Allen-Bradley Kinetix 5300 Single-axis EtherNet/IP Servo Drives User Manual
Allen-Bradley Kinetix 5300 Single-axis EtherNet/IP Servo Drives are designed for precise motion control applications. They offer a wide range of features including safe torque off, Ethernet communication, and support for various motor types and feedback configurations. The drives are compatible with Allen-Bradley Logix 5000 controllers, making them ideal for use in industrial automation systems.
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This manual links to Kinetix 5300 Single-axis EtherNet/IP Servo Drives Fault Codes Reference Data, publication 2198-RD006, for fault codes. Download the spreadsheet now for offline access. Kinetix 5300 Single-axis EtherNet/ IP Servo Drives Catalog Numbers 2198-C1004-ERS, 2198-C1007-ERS, 2198-C1015-ERS, 2198-C1020-ERS, 2198-C2030-ERS, 2198-C2055-ERS, 2198-C2075-ERS, 2198-C4004-ERS, 2198-C4007-ERS, 2198-C4015-ERS, 2198-C4020-ERS, 2198-C4030-ERS, 2198-C4055-ERS, 2198-C4075-ERS User Manual Original Instructions Kinetix 5300 Single-axis EtherNet/IP Servo Drives 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-UM005E-EN-P - September 2024 Table of Contents Preface Summary of Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Download Firmware, and Other Associated Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Access Fault Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 CIP Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Chapter 1 Start About the Kinetix 5300 Servo Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Drive Hardware and Input Power Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Motor and Auxiliary Feedback Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Typical Communication Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Linear Topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Ring Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Star Topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Safe Torque Off Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Catalog Number Explanation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Chapter 2 Plan the Kinetix 5300 Drive System Installation System Design Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 System Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 AC Line Filter Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Transformer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Circuit Breaker/Fuse Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 24V Control Power Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Passive Shunt Considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Enclosure Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Minimum Clearance Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Electrical Noise Reduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 HF Bond for Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 HF Bond for Multiple Subpanels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Establish Noise Zones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Cable Categories for Kinetix 5300 Systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Noise Reduction Guidelines for Drive Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Chapter 3 Mount the Kinetix 5300 Drive System Determine Mounting Order. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Zero-stack Tab and Cutout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Shared-bus Connection System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Drill-hole Patterns. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Mount Your Kinetix 5300 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 3 Table of Contents Chapter 4 Connector Data and Feature Descriptions Kinetix 5300 Connector Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Safe Torque Off Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Input Power Connector Pinouts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Shunt Resistor Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Ethernet Communication Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Digital Inputs and Auxiliary Feedback Connector Pinouts . . . . . . . . . . . . . . . . . . . . 53 Motor Power, Brake, and Feedback Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . 53 Understand Control Signal Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Motor Holding-brake Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Control Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Ethernet Communication Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Motor Feedback Supported on the MFB Connector. . . . . . . . . . . . . . . . . . . . . . . . . . 58 Auxiliary Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Encoder Phasing Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Absolute Position Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 Safe Torque Off Safety Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Servo Drives with Hardwired Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Chapter 5 Connect the Kinetix 5300 Drive System 4 Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Build Your Own Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Routing the Power and Signal Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Determine the Input Power Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Three-phase Input Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Single-phase Input Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 Ground the Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 Ground the System Subpanel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 Ground Multiple Subpanels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 Wiring Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Wire the Power Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 Wire the 24V Control Power Input Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 Wire the Input Power Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 Wire the Digital Input Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 Wire the Safe Torque Off Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 Wire the Digital Inputs and Auxiliary Feedback Connector . . . . . . . . . . . . . . . . . . . 76 Wire the Motor Power and Brake Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 Servo Motor/Actuator and Cable Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 Motor Power and Brake Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 Maximum Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 Cable Preparation for Kinetix TLP Motor Power Cables . . . . . . . . . . . . . . . . . . . . . . 81 Cable Preparation for 2090-CPxM7DF Motor Power Cables . . . . . . . . . . . . . . . . . . . 81 Cable Preparation for Kinetix TL and TLY Motor Power Cables. . . . . . . . . . . . . . . . 83 Apply the Motor Power/brake Shield Clamp. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 Wire the Motor Feedback Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Cable Preparation for Kinetix TLP Feedback Cables . . . . . . . . . . . . . . . . . . . . . . . . 87 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Table of Contents Cable Preparation for 2090-CFBM7Dx Feedback Cables . . . . . . . . . . . . . . . . . . . . . 87 Cable Preparation for Kinetix TL and TLY Feedback Cables . . . . . . . . . . . . . . . . . . 88 Motor Feedback Cable Preparation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 Kinetix 2090 Feedback Cable Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 External Passive-shunt Resistor Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System Understand the Kinetix 5300 Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Menus and Display Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 Startup Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 Configure the Kinetix 5300 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 Set the Network Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 Studio 5000 Logix Designer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 Version History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 Install the Kinetix 5300 Add-On Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 Configure the Logix 5000 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 Configure the Kinetix 5300 Drive Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 Configure Drive Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 Continue Drive Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 Configure the Motion Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 Configure Vertical Load Control Axis Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Configure Feedback-only Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 Configure Induction-motor Frequency-control Axis Properties . . . . . . . . . . . . . . . . . . 113 General and Motor Categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 Basic Volts/Hertz Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 Sensorless Vector Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 Fan/Pump Volts/Hertz Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 Configure SPM Motor Closed-loop Control Axis Properties . . . . . . . . . . . . . . . . . . . . . . 117 Configure Induction-motor Closed-loop Control Axis Properties . . . . . . . . . . . . . . . . . 122 Configure Feedback Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 Configure Module Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 Apply Power to the Kinetix 5300 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130 Test and Tune the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 Test the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 Tune the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 Chapter 7 Troubleshoot the Kinetix 5300 Drive System Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 Interpret Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 Fault Code Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 Kinetix 5300 Drive Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 General Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 Logix 5000 Controller and Drive Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 Web Server Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 5 Table of Contents Chapter 8 Remove and Replace Servo Drives Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 Remove and Replace Kinetix 5300 Servo Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 Remove Power and All Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 Remove the Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151 Replace the Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151 Start and Configure the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 Chapter 9 Kinetix 5300 Safe Torque Off Function Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 Important Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 Category 3 Requirements According to ISO 13849-1 . . . . . . . . . . . . . . . . . . . . . . . . 153 Stop Category Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 Performance Level (PL) and Safety Integrity Level (SIL) . . . . . . . . . . . . . . . . . . . . 154 Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156 Probability of Dangerous Failure Per Hour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158 Safe Torque Off Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158 Wire the Safe Torque Off Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159 Safe Torque Off Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159 Safe Torque Off Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160 Safe Torque Off Feature Bypass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160 Cascade the Safe Torque-off Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161 STO Recovery Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161 Safe Torque Off Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162 Appendix A Interconnect Diagrams Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 Shunt Resistor Wiring Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 Kinetix 5300 Servo Drive and Rotary Motor Wiring Examples . . . . . . . . . . . . . . . . . . . . 166 Kinetix 5300 Drive and Linear Actuator Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . 172 System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177 Appendix B Update Kinetix 5300 Drive Firmware Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 Inhibit the Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 Update Your Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181 Use ControlFLASH Plus Software to Update Your Drive Firmware . . . . . . . . . . . . 181 Use ControlFLASH Software to Update Your Drive Firmware. . . . . . . . . . . . . . . . . 184 Verify the Firmware Update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189 Appendix C Motor Control Feature Support 6 Frequency Control Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 Basic Volts/Hertz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192 Basic Volts/Hertz for Fan/Pump Applications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193 Sensorless Vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Table of Contents Current Limiting for Frequency Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 The Effects of Current Limiting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 Enable the Current Limiting Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197 Set the CurrentVectorLimit Attribute Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197 Stability Control for Frequency Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198 Enable the Stability Control Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199 Skip Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199 Multiple Skip Speeds. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200 Flux Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202 Flux Up Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203 Configure the Flux Up Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204 Current Regulator Loop Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204 Motor Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205 Motor Tests and Autotune Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207 Motor Analyzer Category Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208 Selection of Motor Thermal Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210 Generic Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210 Rotary Motor Fan Cooling Attribute Information . . . . . . . . . . . . . . . . . . . . . . . . . . . 211 Thermally Characterized Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212 Speed Limited Adjustable Torque (SLAT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212 Motion Polarity Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213 SLAT Min Speed/Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213 SLAT Max Speed/Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214 SLAT Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214 Configure the Axis for SLAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215 Motion Drive Start (MDS) Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 Motor Overload Retention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223 Phase Loss Detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224 Phase-loss Detection Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225 Phase Loss Detection Current Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226 Velocity Droop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226 Closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226 Frequency Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227 Velocity Droop Attribute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227 Velocity Droop Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227 Commutation Self-sensing Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228 Commutation Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229 Adaptive Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230 Virtual Torque Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230 Appendix D History of Changes Change Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .233 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 7 Table of Contents Notes: 8 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Preface This manual provides detailed installation instructions to mount, wire, and troubleshoot the Kinetix® 5300 servo drives, and system integration for your drive and motor/actuator combination with a Logix 5000® controller. This manual is intended for engineers or technicians that are directly involved in the installation and wiring of the Kinetix 5300 drives, and programmers that are directly involved in the operation, field maintenance, and integration of these drives with the EtherNet/IP™ communication module or controller. If you do not have a basic understanding of Kinetix 5300 servo drives, contact your local Rockwell Automation sales representative for information on available training courses. 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 a tip to the Generic TTL Incremental Feedback section. The tip provides resources about how a permanent magnet (PM) motor with an incremental encoder can be controlled without a hall sensor on the Kinetix 5300 drives. Added a footnote to the Digital Inputs and Auxiliary Feedback Connector Specifications table stating that the digital inputs (IN1, IN2, IN3, and IN4) are in Sink mode only. Added a step to the drive replacement procedure about determining whether it is necessary to download a new version of the Logix Designer application. Added the Important table above the Kinetix 5300 with Kinetix MP Rotary Servo Motors schematic, and graphic callouts to the schematic. The table and callouts clarify that the encoder must use either the +5V DC supply or the +9V DC supply but not both. Added the Important table stating that for the connection between a TLY-A rotary motor and a Kinetix 5300 drive, you must use a flying-lead feedback cable, not a drive-end connector feedback cable. Page 61 76 152 169 170 Download Firmware, and Other Associated Files Use the Product Compatibility and Download Center at rok.auto/pcdc for the following: • Download firmware and associated files such as Add-on Profile (AOP), Electronic Data Sheet (EDS), and Device Type Manager (DTM) • Access product release notes 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. Access Fault Codes For Kinetix 5300 fault code descriptions and possible solutions, s This manual links to Kinetix 5300 Single-axis EtherNet/IP Servo Drives Fault Codes Reference Data, publication 2198-RD006, for fault codes. Download the spreadsheet now for offline access. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 9 Preface CIP Security 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. 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 Description Product specifications for Kinetix VPL, VPC, VPF, VPH, and VPS; Kinetix MPL, MPM, MPF, and MPS; Kinetix TLY and TL; Kinetix HPK; and Kinetix MMA rotary motors. Product specifications for Kinetix MPAS and MPMA linear stages, Kinetix MPAR and MPAI electric cylinders, and Kinetix LDC and LDL 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. Kinetix Servo Drive Performance Specifications per Ecodesign Regulation (EU) 2019/1781 Technical Data, publication KNX-TD006 Provides energy efficiency performance data for Rockwell Automation Kinetix servo drives. This data supports IE2 compliance of Kinetix servo drives per EU 2019/1781. Kinetix 5300 Single-axis EtherNet/IP Servo Drives Fault Codes Reference Data, publication 2198-RD006 Provides the fault codes for Kinetix 5300 single-axis EtherNet/IP servo drives. Provides information on how to install AC line filters designed for Kinetix 5300, Kinetix 5500, and Kinetix 5700 servo drive systems. Provides information on how to install and wire Bulletin 2097 shunt resistors. Shunt Resistor Installation Instructions, publication 2097-IN002 Information, examples, and techniques that are designed to minimize system System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001 failures caused by electromagnetic interference (EMI) sources. Best practice examples to help reduce the number of potential noise or Servo Drive Installation Best Practices Application Technique, electromagnetic interference (EMI) sources in your system and to make sure that publication MOTION-AT004 the noise sensitive components are not affected by the remaining noise. Overview of Kinetix servo drives, motors, actuators, and motion accessories. The selection guide is designed to help make initial decisions for the motion control Kinetix Motion Control Selection Guide, publication KNX-SG001 products best suited for your system requirements. System design guide to select the required (drive specific) drive module, power accessory, feedback connector kit, and motor cable catalog numbers for your Kinetix 5300 Drive Systems Design Guide, publication KNX-RM012 Kinetix 5300 servo drive system. information on the use of nameplate data entry for custom induction Motor Nameplate Datasheet Entry for Custom Motor Applications Application Technique, Provides motors and permanent-magnet motors that are used in applications with publication 2198-AT002 Kinetix 5700 servo drives. AC Line Filter Installation Instructions, publication 2198-IN003 10 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Preface Table 1 - Additional Resources (Continued) Resource Virtual Torque Sensor Application Technique, publication 2198-AT003 Vertical Load and Holding Brake Management Application Technique, publication MOTION-AT003 Integrated Motion on the EtherNet/IP Network Reference Manual, publication MOTION-RM003 Integrated Motion on the EtherNet/IP Network Configuration and Startup User Manual, publication MOTION-UM003 CIP Security with Rockwell Automation Products Application Technique, publication SECURE-AT001. System Security Design Guidelines Reference Manual, SECURE-RM001 Description Provides information on the configuration and application of the virtual torque sensor capability of the Kinetix 5300 drives. The capability can be leveraged for analytics to improve the machine commissioning and maintenance experience. Provides information on vertical loads and how the servo motor holding-brake option can be used to help keep a load from falling. Information on the AXIS_CIP_DRIVE attributes and the configuration software control modes and methods. Information on how to configure and troubleshoot your ControlLogix® and CompactLogix™ EtherNet/IP network modules. Provides information on CIP Security, including which Rockwell Automation products support CIP Security. 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. 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 Provides information on how to install, configure, program, and use ControlLogix controllers and GuardLogix® controllers in Studio 5000 Logix Designer® projects. Rockwell Automation Product Selection website, rok.auto/systemtools Online product selection and system configuration tools, including AutoCAD (DXF) drawings. Comprehensive motion application sizing tool used for analysis, optimization, selection, and validation of your Kinetix Motion Control system. Provides declarations of conformity, certificates, and other certification details. Provides information on how to update your drive firmware by using ControlFLASH™ software. A glossary of industrial automation terms and abbreviations. Provides general guidelines for installing a Rockwell Automation industrial system. Motion Analyzer System Sizing and Selection Tool https://motionanalyzer.rockwellautomation.com/ Product Certifications website, rok.auto/certifications ControlFLASH User Manual, publication 1756-UM105 Rockwell Automation Industrial Automation Glossary, publication AG-7.1 Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 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. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 11 Preface Notes: 12 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 1 Start Use this chapter to become familiar with the Kinetix® 5300 drive system and obtain an overview of the installation configurations. Topic About the Kinetix 5300 Servo Drive System Drive Hardware and Input Power Configurations Motor and Auxiliary Feedback Configurations Typical Communication Configurations Safe Torque Off Configuration Catalog Number Explanation Agency Compliance About the Kinetix 5300 Servo Drive System Page 13 15 18 19 22 23 24 The Kinetix 5300 servo drives are designed to provide a Kinetix Integrated Motion solution for your drive and motor/actuator application. Table 2 - Kinetix 5300 Drive System Overview Drive System Component Cat. No. Kinetix 5300 Servo Drives 2198-Cxxxx-ERS 24V Shared-bus Connector Kits 2198-TCON-24VDCIN36 2198-H040-x-x 2198-H070-x-x Feedback Connector Kit 2198-K53CK-D15M Connector Sets 2198-CONKIT-PWR20 2198-CONKIT-PWR30 2198-CONKIT-PWR75 Logix 5000® Controller Platform Studio 5000® Rotary Servo Motors Linear Actuators Linear Motors Induction Motors Description Bulletin 1769 Bulletin 5069 100V-class and 200V-class (single-phase or three-phase) and 400V-class (three-phase) drives operate in standalone configurations. Modules can be zero-stacked from drive-to-drive and are compatible with the 24V DC shared-bus connection system to extend control power to multiple drives. Drives feature Safe Torque Off via the hardwired (STO) connector. Control power input connector for all frame sizes. Control power T-connector and busbar connectors for Frame 1 and 2 drives. Control power T-connector and busbar connectors for Frame 3 drives. Motor feedback connector kit with 15-pin connector plug for compatible motors and actuators. Kit features battery backup for Kinetix TLP, TL, and TLY multi-turn encoders. Connector set included with the Frame 1 and 2 drives (except 2198-C2030 drives). Replacement sets are also available. Connector set included with 2198-C2030 drives. Replacement sets are also available. Connector set included with Frame 3 drives. Replacement sets are also available. Integrated Motion on the EtherNet/IP™ network in CompactLogix™ 5370, CompactLogix 5380, and CompactLogix 5480 controllers and Integrated Safety in Compact GuardLogix® 5370 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. — Studio 5000 Logix Designer® application, version 33.00 or later, provides support for programming, commissioning, and maintaining the CompactLogix and ControlLogix controller families. Compatible rotary motors include 200V and 400V-class Kinetix MPL, MPM, MPF, MPS servo motors. Compatible rotary motors include 200V and 400V-class Kinetix TLP compact motors. Compatible rotary motors include 200V-class Kinetix TL and TLY servo motors. Compatible linear actuators include 200V and 400V-class Kinetix MPAS and MPMA linear stages, Kinetix MPAR and MPAI linear actuators, and Kinetix LDAT linear thrusters. Kinetix MP Kinetix TLP Kinetix TL and TLY Kinetix MP and Kinetix LDAT Kinetix LDC and Kinetix LDL — Compatible motors include Kinetix LDC iron-core and Kinetix LDL ironless linear motors. Induction motors with open-loop frequency control and closed-loop control are supported. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 13 Chapter 1 Start Table 2 - Kinetix 5300 Drive System Overview (Continued) Drive System Component Cat. No. Description Kinetix 2090 Cables 2090-CTFB-MxDx-xxxxx 2090-CTPx-MxDx-xxxxx 2090-CFBM6Dx-CxAAxx 2090-CPxM6DF-16AAxx 2090-DANFCT-Sxx 2090-DANPT-16Sxx 2090-DANBT-18Sxx Motor feedback cables for Kinetix TLP motors. Motor power/brake cables for Kinetix TLP motors. Motor feedback cables for Kinetix TLY servo motors. Motor power/brake cables for Kinetix TLY servo motors. Motor feedback cables for Kinetix TL servo motors. Motor power cables for Kinetix TL servo motors. Motor brake cables for Kinetix TL servo motors. Motor feedback cables for Kinetix MP motors/actuators, Kinetix LDAT linear thrusters, and Kinetix LDC/Kinetix LDL linear motors. Motor power/brake cables for Kinetix MP motors/actuators, Kinetix LDAT linear thrusters, and Kinetix LDC/Kinetix LDL linear motors. 2090-CFBM7DF-CEAxxx 2090-CPxM7DF-xxAxxx 2090-XXNFMF-Sxx 2090-CFBM7DF-CDAFxx 1585J-M8CBJM-x 1585J-M8UBJM-x 2198-DB08-F 2198-DBR20-F 2198-DBR40-F Bulletin 2198 three-phase AC line filters are required to meet CE and UK and are available for use in all Kinetix 5300 drive systems. 24V DC Power Supply 1606-XLxxx Bulletin 1606 24V DC power supply for control circuitry, digital inputs, and safety inputs. External Shunt Resistors 2097-R6 and 2097-R7 2198-R004, 2198-R014, 2198-R031 Bulletin 2097 and 2198 external passive shunt resistors are available for when the internal shunt capability of the drive is exceeded. Ethernet Cables AC Line Filters 14 Standard and continuous-flex feedback cables that include additional conductors for use with incremental encoders. Ethernet cables are available in standard lengths. Shielded cable is required to meet EMC specifications. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 1 Drive Hardware and Input Power Configurations Start Typical Kinetix 5300 systems include single-phase and three-phase standalone configurations. In this example, a single drive is shown with input power to the standard AC and 24V DC input connectors. Figure 1 - Typical Kinetix 5300 Standalone Installation Single-phase or Three-phase Input Power 2198-Cxxxx-ERS Drive (top view) AC Input Wiring to Standard Input Connector 2097-Rx or 2198-Rxxxx Shunt Resistor (optional component) L2 L3 DC+ SH 2198-DB08-F or 2198-DBRxx-F AC Line Filter (required for CE and UK) L1 Circuit Protection Bonded Cabinet Ground Bus 24+ 24- Line Disconnect Device 1606-XLxxx 24V DC Control, Digital Inputs, and Motor Brake Power (customer-supplied) 24V DC Input Wired to Standard Input Connector SB+ SBS1 SC S2 Allen-Bradley 1606-XL Powe r S u p p l y Input AC Input Power 2198-Cxxxx-ERS Drive (front view) 2 1 10 1 U V W MBRK MFB Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 15 Chapter 1 Start In the following example, two drives are shown with input power to the standard input connectors and control power input by using 24V shared-bus connectors. With two or more drives in the drive configuration, each drive requires AC input power and line filter. Figure 2 - Typical Kinetix 5300 Installation with 24V Shared-bus Connectors Single-phase or Three-phase Input Power Bonded Cabinet Ground Bus SH DC+ L3 SH 2198-DB08-F or 2198-DBRxx-F AC Line Filter (required for CE and UK) L1 L1 L2 L2 L3 Circuit Protection 2198-DB08-F or 2198-DBRxx-F AC Line Filter (required for CE and UK) DC+ Line Disconnect Device Circuit Protection AC Input Wiring Connectors Shared 24V (control power input) 1606-XLxxx 24V DC Control, Digital Inputs, and Motor Brake Power (customer-supplied) SB+ SB+ SB- SB- S1 S1 SC SC S2 S2 2198-Cxxxx-ERS Drives (top view) Allen-Bradley 1606-XL Powe r S u p p l y Input AC Input Power 2198-H0x0-x-x shared-bus connection system for 24V bus-sharing configurations. 2198-Cxxxx-ERS Drives (front view) 2 2 1 1 10 10 1 U 1 U V V W W MBRK MBRK MFB 16 MFB Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 2097-Rx or 2198-Rxxxx Shunt Resistor (optional component) Chapter 1 Start With two or more drives in the configuration and the 24V shared-bus connectors are not used, each drive requires 24V DC input power. SH DC+ L2 L1 L3 L2 L1 24+ 24- 24+ 24- 1606-XLxxx 24V DC Control, Digital Inputs, and Motor Brake Power (customer-supplied) 2198-Cxxxx-ERS Drives (top view) L3 SH DC+ Figure 3 - Typical Kinetix 5300 Installation without 24V Shared-bus Connectors SB+ SB+ SB- SB- S1 S1 SC SC S2 S2 24V DC connector wiring (control power input) to additional Kinetix 5300 servo drives. Allen-Bradley 1606-XL Power S u p p l y Input AC Input Power Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 17 Chapter 1 Start Motor and Auxiliary Feedback Configurations Feedback connections are made at the 15-pin motor feedback (MFB) connector and auxiliary feedback connector. These examples list the feedback types and illustrate the use of compatible rotary motors and linear products with motor cables and the 2198-K53CK-D15M connector kit. For motor power and brake connections, see Motor Power and Brake Connections on page 78. Figure 4 - Feedback Configuration Examples 2198-Cxxxx-ERS Drive (front view) 2090-CTFB-MxDD and 2090-CTPx-MxDF Motor Feedback and Power Cables 15-pin Motor Feedback (MFB) Connector 2 1 1 Kinetix TLP Motors (TLP-A100 motor is shown) 20 1 11 10 2090-CFBM6Dx and 2090-CPxM6DF Motor Feedback and Power Cables U V W 10 20 MBRK+ MBRK 20-pin I/O Connector With Aux Feedback Connections MBRK- Kinetix TL/TLY Motors (TLY-A110 motor is shown) MFB 2090-CFBM7Dx and 2090-CPxM7DF Motor Feedback and Power Cables Digital Inputs and Auxiliary Feedback Connector • Accepts incremental encoder feedback (TTL) – Load feedback (dual loop) – Master feedback – Feedback-only 2 1 Kinetix MP Motors and Actuators (MPL-Bxxxx motor is shown) 20 1 10 U V W MBRK MFB 20 1 10 2198-K53CK-D15M Feedback Connector Kit Accepts multiple encoder feedback types and provides battery backup for multi-turn position data: • Hiperface high-resolution absolute multi-turn and single-turn for: – Kinetix MPL-A/Bxxx-S/M, MPM-A/Bxxx-S/M, MPF-A/Bxxx-S/M, MPS-A/Bxxx-S/M servo motors • Generic sin/cos or digital AqB with UVW incremental encoders – Kinetix MPL-A/Bxxx-E/V servo motors – Kinetix MPAS (ballscrew), MPAR, MPAI linear actuators – MPL-A/B15xxx-H, MPL-A/B2xxx-H, MPL-A/B3xxx-H, MPL-A/ B4xxx-H, MPL-A/B45xxx-H rotary motors – Kinetix LDAT (-xDx) linear thrusters – Kinetix TLY-Axxxx-H servo motors • Nikon (24-bit) high-resolution serial encoder – Kinetix LDAT (-xBx) linear thrusters – Kinetix TLP-A/Bxxx-xxx-D servo motors – Kinetix LDC and Kinetix LDL linear motors • Tamagawa (17-bit) high-resolution serial encoder – Kinetix MPAS (direct drive) – Kinetix TL-AxxxP-B servo motors • Support for third-party closed-loop control of Induction motors – Kinetix TLY-AxxxP-B servo motors U V W MBRK MFB Battery Box 2090-CTFB-MxDD Feedback Cable Provides battery backup for multi-turn position data: • Nikon (24-bit) high-resolution serial encoder – Kinetix TLP-A/Bxxx-xxx-D servo motors LDAT-Sxxxxxx-xDx Linear Thrusters Induction Rotary Motors • Open or closed loop • With or without feedback Kinetix LDC Linear Motors (LDC-Cxxxxxxx linear motor shown) Kinetix MPAR Electric Cylinders (MPAR-B3xxxx electric cylinder is shown) www.ab.com IN USA MADE 75500 X XXXX LDC-M0 NO. XXXX CAT. NO. SERIAL A SERIES Kinetix LDL Linear Motors (LDL-xxxxxxxx linear motor shown) Kinetix MPAI Heavy-duty Electric Cylinders (MPAI-B3xxxx heavy-duty electric cylinder is shown) Kinetix MPAS Linear Stages (MPAS-B9xxx ballscrew linear stage is shown) 18 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 1 Typical Communication Configurations Start The Kinetix 5300 drives support any Ethernet topology including linear, ring, and star by using ControlLogix or CompactLogix controllers. These examples feature the CompactLogix 5380 programmable automation controllers (Bulletin 5069) that are part of the Logix 5000 family of controllers. The applications range from standalone systems to more complex systems with devices that are connected to the controller via an EtherNet/IP™ network. See CompactLogix 5380, Compact GuardLogix 5380, and CompactLogix 5480 Controller Specifications Technical Data, publication 5069-TD002, for more information on CompactLogix 5380 controllers. Linear Topology In this example, all devices are connected in linear topology. The Kinetix 5300 drives include dual-port connectivity, however, if any device becomes disconnected, all devices downstream of that device lose communication. Devices without dual ports must include the 1783-ETAP module or be connected at the end of the line. Figure 5 - Kinetix 5300 Linear Communication Installation CompactLogix Controller Programming Network Studio 5000 Logix Designer Application CompactLogix 5380 Controller Kinetix 5300 Servo Drive System 1585J-M8CBJM-x Ethernet (shielded) Cable 1585J-M8CBJM-OM15 0.15 m (6 in.) Ethernet cable for drive-to-drive connections. 2 2 2 2 1 1 1 1 10 10 10 10 1 U 1 U U 1 U V V V W W W MFB MBRK MBRK MBRK MBRK MFB 1 V W MFB MFB 842E-CM Integrated Motion Encoder PanelView™ 5310 Display Terminal 1734-AENTR POINT I/O™ EtherNet/IP Adapter Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 19 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 CompactLogix controller). DLR is an ODVA standard. For more information, see the EtherNet/IP Embedded Switch Technology Application Guide, publication ENET-AP005. Devices without dual ports require a 1783-ETAP module to complete the network ring. Figure 6 - Kinetix 5300 Ring Communication Installation CompactLogix Controller Programming Network CompactLogix 5380 Controller Studio 5000 Logix Designer Application PanelView 5310 Display Terminal 002 1734-AENTR POINT I O Module Status Network Activity 1585J-M8CBJM-x Ethernet (shielded) Cable Network Status Link 1 Activity/ Status Point Bus Status System Power Field Power 1734-AENTR POINT I/O EtherNet/IP Adapter Link 2 Activity/ Status Kinetix 5300 Servo Drive System 1585J-M8CBJM-OM15 0.15 m (6 in.) Ethernet cable for drive-to-drive connections. 2 2 1 1 1 1 1 1 1 1 U 10 U 10 U 10 U V V V V W W W W MFB MBRK MBRK MBRK MBRK MFB 20 2 2 10 842E-CM Integrated Motion Encoder MFB MFB Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 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 5300 drives have dual ports, but in star topology all drives are connected to the switch, so the drives and other devices operate independently. The loss of one device does not impact the operation of other devices. Figure 7 - Kinetix 5300 Star Communication Installation CompactLogix Controller Programming Network Studio 5000 Logix Designer Application CompactLogix 5380 Controller 1585J-M8CBJM-x Ethernet (shielded) Cable 1783-BMS Stratix® 5700 Switch 842E-CM Integrated Motion Encoder Kinetix 5300 Servo Drive System 2 2 2 1 1 1 1 1 1 10 U 10 U U V V W W MBRK MBRK MBRK MFB 10 V W MFB MFB PanelView 5310 Display Terminal 1734-AENTR POINT I/O EtherNet/IP Adapter You can use the 842E-CM integrated motion encoder for applications that require an external encoder for gearing or camming to the Kinetix 5300 drive. By providing auxiliary feedback directly through the EtherNet/IP network, the 842E-CM encoder helps eliminate the need for point-to-point wiring while letting customers use the encoder in various network topologies. For more information, see the 842E-CM Integrated Motion on EtherNet/IP Product Profile, publication 842ECM-PP001. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 21 Chapter 1 Start Safe Torque Off Configuration The 2198-Cxxxx-ERS drives use the Safe Torque Off (STO) connector for wiring external safety devices and cascading hardwired safety connections from one drive to another. Figure 8 - Safe Torque Off (hardwired) Configuration Any Logix 5000 Controller with Motion EtherNet/IP Capability (CompactLogix 5380 controller is shown) DC+ SH DC+ SH DC+ DC+ SH Studio 5000 Logix Designer Application SH 2198-Cxxxx-ERS Servo Drives (top view) Allen-Bradley 1606-XL L2 L3 24+ 24- 24+ 24- 24+ 24- L1 L1 L1 L2 L3 L2 L3 L2 L1 24+ 24- 1606-XLxxx 24V DC Control, Digital Inputs, and Motor Brake Power (customer-supplied) L3 1585J-M8CBJM-x Ethernet (shielded) Cable SB+ SB+ SB+ SB+ SB- SB- SB- SB- S1 S1 S1 S1 SC SC SC SC S2 S2 S2 S2 Safe Torque Off (STO) Connectors Safety Device Powe r S u p p l y 2198-Cxxxx-ERS Servo Drives (front view) Input AC Input Power 2 2 2 2 1 1 1 1 10 10 10 10 Digital Inputs to Sensors and Control String 1 Logix5585 TM DC INPUT U 1 U AC OUTPUT MFB U 1 U V V V W W W MFB MBRK MBRK MBRK MBRK DC INPUT 1 V W MFB MFB SAFETY ON 0000 RUN FORCE SD OK NET LINK ControlLogix 5570 Controllers or GuardLogix 5570 Safety Controllers ControlLogix 5580 Controllers or GuardLogix 5580 Safety Controllers CompactLogix 5370 Controllers or Compact GuardLogix 5370 Safety Controllers CompactLogix 5380 or 5480 Controllers or Compact GuardLogix 5380 Safety Controllers 22 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Kinetix TLP Compact Motors Chapter 1 Catalog Number Explanation Kinetix 5300 drive catalog numbers and performance descriptions. Table 3 - Kinetix 5300 Servo Drives Continuous Output Power kW Continuous Output Current A (rms) Peak Output Current A (rms) 1 0.22 0.46 0.72 2.8 6.6 9.5 9.5 2198-C1007-ERS 1 0.36 0.76 1.18 4.6 9.7 15.5 15.5 2198-C1015-ERS 2 0.67 1.41 2.18 8.5 12.2 20.5 29.2 2198-C1020-ERS 2 0.97 2.02 3.13 12.2 25.0 40.6 40.6 2198-C2030-ERS 2 5.02 19.6 61.0 2198-C2055-ERS 3 10.30 40.2 108.0 2198-C2075-ERS 3 12.22 47.7 127.5 2198-C4004-ERS 1 0.86 1.6 5.3 2198-C4007-ERS 1 1.55 2.9 9.3 2198-C4015-ERS 2 2.78 5.2 18.0 2198-C4020-ERS 2 3.90 7.3 23.8 2198-C4030-ERS 2 6.25 11.7 34.1 2198-C4055-ERS 3 12.08 22.6 58.5 2198-C4075-ERS 3 14.70 27.5 73.5 Drive Cat. No. Frame Size 2198-C1004-ERS Start Input Voltage 85…132V rms single-phase 170…253V rms single-phase 170…253V rms three-phase 170…253V rms three-phase 342…528V rms three-phase Table 4 - Shared-bus Connector Kit Catalog Numbers Kit Cat. No. 2198-TCON-24VDCIN36 Frame Size 1, 2, or 3 2198-H040-P-T 1 or 2 2198-H070-P-T 3 Description Control power input connector • Control power T-connector • Busbar connectors, quantity 2 • Control power T-connector • Busbar connectors, quantity 2 Table 5 - Kinetix 5300 Servo Drive Accessories Cat. No. 2198-K53CK-D15M 2198-CONKIT-PWR20 2198-CONKIT-PWR30 2198-CONKIT-PWR75 Description 15-pin motor-feedback connector kit. Connector set included with the Frame 1 and 2 drives (except 2198-C2030 drives). Replacement sets are also available. Connector set included with 2198-C2030 drives. Replacement sets are also available. Connector set included with Frame 3 drives. Replacement sets are also available. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 23 Chapter 1 Start Agency Compliance If this product is installed within the European Union and has the CE marking, or within the United Kingdom and has the UKCA marking, the following regulations apply. ATTENTION: The method of grounding the AC line filter and drive must match. Failure to make these grounding methods match renders the filter ineffective and can cause damage to the filter. For grounding examples, refer to Determine the Input Power Configuration on page 67. For more information on electrical noise reduction, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001. To comply with EN/IEC 61800-3 (category C3) and EN/IEC 61800-5-2, these requirements apply: • Install an AC line filter (catalog numbers 2198-DBR20-F, 2198-DBR40-F, or 2198-DB08-F) with 50 mm (1.97 in.) minimum clearance between the drive and filter. Minimize the cable length as much as possible. • Bond drive and line filter grounding screws by using a braided ground strap as shown in Figure 36 on page 69. • Use Kinetix 2090 motor power cables or use connector kits and connect the cable shields to the subpanel with the clamp that is provided. • Use Kinetix 2090 motor feedback cables or use connector kits and properly connect the feedback cable shield. • Drive-to-motor cables must not exceed 50 m (164 ft), depending on AC input power and feedback type. For specifications, see Maximum Cable Lengths on page 80. • Install the Kinetix 5300 system inside an enclosure. Run input power wiring in conduit (grounded to the enclosure) outside of the enclosure. • Separate signal and power cables. Separate input power wiring and motor power cables from control wiring and motor feedback cables. Use shielded cable for power wiring and provide a grounded 360° clamp termination. See Appendix A on page 163 for input power wiring and drive/motor interconnect diagrams. 24 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 2 Plan the Kinetix 5300 Drive System Installation This chapter describes system installation guidelines that are used in preparation for mounting your Kinetix® 5300 drive components. Topic System Design Guidelines Electrical Noise Reduction Page 25 34 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 designing your enclosure and planning to mount your system components on the panel. For online product selection and system configuration tools, including AutoCAD (DXF) drawings of the product, see https://www.rockwellautomation.com/en-us/support/product/product-selectionconfiguration.html. System Mounting Requirements • • • • To comply with UL, CE, and UK certifications, the following requirements must be met: - The Kinetix 5300 drive systems must be enclosed in a grounded conductive enclosure. - The enclosure must offer protection as defined in standard EN/IEC 60529 to a protection class of IP20 or higher such that the Kinetix 5300 drive systems are not accessible to an operator or unskilled person. A NEMA 4X enclosure exceeds these requirements, providing a protection class of IP66. To maintain the functional safety rating of the Kinetix 5300 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 that you install inside the enclosure for mounting your system components must be on a flat, rigid, vertical surface that is not subjected to shock or vibration. The panel installation surface must also not be exposed to moisture, oil mist, dust, or corrosive vapors in accordance with pollution degree 2 (EN/IEC 61800-5-1), because the product is rated to protection class IP20 (EN/IEC 60529). To comply with UL applications, cabinet ventilation is allowed on the left side and right side of the panel. Size the drive enclosure so as not to exceed the maximum ambient temperature rating. Consider the heat dissipation specifications for all drive components. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 25 Chapter 2 Plan the Kinetix 5300 Drive System Installation • Drive-to-motor cables must not exceed 50 m (164 ft), depending on input voltage and feedback type. For specifications, refer to Maximum Cable Lengths on page 80. IMPORTANT • System performance was tested at these cable length specifications. These limitations also apply when meeting CE and UK requirements. Use high-frequency (HF) bonding techniques to connect the modules, enclosure, machine frame, and motor housing, and to provide a low-impedance return path for high-frequency (HF) energy and reduce electrical noise. Bond drive and line filter grounding screws by using a braided ground strap as shown in Figure 36 on page 69. See the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001, to better understand the concept of electrical noise reduction. AC Line Filter Selection An AC line filter is required to meet CE and UK requirements. Install an AC line filter with 50 mm (1.97 in.) minimum clearance between the drive and filter. Minimize the cable length as much as possible. Table 6 - AC Line Filter Selection Drive Cat. No. 2198-C1004-ERS 2198-C1007-ERS Frame Size AC Line Filter Cat. No. 1 2198-DB08-F 2198-C1015-ERS 2198-C1020-ERS 2 2198-DBR20-F 2198-C2030-ERS 2198-C2055-ERS 2198-C2075-ERS 2198-C4004-ERS 2198-C4007-ERS 3 1 2198-DB08-F 2198-C4015-ERS 2198-C4020-ERS 2 2198-C4030-ERS 2198-C4055-ERS 2198-C4075-ERS 26 2198-DBR40-F 2198-DBR20-F 3 2198-DBR40-F Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 2 Plan the Kinetix 5300 Drive System Installation Transformer Selection The servo drive does not require an isolation transformer for three-phase input power. However, a transformer can be required to match the voltage requirements of the drive to the available service. To size a transformer for the main AC power inputs, refer to the Kinetix 5300 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 drive. IMPORTANT Use a form factor of 1.5 for three-phase power (where a form factor is used to compensate for transformer, drive module, and motor losses, and to account for utilization in the intermittent operating area of the torque speed curve). Follow these guidelines when specifying the use of line reactors: • For single-phase drives up to 138V line-to-line or line-to-neutral, a line reactor must be used if the source transformer is greater than 15 kVA, maximum and 3% impedance, minimum. • For single-phase drives 170V…253V line-to-neutral or three-phase drives 170V…253V line-to-line, a line reactor must be used if the source transformer is greater than 75 kVA, maximum and 3% impedance, minimum. • For three-phase drives 342V…528V line-to-line, a line reactor must be used if the source transformer is greater than 150 kVA, maximum and 3% impedance, minimum EXAMPLE Sizing a transformer to the power requirements of the drive: 2198-C2030-ERS = 5.02 kW x 1.5 = 7.53 KVA transformer (minimum) 2198-C4015-ERS = 2.78 kW x 1.5 = 4.17 KVA transformer (minimum) See Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003, for Kinetix 5300 drive specifications, including power ratings. Circuit Breaker/Fuse Selection The Kinetix 5300 drives use internal solid-state motor short-circuit protection and, when protected by suitable branch circuit protection, are rated for use on a circuit capable of delivering up to 200,000 A (fuses, UL applications), 10,000 A (miniature circuit breakers), and 65,000 A (molded-case circuit breakers). For the wiring diagram, refer to Power Wiring Examples on page 164. 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. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 27 Chapter 2 Plan the Kinetix 5300 Drive System Installation Table 7 - Kinetix 5300 UL/CSA Circuit Protection Specifications Drive Cat. No. AC Input Voltage, Phase Nom Bussmann Fuses Cat. No. Molded Case CB Cat. No. 2198-C1004-ERS KTK-R-6 140U-D6D3-B40 and 140UT-D7D3-B40 2198-C1007-ERS KTK-R-10 140U-D6D3-B80 and 140UT-D7D3-B80 2198-C1015-ERS KTK-R-15 140U-D6D3-C12 and 140UT-D7D3-C12 2198-C1020-ERS KTK-R-25 140U-D6D3-C20 and 140UT-D7D3-C20 2198-C2030-ERS 200…240V AC KTK-R-30 140U-D6D3-C30 and 140UT-D7D3-C30 2198-C2055-ERS LPJ-50SP 140G-G6C3-C50 2198-C2075-ERS LPJ-60SP 140G-G6C3-C60 KTK-R-3 140U-D6D3-B20 and 140UT-D7D3-B20 2198-C4007-ERS KTK-R-6 140U-D6D3-B40 and 140UT-D7D3-B40 2198-C4015-ERS KTK-R-12 140U-D6D3-B80 and 140UT-D7D3-B80 KTK-R-15 140U-D6D3-C12 and 140UT-D7D3-C12 Three phase 2198-C4004-ERS 2198-C4020-ERS 380…480V AC 2198-C4030-ERS KTK-R-25 140U-D6D3-C15 and 140UT-D7D3-C15 2198-C4055-ERS LPJ-30SP 140U-D6D3-C30 and 140UT-D7D3-C30 2198-C4075-ERS LPJ-35SP 140U-D6D3-C30 and 140UT-D7D3-C30 2198-C1004-ERS KTK-R-6 140U-D6D2-B40 and 140UT-D7D2-B40 KTK-R-10 140U-D6D2-B80 and 140UT-D7D2-B80 KTK-R-15 140U-D6D2-C12 and 140UT-D7D2-C12 KTK-R-25 140U-D6D2-C20 and 140UT-D7D2-C20 KTK-R-6 140U-D6D2-B40 and 140UT-D7D2-B40 2198-C1007-ERS 2198-C1015-ERS 100…120V AC 2198-C1020-ERS Single-phase 2198-C1004-ERS 2198-C1007-ERS 2198-C1015-ERS 200…240V AC 2198-C1020-ERS KTK-R-10 140U-D6D2-B80 and 140UT-D7D2-B80 KTK-R-15 140U-D6D2-C12 and 140UT-D7D2-C12 KTK-R-25 140U-D6D2-C20 and 140UT-D7D2-C20 Table 8 - Kinetix 5300 IEC (non-UL/CSA) Circuit Protection Specifications DIN gG Fuses Amps, max Miniature CB Cat. No. Molded Case CB Cat. No. 2198-C1004-ERS 6 1489-M3C060 140U-D6D3-B40 and 140UT-D7D3-B40 2198-C1007-ERS 10 1489-M3C100 140U-D6D3-B80 and 140UT-D7D3-B80 2198-C1015-ERS 16 1489-M3C160 140U-D6D3-C12 and 140UT-D7D3-C12 25 1489-M3C250 140U-D6D3-C20 and 140UT-D7D3-C20 2198-C2030-ERS 32 1489-M3C400 140U-D6D3-C30 and 140UT-D7D3-C30 2198-C2055-ERS 40 — 140G-G6C3-C50 Drive Cat. No. 2198-C1020-ERS AC Input Voltage, Phase Nom 200…240V AC 2198-C2075-ERS Three phase 2198-C4004-ERS 2198-C4007-ERS 2198-C4015-ERS 2198-C4020-ERS 380…480V AC 2198-C4030-ERS 50 — 140G-G6C3-C60 2 1489-M3C030 140U-D6D3-B20 and 140UT-D7D3-B20 6 1489-M3C060 140U-D6D3-B40 and 140UT-D7D3-B40 12 1489-M3C100 140U-D6D3-B80 and 140UT-D7D3-B80 16 1489-M3C130 140U-D6D3-C12 and 140UT-D7D3-C12 25 1489-M3C200 140U-D6D3-C15 and 140UT-D7D3-C15 2198-C4055-ERS 32 1489-M3C350 140U-D6D3-C30 and 140UT-D7D3-C30 2198-C4075-ERS 32 1489-M3C400 140U-D6D3-C30 and 140UT-D7D3-C30 6 1489-M2C060 140U-D6D2-B40 and 140UT-D7D2-B40 2198-C1004-ERS 2198-C1007-ERS 2198-C1015-ERS 2198-C1020-ERS 28 100…120V AC or 200…240V AC Single-phase 10 1489-M2C100 140U-D6D2-B80 and 140UT-D7D2-B80 16 1489-M2C160 140U-D6D2-C12 and 140UT-D7D2-C12 25 1489-M2C250 140U-D6D2-C20 and 140UT-D7D2-C20 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 2 Plan the Kinetix 5300 Drive System Installation 24V Control Power Evaluation The Kinetix 5300 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 5300 drives, a thorough evaluation of control power is required before 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 5300 drive system. To determine the 24V current requirements, see Control Power on page 57. For systems with a high 24V current demand, consider installing a separate 24V power supply for each drive to more evenly divide the 24V current demand. • Verify that the wiring being used is capable of supplying the Kinetix 5300 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 5300 drive system as possible to minimize input voltage drop. • - Install larger gauge wire, up to 2.5 mm2 (14 AWG) for 24V control power when using the connector plugs 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. For best practices of twisting 24V wires and routing cleanly, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001. IMPORTANT The 24V current demand, wire gauge, and wire length all impact the voltage drop across the wiring being used. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 29 Chapter 2 Plan the Kinetix 5300 Drive System Installation Passive Shunt Considerations The Kinetix 5300 drives include an internal shunt that is wired to the shunt resistor connector at the factory. Bulletin 2097-Rx and 2198-Rxxxx external passive shunts are also available to provide additional shunt capacity for applications where the internal shunt capacity is exceeded. IMPORTANT Keep the internal shunt connected unless you have an external passive shunt to connect. Table 9 - Passive-shunt Options Drive Cat. No. 2198-C1004-ERS 2198-C1007-ERS 2198-C1015-ERS 2198-C1020-ERS 2198-C2030-ERS 2198-C2055-ERS 2198-C2075-ERS 2198-C4004-ERS 2198-C4007-ERS 2198-C4015-ERS 2198-C4020-ERS 2198-C4030-ERS 2198-C4055-ERS 2198-C4075-ERS Internal Shunt Specifications Ω W 100 30 60 50 40 75 100 30 60 50 40 75 Bulletin 2097 External Shunt Module Bulletin 2198 External Shunt Module (1) Cat. No. 2198-R004 — — X X X X X — — X X X X X 2198-R014 — — — — — X X — — — — — X X (1) 2198-R031 — — X X X X X — — X X X X X Cat. No. 2097-R6 X X X X X X X X X X X X X X 2097-R7 X X X X X X X X X X X X X X (1) Shunt resistor selection is based on the needs of your actual hardware configuration. Catalog numbers 2198-R014 and 2198-R031 are composed of resistor coils that are housed inside an enclosure. Catalog numbers 2097-R6, 2097-R7, and 2198-R004 are shunt resistors without an enclosure. Figure 9 - External Passive Shunts 2097-R6, 2097-R7, and 2198-R004 Shunt Resistors 2198-R014 and 2198-R031 Shunt Modules ATTENTION: See Table 10 on page 31 for supported shunt modules. Using an unsupported shunt module can lead to (drive-side) shunt circuitry damage, shunt damage, or drive faults. 30 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 2 Plan the Kinetix 5300 Drive System Installation Table 10 - External Shunt Module Specifications Shunt Module Cat. No. 2097-R6 2097-R7 2198-R004 2198-R014 Resistance Ohms 75 150 33 9.4 Continuous Power W 150 80 400 1400 Weight, Approx kg (lb) 0.3 (0.7) 0.2 (0.4) 1.8 (4.0) 9.1 (20) 2198-R031 33 3100 (1) 16.8 (37) (1) The 2198-R031 shunt is limited to 2000 W when used with 2198-C1015-ERS, 2198-C1020-ERS, 2198-C2030-ERS, 2198-C4015-ERS, 2198-C4020-ERS, 2198-C4030-ERS (frame 2) drives. How the Bulletin 2097-Rx and 2198-Rxxx shunts connect to the Kinetix 5300 drive is explained in External Passive-shunt Resistor Connections on page 93 and illustrated with interconnect diagrams in Shunt Resistor Wiring Example on page 165. Enclosure Selection This example is provided to assist you in sizing an enclosure for your Kinetix 5300 drive system. You need heat dissipation data from all components that are planned for your enclosure to calculate the enclosure size (refer to Table 11 on page 32). IMPORTANT To comply with UL requirements, the minimum cabinet size must be 508 mm (20.0 in.), height; 406 mm (16.0 in.), width; and 300 mm (11.8 in.) depth. 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 A= 0.38Q 1.8T - 1.1 A= 4.08Q T - 1.1 Where T is the temperature difference between inside Where T is the temperature difference between inside air and outside ambient (°C), Q is heat that is generated air and outside ambient (°F), Q is heat that is generated in enclosure (Watts), and A is enclosure surface area in enclosure (Watts), and A is enclosure surface area (m2). The exterior surface of all six sides of an enclosure (ft2). The exterior surface of all six sides of an enclosure is calculated as follows: is calculated as follows: A = 2dw + 2dh + 2wh A = (2dw + 2dh + 2wh) /144 Where d (depth), w (width), and h (height) are in meters. If the maximum ambient rating of the Kinetix 5300 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 the 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. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 31 Chapter 2 Plan the Kinetix 5300 Drive System Installation Because the minimum cabinet depth to house the Kinetix 5300 system (selected for this example) is 300 mm (11.8 in.), the cabinet must be approximately 1500 x 700 x 300 mm (59.0 x 27.6 x 11.8 in.) H x W x D. 1.5 x (0.300 x 0.70) + 1.5 x (0.300 x 2.0) + 1.5 x (0.70 x 2.0) = 3.31 m2 Because this cabinet size is considerably larger than what is necessary to house the system components, it can 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 11 - Power Dissipation Specifications Kinetix 5300 Drive Cat. No. 2198-C1004-ERS 2198-C1007-ERS 2198-C1015-ERS 2198-C1020-ERS 2198-C2030-ERS 2198-C2055-ERS 2198-C2075-ERS 2198-C4004-ERS 2198-C4007-ERS 2198-C4015-ERS 2198-C4020-ERS 2198-C4030-ERS 2198-C4055-ERS 2198-C4075-ERS 2198-C1004-ERS 2198-C1007-ERS 2198-C1015-ERS 2198-C1020-ERS 2198-C1004-ERS 2198-C1007-ERS 2198-C1015-ERS 2198-C1020-ERS (1) 32 Usage as a % of Rated Power Output (1) (watts) 20% 40% 12 16 14 19 26 36 200…240V 35 52 three-phase 53 87 87 139 97 159 16 21 20 30 33 48 380…480V 58 three-phase 39 57 89 112 171 134 204 11 14 12 17 100…120V single-phase 23 32 30 44 12 16 14 19 200…240V single-phase 25 36 35 52 AC Input, Nom 60% 20 24 47 71 124 193 225 26 39 62 79 123 231 273 18 21 42 59 20 24 47 72 Internal shunt power is not included in the calculations and must be added based on utilization. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 80% 25 30 59 91 164 250 293 31 48 78 101 157 293 344 22 27 53 77 25 30 59 92 100% 29 37 71 112 206 308 364 36 58 93 124 193 356 417 26 32 64 96 30 37 72 115 Chapter 2 Plan the Kinetix 5300 Drive System Installation Minimum Clearance Requirements This section provides information to assist you in sizing your cabinet and positioning your Kinetix 5300 drive: • Additional clearance is required for cables and wires or the 24V DC shared-bus connection system that is connected to the top of the drive. • Additional clearance is required if other devices are installed above and/or below the drive and have clearance requirements of their own. • Additional clearance left and right of the drive is required when mounted next to noise sensitive equipment or clean wireways. Figure 10 - Minimum Clearance Requirements 40 mm (1.57 in.) clearance above drive for airflow and installation. Kinetix 5300 Servo Drive 2 1 Clearance to the left of the drive is not required. Clearance to the right of the drive is not required. 10 1 U V W MBRK See the Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003, for Kinetix 5300 drive dimensions. 40 mm (1.57 in.) clearance below drive for airflow and installation. IMPORTANT Mount the drive in an upright position as shown to provide proper airflow. In 24V shared-bus configurations (optional), drives must be spaced 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 drive and filter, or between filters when multiple filters are used. Minimize the cable length as much as possible. Figure 11 - 24V Shared-bus and Line Filter Clearance Requirements Wire Connection (1) Minimize Cable Length from Filter to Drive Terminals Zero-stack Tab and Cutout Aligned 50 mm (1.97 in.) 50 mm (1.97 in.) 50 mm (1.97 in.) 50 mm (1.97 in.) 2 2 2 1 1 1 10 10 10 1 U 1 U U V V W W MFB The 24V shared-bus system is not shown for clarity. MBRK MBRK MBRK MFB 1 V W MFB Wire Connection (1) Terminals (1) The clearance that is required at the terminals for NEC specified bend radius depends on the wire size that is used. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 33 Chapter 2 Plan the Kinetix 5300 Drive System Installation Electrical Noise Reduction This section outlines best practices that minimize the possibility of noise-related failures as they apply specifically to Kinetix 5300 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 power rail and the subpanel, surfaces must 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 power rail 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 high-frequency energy can affect the operation of other microprocessor-controlled equipment. These illustrations show details of recommended bonding practices for painted panels, enclosures, and mounting brackets. Figure 12 - 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 the panel and use star washers. Star Washer Flat Washer Nut Flat Washer Star Washer 34 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-UM005E-EN-P - September 2024 Chapter 2 Plan the Kinetix 5300 Drive System Installation HF Bond for Multiple Subpanels Bonding multiple subpanels creates a common low impedance exit path for the highfrequency 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 13 - Multiple Subpanels and Cabinet Recommendations Wire Braid 25.4 mm (1.0 in.) by 6.35 mm (0.25 in.) Cabinet ground bus that is bonded to the subpanel. Paint removed from cabinet. Wire Braid 25.4 mm (1.0 in.) by 6.35 mm (0.25 in.) Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 35 Chapter 2 Plan the Kinetix 5300 Drive System Installation Establish Noise Zones Observe these guidelines when routing cables used for Kinetix 5300 drives: • The clean zone (C) is right of the drive system and includes the feedback cables, digital inputs wiring, and Ethernet cable (gray wireway). • The dirty zone (D) is above and below the drive system (black wireways) and includes the circuit breakers, 24V DC power supply, safety, and motor power cables. • The very dirty zone (VD) is limited to where the AC line (EMC) filter VAC output jumpers over to the drive (or the first drive when two or more drives are zero-stacked together). Shielded cable is required only if the very dirty cables enter a wireway. Keep filter wiring as short as possible. Figure 14 - Noise Zones Clean Wireway Dirty Wireway D D (1) D Very Dirty Filter/AC Input Connections Segregated (not in wireway) VD 24V DC Power Supply Circuit Protection C (1) 24V Input Hardwired Safety Cable AC Line Filter (can be required for CE and UK) 50 mm (1.97 in.) Ethernet Cable (shielded) 2 1 I/O Cable 10 1 U V W Kinetix 5300 Servo Drive (1) MBRK MFB Feedback Cable C D Route single motor cables in shielded cable. Motor Power Cables Route registration and communication signals in shielded cables. (1) When space to the right of the drive does not permit 150 mm (6.0 in.) separation, use a grounded steel shield instead. For examples, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001. 36 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 2 Plan the Kinetix 5300 Drive System Installation Cable Categories for Kinetix 5300 Systems These tables indicate the zoning requirements of cables connecting to the Kinetix 5300 drive components. Table 12 - Kinetix 5300 Drive Zone Wire/Cable Connector Function L1, L2, L3 (shielded cable) AC input power L1, L2, L3 (unshielded cable) DC+/SH (shunt) Shunt resistor Method Very Dirty Dirty Clean Ferrite Sleeve Shielded Cable — X — — X X — — — — — X — — — X — — X X — U, V, W Motor power Motor feedback (15-pin) Motor feedback (MFD) Motor brake Motor brake Control power (24V DC) Power for control logic, Safe Torque Off, and motor holding brake. — X — — — Safety enable for Safe Torque Off Safe Torque Off (STO) — X — — — Registration input — — X — X Other dedicated digital inputs — X — — — Auxiliary feedback — — X — X PORT1 PORT2 — — X — X Digital I/O Ethernet — X — X X Noise Reduction Guidelines for Drive Accessories Use this section when mounting an AC (EMC) line filter or external passive-shunt resistor, for guidelines that are designed to reduce system failures caused by excessive electrical noise. AC Line Filters See Figure 14 on page 36 for an example. Observe these guidelines when mounting your AC (EMC) line filter: • Mount the AC line filter on the same panel as the Kinetix 5300 drive with 50 mm (1.97 in.) minimum clearance between the drive and filter. Minimize the cable length as much as possible. • Good HF bonding to the panel is critical. For painted panels, refer to the examples on Figure 12 on page 34. • Separate input and output wiring as far as possible. IMPORTANT CE and UK test certification applies to only the AC line filter used with a single drive. Multiple drives sharing a line filter can perform satisfactorily, but the customer takes legal responsibility. See System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001, for more information. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 37 Chapter 2 Plan the Kinetix 5300 Drive System Installation External Passive Shunt Resistor Observe these guidelines when mounting your Bulletin 2097 or Bulletin 2198 external passive-shunt resistor outside of the enclosure: • Mount the shunt resistor and wiring in the very dirty zone or in an external shielded enclosure. • Mount the resistors in a shielded and ventilated enclosure outside of the cabinet. • Keep unshielded wiring as short as possible. Keep the shunt wiring as flat to the cabinet as possible. Figure 15 - External Shunt Resistor Outside the Enclosure Customer-supplied Metal Enclosure 150 mm (6.0 in.) clearance (min) on all four sides of the shunt resistor. Shunt Power Wiring Methods: Twisted-pair in conduit (first choice). Twisted-pair, two twists per foot (min) (second choice). Dirty Wireway D Metal Conduit (where required by local code) Clean Wireway Enclosure D D C Very Dirty Connections Segregated (not in wireway) VD 24V DC Power Supply VD Hardwired Safety Cable Ethernet Cable (shielded) Circuit Protection AC Line Filter (required for CE and UK) 50 mm (1.97 in.) 2 1 I/O Cable 10 1 U V W No sensitive equipment within 150 mm (6.0 in.). MBRK MFB Kinetix 5300 Servo Drive Motor Feedback Cable C D Route single motor cables in shielded cable. 38 D Motor Power Cables Route registration and communication signals in shielded cables. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 2 Plan the Kinetix 5300 Drive System Installation When mounting your Bulletin 2097 or Bulletin 2198 passive-shunt resistor inside the enclosure, follow these additional guidelines: • Mount metal-clad modules anywhere in the dirty zone, but as close to the Kinetix 5300 drive as possible. • Route shunt power wires with other very dirty wires. • Keep unshielded wiring as short as possible. Keep the shunt wiring as flat to the cabinet as possible. • Separate shunt power cables from other sensitive, low voltage signal cables. Figure 16 - External Shunt Resistor Inside the Enclosure Dirty Wireway Clean Wireway Enclosure D D D Shunt Power Wiring Methods: Twisted-pair in conduit (first choice). Twisted-pair, two twists per foot (min) (second choice). 150 mm (6.0 in.) clearance (min) on all four sides of the shunt resistor. Very Dirty Connections Segregated (not in wireway) VD C 24V DC Power Supply Hardwired Safety Cable Circuit Protection Ethernet Cable (shielded) AC Line Filter (required for CE and UK) 50 mm (1.97 in.) 2 1 I/O Cable 10 1 U No sensitive equipment within 150 mm (6.0 in.). V W MBRK MFB Motor Feedback Cable C D Motor Power Cable Route single motor cables in shielded cable. D Route registration and communication signals in shielded cables. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 39 Chapter 2 Plan the Kinetix 5300 Drive System Installation Notes: 40 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 3 Mount the Kinetix 5300 Drive System This chapter provides the system installation procedures for mounting your Kinetix® 5300 drives to the system panel. Topic Determine Mounting Order Drill-hole Patterns Mount Your Kinetix 5300 Drive Page 42 44 50 This procedure assumes you have prepared your panel and understand how to bond your system. For installation instructions regarding equipment and accessories that are 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 5300 drives 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-UM005E-EN-P - September 2024 41 Chapter 3 Mount the Kinetix 5300 Drive System Determine Mounting Order When drives are mounted by using the zero-stack feature, they must be mounted from left to right in descending frame-size order. For the drives to engage properly (when multiple frame sizes exist in the drive system) frame 3 drives must mount left of frame 1 or 2 drives, and frame 2 drives must mount left of frame 1 drives. Zero-stack Tab and Cutout Engaging the zero-stack tab and cutout from drive-to-drive makes efficient use of panel space for installations with multiple drives. IMPORTANT Engaging the zero-stack tab and cutout from drive-to-drive is required for 24V DC shared-bus drive configurations. This requirement is needed to make sure that the drive connectors are spaced properly to accept the busbars and T-connectors. Figure 17 - Zero-stack Tab and Cutout Example Zero-stack Tab and Cutout Engaged 2198-Cxxxx-ERS Drives (front view) IMPORTANT 2 2 1 1 Mount drives in descending order, left to right, according to frame size. Figure 18 - Drive Mounting Order Example 2198-Cxxxx-ERS Drive System (front view) 2 2 2 2 2 1 1 1 1 1 10 1 1 1 1 U 1 U 10 V W MFB U 10 MFB U 10 U V V V W W W MBRK MBRK 10 V W MBRK MFB MBRK MBRK MFB Frame 1 Drives Frame 3 Drive 42 Frame 2 Drives Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 3 Mount the Kinetix 5300 Drive System Shared-bus Connection System The shared-bus connection system is used to extend 24V control input from drive-to-drive in shared-bus configurations. IMPORTANT When the shared-bus connection system is used, the zero-stack tab and cutout must be engaged between adjacent drives. The connection system is composed of three components: • Input wiring connectors that plug into the leftmost drive and receive input wiring for 24V DC. • 24V DC T-connectors that plug into the drives downstream from the first drive where 24V control power is shared. • Busbars that connect between drives to extend the 24V DC control power from drive-todrive. Figure 19 - Connection System Example Busbar Connectors (1) (frame 1 and 2 busbars are shown) From 24V DC Supply Control Power Wiring Connector Control Power T-connectors Zero-stack Tab and Cutout Engaged 2198-Cxxxx-ERS Drive System (top view) Frame 2 drives are shown. (1) Due to the extra width of frame 3 drives, busbar connectors between frame 3 drives are slightly longer than connectors between frame 3, frame 2, and frame 1 drives. The three components assemble from left to right across the drive system. 1. Attach wiring to input wiring connectors. 2. Insert input wiring connectors and T-connectors into the appropriate drive connectors. 3. Insert busbars to connect between wiring connectors and T-connectors. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 43 Chapter 3 Mount the Kinetix 5300 Drive System Drill-hole Patterns Hole patterns for drives that are mounted in zero-stack or shared-bus configuration are provided for mounting your drives to the panel. • Frame 1 drives can be followed by only another frame 1 drive. • Frame 2 drives can be followed by frame 1 drives or another frame 2 drive. • Frame 3 drives can be followed by frame 1, frame 2, or another frame 3 drive. The hole patterns in the following figure apply to standalone drives. Figure 20 - Frame 1, Frame 2, and Frame 3 Standalone Hole Patterns Frame 1 Standalone Drive 4.51 8x ØM4 (#8-32) 273.70 243.84 193.68 Frame 3 Standalone Drive Frame 2 Standalone Drive 34.00 5.00 0 0 0 Hole spacing is measured in millimeters and not converted to inches to avoid errors due to rounding. 0 0 0 44 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 52.50 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 2 1 Frame Size 0 Frame 2 243.84 Frame 1 193.68 Dimension A B A B 0 B A Axis 1 Axis 1 4.51 0 5.00 0 B 16x ØM4 (#8-32) A Axis 2 50.0 A Axis 4 Axis 2 54.51 50.0 60.0 55.0 B Axis 3 104.51 100.0 115.0 110.0 50.0 B Axis 4 154.51 150.0 170.0 165.0 Hole spacing is measured in millimeters and not converted to inches to avoid errors due to rounding. A Axis 3 Axis 5 204.51 200.0 225.0 220.0 B A Axis 5 Axis 6 254.51 250.0 280.0 275.0 B A Axis 6 Axis 7 304.51 300.0 335.0 330.0 B A Axis 8 354.51 350.0 390.0 385.0 Axis 7 B A Axis 8 Chapter 3 Mount the Kinetix 5300 Drive System The hole patterns in the following figure apply when all drives in the system are frame 1 or frame 2. There are 50 mm between mounting holes (A-to-A and B-to-B). Figure 21 - Frame 1 and Frame 2 Hole Patterns 45 Chapter 3 Mount the Kinetix 5300 Drive System The following hole pattern applies when transitioning from frame 2 drives to frame 1 drives. To mount additional frame 1 drives to the right of Axis 2 in this figure, refer to the frame 1 hole pattern in Figure 22. Figure 22 - Frame 2 to Frame 1 Hole Pattern Axis 1 (frame 2) Axis 2 (frame 1) 243.83 243.84 5.00 57.00 Hole spacing is measured in millimeters and not converted to inches to avoid errors due to rounding. 50.15 0 0 46 4x ØM4 (#8-32) 52.50 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 0 273.70 0 34.00 Axis 1 52.50 85.20 32x ØM4 (#8-32) 119.20 Axis 2 137.70 170.40 85.20 222.90 204.40 Axis 3 374.80 Axis 5 255.60 308.10 340.80 393.30 85.20 478.50 460.0 Axis 6 426.0 Hole spacing is measured in millimeters and not converted to inches to avoid errors due to rounding. 85.20 289.60 Axis 4 511.20 563.70 545.20 Axis 7 596.40 648.90 630.40 Axis 8 Chapter 3 Mount the Kinetix 5300 Drive System The following hole pattern applies when all drives in the system are frame 3 drives. There are 85.20 mm between mounting holes, as shown. Figure 23 - Frame 3 Hole Pattern 47 Chapter 3 Mount the Kinetix 5300 Drive System The following hole pattern applies when transitioning from frame 3 drives to frame 1 drives. To mount additional frame 1 drives to the right of Axis 2 in this figure, refer to the frame 1 hole pattern in Figure 21. Figure 24 - Frame 3 to Frame 1 Hole Pattern Axis 1 (frame 3) Axis 2 (frame 1) 273.70 272.23 34.00 97.20 Hole spacing is measured in millimeters and not converted to inches to avoid errors due to rounding. 78.55 0 0 48 6x ØM4 (#8-32) 52.50 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 92.70 Chapter 3 Mount the Kinetix 5300 Drive System This hole pattern applies when transitioning from frame 3 drives to frame 2 drives. To mount additional frame 2 drives to the right of Axis 2 in this figure, refer to the frame 2 hole pattern in Figure 21. Figure 25 - Frame 3 to Frame 2 Hole Pattern Axis 1 (frame 3) Axis 2 (frame 2) 273.70 6x ØM4 (#8-32) 272.24 34.00 100.00 Hole spacing is measured in millimeters and not converted to inches to avoid errors due to rounding. 28.40 0 0 52.50 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 95.00 49 Chapter 3 Mount the Kinetix 5300 Drive System Mount Your Kinetix 5300 Drive This procedure assumes 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. Follow these steps to mount your Kinetix 5300 drives to the panel. 1. Lay out the hole pattern for each Kinetix 5300 drive in the enclosure. For panel layout recommendations, see Establish Noise Zones on page 36. IMPORTANT To improve the bond between the Kinetix 5300 drive and subpanel, construct your subpanel out of zinc-plated (paint-free) steel. 2. Drill holes in the panel for mounting your drive system. Hole patterns, by frame size, are shown in Drill-hole Patterns on page 44. 3. Loosely attach the mounting hardware to the panel. The recommended mounting hardware is M4 (#8-32) steel bolts. Observe bonding techniques as described in HF Bond for Modules on page 34. 4. Attach the leftmost drive to the cabinet panel. 1 2 Kinetix 5300 Servo Drives (frame 1 drives shown) Top Screws (bottom screws not shown) Zero-stack Tab and Cutout Engaged 5. Attach additional drives (if any) just to the right of the previous drive by using the same method, but also making sure that the zero-stack tabs and cutouts are engaged. Zero-stack mounting is required based on configuration, refer to the Zero-stack Tab and Cutout Example on page 42. 