Rockwell Automation Allen-Bradley 2198-E1015-ERS Migration Manual

Kinetix 300 to Kinetix 5100
Servo Drive 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,
2198-E4004-ERS, 2198-E4007-ERS, 2198-E4015-ERS,
2198-E4020-ERS, 2198-E4030-ERS, 2198-E4055-ERS,
2198-E4075-ERS, 2198-E4150-ERS
Reference Manual
Original Instructions
Kinetix 300 to Kinetix 5100 Servo Drive Migration Guide Reference Manual
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.
Rockwell Automation recognizes that some of the terms that are currently used in our industry and in this publication are not in
alignment with the movement toward inclusive language in technology. We are proactively collaborating with industry peers to
find alternatives to such terms and making changes to our products and content. Please excuse the use of such terms in our
content while we implement these changes.
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).
The following icon may appear in the text of this document.
Identifies information that is useful and can help to make a process easier to do or easier to understand.
2
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Table of Contents
Preface
Download Firmware, AOP, EDS, and Other Files . . . . . . . . . . . . . . . . . . . . 5
Summary of Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Chapter 1
Migration Options
Kinetix 5100 Servo Drive Catalog Numbers . . . . . . . . . . . . . . . . . . . . . . . . . 8
Chapter 2
Replacement Considerations
Selecting a Replacement Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Drive Sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Nominal Voltage and Output Current Comparison . . . . . . . . . . . . . 12
Dimension Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
AC Input Power Wiring and Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
AC Input Power Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Input Power Wiring and Fusing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Circuit Breaker and Fuse Considerations . . . . . . . . . . . . . . . . . . . . . . 14
Power Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
I/O Availability and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Digital Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Analog Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Control and Auxiliary Power Specifications . . . . . . . . . . . . . . . . . . . . 28
Compatible Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Feedback Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Required Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Optional Drive Accessories - Shunt Resistors . . . . . . . . . . . . . . . . . . . 31
Optional Drive Accessories - AC Line Filters . . . . . . . . . . . . . . . . . . . . 33
Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Kinetix 300 Servo Drive Configuration Port . . . . . . . . . . . . . . . . . . . . 34
Kinetix 5100 Servo Drive Configuration Port . . . . . . . . . . . . . . . . . . . 35
Kinetix 300 Servo Drive Control Port . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Kinetix 5100 Servo Drive Control Port . . . . . . . . . . . . . . . . . . . . . . . . . 35
Programming Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Chapter 3
Connectors
Kinetix 300 Servo Drive Connector Locations . . . . . . . . . . . . . . . . . . . . . . 37
Kinetix 5100 Servo Drive Connector Locations . . . . . . . . . . . . . . . . . . . . . 38
I/O Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Motor Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Auxiliary Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Safe Torque Off Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
3
Chapter 4
Dimensions, Cables, and Wiring Dimension Drawings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Kinetix 5100 Drive Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor and Feedback Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Replacement Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Kinetix 300 Servo Drive Power Wiring Examples . . . . . . . . . . . . . . .
Kinetix 5100 Servo Drives Power Wiring Examples . . . . . . . . . . . . .
46
49
49
50
50
51
53
Chapter 5
System Architecture
Kinetix 300 Servo Drive System Architecture . . . . . . . . . . . . . . . . . . . . . . 59
Kinetix 5100 Servo Drive System Architecture . . . . . . . . . . . . . . . . . . . . . 60
Kinetix 5100 Drive Controlled Via Motion Control Add-On
Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Kinetix 5100 Drive Controlled Via Explicit Messaging . . . . . . . . . . . 61
Kinetix 5100 Drive Controlled Via Pulse Train/
Analog/ Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Chapter 6
Application Conversion
Scenario 1: Analog Command to Analog Command . . . . . . . . . . . . .
Scenario 2: Indexing to Position Register (PR) Mode . . . . . . . . . . . .
Scenario 3: Master / Gearing mode to PT mode . . . . . . . . . . . . . . . . .
Scenario 4: EtherNet/IP External Reference to I/O Mode . . . . . . . .
64
65
68
70
Appendix A
Feature Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Appendix B
History of Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
4
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Preface
The purpose of this guide is to provide you with the essential information to
determine necessary changes when migrating from a system containing
Kinetix® 300 servo drives to one containing Kinetix 5100 servo drives.
Migrating from a motion control system that uses Kinetix 300 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 used. As a
result, this migration guide is not an all-inclusive document. It does not
describe all redesign steps required, nor 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.
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.
Download Firmware, AOP,
EDS, and Other Files
Download firmware, associated files (such as AOP, EDS, and DTM), and access
product release notes from the Product Compatibility and Download Center at
rok.auto/pcdc.
Summary of Changes
This publication contains the following new or updated information. This list
includes substantive updates only and is not intended to reflect all changes.
Topic
Replaced 2090-series and Bulletin 2090 (cables only) with Kinetix 2090
Replaced MP-series and TL-series with Kinetix MP and Kinetix TL
Replaced TL/TLY with Kinetix TL
Replaced - with — where approperiate
Added 140MT circuit breakers to Table 8
Added Appendix B-History of Changes
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Page
Throughout
Throughout
Throughout
Throughout
14
73
5
Preface
Additional Resources
These documents contain additional information concerning related products
from Rockwell Automation.
Resource
Description
Product specifications for Kinetix VP, Kinetix MP, Kinetix TL and TLY, Kinetix RDB, Kinetix TLP,
Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001 Kinetix MMA asynchronous main motors, and Kinetix HPK rotary motors.
Product specifications for Kinetix MPAS and MPMA linear stages, Kinetix MPAR and MPAI
Kinetix Linear Motion Specifications, publication KNX-TD002
electric cylinders, and Kinetix LDC and LDL linear motors.
Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical
Provides product specifications for Kinetix Integrated Motion over the EtherNet/IP™ network
Data, publication KNX-TD003
and EtherNet/IP networking servo drive families.
Kinetix Rotary and Linear Motion Cable Specifications Technical Data,
Provides product specifications for Kinetix 2090 motor and interface cables.
publication KNX-TD004
Provides product specifications for Kinetix Integrated Motion over the EtherNet/IP network
Kinetix 3, 300, 350, 2000, 6000, 6200, 6500, 7000 Servo Drives
(Kinetix 6500 and Kinetix 350), Integrated Motion over Sercos interface (Kinetix 6200, Kinetix
Specifications, publication KNX-TD005
6000, Kinetix 2000, and Kinetix 7000), and component (Kinetix 3) servo drive families.
Information on how to install, configure, startup, and troubleshoot, your Kinetix 5100 servo
Kinetix 5100 EtherNet/IP Indexing Servo Drives User Manual,
drive system. Information on applications for your Kinetix 5100 servo drive system.
publication 2198-UM004
System design guide to select the required (drive specific) drive module, power accessory,
Kinetix 5100 Drive Systems Design Guide, publication KNX-RM011
feedback connector kit, and motor cable catalog numbers for your Kinetix 5100 drive and
Kinetix motion control system.
Provides information on how to design Ethernet and EtherNet/IP networks.
Ethernet Reference Manual, publication ENET-RM002
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
Kinetix Motion Control Selection Guide, publication KNX-SG001
system requirements.
Kinetix 300 and Kinetix 350 Drive Systems Design Guide,
Provides information to help identify the drive system components and accessory items you
publication KNX-RM004
need for your Kinetix 300/350 drive and motor/actuator combination.
Provides installation instructions to mount, wire, and troubleshoot your Kinetix 300 drive; and
Kinetix 300 EtherNet/IP Indexing Servo Drives User Manual,
system integration for your drive/motor combination with a Logix controller.
publication 2097-UM001
Kinetix 300 EtherNet/IP Indexing Servo Drive Installation Instructions,
Provides information on how to install your Kinetix 300 drive system.
publication 2097-IN001
information on how to install and wire the Kinetix 300 drive shunt resistors (also
Kinetix 300 Shunt Resistor Installation Instructions, publication 2097-IN002 Provides
compatible with the Kinetix 350 drive).
Provides information on how to install and wire the Kinetix 300 drive AC line filter (also
Kinetix 300 AC Line Filter Installation Instructions, publication 2097-IN003 compatible with the Kinetix 350 drive).
Provides information on how to install and wire the Kinetix 300 drive I/O terminal expansion
Kinetix 300 I/O Terminal Expansion Block Installation Instructions,
block (also compatible with the Kinetix 350 drive).
publication 2097-IN005
Best practice examples to help reduce the number of potential noise or electromagnetic
Servo Drive Installation Best Practices Application Technique,
interference (EMI) sources in your system and to make sure that the noise sensitive
publication MOTION-AT004
components are not affected by the remaining noise.
System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001.
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1
Product Certifications website: rok.auto/certifications
Provides information on the concept of high-frequency (HF) bonding, the Ground Plane
principle, and electrical noise reduction.
Provides general guidelines to install a Rockwell Automation industrial system.
Provides declarations of conformity, certificates, and other certification details.
You can view or download publications at rok.auto/literature.
6
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter
1
Migration Options
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 Kinetix® 300 servo drives to one that contains
Kinetix 5100 servo drives. For each Kinetix 300 drive control mode, there is a
suitable solution with Kinetix 5100 servo drives, Logix 5000™ controller
platforms, and the Studio 5000 Logix Designer® application. Table 1 and
Table 2 provide some common considerations and information when
migrating from Kinetix 300 drives to Kinetix 5100 drives.
Table 1 - Kinetix 300 Drive to Kinetix 5100 Drive Control Mode Migrations
Kinetix 300 Drive
Analog Current
Analog Velocity
Indexing
Master Gearing, Step, and Direction
EtherNet/IP™ External Reference
Kinetix 5100 Drive
T mode
S mode
PR Mode
PT Mode
I/O Mode
Table 2 - Kinetix 5100 Drive Control Modes
Control Mode
Position mode (terminal block
input)
Position mode (register input)
Speed mode
Speed mode (no analog input)
Torque mode
Torque mode (no analog input)
I/O mode
Short Name Description
This mode is sometimes referred to as Pulse Train. The servo drive receives the Position command and commands the
PT
motor to the target position. The Position command is provided through the I/O terminal block and the signal type is
pulse.
The servo drive receives the Position command and commands the motor to the target position. Position commands
PR
comes from the program registers (99 in total). You can select the register number with binary-weighted DI signals or
through communication.
The servo drive receives the Speed command and commands the motor to the target speed. The Speed command comes
S
from the internal registers (3 in total) or by analog voltage (-10V…+10V) that is provided through the terminal block. You
can select the command with binary-weighted DI signals.
The servo drive receives the Speed command and commands the motor to the target speed. The Speed command comes
Sz
from the internal registers (4 in total, one is fixed at 0). You can select the command with binary-weighted DI signals.
The servo drive receives the Torque command and commands the motor to the target torque. The Torque command
T
comes from the internal registers (3 in total) and by analog voltage (-10V…+10V) that is provided through the I/O terminal
block. You can select the command with binary-weighted DI signals.
The servo drive receives the Torque command and commands the motor to the target torque. The Torque command
Tz
comes from the internal registers (4 in total, one is fixed at 0). You can select the command with binary-weighted DI
signals.
The servo drive receives commands from the Logix controller through the EtherNet/IP network connection. Commands
IO
are issued through the Add-On_Profile (AOP) with Add-On Instruction (AOI) instructions in the Logix Designer application.
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
7
Chapter 1
Migration Options
Table 2 - Kinetix 5100 Drive Control Modes (Continued)
Control Mode
Dual mode
Multi-mode
Short Name
PT-S
PT-T
PR-S
PR-T
S-T
—
PT-PR
PT-PR-S
PT-PR-T
Kinetix 5100 Servo Drive
Catalog Numbers
Description
Switches PT and S mode with DI signals.
Switches PT and T mode with DI signals.
Switches PR and S mode with DI signals.
Switches PR and T mode with DI signals.
Switches S and T mode with DI signals.
Reserved.
Switches PT and PR mode with DI signals.
Switches PT, PR, and S mode with DI signals.
Switches PT, PR, and T mode with DI signals.
Table 3 and Table 4 lists the catalog numbers and ratings of the Kinetix 5100
servo drives.
Table 3 - Kinetix 5100 Drive Ratings - 200V-class
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
Input AC
Voltage
(V AC)
95…132,
170…253
95…132,
170…253
95…132,
170…253
95…132,
170…253
170…253
170…253
170…253
170…253
Input
Phases
Output
Rated Power Rated Power Cont.
@ 230V (kW) @ 120V (kW) Current
(A rms)
Peak Output
Current
(A rms)
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
0.4
0.2
2.60
6.5
0.75
0.375
5.10
15.41
1.5
0.75
7.9
23.7
2
1
13.4
53.03
3
5.5
7.5
15
—
—
—
—
17.9
41.3
49
78
55.95
91.4
127.49
162
Cont. Output
Current
(A rms)
1.60
3.19
6.05
7.42
13.95
24.8
31.0
41.26
Peak Output
Current
(A rms)
5.40
8.0
15.11
20.78
26.08
37.65
53.32
70.14
Table 4 - Kinetix 5100 Drive Ratings - 400V-class
Cat. No.
2198-E4004-ERS
2198-E4007-ERS
2198-E4015-ERS
2198-E4020-ERS
2198-E4030-ERS
2198-E4055-ERS
2198-E4075-ERS
2198-E4150-ERS
Input AC
Voltage
(V AC)
342…528
342…528
342…528
342…528
342…528
342…528
342…528
342…528
Input
Phases
3 PH
3 PH
3 PH
3 PH
3 PH
3 PH
3 PH
3 PH
Power
Rated Power Rated
380/480V
@ 480V (kW) @
(kW)
0.4
—
0.75
—
1.5
—
2
—
—
3
—
5.5
—
7.5
—
15
For Kinetix 5100 servo drive module specifications not included in this
publication, see the Kinetix 5700, 5500, 5300, and 5100 Servo Drives
Specifications Technical Data, publication KNX-TD003.
8
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 1
Migration Options
Potential Design Changes
The design changes required for converting to the Kinetix 5100 drives depend
on the original/replacement drive combination and the specifics of the
application. This publication provides you with knowledge about the type and
extent of work required to migrate from a Kinetix 300 system to a Kinetix 5100
system.
Due to the flexibility of drive installation and use, it is not feasible to cover all
possibilities. In addition to the items described in this publication, pay
attention to unique features and functions of the Kinetix 300 system when
considering replacement with a Kinetix 5100 system. See Appendix A for a
comparison of features. See the Kinetix 5700, 5500, 5300, and 5100 Servo
Drives Specifications Technical Data, publication KNX-TD003 for complete
specifications.
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
9
Chapter 1
Migration Options
Notes:
10
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter
2
Replacement Considerations
Replacing a Kinetix® 300 drive with a Kinetix 5100 drive can require some
system design changes:
•
•
Review the hardware and software design of the existing Kinetix 300
system.
Compare these designs 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 make sure 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.
This publication highlights the major similarities and differences between the
Kinetix 300 drives and the Kinetix 5100 drives. Additional criteria not covered
in this publication can also impact your application. Review this publication to
evaluate the Kinetix 5100 drives for your needs.
Design considerations:
•
•
•
•
•
•
•
Selecting a Replacement
Drive
Upload the programmable logic controller (PLC) programs and
determine what you can use for the new system.
See the System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001, for information on the concept of highfrequency (HF) bonding, the Ground Plane principle, and electrical noise
reduction.
Verify that your current motor is compatible.
Verify that the motor power and feedback cable length in your existing
system does not exceed the maximum cable length for the new system.
Verify that the drive size is compatible.
Verify that the drive dimensions are compatible.
Verify that the drive connections and connectors are acceptable or
compatible.
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 selecting a replacement servo drive. To identify the correct
replacement drive size, compare the continuous and peak output current
ratings.
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
11
Chapter 2
Replacement Considerations
Kinetix 300 drives can be replaced with a Kinetix 5100 drive of similar, or in
some cases greater, output current capability.
The Kinetix 5100 drives with similar current ratings require less or equivalent
physical space than the Kinetix 300 drives.
Factors that affect the redesign effort include the following considerations:
•
•
•
•
•
Drive Sizing
Drive sizing (ratings and physical)
Dimension comparison
Drive interconnects and cabling
Communication (Serial, USB, or EtherNet/IP™)
Accessories
This section lists the Kinetix 300 servo drives and the suggested Kinetix 5100
servo drives. The tables show the output ratings and dimensional differences.
Information in this migration guide is based on the drive combinations that
are shown in Table 5 and Table 6.
