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Kinetix 5300
User Manual
248 pgs22.47 Mb0
Installation Manual
12 pgs4.04 Mb0
Table of contents
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Rockwell Automation Kinetix 5300 User Manual

Fault Codes; download the spreadsheet for offline access.
Kinetix 5300 Single-axis EtherNet/IP Servo Drives
Catalog Numbers 2198-C1004-ERS, 2198-C1007-ERS, 2198-C1015-ERS, 2198-C1020-ERS, 2198-C2030-ERS, 2198-C2055-ERS, 2198-C2075-ERS, 2198-C4004-ERS, 2198-C4007-ERS, 2198-C4015-ERS, 2198-C4020-ERS, 2198-C4030-ERS, 2198-C4055-ERS, 2198-C4075-ERS
User Manual
Original Instructions
Kinetix 5300 Single-axis EtherNet/IP Servo Drives User Manual

Important User Information

Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).
2 Rockwell Automation Publication 2198-UM005A-EN-P - October 2020

Table of Contents

Preface
Download Firmware, AOP, EDS, and Other Files . . . . . . . . . . . . . . . . . . . . 9
Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Access Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
CIP Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Chapter 1
Start About the Kinetix 5300 Servo Drive System . . . . . . . . . . . . . . . . . . . . . . . . 14
Drive Hardware and Input Power Configurations. . . . . . . . . . . . . . . . . . 15
Motor and Auxiliary Feedback Configurations . . . . . . . . . . . . . . . . . . . . . 18
Typical Communication Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Linear Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Ring Topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Star Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Safe Torque Off Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Plan the Kinetix 5300 Drive System Installation
Mount the Kinetix 5300 Drive System
Chapter 2
System Design Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
System Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
AC Line Filter Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Transformer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Circuit Breaker/Fuse Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
24V Control Power Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Passive Shunt Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Enclosure Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Electrical Noise Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
HF Bond for Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
HF Bond for Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Establish Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Cable Categories for Kinetix 5300 Systems . . . . . . . . . . . . . . . . . . . . . 38
Noise Reduction Guidelines for Drive Accessories . . . . . . . . . . . . . . 38
Chapter 3
Determine Mounting Order. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Zero-stack Tab and Cutout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Shared-bus Connection System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Drill-hole Patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Mount Your Kinetix 5300 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 3
Table of Contents
Chapter 4
Connector Data and Feature Descriptions
Connect the Kinetix 5300 Drive System
Kinetix 5300 Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Safe Torque Off Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Input Power Connector Pinouts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Shunt Resistor Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Ethernet Communication Connector Pinout . . . . . . . . . . . . . . . . . . . 53
Digital Inputs and Auxiliary Feedback Connector Pinouts . . . . . . . 54
Motor Power, Brake, and Feedback Connector Pinouts . . . . . . . . . . 55
Understand Control Signal Specifications . . . . . . . . . . . . . . . . . . . . . . . . . 56
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Motor Holding-brake Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Control Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Ethernet Communication Specifications. . . . . . . . . . . . . . . . . . . . . . . 58
Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Motor Feedback Supported on the MFB Connector . . . . . . . . . . . . . 59
Auxiliary Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Encoder Phasing Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Absolute Position Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Safe Torque Off Safety Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Servo Drives with Hardwired Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Chapter 5
Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Build Your Own Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Routing the Power and Signal Cables . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Determine the Input Power Configuration . . . . . . . . . . . . . . . . . . . . . . . . 69
Three-phase Input Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Single-phase Input Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Ground the Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Ground the System Subpanel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Ground Multiple Subpanels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Wiring Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Wire the Power Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Wire the 24V Control Power Input Connector . . . . . . . . . . . . . . . . . . 76
Wire the Input Power Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Wire the Digital Input Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Wire the Safe Torque Off Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Wire the Digital Inputs and Auxiliary Feedback Connector . . . . . . 78
Wire the Motor Power and Brake Connectors. . . . . . . . . . . . . . . . . . . . . . 79
Servo Motor/Actuator and Cable Compatibility . . . . . . . . . . . . . . . . . 80
Motor Power and Brake Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Maximum Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Cable Preparation for Kinetix TLP Motor Power Cables. . . . . . . . . . 83
Cable Preparation for 2090-CPxM7DF Motor Power Cables . . . . . . 83
Cable Preparation for Kinetix TL and TLY Motor Power Cables. . . 86
Apply the Motor Power/brake Shield Clamp . . . . . . . . . . . . . . . . . . . . 87
Wire the Motor Feedback Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Cable Preparation for Kinetix TLP Feedback Cables . . . . . . . . . . . . . 90
4 Rockwell Automation Publication 2198-UM005A-EN-P - October 2020
Configure and Start up the Kinetix 5300 Drive System
Table of Contents
Cable Preparation for 2090-CFBM7Dx Feedback Cables . . . . . . . . . 90
Cable Preparation for Kinetix TL and TLY Feedback Cables . . . . . . 91
Motor Feedback Cable Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
2090-Series Feedback Cable Pinouts. . . . . . . . . . . . . . . . . . . . . . . . . . . 93
External Passive-shunt Resistor Connections . . . . . . . . . . . . . . . . . . . . . . 96
Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Chapter 6
Understand the Kinetix 5300 Front Panel. . . . . . . . . . . . . . . . . . . . . . . . . . 99
Menus and Display Screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Startup Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Configure the Kinetix 5300 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Set the Network Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Studio 5000 Logix Designer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Version History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Install the Kinetix 5300 Add-On Profile . . . . . . . . . . . . . . . . . . . . . . . 107
Configure the Logix 5000 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Configure the Kinetix 5300 Drive Modules . . . . . . . . . . . . . . . . . . . . . . . 110
Configure Drive Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Continue Drive Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Configure the Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Configure Vertical Load Control Axis Properties . . . . . . . . . . . . . . . . . . 116
Configure Feedback-only Axis Properties. . . . . . . . . . . . . . . . . . . . . . . . . 116
Configure Induction-motor Frequency-control Axis Properties. . . . . 118
General and Motor Categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Basic Volts/Hertz Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Sensorless Vector Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Fan/Pump Volts/Hertz Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Configure SPM Motor Closed-loop Control Axis Properties . . . . . . . . 122
Configure Induction-motor Closed-loop Control Axis Properties . . . 128
Configure Feedback Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Configure Module Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Apply Power to the Kinetix 5300 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Test and Tune the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Test the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Tune the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Troubleshoot the Kinetix 5300 Drive System
Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 5
Chapter 7
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Interpret Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Fault Code Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Kinetix 5300 Drive Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . 143
General Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Logix 5000 Controller and Drive Behavior . . . . . . . . . . . . . . . . . . . . . . . . 145
Web Server Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Table of Contents
Chapter 8
Remove and Replace Servo Drives
Kinetix 5300 Safe Torque Off Function
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Remove and Replace Kinetix 5300 Servo Drives . . . . . . . . . . . . . . . . . . . 156
Remove Power and All Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Remove the Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Replace the Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Start and Configure the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Chapter 9
Certification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Important Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Category 3 Requirements According to ISO 13849-1 . . . . . . . . . . . . 160
Stop Category Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Performance Level (PL) and Safety Integrity Level (SIL) . . . . . . . . 160
Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Probability of Dangerous Failure Per Hour . . . . . . . . . . . . . . . . . . . . . . . 164
Safe Torque Off Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Wire the Safe Torque Off Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Safe Torque Off Wiring Requirements. . . . . . . . . . . . . . . . . . . . . . . . 165
Safe Torque Off Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Safe Torque Off Feature Bypass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Cascade the Safe Torque-off Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . 167
STO Recovery Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Safe Torque Off Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Appendix A
Interconnect Diagrams Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Shunt Resistor Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Kinetix 5300 Servo Drive and Rotary Motor Wiring Examples . . . . . . 173
Kinetix 5300 Drive and Linear Actuator Wiring Examples. . . . . . . . . . 179
System Block Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Appendix B
Upgrade Kinetix 5300 Drive Firmware
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Inhibit the Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Upgrade Your Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Use ControlFLASH Plus Software to Upgrade Your
Drive Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Use ControlFLASH Software to Upgrade Your Drive Firmware. . 191
Verify the Firmware Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
6 Rockwell Automation Publication 2198-UM005A-EN-P - October 2020
Table of Contents
Appendix C
Motor Control Feature Support Frequency Control Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Basic Volts/Hertz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Basic Volts/Hertz for Fan/Pump Applications . . . . . . . . . . . . . . . . 200
Sensorless Vector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Current Limiting for Frequency Control. . . . . . . . . . . . . . . . . . . . . . . . . . 202
The Effects of Current Limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Enable the Current Limiting Feature . . . . . . . . . . . . . . . . . . . . . . . . . 204
Set the CurrentVectorLimit Attribute Value . . . . . . . . . . . . . . . . . . . 204
Stability Control for Frequency Control . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Enable the Stability Control Feature . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Skip Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Multiple Skip Speeds. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Flux Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Flux Up Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Configure the Flux Up Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Current Regulator Loop Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Motor Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Motor Tests and Autotune Procedure . . . . . . . . . . . . . . . . . . . . . . . . . 214
Motor Analyzer Category Troubleshooting . . . . . . . . . . . . . . . . . . . . 215
Selection of Motor Thermal Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Generic Motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Thermally Characterized Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Speed Limited Adjustable Torque (SLAT) . . . . . . . . . . . . . . . . . . . . . . . . . 220
Motion Polarity Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
SLAT Min Speed/Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
SLAT Max Speed/Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
SLAT Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Configure the Axis for SLAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Motion Drive Start (MDS) Instruction . . . . . . . . . . . . . . . . . . . . . . . . 226
Motor Overload Retention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Phase Loss Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
Phase-loss Detection Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 233
Phase Loss Detection Current Example . . . . . . . . . . . . . . . . . . . . . . . 234
Velocity Droop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Frequency Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Velocity Droop Attribute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Velocity Droop Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
Commutation Self-sensing Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
Commutation Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Adaptive Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Virtual Torque Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .241
Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 7
Table of Contents

