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Migration Guide

Ultra3000 Digital Servo Drives to Kinetix 300 andKinetix 350 Servo Drives

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Important User Information

Solid-state equipment has operational characteristics differing from those of electromechanical equipment. SafetyGuidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1available fromyour local Rockwell Automation sales office or online at http://www.rockwellautomation.com/literature/ ) describes someimportant differences between solid-state equipment and hard-wired electromechanical devices. Because of this difference,

and also because of the wide variety of uses for solid-state equipment, all persons responsible for applying this equipmentmust satisfy themselves that each intended application of this equipment is acceptable.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting fromthe use or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables andrequirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility orliability for actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, orsoftware described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,

Inc., is prohibited.Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

Allen-Bradley, Rockwell Automation, Ultra, Kinetix, ControlLogix, CompactLogix, MicroLogix, R SLogix, ProposalWorks, Encompass, Rockwell Software, TechConnect, SLC, MP-Series, and TL -Series are trademarks ofRockwell Automation, Inc.

Trademarks not belonging to Rockwell Automation are property of their respective companies.

WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardousenvironment, 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 theconsequence

SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people thatdangerous voltage may be present.

BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people thatsurfaces may reach dangerous temperatures.

IMPORTANT Identifies information that is critical for successful application and understanding of the product.
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Preface Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Ultra3000 Drive Catalog Number Descriptions . . . . . . . . . . . . . . . . . . . . . . 5Kinetix 300/Kinetix 350 Drive Catalog Number Descriptions . . . . . . . . . 6Kinetix 300 Drive Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Kinetix 350 Drive Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Pre-migration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Best Practices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Chapter 1Engineering Review Essentials Engineering Effort and Product Liability . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Major Product Replacement Considerations . . . . . . . . . . . . . . . . . . . . . . . 11Minor Product Replacement Considerations . . . . . . . . . . . . . . . . . . . . . . . 13Potential Hardware Design Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Chapter 2Migration Considerations Selecting a Replacement Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Factors Affecting Drive Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . 15Drive Sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Output Current Comparison. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Dimension Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Ultra3000 (230V) Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Ultra3000 (460V) Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20Kinetix 300/Kinetix 350 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Input Wiring and Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22AC Input Power Wire Length and Routing. . . . . . . . . . . . . . . . . . . . . 22Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Drive Interconnects and Cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24Motor Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24Encoder Feedback Replacement Cables. . . . . . . . . . . . . . . . . . . . . . . . . 27

2090-Series Motor/Actuator Cables Overview. . . . . . . . . . . . . . . . . . . . . . 30I/O Cabling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31Ultra3000 CN1 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31Kinetix 300/Kinetix 350 Expansion Block. . . . . . . . . . . . . . . . . . . . . . 32Master Encoder/Gearing Signals/Buffered Encoder Signals . . . . . . 32

I/O Availability and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35Auxiliary Logic Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41Analog Current Limit Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42Analog Current Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

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Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Shunt Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45AC Line Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Appendix AConnectors and FieldConnections

Connector Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49Encoder Wiring Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50Control Wiring Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51Mains Power Wiring Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Appendix BSpecifications General Power Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Ultra3000 Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Kinetix 300/Kinetix 350 Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56Digital I/O Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Digital Input Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59Digital Output Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59Relay Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Analog I/O Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60Analog Input Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60Analog Output Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Environmental and Safety Feature Comparison . . . . . . . . . . . . . . . . . . . . . 61Environmental Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61Safety Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Appendix CFeature Comparison Chart Feature Comparison Chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Appendix DHardware Layout withConnections

Ultra3000 Drive Power Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65Kinetix 300/Kinetix 350 Drive Power Wiring . . . . . . . . . . . . . . . . . . . . . . 70

Appendix E

Topology/Architecture Layouts Ultra3000 (Analog) to Kinetix 300 Architecture . . . . . . . . . . . . . . . . . . . . 76Ultra3000 (Indexing) to Kinetix 350 Architecture . . . . . . . . . . . . . . . . . . 77Ultra3000 (SERCOS) to Kinetix 350 Architecture. . . . . . . . . . . . . . . . . . 78

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Preface

Overview The purpose of this migration guide is to provide you with the essentialinformation to determine what hardware design changes may be necessary whenmigrating an Ultra 3000 servo drive to a Kinetix 300 or Kinetix 350 servo drive.

This migration guide contains these chapters and appendices:

Ultra3000 Drive CatalogNumber Descriptions

Chapter 1:Engineering Review Essentials Provides information on important differencesbetween the product families.

Chapter 2:Migration Considerations Provides information on drive sizing, input wiringand fusing, motor power and I/O cabling, serialcommunication, shunt resistors, and AC linefilters.

Appendix A:Connectors and Field Connections Provides information on connector locations, andcomparisons for encoder wiring, control wiring,and mains power wiring.

Appendix B:Specifications Provides comparisons of the powerspecifications, digital and analog I/O,

environmental specifications, and safetyfeatures.

Appendix C:Feature Comparison Chart Compares the hardware and software features ofthe product families.

Appendix D:Hardware Layout withConnections

Provides power wiring examples to assist you incomparing the power wiring for the Ultra3000drive and the Kinetix 300/350 drive systems.

Appendix E:Topology/Architecture Layouts Provides information for typical Ultra3000 drivearchitecture and Kinetix 300/350 drivearchitecture.

2098-DSD-xx xxx x-xx

Connectivity OptionDN = DeviceNet interfaceSE = SERCOS interfaceBlank = No network connectivity

Indexing CapabilityX = IndexingBlank = No indexing

Continuous Output Power005 = 500 W 030 = 3 kW 100 = 10 kW010 = 1 kW 050 = 5 kW 150 = 15 kW020 = 2 kW 075 = 7.5 kW 220 = 22 kWInput Power (VAC)

HV = High Voltage (230480V AC)Blank = Standard (100240V AC)

Digital Servo Drive

Bulletin Number

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Preface

Kinetix 300/Kinetix 350Drive Catalog NumberDescriptions

Kinetix 300 DriveCat. No.

Kinetix 350 DriveCat. No.

Description Power(kW)

Single-phase

2097-V31PR0 2097-V31PR0-LM 1, 2 A, 120/240V, no filter(120V-voltage doubler)

0.4

2097-V31PR2 2097-V31PR2-LM 1, 4 A, 120/240V, no filter(120V-voltage doubler)

0.8

2097-V32PR0 2097-V32PR0-LM 1, 2 A, 240V, integral filter 0.4



Single-/Three-phase

2097-V33PR1 2097-V33PR1-LM 1, 3, 2 A, 240V, no filter 0.5

2097-V33PR3 2097-V33PR3-LM 1, 3, 4 A, 240V, no filter 1



Three-phase

2097-V34PR3 2097-V34PR3-LM 3, 2 A, 480V, no filter 1



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Preface

Kinetix 300 Drive Features The Kinetix 300 drive offers a cost-effective, low axis count EtherNet/IPindexing servo drive solution. Features of the Kinetix 300 drive include thefollowing:

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 ata low cost. It simplifies integration of the entire control solution on one network,including human-machine interface (HMI), programmable automationcontroller, I/O, and motion. Features of the Kinetix 350 drive include thefollowing:

Connects via EtherNet/IP network with common industrial protocol(CIP) Motion technology, which provides real-time, closed-loop motioncontrol 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

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Preface

Pre-migration Migrating from a motion control system that uses Ultra3000 drives to a systemthat uses Kinetix 300 or Kinetix 350 drives requires a comprehensive designreview of the motion control system. There are multiple drive replacementcombinations, and multiple configurations for how the drives can be installed and

software applied. As a result, this migration guide is not an all-inclusivedocument. It does not describe all the redesign steps that may be required, nordoes it contain the detailed product information necessary to finalize theredesign. The generalities of the replacement process are covered, and thedecision-making steps likely to be encountered in a typical replacement scenarioare described.

Figure 1 - Suggested Migration Options

Best Practices Motors Verify that your current motor is compatible with the Kinetix 300/350servo drive family. Kinetix 300/350 drives are compatible with MP-Series orTL-Series servo motors or linear actuators.

