Professional Documents
Culture Documents
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
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.
IMPORTANT Identifies information that is critical for successful application and understanding of the product.
Allen-Bradley, Rockwell Automation, Ultra, Kinetix, ControlLogix, CompactLogix, MicroLogix, RSLogix, ProposalWorks, Encompass, Rockwell Software, TechConnect, SLC, MP-Series, and TL-Series are trademarks of
Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Preface Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Ultra3000 Drive Catalog Number Descriptions . . . . . . . . . . . . . . . . . . . . . . 5
Kinetix 300/Kinetix 350 Drive Catalog Number Descriptions . . . . . . . . . 6
Kinetix 300 Drive Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Kinetix 350 Drive Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Pre-migration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Best Practices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1
Engineering Review Essentials Engineering Effort and Product Liability . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Major Product Replacement Considerations . . . . . . . . . . . . . . . . . . . . . . . 11
Minor Product Replacement Considerations . . . . . . . . . . . . . . . . . . . . . . . 13
Potential Hardware Design Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Chapter 2
Migration Considerations Selecting a Replacement Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Factors Affecting Drive Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Drive Sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Output Current Comparison. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Dimension Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Ultra3000 (230V) Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Ultra3000 (460V) Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Kinetix 300/Kinetix 350 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Input Wiring and Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
AC Input Power Wire Length and Routing. . . . . . . . . . . . . . . . . . . . . 22
Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Drive Interconnects and Cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Motor Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Encoder Feedback Replacement Cables. . . . . . . . . . . . . . . . . . . . . . . . . 27
2090-Series Motor/Actuator Cables Overview. . . . . . . . . . . . . . . . . . . . . . 30
I/O Cabling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Ultra3000 CN1 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Kinetix 300/Kinetix 350 Expansion Block. . . . . . . . . . . . . . . . . . . . . . 32
Master Encoder/Gearing Signals/Buffered Encoder Signals . . . . . . 32
I/O Availability and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Auxiliary Logic Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Analog Current Limit Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Analog Current Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Appendix A
Connectors and Field Connector Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Connections Encoder Wiring Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Control Wiring Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Mains Power Wiring Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Appendix B
Specifications General Power Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Ultra3000 Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Kinetix 300/Kinetix 350 Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Digital I/O Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Digital Input Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Digital Output Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Relay Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Analog I/O Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Analog Input Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Analog Output Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Environmental and Safety Feature Comparison . . . . . . . . . . . . . . . . . . . . . 61
Environmental Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Safety Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Appendix C
Feature Comparison Chart Feature Comparison Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Appendix D
Hardware Layout with Ultra3000 Drive Power Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Connections Kinetix 300/Kinetix 350 Drive Power Wiring . . . . . . . . . . . . . . . . . . . . . . 70
Appendix E
Topology/Architecture Layouts Ultra3000 (Analog) to Kinetix 300 Architecture . . . . . . . . . . . . . . . . . . . . 76
Ultra3000 (Indexing) to Kinetix 350 Architecture . . . . . . . . . . . . . . . . . . 77
Ultra3000 (SERCOS) to Kinetix 350 Architecture. . . . . . . . . . . . . . . . . . 78
Overview The purpose of this migration guide is to provide you with the essential
information to determine what hardware design changes may be necessary when
migrating an Ultra™ 3000 servo drive to a Kinetix® 300 or Kinetix 350 servo drive.
Kinetix 300/Kinetix 350 Kinetix 300 Drive Kinetix 350 Drive Description Power
Drive Catalog Number Cat. No. Cat. No. (kW)
Descriptions Single-phase
2097-V31PR0 2097-V31PR0-LM 1Ø, 2 A, 120/240V, no filter 0.4
(120V-voltage doubler)
2097-V31PR2 2097-V31PR2-LM 1Ø, 4 A, 120/240V, no filter 0.8
(120V-voltage doubler)
2097-V32PR0 2097-V32PR0-LM 1Ø, 2 A, 240V, integral filter 0.4
2097-V32PR2 2097-V32PR2-LM 1Ø, 4 A, 240V, integral filter 0.8
2097-V32PR4 2097-V32PR4-LM 1Ø, 8 A, 240V, integral filter 1.7
Single-/Three-phase
2097-V33PR1 2097-V33PR1-LM 1Ø, 3Ø, 2 A, 240V, no filter 0.5
2097-V33PR3 2097-V33PR3-LM 1Ø, 3Ø, 4 A, 240V, no filter 1
2097-V33PR5 2097-V33PR5-LM 1Ø, 3Ø, 8 A, 240V, no filter 2
2097-V33PR6 2097-V33PR6-LM 1Ø, 3Ø, 12 A, 240V, no filter 3
Three-phase
2097-V34PR3 2097-V34PR3-LM 3Ø, 2 A, 480V, no filter 1
2097-V34PR5 2097-V34PR5-LM 3Ø, 4 A, 480V, no filter 2
2097-V34PR6 2097-V34PR6-LM 3Ø, 6 A, 480V, no filter 3
Kinetix 300 Drive Features The Kinetix 300 drive offers a cost-effective, low axis count EtherNet/IP
indexing servo drive solution. Features of the Kinetix 300 drive include the
following:
• Indexing
– Five indexing types
– S-curve and trapezoidal moves
– 32 index capability
• Commanded control over the EtherNet/IP network
– Velocity and current
– Absolute and incremental position with or without registration
• Electronic gearing
• Analog input control
• Step and direction control
• Integrated safe torque-off
Kinetix 350 Drive Features The Kinetix 350 drive is a single-axis solution developed to provide scalability at
a low cost. It simplifies integration of the entire control solution on one network,
including human-machine interface (HMI), programmable automation
controller, I/O, and motion. Features of the Kinetix 350 drive include the
following:
• Connects via EtherNet/IP network with common industrial protocol
(CIP) Motion technology, which provides real-time, closed-loop motion
control with standard Ethernet
• Fully compatible in a star or linear topology
• Integrates with L6 and L7 ControlLogix® and CompactLogix™ controllers
supporting Integrated Motion on EtherNet/IP network
• Programming supported in RSLogix™ 5000 software, version 20.00.00
• Supports standard motion instruction set, including Kinematics
• Comes equipped with embedded safe torque-off functionality
Pre-migration Migrating from a motion control system that uses Ultra3000 drives to a system
that uses Kinetix 300 or Kinetix 350 drives requires a comprehensive design
review of the motion control system. There are multiple drive replacement
combinations, and multiple configurations for how the drives can be installed and
software applied. As a result, this migration guide is not an all-inclusive
document. It does not describe all the redesign steps that may be required, nor
does it contain the detailed product information necessary to finalize the
redesign. The generalities of the replacement process are covered, and the
decision-making steps likely to be encountered in a typical replacement scenario
are described.
Best Practices Motors – Verify that your current motor is compatible with the Kinetix 300/350
servo drive family. Kinetix 300/350 drives are compatible with MP-Series™ or
TL-Series™ servo motors or linear actuators.
IMPORTANT Third-party motors are not supported with Kinetix 300 drives. Check with
your Rockwell Automation representative to see if your third-party motor
is compatible with the Kinetix 350 drives.
Feedback Cable Length – Verify that the feedback cable length in your current
Ultra3000 system does not exceed the maximum feedback cable length for the
Kinetix 300/350 servo drives. The maximum feedback cable length for the
Kinetix 300/350 servo drives is 20 m (65.6 ft).
Configuration Files– Use the Ultraware software to upload and save the
Ultra3000 drive configuration file for future reference. If using a serial real-time
communication system (SERCOS) Ultra3000 drive, upload and save any
network files and programmable logic controller (PLC) programs.
Electrical Noise – Refer to the System Design for Control of Electrical Noise
Reference Manual, publication GMC-RM001, to better understand the concept
of electrical noise reduction.
Additional Resources These documents contain additional information concerning related products
from Rockwell Automation.
Resource Description
Kinetix 300 and Kinetix 350 Drive Systems Design Guide, Provides information to assist you in identifying the drive system components and accessory
publication GMC-RM004 items you’ll need for your Kinetix 300/350 drive and motor/actuator combination.
Integrated Motion on SERCOS and EtherNet/IP Systems - Compares and contrasts Integrated Motion systems using SERCOS and EtherNet/IP with a
Analysis and Comparison White Paper, publication ControlLogix Programmable Automation Controller (PAC).
