Manual All em Servo

Ultra5000 Intelligent Positioning Drives
(Catalog Numbers 2098-IPD-005, -005-DN 2098-IPD-010, -010-DN 2098-IPD-020, -020-DN 2098-IPD-030, -030-DN, -HV030, -HV030-DN 2098-IPD-HV050, -HV050-DN 2098-IPD-075, -075-DN, 2098-IPD-HV100, -HV100-DN 2098-IPD-150, -150-DN, -HV150, -HV150-DN 2098-IPD-HV220, -HV220-DN
Installation Manual
Important User Information
Because of the variety of uses for the products described in this publication, those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements, including any applicable laws, regulations, codes and standards. The illustrations, charts, sample programs and layout examples shown in this guide are intended solely for purposes of example. Since there are many variables and requirements associated with any particular installation, Allen-Bradley does not assume responsibility or liability (to include intellectual property liability) for actual use based upon the examples shown in this publication. Allen-Bradley publication SGI-1.1, Safety Guidelines for the Application, Installation and Maintenance of Solid-State Control (available from your local Allen-Bradley office), describes some important differences between solid-state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication. Reproduction of the contents of this copyrighted publication, in whole or part, without written permission of Rockwell Automation, is prohibited. Throughout this manual we use notes to make you aware of safety considerations: ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death, property damage or economic loss.
!
avoid a hazard IMPORTANT
Attention statements help you to: identify a hazard recognize the consequences Identifies information that is critical for successful application and understanding of the product.
Allen-Bradley is a registered trademark of Rockwell Automation. ControlLogix, RSLogix 5000, Ultra5000, and Ultraware are trademarks of Rockwell Automation. CSA is a registered trademark of Canadian Standards Association. DeviceNet is a trademark of the Open DeviceNet Vendor Association. UL and C-UL are registered trademarks of Underwriters Laboratories, Inc.
Table of Contents
Preface
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . Who Should Use this Manual . . . . . . . . . . . . . Purpose of this Manual . . . . . . . . . . . . . . . . . Contents of this Manual . . . . . . . . . . . . . . . . . Related Documentation . . . . . . . . . . . . . . . . . Conventions Used in this Manual . . . . . . . . . . Product Receiving and Storage Responsibility . Allen-Bradley Support . . . . . . . . . . . . . . . . . . Local Product Support . . . . . . . . . . . . . . . Technical Product Assistance . . . . . . . . . . Comments Regarding this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1 P-1 P-1 P-2 P-3 P-4 P-4 P-5 P-5 P-5 P-5
Chapter 1 Installing Your Ultra5000

Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 Complying with European Union Directives . . . . . . . . . 1-1 EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 Low Voltage Directive. . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 Before Mounting Your System . . . . . . . . . . . . . . . . . . . . . . 1-3 How to Store Your Ultra5000 Before Installation . . . . . . 1-3 How to Unpack the System. . . . . . . . . . . . . . . . . . . . . . 1-4 Minimum Mounting Requirements. . . . . . . . . . . . . . . . . 1-5 Ventilation Requirements . . . . . . . . . . . . . . . . . . . . . . . 1-6 Sizing an Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7 Transformer Sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7 Calculating Transformer Size Based on Speed/Torque Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7 Fuse Sizing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9 Bonding Your System . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10 Bonding Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10 Bonding Multiple Subpanels . . . . . . . . . . . . . . . . . . . . 1-11 Mounting Your Ultra5000 Drive . . . . . . . . . . . . . . . . . . . . 1-12
Chapter 2 Ultra5000 Connector Information

Chapter Objectives. . . . . . . . . . . . . . . . . . . . . Understanding Ultra5000 Controller Functions. Ultra5000 Block Diagram . . . . . . . . . . . . . Understanding Ultra5000 Connectors . . . . . . . 230V Ultra5000 Front Panel Connections . . 500W, 1 kW, and 2 kW Ultra5000 (2098-IPD-005, -010, and -020). . . . . . . I/O Connectors . . . . . . . . . . . . . . . . . . Motor Encoder Connector . . . . . . . . . . Serial Port Connectors . . . . . . . . . . . . . Terminal Block . . . . . . . . . . . . . . . . . . 3 kW Ultra5000 (2098-IPD-030) . . . . . . . . . . . . . . . . . . Terminal Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 2-2 2-2 2-3 2-4 2-4 2-5 2-6 2-7 2-7
. . . . . . . . . . 2-8 . . . . . . . . . . 2-9
Publication 2098-IN001E-EN-P April 2002
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7.5 kW, and 15 kW Ultra5000 (2098-IPD-075, and -150) . . . . . . . . . . . . . . . . . . . . 2-10 I/O Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11 Motor Encoder Connector . . . . . . . . . . . . . . . . . . . 2-11 Serial Port Connectors . . . . . . . . . . . . . . . . . . . . . . 2-11 Terminal Blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11 230V Ultra5000 with DeviceNet Front Panel Connections . . . 2-13 500W, 1 kW, and 2 kW Ultra5000 with DeviceNet (2098-IPD-005-DN, -010-DN, and -020-DN) . . . . . . . 2-13 I/O Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14 Motor Encoder Connector . . . . . . . . . . . . . . . . . . . 2-14 Serial Port Connectors . . . . . . . . . . . . . . . . . . . . . . 2-14 DeviceNet Connector . . . . . . . . . . . . . . . . . . . . . . . 2-14 3 kW, 7.5 kW, and 15 kW Ultra5000 (2098-IPD-005-DN, -010-DN, and -020-DN) . . . . . . . 2-15 460V Ultra5000 Front Panel Connections . . . . . . . . . . . 2-16 I/O Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17 Motor Encoder Connector . . . . . . . . . . . . . . . . . . . 2-17 Serial Port Connectors . . . . . . . . . . . . . . . . . . . . . . 2-17 Terminal Blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17 Understanding Ultra5000 I/O Specifications. . . . . . . . . . . . 2-19 Digital I/O Power Supply . . . . . . . . . . . . . . . . . . . . . . 2-19 Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20 Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22 Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23 Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-24 Understanding Motor Encoder Feedback Specifications . . . 2-25 AM, BM, and IM Inputs . . . . . . . . . . . . . . . . . . . . . . . . 2-25 Hall Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27 Thermostat Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27 + Limit and - Limit Inputs . . . . . . . . . . . . . . . . . . . . . . 2-28 Encoder Phasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-29 Motor Encoder Connection Diagram . . . . . . . . . . . . . . 2-31 Unbuffered Motor Encoder Outputs . . . . . . . . . . . . . . 2-31 Buffered Motor Encoder Outputs . . . . . . . . . . . . . . . . 2-31 Understanding Auxiliary Encoder Feedback Specifications . 2-32 Auxiliary Encoder Interface . . . . . . . . . . . . . . . . . . . . . 2-32 Understanding the Serial Interface. . . . . . . . . . . . . . . . . . . 2-34 Default Serial Interface Settings . . . . . . . . . . . . . . . . . . 2-34
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Chapter 3 Connecting Your Ultra5000

Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . Powering the Digital I/O . . . . . . . . . . . . . . . . . . . . Accessing the Internal Digital I/O Power Supply Understanding Basic Wiring Requirements . . . . . . . Building Your Own Cables . . . . . . . . . . . . . . . . Routing High and Low Voltage Cables. . . . . . . . Grounding Your Ultra5000 . . . . . . . . . . . . . . . . . . . Grounding Your System to the Subpanel . . . . . . Grounding Multiple Subpanels . . . . . . . . . . . . . Motor Power Cable Shield Termination . . . . . . . Wiring Your Ultra5000 . . . . . . . . . . . . . . . . . . . . . . Connecting Interface Cables . . . . . . . . . . . . . . . Wiring I/O Connections . . . . . . . . . . . . . . . . . . Connecting to a DeviceNet Network . . . . . . . . . Connecting Your DeviceNet Cable . . . . . . . . . . Assigning Your Ultra5000 DeviceNet Address . . Wiring Power Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 3-1 3-2 3-4 3-4 3-5 3-6 3-6 3-7 3-7 3-9 3-9 3-9 3-10 3-11 3-12 3-14
Chapter 4 Commissioning Your Ultra5000 Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

General Startup Precautions . . . . . . . . Understanding Communication Switch Applying Power To Your System . . . . Configuring Your Ultra5000 . . . . . . . . ....... Settings . ....... ....... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 4-2 4-3 4-5
Chapter 5 Maintaining Your Ultra5000

Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . Maintaining the Drive . . . . . . . . . . . . . . . . . . . . Periodic Maintenance . . . . . . . . . . . . . . . . . . Cleaning the Drive . . . . . . . . . . . . . . . . . Inspecting the Cables . . . . . . . . . . . . . . . General Troubleshooting . . . . . . . . . . . . . . . . . . Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . Troubleshooting for DeviceNet Drives . . . . . . . . DeviceNet Module Status LED . . . . . . . . . . . . DeviceNet Network Status LED . . . . . . . . . . . Node Problems. . . . . . . . . . . . . . . . . . . . . . . Device Failure - LED Status Check. . . . . . . . . Scanner Problems . . . . . . . . . . . . . . . . . . . . . Power Supply Problems . . . . . . . . . . . . . . . . Cable Installation and Design Problems . . . . . Adjusting the Physical Network Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 5-1 5-1 5-1 5-2 5-2 5-2 5-6 5-6 5-7 5-8 5-8 5-9 5-9 5-10 5-10
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Appendix A Specifications and Dimensions

Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1 Ultra5000 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1 General Power Specifications . . . . . . . . . . . . . . . . . . . . A-1 2098-IPD-005-xx, -010-xx, and -020-xx . . . . . . . . . . . A-1 2098-IPD-030-xx, -075-xx, and -150-xx . . . . . . . . . . . A-2 2098-IPD-HV030-xx, -HV050-xx, -HV100-xx, -HV150-xx, and -HV220-xx. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3 Physical and Environmental. . . . . . . . . . . . . . . . . . . . . . A-4 Power Dissipation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5 User Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6 Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6 Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7 Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7 Motor Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8 Auxiliary Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-9
Appendix B Interconnect Diagrams

Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ultra5000 and Motor Cable Diagrams . . . . . . . . . . . Ultra5000 Drive and Motor Cable Combinations . Ultra5000 to Motor Interconnect Diagrams . . . . . Ultra5000 Power Wiring Diagrams . . . . . . . . . . . . . Using an Emergency Stop Contactor . . . . . . . . . . . . Grounding for Ultra5000 CE Requirements . . . . . . . Ultra5000 Shunt Module Information. . . . . . . . . . . . 300 Watt Active Shunt Module. . . . . . . . . . . . . . 200 Watt Passive Shunt Module . . . . . . . . . . . . . 900 Watt Passive Shunt Module . . . . . . . . . . . . . 2090 Passive Shunt Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1 . B-1 . B-1 . B-3 B-15 B-20 B-22 B-23 B-23 B-23 B-24 B-24
Table of Contents
Appendix C Catalog Numbers and Accessories

Chapter Objectives. . . . . . . . . . . . . Ultra5000 Drives . . . . . . . . . . . . . . Ultraware Software . . . . . . . . . . . . AC Line Filters . . . . . . . . . . . . . . . . External Shunt Kits . . . . . . . . . . . . 300 Watt Active Shunt Ferrites. . 2090 Series Passive Shunts . . . . Cables . . . . . . . . . . . . . . . . . . . . . . Motor Power Cables . . . . . . . . Motor Feedback Cables . . . . . . MP-Series Motor Brake Cable . . Ultra5000 Interface Cables. . . . . Break Out Boards, Cables, and Kits Mating Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1 C-2 C-2 C-3 C-4 C-5 C-5 C-6 C-6 C-7 C-8 C-8 C-8 C-9
Appendix D Wiring Three Phase Power to a Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-1 Applicable Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-1 Single Phase Ultra5000
Mandatory Neutral Connection of Isolation Transformer . Adding a Safety Ground to the Isolation Transformer . Three Phase Line Filtering Requirements for EMC . . . . . . Voiding of CE Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-2 D-3 D-3 D-4
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Table of Contents
Preface
Introduction
Read this preface to familiarize yourself with the rest of the manual. This preface contains the following topics: Who Should Use this Manual Purpose of this Manual Contents of this Manual Related Documentation Conventions Used in this Manual Product Receiving and Storage Responsibility Allen-Bradley Support
Who Should Use this Manual
Use this manual for designing, installing, programming, and troubleshooting the Ultra5000 Intelligent Positioning Drive (IPD). If you do not have a basic understanding of the Ultra5000, contact your local Allen-Bradley representative for information on available training courses before using this product.
Purpose of this Manual
This manual describes the function and installation of the Ultra5000 products and standard Rockwell Automation/Allen-Bradley motors recommended for use with the Ultra5000. The manual is intended for engineers or technicians directly involved in the installation, operation, and field maintenance of the Ultra5000.
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Preface
Contents of this Manual
Refer to the following listing for the descriptive contents of this installation manual.
Chapter Title Preface Contents Describes the purpose, background, and scope of this manual. Also specifies the audience for whom this manual is intended. Provides mounting information for the Ultra5000. Provides connection and wiring information for the Ultra5000. Provides steps to follow when applying power to the Ultra5000 for the first time. Powering-up and configuring the Ultra5000 drive. Provides diagnostic aids that help isolate problems with a drive. Provides physical, electrical, environmental, and functional specifications for the Ultra5000. Provides interconnect diagrams for the Ultra5000. Provides catalog numbers and descriptions of the Ultra5000 and related products. Discusses star (Y) connection of single phase Ultra5000 drives to a three phase power source.
1 2 3 4 5 Appendix A
Installing Your Ultra5000 Ultra5000 Connector Information Connecting Your Ultra5000 Commissioning Your Ultra5000 Maintaining Your Ultra5000 Specifications and Dimensions Interconnect Diagrams Catalog Numbers and Accessories Wiring Three Phase Power to a Single Phase Ultra5000
Appendix B Appendix C Appendix D
Preface
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Related Documentation
The following documents contain additional information concerning related Allen-Bradley products. To obtain a copy, contact your local Rockwell Automation office or distributor, or access the documents on-line at www.theautomationbookstore.com or www.ab.com/manuals/gmc.
Read This Document: 300 Watt Active Shunt Regulator Installation Instructions Catalog Number: 2090-IN001
For: Active shunt installation instructions for: 2098-IPD-005, -005-DN 2098-IPD-010, -010-DN 2098-IPD-020, -020-DN Passive shunt installation instructions for: 2098-IPD-075, -075-DN 2098-IPD-150, -150-DN Passive shunt installation instructions for: 2098-IPD-030, -030-DN Passive shunt installation instructions for: 2098-IPD-HV030, -HV030-DN 2098-IPD-HV050, -HV050-DN 2098-IPD-HV100, -HV100-DN 2098-IPD-HV150, -HV150-DN 2098-IPD-HV220, -HV220-DN Ultraware installation instructions Information on how to add a DeviceNet Expansion Kit to a Ultra5000 drive
900 Watt Passive Shunt Module Installation Instructions 200 Watt Passive Shunt Module Installation Instructions 2090 Series Passive Shunts Installation Instructions
2090-IN002
2090-IN003 2090-IN004
Ultraware CD Installation Instructions
2098-IN002
Ultra5000 DeviceNet Expansion Kit Installation 2098-IN004 Instructions 2098-PM001 2098-RM002 2098-UM001 GMC-RM001 DNET-UM072
Information on programming the Ultra5000 using Ultra5000 Motion Library C Programming the Motion Library Manual Information on communicating with the Ultra5000 using DeviceNet Information on configuring your Ultra5000 using Ultraware How to minimize and control system-level noise Information on attaching Ultra5000 drives to a DeviceNet network Ultra5000 DeviceNet Reference Manual Ultraware User Manual System Design for Control of Electrical Noise DeviceNet Cable System Planning and Installation Manual
A copy of the DeviceNet Specification, Volumes I and II, Release 2.0 may be ordered from the web site http://www.odva.org of the Open Device Vendor Association.
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Preface
Conventions Used in this Manual
The following 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. Words that you type or select appear in bold. When we refer you to another location, the section or chapter name appears in italics.
Product Receiving and Storage Responsibility
You, the customer, are responsible for thoroughly inspecting the equipment before accepting the shipment from the freight company. Check the item(s) you receive against your purchase order. If any items are obviously damaged, it is your responsibility to refuse delivery until the freight agent has noted the damage on the freight bill. Should you discover any concealed damage during unpacking, you are responsible for notifying the freight agent. Leave the shipping container intact and request that the freight agent make a visual inspection of the equipment. Store the product in its shipping container prior to installation. If you are not going to use the equipment for a period of time, store using the following guidelines. Use a clean, dry location Maintain an ambient temperature range of -40 to 70 C (-40 to 158 F) Maintain a relative humidity range of 5% to 95%, non-condensing Store it where it cannot be exposed to a corrosive atmosphere Store it in a non-construction area
Preface
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Allen-Bradley Support
Allen-Bradley offers support services worldwide, with over 75 Sales/ Support Offices, 512 authorized Distributors and 260 authorized Systems Integrators located throughout the United States alone, plus Allen-Bradley representatives in every major country in the world.
Local Product Support

Contact your local Allen-Bradley representative for: Sales and order support Product technical training Warranty support Support service agreements
Technical Product Assistance

If you need to contact Allen-Bradley for technical assistance, please review the information in the chapter Maintaining Your Ultra5000 first, then call your local Allen-Bradley representative. For the quickest possible response, please have the catalog numbers of your products available when you call.
Comments Regarding this Manual

To offer comments regarding the contents of this manual, go to www.ab.com/manuals/gmc and download the Motion Control Problem Report form. Mail or fax your comments to the address/fax number given on the form.
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Preface
Chapter
Installing Your Ultra5000
Chapter Objectives
This chapter provides system installation guidelines and procedures for mounting your Ultra5000. This chapter covers the following topics: Complying with European Union Directives Before Mounting Your System Bonding Your System Mounting Your Ultra5000 Drive ATTENTION The following information is a guideline for proper installation. The National Electrical Code and any other governing regional or local codes overrule this information. The Allen-Bradley Company cannot assume responsibility for the compliance or the noncompliance with any code, national, local or otherwise, for the proper installation of this system or associated equipment. If you ignore codes during installation, the hazard of personal injury and/or equipment damage exists.
Complying with European Union Directives

If this product is installed within the European Union or EEC regions and has the CE mark, the following regulations apply. Note: Declarations of Conformity (DOCs) to EU Directives are available on-line at www.ab.com/certification for Motion Control products. The web site is the authoritative source for verifying compliance and suitability for use of this and other Rockwell Automation/Allen-Bradley products. The web site also provides links to other certification agencies (UL, CSA, etc.).
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EMC Directive
This unit is tested to meet Council Directive 89/336/EEC Electromagnetic Compatibility (EMC) using a technical construction file and the following standards, in whole or in part: EN 50081-2 EMC - Emission Standard, Part 2 - Industrial Environment EN 50082-2 EMC - Immunity Standard, Part 2 - Industrial Environment EN 61800-3 - Adjustable Speed Electrical Power Drive Systems, Part 3 - EMC Product Standard including specific test methods The product described in this manual is intended for use in an industrial environment. To meet CE requirements, the following additions are required: Install a power line filter between the AC power source and the drive input, as close to the drive as possible. (Refer to AC Line Filters on page C-3.) Terminate the motor power cable shield to the chassis clamp provided. To meet CE requirements, the following additions may also be required: Run single-phase input wiring in conduit that is grounded to the enclosure. Terminate the shields of the motor power cables and the motor feedback cables to the enclosure at the point of entry.
Low Voltage Directive

These units are tested to meet Council Directive 73/23/EEC Low Voltage Directive. The EN 60204-1 Safety of Machinery-Electrical Equipment of Machines, Part 1-Specification for General Requirements standard applies in whole or in part. Additionally, the standard EN 50178 Electronic Equipment for use in Power Installations applies in whole or in part. Refer to Appendix B for interconnect information.
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Before Mounting Your System
Before you mount your Ultra5000 system make sure you understand the following: How to Store Your Ultra5000 Before Installation How to Unpack the System Minimum Mounting Requirements
How to Store Your Ultra5000 Before Installation

The Ultra5000 should remain in the shipping container prior to installation. If the equipment is not to be used for a period of time, store it as follows: Use a clean, dry location Maintain an ambient temperature range of -40 to 70 C (-40 to 158 F) Maintain a relative humidity range of 5% to 95%, non-condensing Store it where it cannot be exposed to a corrosive atmosphere Store it in a non-construction area
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How to Unpack the System

Each Ultra5000 ships with the following: One Ultra5000 drive One installation manual, publication 2098-IN001 Two I/O connector plugs (28 pin CN1A and 14 pin CN1B) One screwdriver One clear plastic terminal strip cover IMPORTANT Do not discard the clear plastic terminal strip cover. Installing the plastic strip on the power terminal strip provides a physical barrier and protection.
Ultra5000 drives with DeviceNet (2098-IPD-xxx-DN and -HVxxx-DN only) ship with the following additional items: One reference manual, publication 2098-RM002, for Ultra5000 drives with DeviceNet One DeviceNet connector plug for Ultra5000 drives with DeviceNet Remove all packing material, wedges, and braces from within and around the components. After unpacking, check the item(s) name plate catalog number against the purchase order.
1-5
Minimum Mounting Requirements

There are several things that you need to take into account when preparing to mount the Ultra5000: The Ultra5000 is classified as IEC controlgear, and must be housed in an enclosure that meets IEC60529 requirements for electrical enclosure of controlgear. The ambient temperature of the location in which you will install the Ultra5000 must not exceed 55 C (131 F). You must install the enclosure on a flat, rigid, vertical surface that will not be subjected to shock, vibration, moisture, oil mist, dust, or corrosive vapors. You need to maintain minimum clearances (refer to Figure 1.1) within the enclosure for proper airflow, easy module access, and proper cable bend radius. Refer to Appendix A for mounting dimensions, power dissipation, and environmental specifications for the Ultra5000.
1-6
Ventilation Requirements
This section provides information to assist you in sizing your cabinet and locating your Ultra5000 drive(s) inside the cabinet.
Figure 1.1 Minimum Clearance Requirements
50.8 mm (2.0 in.) clearance for airflow and installation
Allow 12.7 mm (0.5 in.) side clearance
Allow 12.7 mm (0.5 in.) side clearance
Minimum cabinet depth = 243.8 mm (9.6 in.) Minimum front clearance = 76.2 mm (3.0 in.) Motor cable entry area for ground clamp
50.8 mm (2.0 in.) clearance for airflow and installation
IMPORTANT
If the cabinet is ventilated, use filtered or conditioned air to prevent the accumulation of dust and dirt on electronic components. The air should be free of oil, corrosives, or electrically conductive contaminates.
Refer to Power Dissipation on page A-5 for Ultra5000 power dissipation specifications.
1-7
Sizing an Enclosure
As an additional aid in sizing an enclosure, with no active method of heat dissipation, either of the following approximate equations can be used:
Metric Standard English
0.38Q A = ----------------------1.8T 1.1
4.08Q A = ---------------T 1.1
Where T is temperature difference between inside air and outside ambient (C), Q is heat generated in enclosure (Watts), and A is enclosure surface area (m2). The exterior surface of all six sides of an enclosure is calculated as A = 2dw + 2dh + 2wh Where d (depth), w (width), and h (height) are in meters.
Where T is temperature difference between inside air and outside ambient (F), Q is heat generated in enclosure (Watts), and A is enclosure surface area (ft). The exterior surface of all six sides of an enclosure is calculated as A = (2dw + 2dh + 2wh) / 144 Where d (depth), w (width), and h (height) are in inches.
Transformer Sizing
The Ultra5000 does not require isolation transformers. However, a transformer may be required to match the voltage requirements of the controller to the available service. To size a transformer for the main AC power inputs, the power output (KVA) of each axis must be known. This can be derived by calculating the horsepower for each axis and converting that horsepower into units of watts. If you are supplying power to more than one motor and an Ultra5000, simply add the kW ratings together from each calculation to get a system kW total. IMPORTANT If using an autotransformer, ensure that the phase to neutral/ground voltages do not exceed the input voltage rating of the drive referenced in General Power Specifications on Page A-1.
Calculating Transformer Size Based on Speed/Torque Data

Base the transformer size on the operating point within the speed/ torque curve for the drive and motor application as shown in Figure 1.2. The operating point for this hypothetical 230V drive/motor combination is 23 lb-in and 3200 rpm.
1-8
Figure 1.2 Transformer Sizing Based on Speed/Torque Data for Single Phase System
TORQUE (lb-in)
Application Operating Point

23.0 lb-in
3200 rpm
SPEED (RPM)
The formula and calculation are:

