Home

Kinetix 350 Single-axis EtherNet/IP Servo Drives User Manual

1. Tas WYE Secondary 2097 V31PRx LM 2097 V33PRx LM i o sm inetix rives l u System A N 12 Single phase AC Input 12 i NN e IPD 1 LB 1 0 Kinetix 350 Drives IL T 1 1 1 System A L F Line 1 4 4 Single phase AC Input ilter Grounded Neutral IPD C 1 ors Input Fusing M i ingle Contactor n N 12 Single phase AC Input JT esses ad Grounded Neutral Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground Feeder and branch short circuit protection is not illustrated IMPORTANT Providing an AC line filter for each drive is the preferred configuration and required for CE compliance 52 Rockwell Automation Publication 2097 UM002A EN P August 2011 Connect the Kinetix 350 Drive System Chapter 4 Voiding of CE Compliance The three phase and neutral in line filter applications described above may not be adequate from an EMC aspect for CE compliance Therefore EMC validity and CE marking by Rockwell Automation is voided when three phase and neutral in line filters are used applications described in this document have not been tested for EMC by Rockwell Automation and products used in such installations are not considered CE marked by Rockwell Automation
2. a el I5 LJ cram 6 m lt Bulletin 2090 Bulletin 2090 Motor Power Cables Motor Feedback Cables MP Series and TL Series Rotary Motors MPL Bxxxx motors shown cg MP Series Integrated Linear Stages MPAS B9xxx ballscrew shown H MP Series and TL Series Electric Cylinders MPAR Bxxxx electric cylinders shown MP Series Heavy Duty Electric Cylinders MPAI Bxxxx electric cylinders shown Rockwell Automation Publication 2097 UM002A EN P August 2011 11 Chapter 1 Start Catalog Number Expla nation Kinetix 350 drive catalog numbers and descriptions are listed in these tables 12 Table 2 Kinetix 350 Drives single phase Cat No Description 2097 V31PRO LM Kinetix 350 120 240V 1 0 2 0A 2097 V31PR2 LM Kinetix 350 120 240V 1 4 0 A 2097 V32PR0 LM Kinetix 350 240V 1 2 0 A with integrated filter 2097 V32PR2 LM Kinetix 350 240V 1 4 0 A with integrated filter 2097 V32PR4 LM Kinetix 350 240V 1 8 0 A with integrated filter Table 3 Kinetix 350 Drives single three phase Cat No Description 2097 V33PR1 LM Kinetix 350 120V 1 240V 3 2 0 A 2097 V33PR3
3. ARN 2 3 4 gt 4 5 Ges 6 H LI 8 Co TT jme LLI ve 1 m 9 Kinetix 350 Drive Top View 2097 V33PR5 LM drive is shown Kinetix UNESI C Kinetix 350 Drive Front View 2097 V33PR5 LM drive is shown E LL 14 LE gt Lod 12 15 armare 11 E p E ERAI 10 Kinetix 350 Drive Bottom View 2097 V33PR5 LM drive is shown Description Motor feedback MF connector Ground lug Shunt resistor and DC bus BC connector Back up power BP connector Display control push buttons 3 Motor power MP connector Item Description Item 1 Mains IPD connector 9 2 Data status indicator and diagnostic display 10 3 Memory module sock
4. ki 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 DC to enable Safety Input 1 5 Safety common Safety COM 6 Safety input 2 24V DC to enable Safety Input 2 Rockwell Automation Publication 2097 UM002A EN P August 2011 103 Chapter6 Kinetix 350 Drive Safe Torque off Feature Wiring Your Safe Torque off Circuit 104 This section provides guidelines for wiring your Kinetix 350 safe torque off drive connections European Union Directives If this product is installed within the European Union or EEC regions and has the CE mark the following regulations apply For more information on the concept of electrical noise reduction refer to System Design for Control of Electrical Noise Reference Manual publication GMC RM001 EMC Directive This unit is tested to meet Council Directive 2004 108 EC Electromagnetic Compatibility EMC by using these standards in whole or in part e EN 61800 3 Adjustable Speed Electrical Power Drive Systems Part 3 EMC Product Standard including specific test methods e EN 61000 6 4 EMC Emission Standard Part 2 Industrial Environment e EN 61000 6 2 Immunity Standard Part 2 Industrial
5. 91 Test and Tune the cuore RE IX EO x dette dee Pa ein 92 est tine AXES aine S ince moe as segue ee seme 92 UO UE 95 Disable EnableInputChecking Using a RSLogix Message Instruction 98 Chapter 6 Introd OH vertreibt ettet Rud oues 99 Certificado p et cba i cw cus abe cM 100 Important Safety Considerations 100 Safety Category 3 100 Stop Category Definition 8 8 100 Performance Level and Safety Integrity Level SIL CL2 101 Description of ODeratiotte oso onse ione e Aa X 101 Functional Proof etam dee PEN COUSINS meee 101 Troubleshooting the Safe Torque off Function 102 PED and PFH Definitions 102 PED and PEH AA erase a UR dors 102 Sate T orque off Connector Data i Ier repa 103 STO Connector iure ut case aco eec UI 103 Wiring Your Safe Torque off Circuit esses 104 European Union Directives cuo sun trate tare diat ans 104 Safe Torque off Wiring 105 Kinetix 350 Drive Safe Torque off Feature 106 Safe Torque off Feature 106 Kinetix 350 Drive Safe Torque off Wiring Diagrams 107 Safe Torque off Signal 108 Chap
6. 2097 V33PR5 LM ne 6 From the Power Structure pull down menu choose the Bulletin 2097 drive appropriate for your application In the example the 2097 V3xPRx LM module is chosen 7 Click OK to close the Module Definition dialog box 8 Click OK to close the Module Properties dialog box The 2097 V3xPRx LM drive appears under the EtherNet IP module in the I O Configuration folder 9 Right click the 2097 V3xPRx LM module you just created and choose Properties The Module Properties dialog box opens Rockwell Automation Publication 2097 UM002A EN P August 2011 85 Chapter5 Configure and Start Up the Kinetix 350 Drive System 10 Click the Associated Axes tab New Module 11 Click New Axis The New Tag dialog box opens 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 gt Ungrouped Axes in the Controller Organizer and is assigned as Axis 1 Module Properties Local 2097 33PR5 LM 1 1 fc LK cmm Amy Hoe 14 Click Apply 86 Rockwell Automation Publication 2097 UM002A EN P August 2011 Configure and Start Up the Kinetix 350 Drive System Chapter 5 Configure the Motion Group Follow these steps to configure the motion group 1 Right click Motion Groups in the Controller Organizer and choose New Motion Group The New Tag dialog box opens
7. E HER EE REY 135 Shunt Resistor Specifications iuro S46 RE ERE doe 136 Product Dimensions uode eire ede ees dades 137 Appendix B Introduction o deer pee HG Ned ee 139 Interconnect Diagram Notes oen ce th ne rere 140 Power Wiring Examples aaa res PRAE Rad hee 141 Shunt Resistor Wiring Example 5 3 eee voc reet tweeters 143 Kinetix 350 Drive Rotary Motor Wiring Examples 144 Kinetix 350 Drive Actuator Wiring 146 Motor Brake scii sore sce e teo tees 149 System Block 150 Appendix vecoriv v vo qu avs o ini 153 Upgrade Drive Firmware with ControlFLASH Software 154 Before You 154 Configure Logix 8 155 Upgrade 157 es cu secrete e tt ee pd b e vov 161 Index 06006060060060060060060060060060060600600600006000006006000060060606006000600000060000006006000006000009 163 Rockwell Automation Publication 2097 UM002A EN P August 2011 Preface About This Publication Who Should Use This Manual Conventions Used in This Manual This manual provides detailed installation instructions for mounting wiring and troubleshooting your Kinetix 350 drive and system integration for your drive motor combination with a Logix controller This manual is intended for
8. Lm Motor Brake me 7 BR aa CNET 24V DC COM Use these guideline to wire your brake e Connecta diode 1N4004 or equivalent as shown on both the rely and the motor brake coils e Wire the output as sourcing The motor brake output is active on enable Set the motor engage and disengage times based on the motor selected 38 Rockwell Automation Publication 2097 UM002A EN P August 2011 Kinetix 350 Drive Connector Data Chapter 3 Ethernet Communication Specifications An RJ45 100 Mbit Ethernet connector port 1 is provided on the Kinetix 350 drive It is fully compliant to the EtherNet IP standard Restrict the location of all Ethernet cabling to clean zones with minimal electromagnetic interference Attribute Communication Value 100BASE TX full duplex Auto MDI MDIX crossover detection correction Yes Cabling Rockwell Automation CAT5E shielded 100 m 328 ft max 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 active during a mains input power loss Attribute Value Current 500 mA 30A Inrush max Rockwell Automation Publication 2097 UM002A EN P August 2011 39 Chapter3 Kinetix 350 Drive Connector Data
9. User Supplied 24V DC Grounding Technique for Feedback Cable Shield Clamp Exposed shield secured gt under clamp Clamp Screws 2 Low Profile Connector 2090 K2CK D15M shown Turn clamp over to hold small cables secure 146 Rockwell Automation Publication 2097 UM002A EN P August 2011 Interconnect Diagrams Appendix B Figure 59 Kinetix 350 Drive with MP Series Bulletin MPAR and MPAI Electric Cylinders 2097 V3xPRx LM Refer to table on page 140 for note information Kinetix 350 Drives and MPAI A Bxxx See MP Series Electric Cylinder Power and Feedback Cables Table 65 Electric Cylinder with 2090 K2CK D1 5M Notes 9 10 High Resolution Feedback Connector Kit R Shield 4 Three phase is n SIN 1 Green Yellow D lt Motor Power 2 5 WaT BLAcK XX 2 3 Motor Power W Blue C lt W l GND 3 ED 05 3 4 MP Connector m 2 ex waro XX cs 4 5 U 5 GREEN DATA 5 6 U M A lt lt 6 4 gt XX 10 7 Motor E 9 GRAY 5VDC 14 8 Motor Feedback Feedback 10 gt gt ECOM 6 MF Connector 11 ORANGE 9VDC 117 Thermostat B WAT ORANGE
10. Wire Insulation Foil Shield Braided Shield gt Pin 1 11 Pin 6 O 3 6V battery catalog number 2090 DA BAT2 only required for use with TLY Axxxx B motors and TLAR Axx electric cylinders high resolution 17 bit encoders e Outer Insulation Bulletin 2090 Feedback Cable Low Profile Connector Kit 2090 K2CK D15M Refer to Chapter 3 for feedback signal descriptions Qr Clamp P Exposed Braid Under Clamp Refer to Appendix B for the motor feedback interconnect drawing for your application Turn clamp over to hold Tie Wrap small wires secure d Refer to Low Profile Connector Kit Installation Instructions Bulletin 2090 Feedback Cable publication 2093 IN005 for connector kit specifications 0 15 14 1312 1110 987654321 70 Rockwell Automation Publication 2097 UM002A EN P August 2011 Connect the Kinetix 350 Drive System Chapter 4 Shunt Resistor Connections Follow these guidelines when wiring your 2097 Rx shunt resistor IMPORTANT When tightening screws to secure the wires refer to the tables beginning on page 55 for torque values IMPORTANT 0 improve system performance run wires a
11. 5V T 681kQ 1kQ 1 NAVV gt SX 0 01 uF Kinetix 350 Drive Table 13 Motor Thermostat State Specifications Resistance at TS 1 No Fault 5000 Fault 1 Resistance is measured between TS MF pin 11 and ECOM MF pin 6 Rockwell Automation Publication 2097 UM002A EN P August 2011 41 Chapter3 Kinetix 350 Drive Connector Data Table 14 Stegmann Hiperface Specifications Attribute Value Protocol Hiperface Memory support Not programmed or programmed with Allen Bradley motor data Hiperface data communication RS485 9600 bps 8 data 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 measured at the drive inputs Line loss detection AM BM 2 Average sin cos gt constant Figure 19 Stegmann Hiperface Interface SIN and COS Signals Kinetix 350 Drive 47 pF 26 7 KQ to A D Converter 56 pF M m AXE wo WM e 5 8 AN 560 SIN or 05 SIN or cos O 56 pF 5V A gt 10kQ ie DATA O gt NANN 1kQ DATA O A N rx 56 pF E to AqB Counter 56pF Shaded area indicates components that are part of the circuit but support other feedback device types not used for Stegmann Hiperface supp
12. 4 8 MF Connector Motor 13 GREEN IM 5 Feedback 74 5 XX 10 10 11 99 nte m 22 GRAY 5VDC 14 i Black 8 lt BR 23 4 M ECOM 6 h X U i 5 s WHT BLUE 1 12 Motor Brake 17 S2 13 Cable Shield gt www XX 9 8 ho nd BRAKE Camp H gt y Note 4 MTR_BRAKE Refer to low profile connector p illustration lower left for proper grounding technique 2090 CFBM6DF CBAAxx flying lead or 2090 CFBM6DD CCAAxx with drive end connector Feedback Cable Note 9 24V DC OCON TLY Axxxx B 230V User Supplied Servo Motors with 24V DC High Resolution Feedback Grounding Technique for Feedback Cable Shield B Low Profile Connector 2090 K2CK D15M shown GREEN DATA 3 6V battery 2090 DA BAT2 only WHT GREEN E required for use with TLY Axxxx B motors high resolution 17 bit encoders GRAY 5VDC WHT GRAY d shield d ucc o A ORANG BAD Clamp ap witvorance BAT SHIELD Clamp 5 2 T Turn to hold Refer to low profile connector alta ican es Secure illustration lower left for proper grounding technique 2090 CFBM6DF CBAAxx flying lead 2090 CFBM6DD CCAAxx with drive end connector Feedback Cable Note 9 Rockwell Automation Publication 2097 UM002A EN P August 2011 145 AppendixB Interconnect Diagrams Kinetix 350 Drive Actuator Wiring Examples actuators These
13. MTR_IM MTR_IM 25 D to AqB Counte 56 pF CTS I 56 pF 2 Shaded area indicates components that are part of the circuit but support other feedback device types not used for Generic TTL incremental support Kinetix 350 Drive Figure 23 Generic TTL Interface 1 S2 or S3 Signals 1kQ 51 S2 or 53 1kQ Kinetix 350 Drive 17 to UART from UART from UART 5V A T Z5 56 pF ZN Table 16 Tamagawa 17 bit Serial Specifications Attribute Tamagawa model support Value TS5669N124 Protocol Tamagawa proprietary Memory support Programmed with Allen Bradley motor data Differential input voltage 1 0 7 0V Data communication 2 5 Mbps 8 data bits no parity Battery 3 6V located external to drive in low profile connector kit Refer to Figure 20 for the Tamagawa 17 bit serial interface schematic It is identical to the Stegmann Hiperface DATA signals schematic 44 Rockwell Automation Publication 2097 UM002A EN P August 2011 Kinetix 350 Drive Connector Data Chapter 3 Feedback Power Supply The Kinetix 350 drive generates 5V and 9V DC for motor feedback power Short circuit protection and separate common mode filtering for each channel is included Table 17 Motor Feedback Power Specifications Vol
14. Motor Feedback The drive accepts motor feedback signals from the following types of encoders T as with these general specifications Specifications 3 Table 11 Motor Feedback General Specifications Attribute Value Stegmann Hiperface Feedback device support e Generic TTL Incremental e Tamagawa 17 bit Serial Power supply EPWR5V 5 13 5 67V 400 mA max Power supply EPWR9V 8 3 9 9V 275 mA max Single ended under 500 no fault over Thermostat fault The Kinetix 350 drives support multiple types of feedback devices by using the 15 pin MF motor feedback connector and sharing connector pins in many cases Table 12 Motor Feedback Signals by Device Type MF Pin Stegmann Hiperface Generic TTL Incremental Tamagawa 17 bit Serial 1 SIN AM 2 SIN AM 3 05 4 cos BM 5 DATA IM DATA 6 ECOM ECOM ECOM 7 EPWROV 8 53 9 pars ET 10 DATA IM DATA 11 TS TS TS 12 S1 13 52 14 EPWR5V EPWR5V EPWR5V 15 40 Rockwell Automation Publication 2097 UM002A EN P August 2011 Kinetix 350 Drive Connector Data Chapter 3 This is the motor thermostat interface schematic Although the thermostat signal is shown for all feedback types some motors may not support this feature because it is not part of the feedback device Figure 18 Motor Thermostat Interface
15. The SIL value for a low demand safety related system is directly related to order of magnitude ranges of its average probability of failure to satisfactorily perform its safety function on demand 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 values This table provides data for a 20 year proof test interval and demonstrates the worst case effect of various configuration changes on the data Table 36 PFD and PFH for 20 year Proof Test Interval Attribute Value PFH 1e 9 59 PFD 1e 3 1 0 102 Rockwell Automation Publication 2097 UM002A EN P August 2011 Safe Torque off Connector Data Kinetix 350 Drive Safe Torque off Feature Chapter 6 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 45 6 pin Safe Torque off STO Connector Safe Torque off STO Connector
16. August 2011 Troubleshoot the Kinetix 350 Drive Chapter 7 Table 41 F xx Fault Codes continued PESE RSLogix 5000 f Four digit Display Fault Message Problem or Symptom Potential Cause Possible Resolution DC bus voltage for 460V systemis Verify voltage level of the incoming below 275V AC power F33 Bus Undervoltage With three phase power present the DC bus DC bus voltage for 230V systemis Check AC power source for glitches or voltage is below limits below 137V line drop DC bus voltage for 120V systemis Install an uninterruptible power below 80V supply UPS on your AC input Change the deceleration or motion Excessive regeneration of power profile When the motor is driven by an external mechanical power source The DC bus voltage is measured above a factory it regenerate too much peak F35 Bus Overvoltage limit energy through the drive power Use a larger system motor and drive supply The system faults to save itself from an overload DC bus voltage for 460V Install shunt resistor system is over 820V Onsin cos encoders the sum of the square ofthe sin cos signals has been measured 5 Chacdmot rentoder wirin 43 Feedback Loss below a factory limit The motor feedback wiring is open fuh Hook in RSL SN OnTTLencoders the absolute value ofthe shorted or missing Run Hookup test in RSLogix P 4 software differential A B signals
17. Interconnect Diagrams Appendix B Use these coil current values to size the interposing relay required for your application Refer to the interconnect diagram for your Kinetix 350 drive motor beginning on page 144 for typical motor brake circuitry Table 66 Motor Brake Coil Currents Compatible Brake Motors Actuators 1 Coil Current MPL x1510 MPL x1520 MPL x1530 0 43 0 53 MPL x210 MPL x220 MPL x230 0 46 0 56 MPL MPF x310 MPL MPF x320 MPL MPF x330 115 0 45 0 55 MPS x330 MPL x420 MPL x430 MPL x4520 MPL x4530 MPL x4540 MPL B4560 130 0 576 0 704 MPF x430 MPF x4530 MPF x4540 MPS x4540 TLY A110T TLY A120T and TLY A130T 0 18 0 22 TLY A220T and TLY A230T 0 333 0 407 TLY A2530P TLY A2540P and TLY A310M 0 351 0 429 1 Use of the variable x indicates this specification applies to 230V 460V motors Rockwell Automation Publication 2097 UM002A EN P August 2011 149 Interconnect Diagrams Appendix B AUP OGE Y sra npourjunus xY 7607 Su 1 40295 19 J9AU 2 5 WT Xddvr A 607 WI1 XUd EEA L607 0 Ajdde s ndu c1 pue c1 11 Jojsisuei p 4 2605 102940 34219 SAP OM S WI XYdTEA L607 0 Ajdde 77 pue 1
18. This power block diagram applies to 2097 V32PRx LM 2097 V33PRx LM and 2097 V34PRx LM servo drives Figure 61 Power Block Diagram Rockwell Automation Publication 2097 UM002A EN P August 2011 3ndino 1030 9549 9941 System Block Diagrams 150 Three phase Motor Output Interconnect Diagrams Appendix B This power block diagram applies to 2097 V31PRx LM servo drives The voltage doubler circuitry lets the drives with 120V input power get full performance from 240V motors Figure 62 Voltage Doubler Block Diagram Inverter Section Ss Ses o M S SSS SS gt 9 5 c Z 2 S En 22 ea 2 E gt cA ze a A Leite med a using the voltage doubler feature N inputs apply to 2097 V31PRx LM servo drives iu Rockwell Automation Publication 2097 UM002A EN P August 2011 151 AppendixB Interconnect Diagrams Notes 152 Rockwell Automation Publication 2097 UM002A EN P August 2011 Appendix C Upgrade the Kinetix 350 Drive Firmware Introduction This appendix provides procedures for upgrading firmware by using ControlFLASH software Topic Page Introduction 153 Upgrade Drive Firmware with
19. When the exception occurs the drive brings the motor to a stop by using the stopping action defined by the drive as in Stop Drive and the power module is disabled Optionally if the Shutdown Action attribute is configured for Drop DC Bus the contactor will open An explicit Shutdown Reset is required to restore the drive to operation Rockwell Automation Publication 2097 UM002A EN P August 2011 121 Chapter7 Troubleshoot the Kinetix 350 Drive Only selected drives faults can be configured In the Drive Behavior F xx Fault Codes tables the controlling attribute is given for programmable fault actions Figure 49 RSLogix 5000 Axis Properties Actions Category Axis Properties Axis_1 mf x Categories General E Motor Model Stop Action Current Decel amp Disable Parameters Motor Feedback Motor Overload Action 7 sean Inverter Overload Action Hodk p Teste 1 verload Action none Actions to Take Upon Conditions Polarity Autotune E Load DANGER Modifying Exception Backlash ction settings may require Compliance programmatically stopping or Position Loop Exceptions disabling the axis to protect personnel machine and property Velocity Loop Acceleration Loop Bus Overvoltage Factory gt Refer to user manual for additional Torque Current Loop Bus Undervoltage Factory Limit StopDrive zl information Planner Controller Init
20. i Green Yellow 5 Motor Power 3 Motor Power W Blue 3 4 MP Connector Black 2 3 U Brown 1 Motor Feedback 8 MF Connector 9 10 11 13 Black 9 14 White 7 15 Connector Note 4 MTR_BRAKE 24V DC 24V DCCOM VO 000 User Supplied 24V DC Grounding Technique for Feedback Cable Shield Exposed shield secured under clamp Clamp Clamp Screws 2 148 Cable Shield aa Clamp 3 TAL Low Profile Connector 2090 K2CK D15M shown 3 6V battery 2090 DA BAT2 1 required for use with TLAR Axxxxx B electric cylinders high resolution 17 bit encoders p Turn clamp over to hold small cables secure Motor Brake TLAR Axxxxx B 230V Servo Motors with High Resolution Feedback Refer to table on page 140 for note information 2090 K2CK D15M Rockwell Automation Publication 2097 UM002A EN P August 2011 Connector Kit 55 GREEN DATA f 5 SS WHT GREEN XX DATA 10 gt gt GRAY 5VDC 14 S le WHT GRAY ECOM 6 S ORANGE BAT BAT WHT ORANGE XX BAT BAT 214 SHIELD _ Se Refer to low profile connector illustration lower left for proper grounding technique 2090 CFBM6DF CBAAxx flying lead or 2090 CFBM6DD CCAAxx with drive end connector Feedback Cable Note 9 Motor Brake Currents
21. 2097 V34PR6 LM 2097 V33PR6 LM 4 0 12 2 5 14 7 0 28 0 5 4 5 Cable Shield Terminations Factory supplied motor power cables for MP Series and TL Series motors and actuator are shielded The braided cable shield must terminate near the drive during installation Remove small portion of the cable jacket to expose the shield braid and clamp the exposed shield to the panel ATTENTION To avoid hazard of electrical shock ensure shielded power cables are grounded at a minimum of one point for safety IMPORTANT _ For TL Series motors also connect the 152 mm 6 0 in termination wire the closest earth ground Refer to Pigtail Terminations on page 62 for more information Rockwell Automation Publication 2097 UM002A EN P August 2011 61 Chapter 4 Connect the Kinetix 350 Drive System Pigtail Terminations TL Series motors have a short pigtail cable that connects to the motor but is not shielded The preferred method for grounding the TL Series power cable on the motor side is to expose a section of the cable shield and clamp it directly to the machine frame The motor power cable also has a 150 mm 6 0 in shield termination wire with a ring lug that connects to the closest earth ground Use this method in addition to the cable clamp The termination wire may be extended to the full length of the motor pigtail if necessary but it is best to connect the supplied wire dire
22. ATTENTION The three phase isolation transformer and neutral in line filter 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 the system becomes the user s responsibility If CE compliance is a customer requirement single phase line filters that have been tested by Rockwell Automation and specified for the product should be used Refer to AC Line Filter Specifications on page 135 for catalog numbers Rockwell Automation Publication 2097 UM002A EN P August 2011 53 Chapter4 Connect the Kinetix 350 Drive System Grounding Your Kinetix 350 Drive System 54 All equipment and components of a machine or process system should have a common earth ground point connected to their chassis A grounded system provides a safety ground path for short circuit protection Grounding your modules and panels minimize shock hazard to personnel and damage to equipment caused by short circuits transient overvoltages and accidental connection of energized conductors to the equipment chassis For CE grounding requirements refer to CE Requirements in Chapter 1 IMPORTANT Toimprove the bond between the Kinetix 350 drive and subpanel construct your subpanel out of zinc plated paint free steel Ground Your Drive to the System Subpanel conventions and definitions Follow all applicable local codes and regulations to safely ground your
23. Actions Drive Parameters Parameter List Status Faults amp Alarms Tag 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 GMC SG001 14 Click OK 15 Verify your Logix program and save the file 90 Rockwell Automation Publication 2097 UM002A EN P August 2011 Configure and Start Up the Kinetix 350 Drive System Chapter 5 Download the Program After completing the Logix configuration you must download your program to the Logix processor Apply Power to the This procedure assumes that you have wired and configured your Kinetix 350 Kinetix 350 Drive drive system and your Ethernet IP interface controller mounting and wiring of the Bulletin 2097 drive prior to applying power Once power is applied connector terminals may have voltage present even when not in use A SHOCK HAZARD To avoid hazard of electrical shock perform all Follow these steps to apply power to the Kinetix 350 drive system 1 Disconnect the load to the motor ATTENTION To avoid personal injury or damage to equipment disconnect the load to the motor Make sure each motor is free of all linkages when initially applying power to the system 2 Determine the source of the drive logic power If Your Logic Power Is from 24V DC back up power Apply 24V DC back up power to the drive BP connector Mains input
24. Device Location Catalog Number Product Code Power Structure Class IO Ethernet Address MAC IP Address Firmware Revision Hardware Revision Serial Number Status Uptime _ Alen sraciey Kinetix 350 2e Resources 2 Visit AB com for additional information 00 0 61 00 47 51 192 168 1 1 0 17 1 00 333001041 INITIALIZING 40 days Shi34m 49s Rockwell Rockwell Automation Publication 2097 UM002A EN P August 2011 125 Chapter7 Troubleshoot the Kinetix 350 Drive Notes 126 Rockwell Automation Publication 2097 UM002A EN P August 2011 Appendix A Specifications and Dimensions Introduction This appendix provides product specifications and mounting dimensions for your Kinetix 350 drive system components Topic Page Introduction 127 Kinetix 350 Drive Power Specifications 128 Circuit Breaker Fuse Specifications 131 Power Dissipation Specifications 133 General Specifications 133 AC Line Filter Specifications 135 Shunt Resistor Specifications 136 Product Dimensions 137 Rockwell Automation Publication 2097 UM002A EN P August 2011 127 AppendixA Specifications and Dimensions Kinetix 350 Drive Power Specifications Attribute ACinput voltage components This section contains power specifications for your Kinetix 350 drive system The 2097 V31PRx LM drives with 120V input are capable of driving 240V motors at full speed Table 56 Kinetix 350 Drive single
