Allen Bradley Kinetix 350 User Manual

User Manual

Original Instructions

Kinetix 350 Single-axis EtherNet/IP Servo Drives

Catalog Numbers 2097-V31PR0-LM, 2097-V31PR2-LM, 2097-V32PR0-LM, 2097-V32PR2-LM, 2097-V32PR4-LM, 2097-V33PR1-LM, 2097-V33PR3-LM, 2097-V33PR5-LM, 2097-V33PR6-LM, 2097-V34PR3-LM, 2097-V34PR5-LM, 2097-V34PR6-LM

Important User Information

Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.

Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice.

If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited.

Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.

ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.

IMPORTANT Identifies information that is critical for successful application and understanding of the product.

Labels may also be on or inside the equipment to provide specific precautions.

SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.

BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures.

ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).

Summary of Changes

This manual contains new and updated information as indicated in the following table.

Top ic Pag e

Add a reference to the Motion System Tuning Application Techniques, publication MOTION-AT005

Added a footnote to Figure 1 - Typical Kinetix 350 Drive Installation 13

Added the 2198-ABQE Encoder Output module to typical communication configurations.

Updated Input Power Circuit-protection Specifications table 19

Corrected the description of REG digital input signal 39

Add an MOV (199-MSMD1) as an option to Brake Wiring Schematic 43

Added a reference to Appendix C 52

Changed the IMPORTANT statement to an ATTENTION statement and added a reference to App endix C

Changed footnote to include an equivalent diode 67

Modified Important statement Ethernet Cable Connections section 74

Added footnote to Figure 44 - Ethernet Wiring Example - External Switch 75

Added descriptions for status indicators StAt, Ht, buS, Curr 78

Added an Attention statement 86

Added a link Motion System Tuning Application Techniques, publication MOTIONAT0 0 5

Corrected the Attention statement under Troubleshooting the Safe Torque-off Funct ion

Updated Figure 49 -Single-axis Relay Configuration (Stop Category 0) with Automatic Reset

Added Figure 50 - Single-axis Relay Configuration (Stop Category 0) with Manual Reset

Added Safety Input and Output Schematics 110

Duplicated the Important statement that describes the fault detection ability of TTL encoders

Added Appendix C - Leakage Currents 151

103

108

109

124

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 3

Summary of Changes

Notes:

4 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Preface

Conventions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Chapter 1

Start About the Kinetix 350 Drive System. . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

CE Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Chapter 2 Install the Kinetix 350 Drive System

System Design Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

System Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Circuit Breaker/Fuse Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Contactor Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Transformer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Transformer Specifications for Input Power . . . . . . . . . . . . . . . . . 21

Enclosure Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Power Dissipation Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . 23

Electrical Noise Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Bonding Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Bonding Multiple Subpanels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Establish Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Cable Categories for Kinetix 350 Drive Components. . . . . . . . . 29

Noise Reduction Guidelines for Drive Accessories. . . . . . . . . . . . 29

Mount Your Kinetix 350 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Chapter 3

Kinetix 350 Drive Connector Data Kinetix 350 Drive Connectors and Indicators . . . . . . . . . . . . . . . . . . . 34

Safe Torque-off Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . 35

I/O Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Motor Feedback (MF) Connector Pinout . . . . . . . . . . . . . . . . . . . 37

Ethernet Communication Connector Pinout . . . . . . . . . . . . . . . . 37

AC Input Power Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . 38

Back-up Power Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Shunt Resistor and DC Bus Connector Pinout. . . . . . . . . . . . . . . 38

Motor Power Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Control Signal Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Motor Brake Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Ethernet Communication Specifications . . . . . . . . . . . . . . . . . . . . 43

24V DC Back-up Power Specifications . . . . . . . . . . . . . . . . . . . . . . 43

Motor Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 5

Table of Contents

Connect the Kinetix 350 Drive System

Feedback Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Chapter 4

Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Recommended Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Route Power and Signal Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Determine the Input Power Configuration . . . . . . . . . . . . . . . . . . . . . . 52

Three-phase Power Wired to Three-phase Drives . . . . . . . . . . . . 53

Single-phase Power Wired to Single-phase Drives . . . . . . . . . . . . 54

Voltage Doubler Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Isolation Transformer in Grounded Power Configurations . . . 55

Three-phase Power Wired to Single-phase Drives . . . . . . . . . . . . 55

Voiding of CE Compliance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Grounding Your Kinetix 350 Drive System. . . . . . . . . . . . . . . . . . . . . . 58

Ground Your Drive to the System Subpanel . . . . . . . . . . . . . . . . . 58

Ground Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Power Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Wiring Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Wiring the Kinetix 350 Drive Connectors. . . . . . . . . . . . . . . . . . . . . . . 62

Wire the Safe Torque-off (STO) Connector . . . . . . . . . . . . . . . . . 62

Wire the Back-up Power (BP) Connector . . . . . . . . . . . . . . . . . . . 62

Wire the Input Power (IPD) Connector. . . . . . . . . . . . . . . . . . . . . 63

Wire the Motor Power (MP) Connector . . . . . . . . . . . . . . . . . . . . 64

Apply the Motor Cable Shield Clamp. . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Feedback and I/O Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Flying-lead Feedback Cable Pin-outs . . . . . . . . . . . . . . . . . . . . . . . . 71

Wiring the Feedback and I/O Connectors . . . . . . . . . . . . . . . . . . . . . . 72

Wire the I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Wire the Low-profile Connector Kit . . . . . . . . . . . . . . . . . . . . . . . . 73

Shunt Resistor Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Chapter 5

Configure and Start up the Kinetix 350 Drive System

6 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Keypad Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Configure the Kinetix 350 Drive Ethernet IP Address. . . . . . . . . . . . 81

Ethernet Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Kinetix 350 Drive Ethernet Port Configuration. . . . . . . . . . . . . . 81

Obtain the Kinetix 350 Drives’ Current Ethernet Settings . . . . 81

Configure the IP Address Manually (Static Address) . . . . . . . . . 82

Configure the IP Address Automatically (Dynamic Address). . 83

Configure the Logix5000 EtherNet/IP Controller . . . . . . . . . . . . . . . 84

Configure the Logix5000 Controller . . . . . . . . . . . . . . . . . . . . . . . . 84

Configure the Kinetix 350 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Configure the Motion Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Kinetix 350 Drive Safe Torque-off Feature

Table of Contents

Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Apply Power to the Kinetix 350 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Test and Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Test the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Disable EnableInputChecking by Using a Logix

Designer Message Instruction . . . . . . . . . . . . . . . . . . . . 100

Chapter 6

Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

Important Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . 101

Safety Category 3 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

Stop Category Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

Performance Level and Safety Integrity Level (SIL) CL2 . . . . . 102

Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

Troubleshoot the Safe Torque-off Function . . . . . . . . . . . . . . . . 103

PFD and PFH Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

PFD and PFH Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Safe Torque-off Connector Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

STO Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

Wiring Your Safe Torque-off Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . 105

European Union Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Safe Torque-off Wiring Requirements. . . . . . . . . . . . . . . . . . . . . . 106

Kinetix 350 Drive Safe Torque-off Feature . . . . . . . . . . . . . . . . . . . . . 107

Safe Torque-off Feature Bypass . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Kinetix 350 Drive Safe Torque-off Wiring Diagrams . . . . . . . . . . . . 108

Safe Torque-off Signal Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . 109

Safety Input and Output Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

Chapter 7

Troubleshoot the Kinetix 350 Drive

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Interpret Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

Four-digit Display Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

Error Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

General System Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

Logix5000 Controller and Drive Behavior. . . . . . . . . . . . . . . . . . . . . . 124

Kinetix 350 Drive Exception Behavior . . . . . . . . . . . . . . . . . . . . . 124

Web Server Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

Appendix A

Interconnect Diagrams Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

Shunt Resistor Wiring Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

Kinetix 350 Drive/Rotary Motor Wiring Examples . . . . . . . . . . . . . 134

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 7

Table of Contents

Kinetix 350 Drive/Actuator Wiring Examples . . . . . . . . . . . . . . . . . . 137

Motor Brake Currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

Appendix B

Upgrade the Kinetix 350 Drive Firmware

Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

Configure Logix5000 Communication. . . . . . . . . . . . . . . . . . . . . . . . . 144

Upgrade Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

Verify the Firmware Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

Appendix C

Leakage Current Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

Index

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

8 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Preface

This manual provides detailed installation instructions for mounting, wiring, and troubleshooting your Kinetix® 350 drive; and system integration for your drive/motor combination with a Logix5000™ controller.

Conventions

These conventions are used throughout this manual:

• Bulleted lists such as this one provide information, not procedural steps.

• Numbered lists provide steps or hierarchical information.

Additional Resources

These documents contain additional information concerning related products from Rockwell Automation.

Table 1 - Additional Resources

Resource Description

Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003

Kinetix 350 Single-axis EtherNet/IP Servo Drive Installation Instructions, publication 2097-IN008

Kinetix 300 Shunt Resistor Installation Instructions, publication 2097-IN002 Information to help you install and wire the Kinetix 300 shunt resistors.

Kinetix 300 AC Line Filter Installation Instructions, publication 2097-IN003

Kinetix 300 I/O Terminal Expansion Block Installation Instructions, publication 2097-IN005

Encoder Output Emulator Module Installation Instructions, publication 2198-IN01

CompactLogix L3ER Controllers User Manual, publication 1769-UM021

Stratix 2000 Ethernet Unmanaged Switches Installation Instructions, publication 1783-IN001

Ethernet/IP Benefits of Industrial Connectivity in Industrial Apps White Paper, publication

1585-WP001A

Industrial Ethernet Media, publication 1585-BR001

Guidance for Selecting Cables for EtherNet/IP Networks White Paper, publication ENET-WP007

Integrated Motion on SERCOS and EtherNet/IP Systems - Analysis and Comparison White Paper, publication MOTION-WP007

Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1

System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001

Kinetix Motion Control Selection Guide, publication KNX-SG001 Specifications, motor/servo-drive system combinations, and accessories for Kinetix

Motion Analyzer software, download at http://ab.rockwellautomation.com/Motion-

Control/M otion-Analy zer-Software

ControlLogix Controllers User Manual, publication 1756-UM001

Integrated Motion on the EtherNet/IP Network: Configuration and Startup User Manual, publication MOTION-UM003

Motion System Tuning Application Techniques, publication MOTION-AT005 Information on tuning a Kinetix drive system.

Specifications for Kinetix servo drive motion control products.

Information to help you install your Kinetix 350 drive system.

Information to help you install and wire the Kinetix 300 AC line filter.

Information to help you install and wire the Kinetix 300 I/O terminal expansion block.

Information to help you install and wire Encoder Output Emulator Module.

Information to help you install, configure, program, and operate a CompactLogix™ system.

Information to help you install and operate a Stratix 2000 Ethernet Switches.

Provides general guidelines and theory for Ethernet/IP industrial systems.

This brochure provides connectivity solutions for Ethernet networks and integrated architecture.

This guide is arranged to help you select cables that are based on your application, environmental conditions, and mechanical requirements

This white paper compares and contrasts SERCOS and EtherNet/IP networks with a ControlLogix® controller.

Provides general guidelines for installing a Rockwell Automation industrial system.

Information, examples, and techniques that are designed to minimize system electrical noise failures.

motion control products.

This program helps you choose drive and motor size by using application analysis software.

Information to help you install, configure, program, and operate a ControlLogix system.

Information to help you configure and troubleshoot your ControlLogix and CompactLogix EtherNet/IP network modules.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 9

Preface

Table 1 - Additional Resources (Continued)

Resource Description

842E-CM Integrated Motion Encoder on EtherNet/IP User Manual. Publication 842E-UM002A

ControlFLASH Firmware Upgrade Kit User Manual, publication 1756-UM105 For ControlFLASH™ information not specific to any drive family.

Rockwell Automation Configuration and Selection Tools, website http://www.rockwellautomation.com/global/support/selection.page

Rockwell Automation Product Certification, website http://www.rockwellautomation.com/global/certification/overview.page

Rockwell Automatio n Industrial Automation Glossary, publication AG-7 .1 A glossary of industrial automation terms and abbreviations.

Information to help you install, wire, and troubleshoot an integrated motion encoder on EtherNet/IP network.

Online product selection and system configuration tools, including AutoCAD (DXF) drawings.

For declarations of conformity (DoC) currently available from Rockwell Automation.

You can view or download publications at

http://www.rockwellautomation.com/global/literature-library/overview.page

To order paper copies of technical documentation, contact your local Allen-Bradley distributor or Rockwell Automation sales representative.

10 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Chapter 1 Start

Top ic Pa ge

About the Kinetix 350 Drive System 12

Catalog Number Explanation 15

Agenc y Compliance 16

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 11

Chapter 1 Start

About the Kinetix 350 Drive System

The Kinetix® 350 single-axis EtherNet/IP servo drive is designed to provide a solution for applications with output power requirements between 0.4…3.0 kW (2…12 A rms).

Table 2 - Kinetix 350 Drive System Overview

Kinetix 350 System Component

Kinetix 350 Integrated Motion on EtherNet/IP Servo Drive

AC Lin e Filters 2090

Shunt Module 2097-Rx Bulletin 2097 shunt resistors connect to the drive and provides shunt capability in regenerative applications.

Terminal block for I/O connector

Stratix® 2000 Ethernet Switch 1783-US05T An Ethernet switch divides an Ethernet network into segments and directs network traffic efficiently.

Logix PAC® Controller Platforms

Studio 5000® Environment or RSLogix 5000® Software

Encoder Output Module 2198-ABQE The Allen-Bradley encoder output module is a DIN-rail mounted EtherNet/IP network-based standalone module

Rotary Servo Motors MP-Series, TL-Series Compatible rotary motors include the MP-Series™ (Bulletin MPL, MPM, MPF, and MPS) and TL-Series™ (Bulletin

Linear Stages MP-Series (Ballscrew) Compatible stages include MP-Series (Bulletin MPAS) Integrated Linear Stages.

Electric Cylinders MP-Series, TL-Series Compatible electric cylinders include MP-Series and TL- Series (Bulletin MPAR, TLAR, and MPAI) Electric Cylinders.

Encoder 842E-CM Integrated Motion Encoder on EtherNet/IP network.

Cables Motor/brake and feedback

Cat. No. Description

2097-V3xPRx-LM Kinetix 350 integrated motion on EtherNet/IP drives with safe torque-off feature are available with 120/240V or

2097-Fx

2097-TB1 50-pin terminal block. Use with IOD connector for control interface connections.

Bulletin 5069 Bulletin 1768 and 1769

1756-EN2T, 1756-EN2TR, and 1756-EN3TR module

— RSLogix 5000 software (version 20 or earlier) and the Studio 5000 Logix Designer® application (version 21 or later)

cables

Communication cables 1585J-M8CBJM-x (shielded) or 1585J-M8UBJM-x (high-flex shielded) Ethernet cable.

480V AC input power.

Bulletin 2090 and Bulletin 2097-Fx AC line filters are required to meet CE with Kinetix 350 drives without an integrated line filter. Bulletin 2097 filters are available in foot mount and side mount.

EtherNet/IP networking with CompactLogix™ 5370 and CompactLogix 5380 controllers with embedded dualport. 1769-L3x controllers with embedded single port. 1768-L4x controller and 1768-L4xS safety controller with 1768-ENBT EtherNet/IP communication module.

EtherNet/IP network communication modules for use with ControlLogix® 5570 and ControlLogix 5580 controllers.

are used to program, commission, and maintain the Logix family of controllers.

capable of outputting encoder pulses to a customer-supplied peripheral device (cameras, for example, used in line-scan vision systems).

TLY) motors.

Motor power/brake and feedback cables include SpeedTec and threaded DIN connectors at the motor. Power/ brake cables have flying leads on the drive end and straight connectors that connect to servo motors. Feedback cables have flying leads that wire to low-profile connector kits on the drive end and straight connectors on the motor end.

