Professional Documents
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Reference Manual
IMPORTANT
ATTENTION
SHOCK HAZARD
BURN HAZARD
Introduction
Chapter 1
Engineering Review Essentials
1-1
1-2
1-2
1-3
Chapter 2
Selecting a Replacement Drive
Appendix A
Drive Connectors and Connections Serial Communication Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Encoder Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Terminal Block (TB1) Connections . . . . . . . . . . . . . . . . . . . . . . . . . .
1398-DDM-005, -009, and -019 to
2098-DSD-005, -010, and -020 . . . . . . . . . . . . . . . . . . . . . . . . . .
1398-DDM-010, -020, and -030 to
2098-DSD-030 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1398-DDM-075 and -150 to
2098-DSD-075 and -150 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A-2
A-3
A-6
A-6
A-6
A-7
Appendix B
Specifications
Appendix C
Software Conversion with the
Ultra Conversion Tool
C-1
C-2
C-2
C-3
C-4
C-4
C-5
C-6
C-7
C-7
Appendix D
Related Documentation
Introduction
Ultra3000 1
1398-DDM-005
2098-DSD-005
1398-DDM-009
2098-DSD-010
1398-DDM-019
2098-DSD-020
1398-DDM-010
2098-DSD-030
1398-DDM-020
2098-DSD-075
1398-DDM-030
2098-DSD-150
1398-DDM-075
1398-DDM-150
1 Including drives with the following feature sets: standard, indexing (X), DeviceNet (-DN), and indexing with
DeviceNet (X-DN).
Introduction
Chapter
Replacing an ULTRA 100 or ULTRA 200 drive with an Ultra3000 drive may
require product design changes.
To properly formulate the design changes:
Review the current products hardware and software design as it exists
with the ULTRA 100 or ULTRA 200 hardware, and UltraMaster
software.
Review the Ultra3000 hardware and software specifications.
Use this document as a basis for determining hardware design changes.
Convert and validate the application parameter settings.
Only after thoroughly reviewing this document should you begin to evaluate
the design changes required to successfully switch to a product based on the
Ultra3000.
WARNING
The following sections highlight major and minor differences between the
ULTRA 100/200 and Ultra3000 products. Since there are additional
differences that are typically insignificant but could impact your application,
read this entire document before proceeding to qualify the Ultra3000 in your
machinery.
1-2
Major Product
Replacement Issues
Minor Product
Replacement Issues
1-3
The design changes required for converting to the Ultra3000 drive depend on
the original/replacement drive combination and the specifics of the
application. The objective is to determine which areas of a design may need
alteration. This should provide you with knowledge about the type and extent
of work that may be required in order to successfully change from an ULTRA
100 or ULTRA 200 to an Ultra3000 based system.
IMPORTANT
The following sections cover the majority of hardware design changes that
may be required when selecting a replacement Ultra3000 drive.
1-4
Chapter
Drive Sizing is the primary factor for choosing a replacement drive. Identifying
the correct replacement drive size requires knowing factors such as the
continuous and peak output current rating.
In general, the following rules apply:
1398-DDM-005, -009, -019, -030, -075, and -150 drives can be replaced
with an Ultra3000 drive of very similar size and output current
capability.
1398-DDM-010, and -020 drives do not have a direct replacement in the
Ultra3000 drive family. They can be replaced by either a drive with a
larger output current capacity, or a physically smaller drive with
performance or design limitations.
Note: The 2098-DSD-030 drive provides nearly identical hardware
connections and significantly greater power.
2-2
The following table lists the suggested replacement drives, along with the
output ratings of the drives. Information in this document is based on and
discusses these drive combinations. Drive power and physical size is
summarized in the table below.
