Page 1
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
Page 2
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.
Page 3
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
Page 4
Summary of Changes
Notes:
4 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 5
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
Page 6
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
Page 7
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
Page 8
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
Page 9
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
Page 10
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
Page 11
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
Page 12
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
Page 13
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
Page 14
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
Page 15
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
Page 16
Chapter 1 Start
Notes:
16 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013
Page 17
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
Page 18
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
Page 19
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
Page 20
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
Page 21
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
Page 22
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
Page 23
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
Page 24
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
Page 25
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
Page 26
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
Page 27
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
Page 28
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
Page 29
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
Page 30
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
Page 31
Install the Kinetix 350 Drive System Chapter 2
Contactor
Dirty Wireway
Custom er-sup plied
Metal Enclosure
150 mm (6.0 in.)
clearance (min) on all four
sides of the shunt module.
Very dirty connections
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 re quired
by local code)
Ethernet
(shielded)
Cable
No sensitive
equipment within 150
Route 24V DC I/O
Shielded Cable
24V Motor
Brake PS
Enclosure
Clean Wireway
Circuit
Breaker
I/O
(1)
, Ethernet, and
Feedback 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 dirt y 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.
Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 31
Page 32
Chapter 2 Install the Kinetix 350 Drive System
Shunt Wiring Methods:
Twisted pair in conduit (first choice).
Shielded twisted pair (second choice).
Twisted pair, two twists per foot (min) (third choice).
Contac tor
Dirty Wireway
Very dirty zone
segregated (not in wireway).
Ethernet
(shielded)
Cable
No sensitive
equipment within 150
mm (6.0 in.).
(2)
Route 24V DC I/O
Shielded Cable
24V Motor
Brake PS
Circuit
Breaker
I/O
(1)
, Ethernet, and Feedback
Cables
DC
Filter
Kinetix 350
Drive
Route Encoder/Analog/Registration
Shielded Cables
D
VD
C
I/O
(1)
, Motor Power, and Safety Cables
XFMR
D
D
AC Line
Filter
VD
D
C
Clean Wireway
Enclosure
When mounting your shunt module inside the enclosure, follow these additional
guidelines:
• Mount the shunt resistor anywhere in the dirty zone, but as close to the
Kinetix
350 drive as possible.
• Shunt wires can be run with motor power cables.
• Keep unshielded wiring as short as possible. Keep shunt wiring as flat to
the cabinet as possible.
• Separate shunt wires from other sensitive, low-voltage signal cables.
Figure 9 - Shunt Resistor inside the Enclosure
(1) If drive system I/O cable contains (dirty) relay wires, route cable in dirt y 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
Motor Brake
The brake is mounted inside the motor and how you connect to the drive
depends on the motor series.
Refer to Kinetix 350 Drive/Rotary Motor Wiring Examples beginning on
page 134 for the interconnect diagram of your drive/motor combination.
32 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013
GMC-RM001.
Page 33
Install the Kinetix 350 Drive System Chapter 2
IMPORTANT
Mount Your Kinetix 350 Drive
This procedure assumes you have prepared your panel and understand how to
bond your system. For installation instructions regarding other equipment and
accessories, refer to the instructions that came with those products.
ATT EN TI ON : This drive contains electrostatic discharge (ESD) sensitive parts
and assemblies. You are required to follow static control precautions when you
install, test, service, or repair this assembly. If you do not follow ESD control
procedures, components can be damaged. If you are not familiar with static
control procedures, refer to Guarding Against Electrostatic Damage, publication
8000-4.5.2, or any other applicable ESD Protection Handbook.
Follow these steps to mount your Kinetix 350 drive.
1. Lay out the position for the Kinetix 350 drive and accessories in the
enclosure.
Refer to Establishing Noise Zones on page 28 for panel layout
recommendations. Mounting hole dimensions for the Kinetix 350 drive
are shown in Kinetix Servo Drives Specifications Technical Data,
publication number
2. Attach the Kinetix 350 drive to the cabinet, first by using the upper
mounting slots of the drive and then the lower.
GMC-TD003.
The recommended mounting hardware is M4 (#6-32) steel machine
screws torqued to 1.1 N•m (9.8 lb•in). Observe bonding techniques as
described in
3. Tighten all mounting fasteners.
Bonding Drives on page 25.
To improve the bond between the Kinetix 350 drive and subpanel,
construct your subpanel out of zinc plated (paint-free) steel.
Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 33
Page 34
Chapter 2 Install the Kinetix 350 Drive System
Notes:
34 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013
Page 35
Chapter 3
Kinetix 350 Drive Connector Data
Top ic Page
Kinetix 350 Drive Connectors and Indicators 36
Control Signal Specifications 41
Motor Feedback Specifications 46
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 35
Page 36
Chapter 3 Kinetix 350 Drive Connector Data
3
5 0
Kinetix 350 Drive, Front View
(2097-V33PR5-LM drive is shown)
Kinetix 350 Drive, Bottom View
(2097-V33PR5-LM drive is shown)
Kinetix 350 Drive, Top View
(2097-V33PR5-LM drive is shown)
Kinetix 350 Drive Connectors and Indicators
Although the physical size of the Kinetix 350 drives vary, the location of the
connectors and indicators is identical.
Figure 10 - Kinetix 350 Drive Connector and Indicators
2
3
4
5
6
7
8
1
9
0
10
13
14
12
15
11
10
Item Description Item Description
1 Mains (IPD) connector 9 Motor feedback (MF) connector
2 Data status indicator and diagnostic display 10 Ground lug
3 Memory module socket 11 Shunt resistor and DC bus (BC) connector
4 Network status indicator 12 Back-up power (BP) connector
5 Module status indicator 13 Display control push buttons (3)
6 Axis status indicator 14 Motor power (MP) connec tor
7 Ethernet communication port (Port 1) 15 Safe torque-off (STO) connector
8 I/O (IOD) connector
Table 10 - Kinetix 350 Drive Connectors
Designator Description Connector
IPD AC input power 3-position or 4-position plug/header
PORT1 Ethernet communication port RJ45 Ethernet
IOD I/O SCSI 50 pin high density connector
MF Motor feedback 15-pin high-density D-shell (male)
BP Back-up power 2-pin quick-connect terminal block
BC Shunt Resistor and DC Bus 7-pin quick-connect terminal block
MP Motor power 6-pin quick-connect terminal block
STO Safe torque off (STO) Terminal 6-pin quick-connect terminal block
36 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 37
Kinetix 350 Drive Connector Data Chapter 3
1 2 3 4 5 6
+24 V DC control
Control COM
Safety status
Safety input 1
Safety COM
Safety input 2
Bottom view of the Kinetix 350 drive.
(2097-V33PR5-LM drive is shown)
Wiring Plug Header
Safe Torque-off
(STO) Connector
IMPORTANT
Safe Torque-off Connector Pinout
The Kinetix 350 drive ships with the (6-pin) wiring-plug header that connects
your safety circuit to the Kinetix
your system does not use the safe torque-off feature, follow instructions in
To rqu e -o ff Fe at ur e B yp a ss starting on page 107 to wire the drive with motion-
allowed jumpers.
Figure 11 - Safe Torque-off Connector
350 drive safe torque-off (STO) connector. If
Safe
Table 11 - Kinetix 350 Drive Safe Torque-off Connector Pinout
STO Pin Description Signal
1 +24V DC output from the drive +24V DC control
2 +24V DC output common Control COM
3 Safety status Safety Status
4 Safety input 1 (+24V DC to enable) Safety Input 1
5 Safety common Safety COM
6 Safety input 2 (+24V DC to enable) Safety Input 2
Use only pins STO-1 (+24V DC Control) and STO-2 (Control COM) of the motionallowed jumpers to enable the drive when the safe torque-off function is not
used. When the safe torque-off function is in operation, the 24V supply must
come from an external source.
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 37
Page 38
Chapter 3 Kinetix 350 Drive Connector Data
1
25
50
26
I/O Connector Pinout
IOD Pin Description Signal
1…25 Reserved Reserved
26 +/- Overtravel, enable, and home common COM
27 Negative hardwa re overtravel NEG_OT
28 Positive hardware overtravel POS_OT
29 Drive enable ENABLE
30 Home switch HOME_SW
31…35 Reserved —
36 Registration common REG_COM
37…38 Reserved —
39 Registration input REG
40…42 Reserved —
43 Motor brake release positive MT R_B RAKE +
44 Motor brake release negative MTR_ BRAK E-
44…50 Reserved —
Figure 12 - Pin Orientation for 50-pin SCSI I/O (IOD) Connector
38 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 39
Kinetix 350 Drive Connector Data Chapter 3
IMPORTANT
Pin 11
Pin 6
Pin 15
Pin 1
Pin 10
Pin 5
1
8
Motor Feedback (MF) Connector Pinout
MF Pin Description Signal MF Pin Description Signal
1
2
3
4
5
6 Comm on ECOM 14 Encoder power (+5V) EPWR_5V
7 Encoder power (+9V) EPWR_9V
8
(1) Not applicable unless motor has integrated thermal protection.
(2) Encoder power supply uses either 5V or 9V DC based on encoder/motor used.
Sine differential input+
AM+ differential input+
Sine differential inputAM- differential input-
Cosine differential input+
BM+ differential input+
Cosine differential inputBM- differential input-
Data differential input +
Index pulse+
Single-ended 5V Hall effect
commutation
SIN+
AM+
SINAM-
COS+
BM+
COSBM-
DATA+
IM+
S3
9
10
11
12
13
(2)
15 Reserved —
Reserved
Data differential input Index pulse-
Motor thermal switch
(normally closed)
Single-ended 5V Hall effect
commutation
Single-ended 5V Hall effect
commutation
(1)
—
DATAIM-
TS
S1
S2
(2)
Drive-to-motor power and feedback cable length must not exceed 20 m
(65.6 ft). System performance was tested at these specifications and also
apply when meeting CE requirements.
Figure 13 - Pin Orientation for 15-pin Motor Feedback (MF) Connector
Ethernet Communication Connector Pinout
Port 1 Pin Description Signal Port 1 Pin Description Signal
1 Transmit port (+) data terminal + TX 5 — —
2 Transmit port (-) data terminal - TX 6 Receive port (-) data terminal - RX
3 Receive port (+) data terminal + RX 7 — —
4 — — 8 — —
Figure 14 - Pin Orientation for 8-pin Ethernet Communication (port 1) Port
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 39
Page 40
Chapter 3 Kinetix 350 Drive Connector Data
AC Input Power Connector Pinout
IPD
Designator
L2/N AC power in (non-doubler operation) L2/N L2 AC powe r in L2
L1 AC power i n L1 L1 AC power in L1
N AC power neutral (only 120V doubler) N PE Protective earth (ground) PE
PE Protective earth (ground) PE
Description
(2097-V31PRx-LM drives)
Signal
IPD
Designator
IPD
Designator
L3 AC power in (three-phase models) L3
L2 AC powe r in L2
L1 AC powe r in L1
PE Protective earth (ground) PE
Description
(2097-V32PRx-LM drives)
Description
(2097-V33PRx-LM, and 2097V34PRx-LM drives)
Back-up Power Connector Pinout
BP
Designator
+24V Positive 24V DC +24V DC
-24V 24V DC power supply return Return
Description Signal
Signal
Signal
Shunt Resistor and DC Bus Connector Pinout
BC
Designator
+
+ +
SH Shunt resistor SH
-
- -
Description Signal
+
Positive DC bus and shunt resistor
-
Negative DC bus
Motor Power Connector Pinout
MP
Designator
PE Protective earth (ground) PE
W Motor power out W
V Motor power out V
U Motor power out U
Description Signal
40 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 41
Kinetix 350 Drive Connector Data Chapter 3
IMPORTANT
IMPORTANT
Control Signal Specifications
IOD Pin Signal Description
IOD-29 ENABLE
IOD-30 HOME
IOD-39 REG
IOD-27
IOD-28
NEG_OT
POS_OT
Optically isolated, single-ended active high signal. Current loading is nominally 9 mA. A 24V
DC input is applied to this terminal to enable the axis.