Notes:

8 Rockwell Automation Publication 2198-UM005A-EN-P - October 2020

Preface

This manual provides detailed installation instructions to mount, wire, and troubleshoot the Kinetix® 5300 servo drives, and system integration for your drive and motor/actuator combination with a Logix 5000™ controller.
This manual is intended for engineers or technicians directly involved in the installation and wiring of the Kinetix 5300 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 5300 servo drives, contact your local Rockwell Automation sales representative for information on available training courses.

Download Firmware, AOP, EDS, and Other Files

Conventions Used in This Manual

Access Fault Codes

Download firmware, associated files (such as AOP, EDS, and DTM), and access product release notes from the Product Compatibility and Download Center at
rok.auto/pcdc
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.
For Kinetix 5300 fault code desc riptions and possibl e solutions, see
.
For Kinetix 5300 fault code descriptions and possible solutions, see Knowledgebase Article: Kinetix 5300 Servo Drive Fault Codes download the spreadsheet from this public article.
You will be asked to log in to your Rockwell Automation web account or create an account if you do not have one. You do not need a support contract to access this article.
. You can
Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 9
Preface

CIP Security

CIP Security™ is a standard, open-source communication method that helps to provide a secure data transport across an EtherNet/IP network. It lets CIP-connected devices authenticate each other before transmitting and receiving data.
CIP Security uses the following security properties to help devices protect themselves from malicious communication:
• Device Identity and Authentication
• Data Integrity and Authentication
• Data Confidentiality
Rockwell Automation uses the following products to implement CIP Security:
• FactoryTalk® Services Platform, version 6.11 or later, with the following components enabled:
- FactoryTalk Policy Manager
- FactoryTalk System Services
• FactoryTalk Linx, version 6.11 or later
• Studio 5000® Design Environment, version 32.00.00 or later
• CIP Security-enabled Rockwell Automation® products, for example, the product described in this publication
For more information on CIP Security, including which products support CIP Security, see the CIP Security with Rockwell Automation Products Application Technique, publication SECURE-AT001
.

