User Manual Allen-Bradley Kinetix 350 Single-axis EtherNet/IP Servo Drives Catalog Numbers 2097-V31PRO-LM, 2097-V31PR2-LM, 2097-V32PRO-LM, 2097-V32PR2-LM, 2097-V32PR4-LM, 2097-V33°R1-LM, 2097-V33PR3-LM, 2097-V33PR5-LM, 2097-V33PRE-LM, 2097-V34PR3-LM, 2097-V34PR5-LM, 2097-V34PR6-1M Rockwell @ Allen-Bradley - Rockwell Sotwae Automation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 chis 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, Ine. be responsible or lable 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 ilustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Ine. 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 prohibized “Throughour 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 ina hazardous environment, ich may lead to personal injury or deat, property damage or economicloss, ATTENTION: idencfes information about practices or cicumstances that can lea to personalinjury or death property damage, or economic oss. Attentions help youidentify a hazard, avoid a hazard, and recognize the consequence. >> IMPORTANT ldentifes information thatisctcalfor sucessful application and understanding ofthe product, Labels may also be on or inside the equipment to provide specific precautions. SHOCK HAZARD: Labels maybe 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 ono inside the equipment fo example, a drive or motr to alert people that surfaces may reach dangerous temperatures "ARC FLASH HAZARD: Labels maybe ono inside the equipment, fr example a motor control centr, to alert people to potential Arc Flas, Arc Fash wil 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) > b>Summary of Changes New and Updated Information This manual contains new and updated information. Changes throughout this revision are marked by change bars as shown to the right of this paragraph, This table contains the changes made to this sevision. ‘Sule 000 ag Desgne™ applaion sth rebranding of Sagi™ 500 ‘aware Updated Kinet 350 Drive Str Ove Updated Typ int Deveson Updated atalg umber enantio table Ud these and Crt rake pera abe Updated Sat Resstarand DC omnetor decipton nd sgl names Updo bake pout and petites "de erie and ved mecanval enrynomaton ote and erten sateen’ UpdiedTubleshonng he Se Trqe-off Funclnatteen atest UpaatedFigr 4 Sng ea Congrtin Sop egy) with Aucomancheet "ie or ees Tore Memery Mole ‘de wblehootng or motr wh aTTL encoder Update igre 57 Kei 350 Dv wih Sen TA) Motarhigh reson eceder ables acl utomatenPablain 2087-UMAO2CEN-P- December 2013 w 36 A 6 le oa 1 i 1 m2 ws‘Summary of Changes Notes: 4 Rectal utmation Pabon 257-UNODICEN?-Decerber201Table of Contents Start Preface About This Publication, Conventions. Studio 5000 Environment Additional Resources Chapter About the Kinetix 350 Drive System. Catalog Number Explanation Agency Compliance CE Requirements Chapter2 Install the Kinetix 350 Drive System Sysccm Design Guidelines. Kinetix 350 Drive Connector Data System Mounting Requirements Transformer Selection - Circuit Breaker/Fuse Selection Circuit Breaker/Fuse Specifications Enclosure Selection. Contactor Ratings Transformer Specifications for Input Power Power Dissipation Specifications Minimum Clearance Requirements Electrical Noise Reduction Bonding Drives vee Bonding Multiple Subpanels Establishing Noise Zones. Cable Categories for Kinetix 350 Drive Components. Noise Reduction Guidelines for Drive Accessories ‘Mount Your Kinetix 350 Drive Chapter3 Kinetix 350 Drive Connectors and Indicators . Safe Torque-off Connector Pinout. 1/0 Connector Pinout : : Motor Feedback (MF) Connector Pinout Ethernet Communication Connector Pinout AC Input Power Connector Pinout. Back-up Power Connector Pinout Shunt Resistor and DC Bus Connector Pinout Motor Power Connector Pinout. Control Signal Specifications Digital Inputs Motor Brake Output al utomatenPublain 287-UMOO2CAN-P- December 2013 2 14 15 15 7 19 19 20 - 30 30 33 - 36 37 - 38 39 39 40 40 40Table of Contents Connect the Kinetix 350 Drive System Basic Wiring Requirements Configure and Start Up the Kinetix 350 Drive System Ethernet Communication Specifications cee 24V DC Back-up Power Specifications .. 45 Motor Feedback Specifications 46 Feedback Power Supply 50 Chapters Recommended Cables. Route Power and Signal Wiring. Determine the Input Power Configuration 52 Three-phase Power Wired to Three-phase Drives 33 Single-phase Power Wired to Single-phase Drives 54 Voltage Doubler Operation. .. veces 34 Isolation Transformer in Grounded Power Configurations. 35 ‘Three-phase Power Wired to Single-phase Drives Voiding of CE Compliance. Grounding Your Kinetix 350 Drive System Ground Your Drive to the System Subpanel Ground Multiple Subpanels Power Wiring Requirements ‘Wiring Guidelines Wiring the Kinetix 350 Drive Connectors. Wire the Safe Torque-off (STO) Connector Wire the Back-up Power (BP) Connector. Wire the Input Power (IPD) Conneetor. . Wire the Motor Power (MP) Connector Apply the Motor Cable Shield Clamp. Feedback and I/O Cable Connections Flying-lead Feedback Cable Pin-outs ‘Wiring the Feedback and I/O Connectors. .. Wire the 1/O Connector... Wire the Low-profile Connector Kit.. Shunt Resistor Connections, Ethernet Cable Connections Chapter Keypad Input Status Indicators. 79 Configure the Kinetix 350 Drive Ethernet IP Address woe BI Ethernet Connection 81 Kinetix 350 Drive Ethernet Port Configuration 81 ‘Obtain the Kinetix 350 Drives’ Current Ethernet Settings 81 Configure the IP Address Manually (seatic address) 82 Configure the IP Address Automatically (dynamic address) ...... 83 Configure the Logix3000 EtherNet/IP Controller : 84 Configure the Logix5000 Controller 84 acl utaraton Patan 297-UMOQ2CEN-P-Dacenber 2013Table of Contents Kinetix 350 Drive Safe Torque-off Feature Troubleshoot the Kinetix 350 Drive Configure the Kinetix 350 Drive Configure the Motion Group ... Configure Axis Properties Download the Program ....... Apply Power to che Kinetix 350 Drive ‘Test and Tune the Axes Test the Axes Tune the Axes. Disable EnableInputChecking by Using a Logix Designer Message Instruction Chapter6 Certification, Important Safety Considerations Safety Category 3 Requirements Stop Category Definition ....... Performance Level and Safety Integrity Level (SUL) CL2 Description of Operation Troubleshooting the Safe Torque-off Function PED and PFH Definitions PED and PFH Data Safe Torque-off Connector Data. STO Connector Pinouts ‘Wiring Your Safe Torque-off Circuit European Union Directives ... oe Safe Torque-off Wiring Requirements Kinetix 350 Drive Safe Torque-off Feature Safe Torque-off Feature Bypass . Kinetix 350 Drive Safe Torque-off Wiring Diagrams Safe Torque-off Signal Specifications ........ Chapter7 Safety Precautions. Interpret Status Indicators Four-digit Display Messages Error Codes, Fault Codes Status Indicators General System Behavior Logix5000 Controller and Drive Behavior Kinetix 350 Drive Exception Behavior Web Server Interface acl ution Pblain2097-UMOO2C EN -Dacember 2012 86 89 90 93 93 94 94 97 100 101 101 102, 102 102 - 102 103 - 103 = 103 104 104 105 - 105 106 107 107 108 - 109 ML - M2 - 2 113 113 119) 221 = 123 123 127Table of Contents Interconnect Diagrams Upgrade the Kinetix 350 Drive Firmware Appendix A Interconnect Diagram Notes Power Wiring Examples Shunt Resistor Wiring Example. Kinetix 350 Drive/Rotary Motor Wiring Examples Kinetix 350 Drive/ Actuator Wiring Examples Motor Brake Currents System Block Diagrams Appendix B Upgrade Drive Firmware with ControlFLASH Software Before You Begin : Configure Logix5000 Communication ... Upgrade Firmware Verify the Firmware Upgrade... Index. . acl utaraton Patan 297-UMOQ2CEN-P-Dacenber 2013 130 131 133 - 134 = 136 139 140 143 oo 143, 2144 146 150 151Preface About This Publication ‘This manual provides detailed installation instructions for mounting, wiring, and troubleshooting your Kinetix 350 drives 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 Stadio 5000 environment is the Logix Designer application. The Logix Designer application i the rebranding of RSLogix 5000 software and continues to be the product to program Logix5000 controllers for diserete process, batch, motion, safery, and drive-based solutions. r Rockwell Software Studio 5000 » Create Open Explore re ctingPe He Fem ingot SemplePrjt dene Nee FronSarle rt FeenUscod At Recent Projects a Bane Bremen Phat ‘The Studio 5000 environment is the foundation for the Future of Rockwell Automation’ engineering design tools and capabilities. This environment is the cone place for design engineers to develop all ofthe elements oftheir control system acl utomatenPablain 2087-UMAO2CEN-P- December 2013 .Preface Additional Resources These documents contain additional information concerning related products from Rockwell Aucomation, Desciption Tet 50Sigle-a Ee EUP Seno Dive staan tos, publaion 2087-Na08 Terao on sling your inet 50 dive te ne? Tietc0 Shad Restor nalion hats, pabrain Inert on sali ard wig Ke 300 hun esos Tietc300NC Line Fiesta tracts, aban 2ST DD Taro om tala and wig te Kn YOD AC nee "ieti300/0 emia spanson Block stator stuns, publican 2087 Moos Tn on etal and wing te Ki 00 UO teal expansion ae “apacleg AER Cntr er Nan pubaton GE Tnfematen ostalig. eniguing programming andepetinga Conpacoga” stem ‘Sta 200 ere Ue anaged Shs salon Isto, publaion 788-0) Tero nealing and operting a St 200 Ghee Ses, there Benes adsl Cnnectiy dst pps White Ppe publi 185 wean Provides ener guidelines and teary for tbeneUP india stems Inds Ethernet Me publication 1-BR001 Ths bch proves conection fr fer ntwons and negated cece ‘aac fr Seeing Gables rhe Nena Whe Paper, polation REL WPOOT Ths guides aragedic ep youseec cing based on he plan, enianmental oats, nd mechanical recenens iiegatedoon on SERCOS nd There? Sens Anas nd Compan Wie Pape, olan MOTION PONT THs wie pape crpares and cote SERCS and ibe witha Convegno Tn Aomaton Wing and Gourcng Gales, pubiaion 170-11 rove teal guidlines oiling Rocke Autenaton dial pie. Syren Design Conolo Ee Nabe Rete None, plato GUCaNoat ‘CNae Management VD pobleaton GHC SPOR Inman, rapes a eis signe To inmie se les used eetal abe Tieton onl Seen Gade puron UCSOOL Spcteins torres combats, and accesories for Ketnnaton onl produc. Tite Dives Speco Teena Dt, alain GCTDO pectin eKits dive main corre pods, oton nae sata, wrod ate nw ab aml al Dive ad mtr sing with appleation rae ‘awl gi ale User Manual poleson TSUNEO Tnlraton naling, oniguing programming and eperatings Conolognsyten, “GP Notion Cafigartin a Sear User Maal pbliaion MOTIONS Ino on cniguing and voubleshocing your ntegicand Conpactog tie network modules ‘HOE-OU negated Maton Exode on tee User Manual Pulao UMD Teron on stalin wing and wsblsbootartegratedmstn encoder enttemet ail FTASH Fare Upgrade Kt Ue Maral pbcaton SASS For CoraFLSH™ formation nat pea aye fay ‘aia Axomato Configuration and Selection Ted, bt nn abate ‘nln product seletan and ste canfguation ol dling hateCAD (Oi toning. Tecivelhonaton edu Cera, website ga raceveactonston Jcenaton For dedaaions of cane D0 caren arabe om Fackwelfuomaton Tata Ee oe pole he NainalFe Protection sedan of Baton, MA Tin arco ie ser and ype fo grounding elec qapment Teckel cmatnndutalhutemation Govan pubieaon RET. alsa ofa autamation terns and abbrevaons You can view or download publications at doup:L/wwwsockwellaruomarion com/litcratute. To order paper copies of technical documentation, contact your local Allen-Bradley distributor or Rockwe ‘Automation sales representative 0 Rectal utmaton Pubaion 287-UNOOICEN?-Deceber 2013Chapter 1 Start Terk Page one Kinet 50 Dre Ste “Ging nb Eaton gene Compe Fave utratonPbatin287-UMOQ2I-N-P- December 2013Chapter Sut About the Kinetix 350 Drive System Table -Kinetix 350 Drive System Overview The Kinevix 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 (2.12 Arms) netic 350 System Component cat. No Desctiption Tints negried matin en Eee? Sera Dive oT ti 350 tated metin on Ee ives with af argue enue are mabe wth ROO er 208 ACnput power Cline Fier 180 Balen 2050 and Bln 287 AC ne iter ar eqaredio ei CE wih ine dive wiboutan r97- ateratd ine ite Bulletin 2097 Fes ae vue fet mount ane moar, Shan No oF Bullen 2057 ont estas ones die and pre shunting capably agente ppewons Teamna Bek forO | 20781 5o-in terminal Bld Use with 0 enero conto interac omnes comet Sea O00 here Sth] TOUSOST ‘net th dean Eee networkin eens and des etn atc een Togas Contaer Piaorn or 1758-27. GBFCB 176-38 178-68 176-3088 1756164" 1560 “pact onto wihnegated dl por Eee eae eves common Tawi he Kinet 350 ve syste, The conmuncaonink uses eAeUP prac over acapper cable ‘ao O00 Evonment Wh The Sula S00 Lag Desge applaton provides super fr programing, commisnng, and mantang the Leies00 andy feller Rotary Seve ats Wo Sere, Tee ‘patible eay moar ndude the P-Series (Bletn NPL, MP, MP 2nd HPS) and T-Series Balen TN) Tee Sager Ses alice) Capable age nde MP Sees Ballet PAS) eae nen Sage Ecc nds WP Sere Sere ‘empatleelecrc yndesincloe NPS and T-Series ulin MPAR TAR and PAD Ecc pads, Theater WEG Tneated Main Encoder on Chee “ables Watotrake and edad aes Not powerrake and edback ables ince SpeedTecard headed DN coe atthe natr Powe Bre cableshave fying leads onthe ve edad straight onecosthat comet sero mates Feedback ables bare ‘hing as hat wires ogo cemecar sn th rive end and straight connects on th rte ‘enmaniatn aber 1ST NaCEIN ed) or THSTAUED gh ex led) eet abe, (1) 73eseeCampacteg anv gues Sag 0 eta veron 21.2 6 2 Fal atraton Pblcatin287-UMOQ2I-N-- December 2013sian Chapter Figure 1 Typical Kinetix350 Drive Installation se Teese nesusst “= conpactosie cotter Pato Ino Power Sea Sth J) sets LLY tie |. Dame Logix Designer + Device Pp fener (ru) HOE-Ahintegatedttion TSIEN ded Fig Encaseron hee? 1545/-QUBIx highend) there abe {othe tere? 7 Comptbl Drives r oor Shr Resior 257 Lie (opr equipment fet 350 0H i ‘ACLine iter optanal equine) 297 iter Shown TAD CConbo Ip Peep 2057181 Terminal loptaalequpment) pasion Block Ses ltegated Linea Stages reais ues asebaticew sown