Rockwell Automation Kinetix 5300 User Manual

This manual links to Knowledgebase Technote: Kinetix 5300 Servo Drive

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

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

24+

DC+ SH

24-

SB+ SBS1 SC S2

MBRK

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

DC+ SH

SB+ SBS1 SC S2

MBRK

MFB

L3L2

DC+ SH

SB+ SBS1 SC S2

MBRK

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

DC+ SH

SB+ SBS1 SC S2

L3L2

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

MBRK+

MBRK-

MBRK

C-M0

MFB

MBRK

MFB

MBRK

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

MFB

MBRK

MFB

MBRK

MFB

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 19

Chapter 1 Start

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

MFB

MBRK

MFB

MBRK

MFB

MBRK

MFB

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

MBRK

MFB

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

L3L2

24-

24+

SB+

SB+ SBS1 SC S2

SB-

24-

24+

SB+ SBS1 SC S2

DC INPUT

Logix5585

0000

SAFETY ON

NET

LINK

OKFORCESDRUN

AC OUTPUT

MFB

MBRK

MFB

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

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

9.7

15.5

12.2

20.5

29.2

25.0

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

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

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

(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

(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

Plan the Kinetix 5300 Drive System Installation Chapter 2

A =

0.38Q

1.8T - 1.1

Table 10 - External Shunt Module Specifications

Shunt Module Cat. No.

2097-R6 75 150 0.3 (0.7) 2097-R7 150 80 0.2 (0.4) 2198-R004 33 400 1.8 (4.0) 2198-R014 9.4 1400 9.1 (20) 2198 -R031 33 310 0

(1) The 2198-R031 shunt is limited to 2000 W when used with 2198-C1015-ERS, 2198-C1020-ERS, 2198-C2030-ERS, 2198-C4015-ERS,

2198-C4020-ERS, 2198-C4030-ERS (frame 2) drives.

Resistance

Ohms

Continuous Power

(1)

Weight, approx

kg (lb)

16.8 (37)

How the Bulletin 2097-Rx and 2198-Rxxx shunts connect to the Kinetix 5300 drive is explained in External Passive-shunt Connections illustrated with interconnect diagrams in Passive Shunt Wiring Examples

page 359

on page 178 and

Enclosure Selection

This example is provided to assist you in sizing an enclosure for your Kinetix 5300 drive system. You need heat dissipation data from all components planned for your enclosure to calculate the enclosure size (refer to Table 11

IMPORTANT To comply with UL requirements, the minimum cabinet size must be

508 mm (20.0 in.), height; 406 mm (16.0 in.), width; and 300 mm (11.8 in.) depth.

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

4.08Q

A =

T - 1.1

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

). The exterior surface of all six sides of an

(m 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 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 5300 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.

A =

0.38 (416)

1.8 (30) - 1.1

= 2.99 m

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.

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 31

Chapter 2 Plan the Kinetix 5300 Drive System Installation

Because the minimum cabinet depth to house the Kinetix 5300 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.

Table 11 - Power Dissipation Specifications

Kinetix 5300 Drive Cat. No.

2198-C1004-ERS 2198-C1007-ERS 14 19 24 30 37 2198-C1015-ERS 26 36 47 59 71 2198-C1020-ERS 35 52 71 91 112 2198-C2030-ERS 53 87 124 164 206 2198-C2055-ERS 87 139 193 250 308 2198-C2075-ERS 97 159 225 293 364 2198-C4004-ERS 2198-C4007-ERS 20 30 39 48 58 2198-C4015-ERS 33 48 62 78 93 2198-C4020-ERS 39 58 79 101 124 2198-C4030-ERS 57 89 123 157 193 2198-C4055-ERS 112 171 231 293 356 2198-C4075-ERS 134 204 273 344 417 2198-C1004-ERS 2198-C1007-ERS 12 17 21 27 32 2198-C1015-ERS 23 32 42 53 64 2198-C1020-ERS 30 44 59 77 96 2198-C1004-ERS 2198-C1007-ERS 14 19 24 30 37 2198-C1015-ERS 25 36 47 59 72 2198-C1020-ERS 35 52 72 92 115

(1) Internal shunt power is not included in the calculations and must be added based on utilization.

AC Input, nom

200…240V three-phase

380…480V three-phase

100…120V single-phase

200…240V single-phase

20% 40% 60% 80% 100%

12 16 20 25 29

16 21 26 31 36

11 14 18 22 26

12 16 20 25 30

Usage as a % of Rated Power Output

(watts)

(1)

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

Plan the Kinetix 5300 Drive System Installation Chapter 2

MBRK

Clearance right of the drive is not required.

Clearance left of the

drive is not required.

Kinetix 5300

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 KNX-TD003

for Kinetix 5300 drive dimensions.

MBRK

MFB

MBRK

MFB

MBRK

MFB

50 mm

(1.97 in.)

50 mm

(1.97 in.)

50 mm

(1.97 in.)

50 mm

(1.97 in.)

Zero-stack Tab and

Cutout Aligned

The 24V shared-bus system

is not shown for clarity.

Wire Connection

(1)

Ter m in al s

Wire Connection

(1)

Ter m in al s

Minimize Cable Length from Filter to Drive

Minimum Clearance Requirements

This section provides information to assist you in sizing your cabinet and positioning your Kinetix 5300 drive:

• Additional clearance is required for cables and wires or the 24V DC 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.

Figure 10 - Minimum Clearance Requirements

IMPORTANT

Mount the drive in an upright position as shown to provide proper air flow.

In 24V shared-bus configurations (optional), drives must be spaced by aligning the zero-stack tab and cutout. Install the AC line filter (required for CE) with 50 mm (1.97 in.) minimum clearance between the drive and filter or between filters, when more than one filter is used. Minimize the cable length as much as possible.

Figure 11 - 24V Shared-bus and Line Filter Clearance Requirements

(1) Clearance required at the terminals for NEC specified bend radius depends on the wire size in use.

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 33

Chapter 2 Plan the Kinetix 5300 Drive System Installation

Electrical Noise Reduction This section outlines best practices that minimize the possibility of noise-

related failures as they apply specifically to Kinetix 5300 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

HF Bond for 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 high-frequency energy.

IMPORTANT

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.

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

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

Plan the Kinetix 5300 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 Weld ed Stud

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

Welded Stud

Subpanel

Star Washer

Use plated panels or scrape paint on front of panel.

Subpanel

Nut

Star Washer

Flat 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 12 - Recommended Bonding Practices for Painted Panels

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 35

Chapter 2 Plan the Kinetix 5300 Drive System Installation

Wire Braid

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 Braid

25.4 mm (1.0 in.) by

6.35 mm (0.25 in.)

HF Bond for 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:

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

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

Figure 13 - Multiple Subpanels and Cabinet Recommendations

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.

contact.

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

Plan the Kinetix 5300 Drive System Installation Chapter 2

(1)

MBRK

MFB

50 mm

(1.97 in.)

Dirty Wireway

Clean Wireway

Motor Power Cables

Circuit

Protection

24V DC

Power Supply

AC Line Filter

(can be required for CE)

Kinetix 5300 Servo Drive

(1)

Very Dirty Filter/AC Input Connections

Segregated (not in wireway)

Route single motor cables in shielded cable.

Route registration and communication

signals in shielded cables.

Hardwired Safety Cable

24V Input

Ethernet Cable

(shielded)

I/O Cable

Feedback Cable

Establish Noise Zones

Observe these guidelines when routing cables used for Kinetix 5300 drives:

• The clean zone (C) is right of the drive system and includes the feedback cables, 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 power cables.

• The very dirty zone (VD) is limited to where the AC line (EMC) filter VAC output jumpers over to the drive (or the first drive when two or more drives are zero-stacked together). Shielded cable is required only if the very dirty cables enter a wireway. Keep filter wiring as short as possible.

Figure 14 - 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

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 37

Chapter 2 Plan the Kinetix 5300 Drive System Installation

Cable Categories for Kinetix 5300 Systems

These tables indicate the zoning requirements of cables connecting to the Kinetix 5300 drive components.

Table 12 - Kinetix 5300 Drive

Wire/Cable Connector Function

L1, L2, L3 (shielded cable) L1, L2, L3 (unshielded cable) X – – – – DC+/SH (shunt) Shunt resistor – X – – – U, V, W Motor power Motor feedback (15-pin) Motor feedback (MFD) – X X Motor brake Motor brake X – X

Control power (24V DC)

Safety enable for Safe Torque Off Safe Torque Off (STO) – X – – –

Digital I/O

Ethernet

Zone Method

Ver y Dirty

AC input power

Power for control logic, Safe Torque Off, and motor holding brake.

Registration input ––X– X Other dedicated digital inputs – X – – – Auxiliary feedback – – X X PORT1

PORT2

–X–– X

–

–X–– –

––X– X

Dirty Clean

X–

Ferr ite Sleeve

–

Shielded Cable

Noise Reduction Guidelines for Drive Accessories

Refer to this section when mounting an AC (EMC) line filter or external passive-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 37

• Mount the AC line filter on the same panel as the Kinetix 5300 drive with 50 mm (1.97 in.) minimum clearance between the drive and filter. Minimize the cable length as much as possible.

• Good HF bonding to the panel is critical. For painted panels, refer to the examples on page 35

• Segregate input and output wiring as far as possible.

IMPORTANT

for an example):

CE test certification applies to only the AC line filter used with a single drive. Sharing a line filter with more than one drive can perform satisfactorily, but the customer takes legal responsibility. See System Design for Control of Electrical Noise Reference Manual, publication

GMC-RM001

, for more information.

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

Plan the Kinetix 5300 Drive System Installation Chapter 2

Dirty Wireway

Clean Wireway

Motor Power Cables

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).

Twisted pair, two twists per foot (min) (2nd choice).

Circuit

Protection

Route single motor cables in shielded cable.

Route registration and communication

signals in shielded cables.

24V DC

Power Supply

AC Line Filter

(required for CE)

Hardwired Safety Cable

Motor Feedback Cable

Kinetix 5300

Servo Drive

Ethernet Cable

(shielded)

I/O Cable

External Passive Shunt Resistor

Observe these guidelines when mounting your Bulletin 2097 or Bulletin 2198 external passive-shunt resistor outside of 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.

Figure 15 - External Shunt Resistor Outside the Enclosure

50 mm

(1.97 in.)

MBRK

MFB

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 39

Chapter 2 Plan the Kinetix 5300 Drive System Installation

Dirty Wireway

Clean Wireway

Motor Power 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). Twisted pair, two twists per foot (min) (2nd choice).

Circuit

Protection

Route single motor cables in shielded cable.

Route registration and communication

signals in shielded cables.

24V DC

Power Supply

AC Line Filter

(required for CE)

150 mm (6.0 in.)

clearance (min) on all four

sides of the shunt resistor.

Hardwired Safety Cable

Motor Feedback Cable

Ethernet Cable

(shielded)

I/O Cable

When mounting your Bulletin 2097 or Bulletin 2198 passive-shunt resistor inside the enclosure, follow these additional guidelines:

• Mount metal-clad modules anywhere in the dirty zone, but as close to the

• Route shunt power wires with other very dirty wires.

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

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

Figure 16 - External Shunt Resistor Inside the Enclosure

Kinetix 5300 drive as possible.

the cabinet as possible.

cables.

50 mm

(1.97 in.)

MBRK

MFB

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

Chapter 3

Mount the Kinetix 5300 Drive System

This chapter provides the system installation procedures for mounting your Kinetix® 5300 drives to the system panel.

Top ic Pa ge

Determine Mounting Order 42 Drill-hole Patterns 44 Mount Your Kinetix 5300 Drive 50

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 5300 drives prior to applying power. Once power is applied, connector terminals can have voltage present even when not in use.

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 41

Chapter 3 Mount the Kinetix 5300 Drive System

2198 -Cxxxx-ERS Drives

(front view)

Zero-stack Tab and Cutout Engaged

2198 -Cxxxx-ERS Drive System

(front view)

Frame 3

Drive

Frame 2

Drives

Frame 1

Drives

Determine Mounting Order When drives are mounted by using the zero-stack feature, they must be

mounted from left to right in descending frame-size order. For the drives 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.