Drive Sizing
ULTRA 100/200
Recommended
Output Current Rating Ultra3000
Replacement
Ultra3000
Ultra3000 Outline Differences
Output Current Rating
Continuous Peak
Continuous Peak
1398-DDM-005 1
2.5 A
7.5 A
2098-DSD-005
2.5 A
7.5 A
1398-DDM-009 1
5A
15 A
2098-DSD-010
5A
15 A
1398-DDM-019 1
10 A
30 A
2098-DSD-020
10 A
30 A
10 A
2098-DSD-030 3
15 A
30 A
15 A
30 A
1398-DDM-010 2
5A
1398-DDM-020 2
10 A
20 A
2098-DSD-030 4
15A
30 A
2098-DSD-030
15 A
30 A
1398-DDM-075 2
35 A
75 A
2098-DSD-075
35 A
75 A
1398-DDM-150 2
65 A
150 A
2098-DSD-150
65 A
150 A
1398-DDM-030
1 Includes drives with the following feature sets: standard, indexing (X), DeviceNet (-DN), and indexing with DeviceNet (X-DN).
2 Includes drives with the following feature sets: standard, and indexing (X).
3 2098-DSD-010 micro-size drive provides comparable output power and smaller profile, but is not recommended due to reduced interface capabilities.
4 2098-DSD-020 micro-size drive provides comparable output power and smaller profile, but is not recommended due to reduced interface capabilities.
2-3
Fusing
Fusing requirements will be comparable for similar drive sizes. However,
fusing requirements should be reviewed as a matter of course when changing
drives.
The Ultra3000 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 Ultra3000
Installation Manual (publication 2098-IN003x-EN-P) for input current and
inrush current specifications. Verify that the fuse size used for the ULTRA 100
or ULTRA 200 drive meets the Ultra3000 requirements, and conforms to
NEC and all other applicable local codes.
Note: Drives replaced by the micro-sized drives 2098-DSD-005,
2098-DSD-010, and 2098-DSD-020 may require changes in wiring length
and/or routing.
2-4
Motor Power
In general, an ULTRA Series motor power cable (P/N 9101-xxxx) should
connect to an Ultra3000 drive. The following sections provided information
on various aspects of the motor power interconnects and cabling.
Motor Power Wire Gauge
Cable Wire References
Motor Power Replacement Cables
Refer to the Motor Power Replacement Cables table on page 2-5 for more
information.
Recommended
mm
Ultra3000
(AWG)
Recommended
mm2
(AWG)
1398-DDM-005
1.5
(16)
2098-DSD-005
1.5
(16)
1398-DDM-009
2.5
(14)
2098-DSD-010
2.5
(14)
1398-DDM-019
(12)
2098-DSD-020
(12)
1398-DDM-010
2.5
(14)
2098-DSD-030
(10)
1398-DDM-020
(12)
2098-DSD-030
(10)
1398-DDM-030
(10)
2098-DSD-030
(10)
1398-DDM-075
(10)
2098-DSD-075
(10)
1398-DDM-150
10
(8)
2098-DSD-150
10
(8)
Note: 2098-DSD-010 and 2098-DSD-020 drives require the same wire gauge as the
1398-DDM-010 and 1398-DDM-020, but are not recommended replacements due to
reduced interface capabilities.
2-5
Ultra3000
Refer to Terminal Block (TB1) Connections on page A-6 for ULTRA 100, ULTRA
200 and Ultra3000 power terminal connections.
Cable
ULTRA 100/200
Power Cable
Cable Length
meters 2
mm2
(AWG)
F2000, F3000
1.8
(16)
9101-1381-xxx
2090-UXPAH-16Sxx
1, 3, 9, 15, 30
F4000
2.5
(14)
9101-1382-xxx
2090-UXPAHF-14Sxx
1, 3, 9, 15, 30
F6000
(10)
9101-1383-xxx
2090-UXPAHF-10Sxx
1, 3, 9, 15, 30
F6300
10
(8)
9101-1389-xxx
2090-UXPAHF-8Sxx
1, 3, 9, 15, 30
H2000, H3000
1.8
(16)
9101-1381-xxx
2090-UXPAH-16Sxx
1, 3, 9, 15, 30
H4000
2.5
(14)
9101-1382-xxx
2090-UXPAHF-14Sxx
1, 3, 9, 15, 30
H6000
(10)
9101-1383-xxx
2090-UXPAHF-10Sxx
1, 3, 9, 15, 30
H6300
10
(8)
9101-1389-xxx
2090-UXPAHF-8Sxx
1, 3, 9, 15, 30
H8000
16
(6)
9101-1384-xxx
2090-UXPAHF-6Sxx
1, 3, 9, 15, 30
N (all)
1.8
(16)
9101-1467-xxx
2090-UXPAN-16Sxx
1, 3, 9, 15, 30
Y (all)
1.8
(16)
