Rockwell Automation Allen-Bradley Ultra3000 Migration Manual
Rockwell Automation Allen-Bradley Ultra3000 is a servo drive designed for precise motion control applications. It offers flexibility with its various control modes, including analog, preset, and host command. This drive is compatible with a wide range of Allen-Bradley motors and supports DeviceNet communication for seamless integration with your automation system.
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Reference Manual
Original Instructions
Ultra3000 to Kinetix 5100 Servo Drives Migration Guide
Catalog Numbers 2198-E1004-ERS, 2198-E1007-ERS, 2198-E1015-ERS, 2198-E1020-ERS, 2198-E2030-ERS,
2198-E2055-ERS, 2198-E2075-ERS, 2198-E2150-ERS
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.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.
In no event will Rockwell Automation®, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL
Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).
Table of Contents
Migration Options
Replacement Considerations
Connectors and Indicators
Preface
Integrated Architecture Builder Software. . . . . . . . . . . . . . . . . . . . . . . . . 5
Chapter 1
Kinetix 5100 Servo Drive Catalog Numbers . . . . . . . . . . . . . . . . . . . . . 10
Potential Design Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Chapter 2
Selecting a Replacement Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Nominal Voltage and Output Current Comparison . . . . . . . . . . 15
Dimension Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
AC Input Power Wiring and Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
AC Input Power Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Circuit Breaker and Fuse Considerations . . . . . . . . . . . . . . . . . . . . 17
I/O Availability and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Ultra3000 and Kinetix 5100 Drives Dedicated
Control and Auxiliary Power Specifications . . . . . . . . . . . . . . . . . 31
Required Drive Accessories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Optional Drive Accessories - Ethernet Cable. . . . . . . . . . . . . . . . . 33
Optional Drive Accessories - Shunt Resistors . . . . . . . . . . . . . . . . 34
Optional Drive Accessories - AC Line Filters . . . . . . . . . . . . . . . . 36
Ultra3000 Servo Drive Configuration Port . . . . . . . . . . . . . . . . . . 38
Kinetix 5100 Servo Drive Configuration Port. . . . . . . . . . . . . . . . 38
Ultra3000 Servo Drive Control Port . . . . . . . . . . . . . . . . . . . . . . . . 38
Kinetix 5100 Servo Drive Control Port. . . . . . . . . . . . . . . . . . . . . . 39
Configuration and Programming Software . . . . . . . . . . . . . . . . . . 39
Chapter 3
Ultra3000 Servo Drive Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . 41
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 3
Table of Contents
System Architecture
Kinetix 5100 Servo Drive Connector Data . . . . . . . . . . . . . . . . . . . . . . 43
Motor Feedback Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Chapter 4
Dimensions, Cables, and Wiring
Ultra3000 Drive (230V) Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Kinetix 5100 Drive Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Motor Power and Feedback Cables . . . . . . . . . . . . . . . . . . . . . . . . . 56
Ultra3000 Servo Drive Power Wiring Examples. . . . . . . . . . . . . . 60
Kinetix 5100 Servo Drive Power Wiring Examples . . . . . . . . . . . 64
Chapter 5
Kinetix 5100 Drive System Architecture . . . . . . . . . . . . . . . . . . . . . . . . 70
Kinetix 5100 Drive Controlled Via Motion Control Add-On
Kinetix 5100 Drive Controlled Via Explicit Messaging . . . . . . . 72
Kinetix 5100 Drive Controlled Via Pulse Train/ Analog/
Application Conversion
Chapter 6
Scenario 1: Analog Command to Analog Command . . . . . . . . . . . . . 76
Scenario 2: Indexing to PR Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Scenario 3: Master/Follower Mode to PT Mode . . . . . . . . . . . . . . . . . 80
Scenario 4: DeviceNet to I/O Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Scenario 5: Host Command to Explicit Messaging . . . . . . . . . . . . . . . 83
Appendix A
Feature Comparison
4 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Overview
Preface
This migration guide provides you with the essential information to determine hardware design changes that can be necessary when migrating from a motion system that contains Ultra™ 3000 servo drives to one that contains Kinetix® 5100 servo drives.
This manual is intended for engineers and technicians that are directly involved in the installation and wiring of the Kinetix 5100 drives, and programmers who are directly involved in the operation, field maintenance, and integration of these drives. You must have previous experience with and a basic understanding of electrical terminology, programming procedures, networking and required equipment and software, and safety precautions.
Migrating from a motion control system that uses Ultra3000 drives to a system that uses Kinetix 5100 drives requires a comprehensive design review of the motion control system. There are multiple drive replacement combinations, and multiple configurations for how the drives can be installed and the software applied. As a result, this migration guide is not an all-inclusive document. It does not describe all redesign steps that can be required, nor does it contain the detailed product information necessary to finalize the redesign. The generalities of the replacement process are covered, and the decision-making steps likely to be encountered in a typical replacement scenario are described.
For Kinetix 5100 servo drive module specifications not included in this publication, see the Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 .
Integrated Architecture
Builder Software
The Integrated Architecture® Builder Software can help you plan and configure a system, and migrate system architectures. For more information, see the Control Systems Configuration Tools page.
Motion Analyzer Software
Motion Analyzer software is a comprehensive motion-application sizing tool that is used for analysis, optimization, selection, and validation of your Kinetix motion control system. This online tool facilitates the machine design process, and lets you quickly design and validate new machine concepts without purchasing or installing physical equipment.
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 5
6
Preface
Migration Services
Additional Resources
Review the performance capabilities of any replacement drive to be sure that the replacement drive can of deliver the required level of peak and continuous current to the motor, and Motion Analyzer can help in the correct drive selection.
Motion Analyzer is available online at https://motionanalyzer.rockwellautomation.com/ .
As products mature throughout the product lifecycle, Rockwell Automation® is there as your partner to help you get the most out of your current equipment, to help you determine your next steps, and to help you lay out a plan for the transition to newer technology.
Whether you choose to migrate all at once or use our unique, phased approach to help minimize the costs, risks, and complexities that are involved with the management of legacy products and systems, Rockwell Automation has the tools and the experience to guide you through the transition.
For more information, see the Migration Solutions Brochure, publication
MIGRAT-BR002 .
These documents contain additional information concerning related products from Rockwell Automation.
Resource
Kinetix 5100 Single-axis EtherNet/IP Servo Drives User
Manual, publication 2198-UM004 .
Kinetix 5100 Drive Systems Design Guide, publication KNX-RM011
Ultra3000 Drive Systems Design Guide, publication KNX-RM008
Ethernet Design Considerations Reference Manual, publication ENET-RM002
Kinetix Motion Control Selection Guide, publication KNX-SG001
Description
Information on how to install, configure, startup, and troubleshoot, your Kinetix 5100 servo drive system.
Information on applications for your Kinetix 5100 servo drive system.
System design guides to select the required (drive specific) drive module, power accessory, feedback connector kit, and motor cable Cat. Nos.for your Kinetix
5100 drive and Kinetix motion control system.
Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001
Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003
Ultra3000 Digital Servo Drives Installation Manual, publication 2098-IN003
Ultra3000 Servo Drives Integration Manual, publication
2098-IN005
Provides information for designing Ethernet and
EtherNet/IP networks.
Overview of Kinetix servo drives, motors, actuators, and motion accessories that are designed to help make initial decisions for the motion control products best suited for your system requirements.
Product specifications for Kinetix VP, Kinetix MP, Kinetix
6000M (Bulletin MDF), Kinetix TL and TLY, Kinetix RDB,
Kinetix TLP and Kinetix HP rotary motors.
Product specifications for Kinetix servo drive family that includes section on Kinetix 5100 drives.
Information on procedures to mounting, wire, and connect the Ultra3000 digital servo drive.
Power-up procedures, system integration, and troubleshooting tables for the Ultra3000 digital servo drive.
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Preface
Resource
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1
System Design for Control of Electrical Noise Reference
Manual, publication GMC-RM001 .
Product Certifications website: rok.auto/certifications
Description (continued)
Provides general guidelines for installing a Rockwell
Automation industrial system.
Provides information on the concept of high-frequency
(HF) bonding, the Ground Plane principle, and electrical noise reduction.
Provides declarations of conformity, certificates, and other certification details.
You can view or download publications at http://www.rockwellautomation.com/global/literature-library/overview.page
.
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 7
Preface
Notes:
8 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Chapter
1
Migration Options
For each Ultra™3000 drive control feature, there is a suitable solution with
Kinetix® 5100 servo drives, Logix 5000™ controller platforms, and the
Studio 5000 Logix Designer® application.
Table 1 - Ultra3000 Drive to Kinetix 5100 Drive Migration Options
Ultra3000 drive Operation Mode
Analog Current
Analog Velocity
Analog Postion
Preset Current
Preset Velocity
Preset Position
Follower
Indexing
Host Command
DeviceNet
Equivalent Kinetix 5100 Drive Operation Mode
T mode
S mode
PT mode
T or Tz mode
S or Sz mode, or PR mode
PR mode
PT mode
PR mode
Any mode with Explicit Messaging over EtherNet/IP
IO mode (with Logix Add-On Instructions) using the
EtherNet/IP network
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 9
Chapter 1 Migration Options
Kinetix 5100 Servo Drive
Catalog Numbers
Table 2 - Kinetix 5100 Drive Control Modes
Abbreviation Mode
PT Position control
(terminal block input)
PR
S
Position control
(internal register input)
Speed Control
T
Sz
Tz
—
—
—
Torque control
Speed Control
Torque control
Dual mode
Multi
I/O mode
Description
The command source of the drive comes from external pulses and/or external analog voltage.
The command source of the drive comes from 100 sets of internal registers, which you can select by DI.POS0…DI.POS6 signals. Multiple homing methods are also available.
The command source of the drive comes from external analog voltage and internal registers, which can be selected by DI.SPD0and DI.SPD1 signals.
The command source of the drive comes fromexternal analog voltage and internal registers, which can be selected by DI.TCM0 and DI.TCM1 signals.
The command source of the drive comes from zero speed and internal speed registers, which can be selected by DI.SPD0 and DI.SPD1 signals.
The command source of the drive comes from zero torque and internal torque registers, which can be selected by DI. TCM0 and DI.TCM1 signals.
Can switch the mode via external digital input. For example, DI.S-P signal can be used to switch the modes of the drive between Speed and PT mode.
For further information, see Description of Digital Input Functions in the
Kinetix 5100 Single-axis EtherNet/IP Servo Drives User Manual, publication
2198-UM004 .
Can switch the mode via external digital input. For example, D.S-P and Pt-PR signals can be used to switch the multimode of PT/PR/S (control mode setting: 12).
For further information, see Description of Digital Input Functions in the
Kinetix 5100 Single-axis EtherNet/IP Servo Drives User Manual, publication
2198-UM004 .
The command source comes from an external controller, which issues the command to the servo drive via communication.
lists the catalog numbers and ratings of the Kinetix 5100 servo drives which can be used when selecting a replacement for your Ultra3000 servo drives.
Additional guidance for replacement of the Ultra3000 drive is provided in
in Chapter 2 of this document.
Table 3 - Kinetix 5100 Servo Drive Cat. Nos.
Cat. No.
2198-E1004-ERS 95…132V,
170…253V
2198-E1007-ERS 95…132V,
170…253V
2198-E1015-ERS 95…132V,
170…253V
2198-E1020-ERS 95…132V,
170…253V
2198-E2030-ERS 170…253V
2198-E2055-ERS 170…253V
2198-E2075-ERS 170…253V
2198-E2150-ERS 170…253V
Input AC
Voltage (V AC)
Input
Phases
1 PH
1 PH,3 PH
1 PH
1 PH,3 PH
1 PH
1 PH,3 PH
1 PH
1 PH,3 PH
3 PH
3 PH
3 PH
3 PH
Rated
Power @
230V (kW)
0.4
0.75
1.5
2
3
5.5
7.5
15
Rated
Power @
120V (kW)
Cont. Output
Current
(A rms)
0.2 2.60
Peak Output
Current
(A rms)
6.5
0.375
0.75
5.10
7.9
1 13.4
–
–
–
–
49
78
17.9
41.3
15.41
23.7
53.03
55.95
91.4
127.49
162
10 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Migration Options Chapter 1
Potential Design Changes
compares environmental specifications of Ultra3000 dries and
Kinetix 5100 drives.
compares the drive certifications of the Ultra 3000 drives and the Kinetix 5100 drives. See
Appendix A for a comparison of features
and Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 for complete specifications.
Table 4 - Compare Ultra3000 Drive and Kinetix 5100 Drive Environmental Specifications
Specification
Ambient
Temperature
Relative Humidity 5…95%
Noncondensing
Altitude
0 …55 °C
(32 …131 °F)
-40 … 70 °C
(-40 … 158 °F)
5…95%
Noncondensing
1500 m (4921.5 ft) - Derate 3% per 300 m (984.3 ft) above 1500 m (4,921.5 ft)
Vibration
Ultra3000 Servo Drives
Operational Range Storage Range
(Nonoperating)
Shock
Kinetix 5100 Servo Drives
Operational
Range
0 … 50 °C
(32 … 122 °F)
5…85%
Noncondensing
1000 m (3281 ft)
Storage Range
(Nonoperating)
-40 … 70 °C
(-40 … 158 °F)
5…95%
Noncondensing
5…2000 Hz @ 2.5 g peak, 0.0006 mm (0.015 in.) max displacement
5…55 Hz @ 0.35 mm (0.014 in.) double amplitude, continuous displacement
55…500 Hz @ 2.0 g peak constant acceleration
15 g, 11 ms half-sine pulse 15 g, 11 ms half-sine pulse
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 11
Chapter 1 Migration Options
Table 5 - Compare Ultra3000 Drive and Kinetix 5100 Servo Drive Certifications
Ultra3000 Drive
Agency Certification
(1) c-UL-us
Kinetix 5100 drive
Agency Certification
(1) c-UL-us
(2)
Standards
Ultra3000 drive:
UL Listed to U.S. and Canadian safety standards (UL 508 C File E145959).
Kinetix 5100:
UL standards for the U.S. UL61800-5-1, 1st edition, June 2012.
CSA standard for Canada. C22.2 No. 274-13
UL File Number E59272
CE CE Ultra3000 drive:
European Union 89/336/EEC EMC Directive compliant with EN 61800-3:2004: Adjustable Speed Electrical Power Drive
Systems - Part 3; EMC Product Standard including specific test methods.
European Union 73/23/EEC Low Voltage Directive compliant with:
EN 60204-1: 1997 - Safety of Machinery - Electrical Equipment of Machines.
EN 50178: 1997 - Electronic Equipment for use in Power Installations.
—
KC
—
—
—
—
Functional Safety (FS)
KCC
RoHS
RCM (Formerly C-Tick)
ODVA
China RoHS
Kinetix 5100 drive:
2014/30/EU, IEC/EN 61800-3: 2017 RLV,
IEC/EN 61800-3, environment 2, category C3, and EN 55011 class A group 2,
2014/35/EU, IEC/EN 61800-5-1:2016, 2006/42/EC, IEC/EN 61800-5-2:2016
Kinetix 5100 drive:
IEC/EN 61508, EN ISO 13849, IEC/EN 62061, IEC/EN 61800-5-2:2016
(CAT3, SIL 2, PLd)
Ultra3000 drive:
Korean Registration of Broadcasting and Communications Equipment, compliant with:
Article 58-2 of Radio Waves Act, Clause 3
Registration number: KCC-REM-RAA-2098-DSD
Kinetix 5100 drive:
Korean Registration of Broadcasting and Communications Equipment, compliant with:
• Article 58-2 of Radio Waves Act, Clause 3
• Registration number: KCC-REM-RAA-2198
Kinetix 5100 drive: European Directive 2011/65/EU(1) - The Restriction of Hazardous Substances (RoHS), EN 50581:2012
Kinetix 5100 drive: Australian Radiocommunications Act, compliant with:
AS/NZS CISPR 11:2002 (Group 1, Class A);
Radio Communications Act: 1992;
Radio Communications (Electromagnetic Compatibility) Standard: 1998;
Radio Communications (Compliance Labeling - Incidental Emissions) Notice: 1998
Kinetix 5100 drive: EtherNet/IP conformance tested, EtherNet/IP Specification Volume 2, Edition 1.23, April 2017
Kinetix 5100 drive:
— SCCR Kinetix 5100 drive: UL 61800-5-1 standard, short circuit test (including exception 5.2.3.6.2.1DV.2.3), and breakdown of components test
Yes — WEEE
(1) When product is marked, see rok.auto/certifications for Declarations of Conformity Certificates.
(2) UL has not evaluated the safe-off, Safe Torque Off, or safe speed-monitoring options in these products.
12 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Chapter
2
Replacement Considerations
To replace an Ultra™ 3000 drive with a Kinetix® 51…00 drive can require some system design changes.
• Review the hardware and software design of the existing Ultra3000 system.
• Compare these to the hardware and software specifications for the
Kinetix 5100 drives.
WARNING: Because of the variety of uses for the products described in this publication, those responsible for the application and use of these products must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements, including any applicable laws, regulations, codes, and standards. In no event will Rockwell Automation be responsible or liable for indirect or consequential damage resulting from the use or application of these products.
Before You Begin
This section contains information to help you to choose the correct Kinetix 5100 drive to replace your Ultra3000 drive.
Table 6 - Migration Considerations
Feature/Function Ultra3000 Drive
Rotary Motor Compatibility Supports 1362AB, Kinetix MP, F-Series, H-Series, N-Series, Y-Series, and Kinetix TL and TLY servo motors.
Digital Input and
Registration Input
Eight digital inputs, support current sinking wiring only.
Registration input can be assigned to any one of them.
Digital Output
Typical Input Power
Configuration and
Components
Safe Torque Off (STO)
Communication
Controller
Kinetix 5100 Drive
Supports Kinetix MP and Kinetix TLP servo motors.
