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Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 431

Motor Control Feature Support Appendix E

Configure the Axis for SLAT

Follow these steps to configure the SLAT attributes.

1. In the Controller Organizer, right-click an axis and choose Properties.

2. Select the General category.

The General dialog box appears.

3. From the Axis Configuration pull-down menu, choose Velocity Loop.

The Velocity Loop dialog box appears.

4. Enter values for the Velocity Loop attributes appropriate for your

application.

Default Chapter3
- Table of Contents3
Preface11
- Summary of Changes11
- Conventions Used in this Manual12
- Access the Attachments13
- Additional Resources13
Start15
Chapter 1 Kinetix 5700 Servo Drives Series Change16
- About the Kinetix 5700 Servo Drive System17
- DC-Bus Power Supply Input Power Configurations19
- Regenerative Bus Supply Input Power Configurations23
- 8720MC-RPS Power Supply Input Power Configuration28
- Motor and Auxiliary Feedback Configurations29
- Typical Communication Configurations30
- Functional Safety Configurations33
- Catalog Number Explanation37
- Agency Compliance39
Chapter 2 System Design Guidelines41
- System Mounting Requirements41
- DC-Bus Voltage Regulation42
- AC Line Filter Selection44
- AC Line Impedance Considerations45
- Circuit Breaker/Fuse Selection48
- 24V Control Power Evaluation49
- Contactor Selection50
- Passive Shunt Considerations51
- Active Shunt Considerations52
- Enclosure Selection54
- Minimum Clearance Requirements56
- Multi-Axis Shared DC-Bus Configurations57
- Accessory Module Selection59
- Electrical Noise Reduction67
- Determine Mounting Order80
Plan the Kinetix 5700 Drive System Installation41
Chapter 383
- Mount Accessory Modules83
- Zero-Stack Tab and Cutout84
- Install Shared-Bus Connection Systems84
  - DC-Bus Connection System84
  - 24V Input Power Connection System85
- Drill-Hole Patterns87
  - Drill-Hole Pattern Calculations88
  - Drill-Hole Patterns by Using the System Mounting Toolkit90
- Mount Your Kinetix 5700 Drive Modules90
- Kinetix 5700 Connector Data94
Chapter 4102
- Safe Torque-Off Connector Pinout102
- Input Power Connector Pinouts102
- DC Bus and Shunt Resistor Connector Pinouts103
- Digital Inputs Connector Pinouts103
- Ethernet Communication Connector Pinout105
- Motor Power, Brake, and Feedback Connector Pinouts105
- Motor Feedback Connector Pinouts106
- Universal Feedback Connector Pinouts107
- Accessory Module Pinouts107
- Understand Control Signal Specifications108
- Feedback Specifications114
- Functional Safety Features125
  - Hardwired STO Mode125
  - Integrated Mode125
Connect the Kinetix 5700 Drive System127
Chapter 5 Basic Wiring Requirements128
- Routing the Power and Signal Cables128
- Input Power Configurations for Kinetix 5700 Power Supplies129
  - DC-Bus Power Supply129
  - Regenerative Bus Supply132
- Ground Screw/Jumper Settings135
- Remove/Install the Ground Screw/Jumper137
- Ground the Drive System139
  - Ground the System Subpanel139
  - Ground Multiple Subpanels140
- Wiring Requirements141
- Wiring Guidelines145
- Wire the Power Connectors145
- Wire the Digital Input Connectors149
- Wire Motor Power and Brake Connectors152
  - Maximum Cable Lengths155
- Wiring Single Cables159
  - Motor Feedback Connections160
  - Apply the Single Motor Cable Shield Clamp161
- Wiring Power/Brake and Feedback Cables163
- Customer-Supplied Motor Power Cables178
- Accessory Module Connections181
- External Passive-Shunt Connections182
- External Active-Shunt Connections183
- Ethernet Cable Connections186
Configure and Start the Kinetix 5700 Drive System187
Chapter 6 Understand the Kinetix 5700 Display188
- Menu Screens189
- Setup Screens192
- Startup Sequence197
- Configure the Drive198
  - Set the Network Parameters198
- Studio 5000 Logix Designer198
  - Version History198
  - Install the Kinetix 5700 Add-On Profile199
- Configure the Logix 5000 Controller200
- Configure the Kinetix 5700 Drive Modules203
  - Configure the DC-Bus Power Supply203