9101-1385-xxx
2090-UXPAY-16Sxx
1, 3, 9, 15, 30
1 Right angle motor connector versions may be available by substituting R for S (straight) in the catalog number.
2 Length of cable xx is in meters; 1, 3, 9, 15, 30 (3.3, 9.8, 29.5, 49.2, or 98.5 ft)
2-6
Encoder Cabling
Alterations to the encoder cables will be required. Connector types, pinouts,
and connectivity are different. Refer to Encoder Connections on page A-2 for
ULTRA 100, ULTRA 200, and Ultra3000 connector pinouts.
Encoder Cables
Encoder cables may be obtained directly from Allen-Bradley or may be custom
built. Verify the following conditions as they apply your encoder cable:
In applications where motor encoder cable assemblies purchased from
Rockwell Automation are used, a direct replacement cable suitable for the
Ultra3000 can likely be used. Refer to the Replacement Encoder Cable table
below.
Motors
ULTRA 100/200
Encoder Cable
Ultra 3000
Shielded Encoder Cable 1
Lengths
meters 2
H, F
9101-1366-xxx
2090-UXNFBHF-Sxx
1, 3, 9, 15, 30
H,F
9101-1365-xxx
9101-1468-xxx
2090-UXNFBN-Sxx
1, 3, 9, 15, 30
9101-1469-xxx
1, 3, 9, 15, 30
9101-1375-xxx
2090-UXNFBY-Sxx
1, 3, 9, 15, 30
9101-1373-xxx
1, 3, 9, 15, 30
1 Right angle motor connector versions may be available by substituting R for S in the catalog number.
2 Length of cable xx is in meters; 1, 3, 9, 15, 30 (3.3, 9.8, 29.5, 49.2, or 98.5 ft)
Refer to Encoder Connections on page A-2 for ULTRA 100, ULTRA 200, and Ultra3000 connector pinouts.
2-7
I/O Cabling
ULTRA 100, ULTRA 200, and Ultra3000 drives use the same signals to
interface to the auxiliary encoder, digital I/O, and analog interconnections.
However, the connector on the drive end of the cable is different:
ULTRA 100 and ULTRA 200 drives have a 50 pin mini-D connector for
the controller interface (J1).
ULTRA 200 drives have a 26-pin mini-D connector for the auxiliary
encoder interface (J3).
Ultra3000 drives have a 44-pin, 3.5 mm, double-row, plugable spring
clamp connector for the I/O and Auxiliary Encoder interface (CN1).
Replacement or modification of the cable assembly is required. While
replacement with a cable not having the 50 pin D-type connector is the better
solution, an existing cable may be modified by careful planning. Review the
I/O count, specifications, power, and wire terminations when converting to an
Ultra3000 drive. The following sections provide the detail necessary to
examine the conversion:
2-8
Answering yes to any of the following questions may warrant changes, and at
the minimum, should trigger a review to determine whether design changes
are required based on I/O differences:
Is the ULTRA 100 and ULTRA 200 internal +24V dc supply (J1-26)
used to power external I/O equipment AND is the replacement drive a
2098-DSD-005, 2098-DSD-010, or 2098-DSD-020?
Are both relay outputs being used?
Refer to Digital I/O, Analog I/O, and Auxiliary Encoder Pinouts for a
comparison between ULTRA 100 and ULTRA 200 J1 connector and the
Ultra3000 CN1 connector. ULTRA 100, ULTRA 200, and Ultra3000 drives
use the same signals to interface to the auxiliary encoder, and I/O. However,
the connector on the drive end of the cable is different:
2-9
I/O Pinouts
Refer to Control Connections on page A-3 for a table defining I/O pinouts for
the ULTRA 100 and ULTRA 200 drives and the replacement Ultra3000 drives.
