Kinetix 5500

This manual links to Kinetix 5500 Servo Drive Fault Codes Reference Data,
publication 2198-RD005 for fault codes. Download the spreadsheet now for
offline access.
Kinetix 5500 Servo Drive

Catalog Numbers 2198-H003-ERS, 2198-H008-ERS,2198-H015-ERS,
2198-H025-ERS, 2198-H040-ERS,2198-H070-ERS, 2198-H003-ERS2,
2198-H008-ERS2,2198-H015-ERS2, 2198-H025-ERS2,
2198-H040-ERS2,2198-H070-ERS2, 2198-CAPMOD-1300
User Manual Original Instructions

Kinetix 5500 Servo Drive User 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.
These 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).
The following icon may appear in the text of this document.
Identifies information that is useful and can help to make a process easier to do or easier to understand.
2 Rockwell Automation Publication 2198-UM001N-EN-P - September 2024

Table of Contents
Preface
Download Firmware, and Other Associated Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Summary of Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Access Fault Codes List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Chapter 1
Start About the Kinetix 5500
Servo Drive System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Drive Hardware and Input Power Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Standalone Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Shared AC/DC Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Shared DC Common-bus Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Shared AC/DC Hybrid Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Motor Feedback and Feedback-only Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Typical Communication Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Linear Topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Ring Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Star Topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Safe Torque Off Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Hardwired Safety Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Integrated Safety Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Catalog Number Explanation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Chapter 2
Plan the Kinetix 5500 Drive System Design Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
System Installation AC Line Filter Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Transformer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Circuit Breaker/Fuse Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
24V Control Power Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Contactor Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Passive Shunt Considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Enclosure Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Minimum Clearance Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Electrical Noise Reduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Bonding Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Bonding Multiple Subpanels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Establishing Noise Zones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Cable Categories for Kinetix 5500 Systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Noise Reduction Guidelines for Drive Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Rockwell Automation Publication 2198-UM001N-EN-P - September 2024 3

Table of Contents
Chapter 3
Mount the Kinetix 5500 Drive Determine Mounting Order. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
System Zero-stack Tab and Cutout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Shared-bus Connection System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Single-axis Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Multi-axis Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Drill-hole Patterns. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Mount Your Kinetix 5500 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Chapter 4
Connector Data and Feature Kinetix 5500 Connector Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Descriptions Module Status Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Safe Torque Off Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Input Power Connector Pinouts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
DC Bus and Shunt Resistor Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Digital Inputs Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Ethernet Communication Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Motor Power, Brake, and Feedback Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . 63
Motor Feedback Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Understand Control Signal Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Ethernet Communication Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Motor Brake Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Control Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Absolute Position Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Safe Torque Off Safety Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Servo Drives with Hardwired Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Servo Drives with Integrated Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Chapter 5
Connect the Kinetix 5500 Drive Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
System Routing the Power and Signal Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Determine the Input Power Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Grounded Power Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Ungrounded Power Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Ground Screw Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Remove the Ground Screws in Select Power Configurations . . . . . . . . . . . . . . . . . . . . . 75
Ground the Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Ground the System Subpanel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Ground Multiple Subpanels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Wiring Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Wire the Power Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Wire the 24V Control Power Input Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Wire the Input Power Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Wire the Digital Input Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Wire the Safe Torque Off Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Wire the Digital Inputs Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Wire Kinetix VP Motors and Actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Table of Contents
Maximum Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Motor Power Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Motor Brake Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Motor Feedback Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Apply the Single Motor-cable Shield Clamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Wire Other Motors and Actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Install the Kinetix 5500 Add-On Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Motor Power and Brake Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Motor Power/Brake Cable Series Change. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Maximum Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Motor Power/Brake Cable Preparation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Apply the Motor Power/brake Shield Clamp. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Motor Feedback Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Motor Feedback Cable Preparation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Capacitor Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
External Passive-shunt Resistor Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Chapter 6
Configure and Start the Understand the Kinetix 5500 Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Kinetix 5500 Drive System Menu Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Setup Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Startup Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Configure the Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Set the Network Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Studio 5000 Logix Designer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Version History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Install the Kinetix 5500 Add-On Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Configure the Logix 5000 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Configure the Kinetix 5500 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Configure the Motion Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Configure Feedback-only Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Configure Induction-motor Frequency-control Axis Properties . . . . . . . . . . . . . . . . . . 122
General and Motor Categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Basic Volts/Hertz Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Sensorless Vector Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Fan/Pump Volts/Hertz Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Configure SPM Motor Closed-loop Control Axis Properties . . . . . . . . . . . . . . . . . . . . . . 127
Download the Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Apply Power to the Kinetix 5500 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Applying Power after Changing Input Voltage Range . . . . . . . . . . . . . . . . . . . . . . . 132
Understand Bus-sharing Group Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Bus-sharing Group Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Configure Bus-sharing Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Test and Tune the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Test the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Tune the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

Table of Contents
Chapter 7
Troubleshoot the Kinetix 5500 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Drive System Interpret Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Display Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Fault Code Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Kinetix 5500 Drive Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Kinetix 5500 Capacitor Module Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . 147
General Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Logix 5000 Controller and Drive Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Chapter 8
Remove and Replace Servo Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Drives Remove and Replace Kinetix 5500 Servo Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Remove Power and All Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Remove the Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Replace the Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Start and Configure the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Chapter 9
Kinetix 5500 Safe Torque Off - Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Hardwired Safety Important Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Category 3 Requirements According to ISO 13849-1 . . . . . . . . . . . . . . . . . . . . . . . . 158
Stop Category Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Performance Level (PL) and Safety Integrity Level (SIL) . . . . . . . . . . . . . . . . . . . . 158
Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Probability of Dangerous Failure Per Hour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Safe Torque Off Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Wire the Safe Torque Off Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Safe Torque Off Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Safe Torque Off Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Safe Torque Off Feature Bypass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Cascade the Safe Torque-off Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Safe Torque Off Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Chapter 10
Kinetix 5500 Safe Torque Off - Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Integrated Safety Important Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Safety Application Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Category 3 Requirements According to ISO 13849 . . . . . . . . . . . . . . . . . . . . . . . . . 166
Stop Category Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Performance Level (PL) and Safety Integrity Level (SIL) . . . . . . . . . . . . . . . . . . . . 167
Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
STO State Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Probability of Dangerous Failure Per Hour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Safe Torque Off Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Out-of-Box State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Out-of-Box State Support. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

Table of Contents
Understand Integrated Safety Drive Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

Replace an Integrated Safety Drive in a GuardLogix System . . . . . . . . . . . . . . . . . . . . 171
Configure Only When No Safety Signature Exists . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Configure Always. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Motion Direct Commands in Motion Control Systems. . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Understand STO Bypass When Using Motion Direct Commands . . . . . . . . . . . . . . 173
Logix Designer Application Warning Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Torque Permitted in a Multi-workstation Environment . . . . . . . . . . . . . . . . . . . . . 176
Warning Icon and Text in Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Functional Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Safe Torque Off Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Appendix A
Interconnect Diagrams Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Single-axis Drive Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Bus-sharing Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Shunt Resistor Wiring Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Kinetix 5500 Servo Drive and Rotary Motor Wiring Examples . . . . . . . . . . . . . . . . . . . . 185
Kinetix 5500 Drive and Linear Actuator Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . 187
System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Appendix B
Update the Drive Firmware Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Configure Logix 5000 Controller Communication. . . . . . . . . . . . . . . . . . . . . . . . . . 193
Inhibit Feedback Only Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Update Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
Verify the Firmware Update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Appendix C
Size Multi-axis Shared-bus Shared-bus Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Configurations Shared AC Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Shared DC Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Shared AC/DC Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Shared AC/DC Hybrid Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Power-sharing Sizing Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Shared DC Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Shared AC/DC Hybrid Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Shared AC/DC Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Control Power Current Calculations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Kinetix 5500 System Current Demand Example . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Energy Calculations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Appendix D
Motor Control Feature Support Frequency Control Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Basic Volts/Hertz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Basic Volts/Hertz for Fan/Pump Applications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Sensorless Vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Current Limiting for Frequency Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
The Effects of Current Limiting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216

Table of Contents
Enable the Current Limiting Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218

Set the CurrentVectorLimit Attribute Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Stability Control for Frequency Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Enable the Stability Control Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Skip Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Multiple Skip Speeds. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Flux Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Flux Up Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
Configure the Flux Up Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
Current Regulator Loop Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
Motor Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
Motor Tests and Autotune Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Motor Analyzer Category Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
Selection of Motor Thermal Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Generic Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Thermally Characterized Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Speed Limited Adjustable Torque (SLAT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
Motion Polarity Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
SLAT Min Speed/Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
SLAT Max Speed/Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
SLAT Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Configure the Axis for SLAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Motor Overload Retention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Phase Loss Detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Phase-loss Detection Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Phase-loss Detection Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
Phase Loss Detection Current Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
Velocity Droop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
Closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
Frequency Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Velocity Droop Attribute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Velocity Droop Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Commutation Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
Adaptive Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
Appendix E
History of Changes 2198-UM001M-EN-P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
2198-UM001L-EN-P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
2198-UM001K-EN-P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
2198-UM001J-EN-P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
2198-UM001I-EN-P. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
2198-UM001H-EN-P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
2198-UM001G-EN-P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
2198-UM001F-EN-P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
2198-UM001E-EN-P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
2198-UM001D-EN-P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
2198-UM001C-EN-P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
2198-UM001B-EN-P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .251
Preface
This manual provides detailed installation instructions for mounting, wiring, and
troubleshooting the Kinetix® 5500 servo drives, and system integration for your drive and
motor/actuator combination with a Logix 5000® controller.
This manual is intended for engineers or technicians who are directly involved in the
installation and wiring of the Kinetix 5500 drives, and programmers who are directly involved
in the operation, field maintenance, and integration of these drives with the EtherNet/IP™
communication module or controller.
If you do not have a basic understanding of Kinetix 5500 servo drives, contact your local
Rockwell Automation sales representative for information on available training courses.
Download Firmware, and Use the Product Compatibility and Download Center at rok.auto/pcdc for the following:
Other Associated Files • Download firmware and associated files such as Add-on Profile (AOP), Electronic Data
Sheet (EDS), and Device Type Manager (DTM)
• Access product release notes
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
Updated template. Throughout
Added attention statement to Figure 57 and Figure 99 related to 9V and 5V encoders. 95, 186
Access Fault Codes List

This manual links to Kinetix 5500 Servo Drive Fault Codes Reference
Data, publication 2198-RD005, for fault codes. Download the
spreadsheet now for offline access.
Conventions Used in This These conventions are used throughout this manual:
Manual • Bulleted lists such as this one provide information, not procedural steps.
• Numbered lists provide sequential steps or hierarchical information.
• Catalog number string 2198-Hxxx-ERSx is used when there’s no need to distinguish
between -ERS or -ERS2 servo drives.
Kinetix 5500 Drive Description
Cat. No.
2198-Hxxx-ERS Kinetix 5500 drive with hardwired Safe Torque Off functionality
2198-Hxxx-ERS2 Kinetix 5500 drive with integrated Safe Torque Off functionality

Preface
Additional Resources These documents contain additional information concerning related products from Rockwell
Automation. You can view or download publications at rok.auto/literature.
Table 1 - Additional Resources
Resource Description
Kinetix Rotary Motion Specifications Technical Data, publication Product specifications for Kinetix VPL, VPC, VPF, VPH, and VPS; Kinetix MPL, MPM, MPF, and MPS; Kinetix
KNX-TD001 TLY and TL; Kinetix HPK; and Kinetix MMA rotary motors.
Kinetix Linear Motion Specifications Technical Data, publication Product specifications for Kinetix MPAS and MPMA linear stages, Kinetix MPAR and MPAI electric
KNX-TD002 cylinders, and Kinetix LDC and LDL linear motors.
Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Provides product specifications for Kinetix Integrated Motion over the EtherNet/IP network and
Technical Data, publication KNX-TD003 EtherNet/IP networking servo drive families.
Kinetix Rotary and Linear Motion Cable Specifications Technical Product specifications for Kinetix 2090 motor and interface cables.
Data, publication KNX-TD004
Kinetix Servo Drive Performance Specifications per Ecodesign Provides energy efficiency performance data for Rockwell Automation Kinetix Servo drives. This data
Regulation (EU) 2019/1781 Technical Data, publication KNX-TD006 supports IE2 compliance of Kinetix Servo drives per EU 2019/1781.
Kinetix 5500 Servo Drive Fault Codes Reference Data, publication Provides the fault codes for Kinetix 5500 servo drives.
2198-RD005
Provides information on how to install AC line filters designed for Kinetix 5500 and Kinetix 5700 servo
AC Line Filter Installation Instructions, publication 2198-IN003 drive systems.
Shunt Resistor Installation Instructions, publication 2097-IN002 Provides information on how to install and wire Bulletin 2097 shunt resistors.
System Design for Control of Electrical Noise Reference Manual, Information, examples, and techniques that are designed to minimize system failures caused by
publication GMC-RM001 electrical noise.
Best practice examples to help reduce the number of potential noise or electromagnetic interference
Servo Drive Installation Best Practices Application Technique, (EMI) sources in your system and to make sure that the noise sensitive components are not affected by
publication MOTION-AT004 the remaining noise.
Overview of Kinetix servo drives, motors, actuators, and motion accessories that are designed to help
Kinetix Motion Control Selection Guide, publication KNX-SG001 make initial decisions for the motion control products best suited for your system requirements.
Kinetix 5500 Drive Systems Design Guide, publication KNX-RM009 System design guide to select the required (drive specific) drive module, power accessory, feedback
connector kit, and motor cable catalog numbers for your Kinetix 5500 drive system.
Kinetix Halogen-free PUR and PVC Single Motor Cables Quick Provides product specifications comparing 2090-CSBM1xx-xxLFxx (Halogen-free PUR) and 2090-
Reference, publication 2090-QR002 CSxM1xx-xxVAxx (PVC) single motor cables.
Rockwell Automation Product Selection website rok.auto/ Online product selection and system configuration tools, including AutoCAD (DXF) drawings.
systemtools
FactoryTalk Motion Analyzer System Sizing and Selection Tool Comprehensive motion application sizing tool used for analysis, optimization, selection, and validation
website rok.auto/motion-analyzer of your Kinetix Motion Control system.
Vertical Load and Holding Brake Management Application Provides information on vertical loads and how the servo motor holding-brake option can be used to
Technique, publication MOTION-AT003 help keep a load from falling.
Integrated Motion on the EtherNet/IP Network Reference Manual, Information on the AXIS_CIP_DRIVE attributes and the configuration software control modes and
publication MOTION-RM003 methods.
Integrated Motion on the EtherNet/IP Network Configuration and Information on how to configure and troubleshoot your ControlLogix® and CompactLogix™ EtherNet/
Startup User Manual, publication MOTION-UM003 IP™ network modules.
GuardLogix 5570 Controllers User Manual, publication 1756-UM022 Provides information on how to install, configure, program, and use ControlLogix controllers and
GuardLogix 5580 Controllers User Manual, publication 1756-UM543 GuardLogix® controllers in Studio 5000 Logix Designer® projects.
Compact GuardLogix 5370 Controllers User Manual, publication
1769-UM022 Provides information on how to install, configure, program, and use CompactLogix and Compact
Compact GuardLogix 5380 Controllers User Manual, publication GuardLogix controllers.
5069-UM001
GuardLogix 5570 and Compact GuardLogix 5370 Controller
Systems Safety Reference Manual, publication 1756-RM099 Provides information on how to achieve and maintain Safety Integrity Level (SIL) and Performance
GuardLogix 5580 and Compact GuardLogix 5380 Controller Level (PL) safety application requirements for GuardLogix and Compact GuardLogix controllers.
Systems Safety Reference Manual, publication 1756-RM012
ControlFLASH User Manual, publication 1756-UM105 Provides guidance on how to use ControlFLASH™ or ControlFLASH Plus™ software to update drive
firmware. See the release notes for your product to determine whether it supports firmware updates
ControlFLASH Plus Quick Start Guide, publication CFP-QS001 by using ControlFLASH or ControlFLASH Plus software.
EtherNet/IP Network Devices User Manual, ENET-UM006 Describes how to configure and use EtherNet/IP devices to communicate on the EtherNet/IP network.
Ethernet Reference Manual, ENET-RM002 Describes basic Ethernet concepts, infrastructure components, and infrastructure features.
System Security Design Guidelines Reference Manual, SECURE- Provides guidance on how to conduct security assessments, implement Rockwell Automation products
RM001 in a secure system, harden the control system, manage user access, and dispose of equipment.
Industrial Components Preventive Maintenance, Enclosures, and Provides a quick reference tool for Allen-Bradley® industrial automation controls and assemblies.
Contact Ratings Specifications, publication IC-TD002

Preface
Table 1 - Additional Resources (Continued)

Resource Description
Safety Guidelines for the Application, Installation, and Designed to harmonize with NEMA Standards Publication No. ICS 1.1-1987 and provides general
Maintenance of Solid-state Control, publication SGI-1.1 guidelines for the application, installation, and maintenance of solid-state control in the form of
individual devices or packaged assemblies incorporating solid-state components.
Industrial Automation Wiring and Grounding Guidelines, Provides general guidelines for installing a Rockwell Automation industrial system.
publication 1770-4.1
Product Certifications website, rok.auto/certifications. Provides declarations of conformity, certificates, and other certification details.

Preface
Notes:

Chapter 1
Start
Use this chapter to become familiar with the Kinetix® 5500 drive system and obtain an
overview of the installation configurations.
Topic Page
About the Kinetix 5500 Servo Drive System 15
Drive Hardware and Input Power Configurations 17
Motor Feedback and Feedback-only Configurations 22
Typical Communication Configurations 23
Safe Torque Off Configurations 26
Catalog Number Explanation 29
Agency Compliance 30
About the Kinetix 5500 The Kinetix 5500 servo drives are designed to provide a Kinetix Integrated Motion solution for
your drive and motor/actuator application.
Servo Drive System
Table 2 - Kinetix 5500 Drive System Overview
Drive System Cat. No. Description
Component
200V-class (single-phase or three-phase) and 400V-class (three-phase) drives operate in standalone and multi-axis shared
AC, shared DC, shared AC/DC, and shared AC/DC hybrid configurations. Modules are zero-stacked from drive-to-drive and
2198-Hxxx-ERS
Kinetix 5500 use the shared-bus connection system to extend power in multi-axis configurations. Safe Torque Off via hardwired (STO)
Servo Drives connector.
Same power structures as 2198-Hxxx-ERS servo drives with standalone and multi-axis bus-sharing capability. Safe Torque
2198-Hxxx-ERS2 Off via the EtherNet/IP™ network.
Use for energy storage and/or to improve performance in applications producing regenerative energy and requiring shorter
Kinetix 5500 2198-CAPMOD-1300 duty cycles (1360 µf). Modules are zero-stacked side by side with servo drives and use the shared-bus connection system to
Capacitor Module extend power.
Shared-bus 2198-H040-x-x Input wiring connectors and DC bus T-connector for frame 1 and 2 servo drives.
Connector Kits 2198-H070-x-x Input wiring connectors and DC bus T-connector for frame 3 servo drives.
Feedback 2198-KITCON-DSL Replacement feedback connector kit with 2-pin connector plug and grounding plate inside the connector housing.
Connector Kit
Hiperface-to-DSL 2198-H2DCK Use the 2198-H2DCK Hiperface-to-DSL feedback converter kit with Kinetix MPL, MPM, MPF, and MPS rotary motors, Kinetix
Converter Kit (series B or later) MPAS ballscrew, MPAR, MPAI linear actuators, and Kinetix LDAT linear thrusters.
2198-KITCON-IOSP Replacement I/O connector kit (spring clamp) for I/O (IOD) connector.
I/O Connector Kits
2198-KITCON-IOSC Replacement I/O connector kit (screw terminal) for I/O (IOD) connector.
2198-KITCON-PWR40 Replacement connector set, 40 A, for frame 1 and frame 2 drives.
Connector Sets 2198-KITCON-PWR70 Replacement connector set, 70 A, for frame 3 drives.
2198-KITCON-CAP1300 Replacement connector set, 40 A, for capacitor module.
The Allen-Bradley® encoder output module is a DIN rail mounted EtherNet/IP™ network-based standalone module capable of
Encoder Output 2198-ABQE outputting encoder pulses to a customer-supplied peripheral device (cameras, for example, used in line-scan vision
Module systems).
Integrated Motion on the EtherNet/IP network in CompactLogix™ 5370, CompactLogix 5380, and CompactLogix 5480
Bulletin 1769 controllers and Integrated Safety in Compact GuardLogix® 5370 controllers. Linear, Device Level Ring (DLR), and star
Bulletin 5069
Logix 5000® topology is supported.
Controller Platform 1756-EN2T module
EtherNet/IP network communication modules for use with ControlLogix® 5570, ControlLogix 5580, and GuardLogix 5570
1756-EN2TR module controllers. Linear, Device Level Ring (DLR), and star topology is supported.
1756-EN3TR module
Studio 5000® Studio 5000 Logix Designer® application, version 21.00 or later, supports programming, commissioning, and maintaining the
— CompactLogix and ControlLogix controller families. Version 24.00 or later is required for 2198-Hxxx-ERS2 servo drives.
Environment
Kinetix VP Compatible rotary motors include 200V and 400V-class Kinetix VPL, VPF, VPH, and VPS.
Rotary Servo
Motors Compatible rotary motors include 200V and 400V-class Kinetix MPL, MPM, MPF, and MPS when used with the Hiperface-to-
Kinetix MP DSL feedback converter kit.

Chapter 1 Start
Table 2 - Kinetix 5500 Drive System Overview (Continued)

Drive System Cat. No. Description
Component
Kinetix VPAR
Linear Actuators Kinetix MP Compatible linear actuators include 200V and 400V-class Kinetix VPAR, Kinetix MPAS ballscrew, MPAR, and MPAI, and Kinetix
LDAT when used with the Hiperface-to-DSL feedback converter kit.
Kinetix LDAT
Induction Motors — Induction motors with open loop frequency control are also supported.
Kinetix 2090 flying-lead single-cable for motor power, feedback, and optional 24V DC brake power with Kinetix VP motors.
2090-CSxM1DF-xxxxxx Designed specifically for Kinetix 5500 servo drives.
2090-CSxM1DG-xxxxxx and actuators.flying-lead
Kinetix 2090 single cable for motor power, feedback, and optional 24V DC brake power with Kinetix VP motors
Cables Designed with longer leads than 2090-CSxM1DF cables to accommodate Kinetix 5700 drive families.
2090-CFBM7DF-CEAxxx Kinetix 2090 motor feedback cables for Kinetix MP motors and actuators.
2090-CPxM7DF-xxAxxx Kinetix 2090 motor power/brake cables for Kinetix MP motors and actuators.
1585J-M8CBJM-x Ethernet cables are available in standard lengths. Shielded cable is recommended.
2198-DB08-F Bulletin 2198 three-phase AC line filters are required to meet CE and available for use in all Kinetix 5500 drive systems. Use
2198-DB20-F 2198-DBxx-F filters as field replacements in existing installations. Select 2198-DBRxx-F filters for all new systems and do not
2198-DB42-F remove the servo drive ground screws.
AC Line Filters
2198-DBR20-F Bulletin 2198 three-phase AC line filters are required to meet CE and available for use with all Kinetix 5500 drive systems.
2198-DBR40-F Select 2198-DBRxx-F filters for all new systems and do not remove the servo drive ground screws.
2198-DBR90-F
24V DC Power 1606-XLxxx Bulletin 1606 24V DC power supply for control circuitry, digital inputs, safety, and motor brake.
Supply
External Shunt 2097-R6 and 2097-R7 Bulletin 2097 external passive shunt resistors for when the internal shunt capability of the drive is exceeded.
Resistors

Chapter 1 Start
Drive Hardware and Input Typical Kinetix 5500 systems include single-phase and three-phase standalone
configurations, three-phase shared AC, shared AC/DC, shared DC, and shared AC/DC hybrid
Power Configurations configurations.
Standalone Configurations
In these examples, a single standalone drive is shown with and without the Bulletin 2198
capacitor module.
Figure 1 - Typical Kinetix 5500 Standalone Installation
Single-phase or
Three-phase
Input Power
Bonded Cabinet
Line Ground Bus
Disconnect
Device 2198-DBRxx-F 2198-Hxxx-ERSx Drive 2198-Hxxx-ERSx Drive (top view) with
AC Line Filter (top view) 2198-CAPMOD-1300 Capacitor Module
Input (can be required
Fusing for CE and UK)
Mains AC input wired to
standard input connector.
Mains AC and 24V input
wired to standard input Shared DC (DC common bus)
connectors.
Shared 24V (control power input)
1606-XLxxx
24V DC Control, Digital Inputs, Allen-Bradley
1606-XL
and Motor Brake Power

Powe r S u p p l y
(customer-supplied) Input
AC Input Power
2198-H0x0-x-x shared-bus
connection system for bus-
2198-Hxxx-ERSx Drive sharing configurations.
(front view)
2097-Rx
Digital Inputs Shunt Resistor
to Sensors and Control String (optional component)

Chapter 1 Start
In this example, three-phase AC power and 24V control power is shared in a multi-axis
configuration. All drives must have the same power rating (catalog number).
Figure 2 - Typical Shared AC Installations
Three-phase
Input Power
Line Bonded Cabinet

Disconnect Ground Bus
Kinetix 5500 Servo Drives (top view)
Device (2198-H008-ERS drives shown)
2198-DBRxx-F
Input AC Line Filter
Fusing (can be required for
CE and UK)
Shared AC (mains AC input)
1606-XLxxx

1606-XL
Powe r S u p p l y
(customer-supplied)
Kinetix 5500 Servo Drives (front view)
Input
AC Input Power (2198-H008-ERS drives shown)

Shared-bus connection system
for bus-sharing configurations.
2097-Rx
Digital Inputs Shunt Resistor
to Sensors and Control String (optional component)
IMPORTANT In shared AC configurations, all drives must have the same power rating.
Shared AC configurations do not support Bulletin 2198 capacitor
modules.

Chapter 1 Start
Shared AC/DC Configurations

In this example, three-phase AC input power, 24V control power, and DC-bus power are shared
in a multi-axis configuration. All drives must be the same power rating (catalog number).
Figure 3 - Typical Shared AC/DC Installations
Three-phase
Input Power
Line Bonded Cabinet

Disconnect Ground Bus Kinetix 5500 Servo Drives (top view)
Device (2198-H015-ERS drives shown)
2198-DBRxx-F
Input AC Line Filter 2198-CAPMOD-1300 Capacitor Module
Fusing (can be required for (optional component)
CE and UK)
Shared DC (DC common bus)
1606-XLxxx
24V DC Control, Digital Inputs,
Allen-Bradley
1606-XL
Powe r S u p p l y

Kinetix 5500 Servo Drives (front view)

AC Input Power (2198-H015-ERS drives shown)
Shared-bus connection system for
bus-sharing configurations.
Digital Inputs 2097-Rx

to Sensors and Control String Shunt Resistor
(optional component)
IMPORTANT In shared AC/DC configurations, all drives must have the same power
rating (catalog number).

Chapter 1 Start
Shared DC Common-bus Configurations

In this multi-axis example, the common-bus leader (sourcing) drive receives three-phase AC
input power and supplies DC power to common-bus follower (sinking) drives. The common-bus
leader-drive power rating is greater than or equal to the power rating of each follower drive.
Figure 4 - Typical Shared DC Common-bus Installations
Three-phase
Input Power
Line Bonded Cabinet

Kinetix 5500 Servo Drive System (top view)
Device 2198-DBRxx-F
CE and UK)

1606-XLxxx
1606-XL

Powe r S u p p l y
Kinetix 5500 Servo Drive System (front view)

AC Input Power
Shared-bus connection system
for bus-sharing configurations.
Digital Inputs 2097-Rx

to Sensors and Control String Shunt Resistor
2198-H008-ERS
2198-H040-ERS Common-bus 2198-CAPMOD-1300 Capacitor Module
Common-bus Leader Drive Follower Drives (optional component)
(
IMPORTANT In shared DC common-bus configurations, the leader drive power rating

must be greater than or equal to the power rating of the follower drives.

Chapter 1 Start
Shared AC/DC Hybrid Configuration

In this multi-axis example, three-phase AC input power is supplied to two converter drives. The
converter drive ratings must be the same, and greater than or equal to the power ratings of
the inverter drives. This parallel converter configuration increases the DC-bus power supplied
to the inverter drives.
Figure 5 - Typical Shared AC/DC Bus Hybrid Installations
Three-phase
Input Power
Line Bonded Cabinet

Kinetix 5500 Servo Drive System (top view)
Device 2198-DBRxx-F
CE and UK)
1606-XLxxx

1606-XL
Powe r S u p p l y
(customer-supplied) Input Kinetix 5500 Servo Drive System (front view)

AC Input Power Shared-bus connection system for
bus-sharing configurations.
2097-Rx
Digital Inputs
Shunt Resistor
to Sensors and Control String
2198-H040-ERS 2198-H008-ERS
Common-bus (inverter) 2198-CAPMOD-1300 Capacitor Module
Common-bus (converter)
Follower Drives (optional component)
Leader Drives
IMPORTANT In shared AC/DC hybrid configuration, the converter drives must have
the same power rating and must be greater than or equal to the power
ratings of the inverter drives.

Chapter 1 Start
Motor Feedback and Feedback connections are made at the 2-pin motor feedback (MF) connector. These examples
illustrate how you can use the Bulletin 2198 connector kits for making these connections. To
Feedback-only see motor power and brake connections, refer to Chapter 5 beginning on page 69.
Configurations
Figure 6 - Feedback Configuration Examples
2198-Hxxx-ERSx Drive
(front view)
2090-CSxM1DF or 2090-CSxM1DG
2-pin Motor Feedback Single Motor Cables
(MF) Connector
Kinetix VPAR Electric

Cylinders
Kinetix VP Rotary Motors

2198-KITCON-DSL Connector Kit (VPL-Bxxxx motor is shown)
• Accepts DSL motor feedback from
Kinetix VP rotary motors and Kinetix
VPAR electric cylinders.
• Feedback-only (DSL)
Kinetix MPL, MPM, MPF, and

MPS Rotary Motors
(MPL-Bxxxx motor is shown)
2198-H2DCK Converter Kit

Converts 15-pin Hiperface feedback into 2-pin DSL Kinetix 2090 Motor Power and Feedback Cables
feedback for:
• Kinetix MP rotary motors and linear actuators
• Kinetix LDAT linear thrusters
• Feedback-only (absolute single-turn/multi-turn
LDAT-Sxxxxxx-xDx
Kinetix MPAR Linear Actuators Linear Thrusters
(MPAR-B3xxxx electric cylinder is shown)
Kinetix MPAS Linear Actuators

(MPAS-B9xxx ballscrew linear stage is shown)
Induction Rotary Motors

Kinetix MPAI Linear Actuators
(no feedback, VHz)
(MPAI-B3xxxx heavy-duty electric cylinder is shown)
IMPORTANT In 2198-H2DCK converter kit applications, you can replace the 2090-CPxM7DF power/brake cable with a
2090-CSxM1DF/DG single motor cable, and reuse the 2090-CFBM7DF feedback cable. This increases the
maximum cable length for 18 AWG and 14 AWG single cables to 50 m (164 ft). 2090-CSBM1DF-10AFxx and
2090-CSBM1DG-10xxxx (10 AWG) cables do not support this 50 m (164 ft) option.

Chapter 1 Start
Typical Communication The Kinetix 5500 drives support any Ethernet topology including linear, ring, and star by using
ControlLogix, GuardLogix, or CompactLogix controllers.
Configurations
These examples feature the CompactLogix 5370 programmable automation controllers
(Bulletin 1769) with support for Integrated Motion over the EtherNet/IP network.
See CompactLogix Controllers Specifications Technical Data, publication

1769-TD005, for more information on CompactLogix 5370 L1, L2, and L3 controllers.
Linear Topology
In this example, all devices are connected in linear topology. The Kinetix 5500 drives include
dual-port connectivity, however, if any device becomes disconnected, all devices downstream
of that device lose communication. Devices without dual ports must include the 1783-ETAP
module or be connected at the end of the line.
Figure 7 - Kinetix 5500 Linear Communication Installation
CompactLogix Controller Programming Network
CompactLogix 5370 Controller Studio 5000 Logix Designer

Application
Kinetix 5500 Servo Drive System

00:00:BC:2E:69:F6
1 (Front)
2 (Rear)
1585J-M8CBJM-OM15
0.15 m (6 in.) Ethernet cable
1585J-M8CBJM-x
for drive-to-drive connections.
Ethernet (shielded) Cable
MOD
NET
2198-ABQE
Encoder Output Module
OUTPUT-A OUTPUT-B
842E-CM Integrated
1734-AENTR POINT I/O™ Motion Encoder
PanelView™ Plus EtherNet/IP Adapter
Display Terminal
002 1734-AENTR
POINT I O
Module
Status
Network
Activity
Network
Status
Point Bus
Link 1 Status
Activity/
Status System
Power
Field
Power
Link 2
Activity/
Status

Chapter 1 Start
Ring Topology
In this example, the devices are connected by using ring topology. If only one device in the ring
is disconnected, the rest of the devices continue to communicate. For ring topology to work
correctly, a Device Level Ring (DLR) supervisor is required (for example, the Bulletin 1783 ETAP
device). DLR is an ODVA standard. For more information, see the EtherNet/IP Embedded Switch
Technology Application Guide, publication ENET-AP005.
Devices without dual ports, for example the display terminal, require a 1783-ETAP module to
complete the network ring.
Figure 8 - Kinetix 5500 Ring Communication Installation

Application
00:00:BC:2E:69:F6
1 (Front)
2 (Rear)
PanelView Plus
Display Terminal
1783-ETAP
Module
002 1734-AENTR
POINT I O
1585J-M8CBJM-x Ethernet
Module
Status
1734-AENTR POINT I/O

Network
Activity
Network
Status
Point Bus
Link 1 Status
Activity/
Status System
(shielded) Cable
Power
EtherNet/IP Adapter
Field
Power
Kinetix 5500 Servo Drive System Link 2

Activity/
Status
MOD
NET
842E-CM Integrated
Motion Encoder
2198-ABQE
OUTPUT-A OUTPUT-B
1585J-M8CBJM-OM15

Chapter 1 Start
Star Topology
In this example, the devices are connected by using star topology. Each device is connected
directly to the switch.
Kinetix 5500 drives have dual ports, so linear topology is maintained from drive-to-drive, but
Kinetix 5500 drives and other devices operate independently. The loss of one device does not
impact the operation of other devices.
Figure 9 - Kinetix 5500 Star Communication Installation

Application
00:00:BC:2E:69:F6
1 (Front)
2 (Rear)
1585J-M8CBJM-x 1783-BMS
Ethernet (shielded) Cable Stratix® 5700
Switch
842E-CM Integrated
Motion Encoder
2198-ABQE MOD
NET

1585J-M8CBJM-OM15
OUTPUT-A OUTPUT-B
PanelView Plus
Display Terminal
1734-AENTR POINT I/O

EtherNet/IP Adapter
You can use the 842E-CM integrated motion encoder for applications requiring an external
encoder for gearing or camming to the Kinetix 5500 drive. By providing auxiliary feedback
directly through the EtherNet/IP network, the 842E-CM encoder helps eliminate the need for
point-to-point wiring while letting customers use the encoder in a variety of network
topologies. For more information, see the 842E-CM Integrated Motion on EtherNet/IP Product
Profile, publication 842ECM-PP001.

Chapter 1 Start
Safe Torque Off Kinetix 5500 servo drives are available with Safe Torque Off via hardwired connections or
integrated over the EtherNet/IP network. These examples illustrate the Safe Torque Off
Configurations configuration options.
Hardwired Safety Configuration

The 2198-Hxxx-ERS drives use the Safe Torque Off (STO) connector for wiring external safety
devices and cascading hardwired safety connections from one drive to another.
Figure 10 - Safe Torque Off (hardwired) Configuration
Any Logix 5000 Controller

(CompactLogix 5370 controller is shown)
00:00:BC:2E:69:F6
1 (Front)
2 (Rear)
2198-Hxxx-ERS Servo Drives

Studio 5000 Logix Designer (top view)
Application
(version 21.0 or later)
1585J-M8CBJM-x
Module Definition Ethernet (shielded) Cable
Configured with
Motion-only
Connection
Safe Torque Off

(STO) Connectors
1606-XLxxx Safety
1606-XL
Device
Powe r S u p p l y
2198-Hxxx-ERS Servo Drives

(front view)
AC Input Power
Digital Inputs to Sensors and Control String
Logix5585 TM
DC INPUT DC INPUT AC OUTPUT
ControlLogix 5570 Controllers or

SAFETY ON
NET
0000 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 or 5480 Controllers or
Compact GuardLogix 5380 Safety Controllers
Kinetix VP
Servo Motors

Chapter 1 Start
Integrated Safety Configurations

The GuardLogix 5570 or Compact GuardLogix 5370 safety controller issues the Safe Torque Off
(STO) command over the EtherNet/IP network and the
2198-Hxxx-ERS2 integrated safety drive executes the command.
In this example, a single GuardLogix safety controller makes a Motion and Safety connection
with the 2198-Hxxx-ERS2 integrated safety drives.
IMPORTANT If only one controller is used in an application with Motion and Safety
connections, the controller must be one of the following:
• A GuardLogix 5570 controller or GuardLogix 5580 safety controller
• A Compact GuardLogix 5370 controller of Compact GuardLogix 5380
safety controller
Figure 11 - Motion and Safety Configuration (single controller)
Compact GuardLogix 5370 Controller,

EtherNet/IP
Compact GuardLogix 5380 Safety Controller or

LNK1 LNK2 NET OK
GuardLogix 5570 Controller,

GuardLogix 5580 Safety Controller
2
(GuardLogix 5570 Safety Controller is shown)
1
Studio 5000 Logix Designer 2198-Hxxx-ERS2 Servo Drives

Application
1585J-M8CBJM-x (top view)
Module Definition
Configured with
Motion and Safety 1734-AENTR
Connections POINT Guard I/O™
EtherNet/IP Adapter
Safety
1783-BMS Device
Stratix 5700
Switch 2198-Hxxx-ERS2 Servo Drives
1606-XLxxx
(front view)
Allen-Bradley
1606-XL
Powe r S u p p l y

AC Input Power
Motion and Safety Connections to the Drive
Kinetix VP
Servo Motors

Chapter 1 Start
In this example, a non-safety controller makes the Motion-only connection and a separate
GuardLogix safety controller makes the Safety-only connection with 2198-Hxxx-ERS2
integrated safety drives.
IMPORTANT If two controllers are used in an application with Motion-only and

Safety-only connections, the controllers must be any of the following:
• The Safety-only connection must be a GuardLogix 5570 controller,
GuardLogix 5580 safety controller, Compact GuardLogix 5370
controller, or Compact GuardLogix 5380 safety controller
• The Motion-only connection must be a ControlLogix 5570 controller,
ControlLogix 5580 safety controller, CompactLogix 5370 controller, or
CompactLogix 5380 safety controller.
Figure 12 - Motion and Safety Configuration (multi-controller)
Compact GuardLogix 5370 Controller,

EtherNet/IP
EtherNet/IP
Compact GuardLogix 5380 Safety Controller or

LNK1 LNK2 NET OK
LNK1 LNK2 NET OK
GuardLogix 5570 Controller,

GuardLogix 5580 Safety Controller
2 (GuardLogix 5570 Safety Controller is shown) 2
1
1
Studio 5000 Logix Designer

Any Logix 5000 Controller Safety Program
Application
(ControlLogix 5570 controller is shown) Module Definition
Configured with Safety-only
Motion Program
Module Definition
Configured with Motion-only
2198-Hxxx-ERS2 Servo Drives

1734-AENTR
(top view)
POINT Guard I/O
EtherNet/IP Adapter
1783-BMS Safety
Stratix 5700 Device
Switch
1606-XLxxx
Allen-Bradley
1585J-M8CBJM-x 1606-XL
Power S u p p l y
Ethernet (shielded) Cable and Motor Brake Power 2198-Hxxx-ERS2 Servo Drives
(front view)
AC Input Power
Motion and Safety Connections to the Drive
Kinetix VP
Servo Motors

Chapter 1 Start
Catalog Number Kinetix 5500 drive catalog numbers and performance specifications.
Explanation
Table 3 - Kinetix 5500 Servo Drive Catalog Numbers
Continuous Output Output Current

Drive Cat. No. Drive Cat. No. Frame Size Input Voltage Power Continuous Peak
(hardwired STO) (integrated STO) kW A 0-pk A 0-pk
0.2 kW
2198-H003-ERS 2198-H003-ERS2 0.3 kW 1.4 3.5
0.6 kW
1
195…264V rms, single-phase 0.5 kW
2198-H008-ERS 2198-H008-ERS2 195…264V rms, three-phase 0.8 kW 3.5 8.8
324…528V rms, three-phase 1.6 kW
1.0 kW
2198-H015-ERS 2198-H015-ERS2 1.5 KW 7.1 17.7
3.2 kW
2 2.4 kW
2198-H025-ERS 2198-H025-ERS2 11.3 28.3
5.1 kW
2198-H040-ERS 2198-H040-ERS2 18.4 45.9
7.0 kW
2198-H070-ERS 2198-H070-ERS2 3 32.5 81.3
14.6 kW
Table 4 - Capacitor Module Catalog Number

Capacitor Module Frame Size Rated Voltage Capacitance
Cat. No.
2198-CAPMOD-1300 2 650V DC, nom 1360 µF, min
Table 5 - Shared-bus Connector Kit Catalog Numbers

Kit Cat. No. Frame Size Application Description
• Mains AC input wiring connector
2198-H040-ADP-IN Frame 1 or 2 First drive • 24V DC input wiring connector
• DC bus T-connector
2198-H040-A-T AC sharing only AC bus T-connector
Next drive is…
2198-H040-D-T Frame 1 drives: DC sharing only DC bus T-connector
2198-H040-P-T 2198-H003-ERSx Control power sharing only Control power T-connector
2198-H008-ERSx
2198-H040-AD-T Frame 2 drives: AC and DC-bus sharing AC and DC bus T-connectors
2198-H040-AP-T 2198-H015-ERSx AC and control power sharing AC and control power T-connectors
2198-H040-DP-T 2198-H025-ERSx DC and control power sharing DC and control power T-connectors
2198-H040-ERSx
2198-H040-ADP-T AC, DC, and control power sharing AC, DC, and control power T-connectors
• Mains AC input wiring connector
Frame 3 drive:
2198-H070-ADP-IN First drive • 24V DC input wiring connector
2198-H070-ERSx
• DC bus T-connector
2198-H070-A-T AC sharing only AC bus T-connector
2198-H070-D-T DC sharing only DC bus T-connector
2198-H070-P-T Next drive is… Control power sharing only Control power T-connector
2198-H070-AD-T Frame 3 drives: AC and DC-bus sharing AC and DC bus T-connectors
2198-H070-AP-T 2198-H070-ERSx AC and control power sharing AC and control power T-connectors
2198-H070-DP-T DC and control power sharing DC and control power T-connectors
2198-H070-ADP-T AC, DC, and control power sharing AC, DC, and control power T-connectors

Chapter 1 Start
Agency Compliance If this product is installed within the European Union and has the CE mark, or within the United
Kingdom and has the UKCA mark, the following regulations apply.
ATTENTION: Meeting CE and UK requires a grounded system and the

method of grounding the AC line filter and drive must match. Failure to do
this renders the filter ineffective and can damage the filter. For grounding
examples, refer to Grounded Power Configurations on page 71.
For more information on electrical noise reduction, refer to the System Design for Control of
Electrical Noise Reference Manual, publication GMC-RM001.
To meet CE and UK requirements, these requirements apply:
• Install an AC line filter (catalog number 2198-DBxxF or
2198-DBRxx-F). For specific pairing information for input power as close to the
Kinetix 5500 drive as possible, see Kinetix 5700, 5500, 5300, and 5100 Servo Drives
Specifications, publication KNX-TD003.
• Bond drive, capacitor module, and line filter grounding screws by using a braided
ground strap as shown in Figure 43 on page 76.
• Use Kinetix 2090 single motor cables with Kinetix VP servo motors and actuators. Use
Kinetix 2090 motor power/brake and feedback cables for other compatible Allen-
Bradley® motors and actuators.
• Combined motor cable length for all axes on the same DC bus must not exceed 250 m
(820 ft). Drive-to-motor cables must not exceed 50 m (164 ft); however, use of
continuous-flex cable and 2198-H2DCK converter kit limits the maximum length.
Table 6 - Drive-to-Motor Maximum Cable Length
Kinetix VP Servo Motors m (ft) Other Compatible Rotary Motors/Linear Actuators (1)
Kinetix 5500 Servo Drive Standard (non-flex) Cables Continuous-flex Cables (2)
Cat. No. 2090-CSxM1DF-xxAAxx Kinetix 2090 Motor/Actuator Cables (3)
Cat. No. Cat. No. 2090-CSBM1DF-xxAFxx
Cat. No. 2090-CSxM1DG-xxxAxx Cat. No. 2090-CxxM7DF
Cat. No. 2090-CSBM1DG-xxxFxx
Cat. No. 2090-CSxM1E1-xxVAxx m (ft)
Cat. No. 2090-CSBM1E1-xxxFxx
2198-H003-ERSx 50 (164) 30 (98.4)
2198-H008-ERSx
2198-H015-ERSx 20 (65.6)
2198-H025-ERSx 50 (164) 30 (98.4)
2198-H040-ERSx
2198-H070-ERSx 50 (164) 30 (98.4)
(1) Requires use of the 2198-H2DCK Hiperface-to-DSL (series B or later) feedback converter kit.
(2) When using any continuous-flex cable (whether extension or flying-lead) in your application, the maximum cable length including any standard (non-flex) cable back to the drive, is 30 m
(98.4 ft).
(3) The 20 m (65.6 ft) limitation is attributed to the 2090-CPxM7DF power/brake cable. In 2198-H2DCK converter kit applications, you can replace the 2090-CPxM7DF power/brake cable with a
2090-CSxM1DF or 2090-CSxM1DG single motor cable (and reuse the 2090-CFBM7DF feedback cable) to increase the maximum cable length to 50 m (164 ft). This applies to only 18 AWG and 14
AWG single cables. 2090-CSBM1Dx-10xxxx (10 AWG/M40 connector) single cables are not compatible with 2090-CPBM7DF-10Axxx (10 AWG/M40 connector) power/brake cables.
• Install the Kinetix 5500 system inside an approved enclosure. Run input power wiring in
conduit (grounded to the enclosure) outside of the enclosure. Separate signal and
power cables.
• Separate input power wiring from control wiring and motor cables.
See Appendix A on page 179 for input power wiring and drive/motor interconnect diagrams.

