Rockwell Automation Allen-Bradley Kinetix 5100

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336 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022

Chapter 11 Motion Control in PR Mode

Figure 142 - Indexing Coordinates Setting Wizard in PR Mode

Main Page

Table of Contents3
Preface13
Summary of Changes13
Conventions13
Access Fault Codes and Parameter List13
Additional Resources14
Start17
About the Kinetix 5100 Drive System17
Typical Hardware Configuration19
Motor and Auxiliary Feedback Configurations20
Typical Communication Configurations21
Linear Topology21
Ring Topology22
Star Topology23
Typical Control Configurations24
Logix Enabled Using a Class 1 Ethernet/Ip Connection25
Micro800 Using a Class 3 Ethernet/Ip Connection26
Pulse Train Output Control with Motion User Defined Function Block27
Catalog Number Explanation28
Agency Compliance29
Plan and Install the Kinetix 5100 Drive System31
System Design Guidelines31
System Mounting Requirements31
AC Line Filter Selection32
Circuit Breaker/Fuse Selection33
Transformer Selection35
Passive Shunt Considerations35
Enclosure Selection36
Minimum Clearance Requirements38
Electrical Noise Reduction40
HF Bond the Drives40
HF Bond Multiple Subpanels42
Establish Noise Zones43
Cable Categories for Kinetix 5100 Drive Systems44
Noise Reduction Guidelines for Drive Accessories44
Mount Your Kinetix 5100 Drive47
Drill-Hole Patterns47
Mount the Drive48
Connector Data and Feature Descriptions50
Kinetix 5100 Connector Data50
Safe Torque-Off Connector Pinout52
Power Connector Pinouts53
Auxiliary Feedback Connector Pinout56
Ethernet Communication Connector Pinout57
Control Signal Specifications57
Digital Inputs57
Digital Outputs60
Analog Inputs63
Pulse Inputs63
Analog Outputs65
Buffered Encoder Outputs65
Ethernet Communication Specifications67
Motor Brake Circuit68
Control Power71
Feedback Specifications72
Motor Feedback Supported by Using the MFB Connector73
Auxiliary Feedback Specifications74
Encoder Phasing Definitions75
Absolute Position Feature76
Safe Torque off Feature77
Operation Modes77
Connect the Kinetix 5100 Drive System79
Basic Wiring Requirements79
Build Your Own Cables80
Route Power and Signal Wiring80
Determine the Input Power Configuration80
Three-Phase Power Wired to Three-Phase Drives81
Single-Phase Input Power Used with Single-Phase Drives82
Three-Phase Input Power Used with Single-Phase Drives83
Voiding of CE and UK Compliance84
Using Isolation Transformers with Grounded Power Configurations84
Ground the Drive System85
Ground Your Drive to the System Subpanel85
Ground Multiple Subpanels86
Wiring Requirements86
Wiring Guidelines88
Wire the Input Power Connectors89
Wire the I/O Connector91
Wire the Safe Torque off Connector91
Wire the Motor Power Connector91
Servo Motor and Motor Cable Compatibility93
Motor Power and Brake Cables94
Maximum Cable Length95
Cable Preparation for Kinetix TLP Servo Motors96
Cable Preparation for Kinetix MP Servo Motors97
Cable Preparation for Kinetix TL and TLY Motor Power Cables98
Apply the Cable Shield Clamp98
Motor Brake Connections100
Wire the Motor Feedback Connector100
Cable Preparation for Kinetix TLP Feedback Cables101
Cable Preparation for 2090-Cfbm7Dx Feedback Cables102
Cable Preparation for Kinetix TL and TLY Feedback Cables102
Motor Feedback Cable Preparation103
Kinetix 2090 Feedback Cable Pinouts105
External Passive-Shunt Resistor Connections108
Ethernet Cable Connections110
Set up Ethernet/Ip Communication112
Set Network Parameters by Using the Keypad Interface112
Set Network Parameters by Using KNX5100C Software114
Configure IP Address by Using BOOTP-DHCP Tool115
Use the Keypad Interface117
Keypad Input and Panel Display117
Drive Displays118
Real Time Data118
Drive Status Display121
Edit Settings from the Display122
Edit Network Settings122
Edit Parameter Settings124
Reset the Drive Via Keypad125
Display Low Byte, High Byte, and Negative Values126
Display Fault Record127
Diagnosis Parameters Via Keypad127
Display Firmware Upgrade Information128
Configure the Drive with KNX5100C Software129
Before You Begin129
Download KNX5100C Software130
Launch KNX5100C Configuration Tool130
Connect to the Drive/Set Your COM Port132
Configure Drive Settings134
Set the IP Address134
Configure the Motor Selection in KNX5100C Software134
