Rockwell Automation Allen-Bradley Kinetix 350 User manual

Kinetix 350 to Kinetix 5300
Servo Drive Migration Guide
Catalog Numbers 2198-C1004-ERS, 2198-C1007-ERS, 2198-C1015-ERS, 2198-C1020-ERS,
2198-C2030-ERS, 2198-C2055-ERS, 2198-C2075-ERS, 2198-C4004-ERS, 2198-C4007-ERS,
2198-C4015-ERS, 2198-C4020-ERS, 2198-C4030-ERS, 2198-C4055-ERS, 2198-C4075-ERS
Reference Manual Original Instructions

2Rockwell Automation Publication 2198-RM005A-EN-P - October 2020
Kinetix 350 to Kinetix 5300 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.
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-RM005A-EN-P - October 2020 3
Table of Contents
Preface
Migration Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Potential Design Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Application Conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Chapter 1
Replacement Considerations Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Select a Replacement Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Drive Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Nominal Voltage and Output Current Comparison . . . . . . . . . . . . . . 9
Dimension Comparison. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
AC Input Power Cable Length and Fuse Protection . . . . . . . . . . . . . . . . . 11
AC Input Power Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Input Power Cable Length and Fuse Protection . . . . . . . . . . . . . . . . . 11
Circuit Breaker and Fuse Considerations . . . . . . . . . . . . . . . . . . . . . . 12
Power Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
I/O Availability and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Motor Brake Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Control and Auxiliary Power Specifications . . . . . . . . . . . . . . . . . . . . 22
Kinetix Motor and Actuator Compatibility . . . . . . . . . . . . . . . . . . . . . 23
Feedback Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Required Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Optional Drive Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Chapter 2
Connectors Kinetix 350 Servo Drive Connector Locations . . . . . . . . . . . . . . . . . . . . . . 27
Kinetix 5300 Servo Drive Connector Locations . . . . . . . . . . . . . . . . . . . . . 28
I/O Connector and Auxiliary Feedback Pinouts . . . . . . . . . . . . . . . . . . . . 28
Motor Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Safe Torque Off Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Chapter 3
Dimensions, Cables, and Wiring Dimension Drawings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Power Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Kinetix 350 Power Wiring Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Kinetix 5300 Power Wiring Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . 40

4Rockwell Automation Publication 2198-RM005A-EN-P - October 2020
Kinetix 350 to Kinetix 5300 Servo Drive Migration Guide
Chapter 4
System Architecture Drive System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Kinetix 350 Servo Drive System Architecture. . . . . . . . . . . . . . . . . . . . . . . 45
Kinetix 5300 Drive Hardware and Input Power Configurations. . . . . . 46
Typical Communication Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Appendix A
Feature Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51

Rockwell Automation Publication 2198-RM005A-EN-P - October 2020 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® 350 servo drives to one containing Kinetix 5300 servo drives.
Migrating from a motion control system that uses Kinetix 350 drives to a
system that uses Kinetix 5300 drives requires a comprehensive design review
of the motion control system. 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 5300 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.
Product compatibility information and release notes are available online
within the Product Compatibility and Download Center at rok.auto/pcdc.
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 350 servo drives to one that contains
Kinetix 5300 servo drives.
Potential Design Changes The design changes required for converting to the Kinetix 5300 drives depend
on the original/replacement drive combination and the specifics of the
application. The objective is to determine which areas of a design must be
changed. This publication provides you with knowledge about the type and
extent of work required to change successfully from a Kinetix 350 system to a
Kinetix 5300 system.
Due to the flexibility of drive installation and usage, 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 350 system when
considering replacement with a Kinetix 5300 system.
See Appendix A for a comparison of features. See the Kinetix Servo Drives
Specifications Technical Data, publication KNX-TD003 for complete
specifications.
Application Conversion Studio 5000 Logix Designer application is used to configure and program both
the Kinetix 350 and Kinetix 5300 drives.

6Rockwell Automation Publication 2198-RM005A-EN-P - October 2020
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, and Kinetix HPK rotary motors.
Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 Product specifications for Kinetix Integrated Motion over the EtherNet/IP network, Integrated Motion over Sercos interface, EtherNet/IP networking, and component servo
drive families.
Kinetix 5300 Drive Systems Design Guide,
publication KNX-RM012
System design guide to select the required (drive specific) drive module, power accessory,
feedback connector kit, and motor cable catalog numbers for your Kinetix 5300 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 5300 Single-axis EtherNet/IP Servo Drives User Manual,
publication 2198-UM005 Provides installation instructions to mount, wire, and troubleshoot your Kinetix 5300 drive;
and system integration for your drive/motor combination with a Logix controller.
Kinetix 350 EtherNet/IP Indexing Servo Drives User Manual,
publication 2097-UM002 Provides installation instructions to mount, wire, and troubleshoot your Kinetix 350 drive;
and system integration for your drive/motor combination with a Logix controller.
Kinetix 350 Single-axis EtherNet/IP Servo Drive Installation Instructions,
publication 2097-IN008 Provides information on how to install your Kinetix 350 drive system.
Bulletin 2097 Shunt Resistor Installation Instructions, publication 2097-IN002 Provides information on how to install and wire the Kinetix 350 drive shunt resistors.
Bulletin 2097 AC Line Filter Installation Instructions, publication 2097-IN003 Provides information on how to install and wire the Kinetix 350 drive AC line filter.
Bulletin 2097 I/O Terminal Expansion Block Installation Instructions,
publication 2097-IN005 Provides information on how to install and wire the Kinetix 350 drive I/O terminal expansion block.
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 Information, examples, and techniques designed to minimize system failures caused by
electrical noise.
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-RM005A-EN-P - October 2020 7
Chapter 1
Replacement Considerations
Replacing a Kinetix® 350 drive with a Kinetix 5300 drive can require some
system design changes:
• Review the hardware and software design of the existing Kinetix 350
system.
• Compare these designs to the hardware and software specifications for
the Kinetix 5300 drives.
This publication highlights the major differences between the Kinetix 350
servo drives and the Kinetix 5300 servo drives. Additional differences can also
impact your application. Review this publication to evaluate your needs.
Design considerations:
• Upload and save any network files and programmable logic controller
(PLC) programs that you can use for the new system.
• See the System Design for Control of Electrical Noise Reference
Manual, publication GMC-RM001 and Servo Drive Installation Best
Practices Application Technique, publication MOTION-AT004 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 drive size is compatible.
• Verify that the drive dimensions are compatible with your available
installation space.
• Verify that the drive connections and connector wires are all labeled
prior to disconnecting the old connectors.
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.

