Allen-Bradley Kinetix 5100 2198-E1004-ERS - Configure Position, Velocity, and Current Loops

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Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 155

Configure the Drive with KNX5100C Software Chapter 7

Click Download to download any changed parameters to the servo drive.

Configure Position,

Velocity, and Current Loops

Which loop type you can configure depends on the configured operating mode.

Each dialog box lets you configure the parameters for the gain and filter values

that correspond to the command type.

Configure Position Loop

From the Function List, choose Position Loop to change the parameters that

apply to position command.

Table 62 - Relevant Parameters

Parameter Name

ID185 (P2.000) PositionProportionalGain

ID187 (P2.002) VelocityFeedforwardGain

ID188 (P2.003) VelocityFeedforwardLowPassFilterTimeConstant

ID235 (P2.053) PositionIntegralGain

Main Page

Default Chapter2
- Important User Information2
- Table of Contents3
- Additional Resources7
- Conventions7
Preface7
Chapter 1 About the Kinetix 5100 Drive System10
- System Overview10
- Typical Hardware Configuration11
- Motor and Auxiliary Feedback Configurations12
  - Linear Communication Installation13
  - Linear Topology13
- Typical Communication Configurations13
- Typical Control Configurations16
  - Drive System with PLC Controller and Explicit Messaging Control17
  - System with PLC Controller and PTO, Analog or Digital I/O Control18
- Catalog Number Explanation19
- Safe Torque off Configurations19
- Single-Axis Ethernet/Ip Servo Drives19
- Agency Compliance20
- Servo Drive Accessories20
Chapter 221
- Planning and Installation21
- System Design Guidelines21
- Electrical Noise Reduction30
- Mount Your Kinetix 5100 Drive37
- Kinetix 5100 Connector Data40
Chapter 347
- Control Signal Specifications47
- Feedback Specifications64
- Safe Torque off Features69
  - Dual Mode70
  - Multi Mode70
- Operation Modes70
- Single Mode70
- Basic Wiring Requirements71
Chapter 472
- Determine the Input Power Configuration72
- Ground the Drive System77
- Wiring Requirements78
- Wiring Guidelines80
- Input Power Connector Specifications81
- Wire the Input Power Connectors81
- I/O Terminal Expansion Block Specifications82
- Wire the I/O Connector82
- Wire the Safe Torque off Connector82
- Wire the Motor Power Connector83
- Motor Feedback Connections89
- External Passive-Shunt Connections92
  - Shunt Connector Specifications93
  - Controllogix and Compactlogix Ethernet Port Locations94
- Ethernet Cable Connections94
- Interface Use95
Keypad Input and Panel Display95
Chapter 596
- Drive Displays96
- Edit Settings from the Display101
Chapter 6109
- Set Network Parameters by Using the Display109
- Set up Ethernet/Ip Communication109
- Set Network Parameters by Using the KNX5100C Software111
- Configure IP Address by Using BOOTP/DHCP Tool112
- Before You Begin115
Chapter 7121
- Connect to the Drive121
- Set the IP Address122
- Parameter Editor135
  - Parameter Toolbar137
  - Parameter Wizard137
- Choose an Operation Mode138
- Configure Settings142
- Configure Position, Velocity, and Current Loops155
- Digital I/O and Jog Function in KNX5100C Software158
Chapter 8162
- Configure the Logix 5000 Controller162
- Configure the Kinetix 5100 Drive Modules166
- Download the Program168
Chapter 9 Tuning Process169
- Autotuning170
- Tuning Via Tuning Mode 1 and Tuning Mode 2181
- Tuning in Manual Mode188
Chapter 10191
- Mechanical Resonance Suppression191
- Selecting Manual Mode Tuning191
- Modes of Operation193
Select Operation Mode and Direction Control193
- YX: Control Mode Setting194
- Position Control195
- Speed Mode210
- Torque Mode223
- Dual and Multi-Modes227
- I/O Mode230
- Speed and Torque Limit Functions242
