Ultra 3000 to Kinetix 5500

Migration Guide
Ultra3000 Digital Servo Drives to Kinetix 5500 Servo Drives

Important User Information
Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to
familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws,
and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required
to be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be
impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the
use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or
software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment,
which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous
voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may
reach dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to
potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL
Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).
Allen-Bradley, Rockwell Automation, and Kinetix are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Table of Contents
Preface Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Kinetix 5500 Servo Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Kinetix 5500 Servo Drive Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Kinetix 5500 Servo Drive Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Kinetix 5500 Servo Drive Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Pre-migration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Chapter 1
Servo Drive and System Engineering Effort and Product Liability . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Considerations Migration Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Controller, Ethernet Cards, and Switches . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Physical Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Control and Auxiliary Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Circuit Protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Control Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Safe Torque-off Safety Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Chapter 2
Servo Drive and System Comparisons Drive Sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Output Current Comparison. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Dimension Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Ultra3000 (230V) Drive Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Ultra3000 (460V) Drive Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Kinetix 5500 Servo Drive Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . 25
AC Input Power Wiring and Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
AC Input Power Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Circuit Breaker and Fuse Considerations . . . . . . . . . . . . . . . . . . . . . . . 31
Drive Interconnects and Cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Motor Power and Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Ultra3000 Servo Drives Motor Power . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Ultra3000 Servo Drive Feedback Connector. . . . . . . . . . . . . . . . . . . . 36
Kinetix 5500 (200V-class operation) Servo Drives with
Kinetix VP Low Inertia Motors . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Kinetix 5500 (400V-class operation) Servo Drives with
Kinetix VP Low Inertia Motors . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Kinetix 5500 Servo Drive Hiperface-to-DSL Feedback
Converter Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Rockwell Automation Publication 2098-AP002A-EN-P - September 2014 3

Table of Contents
Digital I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Ultra3000 Servo Drive Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Ultra3000 Servo Drive Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Kinetix 5500 Servo Drive Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . 41
Typical System Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Ultra3000 Servo Drive System Example . . . . . . . . . . . . . . . . . . . . . . . . 43
Kinetix 5500 Servo Drive System Example . . . . . . . . . . . . . . . . . . . . . . 44
Accessories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Ultra3000 Servo Drive Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Kinetix 5500 Servo Drive Accessories. . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Appendix A
Connectors and Field Connections Connector Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Ultra3000 Servo Drive Connector Data . . . . . . . . . . . . . . . . . . . . . . . . 49
Kinetix 5500 Servo Drive Connector Data . . . . . . . . . . . . . . . . . . . . . . 51
Input and Motor Power Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . 52
Encoder Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
I/O Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Appendix B
About the Servo Drive System About the Ultra3000 Servo Drive System. . . . . . . . . . . . . . . . . . . . . . . . . . . 57
About the Kinetix 5500 Servo Drive System . . . . . . . . . . . . . . . . . . . . . . . . 58
Appendix C
Specifications Power Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Ultra3000 (230V) Servo Drive Power Specifications . . . . . . . . . . . . . 59
Ultra3000 (460V) Servo Drive Power Specifications . . . . . . . . . . . . . 60
Kinetix 5500 Servo Drive Input Power Specifications . . . . . . . . . . . . 62
Kinetix 5500 Servo Drive Output Power Specifications . . . . . . . . . . 63
Control and Auxiliary Power Specifications. . . . . . . . . . . . . . . . . . . . . . . . . 64
Ultra3000 Servo Drive Auxiliary Power Specifications . . . . . . . . . . . 64
Kinetix 5500 Servo Drive Control Power Specifications. . . . . . . . . . 65
Power Dissipation Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Ultra3000 Servo Drive Power Dissipation Specifications . . . . . . . . . 66
Kinetix 5500 Servo Drive Power Dissipation Specifications . . . . . . 66
Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Ultra3000 Servo Drive Motor Feedback Cable Lengths . . . . . . . . . . 67
Kinetix 5500 Servo Drive Single Motor Cable Lengths. . . . . . . . . . . 67
Environmental Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Ultra3000 Servo Drive Environmental Specifications . . . . . . . . . . . . 68
Kinetix 5500 Servo Drive Environmental Specifications. . . . . . . . . . 68
Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Ultra3000 Servo Drive Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Kinetix 5500 Servo Drive Certifications . . . . . . . . . . . . . . . . . . . . . . . . 69
4 Rockwell Automation Publication 2098-AP002A-EN-P - September 2014

Table of Contents
Appendix D
Interconnect Diagrams Ultra3000 Servo Drive Power Wiring Examples . . . . . . . . . . . . . . . . . . . . 71
Kinetix 5500 Servo Drive Power Wiring Examples . . . . . . . . . . . . . . . . . . 75
Single-axis Drive Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Bus-sharing Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Appendix E
Communication Configurations Kinetix 5500 Servo Drive Linear Topology . . . . . . . . . . . . . . . . . . . . . . . . . 80
Kinetix 5500 Servo Drive Ring Topology . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Kinetix 5500 Servo Drive Star Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Table of Contents

Preface
Overview The purpose of this migration guide is to provide you with the essential
information to determine what hardware design changes may be necessary when
migrating from a motion system containing Ultra™ 3000 servo drives to one
containing Kinetix 5500 servo drives.
IMPORTANT Migrating from a motion control system that uses Ultra3000 servo drives to a
system that uses Kinetix 5500 servo drives requires a comprehensive design
review of the entire motion control system. There are multiple drive
replacement combinations, multiple configurations for how the drives can be
installed, and how software is applied. In addition there are system wide
changes required because of the communication protocol employed.
As a result, this migration guide is not an all-inclusive document. It does not
describe all the redesign steps that may be required, nor does it contain the
detailed product information necessary to finalize the redesign. The
generalities of the replacement process are covered, and the decision-making
steps likely to be encountered in a typical replacement scenario are described.
You will need to review additional product literature (see Additional Resources
on page 10) to understand the technical similarities and differences between
the Ultra3000 servo drive and a Kinetix 5500 servo drive, and to help you
determine the proper solution for your migration.
This migration guide contains these chapters and appendices.
Chapter 1: Servo Drive and System Considerations Describes some of the primary differences and system design
considerations between the drive families.
Chapter 2: Servo Drive and System Comparisons Provides information on drive sizing, dimension comparison,
input wiring / fusing, motor power, cabling, and system layout.
Appendix A: Connectors and Field Connections Provides information on connector locations, and comparisons
for encoder wiring, control wiring, and mains power wiring.
Appendix B: About the Servo Drive System Provides cut-sheet information about both drive families.
Appendix C: Specifications Provides comparisons of the power specifications, cable
lengths, environmental specifications, and certifications.
Appendix D: Interconnect Diagrams Provides interconnect diagrams to assist in comparing power
wiring and drive connections for both drive families.
Appendix E: Communication Configurations Provides communication topologies for Kinetix 5500 servo
drives.

Preface
Kinetix 5500 Servo Drives The Kinetix 5500 servo drives and
Kinetix VP low-inertia servo motors
provide a cost-effective motion
solution that delivers high
performance and scalability with
motor windings matched to drive
ratings for optimized system sizing.
Enhancing the current midrange

architecture portfolio, this motion
system is designed to connect and
operate with the new family of
CompactLogix 5370 controllers by
using the Studio 5000 environment and supporting Integrated Motion on the
EtherNet/IP network. With the benefits of this motion system, you can now run
motion applications on a single control platform by using a single network—
simplifying the design, operation, and maintenance of equipment.
Kinetix 5500 Servo Drive The Kinetix 5500 servo drive provides the following features:
Features • High performance in a smaller footprint and optimized power density
• Single motor cable that includes power, feedback, and brake conductors
with SpeedTec connector
• Single-axis operation for low-cost simplicity
• Flexible power connectivity in multi-axis bus-sharing configurations
– Shared AC
– Shared DC
– Shared AC/DC and hybrid configurations
• Integrated motion on the EtherNet/IP network (includes dual-port
Ethernet)
• Provides disturbance observer that allows up to 80-1 inertia mismatch
• Safe torque-off control, ISO-13849-1 certified, PLd, category 3
• Each catalog number supports 200V and 400V class applications
• Bulletin VPL winding options that match the drive ratings for optimized
system sizing
– 0.2…14.6 kW continuous output power
– 1.4…32.5 A 0-pk, continuous output current (inverter)
• Bulletin 2198 capacitor module and Bulletin 2097 shunt resistor for
energy absorption management
• Digital (DSL) feedback device provides real-time motor performance
information to the control circuitry
– High-resolution absolute, multi-turn, and single-turn encoder feedback
• Capability to run servo and induction motors

Preface
Kinetix 5500 Servo Drive Kinetix 5500 servo drive systems consist of these required components:
Components • One 2198-H0xx-ERSx servo drive
• One Kinetix VP servo motor, induction motor, or MP-Series rotary motor
or linear actuator
– MP-Series compatibility requires 2198-H2DCK converter kit
• One 2090-CSxM1DF-xxAAxx motor cable for power, feedback, and
brake connections
• One 1606-XLxxx 24V power supply for control and motor brake power
• 1585J-M8CBJM-x (shielded) Ethernet cable
Kinetix 5500 servo drive systems can also include any of these optional
components:
• One 2198-CAPMOD-1300 capacitor module
• One 2198-DBxx-F AC line filter
• One 2097-Rx shunt resistor
• Bulletin 2198 shared-bus connection system
For detailed Kinetix 5500 servo drive system requirements, see the Kinetix 5500
Servo Drive Systems Design Guide, publication GMC-RM009.
Kinetix 5500 Servo Drive Kinetix 5500 Frame Input Voltage Continuous Continuous
Servo Drive Size Output Power Output Current
Selection Cat. No. kW A 0-pk
0.2 kW
2198-H003-ERSx 0.3 kW 1.4 A
0.6 kW
1
195…264V rms, single-phase 0.5 kW
2198-H008-ERSx 195…264V rms, three-phase 0.8 kW 3.5 A
324…528V rms, three-phase 1.6 kW
1.0 kW
2198-H015-ERSx 1.5 kW 7.1 A
3.2 kW
2 2.4 kW
2198-H025-ERSx 11.3 A
5.1 kW
2198-H040-ERSx 18.4 A
7.0 kW
2198-H070-ERSx 3 32.5 A
14.6 kW
For Kinetix 5500 servo drive module specifications not included in this
publication, see the Kinetix Servo Drives Technical Data, publication GMC-
TD003.

Preface
Pre-migration Motion Analyzer software – is a comprehensive motion-application sizing tool

used for analysis, optimization, selection, and validation of your Kinetix motion
control system. This software facilitates the machine design process, letting you
quickly design and validate new machine concepts without purchasing or
installing physical equipment.
The performance capabilities of any replacement drive should be reviewed to be

sure that the replacement drive is capable of delivering the required level of peak
and continuous current to the motor and the Motion Analyzer software can assist
in the correct drive selection.
Download is available at http://ab.rockwellautomation.com/motion-control/

motion-analyzer-software.
Controller Files – Upload and save any network files and programmable logic
controller (PLC) programs.
Electrical Noise Reduction – See the System Design for Control of Electrical
Noise Reference Manual, publication GMC-RM001, for information on the
concept of high-frequency (HF) bonding, the ground plane principle, and
electrical noise reduction.
Additional Resources These documents contain additional information concerning related products
from Rockwell Automation.
Resource Description
Integrated Motion on SERCOS and EtherNet/IP Systems - Analysis and Comparison, Compare and contrast Integrated Motion systems using SERCOS and EtherNet/IP with
publication MOTION-WP001 a ControlLogix® Programmable Automation Controller (PAC).
Ethernet Design Considerations Reference Manual, publication ENET-RM002 Provides information for designing ethernet and EtherNet/IP networks.
Kinetix 5500 Servo Drives User Manual, publication 2198-UM001 Information on installing, configuring, startup, troubleshooting, and applications for
your Kinetix servo drive system.
Kinetix 5500 Drive Systems Design Guide, publication GMC-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 and Kinetix VP motor motion control system.
Logix 5000 Control Systems: Connect Kinetix 5500 Drives over an EtherNet/IP Network, Provides examples and procedures for integrating a Kinetix 5500 servo drive into any
publication IASIMP-QS035 Logix 5000™ control system over an EtherNet/IP network.
Kinetix 5500 Servo Drives Installation Instructions, publication 2198-IN001 Information on mounting and wiring the Kinetix 5500 servo drive.
Kinetix 5500 Feedback Connector Kit Installation Instructions, publication 2198-IN002 Information on installing and wiring the Kinetix 5500 motor feedback connector kit.
Kinetix 5500 AC Line Filter Installation Instructions, publication 2198-IN003 Information on installing and wiring the Kinetix 5500 servo drive AC line filters.
Kinetix 5500 Capacitor Module Installation Instructions, publication 2198-IN004 Information on installing and wiring the Kinetix 5500 servo drive capacitor module.
Kinetix 5500 Shared-bus Connector Kit Installation Instructions, publication 2198-IN005 Information on installing the Kinetix 5500 servo drive shared-bus connector kits.
Kinetix 300 Shunt Resistor Installation Instructions, publication 2097-IN002 Information on installing and wiring Kinetix 300 shunt resistors.
System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001 Information, examples, and techniques designed to minimize system failures caused
EMC Noise Management DVD, publication GMC-SP004 by electrical noise.
Kinetix Motion Control Selection Guide, publication GMC-SG001 Overview of Kinetix servo drives, motors, actuators, and motion accessories designed
to help make initial decisions for the motion control products best suited for your
system requirements.

Preface
Resource Description
Kinetix Rotary Motion Specifications Technical Data, publication GMC-TD001 Product specifications for Kinetix VP (Bulletin VPL), MP-Series™ (Bulletin MPL, MPM,
MPF, MPS), Kinetix 6000M (Bulletin MDF), TL-Series™, RDD-Series™, and HPK-Series™
rotary motors.
Kinetix Servo Drives Specifications Technical Data, publication GMC-TD003 Product specifications for Kinetix Integrated Motion over the EtherNet/IP network,
Integrated Motion over sercos interface, EtherNet/IP networking, and component
servo drive families.
Ultra3000 Drive Systems Design Guide, publication GMC-RM008 Reference material used to design an Ultra3000 servo system.
Ultra3000 Digital Servo Drives Installation Manual, publication 2098-IN003 Mounting, wiring, and connecting procedures for the Ultra3000 Digital Servo Drive.
Ultra3000 Servo Drives Integration Manual, publication 2098-IN005 Power-up procedures, system integration, and troubleshooting tables for the
Ultra3000 Digital Servo Drive.
You can view or download publications at http://www.rockwellautomation.com/

literature. To order paper copies of technical documentation, contact your local
Allen-Bradley® distributor or Rockwell Automation sales representative.
To find your local Rockwell Automation distributor or sales representative, visit

http://www.rockwellautomation.com/locations.

