Allen-Bradley Kinetix 5700 User manual

Kinetix 5700 Servo Drives
Catalog Numbers 2198-P031, 2198-P070, 2198-P141, 2198-P208, 2198-RP088, 2198-RP200, 2198-RP263, 2198-RP312,
2198-D006-ERS3, 2198-D012-ERS3, 2198-D020-ERS3, 2198-D032-ERS3, 2198-D057-ERS3, 2198-S086-ERS3,
2198-S130-ERS3, 2198-S160-ERS3, 2198-S263-ERS3, 2198-S312-ERS3, 2198-D006-ERS4, 2198-D012-ERS4,
2198-D020-ERS4, 2198-D032-ERS4, 2198-D057-ERS4, 2198-S086-ERS4, 2198-S130-ERS4, 2198-S160-ERS4,
2198-S263-ERS4, 2198-S312-ERS4, 2198T-W25K-ER, 2198-CAPMOD-2240, 2198-CAPMOD-DCBUS-IO,
2198-DCBUSCOND-RP312
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-UM002G-EN-P - February 2019 3
Table of Contents
Preface
Summary of Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Access the Attachments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Chapter 1
Start Kinetix 5700 Servo Drives Series Change. . . . . . . . . . . . . . . . . . . . . . . . 16
About the Kinetix 5700 Servo Drive System . . . . . . . . . . . . . . . . . . . . . 17
DC-bus Power Supply Input Power Configurations. . . . . . . . . . . . . . 19
Typical DC-bus Power Supply Configuration Example . . . . . . . 19
Multiple DC-Bus Power Supply Configuration Example. . . . . . 20
Extended DC-bus Configuration Example. . . . . . . . . . . . . . . . . . . 21
iTRAK Power Supply Configuration Example . . . . . . . . . . . . . . . 22
Regenerative Bus Supply Input Power Configurations. . . . . . . . . . . . 23
Typical Regenerative Bus Configuration Examples . . . . . . . . . . . 23
Extended Regenerative Bus Configuration Example . . . . . . . . . . 26
iTRAK Power Supply Configuration Example . . . . . . . . . . . . . . . 27
8720MC-RPS Power Supply Input Power Configuration. . . . . . . . . 28
Motor and Auxiliary Feedback Configurations . . . . . . . . . . . . . . . . . . 29
Typical Communication Configurations . . . . . . . . . . . . . . . . . . . . . . . . 30
Linear Topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Ring Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Star Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Functional Safety Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Hardwired Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Integrated Safety Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Safe Stop and Safe Monitor Configurations. . . . . . . . . . . . . . . . . . 36
Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Chapter 2
Plan the Kinetix 5700 Drive
System Installation
System Design Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
System Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
DC-bus Voltage Regulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
AC Line Filter Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
AC Line Impedance Considerations . . . . . . . . . . . . . . . . . . . . . . . . 45
Circuit Breaker/Fuse Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
24V Control Power Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Contactor Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Passive Shunt Considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Active Shunt Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Enclosure Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . 56
Multi-axis Shared DC-Bus Configurations. . . . . . . . . . . . . . . . . . . 57

4Rockwell Automation Publication 2198-UM002G-EN-P - February 2019
Table of Contents
Accessory Module Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
DC-bus Power Supply Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Regenerative Bus Supply Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
8720MC-RPS or Other Regenerative Power Supply . . . . . . . . . . 64
Accessory Module Flowcharts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Electrical Noise Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Bonding Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Bonding Multiple Subpanels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Establishing Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Cable Categories for Kinetix 5700 Systems . . . . . . . . . . . . . . . . . . 72
Noise Reduction Guidelines for Drive System Accessories. . . . . 73
Chapter 3
Mount the Kinetix 5700 Drive
System
Determine Mounting Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Mount Accessory Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Zero-stack Tab and Cutout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Install Shared-bus Connection Systems . . . . . . . . . . . . . . . . . . . . . . . . . 84
DC-bus Connection System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
24V Input Power Connection System . . . . . . . . . . . . . . . . . . . . . . . 85
Drill-hole Patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Drill-hole Pattern Calculations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Drill-hole Patterns by Using the System Mounting Toolkit . . . 90
Mount Your Kinetix 5700 Drive Modules. . . . . . . . . . . . . . . . . . . . . . . 90
Chapter 4
Connector Data and Feature
Descriptions
Kinetix 5700 Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Safe Torque-off Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . 102
Input Power Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
DC Bus and Shunt Resistor Connector Pinouts . . . . . . . . . . . . . 103
Digital Inputs Connector Pinouts. . . . . . . . . . . . . . . . . . . . . . . . . . 103
Ethernet Communication Connector Pinout . . . . . . . . . . . . . . . 105
Motor Power, Brake, and Feedback Connector Pinouts. . . . . . 105
Motor Feedback Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . 106
Universal Feedback Connector Pinouts . . . . . . . . . . . . . . . . . . . . 107
Accessory Module Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Understand Control Signal Specifications . . . . . . . . . . . . . . . . . . . . . . 108
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Ethernet Communication Specifications . . . . . . . . . . . . . . . . . . . 109
Contactor Enable Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Converter OK Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Motor Brake Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Control Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Feedback Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Encoder Feedback Supported on the
DSL Feedback Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 5
Table of Contents
Encoder Feedback Supported on the
UFB Feedback Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Auxiliary Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Encoder Phasing Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Absolute Position Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Functional Safety Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Hardwired STO Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Integrated Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Chapter 5
Connect the Kinetix 5700 Drive
System
Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Routing the Power and Signal Cables. . . . . . . . . . . . . . . . . . . . . . . 128
Input Power Configurations for Kinetix 5700 Power Supplies . . . 129
DC-bus Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Regenerative Bus Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Ground Screw/Jumper Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Kinetix 5700 Drive System Power Supply. . . . . . . . . . . . . . . . . . . 135
Kinetix 5700 Inverters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Kinetix 5700 iTRAK Power Supply . . . . . . . . . . . . . . . . . . . . . . . . 137