Nominal Voltage and Output Current Comparison
Table 5 compares the Output Current of the Kinetix 300 and Kinetix 5100
drives for a given input voltage. Review Table 6 to be sure that the replacement
drive can deliver the required peak and continuous current to the motor.
Table 5 - Suggested Kinetix 5100 Replacement Drives by Output Current
Kinetix 300 drive
Peak
Output
Current
A rms
(0-pk)
95…132V, 1 PH
170…253V, 1 PH/3 PH
Continuous
Nominal Voltage Output
Current
Range
A rms
(0-pk)
120V, 1 PH
230V, 1 PH/3 PH 2.60 (3.68)
Cat. No.
Voltage Range
2 (2.8)
6.0 (8.5)
2198-E1004-ERS
6.5 (9.19)
4 (5.7)
12.0 (17.0)
2198-E1007-ERS
95…132V, 1 PH
170…253V, 1 PH/3 PH
120V, 1 PH
230V, 1 PH/3 PH
5.10 (7.21)
15.41 (21.79)
1 PH, 240V
2 (2.8)
6.0 (8.5)
2198-E1004-ERS
6.5 (9.19)
12.0 (17.0)
2198-E1007-ERS
5.10 (7.21)
15.41 (21.79)
1 PH, 240V
8 (11.3)
24.0 (33.9)
2198-E1015-ERS
7.9 (11.17)
23.7 (33.51)
1 PH/3 PH,
240V
1 PH/3 PH,
80…264V, 1 PH 240V
(240V nom)
1 PH/3 PH,
240V
80…264V, 3 PH
1 PH/3 PH,
(240V nom)
240V
3 PH, 480V
320…528V, 3 PH 3 PH, 480V
(480V nom)
3 PH, 480V
2 (2.8)
6.0 (8.5)
2198-E1004-ERS
2.60 (3.68)
6.5 (9.19)
4 (5.7)
12.0 (17.0)
2198-E1007-ERS
5.10 (7.21)
15.41 (21.79)
8 (11.3)
24.0 (33.9)
2198-E1015-ERS
7.9 (11.17)
23.7 (33.51)
12 (17.0)
36.0 (50.9)
2198-E1020-ERS
13.4 (18.95)
53.03 (74.98)
2 (2.8)
4 (5.7)
6 (8.5)
6 (8.5)
12 (17)
18 (25.5)
2198-E4007-ERS
3PH
2198-E4015-ERS 342…528V,
(480V nom)
2198-E4020-ERS
120V, 1 PH
230V, 1 PH/3 PH
120V, 1 PH
230V, 1 PH/3 PH
120V, 1 PH
230V, 1 PH/3 PH
120V, 1 PH
230V, 1 PH/3 PH
120V, 1 PH
230V, 1 PH/3 PH
120V, 1 PH
230V, 1 PH/3 PH
120V, 1 PH
230V, 1 PH/3PH
3 PH, 480V, 3PH
3 PH, 480V, 3PH
3 PH, 480V, 3PH
2.60 (3.68)
4 (5.7)
95…132V, 1 PH
170…253V, 1 PH/3 PH
95…132V, 1 PH
170…253V, 1 PH/3 PH
95…132V, 1 PH
170…253V, 1 PH/3 PH
95…132V, 1 PH
170…253V, 1 PH/3 PH
95…132V, 1 PH
170…253V, 1 PH/3 PH
95…132V, 1 PH
170…253V, 1 PH/3 PH
95…132V, 1 PH
170…253V, 1 PH/3 PH
1 PH, 240V
3.19 (4.51)
6.05 (8.56)
7.42 (10.49)
8 (11.31)
15.11 (21.36)
20.78 (29.38)
Nominal
Voltage
Range
Cat. No.
Voltage Range
2097-V31PR0
70…132V, 1 PH
1 PH,
(120V nom),
120/240V
voltage-doubler
mode
1 PH,
80…264V, 1 PH 120/240V
(120/240V nom)
2097-V31PR2
2097-V32PR0
2097-V32PR2
80…264V, 1 PH
(240V nom)
2097-V32PR4
2097-V33PR1
2097-V33PR3
2097-V33PR5
2097-V33PR6
2097-V34PR3
2097-V34PR5
2097-V34PR6
12
Kinetix 5100 drive
Continuous
Output
Current
A rms
(0-pk)
80…132V, 1 PH
(120V nom)
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Peak Output
Current
A rms
(0-pk)
Chapter 2
Replacement Considerations
Dimension Comparison
Table 6 compares the dimensions of the Kinetix 300 and Kinetix 5100 drives.
Table 6 - Suggested Kinetix 5100 Replacement Drives by Dimensions
Kinetix 300 drive
Cat. No.
2097-V31PR0
2097-V31PR2
2097-V32PR0
2097-V32PR2
2097-V32PR4
2097-V33PR1
2097-V33PR3
2097-V33PR5
2097-V33PR6
2097-V34PR3
2097-V34PR5
2097-V34PR6
Kinetix 5100
Height
mm (in.) (1)
238 (9.37)
238 (9.37)
238 (9.37)
238 (9.37)
238 (9.37)
238 (9.37)
238 (9.37)
238 (9.37)
238 (9.37)
238 (9.37)
238 (9.37)
238 (9.37)
Width
mm (in.)
Depth
mm (in.)
Cat. No.
68.0 (2.68)
69.0 (2.72)
68.0 (2.68)
69.0 (2.72)
87.0 (3.43)
68.0 (2.68)
69.0 (2.72)
94.0 (3.70)
68.0 (2.68)
69.0 (2.70)
94.0 (3.72)
68.0 (2.68)
185 (7.28)
185 (7.28)
230 (9.06)
230 (9.06)
230 (9.06)
185 (7.28)
185 (7.28)
185 (7.28)
230 (9.06)
185 (7.28)
185 (7.28)
230 (9.06)
2198-E1004-ERS
2198-E1007-ERS
2198-E1004-ERS
2198-E1007-ERS
2198-E1015-ERS
2198-E1004-ERS
2198-E1007-ERS
2198-E1015-ERS
2198-E1020-ERS
2198-E4007-ERS
2198-E4015-ERS
2198-E4020-ERS
Height
mm (in.) (1)
170 (6.69)
180 (7.09)
170 (6.69)
180 (7.09)
180 (7.09)
170 (6.69)
180 (7.09)
180 (7.09)
180 (7.09)
180 (7.09)
180 (7.09)
260 (10.24)
Width
mm (in.)
Depth
mm (in.)
35(1.38)
50 (1.97)
35(1.38)
50 (1.97)
50 (1.97)
35 (1.38)
50 (1.97)
50 (1.97)
95 (3.74)
95.0 (3.74)
95.0 (3.74)
110 (4.33)
178.3 (7.02)
188.4 (7.42)
178.3 (7.02)
188.4 (7.42)
188.4 (7.42)
178.3 (7.02)
188.4 (7.42)
188.4 (7.42)
208.4 (8.20)
208 (8.20)
208 (8.20)
204 (8.02)
(1) Height includes connectors.
AC Input Power Wiring and
Fusing
This section provides comparisons for the wiring and fusing of the drives.
AC Input Power Configuration
The Kinetix 300 drive supports multiple types of AC input power: center
grounded wye secondary, and corner grounded delta secondary.
The Kinetix 5100 drive only supports AC input power with center grounded
wye secondary.
Input Power Wiring and Fusing
Determine the wire length for the AC line input after the drive location and
cable routing are 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
(Mains IPD) and motor power (MP) connections on the Kinetix 300 drives and
Kinetix 5100 could be in different physical locations with different connector
sizes. Table 7 gives an overview of the connection placement for Kinetix 5100
drives. See Connectors for a comparison of the Kinetix 300 drive and
Kinetix 5100 drive connectors.
Table 7 shows a comparison of the connector locations of the Kinetix 300
drives and Kinetix 5100 drives.
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
13
Chapter 2
Replacement Considerations
Table 7 - Input Power and Motor Power Connection Placement of Kinetix 300 and Kinetix 5100 drives
Kinetix 300
Input Power Connector
Location
Cat. No.
2097-V31PR0
2097-V31PR2
2097-V32PR0
2097-V32PR2
2097-V32PR4
2097-V33PR1
2097-V33PR3
2097-V33PR5
2097-V33PR6
2097-V34PR3
2097-V34PR5
2097-V34PR6
Top
—
Motor Power Connector
Location
Bottom
Top
Bottom
—
—
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
2198-E4004-ERS
2198-E4007-ERS
2198-E4015-ERS
2198-E4020-ERS
2198-E4030-ERS
2198-E4055-ERS
2198-E4075-ERS
2198-E4150-ERS
Kinetix 5100
Input Power Connector
Location
Motor Power Connector
Location
Top
Bottom
Front
Front
Circuit Breaker and Fuse Considerations
Review the fusing requirements when you change a drive.
Table 8 - Kinetix 300 Drive Fuse and Circuit Breaker (CB) Specifications
UL Applications
IEC (non-UL) Applications
Drive Voltage
Phase
120V
Single-phase
(voltage doubler) KTK-R-20 (20 A)
1489-A1C200
120/240V
Single-phase
KTK-R-10 (10 A)
1489-A1C100
Motor
Protection CB
Cat. No.
140M-D8E-C20
140MT-D9E-C20
140M-C2E-C10
140MT-C3E-C10
120V
Single-phase
(voltage doubler) KTK-R-30 (30 A)
1489-A1C300
120/240V
Single-phase
KTK-R-20 (20 A)
1489-A1C200
2097-V32PR0
240V
Single-phase
KTK-R-15 (15 A)
1489-A1C150
2097-V32PR2
240V
Single-phase
KTK-R-20 (20 A)
1489-A1C200
2097-V32PR4
240V
Single-phase
KTK-R-30 (30 A)
1489-A1C300
120/240V
Single-phase
KTK-R-20 (20 A)
1489-A1C200
240V
Three-phase
KTK-R-15 (15 A)
1489-A3C150
120/240V
Single-phase
KTK-R-20 (20 A)
1489-A1C200
240V
Three-phase
KTK-R-15 (15 A)
1489-A3C150
120/240V
Single-phase
KTK-R-30 (30 A)
1489-A1C300
240V
Three-phase
KTK-R-20 (20 A)
1489-A3C200
Drive Cat. No.
2097-V31PR0
2097-V31PR2
Fuses
(Bussmann)
Miniature CB
Cat. No.
2097-V33PR1
2097-V33PR3
2097-V33PR5
14
DIN gG Fuses
Amps max
Miniature CB
Cat. No.
20
1492-SP1D200
10
1492-SP1D100
Motor
Protection CB
Cat. No.
140M-D8E-C20
140MT-D9E-C20
140M-C2E-C10
140MT-C3E-C10
140M-F8E-C32
32
1492-SP1D300
140M-F8E-C32
140M-D8E-C20
140MT-D9E-C20
140M-D8E-C16
140MT-D9E-C16
140M-D8E-C20
140MT-D9E-C20
140M-F8E-C32
140M-D8E-C20
140MT-D9E-C20
140M-D8E-C16
140MT-D9E-C16
140M-D8E-C20
140MT-D9E-C20
140M-D8E-C16
140MT-D9E-C16
140M-F8E-C32
140M-D8E-C20
140MT-D9E-C20
20
1492-SP1D200
16
1492-SP1D150
20
1492-SP1D200
32
1492-SP1D320
20
1492-SP1D200
16
1492-SP3D150
20
1492-SP1D200
16
1492-SP3D150
32
1492-SP1D300
20
1492-SP3D200
140M-D8E-C20
140MT-D9E-C20
140M-D8E-C16
140MT-D9E-C16
140M-D8E-C20
140MT-D9E-C20
140M-F8E-C32
140M-D8E-C20
140MT-D9E-C20
140M-D8E-C16
140MT-D9E-C20
140M-D8E-C20
140MT-D9E-C20
140M-D8E-C16
140MT-D9E-C20
140M-F8E-C32
140M-D8E-C20
140MT-D9E-C20
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 2
Replacement Considerations
Table 8 - Kinetix 300 Drive Fuse and Circuit Breaker (CB) Specifications (Continued)
UL Applications
IEC (non-UL) Applications
Drive Cat. No.
Drive Voltage
Phase
Fuses
(Bussmann)
Miniature CB
Cat. No.
2097-V33PR6
120/240V
240V
Single-phase
Three-phase
LPJ-40SP
KTK-R-30 (30 A)
—
1489-A3C300
KTK-R-10 (10 A)
1489-A3C100
KTK-R-10 (10 A)
1489-A3C100
KTK-R-20 (20 A)
1489-A3C200
2097-V34PR3
2097-V34PR5
480V
Three-phase
2097-V34PR6
Motor
Protection CB
Cat. No.
140M-F8E-C32
140M-F8E-C32
140M-C2E-C10
140MT-C3E-C10
140M-C2E-C10
140MT-C3E-C10
140M-D8E-C20
140MT-D9E-C20
DIN gG Fuses
Amps max
Miniature CB
Cat. No.
40
32
—
1492-SP3D300
10
1492-SP3D100
10
1492-SP3D100
20
1492-SP3D200
Motor
Protection CB
Cat. No.
140M-F8E-C32
140M-F8E-C32
140M-C2E-C10
140MT-C3E-C10
140M-C2E-C10
140MT-C3E-C10
140M-D8E-C20
140MT-D9E-C20
Table 9 - 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
2198-E4004-ERS
2198-E4007-ERS
2198-E4015-ERS
2198-E4020-ERS
2198-E4030-ERS
2198-E4055-ERS
2198-E4075-ERS
2198-E4150-ERS
UL/CSA Application
Voltage (nom) and Phase Recommended Fuse Cat.
No.
120V/230V, 1 PH
KTK-R-15 (15 A)
230V, 3 PH
KTK-R-10 (10 A)
120V/230V, 1 PH
KTK-R-20 (20 A)
230V, 3 PH
KTK-R-15 (15 A)
120V/230V, 1 PH
KTK-R-30 (30 A)
230V, 3 PH
KTK-R-25 (25 A)
120V/230V, 1 PH
LPJ-40SP (40 A)
230V, 3 PH
LPJ-35SP (35 A)
230V, 3 PH
LPJ-50SP (50 A)
230V, 3 PH
LPJ-70SP (70 A)
230V, 3 PH
LPJ-80SP (80 A)
230V, 3 PH
LPJ-125SP (125 A)
KTK-R-10 (10A)
KTK-R-15 (15A)
KTK-R-20 (20A)
KTK-R-25 (25A)
380…480V AC, 3 PH
KTK-R-30 (30A)
LPJ-35SP (35A)
LPJ-45SP (45A)
LPJ-90SP (90A)
Power Specifications
Recommended Circuit
Breaker Cat. No.
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
1489-M3D100
1489-M3D100
1489-M3D150
1489-M3D200
1489-M3D300
—
—
—
IEC (non-UL/CSA) Application
DIN gG Fuses Rating
Recommended Circuit
(amps, max)
Breaker Cat. No.
15
1489-M2D100
10
1489-M3D100
20
1489-M2D200
15
1489-M3D130
30
1489-M2D300
25
1489-M3D200
40
1489-M2D400
35
1489-M3D300
50
1489-M3D350
70
1489-M3D600
80
140G-G2C3-C70
125
140G-G2C3-D12
10
1489-M3D100
15
1489-M3D100
20
1489-M3D150
25
1489-M3D200
30
1489-M3D300
35
1489-M3D350
45
140G-G6C3-C45
90
140G-G6C3-C60
This section provides the power specifications for the Kinetix 300 and
Kinetix 5100 servo drives. Table 10 and Table 11 list power specifications and
requirements for the Kinetix 300 servo drives.
