Allen-Bradley Kinetix 5500 User manual

Kinetix 5500 Servo Drives
Catalog Numbers 2198-H003-ERS, 2198-H008-ERS, 2198-H015-ERS, 2198-H025-ERS, 2198-H040-ERS, 2198-H070-ERS
2198-H003-ERS2, 2198-H008-ERS2, 2198-H015-ERS2, 2198-H025-ERS2, 2198-H040-ERS2, 2198-H070-ERS2,
2198-CAPMOD-1300
User Manual
Original Instructions

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-UM001I-EN-P - May 2019 3
Table of Contents
Preface
Summary of Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Access the Attachments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Chapter 1
Start About the Kinetix 5500 Servo Drive System . . . . . . . . . . . . . . . . . . . . . 15
Drive Hardware and Input Power Configurations . . . . . . . . . . . . . . . 17
Standalone Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Shared AC/DC Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Shared DC Common-bus Configurations . . . . . . . . . . . . . . . . . . . 20
Shared AC/DC Hybrid Configuration. . . . . . . . . . . . . . . . . . . . . . 21
Motor Feedback and Feedback-only Configurations . . . . . . . . . . . . . 22
Typical Communication Configurations . . . . . . . . . . . . . . . . . . . . . . . . 23
Linear Topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Ring Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Star Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Safe Torque-off Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Hardwired Safety Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Integrated Safety Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Chapter 2
Plan the Kinetix 5500 Drive
System Installation
System Design Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
AC Line Filter Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Transformer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Circuit Breaker/Fuse Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
24V Control Power Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Contactor Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Passive Shunt Considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Enclosure Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . 40
Electrical Noise Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Bonding Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Bonding Multiple Subpanels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Establishing Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Cable Categories for Kinetix 5500 Systems . . . . . . . . . . . . . . . . . . 45
Noise Reduction Guidelines for Drive Accessories. . . . . . . . . . . . 46

4Rockwell Automation Publication 2198-UM001I-EN-P - May 2019
Table of Contents
Chapter 3
Mount the Kinetix 5500 Drive
System
Determine Mounting Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Zero-stack Tab and Cutout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Shared-bus Connection System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Single-axis Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Multi-axis Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Drill-hole Patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Mount Your Kinetix 5500 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Chapter 4
Connector Data and Feature
Descriptions
Kinetix 5500 Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Module Status Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Safe Torque-off Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . 63
Input Power Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
DC Bus and Shunt Resistor Connector Pinouts . . . . . . . . . . . . . . 64
Digital Inputs Connector Pinouts. . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Ethernet Communication Connector Pinout . . . . . . . . . . . . . . . . 65
Motor Power, Brake, and Feedback Connector Pinouts. . . . . . . 66
Motor Feedback Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . 66
Understand Control Signal Specifications . . . . . . . . . . . . . . . . . . . . . . . 67
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Ethernet Communication Specifications . . . . . . . . . . . . . . . . . . . . 68
Motor Brake Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Control Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Feedback Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Absolute Position Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Safe Torque-off Safety Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Servo Drives with Hardwired Safety. . . . . . . . . . . . . . . . . . . . . . . . . 72
Servo Drives with Integrated Safety . . . . . . . . . . . . . . . . . . . . . . . . . 72
Chapter 5
Connect the Kinetix 5500 Drive
System
Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Routing the Power and Signal Cables. . . . . . . . . . . . . . . . . . . . . . . . 74
Determine the Input Power Configuration . . . . . . . . . . . . . . . . . . . . . . 75
Grounded Power Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Ungrounded Power Configurations. . . . . . . . . . . . . . . . . . . . . . . . . 77
Ground Screw Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Remove the Ground Screws in Select Power Configurations . . . . . . 79
Ground the Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Ground the System Subpanel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Ground Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Wiring Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Wiring Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Wire the Power Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Wire the 24V Control Power Input Connector . . . . . . . . . . . . . . 84
Wire the Input Power Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . 85

