Rockwell Automation Allen-Bradley Kinetix 3 2071-AP0 User manual

Kinetix 3 Component Servo Drives
Catalog Numbers 2071-AP0, 2071-AP1, 2071-AP2, 2071-AP4, 2071-AP8, 2071-A10, 2071-A15
User Manual

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.
Allen-Bradley, Connected Components Workbench, Data Highway Plus, Kinetix, LDC-Series, LDL-Series, Micro800, Micro810, Micro830, Micro850, MicroLogix, MP-Series, PanelView, Rockwell Automation, Rockwell
Software, RSLogix, and TL-Series are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
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.
IMPORTANT
Identifies information that is critical 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
potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL
Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).

Rockwell Automation Publication 2071-UM001E-EN-P - November 2013 3
Summary of Changes
This manual contains new and updated information. Changes throughout this
revision are marked by change bars, as shown to the right of this paragraph.
New and Updated
Information
This table contains the changes made to this revision.
Topic Page
Added Kinetix™ 3 system components to work with Connected Components
Workbench software
12
Added Kinetix 3 system components to figures that work with Connected
Components Workbench software
13…14
Added I/O interface diagram 33
Added information to Digital Inputs and Digital Output tables 40…44
Updated Table 30 - 2090-CFBM6DF-CBAAxx Feedback Cable 72
Added reset drive procedure 83
Added Chapter 6 Configure Drive for Communication 85
Added Chapter 7 Configure Your Drive for Communication with a Personal
Computer Running Connected Components Workbench Software
91
Added Reset Drive to Default Values by Using Ultraware Software 102
Added Kinetix 3 to MicroLogix™ and Micro800™ controller interconnect diagrams
for PTO
127

4Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
Summary of Changes
Notes:

Rockwell Automation Publication 2071-UM001E-EN-P - November 2013 5
Table of Contents
Preface
About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Chapter 1
Start
About the Kinetix 3 Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Chapter 2
Install the Kinetix 3 Drive System
System Design Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
System Mounting Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Fuse Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Fuse/Contactor Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Sizing the Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Power Dissipation Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Electrical Noise Reduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Bonding Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Bonding Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Establishing Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Cable Categories for Kinetix 3 Drive Components . . . . . . . . . . . . . . 27
Noise Reduction Guidelines for Drive Accessories. . . . . . . . . . . . . . . 27
Mount Your Kinetix 3 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Chapter 3
Kinetix 3 Drive Connector Data
Kinetix 3 Drive Connectors and Indicators. . . . . . . . . . . . . . . . . . . . . . . . . 30
I/O (IOD) Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
I/O Interface Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Motor Feedback (MF) Connector Pinout . . . . . . . . . . . . . . . . . . . . . . 34
Input Power Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Shunt Resistor Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Motor Power Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Motor Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Replacement Battery Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Motor Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Feedback Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Control Signal Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
High Frequency Pulse Command. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Serial Interface Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

6Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
Table of Contents
Chapter 4
Connect the Kinetix 3 Drive
Understanding Basic Wiring Requirements. . . . . . . . . . . . . . . . . . . . . . . . . 53
Building Your Own Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Routing Power and Signal Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Determining Your Type of Input Power . . . . . . . . . . . . . . . . . . . . . . . . 54
Three-phase Power Wired to Three-phase Drives . . . . . . . . . . . . . . . 55
Single-phase Power Wired to Single-phase Drives . . . . . . . . . . . . . . . 57
Isolation Transformer in Grounded Power Configurations. . . . . . . 57
Three-phase Power Wired to Single-phase Drives . . . . . . . . . . . . . . . 58
Grounding Your Kinetix 3 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Grounding Your System to the Subpanel . . . . . . . . . . . . . . . . . . . . . . . 59
Power Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Shunt Resistor Power Wiring Requirement . . . . . . . . . . . . . . . . . . . . . 61
Wiring Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Wiring the Kinetix 3 Drive Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Wire the Input Power (IPD) and Motor Power (MP)
Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Shunt Resistor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Apply the Motor Cable Shield Clamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Feedback and I/O Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Flying-lead Feedback Cable Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Wiring the I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Wiring the Feedback Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Connecting Premolded Motor Feedback Cables. . . . . . . . . . . . . . . . . 75
Wiring the Feedback Breakout Board . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Chapter 5
Using the Keypad Interface
Keypad Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Status Display/Operation Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Reset Drive to Default Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Chapter 6
Configure Your Drive for
Communication
Apply Power to Your Kinetix 3 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Configure Your Kinetix 3 Drive for USB Communication
with a Personal Computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Download Connected Components Workbench Software . . . . . . . 87
Configure Your Kinetix 3 Drive for RS-232 Communication
with a Personal Computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Chapter 7
Configure Your Drive for
Communication with a Personal
Computer Running Connected
Components Workbench Software
Download Connected Components Workbench Software. . . . . . . . . . . 91
Add Your Device to the Connected Components
Workbench Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Configure the Plug in Serial Port on the Micro830 or
Micro850 Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Rockwell Automation Publication 2071-UM001E-EN-P - November 2013 7
Table of Contents
Program the Controller for Modbus Communication
with a Kinetix 3 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Kinetix 3 Configuration Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Alternate Method to Reset the Drive . . . . . . . . . . . . . . . . . . . . . . . . . 100
Chapter 8
Using Ultraware Software to
Configure the Drive
Download Ultraware Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Detect Your Kinetix 3 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Reset Drive to Default Values with Ultraware Software . . . . . . . . . . . . 102
Understanding the Workspace and Drive Branches . . . . . . . . . . . . . . . . 103
Select a Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Tune Your Motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Configure Displayed Units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Test Your Motor (non-indexing move) . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Test Your Motor (indexing move). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Chapter 9
Maintain and Troubleshoot Your
Kinetix 3 Servo Drive
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Maintaining Your Kinetix 3 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
General Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Overtravel Condition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Fault Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Warning Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Error Displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Appendix A
Interconnect Diagrams
Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Kinetix 3 Drive/Rotary Motor Wiring Examples. . . . . . . . . . . . . . . 124
Kinetix 3 Drive/Linear Motor and Actuator Wiring Examples . . 125
Kinetix 3 Drive and MicroLogix Controller Wiring Examples. . . 127
Kinetix 3 Drive and Micro830 Controller Wiring Examples . . . . 128
Motor Brake Currents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .131

8Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
Table of Contents
Notes:

Rockwell Automation Publication 2071-UM001E-EN-P - November 2013 9
Preface
About This Publication This manual provides detailed installation instructions for mounting, wiring, and
troubleshooting your Kinetix 3 drive, and system integration for your drive/
motor combination with a MicroLogix controller.
Who Should Use This Manual This manual is intended for engineers or technicians directly involved in the
installation and wiring of the Kinetix 3 drive and programmers directly involved
in operation, field maintenance, and integration of the Kinetix 3 drive.
If you do not have a basic understanding of the Kinetix 3 drive, contact your local
Rockwell Automation sales representative for information on available training
courses.