Optically isolated, single-ended active high signal. Current loading is nominally 9 mA. Home
switch (normally open contact) inputs axis require 24V DC (nominal).
Fast registration inputs are required to inform the motor interface to capture the positional
information with less than 5 μs uncertainty. Optically isolated, single-ended active high
signal. Current loading is nominally 9 mA. A 24V DC input is applied to this terminal to enable
axis.
Overtravel detection is available as an optically isolated, single-ended active high signal.
Current loading is nominally 9 mA per input. The positive/negative limit switch (normally
closed contact) inputs for axis require 24V DC (nominal).
This section provides a description of the Kinetix 350 drive I/O (IOD),
communication, shunt resistor and DC bus (BC), and back-up power (BP)
connectors.
Digital Inputs
Five fixed inputs are available for the machine interface on the Kinetic 350 drive.
To improve registration input EMC performance, refer to the System Design for
Control of Electrical Noise Reference Manual, publication
Over-travel limit input devices must be normally closed.
The five digital inputs (IOD-27…IOD-30 and IOD-39) have fixed pin
assignments.
Table 12 - Understanding Digital Inputs
GMC-RM001.
Capture
Time
0.5 ms Level
0.5 ms Edge
5 μs Ed ge
1 ms Level
Edge/Level
Sensitive
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 41
Page 42
Chapter 3 Kinetix 350 Drive Connector Data
Function Description Behavior
If the controller configuration specifies checking of the enable input, an
active state enables the power electronics to control the motor and an
inactive state prevents motion.
The drive generates an exception if the input is inactive when the
Enable
Home
Registration
Positive O ver-travel
Negative Over-travel
controller commands motion and has authorized checking. The drive
behavior in this situation is programmable.
An active state indicates to a homing sequence that the referencing
sensor has been seen. Typically, a transition of this signal is used to
establish a reference position for the machine axis.
An inactive-to-active transition (also known as a positive transition) or
active-to-inactive transition (also known as a negative transition) is
used to latch position values for use in registration moves.
If the controller configuration specifies checking of the hardware overtravel inputs, an inactive state indicates that a position limit has been
exceeded in the positive direction.
The drive generates an exception if the input is inactive when the
controller authorizes checking. The drive behavior in this situation is
programmable.
If the controller configuration specifies checking of the hardware
overtravel inputs, an inactive state indicates that a position limit has
been exceeded in the negative direction.
The drive generates an exception if the input is inactive when the
controller authorizes checking. The drive behavior in this situation is
programmable.
Table 13 - Understanding Digital Input Functions
By default drive enable input checking is enabled. If the checking is
authorized and the input is disabled the drive issues a Drive Enable
Start Inhibit and you are not be able to issue a Servo On instruction
from the controller.
To disable the Enable function:
• Tie input to 24V DC
• Write a Logix Designer message instruction that changes
enableInputChecking or Attribute 736 to zero, see instructions
on page 100
The function is always inactive unless armed by the controller.
The function is always active.
To disable function:
• Tie input to 24V
• Set to only Fault Status
Table 14 - Digital Input Specifications
Attribute Value
Typ e Active high, single-ended, current sinking
Funct ions
Input current (with 24V applied) 9 mA, max
On-state input voltage 4.2…24V @ 2…9 mA total
Off-state input voltage 0…2.5V
Pulse reject filtering (only Registration functions) 120 ns, nom
Pulse reject filtering, default (all other input functions, can be configured) 1.0 ms, nom
Propagation delay (only Registration function) 5 μs
Registration repeatability 200 ns
Input reaction time (Disable) 2 ms, max
Input reaction time (Enable, Positive Over-travel inputs) 2 ms, max
Enable, Home, Positive Over -travel, Negative Over-travel,
Registration
The digital inputs are optically isolated and sinks up to 24V DC. Electrical
details are shown in
Ta b l e 13 on page 42. You can set up the inputs for PNP
sourcing or NPN sinking.
42 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 43
Figure 15 - Sourcing of Digital Inputs
GND
ENABLE, HOME_SW,
POS_OT, or NEG_OT
COM
+24V
ENABLE, HOME_SW,
POS_OT, or NEG_OT
1.2 kΩ
1.2 kΩ
GND
ENABLE, HOME_SW,
POS_OT, or N EG_OT
COM
+24V
ENABLE, HOME_SW,
POS_OT, or N EG_OT
1.2 kΩ
1.2 kΩ
GND
REG
REG_COM
+24V
REG
1.2 kΩ
1.2 kΩ
Figure 16 - Sinking of Digital Inputs
Kinetix 350 Drive Connector Data Chapter 3
Figure 17 - Sourcing of Registration Digital Input
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 43
Page 44
Chapter 3 Kinetix 350 Drive Connector Data
GND
REG
REG_COM
+24V
REG
1.2 kΩ
1.2 kΩ
BR+
BR-
7
9
White
Black
CR1
MTR_BRAKE +
MTR_BRAKE -
24V DC
24V DC COM
43
44
Motor Brake
Kinetix 350 Drive
Figure 18 - Sinking of Registration Digital Input
Motor Brake Output
The two digital outputs (IOD-43 and IOD-44) have fixed pin assignments for
motor brake function.
Attribute Val ue
Circuit type Optically isolated open collector/emitter
Voltage, max 30V DC
Current, max 100 mA
The following schematic shows how to wire your motor brake.
Figure 19 - Brake Wiring Schematic
Use these guideline to wire your brake:
• Connect a diode, 1N4004 or equivalent, as shown on both the rely and the
motor brake coils.
• Wire the output as sourcing.
• The motor brake output is active on enable.
44 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
• Set the motor engage and disengage times based on the motor selected.
Page 45
Kinetix 350 Drive Connector Data Chapter 3
Ethernet Communication Specifications
An RJ45 100 Mbit Ethernet connector (port 1) is provided on the Kinetix 350
drive. It is fully compliant to the EtherNet/IP standard. Restrict the location of
all Ethernet cabling to clean zones with minimal electromagnetic interference.
Attribute Value
Communication 100BASE-TX, full duplex
Auto MDI/MDIX crossover detection/correction Ye s
Cabling
Rockwell Automation CAT5E shielded, 100 m
(328 ft), max
24V DC Back-up Power Specifications
The Kinetix 350 drive can use an external power supply to power the logic and
communication circuits. If an independent 24V (@ 1 A) power supply is
connected to the BP connector, the logic and communication circuits remain
active during a mains input power loss.
Attribute Val ue
Input voltage 20…26V DC
Curren t 500 mA
Inrush, max 30 A
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 45
Page 46
Chapter 3 Kinetix 350 Drive Connector Data
Motor Feedback Specifications
The drive accepts motor feedback signals from the following types of encoders
with these general specifications.
Table 15 - Motor Feedback General Specifications
Attribute Valu e
Feedback device support
Power supply (EPWR5V) 5.13…5.67V, 400 mA, max
Power supply (EPWR9V) 8.3…9.9V, 275 mA, max
Thermost at
• Stegmann Hiperface
• Generic TTL Incremental
• Tamagawa 17-bit Serial
Single-ended, under 500 Ω = no fault, over
10 kΩ = fault
The Kinetix 350 drives support multiple types of feedback devices by using the
15-pin (MF) motor feedback connector and sharing connector pins in many
cases.
Table 16 - Motor Feedback Signals by Device Type
MF Pin Stegmann Hiperface Generic TTL Incremental Tamagawa 17-bit Serial
1 SIN+ AM+ —
2 SIN- AM- —
3 COS+ BM+ —
4 COS- BM- —
5 DATA+ IM+ DATA+
6 ECOM ECOM ECOM
7 EPWR9V — —
8 — S3 —
9 — — —
10 DATA- IM- DATA-
11 TS TS TS
12 — S1 —
13 — S2 —
14 EPWR5V EPWR5V EPWR5V
15 — — —
46 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 47
Kinetix 350 Drive Connector Data Chapter 3
+5V
1 k
Ω
6.81 k
Ω
0.01 μ
F
TS
+5V
Kinetix 350 Drive
56 pF
SIN+ or
COS+
SIN- or
COS-
+
1 k
Ω
-
to AqB Counter
1 k
Ω
10 k
Ω
10 k
Ω
1 k
Ω
1 k
Ω
1 k
Ω
56 pF
56 pF
26.7 k
Ω
47 pF
to A/D Converter
56 pF
+5V
1 k
Ω
+
-
1 k
Ω
Kinetix 350 Drive
This is the motor thermostat interface schematic. Although the thermostat signal
is shown for all feedback types, some motors do not support this feature because
it is not part of the feedback device.
Figure 20 - Motor Thermostat Interface
Table 17 - Motor Thermostat State Specifications
State Resistance at TS
No Fault 500 Ω
Fau lt 10 kΩ
(1) Resistance is measured between TS (MF pin 11) and ECOM (MF pin 6)
(1)
Table 18 - Stegmann Hiperface Specifications
Attribute Value
Protocol Hiperface
Memory support Not programmed, or programmed with Allen-Bradley motor data
Hiperface data communication RS485, 9600 bps, 8 data bits, no parity
Sine/Cosine interpolation 2048 counts/sine period
Input frequency (AM/BM) 250 kHz, max
Input voltage (AM/BM) 0.6...1.2V, p-p, measured at the drive inputs
Line loss detection (AM/BM) Average (sin2 + cos2) > constant
Figure 21 - Stegmann Hiperface Interface, SIN and COS Signals
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 47
Page 48
Chapter 3 Kinetix 350 Drive Connector Data
+
to UART
from UART
from UART
DATA+
DATA-
10 k
Ω
to AqB Counter
1 k
Ω
1 k
Ω
10
Ω
56 pF
56 pF
+5V
-
Kinetix 350 Drive
Shaded area indicates components that are part of the circuit, but support
other feedback device types (not used for Stegmann Hiperface suppor t).
