Allen-Bradley Kinetix 6000 Servo Drives to Kinetix 5700 Servo Drives Reference Manual
Allen-Bradley Kinetix 6000 Servo Drives to Kinetix 5700 Servo Drives is a comprehensive guide for migrating from Kinetix 6000 servo drive systems to Kinetix 5700 servo drive systems. This manual provides detailed comparisons between these drive families, including system components, features, and wiring diagrams. It also includes two system migration examples highlighting common tasks and specific replacements for drive modules, input power components, and accessories.
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Migration Guidelines: Kinetix 6000 Servo Drive to Kinetix 5700 Servo Drives Reference Manual Original Instructions Migration Guidelines: Kinetix 6000 Servo Drive to Kinetix 5700 Servo Drives Reference Manual Important User Information Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards. Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice. If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired. In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment. The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams. No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual. Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited. Throughout this manual, when necessary, we use notes to make you aware of safety considerations. Rockwell Automation recognizes that some of the terms that are currently used in our industry and in this publication are not in alignment with the movement toward inclusive language in technology. We are proactively collaborating with industry peers to find alternatives to such terms and making changes to our products and content. Please excuse the use of such terms in our content while we implement these changes. WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss. ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence. IMPORTANT Identifies information that is critical for successful application and understanding of the product. These labels may also be on or inside the equipment to provide specific precautions. SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present. BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures. ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE). The following icon may appear in the text of this document. Identifies information that is useful and can help to make a process easier to do or easier to understand. 2 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Table of Contents Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Summary of Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Motion Analyzer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Controller Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Electrical Noise Reduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Kinetix 5700 Servo Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Kinetix 5700 Drive System Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Kinetix 5700 Drive Module Components . . . . . . . . . . . . . . . . . . . . . . . . 7 Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Integrated Architecture Tools and Resources . . . . . . . . . . . . . . . . . . . . . . . 8 Migration Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Chapter 1 System Replacement Considerations Checklist for Kinetix 6000 Servo Drive System Migration . . . . . . . . . . . 11 Compare Drive Family System Components . . . . . . . . . . . . . . . . . . . . . . . 12 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Controller Platforms, Ethernet Modules, and Stratix Switches . . . 16 Rotary and Linear Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Kinetix 5700 Rotary Motor Support. . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Kinetix 5700 Linear Motor/Actuator Support . . . . . . . . . . . . . . . . . . . 17 2198-K57CK-D15M Universal Feedback Kit . . . . . . . . . . . . . . . . . . . . . 17 2198-H2DCK Hiperface-to-DSL Feedback Converter Kit . . . . . . . . . 18 Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Motor Power and Feedback Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Single Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Ethernet Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Control Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Physical Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Circuit Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Control Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Digital Inputs/Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Dual Position Loop/Auxiliary Feedback . . . . . . . . . . . . . . . . . . . . . . . . 20 Motor Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Safe Torque-off Safety Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Important Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Chapter 2 Servo Drive and System Comparison Drive Sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Output Current Comparison. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Dimension Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 AC Input Power Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 DC Common-bus Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 3 Contactor Enable Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Shunt Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Circuit Breaker and Fuse Considerations. . . . . . . . . . . . . . . . . . . . . . . . . . 29 System Layouts and Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Motor Power and Feedback Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Single Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Feedback Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Typical System Layouts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Compare Drive Family Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Chapter 3 System Replacement Examples Common Replacement Tasks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Drive Sizing Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Module Mounting Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Kinetix 6000 Network Topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Kinetix 5700 Ethernet Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Axis Configuration in Studio 5000 Logix Designer . . . . . . . . . . . . . . 41 Sercos to EtherNet/IP Network Guidelines . . . . . . . . . . . . . . . . . . . . . 41 Fault Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Replacement Example #1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Kinetix 6000 System Without a Line Interface Module . . . . . . . . . . 43 Kinetix 5700 Drive System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Hardwired Safe Torque-off Configuration . . . . . . . . . . . . . . . . . . . . . 45 Circuit Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Contactor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 AC Line Filter Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Transformer Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Shared-bus Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 Cable Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 Replacement Example #2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Kinetix 6000 System With a Line Interface Module . . . . . . . . . . . . . 49 Kinetix 5700 Drive System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Integrated Safe Torque-off Configuration . . . . . . . . . . . . . . . . . . . . . 53 Circuit Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Contactor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 AC Line Filter Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Transformer Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Shared-bus Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Cable Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 4 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Preface This manual provides migration guidelines for replacing Kinetix® 6000 servo drive systems with Kinetix 5700 servo drive systems. Migrating from Kinetix 6000 servo drives to a motion system that uses Kinetix 5700 servo drives requires a comprehensive design review of the motion control system. There are replacement drives and potentially new motor combinations, and changes in the Studio 5000 Logix Designer® application. In addition, there are system changes that are required because of the communication protocol changes. To compare motion systems that use Sercos interface and EtherNet/IP™ networks with a LOGIX 5000™ programmable automation controller (PAC), see Integrated Motion on Sercos and EtherNet/IP Network - Analysis and Comparison, publication MOTION-AT006. This manual is intended for engineers and technicians that are directly involved in the installation and wiring of the Kinetix 5700 drive modules, and programmers who are directly involved in the operation, field maintenance, and integration of these modules with the EtherNet/IP communication module or controller. Product compatibility information and release notes are available online within the Product Compatibility and Download Center at: http://compatibility.rockwellautomation.com/Pages/home.aspx These replacement guidelines contain the following chapters. Topic Chapter 1 - System Replacement Considerations Chapter 2 - Servo Drive and System Comparison Chapter 3 - System Replacement Examples Summary of Changes Description Includes a Kinetix 6000 migration checklist, a comprehensive table that compares system components, and background information on Kinetix 5700 drive system features. Includes tables and drive system diagrams that compare axis module output current, dimensions, AC input power, circuit protection, and cables. Includes two system migration examples with common tasks for both systems and specific replacements for drive modules, input power components, and accessory items. This publication contains the following new or updated information. This list includes substantive updates only and is not intended to reflect all changes. Topic Replaced 2090-series and Bulletin 2090 (cables only) with Kinetix 2090 Replaced MP-series, LDAT-series, RDD-series, LDC-series, and HPK-series with Kinetix MP (or specific motor type), Kinetix LDAT, Kinetix RDB, Kinetix LDC, Kinetix LDL, and Kinetix HPK Updated Kinetix 5700 power, current, and voltage information to include 240V AC Removed direct drive references for rotary motors Added Kinetix 6000 and Kinetix 5700 230V AC 3 PH drives to Table 9 and Table 10 Correction dimension of 2094-BM05-S in Table 10 Updated footnotes for Table 13 and Table 14 Added 140MT motor protection circuit breakers to Table 13 and Table 14 Updated the common-bus follower input voltage, continuous output power (inverter), and continuous output current (inverter) to include 200V and 400V classes Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Page Throughout Throughout Throughout Throughout 24 24 30 30 34 5 Preface Conventions Used in This Manual These conventions are used throughout this manual: • Bulleted lists such as this one provide information, not procedural steps • Numbered lists provide sequential steps or hierarchical information Before You Begin Before you begin review these online tools and publications. Motion Analyzer 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 online tool facilitates the machine design process, and lets you quickly design and validate new machine concepts without purchasing or installing physical equipment. The Torque/Speed tool in Motion Analyzer gives you quick access to torquespeed performance curves for any compatible combination of motors/ actuators and drives. Review the performance capabilities of your replacement drive to make sure that the replacement drive is capable of delivering the required level of peak and continuous current to the motor. Create a user account at https://motionanalyzer.rockwellautomation.com. IMPORTANT Not all third-party motors are supported by Kinetix 5700 drives. Check with your Rockwell Automation representative to see if your third-party motor is compatible with the Kinetix 5700 drives. Controller Files If an updated copy of the controller program is not available, use the Studio 5000 Logix Designer application to upload and save the programmable automation controller (PAC) program that contains Kinetix 6000 drive system configuration. Upload and save any network files. To compare motion systems that use Sercos interface and EtherNet/IP networks with a LOGIX 5000 PAC, see Integrated Motion on Sercos and EtherNet/IP Network - Analysis and Comparison, publication MOTION-AT006. Electrical Noise Reduction See the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001, for information on the concept of high-frequency (HF) bonding, the ground plane principle, and electrical noise reduction. Kinetix 5700 Servo Drives The Kinetix 5700 drive family helps expand the value of integrated motion and safety on the EtherNet/IP network to large custom machine-builder applications. The innovative zero-stack shared-bus system simplifies assembly and installation, thus reducing cabinet space requirements. DSL feedback ports support single-cable technology and Kinetix VP motors, which reduces wiring for your motion system by 60%. The Kinetix 5700 drives incorporate Load Observer real-time tuning technology that yields high-performance control and nearly eliminates the need to tune most axes, thus reducing your commissioning time. 6 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Preface Kinetix 5700 servo drives are designed for machines with high axis-counts and high-power requirements. Single and dual-axis inverters are available with integrated and hardwired safe torque-off functionality. Kinetix 5700 Drive System Features • • • • • • • • • • Designed for machines with high axis-counts, high-power requirements, and high-performance motion applications AC input voltage range: 195…528V rms, three-phase DC-bus power supply (converter), 240V and 480V three-phase operation - Multi-axis, DC-bus sharing - Extended DC-bus sharing Single-axis and dual-axis inverters - 0.9…112.0 kW continuous output power - 2.5…271.5 A 0-pk, continuous output current - Accepts Hiperface DSL encoder feedback from Kinetix VP servo motor family - Accepts Hiperface multi-turn and single-turn encoder feedback from compatible Allen-Bradley® motors and actuators - Accepts EnDat sine/cosine and EnDat digital encoder feedback - Accepts digital AqB, digital AqB with UVW, sine/cosine, and sine/cosine with UVW master feedback types TÜV Rheinland certified safe torque-off (STO) control, category 3, SIL CL3, PLe - Hardwired STO with connections to safety inputs - Integrated STO with connections to safety controller Single cable technology, for Kinetix VP motors, includes DSL connector kit (drive-end) and SpeedTec connector (motor-end) Bulletin 2198 capacitor module, extension module, and passive-shunt resistors for energy absorption management Support for permanent-magnet servo motors and actuators Support for induction motors with open-loop frequency control or closed-loop control Integrated motion and integrated safety on the EtherNet/IP network Kinetix 5700 Drive Module Components Kinetix 5700 servo drive systems consist of these required components: • 2198-Pxxx DC-bus power supplies (up to three modules that are wired in parallel are possible) • Single-axis and dual-axis inverters - Extended drive systems are possible with Bulletin 2198 capacitor modules • Kinetix VP (400V-class) servo motors - Use 2090-CSxM1DE cables (includes 2198-KITCON-DSL feedback connector kit) - Use 2090-CSxM1DG flying-lead cables (order 2198-KITCON-DSL connector kit separately) • Kinetix MP (400V-class) servo motors and actuators, Kinetix LDAT linear thrusters, Kinetix LDC linear motors, or Kinetix HPK asynchronous rotary motors - Use 2090-CPxM7DF power/brake cables Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 7 Preface • • • - Use 2090-CFBM7DF feedback cables and many legacy-motor feedback cables with 2198-K57CK-D15M universal feedback connector kits Support for induction motors with basic volts/hertz, fan/pump V/Hz, and sensorless-vector open-loop frequency control methods or closedloop motor feedback options 1606-XLxxx 24V power supplies for control and motor brake power 1585J-M8CBJM-x (shielded) Ethernet cable Kinetix 5700 servo drive systems can also include any of these optional components: • 2198-CAPMOD-2240 capacitor modules • 2198-CAPMOD-DCBUS-IO extension modules • 2198-ABQE encoder output module • One 2198-DBxx-F AC line filter • 2198-Rxxx external passive-shunt resistors • Bulletin 1321 line reactors (required with two or three 2198-P208 DC-bus power supplies) • Bulletin 2198 24V DC input power shared-bus connection system For detailed Kinetix 5700 drive system requirements, refer to the Kinetix 5700 Drive Systems Design Guide, publication KNX-RM010. Catalog Number Explanation Kinetix 5700 Drive Modules DC-bus Power Supply Dual-axis Inverters Single-axis Inverters Module Cat. No. Module Width mm 2198-P031 2198-P070 2198-P141 2198-P208 2198-D006-ERS3 2198-D012-ERS3 2198-D020-ERS3 2198-D032-ERS3 2198-D057-ERS3 2198-S086-ERS3 2198-S130-ERS3 2198-S160-ERS3 55 (2.17) 85 (3.35) 55 (2.17) Input Voltage 195…528V AC rms, three-phase – 85 (3.35) 85 (3.35) 100 (3.94) – Continuous Output Power kW Continuous Output Current to Bus ADC rms Continuous Output Current A 0-pk 7 17 31 46 1.7 3.4 5.5 8.9 15.9 29.7 44.9 60.1 10.5 25.5 46.9 69.2 – – 3.5 7.0 11.3 18.3 32.5 60.8 91.9 120.2 Integrated Architecture Tools and Resources Integrated Architecture® tools can help you plan and configure a system, and migrate system architectures. For more information, go to: http://www.rockwellautomation.com/global/support/integrated-architecturetools/overview.page? Migration Services Throughout the product lifecycle, as products mature, Rockwell Automation is there to help you get the most out of your current equipment, to help you determine your next steps, and to help you lay out a plan for the transition to newer technology. 