Allen-Bradley 2198-P031, 2198-P208, 2198-S160-ERS3, 2198-P070, 2198-D006-ERS3 User Manual

...

User Manual

Original Instructions

Kinetix 5700 Servo Drives

Catalog Numbers 2198-P031, 2198-P070, 2198-P141, 2198-P208, 2198-RP088, 2198-RP200, 2198-RP263, 2198-RP312, 2198-D006-ERS3, 2198-D012-ERS3, 2198-D020-ERS3, 2198-D032-ERS3, 2198-D057-ERS3, 2198-S086-ERS3, 2198-S130-ERS3, 2198-S160-ERS3, 2198-S263-ERS3, 2198-S312-ERS3, 2198-D006-ERS4, 2198-D012-ERS4, 2198-D020-ERS4, 2198-D032-ERS4, 2198-D057-ERS4, 2198-S086-ERS4, 2198-S130-ERS4, 2198-S160-ERS4, 2198-S263-ERS4, 2198-S312-ERS4, 2198T-W25K-ER, 2198-CAPMOD-2240, 2198-CAPMOD-DCBUS-IO, 2198-DCBUSCOND-RP312

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).

Preface

Summary of Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Access the Attachments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Chapter 1

Start Kinetix 5700 Servo Drives Series Change. . . . . . . . . . . . . . . . . . . . . . . . 16

About the Kinetix 5700 Servo Drive System . . . . . . . . . . . . . . . . . . . . . 17

DC-bus Power Supply Input Power Configurations. . . . . . . . . . . . . . 19

Typical DC-bus Power Supply Configuration Example . . . . . . . 19

Multiple DC-Bus Power Supply Configuration Example. . . . . . 20

Extended DC-bus Configuration Example. . . . . . . . . . . . . . . . . . . 21

iTRAK Power Supply Configuration Example . . . . . . . . . . . . . . . 22

Regenerative Bus Supply Input Power Configurations. . . . . . . . . . . . 23

Typical Regenerative Bus Configuration Examples . . . . . . . . . . . 23

Extended Regenerative Bus Configuration Example . . . . . . . . . . 26

iTRAK Power Supply Configuration Example . . . . . . . . . . . . . . . 27

8720MC-RPS Power Supply Input Power Configuration. . . . . . . . . 28

Motor and Auxiliary Feedback Configurations . . . . . . . . . . . . . . . . . . 29

Typical Communication Configurations . . . . . . . . . . . . . . . . . . . . . . . . 30

Linear Topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Ring Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Star Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Functional Safety Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Hardwired Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Integrated Safety Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Safe Stop and Safe Monitor Configurations. . . . . . . . . . . . . . . . . . 36

Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Plan the Kinetix 5700 Drive System Installation

Chapter 2

System Design Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

System Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

DC-bus Voltage Regulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

AC Line Filter Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

AC Line Impedance Considerations . . . . . . . . . . . . . . . . . . . . . . . . 45

Circuit Breaker/Fuse Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

24V Control Power Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Contactor Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Passive Shunt Considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Active Shunt Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Enclosure Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . 56

Multi-axis Shared DC-Bus Configurations. . . . . . . . . . . . . . . . . . . 57

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Accessory Module Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

DC-bus Power Supply Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Regenerative Bus Supply Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

8720MC-RPS or Other Regenerative Power Supply . . . . . . . . . . 64

Accessory Module Flowcharts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Electrical Noise Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Bonding Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Bonding Multiple Subpanels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Establishing Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Cable Categories for Kinetix 5700 Systems . . . . . . . . . . . . . . . . . . 72

Noise Reduction Guidelines for Drive System Accessories. . . . . 73

Chapter 3

Mount the Kinetix 5700 Drive System

Connector Data and Feature Descriptions

Determine Mounting Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Mount Accessory Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Zero-stack Tab and Cutout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Install Shared-bus Connection Systems . . . . . . . . . . . . . . . . . . . . . . . . . 84

DC-bus Connection System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

24V Input Power Connection System . . . . . . . . . . . . . . . . . . . . . . . 85

Drill-hole Patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Drill-hole Pattern Calculations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Drill-hole Patterns by Using the System Mounting Toolkit . . . 90

Mount Your Kinetix 5700 Drive Modules. . . . . . . . . . . . . . . . . . . . . . . 90

Chapter 4

Kinetix 5700 Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Safe Torque-off Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . 102

Input Power Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

DC Bus and Shunt Resistor Connector Pinouts . . . . . . . . . . . . . 103

Digital Inputs Connector Pinouts. . . . . . . . . . . . . . . . . . . . . . . . . . 103

Ethernet Communication Connector Pinout . . . . . . . . . . . . . . . 105

Motor Power, Brake, and Feedback Connector Pinouts. . . . . . 105

Motor Feedback Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . 106

Universal Feedback Connector Pinouts . . . . . . . . . . . . . . . . . . . . 107

Accessory Module Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Understand Control Signal Specifications . . . . . . . . . . . . . . . . . . . . . . 108

Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

Ethernet Communication Specifications . . . . . . . . . . . . . . . . . . . 109

Contactor Enable Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

Converter OK Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Motor Brake Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Control Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Feedback Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

Encoder Feedback Supported on the

DSL Feedback Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

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Encoder Feedback Supported on the

UFB Feedback Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

Auxiliary Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . 121

Encoder Phasing Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

Absolute Position Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

Functional Safety Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Hardwired STO Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Integrated Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Chapter 5

Connect the Kinetix 5700 Drive System

Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

Routing the Power and Signal Cables. . . . . . . . . . . . . . . . . . . . . . . 128

Input Power Configurations for Kinetix 5700 Power Supplies . . . 129

DC-bus Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

Regenerative Bus Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

Ground Screw/Jumper Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

Kinetix 5700 Drive System Power Supply. . . . . . . . . . . . . . . . . . . 135

Kinetix 5700 Inverters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

Kinetix 5700 iTRAK Power Supply . . . . . . . . . . . . . . . . . . . . . . . . 137

Remove/Install the Ground Screw/Jumper . . . . . . . . . . . . . . . . . . . . . 137

Ground the Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

Ground the System Subpanel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

Ground Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

Wiring Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

Wiring Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

Wire the Power Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

Wire the 24V Control Power Input Connector . . . . . . . . . . . . . 145

Wire the Input Power Connector. . . . . . . . . . . . . . . . . . . . . . . . . . 147

Wire the Contactor Enable Connector . . . . . . . . . . . . . . . . . . . . . 148

Wire the Digital Input Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

2198-xxxx-ERS3 (series A) Connector Plugs. . . . . . . . . . . . . . . . 149

2198-xxxx-ERS4 and 2198-xxxx-ERS3 (series B)

Connector Plugs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

Wire the Safe Torque-off Connector. . . . . . . . . . . . . . . . . . . . . . . 150

Wire the Digital Inputs Connector . . . . . . . . . . . . . . . . . . . . . . . . 151

Wire Motor Power and Brake Connectors . . . . . . . . . . . . . . . . . . . . . 152

Maximum Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

Wiring Single Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

Motor Feedback Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

Apply the Single Motor Cable Shield Clamp. . . . . . . . . . . . . . . . 161

Wiring Power/Brake and Feedback Cables . . . . . . . . . . . . . . . . . . . . . 163

Motor Power and Brake Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

Motor Power/Brake Cable Series Change. . . . . . . . . . . . . . . . . . . 164

Dual-axis Inverter Power/Brake Cable Installation . . . . . . . . . . 165

Single-axis Inverter Power/Brake Cable Installation . . . . . . . . . 168

Motor Feedback Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

Customer-supplied Motor Power Cables . . . . . . . . . . . . . . . . . . . . . . . 178

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Configure and Start the Kinetix 5700 Drive System

Accessory Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

External Passive-shunt Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

External Active-shunt Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

DC-bus Power Supply Active Shunt Connections. . . . . . . . . . . 183

Regenerative Bus Supply Active Shunt Connections . . . . . . . . . 183

Wire the External DC-bus Connections. . . . . . . . . . . . . . . . . . . . 184

Bulletin VPC Motors and the Extended Speed Feature . . . . . . 185

Considerations for Powerohm Shunt Installation . . . . . . . . . . . 185

Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

Chapter 6

Understand the Kinetix 5700 Display. . . . . . . . . . . . . . . . . . . . . . . . . . 188

Menu Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

Setup Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192

Startup Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

Configure the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

Set the Network Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

Studio 5000 Logix Designer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

Version History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

Install the Kinetix 5700 Add-On Profile. . . . . . . . . . . . . . . . . . . . 199

Configure the Logix 5000 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . 200

Configure the Kinetix 5700 Drive Modules . . . . . . . . . . . . . . . . . . . . 203

Configure the DC-bus Power Supply. . . . . . . . . . . . . . . . . . . . . . . 203

Configure the Regenerative Bus Supply. . . . . . . . . . . . . . . . . . . . . 207

Configure the Inverter Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

Continue Inverter Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 219

Configure the Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223

Configure Regenerative Bus Supply Axis Properties . . . . . . . . . . . . . 224

Configure Vertical Load Control Axis Properties . . . . . . . . . . . . . . . 229

Configure Feedback-only Axis Properties . . . . . . . . . . . . . . . . . . . . . . 230

Configure Induction-motor Frequency-control Axis Properties . . 232

General and Motor Categories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232