Chapter 2
Plan the Kinetix 5500 Drive System Installation
This chapter describes system installation guidelines that are used in preparation for
mounting your Kinetix® 5500 drive components.
Topic Page
System Design Guidelines 31
Electrical Noise Reduction 40
ATTENTION: Plan the installation of your system so that you can perform all
cutting, drilling, tapping, and welding with the system removed from the
enclosure. Because the system is of the open type construction, be careful
to keep metal debris from falling into it. Metal debris or other foreign matter
can become lodged in the circuitry and result in damage to the components.
System Design Guidelines Use the information in this section when designing your enclosure and planning to mount your
system components on the panel.
For online product selection and system configuration tools, including AutoCAD (DXF) drawings
of the product, refer to
https://www.rockwellautomation.com/en-us/support/product/product-selection-
configuration.html.
System Mounting Requirements

• To comply with UL, CE, and UK requirements, the Kinetix 5500 drive systems must be
enclosed in a grounded conductive enclosure offering protection as defined in standard
IEC 60529 to IP20 such that they are not accessible to an operator or unskilled person. A
NEMA 4X enclosure exceeds these requirements providing protection to IP66.
To maintain the functional safety rating of the Kinetix 5500 drive system, this enclosure
must be appropriate for the environmental conditions of the industrial location and
provide a protection class of IP54 or higher.
• The panel that you install inside the enclosure for mounting your system components
must be on a flat, rigid, vertical surface that is not subjected to shock, vibration,
moisture, oil mist, dust, or corrosive vapors in accordance with pollution degree 2 (IEC
61800-5-1). These conditions are required because the product is rated to protection
class IP20
(IEC 60529).
• Size the drive enclosure so as not to exceed the maximum ambient temperature rating.
Consider heat dissipation specifications for all drive components.
• Combined motor power cable length for all axes on the same DC bus must not exceed
250 m (820 ft). Drive-to-motor cables must not exceed 50 m (164 ft), however use of
continuous-flex cable and 2198-H2DCK converter kit limits the maximum length. See
Table 6 on page 30 for specifications by frame size.
IMPORTANT System performance was tested at these cable length

specifications. These limitations also apply when meeting CE and
UK requirements.
• Use high-frequency (HF) bonding techniques to connect the modules, enclosure,
machine frame, and motor housing, and to provide a low-impedance return path for
high-frequency (HF) energy and reduce electrical noise.
Bond drive, capacitor module, and line filter grounding screws by using a braided
ground strap as shown in Figure 43 on page 76.

Chapter 2 Plan the Kinetix 5500 Drive System Installation
See the System Design for Control of Electrical Noise Reference Manual, publication GMC-
RM001, to better understand the concept of electrical noise reduction.
AC Line Filter Selection

An AC line filter is required to meet CE and UK requirements. Install an AC line filter for input
power as close to the 2198-Hxxx-ERSx drive as possible.
IMPORTANT AC line filters are only recommended with grounded wye power
configurations. For facility power configuration examples, see
Determine the Input Power Configuration on page 71.
Table 7 - AC Line Filter Selection

Kinetix Drive Module AC Line Filter
Cat. No. Cat. No.
2198-H003-ERSx
2198-H008-ERSx 2198-DB08-F
2198-H015-ERSx
2198-H025-ERSx • 2198-DBR20-F or
2198-H040-ERSx • 2198-DB20-F
• 2198-DBR40-F or
2198-H070-ERSx
• 2198-DB42-F
IMPORTANT Use 2198-DBxx-F line filters only as field replacements in existing

installations. Select 2198-DBRxx-F line filters for all new systems or to
replace existing 2198-DBxx-F line filters. This does not apply to
2198-DB08-F line filters.
Table 8 - AC Line Filter Selection for Shared AC, Shared AC/DC, and Hybrid Multi-axis Systems
Drive Voltage AC Line Filter Cat. No.
Kinetix 5500 Drives (three-phase),
Cat. No. 2 Axes 3 Axes 4 Axes 5 Axes 6 Axes 7 Axes 8 Axes
Nom
2198-H003-ERSx 240/480V 2198-DBR20-F
2198-H008-ERSx 240/480V 2198-DBR20-F
2198-H015-ERSx 240/480V 2198-DBR20-F —
2198-H025-ERSx 240/480V 2198-DBR40-F —
2198-H040-ERSx 240/480V 2198-DBR40-F 2198-DBR90-F —
2198-H070-ERSx 240/480V 2198-DBR90-F —

Transformer Selection
The servo drive does not require an isolation transformer for three-phase input power.
However, a transformer can be required to match the voltage requirements of the drive to the
available service.
To size a transformer for the main AC power inputs, refer to the Kinetix 5700, 5500, 5300, and
5100 Servo Drives Specifications Technical Data, publication KNX-TD003.
IMPORTANT When using an autotransformer, make sure that the phase to neutral/
ground voltage does not exceed the input voltage ratings of the drive.
IMPORTANT Use a form factor of 1.5 for three-phase power (where form factor is
used to compensate for transformer, drive module, and motor losses,
and to account for utilization in the intermittent operating area of the
torque speed curve).
IMPORTANT A line reactor must be used if the source transformer is greater than
150 KVA, maximum and 3% impedance, minimum
EXAMPLE Sizing a transformer to the voltage requirements of this drive:

2198-H040-ERSx = 8.4 kW = 12.6 KVA transformer.
Circuit Breaker/Fuse Selection

The Kinetix 5500 drives use internal solid-state motor short-circuit protection and, when
protected by suitable branch circuit protection, are rated for use on a circuit capable of
delivering up to 200,000 A (fuses) and 65,000 A (circuit breakers).
For the wiring diagram, refer to Power Wiring Examples on page 179.
ATTENTION: Do not use circuit protection devices on the output of an AC

drive as an isolating disconnect switch or motor overload device. These
devices are designed to operate on sine wave voltage and the drive’s PWM
waveform does not allow it to operate properly. As a result, damage to the
device occurs.
Standalone Drive Systems

Table 9 - Standalone Drive System Specifications for UL and IEC (non-UL) Applications
Kinetix 5500 Drives UL Applications IEC (non-UL) Applications
Drive Voltage, Bussmann DIN gG Fuses Molded Case CB Cat. No.
Drive Cat. No. Phase Molded Case CB Cat. No.
Nom Fuses Cat. No. Amps (max)
240V Single-phase KTK-R-2 140U-D6D2-B10 and 140UT-D7D2-B10 2 140U-D6D2-B10 and 140UT-D7D2-B10
2198-H003-ERSx
240/480V Three-phase KTK-R-3 140U-D6D3-B20 and 140UT-D7D3-B20 4 140U-D6D3-B20 and 140UT-D7D3-B20
2198-H008-ERSx
240/480V Three-phase KTK-R-7 140U-D6D3-B60 and 140UT-D7D3-B60 6 140U-D6D3-B60 and 140UT-D7D3-B60
2198-H015-ERSx
240/480V Three-phase KTK-R-15 140U-D6D3-C12 and 140UT-D7D3-C12 16 140U-D6D3-C12 and 140UT-D7D3-C12
2198-H025-ERSx 240/480V Three-phase KTK-R-20 140U-D6D3-C20 and 140UT-D7D3-C20 20 140U-D6D3-C20 and 140UT-D7D3-C20
2198-H040-ERSx 240/480V Three-phase KTK-R-25 140U-D6D3-C25 and 140UT-D7D3-C25 25 140U-D6D3-C25 and 140UT-D7D3-C25
2198-H070-ERSx 240/480V Three-phase LPJ-35SP 140G-G6C3-C40 35 140G-G6C3-C40

Shared DC (common-bus) Drive Systems

Table 10 - Shared DC Drive System Specifications for UL and IEC (non-UL) Applications
Kinetix 5500 Drives UL Applications IEC (non-UL) Applications
Drive Voltage Bussmann DIN gG Fuses
Drive Cat. No. (three-phase), Fuses Molded Case CB Cat. No. Molded Case CB Cat. No.
Amps (max)
Nom Cat. No.
2198-H003-ERSx 240/480V KTK-R-10 140U-D6D3-C15 and 140UT-D7D3-C15 10 140U-D6D3-C15 and 140UT-D7D3-C15
2198-H070-ERSx 240/480V LPJ-35SP 140G-G6C3-C40 35 140G-G6C3-C40
Shared AC Drive Systems

Table 11 - Input Power UL Circuit-protection Specifications
Kinetix 5500 Drives Bussmann Fuses Cat. No. Molded Case CB Cat. No.
Drive Voltage
Drive Cat. No. (three-phase), 2 Axes 3 Axes 4 Axes 5 Axes 2 Axes 3 Axes 4 Axes 5 Axes
Nom
2198-H003-ERSx 240/480V KTK-R-15 140U-D6D3-C15 and 140UT-D7D3-C15
2198-H008-ERSx 240/480V KTK-R-15 140U-D6D3-C15 and 140UT-D7D3-C15
140U-D6D3-C15 and 140U-D6D3-C20 and —
2198-H015-ERSx 240/480V KTK-R-20 KTK-R-25 — 140UT-D7D3-C15 140UT-D7D3-C20
140U-D6D3-C25 and 140U-D6D3-C30 and —
2198-H025-ERSx 240/480V KTK-R-30 — 140UT-D7D3-C25 140UT-D7D3-C30
2198-H040-ERSx 240/480V LPJ-35SP LPJ-45SP — 140G-G6C3-C40 140G-G6C3-C50 —
2198-H070-ERSx 240/480V LPJ-60SP — 140G-G6C3-C60 —
Table 12 - Input Power IEC (non-UL) Circuit-protection Specifications

Kinetix 5500 Drives DIN gG Fuses, Amps (max) Molded Case CB Cat. No.
Drive Voltage
Drive Cat. No. (three-phase), 2 Axes 3 Axes 4 Axes 5 Axes 2 Axes 3 Axes 4 Axes 5 Axes
Nom
2198-H003-ERSx 240/480V 16 140U-D6D3-C15 and 140UT-D7D3-C15
2198-H008-ERSx 240/480V 16 140U-D6D3-C15 and 140UT-D7D3-C15
140U-D6D3-C15 and 140U-D6D3-C20
2198-H015-ERSx 240/480V 20 25 — and —
140UT-D7D3-C15 140UT-D7D3-C20
140U-D6D3-C25 and 140U-D6D3-C30
2198-H025-ERSx 240/480V 32 — and —
140UT-D7D3-C25 140UT-D7D3-C30
2198-H040-ERSx 240/480V 35 50 140G-G6C3-C40 140G-G6C3-C50 —
2198-H070-ERSx 240/480V 63 — 140G-G6C3-C60 —
Shared AC/DC and Hybrid Systems

Table 13 - Input Power UL Circuit-protection Specifications
Kinetix 5500 Drives Bussmann Fuse Cat. No. Molded Case CB Cat. No.
Drive Voltage
Drive Cat. No. (three-phase), 2 Axes 3 Axes 4 Axes 5 Axes 6 Axes 7 Axes 8 Axes 2 Axes 3 Axes 4 Axes 5 Axes 6 Axes 7 Axes 8 Axes
Nom
2198-H003-ERSx 240/480V KTK-R-10 KTK-R-15 140U-D6D3-C15 and 140UT-D7D3-C15
140U-D6D3-C20
2198-H008-ERSx 240/480V KTK-R-15 KTK-R-20 140U-D6D3-C15 and 140UT-D7D3-C15 and
140UT-D7D3-C20
140U-D6D3-C15 140U-D6D3-C20
2198-H015-ERSx 240/480V KTK-R-20 — and and —
140UT-D7D3-C15 140UT-D7D3-C20

Table 13 - Input Power UL Circuit-protection Specifications (Continued)

Kinetix 5500 Drives Bussmann Fuse Cat. No. Molded Case CB Cat. No.
Drive Voltage
Drive Cat. No. (three-phase), 2 Axes 3 Axes 4 Axes 5 Axes 6 Axes 7 Axes 8 Axes 2 Axes 3 Axes 4 Axes 5 Axes 6 Axes 7 Axes 8 Axes
Nom
140U-D6D3-C20 140U-D6D3-C30
2198-H025-ERSx 240/480V KTK-R-30 — and and —
140UT-D7D3-C20 140UT-D7D3-C30
140U-D6D3-C30
2198-H040-ERSx 240/480V KTK-R-30 LPJ-45SP LPJ-50SP — and 140G-G6C3-C50 —
140UT-D7D3-C30
2198-H070-ERSx 240/480V LPJ-50SP — 140G-G6C3-C50 —
Table 14 - Input Power IEC (non-UL) Circuit-protection Specifications

Kinetix 5500 Drives DIN gG Fuses, Amps (max) Molded Case CB Cat. No.
Drive Voltage
Drives Cat. No. (three-phase), 2 Axes 3 Axes 4 Axes 5 Axes 6 Axes 7 Axes 8 Axes 2 Axes 3 Axes 4 Axes 5 Axes 6 Axes 7 Axes 8 Axes
Nom
2198-H003-ERSx 240/480V 10 16 140U-D6D3-C15 and 140UT-D7D3-C15
140U-D6D3-C20
2198-H008-ERSx 240/480V 16 20 140U-D6D3-C15 and 140UT-D7D3-C15 and
140UT-D7D3-C20
140U-D6D3-C15 140U-D6D3-C20
2198-H015-ERSx 240/480V 20 – and and –
140UT-D7D3-C15 140UT-D7D3-C20
140U-D6D3-C20 140U-D6D3-C30
2198-H025-ERSx 240/480V 32 — and and —
140UT-D7D3-C20 140UT-D7D3-C30
140U-D6D3-C30
2198-H040-ERSx 240/480V 32 50 — and 140G-G6C3-C50 —
140UT-D7D3-C30
2198-H070-ERSx 240/480V 50 — 140G-G6C3-C50 —

24V Control Power Evaluation

The Kinetix 5500 drive system requires 24V DC input for its control circuitry. Due to the 24V
shared-bus connection system and the 24V current requirements of the Kinetix 5500 drives, a
thorough evaluation of control power is required before implementation. Consider the
following when sizing such a system:
• Verify that the 24V DC power supply is capable of supplying the 24V current
requirements of your Kinetix 5500 drive system. See Control Power Current Calculations
on page 208 to determine the 24V current requirements.
For systems with a high 24V current demand, consider installing a separate 24V power
supply for each bus group or change the bus group configuration to more evenly divide
the 24V current demand.
• Verify that the wiring being used is capable of supplying the Kinetix 5500 drive system
with a voltage within the 24V input-voltage range; 24V ±10% (21.6…26.4V DC). Consider
the following:
- Mount the 24V power supply as close to the Kinetix 5500 drive system as possible to
minimize input voltage drop.
- Install larger gauge wire, up to 2.5 mm2 (14 AWG) for 24V control power when using
the CP connectors included with the module; or use the 24V shared-bus connection
system to lower the DC wire resistance with up to 10 mm2 (6 AWG) and result in a
lower voltage drop.
IMPORTANT The 24V current demand, wire gauge, and wire length all impact the
voltage drop across the wiring being used.
Contactor Selection
You can use an AC three-phase contactor to supply AC input power to the Kinetix 5500 drive.
Follow these guidelines when selecting a contactor for your drive system.
• Make sure that the contactor is capable of supporting a higher amp rating than the
input fuse/circuit breaker you selected from the tables in Circuit Breaker/Fuse
Selection on page 33
• Select a contactor with a voltage rating and SCCR rating appropriate for your drive
installation
• Do not cycle power to the contactor more than once per minute to help prevent damage
to the Kinetix 5500 drive

Passive Shunt Considerations

The Kinetix 5500 drives all include an internal shunt that is wired to the shunt resistor (RC)
connector at the factory. Bulletin 2097-Rx external passive shunts are available to provide
additional shunt capacity for applications where the internal shunt capacity is exceeded.
IMPORTANT Keep the internal shunt wires connected unless you have an external
passive shunt to connect.
Table 15 - Bulletin 2097 Passive Shunt Options
Internal Shunt Specifications External Shunt Resistor (1)

Kinetix 5500 Drives Compatibility Cat. No.
Cat. No.
Ω W 2097-R7 2097-R6
2198-H003-ERSx X —
100 30
2198-H008-ERSx X —
2198-H015-ERSx X —
2198-H025-ERSx 60 50 X —
2198-H040-ERSx — X
2198-H070-ERSx 40 75 — X
(1) Shunt resistor selection is based on the needs of your actual hardware configuration.
Catalog numbers 2097-R6 and 2097-R7 are shunt resistors without an enclosure.
Figure 13 - External Passive Shunts
2097-R6 and 2097-R7
Shunt Resistors
Table 16 - External Shunt Module Specifications

Shunt Module Resistance Continuous Power Weight, Approx
Cat. No. Ω W kg (lb)
2097-R6 75 150 0.3 (0.7)
2097-R7 150 80 0.2 (0.4)
How the Bulletin 2097-Rx shunts connect to Kinetix 5500 drives is explained in External
Passive-shunt Resistor Connections on page 99 and illustrated with interconnect diagrams in
Shunt Resistor Wiring Example on page 184.

Enclosure Selection
This example is provided to assist you in sizing an enclosure for your Kinetix 5500 drive
system. You need heat dissipation data from all components that are planned for your
enclosure to calculate the enclosure size (refer to Table 17 on page 38).
With no active method of heat dissipation (such as fans or air conditioning), either of the
following approximate equations can be used.
Metric Standard English
0.38Q 4.08Q
A= A=
1.8T - 1.1 T - 1.1
Where T is the temperature difference between inside Where T is the temperature difference between inside
air and outside ambient (°C), Q is the heat that is air and outside ambient (°F), Q is the heat that is
generated in the enclosure (Watts), and A is enclosure generated in enclosure (Watts), and A is enclosure
surface area (m2). The exterior surface of all six sides of surface area (ft2). The exterior surface of all six sides of
an enclosure is calculated as follows: an enclosure is calculated as follows:
A = 2dw + 2dh + 2wh A = (2dw + 2dh + 2wh) /144
Where d (depth), w (width), and h (height) are in meters.
If the maximum ambient rating of the Kinetix 5500 drive system is 50 °C (122 °F) and if the
maximum environmental temperature is 20 °C (68 °F), then T=30. In this example, the total
heat dissipation is 416 W (sum of all components in enclosure). So, in the equation below, T=30
and Q=416.
0.38 (416)
A= = 2.99 m 2
1.8 (30) - 1.1
In this example, the enclosure must have an exterior surface of at least 2.99 m2. If any portion
of the enclosure is not able to transfer heat, do not include that value in the calculation.
Because the minimum cabinet depth to house the Kinetix 5500 system (selected for this
example) is 300 mm (11.8 in.), the cabinet must have approximately the following dimensions
(height x width x depth):
1500 x 700 x 300 mm (59.0 x 27.6 x 11.8 in.).
1.5 x (0.300 x 0.70) + 1.5 x (0.300 x 2.0) + 1.5 x (0.70 x 2.0) = 3.31 m2
Because this cabinet size is considerably larger than what is necessary to house the system
components, it can be more efficient to provide a means of cooling in a smaller cabinet.
Contact your cabinet manufacturer for options available to cool your cabinet.
Table 17 - Power Dissipation Specifications
Usage as Percentage of Rated Power Output
Kinetix 5500 Drive Frame (watts)
Cat. No. Size
20% 40% 60% 80% 100%
2198-H003-ERSx
1 12 25 37 50 62
2198-H008-ERSx
2198-H015-ERSx
2198-H025-ERSx 2 40 80 120 160 200
2198-H040-ERSx
2198-H070-ERSx 3 64 128 192 256 320

Minimum Clearance Requirements

This section provides information to assist you in sizing your cabinet and positioning your
Kinetix 5500 drive:
• Additional clearance is required for cables and wires or the shared-bus connection
system that is connected to the top of the drive.
• Additional clearance is required if other devices are installed above and/or below the
drive and have clearance requirements of their own.
• Additional clearance left and right of the drive is required when mounted next to noise
sensitive equipment or clean wireways.
• The recommended minimum cabinet depth is 300 mm (11.81 in.).
Figure 14 - Minimum Clearance Requirements
40 mm (1.57 in.) clearance above
drive for airflow and installation.
Kinetix 5500
Servo Drive
Clearance to the left Clearance to the right

of the drive is not of the drive is not
required. required.
See the Kinetix 5700, 5500, 5300, and

5100 Servo Drives Specifications
40 mm (1.57 in.) clearance below Technical Data, publication KNX-
drive for airflow and installation. TD003, for Kinetix 5500 drive
IMPORTANT Mount the drive in an upright position as shown. Do not mount the drive on its side.
In multi-axis shared-bus configurations, drives must be spaced by aligning the zero-stack tab
and cutout.
Figure 15 - Multi-axis Shared-bus Clearance Requirements
Shared-bus connection system for

bus-sharing configurations is not
Zero-stack Tab and shown for clarity.
Cutout Aligned

Electrical Noise Reduction This section outlines best practices that minimize the possibility of noise-related failures as
they apply specifically to Kinetix 5500 system installations. For more information on the
concept of high-frequency (HF) bonding, the Ground Plane principle, and electrical noise
reduction, refer to the System Design for Control of Electrical Noise Reference Manual,
publication
GMC-RM001.
Bonding Modules
Bonding is the practice of connecting metal chassis, assemblies, frames, shields, and
enclosures to reduce the effects of electromagnetic interference (EMI).
Unless specified, most paints are not conductive and act as insulators. To achieve a good
bond between power rail and the subpanel, surfaces must be paint-free or plated. Bonding
metal surfaces creates a low-impedance return path for high-frequency energy.
IMPORTANT To improve the bond between the power rail and subpanel, construct
your subpanel out of zinc-plated (paint-free) steel.
Improper bonding of metal surfaces blocks the direct return path and allows high-frequency
energy to travel elsewhere in the cabinet. Excessive high-frequency energy can affect the
operation of other microprocessor-controlled equipment.
Figure 16 on page 41 shows recommended bonding practices for painted panels, enclosures,
and mounting brackets.

Figure 16 - Recommended Bonding Practices for Painted Panels

Stud-mounting the Subpanel Stud-mounting a Ground Bus
to the Enclosure Back Wall or Chassis to the Subpanel
Subpanel
Back Wall of Mounting Bracket or
Enclosure Ground Bus
Welded Stud
Subpanel
Star Washer Flat Washer Scrape Paint

Nut
Welded Stud
Nut Flat Washer
Use a wire brush to remove paint from
threads to maximize ground connection. If the mounting bracket is coated with
a non-conductive material (anodized or
painted), scrape the material around
Use plated panels or scrape paint on Star Washer the mounting hole.
front of panel.
Bolt-mounting a Ground Bus or Chassis to the Back-panel
Subpanel
Bolt
Tapped Hole
Ground Bus or
Nut
Mounting Bracket
Star Washer
Scrape paint on both sides of
Flat Washer the panel and use star washers.
Star Washer
Nut
Flat Washer
If the mounting bracket is coated with

a non-conductive material (anodized or
Star Washer painted), scrape the material around
the mounting hole.

Bonding Multiple Subpanels

Bonding multiple subpanels creates a common low impedance exit path for the high frequency
energy inside the cabinet. Subpanels that are not bonded together do not necessarily share a
common low impedance path. This difference in impedance can affect networks and other
devices that span multiple panels:
• Bond the top and bottom of each subpanel to the cabinet by using 25.4 mm (1.0 in.) by
6.35 mm (0.25 in.) wire braid. As a rule, the wider and shorter the braid is, the better the
bond.
• Scrape the paint from around each fastener to maximize metal-to-metal contact.
Figure 17 - Multiple Subpanels and Cabinet Recommendations
Wire Braid
25.4 mm (1.0 in.) by
6.35 mm (0.25 in.)
Cabinet ground bus that

is bonded to the
subpanel.
Wire Braid
25.4 mm (1.0 in.) by
Paint removed 6.35 mm (0.25 in.)
from cabinet.

Establishing Noise Zones

Observe these guidelines when routing cables used in the Kinetix 5500 system:
• The clean zone (C) is right of the drive system and includes the digital inputs wiring and
Ethernet cable (gray wireway).
• The dirty zone (D) is above and below the drive system (black wireways) and includes
the circuit breakers, 24V DC power supply, safety, and motor cables.
• The very dirty zone (VD) is limited to where the AC line (EMC) filter VAC output jumpers
over to the drive (or first drive in multi-axis systems). Shielded cable is required only if
the very dirty cables enter a wireway.
Figure 18 - Noise Zones
Dirty Wireway Clean Wireway
D D
Very Dirty Filter/AC Input Connections
Segregated (not in wireway) C
D (1)
(1)
VD
24V Input Kinetix 5500 Servo Drive System
24V DC
Power Supply
Circuit Safety Cable

Breakers
(2198-Hxxx-ERS drives only)
AC Line Filter
(can be required for
CE and UK)
(1)
C
D
Single Motor Cables (2) Module Status

Route single motor cables Route registration and communication
in shielded cable. signals in shielded cables.
(1) When space to the right of the drive does not permit 150 mm (6.0 in.) separation, use a grounded steel shield instead. For
examples, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001.
(2) When the 2198-H2DCK converter kit is used, feedback cable routes in the clean wireway.

Cable Categories for Kinetix 5500 Systems

These tables indicate the zoning requirements of cables connecting to the Kinetix 5500 drive
components.
Table 18 - Kinetix 5500 Drive
Zone Method
Wire/Cable Connector Ferrite
Very Dirty Dirty Clean Shielded Cable
Sleeve
L1, L2, L3 (shielded cable) — X — — X
IPD
L1, L2, L3 (unshielded cable) X — — — —
DC-/DC+ (DC bus) DC Busbar only, no wiring connector.
DC+/SH (shunt) RC — X — — —
U, V, W (motor power) Kinetix VP MP X X
Motor feedback motors/ MF — X — — X
Motor brake actuators BC X X
U, V, W (motor power) MP X — X
Kinetix MP
Motor feedback (1) motors/ MF — — X — X
actuators
Motor brake BC X — X
24V DC CP — X — — —
Safety enable for Safe Torque Off (hardwired) (2) STO — X — — —
Registration input — — X — X
IOD
Dedicated digital inputs (other than registration inputs) — X — — —
PORT1
Ethernet — — X — X
PORT2
(1) When the 2198-H2DCK converter kit is used, the feedback cable routes in the clean wireway.
(2) STO connector applies to only 2198-Hxxx-ERS (hardwired) servo drives.
Table 19 - Capacitor Module

Zone Method
Wire/Cable Connector Ferrite Shielded
Very Dirty Dirty Clean Sleeve Cable
DC-/DC+ (DC bus) DC Busbar only, no wiring connector.
24V DC CP — X — — —
Module status MS — X — — —
Noise Reduction Guidelines for Drive Accessories

See this section when mounting an AC (EMC) line filter or external passive-shunt resistor for
guidelines that are designed to reduce system failures caused by excessive electrical noise.
AC Line Filters
Observe these guidelines when mounting your AC (EMC) line filter (refer to the figure on page
43 for an example):
• Mount the AC line filter on the same panel as the Kinetix 5500 drive and as close to the
drive as possible.
• Good HF bonding to the panel is critical. For painted panels, refer to the examples on
page 41.
• Separate input and output wiring as far as possible.
IMPORTANT CE and UK test certification applies to only the AC line filter used with a
single drive or the line filter used in multi-axis drive configurations.
Sharing a line filter with more than one multi-axis drive configuration
can perform satisfactorily, but the customer takes legal responsibility.

External Passive Shunt Resistor
Observe these guidelines when mounting your Bulletin 2097 external passive-shunt resistor
outside of the enclosure:
• Mount shunt resistor and wiring in the very dirty zone or in an external shielded
enclosure.
• Mount resistors in a shielded and ventilated enclosure outside of the cabinet.
• Keep unshielded wiring as short as possible. Keep shunt wiring as flat to the cabinet as
possible.
Figure 19 - External Shunt Resistor Outside the Enclosure
Customer-supplied
Metal Enclosure
150 mm (6.0 in.)

clearance (min) on all four
Shunt Power Wiring Methods:
sides of the shunt resistor.
Twisted pair in conduit (first choice).
Twisted pair, two twists per foot (min) (second choice).
Metal Conduit (where required
by local code)
Dirty Wireway Enclosure Clean Wireway
D D
C
D Very Dirty Connections Segregated
(not in wireway)
VD VD Kinetix 5500 Servo Drive System

24V DC
Power Supply
Safety Cable No sensitive

(2198-Hxxx-ERS drives only) equipment within
Circuit 150 mm (6.0 in.).
Breaker
AC Line Filter
CE and UK) Ethernet and I/O Cables
Single Motor Cable Module Status


When mounting your Bulletin 2097 passive-shunt resistor inside the enclosure, follow these
additional guidelines:
• Mount metal-clad modules anywhere in the dirty zone, but as close to the Kinetix 5500
drive as possible.
• Route shunt power wires with other very dirty wires.
• Keep unshielded wiring as short as possible. Keep shunt wiring as flat to the cabinet as
possible.
• Separate shunt power cables from other sensitive, low voltage signal cables.
Figure 20 - External Shunt Resistor Inside the Enclosure
Dirty Wireway Enclosure Clean Wireway
150 mm (6.0 in.) Shunt Power Wiring Methods:

clearance (min) on all four Twisted pair in conduit (first choice).
D D Twisted pair, two twists per foot (min) (second choice).
sides of the shunt resistor.
C
D Very Dirty Connections Segregated
(not in wireway)
24V DC VD VD Kinetix 5500 Servo Drive System

Power Supply
Safety Cable No sensitive

(2198-Hxxx-ERS drives only) equipment within
Circuit 150 mm (6.0 in.).
Breaker
AC Line Filter
CE and UK) Ethernet and I/O Cables
Single Motor Cable Module Status


Chapter 3
Mount the Kinetix 5500 Drive System
This chapter provides the system installation procedures for mounting your Kinetix® 5500
drives to the system panel.
Topic Page
Determine Mounting Order 48
Drill-hole Patterns 51
Mount Your Kinetix 5500 Drive 58
This procedure assumes you have prepared your panel and understand how to bond your
system. For installation instructions regarding equipment and accessories that are not
included here, refer to the instructions that came with those products.
SHOCK HAZARD: To avoid a hazard of electrical shock, perform all mounting

and wiring of the Kinetix 5500 drives before applying power. Once power is
applied, connector terminals can have voltage present even when not in
use.
can become lodged in the circuitry and result in damage to the components.

Chapter 3 Mount the Kinetix 5500 Drive System
Determine Mounting Order Mount drives in order (left to right) according to power rating (highest to lowest) starting with
the highest power rating. If power rating is unknown, position drives (highest to lowest) from
left to right based on amp rating.
Zero-stack Tab and Cutout

Engaging the zero-stack tab and cutout from drive-to-drive makes efficient use of panel
space for installations with multiple drives.
IMPORTANT Engaging the zero-stack tab and cutout from drive-to-drive is required
for shared-bus multi-axis drive systems. This is done to make sure that
the drive connectors are spaced properly to accept the shared-bus
connection system.
Figure 21 - Zero-stack Tab and Cutout Example

Zero-stack Tab and Cutout Engaged
2198-Hxxx-ERSx Drives
(front view)
For the zero-stack feature to engage properly when multiple frame sizes exist in the drive
system, the following conditions must be met:
• Frame 3 drives must mount to the left of frame 1 or 2 drives.
• Frame 2 drives must mount to the left of frame 1 drives.
Capacitor modules can mount to the right of any frame size, but are always rightmost in any
drive configuration.
IMPORTANT Mount drives in descending order, left to right, according to frame

size with capacitor modules always mounted on the far right.
Figure 22 - Shared-bus Connection System Example
Shared-bus Connection System

2198-Hxxx-ERSx Drive System (required in shared-bus
(front view)
2198-CAPMOD-1300 Capacitor
Frame 1 Module
Drives
Frame 2
Frame 3 Drives
Drive

Shared-bus Connection System

The shared-bus connection system is used to extend the mains AC input, 24V control input,
and the DC bus power from drive-to-drive in shared-bus multi-axis configurations.
IMPORTANT When the shared-bus connection system is used, the zero-stack tab
and cutout must be engaged between adjacent drives.
The connection system is composed of three components:

• Input wiring connectors that plug into the leftmost drive and receive input wiring for
mains AC and 24V DC.
• AC bus, DC bus, and 24V DC T-connectors that plug into the drives downstream from the
first where AC, DC, and/or 24V control power is shared. DC bus T-connectors also plug
into the first drive where DC bus power is shared.
• Busbars that connect between drives to extend the mains AC bus, DC bus, and 24V DC
control power from drive-to-drive.
Figure 23 - Connection System Example
Busbar Connectors (2)
Input Wiring (AC busbars shown)
(AC input wiring is shown)
Input Wiring Connector (1) AC T-connectors

(mains AC input shown)
DC Bus T-connector (3)
Zero-stack Tab
DC Bus Connector Latch
and Cutout Engaged
2198-Hxxx-ERSx Drive System (top view)

Frame 2 drives are shown.
Drive with largest amp rating must be leftmost
drive.
(1) Due to the higher amp rating of frame 3 drives, input wiring connectors for frame 3 drives (catalog number 2198-H070-ADP-
IN) are slightly larger than connectors for frame 1 and 2 drives (catalog number 2198-H040-ADP-IN).
(2) Due to the extra width of frame 3 drives, busbar connectors between frame 3 drives are slightly longer (85 mm [3.35 in.])
than connectors between frame 3, frame 2, and frame 1 drives (55 mm [2.17 in.]).
(3) DC bus T-connectors latch on both sides when inserted into the drive. To remove the DC bus T-connector, at least one latch
must be pried away with a non-conductive probe.
The three components assemble from left to right across the drive system.
1. Attach wiring to input wiring connectors.
2. Insert input wiring connectors and T-connectors into the appropriate drive connectors.
3. Insert busbars to connect between wiring connectors and T-connectors.

Single-axis Configurations
The following restrictions exist for standalone (single-axis) configurations:
• Standalone (single-axis) drives can be mounted to the panel individually or by using the
zero-stack tab and cutout (refer to Figure 23 on page 49)
• The shared-bus connection system does not apply and must not be used
For a single-axis example configuration, refer to Standalone Configurations on page 17.
Multi-axis Configurations
Each multi-axis configuration has restrictions that apply:
• The shared-bus connection system must be used. Do not attach discrete wires from
drive-to-drive.
• The maximum number of drives in Shared AC bus power-sharing groups cannot exceed
5.
• The maximum number of drives in any other bus power-sharing group cannot exceed 8.
For a multi-axis example configuration, refer to Shared AC/DC Hybrid Configuration on page 21.

Drill-hole Patterns Hole patterns for drives that are mounted in zero-stack or shared-bus configuration are
provided for mounting your drives to the panel. Drives with the highest power rating are
always mounted to the left of any drive with a lower power rating in shared-bus
configurations:
• Frame 1 drives can be followed by only another frame 1 drive.
• Frame 2 drives can be followed by frame 1 drives or another frame 2 drive.
• Frame 3 drives can be followed by frame 1, frame 2, or another frame 3 drive.
• Mount Bulletin 2198 capacitor modules in the rightmost position.
- Capacitor modules have the same hole pattern as frame 2 drives.
- Only Shared DC, Shared AC/DC, and Shared AC/DC, hybrid configurations are
compatible with Bulletin 2198 capacitor modules.
Table 20 - Hole Pattern Overview
Drive Cat. No. Frame Size Frame Size Patterns Page
2198-H003-ERSx Frame 1 As many as eight frame 1 drives
2198-H008-ERSx 53
2198-H015-ERSx As many as eight frame 2 drives
2198-H025-ERSx Frame 2
2198-H040-ERSx One frame 2 drive followed by as many as seven frame 1 drives 54
As many as eight frame 3 drives 55
2198-H070-ERSx Frame 3 One frame 3 drive followed by as many as seven frame 1 drives 56
One frame 3 drive followed by as many as seven frame 2 drives 57
Table 21 - Capacitor Module Support

Three-phase Operation
Single-phase
Standalone
Operation
Shared AC/DC
Frame Size
Drive Cat. No. Standalone Shared DC Shared AC/DC Hybrid
Number of Capacitor Modules Connected, Max

2198-H003-ERSx (1) 0
1
2198-H008-ERSx (1) 0 2
1
2198-H015-ERSx (1)
2198-H025-ERSx 2 4
3
2198-H040-ERSx —
2198-H070-ERSx 3 4
(1) Catalog number 2198-H003-ERS and any drive in standalone single-phase operation is not compatible with the Kinetix 5500
capacitor module.

These hole patterns apply to standalone drives.

Figure 24 - Frame 1, Frame 2, and Frame 3 Standalone Hole Patterns
Frame 1 Frame 2 Frame 3
8x
Standalone Drive Standalone Drive Standalone Drive ØM4 (#8-32)
193.68 243.84 273.70
4.51 5.00 34.00
Hole spacing is measured in millimeters and not 0

converted to inches to avoid errors due to rounding.
0 52.50

These hole patterns apply when all drives in the system are frame 1 or frame 2. There is 50 mm
(1.97 in.) between mounting holes (A-to-A and B-to-B).
Axis 8 Figure 25 - Frame 1 and Frame 2 Hole Patterns
Axis 8
354.51
350.0
390.0
385.0
Axis 7
Axis 7
304.51
300.0
330.0
335.0
Axis 6
Axis 6
254.51
280.0
250.0
275.0
Axis 5
Axis 5
B
204.51
200.0
220.0
225.0
Hole spacing is measured in millimeters and not
Axis 4
154.51
Axis 4
150.0
165.0
170.0
A
B
50.0
50.0
Axis 3
104.51
100.0
110.0
115.0
Axis 3
Axis 2
54.51
60.0
50.0
55.0
ØM4 (#8-32)
Axis 2
Axis 1
16x
5.00
4.51
0
0
Dimension
Axis 1
0
B
B
A
A
Frame Size
Frame 2
Frame 1
243.84
193.68
2
1
This hole pattern applies when transitioning from frame 2 drives to frame 1 drives. To mount
additional frame 1 drives to the right of Axis 2 in this figure, refer to the frame 1 hole pattern in
Figure 25.

Figure 26 - Frame 2 to Frame 1 Hole Pattern

Axis 1 Axis 2 4x
(frame 2) (frame 1) ØM4 (#8-32)
243.84 243.83
5.00 57.00
Hole spacing is measured in millimeters

and not converted to inches to avoid
errors due to rounding.
50.15
0 52.50

This hole pattern applies when all drives in the system are frame 3 drives. There is 85.20 mm
(3.35 in.) between mounting holes, as shown.
Figure 27 - Frame 3 Hole Pattern
648.90
630.40
Axis 8
596.40
563.70
545.20
Axis 7
511.20
478.50
460.0
Axis 6
426.0
Hole spacing is measured in millimeters and not
393.30
85.20
374.80
Axis 5
340.80
308.10
289.60
Axis 4
255.60
85.20
222.90
204.40
Axis 3
85.20
170.40
137.70
119.20
ØM4 (#8-32)
Axis 2
85.20
32x
52.50
34.00
Axis 1
0
0
273.70
Figure 25.


Axis 1 Axis 2
6x
(frame 3) (frame 1)
ØM4 (#8-32)
273.70
272.23
34.00 97.20

78.55
0 52.50 92.70

Figure 25.
Axis 1 Axis 2
6x
(frame 3) (frame 2)
ØM4 (#8-32)
273.70
272.24
34.00 100.00

28.40
0 52.50 95.00

Mount Your Kinetix 5500 This procedure assumes you have prepared your panel and understand how to bond your
system. For installation instructions regarding other equipment and accessories, refer to the
Drive instructions that came with those products.
Follow these steps to mount your Kinetix 5500 drives to the panel.
1. Lay out the hole pattern for each Kinetix 5500 drive in the enclosure.
See Establishing Noise Zones on page 43 for panel layout recommendations.
IMPORTANT To improve the bond between the Kinetix 5500 drive and
subpanel, construct your subpanel out of zinc-plated (paint-free)
steel.
2. Drill holes in the panel for mounting your drive system.
Hole patterns, by frame size, are shown in Drill-hole Patterns beginning on page 51.
3. Loosely attach the mounting hardware to the panel.
The recommended mounting hardware is M4 (#8-32) steel bolts. Observe bonding
techniques as described in Bonding Modules on page 40.
4. Attach the leftmost drive to the cabinet panel.
2
1 Kinetix 5500 Servo Drives
(frame 1 drives shown)
Top Screws
(bottom screws not shown)
Zero-stack Tab
and Cutout Engaged
5. Attach additional drives (if any) just to the right of the previous drive by using the same
method, but also making sure that the zero-stack tabs and cutouts are engaged.
Zero-stack mounting is required based on configuration, refer to the Zero-stack Tab
and Cutout Example on page 48.
6. Tighten all mounting fasteners.
Apply 2.0 N•m (17.7 lb•in) maximum torque to each fastener.

Chapter 4
Connector Data and Feature Descriptions
This chapter illustrates drive connectors and indicators, including connector pinouts, and
provides descriptions for Kinetix® 5500 drive features.
Topic Page
Kinetix 5500 Connector Data 60
Understand Control Signal Specifications 64
Feedback Specifications 67
Safe Torque Off Safety Features 68

Chapter 4 Connector Data and Feature Descriptions
Kinetix 5500 Connector Use these illustrations to identify the connectors and indicators for the Kinetix 5500 drive
modules.
Data
Figure 30 - Kinetix 5500 Drive Features and Indicators
7 7
2
Kinetix 5500 Drive, Front View 8 17
9
1
(2198-H003-ERSx drive is shown)
Kinetix 5500, Top View
10 (2198-H003-ERS drive is shown)
11
6 L3 Shared-bus AC Input
18 Wiring Connector
L2
12
5 L1
13
U +
4 V 19
14 –
W
Shared-bus 24V Input
20
2
3
2
Wiring Connector
1 1
2
1 15
Protective
21 Knock-out
2 Kinetix 5500, Top View
(2198-Hxxx-ERS2 drives)
1
16
Item Description Item Description Item Description

1 Motor cable shield clamp 8 Module status indicator 15 Motor brake (BC) connector
2 Converter kit mounting hole (1) 9 Network status indicator 16 Ground terminal
(under cover)
3 Motor feedback (MF) connector 10 LCD display 17 Shunt resistor (RC) connector
4 Digital inputs (IOD) connector 11 Navigation pushbuttons 18 AC mains input power (IPD) connector
5 Ethernet (PORT1) RJ45 connector 12 Link speed status indicators 19 DC bus (DC) connector (under cover) (2)
6 Ethernet (PORT2) RJ45 connector 13 Link/Activity status indicators 20 24V control input power (CP) connector
7 Zero-stack mounting tab/cutout 14 Motor power (MP) connector 21 Safe Torque Off (STO) connector (3)
(does not apply to 2198-Hxxx-ERS2 drives)
(1) Protective knock-out covers the 2198-H2DCK Hiperface-to-DSL feedback converter kit mounting hole. Remove knock-out for use with the converter kit.
(2) DC bus connector ships with protective knock-out cover that can be removed for use in shared-bus configurations.
(3) Protective knock-out cover is removed on 2198-Hxxx-ERS (hardwired STO) drives.