Data Source135
Selection of Motor Thermal Models146
Motor Feedback148
Run a Commutation Test150
Parameter Editor152
Parameter Wizard154
Parameter Toolbar154
Choose an Operation Mode156
Using the Operation Mode Selection List156
Using the Setting Page157
Using the Parameter Editor157
Configure Settings159
Configure General Settings160
Configure the Command Source164
Configure the Pulse Outputs168
Configure Electronic Gear (E-Gear) Ratio169
Configure Filter174
Configure Notch Filter176
Configure Limits177
Configure Analog I/O178
Configure Position, Velocity, and Current Loops182
Configure Position Loop182
Configure Velocity Loop183
Configure Current Loop184
Digital I/O and Jog Function in KNX5100C Software184
Configuration and Status of Digital Input (DI) and Digital Output (DO) Signals185
Edit DIO Configurations187
Jog Function188
Configure the Drive in Studio 5000 Logix Designer Application189
Studio 5000 Logix Designer Application189
Version History189
Install the Kinetix 5100 Add-On Profile190
Configure the Logix 5000 Controller190
Configure the Kinetix 5100 Drive Modules194
Support Automatic Device Configuration (ADC) in AOP Version 2 and Later196
Connection RPI197
Inhibiting/Un-Inhibiting an I/O Connection197
Download the Program198
Tuning199
Tuning Process200
Reset Gains to Default200
Bandwidth200
Autotuning203
Autotuning Configuration Parameters203
Autotuning Via the Drive Panel204
Autotuning Via KNX5100C Software206
Alarms Related to Autotuning211
Tuning Via Tuning Mode 1 and Tuning Mode 2212
Tuning Mode Process212
Tuning Mode 1213
Tuning Mode 2215
Tuning in Manual Mode218
Nested P-I Loop Gain Adjustment218
Manual Mode Tuning218
Gain Adjustment of the Position Loop220
Gain Adjustment of Velocity Loop222
Low Frequency Vibration Suppression in Position Mode226
Mechanical Resonance Suppression227
System Analysis228
Phase Margin and Gain Margin228
Guidelines for Gain/Phase Margin229
Method for Using the System Analysis Tool229
System Analysis Results231
Modes of Operation233
Select Operation Mode and Direction Control234
Change Using the Parameter Editor by Using KNX5100C Software or Programmatically234
Position Control236
Mode (Position Command with I/O Terminal Block Input)237
Pulse Command Input Inhibitor (INHP)240
Analog Input240
PR Mode (Position Command with Internal Register Input)243
Control Structure of Position Mode244
Position Mode Timing (PR Mode)245
Speed Mode246
Configure and Select the Preset Speeds246
Scaling the Analog Command (Speed Mode)247
Control Structure of Speed Mode248
Speed Mode Timing249
Zero Speed Threshold Function249
Torque Mode252
Selection of Torque Command252
Control Structure of Torque Mode253
Scaling of Analog Command (Torque Mode)254
Torque Mode Timing255
Filter256
Position Mode256
Speed Mode257
Torque Mode Low Pass Filter262
Speed and Torque Limit Functions263
Speed Limits263
Apply a Speed Limit264
Torque Limits265
Apply the Torque Limit267
Enable/Disable Limits by Using Velocitytorquelimitaction268
Dual and Multi-Modes269
IO Mode271
IO Mode - Position279
IO Mode - Home279
IO Mode - Gear280
IO Mode - Index281
IO Mode - Speed281
IO Mode - Torque281
Analog Outputs and Monitoring282
Motion Control in PR Mode285
Detailed Operation in PR Mode286
Parameter Editor286
PR Mode Definitions288
Shared PR Parameters293
Monitoring Variables in PR Mode294
Homing298
Setting Homing Mode ID297 (P5.004) - PR Mode298
Configuring Homing Setting ID397 (P6.000) - PR Mode299
Homing Speed and Position300
Operation of Homing Types300
Constant Speed Control324
Position Control Command326
Position Command Types327
Jump Command329
Write Command331
Index Position Command333
Hex Settings for Index Coordinate System334
Index Coordinates Settings Wizard335
Index Position Command Operation338
Arithmetic Operation Commands339
Arithmetic Operations339
Use the PR Mode Editor in KNX5100C Software342
Speed and Time Settings343
General Parameter Settings344
Homing Setting345
PR Mode Setting346
Display of PR Procedure in KNX5100C Software348
Parts of the PR Display348
Homing PR Display349
Speed Command PR Display350
Position Command PR Display351
Jump Command PR Display352
Write Command PR Display352
Index Position Command PR Display353
Arithmetic Operation PR Display354
