2098 Ap001 - en P PDF

Migration Guide
Ultra3000 Digital Servo Drives to Kinetix 300 and

Kinetix 350 Servo Drives
Important User Information

Solid-state equipment has operational characteristics differing from those of electromechanical equipment. Safety
Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1 available from
your local Rockwell Automation sales office or online at http://www.rockwellautomation.com/literature/) describes some
important differences between solid-state equipment and hard-wired electromechanical devices. Because of this difference,
and also because of the wide variety of uses for solid-state equipment, all persons responsible for applying this equipment
must satisfy themselves that each intended application of this equipment is acceptable.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting 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
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.
IMPORTANT
Identifies information that is critical for successful application and understanding of the product.
Allen-Bradley, Rockwell Automation, Ultra, Kinetix, ControlLogix, CompactLogix, MicroLogix, RSLogix, ProposalWorks, Encompass, Rockwell Software, TechConnect, SLC, MP-Series, and TL-Series are trademarks of
Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Preface
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Ultra3000 Drive Catalog Number Descriptions . . . . . . . . . . . . . . . . . . . . . . 5
Kinetix 300/Kinetix 350 Drive Catalog Number Descriptions . . . . . . . . . 6
Kinetix 300 Drive Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Kinetix 350 Drive Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Pre-migration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Best Practices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1
Engineering Review Essentials Engineering Effort and Product Liability . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Major Product Replacement Considerations . . . . . . . . . . . . . . . . . . . . . . . 11
Minor Product Replacement Considerations . . . . . . . . . . . . . . . . . . . . . . . 13
Potential Hardware Design Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Chapter 2
Migration Considerations
Selecting a Replacement Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Factors Affecting Drive Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive Sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Output Current Comparison. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dimension Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ultra3000 (230V) Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ultra3000 (460V) Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Kinetix 300/Kinetix 350 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . .
Input Wiring and Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AC Input Power Wire Length and Routing. . . . . . . . . . . . . . . . . . . . .
Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive Interconnects and Cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Encoder Feedback Replacement Cables. . . . . . . . . . . . . . . . . . . . . . . . .
2090-Series Motor/Actuator Cables Overview. . . . . . . . . . . . . . . . . . . . . .
I/O Cabling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ultra3000 CN1 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Kinetix 300/Kinetix 350 Expansion Block. . . . . . . . . . . . . . . . . . . . . .
Master Encoder/Gearing Signals/Buffered Encoder Signals . . . . . .
I/O Availability and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Auxiliary Logic Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Current Limit Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Current Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Rockwell Automation Publication 2098-AP001A-EN-P - October 2011
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18
20
21
22
22
22
24
24
27
30
31
31
32
32
35
35
36
39
41
42
43
Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Shunt Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AC Line Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
44
44
45
47
Appendix A
Connectors and Field
Connections
Connector Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Encoder Wiring Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control Wiring Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mains Power Wiring Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
49
50
51
53
Appendix B
Specifications
General Power Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Ultra3000 Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Kinetix 300/Kinetix 350 Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Digital I/O Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Digital Input Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Digital Output Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Relay Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog I/O Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Input Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Output Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Environmental and Safety Feature Comparison . . . . . . . . . . . . . . . . . . . . .
Environmental Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
55
55
56
59
59
59
60
60
60
61
61
61
62
Appendix C
Feature Comparison Chart
Feature Comparison Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Appendix D
Hardware Layout with
Connections
Ultra3000 Drive Power Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Kinetix 300/Kinetix 350 Drive Power Wiring . . . . . . . . . . . . . . . . . . . . . . 70
Appendix E
Topology/Architecture Layouts
Ultra3000 (Analog) to Kinetix 300 Architecture . . . . . . . . . . . . . . . . . . . . 76

Ultra3000 (Indexing) to Kinetix 350 Architecture . . . . . . . . . . . . . . . . . . 77
Ultra3000 (SERCOS) to Kinetix 350 Architecture. . . . . . . . . . . . . . . . . . 78
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 an Ultra 3000 servo drive to a Kinetix 300 or Kinetix 350 servo drive.
This migration guide contains these chapters and appendices:
Ultra3000 Drive Catalog

Number Descriptions
Chapter 1: Engineering Review Essentials
Provides information on important differences

between the product families.
Chapter 2: Migration Considerations
Provides information on drive sizing, input wiring

and fusing, motor power and I/O cabling, serial
communication, shunt resistors, and AC line
filters.
Appendix A: Connectors and Field Connections
Provides information on connector locations, and

comparisons for encoder wiring, control wiring,
and mains power wiring.
Appendix B: Specifications
Provides comparisons of the power

specifications, digital and analog I/O,
environmental specifications, and safety
features.
Appendix C: Feature Comparison Chart
Compares the hardware and software features of

the product families.
Appendix D: Hardware Layout with

Connections
Provides power wiring examples to assist you in

comparing the power wiring for the Ultra3000
drive and the Kinetix 300/350 drive systems.
Appendix E: Topology/Architecture Layouts
Provides information for typical Ultra3000 drive

architecture and Kinetix 300/350 drive
architecture.
2098-DSD- xx xxx x-xx

Connectivity Option
DN = DeviceNet interface
SE = SERCOS interface
Blank = No network connectivity
Indexing Capability
X = Indexing
Blank = No indexing
Continuous Output Power
005 = 500 W
030 = 3 kW
100 = 10 kW
010 = 1 kW
050 = 5 kW
150 = 15 kW
020 = 2 kW
075 = 7.5 kW
220 = 22 kW
Input Power (VAC)
HV = High Voltage (230480V AC)
Blank = Standard (100240V AC)
Digital Servo Drive
Bulletin Number
Preface
Kinetix 300/Kinetix 350

Drive Catalog Number
Descriptions
Kinetix 300 Drive

Cat. No.
Kinetix 350 Drive

Cat. No.
Description
Power
(kW)
2097-V31PR0
2097-V31PR0-LM
1, 2 A, 120/240V, no filter
(120V-voltage doubler)
0.4
2097-V31PR2
2097-V31PR2-LM
1, 4 A, 120/240V, no filter
(120V-voltage doubler)
0.8
2097-V32PR0
2097-V32PR0-LM
1, 2 A, 240V, integral filter
0.4
2097-V32PR2
2097-V32PR2-LM
0.8
2097-V32PR4
2097-V32PR4-LM
1.7
Single-phase
Single-/Three-phase
2097-V33PR1
2097-V33PR1-LM
1, 3, 2 A, 240V, no filter
0.5
2097-V33PR3
2097-V33PR3-LM
1, 3, 4 A, 240V, no filter
2097-V33PR5
2097-V33PR5-LM
1, 3, 8 A, 240V, no filter
2097-V33PR6
2097-V33PR6-LM
1, 3, 12 A, 240V, no filter
2097-V34PR3
2097-V34PR3-LM
3, 2 A, 480V, no filter
2097-V34PR5
2097-V34PR5-LM
2097-V34PR6
2097-V34PR6-LM
Three-phase
Preface
Kinetix 300 Drive Features
The Kinetix 300 drive offers a cost-effective, low axis count EtherNet/IP
indexing servo drive solution. Features of the Kinetix 300 drive include the
following:
Indexing
Five indexing types
S-curve and trapezoidal moves
32 index capability
Commanded control over the EtherNet/IP network
Velocity and current
Absolute and incremental position with or without registration
Electronic gearing
Analog input control
Step and direction control
Integrated safe torque-off
Kinetix 350 Drive Features
The Kinetix 350 drive is a single-axis solution developed to provide scalability at

a low cost. It simplifies integration of the entire control solution on one network,
including human-machine interface (HMI), programmable automation
controller, I/O, and motion. Features of the Kinetix 350 drive include the
following:
Connects via EtherNet/IP network with common industrial protocol
(CIP) Motion technology, which provides real-time, closed-loop motion
control with standard Ethernet
Fully compatible in a star or linear topology
Integrates with L6 and L7 ControlLogix and CompactLogix controllers
supporting Integrated Motion on EtherNet/IP network
Programming supported in RSLogix 5000 software, version 20.00.00
Supports standard motion instruction set, including Kinematics
Comes equipped with embedded safe torque-off functionality
Preface
Pre-migration
Migrating from a motion control system that uses Ultra3000 drives to a system
that uses Kinetix 300 or Kinetix 350 drives requires a comprehensive design
review of the motion control system. There are multiple drive replacement
combinations, and multiple configurations for how the drives can be installed and
software applied. 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.
Figure 1 - Suggested Migration Options
Ultra3000 Drive
Analog
Kinetix 300 Drive
Indexing
Kinetix 300 Drive

Kinetix 350 Drive
SERCOS
Best Practices
Kinetix 350 Drive
Motors Verify that your current motor is compatible with the Kinetix 300/350
servo drive family. Kinetix 300/350 drives are compatible with MP-Series or
TL-Series servo motors or linear actuators.
IMPORTANT
Third-party motors are not supported with Kinetix 300 drives. Check with
your Rockwell Automation representative to see if your third-party motor
is compatible with the Kinetix 350 drives.
Feedback Cable Length Verify that the feedback cable length in your current
Ultra3000 system does not exceed the maximum feedback cable length for the
Kinetix 300/350 servo drives. The maximum feedback cable length for the
Kinetix 300/350 servo drives is 20 m (65.6 ft).
Configuration Files Use the Ultraware software to upload and save the
Ultra3000 drive configuration file for future reference. If using a serial real-time
communication system (SERCOS) Ultra3000 drive, upload and save any
network files and programmable logic controller (PLC) programs.
Electrical Noise Refer to the System Design for Control of Electrical Noise
Reference Manual, publication GMC-RM001, to better understand the concept
of electrical noise reduction.
Preface
Additional Resources
These documents contain additional information concerning related products

from Rockwell Automation.
Resource
Description
Kinetix 300 and Kinetix 350 Drive Systems Design Guide,

publication GMC-RM004
Provides information to assist you in identifying the drive system components and accessory
items youll need for your Kinetix 300/350 drive and motor/actuator combination.
Integrated Motion on SERCOS and EtherNet/IP Systems Analysis and Comparison White Paper, publication
MOTION-WP001
Compares and contrasts Integrated Motion systems using SERCOS and EtherNet/IP with a
ControlLogix Programmable Automation Controller (PAC).
Kinetix 350 EtherNet/IP Indexing Servo Drives User

Manual, publication 2097-UM002
Provides installation instructions for mounting, wiring, and troubleshooting your Kinetix 350
drive; and system integration for your drive/motor combination with a Logix controller.
Kinetix 350 EtherNet/IP Indexing Servo Drive Installation

Instructions, publication 2097-IN008
Provides information on installing your Kinetix 350 drive system.
Kinetix 300 EtherNet/IP Indexing Servo Drives User

Manual, publication 2097-UM001
Provides installation instructions for mounting, wiring, and troubleshooting your Kinetix 300
drive; and system integration for your drive/motor combination with a Logix controller.
Kinetix 300 EtherNet/IP Indexing Servo Drive Installation

Provides information on installing your Kinetix 300 drive system.
Kinetix 300 Shunt Resistor Installation Instructions,

publication 2097-IN002
Provides information on installing and wiring the Kinetix 300 shunt resistors
(also compatible with the Kinetix 350 drive).
Kinetix 300 AC Line Filter Installation Instructions,

Provides information on installing and wiring the Kinetix 300 AC line filter
Kinetix 300 I/O Terminal Expansion Block Installation

Provides information on installing and wiring the Kinetix 300 I/O terminal expansion block
Kinetix 300 Memory Module Installation Instructions,

Provides information on installing the Kinetix 300 memory module

Kinetix 300 Memory Module Programmer Quick Start,

publication 2097-QS001
Provides information on using the memory module programmer to duplicate the memory
module (also compatible with the Kinetix 350 drive).
1769-L32E and 1769-L35E CompactLogix Controller

Installation Instructions, publication 1769-IN020
Information on how to assemble and mount the controller, how to upgrade firmware, and
controller technical specifications.
1769-L32C and 1769-L35CR CompactLogix Controller

Installation Instructions, publication 1769-IN070
1769-L31 CompactLogix Controller Installation

Ultraware Software User Manual, publication

2098-UM001
Provides detailed installation instructions, defines software interface features, and

programming assistance for Ultraware software.
Ultra3000 Digital Servo Drive with DeviceNet, publication

2098-RM004
Provides information on how to use DeviceNet to install, start up, and troubleshoot an
Ultra3000 drive.
Ultra3000 Digital Servo Drives Installation Manual,

Provides mounting, wiring, and connecting procedures for the Ultra3000 drive.
Ultra3000 Digital Servo Drives Integration Manual,

Information on configuring and troubleshooting your Ultra3000 drive.
Rockwell Automation Configuration and Selection Tools,

website www.ab.com/e-tools
Online product selection and system configuration tools, including AutoCAD (DXF) drawings.
Industrial Automation Wiring and Grounding Guidelines,

publication 1770-4.1
Provides general guidelines for installing a Rockwell Automation industrial system.
Product Certifications website, http://www.ab.com
Provides declarations of conformity, certificates, and other certification details.
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.
Preface
Notes:
10
Chapter
Engineering Review Essentials
Replacing an Ultra3000 drive with a Kinetix 300 or Kinetix 350 drive may
require some system design changes. Follow these steps to properly formulate the
design changes:
Review the hardware and software design of the current Ultra3000 system.
The appendices in this document can help you with this process.
Review the hardware and software specifications for the Kinetix 300/350
drives.
Use this document as a guide for determining hardware design changes.
Engineering Effort and