Basic Volts/Hertz Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

Sensorless Vector Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236

Fan/Pump Volts/Hertz Method. . . . . . . . . . . . . . . . . . . . . . . . . . . 239

Configure IPM Motor Closed-loop Control Axis Properties . . . . . 241

Configure SPM Motor Closed-loop Control Axis Properties. . . . . 245

Configure Induction-motor Closed-loop Control Axis Properties 249

Configure Feedback Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256

Configure Module Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256

Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258

Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

Apply Power to the Kinetix 5700 Drive System . . . . . . . . . . . . . . . . . 262

Understand Bus-sharing Group Configuration . . . . . . . . . . . . . . . . . 263

Bus-sharing Group Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263

Configure Bus-sharing Groups. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265

Test and Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266

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Test the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267

Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269

Chapter 7

Troubleshoot the Kinetix 5700 Drive System

Remove and Replace Drive Modules

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275

Interpret Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276

Display Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276

Fault Code Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276

Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

SAFE FLT Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

Kinetix 5700 Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278

Kinetix 5700 Accessory Module Status Indicators . . . . . . . . . . . 279

Axis Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280

Regenerative Bus Supply Troubleshooting. . . . . . . . . . . . . . . . . . . . . . 281

Logix 5000 Controller and Drive Module Behavior . . . . . . . . . . . . . 283

DC-bus Power Supply Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . 284

Regenerative Bus Supply Behavior . . . . . . . . . . . . . . . . . . . . . . . . . 286

iTRAK Power Supply Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . 288

Inverter Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289

Chapter 8

Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295

Remove and Replace Kinetix 5700 Drive Modules . . . . . . . . . . . . . . 296

Remove Power and All Connections . . . . . . . . . . . . . . . . . . . . . . . 296

Remove the Drive Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300

Replace the Drive Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301

Start and Configure the Drive Module . . . . . . . . . . . . . . . . . . . . . . . . . 302

Replacing 2198-xxxx-ERS3 (series A) Drives with

Series B Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302

Kinetix 5700 Safe Torque-off Function

Chapter 9

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305

Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306

Average Frequency of a Dangerous Failure . . . . . . . . . . . . . . . . . . 307

Safe Torque-off Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307

Out of Box State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308

Safe Torque-off Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311

Explicit Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312

Hardwired Safe Torque-off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314

Compatible Controllers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314

Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314

Troubleshoot the Safe Torque-off Function . . . . . . . . . . . . . . . . 316

Safe Torque-off Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . . . 317

Wire the Safe Torque-off Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . 318

Safe Torque-off Wiring Requirements. . . . . . . . . . . . . . . . . . . . . . 320

Safe Torque-off Feature Bypass . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 7

Table of Contents

Cascade the Safe Torque-off Signal. . . . . . . . . . . . . . . . . . . . . . . . . 321

Hardwired Safe Torque-off Electrical Specifications . . . . . . . . . 323

Integrated Safe Torque-off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323

Compatible Safety Controllers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324

Safety Application Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . 324

Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325

Safe Torque-off Assembly Tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325

STO Fault Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328

Troubleshoot the Safe Torque-off Function . . . . . . . . . . . . . . . . 329

Understand Integrated Safety Drive Replacement . . . . . . . . . . . 330

Replace an Integrated Safety Drive in a GuardLogix System . . 331

Motion Direct Commands in Motion Control Systems. . . . . . 332

Integrated Safe Torque-off Specifications. . . . . . . . . . . . . . . . . . . 339

Appendix A

Interconnect Diagrams Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341

Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343

Capacitor Module Status Wiring Example. . . . . . . . . . . . . . . . . . . . . . 357

DC-bus Conditioner Module Status Wiring Example . . . . . . . . . . . 357

Contactor Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358

Passive Shunt Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359

Active Shunt Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360

Kinetix 5700 Servo Drive and Rotary Motor Wiring Examples. . . 362 Kinetix 5700 Servo Drive and Linear Actuator Wiring Examples . 367

System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373

Appendix B

Upgrade the Drive Firmware Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382

Configure Logix 5000 Controller Communication. . . . . . . . . . 383

Inhibit Feedback Only Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384

Upgrade Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385

Verify the Firmware Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389

Appendix C

Size Multi-axis Shared-bus Configurations

Shared DC-bus Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391

Shared DC-bus Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391

General Sizing Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393

System Sizing Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393

Select Drive/Motor Combinations. . . . . . . . . . . . . . . . . . . . . . . . . 394

Select the Power Supply and Define the DC-bus Groups. . . . . 394

Calculate System and External-bus Capacitance . . . . . . . . . . . . . 394

Calculate the Total Motor Power Cable Length. . . . . . . . . . . . . 395

Calculate 24V DC Control Power Current Demand . . . . . . . . 396

24V DC Voltage Drop Calculation Example. . . . . . . . . . . . . . . . 397

System Sizing Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399

System Sizing Application Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400

8 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019

Appendix D

Table of Contents

Maximum Motor Cable Lengths for Kinetix 5700 Power Supplies

DC-bus Power Supply Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 402

Regenerative Bus Supply Configurations . . . . . . . . . . . . . . . . . . . . . . . 404

Appendix E

Motor Control Feature Support Frequency Control Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 406

Basic Volts/Hertz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407

Basic Volts/Hertz for Fan/Pump Applications . . . . . . . . . . . . . . 408

Sensorless Vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409

Current Limiting for Frequency Control. . . . . . . . . . . . . . . . . . . . . . . 410

The Effects of Current Limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . 410

Enable the Current Limiting Feature. . . . . . . . . . . . . . . . . . . . . . . 412

Set the CurrentVectorLimit Attribute Value. . . . . . . . . . . . . . . . 412

Stability Control for Frequency Control . . . . . . . . . . . . . . . . . . . . . . . 413

Enable the Stability Control Feature . . . . . . . . . . . . . . . . . . . . . . . 414

Skip Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415

Multiple Skip Speeds. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416

Flux Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417

Flux Up Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418

Configure the Flux Up Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . 419

Current Regulator Loop Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420

Motor Category. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420

Motor Tests and Autotune Procedure . . . . . . . . . . . . . . . . . . . . . . 422

Motor Analyzer Category Troubleshooting. . . . . . . . . . . . . . . . . 423

Selection of Motor Thermal Models . . . . . . . . . . . . . . . . . . . . . . . . . . . 426

Generic Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426

Thermally Characterized Motors . . . . . . . . . . . . . . . . . . . . . . . . . . 427

Speed Limited Adjustable Torque (SLAT) . . . . . . . . . . . . . . . . . . . . . 428

Motion Polarity Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428

SLAT Min Speed/Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429

SLAT Max Speed/Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430

SLAT Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430

Configure the Axis for SLAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431

Motion Drive Start (MDS) Instruction. . . . . . . . . . . . . . . . . . . . . 434

Motor Overload Retention. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439

Phase Loss Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 440

Phase-loss Detection Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . 441

Phase-loss Detection Configuration. . . . . . . . . . . . . . . . . . . . . . . . 441

Phase Loss Detection Current Example . . . . . . . . . . . . . . . . . . . . 442

Velocity Droop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443

Closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443

Frequency Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443

Velocity Droop Attribute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443

Velocity Droop Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444

Commutation Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445

Adaptive Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 9

Table of Contents

Field Weakening Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446

Extended Speed Feature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446

Configure Extended Speed Operation . . . . . . . . . . . . . . . . . . . . . . 447

Index

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449

10 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019

Preface

This manual provides detailed installation instructions for mounting and wiring your Kinetix® 5700 power supplies, single-axis inverters, dual-axis inverters, and accessory modules. Also included is system configuration with the Studio 5000 Logix Designer® application, integration of your drive modules with a Logix 5000™ controller, system startup, and troubleshooting.

Also provided in this manual are installation instructions for mounting and wiring input power for your iTRAK® power supply. For wiring iTRAK digital inputs, outputs to the motor modules, and startup, troubleshooting, and commissioning with the AOI, see the iTRAK System User Manual, publication 2198T-UM001

This manual is intended for engineers or technicians directly involved in the installation and wiring of the Kinetix 5700 drive modules, and programmers directly involved in the operation, field maintenance, and integration of these modules with the EtherNet/IP™ communication module or controller.

If you do not have a basic understanding of Kinetix 5700 drive modules, contact your local Rockwell Automation sales representative for information on available training courses.

Summary of Changes

This manual contains new and updated information as indicated in the following table.

Table 1 - Summary of Changes

Top ic Page

Added the following drive module catalog numbers, specifications, features, pinouts, mounting, wiring, configuration in the Logix Designer application, and troubleshooting information:

• 2198-RPxxx regenerative bus supplies

• 2198-S263-ERSx and 2198-S312-ERSx single-axis inverters

• 2198-DCBUSCOND-RP312 DC-bus conditioner module

Added Kinetix VP (Bulletin VPAR) electric cylinders as another compatible linear actuator with Kinetix 5700 servo drives.

Updated the maximum current rating (40 A) for the 24V input power shared-bus connection system.

Moved fault code tables (FLT Sxx, FLT Mxx, and INIT FLT for example), previously in Troubleshoot the Kinetix 5700 Drive System (chapter 7), to the attached spreadsheet.