12 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Figure 1 - Typical Kinetix 350 Drive Installation

2097-V3xxxx-LM Kinetix 350 Drive

2097-Fx AC Line Filter (optional equipment) 2097-F1 Filter Shown

Line Disconnect Device

Input Fusin g

Three-phase Input Power

24V DC Control Back-up

Power Supply

(optional equipment)

MP-Series and TL-Series

Rotary Motors

(MPL-Bxxxx motors shown)

Bulletin 2090

Motor Feedback Cables

Bulletin 2090 Motor Power Cables

2097-TB1 Terminal

Expansion Block

2097-Rx Shunt Resistor (optional equipment)

MP-Series and TL-Series Electric Cylinders (MPAR-Bxxxx electric cylinders shown)

MP-Series Integrated Linear Stages (MPAS-B9xxx ballscrew shown)

MP-Series Heavy-duty Electric Cylinders (MPAI-Bxxxx electric cylinders shown)

2090-K2CK-D15M

Low-profile Connector Kit

Start Chapter 1

(1) See Ethernet Cable Connections on page 74 for information on how to use an unmanaged switch in your application.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 13

Chapter 1 Start

2097-V3xxxx-LM Kinetix 350 Drive

1783-US08T Stratix® 2000 Switch

Compac tLogix™ Co ntroller System 1769-L33ERM Shown

1585J-M8CBJM-x (shielded) or

11585J-M8UBJM-x (high-flex shielded)

Ethernet Cable

RSLogix 5000® Software

(version 20.00.00 or later) or the

Studio 5000 Logix Designer® Application

PanelView ™ Plus Co mpact

Display Terminal

1734-AENT POINT I/O™

EtherNet/IP Adapter

2198-ABQE

Encoder Output Module

Line Scan Cameras

842E-CM Integrated Motion Encoder on EtherNet/IP

Figure 2 - Typical K350 Communication Configuration

P W R

MOD

NET

OUTPUT-A OUTPUT-B

See Encoder Output Module Installation Instructions, publication

2198-UM003

. For information to help you install and wire the 2198-ABQE

Encoder Output Module.

14 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Start Chapter 1

Catalog Number Explanation

Kinetix 350 drive catalog numbers and descriptions are listed in these tables.

Table 3 - Kinetix 350 Drives (single-phase)

Cat. No. Input Voltage

2097-V31PR0-LM

2097-V31PR2-LM 5.7

2097-V32PR0-LM

2097-V32PR2-LM 5.7

2097-V32PR4-LM 11.3

120V, 1 Ø 240V, 1 Ø

240V, 1 Ø

Table 4 - Kinetix 350 Drives (single/three-phase)

Cat. No. Input Voltage

2097-V33PR1-LM

2097-V33PR3-LM 5.7

2097-V33PR5-LM 11.3

2097-V33PR6-LM 17.0

120V, 1 Ø 240V, 1 Ø 240V, 3 Ø

Table 5 - Kinetix 350 Drives (three-phase)

Continuous Output Current A (0-pk)

2.8

Continuous Output Current A (0-pk)

2.8

Featu res

•120V Doubler mode

•Safe Torque-off

• Integrated AC line filter

•Safe Torque-off

Featu res

Safe Torque-off

Cat. No. Input Voltage

2097-V34PR3-LM

480V, 3 Ø

2097-V34PR6-LM 8.5

Table 6 - Kinetix 350 Drive Accessories

Cat. No. Drive Components

2097-Fx AC line filters

2097-TB1 Terminal block for I/O connector

2097-Rx Shunt resistors

2097-PGMR Memory module programmer

2097-MEM Memory modules 12 pack

Continuous Output Current A (0-pk)

2.8

Featu res

Safe Torque-off2097-V34PR5-LM 5.7

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 15

Chapter 1 Start

Agency Compliance

If this product is installed within the European Union and has the CE marking, the following regulations apply.

ATT EN TI ON : Meeting CE requires a grounded system. The method of grounding the AC line filter and drive must match. Failure to do this renders the filter ineffective and can cause damage to the filter. For grounding examples, see Grounding Your Kinetix 350 Drive System

page 58

For more information on electrical noise reduction, see the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001

CE Requirements

To meet CE requirements, these requirements apply:

• Install an AC line filter (Bulletin 2090 or 2097) as close to the drive as possible.

• Use 2090 series motor power cables or use connector kits and terminate the cable shields to the subpanel with clamp provided.

• Use 2090 series motor feedback cables or use connector kits and properly terminate the feedback cable shield. Drive-to-motor power and feedback cables must not exceed 20 m (65.6 ft).

• Install the Kinetix 350 system inside an enclosure. Run input power wiring in conduit (grounded to the enclosure) outside of the enclosure. Separate signal and power cables.

• Segregate input power wiring and motor power cables from control wiring and motor feedback cables. Use shielded cable for power wiring and provide a grounded 360° clamp termination.

See Appendix A on page 129 wiring and drive/motor interconnect diagrams.

16 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

for interconnect diagrams, including input power

Chapter 2 Install the Kinetix 350 Drive System

Top ic Pa ge

System Design Guidelines 17

Electrical Noise Reduction 24

Mount Your Kinetix 350 Drive 32

ATT EN TI ON : Plan the installation of your system so that you can cut, drill, tap, and weld with the system that is removed from the enclosure. Because the system is of the open type construction, be careful to keep any metal debris from falling into it. Metal debris or other foreign matter can become lodged in the circuitry, which can result in damage to components.

System Design Guidelines

Use the information in this section when designing your enclosure and planning to mount your system components on the panel.

For on-line product selection and system configuration tools, including AutoCAD (DXF) drawings of the product, refer to

http://www.rockwellautomation.com/global/support/selection.page

System Mounting Requirements

• To comply with UL and CE requirements, the Kinetix® 350 system must be enclosed in a grounded conductive enclosure. It must that offer protection as defined in standard EN 60529 (IEC 529) to IP4X such that they are not accessible to an operator or unskilled person. A NEMA 4X enclosure exceeds these requirements providing protection to IP66.

• The panel that you install inside the enclosure for mounting your system components must be on a flat, rigid, vertical surface that won’t be subjected to shock, vibration, moisture, oil mist, dust, or corrosive vapors.

• Size the drive enclosure so as not to exceed the maximum ambient temperature rating. Consider heat dissipation specifications for all drive components.

• Segregate input power wiring and motor power cables from control wiring and motor feedback cables. Use shielded cable for power wiring and provide a grounded 360° clamp termination.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 17

Chapter 2 Install the Kinetix 350 Drive System

• Use high-frequency (HF) bonding techniques to connect the enclosure, machine frame, and motor housing, and to provide a low-impedance return path for high-frequency (HF) energy and reduce electrical noise.

• Use 2090 series motor feedback cables or use connector kits and properly terminate the feedback cable shield. Drive-to-motor power and feedback cables must not exceed 20 m (65.6 ft).

IMPORTANT System performance was tested at these cable length specifications. These

limitations are also a CE requirement.

See the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001

, to understand the concept of electrical noise

reduction better.

Circuit Breaker/Fuse Selection

The Kinetix 350 drives use internal solid-state motor short-circuit protection and, when protected by suitable branch circuit protection, are rated for use on a circuit capable of delivering up to 100,000 A (fuses) and 65,000 A (circuit breakers).

IMPORTANT Do not use circuit protection devices on the output of an AC drive as an

isolating disconnect switch or motor overload device. These devices are designed to operate on sine wave voltage and the drive's PWM waveform does not allow it to operate properly. As a result, damage to the device occurs.

Make sure the selected components are properly coordinated and meet acceptable codes including any requirements for branch circuit protection. Evaluation of the short-circuit available current is critical and must be kept below the short-circuit current rating of the circuit breaker.

See the Kinetix Servo Drives Specifications Technical Data, publication

KNX-TD003

for input current and inrush current specifications for your

Kinetix 350 drive.

See Fuse and Circuit Breaker (CB) Specifications

on page 19 for

recommended circuit breakers and fuses.

18 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Install the Kinetix 350 Drive System Chapter 2

Table 7 - Fuse and Circuit Breaker (CB) Specifications

UL Applications IEC (non-UL) Applications

Drive Cat. No.

2097-V31PR0-LM

Drive Voltage

120V

Phase

Single-phase (voltage doubler)

Fuses (Bussmann) Cat. No.

Miniature CB Cat. No.

KTK-R-20 (20 A) 14 89-M1C200 140M-D8E-C20 1489-M1C200 1492-SPM1D200 140M-D8E-C20

120/240V Single-phase KTK-R-10 (10 A) 1489-M1C100 140M-C2E-C10 1489-M1C100 1492-SPM1D100 140M-C2E-C10

Single-phase (voltage doubler)

KTK-R-30 (30 A) 14 89-M1C300 140M-F8E-C32 1489-M1C300 1492-SPM1D300 140M-F8E-C32

2097-V31PR2-LM

120V

120/240V Single-phase KTK-R-20 (20 A) 1489-M1C200 140M-D8E-C20 1489-M1C200 1492-SPM1D200 140M-D8E-C20

2097-V32PR0-LM

2097-V32PR2-LM KTK-R-20 (20 A) 1489-M1C200 140M-D8E-C20 1489-M1C200 1492-SPM1D200 140M-D8E-C20

240V Single-phase

KTK-R-20 (20 A) 14 89-M1C150 140M-D8E-C16 1489-M1C150 1492-SPM1D150 140M-D8E-C16

2097-V32PR4-LM KTK-R-30 (30 A) 1489-M1C300 140M-F8E-C32 1489-M1C300 1492-SPM1D320 140M-F8E-C32

2097-V33PR1-LM

2097-V33PR3-LM

2097-V33PR5-LM

2097-V33PR6-LM

120/240V Single-phase KTK-R-20 (20 A) 1489-M1C200 140M-D8E-C20 1489-M1C200 1492-SPM1D200 140M-D8E-C20

240V Three-phase KTK-R-15 (15 A) 1489-M3C150 140M-D8E-C16 1489-M3C150 1492-SPM3D150 140M-D8E-C16

120/240V Single-phase KTK-R-20 (20 A) 1489-M1C200 140M-D8E-C20 1489-M1C200 1492-SPM1D200 140M-D8E-C20

240V Three-phase KTK-R-15 (15 A) 1489-M3C150 140M-D8E-C16 1489-M3C150 1492-SPM3D150 140M-D8E-C16

120/240V Single-phase KTK-R-30 (30 A) 1489-M1C300 140M-F8E-C32 1489-M1C300 1492-SPM1D300 140M-F8E-C32

240V Three-phase KTK-R-20 (20 A) 1489-M3C200 140M-D8E-C20 1489-M3C200 1492-SPM3D200 140M-D8E-C20

120/240V Single-phase

LPJ-40SP (40 A) Class J

N/A

240V Three-phase KTK-R-30 (30 A) 1489-M3C300 1489-M3C300 1492-SPM3D300

2097-V34PR3-LM

2097-V34PR5-LM KTK-R-10 (10 A) 1489-M3C100 140M-C2E-C10 1489-M3C100 1492-SPM3D100 140M-C2E-C10

480V Three-phase

KTK-R-10 (10 A) 14 89-M3C100 140M-C2E-C10 1489-M3C100 1492-SPM3D100 140M- C2E-C10

2097-V34PR6-LM KTK-R-20 (20 A) 1489-M3C200 140M-D8E-C20 1489-M3C200 1492-SPM3D200 140M-D8E-C20

(1) Bulletin 1492 and 1489 circuit protection devices have lower short-circuit current ratings than Bulletin 140M devices.

See http://ab.rockwellautomation.com/allenbradley/productdirectory.page?

for product literature with specific short-circuit ratings.

(2) For UL applications, Bulletin 140M devices are applied as self-protected combination motor controllers.

Motor

(1)

Protection CB, Self-protected CMC Cat. No.

140M-F8E-C32

(1) (2)

Miniature CB

Cat. No.

N/A N/A

(1)

Motor Protection CB Cat. No.

140M-F8E-C32

(1)

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 19

Chapter 2 Install the Kinetix 350 Drive System

Contactor Ratings

Table 8 - Kinetix 350 Drives (120/240V)

Cat. No.

2097-V31PR0-LM

2097-V31PR2-LM

Drive Volt age

120V 100-C23x10 100-C23Zx10

240V 100-C12x10 100-C12Zx10

120V 100-C30x10 100-C30Zx10

240V 100-C23x10 100-C23Zx10

AC Coil Contactor DC Coil Contactor

Table 9 - Kinetix 350 Drives (240V)

Cat. No.

2097-V32PR0-LM 240V 100-C23x10 100-C23Zx10

2097-V32PR2-LM 240V 100-C23x10 100-C23Zx10

2097-V32PR4-LM 240V 100-C30x10 100-C30Zx10

2097-V33PR1-LM

2097-V33PR3-LM

2097-V33PR5-LM

2097-V33PR6-LM

Drive Volt age

120V 100-C23x10 100-C23Zx10

240V 100-C16x10 100-C16Zx10

120V 100-C23x10 100-C23Zx10

240V 100-C16x10 100-C16Zx10

120V 100-C30x10 100-C30Zx10

240V 100-C23x10 100-C23Zx10

120V N/A N/A

240V 100-C30x10 100-C30Zx10

AC Coil Contactor DC Coil Contactor

Table 10 - Kinetix 350 Drives (480V)

Cat. No.

2097-V34PR3-LM

2097-V34PR5-LM 100-C12x10 100-C12Zx10

2097-V34PR6-LM 100-C23x10 100-C23Zx10

Drive Volt age

480V

AC Coil Contactor DC Coil Contactor

100-C12x10 100-C12Zx10

Transformer Selection

The Kinetix 350 drive does not require an isolation transformer for threephase input power. However, a transformer can be required to match the voltage requirements of the controller to the available service.

To choose the size of a transformer for the main AC power inputs, refer to on

page 18

and Transformer Specifications for Input Power on page 21.

IMPORTANT If you are using an autotransformer, make sure that the phase to neutral/

ground voltages do not exceed the input voltage ratings of the drive.

20 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Install the Kinetix 350 Drive System Chapter 2

A =

0.38Q

1.8T - 1.1

A =

0.38 (416)

1.8 (20) - 1.1

= 4.53 m

IMPORTANT Use a form factor of 1.5 for single and three-phase power (where form factor

is used to compensate for transformer, drive, and motor losses, and to account for utilization in the intermittent operating area of the torque speed curve).

For example, to choose the size of a transformer for the voltage requirements of catalog number 2097-V34PR6-LM = 3 kW continuous x 1.5 = 4.5 KVA transformer.

Transformer Specifications for Input Power

Attribute Value (460V system)

Input volt-amperes 750VA

Input voltage 480V AC

Output voltage 120…240V AC

Enclosure Selection

This example is provided to assist you in choosing the size of the enclosure for your Bulletin 2097 drive system. You need heat dissipation data from all components that are planned for your enclosure to calculate the enclosure size. See Power Dissipation Specifications on page 22

for your drive.

With no active method of heat dissipation (such as fans or air conditioning), either of the following approximate equations can be used.

Metric Standard English

4.08Q

A =

T - 1.1

Where T is temperature difference between inside air and outside ambient (°C), Q is heat that is 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 A = (2dw + 2dh + 2wh) /144

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 that is generated in enclosure (Watts), and A is enclosure surface area (ft The exterior surface of all six sides of an enclosure is calculated as

Where d (depth), w (width), and h (height) are in inches.

If the maximum ambient rating of the Kinetix 350 drive system is 40 °C (104 °F) and if the maximum environmental temperature is 20 °C (68 °F), then T=20. In this example, the total heat dissipation is 416 W (sum of all components in enclosure). So, in the equation below, T=20 and Q=416.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 21

Chapter 2 Install the Kinetix 350 Drive System

In this example, the enclosure must have an exterior surface of at least 4.53 m. If any portion of the enclosure is not able to transfer heat, exclude heat in the calculation.

Because the minimum cabinet depth to house the Kinetix 350 system (selected for this example) is 332 mm (13 in.), the cabinet must be approximately 2000 x 700 x 332 mm (78.7 x 27.6 x 13.0 in.) HxWxD.

