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Rockwell Automation Publication 2198-RM006A-EN-P - December 2020

Chapter 2 Servo Drive and System Comparisons

Ultra3000 Servo Drive Feedback Connector

Factory-made cables with premolded connectors are designed to minimize
EMI and are recommended over hand-built cables to improve system
performance. However, other options are available for building your own
feedback and I/O cables. See

Table 17

for the available options.

Table 16 - Ultra3000 Servo Drive Motor Power and Feedback Cables

Motor

Motor Power Cables

Feedback Cables

MPL-A/B

xxxx-

V/E

MPL-A/B

xxxx-

S/M

2090-CPxM7DF-xxAAxx / xxAFxx

2090-CFBM7DF-CEAAxx

2090-CFBM7DD-CEAAxx

2090-CFBM7DF-CERAxx (standard) or

2090-CFBM7DF-CEAFxx

2090-CFBM7DD-CEAFxx

2090-CFBM7DF-CDAFxx (continuous-flex)

MPM-A/Bxxxx-S/M

MPF-A/Bxxxx-S/M

MPS-A/Bxxxx-S/M

MPAR-A/B

xxxxx-

MPAI-A/B

xxxxx

MPAS-A/B

xxxxx

-V (ballscrew)

MPL-A/B

xxxx

-H

2090-XXNFMF-Sxx (standard) or

2090-CFBM7DF-CDAFxx (continuous-flex)

MPAS-A/B

xxxx

-ALM (direct drive)

LDC-C

xxxxxx

LDL-

xxxxxxx-x

TLY-A

xxxx

-B

2090-CPWM6DF-16AAxx

(standard, non-flex) without brake

2090-CPBM6DF-16AAxx

(standard, non-flex) with brake

2090-CFBM6DF-CBAAxx (standard)

2090-CFBM6DD-CCAAxx (standard)

TLY-A

xxxx

-H

Table 17 - Ultra3000 Feedback Connectors

Drive Connector Connector Option

Option Cat. No.

CN1

I/O Connector

44-pin drive-mounted breakout board with 24V to 5V auxiliary

power converter

2090-U3CBB-DM44

12-pin drive-mounted breakout board with 24V to 5V auxiliary

power converter for Sercos interface applications

2090-U3CBB-DM12

44-pin panel-mounted breakout board kit

2090-U3BK-D44

44-pin, drive-mounted breakout board

2090-U3BB2-DM44

44-pin (high-density D-shell) drive connector kit

2090-U3CK-D44

Single-axis flying lead to 1756-M02AE module or 1784-PM02AE PCI

card

2090-U3CC-D44

Two-axis pre-wired to 1756-M02AE module

2090-U3AE-D44

CN2

Feedback

Connector

Premolded cable at drive and motor end

2090-UXNFB

-S

Flying lead cable at

drive end

(2090-XXNF

-S

)

15-pin drive-mounted breakout board

2090-UXBB-DM15

15-pin panel-mounted breakout board kit 2090-UXBK-DM15

15-pin (high-density D-shell) drive

connector kit

2090-UXCK-D15

CN3

Serial Connector

PC serial connector to premolded drive connector

2090-UXPC-DM09

9-pin drive-mounted breakout board

2090-UXBB-DM09

9-pin (high-density D-shell) drive connector kit

2090-UXCK-D09

Содержание Allen-Bradley Ultra3000

Страница 1: ...talog Numbers 2198 C1004 ERS 2198 C1007 ERS 2198 C1015 ERS 2198 C1020 ERS 2198 C2030 ERS 2198 C2055 ERS 2198 C2075 ERS 2198 C4004 ERS 2198 C4007 ERS 2198 C4015 ERS 2198 C4020 ERS 2198 C4030 ERS 2198 C...

Страница 2: ...med by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without writte...

Страница 3: ...Drive Accessories 19 Chapter 2 Servo Drive and System Comparisons Drive Replacement 21 Output Current Comparison 21 Dimension Comparison 23 Dimension Drawings 24 AC Input Power Cable Length and Fuse...

