Kinetix 350 Single-Axis Ethernet/Ip Servo Drives: User Manual

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

Catalog Numbers 2097-V31PR0-LM, 2097-V31PR2-LM,
2097-V32PR0-LM, 2097-V32PR2-LM, 2097-V32PR4-LM,
2097-V33PR1-LM, 2097-V33PR3-LM, 2097-V33PR5-LM, 2097-V33PR6-LM,
2097-V34PR3-LM, 2097-V34PR5-LM, 2097-V34PR6-LM
Important User Information
Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to
familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws,
and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required
to be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be
impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the
use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or
software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment,
which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous
voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may
reach dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to
potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL
Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).
]Allen-Bradley, CompactLogix, ControlFLASH, ControlLogix, Kinetix, Logix5000, MP-Series, TL-Series, RSLogix, Studio 5000 Logix Design, Rockwell Automation, Rockwell Software, Stratix 2000, and Studio 5000, and
are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Summary of Changes
This manual contains new and updated information. Changes throughout this
revision are marked by change bars, as shown to the right of this paragraph.
New and Updated This table contains the changes made to this revision.
Information Topic Page
Studio 5000 Logix Designer™ application is the rebranding of RSLogix™ 5000 9
software
Updated Kinetix® 350 Drive System Overview 12
Updated Typical Kinetix 350 Drive Installation 13
Updated catalog number explanation table 14
Updated the Fuse and Circuit Breaker Specifications table 20
Updated Shunt Resistor and DC connector description and signals names 36, 40, 60, 61,133
Updated motor brake pinout and specifications 44
Added vertical load and stored mechanical energy information to text and 93, 97
attention statement
Updated Troubleshooting the Safe Torque-off Function attention statement 103
Updated Figure 48 Single-axis Relay Configuration (Stop Category 0) with 108
Automatic Reset
Added Error Codes for the Memory Module 113
Added troubleshooting for motor with a TTL encoder 122
Updated Figure 57 Kinetix 350 Drive with TL-Series™ (TLY-A) Motor high 135
resolution encoder cables
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 3

Summary of Changes
Notes:
4 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013

Table of Contents
Preface
About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Conventions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Studio 5000 Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Chapter 1
Start About the Kinetix 350 Drive System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
CE Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Chapter 2
Install the Kinetix 350 Drive System System Design Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
System Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Transformer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Circuit Breaker/Fuse Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Circuit Breaker/Fuse Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Enclosure Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Contactor Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Transformer Specifications for Input Power . . . . . . . . . . . . . . . . . . . . 23
Power Dissipation Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Electrical Noise Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Bonding Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Bonding Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Establishing Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Cable Categories for Kinetix 350 Drive Components. . . . . . . . . . . . 30
Noise Reduction Guidelines for Drive Accessories. . . . . . . . . . . . . . . 30
Mount Your Kinetix 350 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Chapter 3
Kinetix 350 Drive Connector Data Kinetix 350 Drive Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . 36
Safe Torque-off Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
I/O Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Motor Feedback (MF) Connector Pinout . . . . . . . . . . . . . . . . . . . . . . 39
Ethernet Communication Connector Pinout . . . . . . . . . . . . . . . . . . . 39
AC Input Power Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Back-up Power Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Shunt Resistor and DC Bus Connector Pinout . . . . . . . . . . . . . . . . . 40
Motor Power Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Control Signal Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Motor Brake Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Table of Contents
Ethernet Communication Specifications . . . . . . . . . . . . . . . . . . . . . . . 45

24V DC Back-up Power Specifications . . . . . . . . . . . . . . . . . . . . . . . . . 45
Motor Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Feedback Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Chapter 4
Connect the Kinetix 350 Drive System Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Recommended Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Route Power and Signal Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Determine the Input Power Configuration . . . . . . . . . . . . . . . . . . . . . . . . . 52
Three-phase Power Wired to Three-phase Drives . . . . . . . . . . . . . . . 53
Single-phase Power Wired to Single-phase Drives . . . . . . . . . . . . . . . 54
Voltage Doubler Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Isolation Transformer in Grounded Power Configurations. . . . . . . 55
Three-phase Power Wired to Single-phase Drives . . . . . . . . . . . . . . . 55
Voiding of CE Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Grounding Your Kinetix 350 Drive System . . . . . . . . . . . . . . . . . . . . . . . . . 58
Ground Your Drive to the System Subpanel . . . . . . . . . . . . . . . . . . . . 58
Ground Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Power Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Wiring Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Wiring the Kinetix 350 Drive Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . 63
Wire the Safe Torque-off (STO) Connector . . . . . . . . . . . . . . . . . . . . 63
Wire the Back-up Power (BP) Connector. . . . . . . . . . . . . . . . . . . . . . . 63
Wire the Input Power (IPD) Connector. . . . . . . . . . . . . . . . . . . . . . . . 64
Wire the Motor Power (MP) Connector . . . . . . . . . . . . . . . . . . . . . . . 65
Apply the Motor Cable Shield Clamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Feedback and I/O Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Flying-lead Feedback Cable Pin-outs . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Wiring the Feedback and I/O Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . 73
Wire the I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Wire the Low-profile Connector Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Shunt Resistor Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Chapter 5
Configure and Start Up the Keypad Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Kinetix 350 Drive System Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Configure the Kinetix 350 Drive Ethernet IP Address . . . . . . . . . . . . . . . 81
Ethernet Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Kinetix 350 Drive Ethernet Port Configuration . . . . . . . . . . . . . . . . . 81
Obtain the Kinetix 350 Drives’ Current Ethernet Settings . . . . . . . 81
Configure the IP Address Manually (static address). . . . . . . . . . . . . . 82
Configure the IP Address Automatically (dynamic address) . . . . . . 83
Configure the Logix5000 EtherNet/IP Controller . . . . . . . . . . . . . . . . . . 84
Configure the Logix5000 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Table of Contents
Configure the Kinetix 350 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Configure the Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Apply Power to the Kinetix 350 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Test and Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Test the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Disable EnableInputChecking by Using a Logix
Designer Message Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Chapter 6
Kinetix 350 Drive Safe Torque-off Certification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Feature Important Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Safety Category 3 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Stop Category Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Performance Level and Safety Integrity Level (SIL) CL2 . . . . . . . . 102
Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Troubleshooting the Safe Torque-off Function . . . . . . . . . . . . . . . . 103
PFD and PFH Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
PFD and PFH Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Safe Torque-off Connector Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
STO Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Wiring Your Safe Torque-off Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
European Union Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Safe Torque-off Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . 106
Kinetix 350 Drive Safe Torque-off Feature . . . . . . . . . . . . . . . . . . . . . . . . 107
Safe Torque-off Feature Bypass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Kinetix 350 Drive Safe Torque-off Wiring Diagrams . . . . . . . . . . . . . . . 108
Safe Torque-off Signal Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Chapter 7
Troubleshoot the Kinetix 350 Drive Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Interpret Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Four-digit Display Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Error Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
General System Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Logix5000 Controller and Drive Behavior . . . . . . . . . . . . . . . . . . . . . . . . 123
Kinetix 350 Drive Exception Behavior . . . . . . . . . . . . . . . . . . . . . . . . 123
Web Server Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

Table of Contents
Appendix A
Interconnect Diagrams Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Shunt Resistor Wiring Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Kinetix 350 Drive/Rotary Motor Wiring Examples . . . . . . . . . . . . . . . . 134
Kinetix 350 Drive/Actuator Wiring Examples . . . . . . . . . . . . . . . . . . . . . 136
Motor Brake Currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Appendix B
Upgrade the Kinetix 350 Drive Upgrade Drive Firmware with ControlFLASH Software . . . . . . . . . . . 143
Firmware Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Configure Logix5000 Communication . . . . . . . . . . . . . . . . . . . . . . . . 144
Upgrade Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Verify the Firmware Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

Preface
About This Publication This manual provides detailed installation instructions for mounting, wiring, and
troubleshooting your Kinetix 350 drive; and system integration for your drive/
motor combination with a Logix5000™ controller.
Conventions The conventions starting below are used throughout this manual:
• Bulleted lists such as this one provide information, not procedural steps.
• Numbered lists provide sequential steps or hierarchical information.
Studio 5000 Environment The Studio 5000™ Engineering and Design Environment combines engineering
and design elements into a common environment. The first element in the Studio
5000 environment is the Logix Designer application. The Logix Designer
application is the rebranding of RSLogix 5000 software and continues to be the
product to program Logix5000 controllers for discrete, process, batch, motion,
safety, and drive-based solutions.
The Studio 5000 environment is the foundation for the future of Rockwell
Automation® engineering design tools and capabilities. This environment is the
one place for design engineers to develop all of the elements of their control
system

Preface
Additional Resources These documents contain additional information concerning related products
from Rockwell Automation.
Resource Description
Kinetix 350 Single-axis EtherNet/IP Servo Drive Installation Instructions, Information on installing your Kinetix 350 drive system.
publication 2097-IN008
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-IN003 Information on installing and wiring the Kinetix 300 AC line filter.
Kinetix 300 I/O Terminal Expansion Block Installation Instructions, Information on installing and wiring the Kinetix 300 I/O terminal expansion
publication 2097-IN005 block.
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, Information on installing and operating a Stratix 2000“ Ethernet Switches.
publication 1783-IN001
Ethernet/IP Benefits of Industrial Connectivity in Industrial Apps White Paper, publication 1585- Provides general guidelines and theory for Ethernet/IP industrial systems.
WP001A
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, This guide is arranged to help you select cabling based on the application,
publication ENET-WP007 environmental conditions, and mechanical requirements
Integrated Motion on SERCOS and EtherNet/IP Systems - Analysis and Comparison White Paper, This white paper compares and contrasts SERCOS and EtherNet/IP with a
publication MOTION-WP007 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, Information, examples, and techniques designed to minimize system failures
publication GMC-RM001 caused by electrical noise.
EMC Noise Management DVD, publication GMC-SP004
Kinetix Motion Control Selection Guide, publication GMC-SG001 Specifications, motor/servo-drive system combinations, and accessories for
Kinetix motion control products.
Kinetix Servo Drives Specifications Technical Data, publication GMC-TD003 Specifications for Kinetix servo drive 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 Information on installing, configuring, programming, and operating a
ControlLogix system.
CIP Motion Configuration and Startup User Manual, Information on configuring and troubleshooting your ControlLogix and
publication MOTION-UM003 CompactLogix EtherNet/IP network modules.
842E-CM Integrated Motion Encoder on EtherNet/IP Information on installing, wiring, and troubleshoot a integrated motion encoder
User Manual. Publication 842E-UM002A on EtherNet /IP.
ControlFLASH Firmware Upgrade Kit User Manual, publication 1756-QS105 For ControlFLASH™ information not specific to any drive family.
Rockwell Automation Configuration and Selection Tools, Online product selection and system configuration tools, including AutoCAD
website http://www.ab.com/e-tools (DXF) drawings.
Rockwell Automation Product Certification, For declarations of conformity (DoC) currently available from
website http://www.rockwellautomation.com/products/certification Rockwell Automation.
National Electrical Code, published by the National Fire Protection Association of Boston, MA An article on wire sizes and types for grounding electrical equipment.
Rockwell Automation Industrial Automation Glossary, publication AG-7.1 A glossary of industrial automation terms and abbreviations.
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.

Chapter 1
Start
Topic Page
About the Kinetix 350 Drive System 12
Catalog Number Explanation 14
Agency Compliance 15
Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 11

Chapter 1 Start
About the Kinetix 350 Drive 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
System (2…12 A rms).
Table 1 - Kinetix 350 Drive System Overview

Kinetix 350 System Cat. No. Description
Component
Kinetix 350 integrated 2097-V3xPRx-LM Kinetix 350 integrated motion on EtherNet/IP drives with safe torque-off feature are available with 120/240V or
motion on EtherNet/IP Servo 480V AC input power.
Drive
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 integrated 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 I/O 2097-TB1 50-pin terminal block. Use with IOD connector for control interface connections.
connector
Stratix 2000 Ethernet Switch 1783-US05T An Ethernet switch divides an Ethernet network into segments and directs network traffic efficiently.
Logix5000 Controller 1769-L18ERM-BB1B CompactLogix controller with integrated dual-port Ethernet/IP interface serves as communication link with the
Platform 1769-L27ERM-QBFC1B Kinetix 350 drive system. The communication link uses EtherNet/IP protocol over a copper cable.
1769-L33ERM
1769-L36ERM
1769-L30ERM
1756-L6x (1)
1756-L7x
Studio 5000 Environment N/A The Studio 5000 Logix Designer application provides support for programming, commissioning, and maintaining the
Logix5000 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.
Encoder 842E-CM Integrated Motion Encoder on EtherNet/IP
Cables Motor/brake and feedback Motor power/brake and feedback cables include SpeedTec and threaded DIN connectors at the motor. Power/brake
cables 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.
(1) 1756-L6x CompactLogix controller requires RSLogix 5000 software version 17.01.02 or later.
12 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013

Start Chapter 1
Figure 1 - Typical Kinetix 350 Drive Installation
Three-phase
CompactLogix Controller Platform Input Power
1783-US05T
Stratix 2000 Switch 1769-L33ERM Shown
Line
Disconnect
1
P
W
R
Logix Designer Device
2
3
Application
4
5
Input
842E-CM Integrated Motion 1585J-M8CBJM-x (shielded) or Fusing
Encoder on EtherNet/IP 11585J-M8UBJM-x (high-flex shielded)
Ethernet Cable
Other Ethernet/IP
Compatible Drives 2097-Rx
Shunt Resistor
2097-V3xxxx-LM 2097-Fx (optional equipment)
Kinetix 350 Drive AC Line Filter (optional equipment)
2097-F1 Filter Shown
24V DC Control Back-up
Power Supply
2097-TB1 Terminal (optional equipment)
Expansion Block
MP-Series Integrated Linear Stages

2090-K2CK-D15M (MPAS-B9xxx ballscrew shown)
Low-profile Connector Kit
Bulletin 2090
Bulletin 2090 Motor Power Cables
Motor Feedback Cables MP-Series and TL-Series Electric Cylinders
(MPAR-Bxxxx electric cylinders shown)
MP-Series and TL-Series
Rotary Motors
(MPL-Bxxxx motors shown) MP-Series Heavy Duty Electric Cylinders
(MPAI-Bxxxx electric cylinders shown)

Chapter 1 Start
Catalog Number Explanation Kinetix 350 drive catalog numbers and descriptions are listed in these tables.
Table 2 - Kinetix 350 Drives (single-phase)

Continuous Output
Cat. No. Input Voltage Features
Current A (0-pk)
2097-V31PR0-LM 120V, 1 Ø 2.8 • 120V Doubler mode
2097-V31PR2-LM 240V, 1 Ø 5.7 • Safe Torque-off
2097-V32PR0-LM 2.8
• Integrated AC line filter
2097-V32PR2-LM 240V, 1 Ø 5.7 • Safe Torque-off
2097-V32PR4-LM 11.3
Table 3 - Kinetix 350 Drives (single/three-phase)

Continuous Output
Current A (0-pk)
2097-V33PR1-LM 2.8
2097-V33PR3-LM 120V, 1 Ø 5.7
240V, 1 Ø Safe Torque-off
2097-V33PR5-LM 240V, 3 Ø 11.3
2097-V33PR6-LM 17.0
Table 4 - Kinetix 350 Drives (three-phase)

Continuous Output
Current A (0-pk)
2097-V34PR3-LM 2.8
2097-V34PR5-LM 480V, 3 Ø 5.7 Safe Torque-off
2097-V34PR6-LM 8.5
Table 5 - Kinetix 350 Drive Accessories

Cat. No. Drive Components
2097-Fx AC line filters
2097-TB1 Terminal block for I/O connector
2097-Rx Shunt resistors
2097-PGMR Memory module programmer
2097-MEM Memory modules 12 pack

Start Chapter 1
Agency Compliance If this product is installed within the European Union and has the CE mark, the
following regulations apply.
ATTENTION: Meeting CE requires a grounded system. The method of

grounding the AC line filter and drive must match. Failure to do this renders the
filter ineffective and can cause damage to the filter.
For grounding examples, refer to Grounding Your Kinetix 350 Drive System on
page 58.
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 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 A on page 129 for interconnect diagrams, including input

power wiring and drive/motor interconnect diagrams.

Chapter 1 Start
Notes:

Chapter 2
Install the Kinetix 350 Drive System
Topic Page
System Design Guidelines 17
Electrical Noise Reduction 25
Mount Your Kinetix 350 Drive 33
ATTENTION: Plan the installation of your system so that you can perform all
cutting, drilling, tapping, and welding with the system removed from the
enclosure. Because the system is of the open type construction, be careful to
keep any metal debris from falling into it. Metal debris or other foreign matter
can become lodged in the circuitry, which can result in damage to components.
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 techniques to connect the enclosure,
machine frame, and motor housing, and to provide a low-impedance
return path for high-frequency (HF) energy and reduce electrical noise.

Chapter 2 Install the Kinetix 350 Drive System
• 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.

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 can 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 20 and Transformer Specifications for Input Power
on page 23.
IMPORTANT If you are using an autotransformer, make sure that the phase to neutral/
ground voltages do not exceed the input voltage ratings of the drive.
IMPORTANT Use a form factor of 1.5 for single and three-phase power (where form factor is
used to compensate for transformer, drive, and motor 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 meets 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.
See Kinetix 350 Drive Power Specifications in Kinetix Servo Drives

Specifications Technical Data, publication GMC-TD003 for input current and
inrush current specifications for your Kinetix 350 drive.
Refer to Circuit Breaker/Fuse Specifications on page 20 for recommended circuit

breakers and fuses.

