Rockwell Automation Allen-Bradley Kinetix 300 2097-V31PR0 User manual

User Manual Original Instructions
Kinetix 300 EtherNet/IP
Indexing Servo Drives
Catalog Numbers 2097-V31PR0, 2097-V31PR2, 2097-V32PR0,
2097-V32PR2, 2097-V32PR4, 2097-V33PR1, 2097-V33PR3,
2097-V33PR5, 2097-V33PR6, 2097-V34PR3, 2097-V34PR5,
2097-V34PR6

2Rockwell Automation Publication 2097-UM001F-EN-P - December 2022
Kinetix 300 EtherNet/IP Indexing Servo Drives 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.
These labels may also be on or inside the equipment to provide specific precautions.
Rockwell Automation recognizes that some of the terms that are currently used in our industry and in this publication are not in alignment with the
movement toward inclusive language in technology. We are proactively collaborating with industry peers to find alternatives to such terms and
making changes to our products and content. Please excuse the use of such terms in our content while we implement these changes.
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 2097-UM001F-EN-P - December 2022 3
Table of Contents
Preface
Summary of Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Conventions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Chapter 1
Start About the Kinetix 300 Drive System. . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
CE Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Chapter 2
Installing the Kinetix 300 Drive
System
System Design Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
System Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Transformer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Circuit Breaker/Fuse Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Enclosure Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Power Dissipation Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . 21
Electrical Noise Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Bonding Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Bonding Multiple Subpanels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Establishing the Noise Zones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Cable Categories for Kinetix 300 Drive Components. . . . . . . . . 27
Noise Reduction Guidelines for Drive Accessories. . . . . . . . . . . . 27
Mount Your Kinetix 300 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Chapter 3
Kinetix 300 Drive Connector Data
and Feature Descriptions
Kinetix 300 Drive Connectors and Indicators . . . . . . . . . . . . . . . . . . . 32
Safe Torque Off Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . 33
I/O Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Motor Feedback (MF) Connector Pinout . . . . . . . . . . . . . . . . . . . 35
Ethernet Communication Connector Pinout . . . . . . . . . . . . . . . . 35
AC Input Power Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . 36
Back-up Power Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Shunt Resistor and DC Bus Connector Pinout. . . . . . . . . . . . . . . 36
Motor-Power Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Control Signal Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Analog Reference Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Analog Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Master Gearing/Step and Direction Inputs . . . . . . . . . . . . . . . . . . 45
Buffered Encoder Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

4Rockwell Automation Publication 2097-UM001F-EN-P - December 2022
Table of Contents
Ethernet Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
24V DC Back-up Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Motor Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Motor Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Feedback Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Chapter 4
Connecting the Kinetix 300 Drive
System
Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Build Your Own Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Route Power and Signal Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Determine the Input Power Configuration . . . . . . . . . . . . . . . . . . . . . . 56
Three-phase Power Wired to Three-phase Drives . . . . . . . . . . . . 57
Single-phase Power Wired to Single-phase Drives . . . . . . . . . . . . 58
Voltage Doubler Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Isolation Transformer in Grounded Power Configurations . . . 59
Three-phase Power Wired to Single-phase Drives . . . . . . . . . . . . 59
Voiding of CE Compliance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Ground Your Kinetix 300 Drive System. . . . . . . . . . . . . . . . . . . . . . . . . 62
Ground Your Drive to the System Subpanel . . . . . . . . . . . . . . . . . 62
Ground Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Power Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Wiring Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Wiring the Kinetix 300 Drive Connectors. . . . . . . . . . . . . . . . . . . . . . . 66
Wire the Safe Torque Off (STO) Connector . . . . . . . . . . . . . . . . 66
Wire the Back-up Power (BP) Connector . . . . . . . . . . . . . . . . . . . 66
Wire the Input Power (IPD) Connector. . . . . . . . . . . . . . . . . . . . . 67
Wire the Motor Power (MP) Connector . . . . . . . . . . . . . . . . . . . . 68
Apply the Motor-Cable Shield Clamp . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Feedback and I/O Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Flying-lead Feedback Cable Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . 75
Wiring the Feedback and I/O Connectors . . . . . . . . . . . . . . . . . . . . . . 76
Wire the I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Wire the Low Profile Connector Kit . . . . . . . . . . . . . . . . . . . . . . . . 77
Shunt Resistor Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Chapter 5
MotionView Software
Configuration
Drive Organizer and Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Motor Category. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Synchronous Motor Database . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Linear Motor Database . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
General Category. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Communication Categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Ethernet Communication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
EtherNet/IP (CIP) Communication . . . . . . . . . . . . . . . . . . . . . . . . 90
Input/Output Categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Rockwell Automation Publication 2097-UM001F-EN-P - December 2022 5
Table of Contents
Digital I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Analog I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Limits Categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Velocity Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Position Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Dynamics Category. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Tools Category. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Monitor Category. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Faults Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Indexing Category. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Index Type Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Action Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Start Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Abort Indexing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Reset Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Explicit Messages for Indexing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Homing Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Homing Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Immediate Homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Absolute Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Home to Marker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Home Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Homing Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Homing Firmware Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Homing Methods Timing Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Homing Methods 7…14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Homing Method 23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Homing Method 25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Homing Method 27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Homing Method 29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Homing Method 33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Homing Method 34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Homing Method 35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Upgrade Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Chapter 6
Configure and Start Up the
Kinetix 300 Drive
Keypad Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Configure the Kinetix 300 Drive EtherNet/IP Address. . . . . . . . . . 126
Ethernet Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Kinetix 300 Drive Ethernet Port Configuration. . . . . . . . . . . . . 126
Current IP Address Ethernet Setting . . . . . . . . . . . . . . . . . . . . . . . 127
Configure the IP Address Manually (static address). . . . . . . . . . 127
Configure the IP Address Automatically (dynamic address) . . 129
Install the Kinetix 300 Add-on Profile . . . . . . . . . . . . . . . . . . . . . . . . . 130
Configuring the Logix EtherNet/IP Module. . . . . . . . . . . . . . . . . . . . 131
Configure the Logix Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