Added 2198-DBRxx-F AC line filters. 18

Added the 2198-BARCON-220DC200 DC-bus link to support the 2198-S263-ERSx and 2198-S312-ERSx single-axis inverters. 24

Added the following DC-bus links to support the 2198-RPxxx regenerative bus supplies:

• 2198-BARCON-165DC200

• 2198-BARCON-275DC200

• 2198-BARCON-440DC200

Added the 842E-CM integrated motion encoder to the star communication topology diagram. 32

Added DC-bus Voltage Regulation that explains how the regenerative bus supply can be configured to operate as a DC-bus power supply. 42

Added AC Line Filter Selection that matches line filter catalog numbers to Kinetix 5700 power supplies. 44

Added AC Line Impedance Considerations that provides guidelines for transformer and line reactor selection. 45

Added 24V Control Power Evaluation that provides guidelines to minimize 24V control power voltage drop. 49

Added Passive Shunt Considerations and Active Shunt Considerations that provide guidelines for shunt module selection. 51, 52

Added Multi-axis Shared DC-bus Configurations that provides guidelines for system sizing. 57

Throughout

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 11

Preface

Table 1 - Summary of Changes (continued)

Top ic Page

• Added Accessory Module Selection with DC-bus power supply configurations that moved from chapter 3.

• Added regenerative bus supply system configurations illustrating the minimum number of accessory modules required.

Updated the 8720MC-RPS or Other Regenerative Power Supply example configurations with a DC-bus conditioner module. 64

Added accessory module flowcharts designed to help determine the minimum number of accessory modules required. 65

Added the 2198-S312-P-T control power T-connector and bus bar to support 2198-S263-ERSx and 2198-S312-ERSx single-axis inverters. 87

Added Converter OK Relay that explains how the circuitry is used to support applications that migrate from 8720MC-RPS units to the 2198-RPxxx regenerative bus supply.

Added footnotes (1) and (2) that further specify wire size to meet CE requirements for 2198-P070 DC-bus power supplies. 141

Updated Maximum Cable Lengths with examples for 2198-RPxxx regenerative bus supplies. 155

Added Customer-supplied Motor Power Cables to support wiring 2198-S263-ERSx and 2198-S312-ERSx single-axis inverter applications that require conductors larger than 2 AWG.

Updated External Active-shu nt Connections with Powerohm catalog numbers that apply to regenerative bus supplies and added information for wiring regenerative bus supplies to the Active Shunt (RC) connector.

Added Hardware Fault Tolerance (HFT) specifications to the table. 307

Added Active Shunt Wiring Examples. 360

Added external-bus capacitance calculations and updated the System Sizing Example with the external-bus capacitance value. 399

Added the Maximum Motor Cable Lengths for Kinetix 5700 Power Supplies (Appendix D). 401

Updated Motor Analyzer Category Troubleshooting with rated slip-speed information. 423

111

172

183

Conventions Used in This Manual

These conventions are used throughout this manual:

• Bulleted lists such as this one provide information, not procedural steps

• Numbered lists provide sequential steps or hierarchical information

• When catalog number 2198-xxxx-ERS3 appears in this publication without series designation, the topic applies to series A and B drives

IMPORTANT Throughout this publication, when the Kinetix 5700 inverter catalog

number ends in -ERSx, for example 2198-D057-ERSx, the variable (x) indicates that the inverter (using this example) can be 2198-D057-ERS3 or 2198-D057-ERS4.

• The 2198-CAPMOD-2240 capacitor module, 2198-CAPMODDCBUS-IO extension module, and 2198-DCBUSCOND-RP312 DC-bus conditioner module are collectively referred to as accessory modules

12 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019

Preface

Access the Attachments

Additional Resources

Table 2 - Additional Resources

The Microsoft Excel spreadsheet that is attached to this publication contains fault code descriptions. To use the spreadsheet file, click the Attachments link

, right-click the spreadsheet file, and save the file to your computer.

If the PDF file opens in a browser and you don't see the Attachments link , download the PDF file and reopen the file with the Adobe Acrobat Reader

application.

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

Resource Description

Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001

Kinetix Linear Motion Specifications Technical Data, publication KNX-TD002

Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003

Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004

AC Line Filter Installation Instructions, publication 2198-IN003

Kinetix 5700 Regenerative Bus Supply Installation Instructions, publication 2198-IN014

Kinetix 5700 Capacitor Modules Installation Instructions, publication 2198-IN008 Provides information on installing and wiring the Kinetix 5700 capacitor modules.

Replacement Fan Kit Installation Instructions, publication 2198-IN015

Kinetix 5700 DC-bus Conditioner Module Installation Instructions, publication 2198-IN016

Kinetix 5700 Shunt Passive Modules Installation Instructions, publication 2198-IN011 Provides information on installing and wiring Kinetix 5700 passive shunts.

Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication 2198-RM001

iTRAK System User Manual, publication 2198T-UM001

Provides product specifications for Kinetix VP (Bulletin VPL, VPC, VPF, and VPS), MP-Series™ (Bulletin MPL, MPM, MPF, and MPS), and HPK-Series™ rotary motors.

Provides product specifications for Bulletin MPAS and MPMA linear stages, Bulletin VPAR, MPAR, and MPAI electric cylinders, LDAT-Series linear thrusters, and LDC-Series™ linear motors.

Provides product specifications for Kinetix Integrated Motion over the EtherNet/IP network, Integrated Motion over sercos interface, EtherNet/IP networking, and component servo drive families.

Provides product specifications for Bulletin 2090 motor and interface cables, lowprofile connector kits, drive power components, and other servo drive accessory items.

Provides information on installing and wiring the Kinetix 5500 and Kinetix 5700 AC line filters.

Provides information on installing and wiring the Kinetix 5700 regenerative bus supply.

Provides information on removal and replacement of cooling fans used in 2198RPxxx regenerative bus supplies and 2198-S263-ERSx and 2198-S312-ERSx single- axis inverters.

Provides information on installing and wiring the Kinetix 5700 DC-bus conditioner module.

Provides a description of integrated stopping functions and safe monitoring functions with a GuardLogix® controller and Kinetix 5700 servo drives.

Provides information on installing the Kinetix 5700 iTRAK power supply with an iTRAK system and programming the iTRAK system.

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 13

Preface

Table 2 - Additional Resources (continued)

Resource Description

1321 Power Conditioning Products Technical Data, publication 1321-TD001

8720MC Regenerative Power Supply Installation Manual, publication 8720MC-RM001

System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001

Kinetix Motion Control Selection Guide, publication KNX-SG001

Kinetix 5700 Drive Systems Design Guide, publication KNX-RM010

Rockwell Automation Product Selection website http://www.rockwellautomation.com/global/support/selection.page

Motion Analyzer System Sizing and Selection Tool website https://motionanalyzer.rockwellautomation.com/

Product Certifications website, rok.auto/certifications

Motor Nameplate Datasheet Entry for Custom Motor Applications Application Technique, publication 2198-AT002

Vertical Load and Holding Brake Management Application Technique, publication MOTION-AT003

Motion System Tuning Application Technique, publication MOTION-AT005 Provides information on tuning a Kinetix drive system.

Integrated Motion on the EtherNet/IP Network Configuration and Startup User Manual, publication MOTION-UM003

Integrated Motion on the EtherNet/IP Network Reference Manual, publication MOTION-RM003

GuardLogix 5570 Controllers User Manual, publication 1756-UM022

GuardLogix 5580 Controllers User Manual, publication 1756-UM543

Compact GuardLogix 5370 Controllers User Manual, publication 1769-UM022

Compact GuardLogix 5380 Controllers User Manual, publication 5069-UM001

GuardLogix 5570 and Compact GuardLogix 5370 Controller Systems Safety Reference Manual, publication 1756-RM099

GuardLogix 5580 and Compact GuardLogix 5380 Controller Systems Safety Reference Manual, publication 1756-RM012

ControlFL ASH Firmware Upgrade Software User Manual, publication 1756-UM105 For ControlFLASH™ information not specific to any drive family.

Rockwell Automatio n Industrial Automation Glossary, publication AG-7 .1

Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1

Provides information on typical use cases, specifications, terminations, and dimensions of Bulletin 1321 line reactors.

Provides information on installing, wiring, and startup for the 8720MC regenerative power supply with 380…460V AC operation.

Provides information, examples, and techniques designed to minimize system failures caused by electrical noise.

Overview of Kinetix ser vo drives, motors, actuators, and motion accessories designed to help make initial decisions for the motion control products best suited for your system requirements.

System design guide to select the required (drive specific) drive module, power accessory, feedback connector kit, and motor cable catalog numbers for your Kinetix 5700 drive system.

Online product selection and system configuration tools, including AutoCAD (DXF) drawings.

Comprehensive motion application sizing tool used for analysis, optimization, selection, and validation of your Kinetix Motion Control system.

Provides declarations of conformity, certificates, and other certification details.

Provides information on the use of nameplate data entry for custom induction motors and permanent-magnet motors that are used in applications with Kinetix 5700 servo drives.

Provides information on vertical loads and how the servo motor holding-brake option can be used to help keep a load from falling.

Provides information on configuring and troubleshooting your ControlLogix® and CompactLogix™ EtherNet/IP network modules.