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.

IMPORTANT

Engaging the zero-stack tab and cutout from drive-to-drive is required for 24V DC shared-bus drive configurations. This is done to make sure the drive connectors are spaced properly to accept the bus-bars and T-c onn ectors.

Figure 17 - Zero-stack Tab and Cutout Example

IMPORTANT

Mount drives in descending order, left to right, according to frame size.

Figure 18 - Drive Mounting Order Example

MFB

V W

MBRK

U V W

MBRK

MFB

U V W

MBRK

MFB

MBRK

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

Mount the Kinetix 5300 Drive System Chapter 3

2198 -Cxxxx-ERS Drive System (top view)

Frame 2 drives are shown.

Control Power Wiring Connector

Control Power T-connectors

Bus-bar Connectors

(1)

(frame 1 and 2 bus-bars are shown)

From 24V DC Supply

Zero-stack Tab

and Cutout Engaged

Shared-bus Connection System

The shared-bus connection system is used to extend 24V control input from drive-to-drive in shared-bus configurations.

IMPORTANT

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 24V DC.

• 24V DC T-connectors that plug into the drives downstream from the first drive where 24V control power is shared.

• Bus bars that connect between drives to extend the 24V DC control power from drive-to-drive.

Figure 19 - Connection System Example

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

between frame 3, frame 2, and frame 1 drives.

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-UM005A-EN-P - October 2020 43

Chapter 3 Mount the Kinetix 5300 Drive System

243.84

5.00

193.68

4.51

273.70

52.50

34.00

8x ØM4 (#8-32)

Frame 3

Standalone Drive

Frame 1

Standalone Drive

Frame 2

Standalone Drive

Hole spacing is measured in millimeters and not

converted to inches to avoid errors due to rounding.

Drill-hole Patterns Hole patterns for drives mounted in zero-stack or shared-bus configuration

are provided for mounting your drives to the panel.

• 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.

These hole patterns apply to standalone drives.

Figure 20 - Frame 1, Frame 2, and Frame 3 Standalone Hole Patterns

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

Mount the Kinetix 5300 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 54.51 104.51 154.51 204.51 254.51 304.51 354.51

B 0 50.0 100.0 150.0 200.0 250.0 300.0 350.0

A 5.00 60.0 115 .0 17 0.0 225 .0 28 0.0 335 .0 39 0.0

B 0 55.0 110.0 165.0 220.0 275.0 330.0 385.0

Hole spacing is measured in millimeters and not

converted to inches to avoid errors due to rounding.

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

Figure 21 - 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

193.68

Frame 2

243.84

50.0

16x

ØM4 (#8-32)

50.0

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 45

Chapter 3 Mount the Kinetix 5300 Drive System

Hole spacing is measured in millimeters

and not converted to inches to avoid

errors due to rounding.

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 21

Figure 22 - Frame 2 to Frame 1 Hole Pattern

243.84

Axis 1

(frame 2)

5.00

50.15

Axis 2

(frame 1)

57.00

4x ØM4 (#8-32)

243.83

52.50

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

52.50

85.20

137.70

170.40

222.90

255.60

308.10

340.80

393.30

426.0

478.50

511.20

563.70

596.40

648.90

Axis 1 Axis 2 Axis 3 Axis 4

Axis 5 Axis 6 Axis 7 Axis 8

32x

ØM4 (#8-32)

34.00

119.20

204.40

289.60

374.80

460.0

545.20

630.40

85.20

Hole spacing is measured in millimeters and not

converted to inches to avoid errors due to rounding.

Mount the Kinetix 5300 Drive System Chapter 3

This hole pattern applies when all drives in the system are frame 3 drives. There are 85.20 mm between mounting holes, as shown.

Figure 23 - Frame 3 Hole Pattern

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 47

Chapter 3 Mount the Kinetix 5300 Drive System

273.70

52.50

6x ØM4 (#8-32)

Axis 1

(frame 3)

Axis 2

(frame 1)

272.23

78.55

92.70

97.20

34.00

Hole spacing is measured in millimeters

and not converted to inches to avoid

errors due to rounding.

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 21

Figure 24 - Frame 3 to Frame 1 Hole Pattern

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

Mount the Kinetix 5300 Drive System Chapter 3

Hole spacing is measured in millimeters

and not converted to inches to avoid

errors due to rounding.

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 21

Figure 25 - Frame 3 to Frame 2 Hole Pattern

273.70

Axis 1

(frame 3)

34.00

Axis 2

(frame 2)

100.00

6x ØM4 (#8-32)

272.24

52.50

28.40

95.00

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 49

Chapter 3 Mount the Kinetix 5300 Drive System

Kinetix 5300 Servo Drives (frame 1 drives shown)

Top Screws

(bottom screws not shown)

Zero-stack Tab

and Cutout Engaged

Mount Your Kinetix 5300 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 5300 drives to the panel.

1. Lay out the hole pattern for each Kinetix 5300 drive in the enclosure. Refer to Establish Noise Zones

on page 37 for panel layout

recommendations.

IMPORTANT

To improve the bond between the Kinetix 5300 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 Drill-hole Patterns

on page 44

beginning

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 HF Bond for Modules

on page 34.

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

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

cutouts are engaged. Zero-stack mounting is required based on configuration, refer to the

Zero-stack Tab and Cutout Example

6. Tighten all mounting fasteners. Apply 2.0 N•m (17.7 lb•in) maximum torque to each fastener.

on page 42.

Chapter 4

Connector Data and Feature Descriptions

This chapter illustrates drive connectors and indicators, including connector pinouts, and provides descriptions for Kinetix® 5300 drive features.

Top ic Pa ge

Kinetix 5300 Connector Data 52 Understand Control Signal Specifications 56 Feedback Specifications 58 Safe Torque Off Safety Features 65

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 51

Chapter 4 Connector Data and Feature Descriptions

L3L2

24+

DC+ SH

24-

SB+ SB-

S1 SC S2

SB+

SBS1 SC S2

2 1

MOD NET

MBRK

MFB

SELECT

BACK

KINETIX

5300

DANGER

Electric shock risk. Power o and wait 5 minutes.

Kinetix 5300 Drive, Front View (2198-C1004-ERS drive is shown)

Kinetix 5300, Top View (2198-C1004-ERS drive is shown)

Shared-bus 24V Input Wiring Connector

Kinetix 5300, Bottom View (frame 2 and 3 drives only)

Cooling Fan

Kinetix 5300 Connector Data

Use these illustrations to identify the connectors and indicators for the Kinetix 5300 drive modules.

Figure 26 - Kinetix 5300 Drive Features and Indicators

Item Description Item Description Item Description

1 Motor cable shield clamp 7 Zero-stack mounting tab/cutout 13 Motor brake connector 2 Motor feedback (MFB) connector 8 Four-character status display 14 Ground terminal

Digital inputs and auxiliary feedback connector

9 Navigation pushbuttons 15 Shunt resistor connector

4 Ethernet (PORT1) RJ45 connector 10 Link speed status indicators 16 AC input power connector 5 Ethernet (PORT2) RJ45 connector 11 Link/Activity status indicators 17 24V control input power connector

Module and Network status indicators

12 Motor power connector 18 Safe Torque Off (STO) connector

Safe Torque Off Connector Pinout

For the hardwired Safe Torque Off (STO) connector pinouts, feature descriptions, and wiring information, refer to Chapter 9

page 159

beginning on

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

Connector Data and Feature Descriptions Chapter 4

Input Power Connector Pinouts

Table 13 - AC Input Power Connector

Pin Description Signal

Chassis ground

L3 L2 L2 L1 L1

Three-phase input power

Table 14 - 24V DC Input Power Connector

Pin Description Signal

1 24V power supply, customer supplied 24V+ 2 24V common 24V-

Shunt Resistor Connector Pinouts

Table 15 - Shunt Resistor Connector

Pin Description Signal

– –SH

Shunt connections

DC+

Ethernet Communication Connector Pinout

Pin Description Signal

1Transmit+ TD+ 2Transmit- TD3 Receive+ RD+ 4 Reserved – 5 Reserved – 6 Receive- RD7 Reserved – 8 Reserved –

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 53

Chapter 4 Connector Data and Feature Descriptions

Digital Inputs and Auxiliary Feedback Connector Pinouts

The Kinetix 5300 drive has four configurable digital inputs and seven configurable functions to choose from in the Logix Designer application.

Table 16 - Digital Inputs and Auxiliary Feedback Connector Pinouts

Pin Description Signal Pin Description Signal

1 24V current-sinking fast input #1. IN1 11 24V current-sinking fast input #3. IN3 2 I/O common for customer-supplied 24V supply. COM 12 I/O common for customer-supplied 24V supply. COM 3 24V current-sinking fast input #2. IN2 13 24V current-sinking fast input #4. IN4 4 I/O common for customer-supplied 24V supply. COM 14 I/O common for customer-supplied 24V supply. COM 5 I/O cable shield termination point. SHIELD 15 I/O cable shield termination point. SHIELD 6 AM Differential Input + AUX_AM+ 16 AM Differential Input – AUX_AM– 7 BM Differential Input + AUX_BM+ 17 BM Differential Input – AUX_BM– 8 IM Differential Input + AUX_IM+ 18 IM Differential Input – AUX_IM– 9 Encoder 5V power output AUX_EPWR_5V 19 Auxiliary common AUX_COM 10 Auxiliary feedback cable shield termination point. SHIELD 20 Auxiliary feedback cable shield termination point. SHIELD

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

Table 17 - Configurable Functions

Default Configuration

Digital input1= Enable Digital input2 = Home Digital input3 = Registration 1 Digital input4 = Registration 2

(1) Studio 5000 Logix Designer®, version 33 or later, is required to change from the default configuration.

(1)

Description

0 = Unassigned 1 = Enable 2 = Home 3 = Registration 1 4 = Registration 2 5 = Positive overtravel 6 = Negative overtravel

Figure 27 - Pin Orientation for Digital Inputs and Auxiliary Feedback Connector

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

Connector Data and Feature Descriptions Chapter 4

Motor Power, Brake, and Feedback Connector Pinouts

Table 18 - Motor Power Connector

Pin Description Signal

U VV WW

Three-phase motor power

Chassis ground

ATTENTION: To avoid damage to the Kinetix 5300 drive, make sure the motor power signals are wired correctly. Refer to Motor Power and Brake

Connections on page 80 for motor power connector wiring examples.

IMPORTANT

Drive-to-motor power cables must not exceed 50 m (164ft), depending on overall system design.

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

Table 19 - Motor Brake Connector

Pin Description Signal

1 2MBRK-

Motor brake connections

Table 20 - Motor Feedback Connector

MFB Pin Description Signal MFB Pin Description Signal

6 Encoder common MTR_ECOM 14 Encoder 5V power output 7 Encoder 9V power output

8 Hall commutation S3 input MTR_S3

(1) Not applicable unless motor has integrated thermal protection. (2) Determine which power supply your encoder requires and connect to only the specified supply. Do not make connections to both supplies.

Sine differential input + AM differential input +

Sine differential input– AM differential input–

Cosine differential input + BM differential input +

Cosine differential input – BM differential input –

Data differential input/output + IM differential input +

MTR_SIN+ MTR_AM+

MTR_SIN– MTR_AM–

MTR_COS+ MTR_BM+

MTR_COS– MTR_BM–

MTR_DATA+ MTR_IM+

MTR_EPWR9V

9Reserved –

12 Hall commutation S1 input MTR_S1

13 Hall commutation S2 input MTR_S2

(2)

15 Reserved –

Data differential input/output – IM differential input –

Motor thermostat (normally closed)

(1)

MBRK+

MTR_DATAMTR_IM–

MTR_TS

MTR_EPWR5V

(2)

Figure 28 - Pin Orientation for 15-pin Motor Feedback (MFB) Connector

Pin 15

Pin 11

Pin 6

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 55

Pin 10

Pin 5

Pin 1

Chapter 4 Connector Data and Feature Descriptions

Understand Control Signal Specifications

This section provides a description of the Kinetix 5300 digital inputs, Ethernet communication, power and relay specifications, encoder feedback specifications, and Safe Torque Off features.

