Rockwell Automation Allen-Bradley Kinetix 5700 User Manual
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Rockwell Automation Allen-Bradley Kinetix 5700 User Manual

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Table of Contents

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Quick Links

This manual links to the Kinetix 5700 Servo Drive Fault Codes, publication
2198-RD003; download the spreadsheet for offline access.
Kinetix 5700 Servo Drives User
Manual
Catalog Numbers 2198-P031, 2198-P070, 2198-P141, 2198-P208, 2198-RP088, 2198-RP200,
2198-RP263, 2198-RP312, 2198-D006-ERS3, 2198-D012-ERS3, 2198-D020-ERS3,
2198-D032-ERS3, 2198-D057-ERS3, 2198-S086-ERS3, 2198-S130-ERS3, 2198-S160-ERS3,
2198-S263-ERS3, 2198-S312-ERS3, 2198-D006-ERS4, 2198-D012-ERS4, 2198-D020-ERS4,
2198-D032-ERS4, 2198-D057-ERS4, 2198-S086-ERS4, 2198-S130-ERS4, 2198-S160-ERS4,
2198-S263-ERS4, 2198-S312-ERS4, 2198T-W25K-ER, 2198-CAPMOD-2240, 2198-CAPMOD-DCBUS-IO,
2198-DCBUSCOND-RP312
User Manual
Original Instructions

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Summary of Contents for Rockwell Automation Allen-Bradley Kinetix 5700

  • Page 1 This manual links to the Kinetix 5700 Servo Drive Fault Codes, publication 2198-RD003; download the spreadsheet for offline access. Kinetix 5700 Servo Drives User Manual Catalog Numbers 2198-P031, 2198-P070, 2198-P141, 2198-P208, 2198-RP088, 2198-RP200, 2198-RP263, 2198-RP312, 2198-D006-ERS3, 2198-D012-ERS3, 2198-D020-ERS3, 2198-D032-ERS3, 2198-D057-ERS3, 2198-S086-ERS3, 2198-S130-ERS3, 2198-S160-ERS3, 2198-S263-ERS3, 2198-S312-ERS3, 2198-D006-ERS4, 2198-D012-ERS4, 2198-D020-ERS4, 2198-D032-ERS4, 2198-D057-ERS4, 2198-S086-ERS4, 2198-S130-ERS4, 2198-S160-ERS4, 2198-S263-ERS4, 2198-S312-ERS4, 2198T-W25K-ER, 2198-CAPMOD-2240, 2198-CAPMOD-DCBUS-IO,...
  • Page 2 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.

  • Page 3: Table Of Contents

    Minimum Clearance Requirements ......53 Multi-axis Shared DC-Bus Configurations ..... 55 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 4 Functional Safety Features ........118 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 5 Ethernet Cable Connections ........176 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 6 SAFE FLT Fault Codes ........259 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 7 Motion Direct Commands in Motion Control Systems ..310 Integrated Safe Torque-off Specifications..... 316 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 8 DC-bus Power Supply Configurations ......388 Regenerative Bus Supply Configurations ..... 389 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 9 Frequency Control ......... . 435 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 10 ............445 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 11: Preface

    2198-RD003; download the spreadsheet for offline access. You will be asked to log in to your Rockwell Automation web account or create an account if you do not have one. You do not need a support contract to access this article.

  • Page 12: Conventions Used In This Manual

    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 •...

  • Page 13: Additional Resources

    ENET-RM002 Describes basic Ethernet concepts, infrastructure components, and infrastructure features. CIP Security with Rockwell Automation Products Application Technique, Provides information on CIP Security, including which Rockwell Automation products publication SECURE-AT001. support CIP Security. Provides guidance on how to conduct security assessments, implement Rockwell...
  • Page 14 SGI-1.1 the form of individual devices or packaged assemblies incorporating solid-state components. Industrial Automation Wiring and Grounding Guidelines, Provides general guidelines for installing a Rockwell Automation industrial system. publication 1770-4.1 Product Certifications website, rok.auto/certifications. Provides declarations of conformity, certificates, and other certification details.

  • Page 15: Start

    DC-bus Power Supply Input Power Configurations Regenerative Bus Supply Input Power Configurations 8720MC-RPS Power Supply Input Power Configuration Motor and Auxiliary Feedback Configurations Typical Communication Configurations Functional Safety Configurations Catalog Number Explanation Agency Compliance Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 16: Kinetix 5700 Servo Drives Series Change

    Single-axis inverters with the same power structure and encoder feedback support as -ERS3 inverters, plus 2198-Sxxx-ERS4 support for Monitored SS1 and Timed SS1 drive-based stopping functions. Also, support for controller-based safe stop and safe monitor functions over the EtherNet/IP network. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 17 Compatible 200V and 400V-class motors include Kinetix MPL, MPM, MPF, and MPS servo motors. Rotary Servo Motors Kinetix HPK motors Compatible motors include 460V and 400V-class Kinetix HPK asynchronous servo motors. Kinetix MMA motors Compatible motors include 400V-class Kinetix MMA asynchronous main motors. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 18 2198-R127, 2198-R004 exceeded. Not for use with regenerative bus supplies. External active shunts from Rockwell Automation Encompass™ partner, Powerohm Resistors, Inc., are available for External Active Shunts N/A connecting to Bulletin 2198 DC-bus power supplies and regenerative bus supplies. See...

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

    UFB-A UFB-B UFB-A UFB-B 195…528V AC Three-phase Input Power MF-A MF-B MF-A MF-B Line Disconnect Device MBRK Circuit Protection Magnetic (M1) 2198-DBRxx-F Contactor Bonded Cabinet AC Line Filter Ground Bus (required for CE) Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

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

    (required for CE) Bonded Cabinet Ground Bus 1321-3R80-B Line Reactors (required components) When two or three DC-bus power supplies are wired together in the same IMPORTANT drive cluster, they must all be catalog number 2198-P208. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 21: Extended Dc-Bus Configuration Example

    (required components) (required for CE) Protection Bonded Cabinet Ground Bus IMPORTANT When two or three DC-bus power supplies are wired together in the same drive cluster, they must all be catalog number 2198-P208. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 22: Itrak Power Supply Configuration Example

    Cables Bonded Cabinet iTRAK Motor Modules Ground Bus (1) If total control power current exceeds 16 A, a second input connector (catalog number 2198T-W25K-P-IN) can be added to the leftmost iTRAK power supply. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 23: Regenerative Bus Supply Input Power Configurations

    (1) The regenerative bus supply can be left or right of the inverters. Further, we recommend that the highest inverter power ratings are positioned closest to the regenerative bus supply and in decreasing order leading away from the regenerative bus supply. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 24 (1) The regenerative bus supply can be left or right of the inverters. Further, we recommend that the highest inverter power ratings are positioned closest to the regenerative bus supply and in decreasing order leading away from the regenerative bus supply. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 25 AC Line Filter (required for CE) 2198-DBRxx-F AC Line Filter (required for CE) Magnetic (M1) Contactors Bonded Cabinet Ground Bus IMPORTANT The regenerative bus supply is not compatible with the iTRAK power supply. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 26: Extended Regenerative Bus Configuration Example

    MODULE STATUS STATUS UFB-A UFB-B UFB-A UFB-B UFB-A UFB-B Bonded Cabinet Ground Bus MF-A MF-B MF-A MF-B MF-A MF-B MF-A MF-B Combined motor 2198-CAPMOD-2240 cable lengths equal Capacitor Module 480 m (1575 ft). Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 27: 8720Mc-Rps Power Supply Input Power Configuration

    24V DC Control, Digital Inputs, Allen-Bradley and Motor Brake Power (customer-supplied) 1606-XL Powe r S u p p l y Input AC Input Power (1) This M1 contactor is controlled by the 8720MC regenerative power supply. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 28: Motor And Auxiliary Feedback Configurations

    Kinetix LDC Linear Motors Kinetix MPAR Electric Cylinders Kinetix MPAS Integrated Linear Stages Kinetix RDB Direct Drive Rotary Motors Kinetix HPK or Kinetix MMA Kinetix MPAI Asynchronous Rotary Motors Heavy-duty Electric Cylinders (closed-loop control) Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 29: Typical Communication Configurations

    Point Bus EtherNet/IP Adapter Link 1 Status Activity/ Status System Power Field Power OUTPUT-A OUTPUT-B Link 2 Activity/ Status MF-A MF-B MF-A MF-B MF-A MF-B PanelView™ 5510 MBRK Display Terminal Line Scan Cameras Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 30: Ring Topology

    OUTPUT-B I/O-A I/O-B I/O-A I/O-B I/O-A I/O-B Line Scan 1585J-M8CBJM-OM15 UFB-A UFB-B UFB-A UFB-B UFB-A UFB-B Cameras 0.15 m (6 in.) Ethernet cable for drive-to-drive connections. MF-A MF-B MF-A MF-B MF-A MF-B MBRK Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 31: Star Topology

    842E-CM encoder mitigates the need for point-to-point wiring while letting you use the encoder in a variety of network topologies. For more information, see the 842E-CM Integrated Motion on EtherNet/IP Product Profile, publication 842ECM-PP001. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 32: Functional Safety Configurations

    GuardLogix 5570 Safety Controllers MBRK ControlLogix 5580 Controllers or GuardLogix 5580 Safety Controllers CompactLogix 5370 Controllers or Compact GuardLogix 5370 Safety Controllers CompactLogix 5380 Controllers or Compact GuardLogix 5380 Safety Controllers Kinetix VP Servo Motors Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 33: Integrated Safety Configurations

    EtherNet/IP Adapter (customer-supplied) Input AC Input Power Safety Device Digital Inputs to Sensors and Control String I/O-A I/O-B I/O-A I/O-B UFB-A UFB-B UFB-A UFB-B MF-A MF-B MF-A MF-B MBRK Kinetix VP Servo Motors Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 34 UFB-A UFB-B GuardLogix 5570 Controller, GuardLogix 5580 Safety Controller (GuardLogix 5570 Safety Controller is shown) MF-A MF-B MF-A MF-B Safety Program MBRK Module Definition Configured with Safety Only Connection Kinetix VP Servo Motors Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 35: Safe Stop And Safe Monitor Configurations

    Primary Feedback to MF Connector Primary Feedback • Kinetix VPL/VPF/VPH) servo motors with -W or -Q encoders • Kinetix VPC servo motors with -Q encoders • Kinetix VPAR electric cylinders with -W or -Q encoders Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 36: Catalog Number Explanation

    (2) Flexible bus-bars are included with only the 2198-CAPMOD-DCBUS-IO extension module. So, if you have two capacitor modules, two DC-bus conditioner modules, or a capacitor module and DC-bus conditioner module mounted side by side, you must order the 2198-KITCON-CAPMOD2240 or 2198-KITCON-DCBUSCOND connector set separately. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 37: Agency Compliance

    Use Kinetix 2090 single motor cables with Kinetix VP motors and actuators. Use Kinetix 2090 motor power/brake and feedback cables for other compatible Allen-Bradley motors and actuators. Motor cable shield-clamp on the drive must be used. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 38 (grounded to the enclosure) outside of the enclosure. Separate signal and power cables. • Segregate input power wiring from control wiring and motor cables. Refer to Appendix A page 319 for input power wiring and drive/motor interconnect diagrams. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 39: System Design Guidelines

    2 (EN 61800-5-1) because the product is rated to protection class IP20 (EN 60529). • Size the system enclosure so as not to exceed the maximum ambient temperature rating. Consider heat dissipation specifications for all system components. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 40: Dc-Bus Voltage Regulation

    In Enable Request mode, you must issue an MSO instruction (after AC is applied and CIP_Axis_State = STOPPED) to enable voltage regulation on the regenerative bus supply and an MSF instruction to disable voltage regulation. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 41 AC rms is also at 460V AC nominal, Automatic mode is selected, and the DC-bus voltage regulates at approximately 683V DC. Refer to Configure Regenerative Bus Supply Axis Properties page 216 more information. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 42: Ac Line Filter Selection

    Select 2198-DBRxx-F line filters for all new systems and remove inverter ground jumpers. 2198-DBRxx-F line filters can also be used to replace existing 2198-DBxx-F line filters, but you must remove the inverter ground jumpers. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 43: Ac Line Impedance Considerations

    - In drive systems that include the regenerative bus supply, repetitive AC line voltage notching can cause the integrated AC line filter to overheat and result in FLT S18 converter overtemperature fault. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 44 % impedance is the nameplate impedance of the transformer. EXAMPLE: Transformer Impedance (in ohms) line-line • % Impedance xfmr 3 • I xfmr-rated % impedance is the nameplate impedance of the transformer. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 45 DC bus. However, the line reactor percent impedance must be large enough when evaluated for each DC-bus power supply separately, not evaluated for all loads connected at once. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 46: Circuit Breaker/Fuse Selection

    Molded Case CB Cat. No. (three-phase) nom Amps, max Cat. No. Cat. No. Cat. No. 140M-D8E-C25 2198-P031 1489-M3D250 140G-G6C3-C25 140MT-D9E-C25 2198-P070 1492-SPM3D400 140M-F8E-C45 140G-G6C3-C50 195…528V AC rms 2198-P141 1492-SPM3D630 140MG-H8E-C60 140G-G6C3-C90 2198-P208 140MG-H8E-D10 140G-G6C3-D12 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 47: 24V Control Power Evaluation

    The 24V current demand, wire gauge, and wire length all impact the IMPORTANT voltage drop across the wiring being used. For an example, see 24V DC Voltage Drop Calculation Example page 379. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 48: Contactor Selection

    (1) Auxiliary contact configuration 10 indicates there is 1 N.O. and 0 N.C. contacts. 11 indicates there is 1 N.O. and 1 N.C. contact. Other configurations are available. (2) These contactor catalog numbers include a 24V DC coil. For contactors that are not Bulletin 100-E type, see Knowledgebase Technote: Surge Suppressors: for Relays, Contactors and Starters for more information. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 49: Passive Shunt Considerations

    (1) This product presents a lift hazard. To avoid personal injury, use care when lifting the product. How the Bulletin 2198-Rxxx shunts connect to the 2198-Pxxx DC-bus power supply is explained in External Passive-shunt Connections page 172 illustrated with interconnect diagrams in Passive Shunt Wiring Examples page 337. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 50: Active Shunt Considerations

    ATTENTION: DC-bus failure can cause damage to all drive modules in the bus group, not just the inverter connected to the motor. Active shunts are available from the Rockwell Automation Encompass™ partner Powerohm Resistors, Inc. See http://www.powerohm.com for more information on Powerohm active shunts.