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Table of Contents
Wire the Digital Input Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Wire the Safe Torque-off Connector. . . . . . . . . . . . . . . . . . . . . . . . 86
Wire the Digital Inputs Connector . . . . . . . . . . . . . . . . . . . . . . . . . 87
Wire Kinetix VP Motors and Actuators . . . . . . . . . . . . . . . . . . . . . . . . . 87
Maximum Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Motor Power Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Motor Brake Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Motor Feedback Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Apply the Single Motor-cable Shield Clamp . . . . . . . . . . . . . . . . . 91
Wire Other Allen-Bradley Motors and Actuators . . . . . . . . . . . . . . . . 92
Install the Kinetix 5500 Add-On Profile. . . . . . . . . . . . . . . . . . . . . 93
Motor Power and Brake Connections . . . . . . . . . . . . . . . . . . . . . . . 94
Motor Power/Brake Cable Series Change. . . . . . . . . . . . . . . . . . . . 95
Maximum Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Motor Power/Brake Cable Preparation. . . . . . . . . . . . . . . . . . . . . . 96
Apply the Motor Power/brake Shield Clamp . . . . . . . . . . . . . . . . 98
Motor Feedback Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Motor Feedback Cable Preparation . . . . . . . . . . . . . . . . . . . . . . . . 101
Capacitor Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
External Passive-shunt Resistor Connections . . . . . . . . . . . . . . . . . . . 105
Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Chapter 6
Configure and Start the
Kinetix 5500 Drive System
Understand the Kinetix 5500 Display. . . . . . . . . . . . . . . . . . . . . . . . . . 108
Menu Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Setup Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Startup Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Configure the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Set the Network Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Studio 5000 Logix Designer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Version History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Install the Kinetix 5500 Add-On Profile. . . . . . . . . . . . . . . . . . . . 114
Configure the Logix 5000 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Configure the Kinetix 5500 Drive . . . . . . . . . . . . . . . . . . . . . . . . . 118
Configure the Motion Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Configure Feedback-only Axis Properties . . . . . . . . . . . . . . . . . . . . . . 129
Configure Induction-motor Frequency-control Axis Properties . . 130
General and Motor Categories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Basic Volts/Hertz Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Sensorless Vector Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Fan/Pump Volts/Hertz Method. . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Configure SPM Motor Closed-loop Control Axis Properties. . . . . 138
Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Apply Power to the Kinetix 5500 Drive . . . . . . . . . . . . . . . . . . . . . . . . 143
Applying Power after Changing Input Voltage Range. . . . . . . . 143
Understand Bus-sharing Group Configuration . . . . . . . . . . . . . . . . . 144
Bus-sharing Group Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

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Table of Contents
Configure Bus-sharing Groups. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Test and Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
Test the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Chapter 7
Troubleshoot the Kinetix 5500
Drive System
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Interpret Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Display Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Fault Code Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Kinetix 5500 Drive Status Indicators. . . . . . . . . . . . . . . . . . . . . . . 158
Kinetix 5500 Capacitor Module Status Indicators . . . . . . . . . . . 159
General Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Logix 5000 Controller and Drive Behavior . . . . . . . . . . . . . . . . . . . . . 161
Chapter 8
Remove and Replace Servo Drives Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Remove and Replace Kinetix 5500 Servo Drives . . . . . . . . . . . . . . . . 166
Remove Power and All Connections . . . . . . . . . . . . . . . . . . . . . . . 166
Remove the Servo Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Replace the Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Start and Configure the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Chapter 9
Kinetix 5500 Safe Torque-off -
Hardwired Safety
Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Important Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Category 3 Requirements According to ISO 13849-1. . . . . . . . 170
Stop Category Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Performance Level (PL) and Safety Integrity Level (SIL) . . . . . 170
Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Probability of Dangerous Failure Per Hour . . . . . . . . . . . . . . . . . . . . . 173
Safe Torque-off Connector Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Wire the Safe Torque-off Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Safe Torque-off Wiring Requirements. . . . . . . . . . . . . . . . . . . . . . 174
Safe Torque-off Feature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Safe Torque-off Feature Bypass . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Cascade the Safe Torque-off Signal. . . . . . . . . . . . . . . . . . . . . . . . . 176
Safe Torque-off Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Chapter 10
Kinetix 5500 Safe Torque-off -
Integrated Safety
Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Important Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Safety Application Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . 178