Digital Inputs

Four digital inputs are available for the machine interface on the digital input 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 connector for digital inputs.

IMPORTANT

Table 21 - Configurable Digital Input Functions

Function Description

Enable

Home

Registration 1 An inactive-to-active transition (also known as a positive transition) or active-to-inactive Registration 2 Positive overtravel

Negative overtravel

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

GMC-RM001.

A 24V DC input is applied to this terminal to move the AxisCipDrive from Start-Inhibited to Stopped State.

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.

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

The positive/negative limit switch (normally closed contact) inputs for each axis require 24V DC (nominal).

Table 22 - Digital Input Specifications

Attribute Value

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

Motor Holding-brake Circuit

The motor brake option is a spring-set holding brake that releases when voltage is applied to the brake coil in the motor. A customer-supplied 24V power supply is used to energize the motor brake output through a solid-state relay. The solid-state brake driver circuit provides the following:

• Brake current-overload protection

• Brake over-voltage protection

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

Connector Data and Feature Descriptions Chapter 4

ISP772

MBRK+ (BC-1)

MBRK– (BC-2)

24V+ PWR

24V–

INT PWR

Kinetix 5300

Servo Drive

Control

Board

Inductive Energy Clamp

Two connections (MBRK+ and MBRK-) are required for the motor brake output. Connections are rated for 2.25 A @ +24V (refer to Figure 29

Figure 29 - Motor Brake Circuit

IMPORTANT

Motor holding-brake switching frequency must not exceed 15 cycles/min.

Control of the solid-state relay to release the motor brake is configurable in the Logix Designer application (refer to Configure SPM Motor Closed-loop

Control Axis Properties beginning on page 126). An active signal releases the

motor brake. Turn-on and turn-off delays are specified by the MechanicalBrakeEngageDelay and MechanicalBrakeReleaseDelay settings.

IMPORTANT

Holding brakes that are available on Allen-Bradley® rotary motors are designed to hold a motor shaft at 0 rpm for up to the rated brakeholding torque, not to stop the rotation of the motor shaft, or be used as a safety device.

You must command the servo drive to 0 rpm and engage the brake only after verifying that the motor shaft is at 0 rpm.

Follow these steps to control a holding brake using a Motion Servo Off (MSF) command.

1. Wire the mechanical brake according to the appropriate interconnect diagram in Appendix A beginning on page 169

2. Enter the MechanicalBrakeEngageDelay and Mechanical BrakeReleaseDelay times in the Logix Designer application.

Refer to Axis Properties>Parameter List. The delay times must be from the appropriate motor family brake specifications table in the Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001

3. Use the drive stop-action default setting (Current Decel & Disable). Refer to Axis Properties>Actions>Stop Action in the Logix Designer

application.

4. Use the motion instruction Motion Axis Stop (MAS) to decelerate the servo motor to 0 rpm.

5. Use the motion instruction Motion Servo Off (MSF) to engage the brake and disable drive.

For more information on how the servo motor holding-brake option can be used to help keep a load from falling see Vertical Load and Holding Brake Management Application Technique, publication MOTION-AT003

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 57

Chapter 4 Connector Data and Feature Descriptions

Control Power

The Kinetix 5300 drive requires 24V DC input power for control circuitry.

IMPORTANT

PELV rated power supplies must be used to energize external safety devices connected to the Kinetix 5300 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 23 - Control Power Input Power Specifications

Attribute Frame 1 Frame 2 Frame 3

Input voltage 21.6…26.4V DC Control power AC input current

Nom @ 24V DC Inrush, max

(1) Plus motor brake connector (MBRK+) current.

(1)

400 mA

1.8 A

900 mA

2.4 A

1.7 A

3.0 A

Ethernet Communication Specifications

The PORT1 and PORT2 (RJ45) Ethernet connectors are provided for communication with the Logix 5000™ controller.

Attribute Value

Communication

Cyclic update period 1.0 ms, 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

Feedback Specifications The Kinetix 5300 drives accept motor feedback of various types on the MFB

feedback connector and auxiliary feedback signals from TTL incremental encoders on the digital inputs and auxiliary feedback connector.

IMPORTANT

Motor feedback and auxiliary feedback can be used in the following applications:

• Motor feedback

• Auxiliary feedback and feedback-only axis

• Load feedback (dual-loop control) and master feedback applications

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

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

Connector Data and Feature Descriptions Chapter 4

Table 24 - Feedback General Specifications

Attribute Motor Feedback Auxiliary Feedback

• Nikon (24-bit) serial (Kinetix TLP motors)

Feedback device support

Power supply voltage (MTR_EPWR5V) Power supply current (MTR_EPWR5V)

Power supply voltage (MTR_EPWR9V) Power supply current (MTR_EPWR9V)

Thermostat Single-ended, under 500 Ω = no fault, over 10 kΩ= fault

• Hiperface

• Tamagawa (17-bit) serial (Kinetix TL/TLY motors)

• Generic TTL Incremental

• Generic Sine/Cosine Incremental

5.10…5.40V 300 mA, max

8.10…9.90V 150 mA, max

Generic TTL Incremental

Motor Feedback Supported on the MFB Connector

The Kinetix 5300 drives accept motor feedback signals from Hiperface, Nikon, Tamagawa, generic SIN/COS incremental, and TTL incremental encoders on the feedback (MFB) connector.

Table 25 - Feedback Signals by Device Type

1 MTR_SIN+ – – MTR_AM+ MTR_AM+ MTR_SIN+ 2 MTR_SIN– – – MTR_AM– MTR_AM– MTR_SIN– 3 MTR_COS+ – – MTR_BM+ MTR_BM+ MTR_COS+ 4 MTR_COS– – – MTR_BM– MTR_BM– MTR_COS–

5 MTR_DATA+ MTR_T+

6 MTR_ECOM MTR_ECOM MTR_ECOM MTR_ECOM MTR_ECOM MTR_ECOM 7 8 – – – MTR_S3 MTR_S3 MTR_S3

9– – – – – –

10 MTR_DATA– MTR_T–

11 MTR_TS – – – MTR_TS MTR_TS 12 – – – MTR_S1 MTR_S1 MTR_S1 13 – – – MTR_S2 MTR_S2 MTR_S2

14 15 – – – – – –

(1) Determine which power supply your encoder requires and connect to only the specified supply. Do not make connections to both supplies.

Hiperface (Kinetix MP)

MTR_EPWR9V

MTR_EPWR5V

(1)

Nikon (Kinetix TLP)

––– ––

MTR_EPWR5V MTR_EPWR5V MTR_EPWR5V MTR_EPWR5V MTR_EPWR5V

Tam aga wa (Kinetix TL/TLY-B)

MTR_DATA+ (TLY-B) MTR_SD+ (TL-B)

MTR_DATA– (TLY-B) MTR_SD– (TL-B)

Incremental (Kinetix TLY-H)

MTR_IM+ MTR_IM+ MTR_IM+

MTR_IM– MTR_IM– MTR_IM–

Generic TTL Incremental

Generic Sine/Cosine

ATTENTION: To avoid damage to components, determine which power

supply your encoder requires and connect to either the 5V or 9V supply, but not both.

Some motors do not support the thermostat signal (MTR_TS) feature because it is not part of the feedback device.

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Chapter 4 Connector Data and Feature Descriptions

Hiperface Feedback

Hiperface absolute high-resolution feedback from Kinetix MP motors and actuators and LDAT-Series linear thrusters applies to the 15-pin motor feedback connector.

Table 26 - Hiperface Specifications

Nikon Encoder Feedback Specifications

Attribute Value

Memory support Not programmed, or programmed with Allen-Bradley motor data Hiperface data communication 9600 baud, 8 data bits, no parity Sine/cosine interpolation 4096 counts/sine period Input frequency (AM/BM) 250 kHz, max Input voltage (AM/BM) 0.6...1.2V, peak to peak, measured at the drive inputs

Line loss detection (AM/BM) Noise filtering (AM and BM) Two-stage coarse count pulse reject filter with rejected pulse tally

Incremental position verification

Average (sin

Position compare between incremental accumulator and serial data performed every 50 ms or less

+ cos2) > constant

Nikon (24-bit) absolute high-resolution feedback from Kinetix TLP servo motors applies to the 15-pin motor feedback connector.

Table 27 - Nikon Encoder Specifications

Attribute Value

Encoder nonvolatile memory usage

Differential input voltage 1.0…7.0V Data communication 8 Mbps, 21 data bits, no parity Battery type 3.6V, ER14252 or equivalent, 1/2 AA size

Programmed with Kinetix TLP motor data as Allen-Bradley memory format

Tamagawa Encoder Feedback Specifications

Tamagawa (17-bit) encoder feedback from Kinetix TL-Axxxx-B and TLY-Axxxx-B servo motors applies to the 15-pin motor feedback connector.

Table 28 - Tamagawa Serial Specifications

Attribute Value

Encoder nonvolatile memory usage

Differential input voltage 1.0…7.0V Data communication 2.5 Mbps, 8 data bits, no parity Battery 3.6V, ER14252 or equivalent, 1/2 AA size

Programmed with TL-Axxxx-B and TLY-Axxxx-B motor data as Allen-Bradley memory format.

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

Connector Data and Feature Descriptions Chapter 4

Generic Sine/Cosine Feedback

Generic sine/cosine incremental feedback applies to the 15-pin motor feedback connector.

Table 29 - Generic Sine/Cosine Incremental Specifications

Attribute Value

Input frequency (MTR_SIN and MTR_COS)

Differential input voltage (MTR_SIN and MTR_COS)

Commutation verification

Hall inputs (MTR_S1, MTR_S2, and MTR_S3)

250 kHz, max

0.6…1.2V, peak to peak

Commutation angle verification performed at the first Hall signal transition and periodically verifies thereafter.

Single-ended, TTL, open collector, or none.

Refer to Encoder Phasing Definitions on page 63 for encoder phasing alignment diagrams.

Auxiliary Feedback Specifications

The Kinetix 5300 drives support TTL incremental feedback devices on the 20-pin digital inputs and auxiliary feedback connector. Refer to Configure

Feedback-only Axis Properties on page 231 to use these in your application.

Table 30 - Auxiliary Feedback Signals by Device Type

Pin Generic TTL Incremental

6 AUX_AM+ 7 AUX_BM+ 8 AUX_IM+ 9 AUX_EPWR5V 10 SHIELD 16 AUX_AM17 AUX_BM18 AUX_IM19 AUX_COM 20 SHIELD

Specifications for the auxiliary feedback channel are identical to the motor feedback channel, except for specifications related to commutation and encoder nonvolatile memory usage programming.

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Chapter 4 Connector Data and Feature Descriptions

Generic TTL Incremental Feedback

Generic TTL feedback for load feedback, master feedback, and feedback only axes applies to the motor feedback connector (with halls) and auxiliary feedback connector (without halls).

Table 31 - Generic TTL Incremental Specifications

Attribute Value

TTL incremental encoder support 5V, differential A quad B Quadrature interpolation 4 counts / square wave period Differential input voltage

(MTR_AM, MTR_BM, and MTR_IM) DC current draw

(MTR_AM, MTR_BM, and MTR_IM) Input signal frequency

(MTR_AM, MTR_BM, and MTR_IM) Edge separation

(MTR_AM and MTR_BM)

Commutation verification

Hall inputs (MTR_S1, MTR_S2, and MTR_S3)

5V DC, differential line driver (DLD) output compatible

30 mA, max

5.0 MHz, max

42 ns min, between any two edges

Commutation angle verification performed at the first Hall signal transition and periodically verifies thereafter

Single-ended, TTL, open collector, or none

Allen-Bradley Bulletin 844D, 847H, and 847T encoders are the preferred encoders for auxiliary feedback connections.

