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Kinetix 5100 2198-E2075-ERS
Allen-Bradley Kinetix 5100 2198-E2075-ERS Manuals
Manuals and User Guides for Allen-Bradley Kinetix 5100 2198-E2075-ERS. We have
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Allen-Bradley Kinetix 5100 2198-E2075-ERS manual available for free PDF download: User Manual
Allen-Bradley Kinetix 5100 2198-E2075-ERS User Manual (501 pages)
Single-axis EtherNet/IP Servo Drives
Brand:
Allen-Bradley
| Category:
Servo Drives
| Size: 28.13 MB
Table of Contents
Important User Information
2
Table of Contents
3
Additional Resources
7
Conventions
7
Preface
7
Chapter 1 About the Kinetix 5100 Drive System
10
System Overview
10
Typical Hardware Configuration
11
Motor and Auxiliary Feedback Configurations
12
Linear Communication Installation
13
Linear Topology
13
Typical Communication Configurations
13
Ring Communication Installation
14
Ring Topology
14
Star Communication Installation
15
Star Topology
15
Drive System with PAC Controller and Ethernet/Ip Network Control
16
Typical Control Configurations
16
Drive System with PLC Controller and Explicit Messaging Control
17
System with PLC Controller and PTO, Analog or Digital I/O Control
18
Catalog Number Explanation
19
Safe Torque off Configurations
19
Single-Axis Ethernet/Ip Servo Drives
19
Agency Compliance
20
Servo Drive Accessories
20
Chapter 2
21
Planning and Installation
21
System Design Guidelines
21
System Mounting Requirements
21
AC Line Filter Selection
22
Circuit Breaker/Fuse Selection
23
Input Power IEC (Non-UL/CSA) Circuit-Protection Specifications
24
Input Power UL/CSA Circuit-Protection Specifications
24
Passive Shunt Considerations
25
Transformer Selection
25
External Shunt Module Specifications
26
Enclosure Selection
27
Minimum Clearance Requirements
28
Power Dissipation Specifications
28
Bonding Drives
30
Electrical Noise Reduction
30
Recommended Bonding Practices for Painted Panels
31
Bonding Multiple Subpanels
32
Establish Noise Zones
33
Cable Categories
34
Noise Reduction Guidelines for Drive Accessories
34
External Passive Shunt Modules
35
External Shunt Resistor Mounted Inside the Drive System Enclosure
36
Drill-Hole Patterns
37
Mount Your Kinetix 5100 Drive
37
Mounting
37
Mount the Drive
38
Connector Data and Feature Descriptions
39
Kinetix 5100 Connector Data
40
Features and Indicators
41
Power Connector Pinouts
42
Safe Torque-Off Connector Pinout
42
Motor-Power Connector Pinout
43
Power Pinouts on Terminal Block
43
Shunt Resistor Connector Pinout
43
I/O Connector Pinout
44
Pin Orientation for 50-Pin SCSI I/O Connector
44
Motor Feedback (MF) Connector Pinout
45
Pin Orientation for 15-Pin Motor Feedback (MFB) Connector
45
Auxiliary Feedback Connector Pinout
46
Ethernet Communication Connector Pinout
46
Chapter 3
47
Control Signal Specifications
47
Digital Inputs
47
Digital Inputs Default Functions
48
DI Signal Parameters
49
Digital Input Function Names
49
Digital Input Circuitry
50
Digital Inputs Specifications
50
Digital Outputs
51
Analog Inputs
53
Pulse Inputs
53
Pulse Input (Line Driver) Configuration
54
Pulse Input - Single-Ended Configuration (Current Sinking)
54
Analog Outputs
55
Buffered Encoder Outputs
56
Encoder Output Position (Line Driver)
56
Encoder Output Position (Opto-Isolator)
56
Encoder OCA Output (Open Collector Z Pulse Output)
57
Ethernet Communication Specifications
57
Motor Brake Circuit
58
Reduce Zoombrake Control Timing Diagram
61