10 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
Preface
Additional Resources These documents contain additional information concerning related products
from Rockwell Automation.
You can view or download publications at
http://www.rockwellatuomation.com/literature. To order paper copies of
technical documentation, contact your local Allen-Bradley distributor or
Rockwell Automation sales representative.
Resource Description
Kinetix 3 Component Servo Drive Installation Instructions, publication 2071-IN001 Information on installing your Kinetix 3 drive system.
Kinetix 3 I/O Breakout Board Installation Instructions,
publication 2071-IN002
Information on installing and wiring the Kinetix 3 I/O breakout board.
Kinetix 3 Feedback Breakout Board Installation Instructions,
publication 2071-IN003
Information on installing and wiring the Kinetix 3 feedback breakout board.
Serial Communication Cables Installation Instructions, publication 2090-IN019 Information on installing and schematics for the serial communication cables
used with Kinetix 3 drive.
MicroLogix 1100 Programmable Controllers User Manual,
publication 1763-UM001
Information on how to install, wire, and troubleshoot your controller.
MicroLogix 1400 Programmable Controllers User Manual,
publication 1766-UM001
Micro830™ and Micro850™ Programmable Controllers User Manual, publication 2080-UM002
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines for installing a Rockwell Automation™ industrial
system.
Kinetix 3 Component Servo Drive Serial Host Command Reference Manual, publication 2071-
RM001
Information on the serial communication commands, both ASCII and ModBus-
RTU, for interfacing a motion controller with the Kinetix 3 drive.
Micro800 and Connected Components Workbench Getting Started Guide, publication 2080-QR001 Provides information on basic Micro800™ controller and Connected Components
Workbench software functions.
Micro800 and Connected Components Workbench Application Guide, publication 2080-QR002 Provides procedures for completing basic tasks in Connected Components
Workbench software and for using Connected Components Workbench software
with component-class products.
Ultraware Software User Manual, publication 2098-UM001 Information on Ultraware software used to configure and operate Kinetix 3
drives, or when designing, testing or running C language programs or cam
tables on these drives.
System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001
Information, examples, and techniques designed to minimize system failures
caused by electrical noise.
Motion Analyzer CD, download at http://www.ab.com/motion/software/
analyzer_download.html
Drive and motor sizing with application analysis software.
Rockwell Automation Product Certification,
website http://www.rockwellautomation.com/products/certification
For declarations of conformity (DoC) currently available from
Rockwell Automation.
National Electrical Code, published by the National Fire Protection Association of Boston, MA An article on wire sizes and types for grounding electrical equipment.
Rockwell Automation Industrial Automation Glossary, publication AG-7.1 A glossary of industrial automation terms and abbreviations.

Rockwell Automation Publication 2071-UM001E-EN-P - November 2013 11
Chapter 1
Start
Topic Page
About the Kinetix 3 Drive System 12
Catalog Number Explanation 14
Agency Compliance 14

12 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
Chapter 1 Start
About the Kinetix 3 Drive
System
The Kinetix 3 component servo drive is designed to provide a solution for
applications with output power requirements between 0.6...9.9A rms
(50…1500 W).
Table 1 - Kinetix 3 Drive System Overview
Kinetix 3 System Component Cat. No. Description
Kinetix 3 component servo drive 2071-Axxx Kinetix 3 component servo drives are available with 230V AC input power.
AC line filters 2090-XXLF-TC316 and
2090-XXLF-TC116
2090-XXLF-TC316 three-phase or 2090-XXLF-TC116 single-phase AC line filters are required to meet CE
and available for use in 230V systems.
Limited I/O adaptor board 2071-TBIO 24-pin breakout board. Use with the Kinetix 3 drives (IODconnector) or for controlinterface connections
it accesses 24 of the 50 pins of the I/O connector.
Full Breakout I/O Cable 2090-DAIO-D50
50-pin full breakout I/O cable with flying-leads. Use with the Kinetix 3 drives (IOD connector) or for
control interface connections it accesses 50 of the 50 pins of the I/O connector. This Full Breakout I/O
Cable is required for Pulse Train Output (PTO) drive control.
Motor feedback adaptor board 2071-TBMF 20-pin breakout board. Use with the Kinetix 3 drives (MF connector) or for motor feedback connections.
Ultraware software 2098-UWCPRG Ultraware Version 1.80 or higher provides a method to configure Kinetix 3 drives.
Connected Component
Workbench™ software 9328
Connected Component Workbench software environment a method for configuring or programming
Micro800 controllers, PanelView™ Component terminals, Kinetix 3 drives, and other component level
products.
3.6V Battery Customer supplied 3.6 Volt lithium battery necessary for absolute positioning with the TL-Series™ motors.
Rotary servo motors TL-Series TL-Series motors are available for use with the Kinetix 3 drive. Important: Other motors can be used
with a Kinetix 3 drive, as long as they include incremental encoder feedback and Hall signals).
Linear actuators MP-Series™ and TL-Series Compatible actuators include MP-Series direct drive 230V integrated linear stages and TL-Series electric
cylinders.
Linear motors LDC-Series™ and LDL-Series™ Compatible linear motors include LDC-Series and LDL-Series 230V linear motors.
Cables TL-Series motor power, feedback,
and brake cables
Motor power, feedback, and brake cables include quick connect/quick-release connectors at the motor.
Power and brake cables have flying leads on the drive end connectors that connect to servo motors.
Standard feedback cables have angled, molded connectors on the drive end and connectors that
connect to servo motors. Drive mounted connector kits are also available.
Micro830 and Micro850 controllers 2080-LC30-xxxxx
2080-LC50-xxxxx
Micro800 programmable logic controllers with USB let you do simple PLC-based motion solutions with
the Kinetix 3 drive. In addition Micro830 and Micro850 programmable logic controllers with pulse train
outputs (PTO) can be used.
MicroLogix 1100/1200/1400/1500
controllers
1763-L16xxx
1766-L32xxx
1762-L24xxx
1762-L40xxx,
1764-24xxx
1764-28xxx
The MicroLogix 1100/1200/1400/1500 controller can perform simple motion control with pulse train
outputs (PTO). The MicroLogix 1100/1400 also have the ability to control the drive with Modbus-RTU,
increasing functionality
RSLogix™ 500 software 9324-RL0300ENE RSLogix 500 provides support for programming, commissioning, and maintaining the SLC 500 and
MicroLogix controller families.
Serial communication cables
2090-CCMPCDS-23AAxx
2090-CCMCNDS-48AAxx
2090-CCMDSDS-48AAxx
2090-CCMUSDS-48AAxx
Serial communication cables provide an interface between your system components by using RS-232 or
RS-485 protocols.
1203-USB Converter 1203-USB The 1203-USB converter provides a Drive Serial Interface (DSI) communication between a computer and
Kinetix 3 drive.