Product Liability
Thoroughly review this document before you begin to evaluate the design
changes required to successfully migrate your Ultra3000 drive to a Kinetix 300/
350 drive.
WARNING: Because of the variety of uses for the products described in
this publication, those responsible for the application and use of these
products must satisfy themselves that all necessary steps have been
taken to assure that each application and use meets all performance and
safety requirements, including any applicable laws, regulations, codes
and standards. In no event will Rockwell Automation be responsible or
liable for indirect or consequential damage resulting from the use or
application of these products.
The following sections highlight the major and minor differences between the
Ultra3000 drives and Kinetix 300/350 drives. Additional differences may also
impact your application. Read this entire document before proceeding to qualify
the Kinetix 300/350 drives for your needs.
Major Product
Replacement
Considerations
Listed here are some major differences between the Ultra3000 drives and the
Kinetix 300/350 drives.
Serial Port The Kinetix 300/350 drives do not have a serial port. The Kinetix
300/350 programming interface is via Ethernet, and the Kinetix 300 drive can be
programmed by using java-based embedded software. If your Ultra3000 drive
application uses host mode programming or the serial port for HMI
communication, the difference in communication and programming will have to
be addressed. See Appendix A.
11
Chapter 1
SERCOS or DeviceNet Networks There are no SERCOS or DeviceNet

embedded options on the Kinetix 300/350 drives (but they may be used on the
Ultra3000 drives). Determine if your application depends on these options, and
verify whether your application can be modified or if the architecture can be
changed. See Appendix D and Appendix E.
Physical Dimensions The physical size of the drive families are different (see
Drive Sizing on page 16). In most cases, the Kinetix 300/350 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 300/350 drive.
Shunting The Ultra3000 drives (except micro sizes) have internal shunting
capability, while the Kinetix 300/350 drives have external shunting capability
only. See Shunt Resistors on page 45 to help you verify the differences and
determine if you need to resize the drive, or if your space requirements will
change with the Kinetix 300/350 drives if you require a shunt module to be
added in the panel.
Power Range The Kinetix 300/350 drives have a different drive power range
that may not match directly with the Ultra3000 drive power range. See Drive
Sizing on page 16 and Dimension Comparison on page 17 to determine if your
power range is covered with the Kinetix 300/350 drives, or if resizing or a
different drive architecture is required.
Auxiliary Power The Ultra3000 drives use a different method of providing
auxiliary power than the Kinetix 300/350 drives (see Auxiliary Logic Power on
page 35 and Appendix A). A 24V power supply may need to be added to the
Kinetix 300/Kinetix 350 drives if auxiliary power is required.
I/O Interface The Ultra3000 drives have a D-shell connector for I/O interface
connection, while the Kinetix 300/350 drives use a small computer system
interface (SCSI) connector for I/O interface. If your application cannot modify
the cable interface or breakout board to the I/O, this may be an issue. See I/O
Cabling on page 31.
Cable Lengths The Ultra3000 drives support cable lengths for motor and
power up to 90 m (295.2 ft), while the Kinetix 300/350 drives support cable
lengths up to 20 m (65.6 ft) only. See Drive Interconnects and Cabling on
page 24.
Output Frequency If you are using the Ultra3000 (non-SERCOS version)
drives to interface to an external controller, the output encoder frequency can be
modified to provide a range of resolutions; while the Kinetix 300 drives have a
fixed output frequency of 4096 counts/motor rev with a maximum of 2 MHz
output frequency. The Kinetix 350 drives do not provide an output frequency.
See Master Encoder/Gearing Signals/Buffered Encoder Signals on page 32.
12
Chapter 1
Dual Loop Operation The Ultra3000 drives have the ability to power Aux
encoders for use in master gearing or dual loop modes. This power supply is not
available in the Kinetix 300/350 drives. If your application requires dual loop
operation, it is not supported with the Kinetix 300/350 drives. See Master
Encoder/Gearing Signals/Buffered Encoder Signals on page 32.
Minor Product
Replacement
Considerations
Listed here are some minor differences between the Ultra3000 drives and the
Kinetix 300/350 drives. See Appendix C for a feature comparison chart that
shows the notable differences. Some key differences include the following:
Relay Outputs The I/O implementation between the drives is different (see
I/O Availability and Specifications on page 35 and Appendix B). Most notably,
there is no relay output on the Kinetix 300/350 drives. This has to be addressed
on replacement.
Hardware Enable Signal The Ultra3000 drives can operate without a
hardware enable signal present. The Kinetix 300 drives require a hardware enable
signal. The Kinetix 350 drives can operate without a hardware drive enable signal.
See Appendix C.
Digital Inputs The Ultra3000 drives have multiple assignment for digital
inputs, while the Kinetix 300/350 drives have single assignment for digital inputs
(see Digital Inputs on page 36 and Digital I/O Comparison on page 59).
Operation Mode Override The Ultra3000 drives have an Operation mode
override that is capable of operation via digital I/O, while the Kinetix 300/350
drives do not. See Appendix C.
Potential Hardware Design

Changes
The design changes required for converting to the Kinetix 300/350 drives
depend on the original/replacement drive combination and the specifics of the
application. The objective is to determine which areas of a design may need to be
changed. This document provides you with knowledge about the type and extent
of work that may be required to successfully change from an Ultra3000 system to
a Kinetix 300/350 system.
IMPORTANT
Due to the flexibility of drive installation and usage, it is not feasible to

cover all possible issues that may be encountered. In addition to the
items described in this document, the engineering/design team should
pay particular attention to unique features and functions of the Ultra3000
system when considering replacement with a Kinetix 300/350 system.
The following chapters and appendices cover the majority of hardware/design

considerations for the replacement of the Ultra3000 drives with Kinetix 300/350
drives.
13
Chapter 1
Notes:
14
Chapter
Selecting a Replacement
Drive
Drive sizing is the primary factor in selecting a replacement drive. To identify the
correct replacement drive size, compare the continuous and peak output current
ratings.
In general, regarding the current ratings, the following rules apply:
These Ultra3000 drives can be replaced with a Kinetix 300/350 drive of similar,
or in some cases greater, output current capability:
2098-DSD-005
2098-DSD-010
2098-DSD-020
2098-DSD-030
2098-DSD-HV030
2098-DSD-HV050
The Kinetix 300/350 drives have similar current ratings and require less physical
space than the Ultra3000 drives.
These Ultra3000 drives do not have similar replacements in the Kinetix 300/350
drives series:
2098-DSD-075
2098-DSD-150
2098-DSD-HV150
2098-DSD-HV220
Factors Affecting Drive Replacement

Factors that affect the redesign effort include the following considerations:
Drive Sizing (ratings and physical)
Dimension Comparison
Drive Interconnects and Cabling
Serial Communication
Accessories
15
Chapter 2
Drive Sizing
This section lists the Ultra3000 drives and the suggested Kinetix 300/350
replacement 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 300/350 Replacement Drives by Output Current

Kinetix 300/350 (2) Drives
Ultra3000 Drives
Model
2098-DSD-005
2098-DSD-010
2098-DSD-020
2098-DSD-030
2098-DSD-075
16
Voltage
Range
(V)
88...265
1
88...265
1
88...265
1
Nominal
Voltage
Range
(V)
120...240
1
120...240
1
120...240
1
Output
Current
Rating
(0-pk) -A(1)
Recommended Kinetix 300/

Voltage
Kinetix 350 Replacement Drives (2) Range
(V)
Nominal
Voltage
Range
(V)
2097-V31PR0-xx
70...264
1
120...240
1
2.8
2097-V32PR0-xx
80...264
1
240 1
2.8
80...264
1
120...240
1
80...264
3
240 3
2097-V34PR3-xx
320...528
3
480 3
2.8
2097-V31PR2-xx
70...132
1
120 1
5.7
2097-V32PR2-xx
80...264
1
240 1
5.7
80...264
1
120...240
1
80...264
3
240 3
2097-V34PR5-xx
320...528
3
480 3
5.7
2097-V32PR4-xx
80...264
1
240 1
11.3
80...264
1
120...240
1
80...264
3
240 3
80...264
1
120...240
1
80...264
3
240 3
2.5
2097-V33PR1-xx
5
2097-V33PR3-xx
10
2097-V33PR5-xx
88...265
1
120...240
1
15
88...265
3
120...240
3
35
2097-V33PR6-xx
N/A
Output
Current
Rating
(0-pk) A(1)
2.8
5.7
11.3
17
Chapter 2
Table 1 - Suggested Kinetix 300/350 Replacement Drives by Output Current (continued)

Kinetix 300/350 (2) Drives
Ultra3000 Drives
Model
Voltage
Range
(V)
Nominal
Voltage
Range
(V)
Output
Current
Rating
(0-pk) -A(1)
Recommended Kinetix 300/

Voltage
Kinetix 350 Replacement Drives (2) Range
(V)
2098-DSD-150
88...265
3
120...240
3
2098-DSD-HV030
207...528
3
230...480
3
207...528
3
230...480
3
11
2098-DSD-HV100
207...528
3
230...480
3
23
N/A
2098-DSD-HV150
207...528
3
230...480
3
34
N/A
2098-DSD-HV220
207...528
3
230...480
3
47
N/A
2098-DSD-HV050
65
Nominal
Voltage
Range
(V)
Output
Current
Rating
(0-pk) A(1)
N/A
2097-V33PR5-xx
80...264
3
240 3
11.3
2097-V34PR6-xx
320...528
3
480 3
8.5
2097-V33PR5-xx
80...264
3
240 3
11.3
N/A
(1) Continuous output current ratings are used.

(2) The Kinetix 350 drive part number has a -LM at the end of the catalog string (see Kinetix 300/Kinetix 350 Drive Catalog Number Descriptions on page 6).
Dimension Comparison
Table 2 provides a comparison of the dimensions of the drives.
Table 2 - Suggested Kinetix 300/350 Replacement Drives by Dimensions
Ultra3000 Drive
Dimension Differences, Kinetix Referenced (1)
Kinetix 300/350 Drive
Model Number Height

mm
Width
mm
Depth
mm
Model Number
Height
mm
Width Depth
mm
mm
Height (2)
mm (in.)
Width (2)
mm (in.)
Depth (2)
mm (in.)
2098-DSD-005
198.12
95.5
144.27
2097-V31PR0-xx
190
68
185.1
-8.12 (-0.32)
-27.5 (-1.08)
40.83 (1.61)
198.12
95.5
144.27
2097-V32PR0-xx
190
68
229.6
-8.12 (-0.32)
-27.5 (-1.08)
85.33 (3.36)
198.12
95.5
144.27
2097-V33PR1-xx
190
68
185.1
-8.12 (-0.32)
-27.5 (-1.08)
40.83 (1.61)
198.12
95.5
144.27
2097-V34PR3-xx
190
68.5
185.1
-8.12 (-0.32)
-27.0 (-1.06)
40.83 (1.61)
198.12
121.54
144.27
2097-V31PR2-xx
190
68.5
185.1
-8.12 (-0.32)
-53.04 (-2.09)
40.83 (1.61)
198.12
121.54
144.27
2097-V32PR2-xx
190
68.5
229.6
-8.12 (-0.32)
-53.04 (-2.09)
85.33 (3.36)
198.12
121.54
144.27
2097-V33PR3-xx
190
68.5
185.1
-8.12 (-0.32)
-53.04 (-2.09)
40.83 (1.61)
198.12
121.54
144.27
2097-V34PR5-xx
190
94.4
185.1
-8.12 (-0.32)
-27.14 (-1.07)
40.83 (1.61)
198.12
121.54
144.27
2097-V32PR4-xx
190
86.8
229.6
-8.12 (-0.32)
-34.74 (-1.37)
85.33 (3.36)
198.12
121.54
144.27
2097-V33PR5-xx
190
94.4
185.1
-8.12 (-0.32)
-27.14 (-1.07)
40.83 (1.61)
360.68
91.44
243.84
2097-V33PR6-xx
190
68
229.6
-170.7 (-6.72)
-23.44 (-0.92)
-14.24 (-0.56)
2098-DSD-HV030 360.7
138.7
242.2
2097-V33PR5-xx
190
94.4
185.1
-170.7 (-6.72)
-44.3 (-1.74)
-57.1 (-2.25)
360.7
138.7
242.2
2097-V34PR6-xx
190
68
229.6
-170.7 (-6.72)
-70.7 (-2.78)
-12.6 (-0.50)
2098-DSD-HV050 360.7
138.7
242.2
2097-V33PR5-xx
190
94.4
185.1
-170.7 (-6.72)
-44.3 (-1.74)
-57.1 (-2.25)
2098-DSD-010
2098-DSD-020
2098-DSD-030
(1) Dimensions chosen were for Ultra3000 drives -SE, -DN, -XDN (see Ultra3000 (230V) Dimensions on page 18).
(2) A minus sign denotes that the height, width, or depth of the Kinetix 300/350 drive is shorter, narrower, or shallower than the comparable Ultra3000 drive.
17
Chapter 2
Dimension Drawings
This section provides dimensions of the drives to assist you in determining the
space needed to install the drives.
Ultra3000 (230V) 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, 2098-DSD-xxxX-DN)
A
38.1
(1.5)
129.03
(5.08)
186.18
(7.33)
198.12
(7.8)
165.1
(6.5)
144.27
(5.68)
E
F
Dimensions are in mm (in.)

Unit shown is the 2098-DSD-005-SE drive.
Ultra3000 Drive
2098-DSD-005
2098-DSD-005X
2098-DSD-010
2098-DSD-010X
2098-DSD-020
2098-DSD-020X
72.64
(2.86)
65.02
(2.56)
13.26
(0.52)
32.77
(1.29)
2098-DSD-005-SE
2098-DSD-005-DN
2098-DSD-005X-DN
2098-DSD-010-SE
2098-DSD-010-DN
2098-DSD-010X-DN
2098-DSD-020-SE
2098-DSD-020-DN
2098-DSD-020X-DN
18
98.1
(3.89)
95.5
(3.76)
87.88
(3.46)
24.64
(0.97)
43.94
(1.73)
121.54
(4.79)
Chapter 2
In Figure 3, -xxx is replaced by -030, -075, or -150 to represent the Ultra3000 3,

7.5, and 15 kW drives respectively.
Figure 3 - Ultra3000 (230V) Dimensions (catalog numbers 2098-DSD-xxx,
2098-DSD-xxxX, 2098-DSD-xxx-SE, 2098-DSD-xxx-DN, 2098-DSD-xxxX-DN)
A
B
227.08
(8.94)
349.25
(13.75)
360.68
(14.2)
331.47
(13.05)

Unit shown is the 2098-DSD-030 drive.
Ultra3000 Drive
2098-DSD-030
2098-DSD-030X
2098-DSD-030-SE
2098-DSD-030-DN
2098-DSD-030X-DN
91.44
(3.6)
50.8
(2.0)
20.32
(0.8)
243.84
(9.6)
2098-DSD-075
2098-DSD-075X
2098-DSD-075-SE
2098-DSD-075-DN
2098-DSD-075X-DN(1)
138.68
(5.41)
88.9
(3.5)
24.89
(0.96)
247.14
(9.73)
2098-DSD-150
2098-DSD-150X
2098-DSD-150-SE
2098-DSD-150-DN
2098-DSD-150X-DN(1)
188.97
(7.44)
139.7
(5.5)
24.6
(0.97)
241.05
(9.49)
(1) 2098-DSD-075 and 2098-DSD-150 Ultra3000 drives do not have similar replacements in the Kinetix 300/350
drives series.
19
Chapter 2
Ultra3000 (460V) Dimensions

In Figure 4, xxx is replaced by 030, 050, 100, 150, or 220 to represent the
Ultra3000 3, 5, 10, 15, and 22 kW drives respectively.
Figure 4 - Ultra3000 (460V) Dimensions (catalog numbers 2098-DSD-HVxxx,
2098-DSD-HVxxxX, 2098-DSD-HVxxx-SE, 2098-DSD-HVxxx-DN,
2098-DSD-HVxxxX-DN)
A
B
225.8
(8.89)
242.2
(9.54)

Unit shown is the 2098-DSD-HV030 drive.
Ultra3000 Drive(1)
2098-DSD-HV030x
2098-DSD-HV030-xx
2098-DSD-HV050x
2098-DSD-HV050-xx
138.7
5.46)
18.5
(0.73)
2098-DSD-HV100x
2098-DSD-HV100-xx
2098-DSD-HV150x
2098-DSD-HV150-xx (2)
151.6
(5.97)
25
(0.99)
2098-DSD-HV220x
2098-DSD-HV220-xx (2)
203.2
(8.0)
25.4
(1.0)
50.8
(2.0)
349.3
(13.75)
331.5
(13.05)
360.7
(14.2)
76.2
(3.0)
380.4
(14.98)
362.6
14.26)
391.8
(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.
(2) 2098-DSD-HV150, and HV220 Ultra3000 drives do not have similar replacements in the Kinetix 300/350 drives
series.
20
Chapter 2
Kinetix 300/Kinetix 350 Dimensions