Kinetix Mpx Motor Brake Specifications
62
Kinetix TLP Motor Brake Specifications
62
Control Power
63
Feedback Specifications
64
Generic TTL Encoder Feedback Specifications
64
Motor Thermostat Interface
64
Generic TTL Incremental, MTR_AM and MTR_BM Signals
65
Generic TTL Interface, MTR_IM Signals
65
Generic TTL Interface, MTR_S1, MTR_S2, or MTR_S3 Signals
65
Stegmann Hiperface Encoder Specifications
66
Stegmann Hiperface Interface, MTR_DATA Signals
66
Stegmann Hiperface Interface, MTR_SIN and MTR_COS Signals
66
24-Bit Encoder Specifications
67
TTL Encoder Phasing
67
Absolute Position Feature
68
Sine/Cosine Encoder Phasing
68
Safe Torque off Features
69
Dual Mode
70
Multi Mode
70
Operation Modes
70
Single Mode
70
Basic Wiring Requirements
71
Connect the Kinetix
71
Connections
71
Build Your Own Cables
72
Chapter 4
72
Determine the Input Power Configuration
72
Route Power and Signal Wiring
72
Single-Phase Power Wired to Single-Phase Drives
73
Three-Phase Power Wired to Three-Phase Drives
73
Single-Phase Amplifiers (One AC Line Filter Per Drive)
75
Three-Phase Power Wired to Single-Phase Drives
75
Isolation Transformer in Grounded Power Configurations
76
Voiding of CE Compliance
76
Ground the Drive System
77
Ground Your Drive to the System Subpanel
77
Chassis Ground Configuration
78
Ground Multiple Subpanels
78
Wiring Requirements
78
Wiring Guidelines
80
Input Power Connector Specifications
81
Wire the Input Power Connectors
81
I/O Terminal Expansion Block Specifications
82
Wire the I/O Connector
82
Wire the Safe Torque off Connector
82
Wire the Motor Power Connector
83
AOP Installation Requirement
84
Servo Motor and Motor Cable Compatibility
84
Kinetix Mpx Servo Motors and Power Cable Compatibility
85
Kinetix TLP Motor Power/Brake Cable Compatibility
85
Legacy Motor Power Cables for Kinetix Mpx Servo Motors
85
Motor Power and Brake Cables
85
Cable Preparation for Mpx Servo Motors
86
Cable Preparation for TLP Servo Motors
86
Maximum Cable Length
86
Compatible Motors and Actuators
89
Motor Brake Connections
89
Motor Feedback Connections
89
TLP Motor Feedback Cable Compatibility
89
Feedback Cables for Kinetix Mpx Motors
90
Feedback Cables for Kinetix TLP Motors
90
Legacy Motor Feedback Cables
90
Wire the 2198-K51CK-D15M Feedback Connector Kit
91
External Passive-Shunt Connections
92
Shunt Connector Specifications
93
Controllogix and Compactlogix Ethernet Port Locations
94
Ethernet Cable Connections
94
Interface Use
95
Keypad Input and Panel Display
95
Chapter 5
96
Drive Displays
96
Real Time Data
96
Real Time Data Display
97
Real Time Display Symbols
97
Drive Status Display
99
Edit Network Settings
101
Edit Settings from the Display
101
Edit Parameter Settings
103
Parameter Status Display
104
Reset the Drive Via Keypad
105
16-Bit and 32-Bit Display Formats
106
Display Low Byte, High Byte, and Negative Values
106
Diagnosis Parameters Via Keypad
107
Display Fault Record
107
Display Firmware Upgrade Information
108
Chapter 6
109
Set Network Parameters by Using the Display
109
Set up Ethernet/Ip Communication
109
Set Network Parameters by Using the KNX5100C Software
111
Configure IP Address by Using BOOTP/DHCP Tool
112
Before You Begin
115
Configure the Drive with the Softwar
115
Configure the Micro800 Controller
116
Download the Software
118
Launch the Configuration Tool
119
Chapter 7
121
Connect to the Drive
121
Set the IP Address
122
Select a Motor and Configure Feedback in the Software
123
Motor Feedback
130
