Rockwell Automation 2097-Vxxx User Manual
User Manual
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
IMPORTANT
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.
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).
]Allen-Bradley, CompactLogix, ControlFLASH, ControlLogix , Kinetix, Logix5000, MP-Series, TL-S eries, RSLogix, Studio 5000 Logix D esign, Rockwell Automation, Rockwell Softw are, Stratix 2000, and Studi o 5000, and
are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Summary of Changes
This manual contains new and updated information. Changes throughout this
revision are marked by change bars, as shown to the right of this paragraph.
New and Updated Information
This table contains the changes made to this revision.
Top ic Page
Studio 5000 Logix Designer™ application is the rebranding of RSLogix™ 5000
software
Updated Kinetix® 350 Drive System Overview 12
Updated Typical Kinetix 350 Drive Installation 13
Updated catalog number explanation table 14
Updated the Fuse and Circuit Breaker Specifications table 20
Updated Shunt Resistor and DC connector description and signals names 36, 40, 60, 61,133
Updated motor brake pinout and specifications 44
Added vertical load and stored mechanical energy information to text and
attention statement
Updated Troubleshooting the Safe Torque-off Function attention statement 103
Updated Figure 48 Single-axis Relay Configuration (Stop Category 0) with
Automatic Reset
Added Error Codes for the Memory Module 113
Added troubleshooting for motor with a TTL encoder 122
Updated Figure 57 Kinetix 350 Drive with TL-Series™ (TLY-A) Motor high
resolution encoder cables
9
93, 97
108
135
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 3
Summary of Changes
Notes:
4 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Start
Table of Contents
Preface
About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Conventions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Studio 5000 Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Chapter 1
About the Kinetix 350 Drive System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
CE Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Chapter 2
Install the Kinetix 350 Drive System
Kinetix 350 Drive Connector Data
System Design Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
System Mounting Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Transformer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Circuit Breaker/Fuse Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Circuit Breaker/Fuse Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Enclosure Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Contactor Ratings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Transformer Specifications for Input Power . . . . . . . . . . . . . . . . . . . . 23
Power Dissipation Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Electrical Noise Reduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Bonding Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Bonding Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Establishing Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Cable Categories for Kinetix 350 Drive Components. . . . . . . . . . . . 30
Noise Reduction Guidelines for Drive Accessories. . . . . . . . . . . . . . . 30
Mount Your Kinetix 350 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Chapter 3
Kinetix 350 Drive Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . 36
Safe Torque-off Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
I/O Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Motor Feedback (MF) Connector Pinout . . . . . . . . . . . . . . . . . . . . . . 39
Ethernet Communication Connector Pinout . . . . . . . . . . . . . . . . . . . 39
AC Input Power Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Back-up Power Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Shunt Resistor and DC Bus Connector Pinout . . . . . . . . . . . . . . . . . 40
Motor Power Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Control Signal Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Motor Brake Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 5
Table of Contents
Connect the Kinetix 350 Drive System
Ethernet Communication Specifications . . . . . . . . . . . . . . . . . . . . . . . 45
24V DC Back-up Power Specifications . . . . . . . . . . . . . . . . . . . . . . . . . 45
Motor Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Feedback Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Wiring Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Wiring the Kinetix 350 Drive Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . 63
Wire the Safe Torque-off (STO) Connector . . . . . . . . . . . . . . . . . . . . 63
Wire the Back-up Power (BP) Connector. . . . . . . . . . . . . . . . . . . . . . . 63
Wire the Input Power (IPD) Connector. . . . . . . . . . . . . . . . . . . . . . . . 64
Wire the Motor Power (MP) Connector . . . . . . . . . . . . . . . . . . . . . . . 65
Apply the Motor Cable Shield Clamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Feedback and I/O Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Flying-lead Feedback Cable Pin-outs . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Wiring the Feedback and I/O Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . 73
