Allen-Bradley Kinetix 350 to Kinetix 5300 Servo Drive Reference Manual
The Allen-Bradley Kinetix 350 to Kinetix 5300 Servo Drive Migration Guide Reference Manual provides you with essential information to determine hardware design changes when migrating from a system containing Kinetix® 350 servo drives to one containing Kinetix 5300 servo drives.
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Kinetix 350 to Kinetix 5300 Servo Drive Migration Guide Catalog Numbers 2198-C1004-ERS, 2198-C1007-ERS, 2198-C1015-ERS, 2198-C1020-ERS, 2198-C2030-ERS, 2198-C2055-ERS, 2198-C2075-ERS, 2198-C4004-ERS, 2198-C4007-ERS, 2198-C4015-ERS, 2198-C4020-ERS, 2198-C4030-ERS, 2198-C4055-ERS, 2198-C4075-ERS Reference Manual Original Instructions Kinetix 350 to Kinetix 5300 Servo Drive Migration Guide Reference Manual Important User Information Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards. Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice. If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired. In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment. The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams. No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual. Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited. Throughout this manual, when necessary, we use notes to make you aware of safety considerations. WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss. ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence. IMPORTANT Identifies information that is critical for successful application and understanding of the product. Labels may also be on or inside the equipment to provide specific precautions. SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present. BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures. ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE). 2 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Table of Contents Preface Migration Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Potential Design Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Application Conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Chapter 1 Replacement Considerations Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Select a Replacement Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Drive Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Nominal Voltage and Output Current Comparison . . . . . . . . . . . . . . 9 Dimension Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 AC Input Power Cable Length and Fuse Protection . . . . . . . . . . . . . . . . . 11 AC Input Power Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Input Power Cable Length and Fuse Protection . . . . . . . . . . . . . . . . . 11 Circuit Breaker and Fuse Considerations . . . . . . . . . . . . . . . . . . . . . . 12 Power Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 I/O Availability and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Motor Brake Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Control and Auxiliary Power Specifications . . . . . . . . . . . . . . . . . . . . 23 Kinetix Motor and Actuator Compatibility . . . . . . . . . . . . . . . . . . . . . 24 Feedback Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Required Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Optional Drive Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Chapter 2 Connectors Kinetix 350 Servo Drive Connector Locations . . . . . . . . . . . . . . . . . . . . . . 29 Kinetix 5300 Servo Drive Connector Locations . . . . . . . . . . . . . . . . . . . . . 30 I/O Connector and Auxiliary Feedback Pinouts . . . . . . . . . . . . . . . . . . . . 30 Motor Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Safe Torque Off Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Chapter 3 Dimensions, Cables, and Wiring Dimension Drawings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Power Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Kinetix 350 Power Wiring Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Kinetix 5300 Power Wiring Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . 42 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 3 Kinetix 350 to Kinetix 5300 Servo Drive Migration Guide Chapter 4 System Architecture Drive System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Kinetix 350 Servo Drive System Architecture. . . . . . . . . . . . . . . . . . . . . . . 47 Kinetix 5300 Drive Hardware and Input Power Configurations. . . . . . 48 Typical Communication Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . 50 Appendix A Feature Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Appendix B History of Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 4 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Preface Summary of Changes Topic Updated Table 6 to include 140MT circuit breakers Updated Table 7 to include 140MT circuit breakers Page 12 12 The purpose of this guide is to provide you with the essential information to determine necessary changes when migrating from a system containing Kinetix® 350 servo drives to one containing Kinetix 5300 servo drives. Overview Migrating from a motion control system that uses Kinetix 350 drives to a system that uses Kinetix 5300 drives requires a comprehensive design review of the motion control system. As a result, this migration guide is not an allinclusive document. It does not describe all redesign steps required, nor contain the detailed product information necessary to finalize the redesign. The generalities of the replacement process are covered, and the decisionmaking steps likely to be encountered in a typical replacement scenario are described. This manual is intended for engineers and technicians that are directly involved in the installation and wiring of the Kinetix 5300 drives, and programmers who are directly involved in the operation, field maintenance, and integration of these drives. You must have previous experience with, and a basic understanding of, electrical terminology, programming procedures, networking (and required equipment and software), and safety precautions. Product compatibility information and release notes are available online within the Product Compatibility and Download Center at rok.auto/pcdc. Migration Options This migration guide provides you with the essential information to determine hardware design changes that can be necessary when migrating from a motion system that contains Kinetix 350 servo drives to one that contains Kinetix 5300 servo drives. Potential Design Changes The design changes required for converting to the Kinetix 5300 drives depend on the original/replacement drive combination and the specifics of the application. The objective is to determine which areas of a design must be changed. This publication provides you with knowledge about the type and extent of work required to change successfully from a Kinetix 350 system to a Kinetix 5300 system. Due to the flexibility of drive installation and usage, it is not feasible to cover all possibilities. In addition to the items described in this publication, pay Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 5 Preface attention to unique features and functions of the Kinetix 350 system when considering replacement with a Kinetix 5300 system. See Appendix A for a comparison of features. See the Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 for complete specifications. Application Conversion Studio 5000 Logix Designer application is used to configure and program both the Kinetix 350 and Kinetix 5300 drives. Additional Resources These documents contain additional information concerning related products from Rockwell Automation. Resource Description Product specifications for Kinetix VP, Kinetix MP, Kinetix TL and TLY, Kinetix RDB, Kinetix Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001 TLP, and Kinetix HPK rotary motors. Product specifications for Kinetix Integrated Motion over the EtherNet/IP network, Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 Integrated Motion over Sercos interface, EtherNet/IP networking, and component servo drive families. System design guide to select the required (drive specific) drive module, power accessory, Kinetix 5300 Drive Systems Design Guide, feedback connector kit, and motor cable catalog numbers for your Kinetix 5300 drive and publication KNX-RM012 Kinetix motion control system. Provides information on how to design Ethernet and EtherNet/IP networks. Ethernet Reference Manual, publication ENET-RM002 Overview of Kinetix servo drives, motors, actuators, and motion accessories that are Kinetix Motion Control Selection Guide, designed to help make initial decisions for the motion control products best suited for your publication KNX-SG001 system requirements. Provides information to help identify the drive system components and accessory items you Kinetix 300 and Kinetix 350 Drive Systems Design Guide, need for your Kinetix 300/350 drive and motor/actuator combination. publication KNX-RM004 Provides installation instructions to mount, wire, and troubleshoot your Kinetix 5300 drive; Kinetix 5300 Single-axis EtherNet/IP Servo Drives User Manual, and system integration for your drive/motor combination with a Logix controller. publication 2198-UM005 Kinetix 350 EtherNet/IP Indexing Servo Drives User Manual, Provides installation instructions to mount, wire, and troubleshoot your Kinetix 350 drive; publication 2097-UM002 and system integration for your drive/motor combination with a Logix controller. Kinetix 350 Single-axis EtherNet/IP Servo Drive Installation Instructions, Provides information on how to install your Kinetix 350 drive system. publication 2097-IN008 Bulletin 2097 Shunt Resistor Installation Instructions, publication 2097-IN002 Provides information on how to install and wire the Kinetix 350 drive shunt resistors. Bulletin 2097 AC Line Filter Installation Instructions, publication 2097-IN003 Provides information on how to install and wire the Kinetix 350 drive AC line filter. Provides information on how to install and wire the Kinetix 350 drive I/O terminal expansion Bulletin 2097 I/O Terminal Expansion Block Installation Instructions, block. publication 2097-IN005 Best practice examples to help reduce the number of potential noise or electromagnetic Servo Drive Installation Best Practices Application Technique, interference (EMI) sources in your system and to make sure that the noise sensitive publication MOTION-AT004 components are not affected by the remaining noise. System Design for Control of Electrical Noise Reference Information, examples, and techniques designed to minimize system failures caused by Manual, publication GMC-RM001 electrical noise. Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines to install a Rockwell Automation industrial system. Provides declarations of conformity, certificates, and other certification details. Product Certifications website: rok.auto/certifications You can view or download publications at rok.auto/literature. 6 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 1 Replacement Considerations Replacing a Kinetix® 350 drive with a Kinetix 5300 drive can require some system design changes: • • Review the hardware and software design of the existing Kinetix 350 system. Compare these designs to the hardware and software specifications for the Kinetix 5300 drives. WARNING: Because of the variety of uses for the products described in this publication, those responsible for the application and use of these products must satisfy themselves that all necessary steps have been taken to make sure that each application and use meets all performance and safety requirements, including any applicable laws, regulations, codes, and standards. In no event will Rockwell Automation be responsible or liable for indirect or consequential damage resulting from the use or application of these products. This publication highlights the major differences between the Kinetix 350 servo drives and the Kinetix 5300 servo drives. Additional differences can also impact your application. Review this publication to evaluate your needs. Design considerations: • • • • • • Upload and save any network files and programmable logic controller (PLC) programs that you can use for the new system. See the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001 and Servo Drive Installation Best Practices Application Technique, publication MOTION-AT004 for information on the concept of high-frequency (HF) bonding, the Ground Plane principle, and electrical noise reduction. Verify that your current motor is compatible. Verify that the drive size is compatible. Verify that the drive dimensions are compatible with your available installation space. Verify that the drive connections and connector wires are all labeled prior to disconnecting the old connectors. Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 7 Chapter 1 Replacement Considerations Kinetix 5300 drive catalog numbers and performance descriptions. Catalog Number Explanation Table 1 - Kinetix 5300 Servo Drives Continuous Output Power kW Continuous Output Current A (rms) Peak Output Current A (rms) 1 0.22 0.46 0.72 2.8 2.8 2.8 6.6 9.5 9.5 2198-C1007-ERS 1 0.36 0.76 1.18 4.6 4.6 4.6 9.7 15.5 15.5 2198-C1015-ERS 2 0.67 1.41 2.18 8.5 8.5 8.5 12.2 20.5 29.2 2198-C1020-ERS 2 0.97 2.02 3.13 12.2 12.2 12.2 25.0 40.6 40.6 2198-C2030-ERS 2 5.02 19.6 61.0 2198-C2055-ERS 3 10.30 40.2 108.0 2198-C2075-ERS 3 12.22 47.7 127.5 2198-C4004-ERS 1 0.86 1.6 5.3 2198-C4007-ERS 1 1.55 2.9 9.3 2198-C4015-ERS 2 2.78 5.2 18.0 2198-C4020-ERS 2 3.90 7.3 23.8 2198-C4030-ERS 2 6.25 11.7 34.1 2198-C4055-ERS 3 12.08 22.6 58.5 2198-C4075-ERS 3 14.70 27.5 73.5 Cat. No. Frame Size 2198-C1004-ERS Input Voltage 85…132V rms single-phase 170…253V rms single-phase 170…253V rms three-phase 170…253V rms three-phase 342…528V rms three-phase Select a Replacement Drive There are a number of different factors that affect the selection of a replacement servo drive and the system redesign effort. Drive sizing is the primary factor in selecting a replacement servo drive. To identify the correct replacement drive size, compare the continuous and peak output current ratings. Kinetix 350 drives can be replaced with a Kinetix 5300 drive of similar, or in some cases, greater output current capability. The Kinetix 5300 drives with similar current ratings require a similar physical space compared to the Kinetix 350 drives. Factors that affect the redesign effort include these considerations: • • • • 8 Drive sizing (ratings and physical) Dimension comparison Drive interconnects and cabling Accessories Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 1 Replacement Considerations This section lists the Kinetix 350 servo drives and the suggested Kinetix 5300 replacement servo drives, along with the output ratings and dimension differences of the drives. Information in this migration guide is based on the drive combinations that are shown in Table 2 and Table 3. Drive Replacement Nominal Voltage and Output Current Comparison Table 2 compares the Output Current of the Kinetix 350 and Kinetix 5300 drives. Review Table 2 to ensure that the replacement drive can deliver the required level of peak and continuous current to the motor. Table 2 - Suggested Kinetix 5300 Replacement Drives by Output Current Kinetix 350 Drive Cat. No. Voltage Range 2097-V33PR1-LM 2097-V33PR3-LM 80…132V, single-phase (120V nom) Kinetix 5300 Drive Continuous Output Current A rms (0-pk) Peak Output Current A rms (0-pk) Cat. No. 2 (2.8) 6.0 (8.5) 2198-C1004-ERS Voltage Range 85…132V, single-phase (110V nom) Continuous Output Current A rms (0-pk) Peak Output Current A rms (0-pk) 2.8 (4.0) 6.6 (13.4) 4.6 (6.5) 9.7 (21.9) 8.5 (11.7) 12.2 (41.3) 4 (5.7) 12.0 (17.0) 2198-C1007-ERS 8 (11.3) 24.0 (33.9) 2198-C1015-ERS 2097-V33PR6-LM 12 (17.0) 36.0 (50.9) 2198-C1020-ERS 12.2 (17.3) 25.0 (57.4) 2097-V31PR0-LM 2 (2.8) 6.0 (8.5) 2198-C1004-ERS 2.8 (4.0) 9.5 (13.4) 2097-V31PR2-LM 4 (5.7) 12.0 (17.0) 2198-C1007-ERS 4.6 (6.5) 15.5 (21.9) 2097-V32PR0-LM 2 (2.8) 6.0 (8.5) 2198-C1004-ERS 2.8 (4.0) 9.5 (13.4) 4 (5.7) 12.0 (17.0) 2198-C1007-ERS 4.6 (6.5) 15.5 (21.9) 8 (11.3) 24.0 (33.9) 2198-C1015-ERS 8.5 (12.0) 20.5 (41.3) 2 (2.8) 6.0 (8.5) 2198-C1004-ERS 2.8 (4.0) 9.5 (13.4) 2097-V33PR3-LM 4 (5.7) 12.0 (17.0) 2198-C1007-ERS 4.6 (6.5) 15.5 (21.9) 2097-V33PR5-LM 8 (11.3) 24.0 (33.9) 2198-C1015-ERS 8.5 (12.0) 20.5 (41.3) 2097-V33PR6-LM 12 (17.0) 36.0 (50.9) 2198-C1020-ERS 12.2 (17.3) 40.6 (57.4) 2097-V33PR1-LM 2 (2.8) 6.0 (8.5) 2198-C1004-ERS 2.8 (4.0) 9.5 (13.4) 4 (5.7) 12.0 (17.0) 2198-C1007-ERS 4.6 (6.5) 15.5 (21.9) 8 (11.3) 24.0 (33.9) 2198-C1015-ERS 8.5 (12.0) 29.2 (41.3) 12 (17.0) 36.0 (50.9) 2198-C1020-ERS 12.2 (17.3) 40.6 (57.4) 2.0 (2.8) 6.0 (8.5) 2198-C4007-ERS 2.9 (4.1) 9.3 (13.2) 4.0 (5.7) 12.0 (17.0) 2198-C4015-ERS 5.2 (7.4) 18.0 (25.5) 6.0 (8.5) 18.0 (25.5) 2198-C4020-ERS 7.3 (10.3) 23.8 (33.7) 2097-V33PR5-LM 2097-V32PR2-LM 2097-V32PR4-LM 2097-V33PR1-LM 2097-V33PR3-LM 2097-V33PR5-LM 80…264V, single-phase (240V nom) 80…264V, three-phase (240V nom) 2097-V33PR6-LM 2097-V34PR3-LM 2097-V34PR5-LM 2097-V34PR6-LM 320…528V, three-phase (480V nom) 170…253V, single-phase (230V nom) 170…253V, three-phase (230V nom) 342…528V, three-phase (480V nom) Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 9 Chapter 1 Replacement Considerations Table 3 - Additional Kinetix 5300 Drives by Output Current Kinetix 5300 drive Cat. No. Voltage Range 2198-C2030-ERS 2198-C2055-ERS 2198-C2075-ERS 170…253V, three-phase, (230V nom) 2198-C4004-ERS 2198-C4030-ERS 2198-C4055-ERS 342…528V, three-phase, (480V nom) 2198-C4075-ERS Continuous Output Current A rms (0-pk) Peak Output Current A rms (0-pk) 19.6 (27.7) 60.1 (86.3) 40.2 (56.9) 108.0 (152.7) 47.7 (67.5) 127.5 (180.3) 1.6 (2.3) 5.3 (7.5) 11.7 (16.5) 34.1 (48.3) 22.6 (32.0) 58.5 (82.7) 27.5 (38.9) 73.5 (103.9) Dimension Comparison Table 4 compares the dimensions of the Kinetix 350 and Kinetix 5300 drives. Table 4 - Suggested Kinetix 5300 Replacement Drives by Dimensions Kinetix 350 drive Kinetix 5300 Cat. No. Height mm (in.) (1) Width mm (in.) Depth mm (in.) Cat. No. Height mm (in.)(1) Width mm (in.) Depth mm (in.) 2097-V31PR0-LM 238 (9.37) 68.0 (2.68) 185 (7.28) 2198-C1004-ERS 215 (8.46) 50 (1.97) 200 (7.87) 2097-V31PR2-LM 238 (9.37) 69.0 (2.72) 185 (7.28) 2198-C1007-ERS 215 (8.46) 50 (1.97) 200 (7.87) 2097-V32PR0-LM 238 (9.37) 68.0 (2.68) 230 (9.06) 2198-C1004-ERS 215 (8.46) 50 (1.97) 200 (7.87) 2097-V32PR2-LM 238 (9.37) 69.0 (2.72) 230 (9.06) 2198-C1007-ERS 215 (8.46) 50 (1.97) 200 (7.87) 2097-V32PR4-LM 238 (9.37) 87.0 (3.43) 230 (9.06) 2198-C1015-ERS 265 (10.43) 55 (2.16) 200 (7.87) 2097-V33PR1-LM 238 (9.37) 68.0 (2.68) 185 (7.28) 2198-C1004-ERS 215 (8.46) 50 (1.97) 200 (7.87) 2097-V33PR3-LM 238 (9.37) 69.0 (2.72) 185 (7.28) 2198-C1007-ERS 215 (8.46) 50 (1.97) 200 (7.87) 2097-V33PR5-LM 238 (9.37) 94.0 (3.70) 185 (7.28) 2198-C1015-ERS 265 (10.43) 55 (2.16) 200 (7.87) 2097-V33PR6-LM 238 (9.37) 68.0 (2.68) 230 (9.06) 2198-C1020-ERS 265 (10.43) 55 (2.16) 200 (7.87) 2097-V34PR3-LM 238 (9.37) 69.0 (2.72) 185 (7.28) 2198-C4007-ERS 215 (8.46) 50 (1.97) 200 (7.87) 2097-V34PR5-LM 238 (9.37) 94.0 (3.70) 185 (7.28) 2198-C4015-ERS 265 (10.43) 55 (2.16) 200 (7.87) 2097-V34PR6-LM 238 (9.37) 68.0 (2.68) 230 (9.06) 2198-C4020-ERS 265 (10.43) 55 (2.16) 200 (7.87) (1) Height includes connectors. Refer to Dimensions, Cables, and Wiring for additional information on dimensions. 10 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 1 Replacement Considerations AC Input Power Cable Length and Fuse Protection This section provides information to assist in the determination of power cable lengths and fuse protection for the drives. AC Input Power Configuration The Kinetix 350 drive supports multiple types of AC input power: center grounded wye secondary, and corner grounded delta secondary. The Kinetix 5300 drives only support AC input power with center grounded wye secondary. Input Power Cable Length and Fuse Protection Determine the wire length for the AC line input after the drive location and cable routing are finalized. In general, the recommended drive replacement should not require changes in wiring length; however, the routing may need to change as the input power (Mains IPD) and motor power (MP) connections on the Kinetix 350 drives and Kinetix 5300 could be in different physical locations with different terminations. Table 5 gives an overview of the connection placement for Kinetix 5300 drives. See Connectors for a comparison of the Kinetix 350 and Kinetix 5300 drive connectors. Table 5 - Input and Motor Power Connection Placement for Kinetix 350 and Kinetix 5300 Drives Series Kinetix 350 Kinetix 5300 Input Power Location Top Top Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Motor Power Location Front Bottom 11 Chapter 1 Replacement Considerations Circuit Breaker and Fuse Considerations Review the fusing requirements when you change a drive. Table 6 - Kinetix 350 Drive Fuse and Circuit Breaker (CB) Specifications UL Applications IEC (non-UL) Applications Drive Cat. No. Drive Voltage Phase Fuses (Bussmann) Miniature CB Cat. No. Motor Protection CB Cat. No. DIN gG Fuses Amps (max) Miniature CB Cat. No. Motor Protection CB Cat. No. 2097-V31PR0-LM 120/240V Single-phase KTK-R-10 (10 A) 1489-M1C100 140M-C2E-C10 140MT-C3E-C10 10 1492-SPM1D100 140M-C2E-C10 140MT-C3E-C10 2097-V31PR2-LM 120/240V Single-phase KTK-R-20 (20 A) 1489-M1C200 140M-D8E-C20 20 140MT-D9E-C20 1492-SPM1D200 140M-D8E-C20 140MT-D9E-C20 2097-V32PR0-LM 240V Single-phase KTK-R-15 (15 A) 1489-M1C150 140M-D8E-C16 140MT-D9E-C16 16 1492-SPM1D150 140M-D8E-C16 140MT-D9E-C16 2097-V32PR2-LM 240V Single-phase KTK-R-20 (20 A) 1489-M1C200 140M-D8E-C20 20 140MT-D9E-C20 1492-SPM1D200 140M-D8E-C20 140MT-D9E-C20 2097-V32PR4-LM 240V Single-phase KTK-R-30 (30 A) 1489-M1C300 140M-F8E-C32 1492-SPM1D320 140M-F8E-C32 1492-SPM1D200 140M-D8E-C20 140MT-D9E-C20 120/240V Single-phase KTK-R-20 (20 A) 1489-M1C200 240V Three-phase KTK-R-15 (15 A) 1489-M3C150 140M-D8E-C16 140MT-D9E-C16 16 1492-SPM3D150 140M-D8E-C16 140MT-D9E-C16 120/240V Single-phase KTK-R-20 (20 A) 1489-M1C200 140M-D8E-C20 20 140MT-D9E-C20 1492-SPM1D200 140M-D8E-C20 140MT-D9E-C20 240V Three-phase KTK-R-15 (15 A) 1489-M3C150 140M-D8E-C16 140MT-D9E-C16 16 1492-SPM3D150 140M-D8E-C16 140MT-D9E-C16 120/240V Single-phase KTK-R-30 (30 A) 1489-M1C300 140M-F8E-C32 32 1492-SPM1D300 140M-F8E-C32 240V Three-phase KTK-R-20 (20 A) 1489-M3C200 140M-D8E-C20 20 140MT-D9E-C20 1492-SPM3D200 140M-D8E-C20 140MT-D9E-C20 120/240V Single-phase LPJ-40SP — 140M-F8E-C32 40 — 140M-F8E-C32 240V Three-phase KTK-R-30 (30 A) 1489-M3C300 140M-F8E-C32 32 1492-SPM3D300 140M-F8E-C32 2097-V33PR1-LM 2097-V33PR3-LM 2097-V33PR5-LM 2097-V33PR6-LM 32 140M-D8E-C20 20 140MT-D9E-C20 Table 7 - Kinetix 5300 Drive Fuse and Circuit Breaker (CB) Specifications Kinetix 5300 Drives Drive Cat. No. 2198-C1004-ERS Drive Voltage Phase 110V Single-phase Single-phase UL Applications Fuses (Bussmann) KTK-R-6 KTK-R-6 Three-phase KTK-R-6 140U-D6D3-B40 140UT-D7D3-B40 1489-M3C060 140U-D6D3-B40 140UT-D7D3-B40 Single-phase Single-phase KTK-R-10 KTK-R-10 140U-D6D2-B80 140UT-D7D2-B80 1489-M2C100 140U-D6D2-B80 140UT-D7D2-B80 Three-phase KTK-R-10 140U-D6D3-B80 140UT-D7D3-B80 1489-M3C100 140U-D6D3-B80 Single-phase Single-phase KTK-R-15 KTK-R-15 140U-D6D2-C12 140UT-D7D2-C12 1489-M2C160 140U-D6D2-C12 140UT-D7D2-C12 Three-phase KTK-R-15 140U-D6D3-C12 140UT-D7D3-C12 1489-M3C160 140U-D6D3-C12 140UT-D7D3-C12 Single-phase Single-phase KTK-R-25 KTK-R-25 140U-D6D2-C20 140UT-D7D2-C20 1489-M2C250 140U-D6D2-C20 140UT-D7D2-C20 Three-phase KTK-R-25 140U-D6D3-C20 140UT-D7D3-C20 140U-D6D3-C30 140UT-D7D3-C30 140G-G6C3-C50 1489-M3C250 140U-D6D3-C20 140UT-D7D3-C20 140U-D6D3-C30 140UT-D7D3-C30 140G-G6C3-C50 230V 110V 2198-C1007-ERS 230V 110V 2198-C1015-ERS 230V 110V 2198-C1020-ERS 230V 2198-C2030-ERS 230V Three-phase KTK-R-30 2198-C2055-ERS 230V Three-phase LPJ-50SP 12 Molded Case CB Cat. No. IEC (non-UL) Applications DIN gG Fuses Miniature CB Amps (max) Cat. No. Molded Case CB Cat. No. 140U-D6D2-B40 140UT-D7D2-B40 1489-M2C060 140U-D6D2-B40 140UT-D7D2-B40 6 10 16 25 32 1489-M3C400 40 – Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 1 Replacement Considerations Table 7 - Kinetix 