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
9
14
53
94
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
Table of Contents
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
1
2
3
4
5
6
7
8
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
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
on
.
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
2
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.
2)
.
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
A
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.
A
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
Subpanel
Nut
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
DC
Filter
Bulletin 2090
AC Line Filte r
(optional)
Route encoder/analog/registration
shielded cables.
DD
VD
VD
D
C
C
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
DC
Filter
Route encoder/analog/registration
shielded cables.
D
D
VD
VD
D
C
C
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)
(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.
.
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
XX
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
DC
Filter
Kinetix 350 Drive
Route Encoder/Analog/Registration
Shielded Cables
D
VD
D
C
C
I/O
(1),
Motor Power and Safety Cables
XFMR
D
AC Line
Filter
VD
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
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