Allen-Bradley iTRAK 5730 User manual

User Manual
iTRAK 5730 System
Bulletin Number 2198T
Original Instructions
This manual links to Knowledgebase Answer ID 1092901 for fault codes and
parameters; download the spreadsheets now to ensure offline access.

2Rockwell Automation Publication 2198T-UM003A-EN-P - May 2020
iTRAK 5730 System User Manual
Important User Information
Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize
themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to
be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be
impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use
or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for
actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software
described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is
prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
Labels may also be on or inside the equipment to provide specific precautions.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may
lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or
economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT Identifies information that is critical for successful application and understanding of the product.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may
be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach
dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc
Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements
for safe work practices and for Personal Protective Equipment (PPE).

Rockwell Automation Publication 2198T-UM003A-EN-P - May 2020 3
Table of Contents
Preface
Conventions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Appropriate Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
iTRAK 5730 and Kinetix System Resources . . . . . . . . . . . . . . . . . . . . . 10
Programmable Controllers Resources . . . . . . . . . . . . . . . . . . . . . . . . . 10
EtherNet/IP Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Chapter 1
Before You Begin Installation About the iTRAK 5730 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Catalog Number Explanations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Assembled iTRAK 5730 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Modular iTRAK 5730 System Components . . . . . . . . . . . . . . . . . . . . . 16
Motor Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Motor Module Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Connector Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Connector Module Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Mounting Rings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Rectangular and Flat Rails . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Mover. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Power Supplies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Programmable Controllers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Typical Communication Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Linear Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Device Level Ring Topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Star Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Risk Assessment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
General Assembly Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Machine Guarding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Avoid Accidents, Injury, and Property Damage . . . . . . . . . . . . . . . . . 33
Avoid Electrical Shock. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Protection Against Contact with Hot Parts . . . . . . . . . . . . . . . . . . . . . 33
Protection Against Magnetic and Electromagnetic Fields
During Installation and Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Safe Magnet Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Motor Magnet Protective Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

4Rockwell Automation Publication 2198T-UM003A-EN-P - May 2020
Table of Contents
Chapter 2
iTRAK 5730 System Installation Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Tools and Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Hardware Specification Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Installation Workspace. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
General Handling Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
iTRAK System Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Approximate Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Assemble an iTRAK 5730 System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Install Top Structural Mounting Rings. . . . . . . . . . . . . . . . . . . . . . . . . 43
Install Bottom Structural Mounting Rings . . . . . . . . . . . . . . . . . . . . . 46
Install Bottom Flat Rails and Flat Wedges . . . . . . . . . . . . . . . . . . . . . . 47
Install Bottom Rectangular Rails . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Install Rectangular Wedges and Align Rectangular Rails . . . . . . . . 52
Install Top Rails, Wedges, and Connector Modules . . . . . . . . . . . . . 54
Mount the iTRAK 5730 Assembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Grounding Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Before You Lift and Mount the iTRAK 5730 Assembly. . . . . . . . . . . . 58
Lift the iTRAK 5730 Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Install the Lubrication System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
What You Need. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Mount the Lubricator Pumps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Wire Lubrication Pump . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Lubrication Pump Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Optional Infield Covers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Chapter 3
Connect the iTRAK 5730 System Typical iTRAK 5730 System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Provide Power to the iTRAK System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Connect Power to the iTRAK 5730 System . . . . . . . . . . . . . . . . . . . . . . 67
One iTRAK Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Multiple iTRAK Power Supplies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Connect the Power Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Connect an EtherNet/IP Network to the iTRAK 5730 System . . . . . . . . 70
EtherNet/IP Address Rotary Switches . . . . . . . . . . . . . . . . . . . . . . . . . 70
Communication Control DIP Switch . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Connect the Ethernet Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Rockwell Automation Publication 2198T-UM003A-EN-P - May 2020 5
Table of Contents
Chapter 4
Configure and Start Up the
iTRAK 5730 System
Studio 5000 Logix Designer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Configure the iTRAK 5730 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Set the IP Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Protected Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Configure and Customize the Project File . . . . . . . . . . . . . . . . . . . . . . . . . 78
Configure the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Configure the Kinetix 5700 Power Supply . . . . . . . . . . . . . . . . . . . . . . 80
Configure the iTRAK 5730 Power Supply . . . . . . . . . . . . . . . . . . . . . . . 84
Configure the iTRAK 5730 Motor Modules . . . . . . . . . . . . . . . . . . . . . 87
Continue iTRAK 5730 Motor Module Configuration. . . . . . . . . . . . . 92
Configure the Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Configure the Section Axis Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Configure the Mover Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . 100
Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Apply Power to the iTRAK 5730 System . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Understand Bus-sharing Group Configuration . . . . . . . . . . . . . . . . . . . 104
Bus-sharing Groups Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Configure Bus-sharing Groups. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Commission the iTRAK 5730 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Motor Module Section Gap Position Compensation. . . . . . . . . . . . 109
Calculate and Store Position Gap Compensation Values . . . . . . . . 110
Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Tune the Axes with Load Observer. . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Chapter 5
Troubleshoot the iTRAK 5730
System
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Interpret Fault Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Fault Code Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Interpret Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Motor Module Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Connector Module Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . 117
Axis Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Logix 5000 Controller and iTRAK System Behavior. . . . . . . . . . . . . . . . 119
iTRAK 5730 Power Supply Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . 120
iTRAK 5730 Motor Section and Mover Behavior. . . . . . . . . . . . . . . . 121
Chapter 6
Maintenance Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Preventive Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Install or Replace Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Replacement Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Install or Remove a Position Magnet Assembly . . . . . . . . . . . . . . . . 127
Install or Replace a Mover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Replace a Straight Motor Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Replace a Curved Motor Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Replace Top and Bottom Rectangular Straight Rails. . . . . . . . . . . . 142
Replace Top and Bottom Rectangular Curved Rails . . . . . . . . . . . . 143

