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104

Rockwell Automation Publication 2097-UM002D-EN-P - April 2017

Chapter 6

Kinetix 350 Drive Safe Torque-off Feature

Safe Torque-off Connector
Data

This section provides safe torque-off (STO) connector and header information
for the Kinetix 350 drive safe torque-off.

STO Connector Pinouts

Headers extend the STO connector signals for use in wiring or to defeat (not
use) the safe torque-off function.

Figure 47 - 6-pin Safe Torque-off (STO) Connector

1 2 3 4 5 6

Safe Torque-off

(STO) Connector

Kinetix 350 Drive, Bottom View

(2097-V32PR4-LM is shown)

STO Pin

Description

Signal

+24V DC output from the drive

+24V DC control

+24V DC output common

Control COM

Safety status

Safety Status

Safety input 1 (+24V DC to enable)

Safety Input 1

Safety common

Safety COM

Safety input 2 (+24V DC to enable)

Safety Input 2

Summary of Contents for Kinetix 350

Page 1: ...rvo 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 ...

Page 2: ...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 informati...

Page 3: ...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 SystemTuningApplication Technique...

Page 4: ...4 Rockwell Automation Publication 2097 UM002D EN P April2017 Summary of Changes Notes ...

Page 5: ...e 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 Chapter3 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 Connecto...

Page 6: ...onnector 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 Connecti...

Page 7: ... 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 Chapter7 Troubleshoot the Kinetix 350 ...

Page 8: ...e Actuator Wiring Examples 137 Motor Brake Currents 140 System Block Diagrams 141 AppendixB Upgrade the Kinetix 350 Drive Firmware Before You Begin 143 Configure Logix5000 Communication 144 Upgrade Firmware 145 Verify the Firmware Upgrade 149 AppendixC Leakage Current Specifications 151 Index 155 ...

Page 9: ...lp 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 Selec...

Page 10: ...LASH Firmware Upgrade Kit User Manual publication 1756 UM105 For ControlFLASH information not specific to any drive family Rockwell Automation Configuration and Selection Tools website http www rockwellautomation com global support selection page Online product selection and system configuration tools including AutoCAD DXF drawings Rockwell Automation Product Certification website http www rockwel...

Page 11: ...Rockwell Automation Publication 2097 UM002D EN P April2017 11 Chapter 1 Start Topic Page About the Kinetix 350 Drive System 12 Catalog Number Explanation 15 Agency Compliance 16 ...

Page 12: ...fety 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 RSLogix5000software version20orearlier andtheStudio5000LogixDesigner application version21orlater are used to program commission and main...

Page 13: ...ce 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...

Page 14: ... 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 PlusCompact Display Terminal 1734 AENT POINT I O EtherNet IP Adapter ...

Page 15: ... mode Safe Torque off 2097 V31PR2 LM 5 7 2097 V32PR0 LM 240V 1 Ø 2 8 Integrated AC line filter Safe Torque 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 209...

Page 16: ...ector 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...

Page 17: ...6 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 moto...

Page 18: ... 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 Specification...

Page 19: ...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...

Page 20: ...00 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 10...

Page 21: ...ngleandthree phasepower whereformfactor is used to compensate for transformer drive and motor losses and to accountforutilizationintheintermittentoperatingareaofthetorquespeed curve For example to choose the size of a transformer for the voltage requirements of catalog number 2097 V34PR6 LM 3 kW continuous x 1 5 4 5 KVA transformer Attribute Value 460V system Input volt amperes 750VA Input voltage...

Page 22: ...0 x 2 0 4 59 m 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 Power Dissipation Specifications This table shows the maximum power dissipation of each drive Use this table to size an enclosure...

Page 23: ... the drive when the 2090 K2CK D15M feedback connector kit is used Additional clearance is required for the cables and wires that are connected to the top front and bottom of the drive An additional 150 mm 6 0 in is required when the drive is mounted next to noise sensitive equipment or clean wireways See Kinetix 350 Drive Power Specifications in Kinetix Servo Drives Specifications Technical Data p...

Page 24: ...e practice where you connect metal chassis assemblies frames shields and enclosures to reduce the effects of electromagnetic interference EMI Unless specified most paints are not conductive and act as insulators To achieve a good bond between drive and the subpanel surfaces must be paint free or plated Bonded metal surfaces create a low impedance return path for high frequency energy Improper bond...

Page 25: ... or scrape paint on front of panel Nut Star Washer Welded Stud Flat Washer Stud mounting a Ground Bus or Chassis to the Subpanel Scrape Paint Flat Washer If the mounting bracket is coated with a non conductive material anodized orpainted scrapethematerialaround the mounting hole Mounting Bracket or Ground Bus Subpanel Subpanel Nut Nut Star Washer Flat Washer Star Washer Star Washer Scrape paint on...

Page 26: ...ence in impedance can affect networks and other devices that span multiple panels Bond the top and bottom of each subpanel to the cabinet by using 25 4 mm 1 0 in by 6 35 mm 0 25 in wire braid As a rule the wider and shorter the braid is the better the bond Scrape the paint from around each fastener to maximize metal to metal contact Figure 5 Multiple Subpanels and Cabinet Recommendations Wire Brai...

Page 27: ...ulletin 2090 AC line filters 1 If drive system I O cable contains dirty relay wires route cable in dirty wireway 2 For tight spaces use a grounded steel shield For examples refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 3 This voltage is a clean 24V DC available for any device that requires it The 24V enters the clean wireway and exits to theleft ...

Page 28: ... that requires it The 24V enters the clean wireway and exits to theleft 4 This voltage is a dirty 24V DC available for motor brakes and contactors The 24V enters the dirty wireway and exits to theright Clean Wireway 24V Motor Brake PS Circuit Breaker Contactors Kinetix 350 Drive I O 1 Ethernet and Feedback Cables Very Dirty Zone Segregated not in wireway Route 24V DC I O Shielded Cable Ethernet sh...

Page 29: ...noises cause ACLineFilters If you are using a Bulletin 2090 line filter mount the filter on the same panel as the Kinetix 350 drive and as close to the drive as possible Observe these guidelines when mounting your AC line filter Good HF bonding to the panel is critical For painted panels refer to the examples on page 24 Segregate input and output wiring as far as possible Wire Cable Connector Zone...

Page 30: ...unded steel shield between the drive and clean wireway For examples refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 Contactor Dirty Wireway Customer supplied Metal Enclosure 150 mm 6 0 in clearance min onall four sides of the shunt module Very dirty connections segregated not in wireway Shunt Wiring Methods Twisted pair in conduit first choice Shie...

Page 31: ...e drive and clean wireway For examples refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 MotorBrake The brake is mounted inside the motor and how you connect to the drive depends on the motor series See Kinetix 350 Drive Rotary Motor Wiring Examples that begin on page 134 for the interconnect diagram of your drive motor combination Shunt Wiring Metho...

Page 32: ...r KNX TD003 2 Attach the Kinetix 350 drive to the cabinet first by using the upper mounting slots of the drive and then the lower The recommended mounting hardware is M4 6 32 steel machine screws that are torqued to 1 1 N m 9 8 lb in Observe bonding techniques as described in Bonding Drives on page 24 3 Tighten all mounting fasteners ATTENTION This drive contains electrostatic discharge ESD sensit...