  • Page 51: Enclosure Selection

    1500 x 700 x 300 mm (59.0 x 27.6 x 11.8 in.) HxWxD. 1.5 x (0.300 x 0.70) + 1.5 x (0.300 x 2.0) + 1.5 x (0.70 x 2.0) = 3.31 m Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 52 2198-D057-ERSx Single-axis Inverter Cat. No. 2198-S086-ERSx 2198-S130-ERSx 2198-S160-ERSx 2198-S263-ERSx 1245 1529 2198-S312-ERSx 1200 1561 1965 iTRAK Power Supply Cat. No. 2198T-W25K-ER Capacitor Module Cat. No. 2198-CAPMOD-2240 2198-CAPMOD-DCBUS-IO DC-bus Conditioner Module Cat. No. 2198-DCBUSCOND-RP312 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 53: Minimum Clearance Requirements

    Table 19 page 52 for values). IMPORTANT Mount the drive module in an upright position as shown. Do not mount the module on its side. See the table on page 54 for clearance specifications. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 54 50 mm MF-A MF-B MF-B MF-A MF-A MF-B MF-A MF-B (1.97 in.) Wire Connection Terminals (1) Clearance required at the terminals for NEC specified bend radius depends on the wire size in use. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 55: Multi-Axis Shared Dc-Bus Configurations

    Minimize drive-to-motor cable lengths. Overall system design can significantly limit the drive-to-motor cable lengths. Appendix C page 373 for more information and sizing examples. See Appendix D page 383 for more information on cable lengths. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 56: Accessory Module Selection

    Figure 21 - DC-bus Power Supply Example/Extended Cluster (104 A, max) DC-Bus Capacitor Single-axis Dual-axis Single-axis Dual-axis Capacitor Inverters Inverters Power Supply Module Inverters Inverters Module This example includes: • 1 Bus group DC Bus DC Bus • 2 Drive clusters Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 57 With multiple 2198-P208 modules, there is more precharge capability. When there are two or three DC-bus power supplies, they must be catalog number 2198-P208. Refer to Appendix C page 373 for more system sizing information. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 58: Regenerative Bus Supply Systems

    DC-bus conditioner requirements: • 1 Bus group • Required on Cluster #1 because cable length exceeds 400 m (1312 ft) • 2 Drive clusters • Required on Cluster #2 because it’s an extended cluster Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 59 • Required on Cluster #2 and #3 because they are extended clusters Extension module required on Cluster #1 and #2 because the entire extended bus system must have the same current rating (208 A, in this example). Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 60 • Required on each cluster of multi-cluster systems Three-phase Input Voltage 90 m (295 ft) x 4 axes = 360 m (1181 ft) IMPORTANT The regenerative bus supply is not compatible with the iTRAK power supply. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 61: 8720Mc-Rps Or Other Regenerative Power Supply

    DC-bus conditioner is required because this is a 208 A system. DC-bus conditioner is also required if the total power-cable length exceeds 400 m (1312 ft). The 8720MC-RPS power supply is not compatible with the iTRAK power IMPORTANT supply. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 62: Accessory Module Flowcharts

    DC-bus Power Supply Regenerative Bus Supply Is this an impedance grounded system? No accessory <400 m What is the total motor modules required. (1312 ft) cable length? ≥400 m (1312 ft) DC-bus Conditioner Module Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 63 • DC-bus Conditioner Module All Extended Clusters: • Capacitor Module • DC-bus Conditioner Module Power Supply Cluster: • Capacitor Module • Extension Module All Extended Clusters: • Capacitor Module • DC-bus Conditioner Module Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 64: Electrical Noise Reduction

    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 effect the operation of other microprocessor controlled equipment. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 65 Flat Washer Star Washer Flat Washer If the mounting bracket is coated with a non-conductive material (anodized or Star Washer painted), scrape the material around the mounting hole. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 66: Hf Bond For Multiple Subpanels

    Wire Braid 25.4 mm (1.0 in.) by 6.35 mm (0.25 in.) Cabinet ground bus bonded to the subpanel. Wire Braid 25.4 mm (1.0 in.) by 6.35 mm (0.25 in.) Paint removed from cabinet. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 67: Establish Noise Zones

    System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001. (2) When the 2198-H2DCK feedback converter kit or 2198-K57CK-D15M universal feedback kit is used, feedback cable routes in the clean wireway. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 68 System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001. (2) When the 2198-H2DCK feedback converter kit or 2198-K57CK-D15M universal feedback kit is used, feedback cable routes in the clean wireway. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 69: Cable Categories For Kinetix 5700 Systems

    – – iTRAK 24V DC control output power A and B iTRAK digital inputs – – – – iTRAK ready output – – – – PORT1 Ethernet (shielded cable) – – – PORT2 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 70: Noise Reduction Guidelines For Drive System Accessories

    Mount the shunt module so that wiring routes in the very dirty zone inside the drive system enclosure. • Keep unshielded wiring as short as possible, not to exceed 3 m (9.8 ft). Keep shunt wiring as flat to the cabinet as possible. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 71 Keep unshielded wiring as short as possible, not to exceed 457 mm (18 in.). Keep shunt wiring as flat to the cabinet as possible. • Separate shunt power cables from other sensitive low-voltage signal cables. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 72 Mount the shunt module so that wiring routes in the very dirty zone inside the drive system enclosure. • Keep unshielded wiring as short as possible, not to exceed 3 m (9.8 ft). Keep shunt wiring as flat to the cabinet as possible. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 73 MF-B AC Line Filter No sensitive (required for CE) equipment within 150 mm (6.0 in.). Contactor Enable Motor Cables Route motor cables Route registration and communication in shielded cable. signals in shielded cables. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 74 MF-A MF-B MF-A MF-B MF-A MF-B equipment within (required for CE) 150 mm (6.0 in.). Module Status Motor Cables Route registration and communication Route motor cables signals in shielded cables. in shielded cable. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 75 Chapter 2 Plan the Kinetix 5700 Drive System Installation Notes: Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 76 Chapter 2 Plan the Kinetix 5700 Drive System Installation Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 77 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-UM002L-EN-P - October 2021...

  • Page 78: Mount The Kinetix 5700 Drive System

    2198-S086-ERSx 2198-D012-ERSx 2198-D006-ERSx Single-axis Inverter Dual-axis Inverter Dual-axis Inverter Shared-bus Connection Systems (DC-bus and 24V DC) 2198-P141 DC-bus Power Supply I/O-A I/O-B I/O-A I/O-B UFB-A UFB-B UFB-A UFB-B MF-A MF-B MF-A MF-B MBRK Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 79 Shared-bus Connection Systems (DC-bus and 24V DC) I/O-A I/O-B I/O-A I/O-B UFB-A UFB-B UFB-A UFB-B MF-A MF-B MF-A MF-B MBRK (1) The DC-bus power supplies can be left or right of the inverters. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 80 Refer to Appendix C page 373 for more system sizing information. IMPORTANT The regenerative bus supply is not compatible with the iTRAK power supply. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 81: Mount Accessory Modules

    In a multi-cluster system with a power supply rated ≥104 A, two IMPORTANT accessory modules connected by flexible bus-bars must be used to create a 208 A extended cluster system. See the Accessory Module Connector Specifications page 172 for DC-bus wiring requirements. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 82: Zero-Stack Tab And Cutout

    2198-BARCON-85DC200 DC-bus links. • DC-bus end-caps that are inserted into the first and last drive modules to cover the exposed DC-bus connector on both ends of the bus. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 83: 24V Input Power Connection System

    10 mm (12 AWG) or 6 mm (10 AWG), so the shared-bus input wiring connectors can provide the means to use larger gauge conductors for reduced voltage drop on long wire runs. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 84 • The 2198-RPxxx regenerative bus supply is positioned between the inverters or accessory modules in any single cluster • The 2198-RPxxx regenerative bus supply is positioned to the right of any other module Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 85: Drill-Hole Patterns

    However, the far left position is preferred to accommodate the 24V shared bus. Also available to assist you in mounting Kinetix 5700 drive modules is the 2198-K5700-MOUNTKIT system mounting toolkit. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 86: Drill-Hole Pattern Calculations

    Applies to only 2198T-W25K-ER 465 mm iTRAK Power Supply Lower Mounting Hole Applies to only 2198-S160-ERSx Single-axis Inverter Hole spacing is measured in millimeters and not converted to inches to IMPORTANT avoid errors due to rounding. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 87 Mounting holes for the Kinetix 5700 regenerative bus supply modules are based on 55 mm spacing, however, only the holes specified for each module are required. Figure 52 - Regenerative Bus Supply Mounting Hole Patterns Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 88: Drill-Hole Patterns By Using The System Mounting Toolkit

    To improve the bond between the drive modules and subpanel, IMPORTANT construct your subpanel out of zinc plated (paint-free) steel. 2. Drill holes in the panel for mounting your drive system. Refer to Drill-hole Patterns beginning on page Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 89 Zero-stack mounting is required for all configurations. See the Zero- stack Tab and Cutout Example page 6. Tighten all mounting fasteners. Apply 4.0 N•m (35.4 lb•in) maximum torque to each fastener. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 90 Chapter 3 Mount the Kinetix 5700 Drive System Notes: Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 91: Connector Data And Feature Descriptions

    Also included in this chapter are connector pinouts and descriptions for Kinetix 5700 system components. Topic Page Kinetix 5700 Connector Data Understand Control Signal Specifications Feedback Specifications Functional Safety Features Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 92 Link speed status indicators 24V control input power (CP) connector Zero-stack mounting tab/cutout Link/Activity status indicators AC Input power (IPD) connector Module status indicator Contactor-enable (CED) connector Cooling fan Network status indicator Ground terminal Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 93 Ground lug (partially obscured behind Module status indicator input plug) (1) Connector plug orientation applies to 2198-RP088 and 2198-RP200 modules (2198-RP200 connector size is larger). See adjacent figure for 2198-RP263 and 2198-RP312 connector plug size and orientation. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 94 Motor brake (BC) connector - B Digital inputs (IOD) connector - A Link speed status indicators Cooling fan Digital inputs (IOD) connector - B Link/Activity status indicators Ethernet (PORT1) RJ45 connector Safe torque-off (STO) connector Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 95 DC bus (DC) connector Ethernet (PORT1) RJ45 connector 24V control input power (CP) connector Ethernet (PORT2) RJ45 connector Motor power (MP) connector Zero-stack mounting tab/cutout Cooling fans Module status indicator Ground terminal Network status indicator Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 96 Motor power (MP) connector Ethernet (PORT2) RJ45 connector Ground terminal Zero-stack mounting tab/cutout DC bus (DC) connector Module status indicator 24V control input power (CP) connector Cooling fans (replacement kits Network status indicator available) LCD display Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 97 Power supply internal fuse For IOD, IR, IDC, and ICP connector pinouts, and internal fuse information IMPORTANT see iTRAK System with TriMax Bearings User Manual, publication 2198T-UM002, or iTRAK 5730 System User Manual, publication 2198T-UM003. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 98 (2) Flexible bus-bars are included with only the 2198-CAPMOD-DCBUS-IO extension module. So, if you have two capacitor modules, two DC-bus conditioner modules, or a capacitor module and DC-bus conditioner module mounted side by side, you must order the 2198-KITCON-CAPMOD2240 or 2198-KITCON-DCBUSCOND connector set separately. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 99: Safe Torque-Off Connector Pinout

    (CED) connector, and the 24V input power (CP) connector. Table 31 - AC Input Power Connector IPD Pin Description Signal Module Chassis ground • DC-bus power supply • Regenerative bus supply Three-phase input power Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 100: Dc Bus And Shunt Resistor Connector Pinouts

    DC bus connections • Inverters • Accessory modules • iTRAK power supply Table 35 - Shunt Connector RC Pin Description Signal Module Passive shunt connections DC-bus power supply DC– Active shunt connections Regenerative bus supply Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 101: Digital Inputs Connector Pinouts

    Digital input1 = Enable Registration 2 Digital input2 = Home Positive overtravel Digital input3 = Registration 1 Negative overtravel Digital input4 = Registration 2 Regeneration OK Bus Capacitor OK Shunt Thermal Switch OK Bus Conditioner OK Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 102: Ethernet Communication Connector Pinout

    383, for more information. System performance was tested at this cable length. These limitations also apply when meeting CE requirements. Table 42 - Motor Brake Connector BC Pin Description Signal MBRK+ Motor brake connections MBRK– Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 103: Motor Feedback Connector Pinouts

    383, for more information. System performance was tested at these cable length specifications. These limitations also apply when meeting CE requirements. Figure 62 - Pin Orientation for 2-pin DSL Feedback (MF) Connector Pin 1 Pin 2 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 104: Universal Feedback Connector Pinouts

    Pin 1 Pin 6 Accessory Module Pinouts The module status (MS) connector applies to capacitor modules and DC-bus conditioner modules. Table 45 - Module Status Connector MS Pin Description Signal Module status output Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 105: Understand Control Signal Specifications

    199. (2) For more information on configuring a Shared-bus Non-CIP Motion Converter, refer to step 1 page 209. For more information on wiring the 8720MC-RPS unit, refer to Figure 170 page 334. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 106: Ethernet Communication Specifications

    Port-to-port time synchronization variation 100 ns, max Cabling CAT5e shielded, 100 m (328 ft) max (1) With CIP Security™ enabled on the 2198-Pxxx DC-bus power supply, the cyclic update period cannot be faster than 4.0 ms. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 107: Contactor Enable Relay

    Current flow when the relay is closed. – On-state resistance Contact resistance when the relay is closed. 1.0  – Off-state voltage Voltage across the contacts when the relay is open. 24V DC 28V DC Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 108: Converter Ok Relay

    For a detailed information on vertical loads and how the servo motor holding- brake option can be used to help keep a load from falling, see the Vertical Load and Holding Brake Management Application Technique, publication MOTION-AT003. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 109 4. Use the motion instruction Motion Axis Stop (MAS) to decelerate the servo motor to 0 rpm. 5. Use the motion instruction Motion Servo Off (MSF) to engage the brake and disable drive. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 110: Control Power

