Rockwell Automation Allen-Bradley Kinetix 5500

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Rockwell Automation Publication 2198-UM001M-EN-P - November 2022 177

Chapter 10 Kinetix 5500 Safe Torque Off - Integrated Safety

Figure 87 - Axis and Safe State Indications on Motion Direct Commands Dialog Box

Figure 88 - Axis and Safe State Indications on the Motion Console Dialog Box

Main Page

Table of Contents3
Preface9
Download Firmware, and Other Associated Files9
Summary of Changes9
Access Fault Codes List9
Conventions Used in this Manual9
Additional Resources10
About the Kinetix 550013
Servo Drive System13
Drive Hardware and Input Power Configurations15
Standalone Configurations15
Shared AC/DC Configurations17
Shared DC Common-Bus Configurations18
Shared AC/DC Hybrid Configuration19
Motor Feedback and Feedback-Only Configurations20
Typical Communication Configurations21
Linear Topology21
Ring Topology22
Star Topology23
Safe Torque off Configurations24
Hardwired Safety Configuration24
Integrated Safety Configurations25
Catalog Number Explanation27
Agency Compliance28
System Design Guidelines29
AC Line Filter Selection30
Transformer Selection31
Circuit Breaker/Fuse Selection31
24V Control Power Evaluation34
Contactor Selection34
Passive Shunt Considerations35
Enclosure Selection36
Minimum Clearance Requirements37
Electrical Noise Reduction38
Bonding Modules38
Bonding Multiple Subpanels40
Establishing Noise Zones41
Cable Categories for Kinetix 5500 Systems42
Noise Reduction Guidelines for Drive Accessories42
Determine Mounting Order46
Zero-Stack Tab and Cutout46
Shared-Bus Connection System47
Single-Axis Configurations48
Multi-Axis Configurations48
Drill-Hole Patterns49
Mount Your Kinetix 5500 Drive56
Connector Data and Feature Descriptions58
Kinetix 5500 Connector Data58
Module Status Connector Pinout59
Safe Torque off Connector Pinout59
Input Power Connector Pinouts59
DC Bus and Shunt Resistor Connector Pinouts60
Digital Inputs Connector Pinouts60
Ethernet Communication Connector Pinout61
Motor Power, Brake, and Feedback Connector Pinouts61
Motor Feedback Connector Pinout61
Understand Control Signal Specifications62
Digital Inputs62
Ethernet Communication Specifications63
Motor Brake Circuit63
Control Power64
Feedback Specifications65
Absolute Position Feature65
Safe Torque off Safety Features66
Servo Drives with Hardwired Safety66
Servo Drives with Integrated Safety66
Connect the Kinetix 5500 Drive System67
Basic Wiring Requirements68
Routing the Power and Signal Cables68
Determine the Input Power Configuration69
Grounded Power Configurations69
Ungrounded Power Configurations71
Ground Screw Settings72
Remove the Ground Screws in Select Power Configurations73
Ground the Drive System74
Ground the System Subpanel74
Ground Multiple Subpanels75
Wiring Requirements76
Wiring Guidelines77
Wire the Power Connectors78
Wire the 24V Control Power Input Connector78
Wire the Input Power Connector79
Wire the Digital Input Connectors80
Wire the Safe Torque off Connector80
Wire the Digital Inputs Connector80
Wire Kinetix VP Motors and Actuators80
Maximum Cable Lengths81
Motor Power Connections81
Motor Brake Connections82
Motor Feedback Connections83
Apply the Single Motor-Cable Shield Clamp84
Wire Other Motors and Actuators86
Install the Kinetix 5500 Add-On Profile86
Motor Power and Brake Connections87
Motor Power/Brake Cable Series Change88
Maximum Cable Lengths89
Motor Power/Brake Cable Preparation89
Apply the Motor Power/Brake Shield Clamp91
Motor Feedback Connections92
Motor Feedback Cable Preparation94
Capacitor Module Connections96
External Passive-Shunt Resistor Connections97
Ethernet Cable Connections98
Configure and Start the Kinetix 5500 Drive System99
Understand the Kinetix 5500 Display100
Menu Screens101
Setup Screens102
Startup Sequence104
Configure the Drive105
Set the Network Parameters105
Studio 5000 Logix Designer105
Version History105
Install the Kinetix 5500 Add-On Profile106
Configure the Logix 5000 Controller107
Configure the Kinetix 5500 Drive110
Configure the Motion Group119
Configure Feedback-Only Axis Properties120
Configure Induction-Motor Frequency-Control Axis Properties121
General and Motor Categories121
Basic Volts/Hertz Method122
Sensorless Vector Method124
Fan/Pump Volts/Hertz Method126
Configure SPM Motor Closed-Loop Control Axis Properties127
Download the Program131
Apply Power to the Kinetix 5500 Drive132
Applying Power after Changing Input Voltage Range132
Understand Bus-Sharing Group Configuration133
