Rockwell Automation Allen-Bradley Kinetix 5300 User manual

User Manual Original Instructions
Kinetix 5300 Single-axis
EtherNet/IP Servo Drives
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
This manual links to Kinetix 5300 Single-axis EtherNet/IP Servo Drives Fault
Codes Reference Data, publication 2198-RD006, for fault codes. Download the
spreadsheet now for offline access.

2Rockwell Automation Publication 2198-UM005C-EN-P - February 2022
Kinetix 5300 Single-axis EtherNet/IP Servo Drives User 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.
These 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-UM005C-EN-P - February 2022 3
Table of Contents
Preface
About This Publication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Summary of Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Download Firmware, AOP, EDS, and Other Files . . . . . . . . . . . . . . . . . . . . 9
Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Access Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
CIP Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Chapter 1
Start About the Kinetix 5300 
Servo Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Drive Hardware and Input Power Configurations. . . . . . . . . . . . . . . . . . 15
Motor and Auxiliary Feedback Configurations . . . . . . . . . . . . . . . . . . . . . 18
Typical Communication Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Linear Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Ring Topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Star Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Safe Torque Off Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Chapter 2
Plan the Kinetix 5300 Drive
System Installation
System Design Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
System Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
AC Line Filter Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Transformer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Circuit Breaker/Fuse Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
24V Control Power Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Passive Shunt Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Enclosure Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Electrical Noise Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
HF Bond for Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
HF Bond for Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Establish Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Cable Categories for Kinetix 5300 Systems . . . . . . . . . . . . . . . . . . . . . 38
Noise Reduction Guidelines for Drive Accessories . . . . . . . . . . . . . . 38
Chapter 3
Mount the Kinetix 5300 Drive
System
Determine Mounting Order. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Zero-stack Tab and Cutout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Shared-bus Connection System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Drill-hole Patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Mount Your Kinetix 5300 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

4Rockwell Automation Publication 2198-UM005C-EN-P - February 2022
Table of Contents
Chapter 4
Connector Data and Feature
Descriptions
Kinetix 5300 Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Safe Torque Off Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Input Power Connector Pinouts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Shunt Resistor Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Ethernet Communication Connector Pinout . . . . . . . . . . . . . . . . . . . 53
Digital Inputs and Auxiliary Feedback Connector Pinouts . . . . . . . 54
Motor Power, Brake, and Feedback Connector Pinouts . . . . . . . . . . 54
Understand Control Signal Specifications . . . . . . . . . . . . . . . . . . . . . . . . . 56
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Motor Holding-brake Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Control Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Ethernet Communication Specifications. . . . . . . . . . . . . . . . . . . . . . . 58
Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Motor Feedback Supported on the MFB Connector . . . . . . . . . . . . . 59
Auxiliary Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Encoder Phasing Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Absolute Position Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Safe Torque Off Safety Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Servo Drives with Hardwired Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Chapter 5
Connect the Kinetix 5300 Drive
System
Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Build Your Own Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Routing the Power and Signal Cables . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Determine the Input Power Configuration . . . . . . . . . . . . . . . . . . . . . . . . 69
Three-phase Input Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Single-phase Input Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Ground the Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Ground the System Subpanel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Ground Multiple Subpanels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Wiring Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Wire the Power Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Wire the 24V Control Power Input Connector . . . . . . . . . . . . . . . . . . 76
Wire the Input Power Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Wire the Digital Input Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Wire the Safe Torque Off Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Wire the Digital Inputs and Auxiliary Feedback Connector . . . . . . 78
Wire the Motor Power and Brake Connectors. . . . . . . . . . . . . . . . . . . . . . 79
Servo Motor/Actuator and Cable Compatibility . . . . . . . . . . . . . . . . . 80
Motor Power and Brake Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Maximum Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Cable Preparation for Kinetix TLP Motor Power Cables. . . . . . . . . . 83
Cable Preparation for 2090-CPxM7DF Motor Power Cables . . . . . . 83
Cable Preparation for Kinetix TL and TLY Motor Power Cables. . . 86
Apply the Motor Power/brake Shield Clamp . . . . . . . . . . . . . . . . . . . . 87
Wire the Motor Feedback Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Cable Preparation for Kinetix TLP Feedback Cables . . . . . . . . . . . . . 90