Circuit Breaker/Fuse Specifications
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.
Figure 2 - Fuse and Circuit Breaker (CB) Specifications
UL Applications IEC (non UL) Applications
Drive
Drive Cat. No. Voltage Phase Fuses Miniature CB (1)
Motor Protection CB (1)(2) DIN gG Fuses Miniature CB (1) Motor Protection CB (1)
(Bussmann) Cat. No. Cat. No. Amps, max Cat. No. Cat. No.
Single-phase
120V KTK-R-20 (20 A) 1489-A1C200 140M-D8E-C20 20 1492-SP1D200 140M-D8E-C20
2097-V31PR0-LM (voltage doubler)
120/240V Single-phase KTK-R-10 (10 A) 1489-A1C100 140M-C2E-C10 10 1492-SP1D100 140M-C2E-C10
Single-phase
120V (voltage doubler) KTK-R-30 (30 A) 1489-A1C300 140M-F8E-C32 32 1492-SP1D300 140M-F8E-C32
2097-V31PR2-LM
120/240V Single-phase KTK-R-20 (20 A) 1489-A1C200 140M-D8E-C20 20 1492-SP1D200 140M-D8E-C20
2097-V32PR0-LM KTK-R-15 (15 A) 1489-A1C150 140M-D8E-C16 16 1492-SP1D150 140M-D8E-C16
2097-V32PR2-LM 240V Single-phase KTK-R-20 (20 A) 1489-A1C200 140M-D8E-C20 20 1492-SP1D200 140M-D8E-C20
2097-V32PR4-LM KTK-R-30 (30 A) 1489-A1C300 140M-F8E-C32 32 1492-SP1D320 140M-F8E-C32
2097-V33PR1-LM
240V Three-phase KTK-R-15 (15 A) 1489-A3C150 140M-D8E-C16 16 1492-SP3D150 140M-D8E-C16
2097-V33PR3-LM
120/240V Single-phase KTK-R-30 (30 A) 1489-A1C300 140M-F8E-C32 32 1492-SP1D300 140M-F8E-C32
2097-V33PR5-LM
120/240V Single-phase LPJ-40SP N/A 40 N/A
2097-V33PR6-LM 140M-F8E-C32 140M-F8E-C32
240V Three-phase KTK-R-30 (30 A) 1489-A3C300 32 1492-SP3D300
2097-V34PR3-LM KTK-R-10 (10 A) 1489-A3C100 140M-C2E-C10 10 1492-SP3D100 140M-C2E-C10
2097-V34PR5-LM 480V Three-phase KTK-R-10 (10 A) 1489-A3C100 140M-C2E-C10 10 1492-SP3D100 140M-C2E-C10
2097-V34PR6-LM KTK-R-20 (20 A) 1489-A3C200 140M-D8E-C20 20 1492-SP3D200 140M-D8E-C20
(1) Bulletin 1492 circuit protection devices have lower short-circuit current ratings than Bulletin 140M devices. Refer to http://ab.rockwellautomation.com/allenbradley/
productdirectory.page? for product literature with specific short-circuit ratings.
(2) For UL applications, Bulletin 140M devices are applied as self-protected combination motor controllers.

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. See Power Dissipation
Specifications on page 23 for your drive.
With no active method of heat dissipation (such as fans or air conditioning)

either of the following approximate equations can be used.
Metric Standard English
0.38Q 4.08Q
A= A=
1.8T - 1.1 T - 1.1
Where T is temperature difference between inside air and Where T is temperature difference between inside air and
outside ambient (°C), Q is heat generated in enclosure outside ambient (°F), Q is heat generated in enclosure
(Watts), and A is enclosure surface area (m2). The exterior (Watts), and A is enclosure surface area (ft2). The exterior
surface of all six sides of an enclosure is calculated as surface of all six sides of an enclosure is calculated as
A = 2dw + 2dh + 2wh A = (2dw + 2dh + 2wh) /144
Where d (depth), w (width), and h (height) are in meters. Where d (depth), w (width), and h (height) are in inches.
If the maximum ambient rating of the Kinetix 350 drive system is 40 °C (104 °F)
and if the maximum 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) 2
A= = 4.53 m
1.8 (20) - 1.1
In this example, the enclosure must have an exterior surface of at least 4.53 m2. If
any portion of the 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.
2 x (0.332 x 0.70) + 2 x (0.332 x 2.0) + 2 x (0.70 x 2.0) = 4.59 m2
Because this cabinet size is considerably larger than what is necessary to house the
system components, it can be more efficient to provide a means of cooling in a
smaller cabinet. Contact your cabinet manufacturer for options available to cool
your cabinet.

Contactor Ratings
Table 6 - Kinetix 350 Drives (120/240V)
Drive
Cat. No. AC Coil Contactor DC Coil Contactor
Voltage
120V 100-C23x10 100-C23Zx10
2097-V31PR0-LM
240V 100-C12x10 100-C12Zx10
120V 100-C30x10 100-C30Zx10
2097-V31PR2-LM
240V 100-C23x10 100-C23Zx10
Table 7 - Kinetix 350 Drives (240V)

Drive
Voltage
2097-V32PR0-LM 240V 100-C23x10 100-C23Zx10
2097-V32PR2-LM 240V 100-C23x10 100-C23Zx10
2097-V32PR4-LM 240V 100-C30x10 100-C30Zx10
120V 100-C23x10 100-C23Zx10
2097-V33PR1-LM
240V 100-C16x10 100-C16Zx10
120V 100-C23x10 100-C23Zx10
2097-V33PR3-LM
240V 100-C16x10 100-C16Zx10
120V 100-C30x10 100-C30Zx10
2097-V33PR5-LM
240V 100-C23x10 100-C23Zx10
120V N/A N/A
2097-V33PR6-LM
240V 100-C30x10 100-C30Zx10
Table 8 - Kinetix 350 Drives (480V)

Drive
Voltage
2097-V34PR3-LM 100-C12x10 100-C12Zx10
2097-V34PR5-LM 480V 100-C12x10 100-C12Zx10
2097-V34PR6-LM 100-C23x10 100-C23Zx10

Transformer Specifications for Input Power

Attribute Value (460V system)
Input volt-amperes 750VA
Input voltage 480V AC
Output voltage 120…240V AC
Power Dissipation Specifications
This table shows the maximum power dissipation of each drive. Use this table to
size an enclosure and calculate required ventilation for your Kinetix 350 drive
system.
Cat. No. Power Dissipation, W
2097-V31PR0-LM 28
2097-V31PR2-LM 39
2097-V32PR0-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 39
2097-V34PR5-LM 58
2097-V34PR6-LM 99

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 3 illustrates minimum clearance requirements for proper airflow and

installation:
• Additional clearance is required depending on the accessory items
installed.
• An additional 9.7 mm (0.38 in.) clearance is required left of the drive if the
I/O expansion terminal block is used.
• An additional 26 mm (1.0 in.) clearance is required right of the drive when
the heatsink is present.
• 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.
• 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.
• Additional clearance is required for the cables and wires connected to the
top, front, and bottom of the drive.
• An additional 150 mm (6.0 in.) is required when the drive is mounted
adjacent to noise sensitive equipment or clean wireways.
Refer to Kinetix 350 Drive Power Specifications in Kinetix Servo Drives

Specifications Technical Data, publication GMC-TD003 for Kinetix 350 drive
dimensions.
Figure 3 - Minimum Clearance Requirements
25.0 mm (1.0 in.) Clearance Drive A

for Airflow and Installation Cat. No.
2097-V31PR0-LM 185 (7.29)
A 2097-V31PR2-LM 185 (7.29)
2097-V32PR0-LM 230 (9.04)
2097-V32PR2-LM 230 (9.04)
2097-V32PR4-LM 230 (9.04)
3 mm (0.12 in.) 3 mm (0.12 in.) 2097-V33PR1-LM 185 (7.29)
Side Clearance Side Clearance
2097-V33PR3-LM 185 (7.29)
2097-V33PR5-LM 185 (7.29)
2097-V33PR6-LM 230 (9.04)
2097-V34PR3-LM 185 (7.29)
2097-V34PR5-LM 185 (7.29)
25.0 mm (1.0 in.) Clearance
2097-V34PR6-LM 230 (9.04)
for Airflow and Installation
Refer to page 23 for power dissipation specifications.

Electrical Noise Reduction 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 To improve the 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 lets high-
frequency energy travel elsewhere in the cabinet. Excessive high-frequency energy
can effect the operation of other microprocessor controlled equipment.

These illustrations show recommended bonding practices for painted panels,

enclosures, and mounting brackets.
Figure 4 - Recommended Bonding Practices for Painted Panels
Stud-mounting the Subpanel Stud-mounting a Ground Bus

to the Enclosure Back Wall or Chassis to the Subpanel
Subpanel
Back Wall of
Mounting Bracket or
Enclosure
Ground Bus
Subpanel Welded Stud
Star Washer
Flat Washer Scrape Paint
Nut
Welded Stud Nut Flat Washer
Use a wire brush to remove paint from If the mounting bracket is coated with
threads to maximize ground connection. a non-conductive material (anodized
or painted), scrape the material around
Use plated panels or scrape paint on Star Washer the mounting hole.
front of panel.
Bolt-mounting a Ground Bus or Chassis to the Back-panel
Subpanel
Bolt
Tapped Hole
Ground Bus or Nut

Mounting Bracket
Star Washer
Scrape paint on both sides of
panel and use star washers.
Flat Washer Star Washer
Nut
Flat Washer
If the mounting bracket is coated with

a non-conductive material (anodized
Star Washer or painted), scrape the material around
the mounting hole.

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
can not share a common low impedance path. This difference in impedance can
affect networks and other devices that span multiple panels:
• Bond the top and bottom of each subpanel to the cabinet by using
25.4 mm (1.0 in.) by 6.35 mm (0.25 in.) wire braid. As a rule, the wider
and shorter the braid is, the better the bond.
• Scrape the paint from around each fastener to maximize metal-to-metal
contact.
Figure 5 - Multiple Subpanels and Cabinet Recommendations
Wire Braid
25.4 mm (1.0 in.) by
6.35 mm (0.25 in.)
Ground bus
bonded to the
subpanel.
Wire Braid
Remove paint 25.4 mm (1.0 in.) by
from cabinet. 6.35 mm (0.25 in.)

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).
• The dirty zone (D) exits right of the Kinetix 350 system (black wireway)
and includes the circuit breakers, transformer, 24V DC power supply,
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 6 - Noise Zones (Bulletin 2090 AC line filters)

Clean Wireway Dirty Wireway
D D
Very Dirty Zone Contactors
Segregated (not in wireway)
Bulletin 2090 VD
VD
AC Line Filter
(optional) 24V Motor
Brake PS
Circuit
Kinetix 350 Breaker
Drive
(4)
Ethernet
(shielded)
Cable DC XFMR
No sensitive Filter
equipment within 150 (3)

mm (6.0 in.).(2) (1), Ethernet, and
C
I/O
C
Feedback Cables
I/O (1), Motor Power, and Safety Cables D
Route encoder/analog/registration Route 24V DC I/O

shielded cables. Shielded Cable
(1) If drive system I/O cable contains (dirty) relay wires, route cable in dirty wireway.
(2) For tight spaces use a grounded steel shield. For examples, refer to the System Design for Control of Electrical Noise Reference
Manual, publication GMC-RM001.
(3) This is a clean 24V DC available for any device that requires 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.

Figure 7 - Noise Zones (Bulletin 2097 AC line filters)

D D
Contactors
Very Dirty Zone

Segregated (not in wireway) VD
VD 24V Motor
Brake PS
Kinetix 350 Circuit
Drive Breaker
Bulletin 2097 AC line (4)

Ethernet filters mount to side,
(shielded) as shown, or behind
Cable the drive.
DC XFMR
Filter
No sensitive
equipment within 150 (3)
mm (6.0 in.).(2)
C
I/O (1), Ethernet, and Feedback Cables C
D
I/O (1), Motor Power, and Safety Cables
Route encoder/analog/registration Route 24V DC I/O

shielded cables. Shielded Cable
(1) If drive system I/O cable contains (dirty) relay wires, route cable in dirty wireway.
(2) For tight spaces use a grounded steel shield. For examples, refer to the System Design for Control of Electrical Noise Reference
Manual, publication GMC-RM001.
(3) This is a clean 24V DC available for any device that requires 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.

Cable Categories for Kinetix 350 Drive Components
These table indicate the zoning requirements of cables connecting to the

Kinetix 350 drive components.
Table 9 - Kinetix 350 Drive Components

Zone Method
Wire/Cable Connector Very Ferrite Shielded
Dirty Clean
Dirty 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
IOD
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 26.
• Segregate input and output wiring as far as possible.

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.
• Mount resistors in a shielded and ventilated enclosure outside the cabinet.
• Keep unshielded wiring as short as possible. Keep shunt wiring as flat to
the cabinet as possible.
Figure 8 - Shunt Resistor Outside the Enclosure
Shunt Wiring Methods: 150 mm (6.0 in.)

Customer-supplied clearance (min) on all four
Twisted pair in conduit (first choice).
Metal Enclosure sides of the shunt module.
Shielded twisted pair (second choice).
Twisted pair, two twists per foot (min) (third choice).
Metal Conduit
(where required
by local code)

Enclosure
D D
Contactor
No sensitive
equipment within 150
VD VD 24V Motor
Brake PS
Kinetix 350 Drive Very dirty connections Circuit
Breaker
Ethernet
(shielded) AC Line
Cable Filter DC
Filter XFMR
I/O (1), Ethernet, and

C Feedback Cables C
Route Encoder/Analog/Registration I/O (1), Motor Power and Safety Cables Route 24V DC I/O
Shielded Cables Shielded Cable
(1) If drive system I/O 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.

When mounting your shunt module inside the enclosure, follow these additional
guidelines:
• 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.
• Keep unshielded wiring as short as possible. Keep shunt wiring as flat to
the cabinet as possible.
• Separate shunt wires from other sensitive, low-voltage signal cables.
Figure 9 - Shunt Resistor inside the Enclosure
Clean Wireway 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 D
Contactor
Very dirty zone
segregated (not in wireway).
VD 24V Motor
VD Brake PS
Circuit
Kinetix 350 Breaker
Drive
Ethernet
(shielded) AC Line DC
Cable Filter XFMR
Filter
No sensitive
equipment within 150
mm (6.0 in.).(2) I/O (1), Ethernet, and Feedback
C Cables C
D D
Route Encoder/Analog/Registration I/O (1), Motor Power, and Safety Cables Route 24V DC I/O
Shielded Cables
Shielded Cable
(1) If drive system I/O 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.
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 134 for the interconnect diagram of your drive/motor combination.

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.
ATTENTION: This drive contains electrostatic discharge (ESD) sensitive parts

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.
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 28 for panel layout
recommendations. Mounting hole dimensions for the Kinetix 350 drive
are shown in Kinetix Servo Drives Specifications Technical Data,
publication number GMC-TD003.
2. Attach the Kinetix 350 drive to the cabinet, first by using the upper
mounting slots of the drive and then the lower.
The recommended mounting hardware is M4 (#6-32) steel machine
screws torqued to 1.1 N•m (9.8 lb•in). Observe bonding techniques as
described in Bonding Drives on page 25.
IMPORTANT To improve the bond between the Kinetix 350 drive and subpanel,
construct your subpanel out of zinc plated (paint-free) steel.
3. Tighten all mounting fasteners.

Notes:

Chapter 3
Kinetix 350 Drive Connector Data
Topic Page
Kinetix 350 Drive Connectors and Indicators 36
Control Signal Specifications 41
Motor Feedback Specifications 46

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
connectors and indicators is identical.
and Indicators
Figure 10 - Kinetix 350 Drive Connector and Indicators
10
2
3
4
5 13
6 14
350
12
8
15
1
11
10
Kinetix 350 Drive, Top View Kinetix 350 Drive, Front View Kinetix 350 Drive, Bottom View
(2097-V33PR5-LM drive is shown) (2097-V33PR5-LM drive is shown) (2097-V33PR5-LM drive is shown)
Item Description Item Description

1 Mains (IPD) connector 9 Motor feedback (MF) connector
2 Data status indicator and diagnostic display 10 Ground lug
3 Memory module socket 11 Shunt resistor and DC bus (BC) connector
4 Network status indicator 12 Back-up power (BP) connector
5 Module status indicator 13 Display control push buttons (3)
6 Axis status indicator 14 Motor power (MP) connector
7 Ethernet communication port (Port 1) 15 Safe torque-off (STO) connector
8 I/O (IOD) connector
Table 10 - Kinetix 350 Drive Connectors

Designator Description Connector
IPD AC input power 3-position or 4-position plug/header
PORT1 Ethernet communication port RJ45 Ethernet
IOD I/O 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 7-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

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 107 to wire the drive with motion-
allowed jumpers.
Figure 11 - Safe Torque-off Connector
Bottom view of the Kinetix 350 drive.

(2097-V33PR5-LM drive is shown)
ntrol
Safe Torque-off
4 V DC co (STO) Connector
+2 rol COM
Cont
1 2
tus
y sta
Safet ty input 1
Safe ty COM 2
3 4
Safe ty input
Safe
5 6
Wiring Plug Header
Table 11 - Kinetix 350 Drive Safe Torque-off Connector Pinout

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
IMPORTANT Use only pins STO-1 (+24V DC Control) and STO-2 (Control COM) of the motion-
allowed jumpers to enable the drive when the safe torque-off function is not
used. When the safe torque-off function is in operation, the 24V supply must
come from an external source.