Additional Resources

These documents contain additional information concerning related products from Rockwell Automation.
Table 1 - Additional Resources
Resource Description
Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001
Kinetix Linear Motion Specifications Technical Data, publication KNX-TD002
Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003
Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004
AC Line Filter Installation Instructions, publication 2198-IN003
Shunt Resistor Installation Instructions, publication 2097-IN002
System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001
Servo Drive Installation Best Practices Application Technique, publication MOTION-AT004
Kinetix Motion Control Selection Guide, publication KNX-SG001
Kinetix 5300 Drive Systems Design Guide, publication KNX-RM012
Motor Nameplate Datasheet Entry for Custom Motor Applications Application Technique, publication 2198-AT002
Product specifications for Kinetix VPL, VPF, VPH, and VPS, Kinetix MPL, MPM, MPF, and MPS, Kinetix TL and TLY, and Kinetix TLP rotary motors.
Product specifications for Kinetix MPAS/MPMA, MPAR, and MPAI linear actuators, LDAT-Series linear thrusters, and LDC-Series™ and LDL-Series™ linear motors.
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 2090-Series motor and interface cables, low-profile connector kits, drive power components, and other servo drive accessory items.
Provides information on how to install AC line filters designed for Kinetix 5300, Kinetix 5500, and Kinetix 5700 servo drive systems.
Provides information on how to install and wire Bulletin 2097 shunt resistors. Information, examples, and techniques designed to minimize system failures
caused by electromagnetic interference (EMI) sources. Best practice examples to help reduce the number of potential noise or
electromagnetic interference (EMI) sources in your system and to make sure that the noise sensitive components are not affected by the remaining 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 5300 servo drive system.
Provides information on the use of nameplate data entry for custom induction motors and permanent-magnet motors that are used in applications with Kinetix 5700 servo drives.
10 Rockwell Automation Publication 2198-UM005A-EN-P - October 2020
Table 1 - Additional Resources (continued)
Resource Description
Virtual Torque Sensor Application Technique, publication 2198-AT003
Vertical Load and Holding Brake Management Application Technique, publication MOTION-AT003
Integrated Motion on the EtherNet/IP Network Reference Manual, publication MOTION-RM003
Integrated Motion on the EtherNet/IP Network Configuration and Startup User Manual, publication MOTION-UM003
CIP Security with Rockwell Automation Products Application Technique, publication SECURE-AT001
System Security Design Guidelines Reference Manual, SECURE-RM001
GuardLogix 5570 Controllers User Manual, publication 1756-UM022 GuardLogix 5580 Controllers User Manual, publication 1756-UM543 Compact GuardLogix 5370 Controllers User Manual, publication 1769-UM022 Compact GuardLogix 5380 Controllers User Manual, publication 5069-UM001 GuardLogix 5570 and Compact GuardLogix 5370 Controller Systems Safety Reference
Manual, publication 1756-RM099 GuardLogix 5580 and Compact GuardLogix 5380 Controller Systems Safety Reference
Manual, publication 1756-RM012 Rockwell Automation Product Selection
website http://www.rockwellautomation.com/global/support/selection.page Motion Analyzer System Sizing and Selection Tool
website https://motionanalyzer.rockwellautomation.com/ Product Certifications website, rok.auto/certifications
ControlFLASH Firmware Upgrade Kit User Manual, publication 1756-UM105
Rockwell Automation Industrial Automation Glossary, publication AG-7.1
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1
.
Provides information on the configuration and application of the virtual torque sensor capability of the Kinetix 5300 drives. The capability can be leveraged for analytics to improve the machine commissioning and maintenance experience.
Provides information on vertical loads and how the servo motor holding-brake option can be used to help keep a load from falling.
Information on the AXIS_CIP_DRIVE attributes and the configuration software control modes and methods.
Information on how to configure and troubleshoot your ControlLogix® and CompactLogix™ EtherNet/IP network modules.
Provides information on CIP Security, including which Rockwell Automation products support CIP Security.
Provides guidance on how to conduct security assessments, implement Rockwell Automation products in a secure system, harden the control system, manage user access, and dispose of equipment.
Provides information on how to install, configure, program, and use ControlLogix controllers and GuardLogix® controllers in Studio 5000 Logix Designer® projects.
Provides information on how to install, configure, program, and use CompactLogix and Compact GuardLogix controllers.
Provides information on how to achieve and maintain Safety Integrity Level (SIL) and Performance Level (PL) safety application requirements for GuardLogix and Compact GuardLogix controllers.
Online product selection and system configuration tools, including AutoCAD (DXF) drawings.
Comprehensive motion application sizing tool used for analysis, optimization, selection, and validation of your Kinetix Motion Control system.
Provides declarations of conformity, certificates, and other certification details. Provides information on how to upgrade your drive firmware by using
ControlFLASH™ software. A glossary of industrial automation terms and abbreviations. Provides general guidelines for installing a Rockwell Automation industrial
system.
Preface
You can view or download publications at rok.auto/literature.
Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 11
Preface
Notes:
12 Rockwell Automation Publication 2198-UM005A-EN-P - October 2020
Chapter 1
Start
Use this chapter to become familiar with the Kinetix® 5300 drive system and obtain an overview of the installation configurations.
Top ic Pa ge
About the Kinetix 5300 Servo Drive System 14 Drive Hardware and Input Power Configurations 15 Motor and Auxiliary Feedback Configurations 18 Typical Communication Configurations 19 Safe Torque Off Configuration 22 Catalog Number Explanation 23 Agency Compliance 24
Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 13
Chapter 1 Start

