Ultra3000 Digital Servo Drives to Kinetix 300 and Kinetix ... · Manual, publication 2097-UM002...

Migration Guide

Ultra3000 Digital Servo Drives to Kinetix 300 and Kinetix 350 Servo Drives

Important User InformationSolid-state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1 available from your local Rockwell Automation® sales office or online at http://www.rockwellautomation.com/literature/) describes some important differences between solid-state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid-state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.

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.

Allen-Bradley, Rockwell Automation, Ultra, Kinetix, ControlLogix, CompactLogix, MicroLogix, RSLogix, ProposalWorks, Encompass, Rockwell Software, TechConnect, SLC, MP-Series, and TL-Series are trademarks of Rockwell Automation, Inc.

Trademarks not belonging to Rockwell Automation are property of their respective companies.

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

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.

IMPORTANT Identifies information that is critical for successful application and understanding of the product.

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http://www.rockwellautomation.com/literature/

Preface Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Ultra3000 Drive Catalog Number Descriptions . . . . . . . . . . . . . . . . . . . . . . 5Kinetix 300/Kinetix 350 Drive Catalog Number Descriptions . . . . . . . . . 6Kinetix 300 Drive Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Kinetix 350 Drive Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Pre-migration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Best Practices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Chapter 1Engineering Review Essentials Engineering Effort and Product Liability . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Major Product Replacement Considerations . . . . . . . . . . . . . . . . . . . . . . . 11Minor Product Replacement Considerations . . . . . . . . . . . . . . . . . . . . . . . 13Potential Hardware Design Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Chapter 2Migration Considerations Selecting a Replacement Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Factors Affecting Drive Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . 15Drive Sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Output Current Comparison. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Dimension Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Ultra3000 (230V) Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Ultra3000 (460V) Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20Kinetix 300/Kinetix 350 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Input Wiring and Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22AC Input Power Wire Length and Routing. . . . . . . . . . . . . . . . . . . . . 22Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Drive Interconnects and Cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24Motor Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24Encoder Feedback Replacement Cables. . . . . . . . . . . . . . . . . . . . . . . . . 27

2090-Series Motor/Actuator Cables Overview. . . . . . . . . . . . . . . . . . . . . . 30I/O Cabling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31Ultra3000 CN1 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31Kinetix 300/Kinetix 350 Expansion Block. . . . . . . . . . . . . . . . . . . . . . 32Master Encoder/Gearing Signals/Buffered Encoder Signals . . . . . . 32

I/O Availability and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35Auxiliary Logic Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41Analog Current Limit Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42Analog Current Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Rockwell Automation Publication 2098-AP001A-EN-P - October 2011 3

Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Shunt Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45AC Line Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Appendix AConnectors and Field Connections

Connector Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49Encoder Wiring Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50Control Wiring Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51Mains Power Wiring Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Appendix BSpecifications General Power Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Ultra3000 Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55Kinetix 300/Kinetix 350 Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Digital I/O Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59Digital Input Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59Digital Output Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59Relay Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Analog I/O Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60Analog Input Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60Analog Output Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Environmental and Safety Feature Comparison . . . . . . . . . . . . . . . . . . . . . 61Environmental Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61Safety Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Appendix CFeature Comparison Chart Feature Comparison Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Appendix DHardware Layout with Connections

Ultra3000 Drive Power Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65Kinetix 300/Kinetix 350 Drive Power Wiring . . . . . . . . . . . . . . . . . . . . . . 70

Appendix ETopology/Architecture Layouts Ultra3000 (Analog) to Kinetix 300 Architecture . . . . . . . . . . . . . . . . . . . . 76

Ultra3000 (Indexing) to Kinetix 350 Architecture . . . . . . . . . . . . . . . . . . 77Ultra3000 (SERCOS) to Kinetix 350 Architecture. . . . . . . . . . . . . . . . . . 78

4 Rockwell Automation Publication 2098-AP001A-EN-P - October 2011

Preface

Overview The purpose of this migration guide is to provide you with the essential information to determine what hardware design changes may be necessary when migrating an Ultra™ 3000 servo drive to a Kinetix® 300 or Kinetix 350 servo drive.

This migration guide contains these chapters and appendices:

Ultra3000 Drive Catalog Number Descriptions

Chapter 1: Engineering Review Essentials Provides information on important differences between the product families.

Chapter 2: Migration Considerations Provides information on drive sizing, input wiring and fusing, motor power and I/O cabling, serial communication, shunt resistors, and AC line filters.

Appendix A: Connectors and Field Connections Provides information on connector locations, and comparisons for encoder wiring, control wiring, and mains power wiring.

Appendix B: Specifications Provides comparisons of the power specifications, digital and analog I/O, environmental specifications, and safety features.

Appendix C: Feature Comparison Chart Compares the hardware and software features of the product families.

Appendix D: Hardware Layout with Connections

Provides power wiring examples to assist you in comparing the power wiring for the Ultra3000 drive and the Kinetix 300/350 drive systems.

Appendix E: Topology/Architecture Layouts Provides information for typical Ultra3000 drive architecture and Kinetix 300/350 drive architecture.

2098-DSD- xx xxx x-xxConnectivity OptionDN = DeviceNet interfaceSE = SERCOS interfaceBlank = No network connectivityIndexing CapabilityX = IndexingBlank = No indexingContinuous Output Power005 = 500 W 030 = 3 kW 100 = 10 kW010 = 1 kW 050 = 5 kW 150 = 15 kW020 = 2 kW 075 = 7.5 kW 220 = 22 kWInput Power (VAC)HV = High Voltage (230…480V AC)Blank = Standard (100…240V AC)Digital Servo Drive

Bulletin Number


Preface

Kinetix 300/Kinetix 350 Drive Catalog Number Descriptions

Kinetix 300 Drive Cat. No.

Kinetix 350 DriveCat. No.

Description Power (kW)

Single-phase

2097-V31PR0 2097-V31PR0-LM 1Ø, 2 A, 120/240V, no filter (120V-voltage doubler)

0.4

2097-V31PR2 2097-V31PR2-LM 1Ø, 4 A, 120/240V, no filter (120V-voltage doubler)

0.8

2097-V32PR0 2097-V32PR0-LM 1Ø, 2 A, 240V, integral filter 0.4



Single-/Three-phase

2097-V33PR1 2097-V33PR1-LM 1Ø, 3Ø, 2 A, 240V, no filter 0.5

2097-V33PR3 2097-V33PR3-LM 1Ø, 3Ø, 4 A, 240V, no filter 1



Three-phase

2097-V34PR3 2097-V34PR3-LM 3Ø, 2 A, 480V, no filter 1




Preface

Kinetix 300 Drive Features The Kinetix 300 drive offers a cost-effective, low axis count EtherNet/IP indexing servo drive solution. Features of the Kinetix 300 drive include the following:

• Indexing– Five indexing types– S-curve and trapezoidal moves– 32 index capability

• Commanded control over the EtherNet/IP network– Velocity and current– Absolute and incremental position with or without registration

• Electronic gearing• Analog input control• Step and direction control• Integrated safe torque-off

Kinetix 350 Drive Features The Kinetix 350 drive is a single-axis solution developed to provide scalability at a low cost. It simplifies integration of the entire control solution on one network, including human-machine interface (HMI), programmable automation controller, I/O, and motion. Features of the Kinetix 350 drive include the following:

• Connects via EtherNet/IP network with common industrial protocol (CIP) Motion technology, which provides real-time, closed-loop motion control with standard Ethernet

• Fully compatible in a star or linear topology• Integrates with L6 and L7 ControlLogix® and CompactLogix™ controllers

supporting Integrated Motion on EtherNet/IP network• Programming supported in RSLogix™ 5000 software, version 20.00.00• Supports standard motion instruction set, including Kinematics• Comes equipped with embedded safe torque-off functionality


Preface

Pre-migration Migrating from a motion control system that uses Ultra3000 drives to a system that uses Kinetix 300 or Kinetix 350 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 software applied. As a result, this migration guide is not an all-inclusive document. It does not describe all the redesign steps that may 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.

Figure 1 - Suggested Migration Options

Best Practices Motors – Verify that your current motor is compatible with the Kinetix 300/350 servo drive family. Kinetix 300/350 drives are compatible with MP-Series™ or TL-Series™ servo motors or linear actuators.

Feedback Cable Length – Verify that the feedback cable length in your current Ultra3000 system does not exceed the maximum feedback cable length for the Kinetix 300/350 servo drives. The maximum feedback cable length for the Kinetix 300/350 servo drives is 20 m (65.6 ft).

Configuration Files– Use the Ultraware software to upload and save the Ultra3000 drive configuration file for future reference. If using a serial real-time communication system (SERCOS) Ultra3000 drive, upload and save any network files and programmable logic controller (PLC) programs.

Electrical Noise – Refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001, to better understand the concept of electrical noise reduction.

Ultra3000 Drive

Analog

Indexing

SERCOS

Kinetix 300 Drive

Kinetix 300 DriveKinetix 350 Drive

Kinetix 350 Drive

IMPORTANT Third-party motors are not supported with Kinetix 300 drives. Check with your Rockwell Automation representative to see if your third-party motor is compatible with the Kinetix 350 drives.


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Preface

Additional Resources These documents contain additional information concerning related products from Rockwell Automation.

You can view or download publications at http://www.rockwellautomation.com/literature/. To order paper copies of technical documentation, contact your local Allen-Bradley® distributor or Rockwell Automation sales representative.

Resource Description

Kinetix 300 and Kinetix 350 Drive Systems Design Guide, publication GMC-RM004

Provides information to assist you in identifying the drive system components and accessory items you’ll need for your Kinetix 300/350 drive and motor/actuator combination.

Integrated Motion on SERCOS and EtherNet/IP Systems - Analysis and Comparison White Paper, publication MOTION-WP001

Compares and contrasts Integrated Motion systems using SERCOS and EtherNet/IP with a ControlLogix Programmable Automation Controller (PAC).

Kinetix 350 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM002

Provides installation instructions for mounting, wiring, and troubleshooting your Kinetix 350 drive; and system integration for your drive/motor combination with a Logix controller.

Kinetix 350 EtherNet/IP Indexing Servo Drive Installation Instructions, publication 2097-IN008

Provides information on installing your Kinetix 350 drive system.

Kinetix 300 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM001

Provides installation instructions for mounting, wiring, and troubleshooting your Kinetix 300 drive; and system integration for your drive/motor combination with a Logix controller.

Kinetix 300 EtherNet/IP Indexing Servo Drive Installation Instructions, publication 2097-IN001

Provides information on installing your Kinetix 300 drive system.

Kinetix 300 Shunt Resistor Installation Instructions, publication 2097-IN002

Provides information on installing and wiring the Kinetix 300 shunt resistors(also compatible with the Kinetix 350 drive).

Kinetix 300 AC Line Filter Installation Instructions, publication 2097-IN003

Provides information on installing and wiring the Kinetix 300 AC line filter(also compatible with the Kinetix 350 drive).

Kinetix 300 I/O Terminal Expansion Block Installation Instructions, publication 2097-IN005

Provides information on installing and wiring the Kinetix 300 I/O terminal expansion block(also compatible with the Kinetix 350 drive).

Kinetix 300 Memory Module Installation Instructions, publication 2097-IN007

Provides information on installing the Kinetix 300 memory module(also compatible with the Kinetix 350 drive).

Kinetix 300 Memory Module Programmer Quick Start, publication 2097-QS001

Provides information on using the memory module programmer to duplicate the memory module (also compatible with the Kinetix 350 drive).

1769-L32E and 1769-L35E CompactLogix Controller Installation Instructions, publication 1769-IN020

Information on how to assemble and mount the controller, how to upgrade firmware, and controller technical specifications.

1769-L32C and 1769-L35CR CompactLogix Controller Installation Instructions, publication 1769-IN070


1769-L31 CompactLogix Controller Installation Instructions, publication 1769-IN069


Ultraware Software User Manual, publication2098-UM001

Provides detailed installation instructions, defines software interface features, and programming assistance for Ultraware software.

Ultra3000 Digital Servo Drive with DeviceNet, publication 2098-RM004

Provides information on how to use DeviceNet to install, start up, and troubleshoot an Ultra3000 drive.

Ultra3000 Digital Servo Drives Installation Manual, publication 2098-IN003 Provides mounting, wiring, and connecting procedures for the Ultra3000 drive.

Ultra3000 Digital Servo Drives Integration Manual, publication 2098-IN005 Information on configuring and troubleshooting your Ultra3000 drive.

Rockwell Automation Configuration and Selection Tools, website www.ab.com/e-tools Online product selection and system configuration tools, including AutoCAD (DXF) drawings.

Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1

Provides general guidelines for installing a Rockwell Automation industrial system.

Product Certifications website, http://www.ab.com Provides declarations of conformity, certificates, and other certification details.


http://literature.rockwellautomation.com/idc/groups/literature/documents/um/2097-um001_-en-p.pdf




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http://literature.rockwellautomation.com/idc/groups/literature/documents/rm/2098-rm004_-en-e.pdf



http://ab.com/e-tools

http://www.literature.rockwellautomation.com/idc/groups/literature/documents/in/1770-in041_-en-p.pdf

http://www.ab.com



http://literature.rockwellautomation.com/idc/groups/literature/documents/wp/motion-wp001_-en-p.pdf

http://literature.rockwellautomation.com/idc/groups/literature/documents/rm/gmc-rm004_-en-p.pdf

Preface

Notes:


Chapter 1

Engineering Review Essentials

Replacing an Ultra3000 drive with a Kinetix 300 or Kinetix 350 drive may require some system design changes. Follow these steps to properly formulate the design changes:

• Review the hardware and software design of the current Ultra3000 system. The appendices in this document can help you with this process.

• Review the hardware and software specifications for the Kinetix 300/350 drives.

• Use this document as a guide for determining hardware design changes.

Engineering Effort and Product Liability

Thoroughly review this document before you begin to evaluate the design changes required to successfully migrate your Ultra3000 drive to a Kinetix 300/350 drive.

The following sections highlight the major and minor differences between the Ultra3000 drives and Kinetix 300/350 drives. Additional differences may also impact your application. Read this entire document before proceeding to qualify the Kinetix 300/350 drives for your needs.

Major Product Replacement Considerations

Listed here are some major differences between the Ultra3000 drives and the Kinetix 300/350 drives.

Serial Port – The Kinetix 300/350 drives do not have a serial port. The Kinetix 300/350 programming interface is via Ethernet, and the Kinetix 300 drive can be programmed by using java-based embedded software. If your Ultra3000 drive application uses host mode programming or the serial port for HMI communication, the difference in communication and programming will have to be addressed. See Appendix A.

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.


Chapter 1 Engineering Review Essentials

SERCOS or DeviceNet Networks – There are no SERCOS or DeviceNet embedded options on the Kinetix 300/350 drives (but they may be used on the Ultra3000 drives). Determine if your application depends on these options, and verify whether your application can be modified or if the architecture can be changed. See Appendix D and Appendix E.

Physical Dimensions – The physical size of the drive families are different (see Drive Sizing on page 16). In most cases, the Kinetix 300/350 drives are smaller and will fit into the existing space of the compatible Ultra3000 drives; however, you should verify the physical size of the Kinetix 300/350 drive.

Shunting – The Ultra3000 drives (except micro sizes) have internal shunting capability, while the Kinetix 300/350 drives have external shunting capability only. See Shunt Resistors on page 45 to help you verify the differences and determine if you need to resize the drive, or if your space requirements will change with the Kinetix 300/350 drives if you require a shunt module to be added in the panel.

Power Range – The Kinetix 300/350 drives have a different drive power range that may not match directly with the Ultra3000 drive power range. See Drive Sizing on page 16 and Dimension Comparison on page 17 to determine if your power range is covered with the Kinetix 300/350 drives, or if resizing or a different drive architecture is required.

