Ultra3000 Digital Servo Drives

to Kinetix 5300 Servo Drives

Catalog Numbers 2198-C1004-ERS, 2198-C1007-ERS, 2198-C1015-ERS,
2198-C1020-ERS, 2198-C2030-ERS, 2198-C2055-ERS, 2198-C2075-ERS,
2198-C4004-ERS, 2198-C4007-ERS, 2198-C4015-ERS, 2198-C4020-ERS,
2198-C4030-ERS, 2198-C4055-ERS, 2198-C4075-ERS

Migration Guide Original Instructions

Ultra3000 Digital Servo Drives to Kinetix 5300 Servo Drives Migration Guide

Important User Information

Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize
themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.

Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to
be carried out by suitably trained personnel in accordance with applicable code of practice.

If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be
impaired.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use
or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for
actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software
described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is
prohibited.

Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment,
which may lead to personal injury or death, property damage, or economic loss.

ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.

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

Labels may also be on or inside the equipment to provide specific precautions.

SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous
voltage may be present.

BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may
reach dangerous temperatures.

ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to
potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL
Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).

2 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Table of Contents

Preface
Pre-migration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Select a Replacement Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Engineering Effort and Product Liability . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Migration Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Chapter 1
Servo Drive and System Kinetix 5300 Servo Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Considerations Kinetix 5300 Servo Drive Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Kinetix 5300 Servo Drive Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Kinetix 5300 Servo Drive Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Controller, Ethernet Cards, and Switches . . . . . . . . . . . . . . . . . . . . . . . . . 16
Compatible Motors and Acuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Physical Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Control and Auxiliary Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Circuit Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Control Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Safe Torque Off Safety Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Drive Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Chapter 2
Servo Drive and System Drive Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Comparisons Output Current Comparison. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Dimension Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
AC Input Power Cable Length and Fuse Protection . . . . . . . . . . . . . . . . . 29
AC Input Power Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Circuit Breaker and Fuse Considerations . . . . . . . . . . . . . . . . . . . . . . 31
Drive Interconnects and Cable Considerations . . . . . . . . . . . . . . . . . 34
Ultra3000 Servo Drives Motor/Actuator and Cable Compatibility. 34
Ultra3000 Servo Drive Feedback Connector . . . . . . . . . . . . . . . . . . . . 35
Kinetix 5300 Servo Drives Servo Motor/Actuator and
Cable Compatibility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Digital I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Ultra3000 Servo Drive Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Ultra3000 Servo Drive Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Kinetix 5300 Servo Drive Digital Inputs. . . . . . . . . . . . . . . . . . . . . . . . 41
Typical System Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Ultra3000 Servo Drive System Example. . . . . . . . . . . . . . . . . . . . . . . . 42
Kinetix 5300 Servo Drive System Example . . . . . . . . . . . . . . . . . . . . . 43
Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Ultra3000 Servo System Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Kinetix 5300 Servo System Accessories . . . . . . . . . . . . . . . . . . . . . . . . 45
Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 3
 Appendix A
Connectors and Field Connector Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Connections Ultra3000 Servo Drive Connector Data . . . . . . . . . . . . . . . . . . . . . . . . 47
Kinetix 5300 Servo Drive Connector Data . . . . . . . . . . . . . . . . . . . . . . 51
Input and Motor Power Connector Pinouts. . . . . . . . . . . . . . . . . . . . . . . . 51
Motor Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
I/O Connector and Auxiliary Feedback Pinouts . . . . . . . . . . . . . . . . . 53
Safe Torque Off Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Appendix B
About the Servo Drive System About the Ultra3000 Servo Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . 57
About the Kinetix 5300 Servo Drive System . . . . . . . . . . . . . . . . . . . . . . . . 58

Appendix C
Specifications Power Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Ultra3000 (230V) Servo Drive Power Specifications . . . . . . . . . . . . . 59
Ultra3000 (460V) Servo Drive Power Specifications . . . . . . . . . . . . . 61
Kinetix 5300 Servo Drive Input Power Specifications. . . . . . . . . . . . 62
Control and Auxiliary Power Specifications. . . . . . . . . . . . . . . . . . . . . . . . 65
Ultra3000 Servo Drive Auxiliary Power Specifications. . . . . . . . . . . 65
Kinetix 5300 Servo Drive Control Power Specifications. . . . . . . . . . 66
Power Dissipation Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Ultra3000 Servo Drive Power Dissipation Specifications . . . . . . . . 67
Kinetix 5300 Servo Drive Power Dissipation Specifications . . . . . . 67
Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Ultra3000 Servo Drive Motor Feedback Cable Lengths . . . . . . . . . . 68
Kinetix 5300 Servo Drive Motor Cable Lengths . . . . . . . . . . . . . . . . . 69
Environmental Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Ultra3000 Servo Drive Environmental Specifications . . . . . . . . . . . 69
Kinetix 5300 Servo Drive Environmental Specifications . . . . . . . . . 69
Certifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Ultra3000 Servo Drive Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Kinetix 5300 Servo Drive Certifications . . . . . . . . . . . . . . . . . . . . . . . . 70

Appendix D
Interconnect Diagrams Ultra3000 Servo Drive Power Wiring Examples . . . . . . . . . . . . . . . . . . . . 71
Kinetix 5300 Servo Drive Power Wiring Examples. . . . . . . . . . . . . . . . . . 75

Appendix E
Communication Configurations Kinetix 5300 Servo Drive Linear Topology . . . . . . . . . . . . . . . . . . . . . . . . . 80
Ring Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Star Topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

4 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Preface

The purpose of this migration guide is to provide essential information needed

to determine what hardware changes could be necessary when migrating from
a motion system that contains Ultra™ 3000 (with Sercos) servo drives to the
Kinetix® 5300 servo drives.

Migrating a system from an Ultra3000 servo drive to a Kinetix 5300 servo drive
system requires a comprehensive design review of the entire motion control
system. There are system-wide changes that are required because of the
communication protocol being employed.

As a result, this migration guide is not an all-inclusive document. It does not

describe all redesign steps that could 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.

You must review additional product literature (see Additional Resources on

page 7) to understand the technical similarities and differences between the
Ultra3000 servo drive and a Kinetix 5300 servo drive. This can help you
determine the proper solution for your migration.

Pre-migration Motion Analyzer – is a comprehensive motion-application sizing tool that is

used for analysis, optimization, selection, and validation of your Kinetix
motion control system. This tool facilitates the machine design process, that
lets you quickly design and validate new machine concepts without purchasing
or installing physical equipment.

The performance capabilities of any 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 and the Motion Analyzer tool can
help with the correct drive selection.

Motion Analyzer is available at https://motionanalyzer.rockwellautomation.com.

Controller Files – Upload and save any network files and programmable logic
controller (PLC) programs.

Electrical Noise Reduction – See the System Design for Control of Electrical
Noise Reference Manual, publication GMC-RM001 or Servo Drive Installation
Best Practice Application Technique, publication MOTION-AT004, for
information on the concept of high-frequency (HF) bonding, the ground plane
principle, and electrical noise reduction.

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 5

Preface

Select a Replacement Drive There are a number of different factors that affect the selection of a
replacement servo drive and the system redesign effort. Drive sizing is the
primary factor in selecting a replacement servo drive. To identify the correct
replacement drive size, consider the drive input voltage and compare the
continuous and peak output current ratings.

Ultra3000 drives can be replaced with a Kinetix 5300 drive of similar, or in

some cases, greater output current capability.

In general, the Kinetix 5300 drives with similar current ratings require a
smaller physical space compared to the Ultra3000 drives.

Factors that affect the redesign effort include these considerations:

• Drive sizing (ratings and physical)
• Dimension comparison
• Drive interconnects and cabling
• Accessories

Engineering Effort and Thoroughly review this document before you begin to evaluate the design
Product Liability changes required to successfully migrate your Ultra3000 servo drive to a
Kinetix 5300 servo drive.
ATTENTION: Because of the variety of uses for the products described
in this publication, those responsible for the application and use of
these products must themselves satisfy, 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.

The following sections highlight the differences between Ultra3000 and

Kinetix 5300 servo drives. There can be more differences beyond these that can
impact your application. Read this entire document before proceeding to
qualify the Kinetix 5300 servo drive for your needs.

Migration Options This document covers the migration of the Ultra3000 Sercos servo drive only,
though it is possible to migrate from the other Ultra3000 servo drive types. For
additional migration options, see Ultra3000 to Kinetix 5100 Servo Drives
Migration Guide, publication 2198-RM003.

Figure 1 - Suggested Migration Options

Analog Kinetix 5100 Drive

Indexing Kinetix 5100 Drive

Ultra3000 Drive

DeviceNet Kinetix 5100 Drive

Kinetix 5300 Drive

Sercos
Kinetix 5500 Drive

6 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Preface

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

Resource Description
Product specifications for Kinetix VPL, VPC, VPF, VPH, and VPS; Kinetix MPL, MPM,
Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001 MPF, and MPS; Kinetix TLY and TL; and Kinetix HPK rotary motors.

Kinetix Linear Motion Specifications Technical Data, publication KNX-TD002 Product specifications for Kinetix MPAS and MPMA linear stages, Kinetix MPAR and
MPAI electric cylinders, and LDC-Series™ and LDL-Series™ linear motors
Product specifications for Kinetix Integrated Motion over the EtherNet/IP network,
Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 Integrated Motion over Sercos interface, EtherNet/IP networking, and component
servo drive families.
Product specifications for Bulletin 2090 motor and interface cables, low-profile
Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004 connector kits, drive power components, and other servo drive accessory items

Integrated Motion on Sercos and EtherNet/IP Network – Analysis and Comparison, Compares the similarities and differences between systems that use Serial Real-time
publication MOTION-AT006 Communication System (Sercos) interfaces and systems that use EtherNet/IP
networks.
Motor Nameplate Datasheet Entry for Custom Motor Applications, Provides an in-depth discussion on the use of nameplate data entry for custom
publication 2198-AT002 induction motors and permanent-magnet motors.
System Design for Control of Electrical Noise Reference Manual, Information, examples, and techniques designed to minimize system failures caused
publication GMC-RM001 by electrical noise.

Servo Drive Installation Best Practice Application Technique, Best practice examples to help reduce the number of potential noise or
publication MOTION-AT004 electromagnetic interference (EMI) sources in your system and to make sure that the
noise sensitive components are not affected by the remaining noise.
Provides installation instructions to mount, wire, and troubleshoot your Kinetix 5300
Kinetix 5300 Single-axis EtherNet/IP Servo Drives User Manual, drive; and system integration for your drive/motor combination with a Logix 5000
publication 2198-UM005 controller (version 33.00 or later).
System design guide to select the required (drive specific) drive module, power
Kinetix 5300 Drive Systems Design Guide, publication KNX-RM012 accessory, feedback connector kit, and motor cable catalog numbers for your Kinetix
5300 drive and Kinetix motion control system.

AC Line Filter Installation Instructions, publication 2198-IN003 Provides information on how to install AC line filters designed for Kinetix 5300,
Kinetix 5500, and Kinetix 5700 servo drive systems
Shunt Resistor Installation Instructions, publication 2097-IN002 Provides information on how to install and wire Bulletin 2097 shunt resistors.
Overview of Kinetix servo drives, motors, actuators, and motion accessories that are
Kinetix Motion Control Selection Guide, publication KNX-SG001 designed to help make initial decisions for the motion control products best suited
for your system requirements.
Ultra3000 Drive Systems Design Guide, publication KNX-RM008 Reference material used to design an Ultra3000 servo drive system.
Ultra3000 Digital Servo Drives Installation Manual, publication 2098-IN003 Mounting, wiring, and connecting procedures for the Ultra3000 Digital Servo Drive.

Ultra3000 Servo Drives Integration Manual, publication 2098-IN005 Power-up procedures, system integration, and troubleshooting tables for the
Ultra3000 digital servo drive.
Kinetix 5300 Servo Drives Installation Instructions, publication 2198-IN021 Information mount and wire the Kinetix 5300 servo drive.
Kinetix 5300 Feedback Connector Kit Installation Instructions, Information to install and wire the Kinetix 5300 motor feedback connector kit.
publication 2198-IN023

EtherNet/IP Network Devices User Manual, ENET-UM006 Describes how to configure and use EtherNet/IP devices to communicate on the
EtherNet/IP network.

Ethernet Reference Manual, ENET-RM002 Describes basic Ethernet concepts, infrastructure components, and infrastructure
features.
Provides guidance on how to conduct security assessments, implement Rockwell
System Security Design Guidelines Reference Manual, SECURE-RM001 Automation products in a secure system, harden the control system, manage user
access, and dispose of equipment.
Industrial Components Preventive Maintenance, Enclosures, and Contact Ratings Provides a quick reference tool for Allen-Bradley® industrial automation controls and
Specifications, publication IC-TD002 assemblies.
Designed to harmonize with NEMA Standards Publication No. ICS 1.1-1987 and provides
Safety Guidelines for the Application, Installation, and Maintenance of Solid-state general guidelines for the application, installation, and maintenance of solid-state
Control, publication SGI-1.1 control in the form of individual devices or packaged assemblies incorporating solid-
state components.
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines for installing a Rockwell Automation® industrial system.
Product Certifications website, rok.auto/certifications. Provides declarations of conformity, certificates, and other certification details.

You can view or download publications at rok.auto/literature.

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 7

Preface

Notes:

8 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Chapter 1

Servo Drive and System Considerations

Replacing an Ultra™ 3000 servo drive with a Kinetix® 5300 servo drive requires
some system design changes and drive hardware changes. This chapter
describes some of the primary differences and considerations. Additional
chapters provide in-depth drive comparisons.

Kinetix 5300 Servo Drives The Kinetix 5300 servo drives and
Kinetix TLP servo motors provide a
cost-effective motion solution. This
solution delivers high performance
and scalability, with motor windings
that are matched to drive ratings, for
optimized system sizing.

Enhancing the current midrange

architecture portfolio, this motion
system is designed to connect and
operate with the CompactLogix™
5380 controllers by using the Studio
5000 Logix Designer® application (version 33.00 or later) and supporting
Integrated Motion on the EtherNet/IP network. With the benefits of this
motion system, you can run motion applications on a single control platform
by using a single network—simplifying the design, operation, and
maintenance of equipment.

Kinetix 5300 Servo Drive The Kinetix 5300 servo drive provides the following features:
Features • High performance in a smaller footprint and optimized power density
• Single-axis operation for low-cost simplicity
• Integrated motion on the EtherNet/IP network (includes dual-port
Ethernet)
• Advanced tuning capabilities that provide tuningless operation, anti-
slosh, and anti-sway benefits
• Safe Torque Off control, ISO-13849-1 certified, PL d, category 3
• Offerings for: 100V, 200V, and 400V-class applications
• Kinetix TLP winding options that match the drive ratings for optimized
system sizing
- 0.05…7.5 kW motor rated output power
• Bulletin 2198 and Bulletin 2097 shunt resistor options for additional
energy absorption management
• Compatible with the following Allen-Bradley rotary motors

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 11

Chapter 1 Servo Drive and System Considerations

- Kinetix MPL, MPM, MPF, and MPS 200V and 400V-class servo motors
- Kinetix TLP 200V and 400V-class servo motors
- Kinetix TL and TLY 200V class servo motors
• Compatible with the following Allen-Bradley linear actuators
- LDAT-Series integrated linear thrusters with 200V or 400V operation
- Kinetix MPAS and MPMA integrated linear stages
- Kinetix MPAR and MPAI electric cylinders.
• Compatible with LDC-Series™ iron-core and LDL-Series™ ironless linear
motors
• Support for Induction Motors with open-loop frequency control and
closed-loop control
• Motor feedback connector kit (catalog number 2198-K53CK-D15M) with
15-pin connector plug for compatible motors and actuators. The kit
features battery backup for Kinetix TLP, TL, and TLY multi-turn encoders

Kinetix 5300 Servo Drive Kinetix 5300 servo drive systems consist of these required components:
Components • Any Logix controller (version 33.00 or later) with motion and EtherNet/IP
capability
• One 2198-Cxxxx-ERS servo drive
• One Kinetix TLP servo motor, or other compatible Allen-Bradley motor/
actuator, or induction motor
• 2090-series motor cables for power, feedback, and brake connections
• One 1606-XLxxx 24V power supply for control and motor brake power
• 1585J-M8CBJM-x (shielded) Ethernet cables

Kinetix 5300 servo drive systems can also include any of these optional
components:
• One Bulletin 2198 AC line filter (required to meet CE)
• One 2097-Rx or 2198-Rxxx shunt resistor
• Bulletin 2198 24V shared-bus connection system
• One 2198-K53CK-D15M feedback connector kit for flying lead cables or
battery backup

For detailed Kinetix 5300 servo drive system requirements, see the Kinetix
5300 Drive Systems Design Guide, publication KNX-RM0012.

Kinetix 5300 Servo Drive For Kinetix 5300 servo drive module specifications not included in this
Selection publication, see the Kinetix Servo Drives Technical Data,
publication KNX-TD003.

12 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Chapter 1 Servo Drive and System Considerations

Table 1 - Kinetix 5300 Servo Drive Output Power and Current

Continuous
Continuous Peak Output
Output
Cat. No. Frame Size Input Voltage (1) Output Power Current
Current
kW A (rms)
A (rms)
0.22 6.6
2198-C1004-ERS 1 0.46 2.8 9.5
0.72 9.5
85…132V rms
single-phase 0.36 9.7
2198-C1007-ERS 1 0.76 4.6 15.5
170…253V rms 1.18 15.5
single-phase 0.67 12.2
2198-C1015-ERS 2 1.41 8.5 20.5
170…253V rms 2.18 29.2
three-phase
0.97 25.0
2198-C1020-ERS 2 2.02 12.2 40.6
3.13 40.6
2198-C2030-ERS 2 5.02 19.6 61.0
170…253V rms
2198-C2055-ERS 3 10.30 40.2 108.0
three-phase
2198-C2075-ERS 3 12.22 47.7 127.5
2198-C4004-ERS 1 0.86 1.6 5.3
2198-C4007-ERS 1 1.55 2.9 9.3
2198-C4015-ERS 2 2.78 5.2 18.0
342…528V rms
2198-C4020-ERS 2 three-phase 3.90 7.3 23.8
2198-C4030-ERS 2 6.25 11.7 34.1
2198-C4055-ERS 3 12.08 22.6 58.5
2198-C4075-ERS 3 14.70 27.5 73.5
(1) Nominal input voltage rating (110, 230, or 480V rms) is required to achieve full power.

Communication The Ultra3000 servo drives use the Sercos interface network for
communication. A Sercos interface module serves as a link between the
ControlLogix/CompactLogix™ platform and the Ultra3000 servo drive system.
The Ultra3000 had the option to configure and program the application with
either RSLogix 5000 or Studio 5000 Logix Designer. It is possible to update the
RSLogix code from the Ultra3000 to work in Studio 5000 Logix Designer.
When migrating to the Kinetix 5300 servo drive, Studio 5000 Logix Designer
(version 33.00 or later) is required with a compatible controller.

