Page 1 This manual links to Kinetix 5300 Single-axis EtherNet/IP Servo Drives Fault Codes Reference Data, publication 2198-RD006, for fault codes. Download the spreadsheet now for offline access. Kinetix 5300 Single-axis EtherNet/IP Servo Drives Catalog Numbers 2198-C1004-ERS, 2198-C1007-ERS,  2198-C1015-ERS, 2198-C1020-ERS, 2198-C2030-ERS,  2198-C2055-ERS, 2198-C2075-ERS, 2198-C4004-ERS, ...
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
Mount Your Kinetix 5300 Drive........50 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 4 Wire the Motor Feedback Connector......89 Cable Preparation for Kinetix TLP Feedback Cables ... . . 90 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 5 Web Server Interface ......... . . 150 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 6 Verify the Firmware Upgrade ........195 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 7 ............. . . 239 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 8 Table of Contents Notes: Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 9: Preface
EtherNet/IP™ communication module or controller. If you do not have a basic understanding of Kinetix 5300 servo drives, contact your local Rockwell Automation sales representative for information on available training courses. Summary of Changes This publication contains the following new or updated information.
Page 10: Cip Security
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 11 MOTION-UM003 CompactLogix™ EtherNet/IP network modules. 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 12 Notes: Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 13 Topic Page About the Kinetix 5300 Servo Drive System Drive Hardware and Input Power Configurations Motor and Auxiliary Feedback Configurations Typical Communication Configurations Safe Torque Off Configuration Catalog Number Explanation Agency Compliance Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 14: About The Kinetix 5300
Bulletin 1606 24V DC power supply for control circuitry, digital inputs, and safety inputs. Supply 2097-R6 and 2097-R7 External Shunt Bulletin 2097 and 2198 external passive shunt resistors are available for when the internal shunt capability of the drive is 2198-R004, 2198-R014, Resistors exceeded. 2198-R031 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 15: Drive Hardware And Input Power Configurations
Standard Input Connector 1606-XLxxx 24V DC Control, Digital Inputs, and Motor Brake Power Allen-Bradley 1606-XL Powe r S u p p l y (customer-supplied) Input AC Input Power 2198-Cxxxx-ERS Drive (front view) MBRK Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 16 Allen-Bradley 1606-XL and Motor Brake Power Powe r S u p p l y (customer-supplied) Input AC Input Power 2198-H0x0-x-x shared-bus connection system for 24V bus-sharing configurations. 2198-Cxxxx-ERS Drives (front view) MBRK MBRK Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 17 24V DC connector wiring (control power input) to additional Kinetix 5300 servo drives. 1606-XLxxx 24V DC Control, Digital Inputs, Allen-Bradley 1606-XL and Motor Brake Power Power S u p p l y (customer-supplied) Input AC Input Power Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 18: Motor And Auxiliary Feedback Configurations
(MPAR-B3xxxx electric cylinder is shown) Kinetix LDL Linear Motors (LDL-xxxxxxxx linear motor shown) Kinetix MPAI Heavy-duty Electric Cylinders (MPAI-B3xxxx heavy-duty electric cylinder is shown) Kinetix MPAS Linear Stages (MPAS-B9xxx ballscrew linear stage is shown) Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 19: Typical Communication Configurations
Kinetix 5300 Servo Drive System 1585J-M8CBJM-x Ethernet (shielded) Cable 1585J-M8CBJM-OM15 0.15 m (6 in.) Ethernet cable for drive-to-drive connections. MBRK MBRK MBRK MBRK 842E-CM Integrated Motion Encoder 1734-AENTR POINT I/O™ PanelView™ 5310 EtherNet/IP Adapter Display Terminal Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 20: Ring Topology
Field (shielded) Cable Power EtherNet/IP Adapter Link 2 Activity/ Status Kinetix 5300 Servo Drive System 842E-CM Integrated Motion Encoder 1585J-M8CBJM-OM15 0.15 m (6 in.) Ethernet cable for drive-to-drive connections. MBRK MBRK MBRK MBRK Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 21: Star Topology
842E-CM encoder helps eliminate the need for point-to-point wiring while letting customers 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-UM005C-EN-P - February 2022...
Page 22: Safe Torque Off Configuration
ControlLogix 5580 Controllers or GuardLogix 5580 Safety Controllers CompactLogix 5370 Controllers or  Compact GuardLogix 5370 Safety Controllers CompactLogix 5380 or 5480 Controllers or Kinetix TLP Compact GuardLogix 5380 Safety Controllers Servo Motors Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 23: Catalog Number Explanation
Connector set included with the Frame 1 and 2 drives (except 2198-C2030 drives). 2198-CONKIT-PWR20 Replacement sets are also available. 2198-CONKIT-PWR30 Connector set included with 2198-C2030 drives. Replacement sets are also available. 2198-CONKIT-PWR75 Connector set included with Frame 3 drives. Replacement sets are also available. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 24: Agency Compliance
Use shielded cable for power wiring and provide a grounded 360° clamp termination. Refer to Appendix A on page 169 for input power wiring and drive/motor interconnect diagrams. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 25: System Design Guidelines
• Size the drive enclosure so as not to exceed the maximum ambient temperature rating. Consider heat dissipation specifications for all drive components. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 26: Ac Line Filter Selection
Table 6 - AC Line Filter Selection AC Line Filter  Drive Cat. No. Frame Size Cat. No. 2198-C1004-ERS 2198-DB08-F 2198-C1007-ERS 2198-C1015-ERS 2198-DBR20-F 2198-C1020-ERS 2198-C2030-ERS 2198-C2055-ERS 2198-DBR40-F 2198-C2075-ERS 2198-C4004-ERS 2198-C4007-ERS 2198-DB08-F 2198-C4015-ERS 2198-C4020-ERS 2198-C4030-ERS 2198-DBR20-F 2198-C4055-ERS 2198-DBR40-F 2198-C4075-ERS Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 27: Transformer Selection
These devices are designed to operate on sine wave voltage and the drive’s PWM waveform does not allow it to operate properly. As a result, damage to the device occurs. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 28 1489-M3C350 140U-D6D3-C30 and 140UT-D7D3-C30 2198-C4075-ERS 1489-M3C400 140U-D6D3-C30 and 140UT-D7D3-C30 2198-C1004-ERS 1489-M2C060 140U-D6D2-B40 and 140UT-D7D2-B40 100…120V AC 2198-C1007-ERS 1489-M2C100 140U-D6D2-B80 and 140UT-D7D2-B80 or Single phase 2198-C1015-ERS 1489-M2C160 140U-D6D2-C12 and 140UT-D7D2-C12 200…240V AC 2198-C1020-ERS 1489-M2C250 140U-D6D2-C20 and 140UT-D7D2-C20 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 29: 24V Control Power Evaluation
For best practices of twisting 24V wires and routing cleanly, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001. IMPORTANT The 24V current demand, wire gauge, and wire length all impact the voltage drop across the wiring being used. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 30: Passive Shunt Considerations
2198-R014 and 2198-R031 2198-R004 Shunt Resistors Shunt Modules ATTENTION: See Table 10 for supported shunt modules. Using an unsupported shunt module can lead to (drive-side) shunt circuitry damage, shunt damage, or drive faults. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 31: 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-UM005C-EN-P - February 2022...