Rockwell Automation Publication 2071-UM001E-EN-P - November 2013 13
Start Chapter 1
Figure 1 - Micro800 Configuration - Kinetix 3 Servo Drive System
Figure 2 - MicroLogix Controller Configuration - Kinetix 3 Servo Drive System
CAT.NO.LDC-M075500
SERIALNO.XXXXX XXXX
SERIESA
www.ab.com
MADEINUSA
1 2 3 4
B
A
2071-Axxxx
Kinetix 3 Servo Drive
2090-XXLF-TCxxx
AC Line Filter (optional
equipment)
Three-phase Input
Power
2080-LC30-xxxxx
Micro800 Controller
MP-Series Integrated Linear Stages
MPAS-Axxxx Linear
(direct drive) stage shown
2071-TBMF Motor Feedback
Breakout Board
(optional equipment)
LDL-Series Linear Motors
(LDL-xxxxxxx linear motor shown) LDC-Series Linear Motors
(LDC-Cxxxxxxx linear motor shown)
2090-CCMCNDS-48AAxx Cable (modified)
TL-Series Rotary Motors
(TLY-Axxxx motor shown)
TL-Series Electric Cylinders
(TLAR-Axxxx electric cylinder shown)
2090-CPxM6DF-16AAxx
Motor Power Cable
2090-CFBM6DF-CBAAxx
Motor Feedback Cable
Line
Disconnect
Device
Line Fusing
2090-CCMUSDS-48AAxx Cable
(for configuration only)
USB Cable
1203 -USB
Converter
Connected Components
Workbench software on
personal computer
with a USB port.
USB Cable
(for configuration only)
2090-DAIO-D50xx Full Breakout I/O Cable
(required for PTO drive control)
ESC
OK
2071-Axxxx
Kinetix 3 Servo Drive
1766-L32xxx
MicroLogix 1400
Controller
2090-CCMPCDS-23AAxx
Programming Cable
(programming only)
2090-CCMCNDS-48AAxx
Controller Cable
Ultraware Software
on personal computer
with a RS-232
serial port.