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Table of Contents
Category 3 Requirements According to ISO 13849. . . . . . . . . . 178
Stop Category Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Performance Level (PL) and Safety Integrity Level (SIL) . . . . . 179
Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
STO State Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Probability of Dangerous Failure Per Hour . . . . . . . . . . . . . . . . . . . . . 181
Safe Torque-off Feature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Out-of-Box State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Out-of-Box State Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Understand Integrated Safety Drive Replacement. . . . . . . . . . . . . . . 183
Replace an Integrated Safety Drive in a GuardLogix System . . . . . . 184
Configure Only When No Safety Signature Exists. . . . . . . . . . . 185
Configure Always . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Motion Direct Commands in Motion Control Systems . . . . . . . . . 186
Understand STO Bypass When Using
Motion Direct Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Logix Designer Application Warning Messages . . . . . . . . . . . . . 187
Torque Permitted in a Multi-workstation Environment . . . . . 189
Warning Icon and Text in Axis Properties . . . . . . . . . . . . . . . . . . 189
Functional Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Safe Torque-off Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Appendix A
Interconnect Diagrams Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
Single-axis Drive Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . 194
Bus-sharing Wiring Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
Shunt Resistor Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Kinetix 5500 Servo Drive and Rotary Motor Wiring Examples. . . 199
Kinetix 5500 Drive and Linear Actuator Wiring Examples. . . . . . . 201
System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Appendix B
Upgrade the Drive Firmware Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Configure Logix 5000 Controller Communication. . . . . . . . . . 209
Inhibit Feedback Only Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Upgrade Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Verify the Firmware Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Appendix C
Size Multi-axis Shared-bus
Configurations
Shared-bus Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
Shared AC Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Shared DC Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Shared AC/DC Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Shared AC/DC Hybrid Configurations . . . . . . . . . . . . . . . . . . . . 221

8Rockwell Automation Publication 2198-UM001I-EN-P - May 2019
Table of Contents
Power-sharing Sizing Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Shared DC Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Shared AC/DC Hybrid Example . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Shared AC/DC Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
Control Power Current Calculations . . . . . . . . . . . . . . . . . . . . . . . . . . 224
Kinetix 5500 System Current Demand Example . . . . . . . . . . . . 225
Energy Calculations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
Appendix D
Motor Control Feature Support Frequency Control Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Basic Volts/Hertz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
Basic Volts/Hertz for Fan/Pump Applications . . . . . . . . . . . . . . 230
Sensorless Vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Current Limiting for Frequency Control. . . . . . . . . . . . . . . . . . . . . . . 232
The Effects of Current Limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
Enable the Current Limiting Feature. . . . . . . . . . . . . . . . . . . . . . . 234
Set the CurrentVectorLimit Attribute Value. . . . . . . . . . . . . . . . 234
Stability Control for Frequency Control . . . . . . . . . . . . . . . . . . . . . . . 235
Enable the Stability Control Feature . . . . . . . . . . . . . . . . . . . . . . . 236
Skip Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Multiple Skip Speeds. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Flux Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Flux Up Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
Configure the Flux Up Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . 241
Current Regulator Loop Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Motor Category. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Motor Tests and Autotune Procedure . . . . . . . . . . . . . . . . . . . . . . 244
Motor Analyzer Category Troubleshooting. . . . . . . . . . . . . . . . . 245
Selection of Motor Thermal Models . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
Generic Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
Thermally Characterized Motors . . . . . . . . . . . . . . . . . . . . . . . . . . 249
Speed Limited Adjustable Torque (SLAT) . . . . . . . . . . . . . . . . . . . . . 250
Motion Polarity Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
SLAT Min Speed/Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
SLAT Max Speed/Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
SLAT Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
Configure the Axis for SLAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
Motor Overload Retention. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
Phase Loss Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
Phase-loss Detection Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
Phase-loss Detection Configuration. . . . . . . . . . . . . . . . . . . . . . . . 258
Phase Loss Detection Current Example . . . . . . . . . . . . . . . . . . . . 259
Velocity Droop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
Closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
Frequency Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
Velocity Droop Attribute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
Velocity Droop Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