Page 33: ...mation Publication 2097 UM002D EN P April2017 33 Chapter 3 Kinetix 350 Drive Connector Data Topic Page Kinetix 350 Drive Connectors and Indicators 34 Control Signal Specifications 39 Motor Feedback Specifications 44 ...

Page 34: ...splay control push buttons 3 6 Axis status indicator 14 Motor power MP connector 7 Ethernet communication port Port 1 15 Safe torque off STO connector 8 I O IOD connector 10 3 4 2 5 6 7 9 8 1 12 13 11 14 15 10 0 3 5 0 Kinetix 350 Drive Front View 2097 V33PR5 LM drive is shown Kinetix 350 Drive Bottom View 2097 V33PR5 LM drive is shown Kinetix 350 Drive Top View 2097 V33PR5 LM drive is shown Design...

Page 35: ...f Connector Pinout 1 2 3 4 5 6 24VDCcontrol ControlCOM Safetystatus Safetyinput1 SafetyCOM Safetyinput2 Bottom view of the Kinetix 350 drive 2097 V33PR5 LM drive is shown Wiring Plug Header Safe Torque off STO Connector STO Pin Description Signal 1 24V DC output from the drive 24V DC control 2 24V DC output common Control COM 3 Safety status Safety Status 4 Safety input 1 24V DC to enable Safety I...

Page 36: ... Signal 1 25 Reserved Reserved 26 Overtravel enable and home common COM 27 Negative hardware overtravel NEG_OT 28 Positive hardware overtravel POS_OT 29 Drive enable ENABLE 30 Home switch HOME_SW 31 35 Reserved 36 Registration common REG_COM 37 38 Reserved 39 Registration input REG 40 42 Reserved 43 Motor brake release positive MTR_BRAKE 44 Motor brake release negative MTR_BRAKE 44 50 Reserved 1 2...

Page 37: ...put BM differential input COS BM 12 Single ended 5V Hall effect commutation S1 5 Data differential input Index pulse DATA IM 13 Single ended 5V Hall effect commutation S2 6 Common ECOM 14 Encoder power 5V EPWR_5V 2 7 Encoder power 9V EPWR_9V 2 15 Reserved 8 Single ended 5V Hall effect commutation S3 1 Not applicable unless motor has integrated thermal protection 2 Encoder power supply uses either ...

Page 38: ...in L1 L1 AC power in L1 N AC power neutral only 120V doubler N PE Protective earth ground PE PE Protective earth ground PE IPD Designator Description 2097 V33PRx LM and 2097 V34PRx LM drives Signal L3 AC power in three phase models L3 L2 AC power in L2 L1 AC power in L1 PE Protective earth ground PE BP Designator Description Signal 24V Positive 24V DC 24V DC 24V 24V DC power supply return Return B...

Page 39: ...Sensitive IOD 29 ENABLE Optically isolated single ended active high signal Current loading is nominally 9 mA A 24V DC input is applied to this terminal to enable the axis 0 5 ms Level IOD 30 HOME Optically isolated single ended active high signal Current loading is nominally 9 mA Home switch normally open contact inputs axis require 24V DC nominal 0 5 ms Edge IOD 39 REG Optically isolated single e...

Page 40: ...ntroller Registration An inactive to active transition also known as a positive transition or active to inactive transition alsoknown as a negative transition is used to latch position values for use in registration moves Positive Over travel If the controller configuration specifies checking of the hardware over travel inputs an inactive state indicates that a position limit has been exceeded in ...

Page 41: ...e Connector Data Chapter 3 Figure 15 Sourcing of Digital Inputs Figure 16 Sinking of Digital Inputs GND ENABLE HOME_SW POS_OT or NEG_OT COM 24V ENABLE HOME_SW POS_OT or NEG_OT 1 2 kΩ 1 2 kΩ GND ENABLE HOME_SW POS_OT or NEG_OT COM 24V ENABLE HOME_SW POS_OT or NEG_OT 1 2 kΩ 1 2 kΩ ...

Page 42: ...istration Digital Input Motor Brake Output The two digital outputs IOD 43 and IOD 44 have fixed pin assignments for motor brake function The following schematic shows how to wire your motor brake GND REG REG_COM 24V REG 1 2 kΩ 1 2 kΩ GND REG REG_COM 24V REG 1 2 kΩ 1 2 kΩ Attribute Value Circuit type Optically isolated open collector emitter Voltage max 30V DC Current max 100 mA ...

Page 43: ...y compliant to the EtherNet IP standard Restrict the location of all Ethernet cabling to clean zones with minimal electromagnetic interference 24V DC Back up Power Specifications The Kinetix 350 drive can use an external power supply to power the logic and communication circuits If an independent 24V 1 A power supply is connected to the BP connector the logic and communication circuits remain acti...

Page 44: ...motor feedback connector and shared connector pins in many cases Table 18 Motor Feedback Signals by Device Type Attribute Value Feedback device support Stegmann Hiperface Generic TTL Incremental Tamagawa 17 bit Serial Power supply EPWR5V 5 13 5 67V 400 mA max Power supply EPWR9V 8 3 9 9V 275 mA max Thermostat Single ended under 500 Ω no fault over 10 kΩ fault MF Pin Stegmann Hiperface Generic TTL ...

Page 45: ...mostat signal is shown for all feedback types some motors do not support this feature because it is not part of the feedback device Figure 20 Motor Thermostat Interface Table 19 Motor Thermostat State Specifications 5V 1 kΩ 6 81kΩ 0 01 μF TS 5V Kinetix 350 Drive State Resistance at TS 1 1 Resistance is measured between TS MF pin 11 and ECOM MF pin 6 No Fault 500 Ω Fault 10 kΩ ...

Page 46: ...bits no parity Sine Cosine interpolation 2048 counts sine period Input frequency AM BM 250 kHz max Input voltage AM BM 0 6 1 2V p p measured at the drive inputs Line loss detection AM BM Average sin cos constant 56 pF SIN or COS SIN or COS 1 kΩ to AqB Counter 1 kΩ 10 kΩ 10 kΩ 1 kΩ 1 kΩ 1 kΩ 56 pF 56 pF 26 7 kΩ 47 pF to A D Converter 56 pF 5V 1 kΩ 1 kΩ Kinetix 350 Drive to UART from UART from UART ...

Page 47: ...nd IM 1 0 7 0V DC current draw AM BM and IM 30 mA max Input signal frequency AM BM and IM 5 0 MHz max Edge separation AM and BM 42 ns min between any two edges Line loss detection AM and BM Average AM BM constant Hall inputs S1 S2 and S3 Single ended TTL open collector or none AM or BM 1 kΩ to A D Converter 56 pF 56 pF 1 kΩ 1 kΩ AM or BM 1 kΩ 10 kΩ 56 pF 47 pF 26 7 kΩ to AqB Counter 1 kΩ 10 kΩ 56 ...

Page 48: ...from UART from UART MTR_IM 56 pF MTR_IM 10 kΩ to AqB Counter 10 kΩ 1 kΩ 1 kΩ 56 pF 5V Kinetix 350 Drive Shaded area indicates components that are part of the circuit but support other feedback device types not used for Generic TTL incremental support 1 kΩ S1 S2 or S3 5V 56 pF 1 kΩ 5V Kinetix 350 Drive Attribute Value Tamagawa model support TS5669N124 Protocol Tamagawa proprietary Memory support Pr...

