Меню

Kinetix 5700 ошибка s55

Table 122 — Fault Code Summary

(1) (2)

Fault Code Type

Description

Standard runtime axis exceptions. The exception can apply to an individual axis or to

FLT Sxx

all axes.

Manufacturer-specific runtime axis exception. The exception can apply to an individual

FLT Mxx

axis or to all axes.

INIT FLT Sxx

Exceptions that prevent normal operation and occur during the initialization process.

INIT FLT Mxx

Exceptions that can prevent normal operation of the drive module and apply to the

NODE FLTxx

entire module and affect all axes.

Exceptions that can prevent normal operation of the drive module, but do not result in

NODE ALARM xx

any action other than reporting the alarm to the controller.

INHIBIT Sxx

Conditions that prevent normal operation and indicate the drive module is prevented

from being enabled.

INHIBIT Mxx

ALARM Sxx

An underlying exception condition that does not result in any action other than

reporting the alarm to the controller.

ALARM Mxx

(3)

SAFE FLTxx

Exception generated by a fault condition detected in the safety function.

(1) Sxx refers to Standard exceptions.

(2) Mxx refers to Manufacturer-specific exceptions.

(3) For troubleshooting 2198-xxxx-ERS3 inverter SAFE FLT fault codes, refer to

page 316

(hardwired safety) or

refer to the Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication 2198-RM001.

TIP Fault codes triggered by conditions that fall outside factory set limits are identified by

FL at the end of the display message. For example, FLT S07 – MTR OVERLOAD FL.

Fault codes triggered by conditions that fall outside user set limits are identified by UL

at the end of the display message. For example, FLT S08 – MTR OVERLOAD UL.

For fault code descriptions and possible solutions, see the Kinetix 5700 Fault

Codes.xlsx file attached to this publication. For more information about the

file, see

Access the Attachments

SAFE FLT Fault Codes

For troubleshooting 2198-xxxx-ERS4 inverter SAFE FLT fault codes, refer to

the Kinetix 5700 Safe Monitor Functions Safety Reference Manual,

publication 2198-RM001.

Rockwell Automation Publication 2198-UM002G-EN-P — February 2019

Troubleshoot the Kinetix 5700 Drive System

Troubleshoot the Safe Torque-off Function

page 329

(integrated safety). For troubleshooting 2198-xxxx-ERS4 inverter SAFE FLT fault codes,

on

page

13.

Chapter 7

on

277

Источник

15 posts in this topic

HI  , I would like to ask you for your opinion 

THIS IS MY PROBLEM WITH THE kinetix 6500 

The equipment was working fine , but now i cant make to servo move with the program, cant run the test or autotuning 

Status in front of servo drives say running.

Everything is green, no errors, 

 when I activate the MSO  I can hear a click  at servodrive, but the servo is not energized, because i dont hear the usual noise when the servo is energized, I have check the cables and conectors, everythig is fines, I check the servo resistence , no shortcuts or open lines, The wierd part is when the servos are in the running state i can move by hand, they are supossed to be locked.

after that I activate the home MAH, or test or autotuning , or a direct command ,and then it  fails  When i try to jog . move, test or  autotuning  the servo it says s55 velocity error or excess positon error, i can not get servo to move at all

I can see the position from the encoder back to the plc. I have turned the servo and i see the position at actualposition
 

Before the equipment was working , moving , I just swith it off one day, and the next day I couldnt make it move

Best regards 

I have added the programm as an attachment

k6500.ACD

Share this post

Link to post
Share on other sites

Sounds like you have a problem with the encoder. The drive thinks everything is ok until it tries to command a move, then is doesn’t see the encoder feedback changing. Check the connections, then with the servo off, turn the shaft by hand. You should see the actual position tag changing.

Share this post

Link to post
Share on other sites

Hi  JRoss

This is part of what I have check

I did,  and i can see the encoder readigs at actualposiotion tag changing  , The servo was moving  before, responding to autotuning, test, MAH, MAJ , MAM  instructions and direct comands, I have check  lines with encoder and power lines  and readings, and they look normal. All lights are green,  the bus  led is green and steady, 

When the servo is activated with MSO  instruction, the servo is loose, I can turn it by hand, no alarms.  but when I try to move it with MAH or MAJ , for example  , then the S55 appears,  

I have also check the inputs  L1  L2  L3  with the bus +  and bus-   and i have normal readings,    also  U V W  with bus + and bus —  and also normal readings,  with my muitimeter to check diode at rectification and BJTs  .   And when the kinetix is on  I get around  640 volts DC ant BUS + and Bus —

I was thinking that it could be the BJTs that are not fireing signal to the servo and the error might be because  the dirves tries to move the servo, and it doesnt move , sp there is a difference and gives the s55 error.

I have check the BJT  installed, with multimeter, the block of BJT  give normal readings UVW  with Bus+ and Bus — , I dond see shorts  just the normal readings of diodes, 

 Best Regards

Share this post

Link to post
Share on other sites

12 hours ago, JRoss said:

Sounds like you have a problem with the encoder. The drive thinks everything is ok until it tries to command a move, then is doesn’t see the encoder feedback changing. Check the connections, then with the servo off, turn the shaft by hand. You should see the actual position tag changing.

Hi  JRoss

This is part of what I have check

I did,  and i can see the encoder readigs at actualposiotion tag changing  , The servo was moving  before, responding to autotuning, test, MAH, MAJ , MAM  instructions and direct comands, I have check  lines with encoder and power lines  and readings, and they look normal. All lights are green,  the bus  led is green and steady, 

When the servo is activated with MSO  instruction, the servo is loose, I can turn it by hand, no alarms.  but when I try to move it with MAH or MAJ , for example  , then the S55 appears,  

I have also check the inputs  L1  L2  L3  with the bus +  and bus-   and i have normal readings,    also  U V W  with bus + and bus —  and also normal readings,  with my muitimeter to check diode at rectification and BJTs  .   And when the kinetix is on  I get around  640 volts DC ant BUS + and Bus —

I was thinking that it could be the BJTs that are not fireing signal to the servo and the error might be because  the dirves tries to move the servo, and it doesnt move , sp there is a difference and gives the s55 error.

I have check the BJT  installed, with multimeter, the block of BJT  give normal readings UVW  with Bus+ and Bus — , I dond see shorts  just the normal readings of diodes, 

 Best Regards

Share this post

Link to post
Share on other sites

When you are turning the servo by hand does the position change correctly? In both directions? When you use MSO to turn the servo on and can turn it by hand, does it fault out?

Share this post

Link to post
Share on other sites

1 hour ago, JRoss said:

When you are turning the servo by hand does the position change correctly? In both directions? When you use MSO to turn the servo on and can turn it by hand, does it fault out?

Yes, I have turned it  in both directions,  the lecture or readings of encoder  at actualposition tag  increases and decreases the revolutions normally

Yes , when the MSO is on, I can turn the servo by hand,  but no more than 1 rev , after  or around 1 revolution the fault appears s55,  

I can move it back and forth , but no more than 1 rev, after that it fails and shows s55  velocity error, it doest fell hard 

I have check the power rail  terminals,  the Dc volts lines in power rail takes DC to the output side of the kinetix 6500,  I was thinking  that there may not be DC 640 volt , but there it is in power rail

Best Regards

Share this post

Link to post
Share on other sites

Is this a new install or an exisiting system?

What is the full part number of your servo motor you have connected to the K6500?

Are you using the hardwired enable input on the drive?

Share this post

Link to post
Share on other sites

OK, try this…

The control module on the drive is removable. Loosen the screw and rock the module in and out of the connection 5 or 6 times. This will clean up the connections between the control module and the power module. This is a known issue with the 6500 that I have dealt with personally on two occasions. Different symptoms both times, but weird stuff that didn’t make sense.

If that doesn’t work, next step is to start swapping out parts, including the cables.

Share this post

Link to post
Share on other sites

Kinetix 6500, Fault S55 => (a) Improperly sized drive or motor, (b) Mechanical system out of specification.  The servo controller is telling you that when it tries to move the load to the commands you have given it (i.e., position, velocity, acceleration, etc.), that it detects this cannot be achieved properly.

Have you modeled the load in Motion Works, to verify that the mechanical engineers properly sized the motor and gearbox and servo controller?

A-B/Rockwell servos often typically tune «hot».  What allows you to tune and jog the servo without issue may be covering up the inability to command to position.  

Share this post

Link to post
Share on other sites

19 hours ago, Donovanr said:

Is this a new install or an exisiting system?

What is the full part number of your servo motor you have connected to the K6500?

Are you using the hardwired enable input on the drive?

Is an existing system

MPL-B1530U-EJ72AA

Yes Im using 2 signals from connector DB 44   the  the input for enable  and the input for home sensor

Best Regards

Share this post

Link to post
Share on other sites

19 hours ago, JRoss said:

OK, try this…

The control module on the drive is removable. Loosen the screw and rock the module in and out of the connection 5 or 6 times. This will clean up the connections between the control module and the power module. This is a known issue with the 6500 that I have dealt with personally on two occasions. Different symptoms both times, but weird stuff that didn’t make sense.

If that doesn’t work, next step is to start swapping out parts, including the cables.

Ok I did,

and also cleaned the conectors, they look shiny like new, 

I ran a test but no changes  , still fails

I have another servomotor with cables , Ill change them and Ill let you now  

Best Regards

Share this post

Link to post
Share on other sites

8 hours ago, kaiser_will said:

Kinetix 6500, Fault S55 => (a) Improperly sized drive or motor, (b) Mechanical system out of specification.  The servo controller is telling you that when it tries to move the load to the commands you have given it (i.e., position, velocity, acceleration, etc.), that it detects this cannot be achieved properly.

Have you modeled the load in Motion Works, to verify that the mechanical engineers properly sized the motor and gearbox and servo controller?

A-B/Rockwell servos often typically tune «hot».  What allows you to tune and jog the servo without issue may be covering up the inability to command to position.  

The servo in not moving something heavy,  is very light the load

You can feell  that the servomotor shaft    is even  harder to turn than the load ,   the load is very very soft

The servomotor is an MPL-B1530u-EJ72aa

The servo drive is a 6 kw  and in the manual Design User,  it says that is OK to use this servo with this servodrive, is in the list of useable motors

Right now the servo is not connected to the load, and Is displaying S55 any way,  I have tried to do Home to sensor, , MAJ  , MAM, Direct commands , with out being connected the servo to the load

Share this post

Link to post
Share on other sites

23 hours ago, JRoss said:

OK, try this…

The control module on the drive is removable. Loosen the screw and rock the module in and out of the connection 5 or 6 times. This will clean up the connections between the control module and the power module. This is a known issue with the 6500 that I have dealt with personally on two occasions. Different symptoms both times, but weird stuff that didn’t make sense.

If that doesn’t work, next step is to start swapping out parts, including the cables.

Hi JRoss

I have another  2094 BMP5 but this one is  with sercos in another machine,   I have taken the servomotor  and cables and plug it with this equipment in sercos

And the servo gets really hard to move the  servomotor shaft  by hand , I just tried a little bit to move it, when the MSO  is activated from direct command instructions. Im using the same servomotor with the same cables  at the s kinetix 6500 .  Is responding  very nice to MAH  and MAJ, with sercos servodrive

So I think it may be the IBJT s that are not fireing the signal to the servo, but I have check the U V W vs   Bus+   Bus-  ,  las time Ive check and the reading of diode were fine, no shortcuts

U   V W    vs      BUS —     READINGS     diode

0.448        U — BUS+                OL    WHEN INVERTED LEADS or wires AT MULTIMETER

0.448        V — BUS+                OL    WHEN INVERTED LEADS or wires AT MULTIMETER

0.448       W — BUS+                 OL   WHEN INVERTED LEADS or wires AT MULTIMETER

U V W      vs       BUS +    READINGS  diode

0.448        U — BUS+                OL    WHEN INVERTED LEADS or wires AT MULTIMETER

0.448        V — BUS+                OL    WHEN INVERTED LEADS or wires AT MULTIMETER

0.448       W — BUS+                 OL   WHEN INVERTED LEADS or wires AT MULTIMETER

I have also check the readings of the IBJT s at kinetix 6000 sercos and the same readings of UVW vs BUS +  and BUS-

Best Regards

Share this post

Link to post
Share on other sites

U   V W    vs      BUS —     READINGS     diode

0.448        U — BUS-                OL    WHEN INVERTED LEADS or wires AT MULTIMETER

0.448        V — BUS-                OL    WHEN INVERTED LEADS or wires AT MULTIMETER

0.448       W — BUS-                 OL   WHEN INVERTED LEADS or wires AT MULTIMETER

U V W      vs       BUS +    READINGS  diode

0.448        U — BUS+                OL    WHEN INVERTED LEADS or wires AT MULTIMETER

0.448        V — BUS+                OL    WHEN INVERTED LEADS or wires AT MULTIMETER

0.448       W — BUS+                 OL   WHEN INVERTED LEADS or wires AT MULTIMETER

Share this post

Link to post
Share on other sites

The alarm you are getting means the encoder feedback doesn’t match the drive command to the motor. I usually see this when there is a problem with the encoder (damage, wiring, polarity). But it sounds like you have a problem with the motor side of the drive, not the encoder.

Since you tested the motor and cables with another drive, then there is something wrong with the 6500, either in the control module or the power module. You’ll have to contact your distributor.

Share this post

Link to post
Share on other sites

Create an account or sign in to comment

You need to be a member in order to leave a comment

Sign in

Already have an account? Sign in here.

Sign In Now

Источник
  • Ремонт сервопривода Allen-Bradley
  • Особенности ремонта сервопривода Allen-Bradley
  • Коды предупреждений и ошибок сервопривода Allen-Bradley
  • Схемы типовых подключений сервоприводов Allen-Bradley
  • Базовые схемы соединений сервоприводов Allen-Bradley
  • Преимущество ремонта сервоприводов Allen-Bradley в нашем сервисном центре
  • Оставить заявку на ремонт сервопривода Allen-Bradley

Ремонт сервопривода Allen-Bradley

Ремонт сервоусилителя Allen-Bradley kinetix 300Сервисный центр «Кернел» предлагает выполнить качественный ремонт сервопривода Allen-Bradley в на компонентном уровне в максимально сжатые сроки. Сервопривод относятся к сложной промышленной электронике именно поэтому ремонтом сервоприводов Allen-Bradley, впрочем, как и других производителей должны заниматься специалисты, имеющие не только высшее техническое образование, но и солидный опыт в ремонте подобной промышленной электроники.

Также для восстановления подобного промышленного оборудования понадобится хорошая материально-техническая база. При выполнении всех выше перечисленных условий, шансы на успешный ремонт сервопривода Allen-Bradley возрастают в геометрической прогрессии.

Именно поэтому за ремонтом сервоприводов, независимо от производителя лучше всего обращаться в специализированный сервисный центр, который отвечает всем техническим требованиям, такой как Кернел. Наш цент имеет отличную материально-техническую базу, а за время существования с 2002 года специалисты компании накопили бесценный опыт в том числе опыт в ремонте сервоприводов Allen-Bradley.

Особенности ремонта сервопривода Allen-Bradley

Ремонт сервоусилителя Allen-Bradley kinetix 350Ремонт сервоприводов Allen-Bradley имеет ряд индивидуальных особенностей, это связано с конструктивными особенностями данного промышленного оборудования. По аналогии с частотными преобразователями они состоят из двух взаимосвязанных частей, это:

  • Аппаратная часть;
  • Программная часть.

В первую очередь ремонтируется аппаратная часть промышленного сервопривода. После глубокой диагностики неисправного блока выявляются все неисправные компоненты, которые в последствии заменяются на оригинальные запасные части (по возможности), в случае если сервопривод уже давно снят с производства и найти оригинальные запчасти просто невозможно они заменяются на аналоги.

Данный вид ремонта называется компонентным. От других видов его отличает две немаловажные детали.

  • Значительное удешевление ремонта;
  • Существенное сокращение времени ремонта.

По завершении ремонта аппаратной части сервопривода наступает очередь программной. В зависимости от серии выбирается программный продукт и зашивается в блок.

Заключительный этап ремонта сервопривода Allen-Bradley это проверка на специализированном стенде. Все блоки проверяются без нагрузки и с нагрузкой не менее двух часов.

Коды предупреждений и ошибок сервопривода Allen-Bradley

При обнаружении неисправности при работе сервопривода будет активирована соответствующая защита и выведено предупреждающее сообщение на индикатор сервоусилителя или цифрового пульта. Коды неисправностей приведены в файле PDF который доступен по ссылке ниже.

Дополнительно в файле указаны способы устранения неисправностей сервопривода Allen-Bradley и их сброс.

Посмотреть все коды ошибок сервоусилителя Allen-Bradley Kinetix 350

Схемы

В некоторых случает может понадобится схема подключения сервоприводов, ниже мы показаны схемы сервопривода Allen-Bradley.