Detailed Operation in PR Mode247
- Motion Control in PR Mode247
- PR Command Setting and Data Definitions248
- Setting Parameters for each PR Command248
- PR Command Setting249
- Shared PR Parameters252
- Monitoring Variables in PR Mode253
- Timing Diagram of PR Mode Monitoring Variables254
- Monitoring Variables’ Status When Executing a Command in PR Mode255
- Operation of DI and DO Signals in PR Mode255
Chapter 11256
- Homing256
- Speed Control Command267
- PR Mode Speed Screen268
- Position Control Command269
- Jump Command272
- Write Command273
- Index Position Command275
  - PR Mode Indexing Coordinates276
  - PR Mode Index Position Screen277
- Arithmetic Operations Commands278
- Trigger Method for PR Commands294
- PR Execution Process300
High-Speed Position Capture Function (CAP)315
- Motion Control Applications315
- High-Speed Position Capture, Additional Information317
- 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 Example321
Chapter 12322
- High-Speed Position Compare Function (CMP)322
- E-Cam333
- Macro Commands367
- Certification375
Chapter 13377
- Description of Operation377
- Average Frequency of a Dangerous Failure Per Hour381
  - Drive Safe Torque off Connector Pinout382
  - Pin Orientation for 8-Pin Safe Torque-Off Connector382
- Safe Torque off Connector Data382
  - Safe Torque off Terminal Plug383
  - Safe Torque off Wiring Requirements383
- Wire the Safe Torque off Circuit383
- Safe Torque off Bypass Wiring384
- Safe Torque off Feature384
- Cascade the Safe Torque off Signal385
- Safe Torque off Specifications385
- Safe Torque off Wiring Diagrams386
Chapter 14389
- Compatible Servo Motors389
System Requirements389
- Install the Battery390
- Organization of Parameters403
Chapter 15405
- Description of Digital Input Functions405
- Description of Digital Output Functions410
- Description of System Variable Monitoring417
- Description of Parameter Monitoring422
- Use a MSG Instruction to Set Parameters423
Chapter 16425
- Safety Precautions425
- Status Indicators425
- View Status and Faults427
  - Fault Information in the KNX5100C Software429
  - Fault and Status Information in Studio 5000 Application430
- Clear Faults431
- Drive Stopping Behavior431
- General Troubleshooting431
Interconnect Diagram Notes435
Appendix A436
- Power Wiring Examples436
- Digital I/O Wiring439
- Digital Output Wiring440
- Passive Shunt Wiring Example441
- Drives with Kinetix TLP-Axxx Servo Motors442
- Kinetix 5100 Drive/Rotary Motor Wiring Examples442
- Drives with Bulletin MPL-Axx, MPM-Axx, MPF-Axx, and MPS-Axx Motors443
- System Block Diagram444
- Upgrade the Drive Firmware445
Before You Begin446
- System Requirements446
- Configure Logix 5000 Controller Communication447
- Inhibit Configure Logix 5000 Controller Communication449
Appendix B450
- Upgrade the Firmware450
- Verify the Firmware Upgrade454
- Use Add-On Instructions455
Appendix C456
Download the Add-On Instruction Files and Data Types456
- Import the Add-On Instruction Files and Data Types456
  - Add a New Program458
  - Add a New Routine458
- Create an Application458
- Add Add-On Instruction to Your Routine459
- Add-On Instruction Configuration459
- Error Codes462
- Add-On Instruction Details464
- Full Closed Loop Control485
Full Closed-Loop Control486
- Get Started489
- Use the Scope Function in the Software489
Appendix D490
Appendix E490
- Quick Setup of Communication Channels490
- Scope Functions490
- Select Communication Channels491
- Enable Stop Condition494
- FFT Display and Show RMS Value495
- Fine-Tune the Scope496
- Set Preferences497
- Use Popup Menu for Save Options498

Allen-Bradley Kinetix 5100 2198-E1004-ERS - Configure Position, Velocity, and Current Loops

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