About the Kinetix 5300 Servo Drive System

The Kinetix 5300 servo drives are designed to provide a Kinetix Integrated Motion solution for your drive and motor/actuator application.
Table 2 - Kinetix 5300 Drive System Overview
Drive System Component
Kinetix 5300 Servo Drives
24V Shared-bus Connector Kits
Feedback Connector Kit
Connector Sets
Logix 5000™ Controller Platform
Studio 5000® Environment
Rotary Servo Motors
Linear Actuators
Linear Motors
Induction Motors N/A Induction motors with open-loop frequency control and closed-loop control are supported.
2090-Series Cables
Ethernet Cables
AC Line Filters
24V DC Power Supply
External Shunt Resistors
Cat. No. Description
100V-class and 200V-class (single-phase or three-phase) and 400V-class (three-phase) drives operate in standalone
2198 -Cxxxx-ERS
2198-TCON-24VDCIN36 Control power input connector for all frame sizes. 2198 -H040-x-x Control power T-connector and bus-bar connectors for Frame 1 and 2 drives. 2198 -H070-x-x Control power T-connector and bus-bar connectors for Frame 3 drives.
2198 -K53CK-D15 M
2198-CONKIT-PWR20 Connector set included with the Frame 1 and 2 drives (except 2198-C2030 drives). Replacement sets are also available. 2198-CONKIT-PWR30 Connector set included with 2198-C2030 drives. Replacement sets are also available. 2198-CONKIT-PWR75 Connector set included with Frame 3 drives. Replacement sets are also available.
Bulletin 1769 Bulletin 5069
1756-EN2T module 1756-EN2TR module 1756-EN3TR module
N/A
Kinetix MP Compatible rotary motors include 200V and 400V-class Kinetix MPL, MPM, MPF, MPS servo motors. Kinetix TLP Compatible rotary motors include 200V and 400V-class Kinetix TLP servo motors. Kinetix TL and TLY Compatible rotary motors include 200V-class Kinetix TL and TLY servo motors. Kinetix MP and
LDAT-Series LDC-Series and
LDL-Series
2090-CTFB-MxDx-xxxxx Motor feedback cables for Kinetix TLP motors. 2090-CTPx-MxDx-xx 2090-CFBM6Dx-CxAAxx Motor feedback cables for Kinetix TLY servo motors. 2090-CPxM6DF-16AAxx Motor power/brake cables for Kinetix TLY servo motors. 2090-DANFCT-Sxx Motor feedback cables for Kinetix TL servo motors. 2090-DANPT-16Sxx Motor power cables for Kinetix TL servo motors. 2090-DANBT-18Sxx Motor brake cables for Kinetix TL servo motors. 2090-CFBM7DF-CEAxxx Motor feedback cables for Kinetix MP motors/actuators, LDAT-Series linear thrusters, and LDC/LDL-Series linear motors. 2090-CPxM7DF-xxAxxx Motor power/brake cables for Kinetix MP motors/actuators, LDAT-Series linear thrusters, and LDC/LDL-Series linear motors. 2090-XXNFMF-Sxx
2090-CFBM7DF-CDAFxx 1585J-M8CBJM-x
1585J-M8UBJM-x 2198 -DB08 -F
2198-DBR20-F 2198-DBR40-F
1606-XLxxx Bulletin 1606 24V DC power supply for control circuitry, digital inputs, and safety inputs.
2097-R6 and 2097-R7 2198-R004, 2198-R014,
2198 -R031
configurations. Modules can be zero-stacked from drive-to-drive and are compatible with the 24V DC shared-bus connection system to extend control power to multiple drives. Drives feature Safe Torque Off via the hardwired (STO) connector.
Motor feedback connector kit with 15-pin connector plug for compatible motors and actuators. Kit features battery backup for Kinetix TLP, TL, and TLY multi-turn encoders.
Integrated Motion on the EtherNet/IP network in CompactLogix™ 5370, CompactLogix 5380, and CompactLogix 5480 controllers and Integrated Safety in Compact GuardLogix® 5370 controllers. Linear, device-level ring (DLR), and star topology is supported.
EtherNet/IP network communication modules for use with ControlLogix® 5570, ControlLogix 5580, GuardLogix 5570, and GuardLogix 5580 controllers. Linear, device-level ring (DLR), and star topology is supported.
Studio 5000 Logix Designer® application, version 33.00 or later, provides support for programming, commissioning, and maintaining the CompactLogix and ControlLogix controller families.
Compatible linear actuators include 200V and 400V-class Kinetix MPAS and MPMA linear stages, Kinetix MPAR and MPAI linear actuators, and LDAT-Series linear thrusters.
Compatible motors include LDC-Series™ iron-core and LDL-Series™ ironless linear motors.
xxx Moto
r power/brake cables for Kinetix TLP motors.
Standard and continuous-flex feedback cables that include additional conductors for use with incremental encoders.
Ethernet cables are available in standard lengths. Shielded cable is required to meet EMC specifications.
Bulletin 2198 three-phase AC line filters are required to meet CE and are available for use in all Kinetix 5300 drive systems.
Bulletin 2097 and 2198 external passive shunt resistors are available for when the internal shunt capability of the drive is exceeded.
14 Rockwell Automation Publication 2198-UM005A-EN-P - October 2020
Start Chapter 1
1606-XL
Power Supply
Input
Allen-Bradley
L3L2
L1
24+
DC+ SH
24-
SB+ SB­S1 SC S2
MBRK
W
V
U
1
10
1
2
MFB
Single-phase or
Three-phase
Input Power
Line
Disconnect
Device
Circuit
Protection
2097-Rx or 2198-Rxxxx Shunt Resistor (optional component)
2198 -Cxxxx-ERS Drive (top view)
AC Input Power
Bonded Cabinet Ground Bus
AC Input Wiring to Standard Input Connector
1606-XLxxx
24V DC Control, Digital Inputs,
and Motor Brake Power
(customer-supplied)
2198 -Cxxxx-ERS Drive
(front view)
24V DC Input Wired to Standard Input Connector
2198-DB08-F or
2198 -DBRxx-F
AC Line Filter
(required for CE)