2-10
Serial Communications
ULTRA 100, ULTRA200, and Ultra3000 drives all contain one serial port, but
the ULTRA 200 routes this port to two connectors for ease of daisy-chaining.
The serial ports are capable of either RS232 or RS422 communications.
Refer to Serial Communication Pinouts on page A-1 for ULTRA 100, ULTRA
200, and Ultra3000 connector pinouts.
Shunt Resistors
Changes to shunt capacity or methodology will not be encountered, except
except in the following drive exchange combinations:
1398-DDM-010 with a 2098-DSD-010
1398-DDM-020 with a 2098-DSD-020
Note: These are not recommended drive replacements. Refer to Drive Output
Current on page 2-2 for the recommended drive replacements.
In this case a standard size drive is replaced with a micro-size drive, and the
micro-size drives do not contain an internal shunt resistor. Micro-size
Ultra3000 drives are limited to utilizing an external active shunt module
(2090-UCSR-A300) since they do not contain shunt control circuitry.
If a micro-sized Ultra3000 replacement drive is used, an analysis of the
shunting solution should be conducted. System sizing software available
from Rockwell Automation will help identify suitable replacements.
If shunting is needed, the 2098-DSD-030 (standard and indexing) drives
may be a better choice, as it has shunting support identical to the
1398-DDM-010, -010X, -020, and -020X drives.
2-11
AC Line Filters
AC line filters perform a key role for Ultra drives to meet CE radiation
standards. The need for CE compliance should be examined prior to
conversion to the Ultra3000 drives:
If CE compliance is not required and the current design does not
include line filters, line filters should not be needed with the
replacement Ultra3000 drive. However, performance of the Ultra3000
drive in the system should be verified to ensure that a line filter is not
required.
If CE compliance is required, the use of a line filter is should be
evaluated. CE compliance will need to be verified after conversion to
the Ultra3000 drives.
The Ultra3000 line of drives were tested for CE compliance using the line
filters outlined in the table below. Other brands of filters may yield acceptable
results but have not been tested as such for the Ultra3000 drive family by
Rockwell Automation.
AC Line Filter Description Catalog Number
2090-UXLF-106
6 Amp
2090-UXLF-110
10 Amp
2090-UXLF-123
23 Amp
2090-UXLF-136
36 Amp
2090-UXLF-150
50 Amp
2090-UXLF-336
36 Amp
2090-UXLF-350
50 Amp
2090-UXLF-370
70 Amp
Auxiliary Power
The Auxiliary Power feature allows an ULTRA 200 drive to retain logic power
when main power is removed. (This feature is not available on ULTRA 100
drives.) The Auxiliary Power feature is often used to retain feedback position
from the motor, and in doing so eliminate the need to home the motor at
power-up. Replace ULTRA 200 drives that require separate logic power
(1398-DDM-010, and 1398-DDM-020) with a 2098-DSD-030 which supports
the feature in an identical manner.
2-12
Appendix
The following tables compare the signal and power connections between
ULTRA 100 and ULTRA 200 drives to those of Ultra3000 drives.
The following table defines the serial communication signal pinouts for:
Serial Communication
Pinouts
ULTRA 100 connector J4, the ULTRA 200 connectors J4 and J5, and
the comparable Ultra3000 connector CN3.