Dimensions are in mm (in.).
A
5.0
(0.19)
7.1
(0.28)
30.8
(1.21)
9.7
(0.38)
300
182
(7.18)
2097-TB1
238 I/O Terminal
(9.37)
Expansion
Block
190
(7.50)
6.6
(0.26)
2090-K2CK-D15M
61.0
Low-profile Connector Kit (2.40)
for Bulletin 2090 (flyinglead) Feedback Cable
11.8
(0.46)
38.1
(1.5)
4.57
(0.18) 3x
B
Additional clearance below the connector kit is necessary

to provide the recommended cable bend radius.
Cat. No.
Dimensions mm (in.)
A
2097-V31PR0-xx
185.1 (7.29)
68.0 (2.68)
2097-V31PR2-xx
185.1 (7.29)
2097-V32PR0-xx
Cat. No.
Dimensions mm (in.)
A
2097-V33PR3-xx
185.1 (7.29)
68.5 (2.70)
68.5 (2.70)
2097-V33PR5-xx
185.1 (7.29)
94.4 (3.72)
229.6 (9.04)
68.0 (2.68)
2097-V33PR6-xx
229.6 (9.04)
68.0 (2.68)
2097-V32PR2-xx
229.6 (9.04)
68.5 (2.70)
2097-V34PR3-xx
185.1 (7.29)
68.5 (2.70)
2097-V32PR4-xx
229.6 (9.04)
86.8 (3.42)
2097-V34PR5-xx
185.1 (7.29)
94.4 (3.72)
2097-V33PR1-xx
185.1 (7.29)
68.0 (2.68)
2097-V34PR6-xx
229.6 (9.04)
68.0 (2.68)
21
Chapter 2
Input Wiring and Fusing
This section provides information to assist you in determining the wiring and
fusing requirements of the drives.
AC Input Power Wire Length and Routing

Determine the wire length for the AC line input after the drive location and any
changes to routing are finalized.
In general, the recommended drive replacement should not require changes in
wiring length; however, the routing may need to change as the input power
(Mains IPD) and motor power (MP) connections on the Kinetix 300/350 drives
are on the top and bottom of the drive, respectively, while these same connections
are located on the front of the Ultra3000 drives. See Connectors and Field
Connections on page 49 for a comparison of the Ultra3000 drive and
Kinetix 300/Kinetix 350 drive terminals.
Fusing
Review the fusing requirements when changing drives.
The Ultra3000 drives are listed by Underwriters Laboratories, Inc. (UL) with
fuses sized at four times the continuous output current of the full load amps
(FLA) of the drive, according to UL 508C. In most cases, fuses selected to match
the drive input current rating meet the National Electrical Code (NEC)
requirements and provide the full drive capabilities. Use dual-element, time-delay
(slow-acting) fuses to avoid nuisance trips during the inrush current of power
initialization. The Kinetix 300/350 drives are also listed by UL 508C.
In general, the Ultra3000 drives use Class CC, G, J, L, R, or T fuses with current
ratings as indicated in Table 3. The Kinetix 300/350 drives use class CC or T
fast-acting, current limiting-type fuses; 200,000 A interrupting capacity (AIC)
preferred. Use Cooper Bussmann KTK-R, JJN, or JJS fuses. Table 3 shows the
fuses for the different drive sizes.
22
Chapter 2
Table 3 - Fuse Comparison

Ultra3000 Drives
Model
Voltage
Range (V)
Nominal
Voltage
Range (V)
Kinetix 300/350 Drives

Input
Power(1)
Aux Input
Power(1)
Recommended
Kinetix 300/350
Replacement
Drives
Voltage
Range (V)
Nominal
Voltage
Range (V)
2097-V31PR0-xx
2097-V31PR0-xx
2098-DSD-010
88...265 1
88...265 1
120...240 1
120...240 1
FNQ-R-6
FNQ-R-10
FNQ-R-10
80...264 1
240 1
88...265 1
120...240 1
FNQ-R-20
2098-DSD-075
2098-DSD-150
2098-DSD-HV030
88...265 1
88...265 3
88...265 3
207...528 3
120...240 1
120...240 3
120...240 3
230...480 3
FNQ-R-30
FNQ-R-30
LPJ-60SP
(2)
KTK-R-20
2097-V33PR1-xx
80...264 1
240 1
KTK-R-15
80...264 3
240 3
KTK-R-15
2097-V34PR3-xx
320...528 3
480 3
KTK-R-10
2097-V31PR2-xx
70...132 1
120 1
KTK-R-30
2097-V32PR2-xx
80...264 1
240 1
KTK-R-20
70...264 1
120 1
KTK-R-20
80...264 1
240 1
KTK-R-15
80...264 3
240 3
KTK-R-15
2097-V34PR5-xx
320...528 3
480 3
KTK-R-10
2097-V32PR4-xx
80...264 1
240 1
KTK-R-30
70...264 1
120 1
KTK-R-30
80...264 1
240 1
KTK-R-20
80...264 3
240 3
KTK-R-20
70...264 1
120 1
KTK-R-30
80...264 1
240 1
KTK-R-30
80...264 3
240 3
KTK-R-30
FNQ-R-10
FNQ-R-10
FNQ-R-10
FNQ-R-10
2097-V33PR6-xx
FNQ-R-10
N/A
FNQ-R-10
2097-V33PR5-xx
80...264 3
240 3
KTK-R-20
FNQ-R-10
2097-V34PR6-xx
320...528 3
480 3
KTK-R-20
FNQ-R-10
2097-V33PR5-xx
80...264 3
240 3
KTK-R-20
KTK-R-5
207...528 3
230...480 3
KTK-R-8
FNQ-R-10
N/A
2098-DSD-HV100
207...528 3
230...480 3
KTK-R-20
FNQ-R-10
N/A
2098-DSD-HV150
207...528 3
230...480 3
KTK-R-30
FNQ-R-10
N/A
FNQ-R-10
N/A
207...528 3
230...480 3
24V DC
control
back-up
power
supply
(optional
equipment)
N/A
2098-DSD-HV050
2098-DSD-HV220
KTK-R-20
120 1
2097-V33PR5-xx
2098-DSD-030
KTK-R-10
70...264 1
2097-V33PR3-xx
2098-DSD-020
Aux
Input
Power(3)
KTK-R-20
2097-V32PR0-xx
2098-DSD-005
Input
Power(1)
LPJ-35SP
(2)
(1) Class CC type Cooper Bussmann fuses are shown.

(2) Fuse shown is Class J Cooper Bussmann type fuse.
(3) A 24V power supply may need to be added to the Kinetix 300/Kinetix 350 drives if auxiliary power is required. See Auxiliary Logic Power on page 35 and Appendix A.
23
Chapter 2
Drive Interconnects and

Cabling
This section provides information to assist you in determining the interconnects

and cabling requirements of the drives.
Motor Power
Motor Power Wire Gauge
In general, an Ultra-series motor power cable (part number 2090-xxxx) can
connect directly to Kinetix 300/350 drives. This section provides information on
the motor power interconnects and cabling.
IMPORTANT
The length of the power and/or feedback cables for the Kinetix 300/350
drives cannot exceed 20 m (65 ft). Performance was tested at this length
and meets CE requirements.
If you are using a new wire gauge, verify that the capacity of the new wire is
capable of handling the current to the actuator.
Motor Power Replacement Cables

The current motor power cabling system can be used for both the
Kinetix 300/350 drives, and the Ultra3000 drives. The motor power cables are
interchangeable and depend on the actuator used.
Cable shield and lead preparation is provided with most Allen-Bradley cable
assemblies. Follow these guidelines if your motor power cable shield and wires
require preparation.
Figure 5 - Cable Shield and Lead Preparation
Strip Length (see Table 5)
U
Outer Insulation
V
W
Motor Power Cable
Exposed Braid
25.4 mm (1.0 in.)
As required to have ground clamp within

5075 mm (23 in.) of the drive.
Table 4 - Motor Power (MP) Connector

MP-Series or TL-Series
Servo Motor
Terminal
U = Brown
V = Black
W = Blue
= Green/Yellow
24
Chapter 2
Table 5 - Motor Power (MP) Termination Specifications

Drive Cat. No.
2097-V31PR0-xx
2097-V31PR2-xx
2097-V32PR0-xx
2097-V32PR2-xx
2097-V32PR4-xx
2097-V33PR1-xx
2097-V33PR3-xx
2097-V33PR5-xx
2097-V34PR3-xx
2097-V34PR5-xx
2097-V34PR6-xx
2097-V33PR6-xx
Terminals
PE
W
V
U
Recommended
Wire Size
mm2 (AWG)
2.5 (14)
Strip Length
mm (in.)
Torque Value
Nm (lbin)
7 (0.28)
0.5 (4.5)
4.0 (12)
Table 6 - Power/Brake Cable Descriptions (standard, non-flex)

Cable Configuration
Standard Cable
Cat. No.
Description
2090-CPBM7DF-xxAAxx
Drive-end flying-leads (DF)

Power/brake wires (PB)
Motor/Acutator End
2090-CPWM7DF-xxAAxx

Power wires only (PW)
2090-XXNPMF-xxSxx
Drive-end flying-leads
Power/brake wires
2090-CPBM4E2-xxTR
Drive-end bayonet (E2), transition (TR) cable (1)

Motor-end threaded DIN (M4)
2090-CPWM4E2-xxTR

2090-CPBM6DF-16AAxx

Motor/Actuator
Drive End Connector
SpeedTec DIN
(M7)
BR+
BR-
Threaded DIN
(M4)
MBRK+
MBRK-
2090-CPWM6DF-16AAxx
Circular Plastic
(M6)

(1) Threaded DIN connector (motor end) and bayonet connector for 2090-XXNFMP-Sxx cable. Refer to 2090-Series Motor Power and Feedback Transition Cables in the Kinetix
Motion Accessories Technical Data, publication GMC-TD004.
The current motor power cabling system can be used for both the Kinetix 300/
Kinetix 350 drives, and the Ultra3000 drives. The motor power cables are
interchangeable and depend on the actuator used.
25
Chapter 2
Table 7 - Power/Brake Cable Descriptions (continuous-flex)

Cable Configuration
Standard Cable
Cat. No.
Description
2090-CPBM7DF-xxAFxx

2090-CPWM7DF-xxAFxx

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

Motor-end SpeedTec DIN cable plug (M7)
2090-CPBM4DF-xxAFxx

2090-CPWM4DF-xxAFxx
Motor/Acutator End
Motor/Actuator
Drive End Connector
SpeedTec DIN
(M7)
BR+
BR-
Threaded DIN
(M4)

(1) SpeedTec DIN connector (motor end) and male connector for extending SpeedTec or threaded DIN cable. Refer to SpeedTec DIN Continuous-flex Extension Cables in the
Kinetix Motion Accessories Technical Data, publication GMC-TD004.
For further information, refer to the Motion Control Accessories section in the
Kinetix Motion Control Selection Guide, publication GMC-SG001, the bill of
materials (BOM) configuration tool within Motion Analyzer software, or
ProposalWorks from Rockwell Automation.
26
Chapter 2
Encoder Feedback Replacement Cables

The current motor encoder cabling system can be used for both the
Kinetix 300/350 drives, and the Ultra3000 drives.
IMPORTANT
The length of the power and/or feedback cables for the Kinetix 300/350
drives cannot exceed 20 m (65 ft). Performance was tested at this length
and meets CE requirements.
Factory-made cables with premolded connectors are designed to minimize

electromagnetic interference (EMI). Rockwell Automation recommends
factory-made cables (over hand-built cables) to improve system performance.
Table 8 - Motor Feedback (MF) Connector Pinout
MF Pin
Description
Signal
MF Pin
Description
Signal
Sine differential input+

AM+ differential input+
SIN+
AM+
Reserved
Sine differential inputAM- differential input-
SINAM-
10
Data differential input Index pulse-
DATAIM-
Cosine differential input+

BM+ differential input+
COS+
BM+
11
Motor thermal switch (normally

closed) (1)
TS
Cosine differential inputBM- differential input-
COSBM-
12
Single-ended 5V Hall effect

commutation
S1
Data differential input +

Index pulse+
DATA+
IM+
13

commutation
S2
Common
ECOM
14
Encoder power (+5V)
EPWR_5V (3)
Encoder power (+9V) (2)
EPWR_9V (3)
15
Reserved

commutation
S3
(1) Not applicable unless motor has integrated thermal protection.

(2) +9V Encoder capability only available on standard size Ultra3000 drive (2098-DSD-030 or larger).
(3) Kinetix 300/350 drive encoder power supply uses either 5V or 9V DC based on encoder/motor used.
IMPORTANT
Drive-to-motor power and feedback cable length for the Kinetix 300/
350 drives must not exceed 20 m (65.6 ft). Performance was tested at
this length and meets CE requirements.
Figure 6 - Pin Orientation for 15-pin Motor Feedback (MF) Connector

Pin 15
Pin 11
Pin 6
Pin 10
Pin 5
Pin 1
27
Chapter 2
Table 9 - Low Inertia and Integrated Gear Motors

Drive Family
Ultra3000
MPL-A (230V) Motors
MPL-B (460V) Motors
MPG-A
(230V) Motors
MPG-B
(460V) Motors
Absolute
High-Res(1)
m (ft)
Incremental(2)
m (ft)
Absolute
High-Res(1)
m (ft)
Incremental(2)
m (ft)
Absolute
High-Res(3)
m (ft)
Absolute
High-Res(3)
m (ft)
90 (295.3)
45 (147.6)
90 (295.3)
45 (147.6)
90 (295.3)
60 (196.8)
(1) Refers to MPL-A/BxxxxS/M (single-turn or multi-turn) low inertia motors with absolute high-resolution feedback.
(2) Refers to MPL-A/BxxxxH low inertia motors with 2000-line incremental feedback.
(3) Refers to MPG-A/BxxxxS/M (single-turn or multi-turn) integrated gear motors with absolute high-resolution feedback.
Table 10 - Maximum Cable Lengths for Ultra3000 Drives with MP-Series

Food-Grade Motors
Drive Family
Ultra3000
MPF-A (230V) Motors
MPF-B (460V) Motors
Absolute
High-Resolution(1)
m (ft)
Absolute
High-Resolution(1)
m (ft)
90 (295.3)
90 (295.3)
(1) Refers to MPF-A/BxxxxS/M (single-turn or multi-turn) food-grade motors

with absolute high-resolution feedback.
Table 11 - Maximum Cable Lengths for Ultra3000 Drives with 1326AB (M2L/S2L) and
F-, H-, N-, and Y-Series Motors
Drive Family
Ultra3000
1326AB (M2L/S2L)
(460V) Motors
F-, H-, N-, or Y-Series

(230V) Motors
Absolute
High-Resolution(1)
m (ft)
Incremental(2)
m (ft)
90 (295.3)
30 (98.4)
(1) Refers to 1326AB-Bxxxx-M2L/S2L (single-turn or multi-turn) motors with

absolute high-resolution feedback.
(2) Refers to F-, H-, N-, or Y-series motors with incremental (optical encoder)
feedback.
28
Chapter 2
Table 12 - Motor Feedback Cables for Specific Motor/Feedback Combinations