For Ultra3000 Sercos drives, the communication link uses the IEC 61491 SErial
Real-time COmmunication System (Sercos) protocol over a fiber-optic media.

The Kinetix 5300 servo drives use the EtherNet/IP network for communicating
to either a ControlLogix or CompactLogix programmable automation
controller. All Kinetix 5300 servo drives include dual-port EtherNet/IP
connectivity with motion in a Studio 5000 Logix Designer application that is
version 33.00 or later.

Supported Ethernet topologies include linear, ring, and star.

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 13

Chapter 1 Servo Drive and System Considerations

For more information on Ethernet design considerations, see these

publications:
• Scalability - The Best Approach to Change, publication IA-WP002
• EtherNet/IP Design, Commissioning, and Troubleshooting Quick
Reference, publication IASIMP-QR023
• Integrated Motion on EtherNet/IP Configuration Drawing with Notes,
publication IASIMP-QR019
• Integrated Motion on Sercos and EtherNet/IP Network – Analysis and
Comparison, publication MOTION-AT006
• See the Knowledgebase Technote: Qualifying Logic for MSO

See Appendix E for communication configurations.

Controller, Ethernet Cards, The following table lists the compatible hardware for Integrated Motion on
and Switches EtherNet/IP systems.
Table 2 - EtherNet/IP Compatible Hardware for Integrated Motion
Hardware Cat. No. Description
Integrated Motion on the EtherNet/IP network in
CompactLogix 5370, CompactLogix 5380, and CompactLogix
Bulletin 1769
Controllers 5480 controllers and Integrated Safety in Compact
Bulletin 5069 GuardLogix® 5370 controllers. Linear, Device Level Ring (DLR),
and star topology is supported.
1756-EN2T module EtherNet/IP network communication modules for use with
Ethernet 1756-EN2TR module ControlLogix 5570, ControlLogix 5580, GuardLogix 5570, and
Communication 1756-EN3TR module GuardLogix 5580 controllers. Linear, Device Level Ring (DLR),
1756-EN4TR module and star topology is supported.
Stratix® 8300 Layer 3 Modular Managed Ethernet Switches
Stratix 8000 Modular Managed Ethernet Switches
Ethernet Switches Stratix 6000 Fixed Managed Ethernet Switches
Stratix 5700 Managed Industrial Ethernet Switches
Stratix 2000 Unmanaged Ethernet Switches

Compatible Motors and Verify that your existing motor is compatible with the Kinetix 5300 servo drive
Actuators family. Kinetix 5300 servo drives are compatible with the following motors:
• Kinetix TLP servo motors
• Kinetix MP motors and actuators
• Kinetix TL and TLY servo motors
• LDAT-Series linear thrusters
• LDC-Series and LDL-Series linear motors
• Third-party and applicable Encompass partner permanent magnet and
induction motors. Refer to Motor Nameplate Datasheet Entry for
Custom Motor Applications, publication 2198-AT002 for more
information.

14 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Chapter 1 Servo Drive and System Considerations

Table 3 - Motor Feedback Device Options

Motor Feedback Device Option Feedback Type Description Feedback Connector

Applies to Kinetix MPL, MPM, MPF, MPS (-M/S or -V/E); Kinetix

Hiperface High-resolution MPAS (ballscrew), MPAR, MPAI, linear actuators; and LDAT-Series
single-turn and (- xDx) linear thrusters.
multi-turn,
Nikon absolute Applies to Kinetix TLP motors.
15-pin Motor
Motor Feedback Tamagawa Applies to Kinetix TL (-B) and TLY motors. Feedback (MFB)
Digital AqB
Applies to Kinetix MPL (-H) rotary motors, Kinetix MPAS (direct-
Digital AqB with UVW drive) linear actuators, LDAT-Series (-xBx) linear thrusters,
Incremental
Sine/Cosine Kinetix TLY (-H) servo motors, and Kinetix LDL-series™/
LDC-Series™ linear motors.
Sine/Cosine with UVW
Auxiliary Feedback and 20-pin Auxiliary
Digital AqB Incremental Applies to Digital AqB encoders.
Digital Input (1) Feedback Connector

(1) The auxiliary feedback connector allows configuration of Digital AqB as a load feedback device or a half-axis (feedback only).

Cable Lengths Verify that the feedback cable length in your current Ultra3000 servo drive
system does not exceed the maximum cable lengths for the Kinetix 5300 servo
drives. The maximum cable lengths for the Kinetix 5300 servo drives are:
• Ethernet cable lengths connecting drive-to-drive, drive-to-controller, or
drive-to-switch must not exceed 100 m (328 ft). Complete a careful
evaluation of your Ethernet media when using a CIP motion solution.
For more information, see Guidance for Selecting Cables for EtherNet/IP
Networks, publication ENET-WP007.
• Registration and digital input cables greater than 30 m (98.4 ft) must be
shielded.
• The length of the power and feedback cables for the Kinetix 5300 drives
cannot exceed 50 m (164 ft), although in some cases maximum cable
length is less. The maximum drive-to-motor power and feedback cable
length depends on the AC input power, motor type, and feedback type.

For more information on cable lengths, see Appendix C and Drive

Interconnects and Cable Considerations on page 32.

Physical Dimensions The physical sizes of the drive families are different (see Dimension
Comparison on page 21). In most cases, the Kinetix 5300 servo drives are
smaller and fit into the existing space of the compatible Ultra3000 drives;
however, you must verify the physical size of the Kinetix 5300 servo drive.

Control and Auxiliary Power The control and auxiliary power feature lets the drive 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).

The Ultra3000 servo drives (2098-DSD-005, -010, and -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 board with 24V to 5V DC converter (2090-
U3CBB-DM12).

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 15

Chapter 1 Servo Drive and System Considerations

All other Ultra3000 servo drives have other auxiliary power requirements. See
Appendix C, Control and Auxiliary Specifications, for more information.

The Kinetix 5300 servo drive requires 24V DC input power for control circuitry.
You must review your control power scheme including 24V power supply
requirements. See Appendix C for more information on control power
specifications.
Table 4 - Control Power Input Power Specifications
Attribute Frame 1 Frame 2 Frame 3
Input voltage 21.6…26.4V DC
Control power AC input current
Nom @ 24V DC (1) 400 mA 900 mA 1.7 A
Inrush, max 1.8 A 2.4 A 3.0 A
(1) Plus motor brake connector (MBRK+) current.

Circuit Protection Sizing for protective devices, such as fuses and circuit breakers, can be
different between Ultra3000 servo drives and Kinetix 5300 servo drives. Verify
that you have chosen the correct sizes when selecting and installing a Kinetix
5300 servo drive. For more information, see Circuit Breaker and Fuse
Considerations.

Control Signals Digital Inputs – The Ultra3000 servo drive includes six digital inputs. They are
Enable, Home, Reg1, Reg2, OT+, and OT-. All Ultra3000 drives require an
isolated external 12-24V power supply for proper operation of the digital I/O.
The Kinetix 5300 includes four configurable digital inputs available for the
machine interface on the digital input connector and six configurable
functions to choose from in the Studio 5000 Logix Designer® application
(version 33.00 or later). Configurable functions are Enable, Home, Registration
1, Registration 2, Positive Overtravel, and Negative Overtravel. Digital inputs
require a 24V DC @ 15 mA supply. These are sinking inputs that require a
sourcing device. A common and cable shield connection is provided on the
connector for digital inputs.

Digital Outputs – The Ultra3000 servo drive includes one digital output (Drive
Ready) and one relay output (brake).

Motor Brake – The brake option is a spring-set holding brake that releases
when voltage is applied to the brake coil in the motor.

The Ultra3000 servo drive includes a relay output which can be used for motor
brake control. On Sercos drives, relay output pins CN1-43 and CN1-44 are
dedicated to motor brake control. The Ultra3000 requires a customer-supplied
24V power supply to drive the motor parking-brake through a relay.

The Kinetix 5300 servo drive has a dedicated motor brake circuit which can be
wired directly to a motor brake rated 2.25A and below, or it can be used to drive
an interposing relay. Motor power and brake connections are made at the
motor power and motor brake power connectors on the front of the drive.

16 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Chapter 1 Servo Drive and System Considerations

The solid-state brake circuit provides current-overload protection and brake

overvoltage protection.

When replacing a Ultra3000 with a Kinetix 5300, do not wire a customer

supplied power supply to the motor brake circuit of the Kinetix 5300 drive.
Instead, either wire the motor brake circuit directly to the motor brake, or use
the 24V supplied by the Kinetix 5300 motor brake connector to drive an
interposing relay.

Aux Feedback Port – The Kinetix 5300 drives support auxiliary feedback
signals from TTL incremental feedback devices on the 20-pin digital inputs
connector and auxiliary feedback connector.

Motor feedback and auxiliary feedback can be used in the following

applications:
• Motor feedback
• Feedback-only axis (leader-follower applications)

Load feedback (dual-loop control)

Safe Torque Off Safety Kinetix 5300 servo drives are capable of safely turning off the inverter power
Features transistors in response to a monitored digital input, according to Category 0
Stop behavior. These drives support parallel input terminals for cascading to
adjacent drives over duplex wiring. The hardwired STO function meets the
requirements of Performance Level d PL (d) and safety category 3 (CAT 3) per
ISO 13849-1 and SIL CL2 per IEC 61508, IEC 61800-5-2, and IEC 62061.

For applications that do not require the safety function, you must install
jumper wires to bypass the Safe Torque Off feature.

For the Safe Torque Off connector pinout, installation, and wiring
information, see the related chapter in the Kinetix 5300 Servo Drives User
Manual, publication 2198-UM005.

Drive Accessories Ultra3000 servo drive accessories include the drive-mounted breakout boards,
panel-mounted breakout boards, 2090 AC line filters, 2090 shunt modules,
resistive brake module (RBM), and external auxiliary encoders.

The AC line filters required to meet CE compliance for Kinetix 5300 are
different than those needed by the Ultra3000. Kinetix 5300 servo drive
accessories include AC line filters and Bulletin 2097 and 2198 external shunt
resistors. See Accessories on page 41.

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 17

Chapter 1 Servo Drive and System Considerations

Notes:

18 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Chapter 2

Servo Drive and System Comparisons

There are a number of different factors that affect the selection of a

replacement servo drive and the system redesign effort. They include the
following:
• Drive Replacement
• Dimension Comparison
• AC Input Power Wiring and Fusing
• Interconnects and Cabling
• Typical System Layout
• Accessories

This chapter provides a side-by-side comparison of both servo drive families to

help in the evaluation and selection of the correct components in the
migration process.

Drive Replacement This section lists the Ultra™ 3000 servo drives and the suggested Kinetix® 5300
replacement servo drives, along with the output ratings and dimension
differences of the drives. Information in this migration guide is based on the
drive combinations shown.

Output Current Comparison

IMPORTANT The performance capabilities of the replacement drive should be
reviewed to ensure that the replacement drive delivers the required level
of peak and continuous current to the motor.

Table 5 - Ultra3000 Drives by Output Current

Ultra3000 Servo Drive
Voltage Range Continuous
Cat. No. Vrms Voltage nom Output Current Peak Output Current
Arms (A0-Pk) Arms (A0-Pk)

88...265, single-phase,
2098-DSD-005 1.8 (2.5) 5.3 (7.5)
single-phase 110V or 230V
88...265, single-phase,
2098-DSD-010 3.5 (5.0) 10.6 (15.0)
single-phase 110V or 230V
88...265, single-phase,
2098-DSD-020 7.1 (10.0) 21.2 (30.0)
single-phase 110V or 230V
88...265, single-phase,
2098-DSD-030 10.6 (15.0) 21.2 (30.0)
single-phase 110V or 230V
88...265, three-phase,
2098-DSD-075 24.7 (35.0) 53.0 (75.0)
three-phase 110V or 230V

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 19

Chapter 2 Servo Drive and System Comparisons

Table 5 - Ultra3000 Drives by Output Current (Continued)

Ultra3000 Servo Drive
Continuous
Voltage Range Peak Output Current
Cat. No. Voltage nom Output Current A (A )
Vrms rms 0-Pk
Arms (A0-Pk)
88...265, three-phase,
2098-DSD-150 45.9 (65.0) 106.1 (150.0)
three-phase 110V or 230V
207...528, three-phase,
2098-DSD-HV030 5.0 (7.0) 9.9 (14.0)
three-phase 230V or 480V
207...528, three-phase,
2098-DSD-HV050 7.8 (11.0) 15.6 (22.0)
three-phase 230V or 480V
207...528, three-phase,
2098-DSD-HV100 16.3 (23.0) 32.5 (46.0)
three-phase 230V or 480V
207...528, three-phase,
2098-DSD-HV150 24.0 (34.0) 48.1 (68.0)
three-phase 230V or 480V
207...528, three-phase,
2098-DSD-HV220 33.2 (47.0) 66.5 (94.0)
three-phase 230V or 480V

Table 6 - Kinetix 5300 Servo Drives by Output Current

Kinetix 5300 Servo Drive
Continuous Peak Output
Output Current Current
Cat. No. Voltage Range Voltage nom
Arms A rms
(A0-Pk) (A0-Pk)
2198-C1004-ERS 2.8 (4.0) 6.6 (13.4)
2198-C1007-ERS 4.6 (6.5) 9.7 (21.9)
85…132V single-phase, 110V
2198-C1015-ERS 8.5 (11.7) 12.2 (41.3)
2198-C1020-ERS 12.2 (17.3) 25.0 (57.4)
2198-C1004-ERS 2.8 (4.0) 9.5 (13.4)
2198-C1007-ERS 4.6 (6.5) 15.5 (21.9)
170…253V single-phase, 230V
2198-C1015-ERS 8.5 (12.0) 20.5 (41.3)
2198-C1020-ERS 12.2 (17.3) 40.6 (57.4)
2198-C1004-ERS 2.8 (4.0) 9.5 (13.4)
2198-C1007-ERS 4.6 (6.5) 15.5 (21.9)
170…253V three-phase, 230V
2198-C1015-ERS 8.5 (12.0) 29.3 (41.3)
2198-C1020-ERS 12.2 (17.3) 40.6 (57.4)
2198-C2030-ERS 19.6 (27.7) 60.1 (86.3)
2198-C2055-ERS 170…253V three-phase, 230V 40.2 (56.9) 108.0 (152.7)
2198-C2075-ERS 47.7 (67.5) 127.5 (180.3)
2198-C4004-ERS 1.5 (2.1) 5.1 (7.2)
2198-C4007-ERS 2.9 (4.1) 9.3 (13.2)
2198-C4015-ERS 5.2 (7.4) 18.0 (25.5)
2198-C4020-ERS 342…528V three-phase, 480V 7.3 (10.3) 23.8 (33.7)
2198-C4030-ERS 11.7 (16.5) 34.1 (48.3)
2198-C4055-ERS 22.6 (32.0) 58.5 (82.7)
2198-C4075-ERS 27.5 (38.9) 73.5 (103.9)

20 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Chapter 2 Servo Drive and System Comparisons

Dimension Comparison The following table provides a comparison of the dimensions of the drives.
Table 7 - Suggested Kinetix 5300 Replacement Drives by Dimensions
Ultra3000 Servo Drive (with Sercos) Kinetix 5300 Servo Drive Dimension Differences
Height Width Depth Height Width Depth Height (2) Width (2) Depth (2)
Model Model
mm (in) mm (in) mm (in) mm (in) mm (in) mm (in)(1) mm (in) mm (in) mm (in)
2098-DSD-005 95.5 (3.76) 2198-C1004-ERS 16.88 (0.66) -45.5 (-1.79) 120.73 (4.75)
2098-DSD-010 198.12 (7.8) 144.27 (5.68) 2198-C1007-ERS 16.88 (0.66) -71.54 (-2.82) 120.73 (4.75)
121.54 (4.79) 215 (8.46) 50 (1.97)
2098-DSD-020 2198-C1015-ERS 16.88 (0.66) -71.54 (-2.82) 120.73 (4.75)
2098-DSD-030 91.44 (3.6) 243.84 (9.6) 2198-C1020-ERS -145.7 (-5.74) -41.44 (-1.63) 21.16 (0.83)
2198-C2030-ERS
2098-DSD-075 138.68 (5.41) 247.14 (9.73) -95.7 (-3.77) -83.68 (-3.25) 17.86 (0.7)
2198-C2055-ERS
2198-C2055-ERS
2098-DSD-150 188.97 (7.44) 241.05 (9.49) -95.7 (-3.77) -133.97 (-5.28) 23.95 (0.94)
2198-C2075-ERS 265 (10.43)
2098-DSD-HV030 2198-C4015-ERS -95.7 (-3.77) -133.97 (-5.28) 23.95 (0.94)
360.7 (14.2) 138.7 (5.46) 265 (10.43) 55 (2.16)
2098-DSD-HV050 2198-C4020-ERS -95.7 (-3.77) -83.7 (-3.3) 22.8 (0.89)
2198-C4030-ERS
2098-DSD-HV100 -95.7 (-3.77) -96.6 (-3.81) 22.8 (0.89)
242.2 (9.54) 2198-C4055-ERS
151.6 (5.97)
2198-C4055-ERS
2098-DSD-HV150 -95.7 (-3.77) -96.6 (-3.81) 22.8 (0.89)
2198-C4075-ERS
2098-DSD-H220 203.2 (8.0) 2198-C4075-ERS 294 (11.57) 85.2 (3.35) -66.7 (-2.63) -118 (-4.65) 22.8 (0.89)
(1) Dimension includes the 2198-K53CK-D15M connector kit. Dimension without the connector kit is 204 mm (8.03 cm)
(2) A minus sign denotes that the height, width, or depth of the Kinetix 5300 servo drive is shorter, narrower, or shallower than the comparable Ultra3000 servo drive.

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 21

Chapter 2 Servo Drive and System Comparisons

Dimension Drawings

This section provides drive dimensions to assist you in determining the space
that is needed to install the drives.

Ultra3000 (240V) Drive 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 (240V) Dimensions (Catalog number 2098-DSD-xxx-SE)

A 129.03
38.1 C (5.08)
(1.5)

186.18 165.1 198.12

(7.33) (6.5) (7.8)

E 144.27
(5.68)
F
Dimensions are in mm (in.)

Table 8 - Ultra3000 (240V) Dimensions 2098-DSD-xxx-SE

Ultra3000 A C E F
Servo Drive Cat. No. mm (in.) mm (in.) mm (in.) mm (in.)
95.5
2098-DSD-005-SE
87.88 24.64 43.94 (3.76)
2098-DSD-010-SE (3.46) (0.97) (1.73) 121.54
2098-DSD-020-SE (4.79)

22 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Chapter 2 Servo Drive and System Comparisons

In Figure 3, -xxx is replaced by -030, -075, or -150 to represent the Ultra3000

3 kW, 7.5 kW, and 15 kW drives respectively.

Figure 3 - Ultra3000 (240V) Dimensions (Catalog number 2098-DSD-xxx-SE)

A
B 227.08
C (8.94)

349.25 360.68
(13.75) (14.2)
331.47
(13.05)

C
B J

Dimensions are in mm (in.)

