Rockwell Automation Allen-Bradley Kinetix 300 User manual

Kinetix 300 to Kinetix 5100
Servo Drive Migration Guide
Catalog Numbers 2198-E1004-ERS, 2198-E1007-ERS,
2198-E1015-ERS, 2198-E1020-ERS, 2198-E2030-ERS,
2198-E2055-ERS, 2198-E2075-ERS, 2198-E2150-ERS,
2198-E4004-ERS, 2198-E4007-ERS, 2198-E4015-ERS,
2198-E4020-ERS, 2198-E4030-ERS, 2198-E4055-ERS,
2198-E4075-ERS, 2198-E4150-ERS
Reference Manual Original Instructions

2Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Kinetix 300 to Kinetix 5100 Servo Drive Migration Guide Reference Manual
Important User Information
Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize
themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to
be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be
impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use
or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for
actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software
described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is
prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
Rockwell Automation recognizes that some of the terms that are currently used in our industry and in this publication are not in
alignment with the movement toward inclusive language in technology. We are proactively collaborating with industry peers to
find alternatives to such terms and making changes to our products and content. Please excuse the use of such terms in our
content while we implement these changes.
Labels may also be on or inside the equipment to provide specific precautions.
The following icon may appear in the text of this document.
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).
Identifies information that is useful and can help to make a process easier to do or easier to understand.

Rockwell Automation Publication 2198-RM004C-EN-P - March 2022 3
Table of Contents
Preface
Download Firmware, AOP, EDS, and Other Files . . . . . . . . . . . . . . . . . . . . 5
Summary of Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Chapter 1
Migration Options Kinetix 5100 Servo Drive Catalog Numbers . . . . . . . . . . . . . . . . . . . . . . . . . 8
Chapter 2
Replacement Considerations Selecting a Replacement Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Drive Sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Nominal Voltage and Output Current Comparison . . . . . . . . . . . . . 12
Dimension Comparison. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
AC Input Power Wiring and Fusing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
AC Input Power Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Input Power Wiring and Fusing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Circuit Breaker and Fuse Considerations . . . . . . . . . . . . . . . . . . . . . . 14
Power Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
I/O Availability and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Digital Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Analog Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Control and Auxiliary Power Specifications . . . . . . . . . . . . . . . . . . . . 28
Compatible Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Feedback Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Required Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Optional Drive Accessories - Shunt Resistors . . . . . . . . . . . . . . . . . . . 31
Optional Drive Accessories - AC Line Filters . . . . . . . . . . . . . . . . . . . . 33
Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Kinetix 300 Servo Drive Configuration Port . . . . . . . . . . . . . . . . . . . . 34
Kinetix 5100 Servo Drive Configuration Port . . . . . . . . . . . . . . . . . . . 35
Kinetix 300 Servo Drive Control Port . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Kinetix 5100 Servo Drive Control Port . . . . . . . . . . . . . . . . . . . . . . . . . 35
Programming Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Chapter 3
Connectors Kinetix 300 Servo Drive Connector Locations . . . . . . . . . . . . . . . . . . . . . . 37
Kinetix 5100 Servo Drive Connector Locations . . . . . . . . . . . . . . . . . . . . . 38
I/O Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Motor Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Auxiliary Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Safe Torque Off Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

4Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 4
Dimensions, Cables, and Wiring Dimension Drawings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Kinetix 5100 Drive Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Motor and Feedback Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Replacement Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Power Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Kinetix 300 Servo Drive Power Wiring Examples . . . . . . . . . . . . . . . 51
Kinetix 5100 Servo Drives Power Wiring Examples . . . . . . . . . . . . . 53
Chapter 5
System Architecture Kinetix 300 Servo Drive System Architecture . . . . . . . . . . . . . . . . . . . . . . 59
Kinetix 5100 Servo Drive System Architecture . . . . . . . . . . . . . . . . . . . . . 60
Kinetix 5100 Drive Controlled Via Motion Control Add-On
Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Kinetix 5100 Drive Controlled Via Explicit Messaging . . . . . . . . . . . 61
Kinetix 5100 Drive Controlled Via Pulse Train/
Analog/ Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Chapter 6
Application Conversion Scenario 1: Analog Command to Analog Command . . . . . . . . . . . . . 64
Scenario 2: Indexing to Position Register (PR) Mode . . . . . . . . . . . . 65
Scenario 3: Master / Gearing mode to PT mode . . . . . . . . . . . . . . . . . 68
Scenario 4: EtherNet/IP External Reference to I/O Mode . . . . . . . . 70
Appendix A
Feature Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Appendix B
History of Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Rockwell Automation Publication 2198-RM004C-EN-P - March 2022 5
Preface
The purpose of this guide is to provide you with the essential information to
determine necessary changes when migrating from a system containing
Kinetix® 300 servo drives to one containing Kinetix 5100 servo drives.
Migrating from a motion control system that uses Kinetix 300 drives to a
system that uses Kinetix 5100 drives requires a comprehensive design review
of the motion control system. There are multiple drive replacement
combinations, and multiple configurations for how the drives can be used. As a
result, this migration guide is not an all-inclusive document. It does not
describe all redesign steps required, nor contain the detailed product
information necessary to finalize the redesign. The generalities of the
replacement process are covered, and the decision-making steps likely to be
encountered in a typical replacement scenario are described.
This manual is intended for engineers and technicians that are directly
involved in the installation and wiring of the Kinetix 5100 drives, and
programmers who are directly involved in the operation, field maintenance,
and integration of these drives. You must have previous experience with, and a
basic understanding of, electrical terminology, programming procedures,
networking (and required equipment and software), and safety precautions.
Download Firmware, AOP,
EDS, and Other Files
Download firmware, associated files (such as AOP, EDS, and DTM), and access
product release notes from the Product Compatibility and Download Center at
rok.auto/pcdc.
Summary of Changes This publication contains the following new or updated information. This list
includes substantive updates only and is not intended to reflect all changes.
Topic Page
Replaced 2090-series and Bulletin 2090 (cables only) with Kinetix 2090 Throughout
Replaced MP-series and TL-series with Kinetix MP and Kinetix TL Throughout
Replaced TL/TLY with Kinetix TL Throughout
Replaced - with — where approperiate Throughout
Added 140MT circuit breakers to Table 8 14
Added Appendix B-History of Changes 73

6Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Preface
Additional Resources These documents contain additional information concerning related products
from Rockwell Automation.
You can view or download publications at rok.auto/literature.
Resource Description
Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001 Product specifications for Kinetix VP, Kinetix MP, Kinetix TL and TLY, Kinetix RDB, Kinetix TLP,
Kinetix MMA asynchronous main motors, and Kinetix HPK rotary motors.
Kinetix Linear Motion Specifications, publication KNX-TD002 Product specifications for Kinetix MPAS and MPMA linear stages, Kinetix MPAR and MPAI
electric cylinders, and Kinetix LDC and LDL linear motors.
Kinetix 5700, 5500, 5300, and 5100 Servo Drives Specifications Technical
Data, publication KNX-TD003 Provides product specifications for Kinetix Integrated Motion over the EtherNet/IP™ network and EtherNet/IP networking servo drive families.
Kinetix Rotary and Linear Motion Cable Specifications Technical Data,
publication KNX-TD004 Provides product specifications for Kinetix 2090 motor and interface cables.
Kinetix 3, 300, 350, 2000, 6000, 6200, 6500, 7000 Servo Drives
Specifications, publication KNX-TD005
Provides product specifications for Kinetix Integrated Motion over the EtherNet/IP network
(Kinetix 6500 and Kinetix 350), Integrated Motion over Sercos interface (Kinetix 6200, Kinetix
6000, Kinetix 2000, and Kinetix 7000), and component (Kinetix 3) servo drive families.
Kinetix 5100 EtherNet/IP Indexing Servo Drives User Manual,
publication 2198-UM004 Information on how to install, configure, startup, and troubleshoot, your Kinetix 5100 servo
drive system. Information on applications for your Kinetix 5100 servo drive system.
Kinetix 5100 Drive Systems Design Guide, publication KNX-RM011 System design guide to select the required (drive specific) drive module, power accessory, feedback connector kit, and motor cable catalog numbers for your Kinetix 5100 drive and
Kinetix motion control system.
Ethernet Reference Manual, publication ENET-RM002 Provides information on how to design Ethernet and EtherNet/IP networks.
Kinetix Motion Control Selection Guide, publication KNX-SG001 Overview of Kinetix servo drives, motors, actuators, and motion accessories that are
designed to help make initial decisions for the motion control products best suited for your
system requirements.
Kinetix 300 and Kinetix 350 Drive Systems Design Guide,
publication KNX-RM004 Provides information to help identify the drive system components and accessory items you need for your Kinetix 300/350 drive and motor/actuator combination.
Kinetix 300 EtherNet/IP Indexing Servo Drives User Manual,
publication 2097-UM001 Provides installation instructions to mount, wire, and troubleshoot your Kinetix 300 drive; and
system integration for your drive/motor combination with a Logix controller.
Kinetix 300 EtherNet/IP Indexing Servo Drive Installation Instructions,
publication 2097-IN001 Provides information on how to install your Kinetix 300 drive system.
Kinetix 300 Shunt Resistor Installation Instructions, publication 2097-IN002 Provides information on how to install and wire the Kinetix 300 drive shunt resistors (also
compatible with the Kinetix 350 drive).
Kinetix 300 AC Line Filter Installation Instructions, publication 2097-IN003 Provides information on how to install and wire the Kinetix 300 drive AC line filter (also
compatible with the Kinetix 350 drive).
Kinetix 300 I/O Terminal Expansion Block Installation Instructions,
publication 2097-IN005 Provides information on how to install and wire the Kinetix 300 drive I/O terminal expansion
block (also compatible with the Kinetix 350 drive).
Servo Drive Installation Best Practices Application Technique,
publication MOTION-AT004
Best practice examples to help reduce the number of potential noise or electromagnetic
interference (EMI) sources in your system and to make sure that the noise sensitive
components are not affected by the remaining noise.
System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001.Provides information on the concept of high-frequency (HF) bonding, the Ground Plane
principle, and electrical noise reduction.
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines to install a Rockwell Automation industrial system.
Product Certifications website: rok.auto/certifications Provides declarations of conformity, certificates, and other certification details.

Rockwell Automation Publication 2198-RM004C-EN-P - March 2022 7
Chapter 1
Migration Options
This migration guide provides you with the essential information to determine
hardware design changes that can be necessary when migrating from a
motion system that contains Kinetix® 300 servo drives to one that contains
Kinetix 5100 servo drives. For each Kinetix 300 drive control mode, there is a
suitable solution with Kinetix 5100 servo drives, Logix 5000™ controller
platforms, and the Studio 5000 Logix Designer® application. Table 1 and
Table 2 provide some common considerations and information when
migrating from Kinetix 300 drives to Kinetix 5100 drives.
Table 1 - Kinetix 300 Drive to Kinetix 5100 Drive Control Mode Migrations
Kinetix 300 Drive Kinetix 5100 Drive
Analog Current T mode
Analog Velocity S mode
Indexing PR Mode
Master Gearing, Step, and Direction PT Mode
EtherNet/IP™ External Reference I/O Mode
Table 2 - Kinetix 5100 Drive Control Modes
Control Mode Short Name Description
Position mode (terminal block
input) PT This mode is sometimes referred to as Pulse Train. The servo drive receives the Position command and commands the
motor to the target position. The Position command is provided through the I/O terminal block and the signal type is
pulse.
Position mode (register input) PR The servo drive receives the Position command and commands the motor to the target position. Position commands comes from the program registers (99 in total). You can select the register number with binary-weighted DI signals or
through communication.
Speed mode S The servo drive receives the Speed command and commands the motor to the target speed. The Speed command comes from the internal registers (3 in total) or by analog voltage (-10V…+10V) that is provided through the terminal block. You
can select the command with binary-weighted DI signals.
Speed mode (no analog input) Sz The servo drive receives the Speed command and commands the motor to the target speed. The Speed command comes
from the internal registers (4 in total, one is fixed at 0). You can select the command with binary-weighted DI signals.
Torque mode T The servo drive receives the Torque command and commands the motor to the target torque. The Torque command comes from the internal registers (3 in total) and by analog voltage (-10V…+10V) that is provided through the I/O terminal
block. You can select the command with binary-weighted DI signals.
Torque mode (no analog input) Tz The servo drive receives the Torque command and commands the motor to the target torque. The Torque command comes from the internal registers (4 in total, one is fixed at 0). You can select the command with binary-weighted DI
signals.
I/O mode IO The servo drive receives commands from the Logix controller through the EtherNet/IP network connection. Commands
are issued through the Add-On_Profile (AOP) with Add-On Instruction (AOI) instructions in the Logix Designer application.

8Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 1 Migration Options
Kinetix 5100 Servo Drive
Catalog Numbers
Table 3 and Table 4 lists the catalog numbers and ratings of the Kinetix 5100
servo drives.
For Kinetix 5100 servo drive module specifications not included in this
publication, see the Kinetix 5700, 5500, 5300, and 5100 Servo Drives
Specifications Technical Data, publication KNX-TD003.
Dual mode
PT-S Switches PT and S mode with DI signals.
PT-T Switches PT and T mode with DI signals.
PR-S Switches PR and S mode with DI signals.
PR-T Switches PR and T mode with DI signals.
S-T Switches S and T mode with DI signals.
— Reserved.
PT-PR Switches PT and PR mode with DI signals.
Multi-mode PT-PR-S Switches PT, PR, and S mode with DI signals.
PT-PR-T Switches PT, PR, and T mode with DI signals.
Table 2 - Kinetix 5100 Drive Control Modes (Continued)
Control Mode Short Name Description
Table 3 - Kinetix 5100 Drive Ratings - 200V-class
Cat. No. Input AC Voltage
(V AC)
Input
Phases Rated Power @ 230V (kW) Rated Power @ 120V (kW)
Cont. Output
Current
(A rms)
Peak Output
Current
(A rms)
2198-E1004-ERS 95…132,
170…253 1 PH 1 PH/3 PH 0.4 0.2 2.60 6.5
2198-E1007-ERS 95…132,
170…253 1 PH 1 PH/3 PH 0.75 0.375 5.10 15.41
2198-E1015-ERS 95…132,
170…253 1 PH 1 PH/3 PH 1.5 0.75 7.9 23.7
2198-E1020-ERS 95…132,
170…253 1 PH 1 PH/3 PH 2113.453.03
2198-E2030-ERS 170…253 3 PH 3 — 17.9 55.95
2198-E2055-ERS 170…253 3 PH 5.5 — 41.3 91.4
2198-E2075-ERS 170…253 3 PH 7.5 — 49 127.49
2198-E2150-ERS 170…253 3 PH 15 — 78 162
Table 4 - Kinetix 5100 Drive Ratings - 400V-class
Cat. No. Input AC Voltage
(V AC)
Input
Phases Rated Power @ 480V (kW)
Rated Power
@ 380/480V
(kW)
Cont. Output
Current
(A rms)
Peak Output
Current
(A rms)
2198-E4004-ERS 342…528 3 PH 0.4 — 1.60 5.40
2198-E4007-ERS 342…528 3 PH 0.75 — 3.19 8.0
2198-E4015-ERS 342…528 3 PH 1.5 — 6.05 15.11
2198-E4020-ERS 342…528 3 PH 2 — 7.42 20.78
2198-E4030-ERS 342…528 3 PH — 3 13.95 26.08
2198-E4055-ERS 342…528 3 PH — 5.5 24.8 37.65
2198-E4075-ERS 342…528 3 PH — 7.5 31.0 53.32
2198-E4150-ERS 342…528 3 PH — 15 41.26 70.14

Rockwell Automation Publication 2198-RM004C-EN-P - March 2022 9
Chapter 1 Migration Options
Potential Design Changes
The design changes required for converting to the Kinetix 5100 drives depend
on the original/replacement drive combination and the specifics of the
application. This publication provides you with knowledge about the type and
extent of work required to migrate from a Kinetix 300 system to a Kinetix 5100
system.
Due to the flexibility of drive installation and use, it is not feasible to cover all
possibilities. In addition to the items described in this publication, pay
attention to unique features and functions of the Kinetix 300 system when
considering replacement with a Kinetix 5100 system. See Appendix A for a
comparison of features. See the Kinetix 5700, 5500, 5300, and 5100 Servo
Drives Specifications Technical Data, publication KNX-TD003 for complete
specifications.

10 Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 1 Migration Options
Notes:

Rockwell Automation Publication 2198-RM004C-EN-P - March 2022 11
Chapter 2
Replacement Considerations
Replacing a Kinetix® 300 drive with a Kinetix 5100 drive can require some
system design changes:
• Review the hardware and software design of the existing Kinetix 300
system.
• Compare these designs to the hardware and software specifications for
the Kinetix 5100 drives.
This publication highlights the major similarities and differences between the
Kinetix 300 drives and the Kinetix 5100 drives. Additional criteria not covered
in this publication can also impact your application. Review this publication to
evaluate the Kinetix 5100 drives for your needs.
Design considerations:
• Upload the programmable logic controller (PLC) programs and
determine what you can use for the new system.
• See the System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001, for information on the concept of high-
frequency (HF) bonding, the Ground Plane principle, and electrical noise
reduction.
• Verify that your current motor is compatible.
• Verify that the motor power and feedback cable length in your existing
system does not exceed the maximum cable length for the new system.
• Verify that the drive size is compatible.
• Verify that the drive dimensions are compatible.
• Verify that the drive connections and connectors are acceptable or
compatible.
Selecting a Replacement
Drive
There are a number of different factors that affect the selection of a
replacement servo drive and the system redesign effort. Drive sizing is the
primary factor in selecting a replacement servo drive. To identify the correct
replacement drive size, compare the continuous and peak output current
ratings.
WARNING: Because of the variety of uses for the products described in this
publication, those responsible for the application and use of these
products must satisfy themselves that all necessary steps have been taken
to make sure that each application and use meets all performance and
safety requirements, including any applicable laws, regulations, codes, and
standards. In no event will Rockwell Automation be responsible or liable for
indirect or consequential damage resulting from the use or application of
these products.