Figure 31 - Capacitor Module Features and Indicators
Kinetix 5500 Capacitor Module

Top View
3
2
1
2 5

Front View
Item Description
1 Ground screw (green)
2 Module status (MS) connector (relay output)
3 Module status indicator
4 DC bus (DC) connector (under cover) (1) (2)
5 24V control input power (CP) connector (2)
(1) The DC-bus connector ships with a protective knock-out cover that can be removed for use in shared-bus configurations.
(2) The shared-bus connector set for the capacitor module, catalog number 2198-KITCON-CAP1300, is included for connection to
the upstream drive. Replacement kits are also available.
Module Status Connector Pinout

MS Pin Description Signal
1 MS
Module status output
2 MS
Safe Torque Off Connector Pinout

For the hardwired Safe Torque Off (STO) connector pinouts, feature descriptions, and wiring
information, see Chapter 9 beginning on page 157.
Input Power Connector Pinouts

Table 22 - Mains Input Power Connector
IPD Pin Description Signal
Chassis ground
L3 L3
L2 Three-phase input power L2
L1 L1

Table 23 - 24V Input Power Connector

CP Pin Description Signal
1 24V power supply, customer supplied 24V+
2 24V common 24V-
DC Bus and Shunt Resistor Connector Pinouts

Table 24 - DC Bus Power Connector
DC Pin Description Signal
1 DC-
DC bus connections
2 DC+
Table 25 - Shunt Resistor Connector

RC Pin Description Signal
1 DC+
Shunt connections (frames 2 and 3)
2 SH
1 SH
Shunt connections (frame 1)
2 DC+
Digital Inputs Connector Pinouts

The Kinetix 5500 drive has two configurable digital inputs and five configurable functions to
choose from in the Logix Designer application. Digital input 1 can be configured as a dual-
function (home/registration) input.
Table 26 - Digital Inputs Connector
IOD Pin Description Signal
1 24V current-sinking fast input #1. This is a dual-function input. IN1 (1)
2 I/O common for customer-supplied 24V supply. COM
3 24V current-sinking fast input #2. IN2
4 I/O cable shield termination point. SHLD
(1) This signal has dual-functionality. You can use IN1 (IOD-1) as Registration 1 or Home input when Home/Registration 1 is
configured.
Table 27 - Configurable Functions
Default Configuration (1) Description

Unassigned
Home
Registration 1
Digital input1= Home/Registration 1
Digital input2 = Registration 2 Registration 2
Positive overtravel
Negative overtravel
Home/Registration 1
(1) Studio 5000 Logix Designer,® version 27 or later, is required to change from the default configuration.
Figure 32 - Pin Orientation for Digital Inputs (IOD) Connector

Pin 1 IN1
COM
IN2
SHLD

Ethernet Communication Connector Pinout

Pin Description Signal
1 Transmit+ TD+
2 Transmit- TD-
1 8
3 Receive+ RD+
4 Reserved —
5 Reserved —
6 Receive- RD-
7 Reserved —
8 Reserved —
Motor Power, Brake, and Feedback Connector Pinouts

Table 28 - Motor Power Connector
MP Pin Description Signal Color
U U Brown
V Three-phase motor power V Black
W W Blue
Chassis ground Green
ATTENTION: To avoid damage to the Kinetix 5500 drive, make sure that the
moSeer power signals are wired correctly. See Figure 50 on page 83 for
motor power connector wiring examples.
IMPORTANT Drive-to-motor power cables must not exceed 50 m (164 ft), depending
on overall system design.
System performance was tested at this cable length. These limitations
also apply when meeting CE and UK requirements.
Table 29 - Motor Brake Connector

BC Pin Description Signal
1 MBRK+
Motor brake connections
2 MBRK-
Motor Feedback Connector Pinout

MF Pin Description Signal
1 D+
Bidirectional data and power for digital encoder interface
2 D-
Cable shield and grounding plate (internal to 2198-KITCON-DSL connector
kit) termination point
SHIELD SHIELD
Cable shield and shield clamp (internal to 2198-H2DCK converter kit)
termination point
Figure 33 - Pin Orientation for Motor Feedback (MF) Connector
Pin 1
Pin 2

Understand Control Signal This section provides a description of the Kinetix 5500 digital inputs, Ethernet communication,
power and relay specifications, encoder feedback specifications, and Safe Torque Off
Specifications features.
Digital Inputs
Two digital inputs are available for the machine interface on the IOD connector. Digital inputs
require a 24V DC @ 15 mA supply. These are sinking inputs that require a sourcing device. A
common and cable shield connection is provided on the IOD connector for digital inputs.
The Registration 1 input is capable of dual functionality. You can also use this as the Home
input. Configuration for dual functionality is not needed.
IMPORTANT To improve registration input EMC performance, refer to the System

Design for Control of Electrical Noise Reference Manual, publication
GMC-RM001.
Table 30 - Understand Digital Input Functions

Function Description Default Behavior
An active state indicates to a homing sequence that the referencing sensor
Home/Reg1 has been seen. Typically, a transition of this signal is used to establish a
reference position for the machine axis.
Registration 1 An inactive-to-active transition (also known as a positive transition) or The function is always inactive. You can enable in the Logix
active-to-inactive transition (also known as a negative transition) is used to Designer application.
Registration 2 latch position values for use in registration moves.
Positive overtravel The positive/negative limit switch (normally closed contact) inputs for each
Negative overtravel axis require 24V DC (nominal).
Table 31 - Digital Input Specifications

Attribute Value
Type Active high, single-ended, current sinking (EN 61131-2 Type 1)
Dedicated functions Registration 1, Home, Registration 2, Positive overtravel, Negative overtravel
Input current (with 24V applied) 12 mA, typical
On-state input voltage 15…30V @ 15 mA, max
Off-state input voltage -1.0…5.0V
Pulse reject filtering (registration functions) 12.0 µs
Pulse reject filtering (home input function) debounce filter 20 ms, nom
Propagation delay (registration functions) 0 (delay compensated)
Registration accuracy ±3 µs
Registration repeatability 700 ns
Windowed registration invalid-to-valid event delay 125 µs, min
Figure 34 - Digital Input Circuitry

IOD-1 or IOD-3
INx
INPUT
24V DC
COM
IOD-2 Kinetix 5500 Drive

Ethernet Communication Specifications

The PORT1 and PORT2 (RJ45) Ethernet connectors are provided for communication with the
Logix 5000® controller.
Attribute Value
The drive auto-negotiates speed and duplex modes. These modes can
Communication be forced through the Logix Designer application. 100BASE-TX, full-
duplex is recommended for maximum performance.
Cyclic update period 1.0 ms, min
Three-port, cut-through, time correction on IEEE-1588 packets, limited
Embedded switch features filtering, quality of service with four priority levels
Auto MDI/MDIX crossover detection/ Yes
correction
Port-to-port time synchronization 100 ns, max
variation
Cabling CAT5e shielded, 100 m (328 ft) max
Motor Brake Circuit

The brake option is a spring-set holding brake that releases when voltage is applied to the
brake coil in the motor. The customer-supplied 24V power supply drives the brake output
through a solid-state relay. The solid-state brake driver circuit provides the following:
• Brake current-overload protection
• Brake overvoltage protection
Two connections (BC-1 and BC-2) are required for the motor brake output. Connections are
rated for 2.0 A @ +24V (refer to Figure 35).
Figure 35 - Motor Brake Circuit
INT PWR 24V PWR
Control
Board
MBRK+ (BC-1)
Inductive
Energy
Kinetix 5500 Clamp
Servo Drive
MBRK– (BC-2)
24V COM
IMPORTANT Motor parking-brake switching frequency must not exceed

10 cycles/min.
Control of the solid-state relay to release the motor brake is configurable in the Logix Designer
application (refer to Configure SPM Motor Closed-loop Control Axis Properties on page 127). An
active signal releases the motor brake. Turn-on and turn-off delays are specified by the
MechanicalBrakeEngageDelay and MechanicalBrakeReleaseDelay settings.

IMPORTANT Holding brakes that are available on Allen-Bradley® rotary motors are
designed to hold a motor shaft at 0 rpm for up to the rated brake-
holding torque, not to stop the rotation of the motor shaft, or be used
as a safety device.
You must command the servo drive to 0 rpm and engage the brake
only after verifying that the motor shaft is at 0 rpm.
These steps provide one method that you can use to control a brake.
1. Wire the mechanical brake according to the appropriate interconnect diagram in
Appendix 2 beginning on page 179.
2. Enter the MechanicalBrakeEngageDelay and MechanicalBrakeReleaseDelay times in the
Logix Designer application.
See Axis Properties > Parameter List. The delay times must be from the appropriate
motor family brake specifications table in the Kinetix Rotary Motion Specifications
Technical Data, publication
KNX-TD001.
3. Use the drive stop-action default setting (Current Decel & Disable).
See Axis Properties > Actions > Stop Action in the Logix Designer application.
4. To decelerate the servo motor to 0 rpm, use the motion instruction Motion Axis Stop
(MAS).
5. To engage the brake and disable the drive, use the motion instruction Motion Servo Off
(MSF).
Control Power
The Kinetix 5500 drive requires 24V DC input power for control circuitry.
IMPORTANT SELV and PELV rated power supplies must be used to energize external
safety devices that are connected to the Kinetix 5500 safety inputs.
The National Electrical Code and local electrical codes take precedence
over the values and methods provided. Implementation of these codes is
the responsibility of the machine builder.
Table 32 - Control Power Input Power Specifications
Attribute Frame 1 Frame 2 Frame 3
Input voltage 21.6…26.4V DC
Control power AC input current
Nom @ 24V DC (1) 400 mA 800 mA 1.3 A
Inrush, max 2.0 A 3.0 A 3.0 A
(1) Plus BC connector (MBRK+) current.

Feedback Specifications The Kinetix 5500 drive accepts motor feedback signals from Stegmann Hiperface digital-
servo-link (DSL) encoders on the motor feedback (MF) connector.
Auto configuration in the Logix Designer application of intelligent absolute, high-
resolution encoders is possible with only Allen-Bradley motors.
The Kinetix 5500 drives support Kinetix VP motors with Stegmann Hiperface digital-servo-link
(DSL) encoders by using the 2-pin (MF) feedback connector. You can also use the MF connector
for feedback-only applications.
Other Allen-Bradley motors and actuators with Stegmann Hiperface single-turn or multi-turn
high-resolution absolute encoders are also accepted, but only when using drive firmware
revision 2.002 or later, and the 2198-H2DCK Hiperface-to-DSL (series B or later) feedback
converter kit.
Table 33 - Stegmann Hiperface DSL Specifications
Attribute Value
Protocol Hiperface DSL
Memory support Programmed with Allen-Bradley motor data
Hiperface data communication 9.375 Mbits/s
Absolute Position Feature

The absolute position feature of the drive tracks the position of the motor, within the multi-
turn retention limits, while the drive is powered off. The absolute position feature is available
with only multi-turn encoders.
Table 34 - Absolute Position Retention Limits
Cat. No. Retention Limits

Encoder Type Motor Cat. No. Actuator Cat. No.
Designator Turns (rotary) mm (linear)
VPL-A/Bxxxxx-P
-P VPF-A/Bxxxxx-P VPAR-A/Bxxxxx-P 4096 (±2048) —
VPS-Bxxxxx-P
VPL-A/Bxxxxx-W,
Hiperface (DSL) -W VPF-A/Bxxxxx-W VPAR-Bxxxxx-W 4096 (±2048) —
VPH-A/Bxxxxx-W
VPL-A/Bxxxxx-Q
-Q VPF-A/Bxxxxx-Q VPAR-Bxxxxx-Q 512 (±256) —
VPH-A/Bxxxxx-Q
MPL-A/Bxxxxx-M
MPM-A/Bxxxxx-M MPAR-A/B3xxxx-M
-M 2048 (±1024) —
MPF-A/Bxxxxx-M MPAI-A/BxxxxxM
Hiperface MPS-A/Bxxxxx-M
MPAS-A/Bxxxx1-V05, MPAS-A/Bxxxx2-V20
-V MPL-A/Bxxxxx-V MPAR-A/B1xxxx-V, MPAR-A/B2xxxx-V 4096 (±2048) —
MPAI-A/BxxxxxV
Stegmann Hiperface (magnetic scale) -xDx — LDAT-Sxxxxxx-xDx — 960 (37.8)
Figure 36 - Absolute Position Limits (measured in turns)

4096 Turns
2048 Turns
512 Turns
-2048 -1024 -512 -256 -128 -64 0 +64 +128 +256 +512 +1024 +2048
Position at Power Down

Safe Torque Off Safety Kinetix 5500 servo drives have Safe Torque Off (STO) capability and can safely turn off the
inverter power transistors in response to the removal of the STO digital inputs, resulting in
Features Stop Category 0 behavior.
Servo Drives with Hardwired Safety

2198-Hxxx-ERS (hardwired) servo drives support parallel input terminals for cascading to
adjacent drives over duplex wiring. For applications that do not require the STO safety
function, you must install jumper wires to bypass the Safe Torque Off feature.
See Chapter 9 beginning on page 157. for the STO connector pinout, installation, and wiring
information.
Servo Drives with Integrated Safety

For 2198-Hxxx-ERS2 (integrated safety) servo drives, the GuardLogix® 5570 or Compact
GuardLogix 5570 safety controller issues the STO command via the EtherNet/IP™ network and
the 2198-Hxxx-ERS2 servo drives execute the command.
See Chapter 10 beginning on page 165. for integrated safety drive specifications, configuring
motion and safety connections, motion direct commands, and the STO bypass feature.

Chapter 5
Connect the Kinetix 5500 Drive System
This chapter provides procedures for wiring your Kinetix® 5500 system components and
making cable connections.
Topic Page
Basic Wiring Requirements 70
Determine the Input Power Configuration 71
Ground Screw Settings 74
Remove the Ground Screws in Select Power Configurations 75
Ground the Drive System 76
Wiring Requirements 78
Wiring Guidelines 79
Wire the Power Connectors 80
Wire the Digital Input Connectors 82
Wire Kinetix VP Motors and Actuators 82
Wire Other Motors and Actuators 88
Capacitor Module Connections 98
External Passive-shunt Resistor Connections 99
Ethernet Cable Connections 100

Chapter 5 Connect the Kinetix 5500 Drive System
Basic Wiring Requirements This section contains basic wiring information for the Kinetix 5500 drives.
can become lodged in the circuitry and result in damage to components.
SHOCK HAZARD: To avoid a hazard of electrical shock, perform all mounting

and wiring of the Bulletin 2198 drive modules before applying power. Once
power is applied, connector terminals can have voltage present even when
not in use.
IMPORTANT This section contains common PWM servo system wiring configurations,
size, and practices that can be used in most applications. National
Electrical Code, local electrical codes, special operating temperatures,
duty cycles, or system configurations take precedence over the values
and methods provided.
Routing the Power and Signal Cables

When you route power and signal wiring on a machine or system, radiated noise from nearby
relays, transformers, and other electronic devices can be induced into I/O communication, or
other sensitive low voltage signals. This can cause system faults and communication
anomalies.
The Kinetix 2090 single motor cable contains the power, brake, and feedback wires, but is
properly shielded to protect the noise-sensitive feedback signals.
See Electrical Noise Reduction on page 40 for examples of routing high and low voltage cables
in wireways. Refer to the System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001, for more information.

Determine the Input Power Before wiring input power See your Kinetix 5500 system, you must determine the type of input
power within your facility. The drive is designed to operate in both grounded and ungrounded
Configuration environments.
ATTENTION: Ungrounded, corner-grounded, and impedance-grounded

input power configurations are permitted, but you must remove the ground
screws. See Ground Screw Settings on page 74 for a ground screw summary.
Grounded Power Configurations

The grounded (wye) power configuration lets you ground your three-phase power at a neutral
point. This type of grounded power configuration is preferred.
Figure 37 - Grounded Power Configuration (wye Secondary)

(top view) 2
1
Transformer (wye) Secondary
L3
Transformer Three-phase (1)
L3
L2 AC Line Filter
L2
(can be required
for CE and UK) L1
Three-phase
L1 Circuit
Input VAC
Phase Ground Connect to

2
1
Bonded Cabinet Ground Ground Stud
Ground Grid or
Power Distribution Ground
(1) When using a 2198-DBxx-F line filter, the AC ground jumper is installed and the DC ground jumper is installed. When using
a 2198-DBRxx-F line filter, the AC ground jumper is installed and the DC ground jumper is installed.
The Kinetix 5500 drive has factory-installed ground screws for grounded (wye) power
distribution.
See Power Wiring Examples beginning on page 179 for input power interconnect diagrams.

Figure 38 - Impedance-grounded Power Configuration (wye Secondary)

(top view) 2
1

L3 AC Screw (1)
Transformer DC Screw
L3
L2 L2
L1
Three-phase
L1 Circuit
Input VAC Protection
2
1
Phase Ground
Bonded Cabinet Ground Connect to
Ground Stud
Ground Grid or
(1) The AC ground jumper is removed and the DC ground jumper is removed. See Figure 42 on page 75 for access to ground
screws.
Figure 39 - Corner-grounded Power Configuration (Delta Secondary)

(top view) 2
1
Transformer (Delta) Secondary

AC Screw (1)
Transformer L3 DC Screw
L3
L2
L1
Circuit
L2
2
L1
1
Connect to
Ground Grid or
screws.

Figure 40 - Grounded Power Configuration (Single-phase Input)

(top view) 2
1
Transformer L3
Three-phase (1)
L2 AC Line Filter
L3
L2
(can be required
L1
Three-phase for CE and UK)
L1 Circuit
Input VAC
Phase Ground Connect to

2
1
Ground Grid or
(1) When using a 2198-DBxx-F line filter, the AC ground jumper is installed and the DC ground jumper is installed. When using
a 2198-DBRxx-F line filter, the AC ground jumper is installed and the DC ground jumper is installed.
IMPORTANT To reduce leakage current in single-phase AC input operation, remove

the AC ground screw (refer to Figure 42 on page 75).
Install the AC ground screw only if higher EMC performance is
required.
Ungrounded Power Configurations

The ungrounded power configuration (Figure 41), corner-grounded (Figure 39), and
impedance-grounded (Figure 38) power configurations do not provide a neutral ground point.
IMPORTANT If you determine that you have ungrounded, corner-grounded, or

impedance-grounded power distribution in your facility, you must
remove the ground screws in each of your drives that receive input
power.
See Remove the Ground Screws in Select Power Configurations on
page 75 for more information.

Figure 41 - Ungrounded Power Configuration

(top view) 2
1
Transformer (Delta) Secondary
Transformer L3 AC Screw (1)

DC Screw
L2 L3
Three-phase L2
L1
Input VAC
L1 Circuit
Chassis Ground Connect to

2
1
Ground Grid or
screws.
ATTENTION: Ungrounded systems do not reference each phase potential to

a power distribution ground. This can result in an unknown potential to
earth ground.
Ground Screw Settings Determine the ground screw setting for your Kinetix 5500 servo drives.
Table 35 - Ground Screw Settings

Ground Configuration Example Diagram Ground Screw Setting
Grounded (wye) Figure 37 on page 71 Both screws installed (default setting)
• AC fed ungrounded Figure 41 on page 74
• Corner grounded Figure 39 on page 72 Both screws removed
• Impedance grounded Figure 38 on page 72
Single-phase input power Figure 40 on page 73 AC screw removed (1)
(1) Removing the AC ground screw to minimize leakage current in single-phase operation can affect EMC performance.
ATTENTION: To help prevent damage to the servo drive, you must set the
ground screws according to the example diagrams that are summarized in
Table 35.

Remove the Ground Screws Removing the ground screws involves gaining access, opening the sliding door, and removing
the screws.
in Select Power
Configurations IMPORTANT If you have grounded-wye power distribution, you do not need to remove
the ground screws. Go to Ground the Drive System on page 76.
Removing the ground screws in multi-axis configurations is best done when each drive is
removed from the panel and placed on its side on a solid surface.
ATTENTION: Because the unit no longer maintains line-to-neutral voltage

protection, the risk of equipment damage exists when you remove the
ground screws.
ATTENTION: To avoid personal injury, the ground screws access door must
be kept closed when power is applied. If power was present and then
removed, wait at least 5 minutes for the DC-bus voltage to dissipate and
verify that no DC-bus voltage exists before accessing the ground screws.
Figure 42 - Remove the Ground Screws

Ground Screws
Access Door
Kinetix 5500 Drive
(side view)
Lift door to meet

AC Screw arrow at left.
DC Screw
Ground screws installed for grounded power configuration

(screws installed is default setting).
• Remove both screws for ungrounded, corner-grounded, and

impedance-grounded power for three-phase operation
• Remove only the AC screw for single-phase operation
ATTENTION: Risk of equipment damage exists. The drive ground

configuration must be accurately determined. Leave the ground screws
installed for grounded power configurations (default). Remove the screws
for ungrounded, corner-grounded, and impedance-grounded power
configurations.

Ground the Drive System All equipment and components of a machine or process system must have a common earth
ground point that is connected to the chassis. A grounded system provides a ground path for
protection against electrical shock. Grounding your drives and panels minimize the shock
hazard to personnel and damage to equipment caused by short circuits, transient
overvoltages, and accidental connection of energized conductors to the equipment chassis.
ATTENTION: The National Electrical Code contains grounding requirements,

conventions, and definitions. Follow all applicable local codes and
regulations to ground your system safely. For CE and UK grounding
requirements, refer to Agency Compliance on page 30.
Ground the System Subpanel

Ground Kinetix 5500 drives and 2198-CAPMOD-1300 capacitor modules to a bonded cabinet
ground-bus with a braided ground strap of at least 10 mm2 (0.0155 in2) in cross-sectional area.
Keep the braided ground strap as short as possible for optimum bonding.
Figure 43 - Connecting the Ground Terminal
Kinetix 5500 Kinetix 5500

Servo Drive Servo Drives
(standalone) (shared-bus)
1
2
Make braided ground straps

3 with at least 10 mm2 (0.0155 in2)
4 cross-sectional area.
Keep straps as short as possible.
Item Description
1 Ground screw (green) 2.0 N•m (17.7 lb•in), max
2 Braided ground strap (customer supplied)
3 Ground grid or power distribution ground
4 Bonded cabinet ground bus (customer supplied)
See the System Design for Control of Electrical Noise Reference Manual, publication GMC-
RM001, for more information.

Ground Multiple Subpanels

In this figure, the chassis ground is extended to multiple subpanels.
Figure 44 - Subpanels Connected to a Single Ground Point
Follow NEC and applicable

local codes.
Bonded Ground Bus
Ground Grid or Power

Distribution Ground
High-frequency (HF) bonding is not illustrated. For HF bonding information, see Bonding
Multiple Subpanels on page 42.

Wiring Requirements Wires must be copper with 75 °C (167 °F) minimum rating. Phasing of main AC power is
arbitrary and earth ground connection is required for safe and proper operation.
See Power Wiring Examples on page 179 for interconnect diagrams.
IMPORTANT The National Electrical Code and local electrical codes take
precedence over the values and methods provided.
Table 36 - Power and I/O Wiring Requirements
Kinetix 5500 Drive Connects to Terminals Wire Size Strip Length Torque Value
Description
Cat. No. Pin Signal mm2 (AWG) mm (in.) N•m (lb•in)
2198-H003-ERSx
2198-H008-ERSx 1.5…4
2198-H015-ERSx (1) (16…12) 8.0 (0.31)
2198-H025-ERSx Mains input power L3 L3 0.5…0.6
2198-H040-ERSx (single-axis IPD connector) L2 L2 (4.4…5.3)
L1 L1
1.5…6
2198-H070-ERSx 10.0 (0.39)
(16…10)
Motor power cable
2198-H003-ERSx depends on motor/
2198-H008-ERSx drive combination. 0.5…0.6
2198-H015-ERSx U U 7.0 (0.28)
V V (4.4…5.3)
2198-H025-ERSx Motor power
2198-H040-ERSx W W 0.75…2.5 (2)
(18…14)
2198-H070-ERSx 2.5…6 (2) 10.0 (0.39) 0.5…0.8

(14…10) (4.4…7.1)
PELV/SELV 24V power (1) CP-1 24V+ 0.5…2.5
(single-axis CP connector) CP-2 24V- (20…14) 0.22…0.25
7.0 (0.28)
BC-1 MBRK+ (1.9…2.2)
Brake power BC-2 MBRK- — (3)
DC-1 DC-
DC Bus power DC-2 DC+ — (4) — (4) — (4)
Shunt resistor RC-1 DC+
(frame 2 and 3) RC-2 SH 0.5…4.0 0.5…0.6
8.0 (0.31)
Shunt resistor RC-1 SH (20…12) (4.4…5.3)
2198-xxxx-ERSx (frame 1) RC-2 DC+
ST0-1 SB+
ST0-2 SB- 0.2…1.5
Safety (5) ST0-3 S1 (24…16) 10.0 (0.39) — (6)
ST0-4 SC
ST0-5 S2
IOD-1 IN1 (7)
IOD-2 COM 0.2…1.5
Digital inputs IOD-3 (24…16) 10.0 (0.39) — (6)
IN2
IOD-4 SHLD
(1) The wire size, strip length, and torque specifications that are shown here apply to the single-axis connector that ships with the drive. For the shared-bus connector specifications, refer to
Table 46 on page 80 (CP connector) and Table 48 on page 81 (IPD connector).
(2) Building your own cables or using third-party cables is not an option. Use single motor cable catalog number 2090-CSxM1DF/DG. See the Kinetix Rotary and Linear Motion Cable
Specifications Technical Data, publication KNX-TD004, for cable specifications.
(3) Motor brake wires are part of the 2090-CSBM1DF/DG motor cable.
(4) DC bus connections are always made from drive-to-drive over the busbar connection system. These terminals do not receive discrete wires.
(5) These signals and the Safe Torque Off (STO) connector apply to only the 2198-Hxxx-ERS drives.
(6) This connector uses spring tension to hold wires in place.
(7) This signal has dual-functionality. You can use IN1 (IOD-1) as registration or Home input.
ATTENTION: To avoid personal injury and/or equipment damage, observe

the following:
• Make sure that the installation complies with specifications regarding wire
types, conductor sizes, branch circuit protection, and disconnect devices.
The National Electrical Code (NEC) and local codes outline provisions for
safely installing electrical equipment.
• Use motor power connectors for connection purposes only. Do not use them
to turn the unit on and off.
• Ground shielded power cables to help prevent potentially high voltages on
the shield.

Wiring Guidelines Use these guidelines as a reference when wiring the power connectors on your Kinetix 5500
drive.
IMPORTANT For connector locations of the Kinetix 5500 drives, refer to Kinetix 5500
Connector Data on page 60.
When removing insulation from wires and tightening screws to secure
the wires, refer to Table 36 on page 78 for strip lengths and torque
values.
IMPORTANT To improve system performance, run wires and cables in the wireways
as established in Establishing Noise Zones on page 43.
Follow these steps when wiring the connectors for your Kinetix 5500 drive.
1. Prepare the wires for attachment to each connector plug by removing insulation equal
to the recommended strip length.
IMPORTANT Use caution not to nick, cut, or otherwise damage strands as you
remove the insulation.
2. Route the cable/wires to your Kinetix 5500 drive.
3. Insert wires into connector plugs.
See connector pinout tables in Chapter 4 or the interconnect diagrams in Appendix A.
4. Tighten the connector screws.
5. Gently pull on each wire to make sure it does not come out of its terminal; reinsert and
tighten any loose wires.
6. Insert the connector plug into the drive connector.

Wire the Power Connectors This section provides examples and guidelines to assist you in making connections to the
input power connectors.
See Power Wiring Examples on page 179 for an interconnect diagram.
Wire the 24V Control Power Input Connector

The 24V power (CP) connector requires 24V DC input for the control circuitry. The single-axis
connector plug is included with the drive, shared-bus connector kits are purchased
separately.
Figure 45 - CP Connector Wiring - Single Axis
Kinetix 5500 Drive

Top View
-
24V
+
24V
Fo Only
2
24V (CP) Connector Plug
Rem r DC
ove
Bus
1
Table 37 - Single-axis CP Connector Wiring Specifications

Recommended
Drive Module Wire Size Strip Length Torque Value
CP Pin Signal
Cat. No. mm (in.) N•m (lb•in)
mm2 (AWG)
2198-Hxxx-ERSx CP-1 24V+ 0.5…2.5 0.22…0.25
7.0 (0.28)
2198-CAPMOD-1300 CP-2 24V- (20…14) (1.9…2.2)
Figure 46 - CP Connector Wiring - Shared Bus
V-
24 V+
24
24V DC Input
Wiring Connector
Kinetix 5500 Drives

Top View
Table 38 - Shared-bus CP Connector Wiring Specifications

Input Current, Max Recommended Wire Size Strip Length Torque Value
Drive Cat. No. CP Pin Signal A rms mm2 (AWG) mm (in.) N•m (lb•in)
2198-Hxxx-ERSx CP-1 24V+ 1.7…1.8
40 10 (6) 11.0 (0.43)
2198-CAPMOD-1300 CP-2 24V- (15.0…15.9)

Wire the Input Power Connector

The input power (IPD) connector requires 195…528V AC (single-phase or three-phase) for
mains input power. The single-axis connector plug is included with the drive, shared-bus
connector kits are purchased separately.
ATTENTION: Make sure that the input power connections are correct when
wiring the IPD connector plug or input wiring connector and that the plug/
connector is fully engaged in the drive connector. Incorrect wiring/polarity
or loose wiring can damage equipment or cause an explosion.
Figure 47 - IPD Connector Wiring - Single Axis
Kinetix 5500 Drive

Top View
Input Power (IPD) L3
Fo Only
Rem r DC
ove
Bus
Connector Plug
L2
L1
Table 39 - Single-axis IPD Connector Wiring Specifications

Kinetix 5500 Drive Recommended Wire Size Strip Length Torque Value
Pin Signal
Cat. No. mm2 (AWG) mm (in.) N•m (lb•in)
2198-H003-ERSx
2198-H008-ERSx 1.5…4
2198-H015-ERSx 8.0 (0.31)
L3 L3 (16…12) 0.5…0.6
2198-H025-ERSx
2198-H040-ERSx L2 L2 (4.4…5.3)
L1 L1
1.5…6
2198-H070-ERSx 10.0 (0.39)
(16…10)
Figure 48 - IPD Connector Wiring - Shared Bus

L 3
L
L1 2
Mains AC Input
Wiring Connector
Kinetix 5500 Drives

Top View
Table 40 - Shared Bus IPD Connector Wiring Specifications

Kinetix 5500 Drive Input Current, Max Recommended Wire Size Strip Length Torque Value
Pin Signal
Cat. No. A rms mm2 (AWG) mm (in.) N•m (lb•in)
2198-H003-ERSx
2198-H008-ERSx 13.3…3.3
2198-H015-ERSx L3 L3 1.7…1.8
52 (6…12) 11.0 (0.43)
2198-H025-ERSx L2 L2 (15.0…15.9)
2198-H040-ERSx L1 L1
2198-H070-ERSx 13.3 (6)

Wire the Digital Input This section provides guidelines to assist you in making digital input connections.
Connectors Wire the Safe Torque Off Connector
For the hardwired Safe Torque Off (STO) connector pinouts, feature descriptions, and wiring
information, see Chapter 9 beginning on page 157.
Wire the Digital Inputs Connector

The digital inputs (IOD) connector uses spring tension to hold wires in place.
Figure 49 - IOD Connector Wiring

(front view)
1 IN1
COM Digital Inputs (IOD) Connector Plug
IN2
SHLD
Table 41 - Digital Inputs (IOD) Connector Specifications

Recommended Wire Size Strip Length Torque Value
Drive Cat. No. DC Pin Signal
mm2 (AWG) mm (in.) N•m (lb•in)
IOD-1 IN1 (1)
2198-Hxxx-ERSx IOD-2 COM 0.2…1.5
IOD-3 (24…16) 10.0 (0.39) — (2)
IN2
IOD-4 SHLD
(1) This signal has dual-functionality. You can use IN1 (IOD-1) as registration or Home input.
(2) This connector uses spring tension to hold wires in place.
Wire Kinetix VP Motors and Kinetix 5500 drives and Kinetix VP motor/actuator combinations use single motor-cable
technology with motor power, feedback, and brake wires (when specified) housed in a single
Actuators cable. Feedback wires are shielded separately and provide a shield braid for grounding in the
connector kit.
IMPORTANT Due to the unique characteristics of single cable technology, which is

designed for and tested with Kinetix 5500 drives and Kinetix VP
motors, you cannot build your own cables or use third-party cables.
See the Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-
TD004, for cable specifications.

Table 42 - Single Cable Catalog Numbers

Motor Feedback Kit Motor Cable Cat. No. Motor Cable Cat. No. Feedback Connections
Cat. No. Cat. No. (with brake wires) (without brake wires)
Flying lead feedback conductors. Cables
2090-CSBM1DF-xxAAxx (standard) cables
VPL-A/Bxxxx 2090-CSWM1DF-xxAAxx (standard) cables are designed specifically for Kinetix
2090-CSBM1DF-xxAFxx (continuous-flex) cables
VPF-A/Bxxxx 2198-KITCON-DSL 5500 drives.
VPH-A/Bxxxx (included with Flying lead feedback conductors. Leads
VPS-Bxxxxx each servo drive) 2090-CSBM1DG-xxxAxx (standard) cables are longer to accommodate Kinetix 5700
VPAR-A/Bxxxx 2090-CSBM1DG-xxxFxx (continuous-flex) cables 2090-CSWM1DG-xxxAxx (standard) cables drives. Extra service loops are required
with Kinetix 5500 drives.
Maximum Cable Lengths

Combined motor cable length for all axes on the same DC bus must not exceed 250 m (820 ft).
The maximum drive-to-motor cable length for Kinetix 5500 drives and motor/actuator
combinations with 2090-CSxM1Dx cables is 50 m (164 ft) for most drives with standard (non-
flex) cables. For additional cable length details, see Agency Compliance on page 30.
Motor Power Connections

See Kinetix 5500 Servo Drive and Rotary Motor Wiring Examples on page 185 for an
interconnect diagram.
Figure 50 - MP Connector Wiring

(front view)
U
V Motor Power (MP) Connector Plug
W
Motor Cable
Shield Clamp
WARNING: Make sure that the motor power connections are correct when
wiring the MP connector plug and that the plug is fully engaged in the module
connector. Incorrect wiring/polarity or loose wiring can cause an explosion or
damage equipment.
Table 43 - Motor Power (MP) Connector Specifications
Recommended Wire Size (1) Strip Length Torque Value

Drive Cat. No. Pin Signal/Wire Color mm (in.) N•m (lb•in)
mm2 (AWG)
2198-H003-ERSx Motor power cable depends on motor/
2198-H008-ERSx U drive combination.
U Brown 0.5…0.6
2198-H015-ERSx V 8.0 (0.31)
V Black (4.4…5.3)
2198-H025-ERSx W 0.75…2.5
2198-H040-ERSx W Blue (18…14) max
Green/Yellow
2.5…6 0.5…0.8
2198-H070-ERSx 10.0 (0.39)
(14…10) max (4.4…7.1)
(1) Building your own cables or using third-party cables is not an option. Use 2090-CSxM1DF/DG single motor cables. See the Kinetix Rotary and Linear Motion Cable Specifications Technical
Data, publication KNX-TD004, for cable specifications.

Motor Brake Connections

Figure 51 - BC Connector Wiring

(front view)
2 MBRK- Motor Brake (BC) Connector Plug

1 MBRK+
Motor Cable
Shield Clamp
Table 44 - Motor Brake (BC) Connector Specifications

Recommended
Signal/ Strip Length Torque Value
Drive Cat. No. Pin Wire Color Wire Size(1) mm (in.) N•m (lb•in)
(AWG)
BC-1 MBRK+/Black 0.22…0.25
2198-Hxxx-ERSx — 7.0 (0.28)
BC-2 MBRK-/White (1.9…2.2)
(1) Motor brake wires are part of the 2090-CSBM1DF/DG motor cable.

Motor Feedback Connections

Single motor-cable feedback connections are made by using the 2198-KITCON-DSL feedback
connector kit (included with each servo drive).
• 2090-CSxM1DF cables have flying lead conductors that are designed specifically for
Kinetix 5500 servo drives.
• 2090-CSxM1DG cables also have flying lead feedback conductors. Leads are longer than
2090-CSxM1DF cables to accommodate Kinetix 5700 servo drives. However, because the
leads are longer, extra service loops are required with Kinetix 5500 drives.
IMPORTANT When using the 2198-KITCON-DSL feedback connector kit, the ambient
temperature for the Kinetix 5500 drive enclosure is 0…50 °C (32…122 °F).
Figure 52 - MF Connector Wiring Example

(front view)
See Kinetix 5500 Feedback Connector Kit

Installation Instructions, publication
2198-IN002, for connector kit specifications.
Mounting Screws (2)
Motor Feedback
Connector Kit 2198-KITCON-DSL Cover
Feedback Connector Kit Cover Screws (2)
Motor Cable Exposed Shield

Shield Clamp Connector
Housing
Feedback Cable
2090-CSBM1DF-18AAxx Motor (EPWR+, EPWR-) Internal
Cable Grounding Plate
IMPORTANT Cable preparation and positioning that provides a high-frequency bond

between the shield braid and grounding plate is required to optimize
system performance.
Table 45 - Motor Feedback (MF) Connector Specifications

Cover Screw
Signal/ Wire Size Strip Length
Drive Cat. No. Pin Torque Value
Wire Color AWG mm (in.) N•m (lb•in)
MF-1 D+/Blue
2198-Hxxx-ERSx 22 10.0 (0.39) 0.4 (3.5)
MF-2 D-/White/Blue
IMPORTANT The feedback bundle in 2090-CSxM1DF-18Axxx motor cables (typically

used with frame 1 drives) route around the shield clamp (as shown in
Figure 52). The feedback bundle in2090-CSxM1DG-18, 2090-CSxM1xx-14,
and 2090-CSBM1xx-10 motor cables (typically used with frame 2 and 3
drives) route with the power and brake wires inside the cable shield.

Apply the Single Motor-cable Shield Clamp

Factory-supplied Kinetix 2090 single motor cables are shielded, and the braided cable shield
must terminate at the drive during installation. A small portion of the cable jacket has been
removed to expose the shield braid. The exposed area must be clamped (with the clamp
provided) at the bottom front of the drive.
SHOCK HAZARD: To avoid hazard of electrical shock, make sure that

shielded power cables are grounded according to recommendations.
Cables for Kinetix VP motors (catalog numbers 2090-CBxM1DF-18Axxx) do not

route the feedback bundle under the shield clamp. The 2090-CSxM1DG-18,
2090-CSxM1xx-14, and 2090-CSBM1xx-10 motor cables have the feedback
bundle within the cable shield braid.
This procedure assumes you have completed wiring your motor power, brake, and feedback
connectors and are ready to apply the cable shield clamp.
Follow these steps to apply the motor cable shield clamp.

1. Loosen the left-side (retention) clamp screw and remove the right-side screw.
18 AWG Cable Installation
Kinetix 5500 Servo Drives,

Frame 1 or 2, Front View
(frame 1 is shown) Motor Power
(MP) Connector
2198-KITCON-DSL
Motor Feedback Motor Brake
Connector Kit (BC) Connector
Exposed shield braid

Motor Cable under clamp.
Shield Clamp
Shield Clamp Screws (2)
Retention Screw 2.0 N•m (17.7 lb•in), max
(loosen, do not remove)
Feedback cable routed 2090-CSxM1DF-18Axxx Single

around the shield clamp. Motor Cable
When the drive/motor combination calls for 18 AWG cable, the feedback cable routes
around the motor cable shield clamp.

14 AWG and 10 AWG Cable Installation Example
Kinetix 5500 Servo Drives,

Frame 2 or 3, Front View Motor Power
(frame 2 is shown) (MP) Connector
2198-KITCON-DSL Clamp features apply to all

Motor Feedback Motor Brake frame sizes.
Connector Kit (BC) Connector
Servo Drive
Retention Screw
Feedback cable routed
within the shield braid.
Retention Shield Clamp
Screw
Exposed shield braid Clamp Screws
under clamp. 2.0 N•m (17.7 lb•in)
Motor Cable
Shield Clamp
Torque clamp screws to
Shield Clamp Screws (2) 2.0 N•m (17.7 lb•in), max
2090-CSxM1Dx-14xxxx
Single Motor Cable
When the drive/motor combination calls for 14 AWG or 10 AWG cable, the feedback cable
routes along with the power and brake wiring.
2. Position the exposed portion of the cable shield directly in line with the clamp.
IMPORTANT Loosen the retention screw, if needed, until you can start
threading both clamp screws with the cable shield under the
clamp.
3. Tighten each screw a few turns at a time until the maximum torque value of 2.0 N•m
(17.7 lb•in) is achieved.
4. Repeat step 1 through step 3 for each drive in multi-axis configurations.

Wire Other Motors and Kinetix 5500 drives are also compatible with many other motors and actuators, however the
2198-H2DCK Hiperface-to-DSL feedback converter kit is required for converting the 15-pin
Actuators Hiperface feedback signals to 2-pin DSL feedback signals.
Follow these guidelines when 2090-CPxM7DF (power/brake) cables and 2090-CFBM7DF

(feedback) cables are used in a new installation or reused in an existing installation with
Kinetix 5500 servo drives. Kinetix MP servo motors and actuators have separate connectors
for 2090-CPxM7DF power/brake cables and 2090-CFBM7DF feedback cables.
IMPORTANT To configure these additional motors and actuators (see Table 47,
Current Motor Power Cable Compatibility on page 89) with your
Kinetix 5500 servo drive, you must have drive firmware 2.002 or later.
See Table 46 to determine if you must install the Kinetix 5500 Add-on
Profile.
Table 46 - Add-on Profile (AOP) Installation Requirement

Drive Firmware Revision Logix Designer Application Version Kinetix 5500 AOP Needed?
21.00 Yes
2.002 or later
21.03 or later (1) No
(1) If you are planning to use drive firmware revision 4.001 or later, see Version History on page 107.
Install the Kinetix 5500 Add-On Profile

Add-On profiles are available for download at the Custom Downloads Add-On Profiles website:
https://download.rockwellautomation.com/esd/download.aspx?downloadid=addonprofiles
Follow these steps to download the Kinetix 5500 AOP.

1. Log in to the Custom Download Add-On Profiles website.
The Custom Download Files dialog box opens.
2. Check the box for the AOP for 2198-Hxxx CIP Motion Kinetix5500.
3. Click Download Now and accept the user license agreement.
If you are prompted to install the Download Manager, allow the installation.
4. Click the Add-On Profile icon and follow the download instructions.
5. Extract the AOP zip file and run Setup.
To access AOP downloads by using the Product Compatibility Download Center (PCDC), see
Install the Kinetix 5500 Add-On Profile on page 108.

Motor Power and Brake Connections

The motors and actuators in Table 47 have separate power/brake and feedback cables. The
motor power/brake cable attaches to the cable clamp on the drive and the power/brake
conductors attach to the MP and BC connectors, respectively.
Table 47 - Current Motor Power Cable Compatibility
Motor Power Cat. No. (2) Motor Power Cat. No. (2)
Motor/Actuator Cat. No. (1) (with brake wires) (without brake wires)
MPL-A/B15xxx-xx7xAA, MPL-A/B2xxx-xx7xAA,
MPL-A/B3xxx-xx7xAA, MPL-A/B4xxx-xx7xAA,
MPL-A/B45xxx-xx7xAA, MPL-A/B5xxx-xx7xAA, 2090-CPBM7DF-xxAAxx
MPL-B6xxx-xx7xAA (standard) or 2090-CPWM7DF-xxAAxx
MPM-A/Bxxxx, MPF-A/Bxxxx, MPS-A/Bxxxx 2090-CPBM7DF-xxAFxx (standard) or
(continuous-flex) 2090-CPWM7DF-xxAFxx
MPAS-A/Bxxxx1-V05SxA, MPAS-A/Bxxxx2-V20SxA, (continuous-flex)
MPAI-A/Bxxxx, MPAR-A/B3xxx, MPAR-A/B1xxx, and
MPAR-A/B2xxx (series B)
LDAT-Sxxxxxx-xDx —
(1) The 2198-H2DCK (series B or later) feedback converter kit is required.
(2) See the Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004, for cable
specifications.
See Motor Power Connections on page 83 and Motor Brake Connections on page 84 for the MP
and BC connector specifications.
Table 48 - Legacy Motor Power Cables
Motor Cable Description Motor Power Cat. No.
Power/brake, threaded 2090-XXNPMF-xxSxx
Standard
Power-only, bayonet 2090-XXNPMP-xxSxx
Power/brake, threaded 2090-CPBM4DF-xxAFxx
Continuous-flex Power-only, threaded 2090-CPWM4DF-xxAFxx
Power-only, bayonet 2090-XXTPMP-xxSxx
Table 49 - Induction Motor Power Cable Specifications

Cable Manufacturer Cable Series Voltage Rating Temperature Rating
Belden 29500…29507
Lapp Group ÖLFEX VFD XL 600V 90 °C (194 °F)
SAB VFD XLPE TR

Motor Power/Brake Cable Series Change

Motor power and brake conductors on 2090-CPBM7DF (series A) cables have the following
dimensions from the factory. If your cable is reused from an existing application, the actual
conductor lengths could be slightly different.
Figure 53 - 2090-CPBM7DF (series A) Power/brake Cable Dimensions
102 (4.0)
Edge of
Dimensions are in mm (in.)
Heat Shrink
Power Conductors
150 (5.9)
Kinetix MP Motors
and Actuators Brake
Overall Cable Shield Conductors
Brake Shield (remove)
635 (25)
To reuse your existing (series A) Kinetix 2090 cables with Kinetix 5500 drives, some
preparation is necessary so that the cable shield, conductor, and strip lengths are correct.
Follow these cable preparation guidelines:
• Trim the shield flush so that no strands can short to adjacent terminals.
• Measure the conductor lengths and include a service loop.
• Remove just enough insulation to provide the proper strip length.
Motor power and brake conductors on 2090-CPBM7DF (series B) 12 AWG and 10 AWG standard
(non-flex) cables provide drive-end shield braid and conductor preparation that is modified for
compatibility with multiple Kinetix servo drive families, including Kinetix 5500 drives.
Figure 54 - 2090-CPBM7DF (series B, 10 AWG or 12 AWG) Power/brake Cable Dimensions
305 (12.0)
234 (9.20)
15.0 (0.59)
71 (2.80)
12.7 (0.50)
Power Conductors
5.0 (0.20)
Kinetix MP Motors
and Actuators
Brake
Overall Cable Shield
Conductors
Heat Shrink
5.0 (0.20) 8.0 (0.31)

Maximum Cable Lengths

Combined motor cable length for all axes on the same DC bus must not exceed 250 m (820 ft).
The maximum drive-to-motor cable length for Kinetix 5500 drives and motor/actuator
combinations with 2090-CxxM7DF cables is 20 m (65.6 ft); however, you can replace the
existing motor power/brake cable with a 2090-CSBM1DF or 2090-CSBM1DG single motor cable
to extend the length up to 50 m (164 ft).
IMPORTANT The option to replace 2090-CPBM7DF power/brake cables with

2090-CSBM1DF/DG single cables applies to only 18 AWG and 14 AWG single
cables. 2090-CSBM1Dx-10xxxx (10 AWG/M40 connector) single cables are
not compatible with 2090-CPBM7DF-10Axxx (10 AWG/M40 connector)
power/brake cables.
When replacing your existing motor power/brake cable with a
2090-CSBM1DF/DG single motor cable, only the motor power and brake
conductors are used. Cut off the feedback conductors in the single
motor cable and reuse the existing Kinetix 2090 feedback cable.
Motor Power/Brake Cable Preparation

2090-CPBM7DF (series B) cables are available with 12 AWG and 10 AWG motor-power conductor
sizes. So, 14 AWG cables that are used on frame 3 drives, which are physically taller, require
preparation.
Cable Preparation for Frame 1 and Frame 2 Drives
For frame 1 and frame 2 drives, the 2090-CPBM7DF (16 AWG and 14 AWG) power conductor
length, 102 mm (4.0 in.), is sufficiently long to reach the MP connector plug and provide
adequate stress relief.
The brake conductor length, 635 mm (25 in.), is much longer than necessary. We recommend
that you measure 163 mm (6.4 in.) from the edge of the cable jacket (that is covered by heat
shrink) and trim off the rest.
See Figure 56 and on page 94 for a typical installation example. For strip lengths and torque
values, refer to Table 43 on page 83.
Cable Preparation for Frame 3 Drives
2090-CPBM7DF (series B) 12 AWG and 10 AWG cables are designed for use with Kinetix 5500
drives and do not require any modifications.
For frame 3 drives, 2090-CPBM7DF (14 AWG) cables, and 12 AWG and 10 AWG (series A) cables,
the overall length of the cable preparation area must be increased for the motor power
conductors to reach the MP connector and also provide a proper service loop.