Feedback Cable Length Verify that the feedback cable length in your currentUltra3000 system does not exceed the maximum feedback cable length for theKinetix 300/350 servo drives. The maximum feedback cable length for theKinetix 300/350 servo drives is 20 m (65.6 ft).

Configuration Files Use the Ultraware software to upload and save theUltra3000 drive configuration file for future reference. If using a serial real-timecommunication system (SERCOS) Ultra3000 drive, upload and save anynetwork files and programmable logic controller (PLC) programs.

Electrical Noise Refer to the System Design for Control of Electrical NoiseReference Manual, publication GMC-RM001, to better understand the conceptof electrical noise reduction.

Ultra3000 Drive

Analog

Indexing

SERCOS

Kinetix 300 Drive

Kinetix 300 Drive

Kinetix 350 Drive

Kinetix 350 Drive

IMPORTANT Third-party motors are not supported with Kinetix 300 drives. Check withyour Rockwell Automation representative to see if your third-party motor

is compatible with the Kinetix 350 drives.
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Preface

Additional Resources These documents contain additional information concerning related productsfrom Rockwell Automation.

You can view or download publications at http://www.rockwellautomation.com/literature/. To order paper copies of technical documentation, contact your localAllen-Bradley distributor or Rockwell Automation sales representative.

Resource Description

Kinetix 300 and Kinetix 350 Drive Systems Design Guide,publication GMC-RM004 Provides information to assist you in identifying the drive system components and accessoryitems youll need for your Kinetix 300/350 drive and motor/actuator combination.

Integrated Motion on SERCOS and EtherNet/IP Systems -Analysis and Comparison White Paper, publicationMOTION-WP001

Compares and contrasts Integrated Motion systems using SERCOS and EtherNet/IP with aControlLogix Programmable Automation Controller (PAC).

Kinetix 350 EtherNet/IP Indexing Servo Drives UserManual, publication 2097-UM002

Provides installation instructions for mounting, wiring, and troubleshooting your Kinetix 350drive; and system integration for your drive/motor combination with a Logix controller.

Kinetix 350EtherNet/IP Indexing Servo Drive InstallationInstructions, publication 2097-IN008

Provides information on installing your Kinetix 350 drive system.

Kinetix 300 EtherNet/IP Indexing Servo Drives UserManual, publication 2097-UM001

Provides installation instructions for mounting, wiring, and troubleshooting your Kinetix 300drive; and system integration for your drive/motor combination with a Logix controller.

Kinetix 300EtherNet/IP Indexing Servo Drive InstallationInstructions, publication 2097-IN001

Provides information on installing your Kinetix 300 drive system.

Kinetix 300Shunt Resistor Installation Instructions,publication 2097-IN002

Provides information on installing and wiring the Kinetix 300 shunt resistors(also compatible with the Kinetix 350 drive).

Kinetix 300AC Line Filter Installation Instructions,publication 2097-IN003

Provides information on installing and wiring the Kinetix 300 AC line filter(also compatible with the Kinetix 350 drive).

Kinetix 300I/O Terminal Expansion Block InstallationInstructions, publication 2097-IN005

Provides information on installing and wiring the Kinetix 300 I/O terminal expansion block(also compatible with the Kinetix 350 drive).

Kinetix 300Memory Module Installation Instructions,publication 2097-IN007

Provides information on installing the Kinetix 300 memory module(also compatible with the Kinetix 350 drive).

Kinetix 300Memory Module Programmer Quick Start,publication 2097-QS001

Provides information on using the memory module programmer to duplicate the memorymodule (also compatible with the Kinetix 350 drive).

1769-L32E and 1769-L35E CompactLogix ControllerInstallation Instructions, publication 1769-IN020

Information on how to assemble and mount the controller, how to upgrade firmware, andcontroller technical specifications.

1769-L32C and 1769-L35CR CompactLogix ControllerInstallation Instructions, publication 1769-IN070


1769-L31 CompactLogix Controller InstallationInstructions, publication 1769-IN069


Ultraware Software User Manual, publication2098-UM001

Provides detailed installation instructions, defines software interface features, andprogramming assistance for Ultraware software.

Ultra3000 Digital Servo Drive with DeviceNet, publication2098-RM004

Provides information on how to use DeviceNet to install, start up, and troubleshoot anUltra3000 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,publication 2098-IN005

Information on configuring and troubleshooting your Ultra3000 drive.

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,publication 1770-4.1

Provides general guidelines for installing a Rockwell Automation industrial system.

Product Certifications website, http://www.ab.com Provides declarations of conformity, certificates, and other certification details.
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Preface

Notes:

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Chapter1

Engineering Review Essentials

Replacing an Ultra3000 drive with a Kinetix 300 or Kinetix 350 drive mayrequire some system design changes. Follow these steps to properly formulate thedesign 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.

Use this document as a guide for determining hardware design changes.

Engineering Effort andProduct Liability

Thoroughly review this document before you begin to evaluate the designchanges required to successfully migrate your Ultra3000 drive to a Kinetix 300/350 drive.

The following sections highlight the major and minor differences between theUltra3000 drives and Kinetix 300/350 drives. Additional differences may alsoimpact your application. Read this entire document before proceeding to qualifythe Kinetix 300/350 drives for your needs.

Major ProductReplacementConsiderations

Listed here are some major differences between the Ultra3000 drives and theKinetix 300/350 drives.

Serial Port The Kinetix 300/350 drives do not have a serial port. The Kinetix300/350 programming interface is via Ethernet, and the Kinetix 300 drive can beprogrammed by using java-based embedded software. If your Ultra3000 driveapplication uses host mode programming or the serial port for HMIcommunication, the difference in communication and programming will have tobe addressed. See Appendix A.

WARNING: Because of the variety of uses for the products described inthis publication, those responsible for the application and use of theseproducts must satisfy themselves that all necessary steps have been

taken to assure that each application and use meets all performance andsafety requirements, including any applicable laws, regulations, codes

and standards. In no event will Rockwell Automation be responsible orliable for indirect or consequential damage resulting from the use or

application of these products.

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Chapter 1 Engineering Review Essentials

SERCOS or DeviceNet Networks There are no SERCOS or DeviceNetembedded options on the Kinetix 300/350 drives (but they may be used on theUltra3000 drives). Determine if your application depends on these options, andverify whether your application can be modified or if the architecture can be

changed. See Appendix Dand Appendix E.

Physical Dimensions The physical size of the drive families are different (seeDrive Sizing on page 16). In most cases, the Kinetix 300/350 drives are smallerand 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 shuntingcapability, while the Kinetix 300/350 drives have external shunting capabilityonly. See Shunt Resistors on page 45to help you verify the differences anddetermine if you need to resize the drive, or if your space requirements willchange 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 rangethat may not match directly with the Ultra3000 drive power range. See DriveSizing on page 16and Dimension Comparison on page 17to determine if yourpower range is covered with the Kinetix 300/350 drives, or if resizing or adifferent drive architecture is required.

Auxiliary Power The Ultra3000 drives use a different method of providingauxiliary power than the Kinetix 300/350 drives (see Auxiliary Logic Power onpage 35and Appendix A). A 24V power supply may need to be added to theKinetix 300/Kinetix 350 drives if auxiliary power is required.

I/O Interface The Ultra3000 drives have a D-shell connector for I/O interfaceconnection, while the Kinetix 300/350 drives use a small computer systeminterface (SCSI) connector for I/O interface. If your application cannot modifythe cable interface or breakout board to the I/O, this may be an issue. See I/OCabling on page 31.

Cable Lengths The Ultra3000 drives support cable lengths for motor andpower up to 90 m (295.2 ft), while the Kinetix 300/350 drives support cablelengths up to 20 m (65.6 ft) only. See Drive Interconnects and Cabling onpage 24.