25. Environment The product described in this manual is intended for use in an industrial environment CE Conformity Conformity with the Low Voltage Directive and Electromagnetic Compatibility EMC Directive is demonstrated by using harmonized European Norm EN standards published in the Official Journal of the European Communities The safe torque off circuit complies with the EN standards when installed according instructions found in this manual CE Declarations of Conformity are available online at http www rockwellautomation com products certification ce Low Voltage Directive These units are tested to meet Council Directive 2006 95 EC Low Voltage Directive The EN 60204 1 Safety of Machinery Electrical Equipment of Machines Part 1 Specification for General Requirements standard applies in whole or in part Additionally the standard EN 50178 Electronic Equipment for use in Power Installations apply in whole or in part Rockwell Automation Publication 2097 UM002A EN P August 2011 Kinetix 350 Drive Safe Torque off Feature Chapter 6 Safe Torque off Wiring Requirements These are the safe torque off STO wiring requirements Wire should be copper with 75 C 167 F minimum rating IMPORTANT The National Electrical Code and local electrical codes take precedence over the values and methods provided IMPORTANT Stranded wires must terminate with ferrules to prevent short circuits per table D7 of EN 13849 F
26. Functional Proof Tests 101 PFD and PFH Definitions 102 PFD and PFH Data 102 Safe Torque off Connector Data 103 Wiring Your Safe Torque off Circuit 104 Kinetix 350 Drive Safe Torque off Feature 106 Kinetix 350 Drive Safe Torque off Wiring Diagrams 107 Safe Torque off Signal Specifications 108 Rockwell Automation Publication 2097 UM002A EN P August 2011 99 Chapter6 Kinetix 350 Drive Safe Torque off Feature Certification 100 The safe torque off circuit is type approved and certified for use in safety applications up to and including ISO 13849 1 performance level d PLd safety category 3 The TUV Rheinland group has approved the Kinetix 350 drives for use in safety related applications up to ISO 13849 1 performance level d PLd safety category 3 in which the de energized state is considered to be the safe state All of the examples related to I O included in this manual are based on achieving de energization as the safe state for typical machine safety systems Important Safety Considerations The system user is responsible for the following e Validation of any sensors or actuators connected to the drive system e Completing a machine level risk assessment e Certification of the machine to the desired ISO 13849 1 performance level e Project management and proof testing e Programming the application software and the device configurations in accordance with the information in this safety reference manual and the drive
27. m Ibein ETE DC 2097 V3xPRx LM 5 16 6 0 25 0 5 4 5 24V Rockwell Automation Publication 2097 UM002A EN P August 2011 59 Chapter4 Connect the Kinetix 350 Drive System Wire the Input Power IPD Connector Table 21 Input Power IPD Connector Recommended Drive Cat No Terminals Wire Size ie ad aa mm AWG i 2097 V31PRO LM 2097 V32PRO LM 2097 V32PR2 LM 2097 V33PR1 LM 3097 V33PR3 IM 2 5 14 7 0 28 0 5 4 5 2097 V34PR3 LM 13 L2 N D 2097 V34PR5 LM a T 2097 V34PR6 LM RIS No pp G 2097 V32PR4 LM 2097 5 1 4 0 12 7 0 28 0 5 4 5 2097 V31PR2 LM 0 56 0 79 2097 V33PR6 LM 6 0 10 7 0 28 80 7 0 1 Applies to 2097 V33PRx LM and 2097 V34PRx LM drive modules 2 Applies to 2097 V31PRx LM drive modules 3 Applies to 2097 V32PRx LM drive modules 60 Rockwell Automation Publication 2097 UM002A EN P August 2011 Connect the Kinetix 350 Drive System Chapter 4 Wire the Motor Power MP Connector Connections to the motor power MP connector include rotary motors and rotary motor driven actuators Kinetix 350 Drive Bottom View Table 22 Motor Power MP Termination Specifications Recommended Drive Cat No Terminals Wire Size mm in mm AWG Strip Length Torque Value Nem Ib in 2097 V31PRO LM 2097 V31PR2 LM 2097 V32PRO LM 2097 V32PR2 LM 2097 V32PR4 LM 2097 V33PR1 LM 2097 V33PR3 LM 2097 V33PR5 LM 2097 V34PR3 LM 2097 V34PR5 LM
28. ooo Ground Bus OOO 0000 Ground Grid or Power Distribution Ground eee 1 Contactors M2 and may be optional For more information refer to 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 Rockwell Automation Publication 2097 UM002A EN P August 2011 51 Chapter4 Connect the Kinetix 350 Drive System This example illustrates grounded three phase power wired to single phase Kinetix 350 drives when phase to phase voltage exceeds drive specifications A neutral must be connected when single phase drives are attached to a three phase isolating transformer secondary It is not necessary that all three phases be loaded with drives but each drive must have its power return via the neutral connection ATTENTION Failure to connect the neutral can result in supply voltage swings at the individual drives This occurs when the neutral point moves vectorially as a result of load variations normally experienced by the individual drives The supply voltage swing may cause undervoltage and overvoltage trips on the drives and the drive can be damaged if the overvoltage limit is exceeded Figure 30 Single phase Amplifiers one AC line filter per drive
29. refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 Motor Brake The brake is mounted inside the motor and how you connect to the drive depends on the motor series Refer to Kinetix 350 Drive Rotary Motor Wiring Examples beginning on page 146 for the interconnect diagram of your drive motor combination Rockwell Automation Publication 2097 UM002A EN P August 2011 27 Chapter2 Install the Kinetix 350 Drive System Mount Your Kinetix 350 Drive This procedure assumes you have prepared your panel and understand how to bond your system For installation instructions regarding other equipment and accessories refer to the instructions that came with those products and assemblies You are required to follow static control precautions when you install test service or repair this assembly If you do not follow ESD control procedures components can be damaged If you are not familiar with static control procedures refer to Guarding Against Electrostatic Damage publication 8000 4 5 2 or any other applicable ESD Protection Handbook ATTENTION This drive contains electrostatic discharge ESD sensitive parts Follow these steps to mount your Kinetix 350 drive 1 Lay out the position for the Kinetix 350 drive and accessories in the enclosure Refer to Establishing Noise Zones on page 23 for panel layout recommendations Mounting hole dimensions for the Kinetix 350 drive are sh
30. 0 28 0 5 4 5 6 0 10 7 0 28 0 56 0 79 5 0 7 0 2097 V31PRO LM 2097 V31PR2 LM 2097 V32PRO 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 2097 V33PR6 LM Motor power MP connector 2 5 14 7 0 28 0 5 4 5 4 0 12 7 0 28 0 5 4 5 2097 V31PRO LM 2097 V31PR2 LM 2097 V32PRO 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 2097 V33PR6 LM Brake DC Bus 9 BC connector B BR B B 2 5 14 7 0 28 0 5 4 5 4 0 12 7 0 28 0 5 4 5 2097 V3xPRx LM Control back up power BP connector 24V DC 24V DC 2097 V3xPRx LM Safe torque off STO connector 510 1 9 ST0 2 9 510 3 510 4 510 5 510 6 24V DC Control Control COM Safety Status Safety Input 1 Safety COM Safety Input 2 1 5 16 6 0 25 0 5 4 5 56 Use for shunt resistor connection only Use for bypassing the STO circuit only Applies to 2097 V33PRx LM and 2097 V34PRx LM drive modules Applies to 2097 V31PRx LM drive modules Applies to 2097 V32PRx LM drive modules Rockwell Automation Publication 2097 UM002A EN P August 2011 Connect the Kinetix 350 Drive System Chapter 4 installation complies with specifications regarding wire types conducto
31. 2011 Control Signal Specifications Kinetix 350 Drive Connector Data Chapter 3 This section provides a description of the Kinetix 350 drive I O IOD communication shunt resistor and DC bus BC and back up power BP connectors Digital Inputs Five fixed inputs are available for the machine interface on the Kinetic 350 drive To improve registration input EMC performance refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 Over travel limit input devices must be normally closed The five digital inputs IOD 27 IOD 30 and IOD 39 have fixed pin assignments Table 8 Understanding Digital Inputs er Capture Edge Level 10D Pin Signal Description Time Sensitive 100 29 ENABLE Optically isolated single ended active high signal Current loading is nominally 9 mA A 24V 0 5 ms Level DC input is applied to this terminal to enable the axis Optically isolated single ended active high signal Current loading is nominally 9 100 30 switch normally open contact inputs axis require 24V DC nominal 0 5 ms Edge Fast registration inputs are required to inform the motor interface to capture the positional 100 39 information with less than 5 us uncertainty Optically isolated single ended active high i Edge signal Current loading is nominally 9 mA A 24V DC input is applied to this terminal to enable 9 axis 100 27 NEG OT Overt
32. 2097 UM002A EN P August 2011 23 Chapter2 Install the Kinetix 350 Drive System Figure 6 Noise Zones Bulletin 2097 AC line filters g Clean Wireway Dirty Wireway I Contactors L Very Dirty Zone Segregated not in wireway w es I Kinetix 350 9 I Drive Breaker o Bulletin 2097 AC line I Ethernet filters mount to side shielded as shown or behind Cable gt DC age Filter No sensitive l equipment within 150 8 Ethernet and Feedback Cables 1 0 1 Motor Power and Safety Cables Route encoder analog registration Route 24V DC 1 0 shielded cables Shielded Cable 1 If drive system 1 0 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 is a clean 24V DC available for any device that may require it The 24V enters the clean wireway and exits to the left 4 This is a dirty 24V DC available for motor brakes and contactors The 24V enters the dirty wireway and exits to the right 24 Rockwell Automation Publication 2097 UM002A EN P August 2011 Cable Categories for Kinetix 350 Drive Components Install the Kinetix 350 Drive System Chapter2 These table indicate the zoning require
33. 212 F 25 85 C 13 185 F 1 Kinetix 350 drives catalog numbers 2097 V32PRO LM 2097 V32PR2 LM and 2097 V32PR4 LM have integrated AC line filters Table 63 AC Line Filter Specifications Bulletin 2097 2097 F2 2097 V34PR6 LM 2097 V33PR1 LM 2097 4 1 2097 V34PR3 LM 2097 V34PR5 LM 2097 F5 1 2097 F6 1 2097 V33PR3 LM 2097 V33PR5 LM Voltage RE AC 480V AC 120 240V AC 480V AC 120 240V AC z 50 60 Hz 50 60 Hz 50 60 Hz 50 60 Hz Phase Single phase Three phase run or Three Three phase ed or Three Single phase Current A 40 C 104 F 24 10 4 4 6 9 15 0 Power loss W 5 2 2 8 1 2 13 41 Leakage current mA 9 1 Weight approx kg Ib 0 6 1 3 0 8 1 8 Humidity 5 95 noncondensing Vibration 5 2000 Hz 2 5 g peak 0 015 mm 0006 in maximum displacement Operating temperature 0 40 C 32 104 F 1 This filter is rated for multiple voltage phase line conditions 2 Kinetix 350 drives catalog numbers 2097 V32PRO LM 2097 V32PR2 LM and 2097 V32PR4 LM have integrated AC line filters Rockwell Automation Publication 2097 UM002A EN P August 2011 135 AppendixA Specifications and Dimensions Shunt Resistor Specifications Bulletin 2097 passive shunt resistor wire to the Kinetix 350 drive Attribute Use with Kinetix 350 drive Cat No 2097 R2 2097 V32PR4 LM 2097 V33PR5 LM 2097 R3 2097 V33PR6 LM Table 64 Shunt
34. A e 30 8 1 21 Dimensions mm in 5 0 71 0 19 F 0 28 4 2097 Vxxxxx LM Servo Drive 97 EM 0 38 Kinetix 350 w Oa 182 7 18 F 190 238 937 2097 7 50 1 0 Terminal Expansion Block 6 6 0 26 1 2090 K2CK D15M 04 57 Low profile Connector Kitfor ia 0 18 3x Bulletin 2090 flying lead Feedback Cable j B mg j Additional clearance below the connector kit is necessary to provide the recommended cable bend radius Table 65 Kinetix 350 Dimensions A B A B Cat No mm in mm mm in mm in 2097 V31PRO LM 185 7 29 68 0 2 68 2097 V33PR3 LM 185 7 29 69 0 2 70 2097 V31PR2 LM 185 7 29 69 0 2 70 2097 V33PR5 LM 185 7 29 94 0 3 72 2097 V32PRO LM 230 9 04 68 0 2 68 2097 V33PR6 LM 230 9 04 68 0 2 68 2097 V32PR2 LM 230 9 04 69 0 2 70 2097 V34PR3 LM 185 7 29 69 0 2 70 2097 V32PR4 LM 230 9 04 87 0 3 42 2097 V34PR5 LM 185 7 29 94 0 3 72 2097 V33PR1 LM 185 7 29 68 0 2 68 2097 V34PR6 LM 230 9 04 68 0 2 68 Rockwell Automation Publication 2097 UM002A EN P August 2011 137 AppendixA Specifications and Dimensions Notes 138 Rockwell Automation Publication 2097 UM002A EN P August 2011 Appendix B Interconnect Diagrams Introduction This appendix provides wiring examples and system block diagrams for your Kinetix 350 drive system components Topic Page
35. Automatic Reset Safe Torque off Demand _ Kinetix 350 Drive af Al 511 3 Allen Bradley Monitoring Safety Relay MSR127RP 440R N23135 oe X 5 Auxiliary Signal to PLC Safe Torque off STO 521 2 534 AX Connector with Wiring Header 24V DC 14 24 34 42 COM Ed Status Safety Input 1 Safety Common External 24V COM Safety Input 2 Rockwell Automation Publication 2097 UM002A EN P August 2011 107 Chapter6 Kinetix 350 Drive Safe Torque off Feature Safe Torque off Signal Specifications 108 This table provides specifications for the safe torque off signals used in the Kinetix 350 servo drives Attribute Safety inputs 0 Value Insulated compatible with single ended output 24V DC Enable voltage range 20 24V DC Disable voltage range 0 1 0V DC Input impedance 6 8 Safety status Isolated Open Collector Emitter is grounded Output load capability 100 mA Digital outputs max voltage 30V DC 1 Safety inputs are not designed for pulse testing Rockwell Automation Publication 2097 UM002A EN P August 2011 Introduction Safety Precautions Chapter 7 Troubleshoot the Kinetix 350 Drive This chapter provides
36. GrandMaster clock 8 Click OK Rockwell Automation Publication 2097 UM002A EN P August 2011 83 Chapter5 Configure and Start Up the Kinetix 350 Drive System Configure the Kinetix 350 Drive IMPORTANT Toconfigure Kinetix 350 drive catalog numbers 2097 V3xPRx LM you must be using RSLogix 5000 software version 20 or later Follow these steps to configure the Kinetix 350 drive 1 Right click the Logix EtherNet IP controller you just created and choose New Module The Select Module dialog box opens Catalog Module Discovery Favorites AlenBrodey Parker Hannifin Corporation 2097 V31PRO Kinetic 300 2A 120 240V No Fiter Alen Bradey Dive 2097 N31PRO1M Kinetic 350 Single Axis Ethemet Diive AlenBradey Diive Motion 2097 31PR2 Kinetic 300 4A 120 240V No Fiter Alen Bradey Diive 2097 V31PR24M Kinetic 350 Single Axis Ethemet Drive Alen Bradey Drive Motion 2097N32PRO Kinetic 300 2A 240V Integrated Fiter AlenBradey Diive 2097 V32PROLM Kinetic 350 Single Ais Ethemet Drive Allen Bradey Drive Motion 2097 N32PR2 Kinetic 300 4A 240V Integrated Fiter AlenBradey Diive 2097N32PR24M Kinetic 350 Single Avis Ethemet Drive Allen Bradey Drive Motion 2097 V32PR4 Kinetic 300 240V Integrated Fiter Alen Bradey Diive 2097N32PRALM Kinetic 350 Single Avis Ethemet Diive Allen Bradey Drive Motion 2097 V32PR5 Kinetic 300 10A 240V Integrated Fiter AlenBradey Diive 2097 N33PR1 Kinetic 300 2A 2
37. Introduction 139 Interconnect Diagram Notes 140 Power Wiring Examples 141 Kinetix 350 Drive Rotary Motor Wiring Examples 144 Kinetix 350 Drive Actuator Wiring Examples 146 Motor Brake Currents 149 System Block Diagrams 150 Rockwell Automation Publication 2097 UM002A EN P August 2011 139 AppendixB Interconnect Diagrams Interconnect Diagram Notes This appendix provides wiring examples to assist you in wiring the Kinetix 350 system The notes below apply to the wiring examples on the pages that follow Note Information 1 For power wiring specifications refer to Power Wiring Requirements on page 55 2 For input fuse and circuit breaker sizes refer to Circuit Breaker Fuse Specifications on page 131 3 Place the AC EMC line filters as close to the drive as possible and do not route very dirty wires in the wireway If routing in wireway is unavoidable use shielded cable with shields grounded to the drive chassis and filter case For AC line filter specifications refer to AC Line Filter Specifications on page 135 This filter does not apply to 2097 V32PRx LM drives because they have integrated AC line filters 4 Terminal block is required to make connections 5 Contactor coil M1 needs integrated surge suppressors for AC coil operation Refer to Contactor Ratings on page 132 6 Refer to the Motor Brake Currents table on page 149 to size the interposing relay for your application and for a
38. Resistor Power Specifications 2097 R4 2097 V31PRO LM 2097 V31PR2 LM 2097 V32PRO LM 2097 V32PR2 LM 2097 V33PR1 LM 2097 V33PR3 LM 2097 R6 2097 V34PR5 LM 2097 V34PR6 LM 2097 R7 2097 V34PR3 LM Resistor value Q 20 30 40 75 150 Peak power kW 7 6 5 1 3 8 7 9 40 Peak current 19 5 13 0 9 8 10 3 5 1 Continuous power W 150 80 150 80 RD Application max 1 97 2 96 2 10 1 90 2 02 Weight approx kg Ib 0 3 0 7 0 2 0 4 0 3 0 7 0 2 0 4 1 RD Application is the application duty cycle in percent For the intermittent regeneration applications use RD_Application t T Where t is the duration when regeneration is needed and T is the time interval between two regenerations Both t and T must use the same time units such as seconds 136 Rockwell Automation Publication 2097 UM002A EN P August 2011 Specifications and Dimensions Appendix A Product Dimensions This section contains product dimensions for your Kinetix 350 servo drives
39. Resolution Check wiring Unintentionally in Torque mode Check to see what primary operation mode was programmed Motor tuning limits are set too high Run Tune in RSLogix 5000 software Position loop gain or position controller accel decel rate is improperly set Run Tune in RSLogix 5000 software Improper grounding or shielding techniques are causing noise to be transmitted into the position feedback or velocity command lines causing erratic axis movement Check wiring and ground Motor Select limit is incorrectly set servo motor is not matched to axis module Mechanical resonance e Check setups Run Tune in RSLogix 5000 software Notch filter or output filter may be required refer to Axis Properties dialog box Output tab in RSLogix 5000 software You cannot obtain the motor acceleration deceleration that you want Torque Limit limits are set too low Verify that current limits are set properly Incorrect motor selected in configuration Select the correct motor and run Tune in RSLogix 5000 software again The system inertia is excessive Check motor size versus application need Review servo system sizing The system friction torque is excessive Check motor size versus application need Available current is insufficient to supply the correct accel decel rate Check motor size versus application need Review servo system sizing Accel
40. SENE OOOO0000000000000000000 y 50 GND Rockwell Automation Publication 2097 UM002A EN P August 2011 69 Chapter4 Connect the Kinetix 350 Drive System Wire the Low profile Connector Kit The 2090 K2CK D15M low profile connector kit is suitable for terminating flying lead motor feedback cables Use it with the Kinetix 350 drive and all motors with incremental or high resolution feedback It has a 15 pin male D sub connector and is compatible with all Bulletin 2090 feedback cables TLY Axxxx B rotary motors and TLAR Axxxxx electric cylinders also require the 2090 DA BAT2 battery to back up the high resolution encoder Figure 39 Kinetix 350 Drive MF connector Kinetix 350 Drive Side View 2097 V33PR5 LM drive is shown Kinetix 350 Drive Front View 2097 V33PR5 LM drive is shown 2090 K2CK D15M Connector Kit with flying lead feedback cable Figure 40 Wiring 15 pin Flying lead Feedback Cable Connections 2090 K2CK D15M Connector Kit Motor Feedback MF Connector 15 pin male Motor Feedback Ht Low profile Connector Mounting Pin 10 sey pins VL pints Bare Wires N
41. These limitations are also a CE requirement 133 Appendix A 134 Specifications and Dimensions Certification Weight Specifications Kinetix 350 Drive Value approx Cat No kg Ib 2097 V31PR0 LM 1 3 2 86 2097 V31PR2 LM 1 5 3 31 2097 V32PR0 LM 14 3 09 2097 V32PR2 LM 1 7 3 75 2097 V32PR4 LM 2 2 4 85 2097 V33PR1 LM 1 3 2 86 2097 V33PR3 LM 1 5 3 31 2097 V33PR5 LM 2 0 4 41 2097 V33PR6 LM 1 9 4 19 2097 V34PR3 LM 1 5 3 31 2097 V34PR5 LM 2 0 4 41 2097 V34PR6 LM 1 8 3 97 Certifications Standards when product is marked c UL us UL Listed to U S and Canadian safety standards UL 508 C File E59272 Solid state motor overload protection provides dynamic fold back of motor current when 110 of the motor rating is reached with a peak current limit based on the peak rating of the motor as investigated by UL to comply with UL 508C UL File E59272 volume 1 section 22 CE European Union 2004 108 EC EMC Directive compliant with EN 61800 3 2004 Adjustable Speed Electrical Power Drive Systems Part 3 EMC Product Standard including specific test methods European Union 2006 95 EC Low Voltage Directive compliant with EN 61800 5 1 2003 Safety of Machinery Electrical Equipment of Machines EN 50178 1997 Electronic Equipment for use in Power Installations Functional Safety EN 61800 5 2 2007 Adjustable speed electrical power drive system
42. XX 16 11 gt Black 6 BR Z 14 T5 i 12 COM White F gt y lt lt Refer to low profile connector 7 Motor Brake illustration below for proper grounding technique UO COD aE Cable shield eooo m onnector Clam vores MTR_BRAKE VA 24V DC 24V DCCOM User Supplied 24V DC Grounding Technique for Feedback Cable Shield Low Profile Connector 2090 K2CK D15M shown Clamp Table 65 MP Series Electric Cylinder Power and Feedback Cables Exposed shield secured 5 under damp MP Series Electric g Power Cable Feedback Cable Clamp Screws 2 Cylinder Cat No Cat No Cat No Turn clamp over to hold small cables secure MPAR A B1xxx 32 2090 XXNPMF 16Sxx 2090 XXNFMF Sxx standard standard MPAR A B2xxx 40 2090 CPxMA4DF 16AFxx 2090 CFBM4DF CDAFxx continuous flex continuous flex MPAR A B3xxx 63 2090 CPxM7DF 16AAxx 2090 CFBM7DF 16AAxx z3 standard standard MPAI A Bxxx 2090 CPxM7DF 16AFxx 2090 CFBM7DF CEAAxx 110 continuous flex continuous flex Rockwell Automation Publication 2097 UM002A EN P August 2011 17 AppendixB Interconnect Diagrams Figure 60 Kinetix 350 Drive with TL Series Bulletin TLAR Electric Cylinders L GND Feedback 2097 V3xPRx LM Kinetix 350 Drives 2090 CPBM6DF 16AAxx Motor Power and Brake Cable Notes 9 10 Use 2090 CPWM6DF 16AAxx cable for non brake applications 0 Three phase
43. addresses assign the IP address of the Kinetix 350 drive manually To assign the address manually disable the DHCP mode Do this by using the drive keypad and following these steps 1 Press amp 2 Use QU to access parameter DHCP 3 Check this parameter is set to a value of 0 4 Ifthe DHCP parameter is set to 1 then use and to set to 0 5 Cycle power to the drive The change takes effect When DHCP is disabled and power cycled to the drive it reverts back to its previous static IP address If you are connecting more than one drive to the personal computer create unique IP address for each drive Do this by using the keypad on each drive to change the 4 parameter IP 4 is the only octet that can be changed via the keypad IP 1 IP2 and IP 3 are read only accessed this way The dive power must be cycled for any changes to take effect Rockwell Automation Publication 2097 UM002A EN P August 2011 Configure and Start Up the Kinetix 350 Drive System Chapter 5 Configure the IP Address Automatically dynamic address When connecting a Kinetix 350 drive to a network domain with a DHCP enabled server the IP address of the Kinetix 350 drive is assigned automatically To have the address assigned automatically the drive must have its DHCP mode enabled Follow these steps using the drive keypad and display 1 Press e 2 Usethe QU to access parameter DHCP 3 Check this parameter is set to 1 4 Ifthe DHCP pa
44. alternating amber green amber green while a normally flashing green status indicator indication changes to alternating amber off green off Rockwell Automation Publication 2097 UM002A EN P August 2011 117 Chapter7 Troubleshoot the Kinetix 350 Drive Table 49 Network Status Indicators Status Description Off No power or no IP address defined Alternating green red Self test mode power up diagnostics Flashing green Standby device not configured or connection not established Steady green Normal operation Device has at least one established connection Flashing red Recoverable minor fault or connection timeout Steady red Non recoverable major fault or duplicate IP address IMPORTANT Under some fault conditions two reset commands may be required to clear drive Table 50 Port 1 Ethernet Communication Status Indicators Status Description Off No link partner present Flashing green Link partner present communication occurring Steady green Link partner present no communication occurring 118 Rockwell Automation Publication 2097 UM002A EN P August 2011 Troubleshoot the Kinetix 350 Drive Chapter 7 General System Behavior to improve performance Table 51 General System Behavior Condition Axis or system is unstable Potential Cause The position feedback device is incorrect or open These events do not always result in a fault code but may require troubleshooting Possible
45. be established on the motor feedback port Faulty wiring Check motor encoder wiring The motor absolute encoder was not able to Mechanical movement of machine Allowinadhime motion to ston before Ic06 Motor Absolute Startup Speed accurately determine the position after powerup causing excessive rotation of motor due to motor speed greater than 100 rpm during powerup powerup Status messages of the format Lxxx indicate an unrecoverable error while starting the drive Reload firmware and restart the drive if status message repeats contact Rockwell Automation technical support to return drive for repair Table 44 Lxxx Fault Codes DEO Cause 1001 Identity block corrupted 1002 Firmware file load failed L004 Firmware not programmed drive is new 1008 DSP load operation failed Status messages of the format Pxxx indicate an unrecoverable error during the Power on Self Test POST Contact Rockwell Automation technical support to return drive for repair Table 45 Pxxx Fault Codes itis BR Cause P001 SDRAM test failed P002 FPGA load operation failed P004 DPRAM Test failed P005 DSP I F to DPram no DSP response P006 I F to DPram failed P007 Firmware file md5 test failure Rockwell Automation Publication 2097 UM002A EN P August 2011 115 Chapter7 Troubleshoot the Kinetix 350 Drive Table 46 nF xx Fault Codes PESOS RSLogix 50
46. caused by gear teeth or ballscrew balls and so forth The frequency may be a multiple of the motor power transmission components or ballscrew speeds resulting in velocity disturbance Decouple the motor for verification e Check and improve mechanical performance for example the gearbox or ballscrew mechanism Rockwell Automation Publication 2097 UM002A EN P August 2011 119 Chapter7 Troubleshoot the Kinetix 350 Drive Table 51 General System Behavior Condition Potential Cause Possible Resolution The motor connections are loose or open Check motor wiring and connections Foreign matter is lodged in the motor Remove foreign matter The motor load is excessive Verify the servo system sizing No rotation The bearings are worn Return the motor for repair The motor brake is engaged if supplied UNE The motor is not connect to the load Check coupling The duty cyde is excessive Change the command profile to reduce accel decel or Motor overheating Increase The rotor is partially demagnetized causing excessive motor current Return the motor for repair Abnormal noise Motor tuning limits are set too high Run Tune in RSLogix 5000 software Loose parts are present in the motor Remove the loose parts Return motor for repair Replace motor Through bolts or coupling is loose Tighten bolts The bearings are worn Return motor for repair