14 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
Chapter 1 Start
Figure 3 - Typical Configuration - Kinetix 3 Servo Drive System (alternate configurations)
Catalog Number Explanation Kinetix 3 drive catalog numbers and descriptions are listed in the table.
Agency Compliance If this product is installed within the European Union and has the CE mark, the
following regulations apply.
1 2 3 4
B
A
2071-Axxxx
Kinetix 3 Servo Drive
2071-Axxxx
Kinetix 3 Servo Drive
2071-Axxxx
Kinetix 3 Servo Drives
2080-LC30-xxxxx
Micro830 Controller
2090-CCMCNDS-48AAx
(modified)
2090-CCMDSDS-48AAxx
Drive-to-Drive Cable
TL-Series Rotary Motors
(TL-Axxxx motor shown)
2090-DANPT-16Sxx
Motor Power Cable
2090-DANFCT-Sxx
Motor Feedback Cable
Table 2 - Kinetix 3 Drive Catalog Numbers
Cat. No. Component Servo Drives
2071-AP0 Kinetix 3, 230V AC, 1 Ø, 0.6 A
2071-AP1 Kinetix 3, 230V AC, 1 Ø, 1.1 A
2071-AP2 Kinetix 3, 230V AC, 1 Ø, 1.7 A
2071-AP4 Kinetix 3, 230V AC, 1 Ø, 3.3 A
2071-AP8 Kinetix 3, 230V AC, 1 or 3 Ø, 5.0 A
2071-A10 Kinetix 3, 230V AC, 3 Ø, 7.0 A
2071-A15 Kinetix 3, 230V AC, 3 Ø, 9.9 A
ATTENTION: Meeting CE requires a grounded system, and the method of
grounding the AC line filter and drive must match. Failure to do this renders the
filter ineffective and can cause damage to the filter.
For grounding examples, refer to Grounding Your Kinetix 3 Drive on page 59.

Rockwell Automation Publication 2071-UM001E-EN-P - November 2013 15
Start Chapter 1
For information on electrical noise reduction, refer to the System Design for
Control of Electrical Noise Reference Manual, publication GMC-RM001.
To meet CE requirements, these requirements apply:
•Install an AC line filter (catalog number 2090-XXLF-TCxxx) as close to
the drive as possible.
•Use 2090 series motor power cables and terminate the cable shields to the
drive or subpanel.
•Use 2090 series motor feedback cables and properly terminate the
feedback cable shield. Drive-to-motor feedback cables must not exceed
30 m (98.4 ft). Drive-to-motor power cables must not exceed 30 m
(98.4 ft).
•Install the Kinetix 3 system inside an enclosure. Run input power wiring in
conduit (grounded to the enclosure) outside of the enclosure. Separate
signal and power cables.
•Segregate input power wiring and motor power cables from control wiring
and motor feedback cables. Use shielded cable for power wiring and
provide a grounded 360° clamp termination.
Refer to Appendix A on page 123 for interconnect diagrams, including input
power wiring and drive/motor interconnect diagrams.

16 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
Chapter 1 Start
Notes:

Rockwell Automation Publication 2071-UM001E-EN-P - November 2013 17
Chapter 2
Install the Kinetix 3 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 online product selection and system configuration tools, including
AutoCAD (DXF) drawings of the product, refer to
http://www.ab.com/e-tools.
System Mounting Requirements
•To comply with UL and CE requirements, the Kinetix 3 system must be
enclosed in a grounded conductive enclosure offering protection as
defined in standard EN 60529 (IEC 529) to IP55 such that they are not
accessible to an operator or unskilled person. A NEMA 4X enclosure
exceeds these requirements providing protection to IP66.
•The panel you install inside the enclosure for mounting your system
components must be on a flat, rigid, vertical surface that is not 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.
Topic Page
System Design Guidelines 17
Electrical Noise Reduction 23
Mount Your Kinetix 3 Drive 28
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 that can result in damage to components.

18 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
Chapter 2 Install the Kinetix 3 Drive System
•Segregate input power wiring and motor power cables from control wiring
and motor feedback cables. Use shielded cable for power wiring and
provide a grounded 360° clamp termination.
•Use high-frequency (HF) bonding techniques to connect the enclosure,
machine frame, and motor housing, and to provide a low-impedance
return path for high-frequency (HF) energy and reduce electrical noise.
•Use 2090 series motor feedback cables or use connector kits and properly
terminate the feedback cable shield. Drive-to-motor feedback cables must
not exceed 30 m (98.4 ft). Drive-to-motor power cables must not exceed
30 m (98.4 ft).
Refer to the System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001, to better understand the concept of electrical noise
reduction.
Fuse Selection
The Kinetix 3 drives use internal solid-state motor short-circuit protection and,
when protected by suitable branch circuit protection, are rated for use on a
circuit capable of delivering up to 100,000 A. Fuses or circuit breakers, with
adequate withstand and interrupt ratings, as defined in NEC or applicable local
codes, are permitted.
Refer to Fuse/Contactor Specifications on page 19 for recommended fuses.
Refer to Kinetix Servo Drives Specifications Technical Data for input current and
inrush current specifications for your Kinetix 3 drive.
IMPORTANT
System performance was tested at these cable length specifications. These
limitations are also a CE requirement.