    (5) These values represent only the iTRAK power supply. They do not include the iTRAK motor modules that are connected to the iTRAK power supply and also draw current from this 24V control power input. For more information regarding 24V control power requirements, see iTRAK System with TriMax Bearings User Manual, publication 2198T-UM002, or iTRAK 5730 System User Manual, publication 2198T-UM003. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 111: Feedback Specifications

    (3) EnDat digital encoders support VPC-Bxxxxx-Y motors and applicable third-party motors as described in Table 59 page 113. (4) For 2198-Dxxx-ERSx (dual-axis) drives, these motor feedback voltage and current ratings are per axis. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 112 Hall inputs Single-ended, TTL, open collector, or none (MTR_S1, MTR_S2, and MTR_S3) (1) These could be with or without HALL effects (UVW). Refer to Commutation Self-sensing Startup on page 436. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 113 DSL, EnDat Sin/Cos, and EnDat Digital) are not supported. Unprogrammed as load or feedback-only feedback types are supported, except unprogrammed Hiperface DSL encoders. Contact your local distributor or Rockwell Automation representative for support options. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 114: Auxiliary Feedback Specifications

    4.5…5.5V line driver, TTL (B-Leads-A, CW, Z gated with BN), MS connector, 10-pin 847H-DN1A-RH05000 847T-DN1A-RH01024 Size 20, incremental encoder, standard square flange, 3/8 inch diameter shaft with flat, 4.5…5.5V line driver, TTL (B-Leads-A, CW, Z gated with BN), 847T-DN1A-RH02048 MS connector, 10-pin Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 115: Encoder Phasing Definitions

    Figure 68 - TTL Encoder Phasing 360° 90° 90° 90° 90° For Sin/Cos encoders (Hiperface and EnDat), the drive position increases when Cosine (B) leads Sine (A). Clockwise motor rotation is assumed, when looking at the shaft. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 116 The drive UFB feedback connector uses Hall signals to initialize the commutation angle for permanent magnet motor commutation. The commutation self-sensing feature initializes the commutation angle for motors that do not have the Hall effect sensors. Figure 70 - Hall Encoder Phasing Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 117: Absolute Position Feature

    Figure 71 - Absolute Position Limits (measured in turns) 4096 Turns 2048 Turns 1024 Turns 512 Turns 128 Turns +128 +512 -2048 -1024 -512 -256 -128 +256 +1024 +2048 Position at Power Down Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 118: Functional Safety Features

    EtherNet/IP network. Refer to the Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication 2198-RM001, for a description and configuration examples of the integrated stopping functions in the Studio 5000 Logix Designer application. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 119 Wire the Digital Input Connectors Wire Motor Power and Brake Connectors Connect Single Cables Connect Power/Brake and Feedback Cables Customer-supplied Motor Power Cables Accessory Module Connections External Passive-shunt Connections External Active-shunt Connections Ethernet Cable Connections Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 120: Basic Wiring Requirements

    Electrical Noise Reduction page 64 for examples of routing high and low voltage cables in wireways. Refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001, for more information. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 121: Input Power Configurations For Kinetix 5700 Power Supplies

    (1) When using 2198-DBxx-F line filter, 2198-Pxxx power supply has the ground jumper installed and 2198-xxxx-ERSx inverters have the ground jumpers installed. When using 2198-DBRxx-F line filter, 2198-Pxxx power supply has the ground jumper installed, 2198-xxxx-ERSx inverters have the ground jumpers removed. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 122 Power Distribution Ground (1) 2198-Pxxx power supply has the ground jumper removed. 2198-xxxx-ERSx inverters have the ground jumpers removed. Refer to Power Wiring Examples beginning on page 321 for input power interconnect diagrams. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 123 Drive-to-motor cable lengths are limited with these AC power source types. See Appendix D, beginning on page 383, for more information. Refer to Power Wiring Examples beginning on page 321 for input power interconnect diagrams. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 124: Regenerative Bus Supply

    Phase Ground Connect to drive module Bonded Cabinet ground stud. Ground Ground Grid or Power Distribution Ground (1) 2198-RPxxx power supply has the ground jumper installed. 2198-xxxx-ERSx inverters have the ground jumpers removed. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 125 Refer to Ground Screw/Jumper Settings page 127 for more information. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 126 Bonded Cabinet Ground Connect to drive module Chassis Ground ground stud. Ground Grid or Power Distribution Ground (1) 2198-RPxxx power supply has the ground jumper installed. 2198-xxxx-ERSx inverters have the ground jumpers removed. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 127: Ground Screw/Jumper Settings

    If you have grounded-wye power distribution in your facility, or corner- grounded or ungrounded power with an isolation transformer, do not remove the ground jumper from the regenerative bus supply. Remove the ground jumper when using impedance-grounded power. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 128: Kinetix 5700 Inverters

    Ground jumper removed is preferred when using the 2198-DBRxx-F AC line filters. EMC performance is achieved with or without the ground jumper installed. If you are using the 2198-RPxxx regenerative bus supply, always remove the ground jumper in the inverters. IMPORTANT Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 129: Kinetix 5700 Itrak Power Supply

    • 2198-DBR20-F, 2198-DBR40-F, 2198-DBR90-F, or 2198-DBR200-F AC line filters, remove the ground jumper in the iTRAK power supply. Ground jumper removed is preferred when using the 2198-DBRxx-F AC line filters. EMC performance is achieved with or without the ground jumper installed. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 130: Remove/Install The Ground Screw/Jumper

    Hold the jumper with needle-nose pliers and remove/install the captive screws. Ground Jumper To determine if you need to remove or Access Door install the ground jumper, see Ground Screw/Jumper Settings page 127. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 131: Ground The Drive System

    Ground Kinetix 5700 power supplies, inverters, and accessory modules to a bonded cabinet ground bus with a braided of at least 10 mm (0.0155 in ) in cross-sectional area. Keep the braided ground strap as short as possible for optimum bonding. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 132: Ground Multiple Subpanels

    Follow NEC and applicable local codes. Bonded Ground Bus Ground Grid or Power Distribution Ground High-frequency (HF) bonding is not illustrated. For HF bonding information, refer to HF Bond for Multiple Subpanels page Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 133: Wiring Requirements

    (3) Shared DC-bus power connections are always made from one drive module to another over the bus-bar connection system. These terminals do not receive discrete wires. (4) This connector uses spring tension to hold wires in place. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 134 (10 AWG) wire is used, these torque specifications apply. For iTRAK power supply wiring requirements not shown here, see iTRAK System with TriMax Bearings User Manual, publication 2198T-UM002, or iTRAK 5730 System User Manual, publication 2198T-UM003. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 135 (3) Shared DC-bus power connections are always made from one drive module to another over the bus-bar connection system. These terminals do not receive discrete wires. (4) This connector uses spring tension to hold wires in place. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 136 • Use motor power connectors for connection purposes only. Do not use them to turn the motor on and off. • Ground shielded power cables to prevent potentially high voltages on the shield. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 137: Wiring Guidelines

    The connector plug ships with the drive module and shared-bus connector kits are purchased separately. IMPORTANT Mount the 24V power supply as close to the drive system as possible to minimize voltage drop on the 24V input power wiring. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 138 (1) Catalog numbers 2198T-W25K-ER, 2198-RP263, 2198-RP312, 2198-S263-ERSx, and 2198-S312-ERSx, use a slightly larger input wiring connector than the other Kinetix 5700 drive modules. (2) Bus-bars and T-connectors can be added only to the right of the 24V DC input wiring connector. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 139: Wire The Input Power Connector

    Cat. No. mm (in.) N•m (lb•in) (AWG) 2198-P031 6…10 2198-RP088 10.0 (0.39) 2198-P070 (10…8) 0.8 (7.1) 2198-P141 10…35 2198-RP200 20.0 (0.79) 2198-P208 (8…2) 2198-RP263 21.1…120 15…20 – 27.0 (1.06) 2198-RP312 (4…250 kcmil) (132…177) Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 140: Wire The Contactor Enable Connector

    Cat. No. Cat. No. mm (in.) N•m (lb•in) (AWG) 2198-P031 2198-P070 EN– CONT EN– 2198-RP088 2198-P141 CONT EN+ 2198-RP200 0.14…2.5 0.4…0.5 7.0 (0.28) 2198-P208 2198-RP263 (26…12) (3.5…4.4) 2198-RP312 CONV OK+ – OK– CONV OK– Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 141: Wire The Digital Input Connectors

    Off-center Push Push the Right-hand Side Kinetix 5700 Inverter Locking Features Safety or Digital Inputs Connector Plug (safety connector plug is shown) Safety (STO) Connector Plug MOD– Digital Inputs Plug NET– Safety Plug Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 142: 2198-Xxxx-Ers4 And 2198-Xxxx-Ers3 (Series B) Connector Plugs

    (rotated counter-clockwise) Locked Position MOD– (rotated clockwise) NET– Wire the Safe Torque-off Connector For the hardwired safe torque-off (STO) connector pinouts, feature descriptions, and wiring information, refer to Chapter 9 beginning on page 283. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 143: Wire The Digital Inputs Connector

    (26…16) IOD-4 SHLD IOD-1 IOD-2 IOD-3 IOD-4 2198-RPxxx IOD-5 SHLD 0.14…1.5 2198-Dxxx-ERSx 10.0 (0.39) IOD-6 (26…16) 2198-Sxxx-ERSx IOD-7 IOD-8 IOD-9 IOD-10 SHLD (1) This connector uses spring tension to hold wires in place. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 144: Wire Motor Power And Brake Connectors

    (front view) Clamp The clamp included with 2198-S263-ERSx and 2198-S312-ERSx inverters IMPORTANT is compatible with Kinetix 2090 (4 and 2 AWG) motor power cable. Do not use the clamp for smaller or larger cables. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 145 Wire Size Cat. No. Wire Color mm (in.) N•m (lb•in) (AWG) BC-1 MBRK+/Black 2198-Dxxx-ERSx 0.22…0.25 7.0 (0.28) 2198-Sxxx-ERSx (1.9…2.2) BC-2 MBRK-/White (1) Motor brake wires are part of the Kinetix 2090 motor power cable. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 146 (1) Building your own single cables or using third-party single cables for Kinetix VP motors and actuators is not an option. Use 2090-CSxM1DE/DG single motor cables. Refer to the Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004, for cable specifications. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 147: Maximum Cable Lengths

    70 m (230 ft) • The maximum total DC-bus cable length is 140 m (459 ft) These examples feature the 2198-RPxxx regenerative bus supply, IMPORTANT however, they also apply to the 2198-Pxxx DC-bus power supply. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 148 The voltage drop across the DC cable can be further reduced by using a bigger cable size because voltage drop is directly proportional to cable resistance (see Recommended DC-bus Cable Gauge page 149). Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 149 Set Point reduces linearly from 750V DC to 715V DC as the DC-bus cable length per cluster increases from 0 to 70 m (230 ft) respectively. DC-bus Cable Length per Cluster (ft) 32.8 65.6 98.4 DC-bus Cable Length per Cluster (m) Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 150 Cable Length Cable Length m (ft) m (ft) Extended Cluster #1 180 (591) 70 (230) Power Supply Cluster #2 – – Extended Cluster #3 180 (591) 70 (230) Total 360 (1182) 140 (460) Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 151: Connect Single Cables

    (2) Due to the motor power conductor size, VPC-B3004 motors do not support single cable technology. See the Motor Power Cable Compatibility table on page 155 for VPC-Bxxxxx-S, VPC-B3004x-M, and VPC-Bxxxxx-Y motor cables intended for use with Kinetix 5700 drives. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 152: Motor Feedback Connections

    Table 89 - Motor Feedback (MF) Connector Specifications Drive Module Signal/ Wire Size Strip Length Torque Value Cat. No. Wire Color mm (in.) N•m (lb•in) MF-1 D+/Blue 2198-Dxxx-ERSx 10.0 (0.39) 0.4 (3.5) 2198-Sxxx-ERSx MF-2 D-/White/Blue Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 153: Apply The Single Motor Cable Shield Clamp

    2. Position the exposed portion of each cable braid directly in line with the clamp. 3. Hand tighten the clamp knob. Make sure the cable clamp tightens around the cable shield and provides a good bond between the cable shield and the drive chassis. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 154 Make sure the cable clamp tightens around the overall cable shield and provides a good bond between the cable shield and the drive chassis. Torque value 5.6 N•m (50 lb•in), max. 5. Repeat step 1 through step 4 for each drive in multi-axis configurations. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 155: Connect Power/Brake And Feedback Cables

    Power-only, bayonet 2090-XXTPMP-xxSxx Table 92 - Induction Motor Power Cable Specifications Cable Manufacturer Cable Series Voltage Rating Temperature Rating Belden 29500-29507 Lapp Group ÖLFEX VFD XL 600V 90 °C (194 °F) VFD XLPE TR Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 156: Motor Power/Brake Cable Series Change

    Table 93 - Cable Preparation for 2090-CPxM7DF Cables Cable Power Conductor Size Go to: 16 and 14 Cable Preparation for 16 and 14 AWG Cables 12 and 10 Cable Preparation for 12 and 10 AWG Cables Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 157 3. Apply heat shrink to the small section of cable jacket. Refer to Figure 103 for typical installation examples for series A and series B cables. For strip lengths and torque values, refer to Table 80 Table 81 page 145. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 158 90° (between 75° and 105° is acceptable). Clamp Spacer Power/Brake Cables 12 and 10 AWG (series A) cables, prepared as shown on page 157, and series B cables have longer conductors that support service loops. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 159: Single-Axis Inverter Power/Brake Cable Installation

    AWG). The lower position is for larger cables (4 and 2 AWG). We recommend that you measure from the edge of the cable jacket (that is covered with heat shrink) and trim the power conductors as shown in Table Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 160 4. Tighten the clamp screw. Make sure the cable clamp tightens around the overall cable shield and provides a good bond between the cable shield and the drive chassis. Torque value 5.6 N•m (50 lb•in), max. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 161 Replace the termination block and hex nut. e. Tighten the hex nut to 5.6 N•m (50 lb•in), max. Ground Conductor M8 Hex Nut Termination Block 2198-S263-ERSx or 2198-S312-ERSx Single-axis Inverter (front/side view) M8 Stud Cable Clamp Bracket Cable Clamp Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 162 15-20 Nm (132-177 lbin) (MP) Connector Cable Clamp Bracket Motor Power Conductors Kinetix 2090-CPBM7DF Motor Cable Shield Clamp Power/Brake Cable Cable Clamp 6. Repeat step 1 through step 5 for each drive in multi-axis configurations. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 163: Motor Feedback Connections