Rockwell Automation Publication 2198-UM001I-EN-P - May 2019 9
Table of Contents
Commutation Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
Adaptive Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263

10 Rockwell Automation Publication 2198-UM001I-EN-P - May 2019
Table of Contents
Notes:

Rockwell Automation Publication 2198-UM001I-EN-P - May 2019 11
Preface
This manual provides detailed installation instructions for mounting, wiring,
and troubleshooting the Kinetix® 5500 servo drives, and system integration for
your drive and motor/actuator combination with a Logix 5000™ controller.
This manual is intended for engineers or technicians directly involved in the
installation and wiring of the Kinetix 5500 drives, and programmers directly
involved in the operation, field maintenance, and integration of these drives
with the EtherNet/IP™ communication module or controller.
If you do not have a basic understanding of Kinetix 5500 servo drives, contact
your local Rockwell Automation sales representative for information on
available training courses.
Summary of Changes This manual contains new and updated information as indicated in the
following table.
Topic Page
Added Access the Attachments that explains how the fault code tables (FLT Sxx, FLT Mxx, and INIT FLT for example), previously in Troubleshoot the Kinetix 5500
Drive System (chapter 7), moved to the attached spreadsheet. 12
Added Kinetix VP (Bulletin VPH) hygienic stainless-steel servo motors as another rotary motor compatible with Kinetix 5500 servo drives. 16 and
throughout
Added Kinetix VP (Bulletin VPAR) electric cylinders as another linear actuator compatible with Kinetix 5500 servo drives.
Added 2198-DBRxx-F AC line filters. 16 and
throughout
Added 24V Control Power Evaluation with information to help evaluate 24V control power current requirements. 37
Added Contactor Selection with information to help evaluate AC input power system requirements. 37
Added Passive Shunt Considerations with information to help evaluate when an external shunt resistor is required. 38
Added the 2198-CAPMOD-1300 capacitor module power dissipation specifications to the table. 40
Added Capacitor Module Features and Indicators (previously in Chapter 5) and Module Status Connector Pinout. 63
Added new information regarding the use of 2198-DBRxx-F AC line filters and servo drive ground screw settings. 75…79
Updated the maximum input current rating (40 A) for the 24V input power shared-bus connection system. 84
Updated Install the Kinetix 5500 Add-On Profile with instructions for accessing downloads on the Product Compatibility Download Center (PCDC). 114
Added step 5 to the Tune the Axes procedure. 152
Updated Motor Analyzer Category Troubleshooting with rated slip-speed information. 245
The Certifications appendix was removed with links to the Product Certifications website added to Chapter 9 and Chapter 10. 169 and 177

