Rockwell Automation Logix5000 Control System User Manual

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Quick Start

Logix5000 Control Systems: Connect Kinetix 350 Drives over an EtherNet/IP Network

Catalog Numbers Logix5000 Controllers, Kinetix 350 Drives

Important User Information

IMPORTANT

Solid-state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1

your local Rockwell Automation



sales office or online at http://www.rockwellautomation.com/literature/) describes some important differences between solid-state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid-state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.

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.

available from

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.

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.

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

Allen-Bradley, CompactLogix, Integrated Architecture, Kinetix, Logix5000 , MP-Series, PanelView, POINT I/O, Rockwell Software, Rockwell Automation, R SLogix, Stratix 200 0, and TechConnect are trademarks of Rockwell Automation , Inc.

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

Preface

Prepare the Kinetix 350 Drive Hardware

About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Before Using This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Other Logix5000 Control System Quick Starts . . . . . . . . . . . . . . . . . . . . . . 8

Use Each Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Where to Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

How Hardware is Connected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Required Software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Chapter 1

Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

What You Need. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Prepare the Panel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Mount the Kinetix 350 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Ground the Kinetix 350 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Disable the Safe Torque-off Feature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Wiring Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Wire the IOD Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Wire the Back-up Power Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Wire the Input Power Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Wire the Motor Power Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Apply the Motor Cable Shield Clamp. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Wire the Motor Feedback Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Connect the Kinetix 350 Drive to the EtherNet/IP Network . . . . . . . . 27

Assign an IP Address to the Kinetix 350 Drive . . . . . . . . . . . . . . . . . . . . . . 27

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Add a Kinetix 350 Drive to an RSLogix 5000 Project

Index

Chapter 2

Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

What You Need. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Add the Kinetix 350 Drive to the RSLogix 5000 Project. . . . . . . . . . . . . 34

Configure the Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Configure Axis Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Apply Power to the Kinetix 350 Drive System . . . . . . . . . . . . . . . . . . . . . . 41

Test the Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Tune an Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 3

Table of Contents

Notes:

4 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Preface

IMPORTANT

About This Publication

This quick start provides examples and procedures for integrating a Kinetix 350 drive into any



Logix5000 examples are not complex, and offer easy solutions to verify that devices are functioning and communicating properly.

Before Using This Publication

controllers control system over an EtherNet/IP network. The programming

This publication describes basic example tasks you can complete when using a Kinetix 350 drive over an EtherNet/IP network. The tasks described are not the only tasks you can complete with the drive on an EtherNet/IP network. You will likely need to complete additional tasks when using a Kinetix 350 drive in a specific Logix5000 control system.

You can only complete the tasks described in this publication after first completing some prequisite tasks with a Logix5000 controller. For example, before you can add a Kinetix 350



drive to an RSLogix

5000 project, as described on page 31, you must first create the project in a

Logix5000 controller.

The example graphics shown in Table 1 - Required Tasks to Complete before Using This Quick Start on page 6 are for CompactLogix 5370 L3 controllers. Depending on the Logix5000 controller you are using, the specific steps to

complete the tasks described in the table might vary.

For more information on how to complete these tasks with specific Logix5000 controllers, see



the Integrated Architecture publication IASIMP-QR024

: Logix5000 Control Systems Quick Starts Quick Reference, .

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 5

Preface

Table 1 - Required Tasks to Complete before Using This Quick Start

Task Description

Prepare the Logix5000 control system hardware

Assemble the control system and connect to necessary communication networks. Some components, for example, the Logix5000 controller and system power supply, are required. Other components, for example, a network communication module, are optional.

These example graphics show the assembly of one Logix5000 controller.

1 (Front) 2 (Rear)

IMPORTANT: This task does not include installation of specific hardware components, for example, Kinetix 350 drives, used over the networks included in your application.

Prepare the computer Install necessary software on your complete. Some software, for example, RSLogix 5000 software.

6 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Table 1 - Required Tasks to Complete before Using This Quick Start

Task Description

Preface

Configure the networks

Create an RSLogix 5000 project

Complete required tasks associated with the networks used in your application, such as assigning an IP address to the controller’s communication port or communication module in your Logix5000 control system.

Create a project to be used with your Logix5000 controller. A project includes all desired control system components and necessary programming. For example, add ladder logic to test tasks associated with individual

system components.

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 7

Preface

Other Logix5000 Control System Quick Starts

This quick start describes how to use one device on one network in a Logix5000 control system. Typically, though, a Logix5000 control system includes more than the controller and one device on one network.

For example, if a Logix5000 control system operates on an EtherNet/IP network, in addition to a controller, power supply, and communication modules, the system might use remote I/O modules, drives, and HMI terminals.