5300 Drive Fuse and Circuit Breaker (CB) Specifications (continued) Kinetix 5300 Drives Drive Cat. No. Drive Voltage Phase 2198-C2075-ERS 230V Three-phase UL Applications Fuses (Bussmann) LPJ-60SP 2198-C4004-ERS 480V Three-phase KTK-R-3 2198-C4007-ERS 480V Three-phase KTK-R-6 2198-C4015-ERS 480V Three-phase KTK-R-12 2198-C4020-ERS 480V Three-phase KTK-R-15 2198-C4030-ERS 480V Three-phase KTK-R-25 2198-C4055-ERS 480V Three-phase LPJ-30SP 2198-C4075-ERS 480V Three-phase LPJ-35SP Molded Case CB Cat. No. 140G-G6C3-C60 140U-D6D3-B20 140UT-D7D3-B20 140U-D6D3-B40 140UT-D7D3-B40 140U-D6D3-B80 140UT-D7D3-B80 140U-D6D3-C12 140UT-D7D3-C12 140U-D6D3-C15 140UT-D7D3-C15 140U-D6D3-C30 140UT-D7D3-C30 140U-D6D3-C30 140UT-D7D3-C30 IEC (non-UL) Applications DIN gG Fuses Miniature CB Amps (max) Cat. No. 50 – 2 1489-M3C030 6 1489-M3C060 12 1489-M3C100 16 1489-M3C130 25 1489-M3C200 32 1489-M3C350 32 1489-M3C400 Molded Case CB Cat. No. 140G-G6C3-C60 140U-D6D3-B20 140UT-D7D3-B20 140U-D6D3-B40 140UT-D7D3-B40 140U-D6D3-B80 140UT-D7D3-B80 140U-D6D3-C12 140UT-D7D3-C12 140U-D6D3-C15 140UT-D7D3-C15 140U-D6D3-C30 140UT-D7D3-C30 140U-D6D3-C30 140UT-D7D3-C30 This section provides the power specifications for the Kinetix 350 and Kinetix 5300 servo drives. Power Specifications Table 8 …Table 10 list the power specifications and requirements for the Kinetix 350 servo drives. Table 8 - Kinetix 350 Drives (Single-phase) Power Specifications Attribute 2097-V31PR0-LM 2097-V31PR2-LM 70…132V rms single-phase (120V nom) voltage-doubler mode 80…264V rms single-phase (240V nom) 48…62 Hz AC input voltage AC input frequency Main AC input current (1) Rms (nom) 120V input (voltage-doubler) Inrush (0-pk) Max 120V input Rms (nom) 120/240V input Inrush (0-pk) max 240V input Integrated AC line filter Continuous output current (rms) Continuous output current (0-pk) Peak output current (rms) (2) Peak output current (0-pk) Continuous power output @ 240V nom or 120V (voltage-doubler mode) (3) Shunt On Shunt Off Overvoltage Short-circuit current rating 2097-V32PR0-LM 2097-V32PR2-LM 2097-V32PR4-LM 80…264V rms single-phase (240V nom) 9.70 A 1.15 A 5.0 A 1.1 A 15.0 A 1.15 A 8.6 A 1.1 5.0 A 136 A 8.6 A 2.3 A 15.0 A 2.3 A No 2.0 A 2.8 A No 4.0 A 5.7 A Yes 2.0 A 2.8 A Yes 4.0 A 5.7 A Yes 8.0 A 11.3 A 6.0 A 12.0 A 6.0 A 12.0 A 24.0 A 8.5 A 17.0 A 8.5 A 17.0 A 39.9 A 0.40 kW 0.80 kW 0.40 kW 0.80 kW 1.70 kW 390V DC 375V DC 430V DC 100,000 A (rms) symmetrical (1) Kinetix 350 drive modules are limited to 1 AC main power cycling per every 2 minutes. (2) Peak RMS current allowed for up to 2 seconds with a 50% duty cycle. (3) Nominal continuous power output (kW) applies to 240V AC drives. Value is approximately one-half of this kW rating when using 120V AC. Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 13 Chapter 1 Replacement Considerations Table 9 - Kinetix 350 Drives (single-phase and three-phase) Power Specifications Attribute AC input voltage AC input frequency Main AC input current (1) Rms (nom) 120V input (voltage doubler) Inrush (0-pk) max 120V input Rms (nom) 120/240V input Inrush (0-pk) max 240V input Integrated AC line filter Continuous output current (rms) Continuous output current (0-pk) Peak output current (rms) (2) Peak output current (0-pk) Continuous power output @ 240V nom or 120V (voltage-doubler mode) (3) Shunt On Shunt Off Overvoltage threshold Short-circuit current rating 2097-V33PR1-LM 2097-V33PR3-LM 80…132V rms single-phase (120V nom) 80…264V rms single-phase (240V nom) 80…264V rms three-phase (240V nom) 48…62 Hz 2097-V33PR5-LM 2097-V33PR6-LM 5.0 A 68.0 A 3.0 A 136 A 8.6 A 1.15 A 5.0 A 2.3 A 15.0 A 1.15 A 8.7 A 2.3 A 24.0 A 5.65 A 13.9 A 11.3 A No 2.0 A 2.8 A No 4.0 A 5.7 A No 8.0 A 11.3 A No 12.0 A 17.0 A 6.0 A 12.0 A 24.0 A 36.0 A 8.5 A 17.0 A 33.9 A 50.9 A 0.50 kW 1.00 kW 2.00 kW 3.00 kW 390V DC 375V DC 430V DC 100,000 A (rms) symmetrical (1) Kinetix 350 drive modules are limited to 1 AC main power cycling per every 2 minutes. (2) Peak RMS current allowed for up to 2 seconds with a 50% duty cycle. (3) Nominal continuous power output (kW) applies to 240V AC drives. Value is approximately one-half of this kW rating when using 120V AC. Table 10 - Kinetix 350 Drive (three-phase) Power Specifications Attribute 2097-V34PR3-LM AC input voltage 320…528V rms three-phase (480V nom) AC input frequency 48…62 Hz Main AC input current (1) 2.7 A 4.5 A Nom (rms) Max inrush (0-pk) 2097-V34PR5-LM 2097-V34PR6-LM 5.5 A 4.5 A 7.9 A 22.6 A Integrated AC line filter No No No Continuous output current (rms) 2.0 A 4.0 A 6.0 A Continuous output current (0-pk) 2.8 A 5.7 A 8.5 A (2) 6.0 A 12.0 A 18.0 A Peak output current (0-pk) 8.5 A 17.0 A 25.5 A Continuous power output @ 480V nom 1.00 kW 2.00 kW 3.00 kW Shunt on 780V DC Shunt off 750V DC Peak output current (rms) Overvoltage 850V DC Short-circuit current rating 100,000 A (rms) symmetrical (1) Kinetix 350 drive modules are limited to 1 AC mains power cycling per every 2 minutes. (2) Peak RMS current allowed for up to 2 seconds with a 50% duty cycle. 14 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 1 Replacement Considerations Table 11 … Table 14 list power specifications and requirements for the Kinetix 5300 drives. Table 11 - Kinetix 5300 (110V and 230V, single-phase and three-phase) Power Specifications Attribute 2198-C1004-ERS 2198-C1007-ERS 85…132V rms, single-phase (110V nom) 170…253V rms, single-phase (230V nom) 170…253V rms, three-phase (230V nom) 47…63 Hz 2198-C1015-ERS 2198-C1020-ERS 2.17 A 3.56 A 6.58 A 9.45 A 6.0 A 11.5 A 7.4 A 6.99 A 21.6…26.4V DC 24V DC nom 6.0 A 11.5 A 7.4 A 10.48 A 6.0 A 11.5 A 7.4 A 19.75 A 6.0 A 11.5 A 7.4 A 27.46 A 0.4 A DC 0.4 A DC 0.9 A DC 0.9 A DC 2.8 A 4.6 A 8.5 A 12.2 A 4.0 A 6.5 A 12.0 A 17.3 A 6.6 A 9.5 A 9.5 A 9.7 A 15.5 A 15.5 A 12.2 A 20.5 A 29.2 A 25.0 A 40.6 A 40.6 A 9.3 A 13.4 A 13.4 A 20 ms 13.7 A 21.9 A 21.9 A 17.3 A 29.0 A 41.3 A 35.4 A 57.4 A 57.4 A Continuous output power @ 110V nom single-phase @ 230V nom single-phase @ 230V nom three-phase 0.22 kW 0.46 kW 0.72 kW 0.36 kW 0.76 kW 1.18 kW 0.67 kW 1.41 kW 2.18 kW 0.97 kW 2.02 kW 3.13 kW Internal shunt on 387.5V AC input voltage AC input frequency Main AC input current (rms) (1) Max inrush current (0-pk) Nom 110V input (single-phase) Nom 230V input (single-phase) Nom 230V input (three-phase) Peak AC input current (rms) Control power input voltage (2) Control power input current (1) (3) (non-brake motors) Continuous output current (rms) Nom 110V input (single-phase) Nom 230V input (single-phase) Nom 230V input (three-phase) Continuous output current (0-pk) Nom 110V input (single-phase) Nom 230V input (single-phase) Nom 230V input (three-phase) Peak output current (rms) (4) Nom 110V input (single-phase) Nom 230V input (single-phase) Nom 230V input (three-phase) Peak output current (0-pk) Nom 110V input (single-phase) Nom 230V input (single-phase) Nom 230V input (three-phase) Line loss ride through Internal shunt off 377.5V Internal shunt resistor 100 Ω 100 Ω 60 Ω 60 Ω Internal shunt power 30 W 30 W 50 W 50 W Bus undervoltage limit 72V @110V AC input 144V @230V AC input Bus overvoltage limit 405V Bus capacitance 330 µF 560 µF 660 µF 1120 µF Capacitive energy absorption @ 110V nom AC input @ 230V nom AC input 21.31 J 5.94 J 36.17 J 10.08 J 42.63 J 11.88 J 72.34 J 20.16 J Efficiency 91% @110V (single-phase) AC input 95% @230V (single-phase) AC input 97% @230V (three-phase) AC input Short-circuit current rating (5) 200,000 A (rms) symmetrical (1) (2) (3) (4) (5) Drives are limited to one power cycle per minute. The cooling fan runs as part of the control power startup routine, when the inverter is enabled, and if the inverter temperature exceeds preset threshold. For current values when motors include a holding brake, refer to Kinetix Servo Drive Specifications Technical Data, publication KNX-TD003. Peak RMS current allowed for up to 1.0 seconds. This rating is only valid if UL specified fuses are used. Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 15 Chapter 1 Replacement Considerations Table 12 - Kinetix 5300 (230V, three-phase) Input Power Specifications Attribute 2198-C2030-ERS AC input voltage 170…253V rms, three-phase (230V nom) 2198-C2055-ERS 2198-C2075-ERS AC input frequency 47…63 Hz Main AC input current (rms) (1) 15.18 A 31.13 A 36.93 A Max inrush current (0-pk) 7.4 A 14.8 A Peak AC input current (rms) 41.26 A 73.06 A 14.8 A 86.25 A Control power input voltage (2) 21.6…26.4V DC 24V DC nom Control power input current (1) (3) (non-brake motors) 0.9 A DC 1.7 A DC 1.7 A DC Continuous output current (rms) 19.6 A 40.2 A Continuous output current (0-pk) 27.7 A 56.9 A 47.7 A 67.5 A Peak output current (rms) (4) 61.0 A 108.0 A 127.5 A Peak output current (0-pk) 86.3 A 152.7 A 180.3 A Line loss ride through 20 ms Continuous output power 5.02 kW 10.30 kW 12.22 kW Internal shunt on 387.5V Internal shunt off 377.5V Internal shunt resistor 60 Ω 40 Ω Internal shunt power 50 W 75 W Bus undervoltage limit 144V Bus overvoltage limit 405V Bus capacitance 1680 µF 2460 µF Capacitive energy absorption 30.25 J 44.29 J Efficiency 97% Short-circuit current rating (5) 200,000 A (rms) symmetrical (1) (2) (3) (4) (5) 3280 µF 59.05 J Drives are limited to one power cycle per minute. The cooling fan runs as part of the control power startup routine, when the inverter is enabled, and if the inverter temperature exceeds preset threshold. For current values when motors include a holding brake, refer to Kinetix Servo Drive Specifications Technical Data, publication KNX-TD003. Peak RMS current allowed for up to 1.0 seconds. This rating is only valid if UL specified fuses are used. Table 13 - Kinetix 5300 (480V, three-phase) Input Power Specifications Attribute 2198-C4004-ERS 2198-C4007-ERS 2198-C4015-ERS 2198-C4020-ERS AC input voltage 342…528V rms, three-phase (480V nom) AC input frequency 47…63 Hz Main AC input current (rms) (1) 1.24 A 2.25 A 4.03 A 5.65 A Max inrush current (0-pk) 15.5 A 15.5 A 15.5 A 15.5 A Peak AC input current (rms) 3.59 A 6.29 A 12.18 A 16.10 A Control power input voltage (2) 21.6…26.4V DC 24V DC nom Control power input current (1) (3) (non-brake motors) 0.4 A DC 0.4 A DC 0.9 A DC 0.9 A DC Continuous output current (rms) 1.6 A 2.9 A 5.2 A 7.3 A Continuous output current (0-pk) 2.3 A 4.1 A 7.4 A 10.3 A Peak output current (rms) (4) 5.3 A 9.3 A 18.0 A 23.8 A Peak output current (0-pk) 7.5 A 13.2 A 25.5 A 33.7 A 1.55 kW 2.78 kW 3.90 kW 100 Ω 60 Ω 60 Ω Line loss ride through 20 ms Continuous output power 0.86 kW Internal shunt on 775V Internal shunt off 765V Internal shunt resistor 100 Ω 16 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 1 Replacement Considerations Table 13 - Kinetix 5300 (480V, three-phase) Input Power Specifications (continued) Attribute 2198-C4004-ERS 2198-C4007-ERS 2198-C4015-ERS 2198-C4020-ERS Internal shunt power 30 W 30 W 50 W 50 W Bus undervoltage limit 275V Bus overvoltage limit 810V Bus capacitance 165 µF 165 µF 280 µF 330 µF Capacitive energy absorption 8.13 J 13.79 J 16.26 J Efficiency 97% Short-circuit current rating (5) 200,000 A (rms) symmetrical (1) (2) (3) (4) (5) Drives are limited to one power cycle per minute. The cooling fan runs as part of the control power startup routine, when the inverter is enabled, and if the inverter temperature exceeds preset threshold. For current values when motors include a holding brake, refer to Kinetix Servo Drive Specifications Technical Data, publication KNX-TD003. Peak RMS current allowed for up to 1.0 seconds. This rating is only valid if UL specified fuses are used. Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 17 Chapter 1 Replacement Considerations Table 14 - Kinetix 5300 (480V, three-phase) Input Power Specifications Attribute 2198-C4030-ERS AC input voltage 342…528V rms, three-phase (480V nom) AC input frequency 47…63 Hz Main AC input current (rms) (1) 9.06 A 2198-C4055-ERS 2198-C4075-ERS 17.50 A 21.29 A Max inrush current (0-pk) 30.9 A 30.9 A 46.4 A Peak AC input current (rms) 23.07 A 39.57 A 49.72 A Control power input voltage (2) 21.6…26.4V DC 24V DC nom Control power input current (1) (3) (non-brake motors) 0.9 A DC 1.7 A DC 1.7 A DC Continuous output current (rms) 11.7 A 22.6 A 27.5 A Continuous output current (0-pk) 16.5 A 32.0 A 38.9 A Peak output current (rms) (4) 34.1 A 58.5 A 73.5 A Peak output current (0-pk) 48.3 A 82.7 A 103.9 A Line loss ride through 20 ms 12.08 kW 14.70 kW Continuous output power 6.25 kW Internal shunt on 775V Internal shunt off 765V Internal shunt resistor 60 Ω 40 Ω Internal shunt power 50 W 75 W Bus undervoltage limit 275V Bus overvoltage limit 810V Bus capacitance 560 µF 820 µF 1230 µF Capacitive energy absorption 27.59 J 40.40 J 60.60 J Efficiency 97% Short-circuit current rating (5) 200,000 A (rms) symmetrical (1) (2) (3) (4) (5) Drives are limited to one power cycle per minute. The cooling fan runs as part of the control power startup routine, when the inverter is enabled, and if the inverter temperature exceeds preset threshold. For current values when motors include a holding brake, refer to Kinetix Servo Drive Specifications Technical Data, publication KNX-TD003. Peak RMS current allowed for up to 1.0 seconds. This rating is only valid if UL specified fuses are used. I/O Availability and Specifications All Kinetix 350 and Kinetix 5300 servo drives have a set of digital I/O. Use the specifications that follow to verify if the operation between the drives will be consistent. Digital Inputs This section describes digital inputs for Kinetix 350 and Kinetix 5300 servo drives. Table 15 compares the digital inputs of the two drive families. 18 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 1 Replacement Considerations Table 15 - Kinetix Drives Digital Input Specification Comparison Attribute Kinetix 350 Values Kinetix 5300 Value Input functions Dedicated functions: Enable, Home, Positive Overtravel, Negative Overtravel, Registration Configurable functions: Enable, Home, Positive Overtravel, Negative Overtravel, Registration 1, Registration 2 Input current (with 24V applied) 9 mA, max 2.5 mA, typical Input ON voltage range (typical) 4.2…24V @ 2…9 mA total 15…26.4V DC Input OFF voltage, max 0…2.5V 5V DC Pulse reject filtering (registration functions) 120 ns, nom — Pulse reject filtering (home input function) debounce filter 1.0 ms, nom — Propagation delay (registration functions) 5 µs — Registration accuracy — ±3 µs Registration repeatability 200 ns 1.0 µs Input reaction time (Disable) 2 ms, max — Input reaction time (Enable, Positive Overtravel inputs) 2 ms, max — Input protection — Optically isolated, reverse voltage protected Digital input type according to IEC 61131-2 — 24V DC Type 1 Kinetix 350 Drives The Kinetix 350 drive has five digital inputs. The five digital inputs (IOD-27…IOD-30 and IOD-39) have fixed pin assignments. See Table 16 for input assignments. Each input can be assigned an individual debounce time via the Studio 5000 Logix Designer® application. The inputs are separated into three groups: A, B, and C. Each group has four inputs and share one common: IN_A_COM, IN_B_COM, and IN_C_COM, respectively. Travel limit switches, the inhibit/enable input, and registration input have dedicated inputs. Table 16 - Kinetix 350 Drives Fixed Digital Input Assignments IOD Pin Signal Description Capture Time Edge/ Level Sensitive IOD-29 ENABLE Optically isolated, single-ended active high signal. Current loading is nominally 9 mA. A 24V DC input is applied to this terminal to enable the axis. 0.5 ms Level IOD-30 HOME Optically isolated, single-ended active high signal. Current loading is nominally 9 mA. Home switch (normally open contact) inputs axis require 24V DC (nominal). 0.5 ms Edge IOD-39 REG Optically isolated, single-ended active high signal. Current loading is nominally 9 mA. A 24V DC input is applied or removed from this terminal to trigger registration event. Fast registration inputs are required to ensure the motor interface can capture the positional information with less than 5 µs uncertainty. 5 µs Edge IOD-27 IOD-28 NEG_OT POS_OT Overtravel detection is available as an optically isolated, single-ended active high signal. Current loading is nominally 9 mA per input. The positive/negative limit switch (normally closed contact) inputs for axis require 24V DC (nominal). 1 ms Level Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 19 Chapter 1 Replacement Considerations The digital inputs are optically isolated and sink up to 24V DC. You can configure the inputs for PNP sourcing or NPN sinking. Figure 1 - Sourcing of Digital Inputs +24V 1.2 kΩ ENABLE, HOME_SW, POS_OT, or NEG_OT 1.2 kΩ ENABLE, HOME_SW, POS_OT, or NEG_OT GND COM Figure 2 - Sinking of Digital Inputs 1.2 kΩ GND ENABLE, HOME_SW, POS_OT, or NEG_OT 1.2 kΩ ENABLE, HOME_SW, POS_OT, or NEG_OT +24V COM Figure 3 - Sourcing of Registration Digital Input 1.2 kΩ +24V REG 1.2 kΩ REG GND 20 REG_COM Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 1 Replacement Considerations Figure 4 - Sinking of Registration Digital Input 1.2 kΩ GND REG 1.2 kΩ REG REG_COM +24V Kinetix 5300 Drives The Kinetix 5300 drive has four configurable digital inputs and six configurable functions to choose from in the Logix Designer application. Digital inputs require a 24V DC @ 15 mA supply. These are sinking inputs that require a sourcing device. A common and cable shield connection is provided on the connector for digital inputs. IMPORTANT To improve registration input EMC performance, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001. Although any input can be configured as a registration input, only two can be registration inputs at any one time Table 17 - Understand Digital Input Functions Function Description Enable A 24V DC input is applied to this terminal to move the AxisCipDrive from Start-Inhibited to Stopped State. Home An active state indicates to a homing sequence that the referencing sensor has been seen. Typically, a transition of this signal is used to establish a reference position for the machine axis. Registration 1 An inactive-to-active transition (also known as a positive transition) or active-to-inactive transition (also known as a negative transition) is used to latch position values for use in Registration 2 registration moves. Positive overtravel Negative overtravel The positive/negative limit switch (normally closed contact) inputs for each axis require 24V DC (nominal). Motor Brake Output The Kinetix 350 and 5300 drives both have an optional motor brake output. 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 power supply drives the brake output through a solid-state relay. Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 21 Chapter 1 Replacement Considerations Kinetix 350 Motor Brake Output The two digital outputs (IOD-43 and IOD-44) have fixed pin assignments for motor brake function. Attribute Value Circuit type Optically isolated open collector/emitter Voltage, max 30V DC Current, max 100 mA The following schematic shows a typical wiring configuration for the motor brake circuit with a Kinetix 350 drive. Figure 5 - Brake Wiring Schematic Kinetix 350 Drive 24V DC MTR_BRAKE + MTR_BRAKE - 43 44 CR1 White 7 Black 9 Motor Brake BR+ BR- 24V DC COM Kinetix 5300 Motor Brake Output Two connections (MBRK+ and MBRK-) are required for the motor brake output. Connections are rated for 2.25 A @ +24V (refer to Figure 6). When replacing a Kinetix 350 with a Kinetix 5300, do not wire a customer supplied power supply to the motor brake circuit of the Kinetix 5300 drive. Instead, either wire the motor brake circuit directly to the motor brake, or use the 24V supplied by the Kinetix 5300 motor brake connector to drive an interposing relay. In many cases the external relay circuit can be removed, because the Kinetix 5300 can drive 2.25 A motor brakes directly, which is sufficient for most applications. Figure 6 - Motor Brake Circuit 24V PWR INT PWR Control Board Kinetix 5300 Servo Drive ISP772 24V COM IMPORTANT 22 Inductive Energy Clamp MBRK+ (BC-1) MBRK– (BC-2) Motor parking-brake switching frequency must not exceed 15 cycles/min. Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 1 Replacement Considerations Control of the solid-state relay to release the motor brake is configurable in the Logix Designer application Refer to Kinetix 5300 Single-axis EtherNet/IP Servo Drives User Manual, publication 2198-UM005. An active signal releases the motor brake. Turn-on and turn-off delays are specified by the MechanicalBrakeEngageDelay and MechanicalBrakeReleaseDelay settings. IMPORTANT Holding brakes that are available on Allen-Bradley® rotary motors are designed to hold a motor shaft at 0 rpm for up to the rated brakeholding torque, not to stop the rotation of the motor shaft, or be used as a safety device. You must command the servo drive to 0 rpm and engage the brake only after verifying that the motor shaft is at 0 rpm. Control and Auxiliary Power Specifications The Kinetix 350 drives use a 24V DC logic power source for all drives (referred to as control power). Table 18 shows the control power specifications for the drives. Table 18 - Kinetix Drive Control Power Specification Comparison Kinetix 5300 Drive(2) Attribute Kinetix 350 Drives Control power input voltage 20…26V DC 21.6…26.4V DC 24V DC nom Control power input current Nominal @24V DC (1) Inrush max (0-pk) 500 mA 30 A 400 mA 1.8 A Frame 1 Frame 2 Frame 3 900 mA 2.4 A 1.7 A 3.0 A (1) For the Kinetix 5300 only: Plus BC connector (MBRK+) current. (2) The cooling fan runs as part of the control power startup routine, when the inverter is enabled, and if the inverter temperature exceeds preset threshold. The Kinetix 5300 drives also require 24V DC input power for control circuitry. IMPORTANT PELV rated power supplies must be used to energize external safety devices connected to the Kinetix 5300 safety inputs. The National Electrical Code and local electrical codes take precedence over the values and methods provided. Implementation of these codes is the responsibility of the machine builder. Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 23 Chapter 1 Replacement Considerations Kinetix Motor and Actuator Compatibility Compatible Kinetix motor and actuators for the Kinetix 350 and Kinetix 5300 servo drives are listed in Table 19. Table 19 - Motor Compatibility Motor/Actuator Cat. No. Kinetix 350 Kinetix 5300 MPL-A/B15xxx-V/Ex7xAA, MPL-A/B2xxx-V/Ex7xAA MPL-A/B3xxx-S/Mx7xAA, MPL-A/B4xxx-S/Mx7xAA MPL-A/B45xxx-S/Mx7xAA, MPL-A/B5xxx-S/Mx7xAA MPL-B6xxx-S/Mx7xAA, MPL-B8xxx-S/Mx7xAA MPL-B9xxx-S/Mx7xAA, MPL-A/B15xxx-Hx7xAA MPL-A/B2xxx-Hx7xAA, MPL-A/B3xxx-Hx7xAA MPL-A/B4xxx-Hx7xAA, MPL-A/B45xxx-Hx7xAA Yes Yes MPM-A/Bxxxx-S/M MPF-A/Bxxxx-S/M MPS-A/Bxxxx-S/M Yes Yes MPAR-A/B1xxxx-V and MPAR-A/B2xxxx-V (series B) MPAR-A/B3xxxx-M MPAI-A/BxxxxxM3 Yes Yes MPAS-A/Bxxxx1-V05SxA (ballscrew) MPAS-A/Bxxxx2-V20SxA (ballscrew) Yes Yes MPAS-A/Bxxxx-ALMx2C (direct drive) No Yes LDAT-Sxxxxxx-xDx, LDAT-Sxxxxxx-xBx No Yes LDC-Cxxxxxx-xH LDL-xxxxxxx-xH No Yes TLP-A046-xxx, TLP-A070-xxx, TLP-A090-xxx, TLP-A100-xxx, TLP-A115-xxx, TLP-A145-xxx, TLP-A200-xxx, TLP-B070-xxx, TLPB090-xxx, TLP-B115-xxx, TLP-B145-xxx, TLP-B200-xxx No Yes TLY-Axxxx-B, TLY-Axxxx-H Yes Yes TL-Axxxx-B No Yes Feedback Devices For more information on the compatible feedback types see the Kinetix 5300 Single-axis Ethernet/IP Servo Drives User Manual, publication 2198-UM005 and the Kinetix 350 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM002. Kinetix 350 Motor Feedback Devices The Kinetix 350 drives support multiple types of feedback devices by using the 15-pin (MF) motor feedback connector and shared connector pins in many cases. The drive accepts motor feedback signals from encoders with these general specifications. 