Table 32 - Allen-Bradley Auxiliary Feedback Encoders

Cat. No. Description

844D-B5CC1FW 844D-B5CC1CS 844D-B5CC1DR 847H-DN1A-RH01024 847H-DN1A-RH02048 847H-DN1A-RH05000 847T-DN1A-RH01024 Size 20, incremental encoder, standard square flange, 3/8 in.

847T-DN1A-RH02048

HS35, hollow-shaft incremental encoders, rear (through-shaft), 5/8 in., tether, 3/8 in. bolt on a 2.5…4.0 in. diameter, 10-pin connector, 5V DC in, 5V DC DLD out

Size 25, incremental encoder, standard square flange, 3/8 in. diameter shaft with flat, 4.5…5.5V line driver, TTL (B-Leads-A, CW, Z gated with BN), MS connector, 10-pin

diameter shaft with flat, 4.5…5.5V line driver, TTL (B-Leads-A, CW, Z gated with BN), MS connector, 10-pin

Refer to the Kinetix Motion Accessories Technical Data, publication

KNX-TD004

, for more information on these Allen-Bradley encoders.

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

Connector Data and Feature Descriptions Chapter 4

90°

90° 90°

360°

Encoder Phasing Definitions

For TTL encoders, the drive position increases when A leads B. Clockwise motor rotation is assumed, when looking at the shaft.

Figure 30 - TTL Encoder Phasing

For Sin/Cos encoders, for example Hiperface, the drive position increases when Cosine (B) leads Sine (A). Clockwise motor rotation is assumed, when looking at the shaft.

Figure 31 - Sine/Cosine Encoder Phasing

IMPORTANT

The Sine/Cosine encoder signal phasing is different than the TTL encoder signal phasing.

IMPORTANT

When using an incremental Sine/Cosine feedback device, the drive cannot synthesize a marker signal, so a physical marker signal is required for the home-to-marker sequence (and the marker hookup test) to complete.

When using absolute feedback devices (for example, Hiperface) the drive synthesizes a marker signal because these devices don't have a marker signal required for the home-to-marker sequence (and the marker hookup test) to complete.

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Chapter 4 Connector Data and Feature Descriptions

+2048-2048 +1024-1024

-16,384 -8192

-32,768

-4096

+16,384+8192

+32,768

+4096

Position at Power Down

65,536 Revolutions

4096 Turns

2048 Turns

The drive MFB feedback connector uses Hall signals to initialize the commutation angle for permanent magnet motor commutation.

Figure 32 - Hall Encoder Phasing

300

60 120 180 240 300 60

Absolute Position Feature

The absolute position feature of the drive 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 33 - Absolute Position Retention Limits

Encoder Type

Cat. No. Designator

Motor Cat. No. Actuator Cat. No.

MPL-A/Bxxxxx-M

Hiperface

-M

MPM-A/Bxxxxx-M MPF-A/Bxxxxx-M MPS-A/Bxxxxx-M

MPAR-A/B3xxxx-M MPAI-A/BxxxxxM

MPAS-A/Bxxxx1-V05, MPAS-A/Bxxxx2-V20

-V MPL-A/Bxxxxx-V

MPAR-A/B1xxxx-V, MPAR-A/B2xxxx-V MPAI-A/BxxxxxV

Nikon (24-bit) serial with battery backup

Tamagawa (17-bit) serial with battery backup

-D TLP-A/Bxxxx-D –

-B

TL-Axxxx-B TLY-Axxxx-B

–

Hiperface (magnetic scale) -xDx –LDAT-Sxxxxxx-xDx –960 (37.8)

Retention Limits Turns (rotary) mm (linear)

2048 (±1024) –

4096 (±2048) –

65,536 (±32,768) –

Figure 33 - Absolute Position Limits (measured in turns or revolutions)

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

Connector Data and Feature Descriptions Chapter 4

Safe Torque Off Safety Features

Kinetix 5300 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 Stop Category 0 behavior.

Servo Drives with Hardwired Safety

2198-Cxxxx-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 STO feature.

Refer to Chapter 9 installation, and wiring information.

beginning on page 159 for the STO connector pinout,

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 65

Chapter 4 Connector Data and Feature Descriptions

Notes:

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

Chapter 5

Connect the Kinetix 5300 Drive System

This chapter provides procedures for wiring your Kinetix® 5300 system components and making cable connections.

Top ic Pa ge

Basic Wiring Requirements 67 Determine the Input Power Configuration 69 Ground the Drive System 71 Wiring Requirements 73 Wiring Guidelines 75 Wire the Power Connectors 76 Wire the Digital Input Connectors 77 Wire the Motor Power and Brake Connectors 79 Wire the Motor Feedback Connector 89 External Passive-shunt Resistor Connections 96 Ethernet Cable Connections 97

Basic Wiring Requirements This section contains basic wiring information for the Kinetix 5300 drives.

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 components.

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.

IMPORTANT

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.

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 67

Chapter 5 Connect the Kinetix 5300 Drive System

Build Your Own Cables

IMPORTANT

Follow these guidelines when building your own cables:

• Connect the cable shield to the connector shells on both ends of the cable with a complete 360° connection.

• Use twisted-pair cable whenever possible. Twist differential signals with each other and twist single-ended signals with the appropriate ground return.

When using Kinetix TLP servo motors, see Build Your Own Kinetix TLP Motor Cables Installation Instructions, publication 2090-IN048 power and feedback connector kits to bulk cable.

When using other Allen-Bradley servo motors and actuators compatible with 2090-CxxM7DF motor cables, see 2090-Series Circular-DIN Connector Kits, Flange Kits, and Crimp Tools Installation Instructions, publication

2090-IN042

cable.

Also, see Kinetix 5300 Feedback Connector Kit Installation Instructions, publication 2198-IN023 connections.

Factory-made cables are designed to minimize EMI and are recommended over hand-built cables to optimize system performance.

, to attach motor-side

, to attach motor-side power and feedback connector kits to bulk

, to terminate the flying-lead feedback cable

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.

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

on page 34 for examples of routing high

, for more

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

Connect the Kinetix 5300 Drive System Chapter 5

L3L2

24+

DC+ SH

24-

SB+ SBS1 SC S2

2 1

Transformer

Three-phase

Input VAC

Phase Ground

Transformer (WYE) Secondary

Bonded Cabinet Ground

Ground Grid or

Power Distribution Ground

Three-phase

AC Line Filter

(can be required

for CE)

Kinetix 5300 Servo Drive

(top view)

Circuit

Protection

Connect to Ground Stud

Determine the Input Power Configuration

Before wiring input power to your Kinetix 5300 system, you must determine the type of input power within your facility. The drive is designed to operate with only grounded-wye input power. The grounded-wye power configuration lets you ground your single-phase or three-phase power at a neutral point.

This section contains examples of typical single-phase and three-phase facility input power that is wired to single-phase and three-phase Kinetix 5300 drives. Match your secondary to one of the examples and be certain to include the grounded neutral connection.

For Kinetix 5300 drive power specifications, see Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 interconnect diagrams, see Power Wiring Examples

. For Kinetix 5300 drive

on page 170.

Three-phase Input Power

This example illustrates grounded three-phase power that is wired to threephase Kinetix 5300 drives when phase-to-phase voltage is within drive specifications.

Figure 34 - Three-phase (230V or 480V) Grounded Power Configuration (wye secondary)

IMPORTANT

Kinetix 5300 drives must use center-grounded wye secondary input power configurations.

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Chapter 5 Connect the Kinetix 5300 Drive System

L1 (Neutral)

L3L2

24+

DC+ SH

24-

SB+ SB-

2 1

120V or 230V AC

Output

Transformer Secondary

Bonded Cabinet Ground

Ground Grid or

Power Distribution Ground

Kinetix 5300 Servo Drive

(top view)

Circuit

Protection

Connect to Ground Stud

Three-phase AC Line Filter

(can be

required for CE)

Single-phase Input Power

These examples illustrate grounded single-phase power that is wired to singlephase Kinetix 5300 drives when phase-to-phase voltage is within drive specifications. You can use any two phases for single phase input.

Figure 35 - Single-phase (120V or 230V) Grounded Power Configuration

ATTENTION: 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 170 for input power interconnect diagrams.

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Connect the Kinetix 5300 Drive System Chapter 5

MBRK

MFB

MBRK

MFB

MBRK

MFB

Make braided ground straps

with at least 10 mm

(0.0155 in2)

cross-sectional area.

Keep straps as short as possible.

Kinetix 5300 Servo Drive (standalone)

Kinetix 5300 Servo Drives (zero-stack)

Ground 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.

ATTENTION: 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

Ground the System Subpanel

on page 24.

Ground Kinetix 5300 drives to a bonded cabinet ground-bus with a braided

ground strap of at least 10 mm

(0.0155 in2) in cross-sectional area. Keep the

braided ground strap as short as possible for optimum bonding.

Figure 36 - Connect the Ground Terminal

Item Description

1 Ground screw (green) 2.0 N•m (17.7 lb•in), max 2 Braided ground strap (customer supplied) 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-UM005A-EN-P - October 2020 71

, for more information.

Chapter 5 Connect the Kinetix 5300 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 37 - Subpanels Connected to a Single Ground Point

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

on page 36.

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

Connect the Kinetix 5300 Drive System Chapter 5

L3 L2 L1

U V W

Wiring Requirements 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

IMPORTANT

Table 34 - AC Input Power and Motor Power Wiring Requirements

Kinetix 5300 Drive Cat. No.

2198-C1004-ERS 2198-C1007-ERS 2198-C4004-ERS 2198-C4007-ERS 2198-C1015-ERS 2198-C1020-ERS 2198-C4015-ERS 2198-C4020-ERS 2198-C4030-ERS

2198-C2030-ERS

2198-C2055-ERS 2198-C2075-ERS 2198-C4055-ERS 2198-C4075-ERS

2198-C1004-ERS 2198-C1007-ERS 2198-C4004-ERS 2198-C4007-ERS 2198-C1015-ERS 2198-C1020-ERS 2198-C4015-ERS 2198-C4020-ERS 2198-C4030-ERS

2198-C2030-ERS

2198-C2055-ERS 2198-C2075-ERS 2198-C4055-ERS 2198-C4075-ERS

(1) For 10 AWG conductors, use 0.7…0.8 N•m (6.2…7.1 lb•in) of torque. (2) See Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004

Description

AC input power

Motor power output

Connects to Terminals

Pin Signal

on page 170 for interconnect diagrams.

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

Wire Size

(AWG)

0.2…2.5 (24…12)

0.2 … 6.0 (24 … 10)

0.75…16 (18…6)

Motor power cable depends on motor/drive combination.

(2)

0.2…2.5 (24…12)

(2)

0.2 … 6.0 (24 … 10)

(2)

0.75…16 (18…6)

, for cable specifications and motor/cable pairing.

Strip Length

mm (in.)

8.0 (0.31)

10.0 (0.39)

12.0 (0.47)

8.0 (0.31)

10.0 (0.39)

12.0 (0.47)

Tor que Val ue

N•m (lb•in)

0.5…0.6 (4.4…5.3)

0.5 … 0.6 (4.4 … 5.3)

1.7 … 1.8 (15.0…15.9)

0.5…0.6 (4.4…5.3)

0.5 … 0.6 (4.4 … 5.3)

1.7 … 1.8 (15.0…15.9)

(1)

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Chapter 5 Connect the Kinetix 5300 Drive System

Table 35 - 24V and Brake Power, Shunt, Safety, and I/O Wiring Requirements

Kinetix 5300 Drive Cat. No.

Description

PELV 24V power

(1)

(single-axis connector)

Brake power

Shunt resistor

Safety

2198 -Cxxxx-ERS

Digital inputs and Auxiliary feedback

(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

Shared-bus 24V Connector Wiring Specifications

(2) Motor brake wires are part of the 2090-Series motor cable. (3) This connector uses spring tension to hold wires in place.

on page 76.

