Rockwell Automation 2198-KITCON-DSL User Manual

User Manual

Kinetix 5500 Servo Drives

Catalog Numbers 2198-H003-ERS, 2198-H008-ERS, 2198-H015-ERS, 2198-H025-ERS, 2198-H040-ERS, 2198-H070-ERS 2198-H003-ERS2, 2198-H008-ERS2, 2198-H015-ERS2, 2198-H025-ERS2, 2198-H040-ERS2, 2198-H070-ERS2, 2198-CAPMOD-1300

Original Instructions

Important User Information

IMPORTANT

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.

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).

Allen-Bradley, CompactLogix, ControlFLASH, ControlLogix, HPK-Series, Kinetix, Logix5000, MP-Series, PanelView, POINT I/O, RDD-Series, RSLinx, RSLogix, Stratix 5700, Studio 5000, Studio 5000 Automation Engineering an d Design Environment, Studio 5 000 Logix Desig ner, Rockwell Automation, Ro ckwell Software, and T L-Series are trademarks of Rockwell Automation, Inc.

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

Summary of Changes

This manual contains new and updated information.

Topic Pag e

Replaced catalog number string 2198-Hxxx-ERS with 2198-Hxxx-ERSx when there’s no need to distinguish between -ERS or -ERS2.

Added footnotes and other text to note that STO connector does no t apply to 2198-Hxxx-ERS2 drives.

Added references to the Hiperface-to-DSL (series B) feedback converter kit as needed.

Added Kinetix VP (Bulletin VPF) food-grade motors.

Added LDAT-Series integrated linear thrusters.

Added 2198-Hxxx-ERS2 catalog numbers to front cover. Front Cover

Added 2198-Hxxx-ERS2 and GuardLogix safety controller catalog numbers/descriptions to the System Overview table.

Removed Safety Device from Typical Hardware Configurations. 15…19

Added Safe Torque-off Configurations. 23…25

Added 2198-Hxxx-ERS2 catalog numbers to Catalog Number Explanation. 26

Corrected the short-circuit current rating from 150,000 to 200,000 A. 31

Updated Kinetix 5500 Drive Features and Indicators with 2198-Hxxx-ERS2 drive example. 58

Updated the Absolute Position Feature section with multi-turn catalog number strings for compatible motors and actuators.

Updated Safe Torque-off Safety Features with 2198-Hxxx-ERS2 drive description. 66

Updated Ethernet Cable Connections with ControlLogix EtherNet/IP communication modules. 97

Updated controller configuration by adding GuardLogix controller and ControlLogix EtherNet/IP communication module configuration.

Broke out Configure the Kinetix 5500 Drive with separate procedures for 2198-Hxxx-ERS and 2198-Hxxx-ERS2 servo drives.

Updated Tune the Axes with a reference to the load observer feature. 133

Added FLT-S04 - MTR OVERSPEED UL fault code. Added FLT S09 – MTR PHASE LOSS fault code. Added FLT S49 – BRAKE SLIP FLT fault code.

Added FLT-M28 - SAFETY COMM fault code. 143

Added INIT FLT-M14 - SAFETY FIRMWARE fault code. 144

Updated NODE FLT fault codes. Added NODE FLT 03 – HARDWARE 04 fault code.

Added NODE ALARM 04 – CLOCK SKEW ALARM. 145

Updated the configurable stopping action definitions. 149

Added FLT-S04 - MTR OVERSPEED UL fault behavior. Added FLT S15 – CONV OVERCURRENT fault behavior. Added FLT S49 – BRAKE SLIP FLT fault behavior.

Added FLT-M28 - SAFETY COMM fault behavior. 151

Added NODE FLT 05 – CLOCK SKEW FLT fault behavior 152

Updated Start and Configure the Drive with step to review an integrated safety configuration after replacing an integrated safety drive.

Updated Chapter 9 title by adding Hardwired Safety to distinguish it from Chapter 10. 157

Updated System Operation timing diagram with 100 ms. 159

Updated 2198-Hxxx-ERS troubleshooting table with fault code. 159

Added Chapter 10, Kinetix 5500 Safe Torque-off - Integrated Safety. 167

Througho ut

105

110 and 112

141

144

150

156

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 3

Summary of Changes

Top ic Pag e

Added Kinetix VP (Bulletin VPF) food-grade motors to the Kinetix VP interconnect diagram. 195

Corrected motor power and brake connection pinouts for MP-Series motor and actuator diagrams. 196, 198, 199

Added LDAT-Series linear thrusters interconnect diagram. 197

4 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Preface

About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Studio 5000 Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Chapter 1

Start

Planning the Kinetix 5500 Drive System Installation

About the Kinetix 5500 Servo Drive System. . . . . . . . . . . . . . . . . . . . . . . . 14

Typical Hardware Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Standalone Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Shared AC Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Shared AC/DC Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Shared DC Common-bus Configurations . . . . . . . . . . . . . . . . . . . . . . 18

Shared AC/DC Hybrid Configuration. . . . . . . . . . . . . . . . . . . . . . . . . 19

Typical Communication Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Linear Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Ring Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Star Topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Safe Torque-off Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Hardwired Safety Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Integrated Safety Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Chapter 2

System Design Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

System Mounting Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Transformer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Circuit Breaker/Fuse Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Enclosure Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Electrical Noise Reduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Bonding Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Bonding Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Establishing Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Cable Categories for Kinetix 5500 Systems . . . . . . . . . . . . . . . . . . . . . 40

Noise Reduction Guidelines for Drive Accessories. . . . . . . . . . . . . . . 41

Mounting the Kinetix 5500 Drive System

Chapter 3

Determining Mounting Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Zero-stack Tab and Cutout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Shared-bus Connection System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Single-axis Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 5

Table of Contents

Connector Data and Feature Descriptions

Multi-axis Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Drilling Hole Patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Mount Your Kinetix 5500 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Chapter 4

Kinetix 5500 Connector Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Safe Torque-off Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Input Power Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

DC Bus and Shunt Resistor Connector Pinouts . . . . . . . . . . . . . . . . . 59

Digital Inputs Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Ethernet Communication Connector Pinout . . . . . . . . . . . . . . . . . . . 60

Motor Power, Brake, and Feedback Connector Pinouts . . . . . . . . . . 61

Motor Feedback Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Understanding Control Signal Specifications . . . . . . . . . . . . . . . . . . . . . . . 62

Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Ethernet Communication Specifications . . . . . . . . . . . . . . . . . . . . . . . 63

Motor Brake Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Control Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Absolute Position Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Safe Torque-off Safety Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Servo Drives with Hardwired Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Servo Drives with Integrated Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Connecting the Kinetix 5500 Drive System

Chapter 5

Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Routing the Power and Signal Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Determine the Input Power Configuration . . . . . . . . . . . . . . . . . . . . . . . . . 69

Grounded Power Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Ungrounded Power Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Removing the Grounding Screws in Ungrounded

Power Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Grounding the Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Ground the System Subpanel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Ground Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Wiring Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Wiring Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Wiring the Power Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Wire the 24V Control Power Input Connector . . . . . . . . . . . . . . . . . 77

Wire the Input Power Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Wiring the Digital Input Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Wire the Safe Torque-off Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Wire the Digital Inputs Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Wiring Kinetix VP Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Motor Power Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Motor Brake Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

6 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Configure and Start the Kinetix 5500 Drive System

Table of Contents

Motor Feedback Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Apply the Single Motor Cable Shield Clamp. . . . . . . . . . . . . . . . . . . . 84

Wiring Other Allen-Bradley Motors and Actuators . . . . . . . . . . . . . . . . . 86

Install the Kinetix 5500 Add-On Profile. . . . . . . . . . . . . . . . . . . . . . . . 86

Motor Power and Brake Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Motor Feedback Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Capacitor Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

External Shunt Resistor Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Chapter 6

Understanding the Kinetix 5500 Display. . . . . . . . . . . . . . . . . . . . . . . . . . 100

Menu Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

Setup Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

Startup Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Configure the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

Set the Network Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

Configure the Logix Designer Application Project . . . . . . . . . . . . . . . . . 105

Configure the Logix5000 Controller. . . . . . . . . . . . . . . . . . . . . . . . . . 105

Configure the Kinetix 5500 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

Configure the Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

Configure Axis Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

Apply Power to the Kinetix 5500 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

Applying Power after Changing Input Voltage Range. . . . . . . . . . . 130

Test and Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

Test the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

Understanding Bus Sharing Group Configuration . . . . . . . . . . . . . . . . . 135

Bus Sharing Group Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

Configure Bus-sharing Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

Troubleshooting the Kinetix 5500 Drive System

Chapter 7

Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

Interpret Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

Display Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

Fault Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

Kinetix 5500 Drive Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . 146

Kinetix 5500 Capacitor Module Status Indicators. . . . . . . . . . . . . . 147

General Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

Logix5000 Controller and Drive Behavior . . . . . . . . . . . . . . . . . . . . . . . . 149

Kinetix 5500 Drive Exception Behavior . . . . . . . . . . . . . . . . . . . . . . . 149

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 7

Table of Contents

Chapter 8

Removing and Replacing Servo Drives

Kinetix 5500 Safe Torque-off Hardwired Safety

Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

Remove and Replace Kinetix 5500 Servo Drives. . . . . . . . . . . . . . . . . . . . 154

Remove Power and All Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 154

Remove the Servo Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

Replace the Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

Start and Configure the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

Chapter 9

Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

Important Safety Considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

Category 3 Requirements According to ISO 13849. . . . . . . . . . . . . 158

Stop Category Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

Performance Level (PL) and Safety Integrity Level (SIL) . . . . . . . . 158

Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

Troubleshoot the Safe Torque-off Function. . . . . . . . . . . . . . . . . . . . 159

Probability of Dangerous Failure Per Hour (PFH) . . . . . . . . . . . . . . . . . 161

PFH Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

Safe Torque-off Connector Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

Wire the Safe Torque-off Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

Safe Torque-off Wiring Requirements. . . . . . . . . . . . . . . . . . . . . . . . . 163

Safe Torque-off Feature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

Safe Torque-off Feature Bypass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

Cascade the Safe Torque-off Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

Safe Torque-off Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

Kinetix 5500 Safe Torque-off Integrated Safety

Chapter 10

Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

Important Safety Considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168

Safety Application Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168

Category 3 Requirements According to ISO 13849. . . . . . . . . . . . . 168

Stop Category Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

Performance Level (PL) and Safety Integrity Level (SIL) . . . . . . . . 169

Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

STO State Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

Troubleshoot the Safe Torque-off Function. . . . . . . . . . . . . . . . . . . . 170

Probability of Dangerous Failure Per Hour (PFH) . . . . . . . . . . . . . . . . . 171

PFH Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

Safe Torque-off Feature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

Out-of-Box State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

Out-of-Box State Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

Understanding Integrated Safety Drive Replacement . . . . . . . . . . . . . . . 174

Replacing an Integrated Safety Drive in a GuardLogix System . . . . . . . 175

Replacement with Configure Only When

No Safety Signature Exists Enabled. . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

Replacement with Configure Always Enabled . . . . . . . . . . . . . . . . . . 179

8 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Table of Contents

Motion Direct Commands in Motion Control Systems . . . . . . . . . . . . 181

Understanding STO Bypass When

Using Motion Direct Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

Logix Designer Application Warning Messages . . . . . . . . . . . . . . . . 182

Torque Permitted in a Multi-workstation Environment . . . . . . . . 184

Warning Icon and Text in Axis Properties . . . . . . . . . . . . . . . . . . . . . 184

Functional Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

Safe Torque-off Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

Appendix A

Interconnect Diagrams

Upgrade the Drive Firmware

Sizing Multi-axis Shared-bus Configurations

Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

Single-axis Drive Wiring Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

Bus-sharing Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192

Shunt Resistor Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

Kinetix 5500 Drive and Motor/Actuator Wiring Examples. . . . . . . . . 195

System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

Appendix B

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

Configure Logix5000 Controller Communication . . . . . . . . . . . . . 205

Inhibit Feedback Only Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

Upgrade Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207

Verify the Firmware Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

Appendix C

Shared-bus Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213

Shared AC Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214

Shared DC Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214

Shared AC/DC Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216

Shared AC/DC Hybrid Configurations. . . . . . . . . . . . . . . . . . . . . . . 217

Power Sharing Sizing Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218

Shared DC Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218

Shared AC/DC Hybrid Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

Shared AC/DC Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

Control Power Current Calculations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

Kinetix 5500 System Current Demand Example . . . . . . . . . . . . . . . 221

Energy Calculations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222

Induction Motor Support

Appendix D

Induction Motor Control Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223

Basic Volts/Hertz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224

Sensorless Vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225

Skip Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 9

Table of Contents

Appendix E

EC Certifications

History of Changes

EC Type - Examination Certificate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229

EC Declaration of Conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

European Union Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233

CE Conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233

EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233

Low Voltage Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233

Appendix F

2198-UM001C-EN-P, February 2014 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

2198-UM001B-EN-P, September 2013 . . . . . . . . . . . . . . . . . . . . . . . . . . . 236

Index

10 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Preface

About This Publication

Audience

Conventions Used in This Manual

This manual provides detailed installation instructions for mounting, wiring, and troubleshooting the Kinetix® 5500 servo drives, and system integration for your drive and motor/actuator combination with a Logix5000™ controller.

This manual is intended for engineers or technicians directly involved in the installation and wiring of the Kinetix 5500 drives, and programmers directly involved in the operation, field maintenance, and integration of these drives with the EtherNet/IP communication module or controller.

If you do not have a basic understanding of Kinetix 5500 servo drives, contact your local Rockwell Automation sales representative for information on available training courses.

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.

• Catalog number string 2198-Hxxx-ERSx is used when there’s no need to

distinguish between -ERS or -ERS2 servo drives.

Studio 5000 Environment

The Studio 5000 Automation Engineering and Design Environment™ combines engineering and design elements into a common environment. The first element in the Studio 5000® environment is the Logix Designer application. The Logix Designer application is the rebranding of RSLogix™ 5000 software and continues to be the product to program Logix5000 controllers for discrete, process, batch, motion, safety, and drive-based solutions.

The Studio 5000 environment is the foundation for the future of Rockwell Automation® engineering design tools and capabilities. The Studio 5000 environment is the one place for design engineers to develop all of the elements for their control system.

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 11

Preface

Additional Resources

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

Resource Description

Kinetix 5500 servo drives Installation Instructions, publication 2198-IN001 Information on mounting and wiring the Kinetix 5500 servo drive.

Kinetix 5500 Feedback Connector Kit Installation Instructions, publication 2198-IN002

Kinetix 5500 AC Line Filter Installation Instructions, publication 2198-IN003

Kinetix 5500 Capacitor Module Installation Instructions, publication 2198-IN004

Kinetix 5500 Shared-bus Connector Kit Installation Instructions, publication 2198-IN005 Information on installing the Kinetix 5500 shared-bus connector kits.

Hiperface-to-DSL Feedback Converter Kit Installation Instructions, publication 2198-IN006 Information on installing the Hiperface-to-DSL feedback converter kit.

Kinetix 300 Shunt Resistor Installation Instructions, publication 2097-IN002

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

EMC Noise Management DVD, publication GMC-SP004

Kinetix Motion Control Selection Guide, publication GMC-SG001

Kinetix 5500 Drive Systems Design Guide, publication GMC-RM009

Kinetix Rotary Motion Specifications Technical Data, publication GMC-TD001

Kinetix Linear Motion Specifications Technical Data, publication GMC-TD002

Kinetix Servo Drives Specifications Technical Data, publication GMC-TD003

Kinetix Motion Accessories Specifications Technical Data, publication GMC-TD004

Rockwell Automation Configuration and Selection Tools website http://www.rockwellautomation.com/en/e-tools

Rockwell Automation Product Certification, website http://www.rockwellautomation.com/products/certification

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

GuardLogix 5570 Controllers User Manual, publication 1756-UM022

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

Safety Products Catalog website http://www.ab.com/catalogs

ControlFLASH Firmware Upgrade Kit User Manual, publication 1756-QS105

National Electrical Code, published by the National Fire Protection Association of Boston, MA An article on wire sizes and types for grounding electrical equipment.

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

Information on installing and wiring the Kinetix 5500 motor feedback connector kit.

Information on installing and wiring the Kinetix5500 AC line filters.

Information on installing and wiring the Kinetix 5500 capacitor module.

Information on installing and wiring Kinetix 300 shunt resistors.

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

Overview of Kinetix servo 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 5500 drive and Kinetix VP motor motion control system.

Product specifications for Kinetix VP (Bulletin VPL, VPF, and VPS), MP-Series™ (Bulletin MPL, MPM, MPF, and MPS), Kinetix 6000M (Bulletin MDF), TL-Series™, RDD-Series™, and HPK-Series™ rotary motors.

Product specifications for MP-Series (Bulletin MPAS ballscrew, MPAR, and MPAI) and LDAT-Series linear actuators.

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

Product specifications for Bulletin 2090 motor and interface cables, low-profile connector kits, drive power components, and other servo drive accessory items.

Motion Analyzer application analysis software for drive/motor sizing.

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

For declarations of conformity (DoC) currently available from Rockwell Automation.

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

Information on designing, installing, programming, or troubleshooting control systems that use GuardLogix 5570 controllers.

Information for development, operation, or maintenance of a GuardLogix 5570 controller-based safety system that uses the Studio 5000 Logix Designer™ application.

Information regarding Allen-Bradley safety products, including safety relays, light curtain, and gate interlock applications.

For ControlFLASH™ information not specific to any drive family.

A glossary of industrial automation terms and abbreviations.

You can view or download publications at

http://www.rockwellautomation.com/literature

technical documentation, contact your local Allen-Bradley distributor or Rockwell Automation sales representative.

12 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

. To order paper copies of

Chapter 1

Start

Use this chapter to become familiar with the design and installation requirements for Kinetix 5500 drive systems.

Top ic Pa ge

About the Kinetix 5500 Servo Drive System 14

Typical Ha rdware Configurations 15

Typical Communication Configurations 20

Safe Torque-off Configurations 23

Catalog Number Explanation 26

Agenc y Compliance 27

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 13

Chapter 1 Start

About the Kinetix 5500 Servo Drive System

The Kinetix 5500 servo drives are designed to provide a Kinetix Integrated Motion solution for your drive and motor/actuator application.