Preface
Notes:

Chapter 1
Servo Drive and System Considerations
Replacing an Ultra3000 servo drive with a Kinetix 5500 servo drive will require
some system design changes as well as drive hardware changes. This chapter
describes some of the primary differences and considerations. Additional chapters
will provide in-depth drive comparisons.
Engineering Effort and Thoroughly review this document before you begin to evaluate the design
changes required to successfully migrate your Ultra3000 servo drive to a Kinetix
Product Liability 5500 servo drive.
ATTENTION: Because of the variety of uses for the products described in this
publication, those responsible for the application and use of these products
must satisfy themselves that all necessary steps have been taken to assure that
each application and use meets all performance and safety requirements,
including any applicable laws, regulations, codes, and standards. In no event
will Rockwell Automation be responsible or liable for indirect or consequential
damage resulting from the use or application of these products.
The following sections highlight the major and minor differences between
Ultra3000 servo drives and Kinetix 5500 servo drives. There may be more
differences beyond these that can impact your application. Read this entire
document before proceeding to qualify the Kinetix 5500 servo drive for your
needs.
Migration Options This document covers the migration of the Ultra3000 SERCOS servo drive only,
though it is possible to migrate from the other Ultra3000 servo drive types. For
additional migration options, see Ultra3000 Digital Servo Drives to Kinetix 300
and Kinetix 350 Servo Drives, publication 2098-AP001.
Figure 1 - Suggested Migration Options
Analog Kinetix 300 Drive
Ultra3000 Drive Indexing Kinetix 300 Drive
Kinetix 350 Drive

SERCOS
Kinetix 5500 Drive

Chapter 1 Servo Drive and System Considerations
Communications The Ultra3000 servo drives use the SERCOS network for communications. A
SERCOS interface module serves as a link between the ControlLogix/
CompactLogix platform and the Ultra3000 servo drive system.
The communication link uses the IEC 61491 SErial Real-time COmmunication
System (SERCOS) protocol over a fiber-optic media.
The Kinetix 5500 servo drives use the EtherNet/IP network for communicating
to either a ControlLogix or CompactLogix programmable automation controller.
All Kinetix 5500 servo drives include dual-port EtherNet/IP connectivity.
Supported Ethernet topologies include linear, ring, and star.
For more information on Ethernet design considerations, see these publications:

• Scalability - The Best Approach to Change, publication IA-WP002
• EtherNet/IP Design, Commissioning, and Troubleshooting Quick
Reference, publication IASIMP-QR023
• Integrated Motion on EtherNet/IP Configuration Drawing with Notes,
publication IASIMP-QR019
See Appendix E for communication configurations.
Controller, Ethernet Cards, The following table lists the compatible hardware for Integrated Motion on
EtherNet/IP systems.
and Switches
Hardware Description
Controllers ControlLogix® 1756 L7x and L6x models
CompactLogix® 5370 L3y, L2y, and L1y models
Ethernet Communication 1756-EN2T, 1756-EN2TR, and 1756-EN3TR
Ethernet Switches Stratix 8300™ Layer 3 Modular Managed Ethernet Switches
Stratix 8000™ Modular Managed Ethernet Switches
Stratix 6000™ Fixed Managed Ethernet Switches
Stratix 5700™ Managed Industrial Ethernet Switches
Stratix 2000™ Unmanaged Ethernet Switches
Motors Verify that your existing motor is compatible with the Kinetix 5500 servo drive
family. Kinetix 5500 servo drives are compatible with the following motors:
• Kinetix VP-Series servo motor
• Induction motors
• MP-Series rotary motors
• MP-Series linear actuators
Note: MP-Series compatibility requires a 2198-H2DCK converter kit, and also

requires drive firmware revision 2.001 or later, and the Kinetix 5500 servo drive

Servo Drive and System Considerations Chapter 1
AOP (Add-On Profile) for Studio 5000 Logix Designer™ application, version
21.00.00 or later.
For more information, see Hiperface-to-DSL Feedback Converter Kit

Installation Instructions, publication 2198-IN006.
For Kinetix 5500 Hiperface-to-DSL Feedback Converter Kit pin-out, see

page 39.
In most cases Encompass Partner motors will work with the converter kit. Check
with your local Rockwell sales person or distributor to evaluate compatibility.
Cable Lengths Verify that the feedback cable length in your current Ultra3000 servo drive
system does not exceed the maximum cable lengths for the Kinetix 5500 servo
drives. The maximum cable lengths for the Kinetix 5500 servo drives are:
• 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 limits the maximum length.
See the Kinetix 5500 Servo Drives User Manual, publication
2198-UM001, Table 5 for specifications by frame size.
• Ethernet cable lengths connecting drive-to-drive, drive-to-controller, or

drive-to-switch must not exceed 100 m (328 ft). Complete a careful
evaluation of your Ethernet media when using a CIP motion solution. For
more information, see Guidance for Selecting Cables for EtherNet/IP
Networks, publication ENET-WP007.
• Registration and digital input cables greater than 30 m (98.4 ft) must be
shielded.
See Drive Interconnects and Cabling on page 35 for more information.
Physical Dimensions The physical size of the drive families are different (see Dimension Comparison
on page 21). In most cases, the Kinetix 5500 servo drives are smaller and will fit
into the existing space of the compatible Ultra3000 drives; however, you should
verify the physical size of the Kinetix 5500 servo drive.
Control and Auxiliary Power The control and auxiliary power feature lets the drive maintain logic power when
main power is removed. This allows communication between the controller and
the drive to continue and to maintain position feedback (aside from absolute
feedback).
The Ultra3000 servo drives (2098-DSD-005, -010, and -020) require an external
+5V power supply in applications where it is necessary to maintain logic power

when the AC line voltage is removed. The +24V I/O supply (IOPWR) allows
use of the drive-mounted breakout board with 24V to 5V DC converter (2090-
U3CBB-DM12). All other Ultra3000 servo drives have other auxiliary power
requirements. See Appendix C, Control and Auxiliary Specifications, for more
information.
The Kinetix 5500 servo drive requires 24V DC input power for control circuitry.
You need to review your control power scheme including 24V power supply
requirements. See Appendix C for more information on control power
specifications.
Circuit Protection Sizing for protective devices, such as fuses and circuit breakers, may be different
between Ultra3000 servo drives and Kinetix 5500 servo drives. Verify that you
have chosen the correct sizes when selecting and installing a Kinetix 5500 servo
drive. For more information, see Appendix C.
Control Signals Digital Inputs – The Ultra3000 servo drive includes six digital inputs. They are
Enable, Home, Reg1, Reg2, OT+, and OT-. All Ultra3000 drives require an
isolated external 12-24V power supply for proper operation of the digital I/O.
The Kinetix 5500 servo drive includes two digital inputs. They are Reg1 and
Reg2. The Reg1 input is capable of dual functionality. It can also be used as the
Home input.
Digital Outputs – The Ultra3000 servo drive includes one digital output (Drive
Ready) and one relay output (brake).
Dual Position Loop / Aux Feedback Port – The Kinetix 5500 servo drive does
not have the ability to accept an auxiliary encoder input for dual-loop operation
or to be used as a Master Input for encoder feedback.
If a Master Encoder input is required, other options are available such as using a
Bulletin 842E-CM Integrated Motion on EtherNet/IP™ Absolute Encoder that
provides a CIP Motion-capable Master Encoder that can be used with the Kinetix
5500 servo drive or investigate using a Kinetix 6200 or 6500 drive.
Motor Brake – The Ultra3000 servo drive includes a relay output dedicated as a
Brake output, where closed contacts release a motor brake.
The Kinetix 5500 servo drive requires a customer-supplied 24V power supply to
drive the motor parking-brake output through a solid-state relay.

Servo Drive and System Considerations Chapter 1
Safe Torque-off Safety Kinetix 5500 servo drives have the capability to safely turn off the inverter power
transistors in response to a monitored digital input, according to Category 0 Stop
Features behavior. These drives support parallel input terminals for cascading to adjacent
drives over duplex wiring.
For applications that do not require the safety function, you must install jumper
wires to bypass the safe torque-off feature.
For the Safe Torque-off connector pinout, installation, and wiring information,
see the related chapter in the Kinetix 5500 Servo Drives User Manual,
publication 2198-UM001.
Accessories Ultra3000 servo drive accessories include the drive-mounted breakout boards,
panel-mounted breakout boards, 2090 AC line filters, 2090 shunt modules,
resistive brake module (RBM), and external auxiliary encoder.
Kinetix 5500 servo drive accessories include the Bulletin 2198 capacitor module,
AC line filters, and the shared-bus connection system. Kinetix 5500 servo drives
are also compatible with Bulletin 2097 external shunt resistors. See Accessories
on page 45.

Notes:

Chapter 2
Servo Drive and System Comparisons
There are a number of different factors that affect the selection of a replacement
servo drive and the system redesign effort. They include the following:
• Drive Sizing
• Dimension Comparison
• AC Input Power Wiring and Fusing
• Interconnects and Cabling
• Typical System Layout
• Accessories
This chapter provides a side-by-side comparison of both servo drive families to

help in the evaluation and selection of the correct components in the migration
process.

Chapter 2 Servo Drive and System Comparisons
Drive Sizing This section lists the Ultra3000 servo drives and the suggested Kinetix 5500
replacement servo drives, along with the output ratings and dimension
differences of the drives. Information in this migration guide is based on the drive
combinations shown in Table 1 and Table 2.
Output Current Comparison
IMPORTANT The performance capabilities of the replacement drive should be reviewed to

be sure that the replacement drive is capable of delivering the required level of
peak and continuous current to the motor.
Table 1 - Suggested Kinetix 5500 Replacement Drives by Output Current

Ultra3000 Servo Drives Kinetix 5500 Servo Drives
Model Voltage Range Nominal Output Recommended Voltage Range Nominal Output
(V) Voltage Range Current Rating Kinetix 5500 (V) Voltage Range Current Rating
(V) (0-pk) A(1) Replacement Drive (V) (0-pk) A(1)
N/A N/A N/A N/A 2198-H003-ERSx 195...264, 1-phase 240, 1-phase 1.4
195...264, 3-phase 240, 3-phase
324...528, 3-phase 480, 3-phase
2098-DSD-005 88...265, 1-phase 100…240, 1-phase 2.5 2198-H008-ERSx 195...264, 1-phase 240, 1-phase 3.5
195...264, 3-phase 240, 3-phase
324...528, 3-phase 480, 3-phase
2098-DSD-010 88...265, 1-phase 100…240, 1-phase 5.0 2198-H015-ERSx 195...264, 1-phase 240, 1-phase 7.1
195...264, 3-phase 240, 3-phase
324...528, 3-phase 480, 3-phase
2098-DSD-020 88...265, 1-phase 100…240, 1-phase 10.0 N/A N/A N/A N/A
2098-DSD-030 88...265, 1-phase 100…240, 1-phase 15.0 N/A N/A N/A N/A
324...528, 3-phase 480, 3-phase
324...528, 3-phase 480, 3-phase
2098-DSD-075 88...265, 3-phase 100…240, 3-phase 35 2198-H070-ERSx 195...264, 3-phase 240, 3-phase 32.5
324...528, 3-phase 480, 3-phase
2098-DSD-150 88...265, 3-phase 100…240, 3-phase 65 N/A N/A N/A N/A
2098-DSD-HV030 207...528, 3-phase 230…480, 3-phase 7.0 2198-H015-ERSx 195...264, 1-phase 240, 1-phase 7.1
195...264, 3-phase 240, 3-phase
324...528, 3-phase 480, 3-phase
2098-DSD-HV050 207...528, 3-phase 230…480, 3-phase 11.0 2198-H025-ERSx 195...264, 3-phase 240, 3-phase 11.3
324...528, 3-phase 480, 3-phase
2098-DSD-HV100 207...528, 3-phase 230…480, 3-phase 23.0 195...264, 3-phase 240, 3-phase
2198-H070-ERSx 32.5
2098-DSD-HV150 207...528, 3-phase 230…480, 3-phase 34.0 324...528, 3-phase 480, 3-phase
2098-DSD-HV220 207...528, 3-phase 230…480, 3-phase 47.0 N/A N/A N/A N/A
(1) Continuous output current ratings are used.

Servo Drive and System Comparisons Chapter 2
Dimension Comparison
The following table provides a comparison of the dimensions of the drives.
Table 2 - Suggested Kinetix 5500 Replacement Drives by Dimensions

Ultra3000 Servo Drive (1) Kinetix 5500 Servo Drive Dimension Differences
Model Height Width Depth Model Height Width Depth Height (2) Width (2) Depth (2)
mm (in) mm (in) mm (in) mm (in) mm (in) mm (in) mm (in) mm (in) mm (in)
N/A N/A N/A N/A 2198-H003-ERSx 215 (8.46) 50 (1.97) 226 (8.90) N/A N/A N/A
2098-DSD-005 198.12 (7.8) 95.5 (3.76) 144.27 (5.68) 2198-H008-ERSx 215 (8.46) 50 (1.97) 226 (8.90) 16.88 (0.66) -45.5 (-1.79) 81.73 (3.22)
2098-DSD-010 198.12 (7.8) 121.54 (4.79) 144.27 (5.68) 66.88 (2.63) -66.54 (-2.63) 81.73 (3.22)
2198-H015-ERSx 265 (10.43) 55 (2.16) 226 (8.90)
2098-DSD-HV030 360.7 (14.2) 138.7 (5.46) 242.2 (9.54) -95.7 (-3.77) -83.7 (-3.3) -16.2 (-0.64)
2098-DSD-HV050 360.7 (14.2) 138.7 (5.46) 242.2 (9.54) 2198-H025-ERSx 265 (10.43) 55 (2.16) 226 (8.90) -95.7 (-3.77) -83.7 (-3.3) -16.2 (-0.64)
N/A N/A N/A N/A 2198-H040-ERSx 265 (10.43) 55 (2.16) 226 (8.90) N/A N/A N/A
2098-DSD-075 360.7 (14.2) 138.68 (5.41) 247.14 (9.73) -66.7 (-2.63) -53.48 (-2.06) -21.14 (-.083)
2098-DSD-HV100 360.7 (14.2) 151.6 (5.97) 242.2 (9.54) 2198-H070-ERSx 294 (11.57) 8.52 (3.35) 226 (8.90) -66.7 (-2.63) -66.4 (-2.62) -16.2 (-0.64)
2098-DSD-HV150 360.7 (14.2) 151.6 (5.97) 242.2 (9.54) -66.7 (-2.63) -66.4 (-2.62) -16.2 (-0.64)
(1) Dimensions are for Ultra3000 drives -SE.
(2) A minus sign denotes that the height, width, or depth of the Kinetix 5500 servo drive is shorter, narrower, or shallower than the comparable Ultra3000 servo drive.

