Rockwell Automation Allen-Bradley 2198-E1004-ERS Migration Manual Download

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Rockwell Automation Publication 2198-RM004C-EN-P - March 2022

Appendix

Feature Comparison

The following table compares the hardware and features of the Kinetix® 300
drives and the Kinetix 5100 drives.

Table 57 - Feature Comparison Chart

Features

Kinetix 300
Drives

Kinetix 5100
Drives

Notes. Items with asterisks (*) have more information in this column.

Controller required

—

120V...240V operation

Yes

—

Internal shunt resistor available

Yes*

*Kinetix 5100 drive: Internal or external, depending on the drive.

Control Power available

Yes*

Yes**

*Kinetix 300 drive: 24V DC.
**Kinetix 5100 drive: 400V-class - 24V DC, 200V-class: 115/240V AC single
phase.

Safe Torque Off

Yes

—

Digital inputs control indexing

Yes

—

Dedicated Auxiliary feedback encoder connector

Yes

—

Master Gearing Encoder Inputs (terminal block Inputs) Yes

Yes

—

Hardware limits

Yes

—

Analog input for current limit

—

Multiple assignments for inputs

Yes*

*Kinetix 5100 drive: Not natively. Can use Digital I/O status to evaluate I/O in PR
mode.

Watch window output assignment

Yes*

*Kinetix 5100 drive: Not natively. Can be programmed within PR mode.

Registration index (index on reg input)

Yes

—

Registration latch (capture position)

Yes*

*Kinetix 5100 drive: Available in PR mode (capture/compare).

MicroLogix™/SLC™ controller compatible

Yes

—

Hardware enable required

Yes

Yes*

*Kinetix 5100: I/O mode does not require a hardware enable input.

Selectable modes of operation via digital inputs

Yes*

*Kinetix 5100: Can change modes with dual or multi-mode changes and digital
inputs.

Buffered encoder outputs (selectable freq)

Yes*

Yes

*Kinetix 300 drive has fixed frequency encoder outputs.

Holding brake support

Yes

Yes*

*Kinetix 5100 drive: Configurable in KNX5100C software.

Dual Loop Control

Yes*

*PT, PR mode and IO position mode

Multiple Types of Motor Supported

Yes

Yes*

* Kinetix MP Motor, TLP Motor, TL and TLY Motor

Dual-port Ethernet with DLR support

Yes

—

Non-Integrated Motion Drive (EIP Stand-Alone)

Yes

—

Drive software configuration required

Yes

Yes*

*Kinetix 5100 drive: KNX5100C Software using USB Interface

Ability to home the drive

Yes

—

Rotary mode support

Yes

Yes*

*Kinetix 5100 drive: Not natively, uses the Indexing Coordinate System. See the
Kinetix 5100 Single-axis EtherNet/IP Servo Drives User Manual,
publication

2198-UM004

for more details.

Current limiting ability

Yes

—

Positioning via analog input

Yes

—

Operation mode override

Yes

—

Soft limits

Yes

—

Slew rate for gearing

—

Selectable modes of operation

Yes

—

Pause index directly

Yes*

*Kinetix 5100 - not natively. Programming is required.

Summary of Contents for Allen-Bradley 2198-E1004-ERS

Page 1: ...98 E1004 ERS 2198 E1007 ERS 2198 E1015 ERS 2198 E1020 ERS 2198 E2030 ERS 2198 E2055 ERS 2198 E2075 ERS 2198 E2150 ERS 2198 E4004 ERS 2198 E4007 ERS 2198 E4015 ERS 2198 E4020 ERS 2198 E4030 ERS 2198 E4055 ERS 2198 E4075 ERS 2198 E4150 ERS Reference Manual Original Instructions ...

Page 2: ...e use notes to make you aware of safety considerations Rockwell Automation recognizes that some of the terms that are currently used in our industry and in this publication are not in alignment with the movement toward inclusive language in technology We are proactively collaborating with industry peers to find alternatives to such terms and making changes to our products and content Please excuse...

Page 3: ...I O Availability and Specifications 20 Digital Inputs 20 Digital Outputs 23 Analog Inputs 25 Analog Outputs 26 Control and Auxiliary Power Specifications 28 Compatible Motors 29 Feedback Devices 30 Accessories 30 Required Accessories 30 Optional Drive Accessories Shunt Resistors 31 Optional Drive Accessories AC Line Filters 33 Communication 34 Kinetix 300 Servo Drive Configuration Port 34 Kinetix ...

Page 4: ...300 Servo Drive System Architecture 59 Kinetix 5100 Servo Drive System Architecture 60 Kinetix 5100 Drive Controlled Via Motion Control Add On Instruction 60 Kinetix 5100 Drive Controlled Via Explicit Messaging 61 Kinetix 5100 Drive Controlled Via Pulse Train Analog Digital I O 62 Chapter 6 Application Conversion Scenario 1 Analog Command to Analog Command 64 Scenario 2 Indexing to Position Regist...

