Transcription
Migration GuideUltra3000 Digital Servo Drives to Kinetix 300 andKinetix 350 Servo Drives
Important User InformationSolid-state equipment has operational characteristics differing from those of electromechanical equipment. SafetyGuidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1 available fromyour local Rockwell Automation sales office or online at http://www.rockwellautomation.com/literature/) describes someimportant differences between solid-state equipment and hard-wired electromechanical devices. Because of this difference,and also because of the wide variety of uses for solid-state equipment, all persons responsible for applying this equipmentmust satisfy themselves that each intended application of this equipment is acceptable.In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting fromthe use or application of this equipment.The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables andrequirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility orliability 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, orsoftware 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.WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardousenvironment, 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 theconsequenceSHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people thatdangerous voltage may be present.BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people thatsurfaces may reach dangerous temperatures.IMPORTANTIdentifies information that is critical for successful application and understanding of the product.Allen-Bradley, Rockwell Automation, Ultra, Kinetix, ControlLogix, CompactLogix, MicroLogix, RSLogix, ProposalWorks, Encompass, Rockwell Software, TechConnect, SLC, MP-Series, and TL-Series are trademarks ofRockwell Automation, Inc.Trademarks not belonging to Rockwell Automation are property of their respective companies.
PrefaceOverview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Ultra3000 Drive Catalog Number Descriptions . . . . . . . . . . . . . . . . . . . . . . 5Kinetix 300/Kinetix 350 Drive Catalog Number Descriptions . . . . . . . . . 6Kinetix 300 Drive Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Kinetix 350 Drive Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Pre-migration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Best Practices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Chapter 1Engineering Review Essentials Engineering Effort and Product Liability . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Major Product Replacement Considerations . . . . . . . . . . . . . . . . . . . . . . . 11Minor Product Replacement Considerations . . . . . . . . . . . . . . . . . . . . . . . 13Potential Hardware Design Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Chapter 2Migration ConsiderationsSelecting a Replacement Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Factors Affecting Drive Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . .Drive Sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Output Current Comparison. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Dimension Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Ultra3000 (230V) Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Ultra3000 (460V) Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Kinetix 300/Kinetix 350 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . .Input Wiring and Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .AC Input Power Wire Length and Routing. . . . . . . . . . . . . . . . . . . . .Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Drive Interconnects and Cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Motor Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Encoder Feedback Replacement Cables. . . . . . . . . . . . . . . . . . . . . . . . .2090-Series Motor/Actuator Cables Overview. . . . . . . . . . . . . . . . . . . . . .I/O Cabling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Ultra3000 CN1 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Kinetix 300/Kinetix 350 Expansion Block. . . . . . . . . . . . . . . . . . . . . .Master Encoder/Gearing Signals/Buffered Encoder Signals . . . . . .I/O Availability and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Auxiliary Logic Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Analog Current Limit Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Analog Current Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Rockwell Automation Publication 2098-AP001A-EN-P - October 394142433
Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Accessories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Shunt Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .AC Line Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44444547Appendix AConnectors and FieldConnectionsConnector Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Encoder Wiring Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Control Wiring Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Mains Power Wiring Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49505153Appendix BSpecificationsGeneral Power Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Ultra3000 Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Kinetix 300/Kinetix 350 Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Digital I/O Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Digital Input Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Digital Output Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Relay Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Analog I/O Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Analog Input Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Analog Output Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Environmental and Safety Feature Comparison . . . . . . . . . . . . . . . . . . . . .Environmental Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Safety Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55555659595960606061616162Appendix CFeature Comparison ChartFeature Comparison Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63Appendix DHardware Layout withConnectionsUltra3000 Drive Power Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65Kinetix 300/Kinetix 350 Drive Power Wiring . . . . . . . . . . . . . . . . . . . . . . 70Appendix ETopology/Architecture Layouts4Ultra3000 (Analog) to Kinetix 300 Architecture . . . . . . . . . . . . . . . . . . . . 76Ultra3000 (Indexing) to Kinetix 350 Architecture . . . . . . . . . . . . . . . . . . 77Ultra3000 (SERCOS) to Kinetix 350 Architecture. . . . . . . . . . . . . . . . . . 78Rockwell Automation Publication 2098-AP001A-EN-P - October 2011
PrefaceOverviewThe purpose of this migration guide is to provide you with the essentialinformation to determine what hardware design changes may be necessary whenmigrating an Ultra 3000 servo drive to a Kinetix 300 or Kinetix 350 servo drive.This migration guide contains these chapters and appendices:Ultra3000 Drive CatalogNumber DescriptionsChapter 1: Engineering Review EssentialsProvides information on important differencesbetween the product families.Chapter 2: Migration ConsiderationsProvides information on drive sizing, input wiringand fusing, motor power and I/O cabling, serialcommunication, shunt resistors, and AC linefilters.Appendix A: Connectors and Field ConnectionsProvides information on connector locations, andcomparisons for encoder wiring, control wiring,and mains power wiring.Appendix B: SpecificationsProvides comparisons of the powerspecifications, digital and analog I/O,environmental specifications, and safetyfeatures.Appendix C: Feature Comparison ChartCompares the hardware and software features ofthe product families.Appendix D: Hardware Layout withConnectionsProvides power wiring examples to assist you incomparing the power wiring for the Ultra3000drive and the Kinetix 300/350 drive systems.Appendix E: Topology/Architecture LayoutsProvides information for typical Ultra3000 drivearchitecture and Kinetix 300/350 drivearchitecture.2098-DSD- xx xxx x-xxConnectivity OptionDN DeviceNet interfaceSE SERCOS interfaceBlank No network connectivityIndexing CapabilityX IndexingBlank No indexingContinuous Output Power005 500 W030 3 kW100 10 kW010 1 kW050 5 kW150 15 kW020 2 kW075 7.5 kW220 22 kWInput Power (VAC)HV High Voltage (230 480V AC)Blank Standard (100 240V AC)Digital Servo DriveBulletin NumberRockwell Automation Publication 2098-AP001A-EN-P - October 20115