Other quick starts describe how to use different devices on different networks in Logix5000 control systems. For more information, see the Integrated Architecture: Logix5000 Control Systems Quick Starts Quick Reference, publication IASIMP-QR024

Use Each Chapter

The beginning of each chapter contains the following information. You should read these sections before beginning work in each chapter:

• Before You Begin - This section lists the tasks you must complete before starting

the chapter.

• What You Need - This section lists the tools that are required to complete the tasks in

the chapter.

• Follow These Steps - This section illustrates the steps in the current chapter.

8 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Where to Start

Prepare the Kinetix 350

Drive Hardware

page 13

Prerequisite Tasks

Described in Before Using This Publication

on page 5.

1. Prepare the Logix5000 control system hardware

2. Prepare the computer

3. Configure the networks

4. Create an RSLogix 5000 project

Logix5000

Control ler

Add a Kinetix 350 Drive to

an RSLogix 5000 Project

page 31

Preface

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 9

Preface

IMPORTANT

Logix5000 Controller

Stratix 2000



Switch

Computer with RSLogix 5000 Software

MP-Series



Rotary Motor

Single-phase Input Power

Shunt Resistor

Motor Feedback Cable

Kinetix 350 Drive

Terminal Expansion Block

1734 POINT I/O



Modules

Pane lView



Plus Terminal

AC Line Filter

How Hardware is Connected

This graphic shows an example control system that uses a Kinetix 350 drive.

Required Software

To complete examples in this quick start, you need RSLogix 5000 software. RSLogix 5000 software is required to create or change RSLogix 5000 projects that use Kinetix 350 drives.

This quick start uses RSLogix 5000 software, version 20.00.00 or later, because the example Logix5000 controller, and associated tasks, described herein are completed in a CompactLogix 5370 L3 control system. CompactLogix 5370 L3 control systems require RSLogix 5000 software, version 20.00.00 or later.

If you connect a Kinetix 350 drive over an EtherNet/IP network in a Logix5000 control system that uses a different Logix 5000 controller, the minimum version may differ.

10 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Parts List

You need these parts to complete the tasks described in this quick start.

Preface



Quantity Cat. No. Description

1 2097-V31PR2-LM Kinetix 350 Single Axis Ethernet/IP Servo Drive 1 MPL-A310P-MJ72AA MP-Series Low-inertia Servo Motor 1 The connectors required to 1 6-pin Motor Power (MP) Connector 1 24V DC Back-up Power (BP) Connector 1 4- pin General-purpose AC Input Power (IPD) Connector

1 2097-TB1 Bulletin 2097 I/O Terminal Expansion Block - 50-pin SCSI I/O (IOD) Connector 1 2090-CPWM7DF-16AA03 6-pin Standard Power Cable with SpeedTec DIN Connector Type 923 1 2090-CFBM7DD-CEAA03 Standard Feedback Cable with SpeedTec DIN Connector Type 623 1 1585J-M8PBJM-2 RJ45 to RJ45 patchcord Ethernet cables 3 Jumper wires

use Kinetix 350 drives vary by drive catalog number.

The specific connectors to be used with your 2097-V31PR2-LM drive ship with the drive.

You do not need to order this part separately.

6-pin Safe Torque Off (STO) Connector

For a list of parts required to complete the prerequisite tasks listed in Tab le 1 -

Required Tasks to Complete before Using This Quick Start on page 6, see the documentation describing those

tasks.

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 11

Preface

Additional Resources

Resource Description

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

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

EtherNet/IP Modules in Logix5000 Control Systems, publication ENET-UM001

Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1

Product Certifications website, http://www.ab.com Provides declarations of conformity, certificates, and other certification

Describes how to install, wire, configure, operate, and troubleshoot your Kinetix 350 drive.

Describes how to install and wire your Kinetix 350 drive.

Describes how to install, configure, and operate EtherNet/IP modules.

Provides general guidelines for installing a Rockwell Automation industrial system.

details.

You can view or download publications at http://www.rockwellautomation.com/literature/. To



order paper copies of technical documentation, contact your local Allen-Bradley

distributor or

Rockwell Automation sales representative.

12 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Chapter

Prepare the Kinetix 350 Drive Hardware

In this chapter, you learn how to complete the following tasks:

• Mount a 2097-V31PR2-LM drive.

• Make multiple connections, for example, power, feedback and resistor connections to

the drive.

• Configure EtherNet/IP communication for the drive.

Before You Begin

You must complete these tasks described in Before Using This Publication on page 5 before using this chapter:

• Prepare the Logix5000 control system hardware

• Prepare the computer

• Configure the networks - The tasks described in this chapter require an

EtherNet/IP network.