Output Frequency If you are using the Ultra3000 (non-SERCOS version)drives to interface to an external controller, the output encoder frequency can bemodified to provide a range of resolutions; while the Kinetix 300 drives have afixed output frequency of 4096 counts/motor rev with a maximum of 2 MHzoutput frequency. The Kinetix 350 drives do not provide an output frequency.See Master Encoder/Gearing Signals/Buffered Encoder Signals on page 32.

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Engineering Review Essentials Chapter1

Dual Loop Operation The Ultra3000 drives have the ability to power Auxencoders for use in master gearing or dual loop modes. This power supply is notavailable in the Kinetix 300/350 drives. If your application requires dual loopoperation, it is not supported with the Kinetix 300/350 drives. See Master

Encoder/Gearing Signals/Buffered Encoder Signals on page 32.

Minor ProductReplacementConsiderations

Listed here are some minor differences between the Ultra3000 drives and theKinetix 300/350 drives. See Appendix Cfor a feature comparison chart thatshows the notable differences. Some key differences include the following:

Relay Outputs The I/O implementation between the drives is different (seeI/O Availability and Specifications on page 35and Appendix B). Most notably,there is no relay output on the Kinetix 300/350 drives. This has to be addressedon replacement.

Hardware Enable Signal The Ultra3000 drives can operate without ahardware enable signal present. The Kinetix 300 drives require a hardware enablesignal. The Kinetix 350 drives can operate without a hardware drive enable signal.See Appendix C.

Digital Inputs The Ultra3000 drives have multiple assignment for digitalinputs, while the Kinetix 300/350 drives have single assignment for digital inputs(see Digital Inputs on page 36and Digital I/O Comparison on page 59).

Operation Mode Override The Ultra3000 drives have an Operation modeoverride that is capable of operation via digital I/O, while the Kinetix 300/350

drives do not. See Appendix C.

Potential Hardware DesignChanges

The design changes required for converting to the Kinetix 300/350 drivesdepend on the original/replacement drive combination and the specifics of theapplication. The objective is to determine which areas of a design may need to bechanged. This document provides you with knowledge about the type and extentof work that may be required to successfully change from an Ultra3000 system toa Kinetix 300/350 system.

The following chapters and appendices cover the majority of hardware/designconsiderations for the replacement of the Ultra3000 drives with Kinetix 300/350drives.

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 theitems described in this document, the engineering/design team should

pay particular attention to unique features and functions of the Ultra3000system when considering replacement with a Kinetix 300/350 system.

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Chapter 1 Engineering Review Essentials

Notes:

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Chapter2

Migration Considerations

Selecting a ReplacementDrive

Drive sizing is the primary factor in selecting a replacement drive. To identify thecorrect replacement drive size, compare the continuous and peak output currentratings.

In general, regarding the current ratings, the following rules apply:

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 physicalspace than the Ultra3000 drives.

These Ultra3000 drives do nothave similar replacements in the Kinetix 300/350

drives series:

2098-DSD-075

2098-DSD-150

2098-DSD-HV150

2098-DSD-HV220

Factors Affecting Drive Replacement

Factors that affect the redesign effort include the following considerations:

Drive Sizing(ratings and physical) Dimension Comparison

Drive Interconnects and Cabling

Serial Communication

Accessories

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Chapter 2 Migration Considerations

Drive Sizing This section lists the Ultra3000 drives and the suggested Kinetix 300/350replacement drives, along with the output ratings and dimension differences ofthe drives. Information in this migration guide is based on the drive combinationsshown in Table 1and Table 2.

Output Current Comparison

IMPORTANT The performance capabilities of the replacement drive should bereviewed to be sure that the replacement drive is capable of delivering

the required level of peak and continuous current to the motor.

Table 1 - Suggested Kinetix 300/350 Replacement Drives by Output Current

Ultra3000 Drives Kinetix 300/350 (2)Drives

Model Voltage

Range(V)

Nominal

VoltageRange(V)

Output

CurrentRating(0-pk) -A(1)

Recommended Kinetix 300/

Kinetix 350 Replacement Drives

(2)Voltage

Range(V)

Nominal

VoltageRange(V)

Output

CurrentRating(0-pk) A(1)

2098-DSD-00588...265

1120...240

12.5

2097-V31PR0-xx70...264

1120...240

12.8

2097-V32PR0-xx80...264

1240 1 2.8

2097-V33PR1-xx

80...2641

120...2401

2.880...264

3240 3

2097-V34PR3-xx320...528

3480 3 2.8

2098-DSD-01088...265

1120...240

15

2097-V31PR2-xx70...132

1120 1 5.7

2097-V32PR2-xx80...264

1240 1 5.7

2097-V33PR3-xx

80...2641

120...2401

5.780...264

3240 3

2097-V34PR5-xx320...528

3480 3 5.7

2098-DSD-020 88...2651

120...2401

10

2097-V32PR4-xx80...264

1240 1 11.3

2097-V33PR5-xx

80...2641

120...2401

11.380...264

3240 3

2098-DSD-03088...265

1120...240

115 2097-V33PR6-xx

80...2641

120...2401

1780...264

3240 3

2098-DSD-07588...265

3120...240

335 N/A

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Migration Considerations Chapter2

Dimension Comparison

Table 2provides a comparison of the dimensions of the drives.

Table 2 - Suggested Kinetix 300/350 Replacement Drives by Dimensions

2098-DSD-150 88...2653

120...2403

65 N/A

2098-DSD-HV030207...528

3230...480

37

2097-V33PR5-xx80...264

3240 3 11.3

2097-V34PR6-xx320...528

3480 3 8.5

2098-DSD-HV050207...528

3230...480

311

2097-V33PR5-xx80...264

3240 3 11.3

N/A

2098-DSD-HV100207...528

3230...480

323 N/A

2098-DSD-HV150207...528

3

230...480

334 N/A

2098-DSD-HV220207...528

3230...480

347 N/A

(1) Continuous output current ratings are used.

(2) The Kinetix 350 drive part number has a -LM at the end of the catalog string (seeKinetix 300/Kinetix 350 Drive Catalog Number Descriptions on page 6).

Table 1 - Suggested Kinetix 300/350 Replacement Drives by Output Current (continued)

Ultra3000 Drives Kinetix 300/350 (2)Drives

Model VoltageRange(V)

NominalVoltageRange(V)

OutputCurrentRating(0-pk) -A(1)

Recommended Kinetix 300/Kinetix 350 Replacement Drives (2)

VoltageRange(V)

NominalVoltageRange(V)

OutputCurrentRating(0-pk) A(1)

Ultra3000 Drive Kinetix 300/350 Drive Dimension Differences, Kinetix Referenced (1)

Model Number Heightmm

Widthmm

Depthmm

Model Number Heightmm

Widthmm

Depthmm

Height (2)

mm (in.)Width (2)

mm (in.)Depth (2)

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 (seeUltra3000 (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.

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Dimension Drawings This section provides dimensions of the drives to assist you in determining thespace needed to install the drives.

Ultra3000 (230V) Dimensions

In Figure 2, -xxxis replaced by -005, -010, or -020 to represent the Ultra3000500 W, 1 kW, and 2 kW drives respectively.

Figure 2 - Ultra3000 (230V) Dimensions (catalog numbers 2098-DSD-xxx,2098-DSD-xxxX, 2098-DSD-xxx-SE, 2098-DSD-xxx-DN, 2098-DSD-xxxX-DN)

Ultra3000 Drive A C E F

2098-DSD-0052098-DSD-005X

65.02(2.56)

13.26(0.52)

32.77(1.29)

72.64(2.86)

2098-DSD-0102098-DSD-010X2098-DSD-0202098-DSD-020X

98.1(3.89)

2098-DSD-005-SE2098-DSD-005-DN2098-DSD-005X-DN

87.88(3.46)

24.64(0.97)

43.94(1.73)

95.5(3.76)

2098-DSD-010-SE2098-DSD-010-DN2098-DSD-010X-DN2098-DSD-020-SE2098-DSD-020-DN2098-DSD-020X-DN

121.54(4.79)

129.03(5.08)

198.12(7.8)

144.27(5.68)

165.1(6.5)

A

C

E

186.18(7.33)

38.1(1.5)

F

Dimensions are in mm (in.)