47. configuration 49 single phase 50 voltage doubler 50 single phase amplifiers on 3 phase power 51 52 install drive accessories 1 0 terminal block 69 low profile connector kits 70 shunt resistor 71 install your drive bond subpanels 22 circuit breakers 17 fuse selection 17 HF bonding 20 system mounting requirements 16 transformer 17 integrated axis module axis properties 88 status indicators 117 interconnect diagrams 120 240V single phase input power 142 120V single phase input power 141 2097 with MPAI actuator 147 2097 with MPAR actuator 147 2097 with MPAS actuator 146 2097 with MPL MPM MPF MPS motor 144 2097 with TLAR actuator 148 2097 with TLY motor 145 240 480V three phase input power 143 notes 140 shunt resistor 143 interpreting status indicators 110 150 13849 1 CAT requirements 100 stop category definitions 100 L low profile connector kits wiring 70 low voltage directive 104 M maximum fdbk cable length 133 specifications 133 module properties drive modules 85 motion group properties 87 motor feedback pinouts 33 specifications general 40 thermostat 41 wiring 67 motor power pinouts 34 wiring 62 motor tab 88 motors accel decel problems 119 brake currents 149 feedback pinouts 68 ground termination 61 interconnect diagram MPL MPM MPF MPS 144 TLY 145 overheating 120 power wiring 3 phase and brake 64 3 phase only 63 TL Series 62 shield clamp wiring 66 test 92 tune 92 velocity 119 mount Ki
48. detailed schematic of brake implementation 7 Drive Enable input must be opened when main power is removed or a drive fault occurs A delay of at least 1 0 second must be observed before attempting to enable the drive after main power is restored 8 Cable shield clamp must be used to meet CE requirements No external connection to ground is required 9 For motor cable specifications refer to the Kinetix Motion Control Selection Guide publication GMC SG001 10 Motor power cables catalog numbers 2090 XXNPMF xxSxx and 2090 CPBM6DF 16AAxx have a drain wire that must be folded back under the cable shield clamp 11 MPL Axxx MPM Axxx MPF Axxx MPS Axxx MPAR Axxx MPAI Axxx and MPAS Axxx encoders use the 4 5V DC supply MPL Bxxx MPM Bxxx MPF Bxxx MPS Bxxx MPAR Bxxx MPAI Bxxx and MPAS Bxxx encoders use 9V DC 12 Brake connector pins are labeled plus and minus or F and G respectively Power connector pins are labeled U V W and GND or and D respectively 140 Rockwell Automation Publication 2097 UM002A EN P August 2011 Interconnect Diagrams Appendix B Power Wiring Examples Refer to table on page 140 for note information You must supply input power components The single phase and three phase line filters are wired downstream of fusing and the M1 contactor In this example the 2097 V31PRx LM drives are wired to use the voltage doubling circuit The 120V input voltage provides 240V output to motors Th
49. engineers and technicians directly involved in the installation and wiring of the Kinetix 350 drive and programmers directly involved in operation field maintenance and integration of the Kinetix 350 drive If you do not have a basic understanding of the Kinetix 350 drive contact your local Rockwell Automation sales representative for information on available training courses The conventions starting below are used throughout this manual e Bulleted lists such as this one provide information not procedural steps e Numbered lists provide sequential steps or hierarchical information Rockwell Automation Publication 2097 UM002A EN P August 2011 7 Preface Additional Resources These documents contain additional information concerning related products from Rockwell Automation Resource Kinetix 350 Single axis EtherNet IP Servo Drive Installation Instructions publication 2097 11008 Description Information on installing your Kinetix 350 drive system Kinetix 300 Shunt Resistor Installation Instructions publication 2097 IN002 Information on installing and wiring the Kinetix 300 shunt resistors Kinetix 300 AC Line Filter Installation Instructions publication 2097 14003 Information on installing and wiring the Kinetix 300 AC line filter Kinetix 300 1 0 Terminal Expansion Block Installation Instructions publication 2097 IN005 Information on installing and wiring the Kinetix 300 1 0 terminal expansion b
50. for Drive 25 Mount Your Kinetix 350 Drive ccc cece ence eee 28 Chapter 3 wou en Such i ce Mok oben tal dis t cafe 29 Kinetix 350 Drive Connectors and Indicators 30 Safe Torque off Connector 31 I O Connector Pinout celles 32 Motor Feedback MF Connector 33 Ethernet Communication Connector 33 AC Input Power Connector 34 Back up Power Connector 34 Shunt Resistor and DC Bus Connector 34 Motor Power Connector 34 Control Signal 35 Digital elas hatte piece naa E 35 Motor Brake Output beat eet 38 Ethernet Communication Specifications 39 Rockwell Automation Publication 2097 UM002A EN P August 2011 3 Table of Contents Connect the Kinetix 350 Drive System Configure and Start Up the Kinetix 350 Drive System 24V DC Back up Power 39 Motor Feedback Speoificatiotiscsuse eemesos dot kl ex uA e annie 40 EeedbaclePoywekSupplys i5 2 4 ska ette Uh e Pea oce 45 Chapter 4 OURS Aui ite df ater uxo
51. is below a factory limit Feedback Serial Comms The number of consecutive missed or corrupted Communication was not Verify motor selection F45 TL Series motors and serial data packets from the feedback device has established with an intelligent i m un e Verify motor encoder wiring actuators only exceeded a factory set limit encoder E47 Feedback Self Test The feedback device has detected an internal Damage to feedback device Call your Rockwell Automation sales error representative to return motor for repair F50 Hardware Overtravel Positive j yis tne physical travel int Check wiring the positive direction Dedicated overtravel input is inactive Verify motion profile E51 Hardware Overtravel Negative Axis moved beyond the physical travel limits in Verify axis configuration in software the negative direction Partial loss of feedback signals Check all wiring at motor feedback MF connector Improperly sized drive or motor Verify sizing of system F54 Excessive Position Error Position error limit was exceeded Increase the feed forward gain Increase following error limit or time Mechanical system out of Check position loop tuning specifications Verify mechanical integrity of system within specification limits e Check motor power wiring Partial loss of feedback signals Check all wiring at motor feedback MF connector Increase velocity error limit or time Improperly
52. product manual Safety Category 3 Requirements Safety related parts are designed with these attributes A single fault in any of these parts does not lead to the loss of the safety function single fault is detected whenever reasonably practicable e Accumulation of undetected faults can lead to the loss of the safety function Stop Category Definition Stop category 0 is achieved with immediate removal of power to the actuator IMPORTANT Inthe event of drive or control failure the most likely stop category is category 0 When designing the machine application consider timing and distance for a coast to stop For more information regarding stop categories refer to EN 60204 1 Rockwell Automation Publication 2097 UM002A EN P August 2011 Description of Operation Functional Proof Tests Kinetix 350 Drive Safe Torque off Feature Chapter 6 Performance Level and Safety Integrity Level SIL CL2 For safety related control systems Performance Level PL according to ISO 13849 1 and SIL levels according to EN 61508 and EN 62061 include a rating of the systems ability to perform its safety functions All ofthe safety related components of the control system must be included in both a risk assessment and the determination of the achieved levels Refer to the ISO 13849 1 EN 61508 and EN 62061 standards for complete information on requirements for PL and SIL determination The safe torque off feature provides a m
53. sets the associated bit in the Motion Alarm Status word but does not otherwise affect axis behavior Like Ignore if the exception is so fundamental to the drive Alarm will not be an available option When an exception action is set to Alarm the Alarm will go away by itself when the exceptional condition has cleared Fault Status Only Fault Status Only instructs the controller to set the associated bit in the Motion Fault Status word but does not otherwise affect axis behavior However 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 Fault Status Only will not be 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 Stop Planner will not be an available option Stop Drive When the exception occurs the associated bit in the Fault Status word is set and the axis will come to a stop by using the stopping action defined by the drive for the particular exception that occurred There is no controller based configuration to specify what the stopping action is the stopping action is device dependent Shutdown
54. system Refer to the illustration below for details on grounding your Kinetix 350 drive Refer to Appendix B for the power wiring diagram for your Kinetix 350 drive ATTENTION The National Electrical Code contains grounding requirements If the Kinetix 350 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 mm 12 AWG solid copper wire 100 mm 3 9 in long Figure 31 Connecting the Braided Ground Strap Example Braided Bonded Cabinet Ground Strap Ground Bus Ground Stud goo Ground Grid or Power E Distribution Ground For drive dimensions refer to Product Dimensions on page 137 Rockwell Automation Publication 2097 UM002A EN P August 2011 Connect the Kinetix 350 Drive System Chapter 4 Figure 32 Chassis Ground Configuration multiple Kinetix 350 drives on one panel ChassisGround Chassis Ground 0 BERF j e Bonded Ground Bar optional 99060 p E Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground Always follow NEC and applicable local codes Ground Multiple Subpanels To ground multiple subpan
55. terminal TX 3 Receive port data terminal 4 Port1Pin Description Signal 5 6 Receive port data terminal RX 7 8 Figure 13 Pin Orientation for 8 pin Ethernet Communication port 1 Port 1 Rockwell Automation Publication 2097 UM002A EN P August 2011 33 Chapter 3 34 Kinetix 350 Drive Connector Data AC Input Power Connector Pinout SUPR drives Signal drives Signal L2 N AC power in non doubler operation L2 N L2 AC power in 12 L1 AC power in L1 L1 AC power in L1 N AC power neutral 120V doubler only N PE Protective earth ground PE PE Protective earth ground PE IPD Description Designator ere and 2097 Signal 13 AC power in three phase models 13 12 AC power in 12 AC power in L1 PE Protective earth ground PE Back up Power Connector Pinout BP m 241 Positive 24V DC 24V DC 24V 24V DC power supply return Return Shunt Resistor and DC Bus Connector Pinout BC MDP Designator Description Signal B B Positive DC bus Shunt resistor B B BR Shunt resistor BR B B Negative DC bus B B Motor Power Connector Pinout MP for i Designator Description Signal PE Protective earth ground PE W Motor power out W V Motor power out V U Motor power out U Rockwell Automation Publication 2097 UM002A EN P August
56. to components ATTENTION Plan the installation of your system so that you can perform all Rockwell Automation Publication 2097 UM002A EN P August 2011 15 Chapter2 Install the Kinetix 350 Drive System System Design Guidelines Use the information in this section when designing your enclosure and planning to mount your system components on the panel For on line product selection and system configuration tools including AutoCAD DXF drawings of the product refer to http www ab com e tools System Mounting Requirements To comply with UL and CE requirements the Kinetix 350 system must be enclosed in a grounded conductive enclosure offering protection as defined in standard EN 60529 IEC 529 to IP4X such that they are not accessible to an operator or unskilled person A NEMA 4X enclosure exceeds these requirements providing protection to IP66 The panel you install inside the enclosure for mounting your system components must be on a flat rigid vertical surface that won t be subjected to shock vibration moisture oil mist dust or corrosive vapors Size the drive enclosure so as not to exceed the maximum ambient temperature rating Consider heat dissipation specifications for all drive components Segregate input power wiring and motor power cables from control wiring and motor feedback cables Use shielded cable for power wiring and provide a grounded 360 clamp termination Use high frequency HF bonding techn
57. troubleshooting tables for your Kinetix 350 drive Topic Page Introduction 109 Safety Precautions 109 Interpret Status Indicators 110 General System Behavior 119 Logix Controller and Drive Behavior 121 Web Server Interface 125 Observe the following safety precautions when troubleshooting your Kinetix 350 drive A ATTENTION Capacitors on the DC bus may retain hazardous voltages after input power has been removed Before working on the drive measure the DC 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 Do not attempt to defeat or override the drive fault circuits You must determine the cause of a fault and correct it before you attempt to operate the system Failure to correct the fault could result in personal injury and or damage to equipment as a result of uncontrolled machine operation ATTENTION Provide an earth ground for test equipment oscilloscope used in troubleshooting Failure to ground the test equipment could result in personal injury Rockwell Automation Publication 2097 UM002A EN P August 2011 109 Chapter7 Troubleshoot the Kinetix 350 Drive Interpret Status Indicators Refer to these troubleshooting tables to identify faults potential causes and the appropriate actions to resolve the fault If the
58. with clamp provided Use 2090 series motor feedback cables or use connector kits and properly terminate the feedback cable shield Drive to motor power and feedback cables must not exceed 20 m 65 6 ft Install the Kinetix 350 system inside an enclosure Run input power wiring in conduit grounded to the enclosure outside of the enclosure Separate signal and power cables Segregate input power wiring and motor power cables from control wiring and motor feedback cables Use shielded cable for power wiring and provide a grounded 360 clamp termination Refer to Appendix B on page 141 for interconnect diagrams including input power wiring and drive motor interconnect diagrams Rockwell Automation Publication 2097 UM002A EN P August 2011 13 Chapter1 Start Notes 14 Rockwell Automation Publication 2097 UM002A EN P August 2011 Chapter 2 Install the Kinetix 350 Drive System Introduction This chapter describes system installation guidelines used in preparation for mounting your Kinetix 350 drive components Topic Page Introduction 15 System Design Guidelines 16 Electrical Noise Reduction 20 Mount Your Kinetix 350 Drive 28 cutting drilling tapping and welding with the system removed from the enclosure Because the system is of the open type construction be careful to keep any metal debris from falling into it Metal debris or other foreign matter can become lodged in the circuitry which can result in damage
59. xl r Available Driver Types Close Ethernet devices Ke Add New Help m Configured Drivers Name and Description Status AB_ETH 1 Ethernet RUNNING Running Configure LocalSubnet Ethernet RUNNING Running Startup Start Stop FEREL Delete 9 Click Close 10 Minimize the RSLinx application dialog box 156 Rockwell Automation Publication 2097 UM002A EN P August 2011 Upgrade the Kinetix 350 Drive Firmware Appendix 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 Tools ControlFLASH The Welcome to ControlFLASH dialog box opens Welcome to ControlFLASH the firmware update tool ControlFLASH needs the following information from you before it can 1 begin updating a device MU 1 the Catalog Number of the target device 2 The Network Configuration parameters optional 3 The Network Path to the target device 4 The Firmware Revision for this update 2 Click Next The Catalog Number dialog box opens Enter the catalog number of the target device 2097 V33PR 3 LM 2097 V33PR6 LM 2097 V34PR3 LM Rockwell Automation Publication 209
60. 0 Drives 120 240V Drive Cat No Voltage AC Coil Contactor DC Coil Contactor 120V 100 23 10 100 237 10 2097 V31PRO LM 240V 100 C12x10 100 127 10 120V 100 C30x10 100 307 10 2097 V31PR2 LM 240V 100 C23x10 100 237 10 Table 60 Kinetix 350 Drives 2401 Drive Cat No Voltage AC Coil Contactor DC Coil Contactor 2097 V32PR0 LM 240V 100 23 10 100 237 10 2097 V32PR2 LM 240V 100 23 10 100 237 10 2097 V32PR4 LM 240V 100 30 10 100 307 10 120V 100 C23x10 100 237 10 2097 V33PR1 LM 240V 100 C16x10 100 167 10 120V 100 C23x10 100 237 10 2097 V33PR3 LM 240V 100 C16x10 100 167 10 120V 100 C30x10 100 307 10 2097 V33PR5 LM 240V 100 C23x10 100 237 10 120V N A N A 2097 V33PR6 LM 240V 100 C30x10 100 307 10 Table 61 Kinetix 350 Drives 4801 Drive Cat No Voltage AC Coil Contactor DC Coil Contactor 2097 V34PR3 LM 100 C12x10 100 127 10 2097 V34PR5 LM 480V 100 C12x10 100 127 10 2097 V34PR6 LM 100 23 10 100 237 10 Transformer Specifications for Input Power Attribute Value 460V system Input volt amperes 750VA Input voltage 480V AC Output voltage 120 240V AC Rockwell Automation Publication 2097 UM002A EN P August 2011 Power Dissipation Specifications General Specifications Specifications and Dimensions Appendix A This table shows the maximum power dissi
61. 00 Four digit Display Fault Message Problem or Symptom Potential Cause Possible Resolution Remove unnecessary network devices from the motion network Change the network topology so that Excessive network traffic fewer devices share common paths faster higher performance Several consecutive updates from the controller nF01 Control Update Fault have been lost network equipment Segregate signal wiring from power Noi wiring oisy environment e Use shielded cables Addsnubbers to power devices Recyde control power or reset the drive nF 02 Processor Watchdog Fault The watchdog circuit monitoring processor operation detected a problem em control module if problem persists Recyde control power or reset the The drive has an internal hardware problem drive Replace drive nF 03 Hardware Fault e Recycle control power or reset the Nonvolatile write or write to memory failed Faulty memory component drive e Replace drive if problem persists Recycle control power or reset the A data format error was discovered in the drive nF 04 Data Format Error Faulty memory component controller to drive message Replace control module if problem persists 116 Rockwell Automation Publication 2097 UM002A EN P August 2011 Status Indicators Troubleshoot the Kinetix 350 Drive Chapter 7 Table 47 Drive Status Indicator Status Off Alternating green red Description No power Apply po
62. 02A EN P August 2011 Install the Kinetix 350 Drive System Chapter 2 When mounting your shunt module inside the enclosure follow these additional guidelines e Mount the shunt resistor anywhere in the dirty zone but as close to the Kinetix 350 drive as possible Shunt wires can be run with motor power cables e Keep unshielded wiring as short as possible Keep shunt wiring as flat to the cabinet as possible e Separate shunt wires from other sensitive low voltage signal cables Figure 8 Shunt Resistor inside the Enclosure Clean Wireway d Shunt Wiring Methods Dirty Wireway Enclosure Twisted pair in conduit first choice Shielded twisted pair second choice Twisted pair two twists per foot min third choice D Ea Contactor VD 24V Motor Brake PS Kinetix 350 Drive Very dirty zone Ethernet shielded Cable No sensitive equipment within 150 Ethernet and Feedback Cables Route Encoder Analog Registration 1 0 qm Motor Power and Safety Cables Route 24V 0 1 0 Shielded Cables Shielded Cable 1 If drive system 1 0 cable contains dirty relay wires route cable in dirty wire way 2 When space does not permit 150 mm 6 0 in clearance install a grounded steel shield between the drive and clean wireway For examples
63. 40V No Fiter Alen Bradey Diive 2097N33PRYLM Kinetic 350 Single Avis Ethemet Drive Allen Bradey Drive Motion 2097 V33PR3 Kinetic 300 4A 240V No Fiter Alen Bradey 2097N33PR31M Kinetic 350 Single Axis Ethemet Diive Alen Bradey Drive Motion 2097 V33PR5 Kinetic 300 240V No Fiter Allen Bradey Diive 2097 N33PR51M Kinetic 350 Single Axis Ethemet Drive Alen Bradey Diive Motion 2097N33PR6 Kinetic 300 12 240V No Fiter Alen Bradey Diive 2097 Kinetic 350 Single Avis Ethemet Drive AlenBradey Drive Motion 2097 24p0124 M Kineton FD Avie F Dino ates inne Mirian of 84 of 159 Module Types Found 2 Clear the Module Type Category Filter and check the Drive and Motion catagories 3 Select your 2097 V3xPRx LM drive as appropriate for your actual hardware configuration and click Create 84 Rockwell Automation Publication 2097 UM002A EN P August 2011 Configure and Start Up the Kinetix 350 Drive System Chapter 5 The New Module dialog box opens LI New Module 4 Configure the new drive a Type the drive Name b Click an Ethernet Address option In this 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 must match the base node address of the drive 5 Click Change in the Module Definition area The Module Definition dialog box opens Module Definition x
64. 47 Basic Wiring Requirements evi tices ed ise ree ves eae 47 Recommended 48 Route Power and Signal 48 Determine the Input Power 48 Three phase Power Wired to Three phase Drives 49 Single phase Power Wired to Single phase Drives 50 Voltage Doubler Operation eerta er he boite 50 Isolation Transformer in Grounded Power Configurations 51 Three phase Power Wired to Single phase Drives 51 Voiding of CE Compliance senecta eso ex pun e Ra 53 Grounding Your Kinetix 350 Drive 54 Ground Your Drive to the System 54 Ground Multiple Subpanels i et Rn 55 Power Wiring Requirements Res hex 55 Wiring Ghideliti sses dosis eens let eh p UN adu uiae e eee 58 Wiring the Kinetix 350 Drive 59 Wire the Safe Torque off STO 59 Wire the Back up Power BP 59 Wire the Input Power IPD 60 Wire the Motor Power MP 61 Apply the Motor Cable Shield 66 Feedback and I O Cable Connections 67 Flying lead Feedb
65. 7 UM002A EN P August 2011 157 Appendix 158 Upgrade the Kinetix 350 Drive Firmware 3 Select your drive module and click Next The Select Device to Update dialog box opens Select the device to update and click OK Pe i Workstation Lins Gateways Ethernet AB ETHIP 1 Ethernet 10824872 10824873 108250200 10 82 48 72 1756 EWEB A 1756 EWEB A 1756 EwEB A 1756 EWEB A 1756 EN2T 10 82 48 73 1756 EWEB A 1755 EwEB 10 82 50 200 1756 EN2TR 1756 EN2TR B 8 4 Expand your Ethernet node Logix backplane and EtherNet IP network module 5 Select the servo drive to upgrade and click OK The Firmware Revision dialog box opens Firmware Revision Control 6 Select the firmware revision to upgrade and click Next The Summary dialog box opens Summary 1 Control Rockwell Automation Publication 2097 UM002A EN P August 2011 Upgrade the Kinetix 350 Drive Firmware Appendix 7 Confirm the drive catalog number and firmware revision and click Finish This ControlFLASH warning dialog box opens ControlFLASH 2 Are you sure you want to begin updating the target device 8 Click Yes only if you are ready The Progress dialog box opens and upgrading begins Catalog Number 2097 V33PR3 LM SerialNumber 13E4CA5B Current Revision 1 11 0 New Revision 1 13 0 Transmitting update 2 of 2 block 2238 of 2238 The drive four digit status indicator chan
66. 85 7 29 iL 2097 V33PR6 LM 230 9 04 25 0 mm 1 0 in Clearance 2097 V34PR3 LM 185 7 29 for Airflow and Installation 2097 V34PR5 LM 185 7 29 2097 V34PR6 LM 230 9 04 Refer to page 133 for power dissipation specifications Rockwell Automation Publication 2097 UM002A EN P August 2011 19 Chapter2 Install the Kinetix 350 Drive System Electrical Noise Reduction 20 This section outlines best practices that minimize the possibility of noise related failures as they apply specifically to Kinetix 350 system installations For more information on the concept of high frequency HF bonding the ground plane principle and electrical noise reduction refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 Bonding Drives Bonding is the practice of connecting 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 need to be paint free or plated Bonding metal surfaces creates a low impedance return path for high frequency energy IMPORTANT Toimprovethe bond between the drive and subpanel construct your subpanel out of zinc plated paint free steel Improper bonding of metal surfaces blocks the direct return path and allows high frequency energy to travel elsewhere in the cabinet
67. CPBM7DF xxAFxx 1 2090 CPWM7DF xxAFxx continuous flex continuous flex MP Series Bulletin MPAI MPAI A Bxxxx TL Series Bulletin TLY TLY Axxxx Circular Plastic 2090 CPBM6DF 16AAxx standard 2090 CPWM6DF 16AAxx standard TL Series Bulletin TLAR TLAR Axxxx 1 You must remove the motor side o ring when using 2090 CPxM7DF xxAxx cables 62 Rockwell Automation Publication 2097 UM002A EN P August 2011 Connect the Kinetix 350 Drive System Chapter 4 This diagram shows an example of three phase power wires for motors actuators that have no brakes Thermal switch wires are included in the feedback cable Refer to Kinetix 350 Drive Rotary Motor Wiring Examples beginning on page 146 for interconnect diagrams Figure 35 Motor Power Terminations three phase wires only we 11 Motor Power MP Connector Plug g E CE M LLC LL Motor Cable Shield Clamp Kinetix 350 Drive The cable shield clamp shown above is mounted to the subpanel Ground and secure the motor power cable in your system following instructions on page 66 Rockwell Automation Publication 2097 UM002A EN P August 2011 63 Chapter 4 Connect the Kinetix 350 Drive System 64 This diagram s
68. Class 42 Hex Destination ment Instance Attribute 2e0 Hex New Tag 4 Click the Communications tab and browse to the drive tag in this case K350 as shown Configuration Communication Tag Path K350 Ko 7 Broadcast S Path Method _ K350 Chame CIP with Ej 3 1 0 Configuration QR Source Linke 9 22 689 1756 Backplane 17567 a 0 1756 L63 UM test Connected E BJ 1 1756 EN2TR EN2TR 5 85 Ethernet fJ 2097 V33PR3 LM K350 fJ 1756 2 EN2TR O Enable Enable Waiting Os 5 When the program is in Run mode trigger the rung to run the instruction The drive will not check the enable input signal on IOD 29 Enable to IOD 26 Common This MSG instruction only needs to be executed once as it is a persistent type instruction and gets saved to the drive Non volatile Memory To re enable enable input signal checking on IOD 29 Enable to IOD 26 Common change the Source Element register enableinputChecking from 0 to 1 and trigger the run again Rockwell Automation Publication 2097 UM002A EN P August 2011 Introduction Chapter 6 Kinetix 350 Drive Safe Torque off Feature This chapter introduces you to how the safe torque off feature meets the requirements for ISO 13849 1 performance level d PLd safety category 3 Topic Page Introduction 99 Certification 100 Description of Operation 101
69. ControlFLASH Software 154 Rockwell Automation Publication 2097 UM002A EN P August 2011 153 AppendixC Upgrade the Kinetix 350 Drive Firmware Upgrade Drive Firmware with ControlFLASH Software 154 Upgrading axis module firmware by using ControlFLASH software involves configuring your Logix communication selecting the drive to upgrade and upgrading the firmware Before You Begin You need the following software and information before you begin Table 67 Kinetix 350 System Requirements Description Firmware Revision RSLogix 5000 software 9324 RLD300NE 20 x or later RSLinx software 2 58 or later ControlFLASH firmware upgrade kic 8 00 017 or later Catalog numbers of the targeted Kinetix 350 drive you want to upgrade Network path to the targeted Kinetix 350 drive module you want to upgrade 1 Download the ControlFLASH kit from http support rockwellautomation com controlflash Contact Rockwell Automation Technical 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 05105 IMPORTANT Input power or back up power must be present at IPD or BP connector prior to upgrading your target drive firmware upgrade due to unpredictable motor activity do not apply three ATTENTION To avoid personal injury or damage to equipment during the phase AC Rockwell Automation Publicat