Figure 22 - Stegmann Hiperface Interface, DATA Signals
Table 19 - Generic TTL Incremental Specifications
Attribute Va lue
TTL incremental encoder support 5V, differential A quad B
Quadrature interpolation 4 counts/square wave period
Differential input voltage
(AM, BM, and IM)
DC current draw
(AM, BM, and IM)
Input signal frequency
(AM, BM, and IM)
Edge sepa ration
(AM and BM)
Line loss detection
(AM and BM)
Hall inputs
(S1, S2, and S3)
1.0…7.0V
30 mA, max
5.0 MHz, max
42 ns min, between any two edges
Average (AM2 + BM2) > constant
Single-ended, TTL, open collector, or none
48 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 49
Figure 23 - Generic TTL Incremental, AM and BM Signals
AM- or
BM-
1 k
Ω
to A/D Converter
56 pF
56 pF
1 k
Ω
1 k
Ω
AM+ or
BM+
1 k
Ω
10 k
Ω
56 pF
47 pF
26.7 k
Ω
+
+
to AqB Counter
1 k
Ω
10 k
Ω
56 pF
-
-
Kinetix 350 Drive
Shaded area indicates components that are part of the circuit, but support other
feedback device types (not used for Generic TTL incremental support).
+
to UART
from UART
from UART
MTR_IM-
56 pF
MTR_IM+
10 k
Ω
to AqB Counter
10 k
Ω
1 k
Ω
1 k
Ω
56 pF
+5V
-
Kinetix 350 Drive
Shaded area indicates components that are part of the circuit, but support other feedback
device types (not used for Generic TTL incremental support).
Kinetix 350 Drive
Kinetix 350 Drive Connector Data Chapter 3
Figure 24 - Generic TTL Interface, IM Signals
Figure 25 - Generic TTL Interface, S1, S2, or S3 Signals
S1,
S2,
or S3
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 49
+5V
1 k
Ω
+5V
1 k
Ω
F
56 p
Page 50
Chapter 3 Kinetix 350 Drive Connector Data
Pin 11
Pin 6
Pin 15
Pin 1
Pin 10
Pin 5
Table 20 - Tamagawa 17-bit Serial Specifications
Attribute Va lue
Tamagawa model support TS5669N124
Protocol Tamagawa proprietary
Memory support Programmed with Allen-Bradley motor data
Differential input voltage 1.0…7.0V
Data communication 2.5 Mbps, 8 data bits, no parity
Battery 3.6V, on external to drive in low-profile connector kit
Refer to Figure 22 for the Tamagawa 17-bit serial interface schematic. It is
identical to the Stegmann Hiperface (DATA) signals schematic.
Feedback Power Supply
The Kinetix 350 drive generates +5V and +9V DC for motor feedback power.
Short circuit protection and separate common mode filtering for each channel is
included.
Table 21 - Motor Feedback Power Specifications
Supply Reference
Min Nominal Max Min Max
+5V DC EPWR_5V 5.13 5.4 5.67 0 400
+9V DC EPWR_9V 8.3 9.1 9.9 0 275
(1) 400 mA on the 5V supply with no load on the 9V supply.
(2) 300 mA on the 5V supply with 150 mA on the 9V supply.
(3) 275 mA on the 9V supply with no load on the 5V supply.
Voltag e Current mA
Figure 26 - Pin Orientation for 15-pin Motor Feedback (MF) Connector
(1) (2)
(2) (3)
50 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 51
Chapter 4
IMPORTANT
Connect the Kinetix 350 Drive System
Top ic Page
Basic Wiring Requirements 51
Grounding Your Kinetix 350 Drive System 58
Power Wiring Requirements 59
Wiring Guidelines 62
Wiring the Kinetix 350 Drive Connectors 63
Apply the Motor Cable Shield Clamp 70
Feedback and I/O Cable Connections 71
Wiring the Feedback and I/O Connectors 73
Kinetix 350 Drive (IOD connector and terminal block) 73
Shunt Resistor Connections 75
Ethernet Cable Connections 75
Basic Wiring Requirements
This section contains basic wiring information for the Kinetix 350 drive.
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.
SHOCK HAZARD: To avoid hazard of electrical shock, perform all mounting and
wiring of the Bulletin 2097 drive prior to applying power. Once power is applied,
connector terminals can have voltage present even when not in use.
This section contains common PWM servo system wiring configurations, size,
and practices that can be used in a majority of applications. National Electrical
Code, local electrical codes, special operating temperatures, duty cycles, or
system configurations take precedence over the values and methods provided.
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 51
Page 52
Chapter 4 Connect the Kinetix 350 Drive System
IMPORTANT
Recommended Cables
The Motor Power Cable Compatibility table on page 66 and Motor Feedback
Cables for Specific Motor/Feedback Combinations table on page 71 show the
cables Rockwell Automation recommends you use with the Kinetix 350 drive.
Factory-made cables are designed to minimize EMI and are recommended over
hand-built cables to optimize system performance.
If it is necessary for you to build or modify your own cable, follow these
guidelines:
• Connect the cable shield to the connector shells on both ends of the cable
with a complete 360° connection.
• Use twisted pair cable whenever possible. Twist differential signals with
each other and twist single-ended signals with the appropriate ground
return.
Refer to the Kinetix Motion Control Selection Guide, publication
GMC-SG001, for low-profile connector kit, drive-end (mating) connector kit,
and motor-end connector kit catalog numbers.
Determine the Input Power Configuration
Route Power and Signal Wiring
Be aware that when you route power and signal wiring on a machine or system,
radiated noise from nearby relays, transformers, and other electronic drives can be
induced into motor or encoder feedback signals, input/output communication,
or other sensitive low voltage signals. This can cause system faults and
communication anomalies.
Refer to Electrical Noise Reduction on page 25 for examples of routing high and
low voltage cables in wireways. Refer to the System Design for Control of
Electrical Noise Reference Manual, publication
information.
This section contains examples of typical single-phase and three-phase facility
input power wired to single-phase and three-phase Kinetix
The grounded power configuration lets you ground your single-phase or threephase power at a neutral point. Match your secondary to one of the examples and
be certain to include the grounded neutral connection.
GMC-RM001, for more
350 drives.
52 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 53
Connect the Kinetix 350 Drive System Chapter 4
L3
L2
L1
IPD
L3
L2
L1
E
L3
L2
L1
L3
L2
L1
Transformer (WYE) Secondary
Kinetix 350 Drives
Three-phase AC Input
Bonded Cabinet Ground Bus
Ground Grid or
Power Distribution Ground
AC Line
Filter
M1
Contac tor
Input Fusing
Feeder and branch short circuit
protection is not illustrated.
2097-V34PRx-LM
IMPORTANT
Transformer (Delta) Secondary
Kinetix 350 Drives
Three-phase AC Input
AC Lin e
(1)
Filter
Bonded Cabinet Ground Bus
Ground Grid or Power Distribution Ground
M1
Contactor
Input Fusing
Feeder and branch short circuit
protection is not illustrated.
2097-V33PRx-LM
Transformer (Delta) Secondary
Kinetix 350 Drives
Three-phase AC Input
AC Line
(1)
Filter
Bonded Cabinet Ground Bus
Ground Grid or Power Distribution Ground
M1
Contactor
Input Fusing
Feeder and branch short circuit
protection is not illustrated.
2097-V33PRx-LM
Three-phase Power Wired to Three-phase Drives
These examples illustrate grounded three-phase power wired to three-phase
Kinetix
Figure 26 - Three-phase (400/480V) Power Configuration (WYE secondary)
350 drives when phase-to-phase voltage is within drive specifications.
For the 480V Kinetix 350 drives to meet proper voltage creepage and clearance
requirements, each phase voltage to ground must be less than or equal to 300V
AC rms. This means that the power system must use center grounded wye
secondary configuration for 400/480V AC mains.
Figure 27 - Three-phase (240V) Power Configuration (Delta secondary)
L3
L2
L3
L2
L1
L3
L2
L1
E
L1
(1) Leakage current from the line filter, in this configuration, typically is higher than a balanced (center ground) configuration.
IPD
L3
L2
L1
Figure 28 - Three-phase (240V) Power Configuration (Delta secondary)
L3
L2
L3
L2
L1
L3
L2
L1
E
L1
IPD
L3
L2
L1
(1) Leakage current from the line filter, in this configuration, typically is higher than a balanced (center ground) configuration.
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 53
Page 54
Chapter 4 Connect the Kinetix 350 Drive System
IMPORTANT
L1
L2
L1
L2 (Neutral)
IPD
L1
L2/N
L1
L2/N
L1
N
E
IPD
L1
L2
L1
L2
L1
L2/N
E
IPD
L1
L2
IPD
L1
L2
Transformer Secondary
Transformer Secondary
Bonded Cabinet Ground Bus
Ground Grid or
Power Distribution G round
AC Line
Filter
AC Lin e
Filter
120V AC
Output
240V AC
Output
Bonded Cabinet Ground Bus
Ground Grid or
Power Distribution Ground
Kinetix 350 Drives
Single-phase AC Input
Kinetix 350 Drives
Single-phase AC Input
M1
Contactor
Input Fusing
M1
Contactor
Input Fusing
2097-V31PRx -LM
(1)
2097-V31PRx-LM
2097-V32PRx-LM
2097-V33PRx -LM
Single-phase Power Wired to Single-phase Drives
These examples illustrate grounded single-phase power wired to single-phase
Kinetix
Figure 29 - Single-phase Grounded Power Configurations
350 drives when phase-to-phase voltage is within drive specifications.
The 2097-V32PRx-LM models have integrated AC line filters and do not require
the AC line filter shown in this diagram.
(1) This configuration applies to voltage-doubler operation for 2097-V31PRx-LM drives.
Reducing transformer output reduces motor speed. Feeder and branch short
circuit protection is not illustrated.
Voltage Doubler Operation
You can wire the 2097-V31PRx-LM drives with 120V input voltage and achieve
twice the output voltage. To use the voltage-doubler circuit, connect the 120V
single-phase input power to the IPD-L1 and IPD-N terminals.
For Kinetix 350 drive power specifications, refer to Kinetix Servo Drives
54 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Specifications Technical Data, publication
input wiring diagrams, refer to Power Wiring Examples on page 131.
GMC-TD003. For Kinetix 350 drive
Page 55
Connect the Kinetix 350 Drive System Chapter 4
L1
L2
L3
IPD
L1
L2
IPD
L1
L2
IPD
L1
L2
L1
L2
L3
L2
L3
L1
Transformer
(WYE) Secondary
Grounded Neutral
Kinetix 350 Drives
(System A)
Single-phase AC Input
Input Fusing
M1
(1)
M2
(1)
M3
(1)
Ground Grid or
Power Distribution Ground
Bonded Cabinet
Ground Bus
Kinetix 350 Drives
(System B)
Single-phase AC Input
Kinetix 350 Drives
(System C)
Single-phase AC Input
Input Fusing
Input Fusing
2097-V32PRx-LM
Isolation Transformer in Grounded Power Configurations
When you are using an isolation transformer, attach the chassis ground wire to
the neutral connection. This grounded neutral connection does the following :
• Prevents the system from floating and thereby avoids any high voltages that
can otherwise occur, for example due to static electricity
• Provides a solid earth path for fault conditions
ATT EN TI ON : If the supply transformer is an auto transformer (not
recommended), do not add a chassis earth ground. A chassis earth ground is
already included elsewhere in the system and adding another creates a short.