Eight standard digital inputs and two high-speed inputs, support both current sinking and current sourcing wiring. Registration inputs can be assigned to digital input 9 and digital input 10.
Six digital outputs with both current sourcing and current sinking capability.
Four digital outputs with current sourcing capability only.
Supports grounded power system (center grounded wye secondary, or corner grounded, or high leg delta secondary). Uses 2090-UXLFor circuit breakers for input protection.
x line filter for CE compliance. Ultra3000 drives also need specific fuses
Does not support the Safe Torque Off feature.
Supports the Safe Torque Off feature.
Supports serial port and the DeviceNet® communications protocol.
Supports USB interface for configuration and EtherNet/IP for control
Supports Logix 5000™ controllers and SLC™ controllers.
Supports grounded power system (center grounded wye secondary only).
2198-DB x -F line filter is needed for CE compliance. Specific fuses or circuit breakers (can differ from those recommended for Ultra3000 drives) are required for input protection.
Supports the following controllers:
• CompactLogix™ 5370 and CompactLogix™ 5380 controllers with embedded dual-port.
• CompactLogix™ 5480.
• ControlLogix® 5570 and ControlLogix® 5580. MicroLogix™ 1100 and
1400 controllers. Micro800™ controllers.
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 13
Chapter 2 Replacement Considerations
Table 6 - Migration Considerations (continued)
Feature/Function
Cable Length
Physical Dimensions
Control and Auxiliary
Power
Dual Position Loop / Aux
Feedback Port
Motor Brake
Ultra3000 Drive
Support cable lengths for motor and power up to 90 m (295.2 ft).
Drive-to-motor power and feedback cables must not exceed:
• 50 m (164 ft) for axes with Kinetix MP servo motors with Hiperface encoder feedback
• 50 m (164 ft) for axes with Kinetix TLP servo motors and 24-bit highresolution serial encoder feedback
• 30 m (98.4 ft) for axes with Kinetix MP (Cat. No. MPL-A xxxx -H) servo motors and incremental encoder feedback
—
Kinetix 5100 Drive
The Kinetix 5100 drive has smaller dimensions and should fit in the space of the Ultra3000 drive. The drill hole patterns differ from that of Ultra3000 drives.
1 PH 120V or 230V AC required Optional 5V DC (breakout board with 24V DC to 5V converter available) auxiliary power for smallest 3 drives. Optional 1 PH
100…240VAC for larger drives.
Does not support Dual position loop / Aux feedback port.
Supports Dual feedback inputs for:
• Master Follower (PT mode)
• Dual Loop Control (PT mode)
• Aux Feedback (PR mode) as a Master for E-CAM function
Has a dedicated relay output for operating motor brake.
Any digital output can be configured as Motor Brake. This output must drive an external relay to control motor holding brake.
Design considerations:
• Controller Files - Upload and save any network files and programmable logic controller (PLC) programs.
• Verify that your current motor is compatible.
• Verify that the feedback cable length in your existing system does not exceed the max feedback cable length or the max power cable length for the new system.
• Verify that the drive size is compatible.
• Verify that the drive dimensions are compatible.
• Verify the drive connections (and/or connectors) are acceptable or compatible.
See the technical data documents and the design guides in the Additional
for motor, cable, and drive combinations.
Selecting a Replacement
Drive
There are a number of different factors that affect the selection of a replacement servo drive and the system redesign effort. Drive sizing is the primary factor in which replacement servo drive you select. To identify the correct replacement drive size, compare the continuous and peak output current ratings.
Most Ultra3000 drives can be replaced with a Kinetix 5100 drive of similar, or in some cases greater, output current capability.
The Kinetix 5100 drives require less physical space than the Ultra3000 drives.
14 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Other factors that affect drive replacement include:
• Drive Sizing (ratings and physical size)
• Dimensions
• Drive Interconnects and Cabling
• Communication network
• Accessories, such as shunts and line filters.
Replacement Considerations Chapter 2
Nominal Voltage and Output Current Comparison
This section lists the Ultra3000 servo drives and the suggested Kinetix 5100 replacement servo drives, along with the output ratings differences of the drives.
Information in this migration guide is based on the drive combinations that are
.
Review Table 7 to make sure that the replacement drive can deliver the required
continuous and peak current to the motor.
Table 7 - Suggested Kinetix 5100 Replacement Drives by Output Current
Ultra3000 Drive
Cat. No.
Voltage
Range (V)
2098-DSD-OO5 88…265V
1 PH
2098-DSD-010 88…265V
1 PH
2098-DSD-020 88…265V
1 PH
2098-DSD-030 88…265V
1 PH
2098-DSD-075 88…265V
3 PH
2098-DSD-150 88…265V
3 PH
Voltage
Range Nom
V rms
120…240V
1 PH
Continuous
Output
Current
A rms (0-pk)
1.8 (2.5)
120…240V
1 PH
120…240V
1 PH
120…240V
1 PH
3.5 (5)
7.1 (10)
10.6 (15)
24.7 (35)
Peak
Output
Current
A rms (0-pk)
5.3 (7.5)
Kinetix 5100 Drive
Cat. No.
Voltage Range
V rms
10.6 (15)
2198-E1004-ERS 95…132V 1 PH
170…253V 1 PH /
3 PH
2198-E1007-ERS 95…132V 1 PH
170…253V 1 PH /
3 PH
21.2 (30)
21.2 (30)
53.0 (75)
Voltage
Range Nom
V rms
120…230V
1 PH / 3 PH
120…230V
1 PH / 3 PH
2198-E1015-ERS 95…132V 1 PH
170…253V 1 PH /
3 PH
2198-E1020-ERS 95…132V 1 PH
170…253V 1 PH /
3 PH
120…230V
1 PH / 3 PH
120…230V
1 PH / 3 PH
2198-E2055-ERS 170…253V 3 PH 230V 3 PH 120…240V
3 PH
120…240V
3 PH
45.9 (65) 106.0 (150) 2198-E2075-ERS 170…253V 3 PH 230V 3 PH
Continuous
Output
Current
A rms (0-pk)
2.6 (3.7)
5.10 (7.21)
7.9 (11.17)
49.0 (69.3)
Peak Output
Current
A rms (0-pk)
6.5 (9.19)
15.41 (21.79)
23.7 (33.51)
13.4 (18.95) 53.03 (74.98)
41.3 (58.40) 91.4 (129.24)
78.0 (110.3)
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 15
Chapter 2 Replacement Considerations
Dimension Comparison
This section compares physical dimensions of the Ultra3000 servo drives and the suggested Kinetix 5100 replacement servo drives.
Table 8 - Suggested Kinetix 5100 Replacement Drives by Dimensions
Ultra3000 Drives
Cat. No.
2098-DSD-005
2098-DSD-010
2098-DSD-020
2098-DSD-030
2098-DSD-075
2098-DSD-150
Height mm (in.)
198.12 (7.8)
198.12 (7.8)
198.12 (7.8)
360.68 (14.2)
360.68 (14.2)
360.68 (14.2)
Width mm
(1)
(in)
95.5 (3.76)
121.54 (4.79)
121.54 (4.79)
91.44 (3.6)
138.68 (5.46)
188.97 (7.44)
Depth mm (in)
144.27 (5.68)
144.27 (5.68)
144.27 (5.68)
243.84 (9.6)
247.14 (9.73)
241.05 (9.49)
(1) Widths chosen were for Ultra3000 drives -DN,and -XDN, which are larger than the -X.
Kinetix 5100 Drives
Cat. No.
Height mm (in.)
2198-E1004-ERS 170 (6.69)
2198-E1007-ERS 180 (7.09)
2198-E1015-ERS 180 (7.09)
2198-E1020-ERS 180 (7.09)
2198-E2055-ERS 273(10.75)
2198-E2075-ERS 312 (12.28)
Width mm (in)
35 (1.34)
50 (1.97)
50 (1.97)
95 (3.74)
120 (4.73)
141 (5.55)
Depth mm (in)
178.3 (7.02)
188.4 (7.42)
188.4 (7.42)
208.4 (8.2)
209.4 (8.24)
225.4 (8.87)
AC Input Power Wiring and
Fusing
This section provides information to help you determine the wiring and fusing requirements of drives. Ultra3000 servo drives are designed to operate from a grounded power system (with center grounded wye secondary, or corner grounded, or high leg delta secondary), while Kinetix 5100 drives support threephase wye systems with a center grounded wye secondary, or a single-phase system with a neutral and a grounded input.
AC Input Power Wiring
Determine the wire length for the AC line input after the drive location and cable routing is finalized.
In general, the recommended drive replacement should not require changes in wiring length; however, the routing may need to change as the input power and motor power connections could be in different physical locations with different terminations.
16 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Replacement Considerations Chapter 2
shows a comparison of the connector locations of the Ultra3000 and
Kinetix 5100 drives.
Table 9 - Input Power and Motor Power Connection Placement of Kinetix 5100 Drives
Kinetix 5100
Drive
Cat. No.
Output
Power (kW)
Input Power
Connector Location
Motor Power/
Feedback
Connector Location
Ultra3000 Drive Input
Power, Motor Power,
Feedback Connector
Location
2198-E1004-ERS 0.40
2198-E1007-ERS 0.75
2198-E1015-ERS 1.50
2198-E1020-ERS 2.00
2198-E2030-ERS 3.00
2198-E2055-ERS 5.50
2198-E2075-ERS 7.50
2198-E2150-ERS 15.00
Top
Front
Bottom
Front
Front
Circuit Breaker and Fuse Considerations
Review the fusing requirements when you change drives.
An Ultra3000 servo drive system must be protected by a device with short circuit interrupt current rating of the service capacity that is provided or a maximum of
100,000 A.
The Kinetix 5100 servo drives use internal solid-state motor short-circuit protection and are rated for use on a circuit that can deliver up to 5000 A, when protected by suitable branch circuit protection.
While circuit breakers offer some convenience, there are limitations with their use. Circuit breakers do not handle high current inrush as well as fuses. Make sure that the selected components are properly coordinated and meet acceptable electrical codes including any requirements for branch circuit protection.
Evaluation of the short circuit available current is critical and must be kept below the short-circuit current rating of the circuit breaker.
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 17
Chapter 2 Replacement Considerations
and
list fuse and circuit breaker selections for Ultra3000 and
Kinetix 5100 respectively.
Table 10 - Ultra3000 Drive Fuse Selection
Drive Cat. No.
Nominal
Voltage
2098-DSD-005 230V AC
2098-DSD-010 230V AC
2098-DSD-020 230V AC
2098-DSD-030 230V AC
2098-DSD-075 230V AC
2098-DSD-150 230V AC
2098-DSDxxx 230V AC
Phase
1 PH
1 PH
1 PH
1 PH
3 PH
3 PH
UL Applications (Bussmann
Fuses)
Class J
LPJ-6SP
LPJ-10SP
LPJ-20SP
LPJ-30SP
LPJ-30SP
LPJ-60SP
Auxiliary Input Power LPJ-10SP
Class CC
FNQ-R-6
FNQ-R-10
FNQ-R-20
FNQ-R-30
FNQ-R-30
—
FNQ-R-10
IEC (non-UL)
Applications
—
Table 11 - Kinetix 5100 Drive Fuse and Circuit Breaker Selection
Cat. No.
2198-E1004-ERS
2198-E1007-ERS
2198-E1015-ERS
2198-E1020-ERS
2198-E2030-ERS
2198-E2055-ERS
2198-E2075-ERS
2198-E2150-ERS
Voltage (Nom) and
Phase
120V/230V, 1 PH
230V, 3 PH
120V/230V, 1 PH
230V, 3 PH
120V/230V, 1 PH
230V, 3 PH
120V/230V, 1 PH
230V, 3 PH
230V, 3 PH
230V, 3 PH
230V, 3 PH
230V, 3 PH
KTK-R-30
KTK-R-25
LPJ-40SP
LPJ-35SP
LPJ-50SP
LPJ-70SP
LPJ-80SP
LPJ-125SP
UL/CSA Application
Recommended Fuse
Cat. No.
Recommended Circuit
Breaker Cat. No.
KTK-R-10
KTK-R-10
KTK-R-20
KTK-R-15
1489-M2D100
1489-M3D100
1489-M2D200
1489-M3D130
1489-M2D300
1489-M3D200
1489-M2D400
1489-M3D300
1489-M3D350
1489-M3D600
140G-G2C3-C70
140G-G2C3-D12
60 A
110 A
150 A
225 A
30 A
25 A
50 A
40 A
IEC (non-UL/CSA) Application
DIN gG Fuses Rating
(Amps, max)
Recommended Circuit
Breaker Cat. No.
10 A
10 A
20 A
15 A
1489-M2D100
1489-M3D100
1489-M2D200
1489-M3D130
1489-M2D300
1489-M3D200
1489-M2D400
1489-M3D300
1489-M3D350
1489-M3D600
140G-G2C3-C70
140G-G2C3-D12
18 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Replacement Considerations Chapter 2
Power Specifications
This section lists the power specifications for the Ultra3000 drive and
Kinetix 5100 drives.
shows power specifications and requirements for the Ultra3000 230V drives.
Table 12 - Ultra3000 Servo Drive Power Specifications
Attribute
AC Input Voltage
AC Input Frequency
AC Input Current
(2) (3) rms (nom)
(1)
230V AC (0-PK) max inrush
(4)
2098-DSD-005
100…240V rms, 1 PH
47…63 Hz
5 A
100 A - Series A or B
20 A - Series C
Auxiliary AC input current
115V AC (rms) nom
230VV AC (rms) nom
115V AC (0-pk) max inrush(4)
230V AC (0-pk) max inrush
—
Continuous output current (rms) 1.8 A
Continuous output current (0-pk) 2.5 A
Peak output current (rms)
Peak output current (0-Pk)
Bus Capacitance
Internal Shunt resistance
5.3 A
7.5 A
1410 μF
—
Shunt on
Shunt off
Bus Overvoltage
Internal shunt
Continuous power
Peak power
External shunt
Resistance
Continuous power
Peak power
—
—
400V DC
—
—
2098-DSD-010
9 A
100 A - Series A or B
20 A - Series C
—
3.5 A
5.0 A
10.6 A
15 A
1880 μF
—
—
—
—
—
2098-DSD-020
18 A
100 A - Series A or
B
20 A - Series C
—
7.1 A
10 A
21.2 A
30 A
1880 μF
—
—
—
—
—
2098-DSD-030
100…240V rms,
1 PH
47…63 Hz
28 A
50 A
1.0 A
0.5 A
47 A
95 A
10.6 A
15 A
21.2 A
30 A
2820 μF
35 ohms
420V DC
420V DC
452V DC
50 W
4.5 W
2098-DSD-075
100…240V rms, 3 PH
30 A
50 A
1.0 A
0.5 A
47 A
95 A
24.7 A
35 A
53 A
75 A
4290 μF
16.5 ohms
50 W
10 kW
30 ohms (-0/+5%)
2.4 kW
6 kW
16.5 ohms (-0/
+5%)
4 kW
10 kW
Energy absorption capability
115V AC input
230V AC input
Continuous power output
115V AC input
230V AC input
93 J
38 J
125 J
51 J
0.25 kW
0.5 kW
0.5 kW
1.0 kW
1.0 kW
2.0 kW
(1) Specification is for nominal voltage. The absolute limits are ± 10%, or 88…265V rms.
(2) The 2098-DSD-005 x-xx , 2098-DSD-010 x-xx (200V - class) drives are limited to:
Series A or B - one contactor cycle every two minutes.
Series C - one contactor cycle every 10 s for up to two minutes, not to exceed 12 cycles in five minutes.
(3) Power initialization requires a short period of inrush current. Dual element time delay (slow blow) fuses are recommended.
(4) Inrush current limiting circuitry is enabled within 3 s after removal of AC line power.
251 J
139 J
1.5 kW
3 kW
381 J
211 J
—
7.5 kW
2098-DSD-150
46 A
68 A
1.0 A
0.5 A
47 A
95 A
45.9 A
65 A
106 A
150 A
7520 μF
9.1 ohms
180 W
18 kW
9 ohms (-0/+5%)
8 kW
19 kW
669 J
370 J
—
15 kW
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 19
Chapter 2 Replacement Considerations
and
list power specifications and requirements for the
Kinetix 5100 drives.
Table 13 - Kinetix 5100 Drive Input Power Specifications (Single-phase and three-phase)
Attribute
AC input voltage
AC input frequency
Main AC input current
(1) rms (nom) 120V input (1 PH) max inrush (0-pk) 120V input rms (nom) 230V input (1 PH) max inrush (0-pk) 230V input rms (nom) 230V input (3 PH) max inrush (0-pk) 230V input
Control power input voltage
2198-E1004-ERS 2198-E1007-ERS
95…132V rms, 1 PH (120V nom)
170…253V rms, 1 PH (200…230V nom)
170…253V rms, 3 PH (230V nom)
47…63 Hz
Control power input current rms (nom) 120V input max inrush (0-pk) rms (nom) 230V input max inrush (0-pk)
Continuous output current (rms)
Continuous output current (0-pk)
Peak output current (rms)
(2)
Peak output current (0-pk)
Continuous power output
@ 120V nom
@ 230V nom
Internal shunt on
Internal shunt off
Internal shunt resistor
Internal shunt power
0.34 A
15.80 A
0.20 A
37.0 A
2.6 A
3.7 A
6.5 A
9.2 A
0.20 kW
0.40 kW
370V @120V AC input
370V @230V AC input
Undervoltage threshold
Overvoltage
Bus capacitance
Capacitive energy absorption
Short-circuit current rating
100 Ω
5 W
70V @120V AC input
150V @230V AC input
410V @120V AC input
410V @230V AC input
540 μF
6.24 J
5000 A (rms) symmetrical
(1) Kinetix 5100 drive modules are limited to one AC mains power cycles per minute.