2 x (0.332 x 0.70) + 2 x (0.332 x 2.0) + 2 x (0.70 x 2.0) = 4.59 m²

Because this cabinet size is considerably larger than what is necessary to house the system components, it can be more efficient to provide a means of cooling in a smaller cabinet. Contact your cabinet manufacturer for options available to cool your cabinet.

Power Dissipation Specifications

This table shows the maximum power dissipation of each drive. Use this table to size an enclosure and calculate required ventilation for your Kinetix 350 drive system.

Cat. No. Power Dissipation, W

2097-V31PR0-LM 28

2097-V31PR2-LM 39

2097-V32PR0-LM 28

2097-V32PR2-LM 39

2097-V32PR4-LM 67

2097-V33PR1-LM 28

2097-V33PR3-LM 39

2097-V33PR5-LM 67

2097-V33PR6-LM 117

2097-V34PR3-LM 39

2097-V34PR5-LM 58

2097-V34PR6-LM 99

22 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Install the Kinetix 350 Drive System Chapter 2

25.0 mm (1.0 in.) Clearance for Airflow and Installation

3 mm (0.12 in.) Side Clearance

3 mm (0.12 in.)

Side Clearance

25.0 mm (1.0 in.) Clearance for Airflow and Installation

Drive Cat. No.

2097-V31PR0-LM 185 (7.29)

2097-V31PR2-LM 185 (7.29)

2097-V32PR0-LM 230 (9.04)

2097-V32PR2-LM 230 (9.04)

2097-V32PR4-LM 230 (9.04)

2097-V33PR1-LM 185 (7.29)

2097-V33PR3-LM 185 (7.29)

2097-V33PR5-LM 185 (7.29)

2097-V33PR6-LM 230 (9.04)

2097-V34PR3-LM 185 (7.29)

2097-V34PR5-LM 185 (7.29)

2097-V34PR6-LM 230 (9.04)

Minimum Clearance Requirements

This section provides information to help you choose the size of your cabinet and the placement of your Kinetix 350 system components.

IMPORTANT Mount the module in an upright position as shown. Do not mount the drive

module on its side.

Figure 3

illustrates minimum clearance requirements for proper airflow and

installation:

• Additional clearance is required depending on the accessory items installed.

• An additional 9.7 mm (0.38 in.) clearance is required left of the drive if the I/O expansion terminal block is used.

• An additional 26 mm (1.0 in.) clearance is required right of the drive when the heatsink is present.

• An additional 36 mm (1.42 in.) is required right of the drive when the side-mount line filter is present. An additional 50 mm (2.0 in.) is required behind the drive when the rear-mount line filter is present.

• An additional 5.0 mm (0.19 in.) clearance is required in front of the drive when the 2090-K2CK-D15M feedback connector kit is used.

• Additional clearance is required for the cables and wires that are connected to the top, front, and bottom of the drive.

• An additional 150 mm (6.0 in.) is required when the drive is mounted next to noise sensitive equipment or clean wireways.

See Kinetix 350 Drive Power Specifications in Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003

for Kinetix 350 drive

dimensions.

Figure 3 - Minimum Clearance Requirements

See page 22 for power dissipation specifications.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 23

Chapter 2 Install the Kinetix 350 Drive System

Electrical Noise Reduction

This section outlines practices that minimize the possibility of noise-related failures as they apply specifically to Kinetix 350 system installations. For more information on the concept of high-frequency (HF) bonding, the ground plane principle, and electrical noise reduction, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001

Bonding Drives

Bonding is the practice where you connect metal chassis, assemblies, frames, shields, and enclosures to reduce the effects of electromagnetic interference (EMI).

Unless specified, most paints are not conductive and act as insulators. To achieve a good bond between drive and the subpanel, surfaces must be paintfree or plated. Bonded metal surfaces create a low-impedance return path for high-frequency energy.

IMPORTANT To improve the bond between the drive and subpanel, construct your

subpanel out of zinc plated (paint-free) steel.

Improper bonding of metal surfaces blocks the direct return path and lets highfrequency energy travel elsewhere in the cabinet. Excessive high-frequency energy can affect the operation of other microprocessor controlled equipment.

24 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Install the Kinetix 350 Drive System Chapter 2

Stud-mounting the Subpanel to the Enclosure Back Wall

Subpanel

Star Washer

Nut

Back Wall of Enclosure

Weld ed St ud

Use a wire brush to remove paint from threads to maximize ground connection.

Use plated panels or scrape paint on front of panel.

Nut

Star Washer

Welded Stud

Flat Washer

Stud-mounting a Ground Bus or Chassis to the Subpanel

Scrape Paint

Flat Washer

If the mounting bracket is coated with a non-conductive material (anodized or painted), scrape the material around the mounting hole.

Mounting Bracket or Ground Bus

Subpanel

Nut

Star Washer

Flat Washer

Star Washer

Star Washer Scrape paint on both sides of panel and use star washers.

Tapped Hole

Bolt

Flat Washer

Ground Bus or Mounting Bracket

If the mounting bracket is coated with a non-conductive material (anodized or painted), scrape the material around the mounting hole.

Bolt-mounting a Ground Bus or Chassis to the Back Panel

These illustrations show recommended bonding practices for painted panels, enclosures, and mounting brackets.

Figure 4 - Recommended Bonding Practices for Painted Panels

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 25

Chapter 2 Install the Kinetix 350 Drive System

Wire B raid

25.4 mm (1.0 in.) by

6.35 mm (0.25 in.)

Remove paint from cabinet.

Ground bus

that is bonded

to the

subpanel.

Wire Br aid

25.4 mm (1.0 in.) by

6.35 mm (0.25 in.)

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 cannot share a common low impedance path. This difference in impedance can affect networks and other devices that span multiple panels:

• Bond the top and bottom of each subpanel to the cabinet by using

25.4 mm (1.0 in.) by 6.35 mm (0.25 in.) wire braid. As a rule, the wider and shorter the braid is, the better the bond.

• Scrape the paint from around each fastener to maximize metal-to-metal contact.

Figure 5 - Multiple Subpanels and Cabinet Recommendations

26 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Install the Kinetix 350 Drive System Chapter 2

Clean Wireway

24V Motor

Brake PS

Circuit

Breaker

Contactors

Kinetix 350

Drive

I/O

(1)

, Ethernet, and

Feedback Cables

Very Dirty Zone

Segregated (not in wireway)

Route 24V DC I/O Shielded Cable

Ethernet (shielded) Cable

I/O

(1)

, Motor Power, and Safety Cables

(4)

(3)

Dirty Wireway

XFMR

Filter

Bulletin 2090 AC Line Filte r

(optional)

Route encoder/analog/registration shielded cables.

No sensitive

equipment within

150 mm (6.0 in.).

(2)

Establish Noise Zones

Observe these guidelines when individual input power components are used in the Kinetix 350 system:

• The clean zone (C) exits left of the Kinetix 350 system and includes the I/O wiring, feedback cable, Ethernet cable, and DC filter (gray wireway).

• The dirty zone (D) exits right of the Kinetix 350 system (black wireway) and includes the circuit breakers, transformer, 24V DC power supply, contactors, AC line filter, motor power, and safety cables.

• The very dirty zone (VD) is limited to where the AC line (EMC) filter VAC output jumpers over to the drive. Shielded cable is required only if the very dirty cables enter a wireway.

Figure 6 - Noise Zones (Bulletin 2090 AC line filters)

(1) If drive system I/O cable contains (dirty) relay wires, route cable in dirty wireway. (2) For tight spaces, use a grounded steel shield. For examples, refer to the System Design for Control of Electrical Noise Reference

Manual, publication GMC-RM001 (3) This voltage is a clean 24V DC available for any device that requires it. The 24V enters the clean wireway and exits to the left. (4) This voltage is a dirty 24V DC available for motor brakes and contactors. The 24V enters the dirty wireway and exits to the right.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 27

Chapter 2 Install the Kinetix 350 Drive System

Clean Wireway

24V Motor

Brake PS

Circuit

Breaker

Contac tors

Kinetix 350

Drive

I/O

(1)

, Ethernet, and Feedback Cables

Very Dirty Zone

Segregated (not in wireway)

Route 24V DC I/O Shielded Cable

Ethernet (shielded) Cable

I/O

(1)

, Motor Power, and S afety Cables

(4)

(3)

Dirty Wireway

XFMR

Filter

Route encoder/analog/registration shielded cables.

Bulletin 2097 AC line

filters mount to side, as shown, or behind

the drive.

No sensitive

equipment within

150 mm (6.0 in.).

(2)

Figure 7 - Noise Zones (Bulletin 2097 AC line filters)

28 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Install the Kinetix 350 Drive System Chapter 2

Cable Categories for Kinetix 350 Drive Components

This table indicates the zoning requirements of cables that are connected to the Kinetix 350 drive components.

Table 11 - Kinetix 350 Drive Components

Zone Method

Wire/Cable Connector

L1, L2, L3 (unshielded cable) IPD X

U, V, W ( motor power) MP X X

B+-, B-, BR (shunt resistor) BC X

24V DC BP X

Control COM, 24V DC control, safety enable, and feedback signals for safe-off feature

Motor feedback MF X X

Registration

Others X

Ethernet Port 1 X X

STO X

IOD

Very Dirty

Dirty Clean

Ferrite Sleeve

Shielded

Cable

Noise Reduction Guidelines for Drive Accessories

See this section when mounting an AC line filter or shunt resistor module for guidelines that are designed to reduce system failures that excessive electrical noises cause.

AC Line Filters

If you are using a Bulletin 2090 line filter, mount the filter on the same panel as the Kinetix 350 drive, and as close to the drive as possible.

Observe these guidelines when mounting your AC line filter:

• Good HF bonding to the panel is critical. For painted panels, refer to the examples on page 24

• Segregate input and output wiring as far as possible.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 29

Chapter 2 Install the Kinetix 350 Drive System

Contactor

Dirty Wireway

Custom er-supp lied

Metal Enclosure

150 mm (6.0 in.) clearance (min) on all four sides of the shunt module.

Very dirty connections segregated (not in wireway).

Shunt Wiring Methods:

Twisted pair in conduit (first choice).

Shielded twisted pair (second choice).

Twisted pair, two twists per foot (min) (third choice).

Metal Conduit (where required by local code)

Ethernet

(shielded)

Cable

No sensitive

equipment within

150 mm (6.0 in.).

(2)

Route 24V DC I/O

Shielded Cable

24V Motor

Brake PS

Enclosure

Clean Wireway

Circuit

Breaker

I/O

(1)

, Ethernet, and

Feedba ck Cables

Filter

Kinetix 350 Drive

Route Encoder/Analog/Registration Shielded Cables

I/O

(1),

Motor Power and Safety Cables

XFMR

AC Line Filter

Shunt Resistors

Observe these guidelines when mounting your shunt resistor outside the enclosure:

• Mount shunt resistor and wiring in the very dirty zone or in an external shielded enclosure.

• Mount resistors in a shielded and ventilated enclosure outside the cabinet.

• Keep unshielded wiring as short as possible. Keep shunt wiring as flat to the cabinet as possible.

Figure 8 - Shunt Resistor Outside the Enclosure

(1) If drive system I/O cable contains (dirty) relay wires, route cable in dirty wire way. (2) When space does not permit 150 mm (6.0 in.) clearance, install a grounded steel shield between the drive and clean wireway.

For examples, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001

30 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Install the Kinetix 350 Drive System Chapter 2

Shunt Wiring Methods: Twisted pair in conduit (first choice). Shielded twisted pair (second choice). Twisted pair, two twists per foot (min) (third choice).

Contac tor

Dirty Wireway

Very dirty zone

segregated (not in wireway).

Ethernet

(shielded)

Cable

No sensitive

equipment within

150 mm (6.0 in.).

(2)

Route 24V DC I/O

Shielded Cable

24V Motor

Brake PS

Circuit

Breaker

I/O

(1)

, Ethernet, and Feedback

Cables

Filter

Kinetix 350

Drive

Route Encoder/Analog/Registration Shielded Cables

I/O

(1)

, Motor Power, and Safety Cables

XFMR

AC Lin e Filter

Clean Wireway

Enclosure

When mounting your shunt module inside the enclosure, follow these additional guidelines:

• Mount the shunt resistor anywhere in the dirty zone, but as close to the Kinetix 350 drive as possible.

• Shunt wires can be run with motor power cables.

• Keep unshielded wiring as short as possible. Keep shunt wiring as flat to the cabinet as possible.

• Separate shunt wires from other sensitive, low-voltage signal cables.

Figure 9 - Shunt Resistor inside the Enclosure

For examples, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001

Motor Brake

The brake is mounted inside the motor and how you connect to the drive depends on the motor series.

See Kinetix 350 Drive/Rotary Motor Wiring Examples for the interconnect diagram of your drive/motor combination.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 31

that begin on page 134

Chapter 2 Install the Kinetix 350 Drive System

Mount Your Kinetix 350 Drive

This procedure assumes that 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 those products.

ATT EN TI ON : This drive contains electrostatic discharge (ESD) sensitive parts and assemblies. You are required to follow static control precautions when you install, test, service, or repair this assembly. If you do not follow ESD control procedures, components can be damaged. If you are not familiar with static control procedures, refer to Guarding Against Electrostatic Damage, publication 8000-4.5.2

Follow these steps to mount your Kinetix 350 drive.

1. Lay out the position for the Kinetix 350 drive and accessories in the enclosure.

See Establish Noise Zones recommendations. Mounting hole dimensions for the Kinetix 350 drive are shown in Kinetix Servo Drives Specifications Technical Data, publication number KNX-TD003

2. Attach the Kinetix 350 drive to the cabinet, first by using the upper mounting slots of the drive and then the lower.

, or any other applicable ESD Protection Handbook.

on page 27 for panel layout

The recommended mounting hardware is M4 (#6-32) steel machine screws that are torqued to 1.1 N•m (9.8 lb•in). Observe bonding techniques as described in Bonding Drives

IMPORTANT To improve the bond between the Kinetix 350 drive and subpanel,

construct your subpanel out of zinc plated (paint-free) steel.

3. Tighten all mounting fasteners.

on page 24.

32 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Chapter 3 Kinetix 350 Drive Connector Data

Top ic Pa ge

Kinetix 350 Drive Connectors and Indicators 34

Control Signal Specifications 39

Motor Feedback Specifications 44

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 33

Chapter 3 Kinetix 350 Drive Connector Data

5 0

Kinetix® 350 Drive, Front View

(2097-V33PR5-LM drive is shown)

Kinetix 350 Drive, Bottom View

(2097-V33PR5-LM drive is shown)

Kinetix 350 Drive, Top View

(2097-V33PR5-LM drive is shown)

Kinetix 350 Drive Connectors and Indicators

Although the physical size of the Kinetix® 350 drives vary, the location of the connectors and indicators is identical.

Figure 10 - Kinetix 350 Drive Connector and Indicators

3 4 5 6

Item Description Item Description

1 Mains (IPD) connector 9 Motor feedback (MF) connector

2 Data status indicator and diagnostic display 10 Ground lug

3 Memory module socket 11 Shunt resistor and DC bus (BC) connector

4 Network status indicator 12 Back-up power (BP) connector

5 Module status indicator 13 Display control push buttons (3)

6 Axis status indicator 14 Motor power (MP) connector

7 Ethernet communication port (Port 1) 15 Safe torque-off (STO) connector

8I/O (IOD) connector

Table 12 - Kinetix 350 Drive Connectors

Designator Description Connector

IPD AC input power 3-position or 4-position plug/header

PORT1 Ethernet communication port RJ45 Ethernet

IOD I/O SCSI 50-pin high-density connector

MF Motor feedback 15-pin high-density D-shell (male)

BP Back-up power 2-pin quick-connect terminal block

BC Shunt Resistor and DC Bus 7-pin quick-connect terminal block

MP Motor power 6-pin qui ck-connect te rminal block

STO Safe torque off (STO) Terminal 6-pin quick-connect terminal block

34 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Kinetix 350 Drive Connector Data Chapter 3

1 2 3 4 5 6

+24 V DC control

Control COM

Safety status

Safety input 1

Safety COM

Safety input 2

Bottom view of the Kinetix 350 drive. (2097-V33PR5-LM drive is shown)

Wiring Plug Header

Safe Torque-off (STO) Connector

Safe Torque-off Connector Pinout

The Kinetix 350 drive ships with the (6-pin) wiring-plug header that connects your safety circuit to the Kinetix 350 drive safe torque-off (STO) connector. If your system does not use the safe torque-off feature, follow instructions in Safe

To r q u e- of f Fe atur e By p a ss starting on page 107 to wire the drive with motion-

allowed jumpers.