Three-phase Power Wired to Single-phase Drives
This example illustrates grounded three-phase power wired to single-phase
Kinetix
350 drives when phase-to-phase voltage is within drive specifications.
Figure 30 - Single-phase Amplifiers on Three-phase Power (WYE)
(1) Contactors (MI, M2, and M3) can be optional. For more information, refer to Understanding the Machinery Directive, publication
SHB-900. AC line filter is optional, but is required for CE compliance.
Feeder short circuit protection is not illustrated.
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 55
Page 56
Chapter 4 Connect the Kinetix 350 Drive System
Bonded Cabinet Ground Bus
Transformer (WYE) Secondary
Ground Grid or Power Distribution Ground
AC Line
Filter
AC Lin e
Filter
AC Line
Filter
Kinetix 350 Drives
(System A)
Single-phase AC Input
Grounded
Neutral
Grounded Neutral
Kinetix 350 Drives
(System A)
Single-phase AC Input
Kinetix 350 Drives
(System A)
Single-phase AC Input
M1
Contac tor
Input Fusing
2097-V31PRx-LM 2097-V33PRx-LM
IMPORTANT
This example illustrates grounded three-phase power wired to single-phase
Kinetix
350 drives when phase-to-phase voltage exceeds drive specifications.
A neutral must be connected when single-phase drives are attached to a threephase isolating transformer secondary. It is not necessary that all three-phases be
loaded with drives, but each drive must have its power return via the neutral
connection.
ATT EN TI ON : Failure to connect the neutral can result in supply voltage swings
at the individual drives. This occurs when the neutral point moves vectorially as
a result of load variations normally experienced by the individual drives. The
supply voltage swing can cause undervoltage and overvoltage trips on the
drives, and the drive can be damaged if the overvoltage limit is exceeded.
Figure 31 - Single-phase Amplifiers (one AC line filter per drive)
L1
L1
L1
L2
L2
L2
E
L3
L1
L1
L2
L2
E
L1
L1
L2
L2
E
IPD
L1
N
IPD
L1
N
IPD
L1
N
Feeder and branch short circuit protection is not illustrated.
Providing an AC line filter for each drive is the preferred configuration and
required for CE compliance.
IPD
L1
L2
IPD
L1
L2
IPD
L1
L2
56 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 57
Connect the Kinetix 350 Drive System Chapter 4
Voiding of CE Compliance
The three-phase and neutral in-line filter applications described above are not
adequate for CE compliance for EMC. Therefore, EMC validity and CE
marking by Rockwell Automation is voided when three-phase and neutral in line
filters are used.
ATT EN TI ON : The three-phase isolation transformer and neutral in-line filter
applications described in this document have not been tested for EMC by
Rockwell Automation and products used in such installations are not considered
CE marked by Rockwell Automation.
If this three-phase isolation transformer and neutral in-line filter application is
used, the responsibility for EMC validation lies with the user and CE marking of the
system becomes the user's responsibility.
If CE compliance is a customer requirement, use single-phase line filters that have
been tested by Rockwell Automation and specified for the product. Refer to Kinetix
Servo Drives Specifications Technical Data, publication
numbers.
GMC-TD003 for catalog
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 57
Page 58
Chapter 4 Connect the Kinetix 350 Drive System
IMPORTANT
Bonded Cabinet
Ground Bus
Ground Grid or Power
Distribution Ground
Braided
Ground Strap
Ground Stud
Grounding Your Kinetix 350 Drive System
All equipment and components of a machine or process system must have a
common earth ground point connected to their chassis. A grounded system
provides a safety ground path for short circuit protection. Grounding your
modules and panels minimize shock hazard to personnel and damage to
equipment caused by short circuits, transient overvoltages, and accidental
connection of energized conductors to the equipment chassis. For CE grounding
requirements, refer to
CE Requirements in Chapter 1.
To improve the bond between the Kinetix 350 drive and subpanel, construct
your subpanel out of zinc plated (paint-free) steel.
Ground Your Drive to the System Subpanel
ATT EN TI ON : The National Electrical Code contains grounding requirements,
conventions, and definitions. Follow all applicable local codes and regulations
to safely ground your system. Refer to the illustration below for details on
grounding your Kinetix
diagram for your Kinetix 350 drive.
If the Kinetix 350 drive is mounted on a painted subpanel, ground the drive to a
bonded cabinet ground bus by using a braided ground strap or 4.0 mm
(12 AWG) solid copper wire 100 mm (3.9 in.) long.
350 drive. Refer to Appendix A for the power wiring
2
Figure 32 - Connecting the Braided Ground Strap Example
For drive dimensions, refer to Product Dimensions in Kinetix Servo Drives
Specifications Technical Data, publication
GMC-TD003.
58 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 59
Connect the Kinetix 350 Drive System Chapter 4
Bonded Ground Bar
(option al)
Bonded Cabinet
Ground Bus
Ground Grid or Power
Distribution Ground
Always follow NEC and
applicable local codes.
Chassis Ground
Chassis Ground
Chassis Ground
Chassis Ground
Always follow NEC and
applicable local codes.
Ground Grid or Power
Distribution Ground
Bonded Ground
Bus
IMPORTANT
Figure 33 - Chassis Ground Configuration (multiple Kinetix 350 drives on one panel)
Ground Multiple Subpanels
To ground multiple subpanels, refer to the figure below. HF bonding is not
illustrated. For information, refer to
Bonding Multiple Subpanels on page 27.
Power Wiring Requirements
Figure 34 - Subpanels Connected to a Single Ground Point
Wire must be copper with 75 °C (167 °F) minimum rating. Phasing of main AC
power is arbitrary and an earth ground connection is required for safe and proper
operation.
Refer to Power Wiring Examples on page 131 for interconnect diagrams.
The National Electrical Code and local electrical codes take precedence over the
values and methods provided.
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 59
Page 60
Chapter 4 Connect the Kinetix 350 Drive System
Table 22 - Kinetix 350 Drive Power Wiring Requirements
Cat. No. Description
Ter mina ls Recommended
Pins Signals
Wire Size
mm2 (AWG)
Strip Length
mm (in.)
Tor que Val ue
N•m (lb•in)
2097-V31PR0-LM
2097-V32PR0-LM
2097-V32PR2-LM
2097-V33PR1-LM
2097-V33PR3-LM
2097-V34PR3-LM
2097-V34PR5-LM
2097-V34PR6-LM
2097-V32PR4-LM
2097-V33PR5-LM
2097-V31PR2-LM
2097-V33PR6-LM
Mains input power
(IPD connector)
L3
L2
L1
PE
L2/N
L1
N
(1)
PE
L2
L1
PE
(2)
Motor power cable depends
on motor/drive
combination.
7 (0.28) 0.5 (4.5)
2.5 (14)
(3)
4.0 (12) 7 (0.28) 0.5 (4.5)
6.0 (10) 7 (0.28)
0.56…0.79
(5.0…7.0)
2097-V31PR0-LM
2097-V31PR2-LM
2097-V32PR0-LM
2097-V32PR2-LM
2097-V32PR4-LM
2097-V33PR1-LM
2097-V33PR3-LM
2097-V33PR5-LM
2097-V34PR3-LM
Motor power
(MP connector)
PE
W
V
U
2.5 (14) 7 (0.28) 0.5 (4.5)
2097-V34PR5-LM
2097-V34PR6-LM
2097-V33PR6-LM 4.0 (12) 7 (0.28) 0.5 (4.5)
2097-V31PR0-LM
2097-V31PR2-LM
2097-V32PR0-LM
2097-V32PR2-LM
2097-V32PR4-LM
2097-V33PR1-LM
2097-V33PR3-LM
2097-V33PR5-LM
2097-V34PR3-LM
Shunt/DC Bus
(BC connector)
(4)
+
+
SH
-
-
2.5 (14) 7 (0.28) 0.5 (4.5)
2097-V34PR5-LM
2097-V34PR6-LM
2097-V33PR6-LM 4.0 (12) 7 (0.28) 0.5 (4.5)
2097-V3xPRx-LM
2097-V3xPRx-LM
Control back-up power
(BP connector)
Safe torque-off
(STO connector)
STO-1
STO-2
STO-3
STO-4
STO-5
STO-6
(5)
(5)
+24V DC
-24V DC
+24V DC Control
Control COM
Safety Status
Safety Input 1
Safety COM
Safety Input 2
1.5 (16) 6 (0.25) 0.5 (4.5)
(1) Applies to 2097-V33PRx-LM, and 2097-V34PRx-LM drive modules.
(2) Applies to 2097-V31PRx-LM drive modules.
(3) Applies to 2097-V32PRx-LM drive modules.
(4) Use for only shunt resistor connection.
(5) Use for bypassing only the STO circuit.
60 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 61
ATT EN TI ON : To avoid personal injury and/or equipment damage, make sure
installation complies with specifications regarding wire types, conductor sizes,
branch circuit protection, and disconnect devices. The National Electrical Code
(NEC) and local codes outline provisions for safely installing electrical
equipment.
To avoid personal injury and/or equipment damage, make sure motor power
connectors are used for only connection purposes. Do not use them to turn the unit
on and off.
To avoid personal injury and/or equipment damage, make sure shielded power
cables are grounded to prevent potentially high voltages on the shield.
Table 23 - Shunt Resistor Power Wiring Requirements
Connect the Kinetix 350 Drive System Chapter 4
Accessor y Description
2097-Rx Shunt resistor
Connects to
Ter min al s
+
SH
Recommended Wire
Size
mm2 (AWG)
2.5 (14) 0.5 (4.5)
Tor que Valu e
N•m (lb•in)
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 61
Page 62
Chapter 4 Connect the Kinetix 350 Drive System
IMPORTANT
IMPORTANT
IMPORTANT
Wiring Guidelines
Use these guidelines as a reference when wiring the connectors on your
Kinetix
Follow these steps when wiring the connectors on your Kinetix 350 drive
modules.
350 drive power modules.
For connector locations of the Kinetix 350 drives, refer to Kinetix 350 Drive
Connectors and Indicators on page 36.
When tightening screws to secure the wires, refer to the tables beginning on
page 59 for torque values.
When removing insulation from wires, refer to the tables beginning on
page 59 for strip lengths.
To improve system performance, run wires and cables in the wireways as
established in
1. Prepare the wires for attachment to each connector plug by removing
insulation equal to the recommended strip length.
Establishing Noise Zones on page 28.
Use caution not to nick, cut, or otherwise damage strands as you
remove the insulation.
2. Route the cable/wires to your Kinetix 350 drive.
3. Insert wires into connector plugs.
Refer to connector pinout tables in Chapter 3 or the interconnect
diagrams in Appendix A.
4. Tighten the connector screws.
5. Gently pull on each wire to make sure it does not come out of its terminal;
reinsert and tighten any loose wires.
6. Insert the connector plug into the module connector.
62 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 63
Connect the Kinetix 350 Drive System Chapter 4
Kinetix 350 Drive, Front View
Wiring the Kinetix 350 Drive Connectors
This section provides examples and wiring tables to assist you in making
connections to the Kinetix
350 drive.