Speed ( RPM ) Torque ( lb in ) 746Watts KVA KVA = ------------------------------------------------------------------------------- ----------------------- -------------------------- 2.0 1000Watts 63, 025 HP KVA = 3200rpm 23.0lb in ------------------------------------------------------42, 250 TransformerSize = 1.75KVA
Definitions: kW = power or real power KVA = apparent power Transformer KVA rating = (Sum of average output power of each axis) x 2.0. IMPORTANT Calculations are multiplied by a factor to compensate for the power and loss elements within a power system. A factor of 2.0 is used with a single phase system. A factor of 1.5 is used with a three phase system. This factor minimizes the effects of the secondary line voltage sagging in the transformer during peak current periods.
IMPORTANT
If you are using the Rockwell Automation/ Allen-Bradley system sizing program, the average speed and average torque data has already been calculated and can be used in the equation. If you are not sure of the exact speed and torque in your application, another approach is to look at the speed/torque curve for your Ultra5000/motor combination and use the values for the worst case continuous speed and torque.
1-9
Fuse Sizing
The Ultra5000 is listed by Underwriters Laboratories, Inc. with fuses sized as four times the continuous output current of the drives (FLA), according to UL 508C. In most cases, fuses selected to match the drive input current rating will meet the NEC requirements and provide the full drive capabilities. Dual element, time delay (slow acting) fuses should be used to avoid nuisance trips during the inrush current of power initialization. Refer to the section General Power Specifications in Appendix A for input current and inrush current specifications. The Ultra5000 utilizes solid state motor short circuit protection rated as shown in the table below.
Drive Models:
Short Circuit Current Rating with No Fuse Restrictions: Suitable for use on a circuit capable of delivering not more than 5000 rms symmetrical amperes, 240V maximum.
Short Circuit Current Rating with Fuse Restrictions: Suitable for use on a circuit capable of delivering not more than 200,000 rms symmetrical amperes, 240V maximum, when protected by high interrupting capacity, current limiting fuses meeting UL 198C (Class CC, G, J, L, R, T). Suitable for use on a circuit capable of delivering not more than 200,000 rms symmetrical amperes, 480V maximum, when protected by high interrupting capacity, current limiting fuses meeting UL 198C (Class CC, G, J, L, R, T). Mains Input Fuses Mains input fuses shall be dual element time delay types class RK5, J or CC only. Fuse current ratings shall be the following, or the closest standard value to these minimums: 2098-IPD-HV030-xx (3kW) 2098-IPD-HV050-xx (5kW) 2098-IPD-HV750-xx (10kW) 2098-IPD-HV100-xx (15kW) 2098-IPD-HV220-xx (22kW) 5A 8A 17 A 25 A 35 A
2098-IPD-xxx-xx
2098-IPD-HVxxx-xx
Suitable for use on a circuit capable of delivering not more than 5000 rms symmetrical amperes, 480V maximum.
Auxiliary Input Fuses Auxiliary input fuses shall be dual element time delay types class RK5, J or CC only. Fuse current rating shall be the following, or the closest standard value to these minimums. All drive sizes 0.4 A
1-10
Bonding Your System
Bonding is the practice of connecting metal chassis, assemblies, frames, shields and enclosures to reduce the effects of electromagnetic interference (EMI).
Bonding Modules
Unless specified, most paints are not conductive and they act as insulators. To achieve a good bond between modules and the subpanel, surfaces need to be paint-free or plated. Bonding metal surfaces creates a low-impedance exit path for high-frequency energy. Improper bonding blocks that direct exit path and allows high-frequency energy to travel elsewhere in the cabinet. Excessive high-frequency energy can effect the operation of other microprocessor controlled equipment. The illustrations that follow (refer to Figure 1.3) show details of recommended bonding practices for painted panels, enclosures, and mounting brackets.
Figure 1.3 Recommended Bonding Practices
Stud-mounting the subpanel to the enclosure back wall
Back wall of enclosure Subpanel Star washer Nut Flat washer Welded stud Use a wire brush to remove paint from threads to maximize ground connection. Use plated panels or scrape paint on front of panel. Star washer Nut
Stud-mounting a ground bus or chassis to the subpanel

Subpanel Mounting bracket or ground bus Welded stud Scrape Flat washer If the mounting bracket is coated with a non-conductive material (anodized, painted, etc.), scrape the material around the mounting hole.
Bolt-mounting a ground bus or chassis to the back-panel

Subpanel Tapped Ground bus or mounting bracket Nut Star washer Scrape paint on both sides of panel and use star Star washer Flat washer If the mounting bracket is coated with a non-conductive material (anodixed, painted, etc.), scrape the material around the mounting Bolt
Flat washer Nut
Star washer
1-11
Bonding Multiple Subpanels

Bonding multiple subpanels creates a common low impedance exit path for the high frequency energy inside the cabinet. Subpanels that are not bonded together may not share a common low impedance path. This difference in impedance may affect networks and other devices that span multiple panels. Refer to the figure below for recommended bonding practices.
Figure 1.4 Multiple Subpanels and Cabinet
Recommended: Bond the top and bottom of each subpanel to the cabinet using 25.4 mm (1.0 in.) by 6.35 mm (0.25 in.) wire braid.
Bonded cabinet ground bus to subpanel
Scrape the paint around each fastener to maximize metal to metal contact.
1-12
Mounting Your Ultra5000 Drive
The procedures in this section assume you have prepared your panel and understand how to bond your system. For installation instructions regarding other equipment and accessories, refer to the instructions that came with each of the accessories for their specific requirements. This product contains ESD (Electrostatic Discharge) sensitive parts and assemblies. Follow static control precautions when you install, test, service, or repair this assembly. Refer to Allen-Bradley publication 8000-4.5.2, Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook. Failure to observe this precaution may result in damage to the equipment. To mount your Ultra5000 drive: 1. Layout the positions for the Ultra5000 and accessories in the enclosure. Mounting hole dimensions for the Ultra5000 are shown in Appendix A. 2. Attach the Ultra5000 to the cabinet, first using the upper mounting slots of the drive and then the lower. The recommended mounting hardware is M5 metric (1/4-20) or #10 MS bolts. Observe bonding techniques as described in Bonding Your System. 2. Tighten all mounting fasteners.
ATTENTION
Chapter
Ultra5000 Connector Information
Chapter Objectives
This chapter provides connector information and procedures for wiring your Ultra5000 and making cable connections. This chapter includes: Understanding Ultra5000 Controller Functions Understanding Ultra5000 Connectors Understanding Ultra5000 I/O Specifications Understanding Motor Encoder Feedback Specifications Understanding Auxiliary Encoder Feedback Specifications Understanding the Serial Interface
2-2
Understanding Ultra5000 Controller Functions
This section provides a short overview of the Ultra5000.
Ultra5000 Block Diagram

The Ultra5000 uses a two-stage circuit card solution with the capability of adding two additional option cards. The first stage is the processor circuit board and the second stage handles I/O connections including a power module interface. Figure 2.1 depicts the stages and the interfaces.
Figure 2.1 Block Diagram of Ultra5000 Controller Functions
I/O CARD
Option Card Port 1
PROCESSOR CARD
Interface
Option Card Port 2
Digital Inputs Digital Outputs Auxiliary Encoder Inputs Motor Encoder Outputs Motor Encoder Analog Inputs Analog Outputs
Interface Gate Array Interface 512Kx8 Low Speed Flash Memory 256Kx32 System Flash Memory Quad ADC 128Kx32 High Speed SRAM 64Kx8 Non-Volatile SRAM Quad ADC Serial Interface 7-Segment LED Display Rotary DIP Switches TMS320C32 DSP Serial Port 1 Serial Port 2
Interface
Interface Interface Interface
Dual DAC Interface
Interface
POWER MODULE
Bus Voltage Input Current Inputs PWM Outputs
2-3
Understanding Ultra5000 Connectors
The following table provides a brief description of the Ultra5000 front panel connectors and describes the connector type.
Designator CN1A CN1B CN2 CN3A CN3B TB TB1 Description User Input/Output User Input/Output Motor Feedback Main Serial Port Auxiliary Serial Port DC bus, Motor and AC power DC bus, Motor, AC power, and Auxiliary AC power Shunt Connector 28-pin, 3.5mm, double-row, plugable spring clamp 14-pin, 3.5mm, double-row, plugable spring clamp 15-pin high-density D-shell 9-pin standard D-shell 9-pin standard D-shell 9-position screw style barrier terminal strip (2098-IPD-005xx, -010-xx, and -020-xx) 11- or 12-position screw style barrier terminal strip (2098-IPD-030-xx, -075-xx, -150-xx, and HVxxx-xx) 3-position screw style barrier terminal strip (2098-IPD-030-xx, -075-xx, -150-xx, and HVxxx-xx)
TB2
CN1A and CN1B signal connections on the Ultra5000 use plugable, spring-clamp connectors with 3.5mm spacing. Mating connectors for discrete user wiring are included with your Ultra5000. CN2, CN3A and CN3B signal connections on the Ultra5000. Mating connectors for these D-shell type connectors are commonly available. DeviceNet signal connections on the Ultra5000 with DeviceNet (2098-IPD-xxx-DN and -HVxxx-DN only) use a 5-pin DeviceNet connector. The mating connector is included with your Ultra5000.
For connector pin-outs and the location of connectors, switches, and status LEDs on: 2098-IPD-xxx Ultra5000 drives 2098-IPD-xxx-DN Ultra5000 drives with DeviceNet interface 2098-IPD-HVxxx high voltage (460VAC) Ultra5000 drives For I/O, Motor Feedback and Serial Communications Port Connections refer to: Figure 2.2 and the tables on pages 2-5 through 2-7. Figure 2.5 and the tables on pages 2-13 through 2-15. Figure 2.7 and the tables on pages 2-5 through 2-17. For Terminal Block (Power) Connections refer to: table on page 3-17. table on page 3-17.
table on page 3-17.
2-4
230V Ultra5000 Front Panel Connections

This section describes and provides a visual reference to the drives connectors.
500W, 1 kW, and 2 kW Ultra5000 (2098-IPD-005, -010, and -020)

Use the figure below to locate the front panel connections on the Ultra5000 230V drives (500W, 1 kW, and 2 kW). Detailed descriptions of the connections are provided.
Figure 2.2 Ultra5000 Front Panel Connections for 2098-IPD-005, -010, and -020
Seven Segment Status LED Logic Power LED CN1A 28-pin Digital I/O
CN1B 14-pin Auxiliary Encoder and Analog I/O
PWR
DC Bus Terminals for Active Shunt Resistor Kit Node Address Selector Switche AC Input Power Terminals CN3A 9-pin Main Serial Port Motor Power Terminals CN3B 9-pin Auxiliary Serial P CN2 15-pin Motor Encoder
2-5
I/O Connectors
CN1A (28-pin) and CN1B (14-pin) are plugable, double-row, spring clamp connectors with 3.5mm spacing. Maximum wire gauge for these connectors is 0.75 mm2 (18 AWG). The following tables provide the signal description and pin-outs for the CN1A and CN1B I/O connectors. Note: These tables are arranged to match the drives I/O pin arrangement..
CN1A Pin 15 16 17 18 19 20 21 22 23 24 25 26 27 28
1 2
Description Digital Input 9 Digital Input 10 Digital Input 11 Digital Input 12 Digital Input 13 Digital Input 14 Digital Input 15 Digital Input 16 Digital Output 5 Digital Output 6 Digital Output 7 Relay Output 1+ Relay Output 1I/O Ground
Signal INPUT9 INPUT10 INPUT11 INPUT12 INPUT13 INPUT14 INPUT15 INPUT16 OUTPUT5 OUTPUT6 OUTPUT7 OUTPUT8+ OUTPUT8IOCOM 1
CN1A Pin 1 2 3 4 5 6 7 8 9 10 11 12 13 14
Description Digital Input 1 2 Digital Input 2 2 Digital Input 3 Digital Input 4 Digital Input 5 Digital Input 6 Digital Input 7 Digital Input 8 Digital Output 1 Digital Output 2 Digital Output 3 Digital Output 4 Shield Termination I/O Power Supply
Signal INPUT1 INPUT2 INPUT3 INPUT4 INPUT5 INPUT6 INPUT7 INPUT8 OUTPUT1 OUTPUT2 OUTPUT3 OUTPUT4 SHIELD IOPWR 1
The Ultra5000 0.5, 1.0, and 2.0 kW drives (2098-IPD-005-xx, 2098-IPD-010-xx, 2098-IPD-020-xx, and 2098-IPD-HVxxx-xx models) require a user supplied I/O power source. Refer to Digital I/O Power Supply on page 2-19 for more information. High speed inputs. Refer to Digital Inputs on page 2-20 for additional information.
CN1B Pin 8 9 10 11 12 13 14
Description 5V Ground Analog Input 1 Analog Input 2 5V Ground Analog Output 1 Analog Output 2 Shield Termination
Signal +5VCOM AIN1 AIN2 +5VCOM AOUT1 AOUT2 SHIELD
CN1B Pin 1 2 3 4 5 6 7
Description 5V Power Supply Auxiliary Encoder I/O AAuxiliary Encoder I/O BAuxiliary Encoder I/O I+ Auxiliary Encoder I/O I-
Signal +5V AXBXIX+ IX-
Auxiliary Encoder I/O A+ AX+ Auxiliary Encoder I/O B+ BX+
2-6
Motor Encoder Connector

The following table provides the signal descriptions and pin-outs for the CN2 motor encoder (15-pin) connector.
CN2 Pin Description 1 2 3 4 5 6 7 Channel A+ Channel AChannel B+ Channel BChannel I+ Common Reserved on 2098-005-xx, -010-xx, -020-xx Encoder Power (+9V) on 2098-030-xx, -050-xx, -075-xx, -150-xx, -HV030-xx, -HV050-xx, -HV100-xx, -HV150-xx, and -HV220-xx 8 9 10 11 12 13 14 15 Commutation Channel S3 Positive Overtravel Limit Channel IThermostat Commutation Channel S1 Commutation Channel S2 Encoder Power (+5V) Negative Overtravel Limit Signal AM+ AMBM+ BMIM+ ECOM EPWR +9V
Pin 10 Pin 15 Pin 11 Pin 5 Pin 1 Pin 6
Connector Pinout
S3 +LIMIT IMTS S1 S2 EPWR +5V -LIMIT
2-7
Serial Port Connectors

The following table provides the signal descriptions and pin-outs for the CN3A (Main) and CN3B (Auxiliary) serial port (9-pin) connectors. Refer to Default Serial Interface Settings on page 2-34 for additional information.
CN3 Pin Description 1 2 3 4 5 6 7 8 9 RS-422/RS-485 Input+ RS-232 Input RS-232 Output RS-422/RS-485 Output+ Common Reserved RS-422/RS-485 InputRS-422/RS-485 OutputReserved
Signal RCV+ RCV XMT XMT+ COM RCVXMT

Connector Pinout Pin 6 Pin 1 Pin 9 Pin 5
Terminal Block
The following table lists the connections on the Ultra5000 230V drive (500W, 1 kW, and 2 kW) power terminal block (TB). Refer to Wiring Power Connections on page 3-14 for additional information.
Terminal Block (TB) Locations (2098-IPD-005xx, -010-xx, -020-xx) DC Bus+ 1 DC Bus- 1 L1 (Main AC) L2/N (Main AC) Safety (Earth) Ground U (Motor) 2 V (Motor) 2 W (Motor) 2 Motor Case Ground
1
Do not connect an external I/O power supply to the DC bus. The DC+ and DC- terminals connect directly to the power bus of the drive. Ensure motor power is wired with proper phasing relative to the motor terminals. On some motors, the motor leads may be labeled R, S, and T which correspond to U, V, and W.
2-8
3 kW Ultra5000 (2098-IPD-030)
Use the figure below to locate the front panel connections on the Ultra5000 230V drive (3 kW). Detailed descriptions of the digital connections are provided on pages 2-5 through 2-7. Power connections are described below.
Figure 2.3 Ultra5000 Front Panel Connections for 2098-IPD-030
Seven Segment Status LED Logic Power LED
Status
DC Bus Terminals for Shunt Resistor
Internal
1
PWR
2 External Shunt 3
Node Address
(00-63, PGM)
C N 3 A
Node Address Selector Switches CN3A 9-pin Main Serial Port
C N 3 B
DC Bus
CN3B 9-pin Auxiliary Serial Port

U V
Motor Power Terminals
Motor W C N 2
DC Bus Terminals
+ DC Bus L1 L2 100-240 VAC 50/60 Hz L1 AUX L2/N AUX
CN1A
CN2 15-pin Motor Encoder
AC Input Power Terminals
CN1A 28-pin Digital I/O
The following tables list the power and shunt connections on the terminal block (TB). Refer to Wiring Power Connections on page 3-14 for additional information.
2-9
Terminal Blocks
The following tables list the connections on the Ultra5000 230V drive (3 kW) power (TB1) and the shunt (TB2) terminal blocks. Refer to Wiring Power Connections on page 3-14 for additional information.
Terminal Block 1 (TB1) Locations (2098-IPD-030-xx) U (Motor) 2 V (Motor) 2 W (Motor) 2 Motor Case Ground DC Bus+ 1 DC Bus- 1 L1 (Main AC) L2/N (Main AC) Safety (Earth) Ground L1 (Aux AC) 3 L2/N (Aux AC) 3
1
3 The auxiliary AC power inputs require dual element time delay (slow acting) fuses to accommodate inrush current. Refer to the section General Power Specifications in Appendix A for the inrush current on the auxiliary AC power input.
Shunt Terminal Block 2 (TB2) Locations (2098-IPD-030-xx) 1 - Common Terminal for External or Internal Shunt 1 2 - Internal Shunt Terminal 1 3 - External Shunt Terminal 1
1
A jumper, selecting the internal shunt, is factory installed between terminals 1 and 2. Remove the jumper for applications requiring an external shunt. Refer to External Shunt Kits on page C-4 for information about available external shunt kits.
2-10
7.5 kW, and 15 kW Ultra5000 (2098-IPD-075, and -150)

Use the figure below to locate the front panel connections on the Ultra5000 230V drives (7.5 kW, and 15 kW). Detailed descriptions of the digital connections are provided on pages 2-5 through 2-7. Power connections are provided on page 2-11.
Figure 2.4 Ultra5000 Front Panel Connections for 2098-IPD-075, and -150
Status
Internal
1
PWR
2 External Shunt 3
Node Address
(00-63, PGM)
C N 3 A
Node Address Selector Switches CN3A 9-pin Main Serial Port
C N 3 B
DC Bus
CN3B 9-pin Auxiliary Serial Port

U V
Motor W C N 2
DC Bus Terminals
CN1A
DC Bus L1 L2 L3
CN2 15-pin Motor Encoder
100-240 VAC 50/60 Hz
L1 AUX L2/N AUX TB1 CN1B
2-11
I/O Connectors
CN1A (28-pin) and CN1B (14-pin) are plugable, double-row, spring clamp connectors with 3.5mm spacing. Refer to the tables on page 2-5 for pin-outs.

CN2 (15-pin) motor encoder connector is a standard D-shell connector. Refer to the table on page 2-6 for pin-outs.

The CN3A (Main) and CN3B (Auxiliary) are standard D-shell connectors for serial port (9-pin) communications. Refer to the table on page 2-7 for pin-outs.
Terminal Blocks
The following tables list the connections on the Ultra5000 230V drives (7.5 kW, and 15 kW) power (TB1) and the shunt (TB2) terminal blocks. Refer to Wiring Power Connections on page 3-14 for additional information.
2-12
Terminal Block 1 (TB1) Locations (2098-IPD-075-xx and -150-xx) U (Motor) 2 V (Motor) 2 W (Motor) 2 Motor Case Ground DC Bus+ 1 DC Bus- 1 L1 (Main AC) L2 (Main AC) L3 (Main AC) Safety (Earth) Ground L1 (Aux AC) 3 L2/N (Aux AC) 3
1
Shunt Terminal Block 2 (TB2) Locations (2098-IPD-075-xx and -150-xx) 1 - Common Terminal for External or Internal Shunt 1 2 - Internal Shunt Terminal 1 3 - External Shunt Terminal 1
1
2-13
230V Ultra5000 with DeviceNet Front Panel Connections

This section describes and provides a visual reference to drives having the DeviceNet interface.
500W, 1 kW, and 2 kW Ultra5000 with DeviceNet (2098-IPD-005-DN, -010-DN, and -020-DN)
Use the figure below to locate the front panel connections on the 230V Ultra5000 with DeviceNet drives (500W, 1 kW, and 2 kW). Detailed descriptions of the digital connections are provided on pages 2-5 through 2-7. Power connections are provided on page 2-11. DeviceNet connections are provided on page 2-14.
Figure 2.5 Ultra5000 with DeviceNet Front Panel Connections for 2098-IPD-005-DN, -010-DN, and -020-DN
Seven Segment Status LED Logic Power LED CN1A 28-pin Digital I/O
DeviceNet
Module Status LED Network Status LED CN1B 14-pin Auxiliary Encoder and Analog I/O
AUTOBAUD
PWR
Data Rate Switch DeviceNet Interface
DC Bus Terminals for Active Shunt Resistor Kit Node Address Selector Switches AC Input Power Terminals CN3A 9-pin Main Serial Port Motor Power Terminals CN3B 9-pin Auxiliary Serial Port CN2 15-pin Motor Encoder
2-14
I/O Connectors


DeviceNet Connector
The following table provides the signal descriptions and pin-outs for the DeviceNet port (5-pin) connector.
Terminal Signal 1 2 3 4 5 VCan_L Shield Can_H V+ Description Network Power Common 24V DC Network Communication Signal Line Shield Network Communication Signal Line Network Power 24V DC
2-15
3 kW, 7.5 kW, and 15 kW Ultra5000 (2098-IPD-005-DN, -010-DN, and -020-DN)

Use the figure below to locate the front panel connections on the 230V Ultra5000 with DeviceNet drives (3 kW, 7.5 kW, and 15 kW). Detailed descriptions of the connections are provided. Detailed descriptions of the digital connections are provided on pages 2-5 through 2-7. Power connections are provided on page 2-11. DeviceNet connections are provided on page 2-14.
Figure 2.6 Ultra5000 with DeviceNet Front Panel Connections for 2098-IPD-030-DN, -075-DN, and -150-DN

Internal External Shunt
Status
1
PWR
2
Node Address
CN3A 9-pin Main Serial Port CN3B 9-pin Auxiliary Serial Port CN2 15-pin Motor Encoder
(00-63, PGM)
C N 3 A
Node Address Selector Switches

DeviceNet
Module Status LED Network Status LED
C N 3 B
AUTOBAUD
DC Bus
Data Rate Switch
U V Motor W C N 2
DeviceNet Interface
DC Bus Terminals
+ DC Bus L1 L2 L3
CN1A
100-240 VAC 50/60 Hz
L1 AUX
ote: 2098-IPD-030-DN oes not have 3 power terminal.
L2/N AUX TB1 CN1B
2-16
460V Ultra5000 Front Panel Connections

Use the figure below to locate the front panel connections on the 460V Ultra5000 drives (3 kW, 5 kW, 10 kW, 15 kW and 22 kW). Detailed descriptions of the digital connections are provided on pages 2-5 through 2-7. Power connections are provided on page 2-11. DeviceNet connections are provided on page 2-14.
Figure 2.7 Ultra5000 Front Panel Connections for 2098-IPD-HV030-xx, -HV050-xx, -HV100-xx, -HV150-xx, and -HV220-xx
CN3A 9-pin Main Serial Port CN3B 9-pin Auxiliary Serial Port Node Address Selector Switches
CN2 15-pin Motor Encoder DC Bus Terminals for Shunt Resistor
DANGER
DeviceNet DeviceNet
Module Status LED Network Status LED DC Bus Terminals Data Rate Switch DeviceNet Interface Motor Power Terminals
2-17
I/O Connectors


Terminal Blocks
The following tables list the connections on the 460V Ultra5000 drives (3 kW, 5 kW, 10 kW, 15 kW and 22 kW) power (TB1) and the shunt (TB2) terminal blocks. Refer to Wiring Power Connections on page 3-14 for additional information. IMPORTANT The 2098-IPD-HVxxx-xx drives can be powered with 230-240 Vrms in order to be used in conjunction with motors designed for 230V operation. In such cases, the voltage levels used for shunting and DC bus overvoltage limits are adjusted to be compatible with the voltage limit of the motor.
2-18
.
Terminal Block 1 (TB1) Locations (2098-IPD-HVxxx-xx) DC Bus+ 1 DC Bus- 1 W (Motor) 2 V (Motor) 2 U (Motor) 2 Ground (Motor and Earth) L3 (Main AC) L2 (Main AC) L1 (Main AC) L1 (Aux AC) 3 L2 (Aux AC) 3
1
Shunt Terminal Block 2 (TB2) Locations (2098-IPD-HVxxx-xx) 1 - Common Terminal for External or Internal Shunt 1 2 - Internal Shunt Terminal 1 3 - External Shunt Terminal 1
1
2-19
Understanding Ultra5000 I/O Specifications
A description of the Ultra5000 input/output is provided on the following pages.
Digital I/O Power Supply

Power for the digital I/O on 0.5 kW, 1.0 kW, and 2.0 kW Ultra5000 230V drives (2098-IPD-005 through -020) and all 460V drives (2098-IPD-HVxxx-xx) must be provided by an external 12-24V dc power supply. Power for the digital I/O on 3.0 kW through 15 kW Ultra5000 drives (2098-IPD-030 through -150) is provided by an external 12-24V dc power supply or by a 24V dc power source internal to the drive. Two jumpers on the regulator board must be repositioned if the internal power source is to be used. Refer to Figure 3.2 on Page 3-3 for the location of the jumpers. The internal supply is fused by F1, a fast acting 1A fuse. The common for the internal supply is lightly referenced to ground, through a 1M ohm resistor. When using the internal 24V supply, the common must be grounded during installation to meet the European Low Voltage Directive. The following table provides a description of the requirements for an external digital I/O power supply for all Ultra5000 drives (2098-IPD-005-xx through 2098-IPD-150-xx, and 2098-IPD-HV030-xx through 2098-IPD-HV220-xx).
Parameter I/O Power Supply Voltage I/O Power Supply Current Description Minimum Maximum 26.4V 300 mA
Voltage range of the external power supply 10.8V for proper operation of the digital I/O. Current draw from the external power supply for the digital I/O, not including the relay output usage.
The following table provides specifications on the internal digital I/O power supply for the 230V Ultra5000 3.0 kW through 15 kW drives (2098-IPD-030 through -150 only).
Parameter Output Voltage Output Current Description Voltage difference between I/O PWR and I/O COM Current flow Minimum Maximum 21.6V 28.0V 300 mA
2-20
Digital Inputs
There are sixteen general purpose digital inputs. They are not connected in hardware to perform a particular function. All digital inputs have the same hardware configuration, shown in Figure 2.8. IMPORTANT Configure your digital inputs, in a group, as active high (current sinking) or active low (current sourcing).
Inputs 1 and 2 use high-speed circuitry, with minimal propagation delays, suitable for use in registration applications. Any input can be assigned through firmware to latch the motor or auxiliary position in hardware.
Figure 2.8 Digital Input Circuit
The following table provides a description of the digital input specifications.

