Allen-Bradley Kinetix 5100 2198-E1004-ERS User manual

Kinetix 5100 Single-axis EtherNet/IP Servo Drives
Catalog Numbers 2198-E1004-ERS, 2198-E1007-ERS, 2198-E1015-ERS, 2198-E1020-ERS, 2198-E2030-ERS,
2198-E2055-ERS, 2198-E2075-ERS, 2198-E2150-ERS
User Manual
Original Instructions

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 2198-UM004A-EN-P - October 2019 3
Table of Contents
Preface
Conventions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Chapter 1
Start About the Kinetix 5100 Drive System. . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Typical Hardware Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Motor and Auxiliary Feedback Configurations . . . . . . . . . . . . . . . . . . 12
Typical Communication Configurations. . . . . . . . . . . . . . . . . . . . . . . . 13
Typical Control Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Safe Torque Off Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Chapter 2
Plan and Install the
Kinetix 5100 Drive System
System Design Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Electrical Noise Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Mount Your Kinetix 5100 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Chapter 3
Connector Data and Feature
Descriptions
Kinetix 5100 Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Control Signal Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Feedback Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Safe Torque Off Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Operation Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Chapter 4
Connect the Kinetix 5100
Drive System
Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Determine the Input Power Configuration. . . . . . . . . . . . . . . . . . . . . . 72
Ground the Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Wiring Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Wire the Input Power Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Wire the I/O Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Wire the Safe Torque Off Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Wire the Motor Power Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Motor Feedback Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
External Passive-shunt Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Chapter 5
Use the Keypad Interface Keypad Input and Panel Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Drive Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

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Table of Contents
Edit Settings From the Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Chapter 6
Set Up EtherNet/IP
Communication
Set Network Parameters by Using the Display . . . . . . . . . . . . . . . . . . 109
Set Network Parameters by Using the KNX5100C Software. . . . . 111
Configure IP Address by Using BOOTP/DHCP Tool. . . . . . . . . . 112
Chapter 7
Configure the Drive with
KNX5100C Software
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Connect to the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Set the IP Address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Select a Motor and Configure Feedback in KNX5100C Software 123
Parameter Editor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Choose an Operation Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Configure Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Configure Position, Velocity, and Current Loops . . . . . . . . . . . . . . . 155
Digital I/O and Jog Function in KNX5100C Software . . . . . . . . . . 158
Chapter 8
Configure the Drive in
Studio 5000 Logix Designer
Application
Studio 5000 Logix Designer Application . . . . . . . . . . . . . . . . . . . . . . . 161
Configure the Logix 5000 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Configure the Kinetix 5100 Drive Modules . . . . . . . . . . . . . . . . . . . . 166
Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Chapter 9
Tuning Tuning Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Autotuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Tuning via Tuning Mode 1 and Tuning Mode 2 . . . . . . . . . . . . . . . . 181
Tuning in Manual Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Chapter 10
Modes of Operation Select Operation Mode and Direction Control . . . . . . . . . . . . . . . . . 193
Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Speed Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Torque Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Dual and Multi-modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
I/O Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
Speed and Torque Limit Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Chapter 11
Motion Control in PR Mode Detailed Operation in PR Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
Speed Control Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
Position Control Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269

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Table of Contents
Jump Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
Write Command. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
Index Position Command. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
Arithmetic Operations Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
PR Mode Setup in KNX5100C Software. . . . . . . . . . . . . . . . . . . . . . . 279
Display of PR Procedure in KNX5100C Software . . . . . . . . . . . . . . 288
Trigger Method for PR Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
PR Execution Process. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
Chapter 12
Motion Control Applications High-speed Position Capture Function (CAP) . . . . . . . . . . . . . . . . . 315
High-speed Position Compare Function (CMP). . . . . . . . . . . . . . . . 322
E-Cam . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
Macro Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
Chapter 13
Kinetix 5100 Safe Torque Off
(STO) Feature
Certification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
Average Frequency of a Dangerous Failure per Hour . . . . . . . . . . . . 381
Safe Torque Off Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
Wire the Safe Torque Off Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
Safe Torque Off Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
Safe Torque Off Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
Safe Torque Off Wiring Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
Chapter 14
Absolute Position Recovery System Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Compatible Servo Motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Install the Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390
System Initialization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
Chapter 15
Programming via Drive
Parameters
Organization of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
Description of Digital Input Functions . . . . . . . . . . . . . . . . . . . . . . . . 405
Description of Digital Output Functions. . . . . . . . . . . . . . . . . . . . . . . 410
Description of System Variable Monitoring . . . . . . . . . . . . . . . . . . . . 417
Description of Parameter Monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . 422
Use a MSG Instruction to Set Parameters . . . . . . . . . . . . . . . . . . . . . . 423
Chapter 16
Troubleshoot the Kinetix 5100
Drive System
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
View Status and Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427
Drive Stopping Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
Clear Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431

6Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Table of Contents
General Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
Appendix A
Interconnect Diagrams Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435
Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436
Digital I/O Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439
Passive Shunt Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441
Kinetix 5100 Drive/Rotary Motor Wiring Examples . . . . . . . . . . . . 442
System Block Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444
Appendix B
Upgrade the Drive Firmware Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446
Upgrade the Firmware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
Verify the Firmware Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454
Appendix C
Use Add-On Instructions Download the Add-On Instruction Files and Data Types. . . . . . . . 456
Import the Add-On Instruction Files and Data Types . . . . . . . . . . . 456
Create an Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
Add-On Instruction Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462
Add-On Instruction Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464
Appendix D
Full Closed Loop Control Full Closed-loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486
Appendix E
Use the Scope Function in
KNX5100C Software
Get Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
Scope Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
Quick Setup of Communication Channels . . . . . . . . . . . . . . . . . . . . . 490
Select Communication Channels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
Enable Stop Condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494
FFT Display and Show RMS Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495
Fine-Tune the Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
Set Preferences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
Use Popup Menu for Save Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 7
Preface
This manual provides detailed installation instructions for mounting, wiring, and
troubleshooting your Kinetix® 5100 drive; and system integration for your drive/
motor combination with a Logix controller.
This manual is intended for engineers and technicians that are directly involved
in the installation and wiring of the Kinetix 5100 drive and programmers who are
directly involved in operation, field maintenance, and integration of the
Kinetix 5100 drive.
If you do not have a basic understanding of the Kinetix 5100 drive, contact your
local Rockwell Automation sales representative for information on available
training courses.
Conventions These conventions are used throughout this manual:
• Bulleted lists such as this one provide information, not procedural steps.
• Numbered lists provide steps or hierarchical information.
• Parameters are shown in this format: ID185 (P2.000).
Additional Resources These documents contain additional information concerning related products
from Rockwell Automation.
Table 1 - Additional Resources
Resource Description
Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001 Provides product specifications for Kinetix VPL, VPC, VPF, VPH, and VPS), Kinetix
MPL, MPM, MPF, and MPS), and Kinetix HPK-Series® rotary motors.
Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 Provides product specifications for Kinetix Integrated Motion over the EtherNet/IP™ network, Integrated Motion over sercos interface, EtherNet/IP networking, and
component servo drive families.
Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004 Provides product specifications for Bulletin 2090 motor and interface cables, low- profile connector kits, drive power components, and other servo drive accessory
items.
Kinetix 5100 Drive Systems Design Guide, publication KNX-RM011 System design guide to select the required (drive specific) drive module, power
accessory, feedback connector kit, and motor cable catalog numbers for your
Kinetix 5100 drive system.
Ultra3000 to Kinetix 5100 Servo Drive Migration Guide, publication 2198-RM003 Provides information on how to migrate from the Ultra3000 drive to the Kinetix 5100
servo drive.
Kinetix 300 to Kinetix 5100 Servo Drive Migration Guide, publication 2198-RM004 Provides information on how to migrate from the Kinetix 300 drive to the Kinetix
5100 servo drive.
Kinetix 5100 AC Line Filter Installation Instructions, publication 2198-IN017 Provides information on how to install and wire the Kinetix 5100 AC line filters.
Kinetix 5100 Auxiliary Feedback Connector Kit Installation Instructions,
publication 2198-IN018 Provides information on how to attach the Kinetix 5100 auxiliary feedback
connector kit to your shielded, twisted-pair customer-supplied cable.
Kinetix 5100 Feedback Connector Kit Installation Instructions, publication 2198-IN019 Provides information on how to attach the Kinetix 5100 feedback connector kit to
2090-Series flying lead motor feedback cables.
Kinetix 5100 I/O Terminal Expansion Block Installation Instructions,
publication 2198-IN020 Provides information on how to install and wire the Kinetix 5100 I/O terminal expansion block.
Kinetix 5700 Shunt Passive Modules Installation Instructions, publication 2198-IN011 Provides information on how to install and wire 2198-R004 and 2198-R031 passive
shunts for use with Kinetix 5100 servo drives.

8Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Preface
You can view or download publications at rok.auto/literature.
Kinetix 300 Shunt Resistor Installation Instructions, publication 2097-IN002 Provides information on how to install and wire 2097-R6 and 2097-R7 shunt
resistors for use with Kinetix 5100 servo drives.
Feedback Battery Box Installation Instructions, publication 2198-IN022 Provides information on how to install or replace a battery box, install a battery, and
prepare a feedback cable for a battery box installation.
Shaft Seal Kits for Kinetix TLP Motors Installation Instructions, publication 2090-IN044 Provides information about how to remove and replace shaft seals on Kinetix TLP
motors.
Build Your Own Cables for Kinetix TL Pro Servo Motors, publication 2090-IN046 Provides information on how to build cables for Kinetix TLP servo motors.
Build Your Own Kinetix TLP Motor Cables Installation Instructions, publication 2090-IN048 Provides information on how to attach Bulletin 2090 connector kits to bulk cable and
build your own Kinetix TLP motor power and feedback cables.
Kinetix TLP Multi-purpose Servo Motors Installation Instructions, publication TLP-IN001 Provides information on how to install the Kinetix TLP multi-purpose servo motor.
System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001 Provides information, examples, and techniques designed to minimize system
failures caused by electrical noise.
Kinetix Motion Control Selection Guide, publication KNX-SG001 Overview of Kinetix servo drives, motors, actuators, and motion accessories designed to help make initial decisions for the motion control products best suited for your
system requirements.
MicroLogix™ 1100 Programmable Controllers User Manual, publication 1763-UM001
Provides information on how to install, wire, and troubleshoot the MicroLogix
programmable controllers.
MicroLogix 1200 Programmable Controllers User Manual, publication 1762-UM001
MicroLogix 1400 Programmable Controllers User Manual, publication 1766-UM001
Micro810® Programmable Controllers User Manual, publication 2080-UM001
Provides information on how to install, wire, and troubleshoot the Micro800®
programmable controllers.
Micro820® Programmable Controllers User Manual, publication 2080-UM005
Micro830®, Micro850, Micro870, Programmable Controllers User Manual,
publication 2080-UM002
GuardLogix 5570 Controllers User Manual, publication 1756-UM022 Provides information on how to install, configure, program, and use ControlLogix®
controllers and GuardLogix® controllers in Studio 5000 Logix Designer® projects.
GuardLogix 5580 Controllers User Manual, publication 1756-UM543
Compact GuardLogix 5370 Controllers User Manual, publication 1769-UM022 Provides information on how to install, configure, program, and use CompactLogix™
and Compact GuardLogix controllers.
Compact GuardLogix 5380 Controllers User Manual, publication 5069-UM001
GuardLogix 5570 and Compact GuardLogix 5370 Controller Systems Safety Reference
Manual, publication 1756-RM099 Provides information on how to achieve and maintain Safety Integrity Level (SIL)
and Performance Level (PL) safety application requirements for GuardLogix and
Compact GuardLogix controllers.
GuardLogix 5580 and Compact GuardLogix 5380 Controller Systems Safety Reference
Manual, publication 1756-RM012
ControlFLASH Firmware Upgrade Kit User Manual, publication 1756-UM105 Provides information on how to upgrade your drive firmware by using
ControlFLASH™ software.
Rockwell Automation Product Selection
website http://www.rockwellautomation.com/global/support/selection.page Online product selection and system configuration tools, including AutoCAD (DXF)
drawings.
Motion Analyzer System Sizing and Selection Tool
website https://motionanalyzer.rockwellautomation.com/
Comprehensive motion application sizing tool used for analysis, optimization,
selection, and validation of your Kinetix Motion Control system.
Product Certifications website, rok.auto/certifications Provides declarations of conformity, certificates, and other certification details.
Rockwell Automation Industrial Automation Glossary, publication AG-7.1 A glossary of industrial automation terms and abbreviations.
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines for installing a Rockwell Automation industrial system.
Table 1 - Additional Resources (Continued)
Resource Description