Drive Hardware and Input Power Configurations

Typical Kinetix 5300 systems include single-phase and three-phase standalone configurations.
In this example, a single drive is shown with input power to the standard AC and 24V DC input connectors.
Figure 1 - Typical Kinetix 5300 Standalone Installation
Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 15
Chapter 1 Start
1606-XL
Power Supply
Input
Allen-Bradley
L3L2
L1
DC+ SH
SB+ SB­S1 SC S2
MBRK
W
V
U
1
10
1
2
MFB
L3L2
L1
DC+ SH
SB+ SB­S1 SC S2
MBRK
W
V
U
1
10
1
2
MFB
Single-phase or
Three-phase
Input Power
Line Disconnect Device
Circuit
Protection
2097-Rx or 2198-Rxxxx Shunt Resistor (optional component)
2198 -Cxxxx-ERS Drives (top view)
AC Input Power
Bonded Cabinet
Ground Bus
2198-DB08-F or
2198 -DBRxx-F AC Line Filter
(required for CE)
Shared 24V (control power input)
2198 -H0x0-x-x shared-bus connection system for 24V bus-sharing configurations.
AC Input Wiring Connectors
1606-XLxxx
24V DC Control, Digital Inputs,
and Motor Brake Power
(customer-supplied)
219 8-Cxxxx-ERS Drives
(front view)
2198-DB08-F or
2198 -DBRxx-F AC Line Filter
(required for CE)
Circuit
Protection
In this example, two drives are shown with input power to the standard input connectors and control power input by using 24V shared-bus connectors.
With two or more drives in the drive configuration, each drive requires AC input power and line filter.
Figure 2 - Typical Kinetix 5300 Installation with 24V Shared-bus Connectors
16 Rockwell Automation Publication 2198-UM005A-EN-P - October 2020
Start Chapter 1
1606-XL
Power Supply
Input
Allen-Bradley
L3L2
L1
DC+ SH
SB+ SB­S1 SC S2
L3L2
L1
DC+ SH
SB+ SB­S1 SC S2
24+
24-
24+
24-
2198 -Cxxxx-ERS Drives (top view)
AC Input Power
24V DC connector wiring (control power input) to additional Kinetix 5300 servo drives.
1606-XLxxx
24V DC Control, Digital Inputs,
and Motor Brake Power
(customer-supplied)
With two or more drives in the configuration and the 24V shared-bus connectors are not used, each drive requires 24V DC input power.
Figure 3 - Typical Kinetix 5300 Installation without 24V Shared-bus Connectors
Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 17
Chapter 1 Start
MFB
1
10
20
11
20
MBRK+
MBRK-
MBRK
W
V
U
1
10
1
2
CA
T
.
N
O
.
L
D
C-M0
7
5
5
0
0
S
E
R
IA
L
NO
.
X
X
XX
X
X
X
XX
S
E
R
I
ES
A
w
ww
.a
b
.c
o
m
M
A
D
E
IN
U
S
A
MFB
20
MBRK
W
V
U
1
10
1
2
MFB
20
MBRK
W
V
U
1
10
Digital Inputs and Auxiliary Feedback Connector
• Accepts incremental encoder feedback (TTL) –Load feedback (dual loop) – Master feedback – Feedback-only
2090-CFBM7Dx and 2090-CPxM7DF Motor Feedback and Power Cables
Kinetix MPAR Electric Cylinders (MPAR-B3xxxx electric cylinder is shown)
Kinetix MP Motors and Actuators
(MPL-Bxxxx motor is shown)
LDAT-Sxxxxxx-xDx Linear Thrusters
2198-K53CK-D15M Feedback Connector Kit Accepts multiple encoder feedback types and provides battery-backup for multi-turn position data:
• Hiperface high-resolution absolute multi-turn and single-turn for: – Kinetix MPL-A/Bxxx-S/M, MPM-A/Bxxx-S/M, MPF-A/Bxxx-S/M, MPS-A/Bxxx-S/M servo motors – Kinetix MPL-A/Bxxx-E/V servo motors – Kinetix MPAS (ballscrew), MPAR, MPAI linear actuators –LDAT-Series (-xDx) linear thrusters
• Nikon (24-bit) high-resolution serial encoder –Kinetix TLP-A/Bxxx-xxx-D servo motors
• Tamagawa (17-bit) high-resolution serial encoder –Kinetix TL-AxxxP-B servo motors –Kinetix TLY-AxxxP-B servo motors
15-pin Motor Feedback
(MFB) Connector
2198 -Cxxxx-ERS Drive
(front view)
Kinetix MPAS Linear Stages
(MPAS-B9xxx ballscrew linear stage is shown)
Kinetix MPAI Heavy-duty Electric Cylinders (MPAI-B3xxxx heavy-duty electric cylinder is shown)
Induction Rotary Motors
• Open or closed loop
• With or without feedback
2090-CTFB-MxDD and 2090-CTPx-MxDF
Motor Feedback and Power Cables
2090-CFBM6Dx and 2090-CPxM6DF
Motor Feedback and Power Cables
20-pin I/O Connector With Aux Feedback Connections
Kinetix TLP Motors
(TLP-A100 motor is shown)
Kinetix TL/TLY Motors
(TLY-A110 motor is shown)
LDC-Series Linear Motors
(LDC-Cxxxxxxx linear motor shown)
LDL-Series Linear Motors
(LDL-
xxxxxxxx li
near motor shown)
2090-C
TFB-MxDD Feedback Cable
Provides battery-backup for multi-turn position data:
• Nikon (24-bit) high-resolution serial encoder – Kinetix TLP-A/Bxxx-xxx-D servo motors
• Generic sin/cos or digital AqB with UVW incremental encoders –MPL-A/B15xxx-H, MPL-A/B2xxx-H, MPL-A/B3xxx-H, MPL-A/B4xxx-H,
MPL-A/B45xxx-H rotary motors
–Kinetix TLY-Axxxx-H servo motors
-LDAT-Series (-xBx) linear thrusters
- LDC-Series and LDL-Series linear motors – Kinetix MPAS (direct drive)
• Support for 3rd party closed-loop control of Induction motors
Battery
Box

Motor and Auxiliary Feedback Configurations

Feedback connections are made at the 15-pin motor feedback (MFB) connector and auxiliary feedback connector. These examples list the feedback types and illustrate the use of compatible rotary motors and linear products with motor cables and the 2198-K53CK-D15M connector kit. For motor power and brake connections, see page 80
Figure 4 - Feedback Configuration Examples
.
18 Rockwell Automation Publication 2198-UM005A-EN-P - October 2020
Start Chapter 1
CompactLogix 5380 Controller
Studio 5000 Logix Designer
Application
1585J-M8CBJM-x
Ethernet (shielded) Cable
1734-AENTR POINT I/O™
EtherNet/IP Adapter
CompactLogix Controller Programming Network
PanelView™ 5310 Display Terminal
1585J-M8CBJM-OM15
0.15 m (6 in.) Ethernet cable
for drive-to-drive connections.
Kinetix 5300 Servo Drive System
842E-CM Integrated Motion Encoder

Typical Communication Configurations

The Kinetix 5300 drives support any Ethernet topology including linear, ring, and star by using ControlLogix or CompactLogix controllers.
These examples feature the CompactLogix 5380 programmable automation controllers (Bulletin 5069) that are part of the Logix 5000 family of controllers. The applications range from standalone systems to more complex systems with devices that are connected to the controller via an EtherNet/IP™ network.
Refer to CompactLogix 5380, Compact GuardLogix 5380, and CompactLogix 5480 Controller Specifications Technical Data, publication 5069-TD002
, for
more information on CompactLogix 5380 controllers.

Linear Topology

In this example, all devices are connected in linear topology. The Kinetix 5300 drives include dual-port connectivity, however, if any device becomes disconnected, all devices downstream of that device lose communication. Devices without dual ports must include the 1783-ETAP module or be connected at the end of the line.
Figure 5 - Kinetix 5300 Linear Communication Installation
2
2
1
1
10
1
MFB
10
1
U
V
W
MBRK
MBRK
MFB
2
1
10
1
U
V
W
MFB
2
1
10
1
U
U
V
V
W
W
MBRK
MBRK
MFB
Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 19
Chapter 1 Start
02
0
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
MBRK
W
V
U
1
10
1
2
MFB
MBRK
W
V
U
1
2
MFB
MBRK
W
V
U
1
2
MFB
MBRK
W
V
U
1
2
MFB
1
10
1
10
1
10
1734-AENTR POINT I/O EtherNet/IP Adapter
CompactLogix Controller Programming Network
1585J-M8CBJM-OM15
0.15 m (6 in.) Ethernet cable
for drive-to-drive connections.
PanelView 5310 Display Terminal
Kinetix 5300 Servo Drive System
CompactLogix 5380 Controller
Studio 5000 Logix Designer
Application
1585J-M8CBJM-x Ethernet
(shielded) Cable
842E-CM Integrated Motion Encoder