Table 10 - Kinetix 300 Drives (Single-phase) Power Specifications
Attribute
AC input voltage
AC input frequency
Main AC input current
Rms (nom) 120V input (voltage doubler)
Inrush (0-pk) Max 120V input
Rms (nom) 120/240V input
Inrush (0-pk) max 240V input
Integrated AC line filter
Continuous output current (rms)
2097-V31PR0
2097-V31PR2
70…132V rms single-phase (120V nom)
80…264V rms single-phase (240V nom)
48…62 Hz
9.70 A
1.15 A
5.0 A
1.1 A
No
2.0 A
15.0 A
1.15 A
8.6 A
1.1
No
4.0 A
2097-V32PR0
2097-V32PR2
2097-V32PR4
80…264V rms single-phase (240V nom)
5.0 A
136 A
Yes
2.0 A
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
8.6 A
2.3 A
Yes
4.0 A
15.0 A
2.3 A
Yes
8.0 A
15
Chapter 2
Replacement Considerations
Table 10 - Kinetix 300 Drives (Single-phase) Power Specifications (Continued)
Attribute
Continuous output current (0-pk)
Peak output current (rms)
Peak output current (0-pk)
Continuous power output @ 240V nom or
120V (Voltage-doubler mode)
Shunt On
Shunt Off
Overvoltage
Short-circuit current rating
2097-V31PR0
2.8 A
6.0 A
8.5 A
2097-V31PR2
5.7 A
12.0 A
17.0 A
2097-V32PR0
2.8 A
6.0 A
8.5 A
2097-V32PR2
5.7 A
12.0 A
17.0 A
2097-V32PR4
11.3 A
24.0 A
39.9 A
0.40 kW
0.80 kW
0.40 kW
0.80 kW
1.70 kW
390V DC
375V DC
430V DC
100,000 A (rms) symmetrical
Table 11 - Kinetix 300 Drives (single-phase and three-phase) Power Specifications
Attribute
AC input voltage
AC input frequency
Main AC input current
Rms (nom) 120V input (voltage doubler)
Inrush (0-pk) max 120V input
Rms (nom) 120/240V input
Inrush (0-pk) max 240V input
Integrated AC line filter
Continuous output current (rms)
Continuous output current (0-pk)
Peak output current (rms)
Peak output current (0-pk)
Continuous power output @ 240V nom or
120V (Voltage-doubler mode)
Shunt On
Shunt Off
Overvoltage threshold
Short-circuit current rating
2097-V33PR1
2097-V33PR3
80…132V rms single-phase (120V nom)
80…264V rms single-phase (240V nom)
80…264V rms three-phase (240V nom)
48…62 Hz
2097-V33PR5
2097-V33PR6
5.0 A
68.0 A
3.0 A
136 A
No
2.0 A
2.8 A
6.0 A
8.5 A
8.6 A
1.15 A
5.0 A
2.3 A
No
4.0 A
5.7 A
12.0 A
17.0 A
15.0 A
1.15 A
8.7 A
2.3 A
No
8.0 A
11.3 A
24.0 A
39.9 A
24.0 A
5.65 A
13.9 A
11.3 A
No
12.0 A
17.0 A
36.0 A
50.9 A
0.50 kW
1.00 kW
2.00 kW
3.00 kW
390V DC
375V DC
430V DC
100,000 A (rms) symmetrical
Table 12 - Kinetix 300 Drives Control Power Specification
Attribute
Control power input voltage
Control power input current
Nom
Inrush max (0-pk)
Kinetix 300 Drives
20…26V DC
500 mA
30 A
Table 13 and Table 14 list power specifications and requirements for the
Kinetix 5100 drives.
16
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 2
Replacement Considerations
Table 13 - Kinetix 5100 Input Power Specifications (single-phase and three-phase)
Attribute
AC input voltage
AC input frequency
Main AC input current (1)
Nom (rms) 120V input (single-phase)
Inrush max (0-pk) 120V input
Nom (rms) 230V input (single-phase)
Inrush max (0-pk) 230V input
Nom (rms) 230V input (three-phase)
max Inrush max (0-pk) 230V input
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
Undervoltage threshold
Overvoltage threshold
Bus capacitance
Capacitive energy absorption
Short-circuit current rating
2198-E1004-ERS
2198-E1007-ERS
95…132V rms, single-phase (120V nom)
170…253V rms, single-phase (200…230V nom)
170…253V rms, three-phase (230V nom)
47…63 Hz
2198-E1015-ERS
2198-E1020-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
18.40 A
2.56 A
21.36 A
4.40 A
11.57 A
4.64 A
2.6 A
3.7 A
6.5 A
9.2 A
5.1 A
7.2 A
15.4 A
21.8 A
7.9 A
11.2 A
23.7 A
33.5 A
13.4 A
18.9 A
40.6 A
57.4 A
0.20 kW
0.40 kW
370V @120V AC input
370V @230V AC input
100 Ω
5W
70V @120V AC input
150V @230V AC input
410V @120V AC input
410V @230V AC input
540 µF
6.24 J
5,000 A (rms) symmetrical
0.375 kW
0.75 kW
0.75 kW
1.50 kW
1.0 kW
2.0 kW
100 Ω
14 W
100 Ω
14 W
20 Ω
20 W
1680 µF
19.40 J
1680 µF
19.40 J
2160 µF
24.95 J
(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.
Table 14 - Kinetix 5100 Input Power Specifications (three-phase)
Attribute
AC input voltage
AC input frequency
Main AC input current (1)
Nom (rms) 230V input (three-phase)
Inrush max (0-pk) 230V input
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 threshold
Bus capacitance
Capacitive energy absorption
Short-circuit current rating
2198-E2030-ERS
2198-E2055-ERS
170…253V rms, three-phase (230V nom)
47…63 Hz
2198-E2075-ERS
2198-E2150-ERS
14.65 A
4.42 A
17.9 A
25.3 A
55.95 A
79.1 A
27.32 A
9.55 A
41.3 A
58.4 A
91.4 A
129.2 A
37.90 A
28.68 A
49.0 A
69.3 A
127.5 A
180.3 A
70.45 A
32.0 A
78.0 A
110.3 A
162.0 A
229.1 A
3.0 kW
5.5 kW
7.5 kW
15.0 kW
—
—
—
—
—
—
4100 µF
47.36 J
7000 µF
69.30 J
13,500 µF
155.93 J
370V @230V AC input
20 Ω
20 W
150V @230V AC input
410V @230V AC input
2160 µF
24.95 J
5,000 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.
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Chapter 2
Replacement Considerations
Table 15 - Kinetix 5100 Power Specifications (480V nom three-phase)
Attribute
AC input voltage
AC input frequency
Mains AC input current (1)
Nom (rms) 380V input (three-phase)
Max inrush (0-pk) 380V input
Nom (rms) 480V input (three-phase)
Max inrush (0-pk) 480V input
Control power input voltage
Control power input current @ 24V DC (2)
Control power in-rush current @ 24V DC
Continuous output current (rms)
Continuous output current (0-pk)
Peak output current (rms) (3)
Peak output current (0-pk)
Line loss ride through
Continuous output power
Internal shunt on
Internal shunt off
Internal shunt resistor
Internal shunt power
Bus undervoltage
Bus overvoltage
Bus capacitance
Capacitive energy absorption
Short-circuit current rating
2198-E4004-ERS
2198-E4007-ERS
342…528V rms, three-phase (480V nom)
47…63 Hz
2198-E4015-ERS
2198-E4020-ERS
1.49 A
5.66 A
1.34 A
7.15 A
21.6…26.4V DC
24V DC nom
1.27 ADC
4.14 ADC
2.31 A
5.66 A
2.08 A
7.15 A
5.009 A
5.66 A
4.38 A
7.15 A
6.29 A
9.43 A
4.94 A
11.91 A
1.60 A
2.26 A
3.19 A
4.51 A
6.05 A
8.56A
5.40 A
8.0 A
15.11 A
20.78 A
7.63 A
20 ms
0.40 kW
11.31 A
21.36 A
29.38 A
0.75 kW
1.50 kW
2.0 kW
1.40 ADC
4.97 ADC
760V
80 Ω
10 W
282V
820V
165 µF
11.2 J
5,000 A (rms) symmetrical
—
—
235 µF
16.0 J
(1) Kinetix 5100 drive modules are limited to 1 AC mains power cycling per minute.
(2) Kinetix 5100 drive modules are limited to 1 control power cycling every 20 seconds.
(3) Peak RMS current allowed for up to 1.8 seconds.
18
7.42 A
10.49 A
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
470 µF
32.0 J
Chapter 2
Replacement Considerations
Table 16 - Kinetix 5100 Power Specifications (480V nom three-phase, continued)
Attribute
AC input voltage
AC input frequency
Mains AC input current (1)
Nom (rms) 380V input (three-phase)
Max inrush (0-pk) 380V input
Nom (rms) 480V input (three-phase)
Max inrush (0-pk) 480V input
Control power input voltage
Control power input current @ 24V DC (2)
Control power in-rush current @ 24V DC
Continuous output current (rms)
Continuous output current (0-pk)
Peak output current (rms) (3)
Peak output current (0-pk)
Line loss ride through
Continuous output power
Internal shunt on
Internal shunt off
Internal shunt resistor
Internal shunt power
Bus undervoltage
Bus overvoltage
Bus capacitance
Capacitive energy absorption
Short-circuit current rating
2198-E4030-ERS
2198-E4055-ERS
342…528V rms, three-phase (380/480V nom)
47…63 Hz
2198-E4075-ERS
2198-E4150-ERS
9.96 A
9.43 A
7.91 A
11.91 A
21.6…26.4V DC,
24V DC nom
1.77 ADC
4.97 ADC
16.825 A
9.43 A
13.35 A
11.91 A
23.664 A
9.43 A
18.78 A
11.91 A
36.855 A
28.28 A
29.25 A
35.73 A
13.95 A
19.73 A
24.8 A
35.07 A
31.0 A
43.84 A
41.26 A
58.35 A
26.08 A
37.65 A
53.32 A
70.14 A
36.88 A
20 ms
3.0 kW
53.24 A
75.39 A
99.18 A
5.5 kW
7.5 kW
15.0 kW
—
—
—
—
—
—
1120 µF
76.3 J
1640 µF
111.7 J
2500 µF
170.3 J
2.03 ADC
3.24 ADC
4.43 ADC
3.40 ADC
760V
—
—
282V
820V
560 µF
38.2 J
5,000 A (rms) symmetrical
(1) Kinetix 5100 drive modules are limited to 1 AC mains power cycling per minute.
(2) Kinetix 5100 drive modules are limited to 1 control power cycling every 20 seconds.
(3) Peak RMS current allowed for up to 1.8 seconds.
Table 17 - Kinetix 5100 Drive Control Power Specifications - 200V-class
Attribute
2198-E1004ERS,
2198-E1007ERS,
2198-E1015ERS,
Control power input voltage
120V AC input power
Control power input voltage
200…230V AC input power
Control power input current
Nom (rms) 120V input max
inrush (0-pk)
Control power input current
Nom (rms) 230V input max
inrush (0-pk)
95…132V rms, 120V AC nom, single-phase
2198-E1020ERS
2198-E2030ERS
2198-E2055ERS
2198-E2075ERS
2198-E2150ERS
—
—
—
—
170…253V rms, 200…230V AC nom, single-phase
0.34 A
15.80 A
0.38 A
18.20 A
0.38 A
19.20 A
0.63 A
19.20 A
—
—
—
—
0.20 A
37.0 A
0.22 A
37.40 A
0.22 A
39.80 A
0.35 A
32.40 A
0.35 A
36.40 A
0.46 A
32.80 A
0.48 A
40.0 A
0.92 A
37.0 A
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
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Chapter 2
Replacement Considerations
Table 18 - Kinetix 5100 Drive Control Power Specifications - 400V-class
Attribute
Control power input voltage
2198-E4004ERS,
21.6…26.4V DC
24V DC nom
2198-E4007ERS,
2198-E4015ERS,
Control power input current
1.27 ADC
@ 24V DC (1)
Control power in-rush current 4.14 ADC
@ 24V DC
2198-E4020ERS
2198-E4030ERS
2198-E4055ERS
1.40 ADC
4.97 ADC
1.77 ADC
4.97 ADC
2.03 ADC
3.24 ADC
2198-E4075ERS
2198-E4150ERS
4.43 ADC
3.40 ADC
(1) Kinetix 5100 drive modules are limited to 1 control power cycling every 20 seconds.
I/O Availability and
Specifications
All Kinetix 300 drives and Kinetix 5100 have a comprehensive set of digital I/O
and analog I/O. Use the following specifications to verify if the IO functionality
is comparable.
Digital Inputs
This section describes digital inputs for Kinetix 300 and Kinetix 5100 servo
drives. Table 19 compares the digital inputs of the two drive families.
Table 19 - Digital Input Comparison
Feature
Kinetix 300 Drive
Inputs
12 Inputs
DC common terminations
Number of Pre-selectable indexes
(using binary weighted digital inputs)
Multiple input assignments
Fixed assignment for Enable/Overtravel/Registration
De-bounce for inputs
3 groups (A,B,C) each with an isolated common
Kinetix 5100 Drive
10 total (Eight standard inputs, two optional high-speed
inputs)
1
32
99
—
Yes
Yes
Registration Input
IN_C3 only
Overtravel contact type
Can be N.O. or N.C.
Yes (via software programming only)
—
Yes
Yes - can be assigned to two-high speed inputs only
(Input 9 and Input 10)
Can be N.O. or N.C.
Kinetix 300 Drives
The Kinetix 300 drive has 12 digital inputs. Some input assignments are fixed,
and some are programmable. See Table 20 for input assignments. Each input
can be assigned an individual de-bounce time via MotionView software or
Explicit Messaging.
The inputs are separated into three groups: A, B, and C. Each group has four
inputs that share one common: IN_A_COM, IN_B_COM, and IN_C_COM,
respectively. Overtravel limits, the inhibit/enable input, and registration input
have dedicated inputs as shown in Table 20.
20
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Chapter 2
Replacement Considerations
Table 20 - Kinetix 300 Drives Fixed Digital Input Assignments
Digital Input
IN_A1 (pin 27)
IN_A2 (pin 28)
IN_A3 (pin 29)
IN_A4 (pin 30)
IN_B1 (pin 32)
IN_B2 (pin 33)
IN_B3 (pin 34)
IN_B4 (pin 35)
IN_C1 (pin 37)
IN_C2 (pin 38)
IN_C3 (pin 39)
IN_C4 (pin 40)
Function
Negative travel limit input
Positive travel limit input
Inhibit/enable input
—
—
—
—
—
—
—
Registration sensor input
—
You can assign the inputs that are listed as — for any of these functions.
•
•
•
•
•
•
•
Abort Homing
Abort Index
Start Homing
Start Index
Fault Reset
Home Sensor
Index Select
The digital inputs are optically isolated and sink up to 24V DC. Electrical
details are shown in Table 21.
Table 21 - Kinetix 300 Digital Input Signal Specifications
Attribute
Scan time
Current max
Input impedance
Voltage range
Value
500 µs
9 mA, typical
1.2 kΩ, typical
5…24V DC
Kinetix 5100 Drives
The Kinetix 5100 drives have eight standard inputs and two-high speed inputs,
both with configurable functions. The digital inputs on Kinetix 5100 drives
have the same physical characteristics. Table 22 shows the Kinetix 5100 digital
inputs physical characteristics.
Table 22 - Kinetix 5100 Digital Input Signal Specifications
Attribute
Digital Input response (delay)
Digital Input scan time
ON state voltage
ON state Current
OFF state voltage
Value
Standard inputs: 1.25 ms max
High-speed inputs: 3 µs
Standard inputs: 500us max
High-speed inputs: 1µs
15V min, 26.4V max
2.0 mA min, 6.0 mA max
-1.0 V min, 5V max
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
21
Chapter 2
Replacement Considerations
The Kinetix 5100 drive digital inputs are assigned to specific functions by
using the KNX5100C software. INPUT9 and INPUT10 are high-speed digital
inputs and registration functionality is supported on these inputs only.
Valid Input functions are shown here:
•
•
•
•
•
•
•
•
•
•
•
•
•
•
Alarm Reset (ARST)
Clear pulse counter (CCLR)
Command triggered (CTRG)
Emergency stop (EMGS)
Negative Limit (NL)
Positive Limit (PL)
Position Selection (POS0… POS6)
Servo is on (SON, Drive Enable)
Speed / Position Selection (S-P)
Speed Selection (SPD0,SPD1)
Torque mode speed Limit (SPDLM)
Torque Command (TCM0 TCM1)
Torque / Position Selection (T-P)
Torque limit (TRQLM)
See the Programming via Drive Parameters chapter in the Kinetix 5100
Single-axis EtherNet/IP Servo Drives User Manual, publication 2198-UM004
for the full list of digital input functions.
Digital Input Circuits
In both the Kinetix 300 and Kinetix 5100 drives, the digital inputs are optically
isolated. You can configure the inputs for PNP sourcing or NPN sinking as
shown in Figure 1 and Figure 2.