70. Description Cancel Usage normal Type Bas Donnecton Alias For HB Data Type Scope External erre Read Write bd Style M T Constant Open MOTION_GROUP Configuration 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 opens B Motion Group Properties UM Motion ioj x Axis Assignment Attribute Tag Unassigned Assigned Add gt lt 5 Click the Axis Assignment tab and move your axes created earlier from Unassigned to Assigned 6 Click the Attribute tab and edit the default values as appropriate for your application 7 Click OK Rockwell Automation Publication 2097 UM002A EN P August 2011 87 Chapter5 Configure and Start Up the Kinetix 350 Drive System Configure Axis Properties Follow these steps to configure axis properties 1 Right click an axis in the Controller Organizer and choose Properties 2 Click the Motor category The Motor Device Specification dialog box opens Axis Properties Axis 1 Motor Device Specification Nameplate Datasheet Position Loop Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults
71. Disable configured value for Velocity Error Tolerance 56 Overtorque Limit Motor torque has risen above user defined maximum torque level given by Pecel Disable Overtorque Limit E57 Undertorque Limit Mae torque has dropped below user defined minimum torque level given Decel Disable y Undertorque Limit F61 Enable Input Deactivated Enable has been deactivated while the axis is in Running state Decel Disable F62 Controller Initiated Exception Exception generated specifically by controller Disable Coast 1 Whena TTL encoder loses its signals it is not detected directly Instead a secondary fault to detect the condition typically excessive position or velocity error In this case the motor will coast to a stop but will still be enabled in RSLogix software IMPORTANT The fault detection ability of TTL encoders is not as advanced as with Stegmann hiperface or Tamagawa 17 bit serial encoders When a TTL encoder loses its A B signals the Kinetix 350 drive is unable to detect this directly Instead it relies on a secondary fault to detect the condition typically excessive position or velocity error There are some cases particularly in Torque mode where the fault isn t detected at all In this case the motor will coast to a stop but will still be enabled in RSLogix software Table 54 Drive Behavior Custom Fault Codes Best Stopping Method Four digit Display Exception Description Major Fault Only F
72. Excessive high frequency energy can effect the operation of other microprocessor controlled equipment Rockwell Automation Publication 2097 UM002A EN P August 2011 Install the Kinetix 350 Drive System Chapter 2 These illustrations show recommended bonding practices for painted panels enclosures and mounting brackets Figure 3 Recommended Bonding Practices for Painted Panels Stud mounting the Subpanel to the Enclosure Back Wall Back Wall of Enclosure Subpanel Welded Stud Use a wire brush to remove paint from threads to maximize ground connection Use plated panels or scrape paint on front of panel Stud mounting a Ground Bus or Chassis to the Subpanel Subpanel Mounting Bracket or Ground Bus Welded Stud Flat Washer Scrape Paint Flat Washer If the mounting bracket is coated with a non conductive material anodized or painted scrape the material around Star Washer the mounting hole Bolt mounting a Ground Bus or Chassis to the Back panel Ground Bus or Mounting Bracket Flat Washer Nut Star Washer Rockwell Automation Publication 2097 UM002A EN P August 2011 Subpanel Tapped Hole BS Star Washer Scrape paint on both sides of panel and use star washers Star Washer Flat Washer If the mounting bracket is coated with a non conductive material anodized or painted scrape the material around the mounting hole 21 Chapter 2 22 Install the Kinetix 350 Drive Syst
73. Fault excessively late as determined by the Controller Update Delay High Limit Dis ble Coast attribute value The Processor Watchdog Fault code indicates that the processor associated nF02 Processor Watchdog Fault with the device node has experienced an excessive overload condition that Disable Coast has tripped the associated processor watchdog mechanism The Hardware Fault code indicates that the critical support hardware such nF03 Hardware Fault as the FPGA or ASIC associated with the device node has experienced a Disable Coast fault condition This will occur when the EPM module has been removed This fault code indicates that an error has occurred in the data format nF04 Data Format Error between the controller and the device such as a Format Revision Disable Coast mismatch The Control Connection Loss fault code indicates that the Motion controller n nF G Control Connection Loss Fault to drive connection from the controller has timed out Disable Coast 124 Rockwell Automation Publication 2097 UM002A EN P August 2011 Troubleshoot the Kinetix 350 Drive Chapter 7 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 50 Main Page Kinetix 350 Figure 51 Fault Page Device Name Device Description
74. Hz VelocityLoopBandwidth 77 87874 77 918236 Hz Advanced Compensation Load Parameters Tuned complete Stop 7 Tanne Neus hte Pe eeiam Me UR anner X m Homing C Motor with Load Uncoupled Motor e Systemlnertia 0013711376 0 013711376 35 v Actions Drive Paramelers Texel po Position Units Accept Tuned Values e Parameter List a Status Speed 10 0 Position Units s Faults amp Alarms Torque 100 0 Rated Tag Direction Forward Uni directional e Manual Tune OK Cancel Apply Help Tuned values populate the Loop and Load parameter tables Actual bandwidth values Hz depend on your application and may require adjustment once motor and load are connected At this point you can compare existing and tuned values for your gains and inertias with 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 TIP If your application requires stricter performance you can further improve performance with manual tuning 9 Click OK to close the RSLogix 5000 Autotune dialog box 10 Click OK to close the Axis Properties dialog box Rockwell Automation Publication 2097 UM002A EN P August 2011 Configur
75. LM Kinetix 350 120V 1 240V 3 4 0 A 2097 V33PR5 LM Kinetix 350 120V 1 240V 3 8 0 A 2097 V33PR6 LM Kinetix 350 120V 1 240V 3 12 0 A Table 4 Kinetix 350 Drives three phase Cat No Description 2097 V34PR3 LM Kinetix 350 480V 3 2 0 A 2097 V34PR5 LM Kinetix 350 480V 3 4 0 A 2097 V34PR6 LM Kinetix 350 480V 3 6 0 A Kinetix 350 Drive Accessories Cat No Drive Components 2097 Fx AC line filters 2097 TB1 Terminal block for 1 0 connector 2097 Rx Shunt resistors Rockwell Automation Publication 2097 UM002A EN P August 2011 Agency Compliance Start Chapter1 If this product is installed within the European Union and has the CE mark the following regulations apply grounding the AC line filter and drive must match Failure to do this renders the ATTENTION Meeting CE requires a grounded system The method of filter ineffective and may cause damage to the filter For grounding examples refer to Grounding Your Kinetix 350 Drive System on page 54 For more information on electrical noise reduction refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 CE Requirements To meet CE requirements these requirements apply Install an AC line filter Bulletin 2090 or 2097 as close to the drive as possible Use 2090 series motor power cables or use connector kits and terminate the cable shields to the subpanel
76. M 2097 V32PRO 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 2097 V33PR6 LM 4 0 12 2 5 14 en Rockwell Automation Publication 2097 UM002A EN P August 2011 Torque Value Nem Ib in 0 5 4 5 65 Chapter4 Connect the Kinetix 350 Drive System Apply the Motor Cable Shield This procedure assumes you have completed wiring your motor power MP da amp connector and are ready to apply the cable shield clamp Follow these steps to apply the motor cable shield clamp 1 Locate a suitable position for installing cable shield clamp within 50 75 mm 2 3 in of the drive lt gt Motor Power Ground 2s cota lt gt 1 0 e e Dimensions are in mm in 50 75 2 3 iu N i gt gt EES If panel is painted remove paint to nox m i Pd provide metal to metal contact SA T um 2 Lay out and drill holes for cable clamp perform all cutting drilling tapping and welding with the system removed from the enclosure Because the system is of the open type construction be careful to keep any metal debris from falling into it Metal debris or other foreign matter can become lodged in the circuitry which can result in damage to components ATTENTION Plan the installation of your system so th
77. MF Sxx standard N A 2090 CFBM4DF CDAFxx continuous MPL A B15xxx Hx4xAA flex MPL A B2xxx Hx4xAA MPL A B3xxx Hx7xAA Incremental encoder 2090 XXNFMF Sxx standard MPL A B4xxx Hy7xAA N A 2090 CFBM7DF CDAFxx continuous MPL A B45xxx Hx7xAA flex MPL A B3xxx M Sx7xAA MPL A B4xxx M Sx7xAA High resolution encoder MPL A B45xxx M SX7xAA MPM A Booxo MIS 2090 CFBM7DD CEAJ 1 standard 2090 CFBM7DF CEAAxx standard 2090 CFBM7DD CEAP continuous 2090 CFBM7DF CEAP continuous MPF A Bxxxx M S flex flex MPAR A B3xxxx MPAI A Bxxxx High resolution encoder MPS A Bxxxx M S MPAS A Bxxxx V A 2090 XXNFMF Sxx standard N A 2090 CFBM4DF CDAExx continuous MPAR A B1xxxx flex MPAR A B2xxxx TLY Axxxx B High resolution encoder TLAR Axxxxx 2090 CFBM6DD CCAAxx standard 2090 CFBM6DF CBAAxx standard TLY Axxxx H Incremental encoder 1 You must remove the motor side o ring when using 2090 CPxM7DF xxAxx cables Rockwell Automation Publication 2097 UM002A EN P August 2011 67 Chapter4 Connect the Kinetix 350 Drive System Flying lead Feedback Cable Pin outs Table 28 2090 XXNFMF Sxx or 2090 CFBMxDF xxAxxx Feedback Cable High resolution Feedback ee Drive MF 9V Encoder 5V Encoder 5V Encoder 1 Sin Sin AM 1 2 Sin Sin AM 2 3 05 05 BM 3 4 Cos Cos BM 4 5 D
78. Mechanical resonance Notch filter may be required refer to Axis Properties dialog box Output tab in RSLogix 5000 software Erratic operation Motor locks into position runs without control or with reduced torque 120 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 Check and correct motor feedback wiring Rockwell Automation Publication 2097 UM002A EN P August 2011 Logix Controller and Drive Behavior Troubleshoot the Kinetix 350 Drive Chapter 7 By using RSLogix 5000 software you can configure how the Bulletin 2097 drives respond when a drive fault exception occurs TIP The Ixx faults are always generated after powerup but before the drive is enabled so the stopping behavior does not apply Kinetix 350 Drive Exception Behavior For Kinetix 350 drives you can configure exception behavior in RSLogix 5000 software from the Axis Properties dialog box Actions category Table 52 Kinetix 350 Drive Exception Action Definitions Exception Action Ignore Definition The controller completely ignores the exception condition For some exceptions that are fundamental to the operation of the planner Ignore will not be an available option Alarm The controller
79. TK R 20 20A 1492 SP1D200 140M F8E C20 2097 V31PRO LM 240V KTK R 10 10A 1492 SP1D100 140M F8E C10 120V KTK R 30 30 1492 SP1D300 140M F8E C32 2097 V31PR2 LM 240V KTK R 20 20A 1492 SP1D200 140M F8E C20 2097 V32PRO LM 240V KTK R 20 20A 1492 SP3D200 140M F8E C20 2097 V32PR2 LM 2097 V32PR4 LM 240V KTK R 30 30A 1492 SP3D320 140M F8E CG32 120V KTK R 20 20 1492 SP1D200 140M F8E C20 2097 V33PR1 LM 240V KTK R 15 15A 1492 SP3D150 140M F8E C16 120V KTK R 20 20A 1492 SP1D200 140 8 20 2097 V33PR3 LM 240V KTK R 15 15A 1492 SP3D150 140M F8E C16 120V KTK R 30 30 1492 SP1D300 140M F8E CG32 2097 V33PR5 LM 240V KTK R 20 20A 1492 SP3D200 140M F8E C20 120V N A N A N A 2097 V33PR6 LM 240V KTK R 30 30A 1492 SP3D300 140M F8E C32 2097 V34PR3 LM KTK R 10 10A 1492 SP3D100 140M F8E C10 2097 V34PR5 LM 480V KTK R 10 10A 1492 SP3D100 140M F8E C10 2097 V34PR6 LM KTK R 20 20A 1492 SP3D200 140M F8E C20 1 When using Bulletin 1492 circuit protection devices the maximum short circuit current available from the source is limited to 5000 2 Use fully rated short circuit protection circuit breaker for device branch circuit protection only when there is an upstream fully rated breaker 3 Fully rated breaker for overload current and short circuit rating Rockwell Automation Publication 2097 UM002A EN P August 2011 131 Appendix A 132 Specifications and Dimensions Contactor Ratings Table 59 Kinetix 35
80. User Manual Allen Bradley Kinetix 350 Single axis EtherNet IP Servo Drives Catalog Numbers 2097 V31PRO LM 2097 V31PR2 LM 2097 V32PRO 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 Allen Bradley Rockwell Software Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI 1 1 available from your local Rockwell Automation sales office or online at http www rockwellautomation com literature describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable 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 act
81. abled server or you can manually assign an IP address to the drive static IP address Both methods of configuring the drive s IP address are shown here Obtain the Kinetix 350 Drives Current Ethernet Settings The current Ethernet setting and IP address of the Kinetix 350 drive can be obtained from the drive display and keypad Press on the display and use QO to access parameters IP_1 IP_2 IP_3 and IP_4 Each of these parameters contain one sub octet of the full IP address for example in the case of the drive default factory set address parameters IP 1 192 IP 2 168 IP 3 124 IP 4 200 Rockwell Automation Publication 2097 UM002A EN P August 2011 79 Chapter 5 80 Configure and Start Up the Kinetix 350 Drive System By accessing these four parameters the full IP address on the drive can be obtained If parameters IP_1 IP 2 IP 3 and IP_4 all contain rather than a numerical values it means that the drive has DHCP enabled and the DHCP server is yet to assign the drive its dynamic IP address As soon as an IP address is assigned by the server the address assigned is displayed by the drive in the above parameters See Configure the IP Address Automatically dynamic address on page 81 Configure the IP Address Manually static address When connecting directly from the Kinetix 350 drive to the personal computer without a server or when connecting to a private network where all devices have static IP
82. ack Cable 68 Wiring the Feedback and I O Connectors 69 Wire the I O 58 69 Wire the Low profile Connector Kit cede REIR 70 Shunt Resistor 71 Ethernet Cable 8 72 Chapter 5 ntroduetotb satio eov an n ROT EM aaa tis Sav nan 75 Keypad Input dioit Mud ose uda tenta 76 Stats IichedtOPSe cur de ta e eee 77 Configure the Kinetix 350 Drive Ethernet IP Address 79 Ethernet 79 Kinetix 350 Drive Ethernet Port Configuration 79 Obtain the Kinetix 350 Drives Current Ethernet Settings 79 Configure the IP Address Manually static address 80 Configure the IP Address Automatically dynamic address 81 Configure the Logix EtherNet IP Controller suus 82 4 Rockwell Automation Publication 2097 UM002A EN P August 2011 Kinetix 350 Drive Safe Torque off Feature Troubleshoot the Kinetix 350 Drive Table of Contents Configure the Logix Controller 1 eerte ree 82 Configure the Kinetix 350 84 Configure the Motion Group ds achete ets 87 Configure Axis PIOpertiess sesso eerte ees 88 Download the Prost iioii ss S3 Huh qe tese oda den pe he Here 91 Apply Power to the Kinetix 350 Drive
83. ad given by Motor Thermal Overload Factory Limit This limit is 108 226 F Decel Disable forthe Kinetix 350 drive Inverter current has exceeded the factory set peak or instantaneous current limit This limit is set to 45096 of the rated drive current for a single phase Disable Coast F10 Inverter Overcurrent Inverter temperature has exceeded its factory set temperature limit given by F11 Inverter Overtemperature Inverter Overtemperature Factory Limit Detected when an internal Disable Coast temperature sensor senses 108 C 226 F Inverter thermal model has exceeded its factory set thermal capacity limit F13 Inverter Thermal Overload given by Inverter Thermal Overload Factory Limit This threshold is set to 108 Disable Coast C 226 F DC Bus voltage level is below the factory set limit given by Bus Undervoltage F 33 Bus Undervoltage Factory Limit This limit is set at 75 of the nominal voltage as determined Decel Disable on powerup DC Bus voltage level is above the factory set limit given by Bus Overvoltage F35 Bus Overvoltage Factory Limit For 240V drives the limit 15 420V For 480V drives the limitis Disable Coast 840V 122 Rockwell Automation Publication 2097 UM002A EN P August 2011 Troubleshoot the Kinetix 350 Drive Chapter 7 Table 53 Drive Behavior F xx Fault Codes continued ad Best Stopping Method Four digit Display Exception Description
84. age Problem or Symptom Potential Cause Possible Resolution e Check wiring and 24V source for drive The axis enable input is ENABLE Input 01 Axis enable input deactivated Axis Enable Input is not active Disable enablelnputCheckingattribute using a message instruction The associated motor has not been 502 Motor not configured configured for use Cyce power or reset the drive The associated feedback device has not Faulty intelligent encoder or incorrect Check proper motor has been selected been configured for use or the motor file in RSLogix software 503 Feedback not configured configuration does not match what is Replace motor if faulting continues connected 05 Safe torque off No power or safety circuitry not The safety function has disabled the Apply 24V sources to safety circuit configured power structure Rockwell Automation Publication 2097 UM002A EN P August 2011 Use jumpers to bypass safety circuit 111 Chapter 7 Troubleshoot the Kinetix 350 Drive Table 41 F xx Fault Codes Four digit Displa RSLogix 5000 Problem or Symptom Potential Cause Possible Resolution y Fault Message y e Check wiring of 1 52 and 3 F02 Illegal Hall State State of Hall feedback inputs is incorrect Improper connections Check the power supply to the encoder Check motor wire phasing F03 Motor Overspeed Motor speed has exceeded 12596 of m
85. ain to provide an accurate operational response 2 Click the Autotune category se Axis Properties Axis 1 15 xi Categories General Tune Control Loop by Measuring Load Characteristics Motor DS Model ES debeas DANGER This tuning Motor Feedback Stop EN procedure may cause axis Scaling Loop Medium 5 motion with the controller Hookup Tests Response Tune Status Success Load Rigid Loop Parameters Tuned ca Customize Gains to Tune PosilionLoopBandwidih 19 469665 19 479559 Hz Backlash Position Integrator Bandwidth PositionintegratorBand 0 0 00 Hz Compliance Velocity Intearator Bandwidth VelocityLoopBandwidth 77 87874 77 918236 Hz gt Friction d T Advanced Compensation iti velocity Feedfonward Loop pii Load Parameters Tuned Velocity Loop Acceleration Feedforward Acceleration Loop units Torque Current Loop py URN MaximumAcceleration 19299 494 19299494 Planner Mesotas Inertia usi Tune Fronte MaximumDeceleration 19299494 19299494 Homing C MotorwithLoad e Uncoupled Motor e Systeminertia 0 013711376 0 013711376 1 v Actions Drive Parameters 5 o Position Units Accept Tuned Values List Speed fi 00 Position Units s Faults amp Alarms Torque f 00 0 Rated Tag Direction Forward Uni directional Ma
86. alization bus up Off Shutdown bus not up Flashing amber m Shutdown bus up Off Pre charge bus not up Flashing amber m Start inhibit Flashing green mo Stopped Stopping Solid green ma ROME Running Testing Aborting Flashing red Major faulted eua Aborting olid re Major faulted 1 Theaxis and the drive define minor fault conditions While a minor fault does not affect the drive status indicator it does affect the axis status indicator When a minor fault condition is detected a normally solid green status indicator indication changes to alternating red green red green a normally flashing green status indicator indication changes to alternating red off green off and a normally flashing amber indications changes to red off amber off 2 The drive also defines alarm conditions When an alarm condition is detected a normally solid green status indicator indication changes to alternating amber green amber green while a normally flashing green status indicator indication changes to alternating amber off green off Table 34 Network State Status Indicator Status Indicator State Steady off Not powered no IP address Flashing green No connections Steady green Connected Flashing red Connection time out Steady red Duplicate IP Flashing green and red Self test Rockwell Automation Publication 2097 UM002A EN P August 2011 Configure the Kinetix 350 Drive Et
87. amp Alarms 3 From the Data Source pull down menu choose Catalog Number 4 Click Change Catalog The Change Catalog Number dialog box opens Change Catalog Number MPL A320P S 5 Select the motor catalog number appropriate for your application To verify the motor catalog number refer to the motor name plate 6 Click OK to close the Change Catalog Number dialog box 88 Rockwell Automation Publication 2097 UM002A EN P August 2011 Configure and Start Up the Kinetix 350 Drive System Chapter 5 7 Click Apply 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 5 Axis Properties Axis_1 Mansen 9 Click Apply if you make changes 10 Click the Load category and edit the default values as appropriate for your application Characteristics of Motor Load 11 Click Apply if you make changes Rockwell Automation Publication 2097 UM002A EN P August 2011 89 Chapter5 Configure and Start Up the Kinetix 350 Drive System 12 Click the Actions category The Actions to Take Upon Conditions dialog box opens so Axis Properties Axis_1 __ Gf Actions to Take Upon Conditions General E Motor rn Model Stop Action Decel amp Disable x Parameters Motor Feedback Motor Overload Action Boe H varied Tah Inv
88. as Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation NV Pegasus Park De Kleetlaan 12a 1831 Diegem Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Rockwell Automation Publication 2097 UM002A EN P August 2011 Copyright 2011 Rockwell Automation Inc All rights reserved Printed in the U S A Allen Bradley Kinetix 350 Single axis EtherNet IP Servo Drives User Manual
89. at you can 3 Locate the position on the motor power cable that comes under the clamp and remove about an inch of the cable jacket to 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 66 Rockwell Automation Publication 2097 UM002A EN P August 2011 Connect the Kinetix 350 Drive System Chapter 4 Feedback and 1 0 Cable Factory made cables with premolded connectors are designed to minimize EMI Connections and are recommended over hand built cables to improve system performance However other options are available for building your own feedback and I O cables Table 26 Options for Connecting Motor Feedback and 1 0 Connection Option Cat No Cable Using This Type of Cable N A Motor feedback Refer to the table below for the premolded motor feedback cable available for your motor Low profile connector 2090 K2CK D15M Motor feedback ae a 1 0 Terminal Block 2097 TB1 1 0 interface User supplied flying lead cable Table 27 Motor Feedback Cables for Specific Motor Feedback Combinations Feedback Cable Motor Cat No Feedback Type Premolded Flying lead MPL A B15xxx V Ex4xAA Hioh resoluti d MPL A B2xxx V Ex4xAA igh resolution encoder 2090 XXNF
90. ata 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 51 12 16 Reserved Reserved 52 13 17 Reserved Reserved 53 8 Table 29 2090 CFBM6DF CBAAxx Feedback Cable High Resolution Incremental Feedback Connector Pin TLY Axxxx B iin d r Pin TLAR Axxxxx 6 BAT Reserved BAT 9 AM 1 10 AM 2 Reserved 11 BM 3 12 BM 4 13 DATA IM 5 14 DATA IM 10 15 1 12 1 Reserved 52 13 19 53 8 22 EPWR 5V EPWR 5V 14 23 ECOM 6 24 Shield Shield Connector housing 68 Rockwell Automation Publication 2097 UM002A EN P August 2011 Connect the Kinetix 350 Drive System Chapter 4 Wiring the Feedback and 1 0 These procedures assume you have mounted your Kinetix 350 system completed Connectors the power wiring and are ready to connect motor feedback Wire the 1 0 Connector Connect your I O wires to the IOD connector by using the 2097 TB1 I O Terminal Expansion Block Refer to the Kinetix 300 I O Terminal Expansion Block Installation Instructions publication 2097 IN005 Figure 38 Kinetix 350 Drive 100 connector and terminal block 30 2097 1B1 1 0 Terminal 22 Expansion Block iN 1 0 100 Connector 40 d o000000000000000000070
91. aximum rated speed Check cables for noise e Check tuning Check motor wiring at motor feedback MF connector e Check TS and COM wiring The motor thermostat motor thermistor or Operate within not above the 05 Matar Dverfemparatrre encoder temperature sensor indicates that the High motor ambient temperature continuous torque rating for the P motor factory temperature limit has been and or Excessive Current ambient temperature exceeded Lower ambient temperature or increase motor cooling e Verify the proper motor has been selected The thermal model for the motor indicates that The machine duty cycle requires an Change the command profile to reduce F07 Motor Thermal Protection the temperature has exceeded 11096 of its RMS current exceeding the a increase sm rating continuous rating of the motor Motor cables shorted Verify continuity of motor power cable and connector Disconnect motor power cables from the Motor winding shorted internall motor Use multimeter to check that the 9 resistance of phase to phase is not open and that phase to ground is open e Check for clogged vents or defective fan Make sure cooling is not restricted by The drive temperature is too high insufficient space around the unit e Verify ambient temperature is is The drive fault output indicates that the power bed the Species F10 Inverter Overcurrent transistors were turned off because of See Environmental Specifications on over
92. ays inactive unless armed by the controller Registration An inactive to active transition also known as a positive transition or active to inactive transition also known 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 the positive direction The drive generates an exception if the input is inactive when the controller authorizes checking The drive behavior in this situation is programmable The function is always active To disable function Negative Over travel If the controller configuration specifies checking of the hardware overtravel inputs an inactive state indicates that a position limit has been exceeded in the negative direction The drive generates an exception if the input is inactive when the controller authorizes checking The drive behavior in this situation is programmable Table 10 Digital Input Specifications Tie input to 24V Set to Fault Status Only Attribute Value Type Active high single ended current sinking Functions Enable Home Positive Over travel Negative Over travel Registration Input current with 24V applied 9 mA max On state input voltage 42 24V 2 9 total Off state input voltage 0 2 5V Pulse reje
