Name: Allen-Bradley Kinetix 5500
Brand: Allen-Bradley
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Rockwell Automation Publication 2198-UM001I-EN-P - May 2019 261

Motor Control Feature Support Appendix D

Velocity Droop Configuration

Follow these steps to configure the velocity droop attribute.

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

2. Select the Parameter List category and scroll to VelocityDroop.

3. Enter a value in the Velocity Droop attribute appropriate for your

application.

4. Click OK.

Default Chapter3
- Table of Contents3
Preface11
- Summary of Changes11
- Access the Attachments12
- Additional Resources12
- Conventions Used in this Manual12
Chapter 1 About the Kinetix 5500 Servo Drive System15
Start15
- Drive Hardware and Input Power Configurations17
- Motor Feedback and Feedback-Only Configurations22
- Typical Communication Configurations23
- Safe Torque-Off Configurations26
  - Hardwired Safety Configuration26
  - Integrated Safety Configurations27
- Catalog Number Explanation29
- Agency Compliance30
Plan the Kinetix 5500 Drive System Installation31
Chapter 2 System Design Guidelines32
- AC Line Filter Selection33
- Transformer Selection34
- Circuit Breaker/Fuse Selection34
- 24V Control Power Evaluation37
- Contactor Selection37
- Passive Shunt Considerations38
- Enclosure Selection39
- Minimum Clearance Requirements40
- Electrical Noise Reduction41
Chapter 350
- Zero-Stack Tab and Cutout50
- Shared-Bus Connection System51
- Single-Axis Configurations52
- Multi-Axis Configurations52
- Determine Mounting Order50
- Drill-Hole Patterns53
- Mount Your Kinetix 5500 Drive60
- Kinetix 5500 Connector Data62
Chapter 463
- Module Status Connector Pinout63
- Safe Torque-Off Connector Pinout63
- Input Power Connector Pinouts64
- DC Bus and Shunt Resistor Connector Pinouts64
- Digital Inputs Connector Pinouts65
- Ethernet Communication Connector Pinout65
- Motor Power, Brake, and Feedback Connector Pinouts66
- Motor Feedback Connector Pinout66
- Understand Control Signal Specifications67
- Feedback Specifications70
  - Absolute Position Feature71
- Safe Torque-Off Safety Features72
  - Servo Drives with Hardwired Safety72
  - Servo Drives with Integrated Safety72
- Basic Wiring Requirements74
Chapter 5 Routing the Power and Signal Cables74
- Determine the Input Power Configuration75
  - Grounded Power Configurations75
  - Ungrounded Power Configurations77
- Ground Screw Settings78
- Remove the Ground Screws in Select Power Configurations79
- Ground the Drive System80
  - Ground the System Subpanel80
  - Ground Multiple Subpanels81
- Wiring Requirements82
- Wiring Guidelines83
- Wire the Power Connectors84
  - Wire the 24V Control Power Input Connector84
  - Wire the Input Power Connector85
- Wire the Digital Input Connectors86
  - Wire the Safe Torque-Off Connector86
  - Wire the Digital Inputs Connector87
- Wire Kinetix VP Motors and Actuators87
- Wire Other Allen-Bradley Motors and Actuators92
- Capacitor Module Connections104
- External Passive-Shunt Resistor Connections105
- Ethernet Cable Connections106
Configure and Start the Kinetix 5500 Drive System107
Chapter 6 Understand the Kinetix 5500 Display108
- Menu Screens109
- Setup Screens110
- Startup Sequence112
- Configure the Drive113
  - Set the Network Parameters113
- Studio 5000 Logix Designer113
  - Version History113
  - Install the Kinetix 5500 Add-On Profile114
- Configure the Logix 5000 Controller115
  - Configure the Kinetix 5500 Drive118
  - Configure the Motion Group128
- Configure Feedback-Only Axis Properties129
- Configure Induction-Motor Frequency-Control Axis Properties130
- Configure SPM Motor Closed-Loop Control Axis Properties138
- Download the Program142
- Apply Power to the Kinetix 5500 Drive143
  - Applying Power after Changing Input Voltage Range143
