Ultra3000 to Kinetix 5100

Servo Drives Migration Guide

Catalog Numbers 2198-E1004-ERS, 2198-E1007-ERS,
2198-E1015-ERS, 2198-E1020-ERS, 2198-E2030-ERS,
2198-E2055-ERS, 2198-E2075-ERS, 2198-E2150-ERS,
2198-E4004-ERS, 2198-E4007-ERS, 2198-E4015-ERS,
2198-E4020-ERS, 2198-E4030-ERS, 2198-E4055-ERS,
2198-E4075-ERS, 2198-E4150-ERS

Reference Manual Original Instructions

Ultra3000 to Kinetix 5100 Servo Drives Migration Guide Reference Manual

Important User Information

Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize
themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.

Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to
be carried out by suitably trained personnel in accordance with applicable code of practice.

If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be
impaired.

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

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

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

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

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

WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment,
which may lead to personal injury or death, property damage, or economic loss.

ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.

IMPORTANT Identifies information that is critical for successful application and understanding of the product.

Labels may also be on or inside the equipment to provide specific precautions.

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

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

ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to
potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL
Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).

2 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020

 Table of Contents

Preface
Summary of Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Integrated Architecture Builder Software . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Motion Analyzer Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Migration Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Chapter 1
Migration Options Kinetix 5100 Servo Drive Catalog Numbers . . . . . . . . . . . . . . . . . . . . . . . . 10

Chapter 2
Replacement Considerations Drive Sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
AC Input Power Wiring and Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Power Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
I/O Availability and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Feedback Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Chapter 3
Connectors and Indicators Ultra3000 Servo Drive Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Kinetix 5100 Servo Drive Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . . 46
I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Motor Feedback Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Auxiliary Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Chapter 4
Dimensions, Cables, and Wiring Ultra3000 Drive (230V) Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Kinetix 5100 Drive Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Power Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Chapter 5
System Architecture Kinetix 5100 Drive System Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 3

Table of Contents

Chapter 6
Application Conversion Scenario 1: Analog Command to Analog Command. . . . . . . . . . . . . . . . . 82
Scenario 2: Indexing to PR Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Scenario 3: Master/Follower Mode to PT Mode . . . . . . . . . . . . . . . . . . . . . 86
Scenario 4: DeviceNet to
I/O Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Scenario 5: Host Command to Explicit Messaging. . . . . . . . . . . . . . . . . . 90

Appendix A
Feature Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

4 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020

 Preface

This migration guide provides you with the essential information to determine
hardware design changes that can be necessary when migrating from a
motion system that contains Ultra™ 3000 servo drives to one that contains
Kinetix® 5100 servo drives.

Summary of Changes This publication contains the following new or updated information. This list
includes substantive updates only and is not intended to reflect all changes.

Topic Page
Added information for Kinetix 5100 400V-class drives. Throughout
Added drive compatibility with Kinetix TL/TLY (200V-class) servo motors. Throughout
Added Kinetix 5100 drive ratings - 400V Class. 10
Added Table 17 and Table 18 Kinetix 5100 Power Specifications (480V nom three-phase). 24 and 25
Added Table 33 Kinetix 5100 Servo Drive Control Power and Auxiliary Power Rating - 400V- 34
class.
Added Figure 14 - 2098-DSD-HV030, 2098-DSD-HV050, 2098-DSD-HV100, 2098-DSD-HV150, 45
and 2098-DSD-HV220 Ultra3000 (400V-class) Drives.
Added Figure 17 - Features and Indicators (catalog numbers 2198-E4020-ERS, 2198-E4030- 47
ERS).
Added Figure 24 and Table 54, dimensions for Ultra3000 400V-class drives. 57
Added Figure 35 Typical Power Wiring of Ultra3000 System (2098-DSD-HVxxx-xx and - 69
HVxxxX-xx).
Added Sample Code Library information to the Kinetix 5100 Drive Controlled Via Explicit 78
Messaging section.

Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 5

Overview This manual is intended for engineers and technicians that are directly
involved in the installation and wiring of the Kinetix 5100 drives, and
programmers who are directly involved in the operation, field maintenance,
and integration of these drives. You must have previous experience with and a
basic understanding of electrical terminology, programming procedures,
networking and required equipment and software, and safety precautions.

Migrating from a motion control system that uses Ultra3000 drives to a system
that uses Kinetix 5100 drives requires a comprehensive design review of the
motion control system. There are multiple drive replacement combinations,
and multiple configurations for how the drives can be installed and the
software applied. As a result, this migration guide is not an all-inclusive
document. It does not describe all redesign steps that can be required, nor
does it contain the detailed product information necessary to finalize the
redesign. The generalities of the replacement process are covered, and the
decision-making steps likely to be encountered in a typical replacement
scenario are described.

For Kinetix 5100 servo drive module specifications not included in this
publication, see the Kinetix Servo Drives Specifications Technical Data,
publication KNX-TD003.

Integrated Architecture The Integrated Architecture® Builder software can help you plan and configure
a system, and migrate system architectures. For more information, see the
Builder Software Control Systems Configuration Tools page.

Motion Analyzer Software Motion Analyzer software is a comprehensive motion-application sizing tool
that is used for analysis, optimization, selection, and validation of your Kinetix
motion control system. This online tool facilitates the machine design process,
and lets you quickly design and validate new machine concepts without
purchasing or installing physical equipment.

Review the performance capabilities of any replacement drive to be sure that

the replacement drive can of deliver the required level of peak and continuous
current to the motor, and Motion Analyzer can help in the correct drive
selection.

Motion Analyzer is available online at

https://motionanalyzer.rockwellautomation.com/.

Migration Services As products mature throughout the product lifecycle, Rockwell Automation® is
there as your partner to help you get the most out of your current equipment,
to help you determine your next steps, and to help you lay out a plan for the
transition to newer technology.

Whether you choose to migrate all at once or use our unique, phased approach
to help minimize the costs, risks, and complexities that are involved with the
management of legacy products and systems, Rockwell Automation has the
tools and the experience to guide you through the transition.

6 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020

 For more information, see the Migration Solutions Brochure, publication
MIGRAT-BR002.

Additional Resources These documents contain additional information concerning related products
from Rockwell Automation.
Resource Description
Product specifications for Kinetix VP, Kinetix MP,
Kinetix Rotary Motion Specifications Technical Data, Kinetix 6000M (Bulletin MDF), Kinetix TL and TLY,
publication KNX-TD001 Kinetix RDB, Kinetix TLP and Kinetix HPK rotary
motors.
Kinetix Servo Drives Specifications Technical Data, Product specifications for Kinetix servo drive family
publication KNX-TD003 that includes section on Kinetix 5100 drives.
Information on how to install, configure, startup, and
Kinetix 5100 EtherNet/IP Indexing Servo Drives User troubleshoot, your Kinetix 5100 servo drive system.
Manual, publication 2198-UM004. Information on applications for your Kinetix 5100
servo drive system.
Ultra3000 Digital Servo Drives Installation Manual, Information on procedures to mounting, wire, and
publication 2098-IN003 connect the Ultra3000 digital servo drive.
Ultra3000 Servo Drives Integration Manual, publication Power-up procedures, system integration, and
2098-IN005 troubleshooting tables for the Ultra3000 digital
servo drive.
Kinetix 5100 Drive Systems Design Guide, System design guides to select the required (drive
publication KNX-RM011 specific) drive module, power accessory, feedback
Ultra3000 Drive Systems Design Guide, connector kit, and motor cable Cat. Nos.for your
publication KNX-RM008 Kinetix 5100 drive and Kinetix motion control system.
Ethernet Design Considerations Reference Manual, Provides information for designing Ethernet and
publication ENET-RM002 EtherNet/IP networks.
Overview of Kinetix servo drives, motors, actuators,
Kinetix Motion Control Selection Guide, and motion accessories that are designed to help
publication KNX-SG001 make initial decisions for the motion control
products best suited for your system requirements.
Industrial Automation Wiring and Grounding Provides general guidelines for installing a Rockwell
Guidelines, publication 1770-4.1 Automation industrial system.
Best practice examples to help reduce the number of
potential noise or electromagnetic interference (EMI)
Servo Drive Installation Best Practices Application sources in your system and to make sure that the
Technique, publication MOTION-AT004 noise sensitive components are not affected by the
remaining noise.
Provides information on the concept of high-
System Design for Control of Electrical Noise frequency (HF) bonding, the Ground Plane principle,
Reference Manual, publication GMC-RM001. and electrical noise reduction.
Provides declarations of conformity, certificates,
Product Certifications website: rok.auto/certifications and other certification details.

You can view or download publications at rok.auto/literature.

Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 7

Notes:

8 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020

 Chapter 1

Migration Options

For each Ultra™3000 drive control feature, there is a suitable solution with
Kinetix® 5100 servo drives, Logix 5000™ controller platforms, and the
Studio 5000 Logix Designer® application.

Table 1 - Ultra3000 Drive to Kinetix 5100 Drive Migration Options

Ultra3000 drive Operation Mode Equivalent Kinetix 5100 Drive Operation Mode
Analog Current T mode
Analog Velocity S mode
Analog Postion PT mode
Preset Current T or Tz mode
Preset Velocity S or Sz mode, or PR mode
Preset Position PR mode
Follower PT mode
Indexing PR mode
Any mode with Explicit Messaging over EtherNet/IP™
Host Command network
IO mode (with Logix Add-On Instructions) using the
DeviceNet
EtherNet/IP network

Table 2 - Kinetix 5100 Drive Control Modes

Control Mode Short Name Description
This mode is sometimes referred to as Pulse Train. The servo drive receives the Position command and commands the
Position mode (terminal block PT motor to the target position. The Position command is provided through the I/O terminal block and the signal type is
input) pulse.
The servo drive receives the Position command and commands the motor to the target position. Position commands
Position mode (register input) PR comes from the program registers (99 in total). You can select the register number with binary-weighted DI signals or
through communication.
The servo drive receives the Speed command and commands the motor to the target speed. The Speed command comes
Speed mode S from the internal registers (3 in total) or by analog voltage (-10V…+10V) that is provided through the terminal block. You
can select the command with binary-weighted DI signals.
The servo drive receives the Speed command and commands the motor to the target speed. The Speed command comes
Speed mode (no analog input) Sz from the internal registers (4 in total, one is fixed at 0). You can select the command with binary-weighted DI signals.
The servo drive receives the Torque command and commands the motor to the target torque. The Torque command
Torque mode T comes from the internal registers (3 in total) and by analog voltage (-10V…+10V) that is provided through the I/O terminal
block. You can select the command with binary-weighted DI signals.
The servo drive receives the Torque command and commands the motor to the target torque. The Torque command
Torque mode (no analog input) Tz comes from the internal registers (4 in total, one is fixed at 0). You can select the command with binary-weighted DI
signals.
The servo drive receives commands from the Logix controller through the EtherNet/IP network connection. Commands
I/O mode IO are issued through the Add-On_Profile (AOP) with Add-On Instruction (AOI) instructions in the Logix Designer application.

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Chapter 1 Migration Options

Table 2 - Kinetix 5100 Drive Control Modes (Continued)

Control Mode Short Name Description
PT-S Switches PT and S mode with DI signals.
PT-T Switches PT and T mode with DI signals.
PR-S Switches PR and S mode with DI signals.
Dual mode PR-T Switches PR and T mode with DI signals.
S-T Switches S and T mode with DI signals.
– Reserved
PT-PR Switches PT and PR mode with DI signals.
PT-PR-S Switches PT, PR, and S mode with DI signals.
Multi-mode
PT-PR-T Switches PT, PR, and T mode with DI signals.

Kinetix 5100 Servo Drive Table 3 and Table 4 lists the catalog numbers and ratings of the Kinetix 5100
Catalog Numbers servo drives which can be used when selecting a replacement for your
Ultra3000 servo drives. Additional guidance for replacement of the Ultra3000
drive is provided in Table 8 in Chapter 2 of this document.

Table 3 - Kinetix 5100 Servo Drive Cat. Nos.

Rated Power Rated Power Cont. Output Peak Output

Input AC Input
Cat. No. Current Current
Voltage (V AC) Phases @ 230V (kW) @ 120V (kW) (A rms) (A rms)
2198-E1004-ERS 95…132V, 1 PH 0.4 0.2 2.60 6.5
170…253V 1 PH,3 PH
2198-E1007-ERS 95…132V, 1 PH 0.75 0.375 5.10 15.41
170…253V 1 PH,3 PH
2198-E1015-ERS 95…132V, 1 PH 1.5 0.75 7.9 23.7
170…253V 1 PH,3 PH
2198-E1020-ERS 95…132V, 1 PH 2 1 13.4 53.03
170…253V 1 PH,3 PH
2198-E2030-ERS 170…253V 3 PH 3 – 17.9 55.95
2198-E2055-ERS 170…253V 3 PH 5.5 – 41.3 91.4
2198-E2075-ERS 170…253V 3 PH 7.5 – 49 127.49
2198-E2150-ERS 170…253V 3 PH 15 – 78 162

Table 4 - Kinetix 5100 Drive Ratings - 400V Class

Rated Power @ Cont. Output Peak Output

Input AC Voltage Input
Cat. No. Current Current
(V AC) Phases 380/480V (kW) (A rms) (A rms)
2198-E4004-ERS 342…528 3 PH 0.4 1.60 5.40
2198-E4007-ERS 342…528 3 PH 0.75 3.19 8.0
2198-E4015-ERS 342…528 3 PH 1.5 6.05 15.11
2198-E4020-ERS 342…528 3 PH 2 7.42 20.78
2198-E4030-ERS 342…528 3 PH 3 13.95 26.08
2198-E4055-ERS 342…528 3 PH 5.5 24.8 37.65
2198-E4075-ERS 342…528 3 PH 7.5 31.0 53.32
2198-E4150-ERS 342…528 3 PH 15 41.26 70.14

10 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020

 Chapter 1 Migration Options

Potential Design Changes

Table 5 compares environmental specifications of Ultra3000 drives and

Kinetix 5100 drives. Table 6 compares the drive certifications of the Ultra 3000
drives and the Kinetix 5100 drives. See Appendix A for a comparison of
features and Kinetix Servo Drives Specifications Technical Data,
publication KNX-TD003 for complete specifications.

Table 5 - Compare Ultra3000 Drive and Kinetix 5100 Drive Environmental Specifications
Ultra3000 Servo Drives Kinetix 5100 Servo Drives
Specification
Operational Range Storage Range Operational Range Storage Range
(Nonoperating) (Nonoperating)
Ambient 0…55 °C -40…70 °C 0…50 °C -40…70 °C
Temperature (32…131 °F) (-40…158 °F) (32…122 °F) (-40…158 °F)
5…95% 5…95% 5…85% 5…95%
Relative Humidity Noncondensing Noncondensing Noncondensing Noncondensing
1500 m (4921.5 ft) - Derate 3% per 300 m
Altitude 1000 m (3281 ft)
(984.3 ft) above 1500 m (4,921.5 ft)
5…55 Hz @ 0.35 mm (0.014 in.) double
5…2000 Hz @ 2.5 g peak, 0.0006 mm (0.015 amplitude, continuous displacement
Vibration in.) max displacement 55…500 Hz @ 2.0 g peak constant
acceleration
Shock 15 g, 11 ms half-sine pulse 15 g, 11 ms half-sine pulse

Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 11

Chapter 1 Migration Options

Table 6 - Compare Ultra3000 Drive and Kinetix 5100 Servo Drive Certifications
Ultra3000 Drive Kinetix 5100 drive
Standards
Agency Certification (1) Agency Certification (1)
Ultra3000 drive:
UL Listed to U.S. and Canadian safety standards (UL 508 C File E145959).

cULus cULus(2) Kinetix 5100:

UL standards for the U.S. UL61800-5-1, 1st edition, June 2012.
CSA standard for Canada. C22.2 No. 274-13
UL File Number E59272

Ultra3000 drive:
European Union 89/336/EEC EMC Directive compliant with EN 61800-3:2004: Adjustable Speed Electrical Power Drive
Systems - Part 3; EMC Product Standard including specific test methods.
European Union 73/23/EEC Low Voltage Directive compliant with:
EN 60204-1: 1997 - Safety of Machinery - Electrical Equipment of Machines.
CE CE EN 50178: 1997 - Electronic Equipment for use in Power Installations.

Kinetix 5100 drive:

2014/30/EU, IEC/EN 61800-3: 2017 RLV,
IEC/EN 61800-3, environment 2, category C3, and EN 55011 class A group 2,
2014/35/EU, IEC/EN 61800-5-1:2016, 2006/42/EC, IEC/EN 61800-5-2:2016
Kinetix 5100 drive:
— Functional Safety (FS) IEC/EN 61508, EN ISO 13849, IEC/EN 62061, IEC/EN 61800-5-2:2016
(CAT3, SIL 2, PLd)
Ultra3000 drive:
Korean Registration of Broadcasting and Communications Equipment, compliant with:
Article 58-2 of Radio Waves Act, Clause 3
Registration number: KCC-REM-RAA-2098-DSD
KC KCC
Kinetix 5100 drive:
Korean Registration of Broadcasting and Communications Equipment, compliant with:
• Article 58-2 of Radio Waves Act, Clause 3
• Registration number: KCC-REM-RAA-2198
— RoHS Kinetix 5100 drive: European Directive 2011/65/EU(1) - The Restriction of Hazardous Substances (RoHS), EN 50581:2012
Kinetix 5100 drive: Australian Radiocommunications Act, compliant with:
AS/NZS CISPR 11:2002 (Group 1, Class A);
— RCM (Formerly C-Tick) Radio Communications Act: 1992;
Radio Communications (Electromagnetic Compatibility) Standard: 1998;
Radio Communications (Compliance Labeling - Incidental Emissions) Notice: 1998
— ODVA Kinetix 5100 drive: EtherNet/IP conformance tested, EtherNet/IP Specification Volume 2, Edition 1.23, April 2017
Kinetix 5100 drive:
— China RoHS

Kinetix 5100 drive: UL 61800-5-1 standard, short circuit test (including exception 5.2.3.6.2.1DV.2.3), and breakdown of
— SCCR components test
— WEEE Yes
(1) When product is marked, see rok.auto/certifications for Declarations of Conformity Certificates.
(2) UL has not evaluated the safe-off, Safe Torque Off, or safe speed-monitoring options in these products.

12 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020

 Chapter 2

Replacement Considerations

To replace an Ultra™ 3000 drive with a Kinetix® 5100 drive can require some
system design changes.
• Review the hardware and software design of the existing Ultra3000
system.
• Compare these to the hardware and software specifications for the
Kinetix 5100 drives.

WARNING: Because of the variety of uses for the products described in this
publication, those responsible for the application and use of these
products must satisfy themselves that all necessary steps have been taken
to assure that each application and use meets all performance and safety
requirements, including any applicable laws, regulations, codes, and
standards. In no event will Rockwell Automation be responsible or liable for
indirect or consequential damage resulting from the use or application of
these products.

Before You Begin

This section contains information to help you to choose the correct Kinetix
5100 drive to replace your Ultra3000 drive.
Table 7 - Migration Considerations
Feature/Function Ultra3000 Drive Kinetix 5100 Drive
Supports 1362AB, Kinetix MP, F-Series, H-Series, N-Series, Y-Series,
Rotary Motor Compatibility and Kinetix TL and TLY servo motors. Supports Kinetix MP and Kinetix TL, TLP, and TLY servo motors.
Ten total digital inputs. Eight standard digital inputs and two optional
Digital Input and Eight digital inputs, support current sinking wiring only. high-speed inputs, support both current sinking and current sourcing
Registration Input Registration input can be assigned to any one of them. wiring. Registration inputs can be assigned to digital input 9 and digital
input 10.
Six digital outputs with both current sourcing and current sinking
Digital Output Four digital outputs with current sourcing capability only.
capability.
Supports grounded power system (center grounded wye Supports grounded power system (center grounded wye secondary only).
Typical Input Power secondary, or corner grounded, or high leg delta secondary). Uses 2198-DBx-F line filter is needed for CE compliance. Specific fuses or
Configuration and 2090-UXLF-x line filter for CE compliance. Ultra3000 drives also circuit breakers (can differ from those recommended for Ultra3000
Components need specific fuses or circuit breakers for input protection. drives) are required for input protection.
Safe Torque Off (STO) Does not support the Safe Torque Off feature. Supports the Safe Torque Off feature.
Communication Supports serial port and the DeviceNet® communications protocol. Supports USB interface for configuration and EtherNet/IP™ for control
Supports the following controllers:
• CompactLogix™ 5370 and CompactLogix 5380 controllers with
embedded dual-port.
Controller Supports Logix 5000™ controllers and SLC™ controllers.
• CompactLogix 5480.
• ControlLogix® 5570 and ControlLogix 5580. MicroLogix™ 1100 and 1400
controllers. Micro800™ controllers.