8Rockwell Automation Publication 2198-RM005A-EN-P - October 2020
Chapter 1 Replacement Considerations
Catalog Number
Explanation
Kinetix 5300 drive catalog numbers and performance descriptions.
Table 1 - Kinetix 5300 Servo Drives
Select 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.
Kinetix 350 drives can be replaced with a Kinetix 5300 drive of similar, or in
some cases, greater output current capability.
The Kinetix 5300 drives with similar current ratings require a similar physical
space compared to the Kinetix 350 drives.
Factors that affect the redesign effort include these considerations:
• Drive sizing (ratings and physical)
• Dimension comparison
• Drive interconnects and cabling
• Accessories
Cat. No. Frame Size Input Voltage Continuous Output Power
kW Continuous Output Current A (rms) Peak Output Current A (rms)
2198-C1004-ERS 1
85…132V rms single-phase
170…253V rms single-phase
170…253V rms three-phase
0.22
0.46
0.72
2.8
2.8
2.8
6.6
9.5
9.5
2198-C1007-ERS 1 0.36 0.76
1.18
4.6
4.6
4.6
9.7
15.5
15.5
2198-C1015-ERS 2 0.67 1.41
2.18
8.5
8.5
8.5
12.2
20.5
29.2
2198-C1020-ERS 2 0.97 2.02
3.13
12.2
12.2
12.2
25.0
40.6
40.6
2198-C2030-ERS 2
170…253V rms three-phase
5.02 19.6 61.0
2198-C2055-ERS 3 10.30 40.2 108.0
2198-C2075-ERS 3 12.22 47.7 127.5
2198-C4004-ERS 1
342…528V rms three-phase
0.86 1.6 5.3
2198-C4007-ERS 1 1.55 2.9 9.3
2198-C4015-ERS 2 2.78 5.2 18.0
2198-C4020-ERS 2 3.90 7.3 23.8
2198-C4030-ERS 2 6.25 11.7 34.1
2198-C4055-ERS 3 12.08 22.6 58.5
2198-C4075-ERS 3 14.70 27.5 73.5