93. brake and feedback cables Motor power brake and feedback cables include SpeedTec and threaded DIN connectors at the motor Power brake cables have flying leads on the drive end and straight connectors that connect to servo motors Feedback cables have flying leads that wire to low profile connector kits on the drive end and straight connectors on the motor end Communication cables 1585J M8CBJM x shielded or 1585J M8UBJM x high flex shielded Ethernet cable Rockwell Automation Publication 2097 UM002A EN P August 2011 Figure 1 Typical Kinetix 350 Drive Installation 1783 USOST CompactLogix Controller Platform Stratix 2000 Switch 1769 L33ERM Shown E dd RSLogix 5000 Software Other Ethernet IP Compatible Drives 2097 V3xxxx LM Kinetix 350 Drive 1585J M8CBJM x shielded or 11585J M8UBJM x high flex shielded Ethernet Cable Start Chapter1 Three phase Input Power TJ Y line Disconnect Device Input ME Fusing 2097 Fx ek 2097 TB1 Terminal Expansion Block 2090 K2CK D15M Low profile Connector Kit AC Line Filter optional equipment 2097 F1 Filter Shown 24V DC Control Back up Power Supply optional equipment 2097 Shunt Resistor optional equipment
94. c02 Motor Voltage Mismatch The motor voltage is incompatible with the applied drive voltage Disable Coast The battery voltage on a battery backed motor encoder is low enough such Fc05 Feedback Battery Loss that absolute position is not longer available This occurs when the battery Decel Disable is too low and encoder main power has been removed The battery voltage on a battery backed motor encoder is below a caution Fc06 Feedback Battery Low level This occurs when the battery is too low but main power has not yet Decel Disable been removed Rockwell Automation Publication 2097 UM002A EN P August 2011 123 Chapter 7 Troubleshoot the Kinetix 350 Drive Table 54 Drive Behavior Custom Fault Codes EE ias Best Stopping Method Four digit Display Exception Description Major Fault Only Excessive Current Feedback Offset or more phases has been lost or remains below a preset Disable Coast Fc26 Runtime Error Runtime Assertions detected Disable Coast Fc63 Product Specific Product Specific exotic exceptions by Sub Code Disable Coast A node fault is a fault that impacts the whole drive Table 55 Drive Behavior nFxx Node Fault Codes Four digit Display Name Description Best Stopping Method The Control Connection Update Fault code is used to indicate that updates from the controller over the controller to drive connection have been nm Control Connection Update
95. ce a problem within the first 24 hours of installation review the information that is contained in this manual You can contact Customer Support for initial help in getting your product up and running United States or Canada 1 440 646 3434 Outside United States or Canada Use the Worldwide Locator at http www rockwellautomation com support americas phone_en html or contact your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure Documentation Feedback Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA DU002 available at http www rockwellautomation com literature Rockwell Otomasyon Ticaret A S Kar Plaza Is Merkezi E Blok Kat 6 34752 erenk y stanbul Tel 90 216 5698400 www rockwellautomation com Power Control and Information Solutions Headquarters Americ
96. chniques designed to minimize system failures caused by electrical noise Kinetix Motion Control Selection Guide publication GMC SG001 Specifications motor servo drive system combinations and accessories for Kinetix motion control products Motion Analyzer software download at http www ab com e tools Drive and motor sizing with application analysis software ControlLogix Controllers User Manual publication 1756 UM001 CIP Motion Configuration and Startup User Manual publication MOTION UM003 Information on installing configuring programming and operating a ControlLogix system Information on configuring and troubleshooting your ControlLogix and CompactLogix EtherNet IP network modules ControlFLASH Firmware Upgrade Kit User Manual publication 1756 05105 For ControlFLASH information not specific to any drive family Rockwell Automation Configuration and Selection Tools website http www ab com e tools Online product selection and system configuration tools including AutoCAD DXF drawings Rockwell Automation Product Certification website http www rockwellautomation com products certification For declarations of conformity DoC currently available from Rockwell Automation National Electrical Code published by the National Fire Protection Association of Boston MA An article on wire sizes and types for grounding electrical equipment Rockwell Automation Industrial Aut
97. ct filtering Registration functions only 120 ns nom Pulse reject filtering default all other input functions can be configured 1 0 ms nom Propagation delay Registration function only 5 ys Registration repeatability 200 ns Input reaction time Disable 2 ms max Input reaction time Enable Positive Over travel inputs 2 ms max The digital inputs are optically isolated and sinks up to 24V DC Electrical details are shown in Table 9 on page 36 You can set up the inputs for PNP sourcing or NPN sinking Rockwell Automation Publication 2097 UM002A EN P August 2011 Kinetix 350 Drive Connector Data Figure 14 Sourcing of Digital Inputs 24V 1 2kQ ENABLE HOME_SW POS OT orNEG OT ENABLE HOME SW POS OT orNEG OT GND COM Figure 15 Sinking of Digital Inputs 1 2kQ GND ENABLE HOME_SW POS OT orNEG OT ENABLE HOME SW POS 07 OT 241 COM Figure 16 Sourcing of Registration Digital Input 12k TIN GND REG_COM Rockwell Automation Publication 2097 UM002A EN P August 2011 Chapter 3 37 Chapter3 Kinetix 350 Drive Connector Data Figure 17 Sinking of Registration Digital Input 1 2kQ GND 24V REG_COM Motor Brake Output The two digital outputs IOD 43 and IOD 44 have fixed pin assignments for motor brake function The following schematic show how to wire your motor brake Kinetix 350 Drive 24V DC MTR_BRAKE M MTR BRAKE
98. ctly to ground without lengthening Figure 34 Pigtail Terminations Cable Braid Clamped m Motor Power Cable Connectors Pigtail Cable Machine Frame TL Series L 150 mm 6 0 Termination Motor q 1 Remove paint from machine frame to be sure of proper HF bond between machine frame motor case shield clamp and ground stud Table 23 Motor Power Cable Compatibility Motor Power Cables Motor Power Cables Motor Actuator Connector Motor Actuator Cat No with brake wires without brake wires 2090 XXNPMF xxSxx MPL A B15xxx 4xAA and standard 2090 CPWM4DF xxAFxx MPL A B2xxx 4xAA 2090 CPBM4DF xxAFxx continuous flex continuous flex MP Series Bulletin MPL 2090 CPBM7DF xxAAxx 1 2090 CPWM7DF xxAAxx 1 MPL A B3xxx 7xAA MPL A Baxux 7xAA and standard standard 1 2090 CPBM7DF xxAFxx 2090 CPWM7DF xxAFxx continuous flex continuous flex MP Series Bulletin MPS Circular DIN MPS A Bxxxx 2090 ean standard 2090 CPWM4DF xxAFxx MP Series Bulletin MPAS 2090 CPBMADF xxAFxx continuous flex MP Series Bulletin MPAR MPAR A B oor and MPAR A B2xxx continuous flex MP Series Bulletin MPM MPM A Bxxxx i ii 2090 CPBM7DF xxAAxx 2090 CPWM7DF xxAAxx MP Series Bulletin MPF MPF A Bxxxx standard standard MP Series Bulletin MPAR MPAR A B3 ux 2090
99. current overtemperature or power supply page 133 problems ET Operation above continuous power Operate within the continuous power rating and or product rating environmental ratings e Reduce acceleration rates Remove all power and motor connections and preform a continuity The drive has a short circuit check from the DC bus to the U V and W overcurrent or failed component motor outputs If a continuity exists check for wire fibers between terminals or send drive in for repair Check AM AM BM and BM Loss of TTL signal signals Drive fan failed Replace the failed drive The cabinet ambient temperature the cabinet temperature isabove rating See Environmental Specifications on 133 F11 Inverter Overtemperature Inverter thermal switch tripped The machine duty cycle requires an RMS current exceeding the Change the command profile to reduce continuous rating of the controller speen orinerease tme The airflow access to the drive Check airflow and re route cables away system is limited or blocked from the drive system The machine duty cycle requires an The thermal model for the power transistors RMS current exceeding the Change the command profile to reduce F13 Inverter Thermal Protection indicates that the temperature has exceeded continuous rating of the controller speed or increase time 110 of its rating Motor brake on Turn motor brake off 112 Rockwell Automation Publication 2097 UM002A EN P
100. dary 2097 V31PRx LM 2097 V32PRx LM UNDER 11 IPD IPD Kinetix350 Drives 24V AC Filter Single phase AC Input Output Ti 1 L2 N 12 M av MEM j L Bonded Cabinet Ground Ground Grid or Power Distribution Ground ay E Transformer Secondary 2097 V31PRx LM 2097 V33PRx LM reor IPD IPD L k gline 111 L1 Kinetix 350 Drives 120V AC Filter Single phase AC Input i Output LIN N D L2 Neutral Contactor E L Bonded Cabinet Ground o Ground Grid or Power Distribution Ground 1 This configuration applies to voltage doubler operation for 2097 V31PRx LM drives Reducing transformer output reduces motor speed Feeder and branch short circuit protection is not illustrated Voltage Doubler Operation You can wire the 2097 V31PRx LM drives with 120V input voltage and achieve twice the output voltage To use the voltage doubler circuit connect the 120V single phase input power to the IPD L1 and IPD N terminals For Kinetix 350 drive power specifications refer to Kinetix 350 Drive Power Specifications on page 128 For Kinetix 350 drive input wiring diagrams refer to Power Wiring Examples on page 141 50 Rockwell Automation Publication 2097 UM002A EN P August 2011 Co
101. e 2097 V33PRx LM drives are wired for single phase 120V operation Figure 52 Kinetix 350 Drive 120V single phase input power Single phase AC Input 120V rms AC 50 60 Hz Notes 1 2 gt 2097 V31PRx LM and 2097 V33PRx LM Kinetix 350 Drives Ground Stud Bonded Cabinet 5 Ground Bus 2097 V31PRx LM 2097 V33PRx LM 4 lo AC Line Filter i Mains LIN Optional N D Single phase Note 3 ACInput 1 u ul IPD Connector Fuse Di t Input Fusing M or Circuit Breakers Notes 5 7 LIN B Shunt Resistor B _ 9 Shunt Resistor and DC Bus a Connections BC Connector Back up Power 24v Dc User supplied BP Connector zvoc lt 24V DC U Three phase Motor Power Motor MP Connector 7 Connections Note 9 HH Cable Shield Use discrete logic or PLC 29 gt 2T mw 000100 e Clamp to control ENABLE to Connector 77 Notes drive gt Note 4 Indicates User Supplied Component Rockwell Automation Publication 2097 UM002A EN P August 2011 141 Appendix B Interconnect Diagrams In this example single phase 240V AC is applied to 2097 V31PRx LM and 2097 V32PRx LM drives IMPORTANT the AC line filter Shown in this diagram Figure 53 Kinetix 350 Drives 240V single phase inp
102. e and Start Up the Kinetix 350 Drive System Chapter 5 11 Ifthe test fails this dialog box opens x i Online command failed 2 Drive is not in the correct state to allow the current operation OK Help Error 16386 0 a Click OK b Make an adjustment to motor velocity c Refer to the appropriate Logix 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 Rockwell Automation Publication 2097 UM002A EN P August 2011 97 Chapter 5 Configure and Start Up the Kinetix 350 Drive System Disable EnablelnputChecking This procedure sends a Logix message to disable the EnableInputChecking Using a RSLogix Message Instruction 98 attribute in the Kinetix 350 drive 1 From the Controller Organizer choose Tasks MainTask gt MainRoutine 2 Create a MSG instruction rung as shown e Salele a n DisableEnablelnputChecking MSG Move Message Source 0 Message Control enablelnCheckingMsg m Dest enablelnputChecking 0 3 Set the values in the Message Configuration as shown Message Configuration enablelnCheckingMsg x Configuration Communication i Message Type CIP Generic Set Attribute Single Source Element enablelnputChecking Source Length fi Bytes Service fio faz Code 10
103. e drives output power devices IGBTs This prevents them from switching in the pattern necessary to generate AC power to the motor You can use the safe torque off circuit in combination with other safety devices to meet the stop and protection against restart requirements of ISO 13849 1 ATTENTION This option is suitable for performing mechanical work on the drive system or affected area of a machine only It does not provide electrical safety SHOCK HAZARD In Safe Torque off mode hazardous voltages may still be present at the motor To avoid an electric shock hazard disconnect power to the motor and verify that the voltage is zero before performing any work on the motor 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 47 STO Motion allowed Jumpers STO 1 STO 2 STO 3 510 4 510 5 ST0 6 IMPORTANT Pins STO 1 24V DC Control and STO 2 Control COM are used only by the motion allowed jumpers to defeat the safe torque off function When the safe torque off function is in operation the 24V supply must come from an external source Rockwell Automati
104. e trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Start Install the Kinetix 350 Drive System Kinetix 350 Drive Connector Data Table of Contents Preface About This PubliciHonscss tota es e aca RETE BRERA NOUS 7 Who Should Use This Manual iii 7 Conventions Used in This Manual 7 Additional Resources 8 1 ThitOd cO I 9 About the Kinetix 350 Drive System 0 cece eee eee cence 10 Catalog Number Explanation andit 12 Agency Compliance ERI ERENEEE 13 Requirements osos oe vere aes ER LEAN ER RR 13 Chapter 2 ROCCO as S ie en sea Tad ate Eee metus os ee 15 System Design Guidelines ints s inane 16 System Mounting Requirements n n veh vases eet 16 Transformer Selections Seen e TX CHEN oie EE d ad 17 Circuit Breaker Fuse Selection 17 Enclosure Selection cs ds et rco IMP PERSA adag 18 Minimum Clearance 19 Electrical Noise Reducti la XR 20 Bonding Drives iea ses eec ese ses RP RIS PARES 20 Bonding Multiple Subpanels eei qoem ERE ee qn 22 Establishing Noise 23 Cable Categories for Kinetix 350 Drive Components 25 Noise Reduction Guidelines
105. ector c ax iwi AU lt U 5 s GREEN DATA 5 6 0 lt Motor _6 5 warvereen XX DATA 10 7 8 Motor Feedback Feedback 9 cw 5VDC 14 9 MP Connector Note 12 10 gt gt a _ 6 10 11 gt ORANGE 9VDC 7 11 Thermostat 13 S wmomwe XX e 11 223b o 7 XY OAM emm A 13 i G lt lt BR 14 BLUE TS 14 XX White F 3 15 lt lt Dos COM miss eM ae Motor Brake Refer to low profile connector illustration lower left ku for proper grounding technique 0 100 MTR_BRAKE nal 2090 XXNFMF Six standard a 2090 CFBMXDF CDAFxx continuous flex iso MTR BRAKE 3 Feedback Cable Cable Shield Clamp Note 6 Note 8 24V DC 24V 0 User Supplied 24V DC Grounding Technique for Feedback Cable Shield Clamp Exposed shield secured under clamp Clamp Screws 2 Tum clamp over to hold small cables secure 144 MPL A B15xx and MPL A B2xx MPL A B3xx MPL A B45xx Servo Motors with Incremental Feedback 2090 K2CK D15M Connector Kit 1 5 BLACK AM lt lt EA WHT BLACK AM C lt 4 b GND js ED BM B 21 Three phase 265 X Motor Power 5 GREEN IM 65 WHT GREEN XX IM Motor ci 5VDC ow Profile Connector Feedback 10 S Law XX 2090 K2CK D15M
106. een page 78 This procedure assumes that you have configured your Kinetix 350 drive your ControlLogix EtherNet IP controller and applied power to the system Test and Tune the Axes IMPORTANT Before proceeding with testing and tuning your axes verify that the drive status indicators are operating as described in Status Indicators on page 117 For help using RSLogix 5000 software as it applies to testing and tuning your axes with ControlLogix EtherNet IP controller refer to Additional Resources on page 8 Test the Axes Follow these steps to test the axes 1 Verify the load was removed from each axis 2 Right click an axis in your Motion Group folder and choose Properties The Axis Properties dialog box opens 92 Rockwell Automation Publication 2097 UM002A EN P August 2011 Configure and Start Up the Kinetix 350 Drive System Chapter 5 3 Click the Hookup Tests category Axis Properties anisa OOOO 1515 Categories General Motor Model Motor Feedback Scaling Hookup Tests Polarity Autotune J Load Backlash Compliance Friction Position Loop Velocity Loop Acceleration Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Test Motor and Feedback Device Wiring Motor and Feedback Motor Feedback Marker Test Distance 2 0 Position Units Start DANGER Starting this test may initiate axis motio
107. els refer to the figure below HF bonding is not illustrated For information refer to Bonding Multiple Subpanels on page 22 Figure 33 Subpanels Connected to a Single Ground Point Bonded Ground Bus L Ground Grid or Power Distribution Ground Always follow NEC and applicable local codes Power Wiring Requirements Wire should be copper with 75 C 167 F minimum rating Phasing of main AC power is arbitrary and an earth ground connection is required for safe and proper operation Refer to Power Wiring Examples on page 143 for interconnect diagrams IMPORTANT The National Electrical Code and local electrical codes take precedence over the values and methods provided Rockwell Automation Publication 2097 UM002A EN P August 2011 55 Chapter 4 Connect the Kinetix 350 Drive System Description Table 18 Kinetix 350 Drive Power Wiring Requirements Cat No Jerminals Recommended Strip Length Torque Value Pins Signals Wire Size mm AWG mm in Nem Ibein 2097 V31PRO LM 2097 V32PRO LM 2097 V32PR2 LM 2097 V33PR1 LM 2097 V33PR3 LM 2097 V34PR3 LM 2097 V34PR5 LM 2097 V34PR6 LM 2097 V32PR4 LM 2097 V33PR5 LM 2097 V31PR2 LM 2097 V33PR6 LM Mains input power IPD connector L3 L2 N p Li Motor power cable depends on motor drive combination 2 5 14 7 0 28 0 5 4 5 4 0 12 7
108. em Bonding Multiple Subpanels Bonding multiple subpanels creates a common low impedance exit path for the high frequency energy inside the cabinet Subpanels that are not bonded together may not share a common low impedance path This difference in impedance may affect networks and other devices that span multiple panels e 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 Asa rule the wider and shorter the braid is the better the bond e Scrape the paint from around each fastener to maximize metal to metal contact Figure 4 Multiple Subpanels and Cabinet Recommendations Remove paint from cabinet b XXX 12000000E Wire Braid we 25 4 mm 1 0 in by 6 35 mm 0 25 in Wire Braid 25 4mm 1 0 in by 6 35 mm 0 25 in IXXXXXXX6 Ground bus bonded to the subpanel Rockwell Automation Publication 2097 UM002A EN P August 2011 W Clean Wireway Install the Kinetix 350 Drive System Chapter2 Establishing Noise Zones Observe these guidelines when individual input power components are used in the Kinetix 350 system The clean zone C exits left of the Kinetix 350 system and includes the I O wiring feedback cable Ethernet cable and DC filter gray wireway e The dirty zone D exits right of the Kinetix 350 system black wireway and includes the circuit breakers transformer 24V DC power supp
109. ent and inrush current specifications for your Kinetix 350 drive Refer to Circuit Breaker Fuse Specifications on page 131 for recommended circuit breakers and fuses Rockwell Automation Publication 2097 UM002A EN P August 2011 17 Chapter 2 18 Install the Kinetix 350 Drive System Enclosure Selection This example is provided to assist you in sizing an enclosure for your Bulletin 2097 drive system You need heat dissipation data from all components planned for your enclosure to calculate the enclosure size With no active method of heat dissipation such as fans or air conditioning either of the following approximate equations can be used Metric _ _ 0 380 181 11 Standard English _ 4080 T 11 Where T is temperature difference between inside air and outside ambient C Q is heat generated in enclosure Watts and A is enclosure surface area m The exterior surface of all six sides of an enclosure is calculated as Where T is temperature difference between inside air and outside ambient F Q is heat generated in enclosure Watts and A is enclosure surface area ft The exterior surface of all six sides of an enclosure is calculated as A 2dw 2dh 2wh Where d depth w width and h height are in meters A 2dw 2dh 2wh 144 Where d depth w width and h height are in inches If the maximum ambient rating of the Kinetix 350 drive system is 40 C 104 F and if the ma
110. eration limit is incorrect Verify limit settings and correct them as necessary Velocity Limit limits are incorrect Verify limit settings and correct them as necessary Motor does not respond to a velocity command The axis cannot be enabled for 1 5 seconds after disabling Enable signal has not been applied or the enable wiring is incorrect Disable the axis wait for 1 5 seconds and enable the axis e Check the controller e Check the wiring The motor wiring is open Check the wiring The motor thermal switch has tripped e Check fora fault e Check the wiring The motor has malfunctioned Repair or replace the motor The coupling between motor and machine has broken for example the motor moves but the load machine does not 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 Refer to System Design for Control of Electrical Noise publication GMC RM001 Line frequency may be present Verify grounding Route wire away from noise sources Variable frequency may be velocity feedback ripple or a disturbance
111. erify upgrade 161 controller properties 82 conventions used in this manual 7 D data type 86 date time tab 83 delay times 90 digital inputs 35 dimensions 137 dirty zone 23 download program 91 drive wire BP connector 59 wire IPD connector 60 wire MP connector 61 wire STO connector 59 wiring requirements 56 drive status indicator 118 163 Index 164 EMC directive 104 motor ground termination 61 motor ground termination at motor 61 EMI electromagnetic interference bonding 20 EN 61508 101 EN 62061 101 enable time synchronization 83 enablelnputChecking 93 98 enclosure requirements 16 sizing 18 environmental specifications 133 erratic operation 120 Ethernet cable length 72 cables RJ45 connector 72 pinouts 33 wiring 72 F fault code summary 111 fault codes 111 fault status only 121 feedback connections 67 feedback power supply 45 firmware upgrade 153 verify upgrade 161 fuse selection 17 specifications 131 G generic TTL incremental 40 ground multiple subpanels 55 system to subpanel 54 grounded power configuration 49 hardware enable input 93 96 HF bonding 20 high frequency energy 22 hookup test 93 1 0 specifications 35 1 0 connections 67 1 0 connector wiring 69 1 0 specifications Rockwell Automation Publication 2097 UM002A EN P August 2011 back up power 39 pinouts 32 input power wiring 3 phase Delta 49 3 phase WYE 49 determine input power 48 grounded power
112. erter Overload Action none z Polarity Autotune Load DANGER Modifying Exception Backlash Action settings may require Compliance programmatically stopping or Position Loop disabling the axis to protect Velocity Loop personnel machine and property Acceleration Loop Motor Commutation StopDrive Refer to user manual for additional Torque Curtent Loop Motor Overspeed Factory Limit StopDrive information Planner Motor Overtemperature Factory Limit StopDrive E Homing Motor Thermal Overload Factory Limit StopDrive zi Mator Voltage Mismatch Stoprive gt Drive Parameters Overtorque Limit StopDrive Parameter List Product Specific StopDrive Status Runtime Error StopOrive Faults amp Alarms Soft Travel Limit Negative StopDrive xl Tag Soft Travel Limit Positive StopDrive lUndertorque Limt Stoporive zl From this dialog box you can program actions and change the action for exceptions faults Refer to Logix Controller and Drive Behavior on page 205 for more information 13 Click Parameters The Motion Axis Parameters dialog box opens Axis Properties Axis 1 lol xj General Motor Model Motor Feedback Scaling Hookup Tests Polarity Autotune Load Backlash Compliance Position Loop Current Decel Disable Velocity Loop 10 Acceleration Loop 0 0 1 Motor Rated Torque Current Loop Veloci T 1 0 Position Unfis s Planner y Position Unts s Homing m E pe EE
113. es Figure 54 Kinetix 350 Drive 240 480V three phase input power 2097 V33PRx LM and 2097 V34PRx LM Refer to table on page 140 for note information Kinetix 350 Drive Shunt Resistor 57 Shunt Ground Stud and DC Bus B Resistor BR H Connections BQ Connector B Bonded Cabinet Ground Bus PE ACLine Filter Mains Three phase AC Input o i optional Three phase Input 240 480V rms AC 50 60 Hz 5 Notes IPD Connector Notes 1 2 Ivi B m Back up Power 24 06 User supplied T 857 Connector 241 DC L5 5 Three phase Motor Power Motor Power EU MP Connector Connections se discrete logic or to Note 9 control ENABLE to drive 26 EN 1 0 I0D SLE Connector Note 4 Cable Shield EI Jg Clamp Note 8 Indicates User Supplied Component IMPORTANT Forthe 480V Kinetix 350 drives to meet ISO 13849 1 PLd spacing requirements each phase voltage to ground must be less than or equal to 300V ACrms This means that the power system must use center grounded wye secondary configuration for 400 480V AC mains Shunt Resistor Wiring Example Refer to the Shunt Resistor Specifications on page 136 for the Bulletin 2097 Rx shunt resistor
114. et 11 4 Network status indicator 12 5 Module status indicator 13 6 Axis status indicator 14 7 Ethernet communication port Port 1 15 8 1 0 100 connector Table 6 Kinetix 350 Drive Connectors Safe torque off STO connector Designator Description Connector PORTI Ethernet communication port RJ45 Ethernet 10D 1 0 SCSI 50 pin high density connector MF Motor feedback 15 pin high density D shell male BP Back up power 2 pin quick connect terminal block BC Shunt Resistor and DC Bus 5 pin quick connect terminal block MP Motor power 6 pin quick connect terminal block STO Safe torque off STO Terminal 6 pin quick connect terminal block Rockwell Automation Publication 2097 UM002A EN P August 2011 Kinetix 350 Drive Connector Data Chapter 3 Safe Torque off Connector Pinout The Kinetix 350 drive ships with the 6 pin wiring plug header that connects your safety circuit to the Kinetix 350 drive safe torque off STO connector If your system does not use the safe torque off feature follow instructions in Safe Torque off Feature Bypass starting on page 106 to wire the drive with motion allowed jumpers Figure 10 Safe Torque off Connector Bottom view of the Kinetix 350 drive 2097 V33PR5 LM drive is shown Safe Torque off STO Connector Wiring Plug Header Table 7 Kinetix 350 Drive Safe Torque off Connector Pinout STO Pin Description Signal 1 24V DC output fr
115. ethod 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 of the drives output power transistors are released from the ON state effectively removing motive power generated by the drive This results in a condition where the motor is in a coasting condition stop category 0 Disabling the power transistor output does not provide mechanical isolation of the electrical output which may be required for some applications Under normal drive operation the safe torque off switches are energized If either of the safety enable inputs are de energized the gate control circuit is disabled To meet ISO 13849 1 PLd both safety channels must be used and monitored ATTENTION Permanent magnet motors may in the event of two simultaneous faults in the IGBT circuit result in a rotation of up to 180 electrical degrees The functional safety standards require that functional proof tests be performed on the equipment used in the system Proof tests are performed at user defined intervals not to exceed one year and are dependent upon PFD and PFH values IMPORTANT Users specific applications determine the time frame for the proof test interval but it must not exceed one year due to the use of switches internal to the drive as required by ISO 13849 1 To proof test the safe torque off function you must inter