Page 32 2198-C4020-ERS three-phase 2198-C4030-ERS 2198-C4055-ERS 2198-C4075-ERS 2198-C1004-ERS 2198-C1007-ERS 100…120V single-phase 2198-C1015-ERS 2198-C1020-ERS 2198-C1004-ERS 2198-C1007-ERS 200…240V single-phase 2198-C1015-ERS 2198-C1020-ERS Internal shunt power is not included in the calculations and must be added based on utilization. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 33: Minimum Clearance Requirements
(1.97 in.) (1.97 in.) is not shown for clarity. MBRK MBRK MBRK 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-UM005C-EN-P - February 2022...
Page 34: 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-UM005C-EN-P - February 2022...
Page 35 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-UM005C-EN-P - February 2022...
Page 36: 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 Paint removed 6.35 mm (0.25 in.) from cabinet. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 37: Establish Noise Zones
(1) When space to the right of the drive does not permit 150 mm (6.0 in.) segregation, use a grounded steel shield instead. For examples, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 38: Cable Categories For Kinetix 5300 Systems
Sharing a line filter with more than one drive can perform satisfactorily, but the customer takes legal responsibility. See System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001, for more information. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 39 No sensitive equipment within 150 mm (6.0 in.). MBRK Kinetix 5300 Servo Drive Motor Feedback Cable Motor Power Cables Route single motor cables Route registration and communication in shielded cable. signals in shielded cables. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 40 (1.97 in.) I/O Cable No sensitive equipment within 150 mm (6.0 in.). MBRK Motor Feedback Cable Motor Power Cable Route single motor cables Route registration and communication in shielded cable. signals in shielded cables. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 41 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-UM005C-EN-P - February 2022...
Page 42: Determine Mounting Order
The shared-bus connection system is used to extend 24V control input from drive-to-drive in shared-bus configurations. IMPORTANT When the shared-bus connection system is used, the zero-stack tab and cutout must be engaged between adjacent drives. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 43 The three components assemble from left to right across the drive system. 1. Attach wiring to input wiring connectors. 2. Insert input wiring connectors and T-connectors into the appropriate drive connectors. 3. Insert bus-bars to connect between wiring connectors and T-connectors. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 44: Drill-Hole Patterns
Frame 2 Standalone Drive Standalone Drive Standalone Drive ØM4 (#8-32) 273.70 243.84 193.68 34.00 4.51 5.00 Hole spacing is measured in millimeters and not converted to inches to avoid errors due to rounding. 52.50 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 45 These hole patterns apply when all drives in the system are frame 1 or frame 2. There are 50 mm between mounting holes (A-to-A and B-to-B). Figure 21 - Frame 1 and Frame 2 Hole Patterns Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 46 Axis 1 Axis 2 (frame 2) (frame 1) ØM4 (#8-32) 243.83 243.84 5.00 57.00 Hole spacing is measured in millimeters and not converted to inches to avoid errors due to rounding. 50.15 52.50 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 47 Mount the Kinetix 5300 Drive System This hole pattern applies when all drives in the system are frame 3 drives. There are 85.20 mm between mounting holes, as shown. Figure 23 - Frame 3 Hole Pattern Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 48 Axis 1 Axis 2 (frame 3) (frame 1) ØM4 (#8-32) 273.70 272.23 34.00 97.20 Hole spacing is measured in millimeters and not converted to inches to avoid errors due to rounding. 78.55 52.50 92.70 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 49 Axis 1 Axis 2 (frame 3) (frame 2) ØM4 (#8-32) 273.70 272.24 34.00 100.00 Hole spacing is measured in millimeters and not converted to inches to avoid errors due to rounding. 28.40 52.50 95.00 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 50: Mount Your Kinetix 5300 Drive
Zero-stack mounting is required based on configuration, refer to the Zero-stack Tab and Cutout Example page 6. Tighten all mounting fasteners. Apply 2.0 N•m (17.7 lb•in) maximum torque to each fastener. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 51 This chapter illustrates drive connectors and indicators, including connector pinouts, and provides descriptions for Kinetix® 5300 drive features. Topic Page Kinetix 5300 Connector Data Understand Control Signal Specifications Feedback Specifications Safe Torque Off Safety Features Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 52: Connector Data And Feature Descriptions
Motor power connector Safe Torque Off (STO) connector Safe Torque Off Connector Pinout For the hardwired Safe Torque Off (STO) connector pinouts, feature descriptions, and wiring information, refer to Chapter 9 beginning on page 159. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 53: Input Power Connector Pinouts
Shunt Resistor Connector Pinouts Table 15 - Shunt Resistor Connector Description Signal – Shunt connections – Ethernet Communication Connector Pinout Description Signal Transmit+ Transmit- Receive+ Reserved – Reserved – Receive- Reserved – Reserved – Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 54: Digital Inputs And Auxiliary Feedback Connector Pinouts
(1) Studio 5000 Logix Designer®, version 33 or later, is required to change from the default configuration. Figure 27 - Pin Orientation for Digital Inputs and Auxiliary Feedback Connector Motor Power, Brake, and Feedback Connector Pinouts Table 18 - Motor Power Connector Description Signal Three-phase motor power Chassis ground Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 55 (2) Determine which power supply your encoder requires and connect to only the specified supply. Do not make connections to both supplies. Figure 28 - Pin Orientation for 15-pin Motor Feedback (MFB) Connector Pin 10 Pin 15 Pin 5 Pin 11 Pin 1 Pin 6 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 56: Understand Control Signal Specifications
A customer-supplied 24V power supply is used to energize the motor brake output through a solid-state relay. The solid-state brake driver circuit provides the following: • Brake current-overload protection • Brake over-voltage protection Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 57 For more information on how the servo motor holding-brake option can be used to help keep a load from falling see Vertical Load and Holding Brake Management Application Technique, publication MOTION-AT003. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 58: Control Power
Allen-Bradley motors. Motor feedback and auxiliary feedback can be used in the following applications: • Motor feedback • Auxiliary feedback and feedback-only axis • Load feedback (dual-loop control) and master feedback applications Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 59: Motor Feedback Supported On The Mfb Connector
5V or 9V supply, but not both. Some motors do not support the thermostat signal (MTR_TS) feature because it is not part of the feedback device. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 60 Programmed with TL-Axxxx-B and TLY-Axxxx-B motor data as  Encoder nonvolatile memory usage Allen-Bradley memory format. Differential input voltage 1.0…7.0V Data communication 2.5 Mbps, 8 data bits, no parity Battery 3.6V, ER14252 or equivalent, 1/2 AA size Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 61: Auxiliary Feedback Specifications