6Rockwell Automation Publication 2198T-UM003A-EN-P - May 2020
Table of Contents
Replace Top and Bottom Flat Straight Rails . . . . . . . . . . . . . . . . . . . 145
Replace Top and Bottom Flat Curved Rails . . . . . . . . . . . . . . . . . . . . 147
Replace Top and Bottom Rectangular Wedges. . . . . . . . . . . . . . . . . 149
Replace Top and Bottom Flat Wedges. . . . . . . . . . . . . . . . . . . . . . . . . 150
Replace a Connector Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Replace an Infield Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Lubrication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Initial Lubrication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Normal Operation Lubrication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Chapter 7
iTRAK 5730 System Integrated
Safety
Certification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Important Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Safety Application Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Category 3 Requirements According to ISO 13849 . . . . . . . . . . . . . . 158
Stop Category Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Performance Level (PL) and Safety Integrity Level (SIL) . . . . . . . . 159
Probability of Dangerous Failure Per Hour . . . . . . . . . . . . . . . . . . . . 159
Out-of-Box State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Out-of-Box State Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Safe Torque-off (STO) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Safe Torque-off (STO) Function Operation . . . . . . . . . . . . . . . . . . . . 162
Safe Torque-off (STO) State Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Safe Torque-off (STO) Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Safe Torque-off (STO) Assembly Tags. . . . . . . . . . . . . . . . . . . . . . . . . 164
Safe Torque-off (STO) Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Understand Safe Torque-off (STO) Behavior in an iTRAK 5730
System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
iTRAK 5730 System Safety Considerations . . . . . . . . . . . . . . . . . . . . 166
Functional Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Timed SS1 Stopping Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Safety Function Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Timed SS1 Request Removed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Motion Direct Commands in Motion Control Systems. . . . . . . . . . . . . 171
Understand STO Bypass When Using Motion Direct
Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Logix Designer Application Warning Messages. . . . . . . . . . . . . . . . 172
Torque Permitted in a Multi-workstation Environment . . . . . . . . 174
Warning Icon and Text in Axis Properties. . . . . . . . . . . . . . . . . . . . . 175
Explicit Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Safe Monitor Network Communication. . . . . . . . . . . . . . . . . . . . . . . 177
Troubleshoot the Safe Stop Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Understand Integrated Safety Motor Module Replacement . . . . . . . . 182
Replace an Integrated Safety Motor Module in a GuardLogix
System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Configure Only When No Safety Signature Exists . . . . . . . . . . . . . 183
Configure Always. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