Run a Commutation Test
132
Parameter Editor
135
Parameter Toolbar
137
Parameter Wizard
137
Choose an Operation Mode
138
Configure Settings
142
Configure the Command Source
144
Command Source for Speed Mode
145
Command Source for Torque Mode
146
Configure Pulse Output
147
Configure E-Gear Ratio
148
Configure Filter
149
Configure Notch Filter
150
Configure Limits
151
Configure Analog I/O
152
Position and Speed Limit
152
Torque Limit
152
Position Mode (Terminal Block Input) Tab
153
Output Monitor Tab
154
Speed Input Tab
154
Torque Input Tab
154
Configure Position, Velocity, and Current Loops
155
Configure Velocity Loop
156
Configure Current Loop
157
Configuration and Status of Digital Input and Digital Output Signals
158
Digital I/O and Jog Function in KNX5100C Software
158
Activate Signals Manually
159
Edit DIO Configurations
159
Jog Function
160
Configure the Drive in Studio 5000 Logix Designer Application
161
Install the Add-On Profile
161
Version History
161
Chapter 8
162
Configure the Logix 5000 Controller
162
Configure the Kinetix 5100 Drive Modules
166
Download the Program
168
Chapter 9 Tuning Process
169
Autotuning
170
Filter and Resonance Suppression Parameters
171
Gain-Related Parameters
171
Autotuning Configuration Parameters
172
Autotuningbandwidth Parameter Graph
172
Autotuning Via the Drive Panel
173
Autotuningovershoot Parameter
173
Autotuning Via the Drive Panel Flowchart
174
Autotuning Via KNX5100C Software
175
Motion Command from Controller
176
Motion Command from Drive
178
Alarms Related to Autotuning
180
Faults Related to Autotuning
181
Tuning Via Tuning Mode 1 and Tuning Mode 2
181
Tuning Mode 1
182
Tuning Mode Process
182
Inertia Estimation
183
Selecting Mode 1 Manual Tuning
184
Tuning Mode 2
184
Setting ID216 (P2.031) Sysgainresponselevel
185
Settings for Sysgainresponselevel
186
Tuning Mode 2 in the Software
187
Tuning in Manual Mode
188
Chapter 10
191
Mechanical Resonance Suppression
191
Selecting Manual Mode Tuning
191
Modes of Operation
193
Select Operation Mode and Direction Control
193
YX: Control Mode Setting
194
Position Control
195
Z: Direction Control
195
PT Mode (Position Command with Terminal Block Input)
196
Z: Logic Type
196
UY: Filter Width Setting
197
Analog Input
199
VPL (DI Code: 0X0C) Latch Function of Analog Position Command
200
VPRS (DI Code: 0X0D) Clear Function of Analog Position Command
200
Control Structure of Position Mode
201
PR Mode (Position Command with Internal Register Input)
201
Pulse Command Input Inhibitor (INHP)
202
S-Curve Filter (Position Mode)
203
Electronic Gear (E-Gear) Ratio
204
Low Pass Filter (Position Mode)
205
Position Mode Timing (PR Mode)
206
Gain Adjustment of the Position Loop
207
Low Frequency Vibration Suppression in Position Mode
208
Auto Low-Frequency Vibration Suppression
209
Automatic Setting
209
Selection of Speed Command
210
Speed Mode
210
Control Structure of Speed Mode
212
Analog Speed Command Filter
213
S-Curve Filter (Speed Mode)
213
Low Pass Filter for Speed Command
214
Scaling the Analog Command (Speed Mode)
215
Speed Mode Timing
215
Gain Adjustment of Speed Loop
216
Manual Mode
216
Resonance Suppression (Notch Filter)
218
ZCLAMP Function
221
Torque Mode
223
Selection of Torque Command
224
Control Structure of Torque Mode
225
Low Pass Filter for Torque Command
226
Scaling of Analog Command (Torque Mode)
226
Dual and Multi-Modes
227
Speed/Position Dual Mode
228
Speed/Torque Dual Mode
229
Torque/Position Dual Mode
229