Parameter ON State Voltage, Active High Configuration ON State Voltage, Active Low Configuration ON State Current Description Voltage applied to the input, with respect to IOCOM, to guarantee an ON state. Voltage applied to the input, with respect to IOPWR, to guarantee an ON state. Current flow to guarantee an ON State Minimum 10.8V Maximum 26.4V
-26.4V
-10.8V
3.0 mA -1.0V
12.0 mA 3.0V
OFF State Voltage, Voltage applied to the input, with respect to IOCOM, to guarantee an OFF Active High state. Configuration
2-21
Parameter
Description (Continued)
Minimum -3.0V
Maximum 1.0V
OFF State Voltage, Voltage applied to the input, with respect to IOPWR, to guarantee an OFF Active Low state. Configuration Signal propagation delay from the high Propagation speed digital input to the firmware Delay, High Speed Inputs accessible registers, active high or active low, turning ON or turning OFF. Propagation Delay, Low Speed Inputs Signal propagation delay from the low speed digital input to the firmware-accessible registers, active high or active low, turning ON or turning OFF.
0.5 mS
100 mS
2-22
Digital Outputs
There are eight general purpose digital outputs. They are not connected in hardware to perform a particular function. Seven digital outputs are transistor outputs, and the drive has a single relay output (Output 8) with normally open contacts. The configuration of the transistor outputs is shown in Figure 2.9, and the configuration of the relay output is shown in Figure 2.10. IMPORTANT There is no overload protection on the transistor outputs. To some degree, the bipolar transistors limit their own current output, but they have not been designed to specifically protect against shorts to power or ground.
Figure 2.9 Transistor Output Hardware Configuration
The following table provides a description of the transistor digital output specifications.
Parameter Description ON State Current OFF State Current ON State Voltage OFF State Voltage Current flow when the output transistor is ON Current flow when the output transistor is OFF Voltage across the output transistor when ON Voltage across the output transistor when OFF Minimum Maximum 50 mA 0.1 mA 1.5V 50V
2-23
Figure 2.10 Relay Output Hardware Configuration

Normally Open Relay
CN1A-26 Relay +
CN1A-27 Relay -
The following table provides a description of the relay output specifications.

Parameter Description ON State Current ON State Resistance OFF State Voltage OFF State Current Current flow when the relay is closed Contact resistance when the relay is closed Voltage across the contacts when the relay is open Current flow when the relay is open Minimum Maximum 1A 1W 30V 0.01 mA
Analog Inputs
There are two single-ended general purpose analog inputs to use as needed. A 12 bit A/D converter digitizes the signal. The configuration of the input is shown in Figure 2.11.
Figure 2.11 Analog Input Configuration
1kW AIN 1000pF 10kW
The following table provides a description of the analog COMMAND input specifications.
Parameter Description Resolution Input Impedance Number of states that the input signal is divided into which is 2(to the number of bits). Open circuit impedance measured between the + and - inputs. Minimum Maximum 12 bits 10 kW -10V -14V +10V +14V
Input Signal Voltage applied to the input - Usable Range Voltage applied to the input - Limit
2-24
Parameter Description Offset Error Deviation from the correct value expected from analog-to-digital conversion when 0V is applied to the input. Deviation of the transfer function from unity gain, expressed in a percent of full scale.
Minimum Maximum 50 mV
Gain Error
1% 100 mS
Propagation Delay from the input to the firmware-accessible Delay registers.
Analog Outputs
There are two analog outputs to use as needed. A 12 bit D/A converter generates an analog representation of the digital command value. The analog outputs are set to zero after the power comes up. Figure 2.12 shows the configuration of the analog outputs.
Figure 2.12 Analog Output Configuration
AOUT 1k 1000pF
IMPORTANT
Output values can vary during power-up until the specified power supply voltage is reached.
The following table provides a description of the analog output specifications.

Parameter Description Resolution Output Current Output Signal Range Offset Error Gain Error Number of states that the output signal is divided into, which is 2(to the number of bits). Current capability of the output. Range of the output voltage. Minimum Maximum 12 Bits -2 mA -10V +2 mA +10V
Deviation when the output should be at 0V. Deviation of the transfer function from unity gain, expressed in a percent of full scale.
50 mV 1%
2-25
Understanding Motor Encoder Feedback Specifications
The Ultra5000 can accept motor encoder signals from the following types of encoders: Incremental encoders with TTL outputs, with or without Hall signals Sine/Cosine encoders, with or without Hall signals Intelligent absolute encoders Intelligent high-resolution encoders Intelligent incremental encoders Note: The intelligent absolute, high-resolution, and incremental encoders are available only in Allen-Bradley motors.
AM, BM, and IM Inputs

AM, BM, and IM Input encoder signals are filtered using analog and digital filtering. The inputs also include illegal state change detection. Refer to Figure 2.13 for a schematic of the AM, BM, and IM inputs.
Figure 2.13 Schematic of the Motor Encoder Inputs
+5 V 1k W + 56 pF 1k W 1k W 1k W 56 pF 1k W 56 pF 1k W 56 pF 10k W 100 pF 1k W 10k W 1k W 10k W 56 pF 100 pF 1k W + 56 pF 10k W
AM and BM Channel Inputs
IM Channel Input
2-26
The Ultra5000 supports both TTL and Sine/Cosine encoders. The following table provides a description of the AM, BM, and IM inputs for TTL encoders.
Parameter AM, BM, and IM ON State Input Voltage AM, BM, and IM OFF State Input Voltage Common Mode Input Voltage DC Current Draw AM, BM Input Signal Frequency Description Input voltage difference between the + input and the - input that is detected as an ON state. Input voltage difference between the + input and the - input that is detected as an OFF state. Potential difference between any encoder signal and logic ground. Current draw into the + or - input. Frequency of the AM or BM signal inputs. The count frequency is 4 times this frequency, since the circuitry counts all four transitions. Pulse width of the index input signal. Since the index is active for a percentage of a revolution, the speed will determine the pulse width. Amount that the phase relationship between the AM and BM inputs can deviate from the nominal 90. Amount that the phase relationship between the AM and BM inputs can deviate from the nominal 90. Minimum +1.0V Maximum +12.0V
-1.0V
-12.0V
-7.0V -30 mA
+12.0V 30 mA 2.5 MHz
IM Pulse Width
125 nS
AM / BM Phase Error, 2.5 MHz Line Frequency AM / BM Phase Error, 1 MHz Line Frequency
-22.5
+22.5
-45
+45
The following table provides a description of the AM and BM inputs for Sine/Cosine encoders.
Parameter AM and BM Input Signal Frequency Description Frequency of the AM or BM signal inputs. Minimum Maximum 100 kHz
AM and BM Peak-to-peak input voltages of the AM and BM Input Voltage inputs
0.5V (p-p)
2.0V (p-p)
2-27
Hall Inputs
The Ultra5000 uses Hall Signals to initialize the commutation angle for sinusoidal commutation. Hall Signals must be single-ended and can be either open collector type or TTL type. Figure 2.14 shows the configuration of the Hall inputs. If the motor does not have Hall signals, the drive can configured through software to omit the Hall signal requirement.
Figure 2.14 Hall Input Configuration
+5V +5V 1k 1k S1, S2, or S3 56 F
COMMON
COMMON
Thermostat Input
The Ultra5000 can monitor a thermostat signal from a motor and will generate a fault if the motor overheats. Figure 2.15 shows the configuration of the thermostat input. Figure 2.16 on page 2-28 shows a typical connection to a motor with a normally closed thermostat. The logic is designed so that an open condition will generate a fault. If the motor does not have a thermostat signal, the drive can be configured through software to ignore the signal.
Figure 2.15 Thermostat Input Configuration
+5V +5V
1k 1k
TS
0.01 F
COMMON
COMMON
2-28
Figure 2.16 Typical Thermostat Connection

Drive
TS
Motor/Encoder
ECOM
Thermostat normally closed
+ Limit and - Limit Inputs

The Ultra5000 drive includes overtravel limit inputs on the motor encoder connector that can be programmed to halt motion. The logic is designed so that an open condition will halt motion in the corresponding direction. If these signals are not used, the drive can be configured through software to ignore the inputs. Figure 2.17 shows the configuration of the +Limit and -Limit inputs. Figure 2.18 shows a typical connection to a motor with integral limit switches.
Figure 2.17 + Limit and - Limit Input Configuration
+5V +5V
+ Limit or - Limit
1k 1k
0.01 F
COMMON
COMMON
Figure 2.18 Typical + Limit and - Limit Connection

Motor/Encoder Ultra5000 Drive
Limit + Positive Overtravel
Negative Overtravel
Limit -
2-29
Encoder Phasing
For proper motor commutation and control, it is important that the motor feedback signals are phased properly. The drive has been designed so that a positive current applied to a motor will produce a positive velocity and increasing position readings, as interpreted by the drive. Additionally, Hall signals are used to initialize the commutation angle, so the Hall signals must sequence properly and the phase relationship to the motor back-EMF signals must be understood. Figure 2.19 shows the proper sequencing of the Hall signals when positive current is applied to the motor. If the Hall signals are out of phase with the back-EMF signals, the drive can be configured through software to compensate for the phase offset, as long as the sequencing of the Hall signals is correct. Figure 2.20 shows an example where the Hall signals have an offset of 60 degrees.
Figure 2.19 Sequencing and Phasing of the Hall Signals
Figure 2.20 Sequencing and Phasing of the Hall Signals (60 Hall Offset Example)
2-30
Figure 2.21 shows the proper phasing of TTL A/B encoder signals when positive current is applied.
Figure 2.21 Phasing of TTL A/B Encoder Signals
A B
Figure 2.22 shows the proper phasing of Sine/Cosine encoder signals when positive current is applied. IMPORTANT Notice that the Sine/Cosine encoder signals phasing is different than the phasing of the TTL encoders.
Figure 2.22 Phasing of Sine/Cosine Encoder Signals

B A
2-31
Motor Encoder Connection Diagram

Figure 2.23 shows a typical wiring diagram of a motor feedback cable. If the thermostat or limit signals are not available, no connections are required, but the drive must be configured through software to ignore these signals. Refer to Appendix B for specific Ultra5000 drive/motor interconnect diagrams. IMPORTANT Total resistance of the wiring for encoder power and ground connections between the drive and motor must be less than 1.4 ohms.
Figure 2.23 Drive/Motor Wiring Diagram

Encoder
A+ or SIN+ A- or SINB+ or COS+ B- or COSI+ or Data+ I- or DataPOWER (+5V) GROUND TS+ TSS1 S2 S3 Drain AM+ AMBM+ BMIM+ IMEPWR_5V ECOM 1 2 3 4 5 10 14 6
Drive
TS 11 S1 12 S2 13 S3 8
Denotes Twisted Pair. Connector Backshell Shielded 360 (both ends).
Unbuffered Motor Encoder Outputs

The Ultra5000 passes the motor encoder signals directly to the CN1B Auxiliary Encoder Output connector without any conditioning.
Buffered Motor Encoder Outputs

The Ultra5000 includes buffered motor encoder outputs. These signals are generated by the drive after filtering and processing the actual feedback from the motor. Programmable division is also available. The buffered motor encoder outputs use RS-485 differential drivers and have a maximum signal frequency of 2.5 MHz. The drivers can drive a 2V differential voltage into a 100 ohm load.
2-32
Understanding Auxiliary Encoder Feedback Specifications
The Ultra5000 can accept an auxiliary encoder signal of the following type.
Figure 2.24 Auxiliary Encoder Input Signal Types
A B
Auxiliary Encoder Interface

All encoder input signals (CN1B) are filtered using analog and digital filtering, including illegal state change detection. The input circuitry includes pull-up and pull-down resistors for compatibility with single-ended and open collector signals, in addition to differential signals. Figure 2.25 shows the configuration of the AX Auxiliary Encoder Input channel. The BX and IX channels have the same configuration.
Figure 2.25 Schematic of the Auxiliary Encoder Circuitry
+5V
5kW ? 1kW ?
+
56pF +5V
+ 10kW ? 1kW ?
IN
56pF 10kW ?
OUT OUTPUT ENABLE
2-33
The following table provides a description of the auxiliary encoder interface.

Parameter ON State Input Voltage OFF State Input Voltage Common Mode Input Voltage DC Current Draw Signal Frequency Description Input voltage difference between the + input and the - input that is detected as an ON state. Input voltage difference between the + input and the - input that is detected as an OFF state. Minimum +1.0V Maximum +7.0V
-1.0V
-7.0V
Potential difference between an encoder -7.0V signal and logic ground. Current draw into the + and - input. Frequency of the AX or BX signal inputs. Count frequency is 4 times this frequency for A/B/I type inputs. Pulse width of the index input signal. Since the index is active for a percentage of a revolution, the speed will determine the pulse width. -5mA
+12.0V 5mA 2.5 MHz
IX Pulse Width, A/B/I Mode
125 nS
Amount that the phase relationship AX / BX Phase Error, 2.5 MHz Line between the AM and BM inputs can deviate from the nominal 90. Frequency, A/B/I Mode AX / BX Phase Error, 1 MHz Line Frequency, A/B/I Mode Amount that the phase relationship between the AM and BM inputs can deviate from the nominal 90.
-22.5
+22.5
-45
+45
2-34
Understanding the Serial Interface
The Ultra5000 provides two physically identical serial ports (Main Serial Port CN3A and Auxiliary Serial Port CN3B) that implement the standard NRZ asynchronous serial format, and supports RS-232, RS-422, and RS-485 communication standards. However, functionality differs between the ports: The CN3A serial port communicates at a data rate fixed by the drive at 38400 baud. It is primarily for communications between a PC running Ultraware and the drive. The CN3B serial ports data rate is programmable via the drives user (motion) program. It is primarily for communications between the drive and other devices requiring an interface to the user program. Standard baud rates include 1,200, 2,400, 4,800, 9,600, 19,200, and 38,400 baud. Data lengths of 7 and 8 bits are supported. The connector pinout dedicates separate pins for the RS-232 and RS-422/ RS-485 signals, so that the communication standard can be changed by just using a different cable. Refer to Figure 2.26 for the serial interface configuration.
Figure 2.26 Serial Interface Configuration
XMT
RECEIVE
RS-232
RCV
TRANSMIT
XMTXMT+ RCV+ RCVRS-485
Default Serial Interface Settings

The default setting of the Ultra5000 serial interface is as follows:
Parameter Baud Rate Frame Format Default Setting 38,400 8 Data, No Parity, One Stop
Chapter
Connecting Your Ultra5000
Chapter Objectives
This chapter provides you with information for wiring your Ultra5000. This chapter includes these sections: Powering the Digital I/O Understanding Basic Wiring Requirements Grounding Your Ultra5000 Wiring Your Ultra5000 Before you begin these procedures, be sure to read and understand the information in the previous chapters of this manual. Note: The procedures in this chapter do not include information regarding integration with other products.
Powering the Digital I/O
Depending on the model of the Ultra5000 drive, digital I/O power may be provided by the 24V dc power supply internal to the drive or by an external 12-24V power supply. A 2098-IPD-005 through -020 230V Ultra5000 drive and any 460V Ultra5000 drive (2098-IPD-HV030-xx through -HV220-xx) requires an external 12-24V power supply for proper operation of the digital I/O. A 2098-IPD-030 through -150 Ultra5000 drives digital I/O is powered with an external 12-24V dc power supply, or by a 24V dc power source internal to the drive. Requirements for an external digital I/O power supply are:
Parameter I/O Power Supply Voltage I/O Power Supply Current Description Minimum Maximum 26.4V 300 mA
Voltage range of the external power supply 10.8V for proper operation of the digital I/O. Current draw from the external power supply for the digital I/O, not including the relay output usage.
To convert a 230V Ultra5000 drive (2098-IPD-030 through -150) from the factory set external I/O power supply, a pair of jumpers on the regulator board must be repositioned. The following section describes how to access that board and change the location of the two jumpers.
1 Publication 2098-IN001E-EN-P April 2002
3-2
Specifications on the internal digital I/O power supply are:

Parameter Output Voltage Output Current Description Voltage difference between I/O PWR and I/O COM Current flow Minimum Maximum 21.6V 28.0V 300 mA
Accessing the Internal Digital I/O Power Supply

The 230V (2098-IPD-030 through -150) Ultra5000 drives can power the digital I/O from a 24V dc power source internal to the drive. Perform the following steps to change the digital I/O power source to the internal 24V dc power. ATTENTION DC bus capacitors may retain hazardous voltages after input power has been removed, but will normally discharge in several seconds. Before working on the drive, measure the DC bus voltage to verify it has reached a safe level or wait a full 5 minutes to ensure that all voltages on the system bus have discharged. Failure to observe this precaution could result in severe bodily injury or loss of life.
!
ATTENTION
The Ultra5000 contains ESD (Electrostatic Discharge) sensitive parts. To avoid damaging these parts, follow static control precautions when installing, testing, servicing, or repairing this assembly. Refer to Allen-Bradley publication 800-4.5.2, Guarding Against Electrostatic Discharge or other appropriate handbooks on ESD protection.
1. Detach the right cover panel by removing the 3 screws (6-32 x 1/4) in the rear of the drive that secure the cover to the drive. Lift the rear of the cover and slide it forward until the connectors on the front of the drive are cleared. Then lift the cover off the drive. Figure 3.2 on page 3-3 shows the location of the screws and connectors. Note: This step assumes the I/O port (CN1A and CN1B) mating connectors were previously removed.
3-3
2. Relocate the digital I/O power jumpers on the regulator board. Figure 3.2 shows the location of the J12 and J13 jumpers. Move both jumpers from the EXT position to the INT position. Note: The fuse (F1) protects the circuit only when the internal power is selected. 3. Reinstall the cover.
Figure 3.1 Removal of Cover Panel from Ultra5000 Drive
6-32 x 1/4 Screws
Mating Connectors
Figure 3.2 Jumper Settings for External or Internal Digital I/O Power
J12 and J13 position for EXT 24V dc (factory setting) J12 and J13 position for INT 24V dc (optional setting) Fuse (F1) for INT 24V dc circuit.
J4A
EXT
J2
J13 J12 INT
C191
U96
R200 E1 C200
R207
L3
U90
L16
L14
R131
R43
RP11
RP78
F1
J6
RP12
L24
U102
C134
U87
SPARE
RP6
J20
D1
S1 U91 S2 U92
RP204 L13 L6 C152 U39
R136
J11 RP15 J21
U42
C50B
U99
C50
RP63
RP77
Y2 C153 RP80 C110
U19
C49
C113
U98
U56
U82
U30
U84
CN4
X1
3-4
Understanding Basic Wiring Requirements
This section contains basic wiring information for the Ultra5000. ATTENTION Plan the installation of your system so that you can perform all cutting, drilling, tapping, and welding with the system removed from the enclosure. The system is of an open type construction and care must be taken to prevent metal debris from falling into it. Damage to the equipment could result if metal debris or other foreign matter contacts or lodges in the circuitry.
!
IMPORTANT
This section contains common PWM servo system wiring configurations, size, and practices that can be used in a majority of applications. National Electrical Code, local electrical codes, special operating temperatures, duty cycles, or system configurations take precedence over the values and methods provided.
Building Your Own Cables

When building your own cables, follow the guidelines listed below. Connect the cable shield to the connector shells on both ends of the cable for a complete 360 connection. Use a twisted pair cable whenever possible, twisting differential signals with each other, and single-ended signals with the appropriate ground return. Refer to Appendix C for mating connector kit catalog numbers. IMPORTANT Factory made cables are recommended over hand-built cables and are designed to minimize EMI.
3-5
Routing High and Low Voltage Cables

Be aware that when you connect and route power and signal wiring on a machine or system, radiated noise from nearby relays (relay coils should have surge suppressors), transformers, and other electronic drives, can be induced into motor or encoder feedback, communications, or other sensitive low voltage signals. This can cause system faults and communication problems. To minimize the levels of radiated noise, route machine power and signal lines separately.
Figure 3.3 Routing Power and Signal Cables Inside Your Cabinet
120/240V AC power Motor power cables Always separate all low voltage signal wiring from high voltage power wiring to reduce affects of EMI and RFI. Low voltage communications control I/O wiring motor feedback cables
Unshielded conductors
PWR
Do not run low and high voltage wires in the same wireway
PWR
Always cross high and low voltage conductors at 90 angles
Maximize distance between high and low voltage cables on parallel runs
PWR
Minimize unshielded lead length
PWR
3-6
Grounding Your Ultra5000
We recommend that all equipment and components of a machine or process system have a common earth ground point connected to their chassis. A grounded system provides a safety ground path for short circuit protection. Grounding your modules and panels minimize shock hazard to personnel and damage to equipment caused by short circuits, transient overvoltages, and accidental connection of energized conductors to the equipment chassis. For CE grounding requirements, refer to Appendix B.
Grounding Your System to the Subpanel

ATTENTION The National Electrical Code contains grounding requirements, conventions, and definitions. Follow all applicable local codes and regulations to safely ground your system. Refer to the illustration below for details on grounding your Ultra5000. Refer to Appendix B for the power wiring diagram for your Ultra5000 drive.
!
PWR
Figure 3.4 Safety Ground Configuration with Multiple Ultra5000 Systems on One Panel
PWR
Bonded ground bar (optional)
All ground wiring must comply with local codes
PWR
PWR
Safety ground (terminal 5) Always follow NEC and applicable local codes Ground grid or power distribution ground Bonded cabinet ground bus
3-7
Grounding Multiple Subpanels

To ground multiple subpanels, refer to the figure below.
Figure 3.5 Subpanels Connected to a Single Ground Point
Always follow NEC and applicable local codes
Ground grid or power distribution ground
Motor Power Cable Shield Termination

Factory supplied motor power cables for F-Series, H-Series, MP-Series, N-Series, and W-Series motors are shielded, and the power cable is designed to be terminated at the drive during installation. A small portion of the cable jacket is removed which exposes the shield braid. The exposed area must be clamped to the bottom of the drive chassis (refer to Figure 3.6) using the clamp provided. ATTENTION High voltage can be present on the shield of a power cable if the shield is not grounded. To avoid hazard of electrical shock, ensure shielded power cables are grounded at a minimum of one point for safety. Failure to observe these safety procedures could result in personal injury or equipment damage.
3-8
Figure 3.6 Motor Power Cable Shield Connection (bottom of drive)

Ultra5000
V W
Motor cable jacket Clamp Shield
Motor cable jacket Clamp screws
Figure 3.7 Motor Power Cable Shield Connection (front of drive)

Clamp screws Motor cable jacket Clamp Ultra5000 Shield Motor cable jacket
Y-Series motors have a short pigtail cable which connects to the motor, but is not shielded. These motor power cables have a 152.4 mm (6.0 in.) shield termination wire with a ring lug that connects to the closest earth ground. The termination wire may be extended to the full length of the motor pigtail if necessary, but it is best to connect the supplied wire directly to ground without lengthening. Refer to Figure 3.8 for an illustration.
Figure 3.8 Y-Series Motor Power Cable Connection
Motor power cable Pigtail cable
152.4 mm (6.0) Termination
Connectors Y-Series
3-9
Wiring Your Ultra5000
These procedures assume you have bonded and mounted your Ultra5000 to the subpanel and that there is no power applied to the system. ATTENTION This product contains ESD (Electrostatic Discharge) sensitive parts and assemblies. Follow static control precautions when you install, test, service, or repair this assembly. Refer to Allen-Bradley publication 8000-4.5.2, Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook. Failure to observe this precaution may result in damage to the equipment. The following sections provide information and procedures on how to wire your Ultra5000.
Connecting Interface Cables

Connect all interface cables as shown in the table below.
This cable: 28-pin, Digital I/O 14-pin, Auxiliary encoder/analog I/O 15-pin, Motor encoder feedback 9-pin, Main serial port 9-pin, Auxiliary serial port Plugs into this connector: CN1A CN1B CN2 CN3A CN3B
Wiring I/O Connections

To wire your CN1A and CN1B I/O connectors: 1. Prepare your I/O wires by stripping approximately 6 mm (0.25 in.) of insulation from the end. Note: Use caution not to nick, cut, or otherwise damage strands as you remove the insulation. 2. Using the small blade type screw driver supplied with your Ultra5000 (part number 9111-0031) depress the spring clamp next to the pin youre prepared to wire and insert the wire, as shown in Figure 3.9.
3-10
Figure 3.9 Inserting Wires into the Connector Housing
3. Remove the screw driver and gently pull on the wire to make sure it does not come out of its terminal. Re-insert and test any loose wires.
Connecting to a DeviceNet Network

A DeviceNet network is an arrangement of electrical power and device distribution. A DeviceNet network is planned and adjusted for optimal communications. Before proceeding to add devices, you need to record the following: Network data rate Network cable system map (topology) to which you are connecting Distances between cable system components Device current draw and voltage drop for each device on the network Limitation of the trunk and drop cables Refer to the table below for recommended trunk and drop lengths.
Data Rates Thick Trunk Line Thin Trunk Lengths Maximum Drop Length Cumulative Drop Budget 125 Kbps 500 m (1,640 ft) 100 m (328 ft) 6 m (20 ft) 156 m (512 ft) 250 Kbps 250 m (820 ft) 100 m (328 ft) 6 m (20 ft) 78 m (256 ft) 500 Kbps 100 m (328 ft) 100 m (328 ft) 6 m (20 ft) 39 m (128 ft)
Refer to the DeviceNet Cable System Planning and Installation Manual, publication DNET-UM072, for specific guidance in calculating and attaching the Ultra5000 to a network.
3-11
Connecting Your DeviceNet Cable

To attach a plugable, open style, screw-connector to the DeviceNet cable: 1. Strip 65 mm (2.6 in.) to 75 mm (2.96 in.) of the outer jacket from the end of the cable, leaving no more than 6.4 mm (0.25 in.) of the braided shield exposed.
Figure 3.10 Exposing the braided shield
Outer Jacket 6.4 mm (0.25 in.)
Braided Shield
65 mm (2.6 in.)
2. Wrap the end of the cable with 38 mm (1.5 in.) of shrink wrap, covering part of the exposed wires and part of the outer jacket.
Figure 3.11 Adding shrink wrap
Outer Jacket 38 mm (1.5 in.)
Shrink Wrap
3. Strip 8.1 mm (0.32 in.) of the insulation from the end of each of the insulated wire. Note: Be careful not to nick, cut, or otherwise damage the individual strands of wire. Trim the last 6.5 mm (0.26 in.) of the bare wires so that the outside dimension does not exceed 0.17 mm (0.045 in.).
Figure 3.12 Exposing wire stands
Outer Jacket 8.1 mm (0.32 in.)
Shrink Wrap
3-12
4. Insert each wire into the appropriate clamping cavity of the plugable screw connector, according to the color of the cable insulation. Tighten the clamping screws to secure each wire. 5. Use an 1/8 inch flat blade screwdriver to firmly attach wires in the connector.
Figure 3.13 Wiring the DeviceNet connector
Plug Connector
4 5
Red (V+) White (Can_H) Bare (Shield) Blue (Can_L) Black (V-)
Terminal 5 4 3 2 1
Cable Color Red White Bare Blue Black
Designation V+ Can_H Shield Can_L V-
6. Attach the Ultra5000 with DeviceNet to the DeviceNet network.
Assigning Your Ultra5000 DeviceNet Address

Use the following procedures to configure your Ultra5000 drive (2098-IPD-xxx-DN, and -HVxxx-DN) using Ultraware software and apply power to the drive. To configure your Ultra5000 drive with DeviceNet: 1. Verify that there is no power applied to the drive, and the DeviceNet cable is connected (refer to figures 2.2-2.7 for the connector location).
3-13
2. Set the node address for each drive in your system. Valid node addresses are 00-63 and PGM. The MSD rotary switch sets the most significant digit and the LSD rotary switch sets the least significant digit. Refer to figures 2.5 and 2.6 for the switch locations. Refer to the table below for examples. For this Node Address: 10 11 12 Set the MSD switch to: 1 1 1 Set the LSD switch to: 0 1 2
Node Address (00-63, PGM)

2
Use the MSD and LSD rotary switches on the DeviceNet panel of the drive to set node addresses.
4 6
0 8 2 0 8 6
MSD
LSD
Note: Selecting an invalid node address (> 63) sets the node address according to a non-volatile parameter stored in the drive. 3. Set the data rate. Valid data rates are 125 kps, 250 kps, 500 kps, AUTO, and PGM. Refer to figures 2.5 and 2.6 for the switch location. Note: Selecting AUTO automatically matches the device data rate to the rate of the network. Selecting PGM sets the data rate according to a non-volatile parameter stored in the drive.
Use the Data Rate rotary switch on the DeviceNet panel of the drive to set the data rate.
Node Address (00-63, PGM) 125kB 250kB 500kB AUTO PGM
3-14
Wiring Power Connections

IMPORTANT The 2098-IPD-HVxxx-xx drives can be powered with 230-240 Vrms in order to be used in conjunction with motors designed for 230V operation. In such cases, the voltage levels used for shunting and DC bus overvoltage limits are adjusted to be compatible with the voltage limit of the motor.
Power wiring requirements are given in the table below.

