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

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 11
Chapter 1
Start
Topic Page
About the Kinetix 350 Drive System 12
Catalog Number Explanation 15
Agency Compliance 16

12 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017
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 2 - Kinetix 350 Drive System Overview
Kinetix 350 System
Component Cat. No. Description
Kinetix 350 Integrated
Motion on EtherNet/IP Servo
Drive
2097-V3xPRx-LM Kinetix 350 integrated motion on EtherNet/IP drives with safe torque-off feature are available with 120/240V or
480V AC input power.
AC Line Filters 2090
2097-Fx
Bulletin 2090 and Bulletin 2097-FxAC 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.
Shunt Module 2097-RxBulletin 2097 shunt resistors connect to the drive and provides shunt capability in regenerative applications.
Terminal block for I/O
connector 2097-TB1 50-pin terminal block. Use with IOD connector for control interface connections.
Stratix® 2000 Ethernet Switch 1783-US05T An Ethernet switch divides an Ethernet network into segments and directs network traffic efficiently.
Logix PAC® Controller
Platforms Bulletin 5069 Bulletin 1768 and 1769 EtherNet/IP networking with CompactLogix™ 5370 and CompactLogix 5380 controllers with embedded dual- port. 1769-L3xcontrollers with embedded single port. 1768-L4xcontroller and 1768-L4xS safety controller with
1768-ENBT EtherNet/IP communication module.
1756-EN2T, 1756-EN2TR,
and 1756-EN3TR module EtherNet/IP network communication modules for use with ControlLogix® 5570 and ControlLogix 5580 controllers.
Studio 5000® Environment or
RSLogix 5000® Software — RSLogix5000 software(version20or earlier) and the Studio5000Logix Designer® application (version21or later) are used to program, commission, and maintain the Logix family of controllers.
Encoder Output Module 2198-ABQE The Allen-Bradley encoder output module is a DIN-rail mounted EtherNet/IP network-based standalone module
capable of outputting encoder pulses to a customer-supplied peripheral device (cameras, for example, used in
line-scan vision systems).
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) motors.
Linear Stages MP-Series (Ballscrew) Compatible stages include MP-Series (BulletinMPAS) IntegratedLinear 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 network.
Cables Motor/brake and feedback
cables Motor power/brake and feedback cables include SpeedTec and threaded DIN connectors at the motor. Power/ brake cables haveflying 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.
Communication cables 1585J-M8CBJM-x(shielded) or 1585J-M8UBJM-x (high-flex shielded) Ethernet cable.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 13
Start Chapter 1
Figure 1 - Typical Kinetix 350 Drive Installation
(1) See Ethernet Cable Connections on page 74 for information on how to use an unmanaged switch in your application.
2097-V3xxxx-LM
Kinetix 350 Drive 2097-Fx
AC Line Filter (optional equipment)
2097-F1 Filter 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
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

14 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017
Chapter 1 Start
Figure 2 - Typical K350 Communication Configuration
See Encoder Output Module Installation Instructions, publication
2198-UM003. For information to help you install and wire the 2198-ABQE
Encoder Output Module.
3
5
7
1R
W
P
4
6
8
2
MOD
NET
OUTPUT-A OUTPUT-B
2097-V3xxxx-LM
Kinetix 350 Drive
1783-US08T
Stratix® 2000 Switch
CompactLogix™ Controller System
1769-L33ERM Shown
1585J-M8CBJM-x (shielded) or
11585J-M8UBJM-x(high-flex shielded)
Ethernet Cable
RSLogix 5000® Software
(version 20.00.00 or later) or the
Studio 5000 Logix Designer® Application
PanelView™ Plus Compact
Display Terminal
1734-AENT POINT I/O™
EtherNet/IP Adapter
2198-ABQE
Encoder Output Module
Line Scan
Cameras
842E-CMIntegratedMotion
Encoder on EtherNet/IP