Wire the Safe Torque-off (STO) Connector
For the safe torque-off (STO) connector pinouts, feature descriptions, and wiring
information, refer to
Chapter 6 on page 101.
Wire the Back-up Power (BP) Connector
+
+24V DC
24
-24V DC
-
Table 24 - Back-up Power (BP) Connector
Drive Cat. No. Ter min al s
2097-V3xPRx-LM
+24V DC
-24V DC
Recommended
Wire Size
mm2 (AWG)
1.5 (16) 6 (0.25) 0.5 (4.5)
Strip Length
mm (in.)
Torque Value
N•m (lb•in)
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 63
Page 64
Chapter 4 Connect the Kinetix 350 Drive System
Kinetix 350 Drive
Top Vie w
Wire the Input Power (IPD) Connector
L2
L2
L1
L1
L2/N
PE
L2/N
L1
L1
N
N
PE
Table 25 - Input Power (IPD) Connector
Drive Cat. No. Ter min al s
2097-V31PR0-LM
2097-V32PR0-LM
2097-V32PR2-LM
2097-V33PR1-LM
2097-V33PR3-LM
2097-V34PR3-LM
2097-V34PR5-LM
2097-V34PR6-LM
2097-V32PR4-LM
2097-V33PR5-LM
2097-V31PR2-LM
2097-V33PR6-LM
L3
L2
L1
PE
(1)
L2/N
L1
N
PE
L3
L3
L2
L2
L1
L1
PE
Recommended
Wire Size
mm2 (AWG)
Strip Length
mm (in.)
Torque Value
N•m (lb•in)
2.5 (14) 7 (0.28) 0.5 (4.5)
L2
L1
(3)
(2)
PE
4.0 (12) 7 (0.28) 0.5 (4.5)
6.0 (10) 7 (0.28)
0.56…0.79
(5.0…7.0)
(1) Applies to 2097-V33PRx-LM, and 2097-V34PRx-LM drive modules.
(2) Applies to 2097-V31PRx-LM drive modules.
(3) Applies to 2097-V32PRx-LM drive modules.
64 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 65
Connect the Kinetix 350 Drive System Chapter 4
W
V
U
PE
W
V
U
Kinetix 350 Drive
Bottom View
IMPORTANT
Wire the Motor Power (MP) Connector
Connections to the motor power (MP) connector include rotary motors and
rotary motor driven actuators.
Table 26 - Motor Power (MP) Termination Specifications
Drive Cat. No. Te rmi na ls
2097-V31PR0-LM
2097-V31PR2-LM
2097-V32PR0-LM
2097-V32PR2-LM
2097-V32PR4-LM
2097-V33PR1-LM
2097-V33PR3-LM
2097-V33PR5-LM
2097-V34PR3-LM
2097-V34PR5-LM
2097-V34PR6-LM
2097-V33PR6-LM 4.0 (12)
PE
W
V
U
Recommended
Wire Size
mm2 (AWG)
2.5 (14)
Strip Length
mm (in.)
7 (0.28) 0.5 (4.5)
Torque Value
N•m (lb•in)
Cable Shield Terminations
Factory-supplied motor power cables for MP-Series and TL-Series motors and
actuator are shielded. The braided cable shield must terminate near the drive
during installation. Remove small portion of the cable jacket to expose the shield
braid and clamp the exposed shield to the panel
ATT EN TI ON : To avoid hazard of electrical shock, ensure shielded power cables
are grounded at a minimum of one point for safety.
.
For TL-Series motors, also connect the 152 mm (6.0 in.) termination wire to the
closest earth ground.
Refer to Pigtail Terminations on page 66 for more information.
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 65
Page 66
Chapter 4 Connect the Kinetix 350 Drive System
(1)
(1)
Pigtail Cable
TL-Series
Motor
Conne ctors
Motor Power Cable
Machine Frame
150 mm (6.0) Termination
Cable Braid Clamped
(1)
to Machine Frame
Pigtail Terminations
TL-Series motors have a short pigtail cable that connects to the motor, but is not
shielded. The preferred method for grounding the TL-Series power cable on the
motor side is to expose a section of the cable shield and clamp it directly to the
machine frame. The motor power cable also has a 150 mm (6.0 in.) shield
termination wire with a ring lug that connects to the closest earth ground. Use
this method in addition to the cable clamp. The termination wire can be
extended to the full length of the motor pigtail if necessary, but it is best to
connect the supplied wire directly to ground without lengthening.
Figure 35 - Pigtail Terminations
(1) Remove paint from machine frame to be sure of proper HF-bond between machine frame, motor case, shield clamp, and ground
stud.
Table 27 - Motor Power Cable Compatibility
Motor/Actuator Connector Motor/Actuator Cat. No.
MPL-A/B15xxx-4xAA and
MPL-A/B2xxx-4xAA
MP-Series (Bulletin MPL)
MPL-A/B3xxx-7xAA,
MPL-A/B4xxx-7xAA, and
MPL-A/B45xxx-7xAA
MP-Series (Bulletin MPS) MPS-A/Bxxxx
MP-Series (Bulletin MPAS) MPAS-A/Bxxxx
MP-Series (Bulletin MPAR) MPAR-A/B1xxx and MPAR-A/B2xxx
MP-Series (Bulletin MPM) MPM-A/Bxxxx
MP-Series (Bulletin MPF) MPF-A/Bxxxx
MP-Series (Bulletin MPAR) MPAR-A/B3xxx
MP-Series (Bulletin MPAI) MPAI-A/Bxxxx
TL-Series (Bulletin TLY)
TL-Series (Bulletin TLAR) TLAR-Axxxx
Circular DIN
TLY-Axxxx
Circular Plastic
Motor Power Cables
(with brake wires)
2090-XXNPMF-xxSxx
(standard)
2090-CPBM4DF-xxAFxx
(continuous-flex)
2090-CPBM7DF-xxAAxx
(standard)
2090-CPBM7DF-xxAFxx
(continuous-flex)
2090-XXNPMF-xxSxx
(standard)
2090-CPBM4DF-xxAFxx
(continuous-flex)
2090-CPBM7DF-xxAAxx
(standard)
2090-CPBM7DF-xxAFxx
(continuous-flex)
2090-CPBM6DF-16AAxx (standard) 2090-CPWM6DF-16AAxx (standard)
(1)
(1)
(1)
(1)
Motor Power Cables
(without brake wires)
2090-CPWM4DF-xxAFxx
(continuous-flex)
2090-CPWM7DF-xxAAxx
(standard)
2090-CPWM7DF-xxAFxx
(continuous-flex)
2090-CPWM4DF-xxAFxx
(continuous-flex)
2090-CPWM7DF-xxAAxx
(standard)
2090-CPWM7DF-xxAFxx
(continuous-flex)
(1)
(1)
(1)
(1)
(1) You must remove the motor-side o-ring when you are using 2090-CPxM7DF-xxAxx cables.
66 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 67
Connect the Kinetix 350 Drive System Chapter 4
Motor Cable
Shield Clamp
Motor Power (MP) Connec tor Plug
Kinetix 350 Drive
This diagram shows an example of three-phase power wires for motors/actuators
that have no brakes. Thermal switch wires are included in the feedback cable.
Refer to Kinetix 350 Drive/Rotary Motor Wiring Examples beginning on
page 134 for interconnect diagrams.
Figure 36 - Motor Power Terminations (only three-phase wires)
The cable shield clamp shown above is mounted to the subpanel. Ground and
secure the motor power cable in your system following instructions on
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 67
page 70.
Page 68
Chapter 4 Connect the Kinetix 350 Drive System
1
2
3
To M ot or
6
7
5
8
4
This diagram shows an example of wiring with three-phase power wires and brake
wires. The brake wires have a shield braid (shown below as gray) that folds back
under the cable clamp before the conductors are attached to the motor brake
circuit. Thermal switch wires are included in the feedback cable.
Refer to Kinetix 350 Drive/Rotary Motor Wiring Examples beginning on
page 134 for interconnect diagrams.
Figure 37 - Motor Power Terminations (three-phase and brake wires)
Item Description Item Description
(1)
1
24V power supply 5 I/O (IOD) connec tor
(1)
2
Relay and diode assembly
3 Minimize unshielded wires in brake circuit 7 Motor power (MP) connector
4 MP-Series cable brake wires 8 Cable clamp
(1) User supplied. Size as required by motor brake, See Motor Brake Currents on page 139.
(2) Pin 43 and 44 are configured as MTR_ BRAKE+ and MTR_BRAKE- Common respectively. Wire the output as sourcing and set brake engage and disengage
times for motor selected. Motor brake is active on enable.
(3) Diode 1N4004 rated 1.0 A @ 400V DC. See Interconnec t Diagram Notes beginning on page 131.
(4) Exposed shield under clamp and place within 50…75 mm (2…3 in.) of drive, see page 70 for details.
Cable shield and lead preparation is provided with most Allen-Bradley cable
assemblies. Follow these guidelines if your motor power cable shield and wires
(3)
6 2097-V3xPRx-LM Kinetix 350 drive
require preparation.
68 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
(2)
(4)
Page 69
Connect the Kinetix 350 Drive System Chapter 4
Motor Power Cable
Exposed Braid
25.4 mm (1.0 in.)
Outer Insulation
As required to have ground clamp within 50…75
mm (2…3 in.) of the drive.
Strip Length (see table below)
Figure 38 - Cable Shield and Lead Preparation
U
V
W
Refer to Shunt Resistor Wiring Example beginning on page 133 for interconnect
diagrams.
Table 28 - Motor Power (MP) Connector
MP-Series or TL-Series Servo
Motor
U / Brown U
V / Black V
W / Blue W
Green/Yellow
Ter min al
Table 29 - Motor Power (MP) Termination Specifications
Drive Cat. No. Te rmi na ls
2097-V31PR0-LM
2097-V31PR2-LM
2097-V32PR0-LM
2097-V32PR2-LM
2097-V32PR4-LM
2097-V33PR1-LM
2097-V33PR3-LM
2097-V33PR5-LM
2097-V34PR3-LM
2097-V34PR5-LM
2097-V34PR6-LM
2097-V33PR6-LM 4.0 (12)
PE
W
V
U
Recommended
Wire Size
mm2 (AWG)
2.5 (14)
Strip Length
mm (in.)
7 (0.28) 0.5 (4.5)
Torque Value
N•m (lb•in)
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 69
Page 70
Chapter 4 Connect the Kinetix 350 Drive System
If panel is painted, remove paint to
provide metal-to-metal contact.
Motor Power Ground
Shield Clamp
Dimensions are in mm (in.).
Apply the Motor Cable Shield Clamp
This procedure assumes you have completed wiring your motor power (MP)
connector and are ready to apply the cable shield clamp.
Follow these steps to apply the motor cable shield clamp.
1. Locate a suitable position for installing cable shield clamp within
mm (2…3 in.) of the drive.
50…75
25
(1.0)
34.0
(1.34)
12.7
(0.50)
50…75
(2…3)
50…75
(2…3)
2. Lay out and drill holes for cable clamp.
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 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.
3. Locate the position on the motor power cable that comes under the clamp
and remove about an inch of the cable jacket to expose the shield braid.
