Name: Rockwell Automation 2198-C4004-ERS
Brand: Rockwell Automation
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Rockwell Automation Publication 2198-UM005C-EN-P - February 2022 151

Chapter 7 Troubleshoot the Kinetix 5300 Drive System

Figure 61 - Drive Information

Figure 62 - Motor Information

Figure 63 - Encoder Diagnostics

Figure 64 - Network Settings

Table of Contents3
Preface9
About this Publication9
Summary of Changes9
Download Firmware, AOP, EDS, and Other Files9
Conventions Used in this Manual9
Access Fault Codes9
CIP Security10
Additional Resources10
About the Kinetix 530014
Servo Drive System14
Drive Hardware and Input Power Configurations15
Motor and Auxiliary Feedback Configurations18
Typical Communication Configurations19
Linear Topology19
Ring Topology20
Star Topology21
Safe Torque off Configuration22
Catalog Number Explanation23
Agency Compliance24
System Design Guidelines25
System Mounting Requirements25
AC Line Filter Selection26
Transformer Selection27
Circuit Breaker/Fuse Selection27
24V Control Power Evaluation29
Passive Shunt Considerations30
Enclosure Selection31
Minimum Clearance Requirements33
Electrical Noise Reduction34
HF Bond for Modules34
HF Bond for Multiple Subpanels36
Establish Noise Zones37
Cable Categories for Kinetix 5300 Systems38
Noise Reduction Guidelines for Drive Accessories38
Determine Mounting Order42
Zero-Stack Tab and Cutout42
Shared-Bus Connection System42
Drill-Hole Patterns44
Mount Your Kinetix 5300 Drive50
Connector Data and Feature Descriptions52
Kinetix 5300 Connector Data52
Safe Torque off Connector Pinout52
Input Power Connector Pinouts53
Shunt Resistor Connector Pinouts53
Ethernet Communication Connector Pinout53
Digital Inputs and Auxiliary Feedback Connector Pinouts54
Motor Power, Brake, and Feedback Connector Pinouts54
Understand Control Signal Specifications56
Digital Inputs56
Motor Holding-Brake Circuit56
Control Power58
Ethernet Communication Specifications58
Feedback Specifications58
Motor Feedback Supported on the MFB Connector59
Auxiliary Feedback Specifications61
Encoder Phasing Definitions63
Absolute Position Feature64
Safe Torque off Safety Features65
Servo Drives with Hardwired Safety65
Connect the Kinetix 5300 Drive System67
Basic Wiring Requirements67
Build Your Own Cables68
Routing the Power and Signal Cables68
Determine the Input Power Configuration69
Three-Phase Input Power69
Single-Phase Input Power70
Ground the Drive System71
Ground the System Subpanel71
Ground Multiple Subpanels72
Wiring Requirements73
Wiring Guidelines75
Wire the Power Connectors76
Wire the 24V Control Power Input Connector76
Wire the Input Power Connector77
Wire the Digital Input Connectors77
Wire the Safe Torque off Connector77
Wire the Digital Inputs and Auxiliary Feedback Connector78
Wire the Motor Power and Brake Connectors79
Servo Motor/Actuator and Cable Compatibility80
Motor Power and Brake Connections80
Maximum Cable Lengths82
Cable Preparation for Kinetix TLP Motor Power Cables83
Cable Preparation for 2090-Cpxm7Df Motor Power Cables83
Cable Preparation for Kinetix TL and TLY Motor Power Cables86
Apply the Motor Power/Brake Shield Clamp87
Wire the Motor Feedback Connector89
Cable Preparation for Kinetix TLP Feedback Cables90
Cable Preparation for 2090-Cfbm7Dx Feedback Cables90
Cable Preparation for Kinetix TL and TLY Feedback Cables91
Motor Feedback Cable Preparation92
Kinetix 2090 Feedback Cable Pinouts93
External Passive-Shunt Resistor Connections96
Ethernet Cable Connections97
Configure and Start up the Kinetix 5300  Drive System99
Understand the Kinetix 5300 Front Panel99
Menus and Display Screen100
Startup Sequence104
Configure the Kinetix 5300 Drive105
Set the Network Parameters105
Studio 5000 Logix Designer106
Version History106