6Rockwell Automation Publication 2097-UM001F-EN-P - December 2022
Table of Contents
Configure the Ethernet Port. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Configure the Ethernet Module . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Configure the Kinetix 300 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Apply Power to the Kinetix 300 Drive . . . . . . . . . . . . . . . . . . . . . . . . . 137
Test and Tune the Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Test the Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Tune the Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Select Drive Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Master Gearing Mode Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Master Gearing Example 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Master Gearing Example 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Master Gearing Example 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Configure Master Gearing Mode . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Configure the Drive Parameters and System Variables . . . . . . . . . . . 145
Tools for Viewing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Tools for Changing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Configure Drive Mode with Explicit Messaging. . . . . . . . . . . . . . . . . 148
Configure Drive for Linear Motors and Direct Drive Stages. . . . . . 150
Motor Temperature Sensor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Understanding Encoder Resolution Setting. . . . . . . . . . . . . . . . . 150
Change the Encoder Resolution for an Incremental Encoder . 151
Chapter 7
Troubleshooting the Kinetix 300
Drive System
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
General Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Display Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Error Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Clearing Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Use Digital Inputs to Clear Faults. . . . . . . . . . . . . . . . . . . . . . . . . . 158
Use Drive Parameters to Clear Faults. . . . . . . . . . . . . . . . . . . . . . . 158
Chapter 8
Kinetix 300 Drive Safe Torque Off
Feature
Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Important Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Safety Category 3 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Stop Category Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Performance Level and Safety Integrity Level (SIL) CL3 . . . . . 162
Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Functional Proof Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Troubleshooting the Safe Torque Off Function . . . . . . . . . . . . . 164
PFD and PFH Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
PFD and PFH Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Safe Torque Off Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
STO Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Wiring Your Safe Torque Off Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . 166

Rockwell Automation Publication 2097-UM001F-EN-P - December 2022 7
Table of Contents
European Union Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Safe Torque Off Wiring Requirements . . . . . . . . . . . . . . . . . . . . . 167
Kinetix 300 Drive Safe Torque Off Feature. . . . . . . . . . . . . . . . . . . . . 168
Safe Torque Off Feature Bypass. . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Kinetix 300 Drive Safe Torque Off Wiring Diagrams . . . . . . . . . . . 169
Safe Torque Off Signal Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Safety Input and Output Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Appendix A
Interconnect Diagrams Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Shunt-Resistor Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Kinetix 300 Drive/Rotary Motor Wiring Examples . . . . . . . . . . . . . 178
Kinetix 300 Drive/Linear Motor Wiring Examples . . . . . . . . . . . . . 181
Kinetix 300 Drive/Actuator Wiring Examples . . . . . . . . . . . . . . . . . . 183
Kinetix 300 Drive to MicroLogix Controller Wiring Examples. . . 186
Kinetix 300 Drive Master Gearing Wiring Example . . . . . . . . . . . . . 187
Motor Brake Currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Appendix B
Input and Output Assembly Input and Output Assembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Output Assembly Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Incremental Position Point-to-Point Profile . . . . . . . . . . . . . . . . 198
Velocity Motion Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Appendix C
Kinetix 300 Drive ID Tag Numbers Tag Number Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Index Base Addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Appendix D
MicroLogix Explicit Messaging Explicit Messaging Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Explicit Messaging Data Type Examples. . . . . . . . . . . . . . . . . . . . . . . . 214
DINT Data Type Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
REAL Data Type Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
String Data Type Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
Appendix E
Overtravel Inputs Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Overtravel Hardware Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Overtravel Fault Recovery. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222

