Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 29
Chapter 2 Replacement Considerations
Digital Outputs
The Ultra3000 servo drives (non-Sercos) have four optically isolated transistor
outputs that can be assigned to various functions through software.
Additionally, the Ultra3000 drive has one relay output with normally open
contacts. When brake control is assigned to the relay output, it can directly
control a motor holding brake.
Kinetix 5100 drives have six outputs that can be assigned to various functions
through software. There is no relay output. Any standard digital outputs (with
additional external circuit) can be used to energize the motor holding brake.
The Kinetix 5100 drive requires an external relay. See the Kinetix 5100
EtherNet/IP Indexing Servo Drives User Manual, publication 2198-UM004
for
more information on how to configure and use the holding brake.
Table 23
compares the digital outputs of the two drives.
Table 24
and Table 25 compare the digital output physical characteristics
between Ultra3000 and Kinetix 5100 drives.
As shown in Figure 3
, for the Ultra3000 drives, there are four optically isolated
12-24V DC digital outputs, active high, current sourcing. The Ultra3000 does
not have default assignments for digital outputs. The Kinetix 5100 drives have
digital outputs that are optically isolated and you can design the outputs for
open collector or open emitter.
Table 23 - Digital Outputs Comparison
Features
Ultra3000 (Non-Sercos)
Drives
Kinetix 5100 Drives
Outputs
5 (4 outputs + 1 relay
output)
6 outputs
Brake output assignment Programmable Programmable, transistor type
Use common 24V DC power to Energize outputs Yes
Capability to use separate 24V DC
power
Configurable output assignment Yes Yes
Table 24 - Digital Outputs Characteristics Comparison
Specification Ultra3000 Drives Kinetix 5100 Drives
Digital outputs pass through delay 100 µs 1 ms max
Digital outputs scan time 1 ms 250 µs max
Table 25 - Digital Outputs Parameters Comparison
Parameter Description
Ultra3000 Drive Kinetix 5100 Drive
Min Max Min Max
ON state current Current flow when the output transistor is ON — 50 mA — 40 mA
OFF state current Current flow when the output transistor is OFF — 0.1 mA — 0.1 mA
ON state voltage Voltage across the output transistor when ON —1.5V —1.5V @ 40 mA
OFF state voltage Voltage across the output transistor when OFF — 50V — 30V
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