Connects to Terminals

Pin Signal

1 2

– –

ST0-1/6 ST0-2/7 ST0-3/8 ST0-4/9 ST0-5/10

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

24V+ 24V-

MBRK+ MBRK-

DC+ SH

SB+ SBS1 SC S2

IN1 COM IN2 COM Shield AUX_AM+ AUX_BM+ AUX_IM+ AUX_EPWR_5V Shield IN3 COM IN4 COM Shield AUX_AMAUX_BMAUX_IMAUX_COM Shield

Wire Size

(AWG)

0.2…2.5 (24…12)

0.14…1.5 (28…16)

0.2…2.5 (24…12)

0.2…1.5 (24…16)

Strip Length

mm (in.)

Tor que Val ue

N•m (lb•in)

0.5…0.6

(2)

7.0 (0.28)

(4.4…5.3)

0.22…0.25 (1.9…2.2)

8.0 (0.31)

10.0 (0.39)

0.5…0.6 (4.4…5.3)

(3)

N/A

(3)

N/A

ATTENTION: 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.

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

Connect the Kinetix 5300 Drive System Chapter 5

Wiring Guidelines Use these guidelines as a reference when wiring the power connectors on your

Kinetix 5300 drive.

IMPORTANT

For connector locations of the Kinetix 5300 drives, refer to Kinetix 5300

Connector Data on page 52.

When removing insulation from wires and tightening screws to secure the wires, refer to the table on page 73

for strip lengths and torque

values.

IMPORTANT

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

on page 37.

Follow these steps when wiring the connectors for your Kinetix 5300 drive.

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

IMPORTANT

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

2. Route the cable/wires to your Kinetix 5300 drive.

3. Insert wires into connector plug terminals. Refer to connector pinout tables in Chapter

diagrams in Appendix

4 or the interconnect

4. Tighten the connector screws (where applicable).

5. Gently pull on each wire to make sure it does not come out of its terminal; reinsert and/or tighten any loose wires.

6. Insert the connector plug into the drive connector.

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 75

Chapter 5 Connect the Kinetix 5300 Drive System

24V-

24V+

Kinetix 5300 Drive

Top View

24V Connector Plug

24V-

24V+

Kinetix 5300 Drives Top View

24V DC Input

Wiring Connector

Wire 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 170 for an interconnect diagram.

Wire the 24V Control Power Input Connector

The 24V power connector requires 24V DC input for the control circuitry. The single-axis connector plug is included with the drive, shared-bus connector kits are purchased separately.

Figure 38 - 24V Connector Wiring

Table 36 - 24V Connector Wiring Specifications

Drive Module Cat. No.

2198 -Cxxxx-ERS

Pin Signal

124V+ 224V-

Figure 39 - 24V Connector Wiring - Shared Bus

Table 37 - Shared-bus 24V Connector Wiring Specifications

Input Current, max

A rms

40 10 (6) 11.0 (0.43)

Drive Cat. No. Pin Signal

2198 -Cxxxx-ERS

124V+ 224V-

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

Recommended Wire Size

(AWG)

0.2…2.5 (24…12)

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)

Torque Value

N•m (lb•in)

1.7…1.8 (15.0…15.9)

Connect the Kinetix 5300 Drive System Chapter 5

Kinetix 5300 Drive

Top View

AC Input Power Connector Plug

L3 L2 L1

L3 L2

Wire the Input Power Connector

The input power connector requires 110…480V AC, nom (single-phase or threephase) for AC input power.

ATTENTION: Make sure the input power connections are correct when wiring the 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 damage to equipment.

Figure 40 - Input Power Connector Wiring

Wire the Digital Input Connectors

Table 38 - Input Power Connector Wiring Specifications

Kinetix 5300 Drive Cat. No.

2198-C1004-ERS 2198-C1007-ERS 2198-C4004-ERS 2198-C4007-ERS 2198-C1015-ERS 2198-C1020-ERS 2198-C4015-ERS 2198-C4020-ERS 2198-C4030-ERS

2198-C2030-ERS

2198-C2055-ERS 2198-C2075-ERS 2198-C4055-ERS 2198-C4075-ERS

(1) For 10 AWG conductors, use 0.7…0.8 N•m (6.2…7.1 lb•in) of torque.

Pin Signal

Recommended Wire Size

(AWG)

0.2…2.5 (24…12)

0.2 … 6.0 (24 … 10)

0.75…16 (18…6)

Strip Length

mm (in.)

8.0 (0.31)

10.0 (0.39)

12.0 (0.47)

Tor que Val ue

N•m (lb•in)

0.5…0.6 (4.4…5.3)

0.5 … 0.6 (4.4 … 5.3)

1.7 … 1.8 (15.0…15.9)

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

(1)

Wire the Safe Torque Off Connector

For the hardwired Safe Torque Off (STO) connector pinouts, feature descriptions, and wiring information, refer to Chapter 9

page 159

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 77

beginning on

Chapter 5 Connect the Kinetix 5300 Drive System

MBRK

MFB

Digital Inputs and Auxiliary Feedback Connector Plug

Kinetix 5300 Servo Drive (front view)

The digital inputs and auxiliary feedback

connector plug includes two mounting screws.

Torque screws 0.22 N•m (2.0 lb•in).

Wire the Digital Inputs and Auxiliary Feedback Connector

The digital inputs and auxiliary feedback connector uses spring tension to hold wires in place.

Figure 41 - Digital Inputs and Auxiliary Feedback Connector Wiring

Table 39 - Digital Inputs and Auxiliary Feedback Connector Specifications

Drive Cat. No. Pin Signal

1 2 3 4 5 6 7 8 9

2198 -Cxxxx-ERS

10 11 12 13 14 15 16 17 18 19 20

(1) This connector uses spring tension to hold wires in place.

IN1 COM IN2 COM SHIELD AUX_AM+ AUX_BM+ AUX_IM+ AUX_EPWR_5V SHIELD IN3 COM IN4 COM SHIELD AUX_AMAUX_BMAUX_IMAUX_COM SHIELD

Recommended Wire Size

(AWG)

0.2…1.5 (24…16)

Strip Length

mm (in.)

10.0 (0.39)

Tor que Val ue

N•m (lb•in)

(1)

N/A

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Connect the Kinetix 5300 Drive System Chapter 5

MBRK

MFB

2 1

Motor Power Connector

Kinetix 5300 Servo Drive (front view)

Motor Power Cable Shield Clamp

Motor Brake Connector

U V

Wire the Motor Power and Brake Connectors

Motor power and brake connections are made at the motor power and motor brake power connectors on the front of the drive. This section provides examples and guidelines to assist you in making these connections.

Figure 42 - Motor Power Connector Wiring

Table 40 - Motor Power Connector Specifications

Kinetix 5300 Drive Cat. No.

Connects to Terminals Pin Signal

Wire Size

(AWG)

Strip Length

mm (in.)

Tor que Val ue

N•m (lb•in)

2198-C1004-ERS 2198-C1007-ERS 2198-C4004-ERS 2198-C4007-ERS 2198-C1015-ERS 2198-C1020-ERS 2198-C4015-ERS 2198-C4020-ERS

Motor power cable depends on motor/ drive combination.

(1)

0.2…2.5 (24…12)

8.0 (0.31)

0.5…0.6 (4.4…5.3)

2198-C4030-ERS

(2)

2198-C2030-ERS

2198-C2055-ERS 2198-C2075-ERS 2198-C4055-ERS 2198-C4075-ERS

(1) See Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004, for cable specifications.

0.2 … 6.0 (24 … 10)

0.75…16 (18…6)

(2)

10.0 (0.39)

12.0 (0.47)

0.5 … 0.6 (4.4 … 5.3)

1.7 … 1.8 (15.0…15.9)

Table 41 - Brake Power Connector Specifications

Kinetix 5300 Drive Cat. No.

2198 -Cxxxx-ERS

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

Connects to Terminals

Pin Signal

1 2

MBRK+ MBRK-

Wire Size

(AWG)

0.14…1.5 (28…16)

Strip Length

mm (in.)

(1)

7.0 (0.28)

Tor que Val ue

N•m (lb•in)

0.22…0.25 (1.9…2.2)

(1)

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Chapter 5 Connect the Kinetix 5300 Drive System

Servo Motor/Actuator and Cable Compatibility

Kinetix 5300 drives are compatible with the following Allen-Bradley rotary and linear products:

• Kinetix TLP servo motors

• Kinetix MP motor family includes:

- Kinetix MPL, MPM, MPF, and MPS servo motors

• Kinetix TL and TLY servo motors

• Kinetix MP linear actuator family includes:

- Kinetix MPAS, MPMA, MPAR, and MPAI linear actuators

• LDAT-Series linear thrusters

• LDC-Series™ and LDL-Series™ linear motors

IMPORTANT

To configure these motors and actuators with your Kinetix 5300 servo drive (see Table 42

and Table 43), you must have drive firmware revision 13 or later and Studio 5000 Logix Designer® application, version 33 or later.

Motor Power and Brake Connections

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

Table 42 - Kinetix TLP Motor Power/Brake Cable Compatibility

Servo Motor Cat. No.

TLP-A046-xxx, TLP-A70-xxx TLP-A090-xxx, TLP-A100-xxx TLP-A115-xxx, TLP-A145-xxx

TLP-A200-200, TLP-A200-300 TLP-A200-350, TLP-A200-450

TLP-A200-550, TLP-A200-750

TLP-B070-040 TLP-B090-075

TLP-B115-100, TLP-B115-200 TLP-B145-050, TLP-B145-090, TLP-B145-100 TLP-B145-150, TLP-B145-200

TLP-B145-250, TLP-B200-300

TLP-B200-450 TLP-B200-550, TLP-B200-750

TLP-B235-11K –

TLP-B235-14K –

(1) Refer to the Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004, for cable specifications. (2) These motors have separate brake connectors and brake cables. All other motors have brake wires included with the power connectors.

(2)

Motor Power Cat. No. (with brake wires)

2090-CTPB-MxDF-xxAxx (standard) or 2090-CTPB-MxDF-xxFxx (continuous-flex)

–

2090-CTPB-MADF-18Axx (standard) or 2090-CTPB-MADF-18Fxx (continuous-flex)

2090-CTPB-MCDF-16Axx (standard) or 2090-CTPB-MCDF-16Fxx (continuous-flex)

2090-CTPB-MDDF-12Axx (standard) or 2090-CTPB-MDDF-12Fxx (continuous-flex)

2090-CTPB-MDDF-08Axx (standard) or 2090-CTPB-MDDF-08Fxx (continuous-flex)

(1)

Motor Power Cat. No. (without brake wires)

2090-CTPW-MxDF-xxAxx (standard) or 2090-CTPW-MxDF-xxFxx (continuous-flex)

2090-CTPW-MEDF-06Axx (standard) or 2090-CTPW-MEDF-06Fxx (continuous-flex)

2090-CTPW-MADF-18Axx (standard) or 2090-CTPW-MADF-18Fxx (continuous-flex)

2090-CTPW-MCDF-16Axx (standard) or 2090-CTPW-MCDF-16Fxx (continuous-flex)

2090-CTPW-MDDF-12Axx (standard) or 2090-CTPW-MDDF-12Fxx (continuous-flex)

2090-CTPW-MDDF-08Axx (standard) or 2090-CTPW-MDDF-08Fxx (continuous-flex)

2090-CTPW-MEDF-06Axx (standard) or 2090-CTPW-MEDF-06Fxx (continuous-flex)

2090-CTPW-MEDF-04Axx (standard) or 2090-CTPW-MEDF-04Fxx (continuous-flex)

(1)

Brake Power

(1)

Cat. No.

Not applicable. Brake conductors are included in the power cable.

2090-CTPB-MBDF-20Axx (standard) or 2090-CTPB-MBDF-20Fxx (continuous-flex)

Not applicable. Brake conductors are included in the power cable.

2090-CTBK-MBDF-20Axx (standard) or 2090-CTBK-MBDF-20Fxx (continuous-flex)

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Table 43 - Kinetix MP, LDAT-Series, LDC/LDL-Series Motor Power Cable Compatibility

Motor/Actuator Cat. No.