8 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Preface Whether you choose to migrate all at once or use our unique, phased approach to help minimize the costs, risks, and complexities that are involved with legacy products and systems, Rockwell Automation has the tools and the experience to guide you through the transition. For more information, see the Migration Solutions Brochure, publication MIGRAT-BR002. Additional Resources These documents contain additional information concerning related products from Rockwell Automation. Resource Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001 Kinetix Linear Motion Specifications Technical Data, publication KNX-TD002 Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003 Kinetix Rotary and Linear Motion Cable Technical Data, publication KNX-TD004 Kinetix 3, 300, 350, 2000, 6000, 6200, 6500, 7000 Servo Drives Specifications, publication KNX-TD005 Kinetix Servo Drive Performance Specifications per Ecodesign Regulation (EU) 2019/1781 technical data, publication KNX-TD006 Kinetix 5700 Servo Drives User Manual, publication 2198-UM002 Kinetix 6000 Mulit-axis Servo Drives User Manual, publication 2094-UM001 Kinetix 6000 and Kinetix 6200/6500 Drive Systems Design Guide, publication KNX-RM003 Kinetix 5700 Drive Systems Design Guide, publication KNX-RM010 System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001 Description Provides product specifications for Kinetix VPL, VPC, VPF, VPH, VPS, Kinetix MPL, MPM, MPF, MPS; Kinetix TL and TLY, Kinetix RDB, Kinetix MMA, and Kinetix HPK rotary motors. Product specifications for Kinetix MPAS and MPMA linear stages, MPAR and MPAI electric cylinders, Kinetix LDAT linear thrusters, and Kinetix LDC linear motors. Provides product specifications for Kinetix Integrated Motion over the EtherNet/IP™ network and EtherNet/IP networking servo drive families. Provides product specifications for Kinetix 2090 motor and interface cables. Provides product specifications for Kinetix Integrated Motion over the EtherNet/IP network (Kinetix 6500 and Kinetix 350), Integrated Motion over Sercos interface (Kinetix 6200, Kinetix 6000, Kinetix 2000, and Kinetix 7000), and component (Kinetix 3) servo drive families Provides energy efficiency performance data for Rockwell Automation Kinetix Servo drives. This data supports IE2 compliance of Kinetix Servo drives per EU 2019/1781. Provides information to install, configure, startup, troubleshoot, and apply your Kinetix servo drive system. System design guide to select the required (drive specific) drive module, power accessory, feedback connector kit, and motor cable catalog numbers for your Kinetix drive system. Information, examples, and techniques that are designed to minimize system failures that are caused by electrical noise. Overview of Kinetix servo drives, motors, actuators, and motion accessories that are designed to help make initial decisions for the motion control products that are best Kinetix Motion Control Selection Guide, publication KNX-SG001 suited for your system requirements. Online product selection and system configuration tools, including AutoCAD (DXF) Rockwell Automation® Product Selection website rok.auto/systemtools drawings. Comprehensive motion application sizing tool that is used for analysis, optimization, Motion Analyzer website https://motionanalyzer.rockwellautomation.com/ selection, and validation of your Kinetix Motion Control system. Provides declarations of conformity, certificates, and other certification details. Product Certifications website, rok.auto/certifications Ethernet Design Considerations Reference Manual, publication ENET-RM002 Provides information for designing Ethernet and EtherNet/IP networks. Provides specifications for 24V power supplies that can be used for control logic, Switched Mode Power Supply Specifications Technical Data, publication 1606-TD002 I/O, and holding brakes. Compare and contrast Motion systems that use Serial Real-time Communications Integrated Motion on Sercos and EtherNet/IP Network - Analysis and Comparison, System (Sercos) and EtherNet/IP with a ControlLogix® programmable automation publication MOTION-AT006 controller (PAC). Information on the AXIS_CIP_DRIVE attributes and the Studio 5000 Logix Designer Integrated Motion on the EtherNet/IP Network Reference Manual, publication MOTION-RM003 application Control Modes and Methods. Information on tuning a Kinetix drive system. Motion System Tuning Application Techniques, publication MOTION-AT005 Provides general guidelines for installing a Rockwell Automation industrial system. Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 You can view or download publications at: rok.auto/literature. Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 9 Preface Notes: 10 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Chapter 1 System Replacement Considerations Replacing a Kinetix® 6000 servo drive with a Kinetix 5700 servo drive requires some system design changes and drive hardware changes. This chapter describes the primary differences and considerations. To review servo drive specifications for all Kinetix drive families, see Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003 and Kinetix 3, 300, 350, 2000, 6000, 6200, 6500, 7000 Servo Drives Specifications, publication KNX-TD005. Checklist for Kinetix 6000 Servo Drive System Migration For each Kinetix 6000 drive control feature, there is a suitable solution with the Kinetix 5700 servo drives, LOGIX 5000™ controller platforms, and the Studio 5000 Logix Designer® application. Use the following table as a checklist of common considerations when migrating from Kinetix 6000 drives to Kinetix 5700 drives. Table 1 - Migration Checklist Feature/Function Rotary Motor Compatibility Linear Motor/Actuator Compatibility Kinetix 6000 Drive Features Page The Kinetix 6000 servo drives support 1326AB, Kinetix MPL, MPM, MPF, MPS, and Kinetix RDB rotary servo motors. The Kinetix 6000 servo drives support Kinetix LDC linear 17 motors, Kinetix MPAS, MPMA, MPAR, MPAI linear actuators, and Kinetix LDAT linear actuators. The Kinetix 6000 IAM and AM (inverter) modules require an Customer-supplied external customer-supplied 24V DC input for motor External 24V DC Power brakes. The Motor Brake (BC) connector on each IAM and 19 Supply for Motor Brakes AM module provides programmable motor-brake relay outputs and supply an MOV device for arc suppression. Digital Input and Registration Input Power Supplies I/O Terminations The Kinetix 6000 has an internal 24V DC power supply on each IAM/AM module that is dedicated for use by the 20 enable, home, and overtravel digital inputs, and two registration inputs. The Kinetix 6000 IAM and AM modules each have their own dedicated I/O (IOD) connector for terminating the individual I/O points for each axis. Each IOD connector 20 requires a low-profile connector kit (catalog number 2090-K6CK-D26M). The Kinetix 6000 IAM and AM modules each have their own Enable input on the I/O (IOD) connector. Each Hardware Enable Inputs Hardware 20 IOD connector requires a low-profile connector kit (catalog number 2090-K6CK-D26M). Safe Torque-off (STO) The Kinetix 6000 servo drives offer a 9-pin hardwired safe torque-off (STO) connector for wiring single and multiple 21 safe torque-off drive configurations. A jumper lets you defeat (not use) the safe torque-off function. Kinetix 5700 Drive Replacement Features Complete? You can continue to use the existing compatible motors/ actuators with the Kinetix 5700 servo drives, however, feedback compatibility restrictions apply. The Kinetix 5700 drive modules require an external customer-supplied 24V DC power supply for control power, digital inputs, and motor brake power. The Motor Brake (BC) connector on each inverter provides programmable motor-brake relay outputs and supply an MOV device for arc suppression. The Kinetix 5700 drive modules require an external customer-supplied 24V DC power supply for control power, digital inputs, and motor brake power. The Kinetix 5700 single-axis and dual-axis inverters have four configurable digital inputs with fast response times and ten I/O functions to choose from in the Logix Designer application. Digital inputs connect directly to the IOD connector. The Enable input is one of ten I/O functions that you can assign to one of four configurable inputs that require 24V DC. Digital inputs connect directly to the IOD connector. See Switched Mode Power Supply Specifications Technical Data, publication 1606-TD002. The Kinetix 5700 dual-axis and single-axis inverters are equipped for hardwired safe torque-off (STO) and integrated STO over the EtherNet/IP™ network. Jumper wires that are inserted in the STO connector let you defeat (not use) the safe torque-off function. GuardLogix® 5570 or GuardLogix 5580 controllers are required for safety configuration. Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 11 Chapter 1 System Replacement Considerations Table 1 - Migration Checklist (Continued) Feature/Function Kinetix 6000 Drive Features Page Typical Input Power Components • 195…528V AC, 50/60 Hz, 3-phase input • 95…264V AC, single-phase control power supply • Disconnect, fuse block, main contactor • 24V DC power supply for motor brakes and motor thermal contacts 26 Relay Outputs to Help Protect Drive Electronics (precharge circuit) The Kinetix 6000 IAM module provides a Contactor Enable (CED) connector for the same purpose. Wiring the 28 contactor enable relay into your control string is required. DC Common-bus Capability Configure the Kinetix 6000 IAM module in RSLogix 5000® software or the Studio 5000 Logix Designer application as a common-bus leader or common-bus follower drive, based on system needs for regeneration or configuration 41 requirements. When planning your panel layout, the common-bus leader must be configured to include the common-bus follower capacitance, because it controls system precharge and shunt control. Compare Drive Family System Components Kinetix 5700 Drive Replacement Features Complete? The Kinetix 5700 input power requirements are similar to the Kinetix 6000 drives, except Kinetix 5700 systems require an external 24V DC supply for control power, digital inputs, and motor brake power. Consider reusing some of your Kinetix 6000 input power components. The Kinetix 5700 DC-bus supply provides the Contactor Enable (CED) connector to help protect the drive system if overloads or other fault conditions occur. An AC threephase mains contactor must be wired in series between the branch circuit protection and the DC-bus power supply. The Kinetix 5700 servo drive system is based on DC-bus sharing. The axis inverters (single and dual-axis inverters) require a DC-bus supply that is configured in the Studio 5000 Logix Designer application (formally RSLogix 5000). We recommend using Motion Analyzer to size and select the appropriate DC-bus supply for your Kinetix 5700 system. The following table lists the Kinetix 5700 drive components and the comparable component that is used in Kinetix 6000 drive systems. A dash is present when the other drive family has nothing comparable for that component. ATTENTION: Because of the variety of uses for the products that are described in this publication, the individuals responsible for the application and use of these products must satisfy themselves that all necessary steps have been taken to make sure that each application and use meets all performance and safety requirements, including any applicable laws, regulations, codes, and standards. In no event will Rockwell Automation be responsible or liable for indirect or consequential damage that results from the use or application of these products. Table 2 - Kinetix 6000 and Kinetix 5700 Drive System Comparison Kinetix 6000 System Components Cat. No. Description Kinetix 5700 System Components Cat. No. Integrated axis modules (IAM) with (three-phase) AC input Integrated Axis Module 2094-BCxx-Mxx-S 400V-class power. Contains converter and an DC-bus Power Supply 2198-Pxxx inverter section. Axis Module 12 2094-BMxx-S Axis modules (AM) are shared DCbus inverters, are rated for 400Vclass (three-phase) operation, and feature TÜV Rheinland certified hardwired safe torque-off function. The AM module must be used with an IAM module. Single-axis Inverters 2198-Sxxx-ERS3 Dual-axis Inverters 2198-Dxxx-ERS3 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Description Converter power supply with 400Vclass (three-phase) AC input power. Typical systems consist of 1…3 modules. Additional modules increase power output to Bulletin 2198 singleaxis and dual-axis inverters. Single-axis inverters with current ratings up to 85 A rms. Drives feature TÜV Rheinland certified safe torque-off function with hardwired and integrated safety connection options, PLe and SIL CL3 safety ratings, and support DSL and Hiperface encoder feedback. Dual-axis inverters with current ratings up to 23 A rms. Drives feature TÜV Rheinland certified safe torque-off function with hardwired and integrated safety connection options, PLe and SIL CL3 safety ratings, and support DSL and Hiperface encoder feedback. Chapter 1 System Replacement Considerations Table 2 - Kinetix 6000 and Kinetix 5700 Drive System Comparison (Continued) Kinetix 6000 System Components Cat. No. Shunt Module Power Rail Slot-filler Module 2094-BSP2 2094-PRSx 2094-PRx 2094-PRF 1756-MxxSE modules LOGIX 5000 Communication Modules 1768-M04SE module 1784-PM16SE PCI card Description Capacitor Module The Bulletin 2094 shunt module contains a shunt resistor and capacitors. The module mounts to the power rail and provides additional shunting in regenerative applications. Extension Module The Bulletin 2094 slot-filler module is used when one or more slots on the power rail are empty after all other power rail modules Bulletin 2094 slot-filler module is not supported. are installed. One slot-filler module is required for each empty slot. The Sercos interface module serves as a link between the ControlLogix® controllers and the CompactLogix Controllers Bulletin 1769 Kinetix 6000 drive system. The (with embedded Bulletin 5069 communication link uses Sercos Ethernet port) interface protocol over a fiberoptic cable. The Sercos interface module serves as a link between the CompactLogix controllers and the Kinetix 6000 drive system. The communication link uses Sercos interface protocol over a fiberControlLogix 1756-EN2T module optic cable. Communication 1756-EN2TR module The Sercos interface PCI card Modules 1756-EN3TR module serves as a link between the SoftLogix™ controller and the Kinetix 6000 drive system. The communication link uses Sercos interface protocol over a fiberoptic cable. Encoder Output Module The Studio 5000 Logix Designer application, version 21.00 or later, support for Studio 5000 9324-RLD300xxE provides programming, commissioning, and Environment maintaining the LOGIX 5000 family of controllers. Description Use for energy storage and to extend the DC-bus voltage to another inverter cluster. Modules are zero-stacked with 2198-CAPMOD-2240 servo drives and use the shared-bus connection system to extend the external DC-bus in applications up to 100 A. The extension module, which is paired with a capacitor module, is used to 2198-CAPMOD-DCBUS-IO extend the DC-bus voltage to another inverter cluster in the Kinetix 5700 drive system. The Kinetix 5700 drive modules are zero-stacked and use the shared-bus connection system to extend power from one drive module to another without a power rail. Engaging the zero-stack tab and cutout makes efficient use of panel space, especially for high axis-count installations. 