Rockwell Automation Publication 2198T-UM003A-EN-P - May 2020 7
Table of Contents
Appendix A
Upgrade the iTRAK 5730 System
Firmware
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Inhibit the Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Upgrade Your Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Use ControlFLASH Plus to Upgrade Your iTRAK 5730 System
Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Use ControlFLASH to Upgrade Your iTRAK 5730 System
Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Configure Your Communication Path with RSLinx . . . . . . . . . . . . 192
Start the ControlFLASH Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Verify the Firmware Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Appendix B
High Speed Data Logging
Service
Configure and Use the Message Instruction . . . . . . . . . . . . . . . . . . . . . . 199
iTRAK System Data Logging Parameters . . . . . . . . . . . . . . . . . . . . . . . . . 207
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

8Rockwell Automation Publication 2198T-UM003A-EN-P - May 2020
Table of Contents
Notes:

Rockwell Automation Publication 2198T-UM003A-EN-P - May 2020 9
Preface
This manual provides information and instructions for how to assemble, lift,
mount, connect, configure, troubleshoot, and maintain an iTRAK® 5730
system.
This manual is intended for engineers or technicians that implement the
design, installation, and wiring of the iTRAK 5730 system. This manual is also
intended for programmers that configure, operate, and maintain the iTRAK
5730 system with a programmable logic controller and EtherNet/IP™ network.
To learn more about the iTRAK 5730 system, contact your Rockwell
Automation sales representative for information on available training courses.
Conventions These conventions are used throughout this manual: Bulleted lists provide
information, not procedural steps. Numbered lists provide steps or
hierarchical information.
Appropriate Use Read and understand the safety instructions before using the iTRAK 5730
system.
Critical guidelines for appropriate use include:
• Hardware must remain in its original state; never make structural
changes.
• Do not de-compile software or alter source codes.
• Do not use damaged or faulty components.
• Install the system in the manner that is described in this manual.
• Operate the system in the ambient conditions that are described in
iTRAK 5730 System Technical Data, publication 2198T-TD002.
Topic Page
Conventions 9
Appropriate Use 9
Additional Resources 10
ATTENTION: Incorrect installation, operation, and maintenance of this product can
cause personal injury or property damage. You are responsible for the product
safety of your completed machinery. An incorrectly applied or installed iTRAK 5730
system can result in component damage or a reduction in product life.

10 Rockwell Automation Publication 2198T-UM003A-EN-P - May 2020
Preface
Additional Resources These documents contain additional information concerning related products
from Rockwell Automation.
iTRAK 5730 and Kinetix System Resources
These resources provide information about the iTRAK 5730 system and related
Kinetix® products.
Programmable Controllers Resources
These resourced provide information about programmable controllers.
EtherNet/IP Resources
These resourced provide information about EtherNet/IP systems.
You can view or download publications at rok.auto/literature.
Resource Description
iTRAK 5730 System Technical Data, publication 2198T-TD002 Product specifications for Rockwell Automation iTRAK 5730 system components,
with performance, environmental, certifications, load force, and dimension
drawings.
Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 Product specifications for Kinetix Integrated Motion over the EtherNet/IP network, Kinetix 5700 iTRAK Power Supply, Integrated Motion over sercos interface, EtherNet/
IP networking, and component servo drive families.
Kinetix 5700 iTRAK Power Supply and iTRAK Bus Conditioner
Module Supply Installation Instruction, publication 2198T-IN001 Provides information for wiring and connecting the Kinetix 5700 iTRAK power supply
to the iTRAK system.
3D CAD Models of iTRAK Components available at
https://motionanalyzer.rockwellautomation.com/Products/iTrak Provides 2D outline, assembly, and system drawings, STEP files for the movers and
motor modules, and hyper links to complete system STEP files.
Independent Cart Technology Libraries, available on the Product Compatibility and
Download Center website, rok.auto/pcdc Provides standardized object-oriented libraries for iTRAK systems.
System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001 Information, examples, and techniques that are designed to minimize system
electrical noise failures.
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines for installing a Rockwell Automation industrial system.
Product Certifications website, rok.auto/certifications Provides declarations of conformity, certificates, and other certification details.
Resource Description
ControlLogix® 5580 and GuardLogix® 5580 Controllers User Manual, publication
1756-UM543 Provides information about designing a system, operating a ControlLogix or
GuardLogix-based controllers system, and developing applications.
GuardLogix 5580 and Compact GuardLogix 5380 Controller Systems Safety Reference
Manual, publication 1756-RM012 Describes the GuardLogix 5580 and Compact GuardLogix 5380 controller systems, which are type-approved and certified for use in safety applications.
CompactLogix™ 5480 Controllers User Manual, publication 5069-UM002 Provides information on how to use CompactLogix 5480 controllers.
Compact GuardLogix 5380 Controllers User Manual, publication 5069-UM001 Provides information on how to install, configure, program, and use CompactLogix
and Compact GuardLogix controllers.
Integrated Motion on the EtherNet/IP Network Reference Manual,
publication MOTION-RM003 Provides information on the AXIS_CIP_DRIVE attributes and the Studio 5000 Logix
Designer® application Control Modes and Methods.
Logix 5000™ Controllers Motion Instructions Reference Manual,
publication MOTION-RM002 Provides a programmer with details about motion instructions for use with Logix
5000 controllers.
Resource Description
EtherNet/IP Network Devices User Manual, publication ENET-UM006 Describes how to configure and use EtherNet/IP devices to communicate on the
EtherNet/IP network.
EtherNet/IP Device Level Ring Application Technique, publication ENET-AT007 Describes Device Level Ring (DLR) topologies, configuration considerations, and
diagnostic methods.
Integrated Motion on the EtherNet/IP Network Configuration and Startup User Manual,
publication MOTION-UM003 Provides information on configuring and troubleshooting your ControlLogix and
CompactLogix™ EtherNet/IP network modules.