Rockwell Automation Publication 2198-UM005C-EN-P - February 2022 5
Table of Contents
Cable Preparation for 2090-CFBM7Dx Feedback Cables . . . . . . . . . 90
Cable Preparation for Kinetix TL and TLY Feedback Cables . . . . . . 91
Motor Feedback Cable Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Kinetix 2090 Feedback Cable Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . 93
External Passive-shunt Resistor Connections . . . . . . . . . . . . . . . . . . . . . . 96
Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Chapter 6
Configure and Start up the
Kinetix 5300 
Drive System
Understand the Kinetix 5300 Front Panel. . . . . . . . . . . . . . . . . . . . . . . . . . 99
Menus and Display Screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Startup Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Configure the Kinetix 5300 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Set the Network Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Studio 5000 Logix Designer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Version History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Install the Kinetix 5300 Add-On Profile . . . . . . . . . . . . . . . . . . . . . . . 107
Configure the Logix 5000 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Configure the Kinetix 5300 Drive Modules . . . . . . . . . . . . . . . . . . . . . . . 110
Configure Drive Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Continue Drive Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Configure the Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Configure Vertical Load Control Axis Properties . . . . . . . . . . . . . . . . . . 116
Configure Feedback-only
Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Configure Induction-motor Frequency-control Axis Properties. . . . . 118
General and Motor Categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Basic Volts/Hertz Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Sensorless Vector Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Fan/Pump Volts/Hertz Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Configure SPM Motor Closed-loop Control Axis Properties . . . . . . . . 122
Configure Induction-motor Closed-loop Control Axis Properties . . . 128
Configure Feedback Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Configure Module Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Apply Power to the Kinetix 5300 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Test and Tune the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Test the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Tune the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Chapter 7
Troubleshoot the Kinetix 5300
Drive System
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Interpret Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Fault Code Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Kinetix 5300 Drive Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . 143
General Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Logix 5000 Controller and Drive Behavior . . . . . . . . . . . . . . . . . . . . . . . . 145
Web Server Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

6Rockwell Automation Publication 2198-UM005C-EN-P - February 2022
Table of Contents
Chapter 8
Remove and Replace Servo
Drives
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Remove and Replace Kinetix 5300 Servo Drives . . . . . . . . . . . . . . . . . . . 156
Remove Power and All Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Remove the Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Replace the Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Start and Configure the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Chapter 9
Kinetix 5300 Safe Torque Off
Function
Certification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Important Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Category 3 Requirements According to ISO 13849-1 . . . . . . . . . . . . 160
Stop Category Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Performance Level (PL) and Safety Integrity Level (SIL) . . . . . . . . 160
Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Probability of Dangerous Failure Per Hour . . . . . . . . . . . . . . . . . . . . . . . 164
Safe Torque Off Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Wire the Safe Torque Off Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Safe Torque Off Wiring Requirements. . . . . . . . . . . . . . . . . . . . . . . . 165
Safe Torque Off Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Safe Torque Off Feature Bypass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Cascade the Safe Torque-off Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . 167
STO Recovery Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Safe Torque Off Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Appendix A
Interconnect Diagrams Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Shunt Resistor Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Kinetix 5300 Servo Drive and Rotary Motor Wiring Examples . . . . . . 173
Kinetix 5300 Drive and Linear Actuator Wiring Examples. . . . . . . . . . 179
System Block Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Appendix B
Upgrade Kinetix 5300 Drive
Firmware
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Inhibit the Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Upgrade Your Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Use ControlFLASH Plus Software to Upgrade Your Drive 
Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Use ControlFLASH Software to Upgrade Your Drive Firmware. . 191
Verify the Firmware Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195