Figure 1 - Kinetix 300 Drive Digital Input Circuit
Sourcing of Digital Inputs
1.2 kΩ
+24V
Sinking of Digital Inputs
1.2 kΩ
GND
IN_A1
IN_A1
1.2 kΩ
1.2 kΩ
IN_A2
IN_A2
GND
22
IN_A_COM
+24V
IN_A_COM
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 2
Replacement Considerations
Figure 2 - Kinetix 5100 Drive Digital Input Circuit
NPN transistor (source mode)
Kinetix 5100 Servo Drive
DCOM
4.7 kΩ,
approx.
24V DC
INPUTx
PNP transistor (sink mode)
INPUTx
Kinetix 5100 Servo Drive
24V DC
4.7 kΩ,
DCOM approx.
Digital Outputs
This section describes the digital outputs for Kinetix 300 and Kinetix 5100
servo drives. Table 23, Table 24, and Table 25 compare the digital outputs
between the two drive families.
Table 23 - Digital Outputs Comparison
Features
Outputs
Brake output assignment
Configurable output assignment
Kinetix 300
5
Programmable, transistor type
Yes
Kinetix 5100
6
Programmable, transistor type
Yes
Table 24 - Kinetix 300 Drives Digital Output Signal Specifications
Parameter
Scan time
Current max
Voltage max
Value
500 μs
100 mA
30V DC
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Chapter 2
Replacement Considerations
Table 25 - Kinetix 5100 Drives Digital Output Signal Specifications
Attribute
Digital outputs type
Digital outputs ON state current
Digital outputs ON state voltage drop
Digital outputs OFF state current
Digital outputs OFF state voltage
Digital Outputs scan time
Digital Outputs pass through delay
Electrical Isolation
Isolation Insulation Safety Rating
Short-circuit protection
Value
Open collector or open emitter
40 mA max continuous
1.5V max @40mA
100 µA max
30V max
250 µs max
1 ms max
Optically isolated
SELV/PELV
Functional Insulation
Yes
Kinetix 300 drives have five digital outputs, OUT1…OUT4 and RDY, available
on the IOD connector. Outputs are optically isolated open collector/emitter
and are fully isolated from the drive circuits. Each output, OUT1…OUT4, can be
assigned to one of these functions:
•
•
•
•
•
•
•
Not assigned
Zero speed
In-speed window
Current limit
Runtime fault
Ready
Brake (motor holding brake)
The Ready Output (RDY) of the Kinetix 300 has a fixed operation. The Output
turns on when the drive is enabled and the output power transistors become
energized.
Kinetix 5100 drives have six outputs that can be assigned through the
KNX5100C software. Their outputs are assigned to similar functions as the
Kinetix 300 drive and additional assignments are available for the Kinetix 5100
drive. For the full list of digital output functions, see the Kinetix 5100 Singleaxis EtherNet/IP Servo Drives User Manual, publication 2198-UM004.
Digital Output Circuits
The digital outputs of Kinetix 300 drive are optically isolated. Figure 3 shows
the digital output circuit of the Kinetix 300 drives. Figure 4 is the Digital
Output Circuit of the Kinetix 5100 drives.
24
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 2
Replacement Considerations
Figure 3 - Kinetix 300 Drive Digital Output Circuit
Kinetix 300 Drive
Logic Power
OUT1-C
OUT1-E
GND
Figure 4 - Kinetix 5100 Digital Output Circuit
Kinetix 5100 Servo Drive
An external 24V DC power supply is
required to energize the load.
R
24V DC
OUTPUTx+
OUTPUTx–
Make sure the polarity of the diode is
correct or it can damage the servo drive.
Kinetix 5100 Servo Drive
An external 24V DC power supply is
required to energize the inductive load.
24V DC
OUTPUTx+
OUTPUTx–
Analog Inputs
This section describes analog inputs for the Kinetix 300 and Kinetix 5100 servo
drives.
The Kinetix 300 drive analog reference input AIN1+ and AIN1- terminals
(IOD-24 and IOD-25) accepts up to a ±10V DC analog signal. This analog signal
is converted to a digital value with 12-bit resolution (11 bit plus sign). The total
reference voltage as seen by the drive is the voltage difference between the
AIN1+ and AIN1- terminals. If used in Single-ended mode, one of the analog
terminals must be connected to a voltage source while the other one must be
connected to ACOM. If used in Differential mode, the voltage source is
connected across AIN1+ and AIN1- and the driving circuit common, if
available, is connected to the drive Analog Common (ACOM) terminal.
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25
Chapter 2
Replacement Considerations
The Kinetix 5100 servo drive has two analog input terminals (COMMAND1 and
COMMAND2) which are single-ended inputs referencing the analog single
ground (AGND). The analog COMMAND1 (T-REF) input provides a torque
command signal, and COMMAND2 (V-REF) input can provide position or
speed command signal. A 16-bit A/D converter digitizes the input signal.
Table 26 shows the characteristics between Kinetix 300 and Kinetix 5100 drive
analog inputs.
Table 26 - Analog Inputs Parameters Comparison
Parameter
Analog Inputs Resolution
Analog Inputs Impedance
Analog Inputs Voltage
Analog Inputs Scan Time
Kinetix 300
12 bits
47 kΩ, typical
-10 V ~ +10V
0.0625 ms
Kinetix 5100
15 bits min
12 kΩ approx, typical
-10 V ~ +10V
0.0625 ms max
Analog Outputs
This section describes analog outputs for Kinetix 300 and Kinetix 5100 servo
drives.
Kinetix 300 Drive Analog Outputs
Figure 5 shows the analog output circuit for the Kinetix 300 Drives. Table 27
lists the Kinetix 300 analog output specifications.
Figure 5 - Kinetix 300 Drive Analog Output Circuit
Kinetix 300 Drive
CH1
DAC
Table 27 - Kinetix 300 Drive Analog Output Specifications
Parameter
Scan time
Current max
Voltage range
26
Value
0.0625 ms
10 mA
-10…10V DC
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
CH2
Chapter 2
Replacement Considerations
The analog output (AO) on terminal IOD-23 has a 10-bit resolution. The analog
output is a single-ended signal and referenced to analog common (ACOM) that
can be assigned to the following:
•
•
•
•
•
•
•
•
Not Assigned
RMS Phase Current
RMS Peak Current
Motor Velocity
Phase Current U
Phase Current V
Phase Current W
Iq Current
•
Id Current
IMPORTANT
Output values can vary during power-up until the specified power
supply voltage is reached. MotionView software refers to phase
current U, V, and W as R, S, and T respectively.
Kinetix 5100 Analog Outputs
Figure 6 shows the analog output circuit for the Kinetix 5100 Drives. Table 28
lists the Kinetix 5100 analog output specifications.
Figure 6 - Kinetix 5100 Analog Output Circuit
Servo Drive
24 kΩ
Controller
I/O Connector with
2198-TBIO Expansion Block
Output:
1 mA, max
16
MON1
15
MON2
13
Analog GND
8 kΩ
V
-10V/+10V
Full-scale
AGND
Table 28 - Kinetix 5100 Drives Analog Output Specifications
Parameter
Analog Output Resolution
Analog Output Current max
Analog Output Voltage
Analog Outputs Scan Time
Offset Error
Gain Error
Bandwidth
Kinetix 5100
10 bits min
1 mA
–8V … +8V DC, or –10…+10V DC, configurable
0.25 ms max
100 mV max
5% max
50 Hz min
The Kinetix 5100 servo drive provides two single-ended analog outputs (MON1
and MON2) referenced to an analog ground.
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
27
Chapter 2
Replacement Considerations
The operation status of drive and motor can be displayed in the manner of
analog voltage, such as speed and current. You can select the data to be
monitored via parameter ID 103 (P0.003) AOMonitorSelection. Table 29
describes the details of motor parameters which can be displayed through
MON1 and MON2 analog outputs.
Table 29 - Kinetix 5100 Analog Outputs Monitoring
MON1 and MON2 Setting Value (in P0.003)
0
1
2
3
4
5
Description
Motor speed (+/- 8 volts or 10 volts / max. speed)
Motor torque (+/- 8 volts or 10 volts / max. torque)
Pulse command frequency (+/- 8 volts or 10 volts / 4.5 MHz)
Speed command (+/- 8 volts or 10 volts / max speed
command)
Torque command (+/- 8 volts or 10 volts / max torque
command)
VBUS voltage (+/- 8 volts or 10 volts / 450V max)
Control and Auxiliary Power Specifications
The control power input allows the drive to maintain logic power wen main
power is removed. Control power input allows communication between the
controller and the drive to remain active; as well as maintaining the USB
connection for the drive.
The Kinetix 300 drives use a 24V DC logic power source for all drives (referred
to as control power). Table 30 shows the control power specifications for
Kinetix 300 drives.
Table 30 - Kinetix 300 Control Power Specifications
Specification
Control Power back-up input voltage
Control Power back-up input current (nom)
Control Power back-up input current (max inrush [0-pk])
Value
20…26V DC
500 mA
30 A
The Kinetix 5100 drive requires a control power supply shown in Table 31 and
Table 32. Depending on the voltage class of the drive, the control power is
either a phase from the incoming power (non-400V-class) or
24V DC (400V-class)
28
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Replacement Considerations
Table 31 - Kinetix 5100 Servo Drive Control Power and Auxiliary Power Rating - 200V-class
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
Maximum Input Current of
Control Power
A rms at 120Vrms nom
0.34
0.38
0.63
—
—
—
—
—
Inrush current of Control
Power
A 0-pk at 120V rms nom
15.80
18.20
19.20
19.20
—
—
—
—
Maximum Input Current of
Control Power
A rms at 230Vrms nom
0.20
0.22
0.22
0.35
0.35
0.46
0.48
0.92
Inrush current of Control
Power
A 0-pk at 230V rms nom
37.0
37.40
39.80
32.40
36.40
32.80
40.0
37.0
The Kinetix 5100 400V-class drives require 24V DC control power.
Table 32 - Kinetix 5100 Servo Drive Control Power and Auxiliary Power Rating - 400V-class
Cat. No.
2198-E4004-ERS
2198-E4007-ERS
2198-E4015-ERS
2198-E4020-ERS
2198-E4030-ERS
2198-E4055-ERS
2198-E4075-ERS
2198-E4150-ERS
Maximum Input Current of Control
Power
A rms at 24V DC
Inrush current of Control Power
A at 24V DC
1.27
4.14
1.40
1.77
4.97
4.97
2.03
3.24
4.43
3.40
Compatible Motors
Table 33 compares different motor families that are supported by Kinetix 300
servo drives and Kinetix 5100 servo drives. Only the Kinetix MP and Kinetix TL
rotary motors are supported by both Kinetix 300 and Kinetix 5100. For more
information on supported motors and feedback, see the Kinetix 5100 Singleaxis EtherNet/IP Servo Drives User Manual, publication 2198-UM004.
Table 33 - Supported Motor Families
Servo Motor
Kinetix 300
Kinetix MPL, MPM, MPF, MPS
Yes
Kinetix TL and TLY
Kinetix TLP
Yes
—
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Kinetix 5100
Yes (unless it uses resolver-based
feedback)
Yes
Yes
29
Chapter 2
Replacement Considerations
Feedback Devices
The Kinetix 300 drives and the Kinetix 5100 drives accept motor feedback
signals from Hiperface absolute high-resolution encoders, 17-bit Tamagawa
encoders, and generic TTL incremental encoders.
In addition, when using the Kinetix TLP motor, the Kinetix 5100 drive accepts
the 24-bit absolute (single-turn and multi-turn) feedback. The Kinetix 5100
drives accept motor feedback signals from 17-bit absolute encoders that are
used in Kinetix TL rotary motors.
For more information on the Kinetix 5100 compatible feedback encoders see
the Kinetix 5100 Single-axis Ethernet/IP Servo Drives User Manual,
publication 2198-UM004. For more information on the Kinetix 300 compatible
feedback encoders see the Kinetix 300 EtherNet/IP Indexing Servo Drives User
Manual, publication 2097-UM001.
Accessories
You can reuse motor power and feedback cables between Kinetix MP motors
and Kinetix 300 drives in Kinetix 5100 applications.
See Dimensions, Cables, and Wiring for more detail.
In some instances, existing shunt resistors used with Kinetix 300 drives can be
reused with Kinetix 5100 drives.
Required Accessories
See the Kinetix Rotary and Linear Motion Cable Accessories Specifications,
publication KNX-TD004, for detailed descriptions and specifications of these
servo drive accessories.
Table 34 - Kinetix 300 Required Drive Accessories
Drive Accessory
Ethernet Cable
I/O terminal expansion block
Low-profile connector kit
Cat. No.(1)
1585J-M8CBJM-x
1585J-M8UBJM-x
1585J-M8CB-x
2097-TB1
2090-K2CK-D15M
Motor power and feedback cables (2) —
Description
Ethernet cables (double-ended, non/high-flex,
shielded are available in standard lengths. Shielded
cable is required to meet EMC specifications.
Input/output signal connector-PLC and I/O function.
Required for flying lead feedback cables
See the specific drive/motor combination for the
motor cables required for your system.
(1) Where x equals the cable length in meters.
(2) Motor Power and feedback cable for Kinetix MP servo motor (Kinetix 2090) can be shared with Kinetix 5100 servo drive.
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Chapter 2
Replacement Considerations
Table 35 - Kinetix 5100 Required Drive Accessories
Cat. No.(1)
1585J-M8CBJM-x
1585J-M8UBJM-x
1585J-M8CB-x
Accessory
Description
Ethernet cables (Double-ended, non/high-flex, shielded)
are available in standard lengths. Shielded cable is
required to meet EMC specifications.
Communication Cables
Mini USB Cable (for connecting Kinetix 5100 to Personal
2198-USBC
Computer).
2198-USBF
Filter used with 2198-USBC to remove noise.
Feedback Connector kit
2198-K51CK-D15M
Required for flying lead feedback cables
I/O Connector kit
2198-TBIO
Required for wiring I/O signals to the controllers
the specific drive/motor combination for the motor cable required for
Motor Power and Feedback Cables See
your system
(1) Where x equals the cable length in meters.
Optional Drive Accessories - Shunt Resistors
The Kinetix 300 drives do not have internal shunt resistors.
The Kinetix 300 drives have pre-defined passive shunt modules that are used
with certain drive sizes. Table 36 lists the passive shunts for the Kinetix 300
drives.
Table 36 - Kinetix 300 Drives Passive Shunt Resistor Specifications
Kinetix 300
Cat. No.
Shunt Module
Cat. No.
Specifications
%RD_Application
max
Resistance
Ω
Peak Power
kW
Peak Current
A
2097-V32PR4
2097-V33PR5
2097-V33PR6
2097-V31PR0
2097-V31PR2
2097-V32PR0
2097-V32PR2
2097-V33PR1
2097-V33PR3
2097-V34PR5-xx
2097-V34PR6-xx
2097-V34PR3-xx
2097-R2
1.97
20
7.6
19.5
2097-R3
2.96
30
5.1
13.0
2097-R4
2.10
40
3.8
2097-R6
1.90
75
2097-R7
2.02
150
Continuous Power
W
Shipping Weight kg
(lb)
150
0.3 (0.7)
9.8
180
0.2 (0.4)
7.9
10.3
150
0.3 (0.7)
4.0
5.1
80
0.2 (0.4)
The Kinetix 5100 drives have internal shunt capability (shunt IGBT), some have
internal shunt resistors (400 W…3 kW) and some do not.
External shunt resistors (Bulletin 2198-Rxxx shunt resistors) can be used to
provide additional shunt capacity for applications when the internal shunt
capacity of the drive is exceeded, or when using 200V; 5.5 kW … 15 kW
Kinetix 5100 drives. Catalog number 2198-R031 is composed of resistor coils
that are housed inside an enclosure. Catalog numbers 2198-R004, 2097-R6, and
2097-R7 are shunt resistors without an enclosure. The figures and tables below
describe the shunt resistor specification and dimensions.
These dimensions apply to units with an enclosure.
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
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Chapter 2
Replacement Considerations
Figure 7 - Product Dimensions: Catalog Number 2198-R031
Left Side View
F
Front View
C
Removable
Cover
5/16 in. Hex Screws
E
5/16 in.
Hex Screws
D
G
Φ (5) Conduit Knockout
12.7 (0.5)
Top View (cover removed)
B
Φ (4)
11.1 (7/16) Mounting Holes
A
Table 37 - 2198-R031 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)
The dimensions in Figure 8 apply to catalog number 2198-R004 (unit without
an enclosure).
Figure 8 - Product Dimensions: Catalog Number 2198-R004
The dimensions in Figure 9 apply to catalog numbers 2097-R6 and 2097-R7
(shunt resistors without an enclosure).