12 Rockwell Automation Publication 2198-UM001I-EN-P - May 2019
Preface
Conventions Used in This
Manual
These conventions are used throughout this manual:
• Bulleted lists such as this one provide information, not procedural steps.
• Numbered lists provide sequential steps or hierarchical information.
• Catalog number string 2198-Hxxx-ERSxis used when there’s no need
to distinguish between -ERS or -ERS2 servo drives.
Access the Attachments The Microsoft Excel spreadsheet that is attached to this publication contains
fault code descriptions. To use the spreadsheet file, click the Attachments link
, right-click the spreadsheet file, and save the file to your computer.
If the PDF file opens in a browser and you don't see the Attachments link ,
download the PDF file and reopen the file with the Adobe Acrobat Reader
application.
Additional Resources These documents contain additional information concerning related products
from Rockwell Automation.
Kinetix 5500 Drive Cat. No. Description
2198-Hxxx-ERS Kinetix 5500 drive with hardwired safe torque-off functionality
2198-Hxxx-ERS2 Kinetix 5500 drive with integrated safe torque-off functionality
Table 1 - Additional Resources
Resource Description
Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001 Product specifications for Kinetix VP (Bulletin VPL, VPF, VPH, and VPS), MP-Series™
(Bulletin MPL, MPM, MPF, and MPS), TL-Series™, and HPK-Series™ rotary motors.
Kinetix Linear Motion Specifications Technical Data, publication KNX-TD002 Product specifications for MP-Series (Bulletin MPAS ballscrew, MPAR, and MPAI)
and LDAT-Series linear actuators.
Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 Product specifications for Kinetix Integrated Motion over the EtherNet/IP network, Integrated Motion over sercos interface, EtherNet/IP networking, and component
servo drive families.
Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004 Product specifications for Bulletin 2090 motor and interface cables, low-profile
connector kits, drive power components, and other servo drive accessory items.
AC Line Filter Installation Instructions, publication 2198-IN003 Provides information on how to install AC line filters designed for Kinetix 5500 and
Kinetix 5700 servo drive systems.
Shunt Resistor Installation Instructions, publication 2097-IN002 Provides information onhow to install and wire Bulletin 2097 shunt resistors.

Rockwell Automation Publication 2198-UM001I-EN-P - May 2019 13
Preface
You can view or download publications at
http://www.rockwellautomation.com/global/literature-library/overview.page.
System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001 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.
Kinetix 5500 Drive Systems Design Guide, publication KNX-RM009 System design guide to select the required (drive specific) drive module, power accessory, feedback connector kit, and motor cable catalog numbers for your
Kinetix 5500 drive and Kinetix VP motor motion control system.
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.
Motor Nameplate Datasheet Entry for Custom Motor Applications Application Technique,
publication 2198-AT002
Provides information on the use of nameplate data entry for custom induction
motors and permanent-magnet motors that are used in applications with
Kinetix 5700 servo drives.
Vertical Load and Holding Brake Management Application Technique,
publication MOTION-AT003 Provides information on vertical loads and how the servo motor holding-brake option can be used to help keep a load from falling.
Integrated Motion on the EtherNet/IP Network Reference Manual,
publication MOTION-RM003 Information on the AXIS_CIP_DRIVE attributes and the configuration software control modes and methods.
Integrated Motion on the EtherNet/IP Network Configuration and Startup User Manual,
publication MOTION-UM003 Information on how to configure and troubleshoot your ControlLogix® and
CompactLogix™ EtherNet/IP network modules.
GuardLogix 5570 Controllers User Manual, publication1756-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, publication1756-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, publication1756-UM105 Provides information on how to upgrade your drive firmware by using
ControlFLASH™ software.
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