Table 1 - Kinetix 5500 Drive System Overview

Drive System Component

Kinetix 5500 Servo Drives

Kinetix 5500 Capacitor Module

Shared-bus Connector Kits

Feedba ck Connector Kit

Hiperface to DSL Converter Kit

I/O Connector Kits

Connector Sets

Logix5000 Controller Platform

Studio 5000 Environment

Rotary Servo Motors

Linear Actuators

Induction motors N/A Induction motors with open loop volts/hertz frequency control are also supported.

Cables

AC Line Filters

24V DC Power Supply

External Shunt Resistors

Cat. No. Description

2198-Hxxx-ERS

2198-Hxxx-ERS2 Same power structures with standalone and multi-axis bus-sharing capability. Safe torque-off via the EtherNet/IP network.

2198-CAPMOD-1300

2198-H040-x-x Input wiring connectors and DC bus T-connector for frame 1 and 2 servo drives.

2198-H070-x-x Input wiring connectors and DC bus T-connector for frame 3 servo drives.

2198-KITCON-DSL Replacement feedback connector kit with 2-pin connector plug and grounding plate inside the connector housing.

2198-H2DCK

2198-KITCON-IOSP Replacement I/O connector kit (spring clamp) for I/O (IOD) connector.

2198-KITCON-IOSC Replacement I/O connector kit (screw terminal) for I/O (IOD) connector.

2198-KITCON-PWR40 Replacement connector set, 40 A, for frame 1 and frame 2 drives.

2198-KITCON-PWR70 Replacement connector set, 70 A, for frame 3 drives.

2198-KITCON-CAP1300 Replacement connector set, 40 A, for capacitor module.

1769-L18ERM 1769-L27ERM 1769-L3xERM

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

N/A

VPL-Axxxx, VPL-Bxxxx VPF-Axxxx, VPF-Bxxxx VPS-Bxxxx

-Series

MP-Series LDAT-Series

2090-CSxM1DF-xxAxxx Bulletin 2090 single-cable for motor power, feedback, and 24V DC brake power with Kinetix VP motors.

2090-CFBM7DF-CEAxxx Bulletin 2090 motor feedback cables for MP-Series motors and actuators.

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

1585J-M8CBJM-x Ethernet cables are available in standard lengths. Shielded cable is recommended.

2198-DB08-F 2198-DB20-F 2198-DB42-F

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

2097-R6 and 2097-R7 Bulletin 2097 external passive shunt resistors for when the drive’s internal shunt capability is exceeded.

200V-class (single-phase or three-phase) and 400V-class (three-phase) drives operate in standalone and multi-axis shared AC, shared DC, shared AC/DC, and shared AC/DC hybrid configurations. Modules are zero-stacked from drive-to-drive and use the sharedbus connection system to extend power in multi-axis configurations. Safe torque-off via hardwired (STO) connector.

Use for energy storage and/or to improve performance in applications producing regenerative energy and requiring shorter duty cycles (1360 μf). Modules are zero-stacked side-by-side with servo drives and use the shared-bus connection system to extend power.

Use for Hiperface-to-DSL feedback conversion with 400V-class MP-Series (Bulletin MPL, MPM, MPF, and MPS) rotary motors and MP-Series (Bulletin MPAS ballscrew, MPAR, MPAI) linear actuators. Series B or later converter kit is required for LDAT-Series linear thrusters and 200V-class MP-Series motors and actuators.

CompactLogix 5370 controllers with Integrated Motion on the EtherNet/IP network. Linear, ring, and star topology is supported.

ControlLogix 1756-L7x and GuardLogix 1756-L7xS controllers with Integrated Motion on EtherNet/IP networks. Linear, device-level ring (DLR), and star topology is supported.

Studio 5000 Logix Designer application, version 21.00 or later, provides support for programming, commissioning, and maintaining the CompactLogix and ControlLogix controller families. Version 24.00 or later is required for 2198-Hxxx-ERS2 servo drives.

Compatible rotary motors include 200V and 400V-class Kinetix VP (Bulletin VPL, VPF, and VPS).

ompatible rotary motors include 200V and 400V-class MP-Series (Bulletin MPL, MPM, MPF, and MPS) when used with the

Hiperface-to-DSL feedback converter kit.

Compatible linear actuators include 200V and 400V-class MP-Series (Bulletin MPAS ballscrew, MPAR, and MPAI) and LDAT-Series when used with the Hiperface-to-DSL feedback converter kit.

Bulletin 2198 three-phase AC line filters are required to meet CE and available for use in all Kinetix 5500 drive systems.

14 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Start Chapter 1

Single-phase or

Three-p hase Input Power

Bulletin 2090 Single Motor Cable

Line

Disconnect

Device

Input

Fusin g

2198-Hxxx-ERSx Drive (front view)

2097-Rx Shunt Resistor (optional component)

Kinetix VP (Bulletin VPL, VPF,

and VPS) Rotary Motors

(VPL-Bxxxx motor is shown)

2198-Hxxx-ERSx Drive (top view)

AC Input Power

Bonded Cabinet Ground Bus

2198-KITCON-DSL (shown)

Motor Feedback Connector Kit

or 2198-H2DCK Hiperface-to-DSL

Feedback Converter Kit

Mains AC and 24V input wired to standard input connectors.

2198-DBxx-F AC Lin e Filter

(required for CE)

Shared DC (DC common bus)

Shared 24V (control power input)

2198-Hxxx-ERSx Drive (top view) with 2198-CAPMOD-1300 Capacitor Module

2198-H0x0-x-x shared-bus connection system for bussharing configurations.

Mains AC input wired to standard input connector.

Digital Inputs

to Sensors and Control String

1606-XLxxx

24V DC Control, Digital Inputs,

and Motor Brake Power

(customer-supplied)

MP-Series (Bulletin MPAS, MPAR, MPAI) Linear Actuators

(1)

MPAS-B9xxx (ballscrew) Linear Stage is Shown

MP-Series (Bulletin MPL, MPM, MPF, MPS) Rotary Motors

(1)

(MPL-Bxxxx rotary motor is shown)

LDAT-Series Linear Thrusters

(1)

(LDAT-Sxxxxxx-xDx linear thruster is shown)

Typical Hardware Configurations

Typical Kinetix 5500 systems include single-phase and three-phase standalone configurations, three-phase shared AC, shared AC/DC, shared DC, and shared AC/DC hybrid configurations.

Standalone Configurations

In these examples, a single standalone drive is shown with and without the Bulletin 2198 capacitor module.

Figure 1 - Typical Kinetix 5500 Standalone Installation

Allen-Bradley

1606-XL

Power Supply

Input

(1) Requires the 2198-H2DCK Hiperface-to-DSL feedback converter kit. LDAT-Series linear thrusters and MP-Series (200V-class) motors

and actuators require the 2198-H2DCK (series B or later) converter kit.

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 15

Chapter 1 Start

1606-XL

Power Supply

Input

Allen-Bradley

Kinetix 5500 Servo Drives (top view)

(2198-H008-ERS drives shown)

2097-Rx Shunt Resistor (optional component)

Line

Disconnect

Device

Input

Fusing

Three-phase

Input Power

AC Input Power

Bonded Cabinet Ground Bus

Kinetix 5500 Servo Drives (front view)

(2198-H008-ERS drives shown)

Induction Rotary Motors

2198-DBxx-F AC Line Filter

(required for CE)

Bulletin 2090

Single Motor Cables

Share d AC (mains AC input)

Shared 24V (control power input)

Shared-bus connection system for bus-sharing configurations.

Digital Inputs

to Sensors and Control String

1606-XLxxx

24V DC Control, Digital Inputs,

and Motor Brake Power

(customer-supplied)

MP-Series (Bulletin MPAS, MPAR, MPAI) Linear Actuators

(1)

MPAS-B9xxx (ballscrew) Linear Stage is Shown

MP-Series (Bulletin MPL, MPM, MPF, MPS) Rotary Motors

(1)

(MPL-Bxxxx rotary motor is s hown)

2198-KITCON-DSL (shown)

Motor Feedback Connector Kit

or 2198-H2DCK Hiperface-to-DSL

Feedback Converter Kit

Kinetix VP (Bulletin VPL, VPF,

and VPS) Rotary Motors

(VPL-Bxxxx motor is shown)

LDAT-Series Linear Thrusters

(1)

(LDAT-Sxxxxxx-xDx linear thruster is shown)

IMPORTANT

Shared AC Configurations

In this example, three-phase AC power and 24V control power is shared in a multi-axis configuration. All drives must have the same power rating (catalog number).

Figure 2 - Typical Shared AC Installations

(1) Requires the 2198-H2DCK Hiperface-to-DSL feedback converter kit. LDAT-Series linear thrusters and MP-Series (200V-class) motors

and actuators require the 2198-H2DCK (series B or later) converter kit.

In shared AC configurations, all drives must have the same power rating. Shared AC configurations do not support Bulletin 2198 capacitor modules.

16 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

2097-Rx Shunt Resistor (optional component)

Line

Disconnect

Device

Input

Fusing

Three-phase

Input Power

AC Input Power

Bonded Cabinet Ground Bus

Induction Rotary Motors

2198-DBxx-F AC Lin e Filter

(required for CE)

Bulletin 2090

Single Motor Cables

Kinetix 5500 Servo Drives (top view)

(2198-H015-ERS drives shown)

Kinetix 5500 Servo Drives (front view)

(2198-H015-ERS drives shown)

Shared AC (mains AC input)

Shared DC (DC common bus) Shared 24V (control power input)

2198-CAPMOD-1300 Capacitor Module (optional component)

Shared-bus connection system for bus-sharing configurations.

Digital Inputs

to Sensors and Control String

1606-XLxxx

24V DC Control, Digital Inputs,

and Motor Brake Power

(customer-supplied)

2198-KITCON-DSL (shown)

Motor Feedback Connector Kit

or 2198-H2DCK Hiperface-to-DSL

Feedback Converter Kit

MP-Series (Bulletin MPAS, MPAR, MPAI) Linear Actuators

(1)

MPAS-B9xxx (ballscrew) Linear Stage is Shown

MP-Series (Bulletin MPL, MPM, MPF, MPS) Rotary Motors

(1)

(MPL-Bxxxx rotary motor is shown)

Kinetix VP (Bulletin VPL, VPF,

and VPS) Rotary Motors

(VPL-Bxxxx motor is shown)

LDAT-Series Linear Thrusters

(1)

(LDAT-Sxxxxxx-xDx linear thruster is shown)

IMPORTANT

Start Chapter 1

Shared AC/DC Configurations

In this example, three-phase AC input power, 24V control power, and DC bus power are shared in a multi-axis configuration. All drives must be the same power rating (catalog number).

Figure 3 - Typical Shared AC/DC Installations

Allen-Bradley

1606-XL

Power Supply

Input

(1) Requires the 2198-H2DCK Hiperface-to-DSL feedback converter kit. LDAT-Series linear thrusters and MP-Series (200V-class) motors

and actuators require the 2198-H2DCK (series B or later) converter kit.

In shared AC/DC configurations, all drives must have the same power rating (catalog number).

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 17

Chapter 1 Start

1606-XL

Power Supply

Input

Allen-Bradley

Kinetix 5500 Servo Drive System (top view)

2097-Rx Shunt Resistor (optional component)

Line

Disconnect

Device

Input

Fusin g

Three-phase

Input Power

2198-H040-ERS

Common-bus Leader Drive

AC Input Power

Bonded Cabinet Ground Bus

Kinetix 5500 Servo Drive System (front view)

2198-H008-ERS

Common-bus

Followe r Drives

2198-DBxx-F

AC Lin e Filter

(required for CE)

Bulletin 2090 Single Motor Cables

Shared DC (DC common bus) Shared 24V (control power input)

2198-CAPMOD-1300 Capacitor Module (optional component)

Shared-bus connection system for bus-sharing configurations.

Digital Inputs

to Sensors and Control String

1606-XLxxx

24V DC Control, Digital Inputs,

and Motor Brake Power

(customer-supplied)

2198-KITCON-DSL (shown)

Motor Feedback Connector Kit

or 2198-H2DCK Hiperface-to-DSL

Feedback Converter Kit

MP-Series (Bulletin MPAS, MPAR, MPAI) Linear Actuators

(1)

MPAS-B9xxx (ballscrew) Linear Stage is Shown

MP-Series (Bulletin MPL, MPM, MPF, MPS) Rotar y Motors

(1)

(MPL-Bxxxx rotary motor is shown)

Kinetix VP (Bulletin VPL, VPF,

and VPS) Rotary Motors

(VPL-Bxxxx motor is shown)

LDAT-Series Linear Thrusters

(1)

(LDAT-Sxxxxxx-xDx linear thruster is shown)

IMPORTANT

Shared DC Common-bus Configurations

In this multi-axis example, the common-bus leader (sourcing) drive receives three-phase AC input power and supplies DC power to common-bus follower (sinking) drives. The common-bus leader drive power rating is greater than or equal to the power rating of each follower drive.

Figure 4 - Typical Shared DC Common-bus Installations

(1) Requires the 2198-H2DCK Hiperface-to-DSL feedback converter kit. LDAT-Series linear thrusters and MP-Series (200V-class) motors

and actuators require the 2198-H2DCK (series B or later) converter kit.

In shared DC common-bus configurations, the leader drive power rating must be greater than or equal to the power rating of the follower drives.

18 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Start Chapter 1

Kinetix 5500 Servo Drive System (top view)

2097-Rx Shunt Resistor (optional component)

Line

Disconnect

Device

Input

Fusing

Three-phase Input Power

Digital Inputs

to Sensors and Control String

2198-H040-ERS

Common-bus (converter)

Leader Drives

1606-XLxxx

24V DC Control, Digital Inputs,

and Motor Brake Power

(customer-supplied)

AC Input Power

Bonded Cabinet Ground Bus

Kinetix 5500 Servo Drive System (front view)

2198-H008-ERS

Common-bus (inverter)

Follower Drives

2198-DBxx-F AC Lin e Filter

(required for CE)

Bulletin 2090 Single Motor Cables

Share d AC (mains AC input)

Shared DC (DC common bus) Shared 24V (control power input)

Shared-bus connection system for bus-sharing configurations.

2198-CAPMOD-1300 Capacitor Module (optional component)

2198-KITCON-DSL (shown)

Motor Feedback Connector Kit

or 2198-H2DCK Hiperface-to-DSL

Feedback Converter Kit

MP-Series (Bulletin MPAS, MPAR, MPAI) Linear Actuators

(1)

MPAS-B9xxx (ballscrew) Linear Stage is Shown

MP-Series (Bulletin MPL, MPM, MPF, MPS) Rotary Motors

(1)

(MPL-Bxxxx rotary motor is s hown)

Kinetix VP (Bulletin VPL, VPF,

and VPS) Rotary Motors

(VPL-Bxxxx motor is shown)

LDAT-Series Linear Thrusters

(1)

(LDAT-Sxxxxxx-xDx linear thruster is shown)

IMPORTANT

Shared AC/DC Hybrid Configuration

In this multi-axis example, three-phase AC input power is supplied to two converter drives. The converter drive ratings must be the same, and greater than or equal to the power ratings of the inverter drives. This parallel converter configuration increases the DC power supplied to the inverter drives.

Figure 5 - Typical Shared AC/DC Bus Hybrid Installations

Allen-Bradley

1606-XL

Power Supply

Input

(1) Requires the 2198-H2DCK Hiperface-to-DSL feedback converter kit. LDAT-Series linear thrusters and MP-Series (200V-class) motors

and actuators require the 2198-H2DCK (series B or later) converter kit.

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 19

In shared AC/DC hybrid configuration, the converter drives must have the same power rating and must be greater than or equal to the power ratings of the inverter drives.

Chapter 1 Start

CompactLog ix 5370 Cont roller

Logix Designer

Application

1585J-M8CBJM-x Ethernet (shielded) Cable

1734-AENTR POINT I/O™

EtherNet/IP Adapter

CompactLogix Controller Programming Network

Panel View™ Pl us Display Terminal

1585J-M8CBJM-OM3

0.3 m (1.0 ft) Ethernet cable for drive-to-drive connections.

Kinetix 5500 Servo Drive System

Typical Communication Configurations

The Kinetix 5500 drives support any Ethernet topology including linear, ring, and star.

These examples feature the CompactLogix 5370 programmable automation controllers (catalog number 1769-L36ERM) with support for Integrated Motion over the EtherNet/IP network. Controller features include the following:

• Supports up to 16 axes

• Supports up to 48 devices in linear configurations

• Dual-port connectivity to support device-level ring (DLR) topology

Refer to CompactLogix Controllers Specifications Technical Data, publication

1769-TD005

, for more information on CompactLogix 5370 L1, L2, and L3

controllers.

Linear Topology

In this example, all devices are connected in linear topology. The Kinetix 5500 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.

00:00:BC:2E:69:F6

1 (Front) 2 (Rear)

Figure 6 - Kinetix 5500 Linear Communication Installation

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

20 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Start Chapter 1

1 (Front) 2 (Rear)

00:00:BC:2E:69:F6

1734-AENTR

Module Status

Network Activity

Network Status

Point Bus Status

System Power

Field Power

POINT I O

Link 1 Activity/ Status

Link 2 Activity/ Status

1734-AENTR POINT I/O EtherNet/IP Adapter

CompactLogix Controller Programming Network

1783-ETAP

Module

1585J-M8CBJM-OM3

0.3 m (1.0 ft) Ethernet cable for drive-to-drive connections.

Panel View Plus Display Terminal

Kinetix 5500 Servo Drive System

CompactLogix 5370 Controller

Logix Designer

Application

1585J-M8CBJM-x Ethernet

(shielded) Cable

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 Bulletin 1783 ETAP device). DLR is an ODVA standard. For more information, refer to the EtherNet/IP Embedded Switch Technology Application Guide, publication ENET-AP005

Devices without dual ports, for example the display terminal, require a 1783-ETAP module to complete the network ring.

Figure 7 - Kinetix 5500 Ring Communication Installation

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 21

Chapter 1 Start

1 (Front) 2 (Rear)

00:00:BC:2E:69:F6

1585J-M8CBJM-x Ethernet (shielded) Cable

1734-AENTR POINT I/O EtherNet/IP Adap ter

CompactLogix Controller Programming Network

PanelView Plus Display Terminal

1783-BMS

Stratix 5700™

Switch

1585J-M8CBJM-OM3

0.3 m (1.0 ft) Ethernet cable

for drive-to-drive connections.