(2) Peak RMS current that is allowed for up to 1.8 seconds.
0.38 A
18.20 A
0.22 A
37.40 A
5.1 A
7.2 A
15.4 A
21.8 A
0.375 kW
0.75 kW
100 Ω
14 W
1680 μF
19.40 J
2198-E1015-ERS
4.08 A
0.84 A
4.79 A
1.40 A
2.84 A
1.44 A
7.88 A
0.76 A
8.85 A
1.32 A
5.20 A
1.40 A
12.22 A
0.76 A
14.41 A
1.36 A
7.87 A
1.44 A
95…132V rms, 120V AC nom, 1 PH, with 120V AC input power
170…253V rms, 200…230V AC nom, 1 PH, with 200…230V AC input power
0.38 A
19.20 A
0.22 A
39.80 A
7.9 A
11.2 A
23.7 A
33.5 A
0.75 kW
1.50 kW
100 Ω
14 W
1680 μF
19.40 J
2198-E1020-ERS
18.40 A
2.56 A
21.36 A
4.40 A
11.57 A
4.64 A
0.63 A
19.20 A
0.35 A
32.40 A
13.4 A
18.9 A
40.6 A
57.4 A
1.0 kW
2.0 kW
20 Ω
20 W
2160 μF
24.95 J
20 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Table 14 - Kinetix 5100 Drive Input Power Specifications (three-phase)
Attribute
AC input voltage
AC input frequency
Main AC input current
(1) rms (Nom) 230V input (3 PH) max inrush (0-pk) 230V input
Control power input voltage
Control power input current rms (Nom) 230V input max inrush (0-pk)
2198-E2030-ERS
170…253V rms, 3 PH (230V nom)
47…63 Hz
14.65 A
4.42 A
170…253V rms, 200…230V AC nom, 1 PH, with 200…230V AC input power
Continuous output current (rms)
Continuous output current (0-pk)
Peak output current (rms)
(2)
Peak output current (0-pk)
Continuous power output
@ 230V nom
Internal shunt on
Internal shunt off
Internal shunt resistor
Internal shunt power
Undervoltage threshold
Overvoltage
Bus capacitance
Capacitive energy absorption
Short-circuit current rating
0.35 A
36.40 A
17.9 A
25.3 A
55.95 A
79.1 A
3.0 kW
370V @230V AC input
20 Ω
20 W
150V @230V AC input
410V @230V AC input
2160 μF
24.95 J
5000 A (rms) symmetrical
(1) Kinetix 5100 drive modules are limited to one AC mains power cycling per minute.
(2) Peak RMS current that is allowed for up to 1.8 seconds.
2198-E2055-ERS
27.32 A
9.55 A
0.46 A
32.80 A
41.3 A
58.4 A
91.4 A
129.2 A
5.5 kW
–
–
4100 μF
47.36 J
2198-E2075-ERS
37.90 A
28.68 A
0.48 A
40.0 A
49.0 A
69.3 A
127.5 A
180.3 A
7.5 kW
–
–
7000 μF
69.30 J
Replacement Considerations Chapter 2
2198-E2150-ERS
–
–
70.45 A
32.0 A
0.92 A
37.0 A
78.0 A
110.3 A
162.0 A
229.1 A
15.0 kW
13,500 μF
155.93 J
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 21
Chapter 2 Replacement Considerations
I/O Availability and
Specifications
All Ultra3000 drives and Kinetix 5100 drives have a comprehensive set of digital
I/O and analog I/O. Use this section to compare the I/O and the I/O specifications to be sure the Kinetix 5100 servo drive can work in your application.
Digital Inputs
compares the digital inputs of the Ultra3000 drives and the Kinetix
5100 drives.
Table 15 - Digital Inputs Comparison
Features
Inputs
I/O common points
Number of Pre-selectable indexes
(using binary weighted digital inputs)
Multiple input assignment
De-bounce for inputs
Registration Input
Ultra3000 (Non-Sercos) Drives
Eight inputs
1
64
Yes
Yes, can be assigned to any input
Yes, can be assigned to any input
Overtravels
Default assignment for digital inputs/ outputs
N.C. only
None
1
99
Kinetix 5100 Drives
Eight Inputs + two high-speed inputs
Yes (via software programming)
Yes
Yes, can be assigned to two highspeed inputs (Input 9 and Input 10)
Can be N.O. or N.C.
Yes
Kinetix 5100 drives have eight inputs with configurable functions and two highspeed inputs. The standard digital inputs on Kinetix 5100 drives have the same
physical characteristics. Table 16 and Table 17
compare the digital inputs physical characteristics between Ultra3000 and Kinetix 5100 drives.
Table 16 - Digital Inputs Characteristics Comparison
Specification
Digital Input response (delay)
Digital Input scan time
Ultra3000 Drives
100 μs
1 ms
Kinetix 5100 Drives
Standard inputs: 1 ms
Fast inputs: 3us
Standard inputs: 500us max
Fast inputs: 1us
Table 17 - Digital Inputs Voltage and Current Comparison (IEC61131-2 Type 1 compliant for
Kinetix 5100 Drive)
Parameter Description Ultra3000 Drive Kinetix 5100 Drive
Min Max Min Max
10.8V
26.4V
15V 26.4V
ON state voltage Voltage applied to the input, with respect
IOCOM, to guarantee an ON state
ON state current Current flow to guarantee an ON State
OFF state voltage Voltage applied to the input, with respect
IOCOM, to guarantee an OFF state
3.0 mA 12.0 mA 2.0 mA 6.0 mA
-1.0V
2.0V
-1.0V
5.0V
22 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Replacement Considerations Chapter 2
Ultra3000 and Kinetix 5100 Drives Dedicated Functionality Inputs
For Ultra3000 non-Sercos drives, each digital input configuration parameter can assign one or more functions to the corresponding digital input. Assigning a function causes that function to become active when the associated Digital Input becomes active. If no functions are assigned by a digital input configuration parameter, then the corresponding digital input is unassigned.
The supported digital input functionality for Ultra3000 drives is shown in the
first column of Table 18 . There is not a direct correlation with the functionality
for the Kinetix 5100 drive - they are shown side by side for convenience.
For Kinetix 5100 drives, each digital input configuration parameter assigns one function via KNX5100C software (multiple assignments can be done by using programming and PR mode). Input 9 and Input10 are available as high-speed digital inputs and registration functionality is available at these inputs only. For details on all supported digital inputs for the Kinetix 5100 drive, see the Kinetix
5100 Single-axis EtherNet/IP Servo Drives Users Manual, publication 2198-UM004 . The supported Digital Input functionality for
Kinetix 5100 drives is shown in the second column of
. There is not a direct correlation with the functionality for the Ultra3000 drive - they are shown side by side for convenience.
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 23
Chapter 2 Replacement Considerations
24
Table 18 - Supported Digital Input Functionality
—
—
—
Fault Reset
—
—
—
Follower Enable
Forward Enable
Reverse Enable
Operation Mode Override
Position Strobe
Reset Drive
Start Index
Remove Command Offset
Ultra3000 Drive
Enable Drive
Home Sensor
Registration
Positive Hardware Overtravel
Negative Hardware Overtravel
Define Home Position
Disable Serial Input
Start Homing
Pause Homing
Abort Homing
Pause Index
Abort Index
Define Position
Preset Select 0 … Preset Select 5
Integrator Inhibit
—
—
—
Kinetix 5100 Drive
Servo is activated (SON, Drive Enable)
Fault Reset (ARST)
Gain Switching (GAINUP)
Clear pulse counter (CCLR)
Zero Speed Clamp (ZCLAMP)
Command Input Reverse Control (CMDINV)
Command triggered (CTRG)
Torque limit (TRQLM)
Latch Function of Analog Position Command (VPL)
Speed Limit Enable (SPDLM)
Position Selection (POS0 … POS6)
Absolute Mode (ABSE)
Set up or Clear Absolute System Coordinates (ABSC)
ABSQ Always Input
Speed Selection (SPD0, SPD1)
Torque Command (TCM0, TCM1)
Speed and Position Selection (S-P)
Speed and Torque Mode Switching (S-T)
Torque and Position Selection (T-P)
Emergency stop (EMGS)
Reverse Inhibit Limit Clockwise (NL CWL)
Forward Inhibit Limit Counter Clockwise (PL CCWL)
Homing Origin (ORGP)
Return to Homing Origin (SHOM)
PT and PR Mode Switching (PT-PR)
E-Cam Alignment (ALGN)
E-Cam Engaging Control (CAM)
Forward Jog Input (JOGU)
Event Trigger Command 1…4 (EV1…EV4)
E-Gear Ratio (Numerator) Selection1, 2 (GNUM0,
GNUM1)
External Pulse Inhibit (INHP)
Motor Stop (STP)
Profile Quick Stop (PFQS)
, the Ultra3000 drives have eight optically isolated, active high, current sourcing 12-24V DC digital inputs. The Kinetix 5100 drives, which are shown in
Figure 2 , the digital inputs are optically isolated and sink up
to 24V DC. You can design the inputs for PNP sourcing or NPN sinking.
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Replacement Considerations Chapter 2
Figure 1 - Ultra3000 Digital Input Circuit
Ultra3000 Drive
2.7 kΩ
Inputs
1 kΩ
10 kΩ
+5V
IO COM
TLP121
IO COM
Figure 2 - Kinetix 5100 Drive Digital Input Circuit
NPN transistor (SINK mode)
DGND
DCOM
4.7 kΩ, approx.
Kinetix 5100 Servo Drive
24V DC
INPUT x
PNP transistor (SOURCE mode)
INPUT x
Kinetix 5100 Servo Drive
24V DC
DCOM
4.7 kΩ, approx.
Digital Outputs
The Ultra3000 servo drives (non-Sercos) have four optically isolated transistor outputs that can be assigned to various functions through software. Additionally, the Ultra3000 drive has one relay output with normally open contacts. When brake control is assigned to the relay output, it can directly control a motor holding brake.
Kinetix 5100 drives have six outputs that can be assigned to various functions through software. There is no relay output. Any standard digital outputs (with additional external circuit) can be used to energize the motor holding brake. The
Kinetix 5100 drive requires an external relay. See the Kinetix 5100 Single-axis
EtherNet/IP Servo Drives User Manual, publication 2198-UM004 for more information on how to configure and use the holding brake.
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 25
Chapter 2 Replacement Considerations
compares the digital outputs of the two drives.
Table 19 - Digital Outputs Comparison
Features
Outputs
Brake output assignment
Use common 24V DC power to Energize outputs
Configurable output assignment
Ultra3000 (Non-Sercos)
Drives
4 outputs + 1 relay
Programmable
Yes
Yes
Kinetix 5100 Drives
6 outputs
Programmable
Capability to use separate 24V DC power
Yes
and
compare the digital output physical characteristics between Ultra3000 and Kinetix 5100 drives.
Table 20 - Digital Outputs Characteristics Comparison
Specification
Digital outputs response (delay)
Digital outputs scan time
Ultra3000 Drives
100 μs
1 ms
Kinetix 5100 Drives
1 ms max
250 μs max
Table 21 - Digital Outputs Parameters Comparison
Parameter Description Ultra3000 Drive Kinetix 5100 Drive
Min Max Min Max
ON state current Current flow when the output transistor is ON —
OFF state current Current flow when the output transistor is OFF —
50 mA
0.1 mA
—
—
40 mA
0.1 mA
ON state voltage Voltage across the output transistor when ON —
OFF state voltage Voltage across the output transistor when OFF —
1.5V
50V
— 1.5V @ 40 mA
— 30V
, for the Ultra3000 drives, there are four optically isolated
12-24V DC digital outputs, active high, current sourcing. The Ultra3000 does not have default assignments for digital outputs. The Kinetix 5100 drives have digital outputs that are optically isolated and you can design the outputs for open collector or open emitter. The Kinetix 5100 drive has default assignments for the digital outputs.
Figure 3 - Ultra3000 Digital Output Circuit
200
Ω
IOPWR
+5V
OUTPUT
OUT
TLP127
26 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Replacement Considerations Chapter 2
Figure 4 - Kinetix 5100 Drive Digital Output Circuits
The servo drive applies external power supply and the load is resistive.
Kinetix 5100 Servo Drive.
The servo drive applies external power supply and the load is inductive.
R
24V DC
OUTPUT x+
OUTPUT x–
Kinetix 5100 Servo Drive.
Confirm the polarity of the diode is correct or it may damage the servo drive.
24V DC
OUTPUT x+
OUTPUT x–
Kinetix 5100 drive digital output multiple function selection is described in
.
Table 22 - Kinetix 5100 Drive Digital Outputs Default Assignments
Output
Ourput1
Output2
Output3
Output4
Output5
Output6
PT/PR/Communication
Signal Function
Servo Ready (SRDY)
Zero Speed Range
(ZSPD)
Servo ready
Zero speed of motor
Homing complete At Home Position
(HOME)
Within Position
(1)
Window (TPOS)
ALRM
—
(1) Position error smaller than ID159 (P1.054) setting.
Speed/Torque
Signal
Ready (SRDY)
Zero Speed (ZSPD)
Up to Speed (TSPD)
Target position reached Within Position
Servo alarm
—
Window (TPOS)
ALRM
—
Function
Servo Ready
Zero speed of motor
Target speed reached
Target position reached
Servo alarm
—
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 27
Chapter 2 Replacement Considerations
Analog Inputs
This section describes analog inputs for Ultra3000 (Non-Sercos) and
Kinetix 5100 servo drives.
compares the analog inputs of these two drives.
Table 23 - Analog Inputs Parameters Comparison
Parameter
Analog Inputs Resolution
Analog Inputs Impedance
Analog Inputs Voltage
Analog Inputs Scan Time
Offset Error
Gain Error
Propagation Delay
Ultra3000 Drives
14 bits
20 kΩ
-10…+10V
0.0625 ms
50 mV
1%
100 μS
Kinetix 5100 Drives
15 bits min
Approx
.
12 kΩ typical
-10…+10V
0.0625 ms max
50 mV max
1% max
100 μS max
The Ultra3000 drive analog COMMAND input can receive a position, velocity, or current command signal. A 14-bit A/D converter digitizes the signal. The
characteristics of this input are shown in Figure 5
.
Kinetix 5100 servo drives support two analog inputs (COMMAND1 and
COMMAND2) as shown in
Figure 6 . The analog COMMAND1 (T-REF)
input receives a torque reference signal and the COMMAND2 (V-REF) input receives a position or speed command signal. A 16-bit A/D converter digitizes the signal, however, the effective resolution is 15 bit due to noise. For details see the Kinetix 5100 Single-axis EtherNet/IP Servo Drives Users Manual, publication 2198-UM004 .
Figure 5 - Ultra3000 Analog Input Circuit
Ultra3000 Drive
1000 μF
10k W 10k W
20k W
COMMAND +
10k W
0.01 mF
10k W
COMMAND -
0.01 mF
1000 μF 20k W
28 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Replacement Considerations Chapter 2
Figure 6 - Kinetix 5100 Drive Analog Input Circuit
Controller Kinetix 5100 Servo Drive
±10V
10 kΩ
18
42
13
COMMAND1-Torque
COMMAND2-Speed
Analog GND
AGND
When using Ultra3000 drives, the ILIMIT input limits drive current when used.
If ILIMIT input is not used, current is only limited by using Ultraware software.
Kinetix 5100 servo drives do not provide the ILIMIT input for output current limiting. The current command can be limited by using internal parameters
ID128…ID130 (P1.012…P1.014) internal torque limits 1…3 in PT, PR, and S mode. Digital inputs can be used to provide a binary weighted, pre-programmed
Torque Limit. See the Kinetix 5100 Single-axis EtherNet/IP Servo Drives Users
Manual, publication 2198-UM004 , for more details.
Analog Output
This section describes analog outputs for Ultra3000 (Non-Sercos) and
Kinetix 5100 servo drives.
compares the analog outputs of these drives.
Table 24 - Analog Outputs Parameters Comparison
Parameter
Analog Outputs Resolution
Analog Outputs Current max
Analog Outputs Voltage
Ultra3000 Drive
8 bits
2 mA
-10…+10V
Analog Outputs Scan Time
Offset Error
Gain Error
Bandwidth
–
500 mV
10%
50 Hz
Kinetix 5100 Drive
10 bits min
1 mA
Configurable as either -8…+8V DC, or -
10…+10V DC
0.25 ms max
100 mV max
5% max
50 Hz min
The Ultra3000 uses one programmable analog output. The Kinetix 5100 servo drive provides two programmable analog outputs (MON1 and MON2) which are single-ended based on the analog ground.
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 29
Chapter 2 Replacement Considerations
30
Figure 7 - Ultra3000 Drive Analog Outputs Circuit
100 W
Ultra3000 Drive
AOUT
0.01 μF
Figure 8 - Kinetix 5100 Drive Analog Output Circuit
24 kΩ
AGND
AOUT1
AOUT2
Analog GND
16
15
13
Output:
1 mA, max
8 kΩ
V
8V
Full-scale
The Ultra3000 drive analog outputs can be configured using Ultraware software.
The Kinetix 5100 drive analog outputs can be configured using parameters or
KNX5100C software. Table 25 shows the analog output values for the
Ultra3000 and the Kinetix 5100 drives. They are listed in one table for ease of reading; they are not equivalent settings.
With the Kinetix 5100 drive, you can select the data to be monitored via parameter ID 103 (P0.003) AOMonitorSelection. The first 5 settings for the
Kinetix 5100 drive in
show the different configurations that can be used with MON1/MON2 analog outputs. For details see the Kinetix 5100 Single-axis
EtherNet/IP Servo Drives Users Manual, publication 2198-UM004 .