Provides information on the AXIS_CIP_DRIVE attributes and the Studio 5000 Logix Designer application Control Modes and Methods.

Provides information on how to install, configure, program, and use ControlLogix controllers and GuardLogix controllers in Studio 5000 Logix Designer projects.

Provides information on how to install, configure, program, and use CompactLogix and Compact GuardLogix controllers.

Provides information on how to achieve and maintain Safety Integrity Level (SIL) and Performance Level (PL) safety application requirements for GuardLogix and Compact GuardLogix controllers.

A glossary of industrial automation terms and abbreviations.

Provides general guidelines for installing a Rockwell Automation industrial system.

You can view or download publications at

http://www.rockwellautomation.com/global/literature-library/overview.page

14 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019

Chapter 1

Start

Use this chapter to become familiar with the Kinetix® 5700 drive system and obtain an overview of installation configurations.

Top ic Pa ge

Kinetix 5700 Servo Drives Series Change 16

About the Kinetix 5700 Servo Drive System 17

DC-bus Power Supply Input Power Configurations 19

Regenerative Bus Supply Input Power Configurations 23

8720MC-RPS Power Supply Input Power Configuration 28

Motor and Auxiliary Feedback Configurations 29

Typical Communication Configurations 30

Functional Safety Configurations 33

Catalog Number Explanation 37

Agenc y Compliance 39

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 15

Chapter 1 Start

Kinetix 5700 Servo Drives Series Change

Single-axis and dual-axis inverters, catalog numbers 2198-xxxx-ERS3 (series B), include an enhancement that is not included in series A drives, but that is included in 2198-xxxx-ERS4 drives.

• The drive-based (Monitored SS1 and Timed SS1) stopping functions and controller-based monitoring functions apply to the 2198-xxxx-ERS4 drives

• The drive-based Timed SS1 stopping function and STO with configurable delay applies to the 2198-xxxx-ERS3 (series B) drives

• When catalog number 2198-xxxx-ERS3 appears in this publication without series designation, the topic applies to series A and B drives

Table 3 - Integrated Functional Safety Support

Integrated Safety Over the EtherNet/IP™ Network

Drive-based stopping functions

Controller-based stopping functions

Controller-based monitoring functions

Safety feedback function Safety Feedback Interface (SFX)

Integrated STO mode Safe Torque-off (STO)

(1) Where a ControlLogix or CompactLogix (non-safety) controller is specified, a GuardLogix or Compact GuardLogix controller is backwards compatible. Also, GuardLogix 5580 and Compact GuardLogix

5380 controllers are backwards compatible with GuardLogix 5570 and Compact GuardLogix 5370 controllers.

Safety Func tion

Timed Safe Stop 1 (SS1)

Monitored Safe Stop 1 (SS1)

• Monitored Safe Stop 1 (SS1)

• Safe Stop 2 (SS2)

• Safe Operational Stop (SOS)

• Safely Limited Speed (SLS)

• Safety Limited Position (SLP)

• Safe Direction (SDI)

Dual-axis Inverters Cat. No.

2198-Dxxx-ERS3 (series B) 2198-Dxxx-ERS4

2198-Dxxx-ERS4 2198-Sxxx-ERS4

2198-Dxxx-ERS3 2198-Sxxx-ERS3

Single-axis Inverters Cat. No.

2198-Sxxx-ERS3 (series B) 2198-Sxxx-ERS4

Minimum Controller Required

• GuardLogix® 5580

• CompactLogix™ 5380

• ControlLogix® 5570

• CompactLogix 5370

(1)

16 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019

Start Chapter 1

About the Kinetix 5700 Servo Drive System

Table 4 - Kinetix 5700 Drive System Overview

Drive System Component

Kinetix 5700 DC-bus Power Sup ply

Kinetix 5700 Regenerative Bus Supply

Kinetix 5700 Singleaxis Servo Drives

Kinetix 5700 Dualaxis Servo Drives

Kinetix 5700 iTRAK Power Sup ply

Kinetix 5700 Capacitor Module

Kinetix 5700 Extension Module

Kinetix 5700 DC-bus Conditioner Module

8720MC Regenerative Power Sup ply

Shared-bus Connector Kits

DSL Feedback Connector Kit

Universal Feedback Connector Kit

Hiperface to DSL Converter Kit

Cat. No. Description

2198-Pxxx

2198-RPxxx

2198-Sxxx-ERS3

2198-Sxxx-ERS4

2198-Dxxx-ERS3

2198-Dxxx-ERS4

2198T-W25K-ER DC-DC converter that generates DC-bus power for iTRAK® systems.

2198-CAPMOD-2240

2198-CAPMOD-DCBUS-IO

2198-DCBUSCOND-RP312

8720MC-RPSxxx

2198-TCON-24VDCIN36 2198-xxxx-P-T 2198-BARCON-xxDCAC100

2198T-W25K-P-IN 2198T-W25K-P-T

2198-BARCON-xxDC200 2198-KITCON-ENDCAP200

2198-KITCON-DSL

2198-K57CK-D15M

2198-H2DCK (series B or later)

The Kinetix 5700 drive modules are zero-stacked and use the shared-bus connection system to extend power from one drive module to another. Systems are designed to support Integrated Motion over the EtherNet/IP network.

Converter power supply with 400V-class (three-phase) AC input. Provides power in a range of 7…46 kW and

10.5…69.2 A output current. Systems typically consist of one module, however, up to three modules in parallel is possible. Parallel modules increase available power for Bulletin 2198 single-axis and dual-axis inverters.

Regenerative bus supply with 400V-class (three-phase) AC input provides continuous output power and current to Bulletin 2198 single-axis and dual-axis inverters for applications with requirements in the range of 24…140 kW and 35…207 A, output current.

Single-axis inverters with current ratings up to 192 A rms. Drives feature TÜV Rheinland certified safe torque-off function with hardwired and integrated safety connection options, PL e and SIL 3 safety ratings, and support for DSL, Hiperface, and Heidenhain EnDat encoder feedback. 2198-Sxxx-ERS3 (series B) drives also support Timed SS1 drivebased stopping functions.

Single-axis inverters with the same power structure and encoder feedback support as -ERS3 inverters, plus support for Monitored SS1 and Timed SS1 drive-based stopping functions. Also, support for controller-based safe stop and safe monitor functions over the EtherNet/IP network.

Dual-axis inverters with current ratings up to 23 A rms. Drives feature TÜV Rheinland certified safe torque-off function with hardwired and integrated safety connection option s, PL e and SIL 3 safety ratings, and support for DSL, Hiperface, and Heidenhain EnDat encoder feedback. 2198-Dxxx-ERS3 (series B) drives also support Timed SS1 drive-based stopping functions.

Dual-axis inverters with the same power struc ture and encoder feedback support as -ERS3 inverters, plus support for Monitored SS1 and Timed SS1 drive-based stopping functions. Also, support for controller-based safe stop and safe monitor functions over the EtherNet/IP network.

Use for energy storage, external active-shunt connection, and to extend the DC-bus voltage to another inver ter cluster. Modules are zero-stacked with servo drives and use the shared-bus connection system to extend the ex ternal DC-bus voltage in applications up to 104 A. Can parallel with itself or with another accessory module for up to 208 A with required 2198-KITCON-CAPMOD2240 kit that includes flexible bus-bars.

The extension module, paired with a capacitor module or DC-bus conditioner module, is used to extend the DC-bus voltage to another inverter cluster in systems with ≥104 A current and up to 208 A.

Decreases the voltage stress on insulation components in an inverter system and used to extend the DC-bus voltage to another inverter cluster. Modules are zero-stacked with servo drives and use the shared-bus connection system to extend the external DC-bus voltage in applications up to 104 A. Can parallel with itself or with another accessory module for up to 208 A with required 2198-KITCON-DCBUSCOND kit that includes flexible bus-bars.

Sinusoidal PWM converter that can control the increase of DC-bus voltage and perform continuous power generation for one or more servo drives in multi-axis DC common-bus configurations.

24V input wiring connectors, T-connectors, and bus-bars for most Kinetix 5700 drive modules that use the 24V sharedbus connection system (optional).

24V input wiring connector, T-connector, and bus-bar for the iTRAK motor module and other select Kinetix 5700 drive modules that use the 24V shared-bus connection system (optional).

DC-bus links (55, 85, 100, and 220 mm) and end caps for the DC-bus shared-bus connection system (required and included with each respective drive module). DC-bus links (165, 275, and 440 mm) are optional and do not ship with any modules.

Replacement DSL motor feedback connector kit with 2-pin connector plug and grounding plate inside the connector housing. Supports 400V-class Kinetix VP rotary motors. Included with 2090-CSxM1DE motor cables. Must be purchased separately when used with 2090-CSxM1DG motor cables.

Universal feedback connector kit for motor and auxiliary feedback connections with the 15-pin connector plug and grounding plate inside the connector housing. Supports 400V-class MP-Series™ and HPK-Series™ rotary motors, MPSeries linear actuators, LDAT-Series linear thrusters, and LDC-Series™ linear motors.

Provides Hiperface-to-DSL feedback conversion for use with compatible 400V-class motors and actuators.