4. Position the exposed portion of the cable braid directly in line with the
clamp.
5. Clamp the exposed shield to the panel by using the clamp and two
#6-32 x 1 screws provided.
6. Repeat step 1…step 5 for each Kinetix 350 drive you are installing.
70 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 71
Connect the Kinetix 350 Drive System Chapter 4
Feedback and I/O Cable Connections
Factory made cables with premolded connectors are designed to minimize EMI
and are recommended over hand-built cables to improve system performance.
However, other options are available for building your own feedback and I/O
cables.
Table 30 - Options for Connecting Motor Feedback and I/O
Connection Option Cat. No. Cable By Using This Type of Cable
Premolded connectors N/A Motor feedback
Low-profile connector 2090-K2CK-D15M Motor feedback
I/O Terminal Block 2097-TB1 I/O interface User-supplied flying-lead cable.
Table 31 - Motor Feedback Cables for Specific Motor/Feedback Combinations
Motor Cat. No. Feedback Type
MPL-A/B15xxx-V/Ex4xAA,
MPL-A/B2xxx-V/Ex4xAA
MPL-A/B15xxx-Hx4xAA,
MPL-A/B2xxx-Hx4xAA
MPL-A/B3xxx-Hx7xAA,
MPL-A/B4xxx-Hx7xAA,
MPL-A/B45xxx-Hx7xAA
MPL-A/B3xxx-M/Sx7xAA,
MPL-A/B4xxx-M/Sx7xAA,
MPL-A/B45xxx-M/Sx7xAA
MPM-A/Bxxxxx-M/S
MPF-A/Bxxxx-M/S
MPAR-A/B3xxxx
MPAI-A/Bxxxx
MPS-A/Bxxxx-M/S
MPAS-A/Bxxxx-V/A
MPAR-A/B1xxxx,
MPAR-A/B2xxxx
TLY-Axxxx-B
TLY-Axxxx-H Incremental encoder
High-resolution encoder
Incremental encoder
High-resolution encoder
High-resolution encoder
High-resolution encoder
Premolded Flying-lead
N/A
N/A
2090-CFBM7DD-CEAAxx
2090-CFBM7DD-CEAFxx
flex)
N/A
2090-CFBM6DD-CCAAxx (standard) 2090-CFBM6DF-CBAAxx (standard)TLAR-Axxxxx
Refer to the table below for the premolded motor feedback
cable available for your motor.
Refer to the table below for the flying-lead cable available
for your motor.
Feedback Cable
2090-XXNFMF-Sxx (standard)
2090-CFBM4DF-CDAFxx (continuousflex)
2090-XXNFMF-Sxx (standard)
2090-CFBM7DF-CDAFxx
flex)
(1)
(standard)
(1)
(continuou s-
2090-CFBM7DF-CEAAxx
2090-CFBM7DF-CEAFxx
flex)
2090-XXNFMF-Sxx (standard)
2090-CFBM4DF-CDAFxx (continuousflex)
(1)
(continuou s-
(1)
(standard)
(1)
(continuous-
(1) You must remove the motor-side o-ring when you are using 2090-CPxM7DF-xxAxx cables.
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 71
Page 72
Chapter 4 Connect the Kinetix 350 Drive System
Flying-lead Feedback Cable Pin-outs
Table 32 - 2090-XXNFMF-Sxx or 2090-CFBMxDF-xxAxxx Feedback Cable
Connector Pin
1 Sin+ Sin+ AM+ 1
2 Sin- Sin- AM- 2
3 Cos + Cos+ BM+ 3
4 Cos - Cos- BM- 4
5 Data+ Data+ IM+ 5
6 Data- Data- IM- 10
9 Reserved EPWR_5V EPWR_5V 14
10 Reserved ECOM ECOM 6
11 EPWR_9V Reserved Reserved 7
12 ECOM Reser ved Reserved 6
13 TS+ TS+ TS+ 11
14 TS- TS- TS- –
15 Reserved Reserved S1 12
16 Reserved Reserved S2 13
17 Reserved Reserved S3 8
High-resolution Feedback
9V Encoder 5V Encoder 5V Encoder
Incremental
Feedback
Drive MF
Connector Pin
Table 33 - 2090-CFBM6DF-CBAAxx Feedback Cable
High Resolution Incremental Feedback
Connector Pin
6 BAT+ Reser ved BAT+
9
10 AM- 2
11 BM+ 3
12 BM- 4
13 DATA+ IM+ 5
14 DATA- IM- 10
15
17 S2 13
19 S3 8
22 EPWR 5V EPWR 5V 14
23 ECOM and BAT- ECOM 6
24 Shield Shield Connector housing
TLY-Axxxx-B
TLAR-Axxxxx
Reserved
Reserved
TLY-Axxxx-H
AM+ 1
S1 12
Drive MF
Connector Pin
72 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 73
Connect the Kinetix 350 Drive System Chapter 4
I/O (IOD)
Connector
2097-TB1
I/O Terminal
Expansion Block
Wiring the Feedback and I/O Connectors
These procedures assume you have mounted your Kinetix 350 system, completed
the power wiring, and are ready to connect motor feedback.
Wire the I/O Connector
Connect your I/O wires to the IOD connector by using the 2097-TB1 I/O
Terminal Expansion Block. Refer to the Kinetix 300 I/O Terminal Expansion
Block Installation Instructions, publication
Figure 39 - Kinetix 350 Drive (IOD connector and terminal block)
30
40
50
GND
1
11
12
20
21
29
2097-IN005.
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 73
Page 74
Chapter 4 Connect the Kinetix 350 Drive System
2090-K2CK-D15M Connector Kit
with flying-lead feedback cable.
Motor Feedback (MF) Connector
Kinetix 350 Drive, Front View
(2097-V33PR5-LM drive is shown)
Kinetix 350 Drive, Side View
(2097-V33PR5-LM drive is shown)
1
2
34
5
6
7
8
91011121314150
Pin 1
Pin 10
Pin 5
Pin 11
Pin 6
Pin 15
15-pin (male) Motor Feedback
Low-profile Connector
Refer to Chapter
3 for feedback
signal descriptions.
Tie Wrap
Exposed Braid Under Clamp
Bulletin 2090 Feedback Cable
Clamp
Outer Insulation
Braided Shield
Foil Shie ld
Wire I nsulation
Bare Wires
Bulletin 2090
Feedback Cable
Tur n cl amp ove r to hol d
small wires secure.
Mounting
Screws
Refer to Appendix
A for the motor feedback
interconnect drawing for your application.
3.6V battery (catalog number 2090-DA-BAT2)
required for use with only TLY-Axxxx-B motors and TLAR
Axxxxx electric cylinders
(high-resolution 17-bit encoders).
Low Profile Connector Kit
(2090-K2CK-D15M)
Refer to Low Profile Connector Kit Installation Instructions,
publication 2093-IN005
, for connector kit specifications.
Wire the Low-profile Connector Kit
The 2090-K2CK-D15M low-profile connector kit is suitable for terminating
flying-lead motor feedback cables. Use it with the Kinetix
motors with incremental or high-resolution feedback. It has a 15-pin, male, Dsub connector and is compatible with all Bulletin 2090 feedback cables.
TLY-Axxxx-B rotary motors and TLAR-Axxxxx electric cylinders also require
the 2090-DA-BAT2 battery to back up the high-resolution encoder.
Figure 40 - Kinetix 350 Drive (MF connector)
350 drive and all
Figure 41 - Wiring (15-pin) Flying-lead Feedback Cable Connections
2090-K2CK-D15M Connector Kit
74 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 75
Connect the Kinetix 350 Drive System Chapter 4
IMPORTANT
IMPORTANT
+
+
SH
-
-
Kinetix 350 Drive
Front view is shown.
Shunt/DC Bus
(BC) Connector
IMPORTANT
Shunt Resistor Connections
Follow these guidelines when wiring your 2097-Rx shunt resistor.
When tightening screws to secure the wires, refer to the tables beginning on
page 59 for torque values.
To improve system performance, run wires and cables in the wireways as
established in
Chapter 2.
• Refer to Shunt Resistors on page 31 for noise zone considerations.
• Refer to Shunt Resistor Wiring Example on page 133.
• Refer to the installation instructions provided with your Bulletin 2097
shunt resistor, publication
Figure 42 - Shunt/DC Bus (BC) Connector
2097-IN002.
Ethernet Cable Connections
This guideline assumes you have your Logix5000 Ethernet/IP module and
Kinetix
350 drive mounted and ready to connect the network cables.
Connection to a larger network through an un-managed switch without
Internet Group Management Protocol Snooping could cause degradation to the
larger network. Network switches without IEEE-1588 impacts the overall
system accuracy. However, for general time stamping this switch type is
usually sufficient. Your overall network topology, number of connected nodes
and choice of EtherNet switch affects motion performance. For more detailed
information on designing your network, please consult the Converged
Plantwide Ethernet Design & Implementation Guide, publication ENET-TD001.
The EtherNet/IP network is connected by using the Port 1 connector. Refer to
page 36 to locate the Ethernet connector on your Kinetix 350 drive. Refer to the
figure below to locate the connector on your Logix5000 communication module.
Shielded Ethernet cable is available in lengths up to 78 m (256 ft). However, the
total length of Ethernet cable connecting drive-to-drive, drive-to-controller, or
drive-to-switch must not exceed 100 m (328 ft).
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 75
Page 76
Chapter 4 Connect the Kinetix 350 Drive System
The Ethernet ports are on
bottom of controller.
CompactLogix Controller Platform
1769-L33ERM Shown
2
3
5
4
1
R
W
P
Compac tLogix Controller Platform
1769-L33ERM Shown
Personal Compute r
1783-US05T
Stratix 2000
Switch
Kinetix 350 Drives
If the entire channel is constructed of stranded cable (no fixed cable), then this is
the equation for calculating maximum length:
Maximum Length = (113-2N)/y, meters
where N = the number of connections in the channel
and y = the loss factor compared to fixed cable (typically 1.2…1.5).
Figure 43 - CompactLogix Ethernet Port Location
The Port 1 Ethernet connection is used for connecting to a Logix5000 controller
and configuring your Kinetix 350 drive.
Figure 44 - Ethernet Wiring Example - External Switch
76 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 77
Chapter 5
TIP
Configure and Start Up the
Kinetix 350 Drive System
Top ic Page
Keypad Input 78
Configure the Kinetix 350 Drive Ethernet IP Address 81
Configure the Logix5000 EtherNet/IP Controller 84
Apply Power to the Kinetix 350 Drive 93
Test and Tune the Axes 94
Disable EnableInputChecking by Using a Logix Designer Message Instruction 100
Before you begin make sure you know the catalog number for the
drive, the Logix5000 controller, and the servo motor/actuator in your
motion control application.
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 77
Page 78
Chapter 5 Configure and Start Up the Kinetix 350 Drive System
Keypad Input
The Kinetix 350 drive is equipped with a diagnostic status indicator and three
push buttons that are used to select displayed information and to edit a limited
set of parameter values. Parameters can be scrolled by using
. To view a
value, press . To return back to Scroll mode press .
