Ultra3000 to Kinetix 5100 Servo Drive Migratioin Guide
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Ultra3000 to Kinetix 5100 Servo Drive Migratioin Guide
2198-E1004-ERS, 2198-E1007-ERS, 2198-E1015-ERS, 2198-E1020-ERS, 2198-E2030-ERS, 2198-E2055-ERS, 2198-E2075-ERS, 2198-E2150-ERS, 2198-E4004-ERS, 2198-E4007-ERS, 2198-E4015-ERS, 2198-E4020-ERS, 2198-E4030-ERS, 2198-E4055-ERS, 2198-E4075-ERS, 2198-E4150-ERS
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[PDF] Ultra3000 to Kinetix 5100 Servo Drives Migration Guide
This manual is intended for engineers and technicians that are directly involved in the installation and wiring of the Kinetix 5100 drives, and programmers who ...
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Ultra3000 to Kinetix 5100 Servo Drives Migration Guide Catalog Numbers 2198-E1004-ERS, 2198-E1007-ERS, 2198-E1015-ERS, 2198-E1020-ERS, 2198-E2030-ERS, 2198-E2055-ERS, 2198-E2075-ERS, 2198-E2150-ERS, 2198-E4004-ERS, 2198-E4007-ERS, 2198-E4015-ERS, 2198-E4020-ERS, 2198-E4030-ERS, 2198-E4055-ERS, 2198-E4075-ERS, 2198-E4150-ERS Reference Manual Original Instructions Ultra3000 to Kinetix 5100 Servo Drives 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-RM003B-EN-P - November 2020 Table of Contents Preface Summary of Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Integrated Architecture Builder Software . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Motion Analyzer Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Migration Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Migration Options Chapter 1 Kinetix 5100 Servo Drive Catalog Numbers . . . . . . . . . . . . . . . . . . . . . . . . 10 Replacement Considerations Chapter 2 Drive Sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 AC Input Power Wiring and Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Power Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 I/O Availability and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Feedback Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Connectors and Indicators Chapter 3 Ultra3000 Servo Drive Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Kinetix 5100 Servo Drive Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . . 46 I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Motor Feedback Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Auxiliary Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Dimensions, Cables, and Wiring Chapter 4 Ultra3000 Drive (230V) Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Kinetix 5100 Drive Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 Power Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 System Architecture Chapter 5 Kinetix 5100 Drive System Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 3 Table of Contents Application Conversion Feature Comparison Chapter 6 Scenario 1: Analog Command to Analog Command. . . . . . . . . . . . . . . . . 82 Scenario 2: Indexing to PR Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 Scenario 3: Master/Follower Mode to PT Mode . . . . . . . . . . . . . . . . . . . . . 86 Scenario 4: DeviceNet to I/O Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 Scenario 5: Host Command to Explicit Messaging. . . . . . . . . . . . . . . . . . 90 Appendix A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 4 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Summary of Changes Preface This migration guide provides you with the essential information to determine hardware design changes that can be necessary when migrating from a motion system that contains UltraTM 3000 servo drives to one that contains Kinetix� 5100 servo drives. This publication contains the following new or updated information. This list includes substantive updates only and is not intended to reflect all changes. Topic Added information for Kinetix 5100 400V-class drives. Added drive compatibility with Kinetix TL/TLY (200V-class) servo motors. Added Kinetix 5100 drive ratings - 400V Class. Added Table 17 and Table 18 Kinetix 5100 Power Specifications (480V nom three-phase). Added Table 33 Kinetix 5100 Servo Drive Control Power and Auxiliary Power Rating - 400Vclass. Added Figure 14 - 2098-DSD-HV030, 2098-DSD-HV050, 2098-DSD-HV100, 2098-DSD-HV150, and 2098-DSD-HV220 Ultra3000 (400V-class) Drives. Added Figure 17 - Features and Indicators (catalog numbers 2198-E4020-ERS, 2198-E4030ERS). Added Figure 24 and Table 54, dimensions for Ultra3000 400V-class drives. Added Figure 35 Typical Power Wiring of Ultra3000 System (2098-DSD-HVxxx-xx and HVxxxX-xx). Added Sample Code Library information to the Kinetix 5100 Drive Controlled Via Explicit Messaging section. Page Throughout Throughout 10 24 and 25 34 45 47 57 69 78 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 5 Overview This manual is intended for engineers and technicians that are directly involved in the installation and wiring of the Kinetix 5100 drives, and programmers who are directly involved in the operation, field maintenance, and integration of these drives. You must have previous experience with and a basic understanding of electrical terminology, programming procedures, networking and required equipment and software, and safety precautions. Migrating from a motion control system that uses Ultra3000 drives to a system that uses Kinetix 5100 drives requires a comprehensive design review of the motion control system. There are multiple drive replacement combinations, and multiple configurations for how the drives can be installed and the software applied. As a result, this migration guide is not an all-inclusive document. It does not describe all redesign steps that can be required, nor does it contain the detailed product information necessary to finalize the redesign. The generalities of the replacement process are covered, and the decision-making steps likely to be encountered in a typical replacement scenario are described. For Kinetix 5100 servo drive module specifications not included in this publication, see the Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003. Integrated Architecture Builder Software The Integrated Architecture� Builder software can help you plan and configure a system, and migrate system architectures. For more information, see the Control Systems Configuration Tools page. Motion Analyzer Software Motion Analyzer software is a comprehensive motion-application sizing tool that is used for analysis, optimization, selection, and validation of your Kinetix motion control system. This online tool facilitates the machine design process, and lets you quickly design and validate new machine concepts without purchasing or installing physical equipment. Review the performance capabilities of any replacement drive to be sure that the replacement drive can of deliver the required level of peak and continuous current to the motor, and Motion Analyzer can help in the correct drive selection. Motion Analyzer is available online at https://motionanalyzer.rockwellautomation.com/. Migration Services As products mature throughout the product lifecycle, Rockwell Automation� is there as your partner to help you get the most out of your current equipment, to help you determine your next steps, and to help you lay out a plan for the transition to newer technology. Whether you choose to migrate all at once or use our unique, phased approach to help minimize the costs, risks, and complexities that are involved with the management of legacy products and systems, Rockwell Automation has the tools and the experience to guide you through the transition. 6 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Additional Resources For more information, see the Migration Solutions Brochure, publication MIGRAT-BR002. These documents contain additional information concerning related products from Rockwell Automation. Resource Description Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001 Product specifications for Kinetix VP, Kinetix MP, Kinetix 6000M (Bulletin MDF), Kinetix TL and TLY, Kinetix RDB, Kinetix TLP and Kinetix HPK rotary motors. Kinetix Servo Drives Specifications Technical Data, Product specifications for Kinetix servo drive family publication KNX-TD003 that includes section on Kinetix 5100 drives. Kinetix 5100 EtherNet/IP Indexing Servo Drives User Manual, publication 2198-UM004. Information on how to install, configure, startup, and troubleshoot, your Kinetix 5100 servo drive system. Information on applications for your Kinetix 5100 servo drive system. Ultra3000 Digital Servo Drives Installation Manual, Information on procedures to mounting, wire, and publication 2098-IN003 connect the Ultra3000 digital servo drive. Ultra3000 Servo Drives Integration Manual, publication 2098-IN005 Power-up procedures, system integration, and troubleshooting tables for the Ultra3000 digital servo drive. Kinetix 5100 Drive Systems Design Guide, publication KNX-RM011 Ultra3000 Drive Systems Design Guide, publication KNX-RM008 System design guides to select the required (drive specific) drive module, power accessory, feedback connector kit, and motor cable Cat. Nos.for your Kinetix 5100 drive and Kinetix motion control system. Ethernet Design Considerations Reference Manual, Provides information for designing Ethernet and publication ENET-RM002 EtherNet/IP networks. Kinetix Motion Control Selection Guide, publication KNX-SG001 Overview of Kinetix servo drives, motors, actuators, and motion accessories that are designed to help make initial decisions for the motion control products best suited for your system requirements. Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines for installing a Rockwell Automation industrial system. Servo Drive Installation Best Practices Application Technique, publication MOTION-AT004 Best practice examples to help reduce the number of potential noise or electromagnetic interference (EMI) sources in your system and to make sure that the noise sensitive components are not affected by the remaining noise. System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001. Provides information on the concept of highfrequency (HF) bonding, the Ground Plane principle, and electrical noise reduction. Product Certifications website: rok.auto/certifications Provides declarations of conformity, certificates, and other certification details. You can view or download publications at rok.auto/literature. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 7 Notes: 8 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Migration Options 1 Chapter For each UltraTM3000 drive control feature, there is a suitable solution with Kinetix� 5100 servo drives, Logix 5000TM controller platforms, and the Studio 5000 Logix Designer� application. Table 1 - Ultra3000 Drive to Kinetix 5100 Drive Migration Options Ultra3000 drive Operation Mode Analog Current Analog Velocity Analog Postion Preset Current Preset Velocity Preset Position Follower Indexing Host Command DeviceNet Equivalent Kinetix 5100 Drive Operation Mode T mode S mode PT mode T or Tz mode S or Sz mode, or PR mode PR mode PT mode PR mode Any mode with Explicit Messaging over EtherNet/IPTM network IO mode (with Logix Add-On Instructions) using the EtherNet/IP network Table 2 - Kinetix 5100 Drive Control Modes Control Mode Position mode (terminal block input) Position mode (register input) Speed mode Speed mode (no analog input) Torque mode Torque mode (no analog input) I/O mode Short Name Description This mode is sometimes referred to as Pulse Train. The servo drive receives the Position command and commands the PT motor to the target position. The Position command is provided through the I/O terminal block and the signal type is pulse. The servo drive receives the Position command and commands the motor to the target position. Position commands PR comes from the program registers (99 in total). You can select the register number with binary-weighted DI signals or through communication. The servo drive receives the Speed command and commands the motor to the target speed. The Speed command comes S from the internal registers (3 in total) or by analog voltage (-10V...+10V) that is provided through the terminal block. You can select the command with binary-weighted DI signals. Sz The servo drive receives the Speed command and commands the motor to the target speed. The Speed command comes from the internal registers (4 in total, one is fixed at 0). You can select the command with binary-weighted DI signals. The servo drive receives the Torque command and commands the motor to the target torque. The Torque command T comes from the internal registers (3 in total) and by analog voltage (-10V...+10V) that is provided through the I/O terminal block. You can select the command with binary-weighted DI signals. The servo drive receives the Torque command and commands the motor to the target torque. The Torque command Tz comes from the internal registers (4 in total, one is fixed at 0). You can select the command with binary-weighted DI signals. IO The servo drive receives commands from the Logix controller through the EtherNet/IP network connection. Commands are issued through the Add-On_Profile (AOP) with Add-On Instruction (AOI) instructions in the Logix Designer application. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 9 Chapter 1 Migration Options Table 2 - Kinetix 5100 Drive Control Modes (Continued) Control Mode Dual mode Multi-mode Short Name Description PT-S Switches PT and S mode with DI signals. PT-T Switches PT and T mode with DI signals. PR-S Switches PR and S mode with DI signals. PR-T Switches PR and T mode with DI signals. S-T Switches S and T mode with DI signals. � Reserved PT-PR Switches PT and PR mode with DI signals. PT-PR-S Switches PT, PR, and S mode with DI signals. PT-PR-T Switches PT, PR, and T mode with DI signals. Kinetix 5100 Servo Drive Catalog Numbers Table 3 and Table 4 lists the catalog numbers and ratings of the Kinetix 5100 servo drives which can be used when selecting a replacement for your Ultra3000 servo drives. Additional guidance for replacement of the Ultra3000 drive is provided in Table 8 in Chapter 2 of this document. Table 3 - Kinetix 5100 Servo Drive Cat. Nos. Cat. No. Input AC Input Voltage (V AC) Phases 2198-E1004-ERS 95...132V, 170...253V 2198-E1007-ERS 95...132V, 170...253V 2198-E1015-ERS 95...132V, 170...253V 2198-E1020-ERS 95...132V, 170...253V 2198-E2030-ERS 170...253V 2198-E2055-ERS 170...253V 2198-E2075-ERS 170...253V 2198-E2150-ERS 170...253V 1 PH 1 PH,3 PH 1 PH 1 PH,3 PH 1 PH 1 PH,3 PH 1 PH 1 PH,3 PH 3 PH 3 PH 3 PH 3 PH Rated Power @ 230V (kW) Rated Power @ 120V (kW) Cont. Output Current (A rms) 0.4 0.2 2.60 0.75 0.375 5.10 1.5 0.75 7.9 2 1 13.4 3 � 17.9 5.5 � 41.3 7.5 � 49 15 � 78 Peak Output Current (A rms) 6.5 15.41 23.7 53.03 55.95 91.4 127.49 162 Table 4 - Kinetix 5100 Drive Ratings - 400V Class Cat. No. 2198-E4004-ERS 2198-E4007-ERS 2198-E4015-ERS 2198-E4020-ERS 2198-E4030-ERS 2198-E4055-ERS 2198-E4075-ERS 2198-E4150-ERS Input AC Voltage Input (V AC) Phases 342...528 3 PH 342...528 3 PH 342...528 3 PH 342...528 3 PH 342...528 3 PH 342...528 3 PH 342...528 3 PH 342...528 3 PH Rated Power @ 380/480V (kW) 0.4 0.75 1.5 2 3 5.5 7.5 15 Cont. Output Current (A rms) 1.60 3.19 6.05 7.42 13.95 24.8 31.0 41.26 Peak Output Current (A rms) 5.40 8.0 15.11 20.78 26.08 37.65 53.32 70.14 10 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 1 Migration Options Potential Design Changes Table 5 compares environmental specifications of Ultra3000 drives and Kinetix 5100 drives. Table 6 compares the drive certifications of the Ultra 3000 drives and the Kinetix 5100 drives. See Appendix A for a comparison of features and Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 for complete specifications. Table 5 - Compare Ultra3000 Drive and Kinetix 5100 Drive Environmental Specifications Specification Ambient Temperature Relative Humidity Altitude Ultra3000 Servo Drives Operational Range Storage Range (Nonoperating) 0...55 �C (32...131 �F) -40...70 �C (-40...158 �F) 5...95% Noncondensing 5...95% Noncondensing 1500 m (4921.5 ft) - Derate 3% per 300 m (984.3 ft) above 1500 m (4,921.5 ft) Vibration 5...2000 Hz @ 2.5 g peak, 0.0006 mm (0.015 in.) max displacement Shock 15 g, 11 ms half-sine pulse Kinetix 5100 Servo Drives Operational Range Storage Range (Nonoperating) 0...50 �C (32...122 �F) -40...70 �C (-40...158 �F) 5...85% 5...95% Noncondensing Noncondensing 1000 m (3281 ft) 5...55 Hz @ 0.35 mm (0.014 in.) double amplitude, continuous displacement 55...500 Hz @ 2.0 g peak constant acceleration 15 g, 11 ms half-sine pulse Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 11 Chapter 1 Migration Options Table 6 - Compare Ultra3000 Drive and Kinetix 5100 Servo Drive Certifications Ultra3000 Drive Agency Certification (1) Kinetix 5100 drive Agency Certification (1) Standards Ultra3000 drive: UL Listed to U.S. and Canadian safety standards (UL 508 C File E145959). cULus cULus(2) Kinetix 5100: UL standards for the U.S. UL61800-5-1, 1st edition, June 2012. CSA standard for Canada. C22.2 No. 274-13 UL File Number E59272 Ultra3000 drive: European Union 89/336/EEC EMC Directive compliant with EN 61800-3:2004: Adjustable Speed Electrical Power Drive Systems - Part 3; EMC Product Standard including specific test methods. European Union 73/23/EEC Low Voltage Directive compliant with: EN 60204-1: 1997 - Safety of Machinery - Electrical Equipment of Machines. CE CE EN 50178: 1997 - Electronic Equipment for use in Power Installations. Kinetix 5100 drive: 2014/30/EU, IEC/EN 61800-3: 2017 RLV, IEC/EN 61800-3, environment 2, category C3, and EN 55011 class A group 2, 2014/35/EU, IEC/EN 61800-5-1:2016, 2006/42/EC, IEC/EN 61800-5-2:2016 Kinetix 5100 drive: -- Functional Safety (FS) IEC/EN 61508, EN ISO 13849, IEC/EN 62061, IEC/EN 61800-5-2:2016 (CAT3, SIL 2, PLd) Ultra3000 drive: Korean Registration of Broadcasting and Communications Equipment, compliant with: Article 58-2 of Radio Waves Act, Clause 3 Registration number: KCC-REM-RAA-2098-DSD KC KCC Kinetix 5100 drive: Korean Registration of Broadcasting and Communications Equipment, compliant with: � Article 58-2 of Radio Waves Act, Clause 3 � Registration number: KCC-REM-RAA-2198 -- RoHS Kinetix 5100 drive: European Directive 2011/65/EU(1) - The Restriction of Hazardous Substances (RoHS), EN 50581:2012 Kinetix 5100 drive: Australian Radiocommunications Act, compliant with: AS/NZS CISPR 11:2002 (Group 1, Class A); -- RCM (Formerly C-Tick) Radio Communications Act: 1992; Radio Communications (Electromagnetic Compatibility) Standard: 1998; Radio Communications (Compliance Labeling - Incidental Emissions) Notice: 1998 -- ODVA Kinetix 5100 drive: EtherNet/IP conformance tested, EtherNet/IP Specification Volume 2, Edition 1.23, April 2017 Kinetix 5100 drive: -- China RoHS -- SCCR Kinetix 5100 drive: UL 61800-5-1 standard, short circuit test (including exception 5.2.3.6.2.1DV.2.3), and breakdown of components test -- WEEE Yes (1) When product is marked, see rok.auto/certifications for Declarations of Conformity Certificates. (2) UL has not evaluated the safe-off, Safe Torque Off, or safe speed-monitoring options in these products. 