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Chapter 2 Replacement Considerations

Table 7 - Migration Considerations (Continued)

Feature/Function Ultra3000 Drive Kinetix 5100 Drive
Drive-to-motor power and feedback cables must not exceed:
• 50 m (164 ft) for axes with Kinetix MP servo motors with Hiperface
encoder feedback
• 50 m (164 ft) for axes with Kinetix TLP servo motors and 24-bit high-
Cable Length Support cable lengths for motor and power up to 90 m (295.2 ft). resolution serial encoder feedback
• 30 m (98.4 ft) for axes with Kinetix TL and TLY servo motors and 17-bit
high-resolution or incremental encoder feedback
• 30 m (98.4 ft) for axes with Kinetix MP (Cat. No. MPL-Axxxx-H) servo
motors and incremental encoder feedback
The Kinetix 5100 drive has smaller dimensions and fits in the space of the
Physical Dimensions — Ultra3000 drive. The drill hole patterns differ from that of Ultra3000
drives.
Optional 5V DC (breakout board with 24V DC to 5V converter
Control and Auxiliary 200V-class 1PH 120V or 230V
available) auxiliary power for smallest 3 drives. Optional single-
Power 400V-class 24V DC
phase 100…240V AC for larger drives.
Supports Dual feedback inputs for:
Dual Position Loop / Aux • Master Follower (PT mode)
Does not support Dual position loop / Aux feedback port.
Feedback Port • Dual Loop Control (PR/PT/IO mode)
• Aux Feedback (PR mode) as a Master for E-CAM function
Any digital output can be configured as Motor Brake. This output must
Motor Brake Has a dedicated relay output for operating motor brake. include an external relay to control motor holding brake.

Design considerations:
• Verify that the existing controller is compatible with the Kinetix 5100
system (for example, DeviceNet vs. EtherNet/IP).
• Verify that your current motor is compatible.
• Verify that the feedback cable length in your existing system does not
exceed the max feedback cable length or the max power cable length for
the new system.
• Verify that the drive size is compatible.
• Verify that the drive dimensions are compatible.
• Verify the drive connections (and/or connectors) are acceptable or
compatible.

See the technical data documents and the design guides in the Additional
Resources for motor, cable, and drive combinations.

Drive Sizing There are a number of different factors that affect the selection of a
replacement servo drive and the system redesign effort. Drive sizing is the
primary factor in which replacement servo drive you select. To identify the
correct replacement drive size, compare the continuous and peak output
current ratings.

Most Ultra3000 drives can be replaced with a Kinetix 5100 drive of similar, or
in some cases greater, output current capability. The Kinetix 5100 drives
require less physical space than the Ultra3000 drives.

Other factors that affect drive replacement include:

• Drive Sizing (ratings and physical size)
• Dimensions
• Drive Interconnects and Cabling
• Communication network
• Accessories, such as shunts and line filters.

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 Chapter 2 Replacement Considerations

Nominal Voltage and Output Current Comparison

This section lists the Ultra3000 servo drives and the suggested Kinetix 5100
servo drives, along with the output ratings differences of the drives.
Information in this migration guide is based on the drive combinations that
are shown in Table 8 and Table 9.

Review Table 8 to make sure that the replacement drive can deliver the
required continuous and peak current to the motor.
Table 8 - Suggested Kinetix 5100 Replacement Drives by Output Current
Ultra3000 Drive Kinetix 5100 Drive
Continuous Peak Output Continuous
Voltage Voltage Peak Output
Voltage Output Voltage Range Output
Cat. No. Range Nom Current Cat. No. Range Nom Current
Range (V) Current V rms Current
V rms A rms (0-pk) V rms
A rms (0-pk) A rms (0-pk) A rms (0-pk)
95…132V 1 PH 120…230V
2098-DSD-OO5 88…265V 1 PH 120…240V 1 PH 1.8 (2.5) 5.3 (7.5) 2198-E1004-ERS 2.6 (3.7) 6.5 (9.19)
170…253V 1 PH /3 PH 1 PH / 3 PH
95…132V 1 PH 120…230V
2098-DSD-010 88…265V 1 PH 120…240V 1 PH 3.5 (5) 10.6 (15) 2198-E1007-ERS 5.10 (7.21) 15.41 (21.79)
170…253V 1 PH /3 PH 1 PH / 3 PH
95…132V 1 PH 120…230V
2098-DSD-020 88…265V 1 PH 120…240V 1 PH 7.1 (10) 21.2 (30) 2198-E1015-ERS 7.9 (11.17) 23.7 (33.51)
170…253V 1 PH /3 PH 1 PH / 3 PH
95…132V 1 PH 120…230V
2098-DSD-030 88…265V 1 PH 120…240V 1 PH 10.6 (15) 21.2 (30) 2198-E1020-ERS 13.4 (18.95) 53.03 (74.98)
170…253V 1 PH /3 PH 1 PH / 3 PH
88…265V 120…240V
2098-DSD-075 24.7 (35) 53.0 (75) 2198-E2055-ERS 170…253V 3 PH 230V 3 PH 41.3 (58.40) 91.4 (129.24)
3 PH 3 PH
88…265V 120…240V
2098-DSD-150 45.9 (65) 106.0 (150) 2198-E2075-ERS 170…253V 3 PH 230V 3 PH 49.0 (69.3) 78.0 (110.3)
3 PH 3 PH
2098-DSD- 207...528, 230...480, 3 PH 5 (7) 9.9 (14) 2198-E4015-ERS 342…528V 3PH 3 PH, 480V 6.05 (8.56) 15.11 (21.36)
HV030 3 PH
2098-DSD- 207...528, 230...480, 3 PH 7.8 (11) 15.6 (22) 2198-E4020-ERS 342…528V 3PH 3 PH, 480V 7.42 (10.49) 20.78 (29.38)
HV050 3 PH
2098-DSD- 207...528, 230...480, 3 PH 16.3 (23) 32.5 (46) 2198-E4055-ERS 342…528V 3PH 3 PH, 480V 24.8 (35.07) 37.65 (53.24)
HV100 3 PH
2098-DSD- 207...528, 230...480, 3 PH 24 (34) 48.1 (68) 2198-E4075-ERS 342…528V 3PH 3 PH, 480V 31 (43.84) 53.32 (75.39)
HV150 3 PH
2098-DSD- 207...528, 230...480, 3 PH 33.2 (47) 66.5 (94) 2198-E4150-ERS 342…528V 3PH 3 PH, 480V 41.26 (58.35) 70.14 (99.18)
HV220 3 PH

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Chapter 2 Replacement Considerations

Dimension Comparison

This section compares physical dimensions of the Ultra3000 servo drives and
the suggested Kinetix 5100 replacement servo drives.
Table 9 - Suggested Kinetix 5100 Replacement Drives by Dimensions
Ultra3000 Drives Kinetix 5100 Drives
Height Width Depth Height Width Depth
Cat. No. Cat. No.
mm (in.) mm(1) (in) mm (in) mm (in.) mm (in) mm (in)
2098-DSD-005 198.12 (7.8) 95.5 (3.76) 144.27 (5.68) 2198-E1004-ERS 170 (6.69) 35 (1.34) 178.3 (7.02)
2098-DSD-010 198.12 (7.8) 121.54 (4.79) 144.27 (5.68) 2198-E1007-ERS 180 (7.09) 50 (1.97) 188.4 (7.42)
2098-DSD-020 198.12 (7.8) 121.54 (4.79) 144.27 (5.68) 2198-E1015-ERS 180 (7.09) 50 (1.97) 188.4 (7.42)
2098-DSD-030 360.68 (14.2) 91.44 (3.6) 243.84 (9.6) 2198-E1020-ERS 180 (7.09) 95 (3.74) 208.4 (8.2)
2098-DSD-075 360.68 (14.2) 138.68 (5.46) 247.14 (9.73) 2198-E2055-ERS 273(10.75) 120 (4.73) 209.4 (8.24)
2098-DSD-150 360.68 (14.2) 188.97 (7.44) 241.05 (9.49) 2198-E2075-ERS 312 (12.28) 141 (5.55) 225.4 (8.87)
2098-DSD-HV030 360.7 (14.2) 138.7 (5.46) 242.2. (9.54) 2198-E4015-ERS 180 (7.09) 95.0 (3.74) 208 (8.20)
2098-DSD-HV050 360.7 (14.2) 138.7 (5.46) 242.2. (9.54) 2198-E4020-ERS 260 (10.24) 110 (4.33) 204 (8.02)
2098-DSD-HV100 360.7 (14.2) 151.6 (5.97) 242.2. (9.54) 2198-E4055-ERS 273 (10.75) 120 (4.72) 209 (8.24)
2098-DSD-HV150 360.7 (14.2) 151.6 (5.97) 242.2. (9.54) 2198-E4075-ERS 312 (12.28) 141 (5.55) 225 (8.87)
2098-DSD-HV220 391.8 (15.43) 203.2 (8.0) 242.2. (9.54) 2198-E4150-ERS 390 (15.35) 186 (7.32) 281 (11.08)
(1) Widths chosen were for Ultra3000 drives -DN,and -XDN, which are larger than the -X.

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 Chapter 2 Replacement Considerations

AC Input Power Wiring and This section provides information to help you determine the wiring and fusing
Fusing requirements of drives. Ultra3000 servo drives are designed to operate from a
grounded power system (with center grounded wye secondary, or corner
grounded, or high leg delta secondary), while Kinetix 5100 drives support
three-phase wye systems with a center grounded wye secondary, or a single-
phase system with a neutral and a grounded input.

AC Input Power Wiring

Determine the wire length for the AC line input after the drive location and
cable routing is finalized.

In general, the recommended drive replacement should not require changes in

wiring length; however, the routing may need to change as the input power
and motor power connections could be in different physical locations with
different connector sizes.

Table 10 shows a comparison of the connector locations of the Ultra3000 and

Kinetix 5100 drives.

Table 10 - Input Power and Motor Power Connection Placement of Kinetix 5100 Drives
Kinetix 5100 Drive Ultra3000 Drive
Motor Power/ Input Power, Motor
Kinetix 5100 Drive Output Power Input Power Feedback Connector Power, Feedback
Cat. No. (kW) Connector Location Location Connector Location
2198-E1004-ERS 0.40
2198-E1007-ERS 0.75 Top Bottom
2198-E1015-ERS 1.50
2198-E1020-ERS 2.00
2198-E2030-ERS 3.00
2198-E2055-ERS 5.50
2198-E2075-ERS 7.50
2198-E2150-ERS 15.00
Front
2198-E4004-ERS 0.40
2198-E4007-ERS 0.75 Front Front
2198-E4015-ERS 1.50
2198-E4020-ERS 2.00
2198-E4030-ERS 3.00
2198-E4055-ERS 5.50
2198-E4075-ERS 7.50
2198-E4150-ERS 15.00

Circuit Breaker and Fuse Considerations

Review the fusing requirements when you change drives.

An Ultra3000 servo drive system must be protected by a device with short

circuit interrupt current rating of the service capacity that is provided or a
maximum of 100,000 A.

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Chapter 2 Replacement Considerations

Kinetix 5100 servo drives use internal solid-state motor short-circuit

protection and are rated for use on a circuit that can deliver up to 5000 A, when
protected by suitable branch circuit protection.

While circuit breakers offer some convenience, there are limitations with their
use. Circuit breakers do not handle high current inrush as well as fuses. Make
sure that the selected components are properly coordinated and meet
acceptable electrical codes including any requirements for branch circuit
protection. Evaluation of the short circuit available current is critical and must
be kept below the short-circuit current rating of the circuit breaker.

Table 11 and Table 12 list fuse and circuit breaker selections for Ultra3000 and
Kinetix 5100 respectively.
Table 11 - Ultra3000 Drive Fuse and Circuit Breaker Selection
UL Applications IEC (non-UL) Applications
Drive Voltage, Bussmann Fuses Motor Protection CB,
Drive Cat. No. Phase Motor Protection CB
nom Self-protected CMC
Class J Class CC Cat. No.
Cat. No.
2098-DSD-005 Single-phase LPJ-6SP FNQ-R-6
2098-DSD-010 Single-phase LPJ-10SP FNQ-R-10
2098-DSD-020 Single-phase LPJ-20SP FNQ-R-20
2098-DSD-030 230V AC Single-phase LPJ-30SP FNQ-R-30 — —
2098-DSD-075 Three-phase LPJ-30SP FNQ-R-30
2098-DSD-150 Three-phase LPJ-60SP N/A
2098-DSD-xxx Auxiliary input power LPJ-10SP FNQ-R-10
2098-DSD-HV030 Three-phase LPJ-5SP KTK-R-5 140M-F8E-C16 140M-F8E-C16
2098-DSD-HV050 Three-phase LPJ-8SP KTK-R-8 140M-F8E-C20 140M-F8E-C20
2098-DSD-HV100 460V AC Three-phase LPJ-17-1/2SP KTK-R-20 140M-F8E-C32 140M-F8E-C32
2098-DSD-HV150 Three-phase LPJ-30SP KTK-R-30 140M-F8E-C45 140M-F8E-C45
2098-DSD-HV220 Three-phase LPJ-35SP — — —

Table 12 - Kinetix 5100 Drive Fuse and Circuit Breaker Selection

UL/CSA Application IEC (non-UL/CSA) Application
Cat. No. Voltage (Nom) and Phase Recommended Fuse Cat. Recommended Circuit DIN gG Fuses Rating Recommended Circuit
No. Breaker Cat. No. (Amps, max) Breaker Cat. No.
120V/230V, 1 PH KTK-R-10 1489-M2D100 10 1489-M2D100
2198-E1004-ERS
230V, 3 PH KTK-R-10 1489-M3D100 10 1489-M3D100
120V/230V, 1 PH KTK-R-20 1489-M2D200 20 1489-M2D200
2198-E1007-ERS
230V, 3 PH KTK-R-15 1489-M3D130 15 1489-M3D130
120V/230V, 1 PH KTK-R-30 1489-M2D300 30 1489-M2D300
2198-E1015-ERS
230V, 3 PH KTK-R-25 1489-M3D200 25 1489-M3D200
120V/230V, 1 PH LPJ-40SP 1489-M2D400 50 1489-M2D400
2198-E1020-ERS
230V, 3 PH LPJ-35SP 1489-M3D300 40 1489-M3D300
2198-E2030-ERS 230V, 3 PH LPJ-50SP 1489-M3D350 60 1489-M3D350
2198-E2055-ERS 230V, 3 PH LPJ-70SP 1489-M3D600 110 1489-M3D600
2198-E2075-ERS 230V, 3 PH LPJ-80SP 140G-G2C3-C70 150 140G-G2C3-C70
2198-E2150-ERS 230V, 3 PH LPJ-125SP 140G-G2C3-D12 225 140G-G2C3-D12

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 Chapter 2 Replacement Considerations

Table 12 - Kinetix 5100 Drive Fuse and Circuit Breaker Selection (Continued)
UL/CSA Application IEC (non-UL/CSA) Application (Continued)
Cat. No. Voltage (Nom) and Phase Recommended Fuse Cat. Recommended Circuit DIN gG Fuses Rating Recommended Circuit
No. Breaker Cat. No. (Amps, max) Breaker Cat. No.
2198-E4004-ERS KTK-R-10 (10A) 1489-M3D100 10 1489-M3D100
2198-E4007-ERS KTK-R-15 (15A) 1489-M3D100 15 1489-M3D100
2198-E4015-ERS KTK-R-20 (20A) 1489-M3D150 20 1489-M3D150
2198-E4020-ERS KTK-R-25 (25A) 1489-M3D200 25 1489-M3D200
380…480V AC, three-phase
2198-E4030-ERS KTK-R-30 (30A) 1489-M3D300 30 1489-M3D300
2198-E4055-ERS LPJ-35SP (35A) – 35 1489-M3D350
2198-E4075-ERS LPJ-45SP (45A) – 45 140G-G6C3-C45
2198-E4150-ERS LPJ-90SP (90A) – 90 140G-G6C3-C60

Power Specifications This section lists the power specifications for the Ultra3000 drive and
Kinetix 5100 drives. Table 13 and Table 14 show power specifications and
requirements for the Ultra3000 drives.
Table 13 - Ultra3000 (200V-class) Servo Drive Power Specifications
Attribute 2098-DSD-005 2098-DSD-010 2098-DSD-020 2098-DSD-030 2098-DSD-075 2098-DSD-150
AC Input Voltage(1) 100…240V rms, 1 PH 100…240V rms, 1 PH 100…240V rms, 3 PH
AC Input Frequency 47…63 Hz 47…63 Hz
AC Input Current(2) (3) 5A 9A 18 A
rms (nom) 100 A - Series A or B 28 A 30 A 46 A
100 A - Series A or B 100 A - Series A or B
230V AC (0-PK) max inrush(4) 50 A 50 A 68 A
20 A - Series C 20 A - Series C 20 A - Series C
Auxiliary AC input current
115V AC (rms) nom 1.0 A 1.0 A 1.0 A
230VV AC (rms) nom — — — 0.5 A 0.5 A 0.5 A
115V AC (0-pk) max inrush(4) 47 A 47 A 47 A
230V AC (0-pk) max inrush 95 A 95 A 95 A
Continuous output current (rms) 1.8 A 3.5 A 7.1 A 10.6 A 24.7 A 45.9 A
Continuous output current (0- 2.5 A 5.0 A 10 A 15 A 35 A 65 A
pk)
Peak output current (rms) 5.3 A 10.6 A 21.2 A 21.2 A 53 A 106 A
Peak output current (0-Pk) 7.5 A 15 A 30 A 30 A 75 A 150 A
Bus Capacitance 1410 µF 1880 µF 1880 µF 2820 µF 4290 µF 7520 µF
Internal Shunt resistance — — — 35 ohms 16.5 ohms 9.1 ohms
Shunt on — — — 420V DC
Shunt off — — — 420V DC
Bus Overvoltage 400V DC 452V DC

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Chapter 2 Replacement Considerations

Table 13 - Ultra3000 (200V-class) Servo Drive Power Specifications (Continued)

Attribute 2098-DSD-005 2098-DSD-010 2098-DSD-020 2098-DSD-030 2098-DSD-075 2098-DSD-150
Internal shunt
Continuous power — — — 50 W 50 W 180 W
Peak power 4.5 W 10 kW 18 kW
External shunt
Resistance 30 ohms (-0/+5%) 16.5 ohms (-0/+5%) 9 ohms (-0/+5%)
— — —
Continuous power 2.4 kW 4 kW 8 kW
Peak power 6 kW 10 kW 19 kW
Energy absorption capability
115V AC input 93 J 125 J 251 J 381 J 669 J
230V AC input 38 J 51 J 139 J 211 J 370 J
Continuous power output
115V AC input 0.25 kW 0.5 kW 1.0 kW 1.5 kW — —
230V AC input 0.5 kW 1.0 kW 2.0 kW 3 kW 7.5 kW 15 kW
(1) Specification is for nominal voltage. The absolute limits are ± 10%, or 88…265V rms.
(2) The 2098-DSD-005x-xx, 2098-DSD-010x-xx (200V - class) drives are limited to:
Series A or B - one contactor cycle every two minutes.
Series C - one contactor cycle every 10 s for up to two minutes, not to exceed 12 cycles in five minutes.
(3) Power initialization requires a short period of inrush current. Dual element time delay (slow blow) fuses are recommended.
(4) Inrush current limiting circuitry is enabled within 3 s after removal of AC line power.

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Table 14 - Ultra3000 (400V-class) Drives Power Specifications

Attribute 2098-DSD-HV030 2098-DSD-HV050 2098-DSD-HV100 2098-DSD-HV150 2098-DSD-HV220
AC input voltage (1) (2) 230…480V rms, three-phase
AC input Frequency 47…63 Hz
Main AC input current (3) (4)
460V AC (rms) nom 4A 7A 14 A 20 A 28 A
460V AC (rms) max inrush 6A 6A 6A 6A 6A
Auxiliary AC input current
230V AC (rms) nom 0.55 A
360V AC (rms) nom 0.35 A
480V AC (rms) nom 0.25 A
230V AC (0-pk) max inrush (5) 47 A
480V AC (0-pk) max inrush (5) 68 A
Continuous output current (rms) 5.0 A 7.8 A 16.3 A 24.0 A 33.2 A
Continuous output current (0-pk) 7.0 A 11 A 23 A 34 A 47 A
Peak output current (rms) 9.9 A 15.6 A 32.5 A 48.1 A 66.5 A
Peak output current (0-pk) 14 A 22 A 46 A 68 A 94 A
Bus capacitance 470 µF 705 µF 940 µF 1880 µF
Internal shunt resistance 120  40  25  20 
Shunt on
230V AC input 400V DC
480V AC input 800V DC
Shunt off
230V AC input 375V DC
480V AC input 750V DC
Bus overvoltage
230V AC input 410V DC
480V AC input 810V DC
Internal shunt
Continuous power 100 W 200 W 200 W 400 W
Peak power 5.3 kW 16 kW 25.6 kW 32 kW
External shunt
Resistance (-0/+5%) 120  40  25  20 
Continuous power 3 kW 10 kW 15 kW 22 kW
Peak power 5.3 kW 16 kW 25.6 kW 32 kW
Energy absorption capability
230V AC input with 230V motor 15 J 22 J 29 J 59 J
230V AC input with 460V motor 129 J 194 J 259 J 517 J
480V AC input 55 J 82 J 109 J 219 J
Continuous power output
230V AC input 1.5 kW 2.5 kW 5.0 kW 7.5 kW 11 kW
480V AC input 3.0 kW 5.0 kW 10 kW 15 kW 22 kW
(1) Specification is for nominal voltage. The absolute limits are ±10%, or 207…264V rms and 324…528V rms.
(2) The 2098-DSD-HVxxx-xx drives can be powered with 230V rms and used with motors designed for 230V operation. In such cases, the voltage levels used for shunting and DC bus
overvoltage limits are adjusted to be compatible with the voltage limit of the motor.
The 2098-DSD-HVxxx-xx drives can be powered with 480V rms and used with motors designed for 480V operation. In such cases, the voltage levels used for shunting and DC bus
overvoltage limits are adjusted to be compatible with the voltage limit of the motor.
(3) The 2098-DSD-HVxxx -xx (400V-class) drives are limited to three contactor cycles per minute.
(4) Power initialization requires a short period of inrush current (processor controlled via soft start circuitry). Dual element time delay (slow blow) fuses are recommended.
(5) 400 s half wave sine.