ULTRA 100 or ULTRA 200
J4 or J5
Pin
Signal
RCV+
Description
Ultra3000
Signal
CN3
Pin
RS-422/RS-485 Input+
RCV+
RCV
RS-232 Input
RCV
XMT
RS-232 Output
XMT
XMT+
RS-422/RS-485 Output+
XMT+
COM
Common
COM
N/C
Reserved
N/C
RCV-
RS-422/RS-485 Input-
RCV-
XMT-
RS-422/RS-485 Output-
XMT-
N/C
Reserved
N/C
A-2
Encoder Connections
Description
Signal
Ultra3000
CN2
Pin
Description
EPWR +5V
14
Encoder Common
ECOM
Encoder Common
EPWR +5V
Encoder Common
ECOM
ECOM / SENSE -
Channel A +
A+
Channel A -
A-
Channel B +
B+
10
Channel B -
B-
11
Channel I +
I+
12
Channel I -
I-
10
13
Hall A
Hall A
12
Commutation Channel S1
14
Hall B
Hall B
13
Commutation Channel S2
15
Hall C
Hall C
Commutation Channel S3
16
Absolute Position
ABS 4
17
N/C
Reserved
18
N/C
Reserved
19
Thermal Switch +
TS+
11
Thermostat
20
Thermal Switch - 2
TS- 3
EPWR +9V 2
+LIMIT
-LIMIT
15
1 Encoder power sense functionality available only with ULTRA 200. This function is not supported by the ULTRA 100 and Ultra3000 drives.
2 +9V Encoder capability only available on standard size Ultra 3000 (2098-DSD-030 or larger).
3 Ultra3000 cables internally connect TS- to ground.
4 The all-in-one Hall sensor signal is not supported by the Ultra3000 drive.
A-3
Control Connections
The following table defines the digital, analog, and auxiliary encoder signal
pinouts for:
ULTRA 100 and ULTRA 200 connector J1, and
the comparable Ultra3000 connector CN1.
Where possible, the table aligns the signal name for an ULTRA 100 and
ULTRA 200 drive with the comparable signal on the Ultra3000.
Signal
Ultra3000
J1
Pin
Description
Description
CN1
Pin
EPWR +5V
Encoder Common
ECOM
ECOM
EPWR +5V
Encoder Common
ECOM
I/O PWR
I/O Power
29
I/O COM
I/O Common
27
Encoder Output A+
AM+
16
Encoder Output A-
AM-
17
Encoder Output B+
BM+
18
10
Encoder Output B-
BM-
19
11
Encoder Output I+
IM+
20
12
Encoder Output I-
IM-
21
13
IOCOM
I/O Common
28
14
AX+
15
AX-
16
BX+
17
BX-
18
IX+
19
IX-
20
Drive Enable 1, 2
ENABLE
21
Fault Reset 1, 2
RESET
22
Analog Command+
CMND+
Analog Command+
25
23
Analog Command-
CMND-
Analog Command-
26
24
Drive Ready+ 2
READY+
25
Drive Ready- 2
READY-
26
IOPWR
I/O Power
30
A-4
Description
27
28
Signal
Ultra3000
Description
CN1
Pin
I LIMIT/I LIMIT+
24
Analog Common
ACOM
Analog Common
22
29
Unused/Current Limit- 3
RESERVED /I LIMIT-
30
Unused/Analog Output1 4
RESERVED /I ANALOG
31
ANALOG/ ANALOG
23
32
Programmable Input1 5
INPUT1
Digital Input 1
31
33
Programmable Input2 5
INPUT2
Digital Input 2
32
34
Programmable Input3 5
INPUT3
Digital Input 3
33
35
Unused/Programmable Input4 5
RESERVED/INPUT4
Digital Input 4
34
36
Unused
RESERVED
37
Unused
RESERVED
38
Unused
RESERVED
39
Unused
RESERVED
40
Unused
RESERVED
41
Unused
RESERVED
42
Programmable Output1 6
OUTPUT1
Digital Output 1
39
43
Programmable Output2 6
OUTPUT2
Digital Output 2
40
44
Unused/Programmable Output 3 6
RESERVED/OUTPUT3
Digital Output 3
41
45
Unused/Programmable Output 4 6
RESERVED/OUTPUT4
Digital Output 4
42
46
Unused
RESERVED
47
Unused
RESERVED
48
Unused
RESERVED
49
Brake Enable+ 2
BRAKE+
50
Brake Enable- 2
BRAKE-
AUXPWR
AMOUT+
10
AMOUT-
11
BMOUT+
12
BMOUT-
13
IMOUT+
14
IMOUT-
15
RELAY+
43
RELAY-
44
Description
A-5
Signal
Ultra3000
Description
CN1
Pin
INPUT5
Digital Input 5
35
INPUT6
Digital Input 6
36
INPUT7
Digital Input 7
37
INPUT8
Digital Input 8
38
Pin usage varies between ULTRA 100 drive and ULTRA 200 drive, both are provided: ULTRA 100 first / ULTRA 200 last (e.g., U100/U200)