Figure 11 - Safe Torque-off Connector

Table 13 - Kinetix 350 Drive Safe Torque-off Connector Pinout

STO Pin Description Signal

1 +24V DC output from the drive +24V DC control

2 +24V DC output common Control COM

3 Safety status Safety Status

4 Safety input 1 (+24V DC to enable) Safety Input 1

5 Safety common Safety COM

6 Safety input 2 (+24V DC to enable) Safety Input 2

IMPORTANT Use only pins STO-1 (+24V DC Control) and STO-2 (Control COM) of the

motion-allowed jumpers to enable the drive when the safe torque-off function is not used. When the safe torque-off function is in operation, the 24V supply must come from an external source.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 35

Chapter 3 Kinetix 350 Drive Connector Data

I/O Connector Pinout

IOD Pin Description Signal

1…25 Reserved Reserved

26 +/- Overtravel, enable, and home common COM

27 Negative hardware overtravel NEG_OT

28 Positive hardware overtravel POS_OT

29 Drive enable ENABLE

30 Home switch HOME_SW

31…35 Reserved —

36 Registration common REG_COM

37…38 Reserved —

39 Registration input REG

40…42 Reserved —

43 Motor brake release positive MTR_BRAKE+

44 Motor brake release negative MTR_BRAKE-

44…50 Reserved —

Figure 12 - Pin Orientation for 50-pin SCSI I/O (IOD) Connector

36 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Kinetix 350 Drive Connector Data Chapter 3

Motor Feedback (MF) Connector Pinout

MF Pin Description Signal MF Pin Description Signal

Sine differential input+ AM+ differential input+

Sine differential inputAM- differential input-

Cosine differential input+ BM+ differential input+

Cosine differential inputBM- differential input-

Data differential input + Index pulse+

6 Common ECOM 14 Encoder power (+5V) EPWR_5V

7 Encoder power (+9V) EPWR_9V

(1) Not applicable unless motor has integrated thermal protection. (2) Encoder power supply uses either 5V or 9V DC based on encoder/motor used.

Single-ended 5V Hall effect commutation

SIN+ AM+

SINAM-

COS+ BM+

COSBM-

DATA+ IM+

(2)

15 Reserved —

Reserved

Data differential input Index pulse-

Motor thermal switch (normally closed)

(1)

Single-ended 5V Hall effect commutation

—

DATAIM-

(2)

IMPORTANT Drive-to-motor power and feedback cable length must not exceed 20 m

(65.6 ft). System performance was tested at these specifications and also apply when meeting CE requirements.

Figure 13 - Pin Orientation for 15-pin Motor Feedback (MF) Connector

Pin 15

Pin 11

Pin 6

Pin 10

Pin 5

Pin 1

Ethernet Communication Connector Pinout

Port 1 Pin Description Signal Port 1 Pin Description Signal

1 Transmit port (+) data terminal + TX 5 — —

2 Transmit port (-) data terminal - TX 6 Receive port (-) data terminal - RX

3 Receive port (+) data terminal + RX 7 — —

4— — 8— —

Figure 14 - Pin Orientation for 8-pin Ethernet Communication (port 1) Port

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 37

Chapter 3 Kinetix 350 Drive Connector Data

AC Input Power Connector Pinout

IPD Designator

L2/N AC power in (non-doubler operation) L2/N L2 AC power in L2

L1 AC power in L1 L1 AC power in L1

N AC power neutral (only 120V doubler) N PE Protective earth (ground) PE

PE Protective earth (ground) PE

Description (2097-V31PRx-LM drives)

Signal

IPD Designator

L3 AC power in (three-phase models) L3

L2 AC power in L2

L1 AC power in L1

PE Protective earth (ground) PE

Description (2097-V32PRx-LM drives)

Description (2097-V33PRx-LM, and 2097V34PRx-LM drives)

Back-up Power Connector Pinout

BP Designator

+24V Positive 24V DC +24V DC

-24V 24V DC power supply return Return

Description Signal

Signal

Shunt Resistor and DC Bus Connector Pinout

BC Designator

SH Shunt resistor SH

Description Signal

Positive DC bus and shunt resistor

Negative DC bus

Motor Power Connector Pinout

MP Designator

PE Protective earth (ground) PE

W Motor power out W

V Motor power out V

U Motor power out U

Description Signal

38 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Kinetix 350 Drive Connector Data Chapter 3

Control Signal Specifications

IOD Pin Signal Description

IOD-29 ENABLE

IOD-30 HOME

IOD-39 REG

IOD-27 IOD-28

NEG_OT POS_OT

Optically isolated, single-ended active high signal. Current loading is nominally 9 mA. A 24V DC input is applied to this terminal to enable the axis.

Optically isolated, single-ended active high signal. Current loading is nominally 9 mA. Home switch (normally open contact) inputs axis require 24V DC (nominal).

Optically isolated, single-ended active high signal. Current loading is nominally 9 mA. A 24V DC input is applied or removed from this terminal to trigger registratio n event. Fast

registration inputs are required to ensure the motor interface can capture the positional information with less than 5 μs uncertainty.

Overtravel detection is available as an optically isolated, single-ended active high signal. Current loading is nominally 9 mA per input. The positive/negative limit switch (normally closed contact) inputs for axis require 24V DC (nominal).

This section provides a description of the Kinetix 350 drive I/O (IOD), communication, shunt resistor and DC bus (BC), and back-up power (BP) connectors.

Digital Inputs

Five fixed inputs are available for the machine interface on the Kinetic 350 drive.

IMPORTANT To improve registration input EMC performance, refer to the System Design

for Control of Electrical Noise Reference Manual, publication GMC-RM001

IMPORTANT Over-travel limit input devices must be normally closed.

The five digital inputs (IOD-27…IOD-30 and IOD-39) have fixed pin assignments.

Table 14 - Understanding Digital Inputs

Capture Time

0.5 ms Level

0.5 ms Edge

5μs Edge

1ms Level

Edge/Level Sensitive

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 39

Chapter 3 Kinetix 350 Drive Connector Data

Table 15 - Understanding Digital Input Functions

Function Description Behavior

If the controller configuration specifies checking of the enable input, an active state enables the power electronics to control the motor and an inactive state prevents motion.

The drive generates an exception if the input is inactive when the

Enable

Home

Registration

Positive O ver-travel

Negative Over-travel

controller commands motion and has authorized checking. The drive behavior in this situation is programmable.

An active state indicates to a homing sequence that the referencing sensor has been seen. Typically, a transition of this signal is used to establish a reference position for the machine axis.

An inactive-to-active transition (also known as a positive transition) or active-to-inactive transition (also known as a negative transition) is used to latch position values for use in registration moves.

If the controller configuration specifies checking of the hardware overtravel inputs, an inactive state indicates that a position limit has been exceeded in the positive direction.

The drive generates an exception if the input is inactive when the controller authorizes checking. The drive behavior in this situation is programmable.

If the controller configuration specifies checking of the hardware overtravel inputs, an inactive state indicates that a position limit has been exceeded in the negative direction.

The drive generates an exception if the input is inactive when the controller authorizes checking. The drive behavior in this situation is programmable.

By default drive enable input checking is enabled. If the checking is authorized and the input is disabled the drive issues a Drive Enable Start Inhibit and you are not able to issue a Servo On instruction from the controller.

To disable the Enable function:

• Tie input to 24V DC

• Write a Logix Designer message instruction that changes enableInputChecking or Attribute 736 to zero, see instructions on page 100

The function is always inactive unless armed by the controller.

The function is always active. To disable function:

• Tie input to 24V

• Set to only Fault Status

Table 16 - Digital Input Specifications

Attribute Value

Type Active high, single-ended, current sinking

Funct ions

Input current (with 24V applied) 9 mA, max

On-state input voltage 4.2…24V @ 2…9 mA total

Off-state input voltage 0…2.5V

Pulse reject filtering (only Registration functions) 120 ns, nom

Pulse reject filtering, default (all other input functions, can be configured) 1.0 ms, nom

Propagation delay (only Registration function) 5 μs

Registration repeatability 200 ns

Input reaction time (Disable) 2 ms, max

Input reaction time (Enable, Positive Over-travel inputs) 2 ms, max

Enable, Home, Positive Over -travel, Negative Over-travel, Registration

The digital inputs are optically isolated and sink up to 24V DC. Electrical details are shown in Ta b l e 1 5

on page 40. You can configure the inputs for PNP

sourcing or NPN sinking.

40 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Figure 15 - Sourcing of Digital Inputs

GND

ENABLE, HOME_SW,

POS_OT, or NEG_OT

COM

+24V

ENABLE, HOME_SW,

POS_OT, or NEG_OT

1.2 kΩ

GND

ENABLE, HOME_SW,

POS_OT, or N EG_OT

COM

+24V

ENABLE, HOME_SW, POS_OT, or N EG_OT

1.2 kΩ

Figure 16 - Sinking of Digital Inputs

Kinetix 350 Drive Connector Data Chapter 3

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 41

Chapter 3 Kinetix 350 Drive Connector Data

GND

REG

REG_COM

+24V

REG

1.2 kΩ

GND

REG

REG_COM

+24V

REG

1.2 kΩ

Figure 17 - Sourcing of Registration Digital Input

Figure 18 - Sinking of Registration Digital Input

Motor Brake Output

The two digital outputs (IOD-43 and IOD-44) have fixed pin assignments for motor brake function.

Attribute Value

Circuit type Optically isolated open collector/emitter

Voltage, max 30V DC

Current, max 100 mA

The following schematic shows how to wire your motor brake.

42 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Kinetix 350 Drive Connector Data Chapter 3

BR+

BR-

White

Black

CR1

MTR_BRAKE + MTR_BRAKE -

24V DC

24V DC COM

43 44

Motor Brake

Kinetix 350 Drive

Figure 19 - Brake Wiring Schematic

Use these guidelines to wire your brake:

• Connect a diode, 1N4004, an MOV (199-MSMD1), or equivalent, as shown, to both the relay and the motor brake coils.

• Wire the output as sourcing.

• The motor brake output is active on enable.

• Set the motor engage and disengage times that are based on the motor selected.

Ethernet Communication Specifications

An RJ45 10 Mbit Ethernet connector (port 1) is provided on the Kinetix 350 drive. It is fully compliant to the EtherNet/IP standard. Restrict the location of all Ethernet cabling to clean zones with minimal electromagnetic interference.

Attribute Value

Communication 100BASE-T X, full duplex

Auto MDI/MDIX crossover detection/correction Yes

Cabling

Rockwell Automation® CAT5E shielded, 100 m (328 ft), max

24V DC Back-up Power Specifications

The Kinetix 350 drive can use an external power supply to power the logic and communication circuits. If an independent 24V (@ 1 A) power supply is connected to the BP connector, the logic and communication circuits remain active during a mains input power loss.

Attribute Value

Input voltage 20…26V DC

Current 500 mA

Inrush, max 30 A

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 43

Chapter 3 Kinetix 350 Drive Connector Data

Motor Feedback Specifications

The drive accepts motor feedback signals from the following types of encoders with these general specifications.

Table 17 - Motor Feedback General Specifications

Attribute Value

Feedback device support

Power supply (EPWR5V) 5.13…5.67V, 400 mA, max

Power supply (EPWR9V) 8.3…9.9V, 275 mA, max

Thermost at

• Stegmann Hiperface

• Generic TTL Incremental

• Tamagawa 17-bit Serial

Single-ended, under 500 Ω = no fault, over 10 kΩ = fault

The Kinetix 350 drives support multiple types of feedback devices by using the 15-pin (MF) motor feedback connector and shared connector pins in many cases.

Table 18 - Motor Feedback Signals by Device Type

MF Pin Stegmann Hiperface Generic TTL Incremental Tamagawa 17-bit Serial

1SIN+ AM+ —

2SIN- AM- —

3COS+ BM+ —

4COS- BM- —

5DATA+ IM+ DATA+

6 ECOM E COM ECOM

7EPWR9V — —

8— S3 —

9— — —

10 DATA - I M- DATA-

11 TS TS TS

12 — S1 —

13 — S2 —

14 EPWR5V EPWR5V EPWR5V

15 — — —

44 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Kinetix 350 Drive Connector Data Chapter 3

+5V

1 k

6.81 k

0.01 μ

+5V

Kinetix 350 Drive

Figure 20 is the motor thermostat interface schematic. Although the

thermostat signal is shown for all feedback types, some motors do not support this feature because it is not part of the feedback device.

Figure 20 - Motor Thermostat Interface

Table 19 - Motor Thermostat State Specifications

State Resistance at TS

No Fault 500 Ω

Fault 10 kΩ

(1) Resistance is measured between TS (MF pin 11) and ECOM (MF pin 6)

(1)

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 45

Chapter 3 Kinetix 350 Drive Connector Data

Kinetix 350 Drive

to UART

from UART

DATA+

DATA-

10 k

to AqB Counter

1 k

56 pF

+5V

Kinetix 350 Drive

Shaded area indicates components that are part of the circuit, but support other feedback device types (not used for Stegmann Hiperface suppor t).

Table 20 - Stegmann Hiperface Specifications

Attribute Value

Protocol Hiper face

Memory suppor t Not programmed, or programmed with Allen-Bradley® motor data

Hiperface data communication RS485, 9600 bps, 8 data bits, no parity

Sine/Cosine interpolation 2048 counts/sine period

Input frequency (AM/BM) 250 kHz, max

Input voltage (AM/BM) 0.6…1.2V, p-p, measured at the drive inputs

Line loss detection (AM/BM) Average (sin² + cos²) > constant

Figure 21 - Stegmann Hiperface Interface, SIN and COS Signals

47 pF

26.7 k

1 k

56 pF

1 k

10 k

56 pF

10 k

to A/D Converter

SIN+ or COS+

SIN- or COS-

1 k

+5V

56 pF

to AqB Counter

Figure 22 - Stegmann Hiperface Interface, DATA Signals

46 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Kinetix 350 Drive Connector Data Chapter 3

Kinetix 350 Drive

Shaded area indicates components that are part of the circuit, but suppor t other

feedback device types (not used for Generic TTL incremental support).

Table 21 - Generic TTL Incremental Specifications

Attribute Value

TTL incremental encoder support 5V, differential A quad B

Quadrature interpolation 4 counts/square wave period

Differential input voltage (AM, BM, and IM)

DC current draw (AM, BM, and IM)

Input signal frequency (AM, BM, and IM)

Edge sepa ration (AM and BM)

Line loss detection (AM and BM)

Hall inputs (S1, S2, and S3)

1.0…7.0V

30 mA, max

5.0 MHz, max

42 ns min, between any two edges

Average (AM² + BM²) > constant

Single-ended, TTL, open collector, or none

Figure 23 - Generic TTL Incremental, AM and BM Signals

AM+ or BM+

AM- or BM-

47 pF

26.7 k

1 k

56 pF

1 k

56 pF

10 k

56 pF

10 k

to A/D Converter

to AqB Counter

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 47

Chapter 3 Kinetix 350 Drive Connector Data

to UART

from UART

MTR_IM-

56 pF

MTR_IM+

10 k

to AqB Counter

10 k

1 k

56 pF

+5V

Kinetix 350 Drive

Shaded area indicates components that are part of the circuit, but support other feedback

device types (not used for Generic TTL incremental support).