Table 25 - Ultra3000 Drive and Kinetix 5100 Drive Analog Output Values
Ultra3000 Drive
(Available functions for analog outputs)
Current Average
Current Command
Current Feedback
Position Command
Position Error
Position Feedback
Velocity Command
Velocity Error
Velocity Feedback
6
7
0
1
2
3
4
5
Kinetix 5100 Drives (Available functions for analog outputs)
Mon1 and MON2
Setting Value
(1)
Description
Motor speed (full output range
(2)
/ max speed)
Motor torque (full output range
Pulse command frequency (full output range
/ 4.5 MHz)
Speed command (full output range
/ max speed command)
Torque command (full output range
BUS voltage (full output range
—
P1.101 Preset Analog Output Value 1
P1.102 Preset Analog Output Value 2
—
(1) ID 103 (P0.003)
(2) +/-8V or +/-10V depending on configuration
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Replacement Considerations Chapter 2
Control and Auxiliary Power Specifications
The control power input allows the drive to maintain logic power when main power is removed. This allows communication between the controller and for the drive to maintain position feedback (aside from absolute feedback).
The Ultra3000 servo drives (2098-DSD-005, -010, and -020) use an external
+5V power supply in applications where it is necessary to maintain logic power when the main power is removed. The +24V DC I/O supply (IOPWR) allows use of a drive-mounted breakout board with 24V DC to 5V DC converter
(2090-U3CBB-DM12). All other Ultra3000 servo drives have other auxiliary power requirements.
Table 26 - Ultra3000 Drives +24V DC Control Power Supply Specification
Parameter
Input voltage range
Input current
Description
Input voltage range of the external power supply for drive-mounted breakout boards with 24V DC to 5V DC converter.
Input current draw from the external power supply for the drivemounted breakout boards with 24V DC to 5V DC converter.
Min
18V DC
—
Max
30V DC
400 mA
Table 27 - Ultra3000 Drives 5V Control Power Supply Specifications
Parameter
Voltage
Current
Description
Voltage tolerance of the external logic supply.
Current output capability of the external +5V DC power supply.
Min
5.1V DC
1.5 A
Max
5.25V DC
—
Table 28 - Ultra3000 Drive Auxiliary Power Specification (230V)
2098-DSD-030 2098-DSD-075 Specification
Auxiliary AC input current
115V AC (rms) nom
230V AC (rms) nom
115V AC (0-pk) max inrush
230V AC (0-pk) max inrush
1.0 A
0.5 A
47 A
95 A
1.0 A
0.5 A
47 A
95 A
2098-DSD-150
1.0 A
0.5 A
47 A
95 A
The Kinetix 5100 servo drive uses single-phase 100V AC for control power input at 100V AC; single-phase 200V AC for control power input at 200V AC.
Table 29 - Kinetix 5100 Servo Drive Control Power and Auxiliary Power Rating
Cat. No.
Input Current max of Control Power
A rms at 120V rms (nom)
Inrush current of Control Power
A 0-pk at 120V rms (nom)
Input Current of Control Power
A rms at 230V rms (nom)
2198-E1004-ERS 0.34
2198-E1007-ERS 0.38
2198-E1015-ERS 0.38
2198-E1020-ERS 0.63
2198-E2030-ERS —
2198-E2055-ERS —
2198-E2075-ERS —
2198-E2150-ERS —
—
—
—
—
15.80
18.20
19.20
19.20
0.35
0.46
0.48
0.92
0.20
0.22
0.22
0.35
Inrush current of Control Power
A 0-pk at 230V rms (nom)
36.40
32.80
40.00
37.00
37.00
37.40
39.80
32.40
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 31
Chapter 2 Replacement Considerations
Feedback Devices
Accessories
32
Motors
compares different motors that are supported by Ultra3000 servo drives and Kinetix 5100 servo drives. Only the Kinetix MP are both supported by
Ultra3000 drive and Kinetix 5100 drive. For more information on supported motors and feedback, see the Kinetix 5100 Single-axis EtherNet/IP Servo Drives
Users Manual, publication 2198-UM004 .
Table 30 - Motor Supported by Ultra3000 and Kinetix 5100 Drives
Servo Motor
Kinetix MP
1326AB-Series (M2L/S2L)
F-Series
H-Series
N-Series
Y-Series
Kinetix TL and TLY servo motors (Tamagawa serial feedback/TTL incremental feedback)
Kinetix TLP –
Yes
Yes
Yes
Yes
Ultra3000 Drives
Yes
Yes
Yes
(1) Excludes Kinetix MP motors with resolvers.
–
–
–
–
–
–
Kinetix 5100 Drives
Yes
(1)
Yes
The Kinetix 5100 drives and the Ultra3000 drives accept motor feedback signals from Hiperface absolute high-resolution encoders and generic TTL incremental encoders, by using the motor feedback (MFB) connector.
In addition, the Kinetix 5100 drives accept motor feedback signals from 24-bit high-resolution absolute single-turn and multi-turn (multi-turn requires battery back-up) encoders that are used in Kinetix TLP Motors.
For more information on the Kinetix 5100 drive compatible feedback encoders, see the Kinetix 5100 Single-axis Ethernet/IP Servo Drives User Manual, publication 2198-UM004 .
For more information on the Ultra3000 drives compatible feedback encoders, see the Ultra3000 Drive Systems Design Guide, publication KNX-RM008 .
This section describes required and optional accessories for Ultra3000 and
Kinetix 5100 servo drives.
Drive accessories that are shared between Ultra3000 drives and Kinetix 5100 drives are Kinetix 2090-Series motor power and feedback cables. The
2198-K51CK-D15M Kinetix 5100 feedback connector kit is required for wiring the feedback cable with flying leads. Other Ultra3000 drive accessories such as panel-mounted breakout boards, resistive brake module (RBM), and external auxiliary encoder are not shared with Kinetix 5100 servo drives.
Application accessories such as shunts and line filters, can impact drive replacement, so they are covered in this section.
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Replacement Considerations Chapter 2
Required Drive Accessories
See the Kinetix Motion Accessories Technical Data, publication KNX-TD004 , for detailed descriptions and specifications of these servo drive accessories.
Table 31 - Ultra3000 Drive Required Drive Accessories
Drive Accessory
24V DC power supply
Drive-mounted breakout boards (required for flying lead cables)
Serial interface cable
Motor power and feedback cables
(1)
Cat. No.
1606-XL xxx
2090-UXBB-DM15
2090-UXBB-DM09
(2)
Description
12…24V DC for control and I/O power.
Motor feedback (CN2) connections.
Serial interface (CN3) connections.
2090-U3BB2-DM44 I/O (CN1) connections. These kits apply to all Ultra3000 drives
(Cat. No. 2098-DSD-005, 2098-DSD-010, and 2098-DSD-020) in applications where 5V DC control power (if necessary) is usersupplied.
2090-U3CBB-DM44 I/O (CN1) connections. These kits apply to only 2098-DSD-005,
2098-DSD-010, and 2098-DSD-020 drives in applications where a 24…5V DC converter for control power is required.
2090-UXPC-D09 xx Ultra3000 drive serial interface to personal computer.
See the specific drive/motor combination for the motor cables required for your system.
(1) Motor Power and feedback cable for Kinetix MP servo motor (Bulletin -2090) can be shared with Kinetix 5100 servo drive.
(2) Accessory can be shared with Kinetix 5100 servo drive.
Table 32 - Kinetix 5100 Drive Required Drive Accessories
Accessory
24V DC power supply
Communication Cable
Cat. No.
1606-XL xxx
2198-USBC
2198-USBF
Description
12…24V DC for I/O power
Mini USB cable (for connecting a Kinetix 5100 drive to a personal computer)
USB cable filter to remove nuisance noise issues when connecting
Kinetix 5100 drives to a personal computer with KNX5100C software
Feedback Connector kit 2198-K51CK-D15M For wiring flying lead feedback cable to Motor Feedback Port of the Kinetix 5100 drive
I/O Connector kit 2198-TBIO Terminal blocks for wiring I/O signals to PLC s and other devices
Optional Drive Accessories - Ethernet Cable
A 1585J series Ethernet cable(1585J-M8CBJMx , 1585J-M8UBJMx ,
1585J-M8CBx ) is required when a Kinetix 5100 drive is controlled via Ethernet
(either in IO mode or via Explicit Messaging).
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 33
Chapter 2 Replacement Considerations
Optional Drive Accessories - Shunt Resistors
The Ultra3000 drives (2098-DSD-005, 2098-DSD-010, 2098-DSD-020) have no internal shunting capability. These support the active shunt module. All other
Ultra3000 drive models have internal shunting capability and support passive shunt module (external shunt resistor).
• Active shunt module is used to provide shunt capability (absorbing excessive regenerative energy on DC bus) for drive.
• Passive shunts (shunt resistors) are used when drives have NO internal shunt resistor or the internal shunt resistor power is not enough.
Table 33 - Ultra3000 Drive Shunt Resistor Specification
Ultra3000
Drive Cat. No.
Shunt Module
Cat. No.
2098xxx005
2098xxx010
2098xxx020
2098xxx030
2098xxx075
2098xxx150
Shunt Type
2090-UCSR-A300 Active
9101-1183
2090-UCSR-P900
Passive
Specifications
Drive Voltage Resistance Ω Peak Power kW
Peak Current A Continuous
Power W
230V AC 36
30
18
4.0
5.9
10.0
10.5
14.0
23.3
300
200
900
Shipping
Weight kg (lb)
1.51 (3.3)
—
4.08 (9.0)
All Kinetix 5100 servo drives have internal shunt IGBT. However, only
2198-E1004-ERS…2198-E2030-ERS drives have an internal shunt resistor. The
DC+ to ISH terminal jumper connects the internal shunt resistor.
The passive shunts (Bulletin 2198-R xxx and 2097-R x shunt resistors) are external modules that provide additional shunt capacity for applications when the internal shunt capacity of the drive is exceeded. Catalog number 2198-R031 is made of resistor coils that are housed inside an enclosure. Catalog numbers
2198-R004, 2097-R6, and 2097-R7are shunt resistors without an enclosure.
,
, and Table 35 describe the shunt resistor
specification and dimensions.
34 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Replacement Considerations Chapter 2
These dimensions apply to units with an enclosure.
Figure 9 - Product Dimensions: Catalog Number 2198-R031 in mm (in.)
Left Side View Front View
F
Removable
Cover
C
5/16 in. Hex Screws
5/16 in.
Hex Screws
G
Ø (5) Conduit Knockout
12.7 (0.5)
D
Top View (cover removed)
E
Ø (4)
11.1 (7/16) Mounting Holes
A
Table 34 - 2198-R31 Shunt Resistor Dimensions
Cat. No.
2198-R031
A
635 (25.0)
B
343 (13.5)
C
683 (26.88)
D
673 (26.5)
E
178 (7.0)
F
406 (16.0)
G
403 (15.88)
These dimensions apply to catalog number 2198-R004 (units without an enclosure).
Figure 10 - Product Dimensions: Catalog Number 2198-R004 in mm (in.)
38.1 (1.5)
305 (12.0)
292 (11.5)
Top View
Ø (2)
5.6 (7/32) Mounting Holes
457 mm (18 in.) 450 °C (842 °F)
High-Temperature Wire Leads
76.2
(3.0)
Side View
B
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 35
Chapter 2 Replacement Considerations
12.0
(0.47
4.3
(0.17)
These dimensions apply to catalog numbers 2097-R6 and 2097-R7.
Figure 11 - Product Dimensions: Catalog Numbers 2097-R6 and 2097-R7
500
(19.68)
Flying Leads
2.5 mm
2
(14 AWG)
10.0
(0.39
Shunt Resistor
Cat. No.
2097-R6
2097-R7
L1 L2 L3
210 (8.3) 197 (7.7) 170 (6.7)
150 (5.9) 137 (5.4) 110 (4.3)
L2
L1
L3
10.0
(0.39
12.0
(0.47
41.0
(1.6)
Table 35 - 2198-Rx and 2097-Rx Shunt Resistor Specification
Cat. No.
2198-R004
2198-R031
2097-R6
2097-R7
33
75
Resistance (Ω)
33
150
Continuous Power (W) Weight, approx kg (lb)
400 1.8 (4.0)
3100
150
80
16.8 (37)
0.3 (0.7)
0.2 (0.4)
See the Kinetix 5700 Passive Shunt Modules Installation Instructions, publication 2198-IN011 for information on the shunt modules.
Optional Drive Accessories - AC Line Filters
An AC line filter is a key component in achieving CE standards compliance. The
Kinetix 5100 drives, and Ultra3000 drives, do not use the same line filters. Once you select the Kinetix 5100 drive for your application, choose the line filter that is appropriate for that particular drive. This section describes the specifications for the line filters used for each drive.
36 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Replacement Considerations Chapter 2
Table 36 - Ultra3000 Drives AC Line Filter Selection
Drive Family Drive Cat. No.
Ultra3000 drive 2098xxx -005
2098xxx -010
2098xxx -020
2098xxx -030
2098xxx -075
2098xxx -150
AC Line Filter Cat. No.
2090-UXLF-106
2090-UXLF-110
2090-UXLF-123
2090-UXLF-136
2090-UXLF-336
2090-UXLF-350
Motor Cables > 30 m (98.4 ft)
2090-UXLF-110
2090-UXLF-110
2090-UXLF-123
2090-UXLF-132
2090-UXLF-HV330
2090-UXLF-HV350
Table 37 - AC Line Filter Specifications
AC Line Filter
Cat. No.
Voltage Phase Specifications
(1) (2)
Current A @
50 °C (122 °F)
Power
Loss W
2090-UXLF-106 250V AC
50/60 Hz
2090-UXLF-110
2090-UXLF-123
2090-UXLF-132
2090-UXLF-136
2090-XXLF-TC116
1 PH
2090-UXLF-336
2090-UXLF-350
3 PH
(1) For all filters, 90% relative humidity.
(2) For all filters, 10…200 Hz @ 1.8 g vibration.
36
50
23
32
6
10
36
16
–
25
–
–
10
20
3.5
2.7
90
90
200
87
Leakag e
Current mA
2.26
45
138
138
Weight approx kg (lb)
Operating
Temperature
0.3 (0.66) -25…+85 °C
(-13…+185 °F)
0.95 (2.0)
1.6 (3.5)
1.75 (3.9)
0.80 (1.7) -25…+100 °C
(-13…+212 °F)
2.7 (5.9) -25…+85 °C
(-13…+185 °F)
For the Kinetix 5100 drive, the AC line filters are mounted directly beside the drive (side) with flying lead connections.
Table 38 - Kinetix 5100 Drives AC Line Filter Cat. Nos.
Kinetix 5100 Drive
Cat. No.
2198-E1004-ERS
AC Line Filter Cat. No.
(single-phase operation)
2198-DB111-F
2198-E1007-ERS
2198-E1015-ERS
2198-E1020-ERS
2198-E2030-ERS
(1)
2198-E2055-ERS
(1)
2198-E2075-ERS
(1)
2198-E2150-ERS
(1)
2198-DB127-F
—
—
—
—
(1) 2198-E2 xxx -ERS servo drives do not support single-phase operation.
AC Line Filter Cat. No.
(three-phase operation)
2198-DB310-F
2198-DB324-F
2198-DB335-F
2198-DB356-F
2198-DBR90-F
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 37
Chapter 2 Replacement Considerations
Table 39 - Kinetix 5100 Drives AC Line Filter Specification
Cat. No.
2198-DB111-F
2198-DB127-F
2198-DB310-F
2198-DB324-F
2198-DB335-F
2198-DB356-F
2198-DBR90-F
Voltage Rating max
253V AC
1 PH, 50/60 Hz
253V AC
3 PH, 50/60 Hz
253V AC
3 PH, 50/60 Hz
528V AC
3 PH, 50/60 Hz
Current Rating
@ 50 °C (122 °F) A
11.0
27.0
10.0
24.0
34.8
56.0
90.0
Power Loss
@ Rated Current W
4.9
15.5
14.0
29.0
30.0
57.0
16.8
Leakage Current, typical mA
52.9
54.9
3.9
9.3
5.8
2.8
34.0
Weight approx kg (lb)
1.05 (2.314)
1.80 (3.968)
1.10 (2.425)
1.95 (3.968)
2.90 (6.393)
4.00 (8.818)
7.2 (15.87)
Operating
Temperature
0…50 °C
(32…122 °F)
Communication
This section lists the communication protocols that are supported by the
Ultra3000 servo drive and the Kinetix 5100 servo drive respectively, and gives different communication configurations of the Kinetix 5100 drive.
Ultra3000 Servo Drive Configuration Port
The Ultra3000 drive uses one serial port that implements the standard NRZ asynchronous serial format, and supports RS-232, RS-422, and RS-485 communication standards. The connector pinout dedicates separate pins for the
RS-232 and RS-422/ RS-485 signals, so that the communication standard can be changed by using another cable.
The Ultra3000 drive uses Ultraware software for configuration via the serial port.
Kinetix 5100 Servo Drive Configuration Port
The Kinetix 5100 drives include one mini-USB port for connecting the personal computer and allows you to configure the servo drive with the KNX5100C software. This is a Type B Mini-USB port that is compatible with USB 2.0. 2198-
USBC. A Mini-USB Interface Cable with 2198-USBF filter is required to make the connection to a personal computer.
You can configure Kinetix 5100 drives with KNX5100C software via the USB port.
Ultra3000 Servo Drive Control Port
The Ultra3000 servo drives use MODBUS communication over RS232/RS422/
RS485 or DeviceNet for controlling the drive. A DeviceNet interface module serves as a link between the ControlLogix/CompactLogix platform and the
Ultra3000 servo drive system.
38 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Replacement Considerations Chapter 2
Kinetix 5100 Servo Drive Control Port
The Kinetix 5100 servo drives use the EtherNet/IP™ for communicating to either a ControlLogix or CompactLogix programmable automation controller, or any controller that supports Explicit Messaging over an EtherNet/IP network.
All Kinetix 5100 servo drives include two RJ45 ports that support 10/100 Mb communication speeds. Ethernet topologies including linear, ring, and star.
