Rockwell Automation Publication 2198-RM006A-EN-P - December 2020 51
Appendix A Connectors and Field Connections
Motor Feedback
The table compares the feedback connector pinouts for the Ultra3000 and
Kinetix 5300 servo drives:
• Ultra3000 servo drive CN2 connector
• Kinetix 5300 servo drive MFB connector
I/O Connector and Auxiliary Feedback Pinouts
The table compares the I/O connector pinouts for the Ultra3000 and Kinetix
5300 servo drives:
• Ultra3000 CN1 connector
• Kinetix 5300 servo drive digital inputs and auxiliary feedback connector
Table 38 - Motor Feedback Connector Pinouts
Ultra3000 Servo Drives
(1)
Kinetix 5300 Servo Drives
CN2 Pin Description Signal Signal Description MFB Pin
1 Channel A+ / sine differential input+ AM+
MTR_SIN+
MTR_AM+
Sine differential input +
AM differential input +
1
2 Channel A- / sine differential input- AM-
MTR_SIN–
MTR_AM–
Sine differential input–
AM differential input–
2
3 Channel B+ / cosine differential input+ BM+
MTR_COS+
MTR_BM+
Cosine differential input +
BM differential input +
3
4 Channel B- / cosine differential input- BM-
MTR_COS–
MTR_BM–
Cosine differential input –
BM differential input –
4
5 Channel I+ / Index pulse+ IM+
MTR_DATA+
MTR_IM+
Data differential input/output +
IM differential input +
5
6 Common ECOM MTR_ECOM Encoder common 6
7
Reserved
(1)
—
MTR_EPWR9V
(2)
Encoder 9V power output 7
8 Commutation channel S3 S3 MTR_S3 Hall commutation S3 input 8
9 Positive overtravel limit +LIMIT — Reserved 9
10 Channel I- / Index pulse- IM-
MTR_DATA-
MTR_IM–
Data differential input/output –
IM differential input –
10
11 Thermostat TS MTR_TS
Motor thermostat (normally closed)
(3)
11
12 Commutation channel S1 S1 MTR_S1 Hall commutation S1 input 12
13 Commutation channel S2 S2 MTR_S2 Hall commutation S2 input 13
14 Encoder power (+5V) EPWR_5V
MTR_EPWR5V
(2)
Encoder 5V power output 14
15 Negative overtravel limit -LIMIT — Reserved 15
(1) +9V encoder capability only available on standard-size Ultra3000 drive (catalog number 2098-DSD-030 or larger).
(2) Determine which power supply your encoder requires and connect to only the specified supply. Do not make connections to both supplies.
(3) Not applicable unless motor has integrated thermal protection.
Table 39 - I/O Connector Pinouts
Ultra3000 Servo Drives
(1)
Kinetix 5300 Servo Drives
CN1 Pin Description Signal Signal Description I/O Pin
1 Auxiliary Encoder Power Out (+5V) EPWR IN1 24V current-sinking fast input #1. 1
2 Common ECOM COM I/O common for customer-supplied 24V supply. 2
3 Reserved — IN2 24V current-sinking fast input #2. 3
4 Auxiliary A+/Step+/CW+ AX+ COM I/O common for customer-supplied 24V supply. 4
5 Auxiliary A-/Step-/CW- AX- SHIELD I/O cable shield termination point. 5
6 Auxiliary B+/Dir+/CCW+ BX+ AUX_AM+ AM Differential Input + 6
7 Auxiliary B-/Dir-/CCW- BX- AUX_BM+ BM Differential Input + 7
8 Auxiliary Encoder Ch I+ IX+ AUX_IM+ IM Differential Input + 8
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