Rockwell Automation Publication 2198T-UM003A-EN-P - May 2020 11
Chapter 1
Before You Begin Installation
Use this chapter to become familiar with the design, installation, and safety
requirements for an iTRAK® 5730 system.
About the iTRAK 5730
System
The iTRAK 5730 system is a modular, scalable, linear motor system. This
system provides independent control of multiple movers on straight or
curvilinear paths. The iTRAK 5730 system is built from a combination of the
following modules and components:
• Straight motor modules
• Curved motor modules
• Connector modules
• Mounting rings
• Rectangular and flat rails
• Movers with mover and position magnets
A complete iTRAK 5730 system uses these components:
• Programmable logic controller (PLC)
• Input power components (branch circuit protection, disconnect, line
filter, and functional safety)
• 24V SELV or PELV rated control power supply
• Kinetix® 5700 DC-bus power supply
• Kinetix 5700 iTRAK power supply
• Power cable (DC-bus and 24V control)
• Ethernet cable
•Lubricationsystem
• Infield covers (optional)
Topic Page
About the iTRAK 5730 System 11
Catalog Number Explanations 15
Motor Modules 19
Connector Modules 21
Mounting Rings 23
Rectangular and Flat Rails 24
Mover 26
Power Supplies 27
Programmable Controllers 27
Typical Communication Configurations 28
Safety Information 31

12 Rockwell Automation Publication 2198T-UM003A-EN-P - May 2020
Chapter 1 Before You Begin Installation
You can combine straight and curved motor modules to build multiple
machine shapes and manage a wide variety of dynamic processes. Motor
modules, movers, and connectors are modular and designed to accommodate
system growth and varied power demands. The system can be expanded to
more than 19 meters (62.3 feet).
The motor modules are integrated drive and motor coil units with feedback
capability. Each motor module can operate and control multiple movers.
Motor over-temperature protection is provided by temperature sensors that
are embedded in the motor coils of the motor modules. The iTRAK 5730 system
does not provide electronic motor over-temperature protection.
Power and network communication connections to the motor modules are
provided by the connector modules. The power and control input connector
module provides the power connection between the iTRAK power supply and a
motor module and a communication connection from an EtherNet/IP™
network and a motor module. Additional connector modules provide
additional power input and communication pass-through connections.
Movers provide the platform for your application effectors. Movers can be
synchronized or independently controlled and positioned accurately on any
point of the track.
You can mount the iTRAK 5730 system in many configurations, including
horizontal carousel, vertical over-under, and stand-up. A customer-sourced
mounting system is required to mount the iTRAK 5730 in the desired position
and location.
The lubrication system supplies a continuous flow of lubricant to the rail
system, which is distributed around the track by the mover track rollers. The
lubrication system helps to prevent wear on the track and mover components
and provides a smoother, quieter system.
The infield covers fit over the connector modules and connection wires and
provide a level of protection against water, dirt, and debris.