Dimension Drawings This section provides dimensions of the drives to assist you in determining the
space needed to install the drives.
Ultra3000 (230V) Drive Dimensions
In Figure 2, -xxx is replaced by -005, -010, or -020 to represent the Ultra3000

500 W, 1 kW, and 2 kW drives respectively.
Figure 2 - Ultra3000 (230V) Dimensions (catalog numbers 2098-DSD-xxx, 2098-DSD-xxxX,

2098-DSD-xxx-SE, 2098-DSD-xxx-DN, and 2098-DSD-xxxX-DN)
A 129.03
38.1 C (5.08)
(1.5)
186.18 165.1 198.12

(7.33) (6.5) (7.8)
E 144.27
(5.68)
F
Dimensions are in mm (in.)
Unit shown is the 2098-DSD-005-SE drive.
Ultra3000 A C E F
Servo Drive Cat. No. mm (in.) mm (in.) mm (in.) mm (in.)
2098-DSD-005 72.64
2098-DSD-005X (2.86)
2098-DSD-010 65.02 13.26 32.77
2098-DSD-010X (2.56) (0.52) (1.29) 98.1
2098-DSD-020 (3.89)
2098-DSD-020X
2098-DSD-005-SE 95.5
2098-DSD-005-DN (3.76)
2098-DSD-005X-DN
2098-DSD-010-SE 87.88 24.64 43.94
2098-DSD-010-DN (3.46) (0.97) (1.73)
2098-DSD-010X-DN 121.54
2098-DSD-020-SE (4.79)
2098-DSD-020-DN
2098-DSD-020X-DN

In Figure 3, -xxx is replaced by -030, -075, or -150 to represent the Ultra3000

3 kW, 7.5 kW, and 15 kW drives respectively.
Figure 3 - Ultra3000 (230V) Dimensions (catalog numbers 2098-DSD-xxx, 2098-DSD-xxxX,

2098-DSD-xxx-SE, 2098-DSD-xxx-DN, and 2098-DSD-xxxX-DN)
A
B 227.08
C (8.94)
349.25 360.68
(13.75) (14.2)
331.47
(13.05)
C
B J

Unit shown is the 2098-DSD-030 drive.
Ultra3000 A B C J
Servo Drive Cat. No. mm (in.) mm (in.) mm (in.) mm (in.)
2098-DSD-030
2098-DSD-030X 91.44 50.8 20.32 243.84
2098-DSD-030-SE
(3.6) (2.0) (0.8) (9.6)
2098-DSD-030-DN
2098-DSD-030X-DN
2098-DSD-075
2098-DSD-075X 138.68 88.9 24.89 247.14
2098-DSD-075-SE (5.41) (3.5) (0.96) (9.73)
2098-DSD-075-DN
2098-DSD-075X-DN
2098-DSD-150
2098-DSD-150X 188.97 139.7 24.6 241.05
2098-DSD-150-SE (7.44) (5.5) (0.97) (9.49)
2098-DSD-150-DN
2098-DSD-150X-DN

Ultra3000 (460V) Drive Dimensions
In Figure 4, xxx is replaced by 030, 050, 100, 150, or 220 to represent the
Ultra3000 3 kW, 5 kW, 10 kW, 15 kW, and 22 kW drives respectively.
Figure 4 - Ultra3000 (460V) Dimensions (catalog numbers 2098-DSD-HVxxx, 2098-DSD-HVxxxX,

2098-DSD-HVxxx-SE, 2098-DSD-HVxxx-DN, and 2098-DSD-HVxxxX-DN)
A
225.8
B B C (8.89)
D H
I
B B C 242.2
(9.54)

Unit shown is the 2098-DSD-HV030 drive.
Ultra3000 A C B D H I
Servo Drive Cat. No.(1) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.)
2098-DSD-HV030x
2098-DSD-HV030-xx 138.7 18.5
2098-DSD-HV050x 5.46) (0.73)
2098-DSD-HV050-xx 50.8 349.3 331.5 360.7
2098-DSD-HV100x (2.0) (13.75) (13.05) (14.2)
2098-DSD-HV100-xx 151.6 25
2098-DSD-HV150x (5.97) (0.99)
2098-DSD-HV150-xx
2098-DSD-HV220x 203.2 25.4 76.2 380.4 362.6 391.8
2098-DSD-HV220-xx (8.0) (1.0) (3.0) (14.98) 14.26) (15.43)
(1) The x represents the indexing (X) option. The -xx represents the SERCOS interface (SE) or DeviceNet (DN) option. SERCOS interface is
not available with the DeviceNet option.

Kinetix 5500 Servo Drive Dimensions
2198-H003-ERSx
servo drive is shown.
3.0
(0.12) C
A
D
Kinetix 5500 A B C D E
Servo Drive Cat. No. mm (in.) mm (in.) mm (in.) mm (in.) mm (in.)
2198-H003-ERSx
50 (1.97) 170 (6.69) 215 (8.46)
2198-H008-ERSx
2198-H015-ERSx
200 (7.87) 226 (8.90)
2198-H025-ERSx 55 (2.16) 225 (8.86) 265 (10.43)
2198-H040-ERSx
2198-H070-ERSx 85.2 (3.35) 250 (9.84) 294 (11.57)

AC Input Power Wiring and This section provides information to assist you in determining the wiring and
fusing requirements of the drives.
Fusing
AC Input Power Wiring
In general, the recommended drive replacement should not require changes in

wiring length. However, the routing may need to change as the input power on
the Kinetix 5500 servo drive is located on the top of the drive, while the same
connection is located on the front of the Ultra3000 servo drive.
See Appendix A, Connectors and Field Connections for a comparison of the

Ultra3000 servo drive and Kinetix 5500 servo drive terminals.
In addition, the Kinetix 5500 servo drives are designed for multiple power
topologies, and your system may benefit from these additional wiring
configurations. It can be wired independently (single axis) or in multi-axis
configurations, including:
• Standalone
• AC/DC Supply Sharing
• DC Bus Sharing
• Hybrid Configuration (consisting of shared AC/DC supply with DC bus)
Ultra3000 Servo Drive Input Power Example
Three-phase Bulletin 2090 Active or Passive Shunt Module

Input Power (optional component)
Line ALLEN-BRADLEY
Shunt Module
BULLETIN 1394 300W SHUNT MODULE
Disconnect
CAT. PART SER.
INPUT DC INPUT AC
FOR FUSE REPLACEMENT USE:
BUSSMAN CAT. NO.
FOR USE WITH 1394-SJT22-X SYSTEM MODULE
Device
Input
Fusing
2098-DSD-xxxxx
Ultra3000 Drive
Magnetic
(2098-DSD-xxx-SE drive is shown)
Contactor
2090-U3xBB-DMxx
Drive-mounted
2090-UXLF-xxx Breakout Board for I/O
AC Line Filter and Commands
(optional component) 1606-XLxxx
Allen-Bradley
24V DC 1606-XL
Power Supply
Control Power
Input
Input Sensors and
Control Power Control String
Supply Input

Kinetix 5500 Servo Drive Input Power Example (Standalone)

Single-phase or
Three-phase
Input Power
Bonded Cabinet
Line Ground Bus
Disconnect
2198-DBxx-F 2198-Hxxx-ERSx Drive 2198-Hxxx-ERSx Drive (top view)
Device
AC Line Filter (top view) with 2198-CAPMOD-1300
Input (required for CE) Capacitor Module
Fusing
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 Safety Device
1606-XL
Powe r S u p p l y
and Motor Brake Power

(customer-supplied) Input
2198-H0x0-x-x shared-bus
AC Input Power connection system for bus-
sharing configurations.
2198-Hxxx-ERSx Drive
(front view)
Digital Inputs
to Sensors and Control String 2097-Rx
Shunt Resistor
(optional component)
2198-KITCON-DSL
Motor Feedback Connector Kit
Bulletin 2090
Single Motor Cable
Bulletin VPL
Rotary Motors

Kinetix 5500 Servo Drive Input Power Example (Shared AC)

Three-phase
Input Power
Line Bonded Cabinet

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

24V DC Control, Digital Inputs, Allen-Bradley
1606-XL
Powe r S u p p l y
and Motor Brake Power Kinetix 5500 Servo Drives (front view)
(2198-H008-ERS drives shown)
Shared-bus connection system
AC Input Power for bus-sharing configurations.
2097-Rx
Shunt Resistor
Digital Inputs (optional component)
to Sensors and Control String 2198-KITCON-DSL
Motor Feedback Connector Kits
Bulletin 2090
Bulletin VPL
Single Motor Cables
Rotary Motors
Induction
Rotary Motors

Kinetix 5500 Servo Drive Input Power Example (Shared AC/DC)

Three-phase
Input Power
Line
Disconnect Bonded Cabinet
Kinetix 5500 Servo Drives (top view)
Device Ground Bus
(2198-H015-ERS drives shown)
2198-DBxx-F
Input 2198-CAPMOD-1300 Capacitor Module
AC Line Filter
Fusing (optional component)
(required for CE)
Shared DC (DC common bus)

24V DC Control, Digital Inputs,
Allen-Bradley
1606-XL
Powe r S u p p l y
and Motor Brake Power Kinetix 5500 Servo Drives (front view)
(customer-supplied) Input (2198-H015-ERS drives shown)
AC Input Power Shared-bus connection system
for bus-sharing configurations.
Digital Inputs 2097-Rx

to Sensors and Control String Shunt Resistor
2198-KITCON-DSL (optional component)
Bulletin 2090
Bulletin VPL
Single Motor Cables
Rotary Motors
Induction
Rotary Motors

Kinetix 5500 Servo Drive Input Power Example (Common-bus)

Three-phase
Input Power
Line Bonded Cabinet

Disconnect Ground Bus Kinetix 5500 Servo Drive System (top view)
Device
2198-DBxx-F


24V DC Control, Digital Inputs,
Allen-Bradley
1606-XL
Powe r S u p p l y
and Motor Brake Power Kinetix 5500 Servo Drive System (front view)
Shared-bus connection system

AC Input Power for bus-sharing configurations.

Bulletin 2090 Single Motor Cables
Bulletin VPL
Rotary Motors 2198-H040-ERSx 2198-CAPMOD-1300 Capacitor Module
Common-bus Leader Drive (optional component)
2198-H008-ERSx
Common-bus
Follower Drives

Kinetix 5500 Servo Drive Input Power Example (Shared AC/DC Bus Hybrid)
Three-phase
Input Power
Line Bonded Cabinet

Disconnect Ground Bus
Kinetix 5500 Servo Drive System (top view)
Device
2198-DBxx-F

Allen-Bradley
24V DC Control, Digital Inputs, 1606-XL

Powe r S u p p l y
and Motor Brake Power Kinetix 5500 Servo Drive System (front view)
Shared-bus connection system for

AC Input Power bus-sharing configurations.

Bulletin 2090 Single Motor Cables
Bulletin VPL
Rotary Motors 2198-H040-ERSx 2198-CAPMOD-1300 Capacitor Module
Common-bus (converter) (optional component)
Leader Drives 2198-H008-ERSx
Common-bus (inverter)
Follower Drives
Circuit Breaker and Fuse Considerations
Review the fusing requirements when changing drives.
A Ultra3000 servo drive system needs to be protected by a device having a short

circuit interrupt current rating of the service capacity provided or a maximum of
100,000 A.
The Kinetix 5500 servo 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 150,000 A.

While circuit breakers offer some convenience, there are limitations for their use.
Circuit breakers do not handle high current inrush as well as fuses.
IMPORTANT UL has not approved circuit breakers for use as branch circuit protection for
Kinetix 5500 servo drive systems.
Make sure the selected components are properly coordinated and meet acceptable
codes including any requirements for branch circuit protection. Evaluation of the
short-circuit available current is critical and must be kept below the short-circuit
current rating of the circuit breaker.
Ultra3000 Servo Drive Main Input Power Fuse and Circuit Breaker Specifications
Use class CC, G, J, L, R, or T class fuses, with current ratings as indicated in the
table below. This table lists fuse examples recommended for use with the
Ultra3000 (230V and 460V) drives.
Ultra3000 Input Voltage Type Recommended Fuse

Servo Drive Cat. No. Voltage
Class CC (1) Class J (1)
2098-DSD-005x-xx FNQ-R-6 LPJ-6SP
Input Power
2098-DSD-030x-xx 230V FNQ-R-30 LPJ-30SP
2098-DSD-150x-xx N/A LPJ-60SP
2098-DSD-xxxx-xx Auxiliary Input Power FNQ-R-10 LPJ-10SP
2098-DSD-HV030x-xx KTK-R-5 LPJ-5SP
2098-DSD-HV100x-xx Input Power KTK-R-20 LPJ-17-1/2SP
460V
2098-DSD-HV220x-xx N/A LPJ-35SP
2098-DSD-HVxxxx-xx Auxiliary Input Power FNQ-R-10 LPJ-10SP
(1) Bussmann® Fuse
The table below lists circuit breaker examples recommended for use with the
Ultra3000 (460V) drives.
Ultra3000 Input Circuit Breaker

Servo Drive Cat. No. Voltage
2098-DSD-HV030x-xx 140M-F8E-C16
2098-DSD-HV050x-xx 140M-F8E-C20
2098-DSD-HV100x-xx 460V 140M-F8E-C32
2098-DSD-HV150x-xx 140M-F8E-C45
2098-DSD-HV220x-xx N/A

Kinetix 5500 Servo Drive Main Input Power Fuse and Circuit Breaker Specifications
The Kinetix 5500 servo drive fuse and circuit breaker selection are dependent on
input power configurations.
Table 3 - Standalone Drive Systems Fuse Selection (Bussmann Part No.)

Kinetix 5500 Servo Drive Cat. No. Three-phase Single-phase
2198-H003-ERSx KTK-R-3 KTK-R-2
2198-H025-ERSx KTK-R-20
2198-H040-ERSx KTK-R-25 N/A
2198-H070-ERSx LPJ-35SP
Table 4 - Standalone Drive Systems Circuit Breaker Selection (Allen-Bradley Cat. No.)
Kinetix 5500 Servo Drive Cat. No. Three-phase (1) Single-phase (1)
2198-H003-ERSx 140U-D6D3-B20 140U-D6D2-B10
2198-H008-ERSx 140U-D6D3-B60 140U-D6D2-B20
2198-H015-ERSx 140U-D6D3-C12 140U-D6D2-B80
2198-H025-ERSx 140U-D6D3-C20
2198-H040-ERSx 140U-D6D3-C25 N/A
2198-H070-ERSx N/A
(1) UL has not approved circuit breakers for use as branch circuit protection for Kinetix 5500 servo drive systems.
Table 5 - Shared DC (Common-bus) Drive Systems Fuse Selection (Bussmann Part No.)
Kinetix 5500 Servo Drive Cat. No. Three-phase
2198-H003-ERSx
KTK-R-10
2198-H008-ERSx
2198-H015-ERSx KTK-R-15
2198-H025-ERSx KTK-R-20
2198-H040-ERSx KTK-R-25
2198-H070-ERSx LPJ-35SP
Table 6 - Shared DC (Common-bus) Drive Systems Circuit Breaker Selection (Allen-Bradley Cat. No.)
Kinetix 5500 Servo Drive Cat. No. Three-phase (1)
2198-H003-ERSx
N/A
2198-H008-ERSx
2198-H015-ERSx 140U-D6D3-C15
2198-H025-ERSx 140U-D6D3-C20
2198-H040-ERSx 140U-D6D3-C25
2198-H070-ERSx N/A

Table 7 - Shared AC Drive Systems Fuse Selection (Bussmann Part No.)