Remove/Install the Ground Screw/Jumper . . . . . . . . . . . . . . . . . . . . . 137
Ground the Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Ground the System Subpanel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Ground Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Wiring Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Wiring Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Wire the Power Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Wire the 24V Control Power Input Connector . . . . . . . . . . . . . 145
Wire the Input Power Connector. . . . . . . . . . . . . . . . . . . . . . . . . . 147
Wire the Contactor Enable Connector . . . . . . . . . . . . . . . . . . . . . 148
Wire the Digital Input Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
2198-xxxx-ERS3 (series A) Connector Plugs. . . . . . . . . . . . . . . . 149
2198-xxxx-ERS4 and 2198-xxxx-ERS3 (series B)
Connector Plugs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Wire the Safe Torque-off Connector. . . . . . . . . . . . . . . . . . . . . . . 150
Wire the Digital Inputs Connector . . . . . . . . . . . . . . . . . . . . . . . . 151
Wire Motor Power and Brake Connectors . . . . . . . . . . . . . . . . . . . . . 152
Maximum Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Wiring Single Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Motor Feedback Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Apply the Single Motor Cable Shield Clamp. . . . . . . . . . . . . . . . 161
Wiring Power/Brake and Feedback Cables . . . . . . . . . . . . . . . . . . . . . 163
Motor Power and Brake Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Motor Power/Brake Cable Series Change. . . . . . . . . . . . . . . . . . . 164
Dual-axis Inverter Power/Brake Cable Installation . . . . . . . . . . 165
Single-axis Inverter Power/Brake Cable Installation . . . . . . . . . 168
Motor Feedback Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Customer-supplied Motor Power Cables . . . . . . . . . . . . . . . . . . . . . . . 178

6Rockwell Automation Publication 2198-UM002G-EN-P - February 2019
Table of Contents
Accessory Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
External Passive-shunt Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
External Active-shunt Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
DC-bus Power Supply Active Shunt Connections. . . . . . . . . . . 183
Regenerative Bus Supply Active Shunt Connections . . . . . . . . . 183
Wire the External DC-bus Connections. . . . . . . . . . . . . . . . . . . . 184
Bulletin VPC Motors and the Extended Speed Feature . . . . . . 185
Considerations for Powerohm Shunt Installation . . . . . . . . . . . 185
Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Chapter 6
Configure and Start the
Kinetix 5700 Drive System
Understand the Kinetix 5700 Display. . . . . . . . . . . . . . . . . . . . . . . . . . 188
Menu Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Setup Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Startup Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Configure the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Set the Network Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Studio 5000 Logix Designer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Version History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Install the Kinetix 5700 Add-On Profile. . . . . . . . . . . . . . . . . . . . 199
Configure the Logix 5000 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Configure the Kinetix 5700 Drive Modules . . . . . . . . . . . . . . . . . . . . 203
Configure the DC-bus Power Supply. . . . . . . . . . . . . . . . . . . . . . . 203
Configure the Regenerative Bus Supply. . . . . . . . . . . . . . . . . . . . . 207
Configure the Inverter Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Continue Inverter Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Configure the Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Configure Regenerative Bus Supply Axis Properties . . . . . . . . . . . . . 224
Configure Vertical Load Control Axis Properties . . . . . . . . . . . . . . . 229
Configure Feedback-only Axis Properties . . . . . . . . . . . . . . . . . . . . . . 230
Configure Induction-motor Frequency-control Axis Properties . . 232
General and Motor Categories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
Basic Volts/Hertz Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Sensorless Vector Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
Fan/Pump Volts/Hertz Method. . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Configure IPM Motor Closed-loop Control Axis Properties . . . . . 241
Configure SPM Motor Closed-loop Control Axis Properties. . . . . 245
Configure Induction-motor Closed-loop Control Axis Properties 249
Configure Feedback Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
Configure Module Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
Apply Power to the Kinetix 5700 Drive System . . . . . . . . . . . . . . . . . 262
Understand Bus-sharing Group Configuration . . . . . . . . . . . . . . . . . 263
Bus-sharing Group Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
Configure Bus-sharing Groups. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
Test and Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 7
Table of Contents
Test the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
Chapter 7
Troubleshoot the Kinetix 5700
Drive System
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
Interpret Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
Display Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
Fault Code Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
SAFE FLT Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
Kinetix 5700 Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
Kinetix 5700 Accessory Module Status Indicators . . . . . . . . . . . 279
Axis Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
Regenerative Bus Supply Troubleshooting. . . . . . . . . . . . . . . . . . . . . . 281
Logix 5000 Controller and Drive Module Behavior . . . . . . . . . . . . . 283
DC-bus Power Supply Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
Regenerative Bus Supply Behavior . . . . . . . . . . . . . . . . . . . . . . . . . 286
iTRAK Power Supply Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
Inverter Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
Chapter 8
Remove and Replace Drive
Modules
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
Remove and Replace Kinetix 5700 Drive Modules . . . . . . . . . . . . . . 296
Remove Power and All Connections . . . . . . . . . . . . . . . . . . . . . . . 296
Remove the Drive Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
Replace the Drive Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
Start and Configure the Drive Module . . . . . . . . . . . . . . . . . . . . . . . . . 302
Replacing 2198-xxxx-ERS3 (series A) Drives with
Series B Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
Chapter 9
Kinetix 5700 Safe Torque-off
Function
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Average Frequency of a Dangerous Failure . . . . . . . . . . . . . . . . . . 307
Safe Torque-off Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Out of Box State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Safe Torque-off Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
Explicit Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
Hardwired Safe Torque-off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