Lon pote Connector kt Buln 2090 eterPowe ables ot Pees ae Tere: cnn a ni ene dec ines shwn fi [J icons he Bulletin 2090 Watareedbck ales P-Series and Sets etary Maes (WPL shown) Fal stration Pblcatin287-UMOQ2M-N-- December 2013 aChapter Sut Catalog Number Explanation —Kinccix350 drive catalog numbers and descriptions arc listed in these tables. Table? -Kinetix 350 Drives (single-phase) ‘ntinaous Output at No. Input voltage eer Features STABTPREAN te 28 + 126 Dowtermode Sa nav10 7 1 SaleTocueth TET RIPON ia + negate ACH fter TST APRN 0,00 57 + SateToquestt TST APRN 1 Table -Kinetix 350 Drives (single/three-phase) ‘ontnuous Output at. Inpetitage et Features TST ARTI Te 77 APRN 0H 18 a7 ov,70 SafeTerqu-fh ST PRIN mat i ST PRIN 0 Table -Kinetix350 Drives three-phase) ‘ntnueus Output cat. Inpetoitage reente Features TRIN te STAN 0430 37 Safe Torque TARE s Table -Kinetix 350 rive Accessories GN, 29 DoTTBT 257 5T-PGAR TNE Dive Components cle es Tern VO comes Shanes emery made ragraminer emery males pac “ Fal atraton Pblcatin287-UMOQ2I-N-- December 2013sian Chapter Agency Compliance If chis product is installed within the European Union and has the CE mark, the following regulations apply grounding the AClin iter and drive must match allure todo ths renders the \ [ATTENTION: Meeting CE requires a grounded system, The method of filter ineffective and can cause damage tthe fier. for grounding examples, refer o Grounding Your Kinetix 350 Drive System on age 8, For more information on electrical noise reduction, refer to the System Design for Control of Electrical Noise Reference Manual, publication GM CERequirements To meet CE requirements, these requirements apply: Install an AC line filer (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 eable shield. Drive-to-motor power and feedback cables must not exceed 20 m (65.6 ft) Install che Kinetix 350 system inside an enclosure. Run input power wiring in conduit (grounded to the enclosuse) outside of the enclosure. Separate signal and power eables. Segregate input power wiring and motor power cables from control wising and motor feedback cables. Use shielded eable 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. Fal stration Pblcatin287-UMOQ2M-N-- December 2013 1sChapter sur Notes: 6 Fak ataratonPblatin287-UMOQ2I-N--Dceber 213Chapter 2 System Design Guidelines Install the Kinetix 350 Drive System a Page “yen Design Godelier 7 ec Nae edition 5 2500e # RvtetncedrAnagRegsvaion ——O"totroweraaSafey ables Route 24VOC19 Shite Cables Shleed able 1) aes Uo ables yey wes tele ety nema {2 Woen spe dest gemini evans red sel lees ie ad an we Fr rangle eater esp Covel rae Rene Val paan GMC Fake ataratonPubatin287-UMOO2I-N--Decenber 2013 a”Chapter? stale neti 350 Dive Stem 2 ‘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 Kinctix 350 drive as possible. + Shune wires can be run with motor power cables. + Keep unshielded wiring as short as possible, Keep shunt wiring as lat to the cabinet as possible. + Separate shunt wires from other sensitive, low-voltage signal cables. Figure 9-Shunt Resistor inside the Enclosure dean Wrenay ‘Shun Wiring ethos: Dirty Wenay “wie pain cond is cc). Slelded tied par ean chi), “wie pa, wo tis per foo (inhi choc). Ver dry zoe segregated natin wee), Kneticiso Drive there (ies) ‘able Hasenstie uipmen tin 150 mm (sain) 0" eres andFedback ‘ables Shield ales Route coder Regisation 10", Motor Pome nd Safety bes foute 04 0CU0 = Shed Cable {0 divest Vo alco yey west cen ety ema 2) Wan ice ent emt Om (hn ceva, tl rd el vlc aan wie Fer ‘aang feat te eg Co alae Relea patna ‘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 sage 134 for the intereonnect diagram of your drive/motor combination Fak ataratonPblatin287-UMOQ2I-N--Dceber 213stl te inet 350 Ste Chapter? Mount Your Kinetix 350 Drive | This procedure assumes you have prepared your panel and understand how to bond your system. For installation instructions regarding other equipment and accessories, refer to the instructions that came with those products and.assembles. You are required to follow static control precautions when you instal est service, orepair this assembly you do nt fllow ESD control procedures, components can be damaged, If youare not familiar with static iige rane ag FOL A eee oy [aot [Encgveonmlyseapetna Reamsenegacentsmtorenay fins [led POs_0 closed contact) inputs for axis require 24V OC (nominal). acl Automation Pblatin2057-UMOO2EN-P- December 2013 aChapter inti ASD Gomme Data Table 13 -Understanding Digital input Functions Fenton Descpion Behave Tecoma ovigurton pees cheng ol he abienpa an |B de dive able npt cing rable te cheng sxtiestte enables the pomertecronistoconcolthe motored an | toed andthe imps abe ie ve sus Dre ale inact preven ot, Starinitandyu arent beabetassbe a Sera stutan Ted gente nexetnftheingutisave when the | ome onto snble conti commands mtn ands aad decking The dive | To dale the nal arction Detain stuatenspogarmate Tengu 4¥0C + Witeaagcdesgner mesageinsrecton tha changes enablenptCeng or htave 736 toze, se nstucns enpage ta Zn ate tends toa ring etc ta theerencng Home sensors ben sen pal avastonfthssgalswseeto ‘Sabla reference pton the mache ax Aegitaen Te pacveto-ave wna [ao knawn aa pose Wanton or taivetoacie trata akon a negate tations theta potion vale frase region mae. Thefoncon is abaysinacte nes amedty the contol Postv Oveael The contol afiguation pcs cheng ofthe hardvare oe ‘velit, an ace state nes hat a postin Ft has been ‘eaceedes epost cretion, ‘The die generates an exception he inpuisnaine when the col ahories checking The ive Beavor nh stations progammable Tefuncton abaya To date actin: The cole ofan pees ceding of be hardvare ‘ervael ns, a nate sate cates tha pestis Been exceeded inte negate deton. + Tinpotto 287 + Settoony faut Satus esate Overt |e rie enertesan xcept ftheintsinacive when the coualeauthres cig Te dveBeavrinfssteatonls programmable Table 14- Digital Input Specifications ‘tibute Valve We Tee igh gle ned cae king Functions Enable Home Pv Over aveNegveOve-Pael, Agitation Top en (th 24 apple) rk mar Ona pate 122? Smal Ofstatelnpt age 2 Pej erg (ny Region fron) iis nom alec ering deta ther np fancies, a be cng Di nem Propagation day only Regt acon 5 Fegan epeaaity eos Tnpatreaction tine (iable 2s man Tope tie (rable Poe Ore elnpa Tra nae ‘The digital inputs are optically isolated and sinks up to 24V DC. Electrical details are shown in Table 13 on page 42. You ean set up the inputs for PNP sourcing ot NPN sinking. Rectal utmation Pabon 257-UNODICEN?