Follow these steps to prepare your existing 14 AWG cables, and 12 AWG and 10 AWG (series A)
cables.
1. Remove a total of 325 mm (12.8 in.) of cable jacket from your existing cable.
This exposes additional cable shield.
2. Remove all but 63.5 mm (2.5 in.) of the shield.
3. Cover 12.5 mm (0.5 in.) of the shield ends and an equal length of the conductors with 25
mm (1.0 in.) of electrical tape or heat shrink.
Do the same on the other side of the cable shield. This keeps the shield ends from
fraying and holds the conductors together.
4. Cut the brake conductors back to 163 mm (6.4 in.) and trim the shield braid at the base
of the jacket.
The shield braid covering the brake conductors is not needed.
5. Remove the specified length of insulation from the end of each wire.
This example applies to existing 2090-CPBM7DF (14 AWG) cables, and 12 AWG and 10 AWG
(series A) cables. If you are using a 2090-CSBM1DF/DG single motor cable, you can remove the
shield braid covering the brake conductors.
Figure 55 - Power/brake Cable (14 AWG, 12 AWG, and 10 AWG)
325 (12.8) Dimensions are in mm (in.)

262 (10.3)
8.0 (0.31) Frame 1 and 2 drives
10.0 (0.39) Frame 3 drives
Electrical Tape
or Heat Shrink Motor Conductors
Brake
25.0 (1.0) Conductors (1)
51.0 (2.0) 155 (6.1) 7.0 (0.28)
221 (8.7)
284 (11.2)
(1) The overall shield braid covering the brake conductors can be removed.
See Figure 56 and on page 94 for a typical installation example. For strip lengths and torque
values, refer to Table 43 on page 83.

Apply the Motor Power/brake Shield Clamp

The power/brake cable shield attaches to the drive cable clamp. A clamp spacer is included
with the 2198-H2DCK feedback converter kit for cable diameters that are too small for a tight
fit within the drive clamp alone.
SHOCK HAZARD: To avoid a hazard of electrical shock, make sure that

shielded power cables are grounded according to recommendations.
Follow these steps to apply the motor power/brake shield clamp.

1. To provide stress relief to the motor power and brake conductors, route the conductors
with service loops.
2. Make sure that the cable clamp tightens around the cable shield and provides a good
bond between the cable shield and the drive chassis.
IMPORTANT Loosen the retention screw, if needed, until you can start
threading both clamp screws with the cable shield under the
clamp.
3. Tighten each screw, a few turns at a time, until the maximum torque value of 2.0 N•m
(17.7 lb•in) is achieved.
IMPORTANT If the power/brake cable shield has a loose fit inside the shield
clamp, insert the clamp spacer between the shield clamp and the
drive to reduce the clamp diameter. When the clamp screws are tight,
2.0 N•m (17.7 lb•in), the result must be a high-frequency bond
between the cable shield and the drive chassis.
See Figure 56 on page 94 for a cable-clamp attachment illustration.

Figure 56 - Cable Clamp Attachment
Service Loops
Frame 1 Frame 2 Frame 3

Clamp Compressed
Servo Drive Servo Drive Servo Drive
Around Shield
(no spacer required) Clamp features apply to all
frame sizes.
Servo Drive
Retention Screw
Clamp Spacer Added (loosen, do not remove)
(small diameter cable)
Clamp Spacer (if needed) (1)
Retention Shield Clamp

Screw
Clamp Screws
2.0 N•m (17.7 lb•in)
Insert the clamp spacer when
the cable diameter is smaller
than the drive clamp alone.
(1) The clamp spacer is included with the Hiperface-to-DSL feedback converter kit, catalog number 2198-H2DCK.
Motor Feedback Connections

The feedback cable attaches to the 2198-H2DCK converter kit and is wired to the 10-pin
connector. Kinetix 2090 feedback cables require preparation to make sure that the shield
clamp attaches properly and conductors route smoothly to the 10-pin connector terminals.
IMPORTANT When using the 2198-H2DCK feedback connector kit and Kinetix 2090
feedback cables that are listed in Table 50 or Table 51, the ambient
temperature for the Kinetix 5500 drive enclosure is derated to
0…40 °C (32…104 °F).
All current and legacy feedback cables that are listed below are compatible with the 2198-
H2DCK (series B or later) converter kit.
IMPORTANT Only Allen-Bradley motors and actuators with single-turn or multi-turn

high-resolution absolute encoders are compatible.

Table 50 - Motor Feedback Cable Compatibility
Motor/Actuator Family Motor/Actuator (1) Feedback Cable

Cat. No. Cat. No.
MPL-A/B15xxx-V/Ex7xAA
MPL-A/B2xxx-V/Ex7xAA
MPL-A/B3xxx-S/Mx7xAA
Kinetix MPL low-inertia motors MPL-A/B4xxx-S/Mx7xAA
MPL-B6xxx-S/Mx7xAA 2090-CFBM7DF-CEAAxx
Kinetix MPM medium-inertia motors MPM-A/Bxxxx-S/M 2090-CFBM7DD-CEAAxx
2090-CFBM7DF-CERAxx
Kinetix MPF food-grade motors MPF-A/Bxxxx-S/M (standard) or
Kinetix MP stainless-steel motors MPS-A/Bxxxxx-S/M 2090-CFBM7DF-CEAFxx
MPAS-A/Bxxxx1-V05SxA 2090-CFBM7DD-CEAFxx
Kinetix MPAS integrated linear stages MPAS-A/Bxxxx2-V20SxA 2090-CFBM7DF-CDAFxx
(continuous-flex)
MPAR-A/B1xxxx-V and
Kinetix MPAR electric cylinders MPAR-A/B2xxxx-V (series B)
MPAR-A/B3xxxx-M
Kinetix MPAI heavy-duty electric MPAI-A/BxxxxxM3
cylinders
Kinetix LDAT linear thrusters LDAT-Sxxxxxx-xDx
(1) The 2198-H2DCK (series B or later) feedback converter kit is required.
Table 51 - Legacy Motor Feedback Cables

Motor Cable Description Feedback Cable Cat. No.
Encoder feedback, threaded 2090-XXNFMF-Sxx
2090-UXNFBMF-Sxx
Standard 2090-UXNFBMP-Sxx
Encoder feedback, bayonet
2090-XXNFMP-Sxx
Encoder feedback, bayonet 2090-XXTFMP-Sxx
Continuous-flex
Encoder feedback, threaded 2090-CFBM4DF-CDAFxx
Figure 57 - 2198-H2DCK Converter Kit Pinout

Strip Length Torque Value
Terminal Signal Wire Color mm (in.) N•m (lb•in)
14 11 10 7 6 5 4 3 2 1
1 SIN+ Black
2 SIN– White/Black
10-pin
Connector 3 COS+ Red
4 COS– White/Red
5 DATA+ Green
0.22…0.25
5.0 (0.2)
6 ECOM (1) White/Gray (1.9…2.2)
7 EPWR_9V (2) Orange
10 DATA– White/Green
11 TS White/Orange
14 EPWR_5V (2) Gray
(1) The ECOM and TS- connections are tied together and connect to the cable shield.
(2) The converter kit generates 5V and 9V from a 12V supply coming from the drive. The 5V
supply is used by 5V encoders in 230V motors. The 9V supply is used by 9V encoders in
460V motors.
ATTENTION: To avoid damage to components, determine which power supply

your encoder requires and connect either the 5V or the 9V supply, but not both.

Motor Feedback Cable Preparation

Follow these steps to prepare feedback cables.
1. Remove 115 mm (4.5 in.) of cable jacket and 103 mm (4.0 in.) of cable shield.
IMPORTANT This length of wire is required to provide a service loop for the
longest wires terminated at the 10-pin connector. However, most
wires must be trimmed shorter, depending on the terminal they
are assigned to.
2. Determine the length for each of the 10 wires and trim as necessary.
3. Remove 5.0 mm (0.2 in.) of insulation from the end of each wire.
Cable Shield 5.0 (0.2)

Cable Jacket
12.0 (0.5) 103 (4.0)

115 (4.5)
Apply the Converter Kit Shield Clamp
Follow these steps to apply the converter kit shield clamp.

1. Apply the shield clamp to the 12 mm (0.5 in.) of exposed cable shield to achieve a high-
frequency bond between the shield braid and clamp.
IMPORTANT Cable preparation and positioning that provides a high-

frequency bond between the shield braid and clamp is
required to optimize system performance.
Also, make sure that the cable is positioned where the cover
clamps onto the jacket for added stress relief.
Apply 0.30 N•m (2.6 lb•in) torque to each screw.
Shield Clamp
Cable Positioned Where Cover Clamps

Onto the Cable Jacket
2. Route and insert each wire to its assigned terminal.

Include a service loop, as shown in Figure 58, and refer to the connector pinout in
Figure 57.
3. Tighten each terminal screw.
Apply 0.22…0.25 N•m (1.9…2.2 lb•in) torque to each screw.
4. Gently pull on each wire to make sure it does not come out of its terminal; reinsert and
tighten any loose wires.
5. Attach the tie wrap for added stress relief.

Table 53 - 2090-CFBM7DF-CEAxxx Feedback Cables

MPL-B15xxx…MPL-B2xxx-V/Ex4/7xAA MPL-A15xxx…MPL-A2xxx-V/Ex4/7xAA
MPL-B3xxx…MPL-B6xxx-M/Sx7xAA MPL-A3xxx-M/Sx7xAA
MPL-A5xxx-M/Sx7xAA MPL-A4xxx-M/Sx7xAA
MPL-A45xxx-M/Sx7xAA
Rotary Motors MPM-A165xxx…MPM-A215xxx MPM-A115xxx…MPM-A130xxx-M/S
MPM-Bxxxxx-M/S MPF/MPS-A3xx-M/S
MPF-Bxxx-M/S MPF/MPS-A4xx-M/S 2198-H2DCK
MPF-A5xxx-M/S MPF/MPS-A45xx-M/S Converter Kit Pin
MPS-Bxxx-M/S MPS-A5xxx-M/S
MPAS-Bxxxxx-VxxSxA
MPAR-Bxxxx, MPAS-Axxxxx-VxxSxA
Linear Actuators MPAI-Bxxxx MPAR-Axxxx, MPAI-Axxxx
LDAT-Sxxxxxx-xDx
1 Sin+ Sin+ 1
2 Sin- Sin- 2
3 Cos+ Cos+ 3
4 Cos- Cos- 4
5 Data+ Data+ 5
6 Data- Data- 10
9 Reserved EPWR_5V 14
10 ECOM ECOM 6 (1)
11 EPWR_9V Reserved 7
12 ECOM ECOM 6
13 TS TS 11
(1) The ECOM and TS- connections are tied together and connect to the cable shield.
A mounting bracket is included with the 2198-H2DCK converter kit to secure the kit to the
drive. Install the mounting bracket in the mounting position specific to the frame size of your
drive.
Figure 58 - Wire the 2198-H2DCK Feedback Converter Kit
Mounting Screws (2)
2
1
10-pin
Mounting Bracket
Connector
Service Loops
Frame 1 Mounting Position Tie Wrap for Stress Relief

14 11 10 7 6 5 4 3 2 1
(catalog numbers 2198-H003 and Wire Management

ERSx and 2198-H008-ERSx)
Clamp Screws (2)
Frame 2 Mounting Position

1. Place the exposed cable
(catalog numbers 2198-H015-ERSx,
Converter Kit Mounting Hole with shield in the channel.
2198-H025-ERS, and 2198-H040-ERSx)
Protective Cover Removed 2. Place the shield clamp over
(frame 1 drive example shown) Frame 3 Mounting Position the exposed shield.
(catalog number 2198-H070-ERSx) 3. Tighten screws, torque
0.3 N•m (2.6 lb•in).
See Hiperface to DSL Feedback Converter Kit Installation Instructions, Exposed Shield Aligned
publication 2198-IN006, for converter kit specifications. in the Cable Channel Shield Clamp

Capacitor Module Follow these guidelines when wiring the 2198-CAPMOD-1300 capacitor module:
Connections • Wire output (MS) connections to the Logix 5000® controller (optional).
• See Kinetix 5500 Capacitor Module wiring example on page 181.
• See Kinetix 5500 Capacitor Module Status Indicators on page 147 for troubleshooting
the module status indicator and relay output.
• See the installation instructions provided with your Bulletin 2198 capacitor module,
publication 2198-IN004.
as established in Chapter 2 starting on page 31. Connections to the DC-
bus must be made with the shared-bus connection system.
Figure 59 - MS Connector Wiring
2198-CAPMOD-1300
Capacitor Module
Module Status
2
(MS) Connector Plug
1
Table 54 - Capacitor Module Connector Specifications

Recommended
Connector Wire Size Strip Length Torque Value
Pin Signal
Description mm (in.) N•m (lb•in)
mm2 (AWG)
MS-1 MS 0.14…1.5 0.22…0.25
Module Status 7.0 (0.28)
MS-2 MS (28…16) (1.9…2.2)
PELV/SELV CP-1 24V+ 0.5…2.5 0.22…0.25
7.0 (0.28)
24V power (plug) CP-2 24V- (20…14) (1.9…2.2)
DC-
DC-bus power Busbar DC+ — (1) — (1) — (1)
(1) DC bus connections are always made from one drive module to another over the shared-bus connection system. These
terminals do not receive discrete wires.

External Passive-shunt Follow these guidelines when wiring your 2097-Rx shunt resistor:
Resistor Connections • See External Passive Shunt Resistor on page 45 for noise zone considerations.
• See Shunt Resistor Wiring Example on page 184.
• See the installation instructions provided with your Bulletin 2097 shunt resistor,
as established in Chapter 2.
Figure 60 - RC Connector Wiring
Kinetix 5500 Drive

Top View
Fo Only
Rem r DC
ove
Bus
1
Table 55 - Shunt Resistor (RC) Connector Specifications

Recommended
Drive Cat. No. Pin Signal Wire Size Strip Length Torque Value
mm (in.) N•m (lb•in)
mm2 (AWG)
2198-H003-ERSx RC-1 SH
2198-H008-ERSx RC-2 DC+
2198-H015-ERSx 0.5…4.0 0.5…0.6
8.0 (0.31)
2198-H025-ERSx RC-1 DC+ (20…12) (4.4…5.3)
2198-H040-ERSx RC-2 SH
2198-H070-ERSx
IMPORTANT You must disconnect the internal shunt wires at the RC connector before
connecting the Bulletin 2097 shunt resistor wires.

Ethernet Cable Connections This procedure assumes you have your Logix 5000 controller and Kinetix 5500 drive modules
mounted and are ready to connect the network cables.
The EtherNet/IP™ network is connected by using the PORT 1 and PORT 2 connectors. See
Figure 30 on page 60 to locate the Ethernet connectors on your Kinetix 5500 drive. See
Figure 61 to locate the connectors on your Logix 5000 controller.
Shielded Ethernet cable is required and available in several standard lengths. Ethernet cable
lengths connecting drive-to-drive, drive-to-controller, or drive-to-switch must not exceed 100
m (328 ft). See the Kinetix Rotary and Linear Motion Cable Specifications Technical Data,
publication KNX-TD004, for more information.
Figure 61 - ControlLogix and CompactLogix Ethernet Port Locations
ControlLogix® 5570 Controller with CompactLogix™ 5370 Controller,

Bulletin 1756 EtherNet/IP Communication Module Compact GuardLogix® 5370 Controller
LNK1 LNK2 NET OK
(CompactLogix 5370 controller is shown)
ControlLogix Ethernet Ports

Front View
2
The 1756-EN2T modules have only one port. 00:00:BC:2E:69:F6
The 1756-EN2TR, and 1756-EN3TR modules have two ports. 1

Front Views 1 (Front)
2 (Rear)
Logix5585 TM
SAFETY ON
CompactLogix 5380 Controller, or

NET
0000 LINK
ControlLogix 5580 and RUN FORCE SD OK

Compact GuardLogix 5380 Controller
GuardLogix 5580 Controller (CompactLogix 5380 controller is shown)
Front View
Port 1, Front
1 GB Ethernet Port
Port 2, Rear
Bottom View
These Logix 5000 controllers accept linear, ring (DLR), and star network configurations. See
Typical Communication Configurations on page 23 for linear, ring, and star configuration
examples.
IMPORTANT When using an external Ethernet switch for routing traffic between the
controller and the drive, switches with IEEE-1588 time synchronization
capabilities (boundary or transparent clock) must be used to make sure
that switch delays are compensated.

Chapter 6
Configure and Start the Kinetix 5500 Drive
System
This chapter provides procedures for configuring your Kinetix® 5500 drive system with a Logix
5000® controller.
Topic Page
Understand the Kinetix 5500 Display 102
Configure the Drive 107
Studio 5000 Logix Designer 107
Configure the Logix 5000 Controller 109
Configure Feedback-only Axis Properties 121
Configure Induction-motor Frequency-control Axis Properties 122
Configure SPM Motor Closed-loop Control Axis Properties 127
Download the Program 131
Apply Power to the Kinetix 5500 Drive 132
Understand Bus-sharing Group Configuration 133
Test and Tune the Axes 136
Before you begin, make sure you know the catalog number for each
drive component, the Logix module and /or controller, and the servo
motor used in your motion control application.

Chapter 6 Configure and Start the Kinetix 5500 Drive System
Understand the The Kinetix 5500 drive has two status indicators and an LCD status display. The indicators and
display are used to monitor the system status, set network parameters, and troubleshoot
Kinetix 5500 Display faults. Four navigation buttons are directly below the display and are used to select items from
a soft menu.
Figure 62 - Kinetix 5500 Drive LCD Display and Status Indicators
PRECHARGE
192.168.1.1
DC BUS: 0.3V
Status Indicators (see page 146)
PRECHARAGE
192.168.1.1
DC BUS: 0.3V
Navigation Buttons
Soft Menu
This is the Home screen. The setup selections are tied to the two PRECHARAGE
Setup (left-side) buttons and the menu selections are tied to the two 192.168.1.1
DC BUS: 0.3V
Menu (right-side) buttons.
Setup Menu
The soft menu provides a changing selection that corresponds to the
current screen. Use the navigation buttons to perform the following.
Press to go back. Pressing enough times results in the Home screen.

Pressing either arrow moves the selection to the next (or previous) item. When changing
Each soft menu item is executed by pressing the
values, pressing the up arrow increments the highlighted value. Values roll over after reaching
navigation button directly below the item, as the end of the list.
shown in this example.
Press to select values to change, moving from right to left. Values roll over when reaching the
end of the list.
MAIN MENU
MODULE INFO Press to select a menu item.
MOTOR INFO
Press to return to the Home screen.
? Press to display the fault help (possible solutions in troubleshooting tables). (1)
(1) For Kinetix 5500 fault code descriptions and possible solutions, see Kinetix 5500 Servo Drive Fault Codes Reference Data,
publication 2198-RD005.

Menu Screens
The menu screens provide information about the drives, motors, diagnostics, and the fault log.
Parameters cannot be updated in the menu screens. Press one of the menu buttons to access
the menu.
You can use the soft menu items and navigation buttons to view the MAIN MENU
information. MODULE INFO
MOTOR INFO
Menu/Sub Menu Attributes Description Example Values

Selections
Catalog number 2198-Hxxx-ERSx
Firmware revision FW REV: 1.1.450167
Drive Info
Hardware revision HW REV: 1.1
Serial number SERIAL#: xxxxxxxxxxx
Model number MODEL: VPL-B1306F
Motor Info
Serial number SERIAL#: xxxxxxxxxxx
BUS VOLT: 0.0V
Bus diagnostics
BUS CUR: 0.0A
Diagnostics> CONV UTIL: 0.7%
Converter diagnostics
Drive Diagnostics CONV TEMP: 31.7C
INV UTIL: 0.0%
Inverter diagnostics
INV TEMP: 31.7C
Motor speed SPEED:0.0 RPM
Diagnostics> Motor current MTR CUR:0.0A RMS
Motor Diagnostics Motor utilization MTR UTIL:0.0%
Motor temperature MTR TEMP:0.00C
Serial number SERIAL#xxxxxxxxxxx
Resolution RESOLUTION: 262144
Number of turns NO OF TURNS: 1
Encoder temperature ENC TEMP:33.7C
Supply voltage SUPP VOLT:11.3V
The link quality attribute indicates how noisy a communication link is and also indicates if there is a
Diagnostics> Link quality communication link that is already established at the drive end. The LINK QUAL value must always be LINK QUAL: 100.0%
Encoder Diagnostics 100%. If the value is persistently below 100%, it indicates a poor feedback ground connection.
Similar to Link Quality, RSSI reports the quality of link as seen at the motor end by the encoder. Maintain
Remote signal the RSSI value in the range of 80…100%. If the value is persistently below 80%, it indicates a poor RSSI: 100.0%
strength indicator feedback ground connection.
Accumulated This is an aggregated number of errors in the primary position feedback channel of DSL feedback. POS ERRORS: 1
position errors
Channel position This is an aggregated number of errors on a secondary communication channel of the DSL feedback. CHNL ERRORS: 5
errors
Fault text Fault code as listed in the Kinetix 5500 Fault Codes.xlsx file.(1) FLT S20 - CONV OVERLOAD FL
The converter thermal model indicates that
Fault details The problem as reported in the Kinetix 5500 Fault Codes.xlsx file.(1) the temperature has exceeded the factory
Fault Log set capacity rating of 110%.
• Reduce the number of drives in the same
Fault help The possible solution as reported in the Kinetix 5500 Fault Codes.xlsx file.(1) bus group
• Reduce duty-cycle of commanded motion
(1) For Kinetix 5500 fault code descriptions and possible solutions, see Kinetix 5500 Servo Drive Fault Codes Reference Data, publication 2198-RD005.

Setup Screens
The setup screens provide the means of changing drive settings, for example, the IP address.
Press one of the setup buttons to access the setup screens.
You can use the soft menu items and navigation buttons to view the SETTINGS
information and make changes. NETWORK
DISPLAY
Press to validate your changes:
• If the change is invalid, the value doesn’t change. STATIC IP
• If the change is valid, an asterisk appears next to the changed IP ADDRESS*
attribute. SUBNET MASK
IMPORTANT You must cycle control power to make network configuration

changes persistent. In this example, the IP address was changed. The
change takes effect and the asterisk disappears after control power
is cycled.
Display configuration changes take effect immediately.

Table 56 - Navigating the Settings Menu

Settings Menu Selections Sub Menu Selections Attributes Default Description
When Enabled (default), identity object or safety
ENABLED
Reset ENABLED resets are not possible when a controller connection
DISABLED is open.
When Enabled (default), network configuration
ENABLED
Network Config ENABLED changes are not possible when a controller
Protected Mode DISABLED connection is open.
ENABLED When Enabled (default), firmware updates are not
Flash Update ENABLED
DISABLED possible when a controller connection is open.
ENABLED When Enabled (default), only attribute writes are
Device Config ENABLED
DISABLED possible when a controller connection is open.
IP address 192.168.1.1 Indicates current IP address
(1) Subnet mask 255.255.255.000 Indicates current subnet mask
->Static IP
Network Gateway 192.168.001.001 Indicates current gateway
On Turns on DHCP
DHCP
Off Turns off DHCP
30 sec…NEVER
Backlight Timeout (NEVER=no timeout period, -> 3 min (1) Sets backlight timeout period of the display
the backlight is always on)
->DC BUS (1) DC bus voltage
CONV UTIL Converter utilization in percent
CONV TEMP Converter temperature in °C
SHUNT UTIL Shunt utilization in percent
Display INV UTIL Inverter utilization in percent
Cyclic Data Select (2) INV TEMP Inverter temperature in °C
MOTOR UTIL Motor utilization in percent
SPEED RPM
OUT PWR Output power in watts
OUT FREQ Output frequency in hertz
OUT CUR Output current in amps
Contrast -10…+10 0 Contrast setting of the display
(3) Reset Ownership Are you sure? Resets safety ownership (reset fails after 30 seconds)
Safety
Enabled Enables the web server
Web
->Disabled Disables the web server
(1) An arrow (->) appears in front of the chosen attribute indicating that this attribute is currently configured. This is also the factory default setting.
(2) The DC bus voltage is one of several cyclic data attributes. You can select any of the Cyclic Data Select attributes to be displayed on the Home screen.
(3) The Safety menu applies to only 2198-Hxxx-ERS2 drives.

Startup Sequence
On initial powerup, the drive performs a self test. Upon successful completion, the drive
firmware revision is displayed.
Kinetix 55 until Kinetix 5500 is spelled out… Kinetix 5500

then…
SELF-TEST SELF-TEST
FW REV: 1.1.33 FW REV: 1.1.33
until the test is complete…
75% 100%
Next, the axis state, the IP address, and the default PRECHARAGE <-- Axis State
cyclic data attribute (in this example DC bus voltage) 192.168.1.1 <-- IP Address
appears. In addition, the setup and menu soft keys are DC BUS: 0.3V <-- Cyclic Data Attribute
displayed. This is the Home screen.
In this example PRECHARGE is the axis state attribute. Table 57 lists the other axis states and
their descriptions.
Table 57 - Axis States on the Home Screen
Axis State Description
STANDBY The drive is waiting to receive configuration information from the controller.
CONNECTING The drive is trying to establish communication with the EtherNet/IP™ controller.
CONFIGURING The drive is receiving configuration information from the controller.
SYNCING The drive is waiting for a successful Group Sync service.
STOPPED The drive is fully configured, but the control loops are not enabled.
PRECHARGE The drive is ready for mains input power.
The drive is enabled and checking various conditions before entering the RUNNING or TESTING
STARTING state. For example, the drive checks the Brake Release delay time during the STARTING state.
• The drive is enabled, configured with an active control mode, and actively tracking a
RUNNING command.
• The drive is configured for No Control and is fully operational.
TESTING The drive is actively executing a test procedure, for example, a hookup test.
STOPPING The drive is decelerating to a stop as the result of a disable.
ABORTING The drive is decelerating to a stop as the result of a fault or an abort request.
MAJOR FAULTED The drive is faulted due to an existing or past fault condition.
START INHIBITED The drive has an active condition that inhibits it from being enabled.
SHUTDOWN The drive has been shut down.

Configure the Drive You can include the drive in your Studio 5000 Logix Designer® application by adding it to a
configured EtherNet/IP module or controller under the I/O configuration tree. After setting
network parameters, you can view the drive status information in Studio 5000® environment
and use it in your Logix Designer application.
Set the Network Parameters

You must program network parameters by using the LCD display.
1. From the LCD display, select SETUP>NETWORK and choose between STATIC IP and
DHCP.
The default setting is STATIC IP.
2. If STATIC IP, then press to configure the following parameters:
- IP address
- Gateway
- Subnet mask
Settings are stored in nonvolatile memory. IP addressing can also be changed through the
Module Configuration dialog box in RSLinx® software. Changes to the IP addressing take effect
after power is cycled. The drive is factory programmed to static IP address of 192.168.1.1.
See Setup Screens on page 104 for help with setting the network parameters.
Studio 5000 Logix Designer For help with using the Studio 5000 Logix Designer application as it applies to configuring the
ControlLogix® or CompactLogix™ controllers, refer to Additional Resources on page 12.
Version History
Each release of the Studio 5000 Logix Designer application makes possible the configuration
of additional Allen-Bradley® motors, actuators, and drive features not available in previous
versions.
IMPORTANT To configure these additional drive features with your Kinetix 5500
servo drive, you must have drive firmware 4.001 or later. See Table 58
to determine if you must install the Kinetix 5500/5700 Add-on Profile.

Table 58 - AOP Installation Requirement

Drive Firmware Revision Logix Designer Application Version Kinetix 5500/5700 AOP Needed?
26.00 or 27.00 Yes
4.001
28.00 or later No
26.00, 27.00, or 28.00 Yes
5.001
29.00 or later No
7.001 or later (1) 29.00 or later No
(1) Drive firmware 7.001 enhancements are available only with the Studio 5000 Logix Designer, version 29.00 or later, firmware
update. The AOP for firmware 7.001 is not available.
Install the Kinetix 5500 Add-On Profile

Download Add-On profiles (AOP) from the Product Compatibility Download Center (PCDC)
website: rok.auto/pcdc.
Follow these steps to download the Kinetix 5500 Add-On profile.

1. Go to the Product Compatibility Download Center.
The Compatibility & Downloads webpage appears.
2. Click Download.
3. Enter Kinetix 5500 in the Search PCDC window.

4. Click the appropriate firmware revision and follow prompts to download.
5. Extract the AOP zip file and run Setup.

Configure the Logix 5000 These procedures assume that you have wired your Kinetix 5500 drive system. In this
example, the GuardLogix® 5580 safety controller, and CompactLogix 5380 controller dialog
Controller boxes are shown.
Follow these steps to configure the controller.

1. Apply power to your controller and open your Logix Designer application.
2. From the Create menu, choose New Project.

The New Project dialog box appears.
IMPORTANT If you are configuring a 2198-Hxxx-ERS2 (integrated) servo drive

in a safety application, you must use a GuardLogix safety
controller.

In this example, the typical dialog boxes for ControlLogix and GuardLogix 5380 controllers and
CompactLogix 5380 controllers with embedded Ethernet are shown.
Follow these steps to configure your Logix 5000 controller.

1. Expand the Logix 5000 controller family and select your controller.
2. Type the file Name.
3. Click Next.
The New Project dialog box appears.
4. From the Revision dropdown menu, choose your software revision.

5. Click Finish.
The new controller appears in the Controller Organizer under the
I/O Configuration folder.
Controller Organizer with CompactLogix 5380
controller.
Controller Organizer with GuardLogix 5580

controller.
6. In this example, a GuardLogix 5580 controller

with 1756-EN2T communication module is
used.

7. From the Edit menu, choose Controller Properties.

The Controller Properties dialog box appears.
8. Click the Date/Time tab.
9. Check Enable Time Synchronization.

The motion modules set their clocks to the module that you assign as the Grandmaster.
IMPORTANT Check Enable Time Synchronization for all controllers that

participate in CIP Sync™. The overall CIP Sync network
automatically promotes a Grandmaster clock, unless the priority
is set in the Advanced tab.
10. Click OK.

Configure the Kinetix 5500 Drive

IMPORTANT To configure 2198-Hxxx-ERS (hardwired safety) drives, you must be using
the Logix Designer application, version 21.00 or later.
To configure 2198-Hxxx-ERS2 (integrated safety) drives, you must be
using the Logix Designer application, version 24.00 or later.
Use this table to determine where to begin your drive configuration.

Drive Cat. No. Start Here Page
2198-Hxxx-ERS Configure Drive with Hardwired Safety Connections 112
2198-Hxxx-ERS2 Configure Drive with Integrated Safety Connections 114
Configure Drive with Hardwired Safety Connections
Follow these steps to configure Kinetix 5500 drives with hardwired safety.
1. Below the controller you created, right-click Ethernet and choose New Module.
The Select Module Type dialog box appears.
Enter 2198 here to further

limit your search.
2. By using the filters, check Motion and Allen-Bradley, and select your 2198-Hxxx-ERS
servo drive as appropriate for your actual hardware configuration.
3. Click Create.

The New Module dialog box appears.
4. Configure the new drive.

a. Type the drive Name.
b. Select an Ethernet Address option.
In this example, the Private Network address is selected.
c. Enter the address of your 2198-Hxxx-ERS drive.
In this example, the last octet of the address is 1.
d. Under Module Definition click Change.
Depending on the Module Definition revision selection, alternate product features
can be selected.
5. To close the New Module dialog box, click OK.
Your 2198-Hxxx-ERS servo drive appears in the
Controller Organizer under the Ethernet controller
in the
6. Click Close to close the Select Module Type dialog

box.
7. Jump to Continue Drive Configuration on page 117 to continue with your drive
configuration.

Configure Drive with Integrated Safety Connections
Follow these steps to configure Kinetix 5500 drives with integrated safety.
1. Below the controller you created, right-click Ethernet and choose New Module.
The Select Module Type dialog box appears.
2. By using the filters, check Motion and Allen-Bradley, and select your 2198-Hxxx-ERS2
servo drive as appropriate for your actual hardware configuration.
3. Click Create.
The New Module dialog box appears.
4. Configure the new drive.

a. Type the drive Name.
b. Select an Ethernet Address option.
In this example, the Private Network address is selected.
c. Enter the address of your 2198-Hxxx-ERS2 servo drive.
In this example, the last octet of the address is 2.
d. Under Module Definition click Change.

The Module Definition dialog box appears.
e. From the Connection dropdown menu, choose the Connection mode for your motion
application.
Description Description
Connection Mode Controller Needed Cat. No. 2198-Hxxx-ERS Cat. No. 2198-Hxxx-ERS2
ControlLogix 5570 or 5580 Guardlogix 5570 or Only hardwired Safe Torque Off Motion is managed by this controller.
Motion only 5580 as well CompactLogix 5370 or 5380 or Safety is managed by another controller that has a
connections are possible.
5480 CompactGuardLogix 5370 or 5380 Safety-only connection to the drive.
Guardlogix 5570 or 5580 CompactGuardLogix —
Motion and Safety Motion and Safety are managed by this controller.
5370 or 5380
Safety is managed by this controller.
GuardLogix 5570 or 5580
Safety only — Motion is managed by another controller that has a
or Compact GuardLogix 5370 or 5380 Motion-only connection to the drive.
When ‘Safety’ appears in the Connection mode, integrated safety

is implied.
The Safety Network Number (SNN) field populates automatically when the Connection
mode includes an integrated Motion and Safety or Safety-only connection. For a
detailed explanation of the safety network number, refer to the GuardLogix Controller
Systems Safety Reference Manual, publication 1756-RM099.
5. To close the Module Definition dialog box, click OK.
6. To close the New Module dialog box, click OK.
Your 2198-Hxxx-ERS2 servo drive appears in
the Controller Organizer under the Ethernet
controller in the
Right-click the drive you created in the

Controller Organizer and choose Properties.
The Module Properties dialog box appears.
7. Click the Drive Safety tab.
8. From the Restart Type dropdown menu, choose Manual or Automatic depending on your
specific application.
- Manual restart indicates a transition from 0 to 1 on the SO.Reset tag is required to
allow torque after the SO.SafeTorqueOff tag has transitioned from 0 to 1.

- Automatic restart indicates that torque will be allowed only by transitioning the
SO.SafeTorqueOff tag from 0 to 1. The SO.Reset tag is used only for resetting safety
faults.
9. Click Apply.
10. Click the Safety tab.
The connection between the owner and the 2198-Hxxx-ERS2 servo drive is based on the
following:
- Servo drive catalog number must be 2198-Hxxx-ERS2 (integrated)
- Servo drive safety network number
- GuardLogix slot number
- GuardLogix safety network number
- Path from the GuardLogix controller to the 2198-Hxxx-ERS2 drive
- Configuration signature
If any differences are detected, the connection between the GuardLogix controller and
the 2198-Hxxx-ERS2 drive is lost, and the yellow yield icon appears in the controller
project tree after you download the program.
11. Click Advanced.
The Advanced Connection Reaction Time Limit Configuration dialog box appears.

Analyze each safety channel to determine the appropriate settings. The smallest Input
RPI allowed is 6 ms. Selecting small RPI values consumes network bandwidth and can
cause nuisance trips because other devices cannot get access to the network.
12. Click OK.
For more information about the Advanced Connection Reaction Time Limit Configuration, refer
to the GuardLogix 5570 Controllers User Manual, publication 1756-UM022.
Continue Drive Configuration
After you’ve established your Kinetix 5500 drive in the Logix Designer application, the
remaining configuration steps are the same regardless of the drive catalog number.
1. Right-click the 2198-Hxxx-ERSx servo drive you created and choose Properties.
2. Click the Associated Axes tab.
3. Click New Axis.

The New Tag dialog box appears.
4. Type the axis Name.

AXIS_CIP_DRIVE is the default Data Type.
5. Click Create.

The axis (Axis_1 in this example) appears in the Controller

Organizer under Motion Groups >
Ungrouped Axes and is assigned as Axis 1.
You can configure an axis as Feedback Only. See Configure Feedback-

only Axis Properties on page 121 for more information.
6. Click Apply.
7. Click the Digital Input tab.
8. From the Axis dropdown menu, choose an axis to configure.

9. From the Digital Input dropdown menus, choose a digital input assignment appropriate
for your application. For more information, see Table 30 on page 64 and Table 31 on
page 64.
10. Click Apply.
11. Click the Power tab.
IMPORTANT Single-phase operation is possible only when Module Properties >

Power tab > Bus Configuration is configured as Standalone.

IMPORTANT The Logix Designer application enforces shared-bus configuration

rules for Kinetix 5500 drives, except for shared AC configurations.
12. From the dropdown menus, choose the power options appropriate for your actual
hardware configuration.
ATTENTION: To avoid damage to equipment, make sure the AC input

voltage that is configured in the Logix Designer application matches
the actual hardware being configured.
Attribute Menu Description

400-480 VAC 324…528 AC rms input voltage
Voltage
200-240 VAC 195…264 AC rms input voltage
• Three Phase Input power phasing. Kinetix 5500 drives with
AC Input Phasing single-phase operation is limited to 2198-H003-
• Single Phase ERSx, 2198-H008-ERSx, and 2198-H015-ERSx.
Applies to single-axis drives and drives with
Standalone Shared AC input configurations.
Applies to converter drives with Shared AC/DC
Bus Configuration (1) (2) Shared AC/DC and Shared AC/DC Hybrid input configurations.
Applies to inverter drives with Shared DC input
Shared DC (common-bus) configurations.
Standalone Applies to standalone bus configurations.
• Group1
Bus Sharing Group (3) (2)
• Group2 Applies to any bus-sharing configuration.(4)
• Group3…
Disables the internal shunt resistor and external
Disabled
Shunt Regulator Action shunt option.
Shunt Regulator Enables the internal and external shunt options.
Enables the internal shunt (external shunt option
Internal is disabled).
Shunt Regulator Resistor Type
Enables the external shunt (internal shunt option
External is disabled).
• None Selects external shunt option. Only the shunt
External Shunt (5) • 2097-R6 model that is intended for the drive model is
• 2097-R7 shown.
(1) See Chapter 3 for more information on single-axis and multi-axis configurations.
(2) Bus Configuration selection is not applicable to all EtherNet/IP drives.
(3) For more information on bus-sharing groups, refer to Understand Bus-sharing Group Configuration on page 133.
(4) All drives physically connected to the same shared-bus connection system must be part of the same Bus Sharing
Group in the Logix Designer application.
(5) See the Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003, for
more information on the Bulletin 2097 external shunt resistors.
13. Click OK.

14. Repeat step 1 through step 13 for each 2198-Hxxx-ERSx servo drive.

Configure the Motion Group

Follow these steps to configure the motion group.
1. In the Controller Organizer, right-click Motion Groups and choose New Motion Group.
The New Tag dialog box appears.
2. Type the new motion group Name.

3. Click Create.
Your new motion group appears in the Controller Organizer
under the Motion Groups folder.
4. Right-click the new motion group and choose Properties.
The Motion Group Properties dialog box appears.
5. Click the Axis Assignment tab and move your axes (created earlier) from Unassigned to
Assigned.
6. Click the Attribute tab and edit the default values as appropriate for your application.
7. Click OK.
Your axis moves to the new motion group.

Configure Feedback-only Follow these steps to configure feedback-only axis properties.

Axis Properties 1. In the Controller Organizer, right-click an axis and choose Properties.
2. Select the General category.
The General dialog box appears.
3. From the Axis Configuration dropdown menu, choose Feedback Only.

4. From the Feedback Configuration dropdown menu, choose Master Feedback.
5. From the Module dropdown menu, choose the drive to associate with your Feedback
Only axis.
The Module Type and Power Structure fields populate with the chosen drive catalog
number.
6. Click Apply.
7. Select the Master Feedback Category.
The Master Feedback Device Specification appears.
8. From the Type dropdown menu, choose a feedback device type.

9. Review other categories in the Controller Organizer and make changes as needed for
your application.
10. Click OK.

Configure Induction-motor Follow these steps to configure induction-motor axis properties for various frequency control
methods.
Frequency-control Axis
Properties General and Motor Categories
1. In the Controller Organizer, right-click an axis and choose Properties.
3. From the Axis Configuration dropdown menu, choose Frequency Control.

4. From the Feedback Configuration dropdown menu, choose No Feedback.
5. From the Module dropdown menu, choose the drive to associate with your Frequency
Control (induction motor) axis.
The Module Type and Power Structure fields populate with the chosen drive catalog
number.
6. Click Apply.
7. Select the Motor category.

8. From the Data Source dropdown menu, choose Nameplate Datasheet.

This is the default setting.
9. From the Motor Type dropdown menu, choose Rotary Induction.
10. From the motor nameplate or datasheet, enter the phase-to-phase values for your
motor.
See Motor Category on page 226 for a motor performance datasheet example.
11. Click Apply.
Basic Volts/Hertz Method

1. Configure the General tab and Motor tab as shown in General and Motor Categories on
page 122.
2. Select the Frequency Control category.
3. From the Frequency Control Method dropdown menu, select Basic Volts/Hertz.
4. Enter the Basic Volts/Hertz attribute values appropriate for your application.
Default values are shown.
5. Click Apply.
6. Select the Parameter List category.
The Motion Axis Parameters dialog box appears.

7. From the Parameter Group dropdown menu, choose Frequency Control.

8. Set the FluxUp, SkipSpeed, VelocityDroop, and CurrentVectorLimit attributes
appropriate for your application.
See the corresponding section in Appendix 5 for information and configuration
examples regarding all of these topics.
9. Click OK.
Sensorless Vector Method

page 122.
3. From the Frequency Control Method dropdown menu, select Sensorless Vector.
5. Click Apply.
7. The Motion Axis Parameters dialog box appears.

9. Set the FluxUp, SkipSpeed, VelocityDroop, MaximumFrequency, MaximumVoltage, and
CurrentVectorLimit attributes appropriate for your application.


10. Click Apply.
11. Select the Motor > Model category.
Motor model attributes are automatically estimated from the Nameplate/Datasheet
parameters. For improved performance, motor tests can be run.
12. Select the Motor > Analyzer category.
13. The Analyze Motor to Determine Motor Model dialog box opens.
14. Click one of the motor test tabs.

In this example, Calculate Model is chosen. See Motor Tests and Autotune Procedure on
page 228 for information about each of the tests.
15. Click Start.
16. Click Accept Test Results.
17. Click OK.

Fan/Pump Volts/Hertz Method

page 122.
3. From the Frequency Control Method dropdown menu, select Fan/Pump Volts/Hertz.
5. Click Apply.

8. Set the FluxUp, SkipSpeed, VelocityDroop, RunBoost, MaximumFrequency,
MaximumVoltage, and CurrentVectorLimit attributes appropriate for your application.
9. Click OK.

Configure SPM Motor Kinetix 5500 drives accept Hiperface and Hiperface DSL feedback from surface permanent
magnet (SPM) motors when the appropriate feedback connector kit is used. Table 59 lists the
Closed-loop Control Axis compatible Allen-Bradley motors and actuators.
Properties
Table 59 - Motor Feedback Compatibility
Feedback
Feedback Type Description Connector
Applies to Kinetix MPL, MPM, MPF, MPS (-M/S or -V/E) rotary motors and Kinetix MPAS
Hiperface High-resolution single- (ballscrew), MPAR, MPAI linear actuators, and Kinetix LDAT (-xDx) linear thrusters, which
are wired to the 2198-H2DCK converter kit. 2-pin motor
turn and multi-turn, feedback (MF)
absolute Applies to Kinetix VPL, VPF, VPH, and VPS rotary motors wired to the 2198-KITCON-DSL
Hiperface DSL connector kit.
IMPORTANT Unprogrammed Smart feedback devices (Hiperface Sin/Cos and

Hiperface DSL) are not supported. Unprogrammed as load or feedback-
only feedback types are supported. Contact your local distributor or
Rockwell Automation sales representative for support options.
Follow these steps to configure surface permanent-magnet (SPM) motor closed-loop axis
properties.
The General and Associated Module dialog box appears.
3. From the General dropdown menus, change configuration settings as needed for your
application.
IMPORTANT Frequency Control is not supported for permanent magnet

motors.
4. From the Associated Module > Module dropdown menu, choose your Kinetix 5500 drive.
The drive catalog number populates the Module Type and Power Structure fields.
5. Click Apply.
6. Select the Motor category.

The Motor Device Specification dialog box appears.
7. From the Data Source dropdown menu, choose Catalog Number.

8. Click Change Catalog.
The Change Catalog Number dialog box appears.
9. Select the motor catalog number appropriate for your application.

To verify the motor catalog number, refer to the motor nameplate.
10. To close the Change Catalog Number dialog box, click OK.
11. Click Apply.
Motor data specific to your motor appears in the Nameplate / Datasheet - Phase to
Phase parameters field.

12. Select the Scaling category and edit the default values as appropriate for your
application.
13. Click Apply, if you make changes.

14. Select the Load category and edit the default values as appropriate for your application.
15. Click Apply, if you make changes.

16. Select the Actions category.

The Actions to Take Upon Conditions dialog box appears.
From this dialog box, you can program actions for the drive module to take. See Logix
5000 Controller and Drive Behavior on page 149 for more information.
17. Select the Exceptions category.
The Action to Take Upon Exception Condition dialog box appears.
From this dialog box, you can change the action for exceptions (faults). See Logix 5000
Controller and Drive Behavior on page 149 for more information.
In the Logix Designer application, version 32.00 and later, Disable
replaced StopDrive as the default Action.


From this dialog box, you can set brake engage and release delay times for servo
motors. For recommended motor brake delay times, refer to the Kinetix Rotary Motion
Specifications Technical Data, publication KNX-TD001.
19. Click OK.
20. Repeat step 1 through step 19 for each servo motor axis.
Download the Program

After completing the Logix Designer application and saving the file, you must download your
program to the Logix 5000 processor.

Apply Power to the This procedure assumes that you have wired and configured your Kinetix 5500 system and
your Logix 5000 controller.
Kinetix 5500 Drive
SHOCK HAZARD: To avoid hazard of electrical shock, perform all mounting and
wiring of the Bulletin 2198 servo drives before applying power. Once power is
applied, connector terminals can have voltage present even when not in use.
Follow these steps to apply power to the Kinetix 5500 system.