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Chapter 2
Replacement Considerations
Figure 9 - Shunt Resistors without Enclosure
Dimensions
Shunt
Resistor
Cat. No.
2097-R6
2097-R7
L1
L2
L3
210 (8.3)
150 (5.9)
197 (7.7)
137 (5.4)
170(6.7)
110 (4.3)
500
(19.68)
12.0
(0.47
10.0
(0.39
4.3
(0.17)
L2
10.0
(0.39
L1
12.0
(0.47
L3
41.0
(1.6)
Table 38 - Shunt Resistor Power Specifications
Cat. No.
2198-R004
2198-R031
2097-R6
2097-R7
Resistance Ω
33
33
75
150
Continuous Power W
400
3100
150
80
Weight, approx kg (lb)
1.8 (4.0)
16.8 (37)
0.3 (0.7)
0.2 (0.4)
For more information on 2198-Rx shunt resistor, see the Kinetix 5700 Passive
Shunt Modules Installation Instructions, publication 2198-IN011.
Optional Drive Accessories - AC Line Filters
An AC line filter is a key component in meeting CE requirements. This section
describes the specifications for the line filters used with each drive.
Table 39 - AC Line Filter Specifications
AC Line Filter
Cat. No.
2097-F1
2097-F2
Mount
Side
Voltage
50/60 Hz
Phase
Current A @
40 °C (104 °F)
Power Loss
W
Leakage Current
mA
240V AC
1
24.0
5.2
9.0
480V AC
3
10.0
2.8
1.0
4.40
1.2
6.90
1.3
15.0
4.1
2097-F4 (3)
2097-F5 (3)
2097-F6 (3)
Rear
240/480V AC
3
1.0
Weight, approx
kg (lb)
Kinetix 300/350 (1)
Drive Cat. No.
0.6 (0.13)
2097-V33PR6-xx (2)
2097-V34PR6-xx
0.8 (0.18)
2097-V33PR1-xx (4)
2097-V34PR3-xx
2097-V34PR5-xx
2097-V33PR3-xx (5)
2097-V33PR5-xx (6)
(1) Use 2090-UXLF-110 (single-phase) line filter for 2097-V31PR0-xx drive operation. Use 2090-XXLF-TC116 (single-phase) line filter for 2097-V31PR2-xx drive operation.
(2) Use 2097-F1 (single-phase) line filter for 2097-V33PR6-xx (single-phase) drive operation. Use the 2090-XXLF-TC316 (three-phase) line filter for 2097-V33PR6-xx (three-phase) drive
operation.
(3) This filter is rated for multiple voltage/phase line conditions.
(4) Use 2090-UXLF-106 (single-phase) line filter for 2097-V33PR1-xx (single-phase) drive operation.
(5) Use 2090-UXLF-110 (single-phase) line filter for 2097-V33PR3-xx (single-phase) drive operation.
(6) Use 2090-UXLF-123 (single-phase) line filter for 2097-V33PR5-xx (single-phase) drive operation.
Refer to the Kinetix Rotary and Linear Motion Cable Accessories Specifications, publication KNX-TD004 for AC line filter specifications not listed here.
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
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Chapter 2
Replacement Considerations
For Kinetix 5100, the AC line filters are mounted directly beside the drive (side)
with flying lead connections.
Table 40 - Kinetix 5100 Drives AC Line Filter Selection
Kinetix 5100 Drive
Cat. No.
2198-E1004-ERS
2198-E1007-ERS
2198-E1015-ERS
2198-E1020-ERS
AC Line Filter Cat. No.
(single-phase operation)
2198-DB111-F
2198-E2030-ERS (1)
—
2198-E2055-ERS (1)
—
2198-DB335-F
(1)
—
2198-DB356-F
(1)
—
2198-DBR90-F
2198-E2075-ERS
2198-E2150-ERS
2198-E4004-ERS
2198-E4007-ERS
2198-E4015-ERS
2198-E4020-ERS
2198-E4030-ERS
2198-E4055-ERS
2198-E4075-ERS
2198-E4150-ERS
AC Line Filter Cat. No.
(three-phase operation)
2198-DB310-F
2198-DB127-F
2198-DB324-F
—
—
—
—
—
—
—
—
2198-DB418-F
21980DB433-F
2198-DBR40
(1) 2198-E4xxx-ERS (200V-class) drives do not support single-phase operation.
Table 41 - Kinetix 5100 Servo AC Line Filter Specifications
Cat. No.
Voltage Rating max
2198-DB111-F
2198-DB127-F
2198-DB310-F
2198-DB324-F
2198-DB335-F
2198-DB356-F
2198-DB418-F
2198-DB433-F
2198-DBR40-F
2198-DBR90-F
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
Communication
Current Rating
@ 50 °C (122 °F)
A
11.0
27.0
10.0
24.0
34.8
56.0
18.4
33.0
54.0
90.0
Power Loss
@ Rated Current
W
4.9
15.5
14.0
29.0
30.0
57.0
16.0
35.0
15.0
16.8
Leakage Current,
typical
mA
52.9
54.9
3.9
9.3
5.8
2.8
4.21
3.58
30.0
34.0
Weight approx
kg (lb)
Operating
Temperature
1.05 (2.314)
1.80 (3.968)
1.10 (2.425)
1.95 (3.968)
2.90 (6.393)
4.00 (8.818)
1.2 (2.65)
1.9 (4.19)
3.3 (7.28)
7.2 (15.87)
0…50 °C
(32…122 °F)
This section lists the communication protocols that are supported by Kinetix
300 servo drive and Kinetix 5100 servo drive respectively and describes
different communication configurations of Kinetix 5100.
Kinetix 300 Servo Drive Configuration Port
Configuration of the Kinetix 300 drive is performed over the standard 10/100
Mbps Ethernet communication port. MotionView java-based software is used
to configure the drive.
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Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 2
Replacement Considerations
Kinetix 5100 Servo Drive Configuration Port
Configuration of the Kinetix 5100 is performed over a mini-USB to personal
computer cable (2198-USBC and USB filter 2198-USBF) connected to the drive.
KNX5100C software is used to configure the drive.
Kinetix 300 Servo Drive Control Port
The Kinetix 300 drive can accept commands from controllers over the Ethernet
port, by using a Class 1 Ethernet/IP connection (I/O assembly) or Class 3
connection by using Explicit messaging. Kinetix 300 drives support a star
topology natively or a linear/ring topology using a 1783-ETAP module.
Kinetix 5100 Servo Drive Control Port
The Kinetix 5100 servo drives can accept commands from controllers over the
Ethernet port, by using a Class 1 EtherNet/IP connection (with a pre-defined
Add-On-Profile) or Class 3 connection using Explicit messaging.
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:
•
•
•
Scalability - The Best Approach to Change, publication IA-WP002.
Ethernet Design Considerations Reference Manual, publication
ENET-RM002.
EtherNet/IP Design, Commissioning, and Troubleshooting Quick
Reference, publication IASIMP-QR023.
Programming Software
The Kinetix 300 uses MotionView OnBoard software that is contained within
the drive itself for configuration and programming.
The Kinetix 5100 drive uses KNX5100C software for configuration. Depending
on the drive mode, programming the drive uses KNX5100C, Studio 5000®, or
Connected Components Workbench™ software. For information on using
KNX5100C software, see the Kinetix 5100 Single-axis EtherNet/IP Servo Drives
User Manual, publication 2198-UM004.
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
35
Chapter 2
Replacement Considerations
Notes:
36
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter
3
Connectors
Connectors on the Kinetix® 300 servo drives and on the Kinetix 5100 servo
drives are of different types in different locations. Make sure that your cables
are long enough for the differences.
Kinetix 300 Servo Drive
Connector Locations
The connectors of the Kinetix 300 servo drive are shown in Figure 10. Although
the physical sizes of the Kinetix 300 drives vary, the location of the connectors
and indicators is identical.
Figure 10 - Kinetix 300 Connector Locations
7
2
3
10
11
300
4
9
5
12
1
8
6
7
Kinetix 300 Drive, Front View
(2097-V33PR5 drive is shown)
Kinetix 300 Drive, Top View
(2097-V33PR5 drive is shown)
Kinetix 300 Drive, Bottom View
(2097-V33PR5 drive is shown)
Table 42 - Kinetix 300 Drive Connectors
Item
1
2
3
4
5
6
Description
Mains (IPD) connector
Status and diagnostic display
Memory module socket
Ethernet communication port (Port 1)
I/O (IOD) connector
Motor feedback (MF) connector
Item
7
8
9
10
11
12
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Description
Ground lug
Shunt resistor and DC bus (BC) connector
Back-up power (BP) connector
Display control push buttons (3)
Motor power (MP) connector
Safe Torque Off (STO) connector
37
Chapter 3
Connectors
Kinetix 5100 Servo Drive
Connector Locations
The connectors of the Kinetix 5100 servo drive are shown in Figure 11,
Figure 12, and Figure 14.
Figure 11 - Features and Indicators
(catalog numbers 2198-E1044-ERS, 2198-E1007-ERS, 2198-E1015-ERS)
1
2
5100
5
1
6
14
L1 L2 L3
7
I/0
15
11
STO
10
12
UVW
2
DC+ ISH ESH
NET
MFB
4
MOD
CHARGE
L1C L2C P1 P2 DC-
3
8
AUX
Kinetix 5100 Drive, Front View
(2198-E1004-ERS drive is shown)
9
Kinetix 5100 Drive, Top View (2198E1004-ERS drive is shown)
Kinetix 5100 Drive, Bottom View
(2198-E1004-ERS drive is shown)
Table 43 - Features and Indicators Description (catalog numbers 2198-E1004-ERS, 2198-E1007-ERS, and 2198-E1015-ERS)
Item
1
2
3
Description
Status display
Navigation push buttons
Module, Network, and Charge status indicators
Item
9
10
11
4
Mini USB connector
12
5
6
7
8
Ethernet (PORT2) RJ45 connector
Ethernet (PORT1) RJ45 connector
I/O signal connector
Auxiliary feedback (AUX) connector
13
14
15
38
Description
Motor cable ground plate
Safe Torque Off (STO) connector
Mains input power connector
• Control power input (L1C and L2C) connections
• Reserved (P1, P2, and negative DC-bus) not-used connections
Motor feedback (MFB) connector
Motor power output terminals
Shunt resistor terminals
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
13
Chapter 3
Connectors
Figure 12 - Features and Indicators (catalog numbers 2198-E1020-ERS, 2198-E2030-ERS, 2198E4004-ERS, 2198-E4007-ERS, 2198-E4015-ERS)
1
2
5100
4
MOD
CHARGE
12
11
NET
L1C
L2C
2
5
1
6
L1
L2
L3
16
MFB
3
P1
13
P2
DC–
15
DC+
ISH
14
17
7
I/O
ESH
U
V
W
8
AUX
10
STO
9
Figure 13 - Features and Indicators (catalog numbers 2198-E4020-ERS, 2198-E4030-ERS)
1
2
3
CHARGE
4
MOD
NET
24V+
12
5
1
6
24V–
L1
11
2
17
L2
L3
7
I/O
P1
16
P2
DC–
8
AUX
ESH
STO
15
DC+
U
14
10
13
V
W
MFB
18
Kinetix 5100 Drive, Top View
(2198-E4020-ERS drive is shown)
Kinetix 5100 Drive, Bottom View
(2198-E4020-ERS drive is shown)
9
Kinetix 5100 Drive, Front View
(2198-E4020-ERS drive is shown)
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
39
Chapter 3
Connectors
Figure 14 - Features and Indicators (catalog numbers 2198-E2055-ERS, 2198-E2075-ERS, 2198E2150-ERS, 2198-E4055-ERS, 2198-E4075-ERS, and 2198-E4150-ERS)
3
12
11
1
2
4
5
6
5100
MOD
CHARGE
NET
L1C
L2C
L1
17
L2
L3
P1
16
7
I/O
P2
DC–
15
8
DC+
17
AUX
13
U
14
V
STO
ESH
10
MFB
W
18
9
Table 44 - Features and Indicators Description (catalog numbers 2198-E1020-ERS, 2198-E2030-ERS, 2198-E2055-ERS, 2198-E2075-ERS,
and 2198-E2150-ERS,2198-E4055-ERS, 2198-E4075-ERS, and 2198-E4150-ERS)
Item
1
2
3
4
5
6
Description
Status display
Navigation push buttons
Module, Network, and Charge status indicators
Mini USB connector
Ethernet (PORT2) RJ45 connector
Ethernet (PORT1) RJ45 connector
Item
10
11
12
13
14
15
7
I/O signal connector
16
8
9
Auxiliary feedback (AUX) connector
Motor cable ground plate
17
18
I/O Connector Pinouts
Description
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
This section describes the I/O Connector pin assignments and compares the
pin assignments for the Kinetix 300 Servo Drive and the Kinetix 5100 Servo
Drive. See Figure 10 for locations of connectors on your Kinetix 300 drive. See
in Figure 11, Figure 12, and Figure 14 for locations of connectors on your
Kinetix 5100 drive.
Table 45 compares the I/O connector pin assignments for the Kinetix 300 (IOD
connector) and Kinetix 5100 servo drives (I/O connector).
40
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 3
Connectors
Table 45 - I/O Connector Assignment Comparison
Pin
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
Kinetix 300 Servo Drives
Description
Master encoder A+/Step+ input
Master encoder A-/Step- input
Master encoder B+/Direction+ input
Master encoder B-/Direction- input
Reserved
Reserved
Buffered encoder output: channel A+
Buffered encoder output: channel ABuffered encoder output: channel B+
Buffered encoder output: channel BBuffered encoder output: channel Z+
Buffered encoder output: channel ZReserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Analog common
Analog output (max 10 mA)
Positive (+) of analog signal input
Negative (-) of analog signal input
Digital input group ACOM terminal
Negative travel- limit switch
Positive travel limit switch
Inhibit/enable input
Digital input A4
Digital input group BCOM terminal
Digital input B1
Digital input B2
Digital input B3
Digital input B4
Digital input Group CCOM Terminal
Digital input C1
Digital input C2
Registration input sensor
Digital input C4
Ready output collector
Ready output emitter
Programmable output #1 collector
Programmable output #1 emitter
Programmable output #2 collector
Programmable output #2 emitter
Programmable output #3 collector
Programmable output #3 emitter
Programmable output #4 collector
Programmable output #4 emitter
Signal
MA+
MAMB+
MB—
—
BA+
BABB+
BBBZ+
BZ—
—
—
—
—
—
—
—
—
ACOM
AO
AIN1+
AIN1IN_A_COM
IN_A1
IN_A2
IN_A3
IN_A4
IN_B_COM
IN_B1
IN_B2
IN_B3
IN_B4
IN_C_COM
IN_C1
IN_C2
IN_C3
IN_C4
RDY+
RDYOUT1-C
OUT1-E
OUT2-C
OUT2-E
OUT3-C
OUT3-E
OUT4-C
OUT4-E
Kinetix 5100 Servo Drives
Description
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, 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
B+/DIR+/CCW+
B-/DIR-/CCWDigital input
External power input of AX+/AX- for single-end operation
Digital output
A-/Step-/CWAnalog 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
Not in use
Encoder Z+ pulse output
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Signal
OUTPUT4+
OUTPUT3OUTPUT3+
OUTPUT2OUTPUT2+
OUTPUT1OUTPUT1+
INPUT4
INPUT1
INPUT2
DCOM
AGND
AGND
MON2
MON1
COMMAND1
AGND
AMOUT+
AMOUTBMOUTZMOUTBMOUT+
OUTPUT4OUTPUT5OUTPUT5+
INPUT9
INPUT8
INPUT7
INPUT6
INPUT5
INPUT3
BPWR
BX+
BX–
INPUT10
APWR
OUTPUT6AXCOMMAND2
AX+
AGND
—
OUTPUT6+
—
OCZMOUT
—
ZMOUT+
41
Chapter 3
Connectors
Motor Feedback
The Table 46 compares the motor feedback connector pinouts for the
Kinetix 300 (motor feedback connector) and Kinetix 5100 servo drives (MFB
connector). Both the Kinetix 300 drive and Kinetix 5100 drive accept motor
feedback signals from Hiperface and Generic TTL incremental encoders. The
Kinetix 300 drive also supports 17-bit serial encoders. The Kinetix 5100 drive
supports both 17-bit serial encoders and 24-bit serial encoders.