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 17

Chapter 1 Start

Table 4 - Kinetix 5700 Drive System Overview (continued)

Drive System Component

Kinetix 5700 System Mounting Toolkit

Kinetix 5700 Cable Clamp Spacer Kit

Encoder Output Module

Logix 5000™ Controller Platform

Studio 5000® Environment

Rotary Servo Motors

Linear Actuators

Linear Motors LDC-Series Compatible motors include LDC-Series iron-core (400V-class) linear motors.

Induction Motors N/A Induction motors with open-loop frequency control and closed-loop control are supported.

Cables

AC Line Filters

Line Reactors 1321-3Rxx-x

AC Contac tor

24V DC Power Supply 1606-XLxxx Bulletin 1606 24V DC power supply for control circuitry, digital inputs, safety, and motor brake.

External Passive Shunt Resistors

External Active Shunts

Cat. No. Description

2198-K5700-MOUNTKIT Use to position the drive modules and identify drill-holes for mounting your Kinetix 5700 servo drive system.

2198-K5700-CLAMPSPACER Replacement cable clamp spacers for 2198-Dxxx-ERSx dual-axis inverters.

2198-ABQE

Bulletin 1769 Bulletin 5069

1756-EN2T module 1756-EN2TR module 1756-EN3TR module

N/A

Kinetix VP Compatible motors include 400V-class Bulletin VPL, VPC, VPF, and VPS ser vo motors.

MP-Series Compatible motors include 400V-class Bulletin MPL, MPM, MPF, and MPS servo motors.

HPK-Series Compatible motors include 460V and 400V-class HPK-Series asynchronous servo motors.

Kinetix VP, MP-Series, LDAT-Series

2090-CSxM1DE-xxAxxx

2090-CSxM1DG-xxAxxx

2090-CFBM7DF-CEAxxx Bulletin 2090 motor feedback cables for MP-Series motors and actuators with Stegmann Hiperface encoders.

2090-CPxM7DF-xxAxxx Bulletin 2090 motor power/brake cables for MP-Series motors and actuators.

2090-XXNFMF-Sxx 2090-CFBM7DF-CDAFxx

2198T-CHBFLS8-12AAxx Bulletin 2198T power cables for iTRAK power supply to iTRAK motor modules.

1585J-M8CBJM-x Ethernet cables are available in standard lengths. Shielded cable is required to meet EMC specifications.

2198-DB20-F, 2198-DB42-F, 2198-DB80-F, 2198-DB290-F

2198-DBR20-F, 2198-DBR40-F, 2198-DBR90-F, 2198-DBR200-F

100-Cxxxxx 100-Dxxxxx 100-Exxxxx

2198-R014, 2198-R031, 2198-R127, 2198-R004

N/A

The Allen-Bradley® encoder output module is a DIN-rail mounted EtherNet/IP network-based standalone module capable of outputting encoder pulses to a customer-supplied peripheral device (cameras, for example, used in linescan vision systems).

Integrated Motion on the EtherNet/IP network in CompactLogix 5370 and CompactLogix 5380 controllers and Integrated Safety in Compact GuardLogix 5370 and Compact GuardLogix 5380 controllers. Linear, device-level ring (DLR), and star topology is supported.

EtherNet/IP network communication modules for use with ControlLogix 5570, ControlLogix 5580, GuardLogix 5570, and GuardLogix 5580 controllers. Linear, device-level ring (DLR), and star topology is supported.

Studio 5000 Logix Designer® application, version 26.00 or later, provides support for programming, commissioning, and maintaining the CompactLogix, ControlLogix, and GuardLogix controller families.

Compatible actuators include 400V-class Bulletin MPAS linear stages, Bulletin VPAR, MPAR, and MPAI electric cylinders, and LDAT-Series linear thrusters.

Bulletin 2090 single cable for motor power, feedback, and 24V DC brake power with Kinetix VP motors. Feedback conductors are wired to the 2198-KITCON-DSL feedback connector kit.

Bulletin 2090 single cable for motor power, feedback, and 24V DC brake power with Kinetix VP motors. 2090-CSxM1DG cables have flying-lead feedback conductors for connection to a customer-supplied 2198-KITCON-DSL feedback connector kit.

Bulletin 2090 standard and continuous-flex feedback cables that include additional conductors for use with incremental and EnDat encoders.

Bulletin 2198 three-phase AC line filters are required to meet CE and are available for use with DC-bus power supplies. Use 2198-DBxx-F filters as field replacements in existing installations that use DC-bus power supplies with inverter ground jumpers installed. Select 2198-DBRxx-F filters for all new systems and remove all inverter ground jumpers.

Bulletin 2198 three-phase AC line filters are required to meet CE and available for use with DC-bus power supplies and regenerative bus supplies. Select 2198-DBRxx-F filters for all new systems and remove all inverter ground jumpers.

Bulletin 1321 line reactors help keep equipment running longer by absorbing many of the power line disturbances that can shut down your power supply. For 2198-RPxxx regenerative bus supplies, line reactors can significantly reduce the amount of circulating currents between the integrated LC filter and other devices on the common AC power source.

The AC three-phase contactor control string must be wired in series with the contactor-enable relay at the CED connector to make sure that three-phase power is removed under various fault conditions to protect the power supply.

Bulletin 2198 external passive-shunt resistors for use when the DC-bus power supply internal shunt capability is exceeded. Not for use with regenerative bus supplies.

External active shunts from Rockwell Automation Encompass™ partner, Powerohm Resistors, Inc., are available for connecting to Bulletin 2198 DC-bus power supplies and regenerative bus supplies. See External Active-shunt

Connections on page 183 for catalog numbers.

18 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019

Start Chapter 1

Bulletin 2198

Shunt Module

(optional component)

Magnetic Contactor (M1) Control String

1606-XLxxx

24V DC Control, Digital Inputs,

and Motor Brake Power (customer-supplied)

AC Input Power

Kinetix 5700 Servo Drive System

(front view)

Bulletin 2198 shared-bus connection system for DC-bus and 24V DC control power.

Kinetix 5700 Servo Drive System (top view)

Line Disconnect

Device

324…528V AC

Three-phase Input Power

Circuit

Protection

Magnetic (M1)

Contac tor

Bonded Cabinet Ground Bus

2198-DBRxx-F

AC Line Filter

(required for CE)

Converter Digital Inputs

Inverter Digital Inputs

Shared DC-bus Power

Shared 24V Control Power (24V shared-bus connection system is optional)

DC-bus

Power Supply

Single-axis

Inverter

Dual-axis Inverters

Capacitor

Module

DC-bus Power Supply Input Power Configurations

A single 2198-Pxxx DC-bus (converter) power supply can supply the Kinetix 5700 drive system with 458…747V shared DC-bus power (7…46 kW). For additional output power (kW) you can install two or three 2198-P208 DC-bus power supplies. You can also extend the DC-bus to additional inverter clusters via accessory modules.

Typical DC-bus Power Supply Configuration Example

In this multi-axis example, AC input power is fed to the DC-bus (converter) power supply. One single-axis (inverter) module and two dual-axis (inverter) modules support five axes of motion. The DC-bus power supply is mounted on the far left and the inverters are positioned on the right, but the reverse mounting order (right to left) is also possible.

Digital inputs are wired to sensors and the control circuitry at the IOD connectors. The contactor-enable relay protects the DC-bus power supply in the event of shutdown fault conditions.

Figure 1 - Typical DC-bus Power Supply Installation

DC+

Allen-Bradley

1606-XL

Power Supply

Input

SB+/NC S1A SCA S2A SBNC NC

SB+/NC

S1A

SCA

S2A

SB-

MOD

NET

MOD

NET

MOD

NET

MOD

NET

DC BUS

I/O

UFB

D+ D-

MBRK

I/O

I/O-A

I/O-B

I/O-A

I/O-B

MODULE

D+ D-

510

UFB-A UFB-B

510

D+ D-

STATUS

510

UFB-A UFB-B

D+D-D+

D-

MF-A MF-B MF-A MF-B

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 19

Chapter 1 Start

DC+

1606-XL

Power Supply

Input

Allen-Bradley

MOD

NET

MOD

NET

MOD

NET

I/O

UFB-A UFB-B

D+D-D+

D-

D+ D-

MF-A MF-B MF-A MF-B

D+ D-

DC+

MOD

NET

I/O

MOD

NET

I/O

MOD

DC BUS

MODULE

STATUS

I/O-A

510

I/O-B

510

I/O-A

510

I/O-B

510

SB+/NC

S1A SCA S2A SBNC NC

SB+/NC

S1A SCA S2A SBNC NC

MOD

NET

I/O

MBRK

21mm (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin)

W V U

SB+/NC

S1A SCA S2A SBNC NC

Bulletin 2198

Shunt Module

(optional component)

1606-XLxxx

24V DC Control Power

(customer-supplied)

AC Input Power

Kinetix 5700 Ser vo Drive System

(front view)

Kinetix 5700 Servo Drive System (top view)

Circuit

Protection

Bonded Cabinet

Ground Bus

1321-3R80-B Line Reactors

(required components)

2198-P208 DC-bus Power Supplies

Single-axis Inverter

Dual-axis Inverters

Capacitor

Module

Bulletin 2198 shared-bus connection system for DC-bus and 24V DC control power.