• Create an RSLogix 5000 project

The example RSLogix 5000 project used in this chapter uses a CompactLogix 5370 L3 controller.

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 13

Chapter 1 Prepare the Kinetix 350 Drive Hardware

What You Need

This table lists the products you need to complete the tasks described in this chapter.



Quantity Cat. No. Description

use Kinetix 350 drives vary by drive catalog number.

The specific connectors to be used with your 2097-V31PR2-LM drive ship with the drive.

You do not need to order this part separately.

6-pin Safe Torque Off (STO) Connector

14 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Follow These Steps

Prepare the Panel

Ground the

Kinetix 350 Drive

page 16

page 17

Mount the

Kinetix 350 Drive

page 17

Apply the Motor

Cable Shield Clamp

page 25

Wire the Motor

Feedback Connector

page 26

Connect the Kinetix 350 Drive to the EtherNet/IP

Network

page 27

Disable the Safe

Torque-off Feature

page 18

Wire the Motor Power

Conne ctor

page 24

Assign an IP Address to

the Kinetix 350 Drive

page 27

Wire the IOD

Conne ctor

page 20

Pin 26

Pin 25

Pin 46 Pin 47 Pin 48 Pin 49 Pin 50

Pin 29

Pin 28

Pin 27

Wire the Back- up Power Connector

page 22

Wire the Input

Power Connector

page 23

Prepare the Kinetix 350 Drive Hardware Chapter 1

1 2 3 4 5 6

STO

+24V DC

-24V DC

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 15

Chapter 1 Prepare the Kinetix 350 Drive Hardware

25.0 mm (1.0 in.)

3 mm (0.12 in.)

25.0 mm (1.0 in.)

Prepare the Panel

You must install the 2097-V31PR2-LM drive on a grounded panel. This quick start assumes you installed a panel when you fulfilled the prerequisite task of installing the Logix5000 control system hardware:

• If you have already installed a painted, grounded panel, move to section Mount the Kinetix

350 Drive.

• If you have not already installed a painted, grounded panel, do so before proceeding to the

next section.

For more information on properly installing a panel that you can use with a Kinetix 350 drive, see the Kinetix 350 Single-axis EtherNet/IP Servo Drives User Manual, publication 2097-UM002

Mount the Kinetix 350 Drive

1. Verify that you have at least the

minimum clearance to mount your 2097-V31PR2-LM drive on the panel.

16 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Prepare the Kinetix 350 Drive Hardware Chapter 1

238 mm

(9.37 in.)

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

Dimensions are in mm (in.)

Braided Ground Strap Bonded Cabinet Ground Bus

Ground Grid or Power Distribution Ground

Ground Stud

2. Use the dimensions shown to make sure your mounting holes are in the correct location.

5.0

(0.19)

238

(9.37)

7.1

(0.28)

9.7

(0.38)

6.6

(0.26)

11.8

(0.46)

30.8

(1.21)

38.1 (1.5)

182

(7.18)

190

(7.50)

Ø 4.57 (0.18) 3x

3. Attach the drive to the cabinet using M4 (#6-32) steel machine screws torqued to 1.1 N

(9.8 lb

in) beginning with the upper mounting slots and then the lower slots.

4. Tighten all mounting fasteners.

Ground the Kinetix 350 Drive

Use a braided ground strap or 4.0 mm2 (12 AWG) solid copper wire 100 mm (3.9 in.) long to ground the 2097-V31PR2-LM drive to the bonded cabinet ground bus, as shown.

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 17

m

Chapter 1 Prepare the Kinetix 350 Drive Hardware

IMPORTANT

1 2 3 4 5 6

STO

Safe Torque-off

(STO) Connector

Bottom View of Drive

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

Motion-allowed Jumpers

Disable the Safe Torque-off Feature

The safe torque-off feature is used in applications used in safety conditions. This feature safely removes power from the gate firing circuits of the drives output power devices (IGBTs). The feature is enabled by default when the Kinetix 350 drive ships from the factory.

If your application, for example, the one used in this quick start, does not require the use of safety options, you disable the safe torque-off feature. You use jumper wires, as shown, to disable the safe torque-off feature. The tasks in this quick start are not completed in an environment that includes safety conditions. You can disable the safe torque-off feature.

Complete these steps to disable the safe torque-off feature.

1. Remove the STO connector from

the drive.

2. Install STO Motion-allowed

jumpers at the termination points as shown.

3. Insert the STO connector into the

bottom of the drive.

For more information about using the safe torque-off feature in an environment that includes safety conditions, see the Kinetix 350 Single-axis EtherNet/IP Servo Drive User Manual, publication 2097-UM002.