Figure 15 - 15 Pin Motor Feedback Connector Pin Assignment
Pin 15
Pin 10
Pin 5
Pin 11
Pin 1
Pin 6
Table 46 - Motor Feedback Connectors Assignment Comparison
Kinetix 300
Kinetix 5100
Signal
Signal
Pin
Description
TTL
Hiperface Generic
Incremental
17-bit
Serial
Description
1
SIN+
AM+
—
SIN-
AM-
—
COS+
BM+
—
4
Sine differential input+
AM+ differential input+
Sine differential inputAM- differential inputCosine differential input+
BM+ differential input+
Cosine differential inputBM- differential input-
COS–
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 -
5
Data differential input+
Index pulse+
DATA+
Index pulse+
DATA+
Data Differential Input/Output + DATA+
Index Differential Input +
IM+
MTR_DATA+
6
Common
ECOM
ECOM
ECOM
Encoder Common
ECOM
—
Encoder 9V Power Output(1)
2
3
(1)
Generic TTL
Incremental
17-bit Serial 24-bit Serial
MTR_SIN+
MTR_AM+
—
—
MTR_SIN-
MTR_AM-
—
—
MTR_COS+
MTR_BM+
—
—
MTR_COS-
MTR_BM-
—
—
MTR_ECOM
MTR_DATA+
(TLY-B)
MTR_SD+
(TL-B)
MTR_ECOM
MTR_ECOM
EPWR_9V
MTR_EPWR9V
—
—
Hall Commutation S3 Input
S3
—
—
—
—
—
—
MTR_DATA–
(TLY-B)
MTR_SD–
(TL-B)
—
MTR_DATA+
9
EPWR9V
Encoder power (+9V)
Single-ended 5V Hall effect —
commutation
Reserved
—
—
—
Reserved
10
Data differential inputIndex pulse-
IM-
DATA-
Data Differential Input/Output - MTR_DATAIndex Differential Input -
MTR_IM-
TS
—
Motor Thermostat (2)
MTR_TS
MTR_TS
—
—
S1
Hall Commutation S1 Input
—
MTR_S1
—
—
S2
Hall Commutation S1 Input
—
MTR_S2
—
—
7
8
11
12
13
14
15
DATA-
Motor thermal switch
TS
(normally closed) (2)
Single-ended 5V Hall effect —
commutation
Single-ended 5V Hall effect —
commutation
Encoder power (+5V) (1)
Reserved
—
Hiperface
S3
—
EPWR_5V
—
—
EPWR_5V Encoder 5V Power Output (1)
—
Reserved
MTR_EPWR5V MTR_EPWR5V
MTR_EPWR5V MTR_EPWR5V
—
—
(1) Determine which power supply your encoder requires and connect to that supply only. Do not make connections to both supplies.
(2) Not applicable unless motor has integrated thermal protection.
42
MTR_DATA-
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
—
—
Chapter 3
Auxiliary Feedback
Connectors
There is no separate auxiliary feedback connector used with the Kinetix 300
drive. The auxiliary encoder signal is wired using the I/O connector, see
Table 47. The Kinetix 5100 uses a 10-pin auxiliary encoder connector, which is
used for wiring a master reference input signal or load feedback encoder,
shown in Figure 16.
Table 47 - Kinetix 300 Drive Auxiliary Feedback on I/O Connector
Pin
1
2
3
4
Description
Sine differential input+
AM+ differential input+
Sine differential inputAM- differential inputCosine differential input+
BM+ differential input+
Cosine differential inputBM- differential input-
Signal
SIN+
AM+
SINAMCOS+
BM+
COS–
BM–
Figure 16 - Kinetix 5100 Drive 10-pin Auxiliary Feedback Connector
Table 48 lists the auxiliary feedback connector pin assignments for the Kinetix
5100 servo drives (AUX connector).
Table 48 - Kinetix 5100 Auxiliary Feedback Connector Assignment
Signal (Generic TTL Incremental)
MTR_AM+
MTR_AMMTR_BM+
MTR_BMMTR_IM+
MTR_IMMTR_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-RM004C-EN-P - March 2022
AUX Pin#
1
2
3
4
5
6
7
8
9
10
43
Chapter 3
Connectors
Safe Torque Off Connector
Both the Kinetix 300 drive and Kinetix 5100 drive have a Safe Torque Off (STO)
connector. The STO pinouts are different between the two drives. See Figure 17
for a comparison of the two connectors. See the Kinetix 300
EtherNet/IP™ Indexing Servo Drives User Manual, publication 2097-UM001
for information on STO with the Kinetix 300 drive. See the Kinetix 5100 Singleaxis EtherNet/IP Servo Drives User Manual, publication 2198-UM004 for
information on STO with the Kinetix 5100 drive.
Figure 17 - STO Connector Assignment Comparison
Kinetix 5100 Drive
STO Connector
Kinetix 300 Drive
STO Connector
1 2
3 4 5 6
SB+
S1
S2
SS+
SB–
S1C
S2C
SS–
Table 49 - STO Connector Assignment Comparison
Kinetix 300 Servo Drive
Pin
Signal
Description
DC output from the
1
+24V DC control +24V
drive
2
Control COM
+24V DC output common
3
Safety Status
Safety status
Safety input 1 (+24V DC to
4
Safety Input 1
enable)
5
Safety COM
Safety common
Safety input 2 (+24V DC to
6
Safety Input 2
enable)
7
—
—
8
—
—
44
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Kinetix 5100 Servo Drive
Signal
Description
SB+
used for jumper +
SBS1
used for jumper STO 1 +
S1C
STO 1 -
S2
STO 2 +
S2C
STO 2 -
SS+
SS-
Safety Status or Feedback
Safety Status or Feedback
Chapter
4
Dimensions, Cables, and Wiring
This section provides dimensions of the drives to help you determine the space
that is needed to install the drives.
Dimension Drawings
The dimensions for Kinetix® 300 drives are shown in Figure 18 and Table 19.
Figure 18 - Kinetix 300 Dimensions in mm (in.)
A
5.0
(0.19)
7.1
(0.28)
9.7
(0.38)
238
(9.37)
30.8
(1.21)
300
182
(7.18)
2097-TB1
I/O Terminal
Expansion
Block
190
(7.50)
6.6
(0.26)
2090-K2CK-D15M
Low-Profile Connector Kit for 61.0
(2.40)
Kinetix 2090 (flying lead)
Feedback Cable
11.8
(0.46)
38.1
(1.5)
Ø 4.57
(0.18) 3x
B
Additional clearance below the connector kit is necessary to provide
the recommended cable bend radius.
Table 50 - Kinetix 300 Dimensions
Cat. No.
2097-V31PR0
2097-V31PR2
2097-V32PR0
2097-V32PR2
2097-V32PR4
2097-V33PR1
2097-V33PR3
2097-V33PR5
2097-V33PR6
2097-V34PR3
2097-V34PR5
2097-V34PR6
Dimensions mm (in.)
A
185.1 (7.29)
185.1 (7.29)
229.6 (9.04)
229.6 (9.04)
229.6 (9.04)
185.1 (7.29)
185.1 (7.29)
185.1 (7.29)
229.6 (9.04)
185.1 (7.29)
229.6 (9.04)
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
B
68.0 (2.68)
68.5 (2.70)
68.0 (2.68)
68.5 (2.70)
86.8 (3.42)
68.0 (2.68)
68.5 (2.70)
94.4 (3.72)
68.0 (2.68)
68.5 (2.70)
94.4 (3.72)
68.0 (2.68)
45
Chapter 4
Dimensions, Cables, and Wiring
Kinetix 5100 Drive Dimensions
The Kinetix 5100 drive dimensions are shown in Figure 19, Figure 20, and
Figure 21.
Figure 19 - Catalog Numbers 2198-E1004-ERS, 2198-E1007-ERS, and 2198-E1015-ERS
20.0
(0.79)
A
23.0
(0.89)
B
16.0
(0.65)
5100
MOD
CHARGE
NET
2
1
C
I/0
AUX
45.0
(1.76)
D
57.0
(2.30)
Cat. No.
2198-E1004-ERS
2198-E1007-ERS
2198-E1015-ERS
46
A mm (in.)
35.0 (1.37)
B mm (in.)
178 (7.0)
C mm (in.)
170 (6.68)
D mm (in.)
52.0 (2.05)
50.0 (2.0)
188 (7.41)
180 (7.10)
47.0 (1.84)
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 4
Dimensions, Cables, and Wiring
Figure 20 - Catalog Numbers 2198-E1020-ERS, 2198-E2030-ERS, 2198-E4004-ERS, 2198-E4007-ERS,
and 2198-E4015-ERS
20.0
(0.79)
95.0
(3.74)
13.0
(0.50)
23.0
(0.89)
208
(8.20)
5100
MOD
CHARGE
NET
L1C
L2C
2
L1
L2
178
(7.08)
L3
1
P1
P2
DC–
DC+
ISH
ESH
I/0
U
V
W
AUX
25.0
(0.97)
11.0
(0.43)
37.0
(1.50)
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
47
Chapter 4
Dimensions, Cables, and Wiring
Figure 21 - Catalog Numbers 2198-E4020-ERS, 2198-E4030-ERS, 2198-E2055-ERS, 2198-E4055-ERS,
2198-E2075-ERS, 2198-E4075-ERS, 2198-E2150-ERS, and 2198-E4150-ERS
44.0
(1.75)
A
D
13.0
(0.50)
5100
MOD
CHARGE
NET
2
L1C
L2C
1
L1
L2
L3
I/0
P1
E
P2
DC–
DC+
AUX
ESH
U
V
B
W
C
20.0
(0.79)
95.0
(3.70)
107
(4.20)
Cat. No.
2198-E4020-ERS
2198-E4030-ERS
2198-E2055-ERS
2198-E4055-ERS
2198-E2075-ERS
2198-E4075-ERS
2198-E2150-ERS
2198-E4150-ERS
48
A
mm (in.)
B
mm (in.)
C
mm (in.)
D
mm (in.)
E
mm (in.)
110 (4.33)
14.0 (0.55)
38.0 (1.50)
204 (8.02)
260 (10.24)
120 (4.72)
37.0 (1.47)
59.0 (2.32)
209 (8.24)
273 (10.75)
225 (8.87)
312 (12.28)
16.0 (0.65)
35.0 (1.36)
281 (11.08)
390 (15.35)
141 (5.55)
186 (7.32)
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 4
Cables
Dimensions, Cables, and Wiring
This section provides information to help you determine interconnects and
cabling requirements of the drives.
Motor and Feedback Cables
Only the Kinetix MP and Kinetix TL rotary motors are supported by both
Kinetix 300 drives and Kinetix 5100 drives. All Kinetix MP and Kinetix TL/TLY
cables are reusable when you migrate from Kinetix 300 drives using Kinetix
MP or Kinetix TL rotary motors to Kinetix 5100 drives using Kinetix MP or
Kinetix TL rotary motors. However, the cables are different for each motor
family. See Table 53 and Table 54 for a list of compatible motors and cables.
When migrating your Kinetix 300 servo drive system, do not exceed the
maximum cable lengths for the Kinetix 5100 servo drives. See Table 51 and
Table 52 for the maximum length of the power and feedback cables for the
Kinetix 5100 drives
Table 51 - Maximum Cable Lengths (200V-class) Motors with Kinetix 5100 Drives
Compatible Motor and Actuator
Cat. No.
TLP-Axxx-xxx-D
MPL-A15xxx-V/Ex7xAA
MPL-A2xxx-V/Ex7xAA
MPL-A3xxx-S/Mx7xAA
MPL-A4xxx-S/Mx7xAA
MPL-A45xxx-S/Mx7xAA
MPL-A5xxx-S/Mx7xAA
MPM-Axxxx-S/M
MPF-Axxxx-S/M
MPS-Axxxx-S/M
MPL-A15xxx-Hx7xAA
MPL-A2xxx-Hx7xAA
MPL-A3xxx-Hx7xAA
MPL-A4xxx-Hx7xAA
MPL-A45xxx-Hx7xAA
TLY-Axxxx-B
TL-Axxxx-B
TLY-Axxxx-H
Feedback Type
Cable Length, max
m (ft)
Nikon (24-bit) absolute high-resolution, multi-turn and single-turn
Hiperface, absolute high-resolution, multi-turn and single-turn
50 (164)
Incremental
30 (98.4)
Tamagawa (17-bit) absolute high-resolution, multi-turn
Incremental
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
49
Chapter 4
Dimensions, Cables, and Wiring
Table 52 - Maximum Cable Lengths (400V-class) Motors with Kinetix 5100 Drives
Compatible Motor and Actuator
Cat. No.
Feedback Type
TLP-B200-xxx-D
TLP-B070-xxx-D, TLP-B090-xxx-D, TLP-B115-xxx-D,
TLP-B145-xxx-D, TLP-B235-xxx-D
MPL-B15xxx-V/Ex7xAA
MPL-B2xxx-V/Ex7xAA
MPL-B3xxx-S/Mx7xAA
MPL-B4xxx-S/Mx7xAA
MPL-B45xxx-S/Mx7xAA
MPL-B5xxx-S/Mx7xAA
MPL-B6xxx-S/Mx7xAA
MPL-B8xxx-S/Mx7xAA
MPL-B9xxx-S/Mx7xAA
MPM-Bxxxx-S/M
MPF-Bxxxx-S/M
MPS-Bxxxx-S/M
MPL-B15xxx-Hx7xAA
MPL-B2xxx-Hx7xAA
MPL-B3xxx-Hx7xAA
MPL-B4xxx-Hx7xAA
MPL-B45xxx-Hx7xAA
Nikon (24-bit) absolute high-resolution, multi-turn and single-turn
Cable Length, max
m (ft)
≤ 400V AC Input
480V AC Input
15 (49.2)
50 (164)
50 (164)
50 (164)
20 (65.6)
Hiperface, absolute high-resolution, multi-turn and single-turn
50 (164)
30 (98.4)
20 (65.6)
Incremental
30 (98.4)
Replacement Considerations
If you are using a new wire gauge, verify that the capacity of the new wire is
capable of handling the current to the motor.
Cable shield and lead preparation is provided with most Allen-Bradley® cable
assemblies. Follow the guidelines if your motor power cable shield and wires
require preparation.
•
•
•
The existing motor power cables can be used for the Kinetix MP motors
because they are supported by both the Kinetix 300 drives and the
Kinetix 5100 drives.
The existing motor feedback cables can be used for the Kinetix MP and
Kinetix TL rotary motors because they are supported by both the Kinetix
300 drives and the Kinetix 5100 drives. The existing Kinetix TL/TLY
motor feedback cables can be used, but the drive-end connector of 2090DANFCT needs to be removed and 2198-K51CK-D15M is used for wiring.
Factory-made motor power and feedback cables with premolded
connectors are designed to minimize electromagnetic interference
(EMI). Rockwell Automation recommends factory-made cables to
achieve the expected system performance.
For details and drawings of recommended cables see the Kinetix Rotary and
Linear Motion Cable Accessories Specifications Technical Data, publication
KNX-TD004, the bill of materials (BOM) configuration tool within Motion
Analyzer, or ProposalWorks™ system configuration tool from Rockwell
Automation.
Power Wiring
50
Use these power wiring examples to assist you in comparing the power wiring
for the Kinetix 300 servo drive and the Kinetix 5100 drive systems.
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 4
Dimensions, Cables, and Wiring
Kinetix 300 Servo Drive Power Wiring Examples
In Figure 22, the 2097-V31PRx drives are wired to the voltage doubling circuit.
The 120V input voltage provides 240V output to motors. The 2097-V33PRx
drives are wired for single-phase 120V operation.
Figure 22 - Kinetix 300 Drive (120V single-phase input power)
2097-V33PRx
Transformer Secondary
L1
L1
IPD
L1
L2/N
N
L2
IPD
L1
L1
120V AC
Output
AC Line
Filter
L2/N
L2 (Neutral)
Input
Fusing
M1
Contactor
Kinetix 300 Drives
Single-phase AC Input
E
Bonded Cabinet Ground Bus
Ground Grid or Power
Distribution Ground
In Figure 23, single-phase 240V AC is applied to 2097-V31PRx and 2097-V32PRx
drives.