Shared DC-bus Power

Shared 24V Control Power (24V shared-bus connection system is optional)

Magnetic Contactor

(M1) Control String

Line Disconnect

Device

324…528V AC

Three-phase Input Power

Magnetic (M1)

Contac tor

2198-DBR200-F

AC Line Filter

(required for CE)

Circuit

Protection

Multiple DC-Bus Power Supply Configuration Example

In this example, three DC-bus (converter) power supplies all receive AC input power and feed the inverter modules for increased output power.

Contactor enable relays from each of the DC-bus power supplies are wired in series to protect the DC-bus power supply in the event of shutdown fault conditions.

Figure 2 - Multiple DC-bus Power Supply Installation

IMPORTANT When two or three DC-bus power supplies are wired together in the same

drive cluster, they must all be catalog number 2198-P208.

20 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019

Start Chapter 1

Kinetix 5700 Servo Drives

Cluster 1 (front view)

Bonded Cabinet

Ground Bus

Kinetix 5700 Extended Servo Drives

Cluster 2 (front view)

DC-bus Extension

Shared DC-bus and 24V DC Control Power

Circuit

Protection

1321-3R80-B Line Reactors

(required components)

2198-P208 DC-bus Power Supplies

Single-axis

Inverter

Dual-axis

Inverters

Capacitor

Module

Extension

Module

Capacitor

Module

Extension

Module

Dual-axis Inverters

Bulletin 2198 Shared-bus

Connection System

(24V shared-bus connection

system is optional)

Magnetic Contactor

(M1) Control String

Line Disconnect

Device

324…528V AC

Three-phase Input Power

Magnetic (M1)

Contac tor

2198-DBR200-F

AC Lin e Filter

(required for CE)

DC-bus Extension

ATT EN TI ON : Circuit protection can

be added after the power supply cluster to help protect converters and inverters from damage in the event of

a DC-bus cable short-circuit.

Circuit

Protection

Extended DC-bus Configuration Example

In this example, two drive clusters in the same cabinet are connected by the same 458…747V DC bus voltage. Kinetix 5700 accessory modules provide connection points for the DC-bus at the end of cluster 1 and the beginning of cluster 2. The Kinetix 5700 servo drive system is capable of up to 208 A DC-bus current. Two accessory modules are needed when the DC-bus system current exceeds 104 A. See Accessory Module Selection information on the when accessory modules are required.

Figure 3 - Extended DC-bus Installation

MOD

NET

DC BUS

NET

MOD

NET

on page 59 for more

MOD

NET

MOD

NET

I/O

MOD

NET

I/O

I/O-A

I/O-B

I/O-A

MODULE

510

STATUS

UFB-A UFB-B

D+

D-

MF-A MF-B

MF-A MF-B MF-A MF-B

MOD

NET

I/O

I/O-B

510

D+ D-

I/O-A

I/O-B

I/O-A

510

UFB-A UFB-B

D+

D-

MF-A MF-B

I/O-B

I/O-A

I/O-B

510

UFB-A UFB-B

D+D-D+

D+

D-

MF-A MF-B MF-A MF-B

510

I/O-A

UFB-A UFB-B

I/O-B

I/O-A

I/O-B

510

UFB-A UFB-B

D+

D-

MF-A MF-B

MOD

NET

I/O-A

I/O-B

510

UFB-A UFB-B

D+D-D+

D-

MF-A MF-B MF-A MF-B

D+ D-

510

I/O-A

UFB-A UFB-B

MOD

NET

I/O-B

510

D+ D-

MOD

DC BUS

MODULE

STATUS

MOD

NET

I/O

UFB

D+ D-

MBRK

IMPORTANT When two or three DC-bus power supplies are wired together in the same

drive cluster, they must all be catalog number 2198-P208.

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 21

Chapter 1 Start

I/O

510

–

iPS RDY

MOD–

NET–

1 2 3 4 5

6 7 8 9 10

MOD

NET

I/O

510

–

iPS RDY

MOD–

NET–

1 2 3 4 5

6 7 8 9 10

DC+

1606-XL

Power Supply

Input

Allen-Bradley

Bulletin 2198

Shunt Module

(optional component)

Magnetic Contactor

(M1) Control String

1606-XLxxx

24V DC Control, Digital Inputs,

and iTRAK Motor Module Control Power

(customer-supplied)

AC Input Power

Kinetix 5700 iTRAK System

(front view)

Kinetix 5700 iTRAK System (top view)

Line Disconnect

Device

324…528V AC

Three-phase

Input Power

Circuit

Protection

Magnetic (M1)

Contac tor

Bonded Cabinet

Ground Bus

2198-DBRxx-F

AC Lin e Filter

(can be required for CE)

Converter Digital Inputs

iTRAK Motor Modules

DC-bus

Power Supply

iTRAK

Power Supply

iTRAK

Power Supp ly

iTRAK Motor Modules

iTRAK Power Supply Digital Inputs

Shared-bus connection system for DC-bus and 24V DC control power.

Shared DC-bus Power

Shared 24V Control Power

(1)

(24V shared-bus connection system is optional)

2198T-CHBFLS8

Motor Power

Cables

iTRAK Power Supply Configuration Example

In this example, AC input power is fed to the DC-bus (converter) power supply. Two iTRAK power supplies support up to 40 iTRAK motor modules, depending on cable lengths and iTRAK motor-module power consumption.

Digital inputs are wired to sensors and the control circuitry at the IOD connectors. The contactor-enable relay protects the DC-bus power supply in the event of shutdown fault conditions.

Figure 4 - Typical iTRAK Power Supply Installation

(1) If total control power current exceeds 16 A, a second input connector (catalog number 2198T-W25K-P-IN) can be added to the

leftmost iTRAK power supply.

22 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019

Start Chapter 1

1606-XL

Power Supply

Input

Allen-Bradley

MOD

NET

MOD

NET

MOD

NET

I/O

I/O-A

510

I/O-B

510

UFB

UFB-A UFB-B

D+D-D+

D-

D+ D-

MF-A MF-B MF-A MF-B

D+ D-

MBRK

DC+

D+ D-

SB+/NC

I/O-A

510

I/O-B

510

S1A SCA S2A SBNC NC

SB+/NC

S1A SCA S2A SBNC NC

SB+/NC

S1A SCA S2A SBNC NC

MOD

NET

I/O

OK+

OK–

EN–

EN+

DC–

MOD

DC BUS

MODULE

STATUS

MOD

NET

UFB-A UFB-B

D+ D-

MF-A MF-B

D+ D-

I/O-A

510

I/O-B

510

SB+/NC

S1A SCA S2A SBNC NC

Active Shunt (optional component)

See External Active-shunt Connections

on page 183

for more information.

Magnetic Contactor (M1) Control String

1606-XLxxx

24V DC Control, Digital Inputs, and

Motor Brake Power (customer-supplied)

AC Input Power

Kinetix 5700 Servo Drive System

(front view)

Shared-bus connection system for DC-bus and 24V DC control power.

Kinetix 5700 Ser vo Drive System (top view)

Line Disconnect

Device

324…506V AC

Three-phase Input Power

Circuit

Protection

Magnetic (M1)

Contac tor

Bonded Cabinet Ground Bus

Converter Digital Inputs

Inverter Digital Inputs

Shared DC-bus Power

Shared 24V Control Power (24V shared-bus connection system is optional)

Single-axis

Inverter

Dual-axis Inverters

Regenerative Bus Supply

(1)

DC-bus Conditioner Module

2198-DBRxx-F

AC Lin e Filter

(required for CE)

Regenerative Bus Supply Input Power Configurations

The 2198-RPxxx regenerative bus supply (24…140 kW) provides full-line motoring and regenerative power to and from the Kinetix 5700 drive system. In addition, you can extend the DC-bus voltage to additional inverter clusters via accessory modules.

Typical Regenerative Bus Configuration Examples

In this example, the inverter modules are mounted to the right of the regenerative bus supply. One single-axis (inverter) module and three dual-axis (inverter) modules support seven axes of motion. Other features include:

• Digital inputs are wired to sensors and the control circuitry at the IOD connectors.

• The contactor enable relay protects the regenerative bus supply in the event of shutdown fault conditions.

• The DC-bus conditioner module is required when the combined motor cable length exceeds 400 m (1312 ft). See Accessory Module Selection on page 59

Figure 5 - Typical Shared DC-bus Installation (mounted left to right)

for more information on accessory module requirements.

(1) The regenerative bus supply can be left or right of the inverters. Further, we recommend that the highest inverter power ratings

are positioned closest to the regenerative bus supply and in decreasing order leading away from the regenerative bus supply.