Page 5: ...nual is intended for engineers and technicians that are directly involved in the installation and wiring of the Kinetix 5100 drives and programmers who are directly involved in the operation field maintenance and integration of these drives You must have previous experience with and a basic understanding of electrical terminology programming procedures networking and required equipment and softwar...

Page 6: ...l Selection Guide publication KNX SG001 Overview of Kinetix servo drives motors actuators and motion accessories that are designed to help make initial decisions for the motion control products best suited for your system requirements Kinetix 300 and Kinetix 350 Drive Systems Design Guide publication KNX RM004 Provides information to help identify the drive system components and accessory items yo...

Page 7: ... the motor to the target position Position commands comes from the program registers 99 in total You can select the register number with binary weighted DI signals or through communication Speed mode S The servo drive receives the Speed command and commands the motor to the target speed The Speed command comes from the internal registers 3 in total or by analog voltage 10V 10V that is provided thr...

Page 8: ...tix 5100 Drive Ratings 200V class Cat No Input AC Voltage V AC Input Phases Rated Power 230V kW Rated Power 120V kW Cont Output Current A rms Peak Output Current A rms 2198 E1004 ERS 95 132 170 253 1 PH 1 PH 3 PH 0 4 0 2 2 60 6 5 2198 E1007 ERS 95 132 170 253 1 PH 1 PH 3 PH 0 75 0 375 5 10 15 41 2198 E1015 ERS 95 132 170 253 1 PH 1 PH 3 PH 1 5 0 75 7 9 23 7 2198 E1020 ERS 95 132 170 253 1 PH 1 PH ...

Page 9: ...tent of work required to migrate from a Kinetix 300 system to a Kinetix 5100 system Due to the flexibility of drive installation and use it is not feasible to cover all possibilities In addition to the items described in this publication pay attention to unique features and functions of the Kinetix 300 system when considering replacement with a Kinetix 5100 system See Appendix A for a comparison o...

Page 10: ...10 Rockwell Automation Publication 2198 RM004C EN P March 2022 Chapter 1 Migration Options Notes ...

Page 11: ...that your current motor is compatible Verify that the motor power and feedback cable length in your existing system does not exceed the maximum cable length for the new system Verify that the drive size is compatible Verify that the drive dimensions are compatible Verify that the drive connections and connectors are acceptable or compatible Selecting a Replacement Drive There are a number of diffe...

Page 12: ...0 70 132V 1 PH 120V nom voltage doubler mode 80 264V 1 PH 120 240V nom 1 PH 120 240V 2 2 8 6 0 8 5 2198 E1004 ERS 95 132V 1 PH 170 253V 1 PH 3 PH 120V 1 PH 230V 1 PH 3 PH 2 60 3 68 6 5 9 19 2097 V31PR2 1 PH 120 240V 4 5 7 12 0 17 0 2198 E1007 ERS 95 132V 1 PH 170 253V 1 PH 3 PH 120V 1 PH 230V 1 PH 3 PH 5 10 7 21 15 41 21 79 2097 V32PR0 80 264V 1 PH 240V nom 1 PH 240V 2 2 8 6 0 8 5 2198 E1004 ERS 9...

Page 13: ...100 drive connectors Table 7 shows a comparison of the connector locations of the Kinetix 300 drives and Kinetix 5100 drives Table 6 Suggested Kinetix 5100 Replacement Drives by Dimensions Kinetix 300 drive Kinetix 5100 Cat No Height mm in 1 Width mm in Depth mm in Cat No Height mm in 1 Width mm in Depth mm in 2097 V31PR0 238 9 37 68 0 2 68 185 7 28 2198 E1004 ERS 170 6 69 35 1 38 178 3 7 02 2097 ...

Page 14: ...9E C20 20 1492 SP1D200 140M D8E C20 140MT D9E C20 120 240V Single phase KTK R 10 10 A 1489 A1C100 140M C2E C10 140MT C3E C10 10 1492 SP1D100 140M C2E C10 140MT C3E C10 2097 V31PR2 120V Single phase voltage doubler KTK R 30 30 A 1489 A1C300 140M F8E C32 32 1492 SP1D300 140M F8E C32 120 240V Single phase KTK R 20 20 A 1489 A1C200 140M D8E C20 140MT D9E C20 20 1492 SP1D200 140M D8E C20 140MT D9E C20 ...