AUX_IM+ AUX_EPWR5V SHIELD AUX_AM- AUX_BM- AUX_IM- AUX_COM SHIELD Specifications for the auxiliary feedback channel are identical to the motor feedback channel, except for specifications related to commutation and encoder nonvolatile memory usage programming. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 62 4.5…5.5V line driver, TTL (B-Leads-A, CW, Z 847T-DN1A-RH02048 gated with BN), MS connector, 10-pin Refer to the Kinetix Motion Accessories Technical Data, publication KNX-TD004, for more information on these Allen-Bradley encoders. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 63: Encoder Phasing Definitions
When using absolute feedback devices (for example, Hiperface) the drive synthesizes a marker signal because these devices don't have a marker signal required for the home-to-marker sequence (and the marker hookup test) to complete. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 64: Absolute Position Feature
Figure 33 - Absolute Position Limits (measured in turns or revolutions) 65,536 Revolutions 4096 Turns 2048 Turns +4096 +32,768 -32,768 -16,384 -8192 -4096 -2048 -1024 +1024 +2048 +8192 +16,384 Position at Power Down Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 65: Safe Torque Off Safety Features
For applications that do not require the STO safety function you must install jumper wires to bypass the STO feature. Refer to Chapter 9 beginning on page 159 for the STO connector pinout, installation, and wiring information. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 66 Chapter 4 Connector Data and Feature Descriptions Notes: Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 67: Connect The Kinetix 5300 Drive System
National Electrical Code, local electrical codes, special operating temperatures, duty cycles, or system configurations take precedence over the values and methods provided. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 68: Build Your Own Cables
For examples of routing high and low voltage cables in wireways, refer to Electrical Noise Reduction on page 34. Refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001, for more information. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 69: Determine The Input Power Configuration
Three-phase Circuit Input VAC Protection Phase Ground Connect to  Bonded Cabinet Ground Ground Stud Ground Grid or Power Distribution Ground IMPORTANT Kinetix 5300 drives must use center-grounded wye secondary input power configurations. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 70: Single-Phase Input Power
ATTENTION: Ungrounded systems do not reference each phase potential to a power distribution ground. This can result in an unknown potential to earth ground. For input power interconnect diagrams, refer to Power Wiring Examples on page 170. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 71: Ground The Drive System
Braided ground strap (customer supplied) Ground grid or power distribution ground Bonded cabinet ground bus (customer supplied) Refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001, for more information. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 72: 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 on page Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 73: Wiring Requirements
(18…6) 2198-C4075-ERS (1) For 10 AWG conductors, use 0.7…0.8 N•m (6.2…7.1 lb•in) of torque. (2) See Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004, for cable specifications and motor/cable pairing. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 74 • Use motor power connectors for connection purposes only. Do not use them to turn the unit on and off. • Ground shielded power cables to prevent potentially high voltages on the shield. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 75: Wiring Guidelines
4. Tighten the connector screws (where applicable). 5. Gently pull on each wire to make sure it does not come out of its terminal; reinsert and/or tighten any loose wires. 6. Insert the connector plug into the drive connector. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 76: Wire The Power Connectors
Table 37 - Shared-bus 24V Connector Wiring Specifications Recommended Input Current, max Strip Length Torque Value Wire Size Drive Cat. No. Signal A rms mm (in.) N•m (lb•in) (AWG) 24V+ 1.7…1.8 2198-Cxxxx-ERS 10 (6) 11.0 (0.43) (15.0…15.9) 24V- Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 77: Wire The Input Power Connector
This section provides guidelines to assist you in making digital input Connectors connections. 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 159. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 78: Wire The Digital Inputs And Auxiliary Feedback Connector
10.0 (0.39) — 11 IN3 (24…16) 12 COM 13 IN4 14 COM 15 SHIELD 16 AUX_AM- 17 AUX_BM- 18 AUX_IM- 19 AUX_COM SHIELD (1) This connector uses spring tension to hold wires in place. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 79: Wire The Motor Power And Brake Connectors
Torque Value Cat. No. mm (in.) N•m (lb•in) (AWG) Signal 1 MBRK+ 0.22…0.25 0.14…1.5  2198-Cxxxx-ERS 7.0 (0.28) MBRK- (1.9…2.2) (28…16) (1) Motor brake wires are part of the Kinetix 2090 motor cable. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 80: Servo Motor/Actuator And Cable Compatibility
(1) For cable specifications, refer to the Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004. (2) Brake conductors are included in the power cable. (3) These motors have separate brake connectors and brake cables. All other motors have brake wires included with the power connectors. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 81 Table 46 - Induction Motor Power Cable Specifications Cable Manufacturer Cable Series Voltage Rating Temperature Rating Cable Length, max Belden 29505-29507 Lapp Group ÖLFEX VFD XL 1000V 90 °C (194 °F) 50 m (164 ft) VFD XLPE TR Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 82: Maximum Cable Lengths
MPAS-A/Bxxxx-ALMx2C (direct drive) Incremental, magnetic linear 30 (98.4) TLY-Axxxx-B Tamagawa (17-bit) absolute high-resolution, multi-turn TL-Axxxx-B TLY-Axxxx-H Incremental encoder LDAT-Sxxxxxx-xDx Hiperface, absolute, magnetic scale LDAT-Sxxxxxx-xBx Incremental, magnetic scale 10 (33.1) LDC-Cxxxxxx-xH, LDL-xxxxxxx-xH Sin/Cos or TTL encoder Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 83: Cable Preparation For Kinetix Tlp Motor Power Cables
Figure 44 - 2090-CPBM7DF (series A) Power/brake Cable Dimensions 102 (4.0) Edge of Heat Dimensions are in mm (in.) Shrink Power Conductors 150 (5.9) Kinetix MP Motors and Actuators Brake  Overall Cable Shield Conductors Brake Shield (remove) 635 (25) Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 84 A cables to terminate properly with Kinetix 5300 drives, the overall length of the cable preparation area needs to be increased for the motor power conductors to reach the motor power connector and also provide a proper service loop. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 85 (1) The overall shield braid covering the brake conductors can be removed. Refer to Figure 48 and on page 88 for a typical installation example. For strip lengths and torque values, refer to Table 40 page Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 86: Cable Preparation For Kinetix Tl And Tly Motor Power Cables
Motor Power Cable Pigtail Cable Kinetix TL Motor 150 mm (6.0 in.) Termination Machine Frame (1) Remove paint from machine frame to provide HF-bond between machine frame, motor case, shield clamp, and ground stud. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 87: Apply The Motor Power/Brake Shield Clamp
3 clamping plate. Apply two tie-wraps around the cable shield and plate to provide a high-frequency bond between the cable shield and the drive chassis. Refer to Figure 48 page 88 for a cable-clamp attachment illustration. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 88 (1) The clamp spacer is included in 2198-CONKIT-PWRxx connector sets with frame 1, 2, and 3 drives. (2) The clamping plate is included in only the 2198-CONKIT-PWR75 connector set with frame 3 drives. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 89: Wire The Motor Feedback Connector
Table 49 - Legacy Motor Feedback Cables Motor Cable Description Feedback 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-UM005C-EN-P - February 2022...