Схемы типовых подключений сервоприводов Allen-Bradley

Схема подключения сервопривода Allen-Bradley kinetix 350 к серводвигателю серии MP (Bulletin MPL- A/B и MPS-A/B)

Схема подключения сервопривода Allen-Bradley kinetix 350 к серводвигателю серии MP (Bulletin MPL- A/B, MPM-A/B, MPF-A/B и MPS-A/B)

Схема подключения сервопривода Allen-Bradley kinetix 350 к серводвигателю серии MP (Bulletin MPL- A/B и MPS-A/B)

 Схема подключения сервопривода Allen-Bradley kinetix 350 к серводвигателю серии MP (Bulletin MPL- A/B, MPM-A/B, MPF-A/B и MPS-A/B)

Схема подключения сервопривода Allen-Bradley kinetix 350 к серводвигателю серии TL (TLY- A)

Схема подключения сервопривода Allen-Bradley kinetix 350 к серводвигателю серии MP (Bulletin MPAS-A/B)

Схема подключения сервопривода Allen-Bradley kinetix 350 к серводвигателю серии TL (TLY- A)

 Схема подключения сервопривода Allen-Bradley kinetix 350 к серводвигателю серии MP (Bulletin MPAS-A/B)

Схема подключения сервопривода Allen-Bradley kinetix 350 к серводвигателю серии MP (MPAR и MPAI) Electric Cylinders

Схема подключения сервопривода Allen-Bradley kinetix 350 к серводвигателю серии TL (Bulletin TLAR) Electric Cylinders

Схема подключения сервопривода Allen-Bradley kinetix 350 к серводвигателю серии MP (MPAR и MPAI) Electric Cylinders

 Схема подключения сервопривода Allen-Bradley kinetix 350 к серводвигателю серии TL (Bulletin TLAR) Electric Cylinders

Базовые схемы соединений сервоприводов Allen-Bradley

Базовая схема соединений для системы преобразователей Kinetix 300/350

Базовая схема соединений для системы преобразователей Kinetix 300/350 с контроллером CompactLogix (PAC)

Базовая схема соединений для системы преобразователей Kinetix 300/350

 Базовая схема соединений для системы преобразователей Kinetix 300/350 с контроллером CompactLogix (PAC)

Базовая схема соединений для системы преобразователей Kinetix 300/350 с контроллером ControltLogix (PAC)
Базовая схема соединений для системы преобразователей Kinetix 300/350 с контроллером ControltLogix (PAC)

Преимущество ремонта сервоприводов Allen-Bradley в нашем сервисном центре

Во время эксплуатации электроприводов Allen-Bradley может возникнуть проблема, далеко не всегда возникшую проблему можно исправить на месте своими силами, наш сервисный центр готов вам в этом помочь, выполнив качественный ремонт сервоприводов Allen-Bradley в сжатые сроки с полугодовой гарантией.

Мы не только восстановим неисправный блок, но и подскажем как действовать в той или иной ситуации для максимально долгой и безаварийной работы сервопривода.

Работы, проводимые при ремонте сервопривода Allen-Bradley в :

Логотип компании 'Кернел'

  • Предварительный осмотр на возможность восстановления бесплатный;
  • Мы производим ремонт сервопривода Allen-Bradley на компонентном уровне (экономия бюджета и времени)
  • При ремонте сервоприводов ни каких конструктивных изменений не вносим;
  • Ремонт блоков с применением оригинальных запасных частей (по возможности).
  • Вы платите исключительно за результат — работающий сервопривод;
  • Гарантия на ремонт сервопривода Allen-Bradley и на запасные части замененные в процессе ремонта 6 месяцев;
  • Сроки ремонта варьируются от 5 до 15 рабочих дней;

За два десятилетия существования сервисного центра нашими специалистами были успешно проведены тысячи подобных ремонтов с каждым разом поднимая квалификацию наших инженеров. Ниже представлен далеко не полный список сервоприводов Allen-Bradley серии Kinetix 350 ремонтируемые в нашем сервисном центре.

2097-V31PR0-LM

Ремонт сервопривода Allen-Bradley — Kinetix 350 однодноканальный, 120/240V, 400Вт.

2097-V31PR2-LM

Ремонт сервопривода Allen-Bradley — Kinetix 350 однодноканальный, 120/240V, 800Вт.

2097-V32PR0-LM

Ремонт сервопривода Allen-Bradley — Kinetix 350 однодноканальный, однофазный переменный ток 240V, со встроенным сетевым фильтром, 400Вт

2097-V32PR2-LM

Ремонт сервопривода Allen-Bradley — Kinetix 350 однодноканальный, однофазный переменный ток 240V, со встроенным сетевым фильтром, 800Вт

2097-V32PR4-LM

Ремонт сервопривода Allen-Bradley — Kinetix 350 однодноканальный, однофазный переменный ток 240V, со встроенным сетевым фильтром, 1.7кВт

2097-V33PR1-LM

Ремонт сервопривода Allen-Bradley — Kinetix 350 однодноканальный, трехфазный, 240V переменного тока, 500Вт

2097-V33PR3-LM

Ремонт сервопривода Allen-Bradley — Kinetix 350 однодноканальный, трехфазный, 240V переменного тока, 1кВт

2097-V33PR5-LM

Ремонт сервопривода Allen-Bradley — Kinetix 350 однодноканальный, трехфазный, 240V переменного тока, 2кВт

2097-V33PR6-LM

Ремонт сервопривода Allen-Bradley — Kinetix 350 однодноканальный, трехфазный, 240V переменного тока, 3кВт

2097-V34PR3-LM

Ремонт сервопривода Allen-Bradley — Kinetix 350 однодноканальный, трехфазный, 480V переменного тока, 1кВт

2097-V34PR5-LM

Ремонт сервопривода Allen-Bradley — Kinetix 350 однодноканальный, трехфазный, 480V переменного тока, 2кВт

2097-V34PR6-LM

Ремонт сервопривода Allen-Bradley — Kinetix 350 однодноканальный, трехфазный, 480V переменного тока, 3кВт

В таблице представлены исключительно сервопривода Allen-Bradley серии Kinetix 350 ремонт которых мы вам предлагаем, также специалисты нашей компании ремонтируют сервопривода не зависимо от серии и под каким брендом они были выпущены.

Оставить заявку на ремонт сервопривода Allen-Bradley

У вас остались вопросы, связанные с ремонтом или сбросом ошибок, а также программированием и настройкой сервоприводов Allen-Bradley? Оставьте заявку на ремонт сервопривода Allen-Bradley в нашим менеджерам. Связаться с ними можно несколькими способами:

Наши контакты

  • Заказав обратный звонок (кнопка в правом нижнем углу сайта)
  • Посредством чата (кнопка расположена с левой стороны сайта)
  • Позвонив по номеру телефона: +7(8482) 79-78-54; +7(917) 121-53-01
  • Написав на электронную почту: 89171215301@mail.ru

За время существования сервисного центра нашими специалистами были отремонтированы тысячи единиц промышленной электроники. Вот далеко не полный список производителей промышленной электроники и оборудования, ремонтируемой в нашей компании.

Источник

  • Contents

  • Table of Contents

  • Bookmarks

Quick Links

Safety Reference Manual

Original Instructions

Kinetix 5700 Safe Monitor Functions

Catalog Numbers 2198-D006-ERS3, 2198-D012-ERS3, 2198-D020-ERS3, 2198-D032-ERS3, 2198-D057-ERS3

2198-S086-ERS3, 2198-S130-ERS3, 2198-S160-ERS3, 2198-D006-ERS4, 2198-D012-ERS4, 2198-D020-ERS4,

2198-D032-ERS4, 2198-D057-ERS4, 2198-S086-ERS4, 2198-S130-ERS4, 2198-S160-ERS4

loading

Related Manuals for Allen-Bradley Kinetix 5700

Summary of Contents for Allen-Bradley Kinetix 5700

  • Page 1
    Safety Reference Manual Original Instructions Kinetix 5700 Safe Monitor Functions Catalog Numbers 2198-D006-ERS3, 2198-D012-ERS3, 2198-D020-ERS3, 2198-D032-ERS3, 2198-D057-ERS3 2198-S086-ERS3, 2198-S130-ERS3, 2198-S160-ERS3, 2198-D006-ERS4, 2198-D012-ERS4, 2198-D020-ERS4, 2198-D032-ERS4, 2198-D057-ERS4, 2198-S086-ERS4, 2198-S130-ERS4, 2198-S160-ERS4…
  • Page 2
    Important User Information Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.

  • Page 3: Table Of Contents

    Table of Contents Preface Summary of Changes ……… . . 5 Conventions .

  • Page 4
    Table of Contents Motion Safety>STO Category……57 Motion Safety>SS1 Category ……. 58 Primary Safety Feedback Example (SIL 2 encoder) .

  • Page 5: Preface

    Kinetix 5700 drives with safe-stopping and safe-monitoring functions. Use this publication if you are responsible for designing, configuring, or troubleshooting safety applications that use the Kinetix 5700 drives. You must have a basic understanding of electrical circuitry and familiarity with Kinetix 5700 drives.

  • Page 6: Conventions

    Preface Conventions These conventions are used throughout this publication: • Bulleted lists such as this one provide information, not procedural steps • Numbered lists provide sequential steps or hierarchical information • When the phrase ‘GuardLogix® controller’ is used in this publication it refers to either of the following controller families: –…

  • Page 7: Terminology

    Preface Terminology This table defines common safety terms used throughout this publication. Abbreviation Full Term Definition Timed SS1 Timed Safe Stop 1 Timed SS1 and Safe Stop 1 time-controlled (SS1-t) are synonymous. Both mean safe stop where the motor speed is decelerated to zero and once the maximum stop-time elapses, torque is removed from the motor.

  • Page 8: Additional Resources

    Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 Motion over sercos interface, EtherNet/IP networking, and component servo drive families. Provides information to install, configure, startup, and troubleshoot your Kinetix 5700 servo Kinetix 5700 Servo Drives User Manual, publication 2198-UM002 drive system.

  • Page 9
    Safety Concept Kinetix Safe Motion-monitoring Operation Out of Box State The Kinetix 5700 dual-axis and single-axis inverters are equipped for integrated (drive-based) Monitored SS1 and Timed SS1 stopping functions over the EtherNet/IP™ network. Drive-based safety functions operate in the drive and are activated through the network safety connection.

  • Page 10: Safety Concept

    GuardLogix safety controller for use in controller-based monitoring functions. The Kinetix 5700 dual-axis and single-axis inverters are also equipped for hardwired and integrated safe torque-off (STO). These STO modes apply to 2198-xxxx-ERS3 and 2198-xxxx-ERS4 dual-axis and single-axis inverters.

  • Page 11: Important Safety Considerations

    About Safe Stop and Safe Monitor Functions Chapter 1 TÜV Rheinland 2198-xxxx-ERS4 certification applies to only STO, drive- based Monitored SS1, and drive-based Timed SS1 safety functions. Refer to the GuardLogix Safety Application Instruction Set Reference Manual, publication 1756-RM095, for more information on safe motion-monitoring instructions.

  • Page 12: Average Frequency Of A Dangerous Failure

    Table 4 — Safe Motion-monitoring System Components Safety System Component Bulletin/Cat. No. Description Dual-axis inverter with safe-motion 2198-Dxxx-ERS4 monitoring support. Kinetix 5700 servo drives Single-axis inverter with safe-motion 2198-Sxxx-ERS4 monitoring support. Compact GuardLogix controller Bulletin 5380 Safety controllers required for use in safe…

  • Page 13
    Studio 5000 Logix Designer 1585J-M8CBJM-x Application Ethernet (shielded) Cable (version 31.00 or later) 1734-AENTR POINT Guard I/O™ EtherNet/IP Adapter Kinetix 5700 Servo Drive System with Integrated Safety Functions Safety Device I/O-A I/O-B DSL feedback connector kit with primary UFB-A UFB-B…

  • Page 14: Compatible Safety Controllers

    EtherNet/IP network. See Motion Task in Figure 3 page • The Kinetix 5700 (2198-xxxx-ERS4) drives contain 1 or 2 inverters for the control of 1 or 2 motors, each associated with an axis controlled by the motion task. • Feedback from position encoders, supplied to the motion tasks, is also associated with the axis.

  • Page 15: Motion Safety Instances

    About Safe Stop and Safe Monitor Functions Chapter 1 Motion Safety Instances The Kinetix 5700 (2198-xxxx-ERS4) drives also contain 1 or 2 motion safety instances to provide integrated safety functions. The safety instances operate independently of the inverters and feedback used for motion.

  • Page 16
    Chapter 1 About Safe Stop and Safe Monitor Functions 4. The motion core communicates with the motion controller running the motion task by updating the motion axis tag axis.SS1ActiveStatus. 5. The motion task controls the axis to bring the motor to a stop within the Monitored SS1 limits for speed and time.

  • Page 17: Safe Monitor Network Communication

    About Safe Stop and Safe Monitor Functions Chapter 1 This figure shows how the safety task and motion tasks communicate with the drive. Figure 2 — Safe Monitor System Communication Kinetix 5700 Single-axis or Dual-axis Inverter CIP Motion™ Motion Protocol…

  • Page 18
    Data is exchanged at a periodic rate over the connection. To configure the drive-module motion connection Axis Properties in the Logix Designer application, see the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002. Some of the axis tags are updated from fault and safety status provided by the safety instance in the drive module.
  • Page 19
    About Safe Stop and Safe Monitor Functions Chapter 1 IMPORTANT Axis tags are for status only and are not used by the safety function. For more information on pass-through data, see Pass-through Data page Safety Connection The safety controller communicates with the safety instances in the drive module over the safety connection.

  • Page 20: Explicit Messages

    Chapter 1 About Safe Stop and Safe Monitor Functions Explicit Messages Use explicit messages to communicate with a drive and obtain additional fault, status, or configuration information that is not be available in the Safety I/O Tag structure. Attribute data is useful for additional diagnostic information. An explicit message can be sent by any controller on the network and used to read any drive module attribute.

  • Page 21
    Figure 4 — Explicit Message Example Safe Torque-off Mode You can use the attribute STO Mode to check if the Kinetix 5700 inverter is in STO Bypass mode. STO Bypass mode is used to allow motion while commissioning or troubleshooting a system when Motion Direct Commands (MDC) are needed.

  • Page 22: Out Of Box State

    2198-UM002 for a wiring example. Out of the box, you can use Kinetix 5700 servo drives in Integrated STO mode only after a Motion and Safety or Safety-only connection has been established at least once in the Logix Designer application.

  • Page 23: Restore Hardwired Sto Mode By Using The Drive Display

    Restore Hardwired STO mode by Using the Drive Display After the integrated safety connection configuration is applied to the Kinetix 5700 servo drive at least once, you can restore the drive to Hardwired STO mode by using the drive display and navigation buttons.

  • Page 24
    Chapter 1 About Safe Stop and Safe Monitor Functions Notes: Rockwell Automation Publication 2198-RM001B-EN-P — May 2018…

  • Page 25: Timed Ss1 (Drive-Based) Stopping Function

    Chapter Safe Stop Functions Use this chapter to learn more about the Monitored SS1 and Timed SS1 stopping functions that are built into Kinetix® 5700 dual-axis and single-axis inverters. Topic Page Timed SS1 (drive-based) Stopping Function Monitored SS1 (drive-based) Stopping Function Safe Torque-off Function Safe Stop Functions (drive-based) Assembly Tags Drive-based Safe Stopping Application Requirements…

  • Page 26
    Chapter 2 Safe Stop Functions Figure 5 — Timed SS1 Normal Operation Stop Time, max Axis Speed SS1 Request SS1 Active SS1 Complete STO Active Torque Disabled SS1 Start STO Delay (1) For more information on STO Delay, see Motion Safety>STO Category page Attribute Name Tag Name…

  • Page 27: Monitored Ss1 (Drive-Based) Stopping Function

    Safe Stop Functions Chapter 2 Monitored SS1 (drive-based) Monitored SS1 is a ramped safe-stop where the motion safety instance monitors the speed ramp to standstill speed, while either the motion task or Stopping Function the drive itself controls the deceleration to standstill speed. When standstill is reached, then the motion safety instance removes torque from the motor.

  • Page 28: Ramp Monitored Function

    Chapter 2 Safe Stop Functions Ramp Monitored Function The Monitored SS1 (ramp monitored) function is the ramped deceleration of the axis. A ramp function represents the maximum speed while the axis is stopping as a function of time (t). The ramp function depends on several variables as stated in this equation: •…

  • Page 29
    Safe Stop Functions Chapter 2 Monitored SS1 Example In this example, an axis is running at 1200 rpm when SS1 Request goes high (1), which sets SS1 Active high (1). SS1 Active is read by the Main task and prepares to decelerate the axis. At the end of Stop Monitor Delay, the axis speed is 1200 rpm.