12 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Replacement Considerations 2 Chapter To replace an UltraTM 3000 drive with a Kinetix� 5100 drive can require some system design changes. � Review the hardware and software design of the existing Ultra3000 system. � Compare these to the hardware and software specifications for the Kinetix 5100 drives. WARNING: Because of the variety of uses for the products described in this publication, those responsible for the application and use of these products must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements, including any applicable laws, regulations, codes, and standards. In no event will Rockwell Automation be responsible or liable for indirect or consequential damage resulting from the use or application of these products. Before You Begin Table 7 - Migration Considerations This section contains information to help you to choose the correct Kinetix 5100 drive to replace your Ultra3000 drive. Feature/Function Ultra3000 Drive Kinetix 5100 Drive Rotary Motor Compatibility Supports 1362AB, Kinetix MP, F-Series, H-Series, N-Series, Y-Series, and Kinetix TL and TLY servo motors. Supports Kinetix MP and Kinetix TL, TLP, and TLY servo motors. Digital Input and Registration Input Eight digital inputs, support current sinking wiring only. Registration input can be assigned to any one of them. Ten total digital inputs. Eight standard digital inputs and two optional high-speed inputs, support both current sinking and current sourcing wiring. Registration inputs can be assigned to digital input 9 and digital input 10. Digital Output Four digital outputs with current sourcing capability only. Six digital outputs with both current sourcing and current sinking capability. Typical Input Power Configuration and Components Supports grounded power system (center grounded wye Supports grounded power system (center grounded wye secondary only). secondary, or corner grounded, or high leg delta secondary). Uses 2198-DBx-F line filter is needed for CE compliance. Specific fuses or 2090-UXLF-x line filter for CE compliance. Ultra3000 drives also circuit breakers (can differ from those recommended for Ultra3000 need specific fuses or circuit breakers for input protection. drives) are required for input protection. Safe Torque Off (STO) Does not support the Safe Torque Off feature. Supports the Safe Torque Off feature. Communication Supports serial port and the DeviceNet� communications protocol. Supports USB interface for configuration and EtherNet/IPTM for control Controller Supports Logix 5000TM controllers and SLCTM controllers. Supports the following controllers: � CompactLogixTM 5370 and CompactLogix 5380 controllers with embedded dual-port. � CompactLogix 5480. � ControlLogix� 5570 and ControlLogix 5580. MicroLogixTM 1100 and 1400 controllers. Micro800TM controllers. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 13 Chapter 2 Replacement Considerations Table 7 - Migration Considerations (Continued) Feature/Function Ultra3000 Drive Cable Length Support cable lengths for motor and power up to 90 m (295.2 ft). Physical Dimensions -- Control and Auxiliary Power Optional 5V DC (breakout board with 24V DC to 5V converter available) auxiliary power for smallest 3 drives. Optional singlephase 100...240V AC for larger drives. Dual Position Loop / Aux Feedback Port Does not support Dual position loop / Aux feedback port. Motor Brake Has a dedicated relay output for operating motor brake. Kinetix 5100 Drive Drive-to-motor power and feedback cables must not exceed: � 50 m (164 ft) for axes with Kinetix MP servo motors with Hiperface encoder feedback � 50 m (164 ft) for axes with Kinetix TLP servo motors and 24-bit high- resolution serial encoder feedback � 30 m (98.4 ft) for axes with Kinetix TL and TLY servo motors and 17-bit high-resolution or incremental encoder feedback � 30 m (98.4 ft) for axes with Kinetix MP (Cat. No. MPL-Axxxx-H) servo motors and incremental encoder feedback The Kinetix 5100 drive has smaller dimensions and fits in the space of the Ultra3000 drive. The drill hole patterns differ from that of Ultra3000 drives. 200V-class 1PH 120V or 230V 400V-class 24V DC Supports Dual feedback inputs for: � Master Follower (PT mode) � Dual Loop Control (PR/PT/IO mode) � Aux Feedback (PR mode) as a Master for E-CAM function Any digital output can be configured as Motor Brake. This output must include an external relay to control motor holding brake. Design considerations: � Verify that the existing controller is compatible with the Kinetix 5100 system (for example, DeviceNet vs. EtherNet/IP). � Verify that your current motor is compatible. � Verify that the feedback cable length in your existing system does not exceed the max feedback cable length or the max power cable length for the new system. � Verify that the drive size is compatible. � Verify that the drive dimensions are compatible. � Verify the drive connections (and/or connectors) are acceptable or compatible. See the technical data documents and the design guides in the Additional Resources for motor, cable, and drive combinations. Drive Sizing 14 There are a number of different factors that affect the selection of a replacement servo drive and the system redesign effort. Drive sizing is the primary factor in which replacement servo drive you select. To identify the correct replacement drive size, compare the continuous and peak output current ratings. Most Ultra3000 drives can be replaced with a Kinetix 5100 drive of similar, or in some cases greater, output current capability. The Kinetix 5100 drives require less physical space than the Ultra3000 drives. Other factors that affect drive replacement include: � Drive Sizing (ratings and physical size) � Dimensions � Drive Interconnects and Cabling � Communication network � Accessories, such as shunts and line filters. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 2 Replacement Considerations Nominal Voltage and Output Current Comparison This section lists the Ultra3000 servo drives and the suggested Kinetix 5100 servo drives, along with the output ratings differences of the drives. Information in this migration guide is based on the drive combinations that are shown in Table 8 and Table 9. Review Table 8 to make sure that the replacement drive can deliver the required continuous and peak current to the motor. Table 8 - Suggested Kinetix 5100 Replacement Drives by Output Current Ultra3000 Drive Kinetix 5100 Drive Cat. No. Voltage Range (V) Voltage Range Nom V rms Continuous Output Current A rms (0-pk) Peak Output Current A rms (0-pk) Cat. No. Voltage Range V rms Voltage Range Nom V rms 2098-DSD-OO5 88...265V 1 PH 120...240V 1 PH 1.8 (2.5) 5.3 (7.5) 2198-E1004-ERS 95...132V 1 PH 120...230V 170...253V 1 PH /3 PH 1 PH / 3 PH 2098-DSD-010 88...265V 1 PH 120...240V 1 PH 3.5 (5) 10.6 (15) 2198-E1007-ERS 95...132V 1 PH 120...230V 170...253V 1 PH /3 PH 1 PH / 3 PH 2098-DSD-020 88...265V 1 PH 120...240V 1 PH 7.1 (10) 21.2 (30) 2198-E1015-ERS 95...132V 1 PH 120...230V 170...253V 1 PH /3 PH 1 PH / 3 PH 2098-DSD-030 88...265V 1 PH 120...240V 1 PH 10.6 (15) 21.2 (30) 2198-E1020-ERS 95...132V 1 PH 120...230V 170...253V 1 PH /3 PH 1 PH / 3 PH 2098-DSD-075 88...265V 3 PH 120...240V 3 PH 24.7 (35) 53.0 (75) 2198-E2055-ERS 170...253V 3 PH 230V 3 PH 2098-DSD-150 88...265V 3 PH 120...240V 3 PH 45.9 (65) 106.0 (150) 2198-E2075-ERS 170...253V 3 PH 230V 3 PH 2098-DSDHV030 207...528, 3 PH 230...480, 3 PH 5 (7) 9.9 (14) 2198-E4015-ERS 342...528V 3PH 3 PH, 480V 2098-DSDHV050 207...528, 3 PH 230...480, 3 PH 7.8 (11) 15.6 (22) 2198-E4020-ERS 342...528V 3PH 3 PH, 480V 2098-DSDHV100 207...528, 3 PH 230...480, 3 PH 16.3 (23) 32.5 (46) 2198-E4055-ERS 342...528V 3PH 3 PH, 480V 2098-DSDHV150 207...528, 3 PH 230...480, 3 PH 24 (34) 48.1 (68) 2198-E4075-ERS 342...528V 3PH 3 PH, 480V 2098-DSDHV220 207...528, 3 PH 230...480, 3 PH 33.2 (47) 66.5 (94) 2198-E4150-ERS 342...528V 3PH 3 PH, 480V Continuous Output Current A rms (0-pk) Peak Output Current A rms (0-pk) 2.6 (3.7) 6.5 (9.19) 5.10 (7.21) 15.41 (21.79) 7.9 (11.17) 23.7 (33.51) 13.4 (18.95) 53.03 (74.98) 41.3 (58.40) 91.4 (129.24) 49.0 (69.3) 78.0 (110.3) 6.05 (8.56) 15.11 (21.36) 7.42 (10.49) 20.78 (29.38) 24.8 (35.07) 37.65 (53.24) 31 (43.84) 53.32 (75.39) 41.26 (58.35) 70.14 (99.18) Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 15 Chapter 2 Replacement Considerations Dimension Comparison This section compares physical dimensions of the Ultra3000 servo drives and the suggested Kinetix 5100 replacement servo drives. Table 9 - Suggested Kinetix 5100 Replacement Drives by Dimensions Ultra3000 Drives Cat. No. 2098-DSD-005 2098-DSD-010 2098-DSD-020 2098-DSD-030 2098-DSD-075 2098-DSD-150 2098-DSD-HV030 2098-DSD-HV050 2098-DSD-HV100 2098-DSD-HV150 2098-DSD-HV220 Height mm (in.) 198.12 (7.8) 198.12 (7.8) 198.12 (7.8) 360.68 (14.2) 360.68 (14.2) 360.68 (14.2) 360.7 (14.2) 360.7 (14.2) 360.7 (14.2) 360.7 (14.2) 391.8 (15.43) Width mm(1) (in) 95.5 (3.76) 121.54 (4.79) 121.54 (4.79) 91.44 (3.6) 138.68 (5.46) 188.97 (7.44) 138.7 (5.46) 138.7 (5.46) 151.6 (5.97) 151.6 (5.97) 203.2 (8.0) Depth mm (in) 144.27 (5.68) 144.27 (5.68) 144.27 (5.68) 243.84 (9.6) 247.14 (9.73) 241.05 (9.49) 242.2. (9.54) 242.2. (9.54) 242.2. (9.54) 242.2. (9.54) 242.2. (9.54) (1) Widths chosen were for Ultra3000 drives -DN,and -XDN, which are larger than the -X. Kinetix 5100 Drives Cat. No. Height mm (in.) 2198-E1004-ERS 170 (6.69) 2198-E1007-ERS 2198-E1015-ERS 2198-E1020-ERS 180 (7.09) 180 (7.09) 180 (7.09) 2198-E2055-ERS 273(10.75) 2198-E2075-ERS 312 (12.28) 2198-E4015-ERS 180 (7.09) 2198-E4020-ERS 260 (10.24) 2198-E4055-ERS 273 (10.75) 2198-E4075-ERS 312 (12.28) 2198-E4150-ERS 390 (15.35) Width mm (in) 35 (1.34) 50 (1.97) 50 (1.97) 95 (3.74) 120 (4.73) 141 (5.55) 95.0 (3.74) 110 (4.33) 120 (4.72) 141 (5.55) 186 (7.32) Depth mm (in) 178.3 (7.02) 188.4 (7.42) 188.4 (7.42) 208.4 (8.2) 209.4 (8.24) 225.4 (8.87) 208 (8.20) 204 (8.02) 209 (8.24) 225 (8.87) 281 (11.08) 16 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 2 Replacement Considerations AC Input Power Wiring and Fusing This section provides information to help you determine the wiring and fusing requirements of drives. Ultra3000 servo drives are designed to operate from a grounded power system (with center grounded wye secondary, or corner grounded, or high leg delta secondary), while Kinetix 5100 drives support three-phase wye systems with a center grounded wye secondary, or a singlephase system with a neutral and a grounded input. AC Input Power Wiring Determine the wire length for the AC line input after the drive location and cable routing is finalized. In general, the recommended drive replacement should not require changes in wiring length; however, the routing may need to change as the input power and motor power connections could be in different physical locations with different connector sizes. Table 10 shows a comparison of the connector locations of the Ultra3000 and Kinetix 5100 drives. Table 10 - Input Power and Motor Power Connection Placement of Kinetix 5100 Drives Kinetix 5100 Drive Kinetix 5100 Drive Cat. No. 2198-E1004-ERS 2198-E1007-ERS 2198-E1015-ERS 2198-E1020-ERS 2198-E2030-ERS 2198-E2055-ERS 2198-E2075-ERS 2198-E2150-ERS 2198-E4004-ERS 2198-E4007-ERS 2198-E4015-ERS 2198-E4020-ERS 2198-E4030-ERS 2198-E4055-ERS 2198-E4075-ERS 2198-E4150-ERS Output Power Input Power (kW) Connector Location 0.40 0.75 Top 1.50 2.00 3.00 5.50 7.50 15.00 0.40 0.75 Front 1.50 2.00 3.00 5.50 7.50 15.00 Ultra3000 Drive Motor Power/ Input Power, Motor Feedback Connector Power, Feedback Location Connector Location Bottom Front Front Circuit Breaker and Fuse Considerations Review the fusing requirements when you change drives. An Ultra3000 servo drive system must be protected by a device with short circuit interrupt current rating of the service capacity that is provided or a maximum of 100,000 A. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 17 Chapter 2 Replacement Considerations Kinetix 5100 servo drives use internal solid-state motor short-circuit protection and are rated for use on a circuit that can deliver up to 5000 A, when protected by suitable branch circuit protection. While circuit breakers offer some convenience, there are limitations with their use. Circuit breakers do not handle high current inrush as well as fuses. Make sure that the selected components are properly coordinated and meet acceptable electrical codes including any requirements for branch circuit protection. Evaluation of the short circuit available current is critical and must be kept below the short-circuit current rating of the circuit breaker. Table 11 and Table 12 list fuse and circuit breaker selections for Ultra3000 and Kinetix 5100 respectively. Table 11 - Ultra3000 Drive Fuse and Circuit Breaker Selection Drive Cat. No. 2098-DSD-005 2098-DSD-010 2098-DSD-020 2098-DSD-030 2098-DSD-075 2098-DSD-150 2098-DSD-xxx 2098-DSD-HV030 2098-DSD-HV050 2098-DSD-HV100 2098-DSD-HV150 2098-DSD-HV220 Drive Voltage, nom Phase 230V AC 460V AC Single-phase Single-phase Single-phase Single-phase Three-phase Three-phase Auxiliary input power Three-phase Three-phase Three-phase Three-phase Three-phase UL Applications Bussmann Fuses Class J Class CC LPJ-6SP LPJ-10SP LPJ-20SP LPJ-30SP LPJ-30SP LPJ-60SP LPJ-10SP LPJ-5SP LPJ-8SP LPJ-17-1/2SP LPJ-30SP LPJ-35SP FNQ-R-6 FNQ-R-10 FNQ-R-20 FNQ-R-30 FNQ-R-30 N/A FNQ-R-10 KTK-R-5 KTK-R-8 KTK-R-20 KTK-R-30 -- Motor Protection CB, Self-protected CMC Cat. No. -- 140M-F8E-C16 140M-F8E-C20 140M-F8E-C32 140M-F8E-C45 -- IEC (non-UL) Applications Motor Protection CB Cat. No. -- 140M-F8E-C16 140M-F8E-C20 140M-F8E-C32 140M-F8E-C45 -- Table 12 - Kinetix 5100 Drive Fuse and Circuit Breaker Selection Cat. No. 2198-E1004-ERS 2198-E1007-ERS 2198-E1015-ERS 2198-E1020-ERS 2198-E2030-ERS 2198-E2055-ERS 2198-E2075-ERS 2198-E2150-ERS UL/CSA Application Voltage (Nom) and Phase Recommended Fuse Cat. Recommended Circuit No. Breaker Cat. No. 120V/230V, 1 PH KTK-R-10 1489-M2D100 230V, 3 PH KTK-R-10 1489-M3D100 120V/230V, 1 PH KTK-R-20 1489-M2D200 230V, 3 PH KTK-R-15 1489-M3D130 120V/230V, 1 PH KTK-R-30 1489-M2D300 230V, 3 PH KTK-R-25 1489-M3D200 120V/230V, 1 PH LPJ-40SP 1489-M2D400 230V, 3 PH LPJ-35SP 1489-M3D300 230V, 3 PH LPJ-50SP 1489-M3D350 230V, 3 PH LPJ-70SP 1489-M3D600 230V, 3 PH LPJ-80SP 140G-G2C3-C70 230V, 3 PH LPJ-125SP 140G-G2C3-D12 IEC (non-UL/CSA) Application DIN gG Fuses Rating (Amps, max) Recommended Circuit Breaker Cat. No. 10 1489-M2D100 10 1489-M3D100 20 1489-M2D200 15 1489-M3D130 30 1489-M2D300 25 1489-M3D200 50 1489-M2D400 40 1489-M3D300 60 1489-M3D350 110 1489-M3D600 150 140G-G2C3-C70 225 140G-G2C3-D12 18 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 2 Replacement Considerations Table 12 - Kinetix 5100 Drive Fuse and Circuit Breaker Selection (Continued) Cat. No. 2198-E4004-ERS 2198-E4007-ERS 2198-E4015-ERS 2198-E4020-ERS 2198-E4030-ERS 2198-E4055-ERS 2198-E4075-ERS 2198-E4150-ERS UL/CSA Application Voltage (Nom) and Phase Recommended Fuse Cat. Recommended Circuit No. Breaker Cat. No. KTK-R-10 (10A) 1489-M3D100 KTK-R-15 (15A) 1489-M3D100 KTK-R-20 (20A) 1489-M3D150 KTK-R-25 (25A) 380...480V AC, three-phase KTK-R-30 (30A) 1489-M3D200 1489-M3D300 LPJ-35SP (35A) � LPJ-45SP (45A) � LPJ-90SP (90A) � IEC (non-UL/CSA) Application (Continued) DIN gG Fuses Rating (Amps, max) Recommended Circuit Breaker Cat. No. 10 1489-M3D100 15 1489-M3D100 20 1489-M3D150 25 1489-M3D200 30 1489-M3D300 35 1489-M3D350 45 140G-G6C3-C45 90 140G-G6C3-C60 Power Specifications This section lists the power specifications for the Ultra3000 drive and Kinetix 5100 drives. Table 13 and Table 14 show power specifications and requirements for the Ultra3000 drives. Table 13 - Ultra3000 (200V-class) Servo Drive Power Specifications Attribute AC Input Voltage(1) AC Input Frequency 2098-DSD-005 100...240V rms, 1 PH 47...63 Hz AC Input Current(2) (3) rms (nom) 230V AC (0-PK) max inrush(4) 5 A 100 A - Series A or B 20 A - Series C Auxiliary AC input current 115V AC (rms) nom 230VV AC (rms) nom -- 115V AC (0-pk) max inrush(4) 230V AC (0-pk) max inrush Continuous output current (rms) 1.8 A Continuous output current (0pk) 2.5 A Peak output current (rms) 5.3 A Peak output current (0-Pk) 7.5 A Bus Capacitance 1410 �F Internal Shunt resistance -- Shunt on -- Shunt off -- Bus Overvoltage 400V DC 2098-DSD-010 9 A 100 A - Series A or B 20 A - Series C -- 3.5 A 5.0 A 10.6 A 15 A 1880 �F -- -- -- 2098-DSD-020 2098-DSD-030 2098-DSD-075 2098-DSD-150 100...240V rms, 1 PH 100...240V rms, 3 PH 47...63 Hz 18 A 100 A - Series A or B 20 A - Series C 28 A 50 A 30 A 50 A 46 A 68 A -- 7.1 A 10 A 21.2 A 30 A 1880 �F -- -- -- 1.0 A 0.5 A 47 A 95 A 10.6 A 15 A 21.2 A 30 A 2820 �F 35 ohms 420V DC 420V DC 452V DC 1.0 A 0.5 A 47 A 95 A 24.7 A 35 A 53 A 75 A 4290 �F 16.5 ohms 1.0 A 0.5 A 47 A 95 A 45.9 A 65 A 106 A 150 A 7520 �F 9.1 ohms Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 19 Chapter 2 Replacement Considerations Table 13 - Ultra3000 (200V-class) Servo Drive Power Specifications (Continued) Attribute Internal shunt Continuous power Peak power External shunt Resistance Continuous power Peak power Energy absorption capability 115V AC input 230V AC input Continuous power output 115V AC input 230V AC input 2098-DSD-005 -- -- 93 J 38 J 0.25 kW 0.5 kW 2098-DSD-010 -- -- 125 J 51 J 0.5 kW 1.0 kW 2098-DSD-020 -- -- 1.0 kW 2.0 kW 2098-DSD-030 2098-DSD-075 2098-DSD-150 50 W 50 W 180 W 4.5 W 10 kW 18 kW 30 ohms (-0/+5%) 16.5 ohms (-0/+5%) 9 ohms (-0/+5%) 2.4 kW 4 kW 8 kW 6 kW 10 kW 19 kW 251 J 381 J 669 J 139 J 211 J 370 J 1.5 kW -- -- 3 kW 7.5 kW 15 kW (1) Specification is for nominal voltage. The absolute limits are � 10%, or 88...265V rms. (2) The 2098-DSD-005x-xx, 2098-DSD-010x-xx (200V - class) drives are limited to: Series A or B - one contactor cycle every two minutes. Series C - one contactor cycle every 10 s for up to two minutes, not to exceed 12 cycles in five minutes. (3) Power initialization requires a short period of inrush current. Dual element time delay (slow blow) fuses are recommended. (4) Inrush current limiting circuitry is enabled within 3 s after removal of AC line power. 