Page 90: Cable Preparation For Kinetix Tlp Feedback Cables
2090-CFBM7DD motor feedback cables, used with Kinetix MP motors and actuators (with Hiperface encoders), also provide a drive-end connector that plugs directly into the 15-pin Kinetix 5300 (MFB) feedback connector. Use the 2198-K53CK-D15M feedback connector kit with 2090-CFBM7DF flying-lead cables. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 91: Cable Preparation For Kinetix Tl And Tly Feedback Cables
Kinetix 5300 Servo Drive (front view) 2198-K53CK-D15M Feedback Connector Kit MBRK (battery backup is optional)  2090-DANFCT-Sxx 2090-DANPT-16Sxx Motor Feedback Cable Motor Power Cable (drive-end connector removed) Kinetix TL (TL-Axxxx-B) Servo Motors (high-resolution encoder) Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 92: Motor Feedback Cable Preparation
Refer to the connector pinout as shown in Figure 51 page 4. Attach the tie-wrap (customer-supplied) through the slots and around the cable shield for stress relief and to create a high-frequency bond between shield and ground pad. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 93: Kinetix 2090 Feedback Cable Pinouts
Table 51 - 2090-CTFB-MxDD-CFxxx Feedback Cables TLP-Axxx-xxx and TLP-Bxxx-xxx 2198-K53CK-D15M Motor Pin 24-bit Absolute, Multi-turn/Single-turn  Wire Color Connector Kit Pin High-resolution White T– White/Red BAT+ Pin + BAT– Black Pin – Drain — ECOM Blue EPWR_5V Brown Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 94 Connector Kit Pin Black AM– White/Black BM– White/Red Green IM– White/Green EPWR_5V Gray ECOM White/Gray White/Blue Yellow White/Yellow Drain — (1) The ECOM and TS- connections are tied together and connect to the cable shield. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 95 (1) The ECOM and TS- connections are tied together and For more information on wiring the 2198-K53CK-D15M, see Kinetix 5300 Feedback connect to the cable shield. Connector Kit Installation Instructions, publication 2198-IN023. (2) See cable pinouts for wire colors. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 96: External Passive-Shunt Resistor Connections
Logix Designer application. Failure to properly configure the shunt can result in reduced performance or shunt resistor damage. For Module Properties > Power category configuration, see Continue Drive Configuration on page 112. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 97: Ethernet Cable Connections
IMPORTANT When using an external Ethernet switch for routing traffic between the controller and the drive, switches with IEEE-1588 time synchronization capabilities (boundary or transparent clock) must be used to make sure switch delays are compensated. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 98 Chapter 5 Connect the Kinetix 5300 Drive System Notes: Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 99: Configure And Start Up The Kinetix 5300  Drive System
The home screen provides a scrolling message of basic information, and the menus can be accessed by using the Next, Select, and Back buttons. Refer to Figure 54 for descriptions and functions. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 100: Menus And Display Screen
The letters K, M, Q, V, W, and X are not available. Navigating the Display Screen You can use the navigation buttons (Next, Select, and Back) to view the menus, access information, and make changes within the display menus. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 101 ATTENTION: Risk of personal harm and equipment damage is possible. Voltage over 50V is present if three-phase power is applied. Disconnect three-phase power and wait five minutes before interacting with the drive or removing the 24V plug. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 102 3. Press Next to scroll through the sub-menu until BUS VOLTAGE is displayed. 4. With BUS VOLTAGE displayed, Press Select to view the current DC Bus Voltage value. 5. To return to the Home Screen, press the Back button until the Home screen appears. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 103 Protected Net is set to ON). Review your network settings and make sure they are compatible (or Protected Net is set to OFF). The IP and Gateway addresses must be on the same Subnet. 9. Cycle 24V power to apply the network setting changes. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 104: Startup Sequence
Table 59 - Four-character Display Axis and Status Device States Display Digits Device Condition 8888 Executing device self-test Waiting for connection to controller Configuring device attributes Waiting for group synchronization Waiting for DC-bus to charge Device is operational Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 105: Configure The Kinetix 5300 Drive
ON PROTECTED NET Protected Net ON PROTECTED NET OFF PROTECTED NET ON PROTECTED UNIT Protected Unit OFF PROTECTED UNIT OFF PROTECTED UNIT (1) The defaults listed only apply if DHCP is turned OFF. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 106: Studio 5000 Logix Designer
Kinetix 5300 servo drive, you must have drive firmware 13.001 or later. Table 61 - AOP Installation Requirement Drive Firmware Logix Designer Application Drive Catalog Number Kinetix 5300 AOP Needed? Revision Version 2198-Cxxxx-ERS 13.001 or later 33.00 or later Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 107: Install The Kinetix 5300 Add-On Profile
1. Apply power to your controller and open your Logix Designer application. 2. From the Create menu, choose New Project. IMPORTANT If you are configuring a safety application, you must use a GuardLogix or Compact GuardLogix safety controller. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 108 IMPORTANT To configure the Kinetix 5300 drive systems, you must use Studio 5000 Logix Designer, version 33.00 or later. 5. Click Finish. The new controller appears in the Controller Organizer under the  I/O Configuration folder. Controller Organizer with ControlLogix 5580 controller. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 109 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 the Advanced settings. 10. Click OK. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 110: Configure The Kinetix 5300 Drive Modules
Select an Ethernet Address option. In this example, the Private Network address is selected. c. Enter the address of your 2198-Cxxx-ERS drive. In this example, the last octet of the address is 1. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 111 5. Click OK to close the New Module dialog box. Your 2198-Cxxxx-ERS servo drive appears in the Controller Organizer under the Ethernet controller in the  I/O Configuration folder. 6. Click Close to close the Select Module Type dialog box. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 112: Continue Drive Configuration
Follow these steps to configure the associated axes. 1. Right-click the 2198-Cxxxx-ERS servo drive you just created and choose Properties. 2. Click Associated Axes. 3. Click New Axis. The New Tag dialog box appears. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 113 9. From the Digital Input pull-down menus, choose a digital input assignment appropriate for your application. For more information on the configurable functions and digital input specifications, see Table 16 on page 54 Digital Inputs on page 10. Click Apply. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 114 (2) Refer to the Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003, for more information on the Bulletin 2097 external shunt resistors. 13. Click OK. 14. Repeat step 1 through step 13 for each 2198-Cxxxx-ERS servo drive. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 115: 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 move to the new motion group. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 116: Configure Vertical Load Control Axis Properties
Figure 58 - Configure Vertical Load Control Configure Feedback-only Follow these steps to configure feedback-only axis properties. Axis Properties 1. In the Controller Organizer, right-click an axis and choose Properties. 2. Select the General category. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 117 10. Review other categories in the Controller Organizer and make changes as needed for your application. 11. Click OK. For more information on auxiliary feedback signals and Allen-Bradley auxiliary feedback encoders available for use, see Auxiliary Feedback Specifications on page Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 118: Configure Induction-Motor Frequency-Control Axis Properties
The Module Type and Power Structure fields populate with the chosen drive catalog number. 6. Click Apply. 7. Select the Motor category. 8. From the Data Source pull-down menu, choose Nameplate Datasheet. This is the default setting. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 119: Basic Volts/Hertz Method
4. Enter the Basic Volts/Hertz attribute values appropriate for your application. Default values are shown. 5. Click Apply. 6. Click OK. Sensorless Vector Method 1. Configure the General category and Motor category as shown in General and Motor Categories page 118. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 120 Motor model attributes are automatically estimated from the Nameplate/Datasheet parameters. For improved performance, motor tests can be run. 7. Select the Motor>Analyzer category. 8. The Analyze Motor to Determine Motor Model dialog box opens. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 121: Fan/Pump Volts/Hertz Method
2. Select the Frequency Control category. 3. From the Frequency Control Method pull-down menu, select Fan/Pump Volts/Hertz. 4. Enter the Fan/Pump Volt/Hertz attribute values appropriate for your application. Default values are shown. 5. Click Apply. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 122: Configure Spm Motor Closed-Loop Control Axis Properties
(1) The auxiliary feedback connector allow configuration of Digital AqB as a load feedback device or a half-axis (feedback only). IMPORTANT Unprogrammed Smart feedback devices are not supported. Unprogrammed as load or feedback-only feedback types are supported. Contact your local distributor or Rockwell Automation representative for support options. 1. In the Controller Organizer, right-click an axis and choose Properties.