18 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Prepare the Kinetix 350 Drive Hardware Chapter 1

IMPORTANT

Bonded Cabinet Ground Bus

Single-phase AC Input 120V rms AC, 50/60 Hz

User-supplied +24V DC

Main Single-phase AC Input (IPD) Connector

Back-up Power (BP) Connector

Motor Power (MP) Connector

Ground Stud

L2/N

Contactor

Coil

Input

Fusing

Fuse

Disconnect

or Circuit

Breakers

Cable Shield Clamp

AC Line Filter (Opti onal)

L2/N

Pin 26

Pin 29

Pin 27

Pin 28

User-supplied 24V DC Power Supply

I/O (IOD) Conne ctor

Wiring Diagram

You can wire 120V or 240V single-phase input power to your Kinetix 2097-V31PR2-LM drive. When completing the tasks described in this quick start, you use 120V single-phase power.

The following graphic shows how to wire connectors on your Kinetix 2097-V31PR2-LM drive for 120V single-phase power. More detailed descriptions of how to wire each connector are included later in this chapter.

Keep in mind, the following graphic does not show all the possible connections to your Kinetix 2097-V31PR2-LM drive. It only describes the connections required to complete the tasks described in this quick start.

For more complete information on how to wire your Kinetix 350 drive see the Kinetix 350 Single-axis EtherNet/IP Servo Drives User Manual, publication 2097-UM002.

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 19

Chapter 1 Prepare the Kinetix 350 Drive Hardware

Wire the IOD Connector

The 2097-V31PR2-LM drive ships from the factory with the drive ENABLE functionality enabled. In addition to this configuration, you must wire the 2097-TB1 I/O terminal expansion block to complete the tasks described in this quick start, for example, the tasks described in Your control system can execute drive actions, such as the Hookup test described on Te st th e Ax is

page 44.

To use your Kinetix drive with the drive ENABLE functionality in the enabled state, you must connect a user-supplied, external 24V DC power supply to the drive via the IOD connector.

Complete these steps to use the IOD connector.

1. Verify the user-supplied, external power supply is not powered.

2. Connect a wire from a -24V DC terminal on the external power supply to pin 26 (+/-

Overtravel, enable and home common) on the IOD connector.

3. Jumper a wire from pin 27 (Negative hardware overtravel) to pin 28 (Positive hardware

overtravel) on the IOD connector.

4. Jumper a wire from pin 28 (Positive hardware overtravel) to pin 29 (Drive enable) on the

IOD connector.

20 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Prepare the Kinetix 350 Drive Hardware Chapter 1

IMPORTANT

Pin 26

Pin 25

Pin 46 Pin 47 Pin 48 Pin 49 Pin 50

Pin 29

Pin 28

Pin 27

User-supplied 24V DC Power

Supply

I/O Connection

5. Connect a wire from a +24V DC terminal on the external power supply to pin 29

(ENABLE signal) on the IOD connector.

6. Insert the IOD connector into the

drive in the location shown in this graphic.

Do not connect power to the external power supply.

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 21

Chapter 1 Prepare the Kinetix 350 Drive Hardware

IMPORTANT

Wire the Back-up Power Connector

You need a user-supplied, external 24V DC power supply to provide back-up power to the drive. Complete these steps to wire the BP connector.

1. Verify the user-supplied, external power supply is not powered.

2. Remove the BP connector from

the drive.

3. Remove approximately 6 mm (0.25

in.) insulation from two 1.5 mm (16 AWG) copper wires.

+24V DC

-24V DC

4. Connect a wire from a +24V DC

terminal on the external power supply to the +24V DC terminal on the BP connector.

5. Connect a wire from a -24C DC terminal on the external power supply to the -24V DC

terminal on the BP connector.

6. Insert the connector plug into the drive in the location shown above.

Do not connect power to the external power supply.

22 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Prepare the Kinetix 350 Drive Hardware Chapter 1

IMPORTANT

L2/N

Top View of Drive

Wire the Input Power Connector

You can use a 120V AC or 240V DC power source to connect input power to the 2097-V31PR2-LM drive via the IPD connector. In this quick start, we describe how to connect a 120V AC power source to the drive.

Complete these steps to wire the IPD connector.

1. Verify the 120V AC power source is not powered.

2. Remove the IPD connector plug

from the top of the drive.

3. Remove approximately 7 mm

(0.28 in.) insulation from four

2.5 mm copper wires.

(14 AWG)

4. Insert the wires from the 120V

AC power source cable into the IPD connector positions according to the following table.

Power Cable Wire Terminal

Black L1 White N Green PE

The L2/N connector is not used when connecting input power from a 120V AC power source.

5. Insert the connector plug into the location shown above.

Do not connect power to the external power supply.