Trigger Methods for PR Commands354
Digital Input (DI) Trigger354
Event Trigger356
Use PR Command Trigger ID300 (P5.007)357
Use IO Mode and Add-On Instruction357
PR Execution Process358
Sequence Command Execution359
Command Interrupts Execution363
Overlap Command Execution369
Arithmetic Operation Command Execution370
Motion Control Applications371
High-Speed Position Capture Function (CAP)371
Using PR Command Programming with the Capture Function375
High-Speed Position Compare Function (CMP)378
Data Array383
E-Cam384
E-CAM Control Settings386
Master Axis Signal Source388
Clutch Engagement and Disengagement392
E-CAM Alignment397
E-CAM Profile Types400
Kinetix 5100 Safe Torque off409
Certification410
Important Safety Considerations410
Category 3 Requirements According to ISO 13849-1410
Stop Category Definition410
Performance Level (PL) and Safety Integrity Level (SIL)410
Description of Operation411
STO-Related Fault Codes412
Average Frequency of a Dangerous Failure Per Hour414
Safe Torque off Connector Data415
Wire the Safe Torque off Circuit415
Safe Torque off Wiring Requirements416
Safe Torque off Feature416
Safe Torque off Feature Bypass417
Cascade the Safe Torque off Signal417
Safe Torque off Specifications418
Safe Torque off Wiring Diagrams418
Absolute Position Recovery423
System Requirements423
Compatible Servo Motors423
Install the Battery425
System Initialization426
Pulse Number427
PUU Number429
Initializing the Absolute Coordinates with Parameters429
Programming Via Drive Parameters431
Organization of Parameters431
Parameter Groups431
Description of Digital Input Functions433
Description of Digital Output Functions437
Description of System Variable Monitoring440
Panel Display440
System Variable Monitoring Parameters440
System Variables List441
Description of Parameter Monitoring445
Use a MSG Instruction to Set Parameters447
Troubleshoot the Kinetix 5100 Drive System449
Safety Precautions449
Status Indicators449
View Status and Faults450
Drive Fault Code Display450
Monitoring Status in KNX5100C Software451
Fault Information in the KNX5100C Software452
Fault and Status Information in Studio 5000 Application453
Drive Stopping Behavior454
Clear Faults454
General Troubleshooting455
Interconnect Diagrams457
Interconnect Diagram Notes457
Power Wiring Examples458
Passive Shunt Wiring Examples463
Kinetix 5100 Drive/Rotary Motor Wiring Examples464
Kinetix 5100 Servo Drive and Linear Actuator Wiring Examples470
System Block Diagram475
Upgrade Kinetix 5100 Drive Firmware477
Before You Begin477
Inhibit the Module478
Upgrade Your Firmware479
Use Controlflash Plus Software to Upgrade Your Drive Firmware479
Use Controlflash Software to Upgrade Your Drive Firmware482
Verify the Firmware Upgrade487
Use Add-On Instructions489
Use of the Add-On Instruction Library489
Kinetix 5100 Drive Device Object Add-On Instructions490
Download the Add-On Instruction Files and Data Types492
Import the Add-On Instruction Files and Data Types (Version 1.XXX)492
DVC Add-On Instruction Configuration (Version 1.XXX)494
Create the Add-On Instruction Tag494
Create the Ref_Axis Tag495
Configure the Add-On Instruction496
General Execution Rules for Add-On Instructions496
Opr Add-On Instruction Configuration497
Rac_Udt_Itf_K5100_Cfg497
Rac_Udt_Itf_K5100_Set498
Rac_Udt_Itf_K5100_Cmd500
Rac_Udt_Itf_K5100_Sts501
Rac_Udt_Lookupmember_Str0082502
Rac_Udt_Event503
Add-On Instruction Details504
Rac_Xxx_K5100_Mso504
Rac_Xxx_K5100_Msf505
Rac_Xxx_K5100_Mafr506
Rac_Xxx_K5100_Mas508
Rac_Xxx_K5100_Maj509
Rac_Xxx_K5100_Mam511
Rac_Xxx_K5100_Mai515
Rac_Xxx_K5100_Mag517
Rac_Xxx_K5100_Mah520
Rac_Xxx_K5100_Mat522
Error Codes524
Full Closed-Loop Control526
Use the Scope Function in KNX5100C Software529
Get Started529
Scope Functions530
Quick Setup of Communication Channels530
Select Communication Channels531
Enable Stop Condition534
FFT Display and Show RMS Value535
Fine-Tune the Scope536
Set Preferences537
Use Popup Menu for Save Options538
Automatic Device Configuration539
New Kinetix Drive ADC Preparation539
Get Started541
Compare the Configuration Data542
Upload the Configuration Data543
Overwrite the Configuration Data544
History of Changes545
Index547

Rockwell Automation Allen-Bradley Kinetix 5100 - Page 336

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