12 Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 2 Replacement Considerations
Kinetix 300 drives can be replaced with a Kinetix 5100 drive of similar, or in
some cases greater, output current capability.
The Kinetix 5100 drives with similar current ratings require less or equivalent
physical space than the Kinetix 300 drives.
Factors that affect the redesign effort include the following considerations:
• Drive sizing (ratings and physical)
• Dimension comparison
• Drive interconnects and cabling
• Communication (Serial, USB, or EtherNet/IP™)
• Accessories
Drive Sizing This section lists the Kinetix 300 servo drives and the suggested Kinetix 5100
servo drives. The tables show the output ratings and dimensional differences.
Information in this migration guide is based on the drive combinations that
are shown in Table 5 and Table 6.
Nominal Voltage and Output Current Comparison
Table 5 compares the Output Current of the Kinetix 300 and Kinetix 5100
drives for a given input voltage. Review Table 6 to be sure that the replacement
drive can deliver the required peak and continuous current to the motor.
Table 5 - Suggested Kinetix 5100 Replacement Drives by Output Current
Kinetix 300 drive Kinetix 5100 drive
Cat. No. Voltage Range Nominal Voltage
Range
Continuous
Output
Current
A rms
(0-pk)
Peak
Output
Current
A rms
(0-pk)
Cat. No. Voltage Range Nominal Voltage
Range
Continuous
Output
Current
A rms
(0-pk)
Peak Output
Current
A rms
(0-pk)
2097-V31PR0 70…132V, 1 PH
(120V nom),
voltage-doubler
mode
80…264V, 1 PH
(120/240V nom)
1 PH,
120/240V 2 (2.8) 6.0 (8.5) 2198-E1004-ERS 95…132V, 1 PH 170…253V, 1 PH/3 PH 120V, 1 PH 230V, 1 PH/3 PH 2.60 (3.68) 6.5 (9.19)
2097-V31PR2 1 PH,
120/240V 4 (5.7) 12.0 (17.0) 2198-E1007-ERS 95…132V, 1 PH 170…253V, 1 PH/3 PH 120V, 1 PH 230V, 1 PH/3 PH 5.10 (7.21) 15.41 (21.79)
2097-V32PR0
80…264V, 1 PH
(240V nom)
1 PH, 240V 2 (2.8) 6.0 (8.5) 2198-E1004-ERS 95…132V, 1 PH
170…253V, 1 PH/3 PH 120V, 1 PH 230V, 1 PH/3 PH 2.60 (3.68) 6.5 (9.19)
2097-V32PR2 1 PH, 240V 4 (5.7) 12.0 (17.0) 2198-E1007-ERS 95…132V, 1 PH
170…253V, 1 PH/3 PH 120V, 1 PH 230V, 1 PH/3 PH 5.10 (7.21) 15.41 (21.79)
2097-V32PR4 1 PH, 240V 8 (11.3) 24.0 (33.9) 2198-E1015-ERS 95…132V, 1 PH
170…253V, 1 PH/3 PH 120V, 1 PH 230V, 1 PH/3 PH 7.9 (11.17) 23.7 (33.51)
2097-V33PR1 80…132V, 1 PH
(120V nom)
80…264V, 1 PH
(240V nom)
80…264V, 3 PH
(240V nom)
1 PH/3 PH,
240V 2 (2.8) 6.0 (8.5) 2198-E1004-ERS 95…132V, 1 PH 170…253V, 1 PH/3 PH 120V, 1 PH 230V, 1 PH/3 PH 2.60 (3.68) 6.5 (9.19)
2097-V33PR3 1 PH/3 PH,
240V 4 (5.7) 12.0 (17.0) 2198-E1007-ERS 95…132V, 1 PH 170…253V, 1 PH/3 PH 120V, 1 PH 230V, 1 PH/3 PH 5.10 (7.21) 15.41 (21.79)
2097-V33PR5 1 PH/3 PH,
240V 8 (11.3) 24.0 (33.9) 2198-E1015-ERS 95…132V, 1 PH 170…253V, 1 PH/3 PH 120V, 1 PH 230V, 1 PH/3 PH 7.9 (11.17) 23.7 (33.51)
2097-V33PR6 1 PH/3 PH,
240V 12 (17.0) 36.0 (50.9) 2198-E1020-ERS 95…132V, 1 PH 170…253V, 1 PH/3 PH 120V, 1 PH 230V, 1 PH/3PH 13.4 (18.95) 53.03 (74.98)
2097-V34PR3 320…528V, 3 PH
(480V nom)
3 PH, 480V 2 (2.8) 6 (8.5) 2198-E4007-ERS 342…528V, 3PH
(480V nom)
3 PH, 480V, 3PH 3.19 (4.51) 8 (11.31)
2097-V34PR5 3 PH, 480V 4 (5.7) 12 (17) 2198-E4015-ERS 3 PH, 480V, 3PH 6.05 (8.56) 15.11 (21.36)
2097-V34PR6 3 PH, 480V 6 (8.5) 18 (25.5) 2198-E4020-ERS 3 PH, 480V, 3PH 7.42 (10.49) 20.78 (29.38)

Rockwell Automation Publication 2198-RM004C-EN-P - March 2022 13
Chapter 2 Replacement Considerations
Dimension Comparison
Table 6 compares the dimensions of the Kinetix 300 and Kinetix 5100 drives.
AC Input Power Wiring and
Fusing
This section provides comparisons for the wiring and fusing of the drives.
AC Input Power Configuration
The Kinetix 300 drive supports multiple types of AC input power: center
grounded wye secondary, and corner grounded delta secondary.
The Kinetix 5100 drive only supports AC input power with center grounded
wye secondary.
Input Power Wiring and Fusing
Determine the wire length for the AC line input after the drive location and
cable routing are finalized.
In general, the recommended drive replacement should not require changes in
wiring length; however, the routing may need to change as the input power
(Mains IPD) and motor power (MP) connections on the Kinetix 300 drives and
Kinetix 5100 could be in different physical locations with different connector
sizes. Table 7 gives an overview of the connection placement for Kinetix 5100
drives. See Connectors for a comparison of the Kinetix 300 drive and
Kinetix 5100 drive connectors.
Table 7 shows a comparison of the connector locations of the Kinetix 300
drives and Kinetix 5100 drives.
Table 6 - Suggested Kinetix 5100 Replacement Drives by Dimensions
Kinetix 300 drive Kinetix 5100
Cat. No. Height
mm (in.) (1) Width
mm (in.) Depth mm (in.) Cat. No. Height
mm (in.) (1) Width
mm (in.) Depth mm (in.)
2097-V31PR0 238 (9.37) 68.0 (2.68) 185 (7.28) 2198-E1004-ERS 170 (6.69) 35(1.38) 178.3 (7.02)
2097-V31PR2 238 (9.37) 69.0 (2.72) 185 (7.28) 2198-E1007-ERS 180 (7.09) 50 (1.97) 188.4 (7.42)
2097-V32PR0 238 (9.37) 68.0 (2.68) 230 (9.06) 2198-E1004-ERS 170 (6.69) 35(1.38) 178.3 (7.02)
2097-V32PR2 238 (9.37) 69.0 (2.72) 230 (9.06) 2198-E1007-ERS 180 (7.09) 50 (1.97) 188.4 (7.42)
2097-V32PR4 238 (9.37) 87.0 (3.43) 230 (9.06) 2198-E1015-ERS 180 (7.09) 50 (1.97) 188.4 (7.42)
2097-V33PR1 238 (9.37) 68.0 (2.68) 185 (7.28) 2198-E1004-ERS 170 (6.69) 35 (1.38) 178.3 (7.02)
2097-V33PR3 238 (9.37) 69.0 (2.72) 185 (7.28) 2198-E1007-ERS 180 (7.09) 50 (1.97) 188.4 (7.42)
2097-V33PR5 238 (9.37) 94.0 (3.70) 185 (7.28) 2198-E1015-ERS 180 (7.09) 50 (1.97) 188.4 (7.42)
2097-V33PR6 238 (9.37) 68.0 (2.68) 230 (9.06) 2198-E1020-ERS 180 (7.09) 95 (3.74) 208.4 (8.20)
2097-V34PR3 238 (9.37) 69.0 (2.70) 185 (7.28) 2198-E4007-ERS 180 (7.09) 95.0 (3.74) 208 (8.20)
2097-V34PR5 238 (9.37) 94.0 (3.72) 185 (7.28) 2198-E4015-ERS 180 (7.09) 95.0 (3.74) 208 (8.20)
2097-V34PR6 238 (9.37) 68.0 (2.68) 230 (9.06) 2198-E4020-ERS 260 (10.24) 110 (4.33) 204 (8.02)
(1) Height includes connectors.