MOTION-WP001
Kinetix 350 EtherNet/IP Indexing Servo Drives User Provides installation instructions for mounting, wiring, and troubleshooting your Kinetix 350
Manual, publication 2097-UM002 drive; and system integration for your drive/motor combination with a Logix controller.
Kinetix 350 EtherNet/IP Indexing Servo Drive Installation Provides information on installing your Kinetix 350 drive system.
Instructions, publication 2097-IN008
Kinetix 300 EtherNet/IP Indexing Servo Drives User Provides installation instructions for mounting, wiring, and troubleshooting your Kinetix 300
Manual, publication 2097-UM001 drive; and system integration for your drive/motor combination with a Logix controller.
Kinetix 300 EtherNet/IP Indexing Servo Drive Installation Provides information on installing your Kinetix 300 drive system.
Instructions, publication 2097-IN001
Kinetix 300 Shunt Resistor Installation Instructions, Provides information on installing and wiring the Kinetix 300 shunt resistors
publication 2097-IN002 (also compatible with the Kinetix 350 drive).
Kinetix 300 AC Line Filter Installation Instructions, Provides information on installing and wiring the Kinetix 300 AC line filter
publication 2097-IN003 (also compatible with the Kinetix 350 drive).
Kinetix 300 I/O Terminal Expansion Block Installation Provides information on installing and wiring the Kinetix 300 I/O terminal expansion block
Instructions, publication 2097-IN005 (also compatible with the Kinetix 350 drive).
Kinetix 300 Memory Module Installation Instructions, Provides information on installing the Kinetix 300 memory module
publication 2097-IN007 (also compatible with the Kinetix 350 drive).
Kinetix 300 Memory Module Programmer Quick Start, Provides information on using the memory module programmer to duplicate the memory
publication 2097-QS001 module (also compatible with the Kinetix 350 drive).
1769-L32E and 1769-L35E CompactLogix Controller Information on how to assemble and mount the controller, how to upgrade firmware, and
Installation Instructions, publication 1769-IN020 controller technical specifications.
1769-L32C and 1769-L35CR CompactLogix Controller Information on how to assemble and mount the controller, how to upgrade firmware, and
Installation Instructions, publication 1769-IN070 controller technical specifications.
1769-L31 CompactLogix Controller Installation Information on how to assemble and mount the controller, how to upgrade firmware, and
Instructions, publication 1769-IN069 controller technical specifications.
Ultraware Software User Manual, publication Provides detailed installation instructions, defines software interface features, and
2098-UM001 programming assistance for Ultraware software.
Ultra3000 Digital Servo Drive with DeviceNet, publication Provides information on how to use DeviceNet to install, start up, and troubleshoot an
2098-RM004 Ultra3000 drive.
Ultra3000 Digital Servo Drives Installation Manual,
publication 2098-IN003 Provides mounting, wiring, and connecting procedures for the Ultra3000 drive.
Ultra3000 Digital Servo Drives Integration Manual, Information on configuring and troubleshooting your Ultra3000 drive.
publication 2098-IN005
Rockwell Automation Configuration and Selection Tools,
website www.ab.com/e-tools Online product selection and system configuration tools, including AutoCAD (DXF) drawings.
Industrial Automation Wiring and Grounding Guidelines, Provides general guidelines for installing a Rockwell Automation industrial system.
publication 1770-4.1
Product Certifications website, http://www.ab.com Provides declarations of conformity, certificates, and other certification details.
Notes:
Replacing an Ultra3000 drive with a Kinetix 300 or Kinetix 350 drive may
require some system design changes. Follow these steps to properly formulate the
design changes:
• Review the hardware and software design of the current Ultra3000 system.
The appendices in this document can help you with this process.
• Review the hardware and software specifications for the Kinetix 300/350
drives.
Engineering Effort and Thoroughly review this document before you begin to evaluate the design
changes required to successfully migrate your Ultra3000 drive to a Kinetix 300/
Product Liability 350 drive.
The following sections highlight the major and minor differences between the
Ultra3000 drives and Kinetix 300/350 drives. Additional differences may also
impact your application. Read this entire document before proceeding to qualify
the Kinetix 300/350 drives for your needs.
Major Product Listed here are some major differences between the Ultra3000 drives and the
Kinetix 300/350 drives.
Replacement
Considerations Serial Port – The Kinetix 300/350 drives do not have a serial port. The Kinetix
300/350 programming interface is via Ethernet, and the Kinetix 300 drive can be
programmed by using java-based embedded software. If your Ultra3000 drive
application uses host mode programming or the serial port for HMI
communication, the difference in communication and programming will have to
be addressed. See Appendix A.
Physical Dimensions – The physical size of the drive families are different (see
Drive Sizing on page 16). In most cases, the Kinetix 300/350 drives are smaller
and will fit into the existing space of the compatible Ultra3000 drives; however,
you should verify the physical size of the Kinetix 300/350 drive.
Shunting – The Ultra3000 drives (except micro sizes) have internal shunting
capability, while the Kinetix 300/350 drives have external shunting capability
only. See Shunt Resistors on page 45 to help you verify the differences and
determine if you need to resize the drive, or if your space requirements will
change with the Kinetix 300/350 drives if you require a shunt module to be
added in the panel.
Power Range – The Kinetix 300/350 drives have a different drive power range
that may not match directly with the Ultra3000 drive power range. See Drive
Sizing on page 16 and Dimension Comparison on page 17 to determine if your
power range is covered with the Kinetix 300/350 drives, or if resizing or a
different drive architecture is required.
I/O Interface – The Ultra3000 drives have a D-shell connector for I/O interface
connection, while the Kinetix 300/350 drives use a small computer system
interface (SCSI) connector for I/O interface. If your application cannot modify
the cable interface or breakout board to the I/O, this may be an issue. See I/O
Cabling on page 31.
Cable Lengths – The Ultra3000 drives support cable lengths for motor and
power up to 90 m (295.2 ft), while the Kinetix 300/350 drives support cable
lengths up to 20 m (65.6 ft) only. See Drive Interconnects and Cabling on
page 24.
Dual Loop Operation – The Ultra3000 drives have the ability to power Aux
encoders for use in master gearing or dual loop modes. This power supply is not
available in the Kinetix 300/350 drives. If your application requires dual loop
operation, it is not supported with the Kinetix 300/350 drives. See Master
Encoder/Gearing Signals/Buffered Encoder Signals on page 32.
Minor Product Listed here are some minor differences between the Ultra3000 drives and the
Kinetix 300/350 drives. See Appendix C for a feature comparison chart that
Replacement shows the notable differences. Some key differences include the following:
Considerations
Relay Outputs – The I/O implementation between the drives is different (see
I/O Availability and Specifications on page 35 and Appendix B). Most notably,
there is no relay output on the Kinetix 300/350 drives. This has to be addressed
on replacement.
Digital Inputs – The Ultra3000 drives have multiple assignment for digital
inputs, while the Kinetix 300/350 drives have single assignment for digital inputs
(see Digital Inputs on page 36 and Digital I/O Comparison on page 59).
Potential Hardware Design The design changes required for converting to the Kinetix 300/350 drives
depend on the original/replacement drive combination and the specifics of the
Changes application. The objective is to determine which areas of a design may need to be
changed. This document provides you with knowledge about the type and extent
of work that may be required to successfully change from an Ultra3000 system to
a Kinetix 300/350 system.
IMPORTANT Due to the flexibility of drive installation and usage, it is not feasible to
cover all possible issues that may be encountered. In addition to the
items described in this document, the engineering/design team should
pay particular attention to unique features and functions of the Ultra3000
system when considering replacement with a Kinetix 300/350 system.
Notes:
Migration Considerations
Selecting a Replacement Drive sizing is the primary factor in selecting a replacement drive. To identify the
correct replacement drive size, compare the continuous and peak output current
Drive ratings.
These Ultra3000 drives can be replaced with a Kinetix 300/350 drive of similar,
or in some cases greater, output current capability:
• 2098-DSD-005
• 2098-DSD-010
• 2098-DSD-020
• 2098-DSD-030
• 2098-DSD-HV030
• 2098-DSD-HV050
The Kinetix 300/350 drives have similar current ratings and require less physical
space than the Ultra3000 drives.
These Ultra3000 drives do not have similar replacements in the Kinetix 300/350
drives series:
• 2098-DSD-075
• 2098-DSD-150
• 2098-DSD-HV150
• 2098-DSD-HV220
Drive Sizing This section lists the Ultra3000 drives and the suggested Kinetix 300/350
replacement drives, along with the output ratings and dimension differences of
the drives. Information in this migration guide is based on the drive combinations
shown in Table 1 and Table 2.