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 9
Chapter 1
Start
Use this chapter to become familiar with the Kinetix® 5100 drive system and
obtain an overview of installation configurations.
Topic Page
About the Kinetix 5100 Drive System 10
Typical Hardware Configuration 11
Motor and Auxiliary Feedback Configurations 12
Typical Communication Configurations 13
Typical Control Configurations 16
Safe Torque Off Configurations 19
Catalog Number Explanation 19
Agency Compliance 20

10 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 1 Start
About the Kinetix 5100
Drive System
The Kinetix 5100 single-axis EtherNet/IP™ servo drives are designed to provide a
solution for applications with output power requirements between 0.4…15.0 kW
(2.6…78 A rms).
Table 2 - Kinetix 5100 Drive System Overview
Kinetix 5100 System
Component
Cat. No. Description
Kinetix 5100 Servo Drive 2198-Exxxx-ERS Kinetix 5100 single-axis EtherNet/IP drives with Safe Torque Off f (STO) eature are available with 120…230V
single-phase or three-phase and 230V three-phase input power.
Terminal block for I/O
connector 2198-TBIO 50-pin terminal block. Plugs into I/O connector for control interface connections.
Motor Feedback
Connector Kit 2198-K51CK-D15M Motor feedback connector kit for connections with the 15-pin connector plug. Supports Kinetix MPx and Kinetix TLP servo motors.
Auxiliary Feedback
Connector Kit 2198-AUXKIT Auxiliary feedback connector kit for master feedback and load feedback connections to the AUX connector.
Feedback Battery Box 2198-KTBT The feedback battery box kit is used in applications where Kinetix TLP motor position data must be maintained in the event of a power loss. The battery box is included with the 2090-series cables for Kinetix TLP drives and this
replacement kit is also available.
AC Line Filters 2198-DBxx-F
2198-DBR90-F Bulletin 2198 three-phase AC line filters are required to meet CE.
Shunt Module 2198-R004 and 2198-R031
2097-R6 and 2097-R7 Bulletin 2198 and 2097 external passive-shunt resistors for use when additional shunt capability is needed.
24V DC Power Supply 1606-XLxxx Bulletin 1606 24V DC power supply for digital input/output, Safe Torque Off (STO) circuitry, and motor brake
control.
Logix PAC® Controller
Platforms
Bulletin 5069 and 1769 EtherNet/IP networking with CompactLogix™ 5370 and CompactLogix 5380 controllers with embedded dual-port.
CompactLogix 5480 controllers for the benefits of Logix control with Windows®-based computing.
1756-EN2T, 1756-EN2TR,
and 1756-EN3TR module EtherNet/IP network communication modules for use with ControlLogix® 5570 and ControlLogix 5580 controllers.
Logix PLC Controller
Platforms
MicroLogix™ 1100 and 1400 controllers provide communications ports, an isolated combination RS-232/485 communication port, an Ethernet
port, and (MiroLogix 1400 only) a non-isolated RS-232 communication port.
Micro800® controllers with embedded inputs/outputs can accommodate from two to five plug-in modules and up to four expansion I/O modules.
Configuration Software
Studio 5000® Environment Studio 5000 Logix Designer® application (version 30 or later) is used to program, commission, and maintain the
Logix family of controllers.
Connected Components
Workbench software Connected Components Workbench™ design and configuration software (CCW), version 10.0 or later, provides support for programming, configuration of Micro800 controller, and integration with the HMI editor.
KNX5100C software KNX5100C software, version 1.001 or later, provides configuration and tuning of Kinetix 5100 drives via the
mini-USB cable connection.
RSLogix 500® software RSLogix 500 software is used to program MicroLogix 1100 or 1400 controllers.
Rotary Servo Motors Kinetix TLP Compatible rotary motors include Kinetix TLP servo motors.
Kinetix MPxCompatible rotary motors include Kinetix MPL, MPM, MPF, and MPS servo motors.
Cables
2090-CTFB-MxDx-xxxxx Bulletin 2090 motor feedback cables for Kinetix TLP motors.
2090-CTPx-MxDx-xxxxx Bulletin 2090 motor power/brake cables for Kinetix TLP motors.
2090-CFBM7DF-CEAxxx Bulletin 2090 motor feedback cables for Kinetix MPx servo motors with Stegmann Hiperface encoders.
2090-CPxM7DF-xxAxxx Bulletin 2090 motor power/brake cables for Kinetix MPx servo motors.
2090-XXNFMF-Sxx
2090-CFBM7DF-CDAFxx Bulletin 2090 standard and continuous-flex feedback cables that include additional conductors for use with incremental encoders.
Communication cables 1585J-M8CBJM-x (shielded) Ethernet cable.
2198-USBC Interface cable with mini-USB connector for KNX5100C software configuration.
2198-USBF Filter for mini-USB port to reduce the vulnerability to electrical noise.