Page 49: ...hannel is included Table 23 Motor Feedback Power Specifications Figure 26 Pin Orientation for 15 pin Motor Feedback MF Connector Supply Reference Voltage Current mA Min Nominal Max Min Max 5V DC EPWR_5V 5 13 5 4 5 67 0 400 1 2 9V DC EPWR_9V 8 3 9 1 9 9 0 275 2 3 1 400 mA on the 5V supply with no load on the 9V supply 2 300 mA on the 5V supply with 150 mA on the 9V supply 3 275 mA on the 9V supply ...

Page 50: ...50 Rockwell Automation Publication 2097 UM002D EN P April2017 Chapter 3 Kinetix 350 Drive Connector Data Notes ...

Page 51: ... that you can cut drill tap and weld with the system that is removed from the enclosure Because the system is of the open type construction be careful to keep any metal debris from falling into it Metal debris or other foreign matter can become lodged in the circuitry which can result in damage to components SHOCK HAZARD To avoid hazard ofelectrical shock performallmountingand wiringoftheBulletin2...

Page 52: ...power and signal wiring on a machine or system radiated noise from nearby relays transformers and other electronic drives can be induced into motor or encoder feedback signals input output communication or other sensitive low voltage signals Radiated noise can cause system faults and communication anomalies See Electrical Noise Reduction on page 24 for examples of routing high and low voltage cabl...

Page 53: ...ound Bus Ground Grid or Power Distribution Ground AC Line Filter M1 Contactor Input Fusing Feeder and branch short circuit protection is not illustrated 2097 V34PRx LM ATTENTION For the 480V Kinetix 350 drives to meet proper voltage creepageandclearancerequirements eachphasevoltagetogroundmustbe less than or equal to 300V AC rms This requirement means that the power system must use a center ground...

Page 54: ...ct the 120V single phase input power to the IPD L1 and IPD N terminals For Kinetix 350 drive power specifications refer to Kinetix Servo Drives Specifications Technical Data publication KNX TD003 For Kinetix 350 drive input wiring diagrams refer to Power Wiring Examples on page 131 IMPORTANT The 2097 V32PRx LM models have integrated AC line filters and do not require the AC line filter that is sho...

Page 55: ...s Figure 31 Single phase Amplifiers on Three phase Power WYE 1 Contactors MI M2 and M3 can be optional For more information see Understanding the Machinery Directive publication SHB 900 AC line filter is optional but is required for CE compliance Feeder short circuit protection is not illustrated ATTENTION If the supply transformer is an auto transformer not recommended do not add a chassis earth ...

Page 56: ...voltage swings at the individual drives This condition occurs when the neutral point moves vectorially as a result of load variations that individual drives experience The supply voltage swing can cause undervoltage and overvoltage trips on the drives and the drive can be damaged if the overvoltage limit is exceeded L1 L2 L3 L1 L2 L1 L2 L1 L2 IPD L1 N IPD L1 N IPD L1 N L1 L2 L1 L2 L1 L2 E E E IPD ...

Page 57: ...formerand neutralin line filter applications that are described in this document have not been tested for EMC by Rockwell Automation The products that are used in such installations are not considered CE marked by Rockwell Automation If this three phase isolation transformer and neutral in line filter application is used the responsibility for EMC validation lies with the user and CE marking of th...

Page 58: ...0 drive is mounted on a painted subpanel ground the drive to a bonded cabinet ground bus by using a braided ground strap or 4 0 mm2 12 AWG solid copper wire 100 mm 3 9 in long Figure 33 Connecting the Braided Ground Strap Example For drive dimensions refer to Product Dimensions in Kinetix Servo Drives Specifications Technical Data publication KNX TD003 IMPORTANT To improve the bond between the Kin...

Page 59: ...e Figure 35 HF bonding is not illustrated For information see Bonding Multiple Subpanels on page 26 Figure 35 Subpanels Connected to a Single Ground Point Bonded Ground Bar optional Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground Always follow NEC and applicable local codes Chassis Ground Chassis Ground Chassis Ground Chassis Ground Always follow NEC and applicable local codes G...

Page 60: ...28 0 5 4 5 2097 V32PR4 LM 2097 V33PR5 LM 4 0 12 7 0 28 0 5 4 5 2097 V31PR2 LM 2097 V33PR6 LM 6 0 10 7 0 28 0 56 0 79 5 0 7 0 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 V34PR3 LM 2097 V34PR5 LM 2097 V34PR6 LM Motor power MP connector PE W V U 2 5 14 7 0 28 0 5 4 5 2097 V33PR6 LM 4 0 12 7 0 28 0 5 4 5 2097 V31PR0 LM 20...

Page 61: ...s with specifications regarding wire types conductor sizes branch circuit protection and disconnect devices The National Electrical Code NEC and local codes outline provisions for safely installing electrical equipment To avoid personal injury and or equipment damage make sure that motor power connectors are used for only connection purposes Do not use them to turn the unit on and off To avoid per...

Page 62: ...o the Kinetix 350 drive Wire the Safe Torque off STO Connector For the safe torque off STO connector pinouts feature descriptions and wiring information see Chapter 6 on page 101 Wire the Back up Power BP Connector Table 25 Back up Power BP Connector 24 24V DC 24V DC Kinetix 350 Drive Front View Drive Cat No Terminals Recommended Wire Size mm AWG Strip Length mm in Torque Value N m lb in 2097 V3xP...

Page 63: ...re Size mm AWG Strip Length mm in Torque Value N m lb in 2097 V31PR0 LM 2097 V32PR0 LM 2097 V32PR2 LM 2097 V33PR1 LM 2097 V33PR3 LM 2097 V34PR3 LM 2097 V34PR5 LM 2097 V34PR6 LM L3 L2 L1 PE 1 L2 N L1 N PE 2 L2 L1 PE 3 2 5 14 7 0 28 0 5 4 5 2097 V32PR4 LM 2097 V33PR5 LM 4 0 12 7 0 28 0 5 4 5 2097 V31PR2 LM 2097 V33PR6 LM 6 0 10 7 0 28 0 56 0 79 5 0 7 0 1 Applies to 2097 V33PRx LM and 2097 V34PRx LM ...

Page 64: ...e jacket to expose the shield braid and clamp the exposed shield to the panel W V U PE W V U Kinetix 350 Drive Bottom View Drive Cat No Terminals Recommended Wire Size mm AWG Strip Length mm in Torque Value N m lb in 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 V34PR3 LM 2097 V34PR5 LM 2097 V34PR6 LM PE W V U 2 5 14 7 ...

Page 65: ...or Power Cable Compatibility Motor Actuator Connector Motor Actuator Cat No Motor Power Cables with Brake Wires Motor Power Cables without Brake Wires MP Series Bulletin MPL Circular DIN MPL A B15xxx 4xAAand MPL A B2xxx 4xAA 2090 XXNPMF xxSxx standard 2090 CPBM4DF xxAFxx continuous flex 2090 CPWM4DF xxAFxx continuous flex MPL A B3xxx 7xAA MPL A B4xxx 7xAA and MPL A B45xxx 7xAA 2090 CPBM7DF xxAAxx ...

Page 66: ...re included in the feedback cable See Kinetix 350 Drive Rotary Motor Wiring Examples that start on page 134 for interconnect diagrams Figure 37 Motor Power Terminations Only Three phase Wires The cable shield clamp that is shown in Figure 37 is mounted to the subpanel Ground and secure the motor power cable in your system following instructions on page 69 Motor Cable Shield Clamp Motor Power MP Co...