Wire the I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Wire the Low-profile Connector Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Shunt Resistor Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Chapter 5
Configure and Start Up the
Kinetix 350 Drive System
6 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
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
Kinetix 350 Drive Safe Torque-off
Feature
Table of Contents
Configure the Kinetix 350 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Configure the Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Configure Axis Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
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
Troubleshooting 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
Troubleshoot the Kinetix 350 Drive
Chapter 7
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Interpret Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Four-digit Display Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Error Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Fault Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
General System Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Logix5000 Controller and Drive Behavior . . . . . . . . . . . . . . . . . . . . . . . . 123
Kinetix 350 Drive Exception Behavior . . . . . . . . . . . . . . . . . . . . . . . . 123
Web Server Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 7
Table of Contents
Appendix A
Interconnect Diagrams
Upgrade the Kinetix 350 Drive
Firmware
Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Shunt Resistor Wiring Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Kinetix 350 Drive/Rotary Motor Wiring Examples . . . . . . . . . . . . . . . . 134
Kinetix 350 Drive/Actuator Wiring Examples . . . . . . . . . . . . . . . . . . . . . 136
Motor Brake Currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Appendix B
Upgrade Drive Firmware with ControlFLASH Software . . . . . . . . . . . 143
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Configure Logix5000 Communication . . . . . . . . . . . . . . . . . . . . . . . . 144
Upgrade Firmware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Verify the Firmware Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
8 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Preface
About This Publication
Conventions
Studio 5000 Environment
This manual provides detailed installation instructions for mounting, wiring, and
troubleshooting your Kinetix
motor combination with a Logix5000™ controller.
The conventions starting below are used throughout this manual:
• Bulleted lists such as this one provide information, not procedural steps.
• Numbered lists provide sequential steps or hierarchical information.
The Studio 5000™ Engineering and Design Environment combines engineering
and design elements into a common environment. The first element in the Studio
5000 environment is the Logix Designer application. The Logix Designer
application is the rebranding of RSLogix 5000 software and continues to be the
product to program Logix5000 controllers for discrete, process, batch, motion,
safety, and drive-based solutions.
350 drive; and system integration for your drive/
The Studio 5000 environment is the foundation for the future of Rockwell
Automation® engineering design tools and capabilities. This environment is the
one place for design engineers to develop all of the elements of their control
system
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 9
Preface
Additional Resources
These documents contain additional information concerning related products
from Rockwell Automation.
Resource Description
Kinetix 350 Single-axis EtherNet/IP Servo Drive Installation Instructions,
publication 2097-IN008
Kinetix 300 Shunt Resistor Installation Instructions, publication 2097-IN002 Information on installing and wiring the Kinetix 300 shunt resistors.
Kinetix 300 AC Line Filter Installation Instructions, publication 2097-IN003 Information on installing and wiring the Kinetix 300 AC line filter.
Kinetix 300 I/O Terminal Expansion Block Installation Instructions,
publication 2097-IN005
CompactLogix L3ER Controllers User Manual, publication 1769-UM021 Information on installing, configuring, programming, and operating a
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 This brochure provides connectivity solutions for Ethernet networks and
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 Provides general guidelines for installing a Rockwell Automation industrial
System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001
EMC Noise Management DVD, publication GMC-SP004
Kinetix Motion Control Selection Guide, publication GMC-SG001 Specifications, motor/servo-drive system combinations, and accessories for
Kinetix Servo Drives Specifications Technical Data, publication GMC-TD003 Specifications for Kinetix ser vo drive motion control products.
Motion Analyzer software, download at http://www.ab.com/e-tools Drive and motor sizing with application analysis software.
ControlLogix Controllers User Manual, publication 1756-UM001 Information on installing, configuring, programming, and operating a
CIP Motion Configuration and Startup User Manual,
publication MOTION-UM003
842E-CM Integrated Motion Encoder on EtherNet/IP
User Manual. Publication 842E-UM002A
ControlFLASH Firmware Upgrade Kit User Manual, publication 1756-QS105 For ControlFLASH™ information not specific to any drive family.