20 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 2 Replacement Considerations Table 14 - Ultra3000 (400V-class) Drives Power Specifications Attribute AC input voltage (1) (2) AC input Frequency Main AC input current (3) (4) 460V AC (rms) nom 460V AC (rms) max inrush Auxiliary AC input current 230V AC (rms) nom 360V AC (rms) nom 480V AC (rms) nom 230V AC (0-pk) max inrush (5) 480V AC (0-pk) max inrush (5) Continuous output current (rms) Continuous output current (0-pk) Peak output current (rms) Peak output current (0-pk) Bus capacitance Internal shunt resistance Shunt on 230V AC input 480V AC input Shunt off 230V AC input 480V AC input Bus overvoltage 230V AC input 480V AC input Internal shunt Continuous power Peak power External shunt Resistance (-0/+5%) Continuous power Peak power Energy absorption capability 230V AC input with 230V motor 230V AC input with 460V motor 480V AC input Continuous power output 230V AC input 480V AC input 2098-DSD-HV030 2098-DSD-HV050 230...480V rms, three-phase 47...63 Hz 2098-DSD-HV100 2098-DSD-HV150 2098-DSD-HV220 4 A 7 A 14 A 20 A 28 A 6 A 6 A 6 A 6 A 6 A 0.55 A 0.35 A 0.25 A 47 A 68 A 5.0 A 7.0 A 9.9 A 14 A 470 �F 120 400V DC 800V DC 375V DC 750V DC 410V DC 810V DC 100 W 5.3 kW 120 3 kW 5.3 kW 15 J 129 J 55 J 1.5 kW 3.0 kW 7.8 A 11 A 15.6 A 22 A 2.5 kW 5.0 kW 16.3 A 23 A 32.5 A 46 A 705 �F 40 200 W 16 kW 40 10 kW 16 kW 22 J 194 J 82 J 5.0 kW 10 kW 24.0 A 34 A 48.1 A 68 A 940 �F 25 33.2 A 47 A 66.5 A 94 A 1880 �F 20 200 W 25.6 kW 25 15 kW 25.6 kW 29 J 259 J 109 J 7.5 kW 15 kW 400 W 32 kW 20 22 kW 32 kW 59 J 517 J 219 J 11 kW 22 kW (1) Specification is for nominal voltage. The absolute limits are �10%, or 207...264V rms and 324...528V rms. (2) The 2098-DSD-HVxxx-xx drives can be powered with 230V rms and used with motors designed for 230V operation. In such cases, the voltage levels used for shunting and DC bus overvoltage limits are adjusted to be compatible with the voltage limit of the motor. The 2098-DSD-HVxxx-xx drives can be powered with 480V rms and used with motors designed for 480V operation. In such cases, the voltage levels used for shunting and DC bus overvoltage limits are adjusted to be compatible with the voltage limit of the motor. (3) The 2098-DSD-HVxxx -xx (400V-class) drives are limited to three contactor cycles per minute. (4) Power initialization requires a short period of inrush current (processor controlled via soft start circuitry). Dual element time delay (slow blow) fuses are recommended. (5) 400 s half wave sine. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 21 Chapter 2 Replacement Considerations Table 15 and Table 16 list power specifications and requirements for the Kinetix 5100 drives. Table 15 - Kinetix 5100 Drive Input Power Specifications (Single-phase and three-phase) Attribute AC input voltage AC input frequency Main AC input current (1) rms (nom) 120V input (1 PH) max inrush (0-pk) 120V input rms (nom) 230V input (1 PH) max inrush (0-pk) 230V input rms (nom) 230V input (3 PH) max inrush (0-pk) 230V input Control power input voltage Control power input current rms (nom) 120V input max inrush (0-pk) rms (nom) 230V input max inrush (0-pk) Continuous output current (rms) Continuous output current (0-pk) Peak output current (rms) (2) Peak output current (0-pk) Continuous power output @ 120V nom @ 230V nom Internal shunt on Internal shunt off Internal shunt resistor Internal shunt power Undervoltage threshold Overvoltage Bus capacitance Capacitive energy absorption Short-circuit current rating 2198-E1004-ERS 2198-E1007-ERS 95...132V rms, 1 PH (120V nom) 170...253V rms, 1 PH (200...230V nom) 170...253V rms, 3 PH (230V nom) 47...63 Hz 2198-E1015-ERS 4.08 A 0.84 A 4.79 A 1.40 A 2.84 A 1.44 A 7.88 A 0.76 A 8.85 A 1.32 A 5.20 A 1.40 A 12.22 A 0.76 A 14.41 A 1.36 A 7.87 A 1.44 A 95...132V rms, 120V AC nom, 1 PH, with 120V AC input power 170...253V rms, 200...230V AC nom, 1 PH, with 200...230V AC input power 0.34 A 15.80 A 0.20 A 37.0 A 2.6 A 3.7 A 6.5 A 9.2 A 0.38 A 18.20 A 0.22 A 37.40 A 5.1 A 7.2 A 15.4 A 21.8 A 0.38 A 19.20 A 0.22 A 39.80 A 7.9 A 11.2 A 23.7 A 33.5 A 0.20 kW 0.40 kW 370V @120V AC input 370V @230V AC input 100 5 W 70V @120V AC input 150V @230V AC input 410V @120V AC input 410V @230V AC input 540 �F 6.24 J 5000 A (rms) symmetrical 0.375 kW 0.75 kW 100 14 W 1680 �F 19.40 J 0.75 kW 1.50 kW 100 14 W 1680 �F 19.40 J (1) Kinetix 5100 drive modules are limited to one AC mains power cycles per minute. (2) Peak RMS current that is allowed for up to 1.8 seconds. 2198-E1020-ERS 18.40 A 2.56 A 21.36 A 4.40 A 11.57 A 4.64 A 0.63 A 19.20 A 0.35 A 32.40 A 13.4 A 18.9 A 40.6 A 57.4 A 1.0 kW 2.0 kW 20 20 W 2160 �F 24.95 J 22 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 2 Replacement Considerations Table 16 - Kinetix 5100 Drive Input Power Specifications (three-phase) Attribute 2198-E2030-ERS 2198-E2055-ERS 2198-E2075-ERS AC input voltage AC input frequency Main AC input current (1) rms (Nom) 230V input (3 PH) max inrush (0-pk) 230V input Control power input voltage Control power input current rms (Nom) 230V input max inrush (0-pk) Continuous output current (rms) Continuous output current (0-pk) Peak output current (rms) (2) Peak output current (0-pk) Continuous power output @ 230V nom Internal shunt on Internal shunt off Internal shunt resistor Internal shunt power Undervoltage threshold Overvoltage Bus capacitance Capacitive energy absorption Short-circuit current rating 170...253V rms, 3 PH (230V nom) 47...63 Hz 14.65 A 4.42 A 27.32 A 9.55 A 37.90 A 28.68 A 170...253V rms, 200...230V AC nom, 1 PH, with 200...230V AC input power 0.35 A 36.40 A 17.9 A 25.3 A 55.95 A 79.1 A 0.46 A 32.80 A 41.3 A 58.4 A 91.4 A 129.2 A 0.48 A 40.0 A 49.0 A 69.3 A 127.5 A 180.3 A 3.0 kW 5.5 kW 370V @230V AC input 20 � 20 W � 150V @230V AC input 410V @230V AC input 2160 �F 4100 �F 24.95 J 47.36 J 5000 A (rms) symmetrical 7.5 kW � � 7000 �F 69.30 J (1) Kinetix 5100 drive modules are limited to one AC mains power cycling per minute. (2) Peak RMS current that is allowed for up to 1.8 seconds. 2198-E2150-ERS 70.45 A 32.0 A 0.92 A 37.0 A 78.0 A 110.3 A 162.0 A 229.1 A 15.0 kW � � 13,500 �F 155.93 J Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 23 Chapter 2 Replacement Considerations Table 17 - Kinetix 5100 Power Specifications (480V nom three-phase) Attribute 2198-E4004-ERS 2198-E4007-ERS AC input voltage AC input frequency Mains AC input current (1) Nom (rms) 380V input (three-phase) Max inrush (0-pk) 380V input Nom (rms) 480V input (three-phase) Max inrush (0-pk) 480V input Control power input voltage Control power input current @ 24V DC (2) Control power in-rush current @ 24V DC Continuous output current (rms) Continuous output current (0-pk) Peak output current (rms) (3) Peak output current (0-pk) Line loss ride through Continuous output power Internal shunt on Internal shunt off Internal shunt resistor Internal shunt power Bus undervoltage Bus overvoltage Bus capacitance Capacitive energy absorption Short-circuit current rating 342...528V rms, three-phase (480V nom) 47...63 Hz 1.49 A 5.66 A 1.34 A 7.15 A 21.6...26.4V DC 24V DC nom 1.27 ADC 4.14 ADC 1.60 A 2.26 A 5.40 A 7.63 A 20 ms 0.40 kW 2.31 A 5.66 A 2.08 A 7.15 A 3.19 A 4.51 A 8.0 A 11.31 A 0.75 kW 760V 80 10 W 282V 820V 165 �F 11.2 J 5,000 A (rms) symmetrical (1) Kinetix 5100 drive modules are limited to 1 AC mains power cycling per minute. (2) Kinetix 5100 drive modules are limited to 1 control power cycling every 20 seconds. (3) Peak RMS current allowed for up to 1.8 seconds. 2198-E4015-ERS 5.009 A 5.66 A 4.38 A 7.15 A 6.05 A 8.56A 15.11 A 21.36 A 1.50 kW 235 �F 16.0 J 2198-E4020-ERS 6.29 A 9.43 A 4.94 A 11.91 A 1.40 ADC 4.97 ADC 7.42 A 10.49 A 20.78 A 29.38 A 2.0 kW � � 470 �F 32.0 J 24 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Table 18 - Kinetix 5100 Power Specifications (480V nom three-phase, continued) Attribute 2198-E4030-ERS 2198-E4055-ERS AC input voltage AC input frequency Mains AC input current (1) Nom (rms) 380V input (three-phase) Max inrush (0-pk) 380V input Nom (rms) 480V input (three-phase) Max inrush (0-pk) 480V input Control power input voltage Control power input current @ 24V DC (2) Control power in-rush current @ 24V DC Continuous output current (rms) Continuous output current (0-pk) Peak output current (rms) (3) Peak output current (0-pk) Line loss ride through Continuous output power Internal shunt on Internal shunt off Internal shunt resistor Internal shunt power Bus undervoltage Bus overvoltage Bus capacitance Capacitive energy absorption Short-circuit current rating 342...528V rms, three-phase (380/480V nom) 47...63 Hz 9.96 A 9.43 A 7.91 A 11.91 A 21.6...26.4V DC, 24V DC nom 1.77 ADC 4.97 ADC 13.95 A 19.73 A 26.08 A 36.88 A 20 ms 3.0 kW 16.825 A 9.43 A 13.35 A 11.91 A 2.03 ADC 3.24 ADC 24.8 A 35.07 A 37.65 A 53.24 A 5.5 kW 760V � � 282V 820V 560 �F 38.2 J 5,000 A (rms) symmetrical � � 1120 �F 76.3 J (1) Kinetix 5100 drive modules are limited to 1 AC mains power cycling per minute. (2) Kinetix 5100 drive modules are limited to 1 control power cycling every 20 seconds. (3) Peak RMS current allowed for up to 1.8 seconds. Chapter 2 Replacement Considerations 2198-E4075-ERS 2198-E4150-ERS 23.664 A 9.43 A 18.78 A 11.91 A 31.0 A 43.84 A 53.32 A 75.39 A 7.5 kW � � 1640 �F 111.7 J 36.855 A 28.28 A 29.25 A 35.73 A 4.43 ADC 3.40 ADC 41.26 A 58.35 A 70.14 A 99.18 A 15.0 kW � � 2500 �F 170.3 J Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 25 Chapter 2 Replacement Considerations I/O Availability and Specifications All Ultra3000 drives and Kinetix 5100 drives have a comprehensive set of digital I/O and analog I/O. Use this section to verify if the I/O functionality is comparable. Digital Inputs Table 19 compares the digital inputs of the Ultra3000 drives and the Kinetix 5100 drives. Table 19 - Digital Inputs Comparison Features Ultra3000 (Non-Sercos) Drives Inputs Eight inputs DC common terminations 1 Number of Pre-selectable indexes (using binary weighted digital inputs) 64 Multiple input assignment Yes De-bounce for inputs Yes, can be assigned to any input Registration Input Yes, can be assigned to any input Overtravels contact type N.C. only Default assignment for digital inputs/ outputs None Kinetix 5100 Drives Ten total (eight standard inputs, two optional high-speed inputs) 1 99 Yes (via software programming) Yes Yes, can be assigned to two highspeed inputs (Input 9 and Input 10) Can be N.O. or N.C. Yes Kinetix 5100 drives have eight inputs with configurable functions and two high-speed inputs. The standard digital inputs on Kinetix 5100 drives have the same physical characteristics. Table 20 and Table 21 compare the digital inputs physical characteristics between Ultra3000 and Kinetix 5100 drives. Table 20 - Digital Inputs Characteristics Comparison Specification Digital Input response (delay) Digital Input scan time Ultra3000 Drives 100 s 1 ms Kinetix 5100 Drives Standard inputs: 1 ms High speed inputs: 3us Standard inputs: 500us max High speed inputs: 1us Table 21 - Digital Inputs Voltage and Current Comparison (IEC61131-2 Type 1 compliant for Kinetix 5100 Drive) Parameter ON state voltage ON state current OFF state voltage Description Voltage applied to the input, with respect IOCOM, to guarantee an ON state Current flow to guarantee an ON State Voltage applied to the input, with respect IOCOM, to guarantee an OFF state Ultra3000 Drive Min Max 10.8V 26.4V 3.0 mA 12.0 mA -1.0V 2.0V Kinetix 5100 Drive Min Max 15V 26.4V 2.0 mA 6.0 mA -1.0V 5.0V 26 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 2 Replacement Considerations Ultra3000 and Kinetix 5100 Drives Dedicated Functionality Inputs For Ultra3000 non-Sercos drives, each digital input configuration parameter can assign one or more functions to the corresponding digital input. Assigning a function causes that function to become active when the associated Digital Input becomes active. If no functions are assigned by a digital input configuration parameter, then the corresponding digital input is unassigned. The supported digital input functionality for Ultra3000 drives is shown in the first column of Table 22. There is not a direct correlation with the functionality for the Kinetix 5100 drive - they are shown side by side for convenience. The Kinetix 5100 drive digital inputs are assigned to specific functions by using the KNX5100C software. Input 9 and Input10 are available as high-speed digital inputs and registration functionality is available at these inputs only. For details on all supported digital inputs for the Kinetix 5100 drive, see the Kinetix 5100 EtherNet/IP Indexing Servo Drives Users Manual, publication 2198-UM004. The supported Digital Input functionality for Kinetix 5100 drives is shown in the second column of Table 22. There is not a direct correlation with the functionality for the Ultra3000 drive - they are shown side by side for convenience. Table 22 - Supported Digital Input Functionality Ultra3000 Drive Enable Drive Home Sensor Registration Positive Hardware Overtravel Negative Hardware Overtravel Define Home Position Disable Serial Input Start Homing Pause Homing Abort Homing Pause Index Abort Index Define Position Preset Select 0 ... Preset Select 5 Integrator Inhibit Follower Enable Forward Enable Reverse Enable Operation Mode Override Position Strobe Reset Drive Start Index Remove Command Offset Fault Reset -- Kinetix 5100 Drive Servo is activated (SON, Drive Enable) Fault Reset (ARST) Gain Switching (GAINUP) Clear pulse counter (CCLR) Zero Speed Clamp (ZCLAMP) Command Input Reverse Control (CMDINV) Command triggered (CTRG) Torque limit (TRQLM) Latch Function of Analog Position Command (VPL) Speed Limit Enable (SPDLM) Position Selection (POS0 ... POS6) Absolute Mode (ABSE) Set up or Clear Absolute System Coordinates (ABSC) ABSQ Always Input Speed Selection (SPD0, SPD1) Torque Command (TCM0, TCM1) Speed and Position Selection (S-P) Speed and Torque Mode Switching (S-T) Torque and Position Selection (T-P) Emergency stop (EMGS) Reverse Inhibit Limit Clockwise (NL CWL) Forward Inhibit Limit Counter Clockwise (PL CCWL) Homing Origin (ORGP) Return to Homing Origin (SHOM) PT and PR Mode Switching (PT-PR) Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 27 Chapter 2 Replacement Considerations Table 22 - Supported Digital Input Functionality (Continued) Ultra3000 Drive -- -- -- -- -- -- -- -- -- Kinetix 5100 Drive (Continued) E-Cam Alignment (ALGN) E-Cam Engaging Control (CAM) Forward Jog Input (JOGU) Event Trigger Command 1...4 (EV1...EV4) E-Gear Ratio (Numerator) Selection1, 2 (GNUM0, GNUM1) External Pulse Inhibit (INHP) Motor Stop (STP) Profile Quick Stop (PFQS) Servo On with holding brake (DSO) As shown in Figure 1, the Ultra3000 drives have eight optically isolated, active high, current sourcing 12-24V DC digital inputs. The Kinetix 5100 drives, which are shown in Figure 2, use digital inputs that are optically isolated and sink up to 24V DC. You can design the inputs for PNP sourcing or NPN sinking. Figure 1 - Ultra3000 Digital Input Circuit Ultra3000 Drive +5V 2.7 k 10 k Inputs 1 k IO COM TLP121 IO COM DGND Figure 2 - Kinetix 5100 Drive Digital Input Circuit NPN transistor (SINK mode) 24V DC Kinetix 5100 Servo Drive DCOM 4.7 k, approx. INPUTx PNP transistor (SOURCE mode) 24V DC INPUTx Kinetix 5100 Servo Drive 4.7 k, DCOM approx. 28 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 2 Replacement Considerations Digital Outputs The Ultra3000 servo drives (non-Sercos) have four optically isolated transistor outputs that can be assigned to various functions through software. Additionally, the Ultra3000 drive has one relay output with normally open contacts. When brake control is assigned to the relay output, it can directly control a motor holding brake. Kinetix 5100 drives have six outputs that can be assigned to various functions through software. There is no relay output. Any standard digital outputs (with additional external circuit) can be used to energize the motor holding brake. The Kinetix 5100 drive requires an external relay. See the Kinetix 5100 EtherNet/IP Indexing Servo Drives User Manual, publication 2198-UM004 for more information on how to configure and use the holding brake. Table 23 compares the digital outputs of the two drives. Table 23 - Digital Outputs Comparison Features Ultra3000 (Non-Sercos) Drives Kinetix 5100 Drives Outputs 5 (4 outputs + 1 relay output) 6 outputs Brake output assignment Programmable Programmable, transistor type Use common 24V DC power to Energize outputs Yes Capability to use separate 24V DC power Configurable output assignment Yes Yes Table 24 and Table 25 compare the digital output physical characteristics between Ultra3000 and Kinetix 5100 drives. Table 24 - Digital Outputs Characteristics Comparison Specification Digital outputs pass through delay Digital outputs scan time Ultra3000 Drives 100 �s 1 ms Kinetix 5100 Drives 1 ms max 250 �s max Table 25 - Digital Outputs Parameters Comparison Parameter Description ON state current OFF state current ON state voltage OFF state voltage Current flow when the output transistor is ON Current flow when the output transistor is OFF Voltage across the output transistor when ON Voltage across the output transistor when OFF Ultra3000 Drive Min Max -- 50 mA -- 0.1 mA -- 1.5V -- 50V Kinetix 5100 Drive Min Max -- 40 mA -- 0.1 mA -- 1.5V @ 40 mA -- 30V As shown in Figure 3, for the Ultra3000 drives, there are four optically isolated 12-24V DC digital outputs, active high, current sourcing. The Ultra3000 does not have default assignments for digital outputs. The Kinetix 5100 drives have digital outputs that are optically isolated and you can design the outputs for open collector or open emitter. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 29 Chapter 2 Replacement Considerations Figure 3 - Ultra3000 Digital Output Circuit 200 +5V IOPWR OUT TLP127 OUTPUT Figure 4 - Kinetix 5100 Drive Digital Output Circuits The servo drive applies external power supply and the load is resistive. Kinetix 5100 Servo Drive. R OUTPUTx+ 24V DC The servo drive applies external power supply and the load is inductive. OUTPUTx� Confirm the polarity of the diode is correct or it may damage the servo drive. Kinetix 5100 Servo Drive. OUTPUTx+ 24V DC OUTPUTx� Analog Inputs This section describes analog inputs for Ultra3000 (Non-Sercos) and Kinetix 5100 servo drives. Table 26 compares the analog inputs of these two drives. Table 26 - Analog Inputs Parameters Comparison Parameter Analog Inputs Resolution Analog Inputs Impedance Analog Inputs Voltage Analog Inputs Scan Time Offset Error Gain Error Propagation Delay Ultra3000 Drives 14 bits 20 k -10...+10V 0.0625 ms 50 mV 1% 100 �S Kinetix 5100 Drives 15 bits min Approx. 12 k typical -10...