Page 67: ...nd Brake Wires 1 2 3 To Motor 6 7 5 8 4 Item Description Item Description 1 1 24V power supply 5 I O IOD connector 2 2 1 Relay and diode assembly 3 6 2097 V3xPRx LMKinetix 350 drive 3 Minimize unshielded wires in brake circuit 7 Motor power MP connector 4 MP Series cable brake wires 8 Cable clamp 4 1 User supplied Size as required by motor brake See Motor Brake Currents on page 140 2 Pins 43 and 4...

Page 68: ...wer MP Connector Table 30 Motor Power MP Termination Specifications W V U Motor Power Cable Exposed Braid 25 4 mm 1 0 in Outer Insulation As required to have ground clamp within 50 75 mm 2 3 in of the drive Strip Length See Table 30 MP Series or TL Series Servo Motor Terminal U Brown U V Black V W Blue W Green Yellow Drive Cat No Terminals Recommended Wire Size mm AWG Strip Length mm in Torque Val...

Page 69: ...expose the shield braid 4 Position the exposed portion of the cable braid directly in line with the clamp 5 Clamp the exposed shield to the panel by using the clamp and two 6 32 x 1 screws provided 6 Repeat step 1 step 5 for each Kinetix 350 drive you are installing 50 75 2 3 50 75 2 3 34 0 1 34 25 1 0 12 7 0 50 If panel is painted remove paint to provide metal to metal contact Motor Power Ground ...

Page 70: ...or Feedback Combinations Motor Cat No Feedback Type Feedback Cable Premolded Flying lead MPL A B15xxx V Ex4xAA MPL A B2xxx V Ex4xAA High resolution encoder N A 2090 XXNFMF Sxx standard 2090 CFBM4DF CDAFxx continuous flex MPL A B15xxx Hx4xAA MPL A B2xxx Hx4xAA Incremental encoder MPL A B3xxx Hx7xAA MPL A B4xxx Hx7xAA MPL A B45xxx Hx7xAA N A 2090 XXNFMF Sxx standard 2090 CFBM7DF CDAFxx 1 continuous ...

Page 71: ...2 3 Cos Cos BM 3 4 Cos Cos BM 4 5 Data Data IM 5 6 Data Data IM 10 9 Reserved EPWR_5V EPWR_5V 14 10 Reserved ECOM ECOM 6 11 EPWR_9V Reserved Reserved 7 12 ECOM Reserved Reserved 6 13 TS TS TS 11 14 TS TS TS 15 Reserved Reserved S1 12 16 Reserved Reserved S2 13 17 Reserved Reserved S3 8 Connector Pin High Resolution Incremental Feedback Drive MF Connector Pin TLY Axxxx B TLAR Axxxxx TLY Axxxx H 6 B...

Page 72: ...eted the power wiring and are ready to connect motor feedback Wire the I O Connector Connect your I O wires to the IOD connector by using the 2097 TB1 I O Terminal Expansion Block See the Kinetix 300 I O Terminal Expansion Block Installation Instructions publication 2097 IN005 Figure 40 Kinetix 350 Drive IOD Connector and Terminal Block 1 11 12 20 21 29 30 40 50 GND I O IOD Connector 2097 TB1 I O ...

Page 73: ...lead feedback cable Motor Feedback MF Connector Kinetix 350 Drive Front View 2097 V33PR5 LM drive is shown Kinetix 350 Drive Side View 2097 V33PR5 LM drive is shown 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 Pin 1 Pin 10 Pin 5 Pin 11 Pin 6 Pin 15 15 pin male Motor Feedback Low profile Connector See Appendix 3 for feedback signal descriptions Tie Wrap Exposed Braid Under Clamp Bulletin 2090 Feedback Cab...

Page 74: ...o locate the Ethernet connector on your Kinetix 350 drive See IMPORTANT Whentighteningscrewstosecurethewires refertothetablesthatbeginon page 60 for torque values IMPORTANT To improve system performance run wires and cables in the wireways as established in Chapter 2 SH Kinetix 350 Drive Front view is shown Shunt DC Bus BC Connector Accessory Description Connects to Terminals RecommendedWire Size ...

Page 75: ...imum Length 113 2N y meters where N the number of connections in the channel and y the loss factor that is compared to fixed cable typically 1 2 1 5 Figure 44 CompactLogix Ethernet Port Location The Port 1 Ethernet connection is used for connecting to a Logix5000 controller and to configure your Kinetix 350 drive Figure 45 Ethernet Wiring Example External Switch 1 See Ethernet Cable Connections on...

Page 76: ...76 Rockwell Automation Publication 2097 UM002D EN P April2017 Chapter 4 Connect the Kinetix 350 Drive System Notes ...

Page 77: ...350 Drive Ethernet IP Address 81 Configure the Logix5000 EtherNet IP Controller 84 Apply Power to the Kinetix 350 Drive 93 Test and Tune the Axes 94 Disable EnableInputChecking by Using a Logix Designer Message Instruction 100 TIP Beforeyoubeginmakesurethatyouknowthecatalognumberforthe drive theLogix5000 controller andtheservomotor actuatorinyour motion control application ...

Page 78: ...vision For example F2 06 Ht Heatsink temperature Heatsink temperature is shown in ºC if greater than 40 ºC Otherwise LO low is displayed buS Displays drive DC bus voltage Curr Displays motor phase current RMS Shows current value if drive is enabled otherwise shows DiS dHCP Ethernet DHCP Configuration 0 dHCP is disabled 1 dHCP is enabled IP_1 Lets you modify the first octet of the IP address IP_2 L...

Page 79: ...ndicator flashes when changing N Network state Indicates the state of the Network See Network State StatusIndicatoronpage 80 Thebicoloredstatusindicator shows red green or amber M Module state Indicates the state of the Network See Module State StatusIndicatoronpage 79 Thebicoloredstatusindicator shows red green or amber A Axis state Indicates the state of the Network See Axis State Status Indicat...

Page 80: ...cator indication changes to alternating red off green off and a normally flashing amber indications changes to red off amber off Shutdown bus up Off Pre charge bus not up Flashing amber 1 Start inhibit Flashing green 1 2 2 Thedrivealsodefinesalarmconditions Whenanalarmconditionisdetected anormallysolid greenstatus indicator indication changes to alternating amber green amber green while a normally...

Page 81: ...ure Each suboctet can be configured with number from 1 to 254 As shipped from the factory the default IP address of a drive is 192 168 124 200 There are two methods of changing the current IP address An address can be assigned to the drive automatically dynamic IP address when the drive is connected to a DHCP Dynamic Host Configuration Protocol enabled server or you can manually assign an IP addre...

Page 82: ...ter without a server or when connecting to a private network where all devices have static IP addresses assign the IP address of the Kinetix 350 drive manually To assign the address manually disable the DHCP mode Do following the steps by using the drive keypad 1 Press 2 Use to access parameter DHCP 3 Check that this parameter is set to a value of 0 4 If the DHCP parameter is set to 1 then use and...

Page 83: ...h of the four octet parameters IP_1 IP_2 IP_3 and IP_4 on its display Once the address is assigned by the server it appears in these parameters If this parameter continues to display then it is likely that a connection between the drive and server has not been established or the server is not DHCP enabled DHCP can be enabled through the Logix Designer application If you choose to configure the dri...