Rockwell Automation Publication 2198-UM005C-EN-P - February 2022 7
Table of Contents
Appendix C
Motor Control Feature Support Frequency Control Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Basic Volts/Hertz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Basic Volts/Hertz for Fan/Pump Applications . . . . . . . . . . . . . . . . 200
Sensorless Vector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Current Limiting for Frequency Control. . . . . . . . . . . . . . . . . . . . . . . . . . 202
The Effects of Current Limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Enable the Current Limiting Feature . . . . . . . . . . . . . . . . . . . . . . . . . 204
Set the CurrentVectorLimit Attribute Value . . . . . . . . . . . . . . . . . . . 204
Stability Control for Frequency Control . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Enable the Stability Control Feature . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Skip Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Multiple Skip Speeds. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Flux Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Flux Up Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Configure the Flux Up Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Current Regulator Loop Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Motor Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Motor Tests and Autotune Procedure . . . . . . . . . . . . . . . . . . . . . . . . . 214
Motor Analyzer Category Troubleshooting . . . . . . . . . . . . . . . . . . . . 215
Selection of Motor Thermal Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
Generic Motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
Thermally Characterized Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Speed Limited Adjustable Torque (SLAT) . . . . . . . . . . . . . . . . . . . . . . . . . 219
Motion Polarity Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
SLAT Min Speed/Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
SLAT Max Speed/Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
SLAT Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Configure the Axis for SLAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Motion Drive Start (MDS) Instruction . . . . . . . . . . . . . . . . . . . . . . . . 224
Motor Overload Retention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
Phase Loss Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
Phase-loss Detection Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Phase Loss Detection Current Example . . . . . . . . . . . . . . . . . . . . . . . 232
Velocity Droop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
Closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
Frequency Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
Velocity Droop Attribute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
Velocity Droop Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Commutation Self-sensing Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Commutation Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
Adaptive Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
Virtual Torque Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Index
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239

8Rockwell Automation Publication 2198-UM005C-EN-P - February 2022
Table of Contents
Notes:

Rockwell Automation Publication 2198-UM005C-EN-P - February 2022 9
Preface
About This Publication This manual provides detailed installation instructions to mount, wire, and
troubleshoot the Kinetix® 5300 servo drives, and system integration for your
drive and motor/actuator combination with a Logix 5000™ controller.
This manual is intended for engineers or technicians directly involved in the
installation and wiring of the Kinetix 5300 drives, and programmers directly
involved in the operation, field maintenance, and integration of these drives
with the EtherNet/IP™ communication module or controller.
If you do not have a basic understanding of Kinetix 5300 servo drives, contact
your local Rockwell Automation sales representative for information on
available training courses.
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.
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.
Conventions Used in This
Manual
These conventions are used throughout this manual:
• Bulleted lists such as this one provide information, not procedural steps.
• Numbered lists provide sequential steps or hierarchical information.
Access Fault Codes
Topic Page
Updated guidance for downloading fault code spreadsheets. Throughout
Replaced LDAT-Series with Kinetix LDAT. Throughout
Replaced 2090-Series with Kinetix 2090. Throughout
Replaced LDC-Series with Kinetix LDC. Throughout
Replaced LDL-Series with Kinetix LDL. Throughout
Added 2198-RD006 to Additional Resources table. 10
For Kinetix 5300 fault code descriptions and possible solutions, s
This manual links to Kinetix 5300 Single-axis EtherNet/IP Servo
Drives Fault Codes Reference Data, publication 2198-RD006, for
fault codes. Download the spreadsheet now for offline access.

10 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022
CIP Security CIP Security™ is a standard, open-source communication method that helps to
provide a secure data transport across an EtherNet/IP network. It lets
CIP-connected devices authenticate each other before transmitting and
receiving data.
CIP Security uses the following security properties to help devices protect
themselves from malicious communication:
• Device Identity and Authentication
• Data Integrity and Authentication
• Data Confidentiality
Rockwell Automation uses the following products to implement CIP Security:
• FactoryTalk® Services Platform, version 6.11 or later, with the following
components enabled:
- FactoryTalk Policy Manager
- FactoryTalk System Services
• FactoryTalk Linx, version 6.11 or later
• Studio 5000® Design Environment, version 32.00.00 or later
• CIP Security-enabled Rockwell Automation® products, for example, the
product described in this publication
For more information on CIP Security, including which products support CIP
Security, see the CIP Security with Rockwell Automation Products Application
Technique, publication SECURE-AT001.
Additional Resources These documents 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 VPL, VPC, VPF, VPH, VPS, Kinetix MPL, MPM, MPF,
MPS; Kinetix TL and TLY, Kinetix RDB, Kinetix MMA, and Kinetix HPK rotary motors.
Kinetix Linear Motion Specifications Technical Data, 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 Product specifications for Kinetix 2090 motor and interface cables.
Kinetix Servo Drive Performance Specifications per Ecodesign Regulation
(EU) 2019/1781 Technical Data, publication KNX-TD006 Provides energy efficiency performance data for Rockwell Automation Kinetix servo
drives. This data supports IE2 compliance of Kinetix servo drives per EU 2019/1781.
Kinetix 5300 Single-axis EtherNet/IP Servo Drives Fault Codes Reference Data, 
publication 2198-RD006 Provides the fault codes for Kinetix 5300 single-axis EtherNet/IP servo drives.
AC Line Filter Installation Instructions, publication 2198-IN003 Provides information on how to install AC line filters designed for Kinetix 5300, Kinetix
5500, and Kinetix 5700 servo drive systems.
Shunt Resistor Installation Instructions, publication 2097-IN002 Provides information on how to install and wire Bulletin 2097 shunt resistors.
System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001 Information, examples, and techniques designed to minimize system failures caused
by electromagnetic interference (EMI) sources.
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.
Kinetix Motion Control Selection Guide, publication KNX-SG001 Overview of Kinetix servo drives, motors, actuators, and motion accessories
designed to help make initial decisions for the motion control products best suited
for your system requirements.
Kinetix 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 servo drive system.

Rockwell Automation Publication 2198-UM005C-EN-P - February 2022 11
You can view or download publications at rok.auto/literature.
Motor Nameplate Datasheet Entry for Custom Motor Applications Application Technique, 
publication 2198-AT002
Provides information on the use of nameplate data entry for custom induction
motors and permanent-magnet motors that are used in applications with
Kinetix 5700 servo drives.
Virtual Torque Sensor Application Technique, publication 2198-AT003 Provides information on the configuration and application of the virtual torque
sensor capability of the Kinetix 5300 drives. The capability can be leveraged for
analytics to improve the machine commissioning and maintenance experience.
Vertical Load and Holding Brake Management Application Technique, 
publication MOTION-AT003 Provides information on vertical loads and how the servo motor holding-brake option can be used to help keep a load from falling.
Integrated Motion on the EtherNet/IP Network Reference Manual, 
publication MOTION-RM003 Information on the AXIS_CIP_DRIVE attributes and the configuration software control
modes and methods.
Integrated Motion on the EtherNet/IP Network Configuration and Startup User Manual,
publication MOTION-UM003 Information on how to configure and troubleshoot your ControlLogix® and
CompactLogix™ EtherNet/IP network modules.
CIP Security with Rockwell Automation Products Application Technique, 
publication SECURE-AT001.Provides information on CIP Security, including which Rockwell Automation products
support CIP Security.
System Security Design Guidelines Reference Manual, SECURE-RM001 Provides guidance on how to conduct security assessments, implement Rockwell Automation products in a secure system, harden the control system, manage user
access, and dispose of equipment.
GuardLogix 5570 Controllers User Manual, publication 1756-UM022 Provides information on how to install, configure, program, and use ControlLogix
controllers and GuardLogix® controllers in Studio 5000 Logix Designer® projects.
GuardLogix 5580 Controllers User Manual, publication 1756-UM543
Compact GuardLogix 5370 Controllers User Manual, publication 1769-UM022 Provides information on how to install, configure, program, and use CompactLogix
and Compact GuardLogix controllers.
Compact GuardLogix 5380 Controllers User Manual, publication 5069-UM001
GuardLogix 5570 and Compact GuardLogix 5370 Controller Systems Safety Reference
Manual, publication 1756-RM099 Provides information on how to achieve and maintain Safety Integrity Level (SIL) and
Performance Level (PL) safety application requirements for GuardLogix and
Compact GuardLogix controllers.
GuardLogix 5580 and Compact GuardLogix 5380 Controller Systems Safety Reference
Manual, publication 1756-RM012
Rockwell Automation Product Selection website, rok.auto/systemtools Online product selection and system configuration tools, including AutoCAD (DXF)
drawings.
Motion Analyzer System Sizing and Selection Tool
https://motionanalyzer.rockwellautomation.com/ Comprehensive motion application sizing tool used for analysis, optimization,
selection, and validation of your Kinetix Motion Control system.
Product Certifications website, rok.auto/certifications Provides declarations of conformity, certificates, and other certification details.
ControlFLASH Firmware Upgrade Kit User Manual, publication 1756-UM105 Provides information on how to upgrade your drive firmware by using
ControlFLASH™ software.
Rockwell Automation Industrial Automation Glossary, publication AG-7.1 A glossary of industrial automation terms and abbreviations.
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines for installing a Rockwell Automation industrial system.
Table 1 - Additional Resources (Continued)
Resource Description