1 k

S1, S2,

or S3

+5V

56 p

1 k

+5V

Kinetix 350 Drive

Figure 24 - Generic TTL Interface, IM Signals

Figure 25 - Generic TTL Interface, S1, S2, or S3 Signals

Table 22 - Tamagawa 17-bit Serial Specifications

Attribute Value

Tamagawa model support TS5669N124

Protocol Tamagawa proprietary

Memory support Programmed with Allen-Bradley motor data

Differential input voltage 1.0…7.0V

Data communication 2.5 Mbps, 8 data bits, no parity

Battery 3.6V, on external to drive in low-profile connector kit

See Figure 22 for the Tamagawa 17-bit serial interface schematic. It is identical

48 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

to the Stegmann Hiperface (DATA) signals schematic.

Kinetix 350 Drive Connector Data Chapter 3

Pin 11

Pin 6

Pin 15

Pin 1

Pin 10

Pin 5

Feedback Power Supply

The Kinetix 350 drive generates +5V and +9V DC for motor feedback power. Short circuit protection and separate common mode filtering for each channel is included.

Table 23 - Motor Feedback Power Specifications

Supply Reference

Min Nominal Max Min Max

+5V DC EPWR_5V 5.13 5.4 5.67 0 400

+9V DC EPWR_9V 8.3 9.1 9.9 0 275

(1) 400 mA on the 5V supply with no load on the 9V supply. (2) 300 mA on the 5V supply with 150 mA on the 9V supply. (3) 275 mA on the 9V supply with no load on the 5V supply.

Voltage Current mA

Figure 26 - Pin Orientation for 15-pin Motor Feedback (MF) Connector

(1) (2)

(2) (3)

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 49

Chapter 3 Kinetix 350 Drive Connector Data

Notes:

50 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Chapter 4 Connect the Kinetix 350 Drive System

Top ic Pa ge

Basic Wiring Requirements 51

Grounding Your Kinetix 350 Drive System 58

Power Wiring Requirements 60

Wiring Guidelines 61

Wiring the Kinetix 350 Drive Connectors 62

Apply the Motor Cable Shield Clamp 69

Feedback and I/O Cable Connections 70

Wiring the Feedback and I/O Connectors 72

Shunt Resistor Connections 74

Ethernet Cable Connections 74

Basic Wiring Requirements

This section contains basic information on how to wire the Kinetix® 350 drive.

SHOCK HAZARD: To avoid hazard of electrical shock, perform all mounting and wiring of the Bulletin 2097 drive before you apply power. Once power is applied, connector terminals can have voltage present even when not in use.

IMPORTANT This section contains common PWM servo system wiring configurations,

size, and practices that can be used in most applications. National Electrical Code, local electrical codes, special operating temperatures, duty cycles, or system configurations take precedence over the values and methods provided.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 51

Chapter 4 Connect the Kinetix 350 Drive System

Recommended Cables

The Motor Power Cable Compatibility table on page 65 and Motor Feedback

Cables for Specific Motor/Feedback Combinations table on page 70 show the

cables Rockwell Automation® recommends that you use with the Kinetix® 350 drive.

IMPORTANT Factory-made cables are designed to minimize EMI and are recommended

over hand-built cables to optimize system performance.

If it is necessary for you to build or modify your own cable, follow these guidelines:

• Connect the cable shield to the connector shells on both ends of the cable with a complete 360° connection.

• Use twisted-pair cable whenever possible. Twist differential signals with each other and twist single-ended signals with the appropriate ground return.

See the Kinetix Motion Control Selection Guide, publication

KNX-SG001

and motor-end connector kit catalog numbers.

, for low-profile connector kit, drive-end (mating) connector kit,

Determine the Input Power Configuration

Route Power and Signal Wiring

When you route power and signal wiring on a machine or system, radiated noise from nearby relays, transformers, and other electronic drives can be induced into motor or encoder feedback signals, input/output communication, or other sensitive low voltage signals. Radiated noise can cause system faults and communication anomalies.

See Electrical Noise Reduction low voltage cables in wireways. See the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001

This section contains examples of typical single-phase and three-phase facility input power that is wired to single-phase and three-phase Kinetix 350 drives.

The grounded power configuration lets you ground your single-phase or threephase power at a neutral point. Match your secondary to one of the examples and be certain to include the grounded neutral connection. See Table 68 on

page 152 for leakage currents.

on page 24 for examples of routing high and

, for more information.

52 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Connect the Kinetix 350 Drive System Chapter 4

IPD

Transformer (WYE) Secondary

Kinetix 350 Drives Three-phase AC Input

Bonded Cabinet Ground Bus

Ground Grid or

Power Distribution Ground

AC Line

Filter

Contac tor

Input Fusing

Feeder and branch short circuit

protection is not illustrated.

2097-V34PRx-LM

Transformer (Delta) Secondary

Kinetix 350 Drives Three-phase AC Input

AC Line

(1)

Filter

Bonded Cabinet Ground Bus

Ground Grid or Power Distribution Ground

Contac tor

Input Fusing

Feeder and branch short circuit

protection is not illustrated.

2097-V33PRx-LM

Transformer (Delta) Secondary

Kinetix 350 Drives Three-phase AC Input

AC Line

(1)

Filter

Bonded Cabinet Ground Bus

Ground Grid or Power Distribution Ground

Contactor

Input Fusing

Feeder and branch short circuit

protection is not illustrated.

2097-V33PRx-LM

Three-phase Power Wired to Three-phase Drives

These examples illustrate grounded three-phase power that is wired to threephase Kinetix 350 drives when phase-to-phase voltage is within drive specifications.

Figure 27 - Three-phase (400/480V) Power Configuration (WYE Secondary)

ATT EN TI ON : For the 480V Kinetix 350 drives to meet proper voltage

creepage and clearance requirements, each phase voltage to ground must be less than or equal to 300V AC rms. This requirement means that the power system must use a center grounded wye secondary configuration for 400/ 480V AC mains.

See Appendix C for leakage currents.

Figure 28 - Three-phase (240V) Power Configuration (Delta Secondary)

(1) Leakage current from the line filter, in thi s configuration, typically is higher than a balanced (center ground) configuration.

IPD L3

Figure 29 - Three-phase (240V) Power Configuration (Delta Secondary)

(1) Leakage current from the line filter, in thi s configuration, typically is higher than a balanced (center ground) configuration.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 53

IPD L3

Chapter 4 Connect the Kinetix 350 Drive System

Transformer Secondary

Bonded Cabinet Ground Bus

Ground Grid or

Power Distribution Ground

AC Lin e

Filter

AC Lin e

Filter

120V AC

Output

240V AC

Output

Bonded Cabinet Ground Bus

Ground Grid or

Power Distribution Ground

Kinetix 350 Drives Single-phase AC Input

Contactor

Input Fusing

Contactor

Input Fusing

2097-V31PRx -LM

(1)

2097-V31PRx-LM

2097-V32PRx-LM

2097-V33PRx -LM

Single-phase Power Wired to Single-phase Drives

These examples illustrate grounded single-phase power that is wired to singlephase Kinetix 350 drives when phase-to-phase voltage is within drive specifications.

IMPORTANT The 2097-V32PRx-LM models have integrated AC line filters and do not

require the AC line filter that is shown in this diagram.

Figure 30 - Single-phase Grounded Power Configurations

L2 (Neutral)

L2/N

(1) This configuration applies to voltage-doubler operation for 2097-V31PRx-LM drives.

IPD

L2/N

IPD

If you reduce transformer output, the motor speed is reduced. Feeder and branch short circuit protection is not illustrated.

IPD

Voltage Doubler Operation

You can wire the 2097-V31PRx-LM drives with 120V input voltage and achieve twice the output voltage. To use the voltage-doubler circuit, connect the 120V single-phase input power to the IPD-L1 and IPD-N terminals.

For Kinetix 350 drive power specifications, refer to Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 drive input wiring diagrams, refer to Power Wiring Examples on page 131

54 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

. For Kinetix 350

Connect the Kinetix 350 Drive System Chapter 4

IPD

L1 L2

IPD L1 L2

IPD

L1 L2

Transformer

(WYE) Secondary

Grounded Neutral

Kinetix 350 Drives

(System A)

Single-phase AC Input

Input Fusing

(1)

Ground Grid or

Power Distribution Ground

Bonded Cabinet

Ground Bus

Kinetix 350 Drives

(System B)

Single-phase AC Input

Kinetix 350 Drives

(System C)

Single-phase AC Input

Input Fusing

2097-V32PRx-LM

Isolation Transformer in Grounded Power Configurations

When you are using an isolation transformer, attach the chassis ground wire to the neutral connection. This grounded neutral connection does the following :

• Prevents the system from floating and avoids any high voltages that can otherwise occur, for example due to static electricity

• Provides a solid earth path for fault conditions

ATT EN TI ON : If the supply transformer is an auto transformer (not recommended), do not add a chassis earth ground. A chassis earth ground is already included elsewhere in the system and addition of another creates a short.

Three-phase Power Wired to Single-phase Drives

This example illustrates grounded three-phase power that is wired to singlephase Kinetix 350 drives when phase-to-phase voltage is within drive specifications.

Figure 31 - Single-phase Amplifiers on Three-phase Power (WYE)

(1) Contactors (MI, M2, and M3) can be optional. For more information, see Understanding the Machinery Directive, publication

SHB-900. AC line filter is optional, but is required for CE compliance.

Feeder short circuit protection is not illustrated.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 55

Chapter 4 Connect the Kinetix 350 Drive System

IPD

L1 N

IPD

L1 N

IPD

L1 L2

IPD

L1 L2

IPD

L1 L2

Bonded Cabinet Ground Bus

Transformer (WYE) Secondary

Ground Grid or Power Distribution Ground

AC Line

Filter

AC Line

Filter

AC Line

Filter

Kinetix 350 Drives

(System A)

Single-phase AC Input

Grounded

Neutral

Grounded Neutral

Kinetix 350 Drives

(System A)

Single-phase AC Input

Kinetix 350 Drives

(System A)

Single-phase AC Input

Contac tor

Input Fusing

2097-V31PRx-LM 2097-V33PRx-LM

This example illustrates grounded three-phase power that is wired to singlephase Kinetix 350 drives when phase-to-phase voltage exceeds drive specifications.

A neutral must be connected when single-phase drives are attached to a threephase 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

ATT EN TI ON : Failure to connect the neutral can result in supply voltage swings at the individual drives. This condition occurs when the neutral point moves vectorially as a result of load variations that individual drives experience. The supply voltage swing can cause undervoltage and overvoltage trips on the drives, and the drive can be damaged if the overvoltage limit is exceeded.

Figure 32 - Single-phase Amplifiers (One AC Line Filter Per Drive)

Feeder and branch short circuit protection is not illustrated.

56 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

IMPORTANT An AC line filter for each drive is the preferred configuration and required for

CE compliance.

Connect the Kinetix 350 Drive System Chapter 4

Voiding of CE Compliance

The three-phase and neutral in-line filter applications that are described Three-

phase Power Wired to Single-phase Drives on page 55 are not adequate for CE

compliance for EMC. Therefore, EMC validity and CE marking by Rockwell Automation is voided when three-phase and neutral in line filters are used.

ATT EN TI ON : The three-phase isolation transformer and neutral in-line filter applications that are described in this document have not been tested for EMC by Rockwell Automation. The products that are 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 your responsibility.

If CE compliance is a customer requirement, use single-phase line filters that Rockwell Automation has tested and are specified for the product. See Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 numbers.

for catalog

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 57

Chapter 4 Connect the Kinetix 350 Drive System

Bonded Cabinet Ground Bus

Ground Grid or Power Distribution Ground

Braided

Ground Strap

Ground Stud

Grounding Your Kinetix 350 Drive System

All equipment and components of a machine or process system must have a common earth ground point that is 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 CE Requirements

in Chapter 1.

IMPORTANT To improve the bond between the Kinetix 350 drive and subpanel, construct

your subpanel out of zinc plated (paint-free) steel.

Ground Your Drive to the System Subpanel

ATT EN TI ON : The National Electrical Code contains grounding requirements,

conventions, and definitions. Follow all applicable local codes and regulations to ground your system safely. See the Figure 33 grounding your Kinetix 350 drive. See Appendix A

for the power wiring

diagram for your Kinetix 350 drive.

If the Kinetix 350 drive is mounted on a painted subpanel, ground the drive to a bonded cabinet ground bus by using a braided ground strap or 4.0 mm (12 AWG) solid copper wire 100 mm (3.9 in.) long.

for details on

Figure 33 - Connecting the Braided Ground Strap Example

For drive dimensions, refer to Product Dimensions in Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003

58 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Connect the Kinetix 350 Drive System Chapter 4

Bonded Ground Bar

(option al)

Bonded Cabinet

Ground Bus

Ground Grid or Power

Distribution Ground

Always follow NEC and applicable local codes.

Chassis Ground

Always follow NEC and applicable local codes.

Ground Grid or Power

Distribution Ground

Bonded Ground

Bus

Figure 34 - Chassis Ground Configuration (Multiple Kinetix 350 Drives on One Panel)

Ground Multiple Subpanels

To ground multiple subpanels, refer to the Figure 35 HF bonding is not illustrated. For information, see Bonding Multiple Subpanels

Figure 35 - Subpanels Connected to a Single Ground Point

on page 26.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 59

Chapter 4 Connect the Kinetix 350 Drive System

Power Wiring Requirements

The wire must be made of copper with 75 °C (167 °F) minimum rating. Phasing of main AC power is arbitrary and an earth ground connection is required for safe and proper operation. See Power Wiring Examples

page 131

for interconnect diagrams.

IMPORTANT The National Electrical Code and local electrical codes take precedence over

the values and methods provided.

Table 24 - Kinetix 350 Drive Power Wiring Requirements

Cat. No. Description

2097-V31PR0-LM 2097-V32PR0-LM 2097-V32PR2-LM 2097-V33PR1-LM 2097-V33PR3-LM 2097-V34PR3-LM 2097-V34PR5-LM 2097-V34PR6-LM

2097-V32PR4-LM 2097-V33PR5-LM

2097-V31PR2-LM 2097-V33PR6-LM

2097-V31PR0-LM 2097-V31PR2-LM 2097-V32PR0-LM 2097-V32PR2-LM 2097-V32PR4-LM 2097-V33PR1-LM 2097-V33PR3-LM 2097-V33PR5-LM 2097-V34PR3-LM 2097-V34PR5-LM 2097-V34PR6-LM

2097-V33PR6-LM 4.0 (12) 7 (0.28) 0.5 (4.5)

2097-V31PR0-LM 2097-V31PR2-LM 2097-V32PR0-LM 2097-V32PR2-LM 2097-V32PR4-LM 2097-V33PR1-LM 2097-V33PR3-LM 2097-V33PR5-LM 2097-V34PR3-LM 2097-V34PR5-LM 2097-V34PR6-LM

2097-V33PR6-LM 4.0 (12) 7 (0.28) 0.5 (4.5)

2097-V3xPRx-LM

(1) Use for only shunt resistor connection. (2) Use for bypassing only the STO circuit. (3) Applies to 2097-V33PRx-LM, and 2097-V34PRx-LM drive modules. (4) Applies to 2097-V31PRx-LM drive modules. (5) Applies to 2097-V32PRx-LM drive modules.

Mains input power (IPD connector)

Motor power (MP connector)

Shunt/DC Bus (BC connector)

Control back-up power (BP connector)

Safe torque-off (STO connector)

Pins Signals

(1)

(2)

STO-1

(2)

STO-2 STO-3 STO-4 STO-5 STO-6

Ter mina ls

L3 L2 L1 PE

PE W V U

+ + SH

+24V DC

-24V DC

+24V DC Control Control COM Safety Status Safety Input 1 Safety COM Safety Input 2

L2/N L1 N

(3)

L2 L1 PE

(4)

Recommended Wire Size

mm² (AWG)

Motor power cable depends on motor/drive combination.

2.5 (14)

(5)

4.0 (12) 7 (0.28) 0.5 (4.5)

6.0 (10) 7 (0.28)

2.5 (14) 7 (0.28) 0.5 (4.5)

1.5 (16) 6 (0.25) 0.5 (4.5)

Strip Length

mm (in.)

