Rockwell Automation 2097-Vxxx User Manual

Installation 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

Topi c Pag e

About the Kinetix 350 Drives 1

Important User Information 2

Catalog Number Explanation 3

Before You Begin 4

Install the Kinetix 350 Drive 4

Connector Data 7

Power Wiring Requirements 11

Motor Overload Protection 15

Additional Resources 16

About the Kinetix 350 Drives

Kinetix® 350 single-axis EtherNet/IP servo drives provide an Ethernet-enabled solution for
applications with output power requirements in the range of 0.4…3.0 kW (2…12 A rms).

Refer to the Kinetix 350 Single-axis EtherNet/IP Servo Drives User Manual, publication

2097-UM002

and integration with ControlLogix® or CompactLogix™ controller platforms.

, for detailed information on wiring, applying power, troubleshooting,

2 Kinetix 350 Single-axis EtherNet/IP Servo Drives

IMPORTANT

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
requi rements associ ated wit h any pa rticu lar ins tallat ion, Roc kwell Au tomati on, Inc. cannot assume respon sibili ty or li abilit y 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.

WARNIN G: 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.

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 exampl e, 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).

Rockwell Automation Publication 2097-IN008D-EN-P - July 2013

Kinetix 350 Single-axis EtherNet/IP Servo Drives 3

Catalog Number Explanation

This publication applies to the following Kinetix 350 drives.

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

120/240V, 1 Ø

240V, 1 Ø

Kinetix 350 Drives (single- or 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

Kinetix 350 Drives (three-phase)

Cat. No. Input Voltage

2097-V34PR3-LM

480V, 3 Ø

2097-V34PR6-LM 8.5

Continuous Output
Current A (0-pk)

2.8

2.8

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

Featu res

Safe torque-off2097-V34PR5-LM 5.7

Rockwell Automation Publication 2097-IN008D-EN-P - July 2013

4 Kinetix 350 Single-axis EtherNet/IP Servo Drives

TIP

Before You Begin

Remove all packing material, wedges, and braces from within and around the components. After
unpacking, check the item nameplate catalog number against the purchase order.

Parts List

The Kinetix 350 drive ships with the following:

• General-purpose power input (IPD) header, back-up power (BP) header, shunt resistor

and DC bus (BC) header, motor power (MP) header, and safe-torque-off (STO) header

• A ground clamp that also provides strain relief for motor power cable

• These installation instructions, publication 2097-IN008

The connector kit for motor feedback (catalog number 2090-K2CK-D15M) is not provided.
Replacement connector sets (catalog number 2097-CONN1) are also available.

Refer to the Kinetix Motion Accessories Specif ications Technical Data, publication GMC-TD004,
for more information.

Install the Kinetix 350 Drive

These procedures assume you have prepared your panel, and understand how to bond your
system. For installation instructions regarding equipment and accessories not included here, refer
to the instructions that came with those products.

SHOCK HAZARD: To avoid hazard of electrical shock, perform all mounting and wiring of the
Kinetix 350 drive prior to applying power. Once power is applied, connector terminals can have
voltage present even when not in use.

ATTENTION: Plan the installation of your system so that you can perform all cutting, drilling,
tapping, and welding with the system removed from the enclosure. Because the system is
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 and result in damage to components.

Rockwell Automation Publication 2097-IN008D-EN-P - July 2013

Kinetix 350 Single-axis EtherNet/IP Servo Drives 5

IMPORTANT

A

• Additional clearance and different hole patterns are required for side
mount and rear mount AC line filters. See the table and step 2 for more
details.

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

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

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

Refer to page 6 for Kinetix 350 drive dimensions.

25 mm (1.0 in.) Clearance

for Airflow and Installation

25 mm (1.0 in.) Clearance

for Airflow and Installation

3 mm (0.12 in.)

Side Clearance

3 mm (0.12 in.)
Side Clearance

Mount the Kinetix 350 Drive

Follow these steps to mount the drive.

1. Observe these clearance requirements when mounting the drive to the panel.

Mount the module in an upright position as shown. Do not mount the module on
its side.

Drive
Cat. No.

2097-V31PR0-LM

2097-V31PR2-LM

Dimensions A

mm (in.)

185 (7.29)

2097-V32PR0-LM

230 (9.04)2097-V32PR2-LM

2097-V32PR4-LM

2097-V33PR1-LM

2097-V33PR3-LM

185 (7.29)

2097-V33PR5-LM

2097-V33PR6-LM 230 (9.04)

2097-V34PR3-LM

2097-V34PR5-LM

185 (7.29)

2097-V34PR6-LM 230 (9.04)

(1) If you are using an AC line filter, add

50 mm (2 in.).