12 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022
Notes:

Rockwell Automation Publication 2198-UM005C-EN-P - February 2022 13
Chapter 1
Start
Use this chapter to become familiar with the Kinetix® 5300 drive system and
obtain an overview of the installation configurations.
Topic Page
About the Kinetix 5300 Servo Drive System 14
Drive Hardware and Input Power Configurations 15
Motor and Auxiliary Feedback Configurations 18
Typical Communication Configurations 19
Safe Torque Off Configuration 22
Catalog Number Explanation 23
Agency Compliance 24

14 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022
Chapter 1 Start
About the Kinetix 5300 
Servo Drive System
The Kinetix 5300 servo drives are designed to provide a Kinetix Integrated
Motion solution for your drive and motor/actuator application.
Table 2 - Kinetix 5300 Drive System Overview
Drive System
Component Cat. No. Description
Kinetix 5300 
Servo Drives 2198-Cxxxx-ERS 100V-class and 200V-class (single-phase or three-phase) and 400V-class (three-phase) drives operate in standalone
configurations. Modules can be zero-stacked from drive-to-drive and are compatible with the 24V DC shared-bus connection
system to extend control power to multiple drives. Drives feature Safe Torque Off via the hardwired (STO) connector.
24V Shared-bus
Connector Kits
2198-TCON-24VDCIN36 Control power input connector for all frame sizes.
2198-H040-x-x Control power T-connector and bus-bar connectors for Frame 1 and 2 drives.
2198-H070-x-x Control power T-connector and bus-bar connectors for Frame 3 drives.
Feedback
Connector Kit 2198-K53CK-D15M Motor feedback connector kit with 15-pin connector plug for compatible motors and actuators. Kit features battery backup for Kinetix TLP, TL, and TLY multi-turn encoders.
Connector Sets
2198-CONKIT-PWR20 Connector set included with the Frame 1 and 2 drives (except 2198-C2030 drives). Replacement sets are also available.
2198-CONKIT-PWR30 Connector set included with 2198-C2030 drives. Replacement sets are also available.
2198-CONKIT-PWR75 Connector set included with Frame 3 drives. Replacement sets are also available.
Logix 5000™
Controller Platform
Bulletin 1769
Bulletin 5069 Integrated Motion on the EtherNet/IP network in CompactLogix™ 5370, CompactLogix 5380, and CompactLogix 5480 controllers and Integrated Safety in Compact GuardLogix® 5370 controllers. Linear, device-level ring (DLR), and star topology is supported.
1756-EN2T module
1756-EN2TR module
1756-EN3TR module
EtherNet/IP network communication modules for use with ControlLogix® 5570, ControlLogix 5580, GuardLogix 5570, and
GuardLogix 5580 controllers. Linear, device-level ring (DLR), and star topology is supported.
Studio 5000® — Studio 5000 Logix Designer® application, version 33.00 or later, provides support for programming, commissioning, and
maintaining the CompactLogix and ControlLogix controller families.
Rotary Servo
Motors
Kinetix MP Compatible rotary motors include 200V and 400V-class Kinetix MPL, MPM, MPF, MPS servo motors.
Kinetix TLP Compatible rotary motors include 200V and 400V-class Kinetix TLP servo motors.
Kinetix TL and TLY Compatible rotary motors include 200V-class Kinetix TL and TLY servo motors.
Linear Actuators Kinetix MP and
Kinetix LDAT Compatible linear actuators include 200V and 400V-class Kinetix MPAS and MPMA linear stages, Kinetix MPAR and MPAI linear actuators, and Kinetix LDAT linear thrusters.
Linear Motors Kinetix LDC and
Kinetix LDL Compatible motors include Kinetix LDC iron-core and Kinetix LDL ironless linear motors.
Induction Motors — Induction motors with open-loop frequency control and closed-loop control are supported.
Kinetix 2090 Cables
2090-CTFB-MxDx-xxxxx Motor feedback cables for Kinetix TLP motors.
2090-CTPx-MxDx-xxxxx Motor power/brake cables for Kinetix TLP motors.
2090-CFBM6Dx-CxAAxx Motor feedback cables for Kinetix TLY servo motors.
2090-CPxM6DF-16AAxx Motor power/brake cables for Kinetix TLY servo motors.
2090-DANFCT-Sxx Motor feedback cables for Kinetix TL servo motors.
2090-DANPT-16Sxx Motor power cables for Kinetix TL servo motors.
2090-DANBT-18Sxx Motor brake cables for Kinetix TL servo motors.
2090-CFBM7DF-CEAxxx Motor feedback cables for Kinetix MP motors/actuators, Kinetix LDAT linear thrusters, and Kinetix LDC/Kinetix LDL linear motors.
2090-CPxM7DF-xxAxxx Motor power/brake cables for Kinetix MP motors/actuators, Kinetix LDAT linear thrusters, and Kinetix LDC/Kinetix LDL linear
motors.
2090-XXNFMF-Sxx 
2090-CFBM7DF-CDAFxx Standard and continuous-flex feedback cables that include additional conductors for use with incremental encoders.
Ethernet Cables 1585J-M8CBJM-x

1585J-M8UBJM-x Ethernet cables are available in standard lengths. Shielded cable is required to meet EMC specifications.
AC Line Filters 2198-DB08-F 2198-DBR20-F
2198-DBR40-F Bulletin 2198 three-phase AC line filters are required to meet CE and are available for use in all Kinetix 5300 drive systems.
24V DC Power
Supply 1606-XLxxx Bulletin 1606 24V DC power supply for control circuitry, digital inputs, and safety inputs.
External Shunt
Resistors
2097-R6 and 2097-R7 Bulletin 2097 and 2198 external passive shunt resistors are available for when the internal shunt capability of the drive is
exceeded.
2198-R004, 2198-R014,
2198-R031

Rockwell Automation Publication 2198-UM005C-EN-P - February 2022 15
Chapter 1 Start
Drive Hardware and Input
Power Configurations
Typical Kinetix 5300 systems include single-phase and three-phase standalone
configurations.
In this example, a single drive is shown with input power to the standard AC
and 24V DC input connectors.
Figure 1 - Typical Kinetix 5300 Standalone Installation
1606-XL
Power Supply
Input
Allen-Bradley
L3L2
L1
24+ DC+ SH
24-
SB+
SB-
S1
SC
S2
MBRK
W
V
U
1
10
1
2
MFB
Single-phase or
Three-phase
Input Power
Line
Disconnect
Device
Circuit
Protection
2097-Rx or 2198-Rxxxx

Shunt Resistor
(optional component)
2198-Cxxxx-ERS Drive
(top view)
AC Input Power
Bonded Cabinet
Ground Bus
AC Input Wiring to Standard
Input Connector
1606-XLxxx
24V DC Control, Digital Inputs,
and Motor Brake Power
(customer-supplied)
2198-Cxxxx-ERS Drive
(front view)
24V DC Input Wired to
Standard Input Connector
2198-DB08-F or
2198-DBRxx-F
AC Line Filter
(required for CE)

16 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022
Chapter 1 Start
In this example, two drives are shown with input power to the standard input
connectors and control power input by using 24V shared-bus connectors.
With two or more drives in the drive configuration, each drive requires AC
input power and line filter.
Figure 2 - Typical Kinetix 5300 Installation with 24V Shared-bus Connectors
1606-XL
Power Supply
Input
Allen-Bradley
L3L2
L1 DC+ SH
SB+
SB-
S1
SC
S2
MBRK
W
V
U
1
10
1
2
MFB
L3L2
L1 DC+ SH
SB+
SB-
S1
SC
S2
MBRK
W
V
U
1
10
1
2
MFB
Single-phase or
Three-phase
Input Power
Line
Disconnect
Device
Circuit
Protection
2097-Rx or 2198-Rxxxx