  • Page 30: Monitored Ss1 With Fault

    Chapter 2 Safe Stop Functions Monitored SS1 With Fault This figure shows how the Monitored SS1 behaves when the axis speed does not stay below the ramp function limit. Figure 9 — Deceleration Rate Fault Stop Time, max Stop Monitor Stop Delay, x Delay Decel…

  • Page 31
    Safe Stop Functions Chapter 2 Series of events when a Monitored SS1 fault occurs. 1. If an SS1 fault occurs, STO Active goes high (1), and Torque Disabled goes high (1) immediately and ignores STO Delay. The safety instance detects a fault and activates the STO function within 6.0 ms of when the fault condition occurred.

  • Page 32: Monitored Ss1 Request Removed

    Chapter 2 Safe Stop Functions Monitored SS1 Request Removed This figure shows what happens when SS1 Request goes low (0) before completion. Figure 10 — Monitored SS1 Request Removed Before Completion Stop Time, max Stop Monitor Stop Delay, x Delay Speed Decel Limit…

  • Page 33: Safe Torque-Off Function

    These conditions must be met for integrated control of the STO function: • The Kinetix 5700 drive module must be added to the GuardLogix 5570 or Compact GuardLogix 5370 controller I/O Configuration.

  • Page 34: Safe Stop Functions (Drive-Based) Assembly Tags

    Kinetix 5700 safety output assembly to control the safe torque-off function. The SI.Status tags are sent from the Kinetix 5700 inverter to the GuardLogix safety input assembly and indicate the Kinetix 5700 safety control status. Table 15 — Safety Input Assembly Tag Name Description…

  • Page 35
    95 list the safety tags added to the controller tags when a Kinetix 5700 servo drive is added to a GuardLogix I/O configuration and the connection is configured for Safety Only. In this example, the SO.STOOutput bit permits torque when the bit is high.

  • Page 36: Drive-Based Safe Stopping Application Requirements

    Chapter 2 Safe Stop Functions Drive-based Safe Stopping This section describes some of the safety information required to design your safety application. Application Requirements Table 16 — Achievable Safety Ratings Safety Function Achievable Functional Safety Rating SIL 3, PL e (independently if hardwired or integrated option is used) Timed SS1 SIL 3, PL e •…

  • Page 37: System Safety Reaction Time

    IMPORTANT You must read, understand, and fulfill the requirements detailed in the GuardLogix controller systems safety reference manual prior to operating a safety system that uses a GuardLogix controller and Kinetix 5700 drive. System Safety Reaction Time System safety reaction time is the sum of sensor reaction time, GuardLogix controller system reaction time and actuator reaction time.

  • Page 38
    Chapter 2 Safe Stop Functions Notes: Rockwell Automation Publication 2198-RM001B-EN-P — May 2018…

  • Page 39: Understand Module Properties Categories

    Chapter Configure the Motion Safety Instances Use this chapter to configure Kinetix® 5700 dual-axis and single-axis inverters for safety applications with Allen-Bradley® servo motors. Topic Page Understand Module Properties Categories Primary Safety Feedback Example (SIL 2 encoder) Dual Feedback Monitoring Example (SIL 2 encoder)

  • Page 40
    Chapter 3 Configure the Motion Safety Instances Right-click your Kinetix 5700 single-axis or dual-axis inverter and choose Properties. The Module Properties dialog box appears. Figure 12 — Module Definition Configured With Dual Feedback Monitoring Module properties categories are listed along the left side panel.

  • Page 41: Module Properties>General Category

    Configure the Motion Safety Instances Chapter 3 In this 2198-Dxxx-ERS4 (dual-axis inverter) example, the Connection mode is Motion and Safety and the Motion Safety instances are configured as Dual Feedback Monitoring. Module Properties Category Page General page 41 Connection and Safety page 44 Motion Safety Actions…

  • Page 42
    Chapter 3 Configure the Motion Safety Instances Table 17 — Safety Application Definitions Minimum Drive Module Drive Module Connection Safety Application Mode Safety Functions Minimum Controller Required Required Options Hardwired Safe Torque-off (STO) 2198-xxxx-ERS3 (series A) Motion Only • ControlLogix® 5570 •…
  • Page 43
    Configure the Motion Safety Instances Chapter 3 If a Motion and Safety connection is configured, the Motion Safety categories appear and can be configured for feedback options (see Table 19 page 43). In this example, the Motion Safety categories are configured for Single Feedback Monitoring, so only Primary Feedback appears.

  • Page 44: Module Properties>Connection And Safety Categories

    Chapter 3 Configure the Motion Safety Instances Figure 14 — Configure Motion Safety • If Motion Safety is configured for Safe Stop Only — No Feedback, the feedback options do not appear. • If Motion Safety is configured for Dual Feedback Monitoring, the Primary Feedback and Secondary Feedback categories appear.

  • Page 45
    Configure the Motion Safety Instances Chapter 3 2. To set the Safety Output value, right-click SafetyTask in the Controller Organizer and click Properties. 3. Click the Configuration tab. The default safety task Period value (and output RPI) is 20 ms. IMPORTANT The period is the interval at which the safety task executes.

  • Page 46: Motion Safety>Actions Category

    Automatic Automatic is the only choice. operation immediately after the controller enters run mode. (1) Kinetix 5700 drives do not support the manual option. 2. From the Connection Loss Action and Connection Idle Action pull- down menus, choose SS1 or STO as required for your application.

  • Page 47: Motion Safety>Primary Feedback Category

    Configure the Motion Safety Instances Chapter 3 Motion Safety>Primary Feedback Category Configure primary feedback if you intend to use any drive-based or controller- based safety function that monitors motion. There are many different combinations of feedback for motion control and safety that can be configured.

  • Page 48
    Based on encoder rotation and evaluation requirements. Choose between Normal (default) or Polarity Inverted as appropriate for your application. Allen-Bradley motors with -Q or -W encoder types are SIL 2 capable and 2 is shown. For non SIL-rated motor or encoder, this SIL Capability field indicates Unknown.
  • Page 49
    Configure the Motion Safety Instances Chapter 3 Velocity Average Time Parameter The Velocity Average Time parameter sets the time period for a moving average filter that is applied to velocity samples reported in Velocity Feedback. The motion safety instance of the drive calculates velocity by taking the differences in position count samples that are divided by the sample period.
  • Page 50
    Chapter 3 Configure the Motion Safety Instances Figure 15 — Velocity Average Time Encoder Cycle Clockwise Counter Clockwise   Sine Cosine … Position Sample Times 3 ms Incremental Position Instantaneous Velocity Average Velocity (18 ms average time) Average Velocity (36 ms average time) This table shows different values of velocity resolution based on the encoder cycle count and the velocity average time.

  • Page 51: Motion Safety>Secondary Feedback Category

    Configure the Motion Safety Instances Chapter 3 Motion Safety>Secondary Feedback Category Configure secondary feedback for your motion monitoring application that requires SIL 3 or PL e for drive-based or controller-based safety functions. There are different combinations of feedback for motion control and safety that can be configured.

  • Page 52: Motion Safety>Scaling Category

    Chapter 3 Configure the Motion Safety Instances Motion Safety>Scaling Category The Primary Feedback category set safety resolution in terms of counts per revolution. The Scaling category configures the position and time to be used in terms of counts per position unit in the safe monitoring functions. Figure 16 — Scaling Category (default settings) Table 22 — Scaling Category Attributes Attribute…

  • Page 53
    Configure the Motion Safety Instances Chapter 3 Scaling Example 1 In the following example, a rotary knife with one blade is directly coupled to the motor. The servo motor is a VPC-Bxxxx-Q with SIL 2 encoder that generates 4096 counts per revolution. Figure 17 — Rotary Knife with One Blade Unwind Rotary Knife…
  • Page 54
    Chapter 3 Configure the Motion Safety Instances Scaling Example 2 In this example, a rotary knife with two blades is driven by a 10:1 gear reduction and servo motor. The servo motor is a VPC-Bxxxx-Q with SIL 2 encoder that generates 4096 counts per revolution. Figure 19 — Rotary Knife with Two Blades Unwind Rotary Knife…

  • Page 55: Motion Safety>Discrepancy Checking Category

    Configure the Motion Safety Instances Chapter 3 Motion Safety>Discrepancy Checking Category Discrepancy checking is only used in applications where the Module Definition>Safety Instance is configured for Dual Feedback Monitoring. Its purpose is to perform an evaluation of the speed discrepancy between primary and secondary feedback.

  • Page 56
    Chapter 3 Configure the Motion Safety Instances 2. Set the remaining Discrepancy Checking attributes. Attribute Description The amount of time (ms) specified for velocity deadband to be evaluated and trigger a Time safety fault condition. The gear ratio of one primary feedback revolution to one secondary feedback Ratio revolution.

  • Page 57: Motion Safety>Sto Category

    Configure the Motion Safety Instances Chapter 3 Motion Safety>STO Category The STO category provides a disable and coast fault action. However, if a torque disable delay is needed following STO Active, you can enter a value in the Delay field. TIP The STO Delay feature is also available with 2198-xxxx-ERS3 (series B) drives when the Module Definition is configured for Safe Stop Only — No Feedback.

  • Page 58: Motion Safety>Ss1 Category

    Chapter 3 Configure the Motion Safety Instances Motion Safety>SS1 Category The Motion Safety>SS1 category is configured when a Timed or Monitored Safe Stop 1 (SS1) function is desired. TIP Timed SS1 is also available with 2198-xxxx-ERS3 (series B) drives when the Module Definition is configured for Safe Stop Only — No Feedback.

  • Page 59: Primary Safety Feedback Example (Sil 2 Encoder)

    Configure the Motion Safety Instances Chapter 3 Primary Safety Feedback This example applies to any Kinetix 5700 (2198-xxxx-ERS4) inverter that is paired with Kinetix VP (Bulletin VPL, VPF, or VPC) motors that are Example (SIL 2 encoder) equipped with -Q or -W (SIL 2, PL d rated) encoders.

  • Page 60
    In this example, SS1 settings are used. IMPORTANT The SS1 action only occurs with a connection loss or connection idle fault. If a safety or other motion fault occurs, consult the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002 determine the appropriate action to take.
  • Page 61
    Configure the Motion Safety Instances Chapter 3 The Change Catalog Number dialog box appears. 8. Select the motor catalog number appropriate for your SIL 2 application. To verify the motor catalog number, refer to the motor name plate. 9. Click OK to close the Change Catalog Number dialog box. 10.
  • Page 62
    Chapter 3 Configure the Motion Safety Instances 13. Select the Motion Safety 1>Scaling category. 14. In the Position Units field, type revolutions. In this application, the position units are in revolutions. 1 motor revolution = 1 revolution. 15. Select the Axis Properties>Scaling category. Both the Motion Safety and Axis Properties>Scaling (motion) categories match as shown.

  • Page 63: Dual Feedback Monitoring Example (Sil 2 Encoder)

    1 through step This example applies to any Kinetix 5700 (2198-xxxx-ERS4) inverter that is Dual Feedback Monitoring paired with Kinetix VP (Bulletin VPL, VPF, or VPC) motors that are Example (SIL 2 encoder) equipped with -Q or -W (SIL 2, PL d rated) encoders. In this example, the application has an external Bulletin 842HR sin/cos encoder for dual feedback monitoring.

  • Page 64
    In this example, SS1 settings are used. IMPORTANT The SS1 action only occurs with a connection loss or connection idle fault. If a safety or other motion fault occurs, consult the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002 determine the appropriate action to take.
  • Page 65
    Configure the Motion Safety Instances Chapter 3 6. From the Device pull-down menu, choose DSL Feedback Port because the motion connection is associated with a VPC-Bxxxx-Q motor. IMPORTANT Because this safety configuration is using the DSL Feedback Port, the motion configuration (if used with this port) must use the same device with this port.
  • Page 66
    Chapter 3 Configure the Motion Safety Instances 12. Click Apply. 13. Select the Motion Safety 1>Secondary Feedback category. 14. From the Device pull-down menu, choose Universal Feedback Port. In this example, the Bulletin 842HR sine/cosine encoder is used, which requires the 15-pin UFB connector. IMPORTANT Because this safety configuration is using the Universal Feedback Port, the motion configuration (if used with this port) must use the same device with this port.
  • Page 67
    Configure the Motion Safety Instances Chapter 3 18. Select the Motion Safety 1>Scaling category. 19. In the Position Units field, type revolutions. In this application, the position units are in revolutions. 1 motor revolution = 1 revolution. 20. Select the Axis Properties>Scaling category. Both the Motion Safety and Axis Properties>Scaling (motion) categories match as shown.
  • Page 68
    Chapter 3 Configure the Motion Safety Instances 22. Select the Motion Safety 1>SS1 category. 23. From the Mode pull-down menu, choose the SS1 — Safe Stop 1 mode. In this example, Monitored SS1 is used to control the deceleration rate and tolerance.

  • Page 69: Primary Safety Feedback Example (Sin/Cos Encoder)

    Motion Only connection is controlled by one Logix 5000 controller and Example (sin/cos encoder) the Safety Only connection is controlled by another GuardLogix controller. In this example, the Kinetix 5700 inverter is paired with an MP-Series™ Bulletin MPL-Bxxxx-M (multi-turn) motor. This procedure assumes you have already configured the 2198-xxxx-ERS4 drive with a Motion Only connection and configured the motion associated axis for specific motion functions.

  • Page 70
    In this example, the SS1 setting is used. IMPORTANT The SS1 action only occurs with a connection loss or connection idle fault. If a safety or other motion fault occurs, consult the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002 determine the appropriate action to take.
  • Page 71
    Configure the Motion Safety Instances Chapter 3 8. Enter a value in the Cycle Resolution field. 1024 Cycles/rev is the default value when Hiperface is the encoder type. 9. Set the Velocity Average Time and Standstill Speed attributes. In this example, the Velocity Average Time is set to 100 ms and the Standstill Speed is set to 1.000 rev/s (default setting).
  • Page 72
    Chapter 3 Configure the Motion Safety Instances 16. Select the Motion Safety 1>SS1 category. 17. From the Mode pull-down menu, choose the SS1 — Safe Stop 1 mode. In this example, a Monitored SS1 is used to control the deceleration rate and tolerance.

  • Page 73: Encoder Feedback Types And Sil Ratings

    Configure the Motion Safety Instances Chapter 3 Encoder Feedback Types and Encoder feedback is used for motion control, safety motion monitoring, or both. The drive must be configured to use a feedback device for motion and/or SIL Ratings for safety. The motion and safety functions in the drive are independent with respect to the encoder feedback.

  • Page 74
    Chapter 3 Configure the Motion Safety Instances Table 24 — Feedback Types Assigned to Feedback Ports for SIL 3/PL e Applications Motor Feedback (MF) Connector Universal Feedback (UFB) Connector Achievable System Encoder Safety Encoder Motion Encoder Safety Encoder Motion Safety Rating Encoder Source Encoder Source Function…

  • Page 75: Drive Safety Instructions

    GuardLogix 5380 controllers and use the EtherNet/IP™ network to communicate with the safety I/O. Drive Safety instructions use safety feedback, provided by Kinetix 5700 drives in the Safety Task of the controller, to preform safe monitoring functions. Rockwell Automation Publication 2198-RM001B-EN-P — May 2018…

  • Page 76
    Chapter 4 Controller-based Safety Functions Table 25 — Drive Safety Instructions Safety Instruction Description The SFX function scales feedback position into position units and feedback velocity into position units per time unit. SFX is used with Safety Feedback Interface other Drive Safety instructions.SFX also provides unwind for rotary applications and position homing.

  • Page 77: Before Adding The Safety Instructions

    3. Add and configure an axis in the Motion Group. For help with these Logix Designer configuration examples (steps 1, 2, and 3), see the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002. 4. Add Drive Safety instructions to your Safety Task safety program.

  • Page 78: Drive Safety Instruction Example

    Chapter 4 Controller-based Safety Functions Drive Safety Instruction Example Drive Safety instructions provide the following information. In this example, the Safely Limited Speed (SLS) instruction is shown. Figure 30 — SLS Drive Safety Instruction Outputs Configurable Inputs Inputs Pass Through Outputs Table 26 — Drive Safety Instruction Definitions Instruction…

  • Page 79: Pass-Through Data

    SLS instruction. IMPORTANT Pass-through data is for status information only and does not impact configured safety functions. Figure 31 — Pass Through Data Path Kinetix 5700 Servo Drive System with Integrated Safety Functions Safety Task Programming I/O-A…

  • Page 80: Sfx Instruction

    Chapter 4 Controller-based Safety Functions The following steps correspond to the activity in Figure 1. Safety device reports a request to the safety zone. Initiates monitoring by the SLS instruction (Safety Task). 2. SLS Active status is passed to the motion program (Safety Task to Standard Task via the drive).