PrefaceKinetix 300/Kinetix 350Drive Catalog NumberDescriptionsKinetix 300 DriveCat. No.Kinetix 350 DriveCat. �, 2 A, 120/240V, no filter(120V-voltage doubler)0.42097-V31PR22097-V31PR2-LM1Ø, 4 A, 120/240V, no filter(120V-voltage doubler)0.82097-V32PR02097-V32PR0-LM1Ø, 2 A, 240V, integral filter0.42097-V32PR22097-V32PR2-LM1Ø, 4 A, 240V, integral filter0.82097-V32PR42097-V32PR4-LM1Ø, 8 A, 240V, integral 12097-V33PR1-LM1Ø, 3Ø, 2 A, 240V, no filter0.52097-V33PR32097-V33PR3-LM1Ø, 3Ø, 4 A, 240V, no filter12097-V33PR52097-V33PR5-LM1Ø, 3Ø, 8 A, 240V, no filter22097-V33PR62097-V33PR6-LM1Ø, 3Ø, 12 A, 240V, no filter32097-V34PR32097-V34PR3-LM3Ø, 2 A, 480V, no filter12097-V34PR52097-V34PR5-LM3Ø, 4 A, 480V, no filter22097-V34PR62097-V34PR6-LM3Ø, 6 A, 480V, no filter3Three-phase6Rockwell Automation Publication 2098-AP001A-EN-P - October 2011
PrefaceKinetix 300 Drive FeaturesThe Kinetix 300 drive offers a cost-effective, low axis count EtherNet/IPindexing servo drive solution. Features of the Kinetix 300 drive include thefollowing: Indexing– Five indexing types– S-curve and trapezoidal moves– 32 index capability Commanded control over the EtherNet/IP network– Velocity and current– Absolute and incremental position with or without registration Electronic gearing Analog input control Step and direction control Integrated safe torque-offKinetix 350 Drive FeaturesThe Kinetix 350 drive is a single-axis solution developed to provide scalability ata low cost. It simplifies integration of the entire control solution on one network,including human-machine interface (HMI), programmable automationcontroller, I/O, and motion. Features of the Kinetix 350 drive include thefollowing: Connects via EtherNet/IP network with common industrial protocol(CIP) Motion technology, which provides real-time, closed-loop motioncontrol with standard Ethernet Fully compatible in a star or linear topology Integrates with L6 and L7 ControlLogix and CompactLogix controllerssupporting Integrated Motion on EtherNet/IP network Programming supported in RSLogix 5000 software, version 20.00.00 Supports standard motion instruction set, including Kinematics Comes equipped with embedded safe torque-off functionalityRockwell Automation Publication 2098-AP001A-EN-P - October 20117
PrefacePre-migrationMigrating from a motion control system that uses Ultra3000 drives to a systemthat uses Kinetix 300 or Kinetix 350 drives requires a comprehensive designreview of the motion control system. There are multiple drive replacementcombinations, and multiple configurations for how the drives can be installed andsoftware applied. As a result, this migration guide is not an all-inclusivedocument. It does not describe all the redesign steps that may be required, nordoes it contain the detailed product information necessary to finalize theredesign. The generalities of the replacement process are covered, and thedecision-making steps likely to be encountered in a typical replacement scenarioare described.Figure 1 - Suggested Migration OptionsUltra3000 DriveAnalogKinetix 300 DriveIndexingKinetix 300 DriveKinetix 350 DriveSERCOSBest PracticesKinetix 350 DriveMotors – Verify that your current motor is compatible with the Kinetix 300/350servo drive family. Kinetix 300/350 drives are compatible with MP-Series orTL-Series servo motors or linear actuators.IMPORTANTThird-party motors are not supported with Kinetix 300 drives. Check withyour Rockwell Automation representative to see if your third-party motoris compatible with the Kinetix 350 drives.Feedback Cable Length – Verify that the feedback cable length in your currentUltra3000 system does not exceed the maximum feedback cable length for theKinetix 300/350 servo drives. The maximum feedback cable length for theKinetix 300/350 servo drives is 20 m (65.6 ft).Configuration Files– Use the Ultraware software to upload and save theUltra3000 drive configuration file for future reference. If using a serial real-timecommunication system (SERCOS) Ultra3000 drive, upload and save anynetwork files and programmable logic controller (PLC) programs.Electrical Noise – Refer to the System Design for Control of Electrical NoiseReference Manual, publication GMC-RM001, to better understand the conceptof electrical noise reduction.8Rockwell Automation Publication 2098-AP001A-EN-P - October 2011