Kinetix 5500 Servo Drive Cat. No. 2 Axes 3 Axes 4 Axes 5 Axes
2198-H003-ERSx KTK-R-15
2198-H008-ERSx KTK-R-15
2198-H015-ERSx KTK-R-20 KTK-R-25 N/A
2198-H040-ERSx LPJ-35SP LPJ-45SP N/A
2198-H070-ERSx LPJ-60SP N/A
Table 8 - Shared AC Drive Systems Circuit Breaker Selection (Allen-Bradley Cat. No.)
Kinetix 5500 Servo Drive Cat. No. 2 Axes (1) 3 Axes (1) 4 Axes (1) 5 Axes (1)
2198-H003-ERSx
N/A
2198-H008-ERSx
2198-H015-ERSx 140U-D6D3-C15 140U-D6D3-C20 N/A
2198-H040-ERSx N/A
2198-H070-ERSxxx N/A
Table 9 - Shared AC/DC and Hybrid Systems Fuse Selection (Bussmann Part No.)
Kinetix 5500 Servo Drive Cat. No. 2 Axes 3 Axes 4 Axes 5 Axes 6 Axes 7 Axes 8 Axes
2198-H040-ERSx KTK-R-30 LPJ-45SP LPJ-50SP N/A
2198-H070-ERSx LPJ-50SP N/A
Table 10 - Shared AC/DC and Hybrid Systems Circuit Breaker Selection (Allen-Bradley Cat. No.)
Kinetix 5500 Servo Drive Cat. No. 2 Axes (1) 3 Axes (1) 4 Axes (1) 5 Axes (1) 6 Axes (1) 7 Axes (1) 8 Axes (1)
2198-H003-ERSx N/A
2198-H008-ERSx N/A
2198-H040-ERSx 140U-D6D3-C30 N/A
2198-H070-ERSx N/A

Drive Interconnects and This section provides information to assist you in determining the interconnects
and cabling requirements of the drives.
Cabling
Motor Power and Feedback
The Kinetix 5500 servo drive incorporates a single cable design, which includes
both motor power and motor feedback when using a compatible VP-Series
motor. The Kinetix 5500 servo drive can also be matched with MP-Series motors
and the 2090-xxxx motor power cables can connect directly to the Kinetix 5500
servo drive.
IMPORTANT If you are planning on using an existing MP-Series motor, verify that the
existing motor power cable is capable of handling the current delivered to the
motor.
For motor feedback the Kinetix 5500 servo drive can be matched with MP-Series
motors, but requires the Hiperface-to-DSL Feedback Converter Kit (catalog no.
2198-H2DCK). For more information, see Hiperface-to-DSL Feedback
Converter Kit Installation Instructions, publication 2198-IN006.
Ultra3000 Servo Drives Motor Power

See the table below for the catalog number of the motor power cable for your
Ultra3000 servo drive.
Motor Available Universal Cable When Universal Cable not Available,

Use this Motor Power Cable
MP-Series 2090-XXNPMP-16Sxx
(Low Inertia and Integrated Gear) 2090-XXNPMP-14Sxx
(230V or 460V systems) 2090-XXNPMP-10Sxx
1326AB-Series (M2L/S2L) 2090-XXNPMP-8Sxx N/A
MP-Series 2090-XXNPMF-16Sxx
(Food Grade) 2090-XXNPMF-14Sxx
2090-XXNPMF-10Sxx
F-Series 2090-XXNPHF-16Sxx 2090-UXNPAHF-10Sxx
2090-XXNPHF-14Sxx 2090-UXNPAHF-8Sxx
H-Series 2090-UXNPAHF-10Sxx
2090-XXNPH-16Sxx 2090-UXNPAHF-8Sxx
2090-XXNPHF-14Sxx 2090-UXNPAH-6Sxx
N-Series 2090-XXNPN-16Sxx N/A
Y-Series 2090-XXNPY-16Sxx N/A

Ultra3000 Servo Drive Feedback Connector
Factory-made cables with premolded connectors are designed to minimize EMI

and are recommended over hand-built cables to improve system performance.
However, other options are available for building your own feedback and I/O
cables. See the table below for the available options.
Drive Connector Connector Option Option Cat. No.

44-pin drive-mounted breakout board with 24V to 5V auxiliary power 2090-U3CBB-DM44
converter
12-pin drive-mounted breakout board with 24V to 5V auxiliary power 2090-U3CBB-DM12
converter for SERCOS interface applications
CN1 44-pin panel-mounted breakout board kit 2090-U3BK-D44xx

I/O Connector 44-pin, drive-mounted breakout board 2090-U3BB2-DM44
44-pin (high-density D-shell) drive connector kit 2090-U3CK-D44
Single-axis flying lead to 1756-M02AE module or 1784-PM02AE PCI card 2090-U3CC-D44xx
Two-axis pre-wired to 1756-M02AE module 2090-U3AE-D44xx
Premolded cable at drive and motor end 2090-UXNFBxx-Sxx
CN2 15-pin drive-mounted breakout board 2090-UXBB-DM15

Flying lead cable at
Feedback Connector drive end 15-pin panel-mounted breakout board kit 2090-UXBK-DM15xx
(2090-XXNFxx-Sxx)
15-pin (high-density D-shell) drive connector kit 2090-UXCK-D15
PC serial connector to premolded drive connector 2090-UXPC-DM09
CN3 9-pin drive-mounted breakout board 2090-UXBB-DM09
Serial Connector
9-pin (high-density D-shell) drive connector kit 2090-UXCK-D09
See the table below for motor feedback cable catalog numbers available for
specific motor/feedback combinations.
Motor Series Using this Type of Motor Use this Feedback Cable
Feedback
Premolded Flying Lead (1)
MPL-Axxxx or MPG-Axxx-xxx High-resolution encoder
MPL-Axxxx Incremental encoder
2090-UXNFBMP-Sxx 2090-XXNFMP-Sxx
MPL-Bxxxx or MPG-Bxxx-xxx High-resolution encoder
1326AB M2L/S2L High-resolution encoder
MPF-Axxxx or MPF-Bxxxx High-resolution encoder N/A 2090-XXNFMF-Sxx
F-Series
2090-UXNFBHF-Sxx 2090-XXNFHF-Sxx
H-Series
Incremental encoder
N-Series 2090-UXNFBN-Sxx 2090-XXNFN-Sxx
Y-Series 2090-UXNFBY-Sxx 2090-XXNFY-Sxx
(1) Requires 2090-UXBB-DM15 drive-mounted breakout board, 2090-UXBK-D15xx breakout board kit, or 2090-UXCK-D15 mating
connector kit.

Kinetix 5500 (200V-class operation) Servo Drives with Kinetix VP Low

Inertia Motors
This section provides system combination information for the Kinetix 5500
servo drives (with 240V, nominal input) when matched with Kinetix VP (200V-
class) low-inertia motors.
IMPORTANT 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 limits the maximum length. See the
Kinetix 5500 Servo Drives User Manual, publication 2198-UM001, Table 5 on
page 24 for specifications by frame size.
Table 11 - Bulletin VPL Motor Cable Combinations
Motor Cat. No. (200V-class) Feedback Type Single Cable Cat. No. (1)
VPL-A063xx 2090-CSBM1DF-18AAxx or
2090-CSWM1DF-18AAxx (standard, non-flex)
VPL-A0751E, VPL-A0752C, VPL-A0753C 2090-CSBM1DF-18AFxx (continuous-flex)
2090-CSBM1DF-14AAxx or
VPL-A0752E, VPL-A0753E 2090-CSWM1DF-14AAxx (standard, non-flex)
2090-CSBM1DF-14AFxx (continuous-flex)
Multi-turn or Single-turn
Digital Encoder Feedback 2090-CSBM1DF-18AAxx or
VPL-A1001C 2090-CSWM1DF-18AAxx (standard, non-flex)
VPL-A1001M, VPL-A1002x, VPL-A1003x
VPL-A1152x, VPL-A1153x 2090-CSWM1DF-14AAxx (standard, non-flex)
VPL-A1303x, VPL-A1304x, VPL-A1306x
(1) Cable length xx is in meters, 01 (3.3)…50 (164) in 1.0 m (3.3 ft) increments. See the Kinetix Motion Accessories Technical Data,
publication GMC-TD004, for cable specifications.

Kinetix 5500 (400V-class operation) Servo Drives with Kinetix VP Low

Inertia Motors
This section provides system combination information for the Kinetix 5500
servo drives (with 480V, nominal input) when matched with Kinetix VP (400V-
class) low-inertia motors.
IMPORTANT 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 limits the maximum length. See the
Kinetix 5500 Servo Drives User Manual, publication 2198-UM001, Table 5 on
page 24 for specifications by frame size.
Table 12 - Bulletin VPL Motor Cable Combinations
Motor Cat. No. (400V-class) Feedback Type Single Cable Cat. No. (1)
VPL-B063xx
VPL-B0751M, VPL-B0752E, VPL-B0752F,
VPL-B0753E, VPL-B0753F
VPL-B1001M, VPL-B1002E, VPL-B1003C
VPL-B0752M, VPL-B0753M 2090-CSBM1DF-14AAxx or
VPL-B1002M, VPL-B1003F, VPL-B1003T 2090-CSBM1DF-14AFxx (continuous-flex)
Multi-turn or Single-turn
Digital Encoder Feedback 2090-CSBM1DF-18AAxx or
VPL-B1152C 2090-CSWM1DF-18AAxx (standard, non-flex)
VPL-B1152F, VPL-B1152T, VPL-B1153E,
VPL-B1153F
VPL-B1303x, VPL-B1304x, VPL-B1306x 2090-CSWM1DF-14AAxx (standard, non-flex)
VPL-B1651C, VPL-B1651F, VPL-B1652C,
VPL-B1653C, VPL-B1654B
(1) Cable length xx is in meters, 01 (3.3)…50 (164) in 1.0 m (3.3 ft) increments. See the Kinetix Motion Accessories Technical Data,
publication GMC-TD004, for cable specifications.

Kinetix 5500 Servo Drive Hiperface-to-DSL Feedback Converter Kit
This kit is designed for use with Allen-Bradley® 2090-Series motor feedback
cables and provides wire terminations for Hiperface encoder signals to the motor
feedback (MF) connector on Kinetix 5500 servo drives with firmware revision
2.001 or later. If needed, the Add-On Profile (AOP) for Kinetix 5500 servo
drives is available for download at the Custom Downloads Add-On Profiles
website:
https://download.rockwellautomation.com/esd/
download.aspx?downloadid=addonprofiles
For more information, see Hiperface-to-DSL Feedback Converter Kit

Installation Instructions, publication 2198-IN006.
Connector Data
Converter Kit Pinout
Terminal Signal Wire Color
1 SIN+ Black
14 11 10 7 6 5 4 3 2 1
2 SIN– White/Black
3 COS+ Red
4 COS– White/Red
5 DATA+ Green
6 ECOM (1) White/Gray
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.
For more information on installing this kit, preparing the cables, and attaching
the cable clamps, see the Kinetix 5500 Servo Drive User Manual, publication
2198-UM001.

Digital I/O This section describes digital inputs for Ultra3000 and Kinetix 5500 servo drives.
Ultra3000 Servo Drive Digital Inputs

The digital inputs on the Ultra3000 servo drive have the following characteristics
and specifications.
All digital inputs on Ultra3000 drives have the same physical characteristics as
shown in the tables below.
Table 13 - Ultra3000 Drives Digital Input Characteristics
Specification Description
I/O response 100 μs
Digital I/O firmware scan period 1 ms
Table 14 - Ultra3000 Drives Digital Input Parameters
Parameter Description Min Max

ON state voltage Voltage applied to the input, with respect to 10.8V 26.4V
IOCOM, to guarantee an ON state.
ON state current Current flow to guarantee an ON State. 3.0 mA 12.0 mA
OFF state voltage Voltage applied to the input, with respect to -1.0V 2.0V
IOCOM, to guarantee an OFF state.
Table 15 - Ultra3000 SERCOS Drives Dedicated Functionality Inputs
Pin Signal Description

CN1-31 ENABLE Drive Enable Input, an active state enables the power electronics to control the motor.
CN1-32 HOME Home Sensor, an active state indicates to a homing sequence that the sensor has been
seen.
CN1-33 REG1 Registration Sensor, a transition is used to record position values.
CN1-34 REG2
CN1-37 OT_POS Overtravel Input, an inactive state indicates that a position limit has been exceeded. An
CN1-38 OT_NEG active state occurs when 24V is removed from the input.
For the Ultra3000 drives, there are eight optically isolated digital inputs. All
digital inputs have the same configuration, as shown in the following figure.
Figure 5 - Ultra3000 Drive Digital Input Circuit

Ultra3000 Drive
+5V
2.7k Ω 10k Ω
INPUTS
1k Ω
TLP121
IOCOM IOCOM DGND

Ultra3000 Servo Drive Outputs
The digital output and relay output on the Ultra3000 servo drive have the
following characteristics and specifications.
Table 16 - Ultra3000 Drives Digital Outputs

ON state current Current flow when the output transistor is ON — 50 mA
OFF state current Current flow when the output transistor is OFF — 0.1 mA
ON state voltage Voltage across the output transistor when ON — 1.5V
OFF state voltage Voltage across the output transistor when OFF — 50V
Figure 6 - Transistor Output Hardware Configuration

Ultra3000 Drive
200 Ω IOPWR
+5V
OUTPUT
OUT TLP127
Table 17 - Relay Output Specifications

ON state current Current flow when the relay is closed — 1A
ON state resistance Contact resistance when the relay is closed — 1Ω
OFF state voltage Voltage across the contacts when the relay is open — 30V
Figure 7 - Relay Output Configuration

Ultra3000 Drive
CN1-43
Normally Relay +
Open
Relay
CN1-44
Relay -
Kinetix 5500 Servo Drive 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, see the System Design for
Control of Electrical Noise Reference Manual, publication GMC-RM001.
Understanding Digital Input Functions

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

Attribute Value
Type Active high, single-ended, current sinking (EN 61131-2 Type 1)
Dedicated functions Registration 1, Home, Registration 2
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 repeatability 700 ns
Windowed registration invalid-to-valid event delay 125 μs, min
Figure 8 - Kinetix 5500 Servo Drive Digital Input Circuitry
IOD-1 or IOD-3
24VPWR
INPUT
24VCOM
IOD-2

Typical System Layout This section provides system examples for Ultra3000 and Kinetix 5500 servo
drives.
Ultra3000 Servo Drive System Example
This system example illustrates how the required drive modules and accessories
are used in a typical system.
Logix Controller Programming Network

Logix SERCOS interface Module
Logix Controller Platform

(ControlLogix® controller is shown)
RSLogix™ 5000
Software
2090-SCxxx-x
2098-DSD-xxxxx-SE SERCOS Fiber-optic Cables
Ultra3000 Drive
2090-UXBB-DM15
Drive-mounted Breakout Board for
Motor Feedback
1606-XLxxx 2090-U3xBB-DMxx Bulletin 2090 Motor Feedback Cable

24V DC
Allen-Bradley
1606-XL
Drive-mounted
Bulletin 2090 Motor Power Cable Control Power
Power Supply
Breakout Board for I/O

Input
Control Power Input Sensors and Control String

Supply Input

Kinetix 5500 Servo Drive System Example
This example control system uses a Kinetix 5500 standalone servo drive.
Single-phase or Three-phase
Input Power
Bonded Cabinet
Line Ground Bus
Disconnect 2198-DBxx-F 2198-Hxxx-ERSx
Device AC Line Filter Kinetix 5500 Drive
(required for CE) (top view)
Input
Logix Designer Fusing
Application
Mains AC and 24V input
wired to standard input
connectors
Logix5000 Controller
(CompactLogix 5370 controller is shown)
00:00:BC:2E:69:F6
1 (Front)
2 (Rear)
1606-XLxxx Allen-Bradley Safety Device
24V DC Control, Digital Inputs, 1606-XL
Powe r S u p p l y
and Motor Brake Power

2198-Hxxx-ERSx
AC Input Power Kinetix 5500 Drive
1585J-M8CBJM-x (front view)
Ethernet (shielded) Cable
2097-Rx
Shunt Resistor
(optional component)
Digital Inputs
2198-KITCON-DSL
1783-BMS Motor Feedback Connector Kit
Stratix 5700™
Switch
PanelView™ Plus
Display Terminal
Bulletin 2090
Single Motor Cable
1734-AENTR POINT I/O™

EtherNet/IP Adapter Bulletin VPL
Rotary Motors
See Appendix E for additional communication configurations.