-Decerber201Ainetix3S0DrieGmnectrData— Chapter? Figure 15 -Sourcing of Digital inputs av 1240 a BLE, HoMe_sW, P05_O1 or NEG_oT + we 12k ENABLE, HOME Hoe nb om Figure 16-Sinking of Digital inputs oo 1240 ow Naa, HME_$, OS_of or NEGO kt WE 1240 ABLE, HOME_SW, et) ier vat aa Figure 17 -Sourcing of Registration Digital Input + ~ s OK te te Hvk = im acl utmationPublatin2057-UMOO2CEN-P- December 2013 ahapter3—_Kineti380 Fe ComecerDate Figure 18-Sinking of Registration Digital Input eo ula on z OK ua e aRvK a en Motor Brake Output The ewo digital outputs (IOD-43 and IOD-44) have fixed pin assignments for ‘motor brake function ‘bate Valve ce Opty alate open coestaeriter Talage max 3 Garena Tom The following schematic shows how to wire your motor brake. Figure 19 Brake Wiring Schematic Hint Deve| cme}? | arse | Tara Leal evccou Use these guideline to wire your brake: + Connect diode, 1N4004 or equivalent, as shown on both the rely and the motor brake coils, + Wire che ourputas sourcing + The motor brake output is active on enable + Set the motor engage and disengage times based on the motor selected “ Rectal utmation Publaion 257-UNOOICEN?-Decerber2013KinetixaS0DrieGmnectrData Chapter? Ethernet Communication Specifications ‘An RJ45 100 Mbie Ethernet connector (port 1) is provided on the Kinetix 350 dive. Ie is fully compliane to the EthesNet/IP standard. Restrict the location of all Ethernet cabling to clean zones with minimal electromagnetic interference. ‘bate ‘ao MODI cso deectonanectn | Yer ang (ASE sex Tiverton CSE sheled 100m 18H, max 24V DC Back-up Power Specifications "The Kinetix 350 drive can use an external power supply to power the logic and ‘communication circuits. Ifan independent 24V (@ 1 A) power supply is connected to the BP connector, the logic and communication circuits remain active during a mains inpue power loss. Te te Tapatalage are Vane 267 ‘stm WA acl Automation ablation 2057-UMOO2C ENP - December 2013 raChapter Kineti380 Fe ComecerDte Motor Feedback Specifications The drive accepts motor feedback signals from the following types of encoders ese general specifications. Table 15 -Motor Feedback General Spec “bate Feedback deve apport Powersupply (PWR) Powerspriwy SCS Thermatat ‘The Kinetix 350 drives support 15-pin (MF) motor feedback co: cific Vai ~ Stegmann Hiperae Gener TL eemental 1 amagaa 1-DSeta 513. SEN AO MA max 15, SOU ITE MA, multiple types of feedback devices by using the snnector and sharing connector pins in many Table 16- Motor Feedback Signals by Device Type TMF Fin | Stegmann iperface | Generic TTL ncemental | Tamagawa 17-4 Serial 7 Ne me = 2 aie ae = 7 Os ae = 7 Gs ae = 5 DA Th Dah 6 tom tom toon 7 rw = = 7 = a = 7 = = = a Dai We Di 7 6 6 6 @ = sm = = @ = # EWS ToS ERS a = = = Rectal utmationPabaion 297-UNODICEN? rcember2013KinetixaS0DrieGmnectrData Chapter? she css steer cs ‘Thisis the motor thermostat interface schematic. Although the thermostat signal is shown forall feedback types. some motors do not support this feature because iis not part ofthe feedback device Figure 20-Motor Thermostat Interface Tow vs Table 17- Motor Thermostat State Specifications ‘Sate Resistance atTS™ Nera 00 qi ia 1 esaers mesa betoerT5HFp 1n4CO MF pn) Table 18 -Stegmann Hiperfae Specifications mi Value Fowl ie Hiperace da commaniatin | MS 9600Kp, SavabnopeRY—SSCSCSCS~*~*~S~S~*S “SieiCsineinterpottion ——_—([20Scounimepeiod “Topatiegeny aren) «(Ome “Tapatvotage NBM) ———=«d OK TM ppmeauredatthediveinnts “Trrelossdetecion AEM) [Aeragelin'ror)>contae Figure21-Stegmann Hiperface interface, SIN and (0S Signals. Re . TS oe 1 insic350 De " [reso sa i ‘0 via ' WN > i PL waco i wok na i i Wa ; w am te i to f>— tote | 1a oy i acl Automation ablation 2057-UMOO2C ENP - December 2013 aChapter Kineti380 Fe ComecerDte Figure 22 -Stegmann Hiperface interface, DATA Signals sv as >> tetpceter oan Sie om va Giles i i i Shafer open ate pote rok Mt gp i | fa herein deep we Sgn ia ap i i i i 4} nse Ninti350 Dre Cs} —— fre uaRT - font Table 19-Generic TTL Incremental Specifications ‘bate Valve Tne encode spa i diferent uad8 ‘adate epalton ‘A oaslqure wave pete Dieting voage tors okra vara? so ihoaai ‘asin beeen any to es wwe So Bee Single-ended, TTL, open collector, ornare (6152 and53) “a Rectal utmation Pabon 257-UNODICEN?-Decerber201KinetixaS0DrieGmnectrData Chapter? teow oe i wr wo 1 i Moe fp} —— ae Figure 23 -Generic TTL Incremental, AM and BM Signals Kentix350 Dave 1a m0 o i aa Sept oe ia encanta Shaded ate nde crponents that areprf he ca bt supper ther va FR Seo Figure 24-GenericTTL Interface IM Signals 2 1K) ml Sse intx350 Dre Figure 25 - Generic TTL Interface, $1, 52, 0753 Signals + f acl Automation ablation 2057-UMOO2C ENP - December 2013 pte feedback ei pes ote fr Generic TTLinceetal oppor wg cue > ct ‘Shaded are indatescomponens thar pr ofthe cet but supper thr eda esi types oo used fr Geer TL inceretl uppart f——___ user {____ femur [| —______< fon uat 0Chapter inti ASD Gomme Data Table 20-Tamagawa 17-bit Serial Specifications ‘abate agua model suppor Protos Memory uppar Detling erage Tara onmaniation Baery Valve S506 Taragna propre Freraneed with Alen Brae mater da 78.700 75M, eas no pany 3 an eel odin ow pote oan Refer to Figure 22 for the Tamagawa 17-bit serial interface schematic. Itis identical tothe Stegmann Hiperface (DATA) signals schematic, Feedback Power Supply ‘The Kinetix 350 drive generates +5V and +9V DC for motor feedback power. Table 21 -Motor Feedback Power Specifications suit protection and separate common mode filtering for each channel is Vora arent mh supply Reference Min Nominal [max [in Max Tav0C Tray [si ay ca 7 are a0 Le a a9 7 asmoT 1) Ande eS spp wihlend nthe 95 1) Soudan pwc 1 mk nsheV ga Bi asada Figure 26- Pin Orientation for 15-pin Motor Feedback (MF) Connector ras Font Pos yikes SV Rectal utmation Pabon 257-UNODICEN?-Decerber201Chapter 4 Basic Wiring Requirements Connect the Kinetix 350 Drive System “BeicWingheguienens—SSS~S~« “Goudngvourkinetas00mestem SSSS*«* “PowerWenghegiienents SS Wrngoiddines—sSs~—SSOSCSsSsSD Wiingihekinetn SOOO «dD “rey theowrGbesneim «dO “FeedtadandOGbeGmedons CS “WringtheFeedbaccandvOGmes CB “Tine 359 Dove WOO cometorandteminbee CB Shanes Coaecons a “BheretCablecometions —SSCSC~S~=«dCSS This section contains basic wiring information for the Kinetix 350 drive. ‘ating, deiling, tapping, and welding withthe system remove from the enclosure. Because the sstem is ofthe 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. A ATTENTION: Plan the instalation of your stems that you can perform al ‘SHOCK HAZARD: To avoid hazard of electrical shock, perform allmounting and Wiring ofthe Bulletin 2097 dive prior to applying power Oncepoweris applied, connector terminals can have voltage present even when notin use. IMPORTANT Thissection contains common PWM servo system wiring configurations size, and practices that can be used ina majority of applications. National Electrical (Code, local electial codes, special operating temperatures, duty cycles, or system configurations take precedence over the values and methods provided, acl utomatenPablan 2087-UMOO2CEN-P- December 2013 aChapters Connect the int 350 Dre Sstem Determine the Input Power Configuration 2 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 cabesare designed to minimize EMI and ae recommended over hand-built cables to optimize system performance Ii 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. Twise differential signals with cach other and twist single-ended signals with the appropriate ground return, Refer to the Kinetix Motion Control Selection Guide, publication GMC-SGOOL, for low-profile connector kit, drive-end (mating) connector kit, and motorend 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 voleage signals. This can cause system faults and communication anomalies Refer to Electtical Noise Reduction on page-25 for examples of routing high and low voltage cables in wireways. Refer co the System Design for Control of Electrical Noise Reference Manual, publication GMC-RMOOL. for more information. This section contains examples of typical single-phase and three-phase facility input power wired to single-phase and three-phase Kinetix 350 drives. ‘The grounded power configuration lets you ground your single-phase or three- phase power ata neutral point. Match your secondary to one of the examples and be certain co include the grounded neutral connection Rectal utmation Pabon 257-UNODICEN?