Rockwell Automation Publication 2198-RM005A-EN-P - October 2020 9
Replacement Considerations Chapter 1
Drive Replacement This section lists the Kinetix 350 servo drives and the suggested Kinetix 5300
replacement servo drives, along with the output ratings and dimension
differences of the drives. Information in this migration guide is based on the
drive combinations that are shown in Table 2 and Table 3.
Nominal Voltage and Output Current Comparison
Table 2 compares the Output Current of the Kinetix 350 and Kinetix 5300
drives. Review Table 2 to ensure that the replacement drive can deliver the
required level of peak and continuous current to the motor.
Table 2 - Suggested Kinetix 5300 Replacement Drives by Output Current
Kinetix 350 Drive Kinetix 5300 Drive
Cat. No. Voltage Range
Continuous
Output
Current
A rms
(0-pk)
Peak Output
Current
A rms
(0-pk)
Cat. No. Voltage Range
Continuous
Output
Current
A rms
(0-pk)
Peak Output
Current
A rms
(0-pk)
2097-V33PR1-LM
80…132V,
single-phase
(120V nom)
2 (2.8) 6.0 (8.5) 2198-C1004-ERS
85…132V,
single-phase
(110V nom)
2.8 (4.0) 6.6 (13.4)
2097-V33PR3-LM 4 (5.7) 12.0 (17.0) 2198-C1007-ERS 4.6 (6.5) 9.7 (21.9)
2097-V33PR5-LM 8 (11.3) 24.0 (33.9) 2198-C1015-ERS 8.5 (11.7) 12.2 (41.3)
2097-V33PR6-LM 12 (17.0) 36.0 (50.9) 2198-C1020-ERS 12.2 (17.3) 25.0 (57.4)
2097-V31PR0-LM
80…264V,
single-phase
(240V nom)
2 (2.8) 6.0 (8.5) 2198-C1004-ERS
170…253V,
single-phase
(230V nom)
2.8 (4.0) 9.5 (13.4)
2097-V31PR2-LM 4 (5.7) 12.0 (17.0) 2198-C1007-ERS 4.6 (6.5) 15.5 (21.9)
2097-V32PR0-LM 2 (2.8) 6.0 (8.5) 2198-C1004-ERS 2.8 (4.0) 9.5 (13.4)
2097-V32PR2-LM 4 (5.7) 12.0 (17.0) 2198-C1007-ERS 4.6 (6.5) 15.5 (21.9)
2097-V32PR4-LM 8 (11.3) 24.0 (33.9) 2198-C1015-ERS 8.5 (12.0) 20.5 (41.3)
2097-V33PR1-LM 2 (2.8) 6.0 (8.5) 2198-C1004-ERS 2.8 (4.0) 9.5 (13.4)
2097-V33PR3-LM 4 (5.7) 12.0 (17.0) 2198-C1007-ERS 4.6 (6.5) 15.5 (21.9)
2097-V33PR5-LM 8 (11.3) 24.0 (33.9) 2198-C1015-ERS 8.5 (12.0) 20.5 (41.3)
2097-V33PR6-LM 12 (17.0) 36.0 (50.9) 2198-C1020-ERS 12.2 (17.3) 40.6 (57.4)
2097-V33PR1-LM
80…264V,
three-phase
(240V nom)
2 (2.8) 6.0 (8.5) 2198-C1004-ERS
170…253V,
three-phase
(230V nom)
2.8 (4.0) 9.5 (13.4)
2097-V33PR3-LM 4 (5.7) 12.0 (17.0) 2198-C1007-ERS 4.6 (6.5) 15.5 (21.9)
2097-V33PR5-LM 8 (11.3) 24.0 (33.9) 2198-C1015-ERS 8.5 (12.0) 29.2 (41.3)
2097-V33PR6-LM 12 (17.0) 36.0 (50.9) 2198-C1020-ERS 12.2 (17.3) 40.6 (57.4)
2097-V34PR3-LM 320…528V,
three-phase
(480V nom)
2.0 (2.8) 6.0 (8.5) 2198-C4007-ERS 342…528V,
three-phase
(480V nom)
2.9 (4.1) 9.3 (13.2)
2097-V34PR5-LM 4.0 (5.7) 12.0 (17.0) 2198-C4015-ERS 5.2 (7.4) 18.0 (25.5)
2097-V34PR6-LM 6.0 (8.5) 18.0 (25.5) 2198-C4020-ERS 7.3 (10.3) 23.8 (33.7)

10 Rockwell Automation Publication 2198-RM005A-EN-P - October 2020
Chapter 1 Replacement Considerations
Dimension Comparison
Table 4 compares the dimensions of the Kinetix 350 and Kinetix 5300 drives.
Refer to Dimensions, Cables, and Wiring for additional information on
dimensions.
Table 3 - Additional Kinetix 5300 Drives by Output Current
Kinetix 5300 drive
Cat. No. Voltage Range
Continuous Output
Current
A rms
(0-pk)
Peak Output Current
A rms
(0-pk)
2198-C2030-ERS 170…253V,
three-phase,
(230V nom)
19.6 (27.7) 60.1 (86.3)
2198-C2055-ERS 40.2 (56.9) 108.0 (152.7)
2198-C2075-ERS 47.7 (67.5) 127.5 (180.3)
2198-C4004-ERS
342…528V,
three-phase,
(480V nom)
1.6 (2.3) 5.3 (7.5)
2198-C4030-ERS 11.7 (16.5) 34.1 (48.3)
2198-C4055-ERS 22.6 (32.0) 58.5 (82.7)
2198-C4075-ERS 27.5 (38.9) 73.5 (103.9)
Table 4 - Suggested Kinetix 5300 Replacement Drives by Dimensions
Kinetix 350 drive Kinetix 5300
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-LM 238 (9.37) 68.0 (2.68) 185 (7.28) 2198-C1004-ERS 215 (8.46) 50 (1.97) 200 (7.87)
2097-V31PR2-LM 238 (9.37) 69.0 (2.72) 185 (7.28) 2198-C1007-ERS 215 (8.46) 50 (1.97) 200 (7.87)
2097-V32PR0-LM 238 (9.37) 68.0 (2.68) 230 (9.06) 2198-C1004-ERS 215 (8.46) 50 (1.97) 200 (7.87)
2097-V32PR2-LM 238 (9.37) 69.0 (2.72) 230 (9.06) 2198-C1007-ERS 215 (8.46) 50 (1.97) 200 (7.87)
2097-V32PR4-LM 238 (9.37) 87.0 (3.43) 230 (9.06) 2198-C1015-ERS 265 (10.43) 55 (2.16) 200 (7.87)
2097-V33PR1-LM 238 (9.37) 68.0 (2.68) 185 (7.28) 2198-C1004-ERS 215 (8.46) 50 (1.97) 200 (7.87)
2097-V33PR3-LM 238 (9.37) 69.0 (2.72) 185 (7.28) 2198-C1007-ERS 215 (8.46) 50 (1.97) 200 (7.87)
2097-V33PR5-LM 238 (9.37) 94.0 (3.70) 185 (7.28) 2198-C1015-ERS 265 (10.43) 55 (2.16) 200 (7.87)
2097-V33PR6-LM 238 (9.37) 68.0 (2.68) 230 (9.06) 2198-C1020-ERS 265 (10.43) 55 (2.16) 200 (7.87)
2097-V34PR3-LM 238 (9.37) 69.0 (2.72) 185 (7.28) 2198-C4007-ERS 215 (8.46) 50 (1.97) 200 (7.87)
2097-V34PR5-LM 238 (9.37) 94.0 (3.70) 185 (7.28) 2198-C4015-ERS 265 (10.43) 55 (2.16) 200 (7.87)
2097-V34PR6-LM 238 (9.37) 68.0 (2.68) 230 (9.06) 2198-C4020-ERS 265 (10.43) 55 (2.16) 200 (7.87)
(1) Height includes connectors.

