– L3 L2 L1 PE Ground Note 11 2198-H070-P-T T-connector and Bus Bar 24V_COM +24V CONT EN+ CONT EN– L3 L2 L1 PE Ground Note 11 Contactor Enable (CED) Connectors Note 18 2198-H070-P-T T-connector and Bus Bar 24V_COM +24V DC+ DC+ DCDCWhen three 2198-P208 DC-bus power supplies are connected in parallel, two additional 2198-BARCON-85DC200 bus-links must be ordered separately. Internal Shunt Note 14 Three-phase Input (IPD) Connectors EN– Notes 13,18 Refer to Attention statement (Note 17). STOP * START * EN+ CR1 * DC+ DC- SH 2 24V_COM 1 +24V CR1 * M1 * CR1 * Customer Supplied +24V DC Power Supply * Chassis Bonded Cabinet Ground Bus * Refer to table on page 321 for note information. DC+ Shunt Power (RC) Connector DC+ Shunt Power (RC) Connector DC+ DC- Bonded Cabinet Ground Bus * PE Ground Note 11 2198-xxxx-P-T T-connector and Bus Bar Control Power (CP) Connectors * Indicates User Supplied Component PE Ground Note 11 2198-xxxx-P-T T-connector and Bus Bar 24V_COM +24V DC Bus (DC) Connectors Note 8 Note 8 24V_COM +24V DC+ DC- 2198-Sxxx -ERSx or 2198-Dxxx -ERSx Inverter 2198-Sxxx -ERSx or 2198-Dxxx -ERSx Inverter Additional Inverters, Capacitor Modules, or DC-bus Conditioner Modules Figure 160 - DC-bus Power Supply (multiple converters) Configuration 2198-P208 DC-bus Power Supply In this example, the inverter drives and optional capacitor modules are downstream of three DC-bus (converter) power supplies. When two or three DC-bus power supplies are used, they must be catalog number 2198-P208. This configuration provides more power (kW) to the drive system. 2198-P208 DC-bus Power Supply Appendix A 2198-P208 DC-bus Power Supply Appendix A Interconnect Diagrams Appendix A Interconnect Diagrams In this example, the 2198-CAPMOD-2240 capacitor module is included for energy storage and to improve dynamic performance. Figure 161 - DC-bus Power Supply with Capacitor Module 2198-CAPMOD-2240 Capacitor Module 2198-Sxxx -ERSx or 2198-Dxxx -ERSx Inverter 2198-Pxxx DC-bus Power Supply Refer to table on page 321 for note information. Note 8 Shunt Power (RC) Connector DC+ SH Internal Shunt Note 14 Bonded Cabinet Ground Bus * Chassis Customer Supplied +24V DC Power Supply * DC+ DC2 24V_COM 1 +24V 2198-TCON-24VDCIN36 24V Input Power Wiring Connector 24V AC/DC 50/60 Hz CR1 * DC+ DC- 24V_COM +24V 24V_COM Control Power (CP) Connectors +24V 2198-xxxx-P-T T-connector and Bus Bar 2198-H040-P-T T-connector and Bus Bar Module Status (MS) Connector START * CR1 * M1 * DC Bus (DC) Connectors DC+ DC- STOP * Notes 13,18 EN+ CONT EN+ EN– CONT EN– Grounding Screws/Jumpers Note 15 Bonded Cabinet Ground Bus * Contactor Enable (CED) Connectors Note 18 PE Ground Note 11 PE Ground Note 11 Three-phase Input (IPD) Connectors Circuit Protection* Note 2 M1 Contactor Note 13 2 1 PE Ground Note 11 L3 L2 L1 Bonded Cabinet Ground Bus * 2198-DBRxx-F Three-phase AC Line Filter Note 5 195…528V AC rms Three-phase Input Notes 1, 2 MS Monitor capacitor module status by wiring to digital input Bus Capacitor OK or Logix 5000™ controller. Refer to Capacitor Module Status Wiring Example on page 337, for an example. CR1 * Refer to Attention statement (Note 17). MS * Indicates User Supplied Component Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 325 Appendix A Interconnect Diagrams Figure 162 - DC-bus Power Supply (single iTRAK power supply) Configuration 2198-P070 Kinetix 5700 DC-bus Power Supply Refer to table on page 321 for note information. DC+ SH Shunt Power (RC) Connector Internal Shunt Note 14 Customer Supplied +24V DC Power Supply * Grounding Screws/Jumpers Note 15 24V AC/DC 50/60 Hz CR1 * 2198T-W25K-P-T T-connectors and Bus Bars IN1 COM IN2 SHLD EN+ EN– +24V 24V_COM Control Power (CP) Connectors Digital Input (IOD) Connector DCL H Refer to Attention statement (Note 17). L3 L2 L1 ENABLE COM COM Bonded Cabinet Ground Bus * 2198-DBRxx-F Three-phase AC Line Filter Note 5 324…528V AC rms Three-phase Input Notes 1, 2, 4 Circuit Protection* Note 2 PE Ground Note 11 RDY– RDY+ PE Ground Note 11 * Indicates User Supplied Component M1 Contactor Note 13 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Control Power A to iTRAK Motor Modules DC Power Bus B to iTRAK Motor Modules 1 24V+ 2 24V– CLEAR FAULT iTRAK Power Supply Ready (IR) Connector DC Power Bus A to iTRAK Motor Modules 1 2 3 Control Power B to iTRAK Motor Modules 1 2 3 4 5 Contactor Enable (CED) Connector Three-phase Input (IPD) Connector CR1 * 1 2 3 4 1 24V + 2 24V - DC Bus (DC) Connectors Digital Input (IOD) Connector Note 9 CONT EN+ CONT EN– STOP * Notes 13,18 326 DC– L H SHLD START * CR1 * M1 * 1 +24V 2 24V_COM 1 2 3 4 DC-bus Power Output A (IDC) Connector A and Control Power Output A (ICP) Connector DC-bus Power Output B (IDC) Connector and Control Power Output B B (ICP) Connector 2198-TCON-24VDCIN36 24V Input Power Wiring Connector Chassis Cable Shield Clamp Note 7 DC+ DC- DC+ DC- Bonded Cabinet Ground Bus * 2198T-W25K-ER Kinetix 5700 iTRAK Power Supply – + 24V COM 24V COM SHIELD Appendix A Interconnect Diagrams In this example, the DC-bus power supply 24V input-wiring connector and the three iTRAK power supply 24V input wiring connectors are wired separately. The 2198T-W25K-P-IN input wiring connector is rated for 41 A. See Appendix C on page 375 to determine 24V current requirements needed for proper distribution for 24V control power. Figure 163 - DC-bus Power Supply (multiple iTRAK power supply) Configuration 2198-P141 Kinetix 5700 DC-bus Power Supply Refer to table on page 321 for note information. 2198T-W25K-ER Kinetix 5700 iTRAK Power Supply 2198T-W25K-ER Kinetix 5700 iTRAK Power Supply 2198T-W25K-ER Kinetix 5700 iTRAK Power Supply DC+ Shunt Power SH (RC) Connector Internal Shunt Note 14 Bonded Cabinet Ground Bus * DC+ DC- Chassis Customer Supplied +24V DC Power Supply * 1 +24V 2 24V_COM Grounding Screws/Jumpers Note 15 DC+ DC- DC+ DC- +24V 24V_COM +24V 24V_COM 2198-TCON-24VDCIN36 24V Input Power Wiring Connector 24V AC/DC 50/60 Hz CR1 * START * CR1 * M1 * EN+ EN– CONT EN+ CONT EN– STOP * Notes 13,18 Refer to Attention statement (Note 17). Three-phase Input (IPD) Connector +24V Control Power 24V_COM (CP) Connectors 2198T-W25K-P-T 2198T-W25K-P-T T-connectors and Bus Bars T-connectors and Bus Bars PE Ground Note 11 PE Ground Note 11 PE Ground Note 11 L3 L2 L1 Bonded Cabinet Ground Bus * 2198-DBRxx-F Three-phase AC Line Filter Note 5 Bonded Cabinet Ground Bus * DC Bus (DC) Connectors Contactor Enable (CED) Connector PE Ground Note 11 CR1 * 2198T-W25K-P-IN 24V Input Power Wiring Connector DC+ DC- * Indicates User Supplied Component 324…528V AC rms Three-phase Input Notes 1, 2, 4 Circuit Protection* Note 2 M1 Contactor Note 13 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 327 Appendix A Interconnect Diagrams In this example, the inverter drives and optional accessory modules are downstream of a 2198-RPxxx regenerative bus supply. Figure 164 - Regenerative Bus Supply Configuration 2198-RPxxx Regenerative Bus Supply Refer to table on page 321 for note information. 2198-Sxxx -ERSx or 2198-Dxxx -ERSx Inverter Additional Inverters or Accessory Modules Note 8 Active Shunt (optional component) See External Active-shunt Connections on page 173 for more Cable Shield Clamp DC+ DC- Note 7 Motor Power (MP) Connector U V W Motor Brake (BC) Connector MBRK MBRK + 4 3 2 1 2 MBRK 1 MBRK + Three-phase Motor Power Connections Notes 8,19 Motor Brake Connections Note 8 DC Bus (DC) Connectors Chassis Customer Supplied +24V DC Power Supply * See Contactor Wiring for Regenerative Bus Supply on page 338 for M1 auxiliary contact wiring example. Digital Input Connections Grounding Screws/Jumpers Note 15 CR1 * Shunt Power (RC) Connector DC+ DC- Bonded Cabinet Ground Bus * 24V AC/DC 50/60 Hz DC+ DC– OK+ CONV OK+ OK– CONV OK– EN+ CONT EN+ EN– CONT EN– START * CR1 * M1 * 2 24V_COM 1 +24V 2198-TCON-24VDCIN36 (1) or 2198T-W25K-P-IN 1 24V Input Power IN1 Wiring Connector 2 COM 3 IN2 4 SHLD Digital Input 5 COM (IOD) Connector 6 IN3 Note 9 7 COM 8 IN4 9 COM 10 SHLD 24V_COM Control Power (CP) Connectors +24V 2198-xxxx-P-T T-connectors and Bus Bars Digital Input (IOD) Connector Note 9 IN1 1 COM 2 IN2 3 SHLD 4 COM 5 IN3 6 COM 7 IN4 8 COM 9 SHLD 10 Digital Input Connections Note 8 Contactor Enable (CED) Connector Note 18 STOP * Notes 13,18 CR1 * PE Ground Note 11 Refer to Attention statement (Note 17). Three-phase Input (IPD) Connector Bonded Cabinet Ground Bus * 2198-DBRxx-F Three-phase AC Line Filter Note 5 324…506V AC rms Three-phase Input Notes 1, 2 Circuit Protection* Note 2 PE Ground Note 11 L3 L2 L1 * Indicates User Supplied Component M1 Contactor Note 13 (1) Use 2198-TCON-24VDCIN36 input wiring connector with 2198-RP088 and 2198-RP200 bus supplies. Use 2198T-W25K-P-IN input wiring connector with 2198-RP263 and 2198-RP312 bus supplies. See CP Connector Wiring - Shared Bus on page 138 for wiring specifications. 328 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix A Interconnect Diagrams In this example, the 2198-DCBUSCOND-RP312 DC-bus conditioner module is included because total motor cable length exceeds 400 m (1312 ft). Figure 165 - Regenerative Bus Supply with DC-bus Conditioner Module 2198-DCBUSCOND-RP312 DC-bus Conditioner Module 2198-Sxxx -ERSx or 2198-Dxxx -ERSx Inverter 2198-RPxxx Regenerative Bus Supply Refer to table on page 321 for note information. Note 8 Active Shunt (optional component) See External Active-shunt Connections on page 173 for more Shunt Power (RC) Connector DC+ DC– Bonded Cabinet Ground Bus * DC+ DC- Chassis Customer Supplied +24V DC Power Supply * 2 24V_COM 1 +24V DC+ DC- 24V_COM +24V 24V_COM Control Power (CP) Connectors +24V 2198-xxxx-P-T T-connector and Bus Bar 2198-TCON-24VDCIN36 (1) or 2198T-W25K-P-IN 24V Input Power Wiring Connector Kinetix 6000 Drives IOD-3 24VCOM IOD-2 Enable DC Bus (DC) Connectors DC+ DC- 2198-H040-P-T T-connector and Bus Bar Module Status (MS) Connector Kinetix 6200/6500 Drives IOD-40 24VCOM IOD-41 Regeneration OK 24V AC/DC 50/60 Hz CR1 * M1 * OK+ CONV OK+ OK– CONV OK– CONT EN+ EN+ CONT EN– EN– Three-phase Input (IPD) Connectors START * CR1 * STOP * Notes 13,18 CR1 * Contactor Enable (CED) Connectors Note 18 PE Ground Note 11 PE Ground Note 11 PE Ground Note 11 L3 L2 L1 Bonded Cabinet Ground Bus * Grounding Screws/Jumpers Note 15 Refer to Attention statement (Note 17). MS 2 1 Monitor DC-bus conditioner module status by wiring to digital input Bus Conditioner OK or Logix 5000 controller. Refer to DC-bus Conditioner Module Status Wiring Example on page 337, for an example. Note 27 Kinetix 7000 Drives GPIO-7 Regen_OK+ GPIO-8 Regen_OK– MS * Indicates User Supplied Component Bonded Cabinet Ground Bus * 2198-DBRxx-F Three-phase AC Line Filter Note 5 324…506V AC rms Three-phase Input Notes 1, 2 Circuit Protection* Note 2 M1 Contactor Note 13 (1) Use 2198-TCON-24VDCIN36 input wiring connector with 2198-RP088 and 2198-RP200 bus supplies. Use 2198T-W25K-P-IN input wiring connector with 2198-RP263 and 2198-RP312 bus supplies. See CP Connector Wiring - Shared Bus on page 138 for wiring specifications. IMPORTANT The regenerative bus supply is not compatible with the iTRAK power supply. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 329 330 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 PE Ground Note 11 2198-TCON-24VDCIN36 or 2198T-W25K-P-IN 24V Input Power Wiring Connector (1) 2 24V_COM 1 +24V DC+ DC- DC+ DC- Module Status (MS) Connector MS MS DC+ DC2 1 Bonded Cabinet Ground Bus * MS MS PE Ground Note 11 Module Status (MS) Connector DC Bus (DC) Connectors 2198-xxxx-P-T T-connectors and Bus Bars PE Ground Note 11 24V_COM Control Power (CP) Connectors +24V DC+ DC- Additional Inverters Note 8 2198-Sxxx -ERSx or 2198-Dxxx -ERSx Inverter * Indicates User Supplied Component PE Ground Note 11 2198-xxxx-P-T T-connectors and Bus Bars 24V_COM +24V DC+ DC- 2198-TCON-24VDCIN36 24V Input Power Wiring Connector 24V_COM +24V DC+ DC- 2198-CAPMOD-2240 Capacitor Module 2 1 PE Ground Note 11 Monitor capacitor module status by wiring to digital input Bus Capacitor OK or Logix 5000 controller. Refer to Capacitor Module Status Wiring Example on page 337, for an example. ATTENTION: Circuit protection can be added after the power supply cluster to help protect converters and inverters from damage due to a DC-bus cable short-circuit. 2198-CAPMOD-2240 Capacitor Module 2 1 PE Ground Note 11 DC Bus (DC) Connectors Bonded Cabinet Ground Bus PE Ground Note 11 2198-H040-P-T T-connector and Bus Bar 24V_COM Control Power (CP) Connectors +24V DC+ DC- 2198-CAPMOD-DCBUS-IO Extension Modules Note 8 2198-Sxxx -ERSx or 2198-Dxxx -ERSx Inverter (1) Use 2198T-W25K-P-IN input wiring connector with 2198-S263-ERSx and 2198-S312-ERSx drives. Use 2198-TCON-24VDCIN36 input wiring connector with all other drives. See CP Connector Wiring - Shared Bus on page 138 for wiring specifications. 2198-xxxx-P-T T-connectors and Bus Bars 24V_COM +24V DC+ DC- PE Ground Note 11 Note 8 Note 8 Additional Inverters and/or Kinetix 5700 System Power Supply 2198-Sxxx -ERSx or 2198-Dxxx -ERSx Inverter Flexible Bus-bars Figure 166 - Kinetix 5700 Extended Drive System Example (extension module) 2198-Sxxx -ERSx or 2198-Dxxx -ERSx Inverter Refer to table on page 321 for note information. In this example, the 2198-CAPMOD-2240 capacitor module and 2198-CAPMOD-DCBUS-IO extension module are used for energy storage and to extend the DC-bus voltage to another inverter cluster. The capacitor modules are used alone when the external DC-bus current is ≤104 A. The extension module (or any combination of two accessory modules) is needed when the external DC-bus current is >104 A, up to a maximum 208 A. User-supplied External DC-bus Wire Lug Connections Appendix A Flexible Bus-bars Appendix A Interconnect Diagrams Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 PE Ground Note 11 2198-TCON-24VDCIN36 or 2198T-W25K-P-IN 24V Input Power Wiring Connector (1) 2 24V_COM 1 +24V DC+ DC- DC Bus (DC) Connectors MS MS 2 1 PE Ground Note 11 MS MS 2 1 2198-CAPMOD-2240 Capacitor Modules 2 1 MS MS MS MS PE Ground Note 11 2 1 Monitor DC-bus conditioner module status by wiring to digital input Bus Conditioner OK or Logix 5000 controller. Refer to DC-bus Conditioner Module Status Wiring Example on page 337, for an example. 2198-xxxx-P-T T-connectors and Bus Bars 24V_COM +24V DC+ DC- Note 8 DC Bus (DC) Connectors 2198-xxxx-P-T T-connectors and Bus Bars PE Ground Note 11 Control Power 24V_COM (CP) Connectors +24V DC+ DC- Additional Inverters Note 8 2198-Sxxx -ERSx or 2198-Dxxx -ERSx Inverter * Indicates User Supplied Component PE Ground Note 11 2198-Sxxx -ERSx or 2198-Dxxx -ERSx Inverter Bonded Cabinet Ground Bus * PE Ground Note 11 Module Status (MS) Connector 2198-H040-P-T T-connector and Bus Bar 24V_COM +24V DC+ DC- Flexible Bus-bars 2198-TCON-24VDCIN36 24V Input Power Wiring Connector 24V_COM +24V DC+ DC- Monitor capacitor module status by wiring to digital input Bus Capacitor OK or Logix 5000 controller. Refer to Capacitor Module Status Wiring Example on page 337, for an example. 2198-H040-P-T T-connector and Bus Bar 2 1 ATTENTION: Circuit protection can be added after the power supply cluster to help protect converters and inverters from damage due to a DC-bus cable short-circuit. 24V_COM Control Power (CP) Connectors +24V DC+ DC- Bonded Cabinet Ground Bus * PE Ground Note 11 Module Status (MS) Connector 2198-H040-P-T T-connector and Bus Bar 24V_COM +24V DC+ DC- 2198-DCBUSCOND-RP312 DC-bus Conditioner Modules Customer-supplied External DC-bus Wire Lug Connections Interconnect Diagrams (1) Use 2198T-W25K-P-IN input wiring connector with 2198-S263-ERSx and 2198-S312-ERSx drives. Use 2198-TCON-24VDCIN36 input wiring connector with all other drives. See CP Connector Wiring - Shared Bus on page 138 for wiring specifications. 24V_COM +24V 2198-xxxx-P-T T-connectors and Bus Bars DC+ DC- PE Ground Note 11 Note 8 Note 8 Additional Inverters and/or Kinetix 5700 System Power Supply 2198-Sxxx -ERSx or 2198-Dxxx -ERSx Inverter 2198-Sxxx -ERSx or 2198-Dxxx -ERSx Inverter Refer to table on page 321 for note information. Flexible Bus-bars Figure 167 - Kinetix 5700 Extended Drive System Example (DC-bus conditioner module) In this example, the 2198-CAPMOD-2240 capacitor module and 2198-DCBUSCOND-RP312 DC-bus conditioner module are used for energy storage and to extend the DC-bus voltage to another inverter cluster. The capacitor modules are used alone when the external DC-bus current is ≤104 A. The DC-bus conditioner module (or any combination of two accessory modules) is needed when the external DC-bus current is >104 A, up to a maximum 208 A. Appendix A Appendix A 331 Appendix A Interconnect Diagrams 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 168 - 8720MC-RPS065 Leader/Follower Units with Kinetix 5700 Drive System 324…506V AC rms Three-phase Input Note 3 Refer to table on page 321 for note information. Circuit Protection * Bonded Cabinet Ground Bus * Three-phase AC Line Filter Note 5 Harmonic Filter R S T 8720MC-RPS065 Regenerative Power Supply (Follower) E/N G R S T MC * Note 12 Varistor TB1 L1 TB1 L2 DC+ L3 DC- R1 S1 T1 L2 AUX L3 AUX PR2 Note 16 Circuit Protection * PR3 S T 8720MC-RPS065 Regenerative Power Supply (Leader) Note 23 E/N G R S T Varistor CN2 MC * Note 12 TB1 L1 Power Interface Board L2 CN3 N DC- MC1 TB3 Contactor * Note 12 S1 T1 TB2 L1 AUX L2 AUX Note 16 0V COM Regeneration OK to Digital Inputs RDY L3 AUX Note 6 PR2 PR3 MC1 MC MC2 MC PR1 332 P DC+ Line Reactors R1 Customer Supplied 120V AC Circuit Protection * TB1 L3 Aux Contact MC2 * Indicates User Supplied Component DC Bus to Kinetix 5700 Drive System MC2 Harmonic Filter R Note 6 Power Interface Board MC1 MC Bonded Cabinet Ground Bus * Three-phase AC Line Filter Note 5 P N TB2 L1 AUX PR1 Customer Supplied 120V AC Circuit Protection * Line Reactors Aux Contact MC1 324…506V AC rms Three-phase Input Note 3 Note 23 MC2 +24V DC PWR Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Aux Contact to Control String Appendix A Interconnect Diagrams The 8720MC-RPS regenerative power supply is not compatible with the iTRAK power supply. IMPORTANT 8720MC-RPS065 Leader/Follower Units with Kinetix 5700 Drive System (continued) 2198-DCBUSCOND-RP312 DC-bus Conditioner Module Refer to table on page 321 for note information. 2198-CAPMOD-2240 Capacitor Module 2198-Sxxx -ERSx Inverter 2198-Dxxx -ERSx Inverter Note 8 Note 8 Circuit Protection * Additional Inverters DC Bus From Regenerative Power Supply Note 23 P N DC+ DC- Chassis Bonded Cabinet Ground Bus * DC+ DC- DC+ DC- DC+ DC- DC Bus (DC) Connectors Note 26 Customer Supplied +24V DC Power Supply * 2 1 Note 6 24V_COM 24V_COM 24V_COM +24V +24V +24V 2198-xxxx-P-T 2198-TCON-24VDCIN36 2198-H040-P-T T-connector and Bus Bar 24V Input Power T-connector Wiring Connector and Bus Bar 24V_COM Control Power (CP) Connectors +24V 2198-xxxx-P-T T-connector and Bus Bar Note 26 Digital Inputs Regeneration OK From TB3-RDY 2 1 MS MS Module Status (MS) Connector COM 1 * Indicates User Supplied Component Note 6 Aux Contact to Control String I/O 2 2 1 MS MS INx (IOD) Connector Single-axis Inverter Note 10 I/O - A I/O - B COM COM INx INx (IOD) Connectors Dual-axis Inverter Note 10 Module Status (MS) Connector Grounding Screws/Jumpers Note 15 Stop * Start * PE Ground Note 11 PE Ground Note 11 PE Ground Note 11 PE Ground Note 11 CR1* Refer to Attention statement (Note 17). CR1* Bonded Cabinet Ground Bus * Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 333 Appendix A 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. Figure 169 - 8720MC-RPS190 Unit with Kinetix 5700 Drive System Refer to table on page 321 for note information. 324…506V AC rms Three-phase Input Note 3 8720MC-EF190-VB AC Line Filter L1 L2 L3 8720MC-LR10-100B Line Reactor Fan 2 TB1 TB1 RED BLK YLW Circuit Protection * 8720MC-RPS190BM Regenerative Power Supply L4 L5 L6 L4 L1 L5 TB1 L6 L1 L2 Note 6 L1 L2 L3 L3 CN2 A1 A2 A3 A4 A5 B1 B2 B3 B4 B5 R1 S1 T1 CN4 1 2 3 MC1 MC2 +24V2 0V2 NC +24V3 0V3 SENS-out +24V MC CN1 A1 A2 A3 A4 A5 B1 B2 B3 B4 B5 8720MC-LR10-100B Line Reactor Circuit Protection * TB1 DC+ L4 L5 L6 P N DC- Fan 3 RED BLK YLW L2 L3 Note 6 RED WHT BLU TB2 TB3 L1 AUX MC L2 AUX 0V L3 AUX COM PR1 RDY MC * Note 12 Regeneration OK to Digital Inputs PR2 PR3 Note 6 TB4 +24V3 0V3 SENS +24V DC PWR +24V2 0V2 MC1 MC2 * Indicates User Supplied Component 334 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 DC Bus to Kinetix 5700 Drive System Aux Contact to Control String Appendix A Interconnect Diagrams 8720MC-RPS190 Unit with Kinetix 5700 Drive System (continued) 2198-DCBUSCOND-RP312 DC-bus Conditioner Module Refer to table on page 321 for note information. 2198-CAPMOD-2240 Capacitor Module 2198-Sxxx -ERSx Inverter 2198-Dxxx -ERSx Inverter Note 8 Circuit Protection * Additional Inverters DC Bus From Regenerative Power Supply Note 23 P N DC+ DC- Chassis Bonded Cabinet Ground Bus * DC+ DC- DC+ DC- DC+ DC- DC Bus (DC) Connectors Note 26 Customer Supplied +24V DC Power Supply * 2 1 Note 6 24V_COM 24V_COM 24V_COM 24V_COM Control Power (CP) Connectors +24V +24V +24V +24V 2198-xxxx-P-T 2198-TCON-24VDCIN36 2198-xxxx-P-T 2198-H040-P-T T-connector and Bus Bar 24V Input Power T-connector and Bus Bar T-connector Wiring Connector and Bus Bar Note 26 Digital Inputs Regeneration OK From TB3-RDY 2 1 MS MS Module Status (MS) Connector 2 1 * Indicates User Supplied Component Note 6 Aux Contact to Control String 2 1 MS MS I/O COM INx (IOD) Connector Single-axis Inverter Note 10 I/O - A I/O - B COM COM INx INx (IOD) Connectors Dual-axis Inverter Note 10 Module Status (MS) Connector Grounding Screws/Jumpers Note 15 Stop * Start * PE Ground Note 11 PE Ground Note 11 PE Ground Note 11 PE Ground Note 11 CR1* Refer to Attention statement (Note 17). CR1* Bonded Cabinet Ground Bus * Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 335 336 Varistor R S Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Customer Supplied 120V AC Aux Contact MC * Note 12 E/N MC Note 16 Line Reactors * Indicates User Supplied Component T Harmonic Filter To Motor Fan Motor Fan Fusing * Three-phase AC Line Filter Note 5 Bonded Cabinet Ground Bus * T1 S1 R1 T S R G MC2 MC1 PR3 PR2 PR1 L3 AUX L2 AUX TB2 L1 AUX Stop * +24V DC PWR RDY COM 0V MC P Aux Contact Bonded Cabinet Ground Bus * N Refer to Attention statement (Note 17). CR1* DC- L3 TB3 TB1 DC+ L2 Contactor * Note 12 Note 23 L1 TB1 8720MC-RPS065 8720MC Regenerative Power Supply Refer to table on page 321 for note information. CR1* Start * Note 6 Digital Inputs Note 6 24V_COM +24V 2 1 PE Ground Note 11 2 1 MS MS PE Ground Note 11 1 2 2198-H040-P-T T-connector and Bus Bar 24V_COM +24V INx COM I/O INx COM PE Ground Note 11 (IOD) Connectors Dual-axis Inverter Note 10 Bonded Cabinet Ground Bus * PE Ground Note 11 DC Bus (DC) Connectors 24V_COM Control Power (CP) Connectors +24V 2198-xxxx-P-T T-connector and Bus Bar I/O - A I/O - B DC+ DC- Additional Inverters Note 8 2198-Dxxx -ERSx Inverter (IOD) Connector COM Single-axis Inverter INx 2198-xxxx-P-T T-connector and Bus Bar 24V_COM +24V DC+ DC- 2198-Sxxx -ERSx Inverter 2198-CAPMOD-2240 Capacitor Module DC+ DC- Module Status (MS) Connectors MS MS 2198-TCON-24VDCIN36 24V Input Power Wiring Connector 2 1 DC+ DC- Grounding Screws/Jumpers Note 15 Customer Supplied +24V DC Power Supply * Chassis Circuit Protection * Note 23 Circuit Protection * 2198-DCBUSCOND-RP312 DC-bus Conditioner Module Appendix A Circuit Protection * 324…506V AC rms Three-phase Input Note 3 The 8720MC-RPS regenerative power supply is not compatible with the iTRAK power supply. Figure 170 - 8720MC-RPS with Kinetix 5700 Drive System IMPORTANT In this example, three-phase AC input power is fed to the Bulletin 8720MC-RPS065 regenerative power supply. The DCbus voltage supplies the Kinetix 5700 DC-bus via the 2198-CAPMOD-2240 capacitor module. In configurations that exceed 104 A, up to a maximum of 208 A, the DC-bus conditioner module is also required. Appendix A Interconnect Diagrams Appendix A Capacitor Module Status Wiring Example Interconnect Diagrams You can configure either of the DC-bus power supply digital inputs as Bus Capacitor OK in the Logix Designer application to monitor the Module Status output. Refer to page 195 to see how the DC-bus power supply Digital Inputs category is configured. Figure 171 - DC-bus Power Supply with Capacitor Module 2198-CAPMOD-2240 Capacitor Module 2198-Pxxx DC-bus Power Supply MS MS Digital Input (IOD) Connector INx Module Status (MS) Connector (1) 24V DC COM (1) Configure either of two digital inputs as Bus Capacitor OK. For DC-bus power supply configurable functions, see the DC-bus Power Supply Configurable Functions table on page 101. Refer to the Kinetix 5700 Capacitor Modules Installation Instructions, publication 2198-IN008, for additional installation information. DC-bus Conditioner Module Status Wiring Example 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 output. Refer to page 199 to see how the regenerative bus supply Digital Inputs category is configured. Figure 172 - Regenerative Bus Supply with DC-bus Conditioner Module 2198-DCBUSCOND-RP312 DC-bus Conditioner Module 2198-RPxxx Regenerative Bus Supply MS MS Digital Input (IOD) Connector INx Module Status (MS) Connector (1) COM 24V DC (1) Configure any one of four digital inputs as Bus Conditioner OK. For regenerative bus supply configurable functions, see the Regenerative Bus Supply Configurable Functions table on page 102. Refer to the Kinetix 5700 DC-bus Conditioner Module Installation Instructions, publication 2198-IN016, for additional installation information. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 337 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. Figure 173 - Contactor Wiring for DC-bus Power Supply Allen-Bradley Bulletin 100 Contactor 2198-Pxxx DC-bus Power Supply CONT EN+ Contactor Enable (CED) Connector 24V DC CONT EN– AC Input Power (IPD) Connector L1 L2 CONT EN+ CONT EN– 2198-DBRxx-F AC Line Filter L3 L1 L1 L2 L2 L3 L3 Figure 174 - Contactor Wiring for Regenerative Bus Supply 2198-RPxxx Regenerative Bus Supply Contactor Enable (CED) Connector Allen-Bradley Bulletin 100 Contactor CONT EN+ AC Input Power (IPD) Connector L1 L2 L3 Digital Input (IOD) Connector 24V DC CONT EN– CONT EN+ CONT EN– 2198-DBRxx-F AC Line ACFilter Line Filter INx COM L1 L1 L2 L2 L3 L3 AUX N.O. AUX N.O. AUX N.C. AUX N.C. 24V DC (1) Configure digital input #2 as AC Line Contactor OK (default setting). For regenerative bus supply configurable functions, see the Regenerative Bus Supply Configurable Functions table on page 102. Refer to IEC Contactor Specifications Technical Data, publication 100-TD013, for additional contactor related information. 