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Chapter 2 Replacement Considerations

Table 15 and Table 16 list power specifications and requirements for the
Kinetix 5100 drives.

Table 15 - Kinetix 5100 Drive Input Power Specifications (Single-phase and three-phase)
Attribute 2198-E1004-ERS 2198-E1007-ERS 2198-E1015-ERS 2198-E1020-ERS
95…132V rms, 1 PH (120V nom)
AC input voltage 170…253V rms, 1 PH (200…230V nom)
170…253V rms, 3 PH (230V nom)
AC input frequency 47…63 Hz
Main AC input current (1)
rms (nom) 120V input (1 PH) 4.08 A 7.88 A 12.22 A 18.40 A
max inrush (0-pk) 120V input 0.84 A 0.76 A 0.76 A 2.56 A
rms (nom) 230V input (1 PH) 4.79 A 8.85 A 14.41 A 21.36 A
max inrush (0-pk) 230V input 1.40 A 1.32 A 1.36 A 4.40 A
rms (nom) 230V input (3 PH) 2.84 A 5.20 A 7.87 A 11.57 A
max inrush (0-pk) 230V input 1.44 A 1.40 A 1.44 A 4.64 A
95…132V rms, 120V AC nom, 1 PH, with 120V AC input power
Control power input voltage 170…253V rms, 200…230V AC nom, 1 PH, with 200…230V AC input power
Control power input current
rms (nom) 120V input 0.34 A 0.38 A 0.38 A 0.63 A
max inrush (0-pk) 15.80 A 18.20 A 19.20 A 19.20 A
rms (nom) 230V input 0.20 A 0.22 A 0.22 A 0.35 A
max inrush (0-pk) 37.0 A 37.40 A 39.80 A 32.40 A
Continuous output current (rms) 2.6 A 5.1 A 7.9 A 13.4 A
Continuous output current (0-pk) 3.7 A 7.2 A 11.2 A 18.9 A
Peak output current (rms) (2) 6.5 A 15.4 A 23.7 A 40.6 A
Peak output current (0-pk) 9.2 A 21.8 A 33.5 A 57.4 A
Continuous power output
@ 120V nom 0.20 kW 0.375 kW 0.75 kW 1.0 kW
@ 230V nom 0.40 kW 0.75 kW 1.50 kW 2.0 kW
Internal shunt on 370V @120V AC input
Internal shunt off 370V @230V AC input
Internal shunt resistor 100 Ω 100 Ω 100 Ω 20 Ω
Internal shunt power 5W 14 W 14 W 20 W
70V @120V AC input
Undervoltage threshold 150V @230V AC input
410V @120V AC input
Overvoltage 410V @230V AC input
Bus capacitance 540 µF 1680 µF 1680 µF 2160 µF
Capacitive energy absorption 6.24 J 19.40 J 19.40 J 24.95 J
Short-circuit current rating 5000 A (rms) symmetrical
(1) Kinetix 5100 drive modules are limited to one AC mains power cycles per minute.
(2) Peak RMS current that is allowed for up to 1.8 seconds.

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Table 16 - Kinetix 5100 Drive Input Power Specifications (three-phase)

Attribute 2198-E2030-ERS 2198-E2055-ERS 2198-E2075-ERS 2198-E2150-ERS
AC input voltage 170…253V rms, 3 PH (230V nom)
AC input frequency 47…63 Hz
Main AC input current (1)
rms (Nom) 230V input (3 PH) 14.65 A 27.32 A 37.90 A 70.45 A
max inrush (0-pk) 230V input 4.42 A 9.55 A 28.68 A 32.0 A
Control power input voltage 170…253V rms, 200…230V AC nom, 1 PH, with 200…230V AC input power
Control power input current
rms (Nom) 230V input 0.35 A 0.46 A 0.48 A 0.92 A
max inrush (0-pk) 36.40 A 32.80 A 40.0 A 37.0 A
Continuous output current (rms) 17.9 A 41.3 A 49.0 A 78.0 A
Continuous output current (0-pk) 25.3 A 58.4 A 69.3 A 110.3 A
Peak output current (rms) (2) 55.95 A 91.4 A 127.5 A 162.0 A
Peak output current (0-pk) 79.1 A 129.2 A 180.3 A 229.1 A
Continuous power output
@ 230V nom 3.0 kW 5.5 kW 7.5 kW 15.0 kW
Internal shunt on
370V @230V AC input
Internal shunt off
Internal shunt resistor 20 Ω – – –
Internal shunt power 20 W – – –
Undervoltage threshold 150V @230V AC input
Overvoltage 410V @230V AC input
Bus capacitance 2160 µF 4100 µF 7000 µF 13,500 µF
Capacitive energy absorption 24.95 J 47.36 J 69.30 J 155.93 J
Short-circuit current rating 5000 A (rms) symmetrical
(1) Kinetix 5100 drive modules are limited to one AC mains power cycling per minute.
(2) Peak RMS current that is allowed for up to 1.8 seconds.

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Table 17 - Kinetix 5100 Power Specifications (480V nom three-phase)

Attribute 2198-E4004-ERS 2198-E4007-ERS 2198-E4015-ERS 2198-E4020-ERS
AC input voltage 342…528V rms, three-phase (480V nom)
AC input frequency 47…63 Hz
Mains AC input current (1)
Nom (rms) 380V input (three-phase) 1.49 A 2.31 A 5.009 A 6.29 A
Max inrush (0-pk) 380V input 5.66 A 5.66 A 5.66 A 9.43 A
Nom (rms) 480V input (three-phase) 1.34 A 2.08 A 4.38 A 4.94 A
Max inrush (0-pk) 480V input 7.15 A 7.15 A 7.15 A 11.91 A
21.6…26.4V DC
Control power input voltage 24V DC nom
Control power input current @ 24V DC (2) 1.27 ADC 1.40 ADC
Control power in-rush current @ 24V DC 4.14 ADC 4.97 ADC
Continuous output current (rms) 1.60 A 3.19 A 6.05 A 7.42 A
Continuous output current (0-pk) 2.26 A 4.51 A 8.56A 10.49 A
Peak output current (rms) (3) 5.40 A 8.0 A 15.11 A 20.78 A
Peak output current (0-pk) 7.63 A 11.31 A 21.36 A 29.38 A
Line loss ride through 20 ms
Continuous output power 0.40 kW 0.75 kW 1.50 kW 2.0 kW
Internal shunt on
760V
Internal shunt off
Internal shunt resistor 80 Ω –
Internal shunt power 10 W –
Bus undervoltage 282V
Bus overvoltage 820V
Bus capacitance 165 µF 235 µF 470 µF
Capacitive energy absorption 11.2 J 16.0 J 32.0 J
Short-circuit current rating 5,000 A (rms) symmetrical
(1) Kinetix 5100 drive modules are limited to 1 AC mains power cycling per minute.
(2) Kinetix 5100 drive modules are limited to 1 control power cycling every 20 seconds.
(3) Peak RMS current allowed for up to 1.8 seconds.

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 Chapter 2 Replacement Considerations

Table 18 - Kinetix 5100 Power Specifications (480V nom three-phase, continued)

Attribute 2198-E4030-ERS 2198-E4055-ERS 2198-E4075-ERS 2198-E4150-ERS
AC input voltage 342…528V rms, three-phase (380/480V nom)
AC input frequency 47…63 Hz
Mains AC input current (1)
Nom (rms) 380V input (three-phase) 9.96 A 16.825 A 23.664 A 36.855 A
Max inrush (0-pk) 380V input 9.43 A 9.43 A 9.43 A 28.28 A
Nom (rms) 480V input (three-phase) 7.91 A 13.35 A 18.78 A 29.25 A
Max inrush (0-pk) 480V input 11.91 A 11.91 A 11.91 A 35.73 A
21.6…26.4V DC,
Control power input voltage 24V DC nom
Control power input current @ 24V DC (2) 1.77 ADC 2.03 ADC 4.43 ADC
Control power in-rush current @ 24V DC 4.97 ADC 3.24 ADC 3.40 ADC
Continuous output current (rms) 13.95 A 24.8 A 31.0 A 41.26 A
Continuous output current (0-pk) 19.73 A 35.07 A 43.84 A 58.35 A
Peak output current (rms) (3) 26.08 A 37.65 A 53.32 A 70.14 A
Peak output current (0-pk) 36.88 A 53.24 A 75.39 A 99.18 A
Line loss ride through 20 ms
Continuous output power 3.0 kW 5.5 kW 7.5 kW 15.0 kW
Internal shunt on
760V
Internal shunt off
Internal shunt resistor – – – –
Internal shunt power – – – –
Bus undervoltage 282V
Bus overvoltage 820V
Bus capacitance 560 µF 1120 µF 1640 µF 2500 µF
Capacitive energy absorption 38.2 J 76.3 J 111.7 J 170.3 J
Short-circuit current rating 5,000 A (rms) symmetrical
(1) Kinetix 5100 drive modules are limited to 1 AC mains power cycling per minute.
(2) Kinetix 5100 drive modules are limited to 1 control power cycling every 20 seconds.
(3) Peak RMS current allowed for up to 1.8 seconds.

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Chapter 2 Replacement Considerations

I/O Availability and All Ultra3000 drives and Kinetix 5100 drives have a comprehensive set of
Specifications digital I/O and analog I/O. Use this section to verify if the I/O functionality is
comparable.

Digital Inputs
Table 19 compares the digital inputs of the Ultra3000 drives and the Kinetix
5100 drives.

Table 19 - Digital Inputs Comparison

Features Ultra3000 (Non-Sercos) Drives Kinetix 5100 Drives
Ten total (eight standard inputs, two
Inputs Eight inputs optional high-speed inputs)
DC common terminations 1 1
Number of Pre-selectable indexes 64 99
(using binary weighted digital inputs)
Multiple input assignment Yes Yes (via software programming)
De-bounce for inputs Yes, can be assigned to any input Yes
Yes, can be assigned to two high-
Registration Input Yes, can be assigned to any input speed inputs (Input 9 and Input 10)
Overtravels contact type N.C. only Can be N.O. or N.C.
Default assignment for digital inputs/ None Yes
outputs

Kinetix 5100 drives have eight inputs with configurable functions and two
high-speed inputs. The standard digital inputs on Kinetix 5100 drives have the
same physical characteristics. Table 20 and Table 21 compare the digital inputs
physical characteristics between Ultra3000 and Kinetix 5100 drives.

Table 20 - Digital Inputs Characteristics Comparison

Specification Ultra3000 Drives Kinetix 5100 Drives
Digital Input response Standard inputs: 1 ms
100 μs
(delay) High speed inputs: 3us
Standard inputs: 500us max
Digital Input scan time 1 ms High speed inputs: 1us

Table 21 - Digital Inputs Voltage and Current Comparison (IEC61131-2 Type 1 compliant for
Kinetix 5100 Drive)
Ultra3000 Drive Kinetix 5100 Drive
Parameter Description
Min Max Min Max
Voltage applied to the input, with respect
ON state voltage 10.8V 26.4V 15V 26.4V
IOCOM, to guarantee an ON state
ON state current Current flow to guarantee an ON State 3.0 mA 12.0 mA 2.0 mA 6.0 mA
Voltage applied to the input, with respect
OFF state voltage -1.0V 2.0V -1.0V 5.0V
IOCOM, to guarantee an OFF state

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 Chapter 2 Replacement Considerations

Ultra3000 and Kinetix 5100 Drives Dedicated Functionality Inputs

For Ultra3000 non-Sercos drives, each digital input configuration parameter

can assign one or more functions to the corresponding digital input. Assigning
a function causes that function to become active when the associated Digital
Input becomes active. If no functions are assigned by a digital input
configuration parameter, then the corresponding digital input is unassigned.

The supported digital input functionality for Ultra3000 drives is shown in the
first column of Table 22. There is not a direct correlation with the functionality
for the Kinetix 5100 drive - they are shown side by side for convenience.

The Kinetix 5100 drive digital inputs are assigned to specific functions by
using the KNX5100C software. Input 9 and Input10 are available as high-speed
digital inputs and registration functionality is available at these inputs only.
For details on all supported digital inputs for the Kinetix 5100 drive, see the
Kinetix 5100 EtherNet/IP Indexing Servo Drives Users Manual,
publication 2198-UM004.

The supported Digital Input functionality for Kinetix 5100 drives is shown in
the second column of Table 22. There is not a direct correlation with the
functionality for the Ultra3000 drive - they are shown side by side for
convenience.

Table 22 - Supported Digital Input Functionality

Ultra3000 Drive Kinetix 5100 Drive
Enable Drive Servo is activated (SON, Drive Enable)
Home Sensor Fault Reset (ARST)
Registration Gain Switching (GAINUP)
Positive Hardware Overtravel Clear pulse counter (CCLR)
Negative Hardware Overtravel Zero Speed Clamp (ZCLAMP)
Define Home Position Command Input Reverse Control (CMDINV)
Disable Serial Input Command triggered (CTRG)
Start Homing Torque limit (TRQLM)
Latch Function of Analog Position Command
Pause Homing (VPL)
Abort Homing Speed Limit Enable (SPDLM)
Pause Index Position Selection (POS0 … POS6)
Abort Index Absolute Mode (ABSE)
Set up or Clear Absolute System Coordinates
Define Position (ABSC)
Preset Select 0 … Preset Select 5 ABSQ Always Input
Integrator Inhibit Speed Selection (SPD0, SPD1)
Follower Enable Torque Command (TCM0, TCM1)
Forward Enable Speed and Position Selection (S-P)
Reverse Enable Speed and Torque Mode Switching (S-T)
Operation Mode Override Torque and Position Selection (T-P)
Position Strobe Emergency stop (EMGS)
Reset Drive Reverse Inhibit Limit Clockwise (NL CWL)
Forward Inhibit Limit Counter Clockwise (PL
Start Index CCWL)
Remove Command Offset Homing Origin (ORGP)
Fault Reset Return to Homing Origin (SHOM)
— PT and PR Mode Switching (PT-PR)

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Chapter 2 Replacement Considerations

Table 22 - Supported Digital Input Functionality (Continued)

Ultra3000 Drive Kinetix 5100 Drive (Continued)
— E-Cam Alignment (ALGN)
— E-Cam Engaging Control (CAM)
— Forward Jog Input (JOGU)
— Event Trigger Command 1…4 (EV1…EV4)
E-Gear Ratio (Numerator) Selection1, 2 (GNUM0,
— GNUM1)
— External Pulse Inhibit (INHP)
— Motor Stop (STP)
— Profile Quick Stop (PFQS)
— Servo On with holding brake (DSO)

As shown in Figure 1, the Ultra3000 drives have eight optically isolated, active
high, current sourcing 12-24V DC digital inputs. The Kinetix 5100 drives, which
are shown in Figure 2, use digital inputs that are optically isolated and sink up
to 24V DC. You can design the inputs for PNP sourcing or NPN sinking.

Figure 1 - Ultra3000 Digital Input Circuit

Ultra3000 Drive
+5V

2.7 kΩ 10 kΩ
Inputs

1 kΩ

TLP121
IO COM DGND
IO COM

Figure 2 - Kinetix 5100 Drive Digital Input Circuit

NPN transistor (SINK mode) Kinetix 5100 Servo Drive

DCOM
4.7 kΩ,
approx.
24V DC

INPUTx

PNP transistor (SOURCE mode) Kinetix 5100 Servo Drive

INPUTx

24V DC

4.7 kΩ,
DCOM approx.

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 Chapter 2 Replacement Considerations

Digital Outputs

The Ultra3000 servo drives (non-Sercos) have four optically isolated transistor
outputs that can be assigned to various functions through software.
Additionally, the Ultra3000 drive has one relay output with normally open
contacts. When brake control is assigned to the relay output, it can directly
control a motor holding brake.

Kinetix 5100 drives have six outputs that can be assigned to various functions
through software. There is no relay output. Any standard digital outputs (with
additional external circuit) can be used to energize the motor holding brake.
The Kinetix 5100 drive requires an external relay. See the Kinetix 5100
EtherNet/IP Indexing Servo Drives User Manual, publication 2198-UM004 for
more information on how to configure and use the holding brake.

Table 23 compares the digital outputs of the two drives.

Table 23 - Digital Outputs Comparison

Ultra3000 (Non-Sercos) Kinetix 5100 Drives
Features Drives
5 (4 outputs + 1 relay
Outputs 6 outputs
output)
Brake output assignment Programmable Programmable, transistor type
Capability to use separate 24V DC
Use common 24V DC power to Energize outputs Yes power
Configurable output assignment Yes Yes

Table 24 and Table 25 compare the digital output physical characteristics

between Ultra3000 and Kinetix 5100 drives.

Table 24 - Digital Outputs Characteristics Comparison

Specification Ultra3000 Drives Kinetix 5100 Drives
Digital outputs pass through delay 100 µs 1 ms max
Digital outputs scan time 1 ms 250 µs max

Table 25 - Digital Outputs Parameters Comparison

Ultra3000 Drive Kinetix 5100 Drive
Parameter Description
Min Max Min Max
ON state current Current flow when the output transistor is ON — 50 mA — 40 mA
OFF state current Current flow when the output transistor is OFF — 0.1 mA — 0.1 mA
ON state voltage Voltage across the output transistor when ON — 1.5V — 1.5V @ 40 mA
OFF state voltage Voltage across the output transistor when OFF — 50V — 30V

As shown in Figure 3, for the Ultra3000 drives, there are four optically isolated
12-24V DC digital outputs, active high, current sourcing. The Ultra3000 does
not have default assignments for digital outputs. The Kinetix 5100 drives have
digital outputs that are optically isolated and you can design the outputs for
open collector or open emitter.

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Chapter 2 Replacement Considerations

Figure 3 - Ultra3000 Digital Output Circuit

200 Ω IOPWR

+5V

OUTPUT
OUT TLP127

Figure 4 - Kinetix 5100 Drive Digital Output Circuits

The servo drive applies external power supply
and the load is resistive. Kinetix 5100 Servo Drive.

R
24V DC
OUTPUTx+

OUTPUTx–
Confirm the polarity of the
diode is correct or it may
damage the servo drive.
The servo drive applies external power supply
and the load is inductive. Kinetix 5100 Servo Drive.

24V DC
OUTPUTx+

OUTPUTx–

Analog Inputs

This section describes analog inputs for Ultra3000 (Non-Sercos) and

Kinetix 5100 servo drives. Table 26 compares the analog inputs of these two
drives.
Table 26 - Analog Inputs Parameters Comparison
Parameter Ultra3000 Drives Kinetix 5100 Drives
Analog Inputs Resolution 14 bits 15 bits min
Analog Inputs Impedance 20 kΩ Approx. 12 kΩ typical
Analog Inputs Voltage -10…+10V -10…+10V
Analog Inputs Scan Time 0.0625 ms 0.0625 ms max
Offset Error 50 mV 50 mV max
Gain Error 1% 1% max
Propagation Delay 100 µS 100 μS max

The Ultra3000 drive analog COMMAND input can receive a position, velocity,
or current command signal. A 14-bit A/D converter digitizes the signal. The
characteristics of this input are shown in Figure 5.

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 Chapter 2 Replacement Considerations

Kinetix 5100 servo drives support two analog input pins (COMMAND1 and
COMMAND2) as shown in Figure 6. The analog COMMAND1 (T-REF) input
receives a torque reference signal and the COMMAND2 (V-REF) input receives
a position or speed command signal. A 16-bit A/D converter digitizes the
signal, however, the effective resolution is 15 bit due to noise. For details see
the Kinetix 5100 EtherNet/IP Indexing Servo Drives Users Manual,
publication 2198-UM004.

Figure 5 - Ultra3000 Analog Input Circuit

Ultra3000 Drive

1000 µF

10k Ω 10k Ω 20k Ω

COMMAND +
0.01 mF
10k Ω 10k Ω
COMMAND -
0.01 mF 1000 µF 20k Ω

Figure 6 - Kinetix 5100 Drive Analog Input Circuit

Controller Kinetix 5100 Servo Drive

10 kΩ 18
±10V COMMAND1-Torque
42 COMMAND2-Speed
13
Analog GND

AGND

When using Ultra3000 drives, the ILIMIT input limits drive current when
used. If ILIMIT input is not used, current is only limited by using Ultraware
software.