Rockwell Automation Publication 2198T-UM003A-EN-P - May 2020 13
Chapter 1 Before You Begin Installation
Figure 1 - Exploded View of the Servo and Mechanical Components of an iTRAK 5730
System
1
1
2
2
4
3
5
5
5
5
6
6
6
6
7
7
7
7
8
8
8
10
10
10
9
9
9
11
12
13
14
15
16
Item Component Item Component
1 Curved motor module 9 Mounting ring (top)
2 Straight motor module 10 Mounting ring (bottom)
3 Power and control input connector module 11 Mover
— Power with pass-through control connector module (not shown) 12 Mover magnet
4 Power and control pass-through connector module 13 Position magnets
5 Top and bottom curved rectangular rail w/wedges 14 Lubrication system pump (x4)
6 Top and bottom curved flat rail w/wedges 15 Lubrication system tube
7 Top and bottom straight rectangular rail w/wedges 16 Infield cover (straight and curved)
8 Top and bottom straight flat rail w/wedges

14 Rockwell Automation Publication 2198T-UM003A-EN-P - May 2020
Chapter 1 Before You Begin Installation
Table 1 - Electromechanical Components of an iTRAK 5730 System
iTRAK 5730 Component Cat. No. Description
Motor module 2198T-L20-T0303-A00-S2 (straight)
2198T-L20-T0309-D18-S2 (curved) The motor module is an integrated drive and motor coil unit (referred to as a section in the firmware) with feedback capability.
Mounting ring 2198T-AS-01 (top)
2198T-AS-02 (bottom) The mounting rings connect the motor modules and are used to mount and provide rigidity to the iTRAK 5730 system.
Rail system
2198T-BE-ST03, straight,
300 mm (11.8 in.)
2198T-BE-ST06, straight,
600 mm (23.6 in.)
2198T-BE-ST09, straight,
900 mm (35.4 in.)
2198T-BE-ED18, 180° curve,
900 mm (35.4 in.) nom
The flat and rectangular rails attach to the motor frame. This system of rails provides high-precision
guidance for the mover track rollers.
Mover 2198T-VT0304-E The movers are passive magnetic components. They move along the track in response to the magnetic
fields generated by the motor modules. You attach your application end effector to the mover.
Mover magnet 2198T-M0304-A000-SS Mover magnet plates can be used to build your own movers to optimize weight or bearing solutions. The
mover magnet is included with the mover.
Position magnet 2198T-N1-0304, 2198T-NN-0304 Position magnets are used to actuate sensors in the track. These magnets are sold separately from the
mover.
Table 2 - Power and Control Components of an iTRAK 5730 System
iTRAK 5730 Component Cat. No. Description
Power circuitry and
components 2198-Pxxx (DC-bus) 2198T-W25K-ER (iTRAK)
A Kinetix 5700 DC-bus power supply (2198) and Kinetix 5700 iTRAK power supply (2198T) provide the DC
bus voltages that are required for the iTRAK 5730 motor modules. The Kinetix 5700 power supply is used
with other Kinetix 5700 components and branch circuit protection.
Power and control input
connector module 2198T-CT-CP
The power and control input connector module provides the power connection between the iTRAK
power supply and a motor module and a communication connection from an EtherNet/IP™ network and
a motor module. This module is used for the primary power and ground and Ethernet connections for
your iTRAK 5730 system.
Power input with control
pass-through connector
module 2198T-CT-P
The power input with control pass-through connector module provides the power connection between
the iTRAK power supply and a motor module. This module is used to provide an additional power source
connection when a system requires an additional Kinetix 5700 iTRAK power supply. This module
provides a pass-through Ethernet connection only. For more information on when more than one iTRAK
power supply is required, see Provide Power to the iTRAK System on page 67.
Power and control pass-
through connector module 2198T-CT The power and control pass-through connector module provides continuous power between the motor modules and communication with the EtherNet/IP network.
Power cable
2198T-CHBFLS8-12AA06,
6 m (19.7 ft)
2198T-CHBFLS8-12AA09,
9 m (29.5 ft)
2198T-CHBFLS8-12AA12,
12 m (39.4 ft)
2198T-CHBFLS8-12AA15,
15 m (49.2 ft)
2198T-CHBFLS8-12AA30,
30 m (98.4 ft)
This cable provides DC-bus and control power from the iTRAK power supply to the power and control
input and power input with control pass-through connector modules. Use only the cables that are
referenced in this user manual.
EtherNet/IP communication
cable
1585D-E8TGJM-1, 1 m (3.3 ft)
1585D-E8TGJM-2, 2 m (6.6 ft)
1585D-E8TGJM-3, 3 m (9.8 ft)
1585D-E8TGJM-5, 5 m (16.4 ft)
1585D-E8TGJM-10, 10 m (32.8 ft)
This M12 X-code Ethernet cable provides EtherNet/IP communication to the power and control input
connector module and connected motor modules. Use only the cables that are referenced in this user
manual.
Logix 5000™ controller
platform Bulletin 1756, Bulletin 1769, Bulletin 5069
Integrated Motion on the EtherNet/IP network in ControlLogix 5580, CompactLogix 5480, GuardLogix
5580, and Compact GuardLogix 5380 controllers and Integrated Safety in Compact GuardLogix 5380
controllers. Linear, Device Level Ring (DLR), and star topologies are supported.
Studio 5000® environment — Studio 5000 Logix Designer® application, version 33 or later, provides support to program, commission, and maintain the ControlLogix, CompactLogix, GuardLogix, and Compact GuardLogix controller families
that you use with the iTRAK 5730 system.