I/O Mode
230
I/O Mode - Position
236
I/O Mode - Home
237
Homing Method Values
238
The Control Structure of Home Mode
238
The I/O Assembly Data for the Home Mode
238
I/O Mode - Gear
240
The Control Structure of Gear Mode
240
The I/O Assembly Data for the Gear Mode
240
I/O Mode - Index
241
I/O Mode - Speed
241
Enable or Disable the Limit Functions
242
I/O Mode - Torque
242
Speed and Torque Limit Functions
242
Apply Speed Limit
243
Analog Monitoring
244
Voltage Drift
246
Detailed Operation in PR Mode
247
Motion Control in PR Mode
247
PR Command Setting and Data Definitions
248
Setting Parameters for each PR Command
248
PR Command Setting
249
Shared PR Parameters
252
Monitoring Variables in PR Mode
253
Timing Diagram of PR Mode Monitoring Variables
254
Monitoring Variables’ Status When Executing a Command in PR Mode
255
Operation of DI and DO Signals in PR Mode
255
Chapter 11
256
Homing
256
Operation of DI and DO Signals in PR Mode (Including Delay Time)
256
Setting Homing Mode ID297 (P5.004)
256
Configuring Homing Setting ID397 (P6.000)
257
Origin and Speed Settings for Homing
259
Reference Origin
259
Operation of Homing Types
260
Positive or Negative Limit as Reference Point
260
ORG Signal (Rising Edge) as Reference Point
261
Referencing the Falling-Edge of the ORG Signal
262
Z Pulse as Reference Point
262
ORG Signal (Falling Edge) as Reference Point
263
Referencing the Current Position as the Origin
264
Referencing the Torque Limit
264
Motor Actions after Homing Command Is Triggered
266
Use Monitoring Variables While Homing
266
Homing Mode and Monitoring Variables
267
Parameter for PR Mode Speed Control
267
Speed Control Command
267
PR Mode Speed Screen
268
Position Control Command
269
PR Mode Position Interface of the Configuration Software
269
Absolute Position Command (ABS)
270
Parameters for PR Mode Position Settings
270
Position Command Types
270
Rockwell Automation Publication 2198-UM004A-EN-P - October
270
High-Speed Position Capturing Command (CAP)
271
Incremental Command (INC)
271
Relative Position Command (REL)
271
Jump Command
272
Write Command
273
Index Position Command
275
PR Mode Indexing Coordinates
276
PR Mode Index Position Screen
277
Arithmetic Operations Commands
278
PR Arithmetic Operations Screen
279
PR Mode Setup in the Software
279
Speed and Time Settings
279
General Parameter Settings
280
Speed/Time Setting Tab
280
Homing Setting
281
PR Mode Setting
281
Index Coordinates Settings Wizard
284
Arithmetic Operations in the Software
285
Description of each Field in the Expressions Section
286
Field Description for the Procedure Setting Section
287
Procedure Section
287
Statement Section
287
Display of PR Procedure in the Software
288
Parts of the PR Display
288
Homing PR Display
289
Speed Command PR Display
290
Jump Command PR Display
291
Position Command PR Display
291
Write Command PR Display
292
Index Position Command PR Display
293
Arithmetic Operation PR Display
294
Digital Input (DI) Trigger
294
Trigger Method for PR Commands
294
Event Trigger
296
Trigger Position Command ID300 (P5.007)
298
Special Trigger (Capture, Compare, E-Cam)
299
PR Execution Process
300
Consecutive Position Commands
301
Sequence Command Execution
301
Consecutive Speed Commands
302
Multiple Commands
303
Command Interrupts Execution
304
Sequence Command - Multiple Commands
304
Internal and External Interruption
305
Internal Interrupts
305
Position Commands
305
Internal Interruption - Position Command
306