For more information on Ethernet design considerations, see these publications:
• Ethernet Reference Manual, publication ENET-RM002 .
• Scalability - The Best Approach to Change, publication IA-WP002A .
• EtherNet/IP Design, Commissioning, and Troubleshooting Quick
Reference Drawings, publication IASIPM-QR023 .
• EtherNet/IP Configuration Drawing, publication IASIMP-QR019D .
Configuration and Programming Software
Ultraware software is used to configure and program the Ultra3000 drives. For information on how to use Ultraware software, see the Ultraware Software User
Manual, publication 2098-UM001 .
KNX5100C software is used to configure the drive. For information on how to use KNX5100C software, see the Kinetix 5100 User Manual, publication 2198-UM004 . Depending on the controller used in the application,
Studio 5000 Logix Designer application (for ControlLogix, CompactLogix),
Connected Components Workbench™ software (for Micro800-Series controllers), or RSLogix 500® software(for MicroLogix controllers) is required to program the controller for controlling the Kinetix 5100 drives. For information on how to use these programs, see the corresponding controller user manuals.
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 39
Chapter 2 Replacement Considerations
Notes:
40 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Chapter
3
Connectors and Indicators
Ultra3000 Servo Drive
Connector Data
This chapter shows connectors and indicators for the Ultra™ 3000 servo drives and the Kinetix® 5100 servo drives.
Use these illustrations to identify the connectors and indicators for Ultra3000 servo drives.
Figure 12 - Ultra3000 Servo Drive Front Panel Connections (Catalog Numbers 2098-DSD-005,
-005X, -010, -010X, -020, and -020X)
5
1
2
3
7
6
4
Ultra3000 Drive, Front View
(230V [500 W, 1 kW, and 2 kW] drive is shown)
Table 40 - Ultra3000 Servo Drive Front Panel Connections Descriptions
(Cat. Nos. 2098-DSD-005, -005 x , -010, -010 x , -020, and -020 x )
6
7
4
5
2
3
Item
1
Description
DC bus connections for active shunt resistor kit
AC input power connections
Motor power connections
Motor power cable shield clamp
CN3 9-pin serial port connector
CN2 15-pin motor feedback connector
CN1 44-pin user I/O connector
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 41
Chapter 3 Connectors and Indicators
Figure 13 - Ultra3000 Servo Drive Front Panel Connections (Catalog Numbers 2098-DSD-005-DN,
-005X-DN, -010-DN, -010X-DN, -020-DN, and -020X-DN)
6
5
4
3
7
8
10
12
9
11
8
2 13
14
1
5
6
2
3
Item Description
1 Motor Power Cable Shield Clamp
4
Motor Power Connections
AC Input Power Connections
DC Bus Connections for Active Shunt
Resistor Kit
Logic Power Status Indicator
Seven Segment Status LED
7 Module Status Indicator
12
13
9
10
Item Description
8 Network Status Indicator
11
CN3 9-pin Serial Port Connector
Node Address Switches
CN2 15-pin Motor Feedback Connector
14
Data Rate Switch
Sercos Interface Receive (Rx) and Transmit (Tx)
Connectors
CN1 44-pin User I/O Connector
42 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Connectors and Indicators Chapter 3
Kinetix 5100 Servo Drive
Connector Data
Use these illustrations to identify the connectors and indicators for Kinetix® 5100 servo drives.
Figure 14 - Connector/Terminal Labels (Catalog numbers 21998-E1004-ERS, 2198-E1007-ERS, and
2198-E1015-ERS)
Kinetix 5100 Drive, Front View
(2198-E1004-ERS drive is shown)
3
MOD
CHARGE
NET
5100
2
2
1
4
5
1 6
I/0
AUX
7
10
8
9
Kinetix 5100 Drive, Top View
(2198-E1004-ERS drive is shown)
12
11
14
15
Kinetix 5100 Drive, Bottom View
(2198-E1004-ERS drive is shown)
13
Table 41 - Features and Indicators Description (Cat. Nos. 2198-E1004-ERS, 2198-E1007-ERS, and 2198-E1015-ERS)
4
7
8
5
6
2
3
Item Description
1 Status display
Navigation push buttons
Module, Network, and Charge status indicators
Mini USB connector
Ethernet (PORT2) RJ45 connector
Ethernet (PORT1) RJ45 connector
I/O signal connector
Auxiliary feedback (AUX) connector
13
14
15
10
11
Item Description
9 Motor cable ground plate
Safe Torque Off (STO) connector
Mains input power connector
12
• Control power input (L1C and L2C) connections
• Reserved (P1, P2, and negative DC-bus) connections
Motor feedback (MFB) connector
Motor power output terminals
Shunt resistor terminals
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 43
Chapter 3 Connectors and Indicators
Figure 15 - Kinetix 5100 Drive, Front View (2198-E1020-ERS drive is shown)
3
12
11
16
15
14
L1C
L2C
L1
L2
L3
P1
P2
DC–
DC+
ISH
ESH
U
V
W
5100
CHARGE
MOD
NET
2
1
4
5
2
1
6
I/O
7
17
8
AUX
9 10
9
16
15
3
12
11
Kinetix 5100 Drive, Front View
(2198-E1020-ERS drive is shown)
14
Kinetix 5100 Drive, Top View
(2198-E1020-ERS drive is shown)
Kinetix 5100 Drive, Bottom View
(2198-E1020-ERS drive is shown)
ESH
U
V
W
P1
P2
DC–
DC+
L1C
L2C
L1
L2
L3
CHARGE
5100
MOD
NET
Figure 16 - Features and Indicators
(Catalog numbers 2198-E2055-ERS, 2198-E2075-ERS, and 2198-E2150-ERS)
5
6
1
2
4
17
I/O
7
AUX
MFB
8
13
18 Kinetix 5100 Drive, Top View
(2198-E2055-ERS drive is shown)
10
17
Kinetix 5100 Drive, Bottom View
(2198-E2055-ERS drive is shown)
Kinetix 5100 Drive, Front View
(2198-E2055-ERS drive is shown)
13
44 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Connectors and Indicators Chapter 3
Table 42 - Features and Indicators Description (Cat. Nos. 2198-E1020-ERS, 2198-E2030-ERS, 2198-E2055-ERS, 2198-E2075-ERS, and 2198-E2150-ERS)
6
7
4
5
8
9
2
3
Item Description
1 Status display
Navigation push buttons
Module, Network, and Charge status indicators
Mini USB connector
Ethernet (PORT2) RJ45 connector
Ethernet (PORT1) RJ45 connector
I/O signal connector
Auxiliary feedback (AUX) connector
Motor cable ground plate
15
16
13
14
17
18
11
12
Item Description
10 Safe Torque Off (STO) connector
Mains input power terminals
Control power input terminals
Motor feedback (MFB) connector
Motor power output terminals
Shunt resistor terminals
Reserved (P1, P2, and negative DC-bus) not-used connections
Cooling fans
Protective cover
I/O Connector
This section describes the I/O connectors on the Ultra3000 and Kinetix 5100
of the I/O connector on an Ultra3000 drive see Figure 12
. For the locations of I/O connectors on a Kinetix 5100 drive, see
,
. For descriptions of the signals on each pin, see
.
Figure 17 - Ultra3000 Drive 44-Pin I/O Connector Pin Assignments
Pin 44
Pin 30
Pin 15
Pin 31
Pin 16
Pin 1
Figure 18 - Kinetix 5100 Drive 50 Pin I/O Connector Pin Assignment
26 1
50 25
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 45
Chapter 3 Connectors and Indicators
26
27
24
25
22
23
20
21
18
19
16
17
14
15
12
13
34
35
32
33
30
31
28
29
8
9
10
5
6
7
11
1
2
3
4
compares the I/O connector pinouts for the Ultra3000 drive (CN1 connector) and Kinetix 5100 servo drives (I/O connector).
Table 43 - I/O Connector Assignment Comparison
Ultra3000 Servo Drives
CN1 Pin Description Signal
Kinetix 5100 Servo Drives
I/O Pin Description Signal
Auxiliary Encoder Power Out (+5V)
Common
Auxiliary Logic Power In (+5V)
Auxiliary Encoder CH A+
Auxiliary Encoder CH A-
Auxiliary Encoder CH B+
Auxiliary Encoder CH B-
Auxiliary Encoder CH I+
Auxiliary Encoder CH I-
Unbuffered Motor Encoder CH A+
Unbuffered Motor Encoder CH A-
Unbuffered Motor Encoder CH B+
Unbuffered Motor Encoder CH B-
Unbuffered Motor Encoder CH I+
Unbuffered Motor Encoder CH I-
Buffered Motor Encoder CH A+
Buffered Motor Encoder CH A-
Buffered Motor Encoder CH B+
Buffered Motor Encoder CH B-
Buffered Motor Encoder CH I+
Buffered Motor Encoder CH I-
Common
Programmable Analog Output
Analog Current Limit Input
Command +
Command -
I/O Common
I/O Common
I/O Power
I/O Power
Digital Input 1
Digital Input 2
Digital Input 3
Digital Input 4
Digital Input 5
26
27
24
25
22
23
20
21
18
19
16
17
14
15
12
13
34
35
32
33
30
31
28
29
IMOUT+
IMOUT-
ACOM
AOUT
ILIMIT
COMMAND+
COMMAND-
IOCOM
BM+
BM-
IM+
IM-
AMOUT+
AMOUT-
BMOUT+
BMOUT-
IOCOM
IOPWR
IOPWR
INPUT1
INPUT2
INPUT3
INPUT4
INPUT5
AX-
BX+
BX-
IX+
IX-
AM+
AM-
EPWR
ECOM
AUXPWR
AX+
8
9
10
5
6
7
11
1
2
3
4
Digital output
Digital output
Digital output
Digital output
Digital output
Digital output
Digital output
Digital Input
Digital Input
Digital Input
Common terminal for digital inputs, which are connected to
+24V DC or 0V
Analog input signal ground
Analog input signal ground
Not in use
Analog monitor output 2
Analog monitor output 1
Not in use
Analog torque input
Analog input signal ground
Not in use
Encoder A+ pulse output
Encoder A- pulse output
Encoder B- pulse output
Encoder Z- pulse output
Encoder B+ pulse output
Digital output
Digital output
Digital output
Digital input
Digital input (High-Speed Input)
Digital input (High-Speed Input)
Digital input
Digital input
Digital input
External power input of BX+/BX- for single-end operation
OUTPUT4+
OUTPUT3-
OUTPUT3+
OUTPUT2-
OUTPUT2+
OUTPUT1-
OUTPUT1+
INPUT4
INPUT1
INPUT2
DCOM
-
AMOUT+
AMOUT-
BMOUT-
ZMOUT-
BMOUT+
OUTPUT4-
OUTPUT5-
ACOM
ACOM
-
AOUT2
-
AOUT1
COMMAND1
ACOM
OUTPUT5+
INPUT9
INPUT8
INPUT7
INPUT6
INPUT5
INPUT3
BPWR
46 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Connectors and Indicators Chapter 3
44
—
—
—
42
43
40
41
—
—
—
Table 43 - I/O Connector Assignment Comparison (continued)
38
39
36
37
Digital Input 6
Digital Input 7
Digital Input 8
Digital Output 1
INPUT6
INPUT7
INPUT8
OUTPUT1
38
39
36
37
—
—
—
Digital Output 2
Digital Output 3
Digital Output 4
Normally Open Relay Output+
Normally Open Relay Output-
—
—
—
—
—
—
OUTPUT2
OUTPUT3
OUTPUT4
BRAKE+
BRAKE-
—
—
—
46
47
44
45
42
43
40
41
48
49
50
B+/DIR+/CCW+
B-/DIR-/CCW-
Digital input
External power input of AX+/AX- for single-end operation
Digital output
A-/Step-/CW-
Analog position and speed command input (+)
A+/Step+/CW+
Analog input signal ground
Not in use
Digital output
Not in use
Encoder Z pulse open-collector output
—
Encoder Z+ pulse output
BX+
BX-
INPUT10
APWR
OUTPUT6-
AX-
COMMAND2
AX+
AGND
—
OUTPUT6+
—
OCZMOUT
—
ZMOUT+
Motor Feedback Connectors
This section describes the motor feedback connectors for the Ultra3000 drives and the Kinetix 5100 drives. Both drives use15-pin connectors as shown in
Figure 13 for locations of the Motor Feedback
connector on Ultra3000 drives. See
for the locations of the motor feedback connector on Kinetix 5100 drives.
describes and compares the signals that can be on the pins for each type of drive.
Figure 19 - 15-Pin Motor Feedback Connector Pin Assignments
Pin 15
Pin 11
Pin 6
Pin 10
Pin 5
Pin 1
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 47
Chapter 3 Connectors and Indicators
2
3
4
5
13
14
11
12
15
8
9
6
7
10
compares the motor feedback connector pinouts for the Ultra3000 drive (CN2 connector) and Kinetix 5100 servo drives (MFB connector).
Table 44 - Motor Feedback Connectors Assignment Comparison
Pin
(1)
Ultra3000 Drives
Description Signal
Kinetix 5100 Drives
Description
1
Signal
Stegmann
Hiperface
MTR_SIN+
Generic TTL
Incremental
MTR_AM+
Nikon Serial
— Channel A+ / sine differential input+
Channel A- / sine differential input-
Channel B+ / cosine differential input+
Channel B- / cosine differential input-
Channel I+ / Index pulse+
Common
N/C / Encoder power (+9V)
Commutation channel S3
Positive overtravel limit
Channel I- / Index pulse-
Thermostat
Commutation channel S1
Commutation channel S2
Encoder power (+5V)
Negative overtravel limit
(2)
AM+
AM-
BM+
BM-
Sine Differential Input +
A Differential Input +
Sine Differential Input -
A Differential Input -
Cosine Differential Input +
A Differential Input +
Cosine Differential Input -
A Differential Input -
TS
S1
IM+
S3
+LIMIT
Data Differential Input/Output +
Index Differential Input +
ECOM Encoder Common
EPWR +9V Encoder 9V Power Output
Hall Commutation S3 Input
IM-
S2
EPWR_5V
-LIMIT
Data Differential Input/Output -
Index Differential Input -
Motor Thermostat
(3)
Hall Commutation S1 Input
Hall Commutation S1 Input
Encoder 5V Power Output
(4)
—
MTR_SIN-
MTR_COS+
MTR_COS-
MTR_DATA+
MTR_AM-
MTR_BM+
MTR_BM-
MTR_IM+
MTR_ECOM MTR_ECOM
MTR_EPWR9V —
—
—
MTR_DATA-
MTR_S3
—
MTR_IM-
—
—
—
MTR_DATA+
MTR_ECOM
—
—
—
MTR_DATA-
MTR_TS
—
MTR_TS
MTR_S1
—
—
— MTR_S2 —
MTR_EPWR5V MTR_EPWR5V MTR_EPWR5V
— — —
(1) CN2 on Ultra3000 drives. MFB on Kinetix 5100 drives.
(2) +9V encoder capability only available on standard-size Ultra3000 drive (Cat. No. 2098-DSD-030 or larger).
(3) Not applicable unless motor has integrated thermal protection.
(4) Kinetix 5100 drive encoder power supply uses either 5V or 9V DC based on encoder/motor used.
Auxiliary Feedback
The Ultra3000 drives support auxiliary encoder operation. A 9-pin connector
shown in Figure 20 is used to wire an auxiliary encoder on the Ultra3000 drive.
The Kinetix 5100 drive supports auxiliary encoder operation. The 10-pin
Firewire AUX connector shown in Figure 21 , is used to wire an auxiliary encoder.
See
Figure 13 for locations of the auxiliary feedback connector on
Ultra3000 drives. See
Figure 15 , and Figure 16 for the locations of the
auxiliary feedback connector on Kinetix 5100 drives
48 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Connectors and Indicators Chapter 3
Figure 20 - 9-Pin Ultra3000 Drive Auxiliary Feedback Connector Pin Assignments
Pin 9
Pin 6
Pin 5
Pin 1
Figure 21 - 10-pin Kinetix 5100 drive Auxiliary Feedback Connector Pin Assignment
2 10
1 9
compares the auxiliary feedback connector pinouts for the Ultra3000 drive (CN1 connector) and Kinetix 5100 servo drives (AUX connector):
Table 45 - Auxiliary Feedback Connector Assignment Comparison
Ultra3000 Drives
CN1 Pin
(1)
Description
7
8
5
6
3
4
1
2
9
—
Auxiliary Encoder Power Out (+5V)
Common
–
Auxiliary Encoder CH A+
Auxiliary Encoder CH A-
Auxiliary Encoder CH B+
Auxiliary Encoder CH B-
Auxiliary Encoder CH I+
Auxiliary Encoder CH I-
—
(1) CN1 Connector on the Ultra3000 drive is a 44-pin connector.
Signal
AX-
BX+
BX-
IX+
EPWR
ECOM
–
AX+
IX-
—
8
7
9
10
5
6
3
4
1
2
Kinetix 5100 Drives
AUX Pin# Signal (Generic TTL
Incremental)
MTR_AM+
MTR_AM-
MTR_BM+
MTR_BM-
MTR_IM+
MTR_IM-
MTR_ECOM
MTR_EPWR5V
Reserved
Reserved
Description
A Differential Input +
A Differential Input -
B Differential Input +
B Differential Input -
Index Differential Input +
Index Differential Input -
Encoder Common
Encoder 5V Power Output
Reserved
Reserved
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 49
Chapter 3 Connectors and Indicators
Notes:
50 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Chapter
4
Dimensions, Cables, and Wiring
Ultra3000 Drive (230V)
Dimensions
This section provides dimensions of the drives to help you calculate the space that is needed to install the drives.
In Figure 22 , xxx is replaced by -005, -010 or 020 to represent the Ultra™ 3000 drive 500 W, 1 kW, and 2 kW drives respectively.