-Decerber201Connectthe inet 3800ve Stem Chapters Three-phase Power Wired to Three-phase Drives ‘These examples illustrate ground. 4 chree-phase power wired to three-phase Kinetix 350 drives when phase-to-phase voltage is within drive specifications Figure 26-The hase (40/480V) Power Configuration (WYE secondary) Feederandbranch star cet prteton inal stated Tse 8 Seay 297M Bl 7 a 7 wi ‘NCLine 8) etx 3s0 ives imo a Fiery 1D] Thee-phae Ac ngut ol py 0 0 A sn ‘ 3) IMPORTANT Figure 27-Three-phase(240V) Power For the 480V Kinetic 350 drives to meet proper voltage reepage and dearance requirements each phase vltage to ground must be les than or equal to 300¥ _ACtms, Thismeans thatthe power system must us center grounded ye secondary configuration for 400/480V AC mais. figuration (Delta seco ) Feeder anand sort ret protection sat sted 297-V3PRAM = 7H or 3} netc350 res ts wa 2] Te phase AC Input ee so a aay e —1. Feederadbranchshart reat tein isnot lsat (0) tsagecnenomtene fet og acl Automation ablation 2057-UMOO2C ENP - December 2013 shase (240V) Power Configuration (Delta secondary) 2A a ‘Atl SJ inet 350 Drives = a wa theese pt Hoi | ote £ = —2 php hana ane (enter ganna, aChapters Cannect the Kinet 50 Drie Sytem Tansfeer Secondary L = — i Keune u nv Fite a Output “ Single-phase Power Wired to Single-phase Drives ‘These examples illustrate grounded single-phase power wired to single-phase Kinetix 350 drives when phase-to-phase voltage is within drive specifications IMPORTANT ‘The 2097-V32PRx-LM modelshave integrated AC ln filters and donot require the AClne fier shown inthis diagram, Figure 29 - Single-phase Grounded Power Configurations 2o7-2PReM | inex 350 res Single-phase Input |___5555] —— Bonded Cabinet round Bes. = powerDitbton round 2as7- PRL) 2os7-81rReN ie 7 T c— " ACtine u aoc | rie mm apa | 1 oa ” ba | ‘ © ® i 2oo7-vsrhe UM 1 | inete350 Des Single-phase ACInpet Sek ® |_____£235] =— fonded Cabinet Ground Bus —l. J 6 Goma ider } = Power Distribution Ground 11) Tscatguato appt aged pet fr20971 PL es, Reducing transformer output reduces motor speed. Feeder and branch short circuit protection is nor 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 Kinerix 350 drive input wiring diagrams, refer o Power Wiring Examples on page 131 Rectal utmaton Pubaion 287-UNOOICEN?-Deceber 2013Connectthe inet 3800ve Stem Chapters Isolation Transformer in Grounded Power Configurations ‘When you are using an isolation transformer, attach the chassis ground wite 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 faule conditions ‘ATTENTION: Ifthe supply transformers an autotransformer (not A recommended), do not adda chassis earth ground. A chassis earth grounds already included elsewhere inthe system and adding another creates short, Three-phase Power Wired to Single-phase Drives ‘This example illustrates grounded three-phase power wired to single-phase Kinetix 350 drives when phase-to-phase voltage is within drive specifications Figure 30- Single-phase Amplifiers on Three-phase Power (WYE) Tent essa went g— 1B) ots pt ‘tent Pa Sasi a ET gy | FR ret 350 es eo Ty] Sytem) Te [aa snap 4 mer sees a sch Lteog|— ‘iit ~[oodédoo (Cratos LN, en) ane optioaFrmee norman eer Undesandng he ay ree pub, 00 AC fie sepa a equied eCEcamplce Feeder short circuit protection is not illustrated, acl Automation ablation 2057-UMOO2C ENP - December 2013 8Chapters Cornette int 350 Dre Sstem ‘This example illustrates grounded three-phase power wired to single-phase Kinetix 350 drives when phase-to-phase voltage exceeds drive specifications. A neural must be connected when single-phase drives are attached to a three phase isolating transformer secondary. Ie is not necessary that all ehree-phases be loaded with drives, but each drive must have its power return via the neutral connection, ATTENTION: Failure to connec the neutral can resutin supply voltage swings atthe individual drives. This ocurs when the neutral pont moves vectorialy as aresultof load variations normally experience by the individual dives The supply voltage swing can ause undervoltage and overvotage trips onthe Refer to Shunt Resistor Wising Fxample beginning on page 133 for interconnect diagrams, Table 28 -Motor Power (MP) Connect ‘MP Series or T-Series Serve MP Se Terminal Vito OY Wied Wie We E Geenialow + Table29 -Motor Power (MP) Termination Specifications Recommended Terminals | WireSize rit a Drive Gt. Sip Length min) ‘Torque Value Nn i) TernPHo IM dear-vsRaAM 2097. VPRO 2oor-vsrka rorya |p dorvarin | reorvamain {tt rorvsmsin |i, 2io7-VSRSM 297 VHRRS AM 2uar-v4PRs AM asi oR IM 401m 71028) 05145) acl Automation ablation 2057-UMOO2C ENP - December 2013Chapters Cornette int 350 Dre Sstem Apply the Motor Cable Shield This procedure assumes you hare completed wiring your motor power (MP) Clamp connector and are ready to apply the cable shield clamp. Follow these steps to apply the motor cable shield clamp. 1. Locate a suitable position for installing cable shield clamp within 50...75 mm (2.3 in.) of the drive. hinrmnt Ay F aor | [4 mo Lay ons Dieses ten in). e e - a Ss SK - panelist ove paint to provieretalo ntl contac. 2. Lay out and drill holes for cable clamp. "ATTENTION: Plan the installation of your system so that you can ZA, tomato sp el gute Tet eat die oe es ef ep construction, be careful to keep any metal debris from falling into it. Metal debris or other foreign mattercan become lodged inthe uty, which can rsultn damage to components 3. Locate the position on the motor power cable that comes under the elamp and remove about an inch of the cable jacket to expose the shield braid. cable braid directly in line with the 4, Position the exposed postion o clamp. 5. Clamp the exposed shield to the panel by using the clamp and two 46-32 x I screws provided 6. Repeat ssp 1..step 5 for each Kinetix 350 drive you are installing, 10 Rectal utmaton Pubaion 257-UNODICEN?