Speed Commands
307
External Interrupts
310
Overlap Command Execution
312
Arithmetic Operation Command Execution
313
High-Speed Capture Related Parameters
315
High-Speed Position Capture Function (CAP)
315
Motion Control Applications
315
High-Speed Position Capture, Additional Information
317
High-Speed Position Capture Flowchart (DI9 Example)
318
Using PR Command Programming with the Capture Function (H3)
319
PR Command with Application of High-Speed Capture (DI9 Example)
320
High-Speed Capture Application Example
321
Chapter 12
322
High-Speed Position Compare Function (CMP)
322
High-Speed Position Compare, Additional Information
323
High Speed Position Compare Flowchart
324
Using PR Command Programming with the Compare Function
325
PR Command with Application of Compare Function
326
Application Example of High-Speed Compare
327
Data Array
328
Read or Write Via Panel
329
Set up Capture and Compare in the Software
329
Capture or Compare User Interface
330
High-Speed Capture Function
331
High-Speed Compare Function
331
Compare Data Array
332
Data Array Editor
332
E-Cam
333
E-Cam General Settings
334
E-Cam Control Settings
335
Master Axis Signal Source
336
Digital Output Cam_Area Settings
337
Digital Outputs of Clutch Engagement
337
System Variables for Master Access Monitoring
338
Pulse By-Pass Function - Motor Feedback (MFB) Connector
339
Clutch Engagement and Disengagement
340
Pulse By-Pass Function - I/O Connector
340
Clutch Engagement Diagram
341
Clutch Engagement Lead Pulses
341
Condition for Clutch Disengagement
341
Clutch Disengagement Diagram
342
Immediate Stop after Disengagement
342
Deceleration Stop after Clutch Disengagement
343
Loop Mode after Disengagement
343
E-Cam System State
344
E-Cam Gear Ratio and Curve Scaling
345
E-Cam Gear Ratio
346
E-Cam Gear Ratio and Resolution
347
E-Cam Alignment
348
E-Cam Curve Scaling
348
E-Cam Alignment Control Switch
349
E-Cam Curve
351
E-Cam Table Manual Creation
353
Import Points
353
Speed Fitting
354
E-Cam Speed Fitting Table
355
Cubic Curve
356
Automatic Rotary Shear
358
Rotary Shear - Without Sync Zone
358
Rotary Shear - Fixed Sync Zone
359
Rotary Shear - Adjustable Sync Zone
361
Rotary Shear - Printing Machine
363
Printing Machine Diagram
364
E-Cam and PR Command Operation
365
E-Cam Phase Correction
366
E-Cam Troubleshooting
366
Macro Commands
367
Motion Parameter Protection - Set Password and Activate Protection
368
Motion Parameter Protection - Unlock Protection (Code 0004H)
368
Build up the E-Cam Table - Rotary Shear, Including Synchronous Area
369
Build up the E-Cam Table - Rotary Shear, Multi-Dimensional Control
370
E-Cam Curve Scaling (Code 0008H)
371
Change Position X Where E-Cam Is Engaged (Code 000Ch)
372
The Slave Axis Immediately Pauses for One Cycle
373
Certification
375
Safe Torque off (STO) Feature
375
Category 3 Requirements According to ISO 13849-1
376
Performance Level (PL) and Safety Integrity Level (SIL)
376
Stop Category Definition
376
Chapter 13
377
Description of Operation
377
Servooutputstatus Parameter Setting
377
ID107 (P0.046) Servooutputstatus
378
System Operation When Inputs Are Meeting Timing Requirements
378
STO-Related Fault Codes
379
SS Signal Status/Behavior for STO Faults
380
Average Frequency of a Dangerous Failure Per Hour
381
Drive Safe Torque off Connector Pinout
382
Pin Orientation for 8-Pin Safe Torque-Off Connector
382
Safe Torque off Connector Data
382
Safe Torque off Terminal Plug
383
Safe Torque off Wiring Requirements