I/O Connector Pinout

IOD 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
39 Registration input REG
43 Motor brake release positive MTR_BRAKE+
44 Motor brake release negative MTR_BRAKE-
Figure 12 - Pin Orientation for 50-pin SCSI I/O (IOD) Connector
26 1
50 25

Motor Feedback (MF) Connector Pinout

MF Pin Description Signal MF Pin Description Signal
Sine differential input+ SIN+ Reserved
1 9 —
AM+ differential input+ AM+
Sine differential input- SIN- Data differential input - DATA-
2 10
AM- differential input- AM- Index pulse- IM-
Cosine differential input+ COS+ Motor thermal switch
3 11 TS
BM+ differential input+ BM+ (normally closed) (1)
Cosine differential input- COS- Single-ended 5V Hall effect
4 12 S1
BM- differential input- BM- commutation
Data differential input + DATA+ Single-ended 5V Hall effect
5 13 S2
Index pulse+ IM+ commutation
6 Common ECOM 14 Encoder power (+5V) EPWR_5V (2)
7 Encoder power (+9V) EPWR_9V (2) 15 Reserved —
Single-ended 5V Hall effect
8 S3
commutation
(1) Not applicable unless motor has integrated thermal protection.
(2) Encoder power supply uses either 5V or 9V DC based on encoder/motor used.
IMPORTANT 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 13 - Pin Orientation for 15-pin Motor Feedback (MF) Connector

Pin 10
Pin 15 Pin 5
Pin 11 Pin 1
Pin 6
Ethernet Communication Connector Pinout

Port 1 Pin Description Signal Port 1 Pin Description Signal
1 Transmit port (+) data terminal + TX 5 — —
2 Transmit port (-) data terminal - TX 6 Receive port (-) data terminal - RX
3 Receive port (+) data terminal + RX 7 — —
4 — — 8 — —
Figure 14 - Pin Orientation for 8-pin Ethernet Communication (port 1) Port

1

AC Input Power Connector Pinout

IPD Description IPD Description
Signal Signal
Designator (2097-V31PRx-LM drives) Designator (2097-V32PRx-LM drives)
L2/N AC power in (non-doubler operation) L2/N L2 AC power in L2
L1 AC power in L1 L1 AC power in L1
N AC power neutral (only 120V doubler) N PE Protective earth (ground) PE
PE Protective earth (ground) PE
Description
IPD (2097-V33PRx-LM, and 2097- Signal
Designator V34PRx-LM drives)
L3 AC power in (three-phase models) L3
L2 AC power in L2
L1 AC power in L1
Back-up Power Connector Pinout

BP Description Signal
Designator
+24V Positive 24V DC +24V DC
-24V 24V DC power supply return Return
Shunt Resistor and DC Bus Connector Pinout

BC Description Signal
Designator
+ +
Positive DC bus and shunt resistor
+ +
SH Shunt resistor SH
- -
Negative DC bus
- -
Motor Power Connector Pinout

MP Description Signal
Designator
W Motor power out W
V Motor power out V
U Motor power out U

Control Signal Specifications 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.
IMPORTANT To improve registration input EMC performance, refer to the System Design for
Control of Electrical Noise Reference Manual, publication GMC-RM001.
IMPORTANT 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 12 - Understanding Digital Inputs

Capture Edge/Level
IOD Pin Signal Description Time Sensitive
Optically isolated, single-ended active high signal. Current loading is nominally 9 mA. A 24V
IOD-29 ENABLE 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 mA. Home
IOD-30 HOME 0.5 ms Edge
switch (normally open contact) inputs axis require 24V DC (nominal).
Fast registration inputs are required to inform the motor interface to capture the positional
information with less than 5 μs uncertainty. Optically isolated, single-ended active high
IOD-39 REG 5 μs Edge
signal. Current loading is nominally 9 mA. A 24V DC input is applied to this terminal to enable
axis.
NEG_OT Overtravel detection is available as an optically isolated, single-ended active high signal.
IOD-27 Current loading is nominally 9 mA per input. The positive/negative limit switch (normally 1 ms Level
IOD-28 POS_OT closed contact) inputs for axis require 24V DC (nominal).

Table 13 - 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 issues a Drive Enable
inactive state prevents motion. Start Inhibit and you are not be able to issue a Servo On instruction
The drive generates an exception if the input is inactive when the 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 Logix Designer message instruction that changes
enableInputChecking or Attribute 736 to zero, see instructions
on page 100
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 always inactive unless armed by the controller.
An inactive-to-active transition (also known as a positive transition) or
Registration active-to-inactive transition (also known as a negative transition) is
used to latch position values for use in registration moves.
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.
Positive Over-travel
The drive generates an exception if the input is inactive when the
controller authorizes checking. The drive behavior in this situation is The function is always active.
programmable. To disable function:
If the controller configuration specifies checking of the hardware • Tie input to 24V
overtravel inputs, an inactive state indicates that a position limit has • Set to only Fault Status
been exceeded in the negative direction.
Negative Over-travel
The drive generates an exception if the input is inactive when the
controller authorizes checking. The drive behavior in this situation is
programmable.
Table 14 - Digital Input Specifications

Attribute Value
Type Active high, single-ended, current sinking
Enable, Home, Positive Over-travel, Negative Over-travel,
Functions Registration
Input current (with 24V applied) 9 mA, max
On-state input voltage 4.2…24V @ 2…9 mA total
Off-state input voltage 0…2.5V
Pulse reject filtering (only Registration functions) 120 ns, nom
Pulse reject filtering, default (all other input functions, can be configured) 1.0 ms, nom
Propagation delay (only Registration function) 5 μs
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 13 on page 42. You can set up the inputs for PNP
sourcing or NPN sinking.

Figure 15 - Sourcing of Digital Inputs

+24V 1.2 kΩ
ENABLE, HOME_SW,
POS_OT, or NEG_OT
1.2 kΩ
ENABLE, HOME_SW,
POS_OT, or NEG_OT
GND COM
Figure 16 - Sinking of Digital Inputs
GND 1.2 kΩ
ENABLE, HOME_SW,
POS_OT, or NEG_OT
1.2 kΩ
ENABLE, HOME_SW,
POS_OT, or NEG_OT
+24V COM
Figure 17 - Sourcing of Registration Digital Input

1.2 kΩ
+24V
REG
1.2 kΩ
REG
GND REG_COM

Figure 18 - Sinking of Registration Digital Input
GND 1.2 kΩ
REG
1.2 kΩ
REG
+24V REG_COM
Motor Brake Output
The two digital outputs (IOD-43 and IOD-44) have fixed pin assignments for
motor brake function.
Attribute Value
Circuit type Optically isolated open collector/emitter
Voltage, max 30V DC
Current, max 100 mA
The following schematic shows how to wire your motor brake.
Figure 19 - Brake Wiring Schematic
Kinetix 350 Drive
24V DC
43
MTR_BRAKE +
44
MTR_BRAKE -
CR1
Motor Brake
White 7 BR+
Black 9 BR-
24V DC COM
Use these guideline to wire your brake:

• Connect a diode, 1N4004 or equivalent, as shown on both the rely and the
motor brake coils.
• 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.

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 Value
Communication 100BASE-TX, full duplex
Auto MDI/MDIX crossover detection/correction Yes
Rockwell Automation CAT5E shielded, 100 m
Cabling (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
Input voltage 20…26V DC
Current 500 mA
Inrush, max 30 A

Motor Feedback The drive accepts motor feedback signals from the following types of encoders
with these general specifications.
Specifications
Table 15 - Motor Feedback General Specifications
Attribute Value
• Stegmann Hiperface
Feedback device support • Generic TTL Incremental
• Tamagawa 17-bit Serial
Power supply (EPWR5V) 5.13…5.67V, 400 mA, max
Power supply (EPWR9V) 8.3…9.9V, 275 mA, max
Single-ended, under 500 Ω = no fault, over
Thermostat 10 kΩ = 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 16 - Motor Feedback Signals by Device Type

MF Pin Stegmann Hiperface Generic TTL Incremental Tamagawa 17-bit Serial
1 SIN+ AM+ —
2 SIN- AM- —
3 COS+ BM+ —
4 COS- BM- —
5 DATA+ IM+ DATA+
6 ECOM ECOM ECOM
7 EPWR9V — —
8 — S3 —
9 — — —
10 DATA- IM- DATA-
11 TS TS TS
12 — S1 —
13 — S2 —
14 EPWR5V EPWR5V EPWR5V
15 — — —

This is the motor thermostat interface schematic. Although the thermostat signal
is shown for all feedback types, some motors do not support this feature because
it is not part of the feedback device.
Figure 20 - Motor Thermostat Interface

+5V +5V
6.81 kΩ
1 kΩ
TS
0.01 μF
Kinetix 350 Drive
Table 17 - Motor Thermostat State Specifications

State Resistance at TS (1)
No Fault 500 Ω
Fault 10 kΩ
(1) Resistance is measured between TS (MF pin 11) and ECOM (MF pin 6)
Table 18 - 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, p-p, measured at the drive inputs
Line loss detection (AM/BM) Average (sin2 + cos2) > constant
Figure 21 - Stegmann Hiperface Interface, SIN and COS Signals

47 pF
Kinetix 350 Drive

26.7 kΩ
1 kΩ 10 kΩ
+
to A/D Converter
-
56 pF 1 kΩ 10 kΩ
56 pF
+5V
1 kΩ
SIN+ or
COS+
1 kΩ +
1 kΩ to AqB Counter
-
SIN- or 1 kΩ
COS- 56 pF
1 kΩ 56 pF

Figure 22 - Stegmann Hiperface Interface, DATA Signals

+5V
10 kΩ
1 kΩ
DATA+ +
- to AqB Counter
1 kΩ
DATA-
56 pF
56 pF
10 Ω
Shaded area indicates components that are part of the circuit, but support
other feedback device types (not used for Stegmann Hiperface support).
to UART
Kinetix 350 Drive from UART

from UART
Table 19 - Generic TTL Incremental Specifications

Attribute Value
TTL incremental encoder support 5V, differential A quad B
Quadrature interpolation 4 counts/square wave period
Differential input voltage 1.0…7.0V
(AM, BM, and IM)
DC current draw 30 mA, max
(AM, BM, and IM)
Input signal frequency 5.0 MHz, max
(AM, BM, and IM)
Edge separation 42 ns min, between any two edges
(AM and BM)
Line loss detection Average (AM2 + BM2) > constant
(AM and BM)
Hall inputs
(S1, S2, and S3) Single-ended, TTL, open collector, or none

Figure 23 - Generic TTL Incremental, AM and BM Signals

Kinetix 350 Drive 47 pF
26.7 kΩ
1 kΩ 10 kΩ
-
to A/D Converter
+
1 kΩ 10 kΩ
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).
AM+ or 1 kΩ
BM+
+
1 kΩ - to AqB Counter
AM- or 1 kΩ
BM- 56 pF
56 pF
Figure 24 - Generic TTL Interface, IM Signals

+5V
10 kΩ
1 kΩ
MTR_IM+
+
- to AqB Counter
1 kΩ
MTR_IM-
56 pF
56 pF
10 kΩ
Shaded area indicates components that are part of the circuit, but support other feedback
device types (not used for Generic TTL incremental support).
to UART
from UART
from UART
Kinetix 350 Drive
Figure 25 - Generic TTL Interface, S1, S2, or S3 Signals

+5V +5V
1 kΩ
S1,
S2,
or S3 1 kΩ
56 pF
Kinetix 350 Drive

Table 20 - Tamagawa 17-bit Serial Specifications

Attribute Value
Tamagawa model support 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, on external to drive in low-profile connector kit
Refer to Figure 22 for the Tamagawa 17-bit serial interface schematic. It is

identical to the Stegmann Hiperface (DATA) signals schematic.
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 21 - Motor Feedback Power Specifications

Voltage Current mA
Supply Reference
Min Nominal Max Min Max
+5V DC EPWR_5V 5.13 5.4 5.67 0 400 (1) (2)
+9V DC EPWR_9V 8.3 9.1 9.9 0 275 (2) (3)
(1) 400 mA on the 5V supply with no load on the 9V supply.
(2) 300 mA on the 5V supply with 150 mA on the 9V supply.
(3) 275 mA on the 9V supply with no load on the 5V supply.
Figure 26 - Pin Orientation for 15-pin Motor Feedback (MF) Connector
Pin 10
Pin 15 Pin 5
Pin 11 Pin 1
Pin 6

Chapter 4
Connect the Kinetix 350 Drive System
Topic Page
Basic Wiring Requirements 51
Grounding Your Kinetix 350 Drive System 58
Power Wiring Requirements 59
Wiring Guidelines 62
Wiring the Kinetix 350 Drive Connectors 63
Apply the Motor Cable Shield Clamp 70
Feedback and I/O Cable Connections 71
Wiring the Feedback and I/O Connectors 73
Kinetix 350 Drive (IOD connector and terminal block) 73
Shunt Resistor Connections 75
Ethernet Cable Connections 75
Basic Wiring Requirements This section contains basic wiring information for the Kinetix 350 drive.
ATTENTION: Plan the installation of your system so that you can perform all
cutting, drilling, tapping, and welding with the system removed from the
enclosure. Because the system is of the open type construction, be careful to
keep any metal debris from falling into it. Metal debris or other foreign matter
can become lodged in the circuitry, 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 can have voltage present even when not in use.
IMPORTANT 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.

Chapter 4 Connect the Kinetix 350 Drive System
Recommended Cables
The Motor Power Cable Compatibility table on page 66 and Motor Feedback
Cables for Specific Motor/Feedback Combinations table on page 71 show the
cables Rockwell Automation recommends you use with the Kinetix 350 drive.
IMPORTANT Factory-made cables are designed to minimize EMI and are recommended over
hand-built cables to optimize system performance.
If it is necessary for you to build or modify your own cable, follow these
guidelines:
• 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 25 for examples of routing high and
low voltage cables in wireways. Refer to the System Design for Control of
Electrical Noise Reference Manual, publication GMC-RM001, for more
information.
Determine the Input Power This section contains examples of typical single-phase and three-phase facility
input power wired to single-phase and three-phase Kinetix 350 drives.
Configuration
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 grounded neutral connection.

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 26 - Three-phase (400/480V) Power Configuration (WYE secondary)

Transformer (WYE) Secondary 2097-V34PRx-LM
L3 IPD
L3 L3
AC Line L3
Feeder and branch short circuit Kinetix 350 Drives
L2 L2 Filter
protection is not illustrated. L2 L2 Three-phase AC Input
L1 L1 L1 L1
Input Fusing M1 E
Contactor
Bonded Cabinet Ground Bus
Ground Grid or
Power Distribution Ground
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
AC rms. This means that the power system must use center grounded wye
secondary configuration for 400/480V AC mains.
Figure 27 - Three-phase (240V) Power Configuration (Delta secondary)

Transformer (Delta) Secondary 2097-V33PRx-LM
L3 IPD
L3 L3
L3
AC Line (1) Kinetix 350 Drives
Feeder and branch short circuit Filter
L2 L2 L2 Three-phase AC Input
protection is not illustrated.
L2 L1 L1 L1
Input Fusing M1 E
Contactor
L1
Ground Grid or Power Distribution Ground
(1) Leakage current from the line filter, in this configuration, typically is higher than a balanced (center ground) configuration.
Figure 28 - Three-phase (240V) Power Configuration (Delta secondary)

Transformer (Delta) Secondary 2097-V33PRx-LM
L3 IPD
L3 L3
L3
AC Line (1) Kinetix 350 Drives
Feeder and branch short circuit Filter
Three-phase AC Input
protection is not illustrated. L2 L2 L2
L2 L1 L1
L1
Input Fusing M1 E
Contactor
L1
(1) Leakage current from the line filter, in this configuration, typically is higher than a balanced (center ground) configuration.

Single-phase Power Wired to Single-phase Drives
These examples illustrate grounded single-phase power wired to single-phase

IMPORTANT The 2097-V32PRx-LM models have integrated AC line filters and do not require
the AC line filter shown in this diagram.
Figure 29 - Single-phase Grounded Power Configurations

Transformer Secondary 2097-V31PRx-LM 2097-V32PRx-LM
L1 IPD IPD
L1 L1 L1 L1
AC Line Kinetix 350 Drives
240V AC Filter Single-phase AC Input
L2 L2 L2/N L2
Output
Input Fusing M1
L2 Contactor E

Ground Grid or
Transformer Secondary 2097-V31PRx -LM(1) 2097-V33PRx -LM

IPD IPD
L1
L1 L1 L1 Kinetix 350 Drives
AC Line L1
120V AC Filter Single-phase AC Input
L2/N L2/N N L2
Output
Input Fusing M1
L2 (Neutral) Contactor E

Ground Grid or
(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 Servo Drives
Specifications Technical Data, publication GMC-TD003. For Kinetix 350 drive
input wiring diagrams, refer to Power Wiring Examples on page 131.

Isolation Transformer in Grounded Power Configurations
When you are using an isolation transformer, attach the 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
can otherwise occur, for example due to static electricity
• Provides a solid earth path for fault conditions
ATTENTION: If the supply transformer is an auto transformer (not

recommended), do not add a chassis earth ground. A chassis earth ground is
already included elsewhere in the system and adding another creates a short.
Three-phase Power Wired to Single-phase Drives
This example illustrates grounded three-phase power wired to single-phase

Figure 30 - Single-phase Amplifiers on Three-phase Power (WYE)

Transformer 2097-V32PRx-LM
(WYE) Secondary L1 IPD Kinetix 350 Drives
L1
L1 L2 L2 (System A)
Input Fusing M1 (1) Single-phase AC Input
L2
L2 IPD
L1
Kinetix 350 Drives
L3 L3 L2 (System B)
Input Fusing M2 (1) Single-phase AC Input
L3 IPD
Kinetix 350 Drives
L1 (System C)
Grounded Neutral L1 L2 Single-phase AC Input
Input Fusing M3 (1)
Bonded Cabinet
Ground Bus
Ground Grid or
(1) Contactors (MI, M2, and M3) can 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.

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 can cause undervoltage and overvoltage trips on the
drives, and the drive can be damaged if the overvoltage limit is exceeded.
Figure 31 - Single-phase Amplifiers (one AC line filter per drive)

Transformer (WYE) Secondary 2097-V31PRx-LM 2097-V33PRx-LM
IPD IPD
L1 Kinetix 350 Drives
L1 L1 L1 L1 (System A)
AC Line N L2 Single-phase AC Input
Filter
L2
L2 E L2
L3 IPD IPD
Kinetix 350 Drives
L1 L1 L1 L1 (System A)
AC Line N L2 Single-phase AC Input
Filter
L2 E L2
Grounded Neutral IPD IPD
L1 L1 Kinetix 350 Drives
L1 L1 (System A)
Input Fusing M1 AC Line Single-phase AC Input
Contactor N L2
Filter
L2 E L2
Grounded
Neutral
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.