Table 9 - Ultra3000 (240V) Dimensions 2098-DSD-xxx-SE

Ultra3000 A B C J
Servo Drive Cat. No. mm (in.) mm (in.) mm (in.) mm (in.)
91.44 50.8 20.32 243.84
2098-DSD-030-SE (3.6) (2.0) (0.8) (9.6)
138.68 88.9 24.89 247.14
098-DSD-075-SE (5.41) (3.5) (0.96) (9.73)
188.97 139.7 24.6 241.05
2098-DSD-150-SE (7.44) (5.5) (0.97) (9.49)

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 23

Chapter 2 Servo Drive and System Comparisons

Ultra3000 (460V) Drive Dimensions

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

Figure 4 - Ultra3000 (460V) Dimensions (Catalog number 2098-DSD-HVxxx-SE)

A
225.8
B B C (8.89)

D H
I

B B C 242.2
(9.54)

Dimensions are in mm (in.)

Table 10 - Ultra3000 (460V) Dimensions 2098-DSD-HVxxx-SE

Ultra3000 A B C D H I
Servo Drive Cat. No. mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.)
2098-DSD-HV030-SE 138.7 18.5
2098-DSD-HV050-SE 5.46) 50.8 (0.73) 349.3 331.5 360.7
2098-DSD-HV100-SE 151.6 (2.0) 25 (13.75) (13.05) (14.2)
2098-DSD-HV150-SE (5.97) (0.99)
203.2 76.2 25.4 380.4 362.6 391.8
2098-DSD-HV220-SE (8.0) (3.0) (1.0) (14.98) 14.26) (15.43)

24 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Chapter 2 Servo Drive and System Comparisons

Kinetix 5300 Servo Drive Dimensions

Dimensions are in mm (in.)

2198-K53CK-D15M
Feedback Connector Kit 2198-K53CK-D15M
2

1 Mounted on Frame 1 Drive E Feedback Connector Kit

B Mounted on a Frame 2 or 3 Drive
1
Frame 1 Servo Drive

10
U

65.0
(2.56)
MBRK

3.0 265
(0.12) 65.0 C (10.43)
A
(2.56) D

Table 11 - Kinetix 5300 Servo Drive Dimensions

Drill Hole Patterns(1)
Kinetix 5300 Drive Frame A B C D E
Cat. No. mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) F G
mm mm
2198-C1004-ERS
2198-C1007-ERS
1 50 (1.97) 175 (6.89) 215 (8.46) 193.68 4.51
2198-C4004-ERS
2198-C4007-ERS
2198-C1015-ERS
2198-C1020-ERS
2198-C2030-ERS
2 55 (2.16) 225 (8.86) 204 (8.03) 265 (10.43) 265 (10.43) 243.84 5.00
2198-C4015-ERS
2198-C4020-ERS
2198-C4030-ERS
2198-C2055-ERS
2198-C2075-ERS
3 85.2 (3.35) 250 (9.84) 294 (11.57) 273.70 0.0
2198-C4055-ERS
2198-C4075-ERS
(1) Hole spacing is measured in millimeters and not converted to inches to avoid errors due to rounding. Refer to Kinetix 5300
Single-axis EtherNet/IP Servo Drives User Manual, publication 2198-UM005.

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 25

Chapter 2 Servo Drive and System Comparisons

Figure 5 - Kinetix 5300 Drives with Connector Kit Accessories (Frames 2 and 3)

Dimensions are in mm (in.)

2198-K53CK-D15M Feedback
Connector Kit Mounted on
Kinetix 5300 Frame 2 Drive
2198-K53CK-D15M Feedback
Connector Kit Mounted on
Kinetix 5300 Frame 3 Drive
65.0
(2.56)

265
(10.43)
65.0
(2.56)

265
(10.43)
2090-CTFB-MxDD
Feedback Cable

Frame 3 clamping plate for

large diameter cables. 100
(3.94)

300
(11.81)
80 Clearance required for drive-end cable
(3.15) connectors apply to all frame sizes.

2090-CFBM7DD-CEAxxx
Feedback Cable
(drive-end connector)

48
(1.89)

248
(9.76)

26 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Chapter 2 Servo Drive and System Comparisons

AC Input Power Cable This section provides information to assist you in determining the wiring and
Length and Fuse Protection fusing requirements of the drives.

AC Input Power Cable Lengths

In general, the recommended drive replacement should not require changes in

wiring length. However, the routing can need to change as the input power on
the Kinetix 5300 servo drive is located on the top of the drive, while the same
connection is located on the front of the Ultra3000 servo drive.

See Appendix A, Connectors and Field Connections for a comparison of the

Ultra3000 servo drive and Kinetix 5300 servo drive terminals.

Figure 6 - Ultra3000 Servo Drive Input Power Example

Three-phase Bulletin 2090 Active or Passive Shunt Module

Input Power (optional component)
Line ALLEN-BRADLEY
Shunt Module

Disconnect
R

BULLETIN 1394 300W SHUNT MODULE

CAT. PART SER.
INPUT DC INPUT AC
FOR FUSE REPLACEMENT USE:
BUSSMAN CAT. NO.
FOR USE WITH 1394-SJT22-X SYSTEM MODULE

Device

Input
Fusing
2098-DSD-xxxxx
Ultra3000 Drive
(2098-DSD-xxx-SE drive is shown)

2090-U3xBB-DMxx
Drive-mounted
2090-UXLF-xxx Breakout Board for I/O
AC Line Filter and Commands
(optional component) 1606-XLxxx Allen-Bradley

24V DC 1606-XL
Power Supply

Control Power
Input
Input Sensors and
Control Power Control String
Supply Input

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 27

Chapter 2 Servo Drive and System Comparisons

Figure 7 - Kinetix 5300 Servo Drive Input Power Example

Single-phase or
Three-phase
Input Power
Bonded Cabinet
Ground Bus
Line
Disconnect
Device

Circuit 2198-DBxx-F or

SH
DC+
Protection 2198-DBRxx-F 2198-Cxxxx-ERS Drive
AC Line Filter (top view)
(required for CE) 2097-Rx or 2198-Rxxxx
Mains AC Input Wired to Shunt Resistor
Standard Input Connector (optional component)

L3
L2
L1
24V DC Input Wired to
Standard Input Connector

24+ 24-
1606-XLxxx
SB+
SB-
S1
SC

24V DC Control, Digital Inputs,

S2

Allen-Bradley

and Motor Brake Power 1606-XL

Powe r S u p p l y

(customer-supplied)
Input

AC Input Power

Figure 8 - Typical Kinetix 5300 Installation without 24V Shared-bus Connectors

2198-Cxxxx-ERS Drives

SH
SH

(top view)

DC+
DC+

L3
L3

L2
L2

L1
L1

24V DC connector wiring (control power input)

to additional Kinetix 5300 servo drives.
24+ 24-

24+ 24-

SB+ SB+
SB- SB-

1606-XLxxx
S1 S1
SC SC
S2 S2

24V DC Control, Digital Inputs, Allen-Bradley

and Motor Brake Power

1606-XL
Power S u p p l y

(customer-supplied) Input

AC Input Power

28 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Chapter 2 Servo Drive and System Comparisons

Figure 9 - Kinetix 5300 Installation with 24V Shared-bus Connectors

Single-phase or
Three-phase Bonded Cabinet
Input Power Ground Bus
Line
Disconnect 2198-DBxx-F or
Device 2198-DBRxx-F
AC Line Filter
(required for CE)

Circuit
Protection

SH
SH
2198-DBxx-F or

DC+
DC+
2198-DBRxx-F
AC Line Filter
(required for CE)
Mains AC Input
Wiring Connectors

L3
L3

L2
L2

L1
L1
Circuit
Protection Shared 24V (control power input)
SB+ SB+ 2097-Rx or 2198-Rxxxx
2198-Cxxxx-ERS Drives Shunt Resistor
SB- SB-

1606-XLxxx
S1 S1
SC SC
S2 S2

24V DC Control, Digital Inputs, Allen-Bradley (top view) (optional component)

1606-XL

and Motor Brake Power

Power Supply

(customer-supplied) Input

AC Input Power

2198-H0x0-x-x shared-bus connection

system for 24V bus-sharing configurations.

2198-Cxxxx-ERS Drives 2 2

(front view)
1 1

10 10

1 1
U U

V V

W W

MBRK MBRK
MFB MFB

Bulletin 2090
Motor Power Cables

Motors
Refer to Table 42
Bulletin 2090
Motor Feedback Cables

Motors
Refer to Table 42

Circuit Breaker and Fuse Considerations

Review the fusing requirements when changing drives.

An Ultra3000 servo drive system must be protected by a device having a short-

circuit interrupt current rating of the service capacity provided or a maximum
of 100,000 A.
Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 29
Chapter 2 Servo Drive and System Comparisons

The Kinetix 5300 servo drives use internal solid-state motor short-circuit
protection and, when protected by suitable branch circuit protection, are rated
for use on a circuit capable of delivering up to 200,000 A (fuses, UL
applications), 10,000 A (miniature circuit breakers), or 65,000 A (molded-case
circuit breakers).

See the Kinetix 5300 Servo Drives User Manual, publication 2198-UM005 for
the wiring diagrams.

ATTENTION: Do not use circuit protection devices on the output of an AC

drive as an isolating disconnect switch or motor overload device. These
devices are designed to operate on sine-wave voltage and the drives PWM
waveform does not allow it to operate properly. As a result, damage to the
device occurs.

Make sure that the selected components are properly coordinated and meet
acceptable codes including any requirements for branch circuit protection.
Evaluation of the short-circuit available current is critical and must be kept
below the short-circuit current rating of the circuit breaker.

Ultra3000 Servo Drive Main Input Power Fuse and Circuit Breaker Specifications

The Ultra3000 could have used class CC, G, J, L, R, or T class fuses, with current
ratings as indicated in the table. Table 12 lists fuse examples that are
recommended for use with the Ultra3000 (230V and 460V) drives.

Table 12 - Ultra3000 Servo Drive Main Input Power Fuse and Circuit Breaker Specifications
Recommended Fuse
Ultra3000 Sercos Input Voltage Type
Servo Drive Cat. No. Voltage
Class CC (1) Class J (1)
2098-DSD-005 FNQ-R-6 LPJ-6SP
2098-DSD-010 FNQ-R-10 LPJ-10SP
2098-DSD-020 FNQ-R-20 LPJ-20SP
Input Power
2098-DSD-030 240V FNQ-R-30 LPJ-30SP
2098-DSD-075 FNQ-R-30 LPJ-30SP
2098-DSD-150 — LPJ-60SP
2098-DSD-xxx Auxiliary Input Power FNQ-R-10 LPJ-10SP
2098-DSD-HV030 KTK-R-5 LPJ-5SP
2098-DSD-HV050 KTK-R-8 LPJ-8SP
2098-DSD-HV100 Input Power KTK-R-20 LPJ-17-1/2SP
480V
2098-DSD-HV150 KTK-R-30 LPJ-30SP
2098-DSD-HV220 — LPJ-35SP
2098-DSD-HVxxx Auxiliary Input Power FNQ-R-10 LPJ-10SP
(1) Bussmann Fuse

30 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Chapter 2 Servo Drive and System Comparisons

Table 13 lists circuit breaker examples recommended for use with the
Ultra3000 (460V) drives.

Table 13 - Ultra3000 (460V) Servo Drive Main Input Power Fuse and Circuit Breaker
Ultra3000 Sercos Input Circuit Breaker
Servo Drive Cat. No. Voltage
2098-DSD-HV030 140M-F8E-C16
2098-DSD-HV050 140M-F8E-C20
2098-DSD-HV100 480V 140M-F8E-C32
2098-DSD-HV150 140M-F8E-C45
2098-DSD-HV220 —

Kinetix 5300 Servo Drive Main Input Power Fuse and Circuit Breaker Specifications

The Kinetix 5300 servo drive fuse and circuit breaker selection are dependent
on input power configurations.

Table 14 - Kinetix 5300 UL/CSA Circuit Protection Specifications

Bussmann Fuses Molded Case CB
Drive Cat. No. AC Input Voltage, nom Cat. No. Cat. No.
2198-C1004-ERS KTK-R-6 140U-D6D3-B40
2198-C1007-ERS KTK-R-10 140U-D6D3-B80
2198-C1015-ERS KTK-R-15 140U-D6D3-C12
200…230V AC
2198-C1020-ERS KTK-R-25 140U-D6D3-C20
three-phase
2198-C2030-ERS KTK-R-30 140U-D6D3-C30
2198-C2055-ERS LPJ-50SP 140G-G6C3-C50
2198-C2075-ERS LPJ-60SP 140G-G6C3-C60
2198-C4004-ERS KTK-R-3 140U-D6D3-B20
2198-C4007-ERS KTK-R-6 140U-D6D3-B40
2198-C4015-ERS KTK-R-12 140U-D6D3-B80
380…480V AC
2198-C4020-ERS KTK-R-15 140U-D6D3-C12
three-phase
2198-C4030-ERS KTK-R-25 140U-D6D3-C15
2198-C4055-ERS LPJ-30SP 140U-D6D3-C30
2198-C4075-ERS LPJ-35SP 140U-D6D3-C30
2198-C1004-ERS KTK-R-6 140U-D6D2-B40
2198-C1007-ERS 100…120V AC KTK-R-10 140U-D6D2-B80
2198-C1015-ERS single-phase KTK-R-15 140U-D6D2-C12
2198-C1020-ERS KTK-R-25 140U-D6D2-C20
2198-C1004-ERS KTK-R-6 140U-D6D2-B40
2198-C1007-ERS 200…230V AC KTK-R-10 140U-D6D2-B80
2198-C1015-ERS single-phase KTK-R-15 140U-D6D2-C12
2198-C1020-ERS KTK-R-25 140U-D6D2-C20

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 31

Chapter 2 Servo Drive and System Comparisons

Table 15 - Kinetix 5300 IEC (non-UL/CSA) Circuit Protection Specifications

AC Input Voltage, DIN gG Fuses Miniature CB Molded Case CB
Drive Cat. No. nom Amps, max Cat. No. Cat. No.
2198-C1004-ERS 6 1489-M3C060 140U-D6D3-B40
2198-C1007-ERS 10 1489-M3C100 140U-D6D3-B80
2198-C1015-ERS 16 1489-M3C160 140U-D6D3-C12
200…230V AC
2198-C1020-ERS 25 1489-M3C250 140U-D6D3-C20
three-phase
2198-C2030-ERS 32 1489-M3C400 140U-D6D3-C30
2198-C2055-ERS 40 – 140G-G6C3-C50
2198-C2075-ERS 50 – 140G-G6C3-C60
2198-C4004-ERS 2 1489-M3C030 140U-D6D3-B20
2198-C4007-ERS 6 1489-M3C060 140U-D6D3-B40
2198-C4015-ERS 12 1489-M3C100 140U-D6D3-B80
380…480V AC.
2198-C4020-ERS 16 1489-M3C130 140U-D6D3-C12
three-phase
2198-C4030-ERS 25 1489-M3C200 140U-D6D3-C15
2198-C4055-ERS 32 1489-M3C350 140U-D6D3-C30
2198-C4075-ERS 32 1489-M3C400 140U-D6D3-C30
2198-C1004-ERS 6 1489-M2C060 140U-D6D2-B40
2198-C1007-ERS 100…120V AC 10 1489-M2C100 140U-D6D2-B80
2198-C1015-ERS single-phase 16 1489-M2C160 140U-D6D2-C12
2198-C1020-ERS 25 1489-M2C250 140U-D6D2-C20
2198-C1004-ERS 6 1489-M2C060 140U-D6D2-B40
2198-C1007-ERS 200…230V AC 10 1489-M2C100 140U-D6D2-B80
2198-C1015-ERS single-phase 16 1489-M2C160 140U-D6D2-C12
2198-C1020-ERS 25 1489-M2C250 140U-D6D2-C20

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

Ultra3000 Servo Drives Motor/Actuator and Cable Compatibility

See Table 16 for the catalog number of the motor power cable for your
Ultra3000 servo drive.

32 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Chapter 2 Servo Drive and System Comparisons

Table 16 - Ultra3000 Servo Drive Motor Power and Feedback Cables

Motor Motor Power Cables Feedback Cables
MPL-A/Bxxxx-V/E
MPL-A/Bxxxx-S/M
2090-CFBM7DF-CEAAxx
MPM-A/Bxxxx-S/M 2090-CFBM7DD-CEAAxx
MPF-A/Bxxxx-S/M 2090-CFBM7DF-CERAxx (standard) or
MPS-A/Bxxxx-S/M 2090-CFBM7DF-CEAFxx
MPAR-A/Bxxxxx-V 2090-CFBM7DD-CEAFxx
MPAI-A/Bxxxxx 2090-CFBM7DF-CDAFxx (continuous-flex)
2090-CPxM7DF-xxAAxx / xxAFxx
MPAS-A/Bxxxxx-V (ballscrew)
MPL-A/Bxxxx-H
MPAS-A/Bxxxx-ALM (direct drive) 2090-XXNFMF-Sxx (standard) or
2090-CFBM7DF-CDAFxx (continuous-flex)
LDC-Cxxxxxx-xH
LDL-xxxxxxx-xH
TLY-Axxxx-B 2090-CPWM6DF-16AAxx
(standard, non-flex) without brake 2090-CFBM6DF-CBAAxx (standard)
TLY-Axxxx-H 2090-CPBM6DF-16AAxx 2090-CFBM6DD-CCAAxx (standard)
(standard, non-flex) with brake

Ultra3000 Servo Drive Feedback Connector

Factory-made cables with premolded connectors are designed to minimize

EMI and are recommended over hand-built cables to improve system
performance. However, other options are available for building your own
feedback and I/O cables. See Table 17 for the available options.

Table 17 - Ultra3000 Feedback Connectors

Drive Connector Connector Option Option Cat. No.
44-pin drive-mounted breakout board with 24V to 5V auxiliary 2090-U3CBB-DM44
power converter
12-pin drive-mounted breakout board with 24V to 5V auxiliary 2090-U3CBB-DM12
power converter for Sercos interface applications
44-pin panel-mounted breakout board kit 2090-U3BK-D44xx
CN1
I/O Connector 44-pin, drive-mounted breakout board 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 2090-U3CC-D44xx
card
Two-axis pre-wired to 1756-M02AE module 2090-U3AE-D44xx
Premolded cable at drive and motor end 2090-UXNFBxx-Sxx

CN2 15-pin drive-mounted breakout board 2090-UXBB-DM15

Feedback Flying lead cable at 15-pin panel-mounted breakout board kit 2090-UXBK-DM15xx
Connector drive end
(2090-XXNFxx-Sxx) 15-pin (high-density D-shell) drive 2090-UXCK-D15
connector kit
PC serial connector to premolded drive connector 2090-UXPC-DM09
CN3 9-pin drive-mounted breakout board 2090-UXBB-DM09
Serial Connector
9-pin (high-density D-shell) drive connector kit 2090-UXCK-D09

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 33

Chapter 2 Servo Drive and System Comparisons

See Table 18 for catalog numbers of the legacy motor power and feedback
cables that are available for specific motor/feedback combinations.
Table 18 - Ultra3000 Legacy Motor Power and Feedback Cables
Motor Power Cables Feedback Cable
Using this Type of Motor
Motor Series When Universal Cable are
Feedback Available Cables not Available Premolded Flying Lead (1)

2090-XXNPHF-16Sxx 2090-UXNPAHF-10Sxx
F-Series 2090-XXNPHF-14Sxx 2090-UXNPAHF-8Sxx
2090-UXNPAHF-10Sxx 2090-UXNFBHF-Sxx 2090-XXNFHF-Sxx
2090-XXNPH-16Sxx
H-Series Incremental encoder 2090-UXNPAHF-8Sxx
2090-XXNPHF-14Sxx 2090-UXNPAH-6Sxx
N-Series 2090-XXNPN-16Sxx — 2090-UXNFBN-Sxx 2090-XXNFN-Sxx
Y-Series 2090-XXNPY-16Sxx — 2090-UXNFBY-Sxx 2090-XXNFY-Sxx
(1) Requires 2090-UXBB-DM15 drive-mounted breakout board, 2090-UXBK-D15xx breakout board kit, or 2090-UXCK-D15 mating connector kit.