Compatible Controllers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
Troubleshoot the Safe Torque-off Function . . . . . . . . . . . . . . . . 316
Safe Torque-off Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . . . 317
Wire the Safe Torque-off Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . 318
Safe Torque-off Wiring Requirements. . . . . . . . . . . . . . . . . . . . . . 320
Safe Torque-off Feature Bypass . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321

8Rockwell Automation Publication 2198-UM002G-EN-P - February 2019
Table of Contents
Cascade the Safe Torque-off Signal. . . . . . . . . . . . . . . . . . . . . . . . . 321
Hardwired Safe Torque-off Electrical Specifications . . . . . . . . . 323
Integrated Safe Torque-off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
Compatible Safety Controllers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
Safety Application Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . 324
Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
Safe Torque-off Assembly Tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
STO Fault Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
Troubleshoot the Safe Torque-off Function . . . . . . . . . . . . . . . . 329
Understand Integrated Safety Drive Replacement . . . . . . . . . . . 330
Replace an Integrated Safety Drive in a GuardLogix System . . 331
Motion Direct Commands in Motion Control Systems. . . . . . 332
Integrated Safe Torque-off Specifications. . . . . . . . . . . . . . . . . . . 339
Appendix A
Interconnect Diagrams Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Capacitor Module Status Wiring Example. . . . . . . . . . . . . . . . . . . . . . 357
DC-bus Conditioner Module Status Wiring Example . . . . . . . . . . . 357
Contactor Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358
Passive Shunt Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
Active Shunt Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360
Kinetix 5700 Servo Drive and Rotary Motor Wiring Examples. . . 362
Kinetix 5700 Servo Drive and Linear Actuator Wiring Examples . 367
System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
Appendix B
Upgrade the Drive Firmware Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
Configure Logix 5000 Controller Communication. . . . . . . . . . 383
Inhibit Feedback Only Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
Upgrade Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
Verify the Firmware Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Appendix C
Size Multi-axis Shared-bus
Configurations
Shared DC-bus Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
Shared DC-bus Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
General Sizing Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
System Sizing Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
Select Drive/Motor Combinations. . . . . . . . . . . . . . . . . . . . . . . . . 394
Select the Power Supply and Define the DC-bus Groups. . . . . 394
Calculate System and External-bus Capacitance . . . . . . . . . . . . . 394
Calculate the Total Motor Power Cable Length. . . . . . . . . . . . . 395
Calculate 24V DC Control Power Current Demand . . . . . . . . 396
24V DC Voltage Drop Calculation Example. . . . . . . . . . . . . . . . 397
System Sizing Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
System Sizing Application Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 9
Table of Contents
Appendix D
Maximum Motor Cable Lengths
for Kinetix 5700 Power Supplies
DC-bus Power Supply Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 402
Regenerative Bus Supply Configurations . . . . . . . . . . . . . . . . . . . . . . . 404
Appendix E
Motor Control Feature Support Frequency Control Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 406
Basic Volts/Hertz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
Basic Volts/Hertz for Fan/Pump Applications . . . . . . . . . . . . . . 408
Sensorless Vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409
Current Limiting for Frequency Control. . . . . . . . . . . . . . . . . . . . . . . 410
The Effects of Current Limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . 410
Enable the Current Limiting Feature. . . . . . . . . . . . . . . . . . . . . . . 412
Set the CurrentVectorLimit Attribute Value. . . . . . . . . . . . . . . . 412
Stability Control for Frequency Control . . . . . . . . . . . . . . . . . . . . . . . 413
Enable the Stability Control Feature . . . . . . . . . . . . . . . . . . . . . . . 414
Skip Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415
Multiple Skip Speeds. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
Flux Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417
Flux Up Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418
Configure the Flux Up Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . 419
Current Regulator Loop Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420
Motor Category. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420
Motor Tests and Autotune Procedure . . . . . . . . . . . . . . . . . . . . . . 422
Motor Analyzer Category Troubleshooting. . . . . . . . . . . . . . . . . 423
Selection of Motor Thermal Models . . . . . . . . . . . . . . . . . . . . . . . . . . . 426
Generic Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426
Thermally Characterized Motors . . . . . . . . . . . . . . . . . . . . . . . . . . 427
Speed Limited Adjustable Torque (SLAT) . . . . . . . . . . . . . . . . . . . . . 428
Motion Polarity Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428
SLAT Min Speed/Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
SLAT Max Speed/Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430
SLAT Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430
Configure the Axis for SLAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
Motion Drive Start (MDS) Instruction. . . . . . . . . . . . . . . . . . . . . 434
Motor Overload Retention. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439
Phase Loss Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 440
Phase-loss Detection Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . 441
Phase-loss Detection Configuration. . . . . . . . . . . . . . . . . . . . . . . . 441
Phase Loss Detection Current Example . . . . . . . . . . . . . . . . . . . . 442
Velocity Droop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443
Closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443
Frequency Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443
Velocity Droop Attribute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443
Velocity Droop Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444
Commutation Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
Adaptive Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445

10 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019
Table of Contents
Field Weakening Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446
Extended Speed Feature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446
Configure Extended Speed Operation . . . . . . . . . . . . . . . . . . . . . . 447
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 11
Preface
This manual provides detailed installation instructions for mounting and
wiring your Kinetix® 5700 power supplies, single-axis inverters, dual-axis
inverters, and accessory modules. Also included is system configuration with
the Studio 5000 Logix Designer® application, integration of your drive
modules with a Logix 5000™ controller, system startup, and troubleshooting.