Page 15: ...3D100 2198 E1007 ERS 120V 230V 1 PH KTK R 20 20 A 1489 M2D200 20 1489 M2D200 230V 3 PH KTK R 15 15 A 1489 M3D130 15 1489 M3D130 2198 E1015 ERS 120V 230V 1 PH KTK R 30 30 A 1489 M2D300 30 1489 M2D300 230V 3 PH KTK R 25 25 A 1489 M3D200 25 1489 M3D200 2198 E1020 ERS 120V 230V 1 PH LPJ 40SP 40 A 1489 M2D400 40 1489 M2D400 230V 3 PH LPJ 35SP 35 A 1489 M3D300 35 1489 M3D300 2198 E2030 ERS 230V 3 PH LPJ...

Page 16: ...5 2097 V33PR6 AC input voltage 80 132V rms single phase 120V nom 80 264V rms single phase 240V nom 80 264V rms three phase 240V nom AC input frequency 48 62 Hz Main AC input current Rms nom 120V input voltage doubler Inrush 0 pk max 120V input Rms nom 120 240V input Inrush 0 pk max 240V input 5 0 A 68 0 A 3 0 A 136 A 8 6 A 1 15 A 5 0 A 2 3 A 15 0 A 1 15 A 8 7 A 2 3 A 24 0 A 5 65 A 13 9 A 11 3 A In...

Page 17: ... AC input Overvoltage threshold 410V 120V AC input 410V 230V AC input Bus capacitance 540 µF 1680 µF 1680 µF 2160 µF Capacitive energy absorption 6 24 J 19 40 J 19 40 J 24 95 J Short circuit current rating 5 000 A rms symmetrical 1 Kinetix 5100 drive modules are limited to one AC mains power cycling per minute 2 Peak RMS current that is allowed for up to 1 8 seconds Table 14 Kinetix 5100 Input Pow...

Page 18: ...ower in rush current 24V DC 1 27 ADC 4 14 ADC 1 40 ADC 4 97 ADC Continuous output current rms 1 60 A 3 19 A 6 05 A 7 42 A Continuous output current 0 pk 2 26 A 4 51 A 8 56A 10 49 A Peak output current rms 3 5 40 A 8 0 A 15 11 A 20 78 A Peak output current 0 pk 7 63 A 11 31 A 21 36 A 29 38 A Line loss ride through 20 ms Continuous output power 0 40 kW 0 75 kW 1 50 kW 2 0 kW Internal shunt on 760V I...

Page 19: ... ms Continuous output power 3 0 kW 5 5 kW 7 5 kW 15 0 kW Internal shunt on 760V Internal shunt off Internal shunt resistor Internal shunt power Bus undervoltage 282V Bus overvoltage 820V Bus capacitance 560 µF 1120 µF 1640 µF 2500 µF Capacitive energy absorption 38 2 J 76 3 J 111 7 J 170 3 J Short circuit current rating 5 000 A rms symmetrical 1 Kinetix 5100 drive modules are limited to 1 AC mains...

Page 20: ...e dedicated inputs as shown in Table 20 Table 18 Kinetix 5100 Drive Control Power Specifications 400V class Attribute 2198 E4004 ERS 2198 E4007 ERS 2198 E4015 ERS 2198 E4020 ERS 2198 E4030 ERS 2198 E4055 ERS 2198 E4075 ERS 2198 E4150 ERS Control power input voltage 21 6 26 4V DC 24V DC nom Control power input current 24V DC 1 Control power in rush current 24V DC 1 27 ADC 4 14 ADC 1 40 ADC 4 97 ADC...

Page 21: ...s Table 20 Kinetix 300 Drives Fixed Digital Input Assignments Digital Input Function IN_A1 pin 27 Negative travel limit input IN_A2 pin 28 Positive travel limit input IN_A3 pin 29 Inhibit enable input IN_A4 pin 30 IN_B1 pin 32 IN_B2 pin 33 IN_B3 pin 34 IN_B4 pin 35 IN_C1 pin 37 IN_C2 pin 38 IN_C3 pin 39 Registration sensor input IN_C4 pin 40 Table 21 Kinetix 300 Digital Input Signal Specifications...

Page 22: ...eed Position Selection S P Speed Selection SPD0 SPD1 Torque mode speed Limit SPDLM Torque Command TCM0 TCM1 Torque Position Selection T P Torque limit TRQLM See the Programming via Drive Parameters chapter in the Kinetix 5100 Single axis EtherNet IP Servo Drives User Manual publication 2198 UM004 for the full list of digital input functions Digital Input Circuits In both the Kinetix 300 and Kineti...

Page 23: ... two drive families 24V DC INPUTx DCOM 4 7 kΩ approx 24V DC INPUTx DCOM 4 7 kΩ approx NPN transistor source mode PNP transistor sink mode Kinetix 5100 Servo Drive Kinetix 5100 Servo Drive Table 23 Digital Outputs Comparison Features Kinetix 300 Kinetix 5100 Outputs 5 6 Brake output assignment Programmable transistor type Programmable transistor type Configurable output assignment Yes Yes Table 24 ...