8Rockwell Automation Publication 2097-UM001F-EN-P - December 2022
Table of Contents
Appendix F
Leakage Current Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

Rockwell Automation Publication 2097-UM001F-EN-P - December 2022 9
Preface
This manual provides detailed installation instructions for mounting, wiring,
and troubleshooting your Kinetix® 300 drive; and system integration for your
drive/motor combination with a Logix controller.
This manual is intended for engineers and technicians that are directly
involved in the installation and wiring of the Kinetix 300 drive and
programmers who are directly involved in operation, field maintenance, and
integration of the Kinetix 300 drive.
If you do not have a basic understanding of the Kinetix 300 drive, contact your
local Rockwell Automation sales representative for information on available
training courses.
Rockwell Automation recognizes that some of the terms that are currently used
in our industry and in this publication are not in alignment with the movement
toward inclusive language in technology. We are proactively collaborating with
industry peers to find alternatives to such terms and making changes to our
products and content. Please excuse the use of such terms in our content while
we implement these changes.
Summary of Changes This publication contains the following new or updated information. This list
includes substantive updates only and is not intended to reflect all changes.
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.
Topic Page
Added the Bulletin 140M to 140MT Motor Protection Circuit Breakers Migration Profile
publication information to the Additional Resources table. 10
Updated all 140M-C and 140M-D devices (which reached end of life) to the equivalent 140MT
device in Table 6 - Fuse and Circuit Breaker (CB) Specifications. 18
Updated European Union Directives references in the Wiring Your Safe Torque Off Circuit section. 166

10 Rockwell Automation Publication 2097-UM001F-EN-P - December 2022
Preface
Additional Resources These documents contain additional information concerning related products
from Rockwell Automation. You can view or download publications at
rok.auto/literature.
Resource Description
Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001 Product specifications for Kinetix VPL, VPC, VPF, VPH, and VPS; Kinetix MPL,
MPM, MPF, and MPS; Kinetix TLY and TL; Kinetix HPK; and Kinetix MMA rotary
motors.
Kinetix Linear Motion Specifications Technical Data, publication KNX-TD002 Product specifications for Kinetix MPAS and MPMA linear stages, Kinetix MPAR
and MPAI electric cylinders, and Kinetix LDC and LDL linear motors.
Kinetix Rotary and Linear Motion Cable Specifications Technical Data,
publication KNX-TD004 Product specifications for Kinetix 2090 motor and interface cables.
Kinetix 3, 300, 350, 2000, 6000, 6200, 6500, 7000 Servo Drives Specifications Technical Data,
publication KNX-TD005 Provides product specifications for Kinetix Integrated Motion over the
EtherNet/IP network (Kinetix 6500 and Kinetix 350), Integrated Motion over
Sercos interface (Kinetix 6200, Kinetix 6000, Kinetix 2000, and Kinetix 7000),
and component (Kinetix 3) servo drive families.
Kinetix 300 Shunt Resistor Installation Instructions, publication 2097-IN002 Information on how to install and wire the Kinetix 300 shunt resistors.
Kinetix 300 AC Line Filter Installation Instructions, publication 2097-IN003 Information on installing and wiring the Kinetix 300 AC line filter.
Kinetix 300 I/O Terminal Expansion Block Installation Instructions, publication 2097-IN005 Information on how to install and wire the Kinetix 300 I/O terminal expansion
block.
Kinetix 300 Memory Module Installation Instructions, publication 2097-IN007 Information on how to install the Kinetix 300 memory module.
Bulletin 140M to 140MT Motor Protection Circuit Breakers Migration Profile, publication
MIGRAT-PP049 Provides detailed migration solutions for obsolete 140M motor protection devices to 140MT motor protection devices.
Kinetix 300 Memory Module Programmer Quick Start, publication 2097-QS001 Information on how to use the memory module programmer to duplicate the
memory module.
Kinetix 300/350 Drive Systems Design Guide, publication KNX-RM004 Provides system design guide to determine and select the required (drive
specific) drive module, power accessory, connector kit, motor cable, and
interface cable catalog numbers for your drive and motor/actuator motion
control system. Included are system performance specifications and torque/
speed curves (rotary motion) and force/velocity curves (linear motion) for your
motion application
CompactLogix™ System User Manual, publication 1769-UM011 Information on how to plan, mount, wire, and troubleshoot your
CompactLogix system.
ControlLogix® Controllers User Manual, publication 1756-UM001 Information on how to install, configure, program, and operate a ControlLogix
system.
ControlFLASH™ Firmware Upgrade Kit User Manual, publication 1756-QS105 For ControlFLASH information not specific to any drive family.
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 Provides information, examples, and techniques designed to minimize system
failures caused by electrical noise.
Product Certifications website, rok.auto/certifications 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.