Kinetix 5100 servo drives do not provide the ILIMIT input for output current
limiting. The current command can be limited by using internal parameters
ID128…ID130 (P1.012…P1.014) internal torque limits 1…3 in PT, PR, and S mode.
Digital inputs can be used to provide a binary weighted, pre-programmed
Torque Limit. See the Kinetix 5100 EtherNet/IP Indexing Servo Drives Users
Manual, publication 2198-UM004, for more details.

Analog Output

This section describes analog outputs for Ultra3000 (Non-Sercos) and

Kinetix 5100 servo drives. Table 27 compares the analog outputs of these
drives.

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Table 27 - Analog Outputs Parameters Comparison

Parameter Ultra3000 Drive Kinetix 5100 Drive
Analog Outputs Resolution 8 bits 10 bits min
Analog Outputs Current max 2 mA 1 mA
Configurable as either -8…+8V DC, or
Analog Outputs Voltage -10…+10V -10…+10V DC
Analog Outputs Scan Time – 0.25 ms max
Offset Error 500 mV 100 mV max
Gain Error 10% 5% max
Bandwidth 50 Hz 50 Hz min

The Ultra3000 uses one programmable analog output. The Kinetix 5100 servo
drive provides two programmable analog outputs (MON1 and MON2) which
are single-ended based on the analog ground.

Figure 7 - Ultra3000 Drive Analog Outputs Circuit

Ultra3000 Drive

AOUT
100 Ω
0.01 µF

Figure 8 - Kinetix 5100 Drive Analog Output Circuit

Output:
24 kΩ 1 mA, max

16 8 kΩ
AOUT1
15 V 8V
AOUT2
13 Full-scale
Analog GND

AGND

The Ultra3000 drive analog outputs can be configured using Ultraware

software. The Kinetix 5100 drive analog outputs can be configured using
parameters or KNX5100C software.

With the Kinetix 5100 drive, you can select the data to be monitored via
parameter ID 103 (P0.003) AOMonitorSelection. The first 5 settings for the
Kinetix 5100 drive in Table 28 show the different configurations that can be
used with MON1/MON2 analog outputs. For details see the Kinetix 5100
EtherNet/IP Indexing Servo Drives Users Manual, publication 2198-UM004.

Table 28 shows the analog output values for the Ultra3000 and the Kinetix
5100 drives. They are listed in one table for ease of reading; they are not
equivalent settings.

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 Chapter 2 Replacement Considerations

Table 28 - Ultra3000 Drive and Kinetix 5100 Drive Analog Output Values
Ultra3000 Drive Kinetix 5100 Drives (Available functions for analog outputs)
(Available functions Mon1 and MON2
for analog outputs) Description
Setting Value(1)
Current Average 0 Motor speed (full output range (2) / max speed)
Current Command 1 Motor torque (full output range (2) / max torque)
Current Feedback 2 Pulse command frequency (full output range (2) / 4.5 MHz)
Position Command 3 Speed command (full output range (2) / max speed command)
Position Error 4 Torque command (full output range (2) / max torque command)
Position Feedback 5 BUS voltage (full output range (2) / 450V)
Velocity Command 6 P1.101 Preset Analog Output Value 1
Velocity Error 7 P1.102 Preset Analog Output Value 2
Velocity Feedback — —
(1) ID 103 (P0.003)
(2) +/-8V or +/-10V depending on configuration

Control and Auxiliary Power Specifications

The control power input allows the drive to maintain logic power when main
power is removed. This allows communication between the controller and the
drive to remain active; as well as maintaining the USB connection for the
drive.

The Ultra3000 servo drives (2098-DSD-005, -010, and -020) use an external +5V
power supply in applications where it is necessary to maintain logic power
when the main power is removed. The +24V DC I/O supply (IOPWR) allows use
of a drive-mounted breakout board with 24V DC to 5V DC converter
(2090-U3CBB-DM12). All other Ultra3000 servo drives have other auxiliary
power requirements.

Table 29 - Ultra3000 Drives +24V DC Control Power Supply Specification

Parameter Description Min Max
Input voltage Input voltage range of the external power supply for drive- 18V DC 30V DC
range mounted breakout boards with 24V DC to 5V DC converter.
Input current draw from the external power supply for the drive- —
Input current 400 mA
mounted breakout boards with 24V DC to 5V DC converter.

Table 30 - Ultra3000 Drives 5V Control Power Supply Specifications

Parameter Description Min Max
Voltage Voltage tolerance of the external logic supply. 5.1V DC 5.25V DC
Current Current output capability of the external +5V DC power supply. 1.5 A —

Table 31 - Ultra3000 Drive Auxiliary Power Specification (230V)

Specification 2098-DSD-030 2098-DSD-075 2098-DSD-150
Auxiliary AC input current
115V AC (rms) nom 1.0 A 1.0 A 1.0 A
230V AC (rms) nom 0.5 A 0.5 A 0.5 A
115V AC (0-pk) max inrush 47 A 47 A 47 A
230V AC (0-pk) max inrush 95 A 95 A 95 A

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Chapter 2 Replacement Considerations

The Kinetix 5100 drive requires a control power supply shown in Table 32 and
Table 33. Depending on the voltage class of the drive, the control power is
either be a phase from the incoming power (non-400V-class) or
24V DC (400V-class)
Table 32 - Kinetix 5100 Servo Drive Control Power and Auxiliary Power Rating - 200V-class
Maximum Input Current of Inrush current of Control Maximum Input Current of Inrush current of Control
Cat. No. Control Power Power Control Power Power
A rms at 120Vrms nom A 0-pk at 120V rms nom A rms at 230Vrms nom A 0-pk at 230V rms nom
2198-E1004-ERS 0.34 15.80 0.20 37.0
2198-E1007-ERS 0.38 18.20 0.22 37.40
2198-E1015-ERS 0.63 19.20 0.22 39.80
2198-E1020-ERS – 19.20 0.35 32.40
2198-E2030-ERS – – 0.35 36.40
2198-E2055-ERS – – 0.46 32.80
2198-E2075-ERS – – 0.48 40.0
2198-E2150-ERS – – 0.92 37.0

The 400V-class drives require 24V DC control power.

Table 33 - Kinetix 5100 Servo Drive Control Power and Auxiliary Power Rating - 400V-class
Maximum Input Current of Control Power Inrush current of Control Power
Cat. No. A rms at 24V DC A at 24V DC
2198-E4004-ERS
2198-E4007-ERS 1.27 4.14
2198-E4015-ERS
2198-E4020-ERS 1.40 4.97
2198-E4030-ERS 1.77 4.97
2198-E4055-ERS
2.03 3.24
2198-E4075-ERS
2198-E4150-ERS 4.43 3.40

Compatible Motors

Table 34 compares different motors that are supported by Ultra3000 servo

drives and Kinetix 5100 servo drives. Only the Kinetix MP and TL/TLY motors
are supported by Ultra3000 drive and Kinetix 5100 drive. For more
information on supported motors and feedback, see the Kinetix 5100
EtherNet/IP Indexing Servo Drives Users Manual, publication 2198-UM004.

Table 34 - Motor Supported by Ultra3000 and Kinetix 5100 Drives

Servo Motor Ultra3000 Drives Kinetix 5100 Drives
Kinetix MP Yes Yes(1)
1326AB-Series (M2L/S2L) Yes –
F-Series Yes –
H-Series Yes –
N-Series Yes –
Y-Series Yes –
Kinetix TL and TLY servo motors (Tamagawa serial
feedback/TTL incremental feedback) Yes(2) Yes(3)
Kinetix TLP – Yes
(1) Excludes Kinetix MPL motors with resolvers.
(2) Yes to TLY-Axxx-H, but not TL.
(3) Yes to TL-Axxx-B, TLY-Axxx-B, and TLY-Axxx-H

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 Chapter 2 Replacement Considerations

Feedback Devices The Kinetix 5100 drives and the Ultra3000 drives accept motor feedback
signals from Hiperface absolute high-resolution encoders and generic TTL
incremental encoders, by using the motor feedback (MFB) connector.

In addition, the Kinetix 5100 drives accept motor feedback signals from 24-bit
high-resolution absolute single-turn and multi-turn (multi-turn requires
battery back-up) encoders that are used in Kinetix TLP motors. The Kinetix
5100 drives accept motor feedback signals from 17-bit absolute encoders that
are used in Kinetix TL and TLY motors.

For more information on the Kinetix 5100 drive compatible feedback encoders,
see the Kinetix 5100 Ethernet/IP Indexing Servo Drives User Manual,
publication 2198-UM004.

For more information on the Ultra3000 drives compatible feedback encoders,

see the Ultra3000 Drive Systems Design Guide, publication KNX-RM008.

Accessories This section describes required and optional accessories for Ultra3000 and
Kinetix 5100 servo drives.

Drive accessories that are shared between Ultra3000 drives and Kinetix 5100
drives include the following:
• 2090-Series motor power and feedback cables
• 2198-K51CK-D15M feedback connector kit that is required for wiring
feedback cables with flying leads

Application accessories such as shunts and line filters, can impact drive
replacement, so they are covered in this section.

Other Ultra3000 drive accessories, for example, panel-mounted breakout

boards, resistive brake module (RBM), and external auxiliary encoders are not
shared with Kinetix 5100 servo drives.

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Chapter 2 Replacement Considerations

Required Drive Accessories

See the Kinetix Motion Accessories Technical Data, publication KNX-TD004,

for detailed descriptions and specifications of these servo drive accessories.

Table 35 - Ultra3000 Drive Required Drive Accessories

Drive Accessory Cat. No. Description
24V DC power supply 1606-XLxxx 12…24V DC for control and I/O power.
2090-UXBB-DM15(1) Motor feedback (CN2) connections.
2090-UXBB-DM09 Serial interface (CN3) connections.
I/O (CN1) connections. These kits apply to all Ultra3000 drives
Drive-mounted breakout (Cat. No. 2098-DSD-005, 2098-DSD-010, and 2098-DSD-020) in
boards (required for 2090-U3BB2-DM44 applications where 5V DC control power (if necessary) is user-
flying lead cables) supplied.
I/O (CN1) connections. These kits apply to only 2098-DSD-005,
2090-U3CBB-DM44 2098-DSD-010, and 2098-DSD-020 drives in applications where a
24…5V DC converter for control power is required.
Serial interface cable 2090-UXPC-D09xx Ultra3000 drive serial interface to personal computer.
Motor power and See the specific drive/motor combination for the motor cables
feedback cables(2) required for your system.
(1) Accessory can be shared with Kinetix 5100 servo drive.
(2) Motor Power and feedback cable for Kinetix MP servo motor (Bulletin -2090) can be shared with Kinetix 5100 servo drive.

Table 36 - Kinetix 5100 Drive Required Drive Accessories

Accessory Cat. No. Description
24V DC power supply 1606-XLxxx 12…24V DC for I/O power
Mini USB cable (for connecting a Kinetix 5100 drive to a personal
2198-USBC computer)
Communication Cable USB cable filter to remove nuisance noise issues when
2198-USBF connecting Kinetix 5100 drives to a personal computer with
KNX5100C software
For wiring flying lead feedback cable to Motor Feedback Port of
Feedback Connector kit 2198-K51CK-D15M the Kinetix 5100 drive
I/O Connector kit 2198-TBIO Terminal blocks for wiring I/O signals to PLC s and other devices
Motor Power and See the specific drive/motor combination for the motor cable
-
Feedback Cables required for your system

Optional Drive Accessories - Ethernet Cable

A 1585J series Ethernet cable(1585J-M8CBJM-x, 1585J-M8UBJM-x,

1585J-M8CB-x) is required when a Kinetix 5100 drive is controlled via Ethernet
(either in IO mode or via Explicit Messaging).

Optional Drive Accessories - Shunt Resistors

The Ultra3000 drives (2098-DSD-005, 2098-DSD-010, 2098-DSD-020) have no

internal shunting capability. These drives support the active shunt module. All
other Ultra3000 drive models have internal shunting capability and support a
passive shunt module (external shunt resistor).
• Active shunts are used to provide shunt capability (the shunt absorbs
excessive regenerative energy on the DC bus) for the drive.
• Passive shunts (shunt resistors) are used when drives have NO internal
shunt resistor or the internal shunt resistor power is not enough.

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 Chapter 2 Replacement Considerations

Table 37 - Ultra3000 Drive Shunt Resistor Specification

Specifications
Ultra3000 Drive Shunt Module Cat.
Peak Power kW Peak Current A Continuous
Cat. No. No. Shipping Weight
Shunt Type Drive Voltage Resistance Ω Power W kg (lb)
2098-xxx-005
2098-xxx-010 2090-UCSR-A300 Active 36 4.0 10.5 300 1.51 (3.3)
2098-xxx-020
230V AC
2098-xxx-030 9101-1183 30 5.9 14.0 200 —
2098-xxx-075 2090-UCSR-P900 18 10.0 23.3 4.08 (9.0)
2098-xxx-150
2098-DSD-HV030, Passive 900
2090-SR120-09 120 5.3 6.7 3.63 (8.0)
2098-DSD-HV050
400V
2090-SR040-09 40 20.0 3.63 (8.0)
2098-DSD-HV100 16.0
2090-SR040-18 40 20.0 1800 8.6 (19.0)

All Kinetix 5100 servo drives have internal shunt IGBT. However, only
2198-E1004-ERS…2198-E2030-ERS and 2198-E4004…2198-E4015 drives have an
internal shunt resistor. The DC+ to ISH terminal jumper connects the internal
shunt resistor.

Bulletin 2198-Rxxx and 2097-Rx shunt resistors are external modules that
provide additional shunt capacity for applications when the internal shunt
capacity of the drive is exceeded. Catalog number 2198-R031 is made of resistor
coils that are housed inside an enclosure. Catalog numbers 2198-R004, 2097-
R6, and 2097-R7 are shunt resistors without an enclosure. Figure 9, Figure 10,
Figure 11, Table 38, and Table 39 describe shunt resistor specifications and
dimensions.

These dimensions apply to units with an enclosure.

Figure 9 - Product Dimensions: Catalog Number 2198-R031

Left Side View Front View
Removable
F Cover C

5/16 in. Hex Screws

5/16 in. E
Hex Screws

G D
Ø (5) Conduit Knockout Top View (cover removed)
12.7 (0.5)
Dimensions are in mm (in.)

B
Ø (4)
11.1 (7/16) Mounting Holes

Table 38 - 2198-R031 Shunt Resistor Dimensions

Cat. No. A B C D E F G
2198-R031 635 (25.0) 343 (13.5) 683 (26.88) 673 (26.5) 178 (7.0) 406 (16.0) 403 (15.88)

These dimensions apply to units without an enclosure.

Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 37

Chapter 2 Replacement Considerations

Figure 10 - Product Dimensions: Catalog Number 2198-R004

Dimensions are in mm (in.)
305 (12.0)
292 (11.5)

38.1 (1.5) Top View

Ø (2)
457 mm (18 in.) 450 °C (842 °F)
5.6 (7/32) Mounting Holes
High-Temperature Wire Leads

76.2 Side View

(3.0)

Figure 11 - Product Dimensions: Catalog Numbers 2097-R6 and 2097-R7

Dimensions are in mm (in.)

Flying Leads
500
(19.68) 2.5 mm2
(14 AWG)

12.0
(0.47) 10.0
(0.39) Shunt Resistor
4.3 Cat. No. L1 L2 L3
(0.17)
2097-R6 210 (8.3) 197 (7.7) 170 (6.7)
2097-R7 150 (5.9) 137 (5.4) 110 (4.3)

L2
L1 L3

10.0
(0.39) 12.0 41.0
(0.47) (1.6)

Table 39 - 2198-Rx and 2097-Rx Shunt Resistor Specification

Cat. No. Resistance (Ω) Continuous Power (W) Weight, approx kg (lb)
2198-R004 33 400 1.8 (4.0)
2198-R031 33 3100 16.8 (37)
2097-R6 75 150 0.3 (0.7)
2097-R7 150 80 0.2 (0.4)

See the Kinetix 5700 Passive Shunt Modules Installation Instructions,

publication 2198-IN011 for information on installing the shunt modules.

Optional Drive Accessories - AC Line Filters

An AC line filter is a key component in achieving CE standards compliance.

The Kinetix 5100, and Ultra3000 drives do not use the same line filters. Once
you select the Kinetix 5100 drive for your application, choose the line filter that
is appropriate for that particular drive. This section describes the
specifications for the line filters used for each drive.

38 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020

 Chapter 2 Replacement Considerations

Table 40 - Ultra3000 Drives AC Line Filter Selection

Drive Family Drive Cat. No. AC Line Filter Cat. No. Motor Cables > 30 m (98.4 ft)
2098-xxx-005 2090-UXLF-106 2090-UXLF-110
2098-xxx-010 2090-UXLF-110 2090-UXLF-110
2098-xxx-020 2090-UXLF-123 2090-UXLF-123
2098-xxx-030 2090-UXLF-136 2090-UXLF-132
2098-xxx-075 2090-UXLF-336 2090-UXLF-HV330
Ultra3000 drive
2098-xxx-150 2090-UXLF-350 2090-UXLF-HV350
2098-DSD-HV030,
2098-DSD-HV050, 2090-UXLF-HV323 2090-UXLF-HV323
2098-DSD-HV100,
2098-DSD-HV150
2098-DSD-HV220 2090-UXLF-HV330 2090-UXLF-HV330

Table 41 - AC Line Filter Specifications

Specifications (1) (2)
AC Line Filter
Current A @ Power Leakage
Voltage Phase Weight
Cat. No. Operating
50 °C (122 °F) Loss W Current approx Temperature
mA kg (lb)
2090-UXLF-106 6 3.5 2.26 0.3 (0.66)
2090-UXLF-110 10 2.7 45 0.95 (2.0)
-25…+85 °C
2090-UXLF-123 23 10 90
1.6 (3.5) (-13…+185 °F)
2090-UXLF-132 1 PH 32 20 90
250V AC
2090-UXLF-136 50/60 Hz 36 – 200 1.75 (3.9)
-25…+100 °C
2090-XXLF-TC116 16 – 87 0.80 (1.7) (-13…+212 °F)
2090-UXLF-336 36 – 138 -25…+85 °C
3 PH 2.7 (5.9)
2090-UXLF-350 50 25 138 (-13…+185 °F)
(1) For all filters, 90% relative humidity.
(2) For all filters, 10…200 Hz @ 1.8 g vibration.

For the Kinetix 5100 drive, the AC line filters are mounted directly beside the
drive (side) with flying lead connections.

Table 42 - Kinetix 5100 Drives AC Line Filter Catalog Numbers

Kinetix 5100 Drive AC Line Filter Cat. No. AC Line Filter Cat. No.
Cat. No. (single-phase operation) (three-phase operation)
2198-E1004-ERS 2198-DB111-F
2198-DB310-F
2198-E1007-ERS
2198-E1015-ERS 2198-DB127-F
2198-E1020-ERS 2198-DB324-F
2198-E2030-ERS (1) —
2198-E2055-ERS (1) — 2198-DB335-F
(1) — 2198-DB356-F
2198-E2075-ERS
(1) — 2198-DBR90-F
2198-E2150-ERS
2198-E4004-ERS –
2198-E4007-ERS –
2198-E4015-ERS – 2198-DB418-F
2198-E4020-ERS –
2198-E4030-ERS –
2198-E4055-ERS –
2198-B433-F
2198-E4075-ERS –
2198-E4150-ERS – 2198-DBR40
(1) 2198-E2xxx-ERS and 2198-E4xxx-ERS servo drives do not support single-phase operation.

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Chapter 2 Replacement Considerations

Table 43 - Kinetix 5100 Drives AC Line Filter Specifications

Current Rating Power Loss Leakage Current, Weight approx Operating
Cat. No. Voltage Rating max @ 50 °C (122 °F) A @ Rated Current W typical mA kg (lb) Temperature
2198-DB111-F 253V AC 11.0 4.9 52.9 1.05 (2.314)
2198-DB127-F 1 PH, 50/60 Hz 27.0 15.5 54.9 1.80 (3.968)
2198-DB310-F 253V AC 10.0 14.0 3.9 1.10 (2.425)
2198-DB324-F 3 PH, 50/60 Hz 24.0 29.0 9.3 1.95 (3.968)
2198-DB335-F 253V AC 34.8 30.0 5.8 2.90 (6.393) 0…50 °C
2198-DB356-F 3 PH, 50/60 Hz 56.0 57.0 2.8 4.00 (8.818) (32…122 °F)
2198-DB418-F 18.4 16.0 4.21 1.2 (2.65)
2198-DB433-F 528V AC 33.0 35.0 3.58 1.9 (4.19)
2198-DBR40-F 3 PH, 50/60 Hz 54.0 15.0 30.0 3.3 (7.28)
2198-DBR90-F 90.0 16.8 34.0 7.2 (15.87)

Communication This section lists the communication protocols that are supported by the
Ultra3000 and Kinetix 5100 servo drives respectively, and gives different
communication configurations of the Kinetix 5100 drive.