24V input wiring connector, T2198-TCON-24VDCIN36 connectors, and bus-bars for the 2198-xxxx-P-T 5700 drive system 24V shared2198-BARCON-xxDCAC100 Kinetix bus connection system (optional). Zero-stack Tab and The Bulletin 2094 power rail Cutout consists of copper bus bars and a circuit board with connectors for each module. The power rail provides power and control signals from the converter section to adjacent inverters. The IAM and AM power modules, shunt module, Shared-bus Connector slot-filler modules mount on the Kits 2198-BARCON-xxDC200 power rail. 2198-KITCON-ENDCAP200 Bulletin 2198 encoder output module is not supported. Studio 5000® Environment Kinetix 5700 System Components Cat. No. DC-bus links (55, 85, and 100 mm) and end caps for the DC-bus shared-bus connection system (required and included with each respective drive module). Integrated motion on the EtherNet/IP network in CompactLogix™ 5370 and CompactLogix 5380 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, and GuardLogix 5570 controllers. Linear, Device Level Ring (DLR), and star topology is supported. 2198-ABQE The Allen-Bradley® encoder output module is a DIN-rail-mounted EtherNet/ IP network-based standalone module capable of outputting encoder pulses to a customer-supplied peripheral device (cameras, for example, used in linescan vision systems). 9324-RLD300xxE Studio 5000 Logix Designer application, version 26.00 or later, provides support for programming, commissioning, and maintaining the LOGIX 5000 family of controllers. Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 13 Chapter 1 System Replacement Considerations Table 2 - Kinetix 6000 and Kinetix 5700 Drive System Comparison (Continued) Kinetix 6000 System Components Cat. No. 1326AB Kinetix MP Rotary Servo Motors Kinetix RDB Description Kinetix 5700 System Components Cat. No. Compatible rotary motors include 1326AB (M2L/S2L) and 1326AB (resolver) motors. 1326AB Compatible motors include 400Vclass Kinetix MPL, MPM, MPF, and MPS servo motors. Compatible motors include 400V- Rotary Servo Motors class Kinetix RDB motors. Kinetix MP Kinetix RDB Kinetix HPK Kinetix HPK, Kinetix MMA, and Kinetix VP motors are not supported. Kinetix MMA Kinetix VP Linear Motors Kinetix LDC Kinetix MP Linear Actuators Kinetix LDAT Compatible motors include Kinetix LDC iron core (400V-class) linear Linear Motors motors. Compatible actuators include 400V-class Kinetix MPAS, MPAR, and MPAI linear actuators. Linear Actuators Kinetix LDAT integrated linear actuators are compatible with 400V-class drive systems. Kinetix LDC Kinetix MP Kinetix LDAT 2090-CSxM1DE-xxAxxx Kinetix 2090 single cables are not supported. Kinetix 2090 Single Cables 2090-CSxM1DG-xxAxxx 2090-CFBM7DFCEAxxx 2090-CPxM7DFKinetix 2090 Power and Feedback Cables xxAxxx 2090-XXNFMFSxx 2090-CFBM7DFCDAFxx Communication Cables 14 2090-SCxPx-x 2090-SCVGx-x Kinetix 2090 motor feedback cables for Kinetix MP motors and actuators with Stegmann Hiperface encoders. Kinetix 2090 motor power/brake cables for Kinetix MP motors and Kinetix 2090 Power actuators. and Feedback Cables Kinetix 2090 standard and continuous-flex feedback cables that include additional conductors for use with incremental and EnDat encoders. Kinetix 2090 Sercos fiber-optic cables are available as enclosure Communication only, PVC, nylon, and glass with Cables connectors at both ends. Description Use Vega resolver converter kit (model 2792503) and custom motor file from Encompass™ partner Elwood Corporation. See your local Rockwell Automation authorized distributor for details on the Kinetix 5700 drives with Bulletin 1326AB motors migration path. Compatible motors include 400V-class Kinetix MPL, MPM, MPF, and MPS servo motors. Compatible motors include 400V-class Kinetix RDB motors. Compatible motors include 460V and 400V-class Kinetix HPK asynchronous servo motors. Compatible motors include 400V-class Kinetix MMA asynchronous main motors. Compatible motors include 400V-class Kinetix VPL, VPC, VPF, and VPS servo motors. Compatible motors include Kinetix LDC iron-core (400V-class) linear motors. Compatible actuators include 400Vclass Kinetix MPAS, MPAR, and MPAI linear actuators. Kinetix LDAT integrated linear actuators are compatible with 400V-class drive systems. Kinetix 2090 single cable for motor power, feedback, and 24V DC brake power with Kinetix VP motors. Feedback conductors are wired to the 2198-KITCON-DSL feedback connector kit. Kinetix 2090 single cable for motor power, feedback, and 24V DC brake power with Kinetix VP motors. 2090CSxM1DG cables have flying-lead feedback conductors for connection to a customer-supplied 2198-KITCON-DSL feedback connector kit. 2090-CFBM7DF-CEAxxx Kinetix 2090 motor feedback cables for Kinetix MP motors and actuators with Stegmann Hiperface encoders. 2090-CPxM7DF-xxAxxx Kinetix 2090 motor power/brake cables for Kinetix MP motors and actuators. 2090-XXNFMF-Sxx 2090-CFBM7DF-CDAFxx Kinetix 2090 standard and continuousflex feedback cables that include additional conductors for use with incremental and EnDat encoders. 1585J-M8CBJM-x 1585J-M8UBJM-x 1585J-M8CB-x Ethernet cables are available in standard lengths. Shielded cable is required to meet EMC specifications. Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Chapter 1 System Replacement Considerations Table 2 - Kinetix 6000 and Kinetix 5700 Drive System Comparison (Continued) Kinetix 6000 System Components Cat. No. Description Kinetix 5700 System Components Cat. No. Low-profile connector kit for motor feedback (15-pin, male, D2090-K6CK-D15M sub). Use with compatible motors for incremental or high-resolution feedback. Low-profile connector kit for Universal Feedback 2198-K57CK-D15M Low-profile Connector 2090-K6CK-D15F auxiliary feedback (15-pin, female, Connector Kit D-sub). Kits Low-profile feedback module (152090-K6CKpin, male, D-sub) used to enable KENDAT module operation of drives with EnDat feedback. connector kit for I/O No connector kit needed. 2090-K6CK-D26M Low-profile (26-pin, male, D-sub). DSL Feedback Connector Kit 2198-KITCON-DSL Hiperface-to-DSL Feedback Converter Kit 2198-H2DCK Bulletin 2198 DSL motor feedback is not supported. Panel-mounted Breakout Board 2090-UXBB-D15 AC Line Filters 2090-XXLF-xxxx External Shunt Modules 1394-SRxxxx Description Universal feedback connector kit for motor and auxiliary feedback connections with the 15-pin connector plug and grounding plate inside the connector housing. Supports 400Vclass Kinetix MP and Kinetix HPK rotary motors, Kinetix MP linear actuators, Kinetix LDAT linear thrusters, and Kinetix LDC linear motors. Use the 2198-K57CK-D15M universal feedback kit for EnDat feedback. For I/O connections, wire directly to the IOD connector on the front of the drive. Replacement DSL motor feedback connector kit with 2-pin connector plug and grounding plate inside the connector housing. Supports 400Vclass Kinetix VP rotary motors. Included with 2090-CSxM1DE motor cables. Must be purchased separately when used with 2090-CSxM1DG motor cables. Provides Hiperface-to-DSL feedback conversion for use with compatible 400V-class motors and actuators. Panel-mounted breakout board for motor feedback. Use with compatible motors for Kinetix 2090 panel-mounted breakout board option is not supported. incremental or high-resolution feedback. Kinetix 2090-XXLF-xxxx three2198-DB20-F Bulletin 2198 three-phase AC line filters phase AC line filters are required AC Line Filters 2198-DB42-F are required to meet CE and available to meet CE in all 400V-class drive 2198-DB80-F for use in all Kinetix 5700 drive systems. 2198-DB290-F systems. Bulletin 2198 external passive shunt resistors for use when the DC-bus 2198-R014 power supply internal shunt capability 2198-R031 You can use Bulletin 1394 external External Passive is exceeded. These shunt resistors are Shunt Resistors 2198-R127 passive shunt modules when the wired directly to the DC-bus power 2198-R004 IAM/AM module internal shunt and supply, so additional modules are not power rail mounted 2094-BSP2 required. shunt module capability is External active shunts from Encompass exceeded. partner Powerohm Resistors, Inc. are External Active Shunt Modules available for connecting to Bulletin 2198 DC-bus power supplies. Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 15 Chapter 1 System Replacement Considerations Table 2 - Kinetix 6000 and Kinetix 5700 Drive System Comparison (Continued) Kinetix 6000 System Components Cat. No. Internal Shunt Resistors and Capacitance 2094-BCxx-Mxx-S 2094-BMxx-S Line Interface Modules 2094-xLxx 2094-xLxxS 2094-XL75S-Cx Resistive Brake Module 2090-XBxx-xx Communication Description Kinetix 5700 System Components Cat. No. Internal Shunt The Kinetix 6000 drives include Resistors internal shunt and common-bus capacitance ratings for its axis modules and integrated axis modules. See the Kinetix 3, 300, 350, 2000, 6000, 6200, 6500, 7000 Servo Drives Specifications, publication KNX-TD005 for values. Internal Capacitance 2198-P031 2198-P070 2198-P141 2198-P208 2198-Pxxx 2198-Sxxx-ERS3 2198-Dxxx-ERS3 Description For the Kinetix 5700 drives, an internal shunt is included in only the DC-bus supply modules. See the Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003, for values. Internal capacitance is available on the DC-bus power supply and axis inverter modules. See the Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003, for internal capacitance performance. Line interface modules (LIM) include the circuit breakers, AC line filter (catalog numbers 2094AL09 and 2094-BL02 only), power Bulletin 2094 line interface module option is not supported. supplies, and safety contactor required for Kinetix 5700 operation. Resistive Brake Modules (RBM) include a safety contactor for use in a control circuit. Contactors and resistors reside in this module Resistive Brake See Encompass partner Powerohm Resistors at https:/www/ powerohm.com/. such that the motor leads can be Module disconnected from the drive with a permanent magnet motor that is brought to an immediate stop. Kinetix 6000 servo drives use Sercos interface for communication. A Sercos interface module serves as the link between the ControlLogix or CompactLogix controller and the Kinetix 6000 servo drive system. The communication link uses the IEC 61491 Serial Real-time Communication System (Sercos) protocol over a fiber-optic media. Kinetix 5700 servo drives use the EtherNet/IP network for communicating to either a ControlLogix or CompactLogix programmable automation controller. All Kinetix 5700 servo drives include dual-port EtherNet/IP connectivity. Supported Ethernet topologies include linear, ring, and star. For more information on Ethernet design considerations, see these publications: • Integrated Motion on Sercos and EtherNet/IP Network - Analysis and Comparison, publication MOTION-AT006 • Industrial Ethernet Media Brochure, publication 1585-BR001 • Guidance for Selecting Cables for EtherNet/IP Networks, publication ENET-WP007 Controller Platforms, Ethernet Modules, and Stratix Switches Although the controller platform used in your Kinetix 6000 drive system can be compatible with the Kinetix 5700 drive system, the communication module and network switch must support the EtherNet/IP network. 16 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Chapter 1 System Replacement Considerations Table 3 - Compatible Hardware for Integrated Motion on EtherNet/IP Networks Hardware Controller/Module/Switch Family ControlLogix 5570 and ControlLogix 5580 controllers Integrated Motion CompactLogix 5370 controllers CompactLogix 5380 controllers GuardLogix 5570 controllers Integrated Safety Compact GuardLogix 5370 controllers ControlLogix EtherNet/IP Communication Modules 1756-EN2T (1), 1756-EN2TR, and 1756-EN3TR communication modules Ethernet Switches Stratix® 5700 switches. Publication Number 1756 ControlLogix Controllers Technical Data, publication 1756-TD001 CompactLogix Controllers Specifications Technical Data, publication 1769-TD005 CompactLogix 5380 Controllers Specifications Technical Data, publication 5069-TD002 1756 ControlLogix Controllers Technical Data, publication 1756-TD001 CompactLogix Controllers Specifications Technical Data, publication 1769-TD005 Ethernet Design Considerations Reference Manual, publication ENET-RM002 Stratix 5700 Switch Configuration Quick Start, publication IASIMP-QS040 (1) Firmware revision 4.00 or later. Rotary and Linear Motion Verify that your existing motor/actuator is compatible with the Kinetix 5700 servo drive family. Kinetix 5700 Rotary Motor Support • • • • • • • Kinetix VPL, VPC, VPF, and VPS servo motors Induction motor (open-loop) frequency control - Basic volts/hertz - Fan/pump volts/hertz - Sensorless-vector Induction motor (closed-loop) control Kinetix MPL, MPM, MPF, and MPS rotary motors Kinetix HPK Asynchronous servo motors Kinetix MMA Asynchronous main motors Kinetix RDB motors Kinetix 5700 Linear Motor/Actuator Support • • • Kinetix MPAS, MPAR, and MPAI linear actuators Kinetix LDAT Integrated Linear Thrusters Kinetix LDC Iron-core Linear motors 2198-K57CK-D15M Universal Feedback Kit The 2198-K57CK-D15M universal feedback kit passes feedback signals straight through from the encoder to the universal feedback (UFB) connector on the drive. The following encoder feedback types are accepted: • Hiperface high-resolution absolute (multi-turn and single-turn) • Heidenhain EnDat high-resolution absolute (sine/cosine and digital) - EnDat sine/cosine encoders support only Kinetix RDB motors - EnDat digital encoders support only third-party motors • Digital AqB (TTL) and Digital AqB (TTL) with UVW (incremental) • Sine/Cosine and Sine/Cosine with UVW (incremental) Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 17 Chapter 1 System Replacement Considerations • • • Feedback-only, master feedback, or load feedback (absolute single-turn/ multi-turn Hiperface) Feedback-only, master feedback, or load feedback (incremental) Feedback-only, master feedback, or load feedback (generic sine/cosine) Use the universal feedback connector kit in the following types of installations: • New installations with Kinetix 5700 servo drives and the compatible motors and actuators • Existing motor/actuator installations when upgrading with Kinetix 5700 servo drives 2198-H2DCK Hiperface-to-DSL Feedback Converter Kit The 2198-H2DCK Hiperface-to-DSL feedback kit converts 15-pin Hiperface encoder feedback signals to 2-pin DSL feedback signals on the motor feedback (MF) connector. The following feedback types are accepted: • Hiperface high-resolution absolute multi-turn and single-turn encoders • Feedback-only, master feedback, or load feedback (absolute single-turn/ multi-turn Hiperface) Use the converter kit for Hiperface auxiliary-encoder feedback in applications that require dual-loop or load feedback when the 15-pin universal feedback (UFB) connector is already in use for another compatible feedback type. In most cases, Encompass partner motors are compatible with the converter kit. Check with your local Allen-Bradley distributor or Rockwell Automation sales representative to evaluate compatibility. Cable Lengths Verify that the cable lengths that are used in your current Kinetix 6000 drive system do not exceed the maximum cable lengths for the Kinetix 5700 servo drives. • 2090-CPBM7DF power cables and 2090-CFBM7DF feedback cables support Kinetix MP motors and actuators and are used with Kinetix 6000 and Kinetix 5700 drive systems • 2090-CSBM1Dx single cables support Kinetix VP motors and are not compatible with Kinetix 6000 drives, but are compatible with Kinetix 5700 drive systems Motor Power and Feedback Cables Combined 2090-CPBM7DF power cable lengths for all axes on the same DC-bus must not exceed 400 m (1312 ft). Drive-to-motor 2090-CFBM7DF feedback cables up to 90 m (295 ft) can be used, depending on the feedback type. See the Kinetix Motion Accessories Technical Data, publication KNXTD004, for cable specifications. Table 4 - Drive-to-Motor Feedback Cable Length Feedback Type Single-turn or multi-turn absolute Incremental Heidenhain EnDat Cable Length, max m (ft) 90 (295) (1) 30 (98) 75 (246) (1) Maximum feedback cable length for Kinetix VPL-B063xx and VPL-B075xx motors is 50 m (164 ft). 