207...528 230...480
2098-DSD-HV150 3Ø 3Ø 34 N/A
207...528 230...480
2098-DSD-HV220 47 N/A
3Ø 3Ø
(1) Continuous output current ratings are used.
(2) The Kinetix 350 drive part number has a -LM at the end of the catalog string (see Kinetix 300/Kinetix 350 Drive Catalog Number Descriptions on page 6).
Dimension Comparison
Table 2 provides a comparison of the dimensions of the drives.
Ultra3000 Drive Kinetix 300/350 Drive Dimension Differences, Kinetix Referenced (1)
Model Number Height Width Depth Model Number Height Width Depth Height (2) Width (2) Depth (2)
mm mm mm mm mm mm mm (in.) mm (in.) mm (in.)
2098-DSD-005 198.12 95.5 144.27 2097-V31PR0-xx 190 68 185.1 -8.12 (-0.32) -27.5 (-1.08) 40.83 (1.61)
198.12 95.5 144.27 2097-V32PR0-xx 190 68 229.6 -8.12 (-0.32) -27.5 (-1.08) 85.33 (3.36)
198.12 95.5 144.27 2097-V33PR1-xx 190 68 185.1 -8.12 (-0.32) -27.5 (-1.08) 40.83 (1.61)
198.12 95.5 144.27 2097-V34PR3-xx 190 68.5 185.1 -8.12 (-0.32) -27.0 (-1.06) 40.83 (1.61)
2098-DSD-010 198.12 121.54 144.27 2097-V31PR2-xx 190 68.5 185.1 -8.12 (-0.32) -53.04 (-2.09) 40.83 (1.61)
198.12 121.54 144.27 2097-V32PR2-xx 190 68.5 229.6 -8.12 (-0.32) -53.04 (-2.09) 85.33 (3.36)
198.12 121.54 144.27 2097-V33PR3-xx 190 68.5 185.1 -8.12 (-0.32) -53.04 (-2.09) 40.83 (1.61)
198.12 121.54 144.27 2097-V34PR5-xx 190 94.4 185.1 -8.12 (-0.32) -27.14 (-1.07) 40.83 (1.61)
2098-DSD-020 198.12 121.54 144.27 2097-V32PR4-xx 190 86.8 229.6 -8.12 (-0.32) -34.74 (-1.37) 85.33 (3.36)
198.12 121.54 144.27 2097-V33PR5-xx 190 94.4 185.1 -8.12 (-0.32) -27.14 (-1.07) 40.83 (1.61)
2098-DSD-030 360.68 91.44 243.84 2097-V33PR6-xx 190 68 229.6 -170.7 (-6.72) -23.44 (-0.92) -14.24 (-0.56)
2098-DSD-HV030 360.7 138.7 242.2 2097-V33PR5-xx 190 94.4 185.1 -170.7 (-6.72) -44.3 (-1.74) -57.1 (-2.25)
360.7 138.7 242.2 2097-V34PR6-xx 190 68 229.6 -170.7 (-6.72) -70.7 (-2.78) -12.6 (-0.50)
2098-DSD-HV050 360.7 138.7 242.2 2097-V33PR5-xx 190 94.4 185.1 -170.7 (-6.72) -44.3 (-1.74) -57.1 (-2.25)
(1) Dimensions chosen were for Ultra3000 drives -SE, -DN, -XDN (see Ultra3000 (230V) Dimensions on page 18).
(2) A minus sign denotes that the height, width, or depth of the Kinetix 300/350 drive is shorter, narrower, or shallower than the comparable Ultra3000 drive.
Dimension Drawings This section provides dimensions of the drives to assist you in determining the
space needed to install the drives.
E 144.27
(5.68)
F
Dimensions are in mm (in.)
Unit shown is the 2098-DSD-005-SE drive.
Ultra3000 Drive A C E F
2098-DSD-005 72.64
2098-DSD-005X (2.86)
2098-DSD-010 65.02 13.26 32.77
2098-DSD-010X (2.56) (0.52) (1.29) 98.1
2098-DSD-020 (3.89)
2098-DSD-020X
2098-DSD-005-SE 95.5
2098-DSD-005-DN (3.76)
2098-DSD-005X-DN
2098-DSD-010-SE 87.88 24.64 43.94
2098-DSD-010-DN (3.46) (0.97) (1.73)
2098-DSD-010X-DN 121.54
2098-DSD-020-SE (4.79)
2098-DSD-020-DN
2098-DSD-020X-DN
A
B 227.08
C (8.94)
349.25 360.68
(13.75) (14.2)
331.47
(13.05)
C
B J
Dimensions are in mm (in.)
Unit shown is the 2098-DSD-030 drive.
Ultra3000 Drive A B C J
2098-DSD-030
2098-DSD-030X 91.44 50.8 20.32 243.84
2098-DSD-030-SE (3.6) (2.0) (0.8) (9.6)
2098-DSD-030-DN
2098-DSD-030X-DN
2098-DSD-075
2098-DSD-075X
2098-DSD-075-SE 138.68 88.9 24.89 247.14
2098-DSD-075-DN (5.41) (3.5) (0.96) (9.73)
2098-DSD-075X-DN(1)
2098-DSD-150
2098-DSD-150X 188.97 139.7 24.6 241.05
2098-DSD-150-SE (7.44) (5.5) (0.97) (9.49)
2098-DSD-150-DN
2098-DSD-150X-DN(1)
(1) 2098-DSD-075 and 2098-DSD-150 Ultra3000 drives do not have similar replacements in the Kinetix 300/350
drives series.
In Figure 4, xxx is replaced by 030, 050, 100, 150, or 220 to represent the
Ultra3000 3, 5, 10, 15, and 22 kW drives respectively.
A
225.8
B B C (8.89)
D H
I
B B C 242.2
(9.54)
Dimensions are in mm (in.)
Unit shown is the 2098-DSD-HV030 drive.
Ultra3000 Drive(1) A C B D H I
2098-DSD-HV030x
2098-DSD-HV030-xx 138.7 18.5
2098-DSD-HV050x 5.46) (0.73)
2098-DSD-HV050-xx 50.8 349.3 331.5 360.7
2098-DSD-HV100x (2.0) (13.75) (13.05) (14.2)
2098-DSD-HV100-xx 151.6 25
2098-DSD-HV150x (5.97) (0.99)
2098-DSD-HV150-xx (2)
2098-DSD-HV220x 203.2 25.4 76.2 380.4 362.6 391.8
2098-DSD-HV220-xx (2) (8.0) (1.0) (3.0) (14.98) 14.26) (15.43)
(1) The x represents the indexing (X) option. The -xx represents the SERCOS interface (SE) or DeviceNet (DN)
option. SERCOS interface is not available with the DeviceNet option.
(2) 2098-DSD-HV150, and HV220 Ultra3000 drives do not have similar replacements in the Kinetix 300/350 drives
series.
9.7
(0.38) 300
182
2097-TB1 (7.18)
238 I/O Terminal 190
(9.37) (7.50)
Expansion
Block
6.6
(0.26)
2090-K2CK-D15M 11.8 Ø 4.57
61.0 38.1 (0.18) 3x
Low-profile Connector Kit (2.40) (0.46) (1.5)
for Bulletin 2090 (flying- B
lead) Feedback Cable
Additional clearance below the connector kit is necessary
to provide the recommended cable bend radius.
Input Wiring and Fusing This section provides information to assist you in determining the wiring and
fusing requirements of the drives.
Determine the wire length for the AC line input after the drive location and any
changes to routing are finalized.
Fusing
The Ultra3000 drives are listed by Underwriters Laboratories, Inc. (UL) with
fuses sized at four times the continuous output current of the full load amps
(FLA) of the drive, according to UL 508C. In most cases, fuses selected to match
the drive input current rating meet the National Electrical Code (NEC)
requirements and provide the full drive capabilities. Use dual-element, time-delay
(slow-acting) fuses to avoid nuisance trips during the inrush current of power
initialization. The Kinetix 300/350 drives are also listed by UL 508C.
In general, the Ultra3000 drives use Class CC, G, J, L, R, or T fuses with current
ratings as indicated in Table 3. The Kinetix 300/350 drives use class CC or T
fast-acting, current limiting-type fuses; 200,000 A interrupting capacity (AIC)
preferred. Use Cooper Bussmann KTK-R, JJN, or JJS fuses. Table 3 shows the
fuses for the different drive sizes.