Ultra3000 Servo Drive Configuration Port

The Ultra3000 drive uses one serial port that implements the standard NRZ
asynchronous serial format, and supports RS-232, RS-422, and RS-485
communication standards. The connector pinout dedicates separate pins for
the RS-232 and RS-422/ RS-485 signals, so that the communication standard
can be changed by using another cable.

The Ultra3000 drive uses Ultraware software for configuration via the serial
port.

Kinetix 5100 Servo Drive Configuration Port

The Kinetix 5100 drives include one mini-USB port for connecting the personal
computer and allows you to configure the servo drive with the KNX5100C
software. The 2198-USBC cable is a Type B Mini-USB port that is compatible
with USB 2.0. This cable with 2198-USBF filter is required to make the
connection to a personal computer.

You can configure Kinetix 5100 drives with KNX5100C software via the mini-
USB port.

Ultra3000 Servo Drive Control Port

The Ultra3000 servo drives use MODBUS communication over RS232/RS422/

RS485 or DeviceNet for controlling the drive. A DeviceNet interface module
serves as a link between the ControlLogix/CompactLogix platform and the
Ultra3000 servo drive system.

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 Chapter 2 Replacement Considerations

Kinetix 5100 Servo Drive Control Port

The Kinetix 5100 servo drives use an EtherNet/IP network for communicating
to either a ControlLogix or CompactLogix programmable automation
controller, by using a Class 1 EtherNet/IP connection (with a pre-defined Add-
On-Profile) or Class 3 connection by using Explicit messaging.

All Kinetix 5100 servo drives include two RJ45 ports that support 10/100 Mb
communication speeds. Ethernet topologies including linear, ring, and star.

For more information on Ethernet design considerations, see these

publications:
• Ethernet Reference Manual, publication ENET-RM002.
• Scalability - The Best Approach to Change,
publication IA-WP002A.
• EtherNet/IP Design, Commissioning, and Troubleshooting Quick
Reference Drawings, publication IASIPM-QR023.
• EtherNet/IP Configuration Drawing, publication IASIMP-QR019D.

Configuration and Programming Software

Ultraware software is used to configure and program the Ultra3000 drives. For
information on how to use Ultraware software, see the Ultraware Software
User Manual, publication 2098-UM001.

KNX5100C software is used to configure the drive. For information on how to

use KNX5100C software, see the Kinetix 5100 User Manual,
publication 2198-UM004. Depending on the controller used in the application,
Studio 5000 Logix Designer application (for ControlLogix, CompactLogix),
Connected Components Workbench™ software (for Micro800-Series
controllers), or RSLogix 500® software (for MicroLogix controllers) is required
to program the controller for controlling the Kinetix 5100 drives. For
information on how to use these programs, see the corresponding controller
user manuals.

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Chapter 2 Replacement Considerations

Notes:

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 Chapter 3

Connectors and Indicators

This chapter shows connectors and indicators for the Ultra™ 3000 servo drives
and the Kinetix® 5100 servo drives.

Ultra3000 Servo Drive Use these illustrations to identify the connectors and indicators for Ultra3000
Connector Data servo drives.

Figure 12 - Ultra3000 Servo Drive Front Panel Connections (Catalog Numbers 2098-DSD-005,
-005X, -010, -010X, -020, and -020X)

1
6
2

7
3

Ultra3000 Drive, Front View

(230V [500 W, 1 kW, and 2 kW] drive is shown)

Table 44 - Ultra3000 Servo Drive Front Panel Connections Descriptions

(Cat. Nos. 2098-DSD-005, -005x, -010, -010x, -020, and -020x)
Item Description
1 DC bus connections for active shunt resistor kit
2 AC input power connections
3 Motor power connections
4 Motor power cable shield clamp
5 CN3 9-pin serial port connector
6 CN2 15-pin motor feedback connector
7 CN1 44-pin user I/O connector

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Chapter 3 Connectors and Indicators

Figure 13 - Ultra3000 Servo Drive Front Panel Connections (Catalog Numbers 2098-DSD-005-DN,
-005X-DN, -010-DN, -010X-DN, -020-DN, and -020X-DN)

7
6
8
5
9

10
4
11

3 12
8

13
2

14
1

Item Description Item Description

1 Motor Power Cable Shield Clamp 8 Network Status Indicator
2 Motor Power Connections 9 CN3 9-pin Serial Port Connector
3 AC Input Power Connections 10 Node Address Switches
DC Bus Connections for Active Shunt
4 11 CN2 15-pin Motor Feedback Connector
Resistor Kit
5 Logic Power Status Indicator 12 Data Rate Switch
6 Seven Segment Status LED 13 DeviceNet interface connector
7 Module Status Indicator 14 CN1 44-pin User I/O Connector

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 Chapter 3 Connectors and Indicators

Figure 14 - 2098-DSD-HV030, 2098-DSD-HV050, 2098-DSD-HV100, 2098-DSD-HV150, and

2098-DSD-HV220 Ultra3000 (400V-class) Drives

6
10
11
(00-63, PGM)

12
1
Internal
External Shunt

4 2
13 125kB
250kB
500kB
AUTO
3 PGM

7
TB2

DANGER
Hazardous voltage
exists after power down.

3 8
DC Bus

2
Motor

9
L3

L2

1
230-480 VAC
50/60 Hz

L1 DeviceNet

L1
AUX V-

14
Can_L
L2
AUX Shield

Can_H

V+
TB1

2098-DSD-HVxxx-DN and
2098-DSD-HVxxx and 2098-DSD-HVxxxX 2098-DSD-HVxxxX-DN
Ultra3000 and Ultra3000 Indexing Drives Ultra3000 DeviceNet and
DeviceNet Indexing Drives

Item Description Item Description

1 AC input power connections 8 CN2 15-pin motor feedback connector
DC bus connections for active shunt resistor
2 9 CN1 44-pin user I/O connector
kit
3 Motor power connections 10 Module status indicator
4 Passive shunt resistor connections 11 Network status indicator
5 Seven-segment fault status indicator 12 Node address switches
6 Logic power 13 Data rate switch
7 CN3 9-pin serial port connector 14 DeviceNet interface connector

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Chapter 3 Connectors and Indicators

Kinetix 5100 Servo Drive Use these illustrations to identify the connectors and indicators for Kinetix®
Connector Data 5100 servo drives.

Figure 15 - Features and Indicators (Catalog numbers 21998-E1004-ERS, 2198-E1007-ERS, and

2198-E1015-ERS)

1
2
5100

3 4
MOD

13

MFB
NET
CHARGE

2 5
14

UVW
1 6
12

DC+ ISH ESH

15

L1C L2C P1 P2 DC-

7 11

L1 L2 L3
I/0

10

STO
8
AUX

Kinetix 5100 Drive, Front View 9 Kinetix 5100 Drive, Top View Kinetix 5100 Drive, Bottom View
(2198-E1004-ERS drive is shown) (2198-E1004-ERS drive is shown) (2198-E1004-ERS drive is shown)

Table 45 - Features and Indicators Description (Cat. Nos. 2198-E1004-ERS, 2198-E1007-ERS, and 2198-E1015-ERS)
Item Description Item Description
1 Status display 9 Motor cable ground plate
2 Navigation push buttons 10 Safe Torque Off (STO) connector
3 Module, Network, and Charge status indicators 11 Mains input power connector
• Control power input (L1C and L2C) connections
4 Mini USB connector 12
• Reserved (P1, P2, and negative DC-bus) connections
5 Ethernet (PORT2) RJ45 connector 13 Motor feedback (MFB) connector
6 Ethernet (PORT1) RJ45 connector 14 Motor power output terminals
7 I/O signal connector 15 Shunt resistor terminals
8 Auxiliary feedback (AUX) connector

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 Chapter 3 Connectors and Indicators

Figure 16 - Features and Indicators (catalog numbers 2198-E1020-ERS, 2198-E2030-ERS,

2198-E4004-ERS, 2198-E4007-ERS, 2198-E4015-ERS)

1
2
5100
3 MOD
4 13
CHARGE

MFB
NET

12
L1C
L2C 2 5
L1
11 L2
L3 1 6
P1
16 P2
DC–

DC+

15 ISH
17
ESH I/O 7
U
14 V
W

8
AUX

9 10

STO
Kinetix 5100 Drive, Front View
(2198-E1020-ERS drive is shown)
Kinetix 5100 Drive, Top View Kinetix 5100 Drive, Bottom View
(2198-E1020-ERS drive is shown) (2198-E1020-ERS drive is shown)

Figure 17 - Features and Indicators (catalog numbers 2198-E4020-ERS, 2198-E4030-ERS)

1
2
3 CHARGE

4
MOD

NET

24V+

12
2 5
24V–

L1
1 6

11 L2 17
L3
I/O 7
P1

16 P2

DC–
8
DC+
AUX
15
ESH
10
STO

U
13
14 V

W MFB
18
Kinetix 5100 Drive, Top View Kinetix 5100 Drive, Bottom View
(2198-E4020-ERS drive is shown) (2198-E4020-ERS drive is shown)
9

Kinetix 5100 Drive, Front View

(2198-E4020-ERS drive is shown)

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Chapter 3 Connectors and Indicators

Figure 18 - Features and Indicators

(catalog numbers 2198-E2055-ERS, 2198-E2075-ERS, 2198-E2150-ERS, 2198-E4055-ERS,
2198-E4075-ERS, and 2198-E4150-ERS)

1
2
3
5100

CHARGE
MOD

NET 4
L1C 5
12 L2C

L1
6
11 L2 17
L3

P1 I/O 7
16 P2

DC–

DC+ 8
15 AUX
17
10
ESH

STO
U
13
14 V
MFB

W
18 Kinetix 5100 Drive, Top View Kinetix 5100 Drive, Bottom View
(2198-E2055-ERS drive is shown) (2198-E2055-ERS drive is shown)

9
Kinetix 5100 Drive, Front View
(2198-E2055-ERS drive is shown)

Table 46 - Features and Indicators Description (Cat. Nos. 2198-E2055-ERS, 2198-E2075-ERS, 2198-E2150-ERS, 2198-E4055-ERS,
2198-E4075-ERS, and 2198-E4150-ERS)
Item Description Item Description
1 Status display 10 Safe Torque Off (STO) connector
2 Navigation push buttons 11 Mains input power terminals
3 Module, Network, and Charge status indicators 12 Control power input terminals
4 Mini USB connector 13 Motor feedback (MFB) connector
5 Ethernet (PORT2) RJ45 connector 14 Motor power output terminals
6 Ethernet (PORT1) RJ45 connector 15 Shunt resistor terminals
Reserved (P1, P2, and negative DC-bus) not-used
7 I/O signal connector 16 connections
8 Auxiliary feedback (AUX) connector 17 Cooling fans
9 Motor cable ground plate 18 Protective cover

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 Chapter 3 Connectors and Indicators

I/O Connector This section describes the I/O connectors on the Ultra3000 and Kinetix 5100
drives. The Ultra3000 drive uses a 44-pin I/O connector shown in Figure 19,
and the Kinetix 5100 uses a 50-pin I/O connector, shown in Figure 20. For
locations of the I/O connector on an Ultra3000 drive see Figure 12 and
Figure 13. For the locations of I/O connectors on a Kinetix 5100 drive, see
Figure 15, Figure 16, and Figure 18. For descriptions of the signals on each pin,
see Table 47.

Figure 19 - Ultra3000 Drive 44-Pin I/O Connector Pin Assignments

Pin 30
Pin 44 Pin 15

Pin 31 Pin 1
Pin 16

Figure 20 - Kinetix 5100 Drive 50 Pin I/O Connector Pin Assignment

26 1

50 25

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Chapter 3 Connectors and Indicators

Table 47 compares the I/O connector pinouts for the Ultra3000 drive (CN1
connector) and Kinetix 5100 servo drives (I/O connector).
Table 47 - I/O Connector Assignment Comparison
Ultra3000 Servo Drives Kinetix 5100 Servo Drives

CN1 Pin Description Signal I/O Pin Description Signal

1 Auxiliary Encoder Power Out (+5V) EPWR 1 Digital output OUTPUT4+

2 Common ECOM 2 Digital output OUTPUT3-
3 Auxiliary Logic Power In (+5V) AUXPWR 3 Digital output OUTPUT3+
4 Auxiliary Encoder CH A+ AX+ 4 Digital output OUTPUT2-
5 Auxiliary Encoder CH A- AX- 5 Digital output OUTPUT2+
6 Auxiliary Encoder CH B+ BX+ 6 Digital output OUTPUT1-
7 Auxiliary Encoder CH B- BX- 7 Digital output OUTPUT1+
8 Auxiliary Encoder CH I+ IX+ 8 Digital Input INPUT4
9 Auxiliary Encoder CH I- IX- 9 Digital Input INPUT1
10 Unbuffered Motor Encoder CH A+ AM+ 10 Digital Input INPUT2
Common terminal for digital inputs, which are connected to DCOM
11 Unbuffered Motor Encoder CH A- AM- 11 +24V DC or 0V
12 Unbuffered Motor Encoder CH B+ BM+ 12 Analog input signal ground ACOM
13 Unbuffered Motor Encoder CH B- BM- 13 Analog input signal ground ACOM
14 Unbuffered Motor Encoder CH I+ IM+ 14 Not in use -
15 Unbuffered Motor Encoder CH I- IM- 15 Analog monitor output 2 AOUT2
16 Buffered Motor Encoder CH A+ AMOUT+ 16 Analog monitor output 1 AOUT1
17 Buffered Motor Encoder CH A- AMOUT- 17 Not in use -
18 Buffered Motor Encoder CH B+ BMOUT+ 18 Analog torque input COMMAND1
19 Buffered Motor Encoder CH B- BMOUT- 19 Analog input signal ground ACOM
20 Buffered Motor Encoder CH I+ IMOUT+ 20 Not in use -
21 Buffered Motor Encoder CH I- IMOUT- 21 Encoder A+ pulse output AMOUT+
22 Common ACOM 22 Encoder A- pulse output AMOUT-
23 Programmable Analog Output AOUT 23 Encoder B- pulse output BMOUT-
24 Analog Current Limit Input ILIMIT 24 Encoder Z- pulse output ZMOUT-
25 Command + COMMAND+ 25 Encoder B+ pulse output BMOUT+
26 Command - COMMAND- 26 Digital output OUTPUT4-
27 I/O Common IOCOM 27 Digital output OUTPUT5-
28 I/O Common IOCOM 28 Digital output OUTPUT5+
29 I/O Power IOPWR 29 Digital input INPUT9
30 I/O Power IOPWR 30 Digital input (High-Speed Input) INPUT8
31 Digital Input 1 INPUT1 31 Digital input (High-Speed Input) INPUT7
32 Digital Input 2 INPUT2 32 Digital input INPUT6
33 Digital Input 3 INPUT3 33 Digital input INPUT5
34 Digital Input 4 INPUT4 34 Digital input INPUT3

35 Digital Input 5 INPUT5 35 External power input of BX+/BX- for single-end operation BPWR

36 Digital Input 6 INPUT6 36 B+/DIR+/CCW+ BX+

37 Digital Input 7 INPUT7 37 B-/DIR-/CCW- BX-
38 Digital Input 8 INPUT8 38 Digital input INPUT10

39 Digital Output 1 OUTPUT1 39 External power input of AX+/AX- for single-end operation APWR

40 Digital Output 2 OUTPUT2 40 Digital output OUTPUT6-

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 Chapter 3 Connectors and Indicators

Table 47 - I/O Connector Assignment Comparison (Continued)

41 Digital Output 3 OUTPUT3 41 A-/Step-/CW- AX-
42 Digital Output 4 OUTPUT4 42 Analog position and speed command input (+) COMMAND2
43 Normally Open Relay Output+ BRAKE+ 43 A+/Step+/CW+ AX+
44 Normally Open Relay Output- BRAKE- 44 Analog input signal ground AGND
— — — 45 Not in use —
— — — 46 Digital output OUTPUT6+
— — — 47 Not in use —
— — — 48 Encoder Z pulse open-collector output OCZMOUT
— — — 49 — —
— — — 50 Encoder Z+ pulse output ZMOUT+

Motor Feedback Connectors This section describes the motor feedback connectors for the Ultra3000 drives
and the Kinetix 5100 drives. Both drives use15-pin connectors as shown in
Figure 21. See Figure 12 and Figure 13 for locations of the Motor Feedback
connector on Ultra3000 drives. See Figure 15, Figure 16, and Figure 18 for the
locations of the motor feedback connector on Kinetix 5100 drives. Table 48
describes and compares the signals that can be on the pins for each type of
drive.

Figure 21 - 15-Pin Motor Feedback Connector Pin Assignments

Pin 10
Pin 15 Pin 5

Pin 11 Pin 1
Pin 6

Table 48 compares the motor feedback connector pinouts for the Ultra3000
drive (CN2 connector) and Kinetix 5100 servo drives (MFB connector).
Table 48 - Motor Feedback Connectors Assignment Comparison
Ultra3000 Drives Kinetix 5100 Drives
Signal
Pin(1) Hiperface Tamagawa Digital AqB with
Description Signal Description
(all compatible Nikon UVW
(Kinetix TL/
(Kinetix TLP) (all compatible
motors) TLY-B) motors)
Sine Differential Input +
1 Channel A+ / sine differential input+ AM+ MTR_SIN+ – – MTR_AM+
A Differential Input +
Sine Differential Input -
2 Channel A- / sine differential input- AM- MTR_SIN– – – MTR_AM–
A Differential Input -
Cosine Differential Input +
3 Channel B+ / cosine differential input+ BM+ MTR_COS+ – – MTR_BM+
A Differential Input +
Cosine Differential Input -
4 Channel B- / cosine differential input- BM- MTR_COS– – – MTR_BM–
A Differential Input -
MTR_DATA+
Data Differential Input/Output + MTR_DATA+
5 Channel I+ / Index pulse+ IM+ MTR_T+ (TLY-B) MTR_IM+
Index Differential Input + MTR_SD+ (TL-B)
6 Common ECOM Encoder Common MTR_ECOM MTR_ECOM MTR_ECOM MTR_ECOM
7 (2) EPWR +9V Encoder 9V Power Output MTR_EPWR9V – – –
N/C / Encoder power (+9V)
8 Commutation channel S3 S3 Hall Commutation S3 Input – – – MTR_S3
9 Positive overtravel limit +LIMIT — – – – –

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Chapter 3 Connectors and Indicators

Table 48 - Motor Feedback Connectors Assignment Comparison (Continued)

Ultra3000 Drives Kinetix 5100 Drives
Signal
Pin(1) Hiperface Tamagawa Digital AqB with
Description Signal Description
(all compatible Nikon UVW
(Kinetix TL/
(Kinetix TLP) (all compatible
motors) TLY-B) motors)
MTR_DATA–
Data Differential Input/Output - MTR_DATA–
10 Channel I- / Index pulse- IM- MTR_T– (TLY-B) MTR_IM–
Index Differential Input - MTR_SD– (TL-B)
11 Thermostat TS Motor Thermostat (3) MTR_TS – – –
12 Commutation channel S1 S1 Hall Commutation S1 Input – – – MTR_S1
13 Commutation channel S2 S2 Hall Commutation S1 Input – – – MTR_S2
14 Encoder power (+5V) EPWR_5V Encoder 5V Power Output (4) MTR_EPWR5V MTR_EPWR5V MTR_EPWR5V MTR_EPWR5V
15 Negative overtravel limit -LIMIT — – – – –
(1) CN2 on Ultra3000 drives. MFB on Kinetix 5100 drives.
(2) +9V encoder capability only available on standard-size Ultra3000 drive (Cat. No. 2098-DSD-030 or larger).
(3) Not applicable unless motor has integrated thermal protection.
(4) Kinetix 5100 drive encoder power supply uses either 5V or 9V DC based on encoder/motor used.

Auxiliary Feedback The Ultra3000 drives support auxiliary encoder operation. A 9-pin connector
shown in Figure 22 is used to wire an auxiliary encoder on the Ultra3000 drive.
The Kinetix 5100 drive supports auxiliary encoder operation. The 10-pin
Firewire AUX connector shown in Figure 23, is used to wire an auxiliary
encoder. See Figure 12 and Figure 13 for locations of the auxiliary feedback
connector on Ultra3000 drives. See Figure 15, Figure 16, and Figure 18 for the
locations of the auxiliary feedback connector on Kinetix 5100 drives

Figure 22 - 9-Pin Ultra3000 Drive Auxiliary Feedback Connector Pin Assignments

Pin 9 Pin 5
Pin 6 Pin 1

Figure 23 - 10-pin Kinetix 5100 drive Auxiliary Feedback Connector Pin Assignment
2 10

1 9

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 Chapter 3 Connectors and Indicators

Table 49 compares the auxiliary feedback connector pinouts for the Ultra3000
drive (CN1 connector) and Kinetix 5100 servo drives (AUX connector):
Table 49 - Auxiliary Feedback Connector Assignment Comparison
Ultra3000 Drives Kinetix 5100 Drives
Signal (Generic TTL
CN1 Pin (1) Description Signal AUX Pin# Incremental) Description

1 Auxiliary Encoder Power Out (+5V) EPWR 1 MTR_AM+ A Differential Input +

2 Common ECOM 2 MTR_AM- A Differential Input -
3 – – 3 MTR_BM+ B Differential Input +
4 Auxiliary Encoder CH A+ AX+ 4 MTR_BM- B Differential Input -
5 Auxiliary Encoder CH A- AX- 5 MTR_IM+ Index Differential Input +
6 Auxiliary Encoder CH B+ BX+ 6 MTR_IM- Index Differential Input -
7 Auxiliary Encoder CH B- BX- 7 MTR_ECOM Encoder Common
8 Auxiliary Encoder CH I+ IX+ 8 MTR_EPWR5V Encoder 5V Power Output
9 Auxiliary Encoder CH I- IX- 9 Reserved Reserved
— — — 10 Reserved Reserved
(1) CN1 Connector on the Ultra3000 drive is a 44-pin connector.