1. Disconnect the load to the motor.
ATTENTION: To avoid personal injury or damage to equipment,

disconnect the load to the motor. Make sure that each motor is free
of all linkages when initially applying power to the system.
2. Apply 24V DC control power.
The LCD display begins the startup sequence. See Startup Sequence on page 106. If the
startup sequence does not begin, check the 24V control power connections.
3. When the startup sequence completes, verify that the two status indicators are steady
green and the axis state is PRECHARGE.
If the axis state does not reach PRECHARGE and the two status indicators are not steady
green, refer to Kinetix 5500 Drive Status Indicators on page 146.
IMPORTANT Apply control power before applying three-phase AC power. This makes
sure that the shunt is enabled, which can help prevent nuisance faults or
Bus Overvoltage faults.
4. Apply mains input power and monitor the DC BUS voltage on the LCD display.
If the DC BUS does not reach the expected voltage level, check the three-phase input
power connections. Also, it can take as many as 1.8 seconds after input power is applied
before the drive can accept motion commands.
5. Verify that the axis state changes to STOPPED.
If the axis state does not change to STOPPED, refer to Fault Code Overview on page 144.
Applying Power after Changing Input Voltage Range

This step applies to any drive or multi-axis drive configuration.
ATTENTION: To avoid damage to equipment when the configured input voltage

range of the drive or drives changes from 230V AC to 460V AC or from 460V AC to
230V AC, the bus voltage must bleed down below 50V DC before the new
configured input voltage is applied.

Understand Bus-sharing When configuring Module Properties > Power tab for each Kinetix 5500 servo drive, you can
breakout drives from one or more servo systems into multiple bus-sharing (power) groups.
Group Configuration
A drive that faults in Group 1 does not affect the operation of Group 2, even though all drives in
Groups 1 and 2 are in the same Motion group in the Logix Designer application.
Figure 63 - 25 Bus-sharing Groups Are Possible
IMPORTANT Bus-sharing groups do not apply to drives with a Bus Configuration of

Standalone. When Standalone is configured as the Bus Configuration,
Standalone (dimmed) is also configured as the Bus Sharing Group.
Figure 64 - Standalone Bus Configuration

Bus-sharing Group Example

In this example, 12 axes are needed to support the motion application. All 12 axes are
configured in the same Motion group in the Logix Designer application.
However, the 12 axes of motion are also configured as two bus-sharing groups and one
standalone drive in Module Properties > Power tab. By creating two bus-sharing groups, a
converter drive that faults in Group 1 only disables Group 1 drives, and has no effect on the
drive operation of Group 2 or the Standalone drive.
Figure 65 - Bus-sharing Group Example
Logix Designer
CompactLogix 5370 Controller
Application
Logix Designer Application

Module Properties>Power Tab
Three-phase and Group 1 (shared AC/DC hybrid)
24V Input Power Controller Organizer Bus Sharing Group 1
Axis_01
Axis_02
Axis_03
Axis_04
Axis_05
1585J-M8CBJM-x Axis_06
Bus Sharing Group 2

Axis_07
2198-H040-ERSx 2198-H003-ERSx Axis_08
Common-bus (converter) Axis_09
Common-bus (inverter)
Leader Drives Axis_10
Follower Drives Axis_11

Three-phase and Group 2 (shared-DC common-bus)
Standalone
24V Input Power Axis_12

Standalone
Three-phase and
24V Input Power
1585J-M8CBJM-x
2198-H040-Erse 2198-H003-ERSx
Common-bus Leader Drive Common-bus
Follower Drives
Configure Bus-sharing Groups

Group 1 is a shared AC/DC hybrid configuration. The Bus Configuration for the first two
converter drives is Shared AC/DC. The Bus Configuration for the inverter drives is Shared DC.
ATTENTION: To avoid damage to equipment, all modules that are physically

connected to the same shared-bus connection system must be part of the
same Bus Sharing Group in the Logix Designer application.

Figure 66 - Group 1 Converter Drives Configuration
Figure 67 - Group 1 Inverter Drives Configuration
Group 2 is a shared DC (common-bus) configuration. The Bus Configuration for the leader drive
is Shared AC/DC. The Bus Configuration for the follower drives is Shared DC.
Figure 68 - Group 2 Leader Drive Configuration

Figure 69 - Group 2 Follower Drives Configuration
Figure 70 - Standalone Drive Configuration
Test and Tune the Axes This procedure assumes that you have configured your Kinetix 5500 drive, your Logix 5000
controller, and applied power to the system.
IMPORTANT Before proceeding with testing and tuning your axes, verify that the MOD
and NET status indicators are operating as described in Kinetix 5500
Drive Status Indicators on page 146.
For help with using the Logix Designer application as it applies to testing and tuning your axes
with a Logix 5000 controller, refer to Additional Resources on page 12.
Test the Axes

Follow these steps to test the axes.
1. Verify that the load was removed from each axis.
ATTENTION: To avoid personal injury or damage to equipment, you

must remove the load from each axis as uncontrolled motion can
occur when an axis with an integral motor brake is released during
the test.
2. In your Motion Group folder, right-click an axis and choose Properties.

The Axis Properties dialog box appears.

3. Click the Hookup Tests category.
4. In the Test Distance field, enter the desired test distance.

The Position Units are defined in the Axis Properties > Scaling tab.
5. To verify connections, click the appropriate test from the following.
Hookup Test Definitions
Verifies marker detection capability as you manually rotate the motor shaft. The test
completes when the drive either detects the marker or when the motor moves the
distance that is specified in the Test Distance field. If the marker remains undetected
Marker and the test completes successfully, it means that the motor moved the full test
distance. If the marker remains undetected and the test fails, the motor did not move
the full test distance. Run this test after running the Motor Feedback and Motor and
Feedback tests.
Verifies the commutation offset and commutation polarity of the motor. For Kinetix
Commutation 5500 drives, this test applies to only third-party motors. See Commutation Test on
page 243.
Verifies that feedback connections are wired correctly as you manually rotate the
motor shaft. The test completes when the drive determines that the motor moved the
Motor Feedback full distance that is specified in the Test Distance field. Run this test before the Motor
and Feedback Test to verify that the feedback can be read properly.
Verifies that motor power and feedback connections are wired correctly as the drive
Motor and commands the motor to rotate. Because the drive is rotating the motor, this test
Feedback requires full bus power to run. Run the Motor Feedback test before running this test to
verify that the feedback is being read correctly.
6. Click Start.
The Logix Designer - Motor and Feedback Test dialog box appears. The Test State is
Executing. TESTING appears on the drive LCD display.
Drive LCD Display
TESTING
192.168.1.1
DC BUS: 218.3V

When the test completes successfully, the Test State changes from Executing to
Passed.
7. Click OK.
This dialog box appears asking if the direction
was correct.
8. Click Yes.
9. Click Accept Test Results.
10. If the test fails, this dialog box appears.
a. Click OK.
b. Verify the DC bus voltage.
c. Verify unit values entered in the Scaling
category.
d. Verify the motor power and feedback wiring.
e. Return to step 6 and run the test again.
Tune the Axes

Choose the tuning procedure best suited for your motor type.
Motor Type Go Directly To
Permanent magnet (PM) Tune Permanent Magnet Motors
Induction Tune Induction Motors on page 140
Tune Permanent Magnet Motors
The load observer feature provides high-performance motion control without having to
manually tune your axis. Using load observer with a default set of gains can yield high-
performance right out of the box. Most of the time, there is no need to perform an autotune
procedure or further optimize gain settings.
Follow these steps to configure the drive for high performance by using the load observer
feature.
1. Verify that the load is connected.
Reattach the load if it was disconnected for the Hookup Test.
ATTENTION: If the drive has not been enabled before (new

installation), verify that you have safeguards in place to safely
remove power from the drive if there is an unstable situation where
the drive can produce undesired motion.
2. Click the Autotune tab in the Axis Properties dialog box.
a. From the dropdown menus for Application Type, Loop Response, and Load Coupling,
choose Custom, Medium, and Rigid settings, respectively.

b. Verify that only the Velocity Feedforward box is checked.
Uncheck Torque Low Pass Filter (that is checked by default).

3. Click the Load category in the Axis Properties dialog box.
a. Check Use Load Ratio.
b. Set the Load Ratio = 0.
4. Click the Observer category in the Axis Properties dialog box.

a. From the Configuration dropdown menu, choose Load Observer with Velocity
Estimate if the axis is configured for Position Loop control.
Choose Load Observer Only if the axis is configured for Velocity Loop control.
Load Observer is not available for Torque Loop control.
b. Click Apply and click Yes to update all dependent attributes.

The Load Observer Bandwidth and other gains are set automatically.
1 1
1
4 4
K pp K vp K op T bw
0 0 0
K pi K vi K oi

5. Click the Compliance category in the Axis Properties dialog box.

a. From the Adaptive Tuning Configuration dropdown menu, choose Tracking Notch.
b. Click Apply.
6. Enable the drive for a few seconds with an MSO instruction or motion direct command,
followed by an MSF instruction or motion direct command, to make sure that no audible
squealing noise is present.
IMPORTANT If an audible squealing noise is heard, go to Axis

Properties>Load>
Compliance category and set the Torque Notch Filter Frequency
field (Hz) to remove the noise. See Motion System Tuning
Application Techniques, publication MOTION-AT005
(Compensating for High Frequency Resonances), for information
on how to set the Torque Notch Filter Frequency field.
7. Repeat Test and Tune the Axes for each axis.
Tune Induction Motors
IMPORTANT The Automatic FluxUpControl setting is recommended for best Autotune
results.
Follow these steps to tune the induction motor axes.

1. Verify that the load is removed from the axis being tuned.
ATTENTION: To reduce the possibility of unpredictable motor

response, tune your motor with the load removed first, then reattach
the load and perform the tuning procedure again to provide an
accurate operational response.

2. Select the Autotune category.
3. Type values for Travel Limit and Speed.

In this example, Travel Limit = 50.0 and Speed = 2.0. The actual values of programmed
units depend on your application.
4. From the Direction dropdown menu, choose a setting appropriate for your application.
Forward Uni-directional is default.
5. Edit other fields as appropriate for your application.
6. Click Start.
The Logix Designer - Autotune dialog box appears. When the test completes, the Test
State changes from Executing to Success.
Tuned values populate the Loop and Load parameter tables. Actual bandwidth values
(Hz) depend on your application and can require adjustment once motor and load are
connected.
7. Click Accept Tuned Values.
8. To close the Logix Designer - Autotune dialog box, click OK.

9. To close the Axis Properties dialog box, click OK.
10. If the test fails, this dialog box appears.
a. Click OK.
b. Adjust motor velocity.
c. See the controller user manual for more information.
d. Return to step 6 and run the test again.
11. Repeat Test and Tune the Axes for each axis.

Chapter 7
Troubleshoot the Kinetix 5500 Drive System
This chapter provides troubleshooting tables and related information for your Kinetix® 5500
servo drives.
Topic Page
Safety Precautions 143
Interpret Status Indicators 144
General Troubleshooting 147
Logix 5000 Controller and Drive Behavior 149
Safety Precautions Observe the following safety precautions when troubleshooting your Kinetix 5500 servo drive.
ATTENTION: Capacitors on the DC bus can retain hazardous voltages after

input power has been removed. Before working on the drive, measure the
DC bus voltage to verify that it has reached a safe level or wait the full-time
interval as indicated in the warning on the front of the drive. Failure to
observe this precaution could result in severe bodily injury or loss of life.
ATTENTION: Do not attempt to defeat or override the drive fault circuits.

You must determine the cause of a fault and correct it before you attempt
to operate the system. Failure to correct the fault could result in personal
injury and/or damage to equipment as a result of uncontrolled machine
operation.
ATTENTION: Provide an earth ground for test equipment (oscilloscope)

used in troubleshooting. Failure to ground the test equipment could result in
personal injury.

Chapter 7 Troubleshoot the Kinetix 5500 Drive System
Interpret Status Indicators This section contains troubleshooting tables that can be used to identify faults, potential
causes of faults, and the appropriate actions to resolve a fault. If the fault persists after
attempting to troubleshoot the system, contact your Rockwell Automation sales representative
for further assistance.
Display Interface
The LCD display provides fault messages and troubleshooting information MAIN MENU
by using the soft menu items and navigation buttons. DIAGNOSTICS
FAULT LOG
Under the Main Menu, select FAULT LOG by using the up/down arrows.
Press to display the list of active fault codes.
Press again to display the fault details (the problem in troubleshooting tables).
? Press to display the fault help (possible solutions in troubleshooting tables).
See Understand the Kinetix 5500 Display on page 102 for more information on navigating the
LCD display menu.
Fault Code Overview

The fault code tables are designed to help you determine the source of the fault or exception.
When a fault condition is detected, the drive performs the appropriate fault action, the fault is
displayed, and the fault is added to a persistent fault log (along with diagnostics data). The
earlier faults have priority to be displayed.
The drive removes the fault text from the display when a Fault Reset service is sent from the
controller and the fault is no longer active. If a fault is still active following a Fault Reset
service, the fault is again posted to the display and written to the fault log.
However, there is a delay before the fault is posted again. In a Studio 5000 Logix Designer®
application, this delay results as the AxisFault tag on the drive axis being cleared until the fault
is posted again. During this delay, the AxisState tag continues to indicate that the axis is
faulted. Use the AxisState tag on the axis object and only to determine if an axis is faulted.
Although software overtravel fault codes do not exist, software overtravel detection for the
AXIS_CIP_DRIVE axis type is determined in the Logix 5000® controller. For more information,
see Integrated Motion on the EtherNet/IP™ Network Reference Manual, publication MOTION-
RM003.
The drive maintains a log of the last 128 faults with time stamps and is stored in persistent
memory. However, the fault log cannot be cleared on the drive.
Table 60 - Fault Code Summary
Fault Code Type (1) (2) Description

Standard runtime axis exceptions. The exception can apply to an individual axis or to all
FLT Sxx axes.
Manufacturer-specific runtime axis exception. The exception can apply to an individual
FLT Mxx axis or to all axes.
INIT FLT Sxx
Exceptions that prevent normal operation and occur during the initialization process.
INIT FLT Mxx
Exceptions that can prevent normal operation of the drive module and apply to the
NODE FLTxx entire module and affect all axes.
Exceptions that can prevent normal operation of the drive module, but do not result in
NODE ALARM xx any action other than reporting the alarm to the controller.
INHIBIT Sxx Conditions that prevent normal operation and indicate that the drive module is
INHIBIT Mxx prevented from being enabled.

Table 60 - Fault Code Summary (Continued)
Fault Code Type (1) (2) Description

ALARM Sxx An underlying exception condition that does not result in any action other than reporting
ALARM Mxx the alarm to the controller.
SAFE FLTxx Exception that is generated by a fault condition that is detected in the safety function.
(1) Sxx refers to Standard exceptions.
(2) Mxx refers to Manufacturer-specific exceptions.
Fault codes that are triggered by conditions that fall outside factory-set
limits are identified by FL at the end of the display message. For
example, FLT S07 – MTR OVERLOAD FL.
Fault codes that are triggered by conditions that fall outside user-set
limits are identified by UL at the end of the display message. For
example,
FLT S08 – MTR OVERLOAD UL.
Fault Codes

Kinetix 5500 Drive Status Indicators

The module status and network status indicators are just above the LCD status display.
IMPORTANT Status indicators are not reliable for safety functions. Use them only for
general diagnostics during commissioning or troubleshooting. Do not
attempt to use status indicators to determine operational status.
Table 61 - Module Status Indicator

Condition Status
Steady Off No power is being applied to the drive.
Module Status Steady Green Drive is operational. No faults or failures.
Network Status
Flashing Green Standby (drive not configured).
Major recoverable fault. The drive detected a recoverable fault, for example, an
Flashing Red incorrect or inconsistent configuration.
Steady Red Major fault. The drive detected a nonrecoverable fault.
Flashing Green/Red Self-test. The drive performs self-test during powerup.
Table 62 - Network Status Indicator

Condition Status
Steady Off No power applied to the drive or IP address is not configured.
Flashing Green Drive connection is not established, but has obtained an IP address.
Steady Green Drive connection is established. Normal operation.
Connection timeout. One or more of the connections, for which this drive is the
Flashing Red target, has timed out.
Steady Red Duplicate IP address. IP address specified is already in use.
Flashing Green/Red Self-test. The drive performs self-test during powerup.
Table 63 - Ethernet Link Speed Status Indicator

Condition Status
Ethernet RJ45 Connectors
Steady Off 10 Mbit
Steady On 100 Mbit
Link Speed
Status Indicators
Table 64 - Ethernet Link/Activity Status Indicator
Condition Status
Link/Activity
Steady Off No link
Status Indicators
Steady On Link established
Blinking Network activity

Kinetix 5500 Capacitor Module Status Indicators

The capacitor module status indicator and module status (MS) connector are on the front of
the module. The module status connector is a relay output suitable for wiring to the Logix
5000 controller.
Table 65 - Module Status Indicator and Relay Output
Module Status Relay
Status Resolution
Indicator Output (1)
Module Status
Indicator Steady Green Closed Bus is fully charged and no faults exist. —
Control power is present and the bus is —
Flashing Green Open waiting to charge up.
• Cycle control and bus power
Recoverable fault
Flashing Red Open (precharge or overvoltage fault). • Verify that AC input meets
specifications
Module Status • Cycle control and bus power
(MS) Connector Internal, nonrecoverable fault condition • Verify that AC input meets
Steady Red Open inside the module. specifications
• Replace the module if fault persists
(1) Wiring the module status relay output to the Logix 5000 controller is optional.
General Troubleshooting These conditions do not always result in a fault code, but can require troubleshooting to
improve performance.
Condition Potential Cause Possible Resolution
The position feedback device is incorrect or open. Check wiring.
Check to see what primary operation mode was
Unintentionally in Torque mode. programmed.
Motor tuning limits are set too high. Run Tune in the Logix Designer application.
Position loop gain or position controller accel/decel rate is improperly Run Tune in the Logix Designer application.
set.
Improper grounding or shielding techniques are causing noise to be
Axis or system is unstable. transmitted into the position feedback or velocity command lines, Check wiring and ground.
causing erratic axis movement.
Motor Select limit is incorrectly set (servo motor is not matched to axis • Check setups.
module). • Run Tune in the Logix Designer application.
• Notch filter or output filter can be required (refer to Axis
Properties dialog box, Output tab in the Logix Designer
Mechanical resonance. application).
• Enable adaptive tuning. See Adaptive Tuning on page 243
for more notch filter information.
Torque Limit limits are set too low. Verify that torque limits are set properly.
Select the correct motor and run Tune in the Logix Designer
Incorrect motor selected in configuration. application again.
• Check motor size versus application need.
The system inertia is excessive.
• Review servo system sizing.
You cannot obtain the motor
acceleration/deceleration that The system friction torque is excessive. Check motor size versus application need.
you want. • Check motor size versus application need.
Available current is insufficient to supply the correct accel/decel rate.
• Review servo system sizing.
Acceleration limit is incorrect. Verify limit settings and correct them, as necessary.
Velocity Limit limits are incorrect. Verify limit settings and correct them, as necessary.
The motor is operating in the field-weakening range of operation. Reduce the commanded acceleration or deceleration.

Condition Potential Cause Possible Resolution

The axis cannot be enabled until stopping time has expired. Disable the axis, wait for 1.5 seconds, and enable the axis.
The motor wiring is open. Check the wiring.
• Check feedback connections.
The motor cable shield connection is improper.
• Check cable shield connections.
Motor does not respond to a The motor has malfunctioned. Repair or replace the motor.
command. The coupling between motor and machine has broken (for example, the Check and correct the mechanics.
motor moves, but the load/machine does not).
Primary operation mode is set incorrectly. Check and properly set the limit.
Velocity or torque limits are set incorrectly. Check and properly set the limits.
Brake connector not wired Check brake wiring
• Verify grounding.
Recommended grounding per installation instructions have not been • Route wire away from noise sources.
followed. • See System Design for Control of Electrical Noise,
publication GMC-RM001.
Presence of noise on command • Verify grounding.
or motor feedback signal wires. Line frequency can be present. • Route wire away from noise sources.
Variable frequency can be velocity feedback ripple or a disturbance that • Decouple the motor for verification.
is caused by gear teeth or ballscrew, and so forth. The frequency can be
a multiple of the motor power transmission components or ballscrew • Check and improve mechanical performance, for example,
speeds resulting in velocity disturbance. the gearbox or ballscrew mechanism.
The motor connections are loose or open. Check motor wiring and connections.
Foreign matter is lodged in the motor. Remove foreign matter.
The motor load is excessive. Verify the servo system sizing.
No rotation The bearings are worn. Return the motor for repair.
• Check brake wiring and function.
The motor brake is engaged (if supplied).
• Return the motor for repair.
The motor is not connected to the load. Check coupling.
Change the command profile to reduce accel/decel or
The duty cycle is excessive.
Motor overheating increase time.
The rotor is partially demagnetized causing excessive motor current. Return the motor for repair.
Motor tuning limits are set too high. Run Tune in the Logix Designer application.
• Remove the loose parts.
Loose parts are present in the motor. • Return motor for repair.
• Replace motor.
Abnormal noise
The through bolts or coupling is loose. Tighten bolts.
The bearings are worn. Return motor for repair.
Notch filter can be required (refer to Axis Properties dialog
Mechanical resonance. box, Output tab in the Logix Designer application).
Erratic operation - Motor locks
into position, runs without Motor power phases U and V, U and W, or V and W reversed. Check and correct motor power wiring.
control or with reduced torque.

Logix 5000 Controller and By using the Logix Designer application, you can configure how the Kinetix 5500 drives
respond when a drive fault/exception occurs.
Drive Behavior
The INIT FLT xxx faults are always generated after powerup, but before
the drive is enabled, so the stopping behavior does not apply.
NODE ALARM xxx faults do not apply because they do not trigger stopping
behavior.
The drive supports fault actions for Ignore, Alarm, Minor Fault, and Major Fault as defined in
Table 66. The drive also supports three configurable stopping actions as defined in Table 68.
See the drive behavior tables beginning on page 151 to see how the fault and stopping actions
apply to each of the exception fault codes.
Table 66 - Kinetix 5500 Drive Exception Action Definitions
Exception Action Definition
The drive completely ignores the exception condition. For some exceptions that are
Ignore fundamental to the operation of the planner, Ignore is not an available option.
The drive sets the associated bit in the Motion Alarm Status word, but does not otherwise
affect axis behavior. Like Ignore, if the exception is so fundamental to the drive, Alarm is
Alarm not an available option. When an exception action is set to Alarm, the Alarm goes away by
itself when the exceptional condition has cleared.
The drive latches the exception condition but the drive does not execute any exception
Minor Fault action.
Major Fault The drive latches the exception condition and executes the configured exception action.
You can configure exception behavior in the Logix Designer application from the Axis
Properties dialog box, Actions category. These controller exception actions are mapped to the
drive exception actions.
Table 67 - Logix Designer Exception Action Definitions
Exception Action Definition
The controller completely ignores the exception condition. For some exceptions that
Ignore are fundamental to the operation of the planner, Ignore is not an available option.
The controller sets the associated bit in the Motion Alarm Status word, but does not
otherwise affect axis behavior. Like Ignore, if the exception is so fundamental to the
Alarm drive, Alarm is not an available option. When an exception action is set to Alarm, the
Alarm goes away by itself when the exceptional condition has cleared.
Like Alarm, Fault Status Only instructs the controller to set the associated bit in the
Motion Fault Status word, but does not otherwise affect axis behavior. However, unlike
Fault Status Only Alarm, an explicit Fault Reset is required to clear the fault once the exceptional
condition has cleared. Like Ignore and Alarm, if the exception is so fundamental to the
drive, Fault Status Only is not an available option.
The controller sets the associated bit in the Motion Fault Status word and instructs the
Motion Planner to perform a controlled stop of all planned motion at the configured
Stop Planner maximum deceleration rate. An explicit Fault Reset is required to clear the fault once
the exceptional condition has cleared. If the exception is so fundamental to the drive,
Stop Planner is not an available option.
StopDrive (version 31 and When the exception occurs, the associated bit in the Fault Status word is set and the
earlier) axis comes to a stop by using the stopping action that is defined by the drive for the
Disable (version 32 and particular exception that occurred. There is no controller-based configuration to
later) specify what the stopping action is; the stopping action is device-dependent.
When the exception occurs, the drive brings the motor to a stop by using the stopping
Shutdown action defined by the drive (as in Stop Drive) and the power module is disabled. An
explicit Shutdown Reset is required to restore the drive to operation.
For Kinetix 5500 drives, only selected exceptions are configurable. In the drive behavior
tables, the controlling attribute is given for programmable fault actions.

Table 68 - Configurable Stopping Actions

Stopping Action Description
Decel and hold Most control
The best available stopping action is the one that maintains
Decel and disable (1) Less control the most control over the motor. However, not all faults
support every stopping action.
Disable and coast Least control
(1) When configured for Frequency Control (induction motors only), select Decel and disable only when the Current Limiting
feature is enabled. For more information on this feature, see Current Limiting for Frequency Control on page 216.
When configured for Frequency Control (IM motors only), Decel and disable should only be
selected when the Current Limiting feature has been enabled. For more information on this
feature, refer to Appendix 5.
Only selected drive exceptions are configurable. In the drive behavior tables, the controlling
attribute is given for programmable fault actions.
In the Logix Designer application, version 32.00 and later, Disable
replaced StopDrive as the default Action.
Figure 71 - Logix Designer Axis Properties - Actions Category
This dialog box applies to Kinetix 5500 (EtherNet/IP network) servo drives.

Table 69 - Drive Behavior, FLT Sxx Fault Codes

Fault Action
Best Available
Minor Fault
Major Fault
Permanent
Exception Fault Code Exception Text Induction Motor Stopping Action
Magnet Motor
Ignore
(applies to major faults)
Alarm
FLT S02 – MTR COMMUTATION Motor Commutation Fault X — — — — X Disable/Coast
Motor Overspeed
FLT S03 – MTR OVERSPEED FL X X — — — X Disable/Coast
Factory Limit Fault
Motor Overspeed
FLT S04 – MTR OVERSPEED UL X X X X X X Decel/Hold
User Limit Fault
Motor Overtemperature
FLT S05 – MTR OVERTEMP FL X — — — — X Disable/Coast
Factory Limit Fault
Motor Thermal Overload
FLT S07 – MTR OVERLOAD FL X X — — — X Decel/Disable
Factory Limit Fault
Motor Thermal OverLoad
FLT S08 – MTR OVERLOAD UL X X X X X X Decel/Hold
User Limit Fault
FLT S10 – INV OVERCURRENT Inverter Overcurrent Fault X X — — — X Disable/Coast
Inverter Overtemperature
FLT S11 – INV OVERTEMP FL X X — — — X Disable/Coast
Factory Limit Fault
Inverter Thermal Overload
FLT S13 – INV OVERLOAD FL X X — — — X Disable/Coast
Factory Limit Fault
Inverter Thermal Overload
FLT S14 – INV OVERLOAD UL X X X X X X Decel/Hold
User Limit Fault
FLT S15 – CONV OVERCURRENT Converter Overcurrent Fault X X — — — X Disable/Coast
Ground Current
FLT S16 – GROUND CURRENT X X — — — X Disable/Coast
Factory Limit Fault
Converter OverTemp
FLT S18 – CONV OVERTEMP FL X X — — — X Disable/Coast
Factory Limit Fault
Converter Thermal OverLoad
FLT S20 – CONV OVERLOAD FL X X — — — X Disable/Coast
Factory Limit Fault
Converter Thermal Overload
FLT S21 – CONV OVERLOAD UL X X X X X X Decel/Hold
User Limit Fault
FLT S23 – AC PHASE LOSS AC Single Phase Loss Fault X X X X X X Decel/Disable
FLT S25 – PRECHARGE FAILURE Pre-charge Failure Fault X X — — — X Disable/Coast
Bus Regulator Thermal OverLoad
FLT S29 – BUS OVERLOAD FL X X — — — X Disable/Coast
Factory Limit Fault
Bus Regulator Thermal Overload
FLT S30 – BUS OVERLOAD UL X X X X X X Decel/Hold
User Limit Fault
FLT S31 – BUS REG FAILURE Bus Regulator Failure X X — — — X Disable/Coast
Bus Undervoltage
FLT S33 – BUS UNDERVOLT FL X X — — — X Decel/Disable
Factory Limit Fault
Bus Undervoltage
FLT S34 – BUS UNDERVOLT UL X X X X X X Decel/Hold
User Limit Fault
Bus Overvoltage
FLT S35 – BUS OVERVOLT FL X X — — — X Disable/Coast
Factory Limit Fault
FLT S39 – BUS POWER LEAKAGE Bus Power Leakage Fault X X — — — X Decel/Disable
Motor Feedback Data Loss
FLT S45 – FDBK COMM FL (1) Factory Limit Fault X — — — — X Disable/Coast
FLT S47 – FDBK DEVICE FAILURE Feedback Device Failure X — — — — X Disable/Coast
FLT S49 – BRAKE SLIP FLT Brake Slip Exception X — X X X X Decel/Hold
FLT S50 – POS HW OTRAVEL Hardware Overtravel - Positive X X X X X X Decel/Hold
FLT S51 – NEG HW OTRAVEL Hardware Overtravel - Negative X X X X X X Decel/Hold
FLT S54 – POSN ERROR (1) Excessive Position Error Fault X — X X X X Disable/Coast
FLT S55 – VEL ERROR (1) Excessive Velocity Error Fault X — X X X X Disable/Coast
FLT S56 – OVERTORQUE LIMIT (1) Overtorque Limit Fault X — X X X X Decel/Hold
(1) Undertorque Limit Fault X — X X X X Decel/Hold
FLT S57 – UNDERTORQUE LIMIT
(1) Does not apply to induction motors in frequency control mode.

Table 70 - Drive Behavior, FLT Mxx Fault Codes

Fault Action
Best Available
Major Fault
Minor Fault
Permanent Induction
Exception Fault Code Exception Text Stopping Action
Magnet Motor Motor (applies to major faults)
Ignore
Alarm
FLT M02 – MOTOR VOLTAGE Motor Voltage Mismatch Fault X X X X X X Disable/Coast
FLT M25 – COMMON BUS DC Common Bus Fault X X — — — X Decel/Disable
FLT M26 – RUNTIME ERROR Runtime Error X X — — — X Disable/Coast
FLT M28 – SAFETY COMM Safety Module Communication X X — — — X Disable/Coast
(2198-Hxxx-ERS2 drives only) Error
Table 71 - Drive Behavior, NODE FLT Fault Codes

Fault Action
Best Available
Major Fault
Minor Fault
Permanent Induction
Exception Fault Code Exception Text Stopping Action
Magnet Motor Motor (applies to major faults)
Ignore
Alarm
NODE FLT 01 – LATE CTRL Control Connection Update X X — — — X Decel/Disable
UPDATE Fault
NODE FLT 02 – PROC WATCHDOG Processor Watchdog Fault X X — — — X Disable/Coast
NODE FLT 03 – HARDWARE Hardware Fault X X — — — X Disable/Coast
NODE FLT 05 – CLOCK SKEW FLT Clock Skew Fault X X — — — X Disable/Coast
Lost Controller Connection
NODE FLT 06 – LOST CTRL CONN X X — — — X Decel/Disable
Fault
NODE FLT 07 – CLOCK SYNC Clock Sync Fault X X — — — X Disable/Coast
NODE FLT 09 – DUPLICATE IP Duplicate IP Address Fault X X — — — X Disable/Coast
ADDRESS

Chapter 8
Remove and Replace Servo Drives
This chapter provides remove and replace procedures for Kinetix® 5500 drives.
Topic Page
Before You Begin 153
Remove and Replace Kinetix 5500 Servo Drives 154
Start and Configure the Drive 156
ATTENTION: This drive contains electrostatic discharge (ESD) sensitive

parts and assemblies. You are required to follow static-control precautions
when you install, test, service, or repair this assembly. If you do not follow
ESD control procedures, components can be damaged. If you are not
familiar with static control procedures, refer to Guarding Against
Electrostatic Damage, publication 8000-4.5.2, or any other applicable ESD
awareness handbook.
Before You Begin When each drive is installed, network settings are configured from the setup screens. Before
removing the drive, revisit the Network menu and make note of the static IP or DHCP settings.
See Configure the Drive on page 107 to access those settings.
IMPORTANT If you intend to use the same Logix Designer application after
replacing your drive, the new drive must be the same catalog number
as the old drive.
You also need these tools available before you begin removal and replacement procedures:
• Screwdrivers (to loosen/remove screws)
• Voltmeter (to make sure that no voltage exists on drive connectors)
• Non-conductive probe for removing DC bus T-connectors

Chapter 8 Remove and Replace Servo Drives
Remove and Replace Follow these steps to remove and replace servo drives from the panel.
Kinetix 5500 Servo Drives Remove Power and All Connections
1. Verify that all control and input power has been removed from the system.
ATTENTION: To avoid shock hazard or personal injury, make sure

that all power has been removed before proceeding. This system can
have multiple sources of power. Multiple disconnect switches can be
required to de-energize the system.
2. Wait five minutes for the DC bus to discharge completely before proceeding.
SHOCK HAZARD: This product contains stored energy devices. To

avoid the hazard of electrical shock, verify that the voltage on the
capacitors has been discharged before attempting to service, repair,
or remove this unit. Do not attempt the procedures in this document
unless you are qualified to do so and are familiar with solid-state
control equipment and the safety procedures in publication NFPA
70E.
3. Label and remove all wiring connectors from the drive that you are removing.
To identify each connector, refer to Kinetix 5500 Connector Data on page 60.
You do not need to remove the shunt (RC) connector, unless there
is an external shunt that is wired to it.
4. Remove the shared-bus input wiring connectors, T-connectors, and busbars from the
drive you are removing.
IMPORTANT DC bus T-connectors latch on both sides when inserted into the
drive. To remove the DC bus T-connector, at least one latch must
be pried away with a non-conductive probe.
See Shared-bus Connection System on page 49.

5. Use a screwdriver to loosen the two cable
clamp screws, removing the screw on the
right.
Retention Screw
Motor Cable
6. Remove the single motor cable from the cable shield clamp.
7. Remove the ground screw and braided ground strap.
See Ground the System Subpanel on page 76.

Remove the Servo Drive

You can remove single-axis drives from the panel or any single drive from a multi-axis
configuration by using the same procedure.
IMPORTANT This procedure applies to any 2198-Hxxx-ERSx drive in any configuration.
Follow these steps to remove Kinetix 5500 servo drives from the panel.
1. Loosen the top and bottom screws of the drive to remove.
Frame 1 and 2 drives have one top and bottom screw. Frame 3 drives have two top and
bottom screws.
2. Grasp the top and bottom of the drive with both hands and pull the drive straight out
and away from the panel, clearing the zero-stack mounting tabs and cutouts.
2 1
Kinetix 5500 Servo Drives
(removing middle drive)
Top Screws
(bottom screws not shown)
Replace the Servo Drive

To replace the servo drive, reverse the steps in the Remove the Servo Drive procedure or refer
to Mount Your Kinetix 5500 Drive on page 58:
• Torque mounting, shield clamp, and ground screws to 2.0 N•m (17.7 lb•in), max
• Reconnect the feedback connector kit and torque the mounting screws to 0.4 N•m
(3.5 lb•in), max

Start and Configure the Follow these steps to configure the replacement drive.
Drive IMPORTANT If you intend to use the same Logix Designer application after replacing
your drive, the new drive must be the same catalog number as the old
drive.
IMPORTANT If a 2198-Hxxx-ERS2 drive was previously configured by a safety

controller, reset the drive to the Out of Box state. See Out-of-Box State
on page 169.
1. Reapply power to the drive/system.
See Apply Power to the Kinetix 5500 Drive on page 132 for the procedure.
2. Configure the network settings for the drive.
a. If your old drive was configured as Static IP, you must set the IP address, gateway,
and subnet mask in the new drive identical to the old drive.
See Configure the Drive on page 107 to access those settings.
b. If you replaced a 2198-Hxxx-ERS2 servo drive in an integrated safety application,
review Understand Integrated Safety Drive Replacement on page 171 and follow the
appropriate procedure in Replace an Integrated Safety Drive in a GuardLogix System
on page 171 to properly set the safety network number for the new drive.
3. Download the Logix Designer application to the controller.
4. Verify the drive/system is working properly.

Chapter 9
Kinetix 5500 Safe Torque Off - Hardwired Safety
The 2198-Hxxx-ERS servo drives are equipped for hardwired Safe Torque Off (STO). The
hardwired STO function meets the requirements of Performance Level d (PLd) and safety
category 3 (CAT 3) per ISO 13849-1, and SIL 2 per IEC 61508, IEC 61800-5-2, and IEC 62061.
Topic Page
Certification 157
Description of Operation 159
Probability of Dangerous Failure Per Hour 161
Safe Torque Off Connector Data 161
Wire the Safe Torque Off Circuit 162
Safe Torque Off Feature 163
Safe Torque Off Specifications 164
A ControlLogix® 5570, ControlLogix 5580, CompactLogix™ 5370, or CompactLogix 5380

controller is required for hardwired safety control of the Kinetix® 5500 Safe Torque Off
function. The 2198-Hxxx-ERS servo drives use the STO connector for wiring external safety
devices and cascading hardwired safety connections from one drive to another.
Certification The TÜV Rheinland group has approved 2198-Hxxx-ERS servo drives with hardwired Safe
Torque Off for use in safety-related applications up to ISO 13849-1, Performance Level d (PLd)
and Category 3, SIL CL 2 per IEC 61508, IEC 61800-5-2, and IEC 62061, in which removing the
motion producing power is considered to be the safe state.
For product certifications currently available from Rockwell Automation, go to website

rok.auto/certifications.
Important Safety Considerations

You, the system user, are responsible for the following:
• Validation of any sensors or actuators that are connected to the system
• Completing a machine-level risk assessment
• Certification of the machine to the desired ISO 13849-1 Performance Level or IEC 62061
SIL level
• Project management and proof testing in accordance with
ISO 13849

Chapter 9 Kinetix 5500 Safe Torque Off - Hardwired Safety
Category 3 Requirements According to ISO 13849-1

Safety-related parts are designed with these attributes:
• A single fault in any of these parts does not lead to the loss of the safety function.
• A single fault is detected whenever reasonably practicable.
• Accumulation of undetected faults can lead to the loss of the safety function and a
failure to remove motion producing power from the motor.
Stop Category Definition

Stop Category 0 as defined in IEC 60204 or Safe Torque Off as defined by IEC 61800-5-2 is
achieved with immediate removal of motion producing power to the actuator.
IMPORTANT If there is a malfunction, the most likely stop category is Stop Category 0.
When designing the machine application, timing and distance must be
considered for a coast-to-stop. For more information regarding stop
categories, refer to IEC 60204-1.
Performance Level (PL) and Safety Integrity Level (SIL)

For safety-related control systems, Performance Level (PL), according to ISO 13849-1, and SIL
levels, according to IEC 61508 and IEC 62061, include a rating of the systems ability to perform
its safety functions. All safety-related components of the control system must be included in
both a risk assessment and the determination of the achieved levels.
See the ISO 13849-1, IEC 61508, and IEC 62061 standards for complete information on
requirements for PL and SIL determination.

Description of Operation The Safe Torque Off feature provides a method, with sufficiently low probability of failure, to
force the power-transistor control signals to a disabled state. When disabled, or any time
power is removed from the safety enable inputs, all drive output-power transistors are
released from the ON-state. This results in a condition where the drive performs a Category 0
Stop. Disabling the power transistor output does not provide mechanical isolation of the
electrical output that is required for some applications.
Under normal operation, the Safe Torque Off inputs are energized. If either of the safety
enable inputs are de-energized, then all output power transistors turn off. The Safe Torque Off
response time is less than 12 ms.
ATTENTION: If there are two simultaneous faults in the IGBT circuit,

permanent magnet motors can result in a rotation of up to 180 electrical
degrees.
ATTENTION: If any of the safety enable inputs de-energize, the Start Inhibit
field indicates SafeTorqueOffInhibit and GuardStopRequestStatus bit of
AxisGuardStatus tag set to 1. Both inputs must be de-energized within 1
second and re-energized within 1 second to avoid GuardStopInputFault
conditions.
Figure 72 - System Operation when Inputs are Meeting Timing Requirements

24V DC
SS_IN_CH0
0V DC
24V DC
SS_IN_CH1
0V DC
1
GuardStopInputFault
1 Second
0
100 ms
1
GuardStopRequestStatus
0
1 23 4 5 6
Event Description
1 At least one input is switched-off. GuardStopRequestStatus bit is set to 1.
Second input is switched-off within 1 second. This event must always occur before event 3 to prevent
2 GuardStopInputFault.
3 First input is switched-on.
4 Second input is switched-on within 1 second of event 3.
Both inputs are in OFF state simultaneously within 1 second. As a result, GuardStopInputFault is not
5 posted.
The GuardStopRequestStatus bit sets back to 0 if event 4 occurs within a 100 ms interval after event 3.
If event 4 is outside of the 100 ms interval, but within the 1 second interval after event 3, then the
6 GuardStop RequestStatus bit sets back to 0 after the 1 second interval following event 3 (not
immediately following event 4).

Fault Codes
Figure 73 demonstrates when the Safe Torque Off mismatch is detected and a
GuardStopInputFault is posted.
Figure 73 - System Operation in the Event that the Safety Enable Inputs Mismatch
24V DC
SS_IN_CH0
0V DC
24V DC
SS_IN_CH1
0V DC
1
GuardStopInputFault
0
1 Second
1
SafeTorqueOffInhibit
0
When one safety input is turned off, the second input must also be turned off, otherwise a fault
is asserted (see Figure 74). The fault is asserted even if the first safety input is turned on
again, without the second input transitioning to the ON state.
Figure 74 - System Operation in the Event that the Safety Enable Inputs Mismatch Momentarily
24V DC
SS_IN_CH0
0V DC
24V DC
SS_IN_CH1
0V DC
1
GuardStopInputFault
0
1 Second
1
SafeTorqueOffInhibit
0
ATTENTION: The Safe Torque Off fault is detected upon demand of the Safe
Torque Off function. After troubleshooting the STO function or performing
maintenance that might affect the STO function, the STO function must be
executed to verify correct operation.
IMPORTANT The GuardStopInputFault can be reset only if both inputs are in the OFF-
state for more than 1 second. After the fault reset requirement is
satisfied, an MAFR command in the Logix Designer application must be
issued to reset the GuardStopInputFault.

Probability of Dangerous Safety-related systems are classified as operating in a High-demand/continuous mode. The
SIL value for a High-demand/continuous mode safety-related system is directly related to the
Failure Per Hour probability of a dangerous failure occurring per hour (PFH).
PFH calculation is based on the equations from IEC 61508 and shows worst-case values.
Table 72 provides data for a 20-year proof test interval and demonstrates the worst-case
effect of various configuration changes on the data.
IMPORTANT Determination of safety parameters is based on the assumptions that

the system operates in High-demand mode and that the safety
function is requested at least once every three months.
l
Table 72 - PFH for 20-year Proof Test Interval

Attribute Value
PFH (1e-9) 0.35
Proof test (years) 20
Safe Torque Off Connector The 10-pin connector consists of two parallel 5-pin rows for cascading safety connections
from drive-to-drive in multi-axis configurations.
Data
Figure 75 - Pin Orientation for 10-pin Safe Torque Off (STO) Connector
Pin 1 SB+
SB-
S1
SC
S2
Table 73 - Safe Torque Off (STO) Connector Pinouts

STO Pin Description Signal
Safety bypass plus signal. Connect to both safety inputs to disable the STO
1 SB+
function.
Safety bypass minus signal. Connect to safety common to disable the STO
2 SB-
function.
3 STO input 1 (SS_IN_CH0). S1
4 STO input common (SCOM). SC
5 STO input 2 (SS_IN_CH1). S2

Wire the Safe Torque Off This section provides guidelines for wiring your Kinetix 5500 Safe Torque Off drive
connections.
Circuit
IMPORTANT The National Electrical Code and local electrical codes take precedence
over the values and methods provided.
as established in Establishing Noise Zones beginning on page 43.
IMPORTANT Pins ST0-1 and ST0-2 (SB+ and SB-) are used to disable the Safe Torque
Off function. When wiring to the STO connector, use an external 24V
supply for the external safety device that triggers the Safe Torque Off
request. To avoid jeopardizing system performance, do not use pin
ST0-1 (SB+) as a power supply for the external safety device.
Safe Torque Off Wiring Requirements

The Safe Torque Off (STO) connector uses spring tension to secure the wire. Depress the tab,
along side each pin, to insert or release the wire. Two rows of pins are provided for drive-to-
drive connections. Wire must be copper with 75 °C (167 °F) minimum rating.
IMPORTANT Stranded wires must terminate with ferrules to help prevent short
circuits, per table D7 of ISO 13849-1.
Figure 76 - Safe Torque Off (STO) Terminal Plug
Kinetix 5500 Drive

Top View
1
2
3
4
SB+ 5 Fo Only
Rem r DC
ove
Bus
SB-
S1
SC
S2
Table 74 - Safe Torque Off (STO) Terminal Plug Wiring

Safe Torque Off (STO) Connector Recommended Wire Size Strip Length Torque Value
Pin Signal mm2 (AWG) mm (in.) N•m (lb•in)
STO-1 SB+
STO-2 SB- 0.2…1.5
STO-3 S1 (24…16) 10 (0.39) — (1)
STO-4 SC
STO-5 S2
(1) This connector uses spring tension to hold the wires in place.