Page 84: ...r later For help using Logix Designer application as it applies to the configuration of the ControlLogix EtherNet IP controller refer to Additional Resources on page 9 Configure the Logix5000 Controller Follow these steps to configure the Logix5000 controller 1 Apply power to your Logix5000 controller that contains the EtherNet IP port and open your Studio 5000 environment 2 Click New Project The ...

Page 85: ...og box appears 4 Configure the new controller a From the Type pull down menu choose the controller type b From the Revision pull down menu choose the revision c Enter the file Name 5 Click OK 6 From the Edit menu choose Controller Properties The Controller Properties dialog box appears 7 Click the Date Time tab 8 Check Enable Time Synchronization ...

Page 86: ...d choose New Module The Select Module dialog box appears 2 Clear the Module Type Category Filter and check the Motion category ATTENTION DonotchangeGrandMasterclockwhenmotionisactive Time must be universally understood by all Integrated Motion on the EtherNet IP MotionDevices AchangeinthewallclockoftheGrandMastercanintroduce a clock skew between the Integrated Motion on the EtherNet IP Motion devi...

Page 87: ...his example the Private Network address is selected c Enter the address of your EtherNet IP drive In this example the last octet of the address is 1 This octet must match the base node address of the drive 5 Click Change in the Module Definition area The Module Definition dialog box appears 6 From the Power Structure pull down menu choose the Bulletin 2097 drive appropriate for your application In...

Page 88: ...der 9 Right click the 2097 V3xPRx LM module that you created and choose Properties The Module Properties dialog box appears 10 Click the Associated Axes tab 11 Click New Axis The New Tag dialog box appears 12 Type the axis Name AXIS_CIP_DRIVE is the default Data Type 13 Click Create The new axis Axis_1 appears under Motion Groups Ungrouped Axes in the Controller Organizer and is assigned as Axis 1...

Page 89: ...choose New Motion Group The New Tag dialog box appears 2 Type the new motion group Name 3 Click Create The new motion group appears under the Motion Groups folder 4 Right click the new motion group and choose Properties The Motion Group Properties dialog box appears 5 Click the Axis Assignment tab and move your axes created earlier from Unassigned to Assigned 6 Click the Attribute tab and edit the...

Page 90: ...CM Integrated Motion Encoder on EtherNet IP User Manual publication 842E UM002 1 Right click an axis in the Controller Organizer and choose Properties 2 Click the Motor category The Motor Device Specification dialog box appears 3 From the Data Source pull down menu choose Catalog Number 4 Click Change Catalog The Change Catalog Number dialog box appears 5 Select the motor catalog number appropriat...

Page 91: ... Motor data specific to your motor appears in the Motor category 8 Click the Scaling category and edit the default values as appropriate for your application 9 Click Apply if you make changes 10 Click Load category and edit the default values as appropriate for your application 11 Click Apply if you make changes 12 Click Actions category ...

Page 92: ...his dialog box you can program actions and change the action for exceptions faults 13 Click Parameters The Motion Axis Parameters dialog box appears From this dialog box you can set delay times for servo motors For recommended motor brake delay times refer to the Kinetix Motion Control Selection Guide publication KNX SG001 14 Click OK 15 Verify your Logix5000 program and save the file ...

Page 93: ...red mechanical energy 2 Determine the source of the drive logic power 3 Apply 120 240 or 460V AC mains input power to the Kinetix 350 drive IPD connector 4 Observe the four digit status indicator SHOCK HAZARD To avoid hazard ofelectrical shock performallmountingand wiringoftheBulletin2097drivebeforeyouapplypower Oncepowerisapplied connector terminals can have voltage present even when not in use A...

Page 94: ...erties dialog box appears If Your Logic Power Then Is from 24V DC back up power Apply 120 240 or 460V AC mains input power to the drive IPD connector Mains input power Go to step 5 If drive ENABLE is Then Hard wired Apply 24V DC Not used Disable enableInputChecking by using procedure on page 100 Status Indicator Condition Status Do This Module Steady green Operational condition Observe the Axis st...

Page 95: ... is chosen 7 Click Start This Test Performs this Test Marker Verifies marker detection capability as you rotate the motor shaft Motor Feedback Verifies that feedback connections are wired correctly as you rotate the motor shaft Motor and Feedback Verifiesthatmotorpowerand feedbackconnectionsarewired correctly as you command the motor to rotate If drive ENABLE is Then Hard wired Apply 24V DC Not us...

Page 96: ...ecuting to Passed 8 Click OK This dialog box appears to confirm that the direction was correct 9 Click Yes If the test fails this dialog box appears a Click OK b Verify that the Axis status indicator turned solid green during the test c Verify that the drive ENABLE signal is applied to the axis you are testing or that the enableInputChecking attribute is set to zero d Verify the unit values that a...

Page 97: ... load is still removed from the axis being tuned 2 Click Autotune category 3 Type values for Travel Limit and Speed In this example Travel Limit 5 and Speed 10 The actual value of programmed units depends on your application 4 From the Direction pull down menu choose a setting appropriate for your application Forward Uni directional is default 5 Edit other fields as appropriate for your applicatio...

Page 98: ... the prospective tune values 8 Accept the new values and apply them to the controller Now you can run the system with the new gain set and evaluate performance You can improve the performance by adjusting application type loop response and or load coupling selections 9 Click OK to close the RSLogix 5000 Autotune dialog box 10 Click OK to close the Axis Properties dialog box If drive ENABLE is Then...

Page 99: ...inetix 350 Drive System Chapter 5 11 If the test fails this dialog box appears a Click OK b Make motor velocity adjustments c See the appropriate Logix5000 motion module user manual for more information d Return to step 7 and run the test again 12 Repeat Test and Tune the Axes for each axis ...

Page 100: ... rung as shown 3 Set the values in the Message Configuration as shown 4 Click the Communications tab and browse to the drive tag in this case K350 as shown 5 When the program is in Run mode trigger the rung to run the instruction The drive does not check the enable input signal on IOD 29 Enable to IOD 26 Common This MSG instruction is executed only once as it is a persistent type instruction and g...

Page 101: ...state for typical machine safety systems Important Safety Considerations You are responsible for the following Validation of any sensors or actuators that are connected to the drive system Completing a machine level risk assessment Certification of the machine to the desired EN ISO 13849 1 performance level Project management and proof testing Programming the application software and the device co...

Page 102: ... for complete information on requirements for PL and SIL determination Description of Operation The safe torque off feature provides a method with sufficiently low probability of failure on demand to force the power transistor control signals to a disabled state When disabled or any time power is removed from the safety enable inputs all drives output power transistors are released from the ON sta...

Page 103: ...ge probability of failure to perform its safety function on demand satisfactorily or simply average probability of failure on demand PFD The SIL value for a High Demand Continuous mode safety related system is directly related to the probability of a dangerous failure occurring per hour PFH PFD and PFH Data These PFD and PFH calculations are based on the equations from EN 61508 and show worst case...

Page 104: ...the STO connector signals for use in wiring or to defeat not use the safe torque off function Figure 47 6 pin Safe Torque off STO Connector 1 2 3 4 5 6 STO Safe Torque off STO Connector Kinetix 350 Drive Bottom View 2097 V32PR4 LM is shown STO Pin Description Signal 1 24V DC output from the drive 24V DC control 2 24V DC output common Control COM 3 Safety status Safety Status 4 Safety input 1 24V D...