Voiding of CE Compliance
The three-phase and neutral in-line filter applications described above are not
adequate for CE compliance for EMC. Therefore, EMC validity and CE
marking by Rockwell Automation is voided when three-phase and neutral in line
filters are used.
ATTENTION: The three-phase isolation transformer and neutral in-line filter

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.
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, use single-phase line filters that have
been tested by Rockwell Automation and specified for the product. Refer to Kinetix
Servo Drives Specifications Technical Data, publication GMC-TD003 for catalog
numbers.

Grounding Your Kinetix 350 All equipment and components of a machine or process system must have a
common earth ground point connected to their chassis. A grounded system
Drive 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 To improve 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
ATTENTION: The National Electrical Code contains grounding requirements,

conventions, and definitions. Follow all applicable local codes and regulations
to safely ground your system. Refer to the illustration below for details on
grounding your Kinetix 350 drive. Refer to Appendix A for the power wiring
diagram for your Kinetix 350 drive.
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 mm2
(12 AWG) solid copper wire 100 mm (3.9 in.) long.
Figure 32 - Connecting the Braided Ground Strap Example

Braided Bonded Cabinet
Ground Strap Ground Bus
Ground Stud Ground Grid or Power

Distribution Ground
For drive dimensions, refer to Product Dimensions in Kinetix Servo Drives

Specifications Technical Data, publication GMC-TD003.

Figure 33 - Chassis Ground Configuration (multiple Kinetix 350 drives on one panel)
Chassis Ground Chassis Ground
Chassis Ground
Chassis Ground
Bonded Ground Bar
(optional)
Bonded Cabinet
Ground Bus Ground Grid or Power
Distribution Ground
Always follow NEC and
applicable local codes.
Ground Multiple Subpanels
To ground multiple subpanels, refer to the figure below. HF bonding is not

illustrated. For information, refer to Bonding Multiple Subpanels on page 27.
Figure 34 - Subpanels Connected to a Single Ground Point
Bonded Ground
Bus
Ground Grid or Power

Distribution Ground
Always follow NEC and
applicable local codes.
Power Wiring Requirements Wire must 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 131 for interconnect diagrams.
IMPORTANT The National Electrical Code and local electrical codes take precedence over the
values and methods provided.

Table 22 - Kinetix 350 Drive Power Wiring Requirements

Terminals Recommended Strip Length Torque Value
Cat. No. Description Wire Size mm (in.) N•m (lb•in)
Pins Signals mm2 (AWG)
2097-V31PR0-LM
2097-V32PR0-LM Motor power cable depends
2097-V32PR2-LM on motor/drive
2097-V33PR1-LM combination. 7 (0.28) 0.5 (4.5)
2097-V33PR3-LM
2097-V34PR3-LM L3 L2/N L2 2.5 (14)
2097-V34PR5-LM Mains input power L2 L1 L1
2097-V34PR6-LM (IPD connector) L1 N PE (3)
PE (1) PE (2)
2097-V32PR4-LM 4.0 (12) 7 (0.28) 0.5 (4.5)
2097-V33PR5-LM
2097-V31PR2-LM 0.56…0.79
6.0 (10) 7 (0.28)
2097-V33PR6-LM (5.0…7.0)
2097-V31PR0-LM
2097-V31PR2-LM
2097-V32PR0-LM
2097-V32PR2-LM
2097-V32PR4-LM PE
2097-V33PR1-LM Motor power W 2.5 (14) 7 (0.28) 0.5 (4.5)
2097-V33PR3-LM (MP connector) V
2097-V33PR5-LM U
2097-V34PR3-LM
2097-V34PR5-LM
2097-V34PR6-LM
2097-V33PR6-LM 4.0 (12) 7 (0.28) 0.5 (4.5)
2097-V31PR0-LM
2097-V31PR2-LM
2097-V32PR0-LM
2097-V32PR2-LM
2097-V32PR4-LM +
2097-V33PR1-LM + 2.5 (14) 7 (0.28) 0.5 (4.5)
Shunt/DC Bus (4)
2097-V33PR3-LM SH
(BC connector)
2097-V33PR5-LM -
2097-V34PR3-LM -
2097-V34PR5-LM
2097-V34PR6-LM
2097-V33PR6-LM 4.0 (12) 7 (0.28) 0.5 (4.5)
Control back-up power +24V DC
2097-V3xPRx-LM (BP connector) -24V DC
STO-1 (5) +24V DC Control
STO-2 (5) Control COM 1.5 (16) 6 (0.25) 0.5 (4.5)
Safe torque-off STO-3 Safety Status
2097-V3xPRx-LM (STO connector) STO-4 Safety Input 1
STO-5 Safety COM
STO-6 Safety Input 2
(1) Applies to 2097-V33PRx-LM, and 2097-V34PRx-LM drive modules.
(2) Applies to 2097-V31PRx-LM drive modules.
(4) Use for only shunt resistor connection.
(5) Use for bypassing only the STO circuit.

ATTENTION: To avoid personal injury and/or equipment damage, make sure

installation complies with specifications regarding wire types, conductor sizes,
branch circuit protection, and disconnect devices. The National Electrical Code
(NEC) and local codes outline provisions for safely installing electrical
equipment.
To avoid personal injury and/or equipment damage, make sure motor power
connectors are used for only connection purposes. Do not use them to turn the unit
on and off.
To avoid personal injury and/or equipment damage, make sure shielded power
cables are grounded to prevent potentially high voltages on the shield.
Table 23 - Shunt Resistor Power Wiring Requirements

Recommended Wire
Connects to Torque Value
Accessory Description Size
Terminals N•m (lb•in)
mm2 (AWG)
+
2097-Rx Shunt resistor 2.5 (14) 0.5 (4.5)
SH

Wiring Guidelines Use these guidelines as a reference when wiring the connectors on your
Kinetix 350 drive power modules.
IMPORTANT For connector locations of the Kinetix 350 drives, refer to Kinetix 350 Drive
Connectors and Indicators on page 36.
When tightening screws to secure the wires, refer to the tables beginning on
page 59 for torque values.
When removing insulation from wires, refer to the tables beginning on
page 59 for strip lengths.
IMPORTANT To improve system performance, run wires and cables in the wireways as
established in Establishing Noise Zones on page 28.
Follow these 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 A.
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.

Wiring the Kinetix 350 Drive This section provides examples and wiring tables to assist you in making
connections to the Kinetix 350 drive.
Connectors
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 101.
Wire the Back-up Power (BP) Connector
Kinetix 350 Drive, Front View
+ +24V DC
24
- -24V DC
Table 24 - Back-up Power (BP) Connector

Recommended Strip Length Torque Value
Drive Cat. No. Terminals Wire Size mm (in.) N•m (lb•in)
mm2 (AWG)
+24V DC
2097-V3xPRx-LM 1.5 (16) 6 (0.25) 0.5 (4.5)
-24V DC

Wire the Input Power (IPD) Connector

Kinetix 350 Drive
Top View
L2 L2/N L3
L2 L2/N L3
L1 L1 L2
L1 L1 L2
PE N L1
N L1
PE PE
Table 25 - Input Power (IPD) Connector

mm2 (AWG)
2097-V31PR0-LM
2097-V32PR0-LM
2097-V32PR2-LM
2097-V33PR1-LM 2.5 (14) 7 (0.28) 0.5 (4.5)
2097-V33PR3-LM
2097-V34PR3-LM L3 L2/N L2
2097-V34PR5-LM L2 L1 L1
2097-V34PR6-LM L1 N PE (3)
PE (1) PE (2)
2097-V32PR4-LM 4.0 (12) 7 (0.28) 0.5 (4.5)
2097-V33PR5-LM
2097-V31PR2-LM 0.56…0.79
6.0 (10) 7 (0.28)
2097-V33PR6-LM (5.0…7.0)
(1) Applies to 2097-V33PRx-LM, and 2097-V34PRx-LM drive modules.

Wire the Motor Power (MP) Connector
Connections to the motor power (MP) connector include rotary motors and
rotary motor driven actuators.
Kinetix 350 Drive
PE Bottom View
W
V
V
U
U
Table 26 - Motor Power (MP) Termination Specifications

mm2 (AWG)
2097-V31PR0-LM
2097-V31PR2-LM
2097-V32PR0-LM
2097-V32PR2-LM
2097-V32PR4-LM PE
2097-V33PR1-LM W 2.5 (14)
2097-V33PR3-LM 7 (0.28) 0.5 (4.5)
V
2097-V33PR5-LM U
2097-V34PR3-LM
2097-V34PR5-LM
2097-V34PR6-LM
2097-V33PR6-LM 4.0 (12)
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 to the
closest earth ground.
Refer to Pigtail Terminations on page 66 for more information.

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 can be
extended to the full length of the motor pigtail if necessary, but it is best to
connect the supplied wire directly to ground without lengthening.
Figure 35 - Pigtail Terminations

Cable Braid Clamped (1) Connectors
Motor Power Cable to Machine Frame Pigtail Cable
TL-Series
Motor
150 mm (6.0) Termination
Machine Frame (1) (1)
(1) Remove paint from machine frame to be sure of proper HF-bond between machine frame, motor case, shield clamp, and ground
stud.
Table 27 - 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, (standard) (standard)
MPL-A/B4xxx-7xAA, and 2090-CPBM7DF-xxAFxx (1) 2090-CPWM7DF-xxAFxx (1)
MPL-A/B45xxx-7xAA (continuous-flex) (continuous-flex)
MP-Series (Bulletin MPS) MPS-A/Bxxxx 2090-XXNPMF-xxSxx
Circular DIN
(standard) 2090-CPWM4DF-xxAFxx
MP-Series (Bulletin MPAS) MPAS-A/Bxxxx 2090-CPBM4DF-xxAFxx (continuous-flex)
MP-Series (Bulletin MPAR) MPAR-A/B1xxx and MPAR-A/B2xxx (continuous-flex)
MP-Series (Bulletin MPM) MPM-A/Bxxxx

2090-CPBM7DF-xxAAxx (1) 2090-CPWM7DF-xxAAxx (1)
MP-Series (Bulletin MPF) MPF-A/Bxxxx (standard) (standard)
MP-Series (Bulletin MPAR) MPAR-A/B3xxx 2090-CPBM7DF-xxAFxx (1) 2090-CPWM7DF-xxAFxx (1)
(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 you are using 2090-CPxM7DF-xxAxx cables.

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.

page 134 for interconnect diagrams.
Figure 36 - Motor Power Terminations (only three-phase wires)
Motor Power (MP) Connector Plug
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 70.

This diagram shows 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.

page 134 for interconnect diagrams.
Figure 37 - Motor Power Terminations (three-phase and brake wires)
3 7
8
4
1
To Motor
Item Description Item Description

1 (1) 24V power supply 5 I/O (IOD) connector(2)
2 (1) Relay and diode assembly (3) 6 2097-V3xPRx-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)
(1) User supplied. Size as required by motor brake, See Motor Brake Currents on page 139.
(2) Pin 43 and 44 are configured as MTR_ BRAKE+ and 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.
(3) Diode 1N4004 rated 1.0 A @ 400V DC. See Interconnect Diagram Notes beginning on page 131.
(4) Exposed shield under clamp and place within 50…75 mm (2…3 in.) of drive, see page 70 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.

Figure 38 - Cable Shield and Lead Preparation

Strip Length (see table below)
U
Outer Insulation
V
W
Motor Power Cable
Exposed Braid As required to have ground clamp within 50…75

25.4 mm (1.0 in.) mm (2…3 in.) of the drive.
Refer to Shunt Resistor Wiring Example beginning on page 133 for interconnect
diagrams.
Table 28 - Motor Power (MP) Connector

MP-Series or TL-Series Servo Terminal
Motor
U / Brown U
V / Black V
W / Blue W
Green/Yellow
Table 29 - Motor Power (MP) Termination Specifications

mm2 (AWG)
2097-V31PR0-LM
2097-V31PR2-LM
2097-V32PR0-LM
2097-V32PR2-LM
2097-V32PR4-LM PE
2097-V33PR1-LM W 2.5 (14)
2097-V33PR3-LM 7 (0.28) 0.5 (4.5)
V
2097-V33PR5-LM U
2097-V34PR3-LM
2097-V34PR5-LM
2097-V34PR6-LM
2097-V33PR6-LM 4.0 (12)

Apply the Motor Cable Shield This procedure assumes you have completed wiring your motor power (MP)
connector and are ready to apply the cable shield clamp.
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.
Motor Power Ground

Shield Clamp
25
(1.0)
34.0 12.7
(1.34) (0.50)
50…75
Dimensions are in mm (in.). (2…3)
50…75
(2…3)
If panel is painted, remove paint to

provide metal-to-metal contact.
2. Lay out and drill holes for cable clamp.
ATTENTION: Plan the installation of your system so that you can

perform all cutting, drilling, tapping, and welding with the system
removed from the enclosure. Because the system is of the open type
construction, be careful to keep any metal debris from falling into it.
Metal debris or other foreign matter can become lodged in the circuitry,
which can result in damage to components.
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.

Feedback and I/O Cable Factory made cables with premolded connectors are designed to minimize EMI
and are recommended over hand-built cables to improve system performance.
Connections However, other options are available for building your own feedback and I/O
cables.
Table 30 - Options for Connecting Motor Feedback and I/O

Connection Option Cat. No. Cable By Using This Type of Cable
Refer to the table below for the premolded motor feedback
Premolded connectors N/A Motor feedback cable available for your motor.
Refer to the table below for the flying-lead cable available
Low-profile connector 2090-K2CK-D15M Motor feedback for your motor.
I/O Terminal Block 2097-TB1 I/O interface User-supplied flying-lead cable.
Table 31 - Motor Feedback Cables for Specific Motor/Feedback Combinations

Feedback Cable
Motor Cat. No. Feedback Type
Premolded Flying-lead
MPL-A/B15xxx-V/Ex4xAA,
High-resolution encoder 2090-XXNFMF-Sxx (standard)
MPL-A/B2xxx-V/Ex4xAA
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-Hx7xAA, N/A 2090-CFBM7DF-CDAFxx (1) (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/Bxxxxx-M/S 2090-CFBM7DD-CEAAxx (1) (standard) 2090-CFBM7DF-CEAAxx (1) (standard)
2090-CFBM7DD-CEAFxx (1) (continuous- 2090-CFBM7DF-CEAFxx (1) (continuous-
MPF-A/Bxxxx-M/S flex) flex)
MPAR-A/B3xxxx
MPAI-A/Bxxxx
High-resolution encoder
MPS-A/Bxxxx-M/S
2090-XXNFMF-Sxx (standard)
MPAS-A/Bxxxx-V/A
N/A 2090-CFBM4DF-CDAFxx (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 you are using 2090-CPxM7DF-xxAxx cables.

Flying-lead Feedback Cable Pin-outs

Table 32 - 2090-XXNFMF-Sxx or 2090-CFBMxDF-xxAxxx Feedback Cable
Incremental
High-resolution Feedback Drive MF
Connector Pin Feedback
Connector Pin
9V Encoder 5V Encoder 5V Encoder
1 Sin+ Sin+ AM+ 1
2 Sin- Sin- AM- 2
3 Cos+ Cos+ BM+ 3
4 Cos- Cos- BM- 4
5 Data+ Data+ IM+ 5
6 Data- Data- IM- 10
9 Reserved EPWR_5V EPWR_5V 14
10 Reserved ECOM ECOM 6
11 EPWR_9V Reserved Reserved 7
12 ECOM Reserved Reserved 6
13 TS+ TS+ TS+ 11
14 TS- TS- TS- –
15 Reserved Reserved S1 12
Table 33 - 2090-CFBM6DF-CBAAxx Feedback Cable

High Resolution Incremental Feedback
Drive MF
Connector Pin TLY-Axxxx-B TLY-Axxxx-H Connector 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 S1 12
17 Reserved S2 13
19 S3 8
22 EPWR 5V EPWR 5V 14
23 ECOM and BAT- ECOM 6
24 Shield Shield Connector housing

Wiring the Feedback and I/O These procedures assume you have mounted your Kinetix 350 system, completed
the power wiring, and are ready to connect motor feedback.
Connectors
Wire the I/O 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 39 - Kinetix 350 Drive (IOD connector and terminal block)
1
30
2097-TB1
I/O Terminal
Expansion Block
I/O (IOD)
Connector
11
40 12
20
21
50 29
GND

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 40 - Kinetix 350 Drive (MF connector)
Kinetix 350 Drive, Side View

Kinetix 350 Drive, Front View (2097-V33PR5-LM drive is shown)
(2097-V33PR5-LM drive is shown)
2090-K2CK-D15M Connector Kit

with flying-lead feedback cable.
Motor Feedback (MF) Connector
Figure 41 - Wiring (15-pin) Flying-lead Feedback Cable Connections

2090-K2CK-D15M Connector Kit
15-pin (male) Motor Feedback
Bare Wires Low-profile Connector
Wire Insulation Mounting Pin 10

Foil Shield Screws Pin 5 Pin 15
Braided Shield Pin 1 Pin 11

Outer Insulation Pin 6
0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1
Bulletin 2090
Feedback Cable
3.6V battery (catalog number 2090-DA-BAT2)
required for use with only TLY-Axxxx-B motors and TLAR
Axxxxx electric cylinders
Low Profile Connector Kit
(high-resolution 17-bit encoders).
(2090-K2CK-D15M)
Refer to Chapter 3 for feedback
Clamp signal descriptions.
Refer to Appendix A for the motor feedback
Exposed Braid Under Clamp interconnect drawing for your application.
Turn clamp over to hold Tie Wrap

small wires secure.
Refer to Low Profile Connector Kit Installation Instructions, Bulletin 2090 Feedback Cable
publication 2093-IN005, for connector kit specifications.

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 59 for torque values.
IMPORTANT To improve system performance, run wires and cables in the wireways as
established in Chapter 2.
• Refer to Shunt Resistors on page 31 for noise zone considerations.