Kinetix 5500 Servo Drive System

CompactLogix 5370 Controller

Logix Designer

Application

Star Topology

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

Kinetix 5500 drives have dual ports, so linear topology is maintained from driveto-drive, but Kinetix 5500 drives and other devices operate independently. The loss of one device does not impact the operation of other devices.

Figure 8 - Kinetix 5500 Star Communication Installation

22 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Start Chapter 1

1 (Front) 2 (Rear)

00:00:BC:2E:69:F6

1606-XL

Power Supply

Input

Allen-Bradley

1585J-M8CBJM-x Ethernet (shielded) Cable

CompactLogix 5370 Controller, ControlLogix 1756-L7x Controller, or GuardLogix 1756-L7xS Safety Controller (CompactLogix controller is shown)

Logix Designer

Application

(version 21.0 or later)

AC Input Power

Safety Device

2198-Hxxx-ERS Servo Drives

(top view)

2198-Hxxx-ERS Servo Drives

(front view)

Digital Inputs to Sensors and Control String

1606-XLxxx

24V DC Control, Digital Inputs,

and Motor Brake Power

(customer-supplied)

Kinetix VP

Servo Motors

2198-CAPMOD-1300 Capacitor Module

(optional component)

Module Definition

Configured with

Motion-only

Connection

Safe Torque-off (STO) Connectors

Safe Torque-off Configurations

Kinetix 5500 servo drives are available with safe torque-off via hardwired connections or integrated over the EtherNet/IP network. These examples illustrate the safe torque-off configuration options.

Hardwired Safety Configuration

The 2198-Hxxx-ERS drives use the safe torque-off (STO) connector for cascading hardwired safety connections from drive-to-drive.

Figure 9 - Safe Torque-off (hardwired) Configuration

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 23

Chapter 1 Start

IMPORTANT

1606-XL

Power Supply

Input

Allen-Bradley

LNK1LNK2NET OK

EtherNet/IP

1585J-M8CBJM-x Ethernet (shielded) Cable

GuardLogix 1756-L7xS Safety Controller

Logix Designer

Application

(version 24.0 or later)

AC Inp ut Power

2198-Hxxx-ERS2 Servo Drives

(top view)

2198-Hxxx-ERS2 Servo Drives

(front view)

Digital Inputs to Sensors and Control String

1606-XLxxx

24V DC Control, Digital Inputs,

and Motor Brake Power

(customer-supplied)

Kinetix VP

Servo Motors

2198-CAPMOD-1300 Capacitor Module

(optional component)

1783-BMS

Stratix 5700

Switch

Module Definition

Configured with

Motion and Safety

Conne ction

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

Safety Device

Integrated Safety Configurations

The 1756-L7xS GuardLogix safety controller issues the safe torque-off (STO) command over the EtherNet/IP network and the 2198-Hxxx-ERS2 integrated safety drive executes the command.

In this example, a single GuardLogix safety controller makes a Motion and Safety connection with the 2198-Hxxx-ERS2 integrated safety drives.

If only one controller is used in an application with Motion and Safety connections, it must be a 1756-L7xS GuardLogix safety controller.

Figure 10 - Motion and Safety Configuration (single controller)

24 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Start Chapter 1

IMPORTANT

1585J-M8CBJM-x

Ethernet (shielded) Cable

GuardLogix 1756-L7xS Controller

Logix Designer

Application

(version 24.0 or later)

AC Inp ut Power

2198-Hxxx-ERS2 Servo Drives

(top view)

2198-Hxxx-ERS2 Servo Drives

(front view)

Digital Inputs to Sensors and Control String

1606-XLxxx

24V DC Control, Digital Inputs,

and Motor Brake Power

(customer-supplied)

Kinetix VP

Servo Motors

2198-CAPMOD-1300 Capacitor Module

(optional component)

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

1783-BMS

Stratix 5700

Switch

CompactLogix 5370 Controller or ControlLogix 1756-L7x Controller (ControlLogix controller is shown)

Motion Program

Module Definition

Configured with

Motion only

Conne ction

Safety Program

Module Definition

Configured with

Safety only Conne ction

Safety Device

In this example, a non-safety controller makes the Motion-only connection and a separate GuardLogix safety controller makes the Safety-only connection with 2198-Hxxx-ERS2 integrated safety drives.

If two controllers are used in an application with Motion-only and Safetyonly connections, the Safety-only connection must be a 1756-L7xS GuardLogix safety controller and the Motion-only connection must be a ControlLogix 1756-L7x or CompactLogix 5370 controller.

Figure 11 - Motion and Safety Configuration (multi-controller)

LNK1LNK2NET OK

EtherNet/IP

LNK1LNK2NET OK

Allen-Bradley

1606-XL

Power Supply

Input

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 25

Chapter 1 Start

Catalog Number Explanation

Drive Cat. No. (hardwired STO)

2198-H003-ERS 2198-H003-ERS2

2198-H008-ERS 2198-H008-ERS2

2198-H015-ERS 2198-H015-ERS2

2198-H025-ERS 2198-H025-ERS2

2198-H040-ERS 2198-H040-ERS2

2198-H070-ERS 2198-H070-ERS2 3

Capacitor Module Cat. No.

2198-CAPMOD-1300 2 650V DC, nom 1360 μF, min

Kinetix 5500 drive catalog numbers and performance descriptions.

Table 2 - Kinetix 5500 Drive Catalog Numbers

Drive Cat. No. (integrated STO)

Frame Size Input Voltage

195…264V rms, single-phase 195…264V rms, three-phase 324…528V rms, three-phase

195…264V rms, three-phase 324…528V rms, three-phase

Table 3 - Drive Components Catalog Numbers

Frame Size Rated Voltage Capacitance

Continuous Output Power

0.2 kW

0.3 kW

0.6 kW

0.5 kW

0.8 kW

1.6 kW

1.0 kW

1.5 KW

3.2 kW

2.4 kW

5.1 kW

4.0 kW

8.3 kW

7.0 kW

14.6 kW

Continuous Output Current

A 0-pk

1.4

3.5

7.1

11.3

18.4

32.5

Table 4 - Shared-bus Connector Kit Catalog Numbers

Kit Cat. No. Frame Size Application Description

2198-H040-ADP-IN Frame 1 or 2 First drive

2198-H040-A-T

2198-H040-D-T DC sharing only DC bus T-connector

2198-H040-P-T Control power sharing only Control power T-connector

2198-H040-AD-T AC and DC bus sharing AC and DC bus T-connectors

2198-H040-AP-T AC and control power sharing AC and control power T-connectors

2198-H040-DP-T DC and control power sharing DC and control power T-connectors

2198-H040-ADP-T AC, DC, and control power sharing AC, DC, and control power T-connectors

2198-H070-ADP-IN

2198-H070-A-T

2198-H070-D-T DC sharing only DC bus T-connector

2198-H070-P-T Control power sharing only Control power T-connector

2198-H070-AD-T AC and DC bus sharing AC and DC bus T-connectors

2198-H070-AP-T AC and control power sharing AC and control power T-connectors

2198-H070-DP-T DC and control power sharing DC and control power T-connectors

2198-H070-ADP-T AC, DC, and control power sharing AC, DC, and control power T-connectors

Next drive is… Frame 1 drives: 2198-H003-ERSx 2198-H008-ERSx Frame 2 drives: 2198-H015-ERSx 2198-H025-ERSx 2198-H040-ERSx

Frame 3 drive: 2198-H070-ERSx

Next drive is… Frame 3 drives:

2198-H070-ERSx

AC sharing only AC bus T-connector

First drive

AC sharing only AC bus T-connector

• Mains AC input wiring connector

• 24V DC input wiring connector

• DC bus T-connector

• Mains AC input wiring connector

• 24V DC input wiring connector

• DC bus T-connector

26 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Start Chapter 1

Agency Compliance

If this product is installed within the European Union and has the CE mark, the following regulations apply.

ATT EN TI ON : Meeting CE requires a grounded system, and the method of grounding the AC line filter and drive must match. Failure to do this renders the filter ineffective and can cause damage to the filter. For grounding examples, refer to Grounded Power Configurations

on page 69.

For more information on electrical noise reduction, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001

To meet CE requirements, these requirements apply:

• Install an AC line filter (catalog number 2198-DBxx-F) for input power as close to the Kinetix 5500 drive as possible.

• Bond drive, capacitor module, and line filter grounding screws by using a braided ground strap as shown in Figure 39 on page 73

• Use Bulletin 2090 single motor cables with Kinetix VP servo motors. Use Bulletin 2090 motor power/brake and feedback cables for other compatible Allen-Bradley® motors and actuators.

• Combined motor cable length for all axes on the same DC bus must not exceed 250 m (820 ft). Drive-to-motor cables must not exceed 50 m (164 ft); however, use of continuous-flex cable and 2198-H2DCK converter kit limits the maximum length.

Table 5 - Drive-to-Motor Maximum Cable Length

Kinetix VP Servo Motors Other Compatible Rotary Motors and Linear Actuators

Kinetix 5500 Servo Drive Cat. No.

2198-H003-ERSx 2198-H008-ERSx

2198-H015-ERSx 2198-H025-ERSx 2198-H040-ERSx

2198-H070-ERSx 50 (164)

(1) Requires use of the 2198-H2DCK Hiperface- to-DSL feedback converter kit. (2) Can b e used to repla ce Bulletin 2090 motor po wer/brake cabl es in 2198-H2 DCK convert er kit applic ations to inc rease the maxi mum length up to 50 m (164 ft). Applie s to only power /brake cables. Refer to

Motor Power/Brake Cable Preparation

Standard (non-flex) Cables (cat. no. 2090-CSxM1DF-xxAAxx)

m (ft)

50 (164) 30 (98.4)

50 (164)

on page 89 for more information.

(2)

Continuous-flex Cables (cat. no. 2090-CSBM1DF-xxAFxx)

m (ft)

Motor Power/brake Cables (cat. no. 2090-CPxM7DF-xxAxxx) Feedback Cables (cat. no. 2090-CFBM7DF-CEAxxx)

m (ft)

20 (65.6)

(1)

• Install the Kinetix 5500 system inside an approved enclosure. Run input power wiring in conduit (grounded to the enclosure) outside of the enclosure. Separate signal and power cables.

• Segregate input power wiring from control wiring and motor cables.

Refer to Appendix A on page 189

for input power wiring and drive/motor

interconnect diagrams.

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 27

Chapter 1 Start

Notes:

28 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Chapter 2

Planning the Kinetix 5500 Drive System Installation

This chapter describes system installation guidelines used in preparation for mounting your Kinetix 5500 drive components.

Top ic Pa ge

System Design Guidelines 30

Electrical Noise Reduction 36

ATT EN TI ON : Plan the installation of your system so that you can perform all cutting, drilling, tapping, and welding with the system removed from the enclosure. Because the system is of the open type construction, be careful to keep metal debris from falling into it. Metal debris or other foreign matter can become lodged in the circuitry and result in damage to the components.

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 29

Chapter 2 Planning the Kinetix 5500 Drive System Installation

IMPORTANT

System Design Guidelines

Use the information in this section when designing your enclosure and planning to mount your system components on the panel.

For on-line product selection and system configuration tools, including AutoCAD (DXF) drawings of the product, refer to

http://www.rockwellautomation.com/en/e-tools

System Mounting Requirements

• To comply with UL and CE requirements, the Kinetix 5500 drive systems must be enclosed in a grounded conductive enclosure offering protection as defined in standard EN 60529 (IEC 529) to IP54 such that they are not accessible to an operator or unskilled person. A NEMA 4X enclosure exceeds these requirements providing protection to IP66.

• The panel you install inside the enclosure for mounting your system components must be on a flat, rigid, vertical surface that won’t be subjected to shock, vibration, moisture, oil mist, dust, or corrosive vapors.

• Size the drive enclosure so as not to exceed the maximum ambient temperature rating. Consider heat dissipation specifications for all drive components.

• Combined motor power cable length for all axes on the same DC bus must not exceed 250 m (820 ft). Drive-to-motor cables must not exceed 50 m (164 ft), however use of continuous-flex cable and 2198-H2DCK converter kit limits the maximum length. Refer to Ta b l e 5 specifications by frame size.

on page 27 for

System performance was tested at these cable length specifications. These limitations also apply when meeting CE requirements.

• Ethernet cable lengths connecting drive-to-drive, drive-to-controller, or drive-to-switch must not exceed 100 m (328 ft).

• Registration and digital input cables greater than 30 m (98.4 ft) must be shielded.

• Segregate input power wiring from control wiring and motor cables.

• Use high-frequency (HF) bonding techniques to connect the modules,

enclosure, machine frame, and motor housing, and to provide a lowimpedance return path for high-frequency (HF) energy and reduce electrical noise.

Bond drive, capacitor module, and line filter grounding screws by using a braided ground strap as shown in Figure 39 on page 73

Refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001 reduction.

, to better understand the concept of electrical noise

30 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Planning the Kinetix 5500 Drive System Installation Chapter 2

IMPORTANT

EXAMPLE

IMPORTANT

Transformer Selection

The servo drive does not require an isolation transformer for three-phase input power. However, a transformer can be required to match the voltage requirements of the drive to the available service.

To size a transformer for the main AC power inputs, refer to the Kinetix 5500 power specifications in the Kinetix Servo Drives Technical Data, publication

GMC-TD003

When using an autotransformer, make sure that the phase to neutral/ground voltage does not exceed the input voltage ratings of the drive.

Use a form factor of 1.5 for three-phase power (where form factor is used to compensate for transformer, drive module, and motor losses, and to account for utilization in the intermittent operating area of the torque speed curve).

150 KVA, max and 3% impedance, min

Sizing a transformer to the voltage requirements of this drive: 2198-H040-ERSx = 8.4 kW = 12.6 KVA transformer.

Circuit Breaker/Fuse Selection

The Kinetix 5500 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.

While circuit breakers offer some convenience, there are limitations for their use. Circuit breakers do not handle high current inrush as well as fuses.

UL has not approved circuit breakers for use as branch circuit protection for Kinetix 5500 drive systems.

Make sure 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.

Refer to Power Wiring Examples

ATT EN TI ON : 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 drive’s PWM waveform does not allow it to operate properly. As a result, damage to the device occurs.

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 31

, on page 190, for the wiring diagram.

Chapter 2 Planning the Kinetix 5500 Drive System Installation

Standalone Drive Systems

Table 6 - Fuse Selection (Bussmann part numbers)

Kinetix 5500 Drive Cat. No. Three-phase Single-phase

2198-H003-ERSx KTK-R-3 KTK-R-2

2198-H008-ERSx KTK-R-7 KTK-R-5

2198-H015-ERSx KTK-R-15 KTK-R-10

2198-H025-ERSx KTK-R-20

2198-H070-ERSx LPJ-35SP

Table 7 - Circuit Breaker Selection (Allen-Bradley catalog numbers)

Kinetix 5500 Drive Cat. No. Three-phase

2198-H003-ERSx 140U-D6D3-B20 140U-D6D2-B10

2198-H008-ERSx 140U-D6D3-B60 140U-D6D2-B20

2198-H015-ERSx 140U-D6D3-C12 140U-D6D2-B80

2198-H025-ERSx 140U-D6D3-C20

2198-H070-ERSx N/A

N/A2198-H040-ERSx KTK-R-25

(1)

Single-phase

N/A2198-H040-ERSx 140U-D6D3-C25

(1)

(1) UL has not approved circuit breakers for use as branch circuit protection for Kinetix 5500 drive systems.

Shared DC (common-bus) Drive Systems

Table 8 - Fuse Selection (Bussmann part numbers)

Kinetix 5500 Drive Cat. No. Three-phase

2198-H003-ERSx

2198-H008-ERSx

2198-H015-ERSx KTK-R-15

2198-H025-ERSx KTK-R-20

2198-H040-ERSx KTK-R-25

2198-H070-ERSx LPJ-35SP

Table 9 - Circuit Breaker Selection (Allen-Bradley catalog numbers)

Kinetix 5500 Drive Cat. No. Three-phase

2198-H003-ERSx

2198-H008-ERSx

2198-H015-ERSx 140U-D6D3-C15

2198-H025-ERSx 140U-D6D3-C20

2198-H040-ERSx 140U-D6D3-C25

2198-H070-ERSx N/A

KTK-R-10

(1)

N/A

(1) UL has not approved circuit breakers for use as branch circuit protection for Kinetix 5500 drive systems.

32 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Planning the Kinetix 5500 Drive System Installation Chapter 2

Shared AC Drive Systems

Table 10 - Fuse Selection (Bussmann part numbers)

Kinetix 5500 Drive Cat. No.

2 Axes 3 Axes 4 Axes 5 Axes

2198-H003-ERSx KTK-R-15

2198-H008-ERSx KTK-R-15

2198-H015-ERSx KTK-R-20 KTK-R-25 N/A

2198-H025-ERSx KTK-R-30 N/A

2198-H040-ERSx LPJ-35SP LPJ-45SP N/A

2198-H070-ERSx LPJ-60SP N/A

Table 11 - Circuit Breaker Selection (Allen-Bradley catalog numbers)

Kinetix 5500 Drive Cat. No.

2198-H003-ERSx

2198-H008-ERSx

2198-H015-ERSx 140U-D6D3-C15 140U-D6D3-C20 N/A

2198-H025-ERSx 140U-D6D3-C25 140U-D6D3-C30 N/A

2198-H040-ERSx N/A

2198-H070-ERSx N/A

(1) UL has not approved circuit breakers for use as branch circuit protection for Kinetix 5500 drive systems.

2 Axes

N/A

(1)

3 Axes

(1)

4 Axes

(1)

5 Axes

(1)

Shared AC/DC and Hybrid Systems

Table 12 - Fuse Selection (Bussmann part numbers)

Kinetix 5500 Drive Cat. No.

2198-H003-ERSx KTK-R -10 KTK-R -15

2198-H008-ERSx KTK-R-15 KTK-R-20

2198-H015-ERSx KTK-R-20 N/A

2198-H025-ERSx KTK-R-30 N/A

2198-H040-ERSx KTK-R-30 LPJ-45SP LPJ-50SP N/A

2198-H070-ERSx LPJ-50SP N/A

Kinetix 5500 Drive Cat. No.