Page 105: ...Emission Standard Part 2 Industrial Environment EN 61000 6 2 EMC Immunity Standard Part 2 Industrial Environment The product that is described in this manual is intended for use in an industrial environment CEConformity Conformity with the Low Voltage Directive and Electromagnetic Compatibility EMC Directive is demonstrated by using harmonized European Norm EN standards that are published in the O...

Page 106: ...lCOM Safetystatus Safetyinput1 SafetyCOM Safetyinput2 Table 42 Safe Torque off STO Terminal Plug Wiring Safe Torque off STO Connector Recommended Wire Size Strip Length mm in Torque Value N m lb in Pin Signal Stranded Wire with Ferrule mm AWG Solid Wire mm AWG STO 1 STO 2 STO 3 STO 4 STO 5 STO 6 24V DC Control Control COM Safety Status Safety Input 1 Safety COM Safety Input 2 0 75 18 1 5 16 6 0 25...

Page 107: ...Safe Torque off Feature Bypass The drive is supplied from the factory with the safe torque off circuit enabled The drive is not operational until 24V is present at terminals STO 4 and STO 6 When safety connections are not required the drive can be operated with the safety circuit disabled Use jumper wires as shown to defeat the safe torque off function Figure 49 STO Motion allowed Jumpers ATTENTIO...

Page 108: ...egory 0 with Automatic Reset IMPORTANT The Kinetix 350 drive meets the requirements of EN ISO 13849 1 Safety of Machinery Safety related Parts of Control Systems category CAT 3 performance level PL d and Safety Integrity Level SIL 2 per EN 61800 5 2 2007 Dual inputs and drive monitoring of the safe torque off circuit STO 4 and ST0 6 are done to prevent drive enable if either or both of these input...

Page 109: ...42 S34 13 23 A2 Y32 L12 L11 14 24 CR1 Reset Kinetix 350 Drive Safe Torque off STO Connector with Wiring Header External 24V COM Safe Torque off Demand External 24V Allen Bradley Monitoring Safety Relay MSR127RP 440R N23135 Auxiliary Signal to PLC Pins 1 and 2 are not used when using Safety Inputs Pin 3 is a sinking output Attribute Value Safety inputs 1 1 Safety inputs are not designed for pulse t...

Page 110: ...nput and Output Schematics The following are generic safety input and output schematics for the Kinetix 350 drive Figure 52 Safety Input Figure 53 Safety Status Output Sinking Type Safety Input 1 2 STO 4 6 Safety COM STO 5 SAFETYCOM COM K E A C 1 2 4 3 Safety Status STO 3 Safety COM STO 5 SAFETYCOM COM E K C C B E A 4 3 1 2 ...

Page 111: ...hedrive measuretheDC bus voltage to verify it has reached a safe level or wait the full time interval as indicated in the warning on the front of the drive Failure to observe this precaution could result in severe bodily injury or loss of life ATTENTION Donotattempttodefeatoroverridethedrivefaultcircuits You must determine the cause of a fault and correct it before you attempt to operate the syste...

Page 112: ...example when there is multiple fault the messages are displayed in a round robin fashion Only two messages scroll in this manner When a fault is annunciated the entire fault text scrolls on the display regardless of when the fault is cleared The IP address is always an active condition meaning that it scrolls with the axis state as long as there are no higher priority messages to display See the t...

Page 113: ...his makes the drive format the blank memory module for usage with thedrive Fault Code Type Description S xx Conditions that prevent the drive from enabling see Table 45 Scxx F xx Standard axis fault see Table 46 and Table 47 Fcxx Lxxx Unrecoverable errors that occur during the boot process Return drive to Rockwell Automation Pxxx Unrecoverable errors that occurred during the Power on Self Test POS...

Page 114: ...r increase motor cooling Verify that the proper motor has been selected F 07 Motor Thermal Protection The thermal model for the motor indicates that the temperature has exceeded 110 of its rating The machine duty cycle requires an RMS current that exceeds the continuous rating of the motor Change the command profile to reduce speed or increase time F 10 Inverter Overcurrent The drive fault output ...

Page 115: ...ystem faults to save itself from an overload Use a larger system motor and drive DCbus voltage for 460V system is over 820V Install shunt resistor F 43 Feedback Loss On sin cos encoders the sum ofthe square of the sin cos signals has been measured below a factory limit On TTL encoders the absolute value of the differential A B signals is below a factory limit The motor feedback wiring is open shor...

Page 116: ...are while the Drive Enable hardware input was inactive Check wiring of drive enable input Check 24V source The Drive Enable input that has transitioned from active to inactive while the axis was enabled Verify that Drive Enable hardware input is active whenever the drive is enabled through software F 62 Controller Initiated Exception The controller has requested the drive to generate an exception ...

Page 117: ...of range Faulty intelligent encoder or incorrect motor file Cycle power or reset the drive Check validity of the motion database Replace motor if faulting continues Ic 03 Motor Feedback Communication Startup Communicationwithasmartencodercouldnot be established on the motor feedback port An incorrect motor has beem selected or connected Check motor selection Faulty wiring Check motor encoder wirin...

Page 118: ...nvironment Segregate signal wiring from power wiring Use shielded cables Add snubbers to power devices nF 02 Processor Watchdog Fault The watchdog circuit monitoring processor operation detected a problem Recycle control power or reset the drive Replace control module if problem persists nF 03 Hardware Fault The drive has an internal hardware problem Recycle control power or reset the drive Replac...

Page 119: ...rive define minor fault conditions While a minor fault does not affect the drive status indicator it does affect the axis status indicator Whena minorfault condition is detected a normally solid green status indicator indication changes to alternating red green red green a normally flashing greenstatusindicator indicationchangesto alternating red off green off and a normally flashing amber indicat...

Page 120: ...on Off No link partner present Flashing green Link partner present communication occurring Steady green Link partner present no communication occurring Table 56 General System Behavior Condition Potential Cause Possible Resolution Axis or system is unstable The position feedback device is incorrect or open Check wiring Unintentionally in Torque mode Check to see what primary operation mode was pro...

Page 121: ...t Check and correct the mechanics Primary operation mode is set incorrectly Check and properly set the limit Velocity or current limits are set incorrectly Check and properly set the limits Presence of noise on command or motor feedback signal wires Recommended grounding per installation instructions have not been followed Verify grounding Route wire away from noise sources See System Design for C...

Page 122: ...t Check and correct the mechanics Primary operation mode is set incorrectly Check and properly set the limit Velocity or current limits are set incorrectly Check and properly set the limits Presence of noise on command or motor feedback signal wires Recommended grounding per installation instructions have not been followed Verify grounding Route wire away from noise sources See System Design for C...

Page 123: ...alog box Output tab in RSLogix 5000 software Erratic operation Motor locks into position runs without control or with reduced torque Motor power phases U and V U and W or V and W reversed Check and correct motor power wiring Sine cosine or rotor leads are reversed in the feedback cable connector Check and correct motor feedback wiring Sine cosine rotor lead sets of resolver feedback are reversed C...