PrefaceAdditional ResourcesThese documents contain additional information concerning related productsfrom Rockwell Automation.ResourceDescriptionKinetix 300 and Kinetix 350 Drive Systems Design Guide,publication GMC-RM004Provides information to assist you in identifying the drive system components and accessoryitems you’ll need for your Kinetix 300/350 drive and motor/actuator combination.Integrated Motion on SERCOS and EtherNet/IP Systems Analysis and Comparison White Paper, publicationMOTION-WP001Compares and contrasts Integrated Motion systems using SERCOS and EtherNet/IP with aControlLogix Programmable Automation Controller (PAC).Kinetix 350 EtherNet/IP Indexing Servo Drives UserManual, publication 2097-UM002Provides installation instructions for mounting, wiring, and troubleshooting your Kinetix 350drive; and system integration for your drive/motor combination with a Logix controller.Kinetix 350 EtherNet/IP Indexing Servo Drive InstallationInstructions, publication 2097-IN008Provides information on installing your Kinetix 350 drive system.Kinetix 300 EtherNet/IP Indexing Servo Drives UserManual, publication 2097-UM001Provides installation instructions for mounting, wiring, and troubleshooting your Kinetix 300drive; and system integration for your drive/motor combination with a Logix controller.Kinetix 300 EtherNet/IP Indexing Servo Drive InstallationInstructions, publication 2097-IN001Provides information on installing your Kinetix 300 drive system.Kinetix 300 Shunt Resistor Installation Instructions,publication 2097-IN002Provides information on installing and wiring the Kinetix 300 shunt resistors(also compatible with the Kinetix 350 drive).Kinetix 300 AC Line Filter Installation Instructions,publication 2097-IN003Provides information on installing and wiring the Kinetix 300 AC line filter(also compatible with the Kinetix 350 drive).Kinetix 300 I/O Terminal Expansion Block InstallationInstructions, publication 2097-IN005Provides information on installing and wiring the Kinetix 300 I/O terminal expansion block(also compatible with the Kinetix 350 drive).Kinetix 300 Memory Module Installation Instructions,publication 2097-IN007Provides information on installing the Kinetix 300 memory module(also compatible with the Kinetix 350 drive).Kinetix 300 Memory Module Programmer Quick Start,publication 2097-QS001Provides information on using the memory module programmer to duplicate the memorymodule (also compatible with the Kinetix 350 drive).1769-L32E and 1769-L35E CompactLogix ControllerInstallation Instructions, publication 1769-IN020Information on how to assemble and mount the controller, how to upgrade firmware, andcontroller technical specifications.1769-L32C and 1769-L35CR CompactLogix ControllerInstallation Instructions, publication 1769-IN070Information on how to assemble and mount the controller, how to upgrade firmware, andcontroller technical specifications.1769-L31 CompactLogix Controller InstallationInstructions, publication 1769-IN069Information on how to assemble and mount the controller, how to upgrade firmware, andcontroller technical specifications.Ultraware Software User Manual, publication2098-UM001Provides detailed installation instructions, defines software interface features, andprogramming assistance for Ultraware software.Ultra3000 Digital Servo Drive with DeviceNet, publication2098-RM004Provides information on how to use DeviceNet to install, start up, and troubleshoot anUltra3000 drive.Ultra3000 Digital Servo Drives Installation Manual,publication 2098-IN003Provides mounting, wiring, and connecting procedures for the Ultra3000 drive.Ultra3000 Digital Servo Drives Integration Manual,publication 2098-IN005Information on configuring and troubleshooting your Ultra3000 drive.Rockwell Automation Configuration and Selection Tools,website www.ab.com/e-toolsOnline product selection and system configuration tools, including AutoCAD (DXF) drawings.Industrial Automation Wiring and Grounding Guidelines,publication 1770-4.1Provides general guidelines for installing a Rockwell Automation industrial system.Product Certifications website, http://www.ab.comProvides declarations of conformity, certificates, and other certification details.You can view or download publications at http://www.rockwellautomation.com/literature/. To order paper copies of technical documentation, contact your localAllen-Bradley distributor or Rockwell Automation sales representative.Rockwell Automation Publication 2098-AP001A-EN-P - October 20119
PrefaceNotes:10Rockwell Automation Publication 2098-AP001A-EN-P - October 2011