Figure 22 - Ultra3000 (230V) Dimensions in mm (in.) for -005, -010, -020 (Catalog numbers 2098-
DSDxxx , 2098-DSDxxx X, 2098-DSDxxx -DN, and 2098-DSDxxx X-DN)
A
38.1
(1.5)
C
129.03
(5.08)
186.18
(7.33)
165.1
(6.5)
198.12
(7.8)
E 144.27
(5.68)
F
Table 46 - Ultra3000 Drive Dimensions
Ultra3000 Drive Cat. No.
A mm (in.)
65.02 (2.56) 2098-DSD-005
2098-DSD-005X
2098-DSD-010
2098-DSD-010X
2098-DSD-020
2098-DSD-020X
C mm (in.)
13.26 (0.52)
E mm (in.)
32.77 (1.29)
F mm (in.)
72.64 2.86)
98.1 (3.89)
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 51
Chapter 4 Dimensions, Cables, and Wiring
Table 46 - Ultra3000 Drive Dimensions (continued)
Ultra3000 Drive Cat. No.
A mm (in.)
87.88 (3.46)
C mm (in.)
24.64 (0.97) 2098-DSD-005-DN
2098-DSD-005X-DN
2098-DSD-010-DN
2098-DSD-010X-DN
2098-DSD-020-DN
2098-DSD-020X-DN
E mm (in.)
43.94 (1.73)
F mm (in.)
95.5 (3.76)
121.54 (4.79))
In Figure 23 ,xxx is replaced by -030, -075 or 150 to represent the Ultra3000
3 kW, 7.5 kW, and 15 kW drives respectively.
Figure 23 - Ultra3000 (230V) Dimensions in mm (in.) for -030, -075, -150 (Catalog Numbers
2098-DSDxxx , 2098-DSDxxx X, 2098-DSDxxx -DN, and 2098-DSDxxx X-DN)
A
B
C
227.08
(8.94)
349.25
(13.75)
360.68
(14.2)
331.47
(13.05)
52
B
C
J
Unit that is shown is the 2098-DSD-030 drive.
Table 47 - Ultra3000 (230V) Dimensions in mm (in.) for -030, -075, -150 (Cat. Nos.
2098-DSDxxx , 2098-DSDxxx X, 2098-DSDxxx -DN, and 2098-DSDxxx X-DN)
Ultra3000 Drive A mm (in.)
B mm (in.)
C mm (in.)
J mm (in.)
2098-DSD-030
2098-DSD-030X
2098-DSD-030-DN
2098-DSD-030X-DN
2098-DSD-075
2098-DSD-075X
2098-DSD-075-DN
2098-DSD-075X-DN
2098-DSD-150
2098-DSD-150X
2098-DSD-150-DN
2098-DSD-150X-DN
91.44 (3.6)
138.68 (5.41)
188.97 (7.44)
50.8 (2.0)
88.9 (3.5)
139.7 (5.5)
20.32 (0.8)
24.89 (0.96)
24.6 (0.97)
243.84 (9.6)
247.14 (9.73)
241.05 (9.49)
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Kinetix 5100 Drive
Dimensions
A
20.0
(0.79)
Dimensions, Cables, and Wiring Chapter 4
The Kinetix® 5100 drive dimensions are shown in
Figure 24 - Catalog Numbers 2198-E1004-ERS, 2198-E1007-ERS, and 2198-E1015-ERS
23.0
(0.89)
B
16.0
(0.65)
MOD
5100
CHARGE
NET
2
1
I/0
Dimensions are in mm (in.).
I/O Terminal
Expansion Block
AUX
2090-K51CK-D15M
Feedback Connector Kit
45.0
(1.76)
C
Flying-lead
Feedback Cable
D
57.0
(2.30)
2090-CTFB-M x DD
Feedback Cable
Additional clearance below the cable connector/ connector kit is necessary to provide the recommended cable bend radius.
Cat. No.
2198-E1004-ERS
2198-E1007-ERS
2198-E1015-ERS
A mm (in.)
35.0 (1.37)
50.0 (2.0)
B mm (in.)
178 (7.0)
188 (7.41)
C mm (in.)
170 (6.68)
180 (7.10)
D mm (in.)
52.0 (2.05)
47.0 (1.84)
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 53
Chapter 4 Dimensions, Cables, and Wiring
178
(7.08)
11.0
(0.43)
95.0
(3.74)
20.0
(0.79)
Figure 25 - Catalog Numbers 2198-E1020-ERS and 2198-E2030-ERS
23.0
(0.89)
208
(8.20)
13.0
(0.50)
DC–
DC+
ISH
ESH
U
V
W
L1C
L2C
L1
L2
L3
P1
P2
CHARGE
MOD
NET
5100
2
1
I/0
AUX
I/O Terminal
Expansion Block
2090-K51CK-D15M
Feedback Connector Kit
Dimensions are in mm (in.).
25.0
(0.97)
Flying-lead
Feedback Cable
Additional clearance below the cable connector/connector kit is necessary to provide the recommended cable bend radius.
2090-CTFB-M x DD
Feedback Cable
37.0
(1.50)
54 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
B
Dimensions, Cables, and Wiring Chapter 4
A
ESH
U
V
W
L1C
L2C
L1
L2
L3
P1
P2
DC–
DC+
CHARGE
MOD
NET
5100
2
1
I/0
AUX
Figure 26 - Catalog Numbers 2198-E2055-ERS, 2198-E2075-ERS, and 2198-E2150-ERS
44.0
(1.75)
D
13.0
(0.50)
Dimensions are in mm (in.).
I/O Terminal
Expansion Block
Flying-lead
Feedback Cable
2090-K51CK-D15M
Feedback Connector Kit
E
20.0
(0.79)
C
95.0
(3.70)
2090-CTFB-M x DD
Feedback Cable
107
(4.20)
Cat. No.
2198-E2055-ERS
2198-E2075-ERS
2198-E2150-ERS
A mm (in.)
120 (4.72)
141 (5.55)
B mm (in.)
37.0 (1.47)
16.0 (0.65)
C mm (in.)
59.0 (2.32)
35.0 (1.36)
D mm (in.)
209 (8.24)
225 (8.87)
E mm (in.)
273 (10.75)
312 (12.28)
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 55
Chapter 4 Dimensions, Cables, and Wiring
Cables
This section provides information to help you to determine interconnects and cabling requirements of the drives.
Motor Power and Feedback Cables
Kinetix MP motors are supported by the Ultra3000 drives and Kinetix 5100 drives. As a result, the Kinetix MP motors (Hiperface feedback and TTL incremental feedback only) power cable and feedback cable (2090-Series) used for Ultra3000 drives can be used with Kinetix 5100 drives.
When migrating your Ultra3000 servo drive system, do not exceed the maximum cable lengths for the Kinetix 5100 servo drives. The length of the power and feedback cables for the Kinetix 5100 drives cannot exceed specified distances that are shown here.
• 50 m (164 ft) for Kinetix MPL-S/M, MPM-S/M, MPF-S/M, and MPS-
S/M motors with Hiperface encoders
• 30 m (98.4 ft) for Kinetix MPL-H motors with incremental encoders
• 50 m (164 ft) for Kinetix TLP motors
Performance was tested at this length and meets CE requirements.
If you are using a custom power cable, verify that the capacity of the new cable can handle the current to the actuator.
Cable shield and lead preparation is provided with most Allen-Bradley® cable assemblies. Follow these guidelines if your motor power cable shield and wires require preparation.
Figure 27 - Cable Shield and Lead Preparation
Outer Insulation U
V
W
Exposed Braid
25.4 mm (1.0
Motor Power Cable
As required to have ground clamp within
50…72 mm (2…3 in.) of the drive.
Table 48 - Motor Power (MP) Connector
Kinetix MP or Kinetix TLP Servo Motor
U = Brown
V = Black
W = Blue
= Green/Yellow
V
W
Terminal
U
56 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Dimensions, Cables, and Wiring Chapter 4
The current motor power cabling system can be used for the Kinetix MP motors that are supported by both the Kinetix 5100 drives and the Ultra3000 drives. The motor power cables are interchangeable and depend on the actuator used.
Table 49 - Power/Brake Cable Descriptions (standard, non-flex)
Standard Cable Cat. No.
Description Cable Configuration
Motor/Actuator EndDrive End
Motor/Actuator
Connector
2090-CPBM7DFxx AA xx Drive-end flying leads (DF)
Power/brake wires (PB)
SpeedTec DIN (M7)
Kinetix MP
Motors
2090-CPWM7DFxx A xx Drive-end flying leads (DF)
Power wires only (PW)
2090-XXNPMFxx S xx Drive-end flying leads
Power/brake wires
Threaded DIN (M4)
Kinetix MP
Motors
2090-CPBM4E2xx TR Drive-end bayonet (E2), transition (TR) cable
(1)
Motor-end threaded DIN (M4)
Power/brake wires (PB)
2090-CPWM4E2xx TR Drive-end bayonet (E2), transition (TR) cable (1)
Motor-end threaded DIN (M4)
Power wires only (PW)
(1) Threaded DIN connector (motor end) and bayonet connector for 2090-XXNFMP-S xx cable. See the 2090-Series Motor Power and Feedback Transition Cables in the Kinetix Motion Accessories
Technical Data, publication KNX-TD004 .
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 57
Chapter 4 Dimensions, Cables, and Wiring
Table 50 - Power/Brake Cable Descriptions (Continuous-Flex)
Continuous-flex Cable
Cat. No.
Description
2090-CPBM7DFxx AF xx Drive-end flying leads (DF)
Power/brake wires (PB)
2090-CPWM7DFxx AF xx
2090-CPBM7E7xx AF xx
Drive-end flying leads (DF)
Power wires only (PW)
Drive-end (male) connector , extension (E7)
(1)
Motor-end SpeedTec DIN cable plug (M7)
Cable Configuration
Motor/Actuator EndDrive End
Motor/Actuator
Connector
SpeedTec DIN (M7)
MP Motors
2090-CPBM4DFxx AF xx Drive-end flying leads (DF)
Power/brake wires (PB)
2090-CPWM4DFxx AF xx Drive-end flying leads (DF)
Power wires only (PW)
Threaded DIN (M4)
MP Motors
(1) SpeedTec DIN connector (motor end) and male connector for extending SpeedTEc or threaded DIN cable. See the 2090-Series Motor Power and Feedback Transition Cables in the Kinetix Motion
Accessories Technical Data, publication KNX-TD004 .
The current motor encoder cabling system can be used for the Kinetix MP motors that are supported by both the Kinetix 5100 drives and the Ultra3000 drives.
Table 51 - Feedback Cable Descriptions (standard, non-flex cable)
Standard Cable Cat. No.
Description Cable Configuration
Motor/Acutator End Drive End
Motor/Actuator
Connector
2090-CFBM7DF-CEAA xx • Drive-end flying leads (DF)
• High-resolution or resolver applications (CE)
SpeedTec DIN (M7)
2090-CFBM7DD-CEAA xx • Drive-end 15-pin connector (DD)
• High-resolution or resolver applications (CE)
2090-XXNFMF-S xx
2090-CFBM4E2-CATR
• Drive-end flying leads
• High-resolution or incremental applications
• Drive-end bayonet (E2), transition (TR) cable
(1)
• Motor-end threaded DIN (M4)
• All feedback types (CA)
Threaded DIN (M4)
(1) Threaded DIN connector (motor end) and bayonet connector for 2090-XXNFMP-Sxx cable. See the 2090-Series Motor Power and Feedback Transition Cables in the Kinetix Motion Accessories
Specifications Technical Data, publication KNX-TD004 .
58 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Dimensions, Cables, and Wiring Chapter 4
.
Table 52 - Feedback Cable Descriptions (continuous-flex cable)
Standard Cable Cat. No.
Description Cable Configuration
Motor/Acutator End Drive End
Motor/Actuator
Connector
SpeedTec DIN (M7) 2090-CFBM7DF-CDAF xx
2090-CFBM7DF-CEAF xx
2090-CFBM7DD-CEAF xx
• Drive-end flying leads (DF)
• High-resolution or incremental applications (CD)
• Drive-end flying leads (DF)
• High-resolution or resolver applications (CE)
• Drive-end 15-pin connector (DD)
• High-resolution or resolver applications (CE)
2090-CFBM7E7-CDAF
2090-CFBM7E7-CEAF
2090-CFBM4DF-CDAF xx xx xx
• Drive-end (male) connector, extension (E7)
(1)
• Motor-end SpeedTec DIN cable plug (M7)
• Drive-end flying leads
• High-resolution or incremental applications
Threaded DIN (M4)
(1) SpeedTec DIN connector (motor end) and male connector for extending SpeedTec or threaded DIN cable. See the SpeedTec DIN Continuous-flex Extension Cables in the Kinetix Motion Accessories
Technical Data, publication KNX-TD004 .
The
Figure 28 shows the pin orientation for 15-pin motor feedback connector.
Figure 28 - Pin Orientation for 15-pin Motor Feedback (MF) Connector
Pin 15
Pin 11
Pin 6
Pin 10
Pin 5
Pin 1
Factory-made cables with premolded connectors are designed to minimize electromagnetic interference (EMI). We recommend factory-made cables (over hand-built cables) to improve system performance. Feedback cables with premolded connectors that are used with the Kinetix MP motors work with both the Ultra3000 and Kinetix 5100 drives, with no modification. Feedback cable with flying leads can be connected to the Kinetix 5100 drive MFB port with the connector kit, cat. no. 2198-K51CK-D15M.
For further information, see the Motion Control Accessories section in the
Kinetix Motion Control Selection Guide, publication KNX-SG001 , the bill of materials (BOM) configuration tool within Motion Analyzer, or
ProposalWorks™ from Rockwell Automation.
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 59
Chapter 4 Dimensions, Cables, and Wiring
Wiring
Network Cable
Ethernet cable of type CAT5E or CAT6, shielded for connecting drive-to-drive, drive-to-controller, or drive-to-switch must not exceed 100 m (328 ft). For more information, see Guidance for Selecting Cables for EtherNet/IP Networks, publication ENET-WP007 .
Mini-USB Cable
The 2198-USBC mini-USB cable is the recommended USB cable to connect the drive to the PC. We recommend using the 2198-USBF filter for communication between the personal computer (running KNX5100C software) and the programming Kinetix 5100 drive.
This section provides power wiring examples to assist you in a comparison of the power wiring for the Ultra3000 servo drive and the Kinetix 5100 drive systems.
Ultra3000 Servo Drive Power Wiring Examples
Figure 29 is the power wiring diagram with 24V DC control string for 2098-
DSD-005x-xx, 2098-DSD-010x-xx, and 2098-DSD-020x-xx Ultra3000 drives
(non-Sercos). To avoid a separate 5V DC auxiliary logic power supply, the 24V to
5V converter breakout board (catalog number 2090-U3CBB-DMxx) is used to wire the control interface (CN1) connector.
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Dimensions, Cables, and Wiring Chapter 4
Single-phase AC Line
50/60 Hz
Fused Disconnect or Circuit Breaker*
Isolation
Transformer*
Chassis
L1
Single-phase Input
100...240V AC rms
L2/N
Terminal
Blocks*
Figure 29 - Typical Power Wiring on Ultra3000 (230V) System (2098-DSD-005x-xx,
2098-DSD-010x-xx, and 2098-DSD-020x-xx)
Input Fusing*
M1*
Single phase
AC Line
Filter
Bonded Cabinet
Ground Bus* Three-phase
Motor Power
Connections
U
V
W
TB1
DC+
DC-
L1
L2/N
2098-DSD-005 x-xx ,
2098-DSD-010 x-xx , and
2098-DSD-020 x-xx
Ultra3000
Digital Servo Drives
DC Bus Connections for Active Shunt Module
AC Input Power
Connections
Motor Power
Connections
Cable Shield
Clamp
CN1
3
2
43
44
N.O. Relay Output+
N.O. Relay Output-
Aux Logic Power In +5V
Aux +5V Common
From CN1 Breakout
Board with 24V to 5V
Aux Power Converter
(2090-U3CBB-DM xx )
To additional
Ultra3000 drive
CN1
43
START* STOP*
CR1*
* Indicates User-supplied Component
24V DC
CR1*
44 M1*
CR1*
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Chapter 4 Dimensions, Cables, and Wiring
Figure 30 is the power wiring diagram with 24V DC control string for the
2098-DSD-030x-xx drive (non-Sercos).
Figure 30 - Typical Power Wiring on Ultra3000 (230V) System (2098-DSD-030x-xx)
2098-DSD-030 x xx
Ultra3000
Digital Servo Drive
Three-phase
Motor Power
Connections
TB1
U
V
W
Motor Power
Connections
TB2
1
2
3
External Passive
Input Fusing *
Single-phase
AC Line Filter
Single-phase AC Line
50/60 Hz
Fused Disconnect or Circuit Breaker *
Isolation
Transformer *
L1
Single-phase Input
100...240V AC rms
L2/N
Chassis
Bonded Cabinet
Ground Bus *
Terminal
Blocks *
To additional
Ultra3000 drive.
* Indicates User-supplied Component
M1 *
Input Fusing *
DC+
DC-
L1
L2/N
L1 AUX
L2/N AUX
AC Input Power
Connections
CN1
43
44
N.O. Relay Output+
N.O. Relay Output-
Cable Shield
Clamp
CN1
START *
CR1 *
STOP *
CR1 *
CR1 *
M1 *
24V DC
62 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Dimensions, Cables, and Wiring Chapter 4
Fused Disconnect or Circuit Breaker *
Three-phase AC Line
50/60 Hz
Isolation
Transformer *
Neutral
Chassis
L1
Three-phase Input
100...240V AC rms
L2
L3
Terminal
Blocks *
* Indicates User-supplied Component
Figure 31 is the power wiring diagram with 24V DC control string for
2098-DSD-075x-xx and 2098-DSD-150x-xx Ultra3000 drives (non-Sercos).
