Allen-Bradley Kinetix 5100 2198-E1004-ERS - Page 488

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

Appendix D Full Closed Loop Control

Notes:

Table of Contents

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

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