Ultra5000 Drives: 2098-IPD-005xx, -010-xx, and -02-xx 2098-IPD-030-xx 2098-IPD-075-xx 2098-IPD-150-xx 2098-IPD-HVxxx-xx
1
Provide this input power:1 100-240V ac single phase 100-240V ac 3-phase 207-528V ac 3-phase
With this type of wire: Copper with 75 C (194 F) minimum rating
Phasing of main Earth ground AC power: connection: Arbitrary Required (for safe and proper system operation)
Terminal block torque values: 1.25 Nm (11 lb-in.)
2.26 Nm (20 lb-in.) 1.25 Nm (11 lb-in.)
The input power may be optionally isolated through a transformer.
For additional information refer to the General Power Specifications section in Appendix A. Refer to Appendix B for the power wiring diagram for your Ultra5000 drive. The internal 5V dc power supply fuse opens at 3 amps and automatically resets itself when the current falls below 3 amps. There are no internal fuses requiring replacement. The Ultra5000 utilizes solid state motor overload protection which operates in accordance with UL 508C.
Motor overload protection trips: Eventually Within 8 minutes Within 20 seconds At: 100% overload. 200% overload. 600% overload.
3-15
ATTENTION
High voltage can be present on the shield of a power cable if the shield is not grounded. Motor power connectors are to be used for connection purposes only - do not use them to turn the unit on and off. To avoid hazard of electrical shock, ensure shielded power cables are grounded at a minimum of one point for safety. Ensure installation complies with specifications regarding wire types, conductor sizes, branch circuit protection, and disconnect devices. The National Electrical Code (NEC) and local codes outline provisions for safely installing electrical equipment. Failure to observe these safety procedures could result in personal injury or equipment damage.
To wire your input power and motor connections: 1. Prepare your wires by stripping approximately 12 mm (0.50 in.) of insulation from the end. IMPORTANT Use caution not to nick, cut, or otherwise damage strands as you remove the insulation.
2. Check for continuity in the motor leads [wires marked U, V, and W (R, S, and T on W-Series)]. Verify that the resistance reading from each wire to earth ground is above 500k ohms, with the cable connected to the motor.
If your resistance reading is: Above 500k ohms Below 500k ohms Then: Continue with step 3. Go to the chapter Maintaining Your Ultra5000.
3. Prepare your motor cable for the cable shield clamp on the Ultra5000 drive by exposing 12 mm (0.50 in.) of cable shield braid, as shown in the figure below.
3-16
Figure 3.14 CE Clamp Cable Preparation

L (refer to table below) 12 mm (0.50 in.)
Exposed braid
U V W
Motor cable
For these Ultra5000 drives: 2098-IPD-005 or -005-DN 2098-IPD-010 or -010-DN 2098-IPD-020 or -020-DN 2098-IPD-030, -030-DN, -HV030, or -HV030-DN 2098-IPD-HV050, or -HV050-DN 2098-IPD-075, or -075-DN 2098-IPD-HV100, or -HV100-DN 2098-IPD-150, -150-DN, -HV150 or -HV150-DN 2098-IPD-HV220 or -HV220-DN
The dimension L has this value: 185 mm (7.25 in.)
241 mm (9.50 in.)
3-17
4. Using a screw driver, loosen the screw for each of the terminal locations and attach wires as shown in the table below. Refer to Appendix B for the power wiring diagram for your Ultra5000 drive.
Terminal Block (TB) Locations (2098-IPD-005xx, -010-xx, -020-xx) DC Bus+ 1 DC Bus- 1 L1 (Main AC) L2/N (Main AC) Safety (Earth) Ground U (Motor) 2 V (Motor) 2 W (Motor) 2 Motor Case Ground Terminal Block 1 (TB1) Locations (2098-IPD-030-xx) U (Motor) 2 V (Motor) 2 W (Motor) 2 Motor Case Ground DC Bus+ 1 DC Bus- 1 L1 (Main AC) L2/N (Main AC) Safety (Earth) Ground L1 (Aux AC) 3 L2/N (Aux AC) 3 Terminal Block 1 (TB1) Locations (2098-IPD-075-xx and -150-xx) U (Motor) 2 V (Motor) 2 W (Motor) 2 Motor Case Ground DC Bus+ 1 DC Bus- 1 L1 (Main AC) L2 (Main AC) L3 (Main AC) Safety (Earth) Ground L1 (Aux AC) 3 L2/N (Aux AC) 3
1
Terminal Block Locations (2098-IPD-HVxxx-xx) DC Bus+ 1 DC Bus- 1 W (Motor) 2 V (Motor) 2 U (Motor) 2 Ground (Motor and Earth) L3 (Main AC) L2 (Main AC) L1 (Main AC) L1 (Aux AC) 3 L2 (Aux AC) 3
3-18
5. Tighten each terminal screw to the appropriate torque value.

Ultra5000 Drives: 2098-IPD-005xx, -010-xx, and -02-xx 2098-IPD-030-xx 2098-IPD-075-xx 2098-IPD-150-xx 2098-IPD-HVxxx-xx 2.26 Nm (20 lb-in.) 1.25 Nm (11 lb-in.) Terminal Block Torque Values: 1.25 Nm (11 lb-in.)
6. Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten any loose wires. IMPORTANT The DC bus connections should not be used for connecting multiple drives together. Contact your Allen-Bradley representative for further assistance if the application may require DC power connections.
7. To connect the motor power cable: If your motor is: Then: F-Series, H-Series, MP-Series, N-Series, W-Series, or 1326AB-Bxxxx-M2L or -S2L
1. Remove the two screws securing the cable shield clamp on the Ultra5000 drive (refer to figures 3.6 or 3.8 for the cable clamp location on your Ultra5000 drive). 2. Place the cable within the clamp and replace the screws (do not tighten). 3. Position the exposed portion of the cable braid directly in line with the clamp. 4. Tighten the screws with a torque of 0.9-1.1 Nm (8.0-10.0 lb-in.).
5. Continue with optional step 8 or step 9. Y-Series

1. Connect the 152.4 mm (6.0 in.) termination wire to the closest earth ground (refer to Figure 3.8 for pigtail location). 2. Continue with optional step 8 or step 9.
3-19
8. Determine whether or not a shunt resistor is necessary And your If your Ultra5000 catalog application Then: number begins with: requires: 2098-IPD-005 or -005-DN 2098-IPD-010 or -010-DN 2098-IPD-020 or -020-DN no shunt You are finished wiring your Ultra5000 power connections. Go to main step 9. Connect an external active shunt module to the Terminal Block (TB) as shown in 300 Watt Active Shunt Module on Page B-23. Connect a jumper to TB2 between terminal 1 and 2 as shown in Figure 3.15. (For the location of TB2, refer to the chapter Ultra5000 Connector Information beginning on Page 2-1.) Connect an external shunt resistor to TB2 between terminals 1 and 3 as shown in Figure 3.15. (For the location of TB2, refer to Ultra5000 Connector Information beginning on Page 2-1.)
external shunt
2098-IPD-030 or -030-DN 2098-IPD-075 or -075-DN 2098-IPD-150 or -150-DN and -HVxxx-xx
internal shunt
external shunt
Figure 3.15 Connecting Your Shunt Resistor

Connecting the Internal Shunt Resistor1 Connecting the External Shunt Resistor
1 2 3
This is the factory default jumper setting for TB2.
3-20
9. You are finished wiring your Ultra5000 power connections. Go to the chapter Commissioning Your Ultra5000 beginning on Page 4-1.
Chapter
Commissioning Your Ultra5000
Chapter Objectives
This chapter provides you with information to apply power and configure your Ultra5000. This chapter includes these sections: General Startup Precautions Understanding Communication Switch Settings Applying Power To Your System Configuring Your Ultra5000 Before you begin these procedures, be sure to read and understand the information in the previous chapters of this manual. Note: The procedures in this chapter do not include information regarding integration with other products.
General Startup Precautions
The following precautions pertain to all of the procedures in this chapter. Be sure to read and thoroughly understand them before proceeding. ATTENTION This product contains stored energy devices. To avoid hazard of electrical shock, verify that all voltages on the system bus network have been discharged before attempting to service, repair or remove this unit. Only qualified personnel familiar with solid state control equipment and safety procedures in publication NFPA 70E or applicable local codes should attempt this procedure. Failure to observe this precaution could result in damage to the equipment or severe bodily injury.
4-2
ATTENTION
!
Understanding Communication Switch Settings
This product contains ESD (Electrostatic Discharge) sensitive parts and assemblies. Follow static control precautions when you install, test, service, or repair this assembly. Refer to Allen-Bradley publication 8000-4.5.2, Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook. Failure to observe this precaution may result in damage to the equipment.
The Ultra5000 communication address selector switches (MSD and LSD) allow setting a unique address for each Ultra5000 connected on a serial network. The switches allow setting addresses 0-99. Refer to Figure 2.2 for the switch locations. Addresses are reserved for use as shown in the table below.
Switch Settings: 0 1-63 PGM Settings: 64-95 96 Reserved for factory use only Disable Program Auto Run mode. With this setting during power-up, programs are not allowed to run. This mode is useful to correct programming problems that may have caused communications loss when the program is running. Set Factory Default Objects mode. With this setting during power-up, all internal firmware objects are reset to factory defaults. Any objects created by a user program are also reset. This mode is useful to return a drive to factory defaults. Reserved for factory use only Boot mode. With this setting during power-up, the only action that my be performed is to upgrade the drive firmware using Ultraware. Description: Reserved for factory use only Valid settings for normal drive operation
97
98 99
Note: Power to the drive must be cycled for firmware to scan and recognize an address switch change.
4-3
Applying Power To Your System
This procedure assumes you have wired your Ultra5000 system, verified the wiring, and are ready to begin using your Ultraware software. To apply power to your Ultra5000 system: 1. Disconnect any load to the motor. Ensure the motor is free of all linkages when initially applying power to the system. 2. Set the communication address switches as shown in the example table below. For the location of the address switches, refer to Figure 2.2.
For example, if you have: 1 drive 2 drives 3 drives : 64 drives Set the MSD switch to: 0 0 0 : 6 Set the LSD switch to: 1 2 3 : 4
Note: Switch settings above 64 invoke special functions used for programming and troubleshooting. See Understanding Communication Switch Settings on Page 4-2.
3. Apply input power to the Ultra5000 and observe the front panel Logic Power indicator LED as shown in Figure 4.1.
4-4
Figure 4.1 Logic Power and Status LED Display

Status
PWR
If the Logic Power LED is:
Then:
ON Not ON
Go to step 4. Check your input power connections. Repeat step 3.
4. Observe the front panel seven segment Status LED display as shown in Figure 4.1.
If the Status LED display on your: Is: Then:
2098-IPD-xxx, 2098-IPD-HVxxx, 2098-IPD-xxx-DN, and 2098-IPD-HVxxx-DN (all Ultra5000 drives) 2098-IPD-xxx, 2098-IPD-HVxxx, 2098-IPD-xxx-DN, and 2098-IPD-HVxxx-DN (all Ultra5000 drives) 2098-IPD-xxx, 2098-IPD-HVxxx, 2098-IPD-xxx-DN, and 2098-IPD-HVxxx-DN (all Ultra5000 drives) 2098-IPD-xxx, 2098-IPD-HVxxx, 2098-IPD-xxx-DN, and 2098-IPD-HVxxx-DN (all Ultra5000 drives)
Actively cycling segments in a full circle
The drive is ready. Go to Configuring Your Ultra5000 on Page 4-5.
Actively cycle in a half circle with address switches set to MSD=9 and LSD=9
Go to Understanding Communication Switch Settings on Page 4-2 and reset your address switches according to the table. Your firmware requires an upgrade. Go to Configuring Your Ultra5000 on Page 4-5.
Actively cycle in a half circle with address switches set according to the table in Understanding Communication Switch Settings on Page 4-2. Flashing an E followed by two numbers
Go to the chapter Maintaining Your Ultra5000 beginning on Page 5-1.
4-5
Configuring Your Ultra5000
This procedure assumes you have successfully applied power to your system. To configure your Ultra5000 system: 1. Start your Ultraware software. Refer to the Ultraware User Manual, publication 2098-UM001, for information on starting the Ultraware software. 2. Open a recently used file or create a new file. Ultraware will scan for on-line drives. 3. Click on the Stop Scanning button when your drive is detected or wait for the scanning to complete. 4. Look for the Ultra5000 icon (Ultra5k) under the On-Line Drives tree. Refer to step 4 in the previous section, Applying Power To Your System.
If you were told: Then:
The drive is ready Your firmware requires an upgrade
Go to step 5 below.
1. Select File from the main menu bar. 2. Select Upgrade Firmware. 3. Go back to step 1 and repeat procedure.
5. The Ultra5000 icon indicates that your drive is detected.

If your Ultra5000 drive: Then:
Is detected and listed under the On-Line Drives tree
The software and hardware are communicating and the system is ready. Go to the section, Configuring Your Ultra5000, step 4.
1. Go to the previous section, Applying Power To Your System, step 3, and verify your address switch settings. 2. Check your serial cable connections. 3. Go to step 1 of this section.
Is not detected
6. Refer to the Ultraware User Manual, publication 2098-UM001,for further configuration and tuning instructions.
4-6
Chapter
Maintaining Your Ultra5000
Chapter Objectives
This chapter provides a description of maintenance and troubleshooting activities for the Ultra5000. This chapter includes these sections: Maintaining the Drive General Troubleshooting Troubleshooting for DeviceNet Drives
Maintaining the Drive
The Ultra5000 Drive is designed to function with a minimum of maintenance. ATTENTION DC bus capacitors may retain hazardous voltages after input power has been removed, but will normally discharge in several seconds. Before working on the drive, measure the DC bus voltage to verify it has reached a safe level or wait the full time interval listed on the warning on the front of the drive. Failure to observe this precaution could result in severe bodily injury or loss of life.
Periodic Maintenance
Normally the only maintenance required is removal of superficial dust and dirt from the drive and a quick check of cable insulation and connections.
Cleaning the Drive

To clean the drive, use an OSHA approved nozzle that provides compressed air under low pressure, less than 20 kPa (30 psi), to blow the exterior surface and the vents clean.
5-2
Inspecting the Cables

Ensure input power is disconnected before touching cables or connections and perform the following: Visually inspect all cables for abrasion. D-shell and Digital I/O connectors should be inspected for proper seating and signal continuity end-to-end.
General Troubleshooting
Refer to the Error Codes section below to identify problems, potential causes, and appropriate actions to resolve the problems. If problems persist after attempting to troubleshoot the system, please contact your Allen-Bradley representative for further assistance. To determine if your Ultra5000 drive has an error, refer to the table below.
Is: Then:
If the Logic Power LED is ON and the Status LED display on your: 2098-IPD-xxx or -HVxxx drive 2098-IPD-xxx-DN or -HVxxx-DN drive All drives
Actively cycling segments in a full circle Your Ultra5000 drive is ready. Flashing E, followed by two numbers Your Ultra5000 drive has an error. Proceed to the section Error Codes below.
Error Codes
The following list is designed to help you resolve problems when an assigned error code or a problematic symptom (no error code) is encountered. When a fault is detected, the 7-segment LED displays a flashing E followed by a two-digit error code, that registers one digit at a time. The error display is repeated until the problem is cleared.
Error Code Problem or Symptom Power (PWR) indicator not ON Possible Cause(s) No AC power or auxiliary logic power. Action/Solution Verify power AC power or auxiliary +5V logic power is applied to the Ultra5000. Call your Allen-Bradley representative. Set node address to 99 and reload firmware. Call your A-B representative. Change node address. Set node address to 99 and reload firmware. Then cycle power.
Internal power supply malfunction. 7-Segment LED not cycling Firmware corrupt
Small LED segment cycling
Node address set to 99 Firmware corrupt
5-3
Error Code
Problem or Symptom Motor jumps when first enabled Digital I/O not working correctly
Possible Cause(s) Motor wiring error. Incorrect motor chosen. I/O power supply disconnected or incorrect I/O type
Action/Solution Check motor wiring. Verify the proper motor is selected. Verify: I/O connections I/O power source I/O type (sinking/sourcing). Call your local Allen-Bradley representative.
01 - 03 04
Reserved Motor Overtemperature Motor thermostat trips due to: High motor ambient temperature and/or Excessive current
Operate within (not above) the continuous torque rating for the ambient temperature (40C maximum). Lower ambient temperature, increase motor cooling. Check motor wiring. Verify the proper motor has been selected. Verify continuity of motor power cable and connector. Disconnect motor power cables from the motor. If the motor is difficult to turn by hand, it may need to be replaced. Check for clogged vents or defective fan. Ensure cooling is not restricted by insufficient space around the unit. Verify ambient temperature is not too high. Operate within the continuous power rating. Reduce acceleration rates. Remove all power and motor connections, and preform a continuity check from the DC bus to the U, V, and W motor outputs. If a continuity exists, check for wire fibers between terminals, or send drive in for repair. Call your local Allen-Bradley representative.
Motor wiring error. Incorrect motor selection. 05 IPM Fault Motor cables shorted. Motor winding shorted internally.
Ultra5000 temperature too high.
Operation above continuous power rating.
Ultra5000 has a bad IPM output, short circuit, or overcurrent.
06 - 08 09
Reserved Bus Undervoltage Low AC line/AC power input.
Verify voltage level of the incoming AC power. Check AC power source for glitches or line drop. Install an uninterruptible power supply (UPS) on your AC input.
5-4
Error Code 10
Problem or Symptom Bus Overvoltage
Possible Cause(s) Excessive regeneration of power. When the motor is driven by an external mechanical power source, it may regenerate too much peak energy through the Ultra5000s power supply. The system faults to save itself from an overload. Excessive AC input voltage. Output short circuit.
Action/Solution Change the deceleration or motion profile. Use a larger system (motor and Ultra5000). Use a resistive shunt.
Verify input is below within specifications. Remove all power and motor connections, and preform a continuity check from the DC bus to the U, V, and W motor outputs. If a continuity exists, check for wire fibers between terminals, or send drive in for repair. Disconnect motor power cables from the drive. If faults stop, replace cable. Disconnect motor power cables from the motor. If the motor is difficult to turn by hand, it may need to be replaced. Check the Hall phasing. Verify the Hall wiring. Verify 5V power supply to the encoder. Call your local Allen-Bradley representative.
Motor cabling wires shorted together. Internal motor winding short circuit.
11
Illegal Hall State
Incorrect phasing. Bad connections.
12 - 16 14 15 - 16 17 18 19
Reserved DeviceNet Comm Fault Reserved User-Specified Current Fault Overspeed Fault Excess Position Error User-Specified average current level has been exceeded. Motor speed has exceeded 125% of maximum rated speed. Position error limit was exceeded. Drive has lost communications with DeviceNet interface.
Refer to Troubleshooting for DeviceNet Drives on page 5-6. Call your local Allen-Bradley representative. Increase to a less restrictive setting. Check cables for noise. Check tuning. Increase the feed forward gain. Increase following error limit or time. Check position loop tuning. Replace the motor/encoder. Use shielded cables with twisted pair wires. Route the feedback away from potential noise sources. Check the system grounds. Replace motor/encoder.
20
Motor Encoder State Error
The motor encoder encountered an illegal transition.
Bad encoder.
5-5
Error Code 21
Problem or Symptom Auxiliary Encoder state error
Possible Cause(s) The auxiliary encoder encountered an illegal transition.
Action/Solution Use shielded cables with twisted pair wires. Route the encoder cable away from potential noise sources. Bad encoder - replace encoder. Check the ground connections. Reduce acceleration rates. Reduce duty cycle (ON/OFF) of commanded motion. Increase time permitted for motion. Use larger Ultra5000 and motor. Check tuning. Reduce acceleration rates. Reduce duty cycle (ON/OFF) of commanded motion. Increase time permitted for motion. Use larger Ultra5000 and motor. Check tuning. Increase time or size of allowable error. Reduce acceleration. Check tuning. Call your local Allen-Bradley representative.
22
Motor Thermal Protection Fault
The internal filter protecting the motor from overheating has tripped.
23
IPM Thermal Protection Fault
The internal filter protecting the drive from over heating has tripped.
24
Excess Velocity Error
Velocity error limit was exceeded.
25 26 27 - 28 29
Reserved User-Specified Velocity Fault Reserved Encoder Output Frequency Exceeded Encoder output frequency exceeds the maximum user specified value. This only applies when the encoder output mode is software. User specified velocity level was exceeded.
Increase to a less restrictive setting. Call your local Allen-Bradley representative. Increase the Output Encoder Limit parameter. Increase the encoder output divider parameter. Call your local Allen-Bradley representative.
30 - 33 34
Reserved Ground Fault Wiring error. Motor internal ground short. Internal malfunction.
Check motor power wiring. Replace motor. Disconnect motor power cable from drive and enable drive with current limit set to 0. If fault remains, call your A-B representative. If fault clears, then a wiring error or motor internal problem exists. Check input AC voltage on all phases. Reduce acceleration rates. Reduce duty cycle (ON/OFF) of commanded motion. Increase time permitted for motion. Use larger Ultra5000 and motor. Check tuning.
35 36
Precharge Fault Power Circuitry Overtemperature
Low AC input voltage. Excessive heat exists in the power circuitry.
5-6
Error Code 37 38 39
Problem or Symptom AC Line Loss Reserved Self-sensing Commutation Startup Error
Possible Cause(s) One or more phases of the input AC power is missing.
Action/Solution Check input AC voltage on all phases. Call your local Allen-Bradley representative.
Motion required for self-sensing startup commutation was obstructed.
Verify that there are no impediments to motion at startup, such as hard limits. Increase self-sensing current if high friction or load conditions exist. Check motor or encoder wiring using wiring diagnostics. Call your local Allen-Bradley representative.
40 - 57 58 59 - 99
Reserved Excess CPU Load Reserved User function(s) inserted into sequencer take too much time.
Remove user function from sequencer or reduce size of user function. Call your local Allen-Bradley representative.
Troubleshooting for DeviceNet Drives
DeviceNet Module Status LED

Use the table below for troubleshooting the DeviceNet Module Status LED on your Ultra5000 (2098-IPD-xxx-DN, or -HVxxx-DN).
If the Module Status LED is: Off Steady-Green Flashing-Green Flashing-Red Steady-Red Flashing-Red/ Green
Status is: Not powered Operational Device is in stand-by Recoverable fault Unrecoverable fault Self testing
Potential Cause is: Possible Resolution is: No power Normal operation There is no power going to the device. Normal operation - no action needed.
Processing or waiting Normal operation - no action needed. for input Not operational Drive problem Self-test in progress Power cycle or reset the drive. Check drive for power-up error. Replace drive. The device is in self test, wait.
5-7
DeviceNet Network Status LED