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 23

Chapter 1 Start

SB+/NC

S1A SCA S2A SBNC NC

1606-XL

Power Supply

Input

Allen-Bradley

MOD

NET

I/O

MBRK

21mm (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin)

W V U

MOD

NET

I/O

MOD

NET

UFB-A UFB-B

D+ D-

MF-A MF-B

D+ D-

MODULE STATUS

MOD

DC BUS

I/O-A

510

I/O-B

510

SB+/NC

S1A SCA S2A SBNC NC

L1 L2 L3

SB+/NC

S1A SCA S2A SBNC NC

MOD

NET

UFB-A UFB-B

D+ D-

MF-A MF-B

D+ D-

I/O-A

6101

I/O-B

510

21mm (4 AWG-250 kcmil) 15-20 Nm (132-177 lbin)

1606-XLxxx

24V DC Control Power

(customer-supplied)

AC Input Power

Kinetix 5700 Servo Drive System

(front view)

Kinetix 5700 Servo Drive System (top view)

Line Disconnect Device

324…506V AC

Three-phase

Input Power

Circuit Protection

Magnetic (M1)

Contactor

Bonded Cabinet

Ground Bus

2198-DBRxx-F

AC Line Filter

(required for CE)

Shared DC-bus Power

Shared 24V Control Power

Dual-axis Inverters

Regenerative Bus Supply

(1)

DC-bus Conditioner

Module

24V DC Control Power Connector Plug

Single-axis Inverter

Magnetic Contactor (M1) Control String

1321-3Rxx-x Line Reactor

(recommended)

In this example, the 2198-RP312 regenerative bus supply is mounted on the far right and followed by the 2198-S312-ERSx single-axis inverter, and two 2198-D020-ERSx dual-axis inverters.

• The 2198-BARCON-440DC200 DC-bus link extends the DC-bus from the regenerative bus supply to the single-axis inverter.

• The 2198-BARCON-220DC200 DC-bus link extends the DC-bus from the single-axis inverter to the dual-axis inverter.

• The regenerative bus supply has 24V DC wired to the connector plug

• The 2198-xxxx-P-T bus-bar connector extends 24V control power from the input wire connector to the dual-axis and single-axis inverters.

• The DC-bus conditioner module is required when the combined motor cable length exceeds 400 m (1312 ft). See Accessory Module Selection on page 59

Figure 6 - Typical Shared DC-bus Installation (mounted right to left)

for more information on accessory module requirements.

24 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019

(1) The regenerative bus supply can be left or right of the inverters. Further, we recommend that the highest inverter power ratings

are positioned closest to the regenerative bus supply and in decreasing order leading away from the regenerative bus supply.

Start Chapter 1

MOD

NET

I/O-A

510

I/O-B

510

UFB-A UFB-B

D+D-D+

D-

MF-A MF-B

MOD

NET

I/O

OK+

OK–

EN–

EN+

MOD

NET

I/O-A

510

I/O-B

510

UFB-A UFB-B

D+D-D+

D-

MF-A MF-B

MOD

NET

I/O

OK+

OK–

EN–

EN+

MOD

NET

I/O

MOD

NET

UFB-A UFB-B

D+D-D+

D-

MF-A MF-B

I/O-A

510

I/O-B

510

Kinetix 5700 Servo Drive Systems

(front view)

Line Disconnect

Device

324…506V AC

Three-phase Input Power

Circuit

Protection

Magnetic (M1)

Contac tors

Bonded Cabinet

Ground Bus

2198-DBRxx-F

AC Line Filter

(required for CE)

Dual-axis

Inverter

Regenerative Bus Supply

DC-bus

Power Supply

Dual-axis

Inverter

Regenerative Bus Supply

Dual-axis

Inverter

Bulletin 1321 Line Reactors

Additional

Inverters

Additional

Inverters

Additional

Inverters

M1 Control

String

Magnetic Contactor (M1)

Control S tring

M1 Control

String

Circuit

Protection

2198-DBRxx-F AC Line Filter

(required for CE)

2198-DBRxx-F

AC Line Filter

(required for CE)

In this example, three-phase input power feeds two 2198-RPxxx regenerative power supplies and one 2198-Pxxx DC-bus power supply.

IMPORTANT We recommend that Bulletin 1321 line reactors be used in any system with

multiple regenerative bus supplies sharing the same AC input-power source.

Bulletin 1321 line reactors are used in the regenerative power supply input power circuits to help do the following:

• Reduce circulating currents between different systems

• Prevent all power supplies on the same input power source from nuisance thermal overload faults

Figure 7 - Input Power to Multiple Kinetix 5700 Drive Systems

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 25

Chapter 1 Start

MOD

NET

UFB-A UFB-B

D+ D-

MF-A MF-B

MOD

NET

UFB-A UFB-B

D+ D-

MF-A MF-B

D+ D-

MOD

NET

D+ D-

MF-A MF-B

D+ D-

MOD

NET

MOD

NET

MOD

NET

UFB

UFB-A UFB-B

D+D-D+

D-

D+ D-

MF-A MF-B MF-A MF-B

D+ D-

MBRK

MOD

NET

D+ D-

MODULE

STATUS

MOD

NET

MODULE

STATUS

MOD

NET

UFB-A UFB-B

D+ D-

MF-A MF-B

D+ D-

MOD

NET

MODULE

STATUS

I/O-A

510

I/O-B

510

I/O

I/O-A

510

I/O-B

510

I/O-A

510

I/O-B

510

I/O-A

510

I/O-B

510

I/O-A

510

I/O-B

510

I/O-A

510

I/O-B

510

MOD

NET

I/O

OK+

OK–

EN–

EN+

Kinetix 5700 Drive System

Cluster 1 (front view)

Kinetix 5700 Extended Drive System

Cluster 2 (front view)

DC-bus Extension

Shared DC-bus and 24V DC Control Power

Magnetic Contactor

(M1) Control String

Dual-axis Inverters

Line Disconnect Device

324…506V AC

Three-phase Input Power

Circuit Protection

Magnetic (M1) Contac tor

Bonded Cabinet

Ground Bus

2198-DBRxx-F

AC Line Filter

(required for CE)

Regenerative Bus Supply

2198-CAPMOD-DCBUS-IO Extension Module

2198-CAPMOD-2240 Capacitor Module

2198-DCBUSCOND-RP312 DC-bus Conditioner Module

Combin ed motor

cable lengths equal

300 m (984 ft).

Combined motor

cable lengths equal

480 m (1575 ft).

Single-axis

Inverter

ATTENTION: Circuit protection can

be added after the power supply cluster to help protec t converters and inverters from damage in the event of

a DC-bus cable short-circuit.

Bulletin 1321

Line Reactor

(recommended)

Extended Regenerative Bus Configuration Example

In this example, two drive clusters in the same cabinet are connected by the same 458…747V DC bus voltage.

• Kinetix 5700 accessory modules provide connection points for the DC bus at the end of cluster 1 and the beginning of cluster 2.

• The Kinetix 5700 servo drive system is capable of up to 208 A DC-bus current. Two parallel accessory modules are needed when the DC-bus system current exceeds 104 A.

• The DC-bus conditioner module is required when the combined motor cable length exceeds 400 m (1312 ft). See Accessory Module

Selection on page 59 for more information on accessory module

requirements.

Figure 8 - Extended DC-bus Installation

26 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019

I/O

510

–

iPS RDY

MOD–

NET–

1 2 3 4 5

6 7 8 9

I/O

510

–

iPS RDY

MOD–

NET–

1 2 3 4 5

6 7 8 9

1606-XL

Power Supply

Input

Allen-Bradley

DC+

MOD

NET

I/O

OK+

OK–

EN–

EN+

DC–

Magnetic Contactor

(M1) Control String

1606-XLxxx

24V DC Control, Digital Inputs,

and iTRAK Motor Module Control Power

(customer-supplied)

AC Input Power

Kinetix 5700 iTRAK System

(front view)

Kinetix 5700 iTRAK System (top view)

Line Disconnect Device

324…506V AC

Three-phase Input Power

Circuit Protection

Magnetic (M1) Contac tor

Bonded Cabinet

Ground Bus

Converter Digital Inputs

iTRAK Motor Modules

Regenerative Bus Supply

iTRAK

Power S upply

iTRAK

Power S upply

iTRAK Motor Modules

iTRAK Power Supply Digital Inputs

Bulletin 2198 shared-bus connection system for DC-bus and 24V DC control power.

Shared DC-bus Power Input

Shared 24V Control Power Input (24V shared-bus connection system is optional)

2198T-CHBFLS8

Motor Power

Cables

Active Shunt (optional component)

See External Active-shunt Connections

on page 183

for more information.

Bulletin 1321

Line Reactor

(recommended)

2198-DBRxx-F

AC Lin e Filter

(can be required for CE)

Start Chapter 1

iTRAK Power Supply Configuration Example

In this example, AC input power is fed to the regenerative bus supply. Two iTRAK power supplies support up to 40 iTRAK motor modules, depending on cable lengths and iTRAK motor-module power consumption.

Digital inputs are wired to sensors and the control circuitry at the IOD connectors. The contactor-enable relay protects the regenerative bus supply in the event of shutdown fault conditions.