(1)

(1)

Rockwell Automation Publication 2097-IN008D-EN-P - July 2013

6 Kinetix 350 Single-axis EtherNet/IP Servo Drives

11.8

(0.46)

6.6

(0.26)

7.1

(0.28)

B

38.1
(1.5)

182

(7.18)

190

(7.50)

30.8

(1.21)

Ø 4.57
(0.18) 3x

A

238

(9.37)

61.0

(2.40)

9.7

(0.38)

5.0

(0.19)

Dimensions are in mm (in.).

2090-K2CK-D15M

Low-profile Connector Kit for Bulletin

2090 (flying-lead) Feedback Cable

Additional clearance below the connector kit is necessary to
provide the recommended cable-bend radius.

2. Mount the Kinetix 350 drive to the cabinet sub-panel with M4 (#6-32) steel machine
screws torqued to 1.1 N•m (9.8 lb•in).

For catalog numbers 2097-V33PR1-LM, 2097-V33PR3-LM, 2097-V33PR5-LM,
2097-V34PR3-LM, and 2097-V34PR5-LM that use an AC line filter, refer to the AC
Line Filter Installation Instructions, publication 2097-IN003, for the sub-panel
mounting hole pattern.

Kinetix 350 Drive Mounting Dimensions

Cat. No.

2097-V31PR0-LM 185.1 (7.29) 68.0 (2.68) 2097-V33PR3-LM 185.1 (7.29) 68.5 (2.70)

2097-V31PR2-LM 185.1 (7.29) 68.5 (2.70) 2097-V33PR5-LM 185.1 (7.29) 94.4 (3.72)

2097-V32PR0-LM 229.6 (9.04) 68.0 (2.68) 2097-V33PR6-LM 229.6 (9.04) 68.0 (2.68)

2097-V32PR2-LM 229.6 (9.04) 68.5 (2.70) 2097-V34PR3-LM 185.1 (7.29) 68.5 (2.70)

2097-V32PR4-LM 229.6 (9.04) 86.8 (3.42) 2097-V34PR5-LM 185.1 (7.29) 94.4 (3.72)

2097-V33PR1-LM 185.1 (7.29) 68.0 (2.68) 2097-V34PR6-LM 229.6 (9.04) 68.0 (2.68)

Rockwell Automation Publication 2097-IN008D-EN-P - July 2013

Dimensions mm (in.)

AB A B

Cat. No.

Dimensions mm (in.)

Kinetix 350 Single-axis EtherNet/IP Servo Drives 7

12

11

10

8

7

2

1

9

9

3
4
5

6

13

15

Top Vie w

(2097-V33PR5-LM

Kinetix 350 drive is shown)

Bottom View

(2097-V33PR5-LM

Kinetix 350 drive is shown)

14

Connector Data

Use this illustration to identify the Kinetix 350 drive features and indicators.

Kinetix 350 Drive Features and Indicators

Item Description

1 Data status indicator and diagnostic display

2Memory module socket

3Network status indicator

4 Module status indicator

5Axis status indicator

6 Ethernet communication port (Port 1)

7 I/O (IOD) connector

8 Motor feedback (MF) connector

9 Ground Lug

10 Shunt resistor and DC bus (BC) connector

11 Back-up power (BP) connector

12 Display control push buttons (3)

13 Mains (IPD) connector

14 Motor power (MP) connector

15 Safe torque-off (STO) connector

Rockwell Automation Publication 2097-IN008D-EN-P - July 2013

8 Kinetix 350 Single-axis EtherNet/IP Servo Drives

1

8

Kinetix 350 Drive Connectors

Designator Description Connector

IPD AC mains input power 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 quick-connect terminal block