Rockwell Automation Configuration and Selection Tools,
website http://www.ab.com/e-tools
Rockwell Automation Product Certification,
website http://www.rockwellautomation.com/products/certification
National Electrical Code, published by the National Fire Protection Association of B oston, MA An article on wire sizes and types for grounding electrical equipment.
Rockwell Automatio n Industrial Automation Glossary, publication AG-7 .1 A glossary of industrial automation terms and abbreviations.
Information on installing your Kinetix 350 drive system.
Information on installing and wiring the Kinetix 300 I/O terminal expansion
block.
Compac tLogix© system.
Information on installing and operating a Stratix 2000“ Ethernet Switches.
Provides general guidelines and theory for Ethernet/IP industrial systems.
integrated architecture.
This guide is arranged to help you select cabling based on the application,
environmental conditions, and mechanical requirements
This white paper compares and contrasts SERCOS and EtherNet/IP with a
ControlLogix® controller.
system.
Information, examples, and techniques designed to minimize system failures
caused by electrical noise.
Kinetix motion control products.
ControlLogix system.
Information on configuring and troubleshooting your ControlLogix and
CompactLogix EtherNet/IP network modules.
Information on installing, wiring, and troubleshoot a integrated motion encoder
on EtherNet /IP.
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.rockwellatuomation.com/literature. To order paper copies of
technical documentation, contact your local Allen-Bradley distributor or
Rockwell Automation sales representative.
10 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Chapter 1
Start
Top ic Page
About the Kinetix 350 Drive System 12
Catalog Number Explanation 14
Agenc y Compliance 15
Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 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 1 - Kinetix 350 Drive System Overview
Kinetix 350 System
Component
Kinetix 350 integrated
motion on EtherNet/IP Servo
Drive
AC Line Filters 2090
Shunt Module 2097-Rx Bulletin 2097 shunt resistors connect to the drive and provide shunting 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.
Logix5000 Controller
Platform
Studio 5000 Environment
Rotary Servo Motors MP-Series™, TL-Series Compatible rotary motors include the MP-Series (Bulletin MPL, MPM, MPF, and MPS) and TL-Series (Bulletin TLY)
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
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 inter face connections.
1769-L18ERM-BB1B
1769-L27ERM-QBFC1B
1769-L33ERM
1769-L36ERM
1769-L30ERM
(1)
1756-L6x
1756-L7x
N/A
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.
CompactLogix controller with integrated dual-port Ethernet/IP interface serves as communication link with the
Kinetix 350 drive system. The communication link uses EtherNet/IP protocol over a copper cable.
The Studio 5000 Logix Designer application provides support for programming, commissioning, and maintaining the
Logix5000 family of controllers.
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.
(1) 1756-L6x CompactLogix controller requires RSLogix 5000 software version 17.01.02 or later.
12 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013
Figure 1 - Typical Kinetix 350 Drive Installation
2
3
5
4
1
R
W
P
2097-V3xxxx-LM
Kinetix 350 Drive
2097-Fx
AC Line Filter (optional equipment)
2097-F1 Filter Shown
1783-US05T
Stratix 2000 Switch
CompactLogix Controller Platform
1769-L33ERM Shown
Line
Disconnect
Device
Input
Fusing
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
1585J-M8CBJM-x (shielded) or
11585J-M8UBJM-x (high-flex shielded)
Ethernet Cable
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
Other Ethernet/IP
Compat ible Dri ves
842E-CM Integrated Motion
Encoder on EtherNet/IP
Logix Designer
Application
Start Chapter 1
Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 13
Chapter 1 Start
Catalog Number Explanation
Kinetix 350 drive catalog numbers and descriptions are listed in these tables.
Table 2 - 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 3 - 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 4 - 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 5 - Kinetix 350 Drive Accessories
Cat. No. Drive Components
2097-Fx AC lin e filter s
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
14 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013
Start Chapter 1
Agency Compliance
If this product is installed within the European Union and has the CE mark, 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, refer to Grounding Your Kinetix 350 Drive System on
page 58.
For more information on electrical noise reduction, refer to 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.
Refer to Appendix A on page 129 for interconnect diagrams, including input
power wiring and drive/motor interconnect diagrams.
Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 15
Chapter 1 Start
Notes:
16 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013
Chapter 2
Install the Kinetix 350 Drive System
Top ic Page
System Design Guidelines 17
Electrical Noise Reduction 25
Mount Your Kinetix 350 Drive 33
ATT EN TI ON : 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 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.ab.com/e-tools.
System Mounting Requirements
• To comply with UL and CE requirements, the Kinetix 350 system must be
enclosed in a grounded conductive enclosure offering 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 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.
• 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.
Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 17
Chapter 2 Install the Kinetix 350 Drive System
IMPORTANT
• 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).
System performance was tested at these cable length specifications. These
limitations are also a CE requirement.
Refer to the System Design for Control of Electrical Noise Reference Manual,
publication
GMC-RM001, to better understand the concept of electrical noise
reduction.
18 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013
Install the Kinetix 350 Drive System Chapter 2
IMPORTANT
IMPORTANT
Transformer Selection
The Kinetix 350 drive does not require an isolation transformer for three-phase
input power. However, a transformer can be required to match the voltage
requirements of the controller to the available service.
To size a transformer for the main AC power inputs, refer to Circuit Breaker/
Fuse Specifications on page 20 and Transformer Specifications for Input Power
on page 23.
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.
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, sizing a transformer to the voltage requirements of catalog
number 2097-V34PR6-LM = 3 kW continuous x 1.5 = 4.5 KVA transformer.
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 or circuit breakers that are
adequate and can withstand interrupt ratings, as defined in NEC or applicable
local codes, are permitted.
The Bulletin 140M and 140U products are another acceptable means of
protection. As with fuses and circuit breakers, you must make sure that the
selected components are properly coordinated and meet applicable codes
including any requirements for branch circuit protection. When applying the
140M/140U product, evaluation of the short circuit available current is critical
and must be kept below the short circuit current rating of the 140M/140U
product.
In most cases, class CC, J, L, and R fuses selected to match the drive input current
rating meets the NEC requirements or applicable local codes, and provide the full
drive capabilities. Use dual element, time delay (slow-acting) fuses to avoid
nuisance trips during the inrush current of power initialization.
See Kinetix 350 Drive Power Specifications in Kinetix Servo Drives
Specifications Technical Data, publication
inrush current specifications for your Kinetix 350 drive.
GMC-TD003 for input current and
Refer to Circuit Breaker/Fuse Specifications on page 20 for recommended circuit
breakers and fuses.
Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 19
Chapter 2 Install the Kinetix 350 Drive System
Circuit Breaker/Fuse Specifications
While circuit breakers offer some convenience, there are limitations for their use.
Circuit breakers do not handle high current inrush as well as fuses.
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.
Use class CC or T fast-acting current-limiting type fuses, 200,000 AIC,
preferred. Use Bussmann KTK-R, JJN, JJS or equivalent. Thermal-magnetic type
breakers preferred. The following fuse examples and Allen-Bradley circuit
breakers are recommended for use with Kinetix 350 drives.
Figure 2 - Fuse and Circuit Breaker (CB) Specifications
Drive Cat. No.