  • Page 81: Sfx Instruction Example

    Controller-based Safety Functions Chapter 4 SFX Instruction Example In this SFX example, a VPL-B0631T-W motor is used in the safety function. The motor has 512 feedback counts per motor revolution and is scaled for position to have 512 counts per motor revolution. The SFX instruction scales the applicable safety instructions with feedback position units from the safety encoder/motor, into position feedback units used in applicable safety instructions.

  • Page 82
    Chapter 4 Controller-based Safety Functions The VPL-B0631T-W motor is used in a rotary application where the unwind is set to rollover each motor revolution. Therefore, the unwind of 512 counts/ rev was added in the SFX instruction appropriately. Figure 35 — Scaling Homing Setting the Actual Position output to the Home Position input (homing) of the instruction is required if using a position-based drive safety instruction like…

  • Page 83: Safety Fault Names

    Chapter Troubleshoot Safety Faults This chapter provides troubleshooting tables and related information for Kinetix® 5700 drive systems that include 2198-Dxxx-ERS4 (dual-axis) and 2198-Sxxx-ERS4 (single-axis) inverters. Topic Page Safety Fault Names Understand Safety Faults Safety Fault Names The Motion Safety instance in the 2198-xxxx-ERS4 drive reports faults to the drive through the AxisSafetyFaults and AxisSafetyFaultsRA tags.

  • Page 84: Understand Safety Faults

    Chapter 5 Troubleshoot Safety Faults The safety faults named in Table 27 appear as Safety Faults when they occur. In addition, if any of these faults are present, a safety fault appears under the axis fault. Corresponding axis tags are set with any of the faults. Table 27 — Safety Fault Names Fault Name Description…

  • Page 85: Safe Torque-Off Fault

    Troubleshoot Safety Faults Chapter 5 Safe Torque-off Fault The safe torque-off (STO) function detected a fault. The safe stop function in the Motion Safety instance records the specific fault type in the attribute. Explicit messaging can be used to read the fault type information from the drive.

  • Page 86: Ss2, Sos, Sbc, Sls, Slp, And Sdi Faults

    Chapter 5 Troubleshoot Safety Faults Table 30 — SS1 Fault Types SS1 Fault SS1 Fault Type Name Description Type Value Reserved Not used No Fault No Fault is present The SS1 function has been requested when it has been Invalid Configuration configured as ‘not used’…

  • Page 87
    Troubleshoot Safety Faults Chapter 5 Table 31 — Safety Feedback Faults Safe Feedback Safe Feedback Fault Type Duplicated to Fault Type Description Name Other Axis? Value Reserved Not used – No Fault No Fault is present – The DSL safety feedback diagnostics have detected that the actual resolution of the connected DSL Invalid Configuration feedback device does not match the configured resolution of the corresponding Motion Safety instance.

  • Page 88: Troubleshoot The Safety Function

    Chapter 5 Troubleshoot Safety Faults Troubleshoot the Safety Function Table 32 — Safe FLT Sxx Fault Codes Fault Message Exception Code on Drive Display Problem Possible Solutions Logix Designer • Cycle control power Drive safety diagnostic detected SAFE FLT S01 — Safety Core Internal Fault SafetyFault internal STO design failure.

  • Page 89: Safety Fault Reset

    IMPORTANT Transition of the SO.STOOutput tag to logic 1 must always be executed prior to transition of the SO.ResetRequest tag to logic 1. IMPORTANT All Kinetix 5700 inverter axes enter the faulted state if any STO function fault is detected. Refer to…

  • Page 90
    Chapter 5 Troubleshoot Safety Faults Figure 38 — Reset Safe Stop Fault Diagram Safety Fault Occurs Drv:SO.STOOutput Disable Torque Permit Torque Drv:SO.ResetRequest Drv:SI.TorqueDisabled Torque Permited Torque Disabled Drv:SI.SafetyFault No Fault Drv:SI.RestartRequired Restart Not Required Restart Required Axis.SafetyFault Faulted (cleared by MAFR) No Fault Axis.SafeTorqueOffActiveInhibit Start Permitted…
  • Page 91
    Appendix Controller Tags and Safety Attributes Controller axis tags are used by the motion controller motion task to read the status of safety functions and coordinator motion. This appendix lists the motion controller tags that are associated with the safety instances and with safety functions operating in the safety task of the controller.

  • Page 92: Motion Connection Axis Tags

    Appendix A Controller Tags and Safety Attributes Motion Connection Axis Tags This table provides motion-connection axis tag names that are updated to show safety instance status or controller-based safety function status. TIP The words module, instance, and axis (italic) in these tag names represent the module, instance, and axis name assigned in the Logix Designer application.

  • Page 93
    Controller Tags and Safety Attributes Appendix A Table 33 — Motion Connection Axis Tags (continued) Axis Tag Name Motion Connection Safety Output Assembly Tag Name Data Type Description Attribute Number (safety controller) (motion controller) Axis.SOSStandstillStatus [10] BOOL Indicates that the controller-based SOS function has detected module:SO.SOSLimit[instance] standstill according to the function configuration.
  • Page 94
    Appendix A Controller Tags and Safety Attributes Table 33 — Motion Connection Axis Tags (continued) Axis Tag Name Motion Connection Safety Output Assembly Tag Name Data Type Description Attribute Number (safety controller) (motion controller) Axis.SafetyCoreFault BOOL Indicates an internal fault occurred within the drive-module None (use explicit message) safety instance.

  • Page 95: Safety Assembly Tags

    Controller Tags and Safety Attributes Appendix A Safety Assembly Tags Safety assembly tags are associated with a safety connection from a safety controller to a drive module. The data in these tags are communicated at the configured connection rate. TIP The words module and instance (italic) in these tag names represent the module and instance name assigned in the Logix Designer application.

  • Page 96
    Appendix A Controller Tags and Safety Attributes Table 35 — Safety Output Assembly Tags Safety Output Assembly Tag Name Type/[bit] Description (output to safety controller) module:SO.PassThruDataA[instance] DINT 32-bit data container holding general purpose safety data passed from the safety controller. module:SO.PassThruDataB[instance] DINT 32-bit data container holding general purpose safety data passed from the safety controller.
  • Page 97
    Controller Tags and Safety Attributes Appendix A Table 35 — Safety Output Assembly Tags (continued) Safety Output Assembly Tag Name Type/[bit] Description (output to safety controller) module:SO.SFXFault[instance] Indicates that a fault occurred with the controller-based SFX function. 0 = Normal Operation 1 = Fault module:SO.SBCFault[instance] Indicates that a fault occurred with the controller-based SBC function.

  • Page 98: Safety Feedback Attributes

    Attributes that can be written are indicated in Table 37. Configuration attributes can only be read using explicit messages. Table 36 — Safety Feedback Instance Numbers Safety Feedback Kinetix 5700 Drive Motion Safety Category Feedback Instance Single-axis inverters…

  • Page 99
    0 = Normal (default) 18 (0x12) Feedback Polarity specifications. For feedback devices internal to Allen-Bradley® motors, the 1 = Inverted Normal direction is clockwise rotation of the shaft when facing the end of the motor shaft.

  • Page 100: Safe Stop Function Attributes

    Attributes that can be written are indicated in the table. Configuration attributes can be read but cannot be written using an explicit message. Table 38 — Safe Stop Function Instance Numbers Safe Stop Instance Kinetix 5700 Drive Motion Safety Category Single-axis inverters Motion Safety Dual-axis inverters…

  • Page 101
    Controller Tags and Safety Attributes Appendix A Table 39 — Safe Stop Function Attributes (Class 0x5A) (continued) Attribute ID Attribute Name Attribute Description Values Decimal (Hex) 0 = Reserved 1 = No Fault 2 = Invalid Configuration 1 3 = Exceeded Max Speed 1 5 = Sin +Cos Error 1…
  • Page 102
    Appendix A Controller Tags and Safety Attributes Table 39 — Safe Stop Function Attributes (Class 0x5A) (continued) Attribute ID Attribute Name Attribute Description Values Decimal (Hex) 0 = STO (default) Safety Output Connection’s Run/Idle bit transitions from Run to Idle and 51 (0x33) Connection Idle Action Optional Connection Idle Action is Set to STO (default).
  • Page 103
    Controller Tags and Safety Attributes Appendix A Table 39 — Safe Stop Function Attributes (Class 0x5A) (continued) Attribute ID Attribute Name Attribute Description Values Decimal (Hex) Bit: 0 = STO Output Active 1 = SS1 Complete 2 = Safety Stop Fault 265 (0x109) STO Activation Bit string showing status of all inputs to the STO Activation block.

  • Page 104: Dual Channel Feedback Attributes

    Appendix A Controller Tags and Safety Attributes Table 39 — Safe Stop Function Attributes (Class 0x5A) (continued) Attribute ID Attribute Name Attribute Description Values Decimal (Hex) 1 = No Fault 304 (0x130) SS2 Fault Type Detailed information about a fault. 2 = Invalid Configuration SS2 Function Not Supported 0 = No Fault…

  • Page 105
    Appendix Safety Function Validation Checklist Use this appendix to validate your Drive Safety instructions. Each instruction has a checklist with test commands and results to verify for normal operation and abnormal operation scenarios. Topic Page Safe Stop 1 (SS1) Safe Stop 2 (SS2) Safe Operating Speed (SOS) Safely Limited Speed (SLS) Safely Limited Position (SLP)

  • Page 106: Safe Stop 1 (Ss1)

    Appendix B Safety Function Validation Checklist Safe Stop 1 (SS1) Use this SS1 instruction checklist to verify normal operation and the abnormal operation scenarios. IMPORTANT Perform I/O verification and validation before validating your safety ladder program. SFX instruction must be verified within your application. When possible, use immediate operands for instructions to reduce the possibility of systematic errors in your ladder program.

  • Page 107
    Safety Function Validation Checklist Appendix B Table 41 — SS1 Instruction Checklist (continued) Test Type Test Description Test Status Change the motion deceleration rate within the motion task associated with this SS1 function so that the stop delay time is exceeded without triggering a deceleration fault.

  • Page 108: Safe Stop 2 (Ss2)

    Appendix B Safety Function Validation Checklist Safe Stop 2 (SS2) Use this SS2 instruction checklist to verify normal operation and the abnormal operation scenarios. IMPORTANT Perform I/O verification and validation before validating your safety ladder program. SFX instruction must be verified within your application. When possible, use immediate operands for instructions to reduce the possibility of systematic errors in your ladder program.

  • Page 109
    Safety Function Validation Checklist Appendix B Table 42 — SS2 Instruction Checklist (continued) Test Type Test Description Test Status Change the motion deceleration rate within the motion task associated with this SS2 function so that the stop delay time is exceeded without triggering a deceleration fault.
  • Page 110
    Appendix B Safety Function Validation Checklist Table 42 — SS2 Instruction Checklist (continued) Test Type Test Description Test Status Initiate a Start command. • Verify that the machine is in a normal machine run condition • Verify proper machine status and safety application program status Operate the machine at maximum (normal) operating system speed.

  • Page 111: Safe Operating Speed (Sos)

    Safety Function Validation Checklist Appendix B Safe Operating Speed (SOS) Use this SOS instruction checklist to verify normal operation and the abnormal operation scenarios. IMPORTANT Perform I/O verification and validation before validating your safety ladder program. SFX instruction must be verified within your application. When possible, use immediate operands for instructions to reduce the possibility of systematic errors in your ladder program.

  • Page 112
    Appendix B Safety Function Validation Checklist Table 43 — SOS Instruction Checklist (continued) Test Type Test Description Test Status Initiate a Start command. • Verify that the machine is in a normal machine run condition • Verify proper machine status and safety application program status Operate the machine at maximum (normal) operating system speed.

  • Page 113: Safely Limited Speed (Sls)

    Safety Function Validation Checklist Appendix B Safely Limited Speed (SLS) Use this SLS instruction checklist to verify normal operation and the abnormal operation scenarios. IMPORTANT Perform I/O verification and validation before validating your safety ladder program. SFX instruction must be verified within your application. When possible, use immediate operands for instructions to reduce the possibility of systematic errors in your ladder program.

  • Page 114: Safely Limited Position (Slp)

    Appendix B Safety Function Validation Checklist Safely Limited Position (SLP) Use this SLP instruction checklist to verify normal operation and the abnormal operation scenarios. IMPORTANT Perform I/O verification and validation before validating your safety ladder program. SFX instruction must be verified within your application. When possible, use immediate operands for instructions to reduce the possibility of systematic errors in your ladder program.

  • Page 115
    Safety Function Validation Checklist Appendix B Table 45 — SLP Instruction Checklist (continued) Test Type Test Description Test Status Initiate a Start command. • Verify that the machine is in a normal machine run condition • Verify proper machine status and safety application program status Operate the machine within the desired position range.

  • Page 116: Safe Direction (Sdi)

    Appendix B Safety Function Validation Checklist Safe Direction (SDI) Use this SDI instruction checklist to verify normal operation and the abnormal operation scenarios. IMPORTANT Perform I/O verification and validation before validating your safety ladder program. SFX instruction must be verified within your application. When possible, use immediate operands for instructions to reduce the possibility of systematic errors in your ladder program.

  • Page 117: Safe Feedback Interface (Sfx)

    Safety Function Validation Checklist Appendix B Safe Feedback Interface Use this SFX instruction checklist to verify normal operation and the abnormal operation scenarios. (SFX) IMPORTANT Perform I/O verification and validation before validating your safety ladder program. SFX instruction must be verified within your application. When possible, use immediate operands for instructions to reduce the possibility of systematic errors in your ladder program.

  • Page 118
    Appendix B Safety Function Validation Checklist Table 47 — SFX Instruction Checklist (continued) Test Type Test Description Test Status Initiate a Start command. • Verify that the machine is in a normal machine run condition • Verify proper machine status and safety application program status Operate the machine within the normal operating range.

  • Page 119: Safe Brake Control (Sbc)

    Safety Function Validation Checklist Appendix B Safe Brake Control (SBC) Use this SBC instruction checklist to verify normal operation and the abnormal operation scenarios. IMPORTANT Perform I/O verification and validation before validating your safety ladder program. When possible, use immediate operands for instructions to reduce the possibility of systematic errors in your ladder program.

  • Page 120
    Appendix B Safety Function Validation Checklist Notes: Rockwell Automation Publication 2198-RM001B-EN-P — May 2018…

  • Page 121: Index

    Index Numerics controller-based instructions 75 1oo2 monitoring functions 9 definition 7 stopping functions 9 actions 46 decel rate fault 30 additional resources 8 discrepancy application requirements 36 checking 55 assembly tags 34 checking example 56 downloads 37 input 95 output 96 drive safety instructions 75 associated axes 40 adding instruction 77…

  • Page 122: Rockwell Automation Publication 2198-Rm001B-En-P — May

    Index definition 7 proof test interval 12 definition 7 PFH definition 12 IEC 60204-1 27 IEC 61508 11 definition 7 IEC 61800-5-2 11 PLe 5 IEC 62061 11 primary IGBT encoder 17 definition 7 feedback 47 input assembly tags 19 feedback example 59 proof test interval 12 integrated…

  • Page 123
    Index SFX 16 instruction 80 website scaling 81 product downloads 37 validation checklist 117 SIL rating definition 7 feedback types 73 monitored SS1 36 timed SS1 36 SLP 114 fault 86 validation checklist 114 SLS 113 fault 86 validation checklist 113 SOS 111 fault 86 validation checklist 111…
  • Page 124
    Index Notes: Rockwell Automation Publication 2198-RM001B-EN-P — May 2018…
  • Page 126
    Rockwell Automation maintains current product environmental information on its website at http://www.rockwellautomation.com/rockwellautomation/about-us/sustainability-ethics/product-environmental-compliance.page. Allen-Bradley, CompactLogix, ControlLogix, GuardLogix, HPK-Series, Integrated Architecture, Kinetix, Logix 5000, MP-Series, POINT Guard I/O, Rockwell Automation, Rockwell Software, Stratix, and Studio 5000 Logix Designer are trademarks of Rockwell Automation, Inc.

Источник

  • Contents

  • Table of Contents

  • Bookmarks

Quick Links

Safety Reference Manual

Original Instructions

Kinetix 5700 Safe Monitor Functions

Catalog Numbers 2198-D006-ERS3, 2198-D012-ERS3, 2198-D020-ERS3, 2198-D032-ERS3, 2198-D057-ERS3

2198-S086-ERS3, 2198-S130-ERS3, 2198-S160-ERS3, 2198-D006-ERS4, 2198-D012-ERS4, 2198-D020-ERS4,

2198-D032-ERS4, 2198-D057-ERS4, 2198-S086-ERS4, 2198-S130-ERS4, 2198-S160-ERS4

loading

Related Manuals for Allen-Bradley Kinetix 5700

Summary of Contents for Allen-Bradley Kinetix 5700

  • Page 1
    Safety Reference Manual Original Instructions Kinetix 5700 Safe Monitor Functions Catalog Numbers 2198-D006-ERS3, 2198-D012-ERS3, 2198-D020-ERS3, 2198-D032-ERS3, 2198-D057-ERS3 2198-S086-ERS3, 2198-S130-ERS3, 2198-S160-ERS3, 2198-D006-ERS4, 2198-D012-ERS4, 2198-D020-ERS4, 2198-D032-ERS4, 2198-D057-ERS4, 2198-S086-ERS4, 2198-S130-ERS4, 2198-S160-ERS4…
  • Page 2
    Important User Information Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.