Страница 4: ...ry Power Specifications 65 Ultra3000 Servo Drive Auxiliary Power Specifications 65 Kinetix 5300 Servo Drive Control Power Specifications 66 Power Dissipation Specifications 67 Ultra3000 Servo Drive Po...

Страница 5: ...ilarities and differences between the Ultra3000 servo drive and a Kinetix 5300 servo drive This can help you determine the proper solution for your migration Pre migration Motion Analyzer is a compreh...

Страница 6: ...drive The following sections highlight the differences between Ultra3000 and Kinetix 5300 servo drives There can be more differences beyond these that can impact your application Read this entire docu...

Страница 7: ...or cable catalog numbers for your Kinetix 5300 drive and Kinetix motion control system AC Line Filter Installation Instructions publication 2198 IN003 Provides information on how to install AC line fi...

Страница 8: ...8 Rockwell Automation Publication 2198 RM006A EN P December 2020 Preface Notes...

Страница 9: ...sion 33 00 or later and supporting Integrated Motion on the EtherNet IP network With the benefits of this motion system you can run motion applications on a single control platform by using a single n...

Страница 10: ...ts Kinetix 5300 servo drive systems consist of these required components Any Logix controller version 33 00 or later with motion and EtherNet IP capability One 2198 Cxxxx ERS servo drive One Kinetix T...

Страница 11: ...rogrammable automation controller All Kinetix 5300 servo drives include dual port EtherNet IP connectivity with motion in a Studio 5000 Logix Designer application that is version 33 00 or later Suppor...

Страница 12: ...s Kinetix TL and TLY servo motors LDAT Series linear thrusters LDC Series and LDL Series linear motors Third party and applicable Encompass partner permanent magnet and induction motors Refer to Motor...

Страница 13: ...ra3000 drives however you must verify the physical size of the Kinetix 5300 servo drive Control and Auxiliary Power The control and auxiliary power feature lets the drive maintain logic power when mai...

Страница 14: ...ix configurable functions to choose from in the Studio 5000 Logix Designer application version 33 00 or later Configurable functions are Enable Home Registration 1 Registration 2 Positive Overtravel a...

Страница 15: ...turning off the inverter power transistors in response to a monitored digital input according to Category 0 Stop behavior These drives support parallel input terminals for cascading to adjacent drives...

Страница 16: ...18 Rockwell Automation Publication 2198 RM006A EN P December 2020 Chapter 1 Servo Drive and System Considerations Notes...

Страница 17: ...put ratings and dimension differences of the drives Information in this migration guide is based on the drive combinations shown Output Current Comparison IMPORTANT The performance capabilities of the...

Страница 18: ...0 6 6 13 4 2198 C1007 ERS 4 6 6 5 9 7 21 9 2198 C1015 ERS 8 5 11 7 12 2 41 3 2198 C1020 ERS 12 2 17 3 25 0 57 4 2198 C1004 ERS 170 253V single phase 230V 2 8 4 0 9 5 13 4 2198 C1007 ERS 4 6 6 5 15 5...

Страница 19: ...7 14 2 91 44 3 6 243 84 9 6 2198 C1020 ERS 145 7 5 74 41 44 1 63 21 16 0 83 2098 DSD 075 138 68 5 41 247 14 9 73 2198 C2030 ERS 2198 C2055 ERS 265 10 43 55 2 16 95 7 3 77 83 68 3 25 17 86 0 7 2098 DS...

Страница 20: ...re 2 xxx is replaced by 005 010 or 020 to represent the Ultra3000 500 W 1 kW and 2 kW drives respectively Figure 2 Ultra3000 240V Dimensions Catalog number 2098 DSD xxx SE Table 8 Ultra3000 240V Dimen...