Motor Power Cat. No. (with brake wires)

(1)

Motor Power Cat. No. (without brake wires)

MPL-A/B15xxx-xx7xAA, MPL-A/B2xxx-xx7xAA, MPL-A/B3xxx-xx7xAA, MPL-A/B4xxx-xx7xAA, MPL-A/B45xxx-xx7xAA, MPL-A/B5xxx-xx7xAA, MPL-B6xxx-xx7xAA

MPM-A/Bxxxx, MPF-A/Bxxxx, MPS-A/Bxxxx MPAS-A/Bxxxx1-V05SxA,

MPAS-A/Bxxxx2-V20SxA MPAI-A/Bxxxx, MPAR-A/B3xxx,

2090-CPBM7DF-xxAAxx (standard) or 2090-CPBM7DF-xxAFxx (continuous-flex)

2090-CPWM7DF-xxAAxx (standard) or 2090-CPWM7DF-xxAFxx (continuous-flex)

MPAR-A/B1xxx and MPAR-A/B2xxx (series B) MPAS-Bxxxxx-ALMx2C

LDAT-Sxxxxxx-xDx

AT-Sxxxxxx-xBx

LD LDC-Cxxxxxx

N/A (these devices do not include a brake option)

LDL-xxxxxxx

(1) Refer to the Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004, for cable specifications.

Table 44 - Kinetix TL and TLY Motor Power/Brake Cable Compatibility

Motor/Actuator Cat. No.

Motor Power Cat. No. (with brake wires)

(1)

Motor Power Cat. No. (without brake wires)

TLY-Axxxx 2090-CPBM6DF-16AAxx (standard) 2090-CPWM6DF-16AAxx (standard)

TL-Axxxx –2090-DANPT-16Sxx 2090-DANBT-18Sxx

(1) Refer to the Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004, for cable specifications.

(1)

Brake Cat. No.

Not applicable. Brake conductors are included in the power cable.

(1)

Refer to Motor Power Connector Wiring on page 79 for motor power and brake connector specifications.

Table 45 - Legacy Motor Power Cables

Motor Cable Description Motor Power Cat. No.

Standard

Continuous-flex

Table 46 - Induction Motor Power Cable Specifications

Cable Manufacturer Cable Series Voltage Rating Temperature Rating Cable Length, max

Belden 29505-29507

SAB VFD XLPE TR

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

1000V 90 °C (194 °F) 50 m (164 ft)Lapp Group ÖLFEX VFD XL

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Chapter 5 Connect the Kinetix 5300 Drive System

Maximum Cable Lengths

The maximum drive-to-motor power and feedback cable length depends on the AC input power and feedback type.

Table 47 - Maximum Cable Lengths

Compatible Motor and Actuator Cat. No.

TLP-A/Bxxx-xxx-D Nikon (24-bit) absolute high-resolution, multi-turn and single-turn 50 (164) 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/Bxxxx-S/M

MPAR-A/B3xxxx-M MPAS-A/Bxxxx1-V05SxA (ballscrew)

MPAS-A/Bxxxx2-V20SxA (ballscrew) MPAR-A/B1xxxx-V and MPAR-A/B2xxxx-V (series B) MPAI-A/BxxxxxM3

MPL-A/B15xxx-Hx7xAA

B2xxx-Hx7xAA

MPL-A/ MPL-A/B3xxx-Hx7xAA

MPL-A/B4xxx-Hx7xAA MPL-A/B45xxx-Hx7xAA

MPAS-A/Bxxxx-ALMx2C (direct drive) Incremental, magnetic linear TLY-Axxxx-B TL-Axxxx-B TLY-Axxxx-H Incremental encoder LDAT-Sxxxxxx-xDx Hiperface, absolute, magnetic scale

LDC-Cxxxxxx-xH, LDL-xxxxxxx-xH Sin/Cos or TTL encoder

Feedback Type

≤ 400V AC Input 480V AC Input

50 (164) 20 (65.6)

Hiperface, absolute high-resolution, multi-turn and single-turn

50 (164)

Absolute high-resolution, multi-turn 50 (164) 20 (65.6)

30 (98.4) 20 (65.6)

Incremental encoder

30 (98.4)

Tamagawa (17-bit) absolute high-resolution, multi-turn

10 (33.1)LDAT-Sxxxxxx-xBx Incremental, magnetic scale

Cable Length, max

m (ft)

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Connect the Kinetix 5300 Drive System Chapter 5

2090-CTPB-MDDF-08xxx 2090-CTPB-MEDF-06xxx

2090-CTPB-MADF-16xxx 2090-CTPB-MADF-18xxx

2090-CTPB-MCDF-16xxx 2090-CTPB-MCDF-12xxx

2090-CTPB-MDDF-12xxx

Remove ground lug.

Remove U, V, W, and ground lug.

635 (25)

102 (4.0)

150 (5.9)

Dimensions are in mm (in.)

Power Conductors

Brake Conductors

Kinetix MP Motors

and Actuators

Brake Shield (remove)

Edge of

Heat Shrink

Overall Cable Shield

Cable Preparation for Kinetix TLP Motor Power Cables

For 2090-CTPx-MxDF 10…18 AWG motor cables you must remove the ring lug and strip the insulation back the appropriate length for the ground conductor.

For 2090-CTPx-MxDF 6…8 AWG motor cables you must remove the ring lugs and strip the insulation back the appropriate length for U,V,W and ground conductors.

Figure 43 - 2090-CTPx-MxDF Power/brake Cable Dimensions

Refer to Motor Power Connector Wiring on page 79 for the appropriate strip length.

If you are building your own cables, see Build Your Own Kinetix TLP Motor Cables Installation Instructions, publication 2090-IN048

, to attach motor-side

power and feedback connector kits to bulk cable.

Cable Preparation for 2090-CPxM7DF Motor Power Cables

2090-CPxM7DF cables are available with and without brake conductors. This explanation addresses 2090-CPBM7DF cables with brake conductors. 2090-CPWM7DF cables do not include brake conductors.

Motor Power/Brake Cable Series Change

Motor power and brake conductors on 2090-CPBM7DF (series A) cables have the following dimensions from the factory.

Figure 44 - 2090-CPBM7DF (series A) Power/brake Cable Dimensions

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Chapter 5 Connect the Kinetix 5300 Drive System

Dimensions are in mm (in.)

Power Conductors

Brake Conductors

MP-Series Motors and Actuators

Heat Shrink

Overall Cable Shield

Motor power and brake conductors on 2090-CPBM7DF (12 and 10 AWG) series B standard (non-flex) cables provide drive-end shield braid and conductor preparation modified for compatibility with multiple Kinetix servo drive families, including Kinetix 5300 drives.

Figure 45 - 2090-CPBM7DF (series B, 10 or 12 AWG) Power/brake Cable Dimensions

305 (12.0)

234 (9.20)

15.0 (0.59)

71 (2.80)

12.7 (0.50)

5.0 (0.20)

8.0 (0.31)

Cable Preparation for 2090-CPBM7DF (16, 14, 8, 6 AWG) Series A Cables

The 2090-CPBM7DF (16, 14, 8, and 6 AWG) power conductor length, 102 mm (4.0 in.), is sufficiently long to reach the motor power connector plug and provide adequate stress relief.

The brake conductor length, 635 mm (25 in.), is much longer than necessary. We recommend that you measure 163 mm (6.4 in.) from the edge of the cable jacket (that is covered by heat shrink) and trim off the rest.

Refer to Figure 48 lengths and torque values, refer to Table 40

and on page 88 for a typical installation example. For strip

on page 79.

Cable Preparation for 2090-CPBM7DF (12 and 10 AWG) Series B Cables

2090-CPBM7DF (12 and 10 AWG) series B cables are designed for use with Kinetix 5300 drives and do not require any modifications.

For frame 2 drives, the 12 AWG cable is compatible with all frame 2 drives, however, the 10 AWG cable is compatible with only the 2198-C2030-ERS drive. Frame 3 drives are compatible with 12 and 10 AWG cable.

Cable Preparation for 2090-CPBM7DF (12 and 10 AWG) Series A Cables

These guidelines apply to existing Kinetix drive installations that are upgrading with Kinetix 5300 drives. For 2090-CPBM7DF (12 and 10 AWG) series A cables to terminate properly with Kinetix 5300 drives, the overall length of the cable preparation area needs to be increased for the motor power conductors to reach the motor power connector and also provide a proper service loop.

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7.0 (0.28)

51.0 (2.0)

25.0 (1.0)

221 (8.7)

284 (11.2)

325 (12.8)

262 (10.3)

155 (6.1)

Dimensions are in mm (in.)

Motor Conductors

Brake Conductors

(1)

Electrical Tape

or Heat Shrink

See Table 40 on page 79 for strip lengths and torque values.

Follow these steps to prepare your existing 12 and 10 AWG (series A) cables.

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.

Figure 46 - Power/brake Cable (12 and 10 AWG)

(1) The overall shield braid covering the brake conductors can be removed.

Refer to Figure 48 and on page 88 for a typical installation example. For strip lengths and torque values, refer to Table 40

on page 79.

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Chapter 5 Connect the Kinetix 5300 Drive System

Pigtail Cable

Kinetix TL

Motor

Connectors

Motor Power Cable

Machine Frame

150 mm (6.0 in.) Termination

Cable Braid Clamped

(1)

to Machine Frame

Cable Preparation for Kinetix TL and TLY Motor Power Cables

2090-CPBM6DF motor power cables, used with Kinetix TLY motors, require no preparation. However, 2090-DANPT-16Sxx power cables, used with Kinetix TL motors have a short pigtail cable that connects to the motor, but is not shielded. The preferred method for grounding the Kinetix TL power cable on the motor side is to expose a section of the cable shield and clamp it directly to the machine frame.

The motor power cable also has a 150 mm (6.0 in.) shield termination wire with a ring lug that connects to the closest earth ground. The termination wire can be extended to the full length of the motor pigtail if necessary, but it is best to connect the supplied wire directly to ground without lengthening.

IMPORTANT

For Kinetix TL motors, connect the 150 mm (6.0 in.) termination wire to the closest earth ground.

Figure 47 - 2090-DANPT-16Sxx Cable Preparation

(1)

(1) Remove paint from machine frame to provide HF-bond between machine frame, motor case, shield clamp, and ground stud.

(1)

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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 connector set included with the drive, for cable diameters that are too small for a tight fit within the drive clamp alone.

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

Follow these steps to apply the motor power/brake shield clamp.

1. Position the motor power cable shield within the shield clamp. If the cable is too small in diameter to fit tight in the standard shield

clamp, add the clamp spacer.

Skip to step 4

for frame 3 drives with large cable diameters.

2. Make sure the cable clamp tightens around the cable shield and provides a high-frequency bond between the cable shield and the drive chassis.

IMPORTANT

Loosen the screw, if needed, until you can start threading both clamp screws with the cable shield under the clamp.

3. Tighten each screw, a few turns at a time, until the maximum torque value of 2.0 N•m (17.7 lb•in) is achieved.

4. For frame 3 drives only, if the cable is too large to fit within the standard shield clamp, substitute the standard clamp for the frame 3 clamping plate.

5. Apply two tie-wraps around the cable shield and clamping plate (see

Figure 48

on page 88 for example) to provide a high-frequency bond

between the cable shield and the drive chassis.

IMPORTANT

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.

If the frame 3 cable is too large to fit within the standard shield clamp, substitute the standard clamp for the frame 3 clamping plate. Apply two tie-wraps around the cable shield and plate to provide a high-frequency bond between the cable shield and the drive chassis.

Refer to Figure 48

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on page 88 for a cable-clamp attachment illustration.

Chapter 5 Connect the Kinetix 5300 Drive System

Standard Shield Clamp Compressed Around Shield (no spacer required)

Insert the clamp spacer when the cable diameter is smaller

than the drive clamp alone.