Accessories This section describes required and optional accessories for Ultra3000 and
Kinetix 5500 servo drives.
Ultra3000 Servo Drive Accessories

Table 18 - Required Drive Accessories
Drive Accessory Description Cat. No.

24V power supply 12…24V DC for control power and motor brakes. 1606-XLxxx
Motor feedback (CN2) connections. 2090-UXBB-DM15
Serial interface (CN3) connections. 2090-UXBB-DM09
Drive-mounted breakout boards I/O (CN1) connections. These kits apply to all Ultra3000 drives (catalog numbers 2098-DSD-005, 2090-U3BB-DM12 (1)
(required for flying-lead cables) 2098-DSD-010, and 2098-DSD-020) in applications where 5V DC control power (if required) is user-supplied. 2090-U3BB2-DM44
I/O (CN1) connections. These kits apply to only 2098-DSD-005, 2098-DSD-010, and 2098-DSD-020 drives in 2090-U3CBB-DM12 (1)
applications where a 24…5V DC converter for control power is required. 2090-U3CBB-DM44
Plastic, in-cabinet duty. 2090-SCEPx-x
SERCOS fiber-optic cables Plastic, on-machine duty. 2090-SCNPx-x
(required as needed for SERCOS
applications) Plastic, outdoor and conduit duty. 2090-SCVPx-x
Glass, outdoor and conduit duty. 2090-SCVGx-x
Serial interface cable
(required for non-SERCOS applications) Ultra3000 serial interface to personal computer. 2090-UXPC-D09xx
Motor power and feedback cables See the specific drive/motor combination for the motor cables required for your system.
(1) The 12-pin board is intended for use with SERCOS drives, but may be used in non-SERCOS applications with minimal I/O requirements.
See the Kinetix Motion Accessories Technical Data, publication GMC-TD004,

for detailed descriptions and specifications of these servo drive accessories.
Table 19 - Optional Drive Accessories

Single-axis (CN1) flying-lead drive to Logix module cable. 2090-U3CC-D44xx
Drive to 1756-M02AE module interface cable
Two-axis (CN1) pre-wired drive to Logix module cable. 2090-U3AE-D44xx
Drive-mounted breakout board for serial interface
(applies to flying-lead cables as an alternative to 9-pin (CN3) breakout board for serial interface. 2090-UXBB-DM09
serial interface cable)
Panel-mounted breakout boards DIN rail mounted terminal block and cable for 15-pin (CN2) motor feedback connections. 2090-UXBK-D15xx
(applies to flying-lead cables as an alternative to
drive-mounted breakout boards) DIN rail mounted terminal block and cable for 44-pin (CN1) I/O connections. 2090-U3BK-D44xx
AC line conditioning for EMC. Applies to 200V-class drives. 2090-UXLF-xxx

2090 AC line filters
AC line conditioning for EMC. Applies to 400V-class drives. 2090-UXLF-HVxxx
Applies to 2098-DSD-HV030, 2098-DSD-HV050, and 2098-DSD-HV100 drives. (1) 2090-SRxxx-xx
Applies to 2098-DSD-075 and 2098-DSD-150 drives. 2090-UCSR-P900
2090 shunt modules
Applies to 2098-DSD-030 drives. 9101-1183
Applies to 2098-DSD-005, 2098-DSD-010, and 2098-DSD-020 drives. 2090-UCSR-A300


Resistive brake module (RBM) Physically and electrically separate the drive power output from its corresponding motor. 2090-XBxxx-xx
2090-UXNRB-10F1P3
RBM interface cables Motor power, RBM to drive. 2090-UXNRB-8F1P4
2090-UXNRB-6F1P5
External auxiliary encoder Allen-Bradley® sine/cosine and incremental external encoders. Bulletin 842A, 844D, 845H, and 845T
(1) See Rockwell Automation Encompass™ partners for 2098-DSD-HV150 and 2098-DSD-HV220 passive shunt solutions.
Kinetix 5500 Servo Drive Accessories

Table 20 - Required Drive Accessories

24V power supply 24V DC for control power and motor brakes 1606-XLxxx
Ethernet network cables Double-ended, non-flex, shielded 1585J-M8CBJM-x
Double-ended, high-flex, shielded 1585J-M8UBJM-x
Motor cables Refer to the specific drive/motor combination for the motor cable required for your system 2090-CSxM1DF-xxAxxx
TIP The Kinetix 5500 feedback connector kit is included with the drive. Replacement kits are also available.
AC Input Power
2198-Hxxx-ERSx
Kinetix 5500 Servo Drive
1606-XLxxx
Allen-Bradley
24V DC Control Power Supply 1606-XL

Power S u p p l y
for Control, Digital Inputs, and Motor Brakes

Input
1585J-M8CBJM-x
AC Input Power Ethernet (shielded) Cable
Bulletin 2090 Single Motor Cable
Table 21 - Optional Drive Accessories

Capacitor module Capacitor bank for energy storage and/or to improve performance in applications that produce 2198-CAPMOD-1300
regenerative energy and require shorter duty cycles (1360 μf).
AC line filters AC line conditioning for EMC. 2198-DBxx-F
Bulletin 2097 shunt resistor Panel-mount shunt resistor. 2097-Rx
Shared-bus connection system Input wiring connectors and DC bus T connectors for use between frame 1, 2, and 3 servo drives 2198-H040-x-x
(frame 3:2, frame 2:1, frame 1:1, and frame 2:2).
Input wiring connectors and DC bus T connectors for use between frame 3 servo drives (frame 3:3). 2198-H070-x-x

Bulletin 2198 shared-bus connection

system for bus-sharing configurations. 2097-Rx Shunt Resistor
Bulletin 2198 AC Line Filter
(required for CE)
AC Input Power
2198-CAPMOD-1300
2198-Hxxx-ERSx
Capacitor Module
Kinetix 5500 Servo Drive
See the Kinetix Servo Drives Specifications Technical Data, publication GMC-
TD003, for detailed descriptions and specifications of these drive accessories.

Notes:

Appendix A
Connectors and Field Connections
Connector Locations Use these illustrations to identify the connectors and indicators for the Ultra3000
and Kinetix 5500 servo drives.
Ultra3000 Servo Drive Connector Data

Figure 9 - Ultra3000 Servo Drive Front Panel Connections for Cat. No.
2098-DSD-005-SE, -010-SE, and -020-SE
7
6
8
5
9
10
4
11
3 12
8
2 13
14
1
Item Description Item Description

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

Appendix A Connectors and Field Connections
Figure 10 - Ultra3000 Servo Drive Front Panel Connections for Cat. No.
2098-DSD-HVxxx-SE
6
7
8
9
1
Internal
External Shunt
4 2 10
8
3
TB2
11
DANGER
Hazardous voltage
exists after power down.
12
DC Bus
-
V
3
Motor
13
L3
L2
230-480 VAC
2
50/60 Hz
L1
L1
14
AUX
L2
1 AUX
TB1

1 Motor Power Cable Shield Clamp 8 Network Status LED
2 AC Input Power Connections 9 Node Address Switches
3 Motor Power Connections 10 Data Rate Switch
4 Passive Shunt Resistor Connections 11 CN3 9-pin Serial Port Connector
5 Seven Segment Status LED 12 CN2 15-pin Motor Feedback Connector
6 Logic Power LED 13 CN1 44-pin User I/O Connector
7 Module Status LED 14 SERCOS Interface Receive (Rx) and Transmit (Tx) Connectors

Connectors and Field Connections Appendix A
Kinetix 5500 Servo Drive Connector Data

Figure 11 - Drive Features and Indicators
6 6
2
Kinetix 5500 Servo Drive, 7 1 17
Front View 8
(2198-H003-ERS is shown)
9 Kinetix 5500 Servo Drive,
Top View
(2198-H003-ERS is shown)
10
5 L3
18
L2
11 L1
4
12
U +
3 V 19
–
13
W
2
2 1 20
2
1 14
16
1
15

1 Motor cable clamp 11 Link speed status indicators
2 Motor feedback (MF) connector 12 Link/Activity status indicators
3 Digital inputs (IOD) connector 13 Motor power (MP) connector
4 Ethernet (PORT1) RJ45 connector 14 Motor brake (BC) connector
5 Ethernet (PORT2) RJ45 connector 15 Ground terminal
6 Zero-stack mounting tab/cutout 16 Safe torque-off (STO) connector
7 Module status indicator 17 Shunt resistor (RC) connector
8 Network status indicator 18 AC mains input power (IPD) connector
9 LCD display 19 DC bus (DC) connector (under cover) (1)
10 Navigation pushbuttons 20 24V control input power (CP) connector
(1) The DC bus connector ships with a protective knock-out cover that can be removed for use in shared-bus configurations.

Input and Motor Power The table below compares the input power, control/auxiliary power, motor
power, and shunt resistor connector pinouts for the Ultra3000 and Kinetix 5500
Connector Pinouts servo drives:
• Ultra3000 servo drive TB1 and TB2 connectors
• Kinetix 5500 servo drive IPD, DC, MP, CP, and RC connectors

(Cat. No. 2098-DSD-005, -010,
Description and -020)
Signal Terminal Connector Signal Terminal
DC+ + DC- 1
DC Bus Connections DC
DC- – DC+ 2
L1 L1 L1 L1
L2/N L2/N L2 L2
Single-phase Input Power IPD
— — L3 L3
Ground Ground Ground
U U U U
V V V V
Motor MP
W W W W
Chassis Ground Chassis Ground Chassis Ground
— — 24V 24V+
Control Power CP
— — 24V Com 24 -
— — SH (1) 1
Shunt Resistor RC
— — DC+ (1) 2
(1) Shunt connections (Frame 1).
Ultra3000 Servo Drives (Cat. No. Kinetix 5500 Servo Drives

Description 2098-DSD-075, -150, and 2098-DSD-HVxxx)
Connector Signal Terminal Connector Signal Terminal
U U U U
V V V V
Motor TB1 MP
W W W W
Chassis Ground Chassis Ground Chassis Ground
DC+ + DC- 1
DC Bus Connections TB1 DC
DC- – DC+ 2
L1 L1 L1 L1
L2 L2 L2 L2
Three-phase Input Power TB1 IPD
L3 L3 L3 L3
Ground Ground Ground
L1 Aux L1 Aux 24V 24V+
Control/Auxiliary Power TB1 CP
L2 Aux L2 Aux 24V Com 24 -

Ultra3000 Servo Drives (Cat. No. Kinetix 5500 Servo Drives

Description 2098-DSD-075, -150, and 2098-DSD-HVxxx)
Connector Signal Terminal Connector Signal Terminal
(1)
Internal/External 1 DC+ 1
RC
Shunt Resistor TB2 Internal 2 SH (1) 2
External 3
(1) Shunt connections (Frames 2 and 3).
Encoder Connector Pinouts The table below compares the feedback connector pinouts for the Ultra3000 and
Kinetix 5500 servo drives:
• Ultra3000 servo drive CN2 connector
• Kinetix 5500 servo drive MF connector
Ultra3000 Servo Drives (1) Kinetix 5500 Servo Drives (2)

MF Pin Description Signal Signal Description MF Pin
1 Channel A+ / sine differential input+ AM+ — — —
2 Channel A- / sine differential input- AM- — — —
3 Channel B+ / cosine differential input+ BM+ — — —
4 Channel B- / cosine differential input- BM- — — —
5 Channel I+ / Index pulse+ IM+ — — —
6 Common ECOM — — —
7 N/C / Encoder power (+9V) (1) EPWR +9V — — —
8 Commutation channel S3 S3 — — —
9 Positive overtravel limit +LIMIT — — —
10 Channel I- / Index pulse- IM- — — —
11 Thermostat TS — — —
14 Encoder power (+5V) EPWR_5V — — —
15 Negative overtravel limit -LIMIT — — —
— — — D+ 1
Bidirectional data and power for digital encoder interface (3)
— — — D- 2
— — — SHIELD SHIELD
(1) +9V encoder capability only available on standard size Ultra3000 drive (catalog number 2098-DSD-030 or larger).
(2) Connections shown for VPL motor encoder.
(3) Kinetix 5500 servo drive-to-motor power cables must not exceed 50 m (164 ft). System performance was tested at this cable length. These limitations also apply when meeting CE
requirements.

I/O Connector Pinouts The table below compares the I/O connector pinouts for the Ultra3000 and
Kinetix 5500 servo drives:
• Ultra3000 CN1 connector
• Kinetix 5500 servo drive IOD connector

CN1 Pin Description Signal Signal Description IOD Pin
1 Auxiliary Encoder Power Out (+5V) EPWR
2 Common ECOM
3 Auxiliary Logic Power In (+5V) AUXPWR
4 Auxiliary Encoder Ch A+ AX+
5 Auxiliary Encoder Ch A- AX-
6 Auxiliary Encoder Ch B+ BX+
7 Auxiliary Encoder Ch B- BX-
8 Auxiliary Encoder Ch I+ IX+
9 Auxiliary Encoder Ch I- IX-
10 Unbuffered Motor Encoder Ch A+ AM+
11 Unbuffered Motor Encoder Ch A- AM-
12 Unbuffered Motor Encoder Ch B+ BM+
13 Unbuffered Motor Encoder Ch B- BM-
14 Unbuffered Motor Encoder Ch I+ IM+
15 Unbuffered Motor Encoder Ch I- IM-
16 Buffered Motor Encoder Ch A+ AMOUT+
17 Buffered Motor Encoder Ch A- AMOUT-
18 Buffered Motor Encoder Ch B+ BMOUT+
19 Buffered Motor Encoder Ch B- BMOUT-
20 Buffered Motor Encoder Ch I+ IMOUT+
21 Buffered Motor Encoder Ch I- IMOUT-
22 Common ACOM
23 Reserved —
24 Analog Current Limit Input ILIMIT
25 Reserved —
26 Reserved —
27 I/O Common IOCOM COM I/O common for customer-supplied 24V supply. 2
28 I/O Common IOCOM
29 I/O Power IOPWR
30 I/O Power IOPWR
31 Drive Enable Input ENABLE
32 Home Sensor Input HOME High speed registration /home position input. A low/ 1
IN1 (1) high or high/low transition triggers a registration
event. This is a dual-function input.