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 23

Chapter 1 Prepare the Kinetix 350 Drive Hardware

Bottom View of Drive

Wire the Motor Power Connector

This publication uses a 2090-CPWM7DF-16AA03 standard power cable with SpeedTec DIN connector type 923 to wire power from the 2097-V31PR2-LM drive to the motor.

Complete these steps to wire the power cable to the MP connector.

1. Remove the MP connector from the bottom of the drive.

2. Remove approximately 7 mm

(0.28 in.) insulation from four

2.5 mm copper wires.

3. Insert the wires into the

appropriate connector positions according to the following table.

MP-Series Servo Motor Wire

(14 AWG)

Terminal

Green/ yellow

W/Blue W V/Black V U/Brown U

4. Insert the MP connector into the module as shown above.

5. Connect the other end of the 2090-CPWM7DF-16AA03 cable to the motor.

24 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Prepare the Kinetix 350 Drive Hardware Chapter 1

25 mm

(1.0) in.

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

34 mm

(1.34) in.

Motor Power Ground Shield Clamp

12.7 mm (0.50) in.

50…75 mm (2…3 in.)

Apply the Motor Cable Shield Clamp

Complete these steps to apply the motor cable shield clamp.

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

the drive.

2. Lay out and drill holes for the 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 with your drive.

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 25

Chapter 1 Prepare the Kinetix 350 Drive Hardware

Wire the Motor Feedback Connector

This publication describes how to use a 2090-CFBM7DD-CEAA03 standard feedback cable with SpeedTec DIN connector type 623 to wire feedback from the motor to the drive.

Complete these steps to wire the MFconnector.

1. Plug the premolded feedback cable

into the MF connector on the front of the drive.

2. Tighten the fastening screws at the top and bottom of the motor feedback connector to

secure the connection.

3. Connect the other end of the cable to the MPL-A310P-MJ72AA motor.

26 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Prepare the Kinetix 350 Drive Hardware Chapter 1

IMPORTANT

Buttons

Display

Connect the Kinetix 350 Drive to the EtherNet/IP Network

Complete these steps to connect the 2097-V31PR2-LM drive to the EtherNet/IP network.

1. Connect one end of the 1585J-

M8PBJM-2, RJ45 to RJ45 patchcord Ethernet cables to the Ethernet connector on the front of the Kinetix 350 drive.

2. Connect the other end of the

Ethernet cable to the EtherNet/IP network.

Assign an IP Address to the Kinetix 350 Drive

You can assign an IP address to the 2097-V31PR2-LM drive manually via the drive keypad or dynamically via a DHCP-enabled server. Because this publication describes tasks intended to be completed on a private network, you assign an IP address via the drive keypad.

The graphic shows which buttons to push on the keypad to make changes.

Before assigning the IP address manually, disable the DHCP mode.

If you do not disable the DHCP mode before assigning the IP address manually, the next time power is cycled to the drive, the drive will lose the IP address that had been assigned previously.

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 27

Chapter 1 Prepare the Kinetix 350 Drive Hardware

Complete these steps to assign an IP address to your 2097-V31PR2-LM drive.

1. Apply power to the drive via the 120V AC power source described in Wire the Input Power

Connector on page 23.

Do not apply power to the BP connector yet.

2. Press .

3. Use to access parameter DHCP.

The display indicates each parameter as you use the up/down arrows to scroll all options.

4. Check this parameter is set to a value of 0.

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

6. Cycle power to the drive.

The change takes effect. Unless DHCP mode is enabled in the future, each time power is cycled to the drive, it uses the IP address that was manually assigned.

Your 2097-V31PR2-LM drive ships from the factory with its IP address set at 192.168.124.200. To complete the tasks described in this quick start, you must change the IP address to

192.168.1.5.

28 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Complete these steps to assign an IP address for your drive.

1. Press .

2. Use to access parameter IP_1.

3. Press .

4. Use to set the value for parameter IP_1.

5. Press .

Prepare the Kinetix 350 Drive Hardware Chapter 1

6. Repeat step 1

through step 5 to change the values for the remaining IP address parameters,

that is, IP_2, IP_3 and IP_4.

7. Cycle power to the drive.

8. Apply back-up power to the drive via the BP connector.

Additional Resources

For a list of additional resources that might assist you when preparing the Kinetix 350 drive hardware, see page 12

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 29

Chapter 1 Prepare the Kinetix 350 Drive Hardware

Notes:

30 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Chapter

Add a Kinetix 350 Drive to an RSLogix 5000 Project

In this chapter, you learn how to complete the following tasks:

• Add a 2097-V31PR2-LM drive to an RSLogix 5000 project and configure it.