2097-V31PR0-LM
2097-V31PR2-LM
2097-V32PR0-LM
2097-V32PR2-LM KTK-R-20 (20 A) 1489-A1C200 140M-D8E-C20 20 1492-SP 1D200 140 M-D8E-C20
2097-V32PR4-LM KTK-R-30 (30 A) 1489-A1C300 140M-F8E-C32 32 1492-SP 1D320 140 M-F8E-C32
2097-V33PR1-LM
2097-V33PR3-LM
2097-V33PR5-LM
2097-V33PR6-LM
2097-V34PR3-LM
2097-V34PR5-LM KTK-R-10 (10 A) 1489-A3C100 140M-C2E-C10 10 1492-SP3D100 140M-C2E-C10
2097-V34PR6-LM KTK-R-20 (20 A) 1489-A3C200 140M-D8E-C20 20 1492-SP 3D200 140 M-D8E-C20
Drive
Voltage
120V
120/240V Single-phase KTK-R-10 (10 A) 1489-A1C100 140M-C2E-C10 10 1492-SP1D100 140M-C2E-C10
120V
120/240V Single-phase KTK-R-20 (20 A) 1489-A1C200 140M-D8E-C20 20 1492-SP1D2 00 140 M-D8E-C20
240V Single-phase
120/240V Single-phase KTK-R-20 (20 A) 1489-A1C200 140M-D8E-C20 20 1492-SP1D2 00 140 M-D8E-C20
240V Three-phase KTK-R-15 (15 A) 1489-A3C150 140M-D8E-C16 16 1492-SP 3D150 140 M-D8E-C16
120/240V Single-phase KTK-R-20 (20 A) 1489-A1C200 140M-D8E-C20 20 1492-SP1D2 00 140 M-D8E-C20
240V Three-phase KTK-R-15 (15 A) 1489-A3C150 140M-D8E-C16 16 1492-SP 3D150 140 M-D8E-C16
120/240V Single-phase KTK-R-30 (30 A) 1489-A1C300 140M-F8E-C32 32 1492-SP1D3 00 140 M-F8E-C32
240V Three-phase KTK-R-20 (20 A) 1489-A3C200 140M-D8E-C20 20 1492-SP 3D200 140 M-D8E-C20
120/240V S ingle-phase LPJ-40SP N/A
240V Three-phase KTK-R-30 (30 A) 1489-A3C300 32 1492-SP3D3 00
480V Three-phase
Phase
Single-phase
(voltage doubler)
Single-phase
(voltage doubler)
Fuses
(Bussmann)
KTK-R-20 (20 A) 1489-A1C200 140M-D8E-C20 20 1492-SP1D2 00 140 M-D8E-C20
KTK-R-30 (30 A) 1489-A1C300 140M-F8E-C32 32 1492-SP1D3 00 140 M-F8E-C32
KTK-R-15 (15 A) 1489-A1C150 140M-D8E-C16 16 1492-SP1D1 50 140 M-D8E-C16
KTK-R-10 (10 A) 1489-A3C100 140M-C2E-C10 10 1492-SP3D100 140M-C2E-C10
UL Applications IEC (non UL) Applications
Miniature CB
Cat. No.
(1)
Motor Protection CB
Cat. No.
140M-F8E-C32
(1)(2)
DIN gG Fuses
Amps, max
40 N/A
Miniature CB
Cat. No.
(1)
Motor Protection CB
Cat. No.
140M-F8E-C32
(1)
(1) Bulletin 1492 circuit protection devices have lower short-circuit current ratings than Bulletin 140M devices. Refer to http://ab.rockwellautomation.com/allenbradley/
productdirector y.page? for product literature with specific short-circuit ratings.
(2) For UL applications, Bulletin 140M devices are applied as self-protected combination motor controllers.
20 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013
Install the Kinetix 350 Drive System Chapter 2
A =
4.08Q
T - 1.1
A =
0.38 (416)
1.8 (20) - 1.1
= 4.53 m
2
Enclosure Selection
This example is provided to assist you in sizing an enclosure for your
Bulletin
planned for your enclosure to calculate the enclosure size. See
Specifications on page 23 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
2097 drive system. You need heat dissipation data from all components
Power Dissipation
.
Metric Standard English
0.38Q
A =
1.8T - 1.1
Where T is temperature difference between inside air and
outside ambient (°C), Q is heat 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 d (depth), w (width), and h (height) are in inches.
Where T is temperature difference between inside air and
outside ambient (°F), Q is heat generated in enclosure
(Watts), and A is enclosure surface area (ft2). The exterior
surface of all six sides of an enclosure is calculated as
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.
In this example, the enclosure must have an exterior surface of at least 4.53 m2. If
any portion of the enclosure is not able to transfer heat, do not include 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 needs to 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 m
2
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.
Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 21
Chapter 2 Install the Kinetix 350 Drive System
Contactor Ratings
Table 6 - 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 7 - 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 8 - 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
22 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013
Install the Kinetix 350 Drive System Chapter 2
Transformer Specifications for Input Power
Attribute Value (460V system)
Input volt-amperes 750VA
Input voltage 480V AC
Output voltage 120…240V AC
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
system.
Cat. No. Power D issipat ion, 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
350 drive
Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 23
Chapter 2 Install the Kinetix 350 Drive System
IMPORTANT
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 assist you in sizing your cabinet and
positioning your Kinetix
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 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 wireways.
350 system components.
Refer to Kinetix 350 Drive Power Specifications in Kinetix Servo Drives
Specifications Technical Data, publication
dimensions.
Figure 3 - Minimum Clearance Requirements
Refer to page 23 for power dissipation specifications.
24 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013
GMC-TD003 for Kinetix 350 drive
Install the Kinetix 350 Drive System Chapter 2
IMPORTANT
Electrical Noise Reduction
This section outlines best practices that minimize the possibility of noise-related
failures as they apply specifically to Kinetix
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
350 system installations. For more
GMC-RM001.
Bonding Drives
Bonding is the practice of connecting 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 need to be paint-free or
plated. Bonding metal surfaces creates a low-impedance return path for highfrequency energy.
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 energ y travel elsewhere in the cabinet. Excessive high-frequency energy
can effect the operation of other microprocessor controlled equipment.
Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 25
Chapter 2 Install the Kinetix 350 Drive System
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
26 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013
Install the Kinetix 350 Drive System Chapter 2
Wire B raid
25.4 mm (1.0 in.) by
6.35 mm (0.25 in.)
Remove paint
from cabinet.
Ground bus
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
can not 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
Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 27
Chapter 2 Install the Kinetix 350 Drive System
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)
Establishing Noise Zones
Observe these guidelines when individual input power components are used in
the Kinetix
• The clean zone (C) exits left of the Kinetix 350 system and includes the I/
• The dirty zone (D) exits right of the Kinetix 350 system (black wireway)
• The very dirty zone (VD) is limited to where the AC line (EMC) filter
Figure 6 - Noise Zones (Bulletin 2090 AC line filters)
350 system:
O wiring, feedback cable, Ethernet cable, and DC filter (gray wireway).
and includes the circuit breakers, transformer, 24V DC power supply,
contactors, AC line filter, motor power, and safety cables.
VAC output jumpers over to the drive. Shielded cable is required only if
the very dirty cables enter a wireway.
(1) If drive system I/O cable contains (dirty) relay wires, route cable in dir ty 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
(3) This 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 is a dirty 24V DC available for motor brakes and contactors. The 24V enters the dirty wireway and exits to the right.
GMC-RM001.
28 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013
Figure 7 - Noise Zones (Bulletin 2097 AC line filters)
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
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)
Install the Kinetix 350 Drive System Chapter 2
(1) If drive system I/O cable contains (dirty) relay wires, route cable in dir ty 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 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 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-UM002A-EN-P - December 2013 29
Chapter 2 Install the Kinetix 350 Drive System
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
Cable Categories for Kinetix 350 Drive Components
These table indicate the zoning requirements of cables connecting to the
Kinetix
Table 9 - Kinetix 350 Drive Components
350 drive components.
STO X
IOD
Very
Dirty
Zone Method
Dirty Clean
Ferrite
Sleeve
X X
Shielded
Cable
Noise Reduction Guidelines for Drive Accessories
Refer to this section when mounting an AC line filter or shunt resistor module
for guidelines designed to reduce system failures caused by excessive electrical
noise.
AC Line Filters
If you are using a Bulletin 2090 line filter, mount the filter on the same panel as
the Kinetix
Observe these guidelines when mounting your AC line filter:
• Good HF bonding to the panel is critical. For painted panels, refer to the
• Segregate input and output wiring as far as possible.
350 drive, and as close to the drive as possible.
examples on
page 26.
30 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013
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