Use the table below for troubleshooting the DeviceNet Network Status LED on your Ultra5000 (2098-IPD-xxx-DN, or -HVxxx-DN).
If the Network Status LED is: Off Status is: Not powered Not on-line Potential Cause is: Possible Resolution is: No power going to 1. Check the Module Status LED to verify that the drive is powered. the device 2. Check that one or more nodes are communicating on the network. Failed Duplicate 3. Check that at least one other node on the network is operational and the MAC ID check data rate is the same as the drive. Passed Duplicate MAC ID check No connection established One or more connections established I/O connection timed out Failed Duplicate MAC ID check Bus-off No action is needed. The LED is flashing to signify that there are no open communication connections between the drive and any other device. Any connection (I/O or explicit message) made to the drive over DeviceNet will cause the LED to stop flashing and remain Steady-ON for the duration of any open connection. No action needed. This condition is normal.
Flashing-green
On-line Not connected On-line Connected
Steady-green
Flashing-red
On-line Time-out
1. Re-initiate I/O messaging by the master controller. 2. Reduce traffic or errors on the network so that messages can get through within the necessary time frame. 1. Ensure that all nodes have unique addresses. 2. If all node addresses are unique, examine network for correct media installation. 3. Ensure that all nodes have the same Data Rate.
Steady-red
Network Failure
5-8
Node Problems
Give particular attention to the task of setting initial addresses and data rates. Survey the network to ensure all assignments are known. Some nodes can be logically assigned to a group of devices, but physically located away from those devices. One incorrect node can cause other nodes to appear to be Bus-off (Steady-Red LED). If a node goes Bus-off and the device is reset only to go Bus-off again, the problem is likely not with the device, but rather the setting of the address, data rate, or a network-wide problem related to topology, grounding, intermittent power/data connections, or electrical noise. If a scanner goes Bus-off, nodes will not reallocate (Flashing-green or red) even if they are functioning correctly.
Device Failure - LED Status Check

A Steady-Red Module Status LED can mean an error. If the Network Status LED goes Steady-Red at power-up, it could mean there is a Duplicate MAC ID. The user response is to test all devices for unique addresses. If a Steady-Red LED remains on after the Duplicate MAC ID test shows all devices to have a unique node address, it means a Bus-off error. Do the following: 1. Check data rate settings. 2. If symptom persists, replace node address (with another address and correct data rate). 3. If symptom persists, replace tee tap. 4. If symptom persists, check topology. 5. If symptom persists, check power for noise with oscilloscope or power disturbance analyzer.
5-9
Scanner Problems
If using a scanner, check the scan list, data rate, and addresses of devices. Verify series and revision of the scanner is the latest. If the scanner is Bus-off, recycle the 24V supply and then reset the scanner. If the scanner goes Bus-off again, the problem is some combination of: Defective node device Incorrect node data rate Bad network topology Faulty wiring Faulty scanner Faulty power supply Bad grounding Electrical noise
Power Supply Problems

If a single power supply is used, add up the current requirements of all devices drawing power from the network. This total should be considered the minimum current rating in selecting the power supply used. In addition check the: Length and current level in trunk and drop cables Size and length of the cable supplying power to the trunk Voltage measured at the middle and ends of the network Noise in network power measured with an oscilloscope
5-10
Cable Installation and Design Problems

Cable installation and design refers to the physical layout and connections on the network. Walk the network if possible to determine the actual layout and connections. Network management software displays only a logical record of the network. Ensure that you have a diagram of the physical layout and a record of the information from the tables below.
Cable Checks Number of nodes. Individual drop lengths. Branched drop length. Cumulative drop length. Total trunk length. Power supply cable length and gauge. Terminator locations and size. Power Checks Break the earth ground of the V- and Shield and verify >1.0 Mohm to frame ground with power supply off. Use a multi-meter to check for short circuit between CAN_H and CAN_L, or CAN (H or L) to Shield, V- or V+. Total power load and at its distribution points. Spot check power for noise.
Adjusting the Physical Network Configuration

Ways to improve the efficiency of your physical network configuration include: Shortening the overall length of the cable system Moving the power supply in the direction of an overloaded cable section Moving devices from an overloaded cable section to a less loaded section Moving higher current loads closer to the power supply Adding another power supply to an overloaded network Moving the power supply from the end to the middle of the network
Appendix
Specifications and Dimensions
Objectives
This appendix covers the following topics: Ultra5000 Specifications Dimensions
Ultra5000 Specifications
The following sections provide specifications for the Ultra5000.
General Power Specifications

2098-IPD-005-xx, -010-xx, and -020-xx
The table below lists general power specifications and requirements for the Ultra5000 230V drives.
Specification Description 2098-IPD-005, 2098-IPD-005-DN AC Input Voltage1 AC Input Frequency AC Input Current 2
Nominal Maximum inrush (230V ac input)
2098-IPD-010, 2098-IPD-010-DN
2098-IPD-020, 2098-IPD-020-DN
100-240Vrms Single Phase 47 - 63 Hz 5Arms 100A (0-peak) 7.5A (0-peak) 2.5A (0-peak) 125 Joules 51 Joules 0.25 kW 0.5 kW 0.5 kW 1.0 kW 1.0 kW 2.0 kW 9Arms 100A (0-peak) 15A (0-peak) 5A (0-peak) 18Arms 100A (0-peak) 30A (0-peak) 10A (0-peak)
Output Peak Current Continuous Output Current Energy Absorption Capability

115V ac input 230V ac input
Continuous Power Output 115V ac input 230V ac input

1 2
Specification is for nominal voltage. The absolute limits are 10%, or 88-265Vrms. The 2098-005-xx, -010-xx, and -020-xx (230V) drives are limited to two contactor cycles per minute.
A-2
2098-IPD-030-xx, -075-xx, and -150-xx

Specification Description 2098-IPD-030, 2098-IPD-030-DN
AC Input Voltage1 AC Input Frequency Main AC Input Current 2 Nominal, Maximum inrush, 230V ac input Auxiliary AC Input Current Nominal, 115V ac input Nominal, 230V ac input Maximum inrush, 115V ac input 3 Maximum inrush, 230V ac input 3 Continuous Output Current Intermittent Output Current Internal Shunt Continuous power Peak power External Shunt Minimum resistance Continuous power Peak power Energy Absorption Capability 115V ac input 230V ac input Continuous Power Output 115V ac input 230V ac input
1 2 3
2098-IPD-075, 2098-IPD-075-DN
100-240Vrms Three Phase
2098-IPD-150, 2098-IPD-150-DN
100-240Vrms Single Phase 47 - 63 Hz 28Arms 50Arms 1.0Arms 0.5Arms 47A (0-peak) 95A (0-peak) 15A (0-peak) 30A (0-peak) 50W 4.5 kW 30 Ohms 2.4 kW 6 kW 203 Joules 96 Joules 1.5 kW 3 kW
30Arms 50Arms 1.0Arms 0.5Arms 47A (0-peak) 95A (0-peak) 35A (0-peak) 75A (0-peak) 50W 10 kW 16.5 Ohms 4 kW 10 kW 321 Joules 151 Joules 3.75 kW 7.5 kW
46Arms 68Arms 1.0Arms 0.5Arms 47A (0-peak) 95A (0-peak) 65A (0-peak) 150A (0-peak) 180W 18 kW 9 Ohms 8 kW 19 kW 563 Joules 265 Joules 7.5 kW 15 kW
Specification is for nominal voltage. The absolute limits are 10%, or 88-265Vrms. The 2098-030-xx, -075-xx, and -150-xx (230V) drives are limited to two contactor cycles per minute. 400 s half wave sine, inrush current is processor controlled via soft start circuitry.
A-3
2098-IPD-HV030-xx, -HV050-xx, -HV100-xx, -HV150-xx, and -HV220-xx

Description Specification 2098-IPD-HV030 2098-IPD-HV050 2098-IPD-HV100 2098-IPD-HV150 2098-IPD-HV220 and and and and and 2098-IPD-HV030-DN 2098-IPD-HV050-DN 2098-IPD-HV100-DN 2098-IPD-HV150-DN 2098-IPD-HV220-DN 230-480Vrms Three Phase 47 - 63 Hz 4Arms 6Arms 0.55Arms 0.35Arms 0.25Arms 47A (0-peak) 68A (0-peak) 7A (0-peak) 14A (0-peak) 100W 5.3 kW 120 Ohms 3 kW 5.3 kW 58 Joules 517 Joules 219 Joules 1.5 kW 3.0 kW 7Arms 6Arms 0.55Arms 0.35Arms 0.25Arms 47A (0-peak) 68A (0-peak) 11A (0-peak) 22A (0-peak) 100W 5.3 kW 120 Ohms 5 kW 5.3 kW 58 Joules 517 Joules 219 Joules 2.5 kW 5.0 kW 14Arms 6Arms 0.55Arms 0.35Arms 0.25Arms 47A (0-peak) 68A (0-peak) 23A (0-peak) 46A (0-peak) 200W 16 kW 40 Ohms 10 kW 16 kW 88Joules 776Joules 329 Joules 5.0 kW 10 kW 20Arms 6Arms 0.55Arms 0.35Arms 0.25Arms 47A (0-peak) 68A (0-peak) 34A (0-peak) 68A (0-peak) 200W 25.6 kW 25 Ohms 15 kW 25.6 kW 117 Joules 1034 Joules 439 Joules 7.5 kW 15 kW 28Arms 6Arms 0.55Arms 0.35Arms 0.25Arms 47A (0-peak) 68A (0-peak) 47A (0-peak) 94A (0-peak) 400W 32 kW 20 Ohms 22 kW 32 kW 234 Joules 2069 Joules 878Joules 11 kW 22 kW
AC Input Voltage 1, 2 AC Input Frequency Main AC Input Current 3 Nominal, 460V ac input Maximum inrush, 460V ac input Auxiliary AC Input Current Nominal, 230V ac input Nominal, 360V ac input Nominal, 480V ac input Maximum inrush, 230V ac input 4 Maximum inrush, 480V ac input 4 Continuous Output Current Intermittent Output Current Internal Shunt Continuous power Peak power External Shunt Minimum resistance Continuous power Peak power Energy Absorption Capability 230V ac input with 230V motor 230V ac input with 460V motor 460V ac input Continuous Power Output 230V ac input 460V ac input
1 2 3 4
Specification is for nominal voltage. The absolute limits are 10%, or 207-528Vrms. The 2098-IPD-HVxxx-xx drives can be powered with 230-240 Vrms in order to be used in conjunction with motors designed for 230V operation. In such cases, the voltage levels used for shunting and DC bus overvoltage limits are adjusted to be compatible with the voltage limit of the motor. The 2098-HVxxx -xx (460V) drives are limited to three contactor cycles per minute. 400 s half wave sine, inrush current is processor controlled via soft start circuitry.
A-4
Physical and Environmental

The table below lists physical and environmental specifications and requirements.
Specification Weight
2098-IPD-005 2098-IPD-010 2098-IPD-020 2098-IPD-030 2098-IPD-075 2098-IPD-150 2098-IPD-005-DN 2098-IPD-010-DN 2098-IPD-020-DN 2098-IPD-030-DN 2098-IPD-075-DN 2098-IPD-150-DN 2098-IPD-HV030 2098-IPD-HV050 2098-IPD-HV100 2098-IPD-HV150 2098-IPD-HV220 2098-IPD-HV030-DN 2098-IPD-HV050-DN 2098-IPD-HV100-DN 2098-IPD-HV150-DN 2098-IPD-HV220-DN
Description Kg
1.77 2.07 2.05 6.16 9.23 13.96 2.11 2.41 2.39 6.55 9.62 14.35 8.55 8.55 10.44 10.44 14.1 8.89 8.89 10.78 10.78 14.44
Lbs
(3.9) (4.55) (4.51) (13.58) (20.35) (30.78) (4.7) (5.3) (5.3) (14.43) (21.20) (31.63) (18.8) (18.8) (22.96) (22.96) (31.0) (19.6) (19.6) (23.72) (23.72) (31.77)
Operating Temperature Storage Temperature Humidity Altitude Vibration

Operating/Non-operating
0o C to 55o C (32o F to 131o F) -40o C to 70o C (-40o F to 158o F) 5% to 90% non-condensing 1500 m (5000 ft) Derate 3% for each 300 m above 1500m 10 to 2000 Hz, 2 g peak, 0.015 in.
maximum displacement
Shock
Non-operating
15 g 11 ms half sine UL 508 C File E145959
UL Listed to U.S. and Canadian safety standards
A-5
Power Dissipation
The maximum power losses Ultra5000 are shown below to help in sizing an enclosure and any required ventilation. Typical heat losses can run approximately one-half maximum power losses.
Catalog Number 2098-IPD-005, 005-DN 2098-IPD-010, -010-DN 2098-IPD-020, -020-DN 2098-IPD-030, -030DN 2098-IPD-075, -075DN 2098-IPD-150, -150DN 2098-IPD-HV030, -030-DN 2098-IPD-HV050, -050-DN 2098-IPD-HV100, -100-DN 2098-IPD-HV150, -150-DN 2098-IPD-HV220, -220-DN Maximum Loss (Watts) 48 + dissipative shunt 48 + dissipative shunt 50 + dissipative shunt 150 + dissipative shunt 300 + dissipative shunt 500 + dissipative shunt 175 + dissipative shunt 175 + dissipative shunt 350 + dissipative shunt 350 + dissipative shunt 600 + dissipative shunt
A-6
User Programming
The table below lists physical and programming specifications.
Specification Language Programming Environment Operating System User Program Memory Non-Volatile Memory Description Compiled ANSI C subset with Library of Motion Functions Full-featured Color Syntax Editor and C Compiler Integrated with Ultraware Real-time, multi-tasking, field upgradable flash 512 Kbytes Flash Memory, 100,000 Write Cycles 16 Kbytes (approximately 4000 non-volatile user variables) nvSRAM (High speed SRAM/EEPROM)
Control
The table below lists control specifications.
Specification Processor Clock Speed Commutation Current Loop Velocity Loop Position Loop Position Range Velocity Range Acceleration Range Electronic Gearing Description Texas Instruments TMS320C32 32 Bit Floating Point Digital Signal Processor 60 MHz 3 Phase Sinusoidal, Space Vector Modulated (SVM) SVM - 125 sec update rate Digital PI - 250 sec update rate Digital PI - 500 sec update rate 32-bit signed 32-bit floating point 32-bit floating point 64-bit signed
A-7
Inputs and Outputs

The table below lists I/O specifications.
Specification General Purpose Digital Inputs Inputs/Outputs Sinking/Sourcing Selection General Purpose Digital Outputs General Purpose Relay Output General Purpose I/O Response High Speed Input Response Position Capture Response General Purpose Analog Inputs General Purpose Analog Outputs Description 16 Optically Isolated 12-24 Volt Inputs Software Selectable as a Group to be Active High, Current Sinking or Active Low, Current Sourcing 7 Optically Isolated 12-24 Volt Outputs - 50 Milliamperes Maximum 1 Normally Open Relay - 30 Volts dc Maximum, 1A Maximum Current 100 sec < 1 sec (Inputs 1 and 2) < 1 sec (Input 1, Input 2, Motor Encoder Index, and Auxiliary Encoder Index) 2 12-Bit Analog to Digital Converters (+/- 10V, single-ended) 2 12-Bit Digital to Analog Converters (+/- 10V, +/- 2mA, single-ended)
Communications
The table below lists the communication specifications for serial communications and the optional DeviceNet interface.
Specification Serial:
Ports Baud Rates
Description Two RS-232/RS-422/RS-485 1200, 2400, 4800, 9600, 19200, and 38400 baud 60 mA 125 kps, 250 kps, and 500 kps 01-63 Explicit, polled I/O
DeviceNet (option):
Power Consumption from Network Data Rates Node Addresses Messaging Capabilities
A-8
Motor Feedback
The table below lists motor feedback specifications.
Specification Encoder Types Maximum Input Frequency Commutation Startup Description Incremental, Sine/Cosine, Intelligent, and Absolute 100 kHz (Sine/Cosine Input) 2.5 MHz (TTL Input) per channel Hall Sensor
Auxiliary Feedback
The table below lists auxiliary feedback specifications.
Specification Input Modes Input Types Description A quad B Differential
Maximum Signal Frequency 2.5 MHz
Connectors
The table below lists connector specifications. Refer to Appendix C for a list of mating connectors available from other suppliers.
Connector CN1A CN1B CN2 Specification Digital I/O Connector Auxiliary Feedback/Analog I/O Connector Motor Feedback Connector Description 28 Position Plugable Spring Clamp Terminal Block 14 Position Plugable Spring Clamp Terminal Block 15 Position High Density Female D-Sub Connector 9 Position Female D-Sub Connector Screw Terminal Block
CN3A and CN3B Serial Port Connectors TB1 and TB2 Main and Auxiliary AC, DC Bus, Motor Power, and Shunt Connectors
A-9
Dimensions
The following diagrams show the dimensions and mounting hole locations for the Ultra5000 drives. Note: The DeviceNet Interface is an add-on feature available with all Ultra5000 drives. Overall dimensions are provided for each Ultra5000 drive that include and exclude the DeviceNet interface.
Figure A.1 Dimensions and Mounting Diagram (2098-IPD-005-xx)
116.59 [4.590] 83.82 [3.30] 43.18 [1.70] 20.32 [0.80] 131.83 [5.19]
193.55 [7.62]
184.91 [7.28]
205.23 [8.08]
144.53 [5.69]
91.19 [3.59]
Note: Inch dimensions are shown in brackets
A-10
Figure A.2 Dimensions and Mounting Diagram (2098-IPD-010-xx and 2098-IPD-020-xx)

139.70 [5.50] 83.82 [3.30] 43.18 [1.70] 20.32 [0.80]
131.83 [5.19]
193.55 [7.62] 184.91 [7.28]
205.23 [8.08]
144.53 [5.69]
114.30 [4.50]
Fan only on 2 kW units
A-11
Figure A.3 Dimensions and Mounting Diagram 2098-IPD-030-xx

120,5 [ 4.74 ] 50,8 [ 2.00 ]
25,4 [ 1.00 ] 20,3 [ .80 ]
8.94 [ 227 ]
349,3 [ 13.75 ]
335,1 [ 13.19 ]
360,7 [ 14.20 ]
172,3 [ 6.78 ]
149,3 [ 5.88 ] 243,9 [ 9.60 ]
92.7 [ 3.65 ]
A-12
166.4 [ 5.55 ] 25,4 [ 1.00 ] 88,9 [ 3.50 ] 24,3 [ .96 ] 227 [ 8.94 ]
349,3 [ 13.75 ]
335,2 [ 13.20 ]
360,7 [ 14.20 ]
172,3 [ 6.78 ]
152,7 [ 6.01 ] 247,3 [ 9.73 ]
141.0 [ 5.55 ]
A-13

218.3 [ 7.59 ] 189,3 [ 7.45 ] 69,9 [ 2.75 ] 25,4 [ 1.00 ] 24,9 [ 0.98 ] 227,0 [ 8.94 ]
69,9 [ 2.75 ]
335,1 [ 13.19 ]
349.3 [ 13.75]
360,7 [ 14.20 ]
172,3 [ 6.78 ]
146,5 [ 5.77 ] 245,1 [ 9.49 ]
190.5 [ 7.50]
A-14
Figure A.6 Dimensions and Mounting Diagram 2098-IPD-HV030-xx and 2098-IPD-HV050-xx

164.1 [ 6.46 ] 50.8 [ 2.00 ]
18.5 [ 0.73 ]
50.8 [ 2.00 ]
DANGER
DeviceNet
349.3 [ 13.75 ]
360.7 [ 14.20 ]
331.5 [ 13.05 ]
172.3 [ 6.78 ]
242.2 [ 9.54 ]
138.7 [ 5.46]
225.8 [ 8.89 ]
A-15
Figure A.7 Dimensions and Mounting Diagram 2098-IPD-HV100-xx and 2098-IPD-HV150-xx
177.0 [ 6.97 ] 25.0 [ 0.99 ] 50.8 [ 2.00 ] 50.8 [ 2.00 ]
360.7 [ 14.20 ] 349.3 [ 13.75 ]
DANGER
DeviceNet
331.5 [ 13.05 ]
172.3 [ 6.78 ]
242.4 [ 9.54 ]
151.6 [ 5.97 ]
225.8 [ 8.89 ]
A-16
Figure A.8 Dimensions and Mounting Diagram 2098-IPD-HV220-xx
228.6 [ 9.00 ] 203.2 [ 8.00 ] 25.4 [ 1.00 ] 76.2 [ 3.00 ] 76.2 [ 3.00 ]
391.8 [ 15.43 ]
DANGER
DeviceNet
380.4 [ 14.98 ]
362.6 [ 14.28 ]
172.3 [ 6.78 ]
242.2 [ 9.54 ]
203.2 [ 8.00 ]
225.8 [ 8.89 ]
Appendix
Interconnect Diagrams
Objectives
This appendix contains the following interconnect diagrams: Ultra5000 and Motor Cable Diagrams Ultra5000 Power Wiring Diagrams Using an Emergency Stop Contactor Grounding for Ultra5000 CE Requirements Ultra5000 Shunt Module Information
Ultra5000 and Motor Cable Diagrams
This section provides information to assist you in wiring your MP, N, H/F, W, and Y-Series motors when connecting to your Ultra5000.
Ultra5000 Drive and Motor Cable Combinations

The following figures describe the motor power, feedback, and interface cables you will need for your specific Ultra5000 and motor combination.
B-2
Figure B.1 Ultra5000 Motor/Drive Cable Connections
Motor Power Cables 500W, 1 kW, 2 kW Ultra5000 to H-Series Motors 500W, 1 kW, 2 kW Ultra5000 to H-Series Motors 15 kW Ultra5000 to H-Series Motors 15 kW Ultra5000 to H-Series Motors 2 or 3 kW Ultra5000 to H and F-Series Motors 2 or 3 kW Ultra5000 to H and F-Series Motors 7.5 kW Ultra5000 to H and F-Series Motors 7.5 kW Ultra5000 to H and F-Series Motors 15 kW Ultra5000 to H and F-Series Motors 15 kW Ultra5000 to H and F-Series Motors 500W, 1 kW, 2 kW Ultra5000 to MP-Series Motors 2 or 3 kW Ultra5000 to MP-Series Motors 7.5 kW Ultra5000 to MP-Series Motors 500W, 1 kW, 2 kW Ultra5000 to N-Series Motors 500W, 1 kW, 2 kW Ultra5000 to N-Series Motors 500W, 1 kW, 2 kW Ultra5000 to Y-Series Motors Feedback Cables Ultra5000 CN2 port to H-Series Motors, RA Flying Leads on drive-end to H-Series Motor, RA Ultra5000 CN2 port to H and F-Series Motors Flying Leads on drive-end to H and F-Series Motor Ultra5000 CN2 port to H and F-Series Motors, RA Ultra5000 CN2 port to H and F-Series Motors, RA, skewed Ultra5000 CN2 port to MP-Series Motors Flying Leads on drive-end to MP-Series Motor Ultra5000 CN2 port to N-Series Motors Flying leads on drive-end to N-Series Motors Ultra5000 CN2 port to N-Series Motors, RA Ultra5000 CN2 port to N-Series Motors, RA, skewed Ultra5000 CN2 port to N-Series Motors, RA, skewed Flying leads on drive-end to N-Series Motors, RA, skewed Flying leads on drive-end to N-Series Motors, RA Ultra5000 CN2 port to Y-Series Motors Flying Leads on drive-end to Y-Series Motor Drive Feedback Cable (CN2) to flying leads, straight Interface Cables and Kits Ultra5000 CN2 port drive mounted breakout board CN2 Breakout Board Kit (see description on page C-8 CN2 Breakout Board Cable (see description on page C-8 Ultra5000 CN3 port drive mounted breakout board Ultra5000 CN3 port to personal computer
Catalog Number
2090-UXNPAH-16Sxx 2090-UXNPAH-16Rxx 2090-UXNPAH-6Sxx 2090-UXNPAH-6Rxx 2090-UXNPAHF-14Sxx 2090-UXNPAHF-14Rxx 2090-UXNPAHF-10Sxx 2090-UXNPAHF-10Rxx 2090-UXNPAHF-8Sxx 2090-UXNPAHF-8Rxx 2090-UXNPAMP-16Sxx 2090-UXNPAMP-14Sxx 2090-UXNPAMP-10Sxx 2090-UXNPAN-16Sxx 2090-UXNPAN-16Rxx
2090-UXNPAY-16Sxx
Ultra5000
PWR
To Terminal Strip
Catalog Number
2090-UXNFBH-Rxx 2090-UXNFDH-Rxx 2090-UXNFBHF-Sxx 2090-UXNFDHF-Sxx 2090-UXNFBHF-Rxx 2090-UXNFBHF-Kxx 2090-UXNFBMP-Sxx 2090-UXNFDMP-Sxx 2090-UXNFBN-Sxx 2090-UXNFDN-Sxx 2090-UXNFBN-Rxx 2090-UXNFBN-Kxx 2090-UXNFDN23-Kxx 2090-UXNFDN23-Kxx 2090-UXNFDN-Rxx 2090-UXNFBY-Sxx 2090-UXNFDY-Sxx 2090-UXNFM-Sxx
To CN2
Catalog Number
2090-UXBB-DM15 2090-UXBK-D15xx 2090-UXBC-D15xx 2090-UXBB-DM09 2090-UXPC-D09xx
To CN2 To CN3A or CN3B
Standard cable lengths are; 01, 03, 09, 15, 30 meters (3.3, 9.8, 29.5, 49.2, 98.5 ft). Where xx is the length in meters. 2090-UXBC-D15xx is limited to 1, 3, 9 or 15 meters (3.3, 9.8, 29.5, or 49.2 ft). e.g., Length of 2090-UXBB-DM15 is a fixed 15 meters (listed as Ultra5000 CN2 port drive mounted breakout board under Interface Cables and Kits).
B-3
Ultra5000 to Motor Interconnect Diagrams

Figure B.2 Ultra5000 to 1326AB-Bxxxx-M2L or -S2L Motor Configuration (mating connector)
Ultra5000
1 2 3 4 5 10 14 6 7 11 12 13 8 9 15
2090-UXNFBMP-Sxx Motor Feedback Cable with 15-pin Connector

AM+ AMBM+ BMIM+ IMEPWR_5V ECOM EPWR_9V TS+ S1 S2 S3 +LIMIT -LIMIT BLACK WHT/BLACK RED WHT/RED GREEN WHT/GREEN VIOLET WHT/VIOLET ORANGE WHT/ORANGE BLUE WHT/BLUE YELLOW WHT/YELLOW BROWN WHT/BROWN
1326AB-Bxxxx-M2L or -S2L Motor

SIN+ SINCOS+ COSDATA+ DATAN/C N/C POWER (+9V) TS+ TSN/C N/C N/C N/C N/C COM N/C N/C
A BROWN B C BLACK BLUE
U V W CN2
D GRN/YEL GND
DRAIN
A B C D E F K L N R S T U V J M P G H
M L K J H G U N
A B P V R S F E C D
Motor Feedback Connector
MOTOR FEEDBACK CONNECTIONS
Denotes twisted pair. Connector backshell shielded 360 backshell (both ends). ends).
A C
BR+ BRBRAKE
A B D C
MOTOR BRAKE CONNECTIONS
Motor Brake Connector
2090-UXNPAMP-xxSxx Motor Power Cable
C B A
W V U
GND
D B C
MOTOR POWER CONNECTIONS
Motor Power Connector
B-4
Figure B.3 Ultra5000 to 1326AB-Bxxxx-M2L or -S2L Motor Configuration (flying leads)
Ultra5000
1 2 3 4 5 10 14 6 7 11 12 13 8 9 15
2090-UXNFDMP-Sxx Motor Feedback Cable with Flying Leads

AM+ AMBM+ BMIM+ IMEPWR_5V ECOM EPWR_9V TS+ S1 S2 S3 +LIMIT -LIMIT BLACK WHT/BLACK RED WHT/RED GREEN WHT/GREEN VIOLET WHT/VIOLET ORANGE WHT/ORANGE BLUE WHT/BLUE YELLOW WHT/YELLOW BROWN WHT/BROWN A B C D E F K L N R S T U V J M P G H
1326AB-Bxxxx-M2L or -S2L Motor

SIN+ SINCOS+ COSDATA+ DATAN/C N/C POWER (+9V) TS+ TSN/C N/C N/C N/C N/C COM N/C N/C
M L K J H G U N
A B P V R S F E C D
U V W CN2
D GRN/YEL GND
DRAIN
BR+ BRBRAKE
A B D C
C B A
W V U
GND
D B C
B-5
Figure B.4 Ultra5000 to MP-Series Motor Configuration (mating connector)
Ultra5000
1 2 3 4 5 10 14 6 7 11 12 13 8 9 15
2090-UXNFBMP-Sxx Motor Feedback Cable with 15-pin Connector

AM+ AMBM+ BMIM+ IMEPWR_5V ECOM EPWR_9V TS+ S1 S2 S3 +LIMIT -LIMIT BLACK WHT/BLACK RED WHT/RED GREEN WHT/GREEN VIOLET WHT/VIOLET ORANGE WHT/ORANGE BLUE WHT/BLUE YELLOW WHT/YELLOW BROWN WHT/BROWN
MP-Series Motor
A+ or SIN+ A- or SINB+ or COS+ B- or COSI+ or DATA+ I- or DATAPOWER (+5V) COM POWER (+9V) TS+ TSS1 S2 S3 +LIMIT -LIMIT COM N/C N/C
U V W CN2
D GRN/YEL GND
DRAIN
A B C D E F K L N R S T U V J M P G H
M L K J H G U N
A B P V R S F E C D
A C
BR+ BRBRAKE
A B D C
C B A
W V U
GND
D B C
B-6
Figure B.5 Ultra5000 to MP-Series Motor Configuration (flying leads)
Ultra5000
1 2 3 4 5 10 14 6 7 11 12 13 8 9 15
2090-UXNFDMP-Sxx Motor Feedback Cable with Flying Leads

AM+ AMBM+ BMIM+ IMEPWR_5V ECOM EPWR_9V TS+ S1 S2 S3 +LIMIT -LIMIT BLACK WHT/BLACK RED WHT/RED GREEN WHT/GREEN VIOLET WHT/VIOLET ORANGE WHT/ORANGE BLUE WHT/BLUE YELLOW WHT/YELLOW BROWN WHT/BROWN A B C D E F K L N R S T U V J M P G H
MP-Series Motor
A+ or SIN+ A- or SINB+ or COS+ B- or COSI+ or DATA+ I- or DATAPOWER (+5V) COM POWER (+9V) TS+ TSS1 S2 S3 +LIMIT -LIMIT COM N/C N/C
M L K J H G U N
A B P V R S F E C D
U V W CN2
D GRN/YEL GND
DRAIN
BR+ BRBRAKE
A B D C
C B A
W V U
GND
D B C
B-7
Figure B.6 Ultra5000 to N-Series Motor Configuration (mating connector)
Ultra5000
1 2 3 4 5 10 14 6
2090-UXNFBN-Sxx Motor Feedback Cable with 15-pin Connector
N-Series Motor
A B C D E F J K L M S U T V R A+ AB+ BI+ I+5V DC +5V DC COM COM TSHALL B+ HALL A+ HALL C+ TS+
AM+ AMBM+ BMIM+ IMEPWR_5V ECOM
BLACK WHT/BLACK RED WHT/RED GREEN WHT/GREEN GRAY WHT/GRAY
M L K J H G U N
A B P V R S F E C D
U V W CN2
13 12 8 11
S2 S1 S3 TS+
D GRN/YEL GND
7 N/C 9 N/C 15 N/C

GND
BLUE WHT/BLUE BROWN WHT/BROWN ORANGE WHT/ORANGE VIOLET WHT/VIOLET YELLOW WHT/YELLOW DRAIN
G H N P
GND
N/C N/C N/C N/C
A B C
BR+ BRN/C BRAKE

C B A
N/C
2090-UXNPAN-xxSxx Motor Power Cable
D C B A W V U GND
E D A B C
B-8
Figure B.7 Ultra5000 to N-Series Motor Configuration (flying leads)
Ultra5000
1 2 3 4 5 10 8
2090-UXNFDN-Sxx Motor Feedback Cable with Flying Leads

AM+ AMBM+ BMIM+ IMN/C S3 POWER (+5V) ECOM N/C N/C S2 S1 TS+ ECOM BLACK WHT/BLACK RED WHT/RED GREEN WHT/GREEN ORANGE WHT/ORANGE A B C D E F H V G K J L M A+ AB+ BI+ IN/C HALL C+ GROUND +5V DC +5V DC COM COM
N-Series Motor
M L K J H G U N
A B P V R S F E C D
14 6
GRAY WHT/GRAY BLUE WHT/BLUE BROWN WHT/BROWN VIOLET WHT/VIOLET DRAIN
U V W CN2
13 12 11 6
D GRN/YEL GND
U T R S N P
HALL B+ HALL A+ TS+ TSN/C N/C
A B C BR+ BRN/C BRAKE
C B A
N/C
2090-UXNPAN-xxSxx Motor Power Cable
D C B A W V U GND
E D A B C
B-9
Figure B.8 Ultra5000 to H-, and F-Series Motor Configuration (mating connector)
Ultra5000
1 2 3 4 5 10 14 6
2090-UXNFBHF-Sxx 2090-UXNFBHF-Sxx Motor Feedback Cable with 15-pin Connector
H/F-Series Motor
A B C D E F J K L M S N T P R A+ AB+ BI+ I+5V DC +5V DC COM COM TSHALL B+ HALL A+ HALL C+ TS+
A M L K S J H T N
B C P D E F G
U V W CN2
13 12 8 11
S2 S1 S3 TS+
D GRN/YEL GND
7 N/C 9 N/C 15 N/C

GND
G H
N/C N/C
GND
A B
BR+ BRBRAKE
2090-UXNPAHF-xx xx 2090-UXNPAHF-xxSxx Motor Power Cable
D C B A W GND V U
D C A B
B-10
Figure B.9 Ultra5000 to H-, and F-Series Motor Configuration (flying leads)
Ultra5000
1 2 3 4 5 10 14 6
2090-UXNFDHF-Sxx Motor Feedback Cable with Flying Leads
H/F-Series Motor
A B C D E F J K L M S N T P R A+ AB+ BI+ I+5V DC +5V DC COM COM TSHALL B+ HALL A+ HALL C+ TS+
A M L K S J H T N
B C P D E F G
U V W CN2
13 12 8 11
S2 S1 S3 TS+
D GRN/YEL GND
7 N/C 9 N/C 15 N/C

GND
G H
N/C N/C
GND
A B
BR+ BRBRAKE
2090-UXNPAHF-xxSxx Motor Power Cable
D C B A W GND V U
D C A B
B-11
Figure B.10 Ultra5000 to W-Series Motor Configuration (mating connector)
Ultra5000
1 2 3 4 5 10 14 6
2090-UXNFBHF-Sxx Motor Feedback Cable with 15-pin Connector
W-Series Motor
A B C D E F J K L M S N T P R 1 2 3 4 5 6 9 9 10 10 14 11 15 12 13
15 14 13 12 11 10 9 8 7
U V W CN2
13 12 8 11
S2 S1 S3 TS+
D GRN/YEL GND
7 N/C 9 N/C 15 N/C

GND
6 5 4 3 2 1
G H
N/C N/C
GND
D C B A
G U/R GND V/S W/T
R S T G
B-12
Figure B.11 Ultra5000 to W-Series Motor Configuration (flying leads)
Ultra5000
1 2 3 4 5 10 14 6
2090-UXNFDHF-Sxx Motor Feedback Cable with Flying Leads
W-Series Motor
A B C D E F J K L M S N T P R 1 2 3 4 5 6 9 9 10 10 14 11 15 12 13
15 15 14 14 13 13 12 12 11 11 10 10 9 8 7
U V W CN2
13 12 8 11
S2 S1 S3 TS+
D GRN/YEL GND
7 N/C 9 N/C 15 N/C

GND
6 5 4 3 2 1
G H
N/C N/C
GND
D C B A
G U/R GND V/S W/T
R S T G
B-13
Figure B.12 Ultra5000 to Y-Series Motor Configuration (mating connector)
Ultra5000
1 2 3 4 5 10 14 6 13 12 8 11 7 9 15
2090-UXNFBY-Sxx Motor Feedback Cable with 15-pin Connector

AM+ AMBM+ BMIM+ IMEPWR_5V ECOM S2 S1 S3 N/C N/C N/C N/C BLACK WHT/BLACK RED WHT/RED GREEN WHT/GREEN GRAY WHT/GRAY BLUE WHT/BLUE BROWN WHT/BROWN 9 10 11 12 13 14 22 23 17 15 19 24 1 2 3 4 5 6 7 8 16 18 20 21 25 26 27 28 A+ AB+ BI+ I+5V DC COM HALL B+ HALL A+ HALL C+ N/C N/C N/C N/C N/C N/C N/C N/C N/C N/C N/C N/C N/C N/C N/C N/C N/C
Y-Series Motor
1 4 9 15 21 26
3 8 14 20 25 28
1 2 3
RED BLACK WHITE
U V W CN2
Denotes twisted pair. 20 POS SCSI backshell shielded 360 backshell
5 GRN/YEL GND
7 YELLOW BR+ 9 YELLOW BR-
BR9 7
2090-UXNPAY-xxSxx Motor Power Cable
7 5 3 2 1
BR+
BRAKE
W V U

GND
MOTOR POWER AND BRAKE CONNECTIONS
B-14
Figure B.13 Ultra5000 to Y-Series Motor Configuration (flying leads)
Ultra5000
2090-UXNFDY-Sxx Motor Feedback Cable with Flying Leads

14 EPWR_5V 6 ECOM N/C N/C N/C N/C 1 AM+ 2 AM3 BM+ 4 BM5 IM+ 10 IM12 S1 13 S2 8 S3 N/C N/C N/C GRAY WHT/GRAY BROWN WHT/BROWN YELLOW WHT/YELLOW BLACK WHT/BLACK RED WHT/RED GREEN WHT/GREEN ORANGE WHT/ORANGE BLUE WHT/BLUE VIOLET WHT/VIOLET DRAIN 22 23 +5V DC COM
Y-Series Motor
1 2 3
RED BLACK WHITE
U V W CN2
9 10 11 12 13 14 15 17 19
A+ AB+ BI+ IHALL A+ HALL B+ HALL C+
1 4 9 15 21 26
3 8 14 20 25 28
5 GRN/YEL GND
Denotes twisted pair
7 YELLOW BR+ 9 YELLOW BR-
24 1 2 3 4 5 6 7 8 16 18 20 21 25 26 27 28
N/C N/C N/C N/C N/C N/C N/C N/C N/C N/C N/C N/C N/C N/C N/C N/C N/C
BR9 7
2090-UXNPAY-xxSxx Motor Power Cable
7 5 3 2 1
BR+
BRAKE
W V U

GND
MOTOR POWER AND BRAKE CONNECTIONS
MOTOR INPUT POWER WIRES TERMINALS DRIVES 2098-IPD-005-xx L1,L2/N 4 2098-IPD-020-xx 10 NOTE: POWER INITIALIZATION REQUIRES A SHORT PERIOD OF INRUSH CURRENT OF 100A FOR THE INPUT. DUAL ELEMENT TIME DELAY (SLOW BLOW) FUSES ARE RECOMMENDED. FUSE SIZES MUST BE SELECTED ACCORDING TO LOCAL REGULATIONS. 18.0 Amps AC at 100-240 Volts AC 2098-IPD-010-xx 9.0 Amps AC at 100-240 Volts AC 5.0 Amps AC at 100-240 Volts AC CURRENT REQUIREMENT, MAXIMUM (AMPS AC RMS) DRIVE TERMINALS PIN A B C W 2098-IPD-005-xx L1,L2/N MOTOR CASE 2098-IPD-010-xx 2098-IPD-020-xx L1,L2/N 2 3.0mm (12 AWG) 2 2.5mm (14 AWG) L1,L2/N D 2 1.5mm (16 AWG) V U
POWER
WIRES
U, V, W, AND GND
MOTOR POWER CONNECTOR SIGNAL DIGITAL DRIVE MODULE INPUT CURRENT REQUIREMENTS RECOMMENDED POWER WIRE mm2 (AWG) (75C COPPER MIN)
MOTOR
MOTOR POWER MATING CONNECTOR CONTACT SIZE 2 mm (AWG)
MINIMUM RECOMMENDED POWER WIRE 2 mm (AWG) (75C COPPER MIN)
2 1.5mm (16 AWG)
1.5mm (16 AWG)
10 TORQUE ALL TERMINALS TO 1.25 Nm (11 LB-IN.)
2 3.0mm (12 AWG)
TERMINAL STRIP ACCEPTABLE WIRE RANGE ?mm 2 (AWG) 2 0.5-4.0mm (20-12 AWG)
Ultra5000 Power Wiring Diagrams
2 2.5mm (14 AWG)
INTELLIGENT POSITIONING DRIVE INTELLIGENT POSITIONING DRIVE
Y-SERIES N-SERIES LD-2003 H-3007 LD-3009 LD-4012 LD-4030 H-3016 H-4030 F-4030 MPL-A310 MPL-A320 H-4050 F-4050 MPL-A330 MPL-A420 MPL-A430 MPL-A4520 MPL-A4530 9 FUSE BLOCK M1 9 FUSE BLOCK M2 AC LINE FILTER MOTOR POWER CONNECTOR AND MATING CONNECTOR DC+ DCL1 L2/N U V W 9 AC LINE FILTER U V W DC+ DCL1 L2/N 9
2 3.0mm (12 AWG)
This drawing included for reference only.

11 TERM. BLOCK COMPATIBLE MOTORS
11 COMPATIBLE MOTORS
12
2 L1
FUSED DISCONNECT OR CIRCUIT BREAKER
SINGLE PHASE AC LINE 50/60Hz 5 L2/N COMMON GROUNDING POINT FOR AMPLIFIER SYSTEM (ONE PER AXIS) TRANSFORMER CHASSIS
ISOLATION OR AUTO TRANSFORMER (OPTIONAL, NOT REQUIRED WHEN DESIRED INPUT VOLTAGE IS AVAILABLE DIRECTLY FROM THE LINE)
COMMON GROUNDING POINT FOR AMPLIFIER SYSTEM (ONE PER AXIS)
Figure B.14 Typical Power Wiring of Ultra5000 System 2098-IPD-005-xx, -010-xx, and -020-xx
TO PROTECTIVE EARTH TERMINAL
MACHINE COMMON GROUNDING BUS BAR
NOTES
A SUPPLY DISCONNECTING DEVICE IS REQUIRED FOR MAINTENANCE & SAFETY. LOCAL REGULATIONS SHOULD BE OBSERVED. IF A GROUNDED NEUTRAL IS USED INSTEAD OF L2, ONLY L1 MAY BE SWITCHED OR FUSED.
CURRENT RATINGS ARE INDEPENDENT OF THE INPUT VOLTAGE. REDUCED VOLTAGE WILL RESULT IN A REDUCTION IN SPEED, BUT NOT TORQUE.
DRIVE RATED 100-240 VAC RMS, SINGLE PHASE INPUT VOLTAGE (230 VAC STANDARD).
6.
DO NOT DAISY CHAIN DRIVE MODULE POWER CONNECTIONS. MAKE SEPARATE CONNECTIONS DIRECTLY TO THE AC SUPPLY.
8.
MULTIPLE DRIVE MODULES MAY BE POWERED FROM ONE TRANSFORMER OR OTHER AC SUPPLY SOURCE.
AC LINE FILTER AND SHIELDED MOTOR CABLE ARE TO BE USED FOR IMPROVING THE DRIVE MODULES ELECTROMAGNETIC COMPATIBILITY, AND ARE REQUIRED TO MEET THE EUROPEAN ELECTROMAGNETIC COMPATIBILITY DIRECTIVE. CAUTION: AC LINE FILTERS HAVE LARGE LEAKAGE CURRENTS AND REQUIRE DISCHARGE TIME UPON POWER REMOVAL. WIRING BETWEEN THE DRIVE MODULE AND FILTER SHOULD BE KEPT AS SHORT AS POSSIBLE. THE COMMON GROUND BUS BAR SHOULD BE AS CLOSE TO THE DRIVE AS POSSIBLE.
10
WIRE SIZES ARE MINIMUM RECOMMENDED VALUES. THE REQUIREMENTS OF LOCAL REGULATIONS SHOULD BE OBSERVED.
This section provides information to assist you with AC input and motor power wiring to your Ultra5000 drive.
11
TERMINATE THE MOTOR POWER CABLE SHIELD BY CLAMPING IT TO THE DRIVE WITH THE BRACKET PROVIDED. THIS BRACKET CAN BE USED FOR STRAIN RELIEF IF NON-SHIELDED CABLES ARE USED. SNUG BRACKET SCREWS, DO NOT OVER TIGHTEN. NEVER TORQUE OVER 10 LB-IN.
B-15
12
IF USING AN AUTOTRANSFORMER, ENSURE THE PHASE TO NEUTRAL/GROUND VOLTAGE DOES NOT EXCEED 265V AC AT THE DRIVE AC INPUT.
B-16
MOTOR POWER WIRES U, V, W, AND GND INPUT POWER WIRES

DRIVE
4 10 PIN SIGNAL U V W MOTOR CASE A B C
MOTOR POWER CONNECTOR DIGITAL DRIVE MODULE INPUT CURRENT REQUIREMENTS

TERMINALS L1,L2/N DRIVE 2098-IPD-030-xx CURRENT REQUIREMENT, MAXIMUM (AMPS AC RMS) 28.0 Amps AC at 100-240 Volts AC TERMINALS L1,L2/N 6 mm (10 AWG)
2 RECOMMENDED POWER WIRE mm 2 (AWG) (75C COPPER MIN)
MOTOR
MOTOR POWER MATING CONNECTOR CONTACT SIZE mm2 (AWG)
MINIMUM RECOMMENDED POWER WIRE mm2 (AWG) (75C COPPER MIN)
LD-2003 H-2005
2098-IPD-030-xx
NOTE: POWER INITIALIZATION REQUIRES A SHORT PERIOD OF INRUSH CURRENT OF 50A FOR THE MAIN INPUT AND 95A FOR THE AUXILIARY INPUT. DUAL ELEMENT TIME DELAY (SLOW BLOW) FUSES ARE RECOMMENDED. FUSE SIZES MUST BE SELECTED ACCORDING TO LOCAL REGULATIONS.
H-3007 LD-3009 H-3016
1.5mm (16 AWG)
LD-4012 LD-4030 H-4030 TERMINAL STRIP ACCEPTABLE WIRE RANGE 2 mm (AWG) 0.5-6.0mm (22-10 AWG) 10 3 TORQUE ALL TERMINALS TO 1.25 Nm (11 LB-IN.) 3
2
1.5mm (16 AWG)
3.0mm (12 AWG)

9
2.5mm (14 AWG)

9 TB2 DC BUS U V W 9 FUSE BLOCK 7 M2 AC LINE FILTER L1 Aux L2 Aux TB1 1 11 TERM. BLOCK COMPATIBLE MOTORS COMPATIBLE MOTORS L1 11 DC+ DCL1 L2/N 7 M1 AC LINE FILTER L1 Aux L2 Aux TB1 DC+ DCL1 L2/N U V W DC BUS
INTELLIGENT POSITIONING DRIVE 1 2 3 TB2

INTELLIGENT POSITIONING DRIVE 1 2 3 9 FUSE BLOCK MOTOR POWER CONNECTOR MATING 1 MOTOR POWER CONNECTOR 5 L2/N COMMON GROUNDING POINT FOR AMPLIFIER SYSTEM (ONE PER AXIS)
F-4030 MPL-A310 MPL-A320 H-4050 F-4050 H-4075 F-4075 MPL-A330 MPL-A420 MPL-A430 MPL-A4520 MPL-A4530
3.0mm (12 AWG)
12
SINGLE PHASE AC LINE 50/60Hz TRANSFORMER CHASSIS
Figure B.15 Typical Power Wiring of Ultra5000 System 2098-IPD-030-xx
ISOLATION OR AUTO TRANSFORMER (OPTIONAL, NOT REQUIRED WHEN DESIRED INPUT VOLTAGE IS AVAILABLE DIRECTLY FROM THE LINE)
NOTES 8 9 MULTIPLE DRIVE MODULES MAY BE POWERED FROM ONE TRANSFORMER OR OTHER AC SUPPLY SOURCE.
MAY BE USED TO KEEP LOGIC SECTION OF DRIVE MODULE SUPPLIES POWERED AFTER MAIN AC SUPPLY IS TURNED OFF AT L1, L2\N TERMINALS (EXAMPLE: TO RETAIN DIAGNOSTIC STATUS OF DRIVE MODULE AFTER L1, L2\N POWER DOWN). SEPARATE SUPPLY PHASES MAY BE USED WHEN VOLTAGE BETWEEN ANY TWO TERMINALS DOES NOT EXCEED 265V AC RMS.
A SUPPLY DISCONNECTING DEVICE IS REQUIRED FOR MAINTENANCE & SAFETY. LOCAL REGULATIONS SHOULD BE OBSERVED. IF A GROUNDED NEUTRAL IS USED INSTEAD OF L2, ONLY L1 MAY BE SWITCHED OR FUSED. 10 11
AC LINE FILTER AND SHIELDED MOTOR CABLE ARE TO BE USED FOR IMPROVING THE DRIVE MODULES ELECTROMAGNETIC COMPATIBILITY, AND ARE REQUIRED TO MEET THE EUROPEAN ELECTROMAGNETIC COMPATIBILITY DIRECTIVE. CAUTION: AC LINE FILTERS HAVE LARGE LEAKAGE CURRENTS AND REQUIRE DISCHARGE TIME UPON POWER REMOVAL. WIRING BETWEEN THE DRIVE MODULE AND FILTER SHOULD BE KEPT AS SHORT AS POSSIBLE. THE COMMON GROUND BUS BAR SHOULD BE AS CLOSE TO THE DRIVE AS POSSIBLE. WIRE SIZES ARE MINIMUM RECOMMENDED VALUES. THE REQUIREMENTS OF LOCAL REGULATIONS SHOULD BE OBSERVED.
JUMPER INSTALLED AT FACTORY FOR INTERNAL SHUNT.
DRIVE RATED 100-240 VAC RMS, SINGLE PHASE INPUT VOLTAGE (230 VAC STANDARD). 12
TERMINATE THE MOTOR POWER CABLE SHIELD BY CLAMPING IT TO THE DRIVE WITH THE BRACKET PROVIDED. THIS BRACKET CAN BE USED FOR STRAIN RELIEF IF NON-SHIELDED CABLES ARE USED. SNUG BRACKET SCREWS, DO NOT OVER TIGHTEN. NEVER TORQUE OVER 10 LB-IN. IF USING AN AUTOTRANSFORMER, ENSURE THE PHASE TO NEUTRAL/GROUND VOLTAGE DOES NOT EXCEED 265V AC AT THE DRIVE AC INPUT.
DRIVE ENABLE INPUT MUST BE OPENED WHEN MAIN POWER IS REMOVED AND AUXILIARY POWER IS PRESENT, OR A DRIVE FAULT WILL OCCUR.