14 Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 2 Replacement Considerations
Circuit Breaker and Fuse Considerations
Review the fusing requirements when you change a drive.
Table 7 - Input Power and Motor Power Connection Placement of Kinetix 300 and Kinetix 5100 drives
Kinetix 300 Kinetix 5100
Cat. No. Input Power Connector
Location Motor Power Connector Location Cat. No. Input Power Connector Location Motor Power Connector Location
2097-V31PR0
Top Bottom
2198-E1004-ERS
Top Bottom2097-V31PR2 2198-E1007-ERS
2097-V32PR0 2198-E1015-ERS
2097-V32PR2 2198-E1020-ERS
Front Front
2097-V32PR4 2198-E2030-ERS
2097-V33PR1 2198-E2055-ERS
2097-V33PR3 2198-E2075-ERS
2097-V33PR5 2198-E2150-ERS
2097-V33PR6 2198-E4004-ERS
2097-V34PR3
Top Bottom
2198-E4007-ERS
2097-V34PR5 2198-E4015-ERS
2097-V34PR6 2198-E4020-ERS
———
2198-E4030-ERS
2198-E4055-ERS
2198-E4075-ERS
2198-E4150-ERS
Table 8 - Kinetix 300 Drive Fuse and Circuit Breaker (CB) Specifications
Drive Cat. No. Drive Voltage Phase
UL Applications IEC (non-UL) Applications
Fuses
(Bussmann) Miniature CB Cat. No.
Motor
Protection CB
Cat. No.
DIN gG Fuses
Amps max Miniature CB Cat. No.
Motor
Protection CB
Cat. No.
2097-V31PR0
120V Single-phase
(voltage doubler) KTK-R-20 (20 A) 1489-A1C200 140M-D8E-C20 140MT-D9E-C20 20 1492-SP1D200 140M-D8E-C20 140MT-D9E-C20
120/240V Single-phase KTK-R-10 (10 A) 1489-A1C100 140M-C2E-C10
140MT-C3E-C10 10 1492-SP1D100 140M-C2E-C10 140MT-C3E-C10
2097-V31PR2
120V Single-phase
(voltage doubler) KTK-R-30 (30 A) 1489-A1C300 140M-F8E-C32 32 1492-SP1D300 140M-F8E-C32
120/240V Single-phase KTK-R-20 (20 A) 1489-A1C200 140M-D8E-C20
140MT-D9E-C20 20 1492-SP1D200 140M-D8E-C20 140MT-D9E-C20
2097-V32PR0 240V Single-phase KTK-R-15 (15 A) 1489-A1C150 140M-D8E-C16
140MT-D9E-C16 16 1492-SP1D150 140M-D8E-C16 140MT-D9E-C16
2097-V32PR2 240V Single-phase KTK-R-20 (20 A) 1489-A1C200 140M-D8E-C20
140MT-D9E-C20 20 1492-SP1D200 140M-D8E-C20 140MT-D9E-C20
2097-V32PR4 240V Single-phase KTK-R-30 (30 A) 1489-A1C300 140M-F8E-C32 32 1492-SP1D320 140M-F8E-C32
2097-V33PR1
120/240V Single-phase KTK-R-20 (20 A) 1489-A1C200 140M-D8E-C20
140MT-D9E-C20 20 1492-SP1D200 140M-D8E-C20 140MT-D9E-C20
240V Three-phase KTK-R-15 (15 A) 1489-A3C150 140M-D8E-C16
140MT-D9E-C16 16 1492-SP3D150 140M-D8E-C16 140MT-D9E-C20
2097-V33PR3
120/240V Single-phase KTK-R-20 (20 A) 1489-A1C200 140M-D8E-C20
140MT-D9E-C20 20 1492-SP1D200 140M-D8E-C20 140MT-D9E-C20
240V Three-phase KTK-R-15 (15 A) 1489-A3C150 140M-D8E-C16
140MT-D9E-C16 16 1492-SP3D150 140M-D8E-C16 140MT-D9E-C20
2097-V33PR5
120/240V Single-phase KTK-R-30 (30 A) 1489-A1C300 140M-F8E-C32 32 1492-SP1D300 140M-F8E-C32
240V Three-phase KTK-R-20 (20 A) 1489-A3C200 140M-D8E-C20
140MT-D9E-C20 20 1492-SP3D200 140M-D8E-C20 140MT-D9E-C20