Страница 21: ...3 Ultra3000 240V Dimensions Catalog number 2098 DSD xxx SE Table 9 Ultra3000 240V Dimensions 2098 DSD xxx SE Ultra3000 Servo Drive Cat No A mm in B mm in C mm in J mm in 2098 DSD 030 SE 91 44 3 6 50...

Страница 22: ...a3000 460V Dimensions Catalog number 2098 DSD HVxxx SE Table 10 Ultra3000 460V Dimensions 2098 DSD HVxxx SE Ultra3000 Servo Drive Cat No A mm in B mm in C mm in D mm in H mm in I mm in 2098 DSD HV030...

Страница 23: ...x 5300 Drive Cat No Frame A mm in B mm in C mm in D mm in E mm in Drill Hole Patterns 1 1 Hole spacing is measured in millimeters and not converted to inches to avoid errors due to rounding Refer to K...

Страница 24: ...0 3 94 48 1 89 300 11 81 248 9 76 80 3 15 Dimensions are in mm in 2198 K53CK D15M Feedback Connector Kit Mounted on Kinetix 5300 Frame 2 Drive 2198 K53CK D15M Feedback Connector Kit Mounted on Kinetix...

Страница 25: ...e See Appendix A Connectors and Field Connections for a comparison of the Ultra3000 servo drive and Kinetix 5300 servo drive terminals Figure 6 Ultra3000 Servo Drive Input Power Example BULLETIN 1394...

Страница 26: ...al component 2198 Cxxxx ERS Drive top view AC Input Power Bonded Cabinet Ground Bus Mains AC Input Wired to Standard Input Connector 1606 XLxxx 24V DC Control Digital Inputs and Motor Brake Power cust...

Страница 27: ...S1 SC S2 MBRK W V U 1 10 1 2 MFB Single phase or Three phase Input Power Line Disconnect Device Circuit Protection 2097 Rx or 2198 Rxxxx Shunt Resistor optional component 2198 Cxxxx ERS Drives top vie...

Страница 28: ...lass fuses with current ratings as indicated in the table Table 12 lists fuse examples that are recommended for use with the Ultra3000 230V and 460V drives ATTENTION Do not use circuit protection devi...

Страница 29: ...mann Fuses Cat No Molded Case CB Cat No 2198 C1004 ERS 200 230V AC three phase KTK R 6 140U D6D3 B40 2198 C1007 ERS KTK R 10 140U D6D3 B80 2198 C1015 ERS KTK R 15 140U D6D3 C12 2198 C1020 ERS KTK R 25...

Страница 30: ...15 ERS 16 1489 M3C160 140U D6D3 C12 2198 C1020 ERS 25 1489 M3C250 140U D6D3 C20 2198 C2030 ERS 32 1489 M3C400 140U D6D3 C30 2198 C2055 ERS 40 140G G6C3 C50 2198 C2075 ERS 50 140G G6C3 C60 2198 C4004 E...

Страница 31: ...CPBM6DF 16AAxx standard non flex with brake 2090 CFBM6DF CBAAxx standard 2090 CFBM6DD CCAAxx standard TLY Axxxx H Table 17 Ultra3000 Feedback Connectors Drive Connector Connector Option Option Cat No...

Страница 32: ...inetix 5300 Servo Drives User Manual publication 2198 UM005 for specifications by frame size Table 19 Kinetix TLP Motor and Cable Combinations Rotary Motor 200V class 1 Cat No Motor Power Brake Cable...

Страница 33: ...Sxxxxxx xDx LDAT Sxxxxxx xBx LDC Cxxxxxx LDL xxxxxxx 1 See the Kinetix Motion Accessories Specifications Technical Data publication KNX TD004 for cable specifications Table 21 Kinetix TL and TLY Motor...

Страница 34: ...3xxxx M MPAI A BxxxxxM3 MPAS A Bxxxx1 V05SxA ballscrew MPAS A Bxxxx2 V20SxA ballscrew LDAT Sxxxxxx xDx MPL A B15xxx Hx7xAA MPL A B2xxx Hx7xAA MPL A B3xxx Hx7xAA MPL A B4xxx Hx7xAA MPL A B45xxx Hx7xAA...