18 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Chapter 1 System Replacement Considerations Single Cables Combined 2090-CSBM1Dx cable lengths for all axes on the same DC-bus must not exceed 400 m (1312 ft). Drive-to-motor cables up to 90 m (295 ft) can be used, for linear actuators, linear motors, induction motors, and most rotary servo motors except for Kinetix VPL and VPF motors. IMPORTANT Kinetix VPL and VPF servo motors are not compatible with Kinetix 6000 drives. Table 5 - Single Cable Length Specifications Motor Cat. No. VPL-A/B063xxx VPF-A/B063xxx VPL-A/B075xxx VPF-A/B075xxx All other Kinetix VPL/VPF Motors 2090-CSBM1Dx-xxAAxx Standard Non-flex Cable, max m (ft) Kinetix 6000 Drives Kinetix 5700 Drives 2090-CSBM1Dx-xxAFxx Continuous-flex Cable, max m (ft) Kinetix 6000 Drives Kinetix 5700 Drives Not compatible 50 (164) Not compatible 50 (164) Not compatible 50 (164) Not compatible 50 (164) Not compatible 90 (295) Not compatible 90 (295) Ethernet Cable Lengths Ethernet cable lengths connecting drive-to-drive, drive-to-controller, or driveto-switch must not exceed 100 m (328 ft). Complete a careful evaluation of your Ethernet media when using an integrated motion over the EtherNet/IP network solution. For more information, see Guidance for Selecting Cables for EtherNet/IP Networks, publication ENET-WP007. IMPORTANT Shielded Ethernet cable (catalog number 1585J-M8CBJM-x) is required for all integrated motion over the EtherNet/IP network applications and to meet EMC specifications. Control Power The control and auxiliary power feature lets the drive maintain logic power when mains (three-phase) input power is removed. Communication between the controller and the drive continues and position feedback (aside from absolute feedback) is maintained. • The Kinetix 6000 servo drives require AC input power for control circuitry. The control power input requires an AC (EMC) line filter for CE certification. See the Kinetix 6000 Multi-axis Servo Drives User Manual, publication 2094-UM001, for more information. • The Kinetix 5700 servo drives require a (customer supplied) 24V DC input power supply for control circuitry. See the Switched Mode Power Supply Specifications Technical Data, publication 1606-TD002. • Review your control power scheme including 24V power supply requirements. See the Kinetix 5700 Servo Drives User Manual (Appendix C), publication 2198-UM002, regarding control power current demand. Physical Dimensions In most cases, the Kinetix 5700 servo drives require less panel space and fit into the existing space of the compatible Kinetix 6000 drives. See Dimension Comparison on page 24 for more information. To review servo drive specifications for all Kinetix drive families, see Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 19 Chapter 1 System Replacement Considerations publication KNX-TD003 and Kinetix 3, 300, 350, 2000, 6000, 6200, 6500, 7000 Servo Drives Specifications, publication KNX-TD005. Circuit Protection Sizing for protective devices, such as fuses and circuit breakers, can be different between Kinetix 6000 servo drives and Kinetix 5700 servo drives. Verify that you have chosen the correct sizes when selecting and installing Kinetix 5700 servo drives. See Circuit Breaker and Fuse Considerations on page 29 for more information. Control Signals Digital I/O, auxiliary feedback, and motor brake control circuitry is available with Kinetix 5700 servo drives. Digital Inputs/Outputs The Kinetix 6000 servo drives include six dedicated digital inputs. The IAM and AM modules provide 24V DC at 250 mA power for digital input operation. The Kinetix 5700 single-axis and dual-axis inverters have four configurable digital inputs with fast response times and ten configurable functions to choose from in the Logix Designer application. With a 24V DC power supply, the input current is 12 mA per input. The Kinetix 5700 DC-bus power supply has two configurable digital inputs and four configurable functions to choose from. These are sinking inputs that require a sourcing device. IMPORTANT Registration and digital input cables greater than 30 m (98.4 ft) must be shielded. Table 6 - Digital Inputs Comparison Kinetix 6000 IAM and AM Module Dedicated Digital Inputs ENABLE HOME REG1 REG2 OT+ OT- Kinetix 5700 Inverter Digital Inputs Default Digital Inputs Description Unassigned Enable Home Registration 1 (REG1) Digital input1= Enable Digital input2 = Home Registration 2 (REG2) Digital input3 = Registration 1 Digital input4 = Registration Positive overtravel (OT+) 2 Negative overtravel (OT-) Regeneration OK Bus capacitor OK Shunt thermal switch OK Kinetix 5700 DC-bus Power Supply Digital Inputs Default Digital Inputs Description Unassigned Enable Digital input1= Enable Digital input2 = Unassigned Bus capacitor OK Shunt thermal switch OK Dual Position Loop/Auxiliary Feedback The Kinetix 5700 servo drives offer dual feedback control. A combination of the 2198-K57CK-D15M connector kit and the 2198-H2DCK converter kit can be required for the inverters to accept an auxiliary encoder input for dual-loop operation or to be used as a master input for encoder feedback. 20 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Chapter 1 System Replacement Considerations 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 customer-supplied 24V supply drives the brake output through a solid-state relay in Kinetix 5700 drives and Kinetix 6000 series C drives • Kinetix 6000 series A and B drives have dry-contact relays • Kinetix 5700 dual-axis inverters have separate brake circuits for each axis. The solid-state brake driver circuit provides the following protection: • Brake current-overload protection • Brake overvoltage protection Safe Torque-off Safety Features The Kinetix 6000 servo drives use Sercos interface with hardwired safe torqueoff (STO) connections. Engineers commissioning hardwired safety often had to use smaller systems or minimize their performance requirements because it was difficult to hardwire interlocks and relay-based safety logic into a complete automation system. The Kinetix 5700 servo drives include hardwired STO (advanced compared to Kinetix 6000 drives) and integrated STO, the ability to safely remove torque by using an EtherNet/IP network connection. This network connection can provide diagnostics on the same wires that provide the standard control and greatly reduces wiring. Integrated Safety over an EtherNet/IP network is also known as CIP Safety™ technology based on the ODVA standard. IMPORTANT For applications that do not require the safety function, you must install jumper wires to bypass the hardwired safe torque-off feature. For applications that use the safe torque-off (STO) function, consider using a LOGIX 5000 safety controller to control the STO functionality and to reduce wiring. For the safe torque-off connector pinout, installation, and wiring information, see the related chapter in the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002. Important Safety Considerations It is good practice to review: • Validation of any sensors or actuators that are connected to the system • Completing a machine-level risk assessment • Certification of the machine to the desired ISO 13849-1 Performance Level or IEC 62061 SIL level • Project management and proof testing See the Kinetix 6000 and Kinetix 5700 Compare Drive Family Features table on page 34. Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 21 Chapter 1 System Replacement Considerations Table 7 - Comparing Functional Safety Features Accessories Topics Kinetix 6000 Servo Drives Safety rating SIL 3 PLe safe torque-off (STO) Drive Cat. No. Hardwired STO: • 2094-BCxx-Mxx-S • 2094-BMxx-S Additional resources • Kinetix Safe Torque-off Feature Safety Reference manual, publication GMC-RM002 • Kinetix 6000 Drive Systems Design Guide, publication KNX-RM003 Kinetix 5700 Servo Drives • SIL 3, PLe rated integrated STO (CIP Safety) • SIL 3, PLe rated hardwired STO Hardwired STO/ Integrated STO: • 2198-Sxxx-ERS3 • 2198-Dxxx-ERS3 • Kinetix 5700 Servo Drives User Manual, publication 2198-UM002 • Kinetix 5700 Drive Systems Design Guide, publication KNX-RM010 • Stop Cat. 0 or 1 via a Kinetix Drive with Integrated Safe Torque Off on EtherNet/IP publication SAFETY-AT135 The only drive accessory that is shared between Kinetix 6000 drives and Kinetix 5700 drives are 2090-CxBM7DF motor cables. Other drive accessories are similar (line filters and feedback connector kits, for example), but have different catalog numbers, even though they fulfill the same function. Some drive accessories are unique to one family or the other (shared-bus connector kits and line interface modules, for example). To compare all drive accessories see Table 2 beginning on page 12. Table 8 - Kinetix 5700 Drive Accessories Accessory Shared-bus Connector Kits Cat. No. 2198-TCON-24VDCIN36 2198-xxxx-P-T 2198-BARCON-xxDCAC100 2198-BARCON-xxDC200 2198-KITCON-ENDCAP200 Capacitor Module 2198-CAPMOD-2240 Extension Module 2198-CAPMOD-DCBUS-IO 2090-CFBM7DF-CEAxxx Kinetix 2090 Power 2090-CPxM7DF-xxAxxx and Feedback Cables 2090-XXNFMF-Sxx 2090-CFBM7DF-CDAFxx 2090-CSxM1DE-xxAxxx Kinetix 2090 Single Cables 2090-CSxM1DG-xxAxxx Communication Cables 22 1585J-M8CBJM-x 1585J-M8UBJM-x 1585J-M8CB-x Description 24V input wiring connectors, T-connectors, and bus-bars for the Kinetix 5700 drive system 24V shared-bus connection system (optional). DC-bus links (55, 85, and 100 mm) and end caps for the DC-bus shared-bus connection system (required and included with each respective drive module). Use for energy storage and to extend the DC-bus voltage to another inverter cluster. Modules are zero-stacked with servo drives and use the shared-bus connection system to extend the external DC-bus in applications up to 100 A. The extension module, which is paired with a capacitor module, is used to extend the DC-bus voltage to another inverter cluster in the Kinetix 5700 drive system. Kinetix 2090 motor feedback cables for Kinetix MP motors and actuators with Stegmann Hiperface encoders. Kinetix 2090 motor power/brake cables for Kinetix MP motors and actuators. Kinetix 2090 standard and continuous-flex feedback cables that include additional conductors for use with incremental and EnDat encoders. Kinetix 2090 single cable for motor power, feedback, and 24V DC brake power with Kinetix VP motors. Feedback conductors are wired to the 2198-KITCON-DSL feedback connector kit. Kinetix 2090 single cable for motor power, feedback, and 24V DC brake power with Kinetix VP motors. 2090-CSxM1DG cables have flying-lead feedback conductors for connection to a customer-supplied 2198-KITCON-DSL feedback connector kit. Ethernet cables are available in standard lengths. Shielded cable is required to meet EMC specifications. Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Chapter 2 Servo Drive and System Comparison This chapter provides side-by-side examples comparing Kinetix® 6000 and Kinetix 5700 servo drive families. Use these examples to help in the evaluation and selection of the correct components in the migration process. The following factors affect the selection process when replacing servo drives and the drive system redesign. • Drive Sizing • Panel Space • AC Input Power and Circuit Protection • System Layouts and Cables To compare Kinetix 5700 and Kinetix 6000 drive family features, see Compare Drive Family Features on page 34. Drive Sizing Cost is a significant factor when designing a machine, however we know that there are other factors to consider such as the efficiency of the system, its expected life, and overall performance. These factors impact your machine and when properly sized at design, most machines provide a return on investment in total cost of operation and life expectancy. With Motion Analyzer, you have access to Rockwell Automation® motors and drives, and an array of Encompass™ partner products to choose from. The goal is to make the sizing and selection process easier and to help you build a better machine. Access Motion Analyzer at: https://motionanalyzer.rockwellautomation.com. In this section, the Kinetix 6000 servo drives are paired with Kinetix 5700 replacement drives. In addition, the output ratings and dimension differences of the drives are included. Output Current Comparison IMPORTANT Review the performance capabilities of the replacement drive to make sure that the replacement drive can deliver the required level of continuous and peak current to the motor. Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 23 Chapter 2 Servo Drive and System Comparison Table 9 - Kinetix 5700 Replacement Drives by Output Current Kinetix 6000 Servo Drives Servo Drive Cat. No. 2094-AMP5-S (2094-AC05-MP5-S) 2094-AM01-S (2094-AC05-M01-S) 2094-AM02-S (2094-AC09-M02-S) 2094-AM03-S (2094-AC16-M03-S) 2094-AM05-S (2094-AC32-M05-S) Continuous Input Voltage Nominal Range Voltage Range Current A (rms) 195…264V (three-phase) 230V (three-phase) 3.7 5.2 2198-D012-ERS3 6.0 8.5 2198-D020-ERS3 360…480V (three-phase) 12.5 8.0 20.0 13.0 32.5 15.0 2198-D032-ERS3 17.3 24.5 2198-D057-ERS3 23.0 57.5 34.6 48.9 2198-S086-ERS3 43.0 86.0 2198-D006-ERS3 (3) 2.5 6.3 — 324…528V (three-phase) 195…264V 240V (three- (three-phase) phase) 5.0 10.6 — 2094-BMP5-S (2094-BC01-MP5-S) 2094-BM01-S (2094-BC01-M01-S) 2094-BM02-S (2094-BC02-M02-S) 2094-BM03-S (2094-BC04-M03-S) 2094-BM05-S (2094-BC07-M05-S) Peak Current A (rms) Kinetix 5700 Servo Drives (replacement drives) (1) Continuous Input Servo Drive Nominal Peak Current (2) Voltage Current (2) Cat. No. Voltage Range A (rms) Range A (rms) 2.8 7.0 2198-D012-ERS3 5.0 12.5 6.1 15.3 2198-D020-ERS3 8.0 20.0 10.3 25.8 2198-D032-ERS3 13.0 32.5 21.2 53.0 2198-D057-ERS3 23.0 57.5 34.6 69.2 2198-S086-ERS3 43.0 86.0 2198-S130-ERS3 (3) 65.0 130.0 2198-S160-ERS3 (3) 85.0 160.0 — — — 324…528V 480V (three- (three-phase) phase) (1) In this example, the 2198-D006-ERS3, 2198-S130-ERS3, and 2198-S160-ERS3 inverters are not used. (2) These Kinetix 5700 replacement (inverter) drives require a properly sized DC-bus power supply (converter) to deliver the required level of peak and continuous current to the motor. (3) This Kinetix 5700 drive does not have an equivalent Kinetix 6000 drive. IMPORTANT We recommend Motion Analyzer, the Rockwell Automation online system sizing tool, to select the Kinetix 5700 replacement drives for your Kinetix 6000 drive system. Use Motion Analyzer to verify compatibility and make sure that your replacement drive is capable of delivering the required level of peak and continuous current to the motor. Create a user account and access the tool and at: https://motionanalyzer.rockwellautomation.com/. Dimension Comparison The following table provides overall drive dimensions (height, width, and depth) and the differences between the two drive families. Table 10 - Kinetix 5700 Replacement Drives Dimensions Kinetix 6000 Servo Drives (series B and C) Servo Drive Cat. No. 2094-AMP5-S (2094-AC05-MP5-S) 2094-AMP5-S (2094-AC05-M01-S) 2094-AM02-S (2094-AC09-M02-S) 2094-AM03-S 2094-AM05-S 2094-AC16-M03-S 2094-AC32-M05-S 24 Height mm (in.) 237 (9.3) Width mm (in.) 70 (2.76) 125 (4.9) 70 (2.76) 125 (4.9) 70 (2.76) 125 (4.9) 70 (2.76) Depth mm (in.) Kinetix 5700 Servo Drives (replacement drives) Dimension Differences Servo Drive Cat. No. Height (1) mm (in.) Height mm (in.) Width mm (in.) 358 (14.09) 55 (2.17) 2198-D012-ERS3 2198-D020-ERS3 176 (7.0) 121 (4.76) 259 (9.92) 2198-D032-ERS3 2198-D057-ERS3 420 (16.5) Width (1) mm (in.) -15 (2.76) -70 (2.76) -15 (2.76) -70 (2.76) -15 (2.76) -70 (2.76) -15 (0.59) 433 (17.0) 196 (7.7) Depth mm (in.) 85 (3.35) 2198-S086-ERS3 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 13 (0.51) -111 (4.37) Depth (1) mm (in.) 76 (2.99) Chapter 2 Servo Drive and System Comparison Table 10 - Kinetix 5700 Replacement Drives Dimensions (Continued) Kinetix 6000 Servo Drives (series B and C) Servo Drive Cat. No. Height mm (in.) Width mm (in.) Depth mm (in.) 287 (11.3) Dimension Differences Servo Drive Cat. No. Height (1) mm (in.) 70 (2.76) 125 (4.9) 70 (2.76) 125 (4.9) 70 (2.76) 125 (4.9) Width mm (in.) Depth mm (in.) 2198-D020-ERS3 249 (9.8) 358 (14.09) 55 (2.17) 2198-D032-ERS3 141 (5.5) 2198-D057-ERS3 375 (14.7) (3) 196 (7.7) 2198-S086-ERS3 Width (1) mm (in.) Depth (1) mm (in.) -15 (0.59) 2198-D012-ERS3 375 (14.7) — Height mm (in.) 2198-D006-ERS3 (2) — 2094-BMP5-S 2094-BC01-MP5-S 2094-BMP5-S 2094-BC01-M01-S 2094-BM02-S 2094-BC02-M02-S 2094-BM03-S (2094-BC04-M03-S) 2094-BM05-S (2094-BC07-M05-S) Kinetix 5700 Servo Drives (replacement drives) 71 (2.80) 252 (9.92) 433 (17.0) 85 (3.35) 478 (18.82) 100 (3.94) 58 (2.28) -70 (2.76) -15 (0.59) -70 (2.76) -15 (0.59) -70 (2.76) 3.0 (0.12) -111 (4.37) 2198-S130-ERS3 (2) 2198-S160-ERS3 (2) — (1) A negative value (-) indicates that the height, width, or depth of the Kinetix 5700 servo drive is shorter, narrower, or shallower than the comparable Kinetix 6000 servo drive. (2) This Kinetix 5700 drive does not have an equivalent Kinetix 6000 drive. (3) Height dimension for series A drives is 436 mm (17.2 in.). When planning your panel layout, see the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002, for clearance requirements. In this example, the Kinetix 5700 drives use far less panel space than the comparable Kinetix 6000 fully populated 8-axis power rail. Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 25 Chapter 2 Servo Drive and System Comparison Figure 1 - Panel Space Comparison Kinetix 6000 Drive System Kinetix 5700 Drive System (1) 2 2 1 1 1 1 6 1 I/O-B 6 1 10 5 2 2 2 1 1 1 I/O-A MOD– NET– MOD– NET– MOD– NET– MOD– NET– MOD NET I/O-A 6 1 I/O-B 6 1 10 5 I/O-A 6 1 I/O-B 6 1 10 5 I/O-A 6 1 I/O-B 6 4 I/O 10 5 5 UFB-A D+ D- D+ D- D+ D- MF-A 10 5 UFB-A UFB-B MF-B D+ D- D+ D- MF-A 10 5 UFB-A UFB-B MF-B D+ D- D+ D- MF-A 10 5 UFB-A UFB-B MF-B 10 UFB-B D+ D- MF-A MF-B (1) For alternate mounting options, refer to your local Rockwell Automation authorized distributor. AC Input Power Wiring This section provides information to help you determine the drive system wiring requirements. DC Common-bus Configurations When two Kinetix 6000 servo-drive systems are used in a DC common-bus configuration, one IAM module is known as the leader IAM and the other as the follower IAM module. The leader IAM and any non-common bus IAM have identical three-phase AC input power connections. Follower IAM modules do not have three-phase input power connections, but instead have DC-bus power connections from a leader IAM module. 