24 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 1 Replacement Considerations Table 20 - Motor Feedback General Specifications Attribute Feedback device support Power supply (EPWR5V) Power supply (EPWR9V) Thermostat Value • Hiperface • Generic TTL Incremental • Tamagawa 17-bit Serial 5.13…5.67V, 400 mA, max 8.3…9.9V, 275 mA, max Single-ended, under 500 Ω = no fault, over 10 kΩ = fault Kinetix 5300 Motor Feedback Devices The Kinetix 5300 drives accept motor feedback of various types on the MFB feedback connector and auxiliary feedback signals from TTL incremental encoders on the digital inputs and auxiliary feedback connector. IMPORTANT Auto-configuration in the Logix Designer application of intelligent absolute, high-resolution encoders, and incremental encoders is possible with only Allen-Bradley motors. Motor feedback and auxiliary feedback can be used in these applications: • • • Motor feedback Auxiliary feedback and feedback-only axis Load feedback (dual-loop control) and master feedback applications Table 21 - Feedback General Specifications Attribute Feedback device support Power supply voltage (MTR_EPWR5V) Power supply current (MTR_EPWR5V) Power supply voltage (MTR_EPWR9V) Power supply current (MTR_EPWR9V) Thermostat Accessories Motor Feedback Auxiliary Feedback • Hiperface • Tamagawa (17-bit) serial (Kinetix TL and TLY motors) Generic TTL • Nikon (24-bit) serial (Kinetix TLP motors) Incremental • Generic TTL Incremental • Generic Sine/Cosine Incremental 5.10…5.40V 300 mA, max 8.10…9.90V 150 mA, max Single-ended, under 500 Ω = no fault, over 10 kΩ= fault You can reuse motor power and feedback cables between Kinetix MP motors and Kinetix 350 drives in Kinetix 5300 applications. See Dimensions, Cables, and Wiring for more details. In some instances, existing shunt resistors used with Kinetix 350 drives can be reused with Kinetix 5300 drives. Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 25 Chapter 1 Replacement Considerations Required Accessories See Kinetix 300 and Kinetix 350 Drive Systems Design Guide, publication KNX-RM004 for detailed descriptions and specifications of the servo drive accessories. See Kinetix 5300 Drive Systems Design Guide, publication KNX-RM012 for detailed descriptions and specifications of the servo drive accessories. Table 22 - Kinetix 350 Required Drive Accessories Cat. No.(4) Description 1585J-M8CBJM-x Double-ended, non-flex, shielded 1585J-M8UBJM-x Double-ended, high-flex, shielded Low-profile connector kits (required for flying-lead cables) (2) 2090-K2CK-D15M Incremental feedback from any compatible motor/ actuator to Kinetix 350 drives Terminal block for I/O connections (1) 2097-TB1 Provides termination points for 50-pin IOD connector Backup battery (required to maintain absolute position reference) (2) 2090-DA-BAT2 Installs in the 2090-K2CK-D15M low-profile connector kit and applies to drive systems that include TLY-Axxxx-B rotary motors Drive Accessory Ethernet Cable (1) (3) Motor power and feedback cables (2) — External passive shunts are available to provide additional shunt capacity for applications where the internal shunt capacity is exceeded External Shunt Resistor (3) AC Line Filters (3) Refer to the specific drive/motor combination for the motor cables required for your system 2097-F4, 2097-F5, or 2097-F6 These recommended line filters are required to meet CE requirements (1) Refer to the Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004, for detailed descriptions and specifications of these drive accessories. (2) Refer to the Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003, for detailed descriptions and specifications of these drive accessories. (3) This is an optional accessory. (4) Where x equals the cable length in meters. Table 23 - Kinetix 5300 Drive Accessories Accessory (1) Cat. No. Description Low-profile Feedback Connector kit (required for flying-lead cables) 2198-K53CK-D15M Motor feedback connector kit with 15-pin connector plug and battery backup is required for absolute position. Supports Kinetix MP, TL, TLP, TLY, and LDAT-Series rotary motors and linear actuators Motor Power and Feedback Cables Refer to the specific drive/motor combination for the motor cables required for your system — 1585J-M8CBJM-x Ethernet cables are available in standard lengths; Shielded cable is recommended 2198-H040-x-x Input wiring connectors and DC bus T-connector for frame 1 and 2 servo drives 2198-H070-x-x Input wiring connectors and DC bus T-connector for frame 3 servo drives External Shunt Resistor (3) 2097-Rx and 2198-Rxxx External passive shunts are available to provide additional shunt capacity for applications where the internal shunt capacity is exceeded AC Line Filters (3) 2198-DB08-F 2198-DBRxx-F These recommended line filters are required to meet CE requirements Ethernet Cables (2) 24V DC Shared-bus Connector Kits (zero-stack tab / cutout) (3) (1) Refer to the Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003, for detailed descriptions and specifications of these drive accessories. (2) Where x equals the cable length in meters. (3) This is an optional accessory. 26 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 1 Replacement Considerations The Kinetix 5300 drives include an internal shunt that is wired to the shunt resistor connector at the factory. Optional Drive Accessories Both the Kinetix 350 and Kinetix 5300 servo drives have a variety of optional drive accessories. For details on which accessories are available with each drive, refer to the Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004. External Shunt Resistor The Kinetix 5300 has optional external shunt resistors (Bulletin 2198-Rxxx or 2097-Rx shunt resistors) that can be used to provide additional shunt capacity for applications when the internal shunt capacity of the drive is exceeded. Catalog numbers 2198-R014 and 2198-R031 are is composed of resistor coils that are housed inside an enclosure. Catalog numbers 2097-R6, 2097-R7, and 2198-R001, 2198-R002, 2198-R004 are shunt resistors without an enclosure. Communication Configuration, programming, and diagnostics of the Kinetix 350 and Kinetix 5300 drives are performed over the standard 10/100 Mbps Ethernet communication port by using the Studio 5000 Logix Designer application. • • The Kinetix 350 drives have a single RJ45 10/100Mbit Ethernet connector (PORT1). Natively, the Kinetix 350 drives only support Ethernet star topology. Some configurations have been modified to use an ETAP or similar device to create a ring or linear topology. The Kinetix 5300 drives have two RJ45 10/100Mbit Ethernet connectors (PORT1 and PORT2) which support any Ethernet topology including linear, ring, and star. IMPORTANT When using an external Ethernet switch for routing traffic between the controller and the drive, switches with IEEE-1588 time synchronization capabilities (boundary or transparent clock) must be used to make sure switch delays are compensated. Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 27 Chapter 1 Replacement Considerations Notes: 28 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 2 Connectors Connectors on the Kinetix® 350 servo drives and on the Kinetix 5300 servo drives are of different types in different locations. Make sure that your cables are long enough to compensate for the differences. The connectors of the Kinetix 350 servo drives are show in Figure 7. Although the physical size of the Kinetix 350 drives vary, the location of the connectors and indicators is identical. Kinetix 350 Servo Drive Connector Locations Figure 7 - Kinetix 350 Connector Locations 10 2 3 4 5 6 13 14 350 7 12 8 15 1 11 9 10 Kinetix 350 Drive, Top View (2097-V33PR5-LM drive is shown) Kinetix® 350 Drive, Front View (2097-V33PR5-LM drive is shown) Kinetix 350 Drive, Bottom View (2097-V33PR5-LM drive is shown) Table 24 - Kinetix 350 Drive Connectors Item 1 Item 9 Description Motor feedback (MF) connector 10 Ground lug 11 12 13 14 15 Shunt resistor and DC bus (BC) connector Back-up power (BP) connector Display control push buttons (3) Motor power (MP) connector Safe torque-off (STO) connector Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 29 2 3 4 5 6 7 8 Description Mains (IPD) connector Data status indicator and diagnostic display Memory module socket Network status indicator Module status indicator Axis status indicator Ethernet communication port (Port 1) I/O (IOD) connector Chapter 2 Connectors Kinetix 5300 Servo Drive Connector Locations Figure 8 - Kinetix 5300 Connector Locations 7 7 MOD NET Kinetix 5300, Top View (2198-C1004-ERS drive is shown) 15 DC+ SH 8 KINETIX 5300 6 5 The connectors of the Kinetix 5300 servo drive are shown in Figure 8. NEXT Kinetix 5300, Bottom View (frame 2 and 3 drives only) 9 2 SELECT 1 Electric shock r i s k . Powe r o ff a n d wa i t 5 m i n u te s. BACK DANGER Cooling Fan 10 10 U U V V W W L2 L2 Kinetix 5300 Drive, Front View (2198-C1004-ERS drive is shown) L1 L1 L3 3 L3 11 1 16 Shared-bus 24V Input Wiring Connector 12 2 2 1 13 2 1 17 24+ 24- 4 SB+ SB- MBRK SB+ MFB SBS1 SC S2 S1 18 SC S2 1 14 Item Description Item Description Item Description 1 Motor cable shield clamp 7 Zero-stack mounting tab/cutout 13 Motor brake connector 2 Motor feedback (MFB) connector 8 Four-character status display 14 Ground terminal 3 Digital inputs and auxiliary feedback connector 9 Navigation pushbuttons 15 Shunt resistor connector 4 Ethernet (PORT1) RJ45 connector 10 Link speed status indicators 16 AC mains input power connector 5 Ethernet (PORT2) RJ45 connector 11 Link/Activity status indicators 17 24V control input power connector 6 Module and Network status indicators 12 Motor power connector 18 Safe Torque Off (STO) connector I/O Connector and Auxiliary Feedback Pinouts This section describes the I/O and Auxiliary Feedback Connector pin assignments for the Kinetix 350 servo drive and the Kinetix 5300 servo drive. See Figure 7 for locations of connectors on your Kinetix 350 drive. See Figure 8 for locations of connectors on your Kinetix 5300 drive. There is no separate auxiliary feedback connector used with the Kinetix 350 or Kinetix 5300 drives. The auxiliary encoder signal is wired using the I/O connector. 30 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 2 Connectors Table 25 … Table 28 describes the I/O and auxiliary feedback connector pin assignments for the Kinetix 350 (IOD connector) and Kinetix 5300 (I/O connector) servo drives. Table 25 - I/O and Auxiliary Feedback Connector Assignment for Kinetix 350 Drives IOD Pin 1…25 26 27 28 29 30 31…35 36 37…38 39 40…42 43 44 44…50 Description Reserved +/- Overtravel, enable, and home common Negative hardware overtravel Positive hardware overtravel Drive enable Home switch Reserved Registration common Reserved Registration input Reserved Motor brake release positive Motor brake release negative Reserved Signal Reserved COM NEG_OT POS_OT ENABLE HOME_SW — REG_COM — REG — MTR_BRAKE+ MTR_BRAKE— Five fixed inputs are available for the machine interface on the Kinetix 350 drive. The five digital inputs (IOD-27…IOD-30 and IOD-39) have fixed pin assignments. Table 26 - Kinetix 350 Drive Digital Inputs IOD Pin Signal Description IOD-29 ENABLE IOD-30 HOME IOD-39 REG IOD-27 IOD-28 NEG_OT POS_OT Optically isolated, single-ended active high signal. Current loading is nominally 9 mA. A 24V DC 0.5 ms input is applied to this terminal to enable the axis. Optically isolated, single-ended active high signal. Current loading is nominally 9 mA. Home 0.5 ms switch (normally open contact) inputs axis require 24V DC (nominal). Optically isolated, single-ended active high signal. Current loading is nominally 9 mA. A 24V DC input is applied or removed from this terminal to trigger registration event. Fast 5 µs registration inputs are required to ensure the motor interface can capture the positional information with less than 5 µs uncertainty. Overtravel detection is available as an optically isolated, single-ended active high signal. Current loading is nominally 9 mA per input. The positive/negative limit switch (normally closed 1 ms contact) inputs for axis require 24V DC (nominal). Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Capture Time Edge/Level Sensitive Level Edge Edge Level 31 Chapter 2 Connectors The Kinetix 5300 drive has four configurable digital inputs and six configurable functions to choose from in the Studio 5000 Logix Designer® application. Table 27 - Kinetix 5300 Drive I/O and Auxiliary Feedback Connector Assignment Pin Description Signal Pin Description Signal 1 24V current-sinking fast input #1 IN1 11 24V current-sinking fast input #3 IN3 2 I/O common for customer-supplied 24V supply COM 12 I/O common for customer-supplied 24V supply COM 3 24V current-sinking fast input #2 IN2 13 24V current-sinking fast input #4 IN4 4 I/O common for customer-supplied 24V supply COM 14 I/O common for customer-supplied 24V supply COM 5 I/O cable shield termination point SHLD 15 I/O cable shield termination point SHLD 6 Channel AM Differential Input + AM+ 16 Channel AM Differential Input – AM– 7 Channel BM Differential Input + BM+ 17 Channel BM Differential Input – BM– 8 Channel IM Differential Input + IM+ 18 Channel IM Differential Input – IM– 9 Encoder 5V power output AUX_EPWR_5V 19 Auxiliary common AUX_COM 10 I/O cable shield termination point SHLD 20 I/O cable shield termination point SHLD Table 28 - Kinetix 5300 Drive Configurable Functions Default Configuration Description 0 = Unassigned 1 = Enable 2 = Home Digital input1= Enable Digital input2 = Home Digital input3 = Registration 1 Digital input4 = Registration 2 3 = Registration 1 4 = Registration 2 5 = Positive overtravel 6 = Negative overtravel Motor Feedback The Table 29 compares the motor feedback connector pinouts for the Kinetix 350 (motor feedback connector) and Kinetix 5300 servo drives (MFB connector). Refer to the Kinetix 350 Single-axis EtherNet/IP Servo Drives User Manual, publication 2097-UM002 and the Kinetix 5300 Single-axis EtherNet/IP Servo Drives User Manual, publication 2198-UM005 for additional information on supported feedback types. Figure 9 - 15 Pin Motor Feedback Connector Pin Assignment Pin 15 Pin 10 Pin 5 Pin 11 Pin 1 Pin 6 32 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 2 Connectors Table 29 - Kinetix Drives Motor Feedback Connectors Assignment Comparison Kinetix 350 Kinetix 5300 Pin Description Signal Pin Description Signal 1 Sine differential input+ AM+ differential input+ SIN+ AM+ 1 Sine differential input + AM differential input + MTR_SIN+ MTR_AM+ 2 Sine differential inputAM- differential input- SINAM- 2 Sine differential input– AM differential input– MTR_SIN– MTR_AM– 3 Cosine differential input+ BM+ differential input+ COS+ BM+ 3 Cosine differential input + BM differential input + MTR_COS+ MTR_BM+ 4 Cosine differential inputBM- differential input- COSBM- 4 Cosine differential input – BM differential input – MTR_COS– MTR_BM– 5 Data differential input + Index pulse+ DATA+ IM+ 5 Data differential input/output + IM differential input + MTR_DATA+ MTR_IM+ 6 Common ECOM 6 Encoder common MTR_ECOM 7 Encoder power (+9V) (1) EPWR_9V 7 Encoder 9V power output (3) MTR_EPWR9V 8 Single-ended 5V Hall effect commutation S3 8 Hall commutation S3 input MTR_S3 9 Reserved — 9 Reserved – 10 Data differential input Index pulse- DATAIM- 10 Data differential input/output – IM differential input – MTR_DATAMTR_IM– 11 Motor thermal switch (normally closed) (2) TS 11 Motor thermostat (normally closed) (2) MTR_TS 12 Single-ended 5V Hall effect commutation S1 12 Hall commutation S1 input MTR_S1 13 Single-ended 5V Hall effect commutation S2 13 Hall commutation S2 input MTR_S2 14 Encoder power (+5V) (1) EPWR_5V 14 Encoder 5V power output (2) MTR_EPWR5V 15 Reserved — 15 Reserved – (1) Encoder power supply uses either 5V or 9V DC based on encoder/motor used. (2) Not applicable unless motor has integrated thermal protection. (3) Determine which power supply your encoder requires and connect to only the specified supply. Do not make connections to both supplies. Safe Torque Off Connector Both the Kinetix 350 and Kinetix 5300 drives have a Safe Torque Off (STO) connector. The STO pinouts are different between the two drives. See Figure 10 for a comparison of the two connectors. See the Kinetix 350 Single-axis EtherNet/IP Servo Drive User Manual, publication 2097-UM002 for information on STO with the Kinetix 350 drive. See the Kinetix 5300 Singleaxis EtherNet/IP Servo Drives User Manual, publication 2198-UM005 for information on STO with the Kinetix 5300 drive. The Kinetix 350 drive ships with the 6-pin wiring-plug that connects your safety circuit to the Kinetix 350 drive safe torque-off (STO) connector. The Kinetix 5300 10-pin connector consists of two parallel 5-pin rows for cascading safety connections from drive-to-drive when drives are joined by the zero-stack feature. Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 33 Chapter 2 Connectors Figure 10 - STO Connector Assignment Comparison Kinetix 5300 Drive STO Connector Kinetix 350 Drive STO Connector 1 2 Pin 1 SB+ SB- 3 4 5 6 S1 SC Pin 5 Table 30 - Kinetix 350 STO Connector Assignment STO Pin 1 2 3 4 5 6 Description +24V DC output from the drive +24V DC output common Safety status Safety input 1 (+24V DC to enable) Safety common Safety input 2 (+24V DC to enable) Signal +24V DC control Control COM Safety Status Safety Input 1 Safety COM Safety Input 2 Table 31 - Kinetix 5300 STO Connector Assignment 34 STO Pins Description Signal 1 and 6 Safety bypass plus signal. Connect to both safety inputs to disable the STO function SB+ 2 and 7 Safety bypass minus signal. Connect to safety common to disable the STO function SB- 3 and 8 STO input 1 (SS_IN_CH0) S1 4 and 9 STO input common (SCOM) SC 5 and 10 STO input 2 (SS_IN_CH1) S2 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 S2 Chapter 3 Dimensions, Cables, and Wiring This chapter provides dimensions of the drives to help you determine the space that is needed to install the drives. Dimension Drawings The dimensions for Kinetix® 350 drives are shown in Figure 11 and Table 32. Figure 11 - Kinetix 350 Dimensions in mm (in.) A 5.0 (0.19) 7.1 (0.28) 30.8 (1.21) 9.7 (0.38) 238 (9.37) 350 2097-TB1 I/O Terminal Expansion Block 182 (7.18) 190 (7.50) 6.6 (0.26) 2090-K2CK-D15M Low-Profile Connector Kit for Bulletin 2090 (flying lead) Feedback Cable 11.8 (0.46) 61.0 (2.40) 38.1 (1.5) Ø 4.57 (0.18) 3x B Additional clearance below the connector kit is necessary to provide the recommended cable bend radius. Table 32 - Kinetix 350 Dimensions Cat. No. Dimensions mm (in.) A B 2097-V31PR0-LM 185 (7.29) 68.0 (2.68) 2097-V31PR2-LM 185 (7.29) 69.0 (2.70) 2097-V32PR0-LM 230 (9.04) 68.0 (2.68) 2097-V32PR2-LM 230 (9.04) 69.0 (2.70) 2097-V32PR4-LM 230 (9.04) 87.0 (3.42) 2097-V33PR1-LM 185 (7.29) 68.0 (2.68) 2097-V33PR3-LM 185 (7.29) 69.0 (2.70) 2097-V33PR5-LM 185 (7.29) 94.0 (3.72) 2097-V33PR6-LM 230 (9.04) 68.0 (2.68) Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 35 Chapter 3 Dimensions, Cables, and Wiring The dimensions for Kinetix 5300 are shown in Figure 12 and Table 33. Figure 12 - Kinetix 5300 Drives with 2198-K53CK-D15M Connector Kit Dimensions are in mm (in.) 2 E 1 B 10 1 U 2198-K53CK-D15M Connector Kit Mounted on Frame 1 Frame 1 servo drive. V W MBRK A 3.0 (0.12) C 65.0 (2.56) D Table 33 - Kinetix 5300 Dimensions 200V-class Drives Cat. No. 400V-class Drives Cat. No. 2198-C1004-ERS 2198-C4004-ERS 2198-C1007-ERS 2198-C4007-ERS 2198-C1015-ERS 2198-C4015-ERS 2198-C1020-ERS 2198-C4020-ERS 2198-C2030-ERS 2198-C4030-ERS 2198-C2055-ERS 2198-C4055-ERS 2198-C2075-ERS 2198-C4075-ERS Frame Size A mm (in.) B mm (in.) Frame 1 50.0 (1.97) 170 (6.69) Frame 2 55.0 (2.16) 225 (8.86) Frame 3 85.2 (3.35) 250 (9.84) C mm (in.) D mm (in.) E mm (in.) 215 (8.46) 200 (7.87) 265 (10.43) 265 (10.43) 294 (11.57) The 2198-K53CK-D15M feedback connector kit is available for Kinetix 5300 servo drives when flying-lead cable are used. Refer to Kinetix 5300 Feedback Connector Kit Installation Instructions, publication 2198-IN023 for more information. 36 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 3 Dimensions, Cables, and Wiring Figure 13 - Kinetix 5300 Drives with Connector Kit Accessories (Frames 2 and 3) Dimensions are in mm (in.) 2198-K53CK-D15M Feedback Connector Kit Mounted on Kinetix 5300 Frame 2 Drive 2198-K53CK-D15M Feedback Connector Kit Mounted on Kinetix 5300 Frame 3 Drive 65.0 (2.56) 265 (10.43) 65.0 (2.56) 265 (10.43) 2090-CTFB-MxDD Feedback Cable Frame 3 clamping plate for large diameter cables. 100 (3.94) 300 (11.81) Clearance required for drive-end cable connectors apply to all frame sizes. 80 (3.15) 2090-CFBM7DD-CEAxxx Feedback Cable (drive-end connector) 48 (1.89) 248 (9.76) Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 37 Chapter 3 Dimensions, Cables, and Wiring Cables This section provides information to help you determine interconnects and cable requirements of the drives. Motor and Feedback Cables When migrating your Kinetix 350 servo drive system, do not exceed the maximum cable lengths for the Kinetix 5300 servo drives. The length of the power and feedback cables for the Kinetix 5300 drives cannot exceed 50 m (164 ft), although in some cases maximum cable length is less, refer to Table 34. Performance was tested at this length and meets CE requirements. The maximum drive-to-motor power and feedback cable length depends on the AC input power and feedback type. Table 34 - Maximum Cable Lengths for Kinetix 5300 Drives Feedback Type TLP-A/Bxxx-xxx-D Nikon (24-bit) absolute highresolution, multi-turn 50 (164) and single-turn MPL-A/B15xxx-V/Ex7xAA MPL-A/B2xxx-V/Ex7xAA MPL-A/B3xxx-S/Mx7xAA MPL-A/B4xxx-S/Mx7xAA MPL-A/B45xxx-S/Mx7xAA MPL-A/B5xxx-S/Mx7xAA MPL-B6xxx-S/Mx7xAA MPL-B8xxx-S/Mx7xAA MPL-B9xxx-S/Mx7xAA MPM-A/Bxxxx-S/M MPF-A/Bxxxx-S/M MPS-A/Bxxxx-S/M MPAR-A/B3xxxx-M MPAS-A/Bxxxx1-V05SxA (ballscrew) MPAS-A/Bxxxx2-V20SxA (ballscrew) MPAR-A/B1xxxx-V and MPAR-A/B2xxxx-V (series B) MPAI-A/BxxxxxM3 MPL-A/B15xxx-Hx7xAA MPL-A/B2xxx-Hx7xAA MPL-A/B3xxx-Hx7xAA MPL-A/B4xxx-Hx7xAA MPL-A/B45xxx-Hx7xAA MPAS-A/Bxxxx-ALMx2C (direct drive) TLY-Axxxx-B TL-Axxxx-B TLY-Axxxx-H LDAT-Sxxxxxx-xDx LDAT-Sxxxxxx-xBx LDC-Cxxxxxx-xH, LDL-xxxxxxx-xH 38 Cable Length, max m (ft) ≤400V AC Input 480V AC Input Compatible Motor and Actuator Cat. No. 50 (164) 20 (65.6) Hiperface, absolute high-resolution, multiturn and single-turn 50 (164) Absolute highresolution, multi-turn 50 (164) 20 (65.6) 30 (98.4) 20 (65.6) Incremental encoder Incremental, magnetic linear 30 (98.4) Tamagawa (17-bit) absolute highresolution, multi-turn Incremental encoder Hiperface, absolute, magnetic scale Incremental, magnetic 10 (33.1) scale Sin/Cos or TTL encoder Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 3 Dimensions, Cables, and Wiring The existing motor power cables can be used for the Kinetix MP motors since they are supported by both the Kinetix 350 drives and the Kinetix 5300 drives. The existing motor feedback cables can be used for the Kinetix MP motors since they are supported by both the Kinetix 350 drives and the Kinetix 5300 drives. However, if flying lead cables were used on the Kinetix 350 drive, the feedback connector kit will need to be replaced by 2198-K53CK-D15M feedback connector kit, as it is required for Kinetix 5300 drives. Factory-made motor power and feedback cables with premolded connectors are designed to minimize electromagnetic interference (EMI). Rockwell Automation recommends factory-made cables to achieve the expected system performance. For details and drawings of recommended cables see the Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004, the bill of materials (BOM) configuration tool within Motion Analyzer, or ProposalWorks™ from Rockwell Automation. Power Wiring Use these power wiring examples to assist you in comparing the power wiring for the Kinetix 350 servo drives and the Kinetix 5300 servo drives. Kinetix 350 Power Wiring Diagrams This section contains examples of typical single-phase and three-phase facility input power that is wired to single-phase and three-phase Kinetix 350 drives. The grounded power configuration lets you ground your single-phase or threephase power at a neutral point. Three-phase Power Wired to Three-phase Drives These examples illustrate grounded three-phase power that is wired to threephase Kinetix 350 drives when phase-to-phase voltage is within drive specifications. Figure 14 - Three-phase (400/480V) Power Configuration (WYE Secondary) Transformer (WYE) Secondary 2097-V34PRx-LM L3 Feeder and branch short circuit protection is not illustrated. L2 L1 Input Fusing IPD L3 L3 L3 AC Line L2 Filter L2 Kinetix 350 Drives L2 Three-phase AC Input L1 L1 L1 M1 Contactor E Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 39 Chapter 3 Dimensions, Cables, and Wiring ATTENTION: For the 480V Kinetix 350 drives to meet proper voltage creepage and clearance requirements, each phase voltage to ground must be less than or equal to 300V AC rms. This requirement means that the power system must use a center grounded wye secondary configuration for 400/480V AC mains. Refer to Kinetix 350 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM002 for leakage currents. Figure 15 - Three-phase (240V) Power Configuration (Delta Secondary) Transformer (Delta) Secondary 2097-V33PRx-LM L3 L3 Feeder and branch short circuit protection is not illustrated. L2 L2 AC Line (1) Filter L1 Input Fusing L1 M1 Contactor L3 IPD L3 L2 L2 L1 L1 Kinetix 350 Drives Three-phase AC Input E Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground (1) Leakage current from the line filter, in this configuration, typically is higher than a balanced (center ground) configuration. Single-phase Power Wired to Single-phase Drives These examples illustrate grounded single-phase power that is wired to singlephase Kinetix 350 drives when phase-to-phase voltage is within drive specifications. IMPORTANT The 2097-V32PRx-LM models have integrated AC line filters and do not require the AC line filter that is shown in this diagram. Figure 16 - Single-phase Grounded Power Configurations Transformer Secondary L1 L1 240V AC Output AC Line Filter L2 L2 Input Fusing M1 Contactor L1 2097-V31PRx-LM IPD L1 L2 E Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground 40 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 L2/N 2097-V32PRx-LM IPD L1 L2 Kinetix 350 Drives Single-phase AC Input Chapter 3 Dimensions, Cables, and Wiring Three-phase Power Wired to Single-phase Drives This example illustrates grounded three-phase power that is wired to singlephase Kinetix 350 drives when phase-to-phase voltage is within drive specifications. Figure 17 - Single-phase Amplifiers on Three-phase Power (WYE) 2097-V32PRx-LM Transformer (WYE) Secondary L1 L1 L2 Input Fusing IPD L1 L2 Kinetix 350 Drives (System A) Single-phase AC Input IPD L1 L2 Kinetix 350 Drives (System B) Single-phase AC Input M1 (1) L2 L2 L3 L3 Input Fusing M2 (1) IPD L1 L2 L3 Grounded Neutral L1 Input Fusing M3 (1) Kinetix 350 Drives (System C) Single-phase AC Input Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground (1) Contactors (MI, M2, and M3) can be optional. Implementation of control circuits and risk assessment is the responsibility of the machine builder. Reference international standards IEC 62061 and ISO 13849-1 estimation and safety performance categories. AC line filter is optional, but is required for CE compliance. Feeder short circuit protection is not illustrated. This example illustrates grounded three-phase power that is wired to singlephase Kinetix 350 drives when phase-to-phase voltage exceeds drive specifications. A neutral must be connected when single-phase drives are attached to a threephase isolating transformer secondary. It is not necessary that all three-phases be loaded with drives, but each drive must have its power return via the neutral connection. . ATTENTION: Failure to connect the neutral can result in supply voltage swings at the individual drives. This condition occurs when the neutral point moves vectorially as a result of load variations that individual drives experience. The supply voltage swing can cause undervoltage and overvoltage trips on the drives, and the drive can be damaged if the overvoltage limit is exceeded. Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 41 Chapter 3 Dimensions, Cables, and Wiring Figure 18 - Single-phase Amplifiers (One AC Line Filter Per Drive) Transformer (WYE) Secondary 2097-V31PRx-LM L1 L1 L1 AC Line Filter L2 L2 E L1 AC Line Filter L2 E Input Fusing M1 Contactor L1 AC Line Filter L2 E Kinetix 350 Drives (System A) Single-phase AC Input IPD L1 N IPD L1 L2 Kinetix 350 Drives (System B) Single-phase AC Input IPD L1 N IPD L1 L2 Kinetix 350 Drives (System C) Single-phase AC Input L2 Grounded Neutral L1 IPD L1 L2 L2 L3 L1 2097-V33PRx-LM IPD L1 N L2 Grounded Neutral Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground Feeder and branch short circuit protection is not illustrated. IMPORTANT An AC line filter for each drive is the preferred configuration and required for CE compliance. Kinetix 5300 Power Wiring Diagrams For Kinetix 5300 drive power specifications, see Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003. For Kinetix 5300 drive interconnect diagrams, see Kinetix 5300 Single-axis EtherNet/IP Servo Drives, publication 2198-UM005. 42 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 3 Dimensions, Cables, and Wiring Three-phase Input Power This example illustrates grounded three-phase power that is wired to threephase Kinetix 5300 drives when phase-to-phase voltage is within drive specifications. IMPORTANT For three-phase operation, Kinetix 5300 drives must use centergrounded wye secondary input power configurations. Figure 19 - Three-phase (230V or 480V) Grounded Power Configuration (wye secondary) DC+ SH Kinetix 5300 Servo Drive (top view) Transformer (WYE) Secondary L3 Three-phase AC Line Filter (required for CE) L3 L3 L2 L2 L2 Transformer Phase Ground Bonded Cabinet Ground 24- Circuit Protection 2 1 Connect to Ground Stud 24+ L1 L1 L1 Three-phase Input VAC SB+ SBS1 SC S2 Ground Grid or Power Distribution Ground Single-phase Input Power These examples illustrate grounded single-phase power that is wired to singlephase Kinetix 5300 drives. Figure 20 - Single-phase (110V or 230V) Grounded Power Configuration L3 L2 L1 Bonded Cabinet Ground Connect to Ground Stud 2 1 24- L1 (Neutral) Circuit Protection 24+ 110V or 230V AC Output L2 Three-phase AC Line Filter (required for CE) L2 L1 Transformer Secondary L3 DC+ SH Kinetix 5300 Servo Drive (top view) SB+ SBS1 SC S2 Ground Grid or Power Distribution Ground ATTENTION: Ungrounded systems do not reference each phase potential to a power distribution ground. This can result in an unknown potential to earth ground. Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 43 Chapter 3 Dimensions, Cables, and Wiring Notes: 44 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 4 System Architecture The Kinetix® 350 single-axis EtherNet/IP servo drive is designed to provide a solution for applications with output power requirements between 0.4…3.0 kW (2…12 A rms). Drive System Overview This section lists the typical system components and compares some configurations of Kinetix 350 and Kinetix 5300 drives. The Kinetix 5300 drives are flexible to provide integration into your existing application or can be designed to meet your new application requirements. Table 35 - Kinetix 350 Drive System Overview Kinetix 350 System Component Cat. No. Description Kinetix 350 Integrated Motion 2097-V3xPRx-LM on EtherNet/IP Servo Drive Kinetix 350 integrated motion on EtherNet/IP drives with safe torque-off feature are available with 120/240V or 480V AC input power. AC Line Filters 2090 2097-Fx Bulletin 2090 and Bulletin 2097-Fx AC line filters are required to meet CE with Kinetix 350 drives without an integrated line filter. Bulletin 2097 filters are available in foot mount and side mount. Shunt Module 2097-Rx Bulletin 2097 shunt resistors connect to the drive and provides shunt capability in regenerative applications. Terminal block for I/O connector 2097-TB1 50-pin terminal block. Use with IOD connector for control interface connections. Stratix® 2000 Ethernet Switch 1783-US05T An Ethernet switch divides an Ethernet network into segments and directs network traffic efficiently. Bulletin 5069 Bulletin 1768 and 1769 EtherNet/IP networking with CompactLogix™ 5370 and CompactLogix 5380 controllers with embedded dualport. 1769-L3x controllers with embedded single port. 1768-L4x controller and 1768-L4xS safety controller with 1768-ENBT EtherNet/IP communication module. Logix PAC® Controller Platforms 1756-EN2T, 1756-EN2TR, and EtherNet/IP network communication modules for use with ControlLogix® 5570 and ControlLogix 5580 1756-EN3TR module controllers. Studio 5000® Environment or — RSLogix 5000® Software RSLogix® 5000 software (version 20 or earlier) and the Studio 5000 Logix Designer® application (version 21 or later) are used to program, commission, and maintain the Logix family of controllers. Encoder Output Module (1) 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 line-scan vision systems). Rotary Servo Motors Kinetix MP, Kinetix TL Compatible rotary motors include the Kinetix MP (Kinetix MPL, MPM, MPF, and MPS) and Kinetix TL/TLY motors. Linear Stages Kinetix MP (Ballscrew) Compatible stages include Kinetix MP (Kinetix MPAS) Integrated Linear Stages. Electric Cylinders Kinetix MP, Kinetix TL Compatible electric cylinders include Kinetix MP and Kinetix TL (Kinetix MPAR, TLAR, and MPAI) Electric Cylinders. Encoder 842E-CM Integrated Motion Encoder on EtherNet/IP network. Cables Motor/brake and feedback cables Motor power/brake and feedback cables include SpeedTec and threaded DIN connectors at the motor. Power/brake cables have flying leads on the drive end and straight connectors that connect to servo motors. Feedback cables have flying leads that wire to low-profile connector kits on the drive end and straight connectors on the motor end. Communication cables 1585J-M8CBJM-x (shielded) or 1585J-M8UBJM-x (high-flex shielded) Ethernet cable. Feedback Connector Kit 2090-K2CK-D15M Low-profile connector kit for motor feedback signals. (1) See Encoder Output Module Installation Instructions, publication 2198-UM003. For information to help you install and wire the 2198-ABQE Encoder Output Module. Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 45 Chapter 4 System Architecture The Kinetix 5300 servo drives are designed to provide a Kinetix Integrated Motion solution for your drive and motor/actuator application. Table 36 - Kinetix 5300 Drive System Overview Drive System Component Cat. No. Kinetix 5300 Servo Drives 2198-Cxxxx-ERS Shared-bus Connector Kits 2198-TCON-24VDCIN36 2198-H040-x-x 2198-H070-x-x Feedback Connector Kit 2198-K53CK-D15M Connector Sets 2198-CONKIT-PWR20 2198-CONKIT-PWR30 2198-CONKIT-PWR75 Logix 5000™ Controller Platform Studio 5000 Environment Rotary Servo Motors Linear Actuators Linear Motors Induction Motors 2090-Series Cables Ethernet Cables AC Line Filters Description Bulletin 1769 Bulletin 5069 200V-class (single-phase or three-phase) and 400V-class (three-phase) drives operate in standalone configurations. Modules can be zero-stacked from drive-to-drive and are compatible with the 24V DC shared-bus connection system to extend control power to multiple drives. Drives feature Safe Torque Off via the hardwired (STO) connector. Control power input connector. Control power T-connector and bus-bar connectors, 55 mm, for Frame 1 and 2 drives. Control power T-connector and bus-bar connectors, 85 mm, for Frame 3 drives. Motor feedback connector kit with 15-pin connector plug for compatible motors and actuators. Kit features battery backup for Kinetix TLP, TL, and TLY multi-turn encoders. Connector set included with the Frame 1 and 2 drives (except 2198-C2030 drives). Replacement sets are also available. Connector set included with 2198-C2030 drives. Replacement sets are also available. Connector set included with Frame 3 drives. Replacement sets are also available. Integrated Motion on the EtherNet/IP network in CompactLogix 5370, CompactLogix 5380, and CompactLogix 5480 controllers and Integrated Safety in Compact GuardLogix® 5370 controllers. Linear, device-level ring (DLR), and star topology is supported. 