Страница 35: ...100 s Digital I O firmware scan period 1 ms Table 27 Ultra3000 Drives Digital Input Parameters Parameter Description Min Max ON state voltage Voltage applied to the input with respect to IOCOM to guar...

Страница 36: ...tal inputs Although any input can be configured as a registration input only two inputs can be assigned at any time Parameter Description Min Max ON state current Current flow when the output transist...

Страница 37: ...sor has been seen Typically a transition of this signal is used to establish a reference position for the machine axis Registration 1 An inactive to active transition also known as a positive transiti...

Страница 38: ...m example illustrates how the required drive modules and accessories are used in a typical system Figure 13 Ultar3000 Sercos Servo Drive System Example 1606 XL Power Supply Input Allen Bradley 2090 UX...

Страница 39: ...en Bradley L3 L2 L1 24 DC SH 24 SB SB S1 SC S2 MBRK W V U 1 10 1 2 MFB Single phase or Three phase Input Power Line Disconnect Device Circuit Protection 2097 Rxor 2198 Rxxxx Shunt Resistor optional co...

Страница 40: ...oor and conduit duty 2090 SCVGx x Motor power and feedback cables See the specific drive motor combination for the motor cables required for your system Table 35 Ultra3000 Sercos Optional Drive Access...

Страница 41: ...kits are also available Table 36 Kinetix 5300 Drive System Accessories Accessory 1 1 Refer to the Kinetix Servo Drives Specifications Technical Data publication KNX TD003 for detailed descriptions an...

Страница 42: ...44 Rockwell Automation Publication 2198 RM006A EN P December 2020 Chapter 2 Servo Drive and System Comparisons Notes...

Страница 43: ...005 SE 010 SE and 020 SE 5 6 4 3 2 7 1 8 9 10 11 12 13 14 Item Description Item Description 1 Motor Power Cable Shield Clamp 8 Network Status Indicator 2 Motor Power Connections 9 CN3 9 pin Serial Po...

Страница 44: ...8 9 10 11 12 13 14 Item Description Item Description 1 Motor Power Cable Shield Clamp 8 Network Status Indicator 2 AC Input Power Connections 9 Node Address Switches 3 Motor Power Connections 10 Data...

Страница 45: ...7 1 8 9 10 11 12 13 14 Item Description Item Description 1 Motor Power Cable Shield Clamp 8 Network Status Indicator 2 AC Input Power Connections 9 Node Address Switches 3 Motor Power Connections 10...

Страница 46: ...ption 1 Motor Power Cable Shield Clamp 8 Network Status Indicator 2 AC Input Power Connections 9 Node Address Switches 3 Motor Power Connections 10 Data Rate Switch 4 Passive Shunt Resistor Connection...

Страница 47: ...or Kinetix 5300 Bottom View frame 2 and 3 drives only Cooling Fan Item Description Item Description Item Description 1 Motor Cable Shield Clamp 7 Zero stack Mounting Tab Cutout 13 Motor Brake Connecto...

Страница 48: ...D 075 150 and 2098 DSD HVxxx Kinetix 5300 Servo Drives Connector Connector Signal Terminal Connector Signal Terminal Motor TB1 U U Motor Power U U V V V V W W W W Chassis Ground Chassis Ground DC Bus...

Страница 49: ...output 7 8 Commutation channel S3 S3 MTR_S3 Hall commutation S3 input 8 9 Positive overtravel limit LIMIT Reserved 9 10 Channel I Index pulse IM MTR_DATA MTR_IM Data differential input output IM diff...

Страница 50: ...SHIELD Auxiliary feedback cable shield termination point 20 21 Buffered Motor Encoder Ch I IMOUT 22 Common ACOM 23 Programmable Analog Output AOUT 24 Analog Current Limit Input ILIMIT 25 Command COMMA...