Unit shown is the 2098-DSD-005-SE drive.

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In Figure 3, -xxxis replaced by -030, -075, or -150 to represent the Ultra3000 3,7.5, and 15 kW drives respectively.

Figure 3 - Ultra3000 (230V) Dimensions (catalog numbers 2098-DSD-xxx,2098-DSD-xxxX, 2098-DSD-xxx-SE, 2098-DSD-xxx-DN, 2098-DSD-xxxX-DN)

Ultra3000 Drive A B C J

2098-DSD-0302098-DSD-030X2098-DSD-030-SE2098-DSD-030-DN2098-DSD-030X-DN

91.44(3.6)

50.8(2.0)

20.32(0.8)

243.84(9.6)

2098-DSD-0752098-DSD-075X2098-DSD-075-SE2098-DSD-075-DN2098-DSD-075X-DN (1)

(1) 2098-DSD-075 and 2098-DSD-150 Ultra3000 drives do not have similar replacements in the Kinetix 300/350

drives series.

138.68(5.41)

88.9(3.5)

24.89(0.96)

247.14(9.73)

2098-DSD-1502098-DSD-150X2098-DSD-150-SE

2098-DSD-150-DN2098-DSD-150X-DN (1)

188.97(7.44)

139.7(5.5)

24.6(0.97)

241.05(9.49)

C

A

349.25(13.75)

360.68(14.2)331.47

(13.05)

B

JC

B

227.08(8.94)


Unit shown is the 2098-DSD-030 drive.

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Ultra3000 (460V) Dimensions

In Figure 4, xxxis replaced by 030, 050, 100, 150, or 220 to represent theUltra3000 3, 5, 10, 15, and 22 kW drives respectively.

Figure 4 - Ultra3000 (460V) Dimensions (catalog numbers 2098-DSD-HVxxx,2098-DSD-HVxxxX, 2098-DSD-HVxxx-SE, 2098-DSD-HVxxx-DN,2098-DSD-HVxxxX-DN)

Ultra3000 Drive(1)

(1) The xrepresents the indexing (X) option. The -xxrepresents the SERCOS interface (SE) or DeviceNet (DN)

option. SERCOS interface is not available with the DeviceNet option.

A C B D H I

2098-DSD-HV030x2098-DSD-HV030-xx2098-DSD-HV050x2098-DSD-HV050-xx

138.75.46)

18.5(0.73)

50.8(2.0)

349.3(13.75)

331.5(13.05)

360.7(14.2)2098-DSD-HV100x

2098-DSD-HV100-xx2098-DSD-HV150x

2098-DSD-HV150-xx (2)

(2) 2098-DSD-HV150, and HV220 Ultra3000 drives do not have similar replacements in the Kinetix 300/350 drive

series.

151.6(5.97)

25(0.99)

2098-DSD-HV220x2098-DSD-HV220-xx (2)

203.2(8.0)

25.4(1.0)

76.2(3.0)

380.4(14.98)

362.614.26)

391.8(15.43)

225.8(8.89)

A

CBB

D IH

242.2(9.54)CBB


Unit shown is the 2098-DSD-HV030 drive.

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Kinetix 300/Kinetix 350 Dimensions

Cat. No. Dimensions mm (in.) Cat. No. Dimensions mm (in.)

A B A B

2097-V31PR0-xx 185.1 (7.29) 68.0 (2.68) 2097-V33PR3-xx 185.1 (7.29) 68.5 (2.70)

2097-V31PR2-xx 185.1 (7.29) 68.5 (2.70) 2097-V33PR5-xx 185.1 (7.29) 94.4 (3.72)

2097-V32PR0-xx 229.6 (9.04) 68.0 (2.68) 2097-V33PR6-xx 229.6 (9.04) 68.0 (2.68)

2097-V32PR2-xx 229.6 (9.04) 68.5 (2.70) 2097-V34PR3-xx 185.1 (7.29) 68.5 (2.70)

2097-V32PR4-xx 229.6 (9.04) 86.8 (3.42) 2097-V34PR5-xx 185.1 (7.29) 94.4 (3.72)

2097-V33PR1-xx 185.1 (7.29) 68.0 (2.68) 2097-V34PR6-xx 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)

4.57(0.18) 3x

300

A

238(9.37)

9.7(0.38)

5.0(0.19)

61.0(2.40)

Dimensions are in mm (in.).

Additional clearance below the connector kit is necessary

to provide the recommended cable bend radius.

2090-K2CK-D15M

Low-profile Connector Kitfor Bulletin 2090 (flying-

lead) Feedback Cable

2097-TB1

I/O Terminal

Expansion

Block

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Input Wiring and Fusing This section provides information to assist you in determining the wiring andfusing requirements of the drives.

AC Input Power Wire Length and Routing

Determine the wire length for the AC line input after the drive location and anychanges to routing are finalized.

In general, the recommended drive replacement should not require changes inwiring length; however, the routing may need to change as the input power(Mains IPD) and motor power (MP) connections on the Kinetix 300/350 drivesare on the top and bottom of the drive, respectively, while these same connectionsare located on the front of the Ultra3000 drives. See Connectors and FieldConnections on page 49for a comparison of the Ultra3000 drive andKinetix 300/Kinetix 350 drive terminals.

Fusing

Review the fusing requirements when changing drives.

The Ultra3000 drives are listed by Underwriters Laboratories, Inc. (UL) withfuses 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 matchthe 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 powerinitialization. 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 currentratings as indicated in Table 3. The Kinetix 300/350 drives use class CC or Tfast-acting, current limiting-type fuses; 200,000 A interrupting capacity (AIC)preferred. Use Cooper Bussmann KTK-R, JJN, or JJS fuses. Table 3shows thefuses for the different drive sizes.

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Table 3 - Fuse Comparison

Ultra3000 Drives Kinetix 300/350 Drives

Model VoltageRange (V)

NominalVoltageRange (V)

InputPower(1)

Aux InputPower(1)

RecommendedKinetix 300/350ReplacementDrives

VoltageRange (V)

NominalVoltageRange (V)

InputPower(1)

AuxInputPower(3)

2098-DSD-005 88...265 1 120...240 1 FNQ-R-6 FNQ-R-10

2097-V31PR0-xx

80...264 1 240 1

KTK-R-20

24V DCcontrolback-uppowersupply

(optionalequipment)

2097-V31PR0-xx KTK-R-10

2097-V32PR0-xx KTK-R-20

2097-V33PR1-xx

70...264 1 120 1 KTK-R-20

80...264 1 240 1 KTK-R-15

80...264 3 240 3 KTK-R-15

2097-V34PR3-xx 320...528 3 480 3 KTK-R-10

2098-DSD-010 88...265 1 120...240 1 FNQ-R-10 FNQ-R-10

2097-V31PR2-xx 70...132 1 120 1 KTK-R-30

2097-V32PR2-xx 80...264 1 240 1 KTK-R-20

2097-V33PR3-xx

70...264 1 120 1 KTK-R-20

80...264 1 240 1 KTK-R-15

80...264 3 240 3 KTK-R-15

2097-V34PR5-xx 320...528 3 480 3 KTK-R-10

2098-DSD-020 88...265 1 120...240 1 FNQ-R-20 FNQ-R-10

2097-V32PR4-xx 80...264 1 240 1 KTK-R-30

2097-V33PR5-xx

70...264 1 120 1 KTK-R-30

80...264 1 240 1 KTK-R-20

80...264 3 240 3 KTK-R-20

2098-DSD-030 88...265 1 120...240 1 FNQ-R-30 FNQ-R-10 2097-V33PR6-xx

70...264 1 120 1 KTK-R-30

80...264 1 240 1 KTK-R-30

80...264 3 240 3 KTK-R-30

2098-DSD-075 88...265 3 120...240 3 FNQ-R-30 FNQ-R-10 N/A

2098-DSD-150 88...265 3 120...240 3 LPJ-60SP(2) FNQ-R-10 N/A

2098-DSD-HV030 207...528 3 230...480 3 KTK-R-5FNQ-R-10 2097-V33PR5-xx 80...264 3 240 3 KTK-R-20

FNQ-R-10 2097-V34PR6-xx 320...528 3 480 3 KTK-R-20

2098-DSD-HV050 207...528 3 230...480 3 KTK-R-8FNQ-R-10 2097-V33PR5-xx 80...264 3 240 3 KTK-R-20

FNQ-R-10 N/A

2098-DSD-HV100 207...528 3 230...480 3 KTK-R-20 FNQ-R-10 N/A

2098-DSD-HV150 207...528 3 230...480 3 KTK-R-30 FNQ-R-10 N/A

2098-DSD-HV220 207...528 3 230...480 3 LPJ-35SP(2) FNQ-R-10 N/A

(1) Class CC type Cooper Bussmann fuses are shown.