Auxiliary Power – The Ultra3000 drives use a different method of providing auxiliary power than the Kinetix 300/350 drives (see Auxiliary Logic Power on page 35 and Appendix A). A 24V power supply may need to be added to the Kinetix 300/Kinetix 350 drives if auxiliary power is required.

I/O Interface – The Ultra3000 drives have a D-shell connector for I/O interface connection, while the Kinetix 300/350 drives use a small computer system interface (SCSI) connector for I/O interface. If your application cannot modify the cable interface or breakout board to the I/O, this may be an issue. See I/O Cabling on page 31.

Cable Lengths – The Ultra3000 drives support cable lengths for motor and power up to 90 m (295.2 ft), while the Kinetix 300/350 drives support cable lengths up to 20 m (65.6 ft) only. See Drive Interconnects and Cabling on page 24.

Output Frequency – If you are using the Ultra3000 (non-SERCOS version) drives to interface to an external controller, the output encoder frequency can be modified to provide a range of resolutions; while the Kinetix 300 drives have a fixed output frequency of 4096 counts/motor rev with a maximum of 2 MHz output frequency. The Kinetix 350 drives do not provide an output frequency. See Master Encoder/Gearing Signals/Buffered Encoder Signals on page 32.


Engineering Review Essentials Chapter 1

Dual Loop Operation – The Ultra3000 drives have the ability to power Aux encoders for use in master gearing or dual loop modes. This power supply is not available in the Kinetix 300/350 drives. If your application requires dual loop operation, it is not supported with the Kinetix 300/350 drives. See Master Encoder/Gearing Signals/Buffered Encoder Signals on page 32.

Minor Product Replacement Considerations

Listed here are some minor differences between the Ultra3000 drives and the Kinetix 300/350 drives. See Appendix C for a feature comparison chart that shows the notable differences. Some key differences include the following:

Relay Outputs – The I/O implementation between the drives is different (seeI/O Availability and Specifications on page 35 and Appendix B). Most notably, there is no relay output on the Kinetix 300/350 drives. This has to be addressed on replacement.

Hardware Enable Signal – The Ultra3000 drives can operate without a hardware enable signal present. The Kinetix 300 drives require a hardware enable signal. The Kinetix 350 drives can operate without a hardware drive enable signal. See Appendix C.

Digital Inputs – The Ultra3000 drives have multiple assignment for digital inputs, while the Kinetix 300/350 drives have single assignment for digital inputs (see Digital Inputs on page 36 and Digital I/O Comparison on page 59).

Operation Mode Override – The Ultra3000 drives have an Operation mode override that is capable of operation via digital I/O, while the Kinetix 300/350 drives do not. See Appendix C.

Potential Hardware Design Changes

The design changes required for converting to the Kinetix 300/350 drives depend on the original/replacement drive combination and the specifics of the application. The objective is to determine which areas of a design may need to be changed. This document provides you with knowledge about the type and extent of work that may be required to successfully change from an Ultra3000 system to a Kinetix 300/350 system.

The following chapters and appendices cover the majority of hardware/design considerations for the replacement of the Ultra3000 drives with Kinetix 300/350 drives.

IMPORTANT Due to the flexibility of drive installation and usage, it is not feasible to cover all possible issues that may be encountered. In addition to the items described in this document, the engineering/design team should pay particular attention to unique features and functions of the Ultra3000 system when considering replacement with a Kinetix 300/350 system.


Chapter 1 Engineering Review Essentials

Notes:


Chapter 2

Migration Considerations

Selecting a Replacement Drive

Drive sizing is the primary factor in selecting a replacement drive. To identify the correct replacement drive size, compare the continuous and peak output current ratings.

In general, regarding the current ratings, the following rules apply:

These Ultra3000 drives can be replaced with a Kinetix 300/350 drive of similar, or in some cases greater, output current capability:

• 2098-DSD-005• 2098-DSD-010• 2098-DSD-020• 2098-DSD-030• 2098-DSD-HV030• 2098-DSD-HV050

The Kinetix 300/350 drives have similar current ratings and require less physical space than the Ultra3000 drives.

These Ultra3000 drives do not have similar replacements in the Kinetix 300/350 drives series:

• 2098-DSD-075• 2098-DSD-150• 2098-DSD-HV150• 2098-DSD-HV220

Factors Affecting Drive Replacement

Factors that affect the redesign effort include the following considerations: • Drive Sizing (ratings and physical)• Dimension Comparison • Drive Interconnects and Cabling • Serial Communication• Accessories


Chapter 2 Migration Considerations

Drive Sizing This section lists the Ultra3000 drives and the suggested Kinetix 300/350 replacement drives, along with the output ratings and dimension differences of the drives. Information in this migration guide is based on the drive combinations shown in Table 1 and Table 2.

Output Current Comparison

IMPORTANT The performance capabilities of the replacement drive should be reviewed to be sure that the replacement drive is capable of delivering the required level of peak and continuous current to the motor.

Table 1 - Suggested Kinetix 300/350 Replacement Drives by Output Current

Ultra3000 Drives Kinetix 300/350 (2) Drives

Model Voltage Range (V)

Nominal Voltage Range(V)

Output Current Rating(0-pk) -A(1)

Recommended Kinetix 300/Kinetix 350 Replacement Drives (2)

Voltage Range (V)

Nominal Voltage Range (V)

Output Current Rating(0-pk) A(1)

2098-DSD-005 88...265 1Ø

120...240 1Ø 2.5

2097-V31PR0-xx 70...264 1Ø

120...240 1Ø 2.8

2097-V32PR0-xx 80...264 1Ø 240 1Ø 2.8

2097-V33PR1-xx

80...264 1Ø

120...240 1Ø

2.880...264

3Ø 240 3Ø

2097-V34PR3-xx 320...528 3Ø 480 3Ø 2.8

2098-DSD-010 88...265 1Ø

120...240 1Ø 5

2097-V31PR2-xx 70...132 1Ø 120 1Ø 5.7

2097-V32PR2-xx 80...264 1Ø 240 1Ø 5.7

2097-V33PR3-xx

80...264 1Ø

120...240 1Ø

5.780...264

3Ø 240 3Ø

2097-V34PR5-xx 320...528 3Ø 480 3Ø 5.7

2098-DSD-020 88...265 1Ø

120...240 1Ø 10

2097-V32PR4-xx 80...264 1Ø 240 1Ø 11.3

2097-V33PR5-xx

80...264 1Ø

120...240 1Ø

11.380...264

3Ø 240 3Ø

2098-DSD-030 88...265 1Ø

120...240 1Ø 15 2097-V33PR6-xx

80...264 1Ø

120...240 1Ø

1780...264

3Ø 240 3Ø

2098-DSD-075 88...265 3Ø

120...240 3Ø 35 N/A


Migration Considerations Chapter 2

Dimension ComparisonTable 2 provides a comparison of the dimensions of the drives.

Table 2 - Suggested Kinetix 300/350 Replacement Drives by Dimensions

2098-DSD-150 88...265 3Ø

120...240 3Ø 65 N/A

2098-DSD-HV030 207...528 3Ø

230...480 3Ø 7

2097-V33PR5-xx 80...264 3Ø 240 3Ø 11.3

2097-V34PR6-xx 320...528 3Ø 480 3Ø 8.5

2098-DSD-HV050 207...528 3Ø

230...480 3Ø 11

2097-V33PR5-xx 80...264 3Ø 240 3Ø 11.3

N/A

2098-DSD-HV100 207...528 3Ø

230...480 3Ø 23 N/A

2098-DSD-HV150 207...528 3Ø

230...480 3Ø 34 N/A

2098-DSD-HV220 207...528 3Ø

230...480 3Ø 47 N/A

(1) Continuous output current ratings are used.(2) The Kinetix 350 drive part number has a -LM at the end of the catalog string (see Kinetix 300/Kinetix 350 Drive Catalog Number Descriptions on page 6).

Table 1 - Suggested Kinetix 300/350 Replacement Drives by Output Current (continued)

Ultra3000 Drives Kinetix 300/350 (2) Drives


Nominal Voltage Range(V)

Output Current Rating(0-pk) -A(1)

Recommended Kinetix 300/Kinetix 350 Replacement Drives (2)

Voltage Range (V)


Output Current Rating(0-pk) A(1)

Ultra3000 Drive Kinetix 300/350 Drive Dimension Differences, Kinetix Referenced (1)

Model Number Heightmm

Widthmm

Depthmm

Model Number Heightmm

Widthmm

Depthmm

Height (2)

mm (in.)Width (2)

mm (in.)Depth (2)

mm (in.)

2098-DSD-005 198.12 95.5 144.27 2097-V31PR0-xx 190 68 185.1 -8.12 (-0.32) -27.5 (-1.08) 40.83 (1.61)

198.12 95.5 144.27 2097-V32PR0-xx 190 68 229.6 -8.12 (-0.32) -27.5 (-1.08) 85.33 (3.36)

198.12 95.5 144.27 2097-V33PR1-xx 190 68 185.1 -8.12 (-0.32) -27.5 (-1.08) 40.83 (1.61)

198.12 95.5 144.27 2097-V34PR3-xx 190 68.5 185.1 -8.12 (-0.32) -27.0 (-1.06) 40.83 (1.61)

2098-DSD-010 198.12 121.54 144.27 2097-V31PR2-xx 190 68.5 185.1 -8.12 (-0.32) -53.04 (-2.09) 40.83 (1.61)

198.12 121.54 144.27 2097-V32PR2-xx 190 68.5 229.6 -8.12 (-0.32) -53.04 (-2.09) 85.33 (3.36)

198.12 121.54 144.27 2097-V33PR3-xx 190 68.5 185.1 -8.12 (-0.32) -53.04 (-2.09) 40.83 (1.61)

198.12 121.54 144.27 2097-V34PR5-xx 190 94.4 185.1 -8.12 (-0.32) -27.14 (-1.07) 40.83 (1.61)

2098-DSD-020 198.12 121.54 144.27 2097-V32PR4-xx 190 86.8 229.6 -8.12 (-0.32) -34.74 (-1.37) 85.33 (3.36)

198.12 121.54 144.27 2097-V33PR5-xx 190 94.4 185.1 -8.12 (-0.32) -27.14 (-1.07) 40.83 (1.61)

2098-DSD-030 360.68 91.44 243.84 2097-V33PR6-xx 190 68 229.6 -170.7 (-6.72) -23.44 (-0.92) -14.24 (-0.56)

2098-DSD-HV030 360.7 138.7 242.2 2097-V33PR5-xx 190 94.4 185.1 -170.7 (-6.72) -44.3 (-1.74) -57.1 (-2.25)

360.7 138.7 242.2 2097-V34PR6-xx 190 68 229.6 -170.7 (-6.72) -70.7 (-2.78) -12.6 (-0.50)

2098-DSD-HV050 360.7 138.7 242.2 2097-V33PR5-xx 190 94.4 185.1 -170.7 (-6.72) -44.3 (-1.74) -57.1 (-2.25)

(1) Dimensions chosen were for Ultra3000 drives -SE, -DN, -XDN (see Ultra3000 (230V) Dimensions on page 18).(2) A minus sign denotes that the height, width, or depth of the Kinetix 300/350 drive is shorter, narrower, or shallower than the comparable Ultra3000 drive.



Dimension Drawings This section provides dimensions of the drives to assist you in determining the space needed to install the drives.

Ultra3000 (230V) Dimensions

In Figure 2, -xxx is replaced by -005, -010, or -020 to represent the Ultra3000 500 W, 1 kW, and 2 kW drives respectively.

Figure 2 - Ultra3000 (230V) Dimensions (catalog numbers 2098-DSD-xxx,2098-DSD-xxxX, 2098-DSD-xxx-SE, 2098-DSD-xxx-DN, 2098-DSD-xxxX-DN)

Ultra3000 Drive A C E F

2098-DSD-0052098-DSD-005X

65.02(2.56)

13.26(0.52)

32.77(1.29)

72.64(2.86)

2098-DSD-0102098-DSD-010X2098-DSD-0202098-DSD-020X

98.1(3.89)

2098-DSD-005-SE2098-DSD-005-DN2098-DSD-005X-DN

87.88(3.46)

24.64(0.97)

43.94(1.73)

95.5(3.76)

2098-DSD-010-SE2098-DSD-010-DN2098-DSD-010X-DN2098-DSD-020-SE2098-DSD-020-DN2098-DSD-020X-DN

121.54(4.79)

129.03(5.08)

198.12(7.8)

144.27(5.68)

165.1(6.5)

A

C

E

186.18(7.33)

38.1(1.5)

F

Dimensions are in mm (in.)

Unit shown is the 2098-DSD-005-SE drive.



In Figure 3, -xxx is replaced by -030, -075, or -150 to represent the Ultra3000 3, 7.5, and 15 kW drives respectively.

Figure 3 - Ultra3000 (230V) Dimensions (catalog numbers 2098-DSD-xxx,2098-DSD-xxxX, 2098-DSD-xxx-SE, 2098-DSD-xxx-DN, 2098-DSD-xxxX-DN)

Ultra3000 Drive A B C J

2098-DSD-0302098-DSD-030X2098-DSD-030-SE2098-DSD-030-DN2098-DSD-030X-DN

91.44(3.6)

50.8(2.0)

20.32(0.8)

243.84(9.6)

2098-DSD-0752098-DSD-075X2098-DSD-075-SE2098-DSD-075-DN2098-DSD-075X-DN(1)

(1) 2098-DSD-075 and 2098-DSD-150 Ultra3000 drives do not have similar replacements in the Kinetix 300/350 drives series.

138.68(5.41)

88.9(3.5)

24.89(0.96)

247.14(9.73)

2098-DSD-1502098-DSD-150X2098-DSD-150-SE2098-DSD-150-DN2098-DSD-150X-DN(1)

188.97(7.44)

139.7(5.5)

24.6(0.97)

241.05(9.49)

C

A

349.25(13.75)

360.68(14.2)331.47

(13.05)

B

JC

B

227.08(8.94)


Unit shown is the 2098-DSD-030 drive.



Ultra3000 (460V) Dimensions

In Figure 4, xxx is replaced by 030, 050, 100, 150, or 220 to represent the Ultra3000 3, 5, 10, 15, and 22 kW drives respectively.

Figure 4 - Ultra3000 (460V) Dimensions (catalog numbers 2098-DSD-HVxxx, 2098-DSD-HVxxxX, 2098-DSD-HVxxx-SE, 2098-DSD-HVxxx-DN,2098-DSD-HVxxxX-DN)

Ultra3000 Drive(1)

(1) The x represents the indexing (X) option. The -xx represents the SERCOS interface (SE) or DeviceNet (DN) option. SERCOS interface is not available with the DeviceNet option.

A C B D H I

2098-DSD-HV030x2098-DSD-HV030-xx2098-DSD-HV050x2098-DSD-HV050-xx

138.75.46)

18.5(0.73)

50.8(2.0)

349.3(13.75)

331.5(13.05)

360.7(14.2)2098-DSD-HV100x

2098-DSD-HV100-xx2098-DSD-HV150x2098-DSD-HV150-xx (2)

(2) 2098-DSD-HV150, and HV220 Ultra3000 drives do not have similar replacements in the Kinetix 300/350 drives series.

151.6(5.97)

25(0.99)

2098-DSD-HV220x2098-DSD-HV220-xx (2)

203.2(8.0)

25.4(1.0)

76.2(3.0)

380.4(14.98)

362.614.26)

391.8(15.43)

225.8(8.89)

A

CBB

D IH

242.2(9.54)

CBB


Unit shown is the 2098-DSD-HV030 drive.