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

Mains (IPD) Connector Pinout

IPD Designator Description Signal

L3 AC power in (3-phase models) L3

L2 AC power in L2

L1 AC power in L1

PE Protective earth (ground) PE

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

Port 1 Pin Description Signal

1 Transmit port (+) data terminal + TX

2 Transmit port (-) data te rminal - TX

3 Receive port (+) data te rminal + RX

4– –

5– –

6 Receive port (-) data terminal - RX

7– –

8– –

Rockwell Automation Publication 2097-IN008D-EN-P - July 2013

Kinetix 350 Single-axis EtherNet/IP Servo Drives 9

I/O (IOD) Connector Pinout

IOD Pin Description Signal

1…4 Reserved –

5 Reserved –

6 Reserved –

7…25 Reserved (not used by Kinetix 350 drives) –

26 ± Overtravel, enable and home common COM

27 Negative hardware overtravel NEG_OT

28 Positi ve hardware over travel 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 Brake release positive BRAKE+

44 Brake release negative BRAKE-

45…50 Reserved –

1

25

26

50

Rockwell Automation Publication 2097-IN008D-EN-P - July 2013

10 Kinetix 350 Single-axis EtherNet/IP Servo Drives

Pin 11

Pin 6

Pin 15

Pin 1

Pin 10
Pin 5

Motor Feedback (MF) Connector Pinout

MF Pin Description Signal

1 Sine differential input+

AM+ differential input+

2 Sine differential input-

3 Cosine differential input+

AM- differential input-

BM+ differential input+

4 Cosine differential input-

BM- differential input-

5 Data differential input +

Index pulse+

6Common ECOM

7 Encoder power (+9V) EPWR_9V

8 Single-ended 5V Hall effect commutation S3

9 Reserved –

10 Data differential input -

11 Motor thermal switch (normally closed)

Index pulse-

(1)

12 Single-ended 5V Hall effect commutation S1

13 Single-ended 5V Hall effect commutation S2

14 Encoder power (+5V) EPWR_5V

15 Reserved –

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

SIN+
AM+

SIN­AM-

COS+
BM+

COS­BM-

DATA+
IM+

DATA­IM-

TS

(2)

(2)

Control Power Back-up (BP) Pinout

BP Designator Description Signal

+24V Positive 24V DC +24V DC

-24V 24V DC power supply return Return

Rockwell Automation Publication 2097-IN008D-EN-P - July 2013

Kinetix 350 Single-axis EtherNet/IP Servo Drives 11

IMPORTANT

Shunt Resistor and DC Bus (BC) Pinout

BC Designator Description Signal

+

++

SH Shunt resistor SH

–

––

Positive DC bus and shunt resistor

Negative DC bus

+

–

Motor Power (MP) Pinout

MP Designator Description Signal

PE Protective earth (ground) PE

W Motor power out W

V Motor power out V

U Motor power out U

Safe Torque-off (STO) 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

5Safety common Safety COM

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

The Kinetix 350 drive ships with safe torque-off enabled. Connect safe torque-off inputs to a
safety circuit, or install motion-allowed jumpers to obtain motion. Refer to the Kinetix 350
Single-axis EtherNet/IP Servo Drive User Manual, publication 2097-UM002

Power Wiring Requirements

Wire must be copper with 75 °C (167 °F) minimum rating. Phasing of main AC power is
arbitrary and earth-ground connection is required for safe and proper operation.

The National Electrical Code and local electrical codes take precedence over the values and
methods provided.

Rockwell Automation Publication 2097-IN008D-EN-P - July 2013

, for details.

12 Kinetix 350 Single-axis EtherNet/IP Servo Drives

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

Mains input power

2097-V31PR2-LM
2097-V33PR6-LM

2097-V31PR0-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-V31PR2-LM

Motor power

Terminals Recommended

Pin Signal

L3
L2
L1
PE

PE
W
V
U

Wire Size

2

(AWG)

mm

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

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)

Strip
Length

mm (in.)

Torq ue
Value

N•m (lb•in)

0.56…0.79
(5.0…7.0)

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

2097-V31PR0-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-V31PR2-LM

Shunt resistor and DC bus

+
+

(1)

SH
–
–

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

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

(2)
(2)

+24V DC
Return

+24V DC Control
Contro l COM

Safety Status
Safety Input 1
Safety COM
Safety Input 2

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

2097-V3xPRx-LM Control back-up power

2097-V3xPRx-LM Safe torque-off

(1) Use only for shunt resistor connection.
(2) Use only for bypassing the STO circuit.

STO-1
STO-2
STO-3
STO-4
STO-5
STO-6

Rockwell Automation Publication 2097-IN008D-EN-P - July 2013

ATTENTION: To avoid personal injury and equipment damage, verify the following:

Bonded Cabinet
Ground Bus

Ground Grid or Power
Distribution Ground

Braided

Ground Strap

Ground Stud

• 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.

• Motor power connectors are used only for connection purposes. Do not use motor power

connectors to turn the unit on and off.

• Shielded power cables are grounded to prevent potentially high voltages on the shield.

Ground Your Kinetix 350 Drive to the Subpanel

Kinetix 350 Single-axis EtherNet/IP Servo Drives 13

If the Kinetix 350 drive is mounted on a painted subpanel, ground to a bonded cabinet ground
bus with a braided ground strap or 4.0 mm

2

(12 AWG) solid-copper wire, 100 mm (3.9 in.) long.