  • Page 3: Table Of Contents

    Table of Contents Preface Summary of Changes ……… . . 5 Conventions .

  • Page 4
    Table of Contents Motion Safety>STO Category……57 Motion Safety>SS1 Category ……. 58 Primary Safety Feedback Example (SIL 2 encoder) .

  • Page 5: Preface

    Kinetix 5700 drives with safe-stopping and safe-monitoring functions. Use this publication if you are responsible for designing, configuring, or troubleshooting safety applications that use the Kinetix 5700 drives. You must have a basic understanding of electrical circuitry and familiarity with Kinetix 5700 drives.

  • Page 6: Conventions

    Preface Conventions These conventions are used throughout this publication: • Bulleted lists such as this one provide information, not procedural steps • Numbered lists provide sequential steps or hierarchical information • When the phrase ‘GuardLogix® controller’ is used in this publication it refers to either of the following controller families: –…

  • Page 7: Terminology

    Preface Terminology This table defines common safety terms used throughout this publication. Abbreviation Full Term Definition Timed SS1 Timed Safe Stop 1 Timed SS1 and Safe Stop 1 time-controlled (SS1-t) are synonymous. Both mean safe stop where the motor speed is decelerated to zero and once the maximum stop-time elapses, torque is removed from the motor.

  • Page 8: Additional Resources

    Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 Motion over sercos interface, EtherNet/IP networking, and component servo drive families. Provides information to install, configure, startup, and troubleshoot your Kinetix 5700 servo Kinetix 5700 Servo Drives User Manual, publication 2198-UM002 drive system.

  • Page 9
    Safety Concept Kinetix Safe Motion-monitoring Operation Out of Box State The Kinetix 5700 dual-axis and single-axis inverters are equipped for integrated (drive-based) Monitored SS1 and Timed SS1 stopping functions over the EtherNet/IP™ network. Drive-based safety functions operate in the drive and are activated through the network safety connection.

  • Page 10: Safety Concept

    GuardLogix safety controller for use in controller-based monitoring functions. The Kinetix 5700 dual-axis and single-axis inverters are also equipped for hardwired and integrated safe torque-off (STO). These STO modes apply to 2198-xxxx-ERS3 and 2198-xxxx-ERS4 dual-axis and single-axis inverters.

  • Page 11: Important Safety Considerations

    About Safe Stop and Safe Monitor Functions Chapter 1 TÜV Rheinland 2198-xxxx-ERS4 certification applies to only STO, drive- based Monitored SS1, and drive-based Timed SS1 safety functions. Refer to the GuardLogix Safety Application Instruction Set Reference Manual, publication 1756-RM095, for more information on safe motion-monitoring instructions.

  • Page 12: Average Frequency Of A Dangerous Failure

    Table 4 — Safe Motion-monitoring System Components Safety System Component Bulletin/Cat. No. Description Dual-axis inverter with safe-motion 2198-Dxxx-ERS4 monitoring support. Kinetix 5700 servo drives Single-axis inverter with safe-motion 2198-Sxxx-ERS4 monitoring support. Compact GuardLogix controller Bulletin 5380 Safety controllers required for use in safe…

  • Page 13
    Studio 5000 Logix Designer 1585J-M8CBJM-x Application Ethernet (shielded) Cable (version 31.00 or later) 1734-AENTR POINT Guard I/O™ EtherNet/IP Adapter Kinetix 5700 Servo Drive System with Integrated Safety Functions Safety Device I/O-A I/O-B DSL feedback connector kit with primary UFB-A UFB-B…

  • Page 14: Compatible Safety Controllers

    EtherNet/IP network. See Motion Task in Figure 3 page • The Kinetix 5700 (2198-xxxx-ERS4) drives contain 1 or 2 inverters for the control of 1 or 2 motors, each associated with an axis controlled by the motion task. • Feedback from position encoders, supplied to the motion tasks, is also associated with the axis.

  • Page 15: Motion Safety Instances

    About Safe Stop and Safe Monitor Functions Chapter 1 Motion Safety Instances The Kinetix 5700 (2198-xxxx-ERS4) drives also contain 1 or 2 motion safety instances to provide integrated safety functions. The safety instances operate independently of the inverters and feedback used for motion.

  • Page 16
    Chapter 1 About Safe Stop and Safe Monitor Functions 4. The motion core communicates with the motion controller running the motion task by updating the motion axis tag axis.SS1ActiveStatus. 5. The motion task controls the axis to bring the motor to a stop within the Monitored SS1 limits for speed and time.

  • Page 17: Safe Monitor Network Communication

    About Safe Stop and Safe Monitor Functions Chapter 1 This figure shows how the safety task and motion tasks communicate with the drive. Figure 2 — Safe Monitor System Communication Kinetix 5700 Single-axis or Dual-axis Inverter CIP Motion™ Motion Protocol…

  • Page 18
    Data is exchanged at a periodic rate over the connection. To configure the drive-module motion connection Axis Properties in the Logix Designer application, see the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002. Some of the axis tags are updated from fault and safety status provided by the safety instance in the drive module.
  • Page 19
    About Safe Stop and Safe Monitor Functions Chapter 1 IMPORTANT Axis tags are for status only and are not used by the safety function. For more information on pass-through data, see Pass-through Data page Safety Connection The safety controller communicates with the safety instances in the drive module over the safety connection.

  • Page 20: Explicit Messages

    Chapter 1 About Safe Stop and Safe Monitor Functions Explicit Messages Use explicit messages to communicate with a drive and obtain additional fault, status, or configuration information that is not be available in the Safety I/O Tag structure. Attribute data is useful for additional diagnostic information. An explicit message can be sent by any controller on the network and used to read any drive module attribute.

  • Page 21
    Figure 4 — Explicit Message Example Safe Torque-off Mode You can use the attribute STO Mode to check if the Kinetix 5700 inverter is in STO Bypass mode. STO Bypass mode is used to allow motion while commissioning or troubleshooting a system when Motion Direct Commands (MDC) are needed.

  • Page 22: Out Of Box State

    2198-UM002 for a wiring example. Out of the box, you can use Kinetix 5700 servo drives in Integrated STO mode only after a Motion and Safety or Safety-only connection has been established at least once in the Logix Designer application.

  • Page 23: Restore Hardwired Sto Mode By Using The Drive Display

    Restore Hardwired STO mode by Using the Drive Display After the integrated safety connection configuration is applied to the Kinetix 5700 servo drive at least once, you can restore the drive to Hardwired STO mode by using the drive display and navigation buttons.

  • Page 24
    Chapter 1 About Safe Stop and Safe Monitor Functions Notes: Rockwell Automation Publication 2198-RM001B-EN-P — May 2018…

  • Page 25: Timed Ss1 (Drive-Based) Stopping Function

    Chapter Safe Stop Functions Use this chapter to learn more about the Monitored SS1 and Timed SS1 stopping functions that are built into Kinetix® 5700 dual-axis and single-axis inverters. Topic Page Timed SS1 (drive-based) Stopping Function Monitored SS1 (drive-based) Stopping Function Safe Torque-off Function Safe Stop Functions (drive-based) Assembly Tags Drive-based Safe Stopping Application Requirements…

  • Page 26
    Chapter 2 Safe Stop Functions Figure 5 — Timed SS1 Normal Operation Stop Time, max Axis Speed SS1 Request SS1 Active SS1 Complete STO Active Torque Disabled SS1 Start STO Delay (1) For more information on STO Delay, see Motion Safety>STO Category page Attribute Name Tag Name…

  • Page 27: Monitored Ss1 (Drive-Based) Stopping Function

    Safe Stop Functions Chapter 2 Monitored SS1 (drive-based) Monitored SS1 is a ramped safe-stop where the motion safety instance monitors the speed ramp to standstill speed, while either the motion task or Stopping Function the drive itself controls the deceleration to standstill speed. When standstill is reached, then the motion safety instance removes torque from the motor.

  • Page 28: Ramp Monitored Function

    Chapter 2 Safe Stop Functions Ramp Monitored Function The Monitored SS1 (ramp monitored) function is the ramped deceleration of the axis. A ramp function represents the maximum speed while the axis is stopping as a function of time (t). The ramp function depends on several variables as stated in this equation: •…

  • Page 29
    Safe Stop Functions Chapter 2 Monitored SS1 Example In this example, an axis is running at 1200 rpm when SS1 Request goes high (1), which sets SS1 Active high (1). SS1 Active is read by the Main task and prepares to decelerate the axis. At the end of Stop Monitor Delay, the axis speed is 1200 rpm.

  • Page 30: Monitored Ss1 With Fault

    Chapter 2 Safe Stop Functions Monitored SS1 With Fault This figure shows how the Monitored SS1 behaves when the axis speed does not stay below the ramp function limit. Figure 9 — Deceleration Rate Fault Stop Time, max Stop Monitor Stop Delay, x Delay Decel…

  • Page 31
    Safe Stop Functions Chapter 2 Series of events when a Monitored SS1 fault occurs. 1. If an SS1 fault occurs, STO Active goes high (1), and Torque Disabled goes high (1) immediately and ignores STO Delay. The safety instance detects a fault and activates the STO function within 6.0 ms of when the fault condition occurred.

  • Page 32: Monitored Ss1 Request Removed

    Chapter 2 Safe Stop Functions Monitored SS1 Request Removed This figure shows what happens when SS1 Request goes low (0) before completion. Figure 10 — Monitored SS1 Request Removed Before Completion Stop Time, max Stop Monitor Stop Delay, x Delay Speed Decel Limit…

  • Page 33: Safe Torque-Off Function

    These conditions must be met for integrated control of the STO function: • The Kinetix 5700 drive module must be added to the GuardLogix 5570 or Compact GuardLogix 5370 controller I/O Configuration.

  • Page 34: Safe Stop Functions (Drive-Based) Assembly Tags

    Kinetix 5700 safety output assembly to control the safe torque-off function. The SI.Status tags are sent from the Kinetix 5700 inverter to the GuardLogix safety input assembly and indicate the Kinetix 5700 safety control status. Table 15 — Safety Input Assembly Tag Name Description…

  • Page 35
    95 list the safety tags added to the controller tags when a Kinetix 5700 servo drive is added to a GuardLogix I/O configuration and the connection is configured for Safety Only. In this example, the SO.STOOutput bit permits torque when the bit is high.

  • Page 36: Drive-Based Safe Stopping Application Requirements

    Chapter 2 Safe Stop Functions Drive-based Safe Stopping This section describes some of the safety information required to design your safety application. Application Requirements Table 16 — Achievable Safety Ratings Safety Function Achievable Functional Safety Rating SIL 3, PL e (independently if hardwired or integrated option is used) Timed SS1 SIL 3, PL e •…

  • Page 37: System Safety Reaction Time

    IMPORTANT You must read, understand, and fulfill the requirements detailed in the GuardLogix controller systems safety reference manual prior to operating a safety system that uses a GuardLogix controller and Kinetix 5700 drive. System Safety Reaction Time System safety reaction time is the sum of sensor reaction time, GuardLogix controller system reaction time and actuator reaction time.

  • Page 38
    Chapter 2 Safe Stop Functions Notes: Rockwell Automation Publication 2198-RM001B-EN-P — May 2018…

  • Page 39: Understand Module Properties Categories

    Chapter Configure the Motion Safety Instances Use this chapter to configure Kinetix® 5700 dual-axis and single-axis inverters for safety applications with Allen-Bradley® servo motors. Topic Page Understand Module Properties Categories Primary Safety Feedback Example (SIL 2 encoder) Dual Feedback Monitoring Example (SIL 2 encoder)

  • Page 40
    Chapter 3 Configure the Motion Safety Instances Right-click your Kinetix 5700 single-axis or dual-axis inverter and choose Properties. The Module Properties dialog box appears. Figure 12 — Module Definition Configured With Dual Feedback Monitoring Module properties categories are listed along the left side panel.

  • Page 41: Module Properties>General Category

    Configure the Motion Safety Instances Chapter 3 In this 2198-Dxxx-ERS4 (dual-axis inverter) example, the Connection mode is Motion and Safety and the Motion Safety instances are configured as Dual Feedback Monitoring. Module Properties Category Page General page 41 Connection and Safety page 44 Motion Safety Actions…

  • Page 42
    Chapter 3 Configure the Motion Safety Instances Table 17 — Safety Application Definitions Minimum Drive Module Drive Module Connection Safety Application Mode Safety Functions Minimum Controller Required Required Options Hardwired Safe Torque-off (STO) 2198-xxxx-ERS3 (series A) Motion Only • ControlLogix® 5570 •…
  • Page 43
    Configure the Motion Safety Instances Chapter 3 If a Motion and Safety connection is configured, the Motion Safety categories appear and can be configured for feedback options (see Table 19 page 43). In this example, the Motion Safety categories are configured for Single Feedback Monitoring, so only Primary Feedback appears.

  • Page 44: Module Properties>Connection And Safety Categories

    Chapter 3 Configure the Motion Safety Instances Figure 14 — Configure Motion Safety • If Motion Safety is configured for Safe Stop Only — No Feedback, the feedback options do not appear. • If Motion Safety is configured for Dual Feedback Monitoring, the Primary Feedback and Secondary Feedback categories appear.

  • Page 45
    Configure the Motion Safety Instances Chapter 3 2. To set the Safety Output value, right-click SafetyTask in the Controller Organizer and click Properties. 3. Click the Configuration tab. The default safety task Period value (and output RPI) is 20 ms. IMPORTANT The period is the interval at which the safety task executes.

  • Page 46: Motion Safety>Actions Category

    Automatic Automatic is the only choice. operation immediately after the controller enters run mode. (1) Kinetix 5700 drives do not support the manual option. 2. From the Connection Loss Action and Connection Idle Action pull- down menus, choose SS1 or STO as required for your application.

  • Page 47: Motion Safety>Primary Feedback Category

    Configure the Motion Safety Instances Chapter 3 Motion Safety>Primary Feedback Category Configure primary feedback if you intend to use any drive-based or controller- based safety function that monitors motion. There are many different combinations of feedback for motion control and safety that can be configured.

  • Page 48
    Based on encoder rotation and evaluation requirements. Choose between Normal (default) or Polarity Inverted as appropriate for your application. Allen-Bradley motors with -Q or -W encoder types are SIL 2 capable and 2 is shown. For non SIL-rated motor or encoder, this SIL Capability field indicates Unknown.
  • Page 49
    Configure the Motion Safety Instances Chapter 3 Velocity Average Time Parameter The Velocity Average Time parameter sets the time period for a moving average filter that is applied to velocity samples reported in Velocity Feedback. The motion safety instance of the drive calculates velocity by taking the differences in position count samples that are divided by the sample period.
  • Page 50
    Chapter 3 Configure the Motion Safety Instances Figure 15 — Velocity Average Time Encoder Cycle Clockwise Counter Clockwise   Sine Cosine … Position Sample Times 3 ms Incremental Position Instantaneous Velocity Average Velocity (18 ms average time) Average Velocity (36 ms average time) This table shows different values of velocity resolution based on the encoder cycle count and the velocity average time.

  • Page 51: Motion Safety>Secondary Feedback Category

    Configure the Motion Safety Instances Chapter 3 Motion Safety>Secondary Feedback Category Configure secondary feedback for your motion monitoring application that requires SIL 3 or PL e for drive-based or controller-based safety functions. There are different combinations of feedback for motion control and safety that can be configured.

  • Page 52: Motion Safety>Scaling Category

    Chapter 3 Configure the Motion Safety Instances Motion Safety>Scaling Category The Primary Feedback category set safety resolution in terms of counts per revolution. The Scaling category configures the position and time to be used in terms of counts per position unit in the safe monitoring functions. Figure 16 — Scaling Category (default settings) Table 22 — Scaling Category Attributes Attribute…

  • Page 53
    Configure the Motion Safety Instances Chapter 3 Scaling Example 1 In the following example, a rotary knife with one blade is directly coupled to the motor. The servo motor is a VPC-Bxxxx-Q with SIL 2 encoder that generates 4096 counts per revolution. Figure 17 — Rotary Knife with One Blade Unwind Rotary Knife…
  • Page 54
    Chapter 3 Configure the Motion Safety Instances Scaling Example 2 In this example, a rotary knife with two blades is driven by a 10:1 gear reduction and servo motor. The servo motor is a VPC-Bxxxx-Q with SIL 2 encoder that generates 4096 counts per revolution. Figure 19 — Rotary Knife with Two Blades Unwind Rotary Knife…

  • Page 55: Motion Safety>Discrepancy Checking Category

    Configure the Motion Safety Instances Chapter 3 Motion Safety>Discrepancy Checking Category Discrepancy checking is only used in applications where the Module Definition>Safety Instance is configured for Dual Feedback Monitoring. Its purpose is to perform an evaluation of the speed discrepancy between primary and secondary feedback.