Frame 1 and 2 Servo Drives

Clamp Spacer (if needed)

(1)

Shield Clamp

Clamp Screws

2.0 N•m (17.7 lb•in)

Frame 1

Servo Drive

Frame 2

Servo Drive

Frame 3

Servo Drive

Clamp Spacer Added (small diameter cable)

Standard Shield Clamp

(frame sizes 1 and 2)

Clamping Plate for Large

(2)

Diameter Cables

(applies to Frame 3 only)

Apply tie-wraps to achieve high-frequency bond with clamp.

Substitute the Frame 3 clamping plate when the cable diameter is too large for the standard shield clamp.

Standard Shield Clamp

(frame 3)

Frame 3

Servo Drives

Clamp Spacer

(1)

(if needed)

Service Loops

Figure 48 - Cable Clamp Attachment

MBRK

MFB

MBRK

MFB

V W

MBRK

MFB

(1) The clamp spacer is included in 2198-CONKIT-PWRxx connector sets with frame 1, 2, and 3 drives. (2) The clamping plate is included in only the 2198-CONKIT-PWR75 connector set with frame 3 drives.

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Wire the Motor Feedback Connector

Motor feedback connections are made at the motor feedback (MFB) 15-pin connector on the front of the drive. This section provides examples and guidelines to assist you in making these connections. Included are wiring examples for motor encoders that require battery backup.

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

Table 48 - Motor Feedback Cable Compatibility

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, MPL-B8xxx-S/Mx7xAA, MPL-B9xxx-S/Mx7xAA

MPM-A/Bxxxx-S/M MPF-A/Bxxxx-S/M MPS-A/Bxxxx-S/M

MPAR-A/B1xxxx-V and MPAR-A/B2xxxx-V (series B) MPAR-A/B3xxxx-M MPAI-A/BxxxxxM3

MPAS-A/Bxxxx1-V05SxA MP

AS-A/Bxxxx2-V20SxA (ballscrew) LDAT-Sxxxxxx-xDx MPL-A/B15xxx-Hx7xAA

MPL-A/B2xxx-Hx7xAA MPL-A/B3xxx-Hx7xAA MPL-A/B4xxx-Hx7xAA MPL-A/B45xxx-Hx7xAA

MPAS-A/Bxxxx-ALMx2C (direct drive) LDAT-Sxxxxxx-xBx LDC-Cxxxxxx-xH

LDL-xxxxxxx-xH

TLP-A046-xxx, TLP-A/B070-xxx, TLP-A/B090-xxx, TLP-A100-xxx

TLP-A/B115-xxx, TLP-A/B145-xxx, TLP-A/B200-xxx, TLP-A/B235-xxx

TLY-Axxxx-B TLY-Axxxx-H TL-Axxxx-B 2090-DANFCT-Sxx (standard)

(ballscrew)

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)

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

2090-CTFB-MADD-CFAxx (standard) or 2090-CTFB-MADD-CFFxx (continuous-flex)

2090-CTFB-MFDD-CFAxx (standard) or 2090-CTFB-MFDD-CFFxx (continuous-flex)

2090-CFBM6DF-CBAAxx (standard) 2090-CFBM6DD-CCAAxx (standard)

Table 49 - Legacy Motor Feedback Cables

Motor Cable Description Feedback Cable Cat. No.

Encoder feedback, threaded

Standard

Encoder feedback, bayonet

Continuous-flex

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 89

Encoder feedback, bayonet 2090-XXTFMP-Sxx Encoder feedback, threaded 2090-CFBM4DF-CDAFxx

2090-XXNFMF-Sxx 2090-UXNFBMF-Sxx

2090-UXNFBMP-Sxx 2090-XXNFMP-Sxx

Chapter 5 Connect the Kinetix 5300 Drive System

Battery

Battery backup wires inserted in terminals.

Battery Box (cover removed)

Feedback

Cable

Cable Preparation for Kinetix TLP Feedback Cables

For Kinetix TLP motors, 2090-CTFB-MxDD feedback cables (with battery box) are available for applications with and without the need for battery backup.

• For multi-turn feedback, use 2090-CTFB-MxDD cables with drive-end connector plugs and wire the battery box (included with each Kinetix TLP feedback cable) and install a customer-supplied battery.

See Feedback Battery Box Installation Instructions, publication

2198-IN022

• For single-turn feedback, use 2090-CTFB-MxDD cables with drive-end connector plugs, however, the battery box option is not required.

• If you build your own cables, see Build Your Own Kinetix TLP Motor Cables Installation Instructions, publication 2090-IN048 flying-lead feedback connections to the 2198-K53CK-D15M connector kit.

Figure 49 - Battery Box Wired With Battery

, for more information.

, and make

Cable Preparation for 2090-CFBM7Dx Feedback Cables

2090-CFBM7DD motor feedback cables, used with Kinetix MP motors and actuators (with Hiperface encoders), also provide a drive-end connector that plugs directly into the 15-pin Kinetix 5300 (MFB) feedback connector. Use the 2198-K53CK-D15M feedback connector kit with 2090-CFBM7DF flying-lead cables.

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

Connect the Kinetix 5300 Drive System Chapter 5

MBRK

MFB

2090-DANFCT-Sxx

Motor Feedback Cable

(drive-end connector removed)

2090-DANPT-16Sxx Motor Power Cable

Kinetix TL (TL-Axxxx-B) Servo Motors

(high-resolution encoder)

Kinetix 5300 Servo Drive (front view)

2198 -K53C K-D15 M

Feedback Connector Kit

(battery backup is optional)

Cable Preparation for Kinetix TL and TLY Feedback Cables

For Kinetix TLY motors, 2090-CFBM6Dx feedback cables are available for applications with and without the need for battery backup.

• For multi-turn encoders (TLY-Axxxx-B motors), use the 2198-K53CK-D15M feedback connector kit (with customer-supplied battery) and 2090-CFBM6DF flying-lead cables.

• For incremental encoders (TLY-Axxxx-H motors), use 2090-CFBM6DD cables with drive-end connector and plug directly into the 15-pin (MFB) feedback connector.

- If the 2090-CFBM6DF flying-lead cable is preferred, the

2198-K53CK-D15M connector kit (without battery) can also be used.

For Kinetix TL-Axxxx-B motors, use 2090-DANFCT-Sxx feedback cables. You must remove the drive-end connector and prepare the leads for terminating at the 2198-K53CK-D15M connector kit. Install a (customer-supplied) battery for multi-turn encoder position backup.

Figure 50 - Feedback Connection for Kinetix TL Motors

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 91

Chapter 5 Connect the Kinetix 5300 Drive System

Cable Jacket

Cable Shield

Dimensions are in mm (in.)

2 1

Shield Clamp

Cable positioned where the cover clamps onto the cable jacket.

Motor Feedback Cable Preparation

When using the 2198-K53CK-D15M feedback connector kit, you must prepare the 2090-Series flying-lead conductors with the proper strip length. The cable shield requires a high-frequency bond with the ground pad.

Follow these steps to prepare feedback cables.

1. Remove 110 mm (4.3 in.) of cable jacket and 97 mm (3.8 in.) of cable shield.

IMPORTANT

This length of wire is needed for the longest wires terminated at each 8-pin connector. However, most wires are trimmed shorter, depending on the terminal they are assigned to.

2. Determine the length for each wire and trim as necessary.

3. Remove 5.0 mm (0.2 in.) of insulation from the end of each wire.

5.0 (0.2)

12.0 (0.5)

97 (3.8)

110 (4.3)

Apply the Connector Kit Shield Clamp

Follow these steps to apply the connector kit shield clamp.

1. Position the 12 mm (0.5 in.) of exposed cable shield over the ground pad to achieve a high-frequency bond.

IMPORTANT

Cable preparation and positioning that provides a highfrequency bond between the shield braid and clamp is required to optimize system performance.

Also, make sure that the cable is positioned where the cover clamps onto the jacket for added stress relief.

2. Place the shield clamp over the cable shield and install the clamp screws. Apply 0.34 N•m (3.0 lb•in) torque to each screw.

3. Route and insert each wire to its assigned terminal, apply 0.22 N•m (1.9 lb•in) to 0.25 N•m (2.2 lb•in) maximum torque to each screw.

Refer to the connector pinout as shown in Figure 51

4. Attach the tie-wrap (customer-supplied) through the slots and around the cable shield for stress relief and to create a high-frequency bond between shield and ground pad.

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

on page 95.

Connect the Kinetix 5300 Drive System Chapter 5

2090-Series Feedback Cable Pinouts

The following tables provide motor connector pinouts and wire colors to the 2198-K53CK-D15M connector kit.

Table 50 - 2090-CFBM7DF-CEAxxx Feedback Cables

Absolute, High-resolution Feed back

Motor/Actuator Pin

1 SIN+ SIN+ Black 1 2 SIN- SIN- White/Black 2 3COS+ COS+ Red3 4 COS- COS- White/Red 4 5 DATA+ DATA+ Green 5 6 DATA- DATA- White/Green 10 9Reserved EPWR_5V Gray14

10 ECOM ECOM White/Gray 11 EPWR_9V Reserved Orange 7

13 TS+ TS+ White/Orange 11

(1) The ECOM and TS- connections are tied together and connect to the cable shield.

MPL-B15xxx and MPL-B2xxx-V/Ex4/7xAA MPL-B3xxx…MPL-B9xxx-M/Sx7xAA MPL-A5xxx-M/Sx7xAA

MPM-A165xxx…MPM-A215xxx-M/S MPM-Bxxxxx-M/S MPF-Bxxx-M/S MPF-A5xxx-M/S MPS-Bxxx-M/S

MPAS-Bxxxxx-VxxSxA MPAR-Bxxxx, MPAI-Bxx LD

AT-Sxxxxxx-xDx

MPL-A15xxx and MPL-A2xxx-V/Ex4/7xAA MPL-A3xxx-M/Sx7xAA MPL-A4xxx-M/Sx7xAA MPL-A45xxx-M/Sx7xAA MPM-A115xxx…MPM-A130xxx-M/S MPF/MPS-A3xx-M/S MPF/MPS-A4xx-M/S MPF/MPS-A45xx-M/S

MPAS-Axxxxx-VxxSxA MPAR-Axxxx, MPAI-Axxxx

Wire Color

2198-K53CK-D15M Connector Kit Pin

(1)

Table 51 - 2090-CTFB-MxDD-CFxxx Feedback Cables

Motor Pin

AT+ White5 B T– White/Red 10 CBAT+ RedPin + D BAT– Black Pin –

LDrain – RECOM Blue6

S EPWR_5V Brown 14

TLP-Axxx-xxx and TLP-Bxxx-xxx 24-bit Absolute, Multi-turn/Single-turn High-resolution

Wire Color

2198-K53CK-D15M Connector Kit Pin

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 93

Chapter 5 Connect the Kinetix 5300 Drive System

Table 52 - 2090-XXNFMF-Sxx or 2090-CFBM7DF-CDAxxx Feedback Cables

Incremental Feed back

Motor/Actuator Pin

MPL-A/B15xxx…MPL-A/B2xxx-Hx4/7xAA MPAS-A/Bxxxx-ALMx2C LDAT-Sxxxxxx-xBx LDC-Cxxxxxx-xH, LDL-xxxxxxx-xH

Wire Color

2198-K53CK-D15M Connector Kit Pin

1SIN+ Black1 2 SIN- White/Black 2 3COS+ Red3 4 COS- White/Red 4 5 DATA+ Green 5 6 DATA- White/Green 10 9EPWR_5V Gray14

10 ECOM White/Gray

(1)

6 11 EPWR_9V Orange 7 13 TS+ White/Orange 11 15 S1 White/Blue 12 16 S2 Yellow 13 17 S3 White/Yellow 8

(1) The ECOM and TS- connections are tied together and connect to the cable shield.

Table 53 - 2090-CFBM6DF-CBAAxx Feedback Cables

Motor Pin

TLY-Axxxx-H Incremental Encoder Feedback

Wire Color

9AM+ Black1 10 AM– White/Black 2 11 BM+ Red 3 12 BM– White/Red 4 13 IM+ Green 5 14 IM– White/Green 10 22 EPWR_5V Gray 14

23 ECOM White/Gray 15 S1 White/Blue 12

17 S2 Yellow 13 19 S3 White/Yellow 8

24 Drain –

(1) The ECOM and TS- connections are tied together and connect to the cable shield.