Rockwell Automation Publication 2198T-UM003A-EN-P - May 2020 15
Chapter 1 Before You Begin Installation
The typical configuration for iTRAK 5730 system is shown in Typical iTRAK
System with an iTRAK Power Supply on page 66.
Catalog Number
Explanations
The modular, scalable design of the iTRAK 5730 allows you to purchase an
assembled system or individual components so you can build a system that is
suited to your specific application.
Use the information in this section to understand and identify the iTRAK 5730
assembled system and individual component catalog numbers.
Assembled iTRAK 5730 System
These tables provide a catalog number explanation for an assembled iTRAK
5730 system.
For example: 2198T-S03H27000AD04008C-Q1234
Table 3 - Accessory Components of an iTRAK 5730 System
iTRAK 5730 Component Cat. No. Description
Lubrication system 2198T-AL-SYS-4 The lubrication system supplies lubricant to the rail system.
Infield cover
2198T-AS-CD18-U (two curve
covers)
2198T-AS-CA03-U (one straight
cover)
2198T-AS-CD18 (two curve covers
with Allen-Bradley® logo)
These covers provide additional protection for the connector modules and power and Ethernet cable
connections on the modules.
Rail alignment tool 2198T-A08 This tool is used to align the rectangular rail segments during installation to help provide an accurate
transition of movers on the track.
Mover loader tool 2198T-A09 This tool is used to install and remove a mover from the rail system.
2198T - S 03 H 270 000 D 04 008 C - Qxxxx
abcdefghijk
abcd
Bulletin Number Module Type Module Coil Width Orientation
Code Description Code Description Code Description Code Description
2198T iTRAK Intelligent Track System S Configured iTRAK 5730 system 03 30 mm HHorizontal
(both dimensions horizontal)
VVertical
(short dimension vertical only)
SStand up
(long dimension vertical only)
efgh
Long Dimension (length) Short Dimension (width) Mechanical Solution Style Mover Magnet Stack Length
Code Description Code Description Code Description Code Description
### Curve center point width in
decimeters ### Curve center point width in decimeters D 5730 stainless steel rail 04 38 mm (approx)
000 Oval
00A Linear
ijk
Mover Quantity Power and Control Configuration Customized
Code Description Code Description Code Description
### Number of movers CKinetix 5700 iTRAK power
supply and cables Qxxxx (Quote reference number)

16 Rockwell Automation Publication 2198T-UM003A-EN-P - May 2020
Chapter 1 Before You Begin Installation
Modular iTRAK 5730 System Components
All iTRAK 5730 system component catalog numbers begin with the Bulletin
number 2198T followed by a character that represents one of these module
types:
• C - Cable or connector
• L - Integrated linear drive/motor module (section)
•M-Movermagnet
•N-Positionmagnet
•V-Assembledmover
Motor Module (Section) Catalog Numbers
These tables provide an example catalog number explanation for a motor
module.
For example: 2198T-L20-T0303-A00-S2
2198T - L 20 - T 03 03 - A 00 - S2
abcdefghi
abcd
Bulletin Number Module Type Nominal Voltage Motor Orientation
Code Description Code Description Code Description Code Description
2198T iTRAK Intelligent Track System L Motor module (section) 20 200/400V bus T Transverse
ef g h i
Motor Coil Width Motor Length Radius Type Arc Angle Functional Safety
Code Description Code Description Code Description Code Description Code Description
03 30 mm 03 300 mm (1) ALinear 00 Linear (1) S2 Integrated Network Safe Stop 1
09 900 mm (2) D Narrow spline 18 180° (diameter varies) (2)
(1) Only available for position g, code A.
(2) Only available for position g, Code D.