Page 24: ...ive and additional assignments are available for the Kinetix 5100 drive For the full list of digital output functions see the Kinetix 5100 Single axis EtherNet IP Servo Drives User Manual publication 2198 UM004 Digital Output Circuits The digital outputs of Kinetix 300 drive are optically isolated Figure 3 shows the digital output circuit of the Kinetix 300 drives Figure 4 is the Digital Output Ci...

Page 25: ... drive is the voltage difference between the AIN1 and AIN1 terminals If used in Single ended mode one of the analog terminals must be connected to a voltage source while the other one must be connected to ACOM If used in Differential mode the voltage source is connected across AIN1 and AIN1 and the driving circuit common if available is connected to the drive Analog Common ACOM terminal OUT1 E OUT...

Page 26: ... Outputs This section describes analog outputs for Kinetix 300 and Kinetix 5100 servo drives Kinetix 300 Drive Analog Outputs Figure 5 shows the analog output circuit for the Kinetix 300 Drives Table 27 lists the Kinetix 300 analog output specifications Figure 5 Kinetix 300 Drive Analog Output Circuit Table 26 Analog Inputs Parameters Comparison Parameter Kinetix 300 Kinetix 5100 Analog Inputs Res...

Page 27: ...inetix 5100 Analog Output Circuit The Kinetix 5100 servo drive provides two single ended analog outputs MON1 and MON2 referenced to an analog ground IMPORTANT Output values can vary during power up until the specified power supply voltage is reached MotionView software refers to phase current U V and W as R S and T respectively Table 28 Kinetix 5100 Drives Analog Output Specifications Parameter Ki...

Page 28: ...or all drives referred to as control power Table 30 shows the control power specifications for Kinetix 300 drives The Kinetix 5100 drive requires a control power supply shown in Table 31 and Table 32 Depending on the voltage class of the drive the control power is either a phase from the incoming power non 400V class or 24V DC 400V class Table 29 Kinetix 5100 Analog Outputs Monitoring MON1 and MON...

Page 29: ...wer A 0 pk at 120V rms nom Maximum Input Current of Control Power A rms at 230Vrms nom Inrush current of Control Power A 0 pk at 230V rms nom 2198 E1004 ERS 0 34 15 80 0 20 37 0 2198 E1007 ERS 0 38 18 20 0 22 37 40 2198 E1015 ERS 0 63 19 20 0 22 39 80 2198 E1020 ERS 19 20 0 35 32 40 2198 E2030 ERS 0 35 36 40 2198 E2055 ERS 0 46 32 80 2198 E2075 ERS 0 48 40 0 2198 E2150 ERS 0 92 37 0 Table 32 Kinet...

Page 30: ...netix MP motors and Kinetix 300 drives in Kinetix 5100 applications See Dimensions Cables and Wiring for more detail In some instances existing shunt resistors used with Kinetix 300 drives can be reused with Kinetix 5100 drives Required Accessories See the Kinetix Rotary and Linear Motion Cable Accessories Specifications publication KNX TD004 for detailed descriptions and specifications of these s...

Page 31: ... 5100 Required Drive Accessories Accessory Cat No 1 1 Where x equals the cable length in meters Description Communication Cables 1585J M8CBJM x 1585J M8UBJM x 1585J M8CB x Ethernet cables Double ended non high flex shielded are available in standard lengths Shielded cable is required to meet EMC specifications 2198 USBC Mini USB Cable for connecting Kinetix 5100 to Personal Computer 2198 USBF Filt...

Page 32: ...imensions Catalog Number 2198 R004 The dimensions in Figure 9 apply to catalog numbers 2097 R6 and 2097 R7 shunt resistors without an enclosure A B D C E F G Removable Cover 5 16 in Hex Screws Φ 5 Conduit Knockout 12 7 0 5 Φ 4 11 1 7 16 Mounting Holes Top View cover removed 5 16 in Hex Screws Front View Left Side View Table 37 2198 R031 Shunt Resistor Dimensions Cat No A B C D E F G 2198 R031 635 ...

Page 33: ...eakage Current mA Weight approx kg lb Kinetix 300 350 1 Drive Cat No 2097 F1 Side 240V AC 1 24 0 5 2 9 0 0 6 0 13 2097 V33PR6 xx 2 2097 F2 480V AC 3 10 0 2 8 1 0 2097 V34PR6 xx 2097 F4 3 Rear 240 480V AC 3 4 40 1 2 1 0 0 8 0 18 2097 V33PR1 xx 4 2097 V34PR3 xx 2097 F5 3 6 90 1 3 2097 V34PR5 xx 2097 V33PR3 xx 5 2097 F6 3 15 0 4 1 2097 V33PR5 xx 6 1 Use 2090 UXLF 110 single phase line filter for 2097...