Kinetix 300/Kinetix 350 Dimensions

Cat. No. Dimensions mm (in.) Cat. No. Dimensions mm (in.)

A B A B

2097-V31PR0-xx 185.1 (7.29) 68.0 (2.68) 2097-V33PR3-xx 185.1 (7.29) 68.5 (2.70)

2097-V31PR2-xx 185.1 (7.29) 68.5 (2.70) 2097-V33PR5-xx 185.1 (7.29) 94.4 (3.72)

2097-V32PR0-xx 229.6 (9.04) 68.0 (2.68) 2097-V33PR6-xx 229.6 (9.04) 68.0 (2.68)

2097-V32PR2-xx 229.6 (9.04) 68.5 (2.70) 2097-V34PR3-xx 185.1 (7.29) 68.5 (2.70)

2097-V32PR4-xx 229.6 (9.04) 86.8 (3.42) 2097-V34PR5-xx 185.1 (7.29) 94.4 (3.72)

2097-V33PR1-xx 185.1 (7.29) 68.0 (2.68) 2097-V34PR6-xx 229.6 (9.04) 68.0 (2.68)

11.8(0.46)

6.6(0.26)

7.1(0.28)

B

38.1 (1.5)

182(7.18)

190(7.50)

30.8(1.21)

Ø 4.57(0.18) 3x

300

A

238(9.37)

9.7(0.38)

5.0(0.19)

61.0(2.40)

Dimensions are in mm (in.).

Additional clearance below the connector kit is necessary to provide the recommended cable bend radius.

2090-K2CK-D15MLow-profile Connector Kit for Bulletin 2090 (flying-lead) Feedback Cable

2097-TB1I/O Terminal

ExpansionBlock



Input Wiring and Fusing This section provides information to assist you in determining the wiring and fusing requirements of the drives.

AC Input Power Wire Length and Routing

Determine the wire length for the AC line input after the drive location and any changes to routing are finalized.

In general, the recommended drive replacement should not require changes in wiring length; however, the routing may need to change as the input power (Mains IPD) and motor power (MP) connections on the Kinetix 300/350 drives are on the top and bottom of the drive, respectively, while these same connections are located on the front of the Ultra3000 drives. See Connectors and Field Connections on page 49 for a comparison of the Ultra3000 drive and Kinetix 300/Kinetix 350 drive terminals.

Fusing

Review the fusing requirements when changing drives.

The Ultra3000 drives are listed by Underwriters Laboratories, Inc. (UL) with fuses sized at four times the continuous output current of the full load amps (FLA) of the drive, according to UL 508C. In most cases, fuses selected to match the drive input current rating meet the National Electrical Code (NEC) requirements and provide the full drive capabilities. Use dual-element, time-delay (slow-acting) fuses to avoid nuisance trips during the inrush current of power initialization. The Kinetix 300/350 drives are also listed by UL 508C.

In general, the Ultra3000 drives use Class CC, G, J, L, R, or T fuses with current ratings as indicated in Table 3. The Kinetix 300/350 drives use class CC or T fast-acting, current limiting-type fuses; 200,000 A interrupting capacity (AIC) preferred. Use Cooper Bussmann KTK-R, JJN, or JJS fuses. Table 3 shows the fuses for the different drive sizes.



Table 3 - Fuse Comparison

Ultra3000 Drives Kinetix 300/350 Drives



Input Power(1)

Aux Input Power(1)

Recommended Kinetix 300/350 Replacement Drives

Voltage Range (V)


Input Power(1)

Aux Input Power(3)

2098-DSD-005 88...265 1Ø 120...240 1Ø FNQ-R-6 FNQ-R-10

2097-V31PR0-xx

80...264 1Ø 240 1Ø

KTK-R-20

24V DC controlback-up power supply

(optional equipment)

2097-V31PR0-xx KTK-R-10

2097-V32PR0-xx KTK-R-20

2097-V33PR1-xx

70...264 1Ø 120 1Ø KTK-R-20

80...264 1Ø 240 1Ø KTK-R-15

80...264 3Ø 240 3Ø KTK-R-15

2097-V34PR3-xx 320...528 3Ø 480 3Ø KTK-R-10

2098-DSD-010 88...265 1Ø 120...240 1Ø FNQ-R-10 FNQ-R-10

2097-V31PR2-xx 70...132 1Ø 120 1Ø KTK-R-30

2097-V32PR2-xx 80...264 1Ø 240 1Ø KTK-R-20

2097-V33PR3-xx

70...264 1Ø 120 1Ø KTK-R-20

80...264 1Ø 240 1Ø KTK-R-15

80...264 3Ø 240 3Ø KTK-R-15

2097-V34PR5-xx 320...528 3Ø 480 3Ø KTK-R-10

2098-DSD-020 88...265 1Ø 120...240 1Ø FNQ-R-20 FNQ-R-10

2097-V32PR4-xx 80...264 1Ø 240 1Ø KTK-R-30

2097-V33PR5-xx

70...264 1Ø 120 1Ø KTK-R-30

80...264 1Ø 240 1Ø KTK-R-20

80...264 3Ø 240 3Ø KTK-R-20

2098-DSD-030 88...265 1Ø 120...240 1Ø FNQ-R-30 FNQ-R-10 2097-V33PR6-xx

70...264 1Ø 120 1Ø KTK-R-30

80...264 1Ø 240 1Ø KTK-R-30

80...264 3Ø 240 3Ø KTK-R-30

2098-DSD-075 88...265 3Ø 120...240 3Ø FNQ-R-30 FNQ-R-10 N/A

2098-DSD-150 88...265 3Ø 120...240 3Ø LPJ-60SP(2) FNQ-R-10 N/A

2098-DSD-HV030 207...528 3Ø 230...480 3Ø KTK-R-5FNQ-R-10 2097-V33PR5-xx 80...264 3Ø 240 3Ø KTK-R-20

FNQ-R-10 2097-V34PR6-xx 320...528 3Ø 480 3Ø KTK-R-20

2098-DSD-HV050 207...528 3Ø 230...480 3Ø KTK-R-8FNQ-R-10 2097-V33PR5-xx 80...264 3Ø 240 3Ø KTK-R-20

FNQ-R-10 N/A

2098-DSD-HV100 207...528 3Ø 230...480 3Ø KTK-R-20 FNQ-R-10 N/A

2098-DSD-HV150 207...528 3Ø 230...480 3Ø KTK-R-30 FNQ-R-10 N/A

2098-DSD-HV220 207...528 3Ø 230...480 3Ø LPJ-35SP(2) FNQ-R-10 N/A

(1) Class CC type Cooper Bussmann fuses are shown.(2) Fuse shown is Class J Cooper Bussmann type fuse.(3) A 24V power supply may need to be added to the Kinetix 300/Kinetix 350 drives if auxiliary power is required. See Auxiliary Logic Power on page 35 and Appendix A.



Drive Interconnects and Cabling

This section provides information to assist you in determining the interconnects and cabling requirements of the drives.

Motor Power

Motor Power Wire Gauge

In general, an Ultra-series motor power cable (part number 2090-xxxx) can connect directly to Kinetix 300/350 drives. This section provides information on the motor power interconnects and cabling.

If you are using a new wire gauge, verify that the capacity of the new wire is capable of handling the current to the actuator.

Motor Power Replacement Cables

The current motor power cabling system can be used for both theKinetix 300/350 drives, and the Ultra3000 drives. The motor power cables are interchangeable and depend on the actuator used.

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 5 - Cable Shield and Lead Preparation

Table 4 - Motor Power (MP) Connector

IMPORTANT The length of the power and/or feedback cables for the Kinetix 300/350 drives cannot exceed 20 m (65 ft). Performance was tested at this length and meets CE requirements.

W

V

U

Motor Power Cable

Exposed Braid25.4 mm (1.0 in.)

Outer Insulation

As required to have ground clamp within 50…75 mm (2…3 in.) of the drive.

Strip Length (see Table 5)

MP-Series or TL-Series Servo Motor Terminal

U = Brown U

V = Black V

W = Blue W

= Green/Yellow



Table 5 - Motor Power (MP) Termination Specifications

Table 6 - Power/Brake Cable Descriptions (standard, non-flex)

The current motor power cabling system can be used for both the Kinetix 300/Kinetix 350 drives, and the Ultra3000 drives. The motor power cables are interchangeable and depend on the actuator used.

Drive Cat. No. TerminalsRecommendedWire Sizemm2 (AWG)

Strip Lengthmm (in.)

Torque Value N•m (lb•in)

2097-V31PR0-xx2097-V31PR2-xx2097-V32PR0-xx2097-V32PR2-xx2097-V32PR4-xx2097-V33PR1-xx2097-V33PR3-xx2097-V33PR5-xx2097-V34PR3-xx2097-V34PR5-xx2097-V34PR6-xx

PEWVU

2.5 (14) 7 (0.28) 0.5 (4.5)

2097-V33PR6-xx 4.0 (12)

Standard Cable Cat. No. Description

Cable Configuration Motor/Actuator ConnectorMotor/Acutator End Drive End

2090-CPBM7DF-xxAAxx• Drive-end flying-leads (DF)• Power/brake wires (PB)

SpeedTec DIN(M7)

2090-CPWM7DF-xxAAxx• Drive-end flying-leads (DF)• Power wires only (PW)

2090-XXNPMF-xxSxx• Drive-end flying-leads• Power/brake wires

Threaded DIN(M4)2090-CPBM4E2-xxTR

• Drive-end bayonet (E2), transition (TR) cable (1)

• Motor-end threaded DIN (M4)• Power/brake wires (PB)

2090-CPWM4E2-xxTR• Drive-end bayonet (E2), transition (TR) cable (1)

• Motor-end threaded DIN (M4)• Power wires only (PW)

2090-CPBM6DF-16AAxx• Drive-end flying-leads (DF)• Power/brake wires (PB) Circular Plastic

(M6)

2090-CPWM6DF-16AAxx• Drive-end flying-leads (DF)• Power wires only (PW)

(1) Threaded DIN connector (motor end) and bayonet connector for 2090-XXNFMP-Sxx cable. Refer to 2090-Series Motor Power and Feedback Transition Cables in the Kinetix Motion Accessories Technical Data, publication GMC-TD004.

BR+BR-

MBRK+

MBRK-


http://literature.rockwellautomation.com/idc/groups/literature/documents/sg/gmc-td004_-en-p.pdf



Table 7 - Power/Brake Cable Descriptions (continuous-flex)

For further information, refer to the Motion Control Accessories section in the Kinetix Motion Control Selection Guide, publication GMC-SG001, the bill of materials (BOM) configuration tool within Motion Analyzer software, or ProposalWorks™ from Rockwell Automation.



2090-CPBM7DF-xxAFxx• Drive-end flying-leads (DF)• Power/brake wires (PB)

SpeedTec DIN(M7)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)

2090-CPBM4DF-xxAFxx• Drive-end flying-leads (DF)• Power/brake wires (PB)

Threaded DIN(M4)

2090-CPWM4DF-xxAFxx• Drive-end flying-leads (DF)• Power wires only (PW)

(1) SpeedTec DIN connector (motor end) and male connector for extending SpeedTec or threaded DIN cable. Refer to SpeedTec DIN Continuous-flex Extension Cables in the Kinetix Motion Accessories Technical Data, publication GMC-TD004.

BR+BR-


http://literature.rockwellautomation.com/idc/groups/literature/documents/sg/gmc-sg001_-en-p.pdf




Encoder Feedback Replacement Cables

The current motor encoder cabling system can be used for both theKinetix 300/350 drives, and the Ultra3000 drives.

Factory-made cables with premolded connectors are designed to minimize electromagnetic interference (EMI). Rockwell Automation recommends factory-made cables (over hand-built cables) to improve system performance.

Table 8 - Motor Feedback (MF) Connector Pinout

Figure 6 - Pin Orientation for 15-pin Motor Feedback (MF) Connector

IMPORTANT The length of the power and/or feedback cables for the Kinetix 300/350 drives cannot exceed 20 m (65 ft). Performance was tested at this length and meets CE requirements.

MF Pin Description Signal MF Pin Description Signal

1 Sine differential input+AM+ differential input+

SIN+AM+ 9 Reserved —

2 Sine differential input-AM- differential input-

SIN-AM- 10 Data differential input -

Index pulse-DATA-IM-

3 Cosine differential input+BM+ differential input+

COS+BM+ 11 Motor thermal switch (normally

closed) (1) TS

4 Cosine differential input-BM- differential input-

COS-BM- 12 Single-ended 5V Hall effect

commutation S1

5 Data differential input +Index pulse+

DATA+IM+ 13 Single-ended 5V Hall effect

commutation S2

6 Common ECOM 14 Encoder power (+5V) EPWR_5V (3)

7 Encoder power (+9V) (2) EPWR_9V (3) 15 Reserved —

8 Single-ended 5V Hall effect commutation S3

(1) Not applicable unless motor has integrated thermal protection.(2) +9V Encoder capability only available on standard size Ultra3000 drive (2098-DSD-030 or larger).(3) Kinetix 300/350 drive encoder power supply uses either 5V or 9V DC based on encoder/motor used.

IMPORTANT Drive-to-motor power and feedback cable length for the Kinetix 300/350 drives must not exceed 20 m (65.6 ft). Performance was tested at this length and meets CE requirements.

Pin 11Pin 6

Pin 15

Pin 1

Pin 10Pin 5



Table 9 - Low Inertia and Integrated Gear Motors

Table 10 - Maximum Cable Lengths for Ultra3000 Drives with MP-Series Food-Grade Motors

Table 11 - Maximum Cable Lengths for Ultra3000 Drives with 1326AB (M2L/S2L) and F-, H-, N-, and Y-Series Motors

Drive Family MPL-A (230V) Motors MPL-B (460V) Motors MPG-A(230V) Motors

MPG-B(460V) Motors

AbsoluteHigh-Res(1)

m (ft)

Incremental(2)

m (ft)AbsoluteHigh-Res(1)

m (ft)

Incremental(2)

m (ft)AbsoluteHigh-Res(3)

m (ft)

AbsoluteHigh-Res(3)

m (ft)

Ultra3000 90 (295.3) 45 (147.6) 90 (295.3) 45 (147.6) 90 (295.3) 60 (196.8)

(1) Refers to MPL-A/BxxxxS/M (single-turn or multi-turn) low inertia motors with absolute high-resolution feedback.(2) Refers to MPL-A/BxxxxH low inertia motors with 2000-line incremental feedback.(3) Refers to MPG-A/BxxxxS/M (single-turn or multi-turn) integrated gear motors with absolute high-resolution feedback.

Drive Family MPF-A (230V) Motors MPF-B (460V) Motors

AbsoluteHigh-Resolution(1)

m (ft)

(1) Refers to MPF-A/BxxxxS/M (single-turn or multi-turn) food-grade motors with absolute high-resolution feedback.


m (ft)

Ultra3000 90 (295.3) 90 (295.3)

Drive Family 1326AB (M2L/S2L)(460V) Motors

F-, H-, N-, or Y-Series (230V) Motors


m (ft)

(1) Refers to 1326AB-Bxxxx-M2L/S2L (single-turn or multi-turn) motors with absolute high-resolution feedback.

Incremental(2)

m (ft)

(2) Refers to F-, H-, N-, or Y-series motors with incremental (optical encoder) feedback.