338 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix A Passive Shunt Wiring Examples Interconnect Diagrams Wiring from the Bulletin 2198 shunt modules and resistor are made directly to the shunt (RC) connector. You can configure either of the DC-bus power supply digital inputs as Shunt Thermal Switch OK in the Logix Designer application. Refer to page 195 to see how the DC-bus power supply Digital Input category is configured. IMPORTANT Passive shunts attach to only 2198-Pxxx DC-bus power supplies. Before wiring the Bulletin 2198 external shunt to the RC connector, remove the wires from the internal servo-drive shunt. 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. Figure 175 - DC-bus Power Supply with External Passive Shunt Module 2198-R014, 2198-R031, and 2198-R127 External Passive Shunt Module 2198-Pxxx DC-bus Power Supply Shunt (RC) Connector DC+ R1 SH R2 TS Internal Shunt Digital Input (IOD) Connector TS INx Resistor Thermal Switch (1) COM 24V DC (1) Configure either of two digital inputs as Shunt Thermal Switch OK. For DC-bus power supply configurable functions, see the DC-bus Power Supply Configurable Functions table on page 101. Figure 176 - DC-bus Power Supply with External Passive Shunt Resistor 2198-R004 External Passive Shunt Resistor 2198-Pxxx DC-bus Power Supply Shunt (RC) Connector DC+ SH Internal Shunt Refer to the Kinetix 5700 Passive Shunt Module Installation Instructions, publication 2198-IN011, for additional installation information. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 339 Appendix A Interconnect Diagrams Active Shunt Wiring Examples Active shunts are available from the Rockwell Automation Encompass™ partner Powerohm Resistors, Inc. (https://www.hubbell.com/powerohm/en). Powerohm Bulletin PKBxxx active shunt modules use built-in internal brake resistors. Bulletin PWBxxx active shunt modules require appropriately sized external brake resistors. IMPORTANT For compatible Powerohm active shunts paired with 2198-Pxxx DC-bus power supplies and 2198-RPxxx regenerative bus supplies, see External Active-shunt Connections on page 173. 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. Figure 177 - 2198-RPxxx Supply with External Active Shunt (built-in brake resistor) Powerohm Bulletin PKB-xxx-xxx Active Shunt Module 2198-RPxxx Regenerative Bus Supply Shunt (RC) DC+ (1) Connector DC– DC+ DC– Resistor 4.6 m (15 ft) Maximum Cable Length 3 4 Digital Input (IOD) Connector INx COM Fault Contact (2) 9 10 24V DC (3) 120V AC (1) The active shunt (RC) connector is rated for wire size up to 6 mm2 (10 AWG). When conductors larger than 6 mm2 (10 AWG) connect to the shunt, the drive connection must be made to the external DC-bus connections on an accessory module. (2) Configure any available digital input as Shunt Thermal Switch OK. See the Digital Inputs Connector Pinouts on page 101. (3) Powerohm PKB050 and PKB050-800 shunts require 120V AC between pins 9 and 10 to supply power to the cooling fans. Figure 178 - 2198 Power Supply with External Active Shunt (built-in brake resistor) 2198-Pxxx DC-Bus Power Supply or 2198-RPxxx Regenerative Bus Supply 2198-xxxx-ERSx Inverter 2198-CAPMOD-2240 Capacitor Module Powerohm Bulletin PKBxxx-xxx Active Shunt Module 4.6 m (15 ft) Maximum Cable Length DC+ DC+ DC– External DC-bus DC– 3 4 Digital Input (IOD) Connector INx COM (1) 24V DC Resistor Fault Contact 9 10 (2) (1) Configure any available digital input as Shunt Thermal Switch OK. See the Digital Inputs Connector Pinouts on page 101. (2) Powerohm PKB050 and PKB050-800 shunts require 120V AC between pins 9 and 10 to supply power to the cooling fans. See Knowledgebase Technote: Using PKB external active shunt with Kinetix 5700 for more information on wiring to these Powerohm Bulletin PKBxxx active shunts. 340 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 120V AC Appendix A IMPORTANT Interconnect Diagrams 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 179 - 2198 Power Supply with External Active Shunt (external brake resistor) 2198-Pxxx DC-Bus Power Supply or 2198-RPxxx Regenerative Bus Supply 2198-xxxx-ERSx Inverter 2198-CAPMOD-2240 Capacitor Module Powerohm External Passive Shunt Module Powerohm Bulletin PWBxxx-xxx Active Shunt Module DC+ External DC Bus DC– DC+ DC– R1 R2 DC+ DC– 9.1 m (30 ft) Maximum Cable Length 4.6 m (15 ft) Maximum Cable Length 3 4 Fault Contact 9 10 (2) 120V AC TS TS Digital Input (IOD) Connector INx COM Resistor (1) Thermal Switch 24V DC (1) Configure any available digital input as Shunt Thermal Switch OK. See the Digital Inputs Connector Pinouts on page 101. (2) Powerohm PWB050 and PWB050-800 shunts require 120V AC between pins 9 and 10 to supply power to the cooling fans. See Knowledgebase Technote: Using PWB external active shunt with Kinetix 5700 for more information on wiring to these Powerohm Bulletin PWBxxx active shunts. For more information on Powerohm products, refer to the documentation included with those products or online at (https://www.hubbell.com/ powerohm/en). Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 341 Appendix A Interconnect Diagrams Kinetix 5700 Servo Drive and Rotary Motor Wiring Examples These Kinetix rotary motors use single cable technology. The motor power, brake, and feedback wires are all packaged in a single cable. Figure 180 - Kinetix 5700 Drives with Kinetix VPL, VPC-Bxxxxx-Q, VPF, VPH, and VPS Motors 2198-Sxxx -ERSx or 2198-Dxxx -ERSx Kinetix 5700 Servo Drives Refer to table on page 321 for note information. Note 8 Cable Shield Clamp Note 7 U V Motor Power (MP) Connector W 4 A/U Brown Black Blue Green/Yellow 3 2 1 VPL-A/Bxxxx-C/P/Q/W, VPC-Bxxxxx-Q, VPF-A/Bxxxx-C/P/Q/W, VPH-A/Bxxxx-C/Q/W, or VPS-BxxxD-P Motors with High-resolution Feedback B/V Three-phase Motor Power C/W Note 20 Motor Brake (BC) Connector MBRK + MBRK - Motor Feedback (MF) Connector 2198-KITCON-DSL Connector Kit D+ D- 1 Black F/+ 2 White G/– 1 Blue White/Blue 2 Data+/EPWR+ E/1 Data-/EPWRShield H/2 2090-CSBM1DE-xxxAxx or 2090-CSBM1DE-xxxFxx or 2090-CSBM1DG-xxxAxx or 2090-CSBM1DG-xxxFxx Single Motor Cable Motor Brake Motor Feedback SpeedTec DIN Single Motor Connector Note 19 Power, Brake, and Feedback Connector 2090-CSxM1DE cables include the 2198-KITCON-DSL connector kit preassembled with the feedback conductors. 2090-CSxM1DG cables have flyingleads and the 2198-KITCON-DSL kit is ordered separately. Figure 181 - Single Motor Cables for Kinetix 5700 Servo Drives 2090-CSBM1DE-xxxAxx 2090-CSBM1DE-xxxFxx 2090-CSWM1DE-xxxAxx (not shown) 2198-KITCON-DSL Feedback Connector Kit 2090-CSBM1DG-xxxAxx 2090-CSBM1DG-xxxFxx Flying Leads 342 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 2090-CSWM1DG-xxxAxx (not shown) Appendix A Interconnect Diagrams These Kinetix rotary motors have separate cables for motor power/brake and feedback connections. Figure 182 - Kinetix 5700 Drives with Kinetix VPC-Y Continuous Duty Motors 2198-Sxxx -ERSx 2198-Dxxx -ERSx Kinetix 5700 Servo Drives Cable Shield Clamp 4 U Motor Power (MP) Connector V 2 W A Brown Black Blue Green/Yellow 3 1 B C D 2090-CPxM7DF-xxAAxx (standard) or 2090-CPxM7DF-xxAFxx (continuous-flex) Motor Power Cable Note 19 Universal Feedback (UFB) Connector Motor Brake (BC) Connector 2198-K57CK-D15M Feedback Connector Kit Shield Note 7 MBRK + MBRK - U V Three-phase Motor Power W GND Note 20 Motor Feedback Thermostat 1 White F MBRK+ 2 Black G MBRK- 3 4 CLK+ CLK- RED WHITE/RED 9 15 5 6 9 10 13 DATA+ DATA+5VDC ECOM TS GREEN WHITE/GREEN 5 10 14 6 11 GRAY WHITE/GRAY WHITE/ORANGE 14 12 Motor Brake COM Refer to feedback kit illustration (lower left) for proper grounding technique. 2090-CFBM7DF-CEAAxx (standard) or 2090-CFBM7DF-CEAFxx (continuous-flex) (flying-lead) Feedback Cable Note 19 Grounding Techniques for Feedback Cable Shield SpeedTec DIN Motor Connectors 2198-K57CK-D15M Universal Feedback Connector Kit 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 VPC-Bxxxx-Y Continuous Duty Servo Motors with High Resolution Feedback Refer to table on page 321 for note information. Exposed shield secured under clamp. Feedback Connector Power Connector Clamp Screws (2) Cable Clamp Refer to Universal Feedback Connector Kit Installation Instructions, publication 2198-IN010, for connector kit specifications. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 343 Appendix A Interconnect Diagrams These Kinetix rotary motors have separate cables for motor power/brake and feedback connections. Figure 183 - Kinetix 5700 Drives with Kinetix MMA Asynchronous Main Motors 2198-Sxxx -ERSx 2198-Dxxx -ERSx Kinetix 5700 Servo Drives Cable Shield Clamp Shield Note 7 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Motor Power (MP) Connector MMA-Bxxxxxx-xx Absolute Encoder Feedback See table on page 321 for note information. U V W 4 3 2 1 A U Three-phase V Motor Power W B C D 2090-CPxM7DF-xxAAxx (standard) or 2090-CPxM7DF-xxAFxx (continuous-flex) Motor Power Cable Note 19 Universal Feedback (UFB) Connector Motor Brake MBRK + (BC) Connector MBRK - Brown Black Blue Green/Yellow Motor Feedback Connector Note 20 GND Thermostat 1 White F MBRK+ 2 Black G MBRK- See Table 176. See feedback kit illustration for proper grounding technique. 2090-CFBM7DF-CEAAxx (standard) or 2090-CFBM7DF-CEAFxx (continuous-flex) (flying-lead) Feedback Cable Note 19 Motor Brake 2198-K57CK-D15M Universal Feedback Connector Kit 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 SpeedTec DIN Feedback Connectors Encoder / Feedback Designations: See Table 176 for more information: • • • • • • • • • L2 = 2048 ppr, TTL Incremental Encoder S1 = 1024 sin/cos, Absolute Single-turn Encoder (Hiperface protocol) S2 = 1024 sin/cos, Absolute Single-turn Encoder, SIL2/PLd rated (Hiperface protocol) S3 = 2048 sin/cos, Absolute Single-turn Encoder (EnDat protocol) S4 = 25-bit Absolute Single-turn Digital Encoder EnDat protocol) M1 = 1024 sin/cos, Absolute Multi-turn Encoder (Hiperface protocol) M2 = 1024 sin/cos, Absolute Multi-turn Encoder SIL2/PLd rated (Hiperface protocol) M3 = 2048 sin/cos Absolute Multi-turn Encoder (EnDat protocol) M4 = 25-bit Absolute Multi-turn Encoder (EnDat protocol) Exposed shield secured under clamp. Clamp Screws (2) Cable Clamp Grounding Techniques for Feedback Cable Shield See Universal Feedback Connector Kit Installation Instructions, publication 2198-IN010, for connector kit specifications. 344 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix A Interconnect Diagrams Table 176 - Kinetix MMA Motor Feedback Connector Pinout Catalog Number Encoder Designation S1/M1, S2/M2 S3, M3 S4, M4 VFx60 SFx60, SFx60 SIL 2 ECN413, ENQ425 ECN425, EQN437 A+ — — — A quad B: A differential signal + — SIN+ SIN+ — 1V p-p sine differential signal + A- — — — A quad B: A differential signal - — SIN- SIN- — 1V p-p sine differential signal - Motor Feedback L2 Connector Pin 1 2 3 4 5 6 Signal Description B+ — — — A quad B: B differential signal + — COS+ COS+ — 1V p-p cosine differential signal + B- — — — A quad B: B differential signal - — COS- COS- — 1V p-p cosine differential signal - — DATA+ DATA+ DATA+ Serial data differential signal + IM+ — — — Index differential signal + — DATA- DATA- DATA- Serial data differential signal - IM- — — — Index differential signal - 7 — — CLK+ CLK+ Serial data clock differential signal + 8 — — CLK- CLK- Serial data clock differential signal - 9 — — — — 10 — — — — 11 EPWR 9V EPWR 9V EPWR 9V EPWR 9V 9V DC encoder power 12 ECOM ECOM ECOM ECOM Encoder power common 13 TS+ TS+ TS+ TS+ Thermostat differential signal + 14 TS- TS- TS- TS- Thermostat differential signal - 15 — — — — 16 PT1 PT1 PT1 PT1 PT1000 differential signal + 17 PT2 PT2 PT2 PT2 PT1000 differential signal - Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Motor Feedback Connector Pins 11 10 16 9 8 1 2 12 13 3 17 4 14 15 5 7 6 345 Appendix A Interconnect Diagrams These compatible Allen-Bradley rotary motors have separate cables for motor power/brake and feedback connections. Figure 184 - Kinetix 5700 Drives with Kinetix MPL, MPM, MPF, MPS, and VPC Motors 2198-Sxxx -ERSx or 2198-Dxxx -ERSx Kinetix 5700 Servo Drives Note 8 Cable Shield Clamp 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Shield Note 7 U V Motor Power (MP) Connector W 4 Brown Black Blue Green/Yellow 3 2 1 A MBRK + MBRK D+ Motor Feedback (MF) Connector D- V Three-phase Motor Power W C D GND Note 20 Motor Feedback 14 11 10 7 6 5 4 3 2 1 3 4 5 6 9 10 11 13 DATA+ DATA+5VDC ECOM +9VDC TS GREEN WHT/GREEN 5 10 14 6 7 11 Thermostat MBRK+ 14 2 Black G MBRK- 12 COM Motor Brake 1 2 Power Connector MPL-A/B15xx…MPL-A/B45xx Servo Motors with Incremental Feedback 2198-K57CK-D15M Feedback Connector Kit 1 2 A B Refer to Hiperface to DSL Feedback Converter Kit Installation Instructions, publication 2198-IN006, for converter kit specifications. U Three-phase V Motor Power W Motor Feedback Note 20 2198-K57CK-D15M Universal Feedback Connector Kit ORANGE WHT/ORANGE 2090-CFBM7DF-CEAAxx (standard) or 2090-CFBM7DF-CEAFxx (continuous-flex) (flying-lead) Feedback Cable Note 19, 24, 25 SpeedTec DIN Motor Connectors C D GRAY WHT/GRAY Refer to feedback kit illustrations (lower left) for proper grounding technique. Clamp Screws (2) Cable Clamp 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 RED WHT/RED F 2198-H2DCK Hiperface-to-DSL Feedback Converter Kit F Thermostat MBRK+ G MBRK– Motor Brake Clamp Screws (2) BLACK WHITE/BLACK 1 2 3 4 AM+ AMBM+ BM- RED WHITE/RED 3 4 5 6 9 10 11 13 IM+ IM+5VDC ECOM – TS GREEN WHITE/GREEN GRAY WHITE/GRAY 5 10 14 6 ORANGE WHITE/ORANGE 11 14 15 16 17 12 S1 S2 S3 COM WHITE/BLUE YELLOW WHITE/YELLOW Refer to feedback kit illustrations (left) for proper grounding technique. Cable Clamp Refer to Universal Feedback Connector Kit Installation Instructions, publication 2198-IN010, for connector kit specifications. 346 1 2 White Feedback Connector Exposed shield secured under clamp. BLACK WHT/BLACK 3 4 SIN+ SINCOS+ COS- 1 Grounding Techniques for Feedback Cable Shield Exposed shield secured under clamp. 2198-H2DCK Feedback Converter Kit or 2198-K57CK-D15M Feedback Connector Kit 1 2 U B 2090-CPxM7DF-xxAAxx (standard) or 2090-CPxM7DF-xxAFxx (continuous-flex) Motor Power Cable Note 19 Universal Feedback (UFB) Connector Motor Brake (BC) Connector MPL-A/B15xx…MPL-A/B9xx, VPC-Bxxxxx-S and VPC-B3004x-M MPM-A/Bxxx, MPF-A/Bxxx, and MPS-A/Bxxx Servo Motors with High Resolution Feedback Refer to table on page 321 for note information. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 2090-XXNFMF-Sxx (standard) or 2090-CFBM7DF-CDAFxx (continuous-flex) (flying-lead) Feedback Cable Notes 19, 25 12 13 8 Appendix A Interconnect Diagrams Figure 185 - Kinetix 5700 Drives with Kinetix HPK Servo Motors 2198-Sxxx -ERSx Kinetix 5700 Servo Drives Refer to table on page 321 for note information. Note 8 Cable Shield Clamp 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Shield Note 7 U V Motor Power (MP) Connector W 4 Brown Black Blue Green/Yellow 3 2 1 Kinetix HPK HPK-Bxxx and HPK-Exxx Asynchronous Servo Motors with High Resolution Feedback Motor Connector Shell Motor Feedback (MF) Connector D+ D- RED WHT/RED 3 4 5 6 9 10 11 13 DATA+ DATA– ECOM +9VDC TS GREEN WHT/GREEN 5 10 V Three-phase Motor Power W Thermostat MBRK - 1 2 1 2 GND Motor Feedback MBRK + BLACK WHT/BLACK 3 4 SIN+ SINCOS+ COS- U Universal Feedback (UFB) Connector Motor Brake (BC) Connector 2198-H2DCK Feedback Converter Kit or 2198-K57CK-D15M Feedback Connector Kit 1 White BR+ 14 2 Black BR- 12 COM Motor Brake 2 6 7 11 Refer to feedback kit illustrations (below) for proper grounding technique. Clamp Screws (2) Cable Clamp Refer to Hiperface to DSL Feedback Converter Kit Installation Instructions, publication 2198-IN006, for converter kit specifications. SpeedTec DIN Feedback Connector 2198-K57CK-D15M Universal Feedback Connector Kit 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 2198-H2DCK Hiperface-to-DSL Feedback Converter Kit 14 11 10 7 6 5 4 3 2 1 ORANGE WHT/ORANGE 2090-CFBM7DF-CEAAxx (standard) or 2090-CFBM7DF-CEAFxx (continuous-flex) (flying-lead) Feedback Cable Note 19 1 Grounding Techniques for Feedback Cable Shield Exposed shield secured under clamp. GRAY WHT/GRAY Exposed shield secured under clamp. Clamp Screws (2) Cable Clamp Refer to Universal Feedback Connector Kit Installation Instructions, publication 2198-IN010, for connector kit specifications. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 347 Appendix A Interconnect Diagrams Figure 186 - Kinetix 5700 Drives with Kinetix RDB Direct Drive Motors 2198-Sxxx -ERSx or 2198-Dxxx -ERSx Kinetix 5700 Servo Drives Cable Shield Clamp 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Note 7 Motor Power (MP) Connector RDB-Bxxxx Direct Drive Servo Motors with High Resolution Feedback Refer to table on page 321 for note information. Shield 4 U 2 W 1 U C/W B/V GND V Three-phase W Motor Power A/U 2090-CPWM7DF-xxAAxx (standard) or 2090-CPWM7DF-xxAFxx (continuous-flex) Motor Power Cable Notes 19 Universal Feedback (UFB) Connector BLACK WHITE/BLACK 1 2 3 4 SIN+ SINCOS+ COS- RED WHITE/RED 3 4 5 6 7 8 9 10 11 13 DATA+ DATACLK+ CLK+5VDC ECOM – TS GREEN WHITE/GREEN GRAY WHITE/GRAY 5 10 9 15 14 6 ORANGE WHITE/ORANGE 11 1 2 Brown Black Blue Green/Yellow 3 V 2198-K57CK-D15M Feedback Connector Kit Note 20 Motor Feedback Thermistor 14 12 SpeedTec DIN Motor Connectors 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 2198-K57CK-D15M Universal Feedback Connector Kit Exposed shield secured under clamp. COM Refer to feedback kit illustration (lower left) for proper grounding technique. 2090-XXNFMF-Sxx (standard) or 2090-CFBM7DF-CDAFxx (continuous-flex) (flying-lead) Feedback Cable Note 19 Grounding Techniques for Feedback Cable Shield Feedback Connector Power Connector Clamp Screws (2) Cable Clamp Refer to Universal Feedback Connector Kit Installation Instructions, publication 2198-IN010, for connector kit specifications. 348 BROWN WHITE/BROWN Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix A Kinetix 5700 Servo Drive and Linear Actuator Wiring Examples Interconnect Diagrams These Kinetix linear actuators use single cable technology. The motor power, brake, and feedback wires are all packaged in a single cable. Figure 187 - Kinetix 5700 Drives with Kinetix VPAR Electric Cylinders 2198-Dxxx -ERSx Kinetix 5700 Servo Drives Note 8 Cable Shield Clamp VPAR-B1xxxx-W VPAR-B2xxxx-W VPAR-B3xxxx-Q Electric Cylinders with High-resolution Feedback Refer to table on page 321 for note information. Note 7 U Motor Power (MP) Connector V W 4 Brown Black Blue Green/Yellow 3 2 1 A/U B/V Three-phase Motor Power C/W Note 20 Motor Brake (BC) Connector MBRK + MBRK - Motor Feedback (MF) Connector 2198-KITCON-DSL Connector Kit D+ D- 1 Black F/+ 2 White G/– 1 Blue White/Blue 2 Data+/EPWR+ E/1 Data-/EPWRShield H/2 2090-CSBM1DE-xxxAxx or 2090-CSBM1DE-xxxFxx or 2090-CSBM1DG-xxxAxx or 2090-CSBM1DG-xxxFxx Single Motor Cable Note 19 Motor Brake Motor Feedback SpeedTec DIN Single Motor Connector Power, Brake, and Feedback Connector 2090-CSxM1DE single cables include the 2198-KITCON-DSL connector kit preassembled with the feedback conductors. 2090-CSxM1DG cables have flyingleads and the 2198-KITCON-DSL kit is ordered separately. See the single cable examples on page 342. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 349 Appendix A Interconnect Diagrams These compatible linear actuators have separate connectors and cables for power/brake and feedback connections. Figure 188 - Kinetix 5700 Drives with Kinetix LDAT Linear Thrusters 2198-Dxxx -ERSx Kinetix 5700 Servo Drives LDAT-Sxxxxxx-xDx Linear Thrusters with High Resolution Feedback Refer to table on page 321 for note information. Note 8 Cable Shield Clamp 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Note 7 Shield U Motor Power (MP) Connector V W 4 1 Brown Black Blue Green/Yellow 1 2090-CPWM7DF-xxAAxx (standard) or 2090-CPWM7DF-xxAFxx (continuous-flex) Motor Power Cable Notes 19, 21 3 2 Universal Feedback (UFB) Connector Motor Feedback (MF) Connector D+ D- A B C 14 11 10 7 6 5 4 3 2 1 RED WHT/RED 3 4 5 6 9 10 11 13 DATA+ DATA– ECOM +9VDC TS GREEN WHT/GREEN 5 10 V Three-phase Motor Power W GND Motor Feedback Thermostat 2 Refer to Hiperface to DSL Feedback Converter Kit Installation Instructions, publication 2198-IN006, for converter kit specifications. Refer to feedback kit illustrations (lower left) for proper grounding technique. Power Connector 2198-K57CK-D15M Feedback Connector Kit A U 1 2 B V Three-phase W Motor Power GND Motor Feedback 2198-K57CK-D15M Universal Feedback Connector Kit COM LDAT-Sxxxxxx-xBx Linear Thrusters with Incremental Feedback C D 6 7 11 ORANGE WHT/ORANGE 2090-CFBM7DF-CEAAxx (standard) or 2090-CFBM7DF-CEAFxx (continuous-flex) (flying-lead) Feedback Cable Note 19 SpeedTec DIN Motor Connectors Clamp Screws (2) Cable Clamp GRAY WHT/GRAY 14 12 Feedback Connector 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 1 2 1 2 D 2198-H2DCK Hiperface-to-DSL Feedback Converter Kit Thermostat Clamp Screws (2) Exposed shield secured Cable Clamp under clamp. Refer to Universal Feedback Connector Kit Installation Instructions, publication 2198-IN010, for connector kit specifications. 350 BLACK WHT/BLACK 3 4 SIN+ SINCOS+ COS- U Grounding Techniques for Feedback Cable Shield Exposed shield secured under clamp. 2198-H2DCK Feedback Converter Kit or 2198-K57CK-D15M Feedback Connector Kit Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 BLACK WHITE/BLACK 1 2 3 4 AM+ AMBM+ BM- RED WHITE/RED 3 4 5 6 9 10 11 13 IM+ IM+5VDC ECOM – TS GREEN WHITE/GREEN GRAY WHITE/GRAY 5 10 14 6 ORANGE WHITE/ORANGE 11 S1 WHITE/BLUE S2 S3 YELLOW WHITE/YELLOW 14 15 16 17 12 COM Refer to Universal feedback connector kit illustration (left) for proper grounding technique. 2090-XXNFMF-Sxx (standard) or 2090-CFBM7DF-CDAFxx (continuous-flex) (flying-lead) Feedback Cable Notes 19 12 13 8 Appendix A Interconnect Diagrams Figure 189 - Kinetix 5700 Drives with Kinetix MPAS Linear Stages 2198-Dxxx -ERSx Kinetix 5700 Servo Drives MPAS-Bxxxxx-VxxSxA Ballscrew Linear Stages with High Resolution Feedback Refer to table on page 321 for note information. Note 8 Cable Shield Clamp 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Note 7 Motor Power (MP) Connector Shield U V W 4 Brown Black Blue Green/Yellow 3 2 1 A B C U V Three-phase Motor Power W MBRK - 1 2 RED WHT/RED 3 4 DATA+ DATA– ECOM +9VDC TS GREEN WHT/GREEN 5 10 Thermostat 1 White F MBRK+ 14 2 Black G MBRK- Universal Feedback (UFB) Connector MBRK + BLACK WHT/BLACK 3 4 SIN+ SINCOS+ COS- 1 2 5 6 9 10 11 13 D 2090-CPxM7DF-xxAAxx (standard) or 2090-CPxM7DF-xxAFxx (continuous-flex) Motor Power Cable Note 19 Motor Brake (BC) Connector 2198-H2DCK Feedback Converter Kit or 2198-K57CK-D15M Feedback Connector Kit GND Motor Feedback 12 Motor Brake Motor Feedback (MF) Connector D+ D- 2 14 11 10 7 6 5 4 3 2 1 2198-H2DCK Hiperface-to-DSL Feedback Converter Kit Power Connector MPAS-Bxxxxx-ALMx2C Direct Drive Linear Stages with Incremental Feedback Clamp Screws (2) Cable Clamp Refer to Hiperface to DSL Feedback Converter Kit Installation Instructions, publication 2198-IN006, for converter kit specifications. 2198-K57CK-D15M Feedback Connector Kit 1 2 A B U C D V Three-phase Motor Power W Motor Feedback 2198-K57CK-D15M Universal Feedback Connector Kit Thermostat 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Refer to feedback kit illustrations (lower left) for proper grounding technique. SpeedTec DIN Motor Connectors Feedback Connector Exposed shield secured under clamp. 6 7 11 ORANGE WHT/ORANGE 2090-CFBM7DF-CEAAxx (standard) or 2090-CFBM7DF-Cease (continuous-flex) (flying-lead) Feedback Cable Notes 19, 22 1 Grounding Techniques for Feedback Cable Shield Exposed shield secured under clamp. COM GRAY WHT/GRAY Clamp Screws (2) BLACK WHITE/BLACK 1 2 3 4 AM+ AMBM+ BM- RED WHITE/RED 3 4 5 6 9 10 11 13 IM+ IM+5VDC ECOM – TS GREEN WHITE/GREEN GRAY WHITE/GRAY 5 10 14 6 ORANGE WHITE/ORANGE 11 S1 WHITE/BLUE 12 S2 S3 YELLOW WHITE/YELLOW 13 8 14 15 16 17 12 COM Refer to Universal feedback connector kit illustration (left) for proper grounding technique. Cable Clamp Refer to Universal Feedback Connector Kit Installation Instructions, publication 2198-IN010, for connector kit specifications. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 2090-XXNFMF-Sxx (standard) or 2090-CFBM7DF-CDAFxx (continuous-flex) (flying-lead) Feedback Cable Notes 19, 22 351 Appendix A Interconnect Diagrams Figure 190 - Kinetix 5700 Drives with Kinetix MPAR and MPAI Electric Cylinders 2198-Dxxx -ERSx Kinetix 5700 Servo Drives Note 8 Cable Shield Clamp 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 4 U Brown Black Blue Green/Yellow 3 V 2 W 1 Motor Feedback (MF) Connector A U B C W V MBRK + MBRK - D GND 1 White F MBRK+ 2 Black G MBRK- Motor Feedback Thermostat RED WHT/RED 3 4 5 6 9 10 11 13 DATA+ DATA– ECOM +9VDC TS GREEN WHT/GREEN 5 10 12 2 COM Refer to Hiperface to DSL Feedback Converter Kit Installation Instructions, publication 2198IN006, for converter kit specifications. 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 14 11 10 7 6 5 4 3 2 1 Exposed shield secured under clamp. 