Rockwell Automation Allen-Bradley Kinetix 5700

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318 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021

Chapter 9 Kinetix 5700 Safe Torque-off Function

Notes:

Main Page

Table of Contents3
Preface11
Download Firmware, AOP, EDS, and Other Files11
Summary of Changes11
Access Fault Codes11
Conventions Used in this Manual12
CIP Security12
Additional Resources13
Start15
Kinetix 5700 Servo Drives Series Change16
About the Kinetix 5700 Servo Drive System16
DC-Bus Power Supply Input Power Configurations19
Typical DC-Bus Power Supply Configuration Example19
Multiple DC-Bus Power Supply Configuration Example20
Extended DC-Bus Configuration Example21
Itrak Power Supply Configuration Example22
Regenerative Bus Supply Input Power Configurations23
Typical Regenerative Bus Configuration Examples23
Extended Regenerative Bus Configuration Example26
8720MC-RPS Power Supply Input Power Configuration27
Motor and Auxiliary Feedback Configurations28
Typical Communication Configurations29
Linear Topology29
Ring Topology30
Star Topology31
Functional Safety Configurations32
Hardwired Configuration32
Integrated Safety Configurations33
Safe Stop and Safe Monitor Configurations35
Catalog Number Explanation36
Agency Compliance37
System Design Guidelines39
System Mounting Requirements39
DC-Bus Voltage Regulation40
AC Line Filter Selection42
AC Line Impedance Considerations43
Circuit Breaker/Fuse Selection46
24V Control Power Evaluation47
Contactor Selection48
Passive Shunt Considerations49
Active Shunt Considerations50
Enclosure Selection51
Minimum Clearance Requirements53
Multi-Axis Shared DC-Bus Configurations55
Accessory Module Selection56
DC-Bus Power Supply Systems56
Regenerative Bus Supply Systems58
8720MC-RPS or Other Regenerative Power Supply61
Accessory Module Flowcharts62
Electrical Noise Reduction64
HF Bond for Modules64
HF Bond for Multiple Subpanels66
Establish Noise Zones67
Cable Categories for Kinetix 5700 Systems69
Noise Reduction Guidelines for Drive System Accessories70
Mount the Kinetix 5700 Drive System78
Determine Mounting Order78
Mount Accessory Modules81
Zero-Stack Tab and Cutout82
Install Shared-Bus Connection Systems82
DC-Bus Connection System82
24V Input Power Connection System83
Drill-Hole Patterns85
Drill-Hole Pattern Calculations86
Drill-Hole Patterns by Using the System Mounting Toolkit88
Mount Your Kinetix 5700 Drive Modules88
Connector Data and Feature Descriptions91
Safe Torque-Off Connector Pinout99
Input Power Connector Pinouts99
DC Bus and Shunt Resistor Connector Pinouts100
Digital Inputs Connector Pinouts101
Ethernet Communication Connector Pinout102
Motor Power, Brake, and Feedback Connector Pinouts102
Motor Feedback Connector Pinouts103
Universal Feedback Connector Pinouts104
Accessory Module Pinouts104
Understand Control Signal Specifications105
Digital Inputs105
Ethernet Communication Specifications106
Contactor Enable Relay107
Converter OK Relay108
Motor Brake Circuit108
Control Power110
Feedback Specifications111
Encoder Feedback Supported on the DSL Feedback Connector111
Encoder Feedback Supported on the UFB Feedback Connector111
Auxiliary Feedback Specifications114
Encoder Phasing Definitions115
Absolute Position Feature117
Functional Safety Features118
Hardwired STO Mode118
Integrated Mode118
Basic Wiring Requirements120
Routing the Power and Signal Cables120
Input Power Configurations for Kinetix 5700 Power Supplies121
DC-Bus Power Supply121
Regenerative Bus Supply124
Ground Screw/Jumper Settings127
Kinetix 5700 Drive System Power Supply127
Kinetix 5700 Inverters128
Kinetix 5700 Itrak Power Supply129
Remove/Install the Ground Screw/Jumper130