26 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Chapter 2 Servo Drive and System Comparison Figure 2 - Typical Kinetix 6000 Common-bus Configuration Three-phase Input Power 2094-BCxx-Mxx-S Common-bus Follower IAM Module DBRK + TX DPI BAUD RATE TX BAUD RATE RX MBRK + COM PWR DBRK DBRK + TX U L3 L2 L1 V U MBRK - MBRK MBRK + COM PWR DBRK DBRK + RX BAUD RATE RX TX DPI BAUD RATE W V U MBRK + COM PWR DBRK DBRK + TX 1 2 3 4 CONT ENCONT EN+ V MBRK - BAUD RATE RX 1 2 3 4 5 6 PWR 1 2 3 4 5 6 COM DBRK DBRK + 1 2 3 4 1 2 3 4 MBRK + RX RX 1 2 3 4 5 6 1 2 3 4 5 6 PWR DBRK - MBRK - W W DC+ 1 2 3 4 5 6 7 8 9 CONT ENCONT EN+ MBRK MBRK + COM CTRL 2 CTRL 1 DC- 1 2 3 4 5 6 7 8 9 L1 V U 1 2 3 4 5 6 7 8 9 L2 MBRK 1 2 3 4 5 6 7 8 9 L3 1 2 3 4 U W 1 2 V 1 2 3 4 5 6 7 8 9 1 2 2090-XXLF-xxxx AC Line Filter (required for CE) W V U 1 2 3 4 5 6 1 2 3 4 5 6 W 1 2 CTRL 2 CTRL 1 DCDC+ 1 2 3 4 5 6 7 8 9 1 2 Magnetic Contactor 2094 Power Rail with Three-phase and Control Input Power Bus 1 2 3 4 Input Fusing 2094-BMxx-S AM Modules 1 2 3 4 5 6 2094-BMxx-S AM Modules 1 2 3 4 2094-BCxx-Mxx-S Common-bus Leader IAM Module 1 2 3 4 5 6 Line Disconnect Device MBRK + COM PWR DBRK DBRK + TX BAUD RATE N.C. N.C. N.C. Bonded Cabinet Ground To compare input wiring and terminal pinouts, refer to these user manuals for pinout tables and interconnect diagrams. • Kinetix 6000 Servo Drives User Manual, publication 2094-UM001 • Kinetix 5700 Servo Drives User Manual, publication 2198-UM002 Kinetix 5700 servo drive systems have three-phase input power that is supplied by a DC-bus (converter) power supply. Figure 3 - Kinetix 5700 Configuration DC-bus Power Supply Dual-axis Inverters Bulletin 2198 shared-bus connection system for DC-bus and 24V DC control power. Kinetix 5700 Drive System (front view) MOD NET 195…528V AC Three-phase Input Power 2 MOD NET MOD NET 2 2 1 MOD NET 2 1 1 1 1 1 4 I/O-A 6 1 I/O-B I/O-A 6 1 10 5 6 1 I/O-B 6 1 10 5 I/O-A 6 1 I/O-B 6 I/O 5 10 5 UFB-A UFB-B 10 5 UFB-A UFB-B 10 5 UFB-A 10 UFB-B Line Disconnect Device D+ D- D+ D- MF-A D+ D- D+ D- MF-B MF-A D+ D- MF-B D+ D- MF-B Circuit Protection Magnetic (M1) Contactor 2198-DB20-F AC Line Filter (required for CE) IMPORTANT Bonded Cabinet Ground Bus Axis motoring and regeneration power requirement determines the size of the DC-bus power supply, and the shunt and capacitance requirement. See Motion Analyzer for sizing your Kinetix 5700 application. For additional system capacitance and DC-bus current capability, two or three DC-bus power supplies can be used, but they must be catalog number Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 27 Chapter 2 Servo Drive and System Comparison 2198-P208. For additional output power (kW), you can extend the DC-bus to another inverter cluster with capacitor modules. Figure 4 - Extended DC-bus Configuration Capacitor Module Extension Module Kinetix 5700 Extended Servo Drive Cluster 2 (front view) Dual-axis Inverters MOD NET MOD DC BUS MOD NET 2 1 5 DC-bus Extension 6 1 I/O-B 10 5 UFB-A 6 1 10 5 I/O-A 10 5 UFB-B UFB-A MF-B MF-A D+ D- D+ D- MF-A 6 1 I/O-B 1 10 5 6 1 10 5 UFB-A D+ D- 1 10 5 UFB-B MF-A 10 5 UFB-A 1 10 5 I/O-A I/O-B 6 1 10 5 UFB-B MF-A 2 1 6 UFB-A D+ D- D+ D- MF-B 1 10 5 6 1 MF-A Dual-axis Inverters I/O-A 6 1 10 5 UFB-B D+ D- D+ D- MF-B I/O-B 10 5 UFB-A D+ D- MF-A 1 I/O-A 6 UFB-B D+ D- MF-B Single-axis Inverter 2198-P208 DC-bus Power Supplies I/O-B 6 1 MOD NET 2 1 I/O-A 6 D+ D- D+ D- MF-B I/O-B MOD NET 2 1 I/O-A 6 UFB-B MOD NET 2 1 1 I/O-A MOD NET 2 2 1 MODULE STATUS MOD NET Bulletin 2198 shared-bus connection system for DC-bus and 24V DC control power. I/O-B 6 10 UFB-B D+ D- D+ D- MF-B 6 1 10 5 UFB-A MF-A MF-B Capacitor Extension Module Module DC-bus Extension Bulletin 2198 shared-bus connection system for DC-bus and 24V DC control power. MOD NET Magnetic Contactor (M1) Control String MOD NET MOD NET 2 2 2 2 1 1 1 1 1 1 1 4 4 4 I/O I/O MOD NET MOD NET 1 1 10 5 6 1 I/O-B I/O-A 6 1 10 5 6 1 I/O-B 6 MODULE STATUS 5 Kinetix 5700 Servo Drive Cluster 1 (front view) 10 5 UFB-A D+ D- UFB-B D+ D- MF-A MF Circuit Protection I/O-A I/O D+ D- Line Disconnect Device 1 1 6 MOD DC BUS 2 2 I/O UFB 195…528V AC Three-phase Input Power MOD NET 10 5 UFB-A D+ D- D+ D- MF-B 10 UFB-B MF-A MF-B - MBRK + 1321-3Rx80-B Line Reactors (required components) Magnetic (M1) Contactor 2198-DB290-F AC Line Filter Bonded Cabinet Ground Bus IMPORTANT When two or three DC-bus power supplies are wired together in the same drive cluster, they must all be catalog number 2198-P208. Contactor Enable Relay In Kinetix 5700 drive systems, the contactor-enable circuitry includes a relaydriven contact within the 2198-Pxxx DC-bus power supply. In Kinetix 6000 drive systems, the contactor enable relay resides in the IAM module. The relay helps protect the drive system if overloads or other fault conditions occur. An AC three-phase mains contactor must be wired in series between the branch circuit protection and the DC-bus power supply. In addition, the AC 28 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Chapter 2 Servo Drive and System Comparison three-phase contactor control string must be wired in series with the contactor-enable relay at the contactor-enable (CED) connector. ATTENTION: Wiring the contactor-enable relay is required. To avoid personal injury or damage to the drive, wire the contactor-enable relay into your control string. By using the contactor-enable relay: • Three-phase power is removed, which helps protect the DC-bus power supply under various fault conditions • Three-phase power is never applied to the drive system before control power is applied Shunt Modules Kinetix 6000 drive systems use the 2094-BSP2 shunt module when the IAM/ AM module internal shunt-resistor capacity is exceeded. If additional shunting capacity is needed, the 2094-BSP2 shunt module can be coupled with a 1394-SRxxx external passive shunt module. For the Kinetix 5700 replacement system, we recommend Motion Analyzer to determine if the 2094-BSP2 shunt module and if an external shunt module are required. Observe the following guidelines when mounting your 2198-Rxxx external passive shunt module: • Mount the shunt module outside of the drive system enclosure. Only the 2198-R004 shunt resistor can be mounted inside the enclosure. • Mount the shunt module so that wiring routes in the very dirty zone (inside the drive system enclosure) • Keep unshielded wiring as short as possible, not to exceed 3 m (9.8 ft) and keep shunt wiring as flat to the cabinet as possible • Separate shunt power cables from other sensitive low-voltage signal cables Circuit Breaker and Fuse Considerations The Kinetix 6000 IAM module uses 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) and 65,000 A (circuit breakers). The Kinetix 5700 DC-bus power supplies also 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) and 65,000 A (circuit breakers). 24V DC control power is sourced from the customer-supplied 1606-XLxxx power supply. IMPORTANT While circuit breakers offer some convenience, there are limitations for their use. Circuit breakers do not handle high current inrush as well as fuses. Make sure that the selected components are properly coordinated and meet acceptable codes including any requirements for branch circuit protection. Evaluation of the short-circuit available current is critical and must be kept below the short-circuit current rating of the circuit breaker. Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 29 Chapter 2 Servo Drive and System Comparison Table 11 - Kinetix 6000 Control and DC-bus Circuit Protection Specifications Control Input Power IAM Module Cat. No. Bussmann Fuse 2094-BC01-MP5-S 2094-BC01-M01-S 2094-BC02-M02-S 2094-BC04-M03-S 2094-BC07-M05-S DC-bus Power (1) Allen-Bradley® Circuit FNQ-R-10 (10 A) or FNQ-R-7.5 (7.5 A) (2) non-UL) 1492-SPM2D060 or 1492-SPM1D150 Bussmann Fuse Mersen Fuse (3) FWJ-20A14F DCT20-2 HSJ20 FWJ-40A FWJ-70A FWJ-125A A70QS40-4 A70QS70-4 A70QS125-4 HSJ40 HSJ70 HSJ125 (1) Use FNQ-R-7.5 circuit breaker for higher single -cycle inrush current capability. This is recommended when the continuous control-power current exceeds 3.0 A. (2) Use 1492-SPM1D150 circuit breaker for higher single -cycle inrush current capability. This is recommended when the continuous control-power current exceeds 3.0 A. (3) Mersen fuses were formerly known as Ferraz-Shawmut. Table 12 - Kinetix 6000 Input-power Circuit-protection Specifications Kinetix 6000 Drives IAM Module Cat. No. UL Applications Drive Voltage Fuses (three-phase) (Bussmann) nom Cat. No. 2094-BC01-MP5-S 360…480V AC 2094-BC01-M01-S 360…480V AC 2094-BC02-M02-S 360…480V AC 2094-BC04-M03-S 360…480V AC 2094-BC07-M05-S 360…480V AC IEC (non-UL) Applications Motor CB, Molded Case Miniature CB Protection Self-protected CB Cat. No. CMC Cat. No. Cat. No. KTK-R-20 (20 A) 140M-F8E-C32 Class CC 1489-M3D300 KTK-R-20 (20 A) 140M-F8E-C32 Class CC KTK-R-30 (30 A) 1489-M3D400 140M-F8E-C45 Class CC LPJ-45SP (45 A) Class J – – LPJ-80SP (80 A) Class J Motor Case CB Protection CB Molded Cat. No. Cat. No. Miniature CB Cat. No. 140M-F8E-C32 1492-SPM3D300 1489-M3D300 140M-F8E-C32 – – 1492-SPM3D400 1489-M3D400 140M-F8E-C45 140G-G6C3-C50 140G-G6C3-C50 – – – 140G-G6C3-C90 140G-G6C3-C90 Table 13 - Kinetix 5700 Input Power UL/CSA Circuit-protection Specifications DC-bus Power Supply Cat. No. Drive Voltage (three-phase) nom 2198-P031 2198-P070 2198-P141 2198-P208 Bussmann Fuses (1) Cat. No. Miniature CB (2) Cat. No. LPJ-15SP (15 A) 1489-M3D250 LPJ-40SP (40 A) LPJ-70SP (70 A) LPJ-100SP (100 A) 195…528V AC Motor Protection CB, Self Protected CMC Cat. No. (2)(3) 140M-D8E-C25 140MT-D9E-C25 140M-F8E-C45 – – – Molded Case CB Cat. No. 140G-G6C3-C25 140G-G6C3-C50 140G-G6C3-C90 140G-G6C3-D12 (1) For applications that require CSA certification, fuses (Bussmann catalog number 170M1760) must be added to the DC link between the two drive clusters when circuit breakers are used for branch circuit protection. The DC-bus fuses are not required when AC line fuses are used for branch circuit protection. (2) These Bulletin 140M/MT Motor Protection Circuit Breakers, when used as self-protected (Type E) devices, and Bulletin 1489 circuit breakers can be used on only WYE power systems (480Y/ 277V). (3) The A1C ratings of the Bulletin 140M/MT devices can vary. See Motor Protection Circuit Breaker and Motor Circuit Protector Specifications, publication 140-TD005, Motor Protection Circuit Breaker and Motor Circuit Protector Specifications, publication 140M-TD002, or Molded Case Circuit Breakers, publication 140G-SG001. Table 14 - Kinetix 5700 Input Power IEC (non-UL/CSA) Circuit-protection Specifications DC-bus Power Supply Cat. No. Drive Voltage (three-phase) nom 2198-P031 2198-P070 2198-P141 2198-P208 195…528V AC DIN gG Fuses Amps, max Miniature CB Cat. No. 16 1489-M3D250 40 75 110 – – – – 1492-SPM3D400 1492-SPM3D630 – Motor Protection CB Cat. No. (1) 140M-D8E-C25 140MT-D9E-C25 140M-F8E-C45 140MG-H8E-C60 140MG-H8E-D10 Molded Case CB Cat. No. 140G-G6C3-C25 140G-G6C3-C50 140G-G6C3-C90 140G-G6C3-D12 (1) The A1C ratings of the Bulletin 140M/MT devices can vary. See Motor Protection Circuit Breaker and Motor Circuit Protector Specifications, publication 140-TD005, Motor Protection Circuit Breaker and Motor Circuit Protector Specifications, publication 140M-TD002, or Molded Case Circuit Breakers, publication 140G-SG001. 30 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Chapter 2 System Layouts and Cables Servo Drive and System Comparison This section provides system layout examples and cable requirements for connecting your motors and drives. Motor Power and Feedback Cables Kinetix 2090-CPxM7DF power/brake cables are matched to Kinetix MP motors and actuators according to the motor/actuator current rating. The flying-lead drive-end cable connections are compatible with both Kinetix 6000 and Kinetix 5700 drives, however, the power and brake conductors/shields will likely require preparation before the overall cable shield fits into the Kinetix 5700 cable clamp and the conductors reach the connector terminals. IMPORTANT If you are planning to use an existing Kinetix MP motor/actuator with the existing motor cable, refer to the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002, for more information on cable shield and conductor preparation. Table 15 - Motor Power and Feedback Cables Motor Cable Motor Power Cables (1) Cable Cat. No. Description 2090-CPBM7DF-xxAAxx Brake 2090-CPWM7DF-xxAAxx Non-brake 2090-CPBM7DF-xxAFxx Brake 2090-CPWM7DF-xxAFxx Non-brake Standard (non-flex) Continuous-flex Motor Feedback Cables (1) (2) Cable Cat. No. Description high-resolution or resolver feedback to 2090-CFBM7DF-CEAAxx SIN/COS drive-end flying leads. high-resolution or resolver feedback to 2090-CFBM7DD-CEAAxx SIN/COS drive-end D-sub connector. high-resolution or resolver feedback to 2090-CFBM7DF-CEAFxx SIN/COS drive-end flying leads. high-resolution or resolver feedback to 2090-CFBM7DD-CEAFxx SIN/COS drive-end D-sub connector. high-resolution or incremental 2090-CFBM7DF-CDAFxx SIN/COS feedback to drive-end flying leads. (1) Refer to the Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004, for cable specifications. (2) All 2090-CFBM7Dx cables have SpeedTec DIN connectors. Table 16 - Legacy Motor Power and Feedback Cables Motor Cable Standard Legacy Motor Power Cables (1) Cable Cat. No. Description Power/brake, threaded 2090-XXNPMF-xxSxx connector 2090-XXNPMP-xxSxx Power-only, bayonet connector Power/brake, threaded connector 2090-CPWM4DF-xxAFxx Power-only, threaded connector 2090-XXTPMP-xxSxx Power-only, bayonet connector 2090-CPBM4DF-xxAFxx Continuous-flex Legacy Motor Feedback Cables (1) Cable Cat. No. Description 2090-XXNFMF-Sxx Encoder feedback, threaded connector 2090-UXNFBMF-Sxx 2090-UXNFBMP-Sxx Encoder feedback, bayonet connector 2090-XXNFMP-Sxx 2090-XXTFMP-Sxx Encoder feedback, bayonet connector 2090-CFBM4DF-CDAFxx Encoder feedback, threaded connector (1) Refer to the Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004, for cable specifications. Single Cables Kinetix 5700 servo drives are also compatible with 2090-CSBM1Dx single cable technology, which includes motor power, brake, and feedback conductors in a single cable when using Kinetix VP motors. Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 31 Chapter 2 Servo Drive and System Comparison Table 17 - Single Motor Cables Motor Cable Standard Continuous-flex Description Brake Non-brake Brake Non-brake Cable Cat. No. (1) (2) 2090-CSBM1Dx-xxAAxx 2090-CSWM1Dx-xxAAxx 2090-CSBM1Dx-xxAFxx 2090-CSWM1Dx-xxAFxx (1) 2090-CSxM1DE single cables are designed specifically for Kinetix 5700 drives and include the 2198-KITCON-DSL connector kit. 2090-CSxM1DG single cables have flying-lead feedback conductors on the drive end that are designed to fit Kinetix 5700 drives. (2) Refer to the Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004, for cable specifications. Feedback Connector Kits Motor feedback from Kinetix MP servo motors/actuators are supported on Kinetix 5700 drives by the 15-pin universal feedback connector, for Hiperface and EnDat feedback types, and by the 2-pin DSL feedback connector for Hiperface DSL feedback. Hiperface-to-DSL feedback conversion requires the 2198-H2DCK feedback converter kit. Refer to the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002, for more information on wiring your feedback cable to the Bulletin 2198 converter kit. Table 18 - Feedback Connector Kits Connector Kit (1) Cat. No. 2198-K57CK-D15M 2198-KITCON-DSL 2198-H2DCK Description Universal feedback connector kit for motor and auxiliary feedback connections with the 15-pin connector plug and grounding plate inside the connector housing. Supports 400V-class Kinetix MP and Kinetix HPK rotary motors, Kinetix MP linear actuators, Kinetix LDAT linear thrusters, and Kinetix LDC linear motors. Replacement DSL motor feedback connector kit with 2-pin connector plug and grounding plate inside the connector housing. Supports 400V-class Kinetix VP rotary motors. Included with 2090-CSxM1DE motor cables. Must be purchased separately when used with 2090-CSxM1DG motor cables. Provides Hiperface-to-DSL feedback conversion for use with compatible 400V-class motors and actuators. (1) Refer to the Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003, for kit specifications. Typical System Layouts This section provides system examples for the Kinetix 6000 and Kinetix 5700 drive families. Kinetix 6000 Servo Drive System Example This system example illustrates how the required Kinetix 6000 drive modules and accessories are used in a typical system. 