    Table 98 - Legacy Motor Feedback Cables Motor Cable Description Cable Cat. No. 2090-XXNFMF-Sxx Encoder feedback, threaded 2090-UXNFBMF-Sxx Standard 2090-UXNFBMP-Sxx Encoder feedback, bayonet 2090-XXNFMP-Sxx Encoder feedback, bayonet 2090-XXTFMP-Sxx Continuous-flex Encoder feedback, threaded 2090-CFBM4DF-CDAFxx Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 164 White/Yellow 0.22…0.25 5.0 (0.2) (1.9…2.2) CLK+ Brown DATA– IM– White/Green White/Orange White/Blue Yellow EPWR_5V Gray CLK– White/Brown Drain (1) The ECOM and TS- connections are tied together and connect to the cable shield. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 165 For the 2198- K57CK-D15M universal connector kit, if your Kinetix 2090 IMPORTANT motor cable does not include a drain wire, you must create one from the overall shield during wire preparation and connect it to pin 16. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 166 Apply 0.22…0.25 N•m (1.9…2.2 lb•in) torque to each screw. 4. Gently pull on each wire to make sure it does not come out of its terminal; reinsert and tighten any loose wires. 5. Attach the tie wrap for added stress relief. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 167 SIN+ AM– SIN– COS+ BM– COS– DATA+ IM– DATA– EPWR_5V EPWR_5V ECOM ECOM ECOM ECOM – – – (1) The ECOM and TS- connections are tied together and connect to the cable shield. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 168 Ground Pad the exposed shield. 3. Tighten screws, torque 0.34 N•m (3.0 lb•in). Shield Clamp Kinetix 2090 Feedback Cable Refer to Universal Feedback Connector Kit Installation Instructions, publication 2198-IN010, for connector kit specifications. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 169: Customer-Supplied Motor Power Cables

    Edge of Cable Jacket 25 mm (0.98 in.) 5. Apply heat shrink over the cable jacket and the four insulated conductors. 6. Trim the insulation to leave a strip length of 27 mm (1.06 in.) Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 170 Figure 113 - Maximum Customer-supplied Lug Dimensions Lug size according to cable size and 25.4 mm 8 mm (0.315 in.) classification. Flexible wires (Class K…G) (1.00 in.) (inside diameter hole) must use flex-rated lugs. 11.43 mm (0.45 in.) Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 171: Accessory Module Connections

    Figure 114 - MS Connector Wiring (capacitor module and DC-bus conditioner module) 2198-CAPMOD-2240 Capacitor Module or DC BUS 2198-DCBUSCOND-RP312 DC-bus Conditioner Module Module Status (MS) Connector Plug MODULE STATUS Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 172: External Passive-Shunt Connections

    N•m (lb•in) (AWG) RC-1 1.5…6 0.5…0.6 2198-Pxxx 12.0 (0.47) RC-2 (16…10) (4.4…5.3) IMPORTANT You must disconnect the internal shunt wires at the RC connector before connecting the Bulletin 2198 passive shunt resistor wires. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 173: External Active-Shunt Connections

    Chapter 5 Connect the Kinetix 5700 Drive System External Active-shunt Active shunts are available from the Rockwell Automation Encompass™ Connections partner Powerohm Resistors, Inc. See Active Shunt Considerations page 50 for Powerohm shunts compatible with your Kinetix 5700 power supply.

  • Page 174: Wire The External Dc-Bus Connections

    Accessory modules are equipped with spacers that slide onto the M8 studs. When the system configuration includes external DC-bus and active shunt connections, external DC-bus connections are made below the spacer and active shunt connections are made above the spacer. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 175: Kinetix Vpc Motors And The Extended Speed Feature

    Configure Bulletin PKB and PWB active-shunt modules in Internal (automatic) mode. Unless an external enable signal is provided, configure the Brake Enable Jumper in Internal (automatic) mode (JP6 is in the downward position). Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 176: Ethernet Cable Connections

    When configured for standalone operation, the iTRAK power supply requires an Ethernet connection for firmware upgrades that use ControlFLASH™ or ControlFLASH Plus™ software. This connection can also be used to access real-time data, for example, event logging. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 177 Test and Tune the Axes Before you begin, make sure that you know the catalog number for each drive module, the Logix module and /or controller, and the motor used in your motion control application. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 178: Understand The Kinetix 5700 Display

    Press to return to the Home screen. Press to display the fault help (possible solutions in troubleshooting tables). (1) For Kinetix 5700 fault code descriptions and possible solutions, see Kinetix 5700 Servo Drive Fault Codes, publication 2198-RD003. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 179: Menu Screens

    The Possible Solution as reported in the Kinetix 5700 Fault Codes.xlsx file. • Reduce duty-cycle of commanded motion (1) For Kinetix 5700 fault code descriptions and possible solutions, see Kinetix 5700 Servo Drive Fault Codes, publication 2198-RD003. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 180 Reduce the number of drives in the same bus group. The Possible Solution as reported in the Kinetix 5700 Fault Codes.xlsx file. (1) For Kinetix 5700 fault code descriptions and possible solutions, see Kinetix 5700 Servo Drive Fault Codes, publication 2198-RD003. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 181 Fault help The Possible Solution as reported in the Kinetix 5700 Fault Codes.xlsx file. (1) For Kinetix 5700 fault code descriptions and possible solutions, see Kinetix 5700 Servo Drive Fault Codes, publication 2198-RD003. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 182: Setup Screens

    You must cycle control power to make network configuration changes persistent. In this example, the IP address was changed. The change takes affect and the asterisk disappears after control power is cycled. Display configuration changes take effect immediately. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 183 (1) An arrow (->) appears in front of the chosen attribute indicating that this attribute is currently configured. This is also the factory default setting. (2) The DC bus voltage is one of several cyclic data attributes. You can select any of the Cyclic Data Select attributes to be displayed on the Home screen. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 184 (1) An arrow (->) appears in front of the chosen attribute indicating that this attribute is currently configured. This is also the factory default setting. (2) The DC bus voltage is one of several cyclic data attributes. You can select any of the Cyclic Data Select attributes to be displayed on the Home screen. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 185 (1) An arrow (->) appears in front of the chosen attribute indicating that this attribute is currently configured. This is also the factory default setting. (2) The DC bus voltage is one of several cyclic data attributes. You can select any of the Cyclic Data Select attributes to be displayed on the Home screen. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 186 Standalone mode was added to the iTRAK® power supply in drive IMPORTANT firmware revision 12.001 to provide backward compatibility with iTRAK medium frame systems. Enable Standalone operation only when providing power to iTRAK medium frame systems. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 187: Startup Sequence

    The drive has an active condition that inhibits it from being enabled. SHUTDOWN The drive has been shut down. For more information on the 2198-RPxxx regenerative bus supply CIP axis states, see Regenerative Bus Supply Sequence Operation page 391. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 188: Configure The Drive

    To configure additional motors, actuators, and drive features with IMPORTANT your Kinetix 5700 servo drive, you must have drive firmware 4.001 or later. Refer to to determine if you need to install the Table 115 Kinetix 5700 Add-on Profile. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 189: Install The Kinetix 5700 Add-On Profile

    The Compatibility & Downloads webpage appears. 2. Click Download. 3. Enter Kinetix 5700 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. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 190: Configure The Logix 5000 Controller

    If you are configuring a safety application, you must use a IMPORTANT GuardLogix or Compact GuardLogix safety controller. If you are configuring a 2198-xxxx-ERS4 inverter in a safety application, you must use a GuardLogix 5580 or Compact GuardLogix 5380 safety controller. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 191 Logix Designer application, version 26.00 or later. 5. Click Finish. The new controller appears in the Controller Organizer under the I/O Configuration folder. Controller Organizer with Compact GuardLogix 5380 controller. Controller Organizer with GuardLogix 5580 controller. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 192 IMPORTANT Check Enable Time Synchronization for all controllers that participate in CIP Sync™. The overall CIP Sync network automatically promotes a Grandmaster clock, unless the priority is set in Advanced. 10. Click OK. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 193: Configure The Kinetix 5700 Drive Modules

    2. By using the filters, check Motion and Allen-Bradley, and select your 2198-Pxxx DC-bus power supply as appropriate for your hardware configuration. 3. Click Create. The New Module dialog box appears. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 194 7. Click OK to close the New Module dialog box. 8. Your 2198-Pxxx DC-bus power supply appears in the Controller Organizer under the Ethernet network in the I/O Configuration folder. 9. Click Close to close the Select Module Type dialog box. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 195 Shunt Thermal Switch OK to monitor your capacitor module status or the shunt thermal switch, respectively, depending on your application. In this example, Bus Capacitor OK is chosen. 13. Click the Associated Axes category. 14. Click New Axis. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 196 Controller Organizer under Motion Groups> Ungrouped Axes and is assigned as Axis 1. 17. Click Apply. 18. Repeat step 1 through step 17 if you have more than one 2198-P208 DC-bus power supply. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 197: Configure The Regenerative Bus Supply

    Select an Ethernet Address option. In this example, the Private Network address is selected. c. Enter the address of your 2198-RPxxx regenerative bus supply. In this example, the last octet of the address is 1. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 198 Organizer and choose Properties. The Module Properties dialog box appears. To configure the remaining regenerative bus supply properties, you must close the New Module dialog box and reopen it as the Module Properties dialog box. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 199 M1 contactor status, respectively, depending on your application. In this example, Bus Capacitor OK is chosen. 13. Click the Associated Axes category. 14. Click New Axis. The New Tag dialog box appears. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 200: Configure The Itrak Power Supply

    1. Below the controller you just created, right-click Ethernet and choose New Module. The Select Module Type dialog box appears. Enter 2198 here to further limit your search. 2. Select your 2198T-W25K-ER power supply. 3. Click Create. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 201 Enter the address of your iTRAK power supply. In this example, the last octet of the address is 1. 5. Click the Power category. The Logix Designer application enforces shared-bus IMPORTANT configuration rules for Kinetix 5700 drives. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 202 11. Click the Digital Input category. 12. From the Digital Input pull-down menu choose Enable (default) to monitor an external enable input signal or choose Unassigned depending on your application. In this example, Enable is chosen. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 203 The axis (Axis_1 in this example) appears in the Controller Organizer under Motion Groups> Ungrouped Axes and is assigned as Axis 1. 17. Click Apply. 18. Repeat step 1 through step 17 if you have more than one iTRAK power supply. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 204: Configure The Inverter Drives

    This example shows the 2198-Dxxx-ERSx dual-axis inverters you can choose from. 2. Enter 2198 to narrow your choices and select your 2198-xxxx-ERS3 or 2198-xxxx-ERS4 inverter as appropriate for your hardware configuration. 3. Click Create. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 205 7 or earlier Configure Module Definition for 2198-xxxx-ERS3 (series A) Drives page 206 2198-xxxx-ERS3 (series B) Configure Module Definition for 2198-xxxx-ERS4 and 2198-xxxx-ERS3 (series B) 31 or later 9 or later 2198-xxxx-ERS4 Drives page 207 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 206 GuardLogix controller publication as defined in Additional Resources page 3. Click OK to close the Module Definition dialog box. 4. Click Apply. 5. Go to Configure the Power and Safety Categories page 209. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 207 Table 118 page 208 definitions). If the STO bypass jumper wires were applied during machine IMPORTANT commissioning or maintenance, they must be removed before the drive will operate in Integrated (Networked) safety mode. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 208 (single-axis) inverters. ‘Motion Safety 1’ and ‘Motion Safety 2’ applies to 2198-Dxxx-ERS4 (dual-axis) inverters. Motion Safety and Motion Safety 1 align with Axis 1 configured in Associated Axes. Motion Safety 2 aligns with Axis 3 configured in Associated Axes. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 209 (Regen OK) and communicates with the other inverters to signal when the DC-bus voltage is present. (3) For more information on bus-sharing groups, refer to Understand Bus-sharing Group Configuration page 251. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 210 If any differences are detected, the connection between the GuardLogix controller and the 2198-xxxx-ERSx inverter is lost, and the yellow yield icon appears in the controller project tree after you download the program. 8. Click Advanced. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 211: Continue Inverter Configuration

    Inverter Cat. No. Motor Feedback Auxiliary Feedback 2198-Sxxx-ERS3 or Single-axis Inverters 1 (axis 1) 1 (axis 2) 2198-Sxxx-ERS4 2198-Dxxx-ERS3 or Dual-axis Inverters 2 (axis 1 and 3) 2 (axis 2 and 4) 2198-Dxxx-ERS4 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 212 Motion Safety 1 Motion Safety 2 Associated Axes - Axis 1 Associated Axes - Axis 3 UFB-A UFB-B See Detail A MF-A MF-B MF-A MF-B UFB-A UFB-B MF-A MF-B Universal and DSL Hiperface Feedback Connectors Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 213 Port or Universal Feedback x Port to associate with each axis. 5. Click New Axis. The New Tag dialog box appears. 6. Type the axis Name. AXIS_CIP_DRIVE is the default Data Type. 7. Click Create. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 214 3 are used, you must configure the Digital Input category as Regeneration OK and wire the IOD connector for each axis. 11. Click OK. 12. Repeat step 1 through step 11 for each 2198-xxxx-ERSx servo drive. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 215: Configure The Motion Group

    5. Click the Axis Assignment tab and move your axes (created earlier) from Unassigned to Assigned. 6. Click the Attribute tab and edit the default values as appropriate for your application. 7. Click OK. Your axes moves to the new motion group. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 216: Configure Regenerative Bus Supply Axis Properties

    • Automatic (default) for active DC-bus voltage regulation • Enable Request for passive AC rectification like the 2198-Pxxx DC-bus (converter) power supply For more information on the Converter Startup Method, see DC-bus Voltage Regulation page 5. Click Apply. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 217 IMPORTANT operation. 8. Manually calculate the sum of the drive and accessory module capacitance values and enter the External Bus Capacitance value. Calculate System and External-bus Capacitance page 376 calculate external bus capacitance. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 218 (while running) the power supply will draw peak current to change the bus voltage as fast as possible. You can reduce the rate limit to limit the current during changes to the BusVoltageSetPoint attribute without any effect to stability or load response. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 219 • Voltage Feedback Filtering Disabled • Decreased DC-bus voltage ripple • Increased current THD Bus Observer with • Load Estimate Decoupling Enabled • Increased voltage regulation stiffness Voltage Estimate • Voltage Feedback Filtering Enabled (Default) Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 220 Detuning to a desired level, while maintaining stability, can be achieved by setting a current loop bandwidth and maintaining proportional spacing of 10x between the voltage and current loop, and 4x spacing from the loop bandwidth to integral loop bandwidth. 17. Click OK. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 221: Configure Vertical Load Control Axis Properties

