Allen-Bradley Kinetix 350 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
User Manual
Original Instructions

Important User Information
Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to
familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws,
and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are
required to be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may
be impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from
the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or
software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
Labels may also be on or inside the equipment to provide specific precautions.
WARNING: Identifies information aboutpractices or circumstances that can cause an explosion in a hazardous
environment, which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT Identifies information that iscritical for successful application and understanding of the product.
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
potentialArc Flash. ArcFlashwill causesevereinjury or death. Wear proper PersonalProtectiveEquipment(PPE).FollowALL
Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 3
Summary of Changes
This manual contains new and updated information as indicated in the
following table.
Topic Page
Add a reference to the Motion System Tuning Application Techniques, publication
MOTION-AT005 9
Added a footnote to Figure 1 - Typical Kinetix 350 Drive Installation 13
Added the 2198-ABQE Encoder Output module to typical communication
configurations. 14
Updated Input Power Circuit-protection Specifications table 19
Corrected the description of REG digital input signal 39
Add an MOV (199-MSMD1) as an option to Brake Wiring Schematic 43
Added a reference to Appendix C 52
Changed the IMPORTANT statement to an ATTENTION statement and added a
reference to Appendix C 53
Changed footnote to include an equivalent diode 67
Modified Important statement Ethernet Cable Connections section 74
Added footnote to Figure 44 - Ethernet Wiring Example - External Switch 75
Added descriptions for status indicators StAt, Ht, buS, Curr 78
Added an Attention statement 86
Added a link Motion System Tuning Application Techniques, publication MOTION-
AT005 94
Corrected the Attention statement under Troubleshooting the Safe Torque-off
Function 103
Updated Figure 49 -Single-axis Relay Configuration (Stop Category 0) with
Automatic Reset 108
Added Figure 50 - Single-axis Relay Configuration (Stop Category 0) with Manual
Reset 109
Added Safety Input and Output Schematics 110
Duplicated the Important statement that describes the fault detection ability of
TTL encoders 124
Added Appendix C - Leakage Currents 151

4Rockwell Automation Publication 2097-UM002D-EN-P - April 2017
Summary of Changes
Notes:

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 5
Table of Contents
Preface
Conventions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1
Start About the Kinetix 350 Drive System. . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
CE Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Chapter 2
Install the Kinetix 350 Drive
System
System Design Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
System Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Circuit Breaker/Fuse Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Contactor Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Transformer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Transformer Specifications for Input Power . . . . . . . . . . . . . . . . . 21
Enclosure Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Power Dissipation Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . 23
Electrical Noise Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Bonding Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Bonding Multiple Subpanels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Establish Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Cable Categories for Kinetix 350 Drive Components. . . . . . . . . 29
Noise Reduction Guidelines for Drive Accessories. . . . . . . . . . . . 29
Mount Your Kinetix 350 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Chapter 3
Kinetix 350 Drive Connector Data Kinetix 350 Drive Connectors and Indicators . . . . . . . . . . . . . . . . . . . 34
Safe Torque-off Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . 35
I/O Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Motor Feedback (MF) Connector Pinout . . . . . . . . . . . . . . . . . . . 37
Ethernet Communication Connector Pinout . . . . . . . . . . . . . . . . 37
AC Input Power Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . 38
Back-up Power Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Shunt Resistor and DC Bus Connector Pinout. . . . . . . . . . . . . . . 38
Motor Power Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Control Signal Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Motor Brake Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Ethernet Communication Specifications . . . . . . . . . . . . . . . . . . . . 43
24V DC Back-up Power Specifications . . . . . . . . . . . . . . . . . . . . . . 43
Motor Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