6. Tighten all mounting fasteners. Apply 2.0 N•m (17.7 lb•in) maximum torque to each fastener. 50 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 4 Connector Data and Feature Descriptions This chapter illustrates drive connectors and indicators, including connector pinouts, and provides descriptions for Kinetix® 5300 drive features. Topic Kinetix 5300 Connector Data Understand Control Signal Specifications Feedback Specifications Safe Torque Off Safety Features Kinetix 5300 Connector Data Page 51 55 57 64 Use these illustrations to identify the connectors and indicators for the Kinetix 5300 drive modules. Figure 26 - Kinetix 5300 Drive Features and Indicators MOD 2 NET DC+ SH 8 KINETIX 5300 6 5 Kinetix 5300, Top View (2198-C1004-ERS drive is shown) 7 7 15 NEXT Kinetix 5300, Bottom View (frame 2 and 3 drives only) 9 SELECT BACK DANGER Cooling Fan Elec t r ic sh o ck r isk . Power off and wa it 5 min u tes. 1 10 10 U L2 L2 Kinetix 5300 Drive, Front View (2198-C1004-ERS drive is shown) L1 L1 L3 3 L3 11 1 16 U V V W W 2 12 2 1 13 2 1 24+ 24- 4 17 SB+ SBS1 SC MBRK S2 SB+ MFB SBS1 SC S2 Shared-bus 24V Input Wiring Connector 18 1 14 Item 1 2 3 4 5 6 Description Motor cable shield clamp Motor feedback (MFB) connector Digital inputs and auxiliary feedback connector Ethernet (PORT1) RJ45 connector Ethernet (PORT2) RJ45 connector Module and Network status indicators Item 7 8 Description Zero-stack mounting tab/cutout Four-character status display Item 13 14 Description Motor brake connector Ground terminal 9 Navigation pushbuttons 15 Shunt resistor connector 10 11 Link speed status indicators Link/Activity status indicators 16 17 AC input power connector 24V control input power connector 12 Motor power connector 18 Safe Torque Off (STO) connector Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 51 Chapter 4 Connector Data and Feature Descriptions Safe Torque Off Connector Pinout For the hardwired Safe Torque Off (STO) connector pinouts, feature descriptions, and wiring information, see Chapter 9 on page 153. Input Power Connector Pinouts Table 13 - AC Input Power Connector Pin Description Signal Chassis ground L3 L2 L1 Three-phase input power L3 L2 L1 Table 14 - 24V DC Input Power Connector Pin 1 2 Description 24V power supply, customer supplied 24V common Signal 24V+ 24V- Shunt Resistor Connector Pinouts Table 15 - Shunt Resistor Connector Pin – – Description Shunt connections Signal DC+ SH Ethernet Communication Connector Pinout Pin 1 2 3 4 5 6 7 8 52 Description Transmit+ TransmitReceive+ Reserved Reserved ReceiveReserved Reserved Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Signal TD+ TDRD+ – – RD– – 1 8 Chapter 4 Connector Data and Feature Descriptions Digital Inputs and Auxiliary Feedback Connector Pinouts The Kinetix 5300 drive has four configurable digital inputs and seven configurable functions to choose from in the Logix Designer application. Table 16 - Digital Inputs and Auxiliary Feedback Connector Pinouts 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. I/O cable shield termination point. AM Differential Input + BM Differential Input + IM Differential Input + Encoder 5V power output Auxiliary feedback cable shield termination point. Signal IN1 COM IN2 COM SHIELD AUX_AM+ AUX_BM+ AUX_IM+ AUX_EPWR_5V SHIELD Pin 11 12 13 14 15 16 17 18 19 20 Description 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. I/O cable shield termination point. AM Differential Input – BM Differential Input – IM Differential Input – Auxiliary common Auxiliary feedback cable shield termination point. Signal IN3 COM IN4 COM SHIELD AUX_AM– AUX_BM– AUX_IM– AUX_COM SHIELD Although any input can be configured as a registration input, only two can be registration inputs at any one time. Table 17 - Configurable Functions Default Configuration (1) Description Digital input1= Enable Digital input2 = Home Digital input3 = Registration 1 Digital input4 = Registration 2 0 = Unassigned 1 = Enable 2 = Home 3 = Registration 1 4 = Registration 2 5 = Positive overtravel 6 = Negative overtravel (1) Studio 5000 Logix Designer®, version 33 or later, is required to change from the default configuration. Figure 27 - Pin Orientation for Digital Inputs and Auxiliary Feedback Connector 1 11 10 20 Motor Power, Brake, and Feedback Connector Pinouts Table 18 - Motor Power Connector Pin U V W Description Three-phase motor power Signal U V W Chassis ground Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 53 Chapter 4 Connector Data and Feature Descriptions ATTENTION: To avoid damage to the Kinetix 5300 drive, make sure that the motor power signals are wired correctly. For motor power connector wiring examples, refer to Motor Power and Brake Connections on page 78. IMPORTANT Drive-to-motor power cables must not exceed 50 m (164 ft), depending on overall system design. System performance was tested at this cable length. These limitations also apply when meeting CE and UK requirements. Table 19 - Motor Brake Connector Pin 1 2 Description Signal MBRK+ MBRK- Motor brake connections Table 20 - Motor Feedback Connector MFB Pin Signal MTR_SIN+ MTR_AM+ MTR_SIN– MTR_AM– MTR_COS+ MTR_BM+ MTR_COS– MTR_BM– MTR_DATA+ MTR_IM+ MFB Pin Description Signal 9 Reserved – 10 Data differential input/output – IM 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 + AM differential input + Sine differential input– AM differential input– Cosine differential input + BM differential input + Cosine differential input – BM differential input – Data differential input/output + IM 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 Reserved – 8 Hall commutation S3 input MTR_EPWR9V (2) MTR_S3 1 2 3 4 (1) Not applicable unless the 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 28 - Pin Orientation for 15-pin Motor Feedback (MFB) Connector Pin 15 Pin 11 Pin 6 54 Pin 10 Pin 5 Pin 1 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 4 Understand Control Signal Specifications Connector Data and Feature Descriptions This section provides a description of the Kinetix 5300 digital inputs, Ethernet communication, power and relay specifications, encoder feedback specifications, and Safe Torque Off features. Digital Inputs Four digital inputs are available for the machine interface on the digital input connector. Digital inputs require a 24V DC @ 15 mA supply. These digital inputs are sinking inputs that require a sourcing device. A common and cable shield connection is provided on the connector for digital inputs. IMPORTANT To improve registration input EMC performance, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001. Table 21 - Configurable Digital Input Functions Function Enable Home Registration 1 Registration 2 Positive overtravel Negative overtravel Description A 24V DC input is applied to this terminal to move the AxisCipDrive from Start-Inhibited to Stopped State. 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. 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. The positive/negative limit switch (normally closed contact) inputs for each axis require 24V DC (nominal). Table 22 - Digital Input Specifications Attribute Input current (typical) Input ON voltage range (typical) Input OFF voltage, max Digital input type according to IEC 61131-2 External power supply Input protection Registration accuracy Registration repeatability Value 2.5 mA 15…26.4V DC 5V DC 24V DC Type 1 24V DC ±10% PELV Optically isolated, reverse voltage protected ±3 µs 1.0 µs Motor Holding-brake Circuit The motor brake option is a spring-set holding brake that releases when voltage is applied to the brake coil in the motor. A customer-supplied 24V power supply is used to energize the motor brake output through a solid-state relay. The solid-state brake driver circuit provides the following: • Brake current-overload protection • Brake overvoltage protection Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 55 Chapter 4 Connector Data and Feature Descriptions Two connections (MBRK+ and MBRK-) are required for the motor brake output. Connections are rated for 2.25 A @ +24V (refer to Figure 29). Figure 29 - Motor Brake Circuit 24V+ PWR INT PWR Control Board Kinetix 5300 Servo Drive ISP772 24V– IMPORTANT Inductive Energy Clamp MBRK+ (BC-1) MBRK– (BC-2) Motor holding-brake switching frequency must not exceed 15 cycles/min. Control of the solid-state relay to release the motor brake is configurable in the Logix Designer application (see Configure SPM Motor Closed-loop Control Axis Properties on page 117). 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. Follow these steps to control a holding brake using a Motion Servo Off (MSF) command. 1. Wire the mechanical brake according to the appropriate interconnect diagram in Appendix A on page 163. 2. Enter the MechanicalBrakeEngageDelay and MechanicalBrakeReleaseDelay times in the Logix Designer application. See 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). See 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. To engage the brake and disable drive, use the motion instruction Motion Servo Off (MSF). For more information on how the servo motor holding-brake option can be used to help keep a load from falling see Vertical Load and Holding Brake Management Application Technique, publication MOTION-AT003. 56 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 4 Connector Data and Feature Descriptions Control Power The Kinetix 5300 drive requires 24V DC input power for control circuitry. IMPORTANT PELV rated power supplies must be used to energize external safety devices that are connected to the Kinetix 5300 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 23 - Control Power Input Power Specifications Attribute Input voltage Control power AC input current Nom @ 24V DC (1) Inrush, max Frame 1 21.6…26.4V DC Frame 2 Frame 3 400 mA 1.8 A 900 mA 2.4 A 1.7 A 3.0 A (1) Plus motor brake connector (MBRK+) current. Ethernet Communication Specifications The PORT1 and PORT2 (RJ45) Ethernet connectors are provided for communication with the Logix 5000® controller. Attribute Communication Cyclic update period Embedded switch features Auto MDI/MDIX crossover detection/ correction Port-to-port time synchronization variation Cabling Feedback Specifications Value The drive auto-negotiates speed and duplex modes. These modes can be forced through the Logix Designer application. 100BASE-TX, fullduplex is recommended for maximum performance. 1.0 ms, min 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 The Kinetix 5300 drives accept motor feedback of various types on the MFB feedback connector and auxiliary feedback signals from TTL incremental encoders on the digital inputs and auxiliary feedback connector. IMPORTANT Auto configuration in the Logix Designer application of intelligent absolute, high-resolution encoders and incremental encoders is possible with only Allen-Bradley motors. Motor feedback and auxiliary feedback can be used in the following applications: • Motor feedback • Auxiliary feedback and feedback-only axis • Load feedback (dual-loop control) and master feedback applications Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 57 Chapter 4 Connector Data and Feature Descriptions Table 24 - Feedback General Specifications Attribute Motor Feedback Auxiliary Feedback • Nikon (24-bit) serial (Kinetix TLP motors) • Hiperface Generic TTL • Tamagawa (17-bit) serial (Kinetix TL/TLY motors) Incremental • Generic TTL Incremental • Generic Sine/Cosine Incremental 5.10…5.40V 300 mA, max 8.10…9.90V 150 mA, max Single-ended, under 500 Ω = no fault, over 10 kΩ= fault Feedback device support Power supply voltage (MTR_EPWR5V) Power supply current (MTR_EPWR5V) Power supply voltage (MTR_EPWR9V) Power supply current (MTR_EPWR9V) Thermostat Motor Feedback Supported on the MFB Connector The Kinetix 5300 drives accept motor feedback signals from Hiperface, Nikon, Tamagawa, generic SIN/COS incremental, and TTL incremental encoders on the feedback (MFB) connector. Table 25 - Feedback Signals by Device Type 1 2 3 4 Hiperface (Kinetix MP) MTR_SIN+ MTR_SIN– MTR_COS+ MTR_COS– Nikon (Kinetix TLP) – – – – 5 MTR_DATA+ MTR_T+ 6 MTR_ECOM Pin 7 MTR_ECOM (1) Incremental (Kinetix TLY-H) MTR_AM+ MTR_AM– MTR_BM+ MTR_BM– Generic TTL Incremental MTR_AM+ MTR_AM– MTR_BM+ MTR_BM– MTR_SIN+ MTR_SIN– MTR_COS+ MTR_COS– MTR_IM+ MTR_IM+ MTR_IM+ MTR_ECOM MTR_ECOM MTR_ECOM Generic Sine/Cosine – – – – – – – MTR_S3 – MTR_S3 – MTR_S3 – MTR_IM– MTR_IM– MTR_IM– – – – – – MTR_DATA– (TLY-B) MTR_SD– (TL-B) – – – – MTR_S1 MTR_S2 MTR_TS MTR_S1 MTR_S2 MTR_TS MTR_S1 MTR_S2 MTR_EPWR5V MTR_EPWR5V MTR_EPWR5V MTR_EPWR5V MTR_EPWR5V – – – – – 8 9 MTR_EPWR9V – – 10 MTR_DATA– MTR_T– 11 12 13 MTR_TS – – 14 MTR_EPWR5V (1) – 15 Tamagawa (Kinetix TL/TLY-B) – – – – MTR_DATA+ (TLY-B) MTR_SD+ (TL-B) MTR_ECOM (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. Some motors do not support the thermostat signal (MTR_TS) feature because it is not part of the feedback device. 58 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 4 Connector Data and Feature Descriptions Hiperface Feedback Hiperface absolute high-resolution feedback from Kinetix MP motors and actuators and Kinetix LDAT linear thrusters applies to the 15-pin motor feedback connector. Table 26 - 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 comparison between incremental accumulator and serial data performed every 50 ms or less Noise filtering (AM and BM) Incremental position verification Nikon Encoder Feedback Specifications Nikon (24-bit) absolute high-resolution feedback from Kinetix TLP compact motors applies to the 15-pin motor feedback connector. Table 27 - Nikon Encoder Specifications Attribute Value Encoder nonvolatile memory usage Programmed with Kinetix TLP motor data as Allen-Bradley memory format Differential input voltage 1.0…7.0V Data communication 8 Mbps, 21 data bits, no parity Battery type 3.6V, ER14252 or equivalent, 1/2 AA size Tamagawa Encoder Feedback Specifications Tamagawa (17-bit) encoder feedback from Kinetix TL-Axxxx-B and TLY-Axxxx-B servo motors applies to the 15-pin motor feedback connector. Table 28 - Tamagawa Serial Specifications Attribute Value Encoder nonvolatile memory usage Programmed with TL-Axxxx-B and TLY-Axxxx-B motor data as Allen-Bradley memory format. Differential input voltage 1.0…7.0V Data communication 2.5 Mbps, 8 data bits, no parity Battery 3.6V, ER14252 or equivalent, 1/2 AA size Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 59 Chapter 4 Connector Data and Feature Descriptions Generic Sine/Cosine Feedback Generic sine/cosine incremental feedback applies to the 15-pin motor feedback connector. Table 29 - Generic Sine/Cosine Incremental Specifications Attribute Input frequency (MTR_SIN and MTR_COS) Differential input voltage (MTR_SIN and MTR_COS) Value 250 kHz, max Commutation verification Commutation angle verification that is 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, peak to peak See Encoder Phasing Definitions on page 62 for encoder phasing alignment diagrams. Auxiliary Feedback Specifications The Kinetix 5300 drives support TTL incremental feedback devices on the 20-pin digital inputs and auxiliary feedback connector. To use these devices in your application, refer to Configure Feedback-only Axis Properties on page 112. Table 30 - Auxiliary Feedback Signals by Device Type Pin 6 7 8 9 10 16 17 18 19 20 Generic TTL Incremental AUX_AM+ AUX_BM+ AUX_IM+ AUX_EPWR5V SHIELD AUX_AMAUX_BMAUX_IMAUX_COM SHIELD Specifications for the auxiliary feedback channel are identical to the motor feedback channel, except for specifications related to commutation and encoder nonvolatile memory usage programming. 60 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 4 Connector Data and Feature Descriptions Generic TTL Incremental Feedback Generic TTL feedback for load feedback, master feedback, and feedback only axes applies to the motor feedback connector (with halls) and auxiliary feedback connector (without halls). A permanent magnet (PM) motor with an incremental encoder can be controlled without a hall sensor on the Kinetix 5300 drives. For additional information, see the Motor Nameplate Datasheet Entry for Custom Motor Applications Application Technique, publication 2198-AT002 and Knowledgebase article Kinetix 5700 and Kinetix 5300 with PM Motor with Incremental Encoder WITHOUT hall. Table 31 - 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 Commutation angle verification that is 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 Allen-Bradley Bulletin 844D, 847H, and 847T encoders are the preferred encoders for auxiliary feedback connections. Table 32 - Allen-Bradley Auxiliary Feedback Encoders Cat. No. 844D-B5CC1FW 844D-B5CC1CS 844D-B5CC1DR 847H-DN1A-RH01024 847H-DN1A-RH02048 847H-DN1A-RH05000 847T-DN1A-RH01024 847T-DN1A-RH02048 Description HS35, hollow-shaft incremental encoders, rear (through-shaft), 5/8 in., tether, 3/8 in. bolt on a 2.5…4.0 in. diameter, 10-pin connector, 5V DC in, 5V DC DLD out Size 25, incremental encoder, standard square flange, 3/8 in. 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 in. diameter shaft with flat, 4.5…5.5V line driver, TTL (B-Leads-A, CW, Z gated with BN), MS connector, 10-pin See the Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004, for more information on these Allen-Bradley encoders. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 61 Chapter 4 Connector Data and Feature Descriptions Encoder Phasing Definitions For TTL encoders, the drive position increases when A leads B. Clockwise motor rotation is assumed, when observing the shaft. Figure 30 - TTL Encoder Phasing 360° 90° 90° 90° 90° A /A B /B Z /Z For Sin/Cos encoders, for example Hiperface, the drive position increases when Cosine (B) leads Sine (A). Clockwise motor rotation is assumed, when observing the shaft. Figure 31 - Sine/Cosine Encoder Phasing B 62 A 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 that is required for the home-to-marker sequence (and the marker hookup test) to complete. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 4 Connector Data and Feature Descriptions The drive MFB feedback connector uses Hall signals to initialize the commutation angle for permanent magnet motor commutation. Figure 32 - Hall Encoder Phasing V UN V WN V VN S1 S2 S3 300 60 0 120 180 240 300 0 60 Absolute Position Feature The absolute position feature of the drive tracks the position of the motor, within the multiturn retention limits, while the drive is powered off. The absolute position feature is available with only multi-turn encoders. Table 33 - Absolute Position Retention Limits Encoder Type Cat. No. Designator Motor Cat. No. Actuator Cat. No. Retention Limits Turns (rotary) mm (linear) -M MPL-A/Bxxxxx-M MPM-A/Bxxxxx-M MPF-A/Bxxxxx-M MPS-A/Bxxxxx-M MPAR-A/B3xxxx-M MPAI-A/BxxxxxM 2048 (±1024) – -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) – -D TLP-A/Bxxxx-D – TL-Axxxx-B TLY-Axxxx-B – 65,536 (±32,768) – -B – – 960 (37.8) Hiperface Nikon (24-bit) serial with battery backup Tamagawa (17-bit) serial with battery backup Hiperface (magnetic scale) -xDx LDAT-Sxxxxxx-xDx Figure 33 - Absolute Position Limits (measured in turns or revolutions) 65,536 Revolutions 4096 Turns 2048 Turns -32,768 -16,384 -8192 -4096 -2048 -1024 0 +1024 Position at Power Down +2048 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 +4096 +8192 +16,384 +32,768 63 Chapter 4 Connector Data and Feature Descriptions Safe Torque Off Safety Features Kinetix 5300 servo drives have Safe Torque Off (STO) capability and can safely turn off the inverter power transistors in response to a monitored digital input, according to Stop Category 0 behavior. Servo Drives with Hardwired Safety 2198-Cxxxx-ERS (hardwired) servo drives support parallel input terminals for cascading to adjacent drives over duplex wiring. For applications that do not require the STO safety function, you must install jumper wires to bypass the STO feature. See Chapter 9 on page 153 for the STO connector pinout, installation, and wiring information. 64 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 5 Connect the Kinetix 5300 Drive System This chapter provides procedures for wiring your Kinetix® 5300 system components and making cable connections. Topic Basic Wiring Requirements Determine the Input Power Configuration Ground the Drive System Wiring Requirements Wiring Guidelines Wire the Power Connectors Wire the Digital Input Connectors Wire the Motor Power and Brake Connectors Wire the Motor Feedback Connector External Passive-shunt Resistor Connections Ethernet Cable Connections Basic Wiring Requirements Page 65 67 69 71 73 74 76 77 86 93 94 This section contains basic wiring information for the Kinetix 5300 drives. 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 the hazard of electrical shock, perform all mounting and wiring of the Bulletin 2198 drive modules before 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 most applications. National Electrical Code, local electrical codes, special operating temperatures, duty cycles, or system configurations take precedence over the values and methods provided. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 65 Chapter 5 Connect the Kinetix 5300 Drive System Build Your Own Cables IMPORTANT Factory-made cables are designed to minimize EMI and are recommended over hand-built cables to optimize system performance. Follow these guidelines when building your own cables: • Connect the cable shield to the connector shells on both ends of the cable with a complete 360° connection. • Use twisted-pair cable whenever possible. Twist differential signals with each other and twist single-ended signals with the appropriate ground return. When using Kinetix TLP compact motors, see Build Your Own Kinetix TLP Motor Cables Installation Instructions, publication 2090-IN048, to attach motor-side power and feedback connector kits to bulk cable. When using other Allen-Bradley® servo motors and actuators compatible with 2090-CxxM7DF motor cables, see Kinetix 2090 Circular-DIN Connector Kits, Flange Kits, and Crimp Tools Installation Instructions, publication 2090-IN042, to attach motor-side power and feedback connector kits to bulk cable. Also, see Kinetix 5300 Feedback Connector Kit Installation Instructions, publication 2198-IN023, to terminate the flying-lead feedback cable connections. Routing the Power and Signal Cables 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. For examples of routing high and low voltage cables in wireways, refer to Electrical Noise Reduction on page 34. Refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001, for more information. 66 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 5 Determine the Input Power Configuration Connect the Kinetix 5300 Drive System Before wiring input power to your Kinetix 5300 system, you must determine the type of input power within your facility. The drive is designed to operate with only grounded-wye input power. The grounded-wye power configuration lets you ground your single-phase or threephase power at a neutral point. This section contains examples of typical single-phase and three-phase facility input power that is wired to single-phase and three-phase Kinetix 5300 drives. Match your secondary to one of the examples and be certain to include the grounded neutral connection. For Kinetix 5300 drive power specifications, see Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003. For Kinetix 5300 drive interconnect diagrams, see Power Wiring Examples on page 164. Three-phase Input Power This example illustrates grounded three-phase power that is wired to three-phase Kinetix 5300 drives when phase-to-phase voltage is within drive specifications. Figure 34 - Three-phase (230V or 480V) Grounded Power Configuration (wye secondary) DC+ SH Kinetix 5300 Servo Drive (top view) Transformer (wye) Secondary L1 Phase Ground Bonded Cabinet Ground L2 L2 L3 L1 L1 Three-phase Input VAC Three-phase AC Line Filter (can be required for CE and UK) L2 2 1 24+ 24- Transformer L3 L3 Circuit Protection Connect to Ground Stud SB+ SBS1 SC S2 Ground Grid or Power Distribution Ground IMPORTANT Kinetix 5300 drives must use center-grounded wye secondary input power configurations. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 67 Chapter 5 Connect the Kinetix 5300 Drive System Single-phase Input Power These examples illustrate grounded single-phase power that is wired to single-phase Kinetix 5300 drives when phase-to-phase voltage is within drive specifications. You can use any two phases for single-phase input. Figure 35 - Single-phase (120V or 230V) Grounded Power Configuration L1 (Neutral) Bonded Cabinet Ground L2 L1 L1 120V or 230V AC Output L3 2 1 Circuit Protection Connect to Ground Stud SB+ SBS1 SC S2 Ground Grid or Power Distribution Ground ATTENTION: Ungrounded systems do not reference each phase potential to a power distribution ground. This can result in an unknown potential to earth ground. For input power interconnect diagrams, see Power Wiring Examples on page 164. 68 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 L2 Three-phase AC Line Filter (can be required for CE and UK) L2 24+ 24- Transformer Secondary L3 DC+ SH Kinetix 5300 Servo Drive (top view) Chapter 5 Ground the Drive System Connect the Kinetix 5300 Drive System All equipment and components of a machine or process system must have a common earth ground point that is connected to the chassis. A grounded system provides a ground path for protection against electrical shock. Grounding your drives 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 24. Ground the System Subpanel Ground Kinetix 5300 drives to a bonded cabinet ground-bus with a braided ground strap of at least 10 mm2 (0.0155 in2) in cross-sectional area. Keep the braided ground strap as short as possible for optimum bonding. Figure 36 - Connect the Ground Terminal Kinetix 5300 Servo Drive (standalone) 2 2 2 1 1 1 1 1 1 10 U 10 U 10 U V V V W W W MBRK MBRK MBRK MFB Kinetix 5300 Servo Drives (zero-stack) MFB MFB 1 2 Make braided ground straps 4 Item 1 2 3 4 3 with at least 10 mm2 (0.0155 in2) cross-sectional area. Keep straps as short as possible. 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) See the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001, for more information. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 69 Chapter 5 Connect the Kinetix 5300 Drive System Ground Multiple Subpanels In this figure, the chassis ground is extended to multiple subpanels. Figure 37 - 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, see HF Bond for Multiple Subpanels on page 35. 70 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 5 Wiring Requirements Connect the Kinetix 5300 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. For interconnect diagrams, refer to Power Wiring Examples on page 164. IMPORTANT The National Electrical Code and local electrical codes take precedence over the values and methods provided. Table 34 - AC Input Power and Motor Power Wiring Requirements Kinetix 5300 Drive Cat. No. 2198-C1004-ERS 2198-C1007-ERS 2198-C4004-ERS 2198-C4007-ERS 2198-C1015-ERS 2198-C1020-ERS 2198-C4015-ERS 2198-C4020-ERS 2198-C4030-ERS Description Pin L3 L2 L1 AC input power 2198-C2030-ERS 2198-C2055-ERS 2198-C2075-ERS 2198-C4055-ERS 2198-C4075-ERS 2198-C1004-ERS 2198-C1007-ERS 2198-C4004-ERS 2198-C4007-ERS 2198-C1015-ERS 2198-C1020-ERS 2198-C4015-ERS 2198-C4020-ERS 2198-C4030-ERS Connects to Terminals Signal L3 L2 L1 Wire Size mm2 (AWG) Strip Length mm (in.) Torque Value N•m (lb•in) 0.2…2.5 (24…12) 8.0 (0.31) 0.5…0.6 (4.4…5.3) 0.2 … 6.0 (24 … 10) 10.0 (0.39) 0.5 … 0.6 (4.4 … 5.3) (1) 0.75…16 (18…6) 12.0 (0.47) 1.7 … 1.8 (15.0…15.9) 8.0 (0.31) 0.5…0.6 (4.4…5.3) Motor power cable depends on motor/drive combination. Motor power output U V W U V W 0.2…2.5 (2) (24…12) 2198-C2030-ERS 0.2 … 6.0 (2) (24 … 10) 10.0 (0.39) 0.5 … 0.6 (1) (4.4 … 5.3) 2198-C2055-ERS 2198-C2075-ERS 2198-C4055-ERS 2198-C4075-ERS 0.75…16 (2) (18…6) 12.0 (0.47) 1.7 … 1.8 (15.0…15.9) (1) For 10 AWG conductors, use 0.7…0.8 N•m (6.2…7.1 lb•in) of torque. (2) See Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004, for cable specifications and motor/cable pairing. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 71 Chapter 5 Connect the Kinetix 5300 Drive System Table 35 - 24V and Brake Power, Shunt, Safety, and I/O Wiring Requirements Kinetix 5300 Drive Cat. No. Description Pin Connects to Terminals Signal Wire Size mm2 (AWG) Strip Length mm (in.) Torque Value N•m (lb•in) PELV 24V power (1) (single-axis connector) 1 2 24V+ 24V- 0.2…2.5 (24…12) Brake power 1 2 MBRK+ MBRK- Shunt resistor — — ST0-1/6 ST0-2/7 ST0-3/8 ST0-4/9 ST0-5/10 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 DC+ SH SB+ SBS1 SC S2 IN1 COM IN2 COM Shield AUX_AM+ AUX_BM+ AUX_IM+ AUX_EPWR_5V Shield IN3 COM IN4 COM Shield AUX_AMAUX_BMAUX_IMAUX_COM Shield 0.14…1.5 (2) (28…16) 0.2…2.5 (24…12) 8.0 (0.31) 0.5…0.6 (4.4…5.3) 0.2…1.5 (24…16) 10.0 (0.39) — (3) 0.2…1.5 (24…16) 10.0 (0.39) — (3) Safety 2198-Cxxxx-ERS Digital inputs and Auxiliary feedback 7.0 (0.28) 0.5…0.6 (4.4…5.3) 0.22…0.25 (1.9…2.2) (1) The wire size, strip length, and torque specifications that are shown here apply to the single-axis connector that ships with the drive. For the shared-bus connector specifications, refer to Shared-bus 24V Connector Wiring Specifications on page 74. (2) Motor brake wires are part of the Kinetix 2090 motor cable. (3) This connector uses spring tension to hold wires in place. ATTENTION: To avoid personal injury and/or equipment damage, observe the following: • Make sure that 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 unit on and off. • Ground shielded power cables to help prevent potentially high voltages on the shield. 72 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 5 Wiring Guidelines Connect the Kinetix 5300 Drive System Use these guidelines as a reference when wiring the power connectors on your Kinetix 5300 drive. IMPORTANT For connector locations of the Kinetix 5300 drives, refer to Kinetix 5300 Connector Data on page 51. When removing insulation from wires and tightening screws to secure the wires, see the tables in Wiring Requirements on page 71 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 36. Follow these steps when wiring the connectors for your Kinetix 5300 drive. 1. Prepare the wires for attachment to each connector plug by removing insulation equal to the recommended strip length. IMPORTANT Use caution not to nick, cut, or otherwise damage strands as you remove the insulation. 2. Route the cable/wires to your Kinetix 5300 drive. 3. Insert wires into connector plug terminals. See the connector pinout tables in Chapter 2 on page 25 or the interconnect diagrams in Appendix A on page 163. 4. Tighten the connector screws (where applicable). 5. Gently pull on each wire to make sure it does not come out of its terminal; reinsert and/ or tighten any loose wires. 6. Insert the connector plug into the drive connector. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 73 Chapter 5 Connect the Kinetix 5300 Drive System Wire the Power Connectors This section provides examples and guidelines to assist you in making connections to the input power connectors. For an interconnect diagram, refer to Power Wiring Examples on page 164. Wire the 24V Control Power Input Connector The 24V power connector requires 24V DC input for the control circuitry. The single-axis connector plug is included with the drive, shared-bus connector kits are purchased separately. Figure 38 - 24V Connector Wiring Kinetix 5300 Drive Top View 24V Connector Plug 1 2 24V- 24V+ Table 36 - 24V Connector Wiring Specifications Drive Module Cat. No. Pin Signal Recommended Wire Size mm2 (AWG) Strip Length mm (in.) Torque Value N•m (lb•in) 2198-Cxxxx-ERS 1 2 24V+ 24V- 0.2…2.5 (24…12) 7.0 (0.28) 0.22…0.25 (1.9…2.2) Figure 39 - 24V Connector Wiring-Shared Bus V24 V+ 24 24V DC Input Wiring Connector Kinetix 5300 Drives Top View Table 37 - Shared-bus 24V Connector Wiring Specifications 74 Drive Cat. No. Pin Signal Recommended Input Current, Max Wire Size Strip Length A rms mm (in.) 2 (AWG) mm Torque Value N•m (lb•in) 2198-Cxxxx-ERS 1 2 24V+ 24V- 40 1.7…1.8 (15.0…15.9) Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 10 (6) 11.0 (0.43) Chapter 5 Connect the Kinetix 5300 Drive System Wire the Input Power Connector The input power connector requires 110…480V AC, nom (single-phase or three-phase) for AC input power. ATTENTION: Make sure that the input power connections are correct when wiring the connector plug or input wiring connector and that the plug/ connector is fully engaged in the drive connector. Incorrect wiring/polarity or loose wiring can cause damage to equipment. Figure 40 - Input Power Connector Wiring Kinetix 5300 Drive Top View L3 AC Input Power Connector Plug L2 L1 Table 38 - Input Power Connector Wiring Specifications Recommended Wire Size mm2 (AWG) Strip Length mm (in.) Torque Value N•m (lb•in) 0.2…2.5 (24…12) 8.0 (0.31) 0.5…0.6 (4.4…5.3) 2198-C2030-ERS 0.2 … 6.0 (24 … 10) 10.0 (0.39) 0.5 … 0.6 (4.4 … 5.3) (1) 2198-C2055-ERS 2198-C2075-ERS 2198-C4055-ERS 2198-C4075-ERS 0.75…16 (18…6) 12.0 (0.47) 1.7 … 1.8 (15.0…15.9) Kinetix 5300 Drive Cat. No. 2198-C1004-ERS 2198-C1007-ERS 2198-C4004-ERS 2198-C4007-ERS 2198-C1015-ERS 2198-C1020-ERS 2198-C4015-ERS 2198-C4020-ERS 2198-C4030-ERS Pin L3 L2 L1 Signal L3 L2 L1 (1) For 10 AWG conductors, use 0.7…0.8 N•m (6.2…7.1 lb•in) of torque. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 75 Chapter 5 Connect the Kinetix 5300 Drive System Wire the Digital Input Connectors This section provides guidelines to assist you in making digital input connections. Wire the Safe Torque Off Connector For the hardwired Safe Torque Off (STO) connector pinouts, feature descriptions, and wiring information, see Chapter 9 on page 153. Wire the Digital Inputs and Auxiliary Feedback Connector The digital inputs and auxiliary feedback connector uses spring tension to hold wires in place. Figure 41 - Digital Inputs and Auxiliary Feedback Connector Wiring Kinetix 5300 Servo Drive (front view) 2 1 11 1 1 Digital Inputs and Auxiliary Feedback Connector Plug 10 U V W MBRK MFB 20 10 The digital inputs and auxiliary feedback connector plug includes two mounting screws. Torque screws 0.22 N•m (2.0 lb•in). Table 39 - Digital Inputs and Auxiliary Feedback Connector Specifications Drive Cat. No. Pin Signal(1) Recommended Wire Size mm2 (AWG) Strip Length mm (in.) Torque Value N•m (lb•in) 2198-Cxxxx-ERS 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 IN1 COM IN2 COM SHIELD AUX_AM+ AUX_BM+ AUX_IM+ AUX_EPWR_5V SHIELD IN3 COM IN4 COM SHIELD AUX_AMAUX_BMAUX_IMAUX_COM SHIELD 0.2…1.5 (24…16) 10.0 (0.39) — (2) (1) The digital inputs (IN1, IN2, IN3, and IN4) are in Sink mode only. (2) This connector uses spring tension to hold wires in place. 76 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 5 Wire the Motor Power and Brake Connectors Connect the Kinetix 5300 Drive System Motor power and brake connections are made at the motor power and motor brake power connectors on the front of the drive. This section provides examples and guidelines to assist you in making these connections. Figure 42 - Motor Power Connector Wiring Kinetix 5300 Servo Drive (front view) 2 1 U 10 V Motor Power Connector W 1 U U V V W W 2 1 Motor Brake Connector MBRK MFB Motor Power Cable Shield Clamp Table 40 - Motor Power Connector Specifications Connects to Terminals Wire Size mm2 (AWG) Pin Signal Kinetix 5300 Drive Cat. No. 2198-C1004-ERS 2198-C1007-ERS 2198-C4004-ERS 2198-C4007-ERS 2198-C1015-ERS 2198-C1020-ERS 2198-C4015-ERS 2198-C4020-ERS 2198-C4030-ERS Strip Length mm (in.) Torque Value N•m (lb•in) Motor power cable depends on motor/ drive combination. 8.0 (0.31) 0.2…2.5 (1) (24…12) 0.5…0.6 (4.4…5.3) 2198-C2030-ERS 0.2 … 6.0 (2) (24 … 10) 10.0 (0.39) 0.5 … 0.6 (1) (4.4 … 5.3) 2198-C2055-ERS 2198-C2075-ERS 2198-C4055-ERS 2198-C4075-ERS 0.75…16 (2) (18…6) 12.0 (0.47) 1.7 … 1.8 (15.0…15.9) U V W U V W (1) See Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004, for cable specifications. Table 41 - Brake Power Connector Specifications Kinetix 5300 Drive Cat. No. Connects to Terminals Pin Signal Wire Size mm2 (AWG) Strip Length mm (in.) Torque Value N•m (lb•in) 2198-Cxxxx-ERS 1 2 0.14…1.5 (1) (28…16) 7.0 (0.28) 0.22…0.25 (1.9…2.2) MBRK+ MBRK- (1) Motor brake wires are part of the Kinetix 2090 motor cable. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 77 Chapter 5 Connect the Kinetix 5300 Drive System Servo Motor/Actuator and Cable Compatibility Kinetix 5300 drives are compatible with the following Allen-Bradley rotary and linear products: • Kinetix TLP compact motors • Kinetix MP motor family includes: - Kinetix MPL, MPM, MPF, and MPS servo motors • Kinetix TL and TLY servo motors • Kinetix MP linear actuator family includes: - Kinetix MPAS, MPMA, MPAR, and MPAI linear actuators • Kinetix LDAT linear thrusters • Kinetix LDC and Kinetix LDL linear motors IMPORTANT To configure these motors and actuators with your Kinetix 5300 servo drive (see Table 42 and Table 43 on page 79), you must have drive firmware revision 13 or later and Studio 5000 Logix Designer® application, version 33 or later. Motor Power and Brake Connections Most compatible Allen-Bradley motors and actuators have separate power/brake and feedback cables. Some Kinetix TLP and TL motors have separate brake cables too. The motor power/brake cable shield attaches to the cable clamp on the drive and the conductors attach to the motor power and motor brake connector plugs. Table 42 - Kinetix TLP Motor Power/Brake Cable Compatibility Servo Motor Cat. No. Motor Power Cat. No. (1) (with brake wires) Motor Power Cat. No. (1) (without brake wires) Brake Power Cat. No. (1) TLP-A046-xxx, TLP-A70-xxx TLP-A090-xxx, TLP-A100-xxx TLP-A115-xxx, TLP-A145-xxx TLP-A200-200, TLP-A200-300 TLP-A200-350, TLP-A200-450 2090-CTPB-MxDF-xxAxx (standard) or 2090-CTPB-MxDF-xxFxx (continuous-flex) 2090-CTPW-MxDF-xxAxx (standard) or 2090-CTPW-MxDF-xxFxx (continuous-flex) —(2) TLP-A200-550, TLP-A200-750 (3) — 2090-CTPW-MEDF-06Axx (standard) or 2090-CTPW-MEDF-06Fxx (continuous-flex) 2090-CTPB-MBDF-20Axx (standard) or 2090-CTPB-MBDF-20Fxx (continuous-flex) TLP-B070-040 TLP-B090-075 TLP-B115-100, TLP-B115-200 TLP-B145-050, TLP-B145-100 TLP-B145-150, TLP-B145-200 2090-CTPB-MADF-18Axx (standard) or 2090-CTPB-MADF-18Fxx (continuous-flex) 2090-CTPW-MADF-18Axx (standard) or 2090-CTPW-MADF-18Fxx (continuous-flex) 2090-CTPB-MCDF-16Axx (standard) or 2090-CTPB-MCDF-16Fxx (continuous-flex) 2090-CTPW-MCDF-16Axx (standard) or 2090-CTPW-MCDF-16Fxx (continuous-flex) TLP-B145-250 2090-CTPB-MCDF-12Axx (standard) or 2090-CTPB-MCDF-12Fxx (continuous-flex) 2090-CTPB-MDDF-12Axx (standard) or 2090-CTPB-MDDF-12Fxx (continuous-flex) 2090-CTPB-MDDF-08Axx (standard) or 2090-CTPB-MDDF-08Fxx (continuous-flex) 2090-CTPW-MCDF-12Axx (standard) or 2090-CTPW-MCDF-12Fxx (continuous-flex) 2090-CTPW-MDDF-12Axx (standard) or 2090-CTPW-MDDF-12Fxx (continuous-flex) 2090-CTPW-MDDF-08Axx (standard) or 2090-CTPW-MDDF-08Fxx (continuous-flex) TLP-B200-300, TLP-B200-450 TLP-B200-550, TLP-B200-750 (1) For cable specifications, refer to the Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004. (2) Brake conductors are included in the power cable. (3) These motors have separate brake connectors and brake cables. All other motors have brake wires that are included with the power connectors. 