Figure 9 - Typical iTRAK Power Supply Installation

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 27

Chapter 1 Start

1606-XL

Power Supply

Input

Allen-Bradley

MOD

NET

MOD

NET

MOD

NET

UFB

UFB-A UFB-B

D+D-D+

D-

D+ D-

MF-A MF-B MF-A MF-B

D+ D-

MBRK

87208720

MCMC

RST

PRG

ENT

READYREADY

FAULTFAULT

PROGRAMPROGRAM kWkW

MOD

NET

UFB-A UFB-B

D+ D-

MF-B

D+ D-

MOD

DC BUS

MODULE STATUS

D+ D-

I/O

I/O-A

510

I/O-B

510

I/O-A

510

I/O-B

510

I/O-A

510

I/O-B

510

SB+/NC

S1A SCA S2A SBNC NC

SB+/NC

S1A SCA S2A SBNC NC

SB+/NC

S1A SCA S2A SBNC NC

MOD

DC BUS

MODULE STATUS

1606-XLxxx

24V DC Control, Digital Inputs,

and Motor Brake Power (customer-supplied)

AC Input Power

Kinetix 5700 Servo Drive System (front view)

Kinetix 5700 Servo Drive System (top view)

324…506V AC

Three-phase Input Power

Circuit Protection

Magnetic

(1)

(M1) Contactor

Bonded Cabinet Ground Bus

8720MC-RFI80

AC Lin e Filter

(required for CE)

8720MC-LRxx

Line Reactor

8720MC-RPS065-BM-HV2

Regenerative Power Supply

Single-axis

Inverter

Dual-axis Inverters

Capacitor

Module

8720MC-HF-B2 Harmonic Filter

8720MC-VA-B

Vari sto r

Bulletin 2198 shared-bus connection system for DC-bus and 24V DC control power.

Shared DC-bus Power Input

Shared 24V Control Power Input (24V shared-bus connection system is optional)

DC-bus

Conditioner

Module

8720MC-RPS Power Supply Input Power Configuration

In this example, three-phase AC input power is fed to the Bulletin 8720MC regenerative power supply. The 8720MC-RPS DC-bus voltage supplies the Kinetix 5700 DC-bus via the capacitor module.

• The 8720MC-RPS065 provides 65 A of DC-bus current. The 2198CAPMOD-2240 capacitor module and 2198-DCBUSCOND-RP312 DC-bus conditioner are required to reduce voltage stress on the system components.

• If the 8720MC-RPS190 is used, the capacitor module and DC-bus conditioner module provide up to 208 A of DC input current. DC-bus full-regeneration is possible with this configuration.

• The DC-bus conditioner module is required when the combined motor cable length exceeds 400 m (1312 ft). See Accessory Module Selection on page 59

for more information on accessory module requirements.

IMPORTANT The 8720MC-RPS power supply is not compatible with the iTRAK power

supply.

Figure 10 - 8720MC-RPS Power Supply Installations

28 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019

(1) This M1 contactor is controlled by the 8720MC regenerative power supply.

Start Chapter 1

2090-CSBM1DE Single Motor Cables

2198-KITCON-DSL Connector Kit

Accepts DSL motor feedback from VPC-Bxxxxx-Q and (Bulletin VPL, VPF, VPS) rotary motors and Kinetix VP electric cylinders.

Bulletin 2090 Motor Power and Feedback Cables

2198-K57CK-D15M Universal Connector Kit

Accepts multiple encoder feedback types:

• Hiperface high-resolution absolute multi-turn and single-turn encoders – VPC-Bxxxxx-S rotary motors – MP-Series (Bulletin MPL, MPM, MPF, MPS) rotary motors – HPK-Series asynchronous rotary motors – MP-Series (Bulletin MPAS, MPAR, MPAI) linear actuators – LDAT-Series linear thrusters, LDC-Series linear motors

• Heidenhain EnDat high-resolution absolute encoders – VPC-Bxxxxx-Y rota ry motors – RDD-Series direct-drive motors

• Feedback-only, master feedback, or load feedback

(absolute single-turn/multi-turn Hiper face)

• Feedback-only, master feedback, or load feedback (incremental)

MP-Series Rotary Motors (MPL-Bxxxx motor is shown)

LDAT-Series Linear Thrusters

2198-H2DCK Converter Kit

Converts 15-pin Hiperface feedback into 2-pin DSL feedback for:

• VPC-Bxxxxx-S rotary motors

• MP-Series rotary motors and linear actuators

• HPK-Se ries asynchro nous rotary motor s

• LDAT-Series linear thrusters

• Feedback-only, master feedback, or load feedback (absolute single-turn/multi-turn Hiperface)

15-pin Universal Feedback (UFB) Connectors

2-pin Motor Feedback (MF) Connectors

2198-Dxxx-ERSx

or 2198-Sxxx-ERSx Inverters

(2198-Dxxx-ERSx dual-axis

inverter is shown)

Kinetix VP Rotary Motors (Bulletin VPL, VPF, VPS and Catalog Number VPC-Bxxxxx-Q)

HPK-Series Asynchronous Rotary Motors

and Induction Rotary Motors

(closed-loop control)

2090-CSBM1DG Single Motor Cables

RDD-Series Direct Drive Rotary Motors

Kinetix VP Rotary Motors

Catalog Numbers

VPC-Bxxxxx-S and VPC-Bxxxxx-Y

Kinetix VP Electric Cylinders (Bulletin VPAR)

MP-Series (Bulletin MPAS)

Integrated Linear Stages

MP-Series (Bulletin MPAI) Heavy-duty Electric Cylinders

LDC-Series

Linear Motors

MP-Series (Bulletin MPAR)

Electric Cylinders

Motor and Auxiliary Feedback Configurations

UFB-A

D+D-D+

MF-A

UFB-A

D+D-D+

MF-A

Feedback connections are made at the 2-pin motor feedback (MF) connector and the 15-pin universal feedback (UFB) connector. These examples illustrate how you can use the Bulletin 2198 connector kits for making these connections. To see motor power and brake connections, refer to Chapter 5

page 127

Figure 11 - Feedback Configuration Example

UFB-A

MOD–

NET–

I/O-B

I/O-A

510

UFB-A

UFB-B

D+D-D+

D-

MF-B

MF-A

D+D-D+

MF-A

UFB-B

D-

MF-B

UFB-B

D-

MF-B

UFB-B

D+D-D+

D-

MF-B

MF-A

UFB-A

UFB-B

D-

MF-B

o c . b a . w

S w U w N I E D A M

0 0 5

X 5

X 7

X 0 X M

. X O . N O .

I R E S

ES I R E S

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 29

Chapter 1 Start

ControlLogix 5570 Controller with Bulletin 1756 EtherNet/IP Module

Studio 5000 Logix Designer Application

1585J-M8CBJM-x

Ethernet (shielded) Cable

1734-AENTR POINT I/O™ EtherNet/IP Adapter

ControlLogix Controller Programming Network

PanelView™ Plus

Display Terminal

1585J-M8CBJM-OM15

0.15 m (6 in.) Ethernet cables for drive-to-drive connections.

Kinetix 5700 Servo Drive System

2198-ABQE

Encoder Output Module

Line Scan Cameras

Typical Communication Configurations

The Kinetix 5700 drives support any Ethernet topology including linear, ring, and star by using ControlLogix, GuardLogix, or CompactLogix controllers.

These examples feature the ControlLogix 5570 programmable automation controllers with support for integrated motion and integrated safety over the EtherNet/IP network. Other Allen-Bradley controllers are also compatible with the Kinetix 5700 servo drives.

Refer to ControlLogix Communication Module Specifications Technical Data, publication 1756-TD003

, for more information on ControlLogix

1756-EN2T, 1756-EN2TR, and 1756-EN3TR communication modules.

TIP These example configurations use the 2198-Pxxx DC-bus power supply.

However, 2198-RPxxx regenerative bus supply can be used instead.

Linear Topology

In this example, all devices are connected by using linear topology. The Kinetix 5700 drive modules 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 12 - Kinetix 5700 Linear Communication Installation

EtherNet/IP

LNK1LNK2NET OK

MOD

NET

OUTPUT-A OUTPUT-B

NET

I/O

MOD

NET

MOD

NET

I/O

UFB

MBRK

I/O-A

I/O-B

I/O-A

510

UFB-A UFB-B

D+

D+D-D+

D+

D-

MF-A MF-B MF-A MF-B

I/O-B

I/O-A

I/O-B

510

D+ D-

UFB-A UFB-B

MF-A MF-B

510

D+ D-

1734-AENTR

POINT I O

Module Status

Network Activity

Network Status

Point Bus Status

Link 1 Activity/

System

Status

Power

Field Power

Link 2 Activity/ Status

30 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019

+ 430 hidden pages

Allen-Bradley 2198-P031, 2198-P208, 2198-S160-ERS3, 2198-P070, 2198-D006-ERS3 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Important User Information

Table of Contents

Preface

Summary of Changes

Conventions Used in This Manual

Access the Attachments

Additional Resources

Kinetix 5700 Servo Drives Series Change

About the Kinetix 5700 Servo Drive System

DC-bus Power Supply Input Power Configurations

Typical DC-bus Power Supply Configuration Example

Multiple DC-Bus Power Supply Configuration Example

Extended DC-bus Configuration Example

iTRAK Power Supply Configuration Example

Regenerative Bus Supply Input Power Configurations

Typical Regenerative Bus Configuration Examples

Extended Regenerative Bus Configuration Example

iTRAK Power Supply Configuration Example

8720MC-RPS Power Supply Input Power Configuration

Motor and Auxiliary Feedback Configurations

Typical Communication Configurations

Linear Topology