Rockwell Automation Allen-Bradley Kinetix 5100, Migration Manual

Page 1: ...Kinetix 5100 Servo Drives Migration Guide CatalogNumbers 2198 E1004 ERS 2198 E1007 ERS 2198 E1015 ERS 2198 E1020 ERS 2198 E2030 ERS 2198 E2055 ERS 2198 E2075 ERS 2198 E2150 ERS Reference Manual OriginalInstructions ...

Page 2: ...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 Labels may also be on or inside the equipment to provide specific precautions WARNING Identifies informati...

Page 3: ...tions 17 Power Specifications 19 I O Availability and Specifications 22 Digital Inputs 22 Ultra3000 and Kinetix 5100 Drives Dedicated Functionality Inputs 23 Digital Outputs 25 Analog Inputs 28 Analog Output 29 Control and Auxiliary Power Specifications 31 Motors 32 Feedback Devices 32 Accessories 32 Required Drive Accessories 33 Optional Drive Accessories Ethernet Cable 33 Optional Drive Accessor...

Page 4: ...Power Wiring Examples 60 Kinetix 5100 Servo Drive Power Wiring Examples 64 Chapter5 System Architecture Kinetix 5100 Drive System Architecture 70 Kinetix 5100 Drive Controlled Via Motion Control Add On Instruction 71 Kinetix 5100 Drive Controlled Via Explicit Messaging 72 Kinetix 5100 Drive Controlled Via Pulse Train Analog Digital I O 73 Chapter6 Application Conversion Scenario 1 Analog Command t...

Page 5: ...ations 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 t...

Page 6: ...r Kinetix 5100 servo drive system Information on applications for your Kinetix 5100 servo drive system Kinetix 5100 Drive Systems Design Guide publication KNX RM011 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 Ultra3000 Drive Systems Design Guide p...

Page 7: ...1 Provides general guidelines for installing a Rockwell Automation industrial system System Design for Control of Electrical Noise Reference Manual publication GMC RM001 Provides information on the concept of high frequency HF bonding the Ground Plane principle and electrical noise reduction Product Certifications website rok auto certifications Provides declarations of conformity certificates and...

Page 8: ...8 Rockwell Automation Publication 2198 RM003A EN P February 2020 Preface Notes ...

Page 9: ...n Table 1 Ultra3000 Drive to Kinetix 5100 Drive Migration Options Ultra3000 drive Operation Mode Equivalent Kinetix 5100 Drive Operation Mode Analog Current T mode AnalogVelocity S mode Analog Postion PT mode Preset Current T orTz mode PresetVelocity S or Sz mode or PR mode Preset Position PR mode Follower PT mode Indexing PR mode Host Command Any mode with Explicit Messaging over EtherNet IP Devi...

Page 10: ...cted by DI SPD0 and DI SPD1 signals Tz Torque control Thecommandsourceofthedrivecomesfromzerotorqueandinternaltorque registers which can be selected by DI TCM0 and DI TCM1 signals Dual mode Canswitchthemodeviaexternaldigitalinput Forexample DI S Psignalcan be used to switch the modes of the drive between Speed and PT mode For further information see Description of Digital Input Functions in the Ki...

Page 11: ...5100 Drive Environmental Specifications Specification Ultra3000 Servo Drives Kinetix 5100 Servo Drives Operational Range Storage Range Nonoperating Operational Range Storage Range Nonoperating Ambient Temperature 0 55 C 32 131 F 40 70 C 40 158 F 0 50 C 32 122 F 40 70 C 40 158 F Relative Humidity 5 95 Noncondensing 5 95 Noncondensing 5 85 Noncondensing 5 95 Noncondensing Altitude 1500 m 4921 5 ft D...

Page 12: ... EN 61508 EN ISO 13849 IEC EN 62061 IEC EN 61800 5 2 2016 CAT3 SIL 2 PLd KC KCC Ultra3000 drive Korean Registration of Broadcasting and Communications Equipment compliant with Article 58 2 of RadioWaves Act Clause 3 Registration number KCC REM RAA 2098 DSD Kinetix 5100 drive Korean Registration of Broadcasting and Communications Equipment compliant with Article 58 2 of RadioWaves Act Clause 3 Regi...

Page 13: ... Eight digital inputs support current sinking wiring only Registration inputcan be assigned to any one of them Eight standard digital inputs and two 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 Sixdigitaloutputswithbothc...