32 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Chapter 2 Servo Drive and System Comparison Figure 5 - Kinetix 6000 Drive System Example (Sercos interface) LOGIX 5000™ Controller Programming Network LOGIX 5000 Sercos interface Module SERCOS interface CP OK LOGIX 5000 Controller (ControlLogix® controller is shown) Studio 5000 Logix Designer® Application Tx (rear) Rx (front) 2090-SCxxx-x Sercos Fiber-optic Cable 0.1 m (5.1 in.) Kinetix 6000 Drive-to-Drive Sercos Cables Kinetix 2090 Motor Power Cables 2094-BCxx-Mxx-S IAM Module 2094-PRSx Power Rail 2094-PRSx Power Rail 2094-K6CK-xxxx Low-profile Connector Kits for I/O, Motor Feedback, and Auxiliary Feedback 2094-BMxx-S Axis Module Kinetix 2090 Motor Feedback Cables Kinetix 5700 Servo Drive System Example This example control system uses a single GuardLogix® 5570 safety controller, and a DC common-bus configuration of the Kinetix 5700 drive system with Motion and Safety connections. IMPORTANT Other configuration options are available that do not require a safety controller. Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 33 Chapter 2 Servo Drive and System Comparison Figure 6 - Motion and Safety Configuration (single controller) EtherNet/IP LNK1 LNK2 NET OK Compact GuardLogix 5370 or GuardLogix 5570 Safety Controller GuardLogix 5570 Safety Controller is shown) Kinetix 5700 Servo Drive System (top view) 2 1 SH Studio 5000 Logix Designer Application (version 26.00 or later) DC+ 1783-BMS Stratix® 5700 Switch Module Definition Configured with Motion and Safety Connection 1585J-M8CBJM-x Ethernet (shielded) Cable 1734-AENTR POINT Guard I/O™ EtherNet/IP™ Adapter 1606-XLxxx Power Supply for 24V DC Control, Digital Inputs, and Motor Brake Power 1 9 8 16 SB+/NC S1A SCA S2A SBS1B SCB S2B SB+/NC S1A SCA S2A SBNC NC NC 8 16 8 Safety Device 9 1 9 1 SB+/NC S1A SCA S2A SBS1B SCB S2B 16 Allen-Bradley Kinetix 5700 Servo Drive System (front view) 1606-XL Powe r S u p p l y Input AC Input Power Digital Inputs to Sensors and Control String MOD NET MOD NET MOD NET 2 2 2 1 1 1 1 1 4 I/O 6 1 10 5 MOD NET 2 1 I/O-A 6 1 I/O-B I/O-A 6 1 10 5 6 1 I/O-B 6 I/O 5 10 5 UFB-A UFB D+ D- UFB-B D+ D- MF-A 10 5 UFB-A D+ D- D+ D- MF-B 10 UFB-B MF-A MF-B - MBRK + Compatible Motors and Actuators (Kinetix VP servo motor is shown) Compare Drive Family Features This table compares features between the Kinetix 6000 and Kinetix 5700 drive families. Drive Features Kinetix 6000 Main characteristics • Multi-axis • Common bus • Enhanced peak performance • Motor power and feedback cables, SpeedTec connectors, with flying-leads at the drive end Communication Integrated motion on Sercos interface Functional safety • Safe torque-off (STO) control, TÜV Rheinland certified • Hardwired STO, PLe, Cat 3; SIL CL3 34 Kinetix 5700 • Designed for machines with high axis-counts, high-power requirements, and high-performance needs • 200 A DC-bus sharing with DC-bus connector links • Single motor cable, SpeedTec connector, with DSL connector kit at the drive end • Digital (DSL) feedback device and 15-pin (sine/cosine) Hiperface feedback • Capability to run servo and induction motors • Integrated motion on the EtherNet/IP network • Integrated safety on the EtherNet/IP network • Safe torque-off (STO) control, TÜV Rheinland certified • Hardwired STO, PLe, Cat 3; SIL CL3 • Integrated STO, PLe, Cat 3; SIL CL3 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Chapter 2 Drive Features Kinetix 6000 Drive configuration 1…8 Axes on Bulletin 2094 power rail Input voltage 324…528V AC, three-phase (400V-class) 195…264V AC, three-phase (230V nom) 458…747V DC (400V-class) 275…375V DC (200V-class) 1.8…22 kW (400V-class) 1.2…11.0 kW (200V-class) 2.8…34.6 A rms (400V-class) 3.7…34.6 A rms (200V-class) Common-bus follower input voltage Continuous output power (inverter) Continuous output current (inverter) Drive digital inputs Drive digital outputs DPI™ connector Programming • Dedicated inputs • Enable, home, overtravel ± • High-speed registration (2/axis) Servo Drive and System Comparison Kinetix 5700 • Multi-axis bus-sharing configurations • DC-bus and extended DC-bus sharing 195…528V AC, three-phase 276…747V DC 0.9…60.1 kW 2.5…192.0 A rms • DC-bus power supply: Two configurable inputs (four functions) • Single and dual-axis inverters: 4 configurable inputs (10 functions) • Enable, home, overtravel ± • High-speed registration (2/axis) • Regeneration OK, shunt thermal switch OK, bus capacitor OK Motor brake relay output (with suppression) — Motor brake relay output (with suppression) DriveExplorer™ software or DPI HIM module • RSLogix 5000® software, Version 11.00.00 or later or Studio 5000 Logix Designer, Version 26.00.00 or later • Studio 5000 Logix Designer, Version 21.00.00 or later Ladder logic, structured text, and sequential function charts Ladder logic, structured text, and sequential function charts • 1756-EN2T (1), 1756-EN2TR, 1756-EN3TR EtherNet/IP modules with ControlLogix 5570 and ControlLogix 5580 controllers or GuardLogix 5570 LOGIX 5000 controller module safety controllers compatibility • CompactLogix 5370 and CompactLogix 5380 controllers or Compact GuardLogix 5370 safety controllers I/O control Fiber-optic Sercos interface EtherNet/IP network • DSL high-resolution absolute, multi-turn, and single-turn encoder • High-resolution absolute multi-turn and single-turn feedback encoder • Hiperface and EnDat (sin/cos and digital) support with 2198-K57CK-D15M • Incremental encoder connector kit • EnDat 2.1 and 2.2 encoder support with 2090-K6CK-KENDAT Feedback • Generic (TTL and sin/cos) incremental encoder with 2198-K57CK-D15M module connector kit • Resolver • Feedback-only, master feedback, and load feedback support options Feedback-only Auxiliary Axis Feedback-only axis with Bulletin 842HR, 844D, 847H, or 847T encoders • Kinetix VPL, VPC, VPF, VPS • Kinetix MPL, MPM, MPF, MPS • Kinetix MPL, MPM, MPF, MPS Rotary motors compatibility • Kinetix RDB • Kinetix HPK • 1326AB • Kinetix RDB Linear motors compatibility Kinetix LDC Iron Core Kinetix LDC Iron Core • LDAT-Sxxxxxx-xBx Integrated Linear Thrusters • LDAT-Sxxxxxx-xDx and -xBx Integrated Linear Thrusters Linear actuator compatibility • Kinetix MPAR and MPAI Electric Cylinders • Kinetix MPAR and MPAI Electric Cylinders • Kinetix MPAS and MPMA Linear Stages • Kinetix MPAS and MPMA Linear Stages • Basic volts/Hertz, fan/pump V/Hz, and sensorless-vector open-loop frequency control Induction motor support — • Closed-loop control • 2198-CAPMOD-2240 capacitor module • 2094 Line Interface Modules (LIM) • 2198 shared-bus connector kits • 2198-CAPMOD-DCBUS-IO extension • 2090 Resistive Brake Modules (RBM) • 2198 external passive-shunt module Accessory compatibility resistors • 1394 external passive-shunt resistors • 2198 AC (EMC) line filters • 1321 line reactors • 2090 AC (EMC) line filters • 2198 encoder output module • 1756-M03SE, 1756-M08SE, 1756-M16SE ControlLogix communication modules • 1768-M04SE CompactLogix™ communication module (1) Module firmware 4.00 or later. Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 35 Chapter 2 Servo Drive and System Comparison Notes: 36 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Chapter 3 System Replacement Examples This chapter provides side-by-side examples replacing Kinetix® 6000 drives with Kinetix 5700 servo drives. Use these examples to help in the evaluation and selection of the correct components in the migration process. Common Replacement Tasks Many of the replacement tasks are common to all Kinetix 6000 to Kinetix 5700 system migrations. In this section we’ll review sizing, mounting order, accessories, network topology, Studio 5000 Logix Designer® configuration, fault codes, and tuning. Drive Sizing Example The sizing for Replacement Example #1 was done by using the Kinetix 6000 drive system that is listed in Table 9 on page 24 and matching those drives to Kinetix 5700 drives with comparable output current. With Motion Analyzer online, you can enter the motion profile of your axis and mechanical details to find the appropriate compatible Kinetix 5700 servo drive and size the 2198-Pxxx DC-bus power supply. Motion Analyzer also provides information on motoring versus regenerative power and whether a shunt module, shunt resistor, and/or capacitor module is needed. Access Motion Analyzer at: https://motionanalyzer.rockwellautomation.com. These figures show a Kinetix 6000 axis configuration and a Kinetix 5700 axis configuration with the same motor, and a side-by-side system performance comparison. Use Motion Analyzer to properly size your motion system. Figure 7 - Kinetix 6000 Axis as Configured in Motion Analyzer Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 37 Chapter 3 System Replacement Examples Figure 8 - Kinetix 5700 Axis as Configured in Motion Analyzer Figure 9 - Compare Kinetix 6000 and Kinetix 5700 Axes Configured in Motion Analyzer Kinetix 6000 System Performance Kinetix 5700 System Performance Module Mounting Order Kinetix 6000 drive modules (IAM, AM, shunt, and slot-filler) are mounted according to power utilization (highest to lowest) from left to right starting with the highest power utilization. The Kinetix 5700 axis inverters are mounted according to power utilization from left to right starting with the DC-bus power supply followed by the axis inverter with the highest power utilization. Power utilization is the average power (kW) consumed by a servo axis. If Motion Analyzer was used to size the axis, the calculated axis power that is required can be used for the power utilization value. If Motion Analyzer was not used, you can use the continuous power value (kW) for each module to determine mounting order. Kinetix 6000 Network Topology The Kinetix 6000 servo drives use Sercos interface to communicate with the LOGIX 5000™ controller and must be configured in ring topology. Sercos fiberoptic cables connect between the drive and controller receive (Rx) and transmit (Tx) connectors to form a Sercos fiber-optic ring. 38 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Chapter 3 System Replacement Examples Figure 10 - Sercos Fiber-optic Ring - LOGIX 5000 Controller with Double-wide Drive Modules 1756-M16SE Sercos Interface Module Sercos Fiber-optic Ring LOGIX 5000 Controller (ControlLogix® controller is shown) SERCOS interfaceTM CP OK 0.2 m 0.1 m (7.1 in.) (5.1 in.) Tx (rear) Rx (front) Kinetix 6000 System (5-axis power rail) Kinetix 5700 Ethernet Topology The Kinetix 5700 drives support any Ethernet topology including linear, ring, and star by using ControlLogix, GuardLogix®, or CompactLogix™ controllers. Linear Topology The Kinetix 5700 drive modules 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 11 - Kinetix 5700 Linear Communication Installation Studio 5000 Logix Designer Application ControlLogix Controller Programming Network EtherNet/IP LNK1 LNK2 NET OK ControlLogix 5570 Controller with Bulletin 1756 EtherNet/IP™ Module (1756-EN2T, 1756-EN2TR, 1756-EN3TR) 2 Kinetix 5700 Servo Drive System 1 MOD NET 1585J-M8CBJM-x Ethernet (shielded) Cable 2198-ABQE Encoder Output Module MOD NET 2 2 1 1 1 1 4 MOD NET MOD NET MOD NET 2 2 6 1 10 5 2 1 1 I/O I/O-A 6 1 I/O-B 1585J-M8CBJM-OM15 0.15 m (6 in.) Ethernet cables for drive-to-drive connections. MOD NET 1 I/O-A 6 1 10 5 6 1 I/O-B I/O-A 6 1 10 5 6 1 I/O-B 6 I/O 002 1734-AENTR POINT I O 5 10 5 UFB-A UFB UFB-B 10 5 UFB-A UFB-B 10 5 UFB-A Module Status 10 Network Activity UFB-B Network Status Link 1 Activity/ Status Point Bus Status System Power Field Power OUTPUT-A 1734-AENTR POINT I/O™ EtherNet/IP Adapter OUTPUT-B D+ D- D+ D- D+ D- D+ D- D+ D- D+ D- Link 2 Activity/ Status MF-A MF-B MF-A MF-B MF-A MF-B - MBRK + PanelView™ Plus Display Terminal Line Scan Cameras Ring Topology For a Kinetix 5700 servo system in 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 Bulletin 1783 ETAP device). DLR is an ODVA standard. For Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 39 Chapter 3 System Replacement Examples more information, see the EtherNet/IP Embedded Switch Technology Application Guide, publication ENET-AP005. Devices without dual ports, for example the display terminal, require a 1783-ETAP module to complete the network ring. Figure 12 - Kinetix 5700 Ring Communication Installation ControlLogix Controller Programming Network EtherNet/IP LNK1 LNK2 NET OK ControlLogix 5570 Controller with Bulletin 1756 EtherNet/IP Module (1756-EN2TR and 1756-EN3TR) Studio 5000 Logix Designer Application 2 1 1585J-M8CBJM-x Ethernet (shielded) Cable PanelView Plus Display Terminal 1783-ETAP Module 002 1734-AENTR POINT I O Module Status Network Activity Network Status Link 1 Activity/ Status Point Bus Status System Power Field Power 2198-ABQE Encoder Output Module MOD NET 1734-AENTR POINT I/O EtherNet/IP Adapter Link 2 Activity/ Status Kinetix 5700 Servo Drive System OUTPUT-A OUTPUT-B MOD NET MOD NET MOD NET MOD NET 2 2 2 2 1 1 1 1 1 1 4 I/O 6 1 10 5 I/O-A 6 1 I/O-B MOD NET 2 1 I/O-A 6 1 10 5 6 1 I/O-B I/O-A 6 1 10 5 6 1 I/O-B 6 I/O 5 Line Scan Cameras 10 5 UFB-A UFB D+ D- UFB-B D+ D- MF-A 10 5 UFB-A D+ D- D+ D- MF-B UFB-B MF-A 10 5 UFB-A D+ D- D+ D- MF-B 10 UFB-B MF-A 1585J-M8CBJM-OM15 0.15 m (6 in.) Ethernet cable for drive-to-drive connections. MF-B - MBRK + Star Topology The Kinetix 5700 drive modules have dual ports, so linear topology is maintained from one module to another, but the Kinetix 5700 system and other devices operate independently. The loss of one device does not impact the operation of other devices. 40 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Chapter 3 System Replacement Examples Figure 13 - Kinetix 5700 Star Communication Installation ControlLogix Controller Programming Network EtherNet/IP LNK1 LNK2 NET OK ControlLogix 5570 Controller with Bulletin 1756 EtherNet/IP Module (1756-EN2T, 1756-EN2TR, 1756-EN3TR) Studio 5000 Logix Designer Application 2 Kinetix 5700 Servo Drive System 1 MOD NET 1585J-M8CBJM-x Ethernet (shielded) Cable MOD NET MOD NET MOD NET 2 2 2 2 1 1 1 1 1 1 4 I/O 6 1 10 5 I/O-A 6 1 I/O-B MOD NET 2 1 I/O-A 6 1 10 5 6 1 I/O-B I/O-A 6 1 10 5 6 1 I/O-B 6 I/O 5 10 5 UFB-A UFB D+ D- D+ D- MF-A 2198-ABQE Encoder Output Module UFB-B 10 5 UFB-A D+ D- D+ D- MF-B UFB-B MF-A 10 5 UFB-A D+ D- D+ D- MF-B 10 UFB-B MF-A MF-B MOD NET - MBRK + OUTPUT-A OUTPUT-B 1585J-M8CBJM-OM15 0.15 m (6 in.) Ethernet cable for drive-to-drive connections. 1783-BMS Stratix® 5700 Switch PanelView Plus Display Terminal Line Scan Cameras 1734-AENTR POINT I/O EtherNet/IP Adapter Axis Configuration in Studio 5000 Logix Designer For DC-bus power supply and axis configuration/startup, refer to Chapter 6 of the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002. IMPORTANT When configuring the Kinetix 5700 drive system, you must add the DC-bus power supply to the Studio 5000 Logix Designer I/O Configuration folder. The Kinetix 5700 DC-bus power supplies are EtherNet/IP network enabled modules that require configuration in the Logix Designer application program. Sercos to EtherNet/IP Network Guidelines For a side-by-side comparison of axis configuration (Kinetix 6000 drives to Kinetix 5700 drives), see the Integrated Motion on Sercos and EtherNet/IP Network - Analysis and Comparison Application Technique, publication MOTION-AT006. Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 41 Chapter 3 System Replacement Examples Fault Structure For the Kinetix 6000 drives, when a fault is detected, the seven-segment status indicator displays an E followed by the flashing of the two-digit error code, one digit at a time. This is repeated until the error code is cleared. Review the Kinetix 6000 Multi-axis Servo Drives User Manual, publication 2094-UM001, for more information on the seven-segment status indicator error codes. For the Kinetix 5700, the fault code tables are designed to help you determine the source of the fault or exception. When a fault condition is detected, the drive module performs the appropriate fault action, the fault is displayed, and the fault is added to a persistent fault log (along with diagnostics data). The earlier faults have priority to be displayed. See the Kinetix 5700 Fault Code Summary on page 42 for a list of fault code types. Review the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002, for troubleshooting tables to identify faults, potential causes, and the appropriate actions to resolve the fault. Review the Integrated Motion on the EtherNet/IP Network Reference Manual, publication MOTION-RM003, for understanding all the CIP Motion™ protocol exceptions. Table 19 - Kinetix 5700 Fault Code Summary Fault Code Type (1) (2) Description FLT Sxx FLT Mxx Standard runtime axis exceptions. The exception can apply to an individual axis or to all axes. Manufacturer-specific runtime axis exception. The exception can apply to an individual axis or to all axes. INIT FLT Sxx INIT FLT Mxx Exceptions that help prevent normal operation and occur during the initialization process. NODE FLTxx Exceptions that help prevent normal operation of the drive module and apply to the entire module and affect all axes. Exceptions that help prevent normal operation of the drive module, but do not result in any action other than reporting the alarm to the controller. NODE ALARM xx INHIBIT Sxx INHIBIT Mxx ALARM Sxx ALARM Mxx Conditions that help prevent normal operation and indicate that the drive module is prevented from being enabled. SAFE FLTxx Exception that is generated by a fault condition that is detected in the safety function. An underlying exception condition that does not result in any action other than reporting the alarm to the controller. (1) Sxx refers to Standard exceptions. (2) Mxx refers to Manufacturer-specific exceptions. Tuning Closed-loop servo systems require settings for the control-loop gain and filter values to make sure that the load accurately follows the desired inputcommand signal. The process of adjusting and refining the gain and filter configuration is called tuning. Tuningless features help you reduce commissioning time, maintain product quality, sustain operation with lower downtime, and improve machine performance. For help tuning your axes, see the Tuningless Features for the Kinetix 5000 Servo Drive Family Quick Start, publication MOTION-QS001. 