Motor Cat. No. (1)
Feedback Type
Feedback Cable
Premolded
MPL-A/B15xxx-V/Ex4xAA,
MPL-A/B2xxx-V/Ex4xAA(3)
High-resolution encoder
MPL-A/B15xxx-Hx4xAA,
MPL-A/B2xxx-Hx4xAA (3)
Incremental encoder
MPL-A/B3xxx-M/Sx7xAA,
MPL-A/B4xxx-M/Sx7xAA,
MPL-A/B45xxx-M/Sx7xAA
MPL-A/B3xxx-Hx7xAA,
MPL-A/B4xxx-Hx7xAA,
MPL-A/B45xxx-Hx7xAA
Incremental encoder
2090-XXNFMF-Sxx
(standard)
2090-CFBM4DF-CDAFxx
(continuous-flex)
MPM-A/Bxxxxx-M/S
N/A
MPF-A/Bxxxx-M/S
Flying-lead (2)
2090-XXNFMF-Sxx
(standard)
2090-CFBM7DF-CDAFxx
(continuous-flex)
MPAR-A/B3xxxx
MPAI-A/Bxxxx
MPS-A/Bxxxx-M/S
2090-XXNFMF-Sxx
(standard)
2090-CFBM4DF-CDAFxx
(continuous-flex)
MPAS-A/Bxxxx-V/A
MPAR-A/B1xxxx,
MPAR-A/B2xxxx
TLY-Axxxx-B
TLAR-Axxxxx
TLY-Axxxx-H
Incremental encoder
2090-CFBM6DDCCAAxx
2090-CFBM6DF-CBAAxx
(standard)
(1) Some installations may use motors with bayonet connectors (for example, MPL-A310P-xx2xAA). These motors are being
discontinued and require 2090-XXNPMP-xxSxx (bayonet) transition cables. Refer to 2090-Series Motor Power and
Feedback Transition Cables in the Kinetix Motion Accessories Technical Data, publication GMC-TD004.
(2) For pin-outs, refer to Flying-lead Feedback Cable Pin-outs in the Kinetix 300 EtherNet/IP Indexing Servo Drives User
Manual, publication 2097-UM001.
(3) V/Ex4xAA and Hx4xAA motors were used in earlier installations, and Ex7xAA and Hx7xAA motors may have been used in
more recent installations. If your installation uses V/Ex7xAA and Hx7xAA motors, use 2090-CFBM7DF-CDAFxx for the
continuous-flex feedback cable.
29
Chapter 2
2090-Series Motor/Actuator
Cables Overview
This section provides an overview of the 2090-series motor/actuator cables.

Table 13 - Feedback Cable Descriptions (standard, non-flex cable)
Standard Cable
Cat. No.
Description
Cable Configuration
2090-CFBM7DF-CEAAxx

High-resolution or resolver applications (CE)
Motor/Actuator
Connector
Motor/Acutator End Drive End
2090-CFBM7DD-CEAAxx
Drive-end 15-pin connector (DD)

2090-XXNFMF-Sxx
High-resolution or incremental applications
2090-CFBM4E2-CATR

All feedback types (CA)
2090-CFBM6DF-CBAAxx

High-resolution, battery backup or
Incremental applications (CB)
2090-CFBM6DD-CCAAxx
SpeedTec DIN
(M7)
Threaded DIN
(M4)
Circular Plastic
(M6)

Incremental applications only (CC)
(1) Threaded DIN connector (motor end) and bayonet connector for 2090-XXNFMP-Sxx cable. Refer to 2090-Series Motor Power and Feedback Transition Cables in the Kinetix
Motion Accessories Technical Data, publication GMC-TD004.
Table 14 - Feedback Cable Descriptions (continuous-flex cable)

Cable Configuration
Standard Cable
Cat. No.
Description
2090-CFBM7DF-CDAFxx

High-resolution or incremental applications (CD)
2090-CFBM7DF-CEAFxx

2090-CFBM7DD-CEAFxx
2090-CFBM7E7-CDAFxx
2090-CFBM7E7-CEAFxx
2090-CFBM4DF-CDAFxx
Motor/Acutator End

Motor/Actuator
Drive End Connector
SpeedTec DIN
(M7)
Drive-end (male) connector, extension (E7) (1)

Motor-end SpeedTec DIN cable plug (M7)
High-resolution or incremental applications
Threaded DIN
(M4)
(1) SpeedTec DIN connector (motor end) and male connector for extending SpeedTec or threaded DIN cable. Refer to SpeedTec DIN Continuous-flex Extension Cables in the
Kinetix Motion Accessories Technical Data, publication GMC-TD004.
IMPORTANT
30
Feedback cables with the CE designation, for example 2090-CFBM7DF-CEAAxx, are intended for high-resolution encoder
or resolver applications and have fewer conductors than feedback cables with the CD designation, for example
2090-CFBM7DF-CDAFxx, which are intended for high-resolution or incremental encoder applications.
Chapter 2
I/O Cabling
Ultra3000 drives and Kinetix 300/350 drives have similar signals that interface
with input/output (I/O) signals. Some of those signals include the following:
Aux encoder input
Master encoder input
Digital inputs/outputs (DIs/DOs)
Analog inputs/outputs (AIs/AOs)
Registration inputs
There is a physical connector difference between the Ultra3000 drives and the
Kinetix 300/350 drives. Ultra3000 drives use a 44-pin, D-shell connector and the
Kinetix 300/350 drives use a 50-pin, SCSI connector.
Appendix A compares the I/O connectors and functions of the Ultra3000 drives
to the Kinetix 300/350 drives. Table 15 and Figure show the different interface
part numbers for the I/O connections between the two drive families.
Ultra3000 CN1 Connectors

Factory-made cables with premolded connectors are designed to minimize
electromagnetic interference (EMI). Rockwell Automation recommends
factory-made cables (over hand-built cables) to improve system performance.
However, options are available for building your own feedback and I/O cables.
Refer to Table 15 for the available options.
Table 15 - CN1 I/O Connector Options
Drive Connector
CN1
I/O connector
Connector Option
Option Cat. No.
44-pin drive-mounted breakout board with 24V to 5V

auxiliary power converter
2090-U3CBB-DM44
12-pin drive-mounted breakout board with 24V to 5V

auxiliary power converter for SERCOS interface
applications
2090-U3CBB-DM12
44-pin panel-mounted breakout board kit
2090-U3BK-D44xx
44-pin, drive-mounted breakout board(1)
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
(1) This breakout board accepts 1...0.14 mm2 (16...26 AWG) wire. For applications that require a 44-pin
drive-mounted breakout board that accepts 4...0.5 mm2 (12...22 AWG) wire, contact your local Allen-Bradley
representative.
31
Chapter 2
Kinetix 300/Kinetix 350 Expansion Block

Kinetix 300/
Kinetix 350
Drive
2097-TB1 Terminal
Expansion Block
50-pin I/O (IOD)

Connector
The 2097-TB1 I/O terminal expansion block is a drive-mounted breakout board

for making flying-lead cable connections to the 50-pin IOD connector.
Table 16 - 2097-TB1 I/O Terminal Block Specifications
Attribute
Value
Wire size
1.50.2 mm2 (1624 AWG)
Change in depth of drive (1)
11 mm (0.42 in.)
Change in width of drive (1)
10 mm (0.38 in.)
(1) Add this value to the dimensions of your Kinetix 300/350 drive.
Master Encoder/Gearing Signals/Buffered Encoder Signals

This section compares encoder and signal features of the drives.
Table 17 - Encoder and Signal Features Comparison
Feature
Standalone electronic gearing

(ratios set using Ultraware/MotionView)
32
Ultra3000
Analog/
Indexing
DeviceNet
Kinetix Kinetix
300
350
SERCOS
x
Electronic gearing via Logix

(ratios set using RSLogix 5000)
Dual loop function
Aux encoder PWR (output)
Buffered encoder output

(programmable output frequency)
Unbuffered encoder output

(fixed output frequency)
Chapter 2
The Ultra3000 drives (non-SERCOS) and Kinetix 300 drives have the
ability to electronically gear a master encoder signal to a single drive. This
function is not available on the Kinetix 350 drives.
The Ultra3000 drives provide encoder power out to the auxiliary encoder,
while the Kinetix 300/350 drives do not.
You can use the Ultra3000 SERCOS version as a dual loop servo and use
the aux encoder as your position loop closure. You cannot do this on the
Ultra3000 Drives - Auxiliary Encoder Operation

The Ultra3000 drives support auxiliary encoder operation. The pinout is shown
in Table 18.
Table 18 - Ultra3000 Drives Auxiliary Encoder Wiring
CN1 Pin
Description
Signal
Auxiliary encoder power out (+5V)
EPWR
Common
ECOM
Auxiliary logic power in (+5V)
AUXPWR
Auxiliary A+/Step+/CW+
AX+
Auxiliary A-/Step-/CW-
AX-
Auxiliary B+/Dir+/CCW+
BX+
Auxiliary B-/Dir-/CCW-
BX-
Auxiliary encoder Ch I+
IX+
Auxiliary encoder Ch I-
IX-
Kinetix 300 Drives - Master Gearing Operation

The Kinetix 300 drives supports master gearing operation. Wire the Master
signals to the drive as shown in Table 19.
Table 19 - Kinetix 300 Master Gearing Wiring
IOD Pin
Description
Signal
Master encoder A+/Step+ input
MA+
Master encoder A-/Step- input
MA-
Master encoder B+/Direction+ input
MB+
Master encoder B-/Direction- input
MB-
33
Chapter 2
Ultra3000 Drives - Unbuffered Motor Encoder Operation

The Ultra3000 drives support unbuffered motor encoder operation. The pinouts
are shown in Table 20.
Table 20 - Ultra3000 Drives Unbuffered Motor Encoder Wiring
CN1 Pin
Description
Signal
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-
Unbuffered
Buffered
The unbuffered signals are unfiltered encoder signals; there is no software

manipulation. The buffered encoder signals are modified by the internal software
divider of the Ultra3000 drive (divided encoder signals are not available on the
Ultra3000 SERCOS). This divider function is not available in the
Kinetix 300 Drives - Buffered Encoder Operation

The Kinetix 300 drives supports buffered encoder operation. Wire the signals to
the drive as shown in Table 21.
Table 21 - Kinetix 300 Drive Buffered Signals Wiring
34
IOD Pin
Description
Signal
Buffered encoder output: channel A+
BA+
Buffered encoder output: channel A-
BA-
Buffered encoder output: channel B+
BB+
10
Buffered encoder output: channel B-
BB-
11
Buffered encoder output: channel Z+
BZ+
12
Buffered encoder output: channel Z-
BZ-
Chapter 2
These signals are unfiltered software signals and are fixed at 4096 pulses per
motor revolution. This function is limited to an output frequency of 2 MHz.
IMPORTANT
I/O Availability and

Specifications
You must qualify that your motor speed and resolution do not exceed
2MHz, or you may lose output counts.
All Ultra3000 drives and Kinetix 300/350 drives have a comprehensive set of
digital I/O and analog I/O. To ensure proper operation, use the following
specifications to verify if the operation between drives will be consistent.
IMPORTANT
All Ultra3000 drives and Kinetix 300/350 drives require an isolated

external 12...24V power supply for proper operation of the digital I/O.
Auxiliary Logic Power

The auxiliary power feature allows the drive to 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).
Ultra3000 Drives
The Ultra3000 drives (catalog numbers 2098-DSD-005, 2098-DSD-010, and
2098-DSD-020) require an external, +5V power supply in applications where it
is necessary to maintain logic power when the AC line voltage is removed. The
+24V I/O supply (IOPWR) allows use of the drive-mounted breakout boards
with 24V to 5V DC converter (catalog numbers 2090-U3CBB-DM12 and
2090-U3CBB-DM44). Table 22 describes the +24V (IOPWR) power supply
requirements when it is used to maintain logic power.
Table 22 - Ultra3000 Drives +24V Power Supply Requirements for Logic Power
Parameter
Description
Min
Max
Input voltage range
Input voltage range of the external power

supply for drive-mounted breakout boards with
24V to 5V converter.
18V
30V
Input current
Input current draw from the external power

supply for the drive-mounted breakout boards
with 24V to 5V converter.
400 mA
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.
35
Chapter 2
Table 23 - Ultra3000 Drives 5V Supply Specifications

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

power supply.
1.5A
IMPORTANT
Using the drive-mounted breakout board with 24V to 5V auxiliary power

converter is preferred to using an external +5V DC power supply.

The Kinetix 300/350 drives use a 24V DC logic power source for all drives
(referred to as back-up power [BP]).
Table 24 - Kinetix 300/350 Drives Back-up Control Power Specification
Specification
Description
Control power back-up input voltage
20...26V DC
Control power back-up input current

Nom
Max inrush (0-pk)
500 mA
30 A
Digital Inputs
Table 25 compares some key differences between the digital inputs of the two
drive families.
Table 25 - Digital Inputs Comparison
Feature
Ultra3000
Kinetix 300
Kinetix 350
Non-SERCOS SERCOS
Inputs
8 inputs
6 inputs
12 inputs
5 inputs
I/O common points
3 groups (A,B,C)
each with an
isolated common
Pre-selectable indexes
(using binary codes)
Multiple input assignment
Fixed assignment for

Enable/Overtravel/Registration
Fixed assignment for Home Input
De-bounce for inputs

Overtravels must be N.C.
36
x
x
x
(can be N.O. also)
Chapter 2
Ultra3000 Drives
All digital inputs on the Ultra3000 drives (SERCOS and non-SERCOS) have
the same physical characteristics as shown in Table 26.
Table 26 - Ultra3000 Drives Digital Input Characteristics
Specification
Description
I/O response
100 s
Digital I/O firmware scan period
1 ms
Table 27 - Ultra3000 Drives Digital Input Parameters

Parameter
Description
Min
Max
ON state voltage
Voltage applied to the input, with respect

to IOCOM, to guarantee an ON state.
10.8V
26.4V
ON state current
Current flow to guarantee an ON State.
3.0 mA
12.0 mA
OFF state voltage
Voltage applied to the input, with respect

to IOCOM, to guarantee an OFF state.
-1.0V
2.0V
Table 28 - 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
CN1-34
REG1
REG2
Registration Sensor, a transition is used to record position values.
CN1-37
CN1-38
OT_POS
OT_NEG
Overtravel Input, an inactive state indicates that a position limit has been
exceeded. An active state occurs when 24V is removed from the input.
For the Ultra3000 drives, there are eight optically isolated digital inputs. All
digital inputs (SERCOS and non-SERCOS) have the same configuration, as
shown in Figure 7.
Figure 7 - Ultra3000 Drive Digital Input Circuit
Ultra3000 Drive
+5V
2.7k
10k
INPUTS
1k
TLP121
IOCOM
IOCOM
DGND
37
Chapter 2
Kinetix 300/350 Drive Digital Input Characteristics