Also provided in this manual are installation instructions for mounting and
wiring input power for your iTRAK® power supply. For wiring iTRAK digital
inputs, outputs to the motor modules, and startup, troubleshooting, and
commissioning with the AOI, see the iTRAK System User Manual,
publication 2198T-UM001.
This manual is intended for engineers or technicians directly involved in the
installation and wiring of the Kinetix 5700 drive modules, and programmers
directly involved in the operation, field maintenance, and integration of these
modules with the EtherNet/IP™ communication module or controller.
If you do not have a basic understanding of Kinetix 5700 drive modules,
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.
Table 1 - Summary of Changes
Topic Page
Added the following drive module catalog numbers, specifications, features, pinouts, mounting, wiring, configuration in the Logix Designer application, and
troubleshooting information:
• 2198-RPxxx regenerative bus supplies
• 2198-S263-ERSxand 2198-S312-ERSxsingle-axis inverters
• 2198-DCBUSCOND-RP312 DC-bus conditioner module Throughout
Added Kinetix VP (Bulletin VPAR) electric cylinders as another compatible linear actuator with Kinetix 5700 servo drives.
Updated the maximum current rating (40 A) for the 24V input power shared-bus connection system.
Moved fault code tables (FLT Sxx, FLT Mxx, and INIT FLT for example), previously in Troubleshoot the Kinetix 5700 Drive System (chapter 7), to the attached
spreadsheet. 13
Added 2198-DBRxx-F AC line filters. 18
Added the 2198-BARCON-220DC200 DC-bus link to support the 2198-S263-ERSxand 2198-S312-ERSxsingle-axis inverters. 24
Added the following DC-bus links to support the 2198-RPxxx regenerative bus supplies:
• 2198-BARCON-165DC200
• 2198-BARCON-275DC200
• 2198-BARCON-440DC200
24
Added the 842E-CM integrated motion encoder to the star communication topology diagram. 32
Added DC-bus Voltage Regulation that explains how the regenerative bus supply can be configured to operateas a DC-bus power supply. 42
Added AC Line Filter Selection that matches line filter catalog numbers to Kinetix 5700 power supplies. 44
Added AC Line Impedance Considerations that provides guidelines for transformer and line reactor selection. 45
Added 24V Control Power Evaluation that provides guidelines to minimize 24V control power voltage drop. 49
Added Passive Shunt Considerations and Active Shunt Considerations that provide guidelines for shunt module selection. 51, 52
Added Multi-axis Shared DC-bus Configurations that provides guidelines for system sizing. 57

12 Rockwell Automation Publication 2198-UM002G-EN-P - February 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
• When catalog number 2198-xxxx-ERS3 appears in this publication
without series designation, the topic applies to series A and B drives
• The 2198-CAPMOD-2240 capacitor module, 2198-CAPMOD-
DCBUS-IO extension module, and 2198-DCBUSCOND-RP312
DC-bus conditioner module are collectively referred to as accessory
modules
• Added Accessory Module Selection with DC-bus power supply configurations that moved from chapter 3.
• Added regenerative bus supply system configurations illustrating the minimum number of accessory modules required. 59
Updatedthe 8720MC-RPS or Other Regenerative Power Supply example configurations with a DC-bus conditioner module. 64
Added accessory module flowcharts designed to help determine the minimum number of accessory modules required. 65
Added the 2198-S312-P-T control power T-connector and bus bar to support 2198-S263-ERSxand 2198-S312-ERSxsingle-axis inverters. 87
Added Converter OK Relay that explains how the circuitry is used to support applications that migrate from 8720MC-RPS units to the 2198-RPxxx regenerative
bus supply. 111
Added footnotes (1) and (2) that further specify wire size to meet CE requirements for 2198-P070 DC-bus power supplies. 141
Updated Maximum Cable Lengths with examples for 2198-RPxxx regenerative bus supplies. 155
Added Customer-supplied Motor Power Cables to support wiring 2198-S263-ERSxand 2198-S312-ERSxsingle-axis inverter applications that require
conductors larger than 2 AWG. 172
Updated External Active-shunt Connections with Powerohm catalog numbers that apply to regenerative bus supplies and added information for wiring
regenerative bus supplies to the Active Shunt (RC) connector. 183
Added Hardware Fault Tolerance (HFT) specifications to the table. 307
Added Active Shunt Wiring Examples. 360
Added external-bus capacitance calculations and updated the System Sizing Example with the external-bus capacitance value. 399
Added the Maximum Motor Cable Lengths for Kinetix 5700 Power Supplies (Appendix D). 401
Updated Motor Analyzer Category Troubleshooting with rated slip-speed information. 423
Table 1 - Summary of Changes (continued)
Topic Page
IMPORTANT Throughout this publication, when the Kinetix 5700 inverter catalog
number ends in -ERSx, for example 2198-D057-ERSx, the variable
(x) indicates that the inverter (using this example) can be
2198-D057-ERS3 or 2198-D057-ERS4.

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 13
Preface
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.