116. fault persists after attempting to troubleshoot the system please contact your Rockwell Automation sales representative for further assistance Four digit Display Messages The control modules include a four digit seven segment display for status and fault messages The display scrolls to display text strings The Four digit Display Messages table lists the messages along with their priorities When messages of different priorities need to be displayed for example when the drive has both a fault and a start inhibit only the higher priority message is displayed When messages of equal priority are needed for example when there is more than one fault the messages are displayed in a round robin fashion Only two messages will be scrolled in this manner When a fault is annunciated the entire fault text will scroll on the display regardless of when the fault is cleared The IP address is always an active condition meaning that it will scroll in conjunction with the axis state as long as there are no higher priority messages to display Refer to the table on Four digit Display Messages for a description of the messages that scroll across the display during powerup Table 38 Four digit Display Messages Priority Device Condition Display Digit lower is higher IP address always active XXX XXX XXX XXX Executing device self test 08 Waiting for connection to controller 00 Configuring de
117. ges 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 It will display 350 08 and scroll 00 and the IP address Catalog Number 2097 V33PR3 LM SerialNumber 13E4CA5B Current Revision 1 11 0 New Revision 1 13 0 Polling for power up Time left until abort 40 seconds 9 Wait for the Progress dialog to time out It is normal for this process to take several minutes IMPORTANT power to the drive during this process or the firmware upgrade will not complete successfully Rockwell Automation Publication 2097 UM002A EN P August 2011 159 AppendixC Upgrade the Kinetix 350 Drive Firmware 10 The Update Status dialog box opens and indicates success or failure as described below Upgrading Status If Success 1 Update complete appears in a GREEN Status dialog box 2 Goto step 11 Failure 1 Update failure appears in a RED Status dialog box 2 Refer to ControlFLASH Firmware Upgrade Kit Quick Start publication 1756 05105 for troubleshooting information Catalog Number 2097 33PR3 LM Serial Number 13E4CA5B Current Revision 1 11 0 View Log New Revision 1 11 0 amp ie d E 11 Click OK 160 Rockwell Automation Publication 2097 UM002A EN P August 2011 Upgrade the Kinetix 350 Drive Firmware Appendix Ver
118. gital inputs 35 drive power single and three phase 129 single phase 128 three phase 130 environmental 133 feedback power supply 45 fuse 131 maximum fdbk cable length 133 motor feedback 40 generic TTL 43 Stegmann 42 Tamagawa 44 motor thermostat interface 41 power dissipation 133 product dimensions 137 safe torque off 108 shunt reisitor 136 transformer 132 weight 134 165 Index 166 status indicators 110 117 drive status 118 PORT 1 status 118 Stegmann 40 stop drive 121 stop planner 121 system block diagrams power block diagram 150 voltage doubler block diagram 151 system mounting requirements 16 system overview 10 diagram 11 T Tamagawa 40 test axes hookup test 93 training 7 transformer sizing 17 specifications 132 troubleshooting 118 ControlFLASH 160 drive status indicator 118 exception behavior 121 fault code summary 111 fault codes 111 fault status only 121 four digit display messages 110 general system problems 119 abnormal noise 120 axis unstable 119 erratic operation 120 feedback noise 119 motor accel decel 119 motor overheating 120 motor velocity 119 no rotation 120 Logix drive fault behavior 121 network status indicator 118 PORT 1 status indicator 118 safe torque off 102 safety precautions 109 Shutdown 121 stop drive 121 stop planner 121 tune axes autotune tab 95 V voltage doubler block diagram 151 operation 50 power diagram 141 weight specifications 134 who should u
119. hapter 3 Motor Feedback MF Connector Pinout MF Pin Description Signal 1 Sine differential input SIN AM differential input AM 2 Sine differential input SIN AM differential input AM 3 Cosine differential input C0S4 BM differential input BM 4 Cosine differential input cos BM differential input BM 5 Data differential input DATA Index pulse IM 6 Common ECOM 7 Encoder power 9V EPWR_9V 2 Single ended 5V Hall effect 8 53 commutation 1 Not applicable unless motor has integrated thermal protection 2 Encoder power supply uses either 5 or 9V DC based on encoder motor used IMPORTANT MF Pin Description Signal 9 Reserved E 10 Data differential input DATA Index pulse IM Motor thermal switch n normally closed TS Single ended 5V Hall effect 12 1 commutation Single ended 5V Hall effect n commutation 52 14 Encoder power 5V EPWR_5V 2 15 Reserved Drive to motor power and feedback cable length must not exceed 20 m 65 6 ft System performance was tested at these specifications and also apply when meeting CE requirements Figure 12 Pin Orientation for 15 pin Motor Feedback MF Connector Pin 15 Pin 11 Pin 6 Pin 10 Pin 5 Pin 1 Ethernet Communication Connector Pinout Port1Pin Description Signal 1 Transmit port data terminal 2 Transmit port data
120. hernet IP Address Configure and Start Up the Kinetix 350 Drive System Chapter 5 This section offers guidance on configuring your Ethernet connection to the Kinetix 350 drive Ethernet Connection Configuration programming and diagnostics of the Kinetix 350 drive are performed over the standard 10 100 Mbps Ethernet communication port by using the RSLogix 5000 software The Kinetix 350 drive and your personal computer must be configured to operate on the same Ethernet network The IP addresses of the Kinetix 350 drive the personal computer or both drive and personal computer may require configuring to enable Ethernet communication between the two devices IMPORTANT Any changes made to the Ethernet communication settings on the Kinetix 350 drive do not take effect until the drive is powered off and powered on again Until the power is cycled the drive continues to use its previous settings Kinetix 350 Drive Ethernet Port Configuration The IP address of the Kinetix 350 drive is composed of four sub octets that are separated by three dots to conform to the Class C Subnet structure Each sub octet can be configured with number between 1 and 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 en
121. hows an example of wiring with three phase power wires and brake wires The brake wires have a shield braid shown below as gray that folds back under the cable clamp before the conductors are attached to the motor brake circuit Thermal switch wires are included in the feedback cable Refer to Kinetix 350 Drive Rotary Motor Wiring Examples beginning on page 146 for interconnect diagrams Figure 36 Motor Power Terminations three phase and brake wires Oe 6 ae EN 9 350 ul S Oo D DATA ENTR 9 M MODULE STATUS JANGER i m lTi NeNerwonk STATUS 5 REAIS STATUS m 9 9 8 7 2 8 Item Description Item Description 10 pay power supply 5 1 0 100 connector 20 Relay and diode assembly 8 6 2097 V3xPRx LM Kinetix 350 drive 3 Minimize unshielded wires in brake circuit 7 Motor power MP connector 4 MP Series cable brake wires 8 Cable clamp 4 User sup
122. iated Exception StopDrive Enable Input Deactivated StopDrive Excessive Current Feedback Offset StopDrive xl Excessive Position Error StopDrive gt Parameter List Excessive Velocity Error StopDrive xi Status Feedback Battery Loss StopDrive z Faults amp Alarms Feedback Battery Low StopDrive 7 Feedback Data Loss Factory Limit StopDrive xl Feedback Device Failure StopDrive xi Feedback Signal Loss Factory Limit StopDrive xr Manual Tune Cancel Table 53 Drive Behavior xx Fault Codes Best Stopping Method major fault only Four digit Display Exception Description Permanent magnet motor commutation problem detected Example would F02 Motor Commutation bean illegal state 111 or 000 for a UVW commutation device This exception Disable Coast is supported only for TTL motors with Hall sensors Motor speed has exceeded its maximum limit given by the Motor Overspeed Factory Limit attribute associated with the motor type This exception triggers when either the electrical frequency exceeds 500 Hz or the motor is command to go 12596 of its max rated speed F03 Motor Overspeed Disable Coast Motor temperature has exceeded its factory set temperature limit given by F05 Motor Overtemperature Motor Overtemperature Factory Limit or the integral motor thermal switch Disable Coast has tripped Motor thermal model has exceeded its factory set thermal capacity limit F07 Motor Thermal Overlo
123. ify the Firmware Upgrade Follow these steps to verify your firmware upgrade was successful TIP Verifying the firmware upgrade is optional 1 Open your RSLinx software 2 From the Communications pull down menu choose RSWho S DET m x Browsing node 10 82 48 73 found Workstation wm Linx Gateways Ethernet AB ETHIP 1 Ethemet 10824872 10824873 E 10 82 48 72 1756 EWEB A 1756 EWEB A 1756 EWEB A 1756 EWEB A E 10 82 48 73 1756 EWEB A 1756 EWEB A 10 82 50 200 1756 2 1756 EN2TR B t IE 10 82 50 3 Kinetix 350 Drive Kinetix350 10 82 50 200 1082503 1756 EN2T Kinetix350 3 Expand your Ethernet node Logix backplane and EtherNet IP network module 4 Right click the drive module and choose Device Properties The Device Properties dialog box opens AB_ETHIP 1 10 82 50 3 2 xl Device Name Kinetix350 Vendor Allen Bradley Company Product Type 7 Product Code 33 Revision 1 11 Serial Number fi 3E4CASB Faults 5 Verify the new firmware revision level 6 Click Close Rockwell Automation Publication 2097 UM002A EN P August 2011 161 AppendixC Upgrade the Kinetix 350 Drive Firmware Notes 162 Rockwell Automation Publication 2097 UM002A EN P August 2011 Numerics 120 240V single phase input power 142 120V single phase input power 141 240 480V three phase input power 143 A about this publication 7 AC in
124. igure 46 Safe Torque off STO Terminal Plug Table 37 Safe Torque off STO Terminal Plug Wiring Safe Torque off STO Connector Recommended Wire Size Pin STO 1 ST0 2 STO 3 570 4 570 5 570 6 Signal 24V DC Control Control COM Safety Status Safety Input 1 Safety COM Safety Input 2 Stranded Wire m with Ferrule Solid mm AWG mm AWG 0 75 18 1 5 16 Strip Length mm in 6 0 25 Torque Value Nem Ib in 0 2 1 8 IMPORTANT Pins STO 1 24V DC Control and STO 2 Control are used only by the motion allowed jumpers to defeat the safe torque off function When the safe torque off function is in operation the 24V supply must come from an external source IMPORTANT sure of system performance run wires and cables in the wireways as established in the user manual for your drive Rockwell Automation Publication 2097 UM002A EN P August 2011 105 Chapter6 Kinetix 350 Drive Safe Torque off Feature Kinetix 350 Drive Safe Torque off Feature 106 The safe torque off circuit when used with suitable safety components provides protection according to ISO 13849 1 PLd The safe torque off option is just one safety control system All components in the system must be chosen and applied correctly to achieve the desired level of operator safeguarding The safe torque off circuit is designed to safely remove power from the gate firing circuits of th
125. ion 2097 UM002A EN P August 2011 Upgrade the Kinetix 350 Drive Firmware Appendix Configure Logix Communication This procedure assumes that your communication method to the Logix controller is using the Ethernet protocol It is also assumed that your Logix Ethernet module has already been configured For more information refer to the ControlLogix System User Manual publication 1756 UMO001 Follow these steps to configure Logix communication 1 Open your RSLinx Classic software 2 From the Communications pull down menu choose Configure Drivers The Configure Drivers dialog box opens Configure Drivers Available Driver Types Ethernet devices Add New Configured Drivers Name and Description Status Configure Startup Start Stop Delete 3 From the Available Drive Types pull down menu choose Ethernet devices 4 Click Add New The Add New RSLinx Classic Driver dialog box opens 5 Type the new driver name Add New RSLinx Classic Driver Choose a name for the new driver 15 characters maximum AB ETH 1 Rockwell Automation Publication 2097 UM002A EN P August 2011 155 AppendixC Upgrade the Kinetix 350 Drive Firmware 6 Click OK The Configure driver dialog box opens Configure driver AB ETH 1 Station Mapping Add New Delete 7 Type the IP address of your drive 8 Click OK The new Ethernet driver appears under Configured Drivers Configure Drivers 2
126. iques to connect the enclosure machine frame and motor housing and to provide a low impedance return path for high frequency HF energy and reduce electrical noise Use 2090 series motor feedback cables or use connector kits and properly terminate the feedback cable shield Drive to motor power and feedback cables must not exceed 20 m 65 6 ft IMPORTANT System performance was tested at these cable length specifications These limitations are also a CE requirement Refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 to better understand the concept of electrical noise reduction 16 Rockwell Automation Publication 2097 UM002A EN P August 2011 Install the Kinetix 350 Drive System Chapter 2 Transformer Selection The Kinetix 350 drive does not require an isolation transformer for three phase input power However a transformer may be required to match the voltage requirements of the controller to the available service To size a transformer for the main AC power inputs refer to Circuit Breaker Fuse Specifications on page 131 and Transformer Specifications for Input Power on page 132 IMPORTANT Ifusing an autotransformer make sure that the phase to neutral ground voltages do not exceed the input voltage ratings of the drive IMPORTANT Usea form factor of 1 5 for single and three phase power where form factor is used to compensate for transformer drive and motor
127. lation of your system so that you can perform all cutting drilling tapping and welding with the system removed from the enclosure Because the system is of the open type construction be careful to keep any metal debris from falling into it Metal debris or other foreign matter can become lodged in the circuitry which can result in damage to components SHOCK HAZARD To avoid hazard of electrical shock perform all mounting and wiring of the Bulletin 2097 drive prior to applying power Once power is applied connector terminals may have voltage present even when not in use This section contains common PWM servo system wiring configurations size and practices that can be used in a majority of applications National Electrical Code local electrical codes special operating temperatures duty cycles or system configurations take precedence over the values and methods provided Rockwell Automation Publication 2097 UM002A EN P August 2011 47 Chapter4 Connect the Kinetix 350 Drive System Determine the Input Power Configuration 48 Recommended Cables The Motor Power Cable Compatibility table on page 62 and Motor Feedback Cables for Specific Motor Feedback Combinations table on page 67 show the cables Rockwell Automation recommends you use with the Kinetix 350 drive IMPORTANT Factory made cables are designed to minimize and are recommended over hand built cables to optimize system performance If it is necessary f
128. le The 120V voltage doubler mode applies to only the 2097 V31PRx LM drives The drive has an internal shunt transistor Nominal continuous power output kW applies to 240V AC drives Value is approximately one half of this kW rating when using 120V AC Rockwell Automation Publication 2097 UM002A EN P August 2011 Specifications and Dimensions Appendix A Table 57 Kinetix 350 Drive single phase and three phase Power Specifications Attribute 2097 V33PR1 LM 2097 V33PR3 LM 2097 V33PR5 LM 2097 V33PR6 LM AC input voltage 80 132V rms single phase 120V nom 80 264V rms single phase 240V nom 80 264V rms three phase 240V nom AC input frequency 48 62 Hz Main AC input current 0 Nom rms 120V input 5 0A 8 6A 15 0A 24 0 Max inrush 0 pk 120V input 68 0 1 15 1 15 5 65 Nom rms 240V input 3 0A 5 0A 8 7A 13 9A Max inrush 0 pk 240V input 136A 23 23 11 3A Current loop update rate 125 ys Command update rate Velocity loop 500 ys Position loop 500 ps Integrated AC line filter No No No No Control power back up input voltage 20 26V DC Control power back up input current Nom 500 mA Max inrush 0 pk 30A Continuous output current rms 20 40A 8 0A 12 0A Continuous output current 0 pk 2 8A 5 7 11 3 17 0 Peak output current rms 0 6A 12A 24A 36A Peak output current 0 pk 8 5 A 17 0 A 33 9 A 50 9 A Continuous power outp
129. lock CompactLogix L3ER Controllers User Manual publication 1769 UM021 Information on installing configuring programming and operating a CompactLogix system Stratix 2000 Ethernet Unmanaged Switches Installation Instructions publication 1783 IN001 Information on installing and operating a Stratix 2000 Ethernet Switches Ethernet IP Benefits of Industrial Connectivity in Industrial Apps White Paper publication 1585 WPO001A Provides general guidelines and theory for Ethernet IP industrial systems Industrial Ethernet Media publication 1585 BR001 This brochure provides connectivity solutions for Ethernet networks and integrated architecture Guidance for Selecting Cables for EtherNet IP Networks White Paper publication ENET WP007 This guide is arranged to help you select cabling based on the application environmental conditions and mechanical requirements Integrated Motion on SERCOS and EtherNet IP Systems Analysis and Comparison White Paper publication MOTION WP007 This white paper compares and contrasts SERCOS and EtherNet IP with a ControlLogix Controller Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Provides general guidelines for installing a Rockwell Automation industrial system System Design for Control of Electrical Noise Reference Manual publication GMC RM001 EMC Noise Management DVD publication GMC SP004 Information examples and te
130. losses and to account for utilization in the intermittent operating area of the torque speed curve For example sizing a transformer to the voltage requirements of catalog number 2097 V34PR6 LM 3 kW continuous x 1 5 4 5 KVA transformer Circuit Breaker Fuse Selection The Kinetix 350 drives use internal solid state motor short circuit protection and when protected by suitable branch circuit protection are rated for use on a circuit capable of delivering up to 100 000 A Fuses or circuit breakers that are adequate and can withstand interrupt ratings as defined in NEC or applicable local codes are permitted The Bulletin 140M and 140U products are another acceptable means of protection As with fuses and circuit breakers you must make sure that the selected components are properly coordinated and meet applicable codes including any requirements for branch circuit protection When applying the 140M 140U product evaluation of the short circuit available current is critical and must be kept below the short circuit current rating of the 140M 140U product In most cases class CC J L and R fuses selected to match the drive input current rating will meet the NEC requirements or applicable local codes and provide the full drive capabilities Use dual element time delay slow acting fuses to avoid nuisance trips during the inrush current of power initialization Refer to Kinetix 350 Drive Power Specifications on page 128 for input curr
131. ly contactors AC line filter motor power and safety cables The very dirty zone VD is limited to where the AC line EMC filter VAC output jumpers over to the drive Shielded cable is required only if the very dirty cables enter a wireway Figure 5 Noise Zones Bulletin 2090 AC line filters Dirty Wireway D Very Dirty Zone Segregated not in wireway Contactors Bulletin 2090 ACLine Filter optional 24V Motor Brake PS Circuit Kinetix 350 Breaker Drive 4 Ethernet shielded p Cable No sensitive equipment within 150 mm 6 0 in 2 XFMR DC Filter m Yr G 1 0 o Ethernet and Feedback Cables 1 0 o Motor Power and Safety Cables Route encoder analog registration Route 24V DC 1 0 shielded cables Shielded Cable 1 If drive system 1 0 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 Thisisa clean 24V DC available for any device that may require it The 24V enters the clean wireway and exits to the left 4 This is a dirty 24V DC available for motor brakes and contactors The 24V enters the dirty wireway and exits to the right Rockwell Automation Publication
132. major fault only One or more A B channel signals from a feedback device are open shorted 1 missing or severely attenuated Specifically the detected voltage levels of PA Feedback Signal Loss the signals are below the Feedback Signal Loss Factory Limit The offending Disable Coast feedback channel is encoded in the associated Fault Alarm Sub Code The number of consecutive missed or corrupted serial data packets over the F45 Feedback Data Loss serial data channel from a feedback device has exceeded the Feedback Data Disable Coast Loss Factory Limit The offending feedback channel is encoded in the associated Fault Alarm Sub Code The threshold is set at four misses F47 Feedback Device Failure The feedback device has detected an internal error Stegmann encoders Disable Coast return an error code and Tamagawa encoders have an error flag F50 Hardware Overtravel Positive Axis moved beyond the physical travel limits in the positive direction and Decel Disable activated the Positive Overtravel limit switch Axis moved beyond the physical travel limits in the negative direction and F51 Hardware Overtravel Negative activated the Negative Overtravel limit switch Decel Disable 1 F s The Position Error value ofthe position control loop has exceeded the F54 Excessive Position Error configured value for Position Error Tolerance Decel Disable 55 0 Excessive Velocity Error The Velocity Error value ofthe velocity control loop has exceeded the Decel
133. ments of cables connecting to the Kinetix 350 drive components Table 5 Kinetix 350 Drive Components Zone Method Wire Cable Connector Very Ferrite Shielded Dirty Dirty Clean Sleeve Cable L1 L2 L3 unshielded cable IPD X U V W motor power MP X X B B BR shunt resistor BC X 24V DC BP X Control COM 24V DC control safety enable and STO X feedback signals for safe off feature Motor feedback MF X X Registration X X 100 Others X Ethernet Port 1 X X Noise Reduction Guidelines for Drive Accessories Refer to this section when mounting an AC line filter or shunt resistor module for guidelines designed to reduce system failures caused by excessive electrical noise AC Line Filters 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 21 e Segregate input and output wiring as far as possible Rockwell Automation Publication 2097 UM002A EN P August 2011 25 Chapter2 Install the Kinetix 350 Drive System Shunt Resistors Observe these guidelines when mounting your shunt resistor outside the enclosure Mount shunt resistor and wiring in the very dirty zone or in an external shielded enclosure e M
134. n with the controller in program mode Test State Passed est complete Current Test Results Motor Feedback Polarity Normal Normal Motor Polarity Normal Normal Motion Polarity Normal Accept Test Results Manual Tune Cancel Apply Help Rockwell Automation Publication 2097 UM002A EN P August 2011 4 Type 2 0 as the number of revolutions for the test or another number more appropriate for your application This Test Performs this Test Verifies marker detection capability as you rotate the motor Marker shaft Motor Feedback Verifies feedback connections are wired correctly as you rotate the motor shaft Verifies motor power and feedback connections are wired Motor and Feedback correctly as you command the motor to rotate If drive ENABLE is Hard wired Apply 24V DC Not used Disable enablelnputChecking using procedure on page 98 ATTENTION To avoid personal injury or damage to equipment apply 24V ENABLE signal only to the axis you are testing 6 Click the desired tab Marker Motor Feedback Motor and Feedback In this example the Motor and Feedback test is chosen 7 Click Start 93 Chapter 5 94 Configure and Start Up the Kinetix 350 Drive System The RSLogix 5000 Motor and Feedback Test dialog box opens The Test State is Executing RSLogix 5000 Motor and Feedb est xj Test State Executing OK atch motion direction during test ait f
135. nd cables in the wireways as established in Chapter 2 e Refer to Shunt Resistors on page 26 for noise zone considerations Refer to Shunt Resistor Wiring Example on page 145 e Refer to the installation instructions provided with your Bulletin 2097 shunt resistor publication 2097 IN002 Figure 41 Brake DC Bus BC Connector 22 0 ELA Rockwell Automation Publication 2097 UM002A EN P August 2011 Kinetix 350 Drive Front view is shown Brake DC Bus BC Connector 71 Chapter4 Connect the Kinetix 350 Drive System Ethernet Ca ble Connections This guideline assumes you have your Logix Ethernet IP module and Kinetix 350 drive mounted and ready to connect the network cables IMPORTANT Connection to a larger network through an un managed switch without Internet Group Management Protocol Snooping could cause degradation to the larger network Network switches without IEEE 1588 will impact the overall system accuracy However for general time stamping this switch type is usually sufficient Your overall network topology number of connected nodes and choice of EtherNet switch affects motion performance For more detailed information on designing your network please consult the Converged Plantwide Ethernet Design amp Implementation Guide publication ENET TD001 The EtherNet IP net
136. netix 350 drive 28 MSG instruction 98 network status indicator 118 noise 23 abnormal 120 feedback 119 P panel requirements 16 parameters 90 PFD and PFH data 102 PFD and PFH definition 102 pinouts ACinput power IPD 34 back up power BP 34 Ethernet Port 1 33 1 0 100 32 motor feedback MF 33 motor feedback connector 68 motor power MP 34 safe torque off STO 31 shunt resistor and DC bus BC 34 PORT 1 status indicator 118 power block diagram 150 power dissipation specifications 133 power specifications single and three phase 129 single phase 128 three phase 130 power supply feedback 45 powerup 91 proof tests 101 publications related 8 Rockwell Automation Publication 2097 UM002A EN P August 2011 Index related publications 8 requirements Clearance 19 RJ45 Ethernet connector 72 route power and signal wiring 48 RSLogix 5000 software 82 S safe torque off bypass 106 connector location 103 operation 101 106 PFD and PFH data 102 PFD and PFH definition 102 pinouts 31 proof tests 101 specifications 108 troubleshooting 102 wiring diagram 107 wiring requirements 105 safety products catalog 107 shield clamp 66 shunt resistor 26 interconnect diagram 143 specifications 136 wiring requirements 57 shunt resistor and DC bus pinouts 34 shutdown 121 software RSLogix 5000 82 specifications ACline filters 135 back up power 39 certifications 134 circut breaker 131 contactor ratings 132 di