Rockwell Automation Publication 2198-RM005A-EN-P - October 2020 11
Replacement Considerations Chapter 1
AC Input Power Cable Length
and Fuse Protection
This section provides information to assist in the determination of power
cable lengths and fuse protection for the drives.
AC Input Power Configuration
The Kinetix 350 drive supports multiple types of AC input power: center
grounded wye secondary, and corner grounded delta secondary.
The Kinetix 5300 drives only support AC input power with center grounded
wye secondary.
Input Power Cable Length and Fuse Protection
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 350 drives and
Kinetix 5300 could be in different physical locations with different
terminations. Table 5 gives an overview of the connection placement for
Kinetix 5300 drives. See Connectors for a comparison of the Kinetix 350 and
Kinetix 5300 drive connectors.
Table 5 - Input and Motor Power Connection Placement for Kinetix 350 and Kinetix 5300 Drives
Series Input Power Location Motor Power Location
Kinetix 350 Top Front
Kinetix 5300 Top Bottom

12 Rockwell Automation Publication 2198-RM005A-EN-P - October 2020
Chapter 1 Replacement Considerations
Circuit Breaker and Fuse Considerations
Review the fusing requirements when you change a drive.
Table 6 - Kinetix 350 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-LM 120/240V Single-phase KTK-R-10 (10 A) 1489-M1C100 140M-C2E-C10 10 1492-SPM1D100 140M-C2E-C10
2097-V31PR2-LM 120/240V Single-phase KTK-R-20 (20 A) 1489-M1C200 140M-D8E-C20 20 1492-SPM1D200 140M-D8E-C20
2097-V32PR0-LM 240V Single-phase KTK-R-15 (15 A) 1489-M1C150 140M-D8E-C16 16 1492-SPM1D150 140M-D8E-C16
2097-V32PR2-LM 240V Single-phase KTK-R-20 (20 A) 1489-M1C200 140M-D8E-C20 20 1492-SPM1D200 140M-D8E-C20
2097-V32PR4-LM 240V Single-phase KTK-R-30 (30 A) 1489-M1C300 140M-F8E-C32 32 1492-SPM1D320 140M-F8E-C32
2097-V33PR1-LM 120/240V Single-phase KTK-R-20 (20 A) 1489-M1C200 140M-D8E-C20 20 1492-SPM1D200 140M-D8E-C20
240V Three-phase KTK-R-15 (15 A) 1489-M3C150 140M-D8E-C16 16 1492-SPM3D150 140M-D8E-C16
2097-V33PR3-LM 120/240V Single-phase KTK-R-20 (20 A) 1489-M1C200 140M-D8E-C20 20 1492-SPM1D200 140M-D8E-C20
240V Three-phase KTK-R-15 (15 A) 1489-M3C150 140M-D8E-C16 16 1492-SPM3D150 140M-D8E-C16
2097-V33PR5-LM 120/240V Single-phase KTK-R-30 (30 A) 1489-M1C300 140M-F8E-C32 32 1492-SPM1D300 140M-F8E-C32
240V Three-phase KTK-R-20 (20 A) 1489-M3C200 140M-D8E-C20 20 1492-SPM3D200 140M-D8E-C20
2097-V33PR6-LM 120/240V Single-phase LPJ-40SP — 140M-F8E-C32 40 — 140M-F8E-C32
240V Three-phase KTK-R-30 (30 A) 1489-M3C300 140M-F8E-C32 32 1492-SPM3D300 140M-F8E-C32
Table 7 - Kinetix 5300 Drive Fuse and Circuit Breaker (CB) Specifications
Kinetix 5300 Drives UL Applications IEC (non-UL) Applications
Drive Cat. No. Drive Voltage Phase Fuses
(Bussmann)
Molded Case CB
Cat. No.
DIN gG Fuses
Amps (max) Miniature CB Cat. No.
Molded Case CB
Cat. No.
2198-C1004-ERS
110V Single-phase KTK-R-6 140U-D6D2-B40 61489-M2C060 140U-D6D2-B40
230V Single-phase KTK-R-6
Three-phase KTK-R-6 140U-D6D3-B40 1489-M3C060 140U-D6D3-B40
2198-C1007-ERS
110V Single-phase KTK-R-10 140U-D6D2-B80 10 1489-M2C100 140U-D6D2-B80
230V Single-phase KTK-R-10
Three-phase KTK-R-10 140U-D6D3-B80 1489-M3C100 140U-D6D3-B80
2198-C1015-ERS
110V Single-phase KTK-R-15 140U-D6D2-C12 16 1489-M2C160 140U-D6D2-C12
230V Single-phase KTK-R-15
Three-phase KTK-R-15 140U-D6D3-C12 1489-M3C160 140U-D6D3-C12
2198-C1020-ERS
110V Single-phase KTK-R-25 140U-D6D2-C20 25 1489-M2C250 140U-D6D2-C20
230V Single-phase KTK-R-25
Three-phase KTK-R-25 140U-D6D3-C20 1489-M3C250 140U-D6D3-C20
2198-C2030-ERS 230V Three-phase KTK-R-30 140U-D6D3-C30 32 1489-M3C400 140U-D6D3-C30
2198-C2055-ERS 230V Three-phase LPJ-50SP 140G-G6C3-C50 40 – 140G-G6C3-C50
2198-C2075-ERS 230V Three-phase LPJ-60SP 140G-G6C3-C60 50 – 140G-G6C3-C60
2198-C4004-ERS 480V Three-phase KTK-R-3 140U-D6D3-B20 2 1489-M3C030 140U-D6D3-B20
2198-C4007-ERS 480V Three-phase KTK-R-6 140U-D6D3-B40 6 1489-M3C060 140U-D6D3-B40
2198-C4015-ERS 480V Three-phase KTK-R-12 140U-D6D3-B80 12 1489-M3C100 140U-D6D3-B80
2198-C4020-ERS 480V Three-phase KTK-R-15 140U-D6D3-C12 16 1489-M3C130 140U-D6D3-C12
2198-C4030-ERS 480V Three-phase KTK-R-25 140U-D6D3-C15 25 1489-M3C200 140U-D6D3-C15
2198-C4055-ERS 480V Three-phase LPJ-30SP 140U-D6D3-C30 32 1489-M3C350 140U-D6D3-C30
2198-C4075-ERS 480V Three-phase LPJ-35SP 140U-D6D3-C30 32 1489-M3C400 140U-D6D3-C30