Table 2 - Additional Resources
Resource Description
Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001 Provides product specifications for Kinetix VP (Bulletin VPL, VPC, VPF, and VPS),
MP-Series™ (Bulletin MPL, MPM, MPF, and MPS), and HPK-Series™ rotary motors.
Kinetix Linear Motion Specifications Technical Data, publication KNX-TD002 Provides product specifications for Bulletin MPAS and MPMA linear stages,
Bulletin VPAR, MPAR, and MPAI electric cylinders, LDAT-Series linear thrusters, and
LDC-Series™ linear motors.
Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 Providesproduct 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.
AC Line Filter Installation Instructions, publication 2198-IN003 Provides information on installing and wiring the Kinetix 5500 and Kinetix 5700 AC
line filters.
Kinetix 5700 Regenerative Bus Supply Installation Instructions, publication 2198-IN014 Provides information on installing and wiring the Kinetix 5700 regenerative bus
supply.
Kinetix 5700 Capacitor Modules Installation Instructions, publication 2198-IN008 Provides information on installing and wiring the Kinetix 5700 capacitor modules.
Replacement Fan Kit Installation Instructions, publication 2198-IN015 Provides information on removal and replacement of cooling fans used in 2198-
RPxxx regenerative bus supplies and 2198-S263-ERSxand 2198-S312-ERSx single-
axis inverters.
Kinetix 5700 DC-bus Conditioner Module Installation Instructions, publication 2198-IN016 Provides information on installing and wiring the Kinetix 5700 DC-bus conditioner
module.
Kinetix 5700 Shunt Passive Modules Installation Instructions, publication 2198-IN011 Provides information on installing and wiring Kinetix 5700 passive shunts.
Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication 2198-RM001 Provides a description of integrated stopping functions and safe monitoring
functions with a GuardLogix® controller and Kinetix 5700 servo drives.
iTRAK System User Manual, publication 2198T-UM001 Provides information on installing the Kinetix 5700 iTRAK power supply with an
iTRAK system and programming the iTRAK system.

14 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019
Preface
You can view or download publications at
http://www.rockwellautomation.com/global/literature-library/overview.page.
1321 Power Conditioning Products Technical Data, publication 1321-TD001 Provides information on typical use cases, specifications, terminations, and
dimensions of Bulletin 1321 linereactors.
8720MC Regenerative Power Supply Installation Manual, publication 8720MC-RM001 Provides information on installing, wiring, and startup for the 8720MC
regenerative power supply with 380…460V AC operation.
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.
Kinetix 5700 Drive Systems Design Guide, publication KNX-RM010 System design guide to select the required (drive specific) drive module, power accessory, feedback connector kit, and motor cable catalog numbers for your
Kinetix 5700 drive 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.
Motion System Tuning Application Technique, publication MOTION-AT005 Provides information on tuning a Kinetix drive system.
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.
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.
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 Software User Manual, publication 1756-UM105 For ControlFLASH™ information not specific to any drive family.
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 2 - Additional Resources (continued)
Resource Description

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 15
Chapter 1
Start
Use this chapter to become familiar with the Kinetix® 5700 drive system and
obtain an overview of installation configurations.
Topic Page
Kinetix 5700 Servo Drives Series Change 16
About the Kinetix 5700 Servo Drive System 17
DC-bus Power Supply Input Power Configurations 19
Regenerative Bus Supply Input Power Configurations 23
8720MC-RPS Power Supply Input Power Configuration 28
Motor and Auxiliary Feedback Configurations 29
Typical Communication Configurations 30
Functional Safety Configurations 33
Catalog Number Explanation 37
Agency Compliance 39

16 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019
Chapter 1 Start
Kinetix 5700 Servo Drives
Series Change
Single-axis and dual-axis inverters, catalog numbers 2198-xxxx-ERS3
(series B), include an enhancement that is not included in series A drives, but
that is included in 2198-xxxx-ERS4 drives.
• The drive-based (Monitored SS1 and Timed SS1) stopping functions
and controller-based monitoring functions apply to the
2198-xxxx-ERS4 drives
• The drive-based Timed SS1 stopping function and STO with
configurable delay applies to the 2198-xxxx-ERS3 (series B) drives
• When catalog number 2198-xxxx-ERS3 appears in this publication
without series designation, the topic applies to series A and B drives
Table 3 - Integrated Functional Safety Support
Integrated Safety Over the
EtherNet/IP™ Network Safety Function Dual-axis Inverters Cat. No.
Single-axis Inverters
Cat. No.
Minimum Controller (1)
Required
Drive-based stopping functions Timed Safe Stop 1 (SS1) 2198-Dxxx-ERS3 (series B)
2198-Dxxx-ERS4 2198-Sxxx-ERS3 (series B) 2198-Sxxx-ERS4
• GuardLogix® 5580
• CompactLogix™ 5380
Monitored Safe Stop 1 (SS1)
2198-Dxxx-ERS4 2198-Sxxx-ERS4
Controller-based stopping functions • Monitored Safe Stop 1 (SS1)
• Safe Stop 2 (SS2)
Controller-based monitoring functions
• Safe Operational Stop (SOS)
• Safely Limited Speed (SLS)
• Safety Limited Position (SLP)
• Safe Direction (SDI)
Safety feedback function Safety Feedback Interface (SFX)
Integrated STO mode Safe Torque-off (STO)
2198-Dxxx-ERS4 2198-Sxxx-ERS4
2198-Dxxx-ERS3 2198-Sxxx-ERS3 • ControlLogix® 5570
• CompactLogix 5370
(1) Where a ControlLogix or CompactLogix (non-safety) controller is specified, a GuardLogix or Compact GuardLogix controller is backwards compatible. Also, GuardLogix 5580 and Compact GuardLogix
5380 controllers are backwards compatible with GuardLogix 5570 and Compact GuardLogix 5370 controllers.