CN1 Pin Description Signal Signal Description IOD Pin
33 Registration Sensor 1 Input REG1 High speed registration /home position input. A low/ 1
IN1 (1) high or high/low transition triggers a registration
event. This is a dual-function input.
34 Registration Sensor 2 Input REG2 High speed registration input. A low/high or high/low 3
IN2 transition triggers a registration event.
35 Reserved —
36 Reserved —
37 Positive Overtravel Input OT_POS
38 Negative Overtravel Input OT_NEG
39 Drive Ready READY (2)
40 Reserved —
41 Reserved —
42 Reserved —
43 Brake Relay Output+ BRAKE+
44 Brake Relay Output- BRAKE-
(1) This signal has dual-functionality. You can use IN1 (IOD-1) as registration or Home input.
(2) READY signal only available with firmware version 1.29 (or above). Requires use of drive-mounted breakout board (2090-U3BB2-DM44).

Notes:

Appendix B
About the Servo Drive System
About the Ultra3000 Servo The Ultra3000 servo drive is designed to provide a Kinetix Integrated Motion
solution for applications with output power requirements between 0.5…22 kW
Drive System (1.8…32.2 A).
Table 22 - Ultra3000 Servo Drive System Overview
Ultra3000 Servo Drive Cat. No. Description

System Component
Axis Module 2098-DSD-xxxx-xx (200V class) Individual Axis Module
2098-DSD-HVxxxx-xx (400V class)
2090 Shunt Modules 2090-SRxxx-xx Shunt Module (SM); This module provides additional shunting capability in regenerative applications.
2090-UCSR-P900
9101-1183
2090-UCSR-A300
Resistive Brake Module 2093-XBxxx-xx Physically and electrically separate the drive power output from its corresponding motor.
(RBM)
24V Power Supply 1606-XLxxx 12…24V DC for control power and motor brakes.
Logix Controller Platform 1756-L60M03SE, 1756-MxxSE, SERCOS interface module/PCI card serves as a link between the ControlLogix/CompactLogix/SoftLogix platform
and 1768-M04SE modules, and and Ultra3000 drive system. The communication link uses the IEC 61491 SErial Real-time COmmunication
the 1784-PM16SE PCI card System (SERCOS) protocol over a fiber-optic cable.
SERCOS Fiber-optic Cables 2090-SCxxx-x Plastic or glass; in cabinet or on-machine duty.
RSLogix 5000 Software 9324-RLD300ENE RSLogix 5000 software provides support for programming, commissioning, and maintaining the Logix family of
controllers.
Servo Motors MP-Series, TL-Series, LDC-series, Compatible servo motors.
and LDL-Series
Cables Motor Power, Feedback, and Brake Refer to the specific drive and motor combination for the motor cables required for the system.
cables
Drive-mounted Breakout 2090-UXBB-DM15 Motor feedback (CN2) connections.
Boards
2090-UXBB-DM09 Serial interface (CN3) connections.
2090-U3BB-DM12 I/O (CN1) connections. These kits apply to all Ultra300 drives (and drive catalog numbers 2098-DSD-005, 2098-
DSD-010, and 2098-DSD-020 in applications where 5V DC control power, if required, is user-supplied).
2090-U3CBB-DM12 I/O (CN1) connections. These kits apply to only Ultra300 drive catalog numbers 2098-DSD-005, 2098-DSD-010,
and 2098-DSD-020 in applications where a 24…5V DC converter for control power is required.
2090 AC Line Filters 2090-UXLF-xxx AC line conditioning for EMC. Applies to 200V-class drives.
2090-UXLF-HVxxx AC line conditioning for EMC. Applies to 400V-class drives.

Appendix B About the Servo Drive System
About the Kinetix 5500 Servo The Kinetix 5500 servo drives are designed to provide a Kinetix Integrated
Motion solution for your drive/motor application.
Drive System
Table 23 - Kinetix 5500 Servo Drive System Overview
Kinetix 5500 Servo Drive Cat. No. Description

System Component
Kinetix 5500 Servo Drives 2198-Hxxx-ERSx 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 use the shared-bus connection system to extend power in multi-axis configurations.
Kinetix 5500 Capacitor 2198-CAPMOD-1300 Used for energy storage and/or to improve performance in applications producing regenerative energy and requiring
Module shorter duty cycles (1360 μf). Modules are zero-stacked side-by-side with servo drives and use the shared-bus
connection system to extend power.
Shared-bus Connector Kits 2198-H040-x-x Input wiring connectors and DC bus T-connector for frame 1 and 2 servo drives.
2198-H070-x-x Input wiring connectors and DC bus T-connector for frame 3 servo drives.
Feedback Connector Kit 2198-KITCON-DSL Replacement feedback connector kit with 2-pin connector plug and grounding plate inside the connector housing.
I/O Connector Kits 2198-KITCON-IOSP Replacement I/O connector kit (spring clamp) for I/O (IOD) connector.
2198-KITCON-IOSC Replacement I/O connector kit (screw terminal) for I/O (IOD) connector.
Connector Sets 2198-KITCON-PWR40 Replacement connector set, 40 A, for frame 1 and frame 2 drives.
2198-KITCON-PWR70 Replacement connector set, 70 A, for frame 3 drives.
2198-KITCON-CAP1300 Replacement connector set, 40 A, for capacitor module.
Logix5000 Controller 1769-L18ERM CompactLogix 5370 controllers with Integrated Motion on the EtherNet/IP network. Linear, ring, and star topology is
Platform 1769-L27ERM supported.
1769-L30ERM
1769-L33ERM
1769-L36ERM
1756-EN2T module ControlLogix 1756-L7x controllers with Integrated Motion on EtherNet/IP networks. Linear, device-level ring (DLR), and
1756-EN2TR module star topology is supported.
1756-EN3TR module
Studio 5000 N/A Studio 5000 Logix Designer application, version 21.00 or later, provides support for programming, commissioning, and
maintaining the CompactLogix and ControlLogix controller families.
Compatible Motors VPL-Axxxx Compatible rotary motors include 200V and 400V-class Kinetix VP (Bulletin VPL) servo motors.
VPL-Bxxxx
N/A Induction motors with open loop volts/hertz frequency control are also supported.
Cables 2090-CSxM1DF-xxAAxx Bulletin 2090 single-cable for motor power, feedback, and 24V DC brake power.
1585J-M8CBJM-x Ethernet cables are available in standard lengths. Shielded cable is recommended.
AC Line Filters 2198-DB08-F Bulletin 2198 three-phase AC line filters are required to meet CE and available for use in all Kinetix 5500 servo drive
2198-DB20-F systems.
2198-DB42-F
24V DC Power Supply 1606-XLxxx Bulletin 1606 24V DC power supply for control circuitry, digital inputs, safety, and motor brake.
External Shunt Resistors 2097-R6 and 2097-R7 Bulletin 2097 external passive shunt resistors for when the drive’s internal shunt capability is exceeded.

Appendix C
Specifications
Power Specifications This section provides the power specifications for the Ultra3000 and Kinetix
5500 servo drives.
Ultra3000 (230V) Servo Drive Power Specifications

The table below lists power specifications and requirements for the Ultra3000
230V drives (2098-DSD-005x-xx, -010x-xx, and -020x-xx).
Attribute 2098-DSD-005 2098-DSD-010 2098-DSD-020

AC input voltage (1) 100…240V rms, single-phase
AC input frequency 47…63 Hz
AC input current (2) (3)
Nom (rms) 5A 9A 18 A
230V AC (0-pk) max inrush (4) 100 A - Series A or B 100 A - Series A or B 100 A - Series A or B
20 A - Series C 20 A - Series C 20 A - Series C
Continuous output current (rms) 1.8 A 3.5 A 7.1 A
Continuous output current (0-pk) 2.5 A 5.0 A 10 A
Peak output current (rms) 5.3 A 10.6 A 21.2 A
Peak output current (0-pk) 7.5 A 15 A 30 A
Bus capacitance 1410 μF 1880 μF 1880 μF
Internal shunt resistance N/A N/A N/A
Shunt on N/A N/A N/A
Shunt off N/A N/A N/A
Bus overvoltage 400V DC 400V DC 400V DC
Energy absorption capability
115V AC input 93 J 125 J
230V AC input 38 J 51 J
Continuous power output
115V AC input 0.25 kW 0.5 kW 1.0 kW
230V AC input 0.5 kW 1.0 kW 2.0 kW
(1) Specification is for nominal voltage. The absolute limits are ±10%, or 88…265V rms.
(2) The 2098-DSD-005x-xx, 2098-DSD-010x-xx, and 2098-DSD-020x-xx (200V-class) drives are limited to:
Series A or B - one contactor cycle every two minutes.
Series C - one contactor cycle every 10 s for up to two minutes, not to exceed 12 cycles in five minutes.
(3) Power initialization requires a short period of inrush current. Dual element time delay (slow blow) fuses are recommended.
(4) In-rush current limiting circuitry is enabled within 3 s after removal of AC line power.

Appendix C Specifications
230V drives (2098-DSD-030x-xx, -075x-xx, and -150x-xx).
Attribute 2098-DSD-030 2098-DSD-075 2098-DSD-150

AC input voltage (1) 100…240V rms, single-phase 100…240V rms, three-phase
Main AC input current (2) (3)
Nom (rms) 28 A 30 A 46 A
230V AC (0-pk) max inrush 50 A 50 A 68 A
Auxiliary AC input current
115V AC (rms) nom 1.0 A 1.0 A 1.0 A
230V AC (rms) nom 0.5 A 0.5 A 0.5 A
115V AC (0-pk) max inrush (4) 47 A 47 A 47 A
230V AC (0-pk) max inrush (4) 95 A 95 A 95 A
Continuous output current (rms) 10.6 A 24.7 A 45.9 A
Continuous output current (0-pk) 15 A 35 A 65 A
Peak output current (rms) 21.2 A 53 A 106 A
Peak output current (0-pk) 30 A 75 A 150 A
Bus capacitance 2820 μF 4290 μF 7520 μF
Internal shunt resistance 35 Ω 16.5 Ω 9.1 Ω
Shunt on 420V DC 420V DC 420V DC
Shunt off 402V DC 402V DC 402V DC
Bus overvoltage 452V DC 452V DC 452V DC
Internal shunt
Continuous power 50 W 50 W 180 W
Peak power 4.5 kW 10 kW 18 kW
External shunt
Resistance 30 Ω (-0/+5%) 16.5 Ω (-0/+5%) 9 Ω (-0/+5%)
Continuous power 2.4 kW 4 kW 8 kW
Peak power 6 kW 10 kW 19 kW
115V AC input 251 J 381 J 669 J
230V AC input 139 J 211 J 370 J
115V AC input 1.5 kW N/A N/A
230V AC input 3 kW 7.5 kW 15 kW
(1) Specification is for nominal voltage. The absolute limits are ±10%, or 88…265V rms.
(2) The 2098-DSD-030x-xx, 2098-DSD-075x-xx, and 2098-DSD-150x-xx (200V-class) drives are limited to one contactor cycle per two minutes.
(3) Power initialization requires a short period of inrush current. Dual element time delay (slow blow) fuses are recommended.
(4) 400 μs half wave sine.
Ultra3000 (460V) Servo Drive Power Specifications
460V drives (2098-DSD-HV030x-xx, -HV050x-xx, -HV100-x-xx, -HV150x-xx,
and -HV220x-xx).

Specifications Appendix C
Attribute 2098-DSD-HV030 2098-DSD-HV050 2098-DSD-HV100 2098-DSD-HV150 2098-DSD-HV220

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

Kinetix 5500 Servo Drive Input Power Specifications
The table below lists input power specifications and requirements for the Kinetix
5500 servo drives.
Attribute 2198-H003-ERSx 2198-H008-ERSx 2198-H015-ERSx 2198-H025-ERSx 2198-H040-ERSx 2198-H070-ERSx
AC input voltage 195…264V rms, single-phase (240V nom) 195…264V rms, three-phase (240V nom)
195…264V rms, three-phase (240V nom) 324…528V rms, three-phase (480V nom)
324…528V rms, three-phase (480V nom)
Main AC input current (1)
Nom (rms) three-phase 1.0 A 2.60 A 5.20 A 8.30 A 13.4 A 23.7 A
Nom (rms) single-phase 0.7 A 1.70 A 3.40 A N/A N/A N/A
Max inrush (0-pk) 15.0 A 30.0 A 60.0 A
Peak AC input current
Nom (rms) three-phase 3.0 A 7.8 A 15.6 A 24.9 A 40.2 A 71.1 A
Nom (rms) single-phase 2.1 A 5.1 A 10.2 A N/A N/A N/A
Line loss ride through 20 ms
Control power DC input voltage 24V DC ±10%
Control power DC input current (1) (2) 0.4 ADC 0.8 ADC 1.3 ADC
(non-brake motors)
Nominal bus output voltage 276…747V DC
Continuous output current to bus
Three-phase 1.0 ADC 2.40 ADC 4.90 ADC 7.80 ADC 12.7 ADC 22.50 ADC
Single-phase 0.67 ADC 1.60 ADC 3.27 ADC N/A N/A N/A
Peak output current to bus (3)
Three-phase 3.0 ADC 7.2 ADC 14.7 ADC 23.4 ADC 38.1 ADC 67.5 ADC
Single-phase 2.0 ADC 4.8 ADC 9.8 ADC N/A N/A N/A
Continuous output power to bus
195…264V rms, single-phase 0.2 kW 0.5 kW 1.0 kW N/A N/A N/A
195…264V rms, three-phase 0.3 kW 0.8 kW 1.6 kW 2.5 kW 4.0 kW 7.2 kW
Peak output power to bus
324…528V rms, three-phase 1.9 kW 4.9 kW 9.7kW 15.6 kW 25.3 kW 44.8 kW
DC input voltage (common bus follower) 276…747V DC
DC input current (common bus follower) 1.0 ADC 2.4 ADC 4.9 ADC 7.8 ADC 12.7 ADC 22.5 ADC
Bus overvoltage 240V, nom AC input 440V DC
480V, nom AC input 810V DC
Bus undervoltage 240V, nom AC input 138V DC
480V, nom AC input 275V DC
Efficiency 97%
Capacitive energy absorption 11.54 J 19.58 J 39.15 J 58.73 J 104.87 J
Short-circuit current rating 150,000 A (rms) symmetrical
(1) All drives are limited to 1 power cycle per minute.
(2) For current values when motors include a holding brake and additional information, see Control and Auxiliary Power Specifications on page 64.
(3) Peak output current duration equals 1.0 second.