14 Rockwell Automation Publication 2198-UM001I-EN-P - May 2019
Preface
Notes:

Rockwell Automation Publication 2198-UM001I-EN-P - May 2019 15
Chapter 1
Start
Use this chapter to become familiar with the Kinetix® 5500 drive system and
obtain an overview of the installation configurations.
About the Kinetix 5500
Servo Drive System
The Kinetix 5500 servo drives are designed to provide a Kinetix Integrated
Motion solution for your drive and motor/actuator application.
Topic Page
About the Kinetix 5500 Servo Drive System 15
Drive Hardware and Input Power Configurations 17
Motor Feedback and Feedback-only Configurations 22
Typical Communication Configurations 23
Safe Torque-off Configurations 26
Catalog Number Explanation 29
Agency Compliance 30
Table 2 - Kinetix 5500 Drive System Overview
Drive System
Component Cat. No. Description
Kinetix 5500
Servo Drives
2198-Hxxx-ERS 200V-class (single-phase or three-phase) and 400V-class (three-phase) drives operate in standalone and multi-axis shared AC, shared DC,shared AC/DC, and shared AC/DC hybrid configurations. Modules are zero-stacked from drive-to-drive and use the
shared-bus connection system to extend power in multi-axis configurations. Safe torque-off via hardwired (STO) connector.
2198-Hxxx-ERS2 Same power structures as 2198-Hxxx-ERS servo drives with standalone and multi-axisbus-sharing capability. Safe torque-off via
the EtherNet/IP™ network.
Kinetix 5500
Capacitor Module 2198-CAPMOD-1300 Use for energy storage and/or to improve performance in applications producing regenerative energy and requiring shorter duty
cycles (1360 μf). Modules are zero-stacked side-by-side with servo drives and use the shared-bus connection system to extend
power.
Shared-bus
Connector Kits
2198-H040-x-x Input wiring connectors and DC bus T-connector for frame 1 and 2 servo drives.
2198-H070-x-x Input wiring connectors and DC bus T-connector for frame 3 servo drives.
Feedback
Connector Kit 2198-KITCON-DSL Replacement feedback connector kit with 2-pin connector plug and grounding plate insidethe connector housing.
Hiperface to DSL
Converter Kit 2198-H2DCK (series B or later) Use the 2198-H2DCK Hiperface-to-DSL feedback converter kit with MP-Series™ (Bulletin MPL, MPM, MPF, and MPS) rotary motors, MP-Series (Bulletin MPAS ballscrew, MPAR, MPAI) linear actuators, and LDAT-Series linear thrusters.
I/O Connector Kits 2198-KITCON-IOSP Replacement I/O connector kit (spring clamp) for I/O (IOD) connector.
2198-KITCON-IOSC Replacement I/O connector kit (screw terminal) for I/O (IOD) connector.
Connector Sets
2198-KITCON-PWR40 Replacement connector set, 40 A, for frame 1 and frame 2 drives.
2198-KITCON-PWR70 Replacement connector set, 70 A, for frame 3 drives.
2198-KITCON-CAP1300 Replacement connector set, 40 A, for capacitor module.