2198-K57CK-D15M Universal Feedback Connector Kit Clamp Screws (2) ORANGE WHT/ORANGE Refer to feedback kit illustrations (lower left) for proper grounding technique. SpeedTec DIN Motor Connectors Feedback Connector Clamp Screws (2) Power Connector Refer to Universal Feedback Connector Kit Installation Instructions, publication 2198-IN010, for connector kit specifications. Cable Clamp Exposed shield secured under clamp. Cable Clamp Fram e Table 177 - Kinetix MPAR and MPAI Electric Cylinders Power and Feedback Cables Kinetix MPAR and MPAI Electric Cylinders Cat. No. MPAR-B1xxx (series A and B) MPAR-B2xxx (series A and B) MPAR-B1xxx (series B or later) MPAR-B2xxx (series B or later) MPAR-B3xxx MPAI-B2xxxx MPAI-B3xxxx MPAI-B4xxxx MPAI-B5xxxx 32 40 32 40 63 64 83 110 144 352 6 7 11 Refer to Table 177 for (flying-lead) motor feedback cable. Note 19 Grounding Techniques for Feedback Cable Shield 2198-H2DCK Hiperface-to-DSL Feedback Converter Kit GRAY WHT/GRAY 14 1 D- 1 2 Three-phase Motor Power Motor Brake D+ BLACK WHT/BLACK 3 4 SIN+ SINCOS+ COS- 1 2 Refer to Table 177 for motor power cable. Notes 19 Universal Feedback (UFB) Connector Motor Brake (BC) Connector 2198-H2DCK Feedback Converter Kit or 2198-K57CK-D15M Feedback Connector Kit Shield Note 7 Motor Power (MP) Connector MPAR-Bxxxxx and MPAI-Bxxxxx Electric Cylinders with High Resolution Feedback Refer to table on page 321 for note information. Power Cable Cat. No. Feedback Cable Cat. No. 2090-XXNPMF-16Sxx (standard) or 2090-CPxM4DF-16AFxx (continuous-flex) 2090-XXNFMF-Sxx (standard) or 2090-CFBM4DF-CDAFxx (continuous-flex) 2090-CPxM7DF-16AAxx (standard) or 2090-CPxM7DF-16AFxx (continuous-flex) 2090-CFBM7DF-CEAAxx (standard) or 2090-CFBM7DF-CEAFxx (continuous-flex) Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix A Interconnect Diagrams Figure 191 - Kinetix 5700 Drives with Kinetix LDC Linear Motors (cable connectors) 2198-Dxxx -ERSx Kinetix 5700 Servo Drives Note 8 Cable Shield Clamp 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Kinetix LDC LDC-Cxxxxxx-xHTx1 Linear Motor Coil with Sin/Cos or TTL External Encoder and Cable Connectors Note 7 Motor Power (MP) Connector Shield U V W Universal Feedback (UFB) Connector Motor Feedback (MF) Connector D+ D- 4 Brown Black Blue Green/Yellow 3 2 1 2090-CPWM7DF-xxAAxx (standard) or 2090-CPWM7DF-xxAFxx (continuous-flex) Motor Power Cable 1 Notes 19, 23 A U B C V D Thermostat W Three-phase Motor Power Motor Feedback GND 2 Refer to table on page 321 for note information. 2198-H2DCK Feedback Converter Kit or 2198-K57CK-D15M Feedback Connector Kit 12 13 14 15 16 17 10 9 6 5 4 3 2 1 TS WHT/ORANGE 11 S1 S2 S3 ECOM +5VDC IMIM+ COS- (BM-) COS+ (BM+) SIN- (AM-) SIN+ (AM+) WHT/BLUE 12 13 8 YELLOW WHT/YELLOW WHT/GREEN GREEN 6 14 10 5 WHT/RED RED 4 3 WHT/BLACK BLACK 2 1 WHT/GRAY GRAY 2090-XXNFMF-Sxx (standard) or 2090-CFBM7DF-CDAFxx (continuous-flex) (flying-lead) Feedback Cable Note 19 Refer to feedback connector kit illustrations (lower left) for proper grounding technique. 1 4 2 5 3 6 8 7 SIN+ (AM+) SIN- (AM-) COS+ (BM+) COS- (BM-) IM+ IMPOWER COM SpeedTec DIN Motor Connectors Grounding Techniques for Feedback Cable Shield Exposed shield secured under clamp. Clamp Screws (2) Feedback Connector 2198-K57CK-D15M Universal Feedback Connector Kit 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 14 11 10 7 6 5 4 3 2 1 2198-H2DCK Hiperface-to-DSL Feedback Converter Kit External Sin/Cos or (TTL) Encoder Power Connector Clamp Screws (2) Cable Clamp Refer to Hiperface to DSL Feedback Converter Kit Installation Instructions, publication 2198IN006, for converter kit specifications. Exposed shield secured Cable Clamp under clamp. Refer to Universal Feedback Connector Kit Installation Instructions, publication 2198IN010, for connector kit specifications. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 353 Appendix A Interconnect Diagrams Figure 192 - Kinetix 5700 Drives with Kinetix LDC Linear Motors (flying-lead cables) 2198-Dxxx -ERSx Kinetix 5700 Servo Drives Refer to table on page 321 for note information. Note 8 Cable Shield Clamp LDC-Cxxxxxx-xHTx0 Linear Motor Coil with Sin/Cos or TTL External Encoder and Flying-lead Cables Note 7 Motor Power (MP) Connector 4 3 2 1 U V W RED U V W U Three-phase V Motor Power W WHITE BLACK GREEN/YELLOW GND TS+ TS- Motor Feedback (MF) Connector Universal Feedback (UFB) Connector D+ D- 11 12 13 8 1 2 3 4 5 10 14 6 BLACK BLACK POWER S1 S2 S3 COM 1 2 TS+ S1 S2 S3 SIN+ (AM+) (AM-) SINCOS+ (BM+) (BM-) COSIM+ IMPOWER COM Thermostat RED WHITE Hall Effect Module BLUE ORANGE BLACK SIN+ (AM+) (AM-) SINCOS+ (BM+) (BM-) COSIM+ IMPOWER COM External Sin/Cos or (TTL) Encoder Wire as shown using cable type appropriate for your application. Grounding Techniques for Feedback Cable Shield Exposed shield secured under clamp. Clamp Screws (2) Clamp Screws (2) Cable Clamp Refer to Hiperface to DSL Feedback Converter Kit Installation Instructions, publication 2198IN006, for converter kit specifications. 354 2198-K57CK-D15M Universal Feedback Connector Kit 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 14 11 10 7 6 5 4 3 2 1 2198-H2DCK Hiperface-to-DSL Feedback Converter Kit Cable Clamp Exposed shield secured under clamp. Refer to Universal Feedback Connector Kit Installation Instructions, publication 2198IN010, for connector kit specifications. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix A System Block Diagrams Interconnect Diagrams This section provides block diagrams of the Kinetix 5700 drive modules. SH Shunt Resister (RC) Connector DC+ Figure 193 - DC-bus Power Supply Block Diagram Internal Shunt Resistor DC+ L1 Three-phase Input Power (IDP) Connector DC Bus Power (DC) Connector L2 L3 DC– Ground Screw (1) Chassis Contactor Enable CONT EN+ (CED) Connector CONT EN– 24V Control Power (CP) Connector 24V+ Control 24V– (1) Ground screw in the installed (default) configuration. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 355 Appendix A Interconnect Diagrams Figure 194 - Regenerative Bus Supply Block Diagram DC– DC+ Active Shunt (RC) Connector DC+ Three-phase Input Power (IDP) Connector L1 DC Bus Power (DC) Connector L2 L3 DC– Ground Screw (1) Chassis CONV OK+ Contactor Enable (CED) Connector CONV OK– + 24V DC – CONT EN+ CONT EN– 24V Control Power (CP) Connector 24V+ Control 24V– (1) Ground screw in the installed (default) configuration. 356 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix A Interconnect Diagrams Figure 195 - Single-axis Inverter Block Diagram DC+ DC Bus Power (DC) Connector U V W Motor Power (MP) Connector DC– Ground Jumper (1) Chassis Motor Brake (BC) Connector BR+ BR– 24V Control Power (CP) Connector 24V+ Control 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 or later) drives. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 357 Appendix A Interconnect Diagrams Figure 196 - Dual-axis Inverter Block Diagram DC+ U V W Motor Power (MP) Connector - A U V W Motor Power (MP) Connector - B Chassis DC Bus Power (DC) Connector DC– Ground Jumper (1) Chassis Motor Brake (BC) Connector - A BR+ BR– Motor Brake (BC) Connector - B BR+ BR– 24V Control Power (CP) Connector 24V+ Control 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 or later) drives. 358 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix A Interconnect Diagrams Figure 197 - iTRAK Power Supply Block Diagram 2x DC-DC Converters DC+ DCL H DC-bus Output IDC Connector - A H DC-bus Power (DC) Connector Chassis 24V+ 24V– L DC- DC– 24V Control Output ICP Connector - A Chassis DCL H Ground Jumper (1) Chassis DC-bus Output IDC Connector - B Chassis 24V Control Power (CP) Connector 24V+ 24V+ 24V Control Output 24V– ICP Connector - B Control 24V– Chassis Chassis Ground Connection (2) (1) Ground screw in the installed (default) configuration. (2) Connection from 24V- to Chassis is made inside of the iTRAK power supply. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 359 Appendix A Interconnect Diagrams Figure 198 - Capacitor Module Block Diagram Fuse Detection Module Status Status Indicator MS MS DC Bus Output Lug Connector Module Status (MS) Connector DC+ DC– DC-bus Detection DC-bus Status Status Indicator DC Bus Input Link Connector DC+ Fuse DC+ Capacitor Bank DC– DC– 360 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Bleeder Resistor DC– Appendix A Interconnect Diagrams Figure 199 - DC-bus Conditioner Module Block Diagram Fuse Detection and Over Temperature Protection Module Status Status Indicator MS MS DC Bus Output Lug Connector Module Status (MS) Connector DC+ DC-bus Detection DC– DC-bus Status Status Indicator Conditioning Circuit DC Bus Input Link Connector DC+ Fuse DC– Chassis Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 361 Appendix A Interconnect Diagrams Notes: 362 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix B Upgrade the Drive Firmware This appendix provides procedures for upgrading your Kinetix® 5700 drive firmware. Topic Before You Begin Upgrade Your Firmware Verify the Firmware Upgrade Page 363 365 374 You can upgrade your Kinetix 5700 drive firmware by using either of these two methods: • • ControlFLASH Plus™ software ControlFLASH™ software To upgrade drive firmware, you must configure a path to your drive, select the drive module to upgrade, and complete the firmware upgrade procedure. We recommend that you use ControlFLASH Plus software for firmware upgrades. See the ControlFLASH Plus Quick Start Guide, publication CFP-QS001, for more information. Before You Begin These are the minimum firmware revisions and software versions required for upgrading drive firmware. Table 178 - Kinetix 5700 System Requirements Description Logix Designer application Firmware Revision 26.00.00 or later RSLinx® software (1) 3.60.00 or later (2) 6.20.00 or later (3) 12.01.00 or later FactoryTalk® Linx software ControlFLASH software kit ControlFLASH Plus software kit (3) 3.01 or later (1) Required only when using ControlFLASH software. (2) Required only when using ControlFLASH Plus software. (3) Download the ControlFLASH software kit from the Product Compatibility and Download Center at: rok.auto/pcdc. For more ControlFLASH software information (not Kinetix 5700 specific), refer to the ControlFLASH Firmware Upgrade Kit User Manual, publication 1756-UM105. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 363 Appendix B Upgrade the Drive Firmware Gather this information before you begin your firmware upgrade. • • Network path to the targeted Kinetix 5700 drives you want to upgrade. Catalog numbers of the targeted Kinetix 5700 drives you want to upgrade. IMPORTANT Control power must be present at CP-1 (24V+) and CP-2 (24V-) prior to upgrading your target module. IMPORTANT For the DC-bus power supply and inverter modules, the axis state on the LCD display must be STANDBY, CONFIGURING, or PRECHARGE before beginning this procedure. IMPORTANT The axis state on the LCD display must be STANDBY, when Protected mode is enabled. See Table 109 on page 183 for more information. IMPORTANT For iTRAK® power supplies configured for normal (non-standalone) operation, the axis state on the LCD display must be in the STANDBY state. If Protected Flash Update is disabled in the Settings Menu, the device can also be in either the CONFIGURING or PRECHARGE state. See Table 112 on page 186 for more information. IMPORTANT For iTRAK power supplies configured for standalone operation, the axis state on the LCD display must be in the START INHIBITED state. See iTRAK System with TriMax Bearings User Manual, publication 2198T-UM002, for information on upgrading firmware on iTRAK L16 motor modules. ATTENTION: To avoid personal injury or damage to equipment during the firmware upgrade due to unpredictable motor activity, do not apply threephase AC or common-bus DC input power to the drive. 364 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix B Upgrade the Drive Firmware Inhibit the Module You must inhibit the Kinetix 5700 drive prior to performing the firmware upgrade. Follow these steps to inhibit a module. 1. Open your Logix Designer application. 2. Right-click the 2198-xxxx-ERSx servo drive you configured and choose Properties. The Module Properties dialog box appears. 3. Select the Connection category. 4. 5. 6. 7. Upgrade Your Firmware Check Inhibit Module. Click OK. Save your file and download the program to the controller. Verify that the network (NET) and module (MOD) status indicators are flashing green. Use either ControlFLASH Plus software or ControlFLASH software to upgrade your firmware. Table 179 - Firmware Upgrade Software Software Upgrade Procedure ControlFLASH Plus ControlFLASH Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Go to Page 366 369 365 Appendix B Upgrade the Drive Firmware Use ControlFLASH Plus Software to Upgrade Your Drive Firmware Follow these steps to select the Kinetix 5700 drive to upgrade. 1. Start ControlFLASH Plus software. You can choose to select and upgrade the firmware for all drive modules in your system. However, in this procedure only one drive is selected for a firmware upgrade. 2. Click the Flash Devices tab. If the device is not already present in Browsing from path:, complete these steps: a. Click . b. In the Network Browser dialog box, locate and select the device to upgrade. c. Click OK. 3. On the Flash Devices tab, verify that the check box to the left of the device is selected. 366 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix B Upgrade the Drive Firmware 4. From the Flash To pull-down menu, choose one of these methods for choosing the desired firmware revision: • Latest from Download Center • Latest on Computer If you have already downloaded the firmware, choose Latest on Computer and select the desired revision. Otherwise, choose Latest from Download Center and select the desired revision. In this example, the Latest on Computer method is chosen. 5. Click Next. 6. If a warning dialog box appears, read the warning, complete any recommendations, and click Close. 7. After acknowledging all warnings and confirming the desired revisions, click Flash. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 367 Appendix B Upgrade the Drive Firmware The Status bar appears to show the progress of the firmware update. Also, the status display scrolls ‘Updating. Do Not Turn Off’, which indicates that the upgrade is in progress. After the upgrade information is sent to the drive, the drive resets and performs diagnostic checking. After the download, the drive applies the new firmware and reboots. This can take several minutes. IMPORTANT Do not cycle power to the drive during this process. A power cycle results in an unsuccessful firmware upgrade and an inoperable module. After the drive reboots, ControlFlash Plus software indicates success or failure of the update. 8. When the upgrade has completed, click Close. 9. To complete the process and close the application, click Done. IMPORTANT 368 You must return to the drive Module Properties>Connection category to clear the Inhibit Module checkbox before resuming normal operation. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix B Upgrade the Drive Firmware Use ControlFLASH Software to Upgrade Your Drive Firmware Before using ControlFLASH software you need to configure the communication path by using RSLinx software. Configure Your Communication Path with RSLinx Software This procedure assumes that your communication method to the target device is the Ethernet network. It also assumes that any Ethernet communication module or Logix 5000™ controller in the communication path has already been configured. For more controller information, see Additional Resources on page 12. Follow these steps to configure the communication path to the target device. 1. Open your RSLinx Classic software. 2. From the Communications menu, choose Configure Drivers. The Configure Drivers dialog box appears. 3. From the Available Driver Types pull-down menu, choose Ethernet devices. 4. Click Add New. 5. The Add New RSLinx Classic Driver dialog box appears. 6. Type the new driver name. 7. Click OK. The Configure driver dialog box appears. 8. Type the IP address of your Ethernet Module or Controller that bridges between the Ethernet network and the EtherNet/IP™ network. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 369 Appendix B Upgrade the Drive Firmware 9. Click OK. The new Ethernet driver appears under Configured Drivers. 10. Click Close. 11. Minimize the RSLinx application dialog box. Start the ControlFLASH Software Follow these steps to start ControlFLASH software and begin your firmware upgrade. 1. In the Logix Designer application, from the Tools menu, choose ControlFLASH. You can also open ControlFLASH software by choosing Start>Programs>FLASH Programming Tools>ControlFLASH. The Welcome to ControlFLASH dialog box appears. 2. Click Next. 370 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix B Upgrade the Drive Firmware The Catalog Number dialog box appears. If your catalog number does not appear, click Browse, select the monitored folder where the firmware kit (DMK files) is located. Click Add and OK. 3. Select your drive module. In this example, the 2198-D006-ERS3 servo drive is selected. 4. Click Next. The Select Device to Update dialog box appears. 5. Expand your Ethernet node, Logix backplane, and EtherNet/IP network module. 6. Select the servo drive to upgrade. 7. Click OK. The Firmware Revision dialog box appears. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 371 Appendix B Upgrade the Drive Firmware 8. Select the firmware revision to upgrade. 9. Click Next. The Summary dialog box appears. 10. Confirm the drive catalog number and firmware revision. 11. Click Finish. This ControlFLASH warning dialog box appears. 12. To begin the firmware update, click Yes. This ControlFLASH warning dialog box appears. 13. Acknowledge the warning and click OK. The Progress dialog box appears and updating begins. 372 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix B Upgrade the Drive Firmware After the upgrade information is sent to the drive, the drive resets and performs diagnostic checking. 14. Wait for the Progress dialog box to time out. It is normal for this process to take several minutes. IMPORTANT Do not cycle power to the drive during this process. A power cycle results in an unsuccessful firmware upgrade and an inoperable module. 15. Verify that the Update Status dialog box appears and indicates success or failure as described below. Upgrading Status If Success Update complete appears in a green Status dialog box, then go to step 16. Failure Update failure appears in a red Status dialog box, then refer to the ControlFLASH Firmware Upgrade Kit User Manual, publication 1756-UM105 for troubleshooting information. 16. Click OK. IMPORTANT You must return to the drive Module Properties>Connection category to clear the Inhibit Module checkbox before resuming normal operation. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 373 Appendix B Upgrade the Drive Firmware Verify the Firmware Upgrade Follow these steps to verify your firmware upgrade was successful. 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. 4. Right-click the drive module and choose Device Properties. The Device Properties dialog box appears. 5. Verify the new firmware revision level. 6. Click Close. 374 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix C Size Multi-axis Shared-bus Configurations This appendix provides information and examples for sizing your Kinetix® 5700 drive system power supplies and inverters in multi-axis sharedbus configurations. Topic Shared DC-bus Configurations System Sizing Guidelines System Sizing Example System Sizing Application Example Shared DC-bus Configurations Page 375 377 383 384 You can supply power to your Kinetix 5700 shared DC-bus system configuration from following sources: • • • • Single 2198-Pxxx DC-bus power supply Multiple 2198-P208 DC-bus power supplies (up to three are possible) Single 2198-RPxxx regenerative bus supply Multiple 8720MC-RPS regenerative power supply Shared DC-bus Definitions Throughout this manual, these terms are used to describe how drive modules are grouped together. Table 180 - Shared-bus Terminology Term DC-bus group Cluster Extended cluster Power supply cluster Extended DC-bus Definition Drive modules that are all connected to the same DC bus. Group of power supply and/or drive modules that are directly connected together via Kinetix 5700 DC bus-bars only. Group of drive modules that are directly connected together via Kinetix 5700 DC bus-bars and connected to the power supply cluster via customer-supplied DC-bus cable. The cluster that contains the AC to DC converter (power supply). When 2 drive clusters are part of the same DC-bus group joined by the DC bus-bars and customer-supplied DC-bus cable. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 375 Appendix C Size Multi-axis Shared-bus Configurations In this example, two drive clusters in the same cabinet are connected by the same 276…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. Figure 200 - Extended DC-bus Installation Extension Capacitor Module Module Kinetix 5700 Extended Servo Drives Cluster 2 (front view) Dual-axis Inverters Shared DC-bus and 24V DC Control Power MOD NET MOD DC BUS MOD NET 2 5 I/O-A 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 I/O-A I/O-B 6 1 6 1 10 5 10 UFB-A UFB-B 5 MOD NET 2 1 1 1 MOD NET 2 2 1 MODULE STATUS MOD NET 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 I/O-B 6 1 6 1 10 5 10 UFB-A UFB-B 5 D+ D- D+ D- 2 1 1 I/O-A MOD NET 2 2 1 I/O-A MOD NET I/O-A 6 1 I/O-B 10 5 UFB-A 6 1 10 UFB-B 5 1 I/O-A 6 1 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 I/O-A 6 1 I/O-B 6 10 5 10 UFB-A UFB-B DC-bus Extension D+ D- D+ D- MF-A 195…528V AC Three-phase Input Power Line Disconnect Device 2198-P208 DC-bus Power Supplies Bulletin 2198 Shared-bus Connection System (24V shared-bus connection system is optional) Magnetic Contractor (M1) Control String MOD NET MOD NET 2198-DBR200-F AC Line Filter (required for CE and UK) MF-A MOD NET 2 2 2 1 1 1 1 1 4 D+ D- MF-B 1 MF-A D+ D- D+ D- MF-B MF-A D+ D- D+ D- MF-B MF-A MF-B Dual-axis Capacitor Extension Inverters Module Module MOD NET 1 10 5 MOD DC BUS 1 1 6 DC-bus Extension 2 2 I/O D+ D- MF-B MOD NET I/O-A 6 1 I/O-B I/O-A 6 1 10 5 10 UFB-A UFB-B 5 6 1 I/O-B 6 4 I/O I/O MODULE STATUS 5 UFB D+ D- D+ D- Kinetix 5700 Servo Drives Cluster 1 (front view) D+ D- MF-A MF Circuit Protection MF-A MOD NET 2 I/O MF-A Single-axis Inverter 1 4 D+ D- D+ D- MF-B 1 Circuit Protection Magnetic (M1) Contactor D+ D- MF-B - MBRK + UFB-A 10 UFB-B D+ D- D+ D- MF-B 10 5 MF-A MF-B ATTENTION: Circuit protection can be added after the power supply cluster to help protect converters and inverters from damage in the event of a DC-bus cable short-circuit. 1321-3R80-B Line Reactors (required components) Bonded Cabinet Ground Bus IMPORTANT 376 When two or three DC-bus power supplies are wired together in the same drive cluster, they must all be catalog number 2198-P208. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix C Size Multi-axis Shared-bus Configurations General Sizing Guidelines These limitations apply to Kinetix 5700 servo drive systems supplied by a single 2198-Pxxx or multiple 2198-P208 DC-bus power supplies, or 2198-RPxxx regenerative bus supplies: • • • • • The sum of the inverter motor-power cable lengths for all inverters on the same DC bus-sharing group must not exceed 1200 m (3937 ft) to comply with CE and UK requirements when used with 2198-DBRxx-F line filters. 2198-DBxx-F line filters have a total motor cable length limit of 400 m (1312 ft). See Drive to Motor Cable Lengths on page 150 for additional motor power cable-length limitations. The total system capacitance limit is based on the power supply catalog number. DC-bus groups must not exceed the limits as defined in Table 181. No more than three 2198-P208 DC-bus power supplies can be used to increase the converter power. If using the 24V DC shared-bus connection system to distribute control input power to a cluster of drive modules, current from the 24V power supply must not exceed 40 A. The Kinetix 5700 system can have multiple drive clusters in a single DCbus group. See DC Bus Cluster-to-Cluster Cable Lengths on page 147 for more information on extended clusters. Refer the 8720MC Regenerative Power Supply Installation Manual, publication 8720MC-RM001, for additional system sizing limitations. System Sizing Guidelines You begin the process by selecting the motor for your application and sizing the drive and power supply combinations. Next, calculate whether the motor power cable length, total system capacitance, and 24V current demand are within specifications. For systems with an iTRAK® power supply, the iTRAK system requirements must be calculated to determine the following: • • • • • Kinetix 5700 DC-bus loading (DC-bus motoring and bus-regulation power requirements) 2198-Pxxx power supply for providing DC-bus to the iTRAK power supplies 24V current demand Number of iTRAK power supplies required Resulting net converter power and bus-regulator capacity See iTRAK System with TriMax Bearings User Manual, publication 2198T-UM002, or iTRAK 5730 System User Manual, publication 2198T-UM003. For iTRAK hardware and iTRAK power supplies, proceed to the Calculate System and External-bus Capacitance on page 378. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 377 Appendix C Size Multi-axis Shared-bus Configurations Select Drive/Motor Combinations The motor required for a particular application determines the servo drive required for full motor performance. For best results, use the Motion Analyzer system sizing and selection tool, available at https://motionanalyzer.rockwellautomation.com. 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. Estimate the net converter and inverter power and bus-regulator capacity, based on the load profiles. Determine if 2198-CAPMOD-2240 capacitor modules are required. Determine if 2198-DCBUSCOND-RP312 DC-bus conditioner modules are required. For best results, use the Motion Analyzer system sizing and selection tool, available at https://motionanalyzer.rockwellautomation.com. Calculate System and External-bus Capacitance Total system capacitance is the sum of all internal capacitance values from each of the drive modules (single-axis inverters, dual-axis inverters, power supplies, and capacitor modules) in the same DC-bus group. The total system capacitance must be less than the maximum supported DC-bus capacitance value of the power supply. IMPORTANT If your total system capacitance value exceeds the maximum supported capacitance value of the DC-bus power supply, perform one of the following: • Increase the size of the 2198-Pxxx DC-bus power supply or 2198-RPxxx regenerative bus supply • Use multiple DC-bus power supplies (1…3 power supplies are possible) Decrease the total system capacitance by removing inverters or capacitor modules from the DC-bus group. External bus capacitance is the total system capacitance minus the power supply capacitance. The external bus capacitance must be entered into the Logix Designer application for a regenerative power supply to maintain proper control. 