Rockwell Automation Allen-Bradley Ultra3000 Manual
Rockwell Automation Allen-Bradley Ultra3000 Digital Servo Drives are designed for precise motion control in various industrial applications. They are part of a complete motion system that includes compatible motors and actuators. The drives offer advanced features like high performance, scalability, and ease of use. The system is designed for seamless integration with the ControlLogix™/CompactLogix™ platforms using the Sercos interface network. The Ultra3000 drives are robust and reliable, ensuring smooth and error-free operation in demanding industrial environments.
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Ultra3000 Digital Servo Drives to Kinetix 5300 Servo Drives Catalog Numbers 2198-C1004-ERS, 2198-C1007-ERS, 2198-C1015-ERS, 2198-C1020-ERS, 2198-C2030-ERS, 2198-C2055-ERS, 2198-C2075-ERS, 2198-C4004-ERS, 2198-C4007-ERS, 2198-C4015-ERS, 2198-C4020-ERS, 2198-C4030-ERS, 2198-C4055-ERS, 2198-C4075-ERS Migration Guide Original Instructions Ultra3000 Digital Servo Drives to Kinetix 5300 Servo Drives Migration Guide Important User Information Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards. Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice. If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired. In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment. The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams. No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual. Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited. Throughout this manual, when necessary, we use notes to make you aware of safety considerations. WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss. ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence. IMPORTANT Identifies information that is critical for successful application and understanding of the product. Labels may also be on or inside the equipment to provide specific precautions. SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present. BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures. ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE). 2 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Table of Contents Preface Pre-migration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Select a Replacement Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Engineering Effort and Product Liability . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Migration Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Chapter 1 Servo Drive and System Considerations Kinetix 5300 Servo Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Kinetix 5300 Servo Drive Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Kinetix 5300 Servo Drive Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Kinetix 5300 Servo Drive Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Controller, Ethernet Cards, and Switches . . . . . . . . . . . . . . . . . . . . . . . . . 16 Compatible Motors and Acuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Physical Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Control and Auxiliary Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Circuit Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Control Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Safe Torque Off Safety Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Drive Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Chapter 2 Servo Drive and System Comparisons Drive Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Output Current Comparison. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Dimension Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 AC Input Power Cable Length and Fuse Protection . . . . . . . . . . . . . . . . . 29 AC Input Power Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Circuit Breaker and Fuse Considerations . . . . . . . . . . . . . . . . . . . . . . 31 Drive Interconnects and Cable Considerations . . . . . . . . . . . . . . . . . 34 Ultra3000 Servo Drives Motor/Actuator and Cable Compatibility. 34 Ultra3000 Servo Drive Feedback Connector . . . . . . . . . . . . . . . . . . . . 35 Kinetix 5300 Servo Drives Servo Motor/Actuator and Cable Compatibility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Digital I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Ultra3000 Servo Drive Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Ultra3000 Servo Drive Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Kinetix 5300 Servo Drive Digital Inputs. . . . . . . . . . . . . . . . . . . . . . . . 41 Typical System Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Ultra3000 Servo Drive System Example. . . . . . . . . . . . . . . . . . . . . . . . 42 Kinetix 5300 Servo Drive System Example . . . . . . . . . . . . . . . . . . . . . 43 Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Ultra3000 Servo System Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Kinetix 5300 Servo System Accessories . . . . . . . . . . . . . . . . . . . . . . . . 45 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 3 Appendix A Connectors and Field Connections Connector Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Ultra3000 Servo Drive Connector Data . . . . . . . . . . . . . . . . . . . . . . . . 47 Kinetix 5300 Servo Drive Connector Data . . . . . . . . . . . . . . . . . . . . . . 51 Input and Motor Power Connector Pinouts. . . . . . . . . . . . . . . . . . . . . . . . 51 Motor Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 I/O Connector and Auxiliary Feedback Pinouts . . . . . . . . . . . . . . . . . 53 Safe Torque Off Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Appendix B About the Servo Drive System About the Ultra3000 Servo Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . 57 About the Kinetix 5300 Servo Drive System . . . . . . . . . . . . . . . . . . . . . . . . 58 Appendix C Specifications Power Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 Ultra3000 (230V) Servo Drive Power Specifications . . . . . . . . . . . . . 59 Ultra3000 (460V) Servo Drive Power Specifications . . . . . . . . . . . . . 61 Kinetix 5300 Servo Drive Input Power Specifications. . . . . . . . . . . . 62 Control and Auxiliary Power Specifications. . . . . . . . . . . . . . . . . . . . . . . . 65 Ultra3000 Servo Drive Auxiliary Power Specifications. . . . . . . . . . . 65 Kinetix 5300 Servo Drive Control Power Specifications. . . . . . . . . . 66 Power Dissipation Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Ultra3000 Servo Drive Power Dissipation Specifications . . . . . . . . 67 Kinetix 5300 Servo Drive Power Dissipation Specifications . . . . . . 67 Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 Ultra3000 Servo Drive Motor Feedback Cable Lengths . . . . . . . . . . 68 Kinetix 5300 Servo Drive Motor Cable Lengths . . . . . . . . . . . . . . . . . 69 Environmental Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 Ultra3000 Servo Drive Environmental Specifications . . . . . . . . . . . 69 Kinetix 5300 Servo Drive Environmental Specifications . . . . . . . . . 69 Certifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 Ultra3000 Servo Drive Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . 70 Kinetix 5300 Servo Drive Certifications . . . . . . . . . . . . . . . . . . . . . . . . 70 Appendix D Interconnect Diagrams Ultra3000 Servo Drive Power Wiring Examples . . . . . . . . . . . . . . . . . . . . 71 Kinetix 5300 Servo Drive Power Wiring Examples. . . . . . . . . . . . . . . . . . 75 Appendix E Communication Configurations 4 Kinetix 5300 Servo Drive Linear Topology . . . . . . . . . . . . . . . . . . . . . . . . . 80 Ring Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Star Topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Preface The purpose of this migration guide is to provide essential information needed to determine what hardware changes could be necessary when migrating from a motion system that contains Ultra™ 3000 (with Sercos) servo drives to the Kinetix® 5300 servo drives. Migrating a system from an Ultra3000 servo drive to a Kinetix 5300 servo drive system requires a comprehensive design review of the entire motion control system. There are system-wide changes that are required because of the communication protocol being employed. As a result, this migration guide is not an all-inclusive document. It does not describe all redesign steps that could be required, nor does it contain the detailed product information necessary to finalize the redesign. The generalities of the replacement process are covered, and the decision-making steps likely to be encountered in a typical replacement scenario are described. You must review additional product literature (see Additional Resources on page 7) to understand the technical similarities and differences between the Ultra3000 servo drive and a Kinetix 5300 servo drive. This can help you determine the proper solution for your migration. Pre-migration Motion Analyzer – is a comprehensive motion-application sizing tool that is used for analysis, optimization, selection, and validation of your Kinetix motion control system. This tool facilitates the machine design process, that lets you quickly design and validate new machine concepts without purchasing or installing physical equipment. The performance capabilities of any replacement drive should be reviewed to be sure that the replacement drive is capable of delivering the required level of peak and continuous current to the motor and the Motion Analyzer tool can help with the correct drive selection. Motion Analyzer is available at https://motionanalyzer.rockwellautomation.com. Controller Files – Upload and save any network files and programmable logic controller (PLC) programs. Electrical Noise Reduction – See the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001 or Servo Drive Installation Best Practice Application Technique, publication MOTION-AT004, for information on the concept of high-frequency (HF) bonding, the ground plane principle, and electrical noise reduction. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 5 Preface Select a Replacement Drive There are a number of different factors that affect the selection of a replacement servo drive and the system redesign effort. Drive sizing is the primary factor in selecting a replacement servo drive. To identify the correct replacement drive size, consider the drive input voltage and compare the continuous and peak output current ratings. Ultra3000 drives can be replaced with a Kinetix 5300 drive of similar, or in some cases, greater output current capability. In general, the Kinetix 5300 drives with similar current ratings require a smaller physical space compared to the Ultra3000 drives. Factors that affect the redesign effort include these considerations: • • • • Engineering Effort and Product Liability Drive sizing (ratings and physical) Dimension comparison Drive interconnects and cabling Accessories Thoroughly review this document before you begin to evaluate the design changes required to successfully migrate your Ultra3000 servo drive to a Kinetix 5300 servo drive. ATTENTION: Because of the variety of uses for the products described in this publication, those responsible for the application and use of these products must themselves satisfy, that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements, including any applicable laws, regulations, codes, and standards. In no event will Rockwell Automation be responsible or liable for indirect or consequential damage resulting from the use or application of these products. The following sections highlight the differences between Ultra3000 and Kinetix 5300 servo drives. There can be more differences beyond these that can impact your application. Read this entire document before proceeding to qualify the Kinetix 5300 servo drive for your needs. Migration Options This document covers the migration of the Ultra3000 Sercos servo drive only, though it is possible to migrate from the other Ultra3000 servo drive types. For additional migration options, see Ultra3000 to Kinetix 5100 Servo Drives Migration Guide, publication 2198-RM003. Figure 1 - Suggested Migration Options Ultra3000 Drive 6 Analog Kinetix 5100 Drive Indexing Kinetix 5100 Drive DeviceNet Kinetix 5100 Drive Sercos Kinetix 5300 Drive Kinetix 5500 Drive Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Preface Additional Resources These documents contain additional information concerning related products from Rockwell Automation. Resource Description Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001 Product specifications for Kinetix VPL, VPC, VPF, VPH, and VPS; Kinetix MPL, MPM, MPF, and MPS; Kinetix TLY and TL; and Kinetix HPK rotary motors. Kinetix Linear Motion Specifications Technical Data, publication KNX-TD002 Product specifications for Kinetix MPAS and MPMA linear stages, Kinetix MPAR and MPAI electric cylinders, and LDC-Series™ and LDL-Series™ linear motors Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 Product specifications for Kinetix Integrated Motion over the EtherNet/IP network, Integrated Motion over Sercos interface, EtherNet/IP networking, and component servo drive families. Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004 Product specifications for Bulletin 2090 motor and interface cables, low-profile connector kits, drive power components, and other servo drive accessory items Integrated Motion on Sercos and EtherNet/IP Network – Analysis and Comparison, publication MOTION-AT006 Compares the similarities and differences between systems that use Serial Real-time Communication System (Sercos) interfaces and systems that use EtherNet/IP networks. Motor Nameplate Datasheet Entry for Custom Motor Applications, publication 2198-AT002 Provides an in-depth discussion on the use of nameplate data entry for custom induction motors and permanent-magnet motors. System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001 Information, examples, and techniques designed to minimize system failures caused by electrical noise. Servo Drive Installation Best Practice Application Technique, publication MOTION-AT004 Best practice examples to help reduce the number of potential noise or electromagnetic interference (EMI) sources in your system and to make sure that the noise sensitive components are not affected by the remaining noise. Kinetix 5300 Single-axis EtherNet/IP Servo Drives User Manual, publication 2198-UM005 Provides installation instructions to mount, wire, and troubleshoot your Kinetix 5300 drive; and system integration for your drive/motor combination with a Logix 5000 controller (version 33.00 or later). Kinetix 5300 Drive Systems Design Guide, publication KNX-RM012 System design guide to select the required (drive specific) drive module, power accessory, feedback connector kit, and motor cable catalog numbers for your Kinetix 5300 drive and Kinetix motion control system. AC Line Filter Installation Instructions, publication 2198-IN003 Provides information on how to install AC line filters designed for Kinetix 5300, Kinetix 5500, and Kinetix 5700 servo drive systems Shunt Resistor Installation Instructions, publication 2097-IN002 Provides information on how to install and wire Bulletin 2097 shunt resistors. Kinetix Motion Control Selection Guide, publication KNX-SG001 Overview of Kinetix servo drives, motors, actuators, and motion accessories that are designed to help make initial decisions for the motion control products best suited for your system requirements. Ultra3000 Drive Systems Design Guide, publication KNX-RM008 Reference material used to design an Ultra3000 servo drive system. Ultra3000 Digital Servo Drives Installation Manual, publication 2098-IN003 Mounting, wiring, and connecting procedures for the Ultra3000 Digital Servo Drive. Ultra3000 Servo Drives Integration Manual, publication 2098-IN005 Power-up procedures, system integration, and troubleshooting tables for the Ultra3000 digital servo drive. Kinetix 5300 Servo Drives Installation Instructions, publication 2198-IN021 Information mount and wire the Kinetix 5300 servo drive. Kinetix 5300 Feedback Connector Kit Installation Instructions, publication 2198-IN023 Information to install and wire the Kinetix 5300 motor feedback connector kit. EtherNet/IP Network Devices User Manual, ENET-UM006 Describes how to configure and use EtherNet/IP devices to communicate on the EtherNet/IP network. Ethernet Reference Manual, ENET-RM002 Describes basic Ethernet concepts, infrastructure components, and infrastructure features. System Security Design Guidelines Reference Manual, SECURE-RM001 Provides guidance on how to conduct security assessments, implement Rockwell Automation products in a secure system, harden the control system, manage user access, and dispose of equipment. Industrial Components Preventive Maintenance, Enclosures, and Contact Ratings Specifications, publication IC-TD002 Provides a quick reference tool for Allen-Bradley® industrial automation controls and assemblies. Safety Guidelines for the Application, Installation, and Maintenance of Solid-state Control, publication SGI-1.1 Designed to harmonize with NEMA Standards Publication No. ICS 1.1-1987 and provides general guidelines for the application, installation, and maintenance of solid-state control in the form of individual devices or packaged assemblies incorporating solidstate components. Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines for installing a Rockwell Automation® industrial system. Product Certifications website, rok.auto/certifications. Provides declarations of conformity, certificates, and other certification details. You can view or download publications at rok.auto/literature. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 7 Preface Notes: 8 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Chapter 1 Servo Drive and System Considerations Replacing an Ultra™ 3000 servo drive with a Kinetix® 5300 servo drive requires some system design changes and drive hardware changes. This chapter describes some of the primary differences and considerations. Additional chapters provide in-depth drive comparisons. Kinetix 5300 Servo Drives The Kinetix 5300 servo drives and Kinetix TLP servo motors provide a cost-effective motion solution. This solution delivers high performance and scalability, with motor windings that are matched to drive ratings, for optimized system sizing. Enhancing the current midrange architecture portfolio, this motion system is designed to connect and operate with the CompactLogix™ 5380 controllers by using the Studio 5000 Logix Designer® application (version 33.00 or later) and supporting Integrated Motion on the EtherNet/IP network. With the benefits of this motion system, you can run motion applications on a single control platform by using a single network—simplifying the design, operation, and maintenance of equipment. Kinetix 5300 Servo Drive Features The Kinetix 5300 servo drive provides the following features: • • • • • • • • • High performance in a smaller footprint and optimized power density Single-axis operation for low-cost simplicity Integrated motion on the EtherNet/IP network (includes dual-port Ethernet) Advanced tuning capabilities that provide tuningless operation, antislosh, and anti-sway benefits Safe Torque Off control, ISO-13849-1 certified, PL d, category 3 Offerings for: 100V, 200V, and 400V-class applications Kinetix TLP winding options that match the drive ratings for optimized system sizing - 0.05…7.5 kW motor rated output power Bulletin 2198 and Bulletin 2097 shunt resistor options for additional energy absorption management Compatible with the following Allen-Bradley rotary motors Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 11 Chapter 1 Servo Drive and System Considerations • • • • Kinetix 5300 Servo Drive Components - Kinetix MPL, MPM, MPF, and MPS 200V and 400V-class servo motors - Kinetix TLP 200V and 400V-class servo motors - Kinetix TL and TLY 200V class servo motors Compatible with the following Allen-Bradley linear actuators - LDAT-Series integrated linear thrusters with 200V or 400V operation - Kinetix MPAS and MPMA integrated linear stages - Kinetix MPAR and MPAI electric cylinders. Compatible with LDC-Series™ iron-core and LDL-Series™ ironless linear motors Support for Induction Motors with open-loop frequency control and closed-loop control Motor feedback connector kit (catalog number 2198-K53CK-D15M) with 15-pin connector plug for compatible motors and actuators. The kit features battery backup for Kinetix TLP, TL, and TLY multi-turn encoders Kinetix 5300 servo drive systems consist of these required components: • • • • • • Any Logix controller (version 33.00 or later) with motion and EtherNet/IP capability One 2198-Cxxxx-ERS servo drive One Kinetix TLP servo motor, or other compatible Allen-Bradley motor/ actuator, or induction motor 2090-series motor cables for power, feedback, and brake connections One 1606-XLxxx 24V power supply for control and motor brake power 1585J-M8CBJM-x (shielded) Ethernet cables Kinetix 5300 servo drive systems can also include any of these optional components: • • • • One Bulletin 2198 AC line filter (required to meet CE) One 2097-Rx or 2198-Rxxx shunt resistor Bulletin 2198 24V shared-bus connection system One 2198-K53CK-D15M feedback connector kit for flying lead cables or battery backup For detailed Kinetix 5300 servo drive system requirements, see the Kinetix 5300 Drive Systems Design Guide, publication KNX-RM0012. Kinetix 5300 Servo Drive Selection 12 For Kinetix 5300 servo drive module specifications not included in this publication, see the Kinetix Servo Drives Technical Data, publication KNX-TD003. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Chapter 1 Servo Drive and System Considerations Table 1 - Kinetix 5300 Servo Drive Output Power and Current Cat. No. 2198-C1004-ERS 2198-C1007-ERS Frame Size Input Voltage (1) 1 1 85…132V rms single-phase 170…253V rms single-phase 2198-C1015-ERS 2 2198-C1020-ERS 2 2198-C2030-ERS 2198-C2055-ERS 2198-C2075-ERS 2198-C4004-ERS 2198-C4007-ERS 2198-C4015-ERS 2198-C4020-ERS 2198-C4030-ERS 2198-C4055-ERS 2198-C4075-ERS 2 3 3 1 1 2 2 2 3 3 (1) Communication 170…253V rms three-phase 170…253V rms three-phase 342…528V rms three-phase Continuous Output Power kW 0.22 0.46 0.72 0.36 0.76 1.18 0.67 1.41 2.18 0.97 2.02 3.13 5.02 10.30 12.22 0.86 1.55 2.78 3.90 6.25 12.08 14.70 Continuous Output Current A (rms) 2.8 4.6 8.5 12.2 19.6 40.2 47.7 1.6 2.9 5.2 7.3 11.7 22.6 27.5 Peak Output Current A (rms) 6.6 9.5 9.5 9.7 15.5 15.5 12.2 20.5 29.2 25.0 40.6 40.6 61.0 108.0 127.5 5.3 9.3 18.0 23.8 34.1 58.5 73.5 Nominal input voltage rating (110, 230, or 480V rms) is required to achieve full power. The Ultra3000 servo drives use the Sercos interface network for communication. A Sercos interface module serves as a link between the ControlLogix/CompactLogix™ platform and the Ultra3000 servo drive system. The Ultra3000 had the option to configure and program the application with either RSLogix 5000 or Studio 5000 Logix Designer. It is possible to update the RSLogix code from the Ultra3000 to work in Studio 5000 Logix Designer. When migrating to the Kinetix 5300 servo drive, Studio 5000 Logix Designer (version 33.00 or later) is required with a compatible controller. For Ultra3000 Sercos drives, the communication link uses the IEC 61491 SErial Real-time COmmunication System (Sercos) protocol over a fiber-optic media. The Kinetix 5300 servo drives use the EtherNet/IP network for communicating to either a ControlLogix or CompactLogix programmable automation controller. All Kinetix 5300 servo drives include dual-port EtherNet/IP connectivity with motion in a Studio 5000 Logix Designer application that is version 33.00 or later. Supported Ethernet topologies include linear, ring, and star. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 13 Chapter 1 Servo Drive and System Considerations For more information on Ethernet design considerations, see these publications: • • • • • Scalability - The Best Approach to Change, publication IA-WP002 EtherNet/IP Design, Commissioning, and Troubleshooting Quick Reference, publication IASIMP-QR023 Integrated Motion on EtherNet/IP Configuration Drawing with Notes, publication IASIMP-QR019 Integrated Motion on Sercos and EtherNet/IP Network – Analysis and Comparison, publication MOTION-AT006 See the Knowledgebase Technote: Qualifying Logic for MSO See Appendix E for communication configurations. Controller, Ethernet Cards, and Switches The following table lists the compatible hardware for Integrated Motion on EtherNet/IP systems. Table 2 - EtherNet/IP Compatible Hardware for Integrated Motion Compatible Motors and Actuators Hardware Cat. No. Description Controllers Bulletin 1769 Bulletin 5069 Integrated Motion on the EtherNet/IP network in CompactLogix 5370, CompactLogix 5380, and CompactLogix 5480 controllers and Integrated Safety in Compact GuardLogix® 5370 controllers. Linear, Device Level Ring (DLR), and star topology is supported. Ethernet Communication 1756-EN2T module 1756-EN2TR module 1756-EN3TR module 1756-EN4TR module EtherNet/IP network communication modules for use with ControlLogix 5570, ControlLogix 5580, GuardLogix 5570, and GuardLogix 5580 controllers. Linear, Device Level Ring (DLR), and star topology is supported. Ethernet Switches Stratix® 8300 Layer 3 Modular Managed Ethernet Switches Stratix 8000 Modular Managed Ethernet Switches Stratix 6000 Fixed Managed Ethernet Switches Stratix 5700 Managed Industrial Ethernet Switches Stratix 2000 Unmanaged Ethernet Switches Verify that your existing motor is compatible with the Kinetix 5300 servo drive family. Kinetix 5300 servo drives are compatible with the following motors: • • • • • • 14 Kinetix TLP servo motors Kinetix MP motors and actuators Kinetix TL and TLY servo motors LDAT-Series linear thrusters LDC-Series and LDL-Series linear motors Third-party and applicable Encompass partner permanent magnet and induction motors. Refer to Motor Nameplate Datasheet Entry for Custom Motor Applications, publication 2198-AT002 for more information. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Chapter 1 Servo Drive and System Considerations Table 3 - Motor Feedback Device Options Motor Feedback Device Option Feedback Type Description Hiperface High-resolution single-turn and multi-turn, absolute Nikon Motor Feedback Tamagawa Digital AqB with UVW Sine/Cosine Applies to Kinetix TLP motors. Incremental Applies to Kinetix MPL (-H) rotary motors, Kinetix MPAS (directdrive) linear actuators, LDAT-Series (-xBx) linear thrusters, Kinetix TLY (-H) servo motors, and Kinetix LDL-series™/ LDC-Series™ linear motors. Incremental Applies to Digital AqB encoders. Sine/Cosine with UVW Auxiliary Feedback and Digital Input (1) Applies to Kinetix MPL, MPM, MPF, MPS (-M/S or -V/E); Kinetix MPAS (ballscrew), MPAR, MPAI, linear actuators; and LDAT-Series (- xDx) linear thrusters. Applies to Kinetix TL (-B) and TLY motors. Digital AqB Digital AqB Feedback Connector 15-pin Motor Feedback (MFB) 20-pin Auxiliary Feedback Connector (1) The auxiliary feedback connector allows configuration of Digital AqB as a load feedback device or a half-axis (feedback only). Cable Lengths Verify that the feedback cable length in your current Ultra3000 servo drive system does not exceed the maximum cable lengths for the Kinetix 5300 servo drives. The maximum cable lengths for the Kinetix 5300 servo drives are: • • • Ethernet cable lengths connecting drive-to-drive, drive-to-controller, or drive-to-switch must not exceed 100 m (328 ft). Complete a careful evaluation of your Ethernet media when using a CIP motion solution. For more information, see Guidance for Selecting Cables for EtherNet/IP Networks, publication ENET-WP007. Registration and digital input cables greater than 30 m (98.4 ft) must be shielded. The length of the power and feedback cables for the Kinetix 5300 drives cannot exceed 50 m (164 ft), although in some cases maximum cable length is less. The maximum drive-to-motor power and feedback cable length depends on the AC input power, motor type, and feedback type. For more information on cable lengths, see Appendix C and Drive Interconnects and Cable Considerations on page 32. Physical Dimensions The physical sizes of the drive families are different (see Dimension Comparison on page 21). In most cases, the Kinetix 5300 servo drives are smaller and fit into the existing space of the compatible Ultra3000 drives; however, you must verify the physical size of the Kinetix 5300 servo drive. Control and Auxiliary Power The control and auxiliary power feature lets the drive maintain logic power when main power is removed. This allows communication between the controller and the drive to continue and to maintain position feedback (aside from absolute feedback). The Ultra3000 servo drives (2098-DSD-005, -010, and -020) require an external +5V power supply in applications where it is necessary to maintain logic power when the AC line voltage is removed. The +24V I/O supply (IOPWR) allows use of the drive-mounted breakout board with 24V to 5V DC converter (2090U3CBB-DM12). Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 15 Chapter 1 Servo Drive and System Considerations All other Ultra3000 servo drives have other auxiliary power requirements. See Appendix C, Control and Auxiliary Specifications, for more information. The Kinetix 5300 servo drive requires 24V DC input power for control circuitry. You must review your control power scheme including 24V power supply requirements. See Appendix C for more information on control power specifications. Table 4 - Control Power Input Power Specifications Attribute Input voltage Control power AC input current Nom @ 24V DC (1) Inrush, max Frame 1 21.6…26.4V DC Frame 2 Frame 3 400 mA 1.8 A 900 mA 2.4 A 1.7 A 3.0 A (1) Plus motor brake connector (MBRK+) current. Circuit Protection Control Signals Sizing for protective devices, such as fuses and circuit breakers, can be different between Ultra3000 servo drives and Kinetix 5300 servo drives. Verify that you have chosen the correct sizes when selecting and installing a Kinetix 5300 servo drive. For more information, see Circuit Breaker and Fuse Considerations. Digital Inputs – The Ultra3000 servo drive includes six digital inputs. They are Enable, Home, Reg1, Reg2, OT+, and OT-. All Ultra3000 drives require an isolated external 12-24V power supply for proper operation of the digital I/O. The Kinetix 5300 includes four configurable digital inputs available for the machine interface on the digital input connector and six configurable functions to choose from in the Studio 5000 Logix Designer® application (version 33.00 or later). Configurable functions are Enable, Home, Registration 1, Registration 2, Positive Overtravel, and Negative Overtravel. Digital inputs require a 24V DC @ 15 mA supply. These are sinking inputs that require a sourcing device. A common and cable shield connection is provided on the connector for digital inputs. Digital Outputs – The Ultra3000 servo drive includes one digital output (Drive Ready) and one relay output (brake). Motor Brake – The brake option is a spring-set holding brake that releases when voltage is applied to the brake coil in the motor. The Ultra3000 servo drive includes a relay output which can be used for motor brake control. On Sercos drives, relay output pins CN1-43 and CN1-44 are dedicated to motor brake control. The Ultra3000 requires a customer-supplied 24V power supply to drive the motor parking-brake through a relay. The Kinetix 5300 servo drive has a dedicated motor brake circuit which can be wired directly to a motor brake rated 2.25A and below, or it can be used to drive an interposing relay. Motor power and brake connections are made at the motor power and motor brake power connectors on the front of the drive. 16 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Chapter 1 Servo Drive and System Considerations The solid-state brake circuit provides current-overload protection and brake overvoltage protection. When replacing a Ultra3000 with a Kinetix 5300, do not wire a customer supplied power supply to the motor brake circuit of the Kinetix 5300 drive. Instead, either wire the motor brake circuit directly to the motor brake, or use the 24V supplied by the Kinetix 5300 motor brake connector to drive an interposing relay. Aux Feedback Port – The Kinetix 5300 drives support auxiliary feedback signals from TTL incremental feedback devices on the 20-pin digital inputs connector and auxiliary feedback connector. Motor feedback and auxiliary feedback can be used in the following applications: • • Motor feedback Feedback-only axis (leader-follower applications) Load feedback (dual-loop control) Safe Torque Off Safety Features Kinetix 5300 servo drives are capable of safely turning off the inverter power transistors in response to a monitored digital input, according to Category 0 Stop behavior. These drives support parallel input terminals for cascading to adjacent drives over duplex wiring. The hardwired STO function meets the requirements of Performance Level d PL (d) and safety category 3 (CAT 3) per ISO 13849-1 and SIL CL2 per IEC 61508, IEC 61800-5-2, and IEC 62061. For applications that do not require the safety function, you must install jumper wires to bypass the Safe Torque Off feature. For the Safe Torque Off connector pinout, installation, and wiring information, see the related chapter in the Kinetix 5300 Servo Drives User Manual, publication 2198-UM005. Drive Accessories Ultra3000 servo drive accessories include the drive-mounted breakout boards, panel-mounted breakout boards, 2090 AC line filters, 2090 shunt modules, resistive brake module (RBM), and external auxiliary encoders. The AC line filters required to meet CE compliance for Kinetix 5300 are different than those needed by the Ultra3000. Kinetix 5300 servo drive accessories include AC line filters and Bulletin 2097 and 2198 external shunt resistors. See Accessories on page 41. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 17 Chapter 1 Servo Drive and System Considerations Notes: 18 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Chapter 2 Servo Drive and System Comparisons There are a number of different factors that affect the selection of a replacement servo drive and the system redesign effort. They include the following: • • • • • • Drive Replacement Dimension Comparison AC Input Power Wiring and Fusing Interconnects and Cabling Typical System Layout Accessories This chapter provides a side-by-side comparison of both servo drive families to help in the evaluation and selection of the correct components in the migration process. Drive Replacement This section lists the Ultra™ 3000 servo drives and the suggested Kinetix® 5300 replacement servo drives, along with the output ratings and dimension differences of the drives. Information in this migration guide is based on the drive combinations shown. Output Current Comparison IMPORTANT The performance capabilities of the replacement drive should be reviewed to ensure that the replacement drive delivers the required level of peak and continuous current to the motor. Table 5 - Ultra3000 Drives by Output Current Ultra3000 Servo Drive Cat. No. 2098-DSD-005 2098-DSD-010 2098-DSD-020 2098-DSD-030 2098-DSD-075 Voltage Range Vrms Voltage nom 88...265, single-phase 88...265, single-phase 88...265, single-phase 88...265, single-phase 88...265, three-phase single-phase, 110V or 230V single-phase, 110V or 230V single-phase, 110V or 230V single-phase, 110V or 230V three-phase, 110V or 230V Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Continuous Output Current Peak Output Current Arms (A0-Pk) Arms (A0-Pk) 1.8 (2.5) 5.3 (7.5) 3.5 (5.0) 10.6 (15.0) 7.1 (10.0) 21.2 (30.0) 10.6 (15.0) 21.2 (30.0) 24.7 (35.0) 53.0 (75.0) 19 Chapter 2 Servo Drive and System Comparisons Table 5 - Ultra3000 Drives by Output Current (Continued) Ultra3000 Servo Drive Cat. No. 2098-DSD-150 2098-DSD-HV030 2098-DSD-HV050 2098-DSD-HV100 2098-DSD-HV150 2098-DSD-HV220 Voltage Range Vrms Voltage nom 88...265, three-phase 207...528, three-phase 207...528, three-phase 207...528, three-phase 207...528, three-phase 207...528, three-phase three-phase, 110V or 230V three-phase, 230V or 480V three-phase, 230V or 480V three-phase, 230V or 480V three-phase, 230V or 480V three-phase, 230V or 480V Continuous Peak Output Current Output Current A (A ) rms 0-Pk Arms (A0-Pk) 45.9 (65.0) 106.1 (150.0) 5.0 (7.0) 9.9 (14.0) 7.8 (11.0) 15.6 (22.0) 16.3 (23.0) 32.5 (46.0) 24.0 (34.0) 48.1 (68.0) 33.2 (47.0) 66.5 (94.0) Table 6 - Kinetix 5300 Servo Drives by Output Current Kinetix 5300 Servo Drive Continuous Output Current Arms (A0-Pk) Peak Output Current A rms (A0-Pk) 2.8 (4.0) 6.6 (13.4) 4.6 (6.5) 9.7 (21.9) 8.5 (11.7) 12.2 (41.3) 2198-C1020-ERS 12.2 (17.3) 25.0 (57.4) 2198-C1004-ERS 2.8 (4.0) 9.5 (13.4) 4.6 (6.5) 15.5 (21.9) 8.5 (12.0) 20.5 (41.3) 2198-C1020-ERS 12.2 (17.3) 40.6 (57.4) 2198-C1004-ERS 2.8 (4.0) 9.5 (13.4) 4.6 (6.5) 15.5 (21.9) 8.5 (12.0) 29.3 (41.3) 2198-C1020-ERS 12.2 (17.3) 40.6 (57.4) 2198-C2030-ERS 19.6 (27.7) 60.1 (86.3) 40.2 (56.9) 108.0 (152.7) 2198-C2075-ERS 47.7 (67.5) 127.5 (180.3) 2198-C4004-ERS 1.5 (2.1) 5.1 (7.2) 2198-C4007-ERS 2.9 (4.1) 9.3 (13.2) 2198-C4015-ERS 5.2 (7.4) 18.0 (25.5) 7.3 (10.3) 23.8 (33.7) 2198-C4030-ERS 11.7 (16.5) 34.1 (48.3) 2198-C4055-ERS 22.6 (32.0) 58.5 (82.7) 2198-C4075-ERS 27.5 (38.9) 73.5 (103.9) Cat. No. Voltage Range Voltage nom 2198-C1004-ERS 2198-C1007-ERS 2198-C1015-ERS 2198-C1007-ERS 2198-C1015-ERS 2198-C1007-ERS 2198-C1015-ERS 2198-C2055-ERS 2198-C4020-ERS 20 85…132V 170…253V 170…253V 170…253V 342…528V single-phase, 110V single-phase, 230V three-phase, 230V three-phase, 230V three-phase, 480V Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Chapter 2 Dimension Comparison Servo Drive and System Comparisons The following table provides a comparison of the dimensions of the drives. Table 7 - Suggested Kinetix 5300 Replacement Drives by Dimensions Ultra3000 Servo Drive (with Sercos) Model 2098-DSD-005 2098-DSD-010 2098-DSD-020 2098-DSD-030 Height mm (in) Kinetix 5300 Servo Drive Width mm (in) Depth mm (in) 95.5 (3.76) 198.12 (7.8) 121.54 (4.79) 144.27 (5.68) 91.44 (3.6) 243.84 (9.6) 2098-DSD-075 138.68 (5.41) 247.14 (9.73) 2098-DSD-150 188.97 (7.44) 241.05 (9.49) 2098-DSD-HV030 360.7 (14.2) 2098-DSD-HV050 138.7 (5.46) 2098-DSD-HV100 151.6 (5.97) 2098-DSD-HV150 2098-DSD-H220 203.2 (8.0) 242.2 (9.54) Model Height mm (in) Dimension Differences Width mm (in) Depth mm (in)(1) 2198-C1004-ERS 2198-C1007-ERS 215 (8.46) 50 (1.97) 2198-C1015-ERS 2198-C1020-ERS 2198-C2030-ERS 2198-C2055-ERS 2198-C2055-ERS 265 (10.43) 2198-C2075-ERS 2198-C4015-ERS 265 (10.43) 55 (2.16) 2198-C4020-ERS 2198-C4030-ERS 2198-C4055-ERS 2198-C4055-ERS 2198-C4075-ERS 2198-C4075-ERS 294 (11.57) 85.2 (3.35) Height (2) mm (in) 16.88 (0.66) 16.88 (0.66) 16.88 (0.66) -145.7 (-5.74) Width (2) mm (in) -45.5 (-1.79) -71.54 (-2.82) -71.54 (-2.82) -41.44 (-1.63) Depth (2) mm (in) 120.73 (4.75) 120.73 (4.75) 120.73 (4.75) 21.16 (0.83) -95.7 (-3.77) -83.68 (-3.25) 17.86 (0.7) -95.7 (-3.77) -133.97 (-5.28) 23.95 (0.94) -95.7 (-3.77) -95.7 (-3.77) -133.97 (-5.28) 23.95 (0.94) -83.7 (-3.3) 22.8 (0.89) -95.7 (-3.77) -96.6 (-3.81) 22.8 (0.89) -95.7 (-3.77) -96.6 (-3.81) 22.8 (0.89) -66.7 (-2.63) -118 (-4.65) 22.8 (0.89) (1) Dimension includes the 2198-K53CK-D15M connector kit. Dimension without the connector kit is 204 mm (8.03 cm) (2) A minus sign denotes that the height, width, or depth of the Kinetix 5300 servo drive is shorter, narrower, or shallower than the comparable Ultra3000 servo drive. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 21 Chapter 2 Servo Drive and System Comparisons Dimension Drawings This section provides drive dimensions to assist you in determining the space that is needed to install the drives. Ultra3000 (240V) Drive Dimensions In Figure 2, -xxx is replaced by -005, -010, or -020 to represent the Ultra3000 500 W, 1 kW, and 2 kW drives respectively. Figure 2 - Ultra3000 (240V) Dimensions (Catalog number 2098-DSD-xxx-SE) A 38.1 (1.5) 129.03 (5.08) C 186.18 (7.33) 198.12 (7.8) 165.1 (6.5) 144.27 (5.68) E F Dimensions are in mm (in.) Table 8 - Ultra3000 (240V) Dimensions 2098-DSD-xxx-SE Ultra3000 Servo Drive Cat. No. 2098-DSD-005-SE 2098-DSD-010-SE 2098-DSD-020-SE 22 A mm (in.) C mm (in.) E mm (in.) 87.88 (3.46) 24.64 (0.97) 43.94 (1.73) Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 F mm (in.) 95.5 (3.76) 121.54 (4.79) Chapter 2 Servo Drive and System Comparisons In Figure 3, -xxx is replaced by -030, -075, or -150 to represent the Ultra3000 3 kW, 7.5 kW, and 15 kW drives respectively. Figure 3 - Ultra3000 (240V) Dimensions (Catalog number 2098-DSD-xxx-SE) A B 227.08 (8.94) C 349.25 (13.75) 360.68 (14.2) 331.47 (13.05) B C J Dimensions are in mm (in.) Table 9 - Ultra3000 (240V) Dimensions 2098-DSD-xxx-SE Ultra3000 Servo Drive Cat. No. A mm (in.) B mm (in.) C mm (in.) J mm (in.) 2098-DSD-030-SE 91.44 (3.6) 50.8 (2.0) 20.32 (0.8) 243.84 (9.6) 098-DSD-075-SE 138.68 (5.41) 88.9 (3.5) 24.89 (0.96) 247.14 (9.73) 2098-DSD-150-SE 188.97 (7.44) 139.7 (5.5) 24.6 (0.97) 241.05 (9.49) Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 23 Chapter 2 Servo Drive and System Comparisons Ultra3000 (460V) Drive Dimensions In Figure 4, xxx is replaced by 030, 050, 100, 150, or 220 to represent the Ultra3000 3 kW, 5 kW, 10 kW, 15 kW, and 22 kW drives respectively. Figure 4 - Ultra3000 (460V) Dimensions (Catalog number 2098-DSD-HVxxx-SE) A B B 225.8 (8.89) C H D B B I 242.2 (9.54) C Dimensions are in mm (in.) Table 10 - Ultra3000 (460V) Dimensions 2098-DSD-HVxxx-SE 24 Ultra3000 Servo Drive Cat. No. A mm (in.) 2098-DSD-HV030-SE 2098-DSD-HV050-SE 138.7 5.46) 2098-DSD-HV100-SE 2098-DSD-HV150-SE 151.6 (5.97) 2098-DSD-HV220-SE 203.2 (8.0) B mm (in.) 50.8 (2.0) 76.2 (3.0) C mm (in.) 18.5 (0.73) 25 (0.99) 25.4 (1.0) Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 D mm (in.) H mm (in.) I mm (in.) 349.3 (13.75) 331.5 (13.05) 360.7 (14.2) 380.4 (14.98) 362.6 14.26) 391.8 (15.43) Chapter 2 Servo Drive and System Comparisons Kinetix 5300 Servo Drive Dimensions Dimensions are in mm (in.) 2198-K53CK-D15M Feedback Connector Kit Mounted on Frame 1 Drive 2 1 B Frame 1 Servo Drive 1 10 2198-K53CK-D15M Feedback Connector Kit Mounted on a Frame 2 or 3 Drive E U V W 65.0 (2.56) MBRK A 3.0 (0.12) 65.0 (2.56) 265 (10.43) C D Table 11 - Kinetix 5300 Servo Drive Dimensions Kinetix 5300 Drive Cat. No. Frame A mm (in.) B mm (in.) 1 50 (1.97) 175 (6.89) 2 55 (2.16) 3 85.2 (3.35) C mm (in.) D mm (in.) E mm (in.) Drill Hole Patterns(1) F mm G mm 215 (8.46) 193.68 4.51 225 (8.86) 204 (8.03) 265 (10.43) 265 (10.43) 243.84 5.00 250 (9.84) 294 (11.57) 273.70 0.0 2198-C1004-ERS 2198-C1007-ERS 2198-C4004-ERS 2198-C4007-ERS 2198-C1015-ERS 2198-C1020-ERS 2198-C2030-ERS 2198-C4015-ERS 2198-C4020-ERS 2198-C4030-ERS 2198-C2055-ERS 2198-C2075-ERS 2198-C4055-ERS 2198-C4075-ERS (1) Hole spacing is measured in millimeters and not converted to inches to avoid errors due to rounding. Refer to Kinetix 5300 Single-axis EtherNet/IP Servo Drives User Manual, publication 2198-UM005. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 25 Chapter 2 Servo Drive and System Comparisons Figure 5 - Kinetix 5300 Drives with Connector Kit Accessories (Frames 2 and 3) Dimensions are in mm (in.) 2198-K53CK-D15M Feedback Connector Kit Mounted on Kinetix 5300 Frame 2 Drive 2198-K53CK-D15M Feedback Connector Kit Mounted on Kinetix 5300 Frame 3 Drive 65.0 (2.56) 265 (10.43) 65.0 (2.56) 265 (10.43) 2090-CTFB-MxDD Feedback Cable Frame 3 clamping plate for large diameter cables. 100 (3.94) 300 (11.81) Clearance required for drive-end cable connectors apply to all frame sizes. 80 (3.15) 2090-CFBM7DD-CEAxxx Feedback Cable (drive-end connector) 48 (1.89) 248 (9.76) 26 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Chapter 2 AC Input Power Cable Length and Fuse Protection Servo Drive and System Comparisons This section provides information to assist you in determining the wiring and fusing requirements of the drives. AC Input Power Cable Lengths In general, the recommended drive replacement should not require changes in wiring length. However, the routing can need to change as the input power on the Kinetix 5300 servo drive is located on the top of the drive, while the same connection is located on the front of the Ultra3000 servo drive. See Appendix A, Connectors and Field Connections for a comparison of the Ultra3000 servo drive and Kinetix 5300 servo drive terminals. Figure 6 - Ultra3000 Servo Drive Input Power Example Three-phase Input Power Line Disconnect Device Bulletin 2090 Active or Passive Shunt Module (optional component) Shunt Module ALLEN-BRADLEY R BULLETIN 1394 300W SHUNT MODULE CAT. PART SER. INPUT DC INPUT AC FOR FUSE REPLACEMENT USE: BUSSMAN CAT. NO. FOR USE WITH 1394-SJT22-X SYSTEM MODULE Input Fusing 2098-DSD-xxxxx Ultra3000 Drive (2098-DSD-xxx-SE drive is shown) 2090-UXLF-xxx AC Line Filter (optional component) 2090-U3xBB-DMxx Drive-mounted Breakout Board for I/O and Commands 1606-XLxxx 24V DC Control Power Control Power Supply Input Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Allen-Bradley 1606-XL Power Supply Input Input Sensors and Control String 27 Chapter 2 Servo Drive and System Comparisons Figure 7 - Kinetix 5300 Servo Drive Input Power Example Single-phase or Three-phase Input Power SH 2198-DBxx-F or 2198-DBRxx-F AC Line Filter (required for CE) 2198-Cxxxx-ERS Drive (top view) Mains AC Input Wired to Standard Input Connector 2097-Rx or 2198-Rxxxx Shunt Resistor (optional component) L1 L2 L3 Circuit Protection Bonded Cabinet Ground Bus DC+ Line Disconnect Device 24+ 24- 24V DC Input Wired to Standard Input Connector 1606-XLxxx 24V DC Control, Digital Inputs, and Motor Brake Power (customer-supplied) SB+ SBS1 SC S2 Allen-Bradley 1606-XL Powe r S u p p l y Input AC Input Power SH DC+ L2 L1 L3 L2 L1 24+ 24- 24+ 24- 1606-XLxxx 24V DC Control, Digital Inputs, and Motor Brake Power (customer-supplied) SB+ SB+ SB- SB- S1 S1 SC SC S2 S2 Allen-Bradley 1606-XL Power S u p p l y Input AC Input Power 28 2198-Cxxxx-ERS Drives (top view) L3 SH DC+ Figure 8 - Typical Kinetix 5300 Installation without 24V Shared-bus Connectors Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 24V DC connector wiring (control power input) to additional Kinetix 5300 servo drives. Chapter 2 Servo Drive and System Comparisons Figure 9 - Kinetix 5300 Installation with 24V Shared-bus Connectors Single-phase or Three-phase Input Power Bonded Cabinet Ground Bus SH DC+ L3 SH 2198-DBxx-F or 2198-DBRxx-F AC Line Filter (required for CE) Mains AC Input Wiring Connectors L1 L1 L2 L2 L3 Circuit Protection 2198-DBxx-F or 2198-DBRxx-F AC Line Filter (required for CE) DC+ Line Disconnect Device Circuit Protection Shared 24V (control power input) 1606-XLxxx 24V DC Control, Digital Inputs, and Motor Brake Power (customer-supplied) SB+ SB+ SB- SB- S1 S1 SC SC S2 S2 2198-Cxxxx-ERS Drives (top view) Allen-Bradley 2097-Rx or 2198-Rxxxx Shunt Resistor (optional component) 1606-XL Power Supply Input AC Input Power 2198-H0x0-x-x shared-bus connection system for 24V bus-sharing configurations. 2198-Cxxxx-ERS Drives (front view) 2 2 1 1 10 10 1 U 1 U V V W W MBRK MBRK MFB MFB Bulletin 2090 Motor Power Cables Motors Refer to Table 42 Bulletin 2090 Motor Feedback Cables Motors Refer to Table 42 Circuit Breaker and Fuse Considerations Review the fusing requirements when changing drives. An Ultra3000 servo drive system must be protected by a device having a shortcircuit interrupt current rating of the service capacity provided or a maximum of 100,000 A. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 29 Chapter 2 Servo Drive and System Comparisons The Kinetix 5300 servo drives use internal solid-state motor short-circuit protection and, when protected by suitable branch circuit protection, are rated for use on a circuit capable of delivering up to 200,000 A (fuses, UL applications), 10,000 A (miniature circuit breakers), or 65,000 A (molded-case circuit breakers). See the Kinetix 5300 Servo Drives User Manual, publication 2198-UM005 for the wiring diagrams. ATTENTION: Do not use circuit protection devices on the output of an AC drive as an isolating disconnect switch or motor overload device. These devices are designed to operate on sine-wave voltage and the drives PWM waveform does not allow it to operate properly. As a result, damage to the device occurs. Make sure that the selected components are properly coordinated and meet acceptable codes including any requirements for branch circuit protection. Evaluation of the short-circuit available current is critical and must be kept below the short-circuit current rating of the circuit breaker. Ultra3000 Servo Drive Main Input Power Fuse and Circuit Breaker Specifications The Ultra3000 could have used class CC, G, J, L, R, or T class fuses, with current ratings as indicated in the table. Table 12 lists fuse examples that are recommended for use with the Ultra3000 (230V and 460V) drives. Table 12 - Ultra3000 Servo Drive Main Input Power Fuse and Circuit Breaker Specifications Ultra3000 Sercos Servo Drive Cat. No. Input Voltage Voltage Type Class CC (1) Class J (1) 2098-DSD-005 FNQ-R-6 LPJ-6SP 2098-DSD-010 FNQ-R-10 LPJ-10SP FNQ-R-20 LPJ-20SP FNQ-R-30 LPJ-30SP 2098-DSD-075 FNQ-R-30 LPJ-30SP 2098-DSD-150 — LPJ-60SP FNQ-R-10 LPJ-10SP 2098-DSD-HV030 KTK-R-5 LPJ-5SP 2098-DSD-HV050 KTK-R-8 LPJ-8SP KTK-R-20 LPJ-17-1/2SP KTK-R-30 LPJ-30SP — LPJ-35SP FNQ-R-10 LPJ-10SP 2098-DSD-020 2098-DSD-030 240V 2098-DSD-xxx 2098-DSD-HV100 2098-DSD-HV150 Input Power Auxiliary Input Power 480V Input Power 2098-DSD-HV220 2098-DSD-HVxxx Auxiliary Input Power (1) Bussmann Fuse 30 Recommended Fuse Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Chapter 2 Servo Drive and System Comparisons Table 13 lists circuit breaker examples recommended for use with the Ultra3000 (460V) drives. Table 13 - Ultra3000 (460V) Servo Drive Main Input Power Fuse and Circuit Breaker Ultra3000 Sercos Servo Drive Cat. No. Input Voltage Circuit Breaker 2098-DSD-HV030 140M-F8E-C16 2098-DSD-HV050 140M-F8E-C20 2098-DSD-HV100 480V 140M-F8E-C32 2098-DSD-HV150 140M-F8E-C45 2098-DSD-HV220 — Kinetix 5300 Servo Drive Main Input Power Fuse and Circuit Breaker Specifications The Kinetix 5300 servo drive fuse and circuit breaker selection are dependent on input power configurations. Table 14 - Kinetix 5300 UL/CSA Circuit Protection Specifications Bussmann Fuses Cat. No. Molded Case CB Cat. No. 2198-C1004-ERS KTK-R-6 140U-D6D3-B40 2198-C1007-ERS KTK-R-10 140U-D6D3-B80 KTK-R-15 140U-D6D3-C12 KTK-R-25 140U-D6D3-C20 KTK-R-30 140U-D6D3-C30 Drive Cat. No. 2198-C1015-ERS 2198-C1020-ERS 2198-C2030-ERS AC Input Voltage, nom 200…230V AC three-phase 2198-C2055-ERS LPJ-50SP 140G-G6C3-C50 2198-C2075-ERS LPJ-60SP 140G-G6C3-C60 2198-C4004-ERS KTK-R-3 140U-D6D3-B20 2198-C4007-ERS KTK-R-6 140U-D6D3-B40 KTK-R-12 140U-D6D3-B80 2198-C4015-ERS 2198-C4020-ERS 380…480V AC three-phase KTK-R-15 140U-D6D3-C12 KTK-R-25 140U-D6D3-C15 LPJ-30SP 140U-D6D3-C30 2198-C4075-ERS LPJ-35SP 140U-D6D3-C30 2198-C1004-ERS KTK-R-6 140U-D6D2-B40 2198-C4030-ERS 2198-C4055-ERS 2198-C1007-ERS 2198-C1015-ERS 100…120V AC single-phase 2198-C1020-ERS KTK-R-10 140U-D6D2-B80 KTK-R-15 140U-D6D2-C12 KTK-R-25 140U-D6D2-C20 2198-C1004-ERS KTK-R-6 140U-D6D2-B40 2198-C1007-ERS KTK-R-10 140U-D6D2-B80 KTK-R-15 140U-D6D2-C12 KTK-R-25 140U-D6D2-C20 2198-C1015-ERS 2198-C1020-ERS 200…230V AC single-phase Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 31 Chapter 2 Servo Drive and System Comparisons Table 15 - Kinetix 5300 IEC (non-UL/CSA) Circuit Protection Specifications DIN gG Fuses Amps, max Miniature CB Cat. No. Molded Case CB Cat. No. 2198-C1004-ERS 6 1489-M3C060 140U-D6D3-B40 2198-C1007-ERS 10 1489-M3C100 140U-D6D3-B80 Drive Cat. No. 2198-C1015-ERS AC Input Voltage, nom 16 1489-M3C160 140U-D6D3-C12 25 1489-M3C250 140U-D6D3-C20 32 1489-M3C400 140U-D6D3-C30 2198-C2055-ERS 40 – 140G-G6C3-C50 2198-C2075-ERS 50 – 140G-G6C3-C60 2198-C4004-ERS 2 1489-M3C030 140U-D6D3-B20 2198-C4007-ERS 6 1489-M3C060 140U-D6D3-B40 12 1489-M3C100 140U-D6D3-B80 16 1489-M3C130 140U-D6D3-C12 25 1489-M3C200 140U-D6D3-C15 2198-C4055-ERS 32 1489-M3C350 140U-D6D3-C30 2198-C4075-ERS 32 1489-M3C400 140U-D6D3-C30 2198-C1004-ERS 6 1489-M2C060 140U-D6D2-B40 10 1489-M2C100 140U-D6D2-B80 16 1489-M2C160 140U-D6D2-C12 25 1489-M2C250 140U-D6D2-C20 2198-C1004-ERS 6 1489-M2C060 140U-D6D2-B40 2198-C1007-ERS 10 1489-M2C100 140U-D6D2-B80 16 1489-M2C160 140U-D6D2-C12 25 1489-M2C250 140U-D6D2-C20 2198-C1020-ERS 2198-C2030-ERS 2198-C4015-ERS 2198-C4020-ERS 2198-C4030-ERS 2198-C1007-ERS 2198-C1015-ERS 200…230V AC three-phase 380…480V AC. three-phase 100…120V AC single-phase 2198-C1020-ERS 2198-C1015-ERS 2198-C1020-ERS Drive Interconnects and Cable Considerations 200…230V AC single-phase This section provides information to assist you in determining the interconnects and cabling requirements of the drives. Ultra3000 Servo Drives Motor/Actuator and Cable Compatibility See Table 16 for the catalog number of the motor power cable for your Ultra3000 servo drive. 