137. nnect the Kinetix 350 Drive System Chapter 4 Isolation Transformer in Grounded Power Configurations When using an isolation transformer attach a chassis ground wire to the neutral connection This grounded neutral connection does the following Prevents the system from floating and thereby avoids any high voltages that might otherwise occur for example due to static electricity e Provides a solid earth path for fault conditions ATTENTION If the supply transformer is an auto transformer not N recommended do not add a chassis earth ground A chassis earth ground Should already be included elsewhere in the system and adding another would create a short Three phase Power Wired to Single phase Drives This example illustrates grounded three phase power wired to single phase Kinetix 350 drives when phase to phase voltage is within drive specifications Figure 29 Single phase Amplifiers on Three phase Power WYE Transformer 2097 V32PRx LM WYE Secondary E IL IPD Kinetix 350 Drives 2 TI System A a InputFusing MIO Single phase AC Input D T m Kinetix 350 Drives B System B I i D System Inputfusing 2 Single phase AC Input B IL om Kinetix 350 Drives System C Grounded Neutral ILI L2 Input Input Fusing M30 onded Cabinet
138. nual Tune Cancel Apply 3 Type values for Travel Limit and Speed In this example Travel Limit 5 and Speed 10 The actual value of programmed units depend 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 application and click Apply Rockwell Automation Publication 2097 UM002A EN P August 2011 95 Chapter 5 Configure and Start Up the Kinetix 350 Drive System 96 6 If drive ENABLE is Hard wired Apply 24V DC Not used Disable enablelnputChecking using procedure on page 98 ATTENTION To avoid personal injury or damage to equipment apply 24V ENABLE signal only to the axis you are testing 7 Click Start The RSLogix Autotune dialog box opens When the test completes the Test State changes from Executing to Success se Axis Properties Axis 1 inl x Categories Tune Control Loop by Measuring Load Characteristics General Motor 1068 Model NM DANGER This tuning _ Motor Feedback Lsm Stop 4 procedure May cause axis Pines lann Sw Motion with the controller RSLogix 5000 Autotune Tune Status Success Test State Success OK Loop Parameters Tuned Juris PositionLoopBandwidth 19 469685 19 479558 Hz PositionIntegratorBand 0 0 00
139. om 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 Input 1 5 Safety common Safety COM 6 Safety input 2 24V DC to enable Safety Input 2 IMPORTANT Pins STO 1 24V DC Control and STO 2 Control COM are used only by the motion allowed jumpers to enable the drive when the safe torque off function is not be used When the safe torque off function is in operation the 24V supply must come from an external source Rockwell Automation Publication 2097 UM002A EN P August 2011 31 Chapter 3 32 Kinetix 350 Drive Connector Data 1 0 Connector Pinout 10D Pin Description 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 Figure 11 Pin Orientation for 50 pin SCSI 1 0 100 Connector 26 en OOOO0000000000000d0d0d000000 OOOOOO0000000000000000000 25 Rockwell Automation Publication 2097 UM002A EN P August 2011 Kinetix 350 Drive Connector Data C
140. omation Glossary publication AG 7 1 A glossary of industrial automation terms and abbreviations You can view or download publications at http www rockwellatuomation com literature To order paper copies of technical documentation contact your local Allen Bradley distributor or Rockwell Automation sales representative 8 Rockwell Automation Publication 2097 UM002A EN P August 2011 Chapter 1 Start Introduction Use this chapter to become familiar with the Kinetix 350 drive components This chapter also reviews design and installation requirements for Kinetix 350 drive systems Topic Page Introduction 9 About the Kinetix 350 Drive System 10 Catalog Number Explanation 12 Agency Compliance 13 Rockwell Automation Publication 2097 UM002A EN P August 2011 9 Chapter Start The Kinetix 350 single axis EtherNet IP servo drive is designed to provide a solution for applications with output power requirements between 0 4 3 0 kW About the Kinetix 350 Drive System 2 12 A rms Table 1 Kinetix 350 Drive System Overview Kinetix 350 System NGA Component Cat No Description Kinetix 350 Single axis 2097 V3xPRx LM Kinetix 350 Single axis EtherNet IP drives with safe torque off feature are available with 120 240V or 480V AC input EtherNet IP Servo Drive power AC Line Filters 2090 Bulletin 2090 and Bulletin 2097 Fx AC line filters are required to meet CE with Kinetix 350 drives without an 2097 Fx integ
141. on Publication 2097 UM002A EN P August 2011 Kinetix 350 Drive Safe Torque off Wiring Diagrams External 24V DC Kinetix 350 Drive Safe Torque off Feature Chapter 6 This section provides typical wiring diagrams for the Kinetix 350 drive safe torque off feature with other Allen Bradley safety products For additional information regarding Allen Bradley safety products including safety relays light curtain and gate interlock applications refer to the Safety Products Catalog website http www ab com catalogs The drive is shown in a single axis relay configuration for category 0 stop per EN 60204 1 Safety of Machinery Directive These are examples however and user applications can differ based on the required overall machine performance level requirements IMPORTANT The Kinetix 350 drive meets the requirements of 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 ST0 6 are done to prevent drive enable should either or both of these inputs not function Itis suggested to evaluate the entire machine performance level required with a risk assessment and circuit analysis Contact your local distributor or Rockwell Automation Sales for more information Figure 48 Single axis Relay Configuration Stop Category 0 with
142. oot faults Figure 44 Front Panel Display Table 31 Status Indicators Kinetix 350 O Status Indicator Function Description D Data entry Yellow status indicator will flash when changing Indicates the state of the Network See Network State N Network state Status Indicator on page 78 The bicolored status indicator shows red green or amber Indicates the state of the Network See Module State M Module state Status Indicator on page 77 The bicolored status indicator shows red green or amber Indicates the state of the Network See Axis State Status A Axis state Indicator on page 78 The bicolored status indicator shows red green or amber Table 32 Module State Status Indicator Status Indicator State off Power off Flash red green Drive self testing Flashing green Standby Solid green Operational Flashing red Major recoverable fault Solid red Major unrecoverable fault Rockwell Automation Publication 2097 UM002A EN P August 2011 77 Chapter 5 78 Configure and Start Up the Kinetix 350 Drive System Table 33 Axis State Status Indicator Status Indicator State Off Off Flash red green Self test Off Initialization bus not up Flashing green Initi
143. or test to complete When the test completes successfully the Test State changes from Executing to Passed Test State Passed ok Test complete 8 Click OK This dialog box opens asking if the direction was correct RSLogix 5000 E x A Did the axis move in the forward direction Yes No Cancel 9 Click Yes If the test fails this dialog box opens Rstogix 5000 x i Online command failed J Drive is not in the correct state to allow the current operation OK Help a Click OK b Verify the Axis status indicator turned solid green during the test Error 16386 0 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 entered in the Scaling category e Return to main step 6 and run the test again Rockwell Automation Publication 2097 UM002A EN P August 2011 Configure and Start Up the Kinetix 350 Drive System Chapter 5 Tune the Axes This is a basic procedure for simple systems If you have a complicated system refer to CIP Motion Configuration and Startup User Manual publication Motion UM003 Follow these steps to tune the axes 1 Verify the load is still removed from the axis being tuned ATTENTION To reduce the possibility of unpredictable motor response tune your motor with the load removed first then re attach the load and perform the tuning procedure ag
144. or you to build or modify your own cable follow these guidelines e Connect the cable shield to the connector shells on both ends of the cable with a complete 360 connection Use twisted pair cable whenever possible Twist differential signals with each other and twist single ended signals with the appropriate ground return Refer to the Kinetix Motion Control Selection Guide publication GMC SG001 for low profile connector kit drive end mating connector kit and motor end connector kit catalog numbers Route Power and Signal Wiring Be aware that when you route 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 This can cause system faults and communication anomalies Refer to Electrical Noise Reduction on page 20 for examples of routing high and low voltage cables in wireways Refer to the System Design for Control of Electrical Noise Reference Manual publication 001 for more information This section contains examples of typical single phase and three phase facility input power wired to single phase and three phase Kinetix 350 drives The grounded power configuration lets you ground your single phase or three phase power at a neutral point Match your secondary to one of the examples and be certain to include the gr
145. ort E 42 Kinetix 350 Drive gt to UART lt from UART from UART Rockwell Automation Publication 2097 UM002A EN P August 2011 or BM Kinetix 350 Drive Connector Data Chapter 3 Table 15 Generic TTL Incremental Specifications Attribute Value TTL incremental encoder support 5V differential A quad Quadrature interpolation 4 counts square wave period Differential input voltage AM BM and IM DC current draw AM BM and IM 30 mA max Input signal frequency AM BM and IM 3 0 MHz max Edge separation AM and BM 42 ns min between any two edges Line loss detection 2 2 AM and BM Average gt constant Hall inputs S1 S2 and 53 Single ended TTL open collector or none Figure 21 Generic TTL Incremental AM and BM Signals Kinetix 350 Drive 47 pF 26 7 kQ 1kQ 10 k 2 NES pA to A D Converter AAA NVV 1kQ 10 kad ZR 56 pF 56 pF Shaded area indicates components that are part of the circuit but support other feedback device types not used for Generic TTL incremental support 1kQ AM or BM gt to AqB Counter Rockwell Automation Publication 2097 UM002A EN P August 2011 43 Chapter 3 Kinetix 350 Drive Connector Data Figure 22 Generic TTL Interface IM Signals 10 kQ
146. ounded neutral connection Rockwell Automation Publication 2097 UM002A EN P August 2011 Connect the Kinetix 350 Drive System Chapter 4 Three phase Power Wired to Three phase Drives These examples illustrate grounded three phase power wired to three phase Kinetix 350 drives when phase to phase voltage is within drive specifications Figure 25 Three phase 400 480V Power Configuration WYE secondary Transformer WYE Secondary 2097 V34PRx LM Ree eae eee eas IPD B Feeder and branch short circuit E i Kinetix 350 Drives protection is not illustrated nw IT E 12 Three phase AC Input UL rru u M _ Input Fusing E fo oj lt Bonded Cabinet Ground Bus a Ground Grid or Power Distribution Ground i IMPORTANT For the 480V Kinetix 350 drives to meet proper voltage creepage and clearance requirements each phase voltage to ground must be less than or equal to 300V ACrms This means that the power system must use center grounded wye secondary configuration for 400 480V AC mains Figure 26 Three phase 240V Power Configuration Delta secondary Transformer Delta Secondary 2097 V33PRx LM Kinetix 350 Dri ine 1 Feeder and branch short circuit peus s hase ich ut protection is not illustrated i 1 P p CH In
147. ount resistors in a shielded and ventilated enclosure outside the cabinet e Keep unshielded wiring as short as possible Keep shunt wiring as flat to the cabinet as possible Figure 7 Shunt Resistor Outside the Enclosure 150 mm 6 0 in clearance min on all four sides of the shunt module Shunt Wiring Methods Twisted pair in conduit first choice Shielded twisted pair second choice Twisted pair two twists per foot min third choice Metal Conduit where required by local code Clean Wireway Dirty Wireway Enclosure I D D I Contactor Nosensitive E equipment within 150 VD T Brake PS Kinetix 350 Drive Very dirty connections I Breaker 5 Ethernet shielded Cable NS I mm 1 0 Ethernet and i C Feedback Cables C Route Encoder Analog Registration 1 0 Motor Power and Safety Cables Route 24V DC 1 0 Shielded Cables Shielded Cable 1 If drive system 1 0 cable contains dirty relay wires route cable in dirty wire way 2 When space does not permit 150 mm 6 0 in clearance install a grounded 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 26 Rockwell Automation Publication 2097 UM0
148. own in Appendix A on page 127 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 torqued to 1 1 Nem 9 8 Ibein Observe bonding techniques as described in Bonding Drives on page 20 IMPORTANT Toimprove the bond between the Kinetix 350 drive and subpanel construct your subpanel out of zinc plated paint free steel 3 Tighten all mounting fasteners 28 Rockwell Automation Publication 2097 UM002A EN P August 2011 Chapter 3 Kinetix 350 Drive Connector Data Introduction This chapter provides power feedback and I O connector locations and signal descriptions for your Kinetix 350 drive Topic Page Introduction 29 Kinetix 350 Drive Connectors and Indicators 30 Control Signal Specifications 35 Motor Feedback Specifications 40 Rockwell Automation Publication 2097 UM002A EN P August 2011 29 Chapter 3 Kinetix 350 Drive Connector Data Kinetix 350 Drive Connectors Although the physical size of the Kinetix 350 drives vary the location of the and Indicators 30 connectors and indicators is identical Figure 9 Kinetix 350 Drive Connector and Indicators
149. pation of each drive Use this table to size an enclosure and calculate required ventilation for your Kinetix 350 drive system Cat No 2097 V31PRO LM 2097 V31PR2 LM Power Dissipation W 28 39 2097 V32PRO LM 28 2097 V32PR2 LM 39 2097 V32PR4 LM 67 2097 V33PR1 LM 28 2097 V33PR3 LM 39 2097 V33PR5 LM 67 2097 V33PR6 LM 117 2097 V34PR3 LM 2097 V34PR5 LM 39 58 2097 V34PR6 LM 99 This section contains general specifications for your Kinetix 350 drive system components Environmental Specifications Attribute Operating Range Storage Range nonoperating Ambient temperature 0 40 32 104 F 10 70 C 14 158 F Relative humidity 5 95 noncondensing 5 95 noncondensing Altitude De rate by 1 per 300 m 1000 ft above 1500 m 5000 ft 3000 m 9843 ft during transport Vibration 5 2000 Hz 2 5 g peak 0 015 mm 0 0006 in max displacement Shock 15 g 11 ms half sine pulse 3 pulses in each direction of 3 mutually perpendicular directions Maximum Feedback Cable Lengths Although Bulletin 2090 motor feedback cables are available in standard lengths up to 90 m 295 3 ft the maximum feedback cable length for connecting motors or actuators to Kinetix 350 drives is 20 m 65 6 ft IMPORTANT Rockwell Automation Publication 2097 UM002A EN P August 2011 System performance was tested at these cable length specifications
150. phase Power Specifications 2097 V31PR2 LM 2097 V32PRO LM 2097 V32PR2 LM 2097 V31PRO LM 70 132V rms single phase 120V nom 80 264V rms single phase 240V nom 80 264V rms single phase 240V nom 2097 V32PR4 LM AC input frequency 48 62 Hz Main AC input current 0 Nom rms 120V input voltage doubler 9 70 15 0 Max inrush 0 pk 120V input 1 15A 1 15A Nom rms 120 240V input 5 0 8 6A 5 0A 8 6A 15 0A Max inrush 0 pk 240V input 1 1A 1 1A 136A 23 23 Current loop update rate 125 us Command update rate Velocity loop 500 ps Position loop 500 ps Integrated AC line filter No No Yes Yes Yes Control power back up input voltage 20 26V DC Control power back up input current Nom 500 mA Max inrush 0 pk 30A Continuous output current rms 2 0A 40A 20 4 0A 8 0A Continuous output current 0 pk 2 8A 5 7A 28 57 11 3 Peak output current rms 60 120A 60A 120A 2404 Peak output current 0 pk 8 5 A 17 0 A 8 5 A 17 0 A 39 9 Continuous power output 240V nom or 120V Voltage doubler 0 40 kw 0 80 kw 4 0 40 kW 0 80 kW 1 70 kW mode Shunt On 390V DC Shunt off 375V DC Overvoltage 430V DC Short circuit current rating 128 100 000 A rms symmetrical Kinetix 350 drive modules are limited to 1 AC mains power cycling per every 2 minutes Peak RMS current allowed for up to 2 seconds with a 50 duty cyc
151. plied Size as required by motor brake See Motor Brake Currents on page 149 Pin 43 and 44 are configured as MTR_ BRAKE MTR_BRAKE Common respectively Wire the output as sourcing and set brake engage and disengage times for motor selected Motor brake is active on enable Diode 1N4004 rated 1 0 A 400V DC See Interconnect Diagram Notes beginning on page 141 Exposed shield under clamp and place within 50 75 mm 2 3 in of drive see page 66 for details Cable shield and lead preparation is provided with most Allen Bradley cable assemblies Follow these guidelines if your motor power cable shield and wires require preparation Rockwell Automation Publication 2097 UM002A EN P August 2011 Exposed Braid 25 4 mm 1 0 in gt Connect the Kinetix 350 Drive System Chapter 4 Figure 37 Cable Shield and Lead Preparation Strip Length see table below gt lt Outer Insulation Motor Power Cable lt As required to have ground clamp within 50 75 gt mm 2 3 in of the drive U Refer to Shunt Resistor Wiring Example beginning on page 146 for interconnect diagrams Table 24 Motor Power MP Connector d or TL Series Servo Terminal U Brown 0 W Blue W 1 Green Yellow aif Table 25 Motor Power MP Termination Specifications Recommended Drive Cat No Terminals Wire Size mm AWG 2097 V31PRO LM 2097 V31PR2 L
152. poor battery e Replace battery connection Check battery connection Motor Encoder Battery Low The battery voltage on a battery backed motor Fc06 applies to Bulletin motors with B encoder is low enough such that a power loss feedback will cause the absolute position to be lost Fc14 Excessive Current Feedback Offset Current in one or more phases has been lost or remains below a preset level Replace the drive Cycle control Fc 26 Runtime Drive Error The drive firmware encountered an unrecoverable runtime error pests e Replace drive 114 Rockwell Automation Publication 2097 UM002A EN P August 2011 Troubleshoot the Kinetix 350 Drive Chapter 7 Table 43 Ic xx Fault Codes BORA RSLogix 5000 Four digit Display Fault Message Problem or Symptom Potential Cause Possible Resolution i eer Cycle power or reset the drive Ic 01 Boot Block Check Sum Fault Mie motoridata stored in a siart encoder hasa Faulty intelligent encoder eas checksum error Replace motor if faulting continues Cycle power or reset the drive Ic 02 Motor Data Range Error Data within a motor data blob is out of range Faulty intelligent encoderar Check validity of the motion incorrect motor file database e Replace motor if faulting continues Incorrect motor selected or Check motar selecti Motor Feedback Communication Communication with a smart encoder could not connected EES MOtOr SE EcHon Startup
153. power Apply 120 240 or 460V AC mains input power to the drive IPD connector 3 Apply 120 240 or 460V AC mains input power to the Kinetix 350 drive IPD connector Observe the four digit status indicator Four Character Data Entry Status Status Indicator X Indicator x If the status indicator is Go to step 5 Blank Go back to main step 2 If Your Logic Power Apply 120 240 or 460V AC mains input power to the drive IPD connector Mains input power Go step 5 Rockwell Automation Publication 2097 UM002A EN P August 2011 91 Is from 24V DC back up power Chapter5 Configure and Start Up the Kinetix 350 Drive System If drive ENABLE is Hard wired Apply 24V DC Not used Disable enablelnputChecking using procedure on page 98 7 Observe the status indicator on the front of the Kinetix 350 drive Status Indicator Condition Status Do This Steady green Operational condition Observe the Axis status indicator page 77 Module Steady or flashing red Drive is faulted Go to Module State Status Indicator on page 77 Steady green or amber Observe the Network status indicator Operational condition flashing page 77 Axis Steady or flashing red Axis is faulted a page 78 Steady green Communication is ready Go to Test and Tune the Axes on page 92 Network Any state other than Go to Network State Status Indicator on ommunication error Steady gr
154. put Fusing M1 Contactor L1 o O Bonded Cabinet Ground Bus gt Ground Grid or Power Distribution Ground e aD 1 Leakage current from the line filter in this configuration typically is higher than a balanced center ground configuration Figure 27 Three phase 240V Power Configuration Delta secondary Transformer Delta Secondary 2097 V33PRx LM L3 IPD L3 Kinetix 350 Dri inetix rives Feeder and branch short circuit Three phase AC Input protection is not illustrated L 1 L2 L2 IL T L1 L1 O Bonded Cabinet Ground Bus gt 090 Ground Grid or Power Distribution Ground gt 5 1 Leakage current from the line filter in this configuration typically is higher than a balanced center ground configuration Rockwell Automation Publication 2097 UM002A EN P August 2011 49 Chapter4 Connect the Kinetix 350 Drive System Single phase Power Wired to Single phase Drives These examples illustrate grounded single phase power wired to single phase Kinetix 350 drives when phase to phase voltage is within drive specifications IMPORTANT 2097 V32PRx LM models have integrated AC line filters and do not require the AC line filter shown in this diagram Figure 28 Single phase Grounded Power Configurations Transformer Secon
155. put power pinouts 34 ACline filters specifications 135 actions tab 90 actuators interconnect diagram MPAI 147 MPAR 147 MPAS 146 TLAR 148 additional resources 8 apply power 91 axis module axis properties 88 status indicators 117 axis unstable 119 back up power 39 pinouts 34 block diagrams power block diagram 150 voltage doubler block diagram 151 bond 21 EMI electromagnetic interference 20 high frequency energy 22 subpanels 22 brake currents 149 brake DC bus connector 71 build your own cables 48 C cables build your own cables 48 Ethernet cable length 72 length CE 16 maximum fdbk cable length 133 motor feedback 67 motor power 62 shield damp 66 catalog numbers 12 category 3 requirements 100 Stop category definitions 100 CE compliance 13 53 comply with CE 104 Rockwell Automation Publication 2097 UM002A EN P August 2011 Index conformity 104 invalidate compliance 53 meet requirements 104 certification specifications 134 TUV Rheinland 100 user responsibilities 100 circuit breaker selection 17 specifications 131 clamp 66 clean zone 23 clearance requirements 19 configure axis properties 88 delay times 90 drive modules 85 EtherNet IP controller 82 connect Ethernet 72 external shunt resistor 71 feedback 67 1 0 67 motor shield clamp 66 connector designators 30 locations 30 103 contactor specifications 132 ControlFLASH firmware upgrade 153 troubleshooting 160 v
156. r 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 motor power connectors are used for connection purposes only Do not use them to turn the unit off To avoid personal injury and or equipment damage make sure shielded power cables are grounded to prevent potentially high voltages on the shield ATTENTION To avoid personal injury and or equipment damage make sure Table 19 Shunt Resistor Power Wiring Requirements Recommended Wire Size mm AWG Torque Value Nem Ibein Connects to Accessory Description Terminals B Rockwell Automation Publication 2097 UM002A EN P August 2011 57 Chapter4 Connect the Kinetix 350 Drive System Wiring Guidelines Use these guidelines as a reference when wiring the connectors on your Kinetix 350 drive power modules IMPORTANT connector locations of the Kinetix 350 drives refer to Kinetix 350 Drive Connectors and Indicators on page 30 When tightening screws to secure the wires refer to the tables beginning on page 55 for torque values When removing insulation from wires refer to the tables beginning on page 55 for strip lengths IMPORTANT 0 improve system performance run wires and cables in the wireways as established in Establishing Noise Zones on page 23 Follow the
157. rameter is set to 0 use amp and C to set the parameter to 1 5 Cycle power to the drive to make this change take effect When the Kinetix 350 drive is waiting for an IP address to be assigned to it by the server it displays in each 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 RSLogix 5000 software If you choose to configure the drive by using a manual static IP address you can switch over to an automatic dynamic address once configuration is complete See Obtain the Kinetix 350 Drives Current Ethernet Settings on page 79 for information on enabling DHCP from within the RSLogix 5000 software TIP A useful feature of the RSLogix 5000 software and communication interface to the Kinetix 350 drive is the ability to assign the drive a name text string This name can then be used to discover the drive s IP address and is useful when the drive has its IP address assigned automatically by the server for easy connection Rockwell Automation Publication 2097 UM002A EN P August 2011 81 Chapter5 Configure and Start Up the Kinetix 350 Drive System Configure the Logix This assumes i you have is your is 350 d
158. rated line filter Bulletin 2097 filters are available in foot mount and side mount Shunt Module 2097 Rx Bulletin 2097 shunt resistors connect to the drive and provide shunting capability in regenerative applications Terminal block for 1 0 2097 1B1 50 pin terminal block Use with 100 connector for control interface connections connector Stratix 2000 Ethernet Switch 1783 USOST An Ethernet switch divides an Ethernet network into segments and directs network traffic efficiently Logix Controller Platform 1769 L18ERM BB1B 1769 L27ERM QBFC1B 1769 L33ERM 1769 L36ERM 1769 L30ERM CompactLogix controller with integrated dual port Ethernet IP interface serves as communication link with the Kinetix 350 drive system The communication link uses EtherNet IP protocol over a copper cable 1756 16 1756 L7x RSLogix 5000 Software 9324 RLD300ENE RSLogix 5000 software version 20 or later provides support for programming commissioning and maintaining the Logix family of controllers Rotary Servo Motors MP Series TL Series Compatible rotary motors include the MP Series Bulletin MPL MPM MPF and MPS and TL Series Bulletin TLY motors Linear Stages MP Series Ballscrew Compatible stages include MP Series Bulletin MPAS Integrated Linear Stages Electric Cylinders MP Series TL Series Compatible electric cylinders include MP Series and TL Series Bulletin MPAR TLAR and MPAI Electric Cylinders Cables 10 Motor
159. ravel detection is available as an optically isolated single ended active high signal 100 28 POS OT Current loading is nominally 9 mA per input The positive negative limit switch normally 1ms Level closed contact inputs for axis require 24V DC nominal Rockwell Automation Publication 2097 UM002A EN P August 2011 35 Chapter 3 Kinetix 350 Drive Connector Data Table 9 Understanding Digital Input Functions Function Description Behavior If the controller configuration specifies checking of the enable input an By default drive enable input checking is enabled If the checking is active state enables the power electronics to control the motor and an authorized and the input is disabled the drive will issue a Drive inactive state prevents motion Enable Start Inhibit and you will not be able to issue a Servo On The drive generates an exception if the input is inactive when the instruction from the controller Enable controller commands motion and has authorized checking The drive To disable the Enable function behavior in this situation is programmable Tie input to 24V DC Write a RSlogix message instruction that changes enablelnputChecking or Attribute 736 to zero see instructions on page 98 An active state indicates to a homing sequence that the referencing Home sensor has been seen Typically a transition of this signal is used to establish a reference position for the machine axis The function is alw