378 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix C Size Multi-axis Shared-bus Configurations Table 181 - Power Supply Capacitance Power Supply Single DC-bus Power Supply Multiple DC-bus Power Supplies Regenerative Bus Supplies iTRAK Power Supply DC-bus Power Supply Cat. No. 2198-P031 2198-P070 2198-P141 2198-P208 2198-P208 x 2 2198-P208 x 3 2198-RP088 2198-RP200 2198-RP263 2198-RP312 2198T-W25K-ER Supported Capacitance, max µF Internal Capacitance µF 585 780 1640 2050 4100 6150 940 2460 4510 5740 0 8,000 13,000 26,000 39,000 9,000 15,000 25,000 390 Table 182 - Internal Inverter and Accessory Module Capacitance Drive Module Dual-axis Inverters Single-axis Inverters Capacitor Module Extension Module DC-bus Conditioner Module Drive Module Cat. No. 2198-D006-ERSx 2198-D012-ERSx 2198-D020-ERSx 2198-D032-ERSx 2198-D057-ERSx 2198-S086-ERSx 2198-S130-ERSx 2198-S160-ERSx 2198-S263-ERSx 2198-S312-ERSx 2198-CAPMOD-2240 2198-CAPMOD-DCBUS-IO 2198-DCBUSCOND-RP312 Internal Capacitance µF 165 330 390 705 560 840 1120 2050 2240 0 0 Calculate the Total Motor Power Cable Length To meet CE and UK requirements, the sum of all motor power cable lengths from the same DC-bus group must not exceed 1200 m (3937 ft) when 2198DBRxx-F line filters are used. See Drive to Motor Cable Lengths on page 150 for additional motor power cable-length limitations. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 379 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 183 - Control Power Current Specifications Drive Module DC-bus Power Supplies Regenerative Bus Supplies Dual-axis Inverters Single-axis Inverters iTRAK Power Supply (4) Capacitor Module Extension Module DC-bus Conditioner Module (1) (2) (3) (4) 24V Current Per Module (non-brake motor) (1) ADC Drive Module Cat. No. 2198-P031 2198-P070 2198-P141 2198-P208 2198-RP088 2198-RP200 2198-RP263 2198-RP312 2198-D006-ERSx 2198-D012-ERSx 2198-D020-ERSx 0.8 4.0 1.9 4.3 5.4 4.0 9.1 1.4 (3) 4.0 2198-D032-ERSx 1.7 (3) 2198-D057-ERSx 2.3 (3) 2198-S086-ERSx 2198-S130-ERSx 2198-S160-ERSx 2198-S263-ERSx 2198-S312-ERSx 4.6 4.0 2198T-W25K-ER 1.3 2.2 2198-CAPMOD-2240 2198-CAPMOD-DCBUS-IO 2198-DCBUSCOND-RP312 0.1 – 0.1 7.0 – 7.0 For motor-brake current values, see to the Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001. Inrush current duration is less than 30 ms. Values are base current per module. These values represent only the iTRAK power supply. They do not include the iTRAK motor modules that are connected to the iTRAK power supply and also draw current from this 24V control power input. For more information regarding 24V control power requirements, see iTRAK System with TriMax Bearings User Manual, publication 2198T-UM002, or iTRAK 5730 System User Manual, publication 2198T-UM003. IMPORTANT 380 24V Inrush Current (2) A If the 24V control-power output current (based on your system calculation) exceeds 40 A, you can insert another control-power input wiring connector at any point in your drive cluster. However, the input connector must always extend the 24V DC-bus from left to right. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix C Size Multi-axis Shared-bus Configurations 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. The inverters supply power to six nonbrake motors. Figure 201 - 24V DC Voltage Drop Example System 21.3 m (70 ft) 2198-RP312 Regenerative Bus Supply 1606-XLxxx 24V DC Control Power (customer-supplied) Allen-Bradley 1606-XL Powe r S u p p l y Input Wiring Connector 2198-S312-ERS4 Single-axis Inverter 2198-S312-ERS4 Single-axis Inverter MOD NET 24V DC Shared Bus Control Power 2 MOD NET MOD NET MOD NET 1 2198-D057-ERS4 Dual-axis Inverters 2 2 1 1 MOD NET 2 2 1 1 Input 1 AC Input Power I/O 6 1 I/O 6 1 10 5 I/O 1 6 I/O-A 6 1 I/O-B 6 1 10 UFB-B 5 I/O-A 6 1 I/O-B 6 OK+ OK– EN– EN+ 5 10 5 5 10 Kinetix 5700 Drive System (front view) 10 5 UFB-A D+ D- D+ D- MF-A MF-A MF-B MBRK + + V D+ D- D+ D- MF-B 10 UFB-B - - MBRK W 10 5 UFB-A W U V U 21mm2 (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin) 21mm2 (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin) Follow these steps to calculate the voltage drop for your drive system. The system conditions remain the same, but the wire gauge (AWG) is increased to reduce the voltage drop. 1. Determine the 24V DC control power current demand. In this example, the total current demand is 22.9 A. See Calculate 24V DC Control Power Current Demand on page 380 for current values. Module Quantity Current Demand 2198-RP312 1 9.1 A 2198-S312-ERS4 2 4.6 • 2 = 9.2 A 2198-D057-ERS4 2 2.3 • 2 = 4.6 A Total current demand 22.9 A 2. Determine the voltage drop across the wire that is used to supply 24V power to the drive system (voltage drop = current draw • resistance of the wire). You must obtain the wire resistance value from the wire manufacturer. Resistance values used below are only examples. Wire Length 21.3 m (70 ft) Wire Gauge mm2 (AWG) Calculation Voltage Drop 1.5 (16) 22.9 A • 0.281 Ω 6.43V 4.0 (12) 22.9 A • 0.111 Ω 2.54V 6.0 (10) 22.9 A • 0.070 Ω 1.60V Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 381 Appendix C Size Multi-axis Shared-bus Configurations 3. Determine if the voltage supplied to the drive system is within its required input-voltage range; 24V ±10% (21.6…26.4V DC). Wire Length 21.3 m (70 ft) Wire Gauge mm2 (AWG) Calculation Applied Voltage 1.5 (16) 24V – 6.43V 17.57V (insufficient) 4.0 (12) 24V – 2.54V 21.46V (insufficient) 6.0 (10) 24V – 1.60V 22.40V (acceptable) In this example, increasing the wire gauge to 6 mm2 (10 AWG) is one way to lower the voltage drop. See 24V Control Power Evaluation on page 49 for additional suggestions. 382 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix C System Sizing Example Size Multi-axis Shared-bus Configurations This example shows how a single Kinetix 5700 drive cluster meets the total bus capacitance, power cable length, and 24V DC current limitations. Figure 202 - Example DC-bus Group (single drive cluster) 2198-D006-ERSx Dual-axis Inverters 2198-D020-ERSx Dual-axis Inverters 2198-S086-ERSx Single-axis Inverter 2198-S160-ERSx Single-axis Inverter 2198-P208 DC-bus Power Supply In this example, only 1 drive cluster defines the DC-bus group. • • • Maximum motor power cable length: 1200 m (3937 ft). See Drive to Motor Cable Lengths on page 150 for additional motor power cable-length limitations. - Total motor power cable length is 337 m (1106 ft) Maximum supported capacitance: 13,000 μF - Total system capacitance is 4840 μF - External bus capacitance is 4840-2050=2790 μF Maximum 24V DC control power current: 40 A - Total 24V DC control power current is 20.3 A - The Coil Current column shows how much of the 24V current is consumed by the motor brake circuit. MOD NET 2 2 1 1 1 1 MOD NET MOD NET MOD NET 2 6 1 10 5 6 1 10 5 I/O-A 6 1 I/O-B MOD NET 2 2 1 1 I/O MOD NET 2 2 1 I/O MOD NET 1 1 I/O-A 6 1 10 5 10 UFB-A UFB-B 5 I/O-B 6 1 10 5 10 UFB-A UFB-B 5 6 1 I/O-A 6 1 I/O-B I/O-A 6 1 10 5 10 UFB-A UFB-B 5 6 1 I/O-B 6 4 I/O 5 UFB UFB D+ D- D+ D- D+ D- - MBRK + D+ D- MF-A MF MF D+ D- D+ D- MF-B MF-A D+ D- MF-B D+ D- MF-A 10 5 10 UFB-A UFB-B D+ D- D+ D- MF-B MF-A MF-B - MBRK + All of the total system values are within the acceptable range. The 24V DC power supply should be rated to greater than 28A inrush current. Table 184 - System Sizing Example Data Servo Motor DC-bus Group Cat. No. Axis 2198-P208 2198-S160-ERSx 2198-S086-ERSx 2198-D020-ERSx 2198-D020-ERSx 2198-D006-ERSx 2198-D006-ERSx Totals A B A B A B A B Internal Capacitance µF Cable Length Servo Motor m (ft) Cat. No. 2050 1120 560 – 50 (164) 90 (295) 20 (66) 15 (49) 9 (30) 90 (295) 9 (30) 9 (30) 15 (49) 30 (98) 337 (1106) 390 390 165 165 4840 – MPL-B980E MPL-B660F VPL-B1152F VPL-B1152F VPL-B1003C VPL-B1003C MPL-B310P MPL-B310P MPL-B310P MPL-B310P Brake Option Yes/No – No Yes No No Yes Yes Yes No No No 24V DC Control Power Current Calculations 24V Current 24V Inrush Brake Current (non-brake Total Current Current @ 24V DC motor) A ADC A ADC – – 2.1 – – 0.50 0.50 0.50 – – – 3.6 1.9 4.6 4.6 1.9 4.6 6.7 4.0 4.0 4.0 1.4 1.4 4.0 1.4 2.4 4.0 1.4 1.9 4.0 1.4 1.4 4.0 16.7 20.3 28.0 For more information on motor and motor-brake specifications, refer to the Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 383 Appendix C Size Multi-axis Shared-bus Configurations System Sizing Application Example This example shows how to size the DC-bus power supply for your multi-axis system by using the motor output power (kW). Sizing is based on the largest 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. Table 185 - Kinetix 5700 System Power Supply Continuous Output Power DC-Bus Power Supply Cat. No. 2198-P031 2198-P070 2198-P141 2198-P208 Continuous Output Power kW 7 17 31 46 Regenerative Bus Supply Cat. No. 2198-RP088 2198-RP200 2198-RP263 2198-RP312 Continuous Output Power kW 24 67 119 140 In this typical system, all axes are running in an asynchronous rapid acceleration/deceleration motion profile. Use this formula to calculate the minimum continuous output-power (kW) for your Kinetix 5700 drive system: 2198-Pxxx = Largest motor-rated kW x (axis-count x 0.6) + (axis-count x 0.2) Table 186 - Motor/Drive System Example Motor Quantity Motor Cat. No. 1 MPM-B2153F 1 1 MPL-B660F 1 2 VPL-B0753 2 8 = axis count Motor Rated Output (1) kW 7.2 6.1 0.82 Drive Cat. No. 2198-S086-ERSx 2198-S086-ERSx 2198-S086-ERSx 2198-S086-ERSx 2198-D020-ERSx 2198-D020-ERSx (1) For more motor specifications, see the Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001. Continuous Output Power, min (kW) = 7.2 x (8 x 0.6) + (8 x 0.2) kW = 7.2 x 4.8 + 1.6 kW = 36.16 In this example, the MPM-B2153F motor has the largest motor-rated output. As a result, the minimum continuous output-power = 36.16 kW, and the 2198-P208 DC-bus power supply or 2198-RP200 regenerative bus supply is required for the 8-axis system example. 384 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix D Maximum Motor Cable Lengths for Kinetix 5700 Power Supplies This appendix provides information on maximum motor cable length limitations for Kinetix® 5700 drive systems. Topic DC-bus Power Supply Configurations Regenerative Bus Supply Configurations Third-party Motor Configurations Page 386 389 390 Maximum motor cable lengths for the following configurations are dependent on these configuration variables: • • • • • • Kinetix 5700 power supply - 2198-Pxxx DC-bus power supply - 2198-RPxxx regenerative bus supply AC input power type - WYE grounded - WYE impedance grounded - WYE/Delta corner grounded or ungrounded AC input voltage - 240V AC - 480V AC - 400V AC Whether the regenerative bus supply is operating with DC bus regulation enabled or disabled - For more information on DC bus voltage regulation, refer to DC-bus Voltage Regulation on page 42 Whether the drive cluster includes a DC-bus conditioner module Allen-Bradley® servo motor or actuator connected to the inverter Table 187 - Drive-to-Motor Feedback Cable Length Feedback Type Single-turn or multi-turn absolute Incremental EnDat Cable Length, max (1)(2) m (ft) up to 90 (295) up to 30 (98) up to 90 (295) (1) See Appendix D on page 385 for the maximum motor-to-drive cable length for specific motor and actuator families., (2) Cable length is not affected by use of the 2198-H2DCK converter kit on the Kinetix 5700. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 385 Appendix D Maximum Motor Cable Lengths for Kinetix 5700 Power Supplies DC-bus Power Supply Configurations 2198-RPxxx regenerative power supplies have the same maximum drive-tomotor cable length limits as 2198-Pxxx DC-bus power supplies when they operate with DC-bus regulation disabled. Table 188 - DC-bus Power Supply (480V AC input) AC Input Power Source Type WYE Grounded Delta Corner Grounded • WYE Impedance Grounded (3) • WYE Ungrounded (4) • Delta Ungrounded (4) Motor/Actuator Cat. No. • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • LDAT-Sxxxxxx LDC-Cxxxxxx MPAS-B8xxxF-ALM MPAS-B9xxxL-ALM VPx-B063xx, VPx-B075xx VPAR-B1xxxx, VPAR-B2xxxx MPL-B15xx, MPL-B2xx MPAR-B1xxxx, MPAR-B2xxxx MPAS-Bxxxx1, MPAS-Bxxxx2 MPAI-Bxxxxx VPx-B100xx…VPx-B300xx MPAR-B3xxxx VPAR-B3xxxx MPx-B3xxx…MPx-B9xxx MPM-B115xx…MPM-B215xx HPK-xxxxxx MMA-Bxxxxxx RDB-Bxxxxx VPx-B063xx, VPx-B075xx MPL-B15xx, MPL-B2xx MPAR-B1xxxx, MPAR-B2xxxx VPAR-B1xxxx, VPAR-B2xxxx MPAS-Bxxxx1, MPAS-Bxxxx2 MPAI-Bxxxxx VPx-B100xx…VPx-B300xx MPAR-B3xxxx VPAR-B3xxxx MPx-B3xxx…MPx-B9xxx MPM-B115xx…MPM-B215xx HPK-xxxxxx MMA-B080xxx…MMA-B100xxx RDB-Bxxxxx MMA-B132xxx…MMA-225xxx LDAT-Sxxxxxx LDC-Cxxxxxx MPAS-B8xxxF-ALM MPAS-B9xxxL-ALM VPx-B063xx, VPx-B075xx VPAR-B1xxxx, VPAR-B2xxxx MPL-B15xx, MPL-B2xx MPAR-B1xxxx, MPAR-B2xxxx MPAS-Bxxxx1, MPAS-Bxxxx2 MPAI-Bxxxxx VPx-B100xx…VPx-B300xx MPAR-B3xxxx VPAR-B3xxxx MPx-B3xxx…MPx-B9xxx MPM-B115xx…MPM-B215xx HPK-xxxxxx MMA-Bxxxxxx RDB-Bxxxxx Drive-to-Motor Cable Length, max (1)(2) m (ft) 10 (32.8) 90 (295.0) 20 (65.0) 90 (295.0) 15 (49.2) 50 (164.0) 90 (295.0) 10 (32.8) 90 (295.0) 20 (65.0) 90 (295.0) (1) For motors with incremental feedback, the max motor cable length is 30 m (98.43 ft). (2) Cable length is not affected by use of the 2198-H2DCK converter kit on the Kinetix 5700. (3) Impedance grounded systems running in ground fault conditions, for prolonged periods of time, cause additional stress to the motor insulation and can cause premature motor failure. (4) Unbalanced, floating, ungrounded systems can cause additional stress to the motor. 386 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix D Maximum Motor Cable Lengths for Kinetix 5700 Power Supplies Table 189 - DC-bus Power Supply (400V AC input) AC Input Power Source Type WYE Grounded Delta Corner Grounded • WYE Impedance Grounded (3) • WYE Ungrounded (4) • Delta Ungrounded (4) Motor/Actuator Cat. No. • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • LDAT-Sxxxxxx LDC-Cxxxxxx MPAS-B8xxxF-ALM MPAS-B9xxxL-ALM VPx-B063xx, VPx-B075xx MPL-B15xx, MPL-B2xx MPAR-B1xxxx, MPAR-B2xxxx VPAR-B1xxxx, VPAR-B2xxxx MPAS-Bxxxx1, MPAS-Bxxxx2 MPAI-Bxxxxx VPx-B100xx…VPx-B300xx MPAR-B3xxxx VPAR-B3xxxx MPx-B3xxx…MPx-B9xxx MPM-B115xx…MPM-B215xx HPK-xxxxxx MMA-Bxxxxxx RDB-Bxxxxx VPx-B063xx, VPx-B075xx MPL-B15xx, MPL-B2xx MPAR-B1xxxx, MPAR-B2xxxx VPAR-B1xxxx, VPAR-B2xxxx MPAS-Bxxxx1, MPAS-Bxxxx2 MPAI-Bxxxxx VPx-B100xx…VPx-B300xx MPAR-B3xxxx VPAR-B3xxxx MPx-B3xxx…MPx-B9xxx MPM-B115xx…MPM-B215xx HPK-xxxxxx MMA-Bxxxxxx RDB-Bxxxxx LDAT-Sxxxxxx LDC-Cxxxxxx MPAS-B8xxxF-ALM MPAS-B9xxxL-ALM VPx-B063xx, VPx-B075xx MPL-B15xx, MPL-B2xx MPAR-B1xxxx, MPAR-B2xxxx VPAR-B1xxxx, VPAR-B2xxxx MPAS-Bxxxx1, MPAS-Bxxxx2 MPAI-Bxxxxx VPx-B100xx…VPx-B300xx MPAR-B3xxxx VPAR-B3xxxx MPx-B3xxx…MPx-B9xxx MPM-B115xx…MPM-B215xx HPK-xxxxxx MMA-Bxxxxxx RDB-Bxxxxx Drive-to-Motor Cable Length, max (1)(2) m (ft) 10 (32.8) 90 (295.0) 90 (295.0) 50 (164.0) 90 (295.0) 10 (32.8) 90 (295.0) 90 (295.0) (1) For motors with incremental feedback, the max motor cable length is 30 m (98.43 ft). (2) Cable length is not affected by use of the 2198-H2DCK converter kit on the Kinetix 5700. (3) Impedance grounded systems running in ground fault conditions, for prolonged periods of time, cause additional stress to the motor insulation and can cause premature motor failure. (4) Unbalanced, floating, ungrounded systems can cause additional stress to the motor. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 387 Appendix D Maximum Motor Cable Lengths for Kinetix 5700 Power Supplies Table 190 - DC-bus Power Supply (240V AC input) AC Input Power Source Type WYE Grounded Delta Corner Grounded • WYE Impedance Grounded (3) • WYE Ungrounded (4) • Delta Ungrounded (4) Servo Motor Cat. No. • VPx-A063xx, VPx-A075xx • MPL-A15xx, MPL-A2xx • VPx-A100xx…VPx-A300xx • MPx-A3xxx…MPx-A5xxx • MPM-A115xx…MPM-A215xx • VPx-A063xx, VPx-A075xx • MPL-A15xx, MPL-A2xx • VPx-A100xx…VPx-A300xx • MPx-A3xxx…MPx-A5xxx • MPM-A115xx…MPM-A215xx • VPx-A063xx, VPx-A075xx • MPL-A15xx, MPL-A2xx • VPx-A100xx…VPx-A300xx • MPx-A3xxx…MPx-A5xxx • MPM-A115xx…MPM-A215xx Drive-to-Motor Cable Length, max (1)(2) m (ft) 90 (295.0) 50 (164.0) 90 (295.0) 90 (295.0) (1) For motors with incremental feedback, the max motor cable length is 30 m (98.43 ft). (2) Cable length is not affected by use of the 2198-H2DCK converter kit on the Kinetix 5700. (3) Impedance grounded systems running in ground fault conditions, for prolonged periods of time, cause additional stress to the motor insulation and can cause premature motor failure. (4) Unbalanced, floating, ungrounded systems can cause additional stress to the motor. 388 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix D Regenerative Bus Supply Configurations Maximum Motor Cable Lengths for Kinetix 5700 Power Supplies 2198-RPxxx regenerative bus supplies have limited maximum drive-to-motor cable length when DC-bus regulation is enabled. However, the DC Bus can be 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. Table 191 - Regenerative Bus Supply (480V AC input) AC Input Power Source Type (1) WYE Grounded Drive-to-Motor Cable Length, max (2)(3) m (ft) Motor/Actuator Cat. No. With DC-bus Conditioner Without DC-bus Conditioner • LDAT-Sxxxxxx • LDC-Cxxxxxx • MPAS-B8xxxF-ALM • MPAS-B9xxxL-ALM 10 (32.8) 10 (32.8) • VPx-B063xx, VPx-B075xx • MPL-B15xx, MPL-B2xx • VPAR-B1xxxx, VPAR-B2xxxx • MPAR-B1xxxx, MPAR-B2xxxx • MPAS-Bxxxx1, MPAS-Bxxxx2 • MPAI-Bxxxxx 20 (65.6) 15 (49.2) • • • • • • • • 50 (164.0) 30 (98.4) VPx-B100xx…VPx-B300xx VPAR-B3xxxx MPAR-B3xxxx RDB-Bxxxxx MPx-B3xxx…MPx-B9xxx MPM-B115xx…MPM-B215xx HPK-xxxxxx MMA-B080xxx…MMA-B100xxx • MMA-B132xxx…MMA-B225xxx WYE Impedance Grounded (4) 90 (295.0) 50 (164.0) • LDAT-Sxxxxxx • LDC-Cxxxxxx • MPAS-B8xxxF-ALM • MPAS-B9xxxL-ALM 10 (32.8) 10 (32.8) • VPx-B063xx, VPx-B075xx • MPL-B15xx, MPL-B2xx • VPAR-B1xxxx, VPAR-B2xxxx • MPAR-B1xxxx, MPAR-B2xxxx • MPAS-Bxxxx1, MPAS-Bxxxx2 • MPAI-Bxxxxx 20 (65.6) 15 (49.2) • • • • • • • • 50 (164.0) 30 (98.4) 90 (295.0) 50 (164.0) VPx-B100xx…VPx-B300xx VPAR-B3xxxx MPAR-B3xxxx RDB-Bxxxxx MPx-B3xxx…MPx-B9xxx MPM-B115xx…MPM-B215xx HPK-xxxxxx MMA-B080xxx…MMA-B100xxx • MMA-B132xxx…MMA-B225xxx (1) Corner-grounded and ungrounded input power can be used, but you must add an isolation transformer to the input power circuit to provide grounded-WYE power. Unbalanced, floating, or ungrounded systems can cause additional stress to the motor. For more information on these input power source types, see Input Power Configurations for Kinetix 5700 Power Supplies on page 121. (2) For motors with incremental feedback, the max motor cable length is 30 m (98.43 ft). (3) Cable length is not affected by use of the 2198-H2DCK converter kit on the Kinetix 5700. (4) Impedance grounded systems running in ground fault conditions, for prolonged periods of time, cause additional stress to the motor insulation and can cause premature motor failure. Table 192 - Regenerative Bus Supply (400V AC input) AC Input Power Source Type (1) WYE Grounded WYE Impedance Grounded (4) Drive-to-Motor Cable Length, max (2)(3) m (ft) Motor/Actuator Cat. No. With DC-bus Conditioner Without DC-bus Conditioner • LDAT-Sxxxxxx • LDC-Cxxxxxx • MPAS-B8xxxF-ALM • MPAS-B9xxxL-ALM 10 (32.8) 10 (32.8) • VPx-B063xx, VPx-B075xx • MPL-B15xx, MPL-B2xx • VPAR-B1xxxx, VPAR-B2xxxx • MPAR-B1xxxx, MPAR-B2xxxx • MPAS-Bxxxx1, MPAS-Bxxxx2 • MPAI-Bxxxxx 50 (164.0) 30 (98.4) • • • • • • • • 90 (295.0) 90 (295.0) VPx-B100xx…VPx-B300xx VPAR-B3xxxx MPAR-B3xxxx RDB-Bxxxxx MPx-B3xxx…MPx-B9xxx MPM-B115xx…MPM-B215xx HPK-xxxxxx MMA-Bxxxxxx • LDAT-Sxxxxxx • LDC-Cxxxxxx • MPAS-B8xxxF-ALM • MPAS-B9xxxL-ALM 10 (32.8) 10 (32.8) • VPx-B063xx, VPx-B075xx • MPL-B15xx, MPL-B2xx • VPAR-B1xxxx, VPAR-B2xxxx • MPAR-B1xxxx, MPAR-B2xxxx • MPAS-Bxxxx1, MPAS-Bxxxx2 • MPAI-Bxxxxx 50 (164.0) 30 (98.4) • • • • • • • • 90 (295.0) 90 (295.0) VPx-B100xx…VPx-B300xx VPAR-B3xxxx MPAR-B3xxxx RDB-Bxxxxx MPx-B3xxx…MPx-B9xxx MPM-B115xx…MPM-B215xx HPK-xxxxxx MMA-Bxxxxxx (1) Corner-grounded and ungrounded input power can be used, but you must add an isolation transformer to the input power circuit to provide grounded-WYE power. Unbalanced, floating, or ungrounded systems can cause additional stress to the motor. For more information on these input power source types, see Input Power Configurations for Kinetix 5700 Power Supplies on page 121. (2) For motors with incremental feedback, the max motor cable length is 30 m (98.43 ft). (3) Cable length is not affected by use of the 2198-H2DCK converter kit on the Kinetix 5700. (4) Impedance grounded systems running in ground fault conditions, for prolonged periods of time, cause additional stress to the motor insulation and can cause premature motor failure. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 389 Appendix D Maximum Motor Cable Lengths for Kinetix 5700 Power Supplies Third-party Motor Configurations These tables provide maximum drive-to-motor cable lengths for third-party motors with Kinetix 5700 common-bus supplies. IMPORTANT Kinetix 5700 drive systems do not support the use of disconnection devices between the servo drive and motor. DC-bus Power Supply Configurations These tables assume that no output reactor is used between the inverter and the motor. Contact Technical Support for help when applying output reactor solutions. Table 193 - DC-bus Power Supply (480V AC input) Motor Insulation Rating (1) AC Input Power Source Type 1000V 1200V 1488V 1600V 1000V 1200V 1488V 1600V 1000V 1200V 1488V 1600V WYE Grounded Delta Corner Grounded • WYE Impedance Grounded (5) • WYE Ungrounded (6) • Delta Ungrounded (6) Drive-to-Motor Cable Length, max (2)(3)(4) m (ft) – 15 (49.2) 90 (295.0) – – 30 (98.4) 90 (295.0) – 15 (49.2) 90 (295.0) (1) Motor Corona Inception Voltage (CIV) or Partial Discharge Inception Voltage (PDIV) ratings for motor phase-to-ground and phase-to-phase insulation systems. (2) Cable lengths are estimated assuming nominal DC-bus voltage at nominal AC line input voltage. Operation at high AC line voltage or increased DC-bus voltage for prolonged periods of time can cause additional stress to the motor insulation and can cause premature motor failure. (3) For motors with incremental feedback, the max motor cable length is 30 m (98.43 ft). (4) Cable length is not affected by use of the 2198-H2DCK converter kit on the Kinetix 5700. (5) Impedance grounded systems running in ground fault conditions, for prolonged periods of time, cause additional stress to the motor insulation and can cause premature motor failure. (6) Unbalanced, floating, ungrounded systems can cause additional stress to the motor. Table 194 - DC-bus Power Supply (400V AC input) AC Input Power Source Type WYE Grounded Delta Corner Grounded • WYE Impedance Grounded (5) • WYE Ungrounded (6) • Delta Ungrounded (6) Motor Insulation Rating (1) 1000V 1200V 1488V 1600V 1000V 1200V 1488V 1600V 1000V 1200V 1488V 1600V Drive-to-Motor Cable Length, max (2)(3)(4) m (ft) 10 (32.8) 50 (164.0) 90 (295.0) – 15 (49.2) 50 (164.0) 90 (295.0) 10 (32.8) 50 (164.0) 90 (295.0) (1) Motor Corona Inception Voltage (CIV) or Partial Discharge Inception Voltage (PDIV) ratings for motor phase-to-ground and phase-to-phase insulation systems. (2) Cable lengths are estimated assuming nominal DC-bus voltage at nominal AC line input voltage. Operation at high AC line voltage or increased DC-bus voltage for prolonged periods of time can cause additional stress to the motor insulation and can cause premature motor failure. (3) For motors with incremental feedback, the max motor cable length is 30 m (98.43 ft). (4) Cable length is not affected by use of the 2198-H2DCK converter kit on the Kinetix 5700. (5) Impedance grounded systems running in ground fault conditions, for prolonged periods of time, cause additional stress to the motor insulation and can cause premature motor failure. (6) Unbalanced, floating, ungrounded systems can cause additional stress to the motor. 390 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix D Maximum Motor Cable Lengths for Kinetix 5700 Power Supplies Regenerative Bus Supply Configurations These tables assume that no output reactor is used between the inverter and the motor. Contact Technical Support for help when applying output reactor solutions. Table 195 - Regenerative Bus Supply (480V AC input) AC Input Power Source Type (1) WYE Grounded WYE Impedance Grounded (6) Motor Insulation Rating (2) 1000V 1200V 1488V 1600V 1000V 1200V 1488V 1600V Drive-to-Motor Cable Length, max (3)(4)(5) m (ft) With DC-bus Conditioner – – 30 (98.4) 50 (164.0) – – 30 (98.4) 50 (164.0) Without DC-bus Conditioner – – 15 (49.2) 30 (98.4) – – 15 (49.2) 30 (98.4) (1) Corner-grounded and ungrounded input power can be used, but you must add an isolation transformer to the input power circuit to provide grounded-WYE power. Unbalanced, floating, or ungrounded systems can cause additional stress to the motor. For more information on these input power source types, see Input Power Configurations for Kinetix 5700 Power Supplies on page 121. (2) Motor Corona Inception Voltage (CIV) or Partial Discharge Inception Voltage (PDIV) ratings for motor phase-to-ground and phase-to-phase insulation systems. (3) Cable lengths are estimated assuming nominal DC-bus voltage at nominal AC line input voltage. Operation at high AC line voltage or increased DC-bus voltage for prolonged periods of time can cause additional stress to the motor insulation and can cause premature motor failure. (4) For motors with incremental feedback, the max motor cable length is 30 m (98.43 ft). (5) Cable length is not affected by use of the 2198-H2DCK converter kit on the Kinetix 5700. (6) Impedance grounded systems running in ground fault conditions, for prolonged periods of time, cause additional stress to the motor insulation and can cause premature motor failure. Table 196 - Regenerative Bus Supply (400V AC input) AC Input Power Source Type (1) WYE Grounded WYE Impedance Grounded (6) Motor Insulation Rating (2) 1000V 1200V 1488V 1600V 1000V 1200V 1488V 1600V Drive-to-Motor Cable Length, max (3)(4)(5) m (ft) With DC-bus Conditioner – 15 (49.2) Without DC-bus Conditioner – 15 (49.2) 90 (295.0) 90 (295.0) – 15 (49.2) – 15 (49.2) 90 (295.0) 90 (295.0) (1) Corner-grounded and ungrounded input power can be used, but you must add an isolation transformer to the input power circuit to provide grounded-WYE power. Unbalanced, floating, or ungrounded systems can cause additional stress to the motor. For more information on these input power source types, see Input Power Configurations for Kinetix 5700 Power Supplies on page 121. (2) Motor Corona Inception Voltage (CIV) or Partial Discharge Inception Voltage (PDIV) ratings for motor phase-to-ground and phase-to-phase insulation systems. (3) Cable lengths are estimated assuming nominal DC-bus voltage at nominal AC line input voltage. Operation at high AC line voltage or increased DC-bus voltage for prolonged periods of time can cause additional stress to the motor insulation and can cause premature motor failure. (4) For motors with incremental feedback, the max motor cable length is 30 m (98.43 ft). (5) Cable length is not affected by use of the 2198-H2DCK converter kit on the Kinetix 5700. (6) Impedance grounded systems running in ground fault conditions, for prolonged periods of time, cause additional stress to the motor insulation and can cause premature motor failure. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 391 Appendix D Maximum Motor Cable Lengths for Kinetix 5700 Power Supplies Notes: 392 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix E Regenerative Bus Supply Sequence Operation In this appendix the sequencing of CIP™ axis states for Kinetix® 5700 regenerative bus supplies are explained. Timing diagrams illustrate when DC-bus voltage is applied and how the modules progress from PRECHARGE to RUNNING states. When in the RUNNING state, the regenerative bus supply is ready to provide full-line motoring and regenerative power to and from the Kinetix 5700 drive system. Topic Converter Startup Method - Enable Request Converter Startup Method - Automatic Sequence Operation of Discharging Page 394 397 398 The Converter Startup Method is configured in the Studio 5000 Logix Designer® application. From the 2198-RPxxx module Axis Properties>General category, you can choose between Enable Request (default) and Automatic. Figure 203 - Axis Properties>General Category Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 393 Appendix E Regenerative Bus Supply Sequence Operation Converter Startup Method Enable Request When the Enable Request method is selected, a Motion Servo On (MSO) commend is required for the regenerative bus supply to transition from the STOPPED state to the RUNNING state. Figure 204 - Sequence Operation of Precharging - Enable Request Method DC-bus Voltage CIP Axis State INITIALIZING PRECHARGE START INHIBITED STOPPED STARTING RUNNING CONT_EN Output Digital Input - Enable Enable Request (MSO) DC Bus Up DC Bus Unload Power Structure Enabled Tracking Command Initialization The 2198-RPxxx regenerative bus supply uses the AB:MotionDevice_Diagnostics:S:0 tag data type. Initialization consists of these four events: • • • • A connection is established between the controller and regenerative bus supply, through a forward open request from the controller The regenerative bus supply receives the configuration from the controller The Group Sync Service synchronizes with the regenerative bus supply The configuration and power are verified for the axes and associated modules in the Motion Group. Following initialization, the regenerative bus supply transitions to the PRECHARGE state. 394 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix E Regenerative Bus Supply Sequence Operation Precharge When initialization is complete, the contactor enable relay closes, causing the M1 contactor to close, and precharge begins through the DC-bus resistor (see Regenerative Bus Supply Configuration on page 328 for an example interconnect diagram). There is approximately 2.4 seconds of DC-bus precharge time plus 1.0 second relay-closing time for approximately 3.4 seconds total precharge time. This is consistent across all four 2198-RPxxx units. The DC-bus resistor is not field replaceable nor can we measure the resistance externally. Once in the PRECHARGE state, the DC Bus Up status goes high and the regenerative bus supply transitions to the START INHIBITED state. Start Inhibited The digital inputs associated with the regenerative bus supply can be configured to cause the Converter Axis CIP Drive to go to a START INHIBITED state. Figure 205 - Configure Digital Inputs Enable is the default setting for Digital Input 1. When the Enable input is wired in the system it provides the ability to physically control the transition into the RUNNING state. External 24V DC to IN1 on the IOD connector through the Enable permissive circuit (possibly a red top mushroom E-stop) with 24V DC common to COM on the Digital Inputs (IOD) connector is required to remove the START INHIBITED condition. See Contactor Wiring for Regenerative Bus Supply on page 338 for an example of how the digital input option is used. If no Enable digital input is assigned or the correct inputs are seen, the regenerative bus supply moves to the STOPPED state. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 395 Appendix E Regenerative Bus Supply Sequence Operation Stopped With DC-bus Up high and DC-bus Unload low, the regenerative bus supply is in a STOPPED state. When configured for Enable Request, a Motion Servo On (MSO) commend is required for the regenerative bus supply to transition from the STOPPED state to the RUNNING state. • • In the RUNNING state, the regenerative bus supply is ready to provide full-line motoring and regenerative power to and from the Kinetix 5700 drive system. While in the STOPPED state, the regenerative bus supply provides fullline motoring power, however, regeneration will not occur. After issuing a Motion Servo On command, the regenerative bus supply transitions to the STARTING state. Starting When the regenerative bus supply is in the STARTING state, the PowerStructureEnabledStatus tag equals 1, the IGBTs turn on, and the DC-bus increases by 5%. The regenerative bus supply then transitions to the RUNNING state. Running When the regenerative bus supply is in the RUNNING state, the TrackingCommandStatus tag equals 1 indicating that the regenerative bus supply is capable of both motoring and regenerating requirements. The following code can be used to indicate that the regenerative bus supply is running and ready for both motoring and regeneration. Figure 206 - Ready for Motoring and Regeneration 396 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix E Converter Startup Method Automatic Regenerative Bus Supply Sequence Operation With the Automatic method, everything in the Enable Request sequence applies, except there is no STOPPED state or any need for the Motion Servo On (MSO) command. The regenerative bus supply automatically transitions to the RUNNING state. Figure 207 - Sequence Operation of Precharging - Automatic Method DC-bus Voltage CIP Axis State INITIALIZING PRECHARGE START INHIBITED STARTING RUNNING CONT_EN Output Digital Input - Enable Enable Request (MSO) Enable Request (MSO) command not used in the Automatic method. DC Bus Up DC Bus Unload Power Structure Enabled Tracking Command Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 397 Appendix E Regenerative Bus Supply Sequence Operation Sequence Operation of Discharging In the discharging sequence, the regenerative bus supply begins in the RUNNING state and transitions to the STOPPED state following a Motion Servo Off (MSF) command. If a Motion Axis Shutdown (MASD) command is executed, the regenerative bus supply transitions to the SHUTDOWN state, and a Motion Axis Shutdown Reset (MASR) command must be executed to transition out of the SHUTDOWN state. Figure 208 - Sequence Operation of Discharging - Enable Request Method DC-bus Voltage CIP Axis State RUNNING STOPPED START INHIBITED CONT_EN Output Digital Input - Enable Disable Request (MSF) Shutdown Request (MASD) DC Bus Up DC Bus Unload Power Structure Enabled Tracking Command 398 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 SHUTDOWN Appendix F Motor Control Feature Support This appendix provides feature descriptions for the induction motors and permanent-magnet motors that are supported by Kinetix® 5700 servo drives. Topic Frequency Control Methods Current Limiting for Frequency Control Stability Control for Frequency Control Skip Speeds Flux Up Current Regulator Loop Settings Motor Category Selection of Motor Thermal Models Speed Limited Adjustable Torque (SLAT) Motor Overload Retention Phase Loss Detection Velocity Droop Commutation Self-sensing Startup Commutation Test Adaptive Tuning Virtual Torque Sensor Field Weakening Mode Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Page 400 404 407 409 411 414 414 420 423 434 435 437 439 440 441 441 442 399 Appendix F Motor Control Feature Support Frequency Control Methods The Kinetix 5700 servo drives support three open-loop frequency control methods. These are the choices: • • • Basic Volts/Hertz - This method is used in single asynchronous-motor applications Basic Volts/Hertz - Fan Pump - This method is similar to Basic Volts/ Hertz, but is specifically tailored for fan/pump applications Sensorless Vector with Slip Compensation - This method is used for most constant torque applications. Provides excellent starting, acceleration, and running torque To configure your induction motor in the Logix Designer application, refer to Configure Induction-motor Frequency-control Axis Properties on page 224. Open-loop frequency control is suitable in applications such as conveyors, pumps, and fans. Features include the following: • • • • Start Boost and Run Boost Electronic motor thermal-overload protection per Class 10 requirements Two skip frequencies, in which the drive does not operate All three-phase induction motors, suitable for variable speed drive (VFD) operation, are supported Table 197 - Motor Specifications Attribute Output frequency, max Pole pairs, max Value 590 Hz 50 Motor cable length, max 90 m (295 ft) (1) (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. 400 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F Motor Control Feature Support 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. The Basic Volts/Hertz method provides various patterns. The default configuration is a straight line from zero to rated voltage and frequency. As seen in Figure 209, you can change the volts/hertz ratio to provide increased torque performance when required by programming five distinct points on the curve. Table 198 - Basic Volts/Hertz Definitions Curve Feature Start boost Run boost Break voltage/frequency Motor nameplate voltage/ frequency Maximum voltage/frequency Definition Used to create additional torque for breakaway from zero speed and acceleration of heavy loads at lower speeds. Used to create additional running torque at low speeds. The value is typically less than the required acceleration torque. The drive lowers the boost voltage to this level when running at low speeds (not accelerating). This reduces excess motor heating that could result if the higher start/accel boost level were used. Used to increase the slope of the lower portion of the Volts/Hertz curve, providing additional torque. Sets the upper portion of the curve to match the motor design. Marks the beginning of the constant power region. Slopes the portion of the curve that is used above base speed. Figure 209 - Basic Volts/Hertz Method Voltage, max Base Voltage (nameplate) Break Voltage Start/Accel Boost Run Boost Break Frequency Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Base Frequency, (nameplate) Frequency, max 401 Appendix F 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 Vx = fx fn 2 V n – V boost + Vboost Where: Vx = Output voltage fx = Output frequency Vn = Rated voltage Fn = Rated frequency Vboost = Run boost voltage For maximum system efficiency, fan/pump loads use variable frequency drives that are equipped with a specific V/Hz curve where voltage is proportional to square of the frequency. Figure 211 - Basic Volts/Hertz Fan/Pump Method Voltage, max Voltage Base Voltage (nameplate) Run Boost Frequency (Hz) Base Frequency, (nameplate) Frequency, max The Fan/Pump control method supports the run-boost attribute, but does not support break-voltage, break-frequency, or start-boost. 402 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F Motor Control Feature Support 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 Velocity Command x + V/Hz Voltage Control + Inverter Motor Vboost Estimator Slip Speed Slip Estimation Torque Estimate Load Torque Estimator Current Resolver Current Feedback The algorithms operate on the knowledge of the relationship between the rated slip and torque of the motor. The drive uses applied voltages and measured currents to estimate operating slip-frequency. You can enter values to identify the motor resistance value or you can run a motor test to identify the motor resistance value (see Motor Tests and Autotune Procedure on page 416). Motor nameplate data and test results are ways to accurately estimate the required boost voltage. The sensorless vector method offers better torque production and speed regulation over a wider speed range than basic volts/hertz. Dynamic boost is applied internally to compensate voltage drop and improve starting torque. Figure 213 - Approximate Load Curve Voltage, max Base Voltage (nameplate) Ideal, volts/hertz Dynamic Boost Applied Base Frequency, (nameplate) Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Frequency, max 403 Appendix F Motor Control Feature Support Current Limiting for Frequency Control The current limiting module prevents the OutputCurrent value from exceeding the OperativeCurrentLimit value when the drive is configured in Frequency Control mode. Figure 214 - Current Limiting Module Fine Command Velocity Velocity from Planner (MAJ) Operative Current Limit + + Velocity Reference – PI – Output Current In Frequency Control mode, OperativeCurrentLimit is the minimum value of the motor-thermal current limit, inverter-thermal current limit, motor-peak current limit, drive-peak current limit, and the CurrentVectorLimit value. The Effects of Current Limiting Indirect current limiting is available for induction motors configured for frequency control. You can use this feature to help prevent overcurrent faults due to aggressive acceleration/deceleration profiles or impact loads. The Current Limiting attribute uses a PI regulator to control the OutputCurrent by adjusting the velocity reference. IMPORTANT When configured for Frequency Control (induction motors only), select the Decel and disable stopping action only when the Current Limiting feature is enabled. Figure 215 - Effects of Current Limiting on an Aggressive Acceleration 12 50 10 40 8 30 6 20 4 10 2 0 0 0 200 400 600 800 1000 1200 1400 1600 1800 -10 2000 Frequency (Hz) 60 Output Current (Arms), Operative Current Limit (rms) Output Current (Arms), Operative Current Limit (rms) 14 Aggressive Acceleration, Current Limiting Active 16 70 14 60 12 50 10 40 8 30 6 20 4 10 2 0 0 0 200 400 404 Operative Current Limit 600 800 1000 1200 1400 1600 1800 Time (ms) Time (ms) Output Current 70 Output Frequency Output Current Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Operative Current Limit Output Frequency -10 2000 Frequency (Hz) Aggressive Acceleration, No Current Limiting 16 Appendix F Motor Control Feature Support Figure 216 - Effects of Current Limiting on an Impact Load Impact Load, No Current Limiting Impact Load, Current Limiting Active 50 8 40 6 30 20 4 10 2 0 4000 0 4200 4400 4600 4800 5000 5200 5400 5600 -10 5800 60 10 50 8 40 30 6 20 4 10 2 0 4000 0 4200 4400 Time (ms) Output Current Frequency (Hz) 60 10 70 12 Output Current (Arms), Operative Current Limit (rms) 70 Frequency (Hz) Output Current (Arms), Operative Current Limit (rms) 12 4600 4800 5000 5200 5400 5600 -10 5800 Time (ms) Output Current Output Frequency Operative Current Limit Operative Current Limit Output Frequency Current limiting for frequency control is not enabled by default. You can enable via messaging by using the following device-specific attributes. We recommend you leave the Kp, Ki, Kd gains at the default values. Table 199 - Enable Current Limiting via Messaging Attribute Offset Type Attribute Name 3022 SINT Current Limiting Enable 3023 REAL Current Limiting Kd 3024 REAL Current Limiting Ki 3025 REAL Current Limiting Kp Conditional Implementation Description Frequency Control Induction Motor only When enabled, limits the rate of change to the velocity reference during high-current situations for improved current limiting. This feature is only active when executing an MDS command and when configured for Frequency Control. 0 = Current Limiting is disabled 1 = Current Limiting is enabled Derivative gain for the current limiting function. Only functional when configured for Frequency Control and when executing an MDS command. Units of seconds. Integral gain for the current limiting function. Only functional when configured for Frequency Control and when executing an MDS command. Units of feedback counts / (Amp, inst* Seconds). Proportional gain for the current limiting function. Only functional when configured for Frequency Control and when executing an MDS command. Units of feedback counts / Amp, inst. IMPORTANT For induction motors greater than 5 Hp, it is recommended that the Stability Control feature also be enabled when Current Limiting is enabled. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 405 Appendix F 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. Set the CurrentVectorLimit Attribute Value For current limiting, the CurrentVectorLimit attribute is used to help determine the OperativeCurrentLimit of the drive. Set the CurrentVectorLimit value to artificially lower OperativeCurrentLimit below the drive or motor peak current limits. 1. Select the Parameter List category and scroll to CurrentVectorLimit. 2. Set the CurrentVectorLimit value appropriate for your application. IMPORTANT 406 The CurrentVectorLimit attribute appears in the Parameter List of the Logix Designer application, version 29.00 and later. If you are using a previous version, the CurrentVectorLimit attribute must be set via a Message Configuration (MSG) instruction. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F Stability Control for Frequency Control Motor Control Feature Support Stability control is available for induction motors configured for frequency control. This feature can be used to help remove resonances that are sometimes seen on larger motors. The stability control feature adjusts the OutputFrequency and OutputVoltage commands to stabilize the OutputCurrent. Figure 217 - Effects of Stability Control Id Feedback, Iq Feedback versus Commanded Speed with Stability Control Disabled Id Feedback, Iq Feedback versus Commanded Speed with Stability Control Enabled 60 25 20 40 Id Feedback, Iq Feedback A-pk Id Feedback, Iq Feedback A-pk 50 30 20 10 0 15 10 5 0 -10 -20 -5 Commanded Frequency, Hz Iq Feedback Commanded Frequency, Hz Iq Feedback Id Feedback Id Feedback Stability control for frequency control is not enabled by default. You can enable via messaging by using the following device-specific attributes. We recommend you leave the angle, voltage gains, and filter bandwidth at the default values. Table 200 - Enable Current Limiting via Messaging Attribute Offset Type Attribute Name 3026 SINT Stability Control Enable 3027 REAL 3028 REAL Stability Filter Bandwidth Stability Voltage Gain 3029 REAL Stability Angle Gain Conditional Implementation Description Frequency Control Induction Motor only Enables stability control when configured for frequency control. 0 = Stability Control is disabled 1 = Stability Control is enabled Sets the bandwidth of the low-pass filter applied to the current feedback signal. This bandwidth is common to both the angle and voltage stability control algorithms. Units of radians/second. The gain of the voltage stability control function. Only active when configured for frequency control. Units of Volt (inst,p-n)/Amp (inst). The gain of the electrical angle stability control function. Only active when configured for frequency control. Units of radians/Amp (inst). IMPORTANT Because the stability control feature works by manipulating the OutputVoltage and OutputFrequency signals, these signals may appear 'noisy' when the feature is enabled. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 407 Appendix F 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. 408 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F Skip Speeds Motor Control Feature Support 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. The value that is programmed into the SkipSpeed1 or SkipSpeed2 attribute sets the central speed of a skip-speed band within which the drive does not operate. The width of the band is determined by the SkipSpeedBand attribute. The range is split, half above and half below the SkipSpeedx attribute. Any command set-point within this band is adjusted by the skip-speed feature to fall at either the upper or lower skip-speed band boundary value. The skipspeed feature contains hysteresis (25% of the SkipSpeedBand value) to prevent frequent switching of VelocityReference. Figure 218 - Single Skip Speed Example Speed Velocity Setpoint Velocity Reference SkipSpeedBand Upper Boundary SkipSpeed SkipSpeedBand Lower Boundary Time A SkipSpeedBand value of 0 disables the skip-speed feature. IMPORTANT When a single SkipSpeed value is desired, the SkipSpeed1 and SkipSpeed2 settings must be the same. IMPORTANT Acceleration and deceleration are affected by the skip-speed feature. Too large of a SkipSpeedBand value can result in an overcurrent drive fault. IMPORTANT The MaximumFrequency attribute is always enforced. Skip-speed band boundary values beyond the MaximumFrequency value do not apply. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 409 Appendix F 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 Speed SkipSpeedBand SkipSpeedBand SkipSpeed1 0 Time 0 When skip-speed band boundaries of SkipSpeed1 and SkipSpeed2 overlap, the skip-speed hysteresis is calculated using the effective skip band. In Figure 220, SkipSpeed1 is set to 0 and SkipSpeed2 is set to 15 hz. The skip band is 10 Hz wide. At point A the axis is enabled, and the motor begins to rotate at -5 Hz even though the command is 0 Hz. As the command reaches hysteresis point the output frequency begins to follow the command. During deceleration, when the command decreases to 0 Hz, the output frequency continues at 5 Hz until the axis is disabled (point B), or the command is changed outside of the skip band. Figure 220 - Zero-speed Skip Frequency 30 25 20 SkipSpeed1 = 0 Hz SkipSpeed2 = 15 Hz Skip Band = 10 Hz 15 10 5 A 0 B -5 -10 0 5000 10,000 15,000 20,000 25,000 Output Frequency 410 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 30,000 35,000 40,000 Command Frequency Appendix F 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. While flux is building, the unpredictable nature of the developed torque can cause the rotor to oscillate even though acceleration of the load can occur. In the motor, the acceleration profile does not follow the commanded acceleration profile due to the lack of developed torque. Figure 221 - Acceleration Profile during Normal Start - No Flux Up Frequency Reference Frequency Rated Flux Stator Rotor Oscillation due to flux being established. 0 Time With the Automatic setting (default) DC current is applied to the motor so that flux builds before rotation. The flux-up time period is based on the level of fluxup current and the rotor time constant of the motor. The flux-up current is not adjustable. In the Manual setting, DC current is applied to the motor so that flux builds before rotation. The flux-up time period is determined by the FluxUpTime attribute. The flux-up current is not adjustable. Figure 222 - Flux Up Current versus Flux Up Time Flux Up Current = Maximum DC Current Flux Up Current Flux Up Motor Control Feature Support Rated Flux Current Rated Motor Flux Motor Flux 0 T1 T2 T3 T4 Flux Up Time Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 411 Appendix F 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 Voltage Stator Voltage Rotor Speed Motor Flux Stator Frequency Flux Up Normal Operation Time Flux Up Attributes ID Access Attribute 558 Set Flux Up Control 559 Set Flux Up Time (1) Conditional Implementation Ind Motor only 0 = No Delay 1 = Manual Delay 2 = Automatic Delay Ind Motor only Units: Seconds Default: 0.0000 Min/Max: 0.0000 / 1000.00 (1) This is the time designated for the Manual Delay setting. This attribute is not supported by the Automatic delay method. The flux-up feature is disabled if FluxUpControl is set to Manual Delay and FluxUpTime is set to 0. FluxUpControl Attribute When the motion axis is enabled, DC current is applied to an induction motor to build stator flux before transitioning to the Running state. This attribute controls how an induction motor is to be fluxed in the Starting state prior to transitioning to the Running state. Table 201 - FluxUp Control Delay Methods Delay Method No delay Manual delay Automatic delay Description The axis transitions immediately to the Running state while the motor flux is building. The axis remains in the Starting state while the motor stator flux is building according to the Flux Up Time attribute. The drive determines the amount of delay time to fully flux the motor based on the motor configuration attribute data or measurements. FluxUpTime Attribute When FluxUpControl is configured for Manual Delay, this attribute sets the length of delay time to fully flux the motor before transitioning to the Running state. 412 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F Motor Control Feature Support 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. From the FluxUpControl pull-down menu, choose the proper delay value appropriate for your application. 4. If you chose Manual Delay in step 3, enter a value in the FluxUpTime attribute appropriate for your application. If you chose No Delay or Automatic Delay in step 3, the FluxUpTime attribute does not apply. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 413 Appendix F Motor Control Feature Support Current Regulator Loop Settings Current loop bandwidth is set differently based on the selected motor type. Table 202 - Current Regulator Loop Settings Default Torque/Current Loop Bandwidth Hz Motor Type Rotary permanent magnet Rotary interior permanent magnet Linear permanent magnet Rotary induction IMPORTANT Motor Category 1000 400 The Logix Designer application does not perform calculations when the Torque/Current Loop Bandwidth attribute is updated. This bandwidth affects many other gains and limits. Changing, (lowering) the torque loop bandwidth without updating all the dependent attributes can result in drive/motor instability. From the Motor category you can enter motor nameplate or datasheet values (phase-to-phase parameters) for rotary induction motors. In this example, the Motor category>Nameplate / Datasheet parameters, were taken from a typical motor performance datasheet. Max Speed and Peak Current values are typically application dependent. Figure 224 - Motor Nameplate / Datasheet Example See Figure 225 for motor manufacturer performance data sheet example. 