Rockwell Automation Publication 2198-RM005A-EN-P - October 2020 13
Replacement Considerations Chapter 1
Power Specifications This section provides the power specifications for the Kinetix 350 and Kinetix
5300 servo drives.
Table 8 …Table 10 list the power specifications and requirements for the
Kinetix 350 servo drives.
Table 8 - Kinetix 350 Drives (Single-phase) Power Specifications
Attribute 2097-V31PR0-LM 2097-V31PR2-LM 2097-V32PR0-LM 2097-V32PR2-LM 2097-V32PR4-LM
AC input voltage 70…132V rms single-phase (120V nom) voltage-doubler mode
80…264V rms single-phase (240V nom) 80…264V rms single-phase (240V nom)
AC input frequency 48…62 Hz
Main AC input current (1)
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
Continuous output current (0-pk) 2.8 A 5.7 A 2.8 A 5.7 A 11.3 A
Peak output current (rms) (2) 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) (3) 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
(1) Kinetix 350 drive modules are limited to 1 AC main power cycling per every 2 minutes.
(2) Peak RMS current allowed for up to 2 seconds with a 50% duty cycle.
(3) Nominal continuous power output (kW) applies to 240V AC drives. Value is approximately one-half of this kW rating when using 120V AC.
Table 9 - Kinetix 350 Drives (single-phase and three-phase) Power Specifications
Attribute 2097-V33PR1-LM 2097-V33PR3-LM 2097-V33PR5-LM 2097-V33PR6-LM
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 (1)
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) (2) 6.0 A 12.0 A 24.0 A 36.0 A
Peak output current (0-pk) 8.5 A 17.0 A 33.9 A 50.9 A
Continuous power output @ 240V nom or 120V
(voltage-doubler mode) (3) 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
(1) Kinetix 350 drive modules are limited to 1 AC main power cycling per every 2 minutes.
(2) Peak RMS current allowed for up to 2 seconds with a 50% duty cycle.
(3) Nominal continuous power output (kW) applies to 240V AC drives. Value is approximately one-half of this kW rating when using 120V AC.