383
Wire the Safe Torque off Circuit
383
Safe Torque off Bypass Wiring
384
Safe Torque off Feature
384
Cascade the Safe Torque off Signal
385
Safe Torque off Specifications
385
Safe Torque off Wiring Diagrams
386
Single-Axis Relay Configuration (Stop Category 0)
386
Multiple-Axis Relay Configuration (Stop Category 0)
387
Motorstopmode Settings in Drive Firmware
388
Single-Axis Relay Configuration (Stop Category 1)
388
Absolute Position Recovery
389
Chapter 14
389
Compatible Servo Motors
389
System Requirements
389
Install the Battery
390
Absolute System Initialization
391
Pulse Number
392
PUU Number
393
Initializing Coordinates with Digital Input and Digital Output Signals
394
Initializing the Absolute Coordinates with Parameters
396
Reading the Absolute Position with DI/DO
397
Reading the Absolute Position with Communication
400
Organization of Parameters
403
Programming Via Drive Parameters
403
Numeric/Decimal Parameters
404
Parameters in Hexadecimal Format
404
Chapter 15
405
Description of Digital Input Functions
405
Description of Digital Output Functions
410
DO.SP_OK (Digital Output: Speed Reached Output)
414
DO.MC_OK (Digital Output: Servo Procedure Completed)
415
Do.zon_1 (Digital Output: System Variable in Range)
416
Description of System Variable Monitoring
417
Panel Display
417
System Variable Monitoring Parameters
418
System Variables Code
419
System Variables List
419
Description of Parameter Monitoring
422
Use a MSG Instruction to Set Parameters
423
Chapter 16
425
Safety Precautions
425
Status Indicators
425
Troubleshoot the Drive System
425
CHARGE LED Status Indicators
426
MOD LED Status Indicators
426
NET LED Status Indicators
426
Drive Fault Code Display
427
Monitoring Status in KNX5100C Software
427
View Status and Faults
427
Fault Information in the KNX5100C Software
429
Fault and Status Information in Studio 5000 Application
430
Clear Faults
431
Drive Stopping Behavior
431
General Troubleshooting
431
Interconnect Diagram Notes
435
Appendix A
436
Power Wiring Examples
436
Digital I/O Wiring
439
Digital Output Wiring
440
Passive Shunt Wiring Example
441
Drives with Kinetix TLP-Axxx Servo Motors
442
Kinetix 5100 Drive/Rotary Motor Wiring Examples
442
Drives with Bulletin MPL-Axx, MPM-Axx, MPF-Axx, and MPS-Axx Motors
443
System Block Diagram
444
Upgrade the Drive Firmware
445
Before You Begin
446
System Requirements
446
Configure Logix 5000 Controller Communication
447
Inhibit Configure Logix 5000 Controller Communication
449
Appendix B
450
Upgrade the Firmware
450
Verify the Firmware Upgrade
454
Use Add-On Instructions
455
Appendix C
456
Download the Add-On Instruction Files and Data Types
456
Import the Add-On Instruction Files and Data Types
456
Add a New Program
458
Add a New Routine
458
Create an Application
458
Add Add-On Instruction to Your Routine
459
Add-On Instruction Configuration
459
Create the Add-On Instruction Tag
459
Create the Ref_Axis Tag
460
Configure the Add-On Instruction
461
Error Codes
462
Add-On Instruction Details
464
Full Closed Loop Control
485
Full Closed-Loop Control
486
Get Started
489
Use the Scope Function in the Software
489
Appendix D
490
Appendix E
490
Quick Setup of Communication Channels
490
Scope Functions
490
Select Communication Channels
491
Enable Stop Condition
494
FFT Display and Show RMS Value
495
Fine-Tune the Scope
496
Set Preferences
497
Use Popup Menu for Save Options
498
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