Kinetix 5300 Servo Drives Servo Motor/Actuator and Cable

Compatibility

Most compatible Allen-Bradley® motors and actuators have separate power/

brake and feedback cables. Some Kinetix TLP and TL motors have separate
brake cables too. The motor power/brake cable shield attaches to the cable
clamp on the drive and the conductors attach to the motor power and motor
brake connector plugs.

IMPORTANT The maximum drive-to-motor power and feedback cable length depends
on the AC input power, motor type, and feedback type. Drive-to-motor
cables must not exceed 50 m (164 ft). See the Kinetix 5300 Servo Drives
User Manual, publication 2198-UM005 for specifications by frame size.

Table 19 - Kinetix TLP Motor and Cable Combinations

Rotary Motor (200V-class) (1) Motor Power/Brake Cable Feedback Cable Cat. No. Brake Cat. No.
Cat. No.
TLP-A046-xxx, 2090-CTFB-MADD-CFAxx
TLP-A070-xxx, 2090-CTPx-MADF-18Axx (standard) or (standard) or
TLP-A090-xxx, (2) 2090-CTPx-MADF-18Fxx (continuous-flex) 2090-CTFB-MADD-CFFxx
TLP-A100-xxx (continuous-flex)
TLP-A115-100, (3) 2090-CTPx-MCDF-16Axx (standard) or
TLP-A145-050, TLP-A145-100 2090-CTPx-MCDF-16Fxx (continuous-flex) Not applicable. Brake
conductors are included in
TLP-A115-200, 2090-CTPx-MCDF-12Axx (standard) or the power cable.
TLP-A145-090, TLP-A145-150, TLP-A145-250 2090-CTPx-MCDF-12Fxx (continuous-flex)
2090-CTPx-MDDF-12Axx (standard) or 2090-CTFB-MFDD-CFAxx
TLP-A200-200, TLP-A200-300, TLP-A200-350 (4) 2090-CTPx-MDDF-12Fxx (continuous-flex) (standard) or
2090-CTFB-MFDD-CFFxx
2090-CTPx-MDDF-08Axx (standard) or (continuous-flex)
TLP-A200-450 2090-CTPx-MDDF-08Fxx (continuous-flex)
2090-CTBK-MBDF-20Axx
2090-CTPW-MEDF-06Axx (standard) or (standard) or
TLP-A200-550, TLP-A200-750 (5) 2090-CTPW-MEDF-06Fxx (continuous-flex) 2090-CTBK-MBDF-20Fxx
(continuous-flex)
(1) The TLP-A046…TLP-A100 frame on-motor cables include 18 AWG conductors that are compatible with 2090-CTPx-MADF-18xxx cable conductors.
(2) For TLP-A090-xxx motors, use 2090-CTPx-MADF-16xxx motor power/brake cable to comply with NFPA 79 requirements.
(3) For TLP-A115-100 motors, use 2090-CTPx-MCDF-12xxx motor power/brake cable to comply with NFPA 79 requirements.
(4) For TLP-A200-350 motors, use 2090-CTPx-MDDF-08xxx motor power/brake cable to comply with NFPA 79 requirements.
(5) Only these motors have separate brake connectors and brake cables. All other motors have brake wires included with the motor power/brake connector.

34 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Chapter 2 Servo Drive and System Comparisons

Table 20 - Kinetix MP, LDAT-Series, LDC/LDL-Series™ Motor Power Cable Compatibility

Motor/Actuator Motor Power Cat. No. (1) Motor Power Cat. No. (1)
Cat. No. (with brake wires) (without brake wires)
MPL-A/B15xxx-xx7xAA, MPL-A/B2xxx-xx7xAA,
MPL-A/B3xxx-xx7xAA, MPL-A/B4xxx-xx7xAA,
MPL-A/B45xxx-xx7xAA, MPL-A/B5xxx-xx7xAA,
MPL-B6xxx-xx7xAA
2090-CPBM7DF-xxAAxx (standard) or
MPM-A/Bxxxx, MPF-A/Bxxxx, MPS-A/Bxxxx 2090-CPBM7DF-xxAFxx (continuous-flex)
MPAS-A/Bxxxx1-V05SxA,
MPAS-A/Bxxxx2-V20SxA 2090-CPWM7DF-xxAAxx (standard) or
MPAI-A/Bxxxx, MPAR-A/B3xxx, 2090-CPWM7DF-xxAFxx (continuous-flex)
MPAR-A/B1xxx, and MPAR-A/B2xxx (series B)
MPAS-Bxxxxx-ALMx2C
LDAT-Sxxxxxx-xDx
LDAT-Sxxxxxx-xBx —
LDC-Cxxxxxx
LDL-xxxxxxx
(1) See the Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004, for cable specifications.

Table 21 - Kinetix TL and TLY Motor Power/Brake Cable Compatibility

Motor/Actuator Motor Power Cat. No. (1) Motor Power Cat. No. (1)
Cat. No. Brake Cat. No. (1)
(with brake wires) (without brake wires)
Not applicable. Brake conductors are
TLY-Axxxx 2090-CPBM6DF-16AAxx (standard) 2090-CPWM6DF-16AAxx (standard) included in the power cable.
TL-Axxxx – 2090-DANPT-16Sxx 2090-DANBT-18Sxx
(1) See the Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004, for cable specifications.

See Kinetix 5300 Servo Drives User Manual, publication 2198-UM005 for motor
power and brake connector specifications.

Table 22 - Legacy Motor Power Cables

Motor Cable Description Motor Power Cat. No.
Power/brake, threaded 2090-XXNPMF-xxSxx
Standard
Power-only, bayonet 2090-XXNPMP-xxSxx
Power/brake, threaded 2090-CPBM4DF-xxAFxx
Continuous-flex Power-only, threaded 2090-CPWM4DF-xxAFxx
Power-only, bayonet 2090-XXTPMP-xxSxx

Table 23 - Induction Motor Power Cable Specifications

Cable Manufacturer Cable Series Voltage Rating Temperature Rating Cable Length, max
Belden 29505-29507
Lapp Group ÖLFEX VFD XL 1000V 90 °C (194 °F) 50 m (164 ft)
SAB VFD XLPE TR

All of the current and legacy feedback cables listed below are compatible with
the 2198-K53CK-D15M connector kit.

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 35

Chapter 2 Servo Drive and System Comparisons

Table 24 - Motor Feedback Cable Compatibility

Motor/Actuator Feedback Cable
Cat. No. Cat. No.
MPL-A/B15xxx-V/Ex7xAA, MPL-A/B2xxx-V/Ex7xAA
MPL-A/B3xxx-S/Mx7xAA, MPL-A/B4xxx-S/Mx7xAA
MPL-A/B45xxx-S/Mx7xAA, MPL-A/B5xxx-S/Mx7xAA
MPL-B6xxx-S/Mx7xAA, MPL-B8xxx-S/Mx7xAA,
MPL-B9xxx-S/Mx7xAA
2090-CFBM7DF-CEAAxx
MPM-A/Bxxxx-S/M 2090-CFBM7DD-CEAAxx
MPF-A/Bxxxx-S/M 2090-CFBM7DF-CERAxx (standard) or
MPS-A/Bxxxx-S/M 2090-CFBM7DF-CEAFxx
MPAR-A/B1xxxx-V and MPAR-A/B2xxxx-V (series B) 2090-CFBM7DD-CEAFxx
MPAR-A/B3xxxx-M 2090-CFBM7DF-CDAFxx (continuous-flex)
MPAI-A/BxxxxxM3
MPAS-A/Bxxxx1-V05SxA (ballscrew)
MPAS-A/Bxxxx2-V20SxA (ballscrew)
LDAT-Sxxxxxx-xDx
MPL-A/B15xxx-Hx7xAA
MPL-A/B2xxx-Hx7xAA
MPL-A/B3xxx-Hx7xAA
MPL-A/B4xxx-Hx7xAA
MPL-A/B45xxx-Hx7xAA 2090-XXNFMF-Sxx (standard) or
MPAS-A/Bxxxx-ALMx2C (direct drive) 2090-CFBM7DF-CDAFxx (continuous-flex)
LDAT-Sxxxxxx-xBx
LDC-Cxxxxxx-xH
LDL-xxxxxxx-xH
2090-CTFB-MADD-CFAxx (standard) or
TLP-A046-xxx, TLP-A070-xxx, TLP-A090-xxx, TLP-A100-xxx 2090-CTFB-MADD-CFFxx (continuous-flex)
2090-CTFB-MFDD-CFAxx (standard) or
TLP-A115-xxx, TLP-A145-xxx, TLP-A200-xxx, TLP-A235-xxx 2090-CTFB-MFDD-CFFxx (continuous-flex)
TLY-Axxxx-B 2090-CFBM6DF-CBAAxx (standard)
TLY-Axxxx-H 2090-CFBM6DD-CCAAxx (standard)
TL-Axxxx-B 2090-DANFCT-Sxx (standard)

Table 25 - Legacy Motor Feedback Cables

Motor Cable Description Feedback Cable Cat. No.
2090-XXNFMF-Sxx
Encoder feedback, threaded 2090-UXNFBMF-Sxx
Standard 2090-UXNFBMP-Sxx
Encoder feedback, bayonet
2090-XXNFMP-Sxx
Encoder feedback, bayonet 2090-XXTFMP-Sxx
Continuous-flex
Encoder feedback, threaded 2090-CFBM4DF-CDAFxx

Refer to Kinetix 5300 Servo Drives User Manual, publication 2198-UM005 for
motor feedback cable specifications.

36 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Chapter 2 Servo Drive and System Comparisons

Digital I/O This section describes digital inputs for Ultra3000 and Kinetix 5300 servo
drives.

Ultra3000 Servo Drive Digital Inputs

The digital inputs on the Ultra3000 servo drive have the following
characteristics and specifications.

Table 26 - Ultra3000 Drives Digital Input Characteristics

Specification Description
I/O response 100 µs
Digital I/O firmware scan period 1 ms

Table 27 - Ultra3000 Drives Digital Input Parameters

Parameter Description Min Max
Voltage applied to the input, with respect to
ON state voltage 10.8V 26.4V
IOCOM, to guarantee an ON state.
ON state current Current flow to guarantee an ON State. 3.0 mA 12.0 mA
Voltage applied to the input, with respect to
OFF state voltage -1.0V 2.0V
IOCOM, to guarantee an OFF state.

Table 28 - Ultra3000 Sercos Drives Dedicated Functionality Inputs

Pin Signal Description
Drive Enable Input, an active state enables the power electronics to control the
CN1-31 ENABLE motor.
Home Sensor, an active state indicates to a homing sequence that the sensor has
CN1-32 HOME been seen.
CN1-33 REG1 Registration Sensor, a transition is used to record position values.
CN1-34 REG2
CN1-37 OT_POS Overtravel Input, an inactive state indicates that a position limit has been exceeded.
CN1-38 OT_NEG An active state occurs when 24V is removed from the input.

For the Ultra3000 drives, there are eight optically isolated digital inputs. All
digital inputs have the same configuration, as shown in the following figure.

Figure 10 - Ultra3000 Drive Digital Input Circuit

Ultra3000
+5V

INPUTS

IOCOM IOCOM DGND

Ultra3000 Servo Drive Outputs

The digital output and relay output on the Ultra3000 servo drive have the
following characteristics and specifications.

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 37

Chapter 2 Servo Drive and System Comparisons

Table 29 - Ultra3000 Drives Digital Outputs

Parameter Description Min Max
ON state current Current flow when the output transistor is ON — 50 mA
OFF state current Current flow when the output transistor is OFF — 0.1 mA
ON state voltage Voltage across the output transistor when ON — 1.5V
OFF state voltage Voltage across the output transistor when OFF — 50V

Figure 11 - Transistor Output Hardware Configuration

Ultra3000 Drive

IOPWR

+5V

OUTPUT
OUT

Table 30 - Relay Output Specifications

Parameter Description Min Max

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

Figure 12 - Relay Output Configuration

Ultra3000 Drive

CN1-43
Normally Relay +
Open
Relay
CN1-44
Relay -

Kinetix 5300 Servo Drive Digital Inputs

Four digital inputs are available for the machine interface on the I/O connector
and six configurable functions can be chosen from in the Studio 5000 Logix
Designer® application (version 33.00 or later). Digital inputs require a 24V DC
@ 15 mA supply. These are sinking inputs that require a sourcing device. A
common and cable shield connection is provided on the I/O connector for
digital inputs.

Although any input can be configured as a registration input, only two inputs
can be assigned at any time.

IMPORTANT To improve registration input EMC performance, see the System Design
for Control of Electrical Noise Reference Manual, publication GMC-RM001.

38 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Chapter 2 Servo Drive and System Comparisons

Table 31 - Kinetix 5300 Drive Configurable Functions

Default Configuration Description
0 = Unassigned
1 = Enable

Digital input1 = Enable 2 = Home

Digital input2 = Home 3 = Registration 1
Digital input3 = Registration 1
Digital input4 = Registration 2 4 = Registration 2
5 = Positive overtravel
6 = Negative overtravel

Table 32 - Understanding Kinetix 5300 Digital Input Functions

Function Description
A 24V DC input is applied to this terminal to move the AxisCipDrive from Start-
Enable Inhibited to Stopped State.
An active state indicates to a homing sequence that the referencing sensor has
Home been seen. Typically, a transition of this signal is used to establish a reference
position for the machine axis.
Registration 1 An inactive-to-active transition (also known as a positive transition) or active-to-
inactive transition (also known as a negative transition) is used to latch position
Registration 2 values for use in registration moves.
Positive overtravel The positive/negative limit switch (normally closed contact) inputs for each axis
Negative overtravel require 24V DC (nominal).

Table 33 - Kinetix 5300 Digital Input Specifications

Attribute Value
Input current (typical) 2.5 mA
Input ON voltage range (typical) 15…26.4V DC
Input OFF voltage, max 5V DC
Digital input type according to IEC 61131-2 24V DC Type 1
External power supply 24V DC ±10% PELV
Input protection Optically isolated, reverse voltage protected
Registration accuracy ±3 µs
Registration repeatability 1.0 µs

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 39

Chapter 2 Servo Drive and System Comparisons

Typical System Layout This section provides system examples for Ultra3000 and Kinetix 5300 servo
drives.

Before designing the system layout, review Communication in Chapter 1,

Integrated Motion on Sercos and EtherNet/IP Network – Analysis and
Comparison, publication MOTION-AT006, and the Knowledgebase Technote:
Qualifying Logic for MSO.

Ultra3000 Servo Drive System Example

This system example illustrates how the required drive modules and
accessories are used in a typical system.

Figure 13 - Ultar3000 Sercos Servo Drive System Example

Logix Controller Programming Network

Logix Sercos interface Module

Logix Controller Platform

(ControlLogix® controller is shown)
RSLogix™ 5000
Software

2090-SCxxx-x
2098-DSD-xxxxx-SE Sercos Fiber-optic Cables
Ultra3000 Drive

2090-UXBB-DM15
Drive-mounted Breakout Board for
Motor Feedback

1606-XLxxx 2090-U3xBB-DMxx Bulletin 2090 Motor Feedback Cable

24V DC
Allen-Bradley Drive-mounted
Breakout Board for I/O
1606-XL

Bulletin 2090 Motor Power Cable

Power Supply

Control Power
Input

Control Power Input Sensors and Control String

Supply Input

40 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Chapter 2 Servo Drive and System Comparisons

Kinetix 5300 Servo Drive System Example

This example control system uses a single Kinetix 5300 servo drive.

Figure 14 - Typical Kinetix 5300 Single-axis Installation

Single-phase or
Three-phase
Input Power
Bonded Cabinet
Line Ground Bus
Disconnect
Device
2198-DB08-F or

SH
Circuit 2198-DBRxx-F

DC+
Protection AC Line Filter 2198-Cxxxx-ERS Drive
(is required for CE) (top view)
Mains AC Input Wired to

L3
Standard Input Connector

L2
2097-Rx or 2198-Rxxxx

L1
Any Logix 5000 Controller (version 33.00 Shunt Resistor
or later) with Motion EtherNet/IP 24V DC Input Wired to
(optional component)
Capability (CompactLogix 5380

24-
24+
SB+ Standard Input Connector
controller is shown)
SB-

1606-XLxxx
S1
SC
S2

24V DC Control, Digital Inputs, Allen-Bradley

1606-XL
Power Supply

and Motor Brake Power

(customer-supplied) Input

AC Input Power

Studio 5000 Logix

Designer Application 2198-Cxxxx-ERS Drive
(version 33.00 or later)
2

(front view)
1

10

1
U

MBRK
MFB

Bulletin 2090
Motor Power Cables
Bulletin 2090 Motor
Motor Feedback Cables Refer to Table 42.

See Appendix E for additional communication configurations.

Accessories This section describes required and optional accessories for Ultra3000 and
Kinetix 5300 servo drives.

Ultra3000 Servo System Accessories

Ultra3000 servo systems require controllers and Sercos modules. See Table 41
on page 55 for additional information.

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 41

Chapter 2 Servo Drive and System Comparisons

Table 34 - Ultra3000 Sercos Required Accessories

Drive Accessory Description Cat. No.
24V power supply 12…24V DC for control power and motor brakes. 1606-XLxxx
Motor feedback (CN2) connections. 2090-UXBB-DM15
Serial interface (CN3) connections. 2090-UXBB-DM09
I/O (CN1) connections. These kits apply to all Ultra3000 2090-U3BB-DM12 (1)
Drive-mounted drives (catalog numbers 2098-DSD-005,
breakout boards 2098-DSD-010, and 2098-DSD-020) in applications
(required for flying where 5V DC control power (if necessary) is user- 2090-U3BB2-DM44
lead cables) supplied.
I/O (CN1) connections. These kits apply to only 2098- 2090-U3CBB-DM12 (1)
DSD-005, 2098-DSD-010, and 2098-DSD-020 drives in
applications where a 24…5V DC converter for control
power is required. 2090-U3CBB-DM44

Plastic, in-cabinet duty. 2090-SCEPx-x

Sercos fiber-optic Plastic, on-machine duty. 2090-SCNPx-x

cables Plastic, outdoor, and conduit duty. 2090-SCVPx-x
Glass, outdoor, and conduit duty. 2090-SCVGx-x
Motor power and See the specific drive/motor combination for the motor cables required for your
feedback cables system.
(1) The 12-pin board is intended for use with Sercos drives, but can be used in non-Sercos applications with minimal I/O
requirements.