Page 34: ...127 F 2198 E1015 ERS 2198 DB324 F 2198 E1020 ERS 2198 E2030 ERS 1 1 2198 E4xxx ERS 200V class drives do not support single phase operation 2198 E2055 ERS 1 2198 DB335 F 2198 E2075 ERS 1 2198 DB356 F 2198 E2150 ERS 1 2198 DBR90 F 2198 E4004 ERS 2198 DB418 F 2198 E4007 ERS 2198 E4015 ERS 2198 E4020 ERS 2198 E4030 ERS 2198 E4055 ERS 21980DB433 F 2198 E4075 ERS 2198 E4150 ERS 2198 DBR40 Table 41 Kinet...

Page 35: ...Class 1 EtherNet IP connection with a pre defined Add On Profile or Class 3 connection using Explicit messaging All Kinetix 5100 servo drives include two RJ45 ports that support 10 100 Mb communication speeds Ethernet topologies including linear ring and star For more information on Ethernet design considerations see Scalability The Best Approach to Change publication IA WP002 Ethernet Design Cons...

Page 36: ...36 Rockwell Automation Publication 2198 RM004C EN P March 2022 Chapter 2 Replacement Considerations Notes ...

Page 37: ...ndicators is identical Figure 10 Kinetix 300 Connector Locations 10 2 00 3 00 3 4 5 6 9 8 1 12 11 7 7 Kinetix 300 Drive Top View 2097 V33PR5 drive is shown Kinetix 300 Drive Front View 2097 V33PR5 drive is shown Kinetix 300 Drive Bottom View 2097 V33PR5 drive is shown Table 42 Kinetix 300 Drive Connectors Item Description Item Description 1 Mains IPD connector 7 Ground lug 2 Status and diagnostic ...

Page 38: ...S drive is shown Kinetix 5100 Drive Bottom View 2198 E1004 ERS drive is shown Table 43 Features and Indicators Description catalog numbers 2198 E1004 ERS 2198 E1007 ERS and 2198 E1015 ERS Item Description Item Description 1 Status display 9 Motor cable ground plate 2 Navigation push buttons 10 Safe Torque Off STO connector 3 Module Network and Charge status indicators 11 Mains input power connecto...

Page 39: ...ers 2198 E4020 ERS 2198 E4030 ERS 1 4 5 6 7 8 10 9 2 NET 5100 MOD CHARGE 2 1 I O AUX U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C STO MFB 3 13 12 11 16 15 14 17 1 4 5 6 7 8 2 NET MOD CHARGE I O AUX U V W DC ESH P1 P2 DC L1 L2 L3 24V 24V MFB 2 1 3 9 13 10 17 STO 18 14 16 12 11 15 Kinetix 5100 Drive Front View 2198 E4020 ERS drive is shown Kinetix 5100 Drive Top View 2198 E4020 ERS drive is shown Kine...

Page 40: ...ector 14 9 16 3 12 11 2 13 8 15 7 6 5 4 1 10 17 17 18 P1 P2 DC L1 L2 L3 L1C L2C DC ESH U V W NET MOD CHARGE 5100 I O AUX STO MFB Table 44 Features and Indicators Description catalog numbers 2198 E1020 ERS 2198 E2030 ERS 2198 E2055 ERS 2198 E2075 ERS and 2198 E2150 ERS 2198 E4055 ERS 2198 E4075 ERS and 2198 E4150 ERS Item Description Item Description 1 Status display 10 Safe Torque Off STO connecto...

Page 41: ...er Z pulse output ZMOUT 25 Negative of analog signal input AIN1 Encoder B pulse output BMOUT 26 Digital input group ACOM terminal IN_A_COM Digital output OUTPUT4 27 Negative travel limit switch IN_A1 Digital output OUTPUT5 28 Positive travel limit switch IN_A2 Digital output OUTPUT5 29 Inhibit enable input IN_A3 Digital input INPUT9 30 Digital input A4 IN_A4 Digital input High Speed Input INPUT8 3...

Page 42: ...ntial input COS BM Cosine Differential Input A Differential Input MTR_COS MTR_BM 4 Cosine differential input BM differential input COS BM Cosine Differential Input A Differential Input MTR_COS MTR_BM 5 Data differential input Index pulse DATA Index pulse DATA Data Differential Input Output Index Differential Input DATA IM MTR_DATA MTR_DATA TLY B MTR_SD TL B MTR_DATA 6 Common ECOM ECOM ECOM Encoder...