Drive Interconnects and This section provides information to assist you in determining the interconnects
and cabling requirements of the drives.
Cabling
Motor Power
IMPORTANT The length of the power and/or feedback cables for the Kinetix 300/350
drives cannot exceed 20 m (65 ft). Performance was tested at this length
and meets CE requirements.
If you are using a new wire gauge, verify that the capacity of the new wire is
capable of handling the current to the actuator.
The current motor power cabling system can be used for both the
Kinetix 300/350 drives, and the Ultra3000 drives. The motor power cables are
interchangeable and depend on the actuator used.
Cable shield and lead preparation is provided with most Allen-Bradley cable
assemblies. Follow these guidelines if your motor power cable shield and wires
require preparation.
U
Outer Insulation
V
W
Motor Power Cable
• Drive-end flying-leads
2090-XXNPMF-xxSxx
• Power/brake wires BR+
BR-
(1) Threaded DIN connector (motor end) and bayonet connector for 2090-XXNFMP-Sxx cable. Refer to 2090-Series Motor Power and Feedback Transition Cables in the Kinetix
Motion Accessories Technical Data, publication GMC-TD004.
The current motor power cabling system can be used for both the Kinetix 300/
Kinetix 350 drives, and the Ultra3000 drives. The motor power cables are
interchangeable and depend on the actuator used.
SpeedTec DIN
• Drive-end flying-leads (DF) (M7)
2090-CPWM7DF-xxAFxx
• Power wires only (PW)
(1) SpeedTec DIN connector (motor end) and male connector for extending SpeedTec or threaded DIN cable. Refer to SpeedTec DIN Continuous-flex Extension Cables in the
Kinetix Motion Accessories Technical Data, publication GMC-TD004.
For further information, refer to the Motion Control Accessories section in the
Kinetix Motion Control Selection Guide, publication GMC-SG001, the bill of
materials (BOM) configuration tool within Motion Analyzer software, or
ProposalWorks™ from Rockwell Automation.
The current motor encoder cabling system can be used for both the
Kinetix 300/350 drives, and the Ultra3000 drives.
IMPORTANT The length of the power and/or feedback cables for the Kinetix 300/350
drives cannot exceed 20 m (65 ft). Performance was tested at this length
and meets CE requirements.
IMPORTANT Drive-to-motor power and feedback cable length for the Kinetix 300/
350 drives must not exceed 20 m (65.6 ft). Performance was tested at
this length and meets CE requirements.
Pin 11 Pin 1
Pin 6
Drive Family MPL-A (230V) Motors MPL-B (460V) Motors MPG-A MPG-B
(230V) Motors (460V) Motors
Absolute Incremental(2) Absolute Incremental(2) Absolute Absolute
High-Res(1) m (ft) High-Res(1) m (ft) High-Res(3) High-Res(3)
m (ft) m (ft) m (ft) m (ft)
Ultra3000 90 (295.3) 45 (147.6) 90 (295.3) 45 (147.6) 90 (295.3) 60 (196.8)
(1) Refers to MPL-A/BxxxxS/M (single-turn or multi-turn) low inertia motors with absolute high-resolution feedback.
(2) Refers to MPL-A/BxxxxH low inertia motors with 2000-line incremental feedback.
(3) Refers to MPG-A/BxxxxS/M (single-turn or multi-turn) integrated gear motors with absolute high-resolution feedback.
Table 11 - Maximum Cable Lengths for Ultra3000 Drives with 1326AB (M2L/S2L) and
F-, H-, N-, and Y-Series Motors
MPL-A/B3xxx-M/Sx7xAA,
MPL-A/B4xxx-M/Sx7xAA, High-resolution encoder
MPL-A/B45xxx-M/Sx7xAA
MPL-A/B3xxx-Hx7xAA,
MPL-A/B4xxx-Hx7xAA, Incremental encoder 2090-XXNFMF-Sxx
MPL-A/B45xxx-Hx7xAA (standard)
2090-CFBM7DF-CDAFxx
MPM-A/Bxxxxx-M/S (continuous-flex)
N/A
MPF-A/Bxxxx-M/S
MPAR-A/B3xxxx
MPAI-A/Bxxxx High-resolution encoder
MPS-A/Bxxxx-M/S
2090-XXNFMF-Sxx
MPAS-A/Bxxxx-V/A (standard)
2090-CFBM4DF-CDAFxx
MPAR-A/B1xxxx, (continuous-flex)
MPAR-A/B2xxxx
TLY-Axxxx-B
High-resolution encoder
TLAR-Axxxxx 2090-CFBM6DF-CBAAxx
(standard)
2090-CFBM6DD-
TLY-Axxxx-H Incremental encoder CCAAxx
(1) Some installations may use motors with bayonet connectors (for example, MPL-A310P-xx2xAA). These motors are being
discontinued and require 2090-XXNPMP-xxSxx (bayonet) transition cables. Refer to 2090-Series Motor Power and
Feedback Transition Cables in the Kinetix Motion Accessories Technical Data, publication GMC-TD004.
(2) For pin-outs, refer to Flying-lead Feedback Cable Pin-outs in the Kinetix 300 EtherNet/IP Indexing Servo Drives User
Manual, publication 2097-UM001.
(3) V/Ex4xAA and Hx4xAA motors were used in earlier installations, and Ex7xAA and Hx7xAA motors may have been used in
more recent installations. If your installation uses V/Ex7xAA and Hx7xAA motors, use 2090-CFBM7DF-CDAFxx for the
continuous-flex feedback cable.
2090-Series Motor/Actuator This section provides an overview of the 2090-series motor/actuator cables.
Cables Overview Table 13 - Feedback Cable Descriptions (standard, non-flex cable)
• Drive-end flying-leads
2090-XXNFMF-Sxx
• High-resolution or incremental applications
Threaded DIN
• Drive-end bayonet (E2), transition (TR) cable (1) (M4)
2090-CFBM4E2-CATR • Motor-end threaded DIN (M4)
• All feedback types (CA)
• Drive-end flying-leads (DF)
2090-CFBM6DF-CBAAxx • High-resolution, battery backup or
Incremental applications (CB)
Circular Plastic
(M6)
• Drive-end 15-pin connector (DD)
2090-CFBM6DD-CCAAxx
• Incremental applications only (CC)
(1) Threaded DIN connector (motor end) and bayonet connector for 2090-XXNFMP-Sxx cable. Refer to 2090-Series Motor Power and Feedback Transition Cables in the Kinetix
Motion Accessories Technical Data, publication GMC-TD004.
(1) SpeedTec DIN connector (motor end) and male connector for extending SpeedTec or threaded DIN cable. Refer to SpeedTec DIN Continuous-flex Extension Cables in the
Kinetix Motion Accessories Technical Data, publication GMC-TD004.
IMPORTANT Feedback cables with the CE designation, for example 2090-CFBM7DF-CEAAxx, are intended for high-resolution encoder
or resolver applications and have fewer conductors than feedback cables with the CD designation, for example
2090-CFBM7DF-CDAFxx, which are intended for high-resolution or incremental encoder applications.
I/O Cabling
Ultra3000 drives and Kinetix 300/350 drives have similar signals that interface
with input/output (I/O) signals. Some of those signals include the following:
• Aux encoder input
• Master encoder input
• Digital inputs/outputs (DIs/DOs)
• Analog inputs/outputs (AIs/AOs)
• Registration inputs
There is a physical connector difference between the Ultra3000 drives and the
Kinetix 300/350 drives. Ultra3000 drives use a 44-pin, D-shell connector and the
Kinetix 300/350 drives use a 50-pin, SCSI connector.
Appendix A compares the I/O connectors and functions of the Ultra3000 drives
to the Kinetix 300/350 drives. Table 15 and Figure show the different interface
part numbers for the I/O connections between the two drive families.
(1) This breakout board accepts 1...0.14 mm2 (16...26 AWG) wire. For applications that require a 44-pin
drive-mounted breakout board that accepts 4...0.5 mm2 (12...22 AWG) wire, contact your local Allen-Bradley
representative.
Kinetix 300/
Kinetix 350
Drive
2097-TB1 Terminal
Expansion Block 50-pin I/O (IOD)
Connector
• The Ultra3000 drives (non-SERCOS) and Kinetix 300 drives have the
ability to electronically gear a master encoder signal to a single drive. This
function is not available on the Kinetix 350 drives.