See the Kinetix Motion Accessories Technical Data, publication KNX-TD004,

for detailed descriptions and specifications of these servo drive accessories.

Table 35 - Ultra3000 Sercos Optional Drive Accessories

Drive Accessory Description Cat. No.
Drive to 1756-M02AE Single-axis (CN1) flying lead drive to Logix module cable. 2090-U3CC-D44xx
module interface cable Two-axis (CN1) pre-wired drive to Logix module cable. 2090-U3AE-D44xx
Drive-mounted
breakout board for
serial interface
(applies to flying lead 9-pin (CN3) breakout board for serial interface. 2090-UXBB-DM09
cables as an alternative
to serial interface cable)
Panel-mounted DIN rail-mounted terminal block and cable for 15-pin
2090-UXBK-D15xx
breakout boards (CN2) motor feedback connections.
(applies to flying lead
cables as an alternative DIN rail-mounted terminal block and cable for 44-pin
to drive-mounted 2090-U3BK-D44xx
(CN1) I/O connections.
breakout boards)
AC line conditioning for EMC. Applies to 200V-class 2090-UXLF-xxx
drives.
2090 AC line filters
AC line conditioning for EMC. Applies to 400V-class 2090-UXLF-HVxxx
drives.
Applies to 2098-DSD-HV030, 2098-DSD-HV050, and
2090-SRxxx-xx
2098-DSD-HV100 drives. (1)
Applies to 2098-DSD-075 and 2098-DSD-150 drives. 2090-UCSR-P900
2090 shunt modules
Applies to 2098-DSD-030 drives. 9101-1183
Applies to 2098-DSD-005, 2098-DSD-010, and 2098-DSD- 2090-UCSR-A300
020 drives.
Resistive brake module Physically and electrically separate the drive power 2090-XBxxx-xx
(RBM) output from its corresponding motor.

42 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Chapter 2 Servo Drive and System Comparisons

Table 35 - Ultra3000 Sercos Optional Drive Accessories (Continued)

Drive Accessory Description Cat. No.
2090-UXNRB-10F1P3
RBM interface cables Motor power, RBM to drive. 2090-UXNRB-8F1P4
2090-UXNRB-6F1P5
External auxiliary Allen-Bradley sine/cosine and incremental external Bulletin 842A, 844D, 845H, and
encoder encoders. 845T
(1) See Rockwell Automation Encompass™ partners for 2098-DSD-HV150 and 2098-DSD-HV220 passive shunt solutions.

Kinetix 5300 Servo System Accessories

The Kinetix 5300 drives include an internal shunt resistor that is connected to
the drive at the factory. External shunt resistors (Bulletin 2198-Rxxx or 2097-Rx
shunt resistors) can be used to provide additional shunt capacity for
applications when the internal shunt capacity of the drive is exceeded. Catalog
numbers 2198-R014 and 2198-R031 are composed of resistor coils that are
housed inside an enclosure. Catalog numbers 2097-R6, 2097-R7, and 2198-
R001, 2198-R002, 2198-R004 are shunt resistors without an enclosure.

The Kinetix 5300 connector kit is included with the drive. Replacement
kits are also available.

The Kinetix 5300 servo drives have a variety of optional drive accessories. For
details on which accessories are available with each drive, refer to the Kinetix
Motion Accessories Specifications Technical Data, publication KNX-TD004.

Kinetix 5300 Servo systems require controllers, Ethernet switches, and

EtherNet/IP cards, see Table 2 on page 14 for additional information.

Table 36 - Kinetix 5300 Drive System Accessories

Accessory (1) Description Cat. No.
Motor feedback connector kit with 15-pin connector plug and
Low-profile Feedback
Connector kit (required for battery backup is required for absolute position. Supports 2198-K53CK-D15M
Kinetix MP, TL, TLP, TLY, LDC, LDL, and LDAT-Series rotary and
flying-lead cables) linear motors and linear actuators
Motor Power and Feedback Refer to the specific drive/motor combination for the motor —
Cables cables required for your system
(2) Ethernet cables are available in standard lengths; Shielded 1585J-M8CBJM-x,
Ethernet Cables cable is recommended 1585J-M8UBJM-x
Input wiring connectors and DC bus T-connector for frame 1
24V DC Shared-bus 2198-H040-x-x
and 2 servo drives
Connector Kits
(zero-stack tab / cutout) (3) Input wiring connectors and DC bus T-connector for frame 3 2198-H070-x-x
servo drives
External passive shunts are available to provide additional 2097-Rx and
External Shunt Resistor (3) shunt capacity for applications where the internal shunt 2198-Rxxx
capacity is exceeded
2198-DB08-F
AC Line Filters (3) These line filters are required to meet CE requirements 2198-DBRxx-F
(1) Refer to the Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003, for detailed descriptions and
specifications of these drive accessories.
(2) Where x equals the cable length in meters.
(3) This is an optional accessory. The AC line filters required to meet CE compliance for the Kinetix 5300 are different than those
required by the Ultra3000.

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 43

Chapter 2 Servo Drive and System Comparisons

Notes:

44 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Appendix A

Connectors and Field Connections

Connector Locations Use these illustrations to identify the connectors and indicators for the
Ultra™ 3000 and Kinetix® 5300 servo drives.

Ultra3000 Servo Drive Connector Data

Figure 15 - Ultra3000 Servo Drive Front Panel Connections for Cat. No. 2098-DSD-005-SE, -010-SE,
and -020-SE

7
6
8
5
9

10
4
11

3 12

2 13

14
1

Item Description Item Description

1 Motor Power Cable Shield Clamp 8 Network Status Indicator
2 Motor Power Connections 9 CN3 9-pin Serial Port Connector
3 AC Input Power Connections 10 Node Address Switches
4 DC Bus Connections for Active Shunt Resistor Kit 11 CN2 15-pin Motor Feedback Connector
5 Logic Power Status Indicator 12 Data Rate Switch
Sercos Interface Receive (Rx) and Transmit (Tx)
6 Seven Segment Status Indicator 13 Connectors
7 Module Status Indicator 14 CN1 44-pin User I/O Connector

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 45

Appendix A Connectors and Field Connections

Figure 16 - Ultar3000 Servo Drive Front Panel Connections for Cat. No. 2098-DSD-030

5
1
Internal

4 2
6
External
Shunt
3
7
8
TB2

10
8

11
U

3
V

12
Motor
W

+
DC Bus
-

L1

L2/N
13
2 100-240 VAC
50/60 Hz
L1
AUX

L2/N
AUX

TB1 14
1

Item Description Item Description

1 Motor Power Cable Shield Clamp 8 Network Status Indicator
2 AC Input Power Connections 9 Node Address Switches
3 Motor Power Connections 10 Data Rate Switch
4 Passive Shunt Resistor Connections 11 CN3 9-pin Serial Port Connector
5 Seven Segment Status Indicator 12 CN2 15-pin Motor Feedback Connector
6 Logic Power Status Indicator 13 CN1 44-pin User I/O Connector
Sercos interface Receive (Rx) and Transmit (Tx)
7 Module Status Indicator 14 Connectors

46 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Appendix A Connectors and Field Connections

Figure 17 - Ultar3000 Servo Drive Front Panel Connections for Cat. No. 2098-DSD-075 and -150

5
1

4
Internal

External
2
6
Shunt

7
3

TB2
8
9

8
10

11
U

V
Motor

3 W

12
+
DC Bus
-

L1

L2
13
L3
100-240 VAC

2 50/60 Hz

L1
AUX

L2/N
AUX

TB1
14
1

Item Description Item Description

1 Motor Power Cable Shield Clamp 8 Network Status Indicator
2 AC Input Power Connections 9 Node Address Switches
3 Motor Power Connections 10 Data Rate Switch
4 Passive Shunt Resistor Connections 11 CN3 9-pin Serial Port Connector
5 Seven Segment Status Indicator 12 CN2 15-pin Motor Feedback Connector
6 Logic Power Status Indicator 13 CN1 44-pin User I/O Connector
Sercos interface Receive (Rx) and Transmit (Tx)
7 Module Status Indicator 14 Connectors

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 47

Appendix A Connectors and Field Connections

Figure 18 - Ultra3000 Servo Drive Front Panel Connections for Cat. No. 2098-DSD-HVxxx-SE

6
7
8

4 10

11

12

13

14
1

Item Description Item Description

1 Motor Power Cable Shield Clamp 8 Network Status Indicator
2 AC Input Power Connections 9 Node Address Switches
3 Motor Power Connections 10 Data Rate Switch
4 Passive Shunt Resistor Connections 11 CN3 9-pin Serial Port Connector
5 Seven Segment Status Indicator 12 CN2 15-pin Motor Feedback Connector
6 Logic Power Status Indicator 13 CN1 44-pin User I/O Connector
Sercos Interface Receive (Rx) and Transmit (Tx)
7 Module Status Indicator 14 Connectors

48 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Appendix A Connectors and Field Connections

Kinetix 5300 Servo Drive Connector Data

Figure 19 - Drive Features and Indicators

7 7 Kinetix 5300, Top View

(2198-C1004-ERS drive is shown)
8 15

SH
KINETIX

DC+
5300

6 MOD NET
NEXT
Kinetix 5300, Bottom View
5
2 SELECT 9 (frame 2 and 3 drives only)
BACK

DANGER
Elec t r ic sh o ck
Cooling Fan
1
4
r isk . Power
off and wait

10
5 min u tes.

1 11
L3

L3
L2
16

L2
3 Kinetix 5300 Drive, Front View
L1

L1
(2198-C1004-ERS drive is shown)
10 U U

V V

W
12
W

2 SB+

17

24+ 24-
Shared-bus 24V Input
2
13
SB-
2 1 S1
1
Wiring Connector
SC

MBRK SB+ S2

MFB SB-
S1
SC 18
S2

1
14

Item Description Item Description Item Description

1 Motor Cable Shield Clamp 7 Zero-stack Mounting Tab/Cutout 13 Motor Brake Connector
2 Motor Feedback (MFB) Connector 8 Four-character Status Display 14 Ground Terminal
Digital Inputs and Auxiliary Feedback
3 9 Navigation Pushbuttons 15 Shunt Resistor Connector
Connector
4 Ethernet (PORT1) RJ45 Connector 10 Link Speed Status Indicators 16 AC Mains Input Power Connector
5 Ethernet (PORT2) RJ45 Connector 11 Link/Activity Status Indicators 17 24V Control Input Power Connector
Module and Network Status
6 12 Motor Power Connector 18 Safe Torque Off (STO) Connector
Indicators

Input and Motor Power These tables compare the input power, control/auxiliary power, motor power,
and shunt resistor connector pinouts for the Ultra3000 and Kinetix 5300 servo
Connector Pinouts drives.

Table 36 - Single-phase Connectors

Ultra3000 Servo Drives Kinetix 5300 Servo Drives
(Cat. No. 2098-DSD-005, -010, -20, and -030)
Connector Signal Terminal Connector Signal Terminal
DC+ + — —
DC Bus Connections —
DC- – — —
L1 L1 L1 L1

Single-phase Input L2/N L2/N Single-phase L2/N L2

Power — — Input Power — —
Ground Ground

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 49

Appendix A Connectors and Field Connections

Table 36 - Single-phase Connectors (Continued)

Ultra3000 Servo Drives Kinetix 5300 Servo Drives
(Cat. No. 2098-DSD-005, -010, -20, and -030)
Connector Signal Terminal Connector Signal Terminal
U U U U
V V V V
Motor Motor Power
W W W W
Chassis Ground Chassis Ground

Control/Auxiliary L1 L1 Aux 24V Input 24V + 1

Power (1) L2/N L2/N Aux Power 24V - (com) 2
— — (2) —
Shunt SH
Shunt Resistor Resistor
— — DC+ (2) —
— — — MBRK+ 1
Motor Brake
— — — MBRK - 2
(1) Auxiliary power for the Ultra3000 is only available for 2098-DSD-030.
(2) Pin numbering is not used on the shunt connector. Shunt connections to the 2-pin connector is arbitrary.

Table 37 - Three-phase Connectors

Ultra3000 Servo Drives Kinetix 5300 Servo Drives
(Cat. No. 2098-DSD-075, -150, and 2098-DSD-HVxxx)
Connector Connector Signal Terminal Connector Signal Terminal
U U U U
V V V V
Motor
Motor TB1 W W W W
Power
Chassis Chassis
Ground Ground
DC+ + — —
DC Bus Connections TB1 —
DC- – — —
L1 L1 L1 L1
Three-
Three-phase Input L2 L2 phase L2 L2
TB1
Power L3 L3 Input L3 L3
Power
Ground Ground

Control/Auxiliary L1 L1 Aux 24V Input 24V + 1

TB1
Power L2 L2/N Aux Power 24V - (com) 2
Internal/
External 1 SH (1) —
Shunt
Shunt Resistor TB2
Internal 2 Resistor DC+ (2) —
External 3 — —
(1) Pin numbering is not used on the shunt connector. Shunt connections to the 2-pin connector is arbitrary.

50 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Appendix A Connectors and Field Connections

Motor Feedback

The table compares the feedback connector pinouts for the Ultra3000 and
Kinetix 5300 servo drives:
• Ultra3000 servo drive CN2 connector
• Kinetix 5300 servo drive MFB connector
Table 38 - Motor Feedback Connector Pinouts
Ultra3000 Servo Drives (1) Kinetix 5300 Servo Drives
CN2 Pin Description Signal Signal Description MFB Pin
MTR_SIN+ Sine differential input +
1 Channel A+ / sine differential input+ AM+ 1
MTR_AM+ AM differential input +
MTR_SIN– Sine differential input–
2 Channel A- / sine differential input- AM- 2
MTR_AM– AM differential input–
MTR_COS+ Cosine differential input +
3 Channel B+ / cosine differential input+ BM+ 3
MTR_BM+ BM differential input +
MTR_COS– Cosine differential input –
4 Channel B- / cosine differential input- BM- 4
MTR_BM– BM differential input –
MTR_DATA+ Data differential input/output +
5 Channel I+ / Index pulse+ IM+ 5
MTR_IM+ IM differential input +
6 Common ECOM MTR_ECOM Encoder common 6
7 (1) — MTR_EPWR9V (2) Encoder 9V power output 7
Reserved
8 Commutation channel S3 S3 MTR_S3 Hall commutation S3 input 8
9 Positive overtravel limit +LIMIT — Reserved 9
MTR_DATA- Data differential input/output –
10 Channel I- / Index pulse- IM- 10
MTR_IM– IM differential input –
11 Thermostat TS MTR_TS Motor thermostat (normally closed) (3) 11
12 Commutation channel S1 S1 MTR_S1 Hall commutation S1 input 12
13 Commutation channel S2 S2 MTR_S2 Hall commutation S2 input 13
14 Encoder power (+5V) EPWR_5V MTR_EPWR5V (2) Encoder 5V power output 14
15 Negative overtravel limit -LIMIT — Reserved 15
(1) +9V encoder capability only available on standard-size Ultra3000 drive (catalog number 2098-DSD-030 or larger).
(2) Determine which power supply your encoder requires and connect to only the specified supply. Do not make connections to both supplies.
(3) Not applicable unless motor has integrated thermal protection.

I/O Connector and Auxiliary Feedback Pinouts

The table compares the I/O connector pinouts for the Ultra3000 and Kinetix
5300 servo drives:
• Ultra3000 CN1 connector
• Kinetix 5300 servo drive digital inputs and auxiliary feedback connector
Table 39 - I/O Connector Pinouts
Ultra3000 Servo Drives (1) Kinetix 5300 Servo Drives
CN1 Pin Description Signal Signal Description I/O Pin
1 Auxiliary Encoder Power Out (+5V) EPWR IN1 24V current-sinking fast input #1. 1
2 Common ECOM COM I/O common for customer-supplied 24V supply. 2
3 Reserved — IN2 24V current-sinking fast input #2. 3
4 Auxiliary A+/Step+/CW+ AX+ COM I/O common for customer-supplied 24V supply. 4
5 Auxiliary A-/Step-/CW- AX- SHIELD I/O cable shield termination point. 5
6 Auxiliary B+/Dir+/CCW+ BX+ AUX_AM+ AM Differential Input + 6
7 Auxiliary B-/Dir-/CCW- BX- AUX_BM+ BM Differential Input + 7
8 Auxiliary Encoder Ch I+ IX+ AUX_IM+ IM Differential Input + 8

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 51

Appendix A Connectors and Field Connections

Table 39 - I/O Connector Pinouts (Continued)

Ultra3000 Servo Drives (1) Kinetix 5300 Servo Drives
CN1 Pin Description Signal Signal Description I/O Pin
9 Auxiliary Encoder Ch I- IX- AUX_EPWR_5V Encoder 5V power output 9
10 Unbuffered Motor Encoder Ch A+ AM+ SHIELD Auxiliary feedback cable shield termination point. 10
11 Unbuffered Motor Encoder Ch A- AM- IN3 24V current-sinking fast input #3. 11
12 Unbuffered Motor Encoder Ch B+ BM+ COM I/O common for customer-supplied 24V supply. 12
13 Unbuffered Motor Encoder Ch B- BM- IN4 24V current-sinking fast input #4. 13
14 Unbuffered Motor Encoder Ch I+ IM+ COM I/O common for customer-supplied 24V supply. 14
15 Unbuffered Motor Encoder Ch I- IM- SHIELD I/O cable shield termination point. 15
16 Buffered Motor Encoder Ch A+ AMOUT+ AUX_AM– AM Differential Input – 16
17 Buffered Motor Encoder Ch A- AMOUT- AUX_BM– BM Differential Input – 17
18 Buffered Motor Encoder Ch B+ BMOUT+ AUX_IM– IM Differential Input – 18
19 Buffered Motor Encoder Ch B- BMOUT- AUX_COM Auxiliary common 19
20 Buffered Motor Encoder Ch I+ IMOUT+ SHIELD Auxiliary feedback cable shield termination point. 20
21 Buffered Motor Encoder Ch I- IMOUT- — — —
22 Common ACOM — — —
23 Programmable Analog Output AOUT — — —
24 Analog Current Limit Input ILIMIT — — —
25 Command + COMMAND+ — — —
26 Command - COMMAND- — — —
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 — — —
32 Digital Input 2 INPUT2 — — —
33 Digital Input 3 INPUT3 — — —
34 Digital Input 4 INPUT4 — — —
35 Digital Input 5 INPUT5 — — —
36 Digital Input 6 INPUT6 — — —
37 Digital Input 7 INPUT7 — — —
38 Digital Input 8 INPUT8 — — —
39 Digital Output 1 (2) OUTPUT1 — — —
40 Digital Output 2 OUTPUT2 — — —
41 Digital Output 3 OUTPUT3 — — —
42 Digital Output 4 OUTPUT4 — — —
43 Normally Open Relay Output+ RELAY+ — — —
44 Normally Open Relay Output- RELAY- — — —
(1) The I/O names and signals vary depending on the model of Ultra3000 you have installed, refer to the Ultra3000 Digital Servo Drives Installation Instructions, publication 2098-IN003 for
information on your specific model.
(2) READY signal only available with firmware revision 1.29 (or above). Requires use of drive-mounted breakout board (2090-U3BB2-DM44).