14 Rockwell Automation Publication 2198-RM005A-EN-P - October 2020
Chapter 1 Replacement Considerations
Table 11 … Table 14 list power specifications and requirements for the Kinetix
5300 drives.
Table 10 - Kinetix 350 Drive (three-phase) Power Specifications
Attribute 2097-V34PR3-LM 2097-V34PR5-LM 2097-V34PR6-LM
AC input voltage 320…528V rms three-phase (480V nom)
AC input frequency 48…62 Hz
Main AC input current (1)
Nom (rms)
Max inrush (0-pk)
2.7 A
4.5 A 5.5 A 4.5 A 7.9 A 22.6 A
Integrated AC line filter No No No
Continuous output current (rms) 2.0 A 4.0 A 6.0 A
Continuous output current (0-pk) 2.8 A 5.7 A 8.5 A
Peak output current (rms) (2) 6.0 A 12.0 A 18.0 A
Peak output current (0-pk) 8.5 A 17.0 A 25.5 A
Continuous power output
@ 480V nom 1.00 kW 2.00 kW 3.00 kW
Shunt on 780V DC
Shunt off 750V DC
Overvoltage 850V DC
Short-circuit current rating 100,000 A (rms) symmetrical
(1) Kinetix 350 drive modules are limited to 1 AC mains power cycling per every 2 minutes.
(2) Peak RMS current allowed for up to 2 seconds with a 50% duty cycle.
Table 11 - Kinetix 5300 (110V and 230V, single-phase and three-phase) Power Specifications
Attribute 2198-C1004-ERS 2198-C1007-ERS 2198-C1015-ERS 2198-C1020-ERS
AC input voltage 85…132V rms, single-phase (110V nom) 170…253V rms, single-phase (230V nom)
170…253V rms, three-phase (230V nom)
AC input frequency 47…63 Hz
Main AC input current (rms) (1) 2.17 A 3.56 A 6.58 A 9.45 A
Max inrush current (0-pk)
Nom 110V input (single-phase)
Nom 230V input (single-phase)
Nom 230V input (three-phase)
6.0 A
11.5 A
7.4 A
6.0 A
11.5 A
7.4 A
6.0 A
11.5 A
7.4 A
6.0 A
11.5 A
7.4 A
Peak AC input current (rms) 6.99 A 10.48 A 19.75 A 27.46 A
Control power input voltage (2) 21.6…26.4V DC
24V DC nom
Control power input current (1) (3)
(non-brake motors) 0.4 A DC 0.4 A DC 0.9 A DC 0.9 A DC
Continuous output current (rms)
Nom 110V input (single-phase)
Nom 230V input (single-phase)
Nom 230V input (three-phase) 2.8 A 4.6 A 8.5 A 12.2 A
Continuous output current (0-pk)
Nom 110V input (single-phase)
Nom 230V input (single-phase)
Nom 230V input (three-phase) 4.0 A 6.5 A 12.0 A 17.3 A
Peak output current (rms) (4)
Nom 110V input (single-phase)
Nom 230V input (single-phase)
Nom 230V input (three-phase)
6.6 A
9.5 A
9.5 A
9.7 A
15.5 A
15.5 A
12.2 A
20.5 A
29.2 A
25.0 A
40.6 A
40.6 A
Peak output current (0-pk)
Nom 110V input (single-phase)
Nom 230V input (single-phase)
Nom 230V input (three-phase)
9.3 A
13.4 A
13.4 A
13.7 A
21.9 A
21.9 A
17.3 A
29.0 A
41.3 A
35.4 A
57.4 A
57.4 A
Line loss ride through 20 ms

Rockwell Automation Publication 2198-RM005A-EN-P - October 2020 15
Replacement Considerations Chapter 1
Continuous output power
@ 110V nom single-phase
@ 230V nom single-phase
@ 230V nom three-phase
0.22 kW
0.46 kW
0.72 kW
0.36 kW
0.76 kW
1.18 kW
0.67 kW
1.41 kW
2.18 kW
0.97 kW
2.02 kW
3.13 kW
Internal shunt on 387.5V
Internal shunt off 377.5V
Internal shunt resistor 100 Ω 100 Ω 60 Ω 60 Ω
Internal shunt power 30 W 30 W 50 W 50 W
Bus undervoltage limit 72V @110V AC input
144V @230V AC input
Bus overvoltage limit 405V
Bus capacitance 330 µF 560 µF 660 µF 1120 µF
Capacitive energy absorption
@ 110V nom AC input
@ 230V nom AC input 21.31 J 5.94 J 36.17 J 10.08 J 42.63 J 11.88 J 72.34 J 20.16 J
Efficiency 91% @110V (single-phase) AC input 95% @230V (single-phase) AC input
97% @230V (three-phase) AC input
Short-circuit current rating (5) 200,000 A (rms) symmetrical
(1) Drives are limited to one power cycle per minute.
(2) The cooling fan runs as part of the control power startup routine, when the inverter is enabled, and if the inverter temperature exceeds preset threshold.
(3) For current values when motors include a holding brake, refer to Kinetix Servo Drive Specifications Technical Data, publication KNX-TD003.
(4) Peak RMS current allowed for up to 1.0 seconds.
(5) This rating is only valid if UL specified fuses are used.
Table 11 - Kinetix 5300 (110V and 230V, single-phase and three-phase) Power Specifications (continued)
Attribute 2198-C1004-ERS 2198-C1007-ERS 2198-C1015-ERS 2198-C1020-ERS
Table 12 - Kinetix 5300 (230V, three-phase) Input Power Specifications
Attribute 2198-C2030-ERS 2198-C2055-ERS 2198-C2075-ERS
AC input voltage 170…253V rms, three-phase (230V nom)
AC input frequency 47…63 Hz
Main AC input current (rms) (1) 15.18 A 31.13 A 36.93 A
Max inrush current (0-pk) 7.4 A 14.8 A 14.8 A
Peak AC input current (rms) 41.26 A 73.06 A 86.25 A
Control power input voltage (2) 21.6…26.4V DC
24V DC nom
Control power input current (1) (3)
(non-brake motors) 0.9 A DC 1.7 A DC 1.7 A DC
Continuous output current (rms) 19.6 A 40.2 A 47.7 A
Continuous output current (0-pk) 27.7 A 56.9 A 67.5 A
Peak output current (rms) (4) 61.0 A 108.0 A 127.5 A
Peak output current (0-pk) 86.3 A 152.7 A 180.3 A
Line loss ride through 20 ms
Continuous output power 5.02 kW 10.30 kW 12.22 kW
Internal shunt on 387.5V
Internal shunt off 377.5V
Internal shunt resistor 60 Ω 40 Ω
Internal shunt power 50 W 75 W
Bus undervoltage limit 144V
Bus overvoltage limit 405V
Bus capacitance 1680 µF 2460 µF 3280 µF
Capacitive energy absorption 30.25 J 44.29 J 59.05 J
Efficiency 97%
Short-circuit current rating (5) 200,000 A (rms) symmetrical
(1) Drives are limited to one power cycle per minute.
(2) The cooling fan runs as part of the control power startup routine, when the inverter is enabled, and if the inverter temperature exceeds preset threshold.
(3) For current values when motors include a holding brake, refer to Kinetix Servo Drive Specifications Technical Data, publication KNX-TD003.
(4) Peak RMS current allowed for up to 1.0 seconds.
(5) This rating is only valid if UL specified fuses are used.