1 Enable and Fault Reset input functionality can be programmed to any of the general purpose inputs on the Ultra3000.
2 The Ultra3000 has a single, programmable normally open relay output (that can be configured via Ultraware software for READY or BRAKE functionality, among others).
The ULTRA 100 and ULTRA 200 have two fixed relay outputs (READY and BRAKE).
3 The ULTRA 100 and Ultra3000 contain a single analog current limit input for both positive and negative current. The ULTRA 200 has separate limit inputs for positive and
negative current flow.
4 The ULTRA 100 and Ultra3000 contain a single analog output. The ULTRA 200 has two analog outputs.
5 The ULTRA 100 has three programmable digital inputs, the ULTRA 200 has 4 programmable digital inputs, and Ultra3000 has eight programmable digital inputs.
6 The ULTRA 100 has two digital (transistor) outputs, the ULTRA 200 and Ultra3000 have four digital outputs.
A-6
The following tables define the power terminal connectors for ULTRA 100
and ULTRA 200 drives, and the comparable connectors on Ultra3000 drives.
100-240 VAC
50/60 Hz
Single Phase
Motor
Terminal
Ultra3000
DC BUS+
DC Bus
DC BUS-
L1
L2/N
DC BUS+
DC BUS-
100-240 VAC
50/60 Hz
Single Phase
L1
L2/N
Safety Earth Ground
Motor
DC Bus
100-240 VAC
50/60 Hz
Single Phase
Auxiliary Power
100-240 VAC
50/60 Hz
Terminal
Ultra3000
Motor
DC BUS+
DC BUS-
L1
L2
L1 AUX
10
L2/N AUX
11
DC Bus
DC BUS+
DC BUS-
100-240 VAC
50/60 Hz
Single Phase
L1
L2/N
Safety Earth Ground
Auxiliary Power
100-240 VAC
50/60 Hz
L1 AUX
L2 AUX
A-7
DC Bus
100-240 VAC
50/60 Hz
Three Phase
Auxiliary Power
100-240 VAC
50/60 Hz
Terminal
Ultra3000
Motor
DC BUS+
DC BUS-
L1
L2/N
L3
L3
10
L1 AUX
11
L2 AUX
12
DC Bus
DC BUS+
DC BUS-
100-240 VAC
50/60 Hz
Three Phase
Auxiliary Power
100-240 VAC
50/60 Hz
L1
L2/N
L1 AUX
L2 AUX
A-8
Appendix
Specifications
I/O Specifications
The following tables compare the input and output specifications between
ULTRA 100 and ULTRA 200 drives to those of Ultra3000 drives.