Page 14: ...ity The Kinetix 5100 drives require less physical space than the Ultra3000 drives Cable Length Support cable lengths for motor and power up to 90 m 295 2 ft 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 KinetixTLP servo motors and 24 bit high resolution serial encoder feedback 30 ...

Page 15: ...e 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 Continuous Output Current A rms 0 pk PeakOutput Current A rms 0 pk 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 170 253V 1 PH 3 PH 120 230V 1 PH 3 PH 2 6 3 7 6 5 9 19 2098 DSD 010 88 265V 1 PH ...

Page 16: ...ommended 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 terminations Table 8 Suggested Kinetix 5100 Replacement Drives by Dimensions Ultra3000 Drives Kinetix 5100 Drives Cat No Height mm in Width mm 1 in Depth mm in Cat No Height mm in Width m...

Page 17: ...p 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 ci...

Page 18: ...tion Cat No Voltage Nom and Phase UL CSA Application IEC non UL CSA Application Recommended Fuse Cat No Recommended Circuit Breaker Cat No DIN gG Fuses Rating Amps max Recommended Circuit Breaker Cat No 2198 E1004 ERS 120V 230V 1 PH KTK R 10 1489 M2D100 10 A 1489 M2D100 230V 3 PH KTK R 10 1489 M3D100 10 A 1489 M3D100 2198 E1007 ERS 120V 230V 1 PH KTK R 20 1489 M2D200 20 A 1489 M2D200 230V 3 PH KTK...

Page 19: ...A Peak output current rms 5 3 A 10 6 A 21 2 A 21 2 A 53 A 106 A Peak output current 0 Pk 7 5 A 15 A 30 A 30 A 75 A 150 A Bus Capacitance 1410 μF 1880 μF 1880 μF 2820 μF 4290 μF 7520 μF Internal Shunt resistance 35 ohms 16 5 ohms 9 1 ohms Shunt on 420V DC Shunt off 420V DC Bus Overvoltage 400V DC 452V DC Internal shunt Continuous power Peak power 50W 4 5W 50W 10 kW 180W 18 kW External shunt Resista...

Page 20: ...m 1 PH with 200 230V AC input power Control power input current rms nom 120V input max inrush 0 pk rms nom 230V input max inrush 0 pk 0 34 A 15 80 A 0 20 A 37 0 A 0 38 A 18 20 A 0 22 A 37 40 A 0 38 A 19 20 A 0 22 A 39 80 A 0 63 A 19 20 A 0 35 A 32 40 A Continuous output current rms 2 6 A 5 1 A 7 9 A 13 4 A Continuous output current 0 pk 3 7 A 7 2 A 11 2 A 18 9 A Peak output current rms 2 6 5 A 15 ...

Page 21: ... 46 A 32 80 A 0 48 A 40 0 A 0 92 A 37 0 A Continuous output current rms 17 9 A 41 3 A 49 0 A 78 0 A Continuous output current 0 pk 25 3 A 58 4 A 69 3 A 110 3 A Peak output current rms 2 55 95 A 91 4 A 127 5 A 162 0 A Peak output current 0 pk 79 1 A 129 2 A 180 3 A 229 1 A Continuous power output 230V nom 3 0 kW 5 5 kW 7 5 kW 15 0 kW Internal shunt on 370V 230V AC input Internal shunt off Internal ...

Page 22: ...nt for Kinetix 5100 Drive Features Ultra3000 Non Sercos Drives Kinetix 5100 Drives Inputs Eight inputs EightInputs two high speed inputs I O common points 1 1 Number of Pre selectable indexes using binary weighted digital inputs 64 99 Multiple input assignment Yes Yes via software programming De bounce for inputs Yes can be assigned to any input Yes Registration Input Yes can be assigned to any in...

Page 23: ...Table 18 There is not a direct correlation with the functionality for the Kinetix 5100 drive they are shown side by side for convenience For Kinetix 5100 drives each digital input configuration parameter assigns one function via KNX5100C software multiple assignments can be done by using programming and PR mode Input 9 and Input10 are available as high speed digital inputs and registration functio...

Page 24: ...orque limit TRQLM Pause Homing Latch Function of Analog Position Command VPL Abort Homing Speed Limit Enable SPDLM Pause Index Position Selection POS0 POS6 Abort Index Absolute Mode ABSE Define Position Set up or Clear Absolute System Coordinates ABSC Preset Select 0 Preset Select 5 ABSQ Always Input Integrator Inhibit Speed Selection SPD0 SPD1 Follower Enable Torque Command TCM0 TCM1 Forward Enab...