32 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Chapter 2 Servo Drive and System Comparisons Table 16 - Ultra3000 Servo Drive Motor Power and Feedback Cables Motor Motor Power Cables Feedback Cables MPL-A/Bxxxx-V/E MPL-A/Bxxxx-S/M MPM-A/Bxxxx-S/M MPF-A/Bxxxx-S/M MPS-A/Bxxxx-S/M MPAR-A/Bxxxxx-V MPAI-A/Bxxxxx 2090-CPxM7DF-xxAAxx / xxAFxx 2090-CFBM7DF-CEAAxx 2090-CFBM7DD-CEAAxx 2090-CFBM7DF-CERAxx (standard) or 2090-CFBM7DF-CEAFxx 2090-CFBM7DD-CEAFxx 2090-CFBM7DF-CDAFxx (continuous-flex) MPAS-A/Bxxxxx-V (ballscrew) MPL-A/Bxxxx-H MPAS-A/Bxxxx-ALM (direct drive) 2090-XXNFMF-Sxx (standard) or 2090-CFBM7DF-CDAFxx (continuous-flex) LDC-Cxxxxxx-xH LDL-xxxxxxx-xH TLY-Axxxx-B TLY-Axxxx-H 2090-CPWM6DF-16AAxx (standard, non-flex) without brake 2090-CPBM6DF-16AAxx (standard, non-flex) with brake 2090-CFBM6DF-CBAAxx (standard) 2090-CFBM6DD-CCAAxx (standard) Ultra3000 Servo Drive Feedback Connector Factory-made cables with premolded connectors are designed to minimize EMI and are recommended over hand-built cables to improve system performance. However, other options are available for building your own feedback and I/O cables. See Table 17 for the available options. Table 17 - Ultra3000 Feedback Connectors Drive Connector Connector Option CN1 I/O Connector CN2 Feedback Connector CN3 Serial Connector Option Cat. No. 44-pin drive-mounted breakout board with 24V to 5V auxiliary power converter 2090-U3CBB-DM44 12-pin drive-mounted breakout board with 24V to 5V auxiliary power converter for Sercos interface applications 2090-U3CBB-DM12 44-pin panel-mounted breakout board kit 2090-U3BK-D44xx 44-pin, drive-mounted breakout board 2090-U3BB2-DM44 44-pin (high-density D-shell) drive connector kit 2090-U3CK-D44 Single-axis flying lead to 1756-M02AE module or 1784-PM02AE PCI card 2090-U3CC-D44xx Two-axis pre-wired to 1756-M02AE module 2090-U3AE-D44xx Premolded cable at drive and motor end 2090-UXNFBxx-Sxx Flying lead cable at drive end (2090-XXNFxx-Sxx) 15-pin drive-mounted breakout board 2090-UXBB-DM15 15-pin panel-mounted breakout board kit 2090-UXBK-DM15xx 15-pin (high-density D-shell) drive connector kit 2090-UXCK-D15 PC serial connector to premolded drive connector 2090-UXPC-DM09 9-pin drive-mounted breakout board 2090-UXBB-DM09 9-pin (high-density D-shell) drive connector kit 2090-UXCK-D09 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 33 Chapter 2 Servo Drive and System Comparisons See Table 18 for catalog numbers of the legacy motor power and feedback cables that are available for specific motor/feedback combinations. Table 18 - Ultra3000 Legacy Motor Power and Feedback Cables Motor Series Using this Type of Motor Feedback Motor Power Cables Feedback Cable Available Cables When Universal Cable are not Available F-Series 2090-XXNPHF-16Sxx 2090-XXNPHF-14Sxx 2090-UXNPAHF-10Sxx 2090-UXNPAHF-8Sxx H-Series 2090-XXNPH-16Sxx 2090-XXNPHF-14Sxx N-Series Y-Series Incremental encoder Premolded Flying Lead (1) 2090-UXNPAHF-10Sxx 2090-UXNPAHF-8Sxx 2090-UXNPAH-6Sxx 2090-UXNFBHF-Sxx 2090-XXNFHF-Sxx 2090-XXNPN-16Sxx — 2090-UXNFBN-Sxx 2090-XXNFN-Sxx 2090-XXNPY-16Sxx — 2090-UXNFBY-Sxx 2090-XXNFY-Sxx (1) Requires 2090-UXBB-DM15 drive-mounted breakout board, 2090-UXBK-D15xx breakout board kit, or 2090-UXCK-D15 mating connector kit. Kinetix 5300 Servo Drives Servo Motor/Actuator and Cable Compatibility Most compatible Allen-Bradley® motors and actuators have separate power/ brake and feedback cables. Some Kinetix TLP and TL motors have separate brake cables too. The motor power/brake cable shield attaches to the cable clamp on the drive and the conductors attach to the motor power and motor brake connector plugs. IMPORTANT The maximum drive-to-motor power and feedback cable length depends on the AC input power, motor type, and feedback type. Drive-to-motor cables must not exceed 50 m (164 ft). See the Kinetix 5300 Servo Drives User Manual, publication 2198-UM005 for specifications by frame size. Table 19 - Kinetix TLP Motor and Cable Combinations Rotary Motor (200V-class) (1) Cat. No. TLP-A046-xxx, TLP-A070-xxx, TLP-A090-xxx, (2) TLP-A100-xxx TLP-A115-100, (3) TLP-A145-050, TLP-A145-100 TLP-A115-200, TLP-A145-090, TLP-A145-150, TLP-A145-250 Motor Power/Brake Cable Feedback Cable Cat. No. 2090-CTPx-MADF-18Axx (standard) or 2090-CTPx-MADF-18Fxx (continuous-flex) 2090-CTFB-MADD-CFAxx (standard) or 2090-CTFB-MADD-CFFxx (continuous-flex) 2090-CTPx-MCDF-16Axx (standard) or 2090-CTPx-MCDF-16Fxx (continuous-flex) TLP-A200-450 2090-CTPx-MCDF-12Axx (standard) or 2090-CTPx-MCDF-12Fxx (continuous-flex) 2090-CTPx-MDDF-12Axx (standard) or 2090-CTPx-MDDF-12Fxx (continuous-flex) 2090-CTPx-MDDF-08Axx (standard) or 2090-CTPx-MDDF-08Fxx (continuous-flex) TLP-A200-550, TLP-A200-750 (5) 2090-CTPW-MEDF-06Axx (standard) or 2090-CTPW-MEDF-06Fxx (continuous-flex) TLP-A200-200, TLP-A200-300, TLP-A200-350 (4) (1) (2) (3) (4) (5) 34 Brake Cat. No. Not applicable. Brake conductors are included in the power cable. 2090-CTFB-MFDD-CFAxx (standard) or 2090-CTFB-MFDD-CFFxx (continuous-flex) The TLP-A046…TLP-A100 frame on-motor cables include 18 AWG conductors that are compatible with 2090-CTPx-MADF-18xxx cable conductors. For TLP-A090-xxx motors, use 2090-CTPx-MADF-16xxx motor power/brake cable to comply with NFPA 79 requirements. For TLP-A115-100 motors, use 2090-CTPx-MCDF-12xxx motor power/brake cable to comply with NFPA 79 requirements. For TLP-A200-350 motors, use 2090-CTPx-MDDF-08xxx motor power/brake cable to comply with NFPA 79 requirements. Only these motors have separate brake connectors and brake cables. All other motors have brake wires included with the motor power/brake connector. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 2090-CTBK-MBDF-20Axx (standard) or 2090-CTBK-MBDF-20Fxx (continuous-flex) Chapter 2 Servo Drive and System Comparisons Table 20 - Kinetix MP, LDAT-Series, LDC/LDL-Series™ Motor Power Cable Compatibility Motor Power Cat. No. (1) (with brake wires) Motor/Actuator Cat. No. MPL-A/B15xxx-xx7xAA, MPL-A/B2xxx-xx7xAA, MPL-A/B3xxx-xx7xAA, MPL-A/B4xxx-xx7xAA, MPL-A/B45xxx-xx7xAA, MPL-A/B5xxx-xx7xAA, MPL-B6xxx-xx7xAA MPM-A/Bxxxx, MPF-A/Bxxxx, MPS-A/Bxxxx MPAS-A/Bxxxx1-V05SxA, MPAS-A/Bxxxx2-V20SxA MPAI-A/Bxxxx, MPAR-A/B3xxx, MPAR-A/B1xxx, and MPAR-A/B2xxx (series B) MPAS-Bxxxxx-ALMx2C LDAT-Sxxxxxx-xDx LDAT-Sxxxxxx-xBx LDC-Cxxxxxx LDL-xxxxxxx Motor Power Cat. No. (1) (without brake wires) 2090-CPBM7DF-xxAAxx (standard) or 2090-CPBM7DF-xxAFxx (continuous-flex) 2090-CPWM7DF-xxAAxx (standard) or 2090-CPWM7DF-xxAFxx (continuous-flex) — (1) See the Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004, for cable specifications. Table 21 - Kinetix TL and TLY Motor Power/Brake Cable Compatibility Motor/Actuator Cat. No. Motor Power Cat. No. (1) (with brake wires) Motor Power Cat. No. (1) (without brake wires) Brake Cat. No. (1) TLY-Axxxx 2090-CPBM6DF-16AAxx (standard) 2090-CPWM6DF-16AAxx (standard) TL-Axxxx – 2090-DANPT-16Sxx Not applicable. Brake conductors are included in the power cable. 2090-DANBT-18Sxx (1) See the Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004, for cable specifications. See Kinetix 5300 Servo Drives User Manual, publication 2198-UM005 for motor power and brake connector specifications. Table 22 - Legacy Motor Power Cables Motor Cable Description Power/brake, threaded Power-only, bayonet Power/brake, threaded Power-only, threaded Power-only, bayonet Standard Continuous-flex Motor Power Cat. No. 2090-XXNPMF-xxSxx 2090-XXNPMP-xxSxx 2090-CPBM4DF-xxAFxx 2090-CPWM4DF-xxAFxx 2090-XXTPMP-xxSxx Table 23 - Induction Motor Power Cable Specifications Cable Manufacturer Belden Lapp Group SAB Cable Series 29505-29507 ÖLFEX VFD XL VFD XLPE TR Voltage Rating Temperature Rating Cable Length, max 1000V 90 °C (194 °F) 50 m (164 ft) All of the current and legacy feedback cables listed below are compatible with the 2198-K53CK-D15M connector kit. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 35 Chapter 2 Servo Drive and System Comparisons Table 24 - Motor Feedback Cable Compatibility Motor/Actuator Cat. No. MPL-A/B15xxx-V/Ex7xAA, MPL-A/B2xxx-V/Ex7xAA MPL-A/B3xxx-S/Mx7xAA, MPL-A/B4xxx-S/Mx7xAA MPL-A/B45xxx-S/Mx7xAA, MPL-A/B5xxx-S/Mx7xAA MPL-B6xxx-S/Mx7xAA, MPL-B8xxx-S/Mx7xAA, MPL-B9xxx-S/Mx7xAA MPM-A/Bxxxx-S/M MPF-A/Bxxxx-S/M MPS-A/Bxxxx-S/M MPAR-A/B1xxxx-V and MPAR-A/B2xxxx-V (series B) MPAR-A/B3xxxx-M MPAI-A/BxxxxxM3 MPAS-A/Bxxxx1-V05SxA (ballscrew) MPAS-A/Bxxxx2-V20SxA (ballscrew) LDAT-Sxxxxxx-xDx MPL-A/B15xxx-Hx7xAA MPL-A/B2xxx-Hx7xAA MPL-A/B3xxx-Hx7xAA MPL-A/B4xxx-Hx7xAA MPL-A/B45xxx-Hx7xAA MPAS-A/Bxxxx-ALMx2C (direct drive) LDAT-Sxxxxxx-xBx LDC-Cxxxxxx-xH LDL-xxxxxxx-xH Feedback Cable Cat. No. TLP-A046-xxx, TLP-A070-xxx, TLP-A090-xxx, TLP-A100-xxx 2090-CTFB-MADD-CFAxx (standard) or 2090-CTFB-MADD-CFFxx (continuous-flex) 2090-CTFB-MFDD-CFAxx (standard) or 2090-CTFB-MFDD-CFFxx (continuous-flex) 2090-CFBM7DF-CEAAxx 2090-CFBM7DD-CEAAxx 2090-CFBM7DF-CERAxx (standard) or 2090-CFBM7DF-CEAFxx 2090-CFBM7DD-CEAFxx 2090-CFBM7DF-CDAFxx (continuous-flex) 2090-XXNFMF-Sxx (standard) or 2090-CFBM7DF-CDAFxx (continuous-flex) TLP-A115-xxx, TLP-A145-xxx, TLP-A200-xxx, TLP-A235-xxx TLY-Axxxx-B TLY-Axxxx-H TL-Axxxx-B 2090-CFBM6DF-CBAAxx (standard) 2090-CFBM6DD-CCAAxx (standard) 2090-DANFCT-Sxx (standard) Table 25 - Legacy Motor Feedback Cables Motor Cable Description Encoder feedback, threaded Standard Encoder feedback, bayonet Continuous-flex Encoder feedback, bayonet Encoder feedback, threaded Feedback Cable Cat. No. 2090-XXNFMF-Sxx 2090-UXNFBMF-Sxx 2090-UXNFBMP-Sxx 2090-XXNFMP-Sxx 2090-XXTFMP-Sxx 2090-CFBM4DF-CDAFxx Refer to Kinetix 5300 Servo Drives User Manual, publication 2198-UM005 for motor feedback cable specifications. 36 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Chapter 2 Digital I/O Servo Drive and System Comparisons This section describes digital inputs for Ultra3000 and Kinetix 5300 servo drives. Ultra3000 Servo Drive Digital Inputs The digital inputs on the Ultra3000 servo drive have the following characteristics and specifications. Table 26 - Ultra3000 Drives Digital Input Characteristics Specification I/O response Digital I/O firmware scan period Description 100 µs 1 ms Table 27 - Ultra3000 Drives Digital Input Parameters Parameter Description Voltage applied to the input, with respect to IOCOM, to guarantee an ON state. Current flow to guarantee an ON State. Voltage applied to the input, with respect to IOCOM, to guarantee an OFF state. ON state voltage ON state current OFF state voltage Min Max 10.8V 26.4V 3.0 mA 12.0 mA -1.0V 2.0V Table 28 - Ultra3000 Sercos Drives Dedicated Functionality Inputs Pin Signal CN1-31 ENABLE CN1-32 HOME CN1-33 CN1-34 CN1-37 CN1-38 REG1 REG2 OT_POS OT_NEG Description Drive Enable Input, an active state enables the power electronics to control the motor. Home Sensor, an active state indicates to a homing sequence that the sensor has been seen. Registration Sensor, a transition is used to record position values. Overtravel Input, an inactive state indicates that a position limit has been exceeded. An active state occurs when 24V is removed from the input. For the Ultra3000 drives, there are eight optically isolated digital inputs. All digital inputs have the same configuration, as shown in the following figure. Figure 10 - Ultra3000 Drive Digital Input Circuit Ultra3000 +5V INPUTS IOCOM IOCOM DGND Ultra3000 Servo Drive Outputs The digital output and relay output on the Ultra3000 servo drive have the following characteristics and specifications. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 37 Chapter 2 Servo Drive and System Comparisons Table 29 - Ultra3000 Drives Digital Outputs Parameter ON state current OFF state current ON state voltage OFF state voltage Description Current flow when the output transistor is ON Current flow when the output transistor is OFF Voltage across the output transistor when ON Voltage across the output transistor when OFF Min — — — — Max 50 mA 0.1 mA 1.5V 50V Figure 11 - Transistor Output Hardware Configuration Ultra3000 Drive IOPWR +5V OUTPUT OUT Table 30 - Relay Output Specifications Parameter Description Min Max ON state current Current flow when the relay is closed — 1A ON state resistance Contact resistance when the relay is closed — 1Ω OFF state voltage Voltage across the contacts when the relay is open — 30V Figure 12 - Relay Output Configuration Ultra3000 Drive Normally Open Relay CN1-43 Relay + CN1-44 Relay - Kinetix 5300 Servo Drive Digital Inputs Four digital inputs are available for the machine interface on the I/O connector and six configurable functions can be chosen from in the Studio 5000 Logix Designer® application (version 33.00 or later). Digital inputs require a 24V DC @ 15 mA supply. These are sinking inputs that require a sourcing device. A common and cable shield connection is provided on the I/O connector for digital inputs. Although any input can be configured as a registration input, only two inputs can be assigned at any time. IMPORTANT 38 To improve registration input EMC performance, see the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Chapter 2 Servo Drive and System Comparisons Table 31 - Kinetix 5300 Drive Configurable Functions Default Configuration Description 0 = Unassigned 1 = Enable Digital input1 = Enable Digital input2 = Home Digital input3 = Registration 1 Digital input4 = Registration 2 2 = Home 3 = Registration 1 4 = Registration 2 5 = Positive overtravel 6 = Negative overtravel Table 32 - Understanding Kinetix 5300 Digital Input Functions Function Enable Home Registration 1 Registration 2 Positive overtravel Negative overtravel Description A 24V DC input is applied to this terminal to move the AxisCipDrive from StartInhibited to Stopped State. An active state indicates to a homing sequence that the referencing sensor has been seen. Typically, a transition of this signal is used to establish a reference position for the machine axis. An inactive-to-active transition (also known as a positive transition) or active-toinactive transition (also known as a negative transition) is used to latch position values for use in registration moves. The positive/negative limit switch (normally closed contact) inputs for each axis require 24V DC (nominal). Table 33 - Kinetix 5300 Digital Input Specifications Attribute Input current (typical) Input ON voltage range (typical) Input OFF voltage, max Digital input type according to IEC 61131-2 External power supply Input protection Registration accuracy Registration repeatability Value 2.5 mA 15…26.4V DC 5V DC 24V DC Type 1 24V DC ±10% PELV Optically isolated, reverse voltage protected ±3 µs 1.0 µs Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 39 Chapter 2 Servo Drive and System Comparisons Typical System Layout This section provides system examples for Ultra3000 and Kinetix 5300 servo drives. Before designing the system layout, review Communication in Chapter 1, Integrated Motion on Sercos and EtherNet/IP Network – Analysis and Comparison, publication MOTION-AT006, and the Knowledgebase Technote: Qualifying Logic for MSO. Ultra3000 Servo Drive System Example This system example illustrates how the required drive modules and accessories are used in a typical system. Figure 13 - Ultar3000 Sercos Servo Drive System Example Logix Controller Programming Network Logix Sercos interface Module Logix Controller Platform (ControlLogix® controller is shown) RSLogix™ 5000 Software 2098-DSD-xxxxx-SE Ultra3000 Drive 2090-SCxxx-x Sercos Fiber-optic Cables 2090-UXBB-DM15 Drive-mounted Breakout Board for Motor Feedback Bulletin 2090 Motor Power Cable 1606-XLxxx 24V DC Control Power Control Power Supply Input 40 Allen-Bradley 1606-XL Power Supply 2090-U3xBB-DMxx Drive-mounted Breakout Board for I/O Input Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Bulletin 2090 Motor Feedback Cable Input Sensors and Control String Chapter 2 Servo Drive and System Comparisons Kinetix 5300 Servo Drive System Example This example control system uses a single Kinetix 5300 servo drive. Figure 14 - Typical Kinetix 5300 Single-axis Installation Single-phase or Three-phase Input Power SH 2198-DB08-F or 2198-DBRxx-F AC Line Filter (is required for CE) 2198-Cxxxx-ERS Drive (top view) 24+ Any Logix 5000 Controller (version 33.00 or later) with Motion EtherNet/IP Capability (CompactLogix 5380 controller is shown) 1606-XLxxx 24V DC Control, Digital Inputs, and Motor Brake Power (customer-supplied) 24- L1 L2 L3 Circuit Protection Bonded Cabinet Ground Bus DC+ Line Disconnect Device SB+ SB- Mains AC Input Wired to Standard Input Connector 24V DC Input Wired to Standard Input Connector 2097-Rx or 2198-Rxxxx Shunt Resistor (optional component) S1 SC S2 Allen-Bradley 1606-XL Power Supply Input AC Input Power Studio 5000 Logix Designer Application (version 33.00 or later) 2198-Cxxxx-ERS Drive (front view) 2 1 10 1 U V W MBRK MFB Bulletin 2090 Motor Feedback Cables Bulletin 2090 Motor Power Cables Motor Refer to Table 42. See Appendix E for additional communication configurations. Accessories This section describes required and optional accessories for Ultra3000 and Kinetix 5300 servo drives. Ultra3000 Servo System Accessories Ultra3000 servo systems require controllers and Sercos modules. See Table 41 on page 55 for additional information. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 41 Chapter 2 Servo Drive and System Comparisons Table 34 - Ultra3000 Sercos Required Accessories Drive Accessory Description Cat. No. 24V power supply 12…24V DC for control power and motor brakes. 1606-XLxxx Motor feedback (CN2) connections. 2090-UXBB-DM15 Serial interface (CN3) connections. 2090-UXBB-DM09 I/O (CN1) connections. These kits apply to all Ultra3000 drives (catalog numbers 2098-DSD-005, 2098-DSD-010, and 2098-DSD-020) in applications where 5V DC control power (if necessary) is usersupplied. 2090-U3BB-DM12 (1) I/O (CN1) connections. These kits apply to only 2098DSD-005, 2098-DSD-010, and 2098-DSD-020 drives in applications where a 24…5V DC converter for control power is required. 2090-U3CBB-DM12 (1) Plastic, in-cabinet duty. 2090-SCEPx-x Plastic, on-machine duty. 2090-SCNPx-x Plastic, outdoor, and conduit duty. 2090-SCVPx-x Glass, outdoor, and conduit duty. 2090-SCVGx-x Drive-mounted breakout boards (required for flying lead cables) Sercos fiber-optic cables Motor power and feedback cables 2090-U3BB2-DM44 2090-U3CBB-DM44 See the specific drive/motor combination for the motor cables required for your system. (1) The 12-pin board is intended for use with Sercos drives, but can be used in non-Sercos applications with minimal I/O requirements. See the Kinetix Motion Accessories Technical Data, publication KNX-TD004, for detailed descriptions and specifications of these servo drive accessories. Table 35 - Ultra3000 Sercos Optional Drive Accessories Drive Accessory Description Cat. No. Single-axis (CN1) flying lead drive to Logix module cable. 2090-U3CC-D44xx Drive to 1756-M02AE module interface cable Two-axis (CN1) pre-wired drive to Logix module cable. 2090-U3AE-D44xx Drive-mounted breakout board for serial interface 2090-UXBB-DM09 (applies to flying lead 9-pin (CN3) breakout board for serial interface. cables as an alternative to serial interface cable) Panel-mounted DIN rail-mounted terminal block and cable for 15-pin 2090-UXBK-D15xx breakout boards (CN2) motor feedback connections. (applies to flying lead cables as an alternative DIN rail-mounted terminal block and cable for 44-pin 2090-U3BK-D44xx to drive-mounted (CN1) I/O connections. breakout boards) AC line conditioning for EMC. Applies to 200V-class 2090-UXLF-xxx drives. 2090 AC line filters AC line conditioning for EMC. Applies to 400V-class 2090-UXLF-HVxxx drives. Applies to 2098-DSD-HV030, 2098-DSD-HV050, and 2090-SRxxx-xx 2098-DSD-HV100 drives. (1) Applies to 2098-DSD-075 and 2098-DSD-150 drives. 2090-UCSR-P900 2090 shunt modules Applies to 2098-DSD-030 drives. 9101-1183 Applies to 2098-DSD-005, 2098-DSD-010, and 2098-DSD- 2090-UCSR-A300 020 drives. Resistive brake module Physically and electrically separate the drive power 2090-XBxxx-xx (RBM) output from its corresponding motor. 42 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Chapter 2 Servo Drive and System Comparisons Table 35 - Ultra3000 Sercos Optional Drive Accessories (Continued) Drive Accessory Description RBM interface cables Motor power, RBM to drive. External auxiliary encoder Allen-Bradley sine/cosine and incremental external encoders. Cat. No. 2090-UXNRB-10F1P3 2090-UXNRB-8F1P4 2090-UXNRB-6F1P5 Bulletin 842A, 844D, 845H, and 845T (1) See Rockwell Automation Encompass™ partners for 2098-DSD-HV150 and 2098-DSD-HV220 passive shunt solutions. Kinetix 5300 Servo System Accessories The Kinetix 5300 drives include an internal shunt resistor that is connected to the drive at the factory. External shunt resistors (Bulletin 2198-Rxxx or 2097-Rx shunt resistors) can be used to provide additional shunt capacity for applications when the internal shunt capacity of the drive is exceeded. Catalog numbers 2198-R014 and 2198-R031 are composed of resistor coils that are housed inside an enclosure. Catalog numbers 2097-R6, 2097-R7, and 2198R001, 2198-R002, 2198-R004 are shunt resistors without an enclosure. The Kinetix 5300 connector kit is included with the drive. Replacement kits are also available. The Kinetix 5300 servo drives have a variety of optional drive accessories. For details on which accessories are available with each drive, refer to the Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004. Kinetix 5300 Servo systems require controllers, Ethernet switches, and EtherNet/IP cards, see Table 2 on page 14 for additional information. Table 36 - Kinetix 5300 Drive System Accessories Accessory (1) Description Motor feedback connector kit with 15-pin connector plug and Low-profile Feedback backup is required for absolute position. Supports Connector kit (required for battery Kinetix MP, TL, TLP, TLY, LDC, LDL, and LDAT-Series rotary and flying-lead cables) linear motors and linear actuators Motor Power and Feedback Refer to the specific drive/motor combination for the motor Cables cables required for your system Ethernet cables are available in standard lengths; Shielded (2) Ethernet Cables cable is recommended Input wiring connectors and DC bus T-connector for frame 1 24V DC Shared-bus and 2 servo drives Connector Kits Input wiring connectors and DC bus T-connector for frame 3 (3) (zero-stack tab / cutout) servo drives External passive shunts are available to provide additional External Shunt Resistor (3) shunt capacity for applications where the internal shunt capacity is exceeded AC Line Filters (3) These line filters are required to meet CE requirements Cat. No. 2198-K53CK-D15M — 1585J-M8CBJM-x, 1585J-M8UBJM-x 2198-H040-x-x 2198-H070-x-x 2097-Rx and 2198-Rxxx 2198-DB08-F 2198-DBRxx-F (1) Refer to the Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003, for detailed descriptions and specifications of these drive accessories. (2) Where x equals the cable length in meters. (3) This is an optional accessory. The AC line filters required to meet CE compliance for the Kinetix 5300 are different than those required by the Ultra3000. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 43 Chapter 2 Servo Drive and System Comparisons Notes: 44 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Appendix A Connectors and Field Connections Connector Locations Use these illustrations to identify the connectors and indicators for the Ultra™ 3000 and Kinetix® 5300 servo drives. Ultra3000 Servo Drive Connector Data Figure 15 - Ultra3000 Servo Drive Front Panel Connections for Cat. No. 2098-DSD-005-SE, -010-SE, and -020-SE 7 6 8 5 9 10 4 11 12 3 2 13 14 1 Item Description Item Description 1 Motor Power Cable Shield Clamp 8 Network Status Indicator 2 Motor Power Connections 9 CN3 9-pin Serial Port Connector 3 AC Input Power Connections 10 Node Address Switches 4 DC Bus Connections for Active Shunt Resistor Kit 11 CN2 15-pin Motor Feedback Connector 5 Logic Power Status Indicator 12 Data Rate Switch 6 Seven Segment Status Indicator 13 Sercos Interface Receive (Rx) and Transmit (Tx) Connectors 7 Module Status Indicator 14 CN1 44-pin User I/O Connector Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 45 Appendix A Connectors and Field Connections Figure 16 - Ultar3000 Servo Drive Front Panel Connections for Cat. No. 2098-DSD-030 5 4 1 Internal 6 2 External Shunt 3 7 8 TB2 9 10 8 11 U 3 V Motor W 12 + DC Bus L1 L2/N 2 13 100-240 VAC 50/60 Hz L1 AUX L2/N AUX 14 TB1 1 46 Item Description Item Description 1 Motor Power Cable Shield Clamp 8 Network Status Indicator 2 AC Input Power Connections 9 Node Address Switches 3 Motor Power Connections 10 Data Rate Switch 4 Passive Shunt Resistor Connections 11 CN3 9-pin Serial Port Connector 5 Seven Segment Status Indicator 12 CN2 15-pin Motor Feedback Connector 6 Logic Power Status Indicator 13 CN1 44-pin User I/O Connector 7 Module Status Indicator 14 Sercos interface Receive (Rx) and Transmit (Tx) Connectors Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Appendix A Connectors and Field Connections Figure 17 - Ultar3000 Servo Drive Front Panel Connections for Cat. No. 2098-DSD-075 and -150 5 4 1 Internal 6 2 External Shunt 7 8 3 TB2 9 8 10 11 U V 3 Motor W 12 + DC Bus L1 13 L2 L3 2 100-240 VAC 50/60 Hz L1 AUX L2/N AUX 14 TB1 1 Item Description Item Description 1 Motor Power Cable Shield Clamp 8 Network Status Indicator 2 AC Input Power Connections 9 Node Address Switches 3 Motor Power Connections 10 Data Rate Switch 4 Passive Shunt Resistor Connections 11 CN3 9-pin Serial Port Connector 5 Seven Segment Status Indicator 12 CN2 15-pin Motor Feedback Connector 6 Logic Power Status Indicator 13 CN1 44-pin User I/O Connector 7 Module Status Indicator 14 Sercos interface Receive (Rx) and Transmit (Tx) Connectors Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 47 Appendix A Connectors and Field Connections Figure 18 - Ultra3000 Servo Drive Front Panel Connections for Cat. No. 2098-DSD-HVxxx-SE 5 6 7 8 9 4 10 11 12 3 13 2 14 1 48 Item Description Item Description 1 Motor Power Cable Shield Clamp 8 Network Status Indicator 2 AC Input Power Connections 9 Node Address Switches 3 Motor Power Connections 10 Data Rate Switch 4 Passive Shunt Resistor Connections 11 CN3 9-pin Serial Port Connector 5 Seven Segment Status Indicator 12 CN2 15-pin Motor Feedback Connector 6 Logic Power Status Indicator 13 CN1 44-pin User I/O Connector 7 Module Status Indicator 14 Sercos Interface Receive (Rx) and Transmit (Tx) Connectors Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Appendix A Connectors and Field Connections Kinetix 5300 Servo Drive Connector Data Figure 19 - Drive Features and Indicators Kinetix 5300, Top View (2198-C1004-ERS drive is shown) 7 7 MOD 5 2 4 1 NET DC+ SH 8 KINETIX 5300 6 15 NEXT Kinetix 5300, Bottom View (frame 2 and 3 drives only) 9 SELECT BACK Cooling Fan DANGER Elec t r ic sh o ck r isk . Power off and wait 5 min u tes. 10 11 1 U L2 L1 16 U V V W W 2 2 1 12 2 1 13 24+ 24- 10 L2 L1 Kinetix 5300 Drive, Front View (2198-C1004-ERS drive is shown) L3 L3 3 17 SB+ Shared-bus 24V Input Wiring Connector SBS1 SC MBRK S2 SB+ MFB SB- 18 S1 SC S2 1 14 Item 1 2 3 4 5 6 Description Motor Cable Shield Clamp Motor Feedback (MFB) Connector Digital Inputs and Auxiliary Feedback Connector Ethernet (PORT1) RJ45 Connector Ethernet (PORT2) RJ45 Connector Module and Network Status Indicators Input and Motor Power Connector Pinouts Item 7 8 Description Zero-stack Mounting Tab/Cutout Four-character Status Display Item 13 14 Description Motor Brake Connector Ground Terminal 9 Navigation Pushbuttons 15 Shunt Resistor Connector 10 11 Link Speed Status Indicators Link/Activity Status Indicators 16 17 AC Mains Input Power Connector 24V Control Input Power Connector 12 Motor Power Connector 18 Safe Torque Off (STO) Connector These tables compare the input power, control/auxiliary power, motor power, and shunt resistor connector pinouts for the Ultra3000 and Kinetix 5300 servo drives. Table 36 - Single-phase Connectors Ultra3000 Servo Drives (Cat. No. 2098-DSD-005, -010, -20, and -030) Kinetix 5300 Servo Drives Connector Connector DC Bus Connections Single-phase Input Power Signal Terminal DC+ + DC- – L1 L1 L2/N L2/N — — Ground Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 — Single-phase Input Power Signal Terminal — — — — L1 L1 L2/N L2 — — Ground 49 Appendix A Connectors and Field Connections Table 36 - Single-phase Connectors (Continued) Ultra3000 Servo Drives (Cat. No. 2098-DSD-005, -010, -20, and -030) Kinetix 5300 Servo Drives Connector Connector Motor Signal Terminal U U V V W W Motor Power Chassis Ground Control/Auxiliary Power (1) Terminal U U V V W W Chassis Ground L1 L1 Aux L2/N L2/N Aux — — — — — — — — — — Shunt Resistor Signal 24V Input Power Shunt Resistor Motor Brake 24V + 1 24V - (com) 2 (2) — DC+ (2) — MBRK+ 1 MBRK - 2 SH (1) Auxiliary power for the Ultra3000 is only available for 2098-DSD-030. (2) Pin numbering is not used on the shunt connector. Shunt connections to the 2-pin connector is arbitrary. Table 37 - Three-phase Connectors Ultra3000 Servo Drives (Cat. No. 2098-DSD-075, -150, and 2098-DSD-HVxxx) Kinetix 5300 Servo Drives Connector Connector Motor Connector TB1 Signal Terminal U U V V W W Motor Power Chassis Ground DC Bus Connections Three-phase Input Power TB1 TB1 Shunt Resistor TB1 TB2 Terminal U U V V W W Chassis Ground DC+ + DC- – L1 L1 L2 L2 L3 L3 Ground Control/Auxiliary Power Signal L1 L1 Aux L2 L2/N Aux Internal/ External 1 Internal 2 External 3 — Threephase Input Power 24V Input Power Shunt Resistor — — — — L1 L1 L2 L2 L3 L3 Ground 24V + 1 24V - (com) 2 SH (1) — DC+ (2) — — — (1) Pin numbering is not used on the shunt connector. Shunt connections to the 2-pin connector is arbitrary. 50 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Appendix A Connectors and Field Connections Motor Feedback The table compares the feedback connector pinouts for the Ultra3000 and Kinetix 5300 servo drives: • • Ultra3000 servo drive CN2 connector Kinetix 5300 servo drive MFB connector Table 38 - Motor Feedback Connector Pinouts Ultra3000 Servo Drives (1) CN2 Pin Description Signal 1 Channel A+ / sine differential input+ AM+ 2 Channel A- / sine differential input- AM- 3 Channel B+ / cosine differential input+ BM+ 4 Channel B- / cosine differential input- BM- 5 Channel I+ / Index pulse+ IM+ 6 Common Kinetix 5300 Servo Drives ECOM Description Sine differential input + AM differential input + Sine differential input– AM differential input– Cosine differential input + BM differential input + Cosine differential input – BM differential input – Data differential input/output + IM differential input + Encoder common MFB Pin 1 2 3 4 5 6 — Encoder 9V power output 7 8 9 Reserved Commutation channel S3 Positive overtravel limit MTR_EPWR9V (2) S3 +LIMIT Channel I- / Index pulse- IM- Hall commutation S3 input Reserved Data differential input/output – IM differential input – 8 9 10 MTR_S3 — MTR_DATAMTR_IM– 11 Thermostat TS MTR_TS 12 13 Commutation channel S1 Commutation channel S2 S1 S2 MTR_S1 MTR_S2 Motor thermostat (normally closed) (3) Hall commutation S1 input Hall commutation S2 input 12 13 14 Encoder power (+5V) EPWR_5V Encoder 5V power output 14 15 Negative overtravel limit -LIMIT MTR_EPWR5V (2) — Reserved 15 7 (1) Signal MTR_SIN+ MTR_AM+ MTR_SIN– MTR_AM– MTR_COS+ MTR_BM+ MTR_COS– MTR_BM– MTR_DATA+ MTR_IM+ MTR_ECOM 10 11 (1) +9V encoder capability only available on standard-size Ultra3000 drive (catalog number 2098-DSD-030 or larger). (2) Determine which power supply your encoder requires and connect to only the specified supply. Do not make connections to both supplies. (3) Not applicable unless motor has integrated thermal protection. I/O Connector and Auxiliary Feedback Pinouts The table compares the I/O connector pinouts for the Ultra3000 and Kinetix 5300 servo drives: • • Ultra3000 CN1 connector Kinetix 5300 servo drive digital inputs and auxiliary feedback connector Table 39 - I/O Connector Pinouts Ultra3000 Servo Drives (1) CN1 Pin Description 1 Auxiliary Encoder Power Out (+5V) 2 Common 3 Reserved 4 Auxiliary A+/Step+/CW+ 5 Auxiliary A-/Step-/CW6 Auxiliary B+/Dir+/CCW+ 7 Auxiliary B-/Dir-/CCW8 Auxiliary Encoder Ch I+ Kinetix 5300 Servo Drives Signal EPWR ECOM — AX+ AXBX+ BXIX+ Signal IN1 COM IN2 COM SHIELD AUX_AM+ AUX_BM+ AUX_IM+ Description 24V current-sinking fast input #1. I/O common for customer-supplied 24V supply. 