TERMINALS DRIVE CURRENT REQUIREMENT, MAXIMUM (AMPS AC RMS) 30.0 Amps AC at 100-240 Volts AC, Three Phase 2098-IPD-075-xx L1,L2,L3
4 10 PIN SIGNAL U V W 2 A B C

DRIVE 2098-IPD-075-xx L1,L2,L3 6.0 mm (10 AWG) TERMINALS
RECOMMENDED POWER WIRE mm 2 (AWG) (75C COPPER MIN)
MOTOR
2.5mm (14 AWG)

D MOTOR CASE
3.0mm (12 AWG)

10 TERMINAL STRIP ACCEPTABLE WIRE RANGE 2 mm (AWG) 0.5-6.0mm (22-10 AWG) 3 TORQUE ALL TERMINALS TO 1.25 Nm (11 LB-IN.) 3
2
3.0mm (12 AWG)
H-4050 F-4050 H-4075 F-4075 MPL-A420 MPL-A430 MPL-A4520 MPL-A4530 H-6100 F-6100 H-6200 F-6200
10.0mm (8 AWG)
6mm (10 AWG)
INTELLIGENT POSITIONING DRIVE 1 2 3 9 TB2 DC BUS U V W 7 M2 AC LINE FILTER TB2 DC BUS U V W 9 FUSE BLOCK 7 M1 AC LINE FILTER L1 Aux L2 Aux TB1 TB1 DC+ DCL1 L2 L3 DC+ DCL1 L2 L3 L1 Aux L2 Aux
INTELLIGENT POSITIONING DRIVE 1 2 3 9
9 FUSE BLOCK
MOTOR POWER CONNECTOR MATING
1 11 COMPATIBLE MOTORS TERM. BLOCK
MOTOR POWER CONNECTOR 11
12
2 L1 COMMON GROUNDING POINT FOR AMPLIFIER SYSTEM (ONE PER AXIS) L2/N TRANSFORMER CHASSIS L3
COMPATIBLE MOTORS
ISOLATION OR AUTO TRANSFORMER (OPTIONAL, NOT REQUIRED WHEN DESIRED INPUT VOLTAGE IS AVAILABLE DIRECTLY FROM THE LINE) 5
THREE PHASE AC LINE 50/60Hz
MAY BE USED TO KEEP LOGIC SECTION OF DRIVE MODULE SUPPLIES POWERED AFTER MAIN AC SUPPLY IS TURNED OFF AT L1, L2, L3 TERMINALS (EXAMPLE: TO RETAIN DIAGNOSTIC STATUS OF DRIVE MODULE AFTER L1, L2, L3 POWER DOWN). SEPARATE SUPPLY PHASES MAY BE USED WHEN VOLTAGE BETWEEN ANY TWO TERMINALS DOES NOT EXCEED 265V AC RMS.
DRIVE RATED 100-240 VAC RMS, THREE PHASE INPUT VOLTAGE (230 VAC STANDARD). 12
B-17
B-18

TERMINALS DRIVE CURRENT REQUIREMENT, MAXIMUM (AMPS AC RMS) 46.0 Amps AC at 100-240 Volts AC, Three Phase 2098-IPD-150-xx L1,L2,L3
4 10 PIN SIGNAL U V W A B C

DRIVE 2098-IPD-150-xx L1,L2,L3 10 mm (8 AWG)
2
MOTOR
TERMINALS
H-6100 D MOTOR CASE
6mm (10 AWG)
F-6100 H-6200 F-6200
10.0mm (8 AWG)
H-6300 F-6300 10 TERMINAL STRIP ACCEPTABLE WIRE RANGE 2 mm (AWG) 0.5-6.0mm (22-10 AWG) 3 3 8-14mm 2 (12-6 AWG) TORQUE ALL TERMINALS TO 2.26 Nm (20 LB-IN.) 9 TB2 DC BUS U V W 7 M2 AC LINE FILTER L1 Aux L2 Aux TB1 MOTOR POWER CONNECTOR 1 11 COMPATIBLE MOTORS COMPATIBLE MOTORS L1 COMMON GROUNDING POINT FOR AMPLIFIER SYSTEM (ONE PER AXIS) L2/N TRANSFORMER CHASSIS L3 TERM. BLOCK 1 11 9 INTELLIGENT POSITIONING DRIVE 1 2 3 TB2 DC BUS U V W 9 FUSE BLOCK DC+ DCL1 L2 L3 MOTOR POWER CONNECTOR MATING 7 M1 AC LINE FILTER L1 Aux L2 Aux TB1 DC+ DCL1 L2 L3 TORQUE ALL TERMINALS TO 1.25 Nm (11 LB-IN.) INTELLIGENT POSITIONING DRIVE 1 2 3
2
10mm (8 AWG)
H8350
25.0mm (4 AWG)

9 FUSE BLOCK
H-8500
16mm (6 AWG)
12
ISOLATION OR AUTO TRANSFORMER (OPTIONAL, NOT REQUIRED WHEN DESIRED INPUT VOLTAGE IS AVAILABLE DIRECTLY FROM THE LINE) 5
MAY BE USED TO KEEP LOGIC SECTION OF DRIVE MODULE SUPPLIES POWERED AFTER MAIN AC SUPPLY IS TURNED OFF AT L1, L2, L3 TERMINALS (EXAMPLE: TO RETAIN DIAGNOSTIC STATUS OF DRIVE MODULE AFTER L1, L2, L3 POWER DOWN). SEPARATE SUPPLY PHASES MAY BE USED WHEN VOLTAGE BETWEEN ANY TWO TERMINALS DOES NOT EXCEED 265V AC RMS.

TERMINALS DRIVE CURRENT REQUIREMENT, MAXIMUM (AMPS AC RMS) 4.0 Amps AC at 230-480 Volts AC, Three Phase 7.0 Amps AC at 230-480 Volts AC, Three Phase 14.0 Amps AC at 230-480 Volts AC, Three Phase 20.0 Amps AC at 230-480 Volts AC, Three Phase 28.0 Amps AC at 230-480 Volts AC, Three Phase 2098-IPD-HV030-xx 2098-IPD-HV050-xx L1, L2, L3 2098-IPD-HV100-xx 2098-IPD-HV150-xx
4 9 PIN SIGNAL U V W MOTOR CASE A B C D

DRIVE 2098-IPD-HV030-xx 2.5 mm (14 AWG) 2.5 mm (14 AWG) L1,L2,L3 4.0 mm (12 AWG) 6.0 mm2 (10 AWG) 10 mm (8 AWG)
2 2 2 2
MOTOR
TERMINALS
MPL-B3xx
MPL-B4xx
MPL-B45xx
4.0 mm (12 AWG) 2098-IPD-HV100-xx 2098-IPD-HV150-xx

9
1.5 mm (16 AWG) 2098-IPD-HV220-xx
2098-IPD-HV050x-xx
1326AB-B4xxx
1326AB-B5xxx
1326AB-B720E
4.0 mm (12 AWG) 2098-IPD-HV220-xx
1326AB-B720F
1326AB-B730E
10 mm (8 AWG)
6.0 mm (10 AWG)
NOTE: POWER INITIALIZATION REQUIRES A SHORT PERIOD OF INRUSH CURRENT FOR THE MAIN INPUT AND FOR THE AUXILIARY INPUT. DUAL ELEMENT TIME DELAY (SLOW BLOW) FUSES ARE RECOMMENDED. FUSE SIZES MUST BE SELECTED ACCORDING TO LOCAL REGULATIONS.
1326AB-B740C
1326AB-B740E
10 mm (8 AWG)
3 3
2
TERMINAL STRIP ACCEPTABLE WIRE RANGE 2 mm (AWG) 0.5-6.0mm (22-10 AWG) TORQUE ALL TERMINALS TO 1.25 Nm (11 LB-IN.) TB2 INTELLIGENT POSITIONING DRIVE 1 2 3
INTELLIGENT POSITIONING DRIVE 1 2 3 TB2
8 8 FUSE BLOCK M2 AC LINE FILTER L3 L2 L1 L1 Aux L2 Aux TB1 1
8 FUSE BLOCK M1 AC LINE FILTER L3 L2 L1 L1 Aux L2 Aux TB1
DC+ DCW V U
DC+ DCW V U
MOTOR POWER CONNECTOR MATING
1 10 COMPATIBLE MOTORS
MOTOR POWER CONNECTOR 10 COMPATIBLE MOTORS
11
TERM. BLOCK
ISOLATION OR AUTO TRANSFORMER (OPTIONAL, NOT REQUIRED WHEN DESIRED INPUT VOLTAGE IS AVAILABLE DIRECTLY FROM THE LINE) 5 COMMON GROUNDING POINT FOR AMPLIFIER SYSTEM (ONE PER AXIS)
Figure B.18 Typical Power Wiring of Ultra5000 System 2098-IPD-HVxxx-xx
TRANSFORMER CHASSIS
L1/2 AUX MAY BE USED TO KEEP LOGIC SECTION OF DRIVE MODULE SUPPLIES POWERED AFTER MAIN AC SUPPLY IS TURNED OFF AT L1, L2, L3 TERMINALS (EXAMPLE: TO RETAIN DIAGNOSTIC STATUS OF DRIVE MODULE AFTER L1, L2, L3 POWER DOWN). SEPARATE SUPPLY PHASES MAY BE USED WHEN VOLTAGE BETWEEN ANY TWO TERMINALS DOES NOT EXCEED 528V AC RMS.
TERMINATE THE MOTOR POWER CABLE SHIELD BY CLAMPING IT TO THE DRIVE WITH THE BRACKET PROVIDED. THIS BRACKET CAN BE USED FOR STRAIN RELIEF IF NON-SHIELDED CABLES ARE USED. SNUG BRACKET SCREWS, DO NOT OVER TIGHTEN. NEVER TORQUE OVER 10 LB-IN. IF USING AN AUTOTRANSFORMER, ENSURE THE PHASE TO NEUTRAL/GROUND VOLTAGE DOES NOT EXCEED THE INPUT RATINGS OF THE DRIVE.
B-19
B-20
Using an Emergency Stop Contactor
Some applications require that a contactor be inserted between the motor and Ultra5000 for emergency stop purposes. To determine if this is necessary, perform a hazard analysis of the machine. If used, the contactor must not simply break the motor current, it must switch a 3-phase resistive load in parallel with the motor windings. The three resistors provide dynamic braking and a category zero stop. The resistors also prevent continuous arcing at the main contacts when breaking DC currents, such as when the motor is at stall. It is important to sequence the E-stop string to disable the drive prior to or at the same time the contactor is released. Conversely, upon power-up the contactor must be fully engaged before the drive is enabled. Use an auxiliary contact on the contactor for the drive enable circuit for sequencing. ATTENTION To avoid personal injury and/or equipment damage, do not simply break the motor current. This can result in very high voltages due to motor inductance, prolonged arcing in the contactor, and eventually can cause fire in extreme cases.
!
ATTENTION
Shield and ground cable connection methods are shown in Figure B.19. Implementation of safety circuits and risk assessment is the responsibility of the machine builder. Please reference international standards EN1050 and EN954 estimation and safety performance categories. For more information refer to Understanding the Machinery Directive, publication SHB-900.
B-21
Figure B.19 Emergency Stop Contactor Wiring Resistors Contactors

1 1 1 1 1 1
U Drive V W Gnd
2
U V Motor W Gnd
Unbraided shield Grounded terminal or stud
Isolated terminal Enclosure wall
Exposed power wiring conductors that are not shielded are a source of RFI noise. Keep exposed conductors as short as possible and isolated from sensitive devices and wiring. The safety ground (GND) and shield connections are permanently connected. This is essential for electrical safety. Unbraid all cable shields and bond together, connecting directly to the grounded terminal or stud. Do not use the shield drain wire for this bonded connection.
IMPORTANT
The safety ground is not connected to local ground at the point where the contactor is inserted in the lines, but the shield is. This is done for EMC reasons.
B-22
Grounding for Ultra5000 CE Requirements
This section provides information to assist you in complying with CE requirements. Figure B.20 briefly outlines Ultra5000 CE requirements. Refer to Complying with European Union Directives on page 1-1 for information on how to determine compliance of specific products.
Figure B.20 Ultra5000 CE Requirements
Ground Conduit to Enclosure Enclosure User Supplied Discrete I/O
Single- or Three-Phase Mains with Ground Conduit Clamp
E Note 1
Unfiltered Conductors User Supplied or Internal 24V Power Source Single-Phase Discrete I/O
Filtered Conductors
Note 2 Note Bonded Cabinet 3 Ground Bus

Enclosure
Note 4
Motor
1
Mount the filter as close to the Ultra5000 as possible. If the distance exceeds 600 mm (2.0 ft), use a strap (greater in width than length) rather than a wire, to connect the ground between the Ultra5000 and the filter. This is particularly important for attenuation of higher frequency emissions (5-30 MHz). Shield or separate the wires connecting the AC power to the filter from other power cables (e.g., connections between the Ultra5000 and the filter, motor power cable, etc.). The best method of achieving this is to mount the filter near where the AC power enters the enclosure. If the connections are not separated from each other, the EMI on the Ultra5000 side of the filter can couple over to the source side of the filter, thereby reducing or eliminating the filters effectiveness. The coupling mechanism can radiate or allow stray capacitance between the wires. Filters need to be on all lines for filtering to be effective. When multiple power cables enter an enclosure, an unfiltered line can contaminate a filtered line. Bond the filter and the Ultra5000 to a grounded conductive surface (the enclosure) to establish a high frequency (HF) connection. To achieve the HF ground, the contact surface interface between the filter, Ultra5000, and the enclosure should be free from paint or any other type of insulator.
The filter shown is sized for one Ultra5000. Equivalent filters may be used for multiple units. Size the filter following the manufacturers recommendations. Ground bar is customer-supplied item. Clamp motor power cable shield for EMC termination.
3 4
IMPORTANT
All AC power in the cabinet must be filtered to reduce EMI.
ATTENTION
!
High voltage exists in AC line filters. The filter must be grounded properly before applying power. Filter capacitors retain high voltages after power removal. Before handling the equipment, voltages should be measured to determine safe levels. Failure to observe this precaution could result in personal injury.
B-23
Ultra5000 Shunt Module Information
This section directs you to information sources for wiring an active or passive shunt module to your Ultra5000 drive.
300 Watt Active Shunt Module

Use the 2090-UCSR-A300 active shunt module with the Ultra5000 (2098-IPD-005-xx, -010-xx, and -020-xx) drives. Use shielded, high temperature 75 C (167 F), 600V, 2.5-4.0 mm2 (12-14 AWG), 3.05 m (10 ft) maximum, copper wire. Follow one of the methods given below to reduce the effects of EMI noise: Install wires using twisted pairs (two turns per foot minimum), as shown in the figure above. Keep unshielded wires as short as possible. Use shielded, twisted cable (ground shield at shunt and drive). Use shielded metal conduit (ground conduit at shunt and drive). For more information, refer to the 300 Watt Active Shunt Regulator Installation Instructions, publication 2090-IN002.
200 Watt Passive Shunt Module

A 2090-UCSR-P200 passive shunt module can be used with the 230V Ultra5000 drive (2098-IPD-030-xx). Use shielded, high temperature 75 C (167 F), 600V, 2.5 mm2 (14 AWG), 3.05 m (10 ft) maximum, copper wire. Follow one of the methods given below to reduce the effects of EMI noise: Install wires using twisted pairs (two turns per foot minimum), as shown in the figure above. Keep unshielded wires as short as possible. Use shielded, twisted cable (ground shield at shunt and drive). Use shielded metal conduit (ground conduit at shunt and drive). For more information, refer to the 200 Watt Passive Shunt Module Installation Instructions, publication 2090-IN003.
B-24
900 Watt Passive Shunt Module

Use the 2090-UCSR-P900 passive shunt module with the Ultra5000 drives (2098-IPD-075-xx or 2098-IPD-150-xx). Use shielded, high temperature 75 C (167 F), 600V, 10 mm2 (8 AWG), 3.05 m (10 ft) maximum, copper wire. Follow one of the methods given below to reduce the effects of EMI noise: Install wires using twisted pairs (two turns per foot minimum), as shown in the figure above. Keep unshielded wires as short as possible. Use shielded, twisted cable (ground shield at shunt and drive). Use shielded metal conduit (ground conduit at shunt and drive). For more information, refer to the 900 Watt Passive Shunt Module Installation Instructions, publication 2090-IN001.
2090 Passive Shunt Module

A 2090-SRxxx-xx passive shunt module can be used with 460V Ultra5000 drives (2098-IPD-HV030-xx, -HV050-xx, -HV100-xx, -HV150-xx, and -HV220-xx) operating with 460V or 230V input power. Note: Fusing on the 2090-SRxxx-xx passive shunt module must be changed to accommodate 230V input power. Use shielded, high temperature 105 C (221 F), 600V, 6 mm2 (10 AWG), 3.05 m (10 ft) maximum, braided copper wire to connect between the drives TB2-1 and TB2-3 external shunt terminals and the shunt module terminals. Follow one of the methods below to reduce the effects of EMI noise: Install wires using twisted pairs (two turns per foot minimum). Keep unshielded wires as short as possible. Use shielded, twisted cable (ground shield at shunt and drive). Use shielded metal conduit (ground conduit at shunt and drive). For more information, refer to the 2090 Series Passive Shunts Installation Instructions, publication 2090-IN004.
Appendix
Catalog Numbers and Accessories
Chapter Objectives
This appendix lists the Ultra5000 drives and accessory items in tables by catalog number providing detailed descriptions of each component. This appendix describes catalog numbers for: Ultra5000 Drives Ultraware Software AC Line Filters External Shunt Kits Motor Power Cables Motor Feedback Cables Ultra5000 Interface Cables Break Out Boards, Cables, and Kits Mating Connector Kits Contact your local Allen-Bradley sales office for additional information. Refer to the Motion Control Selection Guide, publication GMC-SG001, for details on products.
C-2
Ultra5000 Drives
Use the following table to identify Ultra5000 240V drives with ratings of 500W, 1 kW, and 2 kW.
Description Catalog Number
2098-IPD-005, 2098-IPD-010, 2098-IPD-020 2098-IPD-005-DN, 2098-IPD-010-DN, 2098-IPD-020-DN
Ultra5000 Intelligent Positioning Drives with DeviceNet
Use the following table to identify Ultra5000 240V drives with ratings of 3 kW, 7.5 kW, and 15 kW.
2098-IPD-030, 2098-IPD-075, 2098-IPD-150 2098-IPD-030-DN, 2098-IPD-075-DN, 2098-IPD-150-DN
Use the following table to identify Ultra5000 460V drives with ratings of 3 kW, 5 KW, 10 kW, 15 kW, and 22 kW.
2098-IPD-HV030, 2098-IPD-HV050, 2098-IPD-HV100, 2098-IPD-HV150, 2098-IPD-HV220 2098-IPD-HV030-DN, 2098-IPD-HV050-DN, 2098-IPD-HV100-DN, 2098-IPD-HV150-DN, 2098-IPD-HV220-DN
Ultraware Software
The Ultra5000 drives are configured using Ultraware. Ultraware is a Windows based application that allows drive configuration to be done off-line and saved to disk.
Description Ultraware Software Catalog Number 2098-UWCPRG
C-3
AC Line Filters
Use the following table to identify the AC Line Filter for your application.
Description AC Line Filter Fuse Block 6 Amp 10 Amp 23 Amp 36 Amp 50 Amp 36 Amp 50 Amp 70 Amp Roxburgh Catalog Number Part Number MIF06 MIF10 MIF23 MDF36 MDF50 MDF336 MDF350 MDF370 MIF323 MIF330 MIF350 2090-UXLF-106 2090-UXLF-110 2090-UXLF-123 2090-UXLF-136 2090-UXLF-150 2090-UXLF-336 2090-UXLF-350 2090-UXLF-370 2090-UXLF-HV323 2090-UXLF-HV330 2090-UXLF-HV350
AC Line Filter (6 Amp, Single phase) AC Line Filter (10 Amp, Single phase) AC Line Filter (23 Amp, Single phase) AC Line Filter (36 Amp, Single phase) AC Line Filter (50 Amp, Single phase) AC Line Filter (36 Amp, Three phase) AC Line Filter (50 Amp, Three phase) AC Line Filter (70 Amp, Three phase)
AC Line Filter (23 Amp, Three phase, 480V) 23 Amp AC Line Filter (30 Amp, Three phase, 480V) 30 Amp AC Line Filter (50 Amp, Three phase, 480V) 50 Amp
C-4
External Shunt Kits
External shunts are available for use with Ultra5000 drives. Refer to Related Documentation on page P-3 to locate Installation Instructions for these shunts. Use the following tables to identify external shunt kits available for Ultra5000 drives. Refer to Ultra5000 Shunt Module Information on page B-23 for basic wiring guidelines.
If your drive is: 2098-IPD-005, -005-DN 2098-IPD-010, -010-DN 2098-IPD-020, -020-DN 2098-IPD-030, -030-DN 2098-IPD-075, -075-DN 2098-IPD-150, -150-DN 2098-IPD-HV030, -HV030-DN 2098-IPD-HV050, -HV050-DN 2098-IPD-HV100, -HV100-DN 2098-IPD-HV100, -HV100-DN 2098-IPD-HV150, -HV150-DN 2098-IPD-HV150, -HV150-DN 2098-IPD-HV220, -HV220-DN
1 2
You may use this shunt 300 Watt Active Shunt Module with 300 Watt Active Shunt Ferrites 200 Watt Passive Shunt Module 900 Watt Passive Shunt Module 900 Watt 2090 Passive Shunt Module 900 Watt 2090 Passive Shunt Module 1800 Watt 2090 Passive Shunt Module 900 Watt 2090 Passive Shunt Module 1800 Watt 2090 Passive Shunt Module 3600 Watt 2090 Passive Shunt Module
Catalog Number 2090-UCSR-A300 1
2090-UCSR-P200 2090-UCSR-P900 2090-SR120-09 2 2090-SR040-09 2 2090-SR040-18 2 2090-SR025-09 2 2090-SR025-18 2 2090-SR020-36 2
A 300W Active Shunt may be labelled with the obsolete Catalog Number 1398-SR3AF. Refer to 2090 Series Passive Shunts on page C-5 for general specifications.
C-5
300 Watt Active Shunt Ferrites

Ferrites are used at both ends of the DC Bus wires for CE radiated emissions compliance. Use the following table to select a ferrite assembly.
Box shaped ferrite assembly in fully enclosed nylon case. End ports are surrounded with flexible spring flutes to grip a range of cable diameters from.125 to.500 (3.2 to 12.7mm). FerriShield, Inc. 350 Fifth Avenue, Suite 7310 New York, NY 10118-7591
Mfg. Part/No. D E Impedance
SS28B2034 SS28B2037 SS28B2032
0.250 0.350 0.500
0.120 0.200 0.200
125 154 230
2090 Series Passive Shunts

2090-Series of Passive Shunts compatible with 460V Ultra5000 drives (i.e., -HV) are shown in the following table:
Applicable Drives Shunt Catalog No. 2090-SR120-09 2090-SR040-09 2090-SR040-18 2090-SR025-09 2090-SR025-18 2090-SR020-36 Shunt Ratings: Resistance 1 120 148 Ohms 40 51 Ohms 40 49 Ohms 25 32 Ohms 25 31 Ohms 20 25 Ohms Peak Power @ 460V 5.3 kW 16.0 kW 16.0 kW 25.6 kW 25.6 kW 32.0 kW Peak Power @ 230V 1.33 kW 2 4.0 kW 2 4.0 kW 2 6.4 kW 2 6.4 kW 2 8.0 kW 2 Power Continuous 900W 900W 1800W 900W 1800W 3600W
2098-IPD-HV030-xx 2098-IPD-HV050-xx 2098-IPD-HV100-xx 2098-IPD-HV100-xx 2098-IPD-HV150-xx 2098-IPD-HV150-xx 2098-IPD-HV220-xx

1Tolerance = +20%, - 0% 2
Replacement of the 460V fuse with the supplied 230V fuse kit is required to convert these shunts for use with Ultra Series HV drives operating on 230V input power.
C-6
Cables
Use the following tables to identify motor power, feedback, interface, and brake cables for your Ultra5000. Length of cable xx is in meters (01, 03, 09, 15, and 30) unless otherwise noted.
Motor Power Cables

Applicable Drive(s) 2098-IPD-005, -010, -020 Description H-Series Motor Power Cable, non-flex, 16 AWG, right angle H and W-Series Motor Power Cable, non flex, 16 AWG, straight MP-Series Motor Power Cable, non flex, 16 AWG, straight N-Series Motor Power Cable, non-flex, 16 AWG, right angle N-Series Motor Power Cable, non flex, 16 AWG, straight Y-Series Motor Power Cable, non flex, 16 AWG, straight 2098-IPD-020, -030, -HV030 Catalog Number 2090-UXNPAH-16Rxx 2090-UXNPAH-16Sxx 2090-UXNPAMP-16Sxx 2090-UXNPAN-16Rxx 2090-UXNPAN-16Sxx 2090-UXNPAY-16Sxx
H and F-Series Motor Power Cable, non-flex, 14 AWG, right angle 2090-UXNPAHF-14Rxx H, F and W-Series Motor Power Cable, non flex, 14 AWG, straight 2090-UXNPAHF-14Sxx MP-Series Motor Power Cable, non flex, 14 AWG, straight 2090-UXNPAMP-14Sxx 2090-UXNPBMP-16Sxx
2098-IPD-030, -050, -075, -100, -150, -HV030, -HV050, -HV100, -HV150 2098-IPD-075
MP-Series and 1326AB-Bxxxx-M2L or -S2L Motor Power Cable, non flex, 16 AWG, straight H and F-Series Motor Power Cable, non flex, 10 AWG, straight MP-Series Motor Power Cable, non flex, 10 AWG, straight
H and F-Series Motor Power Cable, non-flex, 10 AWG, right angle 2090-UXNPAHF-10Rxx 2090-UXNPAHF-10Sxx 2090-UXNPAMP-10Sxx 2090-UXNPBMP-10Sxx 2090-UXNPBMP-14Sxx 2090-UXNPBMP-8Sxx 2090-UXNPAH-6Rxx 2090-UXNPAH-6Sxx 2090-UXNPAHF-6Sxx 2090-UXNPAHF-8Rxx 2090-UXNPAHF-8Sxx
2098-IPD-075, -100, -150, -220, -HV100, -HV150 -HV220 2098-IPD-075, -100, -150, -HV100, -HV150 2098-IPD-150, --220, HV150, -HV220 2098-IPD-150, -HV150
MP-Series and 1326AB-Bxxxx-M2L or -S2L Motor Power Cable, non flex, 8 AWG, straight MP-Series Motor Power Cable, non flex, 8 AWG, straight MP-Series Motor Power Cable, non flex, 8 AWG, straight H-Series Motor Power Cable, non-flex, 6 AWG, right angle H-Series Motor Power Cable, non-flex, 6 AWG, straight H-8xxx Motor Power Cable, non-flex, 6 AWG, straight H and F-Series Motor Power Cable, non-flex, 8 AWG, right angle H and F-Series Motor Power Cable, non-flex, 8 AWG, straight
C-7
Motor Feedback Cables