After pressing on editable parameters, the yellow status indicator D blinks
indicating that the parameter value can be changed. Use to change the
value. Press to store the new setting and return back to Scroll mode.
Table 34 - Status Display Information
Status Indicator Description
Hx.xx H ardware revision . For example, H2 .00.
Fx.xx Firmware revision. For example, F2.06.
dHCP Ethernet DHCP Configuration: 0=’dHCP’ is disabled; 1=’dHCP’ is enabled.
IP_1 Lets you modify the first octet of the IP address.
IP_2 Lets you modify the second octet of the IP address.
IP_3 Lets you modify the third octet of the IP address.
IP_4 Lets you modify the fourth octet of the IP address.
nEt1 Lets you modify the first octet of the netmask.
nEt2 Lets you modify the second octet of the netmask.
nEt3 Lets you modify the third octet of the netmask.
nEt4 Lets you modify the fourth octet of the netmask.
gat1 Lets you modify the first octet of the gateway.
gat2 Lets you modify the second octet of the gateway.
gat3 Lets you modify the third octet of the gateway.
gat4 Lets you modify the fourth octet of the gateway.
78 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 79
Configure and Start Up the Kinetix 350 Drive System Chapter 5
Status Indicators
The Kinetix 350 drive has four status indicators and a four-digit display on the
top front panel as shown below. These status indicators and the display are used
to monitor the system status, activity, and troubleshoot faults.
Figure 45 - Front Panel Display
Table 35 - Status Indicators
Status
Indicator
D Data entr y Ye ll ow s tat us ind ic ato r flashes when changing.
N Network state
M Module state
A Axis state
Function Description
Indicates the state of the Network. See Network State
Status Indicator on page 80. The bicolored status indicator
shows red, green, or amber.
Indicates the state of the Network. See Module State
Status Indicator on page 79. The bicolored status indicator
shows red, green, or amber.
Indicates the state of the Network. See Axis State Status
Indicator on page 80. The bicolo red status indicator shows
red, green, or amber.
Table 36 - Module State Status Indicator
Status Indicator State
Off Power off
Flash red /green Drive self-testing
Flashing green Standby
Solid green Operational
Flashing red Major recoverable fault
Solid red Major unrecoverable fault
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 79
Page 80
Chapter 5 Configure and Start Up the Kinetix 350 Drive System
Table 37 - Axis State Status Indicator
Status Indicator State
Off Off
Flash red /green Self test
Off Initialization - bus not up
Flashing green Initialization - bus up
Off Shutdown - bus not up
Flashing amber
Off Pre- charge - bus not up
Flashing amber
Flashing green
Solid green
Flashing red
Solid red
(1) (2)
(1)
(1)
(1) (2)
Shutdown - bus up
Start inhibit
Stopped
Stopping
Starting
Running
Tes t in g
Aborting
Major faulted
Aborting
Major faulted
(1) The axis and the drive define minor fault conditions. While a minor fault does not affect the drive status
indicat or, it doe s affect th e axis status i ndicator. When a m inor fault co ndition is d etected, a no rmally soli d green
status indicator indication changes to alternating red-green-red-green, a normally flashing green status
indicator indication changes to alternating red-off-green-off, and a normally flashing amber indications
changes to red-off-amber-off.
(2) The drive also defines alarm conditions. When an alarm condition is detected, a normally solid green status
indicator indication ch anges to alternating amber-green-amber green while a normally flashing green status
indicator indication chan ges to alternating amber-off-green- off.
Table 38 - Network State Status Indicator
Status Indicator State
Steady off Not powered, no IP address
Flashing green No connections
Steady green Connected
Flashing red Connection time-out
Steady red Duplicate IP
Flashing green and red Self-test
80 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 81
Configure and Start Up the Kinetix 350 Drive System Chapter 5
IMPORTANT
Configure the Kinetix 350 Drive Ethernet IP Address
This section offers guidance on configuring your Ethernet connection to the
Kinetix
350 drive.
Ethernet Connection
Configuration, programming, and diagnostics of the Kinetix 350 drive are
performed over the standard 10/100 Mbps Ethernet communication port by
using the Studio 5000 Logix Designer application.
The Kinetix 350 drive and your personal computer must be configured to
operate on the same Ethernet network. The IP addresses of the Kinetix
the personal computer, or both drive and personal computer can require
configuring to enable Ethernet communication between the two devices.
Any changes made to the Ethernet communication settings on the
350 drive do not take effect until the drive is powered off and
Kinetix
powered on again. Until the power is cycled the drive continues to use its
previous settings.
350 drive,
Kinetix 350 Drive Ethernet Port Configuration
The IP address of the Kinetix 350 drive is composed of four sub-octets that are
separated by three dots to conform to the Class C Subnet structure. Each suboctet can be configured with number between 1 and 254. As shipped from the
factory the default IP address of a drive is 192.168.124.200.
There are two methods of changing the current IP address. An address can be
assigned to the drive automatically (dynamic IP address) when the drive is
connected to a DHCP (Dynamic Host Configuration Protocol) enabled server,
or you can manually assign an IP address to the drive (static IP address). Both
methods of configuring the drive’s IP address are shown here.
Obtain the Kinetix 350 Drives’ Current Ethernet Settings
The current Ethernet setting and IP address of the Kinetix 350 drive can be
obtained from the drive display and keypad. Press
to access parameters IP_1, IP_2, IP_3, and IP_4. Each of these
parameters contain one sub-octet of the full IP address, for example in the case of
the drive default (factory set) address parameters:
IP_1 = 192
IP_2 = 168
IP_3 = 124
IP_4 = 200
on the display and use
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 81
Page 82
Chapter 5 Configure and Start Up the Kinetix 350 Drive System
By accessing these four parameters the full IP address on the drive can be
obtained.
If parameters IP_1, IP_2, IP_3, and IP_4 all contain ‘----‘ rather than a numerical
values it means that the drive has DHCP enabled and the DHCP server is yet to
assign the drive its dynamic IP address. As soon as an IP address is assigned by the
server the address assigned is displayed by the drive in the above parameters. See
Configure the IP Address Automatically (dynamic address) on page 83.
Configure the IP Address Manually (static address)
When connecting directly from the Kinetix 350 drive to the personal computer
without a server or when connecting to a private network, where all devices have
static IP addresses, assign the IP address of the Kinetix
To assign the address manually, disable the DHCP mode. Do this by using the
drive keypad and following these steps.
350 drive manually.
1. Press .
2. Use to access parameter DHCP.
3. Check this parameter is set to a value of 0.
4. If the DHCP parameter is set to 1 then use and to set to 0.
5. Cycle power to the drive.
The change takes effect.
When DHCP is disabled and power cycled to the drive, it reverts back to its
previous static IP address.
If you are connecting more than one drive to the personal computer create unique
IP address for each drive. Do this by using the keypad on each drive to change the
IP_4 parameter. IP_4 is the only octet that can be changed via the keypad. IP_1,
IP2, and IP_3 are read-only accessed this way. The dive power must be cycled for
any changes to take effect.
82 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 83
Configure and Start Up the Kinetix 350 Drive System Chapter 5
TIP
Configure the IP Address Automatically (dynamic address)
When connecting a Kinetix 350 drive to a network domain with a DHCP
enabled server the IP address of the Kinetix
To have the address assigned automatically the drive must have its DHCP mode
enabled. Follow these steps by using the drive keypad and display.
1. Press .
2. Use the to access parameter DHCP.
3. Check this parameter is set to 1.
4. If the DHCP parameter is set to 0, use and to set the parameter
to 1.
5. Cycle power to the drive to make this change take effect.
When the Kinetix 350 drive is waiting for an IP address to be assigned to it by the
server it displays ‘----‘ in each of the four octet parameters (IP_1, IP_2, IP_3, and
IP_4) on its display. Once the address is assigned by the server it appears in these
parameters. If this parameter continues to display ‘----‘ then it is likely that a
connection between the drive and server has not been established, or the server is
not DHCP enabled.
350 drive is assigned automatically.
DHCP can be enabled through the Logix Designer application. If you choose to
configure the drive by using a manual (static) IP address, you can switch over to
an automatic (dynamic) address once configuration is complete. See
Obtain the
Kinetix 350 Drives’ Current Ethernet Settings on page 81 for information on
enabling DHCP from within the Logix Designer application.
A useful feature of the Logix Designer application. and communication interface to the
Kinetix 350 drive is the ability to assign the drive a name (tex t string). This name can then be used
to discover the drive’s IP address and is useful when the drive has its IP address assigned
automatically by the server for easy connection.
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 83
Page 84
Chapter 5 Configure and Start Up the Kinetix 350 Drive System
Configure the Logix5000 EtherNet/IP Controller
This procedure assumes that you have wired your Kinetix 350 drive system and
are using Logix Designer application version 21.00.00 or later.
For help using Logix Designer application as it applies to configuring the
ControlLogix EtherNet/IP controller, refer to
Additional Resources on page 10.
Configure the Logix5000 Controller
Follow these steps to configure the Logix5000 controller.
1. Apply power to your Logix5000 controller containing the EtherNet/IP
port and open your Studio 5000 environment.
2. Click New Project.
The New Project dialog box appears.
3. Select the controller you are using for your project and click Next.
84 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 85
Configure and Start Up the Kinetix 350 Drive System Chapter 5
The New Controller dialog box appears.
4. Configure the new controller.
a. From the Type pull-down menu, choose the controller type.
b. From the Revision pull-down menu, choose the revision.
c. Enter the file Name.
5. Click OK.
6. From the Edit menu, choose Controller Properties.
The Controller Properties dialog box appears.
7. Click the Date/Time tab.
8. Check Enable Time Synchronization.
This permits the controller to participate in the ControlLogix Time
Synchronization or CIP Sync. The controller also participates in an
election in the Logix5000 system for the best GrandMaster clock.
9. Click OK.
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 85
Page 86
Chapter 5 Configure and Start Up the Kinetix 350 Drive System
IMPORTANT
Configure the Kinetix 350 Drive
Follow these steps to configure the Kinetix 350 drive.
To configure Kinetix 350 drive (catalog numbers 2097-V3xPRx-LM) you must be
using RSLogix
5000 software, version 20 or later, or Logix Designer Application.
1. Right-click the Logix5000 EtherNet/IP controller you just created and
choose New Module.
The Select Module dialog box appears.
2. Clear the Module Type Category Filter and check the Motion category.
3. Select your 2097-V3xPRx-LM drive as appropriate for your actual
hardware configuration and click Create.
86 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 87
The New Module dialog box appears.
4. Configure the new drive.
a. Enter the drive Name.
b. Click an Ethernet Address option.
Configure and Start Up the Kinetix 350 Drive System Chapter 5
In this example, the Private Network address is selected.
c. Enter the address of your EtherNet/IP drive.
In this example, the last octet of the address is 1. This must match the
base node address of the drive.
5. Click Change in the Module Definition area.
The Module Definition dialog box appears.
6. From the Power Structure pull-down menu, choose the Bulletin 2097
drive appropriate for your application.
In the example, the 2097-V3xPRx-LM module is chosen.