Digital Inputs
Parameter
ULTRA 100
ULTRA 200
Ultra 3000
10.8 to 28.0
20.0 to 28.0
10.8 to 26.4
3.0 to 10.0
3.5 to 5.5
3.0 to 12.0
-1.0 to 2.0
-1.0 to 3.0
-1.0 to 3.0
-0.5 to +0.5
-0.5 to +0.5
not specified
Digital Outputs
Parameter
ULTRA 100
ULTRA 200
Ultra 3000
0 to 50
0 to 50
0 to 50
-0.1 to +0.1
-0.1 to +0.1
-0.1 to +0.1
0.0 to 1.5
0.0 to 1.5
0.0 to 1.5
0 to 50
0 to 50
0 to 50
Relay Outputs
Parameter
ULTRA 100
Brake
Output
ULTRA 100
Ready
Output
UlLTRA 200
Brake
Output
ULTRA 200
Ready
Output
Ultra3000
Relay
Output
0.10
30
30
50
50
30
0.01
0.01
0.01
0.01
not specified
B-2
Specifications
Analog Inputs
Parameter
ULTRA 100
Command
Input
ULTRA 100
Limit Input
ULTRA 200
Command
Input
Ultra3000
Limit Input
Resolution
14 bits
10 bits
16 bits
10 bits
14 bits
10 bits
13.3
not specified
13.3
not specified
20
10
-10.0v to
+10.0
0.0v to +10.0
-10.0v to
+10.0
0.0v to +10.0
not specified
not specified
not specified
not specified
50
50
not specified
not specified
not specified
not specified
not specified
not specified
not specified
not specified
100
100
Analog Outputs
Parameter
ULTRA 100
Analog Output
ULTRA 200
Analog Output 1
ULTRA 200
Analog Output 2
Ultra3000
Analog Output
Resolution (bits)
12
-2.0 to +2.0
-2.0 to +2.0
-2.0 to +2.0
-2.0 to +2.0
-10.0 to +10.0
-10.0 to +10.0
-10.0 to +10.0
-10.0 to +10.0
not specified
not specified
not specified
100
not specified
not specified
not specified
not specified
not specified
not specified
50
Specifications
B-3
General Power
Specifications
The following tables provide power specifications for ULTRA 100 and
ULTRA 200 drives, and the Ultra3000 drives.
-005
-009
-019
AC Input Voltage:
Single Phase
V acrms 100-240
100-240
100-240
AC Input Frequency
Hz
47 - 63
47 - 63
47 - 63
AC Input Current
Nominal
Maximum Inrush (at 240V ac)
Arms
A
5.0
100
9.0
100
18.0
100
7.5
15
30
2.5
10
1 Peak to peak.
-010
-020
-030
-075
-150
AC Input Voltage
Single Phase
Three Phase
V acrms 100-240
V acrms
100-240
100-240
100-240
100-240
100-240
AC Input Frequency
Hz
47 - 63
47 - 63
47 - 63
47 - 63
47 - 63
AC Input Current:
Nominal
Maximum Inrush (at 240V ac)
A
A
10.0
50
19.0
50
28.0
50
30.0
50
46.0
68
A
A
10
20
30
50
75
150
A
A
10
15
15
35
65
Watts
Watts
50
6,000
50
6,000
50
6,000
50
10,000
180
19,000
1 Peak to peak.
B-4
Specifications
Ultra3000 Drives
2098-DSD-xxx
005
010
-020
-030
-075
-150
V ac
V ac
100 - 240
100 - 240
100 - 240
100 - 240
100 - 240
100 - 240
AC Input Frequency
Hz
47 - 63
47 - 63
47 - 63
47 - 63
47 - 63
47 - 63
AC Input Current:
Nominal
Max Inrush 2
Arms
A
5
100
9
100
18
100
28
50
30
50
46
68
7.5
15
30
30
75
150
2.5
10
15
35
65
Watts
Watts
50
6,000
50
10,000
180
19,000
AC Input Voltage
Single Phase
Three Phase
1 Specification is for nominal voltage. The absolute limits are 88 to 265 V acrms.
2 At 230V ac, 0 to peak
3 0 to peak
Appendix
The Ultra Conversion Tool is a on-line tool that supports the process of
changing a motion system from a design based on the Allen-Bradley ULTRA
100 and 200 Series drives (i.e., 1398-DDMs) to one utilizing the Ultra3000
Family (i.e., 2098-DSDs) of drive products.
About Software
Conversions
C-2
After opening and reading the UltraMaster file (*.par), Ultraware will create a
new Ultra3000 drive containing the converted data in the User Data Exchange
File (*.uxf) format.