Safe Torque Off Feature The Safe Torque Off circuit, when used with suitable safety components, provides protection
according to ISO 13849-1 (PLd), Category 3 or according to IEC 61508, IEC 61800-5-2, and
IEC 62061 (SIL CL 2). All components in the system must be chosen and applied correctly to
achieve the desired level of operator safeguarding.
The Safe Torque Off circuit is designed to safely turn off all output-power transistors. You can
use the Safe Torque Off circuit in combination with other safety devices to achieve Stop
Category 0 and protection-against-restart as specified in IEC 60204-1.
ATTENTION: This option is suitable only for performing mechanical work on

the drive system or affected area of a machine. It does not provide
electrical safety.
SHOCK HAZARD: In Safe Torque Off mode, hazardous voltages can still be
present at the drive. To avoid an electric shock hazard, disconnect power to
the system and verify that the voltage is zero before performing any work
on the drive.
ATTENTION: Personnel responsible for the application of safety-related

programmable electronic systems (PES) shall be aware of the safety
requirements in the application of the system and shall be trained in using
the system.
Safe Torque Off Feature Bypass

The 2198-Hxxx-ERS drives do not operate without a safety circuit or safety bypass wiring. For
applications that do not require the Safe Torque Off feature, you must install jumper wires to
bypass the Safe Torque Off circuitry.
Each 2198-Hxxx-ERS drive includes one 10-pin wiring plug for wiring to safety devices. To
bypass the safety function, wire these signals as shown in Figure 77. With the jumper wires
installed, the Safe Torque Off feature is not used.
Figure 77 - Safe Torque Off Bypass Wiring
Pin 1 SB+
SB-
S1
SC
S2

Cascade the Safe Torque-off Signal

The total number of drives in a single cascaded safety circuit is limited by the current carrying
capacity of the cascaded safety wiring. See Table 75 for current rating per channel, per drive.
Figure 78 - Cascaded Safe Torque Off Wiring
Dual-channel First Drive Middle Drive Last Drive

Equivalent SB+
Safety Device Pin 1 Pin 1
SB-
S1
SC
S2
24V DC
Safe Torque Off To maintain safety rating, Kinetix 5500 drives must be installed inside protected control
panels or cabinets appropriate for the environmental conditions of the industrial location. The
Specifications protection class of the panel or cabinet must be IP54 or higher.
Table 75 - Safe Torque Off Signal Specifications
Attribute Value
Input current < 10 mA
Input ON voltage range 18…26.4V DC
Input OFF voltage, max 5V DC
Input ON current, per input, max 10 mA, each drive (1)
Safety inputs
(per channel) Input OFF current, max 2 mA
(@ V in < 5V DC)
Pulse rejection width 700 s
External power supply SELV/PELV
Input type Optically isolated and reverse voltage protected
(1) The maximum number of drives cascaded with Safe Torque Off wiring is 50.
For additional information regarding Allen-Bradley® safety products, including safety relays,
light curtain, and gate interlock applications, refer to
https://www.rockwellautomation.com/en-us/products/hardware/allen-bradley/safety-
products.html.

Chapter 10
Kinetix 5500 Safe Torque Off - Integrated Safety
The 2198-Hxxx-ERS2 servo drives are equipped for integrated Safe Torque Off (STO). The
integrated STO function meets the requirements of Performance Level e (PLe) and safety
category 3 (CAT 3) per ISO 13849-1, and SIL 3 per IEC 61508, IEC 61800-5-2, and IEC 62061.
With integrated safety, the GuardLogix® 5570 or Compact GuardLogix 5570 safety controller
issues the Safe Torque Off (STO) command over the
EtherNet/IP™ network and the 2198-Hxxx-ERS2 servo drive executes the STO command.
Topic Page
Certification 165
Description of Operation 167
Probability of Dangerous Failure Per Hour 168
Safe Torque Off Feature 169
Out-of-Box State 169
Understand Integrated Safety Drive Replacement 171
Replace an Integrated Safety Drive in a GuardLogix System 171
Motion Direct Commands in Motion Control Systems 173
Certification The TÜV Rheinland group has approved 2198-Hxxx-ERS2 servo drives with integrated Safe
Torque Off for use in safety-related applications up to ISO 13849-1, Performance Level e (PLe)
and Category 3, SIL CL 3 per IEC 61508, IEC 61800-5-2, and IEC 62061, in which removing the
motion producing power is considered to be the safe state.
For product certifications currently available from Rockwell Automation, go to website

rok.auto/certifications.
Important Safety Considerations

You, the system user, are responsible for the following:
• Validation of any sensors or actuators that are connected to the system
• Completing a machine-level risk assessment
• Certification of the machine to the desired ISO 13849-1 Performance Level or IEC 62061
SIL level
• Project management and proof testing performed in accordance with ISO 13849
Safety Application Requirements

Safety application requirements include evaluating probability of failure rates (PFH), system
reaction time settings, and functional verification tests that fulfill SIL 3 criteria. See
Probability of Dangerous Failure Per Hour on page 168 for more PFH information.
Creating, recording, and verifying the safety signature is also a required part of the safety
application development process. Safety signatures are created by the safety controller. The
safety signature consists of an identification number, date, and time that uniquely identifies
the safety portion of a project. This includes all safety logic, data, and safety I/O configuration.

Chapter 10 Kinetix 5500 Safe Torque Off - Integrated Safety
For safety system requirements, including information on the safety network number (SNN),
verifying the safety signature, and functional verification tests refer to the GuardLogix 5570
Controller Systems Safety Reference Manual, publication 1756-RM099.
IMPORTANT You must read, understand, and fulfill the requirements that are
detailed in publication 1756-RM099 before operating a safety system
that uses a GuardLogix controller and 2198-Hxxx-ERS2 servo drive.
Category 3 Requirements According to ISO 13849

Safety-related parts are designed with these attributes:
• A single fault in any of these parts does not lead to the loss of the safety function.
• A single fault is detected whenever reasonably practicable.
• Accumulation of undetected faults can lead to the loss of the safety function and a
failure to remove motion producing power from the motor.
Stop Category Definition

Stop Category 0 as defined in IEC 60204 or Safe Torque Off as defined by IEC 61800-5-2 is
achieved with immediate removal of motion producing power to the actuator.
IMPORTANT If there is a malfunction, the most likely stop category is Stop Category
0. When designing the machine application, timing and distance must be
considered for a coast-to-stop. For more information regarding stop
categories, refer to IEC 60204-1.

Performance Level (PL) and Safety Integrity Level (SIL)

For safety-related control systems, Performance Level (PL), according to ISO 13849-1, and SIL
levels, according to IEC 61508 and IEC 62061, include a rating of the systems ability to perform
its safety functions. All safety-related components of the control system must be included in
both a risk assessment and the determination of the achieved levels.
See the ISO 13849-1, IEC 61508, and IEC 62061 standards for complete information on
requirements for PL and SIL determination.
Description of Operation The Safe Torque Off (STO) feature provides a method, with sufficiently low probability of
failure, to force the power-transistor control signals to a disabled state. When the command to
execute the STO function is received from the GuardLogix controller, all drive output-power
transistors are released from the ON-state. This results in a condition where the drive is
coasting. Disabling the power transistor output does not provide mechanical isolation of the
electrical output that is required for some applications.
The 2198-Hxxx-ERS2 drive STO function response time is less than 10 ms. Response time is the
delay between the time when the drive STO function receives the integrated safety packet
with an STO request and the time when motion producing power is removed from the motor.
STO State Reset

The 2198-Hxxx-ERS2 servo drives support both manual and automatic restart types for exiting
the STO state.
• Manual restart indicates a transition from 0 to 1 on the SO.Reset tag is required to allow
torque after the SO.SafeTorqueOff tag has transitioned from 0 to 1.
• Automatic restart indicates that torque will be allowed only by transitioning the
SO.SafeTorqueOff tag from 0 to 1. The SO.Reset tag is used only for resetting safety
faults.
IMPORTANT 2198-Hxxx-ERS2 servo drives enter the STO state if any STO function
fault is detected.
See Figure 79 for an understanding of the 2198-Hxxx-ERS2 STO-state manual restart

functionality.
Figure 79 - Kinetix 5500 STO Timing Diagram - Manual Restart
Drv:SO.SafeTorqueOff
Drv:SO.Reset
Drv:SI.ResetRequired
Drv:SI.TorqueDisabled
Axis.SafeTorqueOffActiveInhibit
Axis.SafeTorqueOffActiveStatus
Axis.SafeTorqueDisabledStatus
Axis.SafetyResetRequestStatus
Axis.SafetyResetRequiredStatus
Safe Torque-off Request Reset Request

Fault Codes
Probability of Dangerous Safety-related systems are classified as operating in a High-demand/continuous mode. The
SIL value for a High-demand/continuous mode safety-related system is directly related to the
Failure Per Hour probability of a dangerous failure occurring per hour (PFH).
PFH calculation is based on the equations from IEC 61508 and shows worst-case values.
Table 76 provides data for a 20-year proof test interval and demonstrates the worst-case
effect of various configuration changes on the data.
IMPORTANT Determination of safety parameters is based on the assumptions that

the system operates in High-demand mode and that the safety
function is requested at least once every three months.
Table 76 - PFH for 20-year Proof Test Interval

Attribute Value
PFH (1e-9) 1.54
Proof test (years) 20

Safe Torque Off Feature The Safe Torque Off feature, when used with suitable safety components, provides protection
according to ISO 13849-1 (PLe), Category 3 or according to IEC 61508, IEC 61800-5-2, and
IEC 62061 (SIL CL 3). All components in the system must be chosen and applied correctly to
achieve the desired level of operator safeguarding.
The Safe Torque Off feature is designed to safely turn off all output power transistors. You can
use the Safe Torque Off feature in combination with other safety devices to achieve Stop
Category 0 and protection-against-restart as specified in IEC 60204-1.
ATTENTION: This option is designed to restrict motion producing power on

the drive system or affected area of a machine. It does not provide
electrical safety.
SHOCK HAZARD: In Safe Torque Off mode, hazardous voltages can still be
present at the drive. To avoid an electric shock hazard, disconnect power to
the system and verify that the voltage is zero before performing any work
on the drive.
ATTENTION: Personnel responsible for the application of safety-related

programmable electronic systems (PES) shall be aware of the safety
requirements in the application of the system and shall be trained in using
the system.
Out-of-Box State The 2198-Hxxx-ERS2 servo drives ship in the out-of-box state.
ATTENTION: In the out-of-box state, motion producing power is allowed by

the Safe Torque Off (STO) function unless an integrated safety connection
configuration has been applied to the drive at least once.
In the out-of-box state, you can configure 2198-Hxxx-ERS2 servo drives as follows:
• Without a GuardLogix 5570 safety controller for a non-safety application.
• With a GuardLogix 5570 safety controller when the Safe Torque Off (STO) function is not
required.
Out-of-Box State Support

After the integrated safety connection configuration is applied to the 2198-Hxxx-ERS2 servo
drive at least once, you can restore the drive to the out-of-box state.
Follow these steps to restore your 2198-Hxxx-ERS2 servo drive to the out-of-box state.
1. Right-click the 2198-Hxxx-ERS2 servo drive
that you created and choose Properties.

2. Click the Connection tab.

The Connection tab appears.
3. Check Inhibit Module.

4. Click Apply and click the Safety tab.
The Safety tab appears.
5. In the Configuration Ownership field, click Reset Ownership.
IMPORTANT Only authorized personnel should attempt Reset Ownership.

If any active connection is detected, the reset is rejected.
6. Cycle drive power.
The drive is in the out-of-box state.
IMPORTANT If power to the drive is not cycled after step 5, the drive does
not transition to the out-of-box state and maintains STO
function.
IMPORTANT When the drive returns to the out-of-box state, STO safety
integrity is lost.

Understand Integrated GuardLogix controllers retain the I/O device configuration onboard and are able to download
the configuration to the replacement device.
Safety Drive Replacement
IMPORTANT If a 2198-Hxxx-ERS2 servo drive was used previously, clear the
existing configuration before installing it on a safety network by
resetting the drive to its out-of-box condition. To see how this is
done, refer to Out-of-Box State Support on page 169.
Replacing a 2198-Hxxx-ERS2 servo drive that sits on an integrated safety network is more
complicated than replacing standard devices because of the safety network number (SNN).
The device number and SNN compose the safety device’s DeviceID. Safety devices require this
more complex identifier to make sure that duplicate device numbers do not compromise
communication between the correct safety devices. The SNN is also used to provide integrity
on the initial download to the 2198-Hxxx-ERS2 servo drive.
When the Logix Designer application is online, the Safety tab of the Module Properties dialog
box displays the current configuration ownership. When the opened project owns the
configuration, Local is displayed.
Communication error is displayed if the module read fails. See Replace an Integrated Safety
Drive in a GuardLogix System for integrated safety drive replacement information.
Replace an Integrated When you replace an integrated safety drive, the replacement device must be configured
properly and the replacement drives operation be user-verified.
Safety Drive in a
GuardLogix System ATTENTION: During drive replacement or functional test, the safety of the
system must not rely on any portion of the affected drive.
Two options for safety drive replacement are available on the Safety tab of the Controller
Properties dialog box in the Logix Designer application:
• Configure Only When No Safety Signature Exists
• Configure Always
Figure 80 - Safety Drive Replacement Options

Configure Only When No Safety Signature Exists

This setting instructs the GuardLogix controller to automatically configure a safety drive only
under the following conditions:
• The safety task does not have a safety task signature.
• The replacement drive is in an out-of-box condition, meaning that a safety network
number does not exist in the safety drive.
If the safety task has a safety task signature, the GuardLogix controller automatically
configures the replacement CIP Safety™ I/O device only if the following is true:
• The device already has the correct safety network number.
• The device electronic keying is correct.
• The node or IP address is correct.
For detailed information, see the GuardLogix 5570 Controllers User Manual, publication 1756-
UM022 or Compact GuardLogix 5370 Controllers User Manual, publication 1769-UM022.
Configure Always
When the Configure Always feature is enabled, the controller automatically checks for and
connects to a replacement drive that meets the following requirements:
• The controller has configuration data for a compatible drive at that network address
• The drive is in Hardwired STO mode or has an SNN that matches the configuration
ATTENTION: Enable the Configure Always feature only if the entire

integrated safety control system is not being relied on to maintain SIL 3
behavior during the replacement and functional testing of a Kinetix 5500
drive. Do not place drives that are in Hardwired STO mode on an integrated
safety network when the Configure Always feature is enabled.
If other parts of the integrated safety control system are being relied upon
to maintain SIL 3, make sure that the controller’s Configure Always feature is
disabled.
It is your responsibility to implement a process to make sure that proper
safety functionality is maintained during device replacement.
ATTENTION: Do not place any devices in the out-of-box condition on any

integrated safety network when the Configure Always feature is enabled,
except while following the device replacement procedure in the GuardLogix
user manual appropriate for your Logix 5000® controller:
• GuardLogix 5570 Controllers User Manual, publication 1756-UM022
• Compact GuardLogix 5370 Controllers User Manual, publication
1769-UM022.

Motion Direct Commands in You can use the Motion Direct Command (MDC) feature to initiate motion while the controller is
in Program mode, independent of application code that is executed in Run mode. These
Motion Control Systems commands let you perform various functions, for example, move an axis, jog an axis, or home
an axis.
Some typical uses might involve the following:
• a machine integrator testing different parts of the motion system while the machine is
being commissioned
• a maintenance engineer, under certain restricted scenarios in accordance with safe
machine operating procedures, wanting to move an axis (like a conveyor) to clear a jam
before resuming normal operation
ATTENTION: To avoid personal injury or damage to equipment, follow these

rules regarding Run mode and Program mode.
• Only authorized, trained personnel with knowledge of safe machine
operation should be allowed to use Motion Direct Commands
• Additional supervisory methods, like removing the controller keyswitch,
should be used to maintain the safety integrity of the system after returning
the safety controller to RUN mode
Understand STO Bypass When Using Motion Direct Commands

If a Safety-only connection between the GuardLogix safety controller and the 2198-Hxxx-ERS2
servo drive was established at least once after the drive was received from the factory, the
drive does not allow motion while the safety controller is in Program mode by default.
This is because the safety task is not executed while the GuardLogix safety controller is in
Program mode. This applies to applications running in a single-safety controller (with Motion
and Safety connections). When an integrated safety drive has a Motion connection to a
standard controller and a separate Safety connection to a dual-safety controller, the standard
controller can transition to Program mode while the safety controller stays in Run mode and
continues to execute the safety task.
However, 2198-Hxxx-ERS2 drive systems are designed with a bypass feature for the STO
function in single-safety controller configurations. You can use the MDC feature to allow
motion while following all necessary and prescribed steps per machine safety operating
procedures.
ATTENTION: Consider the consequences of allowing motion by using MDC

when the controller is in Program mode. You must acknowledge warning
messages in the Logix Designer application that warn of the drive bypassing
the STO function and unintended motion can occur. The integrated safety
drive does not respond to the request of STO function if MDC mode is
entered.
ATTENTION: It is your responsibility to maintain machine safety integrity
while executing motion direct commands. One alternative is to provide
ladder logic for Machine Maintenance mode that leaves the controller in Run
mode with safety functions executing.

Logix Designer Application Warning Messages

When the controller is in Run mode, executing safety functions, the
2198-Hxxx-ERS2 drive follows the commands that it receives from the safety controller. Safety
state = Running, Axis state = Stopped/Running, as shown in Figure 81.
Figure 81 - Safety State Indications When Controller is in Run Mode (safety task executing)
When the controller transitions to Program mode, the integrated safety drive is in the safe
state (torque not permitted). Safety state = Not Running, Axis state = Start Inhibited, as shown
in Figure 82).
Figure 82 - Safety State Indications After Controller Transitions to Program Mode

When you issue a motion direct command to an axis to produce torque in Program mode, for
example MSO or MDS, with the safety connection present to the drive, a warning message is
presented before the motion direct command is executed, as shown in Figure 83.
Figure 83 - STO Bypass Prompt When the Safety Controller is in Program Mode
The warning in Figure 83 is displayed the first time a motion direct command is issued.
After you acknowledge the warning message by clicking Yes, torque is permitted by the drive
and a warning message is indicated in the software as shown in Figure 84. Safety state = Not
Running (torque permitted), Axis state = Stopped/Running, Persistent Warning = Safe Torque
Off Bypassed.
IMPORTANT Switch the controller to Run mode to exit Motion Direct Command
mode with STO function bypassed.
Figure 84 - Safety State Indications After Controller Transitions to Program Mode (MDC executing)
IMPORTANT The persistent warning message text ‘Safe Torque Off bypassed’
appears when a motion direct command is executed.
Warning message persists even after the dialog is closed and
reopened as long as the integrated safety drive is in STO Bypass
mode.
The persistent warning message is removed only after the integrated
safety drive is restored to the Safe state.

Torque Permitted in a Multi-workstation Environment

The warning in Figure 85 is displayed to notify a second user working in a multi-workstation
environment that the first user has placed the integrated safety drive in the STO state and that
the current action is about to bypass the STO state and permit torque.
Figure 85 - STO Bypass Prompt When MDC is Issued in Multi-workstation Environment
Warning Icon and Text in Axis Properties

In addition to the other warnings that require your acknowledgment, the Logix Designer
application also provides warning icons and persistent warning messages in other Axis
Properties dialog boxes when the integrated safety drive is in STO Bypass mode.
Figure 86 - Axis and Safe State Indications on the Hookup Services Dialog Box
Figure 87 - Axis and Safe State Indications on Motion Direct Commands Dialog Box

Figure 88 - Axis and Safe State Indications on the Motion Console Dialog Box
Functional Safety Considerations

ATTENTION: Before maintenance work can be performed in Program mode,
the developer of the application must consider the implications of allowing
motion through motion direct commands and should consider developing
logic for runtime maintenance operations to meet the requirements of
machine safety operating procedures.
ATTENTION: Motion is allowed when motion direct commands are used in

Program mode and STO function is not available.
Motion direct commands issued when the controller is in Program mode
causes the drive to bypass the STO Active condition.
It is your responsibility to implement additional preventive measures to
maintain safety integrity of the machinery during execution of motion
direct commands in Program mode.
ATTENTION: To avoid personal injury and damage to equipment if there is

unauthorized access or unexpected motion during authorized access,
return the controller to RUN mode and remove the key before leaving the
machine unattended.
Safe Torque Off To maintain safety rating, Kinetix 5500 drives must be installed inside protected control
panels or cabinets appropriate for the environmental conditions of the industrial location. The
Specifications protection class of the panel or cabinet must be IP54 or higher.
Table 77 - Safe Torque Off Network Specifications
Attribute Value Logix Designer Tag Name
Safety connection RPI, min 6 ms —
Input assembly connections 3 —
Output assembly connections 1 —
Integrated safety open request support Type 1 and Type 2 requests —

Table 77 - Safe Torque Off Network Specifications (Continued)

Attribute Value Logix Designer Tag Name
Bit 0: Safety fault Axis.SafetyFaultStatus
Bit 1: Safety reset request Axis.SafetyResetRequestStatus
Bit 2: Safety Reset Required Axis.SafetyResetRequiredStatus
Axis safety status Bit 3: Safe Torque Off active Axis.SafeTorqueOffActiveStatus
Bit 4: Safe Torque Off Axis.SafeTorqueDisabledStatus
disabled
Bit 5…31: Undefined (0) —
Bit 1: Safety core fault Axis.SafetyCoreFault
Axis safety faults Bit 3: Safe Torque Off fault Axis.SafeTorqueOffFault
All others: Undefined (0) —
Table 78 - Safe Torque Off Assembly Specifications

Attribute Instance Attribute Value Logix Designer Tag Name
Bit 0: Torque disabled Drv:SI.TorqueDisabled
Safety input 0X1A0 Bit 6: Safety fault Drv:SI.SafetyFault
assembly
Bit 7: Reset required Drv:SI.ResetRequired
Safety output Bit 0: Safe Torque Off output Drv:SO.SafeTorqueOff
0X180
assembly Bit 7: Reset request Drv:SO.Reset

Appendix A
Interconnect Diagrams
This appendix provides wiring examples and system block diagrams for your Kinetix® 5500
system components.
Topic Page
Interconnect Diagram Notes 179
Power Wiring Examples 179
Bus-sharing Wiring Examples 182
Shunt Resistor Wiring Example 184
Kinetix 5500 Servo Drive and Rotary Motor Wiring Examples 185
Kinetix 5500 Drive and Linear Actuator Wiring Examples 187
System Block Diagrams 191
Interconnect Diagram This appendix provides wiring examples to assist you in wiring the Kinetix 5500 drive system.
These notes apply to the wiring examples on the pages that follow.
Notes
Table 79 - Interconnect Diagram Notes
Note Information
1 For power wiring specifications, refer to Wiring Requirements on page 78.
2 For input fuse and circuit breaker sizes, refer to Circuit Breaker/Fuse Selection on page 33.
3 AC (EMC) line filter is required for EMC compliance. Place the line filter as close to the drive as possible and do not route dirty wires in the wireway. If routing in the
wireway is unavoidable, use shielded cable with shields that are grounded to the drive chassis and filter case. For AC line filter specifications, refer to Kinetix
5700, 5500, 5300, and 5100 Servo Drives Specifications Technical Data, publication KNX-TD003.
4 Terminal block is required to make connections.
5 Cable shield clamp must be used to meet CE and UK requirements.
6 PE ground connection bonded to the panel must be used to meet CE and UK requirements.
7 DC connector that is covered with protective knockout is the default configuration. Remove the knockout to insert DC bus T-connector and busbars. Do not attach
discrete wiring to the DC bus terminals is.
8 Internal shunt wired to the RC connector is the default configuration. Remove internal shunt wires to attach external shunt wires.
9 Default configuration for ground screws is for grounded power at user site. For ungrounded or corner-grounded power, remove the screws. See Determine the
Input Power Configuration on page 71 for more information.
10
ATTENTION: Implementation of control circuits and risk assessment is the responsibility of the machine builder.
Reference international standards IEC 62061 and ISO 13849-1 estimation and safety performance categories.
11 For motor cable specifications, refer to Kinetix Rotary and Linear Motion Cable Specification Technical Data, publication KNX-TD004.
12 Kinetix motor catalog numbers: MPL-A15xx…MPL-A45xx, MPM-A115xx…MPM-A130xx, MPF-A3xx…MPF-A45xx, MPS-Axxx, MPAR-Axxx, MPAS-Axxx, and LDAT-Sxx-xBx
encoders use the +5V DC supply.
13 Kinetix motor catalog numbers: MPL-Bxx, MPL-A5xx, MPM-Bxx, MPM-A165xx…MPM-A215xx, MPF-Bxx, MPF-A5xx, MPS-Bxxx, MPAR-Bxxx, MPAS-Bxxx, and LDAT-Sxx-xDx
encoders use the +9V DC supply.
14 Brake connector pins are labeled plus (+) and minus (-) or F and G respectively. Power connector pins are labeled U, V, W, and (GND) or A, B, C, and (D)
respectively.
15 Kinetix LDAT linear thrusters do not have a brake option, so only the 2090-CPWM7DF-xxAAxx or 2090-CPWM7DF-xxAFxx motor power cables apply.
Power Wiring Examples You must supply input power components. The single-phase and three-phase line filters are
wired downstream of the circuit protection.

Appendix A Interconnect Diagrams
Single-axis Drive Wiring Examples

Figure 89 - Kinetix 5500 Drives Power Wiring (three-phase operation)
2198-Hxxx-ERSx
See table on page 179 for note information. Kinetix 5500 Drives
Bonded Cabinet Ground Bus * PE Ground

Chassis Note 6
Note 4
Customer 2 Note 5
24V_COM Control Power
Supplied 1 (CP) Connector Cable Shield
+24V DC +24V Clamp
4
U Three-phase
4 3
Motor Power V Motor Power
2198-DBxx-F 3 Mains AC Input 2 Connections
195…264V AC rms or Three-phase L3 (MP) Connector W
(IPD) Connector 1 Note 11
324…528V AC rms AC Line Filter 2
L2
Three-phase Input Note 3 1
Notes 1, 2 L1
Circuit Protection *
Note 2
2 MBRK - Motor Brake
Motor Brake MBRK -
DC+ DC Bus (BC) Connector 1 MBRK + Connections
(DC) Connector MBRK +
DC-
Note 7
Motor Feedback D+
1 DATA +/EPWR+ Motor Feedback
(MF) Connector Connections
DC+ Shunt 2 DATA -/EPWR- (refer to Figure 97)
D-
SH (RC) Connector
Internal Shunt
Note 8 1
IN1
Digital Input 2 Registration and
(IOD) Connector COM Home Input
3
IN2 Connections
* Indicates User Supplied Component 4
SHLD
Ground Screws
Note 9

Figure 90 - Kinetix 5500 Drives Power Wiring (single-phase operation)

2198-H003-ERSx, 2198-H008-ERSx, or
See table on page 179 for note information. 2198-H015-ERSx
Kinetix 5500 Drives
Chassis Note 6
Note 4
Customer Supplied 2 Note 5
+24V DC 24V_COM Control Power
1 (CP) Connector Cable Shield
Power Supply * +24V Clamp
U 4
3 Three-phase
4 V Motor Power
2198-DBxx-F Motor Power
3 Mains AC Input (MP) Connector W 2 Connections
Three-phase L3 (IPD) Connector Note 11
AC Line Filter 2 1
195…264V AC rms L2
Single-phase Input Note 3 1
Notes 1, 2 L1
Note 2
Motor Brake 2 MBRK -
MBRK - Motor Brake
DC+ DC Bus (DC) Connector (BC) Connector Connections
(does not apply in single- 1 MBRK +
MBRK +
DC- phase operation)
Motor Feedback 1 DATA +/EPWR+Motor Feedback

D+ Connections
DC+ Shunt (MF) Connector 2 DATA -/EPWR- (refer to Figure 97)
D-
SH (RC) Connector
Internal Shunt
Note 8 1
IN1
Digital Input 2 Registration and
(IOD) Connector COM Home Input
3 Connections
IN2
* Indicates User Supplied Component 4
SHLD
Ground Screws
Note 9
Figure 91 - Kinetix 5500 Capacitor Module

2198-Hxxx-ERSx 2198-CAPMOD-1300
Kinetix 5500 Drive Capacitor Module
See table on page 179 for note information.
PE Ground
Bonded Cabinet Ground Bus * Note 6
PE Ground
Chassis Note 6
Customer Supplied 2
24V_COM 24V_COM Control Power
Note 4 +24V DC 1 (CP) Connectors
Power Supply * +24V +24V
4
2198-DBxx-F 3 Motor, digital input, and 2
195…264V AC rms or Three-phase L3 Module Status RELAY- Relay output to Logix 5000®
2 shunt connections are controller to monitor
324…528V AC rms AC Line Filter L2 not shown for clarity. (MS) Connector 1
Three-phase Input RELAY+ capacitor module status.
Note 3 1
Notes 1, 2 L1
Note 2
DC+ DC+ DC Bus

(DC) Connectors
DC- DC-
* Indicates User Supplied Component 2198-H0x0-ADP-IN 2198-H0x0-DP-T

Busbar Connectors Busbar Connectors

Bus-sharing Wiring Examples

For bus-sharing configurations, use the 2198-H0x0-xx-x shared-bus connection system to
extend power from drive to drive.
Figure 92 - Kinetix 5500 Drives with Shared AC Bus
2198-Hxxx-ERSx 2198-Hxxx-ERSx 2198-Hxxx-ERSx

Kinetix 5500 Drive Kinetix 5500 Drive Kinetix 5500 Drive
PE Ground
Note 6
Note 6
PE Ground
Note 6
Chassis
Customer Supplied 2 Control Power

Note 4 24V_COM 24V_COM 24V_COM
+24V DC 1 (CP) Connectors
Power Supply * +24V +24V +24V
4
2198-DBxx-F 3
195…264V AC rms or Three-phase L3 L3 L3 Three-phase Input
324…528V AC rms AC Line Filter 2 (IPD) Connectors
Three-phase Input L2 L2 L2
Note 3 1
Notes 1, 2 L1 L1 L1
Note 2
DC+ DC+ DC+ DC Bus

DC- DC- DC- (DC) Connectors
* Indicates User Supplied Component 2198-H0x0-ADP-IN 2198-H0x0-AP-T 2198-H0x0-AP-T

Busbar Connectors Busbar Connectors Busbar Connectors
Figure 93 - Kinetix 5500 Drives with Shared AC/DC Bus

PE Ground
Note 6
Note 6
PE Ground
Note 6
Chassis
Customer Supplied 2
Note 4 24V_COM 24V_COM 24V_COM Control Power
4
195…264V AC rms or 2198-DBxx-F 3
Three-phase L3 L3 L3 Three-phase Input
324…528V AC rms 2 (IPD) Connectors
Three-phase Input AC Line Filter L2 L2 L2
Note 3 1
Notes 1, 2 L1 L1 L1
Note 2
DC+ DC+ DC+ DC Bus

(DC) Connectors
DC- DC- DC-
2198-H0x0-ADP-IN 2198-H0x0-ADP-T 2198-H0x0-ADP-T
* Indicates User Supplied Component Busbar Connectors Busbar Connectors Busbar Connectors

Figure 94 - Kinetix 5500 Drives with Shared DC (common bus)

PE Ground
Note 6
Note 6
PE Ground
Note 6
Chassis
Customer Supplied 2
Note 4 24V_COM 24V_COM 24V_COM Control Power
4
2198-DBxx-F 3
195…264V AC rms or Three-phase L3 Three-phase Input L3 L3
324…528V AC rms AC Line Filter 2 (IPD) Connector
Three-phase Input L2 L2 L2
Note 3 1
Notes 1, 2 L1 L1 L1
Note 2
DC+ DC+ DC+ DC Bus

DC- DC- (DC) Connectors
DC-
* Indicates User Supplied Component 2198-H0x0-ADP-IN 2198-H0x0-DP-T 2198-H0x0-DP-T
Busbar Connectors Busbar Connectors Busbar Connectors
Figure 95 - Kinetix 5500 Drives with Shared AC/DC Hybrid Bus

PE Ground
Note 6
Note 6
PE Ground
Note 6
Chassis
Customer Supplied 2 Control Power

Note 4 24V_COM 24V_COM 24V_COM
4
2198-DBxx-F 3
195…264V AC rms or Three-phase L3 L3 Three-phase Input L3
324…528V AC rms AC Line Filter 2 (IPD) Connector
L2 L2 L2
Three-phase Input Note 3 1
Notes 1, 2 L1 L1 L1
Note 2
DC+ DC+ DC+ DC Bus

(DC) Connectors
DC- DC- DC-
2198-H0x0-ADP-IN 2198-H0x0-ADP-T 2198-H0x0-DP-T
* Indicates User Supplied Component Busbar Connectors Busbar Connectors Busbar Connectors

Shunt Resistor Wiring See the External Passive-shunt Resistor Connections on page 99 for the Bulletin 2097 external
shunt resistor catalog numbers available for Kinetix 5500 servo drives.
Example
IMPORTANT Before wiring the Bulletin 2097 external shunt to the RC connector,
remove the wires from the servo drive internal shunt. Do not connect
internal and external shunt resistors to the drive.
Figure 96 - Shunt Resistor Wiring Example

2198-Hxxx-ERSx 2097-Rx
Kinetix 5500 Drive Shunt Resistor
Shunt (RC) DC+

Connector SH
Internal Shunt
See the Kinetix 300 Shunt Resistor Installation Instructions, publication 2097-IN002, for shunt
resistor installation instructions.

Kinetix 5500 Servo Drive These compatible Kinetix VP rotary motors use single cable technology. The motor power,
brake, and feedback wires are all packaged in a single cable.
and Rotary Motor Wiring
Examples Figure 97 - Kinetix 5500 Drives with Kinetix VPL, VPF, VPH, and VPS Motors
2198-Hxxx-ERSx VPL-A/Bxxxx-C/P/Q/W,
Kinetix 5500 Servo Drives See table on page 179 for note information. VPF-A/Bxxxx-C/P/Q/W,
VPH-A/Bxxxx-C/Q/W,
or VPS-BxxxD-P Motors
Note 5 with High-Resolution
Cable Shield Feedback
Clamp
4 Brown A/U
U
3 Black B/V Three-phase
Motor Power V
(MP) Connector 2 Blue C/W Motor Power
W
1 Green/Yellow
Note 14
1 Black F/+
Motor Brake MBRK + Motor
(BC) Connector 2 White G/– Brake
MBRK -
1 Blue Data+/EPWR+ E/1

Motor Feedback D+ Motor
(MF) Connector 2 White/Blue Data-/EPWR- H/2 Feedback
D-
Shield
2198-KITCON-DSL
Connector Kit 2090-CSBM1DF-xxAAxx
or 2090-CSBM1DF-xxAFxx
or
2090-CSBM1DG-xxxAxx
or 2090-CSBM1DG-xxxFxx SpeedTec DIN
Single Motor Cable Single Motor Connector
Note 11
Power, Brake, and
Feedback Connector
2090-CSxM1DF single cables have flying lead conductors that are designed specifically for
Kinetix 5500 servo drives. 2090-CSxM1DG cables have flying leads that are longer than 2090-
CSxM1DF cables to accommodate Kinetix 5700 servo drives.
Figure 98 - Grounding Technique for Feedback Cable Shield
Mounting Screws (2)
Cover
2198-KITCON-DSL
Feedback Connector Kit
Clamp Screws (2)

Exposed Shield
Connector
See Kinetix 5500 Feedback Connector Kit Plug
Installation Instructions, publication
2198-IN002, for connector kit
Feedback Cable Grounding Plate
specifications.
(EPWR+, EPWR-)

These compatible Kinetix MP rotary motors have separate connectors and cables for power/
brake and feedback connections.
ATTENTION: To avoid damage to components, determine which power

supply your encoder requires and connect either the 5V or the 9V supply, but
not both. See Notes 12 and 13.
Figure 99 - Kinetix 5500 with Kinetix MP Rotary Motors
MPL-A15xx…MPL-A5xx, See table on page 179 for note information.
2198-Hxxx-ERSx MPL-B15xx…MPL-B6xx,
Kinetix 5500 Servo Drives MPM-A/Bxxx, MPF-A/Bxxx, and
MPS-A/Bxxx Servo Motors with
High-Resolution Feedback
2198-H2DCK Feedback
Cable Shield Converter Kit
Clamp
Note 5 Shield 1
1 SIN+ BLACK
4 Brown A U 2 SIN- WHT/BLACK 2
U Three-phase
3 Black B V 3 COS+ RED 3
Motor Power V Motor Power
(MP) Connector 2 Blue C W 4 COS- WHT/RED 4
W
1 Green/Yellow D 5 DATA+ GREEN 5
Motor 6 DATA- WHT/GREEN 10
2090-CPxM7DF-xxAAxx GND
(standard) or Feedback 9 +5VDC GRAY 14
2090-CPxM7DF-xxAFxx 10 ECOM WHT/GRAY 6
Note 14
(continuous-flex) 11 +9VDC ORANGE 7
Motor Power Cable Thermostat 13 TS WHT/ORANGE 11
1 White F MBRK+ 14
Motor Brake MBRK +
(BC) Connector 2 Black G MBRK- See DSL feedback converter kit
MBRK - 12 COM illustration (lower left)
Motor Brake for proper grounding technique.
1 2090-CFBM7DF-CEAAxx (standard) or
Motor Feedback D+
2 2090-CFBM7DF-CEAFxx (continuous-flex)
(MF) Connector D- (flying lead) Feedback Cable
Notes 11, 12, 13
SpeedTec DIN
Grounding Technique for
Motor Connectors
Feedback Cable Shield
2198-H2DCK
Hiperface-to-DSL Feedback Connector Power Connector
Feedback Converter Kit
14 11 10 7 6 5 4 3 2 1
Clamp Screws (2)
See Hiperface to DSL Feedback Converter Kit Installation Instructions,

Exposed shield secured Cable Clamp
under clamp. publication 2198-IN006, for converter kit specifications.

Kinetix 5500 Drive and These Kinetix VPAR linear actuators use single cable technology. The motor power, brake, and
feedback wires are all packaged in a single cable.
Linear Actuator Wiring
Examples Figure 100 - Kinetix 5500 Drives with Kinetix VPAR Electric Cylinders
VPAR-Axxxxx-P
2198-Hxxx-ERSx
VPAR-B1xxxx-W
See table on page 179 for note information. VPAR-B2xxxx-W
VPAR-B3xxxx-Q
Electric Cylinders
Note 5 with High-Resolution
Cable Shield
Feedback
Clamp
4 Brown A/U
U
3 Black B/V Three-phase
Motor Power V
(MP) Connector 2 Blue C/W Motor Power
W
1 Green/Yellow
Note 14
1 Black F/+
Motor Brake MBRK + Motor
(BC) Connector 2 White G/– Brake
MBRK -
1 Blue Data+/EPWR+ E/1

Motor Feedback D+ Motor
(MF) Connector 2 White/Blue Data-/EPWR- H/2 Feedback
D-
Shield
2198-KITCON-DSL
Connector Kit 2090-CSBM1DF-xxAAxx
or 2090-CSBM1DF-xxAFxx
or
2090-CSBM1DG-xxxAxx
or 2090-CSBM1DG-xxxFxx SpeedTec DIN
Single Motor Cable Single Motor Connector
Note 11
Power, Brake, and
Feedback Connector
2090-CSxM1DF single cables have flying lead conductors that are designed specifically for
Kinetix 5500 servo drives. 2090-CSxM1DG cables have flying leads that are longer than 2090-
CSxM1DF cables to accommodate Kinetix 5700 servo drives.
See the cable-shield grounding technique for single cables on page 185.

These compatible linear actuators have separate connectors and cables for power/brake and
feedback connections.
Figure 101 - Kinetix 5500 with Kinetix LDAT Linear Thrusters
2198-Hxxx-Erse LDAT-Sxxxxxx-xDx
Kinetix 5500 Servo Drives Linear Thrusters with See table on page 179 for note information.
2198-H2DCK Feedback
Cable Shield
Converter Kit
Clamp
Note 5 Shield 1
1 SIN+ BLACK
U
3 Black B V Three-phase 3 COS+ RED 3
Motor Power V
2 Blue Motor Power 4 COS- WHT/RED 4
(MP) Connector C W
W
2090-CPWM7DF-xxAAxx GND +5VDC
Feedback 9 GRAY 14
(standard) or ECOM 6
10 WHT/GRAY
2090-CPWM7DF-xxAFxx
11 +9VDC ORANGE 7
(continuous-flex)
Thermostat 13 TS WHT/ORANGE 11
Motor Power Cable
Notes 11, 15 14
Motor Brake MBRK +
(BC) Connector See DSL feedback converter kit
for proper grounding technique.
Motor Feedback D+ 2090-CFBM7DF-CEAFxx (continuous-flex)
(MF) Connector 2
D- (flying lead) Feedback Cable
Notes 11, 12, 13
SpeedTec DIN
Grounding Technique for Motor Connectors
Feedback Cable Shield 2198-H2DCK
14 11 10 7 6 5 4 3 2 1
Clamp Screws (2)
See Hiperface to DSL Feedback Converter Kit Installation Instructions,

Exposed shield secured Cable Clamp publication 2198-IN006, for converter kit specifications.
under clamp.

Figure 102 - Kinetix 5500 with Kinetix MPAS Linear Stages
2198-Hxxx-ERSx MPAS-A/Bxxxxx-VxxSxA
Kinetix 5500 Servo Drives Ballscrew Linear Stages with See table on page 179 for note information.
2198-H2DCK Feedback
Cable Shield
Converter Kit
Clamp
Note 5 Shield 1
1 SIN+ BLACK
U
Motor Power V
2 Blue Motor Power 4 COS- WHT/RED 4
(MP) Connector C W
W
2090-CPxM7DF-xxAAxx Motor 6 DATA- WHT/GREEN 10
GND +5VDC 14
(standard) or Feedback 9 GRAY
2090-CPxM7DF-xxAFxx 10 ECOM WHT/GRAY 6
(continuous-flex) 11 +9VDC ORANGE 7
Motor Power Cable Thermostat 13 TS WHT/ORANGE 11
1 White F MBRK+ 14
Motor Brake MBRK +
MBRK - 12 illustration (lower left)
COM
Motor Feedback D+ 2090-CFBM7DF-CEAFxx (continuous-flex)
(MF) Connector 2
D- (flying lead) Feedback Cable
Notes 11, 12, 13
SpeedTec DIN
Grounding Technique for Motor Connectors
Feedback Cable Shield 2198-H2DCK
14 11 10 7 6 5 4 3 2 1
Clamp Screws (2)
Exposed shield secured See Hiperface to DSL Feedback Converter Kit Installation Instructions,
under clamp. Cable Clamp publication 2198-IN006, for converter kit specifications.

Figure 103 - Kinetix 5500 with Kinetix MPAR and MPAI Electric Cylinders
2198-Hxxx-ERSx MPAR-A/Bxxxxx and See table on page 179 for note information.
Kinetix 5500 Servo Drives MPAI-A/Bxxxxx
Electric Cylinders with
2198-H2DCK Feedback
Cable Shield High-Resolution Feedback
Converter Kit
Clamp
Note 5 Shield 1
1 SIN+ BLACK
U
Motor Power V
(MP) Connector 2 Blue C W Motor Power 4 COS- WHT/RED 4
W
See Table 80 for GND +5VDC 14
Feedback 9 GRAY
motor power cable. 10 ECOM WHT/GRAY 6
11 +9VDC ORANGE 7
Thermostat 13 TS WHT/ORANGE 11
1 White F MBRK+ 14
Motor Brake MBRK +
1 See Table 80 for

Motor Feedback D+ (flying lead) motor feedback cable.
(MF) Connector 2
D- Notes 11, 12, 13
Grounding Technique for SpeedTec DIN

Feedback Cable Shield Motor Connectors
2198-H2DCK
Hiperface-to-DSL
Feedback Connector Power Connector
14 11 10 7 6 5 4 3 2 1
Clamp Screws (2)
Exposed shield secured See Hiperface to DSL Feedback Converter Kit Installation Instructions,
under clamp. Cable Clamp publication 2198-IN006, for converter kit specifications.
Table 80 - Kinetix MPAR and MPAI Electric Cylinder Power and Feedback Cables
Frame
Electric Cylinder Cat. No. Power Cable Cat. No. Feedback Cable Cat. No.
MPAR-A/B1xxx (series A and B) 32 2090-XXNPMF-16Sxx (standard) or 2090-XXNFMF-Sxx (standard) or

MPAR-A/B2xxx (series A and B) 40 2090-CPxM4DF-16AFxx (continuous-flex) 2090-CFBM4DF-CDAFxx (continuous-flex)
MPAR-A/B1xxx (series B and C) 32

MPAR-A/B2xxx (series B and C) 40
MPAR-A/B3xxx 63
2090-CPxM7DF-16AAxx (standard) or 2090-CFBM7DF-CEAAxx (standard) or
MPAI-A/B2xxxx 64 2090-CPxM7DF-16AFxx (continuous-flex) 2090-CFBM7DF-CEAFxx (continuous-flex)
MPAI-A/B3xxxx 83
MPAI-A/B4xxxx 110
MPAI-B5xxxx 144
2090-CPxM7DF-14AAxx (standard) or 2090-CFBM7DF-CEAAxx (standard) or
MPAI-A5xxxx 144 2090-CPxM7DF-14AFxx (continuous-flex) 2090-CFBM7DF-CEAFxx (continuous-flex)

Internal or External
Shunt Resistor
DC Bus Connector Shunt Connector

LCD Display DC+ DC- DC+ SH
System Block Diagrams
Module Status V Three-phase

Status Indicators
Network Status Motor Power
W Connector
L1
Motor Cable
Three-phase Input L2 Clamp
Power Connector L3
AC Ground Jumper DC Ground Jumper
Chassis
Figure 104 - Kinetix 5500 Drive Block Diagram
Safe Torque Off

Connector
Rockwell Automation Publication 2198-UM001N-EN-P - September 2024

24V+ Switched Mode Power Supply Control Board
24V Control Digital Inputs
Power Connector Control Power Connector
24V- Encoder Power
Ethernet PORT1
Ethernet PORT2
Motor Feedback
Appendix A
Connector
This section provides block diagrams of the Kinetix 5500 drive modules.
Motor Brake
Connector
191
Interconnect Diagrams
Figure 105 - Kinetix 5500 Capacitor Module Block Diagram

Protection Precharge
Relay K2
DC+
Fuse F2
Relay K1
Capacitor Bank
DC Bus
Connector 1360 µF
DC-
24V+
24V Control Power SMPS
24V-
Module Status RELAY+

Connector
(N.O. relay output)
RELAY-
Status Indicator
Chassis

Appendix B
Update the Drive Firmware
This appendix provides procedures for updating your Kinetix® 5500 drive firmware.
Topic Page
Before You Begin 193
Update Firmware 196
Verify the Firmware Update 199
You can update your Kinetix 5500 drive firmware by using ControlFLASH™ software.
To update the drive firmware, you must configure a path to your drive, select the drive module
to update, and complete the firmware update procedure.
IMPORTANT If the drive firmware contains updated safety firmware, you must de-
energize the safety inputs first or the update fails.
To update the drive firmware in Feedback Only mode, you must inhibit
the axis first. See Inhibit Feedback Only Axis on page 195 for more
information.
Before You Begin The following table shows the minimum firmware revisions and software versions that are
required for updating drive firmware.
Table 81 - Kinetix 5500 System Requirements
Description Firmware Revision
Studio 5000 Logix Designer® application 21.00 or later
RSLinx® software (1) 3.60.00 or later
ControlFLASH software kit (2) 12.01.00 or later
(1) Required only when using ControlFLASH software.
(2) Download the ControlFLASH software kit from the Product Compatibility and Download Center at: rok.auto/pcdc. For more
ControlFLASH software information (not Kinetix 5700 specific), refer to the ControlFLASH User Manual, publication
1756-UM105.
IMPORTANT Control power must be present at CP-1 (24V+) and CP-2 (24V-) before
updating your target drive.
IMPORTANT The axis state on the LCD display must be STANDBY, CONFIGURING, or
PRECHARGE before beginning this procedure.
IMPORTANT The axis state on the LCD display must be STANDBY, when Protected
mode is enabled. See Table 57 on page 106 for more information.
ATTENTION: To avoid personal injury or damage to equipment during the

firmware update due to unpredictable motor activity, do not apply three-
phase AC or common-bus DC input power to the drive.
Configure Logix 5000 Controller Communication

This procedure assumes that your communication method to the Logix 5000® controller is the
Ethernet network. It also assumes that your Logix 5000 Ethernet module or controller has
already been configured.
Appendix B Update the Drive Firmware
For more controller information, see Additional Resources on page 12.
Follow these steps to configure Logix 5000 controller communication.