Figure 31 - Typical Power Wiring on Ultra3000 (230V) System (2098-DSD-075 x xx and
2098-DSD-150x xx )
2098-DSD-075 x-xx and,
2098-DSD-150 x-xx
Ultra3000
Digital Servo Drives
Three-phase
Motor Power
Connections
TB1
U
V
W
Motor Power
Connections
TB2
1
2
3
External Passive
Shunt Connections
Input Fusing *
Threephase
AC Line
Filter
M1 *
Input Fusing *
DC+
DC-
L1
L2
L3
L1 AUX
L2/N AUX
AC Input Power
Connections
CN1
43
44
Cable Shield
Clamp
Bonded Cabinet
Ground Bus *
N.O. Relay Output+
N.O. Relay Output-
CN1
To additional
Ultra3000 drive
START * STOP *
CR1 *
CR1 *
CR1 *
M1 *
24V DC
Table 53 - Connectors and Terminal Blocks Detail
Symbol
L1, L2, L3
L1C, L2C, P1, P2, DC–
U, V, W
Description
Main power input connector
Control power input and DC bus connector (200V class drive)
Motor power output connector
Ground terminals
DC+, ISH, ESH
I/O
Shunt Resistor Connector
Input/Output signal connector-PLC and I/O functions
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 63
Chapter 4 Dimensions, Cables, and Wiring
Pay attention to the followings when wiring:
ATTENTION: When the power is off, do not touch L1, L2, L3 and U, V, W,
P1, P2, DC- and DC+, ISH, or ESH because there may be hazardous voltage present. You must wait until the Charge light is off.
• Separate L1, L2, L3, L1C, L2C, and U, V, W from other wires. The interval should be at least 30 cm (11.8 in.).
ATTENTION: To avoid damaging the drive, do not apply any external capacitors.
Table 54 - Recommended Wire Gauge for Mating Connectors
Servo Drive
2198-E1004-ERS
2198-E1007-ERS
2198-E1015-ERS
2198-E1020-ERS
2198-E2030-ERS
2198-E2055-ERS
2198-E2075-ERS
2198-E2150-ERS
Power Wiring – Wire Diameter (AWG)
U,V,W DC+, ISH, ESH
24…12
24…12
24…12
24…12
24…12
24…10
24…10
14…4
14…4
14…4
24…12
24…10
24…10
18…8
18…8
14…4
L1, L2, L3,
24…12
24…12
24…12
24…10
24…10
18…8
18…8
14…4
L1C, L2C
24…12
24…12
24…12
24…10
24…10
18…8
18…8
14…4
Kinetix 5100 Servo Drive Power Wiring Examples
This section provides wiring examples to assist you in wiring the Kinetix 5100 servo drive system. Drawing notes are listed after the drawings.
Three-phase Power Wired to Three-phase Kinetix 5100 Drives
This example illustrates grounded three-phase power that is wired to three-phase
Kinetix 5100 drives when phase-to-phase voltage is within drive specifications.
You must supply input power components. The three-phase AC line filter is
.
64 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Dimensions, Cables, and Wiring Chapter 4
Figure 32 - Kinetix 5100 Drive Three-phase (200…230V) Grounded Power Configuration
(wye secondary)
L2C
L1C
Control AC Input
Power Connector
Feeder and branch short-circuit protection is not illustrated.
Transformer (wye) Secondary
L3
L2
L1
L3
L2
AC Line
L3
Filter
L2
L1 L1
E Circuit
Protection
Bonded Cabinet Ground Bus
Ground Grid or Power
Distribution Ground
Circuit
Protection
M1
Contactor
L3
L2
L1
Mains AC Input
Power Connector
2198-E xxxx -ERS
Servo Drives
ATTENTION: For the 230V Kinetix 5100 drives to meet proper voltage creepage and clearance requirements, each phase voltage to ground must be less than or equal to 253V AC rms. This means that the power system must use centergrounded wye secondary configuration for 230V AC mains.
Single-phase Power Wired to Single-phase Kinetix 5100 Drives
These examples illustrate grounded single-phase power that is wired to singlephase Kinetix 5100 drives when phase-to-phase voltage is within drive specifications.
Figure 33 - Kinetix 5100 Single-phase (200…230V) Grounded Power Configuration
L2C
L1C
Control AC Input Power
Connector
Transformer Secondary
Circuit
Protection
200…230V AC
Output
L2
L2
L1
AC Line
Filter
L2
L1
E
L2
L1
Mains AC Input Power
Connector
L1
Circuit
Protection
M1
Contactor
2198-E1004-ERS, 2198-E1007-ERS,
2198-E1015-ERS, and 2198-E1020-ERS
Drives with Single-phase Operation
Bonded Cabinet Ground Bus
Ground Grid or Power
Distribution Ground
Reducing the transformer output reduces motor speed. Feeder and branch short-circuit protection is not illustrated.
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 65
Chapter 4 Dimensions, Cables, and Wiring
Figure 34 - Single-phase (120V) Grounded Power Configuration
Transformer Secondary
120V AC
Output
L2
L2
AC Line
L1N
Filter
L2
L1N
E L1 (Neutral)
Circuit
Protection
Bonded Cabinet Ground Bus
Ground Grid or Power
Distribution Ground
Circuit
Protection
L2C
L1C
Control AC Input Power
Connector
L2
L1
Mains AC Input Power
Connector
M1
Contactor
2198-E1004-ERS, 2198-E1007-ERS,
2198-E1015-ERS, and 2198-E1020-ERS
Drives with Single-phase Operation
Figure 35 - Kinetix 5100 Single-phase (230V) Grounded Power Configuration
Transformer Secondary
230V AC
Output
L2
L1 (Neutral)
Circuit
Protection
L2 L2
AC Line Filter
L1N L1N
E
Bonded Cabinet Ground Bus
Ground Grid or Power
Distribution Ground
Circuit
Protection
L2C
L1C
Control AC Input Power
Connector
L2
L1
Mains AC Input Power
Connector
M1
Contactor
2198-E1004-ERS, 2198-E1007-ERS,
2198-E1015-ERS, and 2198-E1020-ERS
Drives with Single-phase Operation
66 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Chapter
5
System Architecture
Table 55 - Kinetix 5100 Drive System Overview
This section lists the typical system components and compares some configurations of Ultra™ 3000 and Kinetix® 5100 drives.
Kinetix 5100 System
Component
Cat. No.
Description
Kinetix 5100 Servo Drive 2198-E xxxx -ERS
Kinetix 5100 single-axis EtherNet/IP drives with Safe Torque Off (STO) feature are available with 120…230V single-phase or three-phase and 230V three-phase input power.
Terminal block for I/O connector
Motor Feedback
Connector Kit
Auxiliary Feedback
Connector Kit
2198-TBIO
2198-K51CK-D15M
2198-AUXKIT
50-pin terminal block. Plugs into I/O connector for control interface connections.
Motor feedback connector kit for connections with the 15-pin connector plug. Supports Kinetix MP and
Kinetix TLP servo motors.
Auxiliary feedback connector kit for master feedback and load feedback connections to the AUX connector.
Feedback Battery Box
AC Line Filters
Shunt Module
24V DC Power Supply
Logix PAC® Controller
Platforms
Logix PLC Controller
Platforms
Configuration Software
Rotary Servo Motors
2198-KTBT
KNX5100C software
RSLogix 500® software
Kinetix TLP
Kinetix MP
The feedback battery box kit is used in applications where Kinetix TLP motor position data must be maintained if there is a power loss. The battery box is included with the Kinetix TLP motors and this replacement kit is also available.
2198-DB xx -F
2198-DBR90-F
Studio 5000® environment
Connected Components
Workbench software
Bulletin 2198 three-phase AC line filters are required to meet CE.
2198-R004 and 2198-R031
2097-R6 and 2097-R7
1606-XL xxx
Bulletin 2198 and 2097 external passive-shunt resistors for use when additional shunt capability is needed.
Bulletin 5069 and 1769
1756-EN2T, 1756-EN2TR, and 1756-EN3TR module
Bulletin 1606 24V DC power supply for digital input/output, Safe Torque Off (STO), and motor brake control.
EtherNet/IP networking with CompactLogix™ 5370 and CompactLogix™ 5380 controllers with embedded dualport. CompactLogix™ 5480 controllers for the benefits of Logix control with Windows®-based computing.
EtherNet/IP network communication modules for use with ControlLogix® 5570 and ControlLogix® 5580 controllers.
MicroLogix™ 1100 and 1400 controllers provide communication ports, an isolated combination RS-232/485 communication port, an Ethernet port, and (MicroLogix™ 1400 only) a non-isolated RS-232 communication port.
Micro800™ controllers with embedded inputs/outputs can accommodate from two to five plug-in modules and up to four expansion I/O modules.
Studio 5000 Logix Designer® application (version 30 or later) is used to program, commission, and maintain the
Logix family of controllers.
Connected Components Workbench™ design and configuration software (CCW), version 10.0 or later, allows you to program and configure the Micro800 controller, and integrate with the HMI editor.
KNX5100C software, version 1.001 or later, lets you confige and tune Kinetix 5100 drives via the mini-USB cable connection.
RSLogix 500 software is used to program MicroLogix 1100 or 1400 controllers.
Compatible rotary motors include Kinetix TLP servo motors.
Compatible rotary motors include Kinetix MP servo motors.
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 67
Chapter 5 System Architecture
Table 55 - Kinetix 5100 Drive System Overview (continued)
Kinetix 5100 System
Component
Cat. No.
Description (continued)
Cables
2090-CTFB-M x D x xxxxx
2090-CTP x -M x D x xxxxx
2090-CFBM7DF-CEA xxx
2090-CP x M7DFxx A xxx
Bulletin 2090 motor feedback cables for Kinetix TLP motors.
Bulletin 2090 motor power/brake cables for Kinetix TLP motors.
Bulletin 2090 motor feedback cables for Kinetix MP servo motors with Stegmann Hiperface encoders.
Bulletin 2090 motor power/brake cables for Kinetix MP servo motors.
2090-XXNFMF-S xx
2090-CFBM7DF-CDAF xx
Bulletin 2090 standard and continuous-flex feedback cables that include additional conductors for use with incremental encoders.
1585J-M8CBJMx (shielded) Ethernet cable.
2198-USBC
2198-USBF
Interface cable with mini-USB connector for KNX5100C software configuration.
Filter for mini-USB port to reduce the vulnerability to electrical noise.
Table 56 - Typical Ultra3000 Servo Drive System
The Ultra3000 servo drive is designed to provide a Kinetix Integrated Motion solution for applications with output power requirements between 0.5…22 kW
(1.8…32.2 A).
Ultra3000 Drive System
Component
Ultra3000 Drives
Cat. Nos.
2098-DSD-xxx and -xxxX
Ultra3000-SE Sercos interface Drives
Ultra3000-DN DeviceNet
Drives
ControlLogix/SoftLogix
Platforms
RSLogix 5000® software
Ultraware Software
Servo Motors
Cables
AC Line Filters
External Shunt Modules
Description
2098-DSD-HVxxx, and -HVxxxX
2098-DSD-xxx-SE
2098-DSD-HVxxx-SE
2098-DSD-xxx-DN and -xxxX-DN
2098-DSD-HVxxx-DN and -HVxxxX-DN
Ultra3000 drive and Ultra3000 drive with indexing available with 500 W, 1 kW, 2 kW, 3 kW, 7.5 kW, and
15 kW continuous output and 230V input power.
Ultra3000 drive and Ultra3000 drive with indexing available with 3 kW, 5 kW, 10 kW, 15 kW, and 22 kW continuous output and 460V input power.
Ultra3000 drive with Sercos interface available with 500 W, 1 kW, 2 kW, 3 kW, 7.5 kW, and 15 kW continuous output and 230V input power.
Ultra3000 drive with Sercos interface available with 3 kW, 5 kW, 10 kW, 15 kW, and 22 kW continuous output and 460V input power.
Ultra3000 drive with DeviceNet and Ultra3000 drive with indexing DeviceNet available with 500 W,
1 kW, 2 kW, 3 kW, 7.5 kW and 15 kW continuous output with 230V input power.
Ultra3000 drive with DeviceNet and Ultra3000 drive with indexing DeviceNet available with 3 kW,
5 kW, 10 kW, 15 kW, and 22 kW continuous output with 460V input power.
1756-MxxSE module 1784-PM16SE PCI card
9324-RLD300ENE
2098-UWCPRG
The Sercos interface module/PCI card serves as a link between the ControlLogix/SoftLogix platform and Ultra3000 drive system. The communication link uses the IEC 61491 Serial Real-time
Communication System (Sercos) protocol over a fiber-optic cable.
RSLogix 5000 supports programming, commissioning, and maintaining the Logix family of controllers.
The Ultra3000 Analog and DeviceNet drives are configured using Ultraware software.
Kinetix MP, 1326AB, F-, H-, N-, and Y-Series The Kinetix MP (Low Inertia, Integrated Gear, and Food Grade) 230V and 460V, 1326AB (M2L/S2L)
460V, and F-, H-, N-, and Y-Series 230V motors are available for use with the Ultra3000 drives.
Motor Power, Feedback, and Brake cables Motor power, feedback, and brake cables include integral molded, bayonet style, quick connect/ quick-release connectors at the motor. Power and brake cables have flying leads on the drive end and straight connectors that connect to servo motors. Standard feedback cables have angled connectors
(45º) on the drive end and straight connectors that connect to servo motors.
Fiber-optic cables
2090-UXLF-xxx
Sercos fiber-optic cables are available in enclosure only, PVC, nylon, and glass with connectors at both ends.
AC line filters with 6 A, 10 A, 23 A, 32 A, 36 A, and 50 A are available for Ultra3000 (230V) drive systems.
2090-UXLF-HVxxx
2090-UCSR-xxxx, 9101-1183, and 2090-
SRxxx-xx
AC line filters with 23 A, 30 A, and 50 A are available for Ultra3000 (460V) drive systems.
External shunt modules are available when the Ultra3000 drive internal shunt capability is exceeded.
68 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Ultra3000 Drive
(2098-DSD-xxxxxx-xx)
Motor Feedback
Motor Power
System Architecture Chapter 5
This system examples in
,
illustrate how the required drive modules and accessories are used in a typical Ultra3000 servo drive system.
Figure 36 - Ultra3000 Servo Drive System Architecture (Serial Interface)
Commissioning and Communication
Input
Logix Controller
Output
Logix Interface Module
I/O and Commands
Logix Platform
(ControlLogix is shown)
Ultraware
Software
MP-Series and TL-Series Rotary Motors
(MPL-A xxxx motors shown)
Other compatible motors/actuators include:
• MP-Series Integrated Linear Stages
• MP-Series Electric Cylinders
• LDC-Series and LDL-Series Linear Motors
Figure 37 - Ultra3000 Servo Drive System Architecture (DeviceNet Interface)
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 69
Chapter 5 System Architecture
Figure 38 - Ultra3000 Servo Drive System Architecture (Analog or Indexing)
Kinetix 5100 Drive System
Architecture
This section shows examples of typical Kinetix 5100 servo drive systems.
Kinetix 5100 drives work with different controllers and can receive commands from many different sources.
70 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
System Architecture Chapter 5
Kinetix 5100 Drive Controlled Via Motion Control Add-On Instruction
The Kinetix 5100 Servo Drive (IO mode) commands motion via I/O assembly
(position, velocity, torque, and indexing) which can replace the Ultra3000 drive controlled through a DeviceNet interface. It provides Add-On Instructions that emulate native Logix motion instructions for Studio 5000-based programming.
Figure 39 - Kinetix 5100 Drive Controlled Via Motion Control Add-On Instruction
Studio 5000
Logix Designer Application
Any Logix 5000™ Controller
2
1
EtherNet/IP
LNK1LNK2 NET OK
1783-US05T
Stratix 2000 Switch
1
2
3
4
5
W
P
R
EtherNet/IP Network
1585J-M8CBJMx (shielded) or
1585J-M8UBJMx (high-flex shielded)
Ethernet Cable
F5
F6
F7
F8
F3
F4
F1
F2
KNX5100C Drive
Configuration Software
2198-USBC
Mini-USB Interface Cable
(with 2198-USBF filter)
F11
F12
F13
F9
F10
F14
F15
F16
Esc
7
4
1
–
8
5
2
0
9
6
3
.
PanelView Plus 7
Display Terminal
Kinetix 5100 Servo Drives
(2198-E1020-ERS drives are shown)
Optional Controllers
Logix5585 TM
SAFETY ON
0 0 0 0 NET
LINK
RUN FORCE SD OK
DC INPUT DC INPUT
AC OUTPUT ControlLogix 5570 Controllers or
GuardLogix® 5570 Safety Controllers
ControlLogix 5580 Controllers or
GuardLogix 5580 Safety Controllers
L1C
L2C
L1
L2
L3
P1
P2
DC–
DC+
ISH
ESH
U
V
W
CHARGE
MOD
NET
5100
2
1
I/0
AUX
P2
DC–
DC+
ISH
ESH
U
V
W
L1C
L2C
L1
L2
L3
P1
5100
CHARGE
MOD
NET
2
1
I/0
AUX
DC–
DC+
ISH
ESH
U
V
W
L1C
L2C
L1
L2
L3
P1
P2
5100
CHARGE
MOD
NET
2
1
I/0
AUX
CompactLogix 5370 Controllers or
Compact GuardLogix 5370 Safety Controllers
CompactLogix 5380 and 5480 Controllers or
Compact GuardLogix 5380 Safety Controllers
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 71
Chapter 5 System Architecture
Kinetix 5100 Drive Controlled Via Explicit Messaging
The Kinetix 5100 Servo Drive supports parameter configuration through explicit messaging, which can replace the Ultra3000 drive controlled through host commands. Either MicroLogix/Micro800 or third-party controllers (must be EtherNet/IP communication capable) can be used to control a Kinetix 5100 drive in this way. For a third-party controller, you must write your own logic to exchange explicit messages with Kinetix 5100 drives.