160. ress amp to store the new setting and return back to Scroll mode Table 30 Status Display Information Status Indicator Description Hardware revision For example H2 00 FX XX Firmware revision For example F2 06 dHCP Ethernet DHCP Configuration 0 dHCP is disabled 1 dHCP is enabled IP 1 Allows modification of the first octet of the IP address IP 2 Allows modification of the second octet of the IP address 3 Allows modification of the third octet of the IP address 4 Allows modification of the fourth octet of the IP address nEt Allows modification of the first octet of the netmask nEt2 Allows modification of the second octet of the netmask nEt3 Allows modification of the third octet of the netmask nEt4 Allows modification of the fourth octet of the netmask Allows modification of the first octet of the gateway gat2 Allows modification of the second octet of the gateway gat3 Allows modification of the third octet of the gateway gat4 Allows modification of the fourth octet of the gateway Rockwell Automation Publication 2097 UM002A EN P August 2011 Status Indicators Configure and Start Up the Kinetix 350 Drive System Chapter 5 The Kinetix 350 drive has four status indicators and a four digit display on the top front panel as shown below These status indicators and the display are used to monitor the system status activity and troublesh
161. rive system and i ix 5000 software version 20 xx or later EtherNet IP Controller are using RSLogix For help using RSLogix 5000 software as it applies to configuring the ControlLogix EtherNet IP controller refer to Additional Resources on page 8 Configure the Logix Controller Follow these steps to configure the Logix controller 1 Apply power to your Logix controller containing the EtherNet IP port and open your RSLogix 5000 software 2 From the File menu choose New The New Controller dialog box opens Vendor Allen Bradley Type 1769 L36ERM CompaciLogs5336ERM Controller Revision feo Cancel Bedandencyt 1 Name est d Description 1 Create Inc c NRSLogix S000 Projects Browse 3 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 Type the file Name 4 Click OK 5 From the Edit menu choose Controller Properties 82 Rockwell Automation Publication 2097 UM002A EN P August 2011 Configure and Start Up the Kinetix 350 Drive System Chapter 5 The Controller Properties dialog box opens Controller Properties UM_CIP 6 Click the Date Time tab 7 Check Enable Time Synchronization This will permit the controller to participate in the ControlLogix Time Synchronization or CIP Sync The controller will also participate in an election in the Logix system for the best
162. rupt power to the inputs of the safe torque off function at pins STO 4 and STO 6 and verify that the drive is in the disabled state Rockwell Automation Publication 2097 UM002A EN P August 2011 101 Chapter6 Kinetix 350 Drive Safe Torque off Feature Table 35 Proof Test Truth Table Safety Input 1 SafetyInput2 Safety Status Safety Function State STO 4 STO 6 Output STO 3 Normal operation Energized Energized Energized Energized De energized Energized Safe torque off mismatch De energized Energized Energized Safe torque off function De energized De energized De energized engaged Normal operation of the safe torque off function if monitored and verified constitutes the proof test Troubleshooting the Safe Torque off Function torque off function After troubleshooting a proof test must be performed to ATTENTION The safe torque off fault is detected upon demand of the safe verify correct operation PFD and PFH Definitions Safety related systems can be classified as operating in either a Low Demand mode or in a High Demand Continuous mode Low Demand mode where the frequency of demands for operation made on a safety related system is no greater than one per year or no greater than twice the proof test frequency e High Demand Continuous mode where the frequency of demands for operation made on a safety related system is greater than once per year or greater than twice the proof test interval
163. s EN 62061 2005 Safety of machinery Functional safety of safety related electrical electronic and programmable electronic control systems EN ISO 13849 1 2008 Safety of machinery Safety related parts of control systems 1 61508 1 7 2000 Functional Safety of Electrical Electronic Programmable Electronic Safety related Systems CTick Radio Communications Act 1992 Radio Communications Electromagnetic Compatibility Standard 1998 e Radio Communications Compliance Labelling Incidental Emissions Notice 1998 AS NZS CISPR 11 2003 Group 1 Class A 1 Refer to http www ab com for Declarations of Conformity Certificates Rockwell Automation Publication 2097 UM002A EN P August 2011 AC Line Filter Specifications Attribute Kinetix 350 Drive 2 Cat No 2097 F1 2097 V33PR6 LM Specifications and Dimensions Appendix A These tables contain specifications for AC line filters available for Kinetix 350 servo drive systems Table 62 AC Line Filter Specifications Bulletin 2090 Attribute 2090 XXLF TC116 2090 UXLF 336 S 1 2 E 7097 TPR AM 20573 Voltage 250V AC 50 60 Hz Phase Single Three phase Current 50 C 122 F 16 36 Power loss W Leakage current mA 87 136 Weight approx kg Ib 0 80 1 7 2 7 5 9 Humidity 9096 relative humidity Vibration 10 200 Hz Q 1 8 g vibration Operating temperature 25 100 C 13
164. s available for the Kinetix 350 drives Refer to the Shunt Resistor Installation Instructions publication 2097 IN002 for additional installation information Figure 55 Shunt Resistor Wiring Example 2097 V3xPRx LM Kinetix 350 Drive 2097 Rx Shunt Resistor Brake DC Bus i O BC Connector 0 1 This connector is for the Shunt resistor not the motor brake Rockwell Automation Publication 2097 UM002A EN P August 2011 143 AppendixB X Interconnect Diagrams Kinetix 350 Drive Rotary Motor Wiring Examples These wiring diagrams apply to Kinetix 350 drives with compatible rotary motors Figure 56 MP Series Bulletin MPL MPM MPF and MPS Motors 2090 XXNPMF xxSxx standard 2097 V3xPRx LM 9r MPL A I Bxxx MPM A Bxxx Refer to table on page 140 for note information Kinetix 350 Drives Mator Power Cable MPF A Bxxx and MPS A Bxxx Use 2090 CPWIADF aA Servo Motors with cable for continuous flex non brake High Resolution Feedback 2090 K2CK D15M applications Connector Kit 0 Shield Three phase 1 BLACK SIN 1 MON PCS e 1 Green Yellow Ke Motor Power 2 SIN 2 Blue QW W l 3 ED 05 3 3 Motor Power W lt oy 4 gt gt XX lt 4 4 Black BV gt 5 ME Conn
165. s power output 480V nom 1 00 kw 2 00 kW 3 00 kW Shunt On 780V DC Shunt off 750V DC Overvoltage 850V DC Short circuit current rating 100 000 A rms symmetrical 1 Kinetix 350 drive modules are limited to 1 AC mains power cycling per every 2 minutes 2 Peak RMS current allowed for up to 2 seconds with a 50 duty cycle 3 The drive has an internal shunt transistor Rockwell Automation Publication 2097 UM002A EN P August 2011 Circuit Breaker Fuse Specifications Specifications and Dimensions Appendix A While circuit breakers offer some convenience there are limitations for their use Circuit breakers do not handle high current inrush as well as fuses 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 Use class CC or T fast acting current limiting type fuses 200 000 AIC preferred Use Bussmann KTK R JJN JJS or equivalent Thermal magnetic type breakers preferred The following fuse examples and Allen Bradley circuit breakers are recommended for use with Kinetix 350 drives Main VAC _ ET 1 Cat No ne Allen Bradley Circuit Breaker otage Bussmann Fuse Magnetic Disconnect Contactor 2 120V K
166. se steps when wiring the connectors on your Kinetix 350 drive modules 1 Prepare the wires for attachment to each connector plug by removing insulation equal to the recommended strip length IMPORTANT Use caution not to nick cut or otherwise damage strands as you remove the insulation 2 Route the cable wires to your Kinetix 350 drive 3 Insert wires into connector plugs Refer to connector pinout tables in Chapter 3 or the interconnect diagrams in Appendix B 4 Tighten the connector screws 5 Gently pull on each wire to make sure it does not come out of its terminal reinsert and tighten any loose wires 6 Insert the connector plug into the module connector 58 Rockwell Automation Publication 2097 UM002A EN P August 2011 Connect the Kinetix 350 Drive System Chapter 4 Wiring the Kinetix 350 Drive This section provides examples and wiring tables to assist you in making Connectors connections to the Kinetix 350 drive Wire the Safe Torque off STO Connector For the safe torque off STO connector pinouts feature descriptions and wiring information refer to Chapter 6 on page 99 Wire the Back up Power BP Connector Kinetix 350 Drive Front View 24V DC 24V DC Table 20 Back up Power BP Connector Recommended Drive Cat No Terminals Wire Size uiid id eio Value 2 Wa mm in
167. se this manual 7 wiring Rockwell Automation Publication 2097 UM002A EN P August 2011 build your own cables 48 diagram safe torque off 107 drive BP connector 59 IPD connector 60 MP connector 61 STO connector 59 Ethernet connections 72 grounded power configuration 49 grounding drive 54 guidelines 58 1 0 connector 69 input power determine type 48 low profile connectors 70 motor cable shield clamp 66 motor feedback 67 motor power 62 63 64 requirements 47 105 drive 56 shunt resistor 57 route power and signal wiring 48 shunt resistor 71 Index Notes Rockwell Automation Publication 2097 UM002A EN P August 2011 167 Index 168 Rockwell Automation Publication 2097 UM002A EN P August 2011 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At hetp www rockwellautomation com support you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com support Installation Assistance If you experien
168. shown 11 gt gt Thermostat 13 gt WHT ORANGE TS BR 14 TS G lt 9 15 2 WHT BLUE XX Ew lt BR 3 gt gt 16 gt YELLOW 52 Motor Brake 17 5 www XX S 91 12 COM 7 gt gt Refer to low profile connector illustration lower left for proper grounding technique I 2090 XXNFMF Sxx non flex or 2090 CFBMxDF CDAFxx continuous flex flying lead Feedback Cable Note 9 Rockwell Automation Publication 2097 UM002A EN P August 2011 Interconnect Diagrams Appendix B Figure 57 Kinetix 350 Drive with TL Series TLY A Motors Refer to table on page 140 for note information 2097 V3xPRx LM Kinetix 350 Drives 230V Servo Motors with 2090 CPBM6DF 16AAxx Motor Power and Brake Cable Incremental Feedback Notes 9 10 Use 2090 CPWM6DF 16AAxx cable for non brake applications 2090 K2CK D15M Three phase Connector Kit 2 lI Green Yellow lt lt Motor Power A II EASED aes SE f 3 Motor Power w lt lt W GND 9 gt BLACK AM 1 4 MP Connector y 05 XX 2 5 U 1 RED BM 3 6 U er 7 Motor Feedback 12 4 XX
169. sized drive or motor Check velocity loop tuning Velocity Error value of the velocity control loop Verify sizing of system F55 Excessive Velocity Error has exceeded the configured value for Velocity Error Tolerance Mechanical system out of specifications Rockwell Automation Publication 2097 UM002A EN P August 2011 e Increase velocity error limit or time Check velocity loop tuning e Verify mechanical integrity of system within specification limits Check motor power wiring Reduce acceleration 113 Chapter7 Troubleshoot the Kinetix 350 Drive Table 41 xx Fault Codes continued PESE RSLogix 5000 2 Four digit Display Fault Message Problem or Symptom Potential Cause Possible Resolution Verify motion profile e Overly aggressive motion Verify Overtorque settings are profile appropriate F56 Overtorque Limit Motor torque has exceeded a user Mechanical binding e Verify sizing of system programmable setting Verify torque offset Mechanical system out of Verify mechanical integrity of system specifications within specification limits e Improperly configured limit Verify Hp profiles Improperly configured motion settings are da Motor torque has fallen below a user e Improperly drive motor sizing PU QU F57 Undertorque Limit programmable setting properly 9 Verify sizing of system Mechanical sy
170. stem out of Verify mechanical integrity of system specifications within specification limits An attempt was made to enable the axis through software while Check wiring of drive enable input The hardware enable input was deactivated the Drive Enable hardware input e Check 24V source F61 Drive Enable Input while the drive was enabled This is applicable Was inactive only when drive enable input is used The Drive Enable input transitioned Verify that Drive Enable hardware input is from active to inactive while the active whenever the drive is enabled axis was enabled through software Move axis out of soft overtravel Th llerh d the dri User configured soft oo tg Controller Initiated Exception e controller has requeste the drive to ser configured software Clear soft overtravel fault generate an exception overtravel e Check soft overtravel configuration Consult controller documentation Table 42 Fc xx Fault Codes RSLogix 5000 Four digit Display Fault Message Problem or Symptom Potential Cause Possible Resolution Fc 02 Motor Voltage Mismatch Motor voltage incompatible with drive voltage Wrong motor connected to drive Connect appropriate motor to drive Motor Encoder Battery Loss The battery voltage on a battery backed motor 6 encoder is low enough such that a power loss Fc05 applies to Bulletin TLY motors with B m feedback has caused the absolute position to no longer be available Weak battery or
171. tage Current mA Supply Reference Min Nominal Max Min Max 5V DC EPWR 5V 5 13 54 5 67 0 400 0 9V DC EPWR_9V 83 9 1 9 9 0 2750 1 400 mA the 5V supply with no load on the 9V supply 2 300 the 5V supply with 150 mA on the 9V supply 3 275 mA on the 9V supply with no load on the 5V supply Figure 24 Pin Orientation for 15 pin Motor Feedback MF Connector pinto Pin 15 fo Pin 5 Pin 11 L 5 2 Pin 1 Ping 2 Rockwell Automation Publication 2097 UM002A EN P August 2011 45 Chapter3 Kinetix 350 Drive Connector Data Notes 46 Rockwell Automation Publication 2097 UM002A EN P August 2011 Chapter 4 Connect the Kinetix 350 Drive System Introduction This chapter provides procedures for wiring your Kinetix 350 system components and making cable connections Topic Page Introduction 47 Basic Wiring Requirements 47 Grounding Your Kinetix 350 Drive System 54 Power Wiring Requirements 55 Wiring Guidelines 58 Wiring the Kinetix 350 Drive Connectors 59 Apply the Motor Cable Shield Clamp 66 Feedback and 1 0 Cable Connections 67 Wiring the Feedback and 1 0 Connectors 69 Kinetix 350 Drive 100 connector and terminal block 69 Shunt Resistor Connections 71 Ethernet Cable Connections 72 Basic Wiring Requirements This section contains basic wiring information for the Kinetix 350 drive IMPORTANT ATTENTION Plan the instal
172. tallation e Additional clearance is required depending on the accessory items installed e An additional 9 7 mm 0 38 in clearance is required left of the drive if the I O expansion terminal block is used e An additional 26 mm 1 0 in clearance is required right of the drive when the heatsink is present e An additional 36 mm 1 42 in is required right of the drive when the side mount line filter is present An additional 50 mm 2 0 in is required behind the drive when the rear mount line filter is present e An additional 5 0 mm 0 19 in clearance is required in front of the drive when the 2090 K2CK D15M feedback connector kit is used e Additional clearance is required for the cables and wires connected to the top front and bottom of the drive e An additional 150 mm 6 0 in is required when the drive is mounted adjacent to noise sensitive equipment or clean wireways Refer to page 137 for Kinetix 350 drive dimensions Figure 2 Minimum Clearance Requirements 25 0 mm 1 0 in Clearance for Airflow and Installation Drive A t Cat No 2097 V31PRO LM 185 7 29 2097 V31PR2 LM 185 7 29 eamm meo 3mm 0 12in T 3mm 0 12 in diii NEN Side Clearance a m Side Clearance 2097 V32PR4 LM 230 9 04 2097 V33PR1 LM 185 7 29 2097 V33PR3 LM 185 7 29 2097 V33PR5 LM 1
173. ter 7 ee ee eee inte Bale 109 Safety ure water INN Geni EU 109 Interpret Status Indicators 9 eos en Ouod as alee 110 Fout digit Display Messages eee ennt ret eerte meer 110 Fault COGS ences enum dpi cett tac und 111 essu cree RU HORAS RIS PER REGIS 117 General System Behavior V Dee 119 Logix Controller and Drive Behavior 121 Kinetix 350 Drive Exception 121 Web Server Interface 2i se oet S NUR S ced seme teen S Regmee qut 125 Rockwell Automation Publication 2097 UM002A EN P August 2011 5 Table of Contents Specifications and Dimensions Interconnect Diagrams Upgrade the Kinetix 350 Drive Firmware Appendix A Introductions er E 127 Kinetix 350 Drive Power 128 Circuit Breaker Puse 131 Contactor ed 132 Transformer Specifications for Input Power 132 Power Dissipation Specifications 133 General Specifications GS serios 133 Environmental Specifications lt 2 2 4 o teh DEI EP eee eres 133 Maximum Feedback Cable Lengths 133 Weight SDECHICAEIODS sso da dau perenni reset ret S qe 134 Certifications cese eccle riu RIA eee eee EUER 134 AC Line Filter Specificatiofi cd
174. tomation Publication 2097 UM002A EN P August 2011 73 Chapter4 Connect the Kinetix 350 Drive System Notes 74 Rockwell Automation Publication 2097 UM002A EN P August 2011 Introduction Chapter 5 Configure and Start Up the Kinetix 350 Drive System This chapter provides procedures for configuring your Kinetix 350 system components with your ControlLogix EtherNet IP controller Topic Page Introduction 75 Keypad Input 76 Configure the Kinetix 350 Drive Ethernet IP Address 79 Configure the Logix EtherNet IP Controller 82 Apply Power to the Kinetix 350 Drive 91 Test and Tune the Axes 92 Disable EnablelnputChecking Using a RSLogix Message Instruction 98 TIP Before you begin make sure you know the catalog number for the drive the Logix controller and the servo motor actuator in your motion control application Rockwell Automation Publication 2097 UM002A EN P August 2011 75 Chapter5 Configure and Start Up the Kinetix 350 Drive System Keypad Input 76 The Kinetix 350 drive is equipped with a diagnostic status indicator and three push buttons that are used to select displayed information and to edit a limited set of parameter values Parameters can be scrolled by using QW To view a value press To return back to Scroll mode press amp After pressing on editable parameters the yellow status indicator D blinks indicating that the parameter value can be changed Use QU to change the value P
175. ual 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 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 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 gt e eD IMPORTANT Identifies information that is critical for successful application and understanding of the product Allen Bradley CompactLogix ControlFLASH ControlLogix Kinetix MP Series TL Series RSLogix Rockwell Automation Rockwell Software Stratix 2000 and TechConnect ar
176. ut 8 240V nom 0 50 kW 1 00 kw 2 00 kW 3 00 kW Shunt On 9 390 V DC Shunt Off 375V DC Overvoltage 430V DC Short circuit current rating 100 000 A rms symmetrical Kinetix 350 drive modules are limited to 1 AC mains power cycling per every 2 minutes Nominal continuous power output kW applies to 240V AC drives Value is approximately one half of this kW rating when using 120V AC The drive has an internal shunt transistor 2 Peak RMS current allowed for up to 2 seconds with a 50 duty cycle Rockwell Automation Publication 2097 UM002A EN P August 2011 129 Appendix A 130 Specifications and Dimensions Table 58 Kinetix 350 Drive three phase Power Specifications Attribute AC input voltage 2097 V34PR3 LM 2097 V34PR5 LM 320 528V rms three phase 480V nom 2097 V34PR6 LM AC input frequency 48 62 Hz Main AC input current m Nom rms 2 7 5 5 7 9 Max inrush 0 pk 4 5 4 5 22 6 Current loop update rate 125 us Command update rate Velocity loop 500 ps Position loop 500 ps Integrated AC line filter No No No Control power back up input voltage 20 26V DC Control power back up input current Nom 500 mA Max inrush 0 pk 30A Continuous output current rms 20 40 6 0A Continuous output current 0 pk 2 8A 57 8 5 A Peak output current rms 2 6A 12A 18A Peak output current 0 pk 85 17 0A 25 5 Continuou
177. ut power Refer to table on page 140 for note information Single phase AC Input 120 240V rms AC 50 60 Hz Notes 1 2 142 Bonded Cabinet Ground Bus 2097 V31PRIM jog yl PE PE Mains AC Line Filter N Single phase Optional AC Input Note 3 IPD Connector L2 N L2 N 2 Input Fusing Fuse Disconnect Nu 7 Shunt Resistor or Circuit Breakers B and DC Bus BR BC Connector Back up Power BP Connector U Motor Power V MP Connector PE Use discrete logic or PLC 29 EN 1 0 I0D to control ENABLE to 26 Connector drive 2 Note4 Ground Stud 2097 V31PRx LM 2097 V32PRx LM 2097 V33PRx LM and Kinetix 350 Drive Indicates User Supplied Component Rockwell Automation Publication 2097 UM002A EN P August 2011 The 2097 V32PRx LM models have integrated AC line filters and do not require Be Shunt Resistor Connections 24V DC User supplied DC lt 24V DC gt Three phase Motor Power Connections Note 9 Cable Shield Clamp Note 8 Interconnect Diagrams Appendix B In this example three phase 240V AC is applied to 2097 V33PR x LM drives and 480V AC is applied to 2097 V34PRx LM driv
178. vice attributes 01 4 Waiting for group synchronization 02 Waiting for DC Bus to charge 03 Device is operational 04 Start inhibit code S xx Start inhibit code custom Sox i Axis fault code F xx Axis fault code custom Foxx Boot error box Power on Self Test POST error 1 Initialization fault code custom lox Node fault code nFxx 1 110 Rockwell Automation Publication 2097 UM002A EN P August 2011 Troubleshoot the Kinetix 350 Drive Chapter 7 Fault Codes These fault code tables are designed to help you resolve anomalies When a fault is detected the four digit status indicator scrolls the display message This is repeated until the fault code is cleared Table 39 Fault Code Summary Fault Code Type Description Conditions that prevent the drive from enabling see Table 40 Sox F xx Standard axis fault see Table 41 and Table 42 Foxx Unrecoverable errors that occur during the boot process box Return drive to Rockwell Automation Unrecoverable errors that occurred during the Power Self Test POST Return drive to Rockwell Automation lox Anomalies that prevent normal operation and occur during the initialization process T Anomalies that prevent normal operation of the drive Node Fault This type of fault that impacts the servo drive not just the axis of motion Table 40 Sxxand Sox Start Inhibit Codes T RSLogix 5000 Four digit Display Fault Mess
179. wer Self test power up diagnostics Wait for steady green Flashing green Standby device not configured Wait for steady green Steady green Normal operation no faults Flashing red Minor fault recoverable Refer to four digit fault message Steady red Major fault non recoverable Refer to four digit fault message Table 48 Axis Status Indicator Status Description Off Off Flash red green Self test Off Initialization bus not up Flashing green Initialization bus up Off Shutdown bus not up Flashing amber 0 Shutdown bus up Off Pre charge bus not up Flashing amber m Start inhibit Flashing green ma Stopped Stopping Solid green ma SUNG Running Testing Aborting Flashing red Major faulted ss Aborting olid re Major faulted 1 Theaxis and the drive define minor fault conditions While a minor fault does not affect the drive status indicator it does affect the axis status indicator When a minor fault condition is detected a normally solid green status indicator indication changes to alternating red green red green a normally flashing green status indicator indication changes to alternating red off green off and a normally flashing amber indications changes to red off amber off 2 The drive also defines alarm conditions When an alarm condition is detected a normally solid green status indicator indication changes to
180. wiring diagrams apply to Kinetix 350 drives with compatible linear Figure 58 Kinetix 350 Drive with MP Series Bulletin MPAS A B Linear Stages 2090 XXNPMF xxSxx standard 2097 V3xPRx LM 02090 PBMADE MPAS A Bxxxxx VxxSxA Refer to table on page 140 for note information Kinetix 350 Drives Motor Power Cable Ballscrew Linear Stages Use 090 CPWNADE aa with se cable for continuous flex non brake High Resolution Feedback 2090 K2CK D15M applications Connector Kit 1 Shield Three phase 1 2 Green Yellow In Motor Power gt aL 2 3 l 4 Motor Power w Bue C lt W np 3 s RED 05 3 5 MP Connector Back DAR 4 55 wmo XX Qs 4 6 Brown A U 5 GREEN DATA 5 7 1 lt 6 gt 21 Wa XX 10 8 Motor gt gt 9 Motor Feedback Feedback 9 m W a 14 10 MF Connector 0 EOM 6 11 11 ORANGE 9VDC 7 12 Thermostat 13 S waor Te 1 13 L 14 Black G lt lt BR ba LM s BLUE TS 15 A White F lt lt BR 3 12 gt Motor Brake i for proper grounding technique 1 0 100 M7 MIR BRAKE H H 2090 XXNFME Sxx standard Connector MTR BRAKE 2s 1 e 8 Cable Shield 2099 CTBWDF CDAPa continuous Note 4 an 77 mp nr e Cable Note 6 24V DC 24V 0
181. work is connected by using the Port 1 connector Refer to page 30 to locate the Ethernet connector on your Kinetix 350 drive Refer to the figure below to locate the connector on your Logix communication module Shielded Ethernet cable is available in lengths up to 78 m 256 ft However the total length of Ethernet cable connecting drive to drive drive to controller or drive to switch must not exceed 100 m 328 ft If the entire channel is constructed of stranded cable no fixed cable then this is the equation for calculating maximum length Maximum Length 113 2N y meters where N the number of connections in the channel and the loss factor compared to fixed cable typically 1 2 1 5 Figure 42 CompactLogix Ethernet Port Location CompactLogix Controller Platform 1769 L33ERM Shown XX XXXXXXXX XX 1 a lt The Ethernet ports are on bottom of controller The Port 1 Ethernet connection is used for connecting to a Logix controller and configuring your Kinetix 350 drive 72 Rockwell Automation Publication 2097 UM002A EN P August 2011 Connect the Kinetix 350 Drive System Chapter 4 Figure 43 Ethernet Wiring Example External Switch CompactLogix Controller Platform 1769 L33ERM Shown Personal Computer 1783 USO5T Stratix 2000 Switch Kinetix 350 Drives Rockwell Au
182. ximum environmental temperature is 20 C 68 F then T 20 In this example the total heat dissipation is 416 W sum of all components in enclosure So in the equation below T 20 and Q 416 0 38 416 A L UY 245m 1 8 Q0 1 1 In this example the enclosure must have an exterior surface of at least 4 53 If any portion ofthe enclosure is not able to transfer heat do not include heat in the calculation Because the minimum cabinet depth to house the Kinetix 350 system selected for this example is 332 mm 13 in the cabinet needs to be approximately 2000 x 700 x 332 mm 78 7 x 27 6 x 13 0 in HxWxD 2x 0 332x 0 70 2x 0 332 x 2 0 2 x 0 70 x 2 0 4 59 m Because this cabinet size is considerably larger than what is necessary to house the system components it may be more efficient to provide a means of cooling in a smaller cabinet Contact your cabinet manufacturer for options available to cool your cabinet Rockwell Automation Publication 2097 UM002A EN P August 2011 i SF Install the Kinetix 350 Drive System Chapter2 Minimum Clearance Requirements This section provides information to assist you in sizing your cabinet and positioning your Kinetix 350 system components IMPORTANT Mount the module in an upright position as shown Do not mount the drive module on its side Figure 2 illustrates minimum clearance requirements for proper airflow and ins

Kinetix 350 Single-axis EtherNet/IP Servo Drives User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents