Rockwell Automation Allen-Bradley Kinetix 5100 User manual

Kinetix 300 to Kinetix 5100 Servo Drives 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
Reference Manual
Original Instructions

Important User Information
Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to
familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws,
and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are
required to be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may
be impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from
the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or
software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
Labels may also be on or inside the equipment to provide specific precautions.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous
environment, which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT Identifies information that is critical for successful application and understanding of the product.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous
voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may
reach dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to
potential Arc Flash. Arc Flash will cause severe injury or death.Wear proper Personal Protective Equipment (PPE). Follow ALL
Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).

Rockwell Automation Publication 2198-RM004A-EN-P - February 2020 1
Table of Contents
Preface
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Chapter 1
Migration Options Kinetix 5100 Servo Drive Catalog Numbers . . . . . . . . . . . . . . . . . . . . . . 6
Potential Design Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Chapter 2
Replacement Considerations Selecting a Replacement Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Drive Sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Nominal Voltage and Output Current Comparison. . . . . . . . . . 10
Dimension Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
AC Input Power Wiring and Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
AC Input Power Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Input Power Wiring and Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Circuit Breaker and Fuse Considerations . . . . . . . . . . . . . . . . . . . . 13
Power Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
I/O Availability and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Analog Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Control and Auxiliary Power Specifications . . . . . . . . . . . . . . . . . 25
Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Feedback Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Required Accessories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Optional Drive Accessories - Shunt Resistors . . . . . . . . . . . . . . . . 27
Optional Drive Accessories - AC Line Filters . . . . . . . . . . . . . . . . 30
Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Port for Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Port for Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Chapter 3
Connectors Kinetix 300 Servo Drive Connector Locations. . . . . . . . . . . . . . . . . . . 33
Kinetix 5100 Servo Drive Connector Locations. . . . . . . . . . . . . . . . . . 34
I/O Connector Pinouts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Motor Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Auxiliary Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Safe Torque Off Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Chapter 4
Dimensions, Cables, and Wiring Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Kinetix 5100 Drive Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

2Rockwell Automation Publication 2198-RM004A-EN-P - February 2020
Table of Contents
Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Motor and Feedback Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Power Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Kinetix 300 Servo Drive Power Wiring Examples . . . . . . . . . . . . 46
Kinetix 5100 Servo Drives Power Wiring Examples . . . . . . . . . . 47
Chapter 5
System Architecture Kinetix 300 Servo Drive System Architecture. . . . . . . . . . . . . . . . . . . . 53
Kinetix 5100 Servo Drive System Architecture . . . . . . . . . . . . . . . . . . 54
Chapter 6
Application Conversion Scenario 1: Analog Command to Analog Command . . . . . . . . . 57
Scenario 2: Indexing to PR Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Scenario 3: Master / Gearing mode to PT mode. . . . . . . . . . . . . . 61
Scenario 4: EtherNet/IP External Reference to I/O mode. . . . . 64
Appendix A
Feature Comparison

Rockwell Automation Publication 2198-RM004A-EN-P - February 2020 3
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.
Product compatibility information and release notes are available online within
the Product Compatibility and Download Center at
http://www.rockwellautomation.com/rockwellautomation/support/pcdc.page.
Additional Resources These publication contain additional information concerning related products
from Rockwell Automation.
Table 1 - Additional Resources
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 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 toinstall 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).

4Rockwell Automation Publication 2198-RM004A-EN-P - February 2020
Preface
You can view or download publications at
http://www.rockwellautomation.com/global/literature-library/overview.page.
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).
Industrial AutomationWiring 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.
Table 1 - Additional Resources (continued)
Resource Description

Rockwell Automation Publication 2198-RM004A-EN-P - February 2020 5
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 2 and Table 3 provide some common
considerations and information when migrating from Kinetix 300 drives to
Kinetix 5100 drives.
Table 2 - 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 3 - Kinetix 5100 Drive Control Modes
Control Mode Short Name Description
Position mode (terminal block
input)
PT This mode is sometimes referred to as PulseTrain Output or Step and Direction. The servo drive receives the Position
command and commands the motor to run to the target position. The Position command is communicated through the
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 run to the target position. Position commands
are issued from the program registers (99 sets 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 run at the target speed. The Speed command is
issued from the internal registers (3 sets in total) or by analog voltage (-10V…+10V) that is communicated 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 run at the target speed.The Speed command can
only be issued from the internal registers (4 sets 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 run with the target torque. The Torque
commands can be issued from the internal registers (3 sets in total) and by analog voltage (-10V…+10V) that is
communicated through the 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 run with the target torque. The Torque
command can only be issued from the internal registers (4 sets 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 Instruction (AOI) instructions in the Logic Designer application.