Page 123 The drive catalog number populates the Module Type and Power Structure fields. 5. Click Apply. 6. Select the Motor category. The Motor Device Specification dialog box appears. 7. From the Data Source pull-down menu, choose Catalog Number. 8. Click Change Catalog. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 124 Motor data specific to your motor appears in the Nameplate / Datasheet - Phase to Phase parameters field. 12. Select the Scaling category and edit the default values as appropriate for your application. 13. Click Apply, if you make changes. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 125 From this dialog box you can program actions for the drive module to take. For more information, refer to Logix 5000 Controller and Drive Behavior on page 145. 17. Select the Exceptions category. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 126 18. Select the Parameter List category. The Motion Axis Parameters dialog box appears. Use the Parameter Group pull-down menu, and choose the appropriate group. By default, all parameters are shown in the dialog box. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 127 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-UM005C-EN-P - February 2022...
Page 128: Configure Induction-Motor Closed-Loop Control Axis Properties
7. From the Data Source pull-down menu, choose Nameplate Datasheet. IMPORTANT Motor NV is not a supported data source in the Logix Designer application for axes configured as Induction-motor closed-loop. 8. Click Apply and return to the Motor category. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 129 The Motor Feedback Device Specification dialog box appears. 13. From the Type pull-down menu, choose the feedback type appropriate for your application. Configure Feedback Properties page 133 for feedback configuration examples. 14. Click Apply. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 130 From this dialog box you can program actions for the drive module to take. For more information, refer to Logix 5000 Controller and Drive Behavior on page 145. 18. Select the Exceptions category. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 131 22. Select the Motor>Model category. Motor model attributes are automatically estimated from the Nameplate/Datasheet parameters. For improved performance, motor tests can be run. 23. The Analyze Motor to Determine Motor Model dialog box opens. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 132 Motor Tests and Autotune Procedure on page 214. 25. Click Start. 26. Click Accept Test Results. 27. Click Apply. 28. Select the Autotune category. 29. Repeat step 1 through step 29 for each induction motor axis. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 133: Configure Feedback Properties
IMPORTANT Unprogrammed Smart feedback devices are not supported. Unprogrammed as load or feedback-only feedback types are supported. Contact your local distributor or Rockwell Automation representative for support options. This example shows acceptable feedback port assignments.
Page 134: 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-UM005C-EN-P - February 2022...
Page 135 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-UM005C-EN-P - February 2022...
Page 136 The only valid values for Cycle Interpolation are powers of 2 from 4 through 65536. 5. From the Startup Method pull-down menu, choose Incremental. 6. Click Apply. When the Device Function is Master Feedback, configuration is identical to Motor Mounted Feedback. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 137: Apply Power To The Kinetix 5300 Drive
24V control power connections. 3. When the startup sequence completes, verify that the two status indicators are steady green and the four-character stats displays -03-, meaning the axis state is in Pre-charge. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 138: Test And Tune The Axes
2. In your Motion Group folder, right-click an axis and choose Properties. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 139 5. Click the desired test to verify connections. 6. Click Start. The Logix Designer - Motor and Feedback Test dialog box appears. The Test State is Executing. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 140: Tune The Axes
Tune the Axes The Kinetix 5300 drives are configured for tuningless operation by default. If additional tuning is required, see the Motion System Tuning Application Technique, publication MOTION-AT005, for more information. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 141: Troubleshoot The Kinetix 5300 Drive System
Refer to this troubleshooting information to identify faults, potential causes, and the appropriate actions to resolve the fault. If the fault persists after attempting to troubleshoot the system, contact your Rockwell Automation sales representative for further assistance. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 142: Fault Code Overview
Table 66 - Four-position Status Display Display Digit Device Condition 8888 Executing device self-test Waiting for connection to controller Configuring device attributes Waiting for group synchronization Waiting for DC-bus to charge Device is operational Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 143: Fault Codes
Link Speed  Steady On 100 Mbit Status Indicators Table 70 - Ethernet Link/Activity Status Indicator Condition Status Link/Activity  Status Indicators Steady Off No link Steady On Link established Blinking Network activity Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 144: General Troubleshooting
Return the motor for repair. • Check brake wiring and function. The motor brake is engaged (if supplied). • Return the motor for repair. The motor is not connect to the load. Check coupling. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 145: Logix 5000 Controller And Drive Behavior
The drive latches the exception condition and executes the configured exception action. You can configure exception behavior in the Logix Designer application from the Axis Properties dialog box, Actions category. These controller exception actions are mapped to the drive exception actions. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 146 Transition from logic 0 to 1 of the SafeTorqueOffActiveStatus axis tag, which Safety Safe Torque Off Action Disable & Coast indicates a safe torque-off action was commanded (STO). (1) This action is executed only if the axis tag transitions due to a requested STO. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 147 Current Decel/Disable (If #589 vertical load control) Inverter Overtemperature Factory Limit Fault – – – Disable/Coast (If not #589 vertical load control) Inverter Thermal Overload Factory Limit Fault – – – Current Decel/Disable Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 148 Logix Designer application, the signal loss condition will not be detected. If the secondary fault is not detected, the drive can still be enabled in Logix Designer even though the fault condition exists. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 149 Table 79 - Drive Behavior, SFxx Fault Codes Fault Action Best Available  Exception Permanent Exception Text Induction Motor Stopping Action  Fault Code Magnet Motor (applies to major faults) SF09 Guard Stop Input Fault – – – Disable/Coast Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 150: Web Server Interface
Provides network statistics related information. Monitor Signals Provides real time attribute information. Fault Log Displays major and minor fault information. Examples of each web page are shown in the following figures. Figure 60 - Home Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 151 Chapter 7 Troubleshoot the Kinetix 5300 Drive System Figure 61 - Drive Information Figure 62 - Motor Information Figure 63 - Encoder Diagnostics Figure 64 - Network Settings Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 152 Chapter 7 Troubleshoot the Kinetix 5300 Drive System Figure 65 - Ethernet Statistics Figure 66 - Monitor Signals - Full Axis Figure 67 - Monitor Signals - Auxiliary Axis Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 153 Chapter 7 Troubleshoot the Kinetix 5300 Drive System Figure 68 - Fault Logs Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 154 Chapter 7 Troubleshoot the Kinetix 5300 Drive System Notes: Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 155: Before You Begin
You also need these tools available before you begin removal and replacement procedures: • Screwdrivers (to loosen/remove screws) • Voltmeter (to make sure no voltage exists on drive connectors) Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 156: Remove And Replace Kinetix 5300 Servo Drives
6. Remove the motor power cable from the cable shield clamp. 7. Unplug the motor feedback cable connector or 2198-K53CK-D15M connector kit from the MFB connector. 8. Remove the ground screw and braided ground strap. Refer to Ground the System Subpanel on page Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 157: Remove The Servo Drive
Your Kinetix 5300 Drive on page • Torque mounting, shield clamp, and ground screws to 2.0 N•m (17.7 lb•in), max • Reconnect the feedback connector kit and torque the mounting screws to 0.4 N•m (3.5 lb•in), max Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 158: Start And Configure The Drive
To access those settings, refer to Configure the Kinetix 5300 Drive on page 105. 3. Download the Logix Designer application to the controller. 4. Verify the drive/system is working properly. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 159: Certification
Performance Level d (PL d) and Category 3, SIL CL 2 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 website rok.auto/certifications. Important Safety Considerations The system user is responsible for the following: •...