Connecting the Braided Ground Strap

For dimensions, see Kinetix 350 Drive Mounting Dimensions on page 6.

Rockwell Automation Publication 2097-IN008D-EN-P - July 2013

14 Kinetix 350 Single-axis EtherNet/IP Servo Drives

If panel is painted, remove paint to provide
metal-to-metal contact.

Motor Power Ground Clamp

Dimension are in mm (in.).

Kinetix 350 Drive Motor-power Wire Shielding

A motor-power ground clamp and two #6-32 x 1 screws are supplied with the Kinetix 350 drive.

Install the supplied motor-power ground clamp within 50…75 mm (2…3 in.) of the drive by
using the two #6-32 x 1 screws.

Motor Power Ground Clamp Installation

25

(1.0)

34.0

(1.34)

12.7
(0.50)

50…75

(2…3)

50…75
(2…3)

Rockwell Automation Publication 2097-IN008D-EN-P - July 2013

Kinetix 350 Single-axis EtherNet/IP Servo Drives 15

Motor Overload Protection

This servo drive uses solid-state motor overload protection that operates in accordance with
UL 508C. Motor overload protection is provided by algorithms (thermal memory) that predict
actual motor temperature based on operating conditions as long as control power is continuously
applied. However, when control power is removed, thermal memory is not retained.

In addition to thermal memory protection, this drive provides an input for an external
temperature sensor/thermistor device, embedded in the motor, to support the UL requirement
for motor overload protection.

Some motors supported by this drive do not contain temperature sensors/thermistors; therefore,
motor overload protection against excessive consecutive motor overloads with power cycling is
not supported.

This servo drive meets the following UL 508C requirements for solid-state overload protection.

Motor Overload Protection Trip Point Value

Ultimately 100% overload

Withi n 8 minute s 200% overloa d

Withi n 20 seco nds 600% overloa d

ATT EN TI ON : To avoid damage to your motor due to overheating caused by excessive,
successive motor overload trips, follow the wiring diagram provided in the user manual for
your motor and drive combination.

Refer to your servo drive user manual for the interconnect diagram that illustrates the wiring
between your motor and drive.

Rockwell Automation Publication 2097-IN008D-EN-P - July 2013

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Additional Resources

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

Resource Description

Kinetix 350 Single-axis EtherNet/IP Servo D rives User Manual,
publication 2097-UM002

Kinetix 300 Shunt Resistor Installation Instructions, publication

2097-IN002

Kinetix 300 AC Line Filter Installation Instructions, publication

2097-IN003

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

Kinetix 300 Memory Module Installation Instructions,
publication 2097-IN007

Kinetix 300 Memory Module Programmer Quick Star t,
publication 2097-QS001

Kinetix Servo Drives Specifications Technical Data,
publication GMC-TD003

Kinetix Motion Accessories Specifications Technical Data,
publication GMC-TD004

Industrial Automation Wiring and Grounding Guidelines,
publication 1770-4.1

Product Certifications website, http://www.ab.com

Provides information on how to install, configure, startup, and
troubleshoot your Kinetix 350 servo drive system.

Provides information on installing and wiring Kinetix 300 shunt
resistors.

Provides information on installing and wiring the Kinetix 300
AC line filter.

Provides information on installing and wiring the Kinetix 300
I/O terminal expansion block.

Provides information on installing the Kinetix 300 memory
module.

Provides information on using the memory module
programmer to duplicate the memory module.

Provides product specifications for Kinetix Integrated Motion
over EtherNet/IP, Integrated Motion over sercos interface,
EtherNet/IP networking, and component servo drive families.

Provides product specifications for Bulletin 2090 motor and
interface cables, low-profile connector kits, drive power
components, and other servo drive accessory items.

Provides general guidelines for installing a Rockwell
Automation® industrial system.

Provides declarations of conformity, certificates, and other
certification details.

You can view or download publications at http://www.rockwellautomation.com/literature
order paper copies of technical documentation, contact your local Allen-Bradley distributor or
Rockwell Automation sales representative.

Allen-Bradley, CompactLo gix, ControlLogi x, Kinetix, Rockwell Software, and Rockwel l Automation are trademarks of Rockwell
Automation, Inc.

Trademarks not belonging to Rockwel l Automation are property of their respective companies.

Publication 2097-IN008D-EN-P - July 2013

Supersedes Publication 2097-IN008C-EN-P - February 2013 Copyright © 2013 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.

. To