16 Rockwell Automation Publication 2198-RM005A-EN-P - October 2020
Chapter 1 Replacement Considerations
Table 13 - Kinetix 5300 (480V, three-phase) Input Power Specifications
Attribute 2198-C4004-ERS 2198-C4007-ERS 2198-C4015-ERS 2198-C4020-ERS
AC input voltage 342…528V rms, three-phase (480V nom)
AC input frequency 47…63 Hz
Main AC input current (rms) (1) 1.24 A 2.25 A 4.03 A 5.65 A
Max inrush current (0-pk) 15.5 A 15.5 A 15.5 A 15.5 A
Peak AC input current (rms) 3.59 A 6.29 A 12.18 A 16.10 A
Control power input voltage (2) 21.6…26.4V DC
24V DC nom
Control power input current (1) (3)
(non-brake motors) 0.4 A DC 0.4 A DC 0.9 A DC 0.9 A DC
Continuous output current (rms) 1.6 A 2.9 A 5.2 A 7.3 A
Continuous output current (0-pk) 2.3 A 4.1 A 7.4 A 10.3 A
Peak output current (rms) (4) 5.3A9.3A18.0A23.8A
Peak output current (0-pk) 7.5 A 13.2 A 25.5 A 33.7 A
Line loss ride through 20 ms
Continuous output power 0.86 kW 1.55 kW 2.78 kW 3.90 kW
Internal shunt on 775V
Internal shunt off 765V
Internal shunt resistor 100 Ω 100 Ω 60 Ω 60 Ω
Internal shunt power 30 W 30 W 50 W 50 W
Bus undervoltage limit 275V
Bus overvoltage limit 810V
Bus capacitance 165 µF 165 µF 280 µF 330 µF
Capacitive energy absorption 8.13 J 13.79 J 16.26 J
Efficiency 97%
Short-circuit current rating (5) 200,000 A (rms) symmetrical
(1) Drives are limited to one power cycle per minute.
(2) The cooling fan runs as part of the control power startup routine, when the inverter is enabled, and if the inverter temperature exceeds preset threshold.
(3) For current values when motors include a holding brake, refer to Kinetix Servo Drive Specifications Technical Data, publication KNX-TD003.
(4) Peak RMS current allowed for up to 1.0 seconds.
(5) This rating is only valid if UL specified fuses are used.

Rockwell Automation Publication 2198-RM005A-EN-P - October 2020 17
Replacement Considerations Chapter 1
I/O Availability and
Specifications
All Kinetix 350 and Kinetix 5300 servo drives have a set of digital I/O. Use the
specifications that follow to verify if the operation between the drives will be
consistent.
Digital Inputs
This section describes digital inputs for Kinetix 350 and Kinetix 5300 servo
drives. Table 15 compares the digital inputs of the two drive families.
Table 14 - Kinetix 5300 (480V, three-phase) Input Power Specifications
Attribute 2198-C4030-ERS 2198-C4055-ERS 2198-C4075-ERS
AC input voltage 342…528V rms, three-phase (480V nom)
AC input frequency 47…63 Hz
Main AC input current (rms) (1) 9.06 A 17.50 A 21.29 A
Max inrush current (0-pk) 30.9 A 30.9 A 46.4 A
Peak AC input current (rms) 23.07 A 39.57 A 49.72 A
Control power input voltage (2) 21.6…26.4V DC
24V DC nom
Control power input current (1) (3)
(non-brake motors) 0.9 A DC 1.7 A DC 1.7 A DC
Continuous output current (rms) 11.7 A 22.6 A 27.5 A
Continuous output current (0-pk) 16.5 A 32.0 A 38.9 A
Peak output current (rms) (4) 34.1 A 58.5 A 73.5 A
Peak output current (0-pk) 48.3 A 82.7 A 103.9 A
Line loss ride through 20 ms
Continuous output power 6.25 kW 12.08 kW 14.70 kW
Internal shunt on 775V
Internal shunt off 765V
Internal shunt resistor 60 Ω 40 Ω
Internal shunt power 50 W 75 W
Bus undervoltage limit 275V
Bus overvoltage limit 810V
Bus capacitance 560 µF 820 µF 1230 µF
Capacitive energy absorption 27.59 J 40.40 J 60.60 J
Efficiency 97%
Short-circuit current rating (5) 200,000 A (rms) symmetrical
(1) Drives are limited to one power cycle per minute.
(2) The cooling fan runs as part of the control power startup routine, when the inverter is enabled, and if the inverter temperature exceeds preset threshold.
(3) For current values when motors include a holding brake, refer to Kinetix Servo Drive Specifications Technical Data, publication KNX-TD003.
(4) Peak RMS current allowed for up to 1.0 seconds.
(5) This rating is only valid if UL specified fuses are used.