• Refer to Shunt Resistor Wiring Example on page 133.
• Refer to the installation instructions provided with your Bulletin 2097
shunt resistor, publication 2097-IN002.
Figure 42 - Shunt/DC Bus (BC) Connector
Kinetix 350 Drive

Front view is shown.
+
+
SH Shunt/DC Bus
(BC) Connector
-
-
Ethernet Cable Connections This guideline assumes you have your Logix5000 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 impacts 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 & Implementation Guide, publication ENET-TD001.
The EtherNet/IP network is connected by using the Port 1 connector. Refer to

page 36 to locate the Ethernet connector on your Kinetix 350 drive. Refer to the
figure below to locate the connector on your Logix5000 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 y = the loss factor compared to fixed cable (typically 1.2…1.5).
Figure 43 - CompactLogix Ethernet Port Location
CompactLogix Controller Platform

1769-L33ERM Shown
The Ethernet ports are on

bottom of controller.
The Port 1 Ethernet connection is used for connecting to a Logix5000 controller

and configuring your Kinetix 350 drive.
Figure 44 - Ethernet Wiring Example - External Switch
CompactLogix Controller Platform

1769-L33ERM Shown
Personal Computer
1783-US05T 1
P
W
R
Stratix 2000
2
Switch 4
Kinetix 350 Drives

Chapter 5
Configure and Start Up the

Kinetix 350 Drive System
Topic Page
Keypad Input 78
Configure the Kinetix 350 Drive Ethernet IP Address 81
Configure the Logix5000 EtherNet/IP Controller 84
Apply Power to the Kinetix 350 Drive 93
Test and Tune the Axes 94
Disable EnableInputChecking by Using a Logix Designer Message Instruction 100
TIP Before you begin make sure you know the catalog number for the
drive, the Logix5000 controller, and the servo motor/actuator in your
motion control application.

Chapter 5 Configure and Start Up the Kinetix 350 Drive System
Keypad Input 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 . To view a
value, press . To return back to Scroll mode press .
After pressing on editable parameters, the yellow status indicator D blinks

indicating that the parameter value can be changed. Use to change the
value. Press to store the new setting and return back to Scroll mode.
Table 34 - Status Display Information

Status Indicator Description
Hx.xx 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 Lets you modify the first octet of the IP address.
IP_2 Lets you modify the second octet of the IP address.
IP_3 Lets you modify the third octet of the IP address.
IP_4 Lets you modify the fourth octet of the IP address.
nEt1 Lets you modify the first octet of the netmask.
nEt2 Lets you modify the second octet of the netmask.
nEt3 Lets you modify the third octet of the netmask.
nEt4 Lets you modify the fourth octet of the netmask.
gat1 Lets you modify the first octet of the gateway.
gat2 Lets you modify the second octet of the gateway.
gat3 Lets you modify the third octet of the gateway.
gat4 Lets you modify the fourth octet of the gateway.

Configure and Start Up the Kinetix 350 Drive System Chapter 5
Status Indicators
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 troubleshoot faults.
Figure 45 - Front Panel Display
Table 35 - Status Indicators

Status Function Description
Indicator
D Data entry Yellow status indicator flashes when changing.
Indicates the state of the Network. See Network State
N Network state Status Indicator on page 80. 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 79. 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 80. The bicolored status indicator shows
red, green, or amber.
Table 36 - 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

Table 37 - Axis State Status Indicator

Off Off
Flash red/green Self test
Off Initialization - bus not up
Flashing green Initialization - bus up
Off Shutdown - bus not up
(1)
Flashing amber Shutdown - bus up
Off Pre-charge - bus not up
(1)
Flashing amber Start inhibit
(1) (2)
Flashing green Stopped
Stopping
Starting
Solid green (1) (2)
Running
Testing
Aborting
Flashing red
Major faulted
Aborting
Solid red
Major faulted
(1) The axis 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 38 - Network State Status Indicator

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

Configure the Kinetix 350 This section offers guidance on configuring your Ethernet connection to the
Kinetix 350 drive.
Drive Ethernet IP Address
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 Studio 5000 Logix Designer application.
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 can 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) enabled 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
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

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 83.
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 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 .
2. Use to access parameter DHCP.
3. Check this parameter is set to a value of 0.
4. If the 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
IP_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.

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 by using the drive keypad and display.
1. Press .
2. Use the to access parameter DHCP.

3. Check this parameter is set to 1.
4. If the DHCP parameter is set to 0, use and 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 Logix Designer application. 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 81 for information on
enabling DHCP from within the Logix Designer application.
TIP A useful feature of the Logix Designer application. 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.

Configure the Logix5000 This procedure assumes that you have wired your Kinetix 350 drive system and
are using Logix Designer application version 21.00.00 or later.
EtherNet/IP Controller
For help using Logix Designer application as it applies to configuring the
ControlLogix EtherNet/IP controller, refer to Additional Resources on page 10.
Configure the Logix5000 Controller
Follow these steps to configure the Logix5000 controller.
1. Apply power to your Logix5000 controller containing the EtherNet/IP

port and open your Studio 5000 environment.
2. Click New Project.

The New Project dialog box appears.
3. Select the controller you are using for your project and click Next.

The New Controller dialog box appears.
4. Configure the new controller.

a. From the Type pull-down menu, choose the controller type.
b. From the Revision pull-down menu, choose the revision.
c. Enter the file Name.
5. Click OK.
6. From the Edit menu, choose Controller Properties.
The Controller Properties dialog box appears.
7. Click the Date/Time tab.

8. Check Enable Time Synchronization.
This permits the controller to participate in the ControlLogix Time
Synchronization or CIP Sync. The controller also participates in an
election in the Logix5000 system for the best GrandMaster clock.
9. Click OK.

Configure the Kinetix 350 Drive
IMPORTANT To configure Kinetix 350 drive (catalog numbers 2097-V3xPRx-LM) you must be
using RSLogix 5000 software, version 20 or later, or Logix Designer Application.
Follow these steps to configure the Kinetix 350 drive.
1. Right-click the Logix5000 EtherNet/IP controller you just created and

choose New Module.
The Select Module dialog box appears.
2. Clear the Module Type Category Filter and check the Motion category.
3. Select your 2097-V3xPRx-LM drive as appropriate for your actual
hardware configuration and click Create.

The New Module dialog box appears.
4. Configure the new drive.

a. Enter 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 appears.
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 appears.
10. Click the Associated Axes tab.
11. Click New Axis.

The New Tag dialog box appears.
12. Type the axis Name.

AXIS_CIP_DRIVE is the default Data Type.
13. Click Create.
The new axis (Axis_1) appears under Motion Groups>Ungrouped Axes in
the Controller Organizer and is assigned as Axis 1.
14. Click Apply.

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 appears.
2. Type the new motion group Name.

3. Click Create.
The new motion group appears under the Motion Groups folder.
4. Right-click the new motion group and choose Properties.
The Motion Group Properties dialog box appears.
5. Click the Axis Assignment tab and move your axes (created earlier) from
Unassigned to Assigned.
6. Click the Attribute tab and edit the default values as appropriate for your
application.
7. Click OK.

Configure Axis Properties
Follow the instructions below to configure axis properties for your motor or
actuator. If you are using an Integrated Motion Encoder on EtherNet/IP, catalog
number 842E-CM for an axis refer to 842E-CM Integrated Motion Encoder on
EtherNet/IP User Manual, publication 842E-UM002.
1. Right-click an axis in the Controller Organizer and choose Properties.

2. Click the Motor category.
The Motor Device Specification dialog box appears.
3. From the Data Source pull-down menu, choose Catalog Number.

4. Click Change Catalog.
The Change Catalog Number dialog box appears.
5. Select the motor catalog number 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.

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.
9. Click Apply, if you make changes.

10. Click Load category and edit the default values as appropriate for your
application.
11. Click Apply, if you make changes.

12. Click Actions category.

The Actions to Take Upon Conditions dialog box appears.
From this dialog box, you can program actions and change the action for
exceptions (faults).
13. Click Parameters.
The Motion Axis Parameters dialog box appears.
From this dialog box you can set delay times for servo motors. For
recommended motor brake delay times, refer to the Kinetix Motion
Control Selection Guide, publication GMC-SG001.
14. Click OK.
15. Verify your Logix5000 program and save the file.

Download the Program
After completing the Logix5000 configuration you must download your

program to the Logix5000 processor.
Apply Power to the This procedure assumes that you have wired and configured your Kinetix 350
drive system and your Ethernet/IP interface controller.
Kinetix 350 Drive
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 can have voltage present
even when not in use.
Follow these steps to apply power to the Kinetix 350 drive system.
1. Disconnect the load to the motor.

The axis does not operate in position mode during the execution of this
process. Therefore, the position of the axis cannot be guaranteed if the axis
is connected to a vertical load, or the axis is connected to a stored
mechanical energy.
ATTENTION: To avoid personal injury or damage to equipment,

disconnect the load to the motor; including vertical loads. 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 Then
Is from (24V DC) back-up power Apply (24V DC) back-up power to the drive (BP connector).
Mains input 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.
4. Observe the four digit status indicator.
Four Character Data Entry Status
Status Indicator Indicator
If the status indicator is Then

-00- Go to step 5
Blank Go back to main step 2

5.
If Your Logic Power Then
Apply 120, 240, or 460V AC mains input power to the drive (IPD
Is from (24V DC) back-up power connector)
Mains input power Go to step 5
6.
If drive ENABLE is Then
Hard wired Apply 24V DC
Not used Disable enableInputChecking by using procedure on page 100
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 79
Module Go to Module State Status Indicator on
Steady or flashing red Drive is faulted page 79
Steady green or amber, Observe the Network, status indicator
Operational condition
flashing page 79
Axis
Go to Axis State Status Indicator on
Steady or flashing red Axis is faulted page 80
Steady green Communication is ready Go to Test and Tune the Axes on page 94
Network Any state other than Go to Network State Status Indicator on
Communication error
steady green page 80
Test and Tune the Axes This procedure assumes that you have configured your Kinetix 350 drive, your
ControlLogix EtherNet/IP controller, and applied power to the system.
IMPORTANT Before proceeding with testing and tuning your axes, verify that the drive
status indicators are operating as described in Status Indicators on page 119.
For help using Logix Designer Application as it applies to testing and tuning your
axes with ControlLogix EtherNet/IP controller, refer to Additional Resources on
page 10.
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 appears.

3. Click Hookup Tests category.
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.
Verifies feedback connections are wired correctly as you rotate
Motor Feedback the motor shaft.
Verifies motor power and feedback connections are wired
Motor and Feedback correctly as you command the motor to rotate.
5.
ATTENTION: To avoid personal injury or damage to equipment, apply

only24V ENABLE signal 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.

The RSLogix 5000 - Motor and Feedback Test dialog box appears. The
Test State is Executing.
When the test completes successfully, the Test State changes from
Executing to Passed.
8. Click OK.
This dialog box appears asking if the direction was correct.
9. Click Yes.
If the test fails, this dialog box appears.
a. Click OK.
b. Verify the Axis status indicator turned solid green during the test.
c. Verify that the drive ENABLE signal is applied to the axis you are
testing or that the enableInputChecking attribute is set to zero.
d. Verify the unit values entered in the Scaling category.
e. Return to main step 6 and run the test again.

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, including
vertical loads, then re-attach the load and perform the tuning
procedure again to provide an accurate operational response.
2. Click Autotune category.
3. Type values for Travel Limit and Speed.

In this example, Travel Limit = 5 and Speed = 10. The actual value of
programmed units 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.

6.
ATTENTION: To avoid personal injury or damage to equipment, apply

only 24V ENABLE signal to the axis you are testing.
7. Click Start.
The RSLogix - Autotune dialog box appears. When the test completes, the
Test State changes from Executing to Success.
Tuned values populate the Loop and Load parameter tables. Actual
bandwidth values (Hz) depend on your application and can 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.

11. If the test fails, this dialog box appears.
a. Click OK.
b. Make an adjustment to motor velocity.
c. Refer to the appropriate Logix5000 motion module user manual for
more information.
d. Return to step 7 and run the test again.
12. Repeat Test and Tune the Axes for each axis.

Disable EnableInputChecking This procedure sends a Logix5000 message to disable the EnableInputChecking
attribute in the Kinetix 350 drive.
by Using a Logix Designer
Message Instruction 1. From the Controller Organizer, choose
Tasks>MainTask>MainProgram>MainRoutine.
2. Create a MSG instruction rung as shown.
3. Set the values in the Message Configuration as shown.
4. Click the Communications tab and browse to the drive tag, in this case
K350, as shown.
5. When the program is in Run mode, trigger the rung to run the instruction.
The drive does not check the enable input signal on IOD-29 Enable to
IOD -26 Common. This MSG instruction is executed only once as it is a
persistent type instruction and gets saved to the drive Non-volatile
Memory. To re-enable the 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.

Chapter 6
Kinetix 350 Drive Safe Torque-off Feature
Topic Page
Certification 101
Description of Operation 102
PFD and PFH Definitions 103
PFD and PFH Data 103
Safe Torque-off Connector Data 104
Wiring Your Safe Torque-off Circuit 105
Kinetix 350 Drive Safe Torque-off Feature 107
Kinetix 350 Drive Safe Torque-off Wiring Diagrams 108
Safe Torque-off Signal Specifications 109
Certification 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 TÜV 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:

• Validation of any sensors or actuators connected to the drive system
• Completing a machine-level risk assessment
• Certification of the machine to the desired ISO 13849-1 performance
level
• Project management and proof testing
• Programming the application software and the device configurations in
accordance with the information in this safety reference manual and the
drive product manual

Chapter 6 Kinetix 350 Drive Safe Torque-off Feature
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
• A single fault is detected whenever reasonably practicable
• 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 In the 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.
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 of the 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.
Description of Operation The safe torque-off feature provides a method, with sufficiently low probability
of failure on demand, to force the power-transistor control signals to a disabled
state. When disabled, or any time power is removed from the safety enable inputs,
all 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 can 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 can, in the event of two simultaneous

faults in the IGBT circuit, result in a rotation of up to 180 electrical degrees.

Kinetix 350 Drive Safe Torque-off Feature Chapter 6
Troubleshooting the Safe Torque-off Function
ATTENTION: The safe torque-off fault is detected upon demand by the safe
torque-off function. After troubleshooting, a proof test safety function must be
performed to 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.
• 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.
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 39 - PFD and PFH for 20-year Proof Test Interval

Attribute Value
PFH [1e-9] 5.9
PFD [1e-3] 1.0

Safe Torque-off Connector This section provides safe torque-off (STO) connector and header information
for the Kinetix 350 drive safe torque-off.
Data
STO Connector Pinouts
Headers extend the STO connector signals for use in wiring or to defeat (not use)
the safe torque-off function.
Figure 46 - 6-pin Safe Torque-off (STO) Connector
1 2
Safe Torque-off
STO
3 4 5 6
(STO) Connector
Kinetix 350 Drive, Bottom View

(2097-V32PR4-LM is shown)
STO Pin Description Signal

1 +24V DC output from the drive +24V DC control
2 +24V DC output common Control COM
3 Safety status Safety Status
5 Safety common Safety COM

Wiring Your Safe Torque-off This section provides guidelines for wiring your Kinetix 350 safe torque-off drive
connections.
Circuit
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:
• EN 61800-3 - Adjustable Speed Electrical Power Drive Systems,
Part 3 - EMC Product Standard including specific test methods
• EN 61000-6-4 EMC - Emission Standard, Part 2 - Industrial Environment
• EN 61000-6-2 EMC - Immunity Standard, Part 2 - Industrial
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.

Safe Torque-off Wiring Requirements
These are the safe torque-off (STO) wiring requirements. Wire must 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.
Figure 47 - Safe Torque-off (STO) Terminal Plug
ntrol
4 V DC co
+2 rol COM
Cont
1 2
tus
y sta
Safet ty input 1
Safe ty COM 2
3 4
Safe ty input
Safe
5 6
Table 40 - Safe Torque-off (STO) Terminal Plug Wiring

Safe Torque-off (STO) Connector Recommended Wire Size
Stranded Wire Strip Length Torque Value
Solid Wire mm (in.) N•m (lb•in)
Pin Signal with Ferrule
mm2 (AWG)
mm2 (AWG)
STO-1 +24V DC Control
STO-2 Control COM
STO-3 Safety Status 0.75 (18) 1.5 (16) 6 (0.25) 0.2 (1.8)
STO-5 Safety COM
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 To be sure of system performance, run wires and cables in the wireways as
established in the user manual for your drive.

Kinetix 350 Drive Safe 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
Torque-off Feature 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 the 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 only

the drive system or affected area of a machine. It does not provide electrical
safety.
SHOCK HAZARD: In Safe Torque-off mode, hazardous voltages can 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 48 - STO Motion-allowed Jumpers
STO-1
STO-2
STO-3
STO-4
STO-5
STO-6
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.

Kinetix 350 Drive Safe This section provides typical wiring diagrams for the Kinetix 350 drive safe
torque-off feature with other Allen-Bradley safety products.
Torque-off Wiring Diagrams
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
and ST0-6, are done to prevent drive enable if either or both of these inputs do
not function.
It is 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 49 - Single-axis Relay Configuration (Stop Category 0) with Automatic Reset
Allen-Bradley
External +24V DC External 24V COM
Monitoring Safety Relay
MSR127RP (440R-N23135)
440R-D22R2
A1 A2
Kinetix 350 Drive
S11 Y32 Auxiliary Signal

Safe Torque-off to PLC
Demand S21 L12
DI L11
S12
Input 1 Auxiliary Signal
S22 to PLC Safe Torque-off (STO)
Connector with
S32
Wiring Header
Input 2
S42 1
+24V DC
S34 2
COM
3
Status
13 14 4
Safety Input 1
5
Safety Common
23 24 6
Safety Input 2

Safe Torque-off Signal This table provides specifications for the safe torque-off signals used in the
Kinetix 350 servo drives.
Specifications
Attribute Value
Insulated, compatible with single-ended output (+24V DC)
Safety inputs (1) Enable voltage range: 20…24V DC
Disable voltage range: 0…1.0V DC
Input impedance 6.8 kΩ
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.