2198-H003-ERSx N/A

2198-H008-ERSx N/A

2198-H015-ERSx 140U-D6D3-C15 140U-D6D3-C20 N/A

2198-H025-ERSx 140U-D6D3-C20 140U-D6D3-C30 N/A

2198-H040-ERSx 140U-D6D3-C30 N/A

2198-H070-ERSx N/A

2 Axes 3 Axes 4 Axes 5 Axes 6 Axes 7 Axes 8 Axes

Table 13 - Circuit Breaker Selection (Allen-Bradley catalog numbers)

2 Axes

(1)

3 Axes

(1)

4 Axes

(1)

5 Axes

(1)

6 Axes

(1)

7 Axes

(1)

8 Axes

(1)

(1) UL has not approved circuit breakers for use as branch circuit protection for Kinetix 5500 drive systems.

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 33

Chapter 2 Planning the Kinetix 5500 Drive System Installation

A =

0.38Q

1.8T - 1.1

A =

4.08Q T - 1.1

A =

0.38 (416)

1.8 (30) - 1.1

= 2.99 m

Enclosure Selection

This example is provided to assist you in sizing an enclosure for your Kinetix 5500 drive system. You need heat dissipation data from all components planned for your enclosure to calculate the enclosure size (refer to Ta b l e 1 4

With no active method of heat dissipation (such as fans or air conditioning) either of the following approximate equations can be used.

Metric Standard English

Where T is temperature difference between inside air and outside ambient (°C), Q is heat generated in enclosure (Watts), and A is enclosure surface area (m surface of all six sides of an enclosure is calculated as

A = 2dw + 2dh + 2wh A = (2dw + 2dh + 2wh) /144

Where d (depth), w (width), and h (height) are in meters. Where d (depth), w (width), and h (height) are in inches.

). The exterior

Where T is temperature difference between inside air and outside ambient (°F), Q is heat generated in enclosure (Watts), and A is enclosure surface area (ft2). The exterior surface of all six sides of an enclosure is calculated as

If the maximum ambient rating of the Kinetix 5500 drive system is 50 °C (122 °F) and if the maximum environmental temperature is 20 °C (68 °F), then T=30. In this example, the total heat dissipation is 416 W (sum of all components in enclosure). So, in the equation below, T=30 and Q=416.

In this example, the enclosure must have an exterior surface of at least 2.99 m

. If any portion of the enclosure is not able to transfer heat, do not include that value in the calculation.

Because the minimum cabinet depth to house the Kinetix 5500 system (selected for this example) is 300 mm (11.8 in.), the cabinet needs to be approximately 1500 x 700 x 300 mm (59.0 x 27.6 x 11.8 in.) HxWxD.

1.5 x (0.300 x 0.70) + 1.5 x (0.300 x 2.0) + 1.5 x (0.70 x 2.0) = 3.31 m

Because this cabinet size is considerably larger than what is necessary to house the system components, it can be more efficient to provide a means of cooling in a smaller cabinet. Contact your cabinet manufacturer for options available to cool your cabinet.

34 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Table 14 - Power Dissipation Specifications

Clearance right of the drive is not required.

Clearance left of the

drive is not required.

Kinetix 5500

Servo Drive

40 mm (1.57 in.) clearance below

drive for airflow and installation.

40 mm (1.57 in.) clearance above drive for airflow and installation.

Refer to the Kinetix Servo Drives

Technical Data, publication GMC-TD003

for Kinetix 5500 drive dimensions.

IMPORTANT

Planning the Kinetix 5500 Drive System Installation Chapter 2

Kinetix 5500 Drive Cat. No.

2198-H003-ERSx

2198-H008-ERSx

2198-H015-ERSx

2198-H040-ERSx

2198-H070-ERSx 3 64 128 192 256 320

Frame Size

20% 40% 60% 80% 100%

11225375062

2 40 80 120 160 2002198-H025-ERSx

Usage as % of Rated Power Output

(watts)

Minimum Clearance Requirements

This section provides information to assist you in sizing your cabinet and positioning your Kinetix 5500 drive:

• Additional clearance is required for cables and wires or the shared-bus connection system connected to the top of the drive.

• Additional clearance is required if other devices are installed above and/or below the drive and have clearance requirements of their own.

• Additional clearance left and right of the drive is required when mounted adjacent to noise sensitive equipment or clean wire ways.

• The recommended minimum cabinet depth is 300 mm (11.81 in.).

Figure 12 - Minimum Clearance Requirements

Mount the drive in an upright position as shown. Do not mount the drive on its side.

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 35

Chapter 2 Planning the Kinetix 5500 Drive System Installation

Zero-stack Tab and

Cutout Aligned

Shared-bus connection system for bus-sharing configurations is not shown for clarity.

IMPORTANT

Figure 13 - Multi-axis Shared-bus Clearance Requirements

In multi-axis shared-bus configurations, drives must be spaced by aligning the zero-stack tab and cutout.

Electrical Noise Reduction

This section outlines best practices that minimize the possibility of noise-related failures as they apply specifically to Kinetix 5500 system installations. For more information on the concept of high-frequency (HF) bonding, the ground plane principle, and electrical noise reduction, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001

Bonding Modules

Bonding is the practice of connecting metal chassis, assemblies, frames, shields, and enclosures to reduce the effects of electromagnetic interference (EMI).

Unless specified, most paints are not conductive and act as insulators. To achieve a good bond between power rail and the subpanel, surfaces need to be paint-free or plated. Bonding metal surfaces creates a low-impedance return path for highfrequency energy.

To improve the bond between the power rail and subpanel, construct your subpanel out of zinc plated (paint-free) steel.

Improper bonding of metal surfaces blocks the direct return path and allows high-frequency energy to travel elsewhere in the cabinet. Excessive highfrequency energy can effect the operation of other microprocessor controlled equipment.

36 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Planning the Kinetix 5500 Drive System Installation Chapter 2

Stud-mounting the Subpanel

to the Enclosure Back Wall

Stud-mounting a Ground Bus

or Chassis to the Subpanel

Subpanel Wel ded S tud

Scrape Paint

Flat Washer

If the mounting bracket is coated with a non-conductive material (anodized or painted), scrape the material around the mounting hole.

Star Washer

Nut

Flat Washer

Mounting Bracket or

Ground Bus

Use a wire brush to remove paint from threads to maximize ground connection.

Back Wall of Enclosure

Weld ed St ud

Subpanel

Star Washer

Use plated panels or scrape paint on front of panel.

Subpanel

Nut

Star Washer

Flat Washer

Star Washer

Star Washer Scrape paint on both sides of panel and use star washers.

Tapped Hole

Bolt

Flat Washer

Ground Bus or

Mounting Bracket

If the mounting bracket is coated with a non-conductive material (anodized or painted), scrape the material around the mounting hole.

Bolt-mounting a Ground Bus or Chassis to the Back-panel

These illustrations show details of recommended bonding practices for painted panels, enclosures, and mounting brackets.

Figure 14 - Recommended Bonding Practices for Painted Panels

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 37

Chapter 2 Planning the Kinetix 5500 Drive System Installation

Wire B raid

25.4 mm (1.0 in.) by

6.35 mm (0.25 in.)

Paint removed

from cabinet.

Cabinet ground bus

bonded to the subpanel.

Wire B raid

25.4 mm (1.0 in.) by

6.35 mm (0.25 in.)

Bonding Multiple Subpanels

Bonding multiple subpanels creates a common low impedance exit path for the high frequency energy inside the cabinet. Subpanels that are not bonded together do not necessarily share a common low impedance path. This difference in impedance can affect networks and other devices that span multiple panels:

Figure 15 - Multiple Subpanels and Cabinet Recommendations

• Bond the top and bottom of each subpanel to the cabinet by using

25.4 mm (1.0 in.) by 6.35 mm (0.25 in.) wire braid. As a rule, the wider and shorter the braid is, the better the bond.

• Scrape the paint from around each fastener to maximize metal-to-metal contact.

38 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Planning the Kinetix 5500 Drive System Installation Chapter 2

(1)

Dirty Wireway

Clean Wireway

Single Motor Cables

(2)

Circuit

Breakers

24V DC

Power Supply

AC Lin e Filter

(required for CE)

Kinetix 5500 Servo Drive System

(1)

Very Dirty Filter/AC Input Connections

Segregated (not in wireway)

Digital Inputs and

Ethernet Cables

Route single motor cables in shielded cable.

Route registration and communication

signals in shielded cables.

Safety Cable

(2198-Hxxx-ERS drives only)

Module Status

24V Input

Establishing Noise Zones

Observe these guidelines when routing cables used in the Kinetix 5500 system:

• The clean zone (C) is beneath the drive system and includes the digital inputs wiring and Ethernet cable (gray wireway).

• The dirty zone (D) is above and below the drive system (black wireways) and includes the circuit breakers, 24V DC power supply, safety, and motor cables.

• The very dirty zone (VD) is limited to where the AC line (EMC) filter VAC output jumpers over to the drive (or first drive in multi-axis systems). Shielded cable is required only if the very dirty cables enter a wireway.

Figure 16 - Noise Zones

(1) When space to the right of the drive does not permit 150 mm (6.0 in.) segregation, use a grounded steel shield instead. For

examples, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001

(2) When 2198-H2DCK converter kit is used, feedback cable routes in the clean wireway.

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 39

Chapter 2 Planning the Kinetix 5500 Drive System Installation

Cable Categories for Kinetix 5500 Systems

These tables indicate the zoning requirements of cables connecting to the Kinetix 5500 drive components.

Table 15 - Kinetix 5500 Drive

Wire/Cable Connector

L1, L2, L3 (shielded cable)

L1, L2, L3 (unshielded cable) X

DC-/DC+ (DC bus) DC Bus-bar only, no wiring connector.

DC+/SH (shunt) RC X

U, V, W ( motor power) Motor feedback Motor brake

24V DC CP X

Safety enable for safe torque-off

Registration input, greater than 30 m (98.4 ft)

Registration input, less than 30 m (98.4 ft) X

Ethernet

(1)

Zone Method

Very Dirty

IPD

MP MF BC

(2)

STO X

IOD

PORT1 PORT2

Dirty Clean

X X X

Ferrite Sleeve

Shielded Cable

X X X

(1) When the 2198-H2DCK converter kit is used, the feedback cable routes in the clean wireway. (2) STO connector applies to only 2198-Hxxx-ERS (hardwired) servo drives.

Table 16 - Capacitor Module

Zone Method

Wire/Cable Connector

DC-/DC+ (DC bus) DC Bus-bar only, no wiring connector.

24V DC CP Bus-bar only, no wiring connector.

Module status MS X

Very Dirty

Dirty Clean

Ferrite Sleeve

Shielded Cable

40 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Planning the Kinetix 5500 Drive System Installation Chapter 2

IMPORTANT

Noise Reduction Guidelines for Drive Accessories

Refer to this section when mounting an AC (EMC) line filter or external shunt resistor for guidelines designed to reduce system failures caused by excessive electrical noise.

AC Line Filters

Observe these guidelines when mounting your AC (EMC) line filter (refer to the figure on page 39

• Mount the AC line filter on the same panel as the Kinetix 5500 drive and as close to the power rail as possible.

• Good HF bonding to the panel is critical. For painted panels, refer to the examples on page 37

• Segregate input and output wiring as far as possible.

for an example):

CE test certification applies to only the AC line filter used with a single drive or the line filter used in multi-axis drive configurations. Sharing a line filter with more than one multi-axis drive configuration can perform satisfactorily, but the customer takes legal responsibility.

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 41

Chapter 2 Planning the Kinetix 5500 Drive System Installation

Dirty Wireway

Clean Wireway

Single Motor Cable

Very Dirty Connections Segregated

(not in wireway)

Customer-supplied

Metal Enclosure

150 mm (6.0 in.) clearance (min) on all four sides of the shunt resistor.

Enclosure

Metal Conduit (where required by local code)

No sensitive equipment within 150 mm (6.0 in.).

Shunt Power Wiring Methods:

Twisted pair in conduit (1st choice).

Shielded twisted pair (2nd choice).

Twisted pair, two twists per foot (min) (3rd choice).

Circuit

Breaker

Digital Inputs

and Ethernet Cables

Route single motor cables in shielded cable.

Route registration and communication

signals in shielded cables.

Kinetix 5500 Servo Drive System

24V DC

Power Su pply

AC Line Fi lter

(required for CE)

Module Status

Safety Cable

(2198-Hxxx-ERS drives only)

External Shunt Resistor

Observe these guidelines when mounting your external shunt resistor outside of the enclosure:

Figure 17 - External Shunt Resistor Outside the Enclosure

• Mount shunt resistor and wiring in the very dirty zone or in an external shielded enclosure.

• Mount resistors in a shielded and ventilated enclosure outside of the cabinet.

• Keep unshielded wiring as short as possible. Keep shunt wiring as flat to the cabinet as possible.

42 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Planning the Kinetix 5500 Drive System Installation Chapter 2

Dirty Wireway

Clean Wireway

Single Motor Cable

Very Dirty Connections Segregated

(not in wireway)

Enclosure

No sensitive

equipment within

150 mm (6.0 in.).

Shunt Power Wiring Methods:

Twisted pair in conduit (1st choice). Shielded twisted pair (2nd choice). Twisted pair, two twists per foot (min) (3rd choice).

Circuit

Breaker

Digital Inputs and

Ethernet Cables

Route single motor cables in shielded cable.

Route registration and communication

signals in shielded cables.

Kinetix 5500 Servo Drive System

24V DC

Power Supply

AC Line Filter

(required for CE)

Module Status

150 mm (6.0 in.)

clearance (min) on all four

sides of the shunt resistor.

Safety Cable

(2198-Hxxx-ERS drives only)

When mounting your shunt resistor inside the enclosure, follow these additional guidelines:

• Mount metal-clad modules anywhere in the dirty zone, but as close to the Kinetix 5500 drive as possible.

• Route shunt power wires with other very dirty wires.

• Keep unshielded wiring as short as possible. Keep shunt wiring as flat to

the cabinet as possible.

• Separate shunt power cables from other sensitive, low voltage signal cables.

Figure 18 - External Shunt Resistor Inside the Enclosure

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 43

Chapter 2 Planning the Kinetix 5500 Drive System Installation

Notes:

44 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Chapter 3

Mounting the Kinetix 5500 Drive System

This chapter provides the system installation procedures for mounting your Kinetix 5500 drives to the system panel.

Top ic Pa ge

Determining Mounting Order 46

Drilling Hole Patterns 49

Mount Your Kinetix 5500 Drive 56

This procedure assumes you have prepared your panel and understand how to bond your system. For installation instructions regarding equipment and accessories not included here, refer to the instructions that came with those products.

SHOCK HAZARD: To avoid hazard of electrical shock, perform all mounting and wiring of the Kinetix 5500 drives prior to applying power. Once power is applied, connector terminals can have voltage present even when not in use.

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 45

Chapter 3 Mounting the Kinetix 5500 Drive System

IMPORTANT

2198-Hxxx-ERSx Drives

(front view)

Zero-stack Tab and Cutout Engaged

IMPORTANT

2198-Hxxx-ERSx Drive System

(front view)

Frame 3

Drive

Frame 2

Drives

Frame 1

Drives

2198-CAPMOD-1300 Capacitor Module (optional component)

Shared-bus Connection System (required in shared-bus configurations)

Determining Mounting Order

Mount drives in order (left to right) according to power rating (highest to lowest) starting with the highest power rating. If power rating is unknown, position drives (highest to lowest) from left to right based on amp rating.

Zero-stack Tab and Cutout

Engaging the zero-stack tab and cutout from drive-to-drive makes efficient use of panel space for installations with multiple drives.

Engaging the zero-stack tab and cutout from drive-to-drive is required for shared-bus multi-axis drive systems. This is done to make sure the drive connectors are spaced properly to accept the shared-bus connection system.

Figure 19 - Zero-stack Tab and Cutout Example

For the zero-stack feature to engage properly (when more than one frame size exists in the drive system) frame 3 drives must mount left of frame 1 or 2 drives, and frame 2 drives must mount left of frame 1 drives.

Capacitor modules can mount to the right of any frame size, but are always rightmost in any drive configuration.

Mount drives in descending order, left to right, according to frame size with capacitor modules always mounted on the far right.

Figure 20 - Shared-bus Connection System Example

46 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Mounting the Kinetix 5500 Drive System Chapter 3

IMPORTANT

Input Wiring Connector

(1)

(mains AC input shown)

AC T-connectors

Bus-bar Connectors

(2)

(AC bus-bars shown)

Input Wiring

(AC input wiring is shown)

Zero-stack Tab

and Cutout Engaged

2198-Hxxx-ERSx Drive System (top view)

Frame 2 drives are shown.

Drive with largest amp rating must be

leftmost drive.

DC Bus Connector Latch

DC Bus T-connector

(3)

Shared-bus Connection System

The shared-bus connection system is used to extend the mains AC input, 24V control input, and the DC bus power from drive-to-drive in shared-bus multiaxis configurations.

When the shared-bus connection system is used, the zero-stack tab and cutout must be engaged between adjacent drives.

The connection system is comprised of three components:

• Input wiring connectors that plug into the leftmost drive and receive input wiring for mains AC and 24V DC.

• AC bus, DC bus, and 24V DC T-connectors that plug into the drives downstream from the first where AC, DC, and/or 24V control power is shared. DC bus T-connectors also plug into the first drive where DC bus power is shared.

• Bus bars that connect between drives to extend the mains AC bus, DC bus, and 24V DC control power from drive-to-drive.

Figure 21 - Connection System Example

(1) Due to the higher amp rating of frame 3 drives, input wiring connectors for frame 3 drives (catalog number 2198-H070-ADP-IN) are

slightly larger than connectors for frame 1 and 2 drives (catalog number 2198-H040-ADP-IN).

(2) Due to the extra width of frame 3 drives, bus-bar connectors between frame 3 drives are slightly longer (85 mm) than connectors

between frame 3, frame 2, and frame 1 drives (55 mm).

(3) DC bus T-connectors latch on both sides when inserted into the drive. To remove the DC bus T-connector, at least one latch must be

pried away with a non-conductive probe.

The three components assemble from left to right across the drive system.

1. Attach wiring to input wiring connectors.

2. Insert input wiring connectors and T-connectors into the appropriate

drive connectors.

3. Insert bus-bars to connect between wiring connectors and T-connectors.

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 47

Chapter 3 Mounting the Kinetix 5500 Drive System

Single-axis Configurations

The following restrictions exist for standalone (single-axis) configurations:

• Standalone (single-axis) drives can be mounted to the panel individually or by using the zero-stack tab and cutout (refer to Figure 21 on page 47

• The shared-bus connection system does not apply and must not be used

For a single-axis example configuration, refer to Typical Kinetix 5500 Standalone

Installation on page 15.

)

Multi-axis Configurations

Each multi-axis configuration has restrictions that apply:

• The shared-bus connection system must be used. Do not attach discrete wires from drive-to-drive.

• The maximum number of drives in Shared AC bus power-sharing groups cannot exceed 5.

• The maximum number of drives in any other bus power-sharing group cannot exceed 8.

For a multi-axis example configuration, refer to Typical Shared AC/DC Bus

Hybrid Installations on page 19.

48 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Mounting the Kinetix 5500 Drive System Chapter 3

Drilling Hole Patterns

Hole patterns for drives mounted in zero-stack or shared-bus configuration are provided for mounting your drives to the panel. Drives with the highest power rating are always mounted to the left of any drive with a lower power rating in shared-bus configurations:

• Frame 1 drives can be followed by only another frame 1 drive.

• Frame 2 drives can be followed by frame 1 drives or another frame 2 drive.

• Frame 3 drives can be followed by frame 1, frame 2, or another frame 3

drive.

• Mount Bulletin 2198 capacitor modules in the rightmost position. – Capacitor modules have the same hole pattern as frame 2 drives. – Only Shared DC, Shared AC/DC, and Shared AC/DC, hybrid

configurations are compatible with Bulletin 2198 capacitor modules.

Table 17 - Hole Pattern Overview

Drive Cat. No. Frame Size Frame Size Patterns Page

2198-H003-ERSx 2198-H008-ERSx

2198-H015-ERSx 2198-H025-ERSx 2198-H040-ERSx

2198-H070-ERSx Frame 3

Frame 1 As many as eight frame 1 drives

As many as 8 frame 2 drives

Frame 2

One frame 2 drive followed by as many as seven frame 1 drives 52

As many as 8 frame 3 drives 53

One frame 3 drive followed by as many as seven frame 1 drives 54

One frame 3 drive followed by as many as seven frame 2 drives 55

Table 18 - Capacitor Module Support

Three-phase Operation

Drive Cat. No.

Frame Size

2198-H003-ERSx

2198-H008-ERSx

2198-H015-ERSx

2198-H040-ERSx

2198-H070-ERSx 34

(1) Catalog number 2198-H003-ERS and any drive in standalone single-p hase operation is not compatible with the Kinetix 5500

capacitor module.

(1)

242198-H025-ERSx

N/A

Standalone Shared DC Shared AC/DC

Standalone

Single Phase

Operation

Number of capacitor modules connected, max

Shared AC/DC Hybrid

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 49

Chapter 3 Mounting the Kinetix 5500 Drive System

Frame 3

Standalone Drive

Frame 1

Standalone Drive

Frame 2

Standalone Drive

Dimensions are in mm (in.)

These hole patterns apply to standalone drives.

Figure 22 - Frame 1, Frame 2, and Frame 3 Standalone Hole Patterns

8x ØM4 (#8-32)

193.68 (7.6)

4.51 (0.2)

243.84 (9.6)

5.00 (0.2)

273.70 (10.8)

34.00 (1.3)

50 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

52.50 (2.1)

Mounting the Kinetix 5500 Drive System Chapter 3

Frame Size Dimension Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

A 4.51 (0.2) 54.51 (2.1) 104.51 (4.1) 154.51 (6.1) 204.51 (8.1) 254.51 (10.0) 304.51 (12.0) 354.51 (14.0)

B 0 50.0 (2.0) 100.0 (3.9) 150.0 (5.9) 200.0 (7.9) 250.0 (9.8) 300.0 (11.8) 350.0 (13.8)2A 5.00 (0.2) 60.0 (2.4) 115.0 (4.5) 170.0 (6.7) 225.0 (8.9) 280.0 (11.0) 335.0 (13.2) 390.0 (15.4)

B 0 55.0 (2.2) 110.0 (4.3) 165.0 (6.5) 220.0 (8.7) 275.0 (10.8) 330.0 (13.0) 385.0 (15.2)

Dimensions are in mm (in.)

These hole patterns apply when all drives in the system are frame 1 or frame 2. There is 50 mm (2.0 in.) between mounting holes (A-to-A and B-to-B).

Figure 23 - Frame 1 and Frame 2 Hole Patterns

Axis 8

Axis 7

Axis 6

Axis 5

Axis 4

Axis 3

Axis 2

Axis 1

Frame 1

(7.6)

193.68

16x

Frame 2

243.84

50.0 (2.0)

ØM4 (#8-32)

(9.6)

50.0 (2.0)

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 51

Chapter 3 Mounting the Kinetix 5500 Drive System

4x ØM4 (#8-32)

Axis 1

(frame 2)

243.84 (9.6)

5.00

(0.2)

57.00 (2.2)

52.50 (2.1)

50.15 (2.0)

Axis 2

(frame 1)

243.83 (9.6)

Dimensions are in mm (in.)

This hole pattern applies when transitioning from frame 2 drives to frame 1 drives. To mount additional frame 1 drives to the right of Axis 2 in this figure, refer to the frame 1 hole pattern in Figure 23

Figure 24 - Frame 2 to Frame 1 Hole Pattern

52 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Mounting the Kinetix 5500 Drive System Chapter 3

Dimensions are in

mm (in.)

This hole pattern applies when all drives in the system are frame 3 drives. There is

85.20 mm (3.4 in.) between mounting holes, as shown.

Figure 25 - Frame 3 Hole Pattern

(25.5)

648.90

(24.8)

630.40

(23.5)

596.40

(22.2)

563.70

(21.5)

545.20

(20.1)

511.20

(18.8)

478.50

460.0

(18.1)

426.0

(16.8)

Axis 5 Axis 6 Axis 7 Axis 8

Axis 1 Axis 2 Axis 3 Axis 4

(14.8)

374.80

(11.4)

289.60

(8.0)

204.40

(4.7)

119.20

(1.3)

34.00

85.20 (3.4)

32x

ØM4 (#8-32)

85.20 (3.4)

(15.5)

393.30

(13.4)

340.80

(12.1)

308.10

(10.1)

255.60

(8.8)

222.90

(6.7)

170.40

(5.4)

137.70

85.20

(2.1)

52.50

(3.4)

(10.8)

273.70

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 53

Chapter 3 Mounting the Kinetix 5500 Drive System

273.70 (10.8)

52.50 (2.1)

6x ØM4 (#8-32)

Axis 1

(frame 3)

Axis 2

(frame 1)

272.23 (10.7)

78.55 (3.1)

92.70 (3.7)

97.20 (3.8)

34.00 (1.3)

Dimensions are in mm (in.)

This hole pattern applies when transitioning from frame 3 drives to frame 1 drives. To mount additional frame 1 drives to the right of Axis 2 in this figure, refer to the frame 1 hole pattern in Figure 23

Figure 26 - Frame 3 to Frame 1 Hole Pattern

54 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Mounting the Kinetix 5500 Drive System Chapter 3

Dimensions are in mm (in.)

This hole pattern applies when transitioning from frame 3 drives to frame 2 drives. To mount additional frame 2 drives to the right of Axis 2 in this figure, refer to the frame 2 hole pattern in Figure 23

Figure 27 - Frame 3 to Frame 2 Hole Pattern

Axis 1

(frame 3)

(frame 2)

Axis 2

6x ØM4 (#8-32)

273.70 (10.8)

34.00 (1.3)

272.24 (10.7)

100.00 (3.9)

28.40 (1.1)

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 55

52.50 (2.1)

95.00 (3.7)

Chapter 3 Mounting the Kinetix 5500 Drive System

IMPORTANT

Kinetix 5500 Servo Drives (frame 1 drives shown)

Top Scre ws

(bottom screws not shown)

Zero-s tack Tab

and Cutout Engaged

Mount Your Kinetix 5500 Drive

This procedure assumes you have prepared your panel and understand how to bond your system. For installation instructions regarding other equipment and accessories, refer to the instructions that came with those products.

Follow these steps to mount your Kinetix 5500 drives to the panel.

1. Lay out the hole pattern for each Kinetix 5500 drive in the enclosure.

Refer to Establishing Noise Zones

on page 39 for panel layout

recommendations.

To improve the bond between the Kinetix 5500 drive and subpanel, construct your subpanel out of zinc plated (paint-free) steel.

2. Drill holes in the panel for mounting your drive system.

Hole patterns, by frame size, are shown in Drilling Hole Patterns beginning on page 49

3. Loosely attach the mounting hardware to the panel.

The recommended mounting hardware is M4 (#8-32) steel bolts. Observe bonding techniques as described in Bonding Modules

on page 36.

4. Attach the leftmost drive to the cabinet panel.

5. Attach additional drives (if any) just to the right of the previous drive by

using the same method, but also making sure the zero-stack tabs and cutouts are engaged.

Zero-stack mounting is required based on configuration, refer to the Zero-

56 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

stack Tab and Cutout Example on page 46.

6. Tighten all mounting fasteners.

Apply 2.0 N•m (17.7 lb•in) maximum torque to each fastener.

Chapter 4

Connector Data and Feature Descriptions

This chapter illustrates drive connectors and indicators, including connector pinouts, and provides descriptions for Kinetix 5500 drive features.

Top ic Pa ge

Kinetix 5500 Connector Data 58

Understanding Control Signal Specifications 62

Feedback Specifications 65

Safe Torque-off Safety Features 66

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 57

Chapter 4 Connector Data and Feature Descriptions

–

2 1

Kinetix 5500 Drive, Front View

(2198-H003-ERSx drive is shown)

Kinetix 5500, Top View (2198-H003-ERS drive is shown)

Kinetix 5500, Top View (2198-Hxxx-ERS2 drives)

Protect ive Knock-out

Shared-bus AC Input Wiring Co nnector

Shared-bus 24V Input Wiring Co nnector

Kinetix 5500 Connector Data

Use these illustrations to identify the connectors and indicators for the Kinetix 5500 servo drives.

Figure 28 - Kinetix 5500 Drive Features and Indicators

Item Description Item Description Item Description

1 Motor cable shield clamp 8 Module status indicator 15 Motor brake (BC) connector

3 Motor feedback (MF) connector 10 LCD display 17 Shunt resistor (RC) connector

4 Digital inputs (IOD) connector 11 Navigation pushbuttons 18 AC mains input power (IPD) connector

5 Ethernet (PORT1) RJ45 connector 12 Link speed status indicators 19 DC bus (DC) connector (under cover)

6 Ethernet (PORT2) RJ45 connector 13 Link/Activity status indicators 20 24V control input power (CP) connector

7 Zero-stack mounting tab/cutout 14 Motor power (MP) connector 21

(1) Protective knock-out covers the 2198-H2DCK Hiperface-to-DSL feedback converter kit mou nting hole. Remove knock-out for use with the converter kit. (2) DC bus connector ships with protective knock-out cover that can be removed for use in shared-bus configurations. (3) Protective knock-out cover is removed on 2198-Hxxx-ERS (hardwired STO) drives.

58 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Converter kit mounting hole (under cover)

(1)

9 Network status indicator 16 Ground terminal

(2)

Safe torque-off (STO) connector

(3)

(does not apply to 2198-Hxxx-ERS2 drives)

Connector Data and Feature Descriptions Chapter 4

Safe Torque-off Connector Pinout

For the hardwired safe torque-off (STO) connector pinouts, feature descriptions, and wiring information, refer to Chapter

9 beginning on page 157.

Input Power Connector Pinouts

Table 19 - Mains Input Power Connector

IPD Pin Description Signal

Chassis ground

L2 L2

L1 L1

Three-phase input power

Table 20 - 24V Input Power Connector

CP Pin Description Signal

1 24V power supply, customer supplied 24V+

2 24V common 24V-

DC Bus and Shunt Resistor Connector Pinouts

Table 21 - DC Bus Power Connector

DC Pin Description Signal

2DC+

DC bus connections

Table 22 - Shunt Resistor Connector

RC Pin Description Signal

2SH

2DC+

Shunt connections (frames 2 and 3)

Shunt connections (frame 1)

DC-

DC+

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 59

Chapter 4 Connector Data and Feature Descriptions

Digital Inputs Connector Pinout

IOD Pin Description Signal

2 I/O common for customer-supplied 24V supply. COM

4 I/O cable shield termination point. SHLD

(1) This signal has dual-functionality. You can use IN1 (IOD-1) as registration or Home input.

Figure 29 - Pin Orientation for 4-pin Digital Inputs (IOD) Connector

High speed registration/home position input. A low/high or high/low transition triggers a registration event. This is a dual-function input.

High speed registration input. A low/high or high/low transition triggers a registration event.

Pin 1 IN1

COM

IN2

SHLD

IN1

IN2

(1)

Ethernet Communication Connector Pinout

Pin Description Signal

1 Transmit+ TD+

2 Transmit- TD-

3 Receive+ RD+

4 Reserved –

5 Reserved –

6 Receive- RD-

7 Reserved –

8 Reserved –

Figure 30 - Pin Orientation for 8-pin Ethernet PORT1 and PORT2 Connectors

60 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Connector Data and Feature Descriptions Chapter 4

IMPORTANT

Motor Power, Brake, and Feedback Connector Pinouts

Table 23 - Motor Power Connector

MP Pin Description Signal Color

VVBlack

WWBlue

Three-phase motor power

Chassis ground Green

Drive-to-motor power cables must not exceed 50 m (164 ft). System performance was tested at this cable length. These limitations also

apply when meeting CE requirements.

Table 24 - Motor Brake Connector

BC Pin Description Signal

2MBRK-

Motor brake connections

UBrown

MBRK+

Motor Feedback Connector Pinout

MF Pin Description Signal

2D-

SHIELD

Bidirectional data and power for digital encoder interface

Cable shield and grounding plate (internal to 2198-KITCON-DSL connector kit) termination point.

Drive-to-motor power cables must not exceed 50 m (164 ft). System performance was tested at these cable length specifications. These

limitations also apply when meeting CE requirements.

Figure 31 - Pin Orientation for 2-pin Motor Feedback (MF) Connector

Pin 1 Pin 2

D+

SHIELD

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Chapter 4 Connector Data and Feature Descriptions

IMPORTANT

Understanding Control Signal Specifications

Function Description Default Behavior

Home/Reg1

Registration 1 An inactive-to-active transition (also known as a positive transition) or

Registration 2

This section provides a description of the Kinetix 5500 digital inputs, Ethernet communication, power and relay specifications, encoder feedback specifications, and safe torque-off features.

Digital Inputs

Two digital inputs are available for the machine interface on the IOD connector. 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 IOD connector for digital inputs.

The Registration 1 input is capable of dual functionality. You can also use this as the Home input. Configuration for dual functionality is not needed.

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

Table 25 - Understanding Digital Input Functions

An active state indicates to a homing sequence that the referencing sensor has been seen. Typically, a transition of this signal is used to establish a reference position for the machine axis.

active-to-inactive transition (also known as a negative transition) is used to latch position values for use in registration moves.

The function is always inactive. You can enable in the Logix Designer application.

Table 26 - Digital Input Specifications

Attribute Value

Type Active high, single-ended, current sinking (EN 61131-2 Type 1)

Dedicated functions Registration 1, Home, Registration 2

Input current (with 24V applied) 12 mA, typical

On-state input voltage 15…30V @ 15 mA, max

Off-state input voltage -1.0…5.0V

Pulse reject filtering (registration functions) 12.0 μs

Pulse reject filtering (home input function) debounce filter 20 ms, nom

Propagation delay (registration functions) 0 (delay compensated)

Registration repeatability 700 ns

Windowed registration invalid-to-valid event delay 125 μs, min

62 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Connector Data and Feature Descriptions Chapter 4

INPUT

24VCOM

24VPWR

IOD-1 or IOD-3

IOD-2

Kinetix 5500 Drive

24V DC

Figure 32 - Digital Input Circuitry

Ethernet Communication Specifications

The PORT1 and PORT2 (RJ45) Ethernet connectors are provided for communication with the Logix5000 controller.

Attribute Value

Communication

Cyclic update period 500 μs, min

Embedded switch features

Auto MDI/MDIX crossover detection/ correction

Port-to-port time synchronization variation

Cabling CAT5e shielded, 100 m (328 ft) max

The drive auto-negotiates speed and duplex modes. These modes can be forced through the Logix Designer application. 100BASE-TX, full duplex is recommended for maximum performance.

Three-port, cut-through, time correction on IEEE-1588 packets, limited filtering, quality of service with four priority levels

Yes

100 ns, max

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Chapter 4 Connector Data and Feature Descriptions

ISP772

MBRK+ (BC-1)

MBRK– (BC-2)

24V PWR

24V COM

INT PWR

Kinetix 5500

Servo Drive

Control

Board

Noise Suppression Device

IMPORTANT

Motor Brake Circuit

The customer-supplied 24V power supply drives the motor parking-brake output through a solid-state relay. The solid-state brake driver circuit provides the following:

• Brake thermal-overload protection

• Brake current-overload protection

• Brake over-voltage protection

Two connections (BC-1 and BC-2) are required for the motor brake output. Connections are rated for 2.0 A @ +24V (refer to Figure 33

Control of the solid-state relay to release the motor brake is configurable in the Logix Designer application. An active signal releases the motor brake. Turn-on and turn-off delays are specified by the brake-active delay and brake-inactive delay (configurable in the Logix Designer application). Refer to Kinetix 5500 Drive and Motor/Actuator Wiring Examples beginning on page 195 examples.

for wiring

Figure 33 - Motor Brake Circuit

Motor parking-brake switching frequency must not exceed 10 cycles/min.

Control Power

The Kinetix 5500 drive requires 24V DC input power for control circuitry.

SELV and PELV rated power supplies must be used to energize external safety devices connected to the Kinetix 5500 safety inputs.

The National Electrical Code and local electrical codes take precedence over the values and methods provided. Implementation of these codes is the responsibility of the machine builder.

Table 27 - Control Power Input Power Specifications

Attribute Frame 1 Frame 2 Frame 3

Input voltage 21.6…26.4V DC

Control power AC input current

64 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Nom @ 24V DC Inrush, max

(1) Plus BC connector (MBRK+) current.