Figure 23 - Kinetix 300 Drives (240V single-phase input power)
Transformer Secondary
L1
L1
240 AC
Output
AC Line
Filter
L2
L2
Input
Fusing
M1
Contactor
2097-V31PRx
2097-V32PRx
IPD
L1
IPD
L1
L2/N
L2
L1
L2
E
Bonded Cabinet Ground Bus
Ground Grid or Power
Distribution Ground
Transformer Secondary
2097-V33PRx
L1
L1
IPD
L1
L2/N
N
L2
IPD
L1
L1
230V AC
Output
L2/N
L2 (Neutral)
Input
Fusing
M1
Contactor
AC Line
Filter
E
Bonded Cabinet Ground Bus
Ground Grid or Power
Distribution Ground
The examples in Figure 24 and Figure 25 illustrate grounded three-phase
power that is wired to three-phase Kinetix 300 drives when phase-to-phase
voltage is within drive specifications.
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
51
Chapter 4
Dimensions, Cables, and Wiring
Figure 24 - Kinetix 300 Drives Three-phase (240V) Power Configuration (Delta secondary)
2097-V33PRx
Transformer (Delta) Secondary
L3
L3
L3
AC Line (1)
Filter L2
Feeder and branch short-circuit
protection is not illustrated.
L2
L2
L1
L1
L2
Kinetix 300 Drives
Three-phase AC Input
L1
E
M1
Input
Contactor
Fusing
Bonded Cabinet Ground Bus
L1
IPD
L3
Ground Grid or Power Distribution
Ground
(1) Leakage current from the line filter, in this configuration, typically is higher than a balanced (center ground) configuration.
Figure 25 - Kinetix 300 Drives Three-phase (240V) Power Configuration (Delta secondary)
2097-V33PRx
Transformer (Delta) Secondary
L3
L2
IPD
L3 Kinetix 300 Drives
Three-phase AC Input
L2
L1
L1
L3
L3
AC Line (1)
Feeder and branch short-circuit
protection is not illustrated.
L2
L2
L1
Filter
L1
Input
Fusing
E
M1
Contactor
Bonded Cabinet Ground Bus
Ground Grid or Power Distribution
Ground
(1) Leakage current from the line filter, in this configuration, typically is higher than a balanced (center ground) configuration.
Figure 26 - Kinetix 300 Drives Three-phase (400V) Power Configuration (Wye secondary)
2097-V34PRx
Transformer (Delta) Secondary
L3
Feeder and branch short-circuit
protection is not illustrated.
L2
L1
Input
Fusing
L3
L3
L2
AC Line (1)
Filter L2
L1
L1
M1
Contactor
IPD
L3
Kinetix 300 Drives
L2 Three-phase AC Input
L1
E
Bonded Cabinet Ground Bus
Ground Grid or Power Distribution
Ground
(1) Leakage current from the line filter, in this configuration, typically is higher than a balanced (center ground) configuration.
52
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 4
Dimensions, Cables, and Wiring
Kinetix 5100 Servo Drives 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 threephase 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 wired as shown in Figure 27.
Figure 27 - Kinetix 5100 Drive Three-phase (200…230V) Grounded Power Configuration (wye
secondary)
Control AC Input
Power Connector
L2C
L1C
Circuit
Protection
Transformer (wye) Secondary
L3
Feeder and branch short-circuit
protection is not illustrated.
L3
L2
L2
L1
AC Line
Filter
L1
Circuit
Protection
L3
L3
L2
L2
L1
L1
Mains AC Input
Power Connector
E
2198-Exxxx-ERS
Servo Drives
Bonded Cabinet Ground Bus
Ground Grid or Power
Distribution Ground
ATTENTION: The power system must be center-grounded wye
secondary configuration for Kinetix 5100 drives.
Figure 28 - Kinetix 5100 Drive Three-phase (380…480V) Grounded Power Configuration (wye
secondary)
24V DC
Power Supply
(customer supplied)
24V+ Control Input
Power Connector
24V-
Transformer (wye) Secondary
L3
Feeder and branch short-circuit
protection is not illustrated.
L3
L3
AC Line
L2 Filter L2
L2
L1
L1
Circuit
Protection
L1
E
L3
L2
Mains AC Input
Power Connector
L1
2198-Exxxx-ERS
Servo Drives
Bonded Cabinet Ground Bus
Ground Grid or
Power Distribution Ground
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
53
Chapter 4
Dimensions, Cables, and Wiring
Single-phase Power Wired to Single-phase Kinetix 5100 Drives
The examples in Figure 29, Figure 30, and Figure 31 illustrate grounded singlephase power that is wired to single-phase Kinetix 5100 drives when phase-tophase voltage is within drive specifications.
Figure 29 - Kinetix 5100 Drive Single-phase (200…230V) Grounded Power Configuration
L2C
Circuit
Protection
Transformer Secondary
L2
L2
200…230V AC
Output
L1
AC Line
Filter
Circuit
Protection
L1
Control AC Input Power
Connector
L1C
L2
L2
L1
L1
Mains AC Input Power
Connector
E
2198-E1004-ERS, 2198-E1007-ERS, 2198E1015-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.
Figure 30 - Kinetix 5100 Drive Single-phase (120V) Grounded Power Configuration
L2C Control AC Input Power
Connector
L1C
Transformer Secondary
Circuit
Protection
L2
L2
L2
AC Line
L1N Filter L1N
120V AC
Output
L1 (Neutral)
Circuit
Protection
Bonded Cabinet Ground Bus
L2
L1
E
2198-E1004-ERS, 2198-E1007-ERS, 2198E1015-ERS, and 2198-E1020-ERS
Drives with Single-phase Operation
Ground Grid or Power
Distribution Ground
54
Mains AC Input Power
Connector
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 4
Dimensions, Cables, and Wiring
Figure 31 - Kinetix 5100 Drive Single-phase (230V) Grounded Power Configuration
L2C
Circuit
Protection
Transformer Secondary
L2
230V AC
Output
L1 (Neutral)
L1C
L2
L2
AC Line Filter
L2
L1N
L1
L1N
Circuit
Protection
Control AC Input Power
Connector
Mains AC Input Power
Connector
E
Bonded Cabinet Ground Bus
2198-E1004-ERS, 2198-E1007-ERS, 2198E1015-ERS, and 2198-E1020-ERS
Drives with Single-phase Operation
Ground Grid or Power
Distribution Ground
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
55
Chapter 4
Dimensions, Cables, and Wiring
Notes:
56
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter
5
System Architecture
This section lists the typical system components and compares some
configurations of Kinetix® 300 and Kinetix 5100 drives. The Kinetix 5100 drives
are flexible to provide integration into your existing application or can be
designed to meet your new application requirements.
Table 53 - Kinetix 5100 Drive System Overview
Kinetix 5100 System
Component
Cat. No.
Description
Kinetix 5100 Servo Drive
2198-Exxxx-ERS
Kinetix 5100 EtherNet/IP™ indexing drives with Safe Torque Off (STO) are available with 120V singlephase, 200…230V single-phase, 230V three-phase, and 480V three-phase (nom) input voltages.
Terminal block for I/O
connector
Motor Feedback
Connector Kit
Auxiliary Feedback
Connector Kit
2198-TBIO
50-pin terminal block. Plugs into I/O connector for control interface connections.
2198-K51CK-D15M
Feedback Battery Box
2198-KTBT
Motor feedback connector kit with 15-pin connector plug for compatible servo motors. Kit features
battery backup for Kinetix TLP, TL, and TLY multi-turn encoders.
Auxiliary feedback connector kit for master feedback and load feedback connections to the AUX
connector.
The feedback battery box is used in applications where Kinetix TLP motor position data must be
maintained in the event of a power loss. The battery box is included with Kinetix 2090 cables for
Kinetix TLP motors and is also available as this replacement kit.
AC Line Filters
Shunt Module
24V DC Power Supply
Logix PAC® Controller
Platforms
Logix PLC Controller
Platforms
Configuration Software
Rotary Servo Motors
2198-AUXKIT
2198-DBxx-F
2198-DBR40-F
2198-DBR90-F
2198-R004 and 2198-R031
2097-R6 and 2097-R7
Bulletin 2198 three-phase AC line filters are required to meet CE.
Bulletin 2198 and 2097 external passive-shunt resistors for use when additional shunt capability is
needed.
Bulletin 1606 24V DC power supply for digital input/output, Safe Torque Off (STO), and motor brake
1606-XLxxx
control.
EtherNet/IP networking with CompactLogix™ 5370 and CompactLogix 5380 controllers with embedded
Bulletin 5069 and 1769
dual-port. CompactLogix 5480 controllers for the benefits of Logix control with Windows®-based
computing.
1756-EN2T, 1756-EN2TR,
EtherNet/IP network communication modules for use with ControlLogix® 5570 and ControlLogix 5580
and 1756-EN3TR module
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.
5000 Logix Designer® application (version 30 or later) is used to program, commission, and
Studio 5000® environment Studio
maintain the Logix family of controllers.
Connected Components
Connected Components Workbench™ design and configuration software (CCW), version 10.0 or later,
Workbench software
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
KNX5100C software
cable connection.
RSLogix 500® software
RSLogix 500 software is used to program MicroLogix 1100 or 1400 controllers.
Kinetix TLP
Compatible rotary motors include Kinetix TLP (200V and 400V-class) servo motors.
Kinetix MP
Compatible rotary motors include Kinetix MPL, MPM, MPF, and MPS (200V and 400V-class) servo motors.
Kinetix TL and TLY
Compatible rotary motors include Kinetix TL and TLY (200V-class) servo motors.
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
57
Chapter 5
System Architecture
Table 53 - Kinetix 5100 Drive System Overview (Continued)
Kinetix 5100 System
Component
Cat. No.
Description (Continued)
AC Line Filters
2090-CTFB-MxDx-xxxxx
2090-CTPx-MxDx-xxxxx
2090-CFBM6Dx-CxAAxx
2090-CPxM6DF-16AAxx
2090-DANFCT-Sxx
2090-DANPT-16Sxx
2090-DANBT-18Sxx
2090-CFBM7DF-CEAxxx
2090-CPxM7DF-xxAxxx
2090-XXNFMF-Sxx
2090-CFBM7DF-CDAFxx
1585J-M8CBJM-x
1585J-M8UBJM-x
2198-USBC
2198-USBF
2198-DBxxx-F
2198-DBRxxx-F
24V DC Power Supply
1606-XLxxx
Kinetix 2090 motor feedback cables for Kinetix TLP motors.
Kinetix 2090 motor power/brake cables for Kinetix TLP motors.
Motor feedback cables for Kinetix TLY servo motors.
Motor power/brake cables for Kinetix TLY servo motors.
Motor feedback cables for Kinetix TL servo motors.
Motor power cables for Kinetix TL servo motors.
Motor brake cables for Kinetix TL servo motors.
Motor feedback cables for Kinetix MP servo motors with Hiperface encoders.
Motor power/brake cables for Kinetix MP servo motors.
Standard and continuous-flex feedback cables that include additional conductors for use with
incremental encoders.
Ethernet cables are available in standard lengths. Shielded cable is required to meet EMC
specifications.
Interface cable with mini-USB connector for KNX5100C software configuration.
Filter for mini-USB port to reduce the vulnerability to electrical noise.
Bulletin 2198 three-phase AC line filters are required to meet CE and are available for use in all
Kinetix 5100 drive systems.
Bulletin 1606 24V DC power supply for digital input/output, Safe Torque Off (STO) circuitry, and motor
brake control.
External Shunt Resistors
2097-R6 and 2097-R7
2198-R004, 2198-R031
Bulletin 2097 and 2198 external passive shunt resistors are available for when the internal shunt
capability of the drive is exceeded.
Cables
Table 54 - Kinetix 300 Drive System Overview
Kinetix 300 System
Component
Kinetix 300 EtherNet/IP
Indexing Servo Drive
Cat. No.
Description
2097-V3xPRx
AC Line Filters
2090-UXLF-xxx
2097-Fx
2097-Rx
Kinetix 300 EtherNet/IP indexing drives with Safe Torque Off feature are available with 120/240V or 480V AC
input power.
Bulletin 2090 and Bulletin 2097-Fx AC line filters are required to meet CE with Kinetix 300 drives without an
integrated line filter. Bulletin 2097 filters are available in foot mount and side mount.
Bulletin 2097 shunt resistors connect to the drive and provide shunt capability in regenerative applications.
Shunt Module
Terminal block for I/O
2097-TB1
connector
Memory Module Programmer 2097-PGMR
Memory Modules 12 Pack
2097-MEM
Logix PAC® Controller
Platforms
Logix PLC Controller
Platforms
Studio 5000 Environment or
RSLogix 5000® Software
Rotary Servo Motors
Cables
58
50-pin terminal block. Use with IOD connector for control interface connections.
Bulletin 5069
Bulletin 1768 and 1769
The EPM programmer is used to duplicate the memory and configuration of the Kinetix 300 drives.
These memory modules are removable and the drive to store parameters in them.
EtherNet/IP networking with CompactLogix 5370 and CompactLogix 5380 controllers with embedded dual-port.
1769-L3x controllers with embedded single port. 1768-L4x controller and 1768-L4xS safety controller with
1768-ENBT EtherNet/IP communication module.
1756-EN2T, 1756-EN2TR, EtherNet/IP network communication modules for use with ControlLogix 5570 and ControlLogix 5580 controllers.
and 1756-EN3TR module
MicroLogix 1100 and 1400 controllers provide communications ports, an isolated combination RS-232/485 communication port, an Ethernet
port, and (MiroLogix 1400 only) a non-isolated RS-232 communication port.
Micro850® controllers with embedded inputs/outputs can accommodate from two to five plug-in modules and up to four expansion I/O
modules.
RSLogix 5000 software (version 20 or earlier) and the Studio 5000 Logix Designer application (version 21 or
—
later) are used to program, commission, and maintain the Logix family of controllers.
Kinetix MP, Kinetix TLY
Compatible rotary motors include the Kinetix MPL, MPM, MPS, and MPF, and Kinetix TLY motors.
2090-CFBM6Dx-CxAAxx
Motor feedback cables for Kinetix TLY servo motors.
2090-CPxM6DF-16AAxx
Motor power/brake cables for Kinetix TLY servo motors.
2090-CFBM7DF-CEAxxx
Motor feedback cables for Kinetix MP servo motors with Hiperface encoders.
Motor power/brake cables for Kinetix MP servo motors.
2090-CPxM7DF-xxAxxx
2090-XXNFMF-Sxx
Standard and continuous-flex feedback cables that include additional conductors for use with incremental
2090-CFBM7DF-CDAFxx
encoders.
1585J-M8CBJM-x
Ethernet cables are available in standard lengths. Shielded cable is required to meet EMC specifications.
1585J-M8UBJM-x
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 5
Kinetix 300 Servo Drive
System Architecture
System Architecture
Figure 32 is an example of a typical Kinetix 300 Servo Drive system, in this case
a Kinetix 300 controlled through EtherNet/IP external reference. This
illustrates how the required drive modules and accessories are used in a typical
Kinetix 300 servo drive system.
Figure 32 - Typical Configuration - Kinetix 300 Servo Drive System
1
2
3
4
5
P
W
R
CompactLogix
L23E
1783-US05T
Stratix® 2000
Switch
CompactLogix Controller Platform
1769-L23E-QB1B Shown
RSLogix 5000
Software
1585J-M8CBJM-x
Ethernet (shielded) Cable
2097-V3xxx
Kinetix 300 Drive
3 0000
Bulletin 2090 or 2097-Fx
AC Line Filter (optional equipment)
2097-F1 Filter Shown
24V DC Control
Back-up Power Supply
(optional equipment)
2097-TB1 Terminal
Expansion Block
Kinetix MPAS Integrated Linear Stages
(MPAS-B9xxx ballscrew shown)
2090-K2CK-D15M
Low-profile Connector Kit
Kinetix 2090
Motor Feedback Cables
Kinetix MP and Kinetix TL
Rotary Motors
(MPL-Bxxxx motors shown)
2097-Rx
Shunt Resistor
(optional equipment)
Kinetix 2090
Motor Power Cables
Kinetix MPAR and Kinetix TL Electric Cylinders
(MPAR-Bxxxx electric cylinders shown)
Kinetix MPAI Heavy Duty Electric Cylinders
(MPAI-Bxxxx electric cylinders shown)
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
59
Chapter 5
System Architecture
Kinetix 5100 Servo Drive
System Architecture
This section shows typical Kinetix 5100 servo drive systems. Kinetix 5100 can
work with different controllers and receive commands from many sources.
The different system architectures that are shown in Figure 33, Figure 34, and
Figure 35 illustrate how the controllers, cables, software, kits, accessories or
optional modules are used.