1. Open your RSLinx® Classic software.
2. From the Communications menu, choose Configure Drivers.
The Configure Drivers dialog box appears.
3. From the Available Driver Types dropdown menu, choose Ethernet devices.
4. Click Add New.
The Add New RSLinx Classic Driver dialog box appears.
5. Type the new driver name.
6. Click OK.
The Configure driver dialog box appears.
7. Type the IP address of your Kinetix 5500 servo drive.

8. Click OK.

The new Ethernet driver appears under Configured Drivers.
9. Click Close.
10. Minimize the RSLinx application dialog box.
Inhibit Feedback Only Axis

If an axis is configured as Feedback Only, you must inhibit the axis before performing the
firmware update. Follow these steps to inhibit an axis.
1. Open your Logix Designer application.
2. Right-click the 2198-Hxxx-ERSx servo drive that
you configured as Feedback Only and choose
Properties.
3. Click the Connection tab.
4. Check Inhibit Module.

5. Click OK.
6. Save your file and download the program to the controller.

Update Firmware Follow these steps to select the drive module to update.
1. In the Logix Designer application, from the Tools menu, choose ControlFLASH.
You can also open the ControlFLASH software by choosing Start >
Programs > FLASH Programming Tools > ControlFLASH.
The Welcome to ControlFLASH dialog box appears.
2. Click Next.
The Catalog Number dialog box appears.
3. Select your drive module.

In this example, the 2198-H003-ERS servo drive is selected.
4. Click Next.
The Select Device to Update dialog box appears.
5. Expand your Ethernet node, Logix backplane, and EtherNet/IP™ network module.

6. Select the servo drive to update.

7. Click OK.
The Firmware Revision dialog box appears.
8. Select the firmware revision to update.

9. Click Next.
The Summary dialog box appears.
10. Confirm the drive catalog number and firmware revision.

11. Click Finish.
This ControlFLASH warning dialog box appears.
12. Click Yes (only if you are ready).

This ControlFLASH warning dialog box appears.
13. Acknowledge the warning and click OK.

The Progress dialog box appears and
updating begins.
The axis state on the LCD display changes

from CONFIGURING, STOPPED, or PRECHARGE
to FIRMWARE UPDATE, which indicates that
the update is in progress.
After the update information is sent to the
drive, the drive resets and performs
diagnostic checking.Wait for the Progress
dialog box to time out.
It is normal for this process to take several
minutes.
IMPORTANT Do not cycle power to the drive during this process or the
firmware update does not complete successfully.
14. Verify that the Update Status dialog box appears and indicates success or failure and
take the appropriate action as described in the following table.
Update Status Display Action
Success The Update complete message appears Go to step 15.

in a green Status dialog box.
The Update failure message appears in See the ControlFLASH User Manual, publication 1756-UM105,
Failure a red Status dialog box. for troubleshooting information.
15. Click OK.
IMPORTANT If you are updating a feedback-only axis and you checked Inhibit
Module on the Connection tab in Module Properties, you must clear
the Inhibit Module checkbox before resuming normal operation.

Verify the Firmware Update Follow these steps to verify that your firmware update was successful.
Verifying the firmware update is optional.
1. Open your RSLinx software.

2. From the Communications menu, choose RSWho.
3. Expand your Ethernet node, Logix backplane, and EtherNet/IP network module.
4. Right-click the drive module and choose Device Properties.
The Device Properties dialog box appears.
5. Verify the new firmware revision level.

6. Click Close.

Notes:

Appendix C
Size Multi-axis Shared-bus Configurations
This appendix provides information and examples for sizing your Kinetix® 5500 drive shared-
bus configurations.
Topic Page
Shared-bus Configurations 201
Power-sharing Sizing Examples 206
Control Power Current Calculations 208
Energy Calculations 209
Shared-bus configurations include the following types:

• Shared AC
• Shared DC (common bus)
• Shared AC/DC
• Shared AC/DC Hybrid
These restrictions apply to all shared-bus configurations:

• Shared-bus configurations must use the shared-bus connection system.
IMPORTANT Do not make drive-to-drive connections with discrete wires.

• Single-phase drive operation is not supported.
• Shared AC/DC and shared AC/DC hybrid configurations result in a derating of 30% of
the total converter power available.
• The zero-stack tabs and cutouts must be engaged from drive-to-drive. Systems cannot
start in one cabinet and end in another.
• Program drives for the same converter AC input voltage.
Shared-bus Configurations Shared AC configurations are configured as Standalone in the project file and do not share
these restrictions that apply to multi-axis shared-bus configurations:
• All drives in a bus-sharing group must be configured with the same bus power-sharing
group number in the Logix Designer application.
• The maximum number of drives in any bus power-sharing group cannot exceed eight.
Shared AC Configurations
In shared AC configurations, the first (leftmost) drive receives AC input voltage. The shared-
bus connection system extends the AC bus to all downstream drives:
• All drives are configured in the project file as Standalone drives.
• Drives must be of the same power rating (catalog number).
• Shared AC configurations do not support Bulletin 2198 capacitor modules.
• The maximum number of drives in Shared AC configurations is restricted as described
in Table 82.

Appendix C Size Multi-axis Shared-bus Configurations
Table 82 - Shared AC Panel Layout

Drive Cat. No. Frame Size Number of Drives Configured as Shared AC, Max
2198-H003-ERSx
1 5
2198-H008-ERSx
2198-H015-ERSx
2198-H025-ERSx 2 3
2198-H040-ERSx
2198-H070-ERSx 3 2
Figure 106 - Typical Shared AC Configuration

Bonded Cabinet
Ground
(top view)
Do not remove the protective

Three-phase knock-out DC connector cover.
Input Power
24V Input
Control Power
For an example shared AC installation with additional details, see Figure 2 on page 18.
Shared DC Configurations
In a Shared DC (DC common bus) configuration, the first (leftmost) drive is the leader drive and
is the only drive that receives the AC input voltage. All drives to the right of the leader drives
are follower drives. They receive the DC bus voltage extended from the leader drive through
the shared-bus connection system:
• For DC common-bus installations, the power rating of the leader drive must be greater
than or equal to the power rating of the follower drives.
• The leader drive is configured in the project file as Shared AC/DC.
• The follower drives are configured in the project file as Shared DC.
• Shared DC configurations support Bulletin 2198 capacitor modules.
Table 83 - Shared DC Panel Layout
Number of Capacitor
Frame Size Combination Leader Drive Cat. No. Follower Drives, Max (1) Follower Cat. No. Modules, Max
2198-H003-ERSx 4 2198-H003-ERSx 0
1 2198-H003-ERSx 1
2198-H008-ERSx 4
2198-H008-ERSx 1
2198-H003-ERSx
2 and 1
2198-H015-ERSx 6 2198-H008-ERSx 1
2 2198-H015-ERSx
2198-H003-ERSx
2 and 1
2198-H008-ERSx
2198-H025-ERSx 6 3
2198-H015-ERSx
2
2198-H025-ERSx
2198-H003-ERSx
2 and 1
2198-H008-ERSx
2198-H040-ERSx 6 2198-H015-ERSx 3
2 2198-H025-ERSx
2198-H040-ERSx

Table 83 - Shared DC Panel Layout

Number of Capacitor
Frame Size Combination Leader Drive Cat. No. Follower Drives, Max (1) Follower Cat. No. Modules, Max
2198-H003-ERSx
3 and 1
2198-H008-ERSx
2198-H015-ERSx
2198-H070-ERSx 7 4
3 and 2 2198-H025-ERSx
2198-H040-ERSx
3 2198-H070-ERSx
(1) For Bulletin 2198 capacitor module maximum values, refer to the Kinetix 5500 Capacitor Module Installation Instructions, publication 2198-IN004.
Figure 107 - Typical DC Common Bus Configuration

Bonded Cabinet
Ground
Three-phase
Input Power DC Bus Connections
24V Input
Control Power
2198-CAPMOD-1300 Capacitor Module

2198-H040-ERSx
Common-bus Leader Drive 2198-H008-ERSx
Common-bus
Follower Drives
IMPORTANT The total number of drives in a Kinetix 5500 drive system must not
exceed eight.
For an example shared DC installation with additional details, see Figure 4 on page 20.

Shared AC/DC Configurations

In a shared AC/DC configuration, the first (leftmost) drive receives AC input voltage. The
shared-bus connection system extends the AC and DC bus to all downstream drives:
• All drives are configured in the project file as Shared AC/DC drives.
• Drives must be of the same power rating (catalog number).
• Shared AC/DC configurations support Bulletin 2198 capacitor modules
• Total available converter power is derated by 30%.
• The maximum number of drives configured as Shared AC/DC is described in Table 84.
Table 84 - Shared AC/DC Panel Layout
Number of Capacitor
Drive Cat. No. Frame Size Drives Configured as Shared AC/DC, Max (1) Modules, Max
2198-H003-ERSx 0
1 8
2198-H008-ERSx 1
2198-H015-ERSx
2198-H025-ERSx 2 4 4
2198-H040-ERSx
2198-H070-ERSx 3 2 4
(1) For Bulletin 2198 capacitor module maximum values, refer to the Kinetix 5500 Capacitor Module Installation Instructions,
Figure 108 - Typical Shared AC/DC Configuration

Bonded Cabinet
Ground
Three-phase
24V Input
Control Power
2198-CAPMOD-1300 Capacitor Module

(top view)
For an example shared AC/DC installation with additional details, see Figure 3 on page 19.

Shared AC/DC Hybrid Configurations

In shared AC/DC hybrid configurations, three-phase AC input power is supplied to two or more
(leader) drives that act as converters. This parallel converter configuration increases the DC
power that is supplied to the inverter (follower) drives:
• The leftmost drives in a hybrid configuration act as parallel converter drives and must
be of the same power rating (catalog number).
• Shared DC (inverter) drives mounted to the right of the shared AC/DC (converter) drives
must have the same or lower power rating (catalog number) than the shared AC/DC
drives.
• The total motoring load must not exceed the rated load for the drives sourcing the DC
power. Each follower drive must be sized for the motor load that is connected to it.
• Total available converter power is derated by 30%.
• The maximum number of drives configured in the project file as Shared AC/DC is
restricted according to Table 84 on page 204.
• The maximum number of drives configured in the project file as Shared DC is restricted
according to Table 83 on page 202.
• Shared AC/DC hybrid configurations support Bulletin 2198 capacitor modules.
Figure 109 - Typical Shared AC/DC Hybrid Configuration
Bonded Cabinet
Ground
Three-phase
24V Input
Control Power
2198-H040-Erse
2198-CAPMOD-1300 Capacitor Module (1)
Common-bus (converter)
2198-H008-ERSx (optional component)
Leader Drives
Common-bus (inverter)
Follower Drives
(1) For Bulletin 2198 capacitor module maximum values, refer to the Kinetix 5500 Capacitor Module Installation Instructions,
For an example shared AC/DC hybrid installation with additional details, see Figure 5 on
page 21.

Power-sharing Sizing For best results, size motors based on load torque requirements by using Motion Analyzer
Online. Select drives based on continuous or peak torque requirements. Based on the load
Examples profile, use Motion Analyzer Online to estimate the net converter and inverter power and bus
regulator capacity.
Table 85 - Converter and Bus Regulator Capacity
Configuration Available Converter Capacity Available Regenerative Capacity
Shared AC Converter power rating of each drive Internal shunt of each drive
Common bus Converter power rating of leader drive
Sum of all internal shunts from each drive in
Shared AC/DC Sum of converter power ratings times 0.7 bus-sharing group
Shared AC/DC hybrid (70%)
Shared DC Example
In this example, four 2198-H040-ERS drives are used in a common-bus configuration.
Figure 110 - DC Common Bus Configuration
Bonded Cabinet
Ground
Three-phase
24V Input
Control Power
2198-H040-ERS
Common-bus Leader Drive 2198-H040-ERS
Common-bus
Follower Drives
Each 2198-H040-ERS drive is rated at 8.4 kW continuous output power to the bus. However,
only the leader drive acts as the converter, so the available converter power to the system is
8.4 kW. In this example, total motoring load must not exceed 8.4 kW.

Shared AC/DC Hybrid Example

If the required motoring power exceeds the available converter power that is sourced by the
shared DC configuration, then connect a second converter drive to make a shared AC/DC
hybrid configuration. This increases the available converter power.
In this example, the same four 2198-H040-ERS drives are used, however, two are connected as
parallel converter (leader) drives and the other two as common-bus (follower) drives. The total
converter power is derated by 30%.
Figure 111 - Shared AC/DC Hybrid Configuration
Bonded Cabinet
Ground
Three-phase
24V Input
Control Power
2198-H040-ERS 2198-H040-ERS
Common-bus (converter) Common-bus (inverter)
Leader Drives Follower Drives
The available converter power to the system is (8.4 • 2) • 0.7 = 11.76 kW. In this example, the
total motoring load must not exceed 11.76 kW. The available converter power was increased by
40% over the same drives in shared DC configuration.

Shared AC/DC Example

If the required motoring power exceeds the available converter power that is sourced by two
leader drives, then connect all four drives as parallel converter drives. This further increases
the available converter power.
In this example, the same four 2198-H040-ERS drives are used, however, all four are connected
as parallel converter (leader) drives. The total converter power is derated by 30%.
Figure 112 - Shared AC/DC Configuration
Bonded Cabinet
Ground
Three-phase
24V Input
Control Power
2198-H040-ERS
Converter Drives
The available converter power to the system is (8.4 • 4) • 0.7 = 23.52 kW. In this example, total
motoring load must not exceed 23.52 kW. The available converter power was increased by
180% over the same drives in shared DC configuration.
Control Power Current Kinetix 5500 servo drives and the Bulletin 2198 capacitor module have different 24V DC power
consumption. Factors to consider when calculating the combined current demand from your
Calculations 24V DC power supply includes the following:
• The catalog number for each drive in the system
• Whether the motor or actuator includes the holding brake option
• Whether the system includes Bulletin 2198 capacitor modules (1...4 modules are
possible)
Table 86 - Control Power Current Demand
24V Current 24V Current
Cat. No. (non-brake motor) (2 A brake motor) 24V Inrush Current (1)
ADC ADC A
2198-H003-ERSx
0.4 2.4 2.0
2198-H008-ERSx
2198-H015-ERSx
2198-H025-ERSx 0.8 2.8
3.0
2198-H040-ERSx
2198-H070-ERSx 1.3 3.3
2198-CAPMOD-1300 0.3 — 2.0
(1) Inrush current duration is less than 30 ms.

Kinetix 5500 System Current Demand Example

In this example, the Kinetix 5500 drive system includes two 2198-H040-ERS drives, four 2198-
H008-ERS drives, and one capacitor module.
Figure 113 - Shared AC/DC Hybrid Configuration
Bonded Cabinet
Ground
Three-phase
24V Input
Control Power
3.5 A min, non-brake motors
15.2 A min, brake motors
2198-H040-ERS 2198-CAPMOD-1300
Servo Drives 2198-H008-ERS Capacitor Module
Servo Drives
Table 87 - Kinetix 5500 System Current Demand Calculations

24V Current 24V Current
Kinetix 5500 Module Qty (non-brake motors) (2 A brake motors) 24V Inrush Current (1)
Cat. No. ADC ADC A
2198-H008-ERSx 4 0.4 x 4 = 1.6 2.4 x 4 = 9.6 2x4=8
2198-H040-ERSx 2 0.8 x 2 = 1.6 2.8 x 2 = 5.6 3x2=6
2198-CAPMOD-1300 1 0.3 x 1 = 0.3 — 2x1=2
Total current demand 3.5 15.2 16
(1) Inrush current duration is less than 30 ms.
Energy Calculations The Kinetix 5500 servo drives have internal shunt resistors for dissipating excessive energy. In
addition, Bulletin 2097 external shunt resistors and Bulletin 2198 capacitor modules are
available to increase the shared DC bus capacitance.
Use this table to calculate the total energy absorbing potential (joules) and determine if a
capacitor module or external shunt resistor is needed.
Table 88 - Energy Absorbing Potential
Kinetix 5500 Drive Internal Shunt (1) External Shunt Capacitor Module (1) Capacitor Module, Max (2)
Cat. No. J kJ J J
2198-H003-ERSx — —
427.09 12.51
2198-H008-ERSx 554.4 554.4
2198-H015-ERSx 549.01 12.521 676.32 676.32
2198-H025-ERSx 575.223 12.549 702.53 957.162
2198-H040-ERSx 601.434 22.647 728.74 983.373
2198-H070-ERSx 1827.01 27.218 1954.3 2208.95
(1) Value assumes the use of one servo drive and one capacitor module.
(2) Value assumes the use of one servo drive and the maximum number of capacitor modules allowed.
See Motion Analyzer Online, version 7.0 or later, for custom shunt sizing.

Notes:

Appendix D
Motor Control Feature Support
This appendix provides feature descriptions for the induction motors and permanent-magnet
motors that are supported by Kinetix® 5500 servo drives.
Topic Page
Frequency Control Methods 212
Current Limiting for Frequency Control 216
Stability Control for Frequency Control 219
Skip Speeds 221
Flux Up 223
Current Regulator Loop Settings 225
Motor Category 226
Selection of Motor Thermal Models 231
Speed Limited Adjustable Torque (SLAT) 232
Motor Overload Retention 238
Phase Loss Detection 239
Velocity Droop 241
Commutation Test 243
Adaptive Tuning 243

Appendix D Motor Control Feature Support
Frequency Control Methods The Kinetix 5500 servo drives support three open-loop frequency control methods. The
choices are the following:
• Basic Volts/Hertz - This method is used in single asynchronous-motor applications
• Basic Volts/Hertz - Fan Pump - This method is similar to Basic Volts/Hertz, but is
tailored for fan/pump applications
• Sensorless Vector with Slip Compensation - This method is used for most constant
torque applications. Provides excellent starting, acceleration, and running torque
To configure your induction motor in the Logix Designer application, refer to Configure
Induction-motor Frequency-control Axis Properties on page 122.
Open-loop frequency control is suitable in applications such as conveyors, pumps, and fans.
Features include the following:
• Start Boost and Run Boost
• Electronic motor thermal-overload protection per Class 10 requirements
• Two skip frequencies, in which the drive does not operate
• All three-phase induction motors, suitable for variable speed drive (VFD) operation, are
supported
Table 89 - Motor Specifications
Attribute Value
Output frequency, max 590 Hz
Pole pairs, max 50
Motor cable length, max 50 m (164 ft) (1)
(1) Applies to all Kinetix 5500 (frame 2 and 3) drives. For Kinetix 5500 (frame 1) drives in continuous-flex applications, 30 m (98
ft) is the maximum cable length.

Basic Volts/Hertz
Volts/hertz operation creates a fixed relationship between output voltage and output
frequency. Voltage is applied to the motor, which is based on the operating frequency
command at a fixed volts/hertz ratio. The ratio is calculated from the motor nameplate data
and entered into the Logix Designer application > Axis Properties > Frequency Control
category.
The Basic Volts/Hertz method provides various patterns. The default configuration is a
straight line from zero to rated voltage and frequency. As seen in Figure 114, you can change
the volts/hertz ratio to provide increased torque performance when required by programming
five distinct points on the curve.
Table 90 - Basic Volts/Hertz Definitions
Curve Feature Definition
Used to create additional torque for breakaway from zero speed and
Start boost acceleration of heavy loads at lower speeds.
Used to create additional running torque at low speeds. The value is typically
less than the required acceleration torque. The drive lowers the boost voltage to
Run boost this level when running at low speeds (not accelerating). This reduces excess
motor heating that could result if the higher start/accel boost level were used.
Used to increase the slope of the lower portion of the Volts/Hertz curve,
Break voltage/frequency providing additional torque.
Motor nameplate voltage/ Sets the upper portion of the curve to match the motor design. Marks the
frequency beginning of the constant power region.
Maximum voltage/frequency Slopes the portion of the curve that is used above base speed.
Figure 114 - Basic Volts/Hertz Method

Voltage, max
Base Voltage
(nameplate)
Break Voltage
Start/Accel Boost
Run Boost
Break Base Frequency Frequency,

Frequency (nameplate) max

Basic Volts/Hertz for Fan/Pump Applications

The Basic Volts/Hertz Fan/Pump (fan/pump) method is based on the Basic Volts/Hertz (VHz)
method, but is tailored for fan/pump applications.
Figure 115 - Output Voltage Equation
2 Where:
fx Vx = Output voltage
Vx = V n – V boost + V boost
fn fx = Output frequency
Vn = Rated voltage
Fn = Rated frequency
Vboost = Run boost voltage
For maximum system efficiency, fan/pump loads use variable-frequency drives that are
equipped with a specific VHz curve where the voltage is proportional to the square of the
frequency.
Figure 116 - Basic Volts/Hertz Fan/Pump Method
Voltage, max
Base Voltage
(nameplate)
Voltage
Run Boost
Frequency (Hz) Base Frequency Frequency,

(nameplate) max
The Fan/Pump control method supports the run-boost attribute, but does not
support break-voltage, break-frequency, or start-boost.

Sensorless Vector
The Sensorless Vector method uses a volts/hertz core that is enhanced by a current resolver,
slip estimator, and a voltage-boost compensator based on the operating conditions of the
motor.
Figure 117 - Sensorless Vector Method
Motor Pole
Velocity Trim Pairs
Velocity Command Voltage

+ x VHz + Inverter Motor
Control
Vboost
Estimator
Torque Current
Estimate Load Feedback
Slip Speed Slip Current
Torque
Estimation Resolver
Estimator
The algorithms operate on the knowledge of the relationship between the rated slip and torque
of the motor. The drive uses applied voltages and measured currents to estimate operating
slip-frequency. You can enter values to identify the motor resistance value or you can run a
motor test to identify the motor resistance value (see Motor Tests and Autotune Procedure on
page 228). Motor nameplate data and test results are ways to accurately estimate the required
boost voltage.
The sensorless vector method offers better torque production and speed regulation over a
wider speed range than basic volts/hertz.
Dynamic boost is applied internally to compensate voltage drop and improve starting torque.
Figure 118 - Approximate Load Curve
Voltage, max
Base Voltage
(nameplate)
Ideal, volts/hertz
Dynamic Boost Applied
Base Frequency Frequency,

(nameplate) max

Current Limiting for The current limiting module prevents the OutputCurrent value from exceeding the
OperativeCurrentLimit value when the drive is configured in Frequency Control mode.
Frequency Control
Figure 119 - Current Limiting Module
Fine
Velocity from Planner Velocity
Command +
(MAJ) – Reference
Velocity
Operative PI
+
Current Limit –
Output
Current
In Frequency Control mode, OperativeCurrentLimit is the minimum value of the motor-thermal

current limit, inverter-thermal current limit, motor-peak current limit, drive-peak current limit,
and the CurrentVectorLimit value.
The Effects of Current Limiting

Indirect current limiting is available for induction motors that are configured for frequency
control. You can use this feature to help prevent overcurrent faults due to aggressive
acceleration/deceleration profiles or impact loads. The Current Limiting attribute uses a PI
regulator to control the OutputCurrent by adjusting the velocity reference.
IMPORTANT When configured for Frequency Control (induction motors only), select
the Decel and disable stopping action only when the Current Limiting
feature is enabled.
Figure 120 - Effects of Current Limiting on an Aggressive Acceleration

Aggressive Acceleration, No Current Limiting Aggressive Acceleration, Current Limiting Active
16 70 16 70
Output Current (Arms), Operative Current Limit (rms)
14 60 14 60
12 50 12 50
10 40 10 40
Frequency (Hz)
Frequency (Hz)
8 30 8 30
6 20 6 20
4 10 4 10
2 0 2 0
0 -10 0 -10
0 200 400 600 800 1000 1200 1400 1600 1800 2000 0 200 400 600 800 1000 1200 1400 1600 1800 2000
Time (ms) Time (ms)
Output Current Operative Current Limit Output Frequency Output Current Operative Current Limit Output Frequency

Figure 121 - Effects of Current Limiting on an Impact Load

Impact Load, No Current Limiting Impact Load, Current Limiting Active
12 70 12 70

60 60
10 10
50 50
8 8
40
Frequency (Hz)
40
Frequency (Hz)
6 30 6 30
20 20
4 4
10 10
2 2
0 0
0 -10 0 -10
4000 4200 4400 4600 4800 5000 5200 5400 5600 5800 4000 4200 4400 4600 4800 5000 5200 5400 5600 5800
Time (ms) Time (ms)
Output Current Operative Current Limit Output Frequency Output Current Operative Current Limit Output Frequency
Current limiting for frequency control is not enabled by default. You can enable via messaging
by using the following device-specific attributes.
We recommend you leave the Kp, Ki, Kd gains at the default values.
Table 91 - Enable Current Limiting via Messaging

Attribute Conditional
Type Attribute Name Description
Offset Implementation
When enabled, limits the rate of change to the velocity reference during high-current situations
for improved current limiting. This feature is only active when executing an MDS command and
Current Limiting
3022 SINT when configured for Frequency Control.
Enable 0 = Current Limiting is disabled
1 = Current Limiting is enabled
Frequency Control Derivative gain for the current limiting function. Only functional when configured for Frequency
3023 REAL Current Limiting Kd Induction Motor only Control and when executing an MDS command. Units of seconds.
Integral gain for the current limiting function. Only functional when configured for Frequency
3024 REAL Current Limiting Ki Control and when executing an MDS command. Units of feedback counts / (Amp, inst. Seconds).
Proportional gain for the current limiting function. Only functional when configured for Frequency
3025 REAL Current Limiting Kp Control and when executing an MDS command. Units of feedback counts / Amp, inst.
IMPORTANT For induction motors greater than 5 Hp, we recommend that you enable
the Stability Control feature when Current Limiting is enabled.

Enable the Current Limiting Feature

In this example, a Message Configuration (MSG) instruction is configured to enable the
CurrentLimitingEnable attribute for axis 1. The Instance field is used to direct the message to
the proper axis.
Set the CurrentVectorLimit Attribute Value

For current limiting, the CurrentVectorLimit attribute is used to help determine the
OperativeCurrentLimit of the drive. Set the CurrentVectorLimit value to artificially lower
OperativeCurrentLimit below the drive or motor peak current limits.
1. Select the Parameter List category and scroll to CurrentVectorLimit.
2. Set the CurrentVectorLimit value appropriate for your application.
IMPORTANT The CurrentVectorLimit attribute appears in the Parameter List of the

Logix Designer application, version 29.00 and later. If you are using a
previous version, the CurrentVectorLimit attribute must be set via a
Message Configuration (MSG) instruction.

Stability Control for Stability control is available for induction motors that are configured for frequency control.
This feature can be used to help remove resonances that are sometimes seen on larger
Frequency Control motors. The stability control feature adjusts the OutputFrequency and OutputVoltage
commands to stabilize the OutputCurrent.
Figure 122 - Effects of Stability Control
Id Feedback, Iq Feedback versus Commanded Speed with Stability Control Disabled Id Feedback, Iq Feedback versus Commanded Speed with Stability Control Enabled
60 25
50
20
Id Feedback, Iq Feedback A-pk
40
Id Feedback, Iq Feedback A-pk

15
30
20 10
10 5
0
0
-10
-5
-20
Commanded Frequency, Hz Commanded Frequency, Hz
Iq Feedback Id Feedback Iq Feedback Id Feedback
Stability control for frequency control is not enabled by default. You can enable via messaging
by using the following device-specific attributes.
We recommend you leave the angle, voltage gains, and filter bandwidth at the
default values.
Table 92 - Enable Current Limiting via Messaging

Enables stability control when configured for frequency control.
Stability Control
3026 SINT 0 = Stability Control is disabled
Enable 1 = Stability Control is enabled
Sets the bandwidth of the low-pass filter that is applied to the current feedback signal. This
Stability Filter
3027 REAL Frequency Control bandwidth is common to both the angle and voltage stability control algorithms. Units of radians/
Bandwidth
Induction Motor only second.
Stability Voltage The gain of the voltage stability control function. Only active when configured for frequency
3028 REAL Gain control. Units of Volt (inst, p-n)/Amp (inst).
The gain of the electrical angle stability control function. Only active when configured for
3029 REAL Stability Angle Gain frequency control. Units of radians/Amp (inst).
IMPORTANT Because the stability control feature works by manipulating the

OutputVoltage and OutputFrequency signals, these signals may appear
'noisy' when the feature is enabled.

Enable the Stability Control Feature

In this example, a Message Configuration (MSG) instruction is configured to enable the
StabilityControl attribute for axis 1. The Instance field is used to direct the message to the
proper axis.

Skip Speeds Some machines have a resonant operating frequency (vibration speed) that is undesirable or
could cause equipment damage. To guard against continuous operation at one or more
resonant points, you can configure the skip-speed attributes in the Logix Designer application
> Axis Properties > Parameter List category.
The value that is programmed into the SkipSpeed1 or SkipSpeed2 attribute sets the central
speed of a skip-speed band within which the drive does not operate. The width of the band is
determined by the SkipSpeedBand attribute. The range is split, half above and half below the
SkipSpeedx attribute. Any command setpoint within this band is adjusted by the skip-speed
feature to fall at either the upper or lower skip-speed band boundary value. The skip-speed
feature contains hysteresis (25% of the SkipSpeedBand value) to prevent frequent switching
of VelocityReference.
Figure 123 - Single Skip Speed Example
Speed Velocity
Setpoint
Velocity
Reference
SkipSpeedBand Upper Boundary
SkipSpeed
SkipSpeedBand Lower Boundary
Time
A SkipSpeedBand value of 0 disables the skip-speed feature.
IMPORTANT If you want there to be only one SkipSpeed value, the SkipSpeed1 and
SkipSpeed2 settings must be the same.
IMPORTANT Acceleration and deceleration are affected by the skip-speed feature.

Too large of a SkipSpeedBand value can result in an overcurrent drive
fault.
IMPORTANT The MaximumFrequency attribute is always enforced. Skip-speed

band boundary values beyond the MaximumFrequency value do not
apply.

Multiple Skip Speeds

The Kinetix 5500 drives feature two independent skip-speed attributes (SkipSpeed1 and
SkipSpeed2) that use the same SkipSpeedBand.
Figure 124 - Multiple Skip Speed Example
SkipSpeed2 SkipSpeedBand
Speed
SkipSpeed1 SkipSpeedBand
0
0 Time
When the skip-speed band boundaries of SkipSpeed1 and SkipSpeed2 overlap, the skip-speed
hysteresis is calculated using the effective skip band.
In Figure 125, SkipSpeed1 is set to 0 and SkipSpeed2 is set to 15 Hz. The skip band is 10 Hz wide.
At point A, the axis is enabled, and the motor begins to rotate at -5 Hz even though the
command is 0 Hz. As the command reaches hysteresis point the output frequency begins to
follow the command. During deceleration, when the command decreases to 0 Hz, the output
frequency continues at 5 Hz until the axis is disabled (point B), or the command is changed
outside of the skip band.
Figure 125 - Zero-speed Skip Frequency
30
25
20
SkipSpeed1 = 0 Hz
15 SkipSpeed2 = 15 Hz
Skip Band = 10 Hz
10
5
A
0
B
-5
-10
0 5000 10,000 15,000 20,000 25,000 30,000 35,000 40,000
Output Frequency Command Frequency

Flux Up AC induction motors require that flux builds in the motor stator before controlled torque can
develop. To build flux, voltage is applied. There are two methods to flux the motor and three
configurable FluxUpControl settings.
With the No Delay setting (normal start), flux is established when the output voltage and
frequency are applied to the motor. While flux is building, the unpredictable nature of the
developed torque can cause the rotor to oscillate even though acceleration of the load can
occur. In the motor, the acceleration profile does not follow the commanded acceleration
profile due to the lack of developed torque.
Figure 126 - Acceleration Profile during Normal Start - No Flux Up
Frequency
Reference
Rated Flux
Frequency
Stator
Rotor
Oscillation due to flux

being established.
0
Time
With the Automatic setting (default), DC current is applied to the motor so that flux builds
before rotation. The flux-up time period is based on the level of flux-up current and the rotor
time constant of the motor. The flux-up current is not adjustable.
In the Manual setting, DC current is applied to the motor so that flux builds before rotation. The
flux-up time period is determined by the FluxUpTime attribute. The flux-up current is not
adjustable.
Figure 127 - Flux Up Current Versus Flux Up Time
Flux Up Current = Maximum DC Current
Flux Up Current
Rated Flux Rated Motor Flux

Current
Motor Flux
0
T1
T2
T3
T4
Flux Up Time
Once rated flux is reached in the motor, normal operation can begin and the desired
acceleration profile achieved.

Figure 128 - Rated Flux Reached
IR Voltage - SVC
Greater of IR Voltage or
Voltage Boost - VHz
Flux Up Stator Voltage

Voltage Rotor Speed
Motor Flux
Stator Frequency
Flux Up Normal Operation

Time
Flux Up Attributes
ID Access Attribute Conditional Implementation
Ind Motor only
0 = No Delay
558 Set Flux Up Control 1 = Manual Delay
2 = Automatic Delay
Ind Motor only
Units: Seconds
559 Set Flux Up Time (1) Default: 0.0000
Min/Max: 0.0000 / 1000.00
(1) This is the time that is designated for the Manual Delay setting. This attribute is not supported by the Automatic delay
method. The flux-up feature is disabled if FluxUpControl is set to Manual Delay and FluxUpTime is set to 0.
FluxUpControl Attribute
When the motion axis is enabled, DC current is applied to an induction motor to build stator
flux before transitioning to the Running state. This attribute controls how an induction motor
is to be fluxed in the Starting state before transitioning to the Running state.
Table 93 - FluxUp Control Delay Methods
Delay Method Description
No delay The axis transitions immediately to the Running state while the motor flux is building.
The axis remains in the Starting state while the motor stator flux is building according to
Manual delay the Flux Up Time attribute.
The drive determines the amount of delay time to fully flux the motor, based on the motor
Automatic delay configuration attribute data or measurements.
FluxUpTime Attribute
When FluxUpControl is configured for Manual Delay, this attribute sets the length of delay time
to fully flux the motor before transitioning to the Running state.

Configure the Flux Up Attributes

Follow these steps to configure the flux-up attributes.
2. Select the Parameter List category and scroll to FluxUpControl.
3. From the FluxUpControl dropdown menu, choose the proper delay value appropriate for
your application.
4. If you chose Manual Delay in step 3, enter a value in the FluxUpTime attribute
If you chose No Delay or Automatic Delay in step 3, the FluxUpTime attribute does not
apply.
Current Regulator Loop Current loop bandwidth is set differently based on the selected motor type.
Settings Table 94 - Current Regulator Loop Settings
Default Torque/Current Loop Bandwidth
Motor Type Hz
Rotary permanent magnet
Rotary interior permanent magnet 1000
Linear permanent magnet
IMPORTANT The Logix Designer application does not perform calculations when
the Torque/Current Loop Bandwidth attribute is updated. This
bandwidth affects many other gains and limits. Changing (lowering)
the torque loop bandwidth without updating all dependent attributes
can result in drive/motor instability.

Motor Category From the Motor category, you can enter motor nameplate or datasheet values (phase-to-phase
parameters) for rotary induction motors.
In this example, the Motor category > Nameplate / Datasheet parameters, were taken from a
typical motor performance datasheet. Max Speed and Peak Current values are typically
application-dependent.
Figure 129 - Motor Nameplate / Datasheet Example
See Figure 130 for an example of a motor manufacturer performance data sheet.
Figure 130 - Motor Manufacturer Performance Data Sheet Example
C E R T I FI C A T I ON DA T A SHE E T
T Y PI C A L M OT OR PE R FOR M A NC E DA T A
HP kW SY NC . R P M F .L . R P M F R AME E NC L O SUR E K V A C O DE DE SI G N
1 .75 1800 1725 56C T E NV P A
PH Hz VOLTS F L AMPS ST A R T T Y P E DUT Y I NSL S.F . A M B°C EL EV ATION

3 60 230/
460 3/ 1.5 INV E R T E R ONL Y C ONT INUOUS F3 1.0 40 3300
F UL L L O AD E F F : 84 3/4 L O AD E F F : 82.5 1/2 L O AD E F F : 78.5 G T D. E F F E L E C . T Y PE NO L O A D A M P S

F UL L L O AD PF : 75 3/4 L O AD PF : 65.5 1/2 L O AD PF : 51 81.5 S Q C AGE INV DUT Y 2/ 1
F .L . T O R Q UE L OC K E D R OT OR AMPS L .R . T O R Q UE B.D. T O R Q UE F .L . R I SE °C
3 L B -F T 30 / 15 10.8 L B -F T 360% 15 L B -F T 500% 65
SO UND P R E SSUR E ST A R T S / APPR OX .

SO UND P O W E R R O T O R W K ^2 M A X . W K ^2 SA F E ST A L L T I M E
@ 3 FT. H O UR MOT OR W G T
62 dB A 72 dB A 0.11 L B -F T ^2 0 L B -F T ^2 0 SE C. 0 42 L B S .
E QU I V A L E NT W Y E C K T .PA R A M E T E R S (OHM S PE R PHA SE )

R1 R2 X1 X2 XM
8.378 5.6232 10.7068 9.9116 278.036
RM ZR E F XR TD T D0
11132.8 284 1.7 0.0071 0.136

Motor > Model Category
From the Motor > Model category, you can enter additional motor nameplate or datasheet
values (phase-to-neutral parameters) for induction motors.
The Motor > Model parameters are used in closed-loop induction-motor control mode,
sensorless vector control mode, and when FluxUp is enabled. The Logix Designer application
automatically estimates the Motor > Model parameters based on the motor nameplate data.
You can also enter these parameter values directly from the motor nameplate/datasheet or
indirectly by running a Motor > Analyzer test.
Figure 131 - Phase-to-Neutral Parameters
IMPORTANT If you do not know the Stator Leakage, Rotor Leakage, Stator Resistance,
Rated Flux Current, and system inertia, you can run the static motor test
and Autotune procedure to determine the parameter values.
Motor > Analyzer Category
From the Motor > Analyzer category, you can perform three types of tests to identify motor
parameters.
In this example, the Calculate Model test was run. If the Motor > Analyzer test executes
successfully, and you accept the test values, they populate the Model Parameter attributes.
Figure 132 - Motor Analyzer Category

Motor Tests and Autotune Procedure

You can perform three types of tests to identify motor parameters and one test for motor/
system inertia. These parameters are used by sensorless-vector frequency-control and
induction motor closed-loop modes. Table 95 recommends which test to use based on the
control mode and application.
Table 95 - Motor Tests and Autotune Matrix
Control Mode Description Calculate Static Dynamic Autotune (inertia test)
Basic volts/hertz Not required Not required Not required Not required
Basic volts/hertz for
Induction motor - Frequency control Not required Not required Not required Not required
Fan/Pump
Sensorless vector Required (1) Preferred Not required Not required
(1) Not required for the Logix Designer application, version 29.00 and later.
For motor/system autotune procedure, see Tune Induction Motors on page 140 for more
information.
The Motor > Analyzer category offers three choices for calculating or measuring electrical
motor data.
Follow these steps to run motor tests and identify motor parameters.
2. Select the Motor > Analyzer category.
Nameplate data was entered on page 226. The nameplate data must be entered before
running the Calculate test.
3. To run the test, click Start.

4. To save the values, click Accept Test Results.
5. Click OK.

Motor Analyzer Category Troubleshooting

Calculate Model
When a Calculate test is run, the drive uses motor nameplate data to estimate the motor’s
Rated Flux Current, Stator Resistance (Rs), Stator Leakage Reactance (X1), and Rotor Leakage
Reactance (X2). The drive also calculates the rated slip speed, based on rated speed and rated
frequency. No measurements are taken when using the Calculate test.
Static Motor Test
Use the Static test if the motor shaft cannot rotate or if it is already coupled to the load. Only
tests that do not create motor movement are run. During this test, the Stator Resistance (Rs),
Stator Leakage Reactance (X1), and Rotor Leakage Reactance (X2) values are measured during
a series of static tests. The Rated Flux Current is estimated, since measurement of this value
requires motor movement. The drive also calculates the rated slip speed, based on rated
speed and rated frequency.
The Static test requires that you enter initial estimates for Rated Flux Current, Rated Slip
Speed, Stator Resistance (Rs), Stator Leakage Reactance (X1), and Rotor Leakage Reactance
(X2) into the Motor Model fields. The method of entering initial estimates depends on the
version of the Logix Designer application:
• For the Logix Designer application, version 29.00 or later, initial estimates are
populated by the controller.
• For the Logix Designer application, version 28.00 or earlier, initial estimates can be
entered by running and accepting the results of a Calculate test, or by entering the
values directly into the Logix Designer application.
Dynamic Motor Test
Dynamic tests are run with the motor disconnected from the load because the motor shaft
turns and there are no travel limits. This is often the most accurate test method. During this
test, the Stator Resistance (Rs), Stator Leakage Reactance (X1), and Rotor Leakage Reactance
(X2) values are measured in a series of static tests. The Rated Flux Current is measured during
a rotational test, in which the drive commands 75% of the motor rated speed.
The rated slip speed is measured during a second rotational test. In this test, the drive
commands a speed (default of 100% of the motor rated speed) and sets a torque limit (default
of 50% of the motor rated torque). This test quickly accelerates the motor to rated speed and
then decelerates back to zero speed.
IMPORTANT The Dynamic test does not support travel limits.
The Dynamic test also requires that you enter initial estimates for Rated Flux Current, Rated
Slip Speed, Stator Resistance (Rs), Stator Leakage Reactance (X1), and Rotor Leakage
Reactance (X2) into the Motor Model fields. The method of entering initial estimates depends
on the version of the Logix Designer application:
• For the Logix Designer application, version 29.00 or later, initial estimates are
automatically populated by the controller.
• For the Logix Designer application, version 28.00 or earlier, initial estimates can be
entered by running and accepting the results of a Calculate test, or by entering the
values directly into the Logix Designer application.
The Dynamic test uses the Ramp Acceleration and Ramp Deceleration attributes to set the
rotational test ramp-up and ramp-down times. If the resulting acceleration/deceleration times
are less than 10 seconds, 10 seconds is used. If these attributes are not supported, 10 seconds
is also used.

The Dynamic test also uses the IM Slip Test Velocity Command (percent of rated speed) and IM
Slip Test Torque Limit (percent of rated torque) attributes to define the motion profile for the
slip measurement. The default values are 100.0 and 50.0 respectively. The speed command
dictates the speed that the motor spins up to and the torque dictates how quickly the motor
reaches that speed. In general, A higher speed and lower torque results in a longer
acceleration and a more accurate rated slip speed. However, the dynamic test does not return
expected results if the torque limit is set below 30.0.
Table 96 - Slip Test via Messaging
Sets positive and negative torque limits for the slip test within the Dynamic motor test
3095 REAL IM Slip Test Torque Limit
Closed loop induction (similar to the torque limits in the inertia test). Units are in percent of rated torque.
motor only Sets the velocity command for the slip test within the Dynamic motor test (similar to the
3096 REAL IM Slip Test Velocity Command velocity command in the inertia test). Units are in percent of motor rated speed.
The Dynamic test requires that the Positive and Negative Torque Limits for the axis are not
over-written while the test is in progress. This requirement can be satisfied by making sure
that (1) these cyclic attributes are not checked as writable within the Drive Parameters tab of
the axis properties and (2) these parameters are not being messaged via an MSG instruction.
When configured for closed-loop control, the Dynamic test requires that an accurate system
inertia is set in the Logix Designer application.
• For the Logix Designer application, version 29.00 or later, a default value is
automatically populated by the controller.
• For the Logix Designer application, version 28.00 or earlier, the system inertia can be
set by running and accepting the results of an Autotune test, or by entering the motor
inertia value directly into the Logix Designer application.
When configured for closed-loop control, the Dynamic test uses the velocity regulator tuning
as entered into the Logix Designer application. If the motor is coupled to a load, the velocity
regulator tuning may need to be adjusted to make sure that the velocity response is well
controlled. The Dynamic test fails if the steady-state velocity feedback is not within a ±30%
tolerance of the commanded velocity.
IMPORTANT The Dynamic test is not supported in closed-loop Torque Control.
If using the Dynamic test in Frequency Control mode, uncouple the motor from any load or
results may not be valid. In closed-loop control, either a coupled or uncoupled load produces
valid results.