Ring Topology

In this example, the devices are connected by using ring topology. If only one device in the ring is disconnected, the rest of the devices continue to communicate. For ring topology to work correctly, a device level ring (DLR) supervisor is required (for example, the CompactLogix controller). DLR is an ODVA standard. For more information, refer to the EtherNet/IP Embedded Switch Technology Application Guide, publication ENET-AP005
Devices without dual ports require a 1783-ETAP module to complete the network ring.
Figure 6 - Kinetix 5300 Ring Communication Installation
.
20 Rockwell Automation Publication 2198-UM005A-EN-P - October 2020
Start Chapter 1
1585J-M8CBJM-x
Ethernet (shielded) Cable
1734-AENTR POINT I/O EtherNet/IP Adapter
CompactLogix Controller Programming Network
PanelView 5310 Display Terminal
1783-BMS
Stratix® 5700
Switch
Kinetix 5300 Servo Drive System
CompactLogix 5380 Controller
Studio 5000 Logix Designer
Application
842E-CM Integrated
Motion Encoder

Star Topology

In this example, the devices are connected by using star topology. Each device is connected directly to the switch.
Kinetix 5300 drives have dual ports, but in star topology all drives are connected to the switch, so the drives and other devices operate independently. The loss of one device does not impact the operation of other devices.
Figure 7 - Kinetix 5300 Star Communication Installation
You can use the 842E-CM integrated motion encoder for applications requiring an external encoder for gearing or camming to the Kineitx 5300 drive. By providing auxiliary feedback directly through the EtherNet/IP network, the 842E-CM encoder helps eliminate the need for point-to-point wiring while letting customers use the encoder in a variety of network topologies. For more information, see the 842E-CM Integrated Motion on EtherNet/IP Product Profile, publication 842ECM-PP001
2
2
2
1
1
1
1
1
1
10
10
10
U
V
W
MBRK
MBRK
MFB
MFB
U
U
V
V
W
W
MBRK
MFB
.
Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 21
Chapter 1 Start
1585J-M8CBJM-x Ethernet (shielded) Cable
Studio 5000 Logix Designer
Application
AC Input Power
Safety Device
2198 -Cxxxx-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 TLP Servo Motors
Safe Torque Off (STO) Connectors
Any Logix 5000 Controller with Motion EtherNet/IP Capability (CompactLogix 5380 controller is shown)
2198 -Cxxxx-ERS Servo Drives
(top view)
ControlLogix 5570 Controllers or GuardLogix 5570 Safety Controllers ControlLogix 5580 Controllers or GuardLogix 5580 Safety Controllers
CompactLogix 5370 Controllers or Compact GuardLogix 5370 Safety Controllers CompactLogix 5380 or 5480 Controllers or Compact GuardLogix 5380 Safety Controllers

Safe Torque Off Configuration

The 2198-Cxxxx-ERS drives use the Safe Torque Off (STO) connector for wiring external safety devices and cascading hardwired safety connections from one drive to another.
Figure 8 - Safe Torque Off (hardwired) Configuration
Allen-Bradley
1606-XL
Power Supply
Input
DC+ SH
DC+ SH
DC+ SH
DC+ SH
L3L2
L3L2
L3L2
L3L2
L1
L1
24-
24-
24+
24+
SB+
SB+
SB+ SB­S1 SC S2
SB-
SB-
S1
S1
SC
SC
S2
S2
L1
L1
24-
24-
24+
24+
SB+ SB­S1 SC S2
TM
DC INPUT
DC INPUT
Logix5585
0000
SAFETY ON
NET
LINK
OKFORCESDRUN
AC OUTPUT
2
1
10
1
MFB
2
2
2
1
1
1
10
10
10
1
1
1
U
U
V
V
W
W
MBRK
MBRK
MBRK
MFB
MFB
U
U
V
V
W
W
MBRK
MFB
22 Rockwell Automation Publication 2198-UM005A-EN-P - October 2020
Start Chapter 1
Catalog Number
Kinetix 5300 drive catalog numbers and performance descriptions.
Explanation
Table 3 - Kinetix 5300 Servo Drives
Drive Cat. No. Frame Size Input Voltage
2198 -C1004- ERS 1
2198-C1007-ERS 1
2198-C1015-ERS 2
2198-C1020-ERS 2
2198-C2030-ERS 2 2198-C2055-ERS 3 10.30 40.2 108.0 2198-C2075-ERS 3 12.22 47.7 127.5 2198-C4004-ERS 1 2198-C4007-ERS 1 1.55 2.9 9.3 2198-C4015-ERS 2 2.78 5.2 18.0 2198-C4020-ERS 2 3.90 7.3 23.8 2198-C4030-ERS 2 6.25 11.7 34.1 2198-C4055-ERS 3 12.08 22.6 58.5 2198-C4075-ERS 3 14.70 27.5 73.5
85…132V rms single-phase 170…253V rms single-phase 170…253V rms three-phase
170…253V rms three-phase
342…528V rms three-phase
Continuous Output Power
kW
0.22
0.46
0.72
0.36
0.76
1.18
0.67
1.41
2.18
0.97
2.02
3.13
5.02 19.6 61.0
0.86 1.6 5.3
Continuous Output Current
A (rms)
2.8
4.6
8.5
12.2
Peak Output Current
A (rms)
6.6
9.5
9.5
9.7
15.5
15.5
12.2
20.5
29.2
25.0
40.6
40.6
Table 4 - Shared-bus Connector Kit Catalog Numbers
Kit Cat. No. Frame Size Description
2198-TCON-24VDCIN36 1, 2, or 3 Control power input connector
2198-H040-P-T 1 or 2
2198 -H070-P -T 3
• Control power T-connector
• Bus-bar connectors, quantity 2
• Control power T-connector
• Bus-bar connectors, quantity 2
Table 5 - Kinetix 5300 Servo Drive Accessories
Cat. No. Description
2198-K53CK-D15M 15-pin motor-feedback connector kit.
2198-CONKIT-PWR20
2198-CONKIT-PWR30 Connector set included with 2198-C2030 drives. Replacement sets are also available. 2198-CONKIT-PWR75 Connector set included with Frame 3 drives. Replacement sets are also available.
Connector set included with the Frame 1 and 2 drives (except 2198-C2030 drives). Replacement sets are also available.
Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 23
Chapter 1 Start