Kinetix 5500 Servo Drive Output Power Specifications
The table below lists output power specifications and requirements for the
Attribute 2198-H003-ERSx 2198-H008-ERSx 2198-H015-ERSx 2198-H025-ERSx 2198-H040-ERSx 2198-H070-ERSx
Bandwidth (1)
Velocity loop, max 300 Hz
Current loop 1000 Hz
Continuous output current (rms) 1.0 A 2.5 A 5.0 A 8.0 A 13.0 A 23.0 A
Continuous output current (0-pk) 1.4 A 3.5 A 7.1 A 11.3 A 18.4 A 32.5 A
Peak output current (rms) (2) 2.5 A 6.25 A 12.5 A 20.0 A 32.5 A 57.5 A
Peak output current (0-pk) (2) 3.5 A 8.8 A 17.7 A 28.3 A 45.9A 81.3A
Continuous power out (nom)
195…264V rms, three-phase 0.3 kW 0.8 kW 1.5 KW 2.4 kW 4.0 kW 7.0 kW
Internal shunt resistance 100 Ω 60 Ω 40 Ω
Internal shunt power 30 W 50 W 75 W
Shunt on 775V plus 30V x bus regulator capacity/utilization (3)
Shunt off 765V plus 30V x bus regulator capacity/utilization (3)
(1) Bandwidth values vary based on tuning parameters and mechanical components.
(2) Peak current duration (TPKmax) equals 1.0 second.
(3) The shunt on and shunt off voltages increase during periods of shunting activity to promote sharing of shunt power in multi-axis configurations. Shunt utilization is equivalent to the
BusRegulatorCapacity tag in the Logix Designer application.

Control and Auxiliary Power This section provides the control and auxiliary power specifications for the
Ultra3000 and Kinetix 5500 servo drives.
Specifications
Ultra3000 Servo Drive Auxiliary Power Specifications

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

Input voltage range Input voltage range of the external power supply for 18V 30V
drive-mounted breakout boards with 24V to 5V
converter.
Input current Input current draw from the external power supply for — 400 mA
the drive-mounted breakout boards with 24V to 5V
converter.
IMPORTANT A single 24V power supply can be used to power the digital I/O and supply 24V
to the drive-mounted breakout boards (catalog numbers 2090-U3CBB-DMxx)
provided the cumulative minimum current requirements are met.
Table 25 - Ultra3000 Drives 5V Supply Specifications

Voltage Voltage tolerance of the external logic supply. 5.1V 5.25V
Current Current output capability of the external +5V DC power 1.5A —
supply.
IMPORTANT Using the drive-mounted breakout board with 24V to 5V auxiliary power
converter is preferred to using an external +5V DC power supply.
Table 26 - Ultra3000 Drive Auxiliary Power Specification (230V)
Specification 2098-DSD-030 2098-DSD-075 2098-DSD-150

115V AC (rms) nom 1.0 A 1.0 A 1.0 A
230V AC (rms) nom 0.5 A 0.5 A 0.5 A
Table 27 - Ultra3000 Drive Auxiliary Power Specification (460V)
Attribute 2098-DSD-HV030 2098-DSD-HV050 2098-DSD-HV100 2098-DSD-HV150 2098-DSD-HV220

230V AC (0-pk) max inrush 47 A
480V AC (0-pk) max inrush 68 A

Kinetix 5500 Servo Drive Control Power Specifications

Table 28 - Control Power Current Specifications
Cat. No. 24V Current 24V Current 24V Inrush

(non-brake motor) (2 A brake motor) Current (1)
2198-H003-ERSx
0.4 A DC 2.4 A DC 2.0 A
2198-H008-ERSx
2198-H015-ERSx
2198-H025-ERSx 0.8 A DC 2.8 A DC
3.0
2198-H040-ERSx
2198-H070-ERSx 1.3 A DC 3.3 A DC
2198-CAPMOD-1300 0.3 A DC N/A 2.0
(1) Inrush current duration is less than 30 ms.

Power Dissipation This section provides the power dissipation specifications for the Ultra3000 and
Specifications
Ultra3000 Servo Drive Power Dissipation Specifications
Use the following table to size an enclosure and calculate required ventilation for
a Ultra3000 servo drive system. Typical heat losses run approximately one-half
maximum power losses. The maximum power losses are shown below.
Ultra3000 Servo Maximum Loss, Ultra3000 Servo Maximum Loss,

Drive Cat. No. watts Drive Cat. No. watts
2098-DSD-005x-xx 48 2098-DSD-HV030x-xx 175 + dissipative shunt
2098-DSD-030x-xx 150 + dissipative shunt 2098-DSD-HV150x-xx 350 + dissipative shunt
2098-DSD-075x-xx 300 + dissipative shunt 2098-DSD-HV220x-xx 600 + dissipative shunt
2098-DSD-150x-xx 500 + dissipative shunt
Kinetix 5500 Servo Drive Power Dissipation Specifications
Use this table to size an enclosure and calculate required ventilation for a
Kinetix 5500 drive system.
Kinetix 5500 Usage as % of Rated Power Output (Watts)

Servo Drive Cat. No.
20% 40% 60% 80% 100%
2198-H003-ERSx
12 25 37 50 62
2198-H008-ERSx
2198-H015-ERSx
2198-H025-ERSx 40 80 120 160 200
2198-H040-ERSx
2198-H070-ERSx 64 128 192 256 320

Cable Lengths This section provides the feedback cable lengths for the Ultra3000 and Kinetix
5500 servo drives.
Ultra3000 Servo Drive Motor Feedback Cable Lengths
Although motor feedback cables are available in standard lengths up to 90 m

(295.3 ft), the drive/motor/feedback combination can limit the maximum cable
length, as shown in the table below. This table assumes using cables
recommended in the Motion Control Selection Guide, publication GMC-
SG001.
The maximum cable lengths for Ultra3000 drives with MP-Series (low inertia
and integrated gear) motors are given in the table below.
MPL-A (230V) Motors MPL-B (460V) Motors

Absolute High-Res (1) Incremental (2) Absolute High-Res (1) Incremental (2)
m (ft) m (ft) m (ft) m (ft)
90 (295.3) 45 (147.6) 90 (295.3) 45 (147.6)
(1) Refers to MPL-A/BxxxxS/M (single-turn or multi-turn) low inertia motors with absolute high-resolution
feedback.
(2) Refers to MPL-A/BxxxxH low inertia motors with 2000-line incremental feedback.
Kinetix 5500 Servo Drive Single Motor Cable Lengths
Although single motor cables are available in standard lengths up to 50 m (164

ft), use of continuous-flex cables limits the maximum cable length. This table
assumes the use of 2090-Series single motor cables. See the Kinetix Motion
Accessories Technical Data, publication GMC-TD004, for cable specifications.
Kinetix 5500 Standard (non-flex) Cables Continuous-flex Cables

Servo Drive Cat. No. Cat. No. 2090-CSxM1DF-xxAAxx Cat. No. 2090-CSBM1DF-xxAFxx
2198-H003-ERSx 50 m (164 ft) 30 m (98.4 ft)
2198-H008-ERSx
2198-H015-ERS x
2198-H025-ERS x 50 m (164 ft)
2198-H040-ERSx
2198-H070-ERSx 50 m (164 ft)
Combined 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).
IMPORTANT System performance was tested at these cable length specifications. These
limitations also apply when meeting CE requirements.

Environmental Specifications This section provides the environmental specifications for the Ultra3000 and
Ultra3000 Servo Drive Environmental Specifications

Specification Operational Range Storage Range (non-operating)
Ambient Temperature 0 °C…55 °C (32 °F…131 °F) -40 °C…70 °C (-40 °F…158 °F)
Relative Humidity 5…95% non-condensing 5…95% non-condensing
Altitude 1500 m (4921.5 ft) - Derate 3% per 300 m (984.3 ft) above 1500 m (4,921.5 ft)
Vibration 5-2000 Hz @ 2.5g peak, 0.0006 mm (0.015 in.) maximum displacement
Shock 15g, 11 ms half-sine pulse
Kinetix 5500 Servo Drive Environmental Specifications

Specification Operational Range Storage Range (non-operating)
Ambient temperature 0…50 °C (32…122 °F) -40…70 °C (-40…158 °F)
Relative humidity 5…95% non-condensing 5…95% non-condensing
Altitude 1000 m (3281 ft) 3000 m (9843 ft) during transport
5…55 Hz @ 0.35 mm (0.014 in.) double amplitude, continuous displacement;
Vibration 55…500 Hz @ 2.0 g peak constant acceleration
15 g, 11 ms half-sine pulse (3 pulses in each direction of 3 mutually
Shock perpendicular directions)

Certifications This section lists the certifications for the Ultra3000 and Kinetix 5500 servo
drives.
Ultra3000 Servo Drive Certifications

Agency Certification (1) Standards
(when product is marked)
c-UL-us UL Listed to U.S. and Canadian safety standards (UL 508 C File E145959).
CE European Union 89/336/EEC EMC Directive compliant with EN 61800-3:2004: Adjustable Speed
Electrical Power Drive Systems - Part 3; EMC Product Standard including specific test methods.
European Union 73/23/EEC Low Voltage Directive compliant with:
• EN 60204-1:1997 - Safety of Machinery - Electrical Equipment of Machines.
• EN 50178:1997 - Electronic Equipment for use in Power Installations.
Functional Safety • EN 60204-1:1997 - Safety of Machinery - Electrical Equipment of Machines.
• IEC 61508: Part 1-7:2000 - Functional Safety of Electrical/Electronic/Programmable Electronic
Safety-related Systems.
• EN954-1:1996 - Safety of machinery. Safety related parts of control systems. Part 1: General
principles for design.
(1) See http://www.rockwellautomation.com/products/certification for Declarations of Conformity Certificates.
Kinetix 5500 Servo Drive Certifications

Agency Certification (1) Standards
c-UL-us (2) UL Listed to U.S. and Canadian safety standards (UL 508C File E59272).
Solid-state motor overload protection provides dynamic fold-back of motor current when 110% of the motor rating is reached with a peak
current limit based on the peak rating of the motor as investigated by UL to comply with UL 508C (UL File E59272).
CE European Union 2004/108/EC EMC Directive compliant with EN 61800-3:2004: Adjustable Speed Electrical Power Drive Systems - Part 3;
EMC Product Standard including specific test methods.
European Union 2006/95/EC Low Voltage Directive compliant with EN 61800-5-1:2007 - Adjustable speed electrical power drive systems.
Functional Safety TÜV Certified for Functional Safety: up to SIL CL2, according to EN 61800-5-2, EN 61508, and EN 62061; up to Performance Level PLd and
Category 3, according to EN ISO 13849-1; when used as described in the Kinetix 5500 Servo Drives User Manual, publication 2198-UM001.
C-Tick Australian Radio Communications Act, compliant with:
• Radio Communications Act: 1992
• Radio Communications (Electromagnetic Compatibility) Standard: 1998
• Radio Communications (Compliance Labelling - Incidental Emissions) Notice: 1998
• AS/NZS CISPR 11: 2002 (Group 1, Class A)
KC Korean Registration of Broadcasting and Communications Equipment, compliant with:
• Article 58-2 of Radio Waves Act, Clause 3
• Registration number: KCC-REM-RAA-2198
ODVA EtherNet/IP conformance tested.
OSHA Maximum audible noise from the servo drive system complies with OSHA standard 3074, Hearing Conservation (<85 dBA).
(1) When product is marked, see http://www.ab.com for Declarations of Conformity Certificates.
(2) UL has not evaluated the safe-off, safe torque-off, or safe speed-monitoring options in these products.

Notes:

Appendix D
Interconnect Diagrams
This appendix provides power wiring examples to assist you in comparing the
power wiring for the Ultra3000 servo drive and the Kinetix 5500 drive systems.
Ultra3000 Servo Drive Power This is the power wiring diagram with 24V DC control string for
2098-DSD-005x-xx, 2098-DSD-010x-xx, and 2098-DSD-020x-xx Ultra3000
Wiring Examples drives (non-SERCOS drives only). To avoid a separate 5V DC auxiliary logic
power supply, the 24V to 5V converter breakout board (catalog number
2090-U3CBB-DMxx) is used to wire the control interface (CN1) connector.
For SERCOS drives, input line contactor is part of the PLC program and output
control.
Figure 12 - Typical Power Wiring on Ultra3000 (230V) System
2098-DSD-005x-xx,
2098-DSD-010x-xx, and
2098-DSD-020x-xx
Ultra3000 Digital Servo Drives
TB1
DC+ DC Bus Connections
DC- for Active Shunt Module
Single-phase AC Line M1*
50/60 Hz L1
Single-phase AC Input Power
AC Line Filter L2/N Connections
Fused Disconnect Input Fusing*
or Circuit Breaker*
U CN1
Bonded Cabinet
Three-phase N.O. Relay Output+
Chassis Ground Bus* V Motor Power 43
Isolation Motor Power
Connections N.O. Relay Output- From CN1 Breakout
Transformer* Connections W 44 Board with 24V to 5V
Aux Logic Power In +5V Aux Power Converter
3
L1 (2090-U3CBB-DMxx)
Aux +5V Common
2
Single-phase Input
Cable Shield
100…240V AC rms
Clamp
L2/N
Terminal To additional
Blocks* Ultra3000 Drive
CN1
43
START* STOP*
* INDICATES USER-SUPPLIED COMPONENT CR1*
24V DC
CR1*
44 M1*
CR1*

Appendix D Interconnect Diagrams
This is the power wiring diagram with 24V DC control string for the
2098-DSD-030x-xx drive (non-SERCOS drives only).
control.
Table 29 - Typical Power Wiring on Ultra3000 (230V) System
2098-DSD-030x-xx
Ultra3000 Digital Servo Drive
TB1 TB2
U 1 External Passive
Three-phase Shunt Connections
V Motor Power 2
Motor Power
Connections
Connections W 3
DC+
Input Fusing* M1* DC-
L1
Single-phase AC Input Power
AC Line Filter L2/N Connections CN1
Single-phase AC Line N.O. Relay Output+
50/60 Hz 43
L1 AUX N.O. Relay Output-
44
L2/N AUX
Fused Disconnect Input Fusing*
or Circuit Breaker*
Cable Shield
Bonded Cabinet Clamp
Chassis Ground Bus*
Isolation
Transformer*
L1 CN1
Single-phase Input
43
43
100…240V AC rms
L2/N START * STOP *
CR1 *
24V DC
Terminal CR1 *
Blocks*
44
44 M1 *
To additional CR1 *
Ultra3000 Drive
* INDICATES USER-SUPPLIED COMPONENT

Interconnect Diagrams Appendix D
This is the power wiring diagram with 24V DC control string for
2098-DSD-075x-xx and 2098-DSD-150x-xx Ultra3000 drives (non-SERCOS
drives only).
control.
Table 30 - Typical Power Wiring on Ultra3000 (230V) System
2098-DSD-075x-xx, and
2098-DSD-150x-xx
TB1 TB2
U 1 External Passive
Three-phase Shunt Connections
V AC Input Power 2
Motor Power
Connections
Connections W 3
DC+
Input Fusing* M1* DC-
Three-phase AC Line
50/60 Hz L1
Three-phase L2 Motor Power
AC Line Filter Connections
CN1
Fused Disconnect L3 N.O. Relay Output+
or Circuit Breaker* 43
N.O. Relay Output-
44
L1 AUX
L2/N AUX
Input Fusing*
Isolation Neutral Cable Shield
Transformer* Clamp
Chassis Bonded Cabinet
Ground Bus*
L1 CN1
43
43
Three-phase Input START * STOP *
L2 CR1 *
100…240V AC rms
24V DC
CR1 *
L3 44
44 M1 *
CR1 *
Terminal
Blocks*
To additional
* INDICATES USER-SUPPLIED COMPONENT Ultra3000 Drive