Rockwell Automation Publication 2198-RM004C-EN-P - March 2022 15
Chapter 2 Replacement Considerations
Power Specifications This section provides the power specifications for the Kinetix 300 and
Kinetix 5100 servo drives. Table 10 and Table 11 list power specifications and
requirements for the Kinetix 300 servo drives.
2097-V33PR6 120/240V Single-phase LPJ-40SP — 140M-F8E-C32 40 — 140M-F8E-C32
240V Three-phase KTK-R-30 (30 A) 1489-A3C300 140M-F8E-C32 32 1492-SP3D300 140M-F8E-C32
2097-V34PR3
480V Three-phase
KTK-R-10 (10 A) 1489-A3C100 140M-C2E-C10
140MT-C3E-C10 10 1492-SP3D100 140M-C2E-C10 140MT-C3E-C10
2097-V34PR5 KTK-R-10 (10 A) 1489-A3C100 140M-C2E-C10
140MT-C3E-C10 10 1492-SP3D100 140M-C2E-C10 140MT-C3E-C10
2097-V34PR6 KTK-R-20 (20 A) 1489-A3C200 140M-D8E-C20
140MT-D9E-C20 20 1492-SP3D200 140M-D8E-C20 140MT-D9E-C20
Table 8 - Kinetix 300 Drive Fuse and Circuit Breaker (CB) Specifications (Continued)
Drive Cat. No. Drive Voltage Phase
UL Applications IEC (non-UL) Applications
Fuses
(Bussmann) Miniature CB Cat. No.
Motor
Protection CB
Cat. No.
DIN gG Fuses
Amps max Miniature CB Cat. No.
Motor
Protection CB
Cat. No.
Table 9 - Kinetix 5100 Drive Fuse and Circuit Breaker Selection
Cat. No. Voltage (nom) and Phase
UL/CSA Application IEC (non-UL/CSA) Application
Recommended Fuse Cat.
No. Recommended Circuit Breaker Cat. No. DIN gG Fuses Rating (amps, max) Recommended Circuit Breaker Cat. No.
2198-E1004-ERS 120V/230V, 1 PH KTK-R-15 (15 A) 1489-M2D100 15 1489-M2D100
230V, 3 PH KTK-R-10 (10 A) 1489-M3D100 10 1489-M3D100
2198-E1007-ERS 120V/230V, 1 PH KTK-R-20 (20 A) 1489-M2D200 20 1489-M2D200
230V, 3 PH KTK-R-15 (15 A) 1489-M3D130 15 1489-M3D130
2198-E1015-ERS 120V/230V, 1 PH KTK-R-30 (30 A) 1489-M2D300 30 1489-M2D300
230V, 3 PH KTK-R-25 (25 A) 1489-M3D200 25 1489-M3D200
2198-E1020-ERS 120V/230V, 1 PH LPJ-40SP (40 A) 1489-M2D400 40 1489-M2D400
230V, 3 PH LPJ-35SP (35 A) 1489-M3D300 35 1489-M3D300
2198-E2030-ERS 230V, 3 PH LPJ-50SP (50 A) 1489-M3D350 50 1489-M3D350
2198-E2055-ERS 230V, 3 PH LPJ-70SP (70 A) 1489-M3D600 70 1489-M3D600
2198-E2075-ERS 230V, 3 PH LPJ-80SP (80 A) 140G-G2C3-C70 80 140G-G2C3-C70
2198-E2150-ERS 230V, 3 PH LPJ-125SP (125 A) 140G-G2C3-D12 125 140G-G2C3-D12
2198-E4004-ERS
380…480V AC, 3 PH
KTK-R-10 (10A) 1489-M3D100 10 1489-M3D100
2198-E4007-ERS KTK-R-15 (15A) 1489-M3D100 15 1489-M3D100
2198-E4015-ERS KTK-R-20 (20A) 1489-M3D150 20 1489-M3D150
2198-E4020-ERS KTK-R-25 (25A) 1489-M3D200 25 1489-M3D200
2198-E4030-ERS KTK-R-30 (30A) 1489-M3D300 30 1489-M3D300
2198-E4055-ERS LPJ-35SP (35A) — 35 1489-M3D350
2198-E4075-ERS LPJ-45SP (45A) — 45 140G-G6C3-C45
2198-E4150-ERS LPJ-90SP (90A) — 90 140G-G6C3-C60
Table 10 - Kinetix 300 Drives (Single-phase) Power Specifications
Attribute 2097-V31PR0 2097-V31PR2 2097-V32PR0 2097-V32PR2 2097-V32PR4
AC input voltage 70…132V rms single-phase (120V nom)
80…264V rms single-phase (240V nom) 80…264V rms single-phase (240V nom)
AC input frequency 48…62 Hz
Main AC input current
Rms (nom) 120V input (voltage doubler)
Inrush (0-pk) Max 120V input
Rms (nom) 120/240V input
Inrush (0-pk) max 240V input
9.70 A
1.15 A
5.0 A
1.1 A
15.0 A
1.15 A
8.6 A
1.1 5.0 A 136 A 8.6 A 2.3 A 15.0 A 2.3 A
Integrated AC line filter No No Yes Yes Yes
Continuous output current (rms) 2.0 A 4.0 A 2.0 A 4.0 A 8.0 A

16 Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 2 Replacement Considerations
Table 13 and Table 14 list power specifications and requirements for the
Kinetix 5100 drives.
Continuous output current (0-pk) 2.8 A 5.7 A 2.8 A 5.7 A 11.3 A
Peak output current (rms) 6.0 A 12.0 A 6.0 A 12.0 A 24.0 A
Peak output current (0-pk) 8.5 A 17.0 A 8.5 A 17.0 A 39.9 A
Continuous power output @ 240V nom or
120V (Voltage-doubler mode) 0.40 kW 0.80 kW 0.40 kW 0.80 kW 1.70 kW
Shunt On 390V DC
Shunt Off 375V DC
Overvoltage 430V DC
Short-circuit current rating 100,000 A (rms) symmetrical
Table 10 - Kinetix 300 Drives (Single-phase) Power Specifications (Continued)
Attribute 2097-V31PR0 2097-V31PR2 2097-V32PR0 2097-V32PR2 2097-V32PR4
Table 11 - Kinetix 300 Drives (single-phase and three-phase) Power Specifications
Attribute 2097-V33PR1 2097-V33PR3 2097-V33PR5 2097-V33PR6
AC input voltage 80…132V rms single-phase (120V nom) 80…264V rms single-phase (240V nom)
80…264V rms three-phase (240V nom)
AC input frequency 48…62 Hz
Main AC input current
Rms (nom) 120V input (voltage doubler)
Inrush (0-pk) max 120V input
Rms (nom) 120/240V input
Inrush (0-pk) max 240V input
5.0 A
68.0 A
3.0 A
136 A
8.6 A
1.15 A
5.0 A
2.3 A
15.0 A
1.15 A
8.7 A
2.3 A
24.0 A
5.65 A
13.9 A
11.3 A
Integrated AC line filter No No No No
Continuous output current (rms) 2.0 A 4.0 A 8.0 A 12.0 A
Continuous output current (0-pk) 2.8 A 5.7 A 11.3 A 17.0 A
Peak output current (rms) 6.0 A 12.0 A 24.0 A 36.0 A
Peak output current (0-pk) 8.5 A 17.0 A 39.9 A 50.9 A
Continuous power output @ 240V nom or
120V (Voltage-doubler mode) 0.50 kW 1.00 kW 2.00 kW 3.00 kW
Shunt On 390V DC
Shunt Off 375V DC
Overvoltage threshold 430V DC
Short-circuit current rating 100,000 A (rms) symmetrical
Table 12 - Kinetix 300 Drives Control Power Specification
Attribute Kinetix 300 Drives
Control power input voltage 20…26V DC
Control power input current
Nom
Inrush max (0-pk) 500 mA 30 A

Rockwell Automation Publication 2198-RM004C-EN-P - March 2022 17
Chapter 2 Replacement Considerations
Table 13 - Kinetix 5100 Input Power Specifications (single-phase and three-phase)
Attribute 2198-E1004-ERS 2198-E1007-ERS 2198-E1015-ERS 2198-E1020-ERS
AC input voltage 95…132V rms, single-phase (120V nom) 170…253V rms, single-phase (200…230V nom)
170…253V rms, three-phase (230V nom)
AC input frequency 47…63 Hz
Main AC input current (1)
Nom (rms) 120V input (single-phase)
Inrush max (0-pk) 120V input
Nom (rms) 230V input (single-phase)
Inrush max (0-pk) 230V input
Nom (rms) 230V input (three-phase)
max Inrush max (0-pk) 230V input
4.08 A
0.84 A
4.79 A
1.40 A
2.84 A
1.44 A
7.88 A
0.76 A
8.85 A
1.32 A
5.20 A
1.40 A
12.22 A
0.76 A
14.41 A
1.36 A
7.87 A
1.44 A
18.40 A
2.56 A
21.36 A
4.40 A
11.57 A
4.64 A
Continuous output current (rms) 2.6 A 5.1 A 7.9 A 13.4 A
Continuous output current (0-pk) 3.7 A 7.2 A 11.2 A 18.9 A
Peak output current (rms) (2) 6.5 A 15.4 A 23.7 A 40.6 A
Peak output current (0-pk) 9.2 A 21.8 A 33.5 A 57.4 A
Continuous power output
@ 120V nom
@ 230V nom 0.20 kW 0.40 kW 0.375 kW 0.75 kW 0.75 kW 1.50 kW 1.0 kW 2.0 kW
Internal shunt on 370V @120V AC input
370V @230V AC input
Internal shunt off
Internal shunt resistor 100 Ω 100 Ω 100 Ω 20 Ω
Internal shunt power 5 W 14 W 14 W 20 W
Undervoltage threshold 70V @120V AC input
150V @230V AC input
Overvoltage threshold 410V @120V AC input
410V @230V AC input
Bus capacitance 540 µF 1680 µF 1680 µF 2160 µF
Capacitive energy absorption 6.24 J 19.40 J 19.40 J 24.95 J
Short-circuit current rating 5,000 A (rms) symmetrical
(1) Kinetix 5100 drive modules are limited to one AC mains power cycling per minute.
(2) Peak RMS current that is allowed for up to 1.8 seconds.
Table 14 - Kinetix 5100 Input Power Specifications (three-phase)
Attribute 2198-E2030-ERS 2198-E2055-ERS 2198-E2075-ERS 2198-E2150-ERS
AC input voltage 170…253V rms, three-phase (230V nom)
AC input frequency 47…63 Hz
Main AC input current (1)
Nom (rms) 230V input (three-phase)
Inrush max (0-pk) 230V input
14.65 A
4.42 A 27.32 A 9.55 A 37.90 A 28.68 A 70.45 A 32.0 A
Continuous output current (rms) 17.9 A 41.3 A 49.0 A 78.0 A
Continuous output current (0-pk) 25.3 A 58.4 A 69.3 A 110.3 A
Peak output current (rms) (2) 55.95 A 91.4 A 127.5 A 162.0 A
Peak output current (0-pk) 79.1 A 129.2 A 180.3 A 229.1 A
Continuous power output
@ 230V nom 3.0 kW 5.5 kW 7.5 kW 15.0 kW
Internal shunt on 370V @230V AC input
Internal shunt off
Internal shunt resistor 20 Ω — — —
Internal shunt power 20 W — — —
Undervoltage threshold 150V @230V AC input
Overvoltage threshold 410V @230V AC input
Bus capacitance 2160 µF 4100 µF 7000 µF 13,500 µF
Capacitive energy absorption 24.95 J 47.36 J 69.30 J 155.93 J
Short-circuit current rating 5,000 A (rms) symmetrical
(1) Kinetix 5100 drive modules are limited to one AC mains power cycling per minute.
(2) Peak RMS current that is allowed for up to 1.8 seconds.

18 Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 2 Replacement Considerations
Table 15 - Kinetix 5100 Power Specifications (480V nom three-phase)
Attribute 2198-E4004-ERS 2198-E4007-ERS 2198-E4015-ERS 2198-E4020-ERS
AC input voltage 342…528V rms, three-phase (480V nom)
AC input frequency 47…63 Hz
Mains AC input current (1)
Nom (rms) 380V input (three-phase)
Max inrush (0-pk) 380V input
Nom (rms) 480V input (three-phase)
Max inrush (0-pk) 480V input
1.49 A
5.66 A
1.34 A
7.15 A
2.31 A
5.66 A
2.08 A
7.15 A
5.009 A
5.66 A
4.38 A
7.15 A
6.29 A
9.43 A
4.94 A
11.91 A
Control power input voltage 21.6…26.4V DC
24V DC nom
Control power input current @ 24V DC (2)
Control power in-rush current @ 24V DC
1.27 ADC
4.14 ADC
1.40 ADC
4.97 ADC
Continuous output current (rms) 1.60 A 3.19 A 6.05 A 7.42 A
Continuous output current (0-pk) 2.26 A 4.51 A 8.56A 10.49 A
Peak output current (rms) (3) 5.40 A 8.0 A 15.11 A 20.78 A
Peak output current (0-pk) 7.63 A 11.31 A 21.36 A 29.38 A
Line loss ride through 20 ms
Continuous output power 0.40 kW 0.75 kW 1.50 kW 2.0 kW
Internal shunt on 760V
Internal shunt off
Internal shunt resistor 80 Ω —
Internal shunt power 10 W —
Bus undervoltage 282V
Bus overvoltage 820V
Bus capacitance 165 µF 235 µF 470 µF
Capacitive energy absorption 11.2 J 16.0 J 32.0 J
Short-circuit current rating 5,000 A (rms) symmetrical
(1) Kinetix 5100 drive modules are limited to 1 AC mains power cycling per minute.
(2) Kinetix 5100 drive modules are limited to 1 control power cycling every 20 seconds.
(3) Peak RMS current allowed for up to 1.8 seconds.