Agency Compliance If this product is installed within the European Union and has the CE mark,

the following regulations apply.
ATTENTION: 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 Determine the Input
Power Configuration 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 comply with IEC 61800-3 (category C3) and IEC 61800-5-2, these requirements apply:
• Install an AC line filter (catalog numbers 2198-DBR20-F, 2198-DBR40-F, or 2198-DB08-F) with 50 mm (1.97 in.) minimum clearance between the drive and filter. Minimize the cable length as much as possible.
• Bond drive and line filter grounding screws by using a braided ground strap as shown in Figure 36 on page 71
• Use 2090-Series motor power cables or use connector kits and connect the cable shields to the subpanel with clamp provided.
• Use 2090-Series motor feedback cables or use connector kits and properly connect the feedback cable shield.
• Drive-to-motor cables must not exceed 50 m (164 ft), depending on AC input power and feedback type. See Maximum Cable Lengths for specifications.
• Install the Kinetix 5300 system inside an enclosure. Run input power wiring in conduit (grounded to the enclosure) outside of the enclosure.
• Separate signal and power cables. Segregate input power wiring and motor power cables from control wiring and motor feedback cables. Use shielded cable for power wiring and provide a grounded 360° clamp termination.
.
on page 82
.
Refer to Appendix A on page 169 interconnect diagrams.
for input power wiring and drive/motor
24 Rockwell Automation Publication 2198-UM005A-EN-P - October 2020
Chapter 2
Plan the Kinetix 5300 Drive System Installation
This chapter describes system installation guidelines used in preparation for mounting your Kinetix® 5300 drive components.
Top ic Pa ge
System Design Guidelines 25 Electrical Noise Reduction 34
ATTENTION: 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.

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
https://www.rockwellautomation.com/global/support/selection.page

System Mounting Requirements

• To comply with UL and CE requirements, the Kinetix 5300 drive systems must be enclosed in a grounded conductive enclosure offering protection as defined in standard IEC 60529 to IP20 such that they are not accessible to an operator or unskilled person. A NEMA 4X enclosure exceeds these requirements providing protection to IP66.
• To maintain the functional safety rating of the Kinetix 5300 drive system, this enclosure must be appropriate for the environmental conditions of the industrial location and provide a protection class of IP54 or higher.
• The panel that 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 in accordance with pollution degree 2 (IEC 61800-5-1) because the product is rated to protection class IP20 (IEC 60529). To comply with UL applications, cabinet ventilation is allowed on the left side and right side of the panel.
• Size the drive enclosure so as not to exceed the maximum ambient temperature rating. Consider heat dissipation specifications for all drive components.
.
Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 25
Chapter 2 Plan the Kinetix 5300 Drive System Installation
• Drive-to-motor cables must not exceed 50 m (164 ft), depending on input voltage and feedback type. Refer to Maximum Cable Lengths for specifications.
on page 82
IMPORTANT
System performance was tested at these cable length specifications. These limitations also apply when meeting CE requirements.
• 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 and line filter grounding screws by using a braided ground strap as shown in Figure 36 on page 71
.
Refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001
, to better understand the concept of electrical noise
reduction.

AC Line Filter Selection

An AC line filter is required to meet CE requirements. Install an AC line filter with 50 mm (1.97 in.) minimum clearance between the drive and filter. Minimize the cable length as much as possible.
Table 6 - AC Line Filter Selection
Drive Cat. No. Frame Size
2198-C1004-ERS 2198-C1007-ERS 2198-C1015-ERS 2198-C1020-ERS 2198 -C2030-ERS
2198-C2075-ERS 2198 -C4004-ERS 2198-C4007-ERS 2198-C4015-ERS
2198-C4030-ERS 2198-DBR20-F 2198-C4055-ERS 2198-C4075-ERS
12198-DB08-F
2
3
1
22198 -C4020-ERS
32198-DBR40-F
AC Line Filter Cat. No.
2198-DBR20-F
2198-DBR40-F2198-C2055-ERS
2198 -DB08 -F
26 Rockwell Automation Publication 2198-UM005A-EN-P - October 2020
Plan the Kinetix 5300 Drive System Installation Chapter 2

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 5300 power specifications in the Kinetix Servo Drives Technical Data, publication
KNX-TD003
.
IMPORTANT
When using an autotransformer, make sure that the phase to neutral/ ground voltage does not exceed the input voltage ratings of the drive.
IMPORTANT
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).
Follow these guidelines when specifying the use of line reactors:
• For single-phase drives up to 138V line to line or line to neutral, a line reactor must be used if the source transformer is greater than 15 kVA, max and 3% impedance, min.
• For single-phase drives 170V…253V line to neutral or three-phase drives 170V…253V line to line, a line reactor must be used if the source transformer is greater than 75 kVA, max and 3% impedance, min.
• For three-phase drives 342V…528V line to line, a line reactor must be used if the source transformer is greater than 150 kVA, max and 3% impedance, min.
EXAMPLE
Sizing a transformer to the power requirements of the drive: 2198-C2030-ERS = 5.02 kW x 1.5 = 7.53 KVA transformer (minimum) 2198-C4015-ERS = 2.78 kW x 1.5 = 4.17 KVA transformer (minimum)
See Kinetix Servo Drives Specifications Technical Data, publication
KNX-TD003
, for Kinetix 5300 drive specifications, including power ratings.