2198-K53CK-D15M

Connector Kit Pin

(1)

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

Table 54 - 2090-CFBM6DF-CBAAxx Feedback Cables

8 7 6 5 4 3

2 1

10 11 12 13 14 +

Shield Clamp

2198-K53CK-D15M

Connector Kit

Clamp Screws (2)

Tie wrap is required to

create a high-frequency bond between shield and ground pad, stress relief,

and wire management.

Exposed shield aligned over

ground pad and under the

shield clamp.

8-pin

Connector (2x)

15-pin D-sub to Motor Feedback (MFB) Connector

2090-Series

Feedback Cable

Mounting Screw

For more information on wiring the 2198-K53CK-D15M, see Kinetix 5300

Feedback Connector Kit Installation Instructions, publication 2198- IN023

Terminal Signal Wire Color

1 SIN+ AM+ Black 2 SIN– AM– White/Black 3 COS+ BM+ Red 4 COS– BM– White/Red 5 DATA+ IM+ Green

ECOM

(1)

(1) The ECOM and TS- connections are tied together and

connect to the cable shield.

White/Gray

7 EPWR_9V Orange 8 S3 White/Yellow 10 DATA– IM– White/Green 11 TS+ White/Orange 12 S1 White/Blue 13 S2 Yellow 14 EPWR_5V Gray

+ Battery +

N/A

(2)

(2) See cable pinouts for wire colors.

– Battery –

N/A

(2)

Drain Shield

Connect the Kinetix 5300 Drive System Chapter 5

Motor Pin

TLY-Axxxx-B 17-bit Absolute, Multi-turn, High-resolution Feedback

Wire Color

2198-K53CK-D15M Connector Kit Pin

13 DATA+ Green 5 14 DATA– White/Green 10 22 EPWR_5V Gray 14

23 ECOM and BAT- White/Gray

(1)

6BAT+ OrangeBAT+ 24 Drain –

(1) BAT- is tied to ECOM (pin 23) in the cable.

Table 55 - 2090-DANFCT-Sxx Feedback Cables

Motor Pin

TL-Axxxx-B 17-bit Absolute, Multi-turn, High-resolution Feedback

Wire Color

12 SD+ Brown 5 13 SD– White/Brown 10 7EPWR_5V Gray14

8 ECOM and BAT- White/Gray 14 BAT+ Orange BAT+ 9Drain –

(1) BAT- is tied to ECOM (pin 8) in the cable.

2198-K53CK-D15M Connector Kit Pin

(1)

Figure 51 - Wire the 2198-K53CK-D15M Feedback Connector Kit

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 95

Chapter 5 Connect the Kinetix 5300 Drive System

Kinetix 5300 Drive Top View

Shunt Connector

External Passive-shunt Resistor Connections

Passive shunt connections are made at the shunt connector on the top of the drive.

Follow these guidelines when wiring your 2097-Rxxx shunt resistor:

• Refer to External Passive Shunt Resistor

on page 39 for noise zone

considerations.

• Refer to Shunt Resistor Wiring Example

on page 172.

• Refer to the installation instructions provided with your Bulletin 2097 shunt resistor, publication 2097-IN002

IMPORTANT

To improve system performance, run wires and cables in the

wireways as established in Chapter 2.

Figure 52 - Shunt Connector Wiring

Table 57 - Shunt Resistor Connector Specifications

Recommended Wire Size

(AWG)

0.2…2.5 (24…12)

Drive Cat. No.

2198 -Cxxxx-ERS –

(1) Pin numbering is not used on the shunt connector. Shunt connections to the 2-pin connector is arbitrary.

IMPORTANT

(1)

Signal

DC+ SH

You must unplug the internal shunt connector plug before connecting

Strip Length

mm (in.)

8.0 (0.31)

the external shunt-resistor wires. Use the spare shunt connector plug provided with the drive for the external shunt.

ATTENTION: Your internal or external passive shunt requires configuration in the Logix Designer application. Failure to properly configure the shunt can result in reduced performance or shunt resistor damage. See Continue Drive

Configuration on page 112 for Module Properties>Power category

configuration.

Tor que Val ue

N•m (lb•in)

0.5…0.6 (4.4…5.3)

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

Connect the Kinetix 5300 Drive System Chapter 5

1 (Front) 2 (Rear)

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

LNK1LNK2NE T OK

OKFORCE SDRUN

Logix5585

LINK

NET

SAFETY ON

0000

ControlLogix® 5570 Controller with

Bulletin 1756 EtherNet/IP Communication Module

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 Controller, Compact GuardLogix® 5370 Controller (CompactLogix 5370 controller is shown)

Port 1, Front

Port 2, Rear

ControlLogix 5580 and

GuardLogix 5580 Controller

1 GB Ethernet Port

Front View

CompactLogix 5380 Controller, or

Compact GuardLogix 5380 Controller

(CompactLogix 5380 controller is shown)

Front View

Ethernet Cable Connections This procedure assumes you have your Logix 5000™ controller and

Kinetix 5300 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 52 Kinetix 5300 drive. Refer to Figure 53 Logix 5000 controller.

Shielded Ethernet cable is required and available in several standard lengths. Ethernet cable lengths connecting drive-to-drive, drive-to-controller, or driveto-switch must not exceed 100 m (328 ft).Refer to the Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004 information.

Figure 53 - ControlLogix and CompactLogix Ethernet Port Locations

to locate the Ethernet connectors on your

to locate the connectors on your

, for more

These Logix 5000 controllers accept linear, ring (DLR), and star network configurations. Refer to Typical Communication Configurations for linear, ring, and star configuration examples.

IMPORTANT

When using an external Ethernet switch for routing traffic between the

on page 19

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-UM005A-EN-P - October 2020 97

Chapter 5 Connect the Kinetix 5300 Drive System

Notes:

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

Chapter 6

Configure and Start up the Kinetix 5300 Drive System

This chapter provides procedures for configuring your Kinetix® 5300 drive system with a Logix 5000™ controller.

Top ic Pa ge

Understand the Kinetix 5300 Front Panel 99 Configure the Kinetix 5300 Drive 105 Studio 5000 Logix Designer 106 Studio 5000 Logix Designer 106 Configure the Logix 5000 Controller 107 Configure the Kinetix 5300 Drive Modules 110 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 Configure SPM Motor Closed-loop Control Axis Properties 122 Configure Induction-motor Closed-loop Control Axis Properties 128 Configure Feedback Properties 133 Apply Power to the Kinetix 5300 Drive 137 Test and Tune the Axes 138

Understand the Kinetix 5300 Front Panel

Before you begin make sure that you know the catalog number for the drive, the Logix 5000 controller, and the servo motor/actuator in your motion control application.

The Kinetix 5300 drive has two status indicators, four Ethernet status indicators, and a four-character status display on the front panel as shown

Figure 54

. These status indicators and the display are used to monitor the

system status, activity, and indicate faults.

The four-character status display has three navigation pushbuttons that are used to select and edit a limited set of information. The home screen provides a scrolling message of basic information, and the menus can be accessed by using the Next, Select, and Back buttons. Refer to Figure 54

for descriptions

and functions.

Rockwell Automation Publication 2198-UM005A-EN-P - October 2020 99

Chapter 6 Configure and Start up the Kinetix 5300 Drive System

MOD NET

SELECT

BACK

KINETIX

5300

DANGER

Electric shock risk. Power off and wait 5 minutes.

Four-character

Status Display

The letters K, M, Q, V, W, and X are not available.

Figure 54 - Kinetix 5300 Front Panel Identification

Item Description Function

Module and Network status indicator 2 Ethernet Ports (RJ45 connector) Used to connect the drive to the Ethernet network. 3 Four-character status display Used to display the editable menu for the Kinetix 5300 drive. 4 Next Used to advance to the next selection in an editable string. 5 Select Used to select a menu item for editing.

6Back

Link speed status indicators 8

Link/Activity status indicators

(1) Refer Interpret Status Indicators on page 141 for additional information about status indicators and fault codes.

(1)

Used to indicate the connectivity of the module and network.

Used to return to the previous editable character in an editable string or to return to the previous menu.

(1)

Used to indicate network speed status and communication status.

Menus and Display Screen

The alphanumeric four-character status display scrolls messages and menu selections. The display has a nested menu structure that contains a Home screen and displays drive information, settings, and faults. The Home screen scrolls the CIP state and IP address during normal operation. When a fault occurs, the active fault code is displayed.

Character Identification

The status display uses seven-segment characters. Figure 55 represents the alphanumerics used for the four-character status display.

Figure 55 - Status Display Character Code

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

Rockwell Automation Kinetix 5300 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Important User Information

Table of Contents

Notes:

Preface

Download Firmware, AOP, EDS, and Other Files

Conventions Used in This Manual

Access Fault Codes

CIP Security

Additional Resources

About the Kinetix 5300 Servo Drive System

Drive Hardware and Input Power Configurations

Motor and Auxiliary Feedback Configurations

Typical Communication Configurations

Linear Topology

Ring Topology

Star Topology

Safe Torque Off Configuration

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

System Design Guidelines Use the information in this section when designing your enclosure and

System Mounting Requirements

AC Line Filter Selection

Transformer Selection

Circuit Breaker/Fuse Selection

24V Control Power Evaluation

Passive Shunt Considerations

Enclosure Selection

Minimum Clearance Requirements

Electrical Noise Reduction This section outlines best practices that minimize the possibility of noise-

HF Bond for Modules

HF Bond for Multiple Subpanels

Establish Noise Zones

Cable Categories for Kinetix 5300 Systems

Noise Reduction Guidelines for Drive Accessories

Determine Mounting Order When drives are mounted by using the zero-stack feature, they must be

Zero-stack Tab and Cutout

Shared-bus Connection System

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.

Drill-hole Patterns Hole patterns for drives mounted in zero-stack or shared-bus configuration

Mount Your Kinetix 5300 Drive

2. Drill holes in the panel for mounting your drive system. Hole patterns, by frame size, are shown in Drill-hole Patterns

3. Loosely attach the mounting hardware to the panel. The recommended mounting hardware is M4 (#8-32) steel bolts. Observe

4. Attach the leftmost drive to the cabinet panel.

6. Tighten all mounting fasteners. Apply 2.0 N•m (17.7 lb•in) maximum torque to each fastener.

Kinetix 5300 Connector Data

Safe Torque Off Connector Pinout

Input Power Connector Pinouts

Shunt Resistor Connector Pinouts

Ethernet Communication Connector Pinout

Digital Inputs and Auxiliary Feedback Connector Pinouts

Motor Power, Brake, and Feedback Connector Pinouts

Understand Control Signal Specifications

Digital Inputs

Motor Holding-brake Circuit

2. Enter the MechanicalBrakeEngageDelay and Mechanical BrakeReleaseDelay times in the Logix Designer application.

3. Use the drive stop-action default setting (Current Decel & Disable). Refer to Axis Properties>Actions>Stop Action in the Logix Designer

4. Use the motion instruction Motion Axis Stop (MAS) to decelerate the servo motor to 0 rpm.

5. Use the motion instruction Motion Servo Off (MSF) to engage the brake and disable drive.

Control Power

Ethernet Communication Specifications

Feedback Specifications The Kinetix 5300 drives accept motor feedback of various types on the MFB

Motor Feedback Supported on the MFB Connector

Auxiliary Feedback Specifications

Encoder Phasing Definitions

Absolute Position Feature

Safe Torque Off Safety Features

Servo Drives with Hardwired Safety

Basic Wiring Requirements This section contains basic wiring information for the Kinetix 5300 drives.

Build Your Own Cables

Routing the Power and Signal Cables

Determine the Input Power Configuration

Three-phase Input Power

Single-phase Input Power

Ground the Drive System All equipment and components of a machine or process system must have a

Ground the System Subpanel

Ground Multiple Subpanels