18 Rockwell Automation Publication 2198-RM005A-EN-P - October 2020
Chapter 1 Replacement Considerations
Kinetix 350 Drives
The Kinetix 350 drive has five digital inputs. The five digital inputs
(IOD-27…IOD-30 and IOD-39) have fixed pin assignments. See Table 16 for
input assignments. Each input can be assigned an individual debounce time
via the Studio 5000 Logix Designer® application.
The inputs are separated into three groups: A, B, and C. Each group has four
inputs and share one common: IN_A_COM, IN_B_COM, and IN_C_COM,
respectively. Travel limit switches, the inhibit/enable input, and registration
input have dedicated inputs.
Table 15 - Kinetix Drives Digital Input Specification Comparison
Attribute Kinetix 350 Values Kinetix 5300 Value
Input functions Dedicated functions: Enable, Home, Positive Overtravel, Negative Overtravel,
Registration
Configurable functions:
Enable, Home, Positive Overtravel, Negative Overtravel,
Registration 1, Registration 2
Input current (with 24V applied) 9 mA, max 2.5 mA, typical
Input ON voltage range (typical) 4.2…24V @ 2…9 mA total 15…26.4V DC
Input OFF voltage, max 0…2.5V 5V DC
Pulse reject filtering (registration functions) 120 ns, nom —
Pulse reject filtering (home input function)
debounce filter 1.0 ms, nom —
Propagation delay (registration functions) 5 µs —
Registration accuracy — ±3 µs
Registration repeatability 200 ns 1.0 µs
Input reaction time (Disable) 2 ms, max —
Input reaction time
(Enable, Positive Overtravel inputs) 2ms,max —
Input protection — Optically isolated, reverse voltage protected
Digital input type according to IEC 61131-2 — 24V DC Type 1
Table 16 - Kinetix 350 Drives Fixed Digital Input Assignments
IOD Pin Signal Description Capture
Time
Edge/
Level
Sensitive
IOD-29 ENABLE Optically isolated, single-ended active high signal. Current loading is nominally 9 mA. A 24V DC input is applied to this
terminal to enable the axis. 0.5 ms Level
IOD-30 HOME Optically isolated, single-ended active high signal. Current loading is nominally 9 mA. Home switch (normally open
contact) inputs axis require 24V DC (nominal). 0.5 ms Edge
IOD-39 REG
Optically isolated, single-ended active high signal. Current
loading is nominally 9 mA.
A 24V DC input is applied or removed from this terminal to
trigger registration event. Fast registration inputs are
required to ensure the motor interface can capture the
positional information with less than 5 µs uncertainty.
5µs Edge
IOD-27
IOD-28 NEG_OT POS_OT
Overtravel detection is available as an optically isolated,
single-ended active high signal. Current loading is nominally
9 mA per input. The positive/negative limit switch (normally
closed contact) inputs for axis require 24V DC (nominal).
1ms Level

Rockwell Automation Publication 2198-RM005A-EN-P - October 2020 19
Replacement Considerations Chapter 1
The digital inputs are optically isolated and sink up to 24V DC. You can
configure the inputs for PNP sourcing or NPN sinking.
Figure 1 - Sourcing of Digital Inputs
Figure 2 - Sinking of Digital Inputs
Figure 3 - Sourcing of Registration Digital Input
GND
ENABLE, HOME_SW,
POS_OT, or NEG_OT
COM
+24V
ENABLE, HOME_SW,
POS_OT, or NEG_OT
1.2 kΩ
1.2 kΩ
GND
ENABLE, HOME_SW,
POS_OT, or NEG_OT
COM
+24V
ENABLE, HOME_SW,
POS_OT, or NEG_OT
1.2 kΩ
1.2 kΩ
GND
REG
REG_COM
+24V
REG
1.2 kΩ
1.2 kΩ

20 Rockwell Automation Publication 2198-RM005A-EN-P - October 2020
Chapter 1 Replacement Considerations
Figure 4 - Sinking of Registration Digital Input
Kinetix 5300 Drives
The Kinetix 5300 drive has four configurable digital inputs and six
configurable functions to choose from in the Logix Designer application.
Digital inputs require a 24V DC @ 15 mA supply. These are sinking inputs that
require a sourcing device. A common and cable shield connection is provided
on the connector for digital inputs.
Table 17 - Understand Digital Input Functions
Motor Brake Output
The Kinetix 350 and 5300 drives both have an optional motor brake output. The
brake option is a spring-set holding brake that releases when voltage is applied
to the brake coil in the motor. The customer-supplied 24V power supply drives
the brake output through a solid-state relay.
GND
REG
REG_COM
+24V
REG
1.2 kΩ
1.2 kΩ
IMPORTANT To improve registration input EMC performance, refer to the System
Design for Control of Electrical Noise Reference Manual, publication
GMC-RM001.
Although any input can be configured as a registration input, only two
can be registration inputs at any one time
Function Description
Enable A 24V DC input is applied to this terminal to move the AxisCipDrive from Start-Inhibited to
Stopped State.
Home An active state indicates to a homing sequence that the referencing sensor has been seen. Typically, a transition of this signal is used to establish a reference position for the machine
axis.
Registration 1 An inactive-to-active transition (also known as a positive transition) or active-to-inactive
transition (also known as a negative transition) is used to latch position values for use in
registration moves.
Registration 2
Positive
overtravel
Negative
overtravel
The positive/negative limit switch (normally closed contact) inputs for each axis require 24V DC
(nominal).