414 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F Motor Control Feature Support 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 HP kW SY NC . R P M F .L . R P M F R AME E NC L O SUR E K V A C O DE DE SI G N 1 .75 1800 1725 56C T E NV P A PH Hz VOLTS F L AMPS ST A R T T Y P E DUT Y I NSL S.F . A M B°C EL EV ATION 3 60 230/ 460 3/ INV E R T E R ONL Y C ONT INUOUS F3 1.0 40 3300 1.5 F UL L L O AD E F F : 84 3/4 L O AD E F F : 82.5 1/2 L O AD E F F : 78.5 G T D. E F F E L E C . T Y PE F UL L L O AD PF : 75 3/4 L O AD PF : 65.5 1/2 L O AD PF : 51 81.5 S Q C AGE INV DUT Y F .L . T O R Q UE L OC K E D R OT OR AMPS 3 L B -F T 30 / 15 L .R . T O R Q UE 10.8 L B -F T 360% NO L O A D A M P S 2/ B.D. T O R Q UE 15 L B -F T 1 F .L . R I SE °C 500% 65 SO UND P R E SSUR E @ 3 FT. SO UND P O W E R R O T O R W K ^2 M A X . W K ^2 SA F E ST A L L T I M E ST A R T S / H O UR APPR OX . MOT OR W G T 62 dB A 72 dB A 0.11 L B -F T ^2 0 L B -F T ^2 0 SE C. 0 42 L B S . E QU I V A L E NT W Y E C K T .PA R A M E T E R S (OHM S PE R PHA SE ) R1 R2 X1 X2 XM 8.378 5.6232 10.7068 9.9116 278.036 RM ZR E F XR TD T D0 11132.8 284 1.7 0.0071 0.136 Motor>Model Category From the Motor>Model category you can enter additional motor nameplate or datasheet values (phase-to-neutral parameters) for induction motors. The Motor>Model parameters are used in closed-loop induction-motor control mode, sensorless vector control mode, and when FluxUp is enabled, and are estimated automatically by the Logix Designer application based on the motor nameplate data. You can also enter these parameter values directly from the motor nameplate/datasheet or indirectly by running a Motor>Analyzer test. Figure 226 - Phase-to-Neutral Parameters IMPORTANT If you do not know the Stator Leakage, Rotor Leakage, Stator Resistance, Rated Flux Current, and system inertia, you can run the static motor test and Autotune procedure to determine the parameter values. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 415 Appendix F 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. Figure 227 - Motor Analyzer Category Motor Tests and Autotune Procedure You can perform three types of tests to identify motor parameters and one test for motor/system inertia. These parameters are used by sensorless-vector frequency-control and induction motor closed-loop modes. Table 203 recommends which test to use based on the control mode and application. Table 203 - Motor Tests and Autotune Matrix Control Mode Induction motor - Frequency control Induction motor - Closed-loop control Description Basic volts/hertz Basic volts/hertz for Fan/Pump Calculate Not required Static Not required Dynamic Not required Autotune (inertia test) Not required Not required Not required Not required Not required Sensorless vector Required (1) Preferred Not required Not required Required (1) Preferred (2) Preferred Required (1) (3) (1) Not required for the Logix Designer application, version 29.00 and later. (2) If it is not desired to rotate the motor (due to coupled load) you can perform this test for induction motor closed-loop mode and skip the Dynamic test. The dynamic test provides the best results for induction motor closed-loop mode. (3) The motor inertia value must be non-zero prior to running a dynamic test. The motor inertia value is estimated automatically based upon the Motor Nameplate data in the Logix Designer application, version 29.00 and later. For previous versions, an Autotune test must be run or the motor inertia value entered directly. 416 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F Motor Control Feature Support 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. Select the Motor>Analyzer category. Nameplate data was entered on page 414. The nameplate data must be entered before running the Calculate test. 3. Click Start to run the test. 4. Click Accept Test Results to save the values. 5. Click OK. Motor Analyzer Category Troubleshooting Calculate Model When a Calculate test is run, the drive uses motor nameplate data to estimate the motor’s Rated Flux Current, Stator Resistance (Rs), Stator Leakage Reactance (X1) and Rotor Leakage Reactance (X2). The drive also calculates the rated slip speed based on rated speed and rated frequency. No measurements are taken when using the Calculate test. Static Motor Test Use the Static test if the motor shaft cannot rotate or if it is already coupled to the load. Only tests that do not create motor movement are run. During this test, the Stator Resistance (Rs), Stator Leakage Reactance (X1), and Rotor Leakage Reactance (X2) values are measured during a series of static tests. The Rated Flux Current is estimated, since measurement of this value requires motor movement. The drive also calculates the rated slip speed based on rated speed and rated frequency. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 417 Appendix F Motor Control Feature Support 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. • • For the Logix Designer application, version 29.00 or later, initial estimates are populated by the controller. For the Logix Designer application, version 28.00 or earlier, this can be done by running and accepting the results of a Calculate test, or by entering the values directly into the Logix Designer application. Dynamic Motor Test Dynamic tests are run with the motor disconnected from the load because the motor shaft turns and there are no travel limits. This is often the most accurate test method. During this test, the Stator Resistance (Rs), Stator Leakage Reactance (X1) and Rotor Leakage Reactance (X2) values are measured in a series of static tests. The Rated Flux Current is measured during a rotational test, in which the drive commands 75% of the motor rated speed. The rated slip speed is measured during a second rotational test, in which the drive commands a speed (default of 100% of the motor rated speed) and set a torque limit (default of 50% of the motor rated torque). This quickly accelerates the motor to rated speed and then decelerates back to zero speed. IMPORTANT The Dynamic test does not support travel limits. The Dynamic test also 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. • • For the Logix Designer application, version 29.00 or later, initial estimates are automatically populated by the controller. For the Logix Designer application, version 28.00 or earlier, this can be done by running and accepting the results of a Calculate test, or by entering the values directly into the Logix Designer application. The Dynamic test uses the Ramp Acceleration and Ramp Deceleration attributes to set the rotational test ramp-up and ramp-down times. If the resulting acceleration/deceleration times are less than 10 seconds, 10 seconds is used. If these attributes are not supported, 10 seconds is also used. The Dynamic test also uses the IM Slip Test Velocity Command (percent of rated speed) and IM Slip Test Torque Limit (percent of rated torque) attributes to define the motion profile for the slip measurement. The default values are 100.0 and 50.0 respectively. The speed command dictates the speed that the motor spins up to and the torque dictates how quickly the motor reaches that speed. In general, A higher speed and lower torque results in a longer acceleration and a more accurate rated slip speed. 418 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F Motor Control Feature Support However, be aware that the dynamic test will not return expected results if the torque limit is set below 30.0. Table 204 - Slip Test via Messaging Attribute Offset Type Attribute Name 3095 REAL IM Slip Test Torque Limit 3096 REAL IM Slip Test Velocity Command Conditional Implementation Description Closed loop induction motor only Sets positive and negative torque limits for the slip test within the Dynamic motor test (similar to the torque limits in the inertia test). Units are in percent of rated torque. Sets the velocity command for the slip test within the Dynamic motor test, (similar to the velocity command in the inertia test). Units are in percent of motor rated speed. The Dynamic test requires the Positive and Negative Torque Limits for said axis are not over-written while the test is in progress. This can be satisfied by making sure that (1) these cyclic attributes are not checked as writable within the Drive Parameters tab of the axis properties and (2) these parameters are not being messaged via an MSG instruction. When configured for closed-loop control, the Dynamic test requires that an accurate system inertia is set in the Logix Designer application. • • For the Logix Designer application, version 29.00 or later, a default value is automatically populated by the controller. For the Logix Designer application, version 28.00 or earlier, this can be done by running and accepting the results of an Autotune test, or by entering the motor inertia value directly into the Logix Designer application. When configured for closed-loop control, the Dynamic test uses the velocity regulator tuning as entered into the Logix Designer application. If the motor is coupled to a load, the velocity regulator tuning may need to be adjusted to make sure the velocity response is well controlled. The Dynamic test fails if the steady-state velocity feedback is not within a ±30% tolerance of the commanded velocity. IMPORTANT The Dynamic test is not supported in closed-loop Torque Control. If using the Dynamic test in Frequency Control mode, uncouple the motor from any load or results may not be valid. In closed-loop control, either a coupled or uncoupled load produces valid results. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 419 Appendix F Motor Control Feature Support Selection of Motor Thermal Models The Kinetix 5700 drives contain two motor thermal-overload protection algorithms that you can use to prevent the motor from overheating. Generic Motors The default thermal model is a generic I2T Class 10 overload protection algorithm. This model is active if the MotorWindingToAmbientResistance or the MotorWindingToAmbientCapacitance values are 0.0. The purpose of this algorithm is to limit the time a motor is operating with excessive levels of current. The relationship between Motor Overload Factory Limit trip-time and motor output current is shown in Figure 228. Figure 228 - Motor Overload Curve 100,000 10,000 1000 100 10 0 100 125 150 175 200 225 250 You can use the MotorOverloadLimit attribute (default of 100%, max of 200%) to increase the motor overload trip-time by artificially increasing the motor rated current (for thermal protection only). MotorOverloadLimit should only be increased above 100% if cooling options are applied. Increasing MotorOverloadLimit causes MotorCapacity to increase more slowly. The generic motor thermal model also derates the motor rated current (for thermal protection only) when operating at low speeds. The derating factor is 30% at 0 Hz and 0% at 20 Hz, with linear interpolation between. Operating at output frequencies less than 20 Hz causes MotorCapacity to increase more quickly. When the generic motor thermal-model is active, the MotorCapacity attribute increases only if the motor output current is greater than the effective motor rated current (taking into account the MotorOverloadLimit and low speed derating factor). The default MotorThermalOverloadFactoryLimit and MotorThermalOverloadUserLimit values for this thermal model are both 100%. IMPORTANT 420 The generic motor-thermal model does not support Current Foldback as a Motor Overload Action. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F Motor Control Feature Support Rotary Motor Fan Cooling Attribute Information For motors that are thermally uncharacterized (for example, Kinetix HPK and many third party motors), the drive utilizes a generic I2T thermal model for motor thermal protection. When using the generic thermal model, the motor’s continuous output capacity at low speeds is de-rated to account for an assumed reduction in cooling ability. Motors equipped with forced ventilation may not require the de-rated overload protection at low speeds. For this application type, messageable attributes have been added to firmware versions 13.5 and later. With these attributes, you can adjust the speed threshold at which derating begins and the amount of derating to be applied at zero speed. See Table 205 for attribute information. Table 205 - Rotary Motor Fan Cooling Attributes Attribute ID Access Attribute Name Data Type 2311 Set Rotary Motor Fan Cooling Speed REAL 2312 Set Rotary Motor Fan Cooling Derating REAL Description Default Value Units Selects the output speed of the motor below which the motor thermal protection method reduces the threshold used to detect an overload 600 RPM condition due to the reduced effectiveness of an integral fan cooling system. A value of zero disables the effect of the attribute. This attribute is 2T motor thermal protection method. only applicable when using the I The attribute value indicates the level of the overload detection threshold at zero speed as a percentage of rated continuous motor current. This 70 % Motor Rated attribute is only applicable when using the I2T motor thermal protection method. Motor Thermal Overload Plot Figure 229 shows the default values of the attributes 2311 and 2312 and an example with attributes changed to 200 RPM and 80% respectively. Figure 229 - Motor Thermal Overload Threshold Versus Motor Speed 110 100 90 Attribute 2311 Default Rotary Motor Fan Cooling Speed 80 % Motor Rated 70 60 50 Attribute 2312 Default Rotary Motor Fan Cooling Derating 40 30 20 10 0 0 200 400 600 800 1000 Speed (RPM) Example Adjusted Cooling Capacity Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 1200 1400 1600 1800 Default Cooling Capacity 421 Appendix F Motor Control Feature Support 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. This thermal model uses the firstorder time constant determined from the MotorWindingToAmbientResistance and MotorWindingToAmbientCapacitance values to estimate the motor thermal capacity based on the motor output current. The MotorOverloadLimit attribute (default of 100%, max of 200%) can be used to increase the motor overload trip-time by increasing the MotorThermalOverloadFactoryLimit value. The MotorOverloadLimit should be increased above 100% only if cooling options are applied. Increasing MotorOverloadLimit does not change the behavior of MotorCapacity. This thermal model supports setting the MotorOverloadAction attribute as Current Foldback. Selecting the Current Foldback action results in a reduction in the current reference via the MotorThermalCurrentLimit attribute value that is reduced in proportion the percentage difference between the MotorCapacity and the MotorOverloadLimit values. When this thermal model is active, the MotorCapacity attribute is non-zero if the motor output current is non-zero. The default MotorThermalOverloadFactoryLimit and MotorThermalOverloadUserLimit values for this thermal model are both 110%. IMPORTANT 422 This thermal model does not derate the motor-rated current when operating at low speeds. Operating at low output frequencies does not cause the MotorCapacity behavior to change. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F Speed Limited Adjustable Torque (SLAT) Motor Control Feature Support Speed limited adjustable torque (SLAT) is a special mode of operation used primarily in web handling applications. While configured for SLAT, the drive 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. A torque regulated application can be described as any process requiring tension control. For example, a winder or unwinder with material being drawn or pulled with a specific tension required. The process also requires that another element set the speed. When operating as a torque regulator, the motor current is adjusted to achieve the desired torque. If the material being wound or unwound breaks, the load decreases dramatically and the motor can potentially go into a runaway condition. The SLAT feature is used to support applications that require a robust transition from torque regulation to velocity regulation (and vice versa). The SLAT feature can be configured via the SLATConfiguration attribute as: Table 206 - SLAT Configuration Descriptions Name SLAT Disable SLAT Min Speed/Torque SLAT Max Speed/Torque Description SLAT function is disabled. Normal Velocity Loop operation. Drive automatically switches from Torque regulation to Velocity regulation if VelocityError < 0 and switches back to Torque regulation if VelocityError > SLATSetPoint for SLATTimeDelay. Drive automatically switches from Torque regulation to Velocity regulation if VelocityError > 0 and switches back to Torque regulation if VelocityError < SLATSetPoint for SLATTimeDelay. Direction of the applied torque and direction of the material movement determine whether SLAT minimum or SLAT maximum mode should be used. Motion Polarity Setting The Motion Polarity setting in the Logix Designer application>Axis Properties>Polarity does not affect SLAT behavior, however, you may require clarification on whether to use the SLAT Min Speed/Torque or SLAT Max Speed/Torque configuration when Motion Polarity is set to Inverted. In this case, the velocity error displayed in the Logix Designer application is inverted compared to what is actually used by the axis to control the SLAT function. So, if the SLAT configuration is set to Min and then Motion Polarity is switched to Inverted, change the SLAT configuration to Max. Table 207 - SLAT Operation When Motion Polarity Is Inverted Velocity Command Positive (clockwise) Negative (CCW) Motion Polarity Normal Inverted Normal Inverted Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 SLAT Configuration Min Max Min Max 423 Appendix F Motor Control Feature Support SLAT Min Speed/Torque SLAT Min 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 less than the torque output due to the velocity regulator's control effort. 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 torque reference. When used for SLAT control, an application dependent VelocityCommand value is applied to the drive via an MAJ instruction or MDS instruction (2198xxxx-ERS4 and 2198-xxxx-ERS3 (series B or later) drives, firmware 9.001 or later). An application dependent TorqueTrim value is also applied via cyclic write. Under normal operation, VelocityCommand is set to a level that results in the velocity regulator's control effort becoming saturated when the motor's speed is mechanically limited. The TorqueReference value equals the TorqueTrim value, resulting in a positive VelocityError value. Should the mechanical speed limitation be removed (example: web break), the motor accelerates and VelocityError becomes negative. At this time, a forced transition to velocity regulation occurs, and the motor's speed is regulated to the VelocityCommand attribute. The axis remains in velocity regulation until VelocityError exceeds SLATSetPoint for a time specified by SLATTimeDelay. At this point, the axis returns to operating as a torque regulator. Figure 230 - SLAT Min Speed/Torque Select Minimum of Velocity Loop Output or Torque Command (speed control is OFF) Velocity Error < 0 Select Velocity Loop Output (speed control is ON) Velocity Error > SLAT Setpoint for SLAT Time See the Integrated Motion on the EtherNet/IP™ Network Reference Manual, publication MOTION-RM003, for more information on SLAT attributes. 424 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F 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. 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 torque reference. When used for SLAT control, an application dependent VelocityCommand value is applied to the drive via an MAJ instruction or MDS instruction (2198-xxxx-ERS4 and 2198-xxxx-ERS3 (series B or later) drives, firmware 9.001 or later). An application dependent TorqueTrim value is also applied via cyclic write. Under normal operation, VelocityCommand is set to a level that results in the velocity regulator's control effort becoming saturated when the motor's speed is mechanically limited. The TorqueReference value equals the TorqueTrim value, resulting in a negative VelocityError value. Should the mechanical speed limitation be removed (example: web break), the motor accelerates and VelocityError becomes positive. At this time, a forced transition to velocity regulation occurs, and the motor's speed is regulated to the VelocityCommand attribute. The axis remains in velocity regulation until VelocityError is less than SLATSetPoint for a time specified by SLATTimeDelay. At this point, the axis returns to operating as a torque regulator. Figure 231 - SLAT Max Speed/Torque Velocity Error > 0 Select Maximum of Velocity Loop Output or Torque Command (speed control is OFF) Select Velocity Loop Output (speed control is ON) Velocity Error < SLAT Setpoint for SLAT Time See the Integrated Motion on the EtherNet/IP Network Reference Manual, publication MOTION-RM003, for more information on SLAT attributes. SLAT Attributes ID Access Attribute 833 Set SLAT Configuration 834 835 Set Set SLAT Set Point SLAT Time Delay Conditional Implementation 0 = SLAT Disable (1) 1 = SLAT Min Speed/Torque 2 = SLAT Max Speed/Torque Velocity Units Seconds (1) SLAT Disable, when viewed in version 28.00 (and earlier) of the Logix Designer application, reads Torque Only. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 425 Appendix F Motor Control Feature Support 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. From the Axis Configuration pull-down menu, choose Velocity Loop. The Velocity Loop dialog box appears. 4. Enter values for the Velocity Loop attributes appropriate for your application. 5. Click Apply. 426 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F Motor Control Feature Support 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. 8. Click Apply. 9. Enter values for SLATSetPoint and SLATTimeDelay attributes appropriate for your application. 10. Click OK. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 427 Appendix F Motor Control Feature Support 11. Select the Drive Parameters category. The Drive Parameters to Controller Mapping dialog box appears. When using SLAT with Kinetix 5700 drives, the velocity command is sent to the drive via an MAJ instruction or MDS instruction (2198-xxxx-ERS4 and 2198-xxxx-ERS3 series B and later drives, firmware 9.001 or later). The torque command is sent via the cyclic write TorqueTrim attribute. See the Integrated Motion on the EtherNet/IP Network Reference Manual, publication MOTIONRM003, for more information on cyclic read and cyclic write. For MAJ instructions: • • • • • • • 428 When using SLAT, start the axis with the MSO instruction. The VelocityCommand is sent via the MAJ instruction. The TorqueCommand is sent to AxisTag.TorqueTrim. To make changes to the VelocityCommand, you must re-trigger the MAJ with the Speed value or use a MCD (motion change dynamics) instruction. To stop the axis use a MAS instruction. The axis accelerates and decelerates at the MAJ instruction programmed Acceleration and Deceleration rates. You can also change the rates using the MCD instruction. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F Motor Control Feature Support For MDS instruction (2198-xxxx-ERS4 and 2198-xxxx-ERS3 (series B or later) drives, firmware 9.001 or later): • • When using SLAT, start the axis with an MDS instruction. The MDS instruction turns on the power structure enable and tracking command status and also executes the velocity command. See sample code in Motion Drive Start (MDS) Instruction. • The acceleration and deceleration rate is controlled by Ramped Acceleration and Ramped Deceleration by using the SSV instruction. The Torque Command is set to Axis Tag.Torque Trim. Make sure the Torque Trim Write is checked in the drive parameter (see Drive Parameters dialog box above). The value can be changed. - Alternatively, you can use the Axis Tag.DirectCommandVelocity to alter the Velocity Command when the existing MDS instruction is being executed. • • To stop the axis, use MAS instructions, keeping the Change Decel to NO and by using an SSV instruction to change Ramped Deceleration for the desired rate. Motion Drive Start (MDS) Instruction Kinetix 5700 inverters, catalog numbers 2198-xxxx-ERS4 and 2198-xxxx-ERS3 (series B or later) with firmware revision 9.001 or later, provide access to the Motion Drive Start (MDS) instruction. Use the MDS instruction to activate the drive control loops for the specified axis and run the motor at the specified speed. 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 Velocity Loop Torque Loop IMPORTANT The MDS instruction is not valid when the axis configuration is set to Position Loop. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 429 Appendix F Motor Control Feature Support Motion Drive Start Instruction Configuration The MDS instruction is configured in a similar fashion to most motion instructions, as seen in this example. Figure 232 - Typical MDS Instruction Selected Axis Motion Instruction Tag Speed Reference Units per sec or % of Maximum The MDS instruction is similar to a Motion Axis Jog (MAJ) instruction, however, the MDS instruction does not set the acceleration/deceleration rates. The acceleration rate is dynamically set by the ramp attributes configured in a Set System Value (SSV) instruction. See Ramp Attributes on page 432. The K5700_Axis was configured for revolutions. Therefore, the Speed Units are revolutions per second (rev/s). Motion Drive Start (MDS) Sample Code Figure 233 - Start The speed is increased by updating the speed reference and then re-executing the MDS instruction. Figure 234 - Increase Speed 430 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F Motor Control Feature Support The speed is decreased by updating the speed reference and then re-executing the MDS instruction. Figure 235 - Decrease Speed When the axis configuration is in Torque Loop, the Speed attribute within the MDS instruction is not used to command the speed of the drive. The speed is determined by the amount of torque specified in the CommandTorque and/or TorqueTrim attributes. Figure 236 - Torque Mode IMPORTANT You must command zero torque in the CommandTorque and TorqueTrim attributes before you can use the Motion Axis Stop (MAS) instruction to stop a specific motion process on an axis or to stop the axis completely. To use the MAS instruction, you must set Change Decel to No. Otherwise, an instruction error can occur. The deceleration rate is set based on the Ramp Deceleration attribute. The Motion Servo Off (MSF) instruction is used to deactivate the drive output for the specified axis and to deactivate the axis’ servo loop. If you execute an MSF instruction while the axis is moving, the axis coasts to an uncontrolled stop. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 431 Appendix F Motor Control Feature Support Ramp Attributes The MDS instruction is validated if the Integrated Motion on EtherNet/IP drive device supports the following five ramp attributes: • • • • • RampAcceleration RampDeceleration RampVelocity - Positive 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. Table 208 - Ramp Attributes Ramp Attribute Access ID RampVelocity - Positive Set 374 RampVelocity - Negative Set 375 RampAcceleration Set 376 RampDeceleration Set 377 RampJerk - Control Set 379 Description Ramp Velocity - Positive attribute is a positive value that defines the maximum positive velocity command output of the Ramp Generator. Ramp Velocity - Negative attribute is a negative value that defines the maximum negative velocity command output of the Ramp Generator. The Ramp Acceleration attribute is a positive value that defines the maximum acceleration (increasing speed) of the velocity command output by the Ramp Generator. The Ramp Deceleration attribute is a positive value that defines the maximum deceleration (decreasing speed) of the velocity command output by the Ramp Generator. The Ramp Jerk Control attribute sets the percentage of acceleration or deceleration time that is applied to the speed ramp as jerk limited S-Curve based on a step change in velocity. The S-Curve time is added half at the beginning and half at the end of the ramp. A value of 0 results in no S-Curve, for example, a linear acceleration or deceleration ramp. A value of 100% results in a triangular acceleration profile with the peak being the configured ramp acceleration or deceleration. As the Jerk Control value increases, the derived accelerating jerk value decreases based on the following: 0.5 • 0.01 • Jerk Control • Ramp Vel Positive/Ramp Accel. The decelerating Jerk limit value also decreases according to the following: 0.5 • 0.01 • Jerk Control • Ramp Vel Negative/Ramp Decel. IMPORTANT 432 The Ramp attributes can be viewed and set with only an SSV or GSV instruction. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F Motor Control Feature Support Figure 237 - Ramp Attribute Sample Code Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 433 Appendix F Motor Control Feature Support 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: • • 20% if the motor is configured to use an integral thermal switch or an integral motor winding temperature is available 50% if the motor is not configured to use an integral thermal switch or an integral motor winding temperature is not available If you have a separate monitoring algorithm within your Logix 5000 controller, you can use the InitialMotorCapacity attribute (3075)10 or (C03)16 to change the initial MotorCapacity value that the motor overload retention feature populates. • • You can write to the InitialMotorCapacity attribute only in the Stopped state after power-up You cannot write to the InitialMotorCapacity attribute after the first time the axis is enabled following a power cycle. Use a message instruction to write to the InitialMotorCapacity value. In this example, the source element tag motorcapacity is a REAL Data type. 434 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F Phase Loss Detection Motor Control Feature Support 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. When the ProvingConfiguration attribute is enabled, the drive performs a torque prove test of the motor current while in the Starting state to prove that current is properly flowing through each of the motor phases before releasing the brake. If the torque prove test fails, the motor brake stays engaged and a FLT-S09 Motor Phase Loss exception (fault) is generated. IMPORTANT The mechanical brake must be set as soon as the drive is disabled. When the brake is under the control of the axis state machine, this is automatic. But, when controlled externally, failure to set the brake when the drive is disabled can cause a free-fall condition on a vertical application. Table 209 - Phase-loss Detection Startup Sequence Startup Phase Description When the drive receives an enable request, the Starting state begins execution and torque proving starts. The torque proving feature ramps current to the motor-phase output connector and verifies that the current feedback circuitry detects current on each of the phases. Once motor-current feedback has been verified in each motor phase, the drive attempts to enable the current control loop at a user-specified current level, and verifies that the currentloop error tolerance is within range. Phase 1 Phase 2 Phase 3 Torque proving is available for all motoring configurations including closedloop servo control and induction motors. For permanent magnet (PM) motors, the drive attempts to apply current to the motor phases such that all current through the motor is flux current. However, due to the electrical angle of the motor at the time of the MSO instruction, it may not be possible to verify the motor phase wiring with only flux current. Therefore, with a PM motor it is possible that the motor shaft can move slightly during torque proving if no motor brake exists to hold the load. Phase-loss Detection Attributes ID Access Attribute 590 SSV ProvingConfiguration 591 SSV TorqueProveCurrent Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Conditional Implementation 0 = Disabled 1 = Enabled % Motor Rated Units: Amps Default: 0.000 Min/Max: 0/10,000 435 Appendix F Motor Control Feature Support Phase-loss Detection Configuration Follow these steps to configure the phase-loss detection attributes. 1. In the Controller Organizer, right-click an axis and choose Properties. 2. Select the Parameter List category and scroll to ProvingConfiguration. 3. From the ProvingConfiguration pull-down menu, choose Enabled to enable the torque proving feature. 4. Enter a value in the TorqueProveCurrent attribute appropriate for your application. 5. Click OK. The TorqueProveCurrent attribute is active only if ProvingConfiguration is set to Enabled. TorqueProveCurrent lets you specify the amount of current that is used during the torque proving test and calculated as a percentage of motor 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. If the TorqueProveCurrent level selected is too small, the drive cannot distinguish the proving current from noise, and in this case the drive posts an INHIBIT M04 torque-proving configuration fault code. The minimum amount of torque proving current depends on catalog number of the drive. 436 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F Motor Control Feature Support Phase Loss Detection Current Example In this example, a 2198-D032-ERS3 dual-axis inverter is paired with a VPL-B1003T-C motor with 9.58 A rms rated current. Use the phase-loss detection equation and table to calculate the initial minimum torque-proving current as a percentage of motor rated current. Depending on the unique characteristics of your application, the required torque-proving current value can be larger than the initial recommended value. Figure 238 - Phase-loss Detection Equation 0.9337 A Rating From Table = = 9.75% motor rated current. 9.58 A Motor Rated Current Table 210 - Recommended Phase-loss Detection Current Drive Cat. No. 2198-S086-ERSx 2198-S130-ERSx 2198-S160-ERSx 2198-S263-ERSx 2198-S312-ERSx 2198-D006-ERSx 2198-D012-ERSx 2198-D020-ERSx 2198-D032-ERSx 2198-D057-ERSx Velocity Droop Phase-loss Detection Current, min A, rms 7.183 9.337 12.21 21.492 27.436 0.1796 0.3591 0.5746 0.9337 1.6520 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. Closed Loop Control The closed-loop velocity droop function is supported when configured for either Velocity or Position control. The velocity error input to the integral term is reduced by a fraction of the velocity regulator's output, as controlled by the VelocityDroop attribute. Therefore, as torque loading on the motor increases, actual motor speed is reduced in proportion to the droop gain. This is helpful when some level of compliance is required due to rigid mechanical coupling between two motors. IMPORTANT The closed-loop velocity droop function acts to reduce the velocity error input to the integral term, but never changes the polarity of the velocity error. IMPORTANT When configured for closed-loop control, the units of the VelocityDroop attribute are Velocity Control Units / Sec / % Rated Torque. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 437 Appendix F Motor Control Feature Support Frequency Control The velocity droop function is also supported when configured for Frequency Control. As the estimated Iq current within the motor increases, the velocity reference is reduced in proportion to the VelocityDroop attribute. Therefore, as torque loading on the motor increases, actual motor speed is reduced in proportion to the droop gain. This is helpful when some level of compliance is required due to rigid mechanical coupling between two motors. IMPORTANT The frequency-control velocity droop function acts to reduce the velocity reference, but never changes the direction of the velocity reference. IMPORTANT When configured for frequency control, the units of the VelocityDroop attribute are Velocity Control Units / Sec / % Rated Iq Current. Table 211 - Velocity Droop Attribute ID 464/321 Access SSV Attribute Velocity Droop Conditional Implementation Velocity Units / Sec / % Rated 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. 4. Click OK. 438 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F Commutation Self-sensing Startup Motor Control Feature Support The commutation self-sensing feature is used to determine the initial electrical angle for permanent magnet (PM) motors with an incremental encoder that do not have Hall effect sensors. For PM motors that use encoders with Hall sensors, the drive can still be configured to use this feature, however, the Hall effect signals are ignored. When enabled, this feature is executed automatically at powerup and when the system is enabled. IMPORTANT Following a connection loss to the controller after the initial power-up, the commutation self-sense feature is run again when connection is re-established and motion is commanded. The self-sense feature takes approximately 5 seconds to execute. Five seconds is the default amount time assuming no retries are required. The axis stays in the Starting state while self-sense executes. The sequencing of events is as follows. 1. 2. 3. 4. 5. One-second current ramp time One second delay One-second move time One second delay One-second current ramp time IMPORTANT Self-sensing startup is not commutation diagnostics. You can perform commutation diagnostics on Hall effect or self-sensing motors at any time. To use the self-sense feature, select the Motor Feedback category and from the Commutation Alignment pull-down menu, choose Self-Sense. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 439 Appendix F Motor Control Feature Support Table 212 - Self-sense Feature Attributes CIP™ Attribute Number CIP Attribute Name Data Type 562 Commutation Self-Sensing Current REAL 3102 Self-Sense Direction USINT 3103 Self-Sense Lock Time REAL 3104 Self-Sense Lock Delay REAL 3105 Self-Sense Move Time REAL 3106 Self-Sense Move Delay REAL Commutation Test Description Semantics of Values The percent of the motors rated peak current to use for self% Motor Rated Peak Current sensing startup. This value can be adjusted when the motor is [default = 100] moving a high inertia load. • Forward – indicates the motor moves in only the positive direction 0 = Forward - CW (rotary) or during self-sensing startup. Positive (linear) [default] • Negative – indicates the motor moves in only the negative 1 = Reverse - CCW (rotary) or direction during self-sensing startup. Negative (linear) The amount of time the drive uses to build up current to the Seconds Self-Sensing Current level specified above. [default = 1.0] The amount of time the motor must be in the locked position Seconds after reaching the full Self-Sensing Current. [default = 1.0] The amount of time the drive uses for the verification move Seconds during self-sensing startup. Applies only to motors with self[default = 1.0] sensing startup. The amount of time the drive holds the final position after the verification move during self-sensing startup. Seconds [default = 1.0] The commutation test determines an unknown commutation offset and can also be used to determine the unknown polarity of the start-up commutation wiring. You can also use the commutation test to verify a known commutation offset and the polarity start-up commutation wiring. IMPORTANT This test applies to third-party or custom permanent-magnet motors equipped with (TTL with Hall and Sine/Cosine with Hall) incremental encoders that are not available as a catalog number in the Motion Database. IMPORTANT When motors have an unknown commutation offset and are not listed in the Motion Database by catalog number, you cannot enable the axis, unless you enable the communication self-sensing feature. Figure 239 - Hookup Tests - Commutation Tab To run the commutation test, see Test the Axes on page 256. 440 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F Adaptive Tuning Motor Control Feature Support 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. Its primary function is to: • • Automatically adjust torque-loop notch and low-pass filter parameters to suppress resonances Automatically adjust control-loop gains to avoid instability when detected See Motion System Tuning Application Techniques, publication MOTIONAT005, for more information on the AdaptiveTuningConfiguration attribute. Virtual Torque Sensor The virtual torque sensor feature provides an estimate of the motor torque without having a physical torque sensor. The virtual torque sensor can be leveraged to improve the commissioning and maintenance experience with mechanical systems and to optimize production quality. Some examples of how the feature can be applied include the following: • • • Indication of shaft misalignment during commissioning Verification of appropriate mechanical belt tensioning during maintenance Detection of a material jam during operation The feature provides an estimate of the motor air-gap torque under dynamic and steady state operating conditions. The air-gap torque is the torque that includes the load torque, motor torque losses, and rotor acceleration torque. The estimated torque does not affect motion control or drive performance. The virtual torque sensor is available with the following hardware and software: • • Studio 5000 Logix Designer® version 33 and later Kinetix 5700 servo drives (catalog numbers 2198-xxxx-ERS3 (series B or later) and 2198-xxxx-ERS4) with drive firmware revision 13 or later For more information on how to apply the virtual torque sensor feature, see Virtual Torque Sensor Application Technique, publication 2198-AT003. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 441 Appendix F Motor Control Feature Support Field Weakening Mode Kinetix 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. When this loss of control occurs, the Back EMF voltage can charge the DC-bus to a level that can overvoltage the DC-bus caps and result in a failure of the common DC-bus. Figure 240 - Field Weakening Region Peak (intermittent) Operation Torque (N•m) Maximum Speed (Kinetix VPC motors without cooling fans) Field Weakening Region Continuous Operation Speed (rpm) Rated Speed Bus Overvoltage Speed Maximum Speed ATTENTION: DC-bus failure can cause damage to all drive modules in the bus group, not just the inverter connected to the Kinetix VPC motor. Extended Speed Feature The Extended Speed feature is implemented in the Logix Designer application to help prevent accidental operation at unsafe speeds. With this feature, the controller calculates a Bus Overvoltage Speed based upon the drive's maximum allowable bus-voltage and the Back EMF of the motor. This is the maximum speed that does not risk damaging the drive modules in the bus group. By default, the Extended Speed feature limits motor velocity to the Bus Overvoltage Speed. 442 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix F Motor Control Feature Support Configure Extended Speed Operation The extended speed feature is only configurable with Kinetix 5700 drives and Kinetix VPC 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). Follow these steps to enable operating at speeds greater than the Bus Overvoltage Speed. 1. In the Extended Speed field, check Extended Speed Permissive. 2. Set the Max Extended Speed attribute as required by your application. WARNING: Operation at speeds exceeding the Bus Overvoltage Speed requires use of an auxiliary device to protect the DC bus system from an overvoltage condition. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 443 Appendix F Motor Control Feature Support Notes: 444 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix G History of Changes This appendix contains the new or updated information for each revision of this publication. These lists include substantive updates only and are not intended to reflect all changes. Translated versions are not always available for each revision. 2198-UM002N-EN-P, September 2022 Change Updated 2198-xxxx-ERS3 (series B) drive to (series B or later) drives Updated Configure Regenerative Bus Supply Axis Properties detuning information Updated the Overview section to clarify the compatibility with SS1 Added 24V Inrush Current Calculation to Table 184 2198-UM002M-EN-P, March 2022 Change Updated Kinetix 5700 Servo Drive Circuit Breaker/Fuse specifications to include 140MT Motor Protection Circuit Breakers. Added Rotary Motor Fan Cooling Attribute Information 2198-UM002L-EN-P, October 2021 Change Added Kinetix MMA Asynchronous Main Motors. Updated terminology: xxxx-series and Bulletin xxxx to Kinetix xxxx. Updated where to find Kinetix 5700 Servo Drive Fault Code information from Knowledgebase to publication 2198-RD003. ECI 1118/EQI 1130 moved from the Digital column to Sin/Cos column. Updated Table 63. Added step 12 to Configure IPM Motor Closed-loop Control Axis Properties. Updated compatible Kinetix VPAR electric cylinders. Added Figure 183 and Table 176. 2198-UM002K-EN-P, October 2020 Change Updated the DC-bus power supply input-power range and shared DC power range to include 240V AC (nom) operation (firmware revision 13.001 or later). Added drive/motor compatibility for Kinetix® VPL, VPF, and VPH 200V-class servo motors and Kinetix 5700 drives with 240V AC (nom) input power. Added Bulletin 842E-CM and 843ES EtherNet/IP™ absolute external encoders. Updated the iTRAK® ground-screw setting stating that only the 2198-Pxxx DC-bus power supply is compatible for use with the iTRAK power supply. Updated Tune the Axes with load observer and adaptive tuning (tuningless) features. Added FLT M05 - FDBK Battery Loss and FLT M06 - FDBK Battery Low fault codes to the Kinetix 5700 inverter module behavior. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 445 Appendix G History of Changes 2198-UM002K-EN-P, October 2020 (Continued) Change Added ControlFLASH Plus™ software as an option for firmware upgrades. Added maximum drive-to-motor cable lengths for 240V AC drive operation. Added the Commutation Self-sensing Startup feature to Appendix F. Added the Virtual Torque Sensor feature to Appendix F. Added the History of Changes appendix. 2198-UM002J-EN-P, June 2020 Change Corrected the number of motor modules supported by two iTRAK power supplies. Added additional settings for drive firmware revision 12.001 to Navigating the iTRAK Power Supply Settings Menu. Added Configure the iTRAK Power Supply. Added IMPORTANT message to Apply Power to the Kinetix 5700 Drive System regarding configurations with multiple iTRAK power supplies. Added additional fault codes for drive firmware revision 12.001 to iTRAK Power Supply Behavior. Updated drive behavior of FLT S33 - BUS UNDERVOLT FL. Corrected system operation timing diagrams. Corrected the encoder voltage used by VPC-Bxxxx-Y servo motors. Added IMPORTANT messages regarding iTRAK power supplies configured for normal and standalone operation. Added cable length restrictions for Third-party Motor Configurations. Added callout to Field Weakening Region diagram identifying Bus Overvoltage Speed as the maximum speed for Kinetix VPC motors without cooling fans. 2198-UM002I-EN-P, November 2019 Change Added references to Knowledgebase Technote: Kinetix 5700 Servo Drives Fault Codes for fault codes and descriptions. Added Kinetix 5700 drive compatibility with 2090-CSxM1xx-xxVAxx (PVC) and 2090-CSBM1xx-xxLFxx (Halogen-free PUR) single motor-cables. Added Kinetix 5700 drive compatibility with VPC-B3004x-M servo motors with multi-turn encoder. 2198-UM002H-EN-P, May 2019 Change Studio 5000 Logix Designer® application is the rebranding of RSLogix 5000® software. General references to RSLogix 5000 software have been replaced by the Logix Designer application. References to specific RSLogix 5000 software versions did not change. Updated references to safe-off (SO) as safe torque-off (STO), per EN61800-5-2. Updated references to series A and B drives. The 230V drive modules previously labeled as series A are now series A and C. The 460V drives previously labeled as series B are now series B and C. Added Kinetix 5700 drive compatibility with Kinetix VP (Kinetix VPH) hygienic stainless-steel servo motors. Added information about the CIP Security™ feature. Updated Drive to Motor Cable Lengths specifications to distinguish maximum cable length depending on DC-bus power supply (catalog number 2198-Pxxx). Added specification that applies to Kinetix 5700 drives that use the CIP Security feature. Updated ground screw setting for iTRAK power supply. Added the power conductor AWG to the description for 2198-Sxxx-ERSx single-axis inverters. Updated Navigating the Inverter Settings Menu selections. Added settings for the Factory Reset menu selection. Updated the AOP Installation Requirement table with drive firmware, version 11.001 (CIP Security feature). Added Regenerative Bus Supply Sequence Operation appendix. 446 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Appendix G History of Changes 2198-UM002G-EN-P, February 2019 Change Added the following drive module catalog numbers, specifications, features, pinouts, mounting, wiring, configuration in the Logix Designer application, and troubleshooting information: • 2198-RPxxx regenerative bus supplies • 2198-S263-ERSx and 2198-S312-ERSx single-axis inverters • 2198-DCBUSCOND-RP312 DC-bus conditioner module Added Kinetix VP (Kinetix VPAR) electric cylinders as another compatible linear actuator with Kinetix 5700 servo drives. 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. Added 2198-DBRxx-F AC line filters. Added the 2198-BARCON-220DC200 DC-bus link to support the 2198-S263-ERSx and 2198-S312-ERSx single-axis inverters. Added the following DC-bus links to support the 2198-RPxxx regenerative bus supplies: • 2198-BARCON-165DC200 • 2198-BARCON-275DC200 • 2198-BARCON-440DC200 Added the 842E-CM integrated motion encoder to the star communication topology diagram. Added DC-bus Voltage Regulation that explains how the regenerative bus supply can be configured to operate as a DC-bus power supply. Added AC Line Filter Selection that matches line filter catalog numbers to Kinetix 5700 power supplies. Added AC Line Impedance Considerations that provides guidelines for transformer and line reactor selection. Added 24V Control Power Evaluation that provides guidelines to minimize 24V control power voltage drop. Added Passive Shunt Considerations and Active Shunt Considerations that provide guidelines for shunt module selection. Added Multi-axis Shared DC-bus Configurations that provides guidelines for system sizing. • Added Accessory Module Selection with DC-bus power supply configurations that moved from Chapter 3. • Added regenerative bus supply system configurations illustrating the minimum number of accessory modules required. Updated the 8720MC-RPS or Other Regenerative Power Supply example configurations with a DC-bus conditioner module. Added accessory module flowcharts designed to help determine the minimum number of accessory modules required. Added the 2198-S312-P-T control power T-connector and bus bar to support 2198-S263-ERSx and 2198-S312-ERSx single-axis inverters. Added Converter OK Relay that explains how the circuitry is used to support applications that migrate from 8720MC-RPS units to the 2198-RPxxx regenerative bus supply. Added footnotes (1) and (2) to DC-bus Power Supply Wiring Requirements table that further specify wire size to meet CE requirements for 2198-P070 DC-bus power supplies. Updated Maximum Cable Lengths with examples for 2198-RPxxx regenerative bus supplies. Added Customer-supplied Motor Power Cables to support wiring 2198-S263-ERSx and 2198-S312-ERSx single-axis inverter applications that require conductors larger than 2 AWG. Updated External Active-shunt Connections with Powerohm catalog numbers that apply to regenerative bus supplies and added information for wiring regenerative bus supplies to the Active Shunt (RC) connector. Added Hardware Fault Tolerance (HFT) specifications to the table. 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. Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 447 Appendix G History of Changes 2198-UM002F-EN-P, May 2018 Change Added features that apply to 2198-xxxx-ERS3 (series B) drives. • In many instances, 2198-xxxx-ERS3 (series B) drives share features of 2198-xxxx-ERS4 drives and this was added to the text • In many instances, it was necessary to distinguish 2198-xxxx-ERS3 (series A) drive operation from series B and this was added to the text • Updated single-axis and dual-axis inverter line drawings with locking-leaver I/O (IOD) and safety (STO) connectors that are included with 2198-xxxx-ERS3 (series B) and 2198-xxxx-ERS4 drives Added Kinetix 5700 Servo Drives Series Change to describe new features that are available with 2198-xxxx-ERS3 (series B) drives. Updated AC Line Filters installation guidelines. Corrected the DC-bus power supply IOD-4 description and signal name. Added information for IEC 61800-3 category C3/C4 compliance with regard to the use of AC line filters on AC input power. Added bullet statements and other text to describe features of 2198-xxxx-ERS3 (series B) drives, including when to use Compatible Module and Exact Match electronic keying options in the Module Definition. Updated Safety Application Definitions table with safety functions specific to 2198-xxxx-ERS3 (series A) drives and 2198-xxxx-ERS3 (series B) drives. Updated content regarding fault code NODE FLT 06 fault behavior. Added Replacing 2198-xxxx-ERS3 (series A) Drives with Series B Drives with text, dialog boxes, and a flowchart to describe when to use Compatible Module and Exact Match electronic keying options in the Module Definition. Added STO tag name changes to help describe changes in the safe torque-off tag names. Updated single-axis inverter and dual-axis inverter integrated STO specifications to reflect safe torque-off tag name changes. Added ladder logic examples to show how STO function tag name changes can appear in your application program. Added information about changes in drive firmware revision 9.001 and later (2198-xxxx-ERS4 and 2198-xxxx-ERS3 series B drives) that provides for the use of MDS instructions with Speed Limited Adjustable Torque (SLAT) operation. 448 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 Index Numerics 1321 line reactors 13, 18, 45 2090-CFBM7DF-CD 18 2090-CFBM7DF-CE 18 2090-CPBM7DF 18, 153 2090-CPWM7DF 153 2090-CSBM1DE 18, 28, 149 2090-CSBM1DG 18, 28, 149 2090-XXNFMF 18 2198-BARCON-55DC200 17 2198-CAPMOD-2240 36, 56 2198-CAPMOD-DCBUS-IO 36, 56 2198-DBRxx-F 18, 38 2198-DBxx-F 18, 38 2198-DCBUSCOND-RP312 36, 56 2198-H2DCK 17, 28, 109, 161, 166 pinout 162 2198-K57CK-D15M 17, 28, 109, 161, 166 pinout 162 2198-KITCON-DSL 17, 28, 150 2198-KITCON-ENDCAP200 17 2198T-CHBFLS8 18, 22 24V input power connector evaluation 47 pinouts 98 wiring 135 842E-CM 113 842HR 112 843ES 113 844D 112 847H 112 847T 112 8720MC-RPS 17 interconnect diagram 334 minimum accessory modules 61 8720MC-RPS065 interconnect diagram 330 8720MC-RPS190 interconnect diagram 332 A about this publication 11 absolute position feature 115 AC line filters 2198-DBRxx-F 18, 38 2198-DBxx-F 18, 38 noise reduction 70 accessory modules 56, 79 capacitor 17, 56 catalog number 36 connector locations 96, 169 DC-bus conditioner 17, 56 extension 17, 56 minimum accessory modules flowchart 62 minimum modules required 56, 58, 61 actions category 231, 235, 240 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 active shunt interconnect diagram 338 pinouts 98 use cases 50 wiring 171 actuators compatible actuators 161 adaptive tuning 439 alarm 264, 265 AOP drive module firmware 187 PCDC download 187 application requirements 303 applying power 248 associated axes 193, 197, 201, 206, 210 category 210, 243 audience for this manual 11 automatic 395 auxiliary feedback encoders 112 axis properties 221, 222, 228, 232, 237, 245 axis unstable 262 B back EMF 440 basic volts/hertz 223, 399 BC connector pinouts 100 wiring 153 behavior DC-bus power supply 265, 267 drive module 270 iTRAK power supply 268 Beldon 153 block diagrams capacitor module 358 DC-bus conditioner module 359 DC-bus power supply 353 dual-axis inverter 356 iTRAK power supply 357 regenerative bus supply 354 single-axis inverter 355 bonding EMI (electromagnetic interference) 64 examples 65 high frequency 40 high frequency energy 66 subpanels 66 brake relay specifications 106 Bus Observer 217 bus overvoltage speed 440 bus-sharing configuration 192, 196, 200, 207 group 192, 196, 200, 207 group example 251 groups 250 regulator 192, 200 BusVoltageReferenceSource 217 BusVoltageSetPoint 214 449 Index C cables cable lengths, max 145, 148, 383 cable preparation customer-supplied motor power 167 dual-axis power cable 155 motor feedback 163 single-axis power cable 157 catalog numbers 149, 153 categories 69 Ethernet cable length 174 induction motors 153 Kinetix 2090 18 shield clamp 151, 164 calculate model 415 capacitor module 17, 56, 358 interconnect diagram 323 status indicator 261 wiring requirements 170 catalog numbers accessory modules 36 DC-bus power supply 36 inverters 36 iTRAK power supply 36 motor cables 149, 153 regenerative bus supply 36 shared-bus connection system 37 category 3 stop category definitions 284 CE compliance 37 CED connector pinouts 98 wiring 138 certification application requirements 303 PL and SIL 284 TÜV Rheinland 284 user responsibilities 284 website 284 CIP axis states 391 CIP Security 12 circuit breaker selection 46 clamp 151, 164 spacers 156 clearance requirements 53 cluster 373 commutation offset 254, 438 commutation self-sensing 437 CompactLogix Ethernet connections 174 compatibility motors and actuators 161 configuration 24V DC voltage drop 379 8720MC-RPS 27 DC-bus power supply 19 extended DC-bus 21 extended regenerative bus supply 26 feedback examples 28 input power to multiple drive systems 25 iTRAK power supply 22 multiple DC-bus power supply 20 regenerative bus supply 23, 24 450 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 configuring actions category 231, 235, 240 axis properties 245 Bus Observer 217 BusVoltageReferenceSource 217 BusVoltageSetPoint 214 converter startup method 214 general category 214 basic volts/hertz 223 CIP axis states 185, 391 controller 188 converter startup method 391 DC-bus power supply 191 download program 248 exceptions category 235, 240 fan/pump volts/hertz 227 feedback-only axis 212, 221 flux up 411 frequency control category 223, 225, 227 general category 221, 222, 228, 232, 237 home screen 176 hookup test 254 induction-motor closed-loop axis properties 237 induction-motor frequency-control axis 222 inverters 202 IP address 186 IPM motor closed-loop axis properties 228 iTRAK power supply 198 load category 230, 234, 241 master feedback 221 MDS instruction 428 menu screens 177, 178, 179, 180 module properties 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 203, 207, 208, 210, 211, 212, 243 inhibit module 363 motion group 213 safety 206 motor analyzer category 226, 242 category 223, 229, 233, 238, 412, 441 feedback category 239, 245, 246, 247, 248 test 253 network parameters 186 parameter list category 224, 225, 227, 231, 236, 241 polarity category 238 power category bus-sharing group example 251 bus-sharing groups 250 regenerative bus supply 195 safety application 205 connection 206 scaling category 230, 234, 239 sensorless vector 225 setup menu 181, 182, 183, 184 screens 180 SLAT 424 SPM motor closed-loop axis properties 232 startup sequence 185 torque proving 434 valid feedback types 245 velocity droop 436 Connected Drive mode 271 Index connecting CompactLogix 174 connector kit shield clamp 164 ControlLogix 174 Ethernet cables 174 motor shield clamp 151 Connection mode 206 connector kit 2198-BARCON-55DC200 17 2198-H2DCK 161 2198-K57CK-D15M 17, 161 2198-KITCON-DSL 17, 150 2198-KITCON-ENDCAP200 17 24V drive system 17 iTRAK PS system 17 cable preparation motor feedback 163 connector locations 93, 94 accessory modules 96, 169 DC-Bus power supply 90 dual-axis inverters 92 iTRAK power supply 95 regenerative bus supply 91 single-axis inverters 93, 94 contactor enable connector pinouts 98 relay 105 contactor selection 48 control power input specifications 108 pinouts 98 wiring 135 ControlFLASH firmware upgrade 361 troubleshooting 371 ControlFLASH Plus firmware upgrade 361, 364, 367 troubleshooting 361 controller and drive behavior 264 CompactLogix 188 configure 188 ControlLogix 188 properties date/time tab 190 enable time synchronization 190 controller-based monitoring functions 16 stopping functions 16 ControlLogix Ethernet connections 174 conventions used in this manual 12 converter kit 2198-H2DCK 17, 161 converter OK relay 106 converter startup method 214, 391 automatic 395 enable request 392 corner-grounded power configuration 120, 124 CP connector pinouts 98 wiring 135 current limiting 402 current regulator loop 412 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 customer supplied cable 167 D date/time tab 190 DC bus connector pinouts 98 DC-bus conditioner module 17, 56, 359 interconnect diagram 327 DC-bus group 373 DC-bus power supply 16, 131, 353 behavior 265, 267 catalog numbers 36 configuring 191 connector locations 90 ground screw/jumper 125 menu screen 178 minimum accessory modules 56 setup menu 182 DC-bus Unload 394 DC-bus Up 394 DC-bus voltage regulation specifications 40, 383 digital encoder AqB TTL 245 AqB with UVW 246 digital inputs category 193, 197, 200, 212 pinouts 99 series A connector 139 series B or later connector 140 specifications 103 wiring 139, 141 disable 265, 268 display 176 download program 248 drilling hole patterns 83 DC-bus power supply 84 regenerative bus supply 85 system mounting toolkit 86 drive module behavior 270 firmware 187 replacement 308 dual-axis inverter 17, 356 connector locations 92 shield clamp 156 wiring requirements 134 dynamic motor test 416 E earth ground 129 EMC motor ground termination 151 EMI (electromagnetic interference) bonding 64 enable request 392 enable time synchronization 190 enclosure power dissipation 52 requirements 39 sizing 51 451 Index encoder 112 phasing 113 support DSL 109 universal 109 erratic operation 263 Ethernet connector pinouts 100 EtherNet/IP connecting cables 174 connections 104 PORT1 and PORT2 connectors 174 exception 265 action 265 exception actions 265 exceptions category 235, 240 extended cluster 373 DC-bus 373, 374 speed 173, 440 extended DC-bus interconnect diagram 328, 329 extended speed configure 441 extension module 17, 56 external active shunt 72, 74 wiring 171 external passive shunt resistor 70, 72 wiring 170 F fan/pump 400 volts/hertz 227 fault code overview 258 code summary 259 feedback configurations 28 feedback-only axis 212, 221 specifications 109 field weakening 440 firmware upgrade ControlFLASH Plus 364, 367 ControlFLASH Plus software 361 ControlFLASH software 361 system requirements 361 verify upgrade 372 flux up 409 attributes 410 frequency control category 223, 225, 227 fuse selection 46 G general category 192, 195, 199, 203, 221, 222, 228, 232, 237 ground multiple subpanels 130 screw/jumper 125 grounded-wye power configuration 119, 122 Group Sync Service 392 452 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 H hardwired STO mode 32, 116, 286, 291 operation 292 pinouts 296 HF bonding 64 high-frequency (HF) bonding 40 energy 66 Hiperface-to-DSL feedback converter kit 161 hold 268 hole patterns 83, 86 DC-bus power supply 84 regenerative bus supply 85 home screen soft menu 176 hookup test 254, 438 I I/O digital inputs specifications 103 IEC 61508 284 IEC 62061 284 ignore 264, 265 impedance equations 44 impedance-grounded power configuration 120, 123 induction motor control 153 closed-loop axis properties 237 configure flux up 411 control methods basic volts/hertz 399 fan/pump 400 sensorless vector 401 flux up 409 attributes 410 frequency-control axis 222 motor analyzer category 414 and inertia tests 414 data sheet 413 model category 413 multiple skip speed 408 open-loop frequency control 398, 402, 405 skip speed 407 SLAT 423 inhibit module 363 input power wiring 24V control 135 contactor enable 138 corner-grounded power configuration 120, 124 determine input power 119 ground screw/jumper 125 grounded-wye power configuration 119, 122 impedance-grounded power configuration 120, 123 mains 137 remove ground screws 128, 129 ungrounded power configuration 121, 124 installing drive accessories AC line filters 70 external active shunt 72, 74 external passive shunt resistor 70, 72 Index installing your drive 39 active shunts 50 bonding examples 65 subpanels 66 cable categories 69 circuit breakers 46 clearance requirements 53 contactor selection 48 enclosure sizing 51 fuse selection 46 HF bonding 64 noise zones 67 passive shunts 49 shared-bus configurations 55 system mounting requirements 39 integrated SS1 mode 35 integrated STO mode 33, 34, 116, 302 drive module replacement 308 operation 304 STO bypass 311 STO state reset 307 interconnect diagrams 2198 drive with 8720MC-RPS 334 2198 drive with 8720MC-RPS065 leader/ follower 330 2198 drive with 8720MC-RPS190 332 2198 drive with HPK 345 2198 drive with LDAT 348 2198 drive with LDC 351, 352 2198 drive with MPAR/MPAI 350 2198 drive with MPAS 349 2198 drive with MPL/VPC-S/MPM/MPF/MPS 344 2198 drive with RDB 346 2198 drive with VPAR 347 2198 drive with VPC-Y 341 2198 drive with VPL/VPC-Q/VPF/VPH/VPS 340 active shunt 338 capacitor module 323 DC-bus conditioner module 327 extended system 328, 329 module status 335, 336 multiple converter 322 iTRAK power supplies 325 notes 319 passive shunt resistor 337 regenerative bus supply 326 single converter 321 iTRAK power supply 324 motor cable 340 inverters 92, 93, 94 catalog numbers 36 configuring 202 dual-axis 17 ground screw/jumper 126 menu screen 177 setup menu 181 single-axis 16 IOD connector pinouts 99 wiring 139, 141 IP address 186 IPD connector pinouts 97 wiring 137 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 IPM motor closed-loop axis properties 228 ISO 13849-1 284 stop category definitions 284 iTRAK power supply 132, 357 behavior 268 catalog numbers 36 configuring 198 connector locations 95 ground screw 127 menu screen 180 setup menu 184 K Kinetix MPAI electric cylinders 28 MPAR electric cylinders 28 Kinetix LDAT linear thrusters 28 Kinetix LDC linear motors 28 Kinetix MPAS linear stages 28 L Lapp 153 LCD display 176 messages 258 line impedance adding line reactor or transformer for lightning strikes 43 power interruptions 43 voltage dips 43 voltage spikes 43 line reactor use cases 43 transformer 43 line reactor use cases 43 link link/activity status indicator 260 speed status indicator 260 load category 230, 234, 241 Logix Designer 186, 188 M mains input power connector pinouts 97 wiring 137 major fault 264 MAS instruction 429 master feedback 221 MDS instruction configure 427 decrease speed sample code 429 increase speed sample code 428 ramp attributes 430 ramp attributes sample code 431 start sample code 428 torque mode sample code 429 menu screens 177, 178, 179, 180 MF connector pinouts 101 wiring 150, 161 minor fault 264 453 Index module definition 204, 205, 243 motion safety 206 safety application 205 safety connection 206 module properties 243 associated axes category 193, 197, 201, 210, 243 digital input category 193, 197, 200, 212 general category 192, 195, 199, 203 module definition 204, 205, 243 new tag 194, 198, 201, 211 power category 192, 196, 199, 207 safety category 208 module status DC-bus power supply 335 indicator 260 regenerative bus supply 335, 336 module status connector pinouts 102 monitored safe stop (SS1) 16 motion direct commands STO bypass 311 warning messages 312 drive start instruction 427 group 213 safety 206 Motion Analyzer website 13 motor accel/decel problems 262 analyzer category 226, 242, 414 brake connector pinouts 100 wiring 153 cable catalog numbers 149, 153 length 38 length, max 148, 383 category 223, 229, 233, 238 compatible motors 161 data sheet 413 extended speed 441 fan cooling attribute 419 feedback category 239, 245, 246, 247, 248 connector wiring 161 feedback connector pinouts 101 wiring 150, 161 ground termination 151 induction 153 interconnect diagram 340 model category 413 motor and inertia tests 414 overheating 263 overload retention 432 power connector pinouts 100 wiring 143, 153 power/brake cable preparation 154 shield clamp wiring 151, 164 testing 253 thermal models 418 tuning 253 universal feedback connector pinouts 102 velocity 262 454 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 mounting your drive attaching to the panel 86 drilling hole patterns 83 mounting order accessory modules 56, 79 drive modules 76, 77, 78 shared-bus connection system 80 system mounting toolkit 86 zero-stack tab and cutout 80 MP connector pinouts 100 wiring 143, 153 MPAI electric cylinders 28 MPAR electric cylinders 28 MPAS linear stages 28 MS connector pinouts 102 MSF instruction 429 multi-cluster system 79 multiple converter interconnect diagram 322 iTRAK PS interconnect diagram 325 skip speed 408 N navigation buttons 176 network parameters 186 status indicator 260 network encoders 113 new tag data type 194, 198, 201, 211 noise abnormal 263 feedback 262 reduction 70 zones 67 O open-loop frequency control 398 out of box state 286 overtravel fault code 258 P panel requirements 39 parameter list category 224, 225, 227, 231, 236, 241 passive shunt connector wiring 170 interconnect diagram 337 pinouts 98 use cases 49 PCDC download 187 Index pinouts 2198-H2DCK 162 2198-K57CK-D15M 162 24V input power connector 98 contactor enable connector 98 DC bus connector 98 digital inputs connector 99 Ethernet connector 100 mains input power connector 97 module status connector 102 motor brake connector 100 feedback connector 101 power connector 100 safe torque-off 296 shunt connector 98 universal feedback connector 102 planning your installation 39 polarity category 238 power category bus configuration 192, 196, 200, 207 regulator 192, 200 bus-sharing group 192, 196, 200, 207, 250 group example 251 power structure 192, 196, 199, 207 power dissipation 52 power supply cluster 373 DC-bus power supply 16 regenerative bus supply 16 power up 248 power/brake cable preparation 154 precharge time 393 probability of failure (PFH) definition 285 R ramp attributes 430 rated slip speed 415 regenerative bus supply 16, 354 Bus Observer 217 BusVoltageReferenceSource 217 catalog numbers 36 configure axis properties BusVoltageSetPoint 214 general category 214 configure module properties 195 connector locations 91 converter startup method 214 ground screw/jumper 125 interconnect diagram 326 menu screen 179 minimum accessory modules 58 precharge time 393 sequence operation 391 setup menu 183 wiring requirements 132 remove ground screws 128, 129 remove/replace remove drive 278 remove power 276 replace drive 279 startup and configure 280 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 requirements UL and CE 39 restoring hardwired STO mode 287 routing power and signal wiring 118 Running Controller mode 271 S SAB 153 safe direction (SDI) 16 safe operational stop (SOS) 16 safe stop 1 integrated configuration 35 safe torque-off 299 bypass wiring 300 cascaded wiring 300 configurations hardwired 32 integrated 33, 34 explicit messages 289 feature 285 hardwired STO mode 116, 286, 291 specifications 302 timing diagram 293 troubleshooting 294 integrated STO mode 116, 302 specifications 316 STO bypass 311 STO state reset 307 out of box state 286 probability of failure (PFH) 285 restoring hardwired STO mode 287 status bits 289 safe torque-off (STO) 16 safely limited position (SLP) 16 safely limited speed (SLS) 16 safety actions connected drive 271 running controller 271 application 205 category 208 connection 206 safety feedback interface (SFX) 16 scaling category 230, 234, 239 sensorless vector 225, 401 sequence operation automatic method 395 discharging 396 enable request method 392 regenerative bus supply 391 series change 16 setup screens 180, 181, 182, 183, 184 shared-bus connection system 80 catalog numbers 37 shared-bus configurations 55 shield clamp 151, 164 dual-axis inverter 156 single-axis inverter 157 shunt connector pinouts 98 shunts active 50 passive 49 455 Index shutdown 265, 268 sine/cosine 247 with Hall 248 single converter interconnect diagram 321 iTRAK PS interconnect diagram 324 motor cable 340 single-axis inverter 16, 93, 94, 355 shield clamp 142, 157 wiring requirements 133 sizing 24V current 378 cluster 373 DC-bus group 373 extended cluster 373 extended DC-bus 373, 374 general guidelines 375 power supply cluster 373 shared-bus configurations 373 system sizing 375 example 381, 382 total system capacitance 376 skip speed 407 SLAT 421 attributes 423 configuring 424 slip test messaging 417 SLP 16 SLS 16 soft menu home screen 176 software Logix Designer application 188 overtravel 258 SOS 16 specifications auxiliary feedback 109 feedback encoders 112 brake relay 106 contactor enable relay 105 control power input 108 converter OK relay 106 DC-bus voltage regulation 40, 383 digital inputs 103 encoder phasing 113 EtherNet/IP connections 104 hardwired STO mode 302 integrated STO mode 316 motor feedback 109 absolute position 115 EnDat digital 111 EnDat sine/cosine 111 generic TTL incremental 110 Hiperface 110 sin/cos incremental 111 network encoders 113 speed limited adjustable torque 421 SPM motor closed-loop axis properties 232 SS1 stopping function 16, 35 stability control 405 standard actions 270 startup sequence 185 CIP axis states 185 static motor test 415 456 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 status indicators capacitor module 261 link speed status 260 link/activity status 260 module status 260 network status 260 troubleshooting 260 STO connector pinouts 296 wiring 299 STO stopping function 16 stop drive 265 planner 265 stopping actions configure 270 Studio 5000 Logix Designer 186 system block diagrams capacitor module 358 DC-bus conditioner module 359 DC-bus power supply 353 dual-axis inverter 356 iTRAK power supply 357 regenerative bus supply 354 single-axis inverter 355 components 16 ground 129 mounting requirements 39 mounting toolkit 86 overview 24V DC voltage drop 379 8720MC-RPS 27 DC-bus power supply 19 EtherNet/IP 29, 30, 31 extended DC-bus 21, 26 iTRAK power supply 22 multiple DC-bus power supplies 20 regenerative bus supply 23, 24 shared DC-bus 25 sizing example 381, 382 system sizing 375 T testing axes hookup test 254 time synchronization 190 timed safe stop (SS1) 16 torque proving 432 attributes 432 configuring 434 total system capacitance 376 transformer 43 troubleshooting alarm 264, 265 capacitor module status 261 ControlFLASH 371 ControlFLASH Plus 361 controller/drive fault behavior 264 DC-bus supply behavior 265, 267 disable 265, 268 exceptions 265 fault code overview 258 Index code summary 259 general system problems abnormal noise 263 axis unstable 262 erratic operation 263 feedback noise 262 motor accel/decel 262 motor overheating 263 motor velocity 262 no rotation 263 hold 268 ignore 264, 265 inverter behavior 270 iTRAK power supply behavior 268 LCD display messages 258 link speed status indicator 260 link/activity status indicator 260 major fault 264 minor fault 264 module status indicator 260 network status indicator 260 safe torque-off hardwired STO mode 294 safety actions 271 precautions 257 shutdown 265, 268 standard actions 270 status indicators 260 status only 265 stop drive 265 planner 265 stopping actions 270 definitions 270 typical installation 24V DC voltage drop 379 8720MC-RPS 27 DC-bus power supply 19 EtherNet/IP 29, 30, 31 extended DC-bus 21, 26 iTRAK power supply 22 multiple DC-bus power supplies 20 regenerative bus supply 23, 24 shared DC-bus 25 U UFB connector pinouts 102 wiring 161 UL and CE requirements 39 ungrounded power configuration 121, 124 universal feedback connector kit 161 use cases active shunt 50 passive shunt 49 V valid feedback types 245 digital AqB TTL 245 digital AqB with UVW 246 sine/cosine 247 sine/cosine with Hall 248 Rockwell Automation Publication 2198-UM002O-EN-P - December 2022 velocity droop 435 attribute 436 configure 436 verify upgrade 372 virtual torque sensor 439 voltage drop 24V input power 47 voltage regulation 40, 383 W website certifications 284 Motion Analyzer 13 wiring active shunt 171 BC connector 153 CED contactor enable 138 connector kit shield clamp 164 corner-grounded power configuration 120, 124 CP connector 135 customer supplied cable 167 earth ground 129 Ethernet cables 174 external active shunt 171 passive shunt resistor 170 ground screw/jumper 125 grounded-wye power configuration 119, 122 guidelines 135 impedance-grounded power configuration 120, 123 input power type 119 IOD connector 141 IOD digital inputs 139 IPD connector 137 MF connector 150, 161 motor cable shield clamp 151 MP connector 143, 153 passive shunt 170 remove ground screws 128, 129 requirements 118 capacitor module 170 DC-bus power supply 131 dual-axis inverter 134 iTRAK power supply 132 regenerative bus supply 132 single-axis inverter 133 routing power and signal wiring 118 safe torque-off bypass 300 cascaded 300 STO connector 299 UFB connector 161 ungrounded power configuration 121, 124 Z zero-stack tab and cutout 80 457 Index Notes: 458 Rockwell Automation Publication 2198-UM002O-EN-P - 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Waste Electrical and Electronic Equipment (WEEE) At the end of life, this equipment should be collected separately from any unsorted municipal waste. Rockwell Automation maintains current product environmental compliance information on its website at rok.auto/pec. Allen-Bradley, CompactLogix, ControlFLASH, ControlFLASH Plus, ControlLogix, Encompass, expanding human possibility, FactoryTalk, GuardLogix, iTRAK, Kinetix, Logix 5000, PanelView, POINT Guard I/O, POINT I/O, PowerFlex, Rockwell Automation, RSLinx, RSLogix 5000, Stratix, Studio 5000, and Studio 5000 Logix Designer are trademarks of Rockwell Automation, Inc. CIP, CIP Motion, CIP Safety, CIP Security, CIP Sync, and EtherNet/IP are trademarks of ODVA, Inc. Trademarks not belonging to Rockwell Automation are property of their respective companies. Rockwell Otomasyon Ticaret A.Ş. 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Key features
- DC-bus power supply
- Regenerative bus supply
- 8720MC-RPS power supply
- Multiple configuration options
- Reliable power
- Kinetix 5700 servo drives
- User Manual
Frequently asked questions
The catalog number for this device is 2198-P031.
It supports DC-bus power supply input power configurations, regenerative bus supply input power configurations, and 8720MC-RPS power supply input power configuration.
The Kinetix 5700 DC-bus power supply provides reliable power to the Kinetix 5700 servo drives.