(1)

400 mA

2.0 A

800 mA

3.0 A

1.3 A

3.0 A

Connector Data and Feature Descriptions Chapter 4

TIP

Posit ion at Power Down

2048 Turns, MP-Series and LDAT-Series Motors/Actuators

4096 Turns, Kinetix VP Motors

Feedback Specifications

The Kinetix 5500 drive accepts motor feedback signals from Stegmann Hiperface digital-servo-link (DSL) encoders.

Kinetix 5500 drive and Kinetix VP motor combinations use single motor-cable technology with motor power, feedback, and brake wires (when specified) housed in a single cable. Feedback and brake wires are shielded separately and each provide a shield braid for grounding in the motor cable clamp.

Auto-configuration in the Logix Designer application of intelligent absolute, high-resolution encoders is possible with only Allen-Bradley motors.

Table 28 - Stegmann Hiperface DSL Specifications

Attribute Value

Protocol Hiperface DSL

Memory support Programmed with Allen-Bradley motor data

Hiperface data communication 9.375 Mbits/s

Other Allen-Bradley motors and actuators with Stegmann Hiperface single-turn or multi-turn high-resolution absolute encoders are also accepted, but only when using drive firmware revision 2.002 or later and the 2198-H2DCK Hiperface-toDSL feedback converter kit for Hiperface-to-DSL conversion.

Absolute Position Feature

The drive’s absolute position feature tracks the position of the motor, within the multi-turn retention limits, while the drive is powered off. The absolute position feature is available with only multi-turn encoders.

Table 29 - Absolute Position Designator Examples

Encoder Type

Stegmann Hiperface (DSL) -P VPL-xxxxxx-P, VPF-xxxxxx-P, VPS-xxxxxx-P Kinetix VP

Stegmann Hiperface

Stegmann Hiperface (magnetic scale) -xDx LDAT-Sxxxxxx-xDx LDAT-Series

Figure 34 - Absolute Position Retention Limits

Cat. No. Designator

-M

-V

Cat. No. Examples Motor Family

MPL-B310P-M, MPM-xxxxxx-M, MPF-xxxxxx-M, MPS-xxxxxx-M, MPAR-x3xxxx-M, MPAI-xxxxxxM

MPL-B230P-V, MPAS-xxxxx1-V05, MPAS-xxxxx2-V20, MPAR-x1xxxx-V, MPAR-x2xxxx-V, MPAI-xxxxxxV

MP-Series

+2048-2048 +1024-1024

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Chapter 4 Connector Data and Feature Descriptions

Safe Torque-off Safety Features

Kinetix 5500 servo drives have safe torque-off (STO) capability and can safely turn off the inverter power transistors in response to a monitored digital input, according to Category 0 Stop behavior.

Servo Drives with Hardwired Safety

2198-Hxxx-ERS (hardwired) servo drives support parallel input terminals for cascading to adjacent drives over duplex wiring. For applications that do not require the STO safety function you must install jumper wires to bypass the safe torque-off feature.

Refer to Chapter wiring information.

9 on page 157 for the STO connector pinout, installation, and

Servo Drives with Integrated Safety

For 2198-Hxxx-ERS2 (integrated safety) servo drives, the 1756-L7xS GuardLogix safety controller issues the STO command via the EtherNet/IP network and the 2198-Hxxx-ERS2 servo drives execute the command.

Refer to Chapter configuring motion and safety connections, motion direct commands, and the STO bypass feature.

10 on page 167 for integrated safety drive specifications,

66 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Chapter 5

Connecting the Kinetix 5500 Drive System

This chapter provides procedures for wiring your Kinetix 5500 system components and making cable connections.

Top ic Pa ge

Basic Wiring Requirements 68

Determine the Input Power Configuration 69

Removing the Grounding Screws in Ungrounded Power Configurations 71

Grounding the Drive System 73

Wiring Requirements 75

Wiring Guidelines 76

Wiring the Power Connectors 77

Wiring the Digital Input Connectors 79

Wiring Kinetix VP Motors 80

Wiring Other Allen-Bradley Motors and Actuators 86

Capacitor Module Connections 95

External Shunt Resistor Connections 96

Ethernet Cable Connections 97

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 67

Chapter 5 Connecting the Kinetix 5500 Drive System

IMPORTANT

Basic Wiring Requirements

This section contains basic wiring information for the Kinetix 5500 drives.

SHOCK HAZARD: To avoid hazard of electrical shock, perform all mounting and wiring of the Bulletin 2198 drive modules prior to applying power. Once power is applied, connector terminals can have voltage present even when not in use.

This section contains common PWM servo system wiring configurations, size, and practices that can be used in a majority of applications. National Electrical Code, local electrical codes, special operating temperatures, duty cycles, or system configurations take precedence over the values and methods provided.

Routing the Power and Signal Cables

Be aware that when you route power and signal wiring on a machine or system, radiated noise from nearby relays, transformers, and other electronic devices can be induced into I/O communication, or other sensitive low voltage signals. This can cause system faults and communication anomalies.

The Bulletin 2090 single motor cable contains the power, brake, and feedback wires, but is properly shielded to protect the noise-sensitive feedback signals.

Refer to Electrical Noise Reduction low voltage cables in wireways. Refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001 information.

on page 36 for examples of routing high and

, for more

68 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Connecting the Kinetix 5500 Drive System Chapter 5

Transformer

Three-phase

Input VAC

Phase Ground

Transformer (WYE) Secondary

Bonded Cabinet

Ground

Ground Grid or

Power Distribution Ground

Connect to ground st ud.

Three-phase

AC Line Filter

Input Fusing

Kinetix 5500 Servo Drive

(top view)

IMPORTANT

Determine the Input Power Configuration

Before wiring input power to your Kinetix 5500 system, you must determine the type of input power you are connecting to. The drive is designed to operate in both grounded and ungrounded environments.

ATT EN TI ON : Ungrounded and corner-grounded input power configurations are permitted, but you must remove the ground screws.

Refer to Removing the Grounding Screws in Ungrounded Power Configurations on page 71

for more information.

Grounded Power Configurations

The grounded (WYE) power configuration lets you ground your three-phase power at a neutral point. This type of grounded power configuration is preferred.

Figure 35 - Grounded Power Configuration (WYE Secondary)

The Kinetix 5500 drive has factory-installed grounding screws for grounded power distribution.

If you determine that you have grounded power distribution in your plant, you do not need to remove the grounding screws.

Refer to Power Wiring Examples interconnect diagrams.

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 69

beginning on page 190 for input power

Chapter 5 Connecting the Kinetix 5500 Drive System

Transformer (Delta) Secondary

Bonded Cabinet

Ground

Transformer

Ground Grid or

Power Distribution Ground

Connect to ground stud.

Three-phase

AC Line Fi lter

Input Fusing

Kinetix 5500 Servo Drive

(top view)

IMPORTANT

Figure 36 - Corner Grounded (B-phase) Power Configuration (Delta Secondary)

Even though corner-grounded power configurations have a ground connection, treat them as ungrounded when installing Kinetix 5500 drive systems.

Refer to Power Wiring Examples beginning on page 190 for input power interconnect diagrams.

Ungrounded Power Configurations

The ungrounded power configuration (Figure 37) does not provide a neutral ground point.

If you determine that you have ungrounded or high-impedance grounded power distribution in your facility, you need to remove the grounding screws.

Refer to Removing the Grounding Screws in Ungrounded Power Configurations on page 71

for more information.

70 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Figure 37 - Ungrounded Power Configuration

Transformer

Three-phase

Input VAC

Chassis Ground

Bonded Cabinet

Ground

Ground Grid or

Power Distribution Ground

Connect to ground st ud.

Three-phase AC Lin e Filter

Input Fusing

Kinetix 5500 Servo Drive

(top view)

IMPORTANT

Connecting the Kinetix 5500 Drive System Chapter 5

Removing the Grounding Screws in Ungrounded Power Configurations

2 1

ATT EN TI ON : Ungrounded systems do not reference each phase potential to a power distribution ground. This can result in an unknown potential to earth ground.

Refer to Power Wiring Examples beginning on page 190 for input power interconnect diagrams.

Removing the grounding screws is necessary only when using ungrounded or corner-ground power configurations. Removing the screws involves gaining access, opening the sliding door, and removing the screws.

If you have grounded power distribution, you do not need to remove the grounding screws. Go to Grounding the Drive System

on page 73.

Removing the grounding screws can affect EMC performance.

Removing the grounding screws in multi-axis configurations is best done when the drive is removed from the panel and placed on its side on a solid surface equipped as a grounded static-safe workstation.

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 71

ATTENTION: By removing the grounding screws for ungrounded power

configurations, you no longer maintain line-to-neutral voltage protection.

Chapter 5 Connecting the Kinetix 5500 Drive System

Ground screws installed

for grounded power configuration

(screws installed is default setting).

Remove screws for ungrounded power.

Grounding Screws Access Door

Kinetix 5500 Drive

(side view)

Lift door to meet arrow at left.

ATTENTION: This drive contains electrostatic discharge (ESD) sensitive parts and assemblies. You are required to follow static-control precautions when you install, test, service, or repair this assembly. If you do not follow ESD control procedures, components can be damaged. If you are not familiar with static control procedures, refer to Guarding Against Electrostatic Damage, publication

8000-4.5.2

Figure 38 - Removing the Ground Screws

, or any other applicable ESD awareness handbook.

ATTENTION: Risk of equipment damage exists. The drive ground configuration must be accurately determined. Leave the grounding screws installed for grounded power configurations (default). Remove the screws for ungrounded power.

Table 30 - Grounding Screw Configurations

Ground Configuration Example Diagram Grounding Screw Configuration Benefits of Correct Configuration

• UL and EMC compliance

• Reduced electrical noise

Grounded (wye) Figure 35 on page 69

• B-phase corner ground

• AC fed ungrounded

Figure 36 on page 70 Figure 37 on page 71

Both screws installed (default setting)

Both screws removed

• Most stable operation

• Reduced voltage stress on components

and motor bearings

• Helps avoid severe equipment damage when ground faults occurs

• Reduced leakage current

72 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Connecting the Kinetix 5500 Drive System Chapter 5

Braided Ground Straps

25.4 mm (1.0 in.) by 6.35 mm (0.25 in.). Keep lengths as short as possible.

Kinetix 5500 Servo Drive (standalone)

Kinetix 5500 Servo Drives (shared-bus)

Grounding the Drive System

All equipment and components of a machine or process system must have a common earth ground point connected to chassis. A grounded system provides a ground path for protection against electrical shock. Grounding your drives and panels minimize the shock hazard to personnel and damage to equipment caused by short circuits, transient overvoltages, and accidental connection of energized conductors to the equipment chassis.

ATT EN TI ON : The National Electrical Code contains grounding requirements, conventions, and definitions. Follow all applicable local codes and regulations to safely ground your system. For CE grounding requirements, refer to Agency Compliance

on page 27.

Ground the System Subpanel

Ground Kinetix 5500 drives and 2198-CAPMOD-1300 capacitor modules to a bonded cabinet ground bus with a braided ground strap or 4.0 mm2 (12 AWG) copper wire.

Figure 39 - Connecting the Ground Terminal

Item Description

1 Ground screw (green) 2.0 N•m (17.7 lb•in), max

2 Braided ground strap (customer sup plied)

3 Ground grid or power distribution ground

4 Bonded cabinet ground bus (customer supplied)

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

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 73

, for more information.

Chapter 5 Connecting the Kinetix 5500 Drive System

Follow NEC and applicable local codes.

Bonded Ground Bus

Ground Grid or Power

Distribution Ground

Ground Multiple Subpanels

In this figure, the chassis ground is extended to multiple subpanels.

Figure 40 - Subpanels Connected to a Single Ground Point

High-frequency (HF) bonding is not illustrated. For HF bonding information, refer to Bonding Multiple Subpanels

on page 38.

74 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Connecting the Kinetix 5500 Drive System Chapter 5

IMPORTANT

L3 L2 L1

U V

Wiring Requirements

Kinetix 5500 Drive Cat. No.

2198-H003-ERSx 2198-H008-ERSx 2198-H015-ERSx 2198-H025-ERSx 2198-H040-ERSx

2198-H070-ERSx

2198-H003-ERSx 2198-H008-ERSx 2198-H015-ERSx 2198-H025-ERSx 2198-H040-ERSx

2198-H070-ERSx

2198-xxxx-ERSx

Wires must be copper with 75 °C (167 °F) minimum rating. Phasing of main AC power is arbitrary and earth ground connection is required for safe and proper operation.

Refer to Power Wiring Examples

Table 31 - Power and I/O Wiring Requirements

Description

Mains input power (single-axis IPD connector)

Motor power

PELV/SELV 24V power (single-axis CP connector)

Brake power

DC Bus power

Shunt resistor (frame 2 and 3)

Shunt resistor (frame 1)

(5)

Safety

Digital inputs

(1)

on page 190 for interconnect diagrams.

The National Electrical Code and local electrical codes take precedence over the values and methods provided.

Connects to Terminals

Pin Signal

CP-1 CP-2

BC-1 BC-2

DC-1 DC-2

RC-1 RC-2

ST0-1 ST0-2 ST0-3 ST0-4 ST0-5

IOD-1 IOD-2 IOD-3 IOD-4

24V+ 24V-

MBRK+ MBRK-

DCDC+

DC+ SH

SH DC+

SB+ SBS1 SC S2

(7)

IN1 COM IN2 SHLD

Wire Size

(AWG)

1.5…4 (16…12)

1.5…6 (16…10)

Motor power cable depends on motor/ drive combination.

0.75…2.5

(2)

(18…14)

(2)

2.5…6 (14…10)

2.5…0.5 (14…20)

(3)

N/A

(4)

N/A

4…0.5 (12…20)

1.5…0.2 (16…24)

Strip Length

mm (in.)

8.0 (0.31)

10.0 (0.39)

8.0 (0.31)

10.0 (0.39)

7.0 (0.28)

(4)

N/A

8.0 (0.31)

10.0 (0.39) N/A

Tor que V alue

N•m (lb•in)

0.5…0.6 (4.4…5.3)

0.22…0.25 (1.9…2.2)

(4)

N/A

0.5…0.6 (4.4…5.3)

(6)

(1) The wire size, strip length, and torque specifications shown here apply to the single-axis connector that ships with the drive. For the shared-bus connector specifications, refer to

Tab le 33

on page 77 (CP connector) and Tab le 35 on page 79 (IPD connector).

(2) Building your own cables or using third-party cables is not an optio n. Use single motor cable catalog number 2090-CSxM1DF-xxAAxx. Refer to the Kinetix Motion Accessories

Specifications Technical Data, publication GMC-TD004 (3) Motor brake wires are part of the 2090-CSBM1DF-xxAAxx motor cable. (4) DC bus connections are always made from drive-to-drive over the bus bar connection system. These terminals do not receive discrete wires. (5) These signals and the safe torque-off (STO) connector apply to only the 2198-Hxxx-ERS drives. (6) This connector uses spring tension to hold wires in place. (7) This signal has dual-functionality. You can use IN1 (IOD-1) as registration or Home input.

, for cable specifications.

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Chapter 5 Connecting the Kinetix 5500 Drive System

IMPORTANT

ATT EN TI ON : To avoid personal injury and/or equipment damage, observe the

following:

• Make sure installation complies with specifications regarding wire types, conductor sizes, branch circuit protection, and disconnect devices. The National Electrical Code (NEC) and local codes outline provisions for safely installing electrical equipment.

• Use motor power connectors for connection purposes only. Do not use them to turn the unit on and off.

• Ground shielded power cables to prevent potentially high voltages on the shield.

Wiring Guidelines

Use these guidelines as a reference when wiring the power connectors on your Kinetix 5500 drive.

For connector locations of the Kinetix 5500 drives, refer to Kinetix 5500

Connector Data on page 58.

When removing insulation from wires and tightening screws to secure the wires, refer to the table on page 75

To improve system performance, run wires and cables in the wireways as established in Establishing Noise Zones

Follow these steps when wiring the connectors for your Kinetix 5500 drive.

1. Prepare the wires for attachment to each connector plug by removing insulation equal to the recommended strip length.

Use caution not to nick, cut, or otherwise damage strands as you remove the insulation.

2. Route the cable/wires to your Kinetix 5500 drive.

for strip lengths and torque values.

on page 39.

3. Insert wires into connector plugs.

Refer to connector pinout tables in Chapter diagrams in Appendix

4. Tighten the connector screws.

5. Gently pull on each wire to make sure it does not come out of its terminal;

reinsert and tighten any loose wires.

6. Insert the connector plug into the drive connector.

76 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

4 or the interconnect

Connecting the Kinetix 5500 Drive System Chapter 5

24V-

24V+

Remove

For DC

Bus Only

Kinetix 5500 Drive Top Vie w

24V (CP) Connector Plug

24V-

24V+

Kinetix 5500 Drives Top Vi ew

24V DC Input

Wiring Connector

Wiring the Power Connectors

This section provides examples and guidelines to assist you in making connections to the input power connectors.

Refer to Power Wiring Examples

on page 190 for an interconnect diagram.

Wire the 24V Control Power Input Connector

The 24V power (CP) connector requires 24V DC input for the control circuitry. The single-axis connector ships with the drive, shared-bus connector kits are purchased separately.

Figure 41 - CP Connector Wiring - Single Axis

Table 32 - Single Axis CP Connector Wiring Specifications

Drive Cat. No. CP Pin Signal

2198-Hxxx-ERSx

CP-1 24V+

CP-2 24V-

Figure 42 - CP Connector Wiring - Shared Bus

Table 33 - Shared Bus CP Connector Wiring Specifications

Drive Cat. No. CP Pin Signal

2198-Hxxx-ERSx

CP-1 24V+

CP-2 24V-

Input Current, max

A rms

32 8.4 (8) 11.0 (0.43)

Recommended Wire Size

(AWG)

2.5…0.5 (14…20)

Recommended Wire Size

(AWG)

Strip Length

mm (in.)

7.0 (0.28)

Strip Length

mm (in.)