  • Page 56
    Chapter 3 Configure the Motion Safety Instances 2. Set the remaining Discrepancy Checking attributes. Attribute Description The amount of time (ms) specified for velocity deadband to be evaluated and trigger a Time safety fault condition. The gear ratio of one primary feedback revolution to one secondary feedback Ratio revolution.

  • Page 57: Motion Safety>Sto Category

    Configure the Motion Safety Instances Chapter 3 Motion Safety>STO Category The STO category provides a disable and coast fault action. However, if a torque disable delay is needed following STO Active, you can enter a value in the Delay field. TIP The STO Delay feature is also available with 2198-xxxx-ERS3 (series B) drives when the Module Definition is configured for Safe Stop Only — No Feedback.

  • Page 58: Motion Safety>Ss1 Category

    Chapter 3 Configure the Motion Safety Instances Motion Safety>SS1 Category The Motion Safety>SS1 category is configured when a Timed or Monitored Safe Stop 1 (SS1) function is desired. TIP Timed SS1 is also available with 2198-xxxx-ERS3 (series B) drives when the Module Definition is configured for Safe Stop Only — No Feedback.

  • Page 59: Primary Safety Feedback Example (Sil 2 Encoder)

    Configure the Motion Safety Instances Chapter 3 Primary Safety Feedback This example applies to any Kinetix 5700 (2198-xxxx-ERS4) inverter that is paired with Kinetix VP (Bulletin VPL, VPF, or VPC) motors that are Example (SIL 2 encoder) equipped with -Q or -W (SIL 2, PL d rated) encoders.

  • Page 60
    In this example, SS1 settings are used. IMPORTANT The SS1 action only occurs with a connection loss or connection idle fault. If a safety or other motion fault occurs, consult the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002 determine the appropriate action to take.
  • Page 61
    Configure the Motion Safety Instances Chapter 3 The Change Catalog Number dialog box appears. 8. Select the motor catalog number appropriate for your SIL 2 application. To verify the motor catalog number, refer to the motor name plate. 9. Click OK to close the Change Catalog Number dialog box. 10.
  • Page 62
    Chapter 3 Configure the Motion Safety Instances 13. Select the Motion Safety 1>Scaling category. 14. In the Position Units field, type revolutions. In this application, the position units are in revolutions. 1 motor revolution = 1 revolution. 15. Select the Axis Properties>Scaling category. Both the Motion Safety and Axis Properties>Scaling (motion) categories match as shown.

  • Page 63: Dual Feedback Monitoring Example (Sil 2 Encoder)

    1 through step This example applies to any Kinetix 5700 (2198-xxxx-ERS4) inverter that is Dual Feedback Monitoring paired with Kinetix VP (Bulletin VPL, VPF, or VPC) motors that are Example (SIL 2 encoder) equipped with -Q or -W (SIL 2, PL d rated) encoders. In this example, the application has an external Bulletin 842HR sin/cos encoder for dual feedback monitoring.

  • Page 64
    In this example, SS1 settings are used. IMPORTANT The SS1 action only occurs with a connection loss or connection idle fault. If a safety or other motion fault occurs, consult the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002 determine the appropriate action to take.
  • Page 65
    Configure the Motion Safety Instances Chapter 3 6. From the Device pull-down menu, choose DSL Feedback Port because the motion connection is associated with a VPC-Bxxxx-Q motor. IMPORTANT Because this safety configuration is using the DSL Feedback Port, the motion configuration (if used with this port) must use the same device with this port.
  • Page 66
    Chapter 3 Configure the Motion Safety Instances 12. Click Apply. 13. Select the Motion Safety 1>Secondary Feedback category. 14. From the Device pull-down menu, choose Universal Feedback Port. In this example, the Bulletin 842HR sine/cosine encoder is used, which requires the 15-pin UFB connector. IMPORTANT Because this safety configuration is using the Universal Feedback Port, the motion configuration (if used with this port) must use the same device with this port.
  • Page 67
    Configure the Motion Safety Instances Chapter 3 18. Select the Motion Safety 1>Scaling category. 19. In the Position Units field, type revolutions. In this application, the position units are in revolutions. 1 motor revolution = 1 revolution. 20. Select the Axis Properties>Scaling category. Both the Motion Safety and Axis Properties>Scaling (motion) categories match as shown.
  • Page 68
    Chapter 3 Configure the Motion Safety Instances 22. Select the Motion Safety 1>SS1 category. 23. From the Mode pull-down menu, choose the SS1 — Safe Stop 1 mode. In this example, Monitored SS1 is used to control the deceleration rate and tolerance.

  • Page 69: Primary Safety Feedback Example (Sin/Cos Encoder)

    Motion Only connection is controlled by one Logix 5000 controller and Example (sin/cos encoder) the Safety Only connection is controlled by another GuardLogix controller. In this example, the Kinetix 5700 inverter is paired with an MP-Series™ Bulletin MPL-Bxxxx-M (multi-turn) motor. This procedure assumes you have already configured the 2198-xxxx-ERS4 drive with a Motion Only connection and configured the motion associated axis for specific motion functions.

  • Page 70
    In this example, the SS1 setting is used. IMPORTANT The SS1 action only occurs with a connection loss or connection idle fault. If a safety or other motion fault occurs, consult the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002 determine the appropriate action to take.
  • Page 71
    Configure the Motion Safety Instances Chapter 3 8. Enter a value in the Cycle Resolution field. 1024 Cycles/rev is the default value when Hiperface is the encoder type. 9. Set the Velocity Average Time and Standstill Speed attributes. In this example, the Velocity Average Time is set to 100 ms and the Standstill Speed is set to 1.000 rev/s (default setting).
  • Page 72
    Chapter 3 Configure the Motion Safety Instances 16. Select the Motion Safety 1>SS1 category. 17. From the Mode pull-down menu, choose the SS1 — Safe Stop 1 mode. In this example, a Monitored SS1 is used to control the deceleration rate and tolerance.

  • Page 73: Encoder Feedback Types And Sil Ratings

    Configure the Motion Safety Instances Chapter 3 Encoder Feedback Types and Encoder feedback is used for motion control, safety motion monitoring, or both. The drive must be configured to use a feedback device for motion and/or SIL Ratings for safety. The motion and safety functions in the drive are independent with respect to the encoder feedback.

  • Page 74
    Chapter 3 Configure the Motion Safety Instances Table 24 — Feedback Types Assigned to Feedback Ports for SIL 3/PL e Applications Motor Feedback (MF) Connector Universal Feedback (UFB) Connector Achievable System Encoder Safety Encoder Motion Encoder Safety Encoder Motion Safety Rating Encoder Source Encoder Source Function…

  • Page 75: Drive Safety Instructions

    GuardLogix 5380 controllers and use the EtherNet/IP™ network to communicate with the safety I/O. Drive Safety instructions use safety feedback, provided by Kinetix 5700 drives in the Safety Task of the controller, to preform safe monitoring functions. Rockwell Automation Publication 2198-RM001B-EN-P — May 2018…

  • Page 76
    Chapter 4 Controller-based Safety Functions Table 25 — Drive Safety Instructions Safety Instruction Description The SFX function scales feedback position into position units and feedback velocity into position units per time unit. SFX is used with Safety Feedback Interface other Drive Safety instructions.SFX also provides unwind for rotary applications and position homing.

  • Page 77: Before Adding The Safety Instructions

    3. Add and configure an axis in the Motion Group. For help with these Logix Designer configuration examples (steps 1, 2, and 3), see the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002. 4. Add Drive Safety instructions to your Safety Task safety program.

  • Page 78: Drive Safety Instruction Example

    Chapter 4 Controller-based Safety Functions Drive Safety Instruction Example Drive Safety instructions provide the following information. In this example, the Safely Limited Speed (SLS) instruction is shown. Figure 30 — SLS Drive Safety Instruction Outputs Configurable Inputs Inputs Pass Through Outputs Table 26 — Drive Safety Instruction Definitions Instruction…

  • Page 79: Pass-Through Data

    SLS instruction. IMPORTANT Pass-through data is for status information only and does not impact configured safety functions. Figure 31 — Pass Through Data Path Kinetix 5700 Servo Drive System with Integrated Safety Functions Safety Task Programming I/O-A…

  • Page 80: Sfx Instruction

    Chapter 4 Controller-based Safety Functions The following steps correspond to the activity in Figure 1. Safety device reports a request to the safety zone. Initiates monitoring by the SLS instruction (Safety Task). 2. SLS Active status is passed to the motion program (Safety Task to Standard Task via the drive).

  • Page 81: Sfx Instruction Example

    Controller-based Safety Functions Chapter 4 SFX Instruction Example In this SFX example, a VPL-B0631T-W motor is used in the safety function. The motor has 512 feedback counts per motor revolution and is scaled for position to have 512 counts per motor revolution. The SFX instruction scales the applicable safety instructions with feedback position units from the safety encoder/motor, into position feedback units used in applicable safety instructions.

  • Page 82
    Chapter 4 Controller-based Safety Functions The VPL-B0631T-W motor is used in a rotary application where the unwind is set to rollover each motor revolution. Therefore, the unwind of 512 counts/ rev was added in the SFX instruction appropriately. Figure 35 — Scaling Homing Setting the Actual Position output to the Home Position input (homing) of the instruction is required if using a position-based drive safety instruction like…

  • Page 83: Safety Fault Names

    Chapter Troubleshoot Safety Faults This chapter provides troubleshooting tables and related information for Kinetix® 5700 drive systems that include 2198-Dxxx-ERS4 (dual-axis) and 2198-Sxxx-ERS4 (single-axis) inverters. Topic Page Safety Fault Names Understand Safety Faults Safety Fault Names The Motion Safety instance in the 2198-xxxx-ERS4 drive reports faults to the drive through the AxisSafetyFaults and AxisSafetyFaultsRA tags.

  • Page 84: Understand Safety Faults

    Chapter 5 Troubleshoot Safety Faults The safety faults named in Table 27 appear as Safety Faults when they occur. In addition, if any of these faults are present, a safety fault appears under the axis fault. Corresponding axis tags are set with any of the faults. Table 27 — Safety Fault Names Fault Name Description…

  • Page 85: Safe Torque-Off Fault

    Troubleshoot Safety Faults Chapter 5 Safe Torque-off Fault The safe torque-off (STO) function detected a fault. The safe stop function in the Motion Safety instance records the specific fault type in the attribute. Explicit messaging can be used to read the fault type information from the drive.

  • Page 86: Ss2, Sos, Sbc, Sls, Slp, And Sdi Faults

    Chapter 5 Troubleshoot Safety Faults Table 30 — SS1 Fault Types SS1 Fault SS1 Fault Type Name Description Type Value Reserved Not used No Fault No Fault is present The SS1 function has been requested when it has been Invalid Configuration configured as ‘not used’…

  • Page 87
    Troubleshoot Safety Faults Chapter 5 Table 31 — Safety Feedback Faults Safe Feedback Safe Feedback Fault Type Duplicated to Fault Type Description Name Other Axis? Value Reserved Not used – No Fault No Fault is present – The DSL safety feedback diagnostics have detected that the actual resolution of the connected DSL Invalid Configuration feedback device does not match the configured resolution of the corresponding Motion Safety instance.

  • Page 88: Troubleshoot The Safety Function

    Chapter 5 Troubleshoot Safety Faults Troubleshoot the Safety Function Table 32 — Safe FLT Sxx Fault Codes Fault Message Exception Code on Drive Display Problem Possible Solutions Logix Designer • Cycle control power Drive safety diagnostic detected SAFE FLT S01 — Safety Core Internal Fault SafetyFault internal STO design failure.

  • Page 89: Safety Fault Reset

    IMPORTANT Transition of the SO.STOOutput tag to logic 1 must always be executed prior to transition of the SO.ResetRequest tag to logic 1. IMPORTANT All Kinetix 5700 inverter axes enter the faulted state if any STO function fault is detected. Refer to…

  • Page 90
    Chapter 5 Troubleshoot Safety Faults Figure 38 — Reset Safe Stop Fault Diagram Safety Fault Occurs Drv:SO.STOOutput Disable Torque Permit Torque Drv:SO.ResetRequest Drv:SI.TorqueDisabled Torque Permited Torque Disabled Drv:SI.SafetyFault No Fault Drv:SI.RestartRequired Restart Not Required Restart Required Axis.SafetyFault Faulted (cleared by MAFR) No Fault Axis.SafeTorqueOffActiveInhibit Start Permitted…
  • Page 91
    Appendix Controller Tags and Safety Attributes Controller axis tags are used by the motion controller motion task to read the status of safety functions and coordinator motion. This appendix lists the motion controller tags that are associated with the safety instances and with safety functions operating in the safety task of the controller.

  • Page 92: Motion Connection Axis Tags

    Appendix A Controller Tags and Safety Attributes Motion Connection Axis Tags This table provides motion-connection axis tag names that are updated to show safety instance status or controller-based safety function status. TIP The words module, instance, and axis (italic) in these tag names represent the module, instance, and axis name assigned in the Logix Designer application.

  • Page 93
    Controller Tags and Safety Attributes Appendix A Table 33 — Motion Connection Axis Tags (continued) Axis Tag Name Motion Connection Safety Output Assembly Tag Name Data Type Description Attribute Number (safety controller) (motion controller) Axis.SOSStandstillStatus [10] BOOL Indicates that the controller-based SOS function has detected module:SO.SOSLimit[instance] standstill according to the function configuration.
  • Page 94
    Appendix A Controller Tags and Safety Attributes Table 33 — Motion Connection Axis Tags (continued) Axis Tag Name Motion Connection Safety Output Assembly Tag Name Data Type Description Attribute Number (safety controller) (motion controller) Axis.SafetyCoreFault BOOL Indicates an internal fault occurred within the drive-module None (use explicit message) safety instance.

  • Page 95: Safety Assembly Tags

    Controller Tags and Safety Attributes Appendix A Safety Assembly Tags Safety assembly tags are associated with a safety connection from a safety controller to a drive module. The data in these tags are communicated at the configured connection rate. TIP The words module and instance (italic) in these tag names represent the module and instance name assigned in the Logix Designer application.

  • Page 96
    Appendix A Controller Tags and Safety Attributes Table 35 — Safety Output Assembly Tags Safety Output Assembly Tag Name Type/[bit] Description (output to safety controller) module:SO.PassThruDataA[instance] DINT 32-bit data container holding general purpose safety data passed from the safety controller. module:SO.PassThruDataB[instance] DINT 32-bit data container holding general purpose safety data passed from the safety controller.
  • Page 97
    Controller Tags and Safety Attributes Appendix A Table 35 — Safety Output Assembly Tags (continued) Safety Output Assembly Tag Name Type/[bit] Description (output to safety controller) module:SO.SFXFault[instance] Indicates that a fault occurred with the controller-based SFX function. 0 = Normal Operation 1 = Fault module:SO.SBCFault[instance] Indicates that a fault occurred with the controller-based SBC function.

  • Page 98: Safety Feedback Attributes

    Attributes that can be written are indicated in Table 37. Configuration attributes can only be read using explicit messages. Table 36 — Safety Feedback Instance Numbers Safety Feedback Kinetix 5700 Drive Motion Safety Category Feedback Instance Single-axis inverters…

  • Page 99
    0 = Normal (default) 18 (0x12) Feedback Polarity specifications. For feedback devices internal to Allen-Bradley® motors, the 1 = Inverted Normal direction is clockwise rotation of the shaft when facing the end of the motor shaft.

  • Page 100: Safe Stop Function Attributes

    Attributes that can be written are indicated in the table. Configuration attributes can be read but cannot be written using an explicit message. Table 38 — Safe Stop Function Instance Numbers Safe Stop Instance Kinetix 5700 Drive Motion Safety Category Single-axis inverters Motion Safety Dual-axis inverters…

  • Page 101
    Controller Tags and Safety Attributes Appendix A Table 39 — Safe Stop Function Attributes (Class 0x5A) (continued) Attribute ID Attribute Name Attribute Description Values Decimal (Hex) 0 = Reserved 1 = No Fault 2 = Invalid Configuration 1 3 = Exceeded Max Speed 1 5 = Sin +Cos Error 1…
  • Page 102
    Appendix A Controller Tags and Safety Attributes Table 39 — Safe Stop Function Attributes (Class 0x5A) (continued) Attribute ID Attribute Name Attribute Description Values Decimal (Hex) 0 = STO (default) Safety Output Connection’s Run/Idle bit transitions from Run to Idle and 51 (0x33) Connection Idle Action Optional Connection Idle Action is Set to STO (default).
  • Page 103
    Controller Tags and Safety Attributes Appendix A Table 39 — Safe Stop Function Attributes (Class 0x5A) (continued) Attribute ID Attribute Name Attribute Description Values Decimal (Hex) Bit: 0 = STO Output Active 1 = SS1 Complete 2 = Safety Stop Fault 265 (0x109) STO Activation Bit string showing status of all inputs to the STO Activation block.