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Chapter 3 Connectors and Indicators

Notes:

54 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020

 Chapter 4

Dimensions, Cables, and Wiring

This section provides dimensions of the drives to help you calculate the space
that is needed to install the drives.

Ultra3000 Drive (230V) In Figure 24, -xxx is replaced by -005, -010 or 020 to represent the Ultra™ 3000
Dimensions drive 500 W, 1 kW, and 2 kW drives respectively.

Figure 24 - Ultra3000 (230V) Dimensions in mm (in.) for -005, -010, -020

(Catalog numbers 2098-DSD-xxx, 2098-DSD-xxxX, 2098-DSD-xxx-DN, and 2098-DSD-xxxX-DN)

A 129.03
38.1 C (5.08)
(1.5)

186.18 165.1 198.12

(7.33) (6.5) (7.8)

E 144.27
(5.68)
F

Table 50 - Ultra3000 Drive Dimensions

A C E F
Ultra3000 Drive Cat. No. mm (in.) mm (in.) mm (in.) mm (in.)
2098-DSD-005 72.64 2.86)
2098-DSD-005X
2098-DSD-010 65.02 (2.56) 13.26 (0.52) 32.77 (1.29)
2098-DSD-010X 98.1 (3.89)
2098-DSD-020
2098-DSD-020X
2098-DSD-005-DN 95.5 (3.76)
2098-DSD-005X-DN
2098-DSD-010-DN 87.88 (3.46) 24.64 (0.97) 43.94 (1.73)
2098-DSD-010X-DN 121.54 (4.79))
2098-DSD-020-DN
2098-DSD-020X-DN

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Chapter 4 Dimensions, Cables, and Wiring

In Figure 25,-xxx is replaced by -030, -075, or 150 to represent the Ultra3000

3 kW, 7.5 kW, and 15 kW drives respectively.

Figure 25 - Ultra3000 (230V) Dimensions in mm (in.) for -030, -075, -150 (Catalog Numbers
2098-DSD-xxx, 2098-DSD-xxxX, 2098-DSD-xxx-DN, and 2098-DSD-xxxX-DN)
A
B 227.08
C (8.94)

349.25 360.68
(13.75) (14.2)
331.47
(13.05)

C
B J
Unit that is shown is the 2098-DSD-030 drive.

Table 51 - Ultra3000 (230V) Dimensions in mm (in.) for -030, -075, -150 (Catalog Numbers
2098-DSD-xxx, 2098-DSD-xxxX, 2098-DSD-xxx-DN, and 2098-DSD-xxxX-DN)
A B C J
Ultra3000 Drive mm (in.) mm (in.) mm (in.) mm (in.)
2098-DSD-030
2098-DSD-030X 91.44 (3.6) 50.8 (2.0) 20.32 (0.8) 243.84 (9.6)
2098-DSD-030-DN
2098-DSD-030X-DN
2098-DSD-075
2098-DSD-075X 138.68 (5.41) 88.9 (3.5) 24.89 (0.96) 247.14 (9.73)
2098-DSD-075-DN
2098-DSD-075X-DN
2098-DSD-150
2098-DSD-150X 188.97 (7.44) 139.7 (5.5) 24.6 (0.97) 241.05 (9.49)
2098-DSD-150-DN
2098-DSD-150X-DN

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 Chapter 4 Dimensions, Cables, and Wiring

In Figure 26, xxx is replaced by 030, 050, 100, 150, or 220 to represent the
Ultra3000 3, 5, 10, 15, and 22 kW drives respectively.

Figure 26 - 2098-DSD-HVxxx, 2098-DSD-HVxxxX, 2098-DSD-HVxxx-SE, 2098-DSD-HVxxx-DN,

2098-DSD-HVxxxX-DN Dimensions
A
225.8
B B C (8.89)

D H
I

B B C 242.2
(9.54)
Unit shown is the 2098-DSD-HV030.

Table 52 - Ultra3000 (400V) Dimensions in mm (in.) for 2098-DSD-HVxxx,

2098-DSD-HVxxxX, 2098-DSD-HVxxx-SE, 2098-DSD-HVxxx-DN, 2098-DSD-HVxxxX-DN
Ultra30040 Drives (1) A C B D H I
Cat. No. mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.)
2098-DSD-HV030x,
2098-DSD-HV030-xx, 2098- 138.7 18.5
DSD-HV050x, 5.46) (0.73)
2098-DSD-HV050-xx 50.8 349.3 331.5 360.7
2098-DSD-HV100x, (2.0) (13.75) (13.05) (14.2)
2098-DSD-HV100-xx, 2098- 151.6 25
DSD-HV150x, (5.97) (0.99)
2098-DSD-HV150-xx
2098-DSD-HV220x, 203.2 25.4 76.2 380.4 362.6 391.8
2098-DSD-HV220-xx (8.0) (1.0) (3.0) (14.98) 14.26) (15.43)
(1) The x represents the indexing (X) option. The -xx represents the Sercos interface (SE) or DeviceNet interface (DN) option.
Sercos interface is not available with the DeviceNet interface option.

Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 57

Chapter 4 Dimensions, Cables, and Wiring

Kinetix 5100 Drive The Kinetix® 5100 drive dimensions are shown in Figure 27, Figure 28, and
Dimensions Figure 29.

Figure 27 - Catalog Numbers 2198-E1004-ERS, 2198-E1007-ERS, and 2198-E1015-ERS

A 20.0 23.0 B 16.0

(0.79) (0.89) (0.65)

Dimensions are in mm (in.).

5100
MOD

NET
CHARGE

1
C

I/0
I/O Terminal
Expansion Block

AUX

2090-K51CK-D15M 45.0
Feedback Connector Kit (1.76)
Flying-lead
Feedback Cable D

Additional clearance below the cable connector/

connector kit is necessary to provide the
recommended cable bend radius.

57.0
(2.30) 2090-CTFB-MxDD
Feedback Cable

A B C D
Cat. No. mm (in.) mm (in.) mm (in.) mm (in.)
2198-E1004-ERS 35.0 (1.37) 178 (7.0) 170 (6.68) 52.0 (2.05)
2198-E1007-ERS
50.0 (2.0) 188 (7.41) 180 (7.10) 47.0 (1.84)
2198-E1015-ERS

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 Chapter 4 Dimensions, Cables, and Wiring

Figure 28 - Catalog Numbers 2198-E1020-ERS, 2198-E2030-ERS, 2198-E4004-ERS, 2198-E4007-ERS,

and 2198-E4015-ERS

95.0 20.0 23.0 208

(3.74) (0.79) (0.89) (8.20)
13.0
(0.50)

5100

Dimensions are in mm (in.).

MOD
CHARGE
NET

L1C
L2C
2
L1
L2

178 L3
P1
1

(7.08) P2
I/O Terminal
DC–
DC+ Expansion Block
ISH
I/0
ESH
U
V
W

AUX

2090-K51CK-D15M
Feedback Connector Kit 25.0
(0.97)
11.0
(0.43)
Flying-lead
Feedback Cable

Additional clearance below the cable connector/connector kit is

necessary to provide the recommended cable bend radius.

2090-CTFB-MxDD
Feedback Cable
37.0
(1.50)

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Chapter 4 Dimensions, Cables, and Wiring

Figure 29 - Catalog Numbers 2198-E4020-ERS, 2198-E4030-ERS, 2198-E2055-ERS, 2198-E4055-ERS,

2198-E2075-ERS, 2198-E4075-ERS, 2198-E2150-ERS, and 2198-E4150-ERS

A 44.0 D
(1.75)

13.0
5100 (0.50)
MOD
CHARGE NET

2
Dimensions are in mm (in.).
L1C

L2C
I/O Terminal
1
L1
L2 Expansion Block
L3
I/0

E
P1

P2

DC–

DC+

AUX

ESH

U
Flying-lead
Feedback Cable
V

B W 2090-K51CK-D15M
Feedback Connector Kit

20.0
(0.79)
C
95.0
(3.70)

2090-CTFB-MxDD
Feedback Cable

107
(4.20)

A B C D E
Cat. No. mm (in.) mm (in.) mm (in.) mm (in.) mm (in.)
2198-E4020-ERS
110 (4.33) 14.0 (0.55) 38.0 (1.50) 204 (8.02) 260 (10.24)
2198-E4030-ERS
2198-E2055-ERS
120 (4.72) 37.0 (1.47) 59.0 (2.32) 209 (8.24) 273 (10.75)
2198-E4055-ERS
2198-E2075-ERS
141 (5.55) 225 (8.87) 312 (12.28)
2198-E4075-ERS
16.0 (0.65) 35.0 (1.36)
2198-E2150-ERS
186 (7.32) 281 (11.08) 390 (15.35)
2198-E4150-ERS

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 Chapter 4 Dimensions, Cables, and Wiring

Cables This section provides information to help you to determine interconnects and
cabling requirements of the drives.

Motor Power and Feedback Cables

Kinetix MP motors are supported by the Ultra3000 drives and Kinetix 5100
drives. As a result, the Kinetix MP motors (Hiperface feedback and TTL
incremental feedback only) power cable and feedback cable (2090-Series) used
for Ultra3000 drives can be used with Kinetix 5100 drives.

When migrating your Ultra3000 servo drive system, do not exceed the
maximum cable lengths for the Kinetix 5100 servo drives. The length of the
power and feedback cables for the Kinetix 5100 drives cannot exceed specified
distances that are shown here.
Table 53 - Kinetix 5100 Drives Maximum Cable Lengths (200V-class) Motors
Compatible Motor and Actuator Cable Length, max
Feedback Type
Cat. No. m (ft)
TLP-Axxx-xxx-D Nikon (24-bit) absolute high-resolution, multi-turn and single-turn
MPL-A15xxx-V/Ex7xAA
MPL-A2xxx-V/Ex7xAA
MPL-A3xxx-S/Mx7xAA
MPL-A4xxx-S/Mx7xAA 50 (164)
MPL-A45xxx-S/Mx7xAA Hiperface, absolute high-resolution, multi-turn and single-turn
MPL-A5xxx-S/Mx7xAA
MPM-Axxxx-S/M
MPF-Axxxx-S/M
MPS-Axxxx-S/M
MPL-A15xxx-Hx7xAA
MPL-A2xxx-Hx7xAA
MPL-A3xxx-Hx7xAA Incremental
MPL-A4xxx-Hx7xAA
MPL-A45xxx-Hx7xAA 30 (98.4)
TLY-Axxxx-B
Tamagawa (17-bit) absolute high-resolution, multi-turn
TL-Axxxx-B
TLY-Axxxx-H Incremental

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Chapter 4 Dimensions, Cables, and Wiring

Table 54 - Kinetix 5100 Drives Maximum Cable Lengths (400V-class) Motors

Cable Length, max
Compatible Motor and Actuator m (ft)
Feedback Type
Cat. No.
≤ 400V AC Input 480V AC Input
TLP-B200-xxx-D 15 (49.2)
TLP-B070-xxx-D, TLP-B090-xxx-D, TLP-B115-xxx-D, Nikon (24-bit) absolute high-resolution, multi-turn and single-turn 50 (164)
50 (164)
TLP-B145-xxx-D, TLP-B235-xxx-D
MPL-B15xxx-V/Ex7xAA 50 (164) 20 (65.6)
MPL-B2xxx-V/Ex7xAA
MPL-B3xxx-S/Mx7xAA
MPL-B4xxx-S/Mx7xAA
MPL-B45xxx-S/Mx7xAA
MPL-B5xxx-S/Mx7xAA Hiperface, absolute high-resolution, multi-turn and single-turn
MPL-B6xxx-S/Mx7xAA
MPL-B8xxx-S/Mx7xAA 50 (164)
MPL-B9xxx-S/Mx7xAA
MPM-Bxxxx-S/M
MPF-Bxxxx-S/M
MPS-Bxxxx-S/M
MPL-B15xxx-Hx7xAA 30 (98.4) 20 (65.6)
MPL-B2xxx-Hx7xAA
MPL-B3xxx-Hx7xAA Incremental
MPL-B4xxx-Hx7xAA 30 (98.4)
MPL-B45xxx-Hx7xAA

Performance was tested at this length and meets CE requirements.

If you are using a custom power cable, verify that the capacity of the new cable
can handle the current to the actuator.

Cable shield and lead preparation is provided with most Allen-Bradley® cable
assemblies. Follow these guidelines if your motor power cable shield and wires
require preparation.

Figure 30 - Cable Shield and Lead Preparation

Outer Insulation U

W
Motor Power Cable

Exposed Braid
As required to have ground clamp within
25.4 mm (1.0 in.)
50…72 mm (2…3 in.) of the drive.

Table 55 - Motor Power (MP) Connector

Kinetix MP or Kinetix TLP Servo Motor Terminal
U = Brown U
V = Black V
W = Blue W
= Green/Yellow

The current motor power cabling system can be used for the Kinetix MP
motors that are supported by both the Kinetix 5100 drives and the Ultra3000
drives. The motor power cables are interchangeable and depend on the
actuator used.

62 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020

 Chapter 4 Dimensions, Cables, and Wiring

Table 56 - Power/Brake Cable Descriptions (standard, non-flex)

Cable Configuration Motor/Actuator
Standard Cable Cat. No. Description
Motor/Actuator EndDrive End Connector

Drive-end flying leads (DF)

2090-CPBM7DF-xxAAxx Power/brake wires (PB)
SpeedTec DIN (M7)
Kinetix MP Motors
Drive-end flying leads (DF)
2090-CPWM7DF-xxAxx Power wires only (PW)

Drive-end flying leads

2090-XXNPMF-xxSxx Power/brake wires

Drive-end bayonet (E2), transition (TR) cable (1) Threaded DIN (M4)
2090-CPBM4E2-xxTR Motor-end threaded DIN (M4) Kinetix MP Motors
Power/brake wires (PB)

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

2090-CPWM4E2-xxTR Motor-end threaded DIN (M4)
Power wires only (PW)

• Drive-end flying-leads (DF)

2090-CPBM6DF-16AAxx
• Power/brake wires (PB) MBRK+ Circular Plastic
MBRK-
(M6)
• Drive-end flying-leads (DF)
2090-CPWM6DF-16AAxx
• Power wires only (PW)

• Drive-end flying-leads
2090-DANPT-16Sxx Rectangular
• Power wires only
Plastic
2090-DANBT-18Sxx Drive-end flying-lead brake wires
(1) Threaded DIN connector (motor end) and bayonet connector for 2090-XXNFMP-Sxx cable. See the 2090-Series Motor Power and Feedback Transition Cables in the Kinetix Motion
Accessories Technical Data, publication KNX-TD004.

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Chapter 4 Dimensions, Cables, and Wiring

Table 57 - Power/Brake Cable Descriptions (Continuous-Flex)

Continuous-flex Cable Cable Configuration Motor/Actuator

Description
Cat. No. Motor/Actuator EndDrive End Connector

Drive-end flying leads (DF)

2090-CPBM7DF-xxAFxx Power/brake wires (PB)

Drive-end flying leads (DF) SpeedTec DIN (M7)

2090-CPWM7DF-xxAFxx Power wires only (PW) MP Motors

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

Motor-end SpeedTec DIN cable plug (M7)

Drive-end flying leads (DF)

2090-CPBM4DF-xxAFxx Power/brake wires (PB)
Threaded DIN (M4)
MP Motors
Drive-end flying leads (DF)
2090-CPWM4DF-xxAFxx Power wires only (PW)

(1) SpeedTec DIN connector (motor end) and male connector for extending SpeedTEc or threaded DIN cable. See the 2090-Series Motor Power and Feedback Transition Cables in the Kinetix
Motion Accessories Technical Data, publication KNX-TD004.

The current motor encoder cabling system can be used for the Kinetix MP
motors that are supported by both the Kinetix 5100 drives and the Ultra3000
drives.
Table 58 - Feedback Cable Descriptions (standard, non-flex cable)
Cable Configuration Motor/Actuator
Standard Cable Cat. No. Description
Motor/Acutator End Drive End Connector

• Drive-end flying leads (DF)

2090-CFBM7DF-CEAAxx
• High-resolution or resolver applications (CE)
SpeedTec DIN (M7)
• Drive-end 15-pin connector (DD)
2090-CFBM7DD-CEAAxx
• High-resolution or resolver applications (CE)

• Drive-end flying leads

2090-XXNFMF-Sxx
• High-resolution or incremental applications
Threaded DIN (M4)
• Drive-end bayonet (E2), transition (TR) cable (1)
2090-CFBM4E2-CATR • Motor-end threaded DIN (M4)
• All feedback types (CA)
• Drive-end flying-leads (DF)
2090-CFBM6DF-CBAAxx • High-resolution, battery backup or Incremental
applications (CB) Circular Plastic
(M6)
• Drive-end 15-pin connector (DD)
2090-CFBM6DD-CCAAxx
• Incremental applications only (CC)

• Drive-end 20-pin connector

2090-DANFCT-Sxx Rectangular Plastic
• High-resolution applications

(1) Threaded DIN connector (motor end) and bayonet connector for 2090-XXNFMP-Sxx cable. See the 2090-Series Motor Power and Feedback Transition Cables in the Kinetix Motion Accessories
Specifications Technical Data, publication KNX-TD004.

64 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020

 Chapter 4 Dimensions, Cables, and Wiring

.
Table 59 - Feedback Cable Descriptions (continuous-flex cable)
Cable Configuration Motor/Actuator
Standard Cable Cat. No. Description
Motor/Acutator End Drive End Connector

• Drive-end flying leads (DF)

2090-CFBM7DF-CDAFxx
• High-resolution or incremental applications (CD)

• Drive-end flying leads (DF)

2090-CFBM7DF-CEAFxx
• High-resolution or resolver applications (CE)
SpeedTec DIN (M7)
• Drive-end 15-pin connector (DD)
2090-CFBM7DD-CEAFxx
• High-resolution or resolver applications (CE)

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

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

• Drive-end flying leads

2090-CFBM4DF-CDAFxx Threaded DIN (M4)
• High-resolution or incremental applications

(1) SpeedTec DIN connector (motor end) and male connector for extending SpeedTec or threaded DIN cable. See the SpeedTec DIN Continuous-flex Extension Cables in the Kinetix Motion
Accessories Technical Data, publication KNX-TD004.

The Figure 31 shows the pin orientation for 15-pin motor feedback connector.

Figure 31 - Pin Orientation for 15-pin Motor Feedback (MF) Connector

Pin 10
Pin 15 Pin 5

Pin 11 Pin 1
Pin 6

Factory-made cables with premolded connectors are designed to minimize

electromagnetic interference (EMI). We recommend factory-made cables
(over hand-built cables) to improve system performance. Feedback cables with
premolded connectors that are used with the Kinetix MP motors work with
both the Ultra3000 and Kinetix 5100 drives, with no modification. Feedback
cable with flying leads can be connected to the Kinetix 5100 drive MFB port
with the connector kit, cat. no. 2198-K51CK-D15M.

For further cable specifications, see the Kinetix Motion Accessories

Specifications Technical Data, publication KNX-TD004, the bill of materials
(BOM) configuration tool within Motion Analyzer, or ProposalWorks™ system
configuration tool from Rockwell Automation.

Network Cable

Ethernet cable of type CAT5E or CAT6, shielded for connecting drive-to-drive,

drive-to-controller, or drive-to-switch must not exceed 100 m (328 ft). For more
information, see Guidance for Selecting Cables for EtherNet/IP Networks,
publication ENET-WP007.

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Chapter 4 Dimensions, Cables, and Wiring

Mini-USB Cable

The 2198-USBC mini-USB cable is the recommended USB cable to connect the
drive to the PC. Using the 2198-USBF filter is required to reduce the
vulnerability to electrical noise between the personal computer (running
KNX5100C software) and the Kinetix 5100 drive.

Power Wiring This section provides power wiring examples to assist you in comparing the
power wiring for the Ultra3000 servo drive and the Kinetix 5100 drive systems.