16 Rockwell Automation Publication 2198-UM001I-EN-P - May 2019
Chapter 1 Start
Encoder Output
Module 2198-ABQE The Allen-Bradley® encoder output module is a DIN-rail mounted EtherNet/IP network-based standalone module capable of outputting encoder pulses to a customer-supplied peripheral device (cameras, for example, used in line-scan vision systems).
Logix 5000™
Controller Platform
Bulletin 1769
Bulletin 5069 Integrated Motion on the EtherNet/IP network in CompactLogix™ 5370, CompactLogix 5380, and CompactLogix 5480 controllers and Integrated Safety in Compact GuardLogix® 5370 controllers. Linear, device-level ring (DLR), and star topology is supported.
1756-EN2T module
1756-EN2TR module
1756-EN3TR module
EtherNet/IP network communication modules for use with ControlLogix® 5570, ControlLogix 5580, and GuardLogix 5570
controllers. Linear, device-level ring (DLR), and star topology is supported.
Studio 5000®
Environment N/A Studio 5000 Logix Designer® application, version 21.00 or later, provides support for programming, commissioning, and
maintaining the CompactLogix and ControlLogix controller families. Version 24.00 or later is required for 2198-Hxxx-ERS2 servo
drives.
RotaryServo
Motors
VPL-Axxxx, VPL-Bxxxx
VPF-Axxxx, VPF-Bxxxx
VPH-Axxxx, VPH-Bxxxx
VPS-Bxxxx
Compatible rotary motors include 200V and 400V-class Kinetix VP (Bulletin VPL, VPF, VPH, and VPS).
MP-Series Compatible rotary motors include 200V and 400V-class MP-Series (Bulletin MPL, MPM, MPF, and MPS) when used with the
Hiperface-to-DSL feedback converter kit.
Linear Actuators Kinetix VP MP-Series
LDAT-Series
Compatible linear actuators include 200V and 400V-class Kinetix VP (Bulletin VPAR), MP-Series (Bulletin MPAS ballscrew, MPAR,
and MPAI) and LDAT-Series when used with the Hiperface-to-DSL feedback converter kit.
Induction Motors N/A Induction motors with open loop frequency control are also supported.
Cables
2090-CSxM1DF-xxAxxx Bulletin 2090 flying-lead single-cable for motor power, feedback, and 24V DC brake power with Kinetix VP motors. Designed
specifically for Kinetix 5500 servo drives.
2090-CSxM1DG-xxAxxx Bulletin 2090 flying-lead single cable for motor power, feedback, and 24V DC brake power with Kinetix VP motors and actuators.
Designed with longer leads than 2090-CSxM1DF cables to accommodate Kinetix5500 or Kinetix 5700 drive families.
2090-CFBM7DF-CEAxxx Bulletin 2090 motor feedback cables for MP-Series motors and actuators.
2090-CPxM7DF-xxAxxx Bulletin 2090 motor power/brake cables for MP-Series motors and actuators.
1585J-M8CBJM-xEthernet cables are available in standard lengths. Shielded cable is recommended.
AC Line Filters
2198-DB08-F
2198-DB20-F
2198-DB42-F
Bulletin 2198 three-phase AC line filters are required to meet CE and available for use in all Kinetix 5500 drive systems. Use
2198-DBxx-F filters as field replacements in existing installations. Select 2198-DBRxx-F filters for all new systems and do not
remove the servo drive ground screws.
2198-DBR20-F
2198-DBR40-F
2198-DBR90-F
Bulletin 2198 three-phase AC line filters are required to meet CE and available for use with all Kinetix 5500 drive systems. Select
2198-DBRxx-F filters for all new systems and do not remove the servo drive ground screws.
24V DC Power
Supply 1606-XLxxx Bulletin 1606 24V DC power supply for control circuitry, digital inputs, safety, and motor brake.
External Shunt
Resistors 2097-R6 and 2097-R7 Bulletin 2097 external passive shunt resistors for when the internal shunt capability of the drive is exceeded.
Table 2 - Kinetix 5500 Drive System Overview (continued)
Drive System
Component Cat. No. Description

Rockwell Automation Publication 2198-UM001I-EN-P - May 2019 17
Start Chapter 1
Drive Hardware and Input
Power Configurations
Typical Kinetix 5500 systems include single-phase and three-phase standalone
configurations, three-phase shared AC, shared AC/DC, shared DC, and
shared AC/DC hybrid configurations.
Standalone Configurations
In these examples, a single standalone drive is shown with and without the
Bulletin 2198 capacitor module.
Figure 1 - Typical Kinetix 5500 Standalone Installation
1606-XL
Power Supply
Input
Allen-Bradley
Single-phase or
Three-phase
Input Power
Line
Disconnect
Device
Input
Fusing
2198-Hxxx-ERSxDrive
(front view)
2097-Rx
Shunt Resistor
(optional component)
2198-Hxxx-ERSxDrive
(top view)
AC Input Power
Bonded Cabinet
Ground Bus
Mains AC and 24V input
wired to standard input
connectors.
2198-DBRxx-F
AC Line Filter
(can be required
for CE)
Shared DC (DC common bus)
Shared 24V (control power input)
2198-Hxxx-ERSxDrive (top view)
with 2198-CAPMOD-1300
Capacitor Module
2198-H0x0-x-x shared-bus
connection system for bus-
sharing configurations.
Mains AC input wired to
standard input connector.
Digital Inputs
to Sensors and Control String
1606-XLxxx
24V DC Control, Digital Inputs,
and Motor Brake Power
(customer-supplied)