Page 160: Category 3 Requirements According To Iso 13849-1
Under normal operation, the STO inputs are energized. If either of the STO inputs are de-energized, then all of the output power transistors turn off. The Safe Torque Off response time is less than 12 ms. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 161 IGBT circuit, result in a rotation of up to 180 electrical degrees. IMPORTANT If any of the STO inputs are de-energized, the Start Inhibit field indicates SafeTorqueOffInhibit and GuardStopRequestStatus bit of AxisGuardStatus tag set to 1. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 162: Fault Codes
GuardStopInputFault is posted. Figure 70 - System Operation in the Event of STO Inputs Discrepancy (fault case 1) 24V DC SS_IN_CH0 0V DC 24V DC SS_IN_CH1 0V DC GuardStopInputFault GuardStopRequestStatus 1 second Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 163 1.0 second. • Reset error and execute STO function to verify that the function operates properly. • If error persists, remove the drive from service immediately and return to Rockwell Automation. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 164: Probability Of Dangerous Failure Per Hour
Safety bypass plus signal. Connect to both safety inputs to disable the STO function. SB+ Safety bypass minus signal. Connect to safety common to disable the STO function. SB- STO input 1 (SS_IN_CH0). STO input common (SCOM). 5/10 STO input 2 (SS_IN_CH1). Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 165: Wire The Safe Torque Off Circuit
Torque Value mm (in.) N•m (lb•in) (AWG) Signal STO-1/6 SB+ STO-2/7 SB- 0.2…1.5 STO-3/8 S1 10 (0.39) — (24…16) STO-4/9 SC STO-5/10 (1) This connector uses spring tension to hold the wires in place. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 166: Safe Torque Off Feature
To bypass the safety function, wire these signals as shown in Figure 75. With the jumper wires installed, the safe-off feature is not used. Figure 75 - Safe Torque Off Bypass Wiring Pin 1 Pin 5 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 167: Cascade The Safe Torque-Off Signal
Figure 78 - STO Recovery Time With Long STO Inputs Discrepancy 24V DC SS_IN_CH0 0V DC 24V DC SS_IN_CH1 0V DC GuardStopRequestStatus 100 ms 1 second ATTENTION: If both inputs are not in the ON state after one second, GuardStopInputFault is posted. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 168: Safe Torque Off Specifications
100 ms or 1 s fixed STO recovery time (refer to Figure 77 Figure For additional information regarding Allen-Bradley® safety products, including safety relays, light curtain, and gate interlock applications, refer to https://ab.rockwellautomation.com/Safety. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 169: Interconnect Diagram Notes
Kinetix LDAT linear thrusters, Kinetix MPAS (direct drive) linear stages, and Kinetix LDC/Kinetix LDL linear motors do not include a brake option, so only the  2090-CPWM7DF-xxAAxx or 2090-CPWM7DF-xxAFxx motor power cables are specified. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 170: Power Wiring Examples
Motor Brake MBRK - Connector 342…528V AC rms MBRK + Connections AC Line Filter Connector MBRK + Three-phase Input Note 3 Circuit Protection * Note 1 Note 2 * Indicates Customer Supplied Component Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 171 MBRK - Motor Brake Three-phase 85…132V AC rms MBRK + Connector MBRK + Connections AC Line Filter or 170…253V AC rms Single-phase Input Circuit Protection * Note 2 * Indicates Customer Supplied Component Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 172: Shunt Resistor Wiring Example
Figure 81 - External Shunt Resistor Wiring Example 2198-Cxxxx-ERS 2198-Rxxx or Kinetix 5300 Drive 2097-Rx Shunt Shunt Resistor Connector Note 7 Leave the internal shunt wires terminated in its own shunt connector plug. Internal Shunt Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 173: Kinetix 5300 Servo Drive And Rotary Motor Wiring Examples
3 U RED 1 2090-CTPx-MADF-16 Refer to Kinetix 5300 Feedback Connector Kit V WHITE 2 BR+ BROWN Installation Instructions, publication 2198-IN023, for W BLACK 4 BR– BLUE 5 connector kit specifications. 2090-CTPx-MADF-18 GREEN/YELLOW Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 174 Installation Instructions, publication 2198-IN023, for W BLACK B BR+ BROWN connector kit specifications. 2090-CTPx-MCDF-16 GREEN/YELLOW BR– BLUE 2090-CTPx-MDDF-08 U RED D V WHITE E BR+ RED A W BLACK F BR– BLACK 2090-CTPx-MDDF-12 GREEN/YELLOW Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 175 Tie Wrap 360° exposed shield that Clamp Screws (2) Refer to Kinetix 5300 Feedback Connector Kit Installation Instructions, publication is secured under clamp. 2198-IN023, for connector kit specifications. Clamp Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 176 Refer to Kinetix 5300 Feedback Connector Kit ECOM WHT/GRAY Installation Instructions, publication 2198-IN023, for – ORANGE connector kit specifications. Thermostat WHT/ORANGE MBRK+ WHT/BLUE MBRK- YELLOW Motor Brake WHT/YELLOW 2090-XXNFMF-Sxx (standard) or 2090-CFBM7DF-CDAFxx (continuous-flex) (flying-lead) Feedback Cable Notes 8 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 177 Motor ORANGE Refer to Kinetix 5300 Feedback Connector Kit BAT- BAT- WHT/ORANGE Feedback Installation Instructions, publication 2198-IN023, for SHIELD connector kit specifications. 2090-CFBM6DF-CBAAxx (flying-lead) or 2090-CFBM6DD-CCAAxx (with drive-end connector) Feedback Cable Motor Brake Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 178 Tie Wrap 360° exposed shield that is secured under clamp. Clamp Screws (2) Clamp Refer to Kinetix 5300 Feedback Connector Kit Installation Instructions, publication 2198-IN023, for connector kit specifications. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 179: Kinetix 5300 Drive And Linear Actuator Wiring Examples
Refer to Kinetix 5300 Feedback Connector Kit WHT/GRAY ECOM Installation Instructions, publication 2198-IN023, for – ORANGE connector kit specifications. Thermostat WHT/ORANGE WHT/BLUE Note 11 YELLOW WHT/YELLOW 2090-XXNFMF-Sxx (standard) or 2090-CFBM7DF-CDAFxx (continuous-flex) (flying-lead) Feedback Cable Notes 8 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 180 Refer to Kinetix 5300 Feedback Connector Kit WHT/GRAY ECOM Installation Instructions, publication 2198-IN023, for – ORANGE connector kit specifications. Thermostat WHT/ORANGE WHT/BLUE Note 11 YELLOW WHT/YELLOW 2090-XXNFMF-Sxx (standard) or 2090-CFBM7DF-CDAFxx (continuous-flex) (flying-lead) Feedback Cable Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 181 2090-CFBM7DF-CEAAxx (standard) or  MPAI-A/B2xxxx 2090-CPxM7DF-16AFxx (continuous-flex) 2090-CFBM7DF-CEAFxx (continuous-flex) MPAI-A/B3xxxx MPAI-A/B4xxxx MPAI-B5xxxx 2090-CPxM7DF-14AAxx (standard) or 2090-CFBM7DF-CEAAxx (standard) or  MPAI-A5xxxx 2090-CPxM7DF-14AFxx (continuous-flex) 2090-CFBM7DF-CEAFxx (continuous-flex) (1) 2090-CFBM7DD-CEAxxx (drive-end connector) feedback cables are also available. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 182 Sin/Cos or (TTL) Tie Wrap Encoder 360° exposed shield that Clamp Screws (2) is secured under clamp. POWER Clamp Refer to Kinetix 5300 Feedback Connector Kit Installation Instructions, publication 2198-IN023, for connector kit specifications. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 183 Refer to Kinetix 5300 Feedback Connector Kit feedback connector kit Installation Instructions, publication 2198-IN023, for connector kit specifications. with flying-lead cables. Tie Wrap 360° exposed shield that is secured under clamp. Clamp Screws (2) Clamp Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 184: System Block Diagrams