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 17
Start Chapter 1
About the Kinetix 5700 Servo
Drive System
The Kinetix 5700 drive modules are zero-stacked and use the shared-bus
connection system to extend power from one drive module to another. Systems
are designed to support Integrated Motion over the EtherNet/IP network.
Table 4 - Kinetix 5700 Drive System Overview
Drive System
Component Cat. No. Description
Kinetix 5700 DC-bus
Power Supply 2198-Pxxx
Converter power supply with 400V-class (three-phase) AC input. Provides power in a range of 7…46kW and
10.5…69.2 A output current. Systems typically consist of one module, however, up to three modules in parallel is
possible. Parallel modules increase available power for Bulletin 2198 single-axis and dual-axis inverters.
Kinetix 5700
Regenerative Bus
Supply 2198-RPxxx
Regenerative bus supply with 400V-class (three-phase) AC input provides continuous output power and current to
Bulletin 2198 single-axis and dual-axis inverters for applications with requirements in the range of 24…140 kW and
35…207 A, output current.
Kinetix 5700 Single-
axis Servo Drives
2198-Sxxx-ERS3
Single-axis inverters with current ratings up to 192 A rms. Drives feature TÜV Rheinland certified safe torque-off
function with hardwired and integrated safety connection options, PL e and SIL 3 safety ratings, and support for DSL,
Hiperface, and Heidenhain EnDat encoder feedback. 2198-Sxxx-ERS3 (series B) drives also support Timed SS1 drive-
based stopping functions.
2198-Sxxx-ERS4 Single-axis inverters with the same power structure and encoder feedback support as -ERS3 inverters, plus support for Monitored SS1 and Timed SS1 drive-based stopping functions. Also, support for controller-based safe stop and safe
monitor functions over the EtherNet/IP network.
Kinetix 5700 Dual-
axis Servo Drives
2198-Dxxx-ERS3
Dual-axis inverters with current ratings up to 23 Arms. Drives feature TÜV Rheinland certified safe torque-off function
with hardwired and integrated safety connection options, PL e and SIL 3 safety ratings, and support for DSL, Hiperface,
and Heidenhain EnDat encoder feedback. 2198-Dxxx-ERS3 (series B) drives also support Timed SS1 drive-based
stopping functions.
2198-Dxxx-ERS4 Dual-axis inverters with the same power structure and encoder feedback support as -ERS3 inverters, plus support for Monitored SS1 and Timed SS1 drive-based stopping functions. Also, support for controller-based safe stop and safe
monitor functions over the EtherNet/IP network.
Kinetix 5700 iTRAK
Power Supply 2198T-W25K-ER DC-DC converter that generates DC-bus power for iTRAK® systems.
Kinetix 5700
Capacitor Module 2198-CAPMOD-2240
Use for energy storage, external active-shunt connection, and to extend the DC-bus voltage to another inverter cluster.
Modules are zero-stacked with servo drives and use the shared-bus connection system to extend the external DC-bus
voltage in applications up to 104 A. Can parallel with itself or with another accessory module for up to 208 A with
required 2198-KITCON-CAPMOD2240 kit that includes flexible bus-bars.
Kinetix 5700
Extension Module 2198-CAPMOD-DCBUS-IO The extension module, paired with a capacitor module or DC-bus conditioner module, is used to extend the DC-bus voltage to another inverter cluster in systems with ≥104 A current and up to 208 A.
Kinetix 5700 DC-bus
Conditioner Module 2198-DCBUSCOND-RP312
Decreases the voltage stress on insulation components in an inverter system and used to extend the DC-bus voltage to
another inverter cluster. Modules are zero-stacked with servo drives and use the shared-bus connection system to
extend the external DC-bus voltage in applications up to 104 A. Can parallel with itself or with another accessory
module for up to 208 A with required 2198-KITCON-DCBUSCOND kit that includes flexible bus-bars.
8720MCRegenerative
Power Supply 8720MC-RPSxxx Sinusoidal PWM converter that can control the increase of DC-bus voltage and perform continuous power generation for one or more servo drives in multi-axis DC common-bus configurations.
Shared-bus
Connector Kits
2198-TCON-24VDCIN36
2198-xxxx-P-T
2198-BARCON-xxDCAC100
24V input wiring connectors, T-connectors, and bus-bars for most Kinetix 5700 drive modules that use the 24V shared-
bus connection system (optional).
2198T-W25K-P-IN
2198T-W25K-P-T 24V input wiring connector, T-connector, and bus-bar for the iTRAK motor module and other select Kinetix 5700 drive modules that use the 24V shared-bus connection system (optional).
2198-BARCON-xxDC200
2198-KITCON-ENDCAP200
DC-bus links (55, 85, 100, and 220 mm) and end caps for the DC-bus shared-bus connection system (required and
included with each respective drive module). DC-bus links (165, 275, and 440 mm) are optional and do not ship with
any modules.
DSL Feedback
Connector Kit 2198-KITCON-DSL Replacement DSL motor feedback connector kit with 2-pin connector plug and grounding plate inside the connector
housing. Supports 400V-class Kinetix VP rotary motors. Included with 2090-CSxM1DE motor cables. Must be purchased
separately when used with 2090-CSxM1DG motor cables.