• Download the project to the controller.

• Verify communication with the drive by applying power to the drive and testing an axis.

Before You Begin

You must complete these tasks before using this chapter:

• The tasks described in Before Using This Publication on page 5, include the following: – Prepare the Logix5000 control system hardware – Prepare the computer – Configure the networks - The tasks described in this chapter require an

EtherNet/IP network.

– Create an RSLogix 5000 project

The example RSLogix 5000 project used in this chapter uses a CompactLogix 5370 L3 controller.

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 31

Chapter 2 Add a Kinetix 350 Drive to an RSLogix 5000 Project

• The tasks described in Chapter 1, Prepare the Kinetix 350 Drive Hardware on page 13,

include the following:

– Prepare the Panel – Mount the Kinetix 350 Drive – Ground the Kinetix 350 Drive – Disable the Safe Torque-off Feature – Wire the Back-up Power Connector – Wire the Input Power Connector – Wire the Motor Power Connector – Apply the Motor Cable Shield Clamp – Wire the Motor Feedback Connector – Connect the Kinetix 350 Drive to the EtherNet/IP Network – Assign an IP Address to the Kinetix 350 Drive

What You Need

You need RSLogix 5000 software to complete the tasks described in this chapter.

32 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Follow These Steps

Add the Kinetix

350 Drive to the

RSLogix 5000

Project

page 34

Configure the Motion Group

page 37

Configure Axis

Properties

page 39

Apply Power to the

Kinetix 350

Drive System

page 41

Tes t the A xi s

page 44

Add a Kinetix 350 Drive to an RSLogix 5000 Project Chapter 2

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 33

Chapter 2 Add a Kinetix 350 Drive to an RSLogix 5000 Project

IMPORTANT

Add the Kinetix 350 Drive to the RSLogix 5000 Project

The tasks described in this section use an RSLogix 5000 project for a CompactLogix 5370 L3 controller. CompactLogix 5370 L3 controllers require that you use RSLogix 5000, version 20.00.00 or later.

If you are using a different Logix5000 controller, your project’s RSLogix 5000 software version requirement might be different.

1. Verify that the 2097-V31PR2-LM drive is not powered at the IPD connector nor the

BPconnector.

2. Verify the following about your RSLogix 5000 project:

• The project is offline.

• The controller is configured such that Time Synchronization is enabled.

The Enable Time Synchronization feature is on the Date/Time tab of the Controller Properties dialog box.

3. Verify the Logix5000 controller

mode switch is in the PROG mode position.

RUN

REM

PROG

4. Right-click your network port and

choose New Module.

34 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

5. Select the Kinetix 350 drive and

click Create.

The Select Module Type dialog box may appear differently depending on which Logix5000 controller your application uses and, thus, what version of RSLogix 5000 software is used.

The New Module dialog boxopens.

6. Configure the new drive.

Add a Kinetix 350 Drive to an RSLogix 5000 Project Chapter 2

a. Type the drive Name. b. Click an Ethernet Address

option.

In this example, the Private Network address is selected.

c. Enter the IP address of your

EtherNet/IP drive.

The IP address must match the IP address used in Assign an IP

Address to the Kinetix 350 Drive on page 27.

7. Click Change in the Module Definition area.

The Module Definition dialog box opens.

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 35

Chapter 2 Add a Kinetix 350 Drive to an RSLogix 5000 Project

IMPORTANT

8. From the Electronic Keying

pull-down menu, choose Disable Keying.

The Disable Keying selection ensures that you will easily complete the taks. In typical applications, we recommend you avoid using Disable Keying whenever possible.

9. Click OK twice to close the Module Definition dialog box and the Module Properties

dialog box successively.

10. Right-click the 2097-V31PR2-LM

drive and choose Properties.

The Module Properties dialog boxopens.

11. Click the Associated Axes tab.

12. Click New Axis.

The New Tag dialog box opens.

36 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Add a Kinetix 350 Drive to an RSLogix 5000 Project Chapter 2

13. Type the axis Name.

AXIS_CIP_DRIVE is the default Data Type.

14. Change the Scope to your

controller project.

In this case, the Scope is Kinetix_350_project.

15. Click Create and Close.

16. When the Module Properties dialog box appears, the new axis appears in the Axis 1: field.

17. Click OK.

Configure the Motion Group

Complete 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 opens.

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 37

Chapter 2 Add a Kinetix 350 Drive to an RSLogix 5000 Project

2. Type the new motion group Name.

3. Click Create and Close.

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 opens.

5. Click the Axis Assignment tab and

move the axis you created beginning at step 12

from

Unassigned to Assigned.