Chapter1Engineering Review EssentialsReplacing an Ultra3000 drive with a Kinetix 300 or Kinetix 350 drive mayrequire some system design changes. Follow these steps to properly formulate thedesign changes: Review the hardware and software design of the current Ultra3000 system.The appendices in this document can help you with this process. Review the hardware and software specifications for the Kinetix 300/350drives. Use this document as a guide for determining hardware design changes.Engineering Effort andProduct LiabilityThoroughly review this document before you begin to evaluate the designchanges required to successfully migrate your Ultra3000 drive to a Kinetix 300/350 drive.WARNING: Because of the variety of uses for the products described inthis publication, those responsible for the application and use of theseproducts must satisfy themselves that all necessary steps have beentaken to assure that each application and use meets all performance andsafety requirements, including any applicable laws, regulations, codesand standards. In no event will Rockwell Automation be responsible orliable for indirect or consequential damage resulting from the use orapplication of these products.The following sections highlight the major and minor differences between theUltra3000 drives and Kinetix 300/350 drives. Additional differences may alsoimpact your application. Read this entire document before proceeding to qualifythe Kinetix 300/350 drives for your needs.Major ProductReplacementConsiderationsListed here are some major differences between the Ultra3000 drives and theKinetix 300/350 drives.Serial Port – The Kinetix 300/350 drives do not have a serial port. The Kinetix300/350 programming interface is via Ethernet, and the Kinetix 300 drive can beprogrammed by using java-based embedded software. If your Ultra3000 driveapplication uses host mode programming or the serial port for HMIcommunication, the difference in communication and programming will have tobe addressed. See Appendix A.Rockwell Automation Publication 2098-AP001A-EN-P - October 201111
Chapter 1Engineering Review EssentialsSERCOS or DeviceNet Networks – There are no SERCOS or DeviceNetembedded options on the Kinetix 300/350 drives (but they may be used on theUltra3000 drives). Determine if your application depends on these options, andverify whether your application can be modified or if the architecture can bechanged. See Appendix D and Appendix E.Physical Dimensions – The physical size of the drive families are different (seeDrive Sizing on page 16). In most cases, the Kinetix 300/350 drives are smallerand will fit into the existing space of the compatible Ultra3000 drives; however,you should verify the physical size of the Kinetix 300/350 drive.Shunting – The Ultra3000 drives (except micro sizes) have internal shuntingcapability, while the Kinetix 300/350 drives have external shunting capabilityonly. See Shunt Resistors on page 45 to help you verify the differences anddetermine if you need to resize the drive, or if your space requirements willchange with the Kinetix 300/350 drives if you require a shunt module to beadded in the panel.Power Range – The Kinetix 300/350 drives have a different drive power rangethat may not match directly with the Ultra3000 drive power range. See DriveSizing on page 16 and Dimension Comparison on page 17 to determine if yourpower range is covered with the Kinetix 300/350 drives, or if resizing or adifferent drive architecture is required.Auxiliary Power – The Ultra3000 drives use a different method of providingauxiliary power than the Kinetix 300/350 drives (see Auxiliary Logic Power onpage 35 and Appendix A). A 24V power supply may need to be added to theKinetix 300/Kinetix 350 drives if auxiliary power is required.I/O Interface – The Ultra3000 drives have a D-shell connector for I/O interfaceconnection, while the Kinetix 300/350 drives use a small computer systeminterface (SCSI) connector for I/O interface. If your application cannot modifythe cable interface or breakout board to the I/O, this may be an issue. See I/OCabling on page 31.Cable Lengths – The Ultra3000 drives support cable lengths for motor andpower up to 90 m (295.2 ft), while the Kinetix 300/350 drives support cablelengths up to 20 m (65.6 ft) only. See Drive Interconnects and Cabling onpage 24.Output Frequency – If you are using the Ultra3000 (non-SERCOS version)drives to interface to an external controller, the output encoder frequency can bemodified to provide a range of resolutions; while the Kinetix 300 drives have afixed output frequency of 4096 counts/motor rev with a maximum of 2 MHzoutput frequency. The Kinetix 350 drives do not provide an output frequency.See Master Encoder/Gearing Signals/Buffered Encoder Signals on page 32.12Rockwell Automation Publication 2098-AP001A-EN-P - October 2011