42 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Chapter 3 System Replacement Examples Table 20 - Motion System Tuning Tuning Methods Load Observer Adaptive Tuning with Tracking Notch Filter Adaptive Tuning with Gain Stabilization Kinetix 6000 Drives Kinetix 5700 Drives • Operates in real-time • Estimates and compensate for mechanical load inertia on motor • Controls motor as if unloaded • Compensates for mechanical variations in system such as changing loads, compliance, and machine wear over time Configure Kinetix 6000 drives via message Configure Kinetix 5700 drives in Logix Designer>Axis Properties via Add-on Profile instructions • Operates in real-time Adaptive tuning feature is not supported. • Measures mechanical resonances and dynamically sets the notch filter frequency to mitigate the resonances • Enables and tunes the low-pass filter to suppress resonances if any are identified above the low-frequency limit (when there are more resonances in the system than notch filters in the drive). Adaptive tuning feature is not supported. • Adjusts the torque low-pass filter, the control loop gains, and the load observer bandwidth from the current values until the identified HF resonances are suppressed or until a LF resonance or instability is attenuated enough to make the system stable. Replacement Example #1 In this example, a six-axis Kinetix 6000 drive system is replaced by Kinetix 5700 servo drives. The Kinetix 6000 drive system uses an 8-axis power rail with an integrated axis module (IAM) supplying DC-bus power to the IAM axis and five axis modules (AM). Kinetix 6000 System Without a Line Interface Module In this example, the Kinetix 6000 8-axis power rail (with 6 axes) consists of the following drive modules: • 2094-BC07-M05-S (double-wide) IAM • 2094-BM03-S (double-wide) AM • 2094-BM02-S AM • 2094-BM01-S AM • 2094-BMP5-S AM(2x) Three-phase AC input power components consist of a line disconnect device, fuses/circuit breakers, and contactor. Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 43 Chapter 3 System Replacement Examples Figure 14 - Typical Kinetix 6000 Drive System (without LIM) Three-phase Input Power Input Fusing Single-phase Control Power Fusing Magnetic Contactor 2090-XXLF-xxxx AC Line Filter (required for CE) BAUD RATE RX TX DPI BAUD RATE COM PWR DBRK DBRK + TX BAUD RATE RX MBRK + COM PWR DBRK DBRK + TX BAUD RATE U MBRK - MBRK + COM PWR DBRK DBRK + TX BAUD RATE RX MBRK + COM PWR DBRK DBRK + TX BAUD RATE Kinetix 6000 Multi-axis Servo Drive System (top view) Bonded Cabinet Ground Kinetix 6000 Multi-axis Servo Drive System (front view) Single-phase AC Line Filter (required for CE) I/O Connections RX W V 1 2 3 4 U 1 2 3 4 W V MBRK - 1 2 3 4 5 6 MBRK + 1 2 3 4 U 1 2 3 4 5 6 PWR DBRK DBRK + W V MBRK - 1 2 3 4 5 6 MBRK MBRK + COM RX 1 2 3 4 1 2 3 4 U 1 2 3 4 5 6 L1 W V MBRK - 1 2 3 4 5 6 1 2 3 4 1 2 3 4 5 6 TX DPI L3 L2 V U 1 2 3 4 5 6 7 8 9 RX CONT ENCONT EN+ W 1 2 3 4 5 6 7 8 9 PWR DBRK DBRK + CTRL 1 DC+ 1 2 3 4 5 6 7 8 9 MBRK MBRK + COM CTRL 2 DC- 1 2 3 4 5 6 7 8 9 L1 1 2 3 4 5 6 7 8 9 L3 L2 V U 1 2 3 4 5 6 7 8 9 1 2 W 1 2 1 2 3 4 5 6 CONT ENCONT EN+ CTRL 1 DC+ 1 2 3 4 5 6 CTRL 2 DC- 1 2 1 2 Line Disconnect Device 2094-PRS8 Power Rail with Three-phase and Control Input Power Bus 2094-BCxx-Mxx-S IAM Module 2090-K6CK-D26M I/O Connector Kits and 2090-K6CK-D15M Feedback Connector Kits To Input Sensors and Control String 2094-BMxx-S Axis Modules (5) Kinetix 2090 Motor Feedback Cables Kinetix 2090 Motor Power Cables 1326AB Torque-plus Servo Motors (1326AB-Bxxxx-x2L servo motors shown) Kinetix 5700 Drive System The Kinetix 6000 fully-populated 8-axis power rail (with 6 axes) are replaced by a single cluster of Kinetix 5700 servo drives. In this example, the replacement system consists of the following drive modules: • 2198-P141 DC-bus power supply • 2198-S086 single-axis inverter • 2198-D057 dual-axis inverter • 2198-D020 dual-axis inverter • 2198-D012 dual-axis inverter 44 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Chapter 3 System Replacement Examples Figure 15 - Typical Kinetix 5700 Shared DC-Bus Drive System Bulletin 2198 Shunt Module (optional component) Kinetix 5700 Servo Drive System (top view) SH DC+ Shared DC-bus Power Input 1 1606-XLxxx 24V DC Control, Digital Inputs, and Motor Brake Power (customer-supplied) 1 9 9 1 Allen-Bradley 8 16 8 9 1 SB+/NC S1A SCA S2A SBS1B SCB S2B SB+/NC S1A SCA S2A SBNC NC NC 16 8 Shared 24V Control Power Input (24V shared-bus connection system is optional) 9 SB+/NC S1A SCA S2A SBS1B SCB S2B SB+/NC S1A SCA S2A SBS1B SCB S2B 16 8 16 1606-XL Powe r S u p p l y Input AC Input Power DC-bus Single-axis Power Supply Inverter Kinetix 5700 Servo Drive System (front view) Converter Digital Inputs MOD NET 2 2 1 1 Magnetic Contactor (M1) Control String 1 4 2 6 1 10 5 6 1 I/O-B 6 1 10 5 Inverter Digital Inputs 2 1 1 I/O-A I/O-A 6 1 I/O-B I/O-A 6 1 10 5 6 1 I/O-B 6 I/O 5 10 5 UFB-A D+ D- D+ D- 10 5 UFB-A UFB-B D+ D- D+ D- MF-A MF Line Disconnect Device MOD NET 2 1 I/O UFB 195…528V AC Three-phase Input Power MOD NET MOD NET MOD NET 1 Bulletin 2198 shared-bus connection system for DC-bus and 24V DC control power. Dual-axis Inverters MF-B UFB-B D+ D- MF-A 10 5 UFB-A D+ D- D+ D- MF-B 10 UFB-B MF-A MF-B - MBRK + Circuit Protection Magnetic (M1) Contactor 2198-DB80-F AC Line Filter (required for CE) Bonded Cabinet Ground Bus Hardwired Safe Torque-off Configuration In this example, Kinetix 5700 servo drives use the safe torque-off (STO) connector for wiring external safety-devices and cascading hardwired safetyconnections from one drive to another. Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 45 Chapter 3 System Replacement Examples Figure 16 - Safe Torque-off (hardwired) Configuration EtherNet/IP LNK1 LNK2 NET OK Kinetix 5700 Servo Drive System (top view) 2 1 CompactLogix 5370 Controller or Compact GuardLogix 5370 Safety Controller, CompactLogix 5380 Controller ControlLogix 5570 Controller or GuardLogix 5570 Safety Controller, ControlLogix 5580 Controller (ControlLogix 5570 controller is shown) Module Definition Configured with Motion-only Connection 1585J-M8CBJM-x Ethernet (shielded) Cable Studio 5000 Logix Designer Application (version 26.00 or later) SH DC+ 1 9 8 16 1 9 8 16 1606-XLxxx 24V DC Control, Digital Inputs, and Motor Brake Power (customer-supplied) Allen-Bradley 1606-XL Safety Device 1 9 8 16 1 SB+/NC S1A SCA S2A SBS1B SCB S2B SB+/NC S1A SCA S2A SBNC NC NC Safe Torque-off (STO) Connectors 9 SB+/NC S1A SCA S2A SBS1B SCB S2B SB+/NC S1A SCA S2A SBS1B SCB S2B 8 16 Kinetix 5700 Servo Drive System (front view) Powe r S u p p l y Input AC Input Power MOD NET Digital Inputs to Sensors and Control String MOD NET MOD NET MOD NET 2 2 2 1 1 1 MOD NET 2 2 1 1 2 1 1 4 I/O 6 1 10 5 I/O-A 6 1 I/O-B 6 1 10 5 I/O-A 6 1 I/O-B 6 1 10 5 I/O-A 6 1 I/O-B 6 I/O 5 10 5 UFB-A UFB UFB-B D+ DMF-A - MBRK + Compatible Motors and Actuators (Kinetix VP servo motor is shown) 46 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 MF-B 10 5 UFB-A UFB-B 10 5 UFB-A 10 UFB-B Chapter 3 System Replacement Examples Circuit Protection For this example application, the following fuse and circuit breaker options apply when the motion system is a UL/CSA application. Refer to Circuit Breaker and Fuse Considerations on page 29 for fuse and circuit breaker recommendations for all Kinetix 6000 IAM modules and Kinetix 5700 DC-bus power supplies. Table 21 - Control and DC-Bus Circuit Protection Specifications Drive Cat. No. 2094-BC07-M05-S 2198-P141 Control Input Power DC-bus Power Bussmann Fuse (1) FNQ-R-10 (10 A) or FNQ-R-7.5 (7.5 A) – Bussmann Fuse Mersen Fuse (2) Miniature CB (3) Molded Case CB FWJ-125A A70QS125-4 or HSJ125 – 140G-G6C3-C90 LPJ-70SP (70A) – 1489-M3D630 140G-G6C3-C90 (1) Use FNQ-R-7.5 circuit breaker for higher single-cycle inrush current capability. This is recommended when the continuous control-power current exceeds 3.0 A. (2) Mersen fuses were formerly known as Ferraz-Shawmut. (3) Use 1492-SPM1D150 circuit breaker for higher single -cycle inrush current capability. This is recommended when the continuous control-power current exceeds 3.0 A. Contactor Specifications The DC-bus power supply contactor enable relay (CED connector) is rated at 24V DC or 110/220V AC at 1.0 A, max. Table 22 - Contactor Specifications Drive Cat. No. Intermediate Relay 2094-BC07-M05-S Contactor FNQ-R-10 (10 A) or FNQ-R-7.5 (7.5 A) 2198-P141 100-C72DJ10 700-HB32Z24 (relay) 700-HN153 (socket) FWJ-125A AC Line Filter Specifications These AC line filters are available for your servo drive input power. Table 23 - AC Line Filter Specifications Drive Cat. No. AC Line Filter Cat. No. 2094-BC07-M05-S 2090-XXLF-3100 2198-P141 2198-DB80-F Transformer Specifications Follow these voltage requirements for sizing a system transformer. Table 24 - Transformer Specifications Drive Cat. No. Specifications (1) 2094-BC07-M05-S 45 kW continuous x 1.5 = 67.5 KVA 2198-P141 31 kW continuous x 1.5 = 46.5 KVA (1) An isolation transformer for three-phase input power is not required for the Kinetix 6000 IAM or Kinetix 5700 DC-bus supply. Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 47 Chapter 3 System Replacement Examples Shared-bus Connections Use the following shared-bus connector kits with your Kinetix 5700 drive system. Table 25 - Shared-bus Connector Kits Shared-bus Connector Kit Cat. No. Drive Module Cat. No. Application 2198-TCON-24VDCIN36 2198-BARCON-xxDCAC100 2198-P141 24V DC input power to control bus 2198-H040-P-T Control power sharing 2198-H070-P-T 2198-D012-ERS3 2198-D020-ERS3 2198-D057-ERS3 2198-S086-ERS3 2198-BARCON-xxDC200 2198-KITCON-ENDCAP200 2198-Dxxx-ERS3 2198-Sxxx-ERS3 Shared-bus connector kits Description Control power sharing 24V input wiring connectors and bus-bars for the Kinetix 5700 drive system 24V shared-bus connection system (optional). Control power T-connector with bus bars, 55 mm Control power T-connector with bus bars, 85 mm DC-bus links (55, 85, and 100 mm) and end caps for the DC-bus shared-bus connection system (required and included with each respective drive module). Cable Accessories In this example, the Kinetix 6000 system includes 1326AB motors with resolver interface. You can continue to use the 1326AB motors or replace them. These are your options: • Keep the Bulletin 1326AB motors and use the Vega resolver converter kit (model 2792503) and custom motor file from Encompass™ partner Elwood Corporation. See your local Rockwell Automation authorized distributor for details on the Kinetix 5700 drives with Bulletin 1326AB motors migration path. • Replace the Bulletin 1326AB motors with Kinetix MPM motors. Table 26 shows drive and motor combinations along with the corresponding replacement Kinetix MPM motor. Table 26 - 1326AB Motor Migration Kinetix 6000 Drive Cat. No. 1326AB Motor Cat. No. Bulletin MPM (replacement) Motor Cat. No. 2094-BC07-M05-S 1326AB-B730E MPM-B2153F 2094-BM03-S 1326AB-B515G MPM-B1651F 2094-BM02-S 1326AB-B515G MPM-B1651F 2094-BM01-S 1326AB-B430E MPM-B1153E 2094-BMP5-S (2x) 1326AB-B410G (2x) MPM-B1151F (2x) The Kinetix 5700 drives are paired with these Bulletin MPM motors and require the following cable and connector kit accessory items. Table 27 - Cable and Connector Kit Accessories Bulletin MPM (replacement) Kinetix 5700 (replacement) Description Motor Cat. No. Drive Cat. No. MPM-B2153F 2198-S086-ERS3 MPM-B1651F (2x) 2198-D057-ERS3 MPM-B1153E 2198-D020-ERS3 MPM-B1151F (2x) — 48 Accessory Cat. No. Single-axis inverter 2198-D012-ERS3 • 1557J-M8CBJM-x (4x) Dual-axis inverter • 2090-CPxM7DF (6x) Dual-axis inverter (1 axis) • 2090-CFBM7DF-CE (6x) • 2198-K57CK-D15M (6x) Dual-axis inverter Ethernet cable (1 per module) Kinetix 2090 Power/brake cable (1 per axis) Kinetix 2090 Feedback cable (1 per axis) Universal feedback connector kit (1 per axis) 2198-P141 DC-bus power supply Ethernet cable 1557J-M8CBJM-x Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Chapter 3 System Replacement Examples See the Knowledgebase Technote: 1326AB: Migration Path 1326AB to MPM Motor for details on the Bulletin 1326AB to Kinetix MPM motor migration path. Replacement Example #2 In this example, a typical DC common-bus configuration with a leader IAM and follower IAM module is shown. The leader IAM module is responsible for discharging the DC-bus and for providing common-bus follower drives with DC-bus precharge, bus regulation, phase-loss detection, and ground fault detection. Follower IAM modules do not have three-phase input power connections, but have DC bus connections from a leader IAM module. Kinetix 6000 System With a Line Interface Module The Kinetix 6000 drive system has the following modules: Rack 1 is an 8-axis power rail with the following drive modules: • One (IAM module) catalog number 2094-BC07-M05-S • Three (AM modules) catalog number 2094-BM02-S • Three (AM modules) catalog number 2094-BM01-S Rack 2 is an 8-axis power rail with the following drive modules: • One (IAM module) catalog number 2094-BC02-M02-S • One (AM modules) catalog number 2094-BM02-S • Two (AM modules) catalog number 2094-BM01-S • Four (AM modules) catalog number 2094-BMP5-S The Line Interface Module (LIM) is catalog number 2094-BL75S with: • Configurable branch circuit protection • 75 A AC output current • External AC line filter • 24V DC @ 20 A Three-phase AC input power, control power, and 24V motor brake power is provided by the Line Interface Module (LIM). Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 49 Chapter 3 System Replacement Examples Figure 17 - Kinetix 6000 Drive System (with LIM, front view) 2090-XXLF-xxxx AC Line Filter (required for CE) Three-Phase Input Power Kinetix 6000 Multi-axis Servo Drives - Rack 1 115/230V AC Control Power to Leader and Follower IAM DC Common Bus 2094-BC07-M05-S IAM Module 2090-K6CK-D26M I/O Connector Kits and 2090-K6CK-D15M Feedback Connector Kits 2094-PRS8 Power Rail 2094-BMxx-S Axis Modules (6) To Input Sensors and Control String 2094-BL75S Line Interface Module Kinetix 2090 Motor Feedback Cables Kinetix 2090 Motor Power Cables Kinetix MP Rotary Motors (MPL-Bxxxx motors shown) DC Common Bus Kinetix 6000 Multi-axis Servo Drives - Rack 2 2094-BC02-M02-S IAM Module 2090-K6CK-D26M I/O Connector Kits and 2090-K6CK-D15M Feedback Connector Kits 2094-PRS8 Power Rail 2094-BMxx-S Axis Modules (7) To Input Sensors and Control String Kinetix 2090 Motor Feedback Cables Kinetix MP Rotary Motors (MPL-Bxxxx motors shown) 50 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Kinetix 2090 Motor Power Cables Chapter 3 System Replacement Examples Kinetix 5700 Drive System The Kinetix 6000 fully-populated 8-axis power rails (with 15 axes) are replaced by two clusters of Kinetix 5700 servo drives. In this example, the replacement clusters consist of the following drive modules. Cluster 1 • 2198-P208 DC-bus power supply • 2198-S086 single-axis inverter • 2198-D032 dual-axis inverter • 2198-D032 dual-axis inverter • 2198-D020 dual-axis inverter Cluster 2 • 2198-D032 dual-axis inverter • 2198-D020 dual-axis inverter • 2198-D012 dual-axis inverter • 2198-D012 dual-axis inverter To extend the DC-bus input voltage to the second cluster, use an extension module that is paired with a capacitor module on each cluster: • 2198-CAPMOD-1300 capacitor module (1 per cluster) • 2198-CAPMOD-DCBUS-IO extension module (1 per cluster) IMPORTANT You are limited to a 200 A DC-Bus on your overall Kinetix 5700 servo drives system. In this example, 2 drive clusters define the DC-bus group and are possible by extending the DC-bus. You also have to stay within the general sizing guidelines: • Maximum motor-power cable length: 400 m (1312 ft) • Maximum supported capacitance: 13,000 μF • Maximum 24V DC control power current: 32 A • Maximum DC-bus current: 200 A Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 51 Chapter 3 System Replacement Examples Figure 18 - Kinetix 5700 Extended DC-bus Installation Extension Capacitor Module Module Kinetix 5700 Extended Servo Drive Cluster 2 (front view) Dual-axis Inverters MOD NET MOD DC BUS