Bus-Sharing Group Example133
Configure Bus-Sharing Groups134
Test and Tune the Axes136
Test the Axes136
Tune the Axes138
Troubleshoot the Kinetix 5500 Drive System143
Safety Precautions143
Interpret Status Indicators144
Display Interface144
Fault Code Overview144
Fault Codes145
Kinetix 5500 Drive Status Indicators146
Kinetix 5500 Capacitor Module Status Indicators147
General Troubleshooting147
Logix 5000 Controller and Drive Behavior149
Before You Begin153
Remove and Replace Kinetix 5500 Servo Drives154
Remove Power and All Connections154
Remove the Servo Drive155
Replace the Servo Drive155
Start and Configure the Drive156
Certification157
Important Safety Considerations157
Category 3 Requirements According to ISO 13849-1158
Stop Category Definition158
Performance Level (PL) and Safety Integrity Level (SIL)158
Description of Operation159
Fault Codes160
Probability of Dangerous Failure Per Hour161
Safe Torque off Connector Data161
Wire the Safe Torque off Circuit162
Safe Torque off Wiring Requirements162
Safe Torque off Feature163
Safe Torque off Feature Bypass163
Cascade the Safe Torque-Off Signal164
Safe Torque off Specifications164
Certification165
Important Safety Considerations165
Safety Application Requirements166
Category 3 Requirements According to ISO 13849166
Stop Category Definition166
Performance Level (PL) and Safety Integrity Level (SIL)167
Description of Operation167
STO State Reset167
Fault Codes168
Probability of Dangerous Failure Per Hour168
Safe Torque off Feature169
Out-Of-Box State169
Out-Of-Box State Support169
Understand Integrated Safety Drive Replacement171
Replace an Integrated Safety Drive in a Guardlogix System171
Configure Only When no Safety Signature Exists172
Configure Always172
Motion Direct Commands in Motion Control Systems173
Commands173
Logix Designer Application Warning Messages174
Torque Permitted in a Multi-Workstation Environment176
Warning Icon and Text in Axis Properties176
Functional Safety Considerations178
Safe Torque off Specifications178
Interconnect Diagrams179
Interconnect Diagram Notes179
Power Wiring Examples180
Single-Axis Drive Wiring Examples180
Bus-Sharing Wiring Examples182
Shunt Resistor Wiring Example184
Kinetix 5500 Servo Drive and Rotary Motor Wiring Examples185
Kinetix 5500 Drive and Linear Actuator Wiring Examples187
System Block Diagrams191
Update the Drive Firmware193
Before You Begin193
Configure Logix 5000 Controller Communication194
Inhibit Feedback Only Axis195
Update Firmware196
Verify the Firmware Update199
Size Multi-Axis Shared-Bus Configurations201
Shared-Bus Configurations201
Shared AC Configurations201
Shared DC Configurations202
Shared AC/DC Configurations204
Shared AC/DC Hybrid Configurations205
Power-Sharing Sizing Examples206
Shared DC Example206
Shared AC/DC Hybrid Example207
Shared AC/DC Example208
Control Power Current Calculations208
Kinetix 5500 System Current Demand Example209
Energy Calculations209
Motor Control Feature Support211
Frequency Control Methods212
Basic Volts/Hertz213
Basic Volts/Hertz for Fan/Pump Applications214
Sensorless Vector215
Current Limiting for Frequency Control216
The Effects of Current Limiting216
Enable the Current Limiting Feature218
Set the Currentvectorlimit Attribute Value218
Stability Control for Frequency Control219
Enable the Stability Control Feature220
Skip Speeds221
Multiple Skip Speeds222
Flux up223
Flux up Attributes224
Configure the Flux up Attributes225
Current Regulator Loop Settings225
Motor Category226
Motor Tests and Autotune Procedure228
Motor Analyzer Category Troubleshooting229
Selection of Motor Thermal Models231
Generic Motors231
Thermally Characterized Motors231
Speed Limited Adjustable Torque (SLAT)232
Motion Polarity Setting233
SLAT Min Speed/Torque233
SLAT Max Speed/Torque234
SLAT Attributes234
Configure the Axis for SLAT235
Motor Overload Retention238
Phase Loss Detection239
Phase-Loss Detection Attributes239
Phase-Loss Detection Configuration240
Phase Loss Detection Current Example241
Velocity Droop241
Closed Loop Control241
Frequency Control242
Velocity Droop Attribute242
Velocity Droop Configuration242
Commutation Test243
Adaptive Tuning243
History of Changes245
2198-Um001L-En-P245
2198-Um001K-En-P245
2198-Um001J-En-P245
2198-Um001I-En-P246
2198-Um001H-En-P246
2198-Um001G-En-P247
2198-Um001F-En-P247
2198-Um001E-En-P247
2198-Um001D-En-P248
2198-Um001C-En-P249
2198-Um001B-En-P249
Index251

Rockwell Automation Allen-Bradley Kinetix 5500

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