Ultra3000 Servo Drive Power Wiring Examples

Figure 32 is the power wiring diagram with 24V DC control string for 2098-
DSD-005x-xx, 2098-DSD-010x-xx, and 2098-DSD-020x-xx Ultra3000 drives
(non-Sercos). To avoid a separate 5V DC auxiliary logic power supply, the 24V
to 5V converter breakout board (catalog number 2090-U3CBB-DMxx) is used
to wire the control interface (CN1) connector.

Figure 32 - Typical Power Wiring on Ultra3000 (230V) System (2098-DSD-005x-xx,

2098-DSD-010x-xx, and 2098-DSD-020x-xx)

2098-DSD-005x-xx,
2098-DSD-010x-xx, and
2098-DSD-020x-xx
Ultra3000
Digital Servo Drives

TB1
DC+ DC Bus Connections
for Active Shunt Module
Single-phase AC Line Input Fusing* M1* DC-
50/60 Hz Single L1
phase AC Input Power
AC Line L2/N Connections
Fused Disconnect Filter
or Circuit Breaker*
Bonded Cabinet
U CN1
Ground Bus* Three-phase
Motor Power V Motor Power N.O. Relay Output+
Isolation Chassis 43
Transformer* Connections Connections N.O. Relay Output- From CN1 Breakout
W 44 Board with 24V to 5V
Aux Logic Power In +5V Aux Power Converter
L1 3
Aux +5V Common (2090-U3CBB-DMxx)
Single-phase Input Cable Shield 2
100...240V AC rms Clamp
L2/N

Terminal To additional
Blocks* Ultra3000 drive
CN1
43
START* STOP*
CR1*
* Indicates User-supplied Component
24V DC
CR1*
44 M1*
CR1*

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 Chapter 4 Dimensions, Cables, and Wiring

Figure 33 is the power wiring diagram with 24V DC control string for the
2098-DSD-030x-xx drive (non-Sercos).

Figure 33 - Typical Power Wiring on Ultra3000 (230V) System (2098-DSD-030x-xx)

2098-DSD-030x-xx
Ultra3000
Digital Servo Drive

TB1 TB2
U 1 External Passive
Three-phase V 2
Motor Power Motor Power
Connections W Connections 3

DC+
Input Fusing *
M1 * DC-
L1
Single-phase
AC Line Filter L2/N
AC Input Power CN1
Single-phase AC Line Connections N.O. Relay Output+
50/60 Hz 43
L1 AUX N.O. Relay Output-
44
L2/N AUX
Fused Disconnect
or Circuit Breaker * Input Fusing *
Bonded Cabinet Cable Shield
Ground Bus * Clamp
Isolation Chassis
Transformer *

L1 CN1
Single-phase Input 43
100...240V AC rms START * STOP *
L2/N CR1 *

CR1 * 24V DC
Terminal 44
Blocks * M1 *
To additional CR1 *
Ultra3000 drive.
* Indicates User-supplied Component

Figure 34 is the power wiring diagram with 24V DC control string for
2098-DSD-075x-xx and 2098-DSD-150x-xx Ultra3000 drives (non-Sercos).

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Chapter 4 Dimensions, Cables, and Wiring

Figure 34 - Typical Power Wiring on Ultra3000 (230V) System (2098-DSD-075x-xx and

2098-DSD-150-x-xx)
2098-DSD-075 x-xx and,
2098-DSD-150 x-xx
Ultra3000
Digital Servo Drives

TB1 TB2

Three-phase U 1 External Passive

Shunt Connections
Motor Power V Motor Power 2
Connections Connections
W 3

DC+
Input Fusing * M1 * DC-
Three-phase AC Line
50/60 Hz L1
Three-
phase L2
Fused Disconnect AC Line AC Input Power CN1
or Circuit Breaker * Filter L3 Connections N.O. Relay Output+
43
N.O. Relay Output-
44
L1 AUX
L2/N AUX
Isolation Input Fusing *
Neutral Cable Shield
Transformer *
Clamp
Chassis Bonded Cabinet
Ground Bus *

L1 CN1
43
Three-phase Input L2 START * STOP *
CR1 *
100...240V AC rms
24V DC
L3 44 CR1 *
M1 *
CR1 *
Terminal
Blocks *
To additional
* Indicates User-supplied Component Ultra3000 drive

Figure 35 is the power wiring diagram with 24V DC control string for the
2098-DSD-HVxxx-xx drives.

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 Chapter 4 Dimensions, Cables, and Wiring

Figure 35 - Typical Power Wiring of Ultra3000 System (2098-DSD-HVxxx-xx and -HVxxxX-xx)

Ultra3000
Digital Servo Drives
2098-DSD-HVxxx-xx and
-HVxxxX-xx

TB1 TB2
DC+ 1 External Passive
Shunt Connections
DC- 2
W 3
Three-Phase Motor Power
Motor Power V
Connections
Connections U
M1*
Input Fusing*
Three-Phase AC Line L3
50/60 Hz Three-phase
AC Line
L2
AC Input Power CN1 N.O. Relay Output+
Filter L1 Connections
Fused Disconnect 43
L1 AUX N.O. Relay Output-
or Circuit Breaker* 44
Note 6 L2/N AUX

Input Fusing* Cable Shield

Isolation Clamp
Transformer*
Bonded Cabinet
Ground Bus*
START*

L3 CN1

43
Three-Phase Input START* STOP*
100-240V ac RMS L2 CR1
24V DC
CR1
L1 44 M1*
CR1

*INDICATES USER-SUPPLIED COMPONENT To additional

Ultra3000 drives

Table 60 - Connectors and Terminal Blocks Detail

Symbol Description
L1, L2, L3 Main power input connector
Control power input and DC bus connector (200V class
L1C, L2C, P1, P2, DC– drive)
U, V, W Motor power output connector
Ground terminals
DC+, ISH, ESH Shunt Resistor Connector
I/O Input/Output signal connector-PLC and I/O functions

Pay attention to the followings when wiring:

ATTENTION: When the power is off, do not touch L1, L2, L3 and U, V, W,
P1, P2, DC- and DC+, ISH, or ESH because there may be hazardous voltage
present. You must wait until the Charge light is off.
• Separate L1, L2, L3, L1C, L2C, and U, V, W from other wires. The interval
should be at least 30 cm (11.8 in.).

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Chapter 4 Dimensions, Cables, and Wiring

ATTENTION: To avoid damaging the drive, do not apply any external

capacitors.

Table 61 - Recommended Wire Gauge for Mating Connectors

Power Wiring – Wire Diameter (AWG)
Servo Drive
U,V,W DC+, ISH, ESH L1, L2, L3, L1C, L2C
2198-E1004-ERS 24…12 24…12 24…12 24…12
2198-E1007-ERS 24…12 24…12 24…12 24…12
2198-E1015-ERS 24…12 24…12 24…12 24…12
2198-E1020-ERS 24…10 24…10 24…10 24…10
2198-E2030-ERS 24…10 24…10 24…10 24…10
2198-E2055-ERS 14…4 18…8 18…8 18…8
2198-E2075-ERS 14…4 18…8 18…8 18…8
2198-E2150-ERS 14…4 14…4 14…4 14…4

Kinetix 5100 Servo Drive Power Wiring Examples

This section provides wiring examples to assist you in wiring the Kinetix 5100
servo drive system. Drawing notes are listed after the drawings.

Three-phase Power Wired to Three-phase Kinetix 5100 Drives

This example illustrates grounded three-phase power that is wired to three-

phase Kinetix 5100 drives when phase-to-phase voltage is within drive
specifications. You must supply input power components. The three-phase AC
line filter is wired as shown in Figure 36.

Figure 36 - Kinetix 5100 Drive Three-phase (200…230V) Grounded Power Configuration

(wye secondary)

L2C Control AC Input

Power Connector
L1C
Transformer (wye) Secondary Circuit
Protection
L3 L3 L3
AC Line L3 Mains AC Input
Feeder and branch short-circuit
L2 Filter Power Connector
protection is not illustrated. L2 L2 L2
L1 L1 L1 L1
Circuit E
Protection
2198-Exxxx-ERS
Servo Drives
Bonded Cabinet Ground Bus

Ground Grid or Power

Distribution Ground

ATTENTION: For the 230V Kinetix 5100 drives to meet proper voltage
creepage and clearance requirements, each phase voltage to ground
must be less than or equal to 253V AC rms. This means that the power
system must use center-grounded wye secondary configuration for
230V AC mains.

70 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020

 Chapter 4 Dimensions, Cables, and Wiring

Figure 37 - Kinetix 5100 Drive Three-phase (380…480V) Grounded Power Configuration (wye
secondary)

24V DC 24V+ Control Input

Power Supply Power Connector
(customer supplied) 24V-
Transformer (wye) Secondary
L3 L3 L3
L3
AC Line
Feeder and branch short-circuit L2 Mains AC Input
L2 Filter L2 L2 Power Connector
protection is not illustrated.
L1 L1 L1 L1
Circuit E
Protection
2198-Exxxx-ERS
Servo Drives
Bonded Cabinet Ground Bus

Ground Grid or
Power Distribution Ground

Single-phase Power Wired to Single-phase Kinetix 5100 Drives

These examples illustrate grounded single-phase power that is wired to single-

phase Kinetix 5100 drives when phase-to-phase voltage is within drive
specifications.

Figure 38 - Kinetix 5100 Drive Single-phase (200…230V) Grounded Power Configuration

L2C Control AC Input Power

Connector
L1C
Transformer Secondary Circuit
Protection
L2
L2 L2 L2
200…230V AC AC Line Mains AC Input Power
Output L1N Filter L1N L1 Connector

L1 (Neutral) Circuit E
Protection
2198-E1004-ERS, 2198-E1007-ERS, 2198-
E1015-ERS, and 2198-E1020-ERS
Bonded Cabinet Ground Bus Drives with Single-phase Operation

Ground Grid or Power

Distribution Ground

Reducing the transformer output reduces motor speed. Feeder and branch short-circuit protection is not illustrated.

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Chapter 4 Dimensions, Cables, and Wiring

Figure 39 - Kinetix 5100 Drive Single-phase (120V) Grounded Power Configuration

L2C Control AC Input Power

Connector
L1C
Transformer Secondary Circuit
Protection
L2
L2 L2 L2
AC Line Mains AC Input Power
120V AC
Connector
Output L1N Filter L1N L1

L1 (Neutral) Circuit E
Protection
2198-E1004-ERS, 2198-E1007-ERS, 2198-
E1015-ERS, and 2198-E1020-ERS
Bonded Cabinet Ground Bus Drives with Single-phase Operation

Ground Grid or Power

Distribution Ground

Figure 40 - Kinetix 5100 Drive Single-phase (230V) Grounded Power Configuration

L2C Control AC Input Power

Connector
L1C
Transformer Secondary Circuit
Protection
L2
L2 L2 L2
Mains AC Input Power
230V AC AC Line Filter
L1 Connector
Output L1N L1N
Circuit
L1 (Neutral) E
Protection
2198-E1004-ERS, 2198-E1007-ERS, 2198-
E1015-ERS, and 2198-E1020-ERS
Bonded Cabinet Ground Bus Drives with Single-phase Operation

Ground Grid or Power

Distribution Ground

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 Chapter 5

System Architecture

This section lists the typical system components and compares some
configurations of Ultra™ 3000 and Kinetix® 5100 drives.
Table 62 - Kinetix 5100 Drive System Overview
Kinetix 5100 System Cat. No. Description
Component
Kinetix 5100 EtherNet/IP™ indexing drives with Safe Torque Off (STO) are available with 120V single-
Kinetix 5100 Servo Drive 2198-Exxxx-ERS phase, 200…230V single-phase, 230V three-phase, and 480V three-phase (nom) input voltages.
Terminal block for I/O 2198-TBIO 50-pin terminal block. Plugs into I/O connector for control interface connections.
connector
Motor Feedback Motor feedback connector kit with 15-pin connector plug for compatible servo motors. Kit features
2198-K51CK-D15M
Connector Kit battery backup for Kinetix TLP, TL, and TLY multi-turn encoders.
Auxiliary Feedback Auxiliary feedback connector kit for master feedback and load feedback connections to the AUX
2198-AUXKIT
Connector Kit connector.
The feedback battery box is used in applications where Kinetix TLP motor position data must be
Feedback Battery Box 2198-KTBT maintained in the event of a power loss. The battery box is included with 2090-series cables for Kinetix
TLP motors and is also available as this replacement kit.
2198-DBxx-F
AC Line Filters Bulletin 2198 three-phase AC line filters are required to meet CE.
2198-DBR90-F
2198-R004 and 2198-R031 Bulletin 2198 and 2097 external passive-shunt resistors for use when additional shunt capability is
Shunt Module 2097-R6 and 2097-R7 needed.
Bulletin 1606 24V DC power supply for digital input/output, Safe Torque Off (STO), and motor brake
24V DC Power Supply 1606-XLxxx control.
EtherNet/IP networking with CompactLogix™ 5370 and CompactLogix 5380 controllers with embedded
Bulletin 5069 and 1769 dual-port. CompactLogix 5480 controllers for the benefits of Logix control with Windows®-based
Logix PAC® Controller computing.
Platforms
1756-EN2T, 1756-EN2TR, EtherNet/IP network communication modules for use with ControlLogix® 5570 and ControlLogix 5580
and 1756-EN3TR module controllers.
MicroLogix™ 1100 and 1400 controllers provide communication ports, an isolated combination RS-232/485 communication port, an
Logix PLC Controller Ethernet port, and (MicroLogix 1400 only) a non-isolated RS-232 communication port.
Platforms Micro800™ controllers with embedded inputs/outputs can accommodate from two to five plug-in modules and up to four expansion
I/O modules.
Studio 5000® environment Studio 5000 Logix Designer® application (version 30 or later) is used to program, commission, and
maintain the Logix family of controllers.
Connected Components Connected Components Workbench™ design and configuration software (CCW), version 10.0 or later,
Configuration Software Workbench software allows you to program and configure the Micro800 controller, and integrate with the HMI editor.
KNX5100C software, version 1.001 or later, lets you confige and tune Kinetix 5100 drives via the mini-USB
KNX5100C software cable connection.
RSLogix 500® software RSLogix 500 software is used to program MicroLogix 1100 or 1400 controllers.
Kinetix TLP Compatible rotary motors include Kinetix TLP (200V and 400V-class) servo motors.
Rotary Servo Motors Kinetix MP Compatible rotary motors include Kinetix MPL, MPM, MPF, and MPS (200V and 400V-class) servo motors.
Kinetix TL and TLY Compatible rotary motors include Kinetix TL and TLY (200V-class) servo motors.

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Chapter 5 System Architecture

Table 62 - Kinetix 5100 Drive System Overview (Continued)

Kinetix 5100 System Cat. No. Description (Continued)
Component
2090-CTFB-MxDx-xxxxx Bulletin 2090 motor feedback cables for Kinetix TLP motors.
2090-CTPx-MxDx-xxxxx Bulletin 2090 motor power/brake cables for Kinetix TLP motors.
2090-CFBM6Dx-CxAAxx Motor feedback cables for Kinetix TLY servo motors.
2090-CPxM6DF-16AAxx Motor power/brake cables for Kinetix TLY servo motors.
2090-DANFCT-Sxx Motor feedback cables for Kinetix TL servo motors.
2090-DANPT-16Sxx Motor power cables for Kinetix TL servo motors.
2090-DANBT-18Sxx Motor brake cables for Kinetix TL servo motors.
Cables 2090-CFBM7DF-CEAxxx Motor feedback cables for Kinetix MP servo motors with Hiperface encoders.
2090-CPxM7DF-xxAxxx Motor power/brake cables for Kinetix MP servo motors.
2090-XXNFMF-Sxx Standard and continuous-flex feedback cables that include additional conductors for use with
2090-CFBM7DF-CDAFxx incremental encoders.
1585J-M8CBJM-x Ethernet cables are available in standard lengths. Shielded cable is required to meet EMC
1585J-M8UBJM-x specifications.
2198-USBC Interface cable with mini-USB connector for KNX5100C software configuration.
2198-USBF Filter for mini-USB port to reduce the vulnerability to electrical noise.
2198-DBxxx-F Bulletin 2198 three-phase AC line filters are required to meet CE and are available for use in all
AC Line Filters 2198-DBRxxx-F Kinetix 5100 drive systems.
Bulletin 1606 24V DC power supply for digital input/output, Safe Torque Off (STO) circuitry, and motor
24V DC Power Supply 1606-XLxxx brake control.
2097-R6 and 2097-R7 Bulletin 2097 and 2198 external passive shunt resistors are available for when the internal shunt
External Shunt Resistors
2198-R004, 2198-R031 capability of the drive is exceeded.

The Ultra3000 servo drive is designed to provide a Kinetix Integrated Motion

solution for applications with output power requirements between 0.5…22 kW
(1.8…32.2 A).
Table 63 - Typical Ultra3000 Servo Drive System
Ultra3000 Drive System Cat. Nos. Description
Component
Ultra3000 drive and Ultra3000 drive with indexing available with 500 W, 1 kW, 2 kW, 3 kW, 7.5
2098-DSD-xxx and -xxxX kW, and 15 kW continuous output and 230V input power.
Ultra3000 Drives
Ultra3000 drive and Ultra3000 drive with indexing available with 3 kW, 5 kW, 10 kW, 15 kW,
2098-DSD-HVxxx, and -HVxxxX and 22 kW continuous output and 460V input power.
Ultra3000 drive with Sercos interface available with 500 W, 1 kW, 2 kW, 3 kW, 7.5 kW, and 15
2098-DSD-xxx-SE
Ultra3000-SE Sercos kW continuous output and 230V input power.
interface Drives Ultra3000 drive with Sercos interface available with 3 kW, 5 kW, 10 kW, 15 kW, and 22 kW
2098-DSD-HVxxx-SE continuous output and 460V input power.
Ultra3000 drive with DeviceNet and Ultra3000 drive with indexing DeviceNet available with
2098-DSD-xxx-DN and -xxxX-DN
Ultra3000-DN DeviceNet 500 W, 1 kW, 2 kW, 3 kW, 7.5 kW and 15 kW continuous output with 230V input power.
Drives Ultra3000 drive with DeviceNet and Ultra3000 drive with indexing DeviceNet available with 3
2098-DSD-HVxxx-DN and -HVxxxX-DN kW, 5 kW, 10 kW, 15 kW, and 22 kW continuous output with 460V input power.
The Sercos interface module/PCI card serves as a link between the ControlLogix/SoftLogix
ControlLogix/SoftLogix 1756-MxxSE module 1784-PM16SE PCI platform and Ultra3000 drive system. The communication link uses the IEC 61491 Serial Real-
Platforms card time Communication System (Sercos) protocol over a fiber-optic cable.
RSLogix 5000 supports programming, commissioning, and maintaining the Logix family of
RSLogix 5000® software 9324-RLD300ENE controllers.
Ultraware Software 2098-UWCPRG The Ultra3000 Analog and DeviceNet drives are configured using Ultraware software.
The Kinetix MP (Low Inertia, Integrated Gear, and Food Grade) 230V and 460V, 1326AB (M2L/
Kinetix MP, 1326AB, F-, H-, N-, and Y-
Servo Motors S2L) 460V, and F-, H-, N-, and Y-Series 230V motors are available for use with the Ultra3000
Series drives.
Motor power, feedback, and brake cables include integral molded, bayonet style, quick
connect/ quick-release connectors at the motor. Power and brake cables have flying leads
Motor Power, Feedback, and Brake on the drive end and straight connectors that connect to servo motors. Standard feedback
cables
Cables cables have angled connectors (45º) on the drive end and straight connectors that connect to
servo motors.
Sercos fiber-optic cables are available in enclosure only, PVC, nylon, and glass with
Fiber-optic cables connectors at both ends.

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 Chapter 5 System Architecture

Table 63 - Typical Ultra3000 Servo Drive System (Continued)

Ultra3000 Drive System Cat. Nos. Description
Component
2090-CFBM6Dx-CxAAxx Motor feedback cables for Kinetix TLY servo motors.
2090-CPxM6DF-16AAxx Motor power/brake cables for Kinetix TLY servo motors.
2090-CFBM7DF-CEAxxx Motor feedback cables for Kinetix MP servo motors with Hiperface encoders.
Cables
2090-CPxM7DF-xxAxxx Motor power/brake cables for Kinetix MP servo motors.
2090-XXNFMF-Sxx Standard and continuous-flex feedback cables that include additional conductors for use
2090-CFBM7DF-CDAFxx with incremental encoders.
AC line filters with 6 A, 10 A, 23 A, 32 A, 36 A, and 50 A are available for Ultra3000 (230V) drive
2090-UXLF-xxx
AC Line Filters systems.
2090-UXLF-HVxxx AC line filters with 23 A, 30 A, and 50 A are available for Ultra3000 (460V) drive systems.
2090-UCSR-xxxx, 9101-1183, and 2090- External shunt modules are available when the Ultra3000 drive internal shunt capability is
External Shunt Modules SRxxx-xx exceeded.

This system examples in Figure 41, Figure 42, and Figure 43 illustrate how the
required drive modules and accessories are used in a typical Ultra3000 servo
drive system.