Страница 51: ...tions from drive to drive when drives are joined by the zero stack feature Figure 20 Kinetix 5300 STO Connector Assignment The Safe Torque Off feature can be bypassed if necessary or applicable Refer...

Страница 52: ...54 Rockwell Automation Publication 2198 RM006A EN P December 2020 Appendix A Connectors and Field Connections Notes...

Страница 53: ...ystem The communication link uses the IEC 61491 SErial Real time COmmunication System Sercos protocol over a fiber optic cable Sercos Fiber optic Cables 2090 SCxxx x Plastic or glass in cabinet or on...

Страница 54: ...commissioning and maintaining the CompactLogix and ControlLogix controller families Rotary Servo Motors Kinetix MP Compatible rotary motors include 200V and 400V class Kinetix MPL MPM MPF and MPS serv...

Страница 55: ...rent 0 pk 2 5 A 5 0 A 10 A Peak output current rms 5 3 A 10 6 A 21 2 A Peak output current 0 pk 7 5 A 15 A 30 A Bus capacitance 1410 F 1880 F 1880 F Internal shunt resistance Shunt on Shunt off Bus ov...

Страница 56: ...A 106 A Peak output current 0 pk 30 A 75 A 150 A Bus capacitance 2820 F 4290 F 7520 F Internal shunt resistance 35 16 5 9 1 Shunt on 420V DC 420V DC 420V DC Shunt off 402V DC 402V DC 402V DC Bus over...

Страница 57: ...ak power 100 W 5 3 kW 200 W 16 kW 200 W 25 6 kW 400 W 32 kW External shunt Resistance 0 5 Continuous power Peak power 120 3 kW 5 3 kW 40 10 kW 16 kW 25 15 kW 25 6 kW 20 22 kW 32 kW Energy absorption c...

Страница 58: ...0V input single phase Nom 230V input single phase Nom 230V input three phase 6 6 A 9 5 A 9 5 A 9 7 A 15 5 A 15 5 A 12 2 A 20 5 A 29 2 A 25 0 A 40 6 A 40 6 A Peak output current 0 pk Nom 110V input sin...

Страница 59: ...ak output current rms 4 61 0 A 108 0 A 127 5 A Peak output current 0 pk 86 3 A 152 7 A 180 3 A Line loss ride through 20 ms Continuous output power 5 02 kW 10 30 kW 12 22 kW Internal shunt on 387 5V I...

Страница 60: ...10 3 A Peak output current rms 4 5 3 A 9 3 A 18 0 A 23 8 A Peak output current 0 pk 7 5 A 13 2 A 25 5 A 33 7 A Line loss ride through 20 ms Continuous output power 0 86 kW 1 55 kW 2 78 kW 3 90 kW Int...

Страница 61: ...ide through 20 ms Continuous output power 6 25 kW 12 08 kW 14 70 kW Internal shunt on 775V Internal shunt off 765V Internal shunt resistor 60 40 Internal shunt power 50 W 75 W Bus undervoltage limit 2...

Страница 62: ...iary AC input current 115V AC rms nom 230V AC rms nom 115V AC 0 pk max inrush 230V AC 0 pk max inrush 1 0 A 0 5 A 47 A 95 A Attribute 2098 DSD HV030 2098 DSD HV050 2098 DSD HV100 2098 DSD HV150 2098 D...

Страница 63: ...30x xx 150 dissipative shunt 2098 DSD HV150x xx 350 dissipative shunt 2098 DSD 075x xx 300 dissipative shunt 2098 DSD HV220x xx 600 dissipative shunt 2098 DSD 150x xx 500 dissipative shunt Kinetix 530...

Страница 64: ...Input TLP A Bxxx xxx D Nikon 24 bit absolute high resolution multi turn and single turn 50 164 TLY Axxxx B Tamagawa 17 bit absolute high resolution multi turn 30 98 4 TL Axxxx B TLY Axxxx H Incrementa...