52 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Appendix A Connectors and Field Connections

Safe Torque Off Connector The Kinetix 5300 drives have a Safe Torque Off (STO) connector, where as the
Ultra3000 did not. Refer to Figure 20 for a the Kinetix 5300 connector, and see
the Kinetix 5300 Single-axis EtherNet/IP Servo Drives User Manual,
publication 2198-UM005 for information on STO with the Kinetix 5300 drive.

The Kinetix 5300 10-pin connector consists of two parallel 5-pin rows for
cascading safety connections from drive-to-drive when drives are joined by the
zero-stack feature.

Figure 20 - Kinetix 5300 STO Connector Assignment

Kinetix 5300 Drive
STO Connector

Pin 1 SB+
SB-
S1
SC
Pin 5 S2

Table 40 - Kinetix 5300 STO Connector Assignment

STO Pins Description Signal
1 and 6 Safety bypass plus signal. Connect to both SB+
safety inputs to disable the STO function
2 and 7 Safety bypass minus signal. Connect to SB-
safety common to disable the STO function
3 and 8 STO input 1 (SS_IN_CH0) S1
4 and 9 STO input common (SCOM) SC
5 and 10 STO input 2 (SS_IN_CH1) S2

The Safe Torque Off feature can be bypassed if necessary or applicable. Refer to
Kinetix 5300 Single-axis EtherNet/IP Servo Drives User Manual, publication
2198-UM005 for information.

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 53

Appendix A Connectors and Field Connections

Notes:

54 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Appendix B

About the Servo Drive System

About the Ultra3000 Servo The Ultra™ 3000 servo drive is designed to provide a Kinetix® Integrated
Drive System Motion solution for applications with output power requirements between
0.5…22 kW (1.8…32.2 A).
Table 41 - Ultra3000 Servo Drive System Overview

Ultra3000 Servo Drive Cat. No. Description

System Component
2098-DSD-xxxx-xx (200V class)
Axis Module 2098-DSD-HVxxxx-xx (400V Individual Axis Module
class)
2090-SRxxx-xx
2090-UCSR-P900
2090 Shunt Modules Shunt Module: This module provides additional shunting capabilities in regenerative applications.
9101-1183
2090-UCSR-A300
Resistive Brake Module 2093-XBxxx-xx Physically and electrically separate the drive power output from its corresponding motor.
(RBM)
24V Power Supply 1606-XLxxx 12…24V DC for control power and motor brakes.
1756-L60M03SE, 1756-MxxSE, Sercos interface module/PCI card serves as a link between the ControlLogix®/CompactLogix™/
Logix Controller Platform and 1768-M04SE modules, and SoftLogix™ platform and Ultra3000 drive system. The communication link uses the IEC 61491 SErial
the 1784-PM16SE PCI card Real-time COmmunication System (Sercos) protocol over a fiber-optic cable.
Sercos Fiber-optic Cables 2090-SCxxx-x Plastic or glass; in cabinet or on-machine duty.
RSLogix 5000® software provides support for programming, commissioning, and maintaining the
RSLogix 5000 Software 9324-RLD300ENE Logix family of controllers.
Kinetix MP, Kinetix TL, LDC-
Servo Motors Compatible servo motors.
series™, and LDL-Series™
Motor Power, Feedback, and
Cables Brake cables See the specific drive and motor combination for the motor cables that are required for the system.

2090-UXBB-DM15 Motor feedback (CN2) connections.

2090-UXBB-DM09 Serial interface (CN3) connections.
I/O (CN1) connections. These kits apply to all Ultra300 drives (and drive catalog numbers 2098-DSD-
Drive-mounted Breakout 2090-U3BB-DM12 005, 2098-DSD-010, and 2098-DSD-020 in applications where 5V DC control power, if required, is
Boards user-supplied).
I/O (CN1) connections. These kits apply to only Ultra300 drive catalog numbers 2098-DSD-005, 2098-
2090-U3CBB-DM12 DSD-010, and 2098-DSD-020 in applications where a 24…5V DC converter for control power is
required.
2090-UXLF-xxx AC line conditioning for EMC. Applies to 200V-class drives.
2090 AC Line Filters
2090-UXLF-HVxxx AC line conditioning for EMC. Applies to 400V-class drives.

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 55

Appendix B About the Servo Drive System

About the Kinetix 5300 The Kinetix 5300 servo drives are designed to provide a Kinetix Integrated
Servo Drive System Motion solution for your drive/motor application.

Table 42 - Kinetix 5300 Drive System Overview

Drive System Component Cat. No. Description
200V-class (single-phase or three-phase) and 400V-class (three-phase) drives operate in standalone
Kinetix 5300 configurations. Modules can be zero-stacked from drive-to-drive and are compatible with the 24V DC
2198-Cxxxx-ERS
Servo Drives shared-bus connection system to extend control power to multiple drives. Drives feature Safe Torque
Off via the hardwired (STO) connector.
2198-TCON-24VDCIN36 Control power input connector.
24V Shared-bus Connector 2198-H040-x-x Control power T-connector and bus-bar connectors, 55 mm, for frame 1 and 2 drives.
Kits
2198-H070-x-x Control power T-connector and bus-bar connectors, 85 mm, for frame 3 drives.
Motor feedback connector kit with 15-pin connector plug for compatible motors and actuators. Kit
Feedback Connector Kit 2198-K53CK-D15M features battery backup for Kinetix TLP, TL, and TLY multi-turn encoders.
Connector set included with the frame 1 and 2 drives (except 2198-C2030 drives). Replacement sets
2198-CONKIT-PWR20 are also available.
Connector Sets 2198-CONKIT-PWR30 Connector set included with 2198-C2030 drives. Replacement sets are also available.
2198-CONKIT-PWR75 Connector set included with Frame 3 drives. Replacement sets are also available.
Integrated Motion on the EtherNet/IP network in CompactLogix 5370, CompactLogix 5380, and
Bulletin 1769 CompactLogix 5480 controllers and Integrated Safety in Compact GuardLogix® 5370 controllers.
Bulletin 5069
Logix 5000™ Controller Linear, device-level ring (DLR), and star topology is supported.
Platform 1756-EN2T module EtherNet/IP network communication modules for use with ControlLogix 5570, ControlLogix 5580,
1756-EN2TR module GuardLogix 5570, and GuardLogix 5580 controllers. Linear, device-level ring (DLR), and star topology is
1756-EN3TR module supported.
Studio 5000 Logix Designer® application, version 33.00 or later, provides support for programming,
Studio 5000 Environment — commissioning, and maintaining the CompactLogix and ControlLogix controller families.
Kinetix MP Compatible rotary motors include 200V and 400V-class Kinetix MPL, MPM, MPF, and MPS servo motors.
Rotary Servo Motors Kinetix TLP Compatible rotary motors include 200V and 400V-class Kinetix TLP servo motors.
Kinetix TL and TLY Compatible rotary motors include 200V-class Kinetix TL and TLY servo motors.
Kinetix MP and Compatible linear actuators include 200V and 400V-class Kinetix MPAS and MPMA linear stages,
Linear Actuators LDAT-Series Kinetix MPAR and MPAI linear actuators, and LDAT-Series linear thrusters.
LDC-Series and
Linear Motors Compatible motors include LDC-Series™ iron-core and LDL-Series™ ironless linear motors.
LDL-Series
Induction Motors — Induction motors with open-loop frequency control and closed-loop control are supported.
2090-CTFB-MxDx-xxxxx Motor feedback cables for Kinetix TLP motors.
2090-CTPx-MxDx-xxxxx Motor power/brake cables for Kinetix TLP motors.
2090-CFBM6Dx-CxAAxx Motor feedback cables for Kinetix TLY servo motors.
2090-CPxM6DF-16AAxx Motor power/brake cables for Kinetix TLY servo motors.
2090-DANFCT-Sxx Motor feedback cables for Kinetix TL servo motors.
2090-DANPT-16Sxx Motor power cables for Kinetix TL servo motors.
2090-Series Cables
2090-DANBT-18Sxx Motor brake cables for Kinetix TL servo motors.
Motor feedback cables for Kinetix® MP motors/actuators, LDAT-Series linear thrusters, and LDC/LDL-
2090-CFBM7DF-CEAxxx Series linear motors.
Motor power/brake cables for Kinetix MP motors/actuators, LDAT-Series linear thrusters, and LDC/
2090-CPxM7DF-xxAxxx LDL-Series linear motors.
2090-XXNFMF-Sxx Standard and continuous-flex feedback cables that include additional conductors for use with
2090-CFBM7DF-CDAFxx incremental encoders.
1585J-M8CBJM-x, Ethernet cables are available in standard lengths. Shielded cable is required to meet EMC
Ethernet Cables 1585J-M8UBJM-x specifications.
2198-DB08-F Bulletin 2198 three-phase AC line filters are required to meet CE and are available for use in all
AC Line Filters 2198-DBR20-F Kinetix 5300 drive systems.
2198-DBR40-F
24V DC Power Supply 1606-XLxxx Bulletin 1606 24V DC power supply for control circuitry, digital inputs, and safety inputs.
2097-R6 and 2097-R7 Bulletin 2097 and 2198 external passive shunt resistors are available for when the internal shunt
External Shunt Resistors
2198-R004, 2198-R014, 2198-R031 capability of the drive is exceeded.

56 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Appendix C

Specifications

Power Specifications This section provides the power specifications for the Ultra™ 3000 and
Kinetix® 5300 servo drives.

Ultra3000 (230V) Servo Drive Power Specifications

The table lists power specifications and requirements for the Ultra3000 230V
drives (2098-DSD-005x-xx, -010x-xx, and -020x-xx).

Attribute 2098-DSD-005 2098-DSD-010 2098-DSD-020

AC input voltage (1) 100…240V rms, single-phase

AC input frequency 47…63 Hz

AC input current (2) (3)

Nom (rms) 5A 9A 18 A
100 A - Series A or B 100 A - Series A or B 100 A - Series A or B
230V AC (0-pk) max inrush (4) 20 A - Series C 20 A - Series C 20 A - Series C
Continuous output current (rms) 1.8 A 3.5 A 7.1 A
Continuous output current (0-pk) 2.5 A 5.0 A 10 A
Peak output current (rms) 5.3 A 10.6 A 21.2 A
Peak output current (0-pk) 7.5 A 15 A 30 A
Bus capacitance 1410 µF 1880 µF 1880 µF
Internal shunt resistance — — —
Shunt on — — —
Shunt off — — —
Bus overvoltage 400V DC 400V DC 400V DC
Energy absorption capability
115V AC input 93 J 125 J
230V AC input 38 J 51 J
Continuous power output
115V AC input 0.25 kW 0.5 kW 1.0 kW
230V AC input 0.5 kW 1.0 kW 2.0 kW
(1) Specification is for nominal voltage. The absolute limits are ±10%, or 88…265V rms.
(2) The 2098-DSD-005x-xx, 2098-DSD-010x-xx, and 2098-DSD-020x-xx (200V-class) drives are limited to:
Series A or B - one contactor cycle every 2 minutes.
Series C - one contactor cycle every 10 s for up to 2 minutes, not to exceed 12 cycles in 5 minutes.
(3) Power initialization requires a short period of inrush current. Dual element time delay (slow blow) fuses are recommended.
(4) Inrush current limiting circuitry is enabled within 3 s after removal of AC line power.

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 57

Appendix C Specifications

The table lists power specifications and requirements for the Ultra3000 230V
drives (2098-DSD-030, -075, and -150).

Attribute 2098-DSD-030 2098-DSD-075 2098-DSD-150

AC input voltage (1) 100…240V rms, single-phase 100…240V rms, three-phase

AC input frequency 47…63 Hz

Main AC input current (2) (3)

Nom (rms) 28 A 30 A 46 A
230V AC (0-pk) max inrush 50 A 50 A 68 A
Auxiliary AC input current
115V AC (rms) nom 1.0 A 1.0 A 1.0 A
230V AC (rms) nom 0.5 A 0.5 A 0.5 A
115V AC (0-pk) max inrush (4) 47 A 47 A 47 A
230V AC (0-pk) max inrush (4) 95 A 95 A 95 A

Continuous output current (rms) 10.6 A 24.7 A 45.9 A

Continuous output current (0-pk) 15 A 35 A 65 A
Peak output current (rms) 21.2 A 53 A 106 A
Peak output current (0-pk) 30 A 75 A 150 A
Bus capacitance 2820 µF 4290 µF 7520 µF
Internal shunt resistance 35  16.5  9.1 
Shunt on 420V DC 420V DC 420V DC
Shunt off 402V DC 402V DC 402V DC
Bus overvoltage 452V DC 452V DC 452V DC
Internal shunt
Continuous power 50 W 50 W 180 W
Peak power 4.5 kW 10 kW 18 kW
External shunt
Resistance 30  (-0/+5%) 16.5  (-0/+5%) 9  (-0/+5%)
Continuous power 2.4 kW 4 kW 8 kW
Peak power 6 kW 10 kW 19 kW
Energy absorption capability
115V AC input 251 J 381 J 669 J
230V AC input 139 J 211 J 370 J
Continuous power output
115V AC input 1.5 kW — —
230V AC input 3 kW 7.5 kW 15 kW
(1) Specification is for nominal voltage. The absolute limits are ±10%, or 88…265V rms.
(2) The 2098-DSD-030x-xx, 2098-DSD-075x-xx, and 2098-DSD-150x-xx (200V-class) drives are limited to one contactor cycle per 2 minutes.
(3) Power initialization requires a short period of inrush current. Dual element time delay (slow blow) fuses are recommended.
(4) 400 µs half wave sine.

58 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Appendix C Specifications

Ultra3000 (460V) Servo Drive Power Specifications

The table lists power specifications and requirements for the Ultra3000 460V
drives (2098-DSD-HV030, -HV050, -HV100, -HV150, and -HV220).
Attribute 2098-DSD-HV030 2098-DSD-HV050 2098-DSD-HV100 2098-DSD-HV150 2098-DSD-HV220
AC input voltage (1) (2) 230…480V rms, three-phase
AC input Frequency 47…63 Hz
(3) (4)
Main AC input current
460V AC (rms) nom 4A 7A 14 A 20 A 28 A
460V AC (rms) max inrush 6A 6A 6A 6A 6A
Auxiliary AC input current
230V AC (rms) nom 0.55 A
360V AC (rms) nom 0.35 A
480V AC (rms) nom 0.25 A
230V AC (0-pk) max inrush (5) 47 A
480V AC (0-pk) max inrush (5) 68 A
Continuous output current (rms) 5.0 A 7.8 A 16.3 A 24.0 A 33.2 A
Continuous output current (0-pk) 7.0 A 11 A 23 A 34 A 47 A
Peak output current (rms) 9.9 A 15.6 A 32.5 A 48.1 A 66.5 A
Peak output current (0-pk) 14 A 22 A 46 A 68 A 94 A
Bus capacitance 470 µF 705 µF 940 µF 1880 µF
Internal shunt resistance 120  40  25  20 
Shunt on
230V AC input 400V DC
480V AC input 800V DC
Shunt off
230V AC input 375V DC
480V AC input 750V DC
Bus overvoltage
230V AC input 410V DC
480V AC input 810V DC
Internal shunt
Continuous power 100 W 200 W 200 W 400 W
Peak power 5.3 kW 16 kW 25.6 kW 32 kW
External shunt
Resistance (-0/+5%) 120  40  25  20 
Continuous power 3 kW 10 kW 15 kW 22 kW
Peak power 5.3 kW 16 kW 25.6 kW 32 kW
Energy absorption capability
230V AC input with 230V motor 15 J 22 J 29 J 59 J
230V AC input with 460V motor 129 J 194 J 259 J 517 J
480V AC input 55 J 82 J 109 J 219 J
Continuous power output
230V AC input 1.5 kW 2.5 kW 5.0 kW 7.5 kW 11 kW
480V AC input 3.0 kW 5.0 kW 10 kW 15 kW 22 kW
(1) Specification is for nominal voltage. The absolute limits are ±10%, or 207…264V rms and 324…528V rms.
(2) The 2098-DSD-HVxxx-xx drives can be powered with 230V rms and used with motors that are designed for 230V operation. In such cases, the voltage levels that are used for shunting and
DC bus overvoltage limits are adjusted to be compatible with the voltage limit of the motor.
The 2098-DSD-HVxxx-xx drives can be powered with 480V rms and used with motors that are designed for 480V operation. In such cases, the voltage levels that are used for shunting and
DC bus overvoltage limits are adjusted to be compatible with the voltage limit of the motor.
(3) The 2098-DSD-HVxxx -xx (400V-class) drives are limited to three contactor cycles per minute.
(4) Power initialization requires a short period of inrush current (processor that is controlled via soft start circuitry). Dual element time delay (slow blow) fuses are recommended.
(5) 400 µs half wave sine.