6. Click OK.

38 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Configure Axis Properties

Complete these steps to configure the properties for Axis_1.

1. Right-click Axis_1 in the

Controller Organizer and choose Properties.

The Axis Properties dialog boxopens.

2. Click the Motor category.

Add a Kinetix 350 Drive to an RSLogix 5000 Project Chapter 2

The Motor Device Specification dialog box opens.

3. From the Data Source pull-down

menu, choose Catalog Number.

4. Click Change Catalog.

The Change Catalog Number dialog box opens.

5. Select the motor catalog number.

This quick start uses the MPL-A310P-MJ72AA, MP-series motor. The correct catalog number to choose is MPL-A310P-M.

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 39

Chapter 2 Add a Kinetix 350 Drive to an RSLogix 5000 Project

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

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

7. Click Apply.

Motor data specific to your MPL-A310P-MJ72AA motor appears in the Motion category.

You do not need to change the parameters in the other categories to complete the tasks described in this quick start.

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

9. Save the file and download it to the controllers.

10. Verify the controller is in the Remote Run mode.

40 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Add a Kinetix 350 Drive to an RSLogix 5000 Project Chapter 2

Four- charact er Status Indicators

Data Entry Status Indicator

Apply Power to the Kinetix 350 Drive System

Before beginning this section, verify that you have wired and configured your Kinetix 350 drive and your controller’s EtherNet/IP network port correctly.

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 may have voltage present even when not in use.

Complete these steps to apply power to the Kinetix 350 drive system.

1. Disconnect the load to the MPL-A310P-MJ72AA motor.

ATTENTION: To avoid personal injury or damage to equipment, disconnect the load to the motor. Make sure each motor is free of all linkages when initially applying power to the system.

2. Apply 120V AC main input power to the 2097-V31PR2-LM drive’s IPD connector.

3. Verify the four-character status indicator is initially 00 and then transitions to scrolling the

drive’s IP address.

If so, proceed to the next step.

If the status indicator is blank, return to step 2

4. Apply 24V DC power to the

2097-V31PR2-LM drive’s BP connector.

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 41

Chapter 2 Add a Kinetix 350 Drive to an RSLogix 5000 Project

5. Observe the status indicators on

the 2097-V31PR2-LM drive.

The indicators include the following:

• N - Network

• M- Module

• A - Axis

The network and module status indicators should be in the steady green state and the axis status indicator should be in the flashing green state. If the status indicators are not in these states you must determine what condition is preventing it.

Use the following table to diagnose and correct potential issues with your system.

Table 2 - Drive Status Indicators

Status Indicator Condition Status

Network Off No power or no IP address.

Alternating green/red Self-test mode (power-up diagnostics). Wait for steady green.

Flashing green Standby - Drive is either not configured or no connections are

established.

Steady green Drive is ready for network communication.

Flashing red Recoverable minor fault or connection timeout.

Steady red Non-recoverable fault or duplicate IP address.

Module Off No power. Apply power.

Alternating green/red Self-test mode (power-up diagnostics). Wait for steady green.

Flashing green Standby - Drive is either not configured or no connections are

established.

Steady green Drive is operating correctly.

Flashing red Recoverable fault. A four-digit fault message scrolls across

the display. For more information on drive faults, see the Kinetix 350

Single-axis EtherNet/IP Servo Drives User Manual, publication 2097-UM002.

Steady red Non-recoverable fault. A four-digit fault message scrolls

across the display. For more information on drive faults, see the Kinetix 350

Single-axis EtherNet/IP Servo Drives User Manual, publication 2097-UM002.

42 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Add a Kinetix 350 Drive to an RSLogix 5000 Project Chapter 2

Table 2 - Drive Status Indicators

Status Indicator Condition Status

Axis Off One of the following conditions exists:

• Off

• Initialization is in process - Bus not operating

• Shutdown is in process - Bus not operating

• Pre-charge is in process - Bus not operating

Flashing red/green Self-test (power-up diagnostics) in process

Flashing green One of the following conditions exists:

• Initialization is in process- Bus is operating

• Axis is stopped.

Flashing amber One of the following conditions exists:

• Shutdown is in process - Bus is operating

• Start is inhibited.

Steady green One of the following conditions exists:

• Axis is stopping.

• Axis is starting.

• Axis is running.

• Axis is testing.

Flashing red One of the following conditions exists:

• Axis is aborting.

• Axis experienced a major fault.

Steady red One of the following conditions exists:

• Axis is aborting.

• Axis experienced a major fault.

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 43

Chapter 2 Add a Kinetix 350 Drive to an RSLogix 5000 Project

IMPORTANT

Test the Axis

This section assumes that your 2097-V31PR2-LM drive’s status indicators show that drive is operating as expected.