  • Page 104: Dual Channel Feedback Attributes

    Appendix A Controller Tags and Safety Attributes Table 39 — Safe Stop Function Attributes (Class 0x5A) (continued) Attribute ID Attribute Name Attribute Description Values Decimal (Hex) 1 = No Fault 304 (0x130) SS2 Fault Type Detailed information about a fault. 2 = Invalid Configuration SS2 Function Not Supported 0 = No Fault…

  • Page 105
    Appendix Safety Function Validation Checklist Use this appendix to validate your Drive Safety instructions. Each instruction has a checklist with test commands and results to verify for normal operation and abnormal operation scenarios. Topic Page Safe Stop 1 (SS1) Safe Stop 2 (SS2) Safe Operating Speed (SOS) Safely Limited Speed (SLS) Safely Limited Position (SLP)

  • Page 106: Safe Stop 1 (Ss1)

    Appendix B Safety Function Validation Checklist Safe Stop 1 (SS1) Use this SS1 instruction checklist to verify normal operation and the abnormal operation scenarios. IMPORTANT Perform I/O verification and validation before validating your safety ladder program. SFX instruction must be verified within your application. When possible, use immediate operands for instructions to reduce the possibility of systematic errors in your ladder program.

  • Page 107
    Safety Function Validation Checklist Appendix B Table 41 — SS1 Instruction Checklist (continued) Test Type Test Description Test Status Change the motion deceleration rate within the motion task associated with this SS1 function so that the stop delay time is exceeded without triggering a deceleration fault.

  • Page 108: Safe Stop 2 (Ss2)

    Appendix B Safety Function Validation Checklist Safe Stop 2 (SS2) Use this SS2 instruction checklist to verify normal operation and the abnormal operation scenarios. IMPORTANT Perform I/O verification and validation before validating your safety ladder program. SFX instruction must be verified within your application. When possible, use immediate operands for instructions to reduce the possibility of systematic errors in your ladder program.

  • Page 109
    Safety Function Validation Checklist Appendix B Table 42 — SS2 Instruction Checklist (continued) Test Type Test Description Test Status Change the motion deceleration rate within the motion task associated with this SS2 function so that the stop delay time is exceeded without triggering a deceleration fault.
  • Page 110
    Appendix B Safety Function Validation Checklist Table 42 — SS2 Instruction Checklist (continued) Test Type Test Description Test Status Initiate a Start command. • Verify that the machine is in a normal machine run condition • Verify proper machine status and safety application program status Operate the machine at maximum (normal) operating system speed.

  • Page 111: Safe Operating Speed (Sos)

    Safety Function Validation Checklist Appendix B Safe Operating Speed (SOS) Use this SOS instruction checklist to verify normal operation and the abnormal operation scenarios. IMPORTANT Perform I/O verification and validation before validating your safety ladder program. SFX instruction must be verified within your application. When possible, use immediate operands for instructions to reduce the possibility of systematic errors in your ladder program.

  • Page 112
    Appendix B Safety Function Validation Checklist Table 43 — SOS Instruction Checklist (continued) Test Type Test Description Test Status Initiate a Start command. • Verify that the machine is in a normal machine run condition • Verify proper machine status and safety application program status Operate the machine at maximum (normal) operating system speed.

  • Page 113: Safely Limited Speed (Sls)

    Safety Function Validation Checklist Appendix B Safely Limited Speed (SLS) Use this SLS instruction checklist to verify normal operation and the abnormal operation scenarios. IMPORTANT Perform I/O verification and validation before validating your safety ladder program. SFX instruction must be verified within your application. When possible, use immediate operands for instructions to reduce the possibility of systematic errors in your ladder program.

  • Page 114: Safely Limited Position (Slp)

    Appendix B Safety Function Validation Checklist Safely Limited Position (SLP) Use this SLP instruction checklist to verify normal operation and the abnormal operation scenarios. IMPORTANT Perform I/O verification and validation before validating your safety ladder program. SFX instruction must be verified within your application. When possible, use immediate operands for instructions to reduce the possibility of systematic errors in your ladder program.

  • Page 115
    Safety Function Validation Checklist Appendix B Table 45 — SLP Instruction Checklist (continued) Test Type Test Description Test Status Initiate a Start command. • Verify that the machine is in a normal machine run condition • Verify proper machine status and safety application program status Operate the machine within the desired position range.

  • Page 116: Safe Direction (Sdi)

    Appendix B Safety Function Validation Checklist Safe Direction (SDI) Use this SDI instruction checklist to verify normal operation and the abnormal operation scenarios. IMPORTANT Perform I/O verification and validation before validating your safety ladder program. SFX instruction must be verified within your application. When possible, use immediate operands for instructions to reduce the possibility of systematic errors in your ladder program.

  • Page 117: Safe Feedback Interface (Sfx)

    Safety Function Validation Checklist Appendix B Safe Feedback Interface Use this SFX instruction checklist to verify normal operation and the abnormal operation scenarios. (SFX) IMPORTANT Perform I/O verification and validation before validating your safety ladder program. SFX instruction must be verified within your application. When possible, use immediate operands for instructions to reduce the possibility of systematic errors in your ladder program.

  • Page 118
    Appendix B Safety Function Validation Checklist Table 47 — SFX Instruction Checklist (continued) Test Type Test Description Test Status Initiate a Start command. • Verify that the machine is in a normal machine run condition • Verify proper machine status and safety application program status Operate the machine within the normal operating range.

  • Page 119: Safe Brake Control (Sbc)

    Safety Function Validation Checklist Appendix B Safe Brake Control (SBC) Use this SBC instruction checklist to verify normal operation and the abnormal operation scenarios. IMPORTANT Perform I/O verification and validation before validating your safety ladder program. When possible, use immediate operands for instructions to reduce the possibility of systematic errors in your ladder program.

  • Page 120
    Appendix B Safety Function Validation Checklist Notes: Rockwell Automation Publication 2198-RM001B-EN-P — May 2018…

  • Page 121: Index

    Index Numerics controller-based instructions 75 1oo2 monitoring functions 9 definition 7 stopping functions 9 actions 46 decel rate fault 30 additional resources 8 discrepancy application requirements 36 checking 55 assembly tags 34 checking example 56 downloads 37 input 95 output 96 drive safety instructions 75 associated axes 40 adding instruction 77…

  • Page 122: Rockwell Automation Publication 2198-Rm001B-En-P — May

    Index definition 7 proof test interval 12 definition 7 PFH definition 12 IEC 60204-1 27 IEC 61508 11 definition 7 IEC 61800-5-2 11 PLe 5 IEC 62061 11 primary IGBT encoder 17 definition 7 feedback 47 input assembly tags 19 feedback example 59 proof test interval 12 integrated…

  • Page 123
    Index SFX 16 instruction 80 website scaling 81 product downloads 37 validation checklist 117 SIL rating definition 7 feedback types 73 monitored SS1 36 timed SS1 36 SLP 114 fault 86 validation checklist 114 SLS 113 fault 86 validation checklist 113 SOS 111 fault 86 validation checklist 111…
  • Page 124
    Index Notes: Rockwell Automation Publication 2198-RM001B-EN-P — May 2018…
  • Page 126
    Rockwell Automation maintains current product environmental information on its website at http://www.rockwellautomation.com/rockwellautomation/about-us/sustainability-ethics/product-environmental-compliance.page. Allen-Bradley, CompactLogix, ControlLogix, GuardLogix, HPK-Series, Integrated Architecture, Kinetix, Logix 5000, MP-Series, POINT Guard I/O, Rockwell Automation, Rockwell Software, Stratix, and Studio 5000 Logix Designer are trademarks of Rockwell Automation, Inc.

Источник

Руководство по эксплуатации источника питания постоянного тока Allen-Bradley 2198-P031 Kinetix 5700 с шиной постоянного тока
Allen-Bradley 2198-P031 Kinetix 5700 Питание от шины постоянного тока

Об источнике питания с шиной постоянного тока

Источник питания Kinetix® 5700 с шиной постоянного тока (преобразователь) с трехфазным входом переменного тока класса 400 В обеспечивает непрерывную выходную мощность и ток для сервоприводов для приложений с требованиями в диапазоне 7–46 кВт и 10.5–69.2 А соответственно. Для дополнительной выходной мощности (кВт) можно установить два или три источника питания 2198 P208 с шиной постоянного тока. Вы также можете расширить шину постоянного тока для дополнительных кластеров инверторов с помощью дополнительных модулей. См. Руководство пользователя сервопреобразователей Kinetix 5700 с питанием от шины постоянного тока, публикация 2198-УМ002, для получения подробной информации о подключении, подаче питания, устранении неполадок и интеграции с коммуникационными модулями ControlLogix® EtherNet/IP или контроллерами CompactLogix™ 5370.

Каталожный номер Пояснение

Эта публикация относится к следующим блокам питания Kinetix 5700 с шиной постоянного тока.

Каталожные номера источников питания с шиной постоянного тока

Источник питания шины постоянного тока Кат. Нет.

 Ширина модуля мм Vol входtage Непрерывная выходная мощность кВт

Непрерывный выходной ток ADcrms

2198-P031

 55 195…528 В среднеквадратичное, трехфазное 7 10.5
2198-P070 17

10.5

2198-P141

 85 31 46.9
2198-P208 46

69.2

Прежде чем вы начнете

Удалите весь упаковочный материал, клинья и распорки внутри и вокруг компонентов. После распаковки сверите каталожный номер на заводской табличке с заказом на поставку.

Список деталей

Блоки питания с шиной постоянного тока поставляются со следующими

  • Торцевые заглушки шины постоянного тока
  • Комплект штекерных разъемов для подключения питания от сети (IPD), питания управления 24 В (CP), цифровых входов (IOD), шунтирующего питания (RC) и включения контактора (CED)
  • Штекерный разъем для подключения шунтирующего питания (RC), установленный на приводе
  • Настоящие инструкции по установке, публикация 2198-IN009.

световой значок Также доступны комплекты сменных разъемов. Дополнительную информацию см. в технических данных сервопреобразователей Kinetix 5700, 5500, 5300, 5100, публикацию KNX-TD003.

Удалите винт заземления в некоторых конфигурациях питания

Удалите винт заземления при использовании незаземленных конфигураций, заземленных по углам и с заземлением по импедансу.

ВАЖНАЯ ИНФОРМАЦИЯ

T При распределении питания по схеме «звезда с заземлением» винт выкручивать не нужно. Перейдите к разделу «Установка источника питания шины постоянного тока» на стр. 3. Отвинчивание винта заземления может повлиять на характеристики электромагнитной совместимости.

Перед установкой блока питания на панель рекомендуется удалить винт заземления. Положите блок питания на бок на твердую поверхность, оборудованную заземленной рабочей станцией, защищенной от статического электричества.

ВНИМАНИЕ ВНИМАНИЕ:

Во избежание травм дверца доступа к заземляющему винту должна быть закрыта при подаче питания. Если питание присутствовало, а затем было отключено, подождите не менее 5 минут, пока напряжение на шине постоянного тока не изменится.tage, чтобы рассеять, и убедитесь, что напряжение на шине постоянного тока отсутствует.tage существует до доступа к винту заземления. Чтобы получить доступ к винту заземления, откройте маленькую пластиковую дверцу на правой стороне модуля.

Снимите винт заземления

Снимите винт заземления

ВНИМАНИЕ ВНИМАНИЕ:

Существует риск повреждения оборудования. Конфигурация заземления приводного модуля должна быть точно определена. Оставьте винт заземления установленным для заземленных конфигураций питания (по умолчанию). Удалите винт для незаземленного питания, питания с заземлением по углам и питания с заземлением через импеданс.

Настройки заземляющего винта

Наземная конфигурация (1)

2198-Pxxx Источник питания шины постоянного тока

Заземлен (звезда)

 Винт заземления установлен (настройка по умолчанию) (2)
  •  незаземленный
  • Угловой заземленный
  • Импеданс заземлен

Удалить винт заземления
  1. См. Руководство пользователя сервоприводов Kinetix 5700, публикация 2198-УМ002, для бывшихample конфигураций.
  2. Винт заземления установлен на заводе.

Установите источник питания шины постоянного тока

Эти процедуры предполагают, что вы подготовили свою панель и понимаете, как соединить вашу систему. Инструкции по установке оборудования и принадлежностей, не включенных сюда, см. в инструкциях, прилагаемых к этим продуктам.

ОПАСНОСТЬ ПОРАЖЕНИЯ ТОКОМ ОПАСНОСТЬ ПОРАЖЕНИЯ ТОКОМ:

Чтобы избежать опасности поражения электрическим током, выполните монтаж и подключение привода источника питания постоянного тока Kinetix 5700 до подачи питания. После подачи питания клеммы разъема могут иметь напряжениеtage присутствует, даже когда не используется.

ВНИМАНИЕ ВНИМАНИЕ:

Спланируйте установку вашей системы таким образом, чтобы вы могли выполнять все операции по резке, сверлению, нарезанию резьбы и сварке, извлекая систему из корпуса. Поскольку система имеет конструкцию открытого типа, следите за тем, чтобы в нее не попал металлический мусор. Металлический мусор или другие посторонние предметы могут попасть в схему и привести к повреждению компонентов.

Установка источника питания шины постоянного тока

Соблюдайте эти требования к свободному пространству при монтаже источника питания звена постоянного тока.

  • Дополнительный зазор требуется для кабелей и проводов или системы подключения общей шины, подключенной к верхней части приводного модуля.
  • Дополнительный зазор требуется, если другие устройства установлены над и/или под приводом и имеют собственные требования к зазору.
  • Дополнительный зазор слева и справа от приводного модуля требуется при установке рядом с оборудованием, чувствительным к шуму, или чистыми кабельными каналами.
  • Рекомендуемая минимальная глубина корпуса составляет 300 мм (11.81 дюйма).

Минимальные требования к допуску

Минимальные требования к допуску

ВАЖНАЯ ИНФОРМАЦИЯ

Установите приводной модуль в вертикальном положении, как показано на рисунке. Не устанавливайте приводной модуль на бок. Система привода Kinetix 5700 должна располагаться на расстоянии друг от друга, совмещая язычок нулевого стека и вырез. Сведения о монтаже, определении размеров и настройке конфигураций с общей шиной см. в Руководстве пользователя сервоприводов Kinetix 5700, публикация 2198-УМ002.
Минимальные требования к допуску
Установите приводной модуль источника питания постоянного тока Kinetix 5700 на субпанель шкафа с помощью стальных болтов M5 (#10-32), затянутых с моментом затяжки 4.0 Н•м (35.4 фунт•дюйм), макс.

Схемы сверления отверстий

В этом разделе представлены схемы отверстий для приводных модулей Kinetix 5700, установленных в конфигурациях с нулевым стеком (общая шина).

  • Установите блок питания шины постоянного тока в любом месте внутри кластера, чтобы наилучшим образом использовать пространство панели. Если в одном кластере установлено несколько блоков питания 2198-P208, устанавливайте их рядом друг с другом в любом месте кластера.
  • Устанавливайте инверторные модули в соответствии с номинальной мощностью (от самой высокой к самой низкой) слева направо или справа налево, в зависимости от того, где установлен источник питания, причем инвертор с самой высокой номинальной мощностью находится рядом с источником питания.

Рассчитайте расположение отверстий слева направо для любой конфигурации приводного модуля Kinetix 5700, выполнив следующие действия.

  1. Расположение первого отверстия равно нулю.
  2. Расположение второго отверстия – ширина модуля минус 55 мм.
  3. Следующее расположение отверстий 55 мм.
  4. Повторите шаг 2 и шаг 3 для остальных отверстий.

Схемы монтажных отверстий Kinetix 5700
Схемы монтажных отверстий Kinetix 5700
Если конфигурация вашей системы Kinetix 5700 включает одноосевые инверторы 2198-S263-ERSx или 2198-S312-ERSx, см. Руководство пользователя сервопреобразователей Kinetix 5700, публикация 2198-УМ002, для этих монтажных отверстий.
Также доступен набор инструментов для монтажа системы Kinetix 5700, каталожный номер 2198-K5700-MOUNTKIT, который поможет вам с монтажными отверстиями.