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 15
Start Chapter 1
Catalog Number Explanation Kinetix 350 drive catalog numbers and descriptions are listed in these tables.
Table 3 - Kinetix 350 Drives (single-phase)
Table 4 - Kinetix 350 Drives (single/three-phase)
Table 5 - Kinetix 350 Drives (three-phase)
Table 6 - Kinetix 350 Drive Accessories
Cat. No. Input Voltage Continuous Output
Current A (0-pk) Features
2097-V31PR0-LM 120V, 1 Ø
240V, 1 Ø
2.8 •120VDoublermode
•SafeTorque-off
2097-V31PR2-LM 5.7
2097-V32PR0-LM
240V, 1 Ø
2.8
• Integrated AC line filter
•SafeTorque-off
2097-V32PR2-LM 5.7
2097-V32PR4-LM 11.3
Cat. No. Input Voltage Continuous Output
Current A (0-pk) Features
2097-V33PR1-LM
120V, 1 Ø
240V, 1 Ø
240V, 3 Ø
2.8
Safe Torque-off
2097-V33PR3-LM 5.7
2097-V33PR5-LM 11.3
2097-V33PR6-LM 17.0
Cat. No. Input Voltage Continuous Output
Current A (0-pk) Features
2097-V34PR3-LM
480V, 3 Ø
2.8
Safe Torque-off2097-V34PR5-LM 5.7
2097-V34PR6-LM 8.5
Cat. No. Drive Components
2097-FxAC line filters
2097-TB1 Terminal block for I/O connector
2097-RxShunt resistors
2097-PGMR Memory module programmer
2097-MEM Memory modules 12 pack

16 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017
Chapter 1 Start
Agency Compliance If this product is installed within the European Union and has the CE
marking, the following regulations apply.
For more information on electrical noise reduction, see 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.
See Appendix A on page 129 for interconnect diagrams, including input power
wiring and drive/motor interconnect diagrams.
ATTENTION: Meeting CE requires a groundedsystem. The method of
grounding the AC line filterand drive must match. Failure to do this renders
the filter ineffective and can cause damage to the filter.
For grounding examples, see Grounding Your Kinetix 350 Drive System on
page 58.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 17
Chapter 2
Install the Kinetix 350 Drive System
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.rockwellautomation.com/global/support/selection.page
System Mounting Requirements
• To comply with UL and CE requirements, the Kinetix® 350 system must
be enclosed in a grounded conductive enclosure. It must that offer
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 that 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.
Topic Page
System Design Guidelines 17
Electrical Noise Reduction 24
Mount Your Kinetix 350 Drive 32
ATTENTION: Plan the installation of your system so that you can cut, drill,
tap, andweld with the system that is removed from the enclosure. Because
the system is ofthe 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 resultin damage to components.

18 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017
Chapter 2 Install the Kinetix 350 Drive System
• 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.
• 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).
See the System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001, to understand the concept of electrical noise
reduction better.
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) and 65,000 A (circuit
breakers).
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.
See the Kinetix Servo Drives Specifications Technical Data, publication
KNX-TD003 for input current and inrush current specifications for your
Kinetix 350 drive.
See Fuse and Circuit Breaker (CB) Specifications on page 19 for
recommended circuit breakers and fuses.
IMPORTANT System performance was tested at these cable length specifications. These
limitations are also a CE requirement.
IMPORTANT Do not use circuit protection devices on the output of an AC drive as an
isolating disconnect switch ormotor overload device.These devices are
designed to operate on sine wave voltageand the drive'sPWM waveform
does not allow it to operate properly. As a result, damage to the device
occurs.