1756-EN2T module 1756-EN2TR module 1756-EN3TR module EtherNet/IP network communication modules for use with ControlLogix® 5570, ControlLogix 5580, GuardLogix® 5570, and GuardLogix 5580 controllers. Linear, device-level ring (DLR), and star topology is supported. — Studio 5000 Logix Designer application, version 33.00 or later, provides support for programming, commissioning, and maintaining the CompactLogix and ControlLogix controller families. Compatible rotary motors include 200V and 400V-class Kinetix MPL, MPM, MPF, and MPS servo motors. Compatible rotary motors include 200V and 400V-class Kinetix TLP servo motors. Compatible rotary motors include 200V-class Kinetix TL and TLY servo motors. Compatible linear actuators include 200V and 400V-class Kinetix MPAS and MPMA linear stages, Kinetix MPAR and MPAI linear actuators, and LDAT-Series linear thrusters. Kinetix MP Kinetix TLP Kinetix TL and TLY Kinetix MP and LDAT-Series LDC-Series and LDL-Series — 2090-CTFB-MxDx-xxxxx 2090-CTPx-MxDx-xxxxx 2090-CFBM6Dx-CxAAxx 2090-CPxM6DF-16AAxx 2090-DANFCT-Sxx 2090-DANPT-16Sxx 2090-DANBT-18Sxx 2090-CFBM7DF-CEAxxx 2090-CPxM7DF-xxAxxx 2090-XXNFMF-Sxx 2090-CFBM7DF-CDAFxx 1585J-M8CBJM-x 2198-DB08-F 2198-DBR20-F 2198-DBR40-F Compatible motors include LDC-Series™ iron-core and LDL-Series™ ironless linear motors. Induction motors with open-loop frequency control and closed-loop control are supported. Motor feedback cables for Kinetix TLP motors. Motor power/brake cables for Kinetix TLP motors. Motor feedback cables for Kinetix TLY servo motors. Motor power/brake cables for Kinetix TLY servo motors. Motor feedback cables for Kinetix TL servo motors. Motor power cables for Kinetix TL servo motors. Motor brake cables for Kinetix TL servo motors. Motor feedback cables for Kinetix MP motors/actuators, LDAT-Series linear thrusters, and LDC/LDL-Series linear motors. Motor power/brake cables for Kinetix MP motors/actuators, LDAT-Series linear thrusters, and LDC/LDL-Series linear motors. Standard and continuous-flex feedback cables that include additional conductors for use with incremental encoders. Ethernet cables are available in standard lengths. Shielded cable is required to meet EMC specifications. Bulletin 2198 three-phase AC line filters are required to meet CE and are available for use in all Kinetix 5300 drive systems. 24V DC Power Supply 1606-XLxxx Bulletin 1606 24V DC power supply for control circuitry, digital inputs, and safety inputs. External Shunt Resistors 2097-R6 and 2097-R7 2198-R001, 2198-R002, 2198-R004, 2198-R014, 2198-R031 Bulletin 2097 and 2198 external passive shunt resistors are available for when the internal shunt capability of the drive is exceeded. 46 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 4 System Architecture Kinetix 350 Servo Drive System Architecture Figure 21 is an example of a typical Kinetix 350 Servo Drive system, in this case a Kinetix 350 controlled through EtherNet/IP external reference. This illustrates how the required drive modules and accessories are used in a typical Kinetix 350 servo drive system. Figure 21 - Typical Kinetix 350 Drive Installation Input Fusing Line Disconnect Device Three-phase Input Power 2097-V3xxxx-LM Kinetix 350 Drive 2097-TB1 Terminal Expansion Block 2097-Fx AC Line Filter (optional equipment) 2097-F1 Filter Shown 24V DC Control Back-up Power Supply (optional equipment) 2097-Rx Shunt Resistor (optional equipment) 2090-K2CK-D15M Low-profile Connector Kit Bulletin 2090 Motor Feedback Cables Bulletin 2090 Motor Power Cables Motor Refer to Table 35 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 47 Chapter 4 System Architecture Kinetix 5300 Drive Hardware and Input Power Configurations Typical Kinetix 5300 systems include single-phase and three-phase standalone configurations. In this example, a single drive is shown with input power to the standard AC and 24V DC input connectors. Figure 22 - Typical Kinetix 5300 Standalone Installation Single-phase or Three-phase Input Power SH 2198-DB08-F or 2198-DBRxx-F AC Line Filter (is required for CE) 2198-Cxxxx-ERS Drive (top view) 24+ 24- L1 L2 L3 Circuit Protection Bonded Cabinet Ground Bus DC+ Line Disconnect Device SB+ 1606-XLxxx 24V DC Control, Digital Inputs, and Motor Brake Power (customer-supplied) Mains AC Input Wired to Standard Input Connector 24V DC Input Wired to Standard Input Connector 2097-Rx or 2198-Rxxxx Shunt Resistor (optional component) SBS1 SC S2 Allen-Bradley 1606-XL Power Supply Input AC Input Power 2198-Cxxxx-ERS Drive (front view) 2 1 10 1 U V W MBRK MFB Bulletin 2090 Motor Feedback Cables 48 Bulletin 2090 Motor Power Cables Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Motor Refer to Table 36. Chapter 4 System Architecture In this example, two drives are shown with input power to the standard input connectors and control power input by using 24V shared-bus connectors. With two or more drives in the drive configuration, each drive requires AC input power and a line filter. Figure 23 - Typical Kinetix 5300 Installation with 24V Shared-bus Connectors SH DC+ L3 2198-DB08-F or 2198-DBRxx-F AC Line Filter (is required for CE) L1 L1 L2 L2 L3 Circuit Protection 2198-DB08-F or 2198-DBRxx-F AC Line Filter (is required for CE) SH Line Disconnect Device Bonded Cabinet Ground Bus DC+ Single-phase or Three-phase Input Power Circuit Protection Mains AC Input Wiring Connectors Shared 24V (control power input) 1606-XLxxx 24V DC Control, Digital Inputs, and Motor Brake Power (customer-supplied) SB+ SB+ SB- SB- S1 S1 SC SC S2 S2 2198-Cxxxx-ERS Drives (top view) Allen-Bradley 1606-XL Power Supply 2097-Rx or 2198-Rxxx Shunt Resistor (optional component) Input AC Input Power 2198-H0x0-x-x shared-bus connection system for 24V bus-sharing configurations. 2198-Cxxxx-ERS Drives (front view) 2 2 1 1 10 10 1 U 1 U V V W W MBRK MBRK MFB Bulletin 2090 Motor Feedback Cables Bulletin 2090 Motor Feedback Cables MFB Bulletin 2090 Motor Power Cables Motor Refer to Table 36. Bulletin 2090 Motor Power Cables Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Motor Refer to Table 36. 49 Chapter 4 System Architecture Typical Communication Configurations Natively, the Kinetix 350 drives only support Ethernet star topology. Some configurations have been modified to use an ETAP or similar device to create a ring or linear topology. The Kinetix 5300 drives natively support Ethernet topologies which include linear, ring, and star by using ControlLogix or CompactLogix controllers. Figure 24 - Typical Kinetix 350 Communication Configuration CompactLogix Controller System 1769-L33ERM Shown 1 2 3 4 5 6 7 8 P W R 1783-US08T Stratix® 2000 Switch 1585J-M8CBJM-x (shielded) or 11585J-M8UBJM-x (high-flex shielded) Ethernet Cable PanelView™ Plus Compact Display Terminal RSLogix 5000® Software (version 20.00.00 or later) or the Studio 5000 Logix Designer Application MOD NET 2198-ABQE Encoder Output Module OUTPUT-A OUTPUT-B 2097-V3xxxx-LM Kinetix 350 Drive 1734-AENT POINT I/O™ EtherNet/IP Adapter 842E-CM Integrated Motion Encoder on EtherNet/IP Line Scan Cameras The Kinetix 5300 examples feature the CompactLogix 5380 programmable automation controllers (Bulletin 5069) that are part of the Logix 5000 family of controllers. The applications range from standalone systems to more complex systems with devices that are connected to the controller via an EtherNet/IP network. Refer to CompactLogix 5380, Compact GuardLogix 5380, and CompactLogix 5480 Controller Specifications Technical Data, publication 5069-TD002, for more information on CompactLogix 5380 controllers. 50 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Chapter 4 System Architecture Figure 25 - Kinetix 5300 Linear Communication Installation CompactLogix Controller Programming Network Studio 5000 Logix Designer Application CompactLogix 5380 Controller Kinetix 5300 Servo Drive System 1585J-M8CBJM-x Ethernet (shielded) Cable 1585J-M8CBJM-OM15 0.15 m (6 in.) Ethernet cable for drive-to-drive connections. 2 2 2 2 1 1 1 1 10 10 10 10 1 U 1 1 U 1 U U V V V V W W W W MBRK MBRK MBRK MBRK MFB MFB MFB MFB 842E-CM Integrated Motion Encoder 1734-AENTR POINT I/O EtherNet/IP Adapter PanelView Plus 7 Display Terminal – . Figure 26 - Kinetix 5300 Ring Communication Installation CompactLogix Controller Programming Network Studio 5000 Logix Designer Application CompactLogix 5380 Controller F1 F9 F2 F10 F11 F3 1585J-M8CBJM-x Ethernet (shielded) Cable F4 F12 F5 F13 F6 F14 F7 F15 F8 F16 7 8 9 4 5 6 2 3 . 1 – 0 PanelView Plus 7 Display Terminal Esc 002 1734-AENTR POINT I O Module Status Network Activity Network Status Link 1 Activity/ Status Point Bus Status System Power Field Power 1734-AENTR POINT I/O EtherNet/IP Adapter Link 2 Activity/ Status Kinetix 5300 Servo Drive System 1585J-M8CBJM-OM15 0.15 m (6 in.) Ethernet cable for drive-to-drive connections. 2 2 2 2 1 1 1 1 10 10 10 10 1 U 1 U 1 U 1 U V V V V W W W W MFB MBRK MBRK MBRK MBRK MFB 842E-CM Integrated Motion Encoder MFB MFB Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 51 Chapter 4 System Architecture Figure 27 - Kinetix 5300 Star Communication Installation CompactLogix Controller Programming Network Studio 5000 Logix Designer Application CompactLogix 5380 Controller 1585J-M8CBJM-x Ethernet (shielded) Cable 842E-CM Integrated Motion Encoder Kinetix 5300 Servo Drive System 1783-BMS Stratix 5700 Switch 2 2 2 1 1 1 10 10 10 1 U 1 U V V W W MBRK MBRK MBRK MFB 1 U V W MFB MFB F1 F9 F2 F10 F3 F11 F4 F12 F5 F13 F6 F14 F7 F15 F8 F16 7 8 9 4 5 6 1 2 – 0 3 . Esc PanelView Plus 7 Display Terminal 1734-AENTR POINT I/O EtherNet/IP Adapter See Kinetix 5300 Single-axis EtherNet/IP Servo Drives, publication 2198-UM005 for additional motor and auxiliary feedback connection and communication topology configurations. 52 Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 Appendix A Feature Comparison The following table compares the hardware and features of the Kinetix® 350 drives and the Kinetix 5300 drives. Table 37 - Feature Comparison Chart Features Kinetix 350 Drives Kinetix 5300 Drives Controller required Yes Yes 110/120V...240V operation Yes Yes Internal shunt resistor available Yes Yes Supports Sourcing I/O (1) Yes No Supports Sinking I/O (1) Yes Yes Hardwired Safe Torque Off Yes Yes Dedicated Auxiliary feedback encoder connector No Yes Hardware overtravel limits Yes Yes Multiple assignments for inputs No Yes Registration latch (capture position) No Yes Holding brake support Yes (2) Yes (3) Dual Loop Control No Yes Dual-port Ethernet with DLR support No Yes (1) Refer to Replacement Considerations: Figure 1…Figure 4 for more information. (2) Only via interposing relay. (3) Directly drive up to, 2.25A or via interposing relay. Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 53 Appendix B History of Changes This appendix contains the new or updated information for each revision of this publication. These lists include substantive updates only and are not intended to reflect all changes. Translated versions are not always available for each revision. 2198-RM005B-EN-P Change Updated motor protection circuit breaker catalog numbers for 140M-C, 140M-D, and 140U-D to 140MT-C, 140MT-D, and 140UT-D respectively. Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 55 Notes: Rockwell Automation Publication 2198-RM005B-EN-P - January 2022 57 Rockwell Automation Support Use these resources to access support information. 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Rockwell Automation maintains current product environmental information on its website at rok.auto/pec. Allen-Bradley, Compact GuardLogix, CompactLogix, Connected Components Workbench, ControlLogix, expanding human possibility, Kinetix, Logix 5000, MicorLogix, PanelView, POINT I/O, Rockwell Automation, Rockwell Software, RSLogix 5000, SLC, Stratix, and 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-RM005B-EN-P - January 2022 Supersedes Publication | 2198-RM005A-EN-P - October 2020 Copyright © 2022 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A. ">

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Key features
- Drive Sizing
- Dimension Comparison
- Drive Interconnects & Cabling
- Accessories
- Communication
- Connector Locations
- Power Specifications
- System Architecture
Frequently asked questions
The migration guide focuses on determining hardware design changes needed for the switch, referring to additional resources for more detailed information.
Studio 5000 Logix Designer application is used to configure and program both Kinetix 350 and Kinetix 5300 drives.
The main factors are drive sizing (ratings and physical), dimension comparison, drive interconnects and cabling, and accessories.