Figure 40 - Kinetix 5100 Drive Controlled Via Explicit Messaging
• Connected Components Workbench software for programming Micro800 controllers
• RSLogix 500 software for programming
MicroLogix 1100 and 1400 controllers
• KNX5100C Drive Configuration software for configuration and tuning of Kinetix 5100 drives
2080-LC xx-xxxx
Micro830® Controller
1766-L32 xx
MicroLogix 1400 Controller
ESC
OK
2198-USBC
Mini-USB Interface Cable
(with 2198-USBF filter)
Third-party Controller with EtherNet/IP Network
Controller Options with
Explicit Messaging Capability
L1C
L2C
L1
P2
DC–
DC+
L2
L3
P1
ISH
ESH
U
V
W
5100
CHARGE
MOD
NET
2
1
I/0
AUX
1585J-M8CBJMx (shielded) or
1585J-M8UBJMx (high-flex shielded)
Ethernet Cable
To Other EtherNet/IP Devices
Kinetix 5100 Servo Drive
(2198-E1020-ERS drive is shown)
72 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
System Architecture Chapter 5
Kinetix 5100 Drive Controlled Via Pulse Train/ Analog/ Digital I/O
The Kinetix 5100 servo drives support standalone motion control via pulse train, analog input, digital I/O (index or preset torque/speed) which can replace the
Ultra3000 drive controlled with pulse train, analog, indexing respectively.
Figure 41 - Kinetix 5100 Drive Controlled Via Pulse Train/ Analog/ Digital I/O
2080-LC xx-xxxx
Micro830 Controller
• Connected Components Workbench software for programming Micro800 controllers
• RSLogix 500 software for programming
MicroLogix 1100 and 1400 controllers
• KNX5100C drive configuration software for configuration and tuning of Kinetix 5100 drives
2198-USBC
Mini-USB Interface Cable
(with 2198-USBF filter)
ESH
U
V
W
P2
DC–
DC+
ISH
L1C
L2C
L1
L2
L3
P1
5100
CHARGE
MOD
NET
2
1
I/0
AUX
Kinetix 5100 Servo Drive
(2198-E1020-ERS drive is shown)
1766-L32 xx
MicroLogix 1400 Controller
ESC
OK
Third-party Controller with Pulse Train Output or
Analog or Digital I/O
Controller Options with
Pulse Train Output, Analog, or
Digital I/O (indexing)
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 73
Chapter 5 System Architecture
Notes:
74 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Chapter
6
Application Conversion
This chapter provides application examples to migrate Ultra™ 3000 drives to
Kinetix® 5100 drives.
Ultraware software is used to configure the Ultra3000 drives. For information on how to use the Ultraware software, see the Ultraware Software User Manual, publication 2098-UM001 .
KNX5100C software is used to configure the drives. Depending on the controller used, Studio 5000 Logix Designer® application(for ControlLogix®,
CompactLogix™), Connected Components Workbench™ (for Micro800-Series controllers), or RSLogix 500® software (for MicroLogix™ controller) is required to program the controller for controlling the Kinetix 5100 drives.
The Kinetix 5100 drive uses a Logix controller that is programmed with the
Logix Designer application, along with Add-on Profiles (AOP) which include the ability to:
• configure a defined set of drive parameters through Explicit Messaging.
• get and set a defined set of drive parameters through a Class 1 I/O message using IO assemblies that are defined as part of the AOP.
For information on how to use KNX5100C software, see the Kinetix 5100 User
Manual, publication 2198-UM004 .
The following examples show the Ultraware software interface followed by the
KNX5100C software interface and describe the differences between how they are used to configure the feature.
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 75
Chapter 6 Application Conversion
Scenario 1: Analog
Command to Analog
Command
The Analog Input tab in Ultraware is shown in Figure 42
.
Figure 42 - Analog Input Tab in Ultraware
Like Ultraware, KNX5100C software also provides an Analog Speed Input,
Analog Torque Input, and Analog Position Input in the Analog I/O tab. You can set the Analog Speed, Analog Torque, or Analog Position Command using the
respective tabs shown in Figure 43
. To operate Kinetix 5100 drives with the
Analog Command, the drive operation mode must be set at T (analog torque),
S (analog speed), or PT (analog position) mode (command source ID167 set as
Analog Input) respectively.
Figure 43 - Analog I/O Window in KNX5100C Software
76 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Application Conversion Chapter 6
KNX5100C software also provides a way to monitor the status of the incoming
Analog Command for an online drive in the column Monitoring Output.
Figure 44 - Monitoring Output Window of Analog I/O in KNX5100C Software
Ultraware software can execute commands that remove Velocity, Current, and
Position Input Offsets for an online drive. KNX5100C software does not support this feature.
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 77
Chapter 6 Application Conversion
Scenario 2: Indexing to PR
Mode
The Properties window for Indexing branch of Indexing mode looks like this in
Ultraware software.
Figure 45 - Indexing Branch of Indexing Mode in Ultraware
78
In Ultraware software, you can configure up to 64 indexes.
The Ultra3000 drives can support move types including:
• Absolute
• Incremental
• Jog
• Registration
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Application Conversion Chapter 6
KNX5100C software provides up to 99 configurable programs, called program registers (PR), and 1 specific command for homing. In PR mode, command settings include:
• Homing method
• Constant speed control
• Point-to-point Indexing command
• Index Position control (rotary indexes)
• Jump to specified path
• Write Parameters or Data Array
• Statement (the ability to do arithmetic operations) based on drive conditions
Except for arithmetic operations, the property and corresponding data of each PR command are both set by using parameters.
Figure 46 - PR Mode Setting Window in KNX5100C Software
Like Ultraware software, KNX5100C software gives you the ability to:
• start and stop execution of the PR command
• start and stop homing
• enable or disable a drive
• monitor the execution of a PR command
With the Kinetix 5100 drive, a PR command controls drive operation by executing preconfigured motion commands [ID397 (P6.000)…ID596
(P7.099)]. The beginning of the PR command is triggered by the DI.CTRG
(0x08) signal. You can program the 99 registers first before switching the drive to servo-on state and use the DI.POS0 … DI.POS6 signals as a binary weighted PR command selection. When using I/O mode, the Add-On Instructions are used to initiate PR commands.
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 79
Chapter 6 Application Conversion
See the Kinetix 5100 Single-axis EtherNet/IP Servo Drives Users Manual, publication 2198-UM004 for more details on homing and the use of the PR command.
Scenario 3: Master/
Follower Mode to PT Mode
The Properties window for the Followers branch of Follower-Auxiliary Encoder mode looks like this in Ultraware.
Figure 47 - Follower Branch in Ultraware
In PT mode, the Kinetix 5100 drive provides functionality similar to the Master/
Follower mode of the Ultra3000. In PT mode, the servo drive is able to receive a command either from pulse train inputs on the I/O connector or from the
Auxiliary feedback input. Typical encoder signals consist of AB phase (TTL incremental feedback) and can be wired to the PT inputs of the I/O connector
(these terminals double as PTO command input signals). The motor follows the input pulses based on the E-Gear ratio used. For details, see the Kinetix 5100
Single-axis EtherNet/IP Servo Drives Users Manual, publication 2198-UM004 .
80 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Application Conversion Chapter 6
PT command configuration mode in KNX5100C software is shown in
Figure 48 - PT Mode Window in KNX5100C Software
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 81
Chapter 6 Application Conversion
Scenario 4: DeviceNet to I/O
Mode
Figure 45 shows the Ultra3000 drive as part of the DeviceNet network. The
Logix Designer application is used for programming the Logix 5000 controller.
The RSNetWorx™ for DeviceNet software is used to configure the DeviceNet network. This is not required with the Kinetix 5100 drive.
Figure 49 - Ultra3000 DeviceNet Drive in RSLinx® Software
See the DeviceNet Network Configuration User Manual, publication DNET-
UM004 for more details.
Kinetix 5100 uses I/O Mode when migrating Ultra3000 with DeviceNet communication. In I/O mode, the Kinetix 5100 Add-on Profile (AOP) in the
Logix Designer application provides the Input Assembly for monitoring and the
Output Assembly for motion control (position, velocity, torque, and indexing).
Additionally, Add-On Instructions are provided to emulate Logix 5000 controller motion instructions for application programming.
82 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Application Conversion Chapter 6
The configuration and Add-On Instruction example are shown in Figure 50 and
Figure 50 - Kinetix 5100 Drive in RSLinx Classic Software
Figure 51 - Kinetix 5100 Drive Add-On Instruction Logic Used in the Logix Designer Application
Rockwell Automation
Add-On Instruction
Program your project.
Kinetix 5100
Choose your Ethernet
Communication Module
Scenario 5: Host Command to Explicit Messaging
The Kinetix 5100 drive uses the Ethernet/IP™ network (explicit message only) for parameter configuration or editing while the drive is running. The use of
Explicit Messaging provides similar functionality to host commands on the
Ultra3000 drive. You can use Explicit Messaging to perform a number of tasks, such as parameter configuration, motion control, resetting the drive, and more.
This example shows how to replace the indexing function through the host commands of the Ultra3000 drive by using Explicit Messaging on the
Kinetix 5100 drive:
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 83
Chapter 6 Application Conversion
84
1.
Make sure that the control mode is 0x01 (PR mode) by doing the following:
• Use explicit message ‘Get Attribute Single (14), Class 15, Instance 117,
Attribute 1’ to get the control mode from the drive.
• If the control mode is not 0x01, then use the explicit message ‘Set
Attribute Single(16), Class 15, Instance 117, Attribute 1, UINT Value
(0x01)’ to change the control mode to PR mode.
• The control mode parameter change is valid after the power cycle, so use the explicit message ‘Reset (5), Class 1, Instance 1’ to reset the drive.
2.
Configure the system parameters (see the Kinetix 5100 Single-axis
EtherNet/IP Servo Drives Users Manual, publication 2198-UM004 , for more details about these parameters)
• Use explicit message ‘Set Attribute Single (16), Class 15, Instance 151,
Attribute 1, UDINT Value (for example, 16777216)’ to set the Gear
Ratio of Master Counts.
• Use explicit message ‘Set Attribute Single (16), Class 15, Instance 152,
Attribute 1, UDINT Value (for example, 2000)’ to set the Gear Ratio of Follower Counts.
• Use explicit message ‘Set Attribute Single (16), Class 15, Instance 234,
Attribute1 UDINT Value (for example, 10000000)’ to set the Indexing
Coordinates Scale.
• Use explicit message ‘Set Attribute Single (16), Class 15, Instance 242,
Attribute1 UINT Value (for example 0x0000)’ to set the Absolute
System Setting. Like the control mode, a reset is needed for the change of this parameter to take effect.
3.
Configure the PR command
• Define the Home Setting (for example, deceleration time of first homing and second homing is 200 ms, delay time is 0 ms, acceleration time is 200 ms, and stop after homing complete) by explicit message
‘Set Attribute Single (16), Class 15, Instance 397, Attribute 1, UDINT
Value (0x00000000)’.
• Define the Home Position by explicit message ‘Set Attribute Single
(16), Class 15, Instance 398, Attribute 1, UDINT Value (for example,
0)’.
• Set the Home Mode (for example, look for Z pulse in forward direction and define it as home) by explicit message ‘Set Attribute Single (16),
Class 15, Instance 297, Attribute 1, UINT Value (0x04)’.
• Set PR Command1 Setting (for example, constant speed control) by explicit message ‘Set Attribute Single (16), Class 15, Instance 399,
Attribute 1, UDINT Value (0x00000001)’.
• Set PR Command1 Data (speed command: 300 RPM) by explicit message ‘Set Attribute Single (16), Class 15, Instance 400, Attribute 1,
UDINT Value (3000, unit is 0.1 RPM)’.
• Set PR Command2 Setting (for example, positioning control) by explicit message ‘Set Attribute Single (16), Class 15, Instance 401,
Attribute 1, UDINT Value (0x00000002)’.
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Application Conversion Chapter 6
• Set PR Command2 Data (position command: 4000) by explicit message ‘Set Attribute Single (16), Class 15, Instance 402, Attribute 1,
UDINT Value (4000)’.
4.
Execute the Indexing function by doing the following:
• Set the drive to Servo On by explicit message ‘Set Attribute Single (16),
Class 15, Instance 215, Attribute 1, INT Value (1)’.
• Set the drive to Servo Off by explicit message ‘Set Attribute Single (16),
Class 15, Instance 215, Attribute 1, INT Value (-1)’.
• Trigger Homing by explicit message ‘Set Attribute Single (16), Class 15,
Instance 300, Attribute 1, UINT Value (0)’.
• Trigger PR Command1 by explicit message ‘Set Attribute Single (16),
Class 15, Instance 300, Attribute 1, UINT Value (1)’.
• Stop the PR Command by explicit message ‘Set Attribute Single (16),
Class 15, Instance 300, Attribute 1, UINT Value (1000)’.
• Get the status of PR Command by explicit message ‘Get Attribute
Single (14), Class 15, Instance 300, Attribute 1’.
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 85
Chapter 6 Application Conversion
Notes:
86 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
Appendix
A
Feature Comparison
Table 57 - Feature Comparison
Features
Controller used
120...230V operation
Internal shunt available
Control Power available (converted to 5V) Yes*
Safe Torque Off
Digital inputs control indexing
Dedicated Auxiliary feedback encoder connector
Master Gearing encoder inputs (terminal block inputs)
Hardware limits
Analog input for current limit
Multiple assignments for inputs
Soft limits
Watch window output assignment
Registration index (index on reg input)
Registration latch (capture position)
MicroLogix™/SLC™ controller compatible
Hardware enable required
Selectable modes of operation via digital inputs
Buffered encoder outputs (selectable freq)
Holding brake support
Dual Loop Control
Multiple Motors Supported
Dual-port Ethernet with DLR support
Yes
Yes
Yes
—
Yes
—
—
Yes
—
—
*
—
—
Yes
Yes
—
—
—
Yes
—
Yes
*
Yes*
Yes
Yes
Yes
—
Yes
—
Yes
Yes
Yes
—
Yes
—
Yes
Yes
Yes
—
Yes
—
Yes
—
Yes
*
compares the features of the Ultra™ 3000 drives to the Kinetix® 5100 drives.
Ultra3000 Drives
Yes*
Yes
Yes
Yes
—
Yes
—
Yes
Yes
Yes
—
Yes
—
Yes
Yes
—
—
Yes
—
Yes
Yes**
Yes
Yes
Yes*
Yes*
Yes*
Yes
Yes
Yes*
Yes
Yes*
Yes
Yes*
Yes
—
Yes*
Yes
Yes
Yes
Yes
Kinetix
5100 Drives
Notes. Items with asterisks(*) have more information in this column.
(-DN)
Yes
Yes
*
Yes*
Yes
Yes**
*Depending on control mode for Kinetix 5100 drives
—
* No for small Ultra3000 drives (under 2 kW), yes for larger Ultra3000 drives
**Internal or External - drive dependent
*Ultra3000 drive: 24 to 5V DC converter required.
**Kinetix 5100 drive: 115/240 V AC single-phase used.
—
—
—
—
—
—
*Not native, can use Digital I/O status to evaluate
I/O in PR mode.
—
* Not directly, programmable within PR mode
—
*Available in PR mode (Capture/Compare)
* Stepper mode only
* I/O mode does not require a hardware enable input
—
—
*Configurable in KNX5100C software
*PT mode only
* Kinetix MP Motor, TLP Motor
—
Rockwell Automation Publication 2198-RM003A-EN-P - February 2020 87
Appendix 7 Feature Comparison
Table 57 - Feature Comparison (continued)
Features Ultra3000 Drives
Non-Integrated Motion Drive (Ethernet/IP Standalone)
Drive configuration software required
Ability to home the drive
Rotary mode support
—
Yes
—
Yes
Current limiting ability
Positioning via analog input
Operation mode override
Slew rate for gearing
Selectable modes of operation
Pause index directly
Offline software
Start next Index on input
Batch Count
Homing, Active/Switch/Marker
Homing, Absolute
Home to Torque Limit
Define Home current position
Stop Indexing
—
Yes
Yes
Yes
Yes
Yes
Yes
—
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
—
Yes
Yes
—
Yes
Yes
Yes
—
Yes
—
Yes
—
—
—
—
Yes
Yes
—
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
—
Yes*
Yes
Yes
Yes
Yes
Yes
Yes
Yes*
Yes
Yes*
Yes
Yes
Yes
—
Kinetix
5100 Drives
Notes. Items with asterisks(*) have more information in this column.
(-DN)
—
Yes
Yes
Yes
Yes
Yes
Yes
Yes*
—
—
—
—
—
—
* Not natively, uses Indexing Coordinate System, see the Kinetix 5100 Single-axis EtherNet/IP
Servo Drives User Manual, publication 2198-UM004 for more details.
—
* Not natively, programming required
—
* Not natively, programming required
* Not natively, programming required
—
—
—
—
—
88 Rockwell Automation Publication 2198-RM003A-EN-P - February 2020
.
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Allen-Bradley, CompactLogix, Connected Components Workbench, ControlFLASH, ControlLogix, GuardLogix, Kinetix, Logix 5000, Logix PAC, MicroLogix, Micro800, Micro830, PanelView, POINT I/O, Rockwell Automation, Rockwell
Software, RSLinx, RSLogix 500, Stratix, Studio 5000, and Studio 5000 Logix Designer are trademarks of Rockwell Automation, Inc.
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Key features
- Analog, preset & host command control modes
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- Compatibility with Allen-Bradley motors
- 8 digital inputs
- 4 digital outputs
- Compact size