Tor que Val ue

N•m (lb•in)

0.22…0.25 (1.9…2.2)

Tor que V alue

N•m (lb•in)

1.7…1.8 (15.0…15.9)

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 77

Chapter 5 Connecting the Kinetix 5500 Drive System

Remove

For DC

Bus Only

Kinetix 5500 Drive Top Vie w

Input Power (IPD)

Connector Plug

L3 L2 L1

Wire the Input Power Connector

The input power (IPD) connector requires 195…528V AC (single-phase or three-phase) for mains input power. The single-axis connector ships with the drive, shared-bus connector kits are purchased separately.

ATT EN TI ON : Make sure the input power connections are correct when wiring the IPD connector plug or input wiring connector and that the plug/connector is fully engaged in the drive connector. Incorrect wiring/polarity or loose wiring can cause explosion or damage to equipment.

Figure 43 - IPD Connector Wiring - Single Axis

Kinetix 5500 Drive Cat. No.

2198-H003-ERSx 2198-H008-ERSx 2198-H015-ERSx 2198-H025-ERSx 2198-H040-ERSx

2198-H070-ERSx

Table 34 - Single-axis IPD Connector Wiring Specifications

Recommended

Pin Signal

Wire Size

(AWG)

1.5…4 (16…12)

1.5…6 (16…10)

Strip Length

mm (in.)

8.0 (0.31)

10.0 (0.39)

Tor que V alue

N•m (lb•in)

0.5…0.6 (4.4…5.3)

78 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Connecting the Kinetix 5500 Drive System Chapter 5

Kinetix 5500 Drives Top Vie w

Mains AC Input

Wiring Connector

L3 L2 L1

Figure 44 - IPD Connector Wiring - Shared Bus

Table 35 - Shared Bus IPD Connector Wiring Specifications

Kinetix 5500 Drive Cat. No.

2198-H003-ERSx 2198-H008-ERSx 2198-H015-ERSx 2198-H025-ERSx 2198-H040-ERSx

2198-H070-ERSx 13.3 (6)

Wiring the Digital Input Connectors

Pin Signal

Input Current, max

A rms

Recommended Wire Size

(AWG)

13.3…3.3 (6…12)

Strip Length

mm (in.)

11.0 (0.43)

Tor que V alue

N•m (lb•in)

1.7…1.8 (15.0…15.9)

This section provides guidelines to assist you in making digital input connections.

Wire the Safe Torque-off Connector

For the hardwired safe torque-off (STO) connector pinouts, feature descriptions, and wiring information, refer to Chapter

9 beginning on page 157.

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 79

Chapter 5 Connecting the Kinetix 5500 Drive System

IN1 COM IN2 SHLD

Digital Inputs (IOD) Connector Plug

Kinetix 5500 Servo Drive (front view)

IMPORTANT

Wire the Digital Inputs Connector

The digital inputs (IOD) connector uses spring tension to hold wires in place.

Figure 45 - IOD Connector Wiring

Wiring Kinetix VP Motors

Table 36 - Digital Inputs (IOD) Connector Specifications

Recommended

Drive Cat. No. DC Pin Signal

IOD-1

2198-Hxxx-ERSx

(1) This signal has dual-functionality. You can use IN1 (IOD-1) as registration or Home input. (2) This connector uses spring tension to hold wires in place.

IOD-2 IOD-3 IOD-4

IN1 COM IN2 SHLD

(1)

Wire Size

(AWG)

1.5…0.2 (16…24)

Strip Length

mm (in.)

10.0 (0.39) N/A

Tor que Val ue

N•m (lb•in)

(2)

The Kinetix 5500 drives with Kinetix VP motors use a single cable that includes conductors for motor power, brake, and encoder feedback. Standard and continuous-flex (Bulletin 2090) cables are available with and without the motor brake conductors.

Due to the unique characteristics of single cable technology, designed for and tested with Kinetix 5500 drives and Kinetix VP motors, you cannot build your own cables or use third-party cables.

Refer to the Kinetix Motion Accessories Specifications Technical Data, publication GMC-TD004

, for cable specifications.

Table 37 - Single Cable Catalog Numbers

Motor Family Feedback Kit Cat. No. Motor Cat. No.

Kinetix VP 2198-KITCON-DSL

80 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

VPL-A/Bxxxx, VPF-A/Bxxxx, and VPS-Bxxxxx

Motor Cable Cat. No. (with brake wires)

2090-CSBM1DF-xxAAxx (standard) cables 2090-CSBM1DF-xxAFxx (continuous-flex) cables

Motor Cable Cat. No. (without brake wires)

2090-CSWM1DF-xxAAxx (standard) cables

Connecting the Kinetix 5500 Drive System Chapter 5

Motor Cable

Shield Clamp

Motor Power (MP) Connector Plug

Kinetix 5500 Servo Drive (front view)

U V

Brown Black Blue Green/Yellow

U V

Motor Power Connections

Refer to Kinetix 5500 Drive and Motor/Actuator Wiring Examples on page 195 for an interconnect diagram.

Figure 46 - MP Connector Wiring

ATT EN TI ON : Make sure the motor power connections are correct when wiring the MP connector plug and that the plug is fully engaged in the module connector. Incorrect wiring/polarity or loose wiring can cause an explosion or damage to equipment.

Table 38 - Motor Power (MP) Connector Specifications

Drive Cat. No. Pin Signal/Wire Color

2198-H003-ERSx 2198-H008-ERSx 2198-H015-ERSx 2198-H025-ERSx 2198-H040-ERSx

2198-H070-ERSx

Recommended Wire Size

(AWG)

Motor power cable depends on motor/ drive combination.

0.75…2.5 (18…14) max

2.5…6 (14…10) max

Strip Length

mm (in.)

8.0 (0.31)

10.0 (0.39)

Tor que V alue

N•m (lb•in)

0.5…0.6 (4.4…5.3)

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 81

Chapter 5 Connecting the Kinetix 5500 Drive System

Motor Cable

Shield Clamp

Motor Brake (BC) Connector Plug

Kinetix 5500 Servo Drive (front view)

Motor Brake Connections

Figure 47 - BC Connector Wiring

2 1

MBRKMBRK+

Table 39 - Motor Brake (BC) Connector Specifications

Drive Cat. No. Pin

2198-Hxxx-ERSx

(1) Motor brake wires are part of the 2090-CSBM1DF-xxAAxx motor cable.

BC-1 MBRK+/Black

BC-2 MBRK-/White

Signal/ Wire Color

Recommended Wire Size

(AWG)

N/A

Strip Length

mm (in.)

(1)

7.0 (0.28)

Tor que V alue

N•m (lb•in)

0.22…0.25 (1.9…2.2)

82 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Connecting the Kinetix 5500 Drive System Chapter 5

IMPORTANT

Motor Cable

Shield Clamp

Motor Feedback

Connector Kit

2198-KITCON-DSL

Feedback Connector Kit

Connector

Housing

Refer to Kinetix 5500 Feedback Connector

Kit Installation Instructions, publication

2198-IN002

, for connector kit specifications.

Internal

Grounding Plate

Clamp Screws (2)

Mounting Screws (2)

Exposed Shield

Feedback Cable (EPWR+, EPWR-)

Cover

Kinetix 5500 Servo Drive (front view)

2090-CSxM1DF-18AAxx

Motor Cable

IMPORTANT

Motor Feedback Connections

Single motor cable feedback connections are made by using the 2198-KITCON-DSL feedback connector kit.

When using the 2198-KITCON-DSL feedback connector kit, the ambient temperature for the Kinetix 5500 drive enclosure is 0…50 °C (32…122 °F).

Figure 48 - MF Connector Wiring

Cable preparation and positioning that provides a high-frequency bond between the shield braid and grounding plate is required to optimize system performance.

Table 40 - Motor Feedback (MF) Connector Specifications

Drive Cat. No. Pin

2198-Hxxx-ERSx

Signal/ Wire Color

MF-1 D+/Blue

MF-2 D-/White/Blue

Wire Size

AWG

22 10.0 (0.39) 0.4 (3.5)

Strip Length

mm (in.)

Tor que V alue

N•m (lb•in)

The feedback bundle in 2090-CSxM1DF-18AAxx motor cables (typically used with frame 1 drives) route around the shield clamp (as shown in Figure 48 The feedback bundle in 14 and 10 AWG cables (typically used with frame 2

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 83

and 3 drives) route with the power and brake wires inside the cable shield.

Chapter 5 Connecting the Kinetix 5500 Drive System

TIP

Motor Cable

Shield Clamp

2198-KITCON-DSL

Motor Feedback

Connector Kit

Motor Power (MP) Connector

Motor Brake (BC) Connector

Exposed shield braid under clamp.

Shield Clamp Screws (2)

2.0 N•m (17.7 lb•in), max

Kinetix 5500 Servo Drives,

Frame 1 or 2, Front View

(frame 1 is shown)

Feedback cable routed

around the shield clamp.

Bulletin 2090 Single Motor Cable

Apply the Single Motor Cable Shield Clamp

Factory-supplied 2090-Series single motor cables are shielded, and the braided cable shield must terminate at the drive during installation. A small portion of the cable jacket has been removed to expose the shield braid. The exposed area must be clamped (with the clamp provided) at the bottom front of the drive.

SHOCK HAZARD: To avoid hazard of electrical shock, make sure shielded power cables are grounded according to recommendations.

Cables for Kinetix VP motors (catalog numbers 2090-CBxM1DF-18AAxx) do not route the feedback bundle under the shield clamp. The same cables with 14 or 10 AWG conductors have the feedback bundle within the cable shield braid.

This procedure assumes you have completed wiring your motor power, brake, and feedback connectors and are ready to apply the cable shield clamp.

Follow these steps to apply the motor cable shield clamp.

1. Loosen the clamp screws and remove at least one of the screws.

Figure 49 - 18 AWG Cable Installation

When the drive/motor combination calls for 18 AWG cable, the feedback cable routes around the motor cable shield clamp.

84 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Figure 50 - 14 and 10 AWG Cable Installation

Motor Cable

Shield Clamp

Motor Power (MP) Connector

Motor Brake (BC) Connector

Exposed shield braid under clamp.

Shield Clamp Screws (2)

Feedback cable routed

within the shield braid.

Kinetix 5500 Servo Drives,

Frame 2 or 3, Front View

(frame 2 is shown)

2198-KITCON-DSL

Motor Feedback

Connector Kit

Retention Screw

(loosen, do not remove)

Clamp features apply to all

frame sizes.

Torque clamp screws to

2.0 N•m (17.7 lb•in), max

Bulletin 2090 Single Motor Cable

Connecting the Kinetix 5500 Drive System Chapter 5

When the drive/motor combination calls for 14 or 10 AWG cable, the feedback cable routes along with the power and brake wiring.

2. Position the exposed portion of the cable braid directly in line with the clamp.

3. Tighten the clamp screws. Torque value 2.0 N•m (17.7 lb•in) max.

4. Repeat step 1

through step 3 for each drive in multi-axis configurations.

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 85

Chapter 5 Connecting the Kinetix 5500 Drive System

IMPORTANT

Wiring Other Allen-Bradley Motors and Actuators

Kinetix 5500 drives are also compatible with other Allen-Bradley servo motors and actuators when wired at the drive by using the Hiperface-to-DSL feedback converter kit, catalog number 2198-H2DCK. The kit is required for converting the 15-pin Hiperface feedback signals to 2-pin DSL feedback signals.

Table 41 - Compatible Motors and Actuators

Motor/Actuator Families

MP-Series low-inertia motors (Bulletin MPL)

MP-Series medium-inertia motors (Bulletin MPM)

MP-Series food-grade motors (Bulletin MPF)

MP-Series stainless-steel motors (Bulletin MPS)

MP-Series integrated linear stages (Bulletin MPAS/MPMA) ballscrew

MP-Series electric cylinders (Bulletin MPAR)

MP-Series heavy-duty electric cylinders (Bulletin MPAI)

LDAT-Series integrated linear thrusters

(1) The 2198-H2DCK converter kit is required for all 400V-class MP-Series motors and actuators. The 2198-H2DCK (series B or later)

converter kit is required for LDAT-Series linear thrusters and all 200V-class M P-Series motors and actuators.

(1)

Encoder Feedback Type

Single-turn or multi-turn high-resolution, absolute

To configure these motors and actuators with your Kinetix 5500 servo drive, you must have drive firmware 2.002 or later. Refer to Tab l e 42

to determine

if you need to install the Kinetix 5500 Add-on Profile.

Table 42 - AOP Installation Requirement

Drive Firmware Revision Logix Designer Application Version Kinetix 5500 AOP Needed?

2.002 or later

21.00 Yes

21.03 or later No

Install the Kinetix 5500 Add-On Profile

Add-On profiles (AOP) are available for download at the Custom Downloads Add-On Profiles website: https://download.rockwellautomation.com/esd/

download.aspx?downloadid=addonprofiles

Follow these steps to download the Kinetix 5500 Add-On profile.

1. Login to the Custom Download Add-On Profiles website.

86 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Connecting the Kinetix 5500 Drive System Chapter 5

The Custom Download Files dialog box opens.

2. Check AOP for 2198-Hxx CIP Motion Kinetix 5500.

3. Click Download Now and accept the user license agreement.

If prompted to install the Download Manager, allow the installation.

4. Click the Add-On Profile icon and follow the download instructions.

5. Extract the AOP zip file and run Setup.

Motor Power and Brake Connections

The motors and actuators in Ta b l e 4 1 have separate power/brake and feedback cables. The motor power/brake cable attaches to the cable clamp on the drive and wires to the MP and BC connectors, respectively.

Table 43 - Current Motor Power Cable Compatibility

Motor/Actuator Cat. No.

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

MPM-A/Bxxxx, MPF-A/Bxxxx, MPS-A/Bxxxx

MPAS-A/Bxxxx1-V05SxA, MPAS-A/Bxxxx2-V20SxA MPAI-A/Bxxxx, MPAR-A/B3xxx, MPAR-A/B1xxx and MPAR-A/B2xxx (series B)

LDAT-Sxxxxxx-xDx N/A

(1)

Motor Power Cat. No. (with brake wires)

2090-CPBM7DF-xxAAxx (standard) or 2090-CPBM7DF-xxAFxx (continuous-flex)

(2)

Motor Power Cat. No. (without brake wires)

2090-CPWM7DF-xxAAxx (standard) or 2090-CPWM7DF-xxAFxx (continuous-flex)

(2)

(1) The 2198-H2DCK converter kit is required for all 400V-class MP-Series motors and actuators. The 2198-H2DCK (series B or later)

converter kit is required for LDAT-Series linear thrusters and all 200V-class M P-Series motors and actuators.

(2) Refer to the Kinetix Motion Accessories Specifications Technical Data, publication GMC-TD004, for cable specifications.

Refer to Motor Power Connections on page 81 and Motor Brake Connections on page 82

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 87

for the MP and BC connector specifications.

Chapter 5 Connecting the Kinetix 5500 Drive System

IMPORTANT

Table 44 - Legacy Motor Power Cables

Motor Cable Description Motor Power Cat. No.

Standard

Continuous-flex

Power/brake, threaded 2090-XXNPMF-xxSxx

Power-only, bayonet 2090-XXNPMP-xxSxx

Power/brake, threaded 2090-CPBM4DF-xxAFxx

Power-only, threaded 2090-CPWM4DF-xxAFxx

Power-only, bayonet 2090-XXTPMP-xxSxx

To use your existing Bulletin 2090 cables with Kinetix 5500 drives, some preparation is necessary so that the cable shield, conductor, and strip lengths are correct. Follow these cable preparation guidelines:

• Trim the shield flush so that no strands can short to adjacent terminals.

• Measure the conductor lengths and include a service loop.

• Remove just enough insulation to provide the proper strip length.

Maximum Cable Lengths

The power cable length for Kinetix 5500 drive and MP-Series motor/actuator combinations is limited to 20 m (65.6 ft); however, you can replace the existing motor power/brake cable with a 2090-CSBM1DF-xxAAxx single motor cable to extend the length up to 50 m (164 ft).

When replacing your existing motor power/brake cable with a 2090CSBM1DF-xxAAxx single motor cable, only the motor power and brake conductors are used. Cut off the feedback conductors in the single motor cable and reuse the existing 2090-Series feedback cable.

88 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Connecting the Kinetix 5500 Drive System Chapter 5

Dimensions are in mm (in.)

Motor Conductors

Brake Conduc tors

(1)

Electrical Tape or Heat Shrink

8.0 (0.31) Frame 1 and 2 drives

10.0 (0.39) Frame 3 drives

Motor Power/Brake Cable Preparation

Power cable preparation on existing 16 and 14 AWG cables is sufficient to reuse on Kinetix 5500 frame 1 and 2 drives, except for the brake conductors, which are much longer than required.

However, for frame 3 drives with 14 or 10 AWG cables, the overall length of the cable preparation area needs to be increased for the motor power conductors to reach the MP connector and also provide a proper service loop.

Follow these steps to prepare your existing brake conductors and 14 or 10 AWG power cable.

1. Remove a total of 325 mm (12.8 in.) of cable jacket from your existing cable.

This exposes additional cable shield.

2. Remove all but 63.5 mm (2.5 in.) of the shield.

3. Cover 12.5 mm (0.5 in.) of the shield ends and an equal length of the

conductors with 25 mm (1.0 in.) of electrical tape or heat shrink.

Do the same on the other side of the cable shield. This keeps the shield ends from fraying and holds the conductors together.

4. Cut the brake conductors back to 163 mm (6.4 in.) and trim the shield braid at the base of the jacket.

The shield braid covering the brake conductors is not needed.

5. Remove the specified length of insulation from the end of each wire.

This example applies to existing 2090-Series cables and 2090-Series single motor cables. If you are using a 2090-CSBM1DF-xxAAxx single motor cable, you can remove the shield braid covering the brake conductors.

Figure 51 - Power/brake Cable (14 and 10 AWG)

325 (12.8)

262 (10.3)

25.0 (1.0)

284 (11.2)

155 (6.1)

221 (8.7)

7.0 (0.28)

51.0 (2.0)

(1) The overall shield braid covering the brake conductors can be removed.

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 89

Chapter 5 Connecting the Kinetix 5500 Drive System

IMPORTANT

Clamp Compressed Around Shield (no spacer required)

Insert the clamp spacer when the cable diameter is smaller than the drive clamp alone.