Selection of Motor Thermal The Kinetix 5500 drives contain two motor thermal-overload protection algorithms that you
can use to help prevent the motor from overheating.
Models
Generic Motors
The default thermal model is a generic I2T Class 10 overload protection algorithm. This model
is active if the MotorWindingToAmbientResistance or the MotorWindingToAmbientCapacitance
values are 0.0. The purpose of this algorithm is to limit the time that a motor is operating with
excessive levels of current. The relationship between Motor Overload Factory Limit trip-time
and motor output current is shown in Figure 133.
Figure 133 - Motor Overload Curve
100,000
10,000
1000
100
10
0 100 125 150 175 200 225 250
You can use the MotorOverloadLimit attribute (default of 100%, max of 200%) to increase the
motor overload trip-time by artificially increasing the motor rated current (for thermal
protection only). MotorOverloadLimit should only be increased above 100% if cooling options
are applied. Increasing MotorOverloadLimit causes MotorCapacity to increase more slowly.
The generic motor thermal model also derates the motor rated current (for thermal protection
only) when operating at low speeds. The derating factor is 30% at 0 Hz and 0% at 20 Hz, with
linear interpolation between. Operating at output frequencies less than 20 Hz causes
MotorCapacity to increase more quickly.
When the generic motor thermal-model is active, the MotorCapacity attribute increases only if
the motor output current is greater than the effective motor rated current (taking into account
the MotorOverloadLimit and low speed derating factor). The default
MotorThermalOverloadFactoryLimit and MotorThermalOverloadUserLimit values for this
thermal model are both 100%.
IMPORTANT The generic motor-thermal model does not support Current Foldback
as a Motor Overload Action.
Thermally Characterized Motors

If the MotorWindingToAmbientResistance and MotorWindingToAmbientCapacitance attribute
values are both nonzero, the motor is considered thermally characterized and an alternate
motor thermal model is run. The purpose of this algorithm is to limit the time that a motor is
operating with excessive levels of current. This thermal model uses the first-order time
constant that is determined from the MotorWindingToAmbientResistance and
MotorWindingToAmbientCapacitance values to estimate the motor thermal capacity based on
the motor output current.
The MotorOverloadLimit attribute (default of 100%, max of 200%) can be used to increase the
motor overload trip-time by increasing the MotorThermalOverloadFactoryLimit value. The
MotorOverloadLimit should be increased above 100% only if cooling options are applied.
Increasing MotorOverloadLimit does not change the behavior of MotorCapacity.

This thermal model supports setting the MotorOverloadAction attribute as Current Foldback.
Selecting the Current Foldback action results in a reduction in the current reference via the
MotorThermalCurrentLimit attribute value that is reduced in proportion the percentage
difference between the MotorCapacity and the MotorOverloadLimit values.
When this thermal model is active, the MotorCapacity attribute is nonzero if the motor output
current is nonzero. The default MotorThermalOverloadFactoryLimit and
MotorThermalOverloadUserLimit values for this thermal model are both 110%.
IMPORTANT This thermal model does not derate the motor-rated current when
operating at low speeds. Operating at low output frequencies does
not cause the MotorCapacity behavior to change.
Speed Limited Adjustable Speed limited adjustable torque (SLAT) is a special mode of operation that is used primarily in
web handling applications. While configured for SLAT, the drive typically operates as a torque
Torque (SLAT) regulator. The drive can automatically enter velocity regulation, based on conditions within the
velocity regulator and the magnitude of the velocity regulator's output, relative to the applied
TorqueTrim attribute.
A torque regulated application can be described as any process that requires tension control.
For example, a winder or unwinder with material being drawn or pulled with a specific tension
required. The process also requires that another element set the speed.
When operating as a torque regulator, the motor current is adjusted to achieve the desired
torque. If the material that is being wound or unwound breaks, the load decreases
dramatically and the motor can potentially go into a runaway condition.
The SLAT feature is used to support applications that require a robust transition from torque
regulation to velocity regulation (and vice versa). The SLAT feature can be configured via the
SLATConfiguration attribute as:
Table 97 - SLAT Configuration Descriptions
Name Description
SLAT Disable SLAT function is disabled. Normal Velocity Loop operation.
Drive automatically switches from Torque regulation to Velocity regulation if
SLAT Min Speed/Torque VelocityError < 0 and switches back to Torque regulation if VelocityError >
SLATSetPoint for SLATTimeDelay.
Drive automatically switches from Torque regulation to Velocity regulation if
SLAT Max Speed/Torque VelocityError > 0 and switches back to Torque regulation if VelocityError <
SLATSetPoint for SLATTimeDelay.
Direction of the applied torque and direction of the material movement determine whether
SLAT minimum or SLAT maximum mode should be used.
Motion Polarity Setting

The Motion Polarity setting in the Logix Designer application > Axis Properties > Polarity does
not affect SLAT behavior. However, you may require clarification on whether to use the SLAT
Min Speed/Torque or SLAT Max Speed/Torque configuration when Motion Polarity is set to
Inverted. In this case, the velocity error that is displayed in the Logix Designer application is
inverted compared to what is actually used by the axis to control the SLAT function. So, if the
SLAT configuration is set to Min and then Motion Polarity is switched to Inverted, change the
SLAT configuration to Max.
Table 98 - SLAT Operation When Motion Polarity Is Inverted
Velocity Command Motion Polarity SLAT Configuration
Normal Min
Positive (clockwise)
Inverted Max
Normal Min
Negative (counterclockwise)
Inverted Max

SLAT Min Speed/Torque

SLAT Min Speed/Torque is a special mode of operation that is primarily used in web handling
applications. If the TorqueTrim attribute is less than the torque output due to the velocity
regulator's control effort, then the drive typically operates as a torque regulator. The drive can
automatically enter velocity regulation, based on conditions within the velocity regulator and
the magnitude of the velocity regulator's output relative to the torque reference.
When used for SLAT control, an application-dependent VelocityCommand value is applied to

the drive via an MAJ instruction. An application-dependent TorqueTrim value is also applied
via cyclic write. Under normal operation, VelocityCommand is set to a level that results in the
velocity regulator's control effort becoming saturated when the motor's speed is mechanically
limited. The TorqueReference value equals the TorqueTrim value, resulting in a positive
VelocityError value.
If the mechanical speed limitation is removed (example: web break), the motor accelerates
and VelocityError becomes negative. At this time, a forced transition to velocity regulation
occurs, and the motor's speed is regulated to the VelocityCommand attribute.
The axis remains in velocity regulation until VelocityError exceeds SLATSetPoint for a period of
time that is specified by SLATTimeDelay. At this point, the axis returns to operating as a torque
regulator.
Figure 134 - SLAT Min Speed/Torque
Velocity Error < 0
Select Minimum of Velocity Loop Output Select Velocity Loop Output
or Torque Command (speed control is ON)
(speed control is OFF)
Velocity Error > SLAT Setpoint for SLAT Time
See the Integrated Motion on the EtherNet/IP™ Network Reference Manual, publication
MOTION-RM003, for more information on SLAT attributes.

SLAT Max Speed/Torque

SLAT Max Speed/Torque is a special mode of operation that is primarily used in web handling
applications. If the TorqueTrim attribute is greater than the torque output due to the velocity
regulator's control effort, then the drive typically operates as a torque regulator. The drive can
automatically enter velocity regulation, based on conditions within the velocity regulator and
the magnitude of the velocity regulator's output relative to the torque reference.
When used for SLAT control, an application-dependent VelocityCommand value is applied to

the drive via an MAJ instruction. An application-dependent TorqueTrim value is also applied
via cyclic write. Under normal operation, VelocityCommand is set to a level that results in the
velocity regulator's control effort becoming saturated when the motor's speed is mechanically
limited. The TorqueReference value equals the TorqueTrim value, resulting in a negative
VelocityError value.
If the mechanical speed limitation is removed (example: web break), the motor accelerates
and VelocityError becomes positive. At this time, a forced transition to velocity regulation
occurs, and the motor's speed is regulated to the VelocityCommand attribute.
The axis remains in velocity regulation until VelocityError is less than SLATSetPoint for a time
specified by SLATTimeDelay. At this point, the axis returns to operating as a torque regulator.
Figure 135 - SLAT Max Speed/Torque
Velocity Error > 0
Select Maximum of Velocity Loop Output
Select Velocity Loop Output
or Torque Command
(speed control is ON)
(speed control is OFF) Velocity Error < SLAT Setpoint for SLAT Time
See the Integrated Motion on the EtherNet/IP Network Reference Manual, publication MOTION-
RM003, for more information on SLAT attributes.
SLAT Attributes
0 = SLAT Disable (1)
833 Set SLAT Configuration 1 = SLAT Min Speed/Torque
2 = SLAT Max Speed/Torque
834 Set SLAT Set Point Velocity Units
835 Set SLAT Time Delay Seconds
(1) SLAT Disable, when viewed in version 28.00 (and earlier) of the Logix Designer application, reads Torque Only.

Configure the Axis for SLAT

Follow these steps to configure the SLAT attributes.
3. From the Axis Configuration dropdown menu, choose Velocity Loop.

The Velocity Loop dialog box appears.
4. Enter values for the Velocity Loop attributes appropriate for your application.
5. Click Apply.
6. Select the Parameters List category.

7. From the SLATConfiguration dropdown menu, choose the SLAT configuration

IMPORTANT SLAT parameters are configurable only when Velocity Loop is

chosen from the General category, Axis Configuration dropdown
menu.
8. Click Apply.
9. Enter values for SLATSetPoint and SLATTimeDelay attributes appropriate for your
application.
10. Click OK.

11. Select the Drive Parameters category.

The Drive Parameters to Controller Mapping dialog box appears.
When using SLAT with Kinetix 5500 drives, the velocity command is sent to the drive via an
MAJ instruction. The torque command is sent via the cyclic write TorqueTrim attribute. See the
Integrated Motion on the EtherNet/IP Network Reference Manual, publication MOTION-RM003,
for more information on cyclic read and cyclic write.
For MAJ instructions:
• When using SLAT, start the axis with the MSO instruction.
• The VelocityCommand is sent via the MAJ instruction.
• The TorqueCommand is sent to AxisTag.TorqueTrim.
• To make changes to the VelocityCommand, you must retrigger the MAJ with the Speed
value or use an MCD (motion change dynamics) instruction.
• To stop the axis, use an MAS instruction.
• The axis accelerates and decelerates at the MAJ instruction programmed Acceleration
and Deceleration rates.
• You can also change the rates using the MCD instruction.

Motor Overload Retention The motor overload retention feature protects the motor if there is a drive power-cycle, in
which the motor thermal state is lost.
With motor overload retention, upon drive power-up, the MotorCapacity attribute initially
reads:
• 20% if the motor is configured to use an integral thermal switch or an integral motor
winding temperature is available
• 50% if the motor is not configured to use an integral thermal switch or an integral
motor winding temperature is not available
If you have a separate monitoring algorithm within your Logix 5000® controller, you can use
the InitialMotorCapacity attribute (3075)10 or (C03)16 to change the initial MotorCapacity value
that the motor overload retention feature populates.
• You can write to the InitialMotorCapacity attribute only in the Stopped state after
power-up
• You cannot write to the InitialMotorCapacity attribute after the first time the axis is
enabled following a power cycle.
Use a message instruction to write to the InitialMotorCapacity value.
In this example, the source element tag motorcapacity is a REAL data type.

Phase Loss Detection The phase-loss detection feature is designed to determine if motor power wiring is electrically
connected to a motor and that reasonable current control exists. This attribute enables the
operation of the drive's torque proving functions that work in conjunction with mechanical
brake control.
When the ProvingConfiguration attribute is enabled, the drive performs a torque prove test of
the motor current while in the Starting state to prove that current is properly flowing through
each of the motor phases before releasing the brake. If the Torque Prove test fails, the motor
brake stays engaged and an FLT-S09 Motor Phase Loss exception (fault) is generated.
IMPORTANT The mechanical brake must be set as soon as the drive is disabled.
When the brake is under the control of the axis state machine, this is
automatic. But, when controlled externally, failure to set the brake
when the drive is disabled can cause a free-fall condition on a
vertical application.
Table 99 - Phase-loss Detection Startup Sequence

Startup Phase Description
When the drive receives an enable request, the Starting state begins execution and torque
Phase 1 proving starts.
The torque proving feature ramps current to the motor-phase output connector and verifies
Phase 2 that the current feedback circuitry detects current on each of the phases.
Once motor-current feedback has been verified in each motor phase, the drive attempts to
Phase 3 enable the current control loop at a user-specified current level, and verifies that the current-
loop error tolerance is within range.
Torque proving is available for all motoring configurations including closed-loop servo control
and induction motors.
For permanent magnet (PM) motors, the drive attempts to apply current to the motor phases
such that all current through the motor is flux current. However, due to the electrical angle of
the motor at the time of the MSO instruction, it may not be possible to verify the motor phase
wiring with only flux current. Therefore, with a PM motor it is possible that the motor shaft can
move slightly during torque proving if no motor brake exists to hold the load.
Phase-loss Detection Attributes

0 = Disabled
590 SSV ProvingConfiguration 1 = Enabled
% Motor Rated
Units: Amps
591 SSV TorqueProveCurrent Default: 0.000
Min/Max: 0/10,000

Phase-loss Detection Configuration

Follow these steps to configure the phase-loss detection attributes.
2. Select the Parameter List category and scroll to ProvingConfiguration.
3. From the ProvingConfiguration dropdown menu, choose Enabled to enable the torque
proving feature.
4. Enter a value in the TorqueProveCurrent attribute appropriate for your application.

5. Click OK.
The TorqueProveCurrent attribute is active only if ProvingConfiguration is set to Enabled.

TorqueProveCurrent lets you specify the amount of current that is used during the torque
proving test and calculated as a percentage of motor rating. The higher the
TorqueProveCurrent value the more current the drive delivers to the motor to verify that the
motor phase wiring is available and capable of that current level. High current levels
conversely cause more thermal stress and (potentially) can cause more torque to be driven
against the motor brake during the test. If the TorqueProveCurrent level selected is too small,
the drive cannot distinguish the proving current from noise, and in this case the drive posts an
INHIBIT M04 torque proving configuration fault code. The minimum amount of torque proving
current depends on the catalog number of the drive.

Phase Loss Detection Current Example

In this example, a 2198-H040-ERSx servo drive is paired with a
VPL-B1003T-C motor with 9.58 A rms rated current. Use the phase-loss detection equation and
table to calculate the initial minimum torque proving current as a percentage of motor rated
current. Depending on the unique characteristics of your application, the required torque
proving current value can be larger than the initial recommended value.
Figure 136 - Phase-loss Detection Equation
Rating From Table 3.268 A
x 100 = x 100 = 34.11% motor rated current
Motor Rated Current 9.58 A
Table 100 - Recommended Phase-loss Detection Current

Phase-loss Detection Current, Min
Drive Cat. No. A, rms
2198-H003-ERSx 0.2514
2198-H008-ERSx 0.6285
2198-H015-ERSx 1.257
2198-H025-ERSx 2.011
2198-H040-ERSx 3.268
2198-H070-ERSx 5.782
Velocity Droop The velocity droop function can be useful when some level of compliance is required due to
rigid mechanical coupling between two motors. The feature is supported when the axis is
configured for Frequency Control, Velocity Control, or Position Control.
Closed Loop Control

The closed-loop velocity droop function is supported when configured for either Velocity or
Position control. The velocity error input to the integral term is reduced by a fraction of the
velocity regulator’s output, as controlled by the VelocityDroop attribute. Therefore, as torque
loading on the motor increases, actual motor speed is reduced in proportion to the droop gain.
This is helpful when some level of compliance is required due to rigid mechanical coupling
between two motors.
IMPORTANT The closed-loop velocity droop function acts to reduce the velocity
error input to the integral term, but never changes the polarity of the
velocity error.
IMPORTANT When configured for closed-loop control, the units of the

VelocityDroop attribute are Velocity Control Units / Sec / % Rated
Torque.

Frequency Control
The velocity droop function is also supported when configured for Frequency Control. As the
estimated Iq current within the motor increases, the velocity reference is reduced in
proportion to the VelocityDroop attribute. Therefore, as torque loading on the motor increases,
actual motor speed is reduced in proportion to the droop gain. This is helpful when some level
of compliance is required due to rigid mechanical coupling between two motors.
IMPORTANT The frequency-control velocity droop function acts to reduce the

velocity reference, but never changes the direction of the velocity
reference.
IMPORTANT When configured for frequency control, the units of the VelocityDroop
attribute are Velocity Control Units / Sec / % Rated Iq Current.
Velocity Droop Attribute

464/321 SSV Velocity Droop Velocity Units / Sec / % Rated
Velocity Droop Configuration

Follow these steps to configure the velocity droop attribute.
2. Select the Parameter List category and scroll to VelocityDroop.
3. Enter a value in the Velocity Droop attribute appropriate for your application.
4. Click OK.

Commutation Test The commutation test determines an unknown commutation offset and can also be used to
determine the unknown polarity of the start-up commutation wiring. You can also use the
commutation test to verify a known commutation offset and the polarity start-up
commutation wiring.
IMPORTANT For Kinetix 5500 drives, this test applies to only third-party motors.
IMPORTANT When motors have an unknown commutation offset and are not listed in
the Motion Database by catalog number, you cannot enable the axis.
Figure 137 - Hookup Tests - Commutation Tab
To run the commutation test, see Test the Axes on page 136.
Adaptive Tuning The adaptive tuning feature is an algorithm inside the Kinetix 5500 servo drives. The algorithm
continuously monitors and, if necessary, adjusts or adapts various filter parameters and, in
some cases, control-loop gains to compensate for unknown and changing load conditions
while the drive is running. Its primary function is to:
• Automatically adjust torque-loop notch and low-pass filter parameters to suppress
resonances
• Automatically adjust control-loop gains to avoid instability when detected
See Motion System Tuning Application Techniques, publication MOTION-AT005, for more
information on the AdaptiveTuningConfiguration attribute.

Notes:

Appendix E
History of Changes
This appendix contains the new or updated information for each revision of this publication.
These lists include substantive updates only and are not intended to reflect all changes.
Translated versions are not always available for each revision.
2198-UM001M-EN-P
2198-UM001M-EN-P, November 2022
Change
Added UK (or UKCA) certification.
Changed the drive-to-motor maximum cable lengths for continuous flex cables.
2198-UM001L-EN-P
2198-UM001L-EN-P, February 2022
Change
Updated guidance for downloading fault code and parameter spreadsheets.
Replaced LDAT-Series with Kinetix LDAT.
Replaced Bulletin 2090 and 2090-Series with Kinetix 2090.
Added Download Firmware, AOP, EDS, and Other Files section to Preface.
Added Access Fault Codes section to Preface.
Added publication 2198-RD005 to Additional Resources table.
Updated phase-loss detection equation in the Phase Loss Detection Current Example section.
2198-UM001K-EN-P
2198-UM001K-EN-P, November 2021
Change
Added publication month and year to page footers.
Added GuardLogix 5580 and Compact GuardLogix 5380 controller numbers to the Important table content.
Added GuardLogix 5580, Compact GuardLogix 5380, ControlLogix 5580, and CompactLogix 5380 controllers to the
Important table content.
Added 140UT- catalog numbers to the various Drive Systems tables, and to the two Shared AC/DC and Hybrid
Systems tables.
2198-UM001J-EN-P
2198-UM001J-EN-P, November 2019
Change
Added reference to Knowledgebase article for fault codes and descriptions.
Added Kinetix 5700 drive compatibility with 2090-CSxM1xx-xxVAxx (PVC) and 2090-CSBM1xx-xxLFxx (Halogen-free
PUR) single motor-cables.

Appendix E History of Changes
2198-UM001I-EN-P
2198-UM001I-EN-P, May 2019
Change
Added Access the Attachments that explains how the fault code tables (FLT Sxx, FLT Mxx, and INIT FLT for
example), previously in Troubleshoot the Kinetix 5500 Drive System (chapter 7), moved to the attached
spreadsheet.
Added Kinetix VPH hygienic stainless-steel servo motors as another rotary motor compatible with Kinetix 5500
servo drives.
Added Kinetix VPAR electric cylinders as another linear actuator compatible with Kinetix 5500 servo drives.
Added 2198-DBRxx-F AC line filters.
Added 24V Control Power Evaluation with information to help evaluate 24V control power current requirements.
Added Contactor Selection with information to help evaluate AC input power system requirements.
Added Passive Shunt Considerations with information to help evaluate when an external shunt resistor is required.
Added the 2198-CAPMOD-1300 capacitor module power dissipation specifications to the table.
Moved Capacitor Module Features and Indicators (previously in Chapter 5) to Chapter 4.
Added Module Status Connector Pinout.
Added new information regarding the use of 2198-DBRxx-F AC line filters and servo drive ground screw settings.
Updated the maximum input current rating (40 A) for the 24V input power shared-bus connection system.
Updated Install the Kinetix 5500 Add-On Profile with instructions for accessing downloads on the Product
Compatibility Download Center (PCDC).
Added step 5 to the Tune the Axes procedure.
Updated Motor Analyzer Category Troubleshooting with rated slip-speed information.
Added links to the Product Certifications website to Chapter 9 and Chapter 10 replacing the Certifications
appendix.
2198-UM001H-EN-P
2198-UM001H-EN-P, November 2016
Change
Added the CompactLogix™ 5380 controller to safe torque-off configurations.
Updated drive system pollution degree 2 and IP20 specifications.
Updated circuit breaker/fuse specifications with additional circuit-breaker solutions.
Added Registration Accuracy value to digital input specifications table.
Updated Absolute Position table and figure with Kinetix VPL and Kinetix VPF multi-turn encoder motors and made
corrections to other motor/actuator specifications where needed.
Added the CompactLogix 5380 controller to safe torque-off configurations.
Added Protected Mode menu settings to LCD display navigation tables.
Updated Kinetix 5500 Add-on Profile information for drive firmware 7.001
Updated dialog boxes with active attributes for drive firmware 7.001, removed work-around procedures, and
added CurrentVectorLimit parameter to steps.
Added software overtravel fault-code information to Fault Codes introductory text.
Added fault code FLT S02 and other drive firmware 7.001 changes.
Updated FLT S47 FDBK DEVICE FAILURE with Hiperface Feedback sub-codes.
Added fault code INHIBIT S04 COMMUTATION NOT CONFIGURED.
Updated General Troubleshooting with Adaptive Tuning attributes.
Updated Configurable Stopping Actions table with footnote for Current Limiting feature.
Added fault-code FLT S02 drive behavior and updated drive behavior for several other fault codes.
Added references to publications 1756-UM022 and 1769-UM022.
Updated system requirements with important axis-state information for drives and Protected Mode.
Updated Current Limiting for Frequency Control with changes in drive firmware 7.001.
Updated Motor > Model Category text with changes in drive firmware 7.001.
Updated Motor Tests and Autotune Matrix table with changes in drive firmware 7.001.
Updated Motor Analyzer Category Troubleshooting with changes in drive firmware 7.001.
Added Motion Polarity Setting with changes in drive firmware 7.001.
Updated Motor Overload Retention with changes in drive firmware 7.001.

2198-UM001G-EN-P
2198-UM001G-EN-P, March 2016
Change
Updated Drive-to-Motor Maximum Cable Length table with the 2090-CSBM1E1 cable.
Updated Transformer Selection with line reactor requirements.
Updated IEC (non-UL) Circuit Breaker/Fuse Selection table with DIN gG fuses.
Updated Kinetix 5500/5700 Add-On Profile with changes for revision 5.001.
Updated the Revision field with firmware revision 5.001 and added step 4d.
Added Current Limiting for Frequency Control (new feature with drive firmware 5.001).
Added Stability Control for Frequency Control (new feature with drive firmware 5.001).
Revised the Motor Analyzer Category Troubleshooting content to increase understanding.
Added Commutation Test to Hookup Tests category (new feature with drive firmware 5.001).
2198-UM001F-EN-P
2198-UM001F-EN-P, December 2015
Change
Updated references to compatible Logix 5000™ PAC controllers. Added compatibility with ControlLogix® 5580
controllers.
Added support for using 2090-CSxM1DG cables with Kinetix 5500 servo drives.
Added ControlLogix 5580 controller to Ethernet Cable Connections.
Added link and installation information for the Kinetix 5500/5700 Add-on Profile available with drive firmware
4.001.
Added Configure Feedback-only Axis Properties.
Added Configure Induction-motor Frequency-control Axis Properties with support for Basic Volts/Hz, Sensorless
Vector, and Fan/Pump Volts/Hz methods available with drive firmware 4.001.
Added Tune Induction Motors.
Updated fault memory description to reflect 128 fault log.
Updated Appendix D with support information for new features available with drive firmware 4.001.
2198-UM001E-EN-P
2198-UM001E-EN-P, September 2015
Change
Added table to Conventions to better define -ERS and -ERS2 catalog number strings.
Added Motor Feedback and Feedback-only Configurations to better describe how feedback connector kits and
cables are used.
Updated drive-to-drive Ethernet cables with 0.15 mm (6.0 in.) catalog number.
Updated cable length table with limitations for 2090-CSxM1DF 10 AWG cables.
Updated panel requirements with protection class IP20 and pollution degree 2 specifications. Updated Ethernet
cable bullet to say cables must be shielded.
Updated Circuit Breaker/Fuse Selection tables with replacement circuit breaker catalog numbers.
Updated Digital Inputs Connector Pinouts with configurable I/O content.
Added ATTENTION statement to Motor Power connector pinouts.
Updated Digital Input tables with new configurable features.
Updated Motor Brake Circuit with additional motor brake control information.
Updated the input power section for consistency with other drive-family user manuals. Added an impedance-
grounded power configuration, single-phase grounded configuration, and leakage current information.
Updated the shield clamp procedure with additional retention screw details.
Added Induction Motor specifications table.
Updated IMPORTANT statement with limitations for 2090-CSxM1DF 10 AWG cables.
Updated the shield clamp procedure with additional retention screw details.
Updated drive configuration dialog boxes with changes for Studio 5000 Logix Designer® application, version 27,
throughout Chapter 6.
Updated Tune the Axes with load observer information.
Added ATTENTION statement regarding bus-sharing groups.

2198-UM001E-EN-P, September 2015 (Continued)

Change
Added Kinetix 5500 Drive Exception Action Definitions table.
Updated stopping actions in Drive Behavior table.
Updated STO State Reset for new safe torque-off functionality.
Updated Appendix E with new safety certificate and declaration of conformity documents.
Updated Appendix F with Summary of Changes from publication 2198-UM001D-EN-P.
Updated Fault Codes summary table and fault code tables
Added Kinetix 5500 Drive Exception Action Definitions table
Updated stopping actions in Drive Behavior table
Updated STO State Reset for new safe torque-off functionality
Updated Appendix E with new safety certificate and declaration of conformity documents
Updated Appendix F with Summary of Changes from publication 2198-UM001D-EN-P
2198-UM001D-EN-P
2198-UM001D-EN-P, May 2014
Change
Replaced catalog number string 2198-Hxxx-ERS with 2198-Hxxx-ERSx when there’s no need to distinguish between
-ERS or -ERS2.
Added footnotes and other text to note that STO connector does not apply to 2198-Hxxx-ERS2 drives.
Added references to the Hiperface-to-DSL (series B) feedback converter kit as needed.
Added Kinetix VPF food-grade motors as compatible with Kinetix 5500 drives throughout the manual.
Added Kinetix LDAT integrated linear thrusters as compatible with Kinetix 5500 drives throughout the manual.
Added 2198-Hxxx-ERS2 catalog numbers throughout the manual.
Added Safe Torque-off Configurations.
Corrected the short-circuit current rating from 150,000 to 200,000 A.
Updated the Absolute Position Feature section with multi-turn catalog number strings for compatible motors and
actuators.
Updated Ethernet Cable Connections with ControlLogix EtherNet/IP communication modules.
Updated controller configuration by adding GuardLogix controller and ControlLogix EtherNet/IP communication
module configuration.
Broke out Configure the Kinetix 5500 Drive with separate procedures for 2198-Hxxx-ERS and
2198-Hxxx-ERS2 servo drives.
Updated Tune the Axes with a reference to the load observer feature.
Added FLT-S04 - MTR OVERSPEED UL fault code.
Added FLT S09 – MTR PHASE LOSS fault code.
Added FLT S49 – BRAKE SLIP FLT fault code.
Added FLT-M28 - SAFETY COMM fault code.
Added INIT FLT-M14 - SAFETY FIRMWARE fault code.
Updated NODE FLT fault codes.
Added NODE FLT 03 – HARDWARE 04 fault code.
Added NODE ALARM 04 – CLOCK SKEW ALARM.
Updated the configurable stopping action definitions.
Added FLT-S04 - MTR OVERSPEED UL fault behavior.
Added FLT S15 – CONV OVERCURRENT fault behavior.
Added FLT S49 – BRAKE SLIP FLT fault behavior.
Added FLT-M28 - SAFETY COMM fault behavior.
Added NODE FLT 05 – CLOCK SKEW FLT fault behavior
Updated System Operation timing diagram with 100 ms.
Added Chapter 10, Kinetix 5500 Safe Torque-off - Integrated Safety.

2198-UM001C-EN-P
2198-UM001C-EN-P, February 2014
Change
Added Hiperface-to-DSL feedback converter kit throughout the manual, as needed.
Added Kinetix VPS stainless-steel servo motors as another rotary motor compatible with Kinetix 5500 servo
drives.
Updated Configure Feedback Only Axis Properties to include the Bulletin 842E-CM integrated motion encoder on
the EtherNet/IP network.
Added History of Changes appendix.
2198-UM001B-EN-P
2198-UM001B-EN-P, September 2013
Change
Added capacitor module shared-bus replacement kit to System Overview table.
Added Drive-to-Motor Maximum Cable Lengths table to CE requirements.
Added IMPORTANT advisory regarding non-UL Listed circuit breakers.
Updated Circuit Breaker Selection tables with Allen-Bradley catalog numbers.
Updated Connection System Example diagram with DC bus T-connector removal instructions.
Updated Wire the Motor Power, Brake, and Feedback Connectors with continuous-flex cable catalog numbers and
IMPORTANT advisory regarding single-cable technology.
Updated NODE FLT 03 HARDWARE 01 and added sub-codes HARDWARE 02 and HARDWARE 03.
Added IMPORTANT advisory regarding DC bus T-connector removal.
Updated Energy Absorbing Potential table with External Shunt values.

Notes:

Index
Numerics bus-sharing
group 119
2090-CSBM1DF 16, 83 group example 134
2090-CSBM1DG 16, 83 groups 133
2198-CAPMOD-1300 29
2198-DBRxx-F 16
2198-DBxx-F 16 C
2198-H2DCK 15, 22, 67, 88, 97 cables
2198-KITCON-DSL 15, 22, 85 catalog numbers 83, 89, 95
24V input power connector categories 44
Ethernet cable length 100
evaluation 36 induction motors 89
pinouts 62
shield clamp 86, 93, 96
wiring 80
calculate model 229
capacitor module 192
A catalog number 29
description 15
about this publication 11
interconnect diagram 181
absolute position feature 67 status indicator 147
AC line filters support 51
2198-DBRxx-F 16 wiring 98
2198-DBxx-F 16 catalog numbers
noise reduction 44 capacitor module 29
actions category 130 motor cables 83, 89, 95
adaptive tuning 243 servo drives
Add-on Profile 88, 108 hardwired 29
integrated 29
alarm 149
shared-bus connection system 29
application requirements 165 category 3
applying power 132 requirements 158, 166
associated axes tab 117 stop category definitions 158, 166
audience for this manual 11 CE
axis properties 121, 122, 127 compliance 30
axis unstable 147 certification
application requirements 165
PL and SIL 158, 167
B TÜV Rheinland 157, 165
user responsibilities 157, 165
basic volts/hertz 123, 213 website 157, 165
BC connector circuit breaker selection 33
pinouts 63 clamp 86, 93, 96
wiring 84, 89 commutation offset 137, 243
Beldon 89
CompactLogix
block diagrams
Ethernet connections 100
capacitor module 192 compatibility
power 191
bonding motor feedback 127
EMI (electromagnetic interference) 40
examples 41
high frequency energy 42
subpanels 42
brake relay 65
Bulletin
MPAI electric cylinders 22
MPAR electric cylinders 22
MPAS linear stages 22
bus
configuration 119
regulator 119

Index
configuring controller
basic volts/hertz 123 and drive behavior 149
controller 109 CompactLogix 109
fan/pump volts/hertz 126 configure 109
feedback-only axis 118, 121 ControlLogix 109
flux up 225 properties
frequency control category 123, 124, 126 date/time tab 111
general category 121, 122 enable time synchronization 111
hardwired 112 ControlLogix
home screen 102 Ethernet connections 100
hookup test 137 conventions used in this manual 11
induction motor tuning 141 converter kit
induction-motor frequency-control axis 122
integrated safety 114 2198-H2DCK 88
IP address 107 cable lengths, max 83, 91
Logix 5000 communication 193 cable preparation
master feedback 121 motor feedback 96
menu screens 103 motor power/brake 91
module properties 113, 114, 116, 117, 118 description 15
inhibit module 195 Kinetix 5500 AOP 88
motion group 120 CP connector
motor pinouts 62
category 226 wiring 80
test 136 current limiting 216
motor category 122 current regulator loop 225
motor feedback 127
motor>analyzer category 125
network parameters 107 D
parameter list category 123, 124, 126
power tab date/time tab 111
bus-sharing group example 134 DC bus connector
bus-sharing groups 133 pinouts 62
sensorless vector 124 delay times 131
servo motor axis digital inputs 64
actions category 130 pinouts 62
delay times 131 wiring 82
general category 127 disable 149
load category 129
motor category 128 display 102
parameter list category 131 download program 131
scaling category 129 drilling hole patterns 51
setup screens 104 drive replacement
SLAT 235 integrated safety 171
SPM motor closed-loop axis properties 127 dynamic motor test 229
startup sequence 106
torque proving 240
velocity droop 242
connecting E
CompactLogix 100 earth ground 76
ControlLogix 100 EMC
converter kit shield clamp 96 motor ground termination 86
Ethernet cables 100 EMI (electromagnetic interference)
motor shield clamp 86, 93 bonding 40
connector kit enable time synchronization 111
2198-H2DCK 88 enclosure
2198-KITCON-DSL 85
connector locations power dissipation 38
requirements 31
servo drives 60 sizing 38
control power encoder support
input specifications 66 DSL 67
pinouts 62 energy calculations 209
system calculations 208
wiring 80 erratic operation 148
ControlFLASH Ethernet connector
firmware update 193 pinouts 63
firmware upgrade 193 EtherNet/IP
troubleshooting 198 connecting cables 100
connections 65
PORT1 and PORT2 connectors 100
Index
external shunt resistor 45, 46 attributes 224

pinouts 62 frequency-control axis 122
wiring 99 motor
analyzer category 227
and inertia tests 228
F data sheet 226
model category 227
fan/pump 214 multiple skip speed 222
fan/pump volts/hertz 126 open-loop frequency control 212, 216, 219
fault skip speed 221
code summary 144 SLAT 234
codes 144 inhibit module 195
status only 149 input power wiring
feedback 24V control 80
configurations 22 3-phase delta 72
feedback-only axis 118 determine input power 71
grounding technique 185 grounded power configuration 71
feedback-only axis 121 grounding screws 75
firmware update 193 mains 81
verify update 199 remove grounding screws 75
firmware upgrade ungrounded power configuration 73
installing drive accessories
ControlFLASH software 193
system requirements 193 AC line filters 44
flux up 223 external shunt resistor 45, 46
installing your drive 31
attributes 224
frequency control category 123, 124, 126 bonding examples 41
bonding subpanels 42
fuse selection 33 cable categories 44
circuit breakers 33
clearance requirements 39
G fuse selection 33
general HF bonding 40
category 121, 122, 127 passive shunts 37
tab 113, 114 system mounting requirements 31
grounded power configuration 71 transformer 33
integrated safety
grounding
connections 114
multiple subpanels 77 drive replacement 171
screws 75 out-of-box state 169
protocol 173
STO state reset 167
H integrated STO 27, 28
hardwired connections 112 interconnect diagrams
hardwired STO 26 2198 drive with LDAT 188
HF bonding 40 2198 drive with MPAR/MPAI 190
high frequency energy 42 2198 drive with MPAS 189
Hiperface-to-DSL feedback converter kit 88 2198 drive with MPL/MPM/MPF/MPS 186
2198 drive with VPAR 187
hole patterns 51 2198 drive with VPL/VPF/VPH/VPS 185
home screen bus-sharing drives
soft menu 102 shared AC 182
hookup test 137, 243 shared AC/DC 182
shared AC/DC hybrid 183
shared DC 183
I capacitor module 181
feedback grounding technique 185
I/O notes 179
digital inputs specifications 64 shunt resistor 184
IEC 61508 158, 167 single-axis drive
IEC 62061 158, 167 single-phase 181
ignore 149 three-phase 180
induction motor control 89 IOD connector
configure flux up 225 pinouts 62
control methods wiring 82
basic volts/hertz 213 IP address 107
fan/pump 214 IPD connector
sensorless vector 215 pinouts 61
flux up 223 wiring 81

Index
ISO 13849-1 CAT 3 motor

requirements 158, 166 analyzer category 125, 227
stop category definitions 158, 166 category 122
data sheet 226
feedback compatibility 127
K model category 227
Kinetix 5500 15 motor and inertia tests 228
overload retention 238
Kinetix LDAT linear thruster 22 thermal models 231
Kinetix VP electric cylinders 22 motors
accel/decel problems 147
brake connector
L pinouts 63
Lapp 89 wiring 84, 89
LCD display 102 cable catalog numbers 83, 89, 95
cable length 30, 31, 83, 91
messages 144 category 128
LDAT linear thruster feedback connector
Kinetix 22 pinouts 63
linear actuators wiring 85, 94
interconnect diagram ground termination 86
LDAT 188 induction 89
MPAR/MPAI 190 interconnect diagram
MPAS 189 MPL/MPM/MPF/MPS 186
link VPL/VPF/VPH/VPS 185
link/activity status indicator 146 overheating 148
speed status indicator 146 power connector
load category 129 pinouts 63
load observer 138 wiring 83, 89
shield clamp wiring 86, 93, 96
Logix 5000 communication 193 testing 136
Logix Designer 107 tuning 136
Logix Designer application 109 velocity 148
mounting your capacitor module
mounting order 48
M mounting your drive
mains input power connector attaching to the panel 58
pinouts 61 drilling hole patterns 51
wiring 81 mounting order 48
major fault 149 shared-bus connection system 49
single-axis 50
master feedback 121 zero-stack tab and cutout 48
menu screens 103 MP connector
MF connector pinouts 63
pinouts 63 wiring 83, 89
wiring 85, 94 MPAI electric cylinders 22
minor fault 149 MPAR electric cylinders 22
module definition 113, 114 MPAS linear stages 22
module properties MS connector
associated axes tab 117 pinouts 61
general tab 113, 114 multiple skip speed 222
module definition 113, 114
new tag 117
power tab 118 N
safety tab 116
module status connector navigation buttons 102
pinouts 61 network
module status indicator 146 parameters 107
Motion Analyzer website 12 status indicator 146
motion direct commands new tag
STO bypas 173 data type 117
warning messages 174 noise
motion group 120 abnormal 148
feedback 148
reduction 44

Index
O sensorless vector 124, 215

open-loop frequency control 212 setup screens 104
shared AC
out-of-box state 169
configurations 201
interconnect diagram 182
P shared AC/DC
configurations 204
panel requirements 31 interconnect diagram 182
parameter list category 123, 124, 126, 131 power sharing example 208
passive shunt shared AC/DC hybrid
use cases 37 configurations 205
PFH definition 161, 168 interconnect diagram 183
pinouts power sharing example 207
shared DC
24V input power connector 62
DC bus connector 62 configurations 202
digital inputs connector 62 interconnect diagram 183
Ethernet connector 63 power sharing example 206
mains input power connector 61 shared-bus
module status connector 61 configurations 201
motor brake connector 63 connection system 49
motor feedback connector 63 catalog numbers 29
motor power connector 63 guidelines 201
safe torque-off 161 shield clamp 86, 93, 96
shunt connector 62 shunt connector
planning your installation 31 pinouts 62
power dissipation 38 wiring 99
power tab shunt resistor
bus configuration 119 interconnect diagram 184
bus regulator 119 shunts
bus-sharing passive 37
group 119 shutdown 149
group example 134 sizing
groups 133
power structure 118 control power 208
energy calculations 209
power up 132
power sharing examples
product selection website 12 shared AC/DC 208
shared DC 206
R shared-bus configurations 201
rated slip speed 229 shared AC 201
shared AC/DC 204
regenerative energy 209
remove grounding screws 75 shared DC 202
remove/replace drive shared-bus guidelines 201
remove drive 155 skip speed 221
remove power 154 SLAT 232
replace drive 155 attributes 234
startup and configure 156 configuring 235
routing power and signal wiring 70 slip test messaging 230
soft menu
S home screen 102
software
SAB 89 Logix Designer application 109
safe torque-off 162 specifications
bypass wiring 163 brake relay 65
cascaded wiring 164 control power input 66
configurations digital inputs 64
hardwired 26 EtherNet/IP connections 65
integrated 27, 28 motor feedback
operation 159, 167 absolute position 67
PFH 161, 168 Stegmann DSL 67
pinouts 161 safe torque-off 68, 164, 177
specifications 68, 164, 177 speed limited adjustable torque 232
safety SPM motor closed-loop axis properties 127
tab 116 stability control 219
scaling category 129

Index
startup sequence 106 no rotation 148

static motor test 229 ignore 149
status indicators LCD display messages 144
link speed status indicator 146
capacitor module 147 link/activity status indicator 146
link speed status 146 major fault 149
link/activity status 146 minor fault 149
module status 146 module status indicator 146
network status 146 network status indicator 146
STO safety precautions 143
bypass 173 shutdown 149
connector pinouts 161 status indicators 146
connector wiring 162 stop
state reset 167 drive 149
stop planner 149
drive 149 tuning
planner 149 induction motor 141
Studio 5000 Logix Designer 107 PM motor 138
system tuning axes
block diagrams load observer 138
capacitor module 192 typical installation
power 191 EtherNet/IP 23, 24, 25
components 15 shared AC 18
ground 76 shared AC/DC 19
mounting requirements 31 shared AC/DC hybrid 21
overview shared DC 20
EtherNet/IP 23, 24, 25 standalone 17
shared AC 18
shared AC/DC 19
shared AC/DC hybrid 21 U
shared DC 20
standalone 17 UK
compliance 30
ungrounded power configuration 73
T use cases
testing axes passive shunt 37
hookup test 137 user responsibilities 165
time synchronization 111
torque proving 238
attributes 238
V
configuring 240 velocity droop 241
training 11 attribute 242
transformer sizing 33 configure 242
troubleshooting verify update 199
alarm 149 voltage drop
capacitor module status 147 24V input power 36
ControlFLASH 198
controller/drive fault behavior 149
disable 149 W
fault website
code summary 144 certifications 157, 165
codes 144 Motion Analyzer 12
status only 149 product selection 12
general system problems 147
abnormal noise 148
axis unstable 147
erratic operation 148
feedback noise 148
motor accel/decel 147
motor overheating 148
motor velocity 148

Index
wiring
BC connector 84, 89
capacitor module 98
converter kit shield clamp 96
CP connector 80
earth ground 76
Ethernet cables 100
external shunt resistor 99
grounded power configuration 71
grounding screws 75
guidelines 79
input power type 71
IOD connector 82
IPD connector 81
MF connector 85, 94
motor cable shield clamp 86, 93
MP connector 83, 89
RC connector 99
remove grounding screws 75
requirements 70, 78
routing power and signal wiring 70
safe torque-off bypass 163
safe torque-off cascaded 164
STO connector 162
ungrounded power configuration 73
Z
zero-stack tab and cutout 48

Index
Notes:

Kinetix 5500 Servo Drive User Manual
Notes:

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Publication 2198-UM001N-EN-P - September 2024

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This manual links to Kinetix 5500 Servo Drive Fault Codes Reference Data,

Kinetix 5500 Servo Drive

User Manual Original Instructions

Important User Information

The following icon may appear in the text of this document.

2 Rockwell Automation Publication 2198-UM001N-EN-P - September 2024

Rockwell Automation Publication 2198-UM001N-EN-P - September 2024 3

4 Rockwell Automation Publication 2198-UM001N-EN-P - September 2024

Maximum Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Rockwell Automation Publication 2198-UM001N-EN-P - September 2024 5

6 Rockwell Automation Publication 2198-UM001N-EN-P - September 2024

Understand Integrated Safety Drive Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

Rockwell Automation Publication 2198-UM001N-EN-P - September 2024 7

Enable the Current Limiting Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218

Access Fault Codes List

Rockwell Automation Publication 2198-UM001N-EN-P - September 2024 11

12 Rockwell Automation Publication 2198-UM001N-EN-P - September 2024

Table 1 - Additional Resources (Continued)

Rockwell Automation Publication 2198-UM001N-EN-P - September 2024 13

14 Rockwell Automation Publication 2198-UM001N-EN-P - September 2024

Rockwell Automation Publication 2198-UM001N-EN-P - September 2024 15

Table 2 - Kinetix 5500 Drive System Overview (Continued)

16 Rockwell Automation Publication 2198-UM001N-EN-P - September 2024

and Motor Brake Power

Rockwell Automation Publication 2198-UM001N-EN-P - September 2024 17

Line Bonded Cabinet

Shared 24V (control power input)

and Motor Brake Power

AC Input Power (2198-H008-ERS drives shown)

18 Rockwell Automation Publication 2198-UM001N-EN-P - September 2024

Shared AC/DC Configurations

Line Bonded Cabinet

and Motor Brake Power

Kinetix 5500 Servo Drives (front view)

Digital Inputs 2097-Rx

Rockwell Automation Publication 2198-UM001N-EN-P - September 2024 19

Shared DC Common-bus Configurations

Line Bonded Cabinet

Shared DC (DC common bus)

and Motor Brake Power

Kinetix 5500 Servo Drive System (front view)

Digital Inputs 2097-Rx

IMPORTANT In shared DC common-bus configurations, the leader drive power rating

20 Rockwell Automation Publication 2198-UM001N-EN-P - September 2024

Shared AC/DC Hybrid Configuration

Line Bonded Cabinet

and Motor Brake Power

(customer-supplied) Input Kinetix 5500 Servo Drive System (front view)

Rockwell Automation Publication 2198-UM001N-EN-P - September 2024 21

Kinetix VPAR Electric

Kinetix VP Rotary Motors

Kinetix MPL, MPM, MPF, and

2198-H2DCK Converter Kit

Kinetix MPAS Linear Actuators

Induction Rotary Motors

22 Rockwell Automation Publication 2198-UM001N-EN-P - September 2024

See CompactLogix Controllers Specifications Technical Data, publication

CompactLogix 5370 Controller Studio 5000 Logix Designer

Kinetix 5500 Servo Drive System

Rockwell Automation Publication 2198-UM001N-EN-P - September 2024 23