(2) Fuse shown is Class J Cooper Bussmann type fuse.

(3) A 24V power supply may need to be added to the Kinetix 300/Kinetix 350 drives if auxiliary power is required. SeeAuxiliary Logic Power on page 35and Appendix A.

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Drive Interconnects andCabling

This section provides information to assist you in determining the interconnectsand cabling requirements of the drives.

Motor Power

Motor Power Wire Gauge

In general, an Ultra-series motor power cable (part number 2090-xxxx) canconnect directly to Kinetix 300/350 drives. This section provides information onthe motor power interconnects and cabling.

If you are using a new wire gauge, verify that the capacity of the new wire iscapable of handling the current to the actuator.

Motor Power Replacement Cables

The current motor power cabling system can be used for both theKinetix 300/350 drives, and the Ultra3000 drives. The motor power cables areinterchangeable and depend on the actuator used.

Cable shield and lead preparation is provided with most Allen-Bradley cableassemblies. Follow these guidelines if your motor power cable shield and wiresrequire preparation.

Figure 5 - Cable Shield and Lead Preparation

Table 4 - Motor Power (MP) Connector

IMPORTANT The length of the power and/or feedback cables for the Kinetix 300/350drives cannot exceed 20 m (65 ft). Performance was tested at this lengthand meets CE requirements.

W

V

U

Motor Power Cable

Exposed Braid25.4 mm (1.0 in.)

Outer Insulation

As required to have ground clamp within5075 mm (23 in.) of the drive.

Strip Length (see Table 5)

MP-Series or TL-SeriesServo Motor

Terminal

U = Brown U

V = Black V

W = Blue W

= Green/Yellow

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Table 5 - Motor Power (MP) Termination Specifications

Table 6 - Power/Brake Cable Descriptions (standard, non-flex)

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 areinterchangeable and depend on the actuator used.

Drive Cat. No. TerminalsRecommended

Wire Size

mm2(AWG)

Strip Lengthmm (in.)

Torque ValueNm (lbin)

2097-V31PR0-xx2097-V31PR2-xx2097-V32PR0-xx2097-V32PR2-xx2097-V32PR4-xx2097-V33PR1-xx2097-V33PR3-xx2097-V33PR5-xx2097-V34PR3-xx2097-V34PR5-xx2097-V34PR6-xx

PEWVU

2.5 (14)7 (0.28) 0.5 (4.5)

2097-V33PR6-xx 4.0 (12)

Standard CableCat. No.

Description Cable Configuration Motor/ActuatorConnectorMotor/Acutator End Drive End

2090-CPBM7DF-xxAAxx Drive-end flying-leads (DF) Power/brake wires (PB)

SpeedTec DIN(M7)

2090-CPWM7DF-xxAAxx Drive-end flying-leads (DF) Power wires only (PW)

2090-XXNPMF-xxSxx Drive-end flying-leads Power/brake wires

Threaded DIN(M4)2090-CPBM4E2-xxTR

Drive-end bayonet (E2), transition (TR) cable (1) Motor-end threaded DIN (M4) Power/brake wires (PB)

2090-CPWM4E2-xxTR

Drive-end bayonet (E2), transition (TR) cable (1)

Motor-end threaded DIN (M4) Power wires only (PW)

2090-CPBM6DF-16AAxx Drive-end flying-leads (DF) Power/brake wires (PB)

Circular Plastic(M6)

2090-CPWM6DF-16AAxx Drive-end flying-leads (DF) Power wires only (PW)

(1) Threaded DIN connector (motor end) and bayonet connector for 2090-XXNFMP-Sxxcable. Refer to 2090-Series Motor Power and Feedback Transition Cables in the KinetiMotion Accessories Technical Data, publicationGMC-TD004.

BR+BR-

MBRK+

MBRK-
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Table 7 - Power/Brake Cable Descriptions (continuous-flex)

For further information, refer to the Motion Control Accessories section in theKinetix Motion Control Selection Guide, publication GMC-SG001, the bill ofmaterials (BOM) configuration tool within Motion Analyzer software, orProposalWorks from Rockwell Automation.

Standard CableCat. No.

DescriptionCable Configuration Motor/Actuator

ConnectorMotor/Acutator End Drive End

2090-CPBM7DF-xxAFxx Drive-end flying-leads (DF) Power/brake wires (PB)

SpeedTec DIN(M7)2090-CPWM7DF-xxAFxx

Drive-end flying-leads (DF) Power wires only (PW)

2090-CPBM7E7-xxAFxx Drive-end (male) connector, extension (E7) (1)

Motor-end SpeedTec DIN cable plug (M7)

2090-CPBM4DF-xxAFxx Drive-end flying-leads (DF) Power/brake wires (PB)

Threaded DIN(M4)

2090-CPWM4DF-xxAFxx Drive-end flying-leads (DF)

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, publicationGMC-TD004.

BR+BR-
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Encoder Feedback Replacement Cables

The current motor encoder cabling system can be used for both theKinetix 300/350 drives, and the Ultra3000 drives.

Factory-made cables with premolded connectors are designed to minimizeelectromagnetic interference (EMI). Rockwell Automation recommendsfactory-made cables (over hand-built cables) to improve system performance.

Table 8 - Motor Feedback (MF) Connector Pinout

Figure 6 - Pin Orientation for 15-pin Motor Feedback (MF) Connector

IMPORTANT The length of the power and/or feedback cables for the Kinetix 300/350drives cannot exceed 20 m (65 ft). Performance was tested at this length

and meets CE requirements.

MF Pin Description Signal MF Pin Description Signal

1 Sine differential input+AM+ differential input+

SIN+AM+

9 Reserved

2Sine differential input-AM- differential input-

SIN-AM-

10Data differential input -Index pulse-

DATA-IM-

3Cosine differential input+BM+ differential input+

COS+BM+

11Motor thermal switch (normallyclosed) (1)

TS

4Cosine differential input-BM- differential input-

COS-BM-

12Single-ended 5V Hall effectcommutation

S1

5Data differential input +Index pulse+

DATA+IM+


S2

6 Common ECOM 14 Encoder power (+5V) EPWR_5V (3)

7 Encoder power (+9V) (2) EPWR_9V (3) 15 Reserved


S3

(1) Not applicable unless motor has integrated thermal protection.

(2) +9V Encoder capability only available on standard size Ultra3000 drive (2098-DSD-030 or larger).

(3) Kinetix 300/350 drive encoder power supply uses either 5V or 9V DC based on encoder/motor used.

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 atthis length and meets CE requirements.

Pin 11

Pin 6

Pin 15

Pin 1

Pin 10Pin 5

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Table 9 - Low Inertia and Integrated Gear Motors

Table 10 - Maximum Cable Lengths for Ultra3000 Drives with MP-SeriesFood-Grade Motors

Table 11 - Maximum Cable Lengths for Ultra3000 Drives with 1326AB (M2L/S2L) andF-, H-, N-, and Y-Series Motors

Drive Family MPL-A (230V) Motors MPL-B (460V) Motors MPG-A(230V) Motors

MPG-B(460V) Motors

AbsoluteHigh-Res(1)m (ft)

Incremental(2)

m (ft)AbsoluteHigh-Res(1)m (ft)

Incremental(2)

m (ft)AbsoluteHigh-Res(3)m (ft)

AbsoluteHigh-Res(3)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.