The digital inputs can be used for travel limit switches, proximity sensors, push
buttons, and hand shaking with other devices. Each input can be assigned an
individual de-bounce time via MotionView software or Explicit Messaging.
The inputs are separated into three groups: A, B, and C. Each group has four
inputs and share one common: ACOM, BCOM, and CCOM, respectively.
Travel limit switches, the inhibit/enable input, and registration input have
dedicated inputs as shown in Table 29.
Table 29 - Kinetix 300/350 Drives Fixed Digital Input Assignments
Digital Input
Function
IN_A1 (pin 27)
Negative travel limit switch
IN_A2 (pin 28)
Positive travel limit switch
IN_A3 (pin 29)
Inhibit/enable input
IN_C3 (pin 39)
Registration input sensor
For the Kinetix 300/350 drives, the digital inputs are optically isolated and sink
up to 24V DC. You can set up the inputs for PNP sourcing or NPN sinking, as
shown in Figure 8.
Figure 8 - Kinetix 300/350 Drive Digital Input Circuits
Sourcing of Digital Inputs
Sinking of Digital Inputs
1.2 k
+24V
1.2 k
GND
IN_A1
IN_A1
1.2 k
1.2 k
IN_A2
IN_A2
IN_A_COM
IN_A_COM
GND
+24V
Table 30 - Kinetix300/350 Digital Input Signal Specifications
38
Parameter
Value
Scan time
500 s
Current, max
9 mA, typical
Input impedance
1.2 k, typical
Voltage range
524V DC
Chapter 2
Digital Outputs
Each drive has transistor-type digital outputs. The SERCOS Ultra3000 drives
(-SE) and the Kinetix 350 drives have holding brake actuation outputs available
only as outputs.
Table 25 compares some key differences between the digital outputs of the two
drive families.
Table 31 - Digital Outputs Comparison
Feature
Ultra3000
Kinetix 300
Kinetix 350
Non-SERCOS
SERCOS
4 outputs + 1 relay
1 output + 1 relay
1 output, no relay
1 output, no relay
Brake output
assignment
Programmable
Fixed,
relay type
Programmable,
transistor type
Fixed,
transistor type
Use common
24V power to
energize
outputs
Has isolated 24V

supply outputs
Configurable
output
assignment
Outputs
Ultra3000 Drives
Digital outputs: four optically isolated, 12...24V outputs, active high, current
sourcing.
Table 32 - Ultra3000 Drives Digital Outputs
Parameter
Description
Min
Max
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 9 - Transistor Output Hardware Configuration

Ultra3000 Drive
200
IOPWR
+5V
OUTPUT
OUT
TLP127
39
Chapter 2
Table 33 - Relay Output Specifications

Parameter
Description
Min
Max
ON state
current
Current flow when the relay is closed
1A
ON state
resistance
Contact resistance when the relay is closed
OFF state
voltage
Voltage across the contacts when the relay is open
30V
Table 34 - Relay Output Hardware Configuration

Ultra3000 Drive
CN1-43
Relay +
Normally
Open
Relay
CN1-44
Relay -
IMPORTANT
Relay output is not available on Kinetix 300/350 drives.

Table 35 - Digital Output Signal Specifications
Parameter
Value
Scan time
500 s
Current, max
100 mA
Voltage, max
30V DC
Figure 10 - Digital Output Circuit

Ultra3000
Drive
Logic Power
OUT1-C
OUT1-E
GND
40
Chapter 2
Analog Inputs
IMPORTANT
The Ultra3000 SERCOS and Kinetix 350 drives do not have analog input
capability because their command reference comes digitally through
communication networks.
Ultra3000 Drives (non-SERCOS version)

Analog COMMAND Input
The analog COMMAND input to the drive can provide a position, velocity, or
current command signal. A 14-bit A/D converter digitizes the signal. The
configuration of the input is shown in Figure 11.
Figure 11 - Ultra3000 Drives (non-SERCOS version) Analog COMMAND Input
Configuration
Ultra3000 Drive
1000 pF
10k
10k
20k
COMMAND +
0.01 F
10k
10k
0.01 F
1000 pF
COMMAND 20k
Table 36 - Ultra3000 Drives (non-SERCOS version) Analog COMMAND Input

Specifications
Parameter
Description
Min
Max
Resolution
Number of states that the input signal is divided into

which is 2(to the number of bits).
14 bits
Input
impedance
Open circuit impedance measured between the + and

- inputs.
20 k
Input signal
range
Voltage applied to the input
-10V
+10V
Offset error
Deviation from the correct value expected from

analog-to-digital conversion when 0V is applied to the
input.
50 mV
Gain error
Deviation of the transfer function from unity gain,

expressed in a percent of full scale.
1%
Propagation
delay
Delay from the input to the firmware-accessible

registers.
100 s
41
Chapter 2
Kinetix 300 Drives

IMPORTANT
The Kinetix 350 drive does not have analog input capability because its
command reference comes digitally through communication networks.
Analog Reference Input

The analog reference inputs AIN1+ and AIN1- (IOD-24 and IOD-25) accept
up to a 10V DC analog signal as shown in Table 37. The analog signal is
converted to a digital value with 12-bit resolution (11-bit plus sign). The total
reference voltage as seen by the drive is the voltage difference between AIN1+
and AIN1-.
If used in Single-ended mode, one of the inputs must be connected to a
voltage source while the other input must be connected to the analog
common (ACOM) terminal.
If used in Differential mode, the voltage source is connected across
AIN1+ and AIN1- and the driving circuit common, if available, is
connected to the drive analog common (ACOM) terminal.
Table 37 - Analog Signal Input Specifications
Parameter
Value
Scan time
0.0625 ms
Current, max
Depend on load
Input impedance
47 k, typical
Voltage range
-1010V DC
Analog Current Limit Input

Ultra3000 Drives (current limit N/A on the SERCOS version)
The ILIMIT input specifies to the drive if the drive output current should be
limited. If the ILIMIT input is not connected, current is not limited.
IMPORTANT
42
This function is not available on the Kinetix 300/350 drives.
Chapter 2
Analog Current Output

IMPORTANT
This output is not supported on the Ultra3000 SERCOS version or the

Kinetix 350 drives.
Ultra3000 Drives (non-SERCOS)

Figure 12 - Ultra3000 Drives (non-SERCOS) Analog Output Configuration
Ultra3000 Drive
AOUT
100
IMPORTANT
0.01 F
Output values can vary during powerup until the specified power
supply voltage is reached.
Table 38 - Ultra3000 Drives (non-SERCOS) Analog Output Specifications

Parameter
Description
Min
Max
Resolution
Number of states that the output signal is divided

into, which is 2 (to the number of bits).
8 bits
Output
current
Current capability of the output.
-2 mA
+2 mA
Output signal
range
Range of the output voltage.
-10V
+10V
Offset error
Deviation when the output should be at 0V.
500 mV(1)
Gain error
Deviation of the transfer function from unity gain,

expressed in a percent of full scale.
10%(1)
Bandwidth
Frequency response of the analog output
50 Hz
(1) The offset and gain errors of the analog output can be corrected for an application using Ultraware scale and
offset settings.
43
Chapter 2
Kinetix 300 Drives

IMPORTANT
This analog output is not supported on the Kinetix 350 drives.
Figure 13 - Kinetix 300 Drive Analog Output Circuit
Kinetix 300
Drive
CH1
CH2
DAC
Table 39 - Kinetix 300 Drive Analog Output Specifications

Parameter
Value
Scan time
0.0625 ms
Current, max
10 mA
Voltage range
-1010V DC
The analog output (AO) on pin IOD-23 has a 10-bit resolution. The analog
output is a single-ended signal with reference to analog common (ACOM) that
can represent the following motor data:
Not assigned
Phase current V
RMS phase current
Phase current W
RMS peak current
Iq current
Motor velocity
Id current
Phase current U
Serial Communication
The Ultra3000 drives use serial communication. The Kinetix 300/350 drives do
not use serial communication; the interface to the Kinetix 300/350 drives is
through the Ethernet port.
Accessories
Application accessories, such as shunts and line filters, can impact drive
replacement. This section describes the following:
Shunt Resistors
AC Line Filters
44
Chapter 2
Shunt Resistors
The Ultra3000 micro drives (-050, -010, -020) have no internal shunting
capability. All other Ultra3000 drives have internal shunting capability. The
Kinetix 300/350 drives do not have internal shunting capability. There are also
differences in the external shunting characteristics, which are described in this
section. Use Motion Analyzer software to determine the duty cycle requirements
and if a shunt is required for the Kinetix 300/350 drives.
Ultra3000 Drives
Ultra3000 drives have both an active shunt and passive shunt module:
The active shunt module provides DC bus power to the Ultra3000 drive
and is available for the Ultra3000 micro drives (-005, -010, -020).
The passive shunts are used in the traditional sense that they are wired to
the drive and are activated as the bus voltage rises above the trigger level.
45
Chapter 2
Table 40 - Ultra3000 Drives Shunt Resistor Specifications

Specifications
Ultra3000
Drives
(1)
Shunt Module
Cat. No.
2098-xxx-005
2098-xxx-010
2098-xxx-020
2090-UCSR-A300
2098-xxx-030
9101-1183
2098-xxx-075
2098-xxx-150
2098-xxx-HV030
2098-xxx-HV050
Fan
Peak
Drive
Voltage Resistance Power
Voltage
V AC
kW
Peak
Current
A
Continuous Shipping
Power
Weight
W
kg (lb)
Fuse
Replacement
36
4.0
10.5
300
1.51 (3.3)
30
5.9
14.0
200
CCMR-4- (2)
2090-UCSR-P900
18
10.0
23.3
4.08 (9.0)
FWP-10A14F (3)
2090-SR120-09
120
5.3
6.7
3.63 (8.0)
FWP-2.5A14F (3)
3.63 (8.0)
FWP-5A14F (3)
8.6 (19.0)
FWP-6.3A14F (3)
2090-SR040-09
230V AC N/A
460V AC N/A
40
2098-xxx-HV100
900
20.0
16.0
2090-SR040-18
40
20.0
1800
(1) Passive shunt solutions for Ultra3000 (460V) drives also exist with Rockwell Automation Encompass Partners. Refer to Bulletin 2090 Passive Shunt Modules in the
Kinetix Motion Control Selection Guide, publication GMC-SG001, for shunt module solutions outside the specifications in the table above, and for the 2098-xxx-HV150 and
2098-xxx-HV220 servo drives.
(2) LittelFuse part number.
(3) Cooper Bussmann part number.

The Kinetix 300/350 drives have pre-defined passive shunt modules used with
the particular drives. Table 41 lists the passive shunts for the Kinetix 300/350
drives.
Table 41 - Kinetix 300/350 Drives Passive Shunt Resistor Power Specifications
Kinetix 300/350
Drives Cat. No.
Attribute
2097-V32PR4-xx
2097-V33PR5-xx
Specifications
% RD_Application,
max (1)
Resistor Value
Peak Power
kW
Peak Current
A
Continuous
Power
W
Weight,
Approx.
kg (lb)
2097-R2
1.97
20
7.6
19.5
2097-V33PR6-xx
2097-R3
2.96
30
5.1
13.0
150
0.3 (0.7)
2097-V31PR0-xx
2097-V31PR2-xx
2097-V32PR0-xx
2097-V32PR2-xx
2097-V33PR1-xx
2097-V33PR3-xx
2097-R4
2.10
40
3.8
9.8
80
0.2 (0.4)
2097-V34PR5-xx
2097-V34PR6-xx
2097-R6
1.90
75
7.9
10.3
150
0.3 (0.7)
2097-V34PR3-xx
2097-R7
2.02
150
4.0
5.1
80
0.2 (0.4)
(1) RD_Application is the application duty cycle in percent. For the intermittent regeneration applications, use RD_Application = t/T. Where t is the duration when
regeneration is needed and T is the time interval between two regenerations. Both t and T must use the same time units, such as seconds.
46
Chapter 2
AC Line Filters
An AC line filter is a key component in achieving CE standards. The Kinetix
300/350 drives, and Ultra3000 drives, do not use the same line filters. The line
filters for the Kinetix 300/350 drives are designed to be an integral part of the
product. The filters are mounted at the rear of the drive or directly beside the
drive with close connections. Once you select your Kinetix 300/Kinetix 350 drive
for your application, choose the line filter that is appropriate for that particular
drive. This section describes the specifications for the line filters used for each
drive.
Ultra3000 Drives
Table 42 - Ultra3000 Drives AC Line Filter Selection
Drive Family
Ultra3000
Drive
Cat. No.
AC Line Filter
Cat. No.
Motor Cables > 30 m
2098-xxx-005
2090-UXLF-106
2090-UXLF-110
2098-xxx-010
2090-UXLF-110
2090-UXLF-110
2098-xxx-020
2090-UXLF-123
2090-UXLF-123
2098-xxx-030
2090-UXLF-136
2090-UXLF-132
2098-xxx-075
2090-UXLF-336
2090-UXLF-HV330
2098-xxx-150
2090-UXLF-350
2090-UXLF-HV350
2098-xxx-HV030
2098-xxx-HV050
2098-xxx-HV100
2098-xxx-HV150
2090-UXLF-HV323
2090-UXLF-HV323
2098-xxx-HV220
2090-UXLF-HV330
2090-UXLF-HV330
47
Chapter 2
Table 43 - AC Line Filter Specifications

Specifications (1) (2)
AC Line Filter
Cat. No.
Current
A@
50 C (122 F)
Power Loss
W
Leakage
Current
mA
Weight,
approx.
kg (lb)
2090-UXLF-106
3.5
2.26
0.3 (0.66)
2090-UXLF-110
10
2.7
45
0.95 (2.0)
2090-UXLF-123
23
10
90
32
20
90
36
200
1.75 (3.9)
2090-XXLF-TC116
16
87
0.80 (1.7)
2090-UXLF-336
36
138
2090-UXLF-350
50
25
138
23
20
80
1.6 (3.5)
30
51
24
1.8 (4.0)
50
25
35
4.8 (10.6)
2090-UXLF-132
2090-UXLF-136
2090-UXLF-HV323
Voltage
Phase
Single
250V AC
50/60 Hz
2090-UXLF-HV330
520V AC
50/60 Hz
2090-UXLF-HV350
500V AC
50/60 Hz
Three
1.6 (3.5)
Operating
Temperature
-2585 C
(-13185 F)
-25100 C
(-13212 F)
2.7 (5.9)
-2585 C
(-13185 F)
(1) For all filters, 90% relative humidity.

(2) For all filters, 10200 Hz @ 1.8 g vibration.