7 (0.28) 0.5 (4.5)

Tor que Valu e

N•m (lb•in)

0.56…0.79 (5.0…7.0)

60 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Connect the Kinetix 350 Drive System Chapter 4

ATT EN TI ON : To avoid personal injury and/or equipment damage, make sure that 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.

To avoid personal injury and/or equipment damage, make sure that motor power connectors are used for only connection purposes. Do not use them to turn the unit on and off.

To avoid personal injury and/or equipment damage, make sure that shielded power cables are grounded to prevent potentially high voltages on the shield.

Wiring Guidelines

Use these guidelines as a reference when wiring the connectors on your Kinetix 350 drive power modules.

IMPORTANT For connector locations of the Kinetix 350 drives, refer to Kinetix 350 Drive

Connectors and Indicators on page 34.

When you tighten screws to secure the wires, refer to the tables that begin on page 60

When you remove insulation from wires, refer to the tables that begin on

page 60

IMPORTANT To improve system performance, run wires and cables in the wireways as

established in Establish Noise Zones

Follow these steps when wiring the connectors on your Kinetix 350 drive modules.

1. Prepare the wires for attachment to each connector plug by removing insulation equal to the recommended strip length.

IMPORTANT Use caution not to nick, cut, or otherwise damage strands as you

for torque values.

for strip lengths.

on page 27.

remove the insulation.

2. Route the cable/wires to your Kinetix 350 drive.

3. Insert wires into connector plugs.

See connector pinout tables in Chapter 3 in Appendix A

4. Tighten the connector screws.

5. Gently pull on each wire to make sure it does not come out of its

terminal; reinsert and tighten any loose wires.

6. Insert the connector plug into the module connector.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 61

or the interconnect diagrams

Chapter 4 Connect the Kinetix 350 Drive System

Kinetix 350 Drive, Front View

Wiring the Kinetix 350 Drive Connectors

This section provides examples and wiring tables to assist you when you make connections to the Kinetix 350 drive.

Wire the Safe Torque-off (STO) Connector

For the safe torque-off (STO) connector pinouts, feature descriptions, and wiring information, see Chapter 6

on page 101.

Wire the Back-up Power (BP) Connector

+24V DC

-24V DC

Table 25 - Back-up Power (BP) Connector

Drive Cat. No. Terminals

2097-V3xPRx-LM

+24V DC

-24V DC

Recommended Wire Size

mm² (AWG)

1.5 (16) 6 (0.25) 0.5 (4.5)

Strip Length

mm (in.)

Torque Value

N•m (lb•in)

62 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Wire the Input Power (IPD) Connector

Kinetix 350 Drive

Connect the Kinetix 350 Drive System Chapter 4

L2/N

Table 26 - Input Power (IPD) Connector

Drive Cat. No. Terminals

2097-V31PR0-LM 2097-V32PR0-LM 2097-V32PR2-LM 2097-V33PR1-LM 2097-V33PR3-LM 2097-V34PR3-LM 2097-V34PR5-LM 2097-V34PR6-LM

2097-V32PR4-LM 2097-V33PR5-LM

2097-V31PR2-LM 2097-V33PR6-LM

(1) Applies to 2097-V33PRx-LM, and 2097-V34PRx-LM drive modules. (2) Applies to 2097-V31PRx-LM drive modules. (3) Applies to 2097-V32PRx-LM drive modules.

L3 L2 L1 PE

L2/N L1

(1)

N PE

(2)

Recommended Wire Size

mm² (AWG)

Strip Length

mm (in.)

Torque Value

N•m (lb•in)

2.5 (14) 7 (0.28) 0.5 (4.5)

L2 L1

(3)

4.0 (12) 7 (0.28) 0.5 (4.5)

6.0 (10) 7 (0.28)

0.56…0.79 (5.0…7.0)

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 63

Chapter 4 Connect the Kinetix 350 Drive System

Kinetix 350 Drive Bottom View

Wire the Motor Power (MP) Connector

Connections to the motor power (MP) connector include rotary motors and rotary motor driven actuators.

Table 27 - Motor Power (MP) Termination Specifications

Drive Cat. No. Terminals

2097-V31PR0-LM 2097-V31PR2-LM 2097-V32PR0-LM 2097-V32PR2-LM 2097-V32PR4-LM 2097-V33PR1-LM 2097-V33PR3-LM 2097-V33PR5-LM 2097-V34PR3-LM 2097-V34PR5-LM 2097-V34PR6-LM

2097-V33PR6-LM 4.0 (12)

PE W V U

Recommended Wire Size

mm² (AWG)

2.5 (14)

Strip Length

mm (in.)

7 (0.28) 0.5 (4.5)

Torque Value

N•m (lb•in)

Cable Shield Terminations

Factory-supplied motor power cables for MP-Series™ and TL-Series™ motors and actuator are shielded. The braided cable shield must terminate near the drive during installation. Remove small portion of the cable jacket to expose the shield braid and clamp the exposed shield to the panel.

ATT EN TI ON : To avoid hazard of electrical shock, ensure shielded power cables are grounded at a minimum of one point for safety.

IMPORTANT For TL-Series™ motors, also connect the 152 mm (6.0 in.) termination wire

to the closest earth ground. See Pigtail Terminations

64 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

on page 65 for more information.

Connect the Kinetix 350 Drive System Chapter 4

(1)

Pigtail Cable

TL-Series

Motor

Conne ctors

Motor Power Cable

Machine Frame

150 mm (6.0 in.) Termination

Cable Braid Clamped

(1)

to Machine Frame

Pigtail Terminations

TL-Series motors have a short pigtail cable that connects to the motor, but is not shielded. The preferred method for grounding the TL-Series power cable on the motor side is to expose a section of the cable shield and clamp it directly to the machine frame. The motor power cable also has a 150 mm (6.0 in.) shield termination wire with a ring lug that connects to the closest earth ground. Use this method and the cable clamp. The termination wire can 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.

Figure 36 - Pigtail Terminations

(1) Remove paint from machine frame to be sure of proper HF-bond between machine frame, motor case, shield clamp, and ground

stud.Motor Power Cable Compatibility

Table 28 - Motor Power Cable Compatibility

Motor/Actuator Connector Motor/Actuator Cat. No.

MPL-A/B15xxx-4xAA and MPL-A/B2xxx-4xAA

MP-Series™ (Bulletin MPL)

MPL-A/B3xxx-7xAA, MPL-A/B4xxx-7xAA, and MPL-A/B45xxx-7xAA

MP-Series (Bulletin MPS) MPS-A/Bxxxx

MP-Series (Bulletin MPAS) MPAS-A/Bxxxx

MP-Series (Bulletin MPAR) MPAR-A/B1xxx and MPAR-A/B2xxx

MP-Series (Bulletin MPM) MPM-A/Bxxxx

MP-Series (Bulletin MPF) MPF-A/Bxxxx

MP-Series (Bulletin MPAR) MPAR-A/B3xxx

MP-Series (Bulletin MPAI) MPAI-A/Bxxxx

TL-Series (Bulletin TLY)

TL-Series (Bulletin TLAR) TLAR-Axxxx

(1) You must remove the motor-side o-ring when you are using 2090-CPxM7DF-xxAxx cables.

Circular DIN

Circular Plastic

TLY-Axxxx

Motor Power Cables (with Brake Wires)

Motor Power Cables (without Brake Wires)

2090-XXNPMF-xxSxx (standard) 2090-CPBM4DF-xxAFxx

2090-CPWM4DF-xxAFxx (continuous-flex)

(continuous-flex)

2090-CPBM7DF-xxAAxx (standard) 2090-CPBM7DF-xxAFxx (continuous-flex)

(1)

2090-CPWM7DF-xxAAxx (standard) 2090-CPWM7DF-xxAFxx (continuous-flex)

(1)

2090-XXNPMF-xxSxx (standard) 2090-CPBM4DF-xxAFxx

2090-CPWM4DF-xxAFxx (continuous-flex)

(continuous-flex)

2090-CPBM7DF-xxAAxx (standard) 2090-CPBM7DF-xxAFxx (continuous-flex)

(1)

2090-CPWM7DF-xxAAxx (standard) 2090-CPWM7DF-xxAFxx (continuous-flex)

(1)

2090-CPBM6DF-16AAxx (standard) 2090-CPWM6DF-16AAxx (standard)

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 65

Chapter 4 Connect the Kinetix 350 Drive System

Motor Cable Shield Clamp

Motor Power (MP) Connector Plug

Kinetix 350 Drive

This diagram shows an example of three-phase power wires for motors/ actuators that have no brakes. Thermal switch wires are included in the feedback cable.

See Kinetix 350 Drive/Rotary Motor Wiring Examples for interconnect diagrams.

Figure 37 - Motor Power Terminations (Only Three-phase Wires)

that start on page 134

The cable shield clamp that is shown in Figure 37 is mounted to the subpanel. Ground and secure the motor power cable in your system following instructions on page 69

66 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Connect the Kinetix 350 Drive System Chapter 4

To M ot or

This diagram shows an example of wiring with three-phase power wires and brake wires. The brake wires have a shield braid that is shown in Figure 38

as gray, which folds back under the cable clamp before the conductors are attached to the motor brake circuit. Thermal switch wires are included in the feedback cable.

See Kinetix 350 Drive/Rotary Motor Wiring Examples

that begin on page 134

for interconnect diagrams.

Figure 38 - Motor Power Terminations (Three-phase and Brake Wires)

Item Description Item Description

(1)

24V power supply 5 I/O (IOD) connector

(1)

Relay and diode assembly

3 Minimize unshielded wires in brake circuit 7 Motor power (MP) connector

4 MP-Series cable brake wires 8 Cable clamp

(1) User supplied. Size as required by motor brake, See Motor Brake Currents on page 140. (2) Pins 43 and 44 are configured as MTR_ BRAKE+ and MTR_BRAKE- Common respectively. Wire the output as sourcing and set brake engage and

disengage times for motor selected. Motor brake is active on enable. (3) Diode 1N4004 (1 A @ 400V DC) or equivalent. See Interconnect D iagram Notes (4) Exposed shield under clamp and place within 50…75 mm (2…3 in.) of drive, see page 69

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 67

(3)

6 2097-V3xPRx-LM Kinetix 350 drive

that being on page 131.

for details.

(2)

(4)

Chapter 4 Connect the Kinetix 350 Drive System

Motor Power Cable

Exposed Braid

25.4 mm (1.0 in.)

Outer Insulation

As required to have ground clamp within

50…75 mm (2…3 in.) of the drive.

Strip Length (See Tab le 30

)

Cable shield and lead preparation are provided with most Allen-Bradley® cable assemblies. Follow these guidelines if your motor power cable shield and wires require preparation.

Figure 39 - Cable Shield and Lead Preparation

See Shunt Resistor Wiring Example that being on page 133 for interconnect diagrams.

Table 29 - Motor Power (MP) Connector

MP-Series or TL-Series Servo Motor

U / Brown U

V / Black V

W / Blue W

Green/Yellow

Ter min al

Table 30 - Motor Power (MP) Termination Specifications

Drive Cat. No. Terminals

2097-V31PR0-LM 2097-V31PR2-LM 2097-V32PR0-LM 2097-V32PR2-LM 2097-V32PR4-LM 2097-V33PR1-LM 2097-V33PR3-LM 2097-V33PR5-LM 2097-V34PR3-LM 2097-V34PR5-LM 2097-V34PR6-LM

2097-V33PR6-LM 4.0 (12)

PE W V U

Recommended Wire Size

mm² (AWG)

2.5 (14)

Strip Length

mm (in.)

7 (0.28) 0.5 (4.5)

Tor que V alue

N•m (lb•in)

68 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Connect the Kinetix 350 Drive System Chapter 4

If panel is painted, remove paint to

provide metal-to-metal contact.

Motor Power Ground Shield Clamp

Dimensions are in mm (in.).

Apply the Motor Cable Shield Clamp

This procedure assumes that you have completed wiring your motor power (MP) connector and are ready to apply the cable shield clamp.

Follow these steps to apply the motor cable shield clamp.

1. Locate a suitable position for installing cable shield clamp within 50…75 mm (2…3 in.) of the drive.

(1.0)

34.0

(1.34)

12.7 (0.50)

50…75

(2…3)

50…75 (2…3)

2. Lay out and drill holes for cable clamp.

3. Locate the position on the motor power cable that comes under the clamp and remove about an inch of the cable jacket to expose the shield braid.

4. Position the exposed portion of the cable braid directly in line with the clamp.

5. Clamp the exposed shield to the panel by using the clamp and two #6-32 x 1 screws provided.

6. Repeat step 1

…step 5 for each Kinetix 350 drive you are installing.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 69

Chapter 4 Connect the Kinetix 350 Drive System

Feedback and I/O Cable Connections

Factory made cables with premolded connectors are designed to minimize EMI and are recommended over hand-built cables to improve system performance. However, other options are available for building your own feedback and I/O cables.

Table 31 - Options for Connecting Motor Feedback and I/O

Connection Option Cat. No. Cable By Using This Type of Cable

Premolded connectors N/A Motor feedback

Low-profile connector 2090-K2CK-D15M Motor feedback

I/O Terminal Block 2097-TB1 I/O interface User-supplied flying-lead cable.

Table 32 - Motor Feedback Cables for Specific Motor/Feedback Combinations

Motor Cat. No. Feedback Type

MPL-A/B15xxx-V/Ex4xAA, MPL-A/B2xxx-V/Ex4xAA

MPL-A/B15xxx-Hx4xAA, MPL-A/B2xxx-Hx4xAA

MPL-A/B3xxx-Hx7xAA, MPL-A/B4xxx-Hx7xAA, MPL-A/B45xxx-Hx7xAA

MPL-A/B3xxx-M/Sx7xAA, MPL-A/B4xxx-M/Sx7xAA, MPL-A/B45xxx-M/Sx7xAA

MPM-A/Bxxxxx-M/S

MPF-A/Bxxxx-M/S

MPAR-A/B3xxxx

MPAI-A/Bxxxx

MPS-A/Bxxxx-M/S

MPAS-A/Bxxxx-V/A

MPAR-A/B1xxxx, MPAR-A/B2xxxx

TLY-Axxxx-B

TLY-Axxxx-H Incremental encoder

(1) You must remove the motor-side o-ring when you are using 2090-CPxM7DF-xxAxx cables.

High-resolution encoder

Incremental encoder

High-resolution encoder

Premolded Flying-lead

N/A

2090-CFBM7DD-CEAAxx 2090-CFBM7DD-CEAFxx flex)

N/A

2090-CFBM6DD-CCAAxx (standard) 2090-CFBM6DF-CBAAxx (standard)TLAR-Axxxxx

See the table Tab le 32 for the premolded motor feedback cable available for your motor.

See the table Tab le 32 for the flying-lead cable available for your motor.

Feedback Cable

2090-XXNFMF-Sxx (standard) 2090-CFBM4DF-CDAFxx (continuous-flex)

2090-XXNFMF-Sxx (standard) 2090-CFBM7DF-CDAFxx (continuous-flex)

(1)

(standard)

(1)

(continuou s-

2090-CFBM7DF-CEAAxx 2090-CFBM7DF-CEAFxx continuous-flex)

2090-XXNFMF-Sxx (standard) 2090-CFBM4DF-CDAFxx (continuous-flex)

(1)

(standard)

(1)

(

70 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Connect the Kinetix 350 Drive System Chapter 4

Flying-lead Feedback Cable Pin-outs

Table 33 - 2090-XXNFMF-Sxx or 2090-CFBMxDF-xxAxxx Feedback Cable

Connector Pin

High-resolution Feedback

9V Encoder 5V Encoder 5V Encoder

1Sin+Sin+AM+1

2Sin-Sin-AM-2

3Cos+Cos+BM+3

4Cos-Cos-BM-4

5Data+Data+IM+5

6 Data- Data- IM- 10

9 Reserved EPWR_5V EPWR_5V 14

10 Reserved ECOM ECOM 6

11 EPWR_9V Reserved Reserved 7

12 ECOM Reserved Reser ved 6

13 TS+ T S+ TS+ 1 1

14 TS- TS - TS- –

15 Reserved Reserved S1 12

16 Reserved Reserved S2 13

17 Reserved Reser ved S3 8

Incremental Feedback

Drive MF Connector Pin

Table 34 - 2090-CFBM6DF-CBAAxx Feedback Cable

High Resolution Incremental Feedback

Connector Pin

TLY-Axxxx-B TLAR-Axxxxx

TLY-Axxxx-H

6 BAT+ Reserved BAT+

10 AM- 2

Reserved

AM+ 1

11 BM+ 3

12 BM- 4

13 DATA+ IM+ 5

14 DATA- IM- 10

17 S2 13

Reserved

S1 12

19 S3 8

22 EPWR 5V EPWR 5V 14

23 ECOM and BAT- ECOM 6

24 Shield Shield Connector housing

Drive MF Connector Pin

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 71

Chapter 4 Connect the Kinetix 350 Drive System

I/O (IOD) Connector

2097-TB1

I/O Terminal

Expansion Block

Wiring the Feedback and I/O Connectors

These procedures assume that you have mounted your Kinetix 350 system, completed the power wiring, and are ready to connect motor feedback.