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). It provides Add-On Instructions that
emulate native Logix motion instructions for Studio 5000-based
programming.
Figure 33 - Kinetix 5100 Controlled Via Motion Control AOIs
Studio 5000 Logix Designer
Application
KNX5100C Drive
Configuration Software
2198-USBC
Mini-USB Interface Cable
(with 2198-USBF filter)
EtherNet/IP
LNK1 LNK2 NET OK
1783-US05T
Stratix 2000 Switch
1
P
W
R
2
F1
F9
F2
F10
F11
F3
3
4
5
2
1
EtherNet/IP Network
1585J-M8CBJM-x (shielded) or
1585J-M8UBJM-x (high-flex shielded)
Ethernet Cable
F4
F12
F5
F13
7
8
9
4
5
6
2
3
.
1
–
0
PanelView™ Plus 7
Display Terminal
Esc
F14
F6
F7
F15
F8
F16
Kinetix 5100 Servo Drives
(2198-E1020-ERS drives are shown)
5100
5100
MOD
CHARGE
2
L1
L2
1
P1
L2C
L1
P1
DC+
ISH
ESH
TM
NET
DC INPUT
DC INPUT
AC OUTPUT
DC+
ISH
I/0
ESH
U
U
U
V
V
V
W
W
W
AUX
ControlLogix 5570 Controllers or
GuardLogix® 5570 Safety Controllers
ControlLogix 5580 Controllers or
GuardLogix 5580 Safety Controllers
CompactLogix 5370 Controllers or
Compact GuardLogix 5370 Safety Controllers
CompactLogix 5380 and 5480 Controllers or
Compact GuardLogix 5380 Safety Controllers
60
1
P1
P2
I/0
2
L1
DC–
AUX
LINK
L3
P2
Optional Controllers
OK
1
L2
L3
DC–
ISH
SAFETY ON
L2C
P2
ESH
Logix5585
2
DC–
DC+
NET
L1C
L2
L3
0000
MOD
CHARGE
NET
L1C
L2C
RUN FORCE SD
5100
MOD
CHARGE
NET
L1C
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
I/0
AUX
Chapter 5
System Architecture
Kinetix 5100 Drive Controlled Via Explicit Messaging
The Kinetix 5100 Servo Drive supports parameter configuration through
Class 3 EtherNet/IP explicit messaging. Either MicroLogix/Micro800 or thirdparty controllers (must be capable of Class 3 EtherNet/IP messaging) can be
used to control a Kinetix 5100 drive in this way. You must write your own logic
to exchange explicit messages with Kinetix 5100 drives.
Examples of this type of messaging are available on the Sample Code Library
website:
https://www.rockwellautomation.com/en-us/support/product/productdownloads/application-code-library/sample-code.html
Keyword: Kinetix 5100
Figure 34 - Kinetix 5100 Controlled Via Explicit Messaging
2080-LCxx-xxxx
Micro830® Controller
1766-L32xx
MicroLogix 1400 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
ESC
OK
2198-USBC
Mini-USB Interface Cable
(with 2198-USBF filter)
NET
L1C
L2C
Controller Options with
Explicit Messaging Capability
1585J-M8CBJM-x (shielded) or
1585J-M8UBJM-x (high-flex shielded)
Ethernet Cable
5100
MOD
CHARGE
Third-party Controller
with EtherNet/IP Network
2
L1
L2
L3
1
P1
To Other EtherNet/IP Devices
P2
DC–
DC+
ISH
ESH
I/0
Kinetix 5100 Servo Drive
(2198-E1020-ERS drive is shown)
U
V
W
AUX
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
61
Chapter 5
System Architecture
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).
Figure 35 - Kinetix 5100 Controlled Via Pulse Train/ Analog/ Digital I/O
2080-LCxx-xxxx
Micro830 Controller
1766-L32xx
MicroLogix 1400 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
ESC
OK
2198-USBC
Mini-USB Interface Cable
(with 2198-USBF filter)
I/O wiring and controller
Options with
Pulse Train Output, Analog or
Digital I/O (indexing)
5100
MOD
CHARGE
NET
L1C
L2C
2
L1
L2
L3
1
P1
P2
DC–
DC+
ISH
ESH
I/0
U
V
W
Kinetix 5100 Servo Drive
(2198-E1020-ERS drive is shown)
AUX
62
Third-party Controller
with Pulse Train Output or
Analog or Digital I/O
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter
6
Application Conversion
This section provides application examples to migrate Kinetix® 300 drives to
Kinetix 5100 servo drives.
MotionView OnBoard software is used to configure the Kinetix 300 drives.
KNX5100C software is used to configure the Kinetix 5100 Servo Drives. Both
drives can provide simple standalone motion without requiring a controller.
Depending on the controller used in the applications, software is required to
program the controller for controlling both the Kinetix 300 drive or
Kinetix 5100 drives. The software used depending on the situation is
Studio 5000® (for ControlLogix®, CompactLogix™),
Connected Component Workbench™ (for Micro800™-Series controller), or
RSLogix 500® (for MicroLogix™ controllers).
When used in I/O mode, the Kinetix 5100 uses a Logix controller programmed
with the Studio 5000 Logix Designer® application, along with Add-on Profiles
(AOP) which include the ability to:
•
•
get and set a defined set of parameters through a class 1 IO message
using IO assemblies that are defined as part of the profile.
use Kinetix AOIs (Add On Instructions) to execute drive functions that
emulate integrated motion instructions.
The following examples show the MotionView software interface followed by
the KNX5100C software interface and describes the differences between how
they are used to configure the different scenarios shown.
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
63
Chapter 6
Application Conversion
Scenario 1: Analog Command to Analog Command
Figure 36 is an example of the Properties window for Analog Velocity Input
and Analog Current Input in MotionView for the Kinetix 300 servo drive. Use
the wiring from Table 45 on page 41 to determine the wiring pins to use for the
Analog Command mode.
Figure 36 - Analog I/O in MotionView
As in MotionView, KNX5100C software provides Analog Speed Input and
Analog Torque Input in the Analog I/O tab. KNX51000C software also provides
Analog Position Input in this window. You can set the Analog Speed, Analog
Torque, or Analog Position Command using the respective tabs shown in
Figure 37.
Figure 37 - Analog I/O Window in KNX5100C Software
64
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 6
Application Conversion
KNX5100C software also allows a way to monitor the status of the incoming
Analog Command or other parameters (for example, motor speed, DC bus
voltage and others) for an online drive in the Monitoring Output tab, which is
shown in Figure 38.
Figure 38 - Monitoring Output Window of Analog I/O in KNX5100C Software
Scenario 2: Indexing to Position Register (PR) Mode
Figure 39 is an example of the Properties window for Indexing in MotionView
for the Kinetix 300 servo drive.
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
65
Chapter 6
Application Conversion
Figure 39 - Indexing Window in MotionView
Figure 40 shows the Properties window for Digital Input that is used for
Indexing in MotionView for the Kinetix 300 drive.
Figure 40 - Digital I/O Window in MotionView
In MotionView software with Kinetix 300 drives, you can configure up to 32
indexes.
66
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 6
Application Conversion
Figure 41 - PR Mode Setting Window in KNX5100C Software
Like the Kinetix 300 drive, the Kinetix 5100 drive PR mode provides the
indexing control operation by executing preconfigured motion commands
(Homing and Indexing) through Digital Inputs.
In Kinetix 5100 drives you can use KNX5100C software to configure up to 99
different command types with one specific command for homing. Position
Register (PR) commands contain indexing, but the command has additional
capabilities. In PR mode, these different command types include homing,
Point-to-Point position command, speed command, jump command, write
command, and arithmetic operation commands. Except for arithmetic
operations, the properties and corresponding data of each PR command are
set by KNX5100C software.
In the Kinetix 300 drive, the motion commands are triggered by
DI.StartIndex, DI.DefineHome, and DI.IndexSelect0 to DI.IndexSelect5.
In the Kinetix 5100, the motion commands are triggered by the DI.CTRG and
DI.POS0 to DI.POS6.
When using the Digital I/O control panel in KNX5100C software, you are
provided with: start and stop execution of the index command, start and stop
homing, enable or disable a drive, and index execution monitoring without
digital input wiring.
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
67
Chapter 6
Application Conversion
Scenario 3: Master / Gearing mode to PT mode
The Kinetix 300 servo drive provides a Gearing mode that allows you to
connect a master TTL encoder signal for electronic gearing between that
master signal and this drive (slave).
The Kinetix 300 servo drive provides the Step and Direction mode and allows
you to connect a step and direction signal pair for position control.
Figure 42 shows the Properties window for Master To System Ratio in
MotionView for Kinetix 300 servo drives.
Figure 42 - Master To System Ratio in MotionView
The Kinetix 5100 drive uses PT mode for similar functionality.
The Kinetix 5100 servo drive can use a Master TTL signal from either the I/O
terminal block or the AUX (Auxiliary Feedback) connector. Consider that the
Master signal can be a standalone encoder or another Kinetix 5100 servo drive
using the buffered encoder outputs.
The E-Gear Ratio defines the gearing relationship. The Numerator and
Denominator are used to specify the ratio between Master and Slave counts.
The E-Gear parameters are shown in Figure 43. The Kinetix 5100 servo drive
provides four selectable gear ratios that can be switched by using digital
inputs.
68
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 6
Application Conversion
Figure 43 - Gear Ratio Window in KNX5100C Software
You can configure the operation mode (PT Mode) of the drive and select the
Command Source for the Master input in KNX5100C software.
The PTO inputs of the Kinetix 300 or the Kinetix 5100 servo drives can be
differential or single ended. Differential inputs are preferred.
Table 55 - PTO Input Compatibility Between Kinetix 300 drives and Kinetix 5100 drives
Attribute
Kinetix 300 drive
Kinetix 5100
5V DC for differential signal, 21.6…26.4V DC for singleRecommended voltage 5 … 24V DC
ended signal
4 MHz (differential signal)
Input frequency (max) 2 MHz (differential signal)
200 kHz (single-ended signal)
125 ns (differential signal)
Pulse width
500 ns
2.5 us (single-ended signal)
The Kinetix 5100 drive also provides the ability to filter pulse input and to
reject high-frequency noise. Using a filter width that is four times smaller than
the actual pulse width is recommended. The supported filter widths are shown
in Table 56.
Table 56 - Pulse Input Filter Supported on Kinetix 5100 Drives
Filter Width
No filter
0.2 μs
0.3 μs
0.4 μs
0.5 μs
Filter Width
0.6 μs
0.7 μs
0.8 μs
0.9 μs
1 μs
Filter Width
1.1 μs
1.2 μs
1.3 μs
1.4 μ
1.5 μs
Filter Width
2 μs
3 μs
4 μs
5 μs
6 μs
Filter Width
7 μs
8 μs
9 μs
10 μs
11 μs
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Filter Width
12 μs
13 μs
14 μs
15 μs
69
Chapter 6
Application Conversion
Scenario 4: EtherNet/IP External Reference to I/O Mode
The Kinetix 300 drive uses the Ethernet/IP™ reference mode to allow an
external controller to issue commands to the drive. The Kinetix 5100 drive uses
I/O mode to allow an external controller to issue commands to the drive. If the
controller is programmed with Studio 5000 Logix Designer, the control of the
drive can use a Class 1 connection including an Add-On-Profile (AOP) with
Add-On Instructions (AOI) that mimic native Logix CIP Motion™ Instructions.
See Figure 44 for an example of an Add-On Instruction project in the
Logix Designer application.
Figure 44 - Kinetix 5100 Add-On Instruction Project in the Logix Designer Application
RA Add-
Program your project.
Kinetix 5100 Drive
Choose your Ethernet
Communication Module.
See the Kinetix 5100 Single-axis Ethernet/IP Servo Drives User Manual,
publication 2198-UM004 for more details on Add-On Instruction.
70
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Appendix
A
Feature Comparison
The following table compares the hardware and features of the Kinetix® 300
drives and the Kinetix 5100 drives.
Table 57 - Feature Comparison Chart
Controller required
120V...240V operation
Internal shunt resistor available
Kinetix 300
Drives
No
Yes
No
Kinetix 5100
Drives
No
Yes
Yes*
Control Power available
Yes*
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
Yes
Yes
No
Yes
Yes
No
Yes
Yes
Yes
Yes
Yes
No
Multiple assignments for inputs
No
Yes*
Watch window output assignment
Registration index (index on reg input)
Registration latch (capture position)
MicroLogix™/SLC™ controller compatible
Hardware enable required
No
Yes
No
Yes
Yes
Yes*
Yes
Yes*
Yes
Yes*
Selectable modes of operation via digital inputs
No
Yes*
Buffered encoder outputs (selectable freq)
Holding brake support
Dual Loop Control
Multiple Types of Motor Supported
Dual-port Ethernet with DLR support
Non-Integrated Motion Drive (EIP Stand-Alone)
Drive software configuration required
Ability to home the drive
Yes*
Yes
No
Yes
No
Yes
Yes
Yes
Yes
Yes*
Yes*
Yes*
Yes
Yes
Yes*
Yes
Rotary mode support
Yes
Yes*
Current limiting ability
Positioning via analog input
Operation mode override
Soft limits
Slew rate for gearing
Selectable modes of operation
Pause index directly
Yes
No
No
Yes
No
Yes
No
Yes
Yes
Yes
Yes
No
Yes
Yes*
Features
Notes. Items with asterisks (*) have more information in this column.
—
—
*Kinetix 5100 drive: Internal or external, depending on the drive.
*Kinetix 300 drive: 24V DC.
**Kinetix 5100 drive: 400V-class - 24V DC, 200V-class: 115/240V AC single
phase.
—
—
—
—
—
—
*Kinetix 5100 drive: Not natively. Can use Digital I/O status to evaluate I/O in PR
mode.
*Kinetix 5100 drive: Not natively. Can be programmed within PR mode.
—
*Kinetix 5100 drive: Available in PR mode (capture/compare).
—
*Kinetix 5100: I/O mode does not require a hardware enable input.
*Kinetix 5100: Can change modes with dual or multi-mode changes and digital
inputs.
*Kinetix 300 drive has fixed frequency encoder outputs.
*Kinetix 5100 drive: Configurable in KNX5100C software.
*PT, PR mode and IO position mode
* Kinetix MP Motor, TLP Motor, TL and TLY Motor
—
—
*Kinetix 5100 drive: KNX5100C Software using USB Interface
—
*Kinetix 5100 drive: Not natively, uses the Indexing Coordinate System. See the
Kinetix 5100 Single-axis EtherNet/IP Servo Drives User Manual,
publication 2198-UM004 for more details.
—
—
—
—
—
—
*Kinetix 5100 - not natively. Programming is required.
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
71
Appendix A
Feature Comparison
Table 57 - Feature Comparison Chart (Continued)
Features
Offline software
Start next Index on input
Batch Count
Homing, Active/Switch/Marker
Homing, Absolute
Home to Torque Limit
Define Home current position
Stop (Abort) Indexing
72
Kinetix 300
Drives
No
Yes
Yes
Yes
Yes
No
Yes
Yes
Kinetix 5100
Drives
Yes
Yes*
Yes*
Yes
Yes
Yes
Yes
Yes
Notes. Items with asterisks (*) have more information in this column.
—
*Kinetix 5100 - not natively. Programming is required.
*Kinetix 5100 - not natively. Programming is required.
—
—
—
—
—
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Appendix
B
History of Changes
This appendix contains the new or updated information for each revision of
this publication. These lists include substantive updates only and are not
intended to reflect all changes. Translated versions are not always available for
each revision.
2198-RM004B-EN-P, November 2020
Change
Added information for Kinetix 5100 400V-class drives.
Added drive compatibility with Kinetix TL/TLY (200V-class) servo motors.
Added Kinetix 5100 drive ratings - 400V-class.
Added Table 15 and Table 16 Kinetix 5100 Power Specifications (480V nom three-phase).
Added Table 18 Kinetix 5100 Drive Control Power Specifications - 400V-class.
Added Table 32 Kinetix 5100 Servo Drive Control Power and Auxiliary Power Rating - 400V-class
Added Figure 13 Features and Indicators (catalog numbers 2198-E4020-ERS, 2198-E4030-ERS)
Added Table 52 Maximum Cable Lengths (400V-class) Motors with Kinetix 5100 Drives.
Added Figure 26 Kinetix 300 Drives Three-phase (400V) Power Configuration (Wye secondary).
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
73
Kinetix 300 to Kinetix 5100 Servo Drive Migration Guide Reference Manual
Notes:
Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
75
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