The AC line filters are mounted directly beside the drive (side) with pig-tail
connections, or they are mounted at the rear of the drive.
Table 44 - Kinetix 300/350 Drives AC Line Filter Specifications
AC Line Filter
Cat. No.
2097-F1
Mount
Side
2097-F2
2097-F4 (3)
2097-F5 (3)
2097-F6 (3)
Voltage
50/60 Hz
Phase
Current
A@
40 C (104 F)
Power Loss
W
Leakage
Current
mA
120/240V AC
24.0
5.2
9.0
480V AC
10.0
2.8
120/240V AC
1 or 3
4.40
1.2
480V AC
Rear
1 or 3
120/240V AC
1.3
15.0
4.1
0.6 (0.13)
Kinetix 300/350 Drive (1)

Cat. No.
2097-V33PR6-xx (2)
2097-V34PR6-xx
2097-V33PR1-xx
2097-V34PR3-xx
1.0
6.90
Weight, approx.
kg (lb)
0.8 (0.18)
2097-V34PR5-xx
2097-V33PR3-xx
2097-V33PR5-xx
(1) Use 2090-XXLF-TC116 (single-phase) line filter for 2097-V31PR0 and 2097-V31PR2 drives. Use 2090-UXLF-336 line filter for 2097-V33PR5 (three-phase) drive applications.
Refer to Table 43 for more information.
(2) Use the 2097-F1 (single-phase) line filter only for 2097-V33PR6 (single-phase) drive operation.
(3) This filter is rated for multiple voltage/phase line conditions.
48
Appendix
Connectors and Field Connections
The following figure identifies the connector locations on the Ultra3000 230V
(500 W, 1 kW, and 2 kW) drives and the Kinetix 300/350 drives. (Refer to the
Ultra3000 Digital Servo Drives Installation Manual, publication 2098-IN003,
for connector locations of other Ultra3000 drive types.)
Connector Locations
00
3 00
1
6
6
4
9
1
7
5
Ultra3000 Drive, Front View

(230V [500 W, 1 kW, and 2 kW] drive is shown)
Kinetix 300 Drive, Top View

(2097-V33PR5 drive is shown)
Kinetix 300 Drive, Front View

Kinetix 300 Drive, Bottom View

Table 45 - Drive Connector Descriptions

Ultra3000 Drives
Item
Description
Item
Description
DC bus connections for active shunt resistor kit
Mains (IPD) connector
AC input power connections
Memory module socket
Motor power connections
Ethernet communication port
Motor power cable shield clamp
I/O (IOD) connector
CN3 9-pin serial port connector
Motor feedback (MF) connector
CN2 15-pin motor feedback connector
Back-up power (BP) connector
CN1 44-pin user I/O connector
Shunt resistor and DC bus (BC) connector
Motor power (MP) connector
Safe torque-off (STO) connector
49
Appendix A
Encoder Wiring
Comparison
Table 46 defines the encoder signal pinouts for these comparable encoder wiring
connectors:
Ultra3000 drive CN2 connector
Kinetix 300/350 drive MF connector
Table 46 - Drive Encoder Wiring Comparison
Ultra3000 Drives
CN2 Pin
Description
Signal
Signal
Description
MF Pin
Channel A+/Sine
Differential input+
AM+
SIN+
AM+
Sine differential input+

AM+ differential input+
Channel A-/Sine
Differential input-
AM-
SINAM-
Sine differential inputAM- differential input-
Channel B+/Cosine
Differential input+
BM+
COS+
BM+
Cosine differential input+

BM+ differential input+
Channel B-/Cosine
Differential input-
BM-
COSBM-
Cosine differential inputBM- differential input-
Channel I+/Index pulse+
IM+
DATA+
IM+
Data differential input +

Index pulse+
Common
ECOM
ECOM
Common
N/C / Encoder power (+9V) (1)
EPWR +9V
EPWR_9V
Commutation channel S3
S3
S3

commutation
Positive overtravel limit
+LIMIT
Reserved/Not available
10
Channel I-/Index pulse-
IM-
DATAIM-
Data differential input Index pulse-
10
11
Thermostat
TS
TS
Motor thermal switch

(normally closed) (3)
11
12
S1
S1

commutation
12
13
S2
S2

commutation
13
14
Encoder power (+5V)
EPWR_5V
EPWR_5V
14
15
Negative overtravel limit
-LIMIT
Reserved/Not available
15
(1) +9V encoder capability only available on standard size Ultra3000 drive (catalog number 2098-DSD-030 or larger).
(2) Kinetix 300/350 drive encoder power supply uses either 5V or 9V DC based on encoder/motor used.
(3) Not applicable unless motor has integrated thermal protection.
50
Control Wiring Comparison
Appendix A
Table defines the digital, analog, and auxiliary encoder signal pinouts for these
comparable control wiring connectors:
Ultra3000 drives CN1 connector
Kinetix 300/350 drives IOD connector
See Chapter 2 for details.
Table 47 - Drive Control Wiring Comparison

Ultra3000 Drives
CN1 Pin
Description
Signal
Signal
Description
IOD Pin
Auxiliary encoder power out (+5V)
EPWR
Common
ECOM
GND
Drive logic common
Auxiliary logic power in (+5V)
AUXPWR
Auxiliary A+/Step+/CW+
AX+
MA+
Auxiliary A-/Step-/CW-
AXMA-
Auxiliary B+/Dir+/CCW+
BX+
MB+
Auxiliary B-/Dir-/CCW-
BXMB-
Auxiliary encoder Ch I+
IX+
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+
BA+
Buffered encoder output: channel A+ (1)
BA-
Buffered encoder output: channel A- (1)
(1)
17
Buffered motor encoder Ch A-
AMOUT-
18
Buffered motor encoder Ch B+
BMOUT+
BB+
Buffered encoder output: channel B+
19
Buffered motor encoder Ch B-
BMOUT-
BB-
Buffered encoder output: channel B- (1)
10
BZ+
Buffered encoder output: channel Z+
(1)
11
12
20
Buffered motor encoder Ch I+
IMOUT+
21
Buffered motor encoder Ch I-
IMOUT-
BZ-
Buffered encoder output: channel Z- (1)
22
Common
ACOM
ACOM
Analog common (1)
22
23
23
Programmable analog output
AOUT
AO
Analog output (max 10 mA) (1)
24
Analog current limit input
ILIMIT
AIN1+
Positive (+) of analog signal input (1)
25
Command +
COMMAND+
(1)
24
25
26
Command -
COMMAND-
AIN1-
Negative (-) of analog signal input
27
I/O common
IOCOM
28
I/O common
IOCOM
29
I/O power
IOPWR
30
I/O power
IOPWR
31
Digital input 1
INPUT1
32
Digital input 2
INPUT2
33
Digital input 3
INPUT3
51
Appendix A
Table 47 - Drive Control Wiring Comparison (continued)

Ultra3000 Drives
CN1 Pin
Description
Signal
Signal
Description
IOD Pin
34
Digital input 4
INPUT4
35
Digital input 5
INPUT5
36
Digital input 6
INPUT6
37
Digital input 7
INPUT7
38
Digital input 8
INPUT8
39
Digital output 1
OUTPUT1
40
Digital output 2
OUTPUT2
41
Digital output 3
OUTPUT3
42
Digital output 4
OUTPUT4
43
Normally open relay output+
RELAY+
44
Normally open relay output-
RELAY-
MA+
Master encoder A+/Step+ input (1)
MA-
Master encoder A-/Step- input (1)
2
3
4
MB+
Master encoder B+/Direction+ input (1)
MB-
Master encoder B-/Direction- input (1)
IN_A_COM
Digital input group ACOM terminal
26
IN_A1
Negative travel limit switch
27
IN_A2
Positive travel limit switch
28
IN_A3
Inhibit/enable input
29
IN_A4
Digital input A4 (1)
30
IN_B_COM
Digital input group BCOM terminal (1)
31
IN_B1
Digital input B1
32
IN_B2
Digital input B2 (1)
33
IN_B3
34
IN_B4
35
IN_C_COM
Digital input Group CCOM terminal
36
(1)
37
IN_C1
Digital input C1
IN_C2
Digital input C2 (1)
38
IN_C3
Registration input sensor
39
40
41
IN_C4
Digital input C4 (1)
RDY+
Ready output collector (1)
42
RDY-
Ready output emitter (1)
OUT1-C
Programmable output #1 collector
43
OUT1-E
Programmable output #1 emitter (2)
44
45
OUT2-C
Programmable output #2 collector (2)
OUT2-E
46
OUT3-C
47
48
OUT3-E
OUT4-C
49
OUT4-E
50
(1)
(2)
52
Kinetix 300 drive only.

Fixed as Brake Output for Kinetix 350 drive only.
Mains Power Wiring

Comparison
Appendix A
Table 48, Table 49, and Table 50 define the power terminal connections for
Ultra3000 drives and the comparable connectors on Kinetix 300/350 drives.
Table 48 - 2098-DSD-005, 2098-DSD-010, 2098-DSD-020 to Kinetix 300/350 Drive
Power Terminal Connections
Ultra3000 Drives
(2098-DSD-005, 2098-DSD-010, 2098-DSD-020)
Description
Signal
Terminal
Connector
Designator
Signal
DC Bus
DC Bus+
BC
B+
B+
DC Bus-
B-
B-
L1
L1
L1
L2/N
L2
L2
Safety earth ground
PE
PE
Motor case ground
PE
PE
+24V
+24V DC
-24V
Return
100...240V AC
50/60 Hz
Single-phase
Motor
IPD
MP
BP
Table 49 - 2098-DSD-030 to Kinetix 300/350 Drive Power Terminal Connections

Ultra3000 Drives
(2098-DSD-030)
Description
Signal
Terminal
Connector
Designator
Signal
Motor
MP
Motor case ground
PE
PE
DC Bus+
B+
B+
DC Bus-
B-
B-
L1
L1
L1
L2/N
L2
L2
Safety earth ground
PE
PE
Auxiliary power
100...240V AC
50/60 Hz
L1 Aux
10
L2 Aux
11
+24V
+24V DC
-24V
Return
DC Bus
100...240V AC
50/60 Hz
Single-phase
BC
IPD
BP
53
Appendix A
Table 50 - 2098-DSD-075 and 2098-DSD-150 to Kinetix 300/350 Drive Power Terminal

Connections
Ultra3000 Drives
(2098-DSD-075 and 2098-DSD-150)
Description
Signal
Terminal
Connector
Designator
Signal
Motor
MP
Motor case ground
PE
PE
DC Bus+
B+
B+
DC Bus-
B-
B-
L1
L1
L1
L2/N
L2
L2
L3
L3
L3
Safety earth ground
10
PE
PE
Auxiliary power
100...240V AC
50/60 Hz
L1 Aux
11
L2 Aux
12
+24V
+24V DC
-24V
Return
DC Bus
100...240V AC
50/60 Hz
Three-phase
54
BC
IPD
BP
Appendix
Specifications
General Power Comparison
Table 51 through Table 54 provide power specifications for the Ultra3000 drives
and the Kinetix 300/350 drives.
Ultra3000 Drives
Table 51 - Ultra3000 Drive Power Specifications
2098-DSD-xxx
-005
-010
-020
-030
-075
-150
V AC
V AC
100...240
100...240
100...240
100...240
100...240
100...240
AC input frequency
Hz
47...63
47...63
47...63
47...63
47...63
47...63
AC input current:
Nominal
Max inrush (2)
Arms
A
5
100
9
100
18
100
28
50
30
50
46
68
Output peak current (3)
7.5
15
30
30
75
150
Continuous output current (3)
2.5
10
15
35
65
Internal shunt power

Continuous
Peak
Watts
Watts
50
6000
50
10,000
180
19,000
AC input voltage (1)

Single phase
Three phase
(1) Specification is for nominal voltage. The absolute limits are 88...265V AC rms.
(2) At 230V AC, 0 to peak.
(3) 0 to peak.
55
Appendix B
Specifications
Kinetix 300/Kinetix 350 Drives

The 2097-V31PRx-xx drives with 120V input are capable of driving 240V
motors at full speed.
Table 52 - Kinetix 300/350 Drives (single-phase) Power Specifications
Attribute
2097-V31PR0-xx
2097-V31PR2-xx
AC input voltage
70132V rms single-phase (120V nom)

AC input frequency
4862 Hz
2097-V32PR0-xx
2097-V32PR2-xx
2097-V32PR4-xx
Main AC input current (1)

Nom (rms) 120V input
(voltage doubler)
Max inrush (0-pk) 120V input
9.70 A
1.15 A
15.0 A
1.15 A
Nom (rms) 120/240V input

5.0 A
1.1 A
8.6 A
1.1 A
5.0 A
136 A
8.6 A
2.3 A
15.0 A
2.3 A
Integrated AC line filter
No
No
Yes
Yes
Yes
Control power back-up input voltage 2026V DC

Nom
Max inrush (0-pk)
500 mA
30 A
Continuous output current (rms)
2.0 A
4.0 A
2.0 A
4.0 A
8.0 A
Continuous output current (0-pk)
2.8 A
5.7 A
2.8 A
5.7 A
11.3 A
Peak output current (rms) (2)
6.0 A
12.0 A
6.0 A
12.0 A
24.0 A
Peak output current (0-pk)
8.5 A
17.0 A
8.5 A
17.0 A
39.9 A
Continuous power output (3) @
0.40 kW (4)
0.80 kW (4)
0.40 kW
0.80 kW
1.70 kW
240V nom or
120V (Voltage-doubler mode)
Shunt On
390V DC
Shunt Off
375V DC
Overvoltage
430V DC
Short circuit current rating
100,000 A (rms) symmetrical
(1)
(2)
(3)
(4)
56
Kinetix 300/350 drive modules are limited to 1 AC mains power cycling per every 2 minutes.
Peak RMS current allowed for up to 2 seconds with a 50% duty cycle.
Nominal continuous power output (kW) applies to 240V AC drives. Value is approximately one-half of this kW rating when using 120V AC.
The 120V Voltage-doubler mode applies to only the 2097-V31PRx-xx drives.
Specifications
Appendix B
Table 53 - Kinetix 300/350 Drives (single-phase and three-phase) Power

Specifications
Attribute
2097-V33PR1-xx
2097-V33PR3-xx
AC input voltage

80264V rms three-phase (240V nom)
AC input frequency
4862 Hz
2097-V33PR5-xx
2097-V33PR6-xx

5.0 A
68.0 A
8.6 A
1.15 A
15.0 A
1.15 A
24.0 A
5.65 A

3.0A
136 A
5.0A
2.3 A
8.7A
2.3 A
13.9 A
11.3 A
No
No
No
No

Nom
500 mA
Max inrush (0-pk)
30 A
2.0 A
4.0 A
8.0 A
12.0 A
2.8 A
5.7 A
11.3 A
17.0 A
6A
12 A
24 A
36 A
8.5 A
17.0 A
33.9 A
50.9 A
Continuous power output (3)
0.50 kW
1.00 kW
2.00 kW
3.00 kW
@ 240V nom
Shunt On
390 V DC
Shunt Off
375V DC
Overvoltage
430V DC
(1) Kinetix 300/350 drive modules are limited to 1 AC mains power cycling per every 2 minutes.
(2) Peak RMS current allowed for up to 2 seconds with a 50% duty cycle.
(3) Nominal continuous power output (kW) applies to 240V AC drives. Value is approximately one-half of this kW rating when using 120V AC.
57
Appendix B
Specifications
Table 54 - Kinetix 300/350 Drives (three-phase) Power Specifications

Attribute
2097-V34PR3-xx
2097-V34PR5-xx
AC input voltage
320528V rms three-phase (480V nom)
AC input frequency
4862 Hz
2097-V34PR6-xx

Nom (rms)
Max inrush (0-pk)
2.7A
4.5 A
5.5 A
4.5 A
7.9 A
22.6 A
No
No
No

Nom
Max inrush (0-pk)
500 mA
30 A
2.0 A
4.0 A
6.0 A
2.8 A
5.7 A
8.5 A
6A
12 A
18 A
8.5 A
17.0 A
25.5 A
Continuous power output

@ 480V nom
1.00 kW
2.00 kW
3.00 kW
Shunt On
780V DC
Shunt Off
750V DC
Overvoltage
850V DC
(1) Kinetix 300/350 drive modules are limited to 1 AC mains power cycling per every 2 minutes.
(2) Peak RMS current allowed for up to 2 seconds with a 50% duty cycle.
58
Specifications
Digital I/O Comparison
Appendix B
Table 55 through Table 59 compare the digital input and output specifications
between the Ultra3000 drives and the Kinetix 300/350 drives.
Digital Input Specifications