Applicable Drive(s) All 2098-IPD-xxx and -HVxxx Description H, F and W-Series Motor Feedback Cable, non-flex, connector at both ends, right angle, skewed H, F and W-Series Motor Feedback Cable, non-flex, connector at both ends, right angle H, F and W-Series Motor Feedback Cable, non-flex, connector at both ends, straight H-Series Motor Feedback Cable, non-flex, connector at both ends, right angle 1326AB-Bxxxx-M2L or -S2L Motor Feedback Cable, non-flex, connector at both ends, straight MP-Series Motor Feedback Cable, non-flex, connector at both ends, straight N-Series Motor Feedback Cable, non-flex, connector at both ends, right angle, skewed N-Series Motor Feedback Cable, non-flex, connector at both ends, right angle, skewed N-Series Motor Feedback Cable, non-flex, connector at both ends, right angle N-Series Motor Feedback Cable, non-flex, connector at both ends, straight Y-Series Motor Feedback Cable, non-flex, connector at both ends, straight H, F and W-Series Motor Feedback Cable, non-flex, motor connector to flying leads, straight H, F and W-Series Motor Feedback Cable, non-flex, motor connector to flying leads, right angle 1326AB-Bxxxx-M2L or -S2L Motor Feedback Cable, non-flex, motor connector to flying leads, straight MP-Series Motor Feedback Cable, non-flex, motor connector to flying leads, straight N-Series Motor Feedback Cable, non-flex, motor connector to flying leads, right angle, skewed N-Series Motor Feedback Cable, non-flex, motor connector to flying leads, right angle N-Series Motor Feedback Cable, non-flex, motor feedback connector to flying leads, straight Y-Series Motor Feedback Cable, non-flex, motor feedback connector to flying leads, straight Drive Feedback Cable, non-flex, CN2 connector to flying leads, straight Catalog Number 2090-UXNFBHF-Kxx 2090-UXNFBHF-Rxx 2090-UXNFBHF-Sxx 2090-UXNFBH-Rxx 2090-UXNFBMP-Sxx 2090-UXNFBMP-Sxx 2090-UXNFBN23-Kxx 2090-UXNFBN-Kxx 2090-UXNFBN-Rxx 2090-UXNFBN-Sxx 2090-UXNFBY-Sxx 2090-UXNFDHF-Sxx 2090-UXNFDH-Rxx 2090-UXNFDMP-Sxx 2090-UXNFDMP-Sxx 2090-UXNFDN23-Kxx 2090-UXNFDN-Rxx 2090-UXNFDN-Sxx 2090-UXNFDY-Sxx 2090-UXNFM-Sxx
C-8
MP-Series Motor Brake Cable

Description MP-Series and 1326AB-Bxxxx-M2L or -S2L motor brake cable, 0.75 mm2 (18 AWG) Catalog Number 2090-UXNBMP-18Sxx
Ultra5000 Interface Cables

Description Interface cable, PanelView to Ultra5000 Serial Interface Cable, 9-pin D-shell, CN3 to personal computer. Catalog Number 2090-U5PV-D09xx 2090-UXPC-D09xx
Break Out Boards, Cables, and Kits
Use the following table to identify your break out board components.
Description Panel mount Break Out Board, 15-pin, high density D-shell, CN2 Break Out Board Cable, 15-pin, high density D-shell, CN2. Length of cable xx is in meters (01, 03, 09 and 15). Break Out Board Kit. Contains CN2 break out board and cable of length xx. Drive mounted Break Out Board for 15-pin CN2 connector. Drive mounted Break Out Board for 9-pin CN3A and CN3B connectors. Catalog Number 2090-UXBB-D15 2090-UXBC-D15xx 2090-UXBK-D15xx 2090-UXBB-DM15 2090-UXBB-DM09
C-9
Mating Connector Kits
The Ultra5000 has two serial connectors, one motor feedback connector, two I/O connectors, and one terminal block for power connections. Use the following table to identify the mating connector kits for your Ultra5000. Refer to the chapter Ultra5000 Connector Information beginning on page 2-1 for pin, signal, and wiring information.
Description Mating Connector Kit (9-pin D-shell) Mating Connector Kit (15-pin high density D-shell) Mating Connector Kit (Terminal Block) Catalog Number 2090-UXCK-D09 2090-UXCK-D15 2090-UXCK-TB
The following table lists mating connectors that are not available from Rockwell Automation. Please contact Amp at 1-800-522-6752 or a distributor for additional information.
Connector Components CN2 Motor Feedback 15-Pin High-Density D-Shell 748364-1 748333-4 1 748678-1 745171-5 745508-6 CN3 Serial 9-Pin Standard-Density D-Shell 205204-4 5-66506-7 2 748678-1 745171-5 745508-6
Mating Connector Crimp Pin Contacts Unshielded Backshell Kit Shielded Backshell Kit Ferrules 3
1 Accepts 22-28 AWG wire. 2 Accepts 20-24 AWG wire.
3 Ferrules are only required for use with shielded backshell kits.
C-10
Appendix
Wiring Three Phase Power to a Single Phase Ultra5000
Objectives
This appendix discusses connecting single phase Ultra5000 drives to a star (Y) connected three phase power source. The three main aspects of installation are: Mandatory Neutral Connection of Isolation Transformer Three Phase Line Filtering Requirements for EMC Voiding of CE Compliance ATTENTION The three phase isolation transformer and neutral in line filter applications described in this document have not been tested for EMC by Rockwell Automation, and products used in such installations are not considered CE marked by Rockwell Automation. If this three phase isolation transformer and neutral in line filter application is used, the responsibility for EMC validation lies with the user and CE marking of the system becomes the user's responsibility. If CE compliance is a customer requirement, single phase line filters which have been tested by Rockwell and specified for the product should be used. Refer to AC Line Filters on page C-3.
Applicable Drives
This appendix applies to the following Ultra5000 drives:

2098-IPD-005 2098-IPD-010 2098-IPD-020 2098-IPD-030 2098-IPD-005-DN 2098-IPD-010-DN 2098-IPD-020-DN 2098-IPD-030-DN
D-2
Mandatory Neutral Connection of Isolation Transformer
A neutral must be connected (shown in the upper diagram of Figure D.1) when single phase drives are attached to a three phase isolating transformer secondary. It is not necessary that all three phases be loaded with drives, but each drive must have its power return via the neutral connection. Failure to connect the neutral (shown in the lower diagram of Figure D.1) can result in supply voltage swings at the individual loads (i.e., drives). This occurs when the neutral point moves vectorially as a result of load variations normally experienced by the individual drives. The supply voltage swing may cause undervoltage and overvoltage trips on the drives, and the drive can be damaged if the overvoltage limit is exceeded.
Figure D.1 Mandatory Neutral Connection with Safety Ground of Isolation Transformer
Phase 1
Load 1
Phase 3 Phase2 Safety Ground Load 2 Load 3
Phase 1
Load 1
Phase 3 Phase 2 Load 2 Load 3
Any unbalance in load currents will result in unbalanced voltages which could exceed the voltage limit of the load.
D-3
Adding a Safety Ground to the Isolation Transformer

Provided that the transformer used is an isolating transformer, it is a good idea to fit a safety ground to the neutral connection. This will do two things: 1. Prevent the system floating, and thereby avoid any high voltages that might otherwise occur (e.g., through static), and 2. Provides a solid earth path for fault conditions. ATTENTION If the supply transformer is an auto transformer, a safety earth ground should not be added. A safety earth ground should already be fitted elsewhere in the system, and fitting another would create a bolted short.
!
Three Phase Line Filtering Requirements for EMC
If a three phase line filter is used, it is important that the filter include a neutral connection as shown in Figure D.2. This applies if three phase is brought directly into the filter (i.e., no isolating transformer present). The reasons are as follows: The normal components in filters of this kind are inductance and capacitance. The inductive elements are normally toroids which are placed around the three phases of the device. The neutral will carry return currents due to the unbalanced nature of the loads so it is vital that the neutral return is included in the toroidal inductors. (Note: Toroidal inductors are sometimes referred to as common mode chokes, or ferrite cores.) If the neutral is not included, the net power current through the choke (Kirchoff's Laws) will not be zero which causes the chokes to saturate with a reduction in filtering performance. Filters with this design requirement are available (e.g. Schaffner FN 256 three phase and neutral filter). It is important to ensure that the three phase current rating of the filter adequately covers the application requirements.
D-4
Figure D.2 Mandatory Neutral Connection of Three Phase Line Filter

1 1
Phase1 EMC Filter Phase 3 Phase 2

2 3 2 3 N N
Safety Ground
Load 1
Load 2
Load 3
3 Phase Supply
EMC Filter
N N
Safety Ground
Load 1
Load 2
2 3 2 3
Load 3
Three phase EMC filter feeding multiple single phase loads A three phase and neutral filter is required
Voiding of CE Compliance
The three phase and neutral in line filter applications described above may not be adequate from an EMC aspect for CE compliance. Therefore EMC validity and CE marking by Rockwell Automation is voided when three phase and neutral in line filters are used. ATTENTION The three phase isolation transformer and neutral in line filter applications described in this document have not been tested for EMC by Rockwell Automation, and products used in such installations are not considered CE marked by Rockwell Automation.. If this three phase isolation transformer and neutral in line filter application is used, the responsibility for EMC validation lies with the user and CE marking of the system becomes the user's responsibility. If CE compliance is a customer requirement, single phase line filters which have been tested by Rockwell and specified for the product should be used. Refer to AC Line Filters on page C-3.
Index
Numerics
460V drive 230V input implications 3-14
C
cables break out board cable C-8 building your own cables 3-4 drive and motor combinations
A
AC Input current A-3 input current A-1, A-2 power 3-14 address logically assigned 5-8 physically assigned 5-8 addressing DeviceNet 3-12 Allen-Bradley support IMC e-mail addresses, see back cover IMC fax numbers, see back cover IMC telephone numbers, see back cover local product P-5 technical product assistance
B-1
interface cables C-8 motor feedback cables C-7 motor power C-6 MP-series brake cables C-8 to 1326AB motor B-3, B-5 to H/F-series motor B-9 to N-series motor B-7 to W-series motor B-11 to Y-series motor B-13 catalog numbers C-1 AC line filters C-3 break out boards C-8 break out cables C-8 break out kits C-8 external shunt kit C-4 interface cables C-8 mating connector kits C-9 motor feedback cables C-7 motor power cables C-6 MP-series brake cables C-8 Ultra5000 drives C-2 Ultraware software C-2 CE compliance 1-1 determining product compliance 1-1 EMC directive 1-2 emergency stop contactor
P-5
altitude A-4 analog inputs 2-23 analog outputs 2-24 assigning DeviceNet address
3-12
auxiliary encoder feedback 2-32 auxiliary encoder error, see troubleshooting
B
baud rate 2-34 block diagram Ultra5000 functions 2-2 bonding subpanels 1-11 brake cables, MP-series C-8 break out boards drive mounted C-8 building your own cables 3-4 bus overvoltage 5-4 undervoltage 5-3 bus-off LED red 5-8
B-20
filter requirements B-22 grounding requirements B-22 invalidating compliance D-1 low voltage directive 1-2 meeting requirements 1-2 motor cable grounding 3-15 commissioning your Ultra5000
4-1
applying power 4-3 communication address switches setting 4-3 communication fault DeviceNet 5-4 complying with CE 1-1 directives 1-2 product compliance 1-1
I-2
Index
configuring drive detection 4-5 drive with DeviceNet 3-12 firmware upgrade 4-5 HV drive for 230V motor input power 3-14 Ultra5000 4-5 Ultraware software 4-5 connecting your Ultra5000 2-1,
3-1
connector block diagram 2-2 front panel connectors 2-3 mating connectors C-9 contents of manual P-2 conventions used P-4 cumulative drop length 5-10
2098-IPD-HV050-DN A-14 2098-IPD-HV100 A-15 2098-IPD-HV100-DN A-15 2098-IPD-HV150 A-15 2098-IPD-HV150-DN A-15 2098-IPD-HV220 A-16 2098-IPD-HV220-DN A-16 documentation on-line and print P-3 drop length design 5-10
E
efficiency, network 5-10 electrical noise 5-8, 5-9, 5-10 designing to control P-3 EMC cable shield (bottom of drive)
D
data rate 3-10 rotary switch 3-13 DeviceNet cable 3-11 configuration 3-12 connector 2-14, 3-11 network 3-10 DeviceNet addressing 3-12 digital I/O external power supply 2-19,
3-8
designing for P-3 motor ground termination F, H, MP, N, and W-series motors 3-7 Y-series motors 3-8 EMC directive 1-2 emergency stop contactor B-20 EMI bonding to reduce noise 1-10 designing to control P-3 enclosure sizing A-5 encoder connector (CN2) pinout 2-6 specifications AM, BM, and IM inputs
3-1
not working 5-3 digital inputs 2-20 digital outputs, hardware configuration 2-22 dimensions 2098-IPD-005 A-9 2098-IPD-005-DN A-9 2098-IPD-010 A-10 2098-IPD-010-DN A-10 2098-IPD-020 A-10 2098-IPD-020-DN A-10 2098-IPD-030 A-11 2098-IPD-030-DN A-11 2098-IPD-075 A-12 2098-IPD-075-DN A-12 2098-IPD-150 A-13 2098-IPD-150-DN A-13 2098-IPD-HV030 A-14 2098-IPD-HV030-DN A-14 2098-IPD-HV050 A-14
2-25
auxiliary signal 2-32 connections 2-31 feedback 2-25, 2-32 Hall inputs 2-27 limit inputs 2-28 phasing 2-29 unbuffered output 2-31 encoder output frequency exceeded 5-5 error codes and messages 5-2 E-stop wiring B-21 European Low Voltage Directive compliance 2-19 effect on digital I/O power
2-19
excess cpu load 5-6
Index
I-3
excess position error 5-4 excess velocity error 5-5 external devices digital I/O power supply 2-19,
analog outputs 2-24 digital inputs 2-20 digital outputs 2-22 external power supply 2-19,
3-1
shunt kit C-4
3-1
internal power supply 2-19 I/O connector Ultra5000 2-5 illegal hall state 5-4 input power 230V to 460V drive A-3 installation emergency stop contactor B-20 interconnect diagrams drive and motor cable combinations B-1 shunt module 2090 Series for HV drives
F
filter, AC power B-22 firmware upgrade 4-5 front panel connections 2-3 2098-IPD-005, -010 and -020
2-4
2098-IPD-005-DN, -010-DN, and -020-DN 2-13 2098-IPD-030 2-8 2098-IPD-030-DN, -075-DN, and -150-DN 2-15 2098-IPD-075, and -150 2-10 2098-IPD-HV030-xx, -HV050-xx, -HV100-xx, -HV150-xx, and -HV220-xx
B-24
300W B-23 shunt module 200W B-23 shunt module 900W B-24 to 1326AB motor B-3, B-5 to H/F-series motor B-9 to N-series motor B-7 to W-series motor B-11 to Y-series motor B-13 interface cables C-8 intermittent power 5-8 IPM fault, see troubleshooting IPM thermal protection fault, see troubleshooting
2-16
DeviceNet 2-13 fuse sizing 1-9 auxiliary input 1-9 mains input 1-9
G
grounding cable shield (bottom of drive)
3-8
CE requirements B-22 multiple subpanels 3-7 system to subpanel 3-6
L
LED logic power 4-4 module status (DeviceNet) 5-6 network status (DeviceNet) 5-7 status 4-4 status check 5-8 line filters C-3, D-3 logic power LED 4-4, 5-2 low voltage directive 1-2
H
heat losses for sizing enclosures
A-5
high frequency energy 1-11 humidity A-4 HV drive implications of 230V input
3-14
M
MAC ID 5-8 maintaining your Ultra5000 5-1 maintenance cleaning 5-1 inspecting cables 5-2
I
I/O analog inputs 2-23
I-4
Index
periodic 5-1 troubleshooting 5-2 mating connectors C-9 module status LED 5-6 motor overload protection B-20 motor encoder error 5-4 motor encoder connector 2-6 motor encoder specifications AM, BM, and IM inputs 2-25 auxiliary encoder 2-32 connections 2-31 encoder phasing 2-29 Hall inputs 2-27 limit inputs 2-28 unbuffered output 2-31 motor feedback cables C-7 motor jumps when enabled 5-3 motor overtemperature 5-3 motor power cables C-6 motor specifications thermostat input 2-27 motor thermal protection fault
Continuous (peak) A-3 output current continuous (peak) A-1, A-2 peak A-1 overload protection 3-14 overspeed fault 5-4
P
pin-outs DeviceNet connector 2-14 I/O connectors CN1A 2-5 CN1B 2-5 motor encoder connector 2-6 serial connector 2-7 terminal block 3-17 power applying power 4-3 losses A-5 Output Continuous A-3 output continuous A-1, A-2 power (PWR) indicator not on
5-2
power dissipation A-5 precautions general startup 4-1 protection circuitry motor overload B-20 purpose of this manual P-1
5-5
motor thermostat 2-27 mounting before mounting 1-3 bonding 1-10 procedure 1-12 system requirements 1-5 MSD and LSD rotary switch 3-13
R
reference material AC line filters C-3 breakout boards, cables and kits C-8 connector kits C-9 drive catalog numbers C-2 interface cables C-8 motor feedback cables C-7 motor power cables C-6 MP-series brake cables C-8 shunt resistor C-4 Ultraware software C-2 related documentation 300W active shunt installation
N
network cable system 3-10 data rate 3-10 network status LED 5-8 network status LED (DeviceNet)
5-7
network, efficiency 5-10 noise designing to control P-3 see bonding 1-10 number of nodes 5-10
P-3
460V Ultra5000 shunt installation P-3 900W passive shunt installation
O
option cards 2-2 Output Current
P-3
Index
I-5
control of electrical noise P-3 DeviceNet cable system planning and installation manual P-3, 3-10 on-line and printed documentation P-3 Ultra5000 C programming manual P-3 Ultra5000 DeviceNet reference manual P-3 Ultraware CD installation P-3 Ultraware user manual P-3 rotary switch data rate 3-13 MSD and LSD 3-13 RS-232 2-34 RS-422 2-34 RS-485 2-34
auxiliary feedback A-8 connectors A-8 control A-6 DeviceNet communications
A-7
digital I/O power supply 2-19,
3-1
general power A-1 2098-IPD-005-xx, -010-xx, and -020-xx A-1 2098-IPD-030-xx, -075-xx, and -150-xx A-2 2098-IPD-HV030-xx, -HV050-xx, -HV100-xx, -HV150-xx, and -HV220-xx A-3 humidity A-4 HV drive with 230V input power A-3 I/O 2-19 I/O digital outputs 2-22 inputs and outputs A-7 motor encoder feedback 2-25 motor feedback A-8 Output Current Continuous (peak) A-3 output current continuous (peak) A-1, A-2 peak output current A-1 physical and environmental
S
safety ground B-21, D-2 scanner faulty 5-9 grounding 5-9 troubleshooting 5-9 self-sensing commutation 5-6 serial connector 2-7 serial interface specifications
2-34
default serial interface settings
2-34
serial port 2-34 setting address 5-8 baud rate 5-8 data rate 3-13 node address 3-13 shock A-4 shunt resistor interconnect diagram 200W B-23 2090 Series for HV drives
A-4
power dissipation A-5 Power Output Continuous A-3 power output continuous A-1,
A-2
serial communications A-7 shock A-4 storage temperature A-4 user programming A-6 vibration A-4 start-up procedure 3-1, 4-1 status LEDs 4-4, 5-2 storage before installation 1-3 responsibility P-4 temperature A-4 system mounting requirements auxiliary input fuse sizing 1-9 fuse sizing 1-9 general 1-5 mains input fuse sizing 1-9
B-24
300W B-23 900W B-24 shunt resistor kits C-4 specifications A-1 AC Input current A-2, A-3 AC input current A-1 altitude A-4
I-6
Index
minimum clearances 1-6 preparation 1-3 spacing 1-5 transformer sizing 1-7 ventilation 1-6
T
tee tap 5-8 terminal block connections 3-18 2098-IPD-005-xx, -010-xx, and -020-xx 2-7 2098-IPD-030-xx 2-9 2098-IPD-075, and -150
frequency exceeded 5-5 excess cpu load 5-6 excess position error 5-4 excess velocity error 5-5 illegal hall state 5-4 IPM fault 5-3 IPM thermal protection fault 5-5 motor encoder error 5-4 motor jumps when enabled 5-3 motor overtemperature
5-3
motor thermal protection fault 5-5 overspeed fault 5-4 power (PWR) indicator not on 5-2 self-sensing commutation
2-11
2098-IPD-HV030-xx, -HV050-xx, -HV100-xx, -HV150-xx, and -HV220-xx 2-17 shunt resistor 3-19 torque values 3-14, 3-18 wiring 3-14, 3-18 pin-outs 3-17 thermostat 2-27 three phase and neutral D-3 torque values 3-18 transformer sizing 1-7 three phase isolation D-2 troubleshooting 5-2 cable installation and design
5-6
user-specified current fault 5-4 user-specified velocity fault 5-5 grounding 5-8 node address problems 5-8 physical network configuration
5-10
power supply 5-9 power supply problems 5-9 scanner problems 5-9 trunk length 5-10 trunk wiring 5-9
5-10
device failure 5-8 DeviceNet module status LED 5-6 network status LED 5-7 error codes 5-2 general auxiliary encoder error
U
Ultraware software 4-5, C-2 user manual 4-5 unpacking modules 1-4 user-specified current fault 5-4 user-specified velocity fault 5-5
5-5
bus undervoltage 5-3, 5-4 DeviceNet communication fault 5-4 digital I/O not working
V
vibration A-4
5-3
encoder output
Index
I-7
W
wire gauge DeviceNet 3-10 I/O connector 2-5 subpanel bonding 1-11 wiring 3-4 building your own cables 3-4 CE ground clamp 3-15 connecting cable shield 3-18 connecting DeviceNet to a network 3-10 connecting I/F cables 3-9 connecting your DeviceNet cable 3-11 grounding 3-6 I/O Connections 3-9
input power 3-15 power connections 3-14 power wiring diagram 2098-IPD-005, -010, -020
B-15
2098-IPD-030-xx B-16 2098-IPD-075-xx B-17 2098-IPD-150-xx B-18 2098-IPD-HVxxx-xx B-19 requirements 3-4 routing high/low voltage cables 3-5 shunt resistor 3-19 terminal block connections
3-14, 3-18
I-8
Index

Supersedes Publication 2098-IN001D-EN-P January 2002
0013-1079-004
Copyright 2002 Rockwell Automation. All rights reserved. Printed in USA.

Manual All em Servo

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Ultra5000 Intelligent Positioning Drives

Important User Information

Chapter 1 Installing Your Ultra5000

Chapter 2 Ultra5000 Connector Information

Publication 2098-IN001E-EN-P April 2002

Publication 2098-IN001E-EN-P April 2002

Chapter 3 Connecting Your Ultra5000

Chapter 4 Commissioning Your Ultra5000 Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

Chapter 5 Maintaining Your Ultra5000

Publication 2098-IN001E-EN-P April 2002

Appendix A Specifications and Dimensions

Appendix B Interconnect Diagrams

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Appendix C Catalog Numbers and Accessories

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Publication 2098-IN001E-EN-P April 2002

Who Should Use this Manual

Purpose of this Manual

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Contents of this Manual

Appendix B Appendix C Appendix D

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Ultraware CD Installation Instructions

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Conventions Used in this Manual

Product Receiving and Storage Responsibility

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Local Product Support

Technical Product Assistance

Comments Regarding this Manual

Publication 2098-IN001E-EN-P April 2002

Publication 2098-IN001E-EN-P April 2002

Installing Your Ultra5000

Complying with European Union Directives

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Installing Your Ultra5000

Low Voltage Directive

Publication 2098-IN001E-EN-P April 2002

Installing Your Ultra5000

Before Mounting Your System

How to Store Your Ultra5000 Before Installation

Publication 2098-IN001E-EN-P April 2002

Installing Your Ultra5000

How to Unpack the System

Publication 2098-IN001E-EN-P April 2002

Installing Your Ultra5000

Minimum Mounting Requirements

Publication 2098-IN001E-EN-P April 2002

Installing Your Ultra5000

Allow 12.7 mm (0.5 in.) side clearance

Allow 12.7 mm (0.5 in.) side clearance

50.8 mm (2.0 in.) clearance for airflow and installation

Publication 2098-IN001E-EN-P April 2002

Installing Your Ultra5000

0.38Q A = ----------------------1.8T 1.1

4.08Q A = ---------------T 1.1

Calculating Transformer Size Based on Speed/Torque Data

Publication 2098-IN001E-EN-P April 2002