Appendix A Interconnect Diagrams System Block Diagrams This section provides block diagrams of the Kinetix 5300 servo drives. Figure 93 - Kinetix 5300 Drive Block Diagram Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 185: 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 5300 specific), refer to the ControlFLASH Firmware Upgrade Kit User Manual, publication 1756-UM105. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 186: Inhibit The Module
Follow these steps to inhibit a module. 1. Open your Logix Designer application. 2. Right-click the Kinetix 5300 drive you configured and choose Properties. The Module Properties dialog box appears. 3. Select the Connection category. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 187: Upgrade Your Firmware
2. Click the Flash Devices tab. If the device is not already present in Browsing from path:, complete these steps: a. Click b. In the Network Browser dialog box, locate and select the device to upgrade. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 188 Center and select the desired revision. In this example, the Latest on Computer method is chosen. 5. Click Next. 6. If a warning dialog box appears, read the warning, complete any recommendations, and click Close. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 189 IMPORTANT Do not cycle power to the drive during this process. A power cycle results in an unsuccessful firmware upgrade and an inoperable module. After the drive reboots, ControlFlash Plus software indicates success or failure of the update. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 190 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-UM005C-EN-P - February 2022...
Page 191: Use Controlflash Software To Upgrade Your Drive Firmware
The Configure driver dialog box appears. 7. Type the IP address of your Ethernet Module or Controller that bridges between the Ethernet network and the EtherNet/IP network. 8. Click OK. The new Ethernet driver appears under Configured Drivers. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 192 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. The Catalog Number dialog box appears. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 193 6. Select the Kinetix 5300 drive to upgrade. 7. Click OK. The Firmware Revision dialog box appears. 8. Select the firmware revision to upgrade. 9. Click Next. The Summary dialog box appears. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 194 This ControlFLASH warning dialog box appears. 12. To complete the update now, click Yes. This ControlFLASH warning dialog box appears. 13. Acknowledge the warning and click OK. The Progress dialog box appears and updating begins. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 195: Verify The Firmware Upgrade
Verify the Firmware Follow these steps to verify your firmware upgrade was successful. Upgrade Verifying the firmware upgrade is optional. 1. Open your RSLinx software. 2. From the Communications menu, choose RSWho. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 196 3. Expand your Ethernet node, Logix backplane, and EtherNet/IP network module. 4. Right-click the drive and choose Device Properties. The Device Properties dialog box appears. 5. Verify the new firmware revision level. 6. Click Close. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 197: Motor Control Feature Support
Current Regulator Loop Settings Motor Category Selection of Motor Thermal Models Speed Limited Adjustable Torque (SLAT) Motor Overload Retention Phase Loss Detection Velocity Droop Commutation Self-sensing Startup Commutation Test Adaptive Tuning Virtual Torque Sensor Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 198: Frequency Control Methods
All three-phase induction motors, suitable for variable speed drive (VFD) operation, are supported Table 92 - Motor Specifications Attribute Value Output frequency, max 590 Hz Pole pairs, max Motor cable length, max 30 m (98.4 ft) Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 199: Basic Volts/Hertz
Slopes the portion of the curve that is used above base speed. Figure 94 - Basic Volts/Hertz Method Voltage, max Base Voltage (nameplate) Break Voltage Start/Accel Boost Run Boost Break Base Frequency, Frequency, Frequency (nameplate) Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 200: Basic Volts/Hertz For Fan/Pump Applications
Figure 96 - Basic Volts/Hertz Fan/Pump Method Voltage, max Base Voltage (nameplate) Run Boost Frequency (Hz) Frequency, Base 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-UM005C-EN-P - February 2022...
Page 201: Sensorless Vector
Dynamic boost is applied internally to compensate voltage drop and improve starting torque. Figure 98 - Approximate Load Curve Voltage, max Base Voltage (nameplate) Ideal, volts/hertz Dynamic Boost Applied Base Frequency, Frequency, (nameplate) Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 202: 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 Operative Current Limit Output Frequency Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 203 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-UM005C-EN-P - February 2022...
Page 204: Enable The Current Limiting Feature
OperativeCurrentLimit of the drive. Set the CurrentVectorLimit value to artificially lower OperativeCurrentLimit below the drive or motor peak current limits. 1. Select the Parameter List category and scroll to CurrentVectorLimit. 2. Set the CurrentVectorLimit value appropriate for your application. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 205: Stability Control For Frequency Control
3029 REAL Stability Angle Gain Units of radians/Amp (inst). IMPORTANT Because the stability control feature works by manipulating the OutputVoltage and OutputFrequency signals, these signals can appear 'noisy' when the feature is enabled. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 206: Enable The Stability Control Feature
In this example, a Message Configuration (MSG) instruction is configured to enable the StabilityControl attribute. The Instance field is used to direct the message to the proper axis. For single-axis inverters the value of 1 is used for Instance. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 207: Skip Speeds
IMPORTANT Acceleration and deceleration are affected by the skip-speed feature. Too large of a SkipSpeedBand value can result in an overcurrent drive fault. IMPORTANT The MaximumFrequency attribute is always enforced. Skip-speed band boundary values beyond the MaximumFrequency value do not apply. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 208: Multiple Skip Speeds
(point B), or the command is changed outside of the skip band. Figure 105 - 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-UM005C-EN-P - February 2022...
Page 209: Flux Up
Flux Up Current = Maximum DC Current Rated Flux Rated Motor Flux Current Motor Flux Flux Up Time Once rated flux is reached in the motor, normal operation can begin and the desired acceleration profile achieved. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 210: 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-UM005C-EN-P - February 2022...