6Rockwell Automation Publication 2097-UM002D-EN-P - April 2017
Table of Contents
Feedback Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Chapter 4
Connect the Kinetix 350 Drive
System
Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Recommended Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Route Power and Signal Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Determine the Input Power Configuration . . . . . . . . . . . . . . . . . . . . . . 52
Three-phase Power Wired to Three-phase Drives . . . . . . . . . . . . 53
Single-phase Power Wired to Single-phase Drives . . . . . . . . . . . . 54
Voltage Doubler Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Isolation Transformer in Grounded Power Configurations . . . 55
Three-phase Power Wired to Single-phase Drives . . . . . . . . . . . . 55
Voiding of CE Compliance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Grounding Your Kinetix 350 Drive System. . . . . . . . . . . . . . . . . . . . . . 58
Ground Your Drive to the System Subpanel . . . . . . . . . . . . . . . . . 58
Ground Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Power Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Wiring Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Wiring the Kinetix 350 Drive Connectors. . . . . . . . . . . . . . . . . . . . . . . 62
Wire the Safe Torque-off (STO) Connector . . . . . . . . . . . . . . . . . 62
Wire the Back-up Power (BP) Connector . . . . . . . . . . . . . . . . . . . 62
Wire the Input Power (IPD) Connector. . . . . . . . . . . . . . . . . . . . . 63
Wire the Motor Power (MP) Connector . . . . . . . . . . . . . . . . . . . . 64
Apply the Motor Cable Shield Clamp. . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Feedback and I/O Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Flying-lead Feedback Cable Pin-outs . . . . . . . . . . . . . . . . . . . . . . . . 71
Wiring the Feedback and I/O Connectors . . . . . . . . . . . . . . . . . . . . . . 72
Wire the I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Wire the Low-profile Connector Kit . . . . . . . . . . . . . . . . . . . . . . . . 73
Shunt Resistor Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Chapter 5
Configure and Start up the
Kinetix 350 Drive System
Keypad Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Configure the Kinetix 350 Drive Ethernet IP Address. . . . . . . . . . . . 81
Ethernet Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Kinetix 350 Drive Ethernet Port Configuration. . . . . . . . . . . . . . 81
Obtain the Kinetix 350 Drives’ Current Ethernet Settings . . . . 81
Configure the IP Address Manually (Static Address) . . . . . . . . . 82
Configure the IP Address Automatically (Dynamic Address). . 83
Configure the Logix5000 EtherNet/IP Controller . . . . . . . . . . . . . . . 84
Configure the Logix5000 Controller . . . . . . . . . . . . . . . . . . . . . . . . 84
Configure the Kinetix 350 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Configure the Motion Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 7
Table of Contents
Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Apply Power to the Kinetix 350 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Test and Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Test the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Disable EnableInputChecking by Using a Logix
Designer Message Instruction . . . . . . . . . . . . . . . . . . . . 100
Chapter 6
Kinetix 350 Drive Safe Torque-off
Feature
Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Important Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Safety Category 3 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Stop Category Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Performance Level and Safety Integrity Level (SIL) CL2 . . . . . 102
Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Troubleshoot the Safe Torque-off Function . . . . . . . . . . . . . . . . 103
PFD and PFH Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
PFD and PFH Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Safe Torque-off Connector Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
STO Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Wiring Your Safe Torque-off Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . 105
European Union Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Safe Torque-off Wiring Requirements. . . . . . . . . . . . . . . . . . . . . . 106
Kinetix 350 Drive Safe Torque-off Feature . . . . . . . . . . . . . . . . . . . . . 107
Safe Torque-off Feature Bypass . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Kinetix 350 Drive Safe Torque-off Wiring Diagrams . . . . . . . . . . . . 108
Safe Torque-off Signal Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Safety Input and Output Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Chapter 7
Troubleshoot the Kinetix 350
Drive
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Interpret Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Four-digit Display Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Error Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
General System Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Logix5000 Controller and Drive Behavior. . . . . . . . . . . . . . . . . . . . . . 124
Kinetix 350 Drive Exception Behavior . . . . . . . . . . . . . . . . . . . . . 124
Web Server Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Appendix A
Interconnect Diagrams Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Shunt Resistor Wiring Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Kinetix 350 Drive/Rotary Motor Wiring Examples . . . . . . . . . . . . . 134