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 59

Appendix C Specifications

Kinetix 5300 Servo Drive Input Power Specifications

The table lists input power specifications and requirements for the Kinetix
5300 servo drives.
Table 43 - Kinetix 5300 (110V and 230V, Single-phase and Three-phase) Power Specifications
Attribute 2198-C1004-ERS 2198-C1007-ERS 2198-C1015-ERS 2198-C1020-ERS
85…132V rms, single-phase (110V nom)
AC input voltage 170…253V rms, single-phase (230V nom)
170…253V rms, three-phase (230V nom)
AC input frequency 47…63 Hz
Main AC input current (rms) (1) 2.17 A 3.56 A 6.58 A 9.45 A
Max inrush current (0-pk)
Nom 110V input (single-phase) 6.0 A 6.0 A 6.0 A 6.0 A
Nom 230V input (single-phase) 11.5 A 11.5 A 11.5 A 11.5 A
Nom 230V input (three-phase) 7.4 A 7.4 A 7.4 A 7.4 A
Peak AC input current (rms) 6.99 A 10.48 A 19.75 A 27.46 A
21.6…26.4V DC
Control power input voltage (2) 24V DC nom
Control power input current (1) (3) 0.4 A DC 0.4 A DC 0.9 A DC 0.9 A DC
(non-brake motors)
Continuous output current (rms)
Nom 110V input (single-phase)
Nom 230V input (single-phase) 2.8 A 4.6 A 8.5 A 12.2 A
Nom 230V input (three-phase)
Continuous output current (0-pk)
Nom 110V input (single-phase)
Nom 230V input (single-phase) 4.0 A 6.5 A 12.0 A 17.3 A
Nom 230V input (three-phase)
Peak output current (rms) (4)
Nom 110V input (single-phase) 6.6 A 9.7 A 12.2 A 25.0 A
Nom 230V input (single-phase) 9.5 A 15.5 A 20.5 A 40.6 A
Nom 230V input (three-phase) 9.5 A 15.5 A 29.2 A 40.6 A
Peak output current (0-pk)
Nom 110V input (single-phase) 9.3 A 13.7 A 17.3 A 35.4 A
Nom 230V input (single-phase) 13.4 A 21.9 A 29.0 A 57.4 A
Nom 230V input (three-phase) 13.4 A 21.9 A 41.3 A 57.4 A
Line loss ride through 20 ms
Continuous output power
@ 110V nom single-phase 0.22 kW 0.36 kW 0.67 kW 0.97 kW
@ 230V nom single-phase 0.46 kW 0.76 kW 1.41 kW 2.02 kW
@ 230V nom three-phase 0.72 kW 1.18 kW 2.18 kW 3.13 kW
Internal shunt on 387.5V
Internal shunt off 377.5V
Internal shunt resistor 100 Ω 100 Ω 60 Ω 60 Ω
Internal shunt power 30 W 30 W 50 W 50 W
72V @110V AC input
Bus undervoltage limit 144V @230V AC input
Bus overvoltage limit 405V
Bus capacitance 330 µF 560 µF 660 µF 1120 µF
Capacitive energy absorption
@ 110V nom AC input 21.31 J 36.17 J 42.63 J 72.34 J
@ 230V nom AC input 5.94 J 10.08 J 11.88 J 20.16 J
Efficiency
@ 110V nom single-phase AC input 91%
@ 230V nom single-phase AC input 95%
@ 230V nom three-phase AC input 97%
Short-circuit current rating 200,000 A (rms) symmetrical
(1) Drives are limited to one power cycle per minute.
(2) The cooling fan runs as part of the control power startup routine, when the inverter is enabled, and if the inverter temperature exceeds preset threshold.
(3) For current values when motors include a holding brake, refer to Kinetix 5300 Servo Drive Control Power Specifications.
(4) Peak RMS current allowed for up to 1.0 seconds.

60 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Appendix C Specifications

Table 44 - Kinetix 5300 (230V, three-phase) Input Power Specifications

Attribute 2198-C2030-ERS 2198-C2055-ERS 2198-C2075-ERS
AC input voltage 170…253V rms, three-phase (230V nom)
AC input frequency 47…63 Hz
Main AC input current (rms) (1) 15.18 A 31.13 A 36.93 A
Max inrush current (0-pk) 7.4 A 14.8 A 14.8 A
Peak AC input current (rms) 41.26 A 73.06 A 86.25 A
21.6…26.4V DC
Control power input voltage (2) 24V DC nom
Control power input current (1) (3) 0.9 A DC 1.7 A DC 1.7 A DC
(non-brake motors)
Continuous output current (rms) 19.6 A 40.2 A 47.7 A
Continuous output current (0-pk) 27.7 A 56.9 A 67.5 A
Peak output current (rms) (4) 61.0 A 108.0 A 127.5 A
Peak output current (0-pk) 86.3 A 152.7 A 180.3 A
Line loss ride through 20 ms
Continuous output power 5.02 kW 10.30 kW 12.22 kW
Internal shunt on 387.5V
Internal shunt off 377.5V
Internal shunt resistor 60 Ω 40 Ω
Internal shunt power 50 W 75 W
Bus undervoltage limit 144V
Bus overvoltage limit 405V
Bus capacitance 1680 µF 2460 µF 3280 µF
Capacitive energy absorption 30.25 J 44.29 J 59.05 J
Efficiency 97%
Short-circuit current rating 200,000 A (rms) symmetrical
(1) Drives are limited to one power cycle per minute.
(2) The cooling fan runs as part of the control power startup routine, when the inverter is enabled, and if the inverter temperature exceeds preset threshold.
(3) For current values when motors include a holding brake, refer to Kinetix 5300 Servo Drive Control Power Specifications.
(4) Peak RMS current allowed for up to 1.0 seconds.

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 61

Appendix C Specifications

Table 45 - Kinetix 5300 (480V, three-phase) Input Power Specifications

Attribute 2198-C4004-ERS 2198-C4007-ERS 2198-C4015-ERS 2198-C4020-ERS
AC input voltage 342…528V rms, three-phase (480V nom)
AC input frequency 47…63 Hz
Main AC input current (rms) (1) 1.24 A 2.25 A 4.03 A 5.65 A
Max inrush current (0-pk) 15.5 A 15.5 A 15.5 A 15.5 A
Peak AC input current (rms) 3.59 A 6.29 A 12.18 A 16.10 A
21.6…26.4V DC
Control power input voltage (2) 24V DC nom
Control power input current (1) (3) 0.4 A DC 0.4 A DC 0.9 A DC 0.9 A DC
(non-brake motors)
Continuous output current (rms) 1.6 A 2.9 A 5.2 A 7.3 A
Continuous output current (0-pk) 2.3 A 4.1 A 7.4 A 10.3 A
Peak output current (rms) (4) 5.3 A 9.3 A 18.0 A 23.8 A
Peak output current (0-pk) 7.5 A 13.2 A 25.5 A 33.7 A
Line loss ride through 20 ms
Continuous output power 0.86 kW 1.55 kW 2.78 kW 3.90 kW
Internal shunt on 775V
Internal shunt off 765V
Internal shunt resistor 100 Ω 100 Ω 60 Ω 60 Ω
Internal shunt power 30 W 30 W 50 W 50 W
Bus undervoltage limit 275V
Bus overvoltage limit 810V
Bus capacitance 165 µF 165 µF 280 µF 330 µF
Capacitive energy absorption 8.13 J 13.79 J 16.26 J
Efficiency 97%
Short-circuit current rating 200,000 A (rms) symmetrical
(1) Drives are limited to one power cycle per minute.
(2) The cooling fan runs as part of the control power startup routine, when the inverter is enabled, and if the inverter temperature exceeds preset threshold.
(3) For current values when motors include a holding brake, refer to Kinetix 5300 Servo Drive Control Power Specifications.
(4) Peak RMS current allowed for up to 1.0 seconds.

62 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Appendix C Specifications

Table 46 - Kinetix 5300 (480V, three-phase) Input Power Specifications (continued)

Attribute 2198-C4030-ERS 2198-C4055-ERS 2198-C4075-ERS
AC input voltage 342…528V rms, three-phase (480V nom)
AC input frequency 47…63 Hz
Main AC input current (rms) (1) 9.06 A 17.50 A 21.29 A
Max inrush current (0-pk) 30.9 A 30.9 A 46.4 A
Peak AC input current (rms) 23.07 A 39.57 A 49.72 A
21.6…26.4V DC
Control power input voltage (2) 24V DC nom
Control power input current (1) (3) 0.9 A DC 1.7 A DC 1.7 A DC
(non-brake motors)
Continuous output current (rms) 11.7 A 22.6 A 27.5 A
Continuous output current (0-pk) 16.5 A 32.0 A 38.9 A
Peak output current (rms) (4) 34.1 A 58.5 A 73.5 A
Peak output current (0-pk) 48.3 A 82.7 A 103.9 A
Line loss ride through 20 ms
Continuous output power 6.25 kW 12.08 kW 14.70 kW
Internal shunt on 775V
Internal shunt off 765V
Internal shunt resistor 60 Ω 40 Ω
Internal shunt power 50 W 75 W
Bus undervoltage limit 275V
Bus overvoltage limit 810V
Bus capacitance 560 µF 820 µF 1230 µF
Capacitive energy absorption 27.59 J 40.40 J 60.60 J
Efficiency 97%
Short-circuit current rating 200,000 A (rms) symmetrical
(1) Drives are limited to one power cycle per minute.
(2) The cooling fan runs as part of the control power startup routine, when the inverter is enabled, and if the inverter temperature exceeds preset threshold.
(3) For current values when motors include a holding brake, refer to Kinetix 5300 Servo Drive Control Power Specifications.
(4) Peak RMS current allowed for up to 1.0 seconds.

Control and Auxiliary Power This section provides the control and auxiliary power specifications for the
Specifications Ultra3000 and Kinetix 5300 servo drives.

Ultra3000 Servo Drive Auxiliary Power Specifications

Table 47 - Ultra3000 Drives +24V Power Supply Requirements for Logic Power
Parameter Description Min Max
Input voltage range of the external power supply for
Input voltage range drive-mounted breakout boards with 24V to 5V 18V 30V
converter.
Input current draw from the external power supply for
Input current the drive-mounted breakout boards with 24V to 5V — 400 mA
converter.

IMPORTANT A 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.

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 63

Appendix C Specifications

Table 48 - Ultra3000 Drives 5V Supply Specifications

Parameter Description Min Max
Voltage Voltage tolerance of the external logic supply. 5.1V 5.25V
Current output capability of the external +5V DC power 1.5 A
Current —
supply.

IMPORTANT Using the drive-mounted breakout board with 24V to 5V auxiliary power
converter is preferred to using an external +5V DC power supply.
Table 49 - Ultra3000 Drive Auxiliary Power Specification (230V)

Specification 2098-DSD-030 2098-DSD-075 2098-DSD-150

Auxiliary AC input current
115V AC (rms) nom 1.0 A
230V AC (rms) nom 0.5 A
115V AC (0-pk) max inrush 47 A
230V AC (0-pk) max inrush 95 A

Table 50 - Ultra3000 Drive Auxiliary Power Specification (460V)

2098-DSD- 2098-DSD- 2098-DSD- 2098-DSD- 2098-DSD-

Attribute HV030 HV050 HV100 HV150 HV220
Auxiliary AC input current
230V AC (rms) nom 0.55 A
360V AC (rms) nom 0.35 A
480V AC (rms) nom 0.25 A
230V AC (0-pk) max inrush 47 A
480V AC (0-pk) max inrush 68 A

Kinetix 5300 Servo Drive Control Power Specifications

Table 51 - Control Power Current Specifications
24V Current per 24V Current
Kinetix 5300 Drive Module 24V Inrush Current (2)
Cat. No. (non-brake motor) (2 A brake motor) (1)
ADC A
ADC
2198-C1004-ERS
2198-C1007-ERS
0.4 2.4 1.8
2198-C4004-ERS
2198-C4007-ERS
2198-C1015-ERS
2198-C1020-ERS
2198-C2030-ERS
0.9 2.9 2.4
2198-C4015-ERS
2198-C4020-ERS
2198-C4030-ERS
2198-C2055-ERS
2198-C2075-ERS
1.7 3.7 3.0
2198-C4055-ERS
2198-C4075-ERS
(1) See Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001, for brake current specifications of Kinetix
MP, TLP, and TL/TLY rotary motors.
(2) Inrush current duration is less than 30 ms.

64 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Appendix C Specifications

Power Dissipation This section provides the power dissipation specifications for the Ultra3000
Specifications and Kinetix 5300 servo drives.

Ultra3000 Servo Drive Power Dissipation Specifications

Use the following table to size an enclosure and calculate required ventilation
for an Ultra3000 servo drive system. Typical heat losses run approximately
one-half maximum power losses. The maximum power losses are shown.

Ultra3000 Servo Maximum Loss, Ultra3000 Servo Maximum Loss,

Drive Cat. No. watts Drive Cat. No. watts
2098-DSD-005x-xx 48 2098-DSD-HV030x-xx 175 + dissipative shunt
2098-DSD-010x-xx 48 2098-DSD-HV050x-xx 175 + dissipative shunt
2098-DSD-020x-xx 50 2098-DSD-HV100x-xx 350 + dissipative shunt
2098-DSD-030x-xx 150 + dissipative shunt 2098-DSD-HV150x-xx 350 + dissipative shunt
2098-DSD-075x-xx 300 + dissipative shunt 2098-DSD-HV220x-xx 600 + dissipative shunt
2098-DSD-150x-xx 500 + dissipative shunt

Kinetix 5300 Servo Drive Power Dissipation Specifications

Use this table to size an enclosure and calculate required ventilation for a
Kinetix 5300 drive system.

Usage as a % of Rated Power Output (1)

Kinetix 5300 Drive AC Input, (watts)
Cat. No. nom
20% 40% 60% 80% 100%
2198-C1004-ERS 12 16 20 25 29
2198-C1007-ERS 14 19 24 30 37
2198-C1015-ERS 26 36 47 59 71
200…230V
2198-C1020-ERS three-phase 35 52 71 91 112
2198-C2030-ERS 53 87 124 164 206
2198-C2055-ERS 87 139 193 250 308
2198-C2075-ERS 97 159 225 293 364
2198-C4004-ERS 16 21 26 31 36
2198-C4007-ERS 20 30 39 48 58
2198-C4015-ERS 33 48 62 78 93
380…480V
2198-C4020-ERS three-phase 39 58 79 101 124
2198-C4030-ERS 57 89 123 157 193
2198-C4055-ERS 112 171 231 293 356
2198-C4075-ERS 134 204 273 344 417
2198-C1004-ERS 12 16 20 25 30
2198-C1007-ERS 200…230V 14 19 24 30 37
2198-C1015-ERS single-phase 25 36 47 59 72
2198-C1020-ERS 35 52 72 92 115
2198-C1004-ERS 11 14 18 22 26
2198-C1007-ERS 110…120V 12 17 21 27 32
2198-C1015-ERS single-phase 23 32 42 53 64
2198-C1020-ERS 30 44 59 77 96
(1) Internal shunt power is not included in the calculations and must be added based on utilization.

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 65

Appendix C Specifications

Cable Lengths This section provides the feedback cable lengths for the Ultra3000 and Kinetix
5300 servo drives.

Table 52 - Ultra3000 and Kinetix 5300 Servo Drive Motor Cable Length Comparison (max)
Kinetix 5300 Ultra3000
Cable Length, max
Compatible Motor and Feedback Type m (ft) Cable Length, max
Actuator Cat. No.
≤400V AC 480V AC m (ft)
Input Input
Nikon (24-bit) absolute
TLP-A/Bxxx-xxx-D high-resolution, multi- 50 (164)
turn, and single-turn
—
TLY-Axxxx-B Tamagawa (17-bit)
absolute high-
TL-Axxxx-B resolution, multi-turn 30 (98.4)
TLY-Axxxx-H Incremental encoder 30 (98.4)
MPL-A/Bxxxx-V/E 50 (164) 20 (65.6) 90 (295.3)
MPL-A/Bxxxx-S/M 90 (295.3)
MPM-Axxxx-S/M 30 (98.4)
Hiperface, absolute
MPM-Bxxxx-S/M high- resolution, multi-
MPF-A/Bxxxx-S/M turn, and single-turn 50 (164) 90 (295.3)
MPS-A/Bxxxx-S/M
MPAR-Axxxxx-M 30 (98.4)
MPAR-Bxxxxx-M 90 (295.3)
MPAR-Axxxxx-V 30 (98.4)
MPAI-AxxxxM3
Absolute high-
MPAS-A/Bxxxx-V 50 (164) 20 (65.6)
resolution, multi-turn
MPAR-Bxxxxx-V 90 (295.3)
MPAI-BxxxxM3
MPL-A/B15xx-H 30 (98.4) 20 (65.6)
MPL-A/B2xxx-H
Incremental encoder 45 (147.6)
MPL-A/B3xx-H
MPL-A/B4xxx-H
30 (98.4)
MPAS-A/Bxxxx-ALM Incremental, magnetic 30 (98.4)
(direct drive) linear
Hiperface, absolute,
LDAT-Sxxxxxx-xDx magnetic scale
Incremental, magnetic
LDAT-Sxxxxxx-xBx 10 (33.1) 30 (98.4)
scale
LDC-Cxxxxxx-xH Sin/Cos or TTL encoder
LDL-xxxxxxx-xH

Although the Ultra3000 servo drive motor feedback cables are available in
standard lengths up to 90 m (295.3 ft), the drive/motor/feedback combination
can limit the maximum cable length, as shown in Table 52.

Table 52 assumes that you are using cables that are recommended in the
Ultra3000 Drives System Design Guide, publication KNX-RM008.

IMPORTANT Kinetix 5300 supports a maximum cable length of 50 m (164 ft).

All 90 m (295 ft) cables that were used in an Ultra3000 installation must
be replaced with 50 m (164 ft) cables.

The length of the power and feedback cables for the Kinetix 5300 drives cannot
exceed 50 m (164 ft), although in some cases maximum cable length is less,
refer to Table 52.

66 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Appendix C Specifications

The maximum drive-to-motor cable length depends on the input power and
feedback type. However, if flying lead cables were used on the Ultra3000 drive,
the feedback connector kit needs to be replaced by 2198-K53CK-D15M feedback
connector kit, as it is required for Kinetix 5300 drives when flying lead cables
are used.

See the Kinetix Motion Accessories Technical Data, publication KNX-TD004,

for cable specifications.

Environmental This section provides the environmental specifications for the Ultra3000 and
Specifications Kinetix 5300 servo drives.

Ultra3000 Servo Drive Environmental Specifications

Specification Operational Range Storage Range (non-operating)
Ambient Temperature 0 °C…55 °C (32 °F…131 °F) -35 °C…70 °C (-40 °F…158 °F)
Relative Humidity 5…95% noncondensing 5…95% noncondensing
Altitude 1500 m (4921.5 ft) - Derate 3% per 300 m (984.3 ft) above 1500 m (4,921.5 ft)
Vibration 5…2000 Hz @ 2.5 g peak, 0.0006 mm (0.015 in.) maximum displacement
Shock 15 g, 11 ms half-sine pulse

Kinetix 5300 Servo Drive Environmental Specifications

Attribute Operational Range Storage Range (nonoperating)
Ambient temperature 0…50 °C (32…122 °F) -40…+70 °C (-40…+158 °F)
Relative humidity 5…85% noncondensing 5…95% noncondensing
Protection class (IEC 60529) IP20
Degree of pollution 2
(IEC 61800-5-1)
Altitude 1000 m (3281 ft) 1000 m (3281 ft)
5…55 Hz @ 0.35 mm (0.014 in.) double amplitude, continuous displacement;
Vibration 55…500 Hz @ 2.0 g peak constant acceleration (ten sweeps in each of three
mutually perpendicular directions)
15 g, 11 ms half-sine pulse (three pulses in each direction of three mutually
Shock perpendicular directions)

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 67

Appendix C Specifications

Certifications This section lists the certifications for the Ultra3000 and Kinetix 5300 servo
drives.