Notes:

Chapter 7
Troubleshoot the Kinetix 350 Drive
Topic Page
Safety Precautions 111
Interpret Status Indicators 112
General System Behavior 121
Logix5000 Controller and Drive Behavior 123
Web Server Interface 127
Safety Precautions Observe the following safety precautions when troubleshooting your Kinetix 350
drive.
ATTENTION: Capacitors on the DC bus can 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.

Chapter 7 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 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 scroll in this manner. When a fault is
annunciated, the entire fault text scrolls on the display regardless of when the
fault is cleared
The IP address is always an active condition, meaning that it scrolls 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 41 - 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 device attributes -01- 4
Waiting for group synchronization -02-
Waiting for DC Bus to charge -03-
Device is operational -04-
Start inhibit code S xx
3
Start inhibit code - custom Scxx
Axis fault code F xx
2
Axis fault code - custom Fcxx
Boot error Lxxx
Power on Self Test (POST) error Pxxx 1
Initialization fault code - custom Icxx
Node fault code nFxx 1

Troubleshoot the Kinetix 350 Drive Chapter 7
Error Codes
The following list helps you resolve memory anomalies.
When a fault is detected, the status indicator displays an E and a two-digit error
code until the anomaly is cleared.
Error Anomaly Possible Cause Action/Solution
Code
E38 Memory module error. Bad memory module. Replace memory module.
E76 Blank memory module. A Blank MEM module has been Push and hold the drive's enter key
inserted into the drive. (bottom most red button) on the drive's
front display until the drive shows
"bUSY". This will make the drive format
the blank memory module for usage with
the drive.
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 42 - Fault Code Summary

Fault Code Type Description
S xx
Conditions that prevent the drive from enabling, see Table 43.
Scxx
F xx
Standard axis fault, see Table 44 and Table 45.
Fcxx
Unrecoverable errors that occur during the boot process.
Lxxx
Return drive to Rockwell Automation.
Unrecoverable errors that occurred during the Power on Self Test (POST). Return drive
Pxxx to Rockwell Automation.
Icxx Anomalies that prevent normal operation and occur during the initialization process.
Anomalies that prevent normal operation of the drive. Node Fault. This type of fault
nFxx that impacts the servo drive not just the axis of motion.
Table 43 - S xx and Scxx Start Inhibit Codes

RSLogix 5000
Four-digit Display Problem or Symptom Potential Cause Possible Resolution
Fault Message
• Check wiring and 24V source for drive
The axis enable input is ENABLE Input.
S 01 Axis enable input. Axis Enable Input is not active.
deactivated. • Disable enableInputChecking attribute
by using a message instruction.

Table 43 - S xx and Scxx Start Inhibit Codes

RSLogix 5000
Fault Message
S 02 Motor not configured. The associated motor has not been

configured for use. • Cycle 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 Logix Designer Application.
S 03 Feedback not configured. • Replace motor if faulting continues.
configuration does not match what is
connected.
No power or safety circuitry not The safety function has disabled the • Apply 24V sources to safety circuit.
Sc05 Safe torque off. configured. power structure. • Use jumpers to bypass safety circuit.
Table 44 - F xx Fault Codes

RSLogix 5000
Fault Message
• Check wiring of S1,S2, and S3
F 02 Illegal Hall State State of Hall feedback inputs is incorrect. Improper connections. • Check the power supply to the
encoder.
• Check motor wire phasing.
F 03 Motor Overspeed Motor speed has exceeded 125% of maximum rated speed. • Check cables for noise.
• Check tuning.
• Check motor wiring at motor
feedback (MF) connector.
• Check TS+ and COM wiring.
The motor thermostat, motor thermistor, or • Operate within (not above) the
encoder temperature sensor indicates that the High motor ambient temperature continuous torque rating for the
F 05 Motor Overtemperature ambient temperature.
motor factory temperature limit has been and/or Excessive Current.
exceeded. • Lower ambient temperature or
increase motor cooling.
• 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
F 07 Motor Thermal Protection the temperature has exceeded 110% of its RMS current exceeding the
speed or increase time.
rating. continuous rating of the motor.
Verify continuity of motor power cable
Motor cables shorted.
and connector.
Disconnect motor power cables from the
motor. Use multimeter to check that the
Motor winding shorted internally.
resistance of phase-to-phase is not open
and that phase-to-ground is open.
• Check for clogged vents or defective
fan.
• Make sure cooling is not restricted by
insufficient space around the unit.
The drive temperature is too high. • Verify ambient temperature is is
within the specification. See Kinetix
The drive fault output indicates that the power 350 Drive Power Specifications in
transistors were turned off because of Kinetix Servo Drives Specifications
F 10 Inverter Overcurrent
overcurrent, overtemperature, or power supply Technical Data,
problems. publication GMC-TD003.
Operation above continuous power • Operate within the continuous power
rating and/or product rating.
environmental ratings. • 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.

Table 44 - F xx Fault Codes (continued)

RSLogix 5000
Fault Message
Drive fan failed. Replace the failed drive.
Check the cabinet temperature. See
Kinetix 350 Drive Power Specifications in
The cabinet ambient temperature
Kinetix Servo Drives Specifications
is above rating.
Technical Data,
F 11 Inverter Overtemperature Inverter thermal switch tripped. publication GMC-TD003
The machine duty cycle requires an
Change the command profile to reduce
RMS current exceeding the
speed or increase time.
continuous rating of the controller.
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 Change the command profile to reduce
RMS current exceeding the
F 13 Inverter Thermal Protection indicates that the temperature has exceeded speed or increase time.
continuous rating of the controller.
110% of its rating.
Motor brake on. Turn motor brake off.
DC bus voltage for 460V system is • Verify voltage level of the incoming
below 275V. AC power.
With three-phase power present, the DC bus DC bus voltage for 230V system is • Check AC power source for glitches or
F 33 Bus Undervoltage
voltage is below limits. below 137V. line drop.
DC bus voltage for 120V system is • 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 can regenerate too much peak
F 35 Bus Overvoltage Use a larger system (motor and drive).
limit. energy through the drive power
supply. The system faults to save
itself from an overload.
DC bus voltage for 460V
Install shunt resistor.
system is over 820V.
• On sin/cos encoders, the sum of the square
of the sin/cos signals has been measured
• Check motor encoder wiring.
below a factory limit. The motor feedback wiring is open,
F 43 Feedback Loss • Run Hookup test in RSLogix 5000
• On TTL encoders, the absolute value of the shorted, or missing.
software.
differential A/B signals is below a factory
limit.
Feedback Serial Comms The number of consecutive missed or corrupted Communication was not
• Verify motor selection.
F 45 (only TL-Series motors and serial data packets from the feedback device has established with an intelligent
• Verify motor encoder wiring.
actuators ) exceeded a factory set limit. encoder.
The feedback device has detected an internal Call your Rockwell Automation sales
F 47 Feedback Self Test Damage to feedback device.
error. representative to return motor for repair.
Axis moved beyond the physical travel limits in
F 50 Hardware Overtravel - Positive • Check wiring.
the positive direction. Dedicated overtravel input is
• Verify motion profile.
Axis moved beyond the physical travel limits in inactive.
F 51 Hardware Overtravel - Negative • Verify axis configuration in software.
the negative direction.
Check all wiring at motor feedback (MF)
Partial loss of feedback signals.
connector.
Improperly sized drive or motor. Verify sizing of system.
• Increase the feed forward gain.
F 54 Excessive Position Error Position error limit was exceeded.
• Increase following error limit or time.
Mechanical system out of • Check position loop tuning.
specifications. • Verify mechanical integrity of system
within specification limits.
• Check motor power wiring.

Table 44 - F xx Fault Codes (continued)

RSLogix 5000
Fault Message
Check all wiring at motor feedback (MF)
Partial loss of feedback signals.
connector.
• Increase velocity error limit or time.
Improperly sized drive or motor. • Check velocity loop tuning.
Velocity Error value of the velocity control loop • Verify sizing of system.
F 55 Excessive Velocity Error has exceeded the configured value for Velocity
Error Tolerance. • Increase velocity error limit or time.
• Check velocity loop tuning.
Mechanical system out of • Verify mechanical integrity of system
specifications. within specification limits.
• Check motor power wiring.
• Reduce acceleration.
• Overly aggressive motion • Verify Overtorque settings are
profile. appropriate.
Motor torque has exceeded a user- • Mechanical binding. • Verify sizing of system.
F 56 Overtorque Limit programmable setting. • Verify torque offset
Mechanical system out of Verify mechanical integrity of system
• Improperly configured limit.
• Verify Overtorque settings are
• Improperly configured motion.
Motor torque has fallen below a user- appropriate.
F 57 Undertorque Limit • Improperly drive/motor sizing. • Verify sizing of system.
programmable setting.
Mechanical system out of Verify mechanical integrity of system
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 • Check 24V source.
F 61 Drive Enable Input while the drive was enabled. This is applicable was inactive.
when only 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
range.
The controller has requested the drive to User configured software • Clear soft overtravel fault.
F 62 Controller Initiated Exception
generate an exception. overtravel.
• Check soft overtravel configuration.
• Consult controller documentation.
Table 45 - Fc xx Fault Codes

RSLogix 5000
Fault Message
Fc 02 Motor Voltage Mismatch Motor voltage incompatible with drive voltage. Wrong motor connected to drive. Connect appropriate motor to drive.
The battery voltage on a battery-backed motor
Motor Encoder Battery Loss
encoder is low enough such that a power loss
Fc 05 (applies to Bulletin TLY motors with B
has caused the absolute position to no longer be
feedback) Weak battery or poor battery • Replace battery.
available.
connection. • Check battery connection.
Motor Encoder Battery Low The battery voltage on a battery-backed motor
Fc 06 (applies to Bulletin TLY motors with B encoder is low enough such that a power loss
feedback) causes the absolute position to be lost.
Fc 14 Excessive Current Feedback Offset Current in one or more phases has been lost or remains below a preset level. Replace the drive.
• Cycle control power.
Fc 26 Runtime Drive Error The drive firmware encountered an unrecoverable runtime error.
• Replace drive.

Table 46 - Ic xx Fault Codes

RSLogix 5000
Fault Message
The motor data stored in a smart encoder has a • Cycle power or reset the drive.
Ic 01 Boot Block Check Sum Fault Faulty intelligent encoder.
checksum error. • Replace motor if faulting continues.
• Cycle power or reset the drive.
Faulty intelligent encoder or • Check validity of the motion
Ic 02 Motor Data Range Error Data within a motor data blob is out of range. database.
incorrect motor file.
• Replace motor if faulting continues.
Incorrect motor selected or
Motor Feedback Communication Communication with a smart encoder could not Check motor selection.
Ic 03 connected.
Startup 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
Allow machine motion to stop before
Ic 06 Motor Absolute Startup Speed accurately determine the position after powerup causing excessive rotation of motor
powerup.
due to motor speed greater than 100 rpm. during 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 47 - Lxxx Fault Codes

Four-digit Cause
Display Message
L001 Identity block corrupted
L002 Firmware file load failed
L004 Firmware not programmed (drive is new)
L008 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 48 - Pxxx Fault Codes

Four-digit Cause
Display Message
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

Table 49 - nF xx Fault Codes

RSLogix 5000
Fault Message
• Remove unnecessary network devices
from the motion network.
Excessive network traffic. • Change the network topology so that
fewer devices share common paths.
Several consecutive updates from the controller • Use faster/higher performance
nF 01 Control Update Fault have been lost. network equipment.
• Segregate signal wiring from power
wiring.
Noisy environment.
• Use shielded cables.
• Add snubbers to power devices.
• Recycle control power or reset the
drive.
nF 02 Processor Watchdog Fault The watchdog circuit monitoring processor operation detected a problem.
• Replace control module if problem
persists.
The drive has an internal hardware problem. drive.
• Replace drive.
nF 03 Hardware Fault
Nonvolatile write or write to memory failed. Faulty memory component. drive.
• Replace drive if problem persists.
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.

Status Indicators
Table 50 - Drive Status Indicator
Status Description
Off No power. Apply power.
Alternating green/red 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 51 - 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 (1) Shutdown - bus up
Off Pre-charge - bus not up
Flashing amber (1) Start inhibit
Flashing green (1) (2) Stopped
Stopping
Starting
Solid green (1) (2)
Running
Testing
Aborting
Flashing red
Major faulted
Aborting
Solid red
Major faulted
(1) The axis 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 52 - 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 can be required to clear
drive.
Table 53 - 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.

General System Behavior These events do not always result in a fault code, but can require troubleshooting
to improve performance.
Table 54 - General System Behavior

Condition Potential Cause Possible Resolution
The position feedback device is incorrect or open. Check wiring.
Check to see what primary operation mode was
Unintentionally in Torque mode. 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.
Axis or system is unstable. Improper grounding or shielding techniques are causing noise to be transmitted
into the position feedback or velocity command lines, causing erratic axis Check wiring and ground.
movement.
Motor Select limit is incorrectly set (servo motor is not matched to axis module). •• Check setups.
Run Tune in RSLogix 5000 software.
Notch filter or output filter can be required (refer to Axis
Mechanical resonance. Properties dialog box, Output tab in RSLogix 5000
software).
Torque Limit limits are set too low. Verify that current limits are set properly.
Select the correct motor and run Tune in Logix Designer
Incorrect motor selected in configuration. Application again.
• Check motor size versus application need.
The system inertia is excessive.
You cannot obtain the motor • Review servo system sizing.
acceleration/deceleration that you The system friction torque is excessive. Check motor size versus application need.
want.
• Check motor size versus application need.
Available current is insufficient to supply the correct accel/decel rate. • Review servo system sizing.
Acceleration limit is incorrect. Verify limit settings and correct them, as necessary.
Velocity Limit limits are incorrect. Verify limit settings and correct them, as necessary.
Disable the axis, wait for 1.5 seconds, and enable the
The axis cannot be enabled for 1.5 seconds after disabling. axis.
• Check the controller.
Enable signal has not been applied or the enable wiring is incorrect. • Check the wiring.
The motor wiring is open. Check the wiring.
Motor does not respond to a velocity • Check for a fault.

The motor thermal switch has tripped.
command. • Check the wiring.
The motor has malfunctioned. Repair or replace the motor.
The coupling between motor and machine has broken (for example, the motor Check and correct the mechanics.
moves, but the load/machine does not).
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.
• Verify grounding.
• Route wire away from noise sources.
Recommended grounding per installation instructions have not been followed. • Refer to System Design for Control of Electrical Noise,
publication GMC-RM001.
Presence of noise on command or • Verify grounding.
Line frequency can be present.
motor feedback signal wires. • Route wire away from noise sources.
Variable frequency can be velocity feedback ripple or a disturbance caused by • Decouple the motor for verification.
gear teeth or ballscrew balls, and so forth. The frequency can be a multiple of • Check and improve mechanical performance, for
the motor power transmission components or ballscrew speeds resulting in example, the gearbox or ballscrew mechanism.
velocity disturbance.

Table 54 - 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.
• Check brake wiring and function.
The motor brake is engaged (if supplied). • Return the motor for repair.
The motor is not connect to the load. Check coupling.
Change the command profile to reduce accel/decel or
The duty cycle is excessive.
Motor overheating increase time.
The rotor is partially demagnetized causing excessive motor current. Return the motor for repair.
Motor tuning limits are set too high. Run Tune in RSLogix 5000 software.
• Remove the loose parts.
Loose parts are present in the motor. • Return motor for repair.
• Replace motor.
Abnormal noise Through bolts or coupling is loose. Tighten bolts.
The bearings are worn. Return motor for repair.
Notch filter can be required (refer to Axis Properties
Mechanical resonance. dialog box, Output tab in RSLogix 5000 software).
Erratic operation - Motor Motor power phases U and V, U and W, or V and W reversed. Check and correct motor power wiring.
locks into position, runs Sine, cosine or rotor leads are reversed in the feedback cable connector. Check and correct motor feedback wiring.
without control or with
reduced torque. Sine, cosine, rotor lead sets of resolver feedback are reversed. Check and correct motor feedback wiring.
No motion from a motor with a TTL Sine and cosine signals are broken. Check feedback wiring.
encoder, axis is enabled and there are
no faults

Logix5000 Controller and By using Logix Designer Application, you can configure how the Bulletin 2097
drives respond when a drive fault/exception occurs.
Drive Behavior
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 55 - Kinetix 350 Drive Exception Action Definitions

Exception Action Definition
The controller completely ignores the exception condition. For some exceptions that are
Ignore fundamental to the operation of the planner, Ignore is not an available option.
The controller 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 is not
Alarm an available option. When an exception action is set to Alarm, the Alarm goes away by itself
when the exceptional condition has cleared.
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
Fault Status Only to clear the fault once the exceptional condition has cleared. If the exception is so
fundamental to the drive, Fault Status Only is not an available option.
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
Stop Planner 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 is not an
available option.
When the exception occurs, the associated bit in the Fault Status word is set and the axis
comes to a stop by using the stopping action defined by the drive for the particular exception
Stop Drive that occurred. There is no controller based configuration to specify what the stopping action
is, the stopping action is device dependent.
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 Shutdown Action attribute is configured for Drop DC Bus, the contactor opens. An explicit
Shutdown Reset is required to restore the drive to operation.

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 50 - RSLogix 5000 Axis Properties - Actions Category
Table 56 - Drive Behavior, F xx Fault Codes

Best Stopping Method
Four-digit Display Exception Description (only major fault)
Permanent magnet motor commutation problem detected. For example
F 02 Motor Commutation illegal state 111 or 000 for a UVW commutation device. This exception is Disable/Coast
supported for only 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
F 03 Motor Overspeed Disable/Coast
triggers when either the electrical frequency exceeds 500 Hz or the motor is
command to go 125% of its max rated speed.
Motor temperature has exceeded its factory set temperature limit given by
F 05 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
F 07 Motor Thermal Overload given by Motor Thermal Overload Factory Limit. This limit is 108 °C (226 °F) Decel/Disable
for the Kinetix 350 drive.
Inverter current has exceeded the factory set peak or instantaneous current
F 10 Inverter Overcurrent Disable/Coast
limit. This limit is set to 450% of the rated drive current for a single phase.
Inverter temperature has exceeded its factory set temperature limit given by
F 11 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
F 13 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
F 35 Bus Overvoltage Factory Limit. For 240V drives the limit is 420V. For 480V drives, the limit is Disable/Coast
840V.