Rockwell Automation Publication 2198-RM004C-EN-P - March 2022 19
Chapter 2 Replacement Considerations
Table 16 - Kinetix 5100 Power Specifications (480V nom three-phase, continued)
Attribute 2198-E4030-ERS 2198-E4055-ERS 2198-E4075-ERS 2198-E4150-ERS
AC input voltage 342…528V rms, three-phase (380/480V nom)
AC input frequency 47…63 Hz
Mains AC input current (1)
Nom (rms) 380V input (three-phase)
Max inrush (0-pk) 380V input
Nom (rms) 480V input (three-phase)
Max inrush (0-pk) 480V input
9.96 A
9.43 A
7.91 A
11.91 A
16.825 A
9.43 A
13.35 A
11.91 A
23.664 A
9.43 A
18.78 A
11.91 A
36.855 A
28.28 A
29.25 A
35.73 A
Control power input voltage 21.6…26.4V DC,
24V DC nom
Control power input current @ 24V DC (2)
Control power in-rush current @ 24V DC
1.77 ADC
4.97 ADC
2.03 ADC
3.24 ADC
4.43 ADC
3.40 ADC
Continuous output current (rms) 13.95 A 24.8 A 31.0 A 41.26 A
Continuous output current (0-pk) 19.73 A 35.07 A 43.84 A 58.35 A
Peak output current (rms) (3) 26.08 A 37.65 A 53.32 A 70.14 A
Peak output current (0-pk) 36.88 A 53.24 A 75.39 A 99.18 A
Line loss ride through 20 ms
Continuous output power 3.0 kW 5.5 kW 7.5 kW 15.0 kW
Internal shunt on 760V
Internal shunt off
Internal shunt resistor — — — —
Internal shunt power — — — —
Bus undervoltage 282V
Bus overvoltage 820V
Bus capacitance 560 µF 1120 µF 1640 µF 2500 µF
Capacitive energy absorption 38.2 J 76.3 J 111.7 J 170.3 J
Short-circuit current rating 5,000 A (rms) symmetrical
(1) Kinetix 5100 drive modules are limited to 1 AC mains power cycling per minute.
(2) Kinetix 5100 drive modules are limited to 1 control power cycling every 20 seconds.
(3) Peak RMS current allowed for up to 1.8 seconds.
Table 17 - Kinetix 5100 Drive Control Power Specifications - 200V-class
Attribute 2198-E1004-
ERS, 2198-E1007- ERS, 2198-E1015- ERS, 2198-E1020- ERS 2198-E2030- ERS 2198-E2055- ERS 2198-E2075- ERS 2198-E2150- ERS
Control power input voltage
120V AC input power 95…132Vrms,120VACnom,single-phase ————
Control power input voltage
200…230V AC input power 170…253V rms, 200…230V AC nom, single-phase
Control power input current
Nom (rms) 120V input max
inrush (0-pk) 0.34 A 15.80 A 0.38 A 18.20 A 0.38 A 19.20 A 0.63 A 19.20 A ————
Control power input current
Nom (rms) 230V input max
inrush (0-pk) 0.20 A 37.0 A 0.22 A 37.40 A 0.22 A 39.80 A 0.35 A 32.40 A 0.35 A 36.40 A 0.46 A 32.80 A 0.48 A 40.0 A 0.92 A 37.0 A

20 Rockwell Automation Publication 2198-RM004C-EN-P - March 2022
Chapter 2 Replacement Considerations
I/O Availability and
Specifications
All Kinetix 300 drives and Kinetix 5100 have a comprehensive set of digital I/O
and analog I/O. Use the following specifications to verify if the IO functionality
is comparable.
Digital Inputs
This section describes digital inputs for Kinetix 300 and Kinetix 5100 servo
drives. Table 19 compares the digital inputs of the two drive families.
Kinetix 300 Drives
The Kinetix 300 drive has 12 digital inputs. Some input assignments are fixed,
and some are programmable. See Table 20 for input assignments. Each input
can be assigned an individual de-bounce time via MotionView software or
Explicit Messaging.
The inputs are separated into three groups: A, B, and C. Each group has four
inputs that share one common: IN_A_COM, IN_B_COM, and IN_C_COM,
respectively. Overtravel limits, the inhibit/enable input, and registration input
have dedicated inputs as shown in Table 20.
Table 18 - Kinetix 5100 Drive Control Power Specifications - 400V-class
Attribute 2198-E4004-
ERS, 2198-E4007- ERS, 2198-E4015- ERS, 2198-E4020- ERS 2198-E4030- ERS 2198-E4055- ERS 2198-E4075- ERS 2198-E4150- ERS
Control power input voltage 21.6…26.4V DC
24V DC nom
Control power input current
@ 24V DC (1)
Control power in-rush current
@ 24V DC
1.27 ADC
4.14 ADC
1.40 ADC
4.97 ADC
1.77 ADC
4.97 ADC
2.03 ADC
3.24 ADC
4.43 ADC
3.40 ADC
(1) Kinetix 5100 drive modules are limited to 1 control power cycling every 20 seconds.
Table 19 - Digital Input Comparison
Feature Kinetix 300 Drive Kinetix 5100 Drive
Inputs 12 Inputs 10 total (Eight standard inputs, two optional high-speed
inputs)
DC common terminations 3 groups (A,B,C) each with an isolated common 1
Number of Pre-selectable indexes
(using binary weighted digital inputs) 32 99
Multiple input assignments — Yes (via software programming only)
Fixed assignment for Enable/Overtravel/Registration Yes —
De-bounce for inputs Yes Yes
Registration Input IN_C3 only Yes - can be assigned to two-high speed inputs only
(Input 9 and Input 10)
Overtravel contact type Can be N.O. or N.C. Can be N.O. or N.C.