6Rockwell Automation Publication 2198-RM004A-EN-P - February 2020
Chapter 1 Migration Options
Kinetix 5100 Servo Drive
Catalog Numbers
Table 4 lists the catalog numbers and ratings of the Kinetix 5100 servo drives.
Table 4 - Kinetix 5100 Drive Ratings
For Kinetix 5100 servo drive module specifications not included in this
publication, see the Kinetix Servo Drives Technical Data,
publication KNX-TD003.
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.
The objective is to determine which areas of a design must be changed. This
publicationpublication provides you with knowledge about the type and extent
of work required to change successfully from a Kinetix 300 system to a Kinetix
5100 system.
Dual mode PT-S Switches PT and S mode with DI signals.
PT-T Switches PT andT mode with DI signals.
PR-S Switches PR and S mode with DI signals.
PR-T Switches PR andT mode with DI signals.
S-T Switches S andT 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 3 - Kinetix 5100 Drive Control Modes (continued)
Control Mode Short Name Description
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
2 1 13.4 53.03
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

Rockwell Automation Publication 2198-RM004A-EN-P - February 2020 7
Migration Options Chapter 1
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 300 system when considering
replacement with a Kinetix 5100 system. See Appendix A for a comparison of
features. See the Kinetix Servo Drives Specifications Technical Data, publication
KNX-TD003 for complete specifications.

8Rockwell Automation Publication 2198-RM004A-EN-P - February 2020
Chapter 1 Migration Options
Notes:

Rockwell Automation Publication 2198-RM004A-EN-P - February 2020 9
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 differences between the Kinetix 300 drives
and the Kinetix 5100 drives. Additional differences can also impact your
application. Review this publication to evaluate the Kinetix 5100 drives for 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, 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.
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.

10 Rockwell Automation Publication 2198-RM004A-EN-P - February 2020
Chapter 2 Replacement Considerations
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.
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
• Serial communication
• Accessories
Drive Sizing This section lists the Kinetix 300 servo drives and the suggested Kinetix 5100
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 Ta ble 5 and Table 6.
Nominal Voltage and Output Current Comparison
Table 5 compares the Output Current of the Kinetix 300 and Kinetix 5100
drives. Review Tab le 6 to be sure that the replacement drive can deliver the
required level of 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
240V, 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
240V, 1 PH/3 PH 5.10 (7.21) 15.41
(21.79)

Rockwell Automation Publication 2198-RM004A-EN-P - February 2020 11
Replacement Considerations Chapter 2
Dimension Comparison
Table 6 compares the dimensions of the Kinetix 300 and Kinetix 5100 drives.
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
240V, 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
240V, 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
240V, 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
240V, 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
240V, 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
240V, 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
240V, 1 PH/3 PH 13.4 (18.95) 53.03
(74.98)
Table 5 - Suggested Kinetix 5100 Replacement Drives by Output Current (continued)
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)
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)
(1) Height includes connectors.

12 Rockwell Automation Publication 2198-RM004A-EN-P - February 2020
Chapter 2 Replacement Considerations
AC Input Power Wiring and
Fusing
This section provides information to assist you in determining the wiring and
fusing requirements of drives.
AC Input Power Configuration
The Kinetix 300 drive supports multiple types of AC input power: center
grounded wye secondary, and center or 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 terminations.
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 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 — — —

Rockwell Automation Publication 2198-RM004A-EN-P - February 2020 13
Replacement Considerations Chapter 2
Circuit Breaker and Fuse Considerations
Review the fusing requirements when you change a drive.
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
Minature 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 20 1492-SP1D200 140M-D8E-C20
120/240V Single-phase KTK-R-10 (10 A) 1489-A1C100 140M-C2E-C10 10 1492-SP1D100 140M-C2E-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 20 1492-SP1D200 140M-D8E-C20
2097-V32PR0 240V Single-phase KTK-R-15 (15 A) 1489-A1C150 140M-D8E-C16 16 1492-SP1D150 140M-D8E-C16
2097-V32PR2 240V Single-phase KTK-R-20 (20 A) 1489-A1C200 140M-D8E-C20 20 1492-SP1D200 140M-D8E-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 20 1492-SP1D200 140M-D8E-C20
240V Three-phase KTK-R-15 (15 A) 1489-A3C150 140M-D8E-C16 16 1492-SP3D150 140M-D8E-C16
2097-V33PR3 120/240V Single-phase KTK-R-20 (20 A) 1489-A1C200 140M-D8E-C20 20 1492-SP1D200 140M-D8E-C20
240V Three-phase KTK-R-15 (15 A) 1489-A3C150 140M-D8E-C16 16 1492-SP3D150 140M-D8E-C16
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 20 1492-SP3D200 140M-D8E-C20
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
Table 9 - Kinetix 5100 Drive Fuse and Circuit Breaker Selection
UL/CSA Application IEC (non-UL/CSA) Application
Cat. No. Voltage (nom) and
Phase
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