Размеры продукта

См. публикацию Kinetix 5700, 5500, 5300, 5100 Servo Drives Specifications Technical Data. KNX-TD003, размеры всех приводных модулей Kinetix 5700.Размеры продукта

Источник питания шины постоянного тока Кат. Нет

 A мм (дюйм) B мм (дюйм) C мм (дюйм)

D мм (дюйм)

2198-P031

 55 (2.17) 300 (11.8) 300 (11.8) 252 (9.9)

2198-P070
2198-P141 85 (3.35) 375 (14.8)

375 (14.8)

2198-P208

Данные соединителя

Используйте эту иллюстрацию для обозначения функций и индикаторов блока питания с шиной постоянного тока.
Характеристики и индикаторы источника питания с шиной постоянного тока (показан источник питания 2198-P031)
Данные соединителя

Товары Описание

1

 Разъем цифровых входов (IOD)
2

Разъем Ethernet (ПОРТ1) RJ45

3

 Разъем Ethernet (ПОРТ2) RJ45
4

Монтажный язычок/вырез для нулевого стека

5

 Индикатор состояния модуля

6

Индикатор состояния сети
7

ЖК-дисплей

8

 Кнопки навигации
9

Индикаторы состояния скорости соединения

10

 Индикаторы статуса ссылки/активности
11

Разъем включения контактора (CED)

12

 Наземный терминал
13

Разъем шунтирующего резистора (RC)

14

 Разъем шины постоянного тока (DC)
15

Разъем управляющего входного питания (CP) 24 В

16

 Разъем входного питания переменного тока (IPD)
17

Охлаждающий вентилятор

Разъемы питания шины постоянного тока

Обозначение

 Описание

соединитель

ИПД

 Входная мощность сети переменного тока 4-контактный штекер, клеммные винты
DC Мощность общей шины постоянного тока

Звенья шины постоянного тока и торцевые заглушки

CP

 Входная мощность управления 24 В 2-контактный штекер, клеммные винты
RC Шунтовая мощность

2-контактный штекер, клеммные винты

НОР

 Цифровые входы 4-контактный штекер, пружинные клеммы
КНИ Контактор включить

2-контактный штекер, клеммные винты

ПОРТ1, ПОРТ2

 Коммуникационные порты Ethernet RJ45 Ethernet

Схема контактов разъема входного питания от сети (IPD)

Пин ИДД

 Описание

сигнал
часть

Заземление

 часть

L3

 Трехфазная входная мощность L3
L2

L2

L1

L1

Распиновка разъема

Схема контактов разъема шунтирующего питания (RC)

Пульт дистанционного управления Описание сигнал
1 Шунтирующие соединения SH
2 DC +

Распиновка разъема

Контакты разъема включения контактора (CED)

Пин-код CED Описание сигнал
RU–  Контакторные соединения ПРОДОЛЖЕНИЕ RU–
EN + ПРОДОЛЖЕНИЕ RU+

Схема включения контактора включает управляемый реле контакт в источнике питания шины постоянного тока 2198-Pxxx. Реле защищает приводную систему Kinetix 5700 в случае перегрузки или других неисправностей.

Трехфазный сетевой контактор переменного тока должен быть подключен последовательно между защитой ответвленной цепи и источником питания звена постоянного тока. Кроме того, цепь управления трехфазным контактором переменного тока должна быть подключена последовательно с контакторным реле на разъеме включения контактора (CED). См. Руководство пользователя сервопреобразователей Kinetix 5700, публикация 2198-UM002, дляampле

ВНИМАНИЕ ВНИМАНИЕ:

Требуется подключение реле включения контактора. Во избежание травм или повреждения системы привода Kinetix 5700 подключите реле включения контактора к цепи управления таким образом, чтобы:

  • трехфазное питание отключено, а источник питания шины постоянного тока защищен от различных аварийных ситуаций.
  • трехфазное питание никогда не подается на систему привода Kinetix 5700 до подачи управляющего питания.

Разводка разъема управляющего входа питания (CP)

CP-контакт Описание сигнал
1 Источник питания 24 В, предоставляется заказчиком 24V +
2 24В общий 24V-

Входная мощность управления

Разводка разъема цифровых входов (IOD)

Пин-код IOD Описание сигнал
1 Цифровой вход №1 IN1
2 Общий ввод/вывод для питания 24 В, поставляемого заказчиком. COM
3 Цифровой вход №2 IN2
4 Точка подключения экрана кабеля ввода/вывода. SHLD

Распиновка разъема

Связь Ethernet PORT1 и PORT2 Выводы 

Вывод порта Описание сигнал
1 Порт передачи (+) терминал данных + ТХ
2 Порт передачи (-) терминал данных — Техас
3 Терминал данных порта приема (+) + прием
4 – –
5 – –
6 Порт приема (-) терминал данных — приемник
7 – –
8 – –

PORT2 Распиновка

Требования к проводке

Провод должен быть медным с минимальным номиналом 75 C (167 F). Фазировка сети переменного тока произвольна, и для безопасной и правильной работы требуется заземление.

ВАЖНАЯ ИНФОРМАЦИЯ
Национальные электротехнические нормы и местные электротехнические нормы имеют приоритет над предоставленными значениями и методами.

Требования к электропроводке источника питания шины постоянного тока

шина постоянного тока Напряжение питания Cat. No. Описание Подключается к терминалам Размер провода

mm 2 (AWG)

 Длина полосы

мм (дюйм)

 Крутящий момент Значение

Н•м (фунт•дюйм)
шпилька сигнал
2198-P031       6 … 10 (1)    
 

Входная мощность сети

  

Л3 Л2 Л1

  

Л3 Л2 Л1

 (10…8) 10.0 (0.39) 0.5…0.8 (4.4…7.1)
2198-P070 6 … 10 (2)

(10…8)
2198-P141 10 … 35 20.0 (0.79) 2.5 … 4.5
2198-P208       (8…2) (22…40)
  PELV/SELV

Питание 24 В (штекерный разъем)

 СР-1 СР-2 24V +

24В–

 0.5…4 (20…12) 7.0 (0.28) 0.22…0.25 (1.9…2.2)
  Питание шины постоянного тока Автобусный бар ОКРУГ КОЛУМБИЯ- Не указано (3) Нет (3) Нет (3)
  DC +
  Контактор включить RU– ПРОДОЛЖЕНИЕ RU– 0.14 … 2.5 7.0 (0.28) 0.4 … 0.5
2198-Пххх EN +
ПРОДОЛЖЕНИЕ RU+ (26…12) (3.5…4.4)
  Шунтирующий резистор RC-1 SH 1.5 … 6 12.0 (0.47) 0.5 … 0.6
  RC-2 DC + (16…10) (4.5…5.3)
    ИОД-1 IN1      
  Цифровые входы ИОД-2 ИОД-3 ИОД-4 COM IN2 ЭКРАН 0.14…1.5 (26…16) 10.0 (0.39) Н/Д (4)
  1. Применяется для сплошной проволоки. При использовании многожильного провода максимальное сечение провода составляет 6 мм2.
  2. Применяется для сплошной проволоки. При использовании многожильного провода максимальное сечение провода составляет 6 мм2. E требования выше 45 °C (113 °F) для 6
  3. Совместно используемые силовые соединения шины постоянного тока всегда выполняются от привода к приводу через систему соединения шин. Эти терминалы не получают отдельные провода.
  4. В этом соединителе используется натяжение пружины, чтобы удерживать провода на месте.

ВНИМАНИЕ:

Во избежание травм и/или повреждения оборудования соблюдайте следующие правила:

  • Убедитесь, что установка соответствует спецификациям, касающимся типов проводов, размеров проводников, защиты параллельных цепей и отключающих устройств. В Национальном электротехническом кодексе (NEC) и местных нормах изложены положения по безопасной установке электрооборудования.
  • Используйте разъемы питания двигателя только для подключения. Не используйте их для включения и выключения устройства.
  • Заземлите экранированные силовые кабели для предотвращенияtagе на щите.

Заземлите источник питания шины постоянного тока на подпанель

Заземлите приводы источника питания Kinetix 5700 с шиной постоянного тока и конденсаторные модули Bulletin 2198 на шину заземления шкафа с плетеной заземляющей шиной. Плетеный заземляющий ремешок должен быть как можно короче для оптимального соединения.

Подсоедините плетеный заземляющий ремешок
Подсоедините плетеный заземляющий ремешок

Товары Описание
1 Винт заземления (зеленый) 2.0 Н•м (17.5 фунт•дюйм), макс.
2 Плетеный заземляющий ремешок (предоставляется заказчиком)
3 Заземление сети или заземление распределения электроэнергии
4 Заземляющая шина припаянного шкафа (поставляется заказчиком)

Характеристики автоматического выключателя/предохранителя

В источниках питания Kinetix 5700 используется внутренняя полупроводниковая защита двигателя от короткого замыкания.
подходящей защиты параллельных цепей, рассчитаны на использование в цепях, которые могут выдавать до 200,000 65,000 А (предохранители) и XNUMX XNUMX А (автоматические выключатели).

Хотя автоматические выключатели предлагают некоторое удобство, существуют ограничения для их использования. Автоматические выключатели не справляются с бросками сильного тока так же, как предохранители. Убедитесь, что выбранные компоненты должным образом согласованы и соответствуют допустимым нормам, в том числе требованиям к защите параллельных цепей. Оценка короткого замыкания доступна
ток является критическим и должен поддерживаться ниже номинального тока короткого замыкания автоматического выключателя.

Характеристики защиты цепи IEC (не UL/CSA)

шина постоянного тока Питания Поставлять

Cat. No.

 Vol входtage (трехфазный) ном Предохранители DIN gG

Ampс, не более

 Миниатюрный CB Кат. Нет. Защита двигателя CB Кат. Нет. Литой корпус CB Кат. Нет.
2198-P031  

195 … 528 В переменного тока

RMS

 16 1489-М3Д250 — 140M-D8E-C25

140MT-D9E-C25

 140G-G6C3-C25
2198-P070 40 — 1492-СПМ3Д400 140M-F8E-C45 140G-G6C3-C50
2198-P141 75 — 1492-СПМ3Д630 140MG-H8E-C60 140G-G6C3-C90
2198-P208 110 — — 140MG-H8E-D10 140G-G6C3-D12

Технические характеристики защиты цепи UL/CSA 

шина постоянного тока Питания Поставлять Cat. No. Vol входtage (трехфазный) ном Предохранители Bussmann (1) Cat. No. Миниатюрный КБ (2)

Cat. No.

 Защита двигателя ЦБ, (2) Самозащищенный CMC Cat. Нет. Литой корпус CB Кат. Нет.
2198-P031  

195…528 В переменного тока, среднеквадратичное значение

 ЛПЖ-15СП (15А) 1489-М3Д250 140M-D8E-C25

140MT-D9E-C25

 140G-G6C3-C25
2198-P070 ЛПЖ-40СП (40А) — 140M-F8E-C45 140G-G6C3-C50
2198-P141 ЛПЖ-70СП (70А) — — 140G-G6C3-C90
2198-P208 ЛПЖ-100СП (100А) — — 140G-G6C3-D12
  1. Для приложений, требующих сертификации CSA, предохранители (номер по каталогу Bussmann 170M1760) должны быть добавлены к звену постоянного тока между двумя кластерами приводов, когда автоматические выключатели используются для защиты параллельных цепей. Предохранители шины постоянного тока не требуются, если предохранители линии переменного тока используются для защиты параллельных цепей.
  2. Эти автоматические выключатели для защиты электродвигателей бюллетеня 140M/MT, когда они используются в качестве устройств с самозащитой (тип E), и автоматические выключатели бюллетеня 1489 могут использоваться только в системах питания WYE (480Y/277 В).

Характеристики

Атрибут 2198-P031 2198-P070 2198-P141 2198-P208
Температура окружающего воздуха Эксплуатация Хранение  0…50 °C (32…122 °F)
-40…+70 °С (-40…+158 °F)
Вес, кг (фунт) ок. 4.33 (9.55) 4.42 (9.74) 6.91 (15.2) 7.04 (15.5)
Номинальный ток короткого замыкания 200,000 XNUMX А, среднеквадратичное, симметричное
Защита ответвления от короткого замыкания Встроенная полупроводниковая защита от короткого замыкания не обеспечивает защиту параллельных цепей. Защита параллельных цепей должна быть обеспечена в соответствии с Национальным электротехническим кодексом (NEC) и любыми дополнительными местными нормами.
ток утечки
  •  Приводы Kinetix 5700 создают ток утечки в проводнике защитного заземления, превышающий 3.5 мА переменного тока и/или 10 мА постоянного тока. Минимальный размер защитного (заземляющего) провода, используемого в приложении, должен соответствовать местным правилам техники безопасности для оборудования с высоким защитным заземлением.
  •  Приводы Kinetix 5700 создают постоянный ток в проводнике защитного заземления и могут снижать способность устройства защитного отключения (RCD) или устройства контроля дифференциального тока (RCM) типа A или AC по обеспечению защиты модуля привода и другого оборудования в установке. .

Дополнительные ресурсы

Эти документы содержат дополнительную информацию о сопутствующих продуктах Rockwell Automation.

Ресурс Описание
Kinetix 5700, 5500, 5300, 5100 Servo Drives Specifications, публикация KNX-TD003 Содержит технические характеристики продуктов для Kinetix Integrated Motion по сети EtherNet/IP и сетевых сервоприводов EtherNet/IP.
Технические характеристики кабелей Kinetix Rotary and Linear Motion, публикация KNX-TD004 Технические характеристики двигателя Kinetix 2090 и интерфейсных кабелей.
Kinetix 3, 300, 350, 2000, 6000, 6200, 6500, 7000 Сервопривод
Технические характеристики дисков, публикация KNX-TD005		 Содержит технические характеристики продуктов для Kinetix Integrated Motion по сети EtherNet/IP (Kinetix 6500 и Kinetix 350), Integrated Motion по интерфейсу Sercos (Kinetix 6200, Kinetix 6000, Kinetix 2000 и Kinetix 7000) и семейству компонентных (Kinetix 3) сервоприводов. .
Kinetix 5700 Servo Drives User Manual, публикация 2198-УМ002 Содержит информацию об установке, настройке, запуске и устранении неполадок в системе сервопривода Kinetix 5700.
Инструкция по установке сетевого фильтра переменного тока, публикация 2198-В003 Содержит информацию об установке и подключении сетевого фильтра переменного тока для сервоприводов Kinetix 5500 и Kinetix 5700.
Инструкции по установке пассивных модулей шунтирования Kinetix 5700, публикация 2198-В011 Содержит информацию об установке и подключении внешних пассивных шунтирующих модулей Kinetix 5700.
Сертификаты продукции webсайта, rok.auto/сертификаты Предоставляет декларации о соответствии, сертификаты и другие сведения о сертификации.
Руководство по подключению и заземлению промышленной автоматики, публикация 1770-4.1 Содержит общие рекомендации по установке промышленной системы Rockwell Automation.

Поддержка автоматизации Rockwell

Центр технической поддержки Найдите помощь в обучающих видеороликах, часто задаваемых вопросах, чате, пользовательских форумах и обновлениях уведомлений о продуктах. рок.авто/поддержка
База знаний Доступ к статьям базы знаний. rok.auto/база знаний
Местные номера телефонов службы технической поддержки Найдите номер телефона для вашей страны. rok.auto/телефонная поддержка
Литературная библиотека Найдите инструкции по установке, руководства, брошюры и публикации с техническими данными. рок.авто/литература
Совместимость продуктов и скачать Центр (ЦДК) Скачать прошивку, связанную files (например, AOP, EDS и DTM) и получить доступ к примечаниям к выпуску продукта. рок.авто/pcdc

Отзыв о документации

Ваши комментарии помогают нам лучше обслуживать ваши потребности в документации. Если у вас есть предложения по улучшению нашего контента, заполните форму на rok.auto/docобратная связь.

Утилизация электрического и электронного оборудования (WEEE)

Значок мусорного бака По окончании срока службы это оборудование следует собирать отдельно от любых несортированных бытовых отходов.

Rockwell Automation хранит текущую информацию о соответствии продуктов экологическим требованиям на своих webсайт рок.авто/пец.

Rockwell Otomasyon Ticaret A.Ş. Kar Plaza İş Merkezi E Blok Kat:6 34752, Ичеренкой, Стамбул, Тел: +90 (216) 5698400 EEE Yönetmeliğine Uygundur

Связаться с нами 
Значок социальных сетей

Документы / Ресурсы

Рекомендации

Источник

0 0 голоса
Рейтинг статьи
Подписаться
Уведомить о
guest

0 комментариев
Старые
Новые Популярные
Межтекстовые Отзывы
Посмотреть все комментарии

А вот еще интересные материалы:

  • Яшка сломя голову остановился исправьте ошибки
  • Ясность цели позволяет целеустремленно добиваться намеченного исправьте ошибки
  • Ясность цели позволяет целеустремленно добиваться намеченного где ошибка
  • Kienzle 1324 коды ошибок
  • Kia код ошибки p0504

    • ➤