Table 56 - Drive Behavior, F xx Fault Codes (continued)

Four-digit Display Exception Description (only major fault)
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
F 43 Feedback Signal Loss Disable/Coast
the signals are below the Feedback Signal Loss Factory Limit. The offending
feedback channel is encoded in the associated Fault/Alarm Sub Code.
The number of consecutive missed or corrupted serial data packets over the
serial data channel from a feedback device has exceeded the Feedback Data
F 45 Feedback Data Loss 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.
The feedback device has detected an internal error. Stegmann encoders
F 47 Feedback Device Failure Disable/Coast
return an error code and Tamagawa encoders have an error flag.
Axis moved beyond the physical travel limits in the positive direction and
F 50 Hardware Overtravel Positive Decel/Disable
activated the Positive Overtravel limit switch.
Axis moved beyond the physical travel limits in the negative direction and
F 51 Hardware Overtravel Negative Decel/Disable
activated the Negative Overtravel limit switch.
The Position Error value of the position control loop has exceeded the
F 54 (1) Excessive Position Error Decel/Disable
configured value for Position Error Tolerance.
The Velocity Error value of the velocity control loop has exceeded the
F 55 (1) Excessive Velocity Error Decel/Disable
configured value for Velocity Error Tolerance.
Motor torque has risen above user defined maximum torque level given by
F 56 Overtorque Limit Decel/Disable
Overtorque Limit.
Motor torque has dropped below user defined minimum torque level given
F 57 Undertorque Limit Decel/Disable
by Undertorque Limit.
F 61 Enable Input Deactivated Enable has been deactivated while the axis is in Running state. Decel/Disable
F 62 Controller Initiated Exception Exception generated specifically by controller. Disable/Coast
(1) When a TTL encoder loses its A/B 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 coasts to a stop, but
is still be enabled in Logix Designer application.
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 coasts to a stop, but is still be
enabled in Logix Designer application.
Table 57 - Drive Behavior, Fcxx Custom Fault Codes

Four-digit Display Exception Description (only Major Fault)
Fc02 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.

Table 57 - Drive Behavior, Fcxx Custom Fault Codes

Four-digit Display Exception Description (only Major Fault)
Current in one or more phases has been lost or remains below a preset
Fc14 Excessive Current Feedback Offset Disable/Coast
level.
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 58 - 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
nF01 Control Connection Update Fault Disable/Coast
excessively late as determined by the Controller Update Delay High Limit
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 occurs 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
nF06 Control Connection Loss Fault Disable/Coast
to drive connection from the controller has timed out.

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 51 - Main Page
Figure 52 - Fault Page

Notes:

Appendix A
Interconnect Diagrams
Topic Page
Interconnect Diagram Notes 130
Power Wiring Examples 131
Kinetix 350 Drive/Rotary Motor Wiring Examples 134
Kinetix 350 Drive/Actuator Wiring Examples 136
Motor Brake Currents 139
System Block Diagrams 140

Appendix A 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 59.
2 For input fuse and circuit breaker sizes, refer to Circuit Breaker/Fuse Specifications on 20.
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 Kinetix 350 Drive Power Specifications in Kinetix Servo Drives Specifications
Technical Data, publication GMC-TD003.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 22.
6 Refer to the Motor Brake Currents table on page 139 to size the interposing relay for your application and for a 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 Accessories Specifications Technical Data, publication GMC-TD004.
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 +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
A, B, C, and D respectively.

Interconnect Diagrams Appendix A
Power Wiring Examples 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. The
2097-V33PRx-LM drives are wired for single-phase 120V operation.
Figure 53 - Kinetix 350 Drive (120V single-phase input power)
Refer to table on page 130 for note information.

2097-V31PRx -LM and
2097-V33PRx-LM
Kinetix 350 Drives
Ground Stud
Bonded Cabinet
Ground Bus *
2097-V31PRx-LM 2097-V33PRx-LM
PE PE
AC Line Filter Mains
L2/N (Optional) Single-phase
Single-phase AC Input N L2
120V rms AC, 50/60 Hz
Note 3 AC Input
L1 L1
Notes 1, 2 L1 (IPD) Connector
Fuse Disconnect Input Fusing * M1 * L3
or Circuit Breakers Notes 5, 7 L2/N
+ Shunt Resistor
Shunt Resistor
+ Connections
and DC Bus SH
(BC) Connector -
-
Back-up Power +24V DC User-supplied

(BP) Connector -24V DC +24V DC
U Three-phase
Motor Power Motor Power
V
(MP) Connector Connections
W
Note 9
PE
Cable Shield
Use discrete logic or PLC 29
to control ENABLE to EN I/O (IOD) Clamp
26 Connector Note 8
drive. ACOM
Note 4
* Indicates User Supplied Component

In this example, single-phase 240V AC is applied to 2097-V31PRx-LM and

2097-V32PRx-LM drives.
IMPORTANT The 2097-V32PRx-LM models have integrated AC line filters and do not require
the AC line filter shown in this diagram.
Figure 54 - Kinetix 350 Drives (240V single-phase input power)

2097-V31PRx-LM, 2097-V32PRx-LM
Refer to table on page 130 for note information. 2097-V33PRx-LM and
Kinetix 350 Drive
Ground Stud
Bonded Cabinet
Ground Bus * 2097-V31PRx-LM
2097-V32PRx-LM
PE PE
Mains
AC Line Filter N Single-phase
L1 (Optional) AC Input
Single-phase AC Input Note 3 L1 L1 (IPD) Connector
120/240V rms AC, 50/60 Hz L2/N
Notes 1, 2 L2/N L2
Input Fusing * M1 * +
Fuse Disconnect Shunt Resistor Shunt Resistor
or Circuit Breakers Notes 5, 7 +
and DC Bus Connections
SH
(BC) Connector -
-

(BP) Connector -24V DC +24V DC
U Three-phase
Motor Power Motor Power
V
(MP) Connector Connections
W
Note 9
PE
Use discrete logic or PLC 29 I/O (IOD)

to control ENABLE to EN Cable Shield
26 Connector Clamp
drive. ACOM
Note 4 Note 8

In this example, three-phase 240V AC is applied to 2097-V33PR x-LM drives

and 480V AC is applied to 2097-V34PRx-LM drives.
Figure 55 - Kinetix 350 Drive (240/480V three-phase input power)

2097-V33PRx-LM and
2097-V34PRx-LM
Kinetix 350 Drive
+ Shunt
Shunt Resistor
Ground Stud + Resistor
and DC Bus
SH Connections
(BC) Connector -
-
Bonded Cabinet
Ground Bus *
PE
Mains
L1 AC Line Filter
Three-phase AC Input (optional) L1 Three-phase Input
Note 3 (IPD) Connector
240/480V rms AC, 50/60 Hz L2
Notes 1, 2 L2
L3
L3
Input Fusing * M1 *
Fuse Disconnect
Notes 5, 7 (BP) Connector -24V DC +24V DC
or Circuit Breakers
U Three-phase
Motor Power V Motor Power
(MP) Connector W Connections
Use discrete logic or PLC to 29 Note 9
EN I/O (IOD)
control ENABLE to drive PE
26 Connector
ACOM
Note 4
Cable Shield
Clamp
Note 8
IMPORTANT For the 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
AC rms. 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 Kinetix 350 Drive Power Specifications in Kinetix Servo Drives
Specifications Technical Data, publication GMC-TD003 for the Bulletin 2097-
Rx shunt resistors available for the Kinetix 350 drives. Refer to the Shunt
Resistor Installation Instructions, publication 2097-IN002, for additional
installation information.
Figure 56 - Shunt Resistor Wiring Example

2097-V3xPRx-LM 2097-Rx
Kinetix 350 Drive Shunt
Resistor
+
Shunt/DC Bus +
(BC) Connector (1) SH
-
-
(1) This connector is for the shunt resistor, not the motor brake.

Kinetix 350 Drive/Rotary These wiring diagrams apply to Kinetix 350 drives with compatible rotary
motors.
Motor Wiring Examples
Figure 57 - MP-Series (Bulletin MPL, MPM, MPF, and MPS) Motors
2090-XXNPMF-xxSxx (standard)
2097-V3xPRx-LM or 2090-CPBMxDF-xxAFxx MPL-A/Bxxx, MPM-A/Bxxx Refer to table on page 130 for note information.
(continuous-flex)
Kinetix 350 Drives Motor Power Cable MPF-A/Bxxx, and MPS-A/Bxxx
Notes 9, 10
Use 2090-CPWMxDF-xxAFxx Servo Motors with
cable for continuous flex non-brake High Resolution Feedback 2090-K2CK-D15M
applications.
Connector Kit
0 Shield
1 1
Three-phase BLACK SIN+
1
Green/Yellow D/ Motor Power 2 WHT/BLACK SIN- 2
2
3 Blue C/W W GND 3 RED COS+ 3
Motor Power W
4 Black B/V V 4 WHT/RED COS- 4
(MP) Connector V
5 Brown A/U U 5 GREEN DATA+ 5
6 U 6 WHT/GREEN DATA- 10
Motor
7 Feedback 9 GRAY +5VDC 14
8 Motor Feedback
(MF) Connector Note 12 10 WHT/GRAY ECOM 6
9
10 11 ORANGE +9VDC 7
11 Thermostat 13 WHT/ORANGE TS+ 11
12
13 Black G/- BR- 14 BLUE TS-
14 White F/+ BR+
15 12 COM
Motor Brake Refer to low profile connector
illustration (lower left)
for proper grounding technique.
I/O (IOD) 44
MTR_BRAKE - 2090-XXNFMF-Sxx (standard) or
Connector 43 2090-CFBMxDF-CDAFxx (continuous-flex)
Note 4 MTR_BRAKE + (flying-lead) Feedback Cable
Notes 9, 11
Cable Shield
CR1 Clamp
Note 6 Note 8
24V DC MPL-A/B15xx and MPL-A/B2xx

24V DC COM MPL-A/B3xx…MPL-A/B45xx
User Supplied Servo Motors with
24V DC Incremental Feedback 2090-K2CK-D15M
Connector Kit
1 BLACK AM+ 1
2 WHT/BLACK AM- 2
C W GND 3 RED BM+ 3
B V Three-phase 4 WHT/RED BM- 4
A U Motor Power 5 GREEN IM+ 5
6 WHT/GREEN IM- 10
Grounding Technique for Motor 9 GRAY +5VDC 14
Feedback Cable Shield Feedback ECOM
Low Profile Connector 10 WHT/GRAY 6
(2090-K2CK-D15M shown) 11 ORANGE –
13 WHT/ORANGE TS+ 11
Thermostat
BR- 14 BLUE TS-
G
15 WHT/BLUE S1 12
Clamp F BR+
16 YELLOW S2 13
Exposed shield secured Motor Brake
under clamp. 17 WHT/YELLOW S3 8
12 COM
Clamp Screws (2) Refer to low profile connector
Turn clamp over to hold illustration (lower left)
small cables secure. for proper grounding technique.
2090-XXNFMF-Sxx (non-flex) or
2090-CFBMxDF-CDAFxx (continuous-flex)
(flying-lead) Feedback Cable
Note 9

Figure 58 - Kinetix 350 Drive with TL-Series (TLY-A) Motors

2097-V3xPRx-LM TLY-Axxxx-H (230V)
Kinetix 350 Drives Servo Motors with
2090-CPBM6DF-16AAxx Incremental Feedback
Motor Power and Brake Cable
Notes 9, 10
Use 2090-CPWM6DF-16AAxx
cable for non-brake applications.
2090-K2CK-D15M
0 Three-phase Connector Kit
1 Motor Power
Green/Yellow 5
2
3 Motor Power Blue 3 W GND 9 1
W BLACK AM+
4 (MP) Connector Black 2 V 10 WHT/BLACK AM- 2
V
5 Brown 1 U
U 11 RED BM+ 3
6
7 Motor Feedback 12 WHT/RED BM- 4
8 (MF) Connector Motor 13 GREEN IM+ 5
9 Feedback 14 WHT/GREEN IM- 10
10
11
12 22 GRAY +5VDC 14
13 Black 9 BR- ECOM
23 WHT/GRAY 6
14 White 7 BR+ 15 WHT/BLUE S1 12
15
Motor Brake 17 YELLOW S2 13
Cable Shield 19 WHT/YELLOW S3 8
I/O (IOD) 44 Clamp 24 SHIELD
MTR_BRAKE - Note 8
Connector 43
Note 4 MTR_BRAKE + Refer to low-profile connector
CR1 for proper grounding technique.
Note 6
2090-CFBM6DF-CBAAxx (flying-lead) or
2090-CFBM6DD-CCAAxx (with drive-end connector)
Feedback Cable
Note 9
24V DC
24V DC COM TLY-Axxxx-B (230V)
User Supplied Servo Motors with
24V DC High-Resolution Feedback
Grounding Technique for

Feedback Cable Shield Low Profile Connector
(2090-K2CK-D15M shown) 5
3 W GND
13 GREEN DATA+ 5
2 V
Only 3.6V battery (2090-DA-BAT2)
required for use with TLY-Axxxx-B motors
14 WHT/GREEN DATA- 10
1 U
(high-resolution 17-bit encoders). 22 GRAY +5VDC 14
23 WHT/GRAY ECOM 6
Exposed shield secured
under clamp. 6 ORANGE BAT+ BAT+
Clamp WHT/ORANGE BAT- BAT-
24 SHIELD
Clamp Screws (2)
Turn clamp over to hold Refer to low-profile connector
small cables secure. illustration (lower left)
9 BR- for proper grounding technique.
7 BR+ 2090-CFBM6DF-CBAAxx (flying-lead) or

Feedback Cable
Note 9

Kinetix 350 Drive/Actuator These wiring diagrams apply to Kinetix 350 drives with compatible linear
actuators.
Wiring Examples
Figure 59 - Kinetix 350 Drive with MP-Series (Bulletin MPAS-A/B) Linear Stages
2090-XXNPMF-xxSxx (standard)
2097-V3xPRx-LM or 2090-CPBM4DF-xxAFxx MPAS-A/Bxxxxx-VxxSxA Refer to table on page 130 for note information.
(continuous-flex)
Kinetix 350 Drives Motor Power Cable Ballscrew Linear Stages
Notes 9, 10
Use 2090-CPWM4DF-xxAFxx with
cable for continuous-flex non-brake High Resolution Feedback 2090-K2CK-D15M
applications. Connector Kit
1 Shield Three-phase 1 1
BLACK SIN+
2 Motor Power
Green/Yellow D 2 WHT/BLACK SIN- 2
3
4 Motor Power Blue C W GND 3 RED COS+ 3
W
5 (MP) Connector Black B V 4 WHT/RED COS- 4
V
6 Brown A U 5 GREEN DATA+ 5
7 U 6 WHT/GREEN DATA- 10
8
Motor
Feedback 9 GRAY +5VDC 14
9 Motor Feedback
10 WHT/GRAY ECOM 6
10 (MF) Connector
12 Thermostat 13 WHT/ORANGE TS+ 11
13
14 Black G BR- 14 BLUE TS-
15 White F BR+
12 COM
Motor Brake Refer to low profile connector
I/O (IOD) MTR_BRAKE - 44
2090-XXNFMF-Sxx (standard) or
Connector 43 Cable Shield 2090-CFBM4DF-CDAFxx (continuous-flex)
Note 4 MTR_BRAKE + Clamp (flying-lead) Feedback Cable
Notes 9, 11
Note 8
CR1
Note 6
24V DC
24V DC COM
User Supplied
24V DC

(2090-K2CK-D15M shown)
Clamp
under clamp.
Clamp Screws (2)

Turn clamp over to hold
small cables secure.

Figure 60 - Kinetix 350 Drive with MP-Series (Bulletin MPAR and MPAI)
Electric Cylinders
2097-V3xPRx-LM MPAR-A/Bxxxxx-xxx Refer to table on page 130 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-D15M
Notes 9, 10 High Resolution Feedback Connector Kit
0 Shield
Three-phase 1 BLACK SIN+ 1
1
Green/Yellow D Motor Power 2 WHT/BLACK SIN- 2
2
3 Motor Power Blue C W 3 RED COS+ 3
W GND
4 (MP) Connector 4 WHT/RED COS- 4
V
Black B V
5 U 5 GREEN DATA+ 5
U
Brown A
6 6 WHT/GREEN DATA- 10
7 Motor +5VDC 14
9 GRAY
8 Motor Feedback Feedback 10 WHT/GRAY ECOM 6
9 (MF) Connector
Thermostat 13 WHT/ORANGE TS+ 11
11
12
14 BLUE TS-
13 Black G BR-
14 White 12 COM
F BR+
15 Refer to low profile connector
Motor Brake illustration below
I/O (IOD) MTR_BRAKE - 44 Cable Shield See MP-Series Electric Cylinder Power and
Feedback Cables, Table 65
Connector 43 Clamp
Note 4 MTR_BRAKE + Note 8
Notes 9, 11
CR1
Note 6
24V DC
24V DC COM
User Supplied
24V DC

Clamp Table 65 - MP-Series Electric Cylinder Power and Feedback Cables

under clamp. MP-Series Electric Power Cable Feedback Cable
Frame
Clamp Screws (2) Cylinder Cat. No. Cat. No. Cat. No.
small cables secure. MPAR-A/B1xxx 32 2090-XXNPMF-16Sxx 2090-XXNFMF-Sxx
(standard) (standard)
MPAR-A/B2xxx 40 2090-CPxM4DF-16AFxx 2090-CFBM4DF-CDAFxx
(continuous-flex) (continuous-flex)
MPAR-A/B3xxx 63 2090-CPxM7DF-16AAxx 2090-CFBM7DF-16AAxx
(standard) (standard)
83 2090-CPxM7DF-16AFxx 2090-CFBM7DF-CEAAxx
MPAI-A/Bxxx
110 (continuous-flex) (continuous-flex)

Figure 61 - Kinetix 350 Drive with TL-Series (Bulletin TLAR) Electric Cylinders
2097-V3xPRx-LM TLAR-Axxxxx-B (230V)
Kinetix 350 Drives Servo Motors with
2090-CPBM6DF-16AAxx
Motor Power and Brake Cable High Resolution Feedback
Notes 9, 10
Use 2090-CPWM6DF-16AAxx
cable for non-brake applications.
0 Three-phase
1 GREEN/YELLOW
Motor Power
5
2 2090-K2CK-D15M
3 Motor Power BLUE 3 W GND
W Connector Kit
4 (MP) Connector BLACK 2 V
V
5 BROWN 1 U
U 13 GREEN DATA+ 5
6 WHT/GREEN
Motor Feedback 14 DATA- 10
7
8
(MF) Connector Motor 22 GRAY +5VDC 14
9 Feedback 23 WHT/GRAY ECOM 6
10 6 ORANGE BAT+ BAT+
11 WHT/ORANGE BAT- BAT-
12 24 SHIELD
13 BLACK 9 BR-
14 WHITE 7 BR+
Refer to low-profile connector
15 for proper grounding technique.
Motor Brake
2090-CFBM6DF-CBAAxx (flying-lead) or
I/O (IOD) MTR_BRAKE - 44 Cable Shield Feedback Cable
Connector Note 9
43 Clamp
Note 4 MTR_BRAKE + Note 8
CR1
Note 6
24V DC
24V DC COM
User Supplied
24V DC

Low Profile Connector
Feedback Cable Shield
3.6V battery (2090-DA-BAT2)

required for use with TLAR-Axxxxx-B electric cylinders
(high-resolution 17-bit encoders).

under clamp.
Clamp
Clamp Screws (2)

small cables secure.