+10V 0.0625 ms max 50 mV max 1% max 100 S max The Ultra3000 drive analog COMMAND input can receive a position, velocity, or current command signal. A 14-bit A/D converter digitizes the signal. The characteristics of this input are shown in Figure 5. 30 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 2 Replacement Considerations Kinetix 5100 servo drives support two analog input pins (COMMAND1 and COMMAND2) as shown in Figure 6. The analog COMMAND1 (T-REF) input receives a torque reference signal and the COMMAND2 (V-REF) input receives a position or speed command signal. A 16-bit A/D converter digitizes the signal, however, the effective resolution is 15 bit due to noise. For details see the Kinetix 5100 EtherNet/IP Indexing Servo Drives Users Manual, publication 2198-UM004. Figure 5 - Ultra3000 Analog Input Circuit Ultra3000 Drive 1000 �F COMMAND + COMMAND - 10k 10k 0.01 mF 10k 10k 0.01 mF 1000 �F 20k 20k Figure 6 - Kinetix 5100 Drive Analog Input Circuit Controller Kinetix 5100 Servo Drive 10 k �10V 18 COMMAND1-Torque 42 COMMAND2-Speed 13 Analog GND AGND When using Ultra3000 drives, the ILIMIT input limits drive current when used. If ILIMIT input is not used, current is only limited by using Ultraware software. Kinetix 5100 servo drives do not provide the ILIMIT input for output current limiting. The current command can be limited by using internal parameters ID128...ID130 (P1.012...P1.014) internal torque limits 1...3 in PT, PR, and S mode. Digital inputs can be used to provide a binary weighted, pre-programmed Torque Limit. See the Kinetix 5100 EtherNet/IP Indexing Servo Drives Users Manual, publication 2198-UM004, for more details. Analog Output This section describes analog outputs for Ultra3000 (Non-Sercos) and Kinetix 5100 servo drives. Table 27 compares the analog outputs of these drives. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 31 Chapter 2 Replacement Considerations Table 27 - Analog Outputs Parameters Comparison Parameter Analog Outputs Resolution Analog Outputs Current max Analog Outputs Voltage Analog Outputs Scan Time Offset Error Gain Error Bandwidth Ultra3000 Drive 8 bits 2 mA -10...+10V � 500 mV 10% 50 Hz Kinetix 5100 Drive 10 bits min 1 mA Configurable as either -8...+8V DC, or -10...+10V DC 0.25 ms max 100 mV max 5% max 50 Hz min The Ultra3000 uses one programmable analog output. The Kinetix 5100 servo drive provides two programmable analog outputs (MON1 and MON2) which are single-ended based on the analog ground. Figure 7 - Ultra3000 Drive Analog Outputs Circuit Ultra3000 Drive AOUT 100 0.01 �F Figure 8 - Kinetix 5100 Drive Analog Output Circuit Output: 24 k 1 mA, max 16 AOUT1 AOUT2 Analog GND 15 13 8 k V 8V Full-scale AGND The Ultra3000 drive analog outputs can be configured using Ultraware software. The Kinetix 5100 drive analog outputs can be configured using parameters or KNX5100C software. With the Kinetix 5100 drive, you can select the data to be monitored via parameter ID 103 (P0.003) AOMonitorSelection. The first 5 settings for the Kinetix 5100 drive in Table 28 show the different configurations that can be used with MON1/MON2 analog outputs. For details see the Kinetix 5100 EtherNet/IP Indexing Servo Drives Users Manual, publication 2198-UM004. Table 28 shows the analog output values for the Ultra3000 and the Kinetix 5100 drives. They are listed in one table for ease of reading; they are not equivalent settings. 32 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 2 Replacement Considerations Table 28 - Ultra3000 Drive and Kinetix 5100 Drive Analog Output Values Ultra3000 Drive (Available functions for analog outputs) Current Average Current Command Current Feedback Position Command Position Error Position Feedback Velocity Command Velocity Error Velocity Feedback Kinetix 5100 Drives (Available functions for analog outputs) Mon1 and MON2 Setting Value(1) Description 0 Motor speed (full output range (2) / max speed) 1 Motor torque (full output range (2) / max torque) 2 Pulse command frequency (full output range (2) / 4.5 MHz) 3 Speed command (full output range (2) / max speed command) 4 Torque command (full output range (2) / max torque command) 5 BUS voltage (full output range (2) / 450V) 6 P1.101 Preset Analog Output Value 1 7 P1.102 Preset Analog Output Value 2 -- -- (1) ID 103 (P0.003) (2) +/-8V or +/-10V depending on configuration Control and Auxiliary Power Specifications The control power input allows the drive to maintain logic power when main power is removed. This allows communication between the controller and the drive to remain active; as well as maintaining the USB connection for the drive. The Ultra3000 servo drives (2098-DSD-005, -010, and -020) use an external +5V power supply in applications where it is necessary to maintain logic power when the main power is removed. The +24V DC I/O supply (IOPWR) allows use of a drive-mounted breakout board with 24V DC to 5V DC converter (2090-U3CBB-DM12). All other Ultra3000 servo drives have other auxiliary power requirements. Table 29 - Ultra3000 Drives +24V DC Control Power Supply Specification Parameter Input voltage range Input current Description Min Input voltage range of the external power supply for drivemounted breakout boards with 24V DC to 5V DC converter. 18V DC Input current draw from the external power supply for the drivemounted breakout boards with 24V DC to 5V DC converter. -- Max 30V DC 400 mA Table 30 - Ultra3000 Drives 5V Control Power Supply Specifications Parameter Voltage Current Description Voltage tolerance of the external logic supply. Current output capability of the external +5V DC power supply. Min 5.1V DC 1.5 A Max 5.25V DC -- Table 31 - Ultra3000 Drive Auxiliary Power Specification (230V) Specification Auxiliary AC input current 115V AC (rms) nom 230V AC (rms) nom 115V AC (0-pk) max inrush 230V AC (0-pk) max inrush 2098-DSD-030 1.0 A 0.5 A 47 A 95 A 2098-DSD-075 1.0 A 0.5 A 47 A 95 A 2098-DSD-150 1.0 A 0.5 A 47 A 95 A Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 33 Chapter 2 Replacement Considerations The Kinetix 5100 drive requires a control power supply shown in Table 32 and Table 33. Depending on the voltage class of the drive, the control power is either be a phase from the incoming power (non-400V-class) or 24V DC (400V-class) Table 32 - Kinetix 5100 Servo Drive Control Power and Auxiliary Power Rating - 200V-class Cat. No. 2198-E1004-ERS 2198-E1007-ERS 2198-E1015-ERS 2198-E1020-ERS 2198-E2030-ERS 2198-E2055-ERS 2198-E2075-ERS 2198-E2150-ERS Maximum Input Current of Control Power A rms at 120Vrms nom 0.34 0.38 0.63 � � � � � Inrush current of Control Power A 0-pk at 120V rms nom 15.80 18.20 19.20 19.20 � � � � Maximum Input Current of Control Power A rms at 230Vrms nom 0.20 0.22 0.22 0.35 0.35 0.46 0.48 0.92 Inrush current of Control Power A 0-pk at 230V rms nom 37.0 37.40 39.80 32.40 36.40 32.80 40.0 37.0 The 400V-class drives require 24V DC control power. Table 33 - Kinetix 5100 Servo Drive Control Power and Auxiliary Power Rating - 400V-class Cat. No. 2198-E4004-ERS 2198-E4007-ERS 2198-E4015-ERS 2198-E4020-ERS 2198-E4030-ERS 2198-E4055-ERS 2198-E4075-ERS 2198-E4150-ERS Maximum Input Current of Control Power Inrush current of Control Power A rms at 24V DC A at 24V DC 1.27 4.14 1.40 4.97 1.77 4.97 2.03 3.24 4.43 3.40 Compatible Motors Table 34 compares different motors that are supported by Ultra3000 servo drives and Kinetix 5100 servo drives. Only the Kinetix MP and TL/TLY motors are supported by Ultra3000 drive and Kinetix 5100 drive. For more information on supported motors and feedback, see the Kinetix 5100 EtherNet/IP Indexing Servo Drives Users Manual, publication 2198-UM004. Table 34 - Motor Supported by Ultra3000 and Kinetix 5100 Drives Servo Motor Kinetix MP 1326AB-Series (M2L/S2L) F-Series H-Series N-Series Y-Series Kinetix TL and TLY servo motors (Tamagawa serial feedback/TTL incremental feedback) Kinetix TLP (1) Excludes Kinetix MPL motors with resolvers. (2) Yes to TLY-Axxx-H, but not TL. (3) Yes to TL-Axxx-B, TLY-Axxx-B, and TLY-Axxx-H Ultra3000 Drives Yes Yes Yes Yes Yes Yes Yes(2) � Kinetix 5100 Drives Yes(1) � � � � � Yes(3) Yes 34 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Feedback Devices Accessories Chapter 2 Replacement Considerations The Kinetix 5100 drives and the Ultra3000 drives accept motor feedback signals from Hiperface absolute high-resolution encoders and generic TTL incremental encoders, by using the motor feedback (MFB) connector. In addition, the Kinetix 5100 drives accept motor feedback signals from 24-bit high-resolution absolute single-turn and multi-turn (multi-turn requires battery back-up) encoders that are used in Kinetix TLP motors. The Kinetix 5100 drives accept motor feedback signals from 17-bit absolute encoders that are used in Kinetix TL and TLY motors. For more information on the Kinetix 5100 drive compatible feedback encoders, see the Kinetix 5100 Ethernet/IP Indexing Servo Drives User Manual, publication 2198-UM004. For more information on the Ultra3000 drives compatible feedback encoders, see the Ultra3000 Drive Systems Design Guide, publication KNX-RM008. This section describes required and optional accessories for Ultra3000 and Kinetix 5100 servo drives. Drive accessories that are shared between Ultra3000 drives and Kinetix 5100 drives include the following: � 2090-Series motor power and feedback cables � 2198-K51CK-D15M feedback connector kit that is required for wiring feedback cables with flying leads Application accessories such as shunts and line filters, can impact drive replacement, so they are covered in this section. Other Ultra3000 drive accessories, for example, panel-mounted breakout boards, resistive brake module (RBM), and external auxiliary encoders are not shared with Kinetix 5100 servo drives. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 35 Chapter 2 Replacement Considerations Required Drive Accessories See the Kinetix Motion Accessories Technical Data, publication KNX-TD004, for detailed descriptions and specifications of these servo drive accessories. Table 35 - Ultra3000 Drive Required Drive Accessories Drive Accessory 24V DC power supply Cat. No. 1606-XLxxx 2090-UXBB-DM15(1) 2090-UXBB-DM09 Drive-mounted breakout boards (required for 2090-U3BB2-DM44 flying lead cables) Serial interface cable Motor power and feedback cables(2) 2090-U3CBB-DM44 2090-UXPC-D09xx Description 12...24V DC for control and I/O power. Motor feedback (CN2) connections. Serial interface (CN3) connections. I/O (CN1) connections. These kits apply to all Ultra3000 drives (Cat. No. 2098-DSD-005, 2098-DSD-010, and 2098-DSD-020) in applications where 5V DC control power (if necessary) is usersupplied. I/O (CN1) connections. These kits apply to only 2098-DSD-005, 2098-DSD-010, and 2098-DSD-020 drives in applications where a 24...5V DC converter for control power is required. Ultra3000 drive serial interface to personal computer. See the specific drive/motor combination for the motor cables required for your system. (1) Accessory can be shared with Kinetix 5100 servo drive. (2) Motor Power and feedback cable for Kinetix MP servo motor (Bulletin -2090) can be shared with Kinetix 5100 servo drive. Table 36 - Kinetix 5100 Drive Required Drive Accessories Accessory Cat. No. 24V DC power supply 1606-XLxxx 2198-USBC Communication Cable 2198-USBF Feedback Connector kit 2198-K51CK-D15M I/O Connector kit Motor Power and Feedback Cables 2198-TBIO - Description 12...24V DC for I/O power Mini USB cable (for connecting a Kinetix 5100 drive to a personal computer) USB cable filter to remove nuisance noise issues when connecting Kinetix 5100 drives to a personal computer with KNX5100C software For wiring flying lead feedback cable to Motor Feedback Port of the Kinetix 5100 drive Terminal blocks for wiring I/O signals to PLC s and other devices See the specific drive/motor combination for the motor cable required for your system Optional Drive Accessories - Ethernet Cable A 1585J series Ethernet cable(1585J-M8CBJM-x, 1585J-M8UBJM-x, 1585J-M8CB-x) is required when a Kinetix 5100 drive is controlled via Ethernet (either in IO mode or via Explicit Messaging). Optional Drive Accessories - Shunt Resistors The Ultra3000 drives (2098-DSD-005, 2098-DSD-010, 2098-DSD-020) have no internal shunting capability. These drives support the active shunt module. All other Ultra3000 drive models have internal shunting capability and support a passive shunt module (external shunt resistor). � Active shunts are used to provide shunt capability (the shunt absorbs excessive regenerative energy on the DC bus) for the drive. � Passive shunts (shunt resistors) are used when drives have NO internal shunt resistor or the internal shunt resistor power is not enough. 36 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 2 Replacement Considerations Table 37 - Ultra3000 Drive Shunt Resistor Specification Specifications Ultra3000 Drive Shunt Module Cat. Cat. No. No. Shunt Type 2098-xxx-005 2098-xxx-010 2098-xxx-020 2098-xxx-030 2098-xxx-075 2098-xxx-150 2090-UCSR-A300 9101-1183 2090-UCSR-P900 2098-DSD-HV030, 2098-DSD-HV050 2090-SR120-09 2090-SR040-09 2098-DSD-HV100 2090-SR040-18 Active Passive Drive Voltage 230V AC 400V Resistance 36 30 18 120 40 40 Peak Power kW Peak Current A Continuous Power W 4.0 10.5 300 5.9 14.0 200 10.0 23.3 5.3 6.7 900 20.0 16.0 20.0 1800 Shipping Weight kg (lb) 1.51 (3.3) -- 4.08 (9.0) 3.63 (8.0) 3.63 (8.0) 8.6 (19.0) All Kinetix 5100 servo drives have internal shunt IGBT. However, only 2198-E1004-ERS...2198-E2030-ERS and 2198-E4004...2198-E4015 drives have an internal shunt resistor. The DC+ to ISH terminal jumper connects the internal shunt resistor. Bulletin 2198-Rxxx and 2097-Rx shunt resistors are external modules that provide additional shunt capacity for applications when the internal shunt capacity of the drive is exceeded. Catalog number 2198-R031 is made of resistor coils that are housed inside an enclosure. Catalog numbers 2198-R004, 2097R6, and 2097-R7 are shunt resistors without an enclosure. Figure 9, Figure 10, Figure 11, Table 38, and Table 39 describe shunt resistor specifications and dimensions. These dimensions apply to units with an enclosure. Figure 9 - Product Dimensions: Catalog Number 2198-R031 Left Side View F Removable Cover Front View C 5/16 in. Hex Screws 5/16 in. E Hex Screws G � (5) Conduit Knockout 12.7 (0.5) Dimensions are in mm (in.) D Top View (cover removed) B � (4) 11.1 (7/16) Mounting Holes Table 38 - 2198-R031 Shunt Resistor Dimensions Cat. No. 2198-R031 A 635 (25.0) B 343 (13.5) C 683 (26.88) D 673 (26.5) E 178 (7.0) A F 406 (16.0) G 403 (15.88) These dimensions apply to units without an enclosure. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 37 Chapter 2 Replacement Considerations Figure 10 - Product Dimensions: Catalog Number 2198-R004 305 (12.0) 292 (11.5) Dimensions are in mm (in.) 38.1 (1.5) Top View � (2) 5.6 (7/32) Mounting Holes 457 mm (18 in.) 450 �C (842 �F) High-Temperature Wire Leads 76.2 Side View (3.0) 12.0 (0.47) 4.3 (0.17) Figure 11 - Product Dimensions: Catalog Numbers 2097-R6 and 2097-R7 Dimensions are in mm (in.) 500 (19.68) Flying Leads 2.5 mm2 (14 AWG) 10.0 (0.39) Shunt Resistor Cat. No. L1 L2 L3 2097-R6 210 (8.3) 197 (7.7) 170 (6.7) 2097-R7 150 (5.9) 137 (5.4) 110 (4.3) L2 L1 L3 10.0 (0.39) 12.0 41.0 (0.47) (1.6) Table 39 - 2198-Rx and 2097-Rx Shunt Resistor Specification Cat. No. 2198-R004 2198-R031 2097-R6 2097-R7 Resistance () 33 33 75 150 Continuous Power (W) 400 3100 150 80 Weight, approx kg (lb) 1.8 (4.0) 16.8 (37) 0.3 (0.7) 0.2 (0.4) See the Kinetix 5700 Passive Shunt Modules Installation Instructions, publication 2198-IN011 for information on installing the shunt modules. Optional Drive Accessories - AC Line Filters An AC line filter is a key component in achieving CE standards compliance. The Kinetix 5100, and Ultra3000 drives do not use the same line filters. Once you select the Kinetix 5100 drive for your application, choose the line filter that is appropriate for that particular drive. This section describes the specifications for the line filters used for each drive. 38 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 2 Replacement Considerations Table 40 - Ultra3000 Drives AC Line Filter Selection Drive Family Drive Cat. No. 2098-xxx-005 2098-xxx-010 2098-xxx-020 2098-xxx-030 2098-xxx-075 Ultra3000 drive 2098-xxx-150 2098-DSD-HV030, 2098-DSD-HV050, 2098-DSD-HV100, 2098-DSD-HV150 2098-DSD-HV220 AC Line Filter Cat. No. 2090-UXLF-106 2090-UXLF-110 2090-UXLF-123 2090-UXLF-136 2090-UXLF-336 2090-UXLF-350 2090-UXLF-HV323 2090-UXLF-HV330 Motor Cables > 30 m (98.4 ft) 2090-UXLF-110 2090-UXLF-110 2090-UXLF-123 2090-UXLF-132 2090-UXLF-HV330 2090-UXLF-HV350 2090-UXLF-HV323 2090-UXLF-HV330 Table 41 - AC Line Filter Specifications AC Line Filter Cat. No. Voltage 2090-UXLF-106 2090-UXLF-110 2090-UXLF-123 2090-UXLF-132 2090-UXLF-136 250V AC 50/60 Hz 2090-XXLF-TC116 2090-UXLF-336 2090-UXLF-350 Phase 1 PH 3 PH Specifications (1) (2) Current A @ Power 50 �C (122 �F) Loss W 6 3.5 10 2.7 23 10 32 20 36 � 16 � 36 � 50 25 Leakage Weight Current approx mA kg (lb) 2.26 0.3 (0.66) 45 0.95 (2.0) 90 1.6 (3.5) 90 200 1.75 (3.9) 87 0.80 (1.7) 138 2.7 (5.9) 138 Operating Temperature -25...+85 �C (-13...+185 �F) -25...+100 �C (-13...+212 �F) -25...+85 �C (-13...+185 �F) (1) For all filters, 90% relative humidity. (2) For all filters, 10...200 Hz @ 1.8 g vibration. For the Kinetix 5100 drive, the AC line filters are mounted directly beside the drive (side) with flying lead connections. Table 42 - Kinetix 5100 Drives AC Line Filter Catalog Numbers Kinetix 5100 Drive Cat. No. AC Line Filter Cat. No. (single-phase operation) AC Line Filter Cat. No. (three-phase operation) 2198-E1004-ERS 2198-E1007-ERS 2198-DB111-F 2198-DB310-F 2198-E1015-ERS 2198-DB127-F 2198-E1020-ERS 2198-DB324-F 2198-E2030-ERS (1) -- 2198-E2055-ERS (1) -- 2198-DB335-F 2198-E2075-ERS (1) -- 2198-DB356-F 2198-E2150-ERS (1) -- 2198-DBR90-F 2198-E4004-ERS � 2198-E4007-ERS � 2198-E4015-ERS � 2198-DB418-F 2198-E4020-ERS � 2198-E4030-ERS � 2198-E4055-ERS � 2198-E4075-ERS � 2198-B433-F 2198-E4150-ERS � 2198-DBR40 (1) 2198-E2xxx-ERS and 2198-E4xxx-ERS servo drives do not support single-phase operation. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 39 Chapter 2 Replacement Considerations Table 43 - Kinetix 5100 Drives AC Line Filter Specifications Cat. No. 2198-DB111-F 2198-DB127-F 2198-DB310-F 2198-DB324-F 2198-DB335-F 2198-DB356-F 2198-DB418-F 2198-DB433-F 2198-DBR40-F 2198-DBR90-F Voltage Rating max 253V AC 1 PH, 50/60 Hz 253V AC 3 PH, 50/60 Hz 253V AC 3 PH, 50/60 Hz 528V AC 3 PH, 50/60 Hz Current Rating @ 50 �C (122 �F) A 11.0 27.0 10.0 24.0 34.8 56.0 18.4 33.0 54.0 90.0 Power Loss @ Rated Current W 4.9 15.5 14.0 29.0 30.0 57.0 16.0 35.0 15.0 16.8 Leakage Current, typical mA 52.9 54.9 3.9 9.3 5.8 2.8 4.21 3.58 30.0 34.0 Weight approx kg (lb) 1.05 (2.314) 1.80 (3.968) 1.10 (2.425) 1.95 (3.968) 2.90 (6.393) 4.00 (8.818) 1.2 (2.65) 1.9 (4.19) 3.3 (7.28) 7.2 (15.87) Operating Temperature 0...50 �C (32...122 �F) Communication This section lists the communication protocols that are supported by the Ultra3000 and Kinetix 5100 servo drives respectively, and gives different communication configurations of the Kinetix 5100 drive. Ultra3000 Servo Drive Configuration Port The Ultra3000 drive uses one serial port that implements the standard NRZ asynchronous serial format, and supports RS-232, RS-422, and RS-485 communication standards. The connector pinout dedicates separate pins for the RS-232 and RS-422/ RS-485 signals, so that the communication standard can be changed by using another cable. The Ultra3000 drive uses Ultraware software for configuration via the serial port. Kinetix 5100 Servo Drive Configuration Port The Kinetix 5100 drives include one mini-USB port for connecting the personal computer and allows you to configure the servo drive with the KNX5100C software. The 2198-USBC cable is a Type B Mini-USB port that is compatible with USB 2.0. This cable with 2198-USBF filter is required to make the connection to a personal computer. You can configure Kinetix 5100 drives with KNX5100C software via the miniUSB port. Ultra3000 Servo Drive Control Port The Ultra3000 servo drives use MODBUS communication over RS232/RS422/ RS485 or DeviceNet for controlling the drive. A DeviceNet interface module serves as a link between the ControlLogix/CompactLogix platform and the Ultra3000 servo drive system. 40 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 2 Replacement Considerations Kinetix 5100 Servo Drive Control Port The Kinetix 5100 servo drives use an EtherNet/IP network for communicating to either a ControlLogix or CompactLogix programmable automation controller, by using a Class 1 EtherNet/IP connection (with a pre-defined AddOn-Profile) or Class 3 connection by using Explicit messaging. All Kinetix 5100 servo drives include two RJ45 ports that support 10/100 Mb communication speeds. Ethernet topologies including linear, ring, and star. For more information on Ethernet design considerations, see these publications: � Ethernet Reference Manual, publication ENET-RM002. � Scalability - The Best Approach to Change, publication IA-WP002A. � EtherNet/IP Design, Commissioning, and Troubleshooting Quick Reference Drawings, publication IASIPM-QR023. � EtherNet/IP Configuration Drawing, publication IASIMP-QR019D. Configuration and Programming Software Ultraware software is used to configure and program the Ultra3000 drives. For information on how to use Ultraware software, see the Ultraware Software User Manual, publication 2098-UM001. KNX5100C software is used to configure the drive. For information on how to use KNX5100C software, see the Kinetix 5100 User Manual, publication 2198-UM004. Depending on the controller used in the application, Studio 5000 Logix Designer application (for ControlLogix, CompactLogix), Connected Components WorkbenchTM software (for Micro800-Series controllers), or RSLogix 500� software (for MicroLogix controllers) is required to program the controller for controlling the Kinetix 5100 drives. For information on how to use these programs, see the corresponding controller user manuals. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 41 Chapter 2 Replacement Considerations Notes: 42 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 3 Chapter Connectors and Indicators Ultra3000 Servo Drive Connector Data This chapter shows connectors and indicators for the UltraTM 3000 servo drives and the Kinetix� 5100 servo drives. Use these illustrations to identify the connectors and indicators for Ultra3000 servo drives. Figure 12 - Ultra3000 Servo Drive Front Panel Connections (Catalog Numbers 2098-DSD-005, -005X, -010, -010X, -020, and -020X) 5 1 6 2 7 3 4 Ultra3000 Drive, Front View (230V [500 W, 1 kW, and 2 kW] drive is shown) Table 44 - Ultra3000 Servo Drive Front Panel Connections Descriptions (Cat. Nos. 2098-DSD-005, -005x, -010, -010x, -020, and -020x) Item Description 1 DC bus connections for active shunt resistor kit 2 AC input power connections 3 Motor power connections 4 Motor power cable shield clamp 5 CN3 9-pin serial port connector 6 CN2 15-pin motor feedback connector 7 CN1 44-pin user I/O connector Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 43 Chapter 3 Connectors and Indicators Figure 13 - Ultra3000 Servo Drive Front Panel Connections (Catalog Numbers 2098-DSD-005-DN, -005X-DN, -010-DN, -010X-DN, -020-DN, and -020X-DN) 7 6 8 5 9 10 4 11 3 12 8 2 13 14 1 Item Description 1 Motor Power Cable Shield Clamp 2 Motor Power Connections 3 AC Input Power Connections 4 DC Bus Connections for Active Shunt Resistor Kit 5 Logic Power Status Indicator 6 Seven Segment Status LED 7 Module Status Indicator Item Description 8 Network Status Indicator 9 CN3 9-pin Serial Port Connector 10 Node Address Switches 11 CN2 15-pin Motor Feedback Connector 12 Data Rate Switch 13 DeviceNet interface connector 14 CN1 44-pin User I/O Connector 44 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 3 Connectors and Indicators Figure 14 - 2098-DSD-HV030, 2098-DSD-HV050, 2098-DSD-HV100, 2098-DSD-HV150, and 2098-DSD-HV220 Ultra3000 (400V-class) Drives 5 6 External Shunt Internal 1 4 2 3 TB2 7 DANGER Hazardous voltage exists after power down. + DC Bus 3 8 - W Motor V 2 U 9 L3 230-480 VAC 50/60 Hz L2 1 L1 L1 AUX L2 AUX TB1 2098-DSD-HVxxx and 2098-DSD-HVxxxX Ultra3000 and Ultra3000 Indexing Drives Item Description 1 AC input power connections 2 DC bus connections for active shunt resistor kit 3 Motor power connections 4 Passive shunt resistor connections 5 Seven-segment fault status indicator 6 Logic power 7 CN3 9-pin serial port connector 10 11 (00-63, PGM) 12 13 125kB 250kB 500kB AUTO PGM 14 DeviceNet VCan_L Shield Can_H V+ 2098-DSD-HVxxx-DN and 2098-DSD-HVxxxX-DN Ultra3000 DeviceNet and DeviceNet Indexing Drives Item Description 8 CN2 15-pin motor feedback connector 9 CN1 44-pin user I/O connector 10 Module status indicator 11 Network status indicator 12 Node address switches 13 Data rate switch 14 DeviceNet interface connector Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 45 Chapter 3 Connectors and Indicators Kinetix 5100 Servo Drive Connector Data Use these illustrations to identify the connectors and indicators for Kinetix� 5100 servo drives. Figure 15 - Features and Indicators (Catalog numbers 21998-E1004-ERS, 2198-E1007-ERS, and 2198-E1015-ERS) 1 2 5100 3 MOD 4 NET CHARGE 25 16 I/0 7 L1C L2C P1 P2 DC- 13 14 12 15 11 DC+ ISH ESH U V W MFB L1 L2 L3 STO Kinetix 5100 Drive, Front View (2198-E1004-ERS drive is shown) 10 8 AUX 9 Kinetix 5100 Drive, Top View (2198-E1004-ERS drive is shown) Kinetix 5100 Drive, Bottom View (2198-E1004-ERS drive is shown) Table 45 - Features and Indicators Description (Cat. Nos. 2198-E1004-ERS, 2198-E1007-ERS, and 2198-E1015-ERS) Item Description 1 Status display 2 Navigation push buttons 3 Module, Network, and Charge status indicators 4 Mini USB connector 5 Ethernet (PORT2) RJ45 connector 6 Ethernet (PORT1) RJ45 connector 7 I/O signal connector 8 Auxiliary feedback (AUX) connector Item Description 9 Motor cable ground plate 10 Safe Torque Off (STO) connector 11 Mains input power connector 12 � Control power input (L1C and L2C) connections � Reserved (P1, P2, and negative DC-bus) connections 13 Motor feedback (MFB) connector 14 Motor power output terminals 15 Shunt resistor terminals 46 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 STO STO MFB Chapter 3 Connectors and Indicators Figure 16 - Features and Indicators (catalog numbers 2198-E1020-ERS, 2198-E2030-ERS, 2198-E4004-ERS, 2198-E4007-ERS, 2198-E4015-ERS) 1 2 5100 3 MOD CHARGE NET 4 12 L1C L2C L1 11 L2 L3 P1 16 P2 25 16 DC� DC+ 15 ISH ESH I/O 7 U 14 V W 8 AUX 9 Kinetix 5100 Drive, Front View (2198-E1020-ERS drive is shown) 13 17 10 Kinetix 5100 Drive, Top View (2198-E1020-ERS drive is shown) Kinetix 5100 Drive, Bottom View (2198-E1020-ERS drive is shown) Figure 17 - Features and Indicators (catalog numbers 2198-E4020-ERS, 2198-E4030-ERS) 1 2 3 CHARGE MOD 4 NET 24V+ 12 24V� L1 25 16 11 L2 L3 P1 16 P2 I/O 7 DC� DC+ 15 ESH 8 AUX U 13 14 V W MFB 18 9 17 10 Kinetix 5100 Drive, Top View (2198-E4020-ERS drive is shown) Kinetix 5100 Drive, Bottom View (2198-E4020-ERS drive is shown) Kinetix 5100 Drive, Front View (2198-E4020-ERS drive is shown) Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 47 Chapter 3 Connectors and Indicators Figure 18 - Features and Indicators (catalog numbers 2198-E2055-ERS, 2198-E2075-ERS, 2198-E2150-ERS, 2198-E4055-ERS, 2198-E4075-ERS, and 2198-E4150-ERS) 1 2 5100 3 MOD CHARGE 4 NET L1C 5 12 L2C 6 L1 11 L2 L3 P1 I/O 7 16 P2 DC� DC+ 8 15 AUX ESH U 13 STO 17 17 10 14 V MFB W 18 Kinetix 5100 Drive, Top View Kinetix 5100 Drive, Bottom View (2198-E2055-ERS drive is shown) (2198-E2055-ERS drive is shown) 9 Kinetix 5100 Drive, Front View (2198-E2055-ERS drive is shown) Table 46 - Features and Indicators Description (Cat. Nos. 2198-E2055-ERS, 2198-E2075-ERS, 2198-E2150-ERS, 2198-E4055-ERS, 2198-E4075-ERS, and 2198-E4150-ERS) Item Description 1 Status display 2 Navigation push buttons 3 Module, Network, and Charge status indicators 4 Mini USB connector 5 Ethernet (PORT2) RJ45 connector 6 Ethernet (PORT1) RJ45 connector 7 I/O signal connector 8 Auxiliary feedback (AUX) connector 9 Motor cable ground plate Item Description 10 Safe Torque Off (STO) connector 11 Mains input power terminals 12 Control power input terminals 13 Motor feedback (MFB) connector 14 Motor power output terminals 15 Shunt resistor terminals 16 Reserved (P1, P2, and negative DC-bus) not-used connections 17 Cooling fans 18 Protective cover 48 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 I/O Connector Chapter 3 Connectors and Indicators This section describes the I/O connectors on the Ultra3000 and Kinetix 5100 drives. The Ultra3000 drive uses a 44-pin I/O connector shown in Figure 19, and the Kinetix 5100 uses a 50-pin I/O connector, shown in Figure 20. For locations of the I/O connector on an Ultra3000 drive see Figure 12 and Figure 13. For the locations of I/O connectors on a Kinetix 5100 drive, see Figure 15, Figure 16, and Figure 18. For descriptions of the signals on each pin, see Table 47. Figure 19 - Ultra3000 Drive 44-Pin I/O Connector Pin Assignments Pin 44 Pin 30 Pin 15 Pin 31 Pin 1 Pin 16 Figure 20 - Kinetix 5100 Drive 50 Pin I/O Connector Pin Assignment 26 1 50 25 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 49 Chapter 3 Connectors and Indicators Table 47 compares the I/O connector pinouts for the Ultra3000 drive (CN1 connector) and Kinetix 5100 servo drives (I/O connector). Table 47 - I/O Connector Assignment Comparison Ultra3000 Servo Drives Kinetix 5100 Servo Drives CN1 Pin Description Signal I/O Pin Description Signal 1 Auxiliary Encoder Power Out (+5V) EPWR 1 Digital output OUTPUT4+ 2 Common ECOM 2 Digital output OUTPUT3- 3 Auxiliary Logic Power In (+5V) AUXPWR 3 Digital output OUTPUT3+ 4 Auxiliary Encoder CH A+ AX+ 4 Digital output OUTPUT2- 5 Auxiliary Encoder CH A- AX- 5 Digital output OUTPUT2+ 6 Auxiliary Encoder CH B+ BX+ 6 Digital output OUTPUT1- 7 Auxiliary Encoder CH B- BX- 7 Digital output OUTPUT1+ 8 Auxiliary Encoder CH I+ IX+ 8 Digital Input INPUT4 9 Auxiliary Encoder CH I- IX- 9 Digital Input INPUT1 10 Unbuffered Motor Encoder CH A+ AM+ 10 Digital Input INPUT2 11 Unbuffered Motor Encoder CH A- AM- 11 Common terminal for digital inputs, which are connected to +24V DC or 0V DCOM 12 Unbuffered Motor Encoder CH B+ BM+ 12 Analog input signal ground ACOM 13 Unbuffered Motor Encoder CH B- BM- 13 Analog input signal ground ACOM 14 Unbuffered Motor Encoder CH I+ IM+ 14 Not in use - 15 Unbuffered Motor Encoder CH I- IM- 15 Analog monitor output 2 AOUT2 16 Buffered Motor Encoder CH A+ AMOUT+ 16 Analog monitor output 1 AOUT1 17 Buffered Motor Encoder CH A- AMOUT- 17 Not in use - 18 Buffered Motor Encoder CH B+ BMOUT+ 18 Analog torque input COMMAND1 19 Buffered Motor Encoder CH B- BMOUT- 19 Analog input signal ground ACOM 20 Buffered Motor Encoder CH I+ IMOUT+ 20 Not in use - 21 Buffered Motor Encoder CH I- IMOUT- 21 Encoder A+ pulse output AMOUT+ 22 Common ACOM 22 Encoder A- pulse output AMOUT- 23 Programmable Analog Output AOUT 23 Encoder B- pulse output BMOUT- 24 Analog Current Limit Input ILIMIT 24 Encoder Z- pulse output ZMOUT- 25 Command + COMMAND+ 25 Encoder B+ pulse output BMOUT+ 26 Command - COMMAND- 26 Digital output OUTPUT4- 27 I/O Common IOCOM 27 Digital output OUTPUT5- 28 I/O Common IOCOM 28 Digital output OUTPUT5+ 29 I/O Power IOPWR 29 Digital input INPUT9 30 I/O Power IOPWR 30 Digital input (High-Speed Input) INPUT8 31 Digital Input 1 INPUT1 31 Digital input (High-Speed Input) INPUT7 32 Digital Input 2 INPUT2 32 Digital input INPUT6 33 Digital Input 3 INPUT3 33 Digital input INPUT5 34 Digital Input 4 INPUT4 34 Digital input INPUT3 35 Digital Input 5 INPUT5 35 External power input of BX+/BX- for single-end operation BPWR 36 Digital Input 6 37 Digital Input 7 38 Digital Input 8 INPUT6 INPUT7 INPUT8 36 B+/DIR+/CCW+ 37 B-/DIR-/CCW- 38 Digital input BX+ BXINPUT10 39 Digital Output 1 OUTPUT1 39 External power input of AX+/AX- for single-end operation APWR 40 Digital Output 2 OUTPUT2 40 Digital output OUTPUT6- 50 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 3 Connectors and Indicators Table 47 - I/O Connector Assignment Comparison (Continued) 41 Digital Output 3 42 Digital Output 4 43 Normally Open Relay Output+ 44 Normally Open Relay Output- -- -- -- -- -- -- -- -- -- -- -- -- OUTPUT3 OUTPUT4 BRAKE+ BRAKE-- -- -- -- -- -- 41 A-/Step-/CW- 42 Analog position and speed command input (+) 43 A+/Step+/CW+ 44 Analog input signal ground 45 Not in use 46 Digital output 47 Not in use 48 Encoder Z pulse open-collector output 49 -- 50 Encoder Z+ pulse output AXCOMMAND2 AX+ AGND -- OUTPUT6+ -- OCZMOUT -- ZMOUT+ Motor Feedback Connectors This section describes the motor feedback connectors for the Ultra3000 drives and the Kinetix 5100 drives. Both drives use15-pin connectors as shown in Figure 21. See Figure 12 and Figure 13 for locations of the Motor Feedback connector on Ultra3000 drives. See Figure 15, Figure 16, and Figure 18 for the locations of the motor feedback connector on Kinetix 5100 drives. Table 48 describes and compares the signals that can be on the pins for each type of drive. Figure 21 - 15-Pin Motor Feedback Connector Pin Assignments Pin 15 Pin 11 Pin 6 Pin 10 Pin 5 Pin 1 Table 48 compares the motor feedback connector pinouts for the Ultra3000 drive (CN2 connector) and Kinetix 5100 servo drives (MFB connector). Table 48 - Motor Feedback Connectors Assignment Comparison Ultra3000 Drives Pin(1) Description Signal 1 Channel A+ / sine differential input+ AM+ 2 Channel A- / sine differential input- AM- 3 Channel B+ / cosine differential input+ BM+ 4 Channel B- / cosine differential input- BM- 5 Channel I+ / Index pulse+ 6 Common 7 N/C / Encoder power (+9V) (2) 8 Commutation channel S3 9 Positive overtravel limit IM+ ECOM EPWR +9V S3 +LIMIT Kinetix 5100 Drives Signal Description Hiperface (all compatible motors) Nikon (Kinetix TLP) Sine Differential Input + A Differential Input + Sine Differential Input A Differential Input - Cosine Differential Input + A Differential Input + Cosine Differential Input A Differential Input - MTR_SIN+ � MTR_SIN� � MTR_COS+ � MTR_COS� � Data Differential Input/Output + Index Differential Input + MTR_DATA+ MTR_T+ Encoder Common Encoder 9V Power Output Hall Commutation S3 Input -- MTR_ECOM MTR_EPWR9V � � MTR_ECOM � � � Tamagawa (Kinetix TL/ TLY-B) � Digital AqB with UVW (all compatible motors) MTR_AM+ � MTR_AM� � MTR_BM+ � MTR_BM� MTR_DATA+ (TLY-B) MTR_IM+ MTR_SD+ (TL-B) MTR_ECOM MTR_ECOM � � � MTR_S3 � � Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 51 Chapter 3 Connectors and Indicators Table 48 - Motor Feedback Connectors Assignment Comparison (Continued) Ultra3000 Drives Pin(1) Description Kinetix 5100 Drives Signal Description Signal Hiperface (all compatible motors) Nikon (Kinetix TLP) 10 Channel I- / Index pulse- IM- Data Differential Input/Output Index Differential Input - MTR_DATA� 11 Thermostat 12 Commutation channel S1 13 Commutation channel S2 14 Encoder power (+5V) 15 Negative overtravel limit TS S1 S2 EPWR_5V -LIMIT Motor Thermostat (3) Hall Commutation S1 Input Hall Commutation S1 Input Encoder 5V Power Output (4) -- MTR_TS � � MTR_EPWR5V � (1) CN2 on Ultra3000 drives. MFB on Kinetix 5100 drives. (2) +9V encoder capability only available on standard-size Ultra3000 drive (Cat. No. 2098-DSD-030 or larger). (3) Not applicable unless motor has integrated thermal protection. (4) Kinetix 5100 drive encoder power supply uses either 5V or 9V DC based on encoder/motor used. MTR_T� � � � MTR_EPWR5V � Tamagawa (Kinetix TL/ TLY-B) Digital AqB with UVW (all compatible motors) MTR_DATA� (TLY-B) MTR_IM� MTR_SD� (TL-B) � � � MTR_S1 � MTR_S2 MTR_EPWR5V MTR_EPWR5V � � Auxiliary Feedback The Ultra3000 drives support auxiliary encoder operation. A 9-pin connector shown in Figure 22 is used to wire an auxiliary encoder on the Ultra3000 drive. The Kinetix 5100 drive supports auxiliary encoder operation. The 10-pin Firewire AUX connector shown in Figure 23, is used to wire an auxiliary encoder. See Figure 12 and Figure 13 for locations of the auxiliary feedback connector on Ultra3000 drives. See Figure 15, Figure 16, and Figure 18 for the locations of the auxiliary feedback connector on Kinetix 5100 drives Figure 22 - 9-Pin Ultra3000 Drive Auxiliary Feedback Connector Pin Assignments Pin 9 Pin 5 Pin 6 Pin 1 Figure 23 - 10-pin Kinetix 5100 drive Auxiliary Feedback Connector Pin Assignment 2 10 1 9 52 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 3 Connectors and Indicators Table 49 compares the auxiliary feedback connector pinouts for the Ultra3000 drive (CN1 connector) and Kinetix 5100 servo drives (AUX connector): Table 49 - Auxiliary Feedback Connector Assignment Comparison Ultra3000 Drives CN1 Pin (1) Description Signal 1 Auxiliary Encoder Power Out (+5V) EPWR 2 Common ECOM 3 � � 4 Auxiliary Encoder CH A+ AX+ 5 Auxiliary Encoder CH A- AX- 6 Auxiliary Encoder CH B+ BX+ 7 Auxiliary Encoder CH B- BX- 8 Auxiliary Encoder CH I+ IX+ 9 Auxiliary Encoder CH I- IX- -- -- -- (1) CN1 Connector on the Ultra3000 drive is a 44-pin connector. Kinetix 5100 Drives AUX Pin# Signal (Generic TTL Incremental) 1 MTR_AM+ 2 MTR_AM- 3 MTR_BM+ 4 MTR_BM- 5 MTR_IM+ 6 MTR_IM- 7 MTR_ECOM 8 MTR_EPWR5V 9 Reserved 10 Reserved Description A Differential Input + A Differential Input B Differential Input + B Differential Input Index Differential Input + Index Differential Input Encoder Common Encoder 5V Power Output Reserved Reserved Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 53 Chapter 3 Connectors and Indicators Notes: 54 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Dimensions, Cables, and Wiring 4 Chapter Ultra3000 Drive (230V) Dimensions This section provides dimensions of the drives to help you calculate the space that is needed to install the drives. In Figure 24, -xxx is replaced by -005, -010 or 020 to represent the UltraTM 3000 drive 500 W, 1 kW, and 2 kW drives respectively. Figure 24 - Ultra3000 (230V) Dimensions in mm (in.) for -005, -010, -020 (Catalog numbers 2098-DSD-xxx, 2098-DSD-xxxX, 2098-DSD-xxx-DN, and 2098-DSD-xxxX-DN) A 38.1 C (1.5) 129.03 (5.08) 186.18 165.1 198.12 (7.33) (6.5) (7.8) E F 144.27 (5.68) Table 50 - Ultra3000 Drive Dimensions Ultra3000 Drive Cat. No. 2098-DSD-005 2098-DSD-005X 2098-DSD-010 2098-DSD-010X 2098-DSD-020 2098-DSD-020X 2098-DSD-005-DN 2098-DSD-005X-DN 2098-DSD-010-DN 2098-DSD-010X-DN 2098-DSD-020-DN 2098-DSD-020X-DN A mm (in.) C mm (in.) 65.02 (2.56) 13.26 (0.52) 87.88 (3.46) 24.64 (0.97) E mm (in.) 32.77 (1.29) 43.94 (1.73) F mm (in.) 72.64 2.86) 98.1 (3.89) 95.5 (3.76) 121.54 (4.79)) Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 55 Chapter 4 Dimensions, Cables, and Wiring In Figure 25,-xxx is replaced by -030, -075, or 150 to represent the Ultra3000 3 kW, 7.5 kW, and 15 kW drives respectively. Figure 25 - Ultra3000 (230V) Dimensions in mm (in.) for -030, -075, -150 (Catalog Numbers 2098-DSD-xxx, 2098-DSD-xxxX, 2098-DSD-xxx-DN, and 2098-DSD-xxxX-DN) A B C 227.08 (8.94) 349.25 (13.75) 331.47 (13.05) 360.68 (14.2) C B J Unit that is shown is the 2098-DSD-030 drive. Table 51 - Ultra3000 (230V) Dimensions in mm (in.) for -030, -075, -150 (Catalog Numbers 2098-DSD-xxx, 2098-DSD-xxxX, 2098-DSD-xxx-DN, and 2098-DSD-xxxX-DN) Ultra3000 Drive 2098-DSD-030 2098-DSD-030X 2098-DSD-030-DN 2098-DSD-030X-DN 2098-DSD-075 2098-DSD-075X 2098-DSD-075-DN 2098-DSD-075X-DN 2098-DSD-150 2098-DSD-150X 2098-DSD-150-DN 2098-DSD-150X-DN A mm (in.) 91.44 (3.6) 138.68 (5.41) 188.97 (7.44) B mm (in.) 50.8 (2.0) 88.9 (3.5) 139.7 (5.5) C mm (in.) 20.32 (0.8) J mm (in.) 243.84 (9.6) 24.89 (0.96) 247.14 (9.73) 24.6 (0.97) 241.05 (9.49) 56 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 4 Dimensions, Cables, and Wiring In Figure 26, xxx is replaced by 030, 050, 100, 150, or 220 to represent the Ultra3000 3, 5, 10, 15, and 22 kW drives respectively. Figure 26 - 2098-DSD-HVxxx, 2098-DSD-HVxxxX, 2098-DSD-HVxxx-SE, 2098-DSD-HVxxx-DN, 2098-DSD-HVxxxX-DN Dimensions A 225.8 B B C (8.89) D H I B B C 242.2 (9.54) Unit shown is the 2098-DSD-HV030. Table 52 - Ultra3000 (400V) Dimensions in mm (in.) for 2098-DSD-HVxxx, 2098-DSD-HVxxxX, 2098-DSD-HVxxx-SE, 2098-DSD-HVxxx-DN, 2098-DSD-HVxxxX-DN Ultra30040 Drives (1) Cat. No. A mm (in.) 22D2000S999D888-H---DDDVSSS0DDD5---0HHHxVVV, 000335000--xxx, xx, 2098- 138.7 5.46) 22D2000S999D888-H---DDDVSSS15DDD0---HHHx,VVV111050000--xxx, xx, 2098- 151.6 (5.97) 2098-DSD-HV220x, 203.2 2098-DSD-HV220-xx (8.0) C mm (in.) 18.5 (0.73) 25 (0.99) 25.4 (1.0) B mm (in.) 50.8 (2.0) 76.2 (3.0) D mm (in.) 349.3 (13.75) 380.4 (14.98) H mm (in.) 331.5 (13.05) 362.6 14.26) I mm (in.) 360.7 (14.2) 391.8 (15.43) (1) The x represents the indexing (X) option. The -xx represents the Sercos interface (SE) or DeviceNet interface (DN) option. Sercos interface is not available with the DeviceNet interface option. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 57 Chapter 4 Dimensions, Cables, and Wiring Kinetix 5100 Drive Dimensions A 20.0 (0.79) The Kinetix� 5100 drive dimensions are shown in Figure 27, Figure 28, and Figure 29. Figure 27 - Catalog Numbers 2198-E1004-ERS, 2198-E1007-ERS, and 2198-E1015-ERS 23.0 (0.89) B 16.0 (0.65) 5100 MOD NET CHARGE 2 1 Dimensions are in mm (in.). I/O Terminal I/0 Expansion Block AUX 2090-K51CK-D15M 45.0 Feedback Connector Kit (1.76) C Flying-lead Feedback Cable D Additional clearance below the cable connector/ connector kit is necessary to provide the recommended cable bend radius. 57.0 (2.30) 2090-CTFB-MxDD Feedback Cable Cat. No. 2198-E1004-ERS 2198-E1007-ERS 2198-E1015-ERS A mm (in.) 35.0 (1.37) 50.0 (2.0) B mm (in.) 178 (7.0) 188 (7.41) C mm (in.) 170 (6.68) 180 (7.10) D mm (in.) 52.0 (2.05) 47.0 (1.84) 58 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 178 (7.08) 11.0 (0.43) Chapter 4 Dimensions, Cables, and Wiring Figure 28 - Catalog Numbers 2198-E1020-ERS, 2198-E2030-ERS, 2198-E4004-ERS, 2198-E4007-ERS, and 2198-E4015-ERS 95.0 20.0 (3.74) (0.79) 23.0 208 (0.89) (8.20) 13.0 (0.50) 5100 MOD CHARGE NET L1C L2C 2 L1 L2 L3 1 P1 P2 DC� DC+ ISH I/0 ESH U V W I/O Terminal Expansion Block AUX 2090-K51CK-D15M Feedback Connector Kit Dimensions are in mm (in.). 25.0 (0.97) Flying-lead Feedback Cable Additional clearance below the cable connector/connector kit is necessary to provide the recommended cable bend radius. 2090-CTFB-MxDD Feedback Cable 37.0 (1.50) Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 59 Chapter 4 Dimensions, Cables, and Wiring Figure 29 - Catalog Numbers 2198-E4020-ERS, 2198-E4030-ERS, 2198-E2055-ERS, 2198-E4055-ERS, 2198-E2075-ERS, 2198-E4075-ERS, 2198-E2150-ERS, and 2198-E4150-ERS A 44.0 (1.75) D CHARGE 5100 MOD NET 13.0 (0.50) L1C 2 L2C L1 1 I/O Terminal L2 Expansion Block L3 I/0 P1 P2 DC� DC+ AUX ESH U V B W Flying-lead Feedback Cable 2090-K51CK-D15M Feedback Connector Kit Dimensions are in mm (in.). E 20.0 (0.79) C 95.0 (3.70) 2090-CTFB-MxDD Feedback Cable 107 (4.20) Cat. No. 2198-E4020-ERS 2198-E4030-ERS 2198-E2055-ERS 2198-E4055-ERS 2198-E2075-ERS 2198-E4075-ERS 2198-E2150-ERS 2198-E4150-ERS A mm (in.) 110 (4.33) 120 (4.72) 141 (5.55) 186 (7.32) B mm (in.) 14.0 (0.55) 37.0 (1.47) 16.0 (0.65) C mm (in.) 38.0 (1.50) 59.0 (2.32) 35.0 (1.36) D mm (in.) 204 (8.02) 209 (8.24) 225 (8.87) 281 (11.08) E mm (in.) 260 (10.24) 273 (10.75) 312 (12.28) 390 (15.35) 60 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Cables Chapter 4 Dimensions, Cables, and Wiring This section provides information to help you to determine interconnects and cabling requirements of the drives. Motor Power and Feedback Cables Kinetix MP motors are supported by the Ultra3000 drives and Kinetix 5100 drives. As a result, the Kinetix MP motors (Hiperface feedback and TTL incremental feedback only) power cable and feedback cable (2090-Series) used for Ultra3000 drives can be used with Kinetix 5100 drives. When migrating your Ultra3000 servo drive system, do not exceed the maximum cable lengths for the Kinetix 5100 servo drives. The length of the power and feedback cables for the Kinetix 5100 drives cannot exceed specified distances that are shown here. Table 53 - Kinetix 5100 Drives Maximum Cable Lengths (200V-class) Motors Compatible Motor and Actuator Cat. No. TLP-Axxx-xxx-D MPL-A15xxx-V/Ex7xAA MPL-A2xxx-V/Ex7xAA MPL-A3xxx-S/Mx7xAA MPL-A4xxx-S/Mx7xAA MPL-A45xxx-S/Mx7xAA MPL-A5xxx-S/Mx7xAA MPM-Axxxx-S/M MPF-Axxxx-S/M MPS-Axxxx-S/M MPL-A15xxx-Hx7xAA MPL-A2xxx-Hx7xAA MMMPPPLLL---AAA344xx5xxxxxx--xHH-Hxx77xxx7AAxAAAA TLY-Axxxx-B TL-Axxxx-B TLY-Axxxx-H Feedback Type Nikon (24-bit) absolute high-resolution, multi-turn and single-turn Cable Length, max m (ft) Hiperface, absolute high-resolution, multi-turn and single-turn 50 (164) Incremental Tamagawa (17-bit) absolute high-resolution, multi-turn Incremental 30 (98.4) Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 61 Chapter 4 Dimensions, Cables, and Wiring Table 54 - Kinetix 5100 Drives Maximum Cable Lengths (400V-class) Motors Compatible Motor and Actuator Cat. No. TLP-B200-xxx-D TLP-B070-xxx-D, TLP-B090-xxx-D, TLP-B115-xxx-D, TLP-B145-xxx-D, TLP-B235-xxx-D MPL-B15xxx-V/Ex7xAA MPL-B2xxx-V/Ex7xAA MPL-B3xxx-S/Mx7xAA MPL-B4xxx-S/Mx7xAA MPL-B45xxx-S/Mx7xAA MPL-B5xxx-S/Mx7xAA MPL-B6xxx-S/Mx7xAA MPL-B8xxx-S/Mx7xAA MPL-B9xxx-S/Mx7xAA MMMPPPFMS---BBBxxxxxxxxxxxx---SSS///MMM MPL-B15xxx-Hx7xAA MPL-B2xxx-Hx7xAA MPL-B3xxx-Hx7xAA MPL-B4xxx-Hx7xAA MPL-B45xxx-Hx7xAA Feedback Type Nikon (24-bit) absolute high-resolution, multi-turn and single-turn Hiperface, absolute high-resolution, multi-turn and single-turn Incremental Cable Length, max m (ft) 400V AC Input 480V AC Input 50 (164) 15 (49.2) 50 (164) 50 (164) 20 (65.6) 50 (164) 30 (98.4) 30 (98.4) 20 (65.6) Performance was tested at this length and meets CE requirements. If you are using a custom power cable, verify that the capacity of the new cable can handle the current to the actuator. Cable shield and lead preparation is provided with most Allen-Bradley� cable assemblies. Follow these guidelines if your motor power cable shield and wires require preparation. Figure 30 - Cable Shield and Lead Preparation Outer Insulation U V W Motor Power Cable Exposed Braid 25.4 mm (1.0 in.) As required to have ground clamp within 50...72 mm (2...3 in.) of the drive. Table 55 - Motor Power (MP) Connector Kinetix MP or Kinetix TLP Servo Motor U = Brown V = Black W = Blue = Green/Yellow Terminal U V W The current motor power cabling system can be used for the Kinetix MP motors that are supported by both the Kinetix 5100 drives and the Ultra3000 drives. The motor power cables are interchangeable and depend on the actuator used. 62 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Table 56 - Power/Brake Cable Descriptions (standard, non-flex) Standard Cable Cat. No. Description Cable Configuration Motor/Actuator EndDriveEnd 2090-CPBM7DF-xxAAxx Drive-end flying leads (DF) Power/brake wires (PB) 2090-CPWM7DF-xxAxx Drive-end flying leads (DF) Power wires only (PW) 2090-XXNPMF-xxSxx Drive-end flying leads Power/brake wires Chapter 4 Dimensions, Cables, and Wiring Motor/Actuator Connector SpeedTecDIN (M7) Kinetix MP Motors 2090-CPBM4E2-xxTR Drive-end bayonet (E2), transition (TR) cable (1) Motor-end threaded DIN (M4) Power/brake wires (PB) Threaded DIN (M4) Kinetix MP Motors 2090-CPWM4E2-xxTR Drive-end bayonet (E2), transition (TR) cable (1) Motor-end threaded DIN (M4) Power wires only (PW) 2090-CPBM6DF-16AAxx 2090-CPWM6DF-16AAxx � Drive-end flying-leads (DF) � Power/brake wires (PB) � Drive-end flying-leads (DF) � Power wires only (PW) MBRK+ Circular Plastic MBRK- (M6) 2090-DANPT-16Sxx 2090-DANBT-18Sxx � Drive-end flying-leads � Power wires only Drive-end flying-lead brake wires Rectangular Plastic (1) Threaded DIN connector (motor end) and bayonet connector for 2090-XXNFMP-Sxx cable. See the 2090-Series Motor Power and Feedback Transition Cables in the Kinetix Motion Accessories Technical Data, publication KNX-TD004. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 63 Chapter 4 Dimensions, Cables, and Wiring Table 57 - Power/Brake Cable Descriptions (Continuous-Flex) Continuous-flex Cable Cat. No. Description 2090-CPBM7DF-xxAFxx Drive-end flying leads (DF) Power/brake wires (PB) 2090-CPWM7DF-xxAFxx Drive-end flying leads (DF) Power wires only (PW) 2090-CPBM7E7-xxAFxx Drive-end (male) connector, extension (E7) (1) Motor-end SpeedTec DIN cable plug (M7) Cable Configuration Motor/Actuator EndDriveEnd Motor/Actuator Connector SpeedTecDIN (M7) MP Motors 2090-CPBM4DF-xxAFxx Drive-end flying leads (DF) Power/brake wires (PB) 2090-CPWM4DF-xxAFxx Drive-end flying leads (DF) Power wires only (PW) Threaded DIN (M4) MP Motors (1) SpeedTec DIN connector (motor end) and male connector for extending SpeedTEc or threaded DIN cable. See the 2090-Series Motor Power and Feedback Transition Cables in the Kinetix Motion Accessories Technical Data, publication KNX-TD004. The current motor encoder cabling system can be used for the Kinetix MP motors that are supported by both the Kinetix 5100 drives and the Ultra3000 drives. Table 58 - Feedback Cable Descriptions (standard, non-flex cable) Standard Cable Cat. No. Description 2090-CFBM7DF-CEAAxx � Drive-end flying leads (DF) � High-resolution or resolver applications (CE) 2090-CFBM7DD-CEAAxx � Drive-end 15-pin connector (DD) � High-resolution or resolver applications (CE) Cable Configuration Motor/Acutator End Drive End Motor/Actuator Connector SpeedTec DIN (M7) 2090-XXNFMF-Sxx 2090-CFBM4E2-CATR 2090-CFBM6DF-CBAAxx 2090-CFBM6DD-CCAAxx � Drive-end flying leads � High-resolution or incremental applications � Drive-end bayonet (E2), transition (TR) cable (1) � Motor-end threaded DIN (M4) � All feedback types (CA) � Drive-end flying-leads (DF) � High-resolution, battery backup or Incremental applications (CB) � Drive-end 15-pin connector (DD) � Incremental applications only (CC) Threaded DIN (M4) Circular Plastic (M6) 2090-DANFCT-Sxx � Drive-end 20-pin connector � High-resolution applications Rectangular Plastic (1) Threaded DIN connector (motor end) and bayonet connector for 2090-XXNFMP-Sxx cable. See the 2090-Series Motor Power and Feedback Transition Cables in the Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004. 64 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 4 Dimensions, Cables, and Wiring . Table 59 - Feedback Cable Descriptions (continuous-flex cable) Standard Cable Cat. No. 2090-CFBM7DF-CDAFxx Description � Drive-end flying leads (DF) � High-resolution or incremental applications (CD) Cable Configuration Motor/Acutator End Drive End Motor/Actuator Connector 2090-CFBM7DF-CEAFxx 2090-CFBM7DD-CEAFxx � Drive-end flying leads (DF) � High-resolution or resolver applications (CE) � Drive-end 15-pin connector (DD) � High-resolution or resolver applications (CE) SpeedTec DIN (M7) 2090-CFBM7E7-CDAFxx 2090-CFBM7E7-CEAFxx � Drive-end (male) connector, extension (E7) (1) � Motor-end SpeedTec DIN cable plug (M7) 2090-CFBM4DF-CDAFxx � Drive-end flying leads � High-resolution or incremental applications Threaded DIN (M4) (1) SpeedTec DIN connector (motor end) and male connector for extending SpeedTec or threaded DIN cable. See the SpeedTec DIN Continuous-flex Extension Cables in the Kinetix Motion Accessories Technical Data, publication KNX-TD004. The Figure 31 shows the pin orientation for 15-pin motor feedback connector. Figure 31 - Pin Orientation for 15-pin Motor Feedback (MF) Connector Pin 15 Pin 11 Pin 6 Pin 10 Pin 5 Pin 1 Factory-made cables with premolded connectors are designed to minimize electromagnetic interference (EMI). We recommend factory-made cables (over hand-built cables) to improve system performance. Feedback cables with premolded connectors that are used with the Kinetix MP motors work with both the Ultra3000 and Kinetix 5100 drives, with no modification. Feedback cable with flying leads can be connected to the Kinetix 5100 drive MFB port with the connector kit, cat. no. 2198-K51CK-D15M. For further cable specifications, see the Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004, the bill of materials (BOM) configuration tool within Motion Analyzer, or ProposalWorksTM system configuration tool from Rockwell Automation. Network Cable Ethernet cable of type CAT5E or CAT6, shielded for connecting drive-to-drive, drive-to-controller, or drive-to-switch must not exceed 100 m (328 ft). For more information, see Guidance for Selecting Cables for EtherNet/IP Networks, publication ENET-WP007. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 65 Chapter 4 Dimensions, Cables, and Wiring Mini-USB Cable The 2198-USBC mini-USB cable is the recommended USB cable to connect the drive to the PC. Using the 2198-USBF filter is required to reduce the vulnerability to electrical noise between the personal computer (running KNX5100C software) and the Kinetix 5100 drive. Power Wiring This section provides power wiring examples to assist you in comparing the power wiring for the Ultra3000 servo drive and the Kinetix 5100 drive systems. Ultra3000 Servo Drive Power Wiring Examples Figure 32 is the power wiring diagram with 24V DC control string for 2098DSD-005x-xx, 2098-DSD-010x-xx, and 2098-DSD-020x-xx Ultra3000 drives (non-Sercos). To avoid a separate 5V DC auxiliary logic power supply, the 24V to 5V converter breakout board (catalog number 2090-U3CBB-DMxx) is used to wire the control interface (CN1) connector. Figure 32 - Typical Power Wiring on Ultra3000 (230V) System (2098-DSD-005x-xx, 2098-DSD-010x-xx, and 2098-DSD-020x-xx) Single-phase AC Line 50/60 Hz Fused Disconnect or Circuit Breaker* Isolation Transformer* Chassis Input Fusing* M1* Single phase AC Line Filter Bonded Cabinet Ground Bus* Three-phase Motor Power Connections L1 Single-phase Input 100...240V AC rms L2/N 2098-DSD-005x-x,x 2098-DSD-010x-xx, and 2098-DSD-020x-xx Ultra3000 Digital Servo Drives TB1 DC+ DC Bus Connections for Active Shunt Module DC- L1 AC Input Power L2/N Connections U V Motor Power Connections W Cable Shield Clamp CN1 N.O. Relay Output+ 43 44 N.O. Relay Output- From CN1 Breakout Board with 24V to 5V Aux Logic Power In +5V Aux Power Converter 3 Aux +5V Common (2090-U3CBB-DMxx) 2 Terminal Blocks* To additional Ultra3000 drive * Indicates User-supplied Component CN1 43 START* STOP* CR1* 44 CR1* 24V DC M1* CR1* 66 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 4 Dimensions, Cables, and Wiring Figure 33 is the power wiring diagram with 24V DC control string for the 2098-DSD-030x-xx drive (non-Sercos). Figure 33 - Typical Power Wiring on Ultra3000 (230V) System (2098-DSD-030x-xx) 2098-DSD-030x-xx Ultra3000 Digital Servo Drive Three-phase Motor Power Connections TB1 TB2 U 1 External Passive V Motor Power 2 W Connections 3 Input Fusing * Single-phase AC Line 50/60 Hz Single-phase AC Line Filter Fused Disconnect or Circuit Breaker * Isolation Transformer * Bonded Cabinet Chassis Ground Bus * M1 * Input Fusing * DC+ DCL1 L2/N AC Input Power CN1 Connections 43 L1 AUX 44 L2/N AUX Cable Shield Clamp N.O. Relay Output+ N.O. Relay Output- L1 CN1 Single-phase Input 43 100...240V AC rms L2/N Terminal Blocks * To additional 44 Ultra3000 drive. * Indicates User-supplied Component START * STOP * CR1 * CR1 * 24V DC M1 * CR1 * Figure 34 is the power wiring diagram with 24V DC control string for 2098-DSD-075x-xx and 2098-DSD-150x-xx Ultra3000 drives (non-Sercos). Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 67 Chapter 4 Dimensions, Cables, and Wiring Figure 34 - Typical Power Wiring on Ultra3000 (230V) System (2098-DSD-075x-xx and 2098-DSD-150-x-xx) 2098-DSD-075 x-xx and, 2098-DSD-150 x-xx Ultra3000 Digital Servo Drives Three-phase Motor Power Connections TB1 TB2 U 1 External Passive V Motor Power 2 Shunt Connections W Connections 3 Three-phase AC Line 50/60 Hz Fused Disconnect or Circuit Breaker * Isolation Transformer * Neutral Chassis Input Fusing * Threephase AC Line Filter M1 * Input Fusing * Bonded Cabinet Ground Bus * DC+ DCL1 L2 AC Input Power CN1 L3 Connections 43 44 L1 AUX L2/N AUX Cable Shield Clamp N.O. Relay Output+ N.O. Relay Output- L1 Three-phase Input L2 100...240V AC rms L3 Terminal Blocks * * Indicates User-supplied Component CN1 43 44 To additional Ultra3000 drive START * STOP * CR1 * CR1 * CR1 * 24V DC M1 * Figure 35 is the power wiring diagram with 24V DC control string for the 2098-DSD-HVxxx-xx drives. 