• The Ultra3000 drives provide encoder power out to the auxiliary encoder,
while the Kinetix 300/350 drives do not.
• You can use the Ultra3000 SERCOS version as a dual loop servo and use
the aux encoder as your position loop closure. You cannot do this on the
Kinetix 300/350 drives.
The Ultra3000 drives support auxiliary encoder operation. The pinout is shown
in Table 18.
The Kinetix 300 drives supports master gearing operation. Wire the Master
signals to the drive as shown in Table 19.
The Ultra3000 drives support unbuffered motor encoder operation. The pinouts
are shown in Table 20.
The Kinetix 300 drives supports buffered encoder operation. Wire the signals to
the drive as shown in Table 21.
These signals are unfiltered software signals and are fixed at 4096 pulses per
motor revolution. This function is limited to an output frequency of 2 MHz.
IMPORTANT You must qualify that your motor speed and resolution do not exceed
2MHz, or you may lose output counts.
I/O Availability and All Ultra3000 drives and Kinetix 300/350 drives have a comprehensive set of
digital I/O and analog I/O. To ensure proper operation, use the following
Specifications specifications to verify if the operation between drives will be consistent.
IMPORTANT All Ultra3000 drives and Kinetix 300/350 drives require an isolated
external 12...24V power supply for proper operation of the digital I/O.
The auxiliary power feature allows the drive to maintain logic power when main
power is removed. This allows communication between the controller and the
drive to continue and to maintain position feedback (aside from absolute
feedback).
Ultra3000 Drives
Table 22 - Ultra3000 Drives +24V Power Supply Requirements for Logic Power
IMPORTANT A single 24V power supply can be used to power the digital I/O and
supply 24V to the drive-mounted breakout boards (catalog numbers
2090-U3CBB-DMxx) provided the cumulative minimum current
requirements are met.
IMPORTANT Using the drive-mounted breakout board with 24V to 5V auxiliary power
converter is preferred to using an external +5V DC power supply.
The Kinetix 300/350 drives use a 24V DC logic power source for all drives
(referred to as back-up power [BP]).
Specification Description
Control power back-up input voltage 20...26V DC
Control power back-up input current
Nom 500 mA
Max inrush (0-pk) 30 A
Digital Inputs
Table 25 compares some key differences between the digital inputs of the two
drive families.
Ultra3000 Drives
All digital inputs on the Ultra3000 drives (SERCOS and non-SERCOS) have
the same physical characteristics as shown in Table 26.
Specification Description
I/O response 100 μs
Digital I/O firmware scan period 1 ms
For the Ultra3000 drives, there are eight optically isolated digital inputs. All
digital inputs (SERCOS and non-SERCOS) have the same configuration, as
shown in Figure 7.
2.7k Ω 10k Ω
INPUTS
1k Ω
TLP121
The digital inputs can be used for travel limit switches, proximity sensors, push
buttons, and hand shaking with other devices. Each input can be assigned an
individual de-bounce time via MotionView software or Explicit Messaging.
The inputs are separated into three groups: A, B, and C. Each group has four
inputs and share one common: ACOM, BCOM, and CCOM, respectively.
Travel limit switches, the inhibit/enable input, and registration input have
dedicated inputs as shown in Table 29.
For the Kinetix 300/350 drives, the digital inputs are optically isolated and sink
up to 24V DC. You can set up the inputs for PNP sourcing or NPN sinking, as
shown in Figure 8.
1.2 kΩ 1.2 kΩ
+24V GND
IN_A1 IN_A1
1.2 kΩ 1.2 kΩ
IN_A2 IN_A2
IN_A_COM IN_A_COM
GND
+24V
Parameter Value
Scan time 500 µs
Current, max 9 mA, typical
Input impedance 1.2 kΩ, typical
Voltage range 5…24V DC
Digital Outputs
Each drive has transistor-type digital outputs. The SERCOS Ultra3000 drives
(-SE) and the Kinetix 350 drives have holding brake actuation outputs available
only as outputs.
Table 25 compares some key differences between the digital outputs of the two
drive families.
Ultra3000 Drives
Digital outputs: four optically isolated, 12...24V outputs, active high, current
sourcing.
200 Ω IOPWR
+5V
OUTPUT
OUT TLP127
CN1-43
Normally Relay +
Open
Relay
CN1-44
Relay -
Parameter Value
Scan time 500 µs
Current, max 100 mA
Voltage, max 30V DC
Ultra3000
Drive
Logic Power
OUT1-C
OUT1-E
GND
Analog Inputs
IMPORTANT The Ultra3000 SERCOS and Kinetix 350 drives do not have analog input
capability because their command reference comes digitally through
communication networks.
The analog COMMAND input to the drive can provide a position, velocity, or
current command signal. A 14-bit A/D converter digitizes the signal. The
configuration of the input is shown in Figure 11.
1000 pF
10k Ω 10k Ω
20k Ω
COMMAND +
0.01 μF
10k Ω 10k Ω
COMMAND -
IMPORTANT The Kinetix 350 drive does not have analog input capability because its
command reference comes digitally through communication networks.
The analog reference inputs AIN1+ and AIN1- (IOD-24 and IOD-25) accept
up to a ±10V DC analog signal as shown in Table 37. The analog signal is
converted to a digital value with 12-bit resolution (11-bit plus sign). The total
reference voltage as seen by the drive is the voltage difference between AIN1+
and AIN1-.
Parameter Value
Scan time 0.0625 ms
Current, max Depend on load
Input impedance 47 kΩ, typical
Voltage range -10…10V DC
The ILIMIT input specifies to the drive if the drive output current should be
limited. If the ILIMIT input is not connected, current is not limited.
IMPORTANT This output is not supported on the Ultra3000 SERCOS version or the
Kinetix 350 drives.
AOUT
100 Ω
0.01 μF
IMPORTANT Output values can vary during powerup until the specified power
supply voltage is reached.
IMPORTANT This analog output is not supported on the Kinetix 350 drives.
Kinetix 300
Drive
CH1 CH2
DAC
Parameter Value
Scan time 0.0625 ms
Current, max 10 mA
Voltage range -10…10V DC
The analog output (AO) on pin IOD-23 has a 10-bit resolution. The analog
output is a single-ended signal with reference to analog common (ACOM) that
can represent the following motor data:
Serial Communication The Ultra3000 drives use serial communication. The Kinetix 300/350 drives do
not use serial communication; the interface to the Kinetix 300/350 drives is
through the Ethernet port.
Accessories Application accessories, such as shunts and line filters, can impact drive
replacement. This section describes the following:
• Shunt Resistors
• AC Line Filters
Shunt Resistors
The Ultra3000 micro drives (-050, -010, -020) have no internal shunting
capability. All other Ultra3000 drives have internal shunting capability. The
Kinetix 300/350 drives do not have internal shunting capability. There are also
differences in the external shunting characteristics, which are described in this
section. Use Motion Analyzer software to determine the duty cycle requirements
and if a shunt is required for the Kinetix 300/350 drives.
Ultra3000 Drives
Ultra3000 drives have both an active shunt and passive shunt module:
• The active shunt module provides DC bus power to the Ultra3000 drive
and is available for the Ultra3000 micro drives (-005, -010, -020).
• The passive shunts are used in the traditional sense that they are wired to
the drive and are activated as the bus voltage rises above the trigger level.
Specifications
(1) Shunt Module Fuse
Ultra3000 Fan Peak Peak Continuous Shipping
Drives Cat. No. Drive Voltage Resistance Power Current Power Weight Replacement
Voltage Ω
V AC kW A W kg (lb)
2098-xxx-005
2098-xxx-010 2090-UCSR-A300 36 4.0 10.5 300 1.51 (3.3) —
2098-xxx-020
230V AC N/A
2098-xxx-030 9101-1183 30 5.9 14.0 200 — CCMR-4-½ (2)
2098-xxx-075
2098-xxx-150 2090-UCSR-P900 18 10.0 23.3 4.08 (9.0) FWP-10A14F (3)
2098-xxx-HV030 900
2098-xxx-HV050 2090-SR120-09 120 5.3 6.7 3.63 (8.0) FWP-2.5A14F (3)
The Kinetix 300/350 drives have pre-defined passive shunt modules used with
the particular drives. Table 41 lists the passive shunts for the Kinetix 300/350
drives.