If the status indicators do not reflect a fully operational drive state, as described in Table 2 on

page 42, use the table to address any issues with regard to the drive’s stater before proceeding with

this section.

Complete these steps to test the axes.

1. Remove the load from Axis_1.

2. Right-click Axis_1 in your Motion

Group folder and choose Properties.

The Axis Properties dialog box opens.

3. Click the Hookup Tests category.

4. Click the Motor and Feedback tab.

5. Type 2.0 as the number of

revolutions for the Motor and Feedback test.

The Motor and Feedback test verifies the motor power and feedback connections are wired correctly as you command the motor to rotate.

6. Apply 24V DC power to the 2097-V31PR2-LM drive’s IOD connector.

7. Click Start.

44 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

The RSLogix 5000 - Motor and

IMPORTANT

Feedback Test dialog box opens. The Test State is Executing.

During this time, the shaft on your motor should be turning. Additionally, the axis status indicator should be in a steady green state.

When the test completes successfully, the Test State changes from Executing to Passed.

8. Click OK.

Add a Kinetix 350 Drive to an RSLogix 5000 Project Chapter 2

A dialog box opens to confirm that the shaft’s direction was correct.

9. Click Yes.

10. When prompted, click to accept

test results.

If the test fails, this dialog box opens.

1. Click OK.

2. Return to Add the Kinetix 350

Drive to the RSLogix 5000 Project on page 34 and verify that you completed each steps correctly.

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 45

Chapter 2 Add a Kinetix 350 Drive to an RSLogix 5000 Project

Tune an Axis

For the purposes of this quick start, you do not need to tune the axis. Some applications, however, require the use of tuning to improve the application’s use of Integrated Motion on an EtherNet/IP network. Tuning conditions and parameters are defined by each individual application.

For more information about tuning in an application that uses a Kinetix 350 drive, see the Kinetix 350 Single-axis EtherNet/IP Servo Drive User Manual, publication 2097-UM002

Additional Resources

For a list of additional resources that might assist you when adding the Kinetix 350 drive to an RSLogix 5000 project, see page 12

46 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

Index

axis properties

39-40

configure

axis properties motion group 37-38

connections

apply motor cable shield clamp apply power to drive drive to EtherNet/IP network 27 hardware wire input power connector wire motor feedback connector wire motor power connector wire safe torque-off connector

39-40

10, 18-27

drive preparation

16-17

mount

EtherNet/IP network

connect drive

hardware

example control system ground drive input power connector 23 motor cable shield clamp motor feedback connector motor power connector mount drive preparation safe torque-off connector use to assign IP address to drive

hookup test

16-17

13-29

44-45

input power connector

wire

IP address

assign to drive

mode switch 34, 40 motion group

37-38

configure

motor cable shield clamp motor feedback connector

wire

motor power connector

wire

parts

required to complete tasks

power

connect to drive wire input power connector wire motor power connector

prerequisite tasks

5-7

quick starts

for devices in Logix5000 control systems

requirements

hardware preparation parts 11 prerequisite tasks software

RSLogix 5000 software

add drive to project configure axis properties 39-40 configure motion group requirements

44-45

test axis

13-29

5-7

34-37

37-38

safe torque-off connector 18 software

configure motion group RSLogix 5000 10, 34-37

37-38

test axes

hookup test

44-45

Logix5000 controllers

prerequisite tasks

Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012 47

5-7

Index

Notes:

48 Rockwell Automation Publication IASIMP-QS032A-EN-P - March 2012

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Publication IASIMP-QS032A-EN-P - March 2012

Rockwell Automation Logix5000 Control System User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of Contents

Preface

About This Publication

Before Using This Publication

Other Logix5000 Control System Quick Starts

Use Each Chapter

Where to Start

How Hardware is Connected

Required Software

Parts List

Additional Resources

Before You Begin

What You Need

Follow These Steps

Prepare the Panel

Mount the Kinetix 350 Drive

Ground the Kinetix 350 Drive

Disable the Safe Torque-off Feature

Wiring Diagram

Wire the IOD Connector

Wire the Back-up Power Connector

Wire the Input Power Connector

Wire the Motor Power Connector

Apply the Motor Cable Shield Clamp

Wire the Motor Feedback Connector

Connect the Kinetix 350 Drive to the EtherNet/IP Network

Assign an IP Address to the Kinetix 350 Drive

Additional Resources

Before You Begin

What You Need

Follow These Steps

Add the Kinetix 350 Drive to the RSLogix 5000 Project

Configure the Motion Group

Configure Axis Properties

Apply Power to the Kinetix 350 Drive System

Test the Axis

Tune an Axis

Additional Resources

Index