Page 43: ...e Kinetix 5100 servo drives AUX connector Table 47 Kinetix 300 Drive Auxiliary Feedback on I O Connector Pin Description Signal 1 Sine differential input AM differential input SIN AM 2 Sine differential input AM differential input SIN AM 3 Cosine differential input BM differential input COS BM 4 Cosine differential input BM differential input COS BM Table 48 Kinetix 5100 Auxiliary Feedback Connect...

Page 44: ...on 2198 UM004 for information on STO with the Kinetix 5100 drive Figure 17 STO Connector Assignment Comparison Table 49 STO Connector Assignment Comparison Kinetix 300 Servo Drive Kinetix 5100 Servo Drive Pin Signal Description Signal Description 1 24V DC control 24V DC output from the drive SB used for jumper 2 Control COM 24V DC output common SB used for jumper 3 Safety Status Safety status S1 S...

Page 45: ... 2 70 2097 V32PR0 229 6 9 04 68 0 2 68 2097 V32PR2 229 6 9 04 68 5 2 70 2097 V32PR4 229 6 9 04 86 8 3 42 2097 V33PR1 185 1 7 29 68 0 2 68 2097 V33PR3 185 1 7 29 68 5 2 70 2097 V33PR5 185 1 7 29 94 4 3 72 2097 V33PR6 229 6 9 04 68 0 2 68 2097 V34PR3 185 1 7 29 68 5 2 70 2097 V34PR5 94 4 3 72 2097 V34PR6 229 6 9 04 68 0 2 68 11 8 0 46 6 6 0 26 7 1 0 28 B 38 1 1 5 182 7 18 190 7 50 30 8 1 21 Ø 4 57 0...

Page 46: ...re shown in Figure 19 Figure 20 and Figure 21 Figure 19 Catalog Numbers 2198 E1004 ERS 2198 E1007 ERS and 2198 E1015 ERS 2 1 I 0 AUX 16 0 0 65 23 0 0 89 45 0 1 76 20 0 0 79 A 5100 NET MOD CHARGE B C D 57 0 2 30 Cat No A mm in B mm in C mm in D mm in 2198 E1004 ERS 35 0 1 37 178 7 0 170 6 68 52 0 2 05 2198 E1007 ERS 50 0 2 0 188 7 41 180 7 10 47 0 1 84 2198 E1015 ERS ...

Page 47: ...Cables and Wiring Figure 20 Catalog Numbers 2198 E1020 ERS 2198 E2030 ERS 2198 E4004 ERS 2198 E4007 ERS and 2198 E4015 ERS 37 0 1 50 13 0 0 50 95 0 3 74 20 0 0 79 208 8 20 178 7 08 11 0 0 43 5100 2 1 NET MOD CHARGE I 0 AUX 23 0 0 89 25 0 0 97 U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C ...

Page 48: ... NET MOD CHARGE I 0 AUX U V W DC ESH P1 P2 DC L1 L2 L3 L1C L2C A 13 0 0 50 44 0 1 75 20 0 0 79 B C D E 95 0 3 70 107 4 20 Cat No A mm in B mm in C mm in D mm in E mm in 2198 E4020 ERS 110 4 33 14 0 0 55 38 0 1 50 204 8 02 260 10 24 2198 E4030 ERS 2198 E2055 ERS 120 4 72 37 0 1 47 59 0 2 32 209 8 24 273 10 75 2198 E4055 ERS 2198 E2075 ERS 141 5 55 16 0 0 65 35 0 1 36 225 8 87 312 12 28 2198 E4075 E...

Page 49: ...hen migrating your Kinetix 300 servo drive system do not exceed the maximum cable lengths for the Kinetix 5100 servo drives See Table 51 and Table 52 for the maximum length of the power and feedback cables for the Kinetix 5100 drives Table 51 Maximum Cable Lengths 200V class Motors with Kinetix 5100 Drives Compatible Motor and Actuator Cat No Feedback Type Cable Length max m ft TLP Axxx xxx D Niko...

Page 50: ...factory made cables to achieve the expected system performance For details and drawings of recommended cables see the Kinetix Rotary and Linear Motion Cable Accessories Specifications Technical Data publication KNX TD004 the bill of materials BOM configuration tool within Motion Analyzer or ProposalWorks system configuration tool from Rockwell Automation Power Wiring Use these power wiring example...

Page 51: ...rounded three phase power that is wired to three phase Kinetix 300 drives when phase to phase voltage is within drive specifications L1 L2 Neutral IPD L1 L2 N L1 L2 N L1 N E IPD L1 L2 2097 V33PRx Transformer Secondary 120V AC Output Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground Kinetix 300 Drives Single phase AC Input AC Line Filter Input Fusing M1 Contactor L1 L2 L1 L2 Neutra...