Ground the Drive System131
Ground the System Subpanel131
Ground Multiple Subpanels132
Wiring Requirements133
Wiring Guidelines137
Wire the Power Connectors137
Wire the 24V Control Power Input Connector137
Wire the Input Power Connector139
Wire the Contactor Enable Connector140
Wire the Digital Input Connectors141
2198-XXXX-ERS3 (Series A) Connector Plugs141
2198-XXXX-ERS4 and 2198-XXXX-ERS3 (Series B) Connector Plugs142
Wire the Safe Torque-Off Connector142
Wire the Digital Inputs Connector143
Wire Motor Power and Brake Connectors144
Maximum Cable Lengths147
Connect Single Cables151
Motor Feedback Connections152
Apply the Single Motor Cable Shield Clamp153
Connect Power/Brake and Feedback Cables155
Motor Power and Brake Cables155
Motor Power/Brake Cable Series Change156
Dual-Axis Inverter Power/Brake Cable Installation156
Single-Axis Inverter Power/Brake Cable Installation159
Motor Feedback Connections163
Customer-Supplied Motor Power Cables169
Accessory Module Connections171
External Passive-Shunt Connections172
External Active-Shunt Connections173
DC-Bus Power Supply Active Shunt Connections173
Regenerative Bus Supply Active Shunt Connections173
Wire the External DC-Bus Connections174
Kinetix VPC Motors and the Extended Speed Feature175
Considerations for Powerohm Shunt Installation175
Ethernet Cable Connections176
Understand the Kinetix 5700 Display178
Menu Screens179
Setup Screens182
Startup Sequence187
Configure the Drive188
Set the Network Parameters188
Studio 5000 Logix Designer188
Version History188
Install the Kinetix 5700 Add-On Profile189
Configure the Logix 5000 Controller190
Configure the Kinetix 5700 Drive Modules193
Configure the DC-Bus Power Supply193
Configure the Regenerative Bus Supply197
Configure the Itrak Power Supply200
Configure the Inverter Drives204
Continue Inverter Configuration211
Configure the Motion Group215
Configure Regenerative Bus Supply Axis Properties216
Configure Vertical Load Control Axis Properties221
Configure Feedback-Only222
Axis Properties222
Configure Induction-Motor Frequency-Control Axis Properties223
General and Motor Categories223
Basic Volts/Hertz Method224
Sensorless Vector Method226
Fan/Pump Volts/Hertz Method228
Configure IPM Motor Closed-Loop Control Axis Properties229
Configure SPM Motor Closed-Loop Control Axis Properties233
Configure Induction-Motor Closed-Loop Control Axis Properties238
Configure Feedback Properties244
Configure Module Properties244
Configure Axis Properties246
Download the Program249
Apply Power to the Kinetix 5700 Drive System249
Understand Bus-Sharing Group Configuration251
Bus-Sharing Group Example252
Configure Bus-Sharing Groups253
Test and Tune the Axes254
Test the Axes255
Tune the Axes256
Safety Precautions257
Interpret Status Indicators258
Display Interface258
Fault Code Overview258
Fault Codes259
SAFE FLT Fault Codes259
Kinetix 5700 Status Indicators260
Kinetix 5700 Accessory Module Status Indicators261
Axis Troubleshooting262
Regenerative Bus Supply Troubleshooting263
Logix 5000 Controller and Drive Module Behavior264
DC-Bus Power Supply Behavior265
Regenerative Bus Supply Behavior267
Itrak Power Supply Behavior268
Inverter Behavior270
Remove and Replace Drive Modules275
Before You Begin275
Remove Power and All Connections276
Remove the Drive Module278
Replace the Drive Module279
Start and Configure the Drive Module280
Replace 2198-XXXX-ERS3 (Series A) Drives with Series B Drives280
Kinetix 5700 Safe Torque-Off Function283
Overview283
Certification284
Average Frequency of a Dangerous Failure285
Safe Torque-Off Feature285
Out of Box State286
Safe Torque-Off Status289
Explicit Messages290
Hardwired Safe Torque-Off291
Compatible Controllers291