    Therefore, Brake Proving is not applicable to Frequency Control mode with Sensorless Vector control method. For more information on controlling vertical loads, see the Vertical Load and Holding Brake Management Application Technique, publication MOTION-AT003. Figure 121 - Configure Vertical Load Control Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 222: Configure Feedback-Only

    See Configure Module Properties on page 244 for configuration examples. 8. Select the Master Feedback Category. The Master Feedback Device Specification appears. 9. From the Type pull-down menu, choose a feedback device type. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 223: Configure Induction-Motor Frequency-Control Axis Properties

    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. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 224: Basic Volts/Hertz Method

    1. Configure the General category and Motor category as shown in General and Motor Categories page 223. 2. Select the Frequency Control category. 3. From the Frequency Control Method pull-down menu, select Basic Volts/ Hertz. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 225 8. Set the FluxUp, SkipSpeed, VelocityDroop, and CurrentVectorLimit attributes appropriate for your application. See the corresponding section in Appendix F, beginning on page 397, for information and configuration examples regarding all of these topics. 9. Click OK. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 226: Sensorless Vector Method

    4. Enter the Basic Volts/Hertz attribute values appropriate for your application. Default values are shown. 5. Click Apply. 6. Select the Parameter List category. 7. The Motion Axis Parameters dialog box appears. 8. From the Parameter Group pull-down menu, choose Frequency Control. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 227 In this example, Calculate Model is chosen. See Motor Tests and Autotune Procedure page 414 for information about each of the tests. 15. Click Start. 16. Click Accept Test Results. 17. Click OK. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 228: Fan/Pump Volts/Hertz Method

    4. Enter the Basic Volts/Hertz attribute values appropriate for your application. Default values are shown. 5. Click Apply. 6. Select the Parameter List category. The Motion Axis Parameters dialog box appears. 7. From the Parameter Group pull-down menu, choose Frequency Control. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 229: Configure Ipm Motor Closed-Loop Control Axis Properties

    (IPM) motors. 4. From the Associated Module>Module pull-down menu, choose your Kinetix 5700 drive. The drive catalog number populates the Module Type and Power Structure fields. 5. Click Apply. 6. Select the Motor category. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 230 Motor data specific to your motor appears in the Nameplate / Datasheet - Phase to Phase parameters field. 12. For Extended Speed operation, check Extended Speed permissive in the Extended Speed field. See Phase Loss Detection page 432, for more information. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 231 13. Select the Scaling category and edit the default values as appropriate for your application. 14. Click Apply, if you make changes. 15. Select the Load category and edit the default values as appropriate for your application. 16. Click Apply, if you make changes. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 232 For recommended motor brake delay times, refer to the Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001. 19. Click OK. 20. Repeat step 1 through step 19 for each servo motor axis. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 233: Configure Spm Motor Closed-Loop Control Axis Properties

    4. From the Associated Module>Module pull-down menu, choose your Kinetix 5700 drive. The drive catalog number populates the Module Type and Power Structure fields. 5. Click Apply. 6. Select the Motor category. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 234 To verify the motor catalog number, refer to the motor name plate. 10. Click OK to close the Change Catalog Number dialog box. 11. Click Apply. Motor data specific to your motor appears in the Nameplate / Datasheet - Phase to Phase parameters field. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 235 13. Click Apply, if you make changes. 14. Select the Load category and edit the default values as appropriate for your application. 15. Click Apply, if you make changes. 16. Select the Actions category. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 236 From this dialog box you can change the action for exceptions (faults). Refer to Logix 5000 Controller and Drive Module Behavior page 264 for more information. In the Logix Designer application, version 32 and later, Disable replaced StopDrive as the default Action. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 237 For recommended motor brake delay times, refer to the Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001. 19. Click OK. 20. Repeat step 1 through step 19 for each servo motor axis. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 238: Configure Induction-Motor Closed-Loop Control Axis Properties

    4. From the Associated Module>Module pull-down menu, choose your Kinetix 5700 drive. The drive catalog number populates the Module Type and Power Structure fields. 5. Click Apply. 6. Select the Motor category. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 239 Click Apply and return to the Motor category. 8. From the Motor Type pull-down menu, choose Rotary Induction. 9. From the motor nameplate or datasheet, enter the phase-to-phase values for your motor. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 240 13. Click Apply. 14. Select the Scaling category and edit the default values as appropriate for your application. 15. Click Apply, if you make changes. 16. Select the Actions category. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 241 Logix 5000 Controller and Drive Module Behavior page 264 for more information. In the Logix Designer application, version 32 and later, Disable replaced StopDrive as the default Action. 18. Select the Parameter List category. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 242 The Automatic FluxUpControl setting is recommended for best IMPORTANT autotune results. 21. Click Apply. 22. Select the Load category and edit the default values as appropriate for your application. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 243 28. Click Start. 29. Click Accept Test Results. 30. Click Apply. 31. Select the Autotune category. 32. Repeat step 1 through step 31 for each induction motor axis. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 244: Configure Feedback Properties

    However, 2198-xxxx-ERS4 drives only appear in firmware revision 9.001 or later. 3. Click the Associated Axes category. 4. Configure each axis for Motor feedback, Load feedback, and Master feedback devices appropriate for your application. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 245 Hiperface DSL, EnDat Digital, and EnDat Sin/Cos) are not supported. Unprogrammed as load or feedback-only feedback types are supported, except unprogrammed Hiperface DSL encoders. Contact your local distributor or Rockwell Automation representative for support options. This example shows acceptable feedback port assignments.

  • Page 246: Configure Axis Properties

    The only valid value for Cycle Interpolation is 4. 5. From the Startup Method pull-down menu, choose Incremental. 6. Click Apply. When the Device Function is Load-Side Feedback or Master Feedback, configuration is identical to Motor Mounted Feedback. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 247 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. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 248 The only valid values for Cycle Interpolation are powers of 2 from 4 through 65536. 5. From the Startup Method pull-down menu, choose Incremental. 6. Click Apply. When the Device Function is Load-Side Feedback or Master Feedback, configuration is identical to Motor Mounted Feedback. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 249: Download The Program

    If multiple iTRAK power supplies are used on a track, they all need to power up within 4 seconds of each other (or at least downstream sections need to power up within 4 seconds of the bankmaster). Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 250 Verify that the iTRAK power supply axis-state is RUNNING. If the DC-bus power supply/regenerative bus supply/iTRAK power supply does not reach the specified axis state, refer to Fault Code Overview page 258. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 251: Understand Bus-Sharing Group Configuration

    System with TriMax Bearings User Manual, publication 2198T-UM002. When used with the iTRAK 5730 system, both primary and secondary bus-sharing groups must be configured. See iTRAK 5730 System User Manual, publication 2198T-UM003, for more information. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 252: Bus-Sharing Group Example

    Dual-axis Inverters Kinetix 5700 Servo Drive System Group 2 24V Input Power 2198-D006-ERS3 I/O-A I/O-B Dual-axis Inverter UFB-A UFB-B MF-A MF-B MBRK MBRK Three-phase Input Power 2198-P208 2198-S086-ERS3 Single-axis Inverters DC-bus (converter) Power Supply Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 253: Configure Bus-Sharing Groups

    Bus Configuration for the inverter drives is Shared DC. Figure 124 - Group 1 DC-bus Power Supply (converter) Configuration Figure 125 - Group 1 Dual-axis Inverter Configuration Figure 126 - Group 2 DC-bus Power Supply (converter) Configuration Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 254: Test And Tune The Axes

    2198-AT002, for detailed information on testing and tuning custom motors. For testing and tuning iTRAK movers see iTRAK System with TriMax Bearings User Manual, publication 2198T-UM002, or iTRAK 5730 systems, see the iTRAK 5730 System User Manual, publication 2198T-UM003. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 255: Test The Axes

    Because the drive is rotating the motor, this test Feedback requires full bus power to run. Run the Motor Feedback test before running this test to verify that the feedback is being read correctly. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 256: Tune The Axes

    For any other combination of servo drives, drive firmware, or Logix Designer version, see Tuningless Feature Configuration Quick Start, publication MOTION-QS001. If additional tuning is required, see the Motion System Tuning Application Technique, publication MOTION-AT005, for more information. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 257: Safety Precautions

    ATTENTION: Provide an earth ground for test equipment (oscilloscope) used in troubleshooting. Failure to ground the test equipment could result in personal injury. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 258: Interpret Status Indicators

    128 faults. The fault log includes time stamps and is stored in persistent memory. However, the fault log cannot be cleared on the module. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 259: Fault Codes

    Kinetix 5700 Servo Drive Fault Codes, publication 2198-RD003; download the spreadsheet for offline access. You will be asked to log in to your Rockwell Automation web account or create an account if you do not have one. You do not need a support contract to access this article.

  • Page 260: Kinetix 5700 Status Indicators

    Steady Off 10 Mbit Status Indicators Steady On 100 Mbit Table 131 - Ethernet Link/Activity Status Indicator Link/Activity Status Indicators Condition Status Steady Off No link Steady On Link established Blinking Network activity Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 261: Kinetix 5700 Accessory Module Status Indicators

    If the fault clears, then there was a thermal fault caused by a system issue. If the fault persists and the rest of the system is functioning properly, add more DC-bus conditioners to the system to reduce thermal stress on the module. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 262: Axis Troubleshooting

    The • Check and improve mechanical performance, for example, the frequency can be a multiple of the motor power transmission gearbox or ballscrew mechanism. components or ballscrew speeds resulting in velocity disturbance. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 263: Regenerative Bus Supply Troubleshooting

    AC input with the regenerative bus supply as interacting with common-mode filter capacitors in non-Kinetix sized input reactors can help reduce DC-bus pump-up on non-Kinetix 5700 soon as DC-bus regulation is enabled. 5700 drives. drives. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 264: Logix 5000 Controller And Drive Module Behavior

    The drive module latches the exception condition, but the drive does not execute any Minor Fault exception action. The drive module latches the exception condition and executes the configured exception Major Fault action. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 265: Dc-Bus Power Supply Behavior

    Fault actions are shown in Table 138 Table 139. In the Logix Designer application, version 32 and later, Disable replaced StopDrive as the default Action. Figure 129 - Logix Designer Axis Properties - Exceptions Category Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 266 Lost Controller Connection Fault – – – NODE FLT 07 – CLOCK SYNC Clock Sync Fault – – – NODE FLT 09 – DUPLICATE IP ADDRESS Duplicate IP Address Fault – – – Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 267: Regenerative Bus Supply Behavior

    FLT S20 – CONV OVERLOAD FL Converter Thermal OverLoad Factory Limit Fault – – – FLT S21 – CONV OVERLOAD UL Converter Thermal Overload User Limit Fault FLT S22 – AC POWER LOSS Converter AC Power Loss Fault Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 268: Itrak Power Supply Behavior

    Table 143 - iTRAK Power Supply Exception Action Definitions Exception Action Definition Hold Continue regulating the iTRAK DC buses. Disable Actively discharge the iTRAK DC buses then disable the regulators. Shutdown Disable the regulators, iTRAK DC buses passively discharge. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 269 Lost Controller Connection Fault – – – Shutdown NODE FLT 07 - CLOCK SYNC Clock Sync Fault – – – Shutdown NODE FLT 09 - DUPLICATE IP ADDRESS Duplicate IP address Fault – – – Shutdown Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 270: Inverter Behavior

    Current Decel & Disable. Use DLR ring topology (see Ring Topology page 30) for applications where the possibility of connection loss must be minimized. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 271 Program mode (not actively running the application program), the drive ignores the Action Source and initiates the configured stopping sequence according to the corresponding Action selected in the pull-down menu. Figure 131 - Logix Designer Axis Properties - Actions Category Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 272 FLT S41 – MTR AQB STATE FL Feedback Signal Noise FL -ERSx – – – Disable/Coast (4) (6) Feedback Signal Loss FL -ERSx – – – Disable/Coast FLT S43 – FDBK LOSS FL Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 273 (3) Drives running firmware revision 11.003 or earlier use Stopping Time Limit attribute instead of the Coasting Time Limit attribute to determine when the brake will engage. (4) Applies to all compatible feedback devices, except DSL encoder feedback. (5) Applies to DSL and Hiperface feedback devices. (6) Does not apply to induction motors in frequency control mode. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 274 – – – Disable/Coast (1) Available only in Velocity Control mode. Available stopping action is Current Decel in Position Control mode. (2) With firmware revision 9.xxx. Do not change the default stopping action. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 275: Remove And Replace Drive Modules

    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-UM002L-EN-P - October 2021...

  • Page 276: Remove Power And All Connections

    2198-Dxxx-ERSx Dual-axis Inverters Motor Feedback Connectors Motor Power and Brake Connectors Loosen Motor Cable Shield Clamp Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 277 Refer to the steps and illustrations on page 161 to see how the bracket is attached. If your axis uses customer-supplied cable (larger than 2 or 4 AWG), the motor cable bracket does not apply. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 278: Remove The Drive Module

    2. Handling and positioning of the 2198-RPxxx regenerative bus supply and all other Kinetix 5700 drive modules, varies by catalog number. Follow these steps to lift and remove the modules. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 279: Replace The Drive Module

    Motor power connector screws (132…177) 2198-S263-ERSx, 2198-S312-ERSx Motor power ground screw 5.6 (50.0) If replacing a drive module that was configured for Integrated STO mode, refer to Understand Integrated Safety Drive Replacement page 308. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 280: Start And Configure The Drive Module

    (series B) drive firmware (revision 9 or later) • For backwards compatibility with series A drives, Motion Safety in the Module Definition of the 2198-xxxx-ERS3 (series B) drive must be configured for STO Only Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 281 Module Definition (selection must match firmware revision in drive) Must configure Motion Safety (1) and Motion Safety 2 as STO Only to avoid any change in the application program. Download Program Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 282 Chapter 8 Remove and Replace Drive Modules Notes: Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 283: Kinetix 5700 Safe Torque-Off Function

    The hardwired and integrated STO modes and SS1 stopping functions meet the requirements of Performance Level e (PL e) per ISO 13849-1 and SIL CL 3 per IEC 61508, IEC 61800-5-2 and IEC 62061. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 284: Certification

    ISO 13849-1 Performance Level e (PL e), SIL CL 3 per IEC 61508, IEC 61800-5-2, and IEC 62061, in which removing the motion producing power is considered to be the safe state. For product certifications currently available from Rockwell Automation, go to rok.auto/certifications. Important Safety Considerations The system user is responsible for the following: •...