Shunt Resistor
(optional component)
2198-Cxxxx-ERS Drives
(top view)
AC Input Power
Bonded Cabinet
Ground Bus
2198-DB08-F or
2198-DBRxx-F
AC Line Filter
(required for CE)
Shared 24V (control power input)
2198-H0x0-x-x shared-bus connection
system for 24V bus-sharing configurations.
AC Input Wiring
Connectors
1606-XLxxx
24V DC Control, Digital Inputs,
and Motor Brake Power
(customer-supplied)
2198-Cxxxx-ERS Drives
(front view)
2198-DB08-F or
2198-DBRxx-F
AC Line Filter
(required for CE)
Circuit
Protection

Rockwell Automation Publication 2198-UM005C-EN-P - February 2022 17
Chapter 1 Start
With two or more drives in the configuration and the 24V shared-bus
connectors are not used, each drive requires 24V DC input power.
Figure 3 - Typical Kinetix 5300 Installation without 24V Shared-bus Connectors
1606-XL
Power Supply
Input
Allen-Bradley
L3L2
L1 DC+ SH
SB+
SB-
S1
SC
S2
L3L2
L1 DC+ SH
SB+
SB-
S1
SC
S2
24+ 24-
24+ 24-
2198-Cxxxx-ERS Drives
(top view)
AC Input Power
24V DC connector wiring (control power input)
to additional Kinetix 5300 servo drives.
1606-XLxxx
24V DC Control, Digital Inputs,
and Motor Brake Power
(customer-supplied)

18 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022
Chapter 1 Start
Motor and Auxiliary
Feedback Configurations
Feedback connections are made at the 15-pin motor feedback (MFB) connector
and auxiliary feedback connector. These examples list the feedback types and
illustrate the use of compatible rotary motors and linear products with motor
cables and the 2198-K53CK-D15M connector kit. For motor power and brake
connections, see page 80.
Figure 4 - Feedback Configuration Examples
MFB
1
10
20
11
20
MBRK+
MBRK-
MBRK
W
V
U
1
10
1
2
CAT.NO.LDC-M075500
SERIALNO.XXXXXXXXX
SERIESA
www.ab.com
MADEINUSA
MFB
20
MBRK
W
V
U
1
10
1
2
MFB
20
MBRK
W
V
U
1
10
Digital Inputs and Auxiliary Feedback Connector
• Accepts incremental encoder feedback (TTL)
– Load feedback (dual loop)
–Masterfeedback
–Feedback-only
2090-CFBM7Dxand 2090-CPxM7DF
Motor Feedback and Power Cables
Kinetix MPAR Electric Cylinders
(MPAR-B3xxxx electric cylinder is shown)
Kinetix MP Motors and Actuators
(MPL-Bxxxx motor is shown)
LDAT-Sxxxxxx-xDx