68 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Three-Phase AC Line 50/60 Hz Fused Disconnect or Circuit Breaker* Isolation Transformer* L3 Three-Phase Input 100-240V ac RMS L2 L1 Chapter 4 Dimensions, Cables, and Wiring Figure 35 - Typical Power Wiring of Ultra3000 System (2098-DSD-HVxxx-xx and -HVxxxX-xx) Three-Phase Motor Power Connections M1* Input Fusing* Three-phase AC Line Filter Note 6 Input Fusing* Bonded Cabinet Ground Bus* CN1 43 44 Ultra3000 Digital Servo Drives 2098-DSD-HVxxx-xx and -HVxxxX-xx TB1 DC+ DC- W Motor Power V Connections U TB2 1 External Passive 2 Shunt Connections 3 L3 L2 L1 L1 AUX AC Input Power Connections L2/N AUX CN1 N.O. Relay Output+ 43 N.O. Relay Output44 Cable Shield Clamp START* START* STOP* CR1 CR1 CR1 24V DC M1* *INDICATES USER-SUPPLIED COMPONENT To additional Ultra3000 drives Table 60 - Connectors and Terminal Blocks Detail Symbol L1, L2, L3 L1C, L2C, P1, P2, DC� U, V, W DC+, ISH, ESH I/O Description Main power input connector Control power input and DC bus connector (200V class drive) Motor power output connector Ground terminals Shunt Resistor Connector Input/Output signal connector-PLC and I/O functions Pay attention to the followings when wiring: ATTENTION: When the power is off, do not touch L1, L2, L3 and U, V, W, P1, P2, DC- and DC+, ISH, or ESH because there may be hazardous voltage present. You must wait until the Charge light is off. � Separate L1, L2, L3, L1C, L2C, and U, V, W from other wires. The interval should be at least 30 cm (11.8 in.). Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 69 Chapter 4 Dimensions, Cables, and Wiring ATTENTION: To avoid damaging the drive, do not apply any external capacitors. Table 61 - Recommended Wire Gauge for Mating Connectors Servo Drive 2198-E1004-ERS 2198-E1007-ERS 2198-E1015-ERS 2198-E1020-ERS 2198-E2030-ERS 2198-E2055-ERS 2198-E2075-ERS 2198-E2150-ERS Power Wiring � Wire Diameter (AWG) U,V,W DC+, ISH, ESH L1, L2, L3, 24...12 24...12 24...12 24...12 24...12 24...12 24...12 24...12 24...12 24...10 24...10 24...10 24...10 24...10 24...10 14...4 18...8 18...8 14...4 18...8 18...8 14...4 14...4 14...4 L1C, L2C 24...12 24...12 24...12 24...10 24...10 18...8 18...8 14...4 Kinetix 5100 Servo Drive Power Wiring Examples This section provides wiring examples to assist you in wiring the Kinetix 5100 servo drive system. Drawing notes are listed after the drawings. Three-phase Power Wired to Three-phase Kinetix 5100 Drives This example illustrates grounded three-phase power that is wired to threephase Kinetix 5100 drives when phase-to-phase voltage is within drive specifications. You must supply input power components. The three-phase AC line filter is wired as shown in Figure 36. Figure 36 - Kinetix 5100 Drive Three-phase (200...230V) Grounded Power Configuration (wye secondary) Transformer (wye) Secondary Feeder and branch short-circuit protection is not illustrated. L3 L2 L1 Circuit Protection L3 AC Line L3 Filter L2 L2 L1 L1 E Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground Circuit Protection L2C Control AC Input Power Connector L1C L3 Mains AC Input L2 Power Connector L1 2198-Exxxx-ERS Servo Drives ATTENTION: For the 230V Kinetix 5100 drives to meet proper voltage creepage and clearance requirements, each phase voltage to ground must be less than or equal to 253V AC rms. This means that the power system must use center-grounded wye secondary configuration for 230V AC mains. 70 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 4 Dimensions, Cables, and Wiring Figure 37 - Kinetix 5100 Drive Three-phase (380...480V) Grounded Power Configuration (wye secondary) Transformer (wye) Secondary L3 Feeder and branch short-circuit L2 protection is not illustrated. L1 24V DC Power Supply (customer supplied) Circuit Protection L3 L3 AC Line L2 Filter L2 L1 L1 E Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground 24V+ Control Input Power Connector 24V- L3 Mains AC Input L2 Power Connector L1 2198-Exxxx-ERS Servo Drives Single-phase Power Wired to Single-phase Kinetix 5100 Drives These examples illustrate grounded single-phase power that is wired to singlephase Kinetix 5100 drives when phase-to-phase voltage is within drive specifications. Figure 38 - Kinetix 5100 Drive Single-phase (200...230V) Grounded Power Configuration Transformer Secondary L2 200...230V AC Output L1 (Neutral) Circuit Protection L2 L2 AC Line L1N Filter L1N E Bonded Cabinet Ground Bus Circuit Protection L2C Control AC Input Power L1C Connector L2 Mains AC Input Power L1 Connector 2198-E1004-ERS, 2198-E1007-ERS, 2198E1015-ERS, and 2198-E1020-ERS Drives with Single-phase Operation Ground Grid or Power Distribution Ground Reducing the transformer output reduces motor speed. Feeder and branch short-circuit protection is not illustrated. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 71 Chapter 4 Dimensions, Cables, and Wiring Figure 39 - Kinetix 5100 Drive Single-phase (120V) Grounded Power Configuration Transformer Secondary 120V AC Output L2 L1 (Neutral) Circuit Protection L2 L2 AC Line L1NFilter L1N E Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground Circuit Protection L2C Control AC Input Power L1C Connector L2 Mains AC Input Power L1 Connector 2198-E1004-ERS, 2198-E1007-ERS, 2198E1015-ERS, and 2198-E1020-ERS Drives with Single-phase Operation Figure 40 - Kinetix 5100 Drive Single-phase (230V) Grounded Power Configuration Transformer Secondary 230V AC Output L2 Circuit L1 (Neutral) Protection L2 L2 AC Line Filter L1N L1N E Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground Circuit Protection L2C Control AC Input Power Connector L1C L2 Mains AC Input Power L1 Connector 2198-E1004-ERS, 2198-E1007-ERS, 2198E1015-ERS, and 2198-E1020-ERS Drives with Single-phase Operation 72 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 System Architecture 5 Chapter This section lists the typical system components and compares some configurations of UltraTM 3000 and Kinetix� 5100 drives. Table 62 - Kinetix 5100 Drive System Overview Kinetix 5100 System Component Kinetix 5100 Servo Drive Terminal block for I/O connector Motor Feedback Connector Kit Auxiliary Feedback Connector Kit Feedback Battery Box AC Line Filters Shunt Module 24V DC Power Supply Logix PAC� Controller Platforms Logix PLC Controller Platforms Configuration Software Rotary Servo Motors Cat. No. Description 2198-Exxxx-ERS Kinetix 5100 EtherNet/IPTM indexing drives with Safe Torque Off (STO) are available with 120V singlephase, 200...230V single-phase, 230V three-phase, and 480V three-phase (nom) input voltages. 2198-TBIO 50-pin terminal block. Plugs into I/O connector for control interface connections. 2198-K51CK-D15M Motor feedback connector kit with 15-pin connector plug for compatible servo motors. Kit features battery backup for Kinetix TLP, TL, and TLY multi-turn encoders. 2198-AUXKIT Auxiliary feedback connector kit for master feedback and load feedback connections to the AUX connector. 2198-KTBT 2198-DBxx-F 2198-DBR90-F The feedback battery box is used in applications where Kinetix TLP motor position data must be maintained in the event of a power loss. The battery box is included with 2090-series cables for Kinetix TLP motors and is also available as this replacement kit. Bulletin 2198 three-phase AC line filters are required to meet CE. 2198-R004 and 2198-R031 Bulletin 2198 and 2097 external passive-shunt resistors for use when additional shunt capability is 2097-R6 and 2097-R7 needed. 1606-XLxxx Bulletin 1606 24V DC power supply for digital input/output, Safe Torque Off (STO), and motor brake control. Bulletin 5069 and 1769 EtherNet/IP networking with CompactLogixTM 5370 and CompactLogix 5380 controllers with embedded dual-port. CompactLogix 5480 controllers for the benefits of Logix control with Windows�-based computing. 1756-EN2T, 1756-EN2TR, EtherNet/IP network communication modules for use with ControlLogix� 5570 and ControlLogix 5580 and 1756-EN3TR module controllers. MicroLogixTM 1100 and 1400 controllers provide communication ports, an isolated combination RS-232/485 communication port, an Ethernet port, and (MicroLogix 1400 only) a non-isolated RS-232 communication port. Micro800TM controllers with embedded inputs/outputs can accommodate from two to five plug-in modules and up to four expansion I/O modules. Studio 5000� environment Studio 5000 Logix Designer� application (version 30 or later) is used to program, commission, and maintain the Logix family of controllers. Connected Components Connected Components WorkbenchTM design and configuration software (CCW), version 10.0 or later, Workbench software allows you to program and configure the Micro800 controller, and integrate with the HMI editor. KNX5100C software KNX5100C software, version 1.001 or later, lets you confige and tune Kinetix 5100 drives via the mini-USB cable connection. RSLogix 500� software RSLogix 500 software is used to program MicroLogix 1100 or 1400 controllers. Kinetix TLP Compatible rotary motors include Kinetix TLP (200V and 400V-class) servo motors. Kinetix MP Compatible rotary motors include Kinetix MPL, MPM, MPF, and MPS (200V and 400V-class) servo motors. Kinetix TL and TLY Compatible rotary motors include Kinetix TL and TLY (200V-class) servo motors. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 73 Chapter 5 System Architecture Table 62 - Kinetix 5100 Drive System Overview (Continued) Kinetix 5100 System Component Cables AC Line Filters 24V DC Power Supply External Shunt Resistors Cat. No. 2090-CTFB-MxDx-xxxxx 2090-CTPx-MxDx-xxxxx 2090-CFBM6Dx-CxAAxx 2090-CPxM6DF-16AAxx 2090-DANFCT-Sxx 2090-DANPT-16Sxx 2090-DANBT-18Sxx 2090-CFBM7DF-CEAxxx 2090-CPxM7DF-xxAxxx 2090-XXNFMF-Sxx 2090-CFBM7DF-CDAFxx 1585J-M8CBJM-x 1585J-M8UBJM-x 2198-USBC 2198-USBF 2198-DBxxx-F 2198-DBRxxx-F 1606-XLxxx 2097-R6 and 2097-R7 2198-R004, 2198-R031 Description (Continued) Bulletin 2090 motor feedback cables for Kinetix TLP motors. Bulletin 2090 motor power/brake cables for Kinetix TLP motors. Motor feedback cables for Kinetix TLY servo motors. Motor power/brake cables for Kinetix TLY servo motors. Motor feedback cables for Kinetix TL servo motors. Motor power cables for Kinetix TL servo motors. Motor brake cables for Kinetix TL servo motors. Motor feedback cables for Kinetix MP servo motors with Hiperface encoders. Motor power/brake cables for Kinetix MP servo motors. Standard and continuous-flex feedback cables that include additional conductors for use with incremental encoders. Ethernet cables are available in standard lengths. Shielded cable is required to meet EMC specifications. Interface cable with mini-USB connector for KNX5100C software configuration. Filter for mini-USB port to reduce the vulnerability to electrical noise. Bulletin 2198 three-phase AC line filters are required to meet CE and are available for use in all Kinetix 5100 drive systems. Bulletin 1606 24V DC power supply for digital input/output, Safe Torque Off (STO) circuitry, and motor brake control. Bulletin 2097 and 2198 external passive shunt resistors are available for when the internal shunt capability of the drive is exceeded. The Ultra3000 servo drive is designed to provide a Kinetix Integrated Motion solution for applications with output power requirements between 0.5...22 kW (1.8...32.2 A). Table 63 - Typical Ultra3000 Servo Drive System Ultra3000 Drive System Component Cat. Nos. Ultra3000 Drives 2098-DSD-xxx and -xxxX 2098-DSD-HVxxx, and -HVxxxX Ultra3000-SE Sercos interface Drives 2098-DSD-xxx-SE 2098-DSD-HVxxx-SE 2098-DSD-xxx-DN and -xxxX-DN Ultra3000-DN DeviceNet Drives 2098-DSD-HVxxx-DN and -HVxxxX-DN ControlLogix/SoftLogix 1756-MxxSE module 1784-PM16SE PCI Platforms card RSLogix 5000� software 9324-RLD300ENE Ultraware Software 2098-UWCPRG Servo Motors Kinetix MP, 1326AB, F-, H-, N-, and YSeries Cables Motor Power, Feedback, and Brake cables Fiber-optic cables Description Ultra3000 drive and Ultra3000 drive with indexing available with 500 W, 1 kW, 2 kW, 3 kW, 7.5 kW, and 15 kW continuous output and 230V input power. Ultra3000 drive and Ultra3000 drive with indexing available with 3 kW, 5 kW, 10 kW, 15 kW, and 22 kW continuous output and 460V input power. Ultra3000 drive with Sercos interface available with 500 W, 1 kW, 2 kW, 3 kW, 7.5 kW, and 15 kW continuous output and 230V input power. Ultra3000 drive with Sercos interface available with 3 kW, 5 kW, 10 kW, 15 kW, and 22 kW continuous output and 460V input power. Ultra3000 drive with DeviceNet and Ultra3000 drive with indexing DeviceNet available with 500 W, 1 kW, 2 kW, 3 kW, 7.5 kW and 15 kW continuous output with 230V input power. Ultra3000 drive with DeviceNet and Ultra3000 drive with indexing DeviceNet available with 3 kW, 5 kW, 10 kW, 15 kW, and 22 kW continuous output with 460V input power. The Sercos interface module/PCI card serves as a link between the ControlLogix/SoftLogix platform and Ultra3000 drive system. The communication link uses the IEC 61491 Serial Realtime Communication System (Sercos) protocol over a fiber-optic cable. RSLogix 5000 supports programming, commissioning, and maintaining the Logix family of controllers. The Ultra3000 Analog and DeviceNet drives are configured using Ultraware software. The Kinetix MP (Low Inertia, Integrated Gear, and Food Grade) 230V and 460V, 1326AB (M2L/ S2L) 460V, and F-, H-, N-, and Y-Series 230V motors are available for use with the Ultra3000 drives. Motor power, feedback, and brake cables include integral molded, bayonet style, quick connect/ quick-release connectors at the motor. Power and brake cables have flying leads on the drive end and straight connectors that connect to servo motors. Standard feedback cables have angled connectors (45�) on the drive end and straight connectors that connect to servo motors. Sercos fiber-optic cables are available in enclosure only, PVC, nylon, and glass with connectors at both ends. 74 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 5 System Architecture Table 63 - Typical Ultra3000 Servo Drive System (Continued) Ultra3000 Drive System Component Cat. Nos. 2090-CFBM6Dx-CxAAxx 2090-CPxM6DF-16AAxx Cables 2090-CFBM7DF-CEAxxx 2090-CPxM7DF-xxAxxx 2090-XXNFMF-Sxx 2090-CFBM7DF-CDAFxx AC Line Filters External Shunt Modules 2090-UXLF-xxx 2090-UXLF-HVxxx 2090-UCSR-xxxx, 9101-1183, and 2090SRxxx-xx Description Motor feedback cables for Kinetix TLY servo motors. Motor power/brake cables for Kinetix TLY servo motors. Motor feedback cables for Kinetix MP servo motors with Hiperface encoders. Motor power/brake cables for Kinetix MP servo motors. Standard and continuous-flex feedback cables that include additional conductors for use with incremental encoders. AC line filters with 6 A, 10 A, 23 A, 32 A, 36 A, and 50 A are available for Ultra3000 (230V) drive systems. AC line filters with 23 A, 30 A, and 50 A are available for Ultra3000 (460V) drive systems. External shunt modules are available when the Ultra3000 drive internal shunt capability is exceeded. Ultra3000 Drive (2098-DSD-xxxxxx-xx) Motor Feedback This system examples in Figure 41, Figure 42, and Figure 43 illustrate how the required drive modules and accessories are used in a typical Ultra3000 servo drive system. Figure 41 - Ultra3000 Servo Drive System Architecture (Serial Interface) Commissioning and Communication Input Logix Controller Output Logix Interface Module I/O and Commands Logix Platform (ControlLogix is shown) Ultraware Software Motor Power MP-Series and TL-Series Rotary Motors (MPL-A xxxx motors shown) Other compatible motors/actuators include: � MP-Series Integrated Linear Stages � MP-Series Electric Cylinders � LDC-Series and LDL-Series Linear Motors Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 75 Chapter 5 System Architecture Figure 42 - Ultra3000 Servo Drive System Architecture (DeviceNet Interface) Figure 43 - Ultra3000 Servo Drive System Architecture (Analog or Indexing) 76 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Kinetix 5100 Drive System Architecture Chapter 5 System Architecture This section shows typical Kinetix 5100 servo drive systems. Kinetix 5100 drives work with different controllers and can receive commands from many different sources. Kinetix 5100 Drive Controlled Via Motion Control Add-On Instruction The Kinetix 5100 Servo Drive (IO mode) commands motion via I/O assembly (position, velocity, torque, and indexing) which can replace the Ultra3000 drive controlled through a DeviceNet interface. It provides Add-On Instructions that emulate native Logix motion instructions for Studio 5000based programming. Figure 44 - Kinetix 5100 Drive Controlled Via Motion Control Add-On Instruction Studio 5000 Logix Designer Application Any Logix 5000TM Controller EtherNet/IP LNK1 LNK2 NET OK 1783-US05T 1 P W R Stratix 2000 Switch 2 3 4 5 2 1 EtherNet/IP Network 1585J-M8CBJM-x (shielded) or 1585J-M8UBJM-x (high-flex shielded) Ethernet Cable KNX5100C Drive Configuration Software 2198-USBC Mini-USB Interface Cable (with 2198-USBF filter) F1 F9 789 PanelView Plus 7 F2 F10 456 F3 F4 Display Terminal 1 2 3 F11 �0. F12 F5 F13 Esc F6 F14 F7 F15 F8 F16 Kinetix 5100 Servo Drives (2198-E1020-ERS drives are shown) Optional Controllers 5100 MOD CHARGE NET L1C L2C 2 L1 L2 L3 1 P1 P2 DC� DC+ ISH I/0 ESH U V W AUX Logix5585 TM SAFETY ON 0000 NET LINK RUN FORCE SD OK DC INPUT DC INPUT AC OUTPUT ControlLogix 5570 Controllers or GuardLogix� 5570 Safety Controllers ControlLogix 5580 Controllers or GuardLogix 5580 Safety Controllers 5100 MOD CHARGE NET L1C L2C 2 L1 L2 L3 1 P1 P2 DC� DC+ ISH I/0 ESH U V W AUX 5100 MOD CHARGE NET L1C L2C 2 L1 L2 L3 1 P1 P2 DC� DC+ ISH I/0 ESH U V W AUX CompactLogix 5370 Controllers or Compact GuardLogix 5370 Safety Controllers CompactLogix 5380 and 5480 Controllers or Compact GuardLogix 5380 Safety Controllers Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 77 Chapter 5 System Architecture Kinetix 5100 Drive Controlled Via Explicit Messaging The Kinetix 5100 Servo Drive supports parameter configuration through Class 3 EtherNet/IP explicit messaging, which can replace the Ultra3000 drive controlled through host commands. Either MicroLogix/Micro800 or thirdparty controllers (must be capable of Class 3 EtherNet/IP messaging) can be used to control a Kinetix 5100 drive in this way. You must write your own logic to exchange explicit messages with Kinetix 5100 drives. Examples of this type of messaging are available on the Sample Code Library website: https://www.rockwellautomation.com/en-us/support/product/productdownloads/application-code-library/sample-code.html Keyword: Kinetix 5100 Figure 45 - Kinetix 5100 Drive Controlled Via Explicit Messaging � Connected Components Workbench software for programming Micro800 controllers � RSLogix 500 software for programming MicroLogix 1100 and 1400 controllers � KNX5100C Drive Configuration software for configuration and tuning of Kinetix 5100 drives 2080-LCxx-xxxx Micro830� Controller 1766-L32xx MicroLogix 1400 Controller ESC OK Third-party Controller with EtherNet/IP Network 2198-USBC Mini-USB Interface Cable (with 2198-USBF filter) Controller Options with Explicit Messaging Capability 5100 MOD CHARGE NET L1C L2C 2 L1 L2 L3 1 P1 P2 DC� DC+ ISH I/0 ESH U V W AUX 1585J-M8CBJM-x (shielded) or 1585J-M8UBJM-x (high-flex shielded) Ethernet Cable To Other EtherNet/IP Devices Kinetix 5100 Servo Drive (2198-E1020-ERS drive is shown) 78 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 5 System Architecture Kinetix 5100 Drive Controlled Via Pulse Train/ Analog/ Digital I/O The Kinetix 5100 servo drives support standalone motion control via pulse train, analog input, digital I/O (index or preset torque/speed), which can replace the Ultra3000 drive controlled with pulse train, analog, indexing respectively. Figure 46 - Kinetix 5100 Drive Controlled Via Pulse Train/ Analog/ Digital I/O � Connected Components Workbench software for programming Micro800 controllers � RSLogix 500 software for programming MicroLogix 1100 and 1400 controllers � KNX5100C drive configuration software for configuration and tuning of Kinetix 5100 drives 2080-LCxx-xxxx Micro830 Controller 1766-L32xx MicroLogix 1400 Controller ESC OK Third-party Controller with Pulse Train Output or Analog or Digital I/O 2198-USBC Mini-USB Interface Cable (with 2198-USBF filter) 5100 MOD CHARGE NET L1C L2C 2 L1 L2 L3 1 P1 P2 DC� DC+ ISH I/0 ESH U V W AUX Kinetix 5100 Servo Drive (2198-E1020-ERS drive is shown) I/O wiring and Controller Options with Pulse Train Output, Analog, or Digital I/O (indexing) Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 79 Chapter 5 System Architecture Notes: 80 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 6 Chapter Application Conversion This chapter provides application examples to migrate UltraTM 3000 drives to Kinetix� 5100 drives. Ultraware software is used to configure the Ultra3000 drives. For information on how to use the Ultraware software, see the Ultraware Software User Manual, publication 2098-UM001. KNX5100C software is used to configure the drives. Depending on the controller used, Studio 5000 Logix Designer� application (for ControlLogix�, CompactLogixTM), Connected Components WorkbenchTM (for Micro800-Series controllers), or RSLogix 500� software (for MicroLogixTM controller) is required to program the controller for controlling the Kinetix 5100 drives. The Kinetix 5100 drive uses a Logix controller that is programmed with the Logix Designer application, along with Add-on Profiles (AOP) which include the ability to: � get and set a defined set of drive parameters through a Class 1 I/O message using IO assemblies that are defined as part of the AOP. For information on how to use KNX5100C software, see the Kinetix 5100 User Manual, publication 2198-UM004. The following examples show the Ultraware software interface followed by the KNX5100C software interface and describe the differences between how they are used to configure the feature. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 81 Chapter 6 Application Conversion Scenario 1: Analog Command to Analog Command The Analog Input tab in Ultraware software is shown in Figure 47. Figure 47 - Analog Input Tab in Ultraware Like Ultraware, KNX5100C software also provides an Analog Speed Input, Analog Torque Input, and Analog Position Input in the Analog I/O tab. You can set the Analog Speed, Analog Torque, or Analog Position Command using the respective tabs shown in Figure 48. To operate Kinetix 5100 drives with the Analog Command, the drive operation mode must be set at T (analog torque), S (analog speed), or PT (analog position) mode (command source ID167 set as Analog Input) respectively. Figure 48 - Analog I/O Window in KNX5100C Software 82 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 6 Application Conversion KNX5100C software also provides a way to monitor the status of the incoming Analog Command for an online drive in the column Monitoring Output. Figure 49 - Monitoring Output Window of Analog I/O in KNX5100C Software Ultraware software can execute commands that remove Velocity, Current, and Position Input Offsets for an online drive. KNX5100C software does not support this feature. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 83 Chapter 6 Application Conversion Scenario 2: Indexing to PR Mode The Properties window for Indexing branch of Indexing mode looks like this in Ultraware software. Figure 50 - Indexing Branch of Indexing Mode in Ultraware In Ultraware software, you can configure up to 64 indexes. The Ultra3000 drives can support move types including: � Absolute � Incremental � Jog � Registration 84 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 6 Application Conversion KNX5100C software provides up to 99 configurable programs, called program registers (PR), and 1 specific command for homing. In PR mode, command settings include: � Homing � Constant speed control � Point-to-point Indexing command � Jump to specified path � Write Parameters or Data Array � Statement (the ability to do arithmetic operations) based on drive conditions Except for arithmetic operations, the property and corresponding data of each PR command are both set by using KNX5100C software. Figure 51 - PR Mode Setting Window in KNX5100C Software Like Ultraware software, KNX5100C software gives you the ability to: � start and stop execution of the PR command � start and stop homing � enable or disable a drive � monitor the execution of a PR command With the Kinetix 5100 drive, a PR command controls drive operation by executing preconfigured motion commands [ID397 (P6.000)...ID596 (P7.099)]. The beginning of the PR command is triggered by the DI.CTRG (0x08) signal. You can program the 99 registers first before switching the drive to servo-on state and use the DI.POS0 ... DI.POS6 signals as a binary weighted PR command selection. When using I/O mode, the Add-On Instructions are used to initiate PR commands. See the Kinetix 5100 EtherNet/IP Indexing Servo Drives Users Manual, publication 2198-UM004 for more details on homing and the use of the PR command. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 85 Chapter 6 Application Conversion Scenario 3: Master/ Follower Mode to PT Mode The Properties window for the Followers branch of Follower-Auxiliary Encoder mode looks like this in Ultraware. Figure 52 - Follower Branch in Ultraware In PT mode, the Kinetix 5100 drive provides functionality similar to the Master/Follower mode of the Ultra3000. In PT mode, the servo drive is able to receive a command either from pulse train inputs on the I/O connector or from the Auxiliary feedback input. Valid encoder signals consist of AB phase (TTL incremental feedback) and can be wired to either the PT inputs of the I/O connector (these terminals double as PTO command input signals) or the Aux feedback input. The motor follows the input pulses based on the E-Gear ratio used. The Numerator and Denominator are used to specify the ratio between Master/Follower counts. The E-Gear parameters are shown in Figure 53. The Kinetix 5100 servo drive provides four selectable gear ratios that can be switched by using digital inputs. For details, see the Kinetix 5100 EtherNet/IP Indexing Servo Drives Users Manual, publication 2198-UM004. 86 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 6 Application Conversion PT command configuration mode in KNX5100C software is shown in Figure 53. Figure 53 - PT Mode Window in KNX5100C Software Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 87 Chapter 6 Application Conversion Scenario 4: DeviceNet to I/O Mode Figure 50 shows the Ultra3000 drive as part of the DeviceNet network. The Logix Designer application is used for programming the Logix 5000 controller. The RSNetWorxTM for DeviceNet software is used to configure the DeviceNet network. This is not required with the Kinetix 5100 drive. Figure 54 - Ultra3000 DeviceNet Drive in RSLinx� Software See the DeviceNet Network Configuration User Manual, publication DNET-UM004 for more details. Kinetix 5100 uses I/O Mode when migrating Ultra3000 with DeviceNet communication. In I/O mode, the Kinetix 5100 Add-on Profile (AOP) in the Logix Designer application provides the Input and Output assemblies for motion control (position, velocity, torque, and indexing). Additionally, predefined Add-On Instructions are provided to emulate Logix 5000 controller motion instructions for application programming. The configuration and Add-On Instruction example are shown in Figure 55 and Figure 56. 88 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Figure 55 - Kinetix 5100 Drive in RSLinx Classic Software Chapter 6 Application Conversion Figure 56 - Kinetix 5100 Drive Add-On Instruction Logic Used in the Logix Designer Application Rockwell Automation Add-On Instruction Program your project. Kinetix 5100 Choose your Ethernet Communication Module Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 89 Chapter 6 Application Conversion Scenario 5: Host Command to Explicit Messaging The Kinetix 5100 drive uses the Ethernet/IPTM network (Class 3 explicit message only) for parameter configuration or editing while the drive is running. The use of Explicit Messaging provides similar functionality to host commands on the Ultra3000 drive. You can use Explicit Messaging to perform a number of tasks, such as parameter configuration, motion control, resetting the drive, and more. This example shows how to replace the indexing function through the host commands of the Ultra3000 drive by using Explicit Messaging on the Kinetix 5100 drive: 1. Make sure that the control mode is 0x01 (PR mode) by doing the following: � Use explicit message `Get Attribute Single (14), Class 15, Instance 117, Attribute 1' to get the control mode from the drive. � If the control mode is not 0x01, then use the explicit message `Set Attribute Single(16), Class 15, Instance 117, Attribute 1, UINT Value (0x01)' to change the control mode to PR mode. � The control mode parameter change is valid after the power cycle, so use the explicit message `Reset (5), Class 1, Instance 1' to reset the drive. 2. Configure the system parameters (see the Kinetix 5100 EtherNet/IP Indexing Servo Drives Users Manual, publication 2198-UM004, for more details about these parameters) � Use explicit message `Set Attribute Single (16), Class 15, Instance 151, Attribute 1, UDINT Value (for example, 16777216)' to set the Gear Ratio of Master Counts. � Use explicit message `Set Attribute Single (16), Class 15, Instance 152, Attribute 1, UDINT Value (for example, 2000)' to set the Gear Ratio of Follower Counts. � Use explicit message `Set Attribute Single (16), Class 15, Instance 234, Attribute1 UDINT Value (for example, 10000000)' to set the Indexing Coordinates Scale. � Use explicit message `Set Attribute Single (16), Class 15, Instance 242, Attribute1 UINT Value (for example 0x0000)' to set the Absolute System Setting. Like the control mode, a reset is needed for the change of this parameter to take effect. 3. Configure the PR command � Define the Home Setting (for example, deceleration time of first homing and second homing is 200 ms, delay time is 0 ms, acceleration time is 200 ms, and stop after homing complete) by explicit message `Set Attribute Single (16), Class 15, Instance 397, Attribute 1, UDINT Value (0x00000000)'. � Define the Home Position by explicit message `Set Attribute Single (16), Class 15, Instance 398, Attribute 1, UDINT Value (for example, 0)'. � Set the Home Mode (for example, look for Z pulse in forward direction and define it as home) by explicit message `Set Attribute Single (16), Class 15, Instance 297, Attribute 1, UINT Value (0x04)'. � Set PR Command1 Setting (for example, constant speed control) by explicit message `Set Attribute Single (16), Class 15, Instance 399, Attribute 1, UDINT Value (0x00000001)'. � Set PR Command1 Data (speed command: 300 RPM) by explicit message `Set Attribute Single (16), Class 15, Instance 400, Attribute 1, UDINT Value (3000, unit is 0.1 RPM)'. � Set PR Command2 Setting (for example, positioning control) by explicit message `Set Attribute Single (16), Class 15, Instance 401, Attribute 1, UDINT Value (0x00000002)'. 90 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Chapter 6 Application Conversion � Set PR Command2 Data (position command: 4000) by explicit message `Set Attribute Single (16), Class 15, Instance 402, Attribute 1, UDINT Value (4000)'. 4. Execute the Indexing function by doing the following: � Set the drive to Servo On by explicit message `Set Attribute Single (16), Class 15, Instance 215, Attribute 1, INT Value (1)'. � Set the drive to Servo Off by explicit message `Set Attribute Single (16), Class 15, Instance 215, Attribute 1, INT Value (-1)'. � Trigger Homing by explicit message `Set Attribute Single (16), Class 15, Instance 300, Attribute 1, UINT Value (0)'. � Trigger PR Command1 by explicit message `Set Attribute Single (16), Class 15, Instance 300, Attribute 1, UINT Value (1)'. � Stop the PR Command by explicit message `Set Attribute Single (16), Class 15, Instance 300, Attribute 1, UINT Value (1000)'. � Get the status of PR Command by explicit message `Get Attribute Single (14), Class 15, Instance 300, Attribute 1'. Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 91 Chapter 6 Application Conversion Notes: 92 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Feature Comparison A Appendix Table 64 compares the features of the UltraTM 3000 drives to the Kinetix� 5100 drives. Table 64 - Feature Comparison Features Controller used 120...230V operation Internal shunt available Ultra3000 Drives Analog Indexer (-X) DeviceNet (-DN) No No Yes Yes Yes Yes * * * Control Power available (converted to 5V) Yes* Yes* Yes* Safe Torque Off No No No Digital inputs control indexing No Yes Yes Dedicated Auxiliary feedback encoder connector No No No Master Gearing encoder inputs (terminal block inputs) Yes Yes Yes Hardware limits No Yes Yes Analog input for current limit Yes Yes Yes Multiple assignments for inputs Yes Yes No Soft limits Watch window output assignment Registration index (index on reg input) Registration latch (capture position) MicroLogixTM/SLCTM controller compatible No Yes Yes Yes Yes Yes No Yes Yes No No No * Yes Yes Hardware enable required No No No Selectable modes of operation via digital inputs Yes Yes Yes Buffered encoder outputs (selectable freq) Holding brake support Dual Loop Control Yes Yes Yes Yes Yes Yes No No No Multiple Motors Supported Yes Yes Yes Dual-port Ethernet with DLR support No No No Non-Integrated Motion Drive (Ethernet/IP Standalone) No No No Drive configuration software required Yes Yes Yes Ability to home the drive No Yes Yes Kinetix 5100 Notes. Items with asterisks(*) have more Drives information in this column. Yes* *Depending on control mode for Kinetix 5100 drives Yes -- * No for small Ultra3000 drives (under 2 kW), Yes** yes for larger Ultra3000 drives **Internal or External - drive dependent *Ultra3000 drive: 24 to 5V DC converter Yes** required. **Kinetix 5100: 400V-class:24V DC, 200V-class: 115/240V AC single phase Yes -- Yes -- Yes -- Yes -- Yes -- No -- Yes* *Not native, can use Digital I/O status to evaluate I/O in PR mode. Yes -- Yes* * Not directly, programmable within PR mode Yes -- Yes* *Available in PR mode (Capture/Compare) Yes *Stepper mode only Yes* * I/O mode does not require a hardware enable input Yes* * Kinetix 5100: can change modes with dual or multi-mode changes and digital inputs. Yes -- Yes* *Configurable in KNX5100C software Yes* *PT, PR mode and IO position mode Yes* * Kinetix MP Motor, TLP Motor, TL and TLY Motor Yes -- Yes -- Yes Yes -- Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 93 Appendix A Feature Comparison Table 64 - Feature Comparison (Continued) Features Rotary mode support Current limiting ability Positioning via analog input Operation mode override Slew rate for gearing Selectable modes of operation Pause index directly Offline software Start next Index on input Batch Count Homing, Active/Switch/Marker Homing, Absolute Home to Torque Limit Define Home current position Stop Indexing Ultra3000 Drives Analog Indexer (-X) DeviceNet (-DN) Yes Yes Yes Yes Yes Yes No Yes Yes No Yes Yes No Yes No Yes Yes Yes No Yes Yes Yes Yes Yes No Yes Yes No Yes No Yes Yes Yes Yes Yes Yes No No No Yes Yes Yes Yes Yes Yes Kinetix 5100 Notes. Items with asterisks(*) have more Drives information in this column. * Not natively, uses Indexing Coordinate Yes* System, see the Kinetix 5100 EtherNet/IP Indexing Servo Drives User Manual, publication 2198-UM004 for more details. Yes -- Yes -- Yes -- No -- Yes -- Yes* * Not natively, programming required Yes -- Yes* * Not natively, programming required Yes* * Not natively, programming required Yes -- Yes -- Yes -- Yes -- Yes -- 94 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 Notes: Ultra3000 to Kinetix 5100 Servo Drives Migration Guide Reference Manual Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 95 Rockwell Automation Support Use these resources to access support information. Technical Support Center Knowledgebase Local Technical Support Phone Numbers Literature Library Product Compatibility and Download Center (PCDC) Find help with how-to videos, FAQs, chat, user forums, and product notification updates. Access Knowledgebase articles. 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Allen-Bradley, CompactLogix, Connected Components Workbench, ControlLogix, expanding human possibility, FactoryTalk, GuardLogix, Integrated Architecture Builder, Kinetix, Logix 5000, Logix PAC, Micro800, Micro830, MicroLogix, ProposalWorks, Rockwell Automation, RSLinx, RSLogix 500, RSLogix 500, RSNetWorx, SLC, Stratix, Studio 5000, Studio 5000 Logix Designer, and Ultra3000 are trademarks of Rockwell Automation, Inc. DeviceNet and EtherNet/IP is a trademark of ODVA, Inc. Windows is a trademark of Microsoft Corporation. Trademarks not belonging to Rockwell Automation are property of their respective companies. Rockwell Otomasyon Ticaret A.. Kar Plaza Merkezi E Blok Kat:6 34752, �erenk�y, stanbul, Tel: +90 (216) 5698400 EEE Y�netmeliine Uygundur Publication 2198-RM003B-EN-P - November 2020 Supersedes Publication 2198-RM003A-EN-P - February 2020 PN-PN-XXXXXX-XX Copyright � 2020 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.