Page 52: ... typically is higher than a balanced center ground configuration L3 L2 L1 IPD L3 L2 L1 E L3 L2 L1 L3 L2 L1 2097 V33PRx Transformer Delta Secondary Kinetix 300 Drives Three phase AC Input AC Line 1 Filter Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground M1 Contactor Input Fusing Feeder and branch short circuit protection is not illustrated 1 Leakage current from the line filter in...

Page 53: ...y Figure 28 Kinetix 5100 Drive Three phase 380 480V Grounded Power Configuration wye secondary L3 L2 L1 L3 L2 L1 E L3 L2 L1 L3 L2 L1 2198 Exxxx ERS Servo Drives L1C L2C Transformer wye Secondary Mains AC Input Power Connector Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground AC Line Filter Circuit Protection Feeder and branch short circuit protection is not illustrated Control AC ...

Page 54: ...nded Cabinet Ground Bus Ground Grid or Power Distribution Ground AC Line Filter 200 230V AC Output Circuit Protection Circuit Protection Mains AC Input Power Connector Control AC Input Power Connector 2198 E1004 ERS 2198 E1007 ERS 2198 E1015 ERS and 2198 E1020 ERS Drives with Single phase Operation Reducing the transformer output reduces motor speed Feeder and branch short circuit protection is no...

Page 55: ...uration L2 L1 Neutral L2 L1N L2 L1N L2 L1 E L1C L2C Transformer Secondary Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground AC Line Filter 230V AC Output Circuit Protection Mains AC Input Power Connector Control AC Input Power Connector Circuit Protection 2198 E1004 ERS 2198 E1007 ERS 2198 E1015 ERS and 2198 E1020 ERS Drives with Single phase Operation ...

Page 56: ...56 Rockwell Automation Publication 2198 RM004C EN P March 2022 Chapter 4 Dimensions Cables and Wiring Notes ...

Page 57: ...additional shunt capability is needed 24V DC Power Supply 1606 XLxxx Bulletin 1606 24V DC power supply for digital input output Safe Torque Off STO and motor brake control Logix PAC Controller Platforms Bulletin 5069 and 1769 EtherNet IP networking with CompactLogix 5370 and CompactLogix 5380 controllers with embedded dual port CompactLogix 5480 controllers for the benefits of Logix control with W...

Page 58: ... CE with Kinetix 300 drives without an integrated line filter Bulletin 2097 filters are available in foot mount and side mount Shunt Module 2097 Rx Bulletin 2097 shunt resistors connect to the drive and provide shunt capability in regenerative applications Terminal block for I O connector 2097 TB1 50 pin terminal block Use with IOD connector for control interface connections Memory Module Programm...

Page 59: ...AC Line Filter optional equipment 2097 F1 Filter Shown 1783 US05T Stratix 2000 Switch CompactLogix Controller Platform 1769 L23E QB1B Shown RSLogix 5000 Software 24V DC Control Back up Power Supply optional equipment Kinetix MP and Kinetix TL Rotary Motors MPL Bxxxx motors shown Kinetix 2090 Motor Feedback Cables Kinetix 2090 Motor Power Cables 1585J M8CBJM x Ethernet shielded Cable 2097 TB1 Termi...

Page 60: ...15 F16 F1 F2 F3 F4 F5 F6 F7 F8 Esc LNK1 LNK2 NET OK EtherNet IP 1 2 OK FORCE SD RUN Logix5585 LINK NET TM SAFETY ON 0000 DCINPUT ACOUTPUT DCINPUT 5100 2 1 NET MOD CHARGE I 0 AUX U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C 5100 2 1 NET MOD CHARGE I 0 AUX U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C 5100 2 1 NET MOD CHARGE I 0 AUX U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C 2 3 5 4 1 R W P Studio 5000 L...

Page 61: ...t downloads application code library sample code html Keyword Kinetix 5100 Figure 34 Kinetix 5100 Controlled Via Explicit Messaging 5100 2 1 NET MOD CHARGE I 0 AUX U V W DC ISH ESH P1 P2 DC L1 L2 L3 L1C L2C ESC OK 1585J M8CBJM x shielded or 1585J M8UBJM x high flex shielded Ethernet Cable Connected Components Workbench software for programming Micro800 controllers RSLogix 500 software for programm...

Page 62: ...2 DC L1 L2 L3 L1C L2C ESC OK Connected Components Workbench software for programming Micro800 controllers RSLogix 500 software for programming MicroLogix 1100 and 1400 controllers KNX5100C Drive Configuration software for configuration and tuning of Kinetix 5100 drives 2080 LCxx xxxx Micro830 Controller 1766 L32xx MicroLogix 1400 Controller Third party Controller with Pulse Train Output or Analog ...