24V current-sinking fast input #2. I/O common for customer-supplied 24V supply. I/O cable shield termination point. AM Differential Input + BM Differential Input + IM Differential Input + Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 I/O Pin 1 2 3 4 5 6 7 8 51 Appendix A Connectors and Field Connections Table 39 - I/O Connector Pinouts (Continued) Ultra3000 Servo Drives (1) CN1 Pin Description 9 Auxiliary Encoder Ch I10 Unbuffered Motor Encoder Ch A+ 11 Unbuffered Motor Encoder Ch A12 Unbuffered Motor Encoder Ch B+ 13 Unbuffered Motor Encoder Ch B14 Unbuffered Motor Encoder Ch I+ 15 Unbuffered Motor Encoder Ch I16 Buffered Motor Encoder Ch A+ 17 Buffered Motor Encoder Ch A18 Buffered Motor Encoder Ch B+ 19 Buffered Motor Encoder Ch B20 Buffered Motor Encoder Ch I+ 21 Buffered Motor Encoder Ch I22 Common 23 Programmable Analog Output 24 Analog Current Limit Input 25 Command + 26 Command 27 I/O Common 28 I/O Common 29 I/O Power 30 I/O Power 31 Digital Input 1 32 Digital Input 2 33 Digital Input 3 34 Digital Input 4 35 Digital Input 5 36 Digital Input 6 37 Digital Input 7 38 Digital Input 8 39 40 41 42 43 44 Digital Output 1 (2) Digital Output 2 Digital Output 3 Digital Output 4 Normally Open Relay Output+ Normally Open Relay Output- Kinetix 5300 Servo Drives Signal IXAM+ AMBM+ BMIM+ IMAMOUT+ AMOUTBMOUT+ BMOUTIMOUT+ IMOUTACOM AOUT ILIMIT COMMAND+ COMMANDIOCOM IOCOM IOPWR IOPWR INPUT1 INPUT2 INPUT3 INPUT4 INPUT5 INPUT6 INPUT7 INPUT8 Signal AUX_EPWR_5V SHIELD IN3 COM IN4 COM SHIELD AUX_AM– AUX_BM– AUX_IM– AUX_COM SHIELD — — — — — — — — — — — — — — — — — — Description I/O Pin Encoder 5V power output 9 Auxiliary feedback cable shield termination point. 10 24V current-sinking fast input #3. 11 I/O common for customer-supplied 24V supply. 12 24V current-sinking fast input #4. 13 I/O common for customer-supplied 24V supply. 14 I/O cable shield termination point. 15 AM Differential Input – 16 BM Differential Input – 17 IM Differential Input – 18 Auxiliary common 19 Auxiliary feedback cable shield termination point. 20 — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — OUTPUT1 — — — OUTPUT2 OUTPUT3 OUTPUT4 RELAY+ RELAY- — — — — — — — — — — — — — — — (1) The I/O names and signals vary depending on the model of Ultra3000 you have installed, refer to the Ultra3000 Digital Servo Drives Installation Instructions, publication 2098-IN003 for information on your specific model. (2) READY signal only available with firmware revision 1.29 (or above). Requires use of drive-mounted breakout board (2090-U3BB2-DM44). 52 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Appendix A Safe Torque Off Connector Connectors and Field Connections The Kinetix 5300 drives have a Safe Torque Off (STO) connector, where as the Ultra3000 did not. Refer to Figure 20 for a the Kinetix 5300 connector, and see the Kinetix 5300 Single-axis EtherNet/IP Servo Drives User Manual, publication 2198-UM005 for information on STO with the Kinetix 5300 drive. The Kinetix 5300 10-pin connector consists of two parallel 5-pin rows for cascading safety connections from drive-to-drive when drives are joined by the zero-stack feature. Figure 20 - Kinetix 5300 STO Connector Assignment Kinetix 5300 Drive STO Connector SB+ Pin 1 SBS1 SC Pin 5 S2 Table 40 - Kinetix 5300 STO Connector Assignment STO Pins Description Signal 1 and 6 Safety bypass plus signal. Connect to both safety inputs to disable the STO function SB+ 2 and 7 Safety bypass minus signal. Connect to safety common to disable the STO function SB- 3 and 8 STO input 1 (SS_IN_CH0) S1 4 and 9 STO input common (SCOM) SC 5 and 10 STO input 2 (SS_IN_CH1) S2 The Safe Torque Off feature can be bypassed if necessary or applicable. Refer to Kinetix 5300 Single-axis EtherNet/IP Servo Drives User Manual, publication 2198-UM005 for information. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 53 Appendix A Connectors and Field Connections Notes: 54 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Appendix B About the Servo Drive System About the Ultra3000 Servo Drive System The Ultra™ 3000 servo drive is designed to provide a Kinetix® Integrated Motion solution for applications with output power requirements between 0.5…22 kW (1.8…32.2 A). Table 41 - Ultra3000 Servo Drive System Overview Ultra3000 Servo Drive System Component Cat. No. Description Axis Module 2098-DSD-xxxx-xx (200V class) 2098-DSD-HVxxxx-xx (400V class) Individual Axis Module 2090 Shunt Modules 2090-SRxxx-xx 2090-UCSR-P900 9101-1183 2090-UCSR-A300 Shunt Module: This module provides additional shunting capabilities in regenerative applications. Resistive Brake Module (RBM) 2093-XBxxx-xx Physically and electrically separate the drive power output from its corresponding motor. 24V Power Supply 1606-XLxxx 12…24V DC for control power and motor brakes. Logix Controller Platform 1756-L60M03SE, 1756-MxxSE, and 1768-M04SE modules, and the 1784-PM16SE PCI card Sercos interface module/PCI card serves as a link between the ControlLogix®/CompactLogix™/ SoftLogix™ platform and Ultra3000 drive system. The communication link uses the IEC 61491 SErial Real-time COmmunication System (Sercos) protocol over a fiber-optic cable. Sercos Fiber-optic Cables 2090-SCxxx-x Plastic or glass; in cabinet or on-machine duty. RSLogix 5000 Software 9324-RLD300ENE RSLogix 5000® software provides support for programming, commissioning, and maintaining the Logix family of controllers. Servo Motors Kinetix MP, Kinetix TL, LDCseries™, and LDL-Series™ Compatible servo motors. Cables Motor Power, Feedback, and Brake cables See the specific drive and motor combination for the motor cables that are required for the system. 2090-UXBB-DM15 Motor feedback (CN2) connections. 2090-UXBB-DM09 Serial interface (CN3) connections. 2090-U3BB-DM12 I/O (CN1) connections. These kits apply to all Ultra300 drives (and drive catalog numbers 2098-DSD005, 2098-DSD-010, and 2098-DSD-020 in applications where 5V DC control power, if required, is user-supplied). 2090-U3CBB-DM12 I/O (CN1) connections. These kits apply to only Ultra300 drive catalog numbers 2098-DSD-005, 2098DSD-010, and 2098-DSD-020 in applications where a 24…5V DC converter for control power is required. 2090-UXLF-xxx AC line conditioning for EMC. Applies to 200V-class drives. 2090-UXLF-HVxxx AC line conditioning for EMC. Applies to 400V-class drives. Drive-mounted Breakout Boards 2090 AC Line Filters Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 55 Appendix B About the Servo Drive System About the Kinetix 5300 Servo Drive System The Kinetix 5300 servo drives are designed to provide a Kinetix Integrated Motion solution for your drive/motor application. Table 42 - Kinetix 5300 Drive System Overview Drive System Component Cat. No. Kinetix 5300 Servo Drives 2198-Cxxxx-ERS 2198-TCON-24VDCIN36 24V Shared-bus Connector 2198-H040-x-x Kits 2198-H070-x-x Feedback Connector Kit 2198-K53CK-D15M 2198-CONKIT-PWR20 Connector Sets Logix 5000™ Controller Platform Studio 5000 Environment Rotary Servo Motors Linear Actuators Linear Motors Induction Motors 2090-Series Cables 2198-CONKIT-PWR30 2198-CONKIT-PWR75 Bulletin 1769 Bulletin 5069 1756-EN2T module 1756-EN2TR module 1756-EN3TR module — Kinetix MP Kinetix TLP Kinetix TL and TLY Kinetix MP and LDAT-Series LDC-Series and LDL-Series — 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 Ethernet Cables AC Line Filters 24V DC Power Supply External Shunt Resistors 56 Description 200V-class (single-phase or three-phase) and 400V-class (three-phase) drives operate in standalone configurations. Modules can be zero-stacked from drive-to-drive and are compatible with the 24V DC shared-bus connection system to extend control power to multiple drives. Drives feature Safe Torque Off via the hardwired (STO) connector. Control power input connector. Control power T-connector and bus-bar connectors, 55 mm, for frame 1 and 2 drives. Control power T-connector and bus-bar connectors, 85 mm, for frame 3 drives. Motor feedback connector kit with 15-pin connector plug for compatible motors and actuators. Kit features battery backup for Kinetix TLP, TL, and TLY multi-turn encoders. Connector set included with the frame 1 and 2 drives (except 2198-C2030 drives). Replacement sets are also available. Connector set included with 2198-C2030 drives. Replacement sets are also available. Connector set included with Frame 3 drives. Replacement sets are also available. Integrated Motion on the EtherNet/IP network in CompactLogix 5370, CompactLogix 5380, and CompactLogix 5480 controllers and Integrated Safety in Compact GuardLogix® 5370 controllers. Linear, device-level ring (DLR), and star topology is supported. EtherNet/IP network communication modules for use with ControlLogix 5570, ControlLogix 5580, GuardLogix 5570, and GuardLogix 5580 controllers. Linear, device-level ring (DLR), and star topology is supported. Studio 5000 Logix Designer® application, version 33.00 or later, provides support for programming, commissioning, and maintaining the CompactLogix and ControlLogix controller families. Compatible rotary motors include 200V and 400V-class Kinetix MPL, MPM, MPF, and MPS servo motors. Compatible rotary motors include 200V and 400V-class Kinetix TLP servo motors. Compatible rotary motors include 200V-class Kinetix TL and TLY servo motors. Compatible linear actuators include 200V and 400V-class Kinetix MPAS and MPMA linear stages, Kinetix MPAR and MPAI linear actuators, and LDAT-Series linear thrusters. Compatible motors include LDC-Series™ iron-core and LDL-Series™ ironless linear motors. Induction motors with open-loop frequency control and closed-loop control are supported. Motor feedback cables for Kinetix TLP motors. 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 motors/actuators, LDAT-Series linear thrusters, and LDC/LDLSeries linear motors. Motor power/brake cables for Kinetix MP motors/actuators, LDAT-Series linear thrusters, and LDC/ LDL-Series linear 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. 2090-XXNFMF-Sxx 2090-CFBM7DF-CDAFxx 1585J-M8CBJM-x, 1585J-M8UBJM-x 2198-DB08-F Bulletin 2198 three-phase AC line filters are required to meet CE and are available for use in all 2198-DBR20-F Kinetix 5300 drive systems. 2198-DBR40-F 1606-XLxxx Bulletin 1606 24V DC power supply for control circuitry, digital inputs, and safety inputs. 2097-R6 and 2097-R7 Bulletin 2097 and 2198 external passive shunt resistors are available for when the internal shunt 2198-R004, 2198-R014, 2198-R031 capability of the drive is exceeded. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Appendix C Specifications Power Specifications This section provides the power specifications for the Ultra™ 3000 and Kinetix® 5300 servo drives. Ultra3000 (230V) Servo Drive Power Specifications The table lists power specifications and requirements for the Ultra3000 230V drives (2098-DSD-005x-xx, -010x-xx, and -020x-xx). Attribute 2098-DSD-005 2098-DSD-010 2098-DSD-020 AC input voltage (1) 100…240V rms, single-phase AC input frequency 47…63 Hz AC input current (2) (3) Nom (rms) 230V AC (0-pk) max inrush (4) 5A 100 A - Series A or B 20 A - Series C 9A 100 A - Series A or B 20 A - Series C 18 A 100 A - Series A or B 20 A - Series C Continuous output current (rms) 1.8 A 3.5 A 7.1 A Continuous output current (0-pk) 2.5 A 5.0 A 10 A Peak output current (rms) 5.3 A 10.6 A 21.2 A Peak output current (0-pk) 7.5 A 15 A 30 A Bus capacitance 1410 µF 1880 µF 1880 µF Internal shunt resistance — — — Shunt on — — — Shunt off — — — Bus overvoltage 400V DC 400V DC 400V DC Energy absorption capability 115V AC input 230V AC input 93 J 38 J 125 J 51 J Continuous power output 115V AC input 230V AC input 0.25 kW 0.5 kW 0.5 kW 1.0 kW 1.0 kW 2.0 kW (1) Specification is for nominal voltage. The absolute limits are ±10%, or 88…265V rms. (2) The 2098-DSD-005x-xx, 2098-DSD-010x-xx, and 2098-DSD-020x-xx (200V-class) drives are limited to: Series A or B - one contactor cycle every 2 minutes. Series C - one contactor cycle every 10 s for up to 2 minutes, not to exceed 12 cycles in 5 minutes. (3) Power initialization requires a short period of inrush current. Dual element time delay (slow blow) fuses are recommended. (4) Inrush current limiting circuitry is enabled within 3 s after removal of AC line power. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 57 Appendix C Specifications The table lists power specifications and requirements for the Ultra3000 230V drives (2098-DSD-030, -075, and -150). Attribute 2098-DSD-030 2098-DSD-075 AC input voltage (1) 100…240V rms, single-phase 100…240V rms, three-phase AC input frequency 47…63 Hz Main AC input current (2) (3) Nom (rms) 230V AC (0-pk) max inrush 28 A 50 A 30 A 50 A 46 A 68 A Auxiliary AC input current 115V AC (rms) nom 230V AC (rms) nom 115V AC (0-pk) max inrush (4) 230V AC (0-pk) max inrush (4) 1.0 A 0.5 A 47 A 95 A 1.0 A 0.5 A 47 A 95 A 1.0 A 0.5 A 47 A 95 A Continuous output current (rms) 10.6 A 24.7 A 45.9 A Continuous output current (0-pk) 15 A 35 A 65 A Peak output current (rms) 21.2 A 53 A 106 A Peak output current (0-pk) 30 A 75 A 150 A Bus capacitance 2820 µF 4290 µF 7520 µF Internal shunt resistance 35 16.5 9.1 Shunt on 420V DC 420V DC 420V DC Shunt off 402V DC 402V DC 402V DC Bus overvoltage 452V DC 452V DC 452V DC Internal shunt Continuous power Peak power 50 W 4.5 kW 50 W 10 kW 180 W 18 kW External shunt Resistance Continuous power Peak power 30 (-0/+5%) 2.4 kW 6 kW 16.5 (-0/+5%) 4 kW 10 kW 9 (-0/+5%) 8 kW 19 kW Energy absorption capability 115V AC input 230V AC input 251 J 139 J 381 J 211 J 669 J 370 J Continuous power output 115V AC input 230V AC input 1.5 kW 3 kW — 7.5 kW — 15 kW (1) (2) (3) (4) 58 Specification is for nominal voltage. The absolute limits are ±10%, or 88…265V rms. The 2098-DSD-030x-xx, 2098-DSD-075x-xx, and 2098-DSD-150x-xx (200V-class) drives are limited to one contactor cycle per 2 minutes. Power initialization requires a short period of inrush current. Dual element time delay (slow blow) fuses are recommended. 400 µs half wave sine. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 2098-DSD-150 Appendix C Specifications Ultra3000 (460V) Servo Drive Power Specifications The table lists power specifications and requirements for the Ultra3000 460V drives (2098-DSD-HV030, -HV050, -HV100, -HV150, and -HV220). Attribute 2098-DSD-HV030 AC input voltage (1) (2) 230…480V rms, three-phase AC input Frequency 2098-DSD-HV050 2098-DSD-HV100 2098-DSD-HV150 2098-DSD-HV220 7A 6A 14 A 6A 20 A 6A 28 A 6A 7.8 A 16.3 A 24.0 A 33.2 A 47…63 Hz (3) (4) Main AC input current 460V AC (rms) nom 460V AC (rms) max inrush 4A 6A Auxiliary AC input current 230V AC (rms) nom 360V AC (rms) nom 480V AC (rms) nom 230V AC (0-pk) max inrush (5) 480V AC (0-pk) max inrush (5) 0.55 A 0.35 A 0.25 A 47 A 68 A Continuous output current (rms) 5.0 A Continuous output current (0-pk) 7.0 A 11 A 23 A 34 A 47 A Peak output current (rms) 9.9 A 15.6 A 32.5 A 48.1 A 66.5 A Peak output current (0-pk) 14 A 22 A 46 A 68 A 94 A Bus capacitance 470 µF 705 µF 940 µF 1880 µF 40 25 20 Internal shunt resistance 120 Shunt on 230V AC input 480V AC input 400V DC 800V DC Shunt off 230V AC input 480V AC input 375V DC 750V DC Bus overvoltage 230V AC input 480V AC input 410V DC 810V DC Internal shunt Continuous power Peak power 100 W 5.3 kW 200 W 16 kW 200 W 25.6 kW 400 W 32 kW External shunt Resistance (-0/+5%) Continuous power Peak power 120 3 kW 5.3 kW 40 10 kW 16 kW 25 15 kW 25.6 kW 20 22 kW 32 kW Energy absorption capability 230V AC input with 230V motor 230V AC input with 460V motor 480V AC input 15 J 129 J 55 J 22 J 194 J 82 J 29 J 259 J 109 J 59 J 517 J 219 J Continuous power output 230V AC input 480V AC input 1.5 kW 3.0 kW 5.0 kW 10 kW 7.5 kW 15 kW 11 kW 22 kW 2.5 kW 5.0 kW (1) Specification is for nominal voltage. The absolute limits are ±10%, or 207…264V rms and 324…528V rms. (2) The 2098-DSD-HVxxx-xx drives can be powered with 230V rms and used with motors that are designed for 230V operation. In such cases, the voltage levels that are used for shunting and DC bus overvoltage limits are adjusted to be compatible with the voltage limit of the motor. The 2098-DSD-HVxxx-xx drives can be powered with 480V rms and used with motors that are designed for 480V operation. In such cases, the voltage levels that are used for shunting and DC bus overvoltage limits are adjusted to be compatible with the voltage limit of the motor. (3) The 2098-DSD-HVxxx -xx (400V-class) drives are limited to three contactor cycles per minute. (4) Power initialization requires a short period of inrush current (processor that is controlled via soft start circuitry). Dual element time delay (slow blow) fuses are recommended. (5) 400 µs half wave sine. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 59 Appendix C Specifications Kinetix 5300 Servo Drive Input Power Specifications The table lists input power specifications and requirements for the Kinetix 5300 servo drives. Table 43 - Kinetix 5300 (110V and 230V, Single-phase and Three-phase) Power Specifications Attribute AC input voltage AC input frequency Main AC input current (rms) (1) Max inrush current (0-pk) Nom 110V input (single-phase) Nom 230V input (single-phase) Nom 230V input (three-phase) Peak AC input current (rms) Control power input voltage (2) Control power input current (1) (3) (non-brake motors) Continuous output current (rms) Nom 110V input (single-phase) Nom 230V input (single-phase) Nom 230V input (three-phase) Continuous output current (0-pk) Nom 110V input (single-phase) Nom 230V input (single-phase) Nom 230V input (three-phase) Peak output current (rms) (4) Nom 110V input (single-phase) Nom 230V input (single-phase) Nom 230V input (three-phase) Peak output current (0-pk) Nom 110V input (single-phase) Nom 230V input (single-phase) Nom 230V input (three-phase) Line loss ride through Continuous output power @ 110V nom single-phase @ 230V nom single-phase @ 230V nom three-phase Internal shunt on Internal shunt off Internal shunt resistor Internal shunt power Bus undervoltage limit Bus overvoltage limit Bus capacitance Capacitive energy absorption @ 110V nom AC input @ 230V nom AC input Efficiency @ 110V nom single-phase AC input @ 230V nom single-phase AC input @ 230V nom three-phase AC input Short-circuit current rating (1) (2) (3) (4) 60 2198-C1004-ERS 2198-C1007-ERS 85…132V rms, single-phase (110V nom) 170…253V rms, single-phase (230V nom) 170…253V rms, three-phase (230V nom) 47…63 Hz 2198-C1015-ERS 2198-C1020-ERS 2.17 A 3.56 A 6.58 A 9.45 A 6.0 A 11.5 A 7.4 A 6.0 A 11.5 A 7.4 A 6.0 A 11.5 A 7.4 A 6.0 A 11.5 A 7.4 A 6.99 A 21.6…26.4V DC 24V DC nom 10.48 A 19.75 A 27.46 A 0.4 A DC 0.4 A DC 0.9 A DC 0.9 A DC 2.8 A 4.6 A 8.5 A 12.2 A 4.0 A 6.5 A 12.0 A 17.3 A 6.6 A 9.5 A 9.5 A 9.7 A 15.5 A 15.5 A 12.2 A 20.5 A 29.2 A 25.0 A 40.6 A 40.6 A 9.3 A 13.4 A 13.4 A 13.7 A 21.9 A 21.9 A 17.3 A 29.0 A 41.3 A 35.4 A 57.4 A 57.4 A 0.36 kW 0.76 kW 1.18 kW 0.67 kW 1.41 kW 2.18 kW 0.97 kW 2.02 kW 3.13 kW 20 ms 0.22 kW 0.46 kW 0.72 kW 387.5V 377.5V 100 Ω 30 W 72V @110V AC input 144V @230V AC input 405V 330 µF 100 Ω 30 W 60 Ω 50 W 60 Ω 50 W 560 µF 660 µF 1120 µF 21.31 J 5.94 J 36.17 J 10.08 J 42.63 J 11.88 J 72.34 J 20.16 J 91% 95% 97% 200,000 A (rms) symmetrical Drives are limited to one power cycle per minute. The cooling fan runs as part of the control power startup routine, when the inverter is enabled, and if the inverter temperature exceeds preset threshold. For current values when motors include a holding brake, refer to Kinetix 5300 Servo Drive Control Power Specifications. Peak RMS current allowed for up to 1.0 seconds. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Appendix C Specifications Table 44 - Kinetix 5300 (230V, three-phase) Input Power Specifications Attribute 2198-C2030-ERS 2198-C2055-ERS 2198-C2075-ERS AC input voltage 170…253V rms, three-phase (230V nom) AC input frequency 47…63 Hz Main AC input current (rms) (1) 15.18 A 31.13 A 36.93 A Max inrush current (0-pk) 7.4 A 14.8 A 14.8 A Peak AC input current (rms) 41.26 A 73.06 A 86.25 A Control power input voltage (2) 21.6…26.4V DC 24V DC nom Control power input current (1) (3) (non-brake motors) 0.9 A DC 1.7 A DC 1.7 A DC Continuous output current (rms) 19.6 A 40.2 A 47.7 A Continuous output current (0-pk) 27.7 A 56.9 A 67.5 A Peak output current (rms) (4) 61.0 A 108.0 A 127.5 A Peak output current (0-pk) 86.3 A 152.7 A 180.3 A Line loss ride through 20 ms 10.30 kW 12.22 kW Continuous output power 5.02 kW Internal shunt on 387.5V Internal shunt off 377.5V Internal shunt resistor 60 Ω 40 Ω Internal shunt power 50 W 75 W Bus undervoltage limit 144V Bus overvoltage limit 405V Bus capacitance 1680 µF 2460 µF 3280 µF 44.29 J 59.05 J Capacitive energy absorption 30.25 J Efficiency 97% Short-circuit current rating 200,000 A (rms) symmetrical (1) (2) (3) (4) Drives are limited to one power cycle per minute. The cooling fan runs as part of the control power startup routine, when the inverter is enabled, and if the inverter temperature exceeds preset threshold. For current values when motors include a holding brake, refer to Kinetix 5300 Servo Drive Control Power Specifications. Peak RMS current allowed for up to 1.0 seconds. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 61 Appendix C Specifications Table 45 - Kinetix 5300 (480V, three-phase) Input Power Specifications Attribute AC input voltage AC input frequency 2198-C4004-ERS 2198-C4007-ERS 342…528V rms, three-phase (480V nom) 47…63 Hz 2198-C4015-ERS 2198-C4020-ERS Main AC input current (rms) (1) Max inrush current (0-pk) Peak AC input current (rms) 1.24 A 2.25 A 4.03 A 5.65 A 15.5 A 3.59 A 21.6…26.4V DC 24V DC nom 15.5 A 6.29 A 15.5 A 12.18 A 15.5 A 16.10 A Control power input voltage (2) Control power input current (1) (3) (non-brake motors) Continuous output current (rms) Continuous output current (0-pk) 0.4 A DC 0.4 A DC 0.9 A DC 0.9 A DC 1.6 A 2.3 A 2.9 A 4.1 A 5.2 A 7.4 A 7.3 A 10.3 A Peak output current (rms) (4) 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 limit Bus overvoltage limit Bus capacitance Capacitive energy absorption Efficiency Short-circuit current rating 5.3 A 9.3 A 18.0 A 23.8 A 7.5 A 20 ms 0.86 kW 775V 765V 100 Ω 30 W 275V 810V 165 µF 8.13 J 97% 200,000 A (rms) symmetrical 13.2 A 25.5 A 33.7 A 1.55 kW 2.78 kW 3.90 kW 100 Ω 30 W 60 Ω 50 W 60 Ω 50 W 165 µF 280 µF 13.79 J 330 µF 16.26 J (1) (2) (3) (4) 62 Drives are limited to one power cycle per minute. The cooling fan runs as part of the control power startup routine, when the inverter is enabled, and if the inverter temperature exceeds preset threshold. For current values when motors include a holding brake, refer to Kinetix 5300 Servo Drive Control Power Specifications. Peak RMS current allowed for up to 1.0 seconds. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Appendix C Specifications Table 46 - Kinetix 5300 (480V, three-phase) Input Power Specifications (continued) Attribute 2198-C4030-ERS 2198-C4055-ERS 2198-C4075-ERS AC input voltage 342…528V rms, three-phase (480V nom) AC input frequency 47…63 Hz Main AC input current (rms) (1) 9.06 A 17.50 A 21.29 A Max inrush current (0-pk) 30.9 A 30.9 A 46.4 A Peak AC input current (rms) 23.07 A 39.57 A 49.72 A Control power input voltage (2) 21.6…26.4V DC 24V DC nom Control power input current (1) (3) (non-brake motors) 0.9 A DC 1.7 A DC 1.7 A DC Continuous output current (rms) 11.7 A 22.6 A 27.5 A Continuous output current (0-pk) 16.5 A 32.0 A 38.9 A Peak output current (rms) (4) 34.1 A 58.5 A 73.5 A Peak output current (0-pk) 48.3 A 82.7 A 103.9 A Line loss ride through 20 ms 12.08 kW 14.70 kW Continuous output power 6.25 kW Internal shunt on 775V Internal shunt off 765V Internal shunt resistor 60 Ω 40 Ω Internal shunt power 50 W 75 W Bus undervoltage limit 275V Bus overvoltage limit 810V Bus capacitance 560 µF 820 µF 1230 µF Capacitive energy absorption 27.59 J 40.40 J 60.60 J Efficiency 97% Short-circuit current rating 200,000 A (rms) symmetrical (1) (2) (3) (4) Drives are limited to one power cycle per minute. The cooling fan runs as part of the control power startup routine, when the inverter is enabled, and if the inverter temperature exceeds preset threshold. For current values when motors include a holding brake, refer to Kinetix 5300 Servo Drive Control Power Specifications. Peak RMS current allowed for up to 1.0 seconds. Control and Auxiliary Power Specifications This section provides the control and auxiliary power specifications for the Ultra3000 and Kinetix 5300 servo drives. Ultra3000 Servo Drive Auxiliary Power Specifications Table 47 - Ultra3000 Drives +24V Power Supply Requirements for Logic Power Parameter Input voltage range Input current IMPORTANT Description Min Input voltage range of the external power supply for drive-mounted breakout boards with 24V to 5V 18V converter. Input current draw from the external power supply for the drive-mounted breakout boards with 24V to 5V — converter. Max 30V 400 mA A 24V power supply can be used to power the digital I/O and supply 24V to the drive-mounted breakout boards (catalog numbers 2090-U3CBBDMxx) provided the cumulative minimum current requirements are met. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 63 Appendix C Specifications Table 48 - Ultra3000 Drives 5V Supply Specifications Parameter Voltage Current IMPORTANT Description Min Voltage tolerance of the external logic supply. 5.1V Current output capability of the external +5V DC power 1.5 A supply. Max 5.25V — Using the drive-mounted breakout board with 24V to 5V auxiliary power converter is preferred to using an external +5V DC power supply. Table 49 - Ultra3000 Drive Auxiliary Power Specification (230V) Specification 2098-DSD-030 Auxiliary AC input current 115V AC (rms) nom 230V AC (rms) nom 115V AC (0-pk) max inrush 230V AC (0-pk) max inrush 1.0 A 0.5 A 47 A 95 A 2098-DSD-075 2098-DSD-150 Table 50 - Ultra3000 Drive Auxiliary Power Specification (460V) Attribute 2098-DSDHV030 Auxiliary AC input current 230V AC (rms) nom 360V AC (rms) nom 480V AC (rms) nom 230V AC (0-pk) max inrush 480V AC (0-pk) max inrush 0.55 A 0.35 A 0.25 A 47 A 68 A 2098-DSDHV050 2098-DSDHV100 2098-DSDHV150 2098-DSDHV220 Kinetix 5300 Servo Drive Control Power Specifications Table 51 - Control Power Current Specifications Kinetix 5300 Drive Cat. No. 2198-C1004-ERS 2198-C1007-ERS 2198-C4004-ERS 2198-C4007-ERS 2198-C1015-ERS 2198-C1020-ERS 2198-C2030-ERS 2198-C4015-ERS 2198-C4020-ERS 2198-C4030-ERS 2198-C2055-ERS 2198-C2075-ERS 2198-C4055-ERS 2198-C4075-ERS 24V Current per Module (non-brake motor) ADC 24V Current (2 A brake motor) (1) ADC 24V Inrush Current (2) A 0.4 2.4 1.8 0.9 2.9 2.4 1.7 3.7 3.0 (1) See Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001, for brake current specifications of Kinetix MP, TLP, and TL/TLY rotary motors. (2) Inrush current duration is less than 30 ms. 64 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Appendix C Power Dissipation Specifications Specifications This section provides the power dissipation specifications for the Ultra3000 and Kinetix 5300 servo drives. Ultra3000 Servo Drive Power Dissipation Specifications Use the following table to size an enclosure and calculate required ventilation for an Ultra3000 servo drive system. Typical heat losses run approximately one-half maximum power losses. The maximum power losses are shown. Ultra3000 Servo Drive Cat. No. Maximum Loss, watts Ultra3000 Servo Drive Cat. No. Maximum Loss, watts 2098-DSD-005x-xx 48 2098-DSD-HV030x-xx 175 + dissipative shunt 2098-DSD-010x-xx 48 2098-DSD-HV050x-xx 175 + dissipative shunt 2098-DSD-020x-xx 50 2098-DSD-HV100x-xx 350 + dissipative shunt 2098-DSD-030x-xx 150 + dissipative shunt 2098-DSD-HV150x-xx 350 + dissipative shunt 2098-DSD-075x-xx 300 + dissipative shunt 2098-DSD-HV220x-xx 600 + dissipative shunt 2098-DSD-150x-xx 500 + dissipative shunt Kinetix 5300 Servo Drive Power Dissipation Specifications Use this table to size an enclosure and calculate required ventilation for a Kinetix 5300 drive system. Kinetix 5300 Drive Cat. No. 2198-C1004-ERS 2198-C1007-ERS 2198-C1015-ERS 2198-C1020-ERS 2198-C2030-ERS 2198-C2055-ERS 2198-C2075-ERS 2198-C4004-ERS 2198-C4007-ERS 2198-C4015-ERS 2198-C4020-ERS 2198-C4030-ERS 2198-C4055-ERS 2198-C4075-ERS 2198-C1004-ERS 2198-C1007-ERS 2198-C1015-ERS 2198-C1020-ERS 2198-C1004-ERS 2198-C1007-ERS 2198-C1015-ERS 2198-C1020-ERS AC Input, nom 20% 12 14 26 200…230V three-phase 35 53 87 97 16 20 33 380…480V three-phase 39 57 112 134 12 14 200…230V single-phase 25 35 11 12 110…120V single-phase 23 30 Usage as a % of Rated Power Output (1) (watts) 40% 60% 80% 100% 16 20 25 29 19 24 30 37 36 47 59 71 52 71 91 112 87 124 164 206 139 193 250 308 159 225 293 364 21 26 31 36 30 39 48 58 48 62 78 93 58 79 101 124 89 123 157 193 171 231 293 356 204 273 344 417 16 20 25 30 19 24 30 37 36 47 59 72 52 72 92 115 14 18 22 26 17 21 27 32 32 42 53 64 44 59 77 96 (1) Internal shunt power is not included in the calculations and must be added based on utilization. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 65 Appendix C Specifications Cable Lengths This section provides the feedback cable lengths for the Ultra3000 and Kinetix 5300 servo drives. Table 52 - Ultra3000 and Kinetix 5300 Servo Drive Motor Cable Length Comparison (max) Compatible Motor and Feedback Type Actuator Cat. No. TLP-A/Bxxx-xxx-D TLY-Axxxx-B TL-Axxxx-B TLY-Axxxx-H MPL-A/Bxxxx-V/E MPL-A/Bxxxx-S/M MPM-Axxxx-S/M MPM-Bxxxx-S/M MPF-A/Bxxxx-S/M MPS-A/Bxxxx-S/M MPAR-Axxxxx-M MPAR-Bxxxxx-M MPAR-Axxxxx-V MPAI-AxxxxM3 MPAS-A/Bxxxx-V MPAR-Bxxxxx-V MPAI-BxxxxM3 MPL-A/B15xx-H MPL-A/B2xxx-H MPL-A/B3xx-H MPL-A/B4xxx-H MPAS-A/Bxxxx-ALM (direct drive) Nikon (24-bit) absolute high-resolution, multiturn, and single-turn Tamagawa (17-bit) absolute highresolution, multi-turn Incremental encoder Hiperface, absolute high- resolution, multiturn, and single-turn Ultra3000 Cable Length, max m (ft) 50 (164) — 30 (98.4) 50 (164) 20 (65.6) 50 (164) 30 (98.4) 90 (295.3) 90 (295.3) 30 (98.4) 90 (295.3) 30 (98.4) 90 (295.3) 30 (98.4) Absolute highresolution, multi-turn 50 (164) 30 (98.4) LDAT-Sxxxxxx-xBx LDC-Cxxxxxx-xH LDL-xxxxxxx-xH Sin/Cos or TTL encoder 20 (65.6) 90 (295.3) Incremental encoder Incremental, magnetic linear Hiperface, absolute, magnetic scale Incremental, magnetic scale LDAT-Sxxxxxx-xDx Kinetix 5300 Cable Length, max m (ft) ≤400V AC 480V AC Input Input 20 (65.6) 45 (147.6) 30 (98.4) 30 (98.4) 10 (33.1) 30 (98.4) Although the Ultra3000 servo drive motor feedback cables are available in standard lengths up to 90 m (295.3 ft), the drive/motor/feedback combination can limit the maximum cable length, as shown in Table 52. Table 52 assumes that you are using cables that are recommended in the Ultra3000 Drives System Design Guide, publication KNX-RM008. IMPORTANT Kinetix 5300 supports a maximum cable length of 50 m (164 ft). All 90 m (295 ft) cables that were used in an Ultra3000 installation must be replaced with 50 m (164 ft) cables. The length of the power and feedback cables for the Kinetix 5300 drives cannot exceed 50 m (164 ft), although in some cases maximum cable length is less, refer to Table 52. 66 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Appendix C Specifications The maximum drive-to-motor cable length depends on the input power and feedback type. However, if flying lead cables were used on the Ultra3000 drive, the feedback connector kit needs to be replaced by 2198-K53CK-D15M feedback connector kit, as it is required for Kinetix 5300 drives when flying lead cables are used. See the Kinetix Motion Accessories Technical Data, publication KNX-TD004, for cable specifications. Environmental Specifications This section provides the environmental specifications for the Ultra3000 and Kinetix 5300 servo drives. Ultra3000 Servo Drive Environmental Specifications Specification Operational Range Storage Range (non-operating) Ambient Temperature 0 °C…55 °C (32 °F…131 °F) -35 °C…70 °C (-40 °F…158 °F) Relative Humidity 5…95% noncondensing 5…95% noncondensing Altitude 1500 m (4921.5 ft) - Derate 3% per 300 m (984.3 ft) above 1500 m (4,921.5 ft) Vibration 5…2000 Hz @ 2.5 g peak, 0.0006 mm (0.015 in.) maximum displacement Shock 15 g, 11 ms half-sine pulse Kinetix 5300 Servo Drive Environmental Specifications Attribute Ambient temperature Relative humidity Protection class (IEC 60529) Degree of pollution (IEC 61800-5-1) Altitude Vibration Shock Operational Range 0…50 °C (32…122 °F) 5…85% noncondensing IP20 Storage Range (nonoperating) -40…+70 °C (-40…+158 °F) 5…95% noncondensing 2 1000 m (3281 ft) 1000 m (3281 ft) 5…55 Hz @ 0.35 mm (0.014 in.) double amplitude, continuous displacement; 55…500 Hz @ 2.0 g peak constant acceleration (ten sweeps in each of three mutually perpendicular directions) 15 g, 11 ms half-sine pulse (three pulses in each direction of three mutually perpendicular directions) Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 67 Appendix C Specifications Certifications This section lists the certifications for the Ultra3000 and Kinetix 5300 servo drives. Ultra3000 Servo Drive Certifications Agency Certification (1) (when product is marked) Standards cULus UL Listed to U.S. and Canadian safety standards (UL 508 C File E145959). CE Functional Safety European Union 89/336/EEC EMC Directive compliant with EN 61800-3:2004: Adjustable Speed Electrical Power Drive Systems - Part 3; EMC Product Standard including specific test methods. European Union 73/23/EEC Low Voltage Directive compliant with: • EN 60204-1:1997 - Safety of Machinery - Electrical Equipment of Machines. • EN 50178:1997 - Electronic Equipment for use in Power Installations. • EN 60204-1:1997 - Safety of Machinery - Electrical Equipment of Machines. • IEC 61508: Part 1-7:2000 - Functional Safety of Electrical/Electronic/ Programmable Electronic Safety-related Systems. • EN954-1:1996 - Safety of machinery. Safety-related parts of control systems. Part 1: General principles for design. (1) See http://www.rockwellautomation.com/products/certification for Declarations of Conformity Certificates. Kinetix 5300 Servo Drive Certifications Agency Certification (1) cULus (2) CE Functional Safety C-Tick KC ODVA OSHA Standards UL Listed to U.S. and Canadian safety standards (UL61800-5-1 File E59272). Solid-state motor overload protection provides dynamic fold-back of motor current when 110% of the motor rating is reached with a peak current limit based on the peak rating of the motor as investigated by UL to comply with (UL61800-5-1 File E59272). European Union 2004/108/EC EMC Directive compliant with IEC 61800-3:2004 + A1:2012: Adjustable Speed Electrical Power Drive Systems - Part 3; EMC Product Standard including specific test methods. European Union 2006/95/EC Low Voltage Directive compliant with IEC 61800-51:2007 - Adjustable speed electrical power drive systems. TÜV certified for functional safety when used as described in the Kinetix 5300 Servo Drives User Manual, publication 2198-UM005. 