Page 25: ...ontrol 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 Single axis EtherNet IP Servo Drives User Manual publication 2198 UM0...

Page 26: ...en emitter The Kinetix 5100 drive has default assignments for the digital outputs Figure 3 Ultra3000 Digital Output Circuit Features Ultra3000 Non Sercos Drives Kinetix 5100 Drives Outputs 4 outputs 1 relay 6 outputs Brake output assignment Programmable Programmable Use common 24V DC power to Energize outputs Yes Capabilityto use separate 24V DC power Configurable output assignment Yes Yes Specifi...

Page 27: ...ero speed of motor Zero Speed ZSPD Zero speed of motor Output3 At Home Position HOME Homing complete Up to Speed TSPD Target speed reached Output4 Within Position 1 Window TPOS 1 Position error smaller than ID159 P1 054 setting Targetpositionreached Within Position 1 Window TPOS Targetpositionreached Output5 ALRM Servo alarm ALRM Servo alarm Output6 OUTPUTx OUTPUTx 24V DC R OUTPUTx OUTPUTx 24V DC ...

Page 28: ...s 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 Single axis EtherNet IP Servo Drives Users Manual publication 2198 UM004 Figure 5 Ultra3000 Analog Input Circuit Table 23 Analog Inputs Parameters Comparison Paramete...

Page 29: ...o 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 24 compares the analog outputs of these drives Table 24 Analog Outputs Parameters Comparison The Ultra3000 uses one programmable analog output The Kinetix 5100 servo drive provides two programmable analog outputs MON1 and MON...

Page 30: ...ils see the Kinetix 5100 Single axis EtherNet IP Servo Drives Users Manual publication 2198 UM004 Table 25 Ultra3000 Drive and Kinetix 5100 Drive Analog OutputValues Ultra3000 Drive Available functions for analog outputs Kinetix 5100 Drives Available functions for analog outputs Mon1 and MON2 SettingValue 1 1 ID 103 P0 003 Description Current Average 0 Motor speed full output range 2 max speed 2 8...

Page 31: ...V AC Parameter Description Min Max Input voltage range Input voltage range of the external power supply for drive mounted breakout boards with 24V DC to 5V DC converter 18V DC 30V DC Input current Input current draw from the external power supply for the drive mounted breakout boards with 24V DC to 5V DC converter 400 mA Parameter Description Min Max Voltage Voltage tolerance of the external logic...

Page 32: ...feedback encoders see the Kinetix 5100 Single axis Ethernet IP 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 Accessories This section describes required and optional accessories for Ultra3000 and Kinetix 5100 servo drives Drive accessories that are shared b...

Page 33: ...98 DSD 020 in applications where 5V DC control power if necessary is user supplied 2090 U3CBB DM44 I O CN1 connections These kits apply to only 2098 DSD 005 2098 DSD 010 and2098 DSD 020drivesinapplications where a 24 5V DC converter for control power is required Serial interface cable 2090 UXPC D09xx Ultra3000 drive serial interface to personal computer Motor power and feedback cables 1 1 Motor Po...

Page 34: ...t resistor The DC to ISH terminal jumper connects the internal shunt resistor The passive shunts 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 2097 R6 ...

Page 35: ... 10 Product Dimensions Catalog Number 2198 R004 in mm in A B D C E F G Ø 4 11 1 7 16 Mounting Holes Removable Cover 5 16 in Hex Screws Ø 5 Conduit Knockout 12 7 0 5 TopView cover removed 5 16 in Hex Screws Left SideView FrontView Table 34 2198 R31 Shunt Resistor Dimensions Cat No A B C D E F G 2198 R031 635 25 0 343 13 5 683 26 88 673 26 5 178 7 0 406 16 0 403 15 88 38 1 1 5 76 2 3 0 292 11 5 305 ...

Page 36: ...mponent in achieving CE standards compliance The Kinetix 5100 drives 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 10 0 0 39 L2 12 0 0 47 4 3 0 17 L3 L1 41 0 1 6 500 19 68 10 0 0 3...

Page 37: ... Voltage Phase Specifications 1 2 1 For all filters 90 relative humidity 2 For all filters 10 200 Hz 1 8 g vibration Current A 50 C 122 F Power LossW Leakag e Current mA Weight approx kg lb Operating Temperature 2090 UXLF 106 250V AC 50 60 Hz 1 PH 6 3 5 2 26 0 3 0 66 25 85 C 13 185 F 2090 UXLF 110 10 2 7 45 0 95 2 0 2090 UXLF 123 23 10 90 1 6 3 5 2090 UXLF 132 32 20 90 2090 UXLF 136 36 200 1 75 3 ...

Page 38: ... drive with the KNX5100C software This is a Type B Mini USB port that is compatible with USB 2 0 2198 USBC A Mini USB Interface 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 USB port Ultra3000 Servo Drive Control Port The Ultra3000 servo drives use MODBUS communication over RS232 RS422 RS48...

Page 39: ...ssioning 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...

Page 40: ...40 Rockwell Automation Publication 2198 RM003A EN P February 2020 Chapter 2 Replacement Considerations Notes ...

Page 41: ...tra3000 Servo Drive Front Panel Connections Catalog Numbers 2098 DSD 005 005X 010 010X 020 and 020X Table 40 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 conn...

Page 42: ...r Cable Shield Clamp 8 Network Status Indicator 2 Motor Power Connections 9 CN3 9 pin Serial Port Connector 3 AC Input Power Connections 10 Node Address Switches 4 DC Bus Connections for Active Shunt Resistor Kit 11 CN2 15 pin Motor Feedback Connector 5 Logic Power Status Indicator 12 Data Rate Switch 6 Seven Segment Status LED 13 Sercos Interface Receive Rx andTransmit Tx Connectors 7 Module Stat...

Page 43: ...FrontView 2198 E1004 ERS drive is shown Kinetix 5100 Drive TopView 2198 E1004 ERS drive is shown Table 41 Features and Indicators Description Cat Nos 2198 E1004 ERS 2198 E1007 ERS and 2198 E1015 ERS Item Description Item Description 1 Status display 9 Motor cable ground plate 2 Navigation push buttons 10 SafeTorque Off STO connector 3 Module Network and Charge status indicators 11 Mains input powe...

Page 44: ... ESH P1 P2 DC L1 L2 L3 L1C L2C STO MFB 3 13 12 11 16 15 14 17 Kinetix 5100 Drive BottomView 2198 E1020 ERS drive is shown Kinetix 5100 Drive FrontView 2198 E1020 ERS drive is shown Kinetix 5100 Drive TopView 2198 E1020 ERS drive is shown 14 9 16 3 12 11 2 13 8 15 7 6 5 4 1 10 17 17 18 P1 P2 DC L1 L2 L3 L1C L2C DC ESH U V W NET MOD CHARGE 5100 I O AUX STO MFB Kinetix 5100 Drive BottomView 2198 E205...

Page 45: ...nments Figure 18 Kinetix 5100 Drive 50 Pin I O Connector Pin Assignment Table 42 Features and Indicators Description Cat Nos 2198 E1020 ERS 2198 E2030 ERS 2198 E2055 ERS 2198 E2075 ERS and 2198 E2150 ERS Item Description Item Description 1 Status display 10 SafeTorque Off STO connector 2 Navigation push buttons 11 Mains input power terminals 3 Module Network and Charge status indicators 12 Control...

Page 46: ...er 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 Analo...

Page 47: ...n Motor Feedback Connector Pin Assignments 36 Digital Input 6 INPUT6 36 B DIR CCW BX 37 Digital Input 7 INPUT7 37 B DIR CCW BX 38 Digital Input 8 INPUT8 38 Digital input INPUT10 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 41 Digital Output 3 OUTPUT3 41 A Step CW AX 42 Digital Output 4 OUTPUT4 42 An...

Page 48: ...Sine Differential Input A Differential Input MTR_SIN MTR_AM 3 Channel B cosine differential input BM Cosine Differential Input A Differential Input MTR_COS MTR_BM 4 Channel B cosine differential input BM Cosine Differential Input A Differential Input MTR_COS MTR_BM 5 Channel I Index pulse IM Data Differential Input Output Index Differential Input MTR_DATA MTR_IM MTR_DATA 6 Common ECOM Encoder Comm...

Page 49: ...n Ultra3000 Drives Kinetix 5100 Drives CN1 Pin 1 Description Signal AUX Pin Signal Generic TTL Incremental Description 1 Auxiliary Encoder Power Out 5V EPWR 1 MTR_AM A Differential Input 2 Common ECOM 2 MTR_AM A Differential Input 3 3 MTR_BM B Differential Input 4 Auxiliary Encoder CH A AX 4 MTR_BM B Differential Input 5 Auxiliary Encoder CH A AX 5 MTR_IM Index Differential Input 6 Auxiliary Encod...

Page 50: ...50 Rockwell Automation Publication 2198 RM003A EN P February 2020 Chapter 3 Connectors and Indicators Notes ...

Page 51: ...esent the Ultra 3000 drive 500 W 1 kW and 2 kW drives respectively Figure 22 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 Table 46 Ultra3000 Drive Dimensions Ultra3000 Drive Cat No A mm in C mm in E mm in F mm in 2098 DSD 005 2098 DSD 005X 65 02 2 56 13 26 0 52 32 77 1 29 72 64 2 86 2098 DSD 010 2098 DSD 010X 209...

Page 52: ...5 DN 2098 DSD 005X DN 87 88 3 46 24 64 0 97 43 94 1 73 95 5 3 76 2098 DSD 010 DN 121 54 4 79 2098 DSD 010X DN 2098 DSD 020 DN 2098 DSD 020X DN Ultra3000 Drive A mm in B mm in C mm in J mm in 2098 DSD 030 2098 DSD 030X 2098 DSD 030 DN 2098 DSD 030X DN 91 44 3 6 50 8 2 0 20 32 0 8 243 84 9 6 2098 DSD 075 2098 DSD 075X 2098 DSD 075 DN 2098 DSD 075X DN 138 68 5 41 88 9 3 5 24 89 0 96 247 14 9 73 2098 ...

Page 53: ...UX 16 0 0 65 23 0 0 89 45 0 1 76 20 0 0 79 A 5100 NET MOD CHARGE B C D 57 0 2 30 2090 CTFB MxDD Feedback Cable Additionalclearancebelowthecableconnector connector kit is necessary to provide the recommended cable bend radius 2090 K51CK D15M Feedback Connector Kit Flying lead Feedback Cable Dimensions are in mm in I OTerminal Expansion Block Cat No A mm in B mm in C mm in D mm in 2198 E1004 ERS 35 ...

Page 54: ... 0 0 79 208 8 20 178 7 08 11 0 0 43 5100 2 1 NET MOD CHARGE I 0 AUX 23 0 0 89 25 0 0 97 U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C 2090 K51CK D15M Feedback Connector Kit I OTerminal Expansion Block Additional clearance below the cable connector connector kit is necessary to provide the recommended cable bend radius Flying lead Feedback Cable 2090 CTFB MxDD Feedback Cable Dimensions are in mm in ...

Page 55: ...SH P1 P2 DC L1 L2 L3 L1C L2C A 13 0 0 50 44 0 1 75 20 0 0 79 B C D E 95 0 3 70 107 4 20 Dimensions are in mm in 2090 K51CK D15M Feedback Connector Kit I OTerminal Expansion Block 2090 CTFB MxDD Feedback Cable Flying lead Feedback Cable Cat No A mm in B mm in C mm in D mm in E mm in 2198 E2055 ERS 120 4 72 37 0 1 47 59 0 2 32 209 8 24 273 10 75 2198 E2075 ERS 141 5 55 16 0 0 65 35 0 1 36 225 8 87 3...

Page 56: ...100 drives cannot exceed specified distances that are shown here 50 m 164 ft for Kinetix MPL S M MPM S M MPF S M and MPS S M motors with Hiperface encoders 30 m 98 4 ft for Kinetix MPL H motors with incremental encoders 50 m 164 ft for Kinetix TLP motors 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 c...

Page 57: ...ndDriveEnd 2090 CPBM7DF xxAAxx Drive end flying leads DF Power brake wires PB SpeedTecDIN M7 Kinetix MP Motors 2090 CPWM7DF xxAxx Drive end flying leads DF Powerwiresonly PW 2090 XXNPMF xxSxx Drive end flying leads Power brakewires ThreadedDIN M4 Kinetix MP Motors 2090 CPBM4E2 xxTR Drive endbayonet E2 transition TR cable 1 Motor endthreadedDIN M4 Power brake wires PB 2090 CPWM4E2 xxTR Drive endbay...

Page 58: ...SpeedTec DIN connector motor end and male connector for extending SpeedTEc or threaded DIN cable See the 2090 Series Motor Power and FeedbackTransition Cables in the Kinetix Motion AccessoriesTechnical Data publication KNX TD004 Table 51 Feedback Cable Descriptions standard non flex cable Standard Cable Cat No Description Cable Configuration Motor Actuator Connector Motor Acutator End Drive End 20...

Page 59: ...001 the bill of materials BOM configuration tool within Motion Analyzer or ProposalWorks from Rockwell Automation Table 52 Feedback Cable Descriptions continuous flex cable Standard Cable Cat No Description Cable Configuration Motor Actuator Connector Motor Acutator End Drive End 2090 CFBM7DF CDAFxx Drive end flying leads DF High resolution or incremental applications CD SpeedTec DIN M7 2090 CFBM7...

Page 60: ...nd using the 2198 USBF filter for communication between the personal computer running KNX5100C software and the programming Kinetix 5100 drive Wiring This section provides power wiring examples to assist you in a comparison of the power wiring for the Ultra3000 servo drive and the Kinetix 5100 drive systems Ultra3000 Servo Drive PowerWiring Examples Figure 29 is the power wiring diagram with 24V D...

Page 61: ...tive Shunt Module AC Input Power Connections Motor Power Connections M1 Single Input Fusing Single phase AC Line 50 60 Hz Fused Disconnect or Circuit Breaker Isolation Transformer Chassis Bonded Cabinet Ground Bus Terminal Blocks To additional Ultra3000 drive Three phase Motor Power Connections Cable Shield Clamp Indicates User supplied Component STOP START CR1 CR1 CR1 M1 24V DC N O Relay Output N...

Page 62: ... 3 43 44 CN1 43 44 2098 DSD 030x xx Ultra3000 Digital Servo Drive AC Input Power Connections Motor Power Connections Single phase AC Line Filter Input Fusing Single phase Input 100 240V AC rms Fused Disconnect or Circuit Breaker Isolation Transformer Chassis Bonded Cabinet Ground Bus Terminal Blocks To additional Ultra3000 drive Three phase Motor Power Connections Cable Shield Clamp Indicates User...

Page 63: ...tions Motor Power Connections Three AC Line Input Fusing Three phase Input 100 240V AC rms Fused Disconnect or Circuit Breaker Isolation Transformer Chassis Bonded Cabinet Ground Bus Terminal Blocks To additional Ultra3000 drive Three phase Motor Power Connections Cable Shield Clamp Indicates User supplied Component STOP START CR1 CR1 CR1 M1 N O Relay Output N O Relay Output 24V DC Neutral M1 Exte...

Page 64: ...phase 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 32 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 ATTENTION To avoid damaging the ...

Page 65: ...rcuit Protection Feeder and branch short circuit protection is not illustrated M1 Contactor Control AC Input Power Connector Circuit Protection 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 configurati...

Page 66: ...ut Circuit Protection M1 Contactor Mains AC Input Power Connector Control AC Input Power Connector Circuit Protection 2198 E1004 ERS 2198 E1007 ERS 2198 E1015 ERS and 2198 E1020 ERS Drives with Single phase Operation L2 L1 Neutral L2 L1N L2 L1N L2 L1 E L1C L2C Transformer Secondary Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground AC Line Filter 230V AC Output Circuit Protection M...

Page 67: ...d 24V DC Power Supply 1606 XLxxx Bulletin 1606 24V DC power supply for digital input output SafeTorque Off STO and motor brake control Logix PAC Controller Platforms Bulletin 5069 and 1769 EtherNet IP networking with CompactLogix 5370 and CompactLogix 5380 controllers with embedded dual port CompactLogix 5480 controllers for the benefits of Logix control withWindows based computing 1756 EN2T 1756 ...

Page 68: ...et Drives 2098 DSD xxx DN and xxxX DN Ultra3000 drive with DeviceNet and Ultra3000 drive with indexing DeviceNet available with 500W 1 kW 2 kW 3 kW 7 5 kW and 15 kW continuous output with 230V input power 2098 DSD HVxxx DN and HVxxxX DN 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 C...

Page 69: ...Serial Interface Figure 37 Ultra3000 Servo Drive System Architecture DeviceNet Interface Output Logix Interface Module Commissioning and Communication Ultraware Software Motor Feedback I O and Commands Motor Power Logix Controller Input Logix Platform ControlLogix is shown MP Series and TL Series Rotary Motors MPL A xxxx motors shown Ultra3000 Drive Other compatible motors actuators include MP Ser...

Page 70: ...cture Figure 38 Ultra3000 Servo Drive System Architecture Analog or Indexing Kinetix 5100 Drive System Architecture This section shows examples of typical Kinetix 5100 servo drive systems Kinetix 5100 drives work with different controllers and can receive commands from many different sources ...

Page 71: ...5100 2 1 NET MOD CHARGE I 0 AUX U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C 5100 2 1 NET MOD CHARGE I 0 AUX U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C 5100 2 1 NET MOD CHARGE I 0 AUX U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C 2 3 5 4 1 R W P PanelView Plus 7 DisplayTerminal Studio 5000 Logix Designer Application Optional Controllers ControlLogix 5570 Controllersor GuardLogix 5570 Safety Controllers...

Page 72: ... Figure 40 Kinetix 5100 Drive ControlledVia Explicit Messaging 5100 2 1 NET MOD CHARGE I 0 AUX U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C ESC OK 1585J M8CBJM x shielded or 1585J M8UBJM x high flex shielded Ethernet Cable Controller Options with Explicit Messaging Capability Kinetix 5100 Servo Drive 2198 E1020 ERS drive is shown To Other EtherNet IP Devices Third party Controller with EtherNet IP N...

Page 73: ...tal I O 5100 2 1 NET MOD CHARGE I 0 AUX U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C ESC OK Controller Options with PulseTrain Output Analog or Digital I O indexing Kinetix 5100 Servo Drive 2198 E1020 ERS drive is shown 2080 LCxx xxxx Micro830 Controller 1766 L32xx MicroLogix 1400 Controller Third party Controller with PulseTrain Output or Analog or Digital I O 2198 USBC Mini USB Interface Cable wit...

Page 74: ...74 Rockwell Automation Publication 2198 RM003A EN P February 2020 Chapter 5 System Architecture Notes ...

Page 75: ...rs or RSLogix 500 software for MicroLogix 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 configure a defined set of drive parameters through Explicit Messaging get and set a defined set of drive p...

Page 76: ...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 43 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 ...

Page 77: ...to monitor the status of the incoming Analog Command for an online drive in the column Monitoring Output Figure 44 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 ...

Page 78: ...ing to PR Mode The Properties window for Indexing branch of Indexing mode looks like this in Ultraware software Figure 45 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 ...

Page 79: ...ng data of each PR command are both set by using parameters Figure 46 PR Mode SettingWindow 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 preconfigure...

Page 80: ... 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 Typical encoder signals consist of AB phase TTL incremental feedback and can be wired to the PT inputs of the I O connector ...

Page 81: ...l Automation Publication 2198 RM003A EN P February 2020 81 Application Conversion Chapter 6 PT command configuration mode in KNX5100C software is shown in Figure 48 Figure 48 PT ModeWindow in KNX5100C Software ...

Page 82: ...h the Kinetix 5100 drive Figure 49 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 Assembly for monitoring and the Output Assembl...

Page 83: ...hernet IP network 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 t...

Page 84: ...mple 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...

Page 85: ...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 messag...

Page 86: ...86 Rockwell Automation Publication 2198 RM003A EN P February 2020 Chapter 6 Application Conversion Notes ...

Page 87: ...cated Auxiliary feedback encoder connector Yes Master Gearing encoder inputs terminal block inputs Yes Yes Yes Yes Hardware limits Yes Yes Yes Analog input for current limit Yes Yes Yes Multiple assignments forinputs Yes Yes Yes Not native can use Digital I O status to evaluate I O in PR mode Soft limits Yes Yes Yes Watch window output assignment Yes Yes Yes Yes Not directly programmable within PR...

Page 88: ...put Yes Yes Yes Operation mode override Yes Yes Yes Slew rate for gearing Yes Selectable modes of operation Yes Yes Yes Yes Pause index directly Yes Yes Yes Not natively programming required Offline software Yes Yes Yes Yes Start next Index on input Yes Yes Yes Not natively programming required Batch Count Yes Yes Not natively programming required Homing Active Switch Marker Yes Yes Yes Yes Homing...

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Page 90: ...rt direct dial page Literature Library Installation Instructions Manuals Brochures and Technical Data http www rockwellautomation com global literature library overview page Product Compatibility and Download Center PCDC Get help determining how products interact check features and capabilities and find associated firmware http www rockwellautomation com global support pcdc page Rockwell Otomasyon...