AC Line Filters
Ultra3000 Drives
Table 42 - Ultra3000 Drives AC Line Filter Selection
The AC line filters are mounted directly beside the drive (side) with pig-tail
connections, or they are mounted at the rear of the drive.
(1) Use 2090-XXLF-TC116 (single-phase) line filter for 2097-V31PR0 and 2097-V31PR2 drives. Use 2090-UXLF-336 line filter for 2097-V33PR5 (three-phase) drive applications.
Refer to Table 43 for more information.
(2) Use the 2097-F1 (single-phase) line filter only for 2097-V33PR6 (single-phase) drive operation.
(3) This filter is rated for multiple voltage/phase line conditions.
The following figure identifies the connector locations on the Ultra3000 230V
(500 W, 1 kW, and 2 kW) drives and the Kinetix 300/350 drives. (Refer to the
Ultra3000 Digital Servo Drives Installation Manual, publication 2098-IN003,
for connector locations of other Ultra3000 drive types.)
Connector Locations
2
5
3 00
00 8
3
1
6
6
2
4
9
7 1
3 7
Ultra3000 Drive, Front View Kinetix 300 Drive, Top View Kinetix 300 Drive, Front View Kinetix 300 Drive, Bottom View
(230V [500 W, 1 kW, and 2 kW] drive is shown) (2097-V33PR5 drive is shown) (2097-V33PR5 drive is shown) (2097-V33PR5 drive is shown)
Encoder Wiring Table 46 defines the encoder signal pinouts for these comparable encoder wiring
connectors:
Comparison
• Ultra3000 drive CN2 connector
• Kinetix 300/350 drive MF connector
Control Wiring Comparison Table defines the digital, analog, and auxiliary encoder signal pinouts for these
comparable control wiring connectors:
• Ultra3000 drives CN1 connector
• Kinetix 300/350 drives IOD connector
Mains Power Wiring Table 48, Table 49, and Table 50 define the power terminal connections for
Ultra3000 drives and the comparable connectors on Kinetix 300/350 drives.
Comparison
Table 48 - 2098-DSD-005, 2098-DSD-010, 2098-DSD-020 to Kinetix 300/350 Drive
Power Terminal Connections
— — — BP +24V +24V DC
— — -24V Return
— — — BP +24V +24V DC
— — -24V Return
Specifications
General Power Comparison Table 51 through Table 54 provide power specifications for the Ultra3000 drives
and the Kinetix 300/350 drives.
Ultra3000 Drives
Table 51 - Ultra3000 Drive Power Specifications
2098-DSD-xxx -005 -010 -020 -030 -075 -150
AC input voltage (1)
Single phase V AC 100...240 100...240 100...240 100...240 — —
Three phase V AC — — — — 100...240 100...240
AC input frequency Hz 47...63 47...63 47...63 47...63 47...63 47...63
AC input current:
Nominal Arms 5 9 18 28 30 46
Max inrush (2) A 100 100 100 50 50 68
Output peak current (3) A 7.5 15 30 30 75 150
Continuous output current (3) A 2.5 5 10 15 35 65
Internal shunt power
Continuous Watts — — — 50 50 180
Peak Watts — — — 6000 10,000 19,000
(1) Specification is for nominal voltage. The absolute limits are 88...265V AC rms.
(2) At 230V AC, 0 to peak.
(3) 0 to peak.
The 2097-V31PRx-xx drives with 120V input are capable of driving 240V
motors at full speed.
Digital I/O Comparison Table 55 through Table 59 compare the digital input and output specifications
between the Ultra3000 drives and the Kinetix 300/350 drives.
Parameter Value
Scan time 500 µs
Current, max 9 mA, typical
Input impedance 1.2 kΩ, typical
Voltage range 5…24V DC
Parameter Value
Scan time 500 µs
Current, max 100 mA
Voltage, max 30V DC
Relay Outputs
Table 59 - Ultra3000 Drives Relay Outputs
Attribute Value
ON state current, max 1A
ON state resistance, max 1Ω
OFF state voltage, max 30V
OFF state leakage, max mA, not specified
Analog I/O Comparison Table 60 through Table 63 compare the analog input and output specifications
between the Ultra3000 drives and the Kinetix 300 drives.
IMPORTANT The Ultra3000 SERCOS drive does not have analog input capability
because its command reference comes digitally through communication
networks.
IMPORTANT The Kinetix 350 drive does not have analog input capability because its
command reference comes digitally through communication networks.
Parameter Value
Scan time 0.0625 ms
Current, max Depends on load
Input impedance 47 kΩ, typical
Voltage range -10…10V DC
IMPORTANT The Ultra3000 SERCOS drive does not have analog output capability.
IMPORTANT This analog output is not supported on the Kinetix 350 drives.
Parameter Value
Scan time 0.0625 ms
Current, max 10 mA
Voltage range -10…10V DC
Environmental and Safety This section provides environmental and safety feature of the drives.
Feature Comparison
Environmental Specifications
Attribute Ultra3000 Drives Kinetix 300 and
Kinetix 350 Drives
Operating Range Operating Range
Temperature, 0…55 °C (32…131 °F) 0…40 °C (32…104 °F)
operating
Temperature, -40… 70 °C (-40… 158 °F) -10…70 °C (14…158 °F)
nonoperating
Relative humidity 5…95% noncondensing 5…95% noncondensing
Altitude Operation: Derate 3% per 300 m (1000 Operation: Derate by 1% per 300 m
ft) above 1500 m (5000 ft) (1000 ft) above 1500 m (5000 ft)
Storage: 3000 m (9843 ft) during
transport
Vibration 5…2000 Hz @ 2.5 g peak, 0.015 mm 5…2000 Hz @ 2.5 g peak, 0.015
(0.0006 in.) max displacement mm (0.0006 in.) max displacement
Shock 15 g, 11 ms half-sine 15 g, 11 ms half-sine pulse (3 pulses
in each direction of 3 mutually
perpendicular directions)
Safety Features
IMPORTANT The Ultra3000 drives do not have the safe torque-off feature.
Attribute Value
(1)
Safety inputs Insulated, compatible with single-ended output (+24V DC)
Enable voltage range: 20…24V DC
Disable voltage range: 0…1.0V DC
Input impedance 6.8 k Ω
Safety status Isolated Open Collector (Emitter is grounded.)
Output load capability 100 mA
Digital outputs max voltage 30V DC
(1) Safety inputs are not designed for pulse testing.
Feature Comparison Chart Table 65 compares the features of the Ultra3000 drives to the Kinetix 300/350
drives.
Notes:
Ultra3000 Drive Power This appendix provides power wiring examples to assist you in comparing the
power wiring for the Ultra3000 drive and the Kinetix 300/350 drive systems.
Wiring
The notes in this table apply to the Ultra3000 drive power interconnect diagrams
(Figure 14, Figure 15, Figure 16, and Figure 17).
Note Information
1 A disconnecting device is required for maintenance and safety. If a grounded neutral is used instead of L2, only L1 may be switched or fused.
2 An isolation transformer is optional. If the transformer secondary has a neutral connection, neutral must be bonded to ground. Multiple drive
modules may be powered from one transformer or other AC supply source.
3 Do not daisy chain drive module power connections. Make separate connections directly to the AC supply.
4 For power wiring specifications, refer to the Ultra3000 Installation Manual, publication 2098-IN003, Power Wiring Requirements in Chapter 3.
5 For input fuse sizes, refer to the Ultra3000 Installation Manual, publication 2098-IN003 Fuse Specifications in Appendix A.
6 May be used to maintain power to logic section of drive and status indicators when main AC input power is removed. A separate AC line source
may be used if voltage is between 88…265V AC (rms) on 2098-DSD-xxx (230V drives) or 207…528V AC (rms) on 2098-DSD-HVxxx (460V drives).
In this configuration, a separate line filter for logic power may be required.
7 Place AC (EMC) line filter as close to the drive as possible and do not route very dirty wires in wireway. If routing in wireway is unavoidable, use
shielded cable with shields grounded to the drive chassis and filter case. For AC line filter specifications, refer to the Ultra3000 Installation
Manual, publication 2098-IN003 AC Line Filter Specifications in Appendix A.
8 Drive Enable input must be opened before main power is removed and auxiliary power is present, or a drive fault will occur. A delay of at least
1.0 second must be observed before attempting to enable the drive after main power is restored.