18 Rockwell Automation Publication 2198-UM001I-EN-P - May 2019
Chapter 1 Start
In this example, three-phase AC power and 24V control power is shared in a
multi-axis configuration. All drives must have the same power rating (catalog
number).
Figure 2 - Typical Shared AC Installations
1606-XL
Power Supply
Input
Allen-Bradley
Kinetix 5500 Servo Drives (top view)
(2198-H008-ERS drives shown)
2097-Rx
Shunt Resistor
(optional component)
Line
Disconnect
Device
Input
Fusing
Three-phase
Input Power
AC Input Power
Bonded Cabinet
Ground Bus
Kinetix 5500 Servo Drives (front view)
(2198-H008-ERS drives shown)
2198-DBRxx-F
AC Line Filter
(can be required for CE)
Shared AC (mains AC input)
Shared 24V (control power input)
Shared-bus connection system
for bus-sharing configurations.
Digital Inputs
to Sensors and Control String
1606-XLxxx
24V DC Control, Digital Inputs,
and Motor Brake Power
(customer-supplied)
IMPORTANT In shared AC configurations, all drives must have the same power rating.
Shared AC configurations do not support Bulletin 2198 capacitor modules.

Rockwell Automation Publication 2198-UM001I-EN-P - May 2019 19
Start Chapter 1
Shared AC/DC Configurations
In this example, three-phase AC input power, 24V control power, and DC-bus
power are shared in a multi-axis configuration. All drives must be the same
power rating (catalog number).
Figure 3 - Typical Shared AC/DC Installations
1606-XL
Power Supply
Input
Allen-Bradley
2097-Rx
Shunt Resistor
(optional component)
Line
Disconnect
Device
Input
Fusing
Three-phase
Input Power
AC Input Power
Bonded Cabinet
Ground Bus
2198-DBRxx-F
AC Line Filter
(can be required for CE)
Kinetix 5500 Servo Drives (top view)
(2198-H015-ERS drives shown)
Kinetix 5500 Servo Drives (front view)
(2198-H015-ERS drives shown)
Shared AC (mains AC input)
Shared DC (DC common bus)
Shared 24V (control power input)
2198-CAPMOD-1300 Capacitor Module
(optional component)
Shared-bus connection system for
bus-sharing configurations.
Digital Inputs
to Sensors and Control String
1606-XLxxx
24V DC Control, Digital Inputs,
and Motor Brake Power
(customer-supplied)
IMPORTANT In shared AC/DC configurations, all drives must have the same power rating
(catalog number).

20 Rockwell Automation Publication 2198-UM001I-EN-P - May 2019
Chapter 1 Start
Shared DC Common-bus Configurations
In this multi-axis example, the common-bus leader (sourcing) drive receives
three-phase AC input power and supplies DC power to common-bus follower
(sinking) drives. The common-bus leader-drive power rating is greater than or
equal to the power rating of each follower drive.
Figure 4 - Typical Shared DC Common-bus Installations
(
1606-XL
Power Supply
Input
Allen-Bradley
Kinetix 5500 Servo Drive System (top view)
2097-Rx
Shunt Resistor
(optional component)
Line
Disconnect
Device
Input
Fusing
Three-phase
Input Power
2198-H040-ERS
Common-bus Leader Drive
AC Input Power
Bonded Cabinet
Ground Bus
Kinetix 5500 Servo Drive System (front view)
2198-H008-ERS
Common-bus
Follower Drives
2198-DBRxx-F
AC Line Filter
(can be required for CE)
Shared DC (DC common bus)
Shared 24V (controlpower input)
2198-CAPMOD-1300 Capacitor Module
(optional component)
Shared-bus connection system
for bus-sharing configurations.
Digital Inputs
to Sensors and Control String
1606-XLxxx
24V DC Control, Digital Inputs,
and Motor Brake Power
(customer-supplied)
IMPORTANT In shared DC common-bus configurations, the leader drive power rating
must be greater than or equal to the power rating of the follower drives.