78 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 —(2) Chapter 5 Connect the Kinetix 5300 Drive System Table 43 - Kinetix MP, LDAT, LDC, and LDL Motor Power Cable Compatibility Motor Power Cat. No. (1) (with brake wires) Motor/Actuator Cat. No. MPL-A/B15xxx-xx7xAA, MPL-A/B2xxx-xx7xAA, MPL-A/B3xxx-xx7xAA, MPL-A/B4xxx-xx7xAA, MPL-A/B45xxx-xx7xAA, MPL-A/B5xxx-xx7xAA, MPL-B6xxx-xx7xAA MPM-A/Bxxxx, MPF-A/Bxxxx, MPS-A/Bxxxx MPAS-A/Bxxxx1-V05SxA, MPAS-A/Bxxxx2-V20SxA MPAI-A/Bxxxx, MPAR-A/B3xxx, MPAR-A/B1xxx and MPAR-A/B2xxx (series B) MPAS-Bxxxxx-ALMx2C LDAT-Sxxxxxx-xDx LDAT-Sxxxxxx-xBx LDC-Cxxxxxx LDL-xxxxxxx Motor Power Cat. No. (1) (without brake wires) 2090-CPBM7DF-xxAAxx (standard) or 2090-CPBM7DF-xxAFxx (continuous-flex) 2090-CPWM7DF-xxAAxx (standard) or 2090-CPWM7DF-xxAFxx (continuous-flex) —(2) (1) For cable specifications, refer to the Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004. (2) These devices do not include a brake option. Table 44 - Kinetix TL and TLY Motor Power/Brake Cable Compatibility Motor/Actuator Cat. No. Motor Power Cat. No. (1) (with brake wires) Motor Power Cat. No. (1) (without brake wires) TLY-Axxxx 2090-CPBM6DF-16AAxx (standard) 2090-CPWM6DF-16AAxx (standard) TL-Axxxx — 2090-DANPT-16Sxx Brake Cat. No. (1) — Brake conductors are included in the power cable. 2090-DANBT-18Sxx (1) For cable specifications, refer to the Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004. See Motor Power Connector Wiring on page 77 for motor power and brake connector specifications. Table 45 - Legacy Motor Power Cables Motor Cable Standard Continuous-flex Description Power/brake, threaded Power-only, bayonet Power/brake, threaded Power-only, threaded Power-only, bayonet Motor Power Cat. No. 2090-XXNPMF-xxSxx 2090-XXNPMP-xxSxx 2090-CPBM4DF-xxAFxx 2090-CPWM4DF-xxAFxx 2090-XXTPMP-xxSxx Table 46 - Induction Motor Power Cable Specifications Cable Manufacturer Belden Lapp Group SAB Cable Series 29505-29507 ÖLFEX VFD XL VFD XLPE TR Voltage Rating Temperature Rating Cable Length, Max 1000V 90 °C (194 °F) Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 50 m (164 ft) 79 Chapter 5 Connect the Kinetix 5300 Drive System Maximum Cable Lengths The maximum drive-to-motor power and feedback cable length depends on the AC input power and feedback type. Table 47 - Maximum Cable Lengths Compatible Motor and Actuator Cat. No. Feedback Type TLP-A/Bxxx-xxx-D MPL-A/B15xxx-V/Ex7xAA MPL-A/B2xxx-V/Ex7xAA MPL-A/B3xxx-S/Mx7xAA MPL-A/B4xxx-S/Mx7xAA MPL-A/B45xxx-S/Mx7xAA MPL-A/B5xxx-S/Mx7xAA MPL-B6xxx-S/Mx7xAA MPM-A/Bxxxx-S/M MPF-A/Bxxxx-S/M MPS-A/Bxxxx-S/M MPAR-A/B3xxxx-M MPAS-A/Bxxxx1-V05SxA (ballscrew) MPAS-A/Bxxxx2-V20SxA (ballscrew) MPAR-A/B1xxxx-V and MPAR-A/B2xxxx-V (series B) MPAI-A/BxxxxxM3 MPL-A/B15xxx-Hx7xAA MPL-A/B2xxx-Hx7xAA MPL-A/B3xxx-Hx7xAA MPL-A/B4xxx-Hx7xAA MPL-A/B45xxx-Hx7xAA MPAS-A/Bxxxx-ALMx2C (direct-drive) TLY-Axxxx-B TL-Axxxx-B TLY-Axxxx-H LDAT-Sxxxxxx-xDx LDAT-Sxxxxxx-xBx LDC-Cxxxxxx-xH, LDL-xxxxxxx-xH Nikon (24-bit) absolute high-resolution, multi-turn and single-turn 80 Cable Length, Max m (ft) ≤ 400V AC Input 480V AC Input 50 (164) 50 (164) 20 (65.6) Hiperface, absolute high-resolution, multi-turn and single-turn 50 (164) Absolute high-resolution, multi-turn 50 (164) 20 (65.6) 30 (98.4) 20 (65.6) Incremental encoder Incremental, magnetic linear 30 (98.4) Tamagawa (17-bit) absolute high-resolution, multi-turn Incremental encoder Hiperface, absolute, magnetic scale Incremental, magnetic scale Sin/Cos or TTL encoder Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 10 (33.1) Chapter 5 Connect the Kinetix 5300 Drive System Cable Preparation for Kinetix TLP Motor Power Cables For 2090-CTPx-MxDF 10…18 AWG motor cables, you must remove the ring lug and strip the insulation back the appropriate length for the ground conductor. For 2090-CTPx-MxDF 6…8 AWG motor cables, you must remove the ring lugs and strip the insulation back the appropriate length for U,V,W, and ground conductors. Figure 43 - 2090-CTPx-MxDF Power/brake Cable Dimensions Remove ground lug. 2090-CTPB-MADF-16xxx 2090-CTPB-MADF-18xxx Remove ground lug. 2090-CTPB-MCDF-16xxx 2090-CTPB-MCDF-12xxx 2090-CTPB-MDDF-12xxx Remove U, V, W, and ground lug. 2090-CTPB-MDDF-08xxx 2090-CTPB-MEDF-06xxx See Motor Power Connector Wiring on page 77 for the appropriate strip length. If you are building your own cables, see Build Your Own Kinetix TLP Motor Cables Installation Instructions, publication 2090-IN048, to attach motor-side power and feedback connector kits to bulk cable. Cable Preparation for 2090-CPxM7DF Motor Power Cables 2090-CPxM7DF cables are available with and without brake conductors. This explanation addresses 2090-CPBM7DF cables with brake conductors. 2090-CPWM7DF cables do not include brake conductors. Motor Power/Brake Cable Series Change Motor power and brake conductors on 2090-CPBM7DF (series A) cables have the following dimensions from the factory. Figure 44 - 2090-CPBM7DF (series A) Power/brake Cable Dimensions 102 (4.0) Dimensions are in mm (in.) Edge of Heat Shrink Power Conductors 150 (5.9) Kinetix MP Motors and Actuators Brake Conductors Overall Cable Shield Brake Shield (remove) 635 (25) Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 81 Chapter 5 Connect the Kinetix 5300 Drive System Motor power and brake conductors on 2090-CPBM7DF (12 AWG and 10 AWG) series B standard (non-flex) cables provide drive-end shield braid and conductor preparation that is modified for compatibility with multiple Kinetix servo drive families, including Kinetix 5300 drives. Figure 45 - 2090-CPBM7DF (series B, 10 AWG 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) 12.7 (0.50) Power Conductors 5.0 (0.20) Kinetix MP Motors and Actuators Brake Conductors Overall Cable Shield Heat Shrink 5.0 (0.20) 8.0 (0.31) Cable Preparation for 2090-CPBM7DF (16, 14, 8, and 6 AWG) Series A Cables The 2090-CPBM7DF (16 AWG, 14 AWG, 8 AWG, and 6 AWG) power conductor length, 102 mm (4.0 in.), is sufficiently long to reach the motor power connector plug and provide adequate stress relief. The brake conductor length, 635 mm (25 in.), is much longer than necessary. We recommend that you measure 163 mm (6.4 in.) from the edge of the cable jacket (that is covered by heat shrink) and trim off the rest. See Figure 48 on page 85 for a typical installation example. For strip lengths and torque values, refer to Table 40 on page 77. Cable Preparation for 2090-CPBM7DF (12 AWG and 10 AWG) Series B Cables 2090-CPBM7DF (12 AWG and 10 AWG) series B cables are designed for use with Kinetix 5300 drives and do not require any modifications. For frame 2 drives, the 12 AWG cable is compatible with all frame 2 drives, however, the 10 AWG cable is compatible with only the 2198-C2030-ERS drive. Frame 3 drives are compatible with 12 AWG and 10 AWG cable. Cable Preparation for 2090-CPBM7DF (12 AWG and 10 AWG) Series A Cables These guidelines apply to existing Kinetix drive installations that are upgrading with Kinetix 5300 drives. For 2090-CPBM7DF (12 AWG and 10 AWG) series A cables to terminate properly with Kinetix 5300 drives, the overall length of the cable preparation area must be increased. This increase is required for the motor power conductors to reach the motor power connector and also provide a proper service loop. 82 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 5 Connect the Kinetix 5300 Drive System Follow these steps to prepare your existing 12 AWG and 10 AWG (series A) cables. 1. Remove a total of 325 mm (12.8 in.) of cable jacket from your existing cable. Once this length of cable jacket is removed, additional cable shield is exposed. 2. Remove all but 63.5 mm (2.5 in.) of the shield. 3. Cover 12.5 mm (0.5 in.) of the shield ends and an equal length of the conductors with 25 mm (1 in.) of electrical tape or heat shrink. Do the same on the other side of the cable shield. This step keeps the shield ends from fraying and holds the conductors together. 4. Cut the brake conductors back to 163 mm (6.4 in.) and trim the shield braid at the base of the jacket. The shield braid that covers the brake conductors is not needed. 5. Remove the specified length of insulation from the end of each wire. Figure 46 - Power/brake Cable (12 AWG and 10 AWG) 325 (12.8) Dimensions are in mm (in.) 262 (10.3) See Table 40 on page 77 for strip lengths and torque values. Electrical Tape or Heat Shrink Motor Conductors Brake 25.0 (1.0) Conductors (1) 155 (6.1) 51.0 (2.0) 7.0 (0.28) 221 (8.7) 284 (11.2) (1) The overall shield braid covering the brake conductors can be removed. See Figure 48 on page 85 for a typical installation example. For strip lengths and torque values, refer to Table 40 on page 77. Cable Preparation for Kinetix TL and TLY Motor Power Cables 2090-CPBM6DF motor power cables, used with Kinetix TLY motors, require no preparation. However, 2090-DANPT-16Sxx power cables, used with Kinetix TL motors, have a short pigtail cable that connects to the motor, but is not shielded. The preferred method for grounding the Kinetix TL power cable on the motor side is to expose a section of the cable shield and clamp it directly to the machine frame. The motor power cable also has a 150 mm (6 in.) shield termination wire with a ring lug that connects to the closest earth ground. The termination wire can be extended to the full length of the motor pigtail if necessary, but it is best to connect the supplied wire directly to ground without lengthening. IMPORTANT For Kinetix TL motors, connect the 150 mm (6.0 in.) termination wire to the closest earth ground. Figure 47 - 2090-DANPT-16Sxx Cable Preparation Motor Power Cable Cable Braid Clamped (1) to Machine Frame Connectors Pigtail Cable Kinetix TL Motor Machine Frame (1) 150 mm (6.0 in.) Termination (1) (1) Remove paint from machine frame to provide HF-bond between machine frame, motor case, shield clamp, and ground stud. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 83 Chapter 5 Connect the Kinetix 5300 Drive System Apply the Motor Power/brake Shield Clamp The power/brake cable shield attaches to the drive cable clamp. A clamp spacer is included with the connector set included with the drive, for cable diameters that are too small for a tight fit within the drive clamp alone. SHOCK HAZARD: To avoid the hazard of electrical shock, make sure that shielded power cables are grounded according to recommendations. Follow these steps to apply the motor power/brake shield clamp. 1. Position the motor power cable shield within the shield clamp. If the cable is too small in diameter to fit tight in the standard shield clamp, add the clamp spacer. Skip to step 4 for frame 3 drives with large cable diameters. 2. Make sure that the cable clamp tightens around the cable shield and provides a highfrequency bond between the cable shield and the drive chassis. IMPORTANT Loosen the screw, if needed, until you can start threading both clamp screws with the cable shield under the clamp. 3. Tighten each screw, a few turns at a time, until the maximum torque value of 2 N•m (17.7 lb•in) is achieved. 4. For frame 3 drives only, if the cable is too large to fit within the standard shield clamp, substitute the standard clamp for the frame 3 clamping plate. 5. Apply two tie wraps around the cable shield and clamping plate (see Figure 48 on page 85 for example) to provide a high-frequency bond between the cable shield and the drive chassis. IMPORTANT If the power/brake cable shield has a loose fit inside the shield clamp, insert the clamp spacer between the shield clamp and the drive to reduce the clamp diameter. When the clamp screws are tight, 2.0 N•m (17.7 lb•in), the result must be a high-frequency bond between the cable shield and the drive chassis. If the frame 3 cable is too large to fit within the standard shield clamp, substitute the standard clamp for the frame 3 clamping plate. Apply two tie wraps around the cable shield and plate to provide a high-frequency bond between the cable shield and the drive chassis. See Figure 48 on page 85 for a cable-clamp attachment illustration. 84 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 5 Connect the Kinetix 5300 Drive System Figure 48 - Cable Clamp Attachment 2 2 1 1 10 1 2 1 10 U 1 Service Loops 1 10 U V U V V W W MBRK MBRK W MBRK MFB MFB MFB Frame 1 Servo Drive Frame 2 Servo Drive Standard Shield Clamp Compressed Around Shield (no spacer required) Frame 3 Servo Drive Standard Shield Clamp (frame sizes 1 and 2) Frame 1 and 2 Servo Drives Clamp Spacer Added (small diameter cable) Clamp Spacer (if needed) (1) Shield Clamp Clamp Screws 2.0 N•m (17.7 lb•in) Insert the clamp spacer when the cable diameter is smaller than the drive clamp alone. Standard Shield Clamp (frame 3) Clamping Plate for Large (2) Diameter Cables (applies to Frame 3 only) Substitute the Frame 3 clamping plate when the cable diameter is too large for the standard shield clamp. Frame 3 Servo Drives Apply tie wraps to achieve high-frequency bond with clamp. Clamp Spacer (1) (if needed) (1) The clamp spacer is included in 2198-CONKIT-PWRxx connector sets with frame 1, 2, and 3 drives. (2) The clamping plate is included in only the 2198-CONKIT-PWR75 connector set with frame 3 drives. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 85 Chapter 5 Connect the Kinetix 5300 Drive System Wire the Motor Feedback Connector Motor feedback connections are made at the motor feedback (MFB) 15-pin connector on the front of the drive. This section provides examples and guidelines to assist you in making these connections. Included are wiring examples for motor encoders that require battery backup. All current and legacy feedback cables that are listed in the following table are compatible with the 2198-K53CK-D15M connector kit. Table 48 - Motor Feedback Cable Compatibility Motor/Actuator Cat. No. MPL-A/B15xxx-V/Ex7xAA, MPL-A/B2xxx-V/Ex7xAA MPL-A/B3xxx-S/Mx7xAA, MPL-A/B4xxx-S/Mx7xAA MPL-A/B45xxx-S/Mx7xAA, MPL-A/B5xxx-S/Mx7xAA MPL-B6xxx-S/Mx7xAA, MPL-B8xxx-S/Mx7xAA, MPL-B9xxx-S/Mx7xAA MPM-A/Bxxxx-S/M MPF-A/Bxxxx-S/M MPS-A/Bxxxx-S/M MPAR-A/B1xxxx-V and MPAR-A/B2xxxx-V (series B) MPAR-A/B3xxxx-M MPAI-A/BxxxxxM3 MPAS-A/Bxxxx1-V05SxA (ballscrew) MPAS-A/Bxxxx2-V20SxA (ballscrew) LDAT-Sxxxxxx-xDx MPL-A/B15xxx-Hx7xAA MPL-A/B2xxx-Hx7xAA MPL-A/B3xxx-Hx7xAA MPL-A/B4xxx-Hx7xAA MPL-A/B45xxx-Hx7xAA MPAS-A/Bxxxx-ALMx2C (direct-drive) LDAT-Sxxxxxx-xBx LDC-Cxxxxxx-xH LDL-xxxxxxx-xH Feedback Cable Cat. No. 2090-CFBM7DF-CEAAxx 2090-CFBM7DD-CEAAxx 2090-CFBM7DF-CERAxx (standard) or 2090-CFBM7DF-CEAFxx 2090-CFBM7DD-CEAFxx 2090-CFBM7DF-CDAFxx (continuous-flex) 2090-XXNFMF-Sxx (standard) or 2090-CFBM7DF-CDAFxx (continuous-flex) 2090-CTFB-MADD-CFAxx (standard) or 2090-CTFB-MADD-CFFxx (continuous-flex) (standard) or TLP-A/B115-xxx, TLP-A/B145-xxx, TLP-A/B200-xxx, TLP-A/B235-xxx 2090-CTFB-MFDD-CFAxx 2090-CTFB-MFDD-CFFxx (continuous-flex) TLY-Axxxx-B 2090-CFBM6DF-CBAAxx (standard) 2090-CFBM6DD-CCAAxx (standard) TLY-Axxxx-H TLP-A046-xxx, TLP-A/B070-xxx, TLP-A/B090-xxx, TLP-A100-xxx TL-Axxxx-B 2090-DANFCT-Sxx (standard) Table 49 - Legacy Motor Feedback Cables Motor Cable Description Encoder feedback, threaded Standard Encoder feedback, bayonet Continuous-flex 86 Encoder feedback, bayonet Encoder feedback, threaded Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Feedback Cable Cat. No. 2090-XXNFMF-Sxx 2090-UXNFBMF-Sxx 2090-UXNFBMP-Sxx 2090-XXNFMP-Sxx 2090-XXTFMP-Sxx 2090-CFBM4DF-CDAFxx Chapter 5 Connect the Kinetix 5300 Drive System Cable Preparation for Kinetix TLP Feedback Cables For Kinetix TLP motors, 2090-CTFB-MxDD feedback cables (with battery box) are available for applications with and without the need for battery backup. • For multi-turn feedback, use 2090-CTFB-MxDD cables with drive-end connector plugs and wire the battery box (included with each Kinetix TLP feedback cable) and install a customer-supplied battery. See Feedback Battery Box Installation Instructions, publication 2198-IN022, for more information. • For single-turn feedback, use 2090-CTFB-MxDD cables with drive-end connector plugs, however, the battery box option is not required. • If you build your own cables, see Build Your Own Kinetix TLP Motor Cables Installation Instructions, publication 2090-IN048, and make flying-lead feedback connections to the 2198-K53CK-D15M connector kit. Figure 49 - Battery Box Wired With Battery Battery Battery backup wires inserted in terminals. Feedback Cable Battery Box (cover removed) Cable Preparation for 2090-CFBM7Dx Feedback Cables 2090-CFBM7DD motor feedback cables, used with Kinetix MP motors and actuators (with Hiperface encoders), also provide a drive-end connector that plugs directly into the 15-pin Kinetix 5300 (MFB) feedback connector. Use the 2198-K53CK-D15M feedback connector kit with 2090-CFBM7DF flying-lead cables. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 87 Chapter 5 Connect the Kinetix 5300 Drive System Cable Preparation for Kinetix TL and TLY Feedback Cables For Kinetix TLY motors, 2090-CFBM6Dx feedback cables are available for applications with and without the need for battery backup. • For multi-turn encoders (TLY-Axxxx-B motors), use the 2198-K53CK-D15M feedback connector kit (with customer-supplied battery) and 2090-CFBM6DF flying-lead cables. • For incremental encoders (TLY-Axxxx-H motors), use 2090-CFBM6DD cables with a drive-end connector and plug directly into the 15-pin (MFB) feedback connector. - If the 2090-CFBM6DF flying-lead cable is preferred, the 2198-K53CK-D15M connector kit (without battery) can also be used. For Kinetix TL-Axxxx-B motors, use 2090-DANFCT-Sxx feedback cables. You must remove the drive-end connector and prepare the leads for terminating at the 2198-K53CK-D15M connector kit. Install a (customer-supplied) battery for multi-turn encoder position backup. Figure 50 - Feedback Connection for Kinetix TL Motors Kinetix 5300 Servo Drive (front view) 2 1 10 1 U V W 2198-K53CK-D15M Feedback Connector Kit (battery backup is optional) 2090-DANFCT-Sxx Motor Feedback Cable (drive-end connector removed) MBRK MFB 2090-DANPT-16Sxx Motor Power Cable Kinetix TL (TL-Axxxx-B) Servo Motors (high-resolution encoder) 88 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 5 Connect the Kinetix 5300 Drive System Motor Feedback Cable Preparation When using the 2198-K53CK-D15M feedback connector kit, you must prepare the Kinetix 2090 flying-lead conductors with the proper strip length. The cable shield requires a high-frequency bond with the ground pad. Follow these steps to prepare feedback cables. 1. Remove 110 mm (4.3 in.) of cable jacket and 97 mm (3.8 in.) of cable shield. IMPORTANT This length of wire is needed for the longest wires that are terminated at each 8-pin connector. However, most wires are trimmed shorter, depending on the terminal they are assigned to. 2. Determine the length for each wire and trim as necessary. 3. Remove 5 mm (0.2 in.) of insulation from the end of each wire. Dimensions are in mm (in.) 5.0 (0.2) Cable Shield Cable Jacket 97 (3.8) 12.0 (0.5) 110 (4.3) Apply the Connector Kit Shield Clamp Follow these steps to apply the connector kit shield clamp. 1. To achieve a high-frequency bond, position the 12 mm (0.5 in.) of exposed cable shield over the ground pad. IMPORTANT Cable preparation and positioning that provides a highfrequency bond between the shield braid and clamp 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. 2. Place the shield clamp over the cable shield and install the clamp screws. Apply 0.34 N•m (3 lb•in) torque to each screw. Shield Clamp 2 1 -- Cable is positioned where the cover clamps onto the cable jacket. 3. Route and insert each wire to its assigned terminal, apply 0.22 N•m (1.9 lb•in) to 0.25 N•m (2.2 lb•in) maximum torque to each screw. See the connector pinout as shown in Figure 51 on page 92. 4. Attach the tie wrap (customer-supplied) through the slots and around the cable shield for stress relief and to create a high-frequency bond between shield and ground pad. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 89 Chapter 5 Connect the Kinetix 5300 Drive System Kinetix 2090 Feedback Cable Pinouts The following tables provide motor connector pinouts and wire colors to the 2198-K53CK-D15M connector kit. Table 50 - 2090-CFBM7DF-CEAxxx Feedback Cables Absolute, High-resolution Feedback 1 2 3 4 5 6 9 MPL-B15xxx and MPL-B2xxx-V/Ex4/7xAA MPL-B3xxx…MPL-B9xxx-M/Sx7xAA MPL-A5xxx-M/Sx7xAA MPM-A165xxx…MPM-A215xxx-M/S MPM-Bxxxxx-M/S MPF-Bxxx-M/S MPF-A5xxx-M/S MPS-Bxxx-M/S MPAS-Bxxxxx-VxxSxA MPAR-Bxxxx, MPAI-Bxxxx LDAT-Sxxxxxx-xDx SIN+ SINCOS+ COSDATA+ DATAReserved 10 11 13 Motor/Actuator Pin MPL-A15xxx and MPL-A2xxx-V/Ex4/7xAA MPL-A3xxx-M/Sx7xAA MPL-A4xxx-M/Sx7xAA MPL-A45xxx-M/Sx7xAA MPM-A115xxx…MPM-A130xxx-M/S MPF/MPS-A3xx-M/S MPF/MPS-A4xx-M/S MPF/MPS-A45xx-M/S Wire Color 2198-K53CK-D15M Connector Kit Pin SIN+ SINCOS+ COSDATA+ DATAEPWR_5V Black White/Black Red White/Red Green White/Green Gray 1 2 3 4 5 10 14 ECOM ECOM White/Gray EPWR_9V TS+ Reserved TS+ Orange White/Orange 6 (1) 7 11 MPAS-Axxxxx-VxxSxA MPAR-Axxxx, MPAI-Axxxx (1) The ECOM and TS- connections are tied together and connect to the cable shield. Table 51 - 2090-CTFB-MxDD-CFxxx Feedback Cables A B C D TLP-Axxx-xxx and TLP-Bxxx-xxx 24-bit Absolute, Multi-turn/Single-turn High-resolution T+ T– BAT+ BAT– L Drain — R S ECOM EPWR_5V Blue Brown Motor Pin 90 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Wire Color 2198-K53CK-D15M Connector Kit Pin White White/Red Red Black 5 10 Pin + Pin – 6 14 Chapter 5 Connect the Kinetix 5300 Drive System Table 52 - 2090-XXNFMF-Sxx or 2090-CFBM7DF-CDAxxx Feedback Cables Incremental Feedback Motor/Actuator Pin 1 2 3 4 5 6 9 MPL-A/B15xxx…MPL-A/B2xxx-Hx4/7xAA MPAS-A/Bxxxx-ALMx2C LDAT-Sxxxxxx-xBx LDC-Cxxxxxx-xH, LDL-xxxxxxx-xH Wire Color 2198-K53CK-D15M Connector Kit Pin SIN+ SINCOS+ COSDATA+ DATAEPWR_5V Black White/Black Red White/Red Green White/Green Gray 1 2 3 4 5 10 14 10 ECOM 11 13 15 16 17 EPWR_9V TS+ S1 S2 S3 6 (1) Orange 7 White/Orange 11 White/Blue 12 Yellow 13 White/Yellow 8 White/Gray (1) The ECOM and TS- connections are tied together and connect to the cable shield. Table 53 - 2090-CFBM6DF-CBAAxx Feedback Cables 9 10 11 12 13 14 22 TLY-Axxxx-H Incremental Encoder Feedback AM+ AM– BM+ BM– IM+ IM– EPWR_5V Black White/Black Red White/Red Green White/Green Gray 23 ECOM White/Gray 15 17 19 S1 S2 S3 White/Blue Yellow White/Yellow 24 Drain — Motor Pin Wire Color 2198-K53CK-D15M Connector Kit Pin 1 2 3 4 5 10 14 6 (1) 12 13 8 (1) The ECOM and TS- connections are tied together and connect to the cable shield. Table 54 - 2090-CFBM6DF-CBAAxx Feedback Cables 13 14 22 TLY-Axxxx-B 17-bit Absolute, Multi-turn, High-resolution Feedback DATA+ DATA– EPWR_5V 2198-K53CK-D15M Connector Kit Pin Green 5 White/Green 10 Gray 14 23 ECOM and BAT- White/Gray 6 BAT+ Orange 24 Drain — Motor Pin Wire Color 6 (1) BAT+ (1) BAT- is tied to ECOM (pin 23) in the cable. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 91 Chapter 5 Connect the Kinetix 5300 Drive System Table 55 - 2090-DANFCT-Sxx Feedback Cables 12 13 7 TL-Axxxx-B 17-bit Absolute, Multi-turn, High-resolution Feedback SD+ SD– EPWR_5V 2198-K53CK-D15M Connector Kit Pin Brown 5 White/Brown 10 Gray 14 8 ECOM and BAT- White/Gray 14 BAT+ Orange 9 Drain — Motor Pin Wire Color 6 (1) BAT+ (1) BAT- is tied to ECOM (pin 8) in the cable. Figure 51 - Wire the 2198-K53CK-D15M Feedback Connector Kit Mounting Screw 2198-K53CK-D15M Connector Kit 8-pin Connector (2x) Tie wrap is required to create a high-frequency bond between shield and ground pad, stress relief, and wire management. 15-pin D-sub to Motor Feedback (MFB) Connector 10 11 12 13 14 + 8 7 6 5 4 3 -- 2 1 Exposed shield is aligned over the ground pad and under the shield clamp. Clamp Screws (2) Kinetix 2090 Feedback Cable Shield Clamp For more information on wiring the 2198-K53CK-D15M, see Kinetix 5300 Feedback Connector Kit Installation Instructions, publication 2198-IN023. 92 Terminal 1 2 3 4 5 Signal SIN+ SIN– COS+ COS– DATA+ AM+ AM– BM+ BM– IM+ Wire Color Black White/Black Red White/Red Green 6 7 8 10 11 12 13 14 ECOM (1) EPWR_9V S3 DATA– IM– TS+ S1 S2 EPWR_5V Orange White/Yellow White/Green White/Orange White/Blue Yellow Gray + Battery + — (2) – Battery – — (2) Drain Shield White/Gray (1) The ECOM and TS- connections are tied together and connect to the cable shield. (2) See cable pinouts for wire colors. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 5 External Passive-shunt Resistor Connections Connect the Kinetix 5300 Drive System Passive shunt connections are made at the shunt connector on the top of the drive. Follow these guidelines when wiring your 2097-Rxxx shunt resistor: • For noise zone considerations, refer to External Passive Shunt Resistor on page 38. • See Shunt Resistor Wiring Example on page 165. • See the installation instructions provided with your Bulletin 2097 shunt resistor, publication 2097-IN002. IMPORTANT To improve system performance, run wires and cables in the wireways as established in Chapter 2. Figure 52 - Shunt Connector Wiring Kinetix 5300 Drive Top View Shunt Connector Table 57 - Shunt Resistor Connector Specifications Drive Cat. No. Pin (1) Signal 2198-Cxxxx-ERS — DC+ SH Recommended Wire Size mm2 (AWG) 0.2…2.5 (24…12) Strip Length mm (in.) Torque Value N•m (lb•in) 8.0 (0.31) 0.5…0.6 (4.4…5.3) (1) Pin numbering is not used on the shunt connector. Making shunt connections to the 2-pin connector is arbitrary. IMPORTANT You must unplug the internal shunt connector plug before connecting the external shunt-resistor wires. Use the spare shunt connector plug provided with the drive for the external shunt. ATTENTION: Your internal or external passive shunt requires configuration in the Logix Designer application. Failure to properly configure the shunt can result in reduced performance or shunt resistor damage. For Module Properties > Power category configuration, see Continue Drive Configuration on page 107. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 93 Chapter 5 Connect the Kinetix 5300 Drive System Ethernet Cable Connections This procedure assumes that the Logix 5000® controller and Kinetix 5300 drives are mounted and are ready for you to connect the network cables. The EtherNet/IP™ network is connected by using the PORT 1 and PORT 2 connectors. • To locate the Ethernet connectors on your Kinetix 5300 drive, refer to Figure 26 on page 51. • To locate the connectors on your Logix 5000 controller, refer to Figure 53. Shielded Ethernet cable is required and 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). See the Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004, for more information. Figure 53 - 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 2 00:00:BC:2E:69:F6 Front Views 1 1 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 These Logix 5000 controllers accept linear, ring (DLR), and star network configurations. For linear, ring, and star configuration examples, refer to Typical Communication Configurations on page 19. IMPORTANT 94 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 that switch delays are compensated. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System This chapter provides procedures for configuring your Kinetix® 5300 drive system with a Logix 5000® controller. Topic Understand the Kinetix 5300 Front Panel Configure the Kinetix 5300 Drive Studio 5000 Logix Designer Studio 5000 Logix Designer Configure the Logix 5000 Controller Configure the Kinetix 5300 Drive Modules Configure the Motion Group Configure Vertical Load Control Axis Properties Configure Feedback-only Axis Properties Configure Induction-motor Frequency-control Axis Properties Configure SPM Motor Closed-loop Control Axis Properties Configure Induction-motor Closed-loop Control Axis Properties Configure Feedback Properties Apply Power to the Kinetix 5300 Drive Test and Tune the Axes Page 95 101 102 102 103 106 110 111 112 113 117 122 127 130 131 Before you begin make sure that you know the catalog number for the drive, the Logix 5000 controller, and the servo motor/actuator in your motion control application. Understand the Kinetix 5300 Front Panel The Kinetix 5300 drive has two status indicators, four Ethernet status indicators, and a fourcharacter status display on the front panel as shown Figure 54 on page 96. These status indicators and the display are used to monitor the system status, activity, and indicate faults. The four-character status display has three navigation pushbuttons that are used to select and edit a limited set of information. The home screen provides a scrolling message of basic information, and the menus can be accessed by using the Next, Select, and Back buttons. See Figure 54 for descriptions and functions. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 95 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System Figure 54 - Kinetix 5300 Front Panel Identification 3 KINETIX 5300 1 MOD NET NEXT 2 SELECT 2 BACK 4 5 6 DANGER 1 Electric shock r i s k. Power off and wa i t 5 minutes. 10 7 8 Item Description 1 Module and Network status indicator (1) Function Used to indicate the connectivity of the module and network. 2 3 4 5 Ethernet Ports (RJ45 connector) Four-character status display Next Select 6 Back Used to connect the drive to the Ethernet network. Used to display the editable menu for the Kinetix 5300 drive. Used to advance to the next selection in an editable string. Used to select a menu item for editing. Used to return to the previous editable character in an editable string or to return to the previous menu. 7 Link speed status indicators (1) 8 Link/Activity status indicators (1) Used to indicate network speed status and communication status. (1) For additional information about status indicators and fault codes, refer Interpret Status Indicators on page 135. Menus and Display Screen The alphanumeric four-character status display scrolls messages and menu selections. The display has a nested menu structure that contains a Home screen and displays drive information, settings, and faults. The Home screen scrolls the CIP™ state and IP address during normal operation. When a fault occurs, the active fault code is displayed. Character Identification The status display uses seven-segment characters. Figure 55 represents the alphanumerics that are used for the four-character status display. Four-character Status Display Figure 55 - Status Display Character Code The letters K, M, Q, V, W, and X are not available. 96 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System Navigating the Display Screen You can use the navigation buttons (Next, Select, and Back) to view the menus, access information, and make changes within the display menus. • From the Home screen, press Next to enter the main menu. • Press Select to enter a specific menu. • Press Next to scroll through the main menu and submenu items. • Press Back to return to the previous menu or repeatedly to return to the Home screen. • Press Select when ACCEPT is displayed to apply your changes and return to the submenu. When viewing the four-character status display, the selected option scrolls across the display using the seven-segment characters shown in Figure 55 on page 96. Within the procedures to configure and start up the drive, standard text is used to describe the options. Menu Structure The menu structure of the Kinetix 5300 drive has a main menu and submenus. Table 58 defines the menu structure of the four-character status display. Figure 56 on page 98 shows a graphical representation of how the menus interact. Table 58 - Status Display Menu Structure Main Menu Info (3) IP Settings (4) DHCP HTTP Access Protected Net Protected Unit Factory Reset (1) (2) (3) (4) (5) (6) Submenu Catalog Number Version Bus Voltage IP Address Subnet Gate On DHCP Off DHCP On HTTP Access Off HTTP Access On Protected Net Off Protected Net On Protected Unit Off Protected Unit – Confirmation Select/Next Screen – Default – 192.168.1.1 255.255.255.000 192.168.001.254 Accept Accept Accept Accept Accept Accept Accept Accept IP Address Subnet Gate DHCP On DHCP Off HTTP Access On HTTP Access Off Protected Net On Protected Net Off Protected Unit On Protected Unit Off Accept (6) – Accept (5) ON OFF Description (1)(2) Drive catalog number Firmware revision DC Bus Voltage Value Current IP address Current subnet mask Current gateway Turns DHCP ON Turns DHCP OFF Enables the web server Disables the web server ON When enabled (default), network configuration changes are not possible when a controller connection is open. OFF When enabled (default), the only attribute writes are possible when a controller connection is open. – When selected, resets the drive back to the factory defaults. On/Off menus use dashes (example: -ON-) to indicate which option is active. If any changes are made to the submenus, cycle 24V power for the change to take effect. INFO does not have a confirmation screen, to return to the main menu, press Back until INFO appears. The defaults that are listed only apply if DHCP is turned OFF. If an Error or Fault Code occurs (NET ERR), the previous screen is displayed. If the Factory Reset fails, the main menu is displayed. IMPORTANT Press Select when the ACCEPT confirmation screen is displayed to apply your changes. If the system is left unattended or if ACCEPT is not selected, the system times out and returns the display to the Home screen without saving changes. ATTENTION: Risk of personal harm and equipment damage is possible. Voltage over 50V is present if three-phase power is applied. Disconnect three-phase power and wait 5 minutes before interacting with the drive or removing the 24V plug. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 97 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System Figure 56 - Status Display Screen Flowchart KEYPAD PRESS HOME SCREEN (Scrolling IP Address, CIP State, Fault Codes) INFO DRIVE CATLOG NUMBER CATLOG NO. NEXT SELECT VERSION BACK FIRMWARE REVISION NO ACTION BUS VOLTAGE IP SETTINGS IF ANY CHANGES ARE MADE RESTART NEEDED DC BUS VOLTAGE IP ADDRESS 192.168.001.001 ACCEPT SUBNET 255.255.255.000 ACCEPT GATE 192.168.001.200 ACCEPT RESTART NEEDED -ON- DHCP DHCP ACCEPT OFF DHCP INCREASE THE CHARACTER 0 ----> 9 ACCEPT MOVE BACKWARDS TO THE PREVIOUS CHARACTER RESTART NEEDED HTTP ACCESS PROTECTED NET PROTECTED UNIT FACTORY RESET ON HTTP ACCESS ACCEPT -OFF- HTTP ACCESS ACCEPT -ON- PROTECTED NET ACCEPT OFF PROTECTED NET ACCEPT ON PROTECTED UNIT ACCEPT -OFF- PROTECTED UNIT ACCEPT ACCEPT ERROR FAULTCODE PREVIOUS SCREEN MOVE FORWARD TO THE NEXT CHARACTER RESET RESET FAILED HOME SCREEN View the DC Bus Voltage 1. 2. 3. 4. 5. 98 From the Home screen, press Next to access the main menu. With the INFO screen active, press Select to view to the submenus. Press Next to scroll through the submenu until BUS VOLTAGE is displayed. With BUS VOLTAGE displayed, Press Select to view the current DC Bus Voltage value. To return to the Home Screen, press the Back button until the Home screen appears. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System Change the DHCP Setting DHCP is enabled by default, follow these steps to disable DHCP. 1. From the Home screen, press Next to access the main menu. 2. Press Next to scroll through the submenu until DHCP is displayed. 3. Press Select to choose the DHCP submenu. 4. Press Next to scroll through the DHCP submenu. 5. Press Select to choose ON or OFF. The active selection is displayed with dashes surrounding “ON” or “OFF” (for example, -ON-). 6. When ACCEPT is displayed, press Select to accept the modification and return to the DHCP menu. Cycle 24V power for changes to take effect. Change the IP Settings Follow these steps to update the network settings. 1. From the Home Screen, press Next to access the main menu. 2. Press Next to scroll through the main menu until IP SETTINGS is displayed. 3. Press Select to choose IP SETTINGS. 4. Within the IP SETTINGS menu, press Next to navigate the submenu: IP ADDRESS, SUBNET, or GATE. 5. Press Select to choose the desired network setting. Within the setting, if the character is editable, the character blinks. a. Press Select to increment the active character to the desired number. b. Press Next to move to the next character. c. Press Back t0 move to the previous character. 6. After modifying the last character, press Next. The display now shows ACCEPT. 7. Press Select to accept the modification and return to the IP SETTINGS submenu. If necessary, update all network settings by repeating step 4…step 7 before validating the changes. 8. Press Back to validate the configured network settings. IMPORTANT Net Err is displayed if any of the network settings are incompatible (or Protected Net is set to ON). Review your network settings and make sure they are compatible (or Protected Net is set to OFF). The IP and Gateway addresses must be on the same Subnet. 9. Cycle 24V power to apply the network setting changes. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 99 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System Startup Sequence The screen displays BOOT at startup, followed by 5300. Dot segments are used to represent the start-up progress. After completion of each start-up phase, a new dot lights from left to right. As shown in Figure 57, the display changes progressively from 5.300 to 5.3.0.0. After startup, the drive performs a self-test. The display shows 8.8.8.8 during this process. Next, the device state and the MAC or IP address of the device are scrolled across the display. Figure 57 shows the display screen sequence. Figure 57 - Startup Display Sequence Indicates the display sequence Device states scrolls through display, see Table 59 for details … Scrolling MAC / IP address direction The device state corresponds to the drive being operational. Table 59 lists the device states and their descriptions. Table 59 - Four-character Display Axis and Status Device States Display Digits 8888 00 01 02 03 04 100 Device Condition Executing device self-test Waiting for connection to controller Configuring device attributes Waiting for group synchronization Waiting for DC-bus to charge Device is operational Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 6 Configure the Kinetix 5300 Drive Configure and Start Up the Kinetix 5300 Drive System 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 the Studio 5000 Logix Designer application and use it in your Logix controller application. Set the Network Parameters There are two methods of configuring an IP address. • An address can be assigned to the drive automatically (dynamic IP address) when the drive is connected to a DHCP (Dynamic Host Configuration Protocol) enabled server • You can manually assign an IP address to the drive (static IP address) Dynamic IP Address Allocation When the Kinetix 5300 drive is connected to a network domain with a DHCP enabled server, the IP address of the drive is assigned automatically. To enable automatic assignment, the drive must have its DHCP mode enabled. The default factory setting has DHCP mode enabled. IMPORTANT If a DHCP server has not assigned an IP address to the drive, and the drive has DHCP mode enabled, the main menu scrolls the MAC address of the drive. Static IP Address Allocation When the drive is connected to a network domain without an enabled DHCP server, the IP address of the drive must be assigned manually. To use a manually assigned IP address, the drive DHCP mode must be disabled. See Change the DHCP Setting on page 99 for instruction on how to disable DHCP. Table 60 shows the drive defaults. For additional information on navigating the four-character status display menu structure, see Figure 56 on page 98. Table 60 - Static IP Default Settings Type IP Settings (1) DHCP HTTP Access Protected Net Protected Unit Default IP Address 192.168.1.1 Subnet 255.255.255.000 Gate 192.168.001.001 ON DHCP OFF DHCP ON HTTP ACCESS OFF HTTP ACCESS ON PROTECTED NET OFF PROTECTED NET ON PROTECTED UNIT OFF PROTECTED UNIT ON DHCP OFF HTTP ACCESS ON PROTECTED NET OFF PROTECTED UNIT (1) The defaults that are listed only apply if DHCP is turned OFF. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 101 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System Use the four-character display and menus t0 set the network settings. See Change the IP Settings on page 99 for instructions to update the following: • IP address • Subnet mask • Gateway IMPORTANT • Modified address octets must be within a valid range (0…255). The first digit of every octet has a range of 0…2. Every other digit has a range of 0…9. When a digit is incremented over the upper boundary, the digit resets to 0. • If a modified network setting is invalid, NET ERR is displayed and you must manually revert to the previous network settings. • If a modified network setting is valid, ACCEPT is displayed. Press Select to confirm the new setting. • After you modify and confirm a network setting, press Back to apply the settings. Settings are stored in nonvolatile memory. IP addresses can also be changed through the Module Configuration dialog box in RSLinx® software. Changes to the IP address take effect after the power is cycled. Studio 5000 Logix Designer For help with using the Studio 5000 Logix Designer application as it applies to configuring the ControlLogix® or CompactLogix™ controllers, see Additional Resources on page 10. Version History Each release of the Studio 5000 Logix Designer application makes it possible for the configuration of additional Kinetix motors, actuators, or other drive features not available in previous versions. IMPORTANT To configure additional drive features and/or motors with your Kinetix 5300 servo drive, you must have drive firmware 13.001 or later. Table 61 - Add-On Profile (AOP) Installation Requirement Firmware Drive Catalog Number Drive Revision 2198-Cxxxx-ERS 13.001 or later 102 Logix Designer Application Version 33.00 or later Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Kinetix 5300 AOP Needed? No Chapter 6 Configure and Start Up the Kinetix 5300 Drive System Install the Kinetix 5300 Add-On Profile Download AOPs from the Product Compatibility Download Center (PCDC) website: rok.auto/pcdc. Follow these steps to download the Kinetix 5300 Add-On Profile. 1. Go to the Product Compatibility Download Center. The Compatibility & Downloads webpage appears. 2. Click Download. 3. Enter Kinetix 5300 in the Search PCDC window. 4. Click the appropriate firmware revision and follow prompts to download. 5. Extract the AOP zip file and run Setup. Configure the Logix 5000 Controller These procedures assume that you have wired your Kinetix 5300 drive system. In this example, the GuardLogix® 5580 controller, ControlLogix 1756-ENxT communication module, and CompactLogix 5580 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. IMPORTANT If you are configuring a safety application, you must use a GuardLogix or Compact GuardLogix safety controller. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 103 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System The New Project dialog box appears. In this example, the typical dialog boxes for 1756-ENxT EtherNet/IP communication modules and ControlLogix 5580 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 the Kinetix 5300 drive systems, you must use Studio 5000 Logix Designer, version 33.00 or later. 5. Click Finish. The new controller appears in the Controller Organizer under the I/O Configuration folder. Controller Organizer with ControlLogix 5580 controller. 104 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System 6. Configure the Logix 5000 controller. Your new Logix 5000 controller appears under the I/O Configuration folder in the Controller Organizer. In this example, a ControlLogix 5580 controller with communication module is used. 7. Select your controller. Then, from the Edit menu, choose Controller Properties. The Controller Properties dialog box appears. 8. Click the Date/Time tab. 9. Check Enable Time Synchronization. The motion modules set their clocks to the module that you assign as the Grandmaster. IMPORTANT Check Enable Time Synchronization for all controllers that participate in the CIP Sync™ network. The overall CIP Sync network automatically promotes a Grandmaster clock, unless the priority is set in the Advanced settings. 10. Click OK. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 105 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System Configure the Kinetix 5300 Drive Modules IMPORTANT To configure 2198-Cxxxx-ERS drives, you must be using Studio 5000 Logix Designer, version 33.00 or later. Configure Drive Connections Follow these steps to configure Kinetix 5300 drives. 1. Below the controller you created, right-click Ethernet and choose New Module. The Select Module Type dialog box appears. Enter 2198 here to further limit your search. 2. In the search bar, enter 2198, and select your 2198-Cxxxx-ERS servo drive as appropriate for your actual hardware configuration. 3. Click Create. The New Module dialog box appears. 4. Configure the new drive. a. Type the drive Name. b. Select an Ethernet Address option. In this example, the Private Network address is selected. c. Enter the address of your 2198-Cxxx-ERS drive. In this example, the last octet of the address is 1. 106 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System d. Under Module Definition click Change. Depending on the Module Definition revision selection, alternate product features can be selected. IMPORTANT Changes within the Module Definition dialog box can cause the module data types and properties to change. Data is set to default values unless it can be recovered from the existing module properties. Verify module properties before applying changes. 5. Close the New Module dialog box by clicking OK. Your 2198-Cxxxx-ERS servo drive appears in the Controller Organizer under the Ethernet controller in the I/O Configuration folder. 6. Click Close to close the Select Module Type dialog box. Continue Drive Configuration After you’ve established your Kinetix 5300 drive in the Studio 5000 Logix Designer application, the remaining configuration steps are the same regardless of the drive catalog number. For the Kinetix 5300, two axes are supported. • Axis 1 applies to the Motor Feedback connector (MFB) • Axis 2 applies to the Digital Inputs and Auxiliary Feedback connector. See Hiperface Specifications on page 59 for the location of the connectors and refer to Understand Control Signal Specifications on page 55 for additional information about the connector functions. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 107 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System Follow these steps to configure the associated axes. 1. Right-click the 2198-Cxxxx-ERS servo drive that you created and choose Properties. 2. Click Associated Axes. 3. Click New Axis. The New Tag dialog box appears. 4. Type the axis Name. AXIS_CIP_DRIVE is the default Data Type. The feedback devices can be configured for Motor Feedback or Auxiliary Feedback. See Table 62 for feedback types. Table 62 - Feedback Options Feedback Options Motor Feedback (1) Auxiliary Feedback Description 15-pin connector that applies to Hiperface multi-turn and single-turn absolute, Nikon (24-bit) high-resolution serial, and Tamagawa (17-bit) high-resolution serial encoders. Also, digital AqB encoders with UVW, and generic sin/cos incremental encoders with UVW. 20-pin connector that applies to TTL incremental encoders for load feedback (dual loop), master feedback, or feedback-only via flying leads. (1) The 2198-K53CK-D15M feedback connector kit with 15-pin connector plug and battery backup is available for flyinglead cables. 5. From the Axis pull-down menu, choose an axis to assign to the motor or auxiliary feedback device. 108 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System 6. 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. You can configure an axis as Feedback Only. See Configure Feedback-only Axis Properties on page 112 for more information. See Configure Module Properties on page 127 for configuring motor feedback, load feedback, and master feedback devices 7. Click Apply. 8. Select the Digital Input category. 9. From the Digital Input pull-down menus, choose a digital input assignment appropriate for your application. For more information on the configurable functions and digital input specifications, see Digital Inputs and Auxiliary Feedback Connector Pinouts on page 53 and Digital Inputs on page 55. 10. Click Apply. 11. Select the Power category. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 109 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System 12. From the pull-down menus, choose the power options appropriate for your actual hardware configuration. ATTENTION: To avoid damage to equipment, make sure that the AC input voltage that is configured in the Logix Designer application matches the actual hardware being configured. Attribute Voltage (1) Menu 400-480V AC 200-240V AC 110-120V AC AC Input Phasing • Three Phase • Single Phase Bus Regulator Action Shunt Regulator Internal Shunt Regulator Resistor Type External External Shunt (2) • 2198-R004 • 2198-R014 • 2198-R031 • 2097-R6 • 2097-R7 Description 342…528V AC rms input voltage 170…253V AC rms input voltage 85…132V AC rms input voltage Input power phasing. Kinetix 5300 drives with single-phase operation are limited to 2198C1004-ERS, 2198-C1007-ERS, 2198-C1015-ERS, and 2198-C1020-ERS. Enables the internal and external shunt options. Enables the internal shunt (external shunt option is disabled). Enables the external shunt (internal shunt option is disabled). Selects external shunt option. Only the shunt model that is intended for the drive being configured is shown. (1) The voltage that is listed is nominal. (2) See the Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003, for more information on the Bulletin 2097 external shunt resistors. 13. Click OK. 14. Repeat step 1 through step 13 for each 2198-Cxxxx-ERS servo drive. Configure the Motion Group 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. 110 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System 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 move to the new motion group. Configure Vertical Load Control Axis Properties 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 before 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 the 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 58 - Configure Vertical Load Control Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 111 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System Configure Feedback-only Axis Properties Follow these steps to configure feedback-only 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 5300 servo drive for Master Feedback. See Configure Module Properties on page 127 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. See Configure Axis Properties on page 128 for configuration examples. 10. Review other categories in the Controller Organizer and make changes as needed for your application. 11. Click OK. For more information on auxiliary feedback signals and Allen-Bradley® auxiliary feedback encoders available for use, see Auxiliary Feedback Specifications on page 60. 112 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 6 Configure Induction-motor Frequency-control Axis Properties Configure and Start Up the Kinetix 5300 Drive System Follow these steps to configure induction-motor axis properties for various frequency control methods. See Motor Nameplate Datasheet Entry for Custom Motor Applications, publication 2198-AT002 to determine which configuration method is best suited for your application. 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. 7. Select the Motor category. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 113 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System 8. From the Data Source pull-down menu, choose Nameplate Datasheet. Nameplate Datasheet 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. For a motor nameplate/datasheet example, see Motor Category on page 205. 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 113. 2. Select the Frequency Control category. 3. From the Frequency Control Method pull-down menu, select Basic Volts/Hertz. 4. Enter the Basic Volts/Hertz attribute values appropriate for your application. Default values are shown. 5. Click Apply. 6. Click OK. 114 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System Sensorless Vector Method 1. Configure the General category and Motor category as shown in General and Motor Categories on page 113. 2. Select the Frequency Control category. 3. From the Frequency Control Method pull-down menu, choose Sensorless Vector. 4. Enter the Sensorless Vector attribute values appropriate for your application. Default values are shown. 5. Click Apply. 6. Select the Motor > Model category. Motor model attributes are automatically estimated from the Nameplate/Datasheet parameters. For improved performance, motor tests can be run. 7. Select the Motor > Analyzer category. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 115 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System 8. The Analyze Motor to Determine Motor Model dialog box opens. 9. Click one of the motor test tabs. In this example, the Calculate Model is chosen. See Test and Tune the Axes on page 131 for information about each of the tests. 10. Click Start. 11. Click Accept Test Results. 12. Click OK. Fan/Pump Volts/Hertz Method 1. Configure the General category and Motor category as shown in General and Motor Categories on page 113. 2. Select the Frequency Control category. 3. From the Frequency Control Method pull-down menu, select Fan/Pump Volts/Hertz. 4. Enter the Fan/Pump Volt/Hertz attribute values appropriate for your application. Default values are shown. 116 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System 5. Click Apply. 6. Click OK. Configure SPM Motor Closed-loop Control Axis Properties Motor Feedback Device Option Follow these steps to configure surface permanent-magnet (SPM) motor closed-loop axis properties. Table 63 - Motor Feedback Device Options Feedback Type Hiperface Nikon Motor Feedback Description High-resolution single-turn and multi-turn, absolute Tamagawa Feedback Connector Applies to Kinetix MPL, MPM, MPF, MPS (-M/S or -V/E); Kinetix MPAS (ballscrew), MPAR, MPAI, linear actuators; and Kinetix LDAT (- xDx) linear thrusters. Applies to Kinetix TLP motors. Applies to Kinetix TL (-B) and TLY motors. 15-pin Motor Feedback (MFB) Digital AqB Digital AqB with UVW Sine/Cosine Incremental Applies to Kinetix MPL (-H) rotary motors, Kinetix MPAS (directdrive) linear actuators, Kinetix LDAT (-xBx) linear thrusters, Kinetix TLY (-H) servo motors, and Kinetix LDL/Kinetix LDC linear motors. Incremental Applies to Digital AqB encoders. Sine/Cosine with UVW Auxiliary Feedback and Digital Input (1) Digital AqB 20-pin Auxiliary Feedback Connector (1) The auxiliary feedback connectors allow configuration of a Digital AqB encoder as a load feedback device or a half-axis (feedback only). IMPORTANT Unprogrammed Smart feedback devices are not supported. Unprogrammed as load or feedback-only feedback types are supported. Contact your local distributor or Rockwell Automation representative for support options. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 117 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System 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 5300 drive. The drive catalog number populates the Module Type and Power Structure fields. 5. Click Apply. 6. Select the Motor category. The Motor Device Specification dialog box appears. 118 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System 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, see the motor nameplate. IMPORTANT To configure Allen-Bradley motors and actuators with your Kinetix 5300 servo drive, you must have drive firmware revision 13 or later, and Studio 5000 Logix Designer application version 33 or later. 10. Close the Change Catalog Number dialog box by clicking OK. 11. Click Apply. Motor data specific to your motor appears in the Nameplate / Datasheet - Phase to Phase parameters field. 12. Select the Scaling category and edit the default values as appropriate for your application. 13. Click Apply, if you make changes. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 119 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System 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. The Actions to Take Upon Conditions dialog box appears. From this dialog box, you can program actions for the drive module to take. For more information, see Logix 5000 Controller and Drive Behavior on page 139. 120 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System 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). For more information, see Logix 5000 Controller and Drive Behavior on page 139. In the Logix Designer application, version 32.00 and later, Disable replaced Stop Drive as the default Action. 18. Select the Parameter List category. The Motion Axis Parameters dialog box appears. Use the Parameter Group pull-down menu, and choose the appropriate group. By default, all parameters are shown in the dialog box. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 121 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System From this dialog box, along with other parameters, 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. Configure Induction-motor Closed-loop Control Axis Properties 122 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. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System 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 5300 drive. The drive catalog number populates the Module Type and Power Structure fields. 5. Click Apply. 6. Select the Motor category. The Motor Device Specification dialog box appears. 7. From the Data Source pull-down menu, choose Nameplate Datasheet. IMPORTANT Motor NV is not a supported data source in the Logix Designer application for axes that are configured as Induction-motor closed-loop. 8. Click Apply and return to the Motor category. 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. For a motor performance datasheet example, see Motor Category on page 205. Also see Motor Nameplate Datasheet Entry for Custom Motor Applications, publication 2198-AT002. 11. Click Apply. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 123 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System 12. Select the Motor Feedback category. The Motor Feedback Device Specification dialog box appears. 13. From the Type pull-down menu, choose the feedback type appropriate for your application. See Configure Feedback Properties on page 127 for feedback configuration examples. 14. Click Apply. 15. Select the Scaling category and edit the default values as appropriate for your application. 16. Click Apply, if you make changes. 124 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System 17. Select the Actions category. The Actions to Take Upon Conditions dialog box appears. From this dialog box, you can program actions for the drive module to take. For more information, see Logix 5000 Controller and Drive Behavior on page 139. 18. 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). For more information, see Logix 5000 Controller and Drive Behavior on page 139. In the Logix Designer application, version 32.00 and later, Disable replaced StopDrive as the default Action. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 125 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System 19. Select the Load category and edit the default values as appropriate for your application. 20. Click Apply, if you make changes. 21. Click OK. 22. Select the Motor > Model category. Motor model attributes are automatically estimated from the Nameplate/Datasheet parameters. For improved performance, motor tests can be run. 23. The Analyze Motor to Determine Motor Model dialog box opens. 24. Click the tab that corresponds to the Motor Test you want to run. For information about each of the tests, see Motor Tests and Autotune Procedure on page 207. 25. Click Start. 26. Click Accept Test Results. 27. Click Apply. 28. Select the Autotune category. 29. Repeat step 1 through step 29 for each induction motor axis. 126 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 6 Configure Feedback Properties Configure and Start Up the Kinetix 5300 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 5300 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. Select the Associated Axes category. 3. Configure each axis for Motor feedback, Load feedback, and Master feedback devices appropriate for your application. 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. See Table 63 on page 117 for motor feedback configuration options. IMPORTANT Unprogrammed Smart feedback devices are not supported. Unprogrammed as load or feedback-only feedback types are supported. Contact your local distributor or Rockwell Automation representative for support options. This example shows acceptable feedback port assignments. 4. Click OK. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 127 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System Configure Axis Properties In this section, you configure the axis properties of your Kinetix 5300 servo drive for the type of feedback that you intend to use in your application. Table 64 - Valid Feedback Assignments Permanent Magnet Motors Feedback Type Hiperface Motor Feedback Induction Motors Load Feedback Motor Feedback Load Feedback – – – (1) High-resolution single-turn and multi-turn, absolute Nikon (1) Tamagawa (1) Digital AqB (2) Supported Digital AqB with UVW Supported (2) Sine/Cosine (2) Incremental – Sine/Cosine with UVW (2) Supported – Supported – (1) This feedback option is automatically configured via the motor catalog number. (2) See the sections that follow for the respective information to configure this feedback type. IMPORTANT The following examples are applicable when the motor Data Source is the Nameplate Datasheet. When selecting a motor via the Catalog Number, the appropriate fields are automatically populated. 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, the configuration is identical to Motor Mounted Feedback. 128 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 6 Configure and Start Up the Kinetix 5300 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. 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 Master Feedback, the configuration is identical to Motor Mounted Feedback. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 129 Chapter 6 Configure and Start Up the Kinetix 5300 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. Apply Power to the Kinetix 5300 Drive This procedure assumes that you have wired and configured your Kinetix 5300 system and your Logix 5000 controller. IMPORTANT When 24V power is first applied, the fan turns on for a few seconds and then, off. It only turns back on if the drive is above a factory configured temperature threshold or the drive is enabled. SHOCK HAZARD: To avoid the hazard of electrical shock, perform all mounting and wiring of the Kinetix 5300 servo drives before applying power. After power is applied, connector terminals can have voltage present even when not in use. Follow these steps to apply power to the Kinetix 5300 system. 1. Disconnect the load to the motor. ATTENTION: To avoid personal injury or damage to equipment, disconnect the load to the motor. Make sure that each motor is free of all linkages when initially applying power to the system. 2. Apply 24V DC control power. The four-segment status display begins the startup sequence. See Startup Sequence on page 100. If the startup sequence does not begin, check the 24V control power connections. 130 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System 3. When the startup sequence completes, verify that the two status indicators are steady green and the four-character stats displays -03-, meaning the axis state is in Precharge. If the axis state does not reach -03- and the two status indicators are not steady green, see Kinetix 5300 Drive Status Indicators on page 137 and Four-character Display Axis and Status Device States on page 100 for additional information. IMPORTANT Apply control power before applying AC input power. Doing so ensures that the shunt is enabled, which can help prevent nuisance faults or Bus Overvoltage faults. 4. Apply AC input power and monitor the DC BUS voltage on the four-segment status display. See View the DC Bus Voltage on page 98 for additional information. If the DC Bus does not reach the expected voltage level, check the AC input power connections. Also, it can take as many as 2.5 seconds after AC input power is applied before the drive can accept motion commands. 5. Verify that the four-character status displays -04-, meaning the axis state changes to Stop State. If the axis state does not change to -04-, refer to Fault Code Overview on page 136 and Four-character Display Axis and Status Device States on page 100 for additional information. Test and Tune the Axes This procedure assumes that you have configured your Kinetix 5300 drive, configured 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 5300 Drive Status Indicators on page 137. For help with using the Logix Designer application as it applies to testing and tuning your axes with ControlLogix EtherNet/IP modules or CompactLogix 5380 controllers, refer to Additional Resources on page 10. Also, see Motor Nameplate Datasheet Entry for Custom Motor Applications, publication 2198-AT002, for detailed information on testing and tuning custom motors. Test the Axes Follow these steps to test the axes. 1. Verify that 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. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 131 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System 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 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 that is specified in the Test Distance field. If the marker remains Marker undetected and the test completes successfully, it means that 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. Verifies the commutation offset and commutation polarity of the motor. This test is required for third-party or custom permanent-magnet motors that are not Commutation available as a catalog number in the Motion Database. For more information, see Commutation Test on page 229. Verifies that feedback connections are wired correctly as you manually rotate the motor shaft. The test completes when the drive determines that the motor moved Motor Feedback the full distance that is specified in the Test Distance field. Run this test before the Motor and Feedback Test to verify that the feedback can be read properly. Verifies that motor power and feedback connections are wired correctly as the commands the motor to rotate. Because the drive is rotating the motor, this Motor and Feedback drive 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. To verify connections, click the test you want. 132 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System 6. Click Start. The Logix Designer - Motor and Feedback Test dialog box appears. The Test State is Executing. 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 The Kinetix 5300 drives are configured for tuningless operation by default. If additional tuning is required, see the Motion System Tuning Application Technique, publication MOTION-AT005, for more information. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 133 Chapter 6 Configure and Start Up the Kinetix 5300 Drive System Notes: 134 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 7 Troubleshoot the Kinetix 5300 Drive System This chapter provides troubleshooting tables and related information for your Kinetix® 5300 servo drives. Topic Safety Precautions Interpret Status Indicators General Troubleshooting Logix 5000 Controller and Drive Behavior Web Server Interface Safety Precautions Page 135 135 138 139 144 Observe the following safety precautions when troubleshooting your Kinetix 5300 servo drive. ATTENTION: Before working on the drive, wait 5 minutes as indicated in the warning on the front of the drive. Failure to observe this precaution could result in severe bodily injury or loss of life. ATTENTION: Do not attempt to defeat or override the drive 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. Interpret Status Indicators Use this troubleshooting information to identify faults, potential causes, and the appropriate actions to resolve the fault. If the fault persists after attempting to troubleshoot the system, contact your Rockwell Automation sales representative for further assistance. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 135 Chapter 7 Troubleshoot the Kinetix 5300 Drive System Fault Code Overview The four-position status display provides fault codes when a drive fault occurs. 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 performs the appropriate fault action and the fault is displayed. The drive 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 is still active following a Fault Reset service, the fault is again posted to the display. However, there is 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 and 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. Table 65 - Fault Code Summary Fault Code Type (1) (2) Description Fxx 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. Fcxx Ixx Icxx nFxx nAxx Sxx Scxx Axx Acxx SFxx 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. Conditions that prevent normal operation and indicate that the drive module is prevented from being enabled. An underlying exception condition that does not result in any action other than reporting the alarm to the controller. Exception that is generated by a fault condition that is detected in the safety function. SFcxx (1) Fxx refers to Standard exceptions. (2) When the fault code type contains ‘c’, this indicates a manufacturer-specific exception. For example, Fcxx. The display indicates progress through the Initializing state and various fault, alarm, and inhibit conditions. The display supports the following mapping to various conditions of the device. Table 66 - Four-position Status Display Display Digit 8888 00 01 02 03 04 136 Device Condition Executing device self-test Waiting for connection to controller Configuring device attributes Waiting for group synchronization Waiting for DC-bus to charge Device is operational Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 7 Troubleshoot the Kinetix 5300 Drive System Fault Codes For Kinetix 5300 fault code descriptions and possible solutions, see This manual links to Kinetix 5300 Single-axis EtherNet/IP Servo Drives Fault Codes Reference Data, publication 2198-RD006, for fault codes. Download the spreadsheet now for offline access. Kinetix 5300 Drive Status Indicators The module status and network status indicators are just below the four-character display. IMPORTANT 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 67 - Module Status Indicator Condition Steady Off Steady Green Flashing Green Kinetix 5300 Servo Drive Module Status MOD NET Network Status 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). Major recoverable fault. The drive detected a recoverable fault, for example, an incorrect or inconsistent configuration. Major fault. The drive detected a nonrecoverable fault. Self-test. The drive performs self-test during powerup. Table 68 - Network Status Indicator Condition Steady Off Flashing Green Steady Green Flashing Red Steady Red Flashing Green/Red Status No power applied to the drive or IP address is not configured. Drive connection is not established, but has obtained an IP address. Drive connection is established. 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 that is specified is already in use. Self-test. The drive performs self-test during powerup. Table 69 - Ethernet Link Speed Status Indicator Ethernet RJ45 Connectors Link Speed Status Indicators Condition Steady Off Steady On Status 10 Mbit 100 Mbit Table 70 - Ethernet Link/Activity Status Indicator Link/Activity Status Indicators Condition Steady Off Steady On Blinking Status No link Link established Network activity Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 137 Chapter 7 Troubleshoot the Kinetix 5300 Drive System General Troubleshooting These conditions do not always result in a fault code, but can require troubleshooting to improve performance. Table 71 - General Troubleshooting Condition Potential Cause The position feedback device is incorrect or open. Unintentionally in Torque mode. Motor tuning limits are set too high. Possible Resolution Check wiring. Check to see what primary operation mode was programmed. Decrease tuning gains. See Motion System Tuning Application Technique, publication MOTION-AT005. Change the command profile to reduce accel/decel or increase time. Position loop gain or position controller accel/decel rate is improperly set. Improper grounding or shielding techniques are causing noise to be Axis or system is unstable. transmitted into the position feedback or velocity command lines, Check wiring and ground. causing erratic axis movement. Motor Select limit is incorrectly set (servo motor is not matched to axis Check setups. module). • Notch filter or output filter can be required (refer to Axis Properties dialog box, Compliance tab in the Logix Designer application). Mechanical resonance. • Enable adaptive tuning. For more notch filter information, see Adaptive Tuning on page 230. Torque Limit limits are set too low. Verify that torque limits are set properly. Select the correct motor in the Logix Designer application Incorrect motor selected in configuration. again. • Check motor size versus application need. The system inertia is excessive. • Review servo system sizing. You cannot obtain the motor The system friction torque is excessive. Check motor size versus application need. acceleration/deceleration that you want. • Check motor size versus application need. Available current is insufficient to supply the correct accel/decel rate. • Review servo system sizing. Acceleration limit is incorrect. Verify limit settings and correct them, as necessary. Velocity Limit limits are incorrect. Verify limit settings and correct them, as necessary. The motor is operating in the field-weakening range of operation. Reduce the commanded acceleration or deceleration. The axis cannot be enabled until stopping time has expired. Disable the axis, wait for 1.5 seconds, and enable the axis. The motor wiring is open. Check the wiring. • Check feedback connections. The motor cable shield connection is improper. • Check cable shield connections. The motor has malfunctioned. Repair or replace the motor. Motor does not respond to a command. The coupling between motor and machine has broken (for example, the Check and correct the mechanics. motor moves, but the load/machine does not). Primary operation mode is set incorrectly. Check and properly set the operation mode. Velocity or torque limits are set incorrectly. Check and properly set the limits. Brake connector not wired Check brake wiring • Verify grounding. Recommended grounding per installation instructions have not been • Route wire away from noise sources. followed. • See System Design for Control of Electrical Noise, publication GMC-RM001. Presence of noise on command or • Verify grounding. Line frequency can be present. motor feedback signal wires. • Route wire away from noise sources. Variable frequency can be velocity feedback ripple or a disturbance that • Decouple the motor for verification. is caused by gear teeth or ballscrew, and so forth. The frequency can be a multiple of the motor power transmission components or ballscrew • Check and improve mechanical performance, for example, the gearbox or ballscrew mechanism. speeds resulting in velocity disturbance. The motor connections are loose or open. Check motor wiring and connections. Foreign matter is lodged in the motor. Remove foreign matter. The motor load is excessive. Verify the servo system sizing. No rotation The bearings are worn. Return the motor for repair. • Check brake wiring and function. The motor brake is engaged (if supplied). • Return the motor for repair. The motor is not connected to the load. Check coupling. 