Rockwell Automation Publication 2198T-UM003A-EN-P - May 2020 17
Chapter 1 Before You Begin Installation
Connector Module Catalog Numbers
These tables provide an example catalog number explanation for a connector
module.
For example: 2198T-CT-CP
Assembled Mover Catalog Numbers
These tables provide an example catalog number explanation for an assembled
mover.
For example: 2198T-VT0304-E
2198T - CT - CP
abc
ab c
Bulletin Number Module Type Input Option
Code Description Code Description Code Description
2198T iTRAK Intelligent Track System CT Connector terminal
(between motor modules) CP Communication and power inputs
PPower input with communication pass-
through
<blanks> Communication and power pass-through
2198T - V T 03 04 - E
abcdef
abc
Bulletin Number Module Type Coil Orientation
Code Description Code Description Code Description
2198T iTRAK Intelligent Track System V Assembled mover TTransverse
def
Coil Length Magnet Length Mover Identification
Code Description Code Description Code Description
03 30 mm 04 38 mm (approx) E57xx Design

18 Rockwell Automation Publication 2198T-UM003A-EN-P - May 2020
Chapter 1 Before You Begin Installation
Mover Magnet Plate Catalog Numbers
These tables provide an example catalog number explanation for a mover
magnet plate.
For example: 2198T-M0304-A000-SS
Position Magnet Catalog Numbers
These tables provide an example catalog number explanation for a position
magnet.
For example: 2198T-N1-0304
2198T - M 03 04 - A 000 - SS
abcdefg
abcd
Bulletin Number Module Type Coil Length Magnet Length
Code Description Code Description Code Description Code Description
2198T iTRAK Intelligent Track System M Magnet plate 03 30 mm 04 38 mm (approx)
efg
Direction of Curvature Radius of Section Curvature Magnet Material
Code Description Code Description Code Description
A Outside of Neutral 000 Flat SS Stainless steel cover
with potted interior
2198T - N 1 - 0304
abcd
abcd
Bulletin Number Module Type Magnet Type Mounting Hardware
Code Description Code Description Code Description Code Description
2198T iTRAK Intelligent Track System N Position magnet 1South pole 0304 Pairs with 35 x 45 mm motor
magnet plates
NNorth pole

Rockwell Automation Publication 2198T-UM003A-EN-P - May 2020 19
Chapter 1 Before You Begin Installation
Motor Modules Your iTRAK 5730 system can use two types of motor modules. Figure 2 shows
the features of the straight motor module and Figure 3 shows the features of
the curved motor module.
Figure 2 - 2198T-L20-T0303-A00-S2, Straight Motor Module
Figure 3 - 2198T-L20-T0309-D18-S2, Curved Motor Module
1
2
3
6
5
4
3
Top View Isometric View
6
1
7
7
8
8
1
3
6
5
1
Top View Isometric View
3
2
7
8
7
2
6
4
Motor Module Components
Item Description Item Description
1 Mover position-magnet sensing area 5 Outgoing power bus connection (from
connector module)
2 Motor coil assembly 6 Ethernet connector (from connector module)
3 Status indicators 7 Rectangular and flat rail mounting surface
4Incoming power bus connection (from
connector module) 8Drive housing

20 Rockwell Automation Publication 2198T-UM003A-EN-P - May 2020
Chapter 1 Before You Begin Installation
Motor Module Status Indicators
The motor modules (2198T-L20-T0303-A00-S2 and 2198T-L20-T0309-D18-S2)
contain the following status indicators. For a description of these status
indicators, see Motor Module Status Indicators on page 115.
Straight Motor Module (Catalog Number 2198T-L20-T0303-A00-S2) shown.
Top View
MOD
NET