Drive Family MPF-A (230V) Motors MPF-B (460V) Motors

Absolute

High-Resolution(1)

m (ft)

(1) Refers to MPF-A/BxxxxS/M (single-turn or multi-turn) food-grade motors

with absolute high-resolution feedback.

Absolute

High-Resolution(1)

m (ft)

Ultra3000 90 (295.3) 90 (295.3)

Drive Family 1326AB (M2L/S2L)(460V) Motors

F-, H-, N-, or Y-Series(230V) Motors

AbsoluteHigh-Resolution(1)

m (ft)

(1) Refers to 1326AB-Bxxxx-M2L/S2L (single-turn or multi-turn) motors with

absolute high-resolution feedback.

Incremental(2)

m (ft)

(2) Refers to F-, H-, N-, or Y-series motors with incremental (optical encoder)

feedback.

Ultra3000 90 (295.3) 30 (98.4)

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Table 12 - Motor Feedback Cables for Specific Motor/Feedback Combinations

Motor Cat. No. (1) Feedback Type Feedback Cable

Premolded Flying-lead (2)

MPL-A/B15xxx-V/Ex4xAA,MPL-A/B2xxx-V/Ex4xAA(3) High-resolution encoder

N/A

2090-XXNFMF-Sxx(standard)2090-CFBM4DF-CDAFxx(continuous-flex)

MPL-A/B15xxx-Hx4xAA,MPL-A/B2xxx-Hx4xAA (3)

Incremental encoder

MPL-A/B3xxx-M/Sx7xAA,MPL-A/B4xxx-M/Sx7xAA,MPL-A/B45xxx-M/Sx7xAA

High-resolution encoder

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

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

Incremental encoder

MPM-A/Bxxxxx-M/S

High-resolution encoder

MPF-A/Bxxxx-M/S

MPAR-A/B3xxxx

MPAI-A/Bxxxx

MPS-A/Bxxxx-M/S2090-XXNFMF-Sxx(standard)2090-CFBM4DF-CDAFxx(continuous-flex)

MPAS-A/Bxxxx-V/A

MPAR-A/B1xxxx,MPAR-A/B2xxxx

TLY-Axxxx-BHigh-resolution encoder

2090-CFBM6DF-CBAAxx(standard)

TLAR-Axxxxx

TLY-Axxxx-H Incremental encoder2090-CFBM6DD-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 andFeedback Transition Cables in the Kinetix Motion Accessories Technical Data, publicationGMC-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 i

more recent installations. If your installation uses V/Ex7xAA and Hx7xAA motors, use 2090-CFBM7DF-CDAFxx for the

continuous-flex feedback cable.
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2090-Series Motor/ActuatorCables Overview

This section provides an overview of the 2090-series motor/actuator cables.

Table 13 - Feedback Cable Descriptions (standard, non-flex cable)

Table 14 - Feedback Cable Descriptions (continuous-flex cable)

Standard Cable

Cat. No.

Description Cable Configuration Motor/Actuator


2090-CFBM7DF-CEAAxx Drive-end flying-leads (DF) High-resolution or resolver applications (CE)

SpeedTec DIN(M7)

2090-CFBM7DD-CEAAxx Drive-end 15-pin connector (DD) High-resolution or resolver applications (CE)

2090-XXNFMF-Sxx Drive-end flying-leads High-resolution or incremental applications

Threaded DIN(M4)

2090-CFBM4E2-CATR

Drive-end bayonet (E2), transition (TR) cable (1)

Motor-end threaded DIN (M4) All feedback types (CA)

2090-CFBM6DF-CBAAxx Drive-end flying-leads (DF) High-resolution, battery backup or

Incremental applications (CB)Circular Plastic(M6)

2090-CFBM6DD-CCAAxx Drive-end 15-pin connector (DD) Incremental applications only (CC)

(1) Threaded DIN connector (motor end) and bayonet connector for 2090-XXNFMP-Sxxcable. Refer to 2090-Series Motor Power and Feedback Transition Cables in the Kinetix

Motion Accessories Technical Data, publicationGMC-TD004.

Standard Cable

Cat. No.

DescriptionCable Configuration Motor/Actuator


2090-CFBM7DF-CDAF xx Drive-end flying-leads (DF) High-resolution or incremental applications (CD)

SpeedTec DIN(M7)

2090-CFBM7DF-CEAFxx Drive-end flying-leads (DF) High-resolution or resolver applications (CE)

2090-CFBM7DD-CEAFxx Drive-end 15-pin connector (DD) High-resolution or resolver applications (CE)

2090-CFBM7E7-CDAFxx Drive-end (male) connector, extension (E7) (1)

Motor-end SpeedTec DIN cable plug (M7)2090-CFBM7E7-CEAFxx

2090-CFBM4DF-CDAF xx Drive-end flying-leads High-resolution or incremental applications

Threaded DIN(M4)

(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, publicationGMC-TD004.

IMPORTANT Feedback cables with the CE designation, for example 2090-CFBM7DF-CEAAxx, are intended for high-resolution encoderor 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.
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I/O Cabling

Ultra3000 drives and Kinetix 300/350 drives have similar signals that interfacewith 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 theKinetix 300/350 drives. Ultra3000 drives use a 44-pin, D-shell connector and theKinetix 300/350 drives use a 50-pin, SCSI connector.AppendixAcompares the I/O connectors and functions of the Ultra3000 drivesto the Kinetix 300/350 drives. Table 15and Figure show the different interface

part numbers for the I/O connections between the two drive families.

Ultra3000 CN1 Connectors

Factory-made cables with premolded connectors are designed to minimizeelectromagnetic interference (EMI). Rockwell Automation recommendsfactory-made cables (over hand-built cables) to improve system performance.However, options are available for building your own feedback and I/O cables.Refer to Table 15for the available options.

Table 15 - CN1 I/O Connector Options

Drive Connector Connector Option Option Cat. No.

CN1I/O connector

44-pin drive-mounted breakout board with 24V to 5Vauxiliary power converter

2090-U3CBB-DM44

12-pin drive-mounted breakout board with 24V to 5Vauxiliary power converter for SERCOS interfaceapplications

2090-U3CBB-DM12

44-pin panel-mounted breakout board kit 2090-U3BK-D44xx

44-pin, drive-mounted breakout board(1)

(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.

2090-U3BB2-DM44

44-pin (high-density D-shell) drive connector kit 2090-U3CK-D44

Single-axis flying lead to 1756-M02AE module or1784-PM02AE PCI card 2090-U3CC-D44xx

Two-axis pre-wired to 1756-M02AE module 2090-U3AE-D44xx

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Kinetix 300/Kinetix 350 Expansion Block

The 2097-TB1 I/O terminal expansion block is a drive-mounted breakout boardfor making flying-lead cable connections to the 50-pin IOD connector.

Table 16 - 2097-TB1 I/O Terminal Block Specifications

Master Encoder/Gearing Signals/Buffered Encoder Signals

This section compares encoder and signal features of the drives.

Table 17 - Encoder and Signal Features Comparison

Attribute Value

Wire size 1.50.2 mm2(1624 AWG)

Change in depth of drive (1) 11 mm (0.42 in.)

Change in width of drive (1)

(1) Add this value to the dimensions of your Kinetix 300/350 drive.

10 mm (0.38 in.)