Linear Thrusters
2198-K53CK-D15M Feedback Connector Kit
Accepts multiple encoder feedback types and provides battery-backup for multi-turn position data:
• Hiperface high-resolution absolute multi-turn and single-turn for:
– Kinetix MPL-A/Bxxx-S/M, MPM-A/Bxxx-S/M, MPF-A/Bxxx-S/M, MPS-A/Bxxx-S/M servo motors
– Kinetix MPL-A/Bxxx-E/V servo motors
– Kinetix MPAS (ballscrew), MPAR, MPAI linear actuators
– Kinetix LDAT (-xDx) linear thrusters
• Nikon (24-bit) high-resolution serial encoder
– Kinetix TLP-A/Bxxx-xxx-D servo motors
• Tamagawa (17-bit) high-resolution serial encoder
– Kinetix TL-AxxxP-B servo motors
– Kinetix TLY-AxxxP-B servo motors
15-pin Motor Feedback
(MFB) Connector
2198-Cxxxx-ERS Drive
(front view)
Kinetix MPAS Linear Stages
(MPAS-B9xxx ballscrew linear stage is shown)
Kinetix MPAI Heavy-duty Electric Cylinders
(MPAI-B3xxxx heavy-duty electric cylinder is shown)
Induction Rotary Motors
• Open or closed loop
• With or without feedback
2090-CTFB-MxDD and 2090-CTPx-MxDF
Motor Feedback and Power Cables
2090-CFBM6Dxand 2090-CPxM6DF
Motor Feedback and Power Cables
20-pin I/O Connector With 
Aux Feedback Connections
Kinetix TLP Motors
(TLP-A100 motor is shown)
Kinetix TL/TLY Motors
(TLY-A110 motor is shown)
Kinetix LDC Linear Motors
(LDC-Cxxxxxxx linear motor shown)
Kinetix LDL Linear Motors
(LDL-xxxxxxxx linear motor shown)
2090-CTFB-MxDD Feedback Cable
Provides battery-backup for multi-turn position data:
• Nikon (24-bit) high-resolution serial encoder
– Kinetix TLP-A/Bxxx-xxx-D servo motors
• Generic sin/cos or digital AqB with UVW incremental encoders
–MPL-A/B15xxx-H, MPL-A/B2xxx-H, MPL-A/B3xxx-H, MPL-A/B4xxx-H,
MPL-A/B45xxx-H rotary motors
– Kinetix TLY-Axxxx-H servo motors
–KinetixLDAT(-xBx) linear thrusters
– Kinetix LDC and Kinetix LDL linear motors
– Kinetix MPAS (direct drive)
• Support for 3rd party closed-loop control of Induction motors
Battery
Box

Rockwell Automation Publication 2198-UM005C-EN-P - February 2022 19
Chapter 1 Start
Typical Communication
Configurations
The Kinetix 5300 drives support any Ethernet topology including linear, ring,
and star by using ControlLogix or CompactLogix controllers.
These examples feature the CompactLogix 5380 programmable automation
controllers (Bulletin 5069) that are part of the Logix 5000 family of controllers.
The applications range from standalone systems to more complex systems
with devices that are connected to the controller via an EtherNet/IP™ network.
Refer to CompactLogix 5380, Compact GuardLogix 5380, and CompactLogix
5480 Controller Specifications Technical Data, publication 5069-TD002, for
more information on CompactLogix 5380 controllers.
Linear Topology
In this example, all devices are connected in linear topology. The Kinetix 5300
drives include dual-port connectivity, however, if any device becomes
disconnected, all devices downstream of that device lose communication.
Devices without dual ports must include the 1783-ETAP module or be
connected at the end of the line.
Figure 5 - Kinetix 5300 Linear Communication Installation
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CompactLogix 5380 Controller Studio 5000 Logix Designer
Application
1585J-M8CBJM-x
Ethernet (shielded) Cable
1734-AENTR POINT I/O™
EtherNet/IP Adapter
CompactLogix Controller Programming Network
PanelView™ 5310
Display Terminal
1585J-M8CBJM-OM15
0.15 m (6 in.) Ethernet cable
for drive-to-drive connections.
Kinetix 5300 Servo Drive System
842E-CM Integrated Motion
Encoder

20 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022
Chapter 1 Start
Ring Topology
In this example, the devices are connected by using ring topology. If only one
device in the ring is disconnected, the rest of the devices continue to
communicate. For ring topology to work correctly, a device level ring (DLR)
supervisor is required (for example, the CompactLogix controller). DLR is an
ODVA standard. For more information, refer to the EtherNet/IP Embedded
Switch Technology Application Guide, publication ENET-AP005.
Devices without dual ports require a 1783-ETAP module to complete the
network ring.
Figure 6 - Kinetix 5300 Ring Communication Installation
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1734-AENTR POINT I/O
EtherNet/IP Adapter
CompactLogix Controller Programming Network
1585J-M8CBJM-OM15
0.15 m (6 in.) Ethernet cable
for drive-to-drive connections.
PanelView 5310
Display Terminal
Kinetix 5300 Servo Drive System
CompactLogix 5380 Controller Studio 5000 Logix Designer
Application
1585J-M8CBJM-x Ethernet
(shielded) Cable
842E-CMIntegrated Motion
Encoder