Motor Brake Currents 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 134 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 A
MPL-x210, MPL-x220, MPL-x230 0.46…0.56 A
MPL/MPF-x310, MPL/MPF-x320, MPL/MPF-x330
MPM-x115 0.45…0.55 A
MPS-x330
MPL-x420, MPL-x430, MPL-x4520, MPL-x4530, MPL-x4540,
MPL-B4560
MPM-x130 0.576…0.704 A
MPF-x430, MPF-x4530, MPF-x4540
MPS-x4540
TLY-A110T, TLY-A120T, and TLY-A130T 0.18…0.22 A
TLY-A220T and TLY-A230T 0.333…0.407 A
TLY-A2530P, TLY-A2540P, and TLY-A310M 0.351…0.429 A
(1) Use of the variable x indicates this specification applies to 230V and 460V motors.

140
Appendix A
Interconnect Diagrams
System Block Diagrams
Three-phase Motor Output
U V W
Brake Connector
L1 and L2 inputs apply to
2097-V32PRx-LM servo drives. B+ BR B-
DC+
L1
2097-Rx (1)
Figure 62 - Power Block Diagram
Shunt
L2
Shunt
Transistor
L3
and 2097-V34PRx-LM, servo drives.
L1, L2, and L3 inputs apply to

2097-V33PRx-LM and 2097-V34PRx-LM servo drives. DC- Inverter Section
Rockwell Automation Publication 2097-UM002C-EN-P - December 2013

Chassis
(1) The 2097-Rx shunt module is external to the Kinetix 350 drive.
This power block diagram applies to 2097-V32PRx-LM, 2097-V33PRx-LM,
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 63 - Voltage Doubler Block Diagram
W
Three-phase Motor Output
Inverter Section
V
U
(1) The 2097-Rx shunt module is external to the Kinetix 350 drive.
B-
2097-Rx (1)
Brake Connector
Transistor
Chassis
Shunt
Shunt
BR
B+
DC+
DC-
by using the voltage-doubler feature.
2097-V31PRx-LM servo drives
L1 and N inputs apply to
L2/N
L1

Notes:

Appendix B
Upgrade the Kinetix 350 Drive Firmware
Topic Page
Upgrade Drive Firmware with ControlFLASH Software 143
Upgrade Drive Firmware Upgrading axis module firmware by using ControlFLASH software involves
configuring your Logix5000 communication, selecting the drive to upgrade, and
with ControlFLASH Software upgrading the firmware.
Before You Begin

You need the following software and information before you begin.
Table 67 - Kinetix 350 System Requirements

Description Cat. No. Firmware Revision
RSLogix 5000 software 9324-RLD300NE 20.x or later
RSLinx® software 2.58 or later
ControlFLASH firmware upgrade kit(1) 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-QS105.
IMPORTANT Input power or back-up power must be present at IPD or BP connector prior to
upgrading your target drive.
ATTENTION: To avoid personal injury or damage to equipment during the

firmware upgrade due to unpredictable motor activity, do not apply three-
phase AC.

Appendix B Upgrade the Kinetix 350 Drive Firmware
Configure Logix5000 Communication
This procedure assumes that your communication method to the Logix5000

controller by using the Ethernet protocol. It is also assumed that your Logix5000
Ethernet module has already been configured.
For more information, refer to the ControlLogix System User Manual,

publication 1756-UM001.
Follow these steps to configure Logix5000 communication.
1. Open your RSLinx Classic software.

2. From the Communications pull-down menu, choose Configure Drivers.
The Configure Drivers dialog box appears.
3. From the Available Drive Types pull-down menu, choose Ethernet devices.
4. Click Add New.
The Add New RSLinx Classic Driver dialog box appears.
5. Type the new driver name.

Upgrade the Kinetix 350 Drive Firmware Appendix B
6. Click OK.
The Configure driver dialog box appears.
7. Type the IP address of your drive.

8. Click OK.
The new Ethernet driver appears under Configured Drivers.
9. Click Close.
10. Minimize the RSLinx application dialog box.

Upgrade Firmware
Follow these steps to select the drive module to upgrade.
1. Open your ControlFLASH software.

You can access the ControlFLASH software by either of these methods:
• In RSLogix 5000 software from the Tools menu, choose
ControlFLASH.
• Choose Start>Programs>FLASH Programming Tools>
ControlFLASH.
The Welcome to ControlFLASH dialog box appears.
2. Click Next.
The Catalog Number dialog box appears.

3. Select your drive module and click Next.

The Select Device to Update dialog box appears.
4. Expand your Ethernet node, Logix5000 backplane, and EtherNet/IP

network module.
5. Select the servo drive to upgrade and click OK.
The Firmware Revision dialog box appears.
6. Select the firmware revision to upgrade and click Next.

The Summary dialog box appears.

7. Confirm the drive catalog number and firmware revision and click Finish
This ControlFLASH warning dialog box appears.
8. Click Yes (when ready).

The Progress dialog box appears and upgrading begins.
The drive four-digit status indicator changes to -PS- and scrolls IP address,
which indicates that upgrading is in progress.
After the upgrade information is sent to the drive, the drive resets and
performs diagnostic check in. It displays 350, -08-, and scroll -00- and the
IP address.
9. Wait for the Progress dialog box to time out.

It is normal for this process to take several minutes.
IMPORTANT Do not cycle power to the drive during this process or the firmware
upgrade is not completed successfully.

10. The Update Status dialog box appears and indicates success or failure as
described below.
Upgrading Status If
Success 1. Update complete appears in a GREEN Status dialog box.
2. Go to step 11.
Failure 1. Update failure appears in a RED Status dialog box.
2. Refer to ControlFLASH Firmware Upgrade Kit Quick Start, publication
1756-QS105, for troubleshooting information.
11. Click OK.

Verify 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.
3. Expand your Ethernet node, Logix5000 backplane, and EtherNet/IP

network module.
4. Right-click the drive module and choose Device Properties.
The Device Properties dialog box appears.
5. Verify the new firmware revision level.

6. Click Close.

Index
Numerics certification
120/240V single-phase input power 132 TÜV Rheinland 101
user responsibilities 101
120V single-phase input power 131 circuit breaker
240/480V three-phase input power 133 selection 19
specifications 20
clamp 70
A clean zone 28
about this publication 9 clearance requirements 24
AC input power configure
pinouts 40 axis properties 90
actions tab 92 delay times 92
actuators drive modules 87
interconnect diagram EtherNet/IP controller 84
MPAI 137 connect
MPAR 137 Ethernet 75
MPAS 136 external shunt resistor 75
TLAR 138 feedback 71
additional resources 10 I/O 71
application motor shield clamp 70
Logix Designer 84 connector
apply power 93 designators 36
locations 36, 104
axis module contactor specifications 22
axis properties 90
ControlFLASH
status indicators 119
axis unstable 121 firmware upgrade 143
troubleshooting 149
verify upgrade 150
B controller properties 85
conventions used in this manual 9
back-up power 45
pinouts 40
block diagrams D
power block diagram 140
data type 88
voltage-doubler block diagram 141
bond 26 date/time tab 85
EMI (electromagnetic interference) 25 delay times 92
high frequency energy 27 digital inputs 41
subpanels 27 dirty zone 28
brake currents 139 download program 93
build your own cables 52 drive
wire BP connector 63
wire IPD connector 64
C wire MP connector 65
cables wire STO connector 63
build your own cables 52 wiring requirements 60
Ethernet cable length 75 drive status indicator 120
length, CE 18
motor feedback 71
motor power 66 E
shield clamp 70 EMC
catalog numbers 14
directive 105
category 3 motor ground termination 65
requirements 102 motor ground termination at motor 65
stop category definitions 102 EMI (electromagnetic interference)
CE bonding 25
compliance 15, 57 EN 61508 102
comply with CE 105 EN 62061 102
conformity 105
invalidate compliance 57 enable time synchronization 85
meet requirements 105 enableInputChecking 95, 100

Index
enclosure install drive accessories

requirements 17 I/O terminal block 73
sizing 21 low-profile connector kits 74
erratic operation 122 shunt resistor 75
Ethernet install your drive
cable length 75 bond subpanels 27
cables circuit breakers 19
RJ45 connector 75 fuse selection 19
pinouts 39 HF bonding 25
wiring 75 system mounting requirements 17
transformer 19
integrated axis module
F axis properties 90
fault code summary 113 status indicators 119
interconnect diagrams
fault codes 113
120/240V single-phase input power 132
fault status only 123 120V single-phase input power 131
feedback connections 71 2097 with MPAI actuator 137
feedback power supply 50 2097 with MPAR actuator 137
firmware upgrade 143 2097 with MPAS actuator 136
verify upgrade 150 2097 with MPL/MPM/MPF/MPS motor 134
fuse 2097 with TLAR actuator 138
2097 with TLY motor 135
selection 19 240/480V three-phase input power 133
specifications 20 notes 130
shunt resistor 133
interpreting status indicators 112
G ISO 13849-1 CAT 3
generic TTL incremental 46 requirements 102
ground stop category definitions 102
multiple subpanels 59
system to subpanel 58
grounded power configuration 53 L
Logix Designer application 84
low profile connector kits
H wiring 74
hardware enable input 95, 98 low voltage directive 105
HF bonding 25
high frequency energy 27
hookup test 95 M
module properties
drive modules 87
I motion group properties 89
I/O motor feedback
specifications 41 pinouts 39
I/O connections 71 specifications
I/O connector wiring 73 general 46
I/O specifications thermostat 47
wiring 71
back-up power 45 motor power
pinouts 38
input power wiring pinouts 40
wiring 66
3-phase Delta 53 motor tab 90
3-phase WYE 53
determine input power 52 motors
grounded power configuration 53 accel/decel problems 121
single-phase 54 brake currents 139
voltage doubler 54 feedback pinouts 72
single-phase amplifiers on 3-phase power 55, ground termination 65
56 interconnect diagram
MPL/MPM/MPF/MPS 134

Index
TLY 135 S
overheating 122
power wiring safe torque-off
3-phase and brake 68 bypass 107
3-phase only 67 connector location 104
TL-Series 66 operation 102, 107
shield clamp wiring 70 PFD and PFH data 103
test 94 PFD and PFH definition 103
tune 94 pinouts 37
velocity 121 specifications 109
mount troubleshooting 103
Kinetix 350 drive 33 wiring diagram 108
MSG instruction 100 wiring requirements 106
safety products catalog 108
shield clamp 70
N shunt resistor 31
network status indicator 120 interconnect diagram 133
wiring requirements 61
noise 28
shunt resistor and DC bus
abnormal 122 pinouts 40
feedback 121
shunt/DC bus connector 75
shutdown 123
P specifications
panel back-up power 45
circut breaker 20
requirements 17
contactor ratings 22
parameters 92
digital inputs 41
PFD and PFH data 103 feedback
PFD and PFH definition 103 power supply 50
pinouts fuse 20
AC input power (IPD) 40 motor feedback 46
back-up power (BP) 40 generic TTL 48
Ethernet (Port 1) 39 Stegmann 47
I/O (IOD) 38 Tamagawa 50
motor feedback (MF) 39 motor thermostat interface 47
motor feedback connector 72 safe torque-off 109
motor power (MP) 40 transformer 23
safe torque-off (STO) 37 status indicators 112, 119
shunt resistor and DC bus (BC) 40 drive status 120
PORT 1 status indicator 120 PORT 1 status 120
power block diagram 140 Stegmann 46
power supply, feedback 50 stop drive 123
powerup 93 stop planner 123
publications, related 10 Studio 5000 environment 84
system block diagrams
power block diagram 140
R voltage-doubler block diagram 141
system mounting requirements 17
related publications 10
system overview 12
requirements
diagram 13
clearance 24
RJ45
Ethernet connector 75 T
route power and signal wiring 52
Tamagawa 46
test axes
hookup test 95
transformer
sizing 19
specifications 23

Index
troubleshooting 120
ControlFLASH 149
drive status indicator 120
exception behavior 123
fault code summary 113
fault codes 113
fault status only 123
four-digit display messages 112
general system problems 121
abnormal noise 122
axis unstable 121
erratic operation 122
feedback noise 121
motor accel/decel 121
motor overheating 122
motor velocity 121
no rotation 122
Logix/drive fault behavior 123
network status indicator 120
PORT 1 status indicator 120
safe torque-off 103
safety precautions 111
shutdown 123
stop drive 123
stop planner 123
tune axes
autotune tab 97
V
voltage doubler
block diagram 141
operation 54
power diagram 131
W
wiring
build your own cables 52
diagram, safe torque-off 108
drive
BP connector 63
IPD connector 64
MP connector 65
STO connector 63
Ethernet connections 75
grounded power configuration 53
grounding drive 58
guidelines 62
I/O connector 73
input power
determine type 52
low profile connectors 74
motor cable shield clamp 70
motor feedback 71
motor power 66, 67, 68
requirements 51, 106
drive 60
shunt resistor 61
route power and signal wiring 52
shunt resistor 75

Index
Notes:

Rockwell Automation Support
Rockwell Automation provides technical information on the Web to assist you in using its products.
At http://www.rockwellautomation.com/support you can find technical and application notes, sample code, and links to
software service packs. You can also visit our Support Center at https://rockwellautomation.custhelp.com/ for software
updates, support chats and forums, technical information, FAQs, and to sign up for product notification updates.
In addition, we offer multiple support programs for installation, configuration, and troubleshooting. For more
information, contact your local distributor or Rockwell Automation representative, or visit
http://www.rockwellautomation.com/services/online-phone.
Installation Assistance
If you experience 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/rockwellautomation/support/overview.page, or contact your local
Rockwell Automation representative.
New Product Satisfaction Return
Rockwell Automation tests all of its products to help 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/.
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Rockwell Automation Publication 2097-UM002C-EN-P - December 2013

Supersedes Publication 2097-UM002B-EN-P - November 2013 Copyright © 2013 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.

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Labels may also be on or inside the equipment to provide specific precautions.

Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 3

4 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013

Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 5

Ethernet Communication Specifications . . . . . . . . . . . . . . . . . . . . . . . 45

6 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013

Configure the Kinetix 350 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 7

8 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013

Rockwell Automation Publication 2097-UM002C-EN-P - December 2013 9

You can view or download publications at

10 Rockwell Automation Publication 2097-UM002C-EN-P - December 2013

Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 11

Table 1 - Kinetix 350 Drive System Overview

12 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013

Figure 1 - Typical Kinetix 350 Drive Installation

MP-Series Integrated Linear Stages

Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 13

Table 2 - Kinetix 350 Drives (single-phase)

Table 3 - Kinetix 350 Drives (single/three-phase)

Table 4 - Kinetix 350 Drives (three-phase)

Table 5 - Kinetix 350 Drive Accessories

14 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013

ATTENTION: Meeting CE requires a grounded system. The method of

Refer to Appendix A on page 129 for interconnect diagrams, including input

Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 15

16 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013

Install the Kinetix 350 Drive System

For on-line product selection and system configuration tools, including

System Mounting Requirements

Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 17

18 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013

Circuit Breaker/Fuse Selection

See Kinetix 350 Drive Power Specifications in Kinetix Servo Drives

Refer to Circuit Breaker/Fuse Specifications on page 20 for recommended circuit

Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 19

Circuit Breaker/Fuse Specifications

Use class CC or T fast-acting current-limiting type fuses, 200,000 AIC,

20 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013

This example is provided to assist you in sizing an enclosure for your

With no active method of heat dissipation (such as fans or air conditioning)

2 x (0.332 x 0.70) + 2 x (0.332 x 2.0) + 2 x (0.70 x 2.0) = 4.59 m2

Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 21

Table 7 - Kinetix 350 Drives (240V)

Table 8 - Kinetix 350 Drives (480V)

22 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013

Transformer Specifications for Input Power

Power Dissipation Specifications

Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 23

Minimum Clearance Requirements

Figure 3 illustrates minimum clearance requirements for proper airflow and

Refer to Kinetix 350 Drive Power Specifications in Kinetix Servo Drives

Figure 3 - Minimum Clearance Requirements

25.0 mm (1.0 in.) Clearance Drive A

24 Rockwell Automation Publication 2097-UM002A-EN-P - December 2013

Bonding is the practice of connecting metal chassis, assemblies, frames, shields,

Rockwell Automation Publication 2097-UM002A-EN-P - December 2013 25