This is the power wiring diagram with 24V DC control string for
2098-DSD-HVxxx-xx and 2098-DSD-HVxxxX-xx Ultra3000 drives.
Figure 13 - Typical Power Wiring on Ultra3000 (460V) System
2098-DSD-HVxxx-xx, and
2098-DSD-HVxxxX-xx
TB1 TB2
DC+ 1 External Passive
Shunt Connections
DC- 2
W 3
Three-phase V Motor Power
Motor Power
Connections
Connections U
Input Fusing* M1*

L3
Three-phase AC Line
50/60 Hz Three-phase L2
AC Line Filter AC Input Power CN1
L1 Connections N.O. Relay Output+
Fused Disconnect 43
L1 AUX N.O. Relay Output-
or Circuit Breaker* 44
L2/N AUX
Input Fusing* Cable Shield

Isolation Clamp
Neutral
Transformer*
Chassis Bonded Cabinet
Ground Bus*
L3 CN1
Three-phase Input 43
43
100…240V AC rms START * STOP *
L2 CR1 *
24V DC
CR1 *
L1 44
44 M1 *
CR1 *
Terminal
Blocks*
To additional
Ultra3000 Drive
* INDICATES USER-SUPPLIED COMPONENT

Kinetix 5500 Servo Drive This section provides wiring examples to assist you in wiring the Kinetix 5500
servo drive system.
Power Wiring Examples
You must supply input power components. The single-phase and three-phase line
filters are wired downstream of the input fusing.
Single-axis Drive Wiring Examples

Figure 14 - Kinetix 5500 Servo Drives Power Wiring (three-phase operation)
2198-Hxxx-ERSx
Kinetix 5500 Servo Drives
Bonded Cabinet Ground Bus *

PE Ground
Chassis
Customer Supplied 2
24V_COM Control Power
+24V DC 1 (CP) Connector Cable Shield
Power Supply * +24V Clamp
4
U
4 3 Three-phase
Motor Power V
2 Motor Power
2198-DBxx-F 3 (MP) Connector W
195…264V AC rms or L3 Mains AC Input 1
Connections
324…528V AC rms Three-phase 2 (IPD) Connector
AC Line Filter L2
Three-phase Input 1
L1
Input Fusing *
2 MBRK -
Motor Brake MBRK - Motor Brake
DC+ DC Bus (BC) Connector 1 MBRK + Connections
(DC) Connector MBRK +
DC-
1 DATA +/EPWR+
Motor Feedback D+ Motor Feedback
DC+ (MF) Connector 2 DATA -/EPWR- Connections
Shunt D-
SH (RC) Connector
Internal Shunt 1
IN1
2 Registration and
Digital Input COM Home Input
(IOD) Connector 3
IN2 Connections
* INDICATES USER SUPPLIED COMPONENT 4
SHLD
Ground Screws

Figure 15 - Kinetix 5500 Servo Drives Power Wiring (single-phase operation)
2198-H003-ERSx, 2198-H008-ERSx, or
2198-H015-ERSx
Kinetix 5500 Servo Drives
PE Ground
Chassis
Customer Supplied 2
24V_COM Control Power
+24V DC 1 Cable Shield
Power Supply * +24V (CP) Connector
Clamp
4
U
4 3 Three-phase
Motor Power V
3 (MP) Connector 2 Motor Power
2198-DBxx-F L3 Mains AC Input W Connections
Three-phase 2 1
195…264V AC rms AC Line Filter L2 (IPD) Connector
Single-phase Input 1
L1
Input Fusing *
2 MBRK -
DC Bus Motor Brake MBRK - Motor Brake
DC+ (DC) Connector (BC) Connector 1 MBRK + Connections
(does not apply in MBRK +
DC-
single-phase operation)
1 DATA +/EPWR+
Motor Feedback D+ Motor Feedback
DC+ Shunt (MF) Connector 2 DATA -/EPWR- Connections
D-
SH (RC) Connector
Internal Shunt 1
IN1
2 Registration and
Digital Input COM
(IOD) Connector 3 Home Input
IN2 Connections
* INDICATES USER SUPPLIED COMPONENT 4
SHLD
Ground Screws

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 16 - Kinetix 5500 Servo Drives with Shared AC Bus
2198-Hxxx-ERSx 2198-Hxxx-ERSx 2198-Hxxx-ERSx

Kinetix 5500 Kinetix 5500 Kinetix 5500
Servo Drive Servo Drive Servo Drive
PE Ground
PE Ground
PE Ground
Chassis
Customer Supplied 2
24V_COM 24V_COM 24V_COM Control Power
+24V DC 1 (CP) Connectors
Power Supply * +24V +24V +24V
4
2198-DBxx-F 3
195…264V AC rms or L3 L3 L3 Three-phase Input
Three-phase 2 (IPD) Connectors
324…528V AC rms AC Line Filter L2 L2 L2
Three-phase Input 1
L1 L1 L1
Input Fusing *
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

Bus Bar Connectors Bus Bar Connectors Bus Bar Connectors
Figure 17 - Kinetix 5500 Servo Drives with Shared AC/DC Bus

PE Ground
PE Ground
PE Ground
Chassis
Customer Supplied 2
4
2198-DBxx-F 3
195…264V AC rms or L3 L3 L3 Three-phase Input
Three-phase 2 (IPD) Connectors
Three-phase Input 1
L1 L1 L1
Input Fusing *
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 Bus Bar Connectors Bus Bar Connectors Bus Bar Connectors

Figure 18 - Kinetix 5500 Servo Drives with Shared DC (common bus)

PE Ground
PE Ground
PE Ground
Chassis
Customer Supplied 2
4
2198-DBxx-F 3
195…264V AC rms or L3 Three-phase Input L3 L3
Three-phase 2
324…528V AC rms AC Line Filter L2 (IPD) Connector L2 L2
Three-phase Input 1
L1 L1 L1
Input Fusing *
DC+ DC+ DC+ DC Bus

* INDICATES USER SUPPLIED COMPONENT 2198-H0x0-ADP-IN 2198-H0x0-DP-T 2198-H0x0-DP-T

Bus Bar Connectors Bus Bar Connectors Bus Bar Connectors
Figure 19 - Kinetix 5500 Servo Drives with Shared AC/DC Hybrid Bus

PE Ground
PE Ground
PE Ground
Chassis
Customer Supplied 2
4
2198-DBxx-F 3
195…264V AC rms or L3 L3 Three-phase Input L3
Three-phase 2 (IPD) Connector
Three-phase Input 1
L1 L1 L1
Input Fusing *
DC+ DC+ DC+ DC Bus

2198-H0x0-ADP-IN 2198-H0x0-ADP-T 2198-H0x0-DP-T

* INDICATES USER SUPPLIED COMPONENT Bus Bar Connectors Bus Bar Connectors Bus Bar Connectors

Appendix E
Communication Configurations
The Kinetix 5500 servo drives support any Ethernet topology including linear,
ring, and star.
These examples feature the CompactLogix 5370 programmable automation

controllers (catalog number 1769-L36ERM) with support for Integrated Motion
over the EtherNet/IP network. Controller features include the following:
• Supports up to 16 axes
• Supports up to 48 devices in linear configurations
• Dual-port connectivity to support device-level ring (DLR) topology
See the CompactLogix Controllers Specifications Technical Data, publication

1769-TD005, for more information on CompactLogix 5370 L1, L2, and L3
controllers.

Appendix E Communication Configurations
Kinetix 5500 Servo Drive In this example, all devices are connected in linear topology. The Kinetix 5500
servo drives include dual-port connectivity, however, if any device becomes
Linear Topology 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 20 - Kinetix 5500 Servo Drive Linear Communication Installation
CompactLogix Controller Programming Network
CompactLogix 5370 Controller Logix Designer

Application
00:00:BC:2E:69:F6
1 (Front)
2 (Rear)
Kinetix 5500 Servo Drive System
1585J-M8CBJM-OM3
1585J-M8CBJM-x 0.3 m (1.0 ft) Ethernet cable
Ethernet (shielded) Cable for drive-to-drive connections.
1734-AENTR POINT I/O™

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

Communication Configurations Appendix E
Kinetix 5500 Servo Drive 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
Ring Topology 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 require a DLR supervisor, for example the
1783-ETAP module, to complete the network ring.
Figure 21 - Kinetix 5500 Servo Drive Ring Communication Installation

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

Network
Status
Point Bus
Link 1 Status
Activity/
Status System
Power
Field
Power
EtherNet/IP Adapter
Kinetix 5500 Servo Drive System Link 2
Activity/
Status
1585J-M8CBJM-x Ethernet
(shielded) Cable
1585J-M8CBJM-OM3
0.3 m (1.0 ft) Ethernet cable
for drive-to-drive connections.

Appendix E Communication Configurations
Kinetix 5500 Servo Drive Star In this example, the devices are connected by using star topology. Each device is
connected directly to the switch.
Topology
Kinetix 5500 servo drives have dual ports, so linear topology is maintained from
drive-to-drive, but Kinetix 5500 servo drives and other devices operate
independently. The loss of one device does not impact the operation of other
devices.
Figure 22 - Kinetix 5500 Servo Drive Star Communication Installation

Application
00:00:BC:2E:69:F6
1 (Front)
2 (Rear)
Kinetix 5500 Servo Drive System
1585J-M8CBJM-x
Ethernet (shielded) Cable
1585J-M8CBJM-OM3
1783-BMS 0.3 m (1.0 ft) Ethernet cable
Stratix 5700 ™ for drive-to-drive connections.
Switch with PTP
PanelView Plus
Display Terminal
1734-AENTR POINT I/O

EtherNet/IP Adapter

Rockwell Automation Support
Rockwell Automation provides technical information on the Web to assist you in using its products.
At http://www.rockwellautomation.com/support you can find technical and application notes, sample code, and links to
software service packs. You can also visit our Support Center at https://rockwellautomation.custhelp.com/ for software
updates, support chats and forums, technical information, FAQs, and to sign up for product notification updates.
In addition, we offer multiple support programs for installation, configuration, and troubleshooting. For more
information, contact your local distributor or Rockwell Automation representative, or visit
http://www.rockwellautomation.com/services/online-phone.
Installation Assistance
If you experience a problem within the first 24 hours of installation, review the information that is contained in this
manual. You can contact Customer Support for initial help in getting your product up and running.
United States or Canada 1.440.646.3434
Outside United States or Canada Use the Worldwide Locator at http://www.rockwellautomation.com/rockwellautomation/support/overview.page, or contact your local
Rockwell Automation representative.
New Product Satisfaction Return
Rockwell Automation tests all of its products to help ensure that they are fully operational when shipped from the
manufacturing facility. However, if your product is not functioning and needs to be returned, follow these procedures.
United States Contact your distributor. You must provide a Customer Support case number (call the phone number above to obtain one) to your
distributor to complete the return process.
Outside United States Please contact your local Rockwell Automation representative for the return procedure.
Documentation Feedback
Your comments will help us serve your documentation needs better. If you have any suggestions on how to improve this
document, complete this form, publication RA-DU002, available at http://www.rockwellautomation.com/literature/.
Rockwell Otomasyon Ticaret A.Ş., Kar Plaza İş Merkezi E Blok Kat:6 34752 İçerenköy, İstanbul, Tel: +90 (216) 5698400
Publication 2098-AP002A-EN-P - September 2014

Copyright © 2014 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.

Ultra 3000 to Kinetix 5500

Uploaded by

Copyright:

Available Formats

Ultra 3000 to Kinetix 5500

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Ultra 3000 to Kinetix 5500

Uploaded by

Copyright:

Available Formats

Migration Guide

Ultra3000 Digital Servo Drives to Kinetix 5500 Servo Drives

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

Rockwell Automation Publication 2098-AP002A-EN-P - September 2014 3

4 Rockwell Automation Publication 2098-AP002A-EN-P - September 2014

Rockwell Automation Publication 2098-AP002A-EN-P - September 2014 5

6 Rockwell Automation Publication 2098-AP002A-EN-P - September 2014

This migration guide contains these chapters and appendices.

Rockwell Automation Publication 2098-AP002A-EN-P - September 2014 7

Enhancing the current midrange

8 Rockwell Automation Publication 2098-AP002A-EN-P - September 2014

Rockwell Automation Publication 2098-AP002A-EN-P - September 2014 9

Pre-migration Motion Analyzer software – is a comprehensive motion-application sizing tool

The performance capabilities of any replacement drive should be reviewed to be

Download is available at http://ab.rockwellautomation.com/motion-control/

10 Rockwell Automation Publication 2098-AP002A-EN-P - September 2014

You can view or download publications at http://www.rockwellautomation.com/

To find your local Rockwell Automation distributor or sales representative, visit

Rockwell Automation Publication 2098-AP002A-EN-P - September 2014 11

12 Rockwell Automation Publication 2098-AP002A-EN-P - September 2014

Servo Drive and System Considerations

Figure 1 - Suggested Migration Options

Analog Kinetix 300 Drive

Ultra3000 Drive Indexing Kinetix 300 Drive

Kinetix 350 Drive

Rockwell Automation Publication 2098-AP002A-EN-P - September 2014 13

Supported Ethernet topologies include linear, ring, and star.

For more information on Ethernet design considerations, see these publications:

See Appendix E for communication configurations.

Note: MP-Series compatibility requires a 2198-H2DCK converter kit, and also

14 Rockwell Automation Publication 2098-AP002A-EN-P - September 2014

For more information, see Hiperface-to-DSL Feedback Converter Kit

For Kinetix 5500 Hiperface-to-DSL Feedback Converter Kit pin-out, see

• Ethernet cable lengths connecting drive-to-drive, drive-to-controller, or

See Drive Interconnects and Cabling on page 35 for more information.

Rockwell Automation Publication 2098-AP002A-EN-P - September 2014 15

16 Rockwell Automation Publication 2098-AP002A-EN-P - September 2014

Rockwell Automation Publication 2098-AP002A-EN-P - September 2014 17

18 Rockwell Automation Publication 2098-AP002A-EN-P - September 2014

Servo Drive and System Comparisons

This chapter provides a side-by-side comparison of both servo drive families to

Rockwell Automation Publication 2098-AP002A-EN-P - September 2014 19

Output Current Comparison

IMPORTANT The performance capabilities of the replacement drive should be reviewed to

Table 1 - Suggested Kinetix 5500 Replacement Drives by Output Current

20 Rockwell Automation Publication 2098-AP002A-EN-P - September 2014

Table 2 - Suggested Kinetix 5500 Replacement Drives by Dimensions

Rockwell Automation Publication 2098-AP002A-EN-P - September 2014 21

Ultra3000 (230V) Drive Dimensions

In Figure 2, -xxx is replaced by -005, -010, or -020 to represent the Ultra3000

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

186.18 165.1 198.12

22 Rockwell Automation Publication 2098-AP002A-EN-P - September 2014

In Figure 3, -xxx is replaced by -030, -075, or -150 to represent the Ultra3000

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

Dimensions are in mm (in.)

Rockwell Automation Publication 2098-AP002A-EN-P - September 2014 23

Ultra3000 (460V) Drive Dimensions

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

Dimensions are in mm (in.)