7. Click OK to close the Module Definition dialog box.
8. Click OK to close the Module Properties dialog box.
The 2097-V3xPRx-LM drive appears under the EtherNet/IP module in
the I/O Configuration folder.
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 87
Page 88
Chapter 5 Configure and Start Up the Kinetix 350 Drive System
10. Click the Associated Axes tab.
11. Click New Axis.
9. Right-click the 2097-V3xPRx-LM module you just created and choose
Properties.
The Module Properties dialog box appears.
The New Tag dialog box appears.
12. Ty pe th e a xi s Na me .
AXIS_CIP_DRIVE is the default Data Type.
13. Click Create.
The new axis (Axis_1) appears under Motion Groups>Ungrouped Axes in
the Controller Organizer and is assigned as Axis 1.
14. Click Apply.
88 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 89
Configure and Start Up the Kinetix 350 Drive System Chapter 5
Configure the Motion Group
Follow these steps to configure the motion group.
1. Right-click Motion Groups in the Controller Organizer and choose New
Motion Group.
The New Tag dialog box appears.
2. Type the new motion group Name.
3. Click Create.
The new motion group appears under the Motion Groups folder.
4. Right-click the new motion group and choose Properties.
The Motion Group Properties dialog box appears.
5. Click the Axis Assignment tab and move your axes (created earlier) from
Unassigned to Assigned.
6. Click the Attribute tab and edit the default values as appropriate for your
application.
7. Click OK.
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 89
Page 90
Chapter 5 Configure and Start Up the Kinetix 350 Drive System
Configure Axis Properties
Follow the instructions below to configure axis properties for your motor or
actuator. If you are using an Integrated Motion Encoder on EtherNet/IP, catalog
number
EtherNet/IP User Manual, publication
842E-CM for an axis refer to 842E-CM Integrated Motion Encoder on
842E-UM002.
1. Right-click an axis in the Controller Organizer and choose Properties.
2. Click the Motor category.
The Motor Device Specification dialog box appears.
3. From the Data Source pull-down menu, choose Catalog Number.
4. Click Change Catalog.
The Change Catalog Number dialog box appears.
5. Select the motor catalog number appropriate for your application.
To verify the motor catalog number, refer to the motor name plate.
6. Click OK to close the Change Catalog Number dialog box.
90 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 91
Configure and Start Up the Kinetix 350 Drive System Chapter 5
7. Click Apply.
Motor data specific to your motor appears in the Motor category.
8. Click the Scaling category and edit the default values as appropriate for
your application.
9. Click Apply, if you make changes.
10. Click Load category and edit the default values as appropriate for your
application.
11. Click Apply, if you make changes.
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 91
Page 92
Chapter 5 Configure and Start Up the Kinetix 350 Drive System
12. Click Actions category.
The Actions to Take Upon Conditions dialog box appears.
From this dialog box, you can program actions and change the action for
exceptions (faults).
13. Click Parameters.
The Motion Axis Parameters dialog box appears.
From this dialog box you can set delay times for servo motors. For
recommended motor brake delay times, refer to the Kinetix Motion
Control Selection Guide, publication
14. Click OK.
15. Verify your Logix5000 program and save the file.
92 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
GMC-SG001.
Page 93
Configure and Start Up the Kinetix 350 Drive System Chapter 5
Four Character
Status Indicator
Data Entry Status
Indicator
Download the Program
After completing the Logix5000 configuration you must download your
program to the Logix5000 processor.
Apply Power to the
Kinetix
350 Drive
This procedure assumes that you have wired and configured your Kinetix 350
drive system and your Ethernet/IP interface controller.
SHOCK HAZARD: To avoid hazard of electrical shock, perform all
mounting and wiring of the Bulletin 2097 drive prior to applying power.
Once power is applied, connector terminals can have voltage present
even when not in use.
Follow these steps to apply power to the Kinetix 350 drive system.
1. Disconnect the load to the motor.
The axis does not operate in position mode during the execution of this
process. Therefore, the position of the axis cannot be guaranteed if the axis
is connected to a vertical load, or the axis is connected to a stored
mechanical energy.
ATTENTION: To avoid personal injury or damage to equipment,
disconnect the load to the motor; including vertical loads. Make
sure each motor is free of all linkages when initially applying power
to the system.
2. Determine the source of the drive logic power.
If Your Logic Power Then
Is from (24V DC) back-up power Apply (24V DC) back-up power to the drive (BP connector).
Mains input power Apply 120, 240,or 460V AC mains input power to the drive (IPD
connector).
3. Apply 120, 240, or 460V AC mains input power to the Kinetix 350 drive
IPD connector.
4. Observe the four digit status indicator.
If the status indicator is Then
-00- Go to step 5
Blank Go back to main step 2
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 93
Page 94
Chapter 5 Configure and Start Up the Kinetix 350 Drive System
IMPORTANT
Status Indicator Condition Status Do This
Module
Axis
Network
5.
If Your Logic Power Then
Is from (24V DC) back-up power
Mains input power Go to step 5
Apply 120, 240, or 460V AC mains input power to the drive (IPD
connector)
6.
If drive ENABLE is Then
Hard wired Apply 24V DC
Not used Disable enableInputChecking by using procedure on page 100
7. Observe the status indicator on the front of the Kinetix 350 drive.
Steady green Operational condition Observe the Axis, status indicator page 79
Steady or flashing red Drive is faulted
Steady green or amber,
flashing
Steady or flashing red Axis is faulted
Steady green Communication is ready Go to Test and Tune the Axes on page 94
Any state other than
steady green
Operational condition
Communication error
Go to Module State Status Indicator on
page 79
Observe the Network, status indicator
page 79
Go to Axis State Status Indicator on
page 80
Go to Network State Status Indicator on
page 80
Test and Tune the Axes
This procedure assumes that you have configured your Kinetix 350 drive, your
ControlLogix EtherNet/IP controller, and applied power to the system.
Before proceeding with testing and tuning your axes, verify that the drive
status indicators are operating as described in
Status Indicators on page 119.
For help using Logix Designer Application as it applies to testing and tuning your
axes with ControlLogix EtherNet/IP controller, refer to
Additional Resources on
page 10.
Test the Axes
Follow these steps to test the axes.
1. Verify the load was removed from each axis.
2. Right-click an axis in your Motion Group folder and choose Properties.
The Axis Properties dialog box appears.
94 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 95
3. Click Hookup Tests category.
Configure and Start Up the Kinetix 350 Drive System Chapter 5
4. Type 2.0 as the number of revolutions for the test or another number more
appropriate for your application.
This Test Performs this Test
Marker
Motor Feedback
Motor and Feedback
Verifies marker detection capability as you rotate the moto r
shaft.
Verifies feedback connections are wired correctly as you rotate
the motor shaft.
Verifies motor power and feedback connections are wired
correctly as you command the motor to rotate.
5.
If drive ENABLE is Then
Hard wired Apply 24V DC
Not used Disable enableInputChecking by using procedure on page 100
ATTENTION: To avoid personal injury or damage to equipment, apply
only24V ENABLE signal to the axis you are testing.
6. Click the desired tab (Marker/Motor Feedback/Motor and Feedback).
In this example, the Motor and Feedback test is chosen.
7. Click Start.
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 95
Page 96
Chapter 5 Configure and Start Up the Kinetix 350 Drive System
The RSLogix 5000 - Motor and Feedback Test dialog box appears. The
Test State is Executing.
When the test completes successfully, the Test State changes from
Executing to Passed.
8. Click OK.
This dialog box appears asking if the direction was correct.
9. Click Yes.
If the test fails, this dialog box appears.
a. Click OK.
b. Verify the Axis status indicator turned solid green during the test.
c. Verify that the drive ENABLE signal is applied to the axis you are
testing or that the enableInputChecking attribute is set to zero.
d. Verify the unit values entered in the Scaling category.
e. Return to main step 6 and run the test again.
96 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 97
Configure and Start Up the Kinetix 350 Drive System Chapter 5
Tune the Axes
This is a basic procedure for simple systems. If you have a complicated system
refer to CIP Motion Configuration and Startup User Manual,
publication Motion-UM003.
Follow these steps to tune the axes.
1. Verify the load is still removed from the axis being tuned.
ATTENTION: To reduce the possibility of unpredictable motor
response, tune your motor with the load removed first, including
vertical loads, then re-attach the load and perform the tuning
procedure again to provide an accurate operational response.
2. Click Autotune category.
3. Type values for Travel Limit and Speed.
In this example, Travel Limit = 5 and Speed = 10. The actual value of
programmed units depend on your application.
4. From the Direction pull-down menu, choose a setting appropriate for your
application.
Forward Uni-directional is default.
5. Edit other fields as appropriate for your application and click Apply.
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 97
Page 98
Chapter 5 Configure and Start Up the Kinetix 350 Drive System
TIP
6.
If drive ENABLE is Then
Hard wired Apply 24V DC
Not used Disable enableInputChecking by using procedure on page 100
ATTENTION: To avoid personal injury or damage to equipment, apply
only 24V ENABLE signal to the axis you are testing.
7. Click Start.
The RSLogix - Autotune dialog box appears. When the test completes, the
Test State changes from Executing to Success
.
Tuned values populate the Loop and Load parameter tables. Actual
bandwidth values (Hz) depend on your application and can require
adjustment once motor and load are connected.
At this point, you can compare existing and tuned values for your gains
and inertias with the prospective tune values.
8. Accept the new values and apply them to the controller.
Now you can run the system with the new gain set and evaluate
performance. You can improve the performance by adjusting application
type, loop response, and/or load coupling selections.
If your application requires stricter performance you can further improve
performance with manual tuning.
9. Click OK to close the RSLogix 5000 - Autotune dialog box.
10. Click OK to close the Axis Properties dialog box.
98 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Page 99
Configure and Start Up the Kinetix 350 Drive System Chapter 5
11. If the test fails, this dialog box appears.
a. Click OK.
b. Make an adjustment to motor velocity.
c. Refer to the appropriate Logix5000 motion module user manual for
more information.
d. Return to step 7 and run the test again.
12. Repeat Test and Tune the Axes for each axis.
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 99
Page 100
Chapter 5 Configure and Start Up the Kinetix 350 Drive System
Disable EnableInputChecking by Using a Logix Designer Message Instruction
This procedure sends a Logix5000 message to disable the EnableInputChecking
attribute in the Kinetix 350 drive.
1. From the Controller Organizer, choose
Ta s k s > M a i nTa s k > M a i n P r o g r a m > M a i n R o u t i n e .
2. Create a MSG instruction rung as shown.
3. Set the values in the Message Configuration as shown.
4. Click the Communications tab and browse to the drive tag, in this case
K350, as shown.
5. When the program is in Run mode, trigger the rung to run the instruction.
The drive does not check the enable input signal on IOD-29 Enable to
IOD -26 Common. This MSG instruction is executed only once as it is a
persistent type instruction and gets saved to the drive Non-volatile
Memory. To re-enable the enable input signal checking on IOD-29 Enable
to IOD-26 Common, change the Source Element register,
EnableInputChecking from 0 to 1 and trigger the run again.
100 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013
Loading...