Universal Feedback
Connector Kit 2198-K57CK-D15M Universal feedback connector kit for motor and auxiliary feedback connections with the 15-pin connector plug and
grounding plate inside the connector housing. Supports 400V-class MP-Series™ and HPK-Series™ rotary motors, MP-
Series linear actuators, LDAT-Series linear thrusters, and LDC-Series™ linear motors.
Hiperface to DSL
Converter Kit 2198-H2DCK (series B or later) Provides Hiperface-to-DSL feedback conversion for use with compatible 400V-class motors and actuators.

18 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019
Chapter 1 Start
Kinetix 5700 System
Mounting Toolkit 2198-K5700-MOUNTKIT Use to position the drive modules and identify drill-holes for mounting your Kinetix 5700 servo drive system.
Kinetix 5700 Cable
Clamp Spacer Kit 2198-K5700-CLAMPSPACER Replacement cable clamp spacers for 2198-Dxxx-ERSxdual-axis inverters.
Encoder Output
Module 2198-ABQE The Allen-Bradley® encoder output module is a DIN-railmounted 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 and CompactLogix 5380 controllers and
Integrated Safety in Compact GuardLogix 5370 and Compact GuardLogix 5380 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, GuardLogix 5570,
and GuardLogix 5580 controllers. Linear, device-level ring (DLR), and star topology is supported.
Studio 5000®
Environment N/A Studio 5000 Logix Designer® application, version 26.00 or later, provides support for programming, commissioning, and maintaining the CompactLogix, ControlLogix, and GuardLogix controller families.
RotaryServo Motors
Kinetix VP Compatible motors include 400V-class Bulletin VPL, VPC, VPF, and VPS servo motors.
MP-Series Compatible motors include 400V-class Bulletin MPL, MPM, MPF, and MPS servo motors.
HPK-Series Compatible motors include 460V and 400V-class HPK-Series asynchronous servo motors.
Linear Actuators Kinetix VP, MP-Series,
LDAT-Series Compatible actuators include 400V-class Bulletin MPAS linear stages, Bulletin VPAR, MPAR, and MPAI electric cylinders, and LDAT-Series linear thrusters.
Linear Motors LDC-Series Compatible motors include LDC-Series iron-core (400V-class) linear motors.
Induction Motors N/A Induction motors with open-loop frequency control and closed-loop control are supported.
Cables
2090-CSxM1DE-xxAxxx Bulletin 2090 single cable for motor power, feedback, and 24V DC brake power with Kinetix VP motors. Feedback
conductors are wired to the 2198-KITCON-DSL feedback connector kit.
2090-CSxM1DG-xxAxxx
Bulletin 2090 single cable for motor power, feedback, and 24V DC brake power with Kinetix VP motors. 2090-CSxM1DG
cables have flying-lead feedback conductors for connection to a customer-supplied 2198-KITCON-DSL feedback
connector kit.
2090-CFBM7DF-CEAxxx Bulletin 2090 motor feedback cables for MP-Series motors and actuators with Stegmann Hiperface encoders.
2090-CPxM7DF-xxAxxx Bulletin 2090 motor power/brake cables for MP-Series motors and actuators.
2090-XXNFMF-Sxx
2090-CFBM7DF-CDAFxx Bulletin 2090 standard and continuous-flex feedback cables that include additional conductors for use with
incremental and EnDat encoders.
2198T-CHBFLS8-12AAxx Bulletin 2198T power cables for iTRAK power supply to iTRAK motor modules.
1585J-M8CBJM-xEthernet cables areavailable in standard lengths. Shielded cable is required to meet EMC specifications.
AC Line Filters
2198-DB20-F, 2198-DB42-F,
2198-DB80-F, 2198-DB290-F
Bulletin 2198 three-phase AC line filters are required to meet CE and are available for use with DC-bus power supplies.
Use 2198-DBxx-F filters as field replacements in existing installations that use DC-bus power supplies with inverter
ground jumpers installed. Select 2198-DBRxx-F filters for all new systems and remove all inverter ground jumpers.
2198-DBR20-F, 2198-DBR40-F,
2198-DBR90-F, 2198-DBR200-F Bulletin 2198 three-phase AC line filters are required to meet CE and available for use with DC-bus power supplies and regenerative bus supplies. Select 2198-DBRxx-F filters for all new systems and remove all inverter ground jumpers.
Line Reactors 1321-3Rxx-x
Bulletin 1321 linereactors help keep equipment running longer by absorbing many of the powerline disturbances that
can shut down your power supply. For 2198-RPxxx regenerative bus supplies, line reactors can significantly reduce the
amount of circulating currents between the integrated LC filter and other devices on the common AC power source.
AC Contactor
100-Cxxxxx
100-Dxxxxx
100-Exxxxx
The AC three-phase contactor control string must be wired in series with the contactor-enable relay at the CED
connector to make sure that three-phase power is removed under various fault conditions to protect the power supply.
24V DC Power Supply 1606-XLxxx Bulletin 1606 24V DC power supply for control circuitry, digital inputs, safety, and motor brake.
External Passive
Shunt Resistors 2198-R014, 2198-R031, 2198-R127, 2198-R004 Bulletin 2198 external passive-shunt resistors for use when the DC-bus power supply internal shunt capability is exceeded. Not for use with regenerative bus supplies.
External Active
Shunts N/A External active shunts from Rockwell Automation Encompass™ partner, Powerohm Resistors, Inc., are available for
connecting to Bulletin 2198 DC-bus power supplies and regenerative bus supplies. SeeExternal Active-shunt
Connections on page 183 for catalog numbers.