Feature Ultra3000 Kinetix300

Kinetix350

Analog/Indexing

DeviceNet SERCOS

Standalone electronic gearing

(ratios set using Ultraware/MotionView)x x x

Electronic gearing via Logix

(ratios set using RSLogix 5000)x x

Dual loop function x

Aux encoder PWR (output) x x x

Buffered encoder output

(programmable output frequency)x x

Unbuffered encoder output

(fixed output frequency)x x x x

Kinetix 300/Kinetix 350

Drive

2097-TB1 TerminalExpansion Block 50-pin I/O (IOD)

Connector

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The Ultra3000 drives (non-SERCOS) and Kinetix 300 drives have theability to electronically gear a master encoder signal to a single drive. Thisfunction is notavailable 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 usethe aux encoder as your position loop closure. You cannot do this on theKinetix 300/350 drives.

Ultra3000 Drives - Auxiliary Encoder Operation

The Ultra3000 drives support auxiliary encoder operation. The pinout is shownin Table 18.

Table 18 - Ultra3000 Drives Auxiliary Encoder Wiring

Kinetix 300 Drives - Master Gearing Operation

The Kinetix 300 drives supports master gearing operation. Wire the Mastersignals to the drive as shown in Table 19.

Table 19 - Kinetix 300 Master Gearing Wiring

CN1 Pin Description Signal

1 Auxiliary encoder power out (+5V) EPWR

2 Common ECOM

3 Auxiliary logic power in (+5V) AUXPWR

4 Auxiliary A+/Step+/CW+ AX+

5 Auxiliary A-/Step-/CW- AX-

6 Auxiliary B+/Dir+/CCW+ BX+

7 Auxiliary B-/Dir-/CCW- BX-

8 Auxiliary encoder Ch I+ IX+

9 Auxiliary encoder Ch I- IX-

IOD Pin Description Signal

1 Master encoder A+/Step+ input MA+

2 Master encoder A-/Step- input MA-

3 Master encoder B+/Direction+ input MB+

4 Master encoder B-/Direction- input MB-

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Ultra3000 Drives - Unbuffered Motor Encoder Operation

The Ultra3000 drives support unbuffered motor encoder operation. The pinoutsare shown in Table 20.

Table 20 - Ultra3000 Drives Unbuffered Motor Encoder Wiring

The unbuffered signals are unfiltered encoder signals; there is no softwaremanipulation. The buffered encoder signals are modified by the internal softwaredivider of the Ultra3000 drive (divided encoder signals are notavailable on theUltra3000 SERCOS). This divider function is notavailable in theKinetix 300/350 drives.

Kinetix 300 Drives - Buffered Encoder Operation

The Kinetix 300 drives supports buffered encoder operation. Wire the signals tothe drive as shown in Table 21.

Table 21 - Kinetix 300 Drive Buffered Signals Wiring

CN1 Pin Description Signal

Unbuffered

10 Unbuffered motor encoder Ch A+ AM+

11 Unbuffered motor encoder Ch A- AM-

12 Unbuffered motor encoder Ch B+ BM+

13 Unbuffered motor encoder Ch B- BM-

14 Unbuffered motor encoder Ch I+ IM+

15 Unbuffered motor encoder Ch I- IM-

Buffered

16 Buffered motor encoder Ch A+ AMOUT+

17 Buffered motor encoder Ch A- AMOUT-

18 Buffered motor encoder Ch B+ BMOUT+

19 Buffered motor encoder Ch B- BMOUT-

20 Buffered motor encoder Ch I+ IMOUT+

21 Buffered motor encoder Ch I- IMOUT-

IOD Pin Description Signal

7 Buffered encoder output: channel A+ BA+

8 Buffered encoder output: channel A- BA-

9 Buffered encoder output: channel B+ BB+

10 Buffered encoder output: channel B- BB-

11 Buffered encoder output: channel Z+ BZ+

12 Buffered encoder output: channel Z- BZ-

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These signals are unfiltered software signals and are fixed at 4096 pulses permotor revolution. This function is limited to an output frequency of 2 MHz.

I/O Availability andSpecifications

All Ultra3000 drives and Kinetix 300/350 drives have a comprehensive set ofdigital I/O and analog I/O. To ensure proper operation, use the followingspecifications to verify if the operation between drives will be consistent.

Auxiliary Logic Power

The auxiliary power feature allows the drive to maintain logic power when mainpower is removed. This allows communication between the controller and thedrive to continue and to maintain position feedback (aside from absolutefeedback).

Ultra3000 Drives

The Ultra3000 drives (catalog numbers 2098-DSD-005, 2098-DSD-010, and2098-DSD-020) require an external, +5V power supply in applications where it

is necessary to maintain logic power when the AC line voltage is removed. The+24V I/O supply (IOPWR) allows use of the drive-mounted breakout boardswith 24V to 5V DC converter (catalog numbers 2090-U3CBB-DM12 and2090-U3CBB-DM44). Table 22describes the +24V (IOPWR) power supplyrequirements when it is used to maintain logic power.

Table 22 - Ultra3000 Drives +24V Power Supply Requirements for Logic Power

IMPORTANT You must qualify that your motor speed and resolution do notexceed2MHz, or you may lose output counts.

IMPORTANT All Ultra3000 drives and Kinetix 300/350 drives require an isolatedexternal 12...24V power supply for proper operation of the digital I/O.

Parameter Description Min Max

Input voltage rangeInput voltage range of the external powersupply for drive-mounted breakout boards with24V to 5V converter.

18V 30V

Input current Input current draw from the external powersupply for the drive-mounted breakout boardswith 24V to 5V converter.

400 mA

IMPORTANT A single 24V power supply can be used to power the digital I/O andsupply 24V to the drive-mounted breakout boards (catalog numbers2090-U3CBB-DMxx) provided the cumulative minimum currentrequirements are met.

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Table 23 - Ultra3000 Drives 5V Supply Specifications

Kinetix 300/350 Drives

The Kinetix 300/350 drives use a 24V DC logic power source for all drives(referred to as back-up power [BP]).

Table 24 - Kinetix 300/350 Drives Back-up Control Power Specification

Digital Inputs

Table 25compares some key differences between the digital inputs of the two

drive families.

Table 25 - Digital Inputs Comparison


Voltage Voltage tolerance of the external logic supply. 5.1V 5.25V

Current Current output capability of the external +5V DCpower supply.

1.5A

IMPORTANT Using the drive-mounted breakout board with 24V to 5V auxiliary powerconverter is preferred to using an external +5V DC power supply.

Specification Description

Control power back-up input voltage 20...26V DC

Control power back-up input current

Nom

Max inrush (0-pk)

500 mA

30 A

Feature Ultra3000 Kinetix 300 Kinetix 350

Non-SERCOS SERCOS

Inputs 8 inputs 6 inputs 12 inputs 5 inputs

I/O common points 1 13 groups (A,B,C)

each with anisolated common

1

Pre-selectable indexes(using binary codes)

x

Multiple input assignment x

Fixed assignment for

Enable/Overtravel/Registrationx x x

Fixed assignment for Home Input x x

De-bounce for inputs x

Overtravels must be N.C. x xx

(can be N.O. also)x

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Ultra3000 Drives

All digital inputs on the Ultra3000 drives (SERCOS and non-SERCOS) havethe same physical characteristics as shown in Table 26.

Table 26 - Ultra3000 Drives Digital Input Characteristics

Table 27 - Ultra3000 Drives Digital Input Parameters

Table 28 - Ultra3000 SERCOS Drives Dedicated Functionality Inputs

For the Ultra3000 drives, there are eight optically isolated digital inputs. Alldigital inputs (SERCOS and non-SERCOS) have the same configuration, asshown in Figure 7.

Figure 7 - Ultra3000 Drive Digital Input Circuit

Specification Description

I/O response 100 s

Digital I/O firmware scan period 1 ms


ON state voltageVoltage applied to the input, with respectto IOCOM, to guarantee an ON state.

10.8V 26.4V

ON state current Current flow to guarantee an ON State. 3.0 mA 12.0 mA

OFF state voltageVoltage applied to the input, with respectto IOCOM, to guarantee an OFF state.

-1.0V 2.0V

Pin Signal Description

CN1-31 ENABLEDrive Enable Input, an active state enables the power electronics tocontrol the motor.