Страница 65: ...ifications Specification Operational Range Storage Range non operating Ambient Temperature 0 C 55 C 32 F 131 F 35 C 70 C 40 F 158 F Relative Humidity 5 95 noncondensing 5 95 noncondensing Altitude 150...

Страница 66: ...fe Torque Off option in these products UL Listed to U S and Canadian safety standards UL61800 5 1 File E59272 Solid state motor overload protection provides dynamic fold back of motor current when 110...

Страница 67: ...cos drives input line contactor is part of the PLC program and output control Figure 21 Typical Power Wiring on Ultra3000 230V System TB1 DC DC L1 L2 N U V W L2 N L1 CN1 43 44 3 2 2098 DSD 005 SE 2098...

Страница 68: ...1 L2 N L1 AUX L2 N AUX CN1 43 44 TB2 1 2 3 N O Relay Output N O Relay Output External Passive Shunt Connections 2098 DSD 030 SE Ultra3000 Digital Servo Drive L2 N L1 Input Fusing Input Fusing Single p...

Страница 69: ...L2 L3 L1 AUX L2 N AUX L2 L1 CN1 43 44 L3 TB2 1 2 3 Chassis N O Relay Output N O Relay Output Neutral External Passive Shunt Connections 2098 DSD 075 SE and 2098 DSD 150 SE Ultra3000 Digital Servo Dri...

Страница 70: ...UX L2 N AUX Chassis N O Relay Output N O Relay Output Neutral External Passive Shunt Connections 2098 DSD HV030 SE 2098 DSD HV050 SE 2098 DSD HV100 SE 2098 DSD HV150 SE 2098 DSD HV200 SE Ultra3000 Dig...

Страница 71: ...must be used to meet CE requirements 6 PE ground connection bonded to the panel must be used to meet CE requirements 7 Internal shunt wired to the shunt connector is the default configuration Unplug...

Страница 72: ...cuit Protection Note 2 Indicates User Supplied Component 2198 C1004 ERS 2198 C1007 ERS 2198 C1015 ERS 2198 C1020 ERS 2198 C2030 ERS 2198 C2055 ERS 2198 C2075 ERS 2198 C4004 ERS 2198 C4007 ERS 2198 C40...

Страница 73: ...nd Bus Control Power Connector Mains AC Input Connector Indicates User Supplied Component 2198 C1004 ERS 2198 C1007 ERS 2198 C1015 ERS 2198 C1020 ERS Kinetix 5300 Drives Chassis Note 4 Customer Suppli...

Страница 74: ...76 Rockwell Automation Publication 2198 RM006A EN P December 2020 Appendix D Interconnect Diagrams Notes...

Страница 75: ...ater See CompactLogix 5380 Compact GuardLogix 5380 and CompactLogix 5480 Controller Specifications Technical Data publication 5069 TD002 for more information on CompactLogix 5380 controllers These exa...

Страница 76: ...the 1783 ETAP module or be connected at the end of the line Figure 27 Kinetix 5300 Linear Communication Installation MBRK W V U 1 10 1 2 MFB MBRK W V U 1 10 1 2 MFB MBRK W V U 1 10 1 2 MFB MBRK W V U...

Страница 77: ...rts require a 1783 ETAP module to complete the network ring Figure 28 Kinetix 5300 Ring Communication Installation 0 2 0 1734 AENTR Module Status Network Activity Network Status Point Bus Status Syste...

Страница 78: ...coder for gearing or camming to the Kinetix 5300 drive By providing auxiliary feedback directly through the EtherNet IP network the 842E CM encoder helps eliminate the need for point to point wiring w...

Страница 79: ...Rockwell Automation Publication 2198 RM006A EN P December 2020 81 Ultra3000 Digital Servo Drives to Kinetix 5300 Servo Drives Migration Guide...

Страница 80: ...auto phonesupport Literature Library Find installation instructions manuals brochures and technical data publications rok auto literature Product Compatibility and Download Center PCDC Download firmwa...

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