-Decerber 2013Caaeche ie 500K Sytem Chapters Feedback and I/0 Cable Faesorr made cies wh Bremeldedconnecors are designed co minnie EMI Connections However, other options are available for building your own feedback and I/O cables, Table20- Options for Connecting Motor Feedbackand /0 Cares Gi ie ying Tete ; Tere te pee Pelee WA ren eet Lope cnecr ron Tere Fe ew og a erin Ea Tote isa eae Table2-Hotar Feedback Cables for Spec MtoreedhackCombinati Tein Gale Mater. Fenn tye Premaid pg ed Tease hwo ma MPLAIB2ina-WERtxAA igh-esolution encoder .2090-N0INFMF-Si (standard) wa ao cB Ot cas PLA fo, fer wena MPL-AIB3i-H7xAR, ncemeatalenonder ‘2090-KXNFMF-Sax (standard) wotaenn rs wa TORCH ht tn NPL Hath fe) NPL AB IST NPL NBA WISITIA, NPN mas WSTAA High-resolution ender NPNAB WENN MPAA NPAT NPS AaaacWiS NAS ABTA igh esltion ender zas-craM7OD-C randand 2390 CFRNTDD-CAFa ant he 2090-CTDFCERA andar) 2090-FMTD- CE etn fe) 209000 Sestandard) wa 2090-MEF-COAF ominous NPAT, fe) NPA Tar High -esltin encode Tan 206. CFRMGDD-CHA tandad) | 2050-FRUSDE-BAd tana) ach Traerera eae 1) Wwe mutenee th note ng hen ng TANT ae acl Automaton Pblatin2057-UMOO2CEN-P- December 2013 nChapters Connect theKinetr0 Dre Sytem Flying-lead Feedback Cable Pin-outs Table 32 -2090-XXNFMF-Suxor2090-CFBMyDF-xrkun Feedback Cable canara WshrecouionFeedbace |) Roemental Winder [sitar [coer 7 Tne Ter ae 7 z Ss ie ae 7 7 or toe aur z 7 Ge Ge cc 7 5 Dae Dae Hs 5 é a Da i 1 3 Teed wan ST Tat ST 0 w Teed ew co é 7 LW Feed Tend 7 7 rou Reve Terned z v i i 7 " 3 % % = ¥ Teaed Tesed a @ % Teed Tend a 3 7 Teed Fes a 2 Table 33-2080-FBMGDF-CBAAux Feedback able Tigh ecatin Tncenental edie comcast ames ce Dive Taare @ iare Reaned ar 3 oo 7 w io 7 . Reseed — : 7 Be 1 a Tae We 5 ¥ ca wr w ¥ a 7 7 feared a @ ¥ 3 z 2 any any 7% 2 ond cu é ™ Sls Sad raeceruirg n Rectal utmation Pabon 257-UNODICEN?-Decerber201Connecthe inet 3800fve Stem Chapters Wiring the Feedback and [/0 These procedures assume you have mounted your Kinetx 350 system, completed Connectors the power wiring, and are ready to connect motor feedback. Wire the /0 Connector Connect your I/O wires to the LOD connector by using the 2097-TB1 1/0 ‘Terminal Expansion Block. Refer to the Kinctix 300 1/O Terminal Expansion Block Installation Instructions, publication 2097-INOOS, Figure 39 Kinetix 30 Drive (10D connector and terminal block) ner oTermnal EpaionBle odo) ——tomecir acl Automaton Pblatin2057-UMOO2CEN-P- December 2013 nChapters Connect the int 350 Dre Sstem Wire the Low-profile Connector Kit ‘The 2090-K2CK-DISM low-profile connector kits suitable for terminating flying-lead motor feedback cables. Use it with the Kinetix 350 drive and all ‘motors with ineremental or high-resolution feedback. Ie has a 15-pin, male, D- sub connector and is compatible with all Bulletin 2090 feedback cables TLY-Axxxe-B rotary motors and TLAR-Axcxxs electric cylinders also require the 2090-DA-BAT2 battery to back up the high-resolution encoder. Figure 40-Kinetix350 Drive (MF connector) Ketic350 i Frnt View Winetx3S0 Drie, Sie Vw (2097-VS3RS- LW ve shown) 290M Comecr Ki th hinged feedback ale oto eehack MF Connector Figure 41 - Wiring (15-pin) Flying lead Feedback Cable Connections 2080-K2CK-DISM Connector Kit 1S pin rae Not Feedba frm EE ott I ping — ~ i feet Chapter for fedback PA Ky ‘Refer to Appendix A forthe motor feedback olin 288-MUOS fr connect specicatons. ™ Rectal utmation Pabon 257-UNODICEN?-Decerber201Connecthe inet 3800fve Stem Chapters Shunt Resistor Connections Ethernet Cable Connections Follow these guidelines when wiring your 2097-Rx shunt resistor. IMPORTANT IMPORTANT ‘When tightening screws to secure the wires, refer tothe tables beginning on age 59 for torque values Toimprave system performance, run wires and cables in the wireways as established in Chapter. + 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 shun resistor, publication 2097-IN002. Figure 42 -Shunt/DC Bus (BC) Connector Kinetic 350 eve Fron es show, Shs (80 connector “This guideline assumes you have your Logix5000 Ethernet/IP module and Kinetix 350 drive mounted and ready to connect the network cables IMPORTANT Connection toalarger network through an un-managed switch without Internet Group Management Protoco Snooping could cause degradation tothe larger network. Network witches without IEE-7588 impacts the overall system accuracy However, for general time stamping this switch ype is usually suffient. Your overall network topology, numberof connected nodes and choice of EtherNet switch fects motion performance, or more detailed information on designing your network, please consult the Converged Prantwide Ethernet Design & Implementation Guide, publication ENET-1D001, “The ExherNet/IP network is connected by using the Port I connector. Refer to page 360 locate the Ethernet connector on your Kinetix 350 drive. Refer co the figure below to locate the connector on your Logix5000 communication module. Shielded Ethernet cable is available in lengths up to 78 m (256 fe). However, the total length of Ethernet cable connecting drive-to-drive, drive-to-controlles, or drive-to-switch must not exceed 100 m (328 ft). acl Automaton Pblatin2057-UMOO2CEN-P- December 2013 caChapters Connect the int 350 Dre Sstem If che entire channel is constructed of stranded cable (no fixed cable), then this is the equation for calculating maximum length: Maximum Lengeh (113-2N)/y, meters where N = the number of connections in the channel he loss factor compared to fixed cable (typically 1.2.15). mpg Cn Pater 175-36 Shown andy Figure 43 -compactogt temet erection coro peo 2 ||e——-I CIV COTTA ettentattan bextom ool ‘The Pore 1 Ftheret connection is used for connecting to a LogixS000 controller and configuring your Kinetix 350 drive Figure 44-Ethemet Wiring Example External Switch pacts Cnr Platform 168-33 Shown 8-Usst Strat2000 ‘ith Personal Computer Kinetic 30 Drives 16 Rectal utmation Pabon 257-UNODICEN?-Decerber201Chapter 5 Configure and Start Up the Kine’ 350 Drive System Tr Toni OOOCSCi‘iN “Goafigue the inetn350DiveFtheretIPAMess “ConfiguetheLognsooochemeviPGnmaler—SSSSS*«~C “Peo Powertotheninenas00WweSSS~S Tetadinetenes CO “DiabletbehputedingbyUsngaloghDesnerMesagelsrucion [100 1 Before you begin make sur you know the catalog number forthe dive, the LgixS000 controler, an the servo motoractuatorin your ‘motion contol aplication, acl utomatenPablan 2087-UMOO2CEN-P- December 2013 ”Chapter Canigue ane tart Up the fine 350 Dive Sytem 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 QJ. To view a value, press @@). To return back to Scroll mode press @). After pressing @) on editable parameters, the yellow status indicator D blinks indicating thatthe parameter value can be changed. Use QM to change the value. Press @) to store the new setting and return back to Scroll mode. Table 34- Status Display information “Statusindiater | Desetiption Tox «(| Mardvarerenson foreample MO Tox «| Rimwarereviion ForeamoleO6 2 [esymumodifvineseondocetoftterPadies. PS [esymumodivterhiomeroftherPadiress Pa you oy he urate fe Pods. “TED ___—~=«* Les younadiyhesecndecttafihenetmak “eS ____—_=—«(desymurmotifythethidocetofthenetmae “et ___—*(esymumotivihetistocetoftegitway “ot | Lesmumotifytetnurhocetotthegtemy n Rectal utmation Pabon 257-UNODICEN?