138 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 7 Troubleshoot the Kinetix 5300 Drive System Table 71 - General Troubleshooting (Continued) Condition Motor overheating Potential Cause The duty cycle is excessive. The rotor is partially demagnetized causing excessive motor current. Motor tuning limits are set too high. Loose parts are present in the motor. Abnormal noise The through bolts are loose or the coupling is loose. The bearings are worn. Mechanical resonance. Erratic operation - Motor locks into position, runs without control Motor power phases U and V, U and W, or V and W reversed. or with reduced torque. Logix 5000 Controller and Drive Behavior Possible Resolution Change the command profile to reduce accel/decel or increase time. Return the motor for repair. Decrease tuning gains. See Motion System Tuning Application Technique, publication MOTION-AT005. • Remove the loose parts. • Return motor for repair. • Replace motor. Tighten bolts. Return motor for repair. Notch filter can be required (see the Axis Properties dialog box, Compliance tab in the Logix Designer application). Check and correct motor power wiring. By using the Logix Designer application, you can configure how the Kinetix 5300 drives respond when a drive fault/exception occurs. Ixxx faults are always generated after powerup, but before the drive is enabled, so the stopping behavior does not apply. nAxx faults do not apply because they do not trigger stopping behavior. The drive supports exception actions for Ignore, Alarm, Minor Fault, and Major Fault as defined in Table 72. However, these exception actions cannot be changed online. The drive also supports five configurable stopping actions as defined in Table 74 on page 140. Table 72 - Kinetix 5300 Drive Exception Action Definitions Exception Action Ignore Alarm Minor Fault Major Fault Definition The drive 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 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 latches the exception condition but the drive does not execute any exception action. The drive 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. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 139 Chapter 7 Troubleshoot the Kinetix 5300 Drive System Table 73 - Logix Designer Application Exception Action Definitions Exception Action Ignore Alarm Fault Status Only Stop Planner StopDrive (version 31 and earlier) Disable (version 32 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 that is defined by the drive for the particular exception that occurred. 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. For Kinetix 5300 drives, only selected exceptions are configurable. In the drive behavior tables, the controlling attribute is given for programmable fault actions. Table 74 - Configurable Stopping Actions Stopping Action Ramped Decel & Hold Current Decel & Hold Description (1) Most control Most control Ramped Decel & Disable (1) Less control Current Decel & Disable Less control Disable & Coast (2) Least 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. (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 195. Actions define the drive behavior in response to specific conditions. The Actions category includes Standard Actions and Safety Actions. Table 75 - Actions Definitions Action Category Standard Safety 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 Disable & Coast indicates a Safe Torque Off (STO) action was commanded.(1) (1) This action is executed only if the axis tag transitions due to a requested STO. 140 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 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 Chapter 7 Troubleshoot the Kinetix 5300 Drive System When configured for Frequency Control (IM motors only), Decel & Disable should only be selected when the Current Limiting feature has been enabled. For more information on this feature, refer to Appendix C on page 191. Only selected drive exceptions are configurable. In the drive behavior tables, the controlling attribute is given for programmable fault actions. In the Logix Designer application, version 32 or later, Disable replaced StopDrive as the default Action. Figure 59 - Logix Designer Application Axis Properties - Exceptions Category This dialog box applies to Kinetix 5300 servo drives. Table 76 - Drive Behavior, Fxx Fault Codes Major Fault Minor Fault Fault Action Best Available Stopping Action (applies to major faults) Exception Text Permanent Magnet Motor Induction Motor F02 Motor Commutation Fault X – – – – X Disable/Coast Motor Overspeed Factory Limit Fault X X – – – X Disable/Coast Motor Overspeed User Limit Fault X X X X X X Ramped Decel(2)/Hold Motor Overtemperature Factory Limit Fault (If #589 vertical load control) Motor Overtemperature Factory Limit Fault (If not #589 vertical load control) – – – – Current Decel/Disable X X – – – – Disable/Coast F07 Motor Thermal Overload Factory Limit Fault X X – – – X Ramped Decel(2)/Disable F08 Motor Thermal Overload User Limit Fault X X X X X X F09 F10 Motor Phase Loss Inverter Overcurrent Fault Inverter Overtemperature Factory Limit Fault (If #589 vertical load control) Inverter Overtemperature Factory Limit Fault (If not #589 vertical load control) Inverter Thermal Overload Factory Limit Fault X X – X X – X – X – X X Ramped Decel(2)/Hold Disable/Coast Disable/Coast – – – X X F03 (1) F04 F05 F11 F13 (1) X X Alarm Ignore Exception Fault Code Current Decel/Disable X – – – – – – Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Disable/Coast X Current Decel/Disable 141 Chapter 7 Troubleshoot the Kinetix 5300 Drive System Table 76 - Drive Behavior, Fxx Fault Codes (Continued) Minor Fault Major Fault Fault Action Best Available Stopping Action (applies to major faults) Exception Text Permanent Magnet Motor Induction Motor F14 Inverter Thermal Overload User Limit Fault X X X X X X F15 F18 F20 F21 F23 F25 X X X X X X X X X X X X – – – X X – – – – X X – – – – X X – X X X X X X X X – – – X Disable/Coast F30 F31 Converter Overcurrent Fault Converter OverTemp Factory Limit Fault Converter Thermal Overload Factory Limit Fault Converter Thermal Overload User Limit Fault AC Single Phase Loss Fault Pre-charge Failure Fault Bus Regulator Thermal Overload Factory Limit Fault Bus Regulator Thermal Overload User Limit Fault Bus Regulator Failure Ramped Decel(2)/Hold Disable/Coast Disable/Coast Disable/Coast Decel/Hold Decel/Disable Disable/Coast X X X X X – X – X – X X Decel/Hold Disable/Coast F33 Bus Undervoltage Factory Limit Fault X X – – – X Ramped Decel(2)/Disable F34 Bus Undervoltage User Limit Fault X X X X X X F35 F41 Bus Overvoltage Factory Limit Fault Feedback Signal Noise FL X X X X – – – – – – X X Ramped Decel(2)/Hold Disable/Coast Disable/Coast F43 (1) (3) (4) Feedback Signal Loss FL X X – – – X Disable/Coast (1) (3) (4) Feedback Signal Loss UL X X X X X X Ramped Decel(2)/Hold F29 F44 F45 (4) (5) Alarm Motor Feedback Data Loss Factory Limit Fault X X – – – X Disable/Coast Motor Feedback Data Loss User Limit Fault X X X X X X Feedback Device Failure X X – – – X Ramped Decel(2)/Hold Disable/Coast F49 Brake Slip Exception X X X X X X Ramped Decel(2)/Hold F50 Hardware Overtravel - Positive X X X X X X Ramped Decel(2)/Hold F51 Hardware Overtravel - Negative X X X X X X Ramped Decel(2)/Hold X X X X X X F46 F47 (3) (4) Ignore Exception Fault Code F54 (1) (4) F55 (1) (4) Excessive Position Error Fault (If #589 vertical load control) Excessive Position Error Fault (If not #589 vertical load control) Excessive Velocity Error Fault (If #589 vertical load control) Excessive Velocity Error Fault (If not #589 vertical load control) Current Decel/Disable Disable/Coast Current Decel/Disable X X X X X X Disable/Coast F56(4) Overtorque Limit Fault X X X X X X Ramped Decel(2)/Hold F57 (4) Undertorque Limit Fault X X X X X X Ramped Decel(2)/Hold F61 Enable Input Deactivated X X X X X X Ramped Decel(2)/Disable (1) The loss of A/B signals from a TTL encoder isn’t detected directly. Typically, this loss of signals is detected through an excessive position/velocity error or a motor overspeed fault. If these secondary faults are set to Ignore (where applicable), then if a signal loss condition occurs, it is not detected (see the following ATTENTION statement for more information). (2) Available only in Velocity Control mode. Available stopping action is Current Decel in Position Control mode. (3) Applies to all compatible feedback devices. (4) Does not apply to induction motors in frequency control mode. (5) Applies to Hiperface feedback devices. ATTENTION: The loss of A/B signals from a TTL encoder is not detected directly. Typically, an excessive position/velocity error or a motor overspeed fault detects this. If these secondary faults are set to Ignore (where applicable), a signal loss condition will not be detected. In some cases, particularly in Torque mode, the fault is not detected at all and the motor coasts to a stop. In addition, if you have selected to ignore these secondary faults in the Logix Designer application, the signal loss condition will not be detected. If the secondary fault is not detected, the drive can still be enabled in the Logix Designer application even though the fault condition exists. 142 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 7 Troubleshoot the Kinetix 5300 Drive System Table 77 - Drive Behavior, Fcxx Fault Codes Major Fault Minor Fault Fault Action Best Available Stopping Action (applies to major faults) Exception Text Permanent Magnet Induction Motor Motor Fc02 (1) Motor Voltage Mismatch Fault X X X X X X Disable/Coast (2) Feedback Battery Loss Fault X – – – – X Disable/Coast Fc06 (2) Feedback Battery Low Fault X – X X X X Disable/Coast Fc07 Feedback Incremental Count Error Exception X X – – – X Disable/Coast Fc16 PWM Frequency Reduced Exception X X X X X X Disable/Coast Fc26 Runtime Error (1) Does not apply to induction motors in frequency control mode. (2) Applies to only Kinetix TLP or Kinetix TLY-Axxxx-B encoders. X X – – – X Disable/Coast Fc05 Alarm Ignore Exception Fault Code Table 78 - Drive Behavior, nFxx Fault Codes Major Fault Minor Fault Fault Action Best Available Stopping Action (applies to major faults) Exception Text Permanent Magnet Induction Motor Motor nF01 Control Connection Update Fault X X – – – X Ramped Decel(1)/Disable nF02 Processor Watchdog Fault X X – – – X Disable/Coast nF05 Clock Skew Fault X X – – – X Ramped Decel(1)/Disable nF06 Lost Controller Connection Fault X X – – – X Programmable per Connection Loss Stopping Action (see Table 75 on page 140). nF07 Clock Sync Fault X X – – – X Ramped Decel(1)/Disable – – – X Disable/Coast nF09 Duplicate IP Address Fault X X (1) Available only in Velocity Control mode. Available stopping action is Current Decel in Position Control mode. Alarm Ignore Exception Fault Code Table 79 - Drive Behavior, SFxx Fault Codes SF09 Guard Stop Input Fault X X – – Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 – Major Fault Permanent Magnet Induction Motor Motor Minor Fault Exception Text Alarm Exception Fault Code Ignore Fault Action X Best Available Stopping Action (applies to major faults) Disable/Coast 143 Chapter 7 Troubleshoot the Kinetix 5300 Drive System Web Server Interface The Kinetix 5300 drive supports a basic web server interface for drive diagnostics and fault information. The webpages are read-only, so no attributes are configurable. Follow these steps to access the webpages. 1. Open your web browser. 2. In the Address field, type the IP address of the drive. 3. Press Enter. IMPORTANT The webpage server is turned off by default. To access the webpages, the web server must be enabled on the device. To enable the web server, see Status Display Menu Structure on page 97 and Status Display Screen Flowchart on page 98. To access the diagnostic or fault webpages, open the corresponding folder in the left-most navigation bar, and click the link for each webpage you must monitor. The web server contains the following webpages. Table 80 - Web Server Interface Categories Main Categories Home Diagnostics Fault Log Sub Categories Drive Information Motor Diagnostics Encoder Diagnostics Network Settings Ethernet Statistics Network Statistics Monitor Signals Description Provides basic device information. Provides device power cycling and uptime-related information. Provides information about the connected motor. Provides encoder-related information for all connected motors. Provides network-related information. Provides Ethernet related information. Provides network statistics-related information. Provides real-time attribute information. Displays major and minor fault information. Examples of each webpage are shown in the following figures. Figure 60 - Home 144 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 7 Troubleshoot the Kinetix 5300 Drive System Figure 61 - Drive Information Figure 62 - Motor Information Figure 63 - Encoder Diagnostics Figure 64 - Network Settings Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 145 Chapter 7 Troubleshoot the Kinetix 5300 Drive System Figure 65 - Ethernet Statistics Figure 66 - Monitor Signals - Full Axis Figure 67 - Monitor Signals - Auxiliary Axis 146 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 7 Troubleshoot the Kinetix 5300 Drive System Figure 68 - Fault Logs Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 147 Chapter 7 Troubleshoot the Kinetix 5300 Drive System Notes: 148 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 8 Remove and Replace Servo Drives This chapter applies to Kinetix® 5300 drive systems where the zero-stack mounting feature is used and it becomes necessary to replace one of the drives without affecting the others. Topic Before You Begin Remove and Replace Kinetix 5300 Servo Drives Start and Configure the Drive Page 149 150 152 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 is installed, network settings are configured from the setup screens. Before removing the drive, revisit the Network menu and make note of the static IP or DHCP settings. To access those settings, see Configure the Kinetix 5300 Drive on page 101. IMPORTANT If you intend to use the same Logix Designer application after replacing your drive, the new drive must be the same catalog number as the old drive. 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-UM005E-EN-P - September 2024 149 Chapter 8 Remove and Replace Servo Drives Remove and Replace Kinetix 5300 Servo Drives Follow these steps to remove and replace servo drives from the 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. Multiple disconnect switches 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 the 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. Label and remove all wiring connectors from the drive that you are removing. To identify each connector, see Kinetix 5300 Connector Data on page 51. You do not need to remove the shunt connector, unless there is an external shunt that is wired to it. 4. If used, remove the 24V shared-bus input wiring connector, T-connector, and busbar from the drive you are removing. See Shared-bus Connection System on page 43. 5. Use a screwdriver to loosen or remove the two cable clamp screws, as needed. Frame 1, 2, or 3 Standard Clamp Motor Cable Clamp Spacer (if needed) Frame 3 Clamping Plate Clamp Screws Motor Cable All drives are equipped with a standard clamp. Remove one or both screws as needed. However, for the Frame 3 clamping plate, remove both screws and transfer the clamping plate to the new Frame 3 drive. 6. Remove the motor power cable from the cable shield clamp. 7. Unplug the motor feedback cable connector or 2198-K53CK-D15M connector kit from the MFB connector. 8. Remove the ground screw and braided ground strap. See Ground the System Subpanel on page 69. 150 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 8 Remove and Replace Servo Drives Remove the Servo Drive You can remove single-axis drives from the panel or any single drive from a zero-stack configuration by using the same procedure. IMPORTANT This procedure applies to any 2198-Cxxxx-ERS drive in any configuration. Follow these steps to remove Kinetix 5300 servo drives from the panel. 1. Loosen the top and bottom screws of the drive to remove. Frame 1 and 2 drives have one top and one bottom screw. Frame 3 drives have two top and two bottom screws. 2. Grasp the top and bottom of the drive with both hands and pull the drive straight out and away from the panel, clearing the zero-stack mounting tabs and cutouts. 2 1 Kinetix 5300 Servo Drives (removing middle drive) Top Screws (bottom screws not shown) Replace the Servo Drive To replace the servo drive, perform the steps in Remove the Servo Drive in reverse or see Mount Your Kinetix 5300 Drive on page 50: • Torque mounting, shield clamp, and ground screws to 2.0 N•m (17.7 lb•in), max • Reconnect the feedback connector kit and torque the mounting screws to 0.4 N•m (3.5 lb•in), max Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 151 Chapter 8 Remove and Replace Servo Drives Start and Configure the Drive Follow these steps to configure the replacement drive. IMPORTANT 1. 2. 3. 4. 5. 152 If you intend to use the same Logix Designer application after replacing your drive, the new drive must be the same catalog number as the old drive. Reapply power to the drive/system. For the procedure, refer to Apply Power to the Kinetix 5300 Drive on page 130. Configure the network settings for the drive. If your old drive was configured as Static IP, you must set the IP address, gateway, and subnet mask in the new drive identical to the old drive. To access those settings, refer to Configure the Kinetix 5300 Drive on page 101. If you want to determine whether it is necessary to download a new version of the Logix Designer application, continue with this step. If you do not want to determine whether it is necessary, and prefer to just download a new version, proceed to the next step. Determine whether a new download of the Logix Designer application is required or not using the following criteria. A new download is not required if both of the following bullet items are true: • The new drive has the same catalog number as the old drive. • One of the following dash items is true: - The new drive has the same firmware level as the old drive. - The new drive has the same firmware level except that it has a higher minor firmware revision than the old drive, and the Logix Designer application does not have an exact match for the new drive firmware revision. Depending on what you found, either proceed to the next step, or skip to the verification step. Download the Logix Designer application to the controller. Verify the drive/system is working properly. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 9 Kinetix 5300 Safe Torque Off Function The Kinetix® 5300 servo drives support the hardwired Safe Torque Off (STO) function as defined by IEC 61800-5-2. The hardwired STO function meets the requirements of Performance Level d (PLd) and Category 3 (CAT 3) per ISO 13849-1, and SIL CL2 per IEC 61508, EN/IEC 618005-2, and EN/IEC 62061. Topic Certification Description of Operation Probability of Dangerous Failure Per Hour Safe Torque Off Connector Data Wire the Safe Torque Off Circuit Safe Torque Off Feature Safe Torque Off Specifications Page 153 154 158 158 159 160 162 The 2198-Cxxxx-ERS servo drives use the STO connector for wiring external safety devices and cascading hardwired safety connections from one drive to another. Certification The TÜV Rheinland group has approved 2198-Cxxxx-ERS servo drives with hardwired STO for use in safety-related applications up to ISO 13849-1, Performance Level d (PLd) and Category 3, SIL CL 2 per IEC 61508, EN/IEC 61800-5-2, and EN/IEC 62061, in which removing the motionproducing power is considered to be the safe state. For product certifications currently available from Rockwell Automation, go to website rok.auto/certifications. Important Safety Considerations You, the system user, are responsible for the following: • Validation of any sensors or actuators that are connected to the system • Completing a machine-level risk assessment • Certification of the machine to the desired ISO 13849-1 Performance Level or EN/IEC 62061 SIL level • Project management and proof testing in accordance with ISO 13849-1 Category 3 Requirements According to ISO 13849-1 Safety-related parts are designed with these attributes: • A single fault in any of these parts does not lead to the loss of the safety function. • A single fault is detected whenever reasonably practicable. • Accumulation of undetected faults can lead to the loss of the safety function and a failure to remove motion-producing power from the motor. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 153 Chapter 9 Kinetix 5300 Safe Torque Off Function Stop Category Definition Stop Category 0 as defined in EN/IEC 60204-1 or Safe Torque Off as defined by EN/IEC 618005-2 is achieved with immediate removal of motion-producing power to the actuator. IMPORTANT If there is 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, see EN/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 EN/IEC 62061, include a rating of the systems ability to perform its safety functions. All safety-related components of the control system must be included in both a risk assessment and the determination of the achieved levels. See the ISO 13849-1, IEC 61508, and EN/IEC 62061 standards for complete information on requirements for PL and SIL determination. 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 disabled, or any time power is removed from the STO inputs, all drive output-power transistors are released from the ON-state. This release from the ON-state results in a condition where the drive performs a Category 0 Stop. ATTENTION: Disabling the power transistor output does not provide mechanical isolation of the electrical output that is required for some applications. Under normal operation, the STO inputs are energized. If either of the STO inputs are deenergized, then all output power transistors turn off. The Safe Torque Off response time is less than 12 ms. 154 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 9 Kinetix 5300 Safe Torque Off Function Figure 69 - Normal System Operation SS_IN_CH0 SS_IN_CH1 24V DC 0V DC 24V DC 0V DC GuardFault SafeTorqueOffInhibit 1 0 1 0 GuardOkStatus 1 0 GuardGateDriveOutputStatus 1 0 GuardStopInputStatus GuardStopRequestStatus 1 0 1 0 GuardStopInputFault 1 0 Event 1 2 3 4 All status attributes in Figure 69 are for status purposes only and should not be used as a condition for motion. Table 81 - Normal System Operation Legend Event 1 2 3 4 Description SS_IN_CH0 is removed. • GuardGateDriveOutputStatus, GuardOkStatus, and GuardStopInputStatus = 1 • SafeTorqueOffInhibit, GuardFault, GuardStopRequestStatus, and GuardStopInputFault = 0 SS_IN_CH1 is removed < 1 second SS_IN_CH0 is reapplied SS_IN_CH1 is reapplied < 1 second of S1 or Event 3 • SafeTorqueOffInhibit, GuardOkStatus, and GuardStopRequestStatus = 1 • GuardFault, GuardGateDriveOutputStatus, GuardStopInputStatus, and GuardStopInputFault = 0 ATTENTION: If there are two simultaneous faults in the IGBT circuit, permanent magnet motors can result in a rotation of up to 180 electrical degrees. IMPORTANT If any of the STO inputs are de-energized, the Start Inhibit field indicates SafeTorqueOffInhibit and GuardStopRequestStatus bit of AxisGuardStatus tag set to 1. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 155 Chapter 9 Kinetix 5300 Safe Torque Off Function Fault Codes For Kinetix 5300 fault code descriptions and possible solutions, see This manual links to Kinetix 5300 Single-axis EtherNet/IP Servo Drives Fault Codes Reference Data, publication 2198-RD006, for fault codes. Download the spreadsheet now for offline access. Both redundant STO input signals are expected to always be in the same state and transition from one state to another simultaneously. IMPORTANT If both STO inputs are not in the OFF state simultaneously within 100 ms or after 1 second, GuardStopInputFault is posted. If a fault condition is detected, the motion-producing power can be applied to the motor only after fault reset conditions are satisfied. IMPORTANT GuardStopInputFault can be reset only if both inputs are in the OFF-state 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 GuardStopInputFault. IMPORTANT GuardStopInputFault active state shall not be used as an indication of STO state. Only deactivation of SS_IN_CH0 and SS_IN_CH1 inputs provides STO function with integrity. For GuardStopInputFault behavior description, see Drive Behavior, SFxx Fault Codes on page 143. Figure 70 demonstrates when the Safe Torque Off discrepancy is detected and a GuardStopInputFault is posted. Figure 70 - System Operation in the Event of STO Inputs Discrepancy (fault case 1) 24V DC SS_IN_CH0 0V DC SS_IN_CH1 24V DC 0V DC GuardStopInputFault 1 0 GuardStopRequestStatus 1 0 1 second 156 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 9 Kinetix 5300 Safe Torque Off Function Figure 71 - System Operation in the Event of STO Inputs Discrepancy (fault case 2) 24V DC SS_IN_CH0 0V DC SS_IN_CH1 24V DC 0V DC GuardStopInputFault 1 0 GuardStopRequestStatus 1 0 1 second Figure 72 - System Operation in the Event of STO Inputs Discrepancy (fault case 3) 24V DC SS_IN_CH0 0V DC SS_IN_CH1 24V DC 0V DC 1 GuardStopInputFault 0 GuardStopRequestStatus 1 0 100 ms 1 second ATTENTION: The Safe Torque Off (STO) fault is detected upon demand of the STO 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. See Table 82 for troubleshooting information. Table 82 - Troubleshoot Hardwired STO Function Safe Torque Off Function Input Discrepancy Corrective Action • Verify safety wiring and connections: – Wire terminations at Safe Torque Off (STO) connector – Cable/header not seated correctly System does not allow motion. Safe Torque Off input – +24V power within specified limits discrepancy is detected when safety inputs are in a • Check state of safety inputs. different state for more than 1.0 second. • Reset error and execute the STO function to verify that the function operates properly. • If the error persists, remove the drive from service immediately and return to Rockwell Automation. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 157 Chapter 9 Kinetix 5300 Safe Torque Off Function Probability of Dangerous Failure Per Hour Safety-related systems are classified as operating in a High-demand/continuous mode. The SIL value for a High-demand/continuous mode safety-related system is directly related to the probability of a dangerous failure occurring per hour (PFH). The PFH calculation is based on the equations from IEC 61508, and shows worst-case values. Table 83 provides data for a 20-year proof test interval and demonstrates the worst-case effect of various configuration changes on the data. ATTENTION: Determination of the safety parameters is based on the assumptions that the system operates in High-demand mode and that to maintain the integrity of the STO function it must be executed at least once per year. Table 83 - Safety Relevant Parameters Attribute Hardware Fault Tolerance (HFT) Mode of operation STO function components type according to IEC 61508-2 PFH (1e-9/hour) MTTFd Value 1 High-demand/continuous Type A 0.021 400,000 years Proof test interval (1) Diagnostic Coverage (DC) 20 years 92% (1) No proof-test-related maintenance is required within 20 years mission time. Safe Torque Off Connector Data The 10-pin connector consists of two parallel 5-pin rows for cascading safety connections from drive-to-drive when drives are joined by the zero-stack feature. Figure 73 - Pin Orientation for 10-pin Safe Torque Off (STO) Connector Pin 1 SB+ SBS1 SC Pin 5 S2 Table 84 - Safe Torque Off Connector Pinouts STO Pin 1/6 2/7 3/8 4/9 5/10 158 Description Safety bypass plus signal. Connect to both safety inputs to disable the STO function. Safety bypass minus signal. Connect to safety common to disable the STO function. STO input 1 (SS_IN_CH0). STO input common (SCOM). STO input 2 (SS_IN_CH1). Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Signal SB+ SBS1 SC S2 Chapter 9 Wire the Safe Torque Off Circuit Kinetix 5300 Safe Torque Off Function This section provides guidelines for wiring your Kinetix 5300 Safe Torque Off (STO) drive connections. 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 on page 36. IMPORTANT Pins SB+ and SB- are used to disable the STO function. When wiring to the STO connector, use an external 24V supply for the external safety device that triggers the STO request. To avoid jeopardizing system performance, do not use pin SB+ as a power supply for the external safety device. Safe Torque Off Wiring Requirements The STO connector uses spring tension to secure the wire. Depress the tab, along side each pin, to insert or release the wire. Two rows of pins are provided for drive-to-drive connections. Wire must be copper with 75 °C (167 °F) minimum rating. IMPORTANT Stranded wires must terminate with ferrules to help prevent short circuits, per table D7 of ISO 13849-1. Figure 74 - STO Terminal Plug Kinetix 5300 Drive Top View 1 2 3 4 5 6 SB 7 SB + 8 S1 9 SC 10 S2 Table 85 - STO Terminal Plug Wiring STO Connector Pin STO-1/6 STO-2/7 STO-3/8 STO-4/9 STO-5/10 Signal SB+ SBS1 SC S2 Recommended Wire Size mm2 (AWG) Strip Length mm (in.) Torque Value N•m (lb•in) 0.2…1.5 (24…16) 10 (0.39) — (1) (1) This connector uses spring tension to hold the wires in place. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 159 Chapter 9 Kinetix 5300 Safe Torque Off Function Safe Torque Off Feature The Safe Torque Off (STO) circuit, when used with suitable safety components, provides protection according to ISO 13849-1 (PLd), Category 3 or according to IEC 61508, EN/IEC 618005-2, and EN/IEC 62061 (SIL CL2). All components in the system must be chosen and applied correctly to achieve the desired level of operator safeguarding. The STO circuit is designed to safely turn off all output-power transistors. You can use the STO circuit in combination with other safety devices to achieve Stop Category 0 and protectionagainst-restart as specified in EN/IEC 60204-1. ATTENTION: This option is suitable only for performing mechanical work on the drive system or affected area of a machine. It does not provide electrical safety. ATTENTION: If the STO function is requested and results in torqueproducing power being removed, some applications can require additional safety measures to help prevent hazardous motion. SHOCK HAZARD: In STO 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. Safe Torque Off Feature Bypass The 2198-Cxxxx-ERS drives do not operate without a safety circuit or safety bypass wiring. For applications that do not require the STO feature, you must install jumper wires to bypass the STO circuitry. Each 2198-Cxxxx-ERS drive includes one 10-pin wiring plug for wiring to safety devices. To bypass the safety function, wire these signals as shown in Figure 75. With the jumper wires installed, the Safe Torque Off feature is not used. Figure 75 - Safe Torque Off Bypass Wiring Pin 1 SB+ SBS1 SC Pin 5 160 S2 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Chapter 9 Kinetix 5300 Safe Torque Off Function 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 and dual-channel equivalent safety-device contact rating. See Table 86 on page 162 for current rating per channel, per drive. Figure 76 - Cascaded Safe Torque Off Wiring Middle Drive First Drive Dual-channel Equivalent Safety Device SB+ Last Drive Pin 1 Pin 1 SBS1 SC S2 24V DC STO Recovery Time If the STO inputs discrepancy time is <100 ms, the drive permits torque in 100 ms from the first detected input transition to the ON state. Figure 77 - STO Recovery Time With Short STO Inputs Discrepancy 24V DC SS_IN_CH0 0V DC SS_IN_CH1 24V DC 0V DC GuardStopRequestStatus 1 0 100 ms If the STO inputs discrepancy time is >100 ms, but < 1.0 s, the drive permits torque after 1.0 s from the first detected input transition to the ON state. Figure 78 - STO Recovery Time With Long STO Inputs Discrepancy 24V DC SS_IN_CH0 0V DC 24V DC SS_IN_CH1 0V DC 1 GuardStopRequestStatus 0 100 ms 1 second ATTENTION: If both inputs are not in the ON state after 1 second, GuardStopInputFault is posted. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 161 Chapter 9 Kinetix 5300 Safe Torque Off Function Safe Torque Off Specifications To maintain the safety rating, Kinetix 5300 drives must be installed inside protected control panels or cabinets appropriate for the environmental conditions of the industrial location. IMPORTANT The protection class of the panel or cabinet must be IP54 or higher. Table 86 - Safe Torque Off Signal Specifications Attribute Safety inputs (per channel) Input current (typical) Input ON voltage range (typical) Input OFF voltage, max Digital input type according to IEC 61131-2 External power supply Input protection OSSD short circuit test pulse width, max OSSD short circuit test pulse interval, min STO response time STO recovery time Value 2.5 mA 15…26.4V DC 5V DC 24V DC Type 1 24V DC ±10% PELV Optically isolated, reverse voltage protected 700 s 100 ms 12 ms 100 ms or 1 s fixed (refer to Figure 77 on page 161 and Figure 78 on page 161) For additional information regarding Allen-Bradley® safety products, including safety relays, light curtain, and gate interlock applications, see https://rok.auto/safety-products. 162 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix A Interconnect Diagrams This appendix provides wiring examples and system block diagrams for your Kinetix® 5300 system components. Topic Interconnect Diagram Notes Power Wiring Examples Shunt Resistor Wiring Example Kinetix 5300 Servo Drive and Rotary Motor Wiring Examples Kinetix 5300 Drive and Linear Actuator Wiring Examples System Block Diagrams Interconnect Diagram Notes Page 163 164 165 166 172 177 This appendix provides wiring examples to assist you in wiring the Kinetix 5300 drive system. These notes apply to the wiring examples on the pages that follow. Table 87 - Interconnect Diagram Notes Note 1 2 3 4 5 6 7 8 9 10 11 Information For power wiring specifications, refer to Wiring Requirements on page 71. For input fuse and circuit breaker sizes, refer to Circuit Breaker/Fuse Selection on page 27. AC (EMC) line filter is required for EMC compliance. Mount the line filter with 50 mm (1.97 in.) minimum clearance between the drive and filter. Minimize the cable length as much as possible and do not route very dirty wires in the wireway. If routing in the wireway is unavoidable, use shielded cable with shields that are 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. Drives are limited to one power cycle per minute. Terminal block is required to make connections. Cable shield clamp must be used to meet CE and UK requirements. PE ground connection bonded to the panel must be used to meet CE and UK requirements. Internal shunt wired to the shunt connector is the default configuration. Unplug the internal shunt connector and connect the external shunt wires to the spare shunt connector plug. For motor cable specifications, refer to Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004. For the following types of encoders, use the +5V DC supply: 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, MPAR-Axxx, MPAS-Axxx, and MPAS-Bxxx (direct-drive). For the following types of encoders, use the +9V DC supply: MPL-B15xx-V/E…MPL-B2xx-V/E, MPL-B3xx-S/M…MPL-B6xx-S/M, MPL-A5xx, MPM-Bxx, MPMA165xx…MPM-A215xx, MPF-Bxx, MPF-A5xx, MPS-Bxxx, MPAR-Bxxx, and MPAS-Bxxx (ballscrew). Kinetix LDAT linear thrusters, Kinetix MPAS (direct-drive) linear stages, and Kinetix LDC/Kinetix LDL linear motors do not include a brake option, so only the 2090-CPWM7DF-xxAAxx or 2090-CPWM7DF-xxAFxx motor power cables are specified. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 163 Appendix A Interconnect Diagrams Power Wiring Examples You must supply input power components. The single-phase and three-phase line filters are wired downstream of the circuit protection. Figure 79 - Kinetix 5300 Drives Power Wiring (three-phase operation) 2198-C1004-ERS, 2198-C1007-ERS, 2198-C1015-ERS, 2198-C1020-ERS, 2198-C2030-ERS, 2198-C2055-ERS, 2198-C2075-ERS, 2198-C4004-ERS, 2198-C4007-ERS, 2198-C4015-ERS, 2198-C4020-ERS, 2198-C4030-ERS, 2198-C4055-ERS, 2198-C4075-ERS Shunt Connector DC+ SH See table on page 163 for note information. Internal Shunt Note 7 Bonded Cabinet Ground Bus PE Ground Cable Shield Clamp Chassis Note 4 U Customer Supplied +24V DC Power Supply * 170…253V AC rms or 342…528V AC rms Three-phase Input Note 1 2 1 2198-DBxxx-F Three-phase AC Line Filter Note 3 24V– 24V+ Control Power Motor Power Connector W 4 Three-phase Motor Power Connections Note 8 3 2 1 4 3 2 1 L3 L2 AC Input Power Connector Motor Brake Connector L1 Circuit Protection * Note 2 * Indicates Customer Supplied Component 164 V Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 MBRK MBRK + 2 MBRK - 1 MBRK + Motor Brake Connections Appendix A Interconnect Diagrams Figure 80 - Kinetix 5300 Drives Power Wiring (single-phase operation) 2198-C1004-ERS, 2198-C1007-ERS, 2198-C1015-ERS, 2198-C1020-ERS Kinetix 5300 Drives DC+ Shunt SH See table on page 163 for note information. Internal Shunt Note 7 Note 5 Cable Shield Bonded Cabinet Ground Bus PE Ground Chassis Note 4 85…132V AC rms or 170…253V AC rms Single-phase Input U Motor Power Customer Supplied +24V DC Power Supply * 2 1 2198-DBxxx-F Three-phase AC Line Filter 24V– V W Control Power 24V+ 4 Three-phase Motor Power Connections Note 8 3 2 1 4 3 2 1 L3 L2 AC Input Power Connector Motor Brake MBRK MBRK + 2 MBRK - 1 MBRK + Motor Brake Connections L1 Circuit Protection * Note 2 * Indicates Customer Supplied Component Shunt Resistor Wiring Example Bulletin 2198-Rxxx shunts and 2097-Rx shunt resistors are available for Kinetix 5300 drives. • For shunt specifications, see Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003. • For specifications specific to your Kinetix 5300 drive application, see Passive Shunt Considerations on page 30. • When installing Bulletin 2097 shunts, see the Bulletin 2097 Shunt Resistor Installation Instructions, publication 2097-IN002. • When installing Bulletin 2198 shunts, see Kinetix 5700 Passive Shunt Modules Installation Instructions, publication 2198-IN011. IMPORTANT A spare 2-pin shunt-connector plug is included with each drive for use with an external shunt. Unplug the internal shunt connector and connect the external shunt wires to the spare shunt-connector plug. Figure 81 - External Shunt Resistor Wiring Example 2198-Cxxxx-ERS Kinetix 5300 Drive Shunt Connector Note 7 Internal Shunt 2198-Rxxx or 2097-Rx Shunt Resistor DC+ SH Leave the internal shunt wires terminated in its own shunt connector plug. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 165 Appendix A Interconnect Diagrams Kinetix 5300 Servo Drive and Rotary Motor Wiring Examples These wiring diagrams apply to Kinetix 5300 drives with compatible Allen-Bradley® rotary motors. In this example, the Kinetix TLP compact motor with rectangular connectors uses a power/ brake cable. Flying-lead feedback connections to the 2198-K53CK-D15M feedback connector kit are made by using bulk cable and building your own cables. See Build Your Own Kinetix TLP Motor Cables Installation Instructions, publication 2090-IN048, for more information. Figure 82 - Kinetix 5300 Drives with Kinetix TLP-A/B046…TLP-A/B100 Servo Motors TLP-A046, TLP-A/B070, TLP-A/B090, and TLP-A100 Servo Motors with High-resolution Feedback 2198-Cxxxx-ERS Kinetix 5300 Drives 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Cable Shield Clamp See table on page 163 for note information. 2198-K53CK-D15M Feedback Connector Kit SHIELD Note 5 U Motor Power Connector U RED Motor Power V Connector W WHITE V BLACK W GREEN/YELLOW 2090-CTPB-MADF-xxAxx (standard) or 2090-CTPB-MADF-xxFxx (continuous-flex) Motor Power Cable Motor Feedback (MFB) Connector MBRK + MBRK - 1 BROWN/RED 2 BLUE/BLACK See Table 88 for motor power and brake pinouts GND Motor Feedback Connector 1 4 T+ T– WHITE WHT/RED 5 10 2 5 BAT+ BAT– RED BLACK + – 7 +5VDC GND BROWN 14 8 BLUE 6 9 SHIELD See connector kit illustration (below) for proper ground technique. BR+ BR- Motor Brake Connector 2090-CTFB-MADD-CFAxx (standard) and 2090-CTFB-MADD-CFFxx (continuous-flex) feedback cables do not require the 2198-K53CK-D15M feedback connector kit. Ground Technique for Feedback Cable Shield Use the 2198-K53CK-D15M feedback connector kit when building your own cables. Tie Wrap 8 7 6 5 4 3 10 11 12 13 14 + 2 1 -- Table 88 - Motor Power and Brake Cable Pinouts 360° exposed shield that is secured under clamp. Clamp Screws (2) Motor Power/Brake Cable Cat. No. Motor Power Signal Wire Color Pin Signal Wire Color Pin 2090-CTPx-MADF-16 U V W PE RED WHITE BLACK GREEN/YELLOW 1 2 4 5 BR+ BR– BROWN BLUE Clamp See Kinetix 5300 Feedback Connector Kit Installation Instructions, publication 2198-IN023, for connector kit specifications. 166 2090-CTPx-MADF-18 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Motor Brake 3 6 5 6 Appendix A Interconnect Diagrams In this example, the Kinetix TLP compact motor with military-style connectors uses a power/ brake cable. Flying-lead feedback connections to the 2198-K53CK-D15M feedback connector kit are made by using bulk cable and building your own cables. See Build Your Own Kinetix TLP Motor Cables Installation Instructions, publication 2090-IN048, for more information. Figure 83 - Kinetix 5300 Drives with Kinetix TLP-A/B115…TLP-A/B200 Servo Motors TLP-A/B115, TLP-A/B145-050, TLP-A145-090, TLP-A/B145-100, TLP-A/B145-150, TLP-B145-200, TLP-A/B145-250, TLP-A200-200, TLP-A/B200-300, TLP-A200-350, TLP-A/B200-450 Servo Motors with High-resolution Feedback 2198-Cxxxx-ERS Kinetix 5300 Drives 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Cable Shield Clamp SHIELD Note 5 RED U Motor Power Connector U Motor Power V Connector WHITE V BLACK W W GREEN/YELLOW 2090-CTPB-MxDF-xxAxx (standard) or 2090-CTPB-MxDF-xxFxx (continuous-flex) Motor Power Cable Motor Feedback (MFB) Connector MBRK + MBRK - 1 BROWN/RED 2 BLUE/BLACK See Table 88 for motor power and brake pinouts GND Motor Feedback Connector See table on page 163 for note information. 2198-K53CK-D15M Feedback Connector Kit A B T+ T– WHITE WHT/RED 5 10 C D BAT+ BAT– RED BLACK + – S +5VDC GND BROWN 14 R BLUE 6 L SHIELD See connector kit illustration (below) for proper ground technique. BR+ BR- Motor Brake Connector 2090-CTFB-MFDD-CFAxx (standard) and 2090-CTFB-MFDD-CFFxx (continuous-flex) feedback cables do not require the 2198-K53CK-D15M feedback connector kit. Ground Technique for Feedback Cable Shield Use the 2198-K53CK-D15M feedback connector kit when building your own cables. Tie Wrap 8 7 6 5 4 3 10 11 12 13 14 + 2 1 -- Table 89 - Motor and Brake Cable Pinouts 360° exposed shield that is secured under clamp. Clamp Screws (2) Motor Power/Brake Cable Cat. No. Motor Power Signal Wire Color Pin Signal Wire Color Pin 2090-CTPx-MCDF-12 U V W PE RED WHITE BLACK GREEN/YELLOW F I B E BR+ BR– RED BLACK BR+ BR– BROWN BLUE U V W PE RED WHITE BLACK GREEN/YELLOW D E F G BR+ BR– RED BLACK Clamp See Kinetix 5300 Feedback Connector Kit Installation Instructions, publication 2198-IN023, for connector kit specifications. 2090-CTPx-MCDF-16 2090-CTPx-MDDF-08 2090-CTPx-MDDF-12 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Motor Brake G H A B 167 Appendix A Interconnect Diagrams In this example, the Kinetix TLP compact motors have a separate brake (military style) connector and brake cable. Flying-lead feedback connections to the 2198-K53CK-D15M feedback connector kit are made by using bulk cable and building your own cables. See the Build Your Own Kinetix TLP Motor Cables Installation Instructions, publication 2090-IN048, for more information. Figure 84 - Kinetix 5300 Drives with Kinetix TLP-A/B200-550, TLP-A/B200-750, and TLP-A/B235 Servo Motors 2198-Cxxxx-ERS TLP-A/B200-550, TLP-A/B200-750 TLP-A/B235-11K, TLP-A235-15K, TLP-B235-14K Servo Motors with High-resolution Feedback Kinetix 5300 Drives 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Cable Shield Clamp SHIELD Note 5 U Motor Power Connector V W RED A U WHITE B V BLACK C GREEN/YELLOW D GND 2090-CTPW-MEDF-xxAxx (standard) or 2090-CTPW-MEDF-xxFxx (continuous-flex) Motor Power Cable Motor Feedback (MFB) Connector Motor Brake Connector MBRK + MBRK - W Motor Power Connector Motor Feedback Connector See table on page 163 for note information. 2198-K53CK-D15M Feedback Connector Kit A B T+ T– WHITE WHT/RED 5 10 C D BAT+ BAT– RED BLACK + – S R +5VDC GND BROWN BLUE L SHIELD See connector kit illustration (below) for proper ground technique. 1 RED B BR+ 2 BLACK A BR- Motor Brake Connector 2090-CTFB-MFDD-CFAxx (standard) and 2090-CTFB-MFDD-CFFxx (continuous-flex) feedback cables do not require the 2198-K53CK-D15M feedback connector kit. 2090-CTBK-MBDF-20Axx (standard) or 2090-CTBK-MBDF-20Fxx (continuous-flex) Motor Brake Cable Notes 8 Ground Technique for Feedback Cable Shield Use the 2198-K53CK-D15M feedback connector kit when building your own cables. 8 7 6 5 4 3 Tie Wrap 2 1 10 11 12 13 14 + -- 360° exposed shield that is secured under clamp. Clamp Screws (2) Clamp 168 14 See Kinetix 5300 Feedback Connector Kit Installation Instructions, publication 2198-IN023, for connector kit specifications. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 6 Appendix A Interconnect Diagrams These compatible Kinetix MP rotary motors have separate connectors and cables for power/ brake and feedback connections. Incremental encoders include S1, S2, and S3 (Hall) signals, so feedback cables with additional conductors are specified. ATTENTION: To avoid damage to components, determine which power supply your encoder requires and connect either the 5V or the 9V supply, but not both. See notes 9 and 10 on page 163. Figure 85 - Kinetix 5300 with Kinetix MP Rotary Servo Motors Cable Shield Clamp Shield Note 5 Brown Black Blue Green/Yellow U 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 V Motor Power Connector W MBRK + MBRK - A/U B/V C/W D F/+ MBRK+ 2 Black G/– MBRK- Tie Wrap Motor Feedback GND Thermostat 8 7 6 5 4 3 2 1 10 11 12 13 14 + -- 360° exposed shield that is secured under clamp. Clamp Screws (2) Clamp Motor Feedback GND See Kinetix 5300 Feedback Connector Kit Installation Instructions, publication 2198-IN023, for connector kit specifications. Thermostat F G 3 4 5 6 9 10 11 13 DATA+ GREEN WHT/GREEN DATA+5VDC Note 9 GRAY WHT/GRAY ECOM +9VDC Note 10 ORANGE WHT/ORANGE TS 12 W C D RED WHT/RED 5 10 14 6 7 11 14 U Three-phase V Motor Power B 1 2 3 4 MBRK+ MBRKMotor Brake See connector kit illustration (below) for proper ground technique. COM 2090-CFBM7DF-CEAAxx (standard) or 2090-CFBM7DF-CEAFxx (continuous-flex) (flying-lead) Feedback Cable Notes 8, 9, 10 2090-CFBM7DD-CEAxxx (drive-end connector) feedback cables are also available. MPL-A/B15xx…MPL-A/B45xx Servo Motors with Incremental Feedback A BLACK WHT/BLACK SIN+ SINCOS+ COS- Motor Brake Grounding Technique for Feedback Cable Shield Use the 2198-K53CK-D15M feedback connector kit with flying-lead cables. V Three-phase Motor Power W 1 2198-K53CK-D15M Feedback Connector Kit 1 2 U 2090-CPxM7DF-xxAAxx (standard) or 2090-CPxM7DF-xxAFxx (continuous-flex) Motor Power Cable Note 8 White Motor Feedback (MFB) Connector Motor Brake Connector See table on page 163 for note information. MPL-A15xx…MPL-A5xx, MPL-B15xx…MPL-B6xx, MPM-A/Bxxx, MPF-A/Bxxx, and MPS-A/Bxxx Servo Motors with High-resolution Feedback 2198-Cxxxx-ERS Kinetix 5300 Servo Drives 2198-K53CK-D15M Feedback Connector Kit 1 2 AM+ AM- BLACK WHT/BLACK 1 2 3 4 BM+ BM- RED WHT/RED 3 4 5 6 IM+ IM- GREEN WHT/GREEN 5 10 9 10 +5VDC ECOM GRAY WHT/GRAY 14 6 11 13 – TS ORANGE WHT/ORANGE 11 S1 S2 WHT/BLUE 12 YELLOW WHT/YELLOW 13 8 14 15 16 17 12 S3 COM 2090-XXNFMF-Sxx (standard) or 2090-CFBM7DF-CDAFxx (continuous-flex) (flying-lead) Feedback Cable Note 8 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 169 Appendix A Interconnect Diagrams These compatible Kinetix TL and TLY rotary motors have separate connectors and cables for power/brake and feedback connections. IMPORTANT To connect a TLY-A rotary motor to a Kinetix 5300 drive, you must use a flying-lead feedback cable (2090-CFBM6DF-CBAAxx). Do not use a drive-end connector feedback cable (2090-CFBM6DD-CCAAxx). Using a drive-end connector feedback cable causes the loss of absolute feedback or memory feedback when powering down the drive. Figure 86 - Kinetix 5300 with Kinetix TLY Rotary Motors TLY-Axxxx-H (230V) Servo Motors with Incremental Feedback 2198-Cxxxx-ERS Kinetix 5300 Servo Drives See table on page 163 for note information. 2198-K53CK-D15M Feedback Connector Kit Cable Shield Clamp Shield Note 5 Brown Black Blue Green/Yellow U Motor Power Connector 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 V W Motor Brake Connector MBRK + MBRK - 1 2 RED WHT/RED 3 4 IM+ IM- GREEN WHT/GREEN +5VDC ECOM S1 GRAY WHT/GRAY 5 10 14 6 12 13 8 9 10 2 3 V Three-phase Motor Power W 11 12 GND 13 14 22 23 15 17 19 24 S2 S3 SHIELD 5 Motor Feedback 1 White 7 BR+ 2 Black 9 BR- WHT/BLUE YELLOW WHT/YELLOW See connector kit illustration (lower left) for proper grounding technique. Motor Brake 2090-CFBM6DF-CBAAxx (flying-lead) Feedback Cable Notes 8 Grounding Technique for Feedback Cable Shield Use the 2198-K53CK-D15M feedback connector kit with flying-lead cables. Tie Wrap 8 7 6 5 4 3 2 1 10 11 12 13 14 + Clamp Screws (2) Clamp 2090-CFBM6DD-CCAAxx (drive-end connector) feedback cable is also available. TLY-Axxxx-B (230V) Servo Motors with High-resolution Feedback 1 -- 360° exposed shield that is secured under clamp. 2 3 2198-K53CK-D15M Feedback Connector Kit U V Three-phase Motor Power W 13 14 5 GND Motor Feedback See Kinetix 5300 Feedback Connector Kit Installation Instructions, publication 2198-IN023, for connector kit specifications. 22 23 6 24 7 9 170 BLACK WHT/BLACK U 2090-CPBM6DF-16AAxx Motor Power and Brake Cable or 2090-CPWM6DF-16AAxx (cable for non-brake applications) Motor Feedback (MFB) Connector AM+ AMBM+ BM- 1 BR+ BRMotor Brake Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 DATA+ DATA+5VDC ECOM BAT+ BATSHIELD GREEN WHT/GREEN 5 10 GRAY WHT/GRAY 14 6 BAT+ BAT- ORANGE WHT/ORANGE 2090-CFBM6DF-CBAAxx (flying-lead) or 2090-CFBM6DD-CCAAxx (with drive-end connector) Feedback Cable Appendix A Interconnect Diagrams The 2090-DANFCT-Sxx feedback cable is equipped with a drive-end connector that is not compatible with the 15-pin (MFB) feedback connector. To provide battery backup to the encoder, you can remove the drive-end connector and prepare the cable shield and conductors for wiring to the 2198-K53CK-D15M feedback connector kit. For more information, see Cable Preparation for Kinetix TL and TLY Motor Power Cables on page 83. Figure 87 - Kinetix 5300 with Kinetix TL Rotary Motors TL-Axxxx-B (230V) Servo Motors with High-resolution Feedback 2198-Cxxxx-ERS Kinetix 5300 Servo Drives 2198-K53CK-D15M Feedback Connector Kit Cable Shield Clamp Shield Note 5 Brown Black Blue Green/Yellow U V Motor Power Connector 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 See table on page 163 for note information. W 1 2 3 U V Three-phase Motor Power W 5 GND 2090-DANPT-16Sxx Motor Power Cable Note 8 Motor Feedback (MFB) Connector Motor Brake Connector MBRK + MBRK - 1 White 1 BR+ 2 Black 2 BR- Motor Feedback Motor Brake 2090-DANBT-18Sxx Motor Brake Cable Note 8 12 13 7 8 14 9 SD+ SD+5VDC ECOM BAT+ BATSHIELD BROWN WHT/BROWN 5 10 GRAY WHT/GRAY 14 6 BAT+ BAT- ORANGE WHT/ORANGE See connector kit illustration (lower left) for proper grounding technique. 2090-DANFCT-Sxx (standard) Flying-lead Feedback Cable (with drive-end connector removed) Note 8 Grounding Technique for Feedback Cable Shield Use the 2198-K53CK-D15M feedback connector kit with flying-lead cables. Tie Wrap 8 7 6 5 4 3 2 1 10 11 12 13 14 + -- 360° exposed shield that is secured under clamp. Clamp Screws (2) Clamp See Kinetix 5300 Feedback Connector Kit Installation Instructions, publication 2198-IN023, for connector kit specifications. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 171 Appendix A Interconnect Diagrams Kinetix 5300 Drive and Linear Actuator Wiring Examples These wiring diagrams apply to Kinetix 5300 drives with compatible Allen-Bradley linear motors and actuators. Incremental encoders include S1, S2, and S3 (Hall) signals, so feedback cables with additional conductors are specified. Figure 88 - Kinetix 5300 with Kinetix LDAT Linear Thrusters Cable Shield Clamp 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 See table on page 163 for note information. LDAT-Sxxxxxx-xDx Linear Thrusters with High-resolution Feedback 2198-Cxxxx-ERS Kinetix 5300 Servo Drives Note 5 Shield Motor Power Connector Brown Black Blue Green/Yellow U V W A U B V C D W Motor Feedback (MFB) Connector BLACK WHT/BLACK 1 2 3 4 SIN+ SINCOS+ COS- RED WHT/RED 3 4 5 6 9 10 11 13 DATA+ DATA– ECOM +9VDC TS GREEN WHT/GREEN 5 10 1 2 Three-phase Motor Power Motor Feedback GND 2090-CPWM7DF-xxAAxx (standard) or 2090-CPWM7DF-xxAFxx (continuous-flex) Motor Power Cable Note 8 2198-K53CK-D15M Feedback Connector Kit Thermostat Grounding Technique for Feedback Cable Shield Tie Wrap 8 7 6 5 4 3 2 1 10 11 12 13 14 + 360° exposed shield that is secured under clamp. Three-phase UMotor Power V B Clamp Screws (2) 6 7 11 W C D Clamp Motor Feedback GND See Kinetix 5300 Feedback Connector Kit Installation Instructions, publication 2198-IN023, for connector kit specifications. Thermostat Note 11 See connector kit illustration (below) COM 2090-CFBM7DF-CEAAxx (standard) or 2090-CFBM7DF-CEAFxx (continuous-flex) (flying-lead) Feedback Cable Notes 8 2090-CFBM7DD-CEAxxx (drive-end connector) feedback cables are also available. LDAT-Sxxxxxx-xBx Linear Thrusters with Incremental Feedback A -- ORANGE WHT/ORANGE 14 Note 11 12 Use the 2198-K53CK-D15M feedback connector kit with flying-lead cables. GRAY WHT/GRAY 2198-K53CK-D15M Feedback Connector Kit 1 2 AM+ AM- BLACK WHT/BLACK 1 2 3 4 BM+ BM- RED WHT/RED 3 4 5 6 IM+ IM- GREEN WHT/GREEN 5 10 9 10 +5VDC ECOM GRAY WHT/GRAY 14 6 11 13 – TS ORANGE WHT/ORANGE 11 S1 S2 WHT/BLUE 12 YELLOW WHT/YELLOW 13 8 14 15 16 17 12 S3 COM 2090-XXNFMF-Sxx (standard) or 2090-CFBM7DF-CDAFxx (continuous-flex) (flying-lead) Feedback Cable Notes 8 172 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix A Interconnect Diagrams Incremental encoders include S1, S2, and S3 (Hall) signals, so feedback cables with additional conductors are specified. Figure 89 - Kinetix 5300 with Kinetix MPAS Linear Stages MPAS-A/Bxxxxx-VxxSxA Ballscrew Linear Stages with High-resolution Feedback 2198-Cxxxx-ERS Kinetix 5300 Servo Drives 2198-K53CK-D15M Feedback Connector Kit Cable Shield Clamp Shield Note 5 Brown Black Blue Green/Yellow U V Motor Power Connector 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 See table on page 163 for note information. W A V Three-phase Motor Power W B C D 2090-CPxM7DF-xxAAxx (standard) or 2090-CPxM7DF-xxAFxx (continuous-flex) Motor Power Cable Motor Feedback (MFB) Connector MBRK + MBRK - Thermostat White F MBRK+ 2 Black G MBRK- Tie Wrap 8 7 6 5 4 3 2 1 10 11 12 13 14 + 360° exposed shield that is secured under clamp. 3 4 5 6 9 10 11 13 DATA+ DATA+5VDC ECOM +9VDC TS GREEN WHT/GREEN 5 10 14 6 7 11 GRAY WHT/GRAY ORANGE WHT/ORANGE 14 12 U Three-phase Motor Power V B Clamp Screws (2) RED WHT/RED See connector kit illustration (below) for proper ground technique. 2090-CFBM7DF-CEAAxx (standard) or 2090-CFBM7DF-CEAFxx (continuous-flex) (flying-lead) Feedback Cable COM MPAS-A/Bxxxxx-ALMx2C Direct-drive Linear Stages with Incremental Feedback A -- 1 2 2090-CFBM7DD-CEAxxx (drive-end connector) feedback cables are also available. Grounding Technique for Feedback Cable Shield Use the 2198-K53CK-D15M feedback connector kit with flying-lead cables. Motor Feedback GND 1 BLACK WHT/BLACK 3 4 SIN+ SINCOS+ COS- 1 2 U W C D Clamp Motor Feedback GND See Kinetix 5300 Feedback Connector Kit Installation Instructions, publication 2198-IN023, for connector kit specifications. Thermostat Note 11 2198-K53CK-D15M Feedback Connector Kit 1 2 AM+ AM- BLACK WHT/BLACK 1 2 3 4 BM+ BM- RED WHT/RED 3 4 5 6 IM+ IM- GREEN WHT/GREEN 5 10 9 10 +5VDC ECOM GRAY WHT/GRAY 14 6 11 13 – TS ORANGE WHT/ORANGE 11 S1 S2 WHT/BLUE 12 YELLOW WHT/YELLOW 13 8 14 15 16 17 12 S3 COM 2090-XXNFMF-Sxx (standard) or 2090-CFBM7DF-CDAFxx (continuous-flex) (flying-lead) Feedback Cable Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 173 Appendix A Interconnect Diagrams Figure 90 - Kinetix 5300 with Kinetix MP Electric Cylinders MPAR-A/Bxxxxx and MPAI-A/Bxxxxx Electric Cylinders with High-resolution Feedback 2198-Cxxxx-ERS Kinetix 5300 Servo Drives Cable Shield Clamp Note 5 Shield Motor Power Connector Brown Black Blue Green/Yellow U 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 V W A U B C V D GND Motor Feedback Thermostat MBRK - BLACK WHT/BLACK 1 2 3 4 SIN+ SINCOS+ COS- RED WHT/RED 3 4 5 6 9 10 11 13 DATA+ DATA+5VDC ECOM +9VDC TS GREEN WHT/GREEN 5 10 14 6 7 11 1 2 W Motor Feedback (MFB) Connector MBRK + 2198-K53CK-D15M Feedback Connector Kit Three-phase Motor Power See Table 90 for motor power cable. Motor Brake Connector See table on page 163 for note information. 1 White F MBRK+ 2 Black G MBRK- 12 COM See connector kit illustration (below) See Table 90 for (flying-lead) motor feedback cable. Notes 8, 9, 10 Grounding Technique for Feedback Cable Shield Tie Wrap ORANGE WHT/ORANGE 14 Motor Brake Use the 2198-K53CK-D15M feedback connector kit when building your own cables. GRAY WHT/GRAY 10 11 12 13 14 + 8 7 6 5 4 3 -- 2 1 360° exposed shield that is secured under clamp. Clamp Screws (2) Clamp See Kinetix 5300 Feedback Connector Kit Installation Instructions, publication 2198-IN023, for connector kit specifications. Table 90 - Kinetix MPAI and MPAR Electric Cylinder Power and Feedback Cables Electric Cylinder Cat. No. Frame MPAR-A/B1xxx (series A and B) 32 MPAR-A/B2xxx (series A and B) 40 MPAR-A/B1xxx (series A and B) 32 MPAR-A/B2xxx (series A and B) 40 MPAR-A/B3xxx 63 MPAI-A/B2xxxx 64 MPAI-A/B3xxxx 83 MPAI-A/B4xxxx 110 MPAI-B5xxxx 144 MPAI-A5xxxx 144 Power Cable Cat. No. Feedback Cable Cat. No. 2090-XXNPMF-16Sxx (standard) or 2090-CPxM4DF-16AFxx (continuousflex) 2090-XXNFMF-Sxx (standard) or 2090-CFBM4DF-CDAFxx (continuous-flex) 2090-CPxM7DF-16AAxx (standard) or 2090-CPxM7DF-16AFxx (continuousflex) 2090-CFBM7DF-CEAAxx (standard) or (1) 2090-CFBM7DF-CEAFxx (continuous-flex) 2090-CPxM7DF-14AAxx (standard) or 2090-CPxM7DF-14AFxx (continuousflex) 2090-CFBM7DF-CEAAxx (standard) or (1) 2090-CFBM7DF-CEAFxx (continuous-flex) (1) 2090-CFBM7DD-CEAxxx (drive-end connector) feedback cables are also available. 174 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix A Interconnect Diagrams Kinetix LDC and Kinetix LDL linear motors do not include the holding-brake option, so 2090CPWM7DF cables (without brake wires) are specified. Incremental encoders include the S1, S2, and S3 (Hall) signals, so feedback cables with additional conductors are specified. Figure 91 - Kinetix 5300 with Kinetix LDC or Kinetix LDL Linear Motors (cable connectors) 2198-Cxxxx-ERS Kinetix 5300 Servo Drives 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 LDC-Cxxxxxx-xHTx1 or LDL-xxxxxxx-xHTx1 Linear Motor Coil with Sin/Cos or TTL External Encoder and Cable Connectors Cable Shield Clamp Note 5 SHIELD GND GREEN/YELLOW Motor Power Connector BLUE W V U BLACK C B BROWN A 2090-CPWM7DF-xxAAxx (standard) or 2090-CPWM7DF-xxAFxx (continuous-flex) Motor Power Cable Motor Feedback (MFB) Connector Thermostat W V Three-phase U Motor Power Motor Feedback See table on page 163 for note information. 13 14 15 16 17 10 9 6 5 4 3 2 1 Tie Wrap 8 7 6 5 4 3 2 1 1 4 10 11 12 13 14 + -- 360° exposed shield that is secured under clamp. Clamp Screws (2) Clamp 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 See connector kit (continuous-flex) illustration (left) (flying-lead) Feedback Cable for proper ground Grounding Technique for Feedback Cable Shield Use the 2198-K53CK-D15M feedback connector kit with flying-lead cables. 2198-K53CK-D15M Feedback Connector Kit 12 2 5 3 6 8 7 SIN+ (AM+) SIN- (AM-) COS+ (BM+) COS- (BM-) IM+ IMPOWER COM External Sin/Cos or (TTL) Encoder See Kinetix 5300 Feedback Connector Kit Installation Instructions, publication 2198-IN023, for connector kit specifications. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 175 Appendix A Interconnect Diagrams Incremental encoders include S1, S2, and S3 (Hall) signals, so feedback cables with additional conductors are specified. Figure 92 - Kinetix 5300 with Kinetix LDC or Kinetix LDL Linear Motors (flying-lead cables) 2198-Cxxxx-ERS Kinetix 5300 Servo Drives See table on page 163 for note information. LDC-Cxxxxxx-xHTx0 or LDL-xxxxxxx-xHTx0 Linear Motor Coil with Sin/Cos or TTL External Encoder and Flying-lead Cables Cable Shield Clamp Note 5 GREEN/YELLOW Motor Power Connector W V U W V U BLACK W GND WHITE V RED U Three-phase Motor Power TS+ TS- BLACK BLACK POWER S1 S2 S3 COM 2198-Cxxxx-ERS Kinetix 5300 Servo Drives 2198-K53CK-D15M Feedback Connector Kit Motor Feedback (MFB) Connector 11 12 13 8 1 2 3 4 5 10 14 6 TS+ S1 S2 S3 (AM+) SIN+ (AM-) SINCOS+ (BM+) COS- (BM-) IM+ IMPOWER COM RED WHITE BLUE ORANGE (AM+) SIN+ (AM-) SINCOS+ (BM+) COS- (BM-) IM+ IMPOWER COM Grounding Technique for Feedback Cable Shield Tie Wrap 8 7 6 5 4 3 2 1 10 11 12 13 14 + See Kinetix 5300 Feedback Connector Kit Installation Instructions, publication 2198-IN023, for connector kit specifications. -- 360° exposed shield that is secured under clamp. Clamp Screws (2) Clamp 176 Hall Effect Module BLACK Wire as shown using the cable type appropriate for your application. Use the 2198-K53CK-D15M feedback connector kit with flying-lead cables. Thermostat Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 External Sin/Cos or (TTL) Encoder Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 24V Control Power Connector L1 24V- 24V+ L3 L2 Status Indicators Switched Mode Power Supply Control Power Encoder Power Chassis Control Board DC+ Shunt Connector SH V Motor Brake Connector Motor Feedback 15-pin Connector Ethernet PORT2 Ethernet PORT1 Digital Inputs/Aux Feedback Connector Safe Torque Off Connector Motor Cable Clamp Three-phase Motor Power W Connector U System Block Diagrams Three-phase Input Power Connector Module Status Network Status Status Display Internal or External Shunt Resistor Appendix A Interconnect Diagrams This section provides block diagrams of the Kinetix 5300 servo drives. Figure 93 - Kinetix 5300 Drive Block Diagram 177 Appendix A Interconnect Diagrams Notes: 178 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix B Update Kinetix 5300 Drive Firmware This appendix provides procedures to update your Kinetix® 5300 drive firmware. Topic Before You Begin Update Your Firmware Verify the Firmware Update Page 179 181 189 You can update your Kinetix 5300 drive firmware by using either of these two methods: • ControlFLASH Plus™ software • ControlFLASH™ software To update the drive firmware, you must configure a path to your drive, select the drive module to update, and complete the firmware update procedure. We recommend that you use ControlFLASH Plus software for firmware updates. See the ControlFLASH Plus Quick Start Guide, publication CFP-QS001, for more information. Before You Begin For firmware updates, you must use the software versions that are shown in for EtherNet/IP™ networks. Table 91 - Kinetix 5300 System Requirements Description Studio 5000 Logix Designer® application Revision 33.00.00 or later RSLinx® software (1) 4.20.00 or later (2) 6.20.00 or later ControlFLASH software kit (3) 15.03.00 or later ControlFLASH Plus software kit (3) 3.01 or later FactoryTalk® Linx software (1) Only required when using ControlFLASH software. (2) Only required 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 5300 specific), see the ControlFLASH User Manual, publication 1756-UM105. Gather this information before you begin your firmware update. • Network path to the targeted Kinetix 5300 drives you want to update. • Catalog numbers of the targeted Kinetix 5300 drives you want to update. IMPORTANT Control power must be present at the control input power connector, pin-1 (24V+) and pin-2 (24V-) before updating your target drive. IMPORTANT The axis state on the status display must represent STANDBY, CONFIGURING, or PRECHARGE before beginning this procedure. For the numeric values, see Four-character Display Axis and Status Device States on page 100. IMPORTANT The axis state on the status display must represent STANDBY, when Protected mode is enabled. For the numeric values, see Four-character Display Axis and Status Device States on page 100. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 179 Appendix B Update Kinetix 5300 Drive Firmware ATTENTION: To avoid personal injury or damage to equipment during the firmware update due to unpredictable motor activity, do not apply threephase AC or common-bus DC input power to the drive. Inhibit the Module You must inhibit the Kinetix 5300 drive before performing the firmware update. Follow these steps to inhibit a module. 1. Open your Logix Designer application. 2. Right-click the Kinetix 5300 drive you configured and choose Properties. The Module Properties dialog box appears. 3. Select the Connection category. 4. 5. 6. 7. 180 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. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix B Update Your Firmware Update Kinetix 5300 Drive Firmware Use either ControlFLASH Plus software or ControlFLASH software to update your firmware. • To use ControlFLASH Plus software, see Use ControlFLASH Plus Software to Update Your Drive Firmware. • To use ControlFLASH software, see Use ControlFLASH Software to Update Your Drive Firmware on page 184. Use ControlFLASH Plus Software to Update Your Drive Firmware Follow these steps to select the Kinetix 5300 drive to update. 1. Start ControlFLASH Plus software. You can choose to select and update the firmware for all drive modules in your system. However, in this procedure only one drive is selected for a firmware update. 2. Click the Flash Devices tab. If the device is not already present next to “Browsing from path:”, complete these steps: a. Click . b. In the Network Browser dialog box, locate and select the device to update. c. Click OK. 3. On the Flash Devices tab, verify that the checkbox to the left of the device has a check in it. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 181 Appendix B Update Kinetix 5300 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 revision that you want. 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. 182 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix B Update Kinetix 5300 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 update is in progress. After the update 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 process can take several minutes. IMPORTANT Do not cycle power to the drive during this process. A power cycle results in an unsuccessful firmware update and an inoperable module. After the drive reboots, ControlFLASH Plus software indicates success or failure of the update. 8. When the update has completed, click Close. 9. To complete the process and close the application, click Done. 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-UM005E-EN-P - September 2024 183 Appendix B Update Kinetix 5300 Drive Firmware Use ControlFLASH Software to Update Your Drive Firmware Before using ControlFLASH software, you must 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 10. 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. The Add New RSLinx Classic Driver dialog box appears. 5. Type the new driver name. 6. Click OK. The Configure driver dialog box appears. 7. Type the IP address of your Ethernet Module or Controller that bridges between the Ethernet network and the EtherNet/IP network. 184 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix B Update Kinetix 5300 Drive Firmware 8. Click OK. The new Ethernet driver appears under Configured Drivers. 9. Click Close. 10. Minimize the RSLinx application dialog box. Start the ControlFLASH Software Follow these steps to start ControlFLASH software and begin your firmware update. 1. In the Logix Designer application, from the Tools menu, choose ControlFLASH. You can also open the ControlFLASH software by choosing Start > Programs > FLASH Programming Tools > ControlFLASH. The Welcome to ControlFLASH dialog box appears. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 185 Appendix B Update Kinetix 5300 Drive Firmware 2. Click Next. 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 Kinetix 5300 drive. In this example, the 2198-C4075-ERS 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 Kinetix 5300 drive to update. 186 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix B Update Kinetix 5300 Drive Firmware 7. Click OK. The Firmware Revision dialog box appears. 8. Select the firmware revision to use for the update. 9. Click Next. The Summary dialog box appears. 10. Confirm the device catalog number and firmware revision. 11. Click Finish. This ControlFLASH warning dialog box appears. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 187 Appendix B Update Kinetix 5300 Drive Firmware 12. To complete the update now, click Yes. This ControlFLASH warning dialog box appears. 13. Acknowledge the warning and click OK. The Progress dialog box appears and updating begins. After the update 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 update and an inoperable module. 15. Verify that the Update Status dialog box appears and indicates success or failure and take the appropriate action as described in the following table. Update Status Success Failure 188 Display The Update complete message appears in a green Status dialog box. The Update failure message appears in a red Status dialog box. Action Go to step 16. See the ControlFLASH User Manual, publication 1756-UM105, for troubleshooting information. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix B Update Kinetix 5300 Drive Firmware 16. Click OK. IMPORTANT Verify the Firmware Update You must return to the drive Module Properties > Connection category to clear the Inhibit Module checkbox before resuming normal operation. Follow these steps to verify that your firmware update was successful. Verifying the firmware update 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 and choose Device Properties. The Device Properties dialog box appears. 5. Verify the new firmware revision level. 6. Click Close. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 189 Appendix B Update Kinetix 5300 Drive Firmware Notes: 190 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix C Motor Control Feature Support This appendix provides feature descriptions for induction motors and permanent-magnet motors that are supported by Kinetix® 5300 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 Frequency Control Methods Page 191 195 198 199 202 204 205 210 212 223 224 226 228 229 230 230 The Kinetix 5300 servo drives support three open-loop frequency control methods. The choices are the following: • 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 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 Closed-loop Control Axis Properties on page 122. 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 92 - Motor Specifications Attribute Output frequency, max Pole pairs, max Motor cable length, max Value 590 Hz 50 30 m (98.4 ft) Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 191 Appendix C 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 94, you can change the volts/hertz ratio to provide increased torque performance when required by programming five distinct points on the curve. Table 93 - 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 94 - Basic Volts/Hertz Method Voltage, max Base Voltage (nameplate) Break Voltage Start/Accel Boost Run Boost Break Frequency 192 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Base Frequency (nameplate) Frequency, max Appendix C 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 tailored for fan/pump applications. Figure 95 - Output Voltage Equation Vx = fx fn 2 Vn – Vboost + 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 the voltage is proportional to the square of the frequency. Figure 96 - 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. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 193 Appendix C Motor Control Feature Support Sensorless Vector The Sensorless Vector method uses a volts/hertz core that is enhanced by a current resolver, slip estimator, and a voltage-boost compensator based on the operating conditions of the motor. Figure 97 - Sensorless Vector Method Motor Pole Pairs Velocity Trim Velocity Command x + Voltage Control + V/Hz 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 207). 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 98 - Approximate Load Curve Voltage, max Base Voltage (nameplate) Ideal, volts/hertz Dynamic Boost Applied Base Frequency (nameplate) 194 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Frequency, max Appendix C Current Limiting for Frequency Control Motor Control Feature Support The current limiting module prevents the OutputCurrent value from exceeding the OperativeCurrentLimit value when the drive is configured in Frequency Control mode. Figure 99 - Current Limiting Module Fine Command Velocity Velocity from Planner (MAJ) Operative Current Limit + + Velocity Reference – PI – Output Current In Frequency Control mode, the OperativeCurrentLimit is the minimum value of the motorthermal 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 that are 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. 200 400 Output Current 600 800 10000 1200 Time (ms) Operative Current Limit 1400 1600 1800 Output Frequency 2000 Aggressive Acceleration, Current Limiting Active 16 14 12 10 8 6 4 2 0 200 400 600 Output Current Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 800 10000 1200 Time (ms) Operative Current Limit 1400 1600 70 60 50 40 30 20 10 0 -10 1800 Frequency (Hz) 70 60 50 40 30 20 10 0 -10 Frequency (Hz) 16 14 12 10 8 6 4 2 0 Output Current (Arms), Operative Current Limit (rms) Output Current (Arms), Operative Current Limit (rms) Figure 100 - Effects of Current Limiting on an Aggressive Acceleration Aggressive Acceleration, No Current Limiting 2000 Output Frequency 195 Appendix C Motor Control Feature Support Figure 101 - Effects of Current Limiting on an Impact Load 4200 4400 Output Current 4800 40005000 Time (ms) 4600 5200 Operative Current Limit 5400 5600 5800 Output Frequency 70 60 50 40 30 20 10 0 -10 12 10 8 6 4 2 0 4200 4400 Output Current 4600 4800 4000 5000 Time (ms) Operative Current Limit 5200 5400 5600 Frequency (Hz) 70 60 50 40 30 20 10 0 -10 Output Current (Arms), Operative Current Limit (rms) Impact Load, Current Limiting Active 12 10 8 6 4 2 0 Frequency (Hz) Output Current (Arms), Operative Current Limit (rms) Impact Load, No Current Limiting 5800 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, and Kd gains at the default values. Table 94 - Enable Current Limiting via Messaging Attribute Type Offset 3022 SINT 3023 REAL 3024 REAL 3025 REAL Attribute Name Conditional Implementation Description 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 Current Limiting configured for Frequency Control. Enable 0 = Current Limiting is disabled 1 = Current Limiting is enabled Frequency Control gain for the current limiting function. Only functional when configured for Frequency Current Limiting Kd Induction Motor only Derivative Control and when executing an MDS command. Units of seconds. Integral gain for the current limiting function. Only functional when configured for Frequency Control Current Limiting Ki 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 Current Limiting Kp Control and when executing an MDS command. Units of: feedback counts / Amp, inst. IMPORTANT 196 For induction motors greater than 5 Hp, when Current Limiting is enabled we recommended that you also enable the Stability Control feature. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix C Motor Control Feature Support Enable the Current Limiting Feature In this example, a Message Configuration (MSG) instruction is configured to set the CurrentLimitingEnable attribute. The Instance field is used to direct the message to the proper axis. For single-axis inverters, the value of 1 is used in the Instance field. 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. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 197 Appendix C Motor Control Feature Support Stability Control for Frequency Control Stability control is available for induction motors that are 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 102 - Effects of Stability Control 60 50 40 30 20 10 0 -10 -20 Id Feedback, Iq Feedback versus Commanded Speed with Stability Control Enabled Id Feedback, Iq Feedback A-pk Id Feedback, Iq Feedback A-pk Id Feedback, Iq Feedback versus Commanded Speed with Stability Control Disabled 25 20 15 10 5 0 -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 95 - Enable Current Limiting via Messaging Attribute Type Offset Attribute Name 3026 SINT Stability Control Enable 3027 REAL 3028 REAL 3029 REAL Conditional Implementation Description Enables stability control when configured for frequency control. 