  • Page 285: Average Frequency Of A Dangerous Failure

    ATTENTION: Personnel responsible for the application of safety-related programmable electronic systems (PES) shall be aware of the safety requirements in the application of the system and shall be trained in using the system. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 286: Out Of Box State

    Hardwired STO mode with torque Not Configured Hardwired (out of the box) disabled Hardwired STO mode with torque Not Configured (torque permitted) Hardwired (out of the box) permitted Running (torque permitted) STO bypass state Integrated Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 287 Follow these steps to restore your Kinetix 5700 servo drive to the Hardwired STO mode. 1. Right-click the Kinetix 5700 servo drive you just created and choose Properties. 2. Select the Connection category. The Connection category appears. 3. Check Inhibit Module. 4. Click Apply. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 288 Home screen and the drive does not complete the reset ownership. If a reset ownership is requested and acknowledged within 30 seconds, the drive reverts back to Hardwired STO mode. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 289: Safe Torque-Off Status

    SafetyOutputConnectionIdleStatus [31] BOOL 1 if safety controller is in program mode AxisSafetyFaults DINT SafetyCoreFault BOOL Loss of communications to safety control SafetyTorqueOffFault BOOL Status of SI.SafetyFault (1) Bits not shown are always zero. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 290: Explicit Messages

    Safety stop functions Instance 1 or 2 Inverter axis number Attribute 0x104 STO mode Data Type SINT Short integer Table 160 - Safe Torque-off Mode: Values Value Definition Normal operation STO bypass mode Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 291: Hardwired Safe Torque-Off

    Kinetix Dual-axis Inverters Kinetix Single-axis Inverters Application Cat. No. Cat. No. Version 26 or later 2198-Dxxx-ERS3 (series A) 2198-Sxxx-ERS3 (series A) 2198-Dxxx-ERS4 2198-Sxxx-ERS4 Version 31 or later 2198-Dxxx-ERS3 (series B) 2198-Sxxx-ERS3 (series B) Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 292: Description Of Operation

    IGBT circuit, result in a rotation of up to 180 electrical degrees. ATTENTION: If any of the safety enable inputs de-energize, the Start Inhibit field indicates the SafeTorqueOffInhibit and GuardStopRequestStatus bits of the AxisGuardStatus tag are set to 1. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 293 If event 4 is outside of the 100 ms interval, but within the a 1 second interval after event 3, then the GuardStop RequestStatus bit sets back to 0 after the 1 second interval following event 3 (not immediately following event 4). Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 294: Troubleshoot The Safe Torque-Off Function

    Kinetix 5700 Servo Drive Fault Codes, publication 2198-RD003; download the spreadsheet for offline access. You will be asked to log in to your Rockwell Automation web account or create an account if you do not have one. You do not need a support contract to access this article.
  • Page 295 ATTENTION: The safe torque-off fault is detected upon demand of the safe torque-off function. After troubleshooting the STO function or performing maintenance that might affect the STO function, the STO function must be executed to verify correct operation. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 296: Safe Torque-Off Connector Data

    Safe stop input common, axis B. Safe stop input channel 2, axis B. – STO-3 and STO-7 is common for the digital inputs, the safety inputs, IMPORTANT and the encoder power supply (optional). Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 297: Wire The Safe Torque-Off Circuit

    Figure 139 - Insert the 2198-xxxx-ERS3 (series A) Safety Connector Plug Off-center Push Kinetix 5700 Inverter Drive Push the Right-hand Side Locking Features (2198-xxxx-ERS3, series A, inverter is shown) Safety (STO) Connector Plug MOD– Safety Plug NET– Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 298 When wiring to the STO connector, use an external 24V supply for the external safety device that triggers the safe torque-off request. To avoid jeopardizing system performance, do not use pin ST0-1 as a power supply for the external safety device. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 299: Safe Torque-Off Wiring Requirements

    Signal Recommended Wire Size Strip Length Torque Value Connector mm (in.) N•m (lb•in) (AWG) STO Pin 2198-Dxxx-ERSx 2198-Sxxx-ERSx 0.14…1.5 10 (0.39) (26…16) (1) This connector uses spring tension to hold wires in place. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 300: Safe Torque-Off Feature Bypass

    Figure 143 - Cascaded STO Wiring - Single-axis Inverters Dual-channel Equivalent First Drive Middle Drive Safety Device Last Drive SB+/NC SB+/NC SB+/NC 24V DC Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 301 Figure 145 - Cascaded STO Wiring - Dual-axis Inverter with Single Safety Device Dual-channel Equivalent Middle Drive Safety Device First Drive Last Drive SB+/NC SB+/NC SB+/NC 24V DC Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 302: Hardwired Safe Torque-Off Electrical Specifications

    Single safety controller that provides both safety and motion control • Safety controller that controls only the safety, while a separate ControlLogix 5570, ControlLogix 5580, CompactLogix 5370, or CompactLogix 5380 controller that controls motion Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 303: Safety Application Requirements

    IMPORTANT You must read, understand, and fulfill the requirements detailed in the GuardLogix controller systems safety reference manual prior to operating a safety system that uses a GuardLogix controller and Kinetix 5700 drive. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 304: Description Of Operation

    Safe Stop Only - No Feedback Tag Names Studio 5000 Logix Designer Studio 5000 Logix Designer Studio 5000 Logix Designer (version 30 and earlier) (version 31 and later) (version 31 and later) SO.SafeTorqueOff SO.SafeTorqueOff SO.STOOutput SO.Reset SO.Reset SO.ResetRequest Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 305 (3) Status is sent from the drive to the controller using integrated safety protocol. (4) Commands are sent from the controller to the drive using integrated safety protocol. IMPORTANT Only the data listed in Table 171 is communicated with SIL 3 integrity. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 306 304 for changes in STO tag names). Figure 146 - STO Function (Logix Designer, version 30 or earlier) Figure 147 - STO Function with STO Only (Logix Designer, version 31 or later) Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 307: Sto Fault Reset

    IMPORTANT function fault is detected. Refer to Understand Integrated Safety Drive Replacement page 308 for integrated safety troubleshooting. Refer to Figure 149 for an understanding of the Kinetix 5700 STO state restart functionality. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 308: Understand Integrated Safety Drive Replacement

    When the opened project owns the configuration, Local is displayed. A communication error is displayed if the module read fails. Refer to Replace an Integrated Safety Drive in a GuardLogix System page 309 for integrated safety drive replacement information. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 309: Replace An Integrated Safety Drive In A Guardlogix System

    The device electronic keying is correct. • The node or IP address is correct. For detailed information, refer to Additional Resources page 13 for the appropriate user manual for your GuardLogix or Compact GuardLogix controller. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 310: Motion Direct Commands In Motion Control Systems

    (like a conveyor) to clear a jam before resuming normal operation. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 311 It is your responsibility to maintain machine safety integrity while executing motion direct commands. One alternative is to provide ladder logic for Machine Maintenance mode that leaves the controller in Run mode with safety functions executing. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 312 (torque is not permitted). The controller reports Safety state = Not Running and Axis state = Start Inhibited, as shown in Figure 152). Figure 152 - Safety State Indications After Controller Transitions to Program Mode Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 313 154. The controller reports Safety state = Not Running (torque permitted), Axis state = Stopped/Running and Persistent Warning = Safe Torque Off Bypassed. IMPORTANT Switch the controller to Run mode to exit Motion Direct Command mode and end the STO function bypass. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 314 STO state and that the current action is about to bypass the STO state and permit torque. Figure 155 - STO Bypass Prompt When MDC is Issued in Multi-workstation Environment Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 315 Figure 156 - Axis and Safe State Indications on the Hookup Services Dialog Box Figure 157 - Axis and Safe State Indications on Motion Direct Commands Dialog Box Figure 158 - Axis and Safe State Indications on the Motion Console Dialog Box Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 316: Integrated Safe Torque-Off Specifications

    Bit 3: Safe torque-off active Axis.SafeTorqueOffActiveStatus Bit 4: Safe torque disabled Axis.SafeTorqueDisabledStatus Bit 5…31: Undefined (0) Bit 1: Safety core fault Axis.SafetyCoreFault Axis safety faults Bit 3: Safe torque-off fault Axis.SafeTorqueOffFault All others: Undefined (0) Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 317 Drv:SO.STOOutput1 Byte 0 Bit 7: Reset request 1 Drv:SO.Reset1or Drv:SO.ResetRequest1 Safety output assembly Drv:SO.SafeTorqueOff2 or Byte 1 Bit 0: Safe torque-off output 2 Drv:SO.STOOutput2 Byte 1 Bit 7: Reset request 2 Drv:SO.Reset2or Drv:SO.ResetRequest2 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 318 Chapter 9 Kinetix 5700 Safe Torque-off Function Notes: Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 319: Interconnect Diagram Notes

    Default configuration for ground screws or jumper is for grounded power at customer site. For impedance-grounded power configurations, remove the screws/ jumper. Refer to Input Power Configurations for Kinetix 5700 Power Supplies page 121 for more information. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 320 This signal is intended for use with Kinetix 6000, Kinetix 6200, or Kinetix 7000 drives when migrating from the 8720MC-RPS to the 2198-RPxxx regenerative bus supply. Interposing relay can be required if more than one drive is attached. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 321: Power Wiring Examples

    (IPD) Connector Bonded Cabinet Ground Bus * 2198-DBRxx-F 195…528V AC rms Three-phase Three-phase Input AC Line Filter * Indicates User Supplied Component Notes 1, 2 Note 5 Circuit Protection* Contactor Note 2 Note 13 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 322 Appendix A Appendix A Interconnect Diagrams Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 323 Ground Bus * Bonded Cabinet 2198-DBRxx-F Ground Bus * 195…528V AC rms Three-phase Three-phase Input AC Line Filter Notes 1, 2 Note 5 Circuit * Indicates User Supplied Component Protection* Contactor Note 13 Note 2 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 324 Bonded Cabinet Ground Bus * 2198-DBRxx-F 324…528V AC rms Three-phase Three-phase Input AC Line Filter * Indicates User Supplied Component Notes 1, 2, 4 Note 5 Circuit Protection* Contactor Note 2 Note 13 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 325 Three-phase Bonded Cabinet AC Line Filter Ground Bus * Note 5 * Indicates User Supplied Component 324…528V AC rms Three-phase Input Notes 1, 2, 4 M1 Contactor Circuit Protection* Note 13 Note 2 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 326 (1) Use 2198-TCON-24VDCIN36 input wiring connector with 2198-RP088 and 2198-RP200 bus supplies. Use 2198T-W25K-P-IN input wiring connector with 2198-RP263 and 2198-RP312 bus supplies. See CP Connector Wiring - Shared Bus page 138 wiring specifications. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 327 2198-RP263 and 2198-RP312 bus supplies. See CP Connector Wiring - Shared Bus page 138 wiring specifications. IMPORTANT The regenerative bus supply is not compatible with the iTRAK power supply. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 328 Appendix A Appendix A Interconnect Diagrams Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 329 Appendix A Interconnect Diagrams Appendix A Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 330 Note 12 Regeneration OK L1 AUX to Digital Inputs L2 AUX L3 AUX Note 6 Note 16 Aux Contact to Customer Control String +24V DC Supplied * Indicates User Supplied Component 120V AC Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 331 Start * PE Ground PE Ground PE Ground PE Ground Stop * Note 11 Note 11 Note 11 Note 11 CR1* Refer to Attention statement (Note 17). CR1* Bonded Cabinet Ground Bus * Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 332 Note 12 L1 AUX L2 AUX L3 AUX Regeneration OK to Digital Inputs Note 6 Aux Contact to +24V3 Control String +24V DC SENS +24V2 +24V2 +24V3 SENS-out +24V * Indicates User Supplied Component Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 333 Start * PE Ground PE Ground PE Ground PE Ground Stop * Note 11 Note 11 Note 11 Note 11 CR1* Refer to Attention statement (Note 17). CR1* Bonded Cabinet Ground Bus * Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 334 Appendix A Appendix A Interconnect Diagrams Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 335: Capacitor Module Status Wiring Example

    (1) Configure any one of four digital inputs as Bus Conditioner OK. For regenerative bus supply configurable functions, see the Regenerative Bus Supply Configurable Functions table on page 102. Refer to the Kinetix 5700 DC-bus Conditioner Module Installation Instructions, publication 2198-IN016, for additional installation information. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 336: Contactor Wiring Examples

    (1) Configure digital input #2 as AC Line Contactor OK (default setting). For regenerative bus supply configurable functions, see Regenerative Bus Supply Configurable Functions table on page 102. Refer to IEC Contactor Specifications Technical Data, publication 100-TD013, for additional contactor related information. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 337: Passive Shunt Wiring Examples

    Figure 176 - DC-bus Power Supply with External Passive Shunt Resistor 2198-R004 External Passive 2198-Pxxx Shunt Resistor DC-bus Power Supply Shunt (RC) Connector Internal Shunt Refer to the Kinetix 5700 Passive Shunt Module Installation Instructions, publication 2198-IN011, for additional installation information. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 338: Active Shunt Wiring Examples

    Appendix A Interconnect Diagrams Active Shunt Wiring Active shunts are available from the Rockwell Automation Encompass™ Examples partner Powerohm Resistors, Inc. (http://www.powerohm.com). IMPORTANT Powerohm Bulletin PKBxxx active shunt modules use built-in internal brake resistors. Bulletin PWBxxx active shunt modules require appropriately sized external brake resistors.
  • Page 339 Using PWB external active shunt with Kinetix 5700 for more information on wiring to these Powerohm Bulletin PWBxxx active shunts. For more information on Powerohm products, refer to the documentation included with those products or online at (http://www.powerohm.com). Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 340: Kinetix 5700 Servo Drive And Rotary Motor Wiring Examples