Page 211: 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-UM005C-EN-P - February 2022...
Page 212: Current Regulator Loop Settings
Max Speed and Peak Current values are typically application dependent. Figure 109 - Motor Nameplate / Datasheet Example Figure 110 for motor manufacturer performance data sheet example. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 213 IMPORTANT If you do not know the Stator Leakage, Rotor Leakage, Stator Resistance, Rated Flux Current, and system inertia, you can run the static motor test and Autotune procedure to determine the parameter values. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 214: Motor Tests And Autotune Procedure
Logix Designer application, version 29.00 and later. For previous versions, an Autotune test must be run or the motor inertia value entered directly. The Motor>Analyzer category offers three choices for calculating or measuring electrical motor data. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 215: 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-UM005C-EN-P - February 2022...
Page 216 Sets the velocity command for the slip test within the Dynamic motor test, (similar to the velocity 3096 REAL IM Slip Test Velocity Command command in the inertia test). Units are in percent of motor rated speed. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 217: Selection Of Motor Thermal Models
The relationship between Motor Overload Factory Limit trip-time and motor output current is shown in Figure 113. Figure 113 - Motor Overload Curve 100,000 10,000 1000 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 218: 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-UM005C-EN-P - February 2022...
Page 219: Speed Limited Adjustable Torque (Slat)
TorqueTrim attribute is less than the torque output due to the velocity regulator's control effort. The drive can automatically enter velocity regulation based on conditions within the velocity regulator and the magnitude of the velocity regulator's output relative to the torque reference. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 220: Slat Max Speed/Torque
VelocityCommand attribute. The axis remains in velocity regulation until VelocityError is less than SLATSetPoint for a time specified by SLATTimeDelay. At this point, the axis returns to operating as a torque regulator. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 221: Slat Attributes
Follow these steps to configure the SLAT attributes. 1. In the Controller Organizer, right-click an axis and choose Properties. 2. Select the General category. The General dialog box appears. 3. From the Axis Configuration pull-down menu, choose Velocity Loop. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 222 7. From the SLATConfiguration pull-down menu, choose the SLAT configuration appropriate for your application. IMPORTANT SLAT parameters are configurable only when Velocity Loop is chosen from the General category, Axis Configuration pull-down menu. 8. Click Apply. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 223 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-UM005C-EN-P - February 2022...
Page 224: 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-UM005C-EN-P - February 2022...
Page 225 (rev/s). Motion Drive Start (MDS) Sample Code Figure 117 - Start The speed is increased by updating the speed reference and then re-executing the MDS instruction. Figure 118 - Increase Speed Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 226 If you execute an MSF instruction while the axis is moving, the axis coasts to an uncontrolled stop. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 227 0.5 • 0.01 • Jerk Control • Ramp Vel Negative/Ramp Decel. IMPORTANT The Ramp attributes can be viewed and set with only an SSV or GSV instruction. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 228 Appendix C Motor Control Feature Support Figure 121 - Ramp Attribute Sample Code Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 229: 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-UM005C-EN-P - February 2022...
Page 230: Phase Loss Detection
Table 104 - 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-UM005C-EN-P - February 2022...
Page 231: Phase-Loss Detection Configuration
INHIBIT Sc04 torque-proving configuration fault code. The minimum amount of torque proving current depends on catalog number of the drive. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 232: Phase Loss Detection Current Example
Drive Cat. No. A, rms 2198-C1004-ERS 0.203 2198-C1007-ERS 0.330 2198-C1015-ERS 0.610 2198-C1020-ERS 0.879 2198-C2030-ERS 1.407 2198-C2055-ERS 2.891 2198-C2075-ERS 3.430 2198-C4004-ERS 0.117 2198-C4007-ERS 0.208 2198-C4015-ERS 0.376 2198-C4020-ERS 0.523 2198-C4030-ERS 0.838 2198-C4055-ERS 1.626 2198-C4075-ERS 1.976 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 233: Velocity Droop
IMPORTANT When configured for frequency control, the units of the VelocityDroop attribute are Velocity Control Units / Sec / % Rated Iq Current. Velocity Droop Attribute Access Attribute Conditional Implementation 464/321 Velocity Droop Velocity Units / Sec / % Rated Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 234: Velocity Droop Configuration
Starting state while self-sense executes. The sequencing of events is as follows. 1. One-second current ramp time 2. One second delay 3. One-second move time 4. One second delay 5. One-second current ramp time Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 235 Applies only to motors [default = 1.0] with self-sensing startup. The amount of time the drive holds the Self-Sense Seconds 3106 REAL final position after the verification move Move Delay [default = 1.0] during self-sensing startup. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 236: Commutation Test
Automatically adjust torque-loop notch and low-pass filter parameters to suppress resonances • Automatically adjust control-loop gains to avoid instability when detected See Motion System Tuning Application Techniques, publication MOTION-AT005, for more information on the AdaptiveTuningConfiguration attribute. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 237: Virtual Torque Sensor
The estimated torque does not affect motion control or drive performance. For more information on how to apply the virtual torque sensor feature, see Virtual Torque Sensor Application Technique, publication 2198-AT003. Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 238 Appendix C Motor Control Feature Support Notes: Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 239 Beldon 81 compatibility block diagrams motors and actuators 80 power 184 bonding EMI (electromagnetic interference) 34 examples 35 high frequency energy 36 subpanels 36 brake relay 56 build your own cables 68 regulator 114 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 240 142 ControlLogix 107 features and indicators 52 properties feedback date/time tab 109 configurations 18 enable time synchronization 109 feedback-only axis 113 ControlLogix specifications 59 Ethernet connections 97 conventions used in this manual 9 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 241 SLAT 221 load category 125 inhibit the module 186 Logix Designer application 106 input power wiring 24V control 76 3-phase WYE 69 AC 77 determine input power 69 grounded power configuration 69 single-phase 70 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 242 86 power structure 114 shield clamp wiring 87 power up 137 testing 138 product selection website 11 thermal models 217 publications, related 10 tuning 138 velocity 144 motor brake connector wiring 79 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 243 216 hookup test 139 software time synchronization 109 Logix Designer application 107 torque proving 229 specifications attributes 229 auxiliary configuring 231 feedback 59 training 9 transformer sizing 27 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 244 AqB with UVW 135 sine/cosine 136 sine/cosine with Hall 137 velocity droop 233 attribute 233 configure 234 verify upgrade 195 vertical load 116 virtual torque sensor 237 voltage drop 24V input power 29 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 245 Kinetix 5300 Single-axis EtherNet/IP Servo Drives User Manual Rockwell Automation Publication 2198-UM005C-EN-P - February 2022...
Page 246 Rockwell Automation maintains current product environmental compliance information on its website at rok.auto/pec. Allen-Bradley, CompactLogix, ControlFLASH, ControlFLASH Plus, ControlLogix, expanding human possibility, FactoryTalk, GuardLogix, Kinetix, Logix 5000, PanelView, POINT I/O, Rockwell Automation, RSLinx, Stratix, Studio 5000, and Studio 5000 Logix Designer are trademarks of Rockwell Automation, Inc.

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Rockwell Automation Allen-Bradley Kinetix 5300 User Manual

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