CN1-32 HOMEHome Sensor, an active state indicates to a homing sequence that thesensor has been seen.

CN1-33

CN1-34

REG1

REG2 Registration Sensor, a transition is used to record position values.

CN1-37

CN1-38

OT_POS

OT_NEGOvertravel Input, an inactive state indicates that a position limit has beenexceeded. An active state occurs when 24V is removed from the input.

2.7k

+5V

INPUTS

10k

1k

IOCOM DGNDIOCOM

TLP121

Ultra3000 Drive

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Kinetix 300/350 Drive Digital Input Characteristics

The digital inputs can be used for travel limit switches, proximity sensors, pushbuttons, 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 fourinputs and share one common: ACOM, BCOM, and CCOM, respectively.Travel limit switches, the inhibit/enable input, and registration input havededicated inputs as shown in Table 29.

Table 29 - Kinetix 300/350 Drives Fixed Digital Input Assignments

For the Kinetix 300/350 drives, the digital inputs are optically isolated and sinkup to 24V DC. You can set up the inputs for PNP sourcing or NPN sinking, asshown in Figure 8.

Figure 8 - Kinetix 300/350 Drive Digital Input Circuits

Table 30 - Kinetix300/350 Digital Input Signal Specifications

Digital Input Function

IN_A1 (pin 27) Negative travel limit switch

IN_A2 (pin 28) Positive travel limit switch

IN_A3 (pin 29) Inhibit/enable input

IN_C3 (pin 39) Registration input sensor

Sourcing of Digital Inputs Sinking of Digital Inputs

GND

IN_A2

IN_A_COM

+24V

IN_A1

1.2 k

1.2 k

GND

IN_A2

IN_A_COM

+24V

IN_A1

1.2 k

1.2 k

Parameter Value

Scan time 500 s

Current, max 9 mA, typical

Input impedance 1.2 k, typical

Voltage range 524V DC

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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 25compares some key differences between the digital outputs of the twodrive families.

Table 31 - Digital Outputs Comparison

Ultra3000 Drives

Digital outputs: four optically isolated, 12...24V outputs, active high, currentsourcing.

Table 32 - Ultra3000 Drives Digital Outputs

Figure 9 - Transistor Output Hardware Configuration

Feature Ultra3000 Kinetix 300 Kinetix 350

Non-SERCOS SERCOS

Outputs 4 outputs + 1 relay 1 output + 1 relay 1 output, no relay 1 output, no relay

Brake outputassignment

ProgrammableFixed,

relay typeProgrammable,transistor type

Fixed,transistor type

Use common24V power toenergizeoutputs

x xHas isolated 24Vsupply outputs

x

Configurableoutputassignment

x x


ON statecurrent

Current flow when the output transistor is ON 50 mA

OFF statecurrent

Current flow when the output transistor is OFF 0.1 mA

ON statevoltage

Voltage across the output transistor when ON 1.5V

OFF statevoltage

Voltage across the output transistor when OFF 50V

200

+5V

OUTPUT

IOPWR

OUT TLP127

Ultra3000 Drive

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Table 33 - Relay Output Specifications

Table 34 - Relay Output Hardware Configuration

Kinetix 300/350 Drives

Table 35 - Digital Output Signal Specifications

Figure 10 - Digital Output Circuit


ON statecurrent

Current flow when the relay is closed 1A

ON stateresistance

Contact resistance when the relay is closed 1

OFF statevoltage

Voltage across the contacts when the relay is open 30V

CN1-43Relay +

CN1-44Relay -

NormallyOpenRelay

Ultra3000 Drive

IMPORTANT Relay output is notavailable on Kinetix 300/350 drives.

Parameter Value

Scan time 500 s

Current, max 100 mA

Voltage, max 30V DC

OUT1-E

OUT1-C

Logic Power

GND

Ultra3000

Drive

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Analog Inputs

Ultra3000 Drives (non-SERCOS version)

Analog COMMAND Input

The analog COMMAND input to the drive can provide a position, velocity, orcurrent command signal. A 14-bit A/D converter digitizes the signal. Theconfiguration of the input is shown in Figure 11.

Figure 11 - Ultra3000 Drives (non-SERCOS version) Analog COMMAND InputConfiguration

Table 36 - Ultra3000 Drives (non-SERCOS version) Analog COMMAND InputSpecifications

IMPORTANT The Ultra3000 SERCOS and Kinetix 350 drives do nothave analog inputcapability because their command reference comes digitally through

communication networks.

10k 10k

20k

20k

1000 pF

1000 pF0.01 F

COMMAND +

COMMAND -

0.01 F

10k 10k

Ultra3000 Drive


ResolutionNumber of states that the input signal is divided intowhich is 2(to the number of bits).

14 bits

Inputimpedance

Open circuit impedance measured between the + and- inputs.

20 k

Input signalrange

Voltage applied to the input -10V +10V

Offset errorDeviation from the correct value expected fromanalog-to-digital conversion when 0V is applied to theinput.

50 mV

Gain error Deviation of the transfer function from unity gain,expressed in a percent of full scale.

1%

Propagationdelay

Delay from the input to the firmware-accessibleregisters.

100 s

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Kinetix 300 Drives

Analog Reference Input

The analog reference inputs AIN1+ and AIN1- (IOD-24 and IOD-25) acceptup to a 10V DC analog signal as shown in Table 37. The analog signal isconverted to a digital value with 12-bit resolution (11-bit plus sign). The totalreference voltage as seen by the drive is the voltage difference between AIN1+and AIN1-.

If used in Single-ended mode, one of the inputs must be connected to avoltage source while the other input must be connected to the analogcommon (ACOM) terminal.

If used in Differential mode, the voltage source is connected acrossAIN1+ and AIN1- and the driving circuit common, if available, isconnected to the drive analog common (ACOM) terminal.

Table 37 - Analog Signal Input Specifications

Analog Current Limit Input

Ultra3000 Drives (current limit N/A on the SERCOS version)

The ILIMIT input specifies to the drive if the drive output current should belimited. If the ILIMIT input is not connected, current is not limited.

IMPORTANT The Kinetix 350 drive does nothave analog input capability because itscommand reference comes digitally through communication networks.

Parameter Value

Scan time 0.0625 ms

Current, max Depend on load

Input impedance 47 k, typical

Voltage range -1010V DC

IMPORTANT This function is notavailable on the Kinetix 300/350 drives.

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Analog Current Output

Ultra3000 Drives (non-SERCOS)

Figure 12 - Ultra3000 Drives (non-SERCOS) Analog Output Configuration

Table 38 - Ultra3000 Drives (non-SERCOS) Analog Output Specifications

IMPORTANT This output is notsupported on the Ultra3000 SERCOS version or theKinetix 350 drives.

1000.01 F

AOUT

Ultra3000 Drive

IMPORTANT Output values can vary during powerup until the specified powersupply voltage is reached.


ResolutionNumber of states that the output signal is dividedinto, which is 2 (to the number of bits).

8 bits

Outputcurrent

Current capability of the output. -2 mA +2 mA

Output signal

range

Range of the output voltage. -10V +10V

Offset error Deviation when the output should be at 0V. 500 mV(1)

(1) The offset and gain errors of the analog output can be corrected for an application using Ultraware scale and

offset settings.

Gain errorDeviation of the transfer function from unity gain,expressed in a percent of full scale.

10%(1)

Bandwidth Frequency response of the analog output 50 Hz

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Kinetix 300 Drives

Figure 13 - Kinetix 300 Drive Analog Output Circuit

Table 39 - Kinetix 300 Drive Analog Output Specifications

The analog output (AO) on pin IOD-23 has a 10-bit resolution. The analogoutput is a single-ended signal with reference to analog common (ACOM) thatcan represent the following motor data:

Serial Communication The Ultra3000 drives use serial communication. The Kinetix 300/350 drives donot use serial communication; the interface to the Kinetix 300/350 drives isthrough the Ethernet port.

Accessories Application accessories, such as shunts and line filters, can impact d

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