-Decerber201ofigre and Sat Up theKinetix35005ne Stem Chapters 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 Pane Display jtams [uncon | Desiption 0 Daaerty_| Ylowstatasndatr ashes when hanging Tada hesae ofthe Network See twat Sa ‘ Netwerkstte | Sait on page Thebiclored satusindatn Shouse, ree, oa Indes the sae of he Nek Se Module Sate " Modulate | iteinitron page 72 Thebicleredsaturindatn stows, ree, oa indicates he ae oe New Se Sale az A ‘uissare | ndeatarongage a0 Thebicoloredstatusindatrshaws red ree, camer Table 36--Module State Status Indicator “Satusindicter = State ms Power ath “Fashretigeen = Dive seeing Tasieggen = Sab “soidgeen_—| Operational TTasinged =| Majorrecoverable faut “Soldres—____—_—_—_—_—_| Malorunrecoveable faut acl Automation ablation 2057-UMOO2C ENP - December 2013 ”Chapter Canigue ane tart Up the fine 350 Dive Sytem ‘Table 37- has State Status indicator State of Sate Titaleaton-busnatup Fasing geen Tialeaton- bap of Shadows “barn oy Rashinganber Satdown-barap of Precage-busnatup ashing ane Stat Fasting geen ™ stoped Stop f Stang Soi geen s ning Tesing Ter Fashing ed Waprfauked Tern sale i War auked Thea anth dine dene mink dn Wilma es tafe te eae Indie afc teat ate te eran acento ree ‘inden hinges seg edge nary Ming genase Indicate gest aenatng re t-geers an srmallshg aberdeen ange elanoe 2) Te dive exe am anions When nal ceo noma sok st interne ges aenatng nde gee-anbe gen whlesnarnay shin geen ss Inder cen ges aleratag mbes Table 38 -Network State Status Indicator “Statusindiator «state Geave*(d Ra pone ne Pads ashing geen a omens “Seatygeen—SS«S Game “Rashingted—__—| Conmectontime-cut ee Testnggemadee —_—_—( Stet w Rectal utmation Pabon 257-UNODICEN?-Decerber201fig and Sat Up theKinetix3500hne Stem Chapter Configure the Kinetix 350 Drive Ethernet IP Address ‘This section offers guidance on configuring your Ethernet connection to the Kinetix 350 drive Ethernet Connection Configuration, programming, and diagnostics of the Kinetix 350 drive are performed over the standard 10/100 Mbps Ethernct communication port by using the Studio 5000 Logix Designer application. ‘The Kinetix 350 drive and your personal computer must be configured to ‘operateon the same Ethernet network. The IP addresses ofthe Kinetix 350 drive, the personal computer, or both drive and personal computer can require configuring to enable Fhernet communication between the two devices IMPORTANT Any changes made tothe Ethernet communication settings on the Kinetic 350 drive donot take effect until the drive is powered off and powered on again. Untl the powers cycled the drive continues touseits previous settings. Kinetix 350 Drive Ethernet Port Configuration ‘The IP address of the Kinctix 350 drive is composed of four sub-octets that are separated by three dots to conform to the Class C Subnet structure. Each sub- ‘octer can be configured with number between 1 and 254, As shipped from the factory che defaule IP address of a drive is 192.168.124.200, ‘There are ewo methods of changing the current IP address. An address ean be assigned to the drive automatically (dynamic IP address) when the drive is connected to a DHCP (Dynamic Host Configuration Protocol) enabled server, ‘oryou 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 Ethemet setcing and IP address ofthe Kinetix 350 drive ean be cobsained from the drive display and keypad. Press @ on the display and use OG © access parameters IP_1, IP_2, P_3, and IP_A, 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 I= 192 acl Automation ablation 2057-UMAO2CEN-P- December 2013 aGhapters onfgure and Start Up thee 350 rine System By accessing these four parameters the full IP addzess on the drive can be obtained, Ifparameters IP_1,IP_2, 1P_3, and IP_4 all contain ‘~~ rather than a numerical values it means thatthe drive has DHCP enabled and the DHCP server is yet o assign the drives 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 ditecty ftom the Kinetix 350 drive to the personal computer without a server or when connecting to a private network, where al 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 Pres @ 2. Use (MG toaccess parameter DHCP. 3. Check this parameter i se toa value of 0 4, If che DHCP parameter is set to 1 then use @ an Owseev00 5. Cycle power to the drive. “The change takes effect. When DHCP is disabled and power cycled to the drive i reverts back to its previous static IP address. If youare connecting more than one drive to the personal computer ereate unique IP address for each drive, Do this by using the keypad on each drive to change the IP 4 parameter IP_A is che only octet that ean be changed via the keypad. IP_1, 1P2, and IP_3 are read-only accessed this way. The dive power must be cycled for any changes to take effect. Rectal utmation Pabon 257-UNODICEN?-Decerber201ofigre and Sat Up theKinetix35005ne Stem Chapters 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 Kinevix 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. Usethe QD access parameter DHCP. 3. Check this parameter is set to 1 4, Ifthe DHCP parameters st to 0, use @) and QQ co set the parameter tol. 5. Cycle powerto the drive to make this change cake effect. ‘When the Kinetix 350 drive is waiting for an IP address to be assigned to iby the server it displays "in each of the four octet parameters (IP_1,IP_2,IP_3, and IP_4) om its display. Once the address is assigned by the server it appears in these parameters. If this parameter continues to display ~—-~ then itis likely that a connection between the drive and server has not been established, oF the server is not DHCP enabled. DHCP can be enabled through the Logix Designer application. Ifyou choose to configure the drive by usinga 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 Ausellfeatureohe Logic Designeapiatin 2nd communication neato the etx 350 ete aby to asi teva amen sig). isname an hen be sed twaconer he ives Pads andi use en he rive ass Paes aged automaticly bythe sere foreay connection acl Automation ablation 2057-UMOO2C ENP - December 2013 aChapter Congue ane tart Up the fine 350 Dive Stem Configure the Logix5000 ‘This procedure assumes that you have wired your Kinerix 350 drive system and EtherNet/IP Controller are using Logix Designer application version 21.00.00 or later For help using Logix Designer application asi applies to configuring the Coniroll ogix EtherNet/IP controler refer to Additional Resources on page 10. Configure the Logix5000 Controller Follow these steps to configure the Logix5000 controller. 1. Apply power to your LogixS000 controller containing the EtherNet/IP ! port and open your Studio 5000 environment. 2. Click New Project. ‘The New Project dialog box appears. react erase cercis Fiore oven Se 3, Select the controller you are using for your project and click Next. “ Rectal utmation Publaion 257-UNOOICEN?