Servo Drive

Clamp Spacer (if needed)

Shield Clamp

Clamp Screws

2.0 N•m (17.7 lb•in)

Service Loops

Frame 1

Servo Drive

Frame 2

Servo Drive

Frame 3

Servo Drive

Clamp Spacer Added (small diameter cable)

Apply the Motor Power/brake Shield Clamp

The power/brake cable shield attaches to the drive cable clamp. A clamp spacer is included with the kit for cable diameters that are too small for a tight fit within the drive clamp alone.

• Routing the conductors with service loops provides stress relief to the motor power and brake conductors.

• Make sure the cable clamp tightens around the cable shield and provides a good bond between the cable shield and the drive chassis.

If the power/brake cable shield has a loose fit inside the shield clamp, insert the clamp spacer between the shield clamp and the drive to reduce the clamp diameter. When the clamp screws are tight, 2.0 N•m (17.7 lb•in), the result must be a high-frequency bond between the cable shield and the drive chassis.

Figure 52 - Cable Clamp Attachment

90 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Connecting the Kinetix 5500 Drive System Chapter 5

IMPORTANT

Motor Feedback Connections

The feedback cable attaches to the 2198-H2DCK converter kit and is wired to the 10-pin connector. Bulletin 2090 feedback cables require preparation to make sure the shield clamp attaches properly and conductors route smoothly to the 10-pin connector terminals.

When using the 2198-H2DCK feedback connector kit and Bulletin 2090 feedback cables listed in Tab le 45 the Kinetix 5500 drive enclosure is derated to 0…40 °C (32…104 °F).

All of the current and legacy feedback cables listed below are compatible with the 2198-H2DCK converter kit.

Only Allen-Bradley motors and actuators with single-turn or multi-turn high-resolution absolute encoders are compatible.

Table 45 - Motor Feedback Cable Compatibility

or Tab l e 4 6, the ambient temperature for

Motor/Actuator 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

MPM-A/Bxxxx-S/M

MPF-A/Bxxxx-S/M

MPS-A/Bxxxxx-S/M

MPAS-A/Bxxxx1-V05SxA MPAS-A/Bxxxx2-V20SxA

MPAR-A/B1xxxx-V and MPAR-A/B2xxxx-V (series B) MPAR-A/B3xxxx-M

MPAI-A/BxxxxxM3

LDAT-Sxxxxxx-xDx

(1) The 2198-H2DCK converter kit is required for all 400V-class MP-Series motors and actuators. The 2198-H2DCK (series B or later)

converter kit is required for LDAT-Series linear thrusters and all 200V-class M P-Series motors and actuators.

(1)

Feedback Kit Cat. No.

2198-H2DCK

Feedback Cable Cat. No.

2090-CFBM7DF-CEAAxx 2090-CFBM7DD-CEAAxx 2090-CFBM7DF-CERAxx (standard) or 2090-CFBM7DF-CEAFxx 2090-CFBM7DD-CEAFxx 2090-CFBM7DF-CDAFxx (continuous-flex)

Table 46 - Legacy Motor Feedback Cables

Motor Cable Description Feedback Cable Cat. No.

2090-XXNFMF-Sxx 2090-UXNFBMF-Sxx

2090-UXNFBMP-Sxx

2090-XXNFMP-Sxx

Standard

Continuous-flex

Encoder feedback, threaded

Encoder feedback, bayonet

Encoder feedback, bayonet 2090-XXTFMP-Sxx

Encoder feedback, threaded 2090-CFBM4DF-CDAFxx

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 91

Chapter 5 Connecting the Kinetix 5500 Drive System

Ter min al

Signal

Wire Color

Strip Length

mm (in.)

Tor que V alue

N•m (lb•in)

1 SIN+ Black

5.0 (0.2)

0.22…0.25 (1.9…2.2)

2 SIN– White/Black

3 COS+ Red

4 COS– White/Red

5DATA+ Green

6 ECOM

(1)

(1) The ECOM and TS- connections are tied together and connect to the cable shield.

White/Gray

7EPWR_9V

(2)

(2) The converter kit generates 5V and 9V from a 12V supply coming from the drive. The 5V supply is

used by 5V encoders in 230V motors. The 9V supply is used by 9V encoders in 460V motors.

Orange

10 DATA– White/Green

11 TS+ White/Orange

14 EPWR_5V

(2)

Gray

10-pin Conne ctor

IMPORTANT

Cable Jacket

Cable Shield

Dimensions are in mm (in.)

1 2 3 4 5 6 7

10 11

Figure 53 - 2198-H2DCK Converter Kit Pinout

Motor Feedback Cable Preparation

Follow these steps to prepare feedback cables.

1. Remove 115 mm (4.5 in.) of cable jacket and 103 mm (4.0 in.) of cable shield.

This length of wire is needed to provide a service loop for the longest wires terminated at the 10-pin connector. However, most wires need to be trimmed shorter, depending on the terminal they are assigned to.

2. Determine the length for each of the 10 wires and trim as necessary.

3. Remove 5.0 mm (0.2 in.) of insulation from the end of each wire.

92 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

12.0 (0.5)

103 (4.0)

5.0 (0.2)

115 (4.5)

Connecting the Kinetix 5500 Drive System Chapter 5

IMPORTANT

Shield Clamp

Apply the Converter Kit Shield Clamp

Follow these steps to apply the converter kit shield clamp.

1. Apply the shield clamp to the 12 mm (0.5 in.) of exposed cable shield to achieve a high-frequency bond between the shield braid and clamp.

Cable preparation and positioning that provides a high-frequency bond between the shield braid and clamp is required to optimize system performance.

Apply 0.30 N•m (2.6 lb•in) torque to each screw.

2. Route and insert each wire to its assigned terminal.

Include a service loop, as shown in Figure 54 pinout in Figure 53

, and refer to the connector

3. Tighten each terminal screw.

Apply 0.22…0.25 N•m (1.9…2.2 lb•in) torque to each screw.

4. Gently pull on each wire to make sure it does not come out of its terminal; reinsert and tighten any loose wires.

5. Attach the tie wrap for added stress relief.

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 93

Chapter 5 Connecting the Kinetix 5500 Drive System

2 1

Shield Clamp

Clamp Screws (2)

Service Loops

Tie Wrap for Stress Relief and Wire Management

Mounting Screws (2)

Mounting Bracket

Frame 2 Mounting Position

(catalog numbers 2198-H015-ERSx,

2198-H025-ERS, and 2198-H040-ERSx)

Frame 1 Mounting Position

Frame 3 Mounting Position

(catalog number 2198-H070-ERSx)

(catalog numbers 2198-H003 ERSx and 2198-H008-ERSx)

Refer to Hiperface to DSL Feedback Converter Kit Installation Instructions,

publication 2198-IN006

, for converter kit specifications.

10-pin Connector

Converter Kit Mounting Hole with Protective Cover Removed (frame 1 drive example shown)

1. Place exposed cable shield in the channel.

2. Place the shield clamp over the exposed shield.

3. Tighten screws, torque

0.3 N•m (2.6 lb•in).

Exposed Shield

Aligned

in the Cable Channel

Table 47 - 2090-CFBM7DF-CEAxxx Feedback Cables

MPL-B15xxx…MPL-B2xxx-V/Ex4/7xAA MPF/MPS-Bxxx-M/S MPF-A5xxx-M/S

MPL-A15xxx…MPL-A2xxx-V/Ex4/7xAA MPF/MPS-A3xx-M/S MPF/MPS-A4xx-M/S MPF/MPS-A45xx-M/S

Rotary Motors

Linear Actuators

MPL-B3xxx…MPL-B6xxx-M/Sx7xAA MPL-A5xxx-M/Sx7xAA MPM-A165xxx…MPM-A215xxx MPM-Bxxxxx-M/S

MPAS-Bxxxxx-VxxSxA MPAR-Bxxxx, MPAI-Bxxxx LDAT-Sxxxxxx-xDx

MPS-A5xxx-M/S MPL-A3xxx-M/Sx7xAA MPL-A4xxx-M/Sx7xAA MPL-A45xxx-M/Sx7xAA MPM-A115xxx…MPM-A130xxx-M/S

MPAS-Axxxxx-VxxSxA

R-Axxxx, MPAI-Axxxx

MPA

2198-H2DCK Converter Kit Pin

1Sin+Sin+1

2Sin-Sin-2

3Cos+Cos+3

4Cos-Cos-4

5Data+ Data+ 5

6Data- Data- 10

9Reserved EPWR_5V 14

10 ECOM ECOM 6

(1)

11 EPWR_9V Reserved 7

12 ECOM ECOM 6

13 TS+ TS+ 11

94 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

(1) The ECOM and TS- connections are tied together and connect to the cable shield.

A mounting bracket is included with the 2198-H2DCK converter kit to secure the kit to the drive. Install the mounting bracket in the mounting position specific to the frame size of your drive.

Figure 54 - Wiring the 2198-H2DCK Feedback Converter Kit

Connecting the Kinetix 5500 Drive System Chapter 5

IMPORTANT

2 1

Kinetix 5500 Capacitor Module Top Vie w

Kinetix 5500 Capacitor Module Front View

Item Description

1 Module status (MS) connector (relay output)

2 Module status indicator

3 DC bus (DC) connector (under cover)

(1) (2)

(1) The DC bus connector ships with a protective knock-out cover

that can be removed for use in shared-bus configurations.

(2) The shared-bus connector set for the capacitor module, catalog

number 2198-KITCON-CAP1300, is included for connection to the upstream drive. Replacement kits are also available.

4 24V control input power (CP) connector

(2)

Capacitor Module Connections

Follow these guidelines when wiring the 2198-CAPMOD-1300 capacitor module:

• Wire relay output (MS) connections to the Logix5000 controller (optional).

• Refer to Kinetix 5500 Capacitor Module

• Refer to Kinetix 5500 Capacitor Module Status Indicators

wiring example on page 191.

on page 147 for

troubleshooting the module status indicator and relay output.

• Refer to the installation instructions provided with your Bulletin 2198 capacitor module, publication 2198-IN004

To improve system performance, run wires and cables in the wireways as established in Chapter

Connections to the DC bus and 24V control power must be made with the shared-bus connection system.

Figure 55 - Capacitor Module Wiring

Table 48 - Capacitor Module Connector Specifications

Capacitor Module Cat. No.

2198-CAPMOD-1300

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 95

Pin Signal

MS-1 RELAY+

MS-2 RELAY-

Recommended Wire Size

(AWG)

0.14…1.5 (28…16)

Strip Length

mm (in.)

7.0 (0.28)

Tor que Val ue

N•m (lb•in)

0.22…0.25 (1.9…2.2)

Chapter 5 Connecting the Kinetix 5500 Drive System

IMPORTANT

Remove

For DC

Bus Only

Kinetix 5500 Drive Top Vie w

IMPORTANT

External Shunt Resistor Connections

Follow these guidelines when wiring your 2097-Rx shunt resistor:

• Refer to External Shunt Resistor

• Refer to Shunt Resistor Wiring Example

on page 42 for noise zone considerations.

on page 194.

• Refer to the installation instructions provided with your Bulletin 2097 shunt resistor, publication 2097-IN002

To improve system performance, run wires and cables in the wireways as established in Chapter

Figure 56 - RC Connector Wiring

Table 49 - Shunt Resistor (RC) Connector Specifications

Recommended

Drive Cat. No. Pin Signal

2198-H003-ERSx 2198-H008-ERSx

2198-H015-ERSx 2198-H025-ERSx 2198-H040-ERSx 2198-H070-ERSx

RC-1 RC-2

SH DC+

DC+ SH

Wire Size

4…0.5 (12…20)

You must disconnect the internal shunt wires at the RC connector before connecting the Bulletin 2097 shunt resistor wires.

Table 50 - Shunt Resistor Selection

Drive Cat. No.

2198-H003-ERSx

2198-H008-ERSx

2198-H015-ERSx

2198-H025-ERSx

2198-H040-ERSx

2198-H070-ERSx

Bulletin 2097 Shunt Resistor Cat. No.

2097-R7

2097-R6

(AWG)

Strip Length

mm (in.)

8.0 (0.31)

Tor que Val ue

N•m (lb•in)

0.5…0.6 (4.4…5.3)

96 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Connecting the Kinetix 5500 Drive System Chapter 5

1 (Front) 2 (Rear)

00:00:BC:2E:69:F6

LNK1LNK2NE T OK

ControlLogix Controller

1756-ENxTR EtherNet/IP module is shown.

ControlLogix Ethernet Ports

The 1756-EN2T modules have only one port,

1756-EN2TR and 1756-EN3TR modules have two.

Bottom View

Front Views

CompactLogix 5370 L1, L2, and L3 Controllers 1769-L36ERM controller is shown.

Port 1, Front

Port 2, Rear

IMPORTANT

Ethernet Cable Connections

This procedure assumes you have your CompactLogix 5370 controller or ControlLogix EtherNet/IP module and Kinetix 5500 drives mounted and are ready to connect the network cables.

The EtherNet/IP network is connected by using the PORT 1 and PORT 2 connectors. Refer to page 58

to locate the Ethernet connectors on your Kinetix 5500 drive. Refer to the figure below to locate the connectors on your Logix5000 controller.

Shielded Ethernet cable is available in several standard lengths. Refer to the Kinetix Motion Accessories Specifications Technical Data, publication

GMC-TD004

, for more information.

Ethernet cable lengths connecting drive-to-drive, drive-to-controller, or drive-toswitch must not exceed 100 m (328 ft).

Figure 57 - ControlLogix and CompactLogix Ethernet Port Locations

These Logix5000 controllers accept linear, ring (DLR), and star network configurations. Refer to Typical Communication Configurations

on page 20 for

linear, ring, and star configuration examples.

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-UM001D-EN-P - May 2014 97

Chapter 5 Connecting the Kinetix 5500 Drive System

Notes:

98 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

Chapter 6

TIP

Configure and Start the Kinetix 5500 Drive System

This chapter provides procedures for configuring your Kinetix 5500 drive system with a Logix5000 controller.

Top ic Pa ge

Understanding the Kinetix 5500 Display 100

Configure the Drive 104

Configure the Logix Designer Application Project 105

Apply Power to the Kinetix 5500 Drive 129

Test and Tune the Axes 131

Understanding Bus Sharing Group Configuration 135

Before you begin, make sure you know the catalog number for each drive component, the Logix module and /or controller, and the servo motor used in your motion control application.

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 99

Chapter 6 Configure and Start the Kinetix 5500 Drive System

Soft Menu

Navigation Buttons

Status Indicators (see page 146

)

Menu Buttons

Setup Buttons

MAIN MENU

MOTOR INFO

ESC

DRIVE INFO

Each soft menu item is executed by pressing the

navigation button directly below the item, as

shown in this example.

HOME

LOG

TEXT

INFO

HELP

Understanding the Kinetix 5500 Display

The Kinetix 5500 drive has two status indicators and an LCD status display. The indicators and display are used to monitor the system status, set network parameters, and troubleshoot faults. Four navigation buttons are directly below the display and are used to select items from a soft menu.

Figure 58 - Kinetix 5500 Drive LCD Display and Status Indicators

PRECHARGE

192.168.1.1

DC BUS: 0.3V

SETUP

PRECHARAGE

192.168.1.1

DC BUS: 0.3V

SETUP

This is the Home screen. The SETUP selections are tied to the two left-side buttons and the MENU selections are tied to the two right-side buttons.

PRECHARAGE

192.168.1.1

DC BUS: 0.3V

SETUP

100 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014

The soft menu provides a changing selection that corresponds to the current screen. Use the navigation buttons to perform the following.

ESC

(1) Refer to Faul t Code s beginning on page 140 to review the troubleshooting tables.

Press to go back. Pressing enough times results in the HOME screen.

Pressing either arrow moves the selection to the next (or previous) item. When changing values, pressing the up arrow increments the highlighted value. Values rollover after reaching the end of the list.

Press to select values to change, moving from right to left. Values rollover when reaching the end of the list.

Press to select a menu item.

Press to return to the Home screen.

Press to display the list of active fault codes.

Press to display the fault text (exception code in troubleshooting tables).

Press to display the fault details (the problem in troubleshooting tables).

Press to display the fault help (possible solutions in troubleshooting tables).

(1)

Rockwell Automation 2198-KITCON-DSL User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Important User Information

Summary of Changes

Table of Contents

Preface

About This Publication

Audience

Conventions Used in This Manual

Studio 5000 Environment

Additional Resources

About the Kinetix 5500 Servo Drive System

Typical Hardware Configurations

Standalone Configurations

Shared AC Configurations

Shared AC/DC Configurations

Shared DC Common-bus Configurations

Shared AC/DC Hybrid Configuration

Typical Communication Configurations

Linear Topology

Ring Topology

Star Topology

Safe Torque-off Configurations

Hardwired Safety Configuration

Integrated Safety Configurations

Catalog Number Explanation

Agency Compliance

System Design Guidelines

System Mounting Requirements

Transformer Selection

Circuit Breaker/Fuse Selection

Standalone Drive Systems

Shared DC (common-bus) Drive Systems

Shared AC Drive Systems

Shared AC/DC and Hybrid Systems

Enclosure Selection

Minimum Clearance Requirements

Electrical Noise Reduction

Bonding Modules

Bonding Multiple Subpanels

Establishing Noise Zones

Cable Categories for Kinetix 5500 Systems

Noise Reduction Guidelines for Drive Accessories

AC Line Filters

External Shunt Resistor

Determining Mounting Order

Zero-stack Tab and Cutout

Shared-bus Connection System

Single-axis Configurations

Multi-axis Configurations

Drilling Hole Patterns

Mount Your Kinetix 5500 Drive

Kinetix 5500 Connector Data

Safe Torque-off Connector Pinout

Input Power Connector Pinouts

DC Bus and Shunt Resistor Connector Pinouts

Digital Inputs Connector Pinout

Ethernet Communication Connector Pinout

Motor Power, Brake, and Feedback Connector Pinouts

Motor Feedback Connector Pinout

Understanding Control Signal Specifications

Digital Inputs

Ethernet Communication Specifications

Motor Brake Circuit

Control Power

Feedback Specifications

Absolute Position Feature

Safe Torque-off Safety Features

Servo Drives with Hardwired Safety

Servo Drives with Integrated Safety

Basic Wiring Requirements

Routing the Power and Signal Cables

Determine the Input Power Configuration

Grounded Power Configurations

Ungrounded Power Configurations

Removing the Grounding Screws in Ungrounded Power Configurations

Grounding the Drive System

Ground the System Subpanel