Ultra3000 90 (295.3) 30 (98.4)



Table 12 - Motor Feedback Cables for Specific Motor/Feedback Combinations

Motor Cat. No. (1) Feedback Type Feedback Cable

Premolded Flying-lead (2)

MPL-A/B15xxx-V/Ex4xAA,MPL-A/B2xxx-V/Ex4xAA(3) High-resolution encoder

N/A

2090-XXNFMF-Sxx (standard)2090-CFBM4DF-CDAFxx (continuous-flex)

MPL-A/B15xxx-Hx4xAA,MPL-A/B2xxx-Hx4xAA (3) Incremental encoder

MPL-A/B3xxx-M/Sx7xAA,MPL-A/B4xxx-M/Sx7xAA,MPL-A/B45xxx-M/Sx7xAA

High-resolution encoder

2090-XXNFMF-Sxx (standard)2090-CFBM7DF-CDAFxx (continuous-flex)

MPL-A/B3xxx-Hx7xAA,MPL-A/B4xxx-Hx7xAA,MPL-A/B45xxx-Hx7xAA

Incremental encoder

MPM-A/Bxxxxx-M/S

High-resolution encoder

MPF-A/Bxxxx-M/S

MPAR-A/B3xxxx

MPAI-A/Bxxxx

MPS-A/Bxxxx-M/S2090-XXNFMF-Sxx (standard)2090-CFBM4DF-CDAFxx (continuous-flex)

MPAS-A/Bxxxx-V/A

MPAR-A/B1xxxx,MPAR-A/B2xxxx

TLY-Axxxx-BHigh-resolution encoder

2090-CFBM6DF-CBAAxx (standard)

TLAR-Axxxxx

TLY-Axxxx-H Incremental encoder 2090-CFBM6DD-CCAAxx

(1) Some installations may use motors with bayonet connectors (for example, MPL-A310P-xx2xAA). These motors are being discontinued and require 2090-XXNPMP-xxSxx (bayonet) transition cables. Refer to 2090-Series Motor Power and Feedback Transition Cables in the Kinetix Motion Accessories Technical Data, publication GMC-TD004.

(2) For pin-outs, refer to Flying-lead Feedback Cable Pin-outs in the Kinetix 300 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM001.

(3) V/Ex4xAA and Hx4xAA motors were used in earlier installations, and Ex7xAA and Hx7xAA motors may have been used in more recent installations. If your installation uses V/Ex7xAA and Hx7xAA motors, use 2090-CFBM7DF-CDAFxx for the continuous-flex feedback cable.






2090-Series Motor/Actuator Cables Overview

This section provides an overview of the 2090-series motor/actuator cables.

Table 13 - Feedback Cable Descriptions (standard, non-flex cable)

Table 14 - Feedback Cable Descriptions (continuous-flex cable)

Standard Cable Cat. No.

Description Cable Configuration Motor/Actuator Connector

Motor/Acutator End Drive End

2090-CFBM7DF-CEAAxx • Drive-end flying-leads (DF)• High-resolution or resolver applications (CE)

SpeedTec DIN(M7)

2090-CFBM7DD-CEAAxx • Drive-end 15-pin connector (DD)• High-resolution or resolver applications (CE)

2090-XXNFMF-Sxx• Drive-end flying-leads• High-resolution or incremental applications

Threaded DIN(M4)

2090-CFBM4E2-CATR• Drive-end bayonet (E2), transition (TR) cable (1)

• Motor-end threaded DIN (M4)• All feedback types (CA)

2090-CFBM6DF-CBAAxx• Drive-end flying-leads (DF)• High-resolution, battery backup or

Incremental applications (CB) Circular Plastic(M6)

2090-CFBM6DD-CCAAxx• Drive-end 15-pin connector (DD)• Incremental applications only (CC)

(1) Threaded DIN connector (motor end) and bayonet connector for 2090-XXNFMP-Sxx cable. Refer to 2090-Series Motor Power and Feedback Transition Cables in the Kinetix Motion Accessories Technical Data, publication GMC-TD004.



2090-CFBM7DF-CDAFxx• Drive-end flying-leads (DF)• High-resolution or incremental applications (CD)

SpeedTec DIN(M7)

2090-CFBM7DF-CEAFxx• Drive-end flying-leads (DF)• High-resolution or resolver applications (CE)

2090-CFBM7DD-CEAFxx• Drive-end 15-pin connector (DD)• High-resolution or resolver applications (CE)

2090-CFBM7E7-CDAFxx • Drive-end (male) connector, extension (E7) (1)

• Motor-end SpeedTec DIN cable plug (M7)2090-CFBM7E7-CEAFxx

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. Refer to SpeedTec DIN Continuous-flex Extension Cables in the Kinetix Motion Accessories Technical Data, publication GMC-TD004.

IMPORTANT Feedback cables with the CE designation, for example 2090-CFBM7DF-CEAAxx, are intended for high-resolution encoder or resolver applications and have fewer conductors than feedback cables with the CD designation, for example 2090-CFBM7DF-CDAFxx, which are intended for high-resolution or incremental encoder applications.





I/O Cabling

Ultra3000 drives and Kinetix 300/350 drives have similar signals that interface with input/output (I/O) signals. Some of those signals include the following:

• Aux encoder input• Master encoder input• Digital inputs/outputs (DIs/DOs)• Analog inputs/outputs (AIs/AOs)• Registration inputs

There is a physical connector difference between the Ultra3000 drives and the Kinetix 300/350 drives. Ultra3000 drives use a 44-pin, D-shell connector and the Kinetix 300/350 drives use a 50-pin, SCSI connector.Appendix A compares the I/O connectors and functions of the Ultra3000 drives to the Kinetix 300/350 drives. Table 15 and Figure show the different interface part numbers for the I/O connections between the two drive families.

Ultra3000 CN1 Connectors

Factory-made cables with premolded connectors are designed to minimize electromagnetic interference (EMI). Rockwell Automation recommends factory-made cables (over hand-built cables) to improve system performance. However, options are available for building your own feedback and I/O cables. Refer to Table 15 for the available options.

Table 15 - CN1 I/O Connector Options

Drive Connector Connector Option Option Cat. No.

CN1I/O connector

44-pin drive-mounted breakout board with 24V to 5V auxiliary power converter 2090-U3CBB-DM44

12-pin drive-mounted breakout board with 24V to 5V auxiliary power converter for SERCOS interface applications

2090-U3CBB-DM12

44-pin panel-mounted breakout board kit 2090-U3BK-D44xx

44-pin, drive-mounted breakout board(1)

(1) This breakout board accepts 1...0.14 mm2 (16...26 AWG) wire. For applications that require a 44-pin

drive-mounted breakout board that accepts 4...0.5 mm2 (12...22 AWG) wire, contact your local Allen-Bradley representative.

2090-U3BB2-DM44

44-pin (high-density D-shell) drive connector kit 2090-U3CK-D44

Single-axis flying lead to 1756-M02AE module or 1784-PM02AE PCI card 2090-U3CC-D44xx

Two-axis pre-wired to 1756-M02AE module 2090-U3AE-D44xx



Kinetix 300/Kinetix 350 Expansion Block

The 2097-TB1 I/O terminal expansion block is a drive-mounted breakout board for making flying-lead cable connections to the 50-pin IOD connector.

Table 16 - 2097-TB1 I/O Terminal Block Specifications

Master Encoder/Gearing Signals/Buffered Encoder Signals

This section compares encoder and signal features of the drives.

Table 17 - Encoder and Signal Features Comparison

Attribute Value

Wire size 1.5…0.2 mm2 (16…24 AWG)

Change in depth of drive (1) 11 mm (0.42 in.)

Change in width of drive (1)

(1) Add this value to the dimensions of your Kinetix 300/350 drive.

10 mm (0.38 in.)

Feature Ultra3000 Kinetix 300

Kinetix 350

Analog/Indexing

DeviceNet SERCOS

Standalone electronic gearing(ratios set using Ultraware/MotionView)

x x x

Electronic gearing via Logix(ratios set using RSLogix 5000)

x x

Dual loop function x

Aux encoder PWR (output) x x x

Buffered encoder output(programmable output frequency)

x x

Unbuffered encoder output(fixed output frequency)

x x x x

Kinetix 300/Kinetix 350

Drive

2097-TB1 TerminalExpansion Block 50-pin I/O (IOD)

Connector



• The Ultra3000 drives (non-SERCOS) and Kinetix 300 drives have the ability to electronically gear a master encoder signal to a single drive. This function is not available on the Kinetix 350 drives.

• The Ultra3000 drives provide encoder power out to the auxiliary encoder, while the Kinetix 300/350 drives do not.

• You can use the Ultra3000 SERCOS version as a dual loop servo and use the aux encoder as your position loop closure. You cannot do this on the Kinetix 300/350 drives.

Ultra3000 Drives - Auxiliary Encoder Operation

The Ultra3000 drives support auxiliary encoder operation. The pinout is shown in Table 18.

Table 18 - Ultra3000 Drives Auxiliary Encoder Wiring

Kinetix 300 Drives - Master Gearing Operation

The Kinetix 300 drives supports master gearing operation. Wire the Master signals to the drive as shown in Table 19.

Table 19 - Kinetix 300 Master Gearing Wiring

CN1 Pin Description Signal

1 Auxiliary encoder power out (+5V) EPWR

2 Common ECOM

3 Auxiliary logic power in (+5V) AUXPWR

4 Auxiliary A+/Step+/CW+ AX+

5 Auxiliary A-/Step-/CW- AX-

6 Auxiliary B+/Dir+/CCW+ BX+

7 Auxiliary B-/Dir-/CCW- BX-

8 Auxiliary encoder Ch I+ IX+

9 Auxiliary encoder Ch I- IX-

IOD Pin Description Signal

1 Master encoder A+/Step+ input MA+

2 Master encoder A-/Step- input MA-

3 Master encoder B+/Direction+ input MB+

4 Master encoder B-/Direction- input MB-



Ultra3000 Drives - Unbuffered Motor Encoder Operation

The Ultra3000 drives support unbuffered motor encoder operation. The pinouts are shown in Table 20.

Table 20 - Ultra3000 Drives Unbuffered Motor Encoder Wiring

The unbuffered signals are unfiltered encoder signals; there is no software manipulation. The buffered encoder signals are modified by the internal software divider of the Ultra3000 drive (divided encoder signals are not available on the Ultra3000 SERCOS). This divider function is not available in theKinetix 300/350 drives.

Kinetix 300 Drives - Buffered Encoder Operation

The Kinetix 300 drives supports buffered encoder operation. Wire the signals to the drive as shown in Table 21.

Table 21 - Kinetix 300 Drive Buffered Signals Wiring

CN1 Pin Description Signal

Unbuffered

10 Unbuffered motor encoder Ch A+ AM+

11 Unbuffered motor encoder Ch A- AM-

12 Unbuffered motor encoder Ch B+ BM+

13 Unbuffered motor encoder Ch B- BM-

14 Unbuffered motor encoder Ch I+ IM+

15 Unbuffered motor encoder Ch I- IM-

Buffered

16 Buffered motor encoder Ch A+ AMOUT+

17 Buffered motor encoder Ch A- AMOUT-

18 Buffered motor encoder Ch B+ BMOUT+

19 Buffered motor encoder Ch B- BMOUT-

20 Buffered motor encoder Ch I+ IMOUT+

21 Buffered motor encoder Ch I- IMOUT-

IOD Pin Description Signal

7 Buffered encoder output: channel A+ BA+

8 Buffered encoder output: channel A- BA-

9 Buffered encoder output: channel B+ BB+

10 Buffered encoder output: channel B- BB-

11 Buffered encoder output: channel Z+ BZ+

12 Buffered encoder output: channel Z- BZ-



These signals are unfiltered software signals and are fixed at 4096 pulses per motor revolution. This function is limited to an output frequency of 2 MHz.

I/O Availability and Specifications

All Ultra3000 drives and Kinetix 300/350 drives have a comprehensive set of digital I/O and analog I/O. To ensure proper operation, use the following specifications to verify if the operation between drives will be consistent.

Auxiliary Logic Power

The auxiliary power feature allows the drive to maintain logic power when main power is removed. This allows communication between the controller and the drive to continue and to maintain position feedback (aside from absolute feedback).

Ultra3000 Drives

The Ultra3000 drives (catalog numbers 2098-DSD-005, 2098-DSD-010, and 2098-DSD-020) require an external, +5V power supply in applications where it is necessary to maintain logic power when the AC line voltage is removed. The +24V I/O supply (IOPWR) allows use of the drive-mounted breakout boards with 24V to 5V DC converter (catalog numbers 2090-U3CBB-DM12 and 2090-U3CBB-DM44). Table 22 describes the +24V (IOPWR) power supply requirements when it is used to maintain logic power.

Table 22 - Ultra3000 Drives +24V Power Supply Requirements for Logic Power

IMPORTANT You must qualify that your motor speed and resolution do not exceed 2MHz, or you may lose output counts.

IMPORTANT All Ultra3000 drives and Kinetix 300/350 drives require an isolated external 12...24V power supply for proper operation of the digital I/O.

Parameter Description Min Max

Input voltage rangeInput voltage range of the external power supply for drive-mounted breakout boards with 24V to 5V converter.

18V 30V

Input currentInput current draw from the external power supply for the drive-mounted breakout boards with 24V to 5V converter.

— 400 mA

IMPORTANT A single 24V power supply can be used to power the digital I/O and supply 24V to the drive-mounted breakout boards (catalog numbers 2090-U3CBB-DMxx) provided the cumulative minimum current requirements are met.



Table 23 - Ultra3000 Drives 5V Supply Specifications

Kinetix 300/350 Drives

The Kinetix 300/350 drives use a 24V DC logic power source for all drives (referred to as back-up power [BP]).

Table 24 - Kinetix 300/350 Drives Back-up Control Power Specification

Digital Inputs

Table 25 compares some key differences between the digital inputs of the two drive families.

Table 25 - Digital Inputs Comparison


Voltage Voltage tolerance of the external logic supply. 5.1V 5.25V

Current Current output capability of the external +5V DC power supply. 1.5A —

IMPORTANT Using the drive-mounted breakout board with 24V to 5V auxiliary power converter is preferred to using an external +5V DC power supply.

Specification Description

Control power back-up input voltage 20...26V DC

Control power back-up input currentNomMax inrush (0-pk)

500 mA30 A

Feature Ultra3000 Kinetix 300 Kinetix 350

Non-SERCOS SERCOS

Inputs 8 inputs 6 inputs 12 inputs 5 inputs

I/O common points 1 13 groups (A,B,C)

each with an isolated common

1

Pre-selectable indexes(using binary codes) x

Multiple input assignment x

Fixed assignment forEnable/Overtravel/Registration

x x x

Fixed assignment for Home Input x x

De-bounce for inputs x

Overtravels must be N.C. x xx

(can be N.O. also)x



Ultra3000 Drives

All digital inputs on the Ultra3000 drives (SERCOS and non-SERCOS) have the same physical characteristics as shown in Table 26.

Table 26 - Ultra3000 Drives Digital Input Characteristics

Table 27 - Ultra3000 Drives Digital Input Parameters

Table 28 - Ultra3000 SERCOS Drives Dedicated Functionality Inputs

For the Ultra3000 drives, there are eight optically isolated digital inputs. All digital inputs (SERCOS and non-SERCOS) have the same configuration, as shown in Figure 7.

Figure 7 - Ultra3000 Drive Digital Input Circuit

Specification Description

I/O response 100 μs

Digital I/O firmware scan period 1 ms


ON state voltage Voltage applied to the input, with respect to IOCOM, to guarantee an ON state. 10.8V 26.4V

ON state current Current flow to guarantee an ON State. 3.0 mA 12.0 mA

OFF state voltage Voltage applied to the input, with respect to IOCOM, to guarantee an OFF state. -1.0V 2.0V

Pin Signal Description

CN1-31 ENABLE Drive Enable Input, an active state enables the power electronics to control the motor.