Circuit Breaker/Fuse Selection

The Kinetix 5300 drives use internal solid-state motor short-circuit protection and, when protected by suitable branch circuit protection, are rated for use on a circuit capable of delivering up to 200,000 A (fuses, UL applications), 10,000 A (miniature circuit breakers), and 65,000 A (molded-case circuit breakers).
Refer to Power Wiring Examples
ATTENTION: Do not use circuit protection devices on the output of an AC drive as an isolating disconnect switch or motor overload device. These devices are designed to operate on sine wave voltage and the drive’s PWM waveform does not allow it to operate properly. As a result, damage to the device occurs.
Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 27
, on page 170, for the wiring diagram.
Chapter 2 Plan the Kinetix 5300 Drive System Installation
Table 7 - Kinetix 5300 UL/CSA Circuit Protection Specifications
Drive Cat. No.
2198-C1004-ERS
2198-C1007-ERS KTK-R-10 140U-D6D3-B80
2198-C1015-ERS KTK-R-15 140U-D6D3-C12
2198-C1020-ERS KTK-R-25 140U-D6D3-C20
2198-C2030-ERS KTK-R-30 140U-D6D3-C30
2198-C2055-ERS LPJ-50SP 140G-G6C3-C50
2198-C2075-ERS LPJ-60SP 140G-G6C3-C60
2198-C4004-ERS
2198-C4007-ERS KTK-R-6 140U-D6D3-B40
2198-C4015-ERS KTK-R-12 140U-D6D3-B80
2198-C4020-ERS KTK-R-15 140U-D6D3-C12
2198-C4030-ERS KTK-R-25 140U-D6D3-C15
2198-C4055-ERS LPJ-30SP 140U-D6D3-C30
2198-C4075-ERS LPJ-35SP 140U-D6D3-C30
2198-C1004-ERS
2198-C1007-ERS KTK-R-10 140U-D6D2-B80
2198-C1015-ERS KTK-R-15 140U-D6D2-C12
2198-C1020-ERS KTK-R-25 140U-D6D2-C20
2198-C1004-ERS
2198-C1007-ERS KTK-R-10 140U-D6D2-B80
2198-C1015-ERS KTK-R-15 140U-D6D2-C12
2198-C1020-ERS KTK-R-25 140U-D6D2-C20
AC Inpu t Voltage, nom
200…240V AC
380…480V AC
100…120V AC
200…240V AC
Phase
Three phase
Single phase
Bussmann Fuses Cat. No.
KTK-R-6 140U-D6D3-B40
KTK-R-3 140U-D6D3-B20
KTK-R-6 140U-D6D2-B40
KTK-R-6 140U-D6D2-B40
Molded Case CB Cat. No.
Table 8 - Kinetix 5300 IEC (non-UL/CSA) Circuit Protection Specifications
Drive Cat. No.
2198-C1004-ERS
2198-C1007-ERS 10 1489-M3C100 140U-D6D3-B80
2198-C1015-ERS 16 1489-M3C160 140U-D6D3-C12
2198-C1020-ERS 25 1489-M3C250 140U-D6D3-C20
2198-C2030-ERS 32 1489-M3C400 140U-D6D3-C30
2198-C2055-ERS 40 – 140G-G6C3-C50
2198-C2075-ERS 50 – 140G-G6C3-C60
2198-C4004-ERS
2198-C4007-ERS 6 1489-M3C060 140U-D6D3-B40
2198-C4015-ERS 12 1489-M3C100 140U-D6D3-B80
2198-C4020-ERS 16 1489-M3C130 140U-D6D3-C12
2198-C4030-ERS 25 1489-M3C200 140U-D6D3-C15
2198-C4055-ERS 32 1489-M3C350 140U-D6D3-C30
2198-C4075-ERS 32 1489-M3C400 140U-D6D3-C30
2198-C1004-ERS
2198-C1007-ERS 10 1489-M2C100 140U-D6D2-B80
2198-C1015-ERS 16 1489-M2C160 140U-D6D2-C12
2198-C1020-ERS 25 1489-M2C250 140U-D6D2-C20
AC Input Voltage, nom
200…240V AC
380…480V AC
100…120V AC or 200…240V AC
Phase
Three phase
Single phase
DIN gG Fuses
Amps, max
6 1489-M3C060 140U-D6D3-B40
2 1489-M3C030 140U-D6D3-B20
6 1489-M2C060 140U-D6D2-B40
Miniature CB Cat. No.
Molded Case CB Cat. No.
28 Rockwell Automation Publication 2198-UM005A-EN-P - October 2020
Plan the Kinetix 5300 Drive System Installation Chapter 2

24V Control Power Evaluation

The Kinetix 5300 drive system requires 24V DC input for its control circuitry. Due to the 24V shared-bus connection system and the 24V current requirements of the Kinetix 5300 drives, a thorough evaluation of control power is required prior to implementation. Consider the following when sizing such a system:
• Verify that the 24V DC power supply is capable of supplying the 24V current requirements of your Kinetix 5300 drive system. See Control
Power on page 58 to determine the 24V current requirements.
For systems with a high 24V current demand, consider installing a separate 24V power supply for each drive to more evenly divide the 24V current demand.
• Verify that the wiring being used is capable of supplying the Kinetix 5300 drive system with a voltage within the 24V input-voltage range; 24V ±10% (21.6…26.4V DC). Consider the following:
- Mount the 24V power supply as close to the Kinetix 5300 drive system
as possible to minimize input voltage drop.
- Install larger gauge wire, up to 2.5 mm
power when using the connector plugs included with the module; or use the 24V shared-bus connection system to lower the DC wire resistance with up to 10 mm
2
(6 AWG) and result in a lower voltage
drop.
• For best practices of twisting 24V wires and routing cleanly, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001
.
2
(14 AWG) for 24V control
IMPORTANT
The 24V current demand, wire gauge, and wire length all impact the voltage drop across the wiring being used.
Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 29
Chapter 2 Plan the Kinetix 5300 Drive System Installation
2198-R014 and 2198-R031
Shunt Modules
2097-R6, 2097-R7, and 2198-R004 Shunt Resistors

Passive Shunt Considerations

The Kinetix 5300 drives include an internal shunt that is wired to the shunt resistor connector at the factory. Bulletin 2097-Rx and 2198-Rxxxx external passive shunts are also available to provide additional shunt capacity for applications where the internal shunt capacity is exceeded.
IMPORTANT
Keep the internal shunt connected unless you have an external passive shunt to connect.
Table 9 - Passive-shunt Options
Internal Shunt
Drive Cat. No.
2198-C1004-ERS 2198-C1007-ERS – – – X X 2198-C1015-ERS 2198-C1020-ERS X – X X X 2198-C2030-ERS X – X X X 2198-C2055-ERS 2198-C2075-ERS X X X X X 2198-C4004-ERS 2198-C4007-ERS – – – X X 2198-C4015-ERS 2198-C4020-ERS X – X X X 2198-C4030-ERS X – X X X 2198-C4055-ERS 2198-C4075-ERS X X X X X
(1) Shunt resistor selection is based on the needs of your actual hardware configuration.
Specifications
ΩW2198-R004 2198-R014 2198-R031 2097-R6 2097-R7
100 30
60 50
40 75
100 30
60 50
40 75
–––XX
X–XXX
XXXXX
–––XX
X–XXX
XXXXX
Bulletin 2198
External Shunt Module
Cat. No.
(1)
Bulletin 2097
External Shunt Module
Cat. No.
(1)
Catalog numbers 2198-R014 and 2198-R031 are composed of resistor coils that are housed inside an enclosure. Catalog numbers 2097-R6, 2097-R7, and 2198-R004 are shunt resistors without an enclosure.
Figure 9 - External Passive Shunts
ATTENTION: See Table 10 for supported shunt modules. Using an unsupported shunt module can lead to (drive-side) shunt circuitry damage, shunt damage, or drive faults.
30 Rockwell Automation Publication 2198-UM005A-EN-P - October 2020
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