9 Cable shield clamp must be used in order to meet CE requirements. No external connection to chassis ground required.
10 Implementation of safety circuits and risk assessment is the responsibility of the machine builder. Please reference
international standards EN1050 and EN954 estimation and safety performance categories. For more information refer to
Understanding the Machinery Directive, publication SHB-900.
11 The recommended minimum wire size for wiring the safety circuit is 1.5 mm2 (16 AWG).
12 For motor cable specifications and drive/motor cable combinations, refer to the Kinetix Motion Accessories Technical Data, publication GMC-
TD004.
13 The Ultra3000 drive referenced is either a 2098-DSD-xxx or 2098-DSD-xxxX (Ultra3000 with indexing), 2098-DSD-xxx-SE (SERCOS interface),
2098-DSD-xxx-DN (DeviceNet interface), or 2098-DSD-xxxX-DN (DeviceNet with indexing) 230V drive.
14 The Ultra3000 drive referenced is either a 2098-DSD-HVxxx or 2098-DSD-HVxxxX (Ultra3000 with indexing), 2098-DSD-HVxxx-SE (SERCOS
interface), 2098-DSD-HVxxx-DN (DeviceNet interface), or 2098-DSD-HVxxxX-DN (DeviceNet with indexing) 460V drive.
15 Relay Output (CN1, pins 43 and 44) must be configured as Ready in Ultraware software.
16 The preferred method for supplying auxiliary power is by using the 12-pin or 44-pin drive-mounted breakout board with 24V to 5V auxiliary power
converter (2090-U3CBB-DM12 or -DM44). Auxiliary +5V power is required to maintain encoder position when the main AC power is
disconnected.
17 Refer to the Ultra3000 Digital Servo Drives Integration Manual, publication 2098-IN005, Shunt Module Interconnect Diagrams in Appendix A.
This is the power wiring diagram with 24V DC control string for
2098-DSD-005x-xx, 2098-DSD-010x-xx, and 2098-DSD-020x-xx Ultra3000
drives (non-SERCOS drives only). To avoid a separate 5V DC auxiliary logic
power supply, the 24V to 5V converter breakout board (catalog number
2090-U3CBB-DMxx) is used to wire the control interface (CN1) connector.
For SERCOS drives, input line contactor is part of the PLC program and output
control.
2098-DSD-005x-xx,
2098-DSD-010x-xx, and
2098-DSD-020x-xx
Ultra3000
Digital Servo Drives
Note 13
TB1
DC+ DC Bus Connections
M1* for Active Shunt Module
Note 8 DC- Note 17
Single-phase AC Line
50/60 Hz
L1
Single-phase
AC Input Power
AC Line Filter L2/N Connections
Note 7
Fused Disconnect Input Fusing*
or Circuit Breaker* Note 4, 5
Note 1
U CN1
Bonded Cabinet Three-phase N.O. Relay Output+
Isolation Chassis Ground Bus* Motor Power V Motor Power 43
Transformer* Connections Connections Note 15
N.O. Relay Output- From CN1 Breakout
Note 2 Note 12 W 44 Board with 24V to 5V
Aux Logic Power In +5V Aux Power Converter
L1
3 (2090-U3CBB-DMxx)
Aux +5V Common Note 16
Terminal To additional
Blocks* Ultra3000 drive
Note 3 CN1
43
START* STOP*
CR1*
* Indicates User-supplied Component
CR1* 24V DC
44 M1*
CR1*
This is the power wiring diagram with 24V DC control string for the
2098-DSD-030x-xx drive (non-SERCOS drives only).
For SERCOS drives, input line contactor is part of the PLC program and output
control.
TB1 TB2
U 1 External Passive
Three-phase Shunt Connections
Motor Power V Motor Power 2 Note 17
Connections Connections
Note 12 W 3
DC+
Input Fusing * M1 *
Note 4, 5 Note 8 DC-
L1
Single-phase
AC Line Filter L2/N
Note 7 CN1
AC Input Power
Single-phase AC Line Connections N.O. Relay Output+
50/60 Hz 43
L1 AUX N.O. Relay Output- Note 15
Note 6
44
L2/N AUX
Fused Disconnect Input Fusing *
or Circuit Breaker * Note 4, 5
Note 1
Cable Shield
Bonded Cabinet Clamp
Isolation Chassis Ground Bus * Note 9
Transformer *
Note 2
L1 CN1
Single-phase Input 43
100...240V AC rms START * STOP *
L2/N CR1 *
24V DC
Terminal CR1 *
Blocks * 44 M1 *
Note 3 To additional CR1 *
Ultra3000 drive.
This is the power wiring diagram with 24V DC control string for
2098-DSD-075x-xx and 2098-DSD-150x-xx Ultra3000 drives (non-SERCOS
drives only).
For SERCOS drives, input line contactor is part of the PLC program and output
control.
2098-DSD-075x-xx and
2098-DSD-150x-xx
Ultra3000
Digital Servo Drives
Note 13
TB1 TB2
U 1 External Passive
Three-phase Shunt Connections
Motor Power V Motor Power 2 Note 17
Connections Connections
Note 12 W 3
DC+
Input Fusing * M1 *
Note 4, 5 Note 8 DC-
Three-phase AC Line
50/60 Hz L1
Three-phase
AC Line Filter
L2
AC Input Power CN1
Fused Disconnect Note 7
or Circuit Breaker *
L3 Connections N.O. Relay Output+
43
Note 1 N.O. Relay Output- Note 15
44
Note 6 L1 AUX
L2/N AUX
Input Fusing *
Isolation Note 4, 5
Transformer * Neutral
Cable Shield
Note 2 Clamp
Chassis Bonded Cabinet Note 9
Ground Bus *
L1 CN1
43
Three-phase Input L2 START * STOP *
CR1 *
100...240V AC rms
24V DC
CR1 *
L3 44 M1 *
CR1 *
Terminal
Blocks * Refer to Attention statement (Notes 10, 11)
Note 3
To additional
* Indicates User-supplied Component Ultra3000 drive
This is the power wiring diagram with 24V DC control string for
2098-DSD-HVxxx-xx and 2098-DSD-HVxxxX-xx Ultra3000 drives.
W 3
Three-phase
Motor Power V Motor Power
Connections Connections
Note 12 U
Input Fusing * M1 *
Notes 4 and 5 Note 8
Three-phase AC Line L3
50/60 Hz Three-phase L2
AC Line Filter CN1
AC Input Power
Note 7 L1 Connections N.O. Relay Output+
Fused Disconnect 43
or Circuit Breaker * L1 AUX N.O. Relay Output- Note 15
Note 1 44
L2/N AUX
Note 6
L3 CN1
43
Three-phase Input START * STOP *
L2
CR1 *
230...480V AC rms
24V DC
CR1 *
L1 44 M1 *
CR1 *
Terminal Blocks *
Note 3 Refer to Attention statement (Notes 10, 11)
To additional
* Indicates User-supplied Component Ultra3000 drive
Kinetix 300/Kinetix 350 The notes in this table apply to the Kinetix 300/350 drive power interconnect
diagrams (Figure 18, Figure 19, and Figure 20).
Drive Power Wiring
Note Information
1 For power wiring specifications, refer to Power Wiring Requirements in the Kinetix 300 EtherNet/IP Indexing Servo Drives User Manual,
publication 2097-UM001, or the Kinetix 350 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM002.
2 For input fuse and circuit breaker sizes, refer to Circuit Breaker/Fuse Specifications in the Kinetix 300 EtherNet/IP Indexing Servo Drives User
Manual, publication 2097-UM001, or the Kinetix 350 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM002.
3 Place the AC (EMC) line filters as close to the drive as possible and do not route very dirty wires in the wireway. If routing in wireway is
unavoidable, use shielded cable with shields grounded to the drive chassis and filter case. For AC line filter specifications, refer to AC Line Filter
Specifications in the Kinetix 300 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM001, or the Kinetix 350 EtherNet/IP
Indexing Servo Drives User Manual, publication 2097-UM002. This filter DOES NOT apply to 2097-V32PRx-xx drives because they have integrated
AC line filters.
4 Contactor coil (M1) needs integrated surge suppressors for AC coil operation. Refer to Contactor Ratings in the Kinetix 300 EtherNet/IP Indexing
Servo Drives User Manual, publication 2097-UM001, or the Kinetix 350 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM002.
5 Drive Enable input must be opened when main power is removed, or a drive fault occurs. A delay of at least 1.0 second must be observed before
attempting to enable the drive after main power is restored.