Figure 41 - Ultra3000 Servo Drive System Architecture (Serial Interface)

Ultra3000 Drive Commissioning and Communication
(2098-DSD-xxxxxx-xx)
Input Output
Logix Controller Logix Interface Module
Motor Feedback
I/O and Commands Logix Platform Ultraware
(ControlLogix is shown)
Software

Other compatible motors/actuators include:

Motor Power
• MP-Series Integrated Linear Stages
• MP-Series Electric Cylinders
MP-Series and TL-Series Rotary Motors
(MPL-A xxxx motors shown) • LDC-Series and LDL-Series Linear Motors

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Chapter 5 System Architecture

Figure 42 - Ultra3000 Servo Drive System Architecture (DeviceNet Interface)

Figure 43 - Ultra3000 Servo Drive System Architecture (Analog or Indexing)

76 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020

 Chapter 5 System Architecture

Kinetix 5100 Drive System This section shows typical Kinetix 5100 servo drive systems. Kinetix 5100
Architecture drives work with different controllers and can receive commands from many
different sources.

Kinetix 5100 Drive Controlled Via Motion Control Add-On Instruction

The Kinetix 5100 Servo Drive (IO mode) commands motion via I/O assembly
(position, velocity, torque, and indexing) which can replace the Ultra3000
drive controlled through a DeviceNet interface. It provides Add-On
Instructions that emulate native Logix motion instructions for Studio 5000-
based programming.

Figure 44 - Kinetix 5100 Drive Controlled Via Motion Control Add-On Instruction

Studio 5000 KNX5100C Drive

Logix Designer Application Configuration Software
2198-USBC
Any Logix 5000™ Controller Mini-USB Interface Cable
(with 2198-USBF filter)
EtherNet/IP

LNK1 LNK2 NET OK

1783-US05T 1
P
W
R
F1 F9
7 8 9 PanelView Plus 7
Stratix 2000 Switch
F2 F10 4 5 6

Display Terminal
2
1 2 3
F3 F11
– 0 .
F4 F12
3
F5 F13 Esc

1585J-M8CBJM-x (shielded) or
F6 F14
4
F7 F15

5 F8 F16

1585J-M8UBJM-x (high-flex shielded)

2

EtherNet/IP Network
1

Ethernet Cable

Kinetix 5100 Servo Drives

(2198-E1020-ERS drives are shown)

5100 5100 5100

MOD MOD MOD
CHARGE CHARGE CHARGE
NET NET NET

L1C L1C L1C

L2C L2C L2C
2 2 2
L1 L1 L1
L2 L2 L2
L3 1 L3 1 L3 1
P1 P1 P1
P2 P2 P2
DC– DC– DC–
DC+ DC+ DC+
ISH ISH ISH
I/0 I/0 I/0
ESH ESH ESH
U U U
V V V
W W W

AUX AUX AUX

Optional Controllers

ControlLogix 5570 Controllers or

Logix5585 TM
DC INPUT DC INPUT AC OUTPUT
SAFETY ON

0000
NET

LINK

GuardLogix® 5570 Safety Controllers

RUN FORCE SD OK

ControlLogix 5580 Controllers or

GuardLogix 5580 Safety Controllers

CompactLogix 5370 Controllers or

Compact GuardLogix 5370 Safety Controllers
CompactLogix 5380 and 5480 Controllers or
Compact GuardLogix 5380 Safety Controllers

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Chapter 5 System Architecture

Kinetix 5100 Drive Controlled Via Explicit Messaging

The Kinetix 5100 Servo Drive supports parameter configuration through

Class 3 EtherNet/IP explicit messaging, which can replace the Ultra3000 drive
controlled through host commands. Either MicroLogix/Micro800 or third-
party controllers (must be capable of Class 3 EtherNet/IP messaging) can be
used to control a Kinetix 5100 drive in this way. You must write your own logic
to exchange explicit messages with Kinetix 5100 drives.

Examples of this type of messaging are available on the Sample Code Library
website:

https://www.rockwellautomation.com/en-us/support/product/product-
downloads/application-code-library/sample-code.html

Keyword: Kinetix 5100

Figure 45 - Kinetix 5100 Drive Controlled Via Explicit Messaging

2080-LCxx-xxxx
Micro830® Controller
1766-L32xx
• Connected Components Workbench software
for programming Micro800 controllers MicroLogix 1400 Controller
• RSLogix 500 software for programming Third-party Controller
MicroLogix 1100 and 1400 controllers ESC
with EtherNet/IP Network
• KNX5100C Drive Configuration software for OK

configuration and tuning of Kinetix 5100 drives

2198-USBC
Mini-USB Interface Cable
(with 2198-USBF filter) Controller Options with
Explicit Messaging Capability

1585J-M8CBJM-x (shielded) or
1585J-M8UBJM-x (high-flex shielded)
5100
MOD
CHARGE

Ethernet Cable
NET

L1C
L2C
2
L1
L2
L3 1
To Other EtherNet/IP Devices
P1
P2
DC–
DC+
ISH
I/0
ESH
U
Kinetix 5100 Servo Drive
V
W
(2198-E1020-ERS drive is shown)

AUX

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 Chapter 5 System Architecture

Kinetix 5100 Drive Controlled Via Pulse Train/ Analog/ Digital I/O

The Kinetix 5100 servo drives support standalone motion control via pulse
train, analog input, digital I/O (index or preset torque/speed), which can
replace the Ultra3000 drive controlled with pulse train, analog, indexing
respectively.

Figure 46 - Kinetix 5100 Drive Controlled Via Pulse Train/ Analog/ Digital I/O

2080-LCxx-xxxx
Micro830 Controller
• Connected Components Workbench software for 1766-L32xx
programming Micro800 controllers MicroLogix 1400 Controller
• RSLogix 500 software for programming Third-party Controller
with Pulse Train Output or
MicroLogix 1100 and 1400 controllers
Analog or Digital I/O
• KNX5100C drive configuration software for
ESC

configuration and tuning of Kinetix 5100 drives

OK

2198-USBC
Mini-USB Interface Cable
(with 2198-USBF filter) I/O wiring and Controller
Options with
Pulse Train Output, Analog, or
Digital I/O (indexing)
5100
MOD
CHARGE
NET

L1C
L2C
2
L1
L2
L3 1
P1
P2
DC–
DC+
ISH
I/0
ESH
U
V
W

Kinetix 5100 Servo Drive

(2198-E1020-ERS drive is shown)
AUX

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Chapter 5 System Architecture

Notes:

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 Chapter 6

Application Conversion

This chapter provides application examples to migrate Ultra™ 3000 drives to

Kinetix® 5100 drives.

Ultraware software is used to configure the Ultra3000 drives. For information

on how to use the Ultraware software, see the Ultraware Software User
Manual, publication 2098-UM001.

KNX5100C software is used to configure the drives. Depending on the

controller used, Studio 5000 Logix Designer® application (for ControlLogix®,
CompactLogix™), Connected Components Workbench™ (for Micro800-Series
controllers), or RSLogix 500® software (for MicroLogix™ controller) is required
to program the controller for controlling the Kinetix 5100 drives.

The Kinetix 5100 drive uses a Logix controller that is programmed with the
Logix Designer application, along with Add-on Profiles (AOP) which include
the ability to:
• get and set a defined set of drive parameters through a Class 1 I/O
message using IO assemblies that are defined as part of the AOP.

For information on how to use KNX5100C software, see the Kinetix 5100 User
Manual, publication 2198-UM004.

The following examples show the Ultraware software interface followed by the
KNX5100C software interface and describe the differences between how they
are used to configure the feature.

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Chapter 6 Application Conversion

Scenario 1: Analog The Analog Input tab in Ultraware software is shown in Figure 47.
Command to Analog Figure 47 - Analog Input Tab in Ultraware
Command

Like Ultraware, KNX5100C software also provides an Analog Speed Input,

Analog Torque Input, and Analog Position Input in the Analog I/O tab. You can
set the Analog Speed, Analog Torque, or Analog Position Command using the
respective tabs shown in Figure 48. To operate Kinetix 5100 drives with the
Analog Command, the drive operation mode must be set at T (analog torque),
S (analog speed), or PT (analog position) mode (command source ID167 set as
Analog Input) respectively.

Figure 48 - Analog I/O Window in KNX5100C Software

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 Chapter 6 Application Conversion

KNX5100C software also provides a way to monitor the status of the incoming
Analog Command for an online drive in the column Monitoring Output.

Figure 49 - Monitoring Output Window of Analog I/O in KNX5100C Software

Ultraware software can execute commands that remove Velocity, Current, and
Position Input Offsets for an online drive. KNX5100C software does not
support this feature.

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Chapter 6 Application Conversion

Scenario 2: Indexing to PR The Properties window for Indexing branch of Indexing mode looks like this in
Mode Ultraware software.

Figure 50 - Indexing Branch of Indexing Mode in Ultraware

In Ultraware software, you can configure up to 64 indexes.

The Ultra3000 drives can support move types including:

• Absolute
• Incremental
• Jog
• Registration

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 Chapter 6 Application Conversion

KNX5100C software provides up to 99 configurable programs, called program

registers (PR), and 1 specific command for homing. In PR mode, command
settings include:
• Homing
• Constant speed control
• Point-to-point Indexing command
• Jump to specified path
• Write Parameters or Data Array
• Statement (the ability to do arithmetic operations) based on drive
conditions

Except for arithmetic operations, the property and corresponding data of each
PR command are both set by using KNX5100C software.

Figure 51 - PR Mode Setting Window in KNX5100C Software

Like Ultraware software, KNX5100C software gives you the ability to:
• start and stop execution of the PR command
• start and stop homing
• enable or disable a drive
• monitor the execution of a PR command

With the Kinetix 5100 drive, a PR command controls drive operation by

executing preconfigured motion commands [ID397 (P6.000)…ID596 (P7.099)].
The beginning of the PR command is triggered by the DI.CTRG (0x08) signal.
You can program the 99 registers first before switching the drive to servo-on
state and use the DI.POS0 … DI.POS6 signals as a binary weighted PR
command selection. When using I/O mode, the Add-On Instructions are used
to initiate PR commands.

See the Kinetix 5100 EtherNet/IP Indexing Servo Drives Users Manual,
publication 2198-UM004 for more details on homing and the use of the PR
command.

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Chapter 6 Application Conversion

Scenario 3: Master/ The Properties window for the Followers branch of Follower-Auxiliary Encoder
Follower Mode to PT Mode mode looks like this in Ultraware.

Figure 52 - Follower Branch in Ultraware

In PT mode, the Kinetix 5100 drive provides functionality similar to the

Master/Follower mode of the Ultra3000. In PT mode, the servo drive is able to
receive a command either from pulse train inputs on the I/O connector or
from the Auxiliary feedback input. Valid encoder signals consist of AB phase
(TTL incremental feedback) and can be wired to either the PT inputs of the I/O
connector (these terminals double as PTO command input signals) or the Aux
feedback input. The motor follows the input pulses based on the E-Gear ratio
used. The Numerator and Denominator are used to specify the ratio between
Master/Follower counts. The E-Gear parameters are shown in Figure 53. The
Kinetix 5100 servo drive provides four selectable gear ratios that can be
switched by using digital inputs. For details, see the Kinetix 5100 EtherNet/IP
Indexing Servo Drives Users Manual, publication 2198-UM004.

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 Chapter 6 Application Conversion

PT command configuration mode in KNX5100C software is shown in

Figure 53.

Figure 53 - PT Mode Window in KNX5100C Software

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Chapter 6 Application Conversion

Scenario 4: DeviceNet to Figure 50 shows the Ultra3000 drive as part of the DeviceNet network. The
I/O Mode Logix Designer application is used for programming the Logix 5000 controller.
The RSNetWorx™ for DeviceNet software is used to configure the DeviceNet
network. This is not required with the Kinetix 5100 drive.

Figure 54 - Ultra3000 DeviceNet Drive in RSLinx® Software

See the DeviceNet Network Configuration User Manual,

publication DNET-UM004 for more details.

Kinetix 5100 uses I/O Mode when migrating Ultra3000 with DeviceNet
communication. In I/O mode, the Kinetix 5100 Add-on Profile (AOP) in the
Logix Designer application provides the Input and Output assemblies for
motion control (position, velocity, torque, and indexing). Additionally, pre-
defined Add-On Instructions are provided to emulate Logix 5000 controller
motion instructions for application programming.

The configuration and Add-On Instruction example are shown in Figure 55

and Figure 56.

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 Chapter 6 Application Conversion

Figure 55 - Kinetix 5100 Drive in RSLinx Classic Software

Figure 56 - Kinetix 5100 Drive Add-On Instruction Logic Used in the Logix Designer Application

Rockwell Automation
Add-On Instruction

Program your project.

Kinetix 5100

Choose your Ethernet

Communication Module

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Chapter 6 Application Conversion

Scenario 5: Host Command The Kinetix 5100 drive uses the Ethernet/IP™ network (Class 3 explicit message
to Explicit Messaging only) for parameter configuration or editing while the drive is running. The
use of Explicit Messaging provides similar functionality to host commands on
the Ultra3000 drive. You can use Explicit Messaging to perform a number of
tasks, such as parameter configuration, motion control, resetting the drive,
and more.

This example shows how to replace the indexing function through the host
commands of the Ultra3000 drive by using Explicit Messaging on the
Kinetix 5100 drive:
1. Make sure that the control mode is 0x01 (PR mode) by doing the
following:
• Use explicit message ‘Get Attribute Single (14), Class 15, Instance 117,
Attribute 1’ to get the control mode from the drive.
• If the control mode is not 0x01, then use the explicit message ‘Set
Attribute Single(16), Class 15, Instance 117, Attribute 1, UINT Value
(0x01)’ to change the control mode to PR mode.
• The control mode parameter change is valid after the power cycle, so
use the explicit message ‘Reset (5), Class 1, Instance 1’ to reset the drive.
2. Configure the system parameters (see the Kinetix 5100 EtherNet/IP
Indexing Servo Drives Users Manual, publication 2198-UM004, for more
details about these parameters)
• Use explicit message ‘Set Attribute Single (16), Class 15, Instance 151,
Attribute 1, UDINT Value (for example, 16777216)’ to set the Gear Ratio
of Master Counts.
• Use explicit message ‘Set Attribute Single (16), Class 15, Instance 152,
Attribute 1, UDINT Value (for example, 2000)’ to set the Gear Ratio of
Follower Counts.
• Use explicit message ‘Set Attribute Single (16), Class 15, Instance 234,
Attribute1 UDINT Value (for example, 10000000)’ to set the Indexing
Coordinates Scale.
• Use explicit message ‘Set Attribute Single (16), Class 15, Instance 242,
Attribute1 UINT Value (for example 0x0000)’ to set the Absolute
System Setting. Like the control mode, a reset is needed for the change
of this parameter to take effect.
3. Configure the PR command
• Define the Home Setting (for example, deceleration time of first
homing and second homing is 200 ms, delay time is 0 ms, acceleration
time is 200 ms, and stop after homing complete) by explicit message
‘Set Attribute Single (16), Class 15, Instance 397, Attribute 1, UDINT
Value (0x00000000)’.
• Define the Home Position by explicit message ‘Set Attribute Single
(16), Class 15, Instance 398, Attribute 1, UDINT Value (for example, 0)’.
• Set the Home Mode (for example, look for Z pulse in forward direction
and define it as home) by explicit message ‘Set Attribute Single (16),
Class 15, Instance 297, Attribute 1, UINT Value (0x04)’.
• Set PR Command1 Setting (for example, constant speed control) by
explicit message ‘Set Attribute Single (16), Class 15, Instance 399,
Attribute 1, UDINT Value (0x00000001)’.
• Set PR Command1 Data (speed command: 300 RPM) by explicit
message ‘Set Attribute Single (16), Class 15, Instance 400, Attribute 1,
UDINT Value (3000, unit is 0.1 RPM)’.
• Set PR Command2 Setting (for example, positioning control) by
explicit message ‘Set Attribute Single (16), Class 15, Instance 401,
Attribute 1, UDINT Value (0x00000002)’.

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 Chapter 6 Application Conversion

• Set PR Command2 Data (position command: 4000) by explicit

message ‘Set Attribute Single (16), Class 15, Instance 402, Attribute 1,
UDINT Value (4000)’.
4. Execute the Indexing function by doing the following:
• Set the drive to Servo On by explicit message ‘Set Attribute Single (16),
Class 15, Instance 215, Attribute 1, INT Value (1)’.
• Set the drive to Servo Off by explicit message ‘Set Attribute Single (16),
Class 15, Instance 215, Attribute 1, INT Value (-1)’.
• Trigger Homing by explicit message ‘Set Attribute Single (16), Class 15,
Instance 300, Attribute 1, UINT Value (0)’.
• Trigger PR Command1 by explicit message ‘Set Attribute Single (16),
Class 15, Instance 300, Attribute 1, UINT Value (1)’.
• Stop the PR Command by explicit message ‘Set Attribute Single (16),
Class 15, Instance 300, Attribute 1, UINT Value (1000)’.
• Get the status of PR Command by explicit message ‘Get Attribute
Single (14), Class 15, Instance 300, Attribute 1’.

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Chapter 6 Application Conversion

Notes:

92 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020

 Appendix A

Feature Comparison

Table 64 compares the features of the Ultra™ 3000 drives to the Kinetix® 5100
drives.

Table 64 - Feature Comparison

Kinetix 5100 Notes. Items with asterisks(*) have more
Ultra3000 Drives Drives information in this column.
Features
Analog Indexer (-X) DeviceNet
(-DN)
*Depending on control mode for Kinetix 5100
Controller used No No Yes Yes* drives
120...230V operation Yes Yes Yes Yes —
* No for small Ultra3000 drives (under 2 kW),
Internal shunt available * * * Yes** yes for larger Ultra3000 drives
**Internal or External - drive dependent
*Ultra3000 drive: 24 to 5V DC converter
required.
Control Power available (converted to 5V) Yes* Yes* Yes* Yes** **Kinetix 5100: 400V-class:24V DC,
200V-class: 115/240V AC single phase
Safe Torque Off No No No Yes —
Digital inputs control indexing No Yes Yes Yes —
Dedicated Auxiliary feedback encoder connector No No No Yes —
Master Gearing encoder inputs (terminal block inputs) Yes Yes Yes Yes —
Hardware limits No Yes Yes Yes —
Analog input for current limit Yes Yes Yes No —
*Not native, can use Digital I/O status to
Multiple assignments for inputs Yes Yes No Yes* evaluate I/O in PR mode.
Soft limits No Yes Yes Yes —
Watch window output assignment Yes Yes Yes Yes* * Not directly, programmable within PR mode
Registration index (index on reg input) No Yes Yes Yes —
Registration latch (capture position) No No No Yes* *Available in PR mode (Capture/Compare)
MicroLogix™/SLC™ controller compatible * Yes Yes Yes *Stepper mode only
* I/O mode does not require a hardware
Hardware enable required No No No Yes* enable input
* Kinetix 5100: can change modes with dual or
Selectable modes of operation via digital inputs Yes Yes Yes Yes* multi-mode changes and digital inputs.
Buffered encoder outputs (selectable freq) Yes Yes Yes Yes —
Holding brake support Yes Yes Yes Yes* *Configurable in KNX5100C software
Dual Loop Control No No No Yes* *PT, PR mode and IO position mode
* Kinetix MP Motor, TLP Motor, TL and TLY
Multiple Motors Supported Yes Yes Yes Yes* Motor
Dual-port Ethernet with DLR support No No No Yes —
Non-Integrated Motion Drive (Ethernet/IP Standalone) No No No Yes —
Drive configuration software required Yes Yes Yes Yes
Ability to home the drive No Yes Yes Yes —

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Appendix A Feature Comparison

Table 64 - Feature Comparison (Continued)

Kinetix 5100 Notes. Items with asterisks(*) have more
Ultra3000 Drives Drives information in this column.
Features
Analog Indexer (-X) DeviceNet
(-DN)
* Not natively, uses Indexing Coordinate
System, see the Kinetix 5100 EtherNet/IP
Rotary mode support Yes Yes Yes Yes* Indexing Servo Drives User Manual,
publication 2198-UM004 for more details.
Current limiting ability Yes Yes Yes Yes —
Positioning via analog input No Yes Yes Yes —
Operation mode override No Yes Yes Yes —
Slew rate for gearing No Yes No No —
Selectable modes of operation Yes Yes Yes Yes —
Pause index directly No Yes Yes Yes* * Not natively, programming required
Offline software Yes Yes Yes Yes —
Start next Index on input No Yes Yes Yes* * Not natively, programming required
Batch Count No Yes No Yes* * Not natively, programming required
Homing, Active/Switch/Marker Yes Yes Yes Yes —
Homing, Absolute Yes Yes Yes Yes —
Home to Torque Limit No No No Yes —
Define Home current position Yes Yes Yes Yes —
Stop Indexing Yes Yes Yes Yes —

94 Rockwell Automation Publication 2198-RM003B-EN-P - November 2020

 Ultra3000 to Kinetix 5100 Servo Drives Migration Guide Reference Manual

Notes:

Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 95

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