2198-Cxxxx-ERS (hardwired safety) drive ratings: up to Performance Level (PL) d, Category 3 according to ISO 13849; up to SIL CL 2 according to IEC 61508, IEC 618005-2, and IEC 62061. Australian Radiocommunications Act, compliant with: • Radiocommunications Act: 1992 • Radiocommunications (Electromagnetic Compatibility) Standard: 1998 • Radiocommunications (Compliance Labeling - Incidental Emissions) Notice: 1998 • AS/NZS CISPR 11: 2002 (Group 1, Class A) Korean Registration of Broadcasting and Communications Equipment, compliant with: • Article 58-2 of Radio Waves Act, Clause 3 • Registration number: KCC-REM-RAA-2198 EtherNet/IP conformance tested. Maximum audible noise from the servo drive system complies with OSHA standard 3074, Hearing Conservation (<85 dBA). (1) See rok.auto/certifications for declarations of conformity, certificates, and other certification details. (2) UL has not evaluated the Safe Torque Off option in these products. 68 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Appendix D Interconnect Diagrams This appendix describes power wiring examples to help with the comparison of the power wiring for the Ultra™ 3000 servo drive and the Kinetix® 5300 drive systems. Ultra3000 Servo Drive Power Wiring Examples Figure 21 shows the power wiring diagram with 24V DC control string for 2098-DSD-005-SE, 2098-DSD-010-SE, and 2098-DSD-020-SE Ultra3000 Sercos drives. To avoid a separate 5V DC auxiliary logic power supply, the 24V to 5V converter breakout board (catalog number 2090-U3CBB-DMxx) is used to wire the control interface (CN1) connector. For Sercos drives, input line contactor is part of the PLC program and output control. Figure 21 - Typical Power Wiring on Ultra3000 (230V) System 2098-DSD-005-SE, 2098-DSD-010-SE, and 2098-DSD-020-SE Ultra3000 Digital Servo Drives TB1 DC+ DC- Single-phase AC Line 50/60 Hz L1 Input Fusing* Fused Disconnect or Circuit Breaker* Chassis Isolation Transformer* DC Bus Connections for Active Shunt Module Bonded Cabinet Ground Bus* Single-phase AC Line Filter L2/N AC Input Power Connections U Three-phase Motor Power Connections V W CN1 Motor Power Connections 43 44 3 L1 2 Single-phase Input 100…240V AC rms N.O. Relay Output+ N.O. Relay OutputAux Logic Power In +5V Aux +5V Common From CN1 Breakout Board with 24V to 5V Aux Power Converter (2090-U3CBB-DMxx) Cable Shield Clamp L2/N Terminal Blocks* To additional Ultra3000 Drive * INDICATES USER-SUPPLIED COMPONENT Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 69 Appendix D Interconnect Diagrams Figure 22 shows the power wiring diagram with 24V DC control string for the 2098-DSD-030-SE Sercos drive. For Sercos drives, input line contactor is part of the PLC program and output control. Figure 22 - Typical Power Wiring on Ultra3000 (230V) System 2098-DSD-030-SE Ultra3000 Digital Servo Drive TB1 TB2 U 1 V 2 Three-phase Motor Power Connections W Motor Power Connections External Passive Shunt Connections 3 DC+ DC- Input Fusing* L1 Single-phase AC Line Filter L2/N Single-phase AC Line 50/60 Hz AC Input Power Connections 43 L1 AUX 44 L2/N AUX Input Fusing* Fused Disconnect or Circuit Breaker* Chassis Isolation Transformer* Bonded Cabinet Ground Bus* L1 Single-phase Input 100…240V AC rms L2/N Terminal Blocks* To additional Ultra3000 Drive * INDICATES USER-SUPPLIED COMPONENT 70 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 CN1 Cable Shield Clamp N.O. Relay Output+ N.O. Relay Output- Appendix D Interconnect Diagrams Figure 23 shows the power wiring diagram with 24V DC control string for 2098-DSD-075-SE and 2098-DSD-150-SE Ultra3000 Sercos drives. For Sercos drives, input line contactor is part of the PLC program and output control. Figure 23 - Typical Power Wiring on Ultra3000 (230V) System 2098-DSD-075-SE, and 2098-DSD-150-SE Ultra3000 Digital Servo Drives TB1 TB2 U 1 V 2 Three-phase Motor Power Connections W AC Input Power Connections External Passive Shunt Connections 3 DC+ DC- Input Fusing* Three-phase AC Line 50/60 Hz L1 L2 Three-phase AC Line Filter Fused Disconnect or Circuit Breaker* L3 Motor Power Connections CN1 43 44 N.O. Relay Output+ N.O. Relay Output- L1 AUX L2/N AUX Input Fusing* Isolation Transformer* Neutral Cable Shield Clamp Chassis Bonded Cabinet Ground Bus* L1 Three-phase Input 100…240V AC rms L2 L3 Terminal Blocks* * INDICATES USER-SUPPLIED COMPONENT To additional Ultra3000 Drive Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 71 Appendix D Interconnect Diagrams Figure 24 shows the power wiring diagram with 24V DC control string for 2098-DSD-HV030-SE, 2098-DSD-HV050-SE, 2098-DSD-HV100-SE, 2098-DSD-HV150-SE, and 2098-DSD-HV220-SE Ultra3000 Sercos drives. Figure 24 - Typical Power Wiring on Ultra3000 (460V) System 2098-DSD-HV030-SE 2098-DSD-HV050-SE 2098-DSD-HV100-SE 2098-DSD-HV150-SE 2098-DSD-HV200-SE Ultra3000 Digital Servo Drives Three-phase Motor Power Connections TB1 TB2 DC+ 1 DC- 2 W 3 V U External Passive Shunt Connections Motor Power Connections Input Fusing* L3 Three-phase AC Line 50/60 Hz L2 Three-phase AC Line Filter L1 Fused Disconnect or Circuit Breaker* AC Input Power Connections L1 AUX Input Fusing* Neutral Bonded Cabinet Ground Bus* Chassis L3 Three-phase Input 100…240V AC rms L2 L1 Terminal Blocks* To additional Ultra3000 Drive * INDICATES USER-SUPPLIED COMPONENT 72 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 43 44 L2/N AUX Isolation Transformer* CN1 Cable Shield Clamp N.O. Relay Output+ N.O. Relay Output- Appendix D Kinetix 5300 Servo Drive Power Wiring Examples Interconnect Diagrams This section provides examples to assist you in wiring the Kinetix 5300 servo drive system. You must supply input power components. The line filters are wired downstream of the circuit protection. Table 53 - Interconnect Diagram Notes Note 1 2 3 4 5 6 7 8 9 10 11 Information For power wiring specifications, see Wiring Requirements on page 71. For input fuse and circuit breaker sizes, see Circuit Breaker/Fuse Selection on page 25. AC (EMC) line filter is required for EMC compliance. Place line filter as close to the drive as possible and do not route very dirty wires in wireway. If routing in wireway is unavoidable, use shielded cable with shields that are grounded to the drive chassis and filter case. For AC line filter specifications, see Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003. Drives are limited to one power cycle per minute. Terminal block is required to make connections. Cable shield clamp must be used to meet CE requirements. PE ground connection bonded to the panel must be used to meet CE requirements. Internal shunt wired to the shunt connector is the default configuration. Unplug the internal shunt connector and connect the external shunt wires to the spare shunt connector plug. Damage can occur to the drive if it is operated without either an internal or external shunt connected. For motor cable specifications, see Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004. MPL-A/B15xx-H…MPL-A/B45xx-H, MPL-A15xx-V/E…MPL-A2xx-V/E, MPL-A3xx-S/M…MPL-A45xx-S/M, MPMA115xx…MPM-A130xx, MPF-A3xx…MPF-A45xx, MPS-Axxx, MPAR-Axxx, MPAS-Axxx, MPAS-Bxxx (direct drive), and encoders use the +5V DC supply. MPL-B15xx-V/E…MPL-B2xx-V/E, MPL-B3xx-S/M…MPL-B9xx-S/M, MPL-A5xx, MPM-Bxx, MPM-A165xx…MPMA215xx, MPF-Bxx, MPF-A5xx, MPS-Bxxx, MPAR-Bxxx, and MPAS-Bxxx (ballscrew) encoders use the +9V DC supply. LDAT-Series linear thrusters, Kinetix MPAS (direct drive) linear stages, and LDC/LDL-Series™ linear motors exclude a brake option, so only the 2090-CPWM7DF-xxAAxx or 2090-CPWM7DF-xxAFxx motor power cables are specified. IMPORTANT For three-phase operation, Kinetix 5300 drives must use centergrounded wye secondary input power configurations. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 73 Appendix D Interconnect Diagrams Figure 25 - Kinetix 5300 Drives Power Wiring (three-phase operation) 2198-C1004-ERS, 2198-C1007-ERS, 2198-C1015-ERS, 2198-C1020-ERS, 2198-C2030-ERS, 2198-C2055-ERS, 2198-C2075-ERS, 2198-C4004-ERS, 2198-C4007-ERS, 2198-C4015-ERS, 2198-C4020-ERS, 2198-C4030-ERS, 2198-C4055-ERS, 2198-C4075-ERS Kinetix 5300 Drives Shunt Connector DC+ SH See Table 53 for note information. Internal Shunt Note 7 Bonded Cabinet Ground Bus PE Ground Note 6 Chassis Note 4 170…253V AC rms or 342…528V AC rms Three-phase Input Note 1 Customer Supplied +24V DC Power Supply * 2 1 2198-DBxxx-F Three-phase AC Line Filter Note 3 24V_COM +24V Control Power Connector Cable Shield Clamp Note 5 U Motor Power Connector W Three-phase Motor Power Connections Note 8 3 2 1 4 3 2 1 L3 L2 Mains AC Input Connector Motor Brake Connector L1 Circuit Protection * Note 2 * Indicates User Supplied Component 74 V 4 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 MBRK MBRK + 2 MBRK - 1 MBRK + Motor Brake Connections Appendix D Interconnect Diagrams Figure 26 - Kinetix 5300 Drives Power Wiring (Single-phase operation) 2198-C1004-ERS, 2198-C1007-ERS, 2198-C1015-ERS, 2198-C1020-ERS Kinetix 5300 Drives DC+ SH See Table 53 for note information. Shunt Connector Internal Shunt Note 7 Bonded Cabinet Ground Bus PE Ground Note 6 Chassis Note 4 Customer Supplied +24V DC Power Supply * 85…132V AC rms or 170…253V AC rms Single-phase Input Note 1 2 1 2198-DBxxx-F Three-phase AC Line Filter Note 3 Note 5 Cable Shield Clamp Motor Power Connector 24V_COM Control Power +24V Connector U V W 4 3 2 1 L3 L2 Mains AC Input Connector Motor Brake Connector MBRK MBRK + 4 Three-phase Motor Power Connections Note 8 3 2 1 2 MBRK - 1 MBRK + Motor Brake Connections L1 Circuit Protection * Note 2 * Indicates User Supplied Component Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 75 Appendix D Interconnect Diagrams Notes: 76 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Appendix E Communication Configurations The Kinetix® 5300 servo drives support any Ethernet topology including linear, ring, and star by using ControlLogix® or CompactLogix™ controllers. These examples feature the CompactLogix 5380 programmable automation controllers (Bulletin 5069) that are part of the Logix 5000™ family of controllers (version 33.00 or later). See CompactLogix 5380, Compact GuardLogix® 5380, and CompactLogix 5480 Controller Specifications Technical Data, publication 5069-TD002, for more information on CompactLogix 5380 controllers. These examples feature the CompactLogix 5380 programmable automation controllers (catalog number 5069-L340ERM) with support for Integrated Motion over the EtherNet/IP network. IMPORTANT When using an external Ethernet switch for routing traffic between the controller and the drive, switches with IEEE-1588 time synchronization capabilities (boundary or transparent clock) must be used to make sure switch delays are compensated. Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 77 Appendix E Communication Configurations Kinetix 5300 Servo Drive Linear Topology In this example, all devices are connected in linear topology. The Kinetix 5300 drives include dual-port connectivity, however, if any device becomes disconnected, all devices downstream of that device lose communication. Devices without dual ports must include the 1783-ETAP module or be connected at the end of the line. Figure 27 - Kinetix 5300 Linear Communication Installation CompactLogix Controller Programming Network Studio 5000 Logix Designer® application (version 33.00 or later) CompactLogix 5380 Controller Kinetix 5300 Servo Drive System 1585J-M8CBJM-x Ethernet (shielded) Cable 1585J-M8CBJM-OM15 0.15 m (6 in.) Ethernet cable for drive-to-drive connections. 2 2 2 2 1 1 1 1 10 10 10 10 1 U 1 U U 1 U V V V W W W MFB MBRK MBRK MBRK MBRK MFB 1 V W MFB MFB 842E-CM Integrated Motion Encoder PanelView™ 5310 Display Terminal 78 1734-AENTR POINT I/O™ EtherNet/IP Adapter Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Appendix E Ring Topology Communication Configurations In this example, the devices are connected by using ring topology. If only one device in the ring is disconnected, the rest of the devices continue to communicate. For ring topology to work correctly, a Device Level Ring (DLR) supervisor is required (for example, the CompactLogix controller). DLR is an ODVA standard. For more information, See the EtherNet/IP Embedded Switch Technology Application Guide, publication ENET-AP005. Devices without dual ports require a 1783-ETAP module to complete the network ring. Figure 28 - Kinetix 5300 Ring Communication Installation CompactLogix Controller Programming Network CompactLogix 5380 Controller Studio 5000 Logix Designer Application (version 33.0 or later) PanelView 5310 Display Terminal 002 1734-AENTR POINT I O Module Status 1585J-M8CBJM-x Ethernet (shielded) Cable Network Activity Network Status Link 1 Activity/ Status Point Bus Status System Power Field Power 1734-AENTR POINT I/O EtherNet/IP Adapter Link 2 Activity/ Status Kinetix 5300 Servo Drive System 1585J-M8CBJM-OM15 0.15 m (6 in.) Ethernet cable for drive-to-drive connections. 2 2 2 2 1 1 1 1 1 1 1 1 10 U 10 U 10 U 10 U V V V V W W W W MFB MBRK MBRK MBRK MBRK MFB 842E-CM Integrated Motion Encoder MFB MFB Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 79 Appendix E Communication Configurations Star Topology In this example, the devices are connected by using star topology. Each device is connected directly to the switch. Kinetix 5300 drives have dual ports, but in star topology all drives are connected to the switch. Kinetix 5300 and other devices operate independently. The loss of one device does not impact the operation of other devices. Figure 29 - Kinetix 5300 Star Communication Installation CompactLogix Controller Programming Network Studio 5000 Logix Designer Application (version 33.00 or later) CompactLogix 5380 Controller 1585J-M8CBJM-x Ethernet (shielded) Cable 1783-BMS Stratix® 5700 Switch 842E-CM Integrated Motion Encoder Kinetix 5300 Servo Drive System 2 2 2 1 1 1 1 1 1 10 U 10 U U V V W W MBRK MBRK MBRK MFB 10 V W MFB MFB PanelView 5310 Display Terminal 1734-AENTR POINT I/O EtherNet/IP Adapter You can use the 842E-CM integrated motion encoder for applications requiring an external encoder for gearing or camming to the Kinetix 5300 drive. By providing auxiliary feedback directly through the EtherNet/IP network, the 842E-CM encoder helps eliminate the need for point-to-point wiring while letting customers use the encoder in a variety of network topologies. For more information, see the 842E-CM Integrated Motion on EtherNet/IP Product Profile, publication 842ECM-PP001. 80 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 Ultra3000 Digital Servo Drives to Kinetix 5300 Servo Drives Migration Guide Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 81 Rockwell Automation Support Use these resources to access support information. Technical Support Center Knowledgebase Local Technical Support Phone Numbers Literature Library Product Compatibility and Download Center (PCDC) Find help with how-to videos, FAQs, chat, user forums, and product notification updates. Access Knowledgebase articles. Locate the telephone number for your country. Find installation instructions, manuals, brochures, and technical data publications. Download firmware, associated files (such as AOP, EDS, and DTM), and access product release notes. rok.auto/support rok.auto/knowledgebase rok.auto/phonesupport rok.auto/literature rok.auto/pcdc Documentation Feedback Your comments help us serve your documentation needs better. If you have any suggestions on how to improve our content, complete the form at rok.auto/docfeedback. Waste Electrical and Electronic Equipment (WEEE) At the end of life, this equipment should be collected separately from any unsorted municipal waste. Rockwell Automation maintains current product environmental information on its website at rok.auto/pec. Allen-Bradley, CompactLogix, Compact GuardLogix, ControlLogix, expanding human possibility, FactoryTalk, GuardLogix, HPK-series, Kinetix, Kinetix MP, Kinetix TL and TLY, LDC-series, LDLseries, PanelView, Point I/O, RA Encompass, RDD-series, Rockwell Automation, RSLogix, RSLogix 5000, SoftLogix, Stratix, Studio5000 Logix Designer, and Ultra3000, are trademarks of Rockwell Automation, Inc. EtherNet/IP is a trademark of ODVA, Inc. Trademarks not belonging to Rockwell Automation are property of their respective companies. Rockwell Otomasyon Ticaret A.Ş. Kar Plaza İş Merkezi E Blok Kat:6 34752, İçerenkÖy, İstanbul, Tel: +90 (216) 5698400 EEE YÖnetmeliğine Uygundur Publication 2198-RM006A-EN-P - December 2020 Copyright © 2020 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A. ">

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Key features
- High performance
- Scalability
- Sercos communication
- ControlLogix/CompactLogix integration
- Compatible with motors and actuators
- Robust and reliable
- Advanced tuning
Frequently asked questions
The Ultra3000 servo drives use the Sercos (IEC 61491) communication protocol over a fiber optic media.
Yes, the Ultra3000 servo drives are designed for seamless integration with both ControlLogix and CompactLogix platforms using the Sercos interface.
The Ultra3000 servo drives are compatible with various Allen-Bradley motors and actuators, including rotary and linear options.