    2198-KITCON-DSL kit is ordered separately. Figure 181 - Single Motor Cables for Kinetix 5700 Servo Drives 2090-CSBM1DE-xxxAxx 2090-CSBM1DE-xxxFxx 2090-CSWM1DE-xxxAxx (not shown) 2198-KITCON-DSL Feedback Connector Kit 2090-CSBM1DG-xxxAxx 2090-CSBM1DG-xxxFxx 2090-CSWM1DG-xxxAxx (not shown) Flying Leads Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 341 Motor Connectors Universal Feedback Connector Kit Feedback Connector Power Connector Clamp Screws (2) Exposed shield secured Cable Clamp under clamp. Refer to Universal Feedback Connector Kit Installation Instructions, publication 2198-IN010, for connector kit specifications. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 342 M3 = 2048 sin/cos Absolute Multi-turn Encoder (EnDat protocol) Grounding Techniques for • M4 = 25-bit Absolute Multi-turn Encoder (EnDat protocol) Feedback Cable Shield See Universal Feedback Connector Kit Installation Instructions, publication 2198-IN010, for connector kit specifications. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 343 EPWR 9V 9V DC encoder power ECOM ECOM ECOM ECOM Encoder power common Thermostat differential signal + Thermostat differential signal - — — — — PT1000 differential signal + PT1000 differential signal - Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 344 (left) for proper grounding technique. 2090-XXNFMF-Sxx (standard) or Exposed shield secured Cable Clamp 2090-CFBM7DF-CDAFxx (continuous-flex) under clamp. (flying-lead) Feedback Cable Refer to Universal Feedback Connector Kit Installation Instructions, Notes 19, 25 publication 2198-IN010, for connector kit specifications. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 345 Refer to Hiperface to DSL Feedback Converter Kit Installation Instructions, Refer to Universal Feedback Connector Kit Installation Instructions, publication 2198-IN006, for converter kit specifications. publication 2198-IN010, for connector kit specifications. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 346 Motor Connectors Universal Feedback Connector Kit Feedback Connector Power Connector Clamp Screws (2) Exposed shield secured Cable Clamp under clamp. Refer to Universal Feedback Connector Kit Installation Instructions, publication 2198-IN010, for connector kit specifications. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 347: Kinetix 5700 Servo Drive And Linear Actuator Wiring Examples

    2090-CSxM1DE single cables include the 2198-KITCON-DSL connector kit pre- assembled with the feedback conductors. 2090-CSxM1DG cables have flying- leads and the 2198-KITCON-DSL kit is ordered separately. See the single cable examples on page 340. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 348 Exposed shield secured for proper grounding technique. Cable Clamp under clamp. 2090-XXNFMF-Sxx (standard) or Refer to Universal Feedback Connector Kit Installation Instructions, 2090-CFBM7DF-CDAFxx (continuous-flex) publication 2198-IN010, for connector kit specifications. (flying-lead) Feedback Cable Notes 19 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 349 Exposed shield secured Cable Clamp 2090-XXNFMF-Sxx (standard) or under clamp. 2090-CFBM7DF-CDAFxx (continuous-flex) Refer to Universal Feedback Connector Kit Installation Instructions, (flying-lead) Feedback Cable publication 2198-IN010, for connector kit specifications. Notes 19, 22 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 350 2090-CPxM4DF-16AFxx (continuous-flex) 2090-CFBM4DF-CDAFxx (continuous-flex) MPAR-B2xxx (series A and B) MPAR-B1xxx (series B and C) MPAR-B2xxx (series B and C) MPAR-B3xxx 2090-CPxM7DF-16AAxx (standard) or 2090-CFBM7DF-CEAAxx (standard) or MPAI-B2xxxx 2090-CPxM7DF-16AFxx (continuous-flex) 2090-CFBM7DF-CEAFxx (continuous-flex) MPAI-B3xxxx MPAI-B4xxxx MPAI-B5xxxx Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 351 Cable Clamp under clamp. Refer to Hiperface to DSL Feedback Refer to Universal Feedback Connector Converter Kit Installation Instructions, publication 2198-IN006, for converter kit Kit Installation Instructions, publication 2198-IN010, for connector kit specifications. specifications. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 352 Exposed shield secured under clamp. Refer to Hiperface to DSL Feedback Converter Kit Installation Instructions, Refer to Universal Feedback Connector publication 2198-IN006, for converter kit Kit Installation Instructions, publication specifications. 2198-IN010, for connector kit specifications. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 353: System Block Diagrams

    (DC) Connector Input Power (IDP) Connector DC– Ground Screw Chassis CONT EN+ Contactor Enable (CED) Connector CONT EN– 24V+ 24V Control Power Control (CP) Connector 24V– (1) Ground screw in the installed (default) configuration. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 354 Ground Screw Chassis CONV OK+ 24V DC – CONV OK– Contactor Enable (CED) Connector CONT EN+ CONT EN– 24V+ 24V Control Power Control (CP) Connector 24V– (1) Ground screw in the installed (default) configuration. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 355 Chassis Motor Brake (BC) Connector BR– 24V+ 24V Control Power Control (CP) Connector 24V– (1) Ground jumper installed on 2198-Sxxx-ERS3 (series A) drives. Ground jumper removed on 2198-Sxxx-ERS4 and 2198-Sxxx-ERS3 (series B) drives. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 356 Motor Brake (BC) Connector - B BR– 24V+ 24V Control Power Control (CP) Connector 24V– (1) Ground jumper installed on 2198-Sxxx-ERS3 (series A) drives. Ground jumper removed on 2198-Sxxx-ERS4 and 2198-Sxxx-ERS3 (series B) drives. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 357 (CP) Connector ICP Connector - B 24V– 24V– Chassis Ground Connection Chassis (1) Ground screw in the installed (default) configuration. (2) Connection from 24V- to Chassis is made inside of the iTRAK power supply. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 358 Module Status Status Indicator Module Status (MS) Connector DC Bus Output Lug Connector DC– DC-bus Detection DC-bus Status Status Indicator Capacitor Bank Fuse DC Bus Input Bleeder Link Connector Resistor DC– DC– DC– Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 359 Fuse Detection and Status Indicator Over Temperature Protection Module Status (MS) Connector DC Bus Output Lug Connector DC-bus Detection DC– DC-bus Status Status Indicator Conditioning Circuit DC Bus Input Fuse Link Connector DC– Chassis Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 360 Appendix A Interconnect Diagrams Notes: Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 361: Before You Begin

    (3) Download the ControlFLASH software kit from the Product Compatibility and Download Center at: rok.auto/pcdc. For more ControlFLASH software information (not Kinetix 5700 specific), refer to the ControlFLASH Firmware Upgrade Kit User Manual, publication 1756-UM105. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 362 L16 motor modules. ATTENTION: To avoid personal injury or damage to equipment during the firmware upgrade due to unpredictable motor activity, do not apply three- phase AC or common-bus DC input power to the drive. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 363: Inhibit The Module

    7. Verify that the network (NET) and module (MOD) status indicators are flashing green. Upgrade Your Firmware Use either ControlFLASH Plus software or ControlFLASH software to upgrade your firmware. Table 180 - Firmware Upgrade Software Software Upgrade Procedure Go to Page ControlFLASH Plus ControlFLASH Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 364: Use Controlflash Plus Software To Upgrade Your Drive Firmware

    In the Network Browser dialog box, locate and select the device to upgrade. c. Click OK. 3. On the Flash Devices tab, verify that the check box to the left of the device is selected. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 365 In this example, the Latest on Computer method is chosen. 5. Click Next. 6. If a warning dialog box appears, read the warning, complete any recommendations, and click Close. 7. After acknowledging all warnings and confirming the desired revisions, click Flash. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 366 8. When the upgrade 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-UM002L-EN-P - October 2021...

  • Page 367: Use Controlflash Software To Upgrade Your Drive Firmware

    6. Type the new driver name. 7. Click OK. The Configure driver dialog box appears. 8. Type the IP address of your Ethernet Module or Controller that bridges between the Ethernet network and the EtherNet/IP™ network. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 368 1. In the Logix Designer application, from the Tools menu, choose ControlFLASH. You can also open ControlFLASH software by choosing Start>Programs>FLASH Programming Tools>ControlFLASH. The Welcome to ControlFLASH dialog box appears. 2. Click Next. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 369 The Select Device to Update dialog box appears. 5. Expand your Ethernet node, Logix backplane, and EtherNet/IP network module. 6. Select the servo drive to upgrade. 7. Click OK. The Firmware Revision dialog box appears. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 370 This ControlFLASH warning dialog box appears. 12. To begin the firmware update, click Yes. This ControlFLASH warning dialog box appears. 13. Acknowledge the warning and click OK. The Progress dialog box appears and updating begins. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 371 ControlFLASH Firmware Upgrade Kit User Manual, publication 1756-UM105 for troubleshooting information. 16. Click OK. You must return to the drive Module Properties>Connection category IMPORTANT to clear the Inhibit Module checkbox before resuming normal operation. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 372: Verify The Firmware Upgrade

    3. Expand your Ethernet node, Logix backplane, and EtherNet/IP network module. 4. Right-click the drive module and choose Device Properties. The Device Properties dialog box appears. 5. Verify the new firmware revision level. 6. Click Close. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 373: Shared Dc-Bus Configurations

    The cluster that contains the AC to DC converter (power supply). When 2 drive clusters are part of the same DC-bus group joined by the DC bus-bars and Extended DC-bus customer-supplied DC-bus cable. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 374 (required components) (required for CE) Protection Bonded Cabinet Ground Bus When two or three DC-bus power supplies are wired together in the same IMPORTANT drive cluster, they must all be catalog number 2198-P208. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 375: General Sizing Guidelines

    See iTRAK System with TriMax Bearings User Manual, publication 2198T-UM002, or iTRAK 5730 System User Manual, publication 2198T-UM003. For iTRAK hardware and iTRAK power supplies, proceed to the Calculate System and External-bus Capacitance page 376. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 376: Select Drive/Motor Combinations

    External bus capacitance is the total system capacitance minus the power supply capacitance. The external bus capacitance must be entered into the Logix Designer application for a regenerative power supply to maintain proper control. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 377: Calculate The Total Motor Power Cable Length

    To meet CE requirements, the sum of all motor power cable lengths from the same DC-bus group must not exceed 1200 m (3937 ft) when 2198-DBRxx-F line filters are used. See Drive to Motor Cable Lengths page 150 for additional motor power cable-length limitations. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 378: Calculate 24V Dc Control Power Current Demand

    40 A, you can insert another control-power input wiring connector at any point in your drive cluster. However, the input connector must always extend the 24V DC-bus from left to right. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 379: 24V Dc Voltage Drop Calculation Example

    Wire Length Calculation Voltage Drop (AWG) 1.5 (16) 22.9 A • 0.281 Ω 6.43V 21.3 m (70 ft) 4.0 (12) 22.9 A • 0.111 Ω 2.54V 6.0 (10) 22.9 A • 0.070 Ω 1.60V Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 380 24V – 1.60V 22.40V (acceptable) In this example, increasing the wire gauge to 6 mm (10 AWG) is one way to lower the voltage drop. See 24V Control Power Evaluation page 47 for additional suggestions. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 381: System Sizing Example

    15 (49) MPL-B310P – 2198-D006-ERSx 30 (98) MPL-B310P – Totals 4840 337 (1106) 16.7 20.3 For more information on motor and motor-brake specifications, refer to the Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 382: System Sizing Application Example

    In this example, the MPM-B2153F motor has the largest motor-rated output. As a result, the minimum continuous output-power = 36.16 kW, and the 2198-P208 DC-bus power supply or 2198-RP200 regenerative bus supply is required for the 8-axis system example. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 383 - For more information on DC bus voltage regulation, refer to DC-bus Voltage Regulation page 40 • Whether the drive cluster includes a DC-bus conditioner module • Allen-Bradley® servo motor or actuator connected to the inverter Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 384: Dc-Bus Power Supply Configurations

    (1) Impedance grounded systems running in ground fault conditions, for prolonged periods of time, cause additional stress to the motor insulation and can cause premature motor failure. (2) Unbalanced, floating, ungrounded systems can cause additional stress to the motor. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 385 (1) Impedance grounded systems running in ground fault conditions, for prolonged periods of time, cause additional stress to the motor insulation and can cause premature motor failure. (2) Unbalanced, floating, ungrounded systems can cause additional stress to the motor. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 386 (1) Impedance grounded systems running in ground fault conditions, for prolonged periods of time, cause additional stress to the motor insulation and can cause premature motor failure. (2) Unbalanced, floating, ungrounded systems can cause additional stress to the motor. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 387: Regenerative Bus Supply Configurations

    Input Power Configurations for Kinetix 5700 Power Supplies page 123. (2) Impedance grounded systems running in ground fault conditions, for prolonged periods of time, cause additional stress to the motor insulation and can cause premature motor failure. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 388: Third-Party Motor Configurations

    (3) Impedance grounded systems running in ground fault conditions, for prolonged periods of time, cause additional stress to the motor insulation and can cause premature motor failure. (4) Unbalanced, floating, ungrounded systems can cause additional stress to the motor. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 389: Regenerative Bus Supply Configurations

    (4) Impedance grounded systems running in ground fault conditions, for prolonged periods of time, cause additional stress to the motor insulation and can cause premature motor failure. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 390 Appendix D Maximum Motor Cable Lengths for Kinetix 5700 Power Supplies Notes: Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 391: Regenerative Bus Supply Sequence Operation

    The Converter Startup Method is configured in the Studio 5000 Logix Designer® application. From the 2198-RPxxx module Axis Properties>General category, you can choose between Enable Request (default) and Automatic. Figure 203 - Axis Properties>General Category Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 392: Initialization

    The Group Sync Service synchronizes with the regenerative bus supply • The configuration and power are verified for the axes and associated modules in the Motion Group. Following initialization, the regenerative bus supply transitions to the PRECHARGE state. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 393: Precharge

    If no Enable digital input is assigned or the correct inputs are seen, the regenerative bus supply moves to the STOPPED state. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 394: Stopped

    The following code can be used to indicate that the regenerative bus supply is running and ready for both motoring and regeneration. Figure 206 - Ready for Motoring and Regeneration Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 395: Converter Startup Method - Automatic

    START INHIBITED PRECHARGE RUNNING CONT_EN Output Digital Input - Enable Enable Request (MSO) Enable Request (MSO) command not used in the Automatic method. DC Bus Up DC Bus Unload Power Structure Enabled Tracking Command Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 396: Sequence Operation Of Discharging

    DC-bus Voltage RUNNING START INHIBITED CIP Axis State STOPPED SHUTDOWN CONT_EN Output Digital Input - Enable Enable Request (MSO) Shutdown Request (MASD) DC Bus Up DC Bus Unload Power Structure Enabled Tracking Command Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 397 Motor Category Selection of Motor Thermal Models Speed Limited Adjustable Torque (SLAT) Motor Overload Retention Phase Loss Detection Velocity Droop Commutation Self-sensing Startup Commutation Test Adaptive Tuning Virtual Torque Sensor Field Weakening Mode Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 398: Motor Control Feature Support

    (1) Applies to all Kinetix 5700 drives and compatible motors/actuators with Hiperface and Hiperface DSL high-resolution absolute feedback. For compatible motors/actuators with incremental feedback, 30 m (98 ft) is the maximum cable length. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 399: Basic Volts/Hertz

    Slopes the portion of the curve that is used above base speed. Figure 209 - Basic Volts/Hertz Method Voltage, max Base Voltage (nameplate) Break Voltage Start/Accel Boost Run Boost Break Base Frequency, Frequency, Frequency (nameplate) Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 400: Basic Volts/Hertz For Fan/Pump Applications

    Figure 211 - Basic Volts/Hertz Fan/Pump Method Voltage, max Base Voltage (nameplate) Run Boost Frequency (Hz) Base Frequency, Frequency, (nameplate) 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-UM002L-EN-P - October 2021...