Description of Operation292
Troubleshoot the Safe Torque-Off Function294
Safe Torque-Off Connector Data296
Wire the Safe Torque-Off Circuit297
Safe Torque-Off Wiring Requirements299
Safe Torque-Off Feature Bypass300
Cascade the Safe Torque-Off Signal300
Hardwired Safe Torque-Off Electrical Specifications302
Integrated Safe Torque-Off302
Compatible Safety Controllers302
Safety Application Requirements303
Description of Operation304
Safe Torque-Off Assembly Tags304
STO Fault Reset307
Understand Integrated Safety Drive Replacement308
Replace an Integrated Safety Drive in a Guardlogix System309
Motion Direct Commands in Motion Control Systems310
Integrated Safe Torque-Off Specifications316
Interconnect Diagram Notes319
Power Wiring Examples321
Capacitor Module Status Wiring Example335
DC-Bus Conditioner Module Status Wiring Example335
Contactor Wiring Examples336
Passive Shunt Wiring Examples337
Active Shunt Wiring Examples338
Kinetix 5700 Servo Drive and Rotary Motor Wiring Examples340
Kinetix 5700 Servo Drive and Linear Actuator Wiring Examples347
System Block Diagrams353
Before You Begin361
Inhibit the Module363
Upgrade Your Firmware363
Use Controlflash Plus Software to Upgrade Your Drive Firmware364
Use Controlflash Software to Upgrade Your Drive Firmware367
Verify the Firmware Upgrade372
Shared DC-Bus Configurations373
Shared DC-Bus Definitions373
General Sizing Guidelines375
System Sizing Guidelines375
Select Drive/Motor Combinations376
Select the Power Supply and Define the DC-Bus Groups376
Calculate System and External-Bus Capacitance376
Calculate the Total Motor Power Cable Length377
Calculate 24V DC Control Power Current Demand378
24V DC Voltage Drop Calculation Example379
System Sizing Example381
System Sizing Application Example382
DC-Bus Power Supply Configurations384
Regenerative Bus Supply Configurations387
Third-Party Motor Configurations388
DC-Bus Power Supply Configurations388
Regenerative Bus Supply Configurations389
Regenerative Bus Supply Sequence Operation391
Initialization392
Precharge393
Start Inhibited393
Stopped394
Starting394
Running394
Converter Startup Method - Automatic395
Sequence Operation of Discharging396
Motor Control Feature Support398
Basic Volts/Hertz399
Basic Volts/Hertz for Fan/Pump Applications400
Sensorless Vector401
Current Limiting for Frequency Control402
The Effects of Current Limiting402
Enable the Current Limiting Feature404
Set the Currentvectorlimit Attribute Value404
Stability Control for Frequency Control405
Enable the Stability Control Feature406
Skip Speeds407
Multiple Skip Speeds408
Flux up409
Flux up Attributes410
Configure the Flux up Attributes411
Current Regulator Loop Settings412
Motor Category412
Motor Tests and Autotune Procedure414
Motor Analyzer Category Troubleshooting415
Selection of Motor Thermal Models418
Generic Motors418
Thermally Characterized Motors419
Speed Limited Adjustable Torque (SLAT)420
Motion Polarity Setting420
SLAT Min Speed/Torque421
SLAT Max Speed/Torque422
SLAT Attributes422
Configure the Axis for SLAT423
Motion Drive Start (MDS) Instruction426
Motor Overload Retention431
Phase Loss Detection432
Phase-Loss Detection Attributes432
Phase-Loss Detection Configuration433
Phase Loss Detection Current Example434
Velocity Droop434
Closed Loop Control434
Frequency Control435
Velocity Droop Configuration435
Commutation Self-Sensing Startup436
Commutation Test437
Adaptive Tuning438
Virtual Torque Sensor438
Field Weakening Mode439
Extended Speed Feature439
Configure Extended Speed Operation440
History of Changes441
Index445

Rockwell Automation Allen-Bradley Kinetix 5700 - Page 318

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