Table 55 - Ultra3000 Drives Digital Inputs
Parameter
Value
ON state voltage
10.8...26.4V
ON state current
3.0...12.0 mA
OFF state voltage
-1.0...3.0V
OFF state current
mA, not specified
Table 56 - Kinetix 300/350 Drives Digital Inputs

Parameter
Value
Scan time
500 s
Current, max
9 mA, typical
Input impedance
1.2 k, typical
Voltage range
524V DC
Digital Output Specifications

Table 57 - Ultra3000 Drives Digital Outputs
Parameter
Value
ON state current
0 to 50 mA
OFF state leakage current
-0.1...0.1 mA
ON state voltage
0.0...1.5V
OFF state voltage
0...50V
Table 58 - Kinetix 300/350 Drives Digital Outputs

Parameter
Value
Scan time
500 s
Current, max
100 mA
Voltage, max
30V DC
59
Appendix B
Specifications
Relay Outputs
Table 59 - Ultra3000 Drives Relay Outputs
Attribute
Value
ON state current, max
1A
ON state resistance, max
OFF state voltage, max
30V
OFF state leakage, max
mA, not specified
IMPORTANT
Analog I/O Comparison
Kinetix 300/350 drives do not have relay outputs.
Table 60 through Table 63 compare the analog input and output specifications
between the Ultra3000 drives and the Kinetix 300 drives.
Analog Input Specifications

IMPORTANT
The Ultra3000 SERCOS drive does not have analog input capability
because its command reference comes digitally through communication
networks.
Table 60 - Ultra3000 Drives (non-SERCOS version) Analog Inputs

Parameter
Command
Input
Limit Input
Resolution
14 bits
10 bits
Input impedance
20 k
10 k
Input signal range
-10.0...10.0V
0.0...10.0V
Offset error, max
50 mV
50 mV
Gain error, max
1%
1%
Propagation delay, max
100 s
100 s
Table 61 - Kinetix 300 Analog Inputs

IMPORTANT
60
The Kinetix 350 drive does not have analog input capability because its
command reference comes digitally through communication networks.
Parameter
Value
Scan time
0.0625 ms
Current, max
Depends on load
Input impedance
47 k, typical
Voltage range
-1010V DC
Specifications
Appendix B
Analog Output Specifications

IMPORTANT
The Ultra3000 SERCOS drive does not have analog output capability.
Table 62 - Ultra3000 Drives (non-SERCOS version) Analog Outputs

Parameter
Value
Resolution
8 bits
Output current, max
-2.0...2.0 mA
Output signal range
-10.0...10.0V
Offset error, max
100 mV
Gain error, max
5%
Bandwidth, min
50 Hz
Table 63 - Kinetix 300 Analog Outputs

IMPORTANT
Environmental and Safety

Feature Comparison
This analog output is not supported on the Kinetix 350 drives.
Parameter
Value
Scan time
0.0625 ms
Current, max
10 mA
Voltage range
-1010V DC
This section provides environmental and safety feature of the drives.
Environmental Specifications
Attribute
Ultra3000 Drives
Kinetix 300 and

Kinetix 350 Drives
Operating Range
Operating Range
Temperature,
operating
055 C (32131 F)
040 C (32104 F)
Temperature,
nonoperating
-40 70 C (-40 158 F)
-1070 C (14158 F)
Relative humidity
595% noncondensing
595% noncondensing
Altitude
Operation: Derate 3% per 300 m (1000

ft) above 1500 m (5000 ft)
Operation: Derate by 1% per 300 m

(1000 ft) above 1500 m (5000 ft)
Storage: 3000 m (9843 ft) during
transport
Vibration
52000 Hz @ 2.5 g peak, 0.015 mm

(0.0006 in.) max displacement
52000 Hz @ 2.5 g peak, 0.015

mm (0.0006 in.) max displacement
Shock
15 g, 11 ms half-sine
15 g, 11 ms half-sine pulse (3 pulses

in each direction of 3 mutually
perpendicular directions)
61
Appendix B
Specifications
Safety Features
IMPORTANT
The Ultra3000 drives do not have the safe torque-off feature.
Table 64 - Kinetix 300/350 Drives Safe Torque-off Signal Specifications

Attribute
Safety inputs
Value
(1)
Insulated, compatible with single-ended output (+24V DC)

Enable voltage range: 2024V DC
Disable voltage range: 01.0V DC
Input impedance
6.8 k
Safety status
Isolated Open Collector (Emitter is grounded.)
Output load capability
100 mA
Digital outputs max voltage
30V DC
(1) Safety inputs are not designed for pulse testing.
62
Appendix

Table 65 compares the features of the Ultra3000 drives to the Kinetix 300/350
drives.
Table 65 - Feature Comparison Chart
Features
Ultra3000 Drives
Indexer
(-X)
DeviceNet
(-DN)
SERCOS
(-SE)

Analog Vel
Kinetix 300
Kinetix 350
(-LM)
Notes
Hardware
Controller used
120V...460V operation
Internal shunt available
*External shunt
Aux 24V operation (converted to 5V)
*24V directly
Safe torque-off
Digital inputs control indexing
Aux encoder input
*
X
Hardware limits
Analog input for current limit
Multiple assignment for inputs
Watch window output assignment
Registration index (index on reg input)
Registration latch (capture position)
*Dual loop only

X
X
X
MicroLogix/SLC compatible
*Not required
X
*
Hardware enable required
*Stepper mode only
Selectable modes of operation via digital inputs
Buffered encoder outputs (selectable freq)
Holding brake support
Software
Drive software config required
Able to home servo
Rotary mode support
Current limit enable
Position mode via analog input
Operation mode override
Soft limits
Slew rate for gearing
Selectable modes of operation
Pause index directly
Offline software
X
X
X
X
* Via Logix
* Via Logix
* Via Logix
63
Appendix C
Notes:
64
Appendix
Hardware Layout with Connections
Ultra3000 Drive Power

Wiring
This appendix provides power wiring examples to assist you in comparing the
power wiring for the Ultra3000 drive and the Kinetix 300/350 drive systems.
The notes in this table apply to the Ultra3000 drive power interconnect diagrams
(Figure 14, Figure 15, Figure 16, and Figure 17).
Note
Information
A disconnecting device is required for maintenance and safety. If a grounded neutral is used instead of L2, only L1 may be switched or fused.
An isolation transformer is optional. If the transformer secondary has a neutral connection, neutral must be bonded to ground. Multiple drive
modules may be powered from one transformer or other AC supply source.
Do not daisy chain drive module power connections. Make separate connections directly to the AC supply.
For power wiring specifications, refer to the Ultra3000 Installation Manual, publication 2098-IN003, Power Wiring Requirements in Chapter 3.
For input fuse sizes, refer to the Ultra3000 Installation Manual, publication 2098-IN003 Fuse Specifications in Appendix A.
May be used to maintain power to logic section of drive and status indicators when main AC input power is removed. A separate AC line source
may be used if voltage is between 88265V AC (rms) on 2098-DSD-xxx (230V drives) or 207528V AC (rms) on 2098-DSD-HVxxx (460V drives).
In this configuration, a separate line filter for logic power may be required.
Place AC (EMC) line filter as close to the drive as possible and do not route very dirty wires in wireway. If routing in wireway is unavoidable, use
shielded cable with shields grounded to the drive chassis and filter case. For AC line filter specifications, refer to the Ultra3000 Installation
Manual, publication 2098-IN003 AC Line Filter Specifications in Appendix A.
Drive Enable input must be opened before main power is removed and auxiliary power is present, or a drive fault will occur. A delay of at least
1.0 second must be observed before attempting to enable the drive after main power is restored.
Cable shield clamp must be used in order to meet CE requirements. No external connection to chassis ground required.
10
Implementation of safety circuits and risk assessment is the responsibility of the machine builder. Please reference
international standards EN1050 and EN954 estimation and safety performance categories. For more information refer to
Understanding the Machinery Directive, publication SHB-900.
11
The recommended minimum wire size for wiring the safety circuit is 1.5 mm2 (16 AWG).
12
For motor cable specifications and drive/motor cable combinations, refer to the Kinetix Motion Accessories Technical Data, publication GMCTD004.
13
The Ultra3000 drive referenced is either a 2098-DSD-xxx or 2098-DSD-xxxX (Ultra3000 with indexing), 2098-DSD-xxx-SE (SERCOS interface),
2098-DSD-xxx-DN (DeviceNet interface), or 2098-DSD-xxxX-DN (DeviceNet with indexing) 230V drive.
14
The Ultra3000 drive referenced is either a 2098-DSD-HVxxx or 2098-DSD-HVxxxX (Ultra3000 with indexing), 2098-DSD-HVxxx-SE (SERCOS
interface), 2098-DSD-HVxxx-DN (DeviceNet interface), or 2098-DSD-HVxxxX-DN (DeviceNet with indexing) 460V drive.
15
Relay Output (CN1, pins 43 and 44) must be configured as Ready in Ultraware software.
16
The preferred method for supplying auxiliary power is by using the 12-pin or 44-pin drive-mounted breakout board with 24V to 5V auxiliary power
converter (2090-U3CBB-DM12 or -DM44). Auxiliary +5V power is required to maintain encoder position when the main AC power is
disconnected.
17
Refer to the Ultra3000 Digital Servo Drives Integration Manual, publication 2098-IN005, Shunt Module Interconnect Diagrams in Appendix A.
65
Appendix D
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
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 14 - Typical Power Wiring on Ultra3000 (230V) System
2098-DSD-005x-xx,
2098-DSD-010x-xx, and
2098-DSD-020x-xx
Ultra3000
Digital Servo Drives
Note 13
TB1
DC Bus Connections
for Active Shunt Module
Note 17
DC+
M1*
Note 8
Single-phase AC Line
50/60 Hz
Fused Disconnect
or Circuit Breaker*
Note 1
Input Fusing*
Note 4, 5
Chassis
Isolation
Transformer*
Note 2
Bonded Cabinet
Ground Bus*
DCSingle-phase
AC Line Filter
Note 7
L1
L2/N
AC Input Power
Connections
U
Three-phase
Motor Power
Connections
Note 12
CN1
Motor Power
Connections
43
44
3
L1
Cable Shield
Clamp
Note 9
Single-phase Input
100...240V AC rms
L2/N
Terminal
Blocks*
Note 3
N.O. Relay Output+

N.O. Relay Output-
Note 15
Aux Logic Power In +5V

Aux +5V Common
Note 16
From CN1 Breakout

Board with 24V to 5V
Aux Power Converter
(2090-U3CBB-DMxx)
To additional
Ultra3000 drive
CN1
43
START*
STOP*
CR1*
* Indicates User-supplied Component

24V DC
CR1*
44
M1*
CR1*
Refer to Attention statement (Notes 10, 11)
66
Appendix D
This is the power wiring diagram with 24V DC control string for the
2098-DSD-030x-xx drive (non-SERCOS drives only).
control.
2098-DSD-030x-xx
Ultra3000
Digital Servo Drive
Note 13
Three-phase
Motor Power
Connections
Note 12
M1 *
Note 8
Motor Power
Connections
External Passive
Shunt Connections
Note 17
L2/N
AC Input Power
Connections
Single-phase AC Line
50/60 Hz
L1 AUX
Note 6
Fused Disconnect
or Circuit Breaker *
Note 1
DCL1
Single-phase
AC Line Filter
Note 7
Input Fusing *
Note 4, 5
Chassis
TB2
DC+
Input Fusing *
Note 4, 5
Isolation
Transformer *
Note 2
TB1
CN1
43
44
N.O. Relay Output+

N.O. Relay Output-
Note 15
L2/N AUX
Cable Shield
Clamp
Note 9
Bonded Cabinet
Ground Bus *
CN1
L1
43
Single-phase Input
100...240V AC rms
START *
L2/N
Terminal
Blocks *
Note 3
STOP *
CR1 *
24V DC
CR1 *
44
To additional
Ultra3000 drive.
M1 *
CR1 *
67
Appendix D
2098-DSD-075x-xx and 2098-DSD-150x-xx Ultra3000 drives (non-SERCOS
drives only).
control.
2098-DSD-075x-xx and
2098-DSD-150x-xx
Ultra3000
Note 13
Three-phase
Motor Power
Connections
Note 12
TB1
TB2
V
W
Motor Power
Connections
External Passive
Shunt Connections
Note 17
DC+
Input Fusing *
Note 4, 5
Three-phase AC Line
50/60 Hz
M1 *
Note 8
DCL1
Three-phase
AC Line Filter
Note 7
Fused Disconnect
Note 1
L2
L3
AC Input Power
Connections
CN1
43
44
N.O. Relay Output+

N.O. Relay Output-
Note 15
L1 AUX
Note 6
L2/N AUX
Input Fusing *
Note 4, 5
Isolation
Transformer *
Note 2
Neutral
Cable Shield
Clamp
Note 9
Bonded Cabinet
Ground Bus *
Chassis
CN1
L1
43
Three-phase Input
100...240V AC rms
START *
L2
STOP *
CR1 *
24V DC
CR1 *
44
L3
M1 *
CR1 *
Terminal
Blocks *
Note 3
68
To additional
Ultra3000 drive
Appendix D
2098-DSD-HVxxx-xx and 2098-DSD-HVxxxX-xx Ultra3000 drives.
2098-DSD-HVxxx-xx and
2098-DSD-HVxxxX-xx
Ultra3000
Note 14
TB1
TB2
DC+
DC-
2
3
W
Three-phase
Motor Power
Connections
Note 12
V
U
Motor Power
Connections
M1 *
Note 8
Input Fusing *
Notes 4 and 5
L3
Three-phase AC Line
50/60 Hz
Three-phase
AC Line Filter
Note 7
L2
L1
Fused Disconnect
Note 1
AC Input Power
Connections
L1 AUX
Input Fusing*
Notes 4 and 5
CN1
43
44
L2/N AUX
Note 6
Isolation
Transformer *
Note 2
External Passive
Shunt Connections
Note 17
N.O. Relay Output+

N.O. Relay Output-
Note 15
Cable Shield
Clamp
Note 9
Neutral
Bonded Cabinet
Ground Bus *
Chassis
CN1
L3
43
Three-phase Input
230...480V AC rms
START *
L2
STOP *
CR1 *
24V DC
CR1 *
44
L1
M1 *
CR1 *
Terminal Blocks *
Note 3
To additional
Ultra3000 drive
69
Appendix D
Kinetix 300/Kinetix 350