0 = Stability Control is disabled 1 = Stability Control is enabled Stability Filter Sets the bandwidth of the low-pass filter that is applied to the current feedback signal. This bandwidth Frequency Control Bandwidth is common to both the angle and voltage stability control algorithms. Units of radians/second. Induction Motor only Stability Voltage The gain of the voltage stability control function. Only active when configured for frequency control. Gain Units of: Volt (inst, p-n)/Amp (inst). The gain of the electrical angle stability control function. Only active when configured for frequency Stability Angle Gain control. Units of: radians/Amp (inst). IMPORTANT 198 Because the stability control feature works by manipulating the OutputVoltage and OutputFrequency signals, these signals can appear 'noisy' when the feature is enabled. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix C Motor Control Feature Support Enable the Stability Control Feature In this example, a Message Configuration (MSG) instruction is configured to enable the StabilityControl attribute. The Instance field is used to direct the message to the proper axis. For single-axis inverters, the value of 1 is used in the Instance field. Skip Speeds Some machines have a resonant operating frequency (vibration speed) that is undesirable or could cause equipment damage. To guard against continuous operation at one or more resonant points, you can configure the Skip Speed attributes in the Logix Designer application > Axis Properties > Parameter List category. 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 SkipSpeedBand attribute determines the width of the band. The range is split, half above and half below the SkipSpeedx attribute. Any command setpoint within this band is adjusted by the Skip Speed feature to fall at either the upper or lower Skip Speed band boundary value. The Skip Speed feature contains hysteresis (25% of the SkipSpeedBand value) to prevent frequent switching of VelocityReference. Figure 103 - 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. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 199 Appendix C Motor Control Feature Support IMPORTANT If you want there to be only one SkipSpeed value, the SkipSpeed1 and SkipSpeed2 settings must be the same. IMPORTANT The Skip Speed feature affects acceleration and deceleration. 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. Multiple Skip Speeds The Kinetix 5300 drives feature two independent Skip Speed attributes (SkipSpeed1 and SkipSpeed2) that use the same SkipSpeedBand. Figure 104 - Multiple Skip Speed Example SkipSpeed2 Speed SkipSpeedBand SkipSpeedBand SkipSpeed1 0 0 Time When Skip Speed band boundaries of SkipSpeed1 and SkipSpeed2 overlap, the Skip Speed hysteresis is calculated using the effective skip band. In Figure 105, 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. 200 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix C Motor Control Feature Support Figure 105 - 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 30,000 Output Frequency Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 35,000 40,000 Command Frequency 201 Appendix C Flux Up Motor Control Feature Support 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 106 - 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 flux-up 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 FluxUpTime attribute determines the flux-up time period. The flux-up current is not adjustable. Figure 107 - Flux Up Current Versus Flux Up Time Flux Up Current Flux Up Current = Maximum DC Current Rated Flux Current Rated Motor Flux Motor Flux 0 T1 T2 T3 T4 Flux Up Time Once rated flux is reached in the motor, normal operation can begin and the desired acceleration profile achieved. 202 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix C Motor Control Feature Support Figure 108 - 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) The Flux Up Time is the time that is 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 before transitioning to the Running state. Table 96 - 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. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 203 Appendix C 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. Current Regulator Loop Settings Current loop bandwidth is set differently based on the selected motor type. Table 97 - 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 204 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 dependent attributes can result in drive/motor instability. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix C Motor Category Motor Control Feature Support From the Motor category, you can enter motor nameplate or data sheet values (phase-tophase parameters) for rotary induction motors. In this example, the Motor category > Nameplate / Datasheet parameters, were taken from a typical motor performance data sheet. Max Speed and Peak Current values are typically application-dependent. Figure 109 - Motor Nameplate / Data Sheet Example See Figure 110 for a motor manufacturer performance data sheet example. Figure 110 - 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 B.D. T O R Q UE 15 L B -F T 2/ 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 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 205 Appendix C Motor Control Feature Support 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. The Motor > Model parameters 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 111 - 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. 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 112 - Motor Analyzer Category 206 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix C Motor Control Feature Support 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 98 recommends which test to use based on the control mode and application. Table 98 - Motor Tests and Autotune Matrix Control Mode Induction motor - Frequency 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 Preferred Not required Not required Preferred (2) Preferred Required (1) (3) Sensorless vector Required (1) Induction motor - Closed-loop control Required (1) (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 nonzero before running a dynamic test. The motor inertia value is estimated automatically based on 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 must be entered directly. The Motor > Analyzer category offers three choices for calculating or measuring electric 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 205. The nameplate data must be entered before running the Calculate test. 3. Run the test by clicking Start. 4. Save the values by clicking Accept Test Results. 5. Click OK. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 207 Appendix C Motor Control Feature Support 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. 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, the controller populates initial estimates. • For the Logix Designer application, version 28.00 or earlier, initial estimates can be entered 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. A dynamic test 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 sets a torque limit (default of 50% of the motor rated torque). This test 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, initial estimates can be entered by running and accepting the results of a Calculate test, or by entering the values directly into the Logix Designer application. 208 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix C Motor Control Feature Support 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. However, the dynamic test does not return expected results if the torque limit is set below 30.0. Table 99 - Slip Test via Messaging Attribute Type Offset Attribute Name Conditional Implementation 3095 REAL IM Slip Test Torque Limit 3096 REAL IM Slip Test Velocity Command Sets positive and negative torque limits for the slip test within the Dynamic motor test Closed loop induction (similar to the torque limits in the inertia test). Units are in percent of rated torque. motor only 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. Description The Dynamic test requires that the Positive and Negative Torque Limits for the axis are not over-written while the test is in progress. This requirement 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, initial estimates can be entered 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 that 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. If the motor is coupled to a load, the test results may not be valid. In closed-loop control, either a coupled or uncoupled load produces valid results. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 209 Appendix C Motor Control Feature Support Selection of Motor Thermal Models The Kinetix 5300 drives contain two motor thermal-overload protection algorithms that you can use to help 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 amount of time that 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 113. Figure 113 - Motor Overload Curve 100,00 10,00 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 210 The generic motor-thermal model does not support Current Foldback as a Motor Overload Action. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix C 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 uses 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 that are 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 revisions 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 100 for attribute information. Table 100 - 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 that is used to detect an overload condition due to the reduced effectiveness of an integral fan rpm cooling system. A value of zero disables the effect of the attribute. This 600 2T motor thermal attribute is only applicable when using the I protection method. The attribute value indicates the level of the overload detection threshold at zero speed as a percentage of rated continuous motor 70 % Motor Rated current. This attribute is only applicable when using the I2T motor thermal protection method. Motor Thermal Overload Plot Figure 114 shows the default values of the attributes 2311 and 2312 and an example with attributes changed to 200 rpm and 80% respectively. Figure 114 - 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 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 1200 1400 1600 1800 Default Cooling 211 Appendix C Motor Control Feature Support Thermally Characterized Motors If the MotorWindingToAmbientResistance and MotorWindingToAmbientCapacitance attribute values are both nonzero, the motor is considered thermally characterized and an alternate motor thermal model is run. The purpose of this algorithm is to limit the amount of time that a motor is operating with excessive levels of current. This thermal model uses the first-order time constant that is 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 nonzero if the motor output current is nonzero. The default MotorThermalOverloadFactoryLimit and MotorThermalOverloadUserLimit values for this thermal model are both 110%. IMPORTANT Speed Limited Adjustable Torque (SLAT) 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. Speed limited adjustable torque (SLAT) is a special mode of operation that is 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 that requires 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 that is 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 101 - 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. 212 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix C Motor Control Feature Support 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 that is 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 102 - SLAT Operation When Motion Polarity Is Inverted Velocity Command Positive (clockwise) Negative (counterclockwise) Motion Polarity Normal Inverted Normal Inverted SLAT Configuration Min Max Min Max SLAT Min Speed/Torque SLAT Min Speed/Torque is a special mode of operation that is primarily used in web handling applications. The drive typically operates as a torque regulator, if 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. 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. If the mechanical speed limitation is 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 that is specified by SLATTimeDelay. At this point, the axis returns to operating as a torque regulator. Figure 115 - 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. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 213 Appendix C Motor Control Feature Support SLAT Max Speed/Torque SLAT Max Speed/Torque is a special mode of operation that is primarily used in web handling applications. The drive typically operates as a torque regulator, if 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. 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. If the mechanical speed limitation is 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 116 - 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 MOTIONRM003, 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. 214 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix C 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. 6. Select the Parameters List category. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 215 Appendix C Motor Control Feature Support 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. 216 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix C Motor Control Feature Support 11. Select the Drive Parameters category. The Drive Parameters to Controller Mapping dialog box appears. When using SLAT with Kinetix 5300 drives, the velocity command is sent to the drive via an MAJ instruction or MDS instruction. The torque command is sent via the cyclic write TorqueTrim attribute. See the Integrated Motion on the EtherNet/IP Network Reference Manual, publication MOTION-RM003, for more information on cyclic read and cyclic write. For MAJ instructions: • 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 retrigger the MAJ with the Speed value or use an 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-UM005E-EN-P - September 2024 217 Appendix C Motor Control Feature Support For MDS instruction: • 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 are 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 on the previous page). 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. Keep the Change Decel set to NO and use an SSV instruction to change Ramped Deceleration for the rate you want. 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 5300 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 218 The MDS instruction is not valid when the axis configuration is set to Position Loop. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix C 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 117 - 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 221. The K5300_Axis was configured for revolutions. Therefore, the Speed Units are revolutions per second (rev/s). Motion Drive Start (MDS) Sample Code Figure 118 - Start The speed is increased by updating the speed reference and then re-executing the MDS instruction. Figure 119 - Increase Speed Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 219 Appendix C Motor Control Feature Support The speed is decreased by updating the speed reference and then re-executing the MDS instruction. Figure 120 - 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 that is specified in the CommandTorque and/or TorqueTrim attributes. Figure 121 - Torque Mode IMPORTANT 220 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-UM005E-EN-P - September 2024 Appendix C 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 5300 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 103 - 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 The Ramp Velocity - Positive attribute is a positive value that defines the maximum positive velocity command output of the Ramp Generator. The Ramp Velocity - Negative attribute is a negative value that defines the maximum negative velocity command output of the Ramp Generator. The RampAcceleration attribute is a positive value that defines the maximum acceleration (increasing speed) of the velocity command output by the Ramp Generator. The RampDeceleration attribute is a positive value that defines the maximum deceleration (decreasing speed) of the velocity command output by the Ramp Generator. The RampJerk - 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 The Ramp attributes can be viewed and set with only an SSV or GSV instruction. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 221 Appendix C Motor Control Feature Support Figure 122 - Ramp Attribute Sample Code 222 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix C Motor Overload Retention Motor Control Feature Support The motor overload retention feature protects the motor if there is a drive power-cycle, in which the motor thermal state is lost. With motor overload retention, upon drive powerup, 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. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 223 Appendix C Motor Control Feature Support Phase Loss Detection The phase-loss detection feature is designed to determine if motor power wiring is electrically connected to a motor and that reasonable current control exists. This attribute enables the operation of the drive's torque proving functions that work in conjunction with mechanical brake control. 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 an 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, the setting of the break is automatic. But, when controlled externally, failure to set the brake when the drive is disabled can cause a freefall condition on a vertical application. Table 104 - Phase-loss Detection Startup Sequence Startup Phase Phase 1 Phase 2 Phase 3 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. Torque proving is available for all motoring configurations including closed-loop 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. Table 105 - Phase-loss Detection Attributes 224 ID Access Attribute 590 SSV ProvingConfiguration 591 SSV TorqueProveCurrent Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Conditional Implementation 0 = Disabled 1 = Enabled % Motor Rated Units: Amps Default: 0.000 Min/Max: 0/10,000 Appendix C 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 Sc04 torque proving configuration fault code. The minimum amount of torque proving current depends on the catalog number of the drive. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 225 Appendix C Motor Control Feature Support Phase Loss Detection Current Example In this example, a 2198-C1004-ERS drive is paired with a TLP-A070-020 motor with 1.65 A rms continuous 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 123 - Phase-loss Detection Equation Rating from Table Motor Rated Current = 0.203 A = 12.30% motor rated current. 1.65 A Table 106 - Recommended Phase-loss Detection Current Drive Cat. No. 2198-C1004-ERS 2198-C1007-ERS 2198-C1015-ERS 2198-C1020-ERS 2198-C2030-ERS 2198-C2055-ERS 2198-C2075-ERS 2198-C4004-ERS 2198-C4007-ERS 2198-C4015-ERS 2198-C4020-ERS 2198-C4030-ERS 2198-C4055-ERS 2198-C4075-ERS Velocity Droop Phase-loss Detection Current, Min A, rms 0.203 0.330 0.610 0.879 1.407 2.891 3.430 0.117 0.208 0.376 0.523 0.838 1.626 1.976 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 functionality is helpful when some level of compliance is required due to rigid mechanical coupling between two motors. 226 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-UM005E-EN-P - September 2024 Appendix C 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 functionality 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. 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. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 227 Appendix C Motor Control Feature Support Commutation Self-sensing Startup 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 powerup, 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. 5 seconds is the default amount time, assuming no retries are required. The axis stays in the Starting state while selfsense executes. The sequencing of events is as follows. 1. 1 second current ramp time 2. 1 second delay 3. 1 second move time 4. 1 second delay 5. 1 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. 228 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix C Motor Control Feature Support Table 107 - Self-sense Feature Attributes CIP Attribute CIP Attribute Data Type Number Name Commutation Test 562 Commutation Self-Sensing REAL Current 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 Description Semantics of Values The percent of the motors rated peak current to use for self-sensing startup. % Motor Rated Peak Current This value can be adjusted when the [default = 100] motor is moving a high inertia load. Enumeration: • Forward – indicates the motor moves in only the positive direction 0 = Forward - clockwise (rotary) or Positive (linear) during self-sensing startup. [default] • Negative – indicates the motor 1 = Reverse moves in only the negative direction counterclockwise (rotary) or during self-sensing startup. Negative (linear) The amount of time the drive uses to Seconds build up current to the Self-Sensing [default = 1.0] Current level specified above. The amount of time the motor must be Seconds in the locked position after reaching [default = 1.0] the full Self-Sensing Current. The amount of time the drive uses for the verification move during selfSeconds sensing startup. Applies only to motors [default = 1.0] with self-sensing startup. The amount of time the drive holds the Seconds final position after the verification [default = 1.0] move during self-sensing startup. 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 that are equipped with (TTL with Hall and Sine/Cosine with Hall) incremental encoders that are not available as a catalog number in the Motion Database or motors that are compatible with the commutation self-sense startup feature. IMPORTANT When motors have an unknown commutation offset and are not listed in the Motion Database by catalog number, you cannot enable the axis. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 229 Appendix C Motor Control Feature Support Figure 124 - Hookup Tests - Commutation Tab To run the commutation test, see Test the Axes on page 131. Adaptive Tuning The adaptive tuning feature is an algorithm inside the Kinetix 5300 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 MOTION-AT005, 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. For more information on how to apply the virtual torque sensor feature, see Virtual Torque Sensor Application Technique, publication 2198-AT003. 230 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Appendix D 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. Change Log 2198-UM005D-EN-P, December 2022 Change Added UK certification where CE certification is mentioned. 2198-UM005C-EN-P, February 2022 Change Updated guidance for downloading fault code spreadsheets. Replaced LDAT-Series with Kinetix® LDAT. Replaced 2090-Series with Kinetix 2090. Replaced LDC-Series with Kinetix LDC. Replaced LDL-Series with Kinetix LDL. Added 2198-RD006 to Additional Resources table. Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 231 Appendix D History of Changes Notes: 232 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Index Numerics 2090-CFBM7DF-CD 14, 86 2090-XXNFMF 14, 86 2198-DBRxx-F 14 2198-DBxx-F 14 2198-K53CK-D15M 13, 18, 92 24V input power connector evaluation 29 pinouts 52 wiring 74 A about this publication 9 absolute position feature 63 AC input power connector pinouts 52 wiring 75 AC line filter selection 26 AC line filters 2198-DBRxx-F 14 2198-DBxx-F 14 noise reduction 37 actions category 120, 125 actuator compatibility 78 adaptive tuning 230 additional resources 10 Add-on Profile 103 agency compliance 24 alarm 139, 140 apply power 130 associated axes category 108, 127 audience for this manual 9 auxiliary feedback 60 encoders 61 pinouts 53 wiring 76 axis properties 112, 113, 117, 122, 128 axis unstable 138 B basic volts/hertz 114, 192 Beldon 79 block diagrams power 177 bonding EMI (electromagnetic interference) 34 examples 34 high frequency energy 35 subpanels 35 brake relay 55 build your own cables 66 bulletin MPAI electric cylinders 18 MPAR electric cylinders 18 MPAS linear stages 18 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 bus regulator 110 C cables build your own cables 66 catalog numbers 78, 79, 86 categories 37 Ethernet cable length 94 feedback preparation Kinetix MP 87 Kinetix TL/TLY 88 Kinetix TLP 87 induction motors 79 maximum length 80 motor power 83 preparation Kinetix MP 81 Kinetix TL and TLY 83 Kinetix TLP 81 shield clamp 84, 89 calculate model 208 capacitor module wiring 93 catalog numbers drive accessories 23 Kinetix 5300 drives 23 motor cables 78, 79, 86 shared-bus connection system 23 category 3 requirements 153 stop category definitions 154 CE compliance 24 certification PL and SIL 154 TÜV Rheinland 153 user responsibilities 153 website 11, 153 CIP Security 10 circuit breaker selection 27 clamp 84, 89 communication path configure 184 commutation offset 132, 229 self-sensing 228 CompactLogix Ethernet connections 94 compatibility motors and actuators 78 233 Index configuring actions category 120, 125 axis properties 128 basic volts/hertz 114 communication path 184 controller 103 DHCP 99 digital input 109 exceptions category 121, 125 fan/pump volts/hertz 116 feedback-only axis 109, 112 flux up 204 frequency control category 114, 115, 116 general category 112, 113, 118, 122 hookup test 132 induction-motor closed-loop axis properties 122 induction-motor frequency-control axis 113 IP settings 99 Kinetix 5300 drives 106 load category 120, 126 master feedback 112 MDS instruction 219 module properties 106, 108, 127 motion group 110 motor analyzer category 116, 126 category 113, 118, 123, 205 feedback category 124, 128, 129, 130 test 131 motor feedback device options 117 network parameters 101 parameter list category 121 power properties 109 scaling category 119, 124 sensorless vector 115 SLAT 215 SPM motor closed-loop axis properties 117 torque proving 225 valid feedback types 128 velocity droop 227 vertical load 111 connecting CompactLogix 94 ControlLogix 94 converter kit shield clamp 89 Ethernet cables 94 motor shield clamp 84 control power input specifications 57 pinouts 52 wiring 74 ControlFLASH firmware update 184 troubleshooting 188 ControlFLASH Plus firmware update 181 controller and drive behavior 139 CompactLogix 103 configure 103 ControlLogix 103 properties date/time tab 105 enable time synchronization 105 ControlLogix Ethernet connections 94 conventions used in this manual 9 234 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 converter kit cable preparation motor feedback 89 current limiting 195 current regulator loop 204 D date/time tab 105 DC bus connector pinouts 52 DHCP 99 digital encoder AqB TTL 128 AqB with UVW 129 digital inputs 55 pinouts 53 wiring 76 disable 140 download Motion Analyzer 11 drilling hole patterns 44 drive accessories 23 dynamic motor test 208 E earth ground 69 EMI (electromagnetic interference) bonding 34 enable time synchronization 105 enclosure power dissipation 32 requirements 25 selection 31 sizing 31 encoder 61 phasing 62 erratic operation 139 Ethernet connector pinouts 52 EtherNet/IP connecting cables 94 connections 57 PORT1 and PORT2 connectors 94 exceptions category 121, 125 external shunt resistor 38, 39 pinouts 52 wiring 93 F fan/pump 193 volts/hertz 116 fault codes 9, 137, 156 status only 140 summary 136 features and indicators 51 feedback configurations 18 feedback-only axis 109, 112 specifications 58 Index firmware update ControlFLASH 184 ControlFLASH Plus 181 inhibit the module 180 system requirements 179 verify update 189 flowchart 98 flux up 202 attributes 203 frequency control category 114, 115, 116 fuse selection 27 G general category 112, 113, 118, 122 tab 106 grounded power configuration 67 grounding multiple subpanels 70 H hardwired STO 22 HF bonding 34 high frequency energy 35 hole patterns 44 hookup test 132, 229 I I/O digital inputs specifications 55 IEC 61508 154 IEC 62061 154 ignore 139, 140 induction motor control 79 closed-loop axis properties 122 configure flux up 204 control methods basic volts/hertz 192 fan/pump 193 sensorless vector 194 flux up 202 attributes 203 frequency-control axis 113 motor analyzer category 206 and inertia tests 207 data sheet 205 model category 206 multiple skip speed 200 open-loop frequency control 191, 195, 198 skip speed 199 SLAT 214 inhibit the module 180 input power wiring 24V control 74 3-phase WYE 67 AC 75 determine input power 67 grounded power configuration 67 single-phase 68 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 installing drive accessories AC line filters 37 external shunt resistor 38, 39 installing your drive 25 bonding examples 34 bonding subpanels 35 cable categories 37 circuit breakers 27 clearance requirements 33 fuse selection 27 HF bonding 34 passive shunts 30 system mounting requirements 25 transformer 27 interconnect diagrams 2198 drive with LDAT 172 2198 drive with MPAR/MPAI 174 2198 drive with MPAS 173 2198 drive with MPL/MPM/MPF/MPS 169 2198 drive with TL 171 2198 drive with TLP 166, 167, 168 2198 drive with TLY 170 2198 with LDC 175, 176 2198 with LDL 175, 176 notes 163 shunt resistor 165 single-axis drive single-phase 165 three-phase 164 IP settings 99 ISO 13849-1 CAT 3 requirements 153 stop category definitions 154 K Kinetix LDAT 18 Kinetix LDC 18 Kinetix LDL 18 Kinetix MPAI 18 Kinetix MPAR 18 Kinetix MPAS 18 L Lapp 79 linear actuators interconnect diagram MPAR/MPAI 174 linear motors LDC 175, 176 LDL 175, 176 linear thrusters LDAT 18 link link/activity status indicator 137 speed status indicator 137 load category 120, 126 Logix Designer application 102, 103 M major fault 139 MAS instruction 220 master feedback 112 235 Index maximum cable lengths 80 MDS instruction configure 218 decrease speed sample code 220 increase speed sample code 219 ramp attributes 221 ramp attributes sample code 222 start sample code 219 torque mode sample code 220 MFB connector pinouts 54 minor fault 139 module properties 127 associated axes category 127 associated axes tab 108 digital input 109 general tab 106 module definition 107 new tag 108 power tab 109 module status indicator 137 motion drive start instruction 218 group 110 Motion Analyzer download 11 motor accel/decel problems 138 analyzer category 116, 126, 206 brake connector pinouts 54 cable catalog numbers 78, 79, 86 category 113, 118, 123 data sheet 205 feedback category 124, 128, 129, 130 feedback connector pinouts 54 feedback device options 117 induction 79 interconnect diagram LDAT 172 MPAS 173 MPL/MPM/MPF/MPS 169 TL 171 TLP 166, 167, 168 TLY 170 model category 206 motor and inertia tests 207 overheating 139 overload retention 223 power connector pinouts 53 power connector pinouts 53 power wiring 83 shield clamp wiring 84, 89 testing 131 thermal models 210 tuning 131 velocity 138 motor brake connector wiring 77 motor power connector wiring 77 mounting your drive attaching to the panel 50 drilling hole patterns 44 mounting order 42 shared-bus connection system 43 zero-stack tab and cutout 42 MPAI electric cylinders 18 MPAR electric cylinders 18 MPAS linear stages 18 MSF instruction 220 multiple skip speed 200 N navigation buttons 97 network status indicator 137 network parameters 101 new tag data type 108 noise abnormal 139 feedback 138 reduction 37 O open-loop frequency control 191 P panel requirements 25 parameter list category 121 passive shunt use cases 30 PFH definition 158 pinouts 24V input power connector 52 AC input power connector 52 auxiliary feedback 53 DC bus connector 52 digital inputs 53 Ethernet connector 52 feedback connector 54 motor brake connector 54 motor power connector 53 safe torque-off 158 safe torque-off (STO) 52 shunt connector 52 shunt resistor 52 plan your installation 25 power dissipation 32 power tab bus regulator 110 power structure 109 power up 130 product selection website 11 publications, related 10 R ramp attributes 221 rated slip speed 208 236 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Index related publications 10 remove/replace drive remove drive 151 remove power 150 replace drive 151 startup and configure 152 requirements UL, CE, and UK 25 routing power and signal wiring 66 RSLinx communication path 184 S SAB 79 safe torque-off 22, 159 bypass wiring 160 cascaded wiring 161 configurations hardwired 22 operation 154 PFH 158 pinouts 52, 158 specifications 64, 162 scaling category 119, 124 select AC line filter 26 enclosure 31 sensorless vector 115, 194 servo motor compatibility 78 shared-bus connection system 43 catalog numbers 23 shield clamp 84, 89 shunt connector pinouts 52 wiring 93 shunt resistor interconnect diagram 165 passive 30 pinouts 52 shutdown 140 sine/cosine 129 with Hall 130 skip speed 199 SLAT 212 attributes 214 configuring 215 slip test messaging 209 software Logix Designer application 103 specifications auxiliary feedback 58, 60 feedback encoders 61 brake relay 55 control power input 57 digital inputs 55 encoder phasing 62 EtherNet/IP connections 57 Kinetix 5300 drives 23 motor feedback 58 absolute position 63 generic TTL incremental 61 Hiperface 59 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 Nikon 59 sin/cos incremental 60 Tamagawa 59 safe torque-off 64, 162 speed limited adjustable torque 212 SPM motor closed-loop axis properties 117 stability control 198 startup sequence 100, 131 static motor test 208 status display 96, 130 flowchart 98 menu 97 navigation buttons 97 startup sequence 100 status indicators link speed status 137 link/activity status 137 module status 137 network status 137 STO connector pinouts 158 connector wiring 159 stop drive 140 planner 140 stopping actions configure 140 Studio 5000 Logix Designer 102 system block diagrams power 177 components 13 ground 69 mounting requirements 25 overview EtherNet/IP 19, 20, 21 standalone 15, 16, 17 system overview safe torque off 22 T testing axes hookup test 132 time synchronization 105 torque proving 223 attributes 223 configuring 225 training 9 transformer sizing 27 troubleshooting alarm 139, 140 ControlFLASH 188 controller/drive fault behavior 139 disable 140 fault code summary 136 codes 136 status only 140 general system problems 138 abnormal noise 139 axis unstable 138 erratic operation 139 feedback noise 138 motor accel/decel 138 motor overheating 139 237 Index motor velocity 138 no rotation 138 ignore 139, 140 link speed status indicator 137 link/activity status indicator 137 major fault 139 minor fault 139 module status indicator 137 network status indicator 137 safety precautions 135 shutdown 140 status indicators 137 stop drive 140 planner 140 stopping actions 140 definitions 140 typical installation EtherNet/IP 19, 20, 21 standalone 15, 16, 17 U UK compliance 24 UL, CE, and UK requirements 25 use cases passive shunt 30 V valid feedback types 128 digital AqB TTL 128 digital AqB with UVW 129 sine/cosine 129 sine/cosine with Hall 130 velocity droop 226 attribute 227 configure 227 verify update 189 vertical load 111 virtual torque sensor 230 voltage drop 24V input power 29 W web server interface 144 categories 144 web pages 144 website certifications 11, 153 product selection 11 238 Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 wiring 24V connector 74 auxiliary feedback 76 build your own cables 66 capacitor module 93 converter kit shield clamp 89 digital inputs 76 earth ground 69 Ethernet cables 94 external shunt resistor 93 grounded power configuration 67 guidelines 73 input power 75 input power type 67 motor brake 77 motor cable shield clamp 84 motor power 77, 83 RC connector 93 requirements 65, 71 routing power and signal wiring 66 safe torque-off bypass 160 safe torque-off cascaded 161 STO connector 159 Z zero-stack tab and cutout 42 Kinetix 5300 Single-axis EtherNet/IP Servo Drives User Manual Rockwell Automation Publication 2198-UM005E-EN-P - September 2024 239 Rockwell Automation Support Use these resources to access support information. Technical Support Center Local Technical Support Phone Numbers Technical Documentation Center Literature Library Product Compatibility and Download Center (PCDC) Find help with how-to videos, FAQs, chat, user forums, Knowledgebase, and product notification updates. Locate the telephone number for your country. Quickly access and download technical specifications, installation instructions, and user manuals. Find installation instructions, manuals, brochures, and technical data publications. Download firmware, associated files (such as AOP, EDS, and DTM), and access product release notes. rok.auto/support rok.auto/phonesupport rok.auto/techdocs rok.auto/literature rok.auto/pcdc Documentation Feedback Your comments help us serve your documentation needs better. If you have any suggestions on how to improve our content, complete the form at rok.auto/docfeedback. 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Kar Plaza İş Merkezi E Blok Kat:6 34752, İçerenköy, İstanbul, Tel: +90 (216) 5698400 EEE Yönetmeliğine Uygundur Publication 2198-UM005E-EN-P - September 2024 Supersedes Publication 2198-UM005D-EN-P - December 2022 Copyright © 2024 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A. ">

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Key features
- Single-axis EtherNet/IP communication
- Safe Torque Off
- Wide motor compatibility
- Logix 5000 control integration
- Front panel display
- Studio 5000 configuration
- Fault code diagnostics
- Agency compliance
Frequently asked questions
The catalog numbers are listed in the viewed document as follows: 2198-C1004-ERS, 2198-C1007-ERS, 2198-C1015-ERS, 2198-C1020-ERS, 2198-C2030-ERS, 2198-C2055-ERS, 2198-C2075-ERS, 2198-C4004-ERS, 2198-C4007-ERS, 2198-C4015-ERS, 2198-C4020-ERS, 2198-C4030-ERS, 2198-C4055-ERS, 2198-C4075-ERS.
The viewed document states that it links to Kinetix 5300 Single-axis EtherNet/IP Servo Drives Fault Codes Reference Data, publication 2198-RD006, for fault codes.
The viewed document mentions linear, ring, and star topologies for communication configurations.