Wire the I/O Connector

Connect your I/O wires to the IOD connector by using the 2097-TB1 I/O Terminal Expansion Block. See the Kinetix 300 I/O Terminal Expansion Block Installation Instructions, publication 2097-IN005

Figure 40 - Kinetix 350 Drive (IOD Connector and Terminal Block)

)

11 12 20 21

GND

72 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Connect the Kinetix 350 Drive System Chapter 4

2090-K2CK-D15M Connector Kit with flying-lead feedback cable.

Motor Feedback (MF) Connector

Kinetix 350 Drive, Front View

(2097-V33PR5-LM drive is shown)

Kinetix 350 Drive, Side View (2097-V33PR5-LM drive is shown)

1 2 34

5 6 7 8 91011121314150

Pin 1

Pin 10

Pin 5

Pin 11 Pin 6

Pin 15

15-pin (male) Motor Feedback

Low-profile Connector

See Appendix 3

for feedback signal

descriptions.

Tie Wrap

Exposed Braid Under Clamp

Bulletin 2090 Feedback Cable

Clamp

Outer Insulation

Braided Shield

Foil Shie ld

Wire I nsulation

Bare Wires

Bulletin 2090

Feedback Cable

Tur n cl amp ove r to hol d

small wires secure.

Mounting

Screws

See Appendix A

for the motor feedback

interconnect drawing for your application.

3.6V battery (catalog number 2090-DA-BAT2) required for use with only TLY-Axxxx-B motors and TLAR Axxxxx electric cylinders (high-resolution 17-bit encoders).

Low Profile Connector Kit

(2090-K2CK-D15M)

See Low Profile Connector Kit Installation Instructions, publication

2093-IN005

, for connector kit specifications.

Wire the Low-profile Connector Kit

The 2090-K2CK-D15M low-profile connector kit is suitable for terminating flying-lead motor feedback cables. Use it with the Kinetix 350 drive and all motors with incremental or high-resolution feedback. It has a 15-pin, male, Dsub connector and is compatible with all Bulletin 2090 feedback cables.

TLY-Axxxx-B rotary motors and TLAR-Axxxxx electric cylinders also require the 2090-DA-BAT2 battery to back up the high-resolution encoder.

Figure 41 - Kinetix 350 Drive (MF Connector)

)

Figure 42 - Wiring (15-pin) Flying-lead Feedback Cable Connections 2090-K2CK-D15M Connector Kit

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 73

Chapter 4 Connect the Kinetix 350 Drive System

+ +

Kinetix 350 Drive Front view is shown.

Shunt/DC Bus (BC) Connector

Shunt Resistor Connections

Follow these guidelines when wiring your 2097-Rx shunt resistor.

IMPORTANT When tightening screws to secure the wires, refer to the tables that begin on

for torque values.

page 60

IMPORTANT To improve system performance, run wires and cables in the wireways as

established in Chapter 2

• See Shunt Resistors

on page 30 for noise zone considerations.

• See Shunt Resistor Wiring Example

on page 133.

• See the installation instructions that are provided with your Bulletin 2097 shunt resistor, publication 2097-IN002

Figure 43 - Shunt/DC Bus (BC) Connector

Table 35 - Shunt Resistor Power Wiring Requirements

Accessory Description

2097-Rx Shunt resistor

Ethernet Cable Connections

This guideline assumes that you have your Logix5000™ Ethernet/IP module

Connects to Ter min al s

and Kinetix 350 drive that is mounted and ready to connect the network cables.

IMPORTANT Connection to a larger network through an unmanaged switch without

Internet Group Management Protocol Snooping could cause degradation to the larger network. Network switches without IEEE-1588 impacts the overall system accuracy. Your overall network topology, number of connected nodes and choice of EtherNet switch affects motion performance. For more detailed information on how to design your network, please consult the Converged Plantwide Ethernet (CPwE) Design and Implementation Guide, publication

ENET-TD001

The EtherNet/IP network is connected by using the Port 1 connector. See

page 34

to locate the Ethernet connector on your Kinetix 350 drive. See

74 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Recommended Wire Size

mm² (AWG)

2.5 (14) 0.5 (4.5)

Tor que Valu e

N•m (lb•in)

Connect the Kinetix 350 Drive System Chapter 4

The Ethernet ports are on

bottom of controller.

CompactLogix™ Controller Platform 1769-L33ERM Shown

Compac tLogix Cont roller Plat form

1769-L33ERM Shown

Personal Compute r

1783-US05T

Stratix 2000

Switch

(1)

Kinetix 350 Drives

Figure 44 to locate the connector on your Logix5000™ communication

module.

Shielded Ethernet cable is available in lengths up to 78 m (256 ft). However, the total length of Ethernet cable connecting drive-to-drive, drive-tocontroller, or drive-to-switch must not exceed 100 m (328 ft).

If the entire channel is constructed of stranded cable (no fixed cable), then this equation is for calculating maximum length:

Maximum Length = (113-2N)/y, meters where N = the number of connections in the channel and y = the loss factor that is compared to fixed cable (typically 1.2…1.5).

Figure 44 - CompactLogix Ethernet Port Location

The Port 1 Ethernet connection is used for connecting to a Logix5000™ controller and to configure your Kinetix 350 drive.

Figure 45 - Ethernet Wiring Example - External Switch

(1) See Ethernet Cable Connections on page 74 for information on how to use an unmanaged switch in your application.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 75

Chapter 4 Connect the Kinetix 350 Drive System

Notes:

76 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Chapter 5 Configure and Start up the Kinetix 350 Drive System

Top ic Pa ge

Keypad Input 78

Configure the Kinetix 350 Drive Ethernet IP Address 81

Configure the Logix5000 EtherNet/IP Controller 84

Apply Power to the Kinetix 350 Drive 93

Test and Tune the Axes 94

Disable EnableInputChecking by Using a Logix Designer Message Instruction 100

TIP Before you begin make sure that you know the catalog number for the

drive, the Logix5000™ controller, and the servo motor/actuator in your motion control application.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 77

Chapter 5 Configure and Start up the Kinetix 350 Drive System

Keypad Input

The Kinetix® 350 drive is equipped with a diagnostic status indicator and three push buttons that are used to select displayed information and to edit a limited

set of parameter values. Parameters can be scrolled by using . To view a value, press . To return back to Scroll mode press .

After pressing on editable parameters, the yellow status indicator D blinks

indicating that the parameter value can be changed. Use to change the

value. Press to store the new setting and return back to Scroll mode.

Table 36 - Status Display Information

Status Indicator Description

StAt Return to drive status.

Hx.xx Hardware revision. For example, H2.00.

Fx.xx Firmware revision. For example, F2.06.

Ht Heatsink temperature. Heatsink temperature is shown in ºC if greater than 40 ºC.

Otherwise ‘LO (low) is displayed.

buS Displays drive DC bus voltage.

Curr Displays motor phase current (RMS). Shows current value if drive is enabled, otherwise

shows DiS.

dHCP Ethernet DHCP Configuration: 0=’dHCP’ is disabled; 1=’dHCP’ is enabled.

IP_1 Lets you modify the first octet of the IP address.

IP_2 Lets you modify the second octet of the IP address.

IP_3 Lets you modify the third octet of the IP address.

IP_4 Lets you modify the fourth octet of the IP address.

nEt1 Lets you modify the first octet of the netmask.

nEt2 Lets you modify the second octet of the netmask.

nEt3 Lets you modify the third octet of the netmask.

nEt4 Lets you modify the four th octet of the netmask.

gat1 Lets you modify the first octet of the gateway.

gat2 Lets you modify the second octet of the gateway.

gat3 Lets you modify the third octet of the gateway.

gat4 Lets you modify the four th octet of the gateway.

78 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Configure and Start up the Kinetix 350 Drive System Chapter 5

Status Indicators

The Kinetix 350 drive has four status indicators and a four-digit display on the top front panel as shown Figure 46 used to monitor the system status, activity, and troubleshoot faults.

Figure 46 - Front Panel Display

. These status indicators and the display are

Table 37 - Status Indicators

Status Indicator

D Data entr y Yellow status indicator flashes when changing.

N Network state

MModule state

A Axis state

Function Description

Indicates the state of the Network. See Network State

Status Indicator on page 80. The bicolored status indicator

shows red, green, or amber.

Indicates the state of the Network. See Module State

Status Indicator on page 79. The bicolored status indicator

shows red, green, or amber.

Indicates the state of the Network. See Axis State Status

Indicator on page 80 . The bicolored status indicator shows

red, green, or amber.

Table 38 - Module State Status Indicator

Status Indicator State

Off Power off

Flash red/green Drive self-testing

Flashing green Standby

Solid green Operational

Flashing red Major recoverable fault

Solid red Major unrecoverable fault

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 79

Chapter 5 Configure and Start up the Kinetix 350 Drive System

Table 39 - Axis State Status Indicator

Status Indicator State

Off Off

Flash red/ green Self test

Off Initialization - bus not up

Flashing green Initialization - bus up

Off Shutdown - bus not up

Flashing amber

Off Pre- charge - bus not up

Flashing amber

Flashing green

Solid green

Flashing red

Solid red

(1) The axis and the drive define minor fault conditions. While a minor fault does not affect the drive status

(2) The drive also defines alarm conditions. When an alarm condition is detected, a normally solid-green status

(1)

(1) (2)

Shutdown - bus up

Start inhibit

Stopped

Stopping

(1) (2)

Starting

Running

Tes t in g

Aborting

Major faulted

Aborting

Major faulted

indicator, it does affect the a xis status indicator. When a minor fault condition is detected, a normally solidgreen status indicator indication changes to alternating red-green-red-green, a normally flashing green status indicator indication changes to alternating red-off-green-off, and a normally flashing amber indications changes to red-off-amber-off.

indicator indication ch anges to alternating amber-green-amber green while a normally flashing green status indicator indication changes to alternating amber-off-green-off.

Table 40 - Network State Status Indicator

Status Indicator State

Steady off Not powered, no IP address

Flashing green No connections

Steady green Connected

Flashing red Connection time-out

Steady red Duplicate IP

Flashing green and red Self-test

80 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Configure and Start up the Kinetix 350 Drive System Chapter 5

Configure the Kinetix 350 Drive Ethernet IP Address

This section offers guidance on how to configure your Ethernet connection to the Kinetix 350 drive.

Ethernet Connection

Configuration, programming, and diagnostics of the Kinetix 350 drive are performed over the standard 10/100 Mbps Ethernet communication port by using the Studio 5000 Logix Designer® application.

The Kinetix 350 drive and your personal computer must be configured to operate on the same Ethernet network. The IP addresses of the Kinetix 350 drive, the personal computer, or both drive and personal computer can require configuring to enable Ethernet communication between the two devices.

IMPORTANT Any changes that are made to the Ethernet communication settings on the

Kinetix 350 drive do not take effect until the drive is powered off and powered on again. Until the power is cycled, the drive continues to use its previous settings.

Kinetix 350 Drive Ethernet Port Configuration

The IP address of the Kinetix 350 drive is composed of four suboctets that are separated by three dots to conform to the Class C Subnet structure. Each suboctet can be configured with number from 1 to 254. As shipped from the factory the default IP address of a drive is 192.168.124.200.

There are two methods of changing the current IP address. An address can be assigned to the drive automatically (dynamic IP address) when the drive is connected to a DHCP (Dynamic Host Configuration Protocol) enabled server, or you can manually assign an IP address to the drive (static IP address). Both methods of configuring the drive’s IP address are shown here.

Obtain the Kinetix 350 Drives’ Current Ethernet Settings

The current Ethernet setting and IP address of the Kinetix 350 drive can be

obtained from the drive display and keypad. Press on the display and

use to access parameters IP_1, IP_2, IP_3, and IP_4. Each of these parameters contains one suboctet of the full IP address, for example, if the

drive default (factory set) address parameters:

• IP_1 = 192

• IP_2 = 168

• IP_3 = 124

• IP_4 = 200

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 81

Chapter 5 Configure and Start up the Kinetix 350 Drive System

By accessing these four parameters, the full IP address on the drive can be obtained.

If parameters IP_1, IP_2, IP_3, and IP_4 all contain ‘----‘ rather than a numerical values it means that the drive has DHCP enabled and the DHCP server has yet to assign the drive its dynamic IP address. As soon as server assigns an IP address the drive displays the address in the IP_1, IP_2, IP_3, and IP_4 parameters. See Configure the IP Address Automatically (Dynamic Address) on page 83

Configure the IP Address Manually (Static Address)

When connecting directly from the Kinetix 350 drive to the personal computer without a server or when connecting to a private network, where all devices have static IP addresses, assign the IP address of the Kinetix 350 drive manually.

To assign the address manually, disable the DHCP mode. Do following the steps by using the drive keypad.

1. Press .

2. Use to access parameter DHCP.

3. Check that this parameter is set to a value of 0.

4. If the DHCP parameter is set to 1, then use and to set to 0.

5. Cycle power to the drive.

The change takes effect.

When DHCP is disabled and the power is cycled to the drive, it reverts to its previous static IP address.

If you are connecting multiple drives to the personal computer, create unique IP address for each drive. Do it by using the keypad on each drive to change the IP_4 parameter. IP_4 is the only octet that can be changed via the keypad. IP_1, IP2, and IP_3 are read-only accessed this way. The dive power must be cycled for any changes to take effect.

82 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Configure and Start up the Kinetix 350 Drive System Chapter 5

Configure the IP Address Automatically (Dynamic Address)

When connecting a Kinetix 350 drive to a network domain with a DHCP enabled server, the IP address of the Kinetix 350 drive is assigned automatically. To have the address that is assigned automatically, the drive must have its DHCP mode enabled. Follow these steps by using the drive keypad and display.

1. Press .

2. Use the to access parameter DHCP.

3. Check that this parameter is set to 1.

4. If the DHCP parameter is set to 0, use and to set the parameter

to 1.

5. Cycle power to the drive to make this change take effect.

When the Kinetix 350 drive is waiting for an IP address to be assigned to it by the server it displays ‘----‘ in each of the four octet parameters (IP_1, IP_2, IP_3, and IP_4) on its display. Once the address is assigned by the server, it appears in these parameters. If this parameter continues to display ‘----‘, then it is likely that a connection between the drive and server has not been established, or the server is not DHCP enabled.

DHCP can be enabled through the Logix Designer application. If you choose to configure the drive by using a manual (static) IP address, you can switch over to an automatic (dynamic) address once configuration is complete. See Obtain

the Kinetix 350 Drives’ Current Ethernet Settings on page 81 for information

on how to enable the DHCP from within the Logix Designer application.

TIP A useful feature of the Logix Designer application and communication

interface to the Kinetix 350 drive is the ability to assign the drive a name (text string). This name can then be used to discover the drive’s IP address and is useful when the drive has its IP address that is assigned automatically by the server for easy connection.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 83

Chapter 5 Configure and Start up the Kinetix 350 Drive System

Configure the Logix5000 EtherNet/IP Controller

This procedure assumes that you have wired your Kinetix 350 drive system and are using Logix Designer application version 21.00.00 or later.