Rockwell Automation Publication 2071-UM001E-EN-P - November 2013 19
Install the Kinetix 3 Drive System Chapter 2
Fuse/Contactor Specifications
Make sure the selected components are properly coordinated and meet
acceptable codes including any requirements for branch circuit protection.
The following fuse examples are recommended for use with Kinetix 3 drives.
Table 3 - Fuse and Contactor Specifications
Drive Cat. No. AC Input Power (1) (2) (3)
Recommended Fuse
(1) Fuses specified are Bussmann fuses.
(2) FNQ-R fuses are described as time-delay fuses, Class CC.
(3) LPJ fuses are described as dual-element time-delay fuses, Class J.
Control Power (2) (4)
Recommended Fuse
(4) FRS-R fuses are described as dual-element time-delay fuses, Class RK5.
Contactor (5)
(5) For contactors: xrepresents coil voltage, yrepresents the number of contacts.
2071-AP0
FNQ-R-7
FRS-R-2-1/2
FNQ-R-7-1/2
LPJ-6
100-K05xy
2071-AP1
2071-AP2 100-K09xy
2071-AP2 FNQ -R-10 100-K12xy
2071-AP8 FNQ-R-20
LPJ-20 100-C16xy
2071-A10
2071- A15 FNQ-R-30
LPJ-30 100-C23xy

20 Rockwell Automation Publication 2071-UM001E-EN-P - November 2013
Chapter 2 Install the Kinetix 3 Drive System
Sizing the Enclosure
This example is provided to assist you in sizing an enclosure for your
Bulletin 2071 drive system. You need heat dissipation data from all components
planned for your enclosure to calculate the enclosure size. See Power Dissipation
Specifications on page 21 for the Kinetix 3 drive power dissipation.
With no active method of heat dissipation (such as fans or air conditioning)
either of these approximate equations can be used.
If the maximum ambient rating of the Kinetix 3 system is 50 °C (122 °F) and if
the maximum environmental temperature is 30 °C (86 °F) then Q=416 and
T=20 in the equation below.
In this example, the enclosure must have an exterior surface of 4.53 m2. If any
portion of the enclosure is not able to transfer heat, it do not be included in the
calculation.
Because the minimum cabinet depth to house the 230V drive (selected for this
example) is 200 mm (7.9 in.), then the cabinet needs to be approximately 2000
mm (high) x 850 mm (wide) x 200 mm (deep).
2 x (0.2 x 0.85) + 2 x (0.2 x 2.0) + 2 x (0.85 x 2.0) = 4.54m2
Because this cabinet size is considerably larger than what is necessary to house the
system components, it can be more efficient to provide a means of cooling in a
smaller cabinet. Contact your cabinet manufacturer for options available to cool
your cabinet.
Metric Standard English
Where T is temperature difference between inside air and
outside ambient (°C), Q is heat generated in enclosure
(Watts), and A is enclosure surface area (m2). The exterior
surface of all six sides of an enclosure is calculated as
Where T is temperature difference between inside air and
outside ambient (°F), Q is heat generated in enclosure
(Watts), and A is enclosure surface area (ft2). The exterior
surface of all six sides of an enclosure is calculated as
A = 2dw + 2dh + 2wh A = (2dw + 2dh + 2wh) /144
Where d (depth), w (width), and h (height) are in meters. Where d (depth), w (width), and h (height) are in inches.
A= 0.38Q
1.8T-1.1
A= 4.08Q
T-1.1
A= 0.38(416)
1.8(20) -1.1
~ 4.5 m2