- Understand Bus-Sharing Group Configuration144
  - Bus-Sharing Group Example145
  - Configure Bus-Sharing Groups146
- Test and Tune the Axes148
  - Test the Axes148
  - Tune the Axes150
- Safety Precautions155
Chapter 7 Interpret Status Indicators156
- Display Interface156
- Fault Code Overview156
- Fault Codes157
- Kinetix 5500 Drive Status Indicators158
- Kinetix 5500 Capacitor Module Status Indicators159
- General Troubleshooting159
- Logix 5000 Controller and Drive Behavior161
Before You Begin165
Chapter 8 Remove and Replace Kinetix 5500 Servo Drives166
- Remove Power and All Connections166
- Remove the Servo Drive167
- Replace the Servo Drive167
- Start and Configure the Drive168
- Certification169
Chapter 9170
- Important Safety Considerations170
- Category 3 Requirements According to ISO 13849-1170
- Stop Category Definition170
- Performance Level (PL) and Safety Integrity Level (SIL)170
- Description of Operation171
  - Fault Codes172
- Probability of Dangerous Failure Per Hour173
- Safe Torque-Off Connector Data173
- Wire the Safe Torque-Off Circuit174
  - Safe Torque-Off Wiring Requirements174
- Safe Torque-Off Feature175
  - Safe Torque-Off Feature Bypass175
  - Cascade the Safe Torque-Off Signal176
- Safe Torque-Off Specifications176
- Certification177
Chapter 10178
- Important Safety Considerations178
- Safety Application Requirements178
- Category 3 Requirements According to ISO 13849178
- Stop Category Definition179
- Performance Level (PL) and Safety Integrity Level (SIL)179
- Description of Operation179
  - STO State Reset179
  - Fault Codes180
- Probability of Dangerous Failure Per Hour181
- Safe Torque-Off Feature181
- Out-Of-Box State182
  - Out-Of-Box State Support182
- Understand Integrated Safety Drive Replacement183
- Replace an Integrated Safety Drive in a Guardlogix System184
  - Configure Only When no Safety Signature Exists185
  - Configure Always185
- Motion Direct Commands in Motion Control Systems186
- Safe Torque-Off Specifications192
Appendix A Interconnect Diagram Notes193
Interconnect Diagrams193
- Power Wiring Examples194
  - Single-Axis Drive Wiring Examples194
  - Bus-Sharing Wiring Examples196
- Shunt Resistor Wiring Example198
- Kinetix 5500 Servo Drive and Rotary Motor Wiring Examples199
- Kinetix 5500 Drive and Linear Actuator Wiring Examples201
- System Block Diagrams205
Appendix B before You Begin208
- Configure Logix 5000 Controller Communication209
- Inhibit Feedback Only Axis210
Upgrade the Drive Firmware208
- Upgrade Firmware211
- Verify the Firmware Upgrade215
Appendix C Shared-Bus Configurations217
- Shared AC Configurations218
- Shared DC Configurations218
- Shared AC/DC Configurations220
- Shared AC/DC Hybrid Configurations221
Size Multi-Axis Shared-Bus Configurations217
- Power-Sharing Sizing Examples222
- Control Power Current Calculations224
  - Kinetix 5500 System Current Demand Example225
- Energy Calculations226
Motor Control Feature Support227
Appendix D Frequency Control Methods228
- Basic Volts/Hertz229
- Basic Volts/Hertz for Fan/Pump Applications230
- Sensorless Vector231
- Current Limiting for Frequency Control232
- Stability Control for Frequency Control235
  - Enable the Stability Control Feature236
- Skip Speeds237
  - Multiple Skip Speeds238
- Flux up239
  - Flux up Attributes240
  - Configure the Flux up Attributes241
- Current Regulator Loop Settings242
- Motor Category242
  - Motor Tests and Autotune Procedure244
  - Motor Analyzer Category Troubleshooting245
- Selection of Motor Thermal Models248
  - Generic Motors248
  - Thermally Characterized Motors249
- Speed Limited Adjustable Torque (SLAT)250
- Motor Overload Retention256
- Phase Loss Detection257
- Velocity Droop260

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Brand	Allen-Bradley
Model	Kinetix 5500
Category	Servo Drives
Language	English