For help using Logix Designer application as it applies to the configuration of the ControlLogix® EtherNet/IP controller, refer to Additional Resources

page 9

Configure the Logix5000 Controller

Follow these steps to configure the Logix5000 controller.

1. Apply power to your Logix5000 controller that contains the EtherNet/ IP port and open your Studio 5000® environment.

2. Click New Project.

The New Project dialog box appears.

3. Select the controller that you are using for your project and click Next.

84 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Configure and Start up the Kinetix 350 Drive System Chapter 5

The New Controller dialog box appears.

4. Configure the new controller. a. From the Type pull-down menu, choose the controller type. b. From the Revision pull-down menu, choose the revision. c. Enter the file Name.

5. Click OK.

6. From the Edit menu, choose Controller Properties.

The Controller Properties dialog box appears.

7. Click the Date/Time tab.

8. Check Enable Time Synchronization.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 85

Chapter 5 Configure and Start up the Kinetix 350 Drive System

Configure the Kinetix 350 Drive

Enable Time Synchronization permits the controller to participate in the ControlLogix Time Synchronization. The controller also participates in an election in the Logix5000 system for the best GrandMaster clock.

ATT EN TI ON : Do not change Grand Master clock when motion is active. Time must be universally understood by all Integrated Motion on the EtherNet/IP Motion Devices. A change in the wall clock of the Grand Master can introduce a clock skew between the Integrated Motion on the EtherNet/IP Motion devices. When clock skew is present the drive can go to sleep, jump, or move rapidly. Results can be a nuisance motion or motion that can damage equipment.

9. Click OK.

IMPORTANT To configure Kinetix 350 drive (catalog numbers 2097-V3xPRx-LM) you must

be using RSLogix 5000® software, version 20 or later, or Logix Designer application.

Follow these steps to configure the Kinetix 350 drive.

1. Right-click the Logix5000 EtherNet/IP controller that you created and choose New Module.

The Select Module dialog box appears.

2. Clear the Module Type Category Filter and check the Motion category.

86 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Configure and Start up the Kinetix 350 Drive System Chapter 5

3. Select your 2097-V3xPRx-LM drive as appropriate for your actual hardware configuration and click Create.

The New Module dialog box appears.

4. Configure the new drive. a. Enter the drive Name. b. Click an Ethernet Address option.

In this example, the Private Network address is selected.

c. Enter the address of your EtherNet/IP drive.

In this example, the last octet of the address is 1. This octet must match the base node address of the drive.

5. Click Change in the Module Definition area.

The Module Definition dialog box appears.

6. From the Power Structure pull-down menu, choose the Bulletin 2097 drive appropriate for your application.

In the example, the 2097-V3xPRx-LM module is chosen.

7. Click OK to close the Module Definition dialog box.

8. Click OK to close the Module Properties dialog box.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 87

Chapter 5 Configure and Start up the Kinetix 350 Drive System

The 2097-V3xPRx-LM drive appears under the EtherNet/IP module in the I/O Configuration folder.

9. Right-click the 2097-V3xPRx-LM module that you created and choose Properties.

The Module Properties dialog box appears.

10. Click the Associated Axes tab.

11. Click New Axis.

The New Tag dialog box appears.

12. Typ e t he ax is Name.

AXIS_CIP_DRIVE is the default Data Type.

13. Click Create.

The new axis (Axis_1) appears under Motion Groups>Ungrouped Axes in the Controller Organizer and is assigned as Axis 1.

14. Click Apply.

88 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Configure and Start up the Kinetix 350 Drive System Chapter 5

Configure the Motion Group

Follow these steps to configure the motion group.

1. Right-click Motion Groups in the Controller Organizer and choose New Motion Group.

The New Tag dialog box appears.

2. Type the new motion group Name.

3. Click Create.

The new motion group appears under the Motion Groups folder.

4. Right-click the new motion group and choose Properties.

The Motion Group Properties dialog box appears.

5. Click the Axis Assignment tab and move your axes (created earlier) from Unassigned to Assigned.

6. Click the Attribute tab and edit the default values as appropriate for your application.

7. Click OK.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 89

Chapter 5 Configure and Start up the Kinetix 350 Drive System

Configure Axis Properties

To configure axis properties for your motor or actuator follow these instructions. If you are using an Integrated Motion Encoder on EtherNet/IP, catalog number 842E-CM for an axis refer to 842E-CM Integrated Motion Encoder on EtherNet/IP User Manual, publication 842E-UM002

1. Right-click an axis in the Controller Organizer and choose Properties.

2. Click the Motor category.

The Motor Device Specification dialog box appears.

3. From the Data Source pull-down menu, choose Catalog Number.

4. Click Change Catalog.

The Change Catalog Number dialog box appears.

5. Select the motor catalog number appropriate for your application.

To verify the motor catalog number, refer to the motor name plate.

6. Click OK to close the Change Catalog Number dialog box.

90 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Configure and Start up the Kinetix 350 Drive System Chapter 5

7. Click Apply.

Motor data specific to your motor appears in the Motor category.

8. Click the Scaling category and edit the default values as appropriate for your application.

9. Click Apply, if you make changes.

10. Click Load category and edit the default values as appropriate for your

application.

11. Click Apply, if you make changes.

12. Click Actions category.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 91

Chapter 5 Configure and Start up the Kinetix 350 Drive System

The Actions to Take Upon Conditions dialog box appears.

From this dialog box, you can program actions and change the action for exceptions (faults).

13. Click Parameters.

The Motion Axis Parameters dialog box appears.

From this dialog box, you can set delay times for servo motors. For recommended motor brake delay times, refer to the Kinetix Motion Control Selection Guide, publication KNX-SG001

14. Click OK.

15. Verify your Logix5000 program and save the file.

92 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Configure and Start up the Kinetix 350 Drive System Chapter 5

Four Character Status Indicator

Data Entry Status Indicator

Download the Program

After completing the Logix5000 configuration, you must download your program to the Logix5000 processor.

Apply Power to the Kinetix 350 Drive

This procedure assumes that you have wired and configured your Kinetix 350 drive system and your Ethernet/IP interface controller.

Follow these steps to apply power to the Kinetix 350 drive system.

1. Disconnect the load to the motor.

The axis does not operate in position mode during the execution of this process. Therefore, the position of the axis cannot be guaranteed if the axis is connected to a vertical load, or the axis is connected to a stored mechanical energy.

ATT EN TI ON : To avoid personal injury or damage to equipment, disconnect the load to the motor; including vertical loads. Make sure that each motor is free of all linkages when you initially apply power to the system.

2. Determine the source of the drive logic power.

If Your Logic Power Then

Is from (24V DC) back-up power Apply (24V DC) back-up power to the drive (BP connector).

Mains input power Apply 120, 240, or 460V AC mains input power to the drive (IPD

connector).

3. Apply 120, 240, or 460V AC mains input power to the Kinetix 350 drive IPD connector.

4. Observe the four-digit status indicator.

If the status indicator is Then

-00- Go to step 5

Blank Return to main step 2

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 93

Chapter 5 Configure and Start up the Kinetix 350 Drive System

If Your Logic Power Then

Is from (24V DC) back-up power

Mains input power Go to step 5

Apply 120, 240, or 460V AC mains input power to the drive (IPD connector)

If drive ENABLE is Then

Hard wired Apply 24V DC

Not used Disable enableInputChecking by using procedure on

page 100

7. Observe the status indicator on the front of the Kinetix 350 drive.

Status Indicator Condition Status Do This

Module

Axis

Network

Steady green Operational condition Observe the Axis, status indicator page 80

Steady or flashing red Drive is faulted Go to Module State Status Indicator on page79

Steady green or amber, flashing Operational condition Observe the Network, status indicator page 80

Steady or flashing red Axis is faulted Go to Axis State Status Indicator on page 80

Steady green Communication is ready Go to Tes t a nd Tu ne the Ax es

Any state other than steady green Communication error Go to Network State Status Indicator on page 80

on page 94

Test and Tune the Axes

This procedure assumes that you have configured your Kinetix 350 drive, your ControlLogix EtherNet/IP controller, and applied power to the system. See Motion System Tuning Application Techniques, publication MOTION-

AT005 for more information on Kinetix servo drive tuning.

IMPORTANT Before proceeding with testing and tuning your axes, verify that the drive

status indicators are operating as described in Status Indicators

on page 119

For help using Logix Designer Application as it applies to testing and tuning your axes with ControlLogix EtherNet/IP controller, refer to Additional

Resources on page 9.

Test the Axes

Follow these steps to test the axes.

1. Verify that the load was removed from each axis.

2. Right-click an axis in your Motion Group folder and choose Properties.

The Axis Properties dialog box appears.

94 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Configure and Start up the Kinetix 350 Drive System Chapter 5

3. Click Hookup Tests category.

4. Type 2.0 as the number of revolutions for the test or another number

more appropriate for your application.

This Test Performs this Test

Marker

Motor Feedback

Motor and Feedback

Verifies marker detection capability as you rotate the motor shaft.

Verifies that feedback connections are wired correctly as you rotate the motor shaft.

Verifies that motor power and feedback connections are wired correctly as you command the motor to rotate.

If drive ENABLE is Then

Hard wired Apply 24V DC

Not used Disable enableInputChecking by using procedure on page 100

ATT EN TI ON : To avoid personal injury or damage to equipment, apply only24V ENABLE signal to the axis you are testing.

6. Click the desired tab (Marker/Motor Feedback/Motor and Feedback).

In this example, the Motor and Feedback test is chosen.

7. Click Start.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 95

Chapter 5 Configure and Start up the Kinetix 350 Drive System

The RSLogix 5000 - Motor and Feedback Test dialog box appears. The Test State is Executing.

When the test completes successfully, the Test State changes from Executing to Passed.

8. Click OK.

This dialog box appears, to confirm that the direction was correct.

9. Click Yes.

If the test fails, this dialog box appears.

a. Click OK. b. Verify that the Axis status indicator turned solid green during the

test.

c. Verify that the drive ENABLE signal is applied to the axis you are

testing or that the enableInputChecking attribute is set to zero. d. Verify the unit values that are entered in the Scaling category. e. Return to main step 6

and run the test again.

96 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Configure and Start up the Kinetix 350 Drive System Chapter 5

Tune the Axes

The following is a basic procedure for simple systems. If you have a complicated system, see Integrated Motion on the EtherNet/IP Network: Configuration and Startup, publication MOTION-UM003 Application Techniques, publication MOTION-AT005

Follow these steps to tune the axes.

1. Verify that the load is still removed from the axis being tuned.

ATT EN TI ON : To reduce the possibility of unpredictable motor response, tune your motor with the load removed first, including vertical loads, then reattach the load and perform the tuning procedure again to provide an accurate operational response

2. Click Autotune category.

and Motion System Tuning

3. Type values for Travel Limit and Speed.

In this example, Travel Limit = 5 and Speed = 10. The actual value of programmed units depends on your application.

4. From the Direction pull-down menu, choose a setting appropriate for your application.

Forward Uni-directional is default.

5. Edit other fields as appropriate for your application and click Apply.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 97

Chapter 5 Configure and Start up the Kinetix 350 Drive System

If drive ENABLE is Then

Hard wired Apply 24V DC

Not used Disable enableInputChecking by using procedure on page 100

ATT EN TI ON : To avoid personal injury or damage to equipment, apply only 24V ENABLE signal to the axis you are testing.

7. Click Start.

The RSLogix - Autotune dialog box appears. When the test completes, the Test State changes from Executing to Success.

Tuned values populate the Loop and Load parameter tables. Actual bandwidth values (Hz) depend on your application and can require adjustment once motor and load are connected.

At this point, you can compare existing and tuned values for your gains and inertias with the prospective tune values.

8. Accept the new values and apply them to the controller.

Now you can run the system with the new gain set and evaluate performance. You can improve the performance by adjusting application type, loop response, and/or load coupling selections.

TIP If your application requires stricter performance, you can further improve

performance with manual tuning.

9. Click OK to close the RSLogix 5000 - Autotune dialog box.

10. Click OK to close the Axis Properties dialog box.

98 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Configure and Start up the Kinetix 350 Drive System Chapter 5

11. If the test fails, this dialog box appears.

a. Click OK. b. Make motor velocity adjustments. c. See the appropriate Logix5000 motion module user manual for more

information.

d. Return to step 7

and run the test again.

12. Repeat Test and Tune the Axes

for each axis.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 99

Chapter 5 Configure and Start up the Kinetix 350 Drive System

Disable EnableInputChecking by Using a Logix Designer Message Instruction

This procedure sends a Logix5000 message to disable the EnableInputChecking attribute in the Kinetix 350 drive.

1. From the Controller Organizer, choose Ta s k s > M a i nTa s k > M a i n P r o g r a m > M a i n R o u t i n e .

2. Create an MSG instruction rung as shown.

3. Set the values in the Message Configuration as shown.

4. Click the Communications tab and browse to the drive tag, in this case

K350, as shown.

5. When the program is in Run mode, trigger the rung to run the instruction.

The drive does not check the enable input signal on IOD-29 Enable to IOD -26 Common. This MSG instruction is executed only once as it is a persistent type instruction and gets saved to the drive Non-volatile Memory. To re-enable the enable input signal checking on IOD-29 Enable to IOD-26 Common, change the Source Element register, EnableInputChecking from 0 to 1 and trigger the run again.

100 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Allen Bradley Kinetix 350 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Summary of Changes

Table of Contents

Preface

Conventions

Additional Resources

Chapter 1

Start

About the Kinetix 350 Drive System

Catalog Number Explanation

Agency Compliance

CE Requirements

Chapter 2

Install the Kinetix 350 Drive System

System Design Guidelines

System Mounting Requirements

Circuit Breaker/Fuse Selection

Contactor Ratings

Transformer Selection

Transformer Specifications for Input Power

Enclosure Selection

Power Dissipation Specifications

Minimum Clearance Requirements

Electrical Noise Reduction

Bonding Drives

Bonding Multiple Subpanels

Establish Noise Zones

Cable Categories for Kinetix 350 Drive Components

Noise Reduction Guidelines for Drive Accessories

Mount Your Kinetix 350 Drive

Chapter 3

Kinetix 350 Drive Connector Data

Kinetix 350 Drive Connectors and Indicators

Safe Torque-off Connector Pinout

I/O Connector Pinout

Motor Feedback (MF) Connector Pinout

Ethernet Communication Connector Pinout

AC Input Power Connector Pinout

Back-up Power Connector Pinout

Shunt Resistor and DC Bus Connector Pinout

Motor Power Connector Pinout

Control Signal Specifications

Digital Inputs

Motor Brake Output

Ethernet Communication Specifications

24V DC Back-up Power Specifications

Motor Feedback Specifications

Feedback Power Supply

Chapter 4

Connect the Kinetix 350 Drive System

Basic Wiring Requirements

Recommended Cables

Determine the Input Power Configuration

Route Power and Signal Wiring

Three-phase Power Wired to Three-phase Drives

Single-phase Power Wired to Single-phase Drives

Voltage Doubler Operation

Isolation Transformer in Grounded Power Configurations

Three-phase Power Wired to Single-phase Drives

Voiding of CE Compliance

Grounding Your Kinetix 350 Drive System

Ground Your Drive to the System Subpanel

Ground Multiple Subpanels

Power Wiring Requirements

Wiring Guidelines

Wiring the Kinetix 350 Drive Connectors

Wire the Safe Torque-off (STO) Connector

Wire the Back-up Power (BP) Connector

Wire the Input Power (IPD) Connector

Wire the Motor Power (MP) Connector

Apply the Motor Cable Shield Clamp

Feedback and I/O Cable Connections

Flying-lead Feedback Cable Pin-outs

Wiring the Feedback and I/O Connectors

Wire the I/O Connector

Wire the Low-profile Connector Kit

Shunt Resistor Connections