14 Rockwell Automation Publication 2198-RM004A-EN-P - February 2020
Chapter 2 Replacement Considerations
Power Specifications This section provides the power specifications for the Kinetix 300 and Kinetix
5100 servo drives. Tabl e 10 and Tab le 11 list power specifications and
requirements for the Kinetix 300 servo drives.
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
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 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

Rockwell Automation Publication 2198-RM004A-EN-P - February 2020 15
Replacement Considerations Chapter 2
Table 12 - Kinetix 300 Drives Control Power Specification
Table 13 and Table 1 4 list power specifications and requirements for the Kinetix
5100 drives.
Shunt Off 375V DC
Overvoltage threshold 430V DC
Short-circuit current rating 100,000 A (rms) symmetrical
Table 11 - Kinetix 300 Drives (single-phase and three-phase) Power Specifications (continued)
Attribute 2097-V33PR1 2097-V33PR3 2097-V33PR5 2097-V33PR6
Attribute Kinetix 300 Drives
Control power input voltage 20…26V DC
Control power input current
Nom
Inrush max (0-pk)
500 mA
30 A
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  100  100  20 
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.

16 Rockwell Automation Publication 2198-RM004A-EN-P - February 2020
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 operation
between drives will be consistent.
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  – – –
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.
Table 15 - Kinetix 5100 Drive Control Power Specifications
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

Rockwell Automation Publication 2198-RM004A-EN-P - February 2020 17
Replacement Considerations Chapter 2
Digital Inputs
This section describes digital inputs for Kinetix 300 and Kinetix 5100 servo
drives. Table 16 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 Ta ble 17 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 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 as shown in Table 17.
Table 17 - Kinetix 300 Drives Fixed Digital Input Assignments
Table 16 - Digital Input Comparison
Feature Kinetix 300 Drive Kinetix 5100 Drive
Inputs 12 Inputs 8 Inputs + two-high speed inputs
I/O common points 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)
Overtravels must be N.C. Can be N.O. or N.C. Can be N.O. or N.C.
Digital Input Function
IN_A1 (pin 27) Negative travel limit switch
IN_A2 (pin 28) Positive travel limit switch
IN_A3 (pin 29) Inhibit/enable input
IN_A4 (pin 30) —
IN_B1 (pin 32) —
IN_B2 (pin 33) —
IN_B3 (pin 34) —
IN_B4 (pin 35) —
IN_C1 (pin 37) —
IN_C2 (pin 38) —
IN_C3 (pin 39) Registration sensor input
IN_C4 (pin 40) —

18 Rockwell Automation Publication 2198-RM004A-EN-P - February 2020
Chapter 2 Replacement Considerations
You can assign the inputs that are listed as — for any of these functions.
•Abort Homing
•Abort Index
•Start Homing
•Start Index
• Fault Reset
• Home Sensor
•Index Select
The digital inputs are optically isolated and sink up to 24V DC. Electrical details
are shown in Table 18.
Table 18 - Kinetix 300 Digital Input Signal Specifications
Kinetix 5100 Drives
The Kinetix 5100 drives have eight standard inputs and two-high speed inputs,
both with configurable functions. The digital inputs on Kinetix 5100 drives have
the same physical characteristics. Table 19 shows the Kinetix 5100 digital inputs
physical characteristics.
Table 19 - Kinetix 5100 Digital Input Signal Specifications
For a Kinetix 5100 drive, each digital input configuration parameter assigns one
or more functions (one function at a time only) to the corresponding digital
input. INPUT9 and INPUT10 are high-speed digital inputs so registration
functionality is supported on these inputs only.
Following is some of the digital input functionality that is supported:
• Alarm Reset (ARST)
• Clear pulse counter (CCLR)
•Command triggered (CTRG)
• Emergency stop (EMGS)
Parameter Value
Scan time 500 µs
Current max 9 mA, typical
Input impedance 1.2 kΩ, typical
Voltage range 5…24V DC
Specification Kinetix 5100
Digital Input response (delay) Standard inputs: 1.25 ms max
High-speed inputs: 3 µs
Digital Input scan time Standard inputs: 500us max
High-speed inputs: 1µs
ON state voltage 15V min, 26.4V max
ON state Current 2.0 mA min, 6.0 mA max
OFF state voltage -1.0V min, 5V max