  - Configure the Regenerative Bus Supply207
  - Configure the Inverter Drives211
  - Continue Inverter Configuration219
- Configure the Motion Group223
- Configure Regenerative Bus Supply Axis Properties224
- Configure Vertical Load Control Axis Properties229
- Configure Feedback-Only Axis Properties230
- Configure Induction-Motor Frequency-Control Axis Properties232
  - General and Motor Categories232
  - Basic Volts/Hertz Method234
  - Sensorless Vector Method236
  - Fan/Pump Volts/Hertz Method239
- Configure IPM Motor Closed-Loop Control Axis Properties241
- Configure SPM Motor Closed-Loop Control Axis Properties245
- Configure Induction-Motor Closed-Loop Control Axis Properties249
- Configure Feedback Properties256
  - Configure Module Properties256
  - Configure Axis Properties258
- Download the Program261
- Apply Power to the Kinetix 5700 Drive System262
- Understand Bus-Sharing Group Configuration263
  - Bus-Sharing Group Example263
  - Configure Bus-Sharing Groups265
- Test and Tune the Axes266
  - Test the Axes267
  - Tune the Axes269
- Safety Precautions275
Chapter 7 Interpret Status Indicators276
- Display Interface276
- Fault Code Overview276
- Fault Codes277
- SAFE FLT Fault Codes277
- Kinetix 5700 Status Indicators278
- Kinetix 5700 Accessory Module Status Indicators279
- Axis Troubleshooting280
- Regenerative Bus Supply Troubleshooting281
- Logix 5000 Controller and Drive Module Behavior283
- Before You Begin295
Chapter 8 Remove and Replace Kinetix 5700 Drive Modules296
- Remove Power and All Connections296
- Remove the Drive Module300
- Replace the Drive Module301
- Start and Configure the Drive Module302
  - Series B Drives302
- Overview305
Chapter 9306
- Certification306
- Average Frequency of a Dangerous Failure307
- Safe Torque-Off Feature307
- Out of Box State308
- Safe Torque-Off Status311
- Explicit Messages312
- Hardwired Safe Torque-Off314
- Integrated Safe Torque-Off323
Appendix A Interconnect Diagram Notes341
- Power Wiring Examples343
- Capacitor Module Status Wiring Example357
- DC-Bus Conditioner Module Status Wiring Example357
- Contactor Wiring Examples358
- Passive Shunt Wiring Examples359
- Active Shunt Wiring Examples360
- Kinetix 5700 Servo Drive and Rotary Motor Wiring Examples362
- Kinetix 5700 Servo Drive and Linear Actuator Wiring Examples367
- System Block Diagrams373
Before You Begin382
Appendix B383
- Configure Logix 5000 Controller Communication383
- Inhibit Feedback Only Axis384
- Upgrade Firmware385
- Verify the Firmware Upgrade389
Appendix C391
- Shared DC-Bus Definitions391
- General Sizing Guidelines393
- Shared DC-Bus Configurations391
- System Sizing Guidelines393
- System Sizing Example399
- System Sizing Application Example400
Maximum Motor Cable Lengths for Kinetix 5700 Power Supplies401
Appendix D402
- DC-Bus Power Supply Configurations402
- Regenerative Bus Supply Configurations404
Motor Control Feature Support405
Appendix E Frequency Control Methods406
- Basic Volts/Hertz407
- Basic Volts/Hertz for Fan/Pump Applications408
- Sensorless Vector409
- Current Limiting for Frequency Control410
- Stability Control for Frequency Control413
  - Enable the Stability Control Feature414
- Skip Speeds415
  - Multiple Skip Speeds416
- Flux up417
  - Flux up Attributes418
  - Configure the Flux up Attributes419
- Current Regulator Loop Settings420
- Motor Category420
  - Motor Tests and Autotune Procedure422
  - Motor Analyzer Category Troubleshooting423
- Selection of Motor Thermal Models426
  - Generic Motors426
  - Thermally Characterized Motors427
- Speed Limited Adjustable Torque (SLAT)428
- Motor Overload Retention439
- Phase Loss Detection440
- Velocity Droop443
- Adaptive Tuning445
- Commutation Test445
- Field Weakening Mode446
  - Extended Speed Feature446
  - Configure Extended Speed Operation447
Index449

Model	2198-P070
Type	Servo Drive
Input Voltage	200-240 VAC
Communication Protocol	EtherNet/IP
Series	Kinetix 6000
Protection Rating	IP20
Feedback Type	Rotary Feedback, Linear Feedback

Allen-Bradley 2198-P070 User Manual

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