Ultra3000 Servo Drive Certifications

Agency Certification (1)
(when product is Standards
marked)
cULus UL Listed to U.S. and Canadian safety standards (UL 508 C File E145959).
European Union 89/336/EEC EMC Directive compliant with EN 61800-3:2004:
Adjustable Speed Electrical Power Drive Systems - Part 3; EMC Product Standard
including specific test methods.
CE
European Union 73/23/EEC Low Voltage Directive compliant with:
• EN 60204-1:1997 - Safety of Machinery - Electrical Equipment of Machines.
• EN 50178:1997 - Electronic Equipment for use in Power Installations.
• EN 60204-1:1997 - Safety of Machinery - Electrical Equipment of Machines.
• IEC 61508: Part 1-7:2000 - Functional Safety of Electrical/Electronic/
Functional Safety Programmable Electronic Safety-related Systems.
• EN954-1:1996 - Safety of machinery. Safety-related parts of control systems. Part
1: General principles for design.
(1) See http://www.rockwellautomation.com/products/certification for Declarations of Conformity Certificates.

Kinetix 5300 Servo Drive Certifications

Agency Certification (1) Standards

UL Listed to U.S. and Canadian safety standards (UL61800-5-1 File E59272).
Solid-state motor overload protection provides dynamic fold-back of motor current
cULus (2) when 110% of the motor rating is reached with a peak current limit based on the
peak rating of the motor as investigated by UL to comply with (UL61800-5-1 File
E59272).
European Union 2004/108/EC EMC Directive compliant with IEC 61800-3:2004 +
A1:2012: Adjustable Speed Electrical Power Drive Systems - Part 3; EMC Product
CE Standard including specific test methods.
European Union 2006/95/EC Low Voltage Directive compliant with IEC 61800-5-
1:2007 - Adjustable speed electrical power drive systems.
TÜV certified for functional safety when used as described in the Kinetix 5300 Servo
Drives User Manual, publication 2198-UM005.
Functional Safety 2198-Cxxxx-ERS (hardwired safety) drive ratings: up to Performance Level (PL) d,
Category 3 according to ISO 13849; up to SIL CL 2 according to IEC 61508, IEC 61800-
5-2, and IEC 62061.
Australian Radiocommunications Act, compliant with:
• Radiocommunications Act: 1992
C-Tick • Radiocommunications (Electromagnetic Compatibility) Standard: 1998
• Radiocommunications (Compliance Labeling - Incidental Emissions) Notice: 1998
• AS/NZS CISPR 11: 2002 (Group 1, Class A)
Korean Registration of Broadcasting and Communications Equipment, compliant
with:
KC • Article 58-2 of Radio Waves Act, Clause 3
• Registration number: KCC-REM-RAA-2198
ODVA EtherNet/IP conformance tested.
Maximum audible noise from the servo drive system complies with OSHA standard
OSHA 3074, Hearing Conservation (<85 dBA).
(1) See rok.auto/certifications for declarations of conformity, certificates, and other certification details.
(2) UL has not evaluated the Safe Torque Off option in these products.

68 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Appendix D

Interconnect Diagrams

This appendix describes power wiring examples to help with the comparison
of the power wiring for the Ultra™ 3000 servo drive and the Kinetix® 5300 drive
systems.

Ultra3000 Servo Drive Figure 21 shows the power wiring diagram with 24V DC control string for
Power Wiring Examples 2098-DSD-005-SE, 2098-DSD-010-SE, and 2098-DSD-020-SE Ultra3000
Sercos drives. 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 21 - Typical Power Wiring on Ultra3000 (230V) System

2098-DSD-005-SE,
2098-DSD-010-SE, and
2098-DSD-020-SE
Ultra3000 Digital Servo Drives
TB1
DC+ DC Bus Connections
DC- for Active Shunt Module
Single-phase AC Line
50/60 Hz L1
Single-phase AC Input Power
AC Line Filter L2/N Connections
Fused Disconnect Input Fusing*
or Circuit Breaker*
U CN1
Bonded Cabinet
Three-phase N.O. Relay Output+
Chassis Ground Bus* V Motor Power 43
Isolation Motor Power
Connections N.O. Relay Output- From CN1 Breakout
Transformer* Connections W 44 Board with 24V to 5V
Aux Logic Power In +5V Aux Power Converter
3
L1 (2090-U3CBB-DMxx)
Aux +5V Common
2
Single-phase Input
Cable Shield
100…240V AC rms
Clamp
L2/N

Terminal To additional
Blocks* Ultra3000 Drive

* INDICATES USER-SUPPLIED COMPONENT

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 69

Appendix D Interconnect Diagrams

Figure 22 shows the power wiring diagram with 24V DC control string for the
2098-DSD-030-SE Sercos drive.

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

Figure 22 - Typical Power Wiring on Ultra3000 (230V) System

2098-DSD-030-SE
Ultra3000 Digital Servo Drive

TB1 TB2
U 1 External Passive
Three-phase Shunt Connections
V Motor Power 2
Motor Power
Connections
Connections W 3

DC+
Input Fusing* DC-
L1
Single-phase AC Input Power
AC Line Filter L2/N Connections CN1
Single-phase AC Line N.O. Relay Output+
50/60 Hz 43
L1 AUX N.O. Relay Output-
44
L2/N AUX
Fused Disconnect Input Fusing*
or Circuit Breaker*
Cable Shield
Bonded Cabinet Clamp
Chassis Ground Bus*
Isolation
Transformer*

L1
Single-phase Input
100…240V AC rms
L2/N

Terminal
Blocks*
To additional
Ultra3000 Drive

* INDICATES USER-SUPPLIED COMPONENT

70 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Appendix D Interconnect Diagrams

Figure 23 shows the power wiring diagram with 24V DC control string for
2098-DSD-075-SE and 2098-DSD-150-SE Ultra3000 Sercos drives.

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

Figure 23 - Typical Power Wiring on Ultra3000 (230V) System

2098-DSD-075-SE, and
2098-DSD-150-SE
Ultra3000 Digital Servo Drives

TB1 TB2
U 1 External Passive
Three-phase Shunt Connections
V AC Input Power 2
Motor Power
Connections
Connections W 3

DC+
Input Fusing* DC-
Three-phase AC Line
50/60 Hz L1
Three-phase L2 Motor Power
AC Line Filter Connections
CN1
Fused Disconnect L3 N.O. Relay Output+
or Circuit Breaker* 43
N.O. Relay Output-
44
L1 AUX
L2/N AUX
Input Fusing*
Isolation Neutral Cable Shield
Transformer* Clamp
Chassis Bonded Cabinet
Ground Bus*

L1

Three-phase Input L2
100…240V AC rms

L3

Terminal
Blocks*
To additional
* INDICATES USER-SUPPLIED COMPONENT Ultra3000 Drive

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 71

Appendix D Interconnect Diagrams

Figure 24 shows the power wiring diagram with 24V DC control string for
2098-DSD-HV030-SE, 2098-DSD-HV050-SE, 2098-DSD-HV100-SE,
2098-DSD-HV150-SE, and 2098-DSD-HV220-SE Ultra3000 Sercos drives.

Figure 24 - Typical Power Wiring on Ultra3000 (460V) System

2098-DSD-HV030-SE
2098-DSD-HV050-SE
2098-DSD-HV100-SE
2098-DSD-HV150-SE
2098-DSD-HV200-SE

Ultra3000 Digital Servo Drives

TB1 TB2
DC+ 1 External Passive
Shunt Connections
DC- 2
W 3
Three-phase V Motor Power
Motor Power
Connections
Connections U

Input Fusing*
L3
Three-phase AC Line
50/60 Hz Three-phase L2
AC Line Filter AC Input Power CN1
L1 Connections N.O. Relay Output+
Fused Disconnect 43
L1 AUX N.O. Relay Output-
or Circuit Breaker* 44
L2/N AUX

Input Fusing* Cable Shield

Isolation Clamp
Neutral
Transformer*
Chassis Bonded Cabinet
Ground Bus*

L3

Three-phase Input
100…240V AC rms L2

L1

Terminal
Blocks*
To additional
Ultra3000 Drive
* INDICATES USER-SUPPLIED COMPONENT

72 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Appendix D Interconnect Diagrams

Kinetix 5300 Servo Drive This section provides examples to assist you in wiring the Kinetix 5300 servo
Power Wiring Examples drive system.

You must supply input power components. The line filters are wired
downstream of the circuit protection.

Table 53 - Interconnect Diagram Notes

Note Information
1 For power wiring specifications, see Wiring Requirements on page 71.
2 For input fuse and circuit breaker sizes, see Circuit Breaker/Fuse Selection on page 25.
3 AC (EMC) line filter is required for EMC compliance. Place 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
that are grounded to the drive chassis and filter case. For AC line filter specifications, see Kinetix Servo
Drives Specifications Technical Data, publication KNX-TD003. Drives are limited to one power cycle per
minute.
4 Terminal block is required to make connections.
5 Cable shield clamp must be used to meet CE requirements.
6 PE ground connection bonded to the panel must be used to meet CE requirements.
7 Internal shunt wired to the shunt connector is the default configuration. Unplug the internal shunt
connector and connect the external shunt wires to the spare shunt connector plug. Damage can occur to
the drive if it is operated without either an internal or external shunt connected.
8 For motor cable specifications, see Kinetix Motion Accessories Specifications Technical Data, publication
KNX-TD004.
9 MPL-A/B15xx-H…MPL-A/B45xx-H, MPL-A15xx-V/E…MPL-A2xx-V/E, MPL-A3xx-S/M…MPL-A45xx-S/M, MPM-
A115xx…MPM-A130xx, MPF-A3xx…MPF-A45xx, MPS-Axxx, MPAR-Axxx, MPAS-Axxx, MPAS-Bxxx (direct drive),
and encoders use the +5V DC supply.
10 MPL-B15xx-V/E…MPL-B2xx-V/E, MPL-B3xx-S/M…MPL-B9xx-S/M, MPL-A5xx, MPM-Bxx, MPM-A165xx…MPM-
A215xx, MPF-Bxx, MPF-A5xx, MPS-Bxxx, MPAR-Bxxx, and MPAS-Bxxx (ballscrew) encoders use the +9V DC
supply.
11 LDAT-Series linear thrusters, Kinetix MPAS (direct drive) linear stages, and LDC/LDL-Series™ linear motors
exclude a brake option, so only the 2090-CPWM7DF-xxAAxx or 2090-CPWM7DF-xxAFxx motor power cables
are specified.

IMPORTANT For three-phase operation, Kinetix 5300 drives must use center-
grounded wye secondary input power configurations.

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 73

Appendix D Interconnect Diagrams

Figure 25 - Kinetix 5300 Drives Power Wiring (three-phase operation)

2198-C1004-ERS, 2198-C1007-ERS,
2198-C1015-ERS, 2198-C1020-ERS,
2198-C2030-ERS, 2198-C2055-ERS,
2198-C2075-ERS, 2198-C4004-ERS,
2198-C4007-ERS, 2198-C4015-ERS,
2198-C4020-ERS, 2198-C4030-ERS,
2198-C4055-ERS, 2198-C4075-ERS
Kinetix 5300 Drives

DC+ Shunt
SH Connector
See Table 53 for note information.
Internal Shunt
Note 7

Cable Shield
Bonded Cabinet Ground Bus PE Ground Clamp
Chassis Note 6 Note 5 4
U Three-phase
Note 4 Motor Power V
3
Motor Power
Customer Supplied 2 2
+24V DC 1
24V_COM Control Power Connector W Connections
1
Power Supply *
+24V Connector Note 8

4
2198-DBxxx-F
170…253V AC rms or Three-phase
3
L3 Mains AC Input Motor Brake MBRK -
2 MBRK -
Motor Brake
342…528V AC rms AC Line Filter 2
L2 Connector Connector MBRK +
1 MBRK + Connections
Three-phase Input Note 3 1
L1
Note 1 Circuit Protection *
Note 2

* Indicates User Supplied Component

74 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Appendix D Interconnect Diagrams

Figure 26 - Kinetix 5300 Drives Power Wiring (Single-phase operation)

2198-C1004-ERS, 2198-C1007-ERS,
2198-C1015-ERS, 2198-C1020-ERS
Kinetix 5300 Drives

DC+ Shunt
SH Connector
See Table 53 for note information.

Internal Shunt
Note 7

Note 5
Cable Shield
Bonded Cabinet Ground Bus Clamp
PE Ground
Note 6 4
Chassis U Three-phase
Motor Power V
3
Motor Power
Note 4 Customer Supplied 2 Connector 2
+24V DC 1
24V_COM Control Power W Connections
1
Power Supply *
+24V Connector Note 8

4
2198-DBxxx-F 3 2 MBRK -
Three-phase L3 Mains AC Input Motor Brake MBRK -
Motor Brake
85…132V AC rms 2 Connector Connector
1 MBRK +
AC Line Filter L2 MBRK + Connections
or 170…253V AC rms 1
Note 3 L1
Single-phase Input
Note 1 Circuit Protection *
Note 2

* Indicates User Supplied Component

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 75

Appendix D Interconnect Diagrams

Notes:

76 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Appendix E

Communication Configurations

The Kinetix® 5300 servo drives support any Ethernet topology including linear,
ring, and star by using ControlLogix® or CompactLogix™ controllers.

These examples feature the CompactLogix 5380 programmable automation

controllers (Bulletin 5069) that are part of the Logix 5000™ family of controllers
(version 33.00 or later).

See CompactLogix 5380, Compact GuardLogix® 5380, and CompactLogix 5480

Controller Specifications Technical Data, publication 5069-TD002, for more
information on CompactLogix 5380 controllers.

These examples feature the CompactLogix 5380 programmable automation

controllers (catalog number 5069-L340ERM) with support for Integrated
Motion over the EtherNet/IP network.

IMPORTANT When using an external Ethernet switch for routing traffic between the
controller and the drive, switches with IEEE-1588 time synchronization
capabilities (boundary or transparent clock) must be used to make sure
switch delays are compensated.

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 77

Appendix E Communication Configurations

Kinetix 5300 Servo Drive In this example, all devices are connected in linear topology. The Kinetix 5300
Linear Topology drives include dual-port connectivity, however, if any device becomes
disconnected, all devices downstream of that device lose communication.
Devices without dual ports must include the 1783-ETAP module or be
connected at the end of the line.

Figure 27 - Kinetix 5300 Linear Communication Installation

CompactLogix Controller Programming Network

CompactLogix 5380 Controller Studio 5000 Logix

Designer® application
(version 33.00 or later)

Kinetix 5300 Servo Drive System

1585J-M8CBJM-x
Ethernet (shielded) Cable 2 2 2 2

1 1 1 1

10 10 10 10

1585J-M8CBJM-OM15
0.15 m (6 in.) Ethernet cable
1 1 1 1
U U U U

V V V V

for drive-to-drive connections.

W W W W

MBRK MBRK MBRK MBRK

MFB MFB MFB MFB

842E-CM Integrated
Motion Encoder

PanelView™ 5310 1734-AENTR POINT I/O™

Display Terminal EtherNet/IP Adapter

78 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Appendix E Communication Configurations

Ring Topology In this example, the devices are connected by using ring topology. If only one
device in the ring is disconnected, the rest of the devices continue to
communicate. For ring topology to work correctly, a Device Level Ring (DLR)
supervisor is required (for example, the CompactLogix controller). DLR is an
ODVA standard. For more information, See the EtherNet/IP Embedded
Switch Technology Application Guide, publication ENET-AP005.

Devices without dual ports require a 1783-ETAP module to complete the

network ring.

Figure 28 - Kinetix 5300 Ring Communication Installation

CompactLogix Controller Programming Network

CompactLogix 5380 Controller Studio 5000 Logix

Designer Application
(version 33.0 or later)

PanelView 5310
Display Terminal

002 1734-AENTR

POINT I O
Module
Status

1585J-M8CBJM-x Ethernet
Network
Activity
Network

1734-AENTR POINT I/O

Status
Point Bus
Link 1 Status
Activity/
Status System
Power

(shielded) Cable
Field
Power

EtherNet/IP Adapter
Link 2
Activity/
Status

Kinetix 5300 Servo Drive System 842E-CM Integrated

Motion Encoder

2 2 2 2

1 1 1 1

1 1 1 1

1585J-M8CBJM-OM15 10 10 10 10
U

0.15 m (6 in.) Ethernet cable

U U U

V V V V

W W W W

for drive-to-drive connections.

MBRK MBRK MBRK MBRK
MFB MFB MFB MFB

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 79

Appendix E Communication Configurations

Star Topology In this example, the devices are connected by using star topology. Each device
is connected directly to the switch.

Kinetix 5300 drives have dual ports, but in star topology all drives are
connected to the switch. Kinetix 5300 and other devices operate
independently. The loss of one device does not impact the operation of other
devices.

Figure 29 - Kinetix 5300 Star Communication Installation

CompactLogix Controller Programming Network

CompactLogix 5380 Controller Studio 5000 Logix

Designer Application
(version 33.00 or later)

1585J-M8CBJM-x 1783-BMS Kinetix 5300 Servo Drive System

Ethernet (shielded) Cable Stratix® 5700
Switch
2 2 2

842E-CM Integrated 1 1 1

Motion Encoder 1 1 1

10 10 10
U U U

V V V

W W W

MBRK MBRK MBRK

MFB MFB MFB

PanelView 5310
Display Terminal

1734-AENTR POINT I/O

EtherNet/IP Adapter

You can use the 842E-CM integrated motion encoder for applications
requiring an external encoder for gearing or camming to the Kinetix 5300
drive. By providing auxiliary feedback directly through the EtherNet/IP
network, the 842E-CM encoder helps eliminate the need for point-to-point
wiring while letting customers use the encoder in a variety of network
topologies. For more information, see the 842E-CM Integrated Motion on
EtherNet/IP Product Profile, publication 842ECM-PP001.

80 Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

 Ultra3000 Digital Servo Drives to Kinetix 5300 Servo Drives Migration Guide

Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 81

Rockwell Automation Support
Use these resources to access support information.

Technical Support Center Find help with how-to videos, FAQs, chat, user forums, and product notification updates. rok.auto/support
Knowledgebase Access Knowledgebase articles. rok.auto/knowledgebase
Local Technical Support Phone Numbers Locate the telephone number for your country. rok.auto/phonesupport
Literature Library Find installation instructions, manuals, brochures, and technical data publications. rok.auto/literature
Product Compatibility and Download Center Download firmware, associated files (such as AOP, EDS, and DTM), and access product rok.auto/pcdc
(PCDC) release notes.

Documentation Feedback
Your comments help us serve your documentation needs better. If you have any suggestions on how to improve our
content, complete the form at rok.auto/docfeedback.

Waste Electrical and Electronic Equipment (WEEE)

At the end of life, this equipment should be collected separately from any unsorted municipal waste.

Rockwell Automation maintains current product environmental information on its website at rok.auto/pec.

Allen-Bradley, CompactLogix, Compact GuardLogix, ControlLogix, expanding human possibility, FactoryTalk, GuardLogix, HPK-series, Kinetix, Kinetix MP, Kinetix TL and TLY, LDC-series, LDL-
series, PanelView, Point I/O, RA Encompass, RDD-series, Rockwell Automation, RSLogix, RSLogix 5000, SoftLogix, Stratix, Studio5000 Logix Designer, and Ultra3000, are trademarks of Rockwell
Automation, Inc.
EtherNet/IP is a trademark of ODVA, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.

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

Publication 2198-RM006A-EN-P - December 2020

Copyright © 2020 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.