Page 124: ... Status Only is not an available option Stop Planner The controller sets the associated bit in the Motion Fault Status word and instructs the Motion Planner to perform a controlled stop of all planned motion at the configured maximum deceleration rate An explicit Fault Reset is required to clear the fault once the exceptional condition has cleared If the exception is so fundamental to the drive St...

Page 125: ...y Limit or the integral motor thermal switch has tripped Disable Coast F 07 Motor Thermal Overload Motor thermal model has exceeded its factory set thermal capacity limit that is given by Motor Thermal Overload Factory Limit This limit is 108 C 226 F for the Kinetix 350 drive Decel Disable F 10 Inverter Overcurrent Inverter current has exceeded the factory set peak or instantaneous current limit T...

Page 126: ...torque Limit Decel Disable F 57 Undertorque Limit Motortorquehasdroppedbelowuser definedminimumtorquelevelthatis given by Undertorque Limit Decel Disable F 61 Enable Input Deactivated Enable has been deactivated while the axis is in Running state Decel Disable F 62 Controller Initiated Exception Exception generated specifically by controller Disable Coast 1 WhenaTTLencoderlosesitsA Bsignals itisno...

Page 127: ... Disable Coast nF02 Processor Watchdog Fault The Processor Watchdog Fault code indicates that the processor that is associated with the device node has experienced an excessive overload condition that has tripped the associated processor watchdog mechanism Disable Coast nF03 Hardware Fault TheHardwareFaultcodeindicatesthatthecriticalsupporthardwaresuch as the FPGA or ASIC associated with the devic...

Page 128: ...Web Server Interface The Kinetix 350 drive supports a basic web interface for common status reporting and network configuration attributes No attributes are configurable from this page To access the page open a web browsers program and enter the IP address of the drive Figure 55 Main Page Figure 56 Fault Page ...

Page 129: ...017 129 Appendix A Interconnect Diagrams Topic Page Interconnect Diagram Notes 130 Power Wiring Examples 131 Kinetix 350 Drive Rotary Motor Wiring Examples 134 Kinetix 350 Drive Actuator Wiring Examples 137 Motor Brake Currents 140 System Block Diagrams 141 ...

Page 130: ...ctor coil M1 needs integrated surge suppressors for AC coil operation See on page 18 6 See the Motor Brake Currents table on page 140 to size the interposing relay for your application and for a detailed schematic of brake implementation 7 DriveEnableinputmustbeopenedwhenmainpowerisremoved oradrivefaultoccurs Adelayofatleast1 0secondmustbeobservedbeforeattemptingtoenablethe drive after main power ...

Page 131: ...2 N 29 26 U V W PE L2 N PE L2 L3 L1 24V DC Single phase AC Input 120V rms AC 50 60 Hz Notes 1 2 Bonded Cabinet Ground Bus Ground Stud Mains Single phase AC Input IPD Connector Fuse Disconnect orCircuit Breakers Input Fusing M1 Notes 5 7 Use discrete logic or PLC to control ENABLE to drive Shunt Resistor and DC Bus BC Connector Motor Power MP Connector I O IOD Connector Note 4 Back up Power BP Conn...

Page 132: ...se Disconnect or Circuit Breakers Input Fusing M1 Notes 5 7 Use discrete logic or PLC to control ENABLE to drive Motor Power MP Connector I O IOD Connector Note 4 2097 V31PRx LM 2097 V32PRx LM 2097 V33PRx LM and Kinetix 350 Drive Indicates User Supplied Component See table on page 130 for note information AC Line Filter Optional Note 3 Three phase Motor Power Connections Note 9 Cable Shield Clamp ...

Page 133: ...reakers Input Fusing M1 Notes 5 7 Three phase Motor Power Connections Note 9 Motor Power MP Connector Cable Shield Clamp Note 8 I O IOD Connector Note 4 Shunt Resistor Connections 2097 V33PRx LM and 2097 V34PRx LM Kinetix 350 Drive Indicates User Supplied Component See table on page 130 for note information AC Line Filter optional Note 3 Use discrete logic or PLC to control ENABLE to drive User su...

Page 134: ... phase Motor Power Motor Feedback Thermostat MPL A B15xxand MPL A B2xx Servo Motors with Incremental Feedback 2090 K2CK D15M Connector Kit 2090 K2CK D15M Connector Kit See Low Profile Connector illustration lower left for proper ground technique See low profile connector illustration lower left for proper grounding technique Low Profile Connector 2090 K2CK D15M shown Ground Technique for Feedback ...

Page 135: ...ase Motor Power Motor Feedback Thermostat MPL A B15xx MPL A B45xx Servo Motors with Incremental Feedback 2090 K2CK D15M Connector Kit 2090 K2CK D15M Connector Kit See Low Profile connector illustration lower left for proper ground technique See Low Profile Connector illustration lower left for proper ground technique Low Profile Connector 2090 K2CK D15M shown Ground Technique for Feedback Cable Sh...

Page 136: ...ad or 2090 CFBM6DD CCAAxx with drive endconnector FeedbackCable Note 9 I O IOD Connector Note 4 Motor Power MP Connector 2097 V3xPRx LM Kinetix 350 Drives Motor Feedback MF Connector 2090 CPBM6DF 16AAxx Motor Power and Brake Cable Notes 9 10 Use 2090 CPWM6DF 16AAxx cable for non brake applications User Supplied 24V DC See low profileconnector illustration lower left for proper grounding technique ...

Page 137: ...es with High Resolution Feedback Motor Brake Three phase Motor Power Motor Feedback 2090 K2CK D15M Connector Kit I O IOD Connector Note 4 Motor Power MP Connector 2097 V3xPRx LM Kinetix 350 Drives Motor Feedback MF Connector User Supplied 24V DC Turn clamp over to hold small cables secure Exposed shield that is secured under clamp Clamp Screws 2 Clamp See table on page 130 for note information 209...

Page 138: ...ng Technique for Feedback Cable Shield Turn clamp over to hold small cables secure Exposed shield that is secured under clamp Clamp Screws 2 Clamp 2097 V3xPRx LM Kinetix 350 Drives See MP Series Electric Cylinder Power and Feedback Cables Table 61 Notes 9 11 12 See MP Series Electric Cylinder Power and Feedback Cables Table 61 Notes 9 10 I O IOD Connector Note 4 Cable Shield Clamp Note 8 Table 61 ...

Page 139: ...DF CBAAxx flying lead or 2090 CFBM6DD CCAAxx with drive end connector Feedback Cable Note 9 I O IOD Connector Note 4 Motor Power MP Connector 2097 V3xPRx LM Kinetix 350 Drives Motor Feedback MF Connector 2090 CPBM6DF 16AAxx Motor Power and Brake Cable Notes 9 10 Use 2090 CPWM6DF 16AAxx cable for non brake applications User Supplied 24V DC See low profile connector illustration lowerleft for proper...

Page 140: ...ormation on Motor Holding brake specifications Table 62 Motor Brake Coil Currents Compatible Brake Motors Actuators 1 1 Use of the variable x indicates that this specification applies to 230V and 460V motors Coil Current MPL x1510 MPL x1520 MPL x1530 0 43 0 53 A MPL x210 MPL x220 MPL x230 0 46 0 56 A MPL MPF x310 MPL MPF x320 MPL MPF x330 0 45 0 55 A MPM x115 MPS x330 MPL x420 MPL x430 MPL x4520 M...