CN1-32 HOME Home Sensor, an active state indicates to a homing sequence that the sensor has been seen.

CN1-33CN1-34

REG1REG2

Registration Sensor, a transition is used to record position values.

CN1-37CN1-38

OT_POSOT_NEG

Overtravel Input, an inactive state indicates that a position limit has been exceeded. An active state occurs when 24V is removed from the input.

2.7k Ω

+5V

INPUTS

10k Ω

1k Ω

IOCOM DGNDIOCOM

TLP121

Ultra3000 Drive



Kinetix 300/350 Drive Digital Input Characteristics

The digital inputs can be used for travel limit switches, proximity sensors, push buttons, and hand shaking with other devices. Each input can be assigned an individual de-bounce time via MotionView software or Explicit Messaging.

The inputs are separated into three groups: A, B, and C. Each group has four inputs and share one common: ACOM, BCOM, and CCOM, respectively. Travel limit switches, the inhibit/enable input, and registration input have dedicated inputs as shown in Table 29.

Table 29 - Kinetix 300/350 Drives Fixed Digital Input Assignments

For the Kinetix 300/350 drives, the digital inputs are optically isolated and sink up to 24V DC. You can set up the inputs for PNP sourcing or NPN sinking, as shown in Figure 8.

Figure 8 - Kinetix 300/350 Drive Digital Input Circuits

Table 30 - Kinetix300/350 Digital Input Signal Specifications

Digital Input Function

IN_A1 (pin 27) Negative travel limit switch

IN_A2 (pin 28) Positive travel limit switch

IN_A3 (pin 29) Inhibit/enable input

IN_C3 (pin 39) Registration input sensor

Sourcing of Digital Inputs Sinking of Digital Inputs

GND

IN_A2

IN_A_COM

+24V

IN_A1

1.2 kΩ

1.2 kΩ

GND

IN_A2

IN_A_COM+24V

IN_A1

1.2 kΩ

1.2 kΩ

Parameter Value

Scan time 500 µs

Current, max 9 mA, typical

Input impedance 1.2 kΩ, typical

Voltage range 5…24V DC



Digital Outputs

Each drive has transistor-type digital outputs. The SERCOS Ultra3000 drives(-SE) and the Kinetix 350 drives have holding brake actuation outputs available only as outputs.

Table 25 compares some key differences between the digital outputs of the two drive families.

Table 31 - Digital Outputs Comparison

Ultra3000 Drives

Digital outputs: four optically isolated, 12...24V outputs, active high, current sourcing.

Table 32 - Ultra3000 Drives Digital Outputs

Figure 9 - Transistor Output Hardware Configuration

Feature Ultra3000 Kinetix 300 Kinetix 350

Non-SERCOS SERCOS

Outputs 4 outputs + 1 relay 1 output + 1 relay 1 output, no relay 1 output, no relay

Brake output assignment Programmable Fixed,

relay typeProgrammable, transistor type

Fixed,transistor type

Use common 24V power to energize outputs

x x Has isolated 24V supply outputs x

Configurable output assignment

x x


ON statecurrent Current flow when the output transistor is ON — 50 mA

OFF statecurrent Current flow when the output transistor is OFF — 0.1 mA

ON statevoltage Voltage across the output transistor when ON — 1.5V

OFF statevoltage Voltage across the output transistor when OFF — 50V

200 Ω

+5V

OUTPUT

IOPWR

OUT TLP127

Ultra3000 Drive



Table 33 - Relay Output Specifications

Table 34 - Relay Output Hardware Configuration


Table 35 - Digital Output Signal Specifications

Figure 10 - Digital Output Circuit


ON state current Current flow when the relay is closed — 1A

ON state resistance Contact resistance when the relay is closed — 1Ω

OFF state voltage Voltage across the contacts when the relay is open — 30V

CN1-43Relay +

CN1-44Relay -

NormallyOpenRelay

Ultra3000 Drive

IMPORTANT Relay output is not available on Kinetix 300/350 drives.

Parameter Value

Scan time 500 µs

Current, max 100 mA

Voltage, max 30V DC

OUT1-E

OUT1-C

Logic Power

GND

Ultra3000Drive



Analog Inputs

Ultra3000 Drives (non-SERCOS version)

Analog COMMAND Input

The analog COMMAND input to the drive can provide a position, velocity, or current command signal. A 14-bit A/D converter digitizes the signal. The configuration of the input is shown in Figure 11.

Figure 11 - Ultra3000 Drives (non-SERCOS version) Analog COMMAND Input Configuration

Table 36 - Ultra3000 Drives (non-SERCOS version) Analog COMMAND Input Specifications

IMPORTANT The Ultra3000 SERCOS and Kinetix 350 drives do not have analog input capability because their command reference comes digitally through communication networks.

10k Ω 10k Ω

20k Ω

20k Ω

1000 pF

1000 pF0.01 μF

COMMAND +

COMMAND -

0.01 μF

10k Ω 10k Ω

Ultra3000 Drive


Resolution Number of states that the input signal is divided into which is 2(to the number of bits). 14 bits —

Input impedance

Open circuit impedance measured between the + and - inputs. 20 kΩ —

Input signal range Voltage applied to the input -10V +10V

Offset errorDeviation from the correct value expected from analog-to-digital conversion when 0V is applied to the input.

— 50 mV

Gain error Deviation of the transfer function from unity gain, expressed in a percent of full scale. — 1%

Propagation delay

Delay from the input to the firmware-accessible registers. — 100 μs



Kinetix 300 Drives

Analog Reference Input

The analog reference inputs AIN1+ and AIN1- (IOD-24 and IOD-25) accept up to a ±10V DC analog signal as shown in Table 37. The analog signal is converted to a digital value with 12-bit resolution (11-bit plus sign). The total reference voltage as seen by the drive is the voltage difference between AIN1+ and AIN1-.

• If used in Single-ended mode, one of the inputs must be connected to a voltage source while the other input must be connected to the analog common (ACOM) terminal.

• If used in Differential mode, the voltage source is connected across AIN1+ and AIN1- and the driving circuit common, if available, is connected to the drive analog common (ACOM) terminal.

Table 37 - Analog Signal Input Specifications

Analog Current Limit Input

Ultra3000 Drives (current limit N/A on the SERCOS version)

The ILIMIT input specifies to the drive if the drive output current should be limited. If the ILIMIT input is not connected, current is not limited.

IMPORTANT The Kinetix 350 drive does not have analog input capability because its command reference comes digitally through communication networks.

Parameter Value

Scan time 0.0625 ms

Current, max Depend on load

Input impedance 47 kΩ, typical

Voltage range -10…10V DC

IMPORTANT This function is not available on the Kinetix 300/350 drives.



Analog Current Output

Ultra3000 Drives (non-SERCOS)

Figure 12 - Ultra3000 Drives (non-SERCOS) Analog Output Configuration

Table 38 - Ultra3000 Drives (non-SERCOS) Analog Output Specifications

IMPORTANT This output is not supported on the Ultra3000 SERCOS version or the Kinetix 350 drives.

100 Ω0.01 μF

AOUT

Ultra3000 Drive

IMPORTANT Output values can vary during powerup until the specified power supply voltage is reached.


Resolution Number of states that the output signal is divided into, which is 2 (to the number of bits). 8 bits —

Output current Current capability of the output. -2 mA +2 mA

Output signal range Range of the output voltage. -10V +10V

Offset error Deviation when the output should be at 0V. — 500 mV(1)

(1) The offset and gain errors of the analog output can be corrected for an application using Ultraware scale and offset settings.

Gain error Deviation of the transfer function from unity gain, expressed in a percent of full scale. — 10%(1)

Bandwidth Frequency response of the analog output 50 Hz —



Kinetix 300 Drives

Figure 13 - Kinetix 300 Drive Analog Output Circuit

Table 39 - Kinetix 300 Drive Analog Output Specifications

The analog output (AO) on pin IOD-23 has a 10-bit resolution. The analog output is a single-ended signal with reference to analog common (ACOM) that can represent the following motor data:

Serial Communication The Ultra3000 drives use serial communication. The Kinetix 300/350 drives do not use serial communication; the interface to the Kinetix 300/350 drives is through the Ethernet port.

Accessories Application accessories, such as shunts and line filters, can impact drive replacement. This section describes the following:

• Shunt Resistors• AC Line Filters

IMPORTANT This analog output is not supported on the Kinetix 350 drives.

CH1 CH2

DAC

Kinetix 300Drive

Parameter Value

Scan time 0.0625 ms

Current, max 10 mA


• Not assigned • Phase current V

• RMS phase current • Phase current W

• RMS peak current • Iq current

• Motor velocity • Id current

• Phase current U



Shunt Resistors

The Ultra3000 micro drives (-050, -010, -020) have no internal shunting capability. All other Ultra3000 drives have internal shunting capability. The Kinetix 300/350 drives do not have internal shunting capability. There are also differences in the external shunting characteristics, which are described in this section. Use Motion Analyzer software to determine the duty cycle requirements and if a shunt is required for the Kinetix 300/350 drives.

Ultra3000 Drives

Ultra3000 drives have both an active shunt and passive shunt module:• The active shunt module provides DC bus power to the Ultra3000 drive

and is available for the Ultra3000 micro drives (-005, -010, -020).• The passive shunts are used in the traditional sense that they are wired to

the drive and are activated as the bus voltage rises above the trigger level.



Table 40 - Ultra3000 Drives Shunt Resistor Specifications


The Kinetix 300/350 drives have pre-defined passive shunt modules used with the particular drives. Table 41 lists the passive shunts for the Kinetix 300/350 drives.

Table 41 - Kinetix 300/350 Drives Passive Shunt Resistor Power Specifications

Ultra3000 (1) Drives

Shunt Module Cat. No.

SpecificationsFuse ReplacementDrive

Voltage

Fan VoltageV AC

ResistanceΩ

Peak PowerkW

Peak CurrentA

Continuous PowerW

Shipping Weightkg (lb)

2098-xxx-005 2098-xxx-010 2098-xxx-020

2090-UCSR-A300

230V AC N/A

36 4.0 10.5 300 1.51 (3.3) —

2098-xxx-030 9101-1183 30 5.9 14.0 200 — CCMR-4-½ (2)

2098-xxx-0752098-xxx-150 2090-UCSR-P900 18 10.0 23.3

900

4.08 (9.0) FWP-10A14F (3)

2098-xxx-HV030 2098-xxx-HV050 2090-SR120-09

460V AC N/A

120 5.3 6.7 3.63 (8.0) FWP-2.5A14F (3)

2098-xxx-HV1002090-SR040-09 40

16.020.0 3.63 (8.0) FWP-5A14F (3)

2090-SR040-18 40 20.0 1800 8.6 (19.0) FWP-6.3A14F (3)

(1) Passive shunt solutions for Ultra3000 (460V) drives also exist with Rockwell Automation Encompass™ Partners. Refer to Bulletin 2090 Passive Shunt Modules in the Kinetix Motion Control Selection Guide, publication GMC-SG001, for shunt module solutions outside the specifications in the table above, and for the 2098-xxx-HV150 and 2098-xxx-HV220 servo drives.

(2) LittelFuse part number.(3) Cooper Bussmann part number.

Kinetix 300/350 Drives Cat. No.

Attribute Specifications

% RD_Application,max (1)

Resistor ValueΩ

Peak PowerkW

Peak CurrentA

Continuous PowerW

Weight, Approx.kg (lb)

2097-V32PR4-xx2097-V33PR5-xx 2097-R2 1.97 20 7.6 19.5

150 0.3 (0.7)2097-V33PR6-xx 2097-R3 2.96 30 5.1 13.0

2097-V31PR0-xx2097-V31PR2-xx2097-V32PR0-xx2097-V32PR2-xx2097-V33PR1-xx2097-V33PR3-xx

2097-R4 2.10 40 3.8 9.8 80 0.2 (0.4)

2097-V34PR5-xx2097-V34PR6-xx

2097-R6 1.90 75 7.9 10.3 150 0.3 (0.7)

2097-V34PR3-xx 2097-R7 2.02 150 4.0 5.1 80 0.2 (0.4)

(1) RD_Application is the application duty cycle in percent. For the intermittent regeneration applications, use RD_Application = t/T. Where t is the duration when regeneration is needed and T is the time interval between two regenerations. Both t and T must use the same time units, such as seconds.




AC Line Filters

An AC line filter is a key component in achieving CE standards. The Kinetix 300/350 drives, and Ultra3000 drives, do not use the same line filters. The line filters for the Kinetix 300/350 drives are designed to be an integral part of the product. The filters are mounted at the rear of the drive or directly beside the drive with close connections. Once you select your Kinetix 300/Kinetix 350 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.

Ultra3000 Drives

Table 42 - Ultra3000 Drives AC Line Filter Selection

Drive Family Drive Cat. No.

AC Line FilterCat. No. Motor Cables > 30 m

Ultra3000

2098-xxx-005 2090-UXLF-106 2090-UXLF-110

2098-xxx-010 2090-UXLF-110 2090-UXLF-110

2098-xxx-020 2090-UXLF-123 2090-UXLF-123

2098-xxx-030 2090-UXLF-136 2090-UXLF-132

2098-xxx-075 2090-UXLF-336 2090-UXLF-HV330

2098-xxx-150 2090-UXLF-350 2090-UXLF-HV350

2098-xxx-HV0302098-xxx-HV0502098-xxx-HV1002098-xxx-HV150

2090-UXLF-HV323 2090-UXLF-HV323

2098-xxx-HV220 2090-UXLF-HV330 2090-UXLF-HV330



Table 43 - AC Line Filter Specifications


The AC line filters are mounted directly beside the drive (side) with pig-tail connections, or they are mounted at the rear of the drive.

Table 44 - Kinetix 300/350 Drives AC Line Filter Specifications

AC Line Filter Cat. No.

Specifications (1) (2)

Voltage PhaseCurrentA @ 50 °C (122 °F)

Power LossW

Leakage CurrentmA

Weight, approx.kg (lb)

Operating Temperature

2090-UXLF-106

250V AC50/60 Hz

Single

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 10 901.6 (3.5)

2090-UXLF-132 32 20 90

2090-UXLF-136 36 – 200 1.75 (3.9)

2090-XXLF-TC116 16 – 87 0.80 (1.7) -25…100 °C (-13…212 °F)

2090-UXLF-336

Three

36 – 1382.7 (5.9)

-25…85 °C(-13…185 °F)

2090-UXLF-350 50 25 138

2090-UXLF-HV323 520V AC50/60 Hz

23 20 80 1.6 (3.5)

2090-UXLF-HV330 30 51 24 1.8 (4.0)

2090-UXLF-HV350 500V AC50/60 Hz 50 25 35 4.8 (10.6)

(1) For all filters, 90% relative humidity.(2) For all filters, 10…200 Hz @ 1.8 g vibration.

AC Line Filter Cat. No. Mount

Voltage50/60 Hz

PhaseCurrentA @ 40 °C (104 °F)

Power LossW

Leakage CurrentmA

Weight, approx.kg (lb)

Kinetix 300/350 Drive (1) Cat. No.

2097-F1Side

120/240V AC 1 24.0 5.2 9.00.6 (0.13)

2097-V33PR6-xx (2)

2097-F2 480V AC 3 10.0 2.8

1.0

2097-V34PR6-xx

2097-F4 (3)

Rear

120/240V AC 1 or 34.40 1.2

0.8 (0.18)

2097-V33PR1-xx

480V AC 32097-V34PR3-xx

2097-F5 (3) 6.90 1.32097-V34PR5-xx

120/240V AC1 or 3 2097-V33PR3-xx

2097-F6 (3) 1 15.0 4.1 2097-V33PR5-xx

(1) Use 2090-XXLF-TC116 (single-phase) line filter for 2097-V31PR0 and 2097-V31PR2 drives. Use 2090-UXLF-336 line filter for 2097-V33PR5 (three-phase) drive applications. Refer to Table 43 for more information.

(2) Use the 2097-F1 (single-phase) line filter only for 2097-V33PR6 (single-phase) drive operation.(3) This filter is rated for multiple voltage/phase line conditions.


Appendix A

Connectors and Field Connections

The following figure identifies the connector locations on the Ultra3000 230V (500 W, 1 kW, and 2 kW) drives and the Kinetix 300/350 drives. (Refer to the Ultra3000 Digital Servo Drives Installation Manual, publication 2098-IN003, for connector locations of other Ultra3000 drive types.)

Connector Locations

Table 45 - Drive Connector Descriptions

003 0 0

2

3

4

5

6

71

9

8

Kinetix 300 Drive, Front View(2097-V33PR5 drive is shown)

Kinetix 300 Drive, Bottom View(2097-V33PR5 drive is shown)

Kinetix 300 Drive, Top View(2097-V33PR5 drive is shown)

1

2

3

4

5

6

7

Ultra3000 Drive, Front View(230V [500 W, 1 kW, and 2 kW] drive is shown)


Item Description Item Description

1 DC bus connections for active shunt resistor kit 1 Mains (IPD) connector

2 AC input power connections 2 Memory module socket

3 Motor power connections 3 Ethernet communication port

4 Motor power cable shield clamp 4 I/O (IOD) connector

5 CN3 9-pin serial port connector 5 Motor feedback (MF) connector

6 CN2 15-pin motor feedback connector 6 Back-up power (BP) connector

7 CN1 44-pin user I/O connector 7 Shunt resistor and DC bus (BC) connector

8 Motor power (MP) connector

9 Safe torque-off (STO) connector



Appendix A Connectors and Field Connections

Encoder Wiring Comparison

Table 46 defines the encoder signal pinouts for these comparable encoder wiring connectors:

• Ultra3000 drive CN2 connector• Kinetix 300/350 drive MF connector

Table 46 - Drive Encoder Wiring Comparison


CN2 Pin Description Signal Signal Description MF Pin

1 Channel A+/SineDifferential input+

AM+ SIN+AM+

Sine differential input+AM+ differential input+

1

2 Channel A-/SineDifferential input-

AM- SIN-AM-

Sine differential input-AM- differential input-

2

3 Channel B+/CosineDifferential input+

BM+ COS+BM+

Cosine differential input+BM+ differential input+

3

4 Channel B-/CosineDifferential input-

BM- COS-BM-

Cosine differential input-BM- differential input-

4

5 Channel I+/Index pulse+ IM+ DATA+IM+

Data differential input +Index pulse+

5

6 Common ECOM ECOM Common 6

7 N/C / Encoder power (+9V) (1) EPWR +9V EPWR_9V Encoder power (+9V) (2) 7

8 Commutation channel S3 S3 S3 Single-ended 5V Hall effect commutation

8

9 Positive overtravel limit +LIMIT — Reserved/Not available 9

10 Channel I-/Index pulse- IM- DATA-IM-

Data differential input -Index pulse-

10

11 Thermostat TS TS Motor thermal switch(normally closed) (3)

11


12


13

14 Encoder power (+5V) EPWR_5V EPWR_5V Encoder power (+5V) (2) 14

15 Negative overtravel limit -LIMIT — Reserved/Not available 15

(1) +9V encoder capability only available on standard size Ultra3000 drive (catalog number 2098-DSD-030 or larger).(2) Kinetix 300/350 drive encoder power supply uses either 5V or 9V DC based on encoder/motor used.(3) Not applicable unless motor has integrated thermal protection.


Connectors and Field Connections Appendix A

Control Wiring Comparison Table defines the digital, analog, and auxiliary encoder signal pinouts for these comparable control wiring connectors:

• Ultra3000 drives CN1 connector• Kinetix 300/350 drives IOD connector

See Chapter 2 for details.

Table 47 - Drive Control Wiring Comparison


CN1 Pin Description Signal Signal Description IOD Pin

1 Auxiliary encoder power out (+5V) EPWR — — —

2 Common ECOM GND Drive logic common 5

3 Auxiliary logic power in (+5V) AUXPWR — — —

4 Auxiliary A+/Step+/CW+ AX+MA+

— — —

5 Auxiliary A-/Step-/CW- AX-MA-

— — —

6 Auxiliary B+/Dir+/CCW+ BX+MB+

— — —

7 Auxiliary B-/Dir-/CCW- BX-MB-

— — —

8 Auxiliary encoder Ch I+ IX+ — — —

9 Auxiliary encoder Ch I- IX- — — —

10 Unbuffered motor encoder Ch A+ AM+ — — —

11 Unbuffered motor encoder Ch A- AM- — — —

12 Unbuffered motor encoder Ch B+ BM+ — — —

13 Unbuffered motor encoder Ch B- BM- — — —

14 Unbuffered motor encoder Ch I+ IM+ — — —

15 Unbuffered motor encoder Ch I- IM- — — —

16 Buffered motor encoder Ch A+ AMOUT+ BA+ Buffered encoder output: channel A+ (1) 7

17 Buffered motor encoder Ch A- AMOUT- BA- Buffered encoder output: channel A- (1) 8

18 Buffered motor encoder Ch B+ BMOUT+ BB+ Buffered encoder output: channel B+ (1) 9

19 Buffered motor encoder Ch B- BMOUT- BB- Buffered encoder output: channel B- (1) 10

20 Buffered motor encoder Ch I+ IMOUT+ BZ+ Buffered encoder output: channel Z+ (1) 11

21 Buffered motor encoder Ch I- IMOUT- BZ- Buffered encoder output: channel Z- (1) 12

22 Common ACOM ACOM Analog common (1) 22

23 Programmable analog output AOUT AO Analog output (max 10 mA) (1) 23

24 Analog current limit input ILIMIT — — —

25 Command + COMMAND+ AIN1+ Positive (+) of analog signal input (1) 24

26 Command - COMMAND- AIN1- Negative (-) of analog signal input (1) 25

27 I/O common IOCOM — — —

28 I/O common IOCOM — — —

29 I/O power IOPWR — — —

30 I/O power IOPWR — — —

31 Digital input 1 INPUT1 — — —










39 Digital output 1 OUTPUT1 — — —




43 Normally open relay output+ RELAY+ — — —

44 Normally open relay output- RELAY- — — —

— — — MA+ Master encoder A+/Step+ input (1) 1

— — — MA- Master encoder A-/Step- input (1) 2

— — — MB+ Master encoder B+/Direction+ input (1) 3

— — — MB- Master encoder B-/Direction- input (1) 4

— — — IN_A_COM Digital input group ACOM terminal 26

— — — IN_A1 Negative travel limit switch 27

— — — IN_A2 Positive travel limit switch 28

— — — IN_A3 Inhibit/enable input 29

— — — IN_A4 Digital input A4 (1) 30

— — — IN_B_COM Digital input group BCOM terminal (1) 31

— — — IN_B1 Digital input B1 32

— — — IN_B2 Digital input B2 (1) 33



— — — IN_C_COM Digital input Group CCOM terminal 36

— — — IN_C1 Digital input C1 (1) 37


— — — IN_C3 Registration input sensor 39


— — — RDY+ Ready output collector (1) 41

— — — RDY- Ready output emitter (1) 42

— — — OUT1-C Programmable output #1 collector 43

— — — OUT1-E Programmable output #1 emitter (2) 44

— — — OUT2-C Programmable output #2 collector (2) 45






(1) Kinetix 300 drive only.(2) Fixed as Brake Output for Kinetix 350 drive only.

Table 47 - Drive Control Wiring Comparison (continued)


CN1 Pin Description Signal Signal Description IOD Pin


Connectors and Field Connections Appendix A

Mains Power Wiring Comparison

Table 48, Table 49, and Table 50 define the power terminal connections for Ultra3000 drives and the comparable connectors on Kinetix 300/350 drives.

Table 48 - 2098-DSD-005, 2098-DSD-010, 2098-DSD-020 to Kinetix 300/350 Drive Power Terminal Connections

Table 49 - 2098-DSD-030 to Kinetix 300/350 Drive Power Terminal Connections

Ultra3000 Drives(2098-DSD-005, 2098-DSD-010, 2098-DSD-020)


Description Signal Terminal Connector Designator Signal

DC Bus DC Bus+ 1 BC B+ B+

DC Bus- 2 B- B-

100...240V AC50/60 HzSingle-phase

L1 3 IPD L1 L1

L2/N 4 L2 L2

Safety earth ground 5 PE PE

Motor U 6 MP U U

V 7 V V

W 8 W W

Motor case ground 9 PE PE

— — — BP +24V +24V DC

— — -24V Return

Ultra3000 Drives(2098-DSD-030)



Motor U 1 MP U U

V 2 V V

W 3 W W



DC Bus- 6 B- B-

100...240V AC50/60 HzSingle-phase

L1 7 IPD L1 L1

L2/N 8 L2 L2


Auxiliary power100...240V AC50/60 Hz

L1 Aux 10 — — —

L2 Aux 11 — —

— — — BP +24V +24V DC

— — -24V Return



Table 50 - 2098-DSD-075 and 2098-DSD-150 to Kinetix 300/350 Drive Power Terminal Connections

Ultra3000 Drives(2098-DSD-075 and 2098-DSD-150)



Motor U 1 MP U U

V 2 V V

W 3 W W



DC Bus- 6 B- B-

100...240V AC50/60 HzThree-phase

L1 7 IPD L1 L1

L2/N 8 L2 L2

L3 9 L3 L3


Auxiliary power100...240V AC50/60 Hz

L1 Aux 11 — — —

L2 Aux 12 — —

— — — BP +24V +24V DC

— — -24V Return


Appendix B

Specifications

General Power Comparison Table 51 through Table 54 provide power specifications for the Ultra3000 drives and the Kinetix 300/350 drives.

Ultra3000 Drives

Table 51 - Ultra3000 Drive Power Specifications

2098-DSD-xxx -005 -010 -020 -030 -075 -150

AC input voltage (1) Single phase Three phase

V AC V AC

100...240 —

100...240 —

100...240 —

100...240 —

— 100...240

— 100...240

AC input frequency Hz 47...63 47...63 47...63 47...63 47...63 47...63

AC input current: Nominal Max inrush (2)

Arms A

5 100

9 100

18 100

28 50

30 50

46 68

Output peak current (3) A 7.5 15 30 30 75 150

Continuous output current (3) A 2.5 5 10 15 35 65

Internal shunt power Continuous Peak

Watts Watts

— —

— —

— —

50 6000

50 10,000

180 19,000

(1) Specification is for nominal voltage. The absolute limits are 88...265V AC rms.(2) At 230V AC, 0 to peak. (3) 0 to peak.


Appendix B Specifications

Kinetix 300/Kinetix 350 Drives

The 2097-V31PRx-xx drives with 120V input are capable of driving 240V motors at full speed.

Table 52 - Kinetix 300/350 Drives (single-phase) Power Specifications

Attribute 2097-V31PR0-xx 2097-V31PR2-xx 2097-V32PR0-xx 2097-V32PR2-xx 2097-V32PR4-xx

AC input voltage 70…132V rms single-phase (120V nom)80…264V rms single-phase (240V nom)

80…264V rms single-phase (240V nom)

AC input frequency 48…62 Hz

Main AC input current (1)

Nom (rms) 120V input (voltage doubler)Max inrush (0-pk) 120V input

Nom (rms) 120/240V inputMax inrush (0-pk) 240V input

9.70 A1.15 A

5.0 A1.1 A

15.0 A1.15 A

8.6 A1.1 A

5.0 A136 A

8.6 A2.3 A

15.0 A2.3 A

Integrated AC line filter No No Yes Yes Yes

Control power back-up input voltage 20…26V DC


500 mA30 A

Continuous output current (rms) 2.0 A 4.0 A 2.0 A 4.0 A 8.0 A

Continuous output current (0-pk) 2.8 A 5.7 A 2.8 A 5.7 A 11.3 A

Peak output current (rms) (2) 6.0 A 12.0 A 6.0 A 12.0 A 24.0 A

Peak output current (0-pk) 8.5 A 17.0 A 8.5 A 17.0 A 39.9 A

Continuous power output (3) @240V nom or120V (Voltage-doubler mode)

0.40 kW (4) 0.80 kW (4) 0.40 kW 0.80 kW 1.70 kW

Shunt On 390V DC

Shunt Off 375V DC

Overvoltage 430V DC

Short circuit current rating 100,000 A (rms) symmetrical

(1) Kinetix 300/350 drive modules are limited to 1 AC mains power cycling per every 2 minutes.(2) Peak RMS current allowed for up to 2 seconds with a 50% duty cycle.(3) Nominal continuous power output (kW) applies to 240V AC drives. Value is approximately one-half of this kW rating when using 120V AC.(4) The 120V Voltage-doubler mode applies to only the 2097-V31PRx-xx drives.


Specifications Appendix B

Table 53 - Kinetix 300/350 Drives (single-phase and three-phase) Power Specifications

Attribute 2097-V33PR1-xx 2097-V33PR3-xx 2097-V33PR5-xx 2097-V33PR6-xx

AC input voltage 80…132V rms single-phase (120V nom)80…264V rms single-phase (240V nom)80…264V rms three-phase (240V nom)



Nom (rms) 120V inputMax inrush (0-pk) 120V input

Nom (rms) 240V inputMax inrush (0-pk) 240V input

5.0 A68.0 A

3.0A136 A

8.6 A1.15 A

5.0A2.3 A

15.0 A1.15 A

8.7A2.3 A

24.0 A5.65 A

13.9 A11.3 A

Integrated AC line filter No No No No



500 mA30 A

Continuous output current (rms) 2.0 A 4.0 A 8.0 A 12.0 A

Continuous output current (0-pk) 2.8 A 5.7 A 11.3 A 17.0 A

Peak output current (rms) (2) 6 A 12 A 24 A 36 A

Peak output current (0-pk) 8.5 A 17.0 A 33.9 A 50.9 A

Continuous power output (3)

@ 240V nom0.50 kW 1.00 kW 2.00 kW 3.00 kW

Shunt On 390 V DC

Shunt Off 375V DC

Overvoltage 430V DC


(1) Kinetix 300/350 drive modules are limited to 1 AC mains power cycling per every 2 minutes.(2) Peak RMS current allowed for up to 2 seconds with a 50% duty cycle.(3) Nominal continuous power output (kW) applies to 240V AC drives. Value is approximately one-half of this kW rating when using 120V AC.



Table 54 - Kinetix 300/350 Drives (three-phase) Power Specifications

Attribute 2097-V34PR3-xx 2097-V34PR5-xx 2097-V34PR6-xx

AC input voltage 320…528V rms three-phase (480V nom)



Nom (rms)Max inrush (0-pk)

(1) Kinetix 300/350 drive modules are limited to 1 AC mains power cycling per every 2 minutes.

2.7A4.5 A

5.5 A4.5 A

7.9 A22.6 A

Integrated AC line filter No No No



500 mA30 A

Continuous output current (rms) 2.0 A 4.0 A 6.0 A

Continuous output current (0-pk) 2.8 A 5.7 A 8.5 A

Peak output current (rms) (2)

(2) Peak RMS current allowed for up to 2 seconds with a 50% duty cycle.

6 A 12 A 18 A

Peak output current (0-pk) 8.5 A 17.0 A 25.5 A

Continuous power output@ 480V nom

1.00 kW 2.00 kW 3.00 kW

Shunt On 780V DC

Shunt Off 750V DC

Overvoltage 850V DC




Digital I/O Comparison Table 55 through Table 59 compare the digital input and output specifications between the Ultra3000 drives and the Kinetix 300/350 drives.

Digital Input Specifications

Table 55 - Ultra3000 Drives Digital Inputs

Table 56 - Kinetix 300/350 Drives Digital Inputs

Digital Output Specifications

Table 57 - Ultra3000 Drives Digital Outputs

Table 58 - Kinetix 300/350 Drives Digital Outputs

Parameter Value

ON state voltage 10.8...26.4V

ON state current 3.0...12.0 mA

OFF state voltage -1.0...3.0V

OFF state current mA, not specified

Parameter Value

Scan time 500 µs

Current, max 9 mA, typical

Input impedance 1.2 kΩ, typical

Voltage range 5…24V DC

Parameter Value

ON state current 0 to 50 mA

OFF state leakage current -0.1...0.1 mA

ON state voltage 0.0...1.5V

OFF state voltage 0...50V

Parameter Value

Scan time 500 µs

Current, max 100 mA

Voltage, max 30V DC



Relay Outputs

Table 59 - Ultra3000 Drives Relay Outputs

Analog I/O Comparison Table 60 through Table 63 compare the analog input and output specifications between the Ultra3000 drives and the Kinetix 300 drives.

Analog Input Specifications

Table 60 - Ultra3000 Drives (non-SERCOS version) Analog Inputs

Table 61 - Kinetix 300 Analog Inputs

Attribute Value

ON state current, max 1 A

ON state resistance, max 1 Ω

OFF state voltage, max 30V

OFF state leakage, max mA, not specified

IMPORTANT Kinetix 300/350 drives do not have relay outputs.

IMPORTANT The Ultra3000 SERCOS drive does not have analog input capability because its command reference comes digitally through communication networks.

Parameter Command Input

Limit Input

Resolution 14 bits 10 bits

Input impedance 20 kΩ 10 kΩ

Input signal range -10.0...10.0V 0.0...10.0V

Offset error, max 50 mV 50 mV

Gain error, max 1% 1%

Propagation delay, max 100 µs 100 µs

IMPORTANT The Kinetix 350 drive does not have analog input capability because its command reference comes digitally through communication networks.

Parameter Value

Scan time 0.0625 ms

Current, max Depends on load

Input impedance 47 kΩ, typical




Analog Output Specifications

Table 62 - Ultra3000 Drives (non-SERCOS version) Analog Outputs

Table 63 - Kinetix 300 Analog Outputs

Environmental and Safety Feature Comparison

This section provides environmental and safety feature of the drives.

Environmental Specifications

IMPORTANT The Ultra3000 SERCOS drive does not have analog output capability.

Parameter Value

Resolution 8 bits

Output current, max -2.0...2.0 mA

Output signal range -10.0...10.0V

Offset error, max 100 mV

Gain error, max 5%

Bandwidth, min 50 Hz

IMPORTANT This analog output is not supported on the Kinetix 350 drives.

Parameter Value

Scan time 0.0625 ms

Current, max 10 mA


Attribute Ultra3000 Drives Kinetix 300 andKinetix 350 Drives

Operating Range Operating Range

Temperature, operating

0…55 °C (32…131 °F) 0…40 °C (32…104 °F)

Temperature, nonoperating

-40… 70 °C (-40… 158 °F) -10…70 °C (14…158 °F)

Relative humidity 5…95% noncondensing 5…95% noncondensing

Altitude Operation: Derate 3% per 300 m (1000 ft) above 1500 m (5000 ft)

Operation: Derate by 1% per 300 m (1000 ft) above 1500 m (5000 ft)Storage: 3000 m (9843 ft) during transport

Vibration 5…2000 Hz @ 2.5 g peak, 0.015 mm (0.0006 in.) max displacement

5…2000 Hz @ 2.5 g peak, 0.015 mm (0.0006 in.) max displacement

Shock 15 g, 11 ms half-sine 15 g, 11 ms half-sine pulse (3 pulses in each direction of 3 mutually perpendicular directions)



Safety Features

Table 64 - Kinetix 300/350 Drives Safe Torque-off Signal Specifications

IMPORTANT The Ultra3000 drives do not have the safe torque-off feature.

Attribute Value

Safety inputs (1)

(1) Safety inputs are not designed for pulse testing.

Insulated, compatible with single-ended output (+24V DC)

Enable voltage range: 20…24V DC

Disable voltage range: 0…1.0V DC

Input impedance 6.8 k Ω

Safety status Isolated Open Collector (Emitter is grounded.)

Output load capability 100 mA

Digital outputs max voltage 30V DC


Appendix C

Feature Comparison Chart

Feature Comparison Chart Table 65 compares the features of the Ultra3000 drives to the Kinetix 300/350 drives.

Table 65 - Feature Comparison Chart

Features Ultra3000 Drives Kinetix 300/350 Drives Notes

Indexer(-X)

DeviceNet(-DN)

SERCOS(-SE)

Analog Vel Kinetix 300 Kinetix 350(-LM)

Hardware

Controller used * X X X X X *Not required

120V...460V operation X X X X X X

Internal shunt available X X X X * * *External shunt

Aux 24V operation (converted to 5V) X X X X * * *24V directly

Safe torque-off X X

Digital inputs control indexing X X

Aux encoder input X X * X *Dual loop only

Hardware limits X X X X X

Analog input for current limit X X X

Multiple assignment for inputs X X X

Watch window output assignment X X X

Registration index (index on reg input) X X X

Registration latch (capture position) X X

MicroLogix™/SLC™ compatible X X * X *Stepper mode only

Hardware enable required X

Selectable modes of operation via digital inputs X X X

Buffered encoder outputs (selectable freq) X X X

Holding brake support X X X X X X

Software

Drive software config required X X X X

Able to home servo X X X X X

Rotary mode support X X X X X

Current limit enable X X X X X X

Position mode via analog input X X

Operation mode override X X

Soft limits X X * X X * Via Logix

Slew rate for gearing X X * * * Via Logix

Selectable modes of operation X X X X

Pause index directly X X * * * Via Logix

Offline software X X X X X


Appendix C Feature Comparison Chart

Notes:


Appendix D

Hardware Layout with Connections

Ultra3000 Drive Power Wiring

This appendix provides power wiring examples to assist you in comparing the power wiring for the Ultra3000 drive and the Kinetix 300/350 drive systems.

The notes in this table apply to the Ultra3000 drive power interconnect diagrams (Figure 14, Figure 15, Figure 16, and Figure 17).

Note Information

1 A disconnecting device is required for maintenance and safety. If a grounded neutral is used instead of L2, only L1 may be switched or fused.

2 An isolation transformer is optional. If the transformer secondary has a neutral connection, neutral must be bonded to ground. Multiple drive modules may be powered from one transformer or other AC supply source.

3 Do not daisy chain drive module power connections. Make separate connections directly to the AC supply.

4 For power wiring specifications, refer to the Ultra3000 Installation Manual, publication 2098-IN003, Power Wiring Requirements in Chapter 3.

5 For input fuse sizes, refer to the Ultra3000 Installation Manual, publication 2098-IN003 Fuse Specifications in Appendix A.

6 May be used to maintain power to logic section of drive and status indicators when main AC input power is removed. A separate AC line source may be used if voltage is between 88…265V AC (rms) on 2098-DSD-xxx (230V drives) or 207…528V AC (rms) on 2098-DSD-HVxxx (460V drives). In this configuration, a separate line filter for logic power may be required.

7 Place AC (EMC) line filter as close to the drive as possible and do not route very dirty wires in wireway. If routing in wireway is unavoidable, use shielded cable with shields grounded to the drive chassis and filter case. For AC line filter specifications, refer to the Ultra3000 Installation Manual, publication 2098-IN003 AC Line Filter Specifications in Appendix A.

8 Drive Enable input must be opened before main power is removed and auxiliary power is present, or a drive fault will occur. A delay of at least 1.0 second must be observed before attempting to enable the drive after main power is restored.

9 Cable shield clamp must be used in order to meet CE requirements. No external connection to chassis ground required.

10 Implementation of safety circuits and risk assessment is the responsibility of the machine builder. Please reference international standards EN1050 and EN954 estimation and safety performance categories. For more information refer to Understanding the Machinery Directive, publication SHB-900.

11 The recommended minimum wire size for wiring the safety circuit is 1.5 mm2 (16 AWG).

12 For motor cable specifications and drive/motor cable combinations, refer to the Kinetix Motion Accessories Technical Data, publication GMC-TD004.

13 The Ultra3000 drive referenced is either a 2098-DSD-xxx or 2098-DSD-xxxX (Ultra3000 with indexing), 2098-DSD-xxx-SE (SERCOS interface), 2098-DSD-xxx-DN (DeviceNet interface), or 2098-DSD-xxxX-DN (DeviceNet with indexing) 230V drive.

14 The Ultra3000 drive referenced is either a 2098-DSD-HVxxx or 2098-DSD-HVxxxX (Ultra3000 with indexing), 2098-DSD-HVxxx-SE (SERCOS interface), 2098-DSD-HVxxx-DN (DeviceNet interface), or 2098-DSD-HVxxxX-DN (DeviceNet with indexing) 460V drive.

15 Relay Output (CN1, pins 43 and 44) must be configured as Ready in Ultraware software.

16 The preferred method for supplying auxiliary power is by using the 12-pin or 44-pin drive-mounted breakout board with 24V to 5V auxiliary power converter (2090-U3CBB-DM12 or -DM44). Auxiliary +5V power is required to maintain encoder position when the main AC power is disconnected.

17 Refer to the Ultra3000 Digital Servo Drives Integration Manual, publication 2098-IN005, Shunt Module Interconnect Diagrams in Appendix A.





http://literature.rockwellautomation.com/idc/groups/literature/documents/rm/shb900-rm001_-en-p.pdf





Appendix D Hardware Layout with Connections

This is the power wiring diagram with 24V DC control string for 2098-DSD-005x-xx, 2098-DSD-010x-xx, and 2098-DSD-020x-xx Ultra3000 drives (non-SERCOS drives only). To avoid a separate 5V DC auxiliary logic power supply, the 24V to 5V converter breakout board (catalog number 2090-U3CBB-DMxx) is used to wire the control interface (CN1) connector.

For SERCOS drives, input line contactor is part of the PLC program and output control.

Figure 14 - Typical Power Wiring on Ultra3000 (230V) System

TB1

DC+

DC-

L1

L2/N

U

V

W

L2/N

L1

CN1

43

44

3

2

43

44

CN1

2098-DSD-005x-xx,2098-DSD-010x-xx, and

2098-DSD-020x-xxUltra3000

Digital Servo DrivesNote 13

DC Bus Connectionsfor Active Shunt ModuleNote 17

AC Input PowerConnections

Motor PowerConnections

M1*Note 8

Single-phaseAC Line Filter

Note 7Input Fusing*

Note 4, 5

Single-phase AC Line50/60 Hz

Fused Disconnector Circuit Breaker*

Note 1

IsolationTransformer*

Note 2

ChassisBonded Cabinet

Ground Bus*

TerminalBlocks*Note 3

To additionalUltra3000 drive

Three-phaseMotor PowerConnections

Note 12

Cable ShieldClampNote 9

* Indicates User-supplied Component

STOP*START*

CR1*

CR1*

CR1*M1*

Refer to Attention statement (Notes 10, 11)

24V DC

N.O. Relay Output+

N.O. Relay Output-

Aux Logic Power In +5V

Aux +5V Common Note 16

Note 15From CN1 BreakoutBoard with 24V to 5VAux Power Converter(2090-U3CBB-DMxx)

Single-phase Input100...240V AC rms


Hardware Layout with Connections Appendix D

This is the power wiring diagram with 24V DC control string for the 2098-DSD-030x-xx drive (non-SERCOS drives only).



TB1

U

V

W

DC+

DC-

L1

L2/N

L1 AUX

L2/N AUX

L2/N

L1

CN1

43

44

TB2

1

2

3

43

44

CN1

43

44

2098-DSD-030x-xxUltra3000

Digital Servo DriveNote 13



Single-phaseAC Line Filter

Note 7

Input Fusing *Note 4, 5

Single-phase Input100...240V AC rms

Fused Disconnector Circuit Breaker *

Note 1

IsolationTransformer *

Note 2

ChassisBonded Cabinet

Ground Bus *

TerminalBlocks *Note 3 To additional

Ultra3000 drive.


Note 12



STOP *START *

CR1 *

CR1 *

CR1 *M1 *


N.O. Relay Output+

N.O. Relay Output- Note 15

24V DC

Note 6

M1 *Note 8

External PassiveShunt ConnectionsNote 17

Single-phase AC Line50/60 Hz




This is the power wiring diagram with 24V DC control string for 2098-DSD-075x-xx and 2098-DSD-150x-xx Ultra3000 drives (non-SERCOS drives only).



TB1

U

V

W

DC+

DC-

L1

L2

L3

L1 AUX

L2/N AUX

L2

L1

CN1

43

44

L3

TB2

1

2

3

43

44

CN1

43

44

2098-DSD-075x-xx and2098-DSD-150x-xx

Ultra3000Digital Servo Drives

Note 13



Three-phaseAC Line Filter

Note 7


Three-phase Input100...240V AC rms


Note 1


Note 2Chassis Bonded Cabinet

Ground Bus *

TerminalBlocks *Note 3



Note 12



STOP *START *

CR1 *

CR1 *

CR1 *M1 *


N.O. Relay Output+


24V DC

Neutral

Note 6

M1 *Note 8


Three-phase AC Line50/60 Hz




This is the power wiring diagram with 24V DC control string for 2098-DSD-HVxxx-xx and 2098-DSD-HVxxxX-xx Ultra3000 drives.


TB1

DC+

DC-

W

V

U

L2

L3

CN1

43

44

L1

TB2

1

2

3

L3

L2

L1

L1 AUX

L2/N AUX

43

44

CN1

43

44

2098-DSD-HVxxx-xx and2098-DSD-HVxxxX-xx

Ultra3000Digital Servo Drives

Note 14



Three-phaseAC Line Filter

Note 7

Three-phase Input230...480V AC rms


Note 1


Note 2Chassis Bonded Cabinet

Ground Bus *

Terminal Blocks *Note 3



Note 12


STOP *START *

CR1 *

CR1 *

CR1 *M1 *


N.O. Relay Output+


24V DC

Neutral

M1 *Note 8


Input Fusing*Notes 4 and 5

Three-phase AC Line50/60 Hz

Note 6

Input Fusing *Notes 4 and 5




Kinetix 300/Kinetix 350 Drive Power Wiring

The notes in this table apply to the Kinetix 300/350 drive power interconnect diagrams (Figure 18, Figure 19, and Figure 20).

Note Information

1 For power wiring specifications, refer to Power Wiring Requirements in the Kinetix 300 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM001, or the Kinetix 350 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM002.

2 For input fuse and circuit breaker sizes, refer to Circuit Breaker/Fuse Specifications in the Kinetix 300 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM001, or the Kinetix 350 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM002.

3 Place the AC (EMC) line filters as close to the drive as possible and do not route very dirty wires in the wireway. If routing in wireway is unavoidable, use shielded cable with shields grounded to the drive chassis and filter case. For AC line filter specifications, refer to AC Line Filter Specifications in the Kinetix 300 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM001, or the Kinetix 350 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM002. This filter DOES NOT apply to 2097-V32PRx-xx drives because they have integrated AC line filters.

4 Contactor coil (M1) needs integrated surge suppressors for AC coil operation. Refer to Contactor Ratings in the Kinetix 300 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM001, or the Kinetix 350 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM002.

5 Drive Enable input must be opened when main power is removed, or a drive fault occurs. A delay of at least 1.0 second must be observed before attempting to enable the drive after main power is restored.

6 Cable shield clamp must be used to meet CE requirements. No external connection to ground is required.

7 For motor cable specifications, refer to the Kinetix Motion Accessories Technical Data, publication GMC-TD004.












You must supply input power components. The single-phase and three-phase line filters are wired downstream of fusing and the M1 contactor.

In this example, the 2097-V31PRx-xx drives are wired to use the voltage doubling circuit. The 120V input voltage provides 240V output to motors. The 2097-V33PRx-xx drives are wired for single-phase 120V operation.

Figure 18 - Typical Power Wiring on Kinetix 300/350 Drives(120V single-phase input power, voltage-doubler mode)

PE

N

L1

+24V DC

B+B+BRB-B-

EN

ACOM

RDY +

RDY -

L1

L2/N

29

26

41

42

U

V

W

PE

L2/N

PE

L2

L3

L1

2097-V31PRx 2097-V33PRx

Return

Single-phase AC Input120V rms AC, 50/60 Hz

Notes 1, 2

Bonded CabinetGround Bus *

Ground Stud

MainsSingle-phaseAC Input (IPD) Connector

Fuse Disconnector Circuit Breakers

Input Fusing * M1 *Notes 4, 5

Use discrete logic or PLC to control

ENABLE to drive and monitor RDY signal

back from drive.

Shunt Resistorand DC Bus

(BC) Connector

Motor Power(MP) Connector

I/O (IOD) Connector

Back-up Power(BP) Connector


AC Line Filter(Optional)

Note 3

Three-phaseMotor PowerConnectionsNote 7


Shunt ResistorConnections

User-supplied+24V DC

Kinetix 350 Drives: 2097-V31PRx-LM and 2097-V33PRx-LM

Kinetix 300 Drives: 2097-V31PRx and 2097-V33PR x



In this example, single-phase 240V AC is applied to 2097-V31PRx-xx and 2097-V32PRx-xx drives.

Figure 19 - Typical Power Wiring on Kinetix 300/350 Drives

(240V single-phase input power)

IMPORTANT The 2097-V32PRx-xx models have integrated AC line filters and do not require the AC line filter shown in this diagram.

L1

L2/N

PE

N

L1

+24V DC

B+B+BRB-B-

EN

ACOM

RDY +

RDY -

29

26

41

42

U

V

W

PE

L2/N

PE

L1

L2

2097-V31PRx 2097-V32PRx

Return

Single-phase AC Input120/240V rms AC, 50/60 Hz

Notes 1, 2

Ground Stud



Use discrete logic or PLC to control

ENABLE to drive and monitor RDY signal

back from drive.


I/O (IOD) Connector


AC Line Filter(Optional)

Note 3







(BC) Connector

MainsSingle-phaseAC Input (IPD) Connector






In this example, three-phase 240V AC is applied to 2097-V33PRx-xx drives and 480V AC is applied to 2097-V34PRx-xx drives.

Figure 20 - Typical Power Wiring on Kinetix 300/350 Drives

(240/480V three-phase input power)

IMPORTANT For the 480V Kinetix 300/350 drives to meet ISO 13849-1 (PLd) spacing requirements, each phase voltage to ground must be less than or equal to 300V AC rms. This means that the power system must use center grounded wye secondary configuration for 400/480V AC mains.

PE

L1

L2

L3+24V DC

Return

B+B+BRB-B-

L1

L2

L3

U

V

W

PE

EN

ACOM

RDY +

RDY -

29

26

41

42

Three-phase AC Input240/480V rms AC, 50/60 Hz

Notes 1, 2

Ground Stud

MainsThree-phase Input (IPD) Connector






I/O (IOD)Connector




AC Line Filter(optional)

Note 3

Use discrete logic or PLC to control ENABLE

to drive and monitor RDY signal back from

drive.




(BC) Connector





N o t e s :


Appendix E

Topology/Architecture Layouts

This section compares the typical Ultra3000 drive architecture and materials to the typical Kinetix 300/Kinetix 350 drive architectures and materials.

For comparison examples, see the following:

• Ultra3000 (Analog) to Kinetix 300 Architecture on page 76

• Ultra3000 (Indexing) to Kinetix 350 Architecture on page 77

• Ultra3000 (SERCOS) to Kinetix 350 Architecture on page 78


Appendix E Topology/Architecture Layouts

Ultra

3000

(Ana

log)

to

Kine

tix 30

0 Arc

hite

ctur

e

Comp

actLo

gixL2

3E

00 300

2097

-V3x

xxx

Kine

tix30

0 Dr

ive

Bulle

tin 2

090

or 2

097-

FxAC

Lin

e Fi

lter (

optio

nal e

quip

men

t)20

97-F

1 Fi

lter S

how

n

1783

-EM

S08T

Stra

tix 6

000

Switc

hCo

mpa

ctLo

gix

Cont

rolle

r Pla

tform

1769

-L23

E-QB

1B S

how

n

RSLo

gix

5000

Softw

are

24V

DC C

ontro

l Ba

ck-u

p Po

wer

Sup

ply

(opt

iona

l equ

ipm

ent)

MP-

Serie

s an

d TL

-Ser

ies

Rota

ry M

otor

s(M

PL-B

xxxx

mot

ors

show

n)

Bulle

tin 2

090

Mot

or F

eedb

ack

Cabl

es

Bulle

tin 2

090

Mot

or P

ower

Cab

les

1585

J-M

8CBJ

M-x

Ethe

rnet

(shi

elde

d) C

able

2097

-TB1

Term

inal

Expa

nsio

n Bl

ock

2097

-Rx

Shun

t Res

isto

r(o

ptio

nal e

quip

men

t)

MP-

Serie

s an

d TL

-Ser

ies

Elec

tric

Cylin

ders

(MPA

R-B x

xxx

elec

tric

cylin

ders

sho

wn)

MP-

Serie

s In

tegr

ated

Lin

ear S

tage

s (M

PAS-

B9xx

x bal

lscr

ew s

how

n)

MP-

Serie

s He

avy

Duty

Ele

ctric

Cyl

inde

rs(M

PAI-B

xxxx

ele

ctric

cyl

inde

rs s

how

n)

2090

-K2C

K-D1

5MLo

w-p

rofil

e Co

nnec

tor K

it

Outp

ut

Logi

x In

terfa

ce M

odul

e

Com

mis

sion

ing

and

Com

mun

icat

ion

Ultra

war

eSo

ftwar

e

Mot

or F

eedb

ack

I/O a

nd C

omm

ands

Mot

or P

ower

Logi

x Co

ntro

ller

Inpu

t

Logi

x Pl

atfo

rm(C

ontro

lLog

ix is

sho

wn)

MP-

Serie

s an

d TL

-Ser

ies

Rota

ry M

otor

s (M

PL-A

xxxx

mot

ors

show

n)

Ultra

3000

Driv

e

Othe

r com

patib

le m

otor

s/ac

tuat

ors

incl

ude:

•M

P-Se

ries

Inte

grat

ed L

inea

r Sta

ges

•M

P-Se

ries

Elec

tric

Cylin

ders

•LD

C-Se

ries

and

LDL-

Serie

s Li

near

Mot

ors

(209

8-DS

D-xx

xxxx

-xx)

Typi

cal C

onfig

urat

ion

- Ultr

a300

0 (A

nalo

g) S

ervo

Dri

ve S

yste

mTy

pica

l Con

figur

atio

n - K

inet

ix 3

00 S

ervo

Dri

ve S

yste

m

Ultr

a300

0 (A

nalo

g) S

yste

m B

ill o

f Mat

eria

lsKi

netix

300

Sys

tem

Bill

of M

ater

ials

Qty

Desc

ript

ion

Qty

Desc

ript

ion

1Ul

tra30

00 s

ervo

driv

e1

Kine

tix 3

00 s

ervo

driv

e

1 pe

r axi

sRo

tary

ser

vo m

otor

or l

inea

r mot

or/a

ctua

tor (

MP-

serie

s,

TL-s

erie

s, o

r LDL

-ser

ies)

1 pe

r axi

sRo

tary

ser

vo m

otor

or l

inea

r mot

or/a

ctua

tor

(MP-

serie

s, T

L-se

ries,

or L

DL-s

erie

s)

1 pe

r axi

sM

otor

pow

er c

able

1 pe

r axi

sM

otor

pow

er c

able

1 pe

r axi

sM

otor

feed

back

cab

le1

per a

xis

Mot

or fe

edba

ck c

able

1 pe

r axi

sLo

w p

rofil

e co

nnec

tor k

it fo

r mot

or fe

edba

ck

1 pe

r axi

sDM

44 I/

O br

eako

ut b

oard

1

per a

xis

I/O te

rmin

al b

lock

exp

ansi

on

1Co

mpa

ct L

ogix

and

IF8,

or

Cont

rol L

ogix

and

M02

AE1

Com

pact

Log

ix

1St

ratix

sw

itch

124

V DC

con

trol f

or I/

O an

d Au

x po

wer

(opt

iona

l)1

24V

DC c

ontro

l for

I/O

and

Aux

pow

er (o

ptio

nal)



Ultra

3000

(Ind

exin

g) to

Ki

netix

350 A

rchi

tect

ure

Comp

actLo

gixL2

3E

00 300

2097

-V3x

xxx-

LMKi

netix

350

Driv

eBu

lletin

209

0 or

209

7-F x

AC L

ine

Filte

r (op

tiona

l equ

ipm

ent)

2097

-F1

Filte

r Sho

wn

1783

-EM

S08T

Stra

tix 6

000

Switc

hCo

mpa

ctLo

gix

Cont

rolle

r Pla

tform

1769

-L23

E-QB

1B S

how

n

RSLo

gix

5000

Softw

are

24V

DC C

ontro

l Ba

ck-u

p Po

wer

Sup

ply

(opt

iona

l equ

ipm

ent)

MP-

Serie

s an

d TL

-Ser

ies

Rota

ry M

otor

s(M

PL-B

xxxx

mot

ors

show

n)

Bulle

tin 2

090

Mot

or F

eedb

ack

Cabl

es

Bulle

tin 2

090

Mot

or P

ower

Cab

les

1585

J-M

8CBJ

M-x

Ethe

rnet

(shi

elde

d) C

able

2097

-TB1

Term

inal

Expa

nsio

n Bl

ock

2097

-Rx

Shun

t Res

isto

r(o

ptio

nal e

quip

men

t)

MP-

Serie

s an

d TL

-Ser

ies

Elec

tric

Cylin

ders

(MPA

R-B x

xxx

elec

tric

cylin

ders

sho

wn)

MP-

Serie

s In

tegr

ated

Lin

ear S

tage

s (M

PAS-

B9xx

x bal

lscr

ew s

how

n)

MP-

Serie

s He

avy

Duty

Ele

ctric

Cyl

inde

rs(M

PAI-B

xxxx

ele

ctric

cyl

inde

rs s

how

n)

2090

-K2C

K-D1

5MLo

w-p

rofil

e Co

nnec

tor K

it

Outp

ut

Com

miss

ioni

ng a

nd C

omm

unica

tion

Inpu

t

Mot

or Fe

edba

ck

Mot

or P

ower

I/O a

nd C

omm

ands

Logi

x Pl

atfo

rm(C

ontro

lLogi

x is s

how

n)Ul

traw

are

Softw

are

Logi

x Con

trolle

r

Ultra

3000

Driv

e

MP-

Serie

s and

TL-

Serie

s Rot

ary M

otor

s (M

PL-A

xxxx

mot

ors s

how

n)

Othe

r com

patib

le m

otor

s/ac

tuat

ors i

nclu

de:

•M

P-Se

ries I

nteg

rate

d Lin

ear S

tage

s•

MP-

Serie

s Ele

ctric

Cyli

nder

s•

LDC-

Serie

s and

LDL-

Serie

s Lin

ear M

otor

s

(209

8-DS

D-xx

xxxX

-xx)

Typi

cal C

onfig

urat

ion

- Ultr

a300

0 (In

dexi

ng) S

ervo

Dri

ve S

yste

mTy

pica

l Con

figur

atio

n - K

inet

ix 3

50 S

ervo

Dri

ve S

yste

m

Ultr

a300

0 (In

dexi

ng) S

yste

m B

ill o

f Mat

eria

lsKi

netix

350

Sys

tem

Bill

of M

ater

ials

Qty

Desc

ript

ion

Qty

Desc

ript

ion

1Ul

tra30

00 s

ervo

driv

e (-X

)1

Kine

tix 3

50 s

ervo

driv

e

1 pe

r axi

sRo

tary

ser

vo m

otor

or l

inea

r mot

or/a

ctua

tor

(MP-

serie

s, T

L-se

ries,

or L

DL-s

erie

s)1

per a

xis

Rota

ry s

ervo

mot

or o

r lin

ear m

otor

/act

uato

r (M

P-se

ries,

TL-

serie

s, o

r LDL

-ser

ies)

1 pe

r axi

sM

otor

pow

er c

able

1 pe

r axi

sM

otor

pow

er c

able

1 pe

r axi

sM

otor

feed

back

cab

le1

per a

xis

Mot

or fe

edba

ck c

able

1 pe

r axi

sLo

w p

rofil

e co

nnec

tor k

it fo

r mot

or fe

edba

ck

1 pe

r axi

sDM

44 I/

O br

eako

ut b

oard

1

per a

xis

I/O te

rmin

al b

lock

exp

ansi

on

1Co

mpa

ct L

ogix

and

IF8,

or

Cont

rol L

ogix

and

M02

AE1

Com

pact

Log

ix

1St

ratix

sw

itch

124

V DC

con

trol f

or I/

O an

d Au

x po

wer

(opt

iona

l)1

24V

DC c

ontro

l for

I/O

and

Aux

pow

er (o

ptio

nal)



Ultra

3000

(SER

COS)

to

Kine

tix 35

0 Arc

hite

ctur

e

Comp

actLo

gixL2

3E

00 300

2097

-V3x

xxx-

LMKi

netix

350

Driv

eBu

lletin

209

0 or

209

7-F x

AC L

ine

Filte

r (op

tiona

l equ

ipm

ent)

2097

-F1

Filte

r Sho

wn

1783

-EM

S08T

Stra

tix 6

000

Switc

hCo

mpa

ctLo

gix

Cont

rolle

r Pla

tform

1769

-L23

E-QB

1B S

how

n

RSLo

gix

5000

Softw

are

24V

DC C

ontro

l Ba

ck-u

p Po

wer

Sup

ply

(opt

iona

l equ

ipm

ent)

MP-

Serie

s an

d TL

-Ser

ies

Rota

ry M

otor

s(M

PL-B

xxxx

mot

ors

show

n)

Bulle

tin 2

090

Mot

or F

eedb

ack

Cabl

es

Bulle

tin 2

090

Mot

or P

ower

Cab

les

1585

J-M

8CBJ

M- x

Ethe

rnet

(shi

elde

d) C

able

2097

-TB1

Term

inal

Expa

nsio

n Bl

ock

2097

-Rx

Shun

t Res

isto

r(o

ptio

nal e

quip

men

t)

MP-

Serie

s an

d TL

-Ser

ies

Elec

tric

Cylin

ders

(MPA

R-Bx

xxx

elec

tric

cylin

ders

sho

wn)

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Rockwell Otomasyon Ticaret A.Ş., Kar Plaza İş Merkezi E Blok Kat:6 34752 İçerenköy, İstanbul, Tel: +90 (216) 5698400

Publication 2098-AP001A-EN-P - October 2011 80 Copyright © 2011 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.

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