8Rockwell Automation Publication 2097-UM002D-EN-P - April 2017
Table of Contents
Kinetix 350 Drive/Actuator Wiring Examples . . . . . . . . . . . . . . . . . . 137
Motor Brake Currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Appendix B
Upgrade the Kinetix 350 Drive
Firmware
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Configure Logix5000 Communication. . . . . . . . . . . . . . . . . . . . . . . . . 144
Upgrade Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Verify the Firmware Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Appendix C
Leakage Current Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 9
Preface
This manual provides detailed installation instructions for mounting, wiring,
and troubleshooting your Kinetix® 350 drive; and system integration for your
drive/motor combination with a Logix5000™ controller.
Conventions These conventions are used throughout this manual:
• Bulleted lists such as this one provide information, not procedural steps.
• Numbered lists provide steps or hierarchical information.
Additional Resources These documents contain additional information concerning related products
from Rockwell Automation.
Table 1 - Additional Resources
Resource Description
Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 Specifications for Kinetix servo drive motion control products.
Kinetix 350 Single-axis EtherNet/IP Servo Drive Installation Instructions,
publication 2097-IN008 Information to help you install your Kinetix 350 drive system.
Kinetix 300 Shunt Resistor Installation Instructions, publication 2097-IN002 Information to help you install and wire the Kinetix 300 shunt resistors.
Kinetix 300 AC Line Filter Installation Instructions, publication 2097-IN003 Information to help you install and wire the Kinetix 300 AC line filter.
Kinetix 300 I/O Terminal Expansion Block Installation Instructions,
publication 2097-IN005 Information to help you install and wire the Kinetix 300 I/O terminal expansion block.
Encoder Output Emulator Module Installation Instructions,
publication 2198-IN01 Information to help you install and wire Encoder Output Emulator Module.
CompactLogix L3ER Controllers User Manual, publication 1769-UM021 Information to help you install, configure, program, and operate a CompactLogix™
system.
Stratix 2000 Ethernet Unmanaged Switches InstallationInstructions,
publication 1783-IN001 Information to help you install and operate a Stratix 2000 Ethernet Switches.
Ethernet/IP Benefits of Industrial Connectivity in Industrial Apps White Paper, publication
1585-WP001A Provides general guidelines and theory for Ethernet/IP industrial systems.
Industrial Ethernet Media, publication 1585-BR001 This brochure provides connectivity solutions for Ethernet networks and integrated
architecture.
Guidance for Selecting Cables for EtherNet/IP Networks White Paper,
publication ENET-WP007 This guide is arranged to help you select cables that are based on your application,
environmental conditions, and mechanical requirements
Integrated Motion on SERCOS and EtherNet/IP Systems - Analysis and Comparison White
Paper, publication MOTION-WP007 This white paper compares and contrasts SERCOS and EtherNet/IP networks with a ControlLogix® controller.
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines for installing a Rockwell Automation industrial system.
System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001 Information, examples, and techniques that are designed to minimize system
electrical noise failures.
Kinetix Motion Control Selection Guide, publication KNX-SG001 Specifications, motor/servo-drive system combinations, and accessories for Kinetix
motion control products.
Motion Analyzer software, download at http://ab.rockwellautomation.com/Motion-
Control/Motion-Analyzer-Software This program helps you choose drive and motor size by using application analysis software.
ControlLogix Controllers User Manual, publication 1756-UM001 Information to help you install, configure, program, and operate a ControlLogix
system.
Integrated Motion on the EtherNet/IP Network: Configuration andStartup User Manual,
publication MOTION-UM003 Information to help you configure and troubleshoot your ControlLogix and
CompactLogix EtherNet/IP network modules.
Motion System Tuning Application Techniques, publication MOTION-AT005 Information on tuning a Kinetix drive system.

10 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017
Preface
You can view or download publications at
http://www.rockwellautomation.com/global/literature-library/overview.page.
To order paper copies of technical documentation, contact your local
Allen-Bradley distributor or Rockwell Automation sales representative.
842E-CM Integrated Motion Encoder on EtherNet/IP
User Manual. Publication 842E-UM002A
Information to help you install, wire, and troubleshoot an integrated motion
encoder on EtherNet/IP network.
ControlFLASH Firmware Upgrade Kit User Manual, publication1756-UM105 For ControlFLASH™ information not specificto any drive family.
Rockwell Automation Configuration and Selection Tools,
website http://www.rockwellautomation.com/global/support/selection.pageOnline product selection and system configuration tools, including AutoCAD (DXF)
drawings.
Rockwell Automation Product Certification,
website http://www.rockwellautomation.com/global/certification/overview.page For declarations of conformity (DoC) currently available from Rockwell Automation.
Rockwell Automation Industrial Automation Glossary, publication AG-7.1 A glossary of industrial automation terms and abbreviations.
Table 1 - Additional Resources (Continued)
Resource Description