  • Page 401: Sensorless Vector

    Dynamic boost is applied internally to compensate voltage drop and improve starting torque. Figure 213 - Approximate Load Curve Voltage, max Base Voltage (nameplate) Ideal, volts/hertz Dynamic Boost Applied Base Frequency, Frequency, (nameplate) Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 402: Current Limiting For Frequency Control

    Aggressive Acceleration, Current Limiting Active 1000 1200 1400 1600 1800 2000 1000 1200 1400 1600 1800 2000 Time (ms) Time (ms) Output Current Operative Current Limit Output Frequency Output Current Output Frequency Operative Current Limit Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 403 Control and when executing an MDS command. Units of feedback counts / Amp, inst. IMPORTANT For induction motors greater than 5 Hp, it is recommended that the Stability Control feature also be enabled when Current Limiting is enabled. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 404: Enable The Current Limiting Feature

    The CurrentVectorLimit attribute appears in the Parameter List of the IMPORTANT Logix Designer application, version 29.00 and later. If you are using a previous version, the CurrentVectorLimit attribute must be set via a Message Configuration (MSG) instruction. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 405: Stability Control For Frequency Control

    Stability Angle Gain frequency control. Units of radians/Amp (inst). Because the stability control feature works by manipulating the IMPORTANT OutputVoltage and OutputFrequency signals, these signals may appear 'noisy' when the feature is enabled. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 406: Enable The Stability Control Feature

    StabilityControl attribute for axis 3 of a dual-axis inverter. The Instance field is used to direct the message to the proper axis. For single-axis inverters the value of 1 is used for Instance. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 407: Skip Speeds

    Acceleration and deceleration are affected by the skip-speed feature. Too large of a SkipSpeedBand value can result in an overcurrent drive fault. IMPORTANT The MaximumFrequency attribute is always enforced. Skip-speed band boundary values beyond the MaximumFrequency value do not apply. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 408: Multiple Skip Speeds

    (point B), or the command is changed outside of the skip band. Figure 220 - Zero-speed Skip Frequency SkipSpeed1 = 0 Hz SkipSpeed2 = 15 Hz Skip Band = 10 Hz 5000 10,000 15,000 20,000 25,000 30,000 35,000 40,000 Output Frequency Command Frequency Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 409: Flux Up

    The flux-up current is not adjustable. Figure 222 - Flux Up Current versus Flux Up Time Flux Up Current = Maximum DC Current Rated Flux Rated Motor Flux Current Motor Flux Flux Up Time Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 410: Flux Up Attributes

    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-UM002L-EN-P - October 2021...

  • Page 411: Configure The Flux Up Attributes

    4. If you chose Manual Delay in step 3, enter a value in the FluxUpTime attribute appropriate for your application. If you chose No Delay or Automatic Delay in step 3, the FluxUpTime attribute does not apply. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 412: Current Regulator Loop Settings

    Max Speed and Peak Current values are typically application dependent. Figure 224 - Motor Nameplate / Datasheet Example Figure 225 for motor manufacturer performance data sheet example. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 413 If you do not know the Stator Leakage, Rotor Leakage, Stator IMPORTANT Resistance, Rated Flux Current, and system inertia, you can run the static motor test and Autotune procedure to determine the parameter values. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 414: Motor Tests And Autotune Procedure

    (3) The motor inertia value must be non-zero prior to running a dynamic test. The motor inertia value is estimated automatically based upon the Motor Nameplate data in the Logix Designer application, version 29.00 and later. For previous versions, an Autotune test must be run or the motor inertia value entered directly. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 415: Motor Analyzer Category Troubleshooting

    Leakage Reactance (X2) values are measured during a series of static tests. The Rated Flux Current is estimated, since measurement of this value requires motor movement. The drive also calculates the rated slip speed based on rated speed and rated frequency. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 416 In general, A higher speed and lower torque results in a longer acceleration and a more accurate rated slip speed. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 417 If using the Dynamic test in Frequency Control mode, uncouple the motor from any load or results may not be valid. In closed-loop control, either a coupled or uncoupled load produces valid results. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 418: Selection Of Motor Thermal Models

    (taking into account the MotorOverloadLimit and low speed derating factor). The default MotorThermalOverloadFactoryLimit and MotorThermalOverloadUserLimit values for this thermal model are both 100%. The generic motor-thermal model does not support Current IMPORTANT Foldback as a Motor Overload Action. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 419: Thermally Characterized Motors

    110%. IMPORTANT This thermal model does not derate the motor-rated current when operating at low speeds. Operating at low output frequencies does not cause the MotorCapacity behavior to change. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 420: Speed Limited Adjustable Torque (Slat)

    SLAT configuration is set to Min and then Motion Polarity is switched to Inverted, change the SLAT configuration to Max. Table 206 - SLAT Operation When Motion Polarity Is Inverted Velocity Command Motion Polarity SLAT Configuration Normal Positive (clockwise) Inverted Normal Negative (CCW) Inverted Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 421: Slat Min Speed/Torque

    (speed control is ON) (speed control is OFF) 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-UM002L-EN-P - October 2021...

  • Page 422: Slat Max Speed/Torque

    1 = SLAT Min Speed/Torque 2 = SLAT Max Speed/Torque SLAT Set Point Velocity Units SLAT Time Delay Seconds (1) SLAT Disable, when viewed in version 28.00 (and earlier) of the Logix Designer application, reads Torque Only. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 423: Configure The Axis For Slat

    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. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 424 SLAT parameters are configurable only when Velocity Loop is IMPORTANT chosen from the General category, Axis Configuration pull-down menu. 8. Click Apply. 9. Enter values for SLATSetPoint and SLATTimeDelay attributes appropriate for your application. 10. Click OK. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 425 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-UM002L-EN-P - October 2021...

  • Page 426: Motion Drive Start (Mds) Instruction

    • Frequency Control • Velocity Loop • Torque Loop IMPORTANT The MDS instruction is not valid when the axis configuration is set to Position Loop. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 427 Units are revolutions per second (rev/s). Motion Drive Start (MDS) Sample Code Figure 232 - Start The speed is increased by updating the speed reference and then re-executing the MDS instruction. Figure 233 - Increase Speed Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 428 If you execute an MSF instruction while the axis is moving, the axis coasts to an uncontrolled stop. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 429 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. The Ramp attributes can be viewed and set with only an SSV or GSV IMPORTANT instruction. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 430 Appendix F Motor Control Feature Support Figure 236 - Ramp Attribute Sample Code Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 431: Motor Overload Retention

    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-UM002L-EN-P - October 2021...

  • Page 432: Phase Loss Detection

    Phase-loss Detection Attributes Access Attribute Conditional Implementation 0 = Disabled ProvingConfiguration 1 = Enabled % Motor Rated Units: Amps TorqueProveCurrent Default: 0.000 Min/Max: 0/10,000 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 433: Phase-Loss Detection Configuration

    INHIBIT M04 torque-proving configuration fault code. The minimum amount of torque proving current depends on catalog number of the drive. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 434: Phase Loss Detection Current Example

    IMPORTANT When configured for closed-loop control, the units of the VelocityDroop attribute are Velocity Control Units / Sec / % Rated Torque. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 435: Frequency Control

    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-UM002L-EN-P - October 2021...

  • Page 436: Commutation Self-Sensing Startup

    Self-sensing startup is not commutation diagnostics. You can perform IMPORTANT commutation diagnostics on Hall effect or self-sensing motors at any time. To use the self-sense feature, select the Motor Feedback category and from the Commutation Alignment pull-down menu, choose Self-Sense. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 437: Commutation Test

    Motion Database by catalog number, you cannot enable the axis, unless you enable the communication self-sensing feature. Figure 238 - Hookup Tests - Commutation Tab To run the commutation test, see Test the Axes page 255. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 438: Adaptive Tuning

    Kinetix 5700 servo drives (catalog numbers 2198-xxxx-ERS3 Series B and 2198-xxxx-ERS4 Series A) with drive firmware revision 13 and later For more information on how to apply the virtual torque sensor feature, see Virtual Torque Sensor Application Technique, publication 2198-AT003. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 439: Field Weakening Mode

    Back EMF of the motor. This is the maximum speed that does not risk damaging the drive modules in the bus group. By default, the Extended Speed feature limits motor velocity to the Bus Overvoltage Speed. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 440: Configure Extended Speed Operation

    2. Set the Max Extended Speed attribute as required by your application. WARNING: Operation at speeds exceeding the Bus Overvoltage Speed requires use of an auxiliary device to protect the DC bus system from an overvoltage condition. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 441: History Of Changes

    Added IMPORTANT messages regarding iTRAK power supplies configured for normal and standalone operation. Added cable length restrictions for Third-party Motor Configurations. Added callout to Field Weakening Region diagram identifying Bus Overvoltage Speed as the maximum speed for Kinetix VPC motors without cooling fans. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 442 Added 24V Control Power Evaluation that provides guidelines to minimize 24V control power voltage drop. Added Passive Shunt Considerations and Active Shunt Considerations that provide guidelines for shunt module selection. Added Multi-axis Shared DC-bus Configurations that provides guidelines for system sizing. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 443 Added information about changes in drive firmware revision 9.001 and later (2198-xxxx-ERS4 and 2198-xxxx-ERS3 series B drives) that provides for the use of MDS instructions with Speed Limited Adjustable Torque (SLAT) operation. Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 444 Appendix G History of Changes Notes: Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...

  • Page 445: Index

    194 connector locations 98 group 194 DC-bus conditioner 17 group example 252 extension 17 groups 251 minimum accessory modules flowchart 62 regulator 194 minimum modules required 56 BusVoltageReferenceSource 219 actions category 232 BusVoltageSetPoint 216 Rockwell Automation Publication 2198-UM002L-EN-P- October 2021...
  • Page 446 240 motors and actuators 163 test 254 network parameters 188 parameter list category 225 polarity category 239 power category bus-sharing group example 252 bus-sharing groups 251 regenerative bus supply 197 safety Rockwell Automation Publication 2198-UM002L-EN-P- October 2021...
  • Page 447 DC-bus power supply 86 properties regenerative bus supply 87 date/time tab 192 system mounting toolkit 88 enable time synchronization 192 drive module controller-based behavior 270 monitoring functions 16 firmware 189 stopping functions 16 replacement 308 Rockwell Automation Publication 2198-UM002L-EN-P- October 2021...
  • Page 448 411 code overview 258 control methods code summary 259 basic volts/hertz 399 feedback fan/pump 400 configurations 28 sensorless vector 401 feedback-only axis 214 flux up 409 specifications 111 field weakening 439 Rockwell Automation Publication 2198-UM002L-EN-P- October 2021...
  • Page 449 284 operation 304 iTRAK power supply 134 STO bypass 311 behavior 268 STO state reset 307 catalog numbers 36 configuring 200 connector locations 97 ground screw 129 menu screen 182 setup menu 186 Rockwell Automation Publication 2198-UM002L-EN-P- October 2021...
  • Page 450 206 power/brake cable preparation 156 shield clamp wiring 153 motion safety 208 testing 254 safety application 207 thermal models 418 safety connection 208 tuning 254 universal feedback connector pinouts 104 velocity 262 Rockwell Automation Publication 2198-UM002L-EN-P- October 2021...
  • Page 451 58 connector wiring 172 precharge time 393 interconnect diagram 337 sequence operation 391 pinouts 100 setup menu 185 use cases 49 wiring requirements 134 PCDC download 189 remove ground screws 130 PFH definition 285 Rockwell Automation Publication 2198-UM002L-EN-P- October 2021...
  • Page 452 392 digital inputs 105 regenerative bus supply 391 encoder phasing 115 series change 16 EtherNet/IP connections 106 setup screens 182 hardwired STO mode 302 SFX 16 integrated STO mode 316 motor feedback 111 Rockwell Automation Publication 2198-UM002L-EN-P- October 2021...
  • Page 453 DC-bus 21 stop iTRAK power supply 22 drive 265 multiple DC-bus power supplies 20 planner 265 regenerative bus supply 23 stopping actions 270 shared DC-bus 25 definitions 270 sizing example 381 system sizing 375 Rockwell Automation Publication 2198-UM002L-EN-P- October 2021...
  • Page 454 173 BC connector 155 CED contactor enable 140 connector kit shield clamp 166 corner-grounded power configuration 122 CP connector 137 customer supplied cable 169 earth ground 131 Ethernet cables 176 external active shunt 173 Rockwell Automation Publication 2198-UM002L-EN-P- October 2021...
  • Page 455 Kinetix 5700 Servo Drives User Manual User Manual Rockwell Automation Publication 2198-UM002L-EN-P - October 2021...
  • Page 456 Allen-Bradley, CompactLogix, ControlFLASH, ControlFLASH Plus, ControlLogix, Encompass, expanding human possibility, FactoryTalk, GuardLogix, iTRAK, Kinetix, LDC-Series, Logix 5000, PanelView, POINT Guard I/O, POINT I/O, PowerFlex, Rockwell Automation, RSLinx, RSLogix 5000, Stratix, Studio 5000, and Studio 5000 Logix Designer are trademarks of Rockwell Automation, Inc.

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