Table 4 - Kinetix 5700 Drive System Overview (continued)
Drive System
Component Cat. No. Description

Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 19
Start Chapter 1
DC-bus Power Supply Input
Power Configurations
A single 2198-Pxxx DC-bus (converter) power supply can supply the
Kinetix 5700 drive system with 458…747V shared DC-bus power (7…46 kW).
For additional output power (kW) you can install two or three 2198-P208
DC-bus power supplies. You can also extend the DC-bus to additional inverter
clusters via accessory modules.
Typical DC-bus Power Supply Configuration Example
In this multi-axis example, AC input power is fed to the DC-bus (converter)
power supply. One single-axis (inverter) module and two dual-axis (inverter)
modules support five axes of motion. The DC-bus power supply is mounted
on the far left and the inverters are positioned on the right, but the reverse
mounting order (right to left) is also possible.
Digital inputs are wired to sensors and the control circuitry at the IOD
connectors. The contactor-enable relay protects the DC-bus power supply in
the event of shutdown fault conditions.
Figure 1 - Typical DC-bus Power Supply Installation
1606-XL
Power Supply
Input
Allen-Bradley
MOD
NET
MOD
NET
MOD
NET
MOD
NET
2
1
1
1
4
I/O
I/O
6
510
2
1
2
1
2
1
1
I/O-A
6
510
1
I/O-B
6
510
UFB UFB-A UFB-B UFB-A UFB-B
D+
D-
D+
D-
D+
D-
MF-A MF-B MF-A MF-B
D+
D-
MBRK
+
-
DC+
SH
MOD
DC BUS
D+
D-
MF
MODULE
STATUS
SB+/NC
NC
19
816
19
816
19
816
1
I/O-A
6
510
1
I/O-B
6
510
S1A
SCA
S2A
SB-
NC
NC
SB+/NC
NC
S1A
SCA
S2A
SB-
NC
NC
SB+/NC
NC
S1A
SCA
S2A
SB-
NC
NC
Bulletin 2198
Shunt Module
(optional component)
Magnetic Contactor (M1) Control String
1606-XLxxx
24V DC Control, Digital Inputs,
and Motor Brake Power (customer-supplied)
AC Input Power
Kinetix 5700 Servo Drive System
(front view)
Bulletin2198shared-busconnectionsystemfor
DC-bus and 24V DC control power.
Kinetix 5700 Servo Drive System
(top view)
Line Disconnect
Device
324…528V AC
Three-phase Input Power
Circuit
Protection
Magnetic (M1)
Contactor Bonded Cabinet
Ground Bus
2198-DBRxx-F
AC Line Filter
(required for CE)
Converter Digital Inputs Inverter Digital Inputs
Shared DC-bus Power
Shared 24V Control Power
(24V shared-bus connection system is optional)
DC-bus
Power Supply Single-axis
Inverter Dual-axis
Inverters
Capacitor
Module

20 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019
Chapter 1 Start
Multiple DC-Bus Power Supply Configuration Example
In this example, three DC-bus (converter) power supplies all receive AC input
power and feed the inverter modules for increased output power.
Contactor enable relays from each of the DC-bus power supplies are wired in
series to protect the DC-bus power supply in the event of shutdown fault
conditions.
Figure 2 - Multiple DC-bus Power Supply Installation
DC+
SH
DC+
SH
1606-XL
Power Supply
Input
Allen-Bradley
MOD
NET
MOD
NET
MOD
NET
2
1
1
4
I/O
2
1
2
1
UFB-A UFB-B UFB-A UFB-B
D+
D-
D+
D-
D+
D-
MF-A MF-B MF-A MF-B
D+
D-
DC+
SH
MOD
NET
2
1
1
4
I/O
MOD
NET
2
1
1
4
I/O
MOD
DC BUS
MODULE
STATUS
19
816
19
816
1
I/O-A
6
510
1
I/O-B
6
510
1
I/O-A
6
510
1
I/O-B
6
510
SB+/NC
NC
S1A
SCA
S2A
SB-
NC
NC
SB+/NC
NC
S1A
SCA
S2A
SB-
NC
NC
MOD
NET
2
1
1
I/O
6
510
MBRK
+
-
21mm (4 AWG-250 kcmil)
15-20 Nm (132-177 lbin)
2
W V U
19
816
SB+/NC
NC
S1A
SCA
S2A
SB-
NC
NC
Bulletin 2198
Shunt Module
(optional component)
1606-XLxxx
24V DC Control Power
(customer-supplied)
AC Input Power
Kinetix 5700 Servo Drive System
(front view)
Kinetix 5700 Servo
Drive System (top view)
Circuit
Protection
Bonded Cabinet
Ground Bus 1321-3R80-B
Line Reactors
(required components)
2198-P208 DC-bus Power Supplies Single-axis Inverter Dual-axis Inverters
Capacitor
Module
Bulletin 2198 shared-bus
connection system for DC-bus
and 24V DC control power.
Shared DC-bus Power
Shared 24V Control Power
(24V shared-bus connection
system is optional)
Magnetic Contactor
(M1) Control String
Line Disconnect
Device
324…528V AC
Three-phase
Input Power
Magnetic (M1)
Contactor
2198-DBR200-F
AC Line Filter
(required for CE)
Circuit
Protection
IMPORTANT When two or three DC-bus power supplies are wired together in the same
drive cluster, they must all be catalog number 2198-P208.