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 11
Start Chapter 1
Typical Hardware
Configuration
Typical Kinetix 5100 drive systems include single-phase and three-phase
standalone configurations.
In this example, three-phase input power is applied to the Kinetix 5100 drive.
Figure 1 - Kinetix 5100 Standalone Drive with Three-phase Input Power
5100
2
1
NET
MOD
CHARGE
I/0
AUX
U
V
W
DC+
ISH
ESH
P1
P2
DC–
L1
L2
L3
L1C
L2C
L1 L2 L3
Kinetix 5100 Servo Drive
(2198-E1020-ERS drive is shown)
2198-DBxx-F
or 2198-DBRxx-F
AC Line Filter
(required for CE)
Line
Disconnect
Device
Circuit
Protection
Three-phase
Input Power
Bulletin 2090
Motor Power Cable
2198-TBIO Terminal
Expansion Block
2198-Rxxx or 2097-Rx
Shunt Resistor
(optional equipment)
Ground Plate
for Motor Power
Ground Connection
Bulletin 2090
Motor Feedback Cable
Kinetix TLP
Servo Motor
Circuit
Protection
M1
Contactor

12 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 1 Start
Motor and Auxiliary
Feedback Configurations
Motor feedback connections are made at the 15-pin motor feedback (MFB)
connector. Auxiliary feedback connections are made by using the auxiliary
feedback (AUX) connector. These examples illustrate how you can use the
Bulletin 2198 connector kits for making these connections. To see motor power
and brake connections, refer to Chapter 4 on page 85.
Figure 2 - Feedback Configuration Example
AUX
P1
P2
DC–
L1
L2
L3
L1C
L2C
DC+
ESH
U
V
W
NET
MOD
CHARGE
5100
I/O
AUX
MFB
AUX
MFB
AUX
MFB
2090-CFBM7Dx and 2090-CPxM7DF
Motor Feedback and Power Cables
2198-AUXKIT Auxiliary Feedback Connector Kit
Accepts incremental encoder feedback (TTL).
Application uses:
• Load feedback (PT mode, dual loop)
• Master feedback (PR mode, used as E-CAM command source)
Kinetix MPx Servo Motors
(MPL-Axxxx motor is shown)
10-pin Auxiliary Feedback
(AUX) Connector
15-pin Motor Feedback
(MFB) Connector
Kinetix TLP Servo Motors
(TLP-A046-010 motor is shown)
2198-K51CK-D15M Motor Feedback Connector Kit
Accepts multiple encoder feedback types:
• Hiperface high-resolution absolute multi-turn and single-turn encoders
– Kinetix MPL-Axxx-S/M, MPM-Axxx-S/M, MPF-Axxx-S/M, MPS-Axxx-S/M servo motors
– Kinetix MPL-Axxx-E/V servo motors
• 24-bit high-resolution serial encoder
–Kinetix TLP-Axxx-xxx-D servo motors
• Digital AqB (TTL) encoders with UVW (incremental)
– MPL-A15xxx-H, MPL-A2xxx-H, MPL-A3xxx-H, MPL-A4xxx-H, MPL-A45xxx-H rotary motors
Kinetix 5100 Servo Drive
(2198-E2055-ERS drive is shown)
2090-CTFB-MxDD and 2090-CTPx-MxDF
Motor Feedback and Power Cables

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 13
Start Chapter 1
Typical Communication
Configurations
The Kinetix 5100 drives support linear, ring, and star Ethernet topologies by
using ControlLogix, CompactLogix, MicroLogix, and Micro800 controllers.
These examples feature the CompactLogix 5370 programmable automation
controllers (catalog number 1769-LxxER, for example) with support for
Kinetix 5100 drives via implicit messaging (Add-On Instruction, for example) or
Explicit Messaging over the EtherNet/IP network. Other Allen-Bradley®
controllers are also compatible with the Kinetix 5100 servo drives.
Refer to CompactLogix Controllers Specifications Technical Data, publication
1769-TD005, for more information on CompactLogix 5370 L1, L2, and L3
controllers.
Linear Topology
In this example, all devices are connected in linear topology. The Kinetix 5100
drives include dual-port connectivity, however, if any device becomes
disconnected, all devices downstream of that device lose communication. Devices
without dual-ports must include the 1783-ETAP module or be connected at the
end of the line.
Figure 3 - Kinetix 5100 Linear Communication Installation
1 (Front)
2 (Rear)
00:00:BC:2E:69:F6
2
1
I/0
AUX
5100
NET
MOD
CHARGE
2
1
I/0
AUX
5100
NET
MOD
CHARGE
2
1
I/0
AUX
5100
NET
MOD
CHARGE
02
0
1734-AENTR
Module
Status
Network
Activity
Network
Status
PointBus
Status
System
Power
Field
Power
POINT I O
Link1
Activity/
Status
Link2
Activity/
Status
CompactLogix 5370 Controller
Studio 5000 Logix Designer
Application
1585J-M8CBJM-x
Ethernet (shielded) Cable
CompactLogix Controller Programming Network
1585J-M8CBJM-OM3
0.3 m (1.0 ft) Ethernet cable
for drive-to-drive connections.
Kinetix 5100 Servo Drive System
(2198-E1004-ERS drives are shown)
1734-AENTR POINT I/O™
EtherNet/IP Adapter
PanelView™ Plus
Display Terminal

14 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 1 Start
Ring Topology
In this example, the devices are connected by using ring topology. If only one
device in the ring is disconnected, the rest of the devices continue to
communicate. For ring topology to work correctly, a Device Level Ring (DLR)
supervisor is required (for example, the Bulletin 1783 ETAP device). DLR is an
ODVA standard. For more information, refer to the EtherNet/IP Embedded
Switch Technology Application Guide, publication ENET-AP005.
Devices without dual-ports, for example the display terminal, require a
1783-ETAP module to complete the network ring.
Figure 4 - Kinetix 5100 Ring Communication Installation
1 (Front)
2 (Rear)
00:00:BC:2E:69:F6
2
1
I/0
AUX
5100
NET
MOD
CHARGE
2
1
I/0
AUX
5100
NET
MOD
CHARGE
2
1
I/0
AUX
5100
NET
MOD
CHARGE
02
0
1734-AENTR
Module
Status
Network
Activity
Network
Status
PointBus
Status
System
Power
Field
Power
POINT I O
Link1
Activity/
Status
Link2
Activity/
Status
CompactLogix Controller Programming Network
1783-ETAP
Module
PanelView Plus
Display Terminal
CompactLogix 5370 Controller
Studio 5000 Logix Designer
Application
1585J-M8CBJM-x
Ethernet (shielded) Cable
1585J-M8CBJM-OM3
0.3 m (1.0 ft) Ethernet cable
for drive-to-drive connections.
Kinetix 5100 Servo Drives
(2198-E1004-ERS drives are shown)
1734-AENTR POINT I/O
EtherNet/IP Adapter

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 15
Start Chapter 1
Star Topology
In this example, the devices are connected by using star topology. Each device is
connected directly to the switch.
Kinetix 5100 drives have dual-ports, so linear topology is maintained from drive-
to-drive, but Kinetix 5100 drives and other devices operate independently. The
loss of one device does not impact the operation of other devices.
Figure 5 - Kinetix 5100 Star Communication Installation
1 (Front)
2 (Rear)
00:00:BC:2E:69:F6
2
1
I/0
AUX
5100
NET
MOD
CHARGE
2
1
I/0
AUX
5100
NET
MOD
CHARGE
02
0
1734-AENTR
Module
Status
Network
Activity
Network
Status
PointBus
Status
System
Power
Field
Power
POINT I O
Link1
Activity/
Status
Link2
Activity/
Status
1585J-M8CBJM-x
Ethernet (shielded) Cable
CompactLogix Controller Programming Network
1783-BMS
Stratix® 5700
Switch with PTP
CompactLogix 5370 Controller Studio 5000 Logix Designer
Application
PanelView Plus
Display Terminal
Kinetix 5100 Servo Drives
(2198-E1004-ERS drives are shown)
1734-AENTR POINT I/O
EtherNet/IP Adapter

16 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 1 Start
Typical Control
Configurations
You can configure Kinetix 5100 servo drives by using various methods for
network control.
Figure 6 - Kinetix 5100 Drive System with PAC Controller and EtherNet/IP Network Control
.
–
7
F9 89
123
456
0
F13
F10
F11
F12
F14
F15
F16
F1
F2
F3
F4
F5
F6
F7
F8
Esc
LNK1LNK2 NET OK
EtherNet/IP
1
2
OKFORCE SDRUN
Logix5585
LINK
NET
TM
SAFETYON
0000
DC INPUT AC OUTPUT
DC INPUT
5100
2
1
NET
MOD
CHARGE
I/0
AUX
U
V
W
DC+
ISH
ESH
P1
P2
DC–
L1
L2
L3
L1C
L2C
5100
2
1
NET
MOD
CHARGE
I/0
AUX
U
V
W
DC+
ISH
ESH
P1
P2
DC–
L1
L2
L3
L1C
L2C
5100
2
1
NET
MOD
CHARGE
I/0
AUX
U
V
W
DC+
ISH
ESH
P1
P2
DC–
L1
L2
L3
L1C
L2C
2
3
5
4
1
R
W
P
PanelView Plus 7
Display Terminal
Studio 5000
Logix Designer Application
Optional Controllers
ControlLogix 5570 Controllers or
GuardLogix® 5570 Safety Controllers
ControlLogix 5580 Controllers or
GuardLogix 5580 Safety Controllers
CompactLogix 5370 Controllers or
Compact GuardLogix 5370 Safety Controllers
CompactLogix 5380 and 5480 Controllers or
Compact GuardLogix 5380 Safety Controllers
1585J-M8CBJM-x (shielded) or
1585J-M8UBJM-x (high-flex shielded)
Ethernet Cable
Any Logix 5000™ Controller
1783-US05T
Stratix 2000 Switch
Kinetix 5100 Servo Drives
(2198-E1020-ERS drives are shown)
EtherNet/IP Network
2198-USBC
Mini-USB Interface Cable
(with 2198-USBF filter)
KNX5100C Drive
Configuration Software

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 17
Start Chapter 1
Figure 7 - Kinetix 5100 Drive System with PLC Controller and Explicit Messaging Control
5100
2
1
NET
MOD
CHARGE
I/0
AUX
U
V
W
DC+
ISH
ESH
P1
P2
DC–
L1
L2
L3
L1C
L2C
ESC
OK
1585J-M8CBJM-x (shielded) or
1585J-M8UBJM-x (high-flex shielded)
Ethernet Cable
Controller Options with
Explicit Messaging Capability
Kinetix 5100 Servo Drive
(2198-E1020-ERS drive is shown)
To Other EtherNet/IP Devices
Third-party Controller
with EtherNet/IP Network
2080-LCxx-xxxx
Micro830® Controller
1766-L32xx
MicroLogix 1400 Controller
• Connected Components Workbench software
for programming Micro800 controllers
• RSLogix 500 software for programming
MicroLogix 1100 and 1400 controllers
• KNX5100C Drive Configuration software for
configuration and tuning of Kinetix 5100 drives
2198-USBC
Mini-USB Interface Cable
(with 2198-USBF filter)

18 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 1 Start
Figure 8 - Kinetix 5100 Drive System with PLC Controller and PTO, Analog or Digital I/O Control
5100
2
1
NET
MOD
CHARGE
I/0
AUX
U
V
W
DC+
ISH
ESH
P1
P2
DC–
L1
L2
L3
L1C
L2C
ESC
OK
Controller Options with
Pulse Train Output, Analog or
Digital I/O (indexing)
Kinetix 5100 Servo Drive
(2198-E1020-ERS drive is shown)
2080-LCxx-xxxx
Micro830 Controller
1766-L32xx
MicroLogix 1400 Controller Third-party Controller
with Pulse Train Output or
Analog or Digital I/O
2198-USBC
Mini-USB Interface Cable
(with 2198-USBF filter)
• Connected Components Workbench software
for programming Micro800 controllers
• RSLogix 500 software for programming
MicroLogix 1100 and 1400 controllers
• KNX5100C Drive Configuration software for
configuration and tuning of Kinetix 5100 drives

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 19
Start Chapter 1
Safe Torque Off
Configurations
Kinetix 5100 servo drives are capable of Safe Torque Off (STO) safety functions
via hardwired connections. In this example, the Safe Torque Off (STO)
connectors are wired to external safety-devices with cascading hardwired safety-
connections from one drive to another.
Figure 9 - Hardwired Safe Torque Off
Catalog Number
Explanation
Kinetix 5100 drive catalog numbers and descriptions are listed in these tables.
Table 3 - Kinetix 5100 Single-axis EtherNet/IP Servo Drives
5100
2
1
NET
MOD
CHARGE
I/0
AUX
U
V
W
DC+
ISH
ESH
P1
P2
DC–
L1
L2
L3
L1C
L2C
5100
2
1
NET
MOD
CHARGE
I/0
AUX
U
V
W
DC+
ISH
ESH
P1
P2
DC–
L1
L2
L3
L1C
L2C
5100
2
1
NET
MOD
CHARGE
I/0
AUX
U
V
W
DC+
ISH
ESH
P1
P2
DC–
L1
L2
L3
L1C
L2C
1606-XL
Power Supply
Input
Allen-Bradley
AC Input Power
Safety
Device
1606-XLxxx
24V DC Functional Safety Power
(customer-supplied)
Safe Torque Off (STO) Connectors
Kinetix 5100 Servo Drives
(2198-E1020-ERS drives are shown)
Cat. No. Input Voltage Continuous Output Power
kW
Continuous Output Current
A (rms)
Continuous Output Current
A (0-pk)
2198-E1004-ERS
95…132V rms single-phase
170…253V rms single-phase
170…253V rms three-phase
0.20
0.40
0.40 2.6 3.7
2198-E1007-ERS 0.375 0.75
0.75 5.1 7.2
2198-E1015-ERS 0.75 1.50
1.50 7.9 11.2
2198-E1020-ERS 1.00 2.00
2.00 13.4 18.9
2198-E2030-ERS
170…253V rms three-phase
3.00 17.9 25.3
2198-E2055-ERS 5.50 41.3 58.4
2198-E2075-ERS 7.50 49.0 69.3
2198-E2150-ERS 15.00 78.0 110.3

20 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 1 Start
Table 4 - Kinetix 5100 Servo Drive Accessories
Agency Compliance If this product is installed within the European Union and has the CE marking,
the following regulations apply.
For more information on electrical noise reduction, see the System Design for
Control of Electrical Noise Reference Manual, publication GMC-RM001.
To meet CE requirements, these requirements apply:
• Install an AC line filter (catalog number 2198-DBxxx-F or
2198-DBRxx-F) as close to the drive as possible.
• Bond drive modules and line-filter grounding screws by using a braided
ground strap as shown in Figure 52 on page 77.
• Use 2090 series motor-power cables or use connector kits and connect the
cable shields to the subpanel with clamp provided.
• Use 2090 series motor-feedback cables or use connector kits and properly
connect the feedback cable shield.
• Drive-to-motor power and feedback cables must not exceed:
– 50 m (164 ft) for axes with Hiperface encoder feedback or with 24-bit
high-resolution encoder feedback
– 30 m (98.4 ft) for axes with incremental encoder feedback
• Install the Kinetix 5100 system inside an enclosure. Run input power
wiring in conduit (grounded to the enclosure) outside of the enclosure.
Separate signal and power cables.
• Segregate input power wiring and motor power cables from control wiring
and motor feedback cables. Use shielded cable for power wiring and
provide a grounded 360° clamp termination.
See Appendix A on page 435 for interconnect diagrams, including input power
wiring and drive/motor interconnect diagrams.
Cat. No. Drive Components
2198-TBIO Terminal block for I/O connections
• 2198-R004 and 2198-R031
• 2097-R6 and 2097-R7 External passive-shunt resistors for use when additional shunt capability is needed.
• 2198-DBxxx-F
• 2198-DBRxxx-F AC line filters (required to meet CE)
2198-K51CK-D15M Motor feedback connector kit
2198-AUXKIT Auxiliary feedback connector kit
2198-KTBT Feedback battery-box replacement kit
ATTENTION: Meeting CE requires a grounded-wye system, and the method
of grounding the AC line filter and drive module must match. Failure to do
this renders the filter ineffective and can cause damage to the filter. For
ground examples, see Ground the Drive System on page 77.