6 Cable shield clamp must be used to meet CE requirements. No external connection to ground is required.
7 For motor cable specifications, refer to the Kinetix Motion Accessories Technical Data, publication GMC-TD004.
You must supply input power components. The single-phase and three-phase line
filters are wired downstream of fusing and the M1 contactor.
In this example, the 2097-V31PRx-xx drives are wired to use the voltage doubling
circuit. The 120V input voltage provides 240V output to motors. The
2097-V33PRx-xx drives are wired for single-phase 120V operation.
Ground Stud
Bonded Cabinet
Ground Bus * 2097-V31PRx 2097-V33PRx
PE PE
AC Line Filter Mains
L2/N (Optional)
Single-phase AC Input N L2 Single-phase
Note 3
120V rms AC, 50/60 Hz L1 AC Input
L1 L1
Notes 1, 2 (IPD) Connector
Fuse Disconnect Input Fusing * M1 * L2/N L3
or Circuit Breakers Notes 4, 5
U Three-phase
Motor Power Motor Power
V
(MP) Connector W Connections
PE Note 7
29
EN
Use discrete logic or 26
PLC to control ACOM Cable Shield
ENABLE to drive and I/O (IOD) Clamp
monitor RDY signal 41 Connector Note 6
RDY +
back from drive. 42
RDY -
IMPORTANT The 2097-V32PR x-xx models have integrated AC line filters and do not
require the AC line filter shown in this diagram.
Ground Stud
Bonded Cabinet
Ground Bus * 2097-V31PRx 2097-V32PRx
PE PE Mains
AC Line Filter
Single-phase
(Optional) N
Note 3
AC Input
L1
Single-phase AC Input L1 L1 (IPD) Connector
120/240V rms AC, 50/60 Hz L2/N
L2
L2/N
Notes 1, 2
Input Fusing * M1 *
Fuse Disconnect Shunt Resistor B+ Shunt Resistor
or Circuit Breakers Notes 4, 5 B+
and DC Bus Connections
BR
(BC) Connector B-
B-
U Three-phase
Motor Power
V Motor Power
(MP) Connector
W Connections
PE Note 7
29
EN
Use discrete logic or 26
PLC to control ACOM
I/O (IOD) Cable Shield
ENABLE to drive and
monitor RDY signal 41 Connector Clamp
RDY + Note 6
back from drive. 42
RDY -
IMPORTANT For the 480V Kinetix 300/350 drives to meet ISO 13849-1 (PLd) spacing
requirements, each phase voltage to ground must be less than or equal to
300V AC rms. This means that the power system must use center
grounded wye secondary configuration for 400/480V AC mains.
B+ Shunt
Shunt Resistor
Ground Stud B+ Resistor
and DC Bus BR Connections
(BC) Connector B-
B-
Bonded Cabinet
Ground Bus *
PE
Mains
L1 AC Line Filter
(optional) L1 Three-phase Input
Three-phase AC Input Note 3 (IPD) Connector
L2
240/480V rms AC, 50/60 Hz L2
Notes 1, 2 L3
L3
Back-up Power +24V DC User-supplied
Input Fusing * M1 *
Fuse Disconnect (BP) Connector Return +24V DC
or Circuit Breakers Notes 4, 5
U Three-phase
29
EN
Motor Power V Motor Power
Use discrete logic or 26 (MP) Connector W Connections
PLC to control ENABLE ACOM
PE Note 7
to drive and monitor
RDY signal back from 41 I/O (IOD)
RDY +
drive. 42 Connector Cable Shield
RDY -
Clamp
Note 6
* Indicates User-supplied Component
N o te s :
Topology/Architecture Layouts
This section compares the typical Ultra3000 drive architecture and materials to
the typical Kinetix 300/Kinetix 350 drive architectures and materials.
Typical Configuration - Ultra3000 (Analog) Servo Drive System Typical Configuration - Kinetix 300 Servo Drive System
CompactLogix L23E
2097-Rx
2097-V3xxxx Shunt Resistor
Other compatible motors/actuators include: Bulletin 2090 or 2097-Fx (optional equipment)
Kinetix 300 Drive
Motor Power AC Line Filter (optional equipment)
• MP-Series Integrated Linear Stages 3 0000
2097-F1 Filter Shown
• MP-Series Electric Cylinders 24V DC Control
MP-Series and TL-Series Rotary Motors Back-up Power Supply
(MPL-Axxxx motors shown) • LDC-Series and LDL-Series Linear Motors 2097-TB1 Terminal
(optional equipment)
Expansion Block
Bulletin 2090
Bulletin 2090 Motor Power Cables
Motor Feedback Cables
MP-Series and TL-Series Electric Cylinders
(MPAR-Bxxxx electric cylinders shown)
MP-Series and TL-Series
Rotary Motors MP-Series Heavy Duty Electric Cylinders
(MPL-Bxxxx motors shown) (MPAI-Bxxxx electric cylinders shown)
Ultra3000 (Analog) System Bill of Materials Kinetix 300 System Bill of Materials
Qty Description Qty Description
1 Ultra3000 servo drive 1 Kinetix 300 servo drive
Typical Configuration - Ultra3000 (Indexing) Servo Drive System Typical Configuration - Kinetix 350 Servo Drive System
CompactLogix L23E
Ultra3000 Drive Commissioning and Communication 1783-EMS08T
Stratix 6000 CompactLogix Controller Platform
(2098-DSD-xxxxxX-xx) Switch 1769-L23E-QB1B Shown
Input Output
Logix Controller RSLogix 5000
Software
Motor Feedback
1585J-M8CBJM-x
Logix Platform Ultraware Ethernet (shielded) Cable
(ControlLogix is shown) Software
Topology/Architecture Layouts
2097-Rx
I/O and Commands Shunt Resistor
2097-V3xxxx-LM Bulletin 2090 or 2097-Fx (optional equipment)
Kinetix 350 Drive AC Line Filter (optional equipment)
3 0000
2097-F1 Filter Shown
Other compatible motors/actuators include:
Motor Power 24V DC Control
• MP-Series Integrated Linear Stages Back-up Power Supply
2097-TB1 Terminal
(optional equipment)
• MP-Series Electric Cylinders Expansion Block
MP-Series and TL-Series Rotary Motors
(MPL-Axxxx motors shown) • LDC-Series and LDL-Series Linear Motors
Bulletin 2090
Bulletin 2090 Motor Power Cables
Motor Feedback Cables
MP-Series and TL-Series Electric Cylinders
(MPAR-Bxxxx electric cylinders shown)
MP-Series and TL-Series
Rotary Motors MP-Series Heavy Duty Electric Cylinders
(MPL-Bxxxx motors shown) (MPAI-Bxxxx electric cylinders shown)
Ultra3000 (Indexing) System Bill of Materials Kinetix 350 System Bill of Materials
Qty Description Qty Description
1 Ultra3000 servo drive (-X) 1 Kinetix 350 servo drive
Typical Configuration - Ultra3000 (SERCOS) Servo Drive System Typical Configuration - Kinetix 350 Servo Drive System
CompactLogix L23E
1783-EMS08T
Logix Controller Programming Network Logix SERCOS Stratix 6000 CompactLogix Controller Platform
Interface Module Switch 1769-L23E-QB1B Shown
Logix Platform
(ControlLogix is shown) RSLogix 5000
RSLogix 5000 Software
Software
1585J-M8CBJM-x
SERCOS Fiber-optic Ring Ethernet (shielded) Cable
Topology/Architecture Layouts
Ultra3000
Ultra3000 Servo Drive Servo Drive 2097-Rx
(2098-DSD-xxxxxx-SE) Shunt Resistor
2097-V3xxxx-LM Bulletin 2090 or 2097-Fx (optional equipment)
Kinetix 350 Drive AC Line Filter (optional equipment)
Motor 2097-F1 Filter Shown
3 0000
SERCOS Fiber-optic Ring Feedback
24V DC Control
Back-up Power Supply
Motor Feedback Motor Power 2097-TB1 Terminal
Motor Power (optional equipment)
Expansion Block
00
X XXXX
LDC-M0755
NO. XXXX
CAT. NO.
SERIAL
A
SERIES
Ultra3000 (SERCOS) System Bill of Materials Kinetix 350 System Bill of Materials
Qty Description Qty Description
1 Ultra3000 servo drive (-SE) 1 Kinetix 350 servo drive
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