Drive Power Wiring
The notes in this table apply to the Kinetix 300/350 drive power interconnect
diagrams (Figure 18, Figure 19, and Figure 20).
Note
Information
For power wiring specifications, refer to Power Wiring Requirements in the Kinetix 300 EtherNet/IP Indexing Servo Drives User Manual,
publication 2097-UM001, or the Kinetix 350 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM002.
For input fuse and circuit breaker sizes, refer to Circuit Breaker/Fuse Specifications in the Kinetix 300 EtherNet/IP Indexing Servo Drives User
Manual, publication 2097-UM001, or the Kinetix 350 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM002.
Place the AC (EMC) line filters as close to the drive as possible and do not route very dirty wires in the wireway. If routing in wireway is
unavoidable, use shielded cable with shields grounded to the drive chassis and filter case. For AC line filter specifications, refer to AC Line Filter
Specifications in the Kinetix 300 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM001, or the Kinetix 350 EtherNet/IP
Indexing Servo Drives User Manual, publication 2097-UM002. This filter DOES NOT apply to 2097-V32PRx-xx drives because they have integrated
AC line filters.
Contactor coil (M1) needs integrated surge suppressors for AC coil operation. Refer to Contactor Ratings in the Kinetix 300 EtherNet/IP Indexing
Servo Drives User Manual, publication 2097-UM001, or the Kinetix 350 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM002.
Drive Enable input must be opened when main power is removed, or a drive fault occurs. A delay of at least 1.0 second must be observed before
attempting to enable the drive after main power is restored.
Cable shield clamp must be used to meet CE requirements. No external connection to ground is required.
For motor cable specifications, refer to the Kinetix Motion Accessories Technical Data, publication GMC-TD004.
70
Appendix D
You must supply input power components. The single-phase and three-phase line
filters are wired downstream of fusing and the M1 contactor.
In this example, the 2097-V31PRx-xx drives are wired to use the voltage doubling
circuit. The 120V input voltage provides 240V output to motors. The
2097-V33PRx-xx drives are wired for single-phase 120V operation.
Figure 18 - Typical Power Wiring on Kinetix 300/350 Drives
(120V single-phase input power, voltage-doubler mode)
Kinetix 300 Drives: 2097-V31PRx and 2097-V33PR x
Kinetix 350 Drives: 2097-V31PRx-LM and 2097-V33PRx-LM
Ground Stud
Bonded Cabinet
Ground Bus *
L2/N
Single-phase AC Input
120V rms AC, 50/60 Hz
AC Line Filter
(Optional)
2097-V31PRx
2097-V33PRx
PE
PE
L2
L1
L1
L2/N
L3
Note 3
L1
Notes 1, 2
Fuse Disconnect
or Circuit Breakers
Input Fusing *
M1 *
Notes 4, 5
Mains
Single-phase
AC Input
(IPD) Connector
Shunt Resistor
and DC Bus
(BC) Connector
B+
B+
BR
BB-
Shunt Resistor
Connections
Back-up Power
(BP) Connector
+24V DC
User-supplied
+24V DC
Motor Power
(MP) Connector
29
Use discrete logic or

PLC to control
ENABLE to drive and
monitor RDY signal
back from drive.
26
41
42
Return
Three-phase
Motor Power
Connections
PE
Note 7
U
V
EN
ACOM
I/O (IOD)
Connector
RDY +
Cable Shield
Clamp
Note 6
RDY -
71
Appendix D
In this example, single-phase 240V AC is applied to 2097-V31PRx-xx and

2097-V32PRx-xx drives.
The 2097-V32PR x-xx models have integrated AC line filters and do not
require the AC line filter shown in this diagram.
IMPORTANT
(240V single-phase input power)

Ground Stud
Bonded Cabinet
Ground Bus *
AC Line Filter
(Optional)
2097-V32PRx
PE
PE
L1
L1
L2/N
L2
L2/N
Notes 1, 2
Fuse Disconnect
or Circuit Breakers
Input Fusing *
Mains
Single-phase
AC Input
(IPD) Connector
Note 3
L1
Single-phase AC Input
120/240V rms AC, 50/60 Hz
2097-V31PRx
M1 *
Notes 4, 5
Shunt Resistor
and DC Bus
(BC) Connector
B+
B+
BR
BB-
Shunt Resistor
Connections
Back-up Power
(BP) Connector
+24V DC
User-supplied
+24V DC
Motor Power
(MP) Connector
29

PLC to control
ENABLE to drive and
monitor RDY signal
back from drive.
26
41
42
Three-phase
Motor Power
Connections
PE
Note 7
U
V
EN
ACOM
RDY +
I/O (IOD)
Connector
RDY -
72
Return
Cable Shield
Clamp
Note 6
Appendix D
In this example, three-phase 240V AC is applied to 2097-V33PRx-xx drives and

480V AC is applied to 2097-V34PRx-xx drives.
IMPORTANT
For the 480V Kinetix 300/350 drives to meet ISO 13849-1 (PLd) spacing
requirements, each phase voltage to ground must be less than or equal to
300V AC rms. This means that the power system must use center
grounded wye secondary configuration for 400/480V AC mains.
(240/480V three-phase input power)

Ground Stud
Shunt Resistor
and DC Bus
(BC) Connector
B+
B+
BR
BB-
Shunt
Resistor
Connections
Bonded Cabinet
Ground Bus *
PE
AC Line Filter
(optional)
Note 3
L1
Three-phase AC Input
240/480V rms AC, 50/60 Hz
L2
Notes 1, 2
L3
Fuse Disconnect
or Circuit Breakers
Input Fusing *
L1
L2
Mains
Three-phase Input
(IPD) Connector
L3
Back-up Power
(BP) Connector
M1 *
Notes 4, 5
+24V DC
Return
Three-phase
Motor Power
Connections
PE
Note 7
U
29

PLC to control ENABLE
to drive and monitor
RDY signal back from
drive.
26
41
42
Motor Power
(MP) Connector
EN
ACOM
RDY +
RDY -
I/O (IOD)
Connector
User-supplied
+24V DC
Cable Shield
Clamp
Note 6
73
Appendix D
N o te s :
74
Appendix
This section compares the typical Ultra3000 drive architecture and materials to
the typical Kinetix 300/Kinetix 350 drive architectures and materials.
For comparison examples, see the following:
Ultra3000 (Analog) to Kinetix 300 Architecture on page 76
Ultra3000 (Indexing) to Kinetix 350 Architecture on page 77
Ultra3000 (SERCOS) to Kinetix 350 Architecture on page 78
75
76
MP-Series and TL-Series Rotary Motors
(MPL-Axxxx motors shown)
Ultraware
Software
MP-Series Integrated Linear Stages

MP-Series Electric Cylinders
LDC-Series and LDL-Series Linear Motors
Other compatible motors/actuators include:
Logix Platform
(ControlLogix is shown)
Logix Interface Module
Output
Description
Ultra3000 servo drive
Rotary servo motor or linear motor/actuator (MP-series,

TL-series, or LDL-series)
Motor power cable
Motor feedback cable
DM44 I/O breakout board
Compact Logix and IF8, or

Control Logix and M02AE
24V DC control for I/O and Aux power (optional)
1 per axis
1 per axis
1 per axis
1 per axis
Ultra3000 (Analog) System Bill of Materials
I/O and Commands
Logix Controller
Input
Commissioning and Communication
Qty
Motor Power
Motor Feedback
Ultra3000 Drive
(2098-DSD-xxxxxx-xx)
Typical Configuration - Ultra3000 (Analog) Servo Drive System
Ultra3000 (Analog) to
Kinetix 300 Architecture
Qty
L23E
2097-V3xxxx
Kinetix 300 Drive
Bulletin 2090
Motor Power Cables
MP-Series and TL-Series Electric Cylinders
(MPAR-Bxxxx electric cylinders shown)
MP-Series Heavy Duty Electric Cylinders
(MPAI-Bxxxx electric cylinders shown)
Stratix switch
1
1
Compact Logix
I/O terminal block expansion
Low profile connector kit for motor feedback
1 per axis
1 per axis
Motor power cable
Rotary servo motor or linear motor/actuator

(MP-series, TL-series, or LDL-series)
Kinetix 300 servo drive
Description
2097-Rx
Shunt Resistor
(optional equipment)

(MPAS-B9xxx ballscrew shown)
24V DC Control
Back-up Power Supply
1 per axis
1 per axis
1 per axis
3 0000
Bulletin 2090 or 2097-Fx

AC Line Filter (optional equipment)
2097-F1 Filter Shown
RSLogix 5000
Software
CompactLogix Controller Platform

1769-L23E-QB1B Shown
Kinetix 300 System Bill of Materials
Bulletin 2090
Motor Feedback Cables
2090-K2CK-D15M
Low-profile Connector Kit
2097-TB1 Terminal
Expansion Block
MP-Series and TL-Series

Rotary Motors
(MPL-Bxxxx motors shown)
CompactLogix
1585J-M8CBJM-x
Ethernet (shielded) Cable
1783-EMS08T
Stratix 6000
Switch
Typical Configuration - Kinetix 300 Servo Drive System
Appendix E
77
Ultraware
Software
Description
Ultra3000 servo drive (-X)
Motor power cable

Compact Logix and IF8, or
Control Logix and M02AE
1 per axis
1 per axis
1 per axis
1 per axis
Ultra3000 (Indexing) System Bill of Materials

LDC-Series and LDL-Series Linear Motors
Other compatible motors/actuators include:
Logix Platform
Output
MP-Series and TL-Series Rotary Motors

I/O and Commands
Logix Controller
Input
Commissioning and Communication
Qty
Motor Feedback
Motor Power
Ultra3000 Drive
(2098-DSD-xxxxxX-xx)
Typical Configuration - Ultra3000 (Indexing) Servo Drive System
Ultra3000 (Indexing) to
Qty

Rotary Motors
L23E
2097-V3xxxx-LM
Kinetix 350 Drive
Bulletin 2090
Motor Power Cables
Stratix switch
1
1
Compact Logix
1 per axis
1 per axis
Motor power cable

Description
2097-Rx
Shunt Resistor

24V DC Control
1 per axis
1 per axis
1 per axis
3 0000

RSLogix 5000
Software

Bulletin 2090
2090-K2CK-D15M
2097-TB1 Terminal
Expansion Block
CompactLogix
1585J-M8CBJM-x
1783-EMS08T
Stratix 6000
Switch
Appendix E
78
Motor Power
00
X XXXX
LDC-M0755
NO. XXXX
CAT. NO.
SERIAL
USA
www.ab.com
IN
MADE
LDL-Series Linear Motors

(LDL-xxxxxxx linear motor shown)
SERIES

(MPAR-Axxxx electric cylinder shown)

(MPAS-A9xx ballscrew shown)

Motor Power
Motor
Feedback
SERCOS Fiber-optic Ring
Logix Platform
Logix SERCOS
Interface Module
Description
Ultra3000 servo drive (-SE)

Motor power cable
CompactLogix: L23/32/35 + 1769-IF8, or

L43, L45 and 1768-M04SE;
ControlLogix L6X, L7X+M0XSE (X=3,8,16)
Qty
1 per axis
1 per axis
1 per axis
1 per axis
Ultra3000 (SERCOS) System Bill of Materials
LDC-Series Linear Motors

(LDC-Cxxxxxxx linear motor shown)
Ultra3000
Servo Drive
SERCOS Fiber-optic Ring
Motor Feedback
MP-Series or TL-Series Rotary Motors

Ultra3000 Servo Drive

(2098-DSD-xxxxxx-SE)
RSLogix 5000
Software
Logix Controller Programming Network
Typical Configuration - Ultra3000 (SERCOS) Servo Drive System
Ultra3000 (SERCOS) to

Bulletin 2090
Motor Power Cables

Stratix switch
1
1
Compact Logix
1 per axis
1 per axis
Motor power cable

Description
2097-Rx
Shunt Resistor

24V DC Control

Bulletin 2090
2090-K2CK-D15M
3 0000

RSLogix 5000
Software

1 per axis
1 per axis
1 per axis
L23E
2097-V3xxxx-LM
Kinetix 350 Drive
2097-TB1 Terminal
Expansion Block

Rotary Motors
Qty
CompactLogix
1585J-M8CBJM-x
1783-EMS08T
Stratix 6000
Switch
Appendix E
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 manuals, a knowledge base of FAQs, technical and
application notes, sample code and links to software service packs, and a MySupport feature that you can customize to make the
best use of these tools.
For an additional level of technical phone support for installation, configuration, and troubleshooting, we offer TechConnect
support programs. For more information, contact your local distributor or Rockwell Automation representative,
or visit http://www.rockwellautomation.com/support/.
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/support/americas/phone_en.html, or contact

your local Rockwell Automation representative.
New Product Satisfaction Return

Rockwell Automation tests all of its products to 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.., Kar Plaza Merkezi E Blok Kat:6 34752 erenky, stanbul, Tel: +90 (216) 5698400
Publication 2098-AP001A-EN-P - October 2011 80

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Migration Guide

Ultra3000 Digital Servo Drives to Kinetix 300 and

Important User Information

Selecting a Replacement Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Rockwell Automation Publication 2098-AP001A-EN-P - October 2011

General Power Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Feature Comparison Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Ultra3000 Drive Power Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Ultra3000 (Analog) to Kinetix 300 Architecture . . . . . . . . . . . . . . . . . . . . 76

Rockwell Automation Publication 2098-AP001A-EN-P - October 2011

Ultra3000 Drive Catalog

Chapter 1: Engineering Review Essentials

Provides information on important differences

Chapter 2: Migration Considerations

Provides information on drive sizing, input wiring

Appendix A: Connectors and Field Connections

Provides information on connector locations, and

Provides comparisons of the power

Appendix C: Feature Comparison Chart

Compares the hardware and software features of

Appendix D: Hardware Layout with

Provides power wiring examples to assist you in

Appendix E: Topology/Architecture Layouts

Provides information for typical Ultra3000 drive

2098-DSD- xx xxx x-xx

Rockwell Automation Publication 2098-AP001A-EN-P - October 2011

Kinetix 300/Kinetix 350

Kinetix 300 Drive

Kinetix 350 Drive

1, 2 A, 240V, integral filter

1, 4 A, 240V, integral filter

1, 8 A, 240V, integral filter

Rockwell Automation Publication 2098-AP001A-EN-P - October 2011

Kinetix 300 Drive Features

Kinetix 350 Drive Features

The Kinetix 350 drive is a single-axis solution developed to provide scalability at

Rockwell Automation Publication 2098-AP001A-EN-P - October 2011

Kinetix 300 Drive

Kinetix 300 Drive

Kinetix 350 Drive

Rockwell Automation Publication 2098-AP001A-EN-P - October 2011

These documents contain additional information concerning related products

Kinetix 300 and Kinetix 350 Drive Systems Design Guide,

Kinetix 350 EtherNet/IP Indexing Servo Drives User

Kinetix 350 EtherNet/IP Indexing Servo Drive Installation

Provides information on installing your Kinetix 350 drive system.

Kinetix 300 EtherNet/IP Indexing Servo Drives User

Kinetix 300 EtherNet/IP Indexing Servo Drive Installation

Provides information on installing your Kinetix 300 drive system.

Kinetix 300 Shunt Resistor Installation Instructions,

Kinetix 300 AC Line Filter Installation Instructions,

Kinetix 300 I/O Terminal Expansion Block Installation

Kinetix 300 Memory Module Installation Instructions,

Provides information on installing the Kinetix 300 memory module

Kinetix 300 Memory Module Programmer Quick Start,

1769-L32E and 1769-L35E CompactLogix Controller

1769-L32C and 1769-L35CR CompactLogix Controller

1769-L31 CompactLogix Controller Installation

Ultraware Software User Manual, publication

Provides detailed installation instructions, defines software interface features, and

Ultra3000 Digital Servo Drive with DeviceNet, publication

Ultra3000 Digital Servo Drives Installation Manual,

Ultra3000 Digital Servo Drives Integration Manual,