Engineering Review EssentialsChapter 1Dual Loop Operation – The Ultra3000 drives have the ability to power Auxencoders for use in master gearing or dual loop modes. This power supply is notavailable in the Kinetix 300/350 drives. If your application requires dual loopoperation, it is not supported with the Kinetix 300/350 drives. See MasterEncoder/Gearing Signals/Buffered Encoder Signals on page 32.Minor ProductReplacementConsiderationsListed here are some minor differences between the Ultra3000 drives and theKinetix 300/350 drives. See Appendix C for a feature comparison chart thatshows the notable differences. Some key differences include the following:Relay Outputs – The I/O implementation between the drives is different (seeI/O Availability and Specifications on page 35 and Appendix B). Most notably,there is no relay output on the Kinetix 300/350 drives. This has to be addressedon replacement.Hardware Enable Signal – The Ultra3000 drives can operate without ahardware enable signal present. The Kinetix 300 drives require a hardware enablesignal. The Kinetix 350 drives can operate without a hardware drive enable signal.See Appendix C.Digital Inputs – The Ultra3000 drives have multiple assignment for digitalinputs, while the Kinetix 300/350 drives have single assignment for digital inputs(see Digital Inputs on page 36 and Digital I/O Comparison on page 59).Operation Mode Override – The Ultra3000 drives have an Operation modeoverride that is capable of operation via digital I/O, while the Kinetix 300/350drives do not. See Appendix C.Potential Hardware DesignChangesThe design changes required for converting to the Kinetix 300/350 drivesdepend on the original/replacement drive combination and the specifics of theapplication. The objective is to determine which areas of a design may need to bechanged. This document provides you with knowledge about the type and extentof work that may be required to successfully change from an Ultra3000 system toa Kinetix 300/350 system.IMPORTANTDue to the flexibility of drive installation and usage, it is not feasible tocover all possible issues that may be encountered. In addition to theitems described in this document, the engineering/design team shouldpay particular attention to unique features and functions of the Ultra3000system when considering replacement with a Kinetix 300/350 system.The following chapters and appendices cover the majority of hardware/designconsiderations for the replacement of the Ultra3000 drives with Kinetix 300/350drives.Rockwell Automation Publication 2098-AP001A-EN-P - October 201113
Chapter 1Engineering Review EssentialsNotes:14Rockwell Automation Publication 2098-AP001A-EN-P - October 2011
Chapter2Migration ConsiderationsSelecting a ReplacementDriveDrive sizing is the primary factor in selecting a replacement drive. To identify thecorrect replacement drive size, compare the continuous and peak output currentratings.In general, regarding the current ratings, the following rules apply:These Ultra3000 drives can be replaced with a Kinetix 300/350 drive of similar,or in some cases greater, output current capability: 2098-DSD-005 2098-DSD-010 2098-DSD-020 2098-DSD-030 2098-DSD-HV030 2098-DSD-HV050The Kinetix 300/350 drives have similar current ratings and require less physicalspace than the Ultra3000 drives.These Ultra3000 drives do not have similar replacements in the Kinetix 300/350drives series: 2098-DSD-075 2098-DSD-150 2098-DSD-HV150 2098-DSD-HV220Factors Affecting Drive ReplacementFactors that affect the redesign effort include the following considerations: Drive Sizing (ratings and physical) Dimension Comparison Drive Interconnects and Cabling Serial Communication AccessoriesRockwell Automation Publication 2098-AP001A-EN-P - October 201115
Chapter 2Migration ConsiderationsDrive SizingThis section lists the Ultra3000 drives and the suggested Kinetix 300/350replacement drives, along with the output ratings and dimension differences ofthe drives. Information in this migration guide is based on the drive combinationsshown in Table 1 and Table 2.Output Current ComparisonIMPORTANTThe performance capabilities of the replacement drive should bereviewed to be sure that the replacement drive is capable of deliveringthe required level of peak and continuous current to the motor.Table 1 - Suggested Kinetix 3
Important User Information Solid-state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1 available from