Page 63: ...ed depending on the situation is Studio 5000 for ControlLogix CompactLogix Connected Component Workbench for Micro800 Series controller or RSLogix 500 for MicroLogix controllers When used in I O mode the Kinetix 5100 uses a Logix controller programmed with the Studio 5000 Logix Designer application along with Add on Profiles AOP which include the ability to get and set a defined set of parameters ...

Page 64: ...ve Use the wiring from Table 45 on page 41 to determine the wiring pins to use for the Analog Command mode Figure 36 Analog I O in MotionView As in MotionView KNX5100C software provides Analog Speed Input and Analog Torque Input in the Analog I O tab KNX51000C software also provides Analog Position Input in this window You can set the Analog Speed Analog Torque or Analog Position Command using the...

Page 65: ...ommand or other parameters for example motor speed DC bus voltage and others for an online drive in the Monitoring Output tab which is shown in Figure 38 Figure 38 Monitoring Output Window of Analog I O in KNX5100C Software Scenario 2 Indexing to Position Register PR Mode Figure 39 is an example of the Properties window for Indexing in MotionView for the Kinetix 300 servo drive ...

Page 66: ...rsion Figure 39 Indexing Window in MotionView Figure 40 shows the Properties window for Digital Input that is used for Indexing in MotionView for the Kinetix 300 drive Figure 40 Digital I O Window in MotionView In MotionView software with Kinetix 300 drives you can configure up to 32 indexes ...

Page 67: ...pabilities In PR mode these different command types include homing Point to Point position command speed command jump command write command and arithmetic operation commands Except for arithmetic operations the properties and corresponding data of each PR command are set by KNX5100C software In the Kinetix 300 drive the motion commands are triggered by DI StartIndex DI DefineHome and DI IndexSelec...

Page 68: ...m Ratio in MotionView for Kinetix 300 servo drives Figure 42 Master To System Ratio in MotionView The Kinetix 5100 drive uses PT mode for similar functionality The Kinetix 5100 servo drive can use a Master TTL signal from either the I O terminal block or the AUX Auxiliary Feedback connector Consider that the Master signal can be a standalone encoder or another Kinetix 5100 servo drive using the bu...

Page 69: ...e width is recommended The supported filter widths are shown in Table 56 Table 55 PTO Input Compatibility Between Kinetix 300 drives and Kinetix 5100 drives Attribute Kinetix 300 drive Kinetix 5100 Recommended voltage 5 24V DC 5V DC for differential signal 21 6 26 4V DC for single ended signal Input frequency max 2 MHz differential signal 4 MHz differential signal 200 kHz single ended signal Pulse...

Page 70: ...mmed with Studio 5000 Logix Designer the control of the drive can use a Class 1 connection including an Add On Profile AOP with Add On Instructions AOI that mimic native Logix CIP Motion Instructions See Figure 44 for an example of an Add On Instruction project in the Logix Designer application Figure 44 Kinetix 5100 Add On Instruction Project in the Logix Designer Application See the Kinetix 5100...

Page 71: ...osition No Yes Kinetix 5100 drive Available in PR mode capture compare MicroLogix SLC controller compatible Yes Yes Hardware enable required Yes Yes Kinetix 5100 I O mode does not require a hardware enable input Selectable modes of operation via digital inputs No Yes Kinetix 5100 Can change modes with dual or multi mode changes and digital inputs Buffered encoder outputs selectable freq Yes Yes Ki...

Page 72: ...is required Batch Count Yes Yes Kinetix 5100 not natively Programming is required Homing Active Switch Marker Yes Yes Homing Absolute Yes Yes Home to Torque Limit No Yes Define Home current position Yes Yes Stop Abort Indexing Yes Yes Table 57 Feature Comparison Chart Continued Features Kinetix 300 Drives Kinetix 5100 Drives Notes Items with asterisks have more information in this column ...

Page 73: ... drives Added drive compatibility with Kinetix TL TLY 200V class servo motors Added Kinetix 5100 drive ratings 400V class Added Table 15 and Table 16 Kinetix 5100 Power Specifications 480V nom three phase Added Table 18 Kinetix 5100 Drive Control Power Specifications 400V class Added Table 32 Kinetix 5100 Servo Drive Control Power and Auxiliary Power Rating 400V class Added Figure 13 Features and ...

Page 74: ...Rockwell Automation Publication 2198 RM004C EN P March 2022 75 Kinetix 300 to Kinetix 5100 Servo Drive Migration Guide Reference Manual Notes ...

Page 75: ...rok auto phonesupport Literature Library Find installation instructions manuals brochures and technical data publications rok auto literature Product Compatibility and Download Center PCDC Download firmware associated files such as AOP EDS and DTM and access product release notes rok auto pcdc At the end of life this equipment should be collected separately from any unsorted municipal waste Rockwe...

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Rockwell Automation Allen-Bradley 2198-E1004-ERS, Migration Manual

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