MOD NET 2 5 6 1 I/O-B 10 5 UFB-A 6 1 10 5 2 1 1 I/O-A 1 I/O-A 6 1 I/O-B 10 5 UFB-B UFB-A MF-B MF-A Shared DC-bus and 24V DC Control Power MOD NET 2 2 1 MODULE STATUS MOD NET 1 I/O-A 6 1 10 5 UFB-B 6 1 I/O-B 10 5 UFB-A I/O-A 6 1 10 5 UFB-B 6 1 10 5 UFB-A I/O-B 6 10 UFB-B DC-bus Extension D+ D- D+ D- MF-A DC-bus Power Bulletin 2198 Shared-bus Connection System (24V shared-bus connection system is optional) Single-axis Inverter MOD NET Kinetix 5700 Servo Drive Cluster 1 (front view) 195…528V AC Three-phase Input Power 2 2 1 1 Magnetic Contactor (M1) Control String 1 D+ D- D+ D- MF-B MF-A MF-B 1 10 5 2 2 1 1 I/O-A 6 1 I/O-B MOD DC BUS MOD NET MOD NET 1 6 I/O-A 6 1 10 5 6 1 I/O-B I/O-A 6 1 10 5 6 1 I/O-B 6 I/O MODULE STATUS 5 10 5 UFB-A UFB D+ D- D+ D- Line Disconnect Device MF-A MOD NET 2 I/O D+ D- D+ D- MF-B Dual-axis Inverters CapacitorExtension Module Module MOD NET 1 4 D+ D- D+ D- MF-A MF UFB-B 10 5 UFB-A MF-A MF-B 10 UFB-B D+ D- D+ D- D+ D- D+ D- MF-B 10 5 UFB-A UFB-B MF-A MF-B - MBRK + Circuit Protection Magnetic (M1) Contactor 2198-DB80-F AC Line Filter (required for CE) 52 Bonded Cabinet Ground Bus Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 DC-bus Extension Chapter 3 System Replacement Examples Integrated Safe Torque-off Configuration In this example, a non-safety controller makes the Motion-only connection and a separate GuardLogix 5570 safety controller makes the Safety-only connection. IMPORTANT If two controllers are used in an application with Motion-only and Safety-only connections, the Safety-only connection must be a GuardLogix 5570 or Compact GuardLogix 5370 safety controller and the Motion-only connection must be a ControlLogix 5570 or CompactLogix 5370 controller. Figure 19 - Motion and Safety Configuration (multi-controller) EtherNet/IP Studio 5000 Logix Designer Application (version 26.00 or later) LNK1 LNK2 NET OK 1783-BMS Stratix 5700 Switch 2 1 CompactLogix 5370 Controller or CompactLogix 5380 Controller, ControlLogix 5570 Controller or ControlLogix 5580 Controller (ControlLogix 5570 controller is shown) 1585J-M8CBJM-x Ethernet (shielded) Cable MOD NET MOD DC BUS 1734-AENTR POINT Guard I/O EtherNet/IP Adapter Motion Program Module Definition Configured with Motion only Connection MOD NET 2 2 2 1 1 1 I/O-A 1 5 MODULE STATUS 6 1 10 5 UFB-A Safety Device MOD NET I/O-B 6 1 10 5 I/O-A 6 1 10 5 UFB-B UFB-A MF-A MF-B MF-A 2 1 I/O-A 6 1 10 5 UFB-B D+ D- D+ D- I/O-B 6 1 10 5 UFB-A D+ D- I/O-B 1 10 5 D+ D- MF-A I/O-A 6 UFB-B D+ D- MF-B MOD NET I/O-B 6 10 UFB-B D+ D- D+ D- MF-B 6 1 10 5 UFB-A MF-A MF-B EtherNet/IP LNK1 LNK2 NET OK Kinetix 5700 Servo Drive System (front view) 2 1 MOD NET ompact GuardLogix 5370 or uardLogix 5570 Safety Controller GuardLogix 5570 Safety Controller is shown) Digital Inputs to Sensors and Control String MOD NET MOD NET 2 2 2 2 1 1 1 1 1 1 4 I/O 6 1 10 5 6 1 I/O-B 2 1 I/O-A 6 1 10 5 6 1 I/O-B I/O-A 6 1 10 5 6 1 I/O-B 6 I/O MODULE STATUS 5 10 5 UFB-A UFB Safety Program Module Definition Configured with Safety only Connection I/O-A MOD DC BUS MOD NET MOD NET D+ D- D+ D- UFB-B D+ D- MF-A MF-A 10 5 UFB-A MF-A MF-A MF-B MF-B 10 UFB-B D+ D- D+ D- D+ D- D+ D- MF-B MF-B 10 5 UFB-A UFB-B MF-A MF-B - MBRK + Compatible Motors and Actuators (Kinetix VP servo motor is shown) Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 53 Chapter 3 System Replacement Examples Circuit Protection For this example application, the following fuse and circuit breaker options apply when the motion system is a UL/CSA application. Refer to Circuit Breaker and Fuse Considerations on page 29 for fuse and circuit breaker recommendations for all Kinetix 6000 IAM modules and Kinetix 5700 DC-bus power supplies. Table 28 - Control and DC-Bus Circuit Protection Specifications Drive Cat. No. 2094-BC07-M05-S 2198-P208 Control Input Power DC-bus Power Bussmann Fuse (1) FNQ-R-10 (10 A) or FNQ-R-7.5 (7.5 A) – Bussmann Fuse Mersen Fuse (2) Miniature CB Molded Case CB FWJ-125A A70QS125-4 or HSJ125 – 140G-G6C3-C90 LPJ-100SP (100A) – – 140G-G6C3-D12 (1) Use FNQ-R-7.5 circuit breaker for higher single-cycle inrush current capability. This is recommended when the continuous control-power current exceeds 3.0 A. (2) Mersen fuses were formerly known as Ferraz-Shawmut. Contactor Specifications The DC-bus power supply contactor enable relay (CED connector) is rated at 24V DC or 110/220V AC at 1.0 A, max. Table 29 - Contactor Specifications Drive Cat. No. Intermediate Relay 2094-BC07-M05-S Contactor FNQ-R-10 (10 A) or FNQ-R-7.5 (7.5 A) 2198-P208 100-C97DJ10 700-HB32Z24 (relay) 700-HN153 (socket) FWJ-125A AC Line Filter Specifications These AC line filters are available for your servo drive input power. Table 30 - AC Line Filter Specifications Drive Cat. No. AC Line Filter Cat. No. 2094-BC07-M05-S 2090-XXLF-3100 2198-P208 2198-DB80-F Transformer Specifications Follow these voltage requirements for sizing a system transformer. Table 31 - Transformer Specifications Drive Cat. No. Specifications (1) 2094-BC07-M05-S 45 kW continuous x 1.5 = 67.5 KVA 2198-P208 46 kW continuous x 1.5 = 69.0 KVA (1) An isolation transformer for three-phase input power is not required for the Kinetix 6000 IAM or Kinetix 5700 DCbus supply. 54 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Chapter 3 System Replacement Examples Shared-bus Connector Kits Use the following shared-bus connector kits with your Kinetix 5700 drive system. Shared-bus Connector Kits Cat. No. Drive Module Cat. No. Application Description 2198-TCON-24VDCIN36 2198-BARCON-xxDCAC100 2198-P208 (1x) 2198-CAPMOD-2240 (2x) 24V DC input power to control bus 24V input wiring connectors and bus-bars for the Kinetix 5700 drive system 24V shared-bus connection system (optional). 2198-H040-P-T 2198-D012-ERS3 (2x) 2198-D020-ERS3 (2x) 2198-D032-ERS3 (3x) 2198-CAPMOD-2240 (2x) Control power sharing Control power T-connector with bus bars, 55 mm 2198-H070-P-T 2198-S086-ERS3 Control power sharing 2198-BARCON-xxDC200 2198-KITCON-ENDCAP200 2198-Dxxx-ERS3 2198-Sxxx-ERS3 Shared-bus connector kits Control power T-connector with bus bars, 85 mm DC-bus links (55, 85, and 100 mm) and end caps for the DC-bus shared-bus connection system (required and included with each respective drive module). Cable Accessories In this example, the Kinetix 6000 system includes 1326AB motors with resolver interface, Kinetix MPM motors, Kinetix RDB motors, and Kinetix LDC linear motors. Some of the existing motors are expected to remain in service, but paired with a replacement Kinetix 5700 drive and the appropriate cables and feedback connector kit. Table 32 - Kinetix 5700 Drive Migration Kinetix 6000 Drive Cat. No. 2094-BC07-M05-S Existing Allen-Bradley® Kinetix 5700 (replacement) Description Motor Cat. No. Drive Cat. No. DC-bus power – 2198-P208 supply RDB-B41035-xB72AA 2198-S086-ERS3 2094-BC02-M02-S RDB-B2151C-xB72AA 2198-D032-ERS3 (1 axis) 2094-BM02-S (2x) 1326AB-B410G (2x) 2198-D032-ERS3 2094-BM01-S (2x) 1326AB-B515G (2x) 2198-D020-ERS3 2094-BM02-S (2x) MPM-B1153E (2x) 2198-D032-ERS3 2094-BM01-S (3x) MPM-B1651F (3x) 2094-BMP5-S (4x) Single-axis inverter Dual-axis inverters 2198-D020-ERS3 2198-D032-ERS3 (1 axis) LDC-C030100-DHTxx (4x) 2198-D012-ERS3 2198-D012-ERS3 The Kinetix 5700 drives are paired with these Allen-Bradley motors and require the following cable and connector kit accessory items. Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 55 Chapter 3 System Replacement Examples Table 33 - Cable and Connector Kit Accessories Existing Motor Cat. No. 1326AB-B410G (2x) (1) 1326AB-B515G (2x) (1) RDB-B41035-xB72AA (2) RDB-B2151C-xB72AA (2) MPM-B1153E (2x) MPM-B1651F (3x) LDC-C030100-DHTxx (4x) — Kinetix 5700 (replacement) Accessory Drive Cat. No. Cat. No. 2198-D032-ERS3 2198-D020-ERS3 2198-S086-ERS3 2198-D032-ERS3 (1 axis) (3) 2198-D032-ERS3 2198-D020-ERS3 2198-D032-ERS3 (1 axis) (3) 2198-D012-ERS3 2198-D012-ERS3 2198-P208 1557J-M8CBJM-x (2x) Ethernet cable (1 per axis module) 1326-CPx1T-L-xxx (4x) Bulletin 1326 Power cable (1 per axis) 1326-CCUT-L-xxx (4x) Bulletin 1326 Feedback cable (1 per axis) Model 2792503 (4x) Vega resolver converter kit (1 per axis) 1557J-M8CBJM-x (2x) Ethernet cable (1 per axis module) 2090-CPxM7DF (2x) Kinetix 2090 Power/brake cable (1 per axis) 2090-XXNFMF or 2090-CFBM7DF-CD (2x) Kinetix 2090 Feedback cable (1 per axis) 2198-K57CK-D15M (2x) Universal feedback connector kit (1 per axis) 1557J-M8CBJM-x (2x) Ethernet cable (1 per axis module) 2090-CPxM7DF (5x) Kinetix 2090 Power/brake cable (1 per axis) 2090-CFBM7DF-CE (5x) Kinetix 2090 Feedback cable (1 per axis) 2198-K57CK-D15M (5x) Universal feedback connector kit (1 per axis) 1557J-M8CBJM-x (2x) Ethernet cable (1 per axis module) 2090-CPxM7DF (4x) Kinetix 2090 Power/brake cable (1 per axis) 2090-XXNFMF or 2090-CFBM7DF-CD (4x) 2198-K57CK-D15M or 2198-H2DCK (4x) Kinetix 2090 Feedback cable (1 per axis) 1557J-M8CBJM-x Ethernet cable Universal feedback connector kit (1 per axis) or Hiperface to DSL converter kit (1 per axis) (1) Use Vega resolver converter kit (model 2792503) and custom motor file from Encompass partner Elwood Corporation. See your local Rockwell Automation authorized distributor for details on the Kinetix 5700 drives with Bulletin 1326AB motors migration path. (2) Requires Kinetix 5700 drive firmware 5.002 or later. (3) This is one axis of the 2198-D032-ERS3 dual-axis inverter that provides power to the Kinetix RDB and Kinetix MPM motor. 56 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Index Numerics 1783-ETAP 39 2090-CFBM7DF-CD 14, 22 2090-CFBM7DF-CE 14, 22 2090-CPBM7DF 14, 18, 22 2090-CSBM1DE 14, 18, 22 2090-CSBM1DG 14, 18, 22 2090-XXNFMF 14, 22 2094-BSP2 29 2198-H2DCK 15, 18, 32 2198-K57CK-D15M 15, 17, 32 2198-KITCON-DSL 15, 32 A AC line filters 15 accessories 35 active shunt 15 additional resources 9 AM module 12 axis configured in Motion Analyzer 37 module 12 ControlLogix 13, 17 conventions used in this manual 6 converter kit 2198-H2DCK 15 D DC-bus configurations 26 power supply 12 digital I/O 20 inputs 35 outputs 35 dimensions 24 drive features 34 dual-axis inverters 12 dual-position loop 20 E electrical noise reduction 6 Ethernet cables 14, 22 EtherNet/IP 34 network 16 extended DC-bus 28 C cables catalog numbers 31 feedback connector kits 32 length 18 capacitor modules 13, 22 catalog numbers cables 31 Kinetix 5700 servo drives 8 certification website 9 checklist 11 circuit protection 30 Compact GuardLogix 17 CompactLogix 13, 17 compatibility accessories 35 induction motors 35 linear actuators 35 linear motors 35 rotary motors 35 components Kinetix 5700 7 configuration extended DC-bus 52 safe torque off 53 connector kit 2198-K57CK-D15M 15 2198-KITCON-DSL 15 contactor-enable relay 28 control power 19 controllers CompactLogix 13 ControlLogix 13 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 F fault code summary 42 fault structure 41, 42 features communication 34 comparison 34 digital inputs 35 digital outputs 35 functional safety 34 Kinetix 5700 7 output power 35 feedback connector kits 32 types 17, 18, 35 fiber-optic cables 39 functional safety 34 G GuardLogix 17 H hardwired STO mode 46 HF bonding 6 57 Index I IAM module 12 induction motor support 17 motors 35 integrated axis module 12 motion 17 safety 17 STO mode 53 Integrated Architecture 8 K Kinetix 5700 AC line filters 15 axis configured in Motion Analyzer 38 capacitor modules 13, 22 circuit protection 30 contactor-enable relay 28 control power 19 DC-bus power supply 12 digital I/O 20 drive components 7 dual-axis inverters 12 dual-position loop 20 Ethernet cables 14, 22 EtherNet/IP network 16 external active shunt 15 external passive shunt 15 fault code summary 42 fault structure 42 features 7 holding brakes 21 replacement example #1 45 replacement example #2 51 safe torque off 53 safe torque off 21 shared-bus connectors 24V 13, 22 DC-bus 13, 22 short-circuit current rating 29 shunt modules 29 single-axis inverters 12 system layout 34 mounting order 38 tuning 43 topology linear 39 ring 40 star 41 58 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 Kinetix 6000 AC line filters 15 AM module 12 axis configured in Motion Analyzer 37 circuit protection 30 contactor-enable relay 28 control power 19 digital I/O 20 external passive shunt 15 fault structure 41, 42 feedback connector kits 15 holding brakes 21 IAM module 12 line interface module 16 power rail 13 replacement example #1 43 replacement example #2 49 resistive brake module 16 safe torque off 21 Sercos cables 14 Sercos communication 16 short-circuit current rating 29 shunt modules 13, 29 slot filler module 13 system layout 33 mounting order 38 tuning 43 Kinetix drives specifications 11 Kinetix HPK 14 Kinetix LDC 14 Kinetix MMA 14 Kinetix MPAI 14 Kinetix MPAR 14 Kinetix MPAS 14 Kinetix MPF 14 Kinetix MPL 14 Kinetix MPM 14 Kinetix MPS 14 Kinetix RDB 14 Kinetix VP 14 L line interface module 16 linear actuators compatibility 35 Kinetix LDAT 14 Kinetix MPAI 14 Kinetix MPAR 14 Kinetix MPAS 14 support 17 linear motor support 17 linear motors compatibility 35 Kinetix LDC 14 Index M migration checklist 11 compare systems 12 services 8 Motion Analyzer 6, 9, 37 motor brake 21 mounting order 38 O output current specifications 24 power 35 P panel space 26 passive shunt 15 PCDC 5 power rail 13 product selection website 9 publications, related 9 R related publications 9 replacement example #1 AC line filter specifcations 47 cables 48 circuit protection 47 contactor specifcations 47 shared-bus kits 48 transformer specifcations 47 replacement example #2 AC line filter specifications 54 cable accessories 55 circuit protection 53, 54 contactor specifications 54 shared-bus kits 55 transformer specifications 54 resistive brake module 16 rotary motors 1326AB 14 Kineitx MPF 14 Kinetix HPK 14 Kinetix MMA 14 Kinetix MPL 14 Kinetix MPM 14 Kinetix MPS 14 Kinetix RDB 14 Kinetix VP 14 rotary motors compatibility 35 RSLogix 5000 12, 35 Sercos 34 cables 14 communication 16 fiber-optic cables 39 servo motor support 17 shared-bus connectors 24V 13, 22 DC-bus 13, 22 short-circuit current rating 29 shunt modules 13, 29 single-axis inverters 12 sizing 37 extended DC-bus 28 slot filler module 13 software RSLogix 5000 12, 35 Studio 5000 Logix Designer 12, 13, 35 specifications circuit protection 30 dimensions 24 functional safety 34 output current 24 output power 35 Stratix 5700 switches 17 Studio 5000 Logix Designer 5, 12, 13, 35, 41 system overview extended DC-bus 52 safe torque off 53 T tuning 43 typical installation extended DC-bus 52 safe torque off 53 W website certifications 9 Motion Analyzer 9 product selection 9 S safe torque off 21, 34 configurations integrated 53 safe torque-off configurations hardwired 46 Rockwell Automation Publication 2198-RM002B-EN-P - March 2022 59 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 compliance information on its website at rok.auto/pec. Allen-Bradley, CIP Safety, CompactLogix, ControlLogix, DPI, DriveExplorer, Encompass, expanding human possibility, GuardLogix, Integrated Architecture, Kinetix, Logix 5000, PanelView Plus, Point I/O, Point Guard I/O, Rockwell Automation, RSLogix 5000, SoftLogix, Stratix, Studio 5000, Studio 5000 Logix Designer 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-RM002B-EN-P - March 2022 Supersedes Publication 2198-RM002A-EN-P - October 2017 Copyright © 2022 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A. ">

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Key features
- Drive sizing comparison
- System component comparison
- Detailed migration examples
- Wiring diagrams
- Circuit protection considerations
- Common replacement tasks
- Safety considerations
- Accessories
- Kinetix 6000 system configuration
- Kinetix 5700 system configuration
Frequently asked questions
You need to consider drive sizing, system component compatibility, communication protocols, wiring, and any necessary software updates for your Studio 5000 Logix Designer application. This manual provides a detailed checklist to guide your migration process.
Kinetix 5700 drives support Kinetix VP, MP, LDAT, LDC, and HPK servo motors and actuators, as well as induction motors with open-loop or closed-loop control. You can find detailed motor compatibility information in the Kinetix Rotary Motion Specifications Technical Data and Kinetix Linear Motion Specifications Technical Data publications.
The manual provides tables comparing circuit protection components for both Kinetix 6000 and Kinetix 5700 systems. You can use this information to select the appropriate circuit breakers, fuses, and line filters based on your specific drive configuration and motor power requirements.
Single-cable technology, available for Kinetix VP motors, combines power and feedback signals in a single cable, simplifying wiring and reducing clutter. This technology is supported by the connector kits, such as the 2198-KITCON-DSL feedback connector.
The manual provides a list of additional resources, including technical data, user manuals, and design guides, which can be accessed through the Rockwell Automation website or the provided links.