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017 19
Install the Kinetix 350 Drive System Chapter 2
Table 7 - Fuse and Circuit Breaker (CB) Specifications
Drive Cat. No. Drive
Voltage Phase
UL Applications IEC (non-UL) Applications
Fuses
(Bussmann)
Cat. No.
Miniature CB (1)
Cat. No.
Motor
Protection CB, (1) (2)
Self-protected CMC
Cat. No.
Miniature CB (1)
Cat. No.
Motor Protection CB (1)
Cat. No.
2097-V31PR0-LM 120V Single-phase
(voltage doubler) KTK-R-20 (20 A) 1489-M1C200 140M-D8E-C20 1489-M1C200 1492-SPM1D200 140M-D8E-C20
120/240V Single-phase KTK-R-10 (10 A) 1489-M1C100 140M-C2E-C10 1489-M1C100 1492-SPM1D100 140M-C2E-C10
2097-V31PR2-LM 120V Single-phase
(voltage doubler) KTK-R-30 (30 A) 1489-M1C300 140M-F8E-C32 1489-M1C300 1492-SPM1D300 140M-F8E-C32
120/240V Single-phase KTK-R-20 (20 A) 1489-M1C200 140M-D8E-C20 1489-M1C200 1492-SPM1D200 140M-D8E-C20
2097-V32PR0-LM
240V Single-phase
KTK-R-20 (20 A) 1489-M1C150 140M-D8E-C16 1489-M1C150 1492-SPM1D150 140M-D8E-C16
2097-V32PR2-LM KTK-R-20 (20 A) 1489-M1C200 140M-D8E-C20 1489-M1C200 1492-SPM1D200 140M-D8E-C20
2097-V32PR4-LM KTK-R-30 (30 A) 1489-M1C300 140M-F8E-C32 1489-M1C300 1492-SPM1D320 140M-F8E-C32
2097-V33PR1-LM 120/240V Single-phase KTK-R-20 (20 A) 1489-M1C200 140M-D8E-C20 1489-M1C200 1492-SPM1D200 140M-D8E-C20
240V Three-phase KTK-R-15 (15 A) 1489-M3C150 140M-D8E-C16 1489-M3C150 1492-SPM3D150 140M-D8E-C16
2097-V33PR3-LM 120/240V Single-phase KTK-R-20 (20 A) 1489-M1C200 140M-D8E-C20 1489-M1C200 1492-SPM1D200 140M-D8E-C20
240V Three-phase KTK-R-15 (15 A) 1489-M3C150 140M-D8E-C16 1489-M3C150 1492-SPM3D150 140M-D8E-C16
2097-V33PR5-LM 120/240V Single-phase KTK-R-30 (30 A) 1489-M1C300 140M-F8E-C32 1489-M1C300 1492-SPM1D300 140M-F8E-C32
240V Three-phase KTK-R-20 (20 A) 1489-M3C200 140M-D8E-C20 1489-M3C200 1492-SPM3D200 140M-D8E-C20
2097-V33PR6-LM 120/240V Single-phase LPJ-40SP (40 A)
Class J N/A 140M-F8E-C32 N/A N/A 140M-F8E-C32
240V Three-phase KTK-R-30 (30 A) 1489-M3C300 1489-M3C300 1492-SPM3D300
2097-V34PR3-LM
480V Three-phase
KTK-R-10 (10 A) 1489-M3C100 140M-C2E-C10 1489-M3C100 1492-SPM3D100 140M-C2E-C10
2097-V34PR5-LM KTK-R-10 (10 A) 1489-M3C100 140M-C2E-C10 1489-M3C100 1492-SPM3D100 140M-C2E-C10
2097-V34PR6-LM KTK-R-20 (20 A) 1489-M3C200 140M-D8E-C20 1489-M3C200 1492-SPM3D200 140M-D8E-C20
(1) Bulletin 1492 and 1489 circuit protection devices have lower short-circuit current ratings than Bulletin 140M devices.
See http://ab.rockwellautomation.com/allenbradley/productdirectory.page? for product literaturewith specific short-circuit ratings.
(2) For UL applications, Bulletin 140M devices are applied as self-protected combination motor controllers.

20 Rockwell Automation Publication 2097-UM002D-EN-P - April 2017
Chapter 2 Install the Kinetix 350 Drive System
Contactor Ratings
Table 8 - Kinetix 350 Drives (120/240V)
Table 9 - Kinetix 350 Drives (240V)
Table 10 - Kinetix 350 Drives (480V)
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 choose the size of a transformer for the main AC power inputs, refer to on
page 18 and Transformer Specifications for Input Power on page 21.
Cat. No. Drive
Voltage AC Coil Contactor DC Coil Contactor
2097-V31PR0-LM 120V 100-C23x10 100-C23Zx10
240V 100-C12x10 100-C12Zx10
2097-V31PR2-LM 120V 100-C30x10 100-C30Zx10
240V 100-C23x10 100-C23Zx10
Cat. No. Drive
Voltage AC Coil Contactor DC Coil Contactor
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 120V 100-C23x10 100-C23Zx10
240V 100-C16x10 100-C16Zx10
2097-V33PR3-LM 120V 100-C23x10 100-C23Zx10
240V 100-C16x10 100-C16Zx10
2097-V33PR5-LM 120V 100-C30x10 100-C30Zx10
240V 100-C23x10 100-C23Zx10
2097-V33PR6-LM 120V N/A N/A
240V 100-C30x10 100-C30Zx10
Cat. No. Drive
Voltage AC Coil Contactor DC Coil Contactor
2097-V34PR3-LM
480V
100-C12x10 100-C12Zx10
2097-V34PR5-LM 100-C12x10 100-C12Zx10
2097-V34PR6-LM 100-C23x10 100-C23Zx10
IMPORTANT If you are using an autotransformer, make sure that the phase to neutral/
ground voltages do not exceed the input voltageratings of the drive.