Page 141: ...M and 2097 V34PRx LM servo drives Figure 67 Power Block Diagram L1 L2 L3 W V U Three phase Motor Output Inverter Section BR B Chassis B DC 2097 Rx Shunt Shunt Transistor DC 1 Brake Connector 1 The 2097 Rx shunt module is external to the Kinetix 350 drive L1 L2 and L3 inputs apply to 2097 V33PRx LM and 2097 V34PRx LM servo drives L1 and L2 inputs apply to 2097 V32PRx LM servo drives ...

Page 142: ...s the drives with 120V input power get full performance from 240V motors Figure 68 Voltage Doubler Block Diagram L1 L2 N N W V U Three phase Motor Output Inverter Section BR B Chassis B DC 2097 Rx Shunt Shunt Transistor DC 1 Brake Connector 1 The 2097 Rx shunt module is external to the Kinetix 350 drive L1 and N inputs apply to 2097 V31PRx LM servo drives by using the voltage doubler feature ...

Page 143: ...tion v21 or later 9324 RLD300NE 20 x or later RSLinx software 2 58 or later ControlFLASH firmware upgrade kit 1 1 Download theControlFLASHkit from http support rockwellautomation com controlflash ContactRockwellAutomationTechnical Support at 440 646 5800 for assistance For more ControlFLASH information not drive specific refer to the ControlFLASH Firmware Upgrade Kit Quick Start publication 1756 Q...

Page 144: ...0 Ethernet module has already been configured For more information see the ControlLogix System User Manual publication 1756 UM001 Follow these steps to configure Logix5000 communication 1 Open your RSLinx Classic software 2 From the Communications pull down menu choose Configure Drivers The Configure Drivers dialog box appears 3 From the Available Drive Types pull down menu choose Ethernet devices...

Page 145: ...e new Ethernet driver appears under Configured Drivers 9 Click Close 10 Minimize the RSLinx application dialog box Upgrade Firmware Follow these steps to select the drive module to upgrade 1 Open your ControlFLASH software You can access the ControlFLASH software by either of these methods In RSLogix 5000 software from the Tools menu choose ControlFLASH Choose Start Programs FLASH Programming Tool...

Page 146: ...Rockwell Automation Publication 2097 UM002D EN P April2017 Appendix B Upgrade the Kinetix 350 Drive Firmware The Welcome to ControlFLASH dialog box appears 2 Click Next The Catalog Number dialog box appears ...

Page 147: ...lect your drive module and click Next The Select Device to Update dialog box appears 4 Expand your Ethernet node Logix5000 backplane and EtherNet IP network module 5 Select the servo drive and click OK The Firmware Revision dialog box appears 6 Select the firmware revision and click Next The Summary dialog box appears ...

Page 148: ...begins The drive four digit status indicator changes to PS and scrolls IP address which indicates that upgrading is in progress After the upgrade information is sent to the drive the drive resets and performs diagnostic check in then it displays 350 08 and scrolls 00 and the IP address 9 Wait for the Progress dialog box to time out It is normal for this process to take several minutes IMPORTANT Do...

Page 149: ...ur RSLinx software 12 From the Communications pull down menu choose RSWho 13 Expand your Ethernet node Logix5000 backplane and EtherNet IP network module 14 Right click the drive module and choose Device Properties Upgrading Status If Success 1 Update complete appears in a GREEN Status dialog box 2 Go to step 11 Failure 1 Update failure appearsin a RED Status dialog box 2 SeeControlFLASHFirmwareUp...

Page 150: ...Rockwell Automation Publication 2097 UM002D EN P April2017 Appendix B Upgrade the Kinetix 350 Drive Firmware The Device Properties dialog box appears 15 Verify the new firmware revision level 16 Click Close ...

Page 151: ...97 UM002D EN P April2017 151 Appendix C Leakage Current Specifications This appendix contains a table of the leakage currents to be expected for center wye and delta corner grounded Kinetix 350 drives used with or without mains filters ...

Page 152: ...nal Filter With External Filter No External Filter 2097 V31PR0 LM 120 240V single phase doubler 120V 2 A 1 7 mA pk 7 mA pk 240V 7 mA pk 8 mA pk 2097 V31PR2 LM 120V 4 A 6 mA pk 7 mA pk 240V 7 mA pk 8 mA pk 2097 V32PR0 LM 208 240V single phase with integrated filter 240V 2 A 27 mA pk 29 mA pk 2097 V32PR2 LM 4 A 26 mA pk 28 mA pk 2097 V32PR4 LM 8 A 26 mA pk 29 mA pk 2097 V33PR1 LM 208 240V single thr...

Page 153: ...le 68 Leakage Current Specifications Continued Mains Input Nominal Line Typical Leakage Calculated Mains Input High Line Nominal 10 Fault Leakage Calculated Single phase Three phase Single phase Three phase Center Ground WYE Corner Ground Delta Center Ground WYE Corner Ground Delta Catalog No Drive Description AC Input Voltage rms Continuous Output Current rms Number of Phases No External Filter W...

Page 154: ...154 Rockwell Automation Publication 2097 UM002D EN P April2017 Appendix C Leakage Current Specifications Notes ...

Page 155: ... definitions 102 CE compliance 16 57 comply with CE 105 conformity 105 meet requirements 105 certification TÜV Rheinland 101 user responsibilities 101 circuit breaker selection 18 circuit breaker specifications Kinetix 350 19 clamp 69 clean zone 27 clearance requirements 23 configure axis properties 90 delay times 92 drive modules 87 EtherNet IP controller 84 connect Ethernet 74 external shunt res...

Page 156: ... determine input power 52 grounded power configuration 53 single phase 54 voltage doubler 54 single phase amplifiers on 3 phase power 55 56 install drive accessories I O terminal block 72 low profile connector kits 73 shunt resistor 74 install your drive bond subpanels 26 circuit breakers 18 fuse selection 18 HF bonding 24 system mounting requirements 17 transformer 20 integrated axis module axis ...

Page 157: ...ications 9 requirements clearance 23 RJ45 Ethernet connector 74 route power and signal wiring 52 RSLogix 5000 software 12 S safe torque off bypass 107 connector location 104 operation 102 107 PFD and PFH data 103 PFD and PFH definition 103 pinouts 35 specifications 109 troubleshooting 103 wiring diagram 108 wiring requirements 106 safety products catalog 108 shield clamp 69 shunt resistor 30 inter...

Page 158: ...22 Logix drive fault behavior 124 network status indicator 120 PORT 1 status indicator 120 safe torque off 103 safety precautions 111 shutdown 124 stop drive 124 stop planner 124 tune axes autotune tab 97 V voltage doubler block diagram 142 operation 54 power diagram 131 W wiring build your own cables 52 diagram safe torque off 108 drive BP connector 62 IPD connector 63 MP connector 64 STO connect...

Page 159: ...Rockwell Automation Publication 2097 UM002D EN P April2017 159 Index Notes ...

Page 160: ...160 Rockwell Automation Publication 2097 UM002D EN P April2017 Index ...

Page 161: ......

Page 162: ...routeyourcalldirectlytoatechnicalsupport engineer http www rockwellautomation com global support direct dial page Literature Library Installation Instructions Manuals Brochures and Technical Data http www rockwellautomation com global literature library overview page Product Compatibility and Download Center PCDC Get help determining how products interact check features and capabilities and find a...

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