Install the Kinetix 5300 Add-On Profile107
Configure the Logix 5000 Controller107
Configure the Kinetix 5300 Drive Modules110
Configure Drive Connections110
Continue Drive Configuration112
Configure the Motion Group115
Configure Vertical Load Control Axis Properties116
Configure Feedback-Only116
Axis Properties116
Configure Induction-Motor Frequency-Control Axis Properties118
General and Motor Categories118
Basic Volts/Hertz Method119
Sensorless Vector Method119
Fan/Pump Volts/Hertz Method121
Configure SPM Motor Closed-Loop Control Axis Properties122
Configure Induction-Motor Closed-Loop Control Axis Properties128
Configure Feedback Properties133
Configure Module Properties133
Configure Axis Properties134
Apply Power to the Kinetix 5300 Drive137
Test and Tune the Axes138
Test the Axes138
Tune the Axes140
Troubleshoot the Kinetix 5300 Drive System141
Safety Precautions141
Interpret Status Indicators141
Fault Code Overview142
Fault Codes143
Kinetix 5300 Drive Status Indicators143
General Troubleshooting144
Logix 5000 Controller and Drive Behavior145
Web Server Interface150
Before You Begin155
Remove and Replace Kinetix 5300 Servo Drives156
Remove Power and All Connections156
Remove the Servo Drive157
Replace the Servo Drive157
Start and Configure the Drive158
Certification159
Important Safety Considerations159
Category 3 Requirements According to ISO 13849-1160
Stop Category Definition160
Performance Level (PL) and Safety Integrity Level (SIL)160
Description of Operation160
Fault Codes162
Probability of Dangerous Failure Per Hour164
Safe Torque off Connector Data164
Wire the Safe Torque off Circuit165
Safe Torque off Wiring Requirements165
Safe Torque off Feature166
Safe Torque off Feature Bypass166
Cascade the Safe Torque-Off Signal167
STO Recovery Time167
Safe Torque off Specifications168
Interconnect Diagram Notes169
Power Wiring Examples170
Shunt Resistor Wiring Example172
Kinetix 5300 Servo Drive and Rotary Motor Wiring Examples173
Kinetix 5300 Drive and Linear Actuator Wiring Examples179
System Block Diagrams184
Before You Begin185
Inhibit the Module186
Upgrade Your Firmware187
Use Controlflash Plus Software to Upgrade Your Drive187
Firmware187
Use Controlflash Software to Upgrade Your Drive Firmware191
Verify the Firmware Upgrade195
Motor Control Feature Support197
Frequency Control Methods198
Basic Volts/Hertz199
Basic Volts/Hertz for Fan/Pump Applications200
Sensorless Vector201
Current Limiting for Frequency Control202
The Effects of Current Limiting202
Enable the Current Limiting Feature204
Set the Currentvectorlimit Attribute Value204
Stability Control for Frequency Control205
Enable the Stability Control Feature206
Skip Speeds207
Multiple Skip Speeds208
Flux up209
Flux up Attributes210
Configure the Flux up Attributes211
Current Regulator Loop Settings212
Motor Category212
Motor Tests and Autotune Procedure214
Motor Analyzer Category Troubleshooting215
Selection of Motor Thermal Models217
Generic Motors217
Thermally Characterized Motors218
Speed Limited Adjustable Torque (SLAT)219
Motion Polarity Setting219
SLAT Min Speed/Torque219
SLAT Max Speed/Torque220
SLAT Attributes221
Configure the Axis for SLAT221
Motion Drive Start (MDS) Instruction224
Motor Overload Retention229
Phase Loss Detection230
Phase-Loss Detection Configuration231
Phase Loss Detection Current Example232
Velocity Droop233
Closed Loop Control233
Frequency Control233
Velocity Droop Attribute233
Velocity Droop Configuration234
Commutation Self-Sensing Startup234
Commutation Test236
Adaptive Tuning236
Virtual Torque Sensor237

Rockwell Automation 2198-C4004-ERS User Manual

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Brand	Rockwell Automation
Model	2198-C4004-ERS
Category	Servo Drives
Language	English