C-3
C-4
Command Format
The ULTRA 100, ULTRA 200, and Ultra3000 drive command protocols are
master - slave protocols where the host computer is the master and the drive is
the slave. The command formats for ULTRA 100, ULTRA 200 and Ultra3000
drives are compared in the following table:
Start
Address
Parameter Function
Data
Checksum
End
ULTRA 100/200
aa
ppp
dd
cc
<cr>
Ultra3000
aa
ppp
dd
cc
<cr>
C-5
Action
0x0
0x1
0x2
0x3
0x4
0x5
0x6
0x7
0x8
0x9
0xA
0xB
0xC - 0xF
Reserved
The data field provides any data necessary for the drive to implement
the command, and can have a variable number of characters. When
strings are used in the data field, two ASCII hex characters represent the
ASCII character. (e.g., The # character is represented by two characters,
a 2 followed by a 3.) For some commands, the data field is not used.
Also, if the function code specifies to copy the non-volatile value to the
working value or vice versa, the data field is absent.
The checksum field contains an ASCII hex version of the 8-bit
checksum of the Address, Parameter, Function, and Data fields. The
sum of the Address, Parameter, Function, Data, and Checksum field
should result in a value of zero. When computing the sum, the
characters of the Address, Parameter, Function, and Data fields are
summed with the 8-bit value represented by the characters of the
checksum field.
C-6
C-7
Description
01
Invalid Data
02
03
04
05
Data Above Maximum The command data was greater than the maximum
value, and the parameter was not changed in the
drive.
06
Command Disabled
07
08
09
Invalid Parameter
Number
Additional Information
Refer to the following for additional information about Ultra3000 software:
The on-line Ultra Family Conversion Tool for a more extensive
comparison of the software parameters.
Ultraware On-line Help files available on the Ultraware CD.
C-8
Appendix
Related Documentation
Supplementary Information
and Publications
For:
Catalog Number:
1398-5.2 - mmyyyy
1398-5.0 - mmyyyy
2098-IN002x-EN-P
2098-IN003x-EN-P
2098-IN005x-EN-P
GMC-SG001x-EN-P
PST-SG003x-EN-C
2090-IN001x-EN-P
2090-IN002x-EN-P
2090-IN003x-EN-P
2090-IN004x-EN-P
GMC-RM001x-EN-P
http://www.ab.com/c
ertification/ce/docs
AG-7.1
D-2
Related Documentation
C
certifications
Rockwell Automation product
certification D-1
conversion tool
engineering review 1-1
hardware design changes 1-3
major issues 1-2
controller connector 1-2
encoder connector 1-2
I/O power 1-2
power structures 1-2
relay outputs 1-2
minor issues 1-2
analog outputs 1-2
drive performance 1-2
high resolution encoder 1-3
host communications 1-2
HSRV and IMC controllers 1-3
induction motors 1-2
line loss detection 1-2
Reliance B-series motors 1-2
Reliance P-series motors 1-2
touchpad (HMI) support 1-2
hardware comparison
analog interface A-3
encoder connections A-2
I/O interface A-3
power terminals A-6
serial interface A-1
H
hardware replacement
encoder cables 2-6
fusing 2-3
I/O cables 2-7
line filters 2-11
motor power 2-4
motor power cables 2-5
motor power wire gauge 2-4
R
related documentation
literature library D-1
motion analyzer D-1
Motion Control Selection Guide D-1
noise controlled by design D-1
ULTRA 100 Installation Manual D-1
ULTRA 200 User Manual D-1
Ultra3000 integration manual D-1
Ultraware CD installation instructions
D-1
S
software conversion
checksum field C-5
command description C-5
command formats C-4
data fields C-5
drive responses C-6
exception responses C-7
function fields C-5
host command protocol comparison C-4
importing files to Ultraware C-2
parameter fields C-5
warnings and errors C-3
specifications
analog inputs B-2
analog outputs B-2
digital inputs B-1
digital outputs B-1
I/O B-1
power B-3
relay outputs B-1
Rockwell Automation
Support
Installation Assistance
If you experience a problem with a hardware module within the first 24 hours
of installation, please review the information that's contained in this manual.
You can also contact a special Customer Support number for initial help in
getting your module up and running:
United States
1.440.646.5800
Monday Friday, 8am 5pm EST
Outside United
States
Outside United
States
Copyright 2007 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.