-Decerber2013ofigre and Sat Up theKinetix35005ne Stem Chapters ‘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. €. Enter the file Name. 5. Click OK, 6. From the Edit menu, choose Controller Properties. The Controller Properties dialog box appears. [Lita | Se Meret [tee oe O fenalensean tet ta tsien 7. Click the Date/Time tab. 8. Check Enable Time Synchronization, This permits the controller to participate in the ControlLogix Time Synchronization or CIP Syne. The controller also participates in an clection in the L.ogix5000 system for the best GrandMaster clock, 9. Click OK. Aaceel Automaton ablation 2057-UMOCICEN-? December 2013 sChapter Congue ane tart Up the fine 350 Dine Sytem Configure the Kinetix 350 Drive IMPORTANT ToconfiguteKinetx 350 drive (catalog numbers 2097-V3xPRx-LM) you must be sing RSLogi5000 software version 20 ltr of Logix Designer Application Follow chese steps to configure the Kinetix 350 drive. A. Right-click the Logix5000 EtherNet/IP controller you just created and choose New Module. The Sclect Module dialog box appears. a Ta TT (iis 7 Nese Cat Fs 2 DSrACEROUt a 2A os er ho De 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 Rectal utmaton Pubaion 257-UNODICEN?-Decerber 2013ofigre and Sat Up theKinetix35005ne Stem Chapters ‘The New Module dialog box appears. (Grd [Tm | He | Hert |e Cntr [sett | os De * Tee ZOVMRFRS Lena 220 No San Weer ent 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. ¢. 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 ofthe 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-V3xPRu-LM drive appears under the EtherNet/IP module in the I/O Configuration folder. acl Automation ablation 2057-UMOO2C ENP - December 2013 ”Chapter Canigue ane tart Up the fine 350 Dive Sytem 9. Right- Ungrouped Axesin the Controller Organizer and is assigned as Axis L ‘Geo [oon Tine [in rl Fn | eC] "6" [Powe Nan ar aa) 2) Ga) Ge) Ge) 14, Click Apply. rs Rectal utmation Pabon 257-UNODICEN?-Decerber201ofigre and Sat Up theKinetix35005ne Stem Chapters 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. TLR Cotareon 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 Ateribute tab and edit che defaule values as appropriate for your application, 7. Click OK, acl Automation ablation 2057-UMOO2C ENP - December 2013 »Chapter Canigue ane tart Up the fine 350 Dive Sytem Configure Axis Properties Follow the instructions below to configure axis properties for your motor ot actuator. Ifyou are using an Integrated Motion Encoder on EtherNet/IP, catalog umber 842E-CM for an axis refer to 842E-CM Integrated Motion Encoder on. EtherNet/IP User Manual, publication 842E-UM002, A. Right-click an axis in the Controller Organizer and choose Properties. 2. Click the Motor category. ‘The Motor Device Specification dialog box appears essasce:—[enitintd eee a] = 3. From the Data Source pull-down menu, choose Catalog Number, 4, Click Change Catalog, ‘The Change Catalog Number dialog box appears. ‘aw 5. Select che 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. *” Rectal utmation Pabon 257-UNODICEN?-Decerber201ofigre and Sat Up theKinetix35005ne Stem Chapters 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. Soo a) cs eS la Ca Cal 9. Click Apply, fyou make changes. 10. Click Load category and edit the default values as appropriate for your application. Sr | Smee =" en ees | = ae ee (a Tae. Lo) Cee] Cow) Coe) 11. Click Apply, if you make changes. acl Automation ablation 2057-UMOO2C ENP - December 2013 ahapterS Conigue and tart Up the tine 350 Dre System 12, Click Actions category. ‘The Actions to Take Upon Conditions dialog box appears From this dialog box, you ean program actions and change the action for exceptions (Falts), 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. 2 Aectwell Autmatonubtion 257-UNOOXCEN>-Decrber 203onfigre and Sat Up theKinetix35005ne Stem Chapter Download the Program Afcer 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 Kinetix 350 Drive dive system and your Ethernet/IP interface controller SHOCLHNEAD Toate hod, om a A mounting an ing he Bult 097 dive por paling power Once power is applied, connector terminals can have voltage present crenwhenatuse Follow these steps to apply power tothe Kinetix 350 drive system, 1. Disconnect the load to the motor. The axis does not operate in position mode during the exeeution of this process. Therefore, the position of the axis eannot be guaranteed ifthe axis is connected toa vertical load, or the axis is connected to a stored mechanical energy. ATTENTION: To avoid persona injury o damage to equipment, A disconnect the load to the motor; including vertical loads. Make sure each motors free ofallinkages when italy applying power tothesystem ihe ive emect Isa (4¥ 00 ba paver pn Mais igutpover ‘Apply 128, 0 ar 6D AC ainsi power the dive (PD 3. Apply 120, 240, or 460V AC mains input power to the Kinerix 350 drive IDD connector 4. Observe che four digit status indicator Fourdhancer Data ny Sats Statute Irate Whe status indenter Then Gotoaens nk Getacktoman tend acl Automaton ablation 2057-UMAO2CEN-P- December 2013 2Chapter Congue ane tart Up the fine 350 Dive Sytem Test and Tune the Axes So our ogicPower Thee ‘stem 24700 bap power ‘ea 1,28, OY Aas pa power he dive PD Mais ipatpawer 6 Wave ENABLE Then ade Aap 2av9C Titel Diab enblehpuihecing by wing proce on age 10 7. Observe the status indicator on the front of the Kinetix 350 drive, Statwsiniator | Condition Status DeThis Sted gen ‘pera anion | Oe te is treo age Node ‘Steady or flashing red | Driveisfauted ‘Gore Hose State tats nc on Sead gen orambe oi ‘oer he Network aint mo Opeatnal onion " Steiyerfshingred | Asis futed Go sate Sas sar on Sted een CGrimanatonseady | Goto Teter Tuethe es one Newer Taysateatertin | Crmiaien ener) NEN Sardar or sade sce ‘This procedure assumes that you have configured your Kinetix 350 drive, your Controll ogix EtherNet/IP controller, and applied power to the system. IMPORTANT Before proceeding with testing and tuning your axes, verify thatthe drive status indicators are operating as described in Status Indicators on page 1 For help using Logix Designer Application as it applies to testing and tuning your axes with Controll ogix EtherNet/IP controller, refer to Additional Resources on page 10. Test the Axes Follow these steps o 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. Rectal utmaton Pubaion 287-UNOOICEN?-Deceber 2013ofigre and Sat Up theKinetix35005ne Stem Chapters 3. Click Hookup Tests category. 4, Type 2.0as the number of revolations for the test or another number more appropriate For your application. This Tert Performs tisTet Ves male detecion apaiy a yoursae heer Mater ef ‘eres edbackcennetonr ae wed covey ayoureae ata eesbad ‘hemotr shit, ‘eifles moter power and eeac connections are wie comes you ean the moter tate Waive WABLEe Then Tad wed Tea 2OC Totwed Diab enablenpuCheckng by wing procedure on page 100 avoid personal injury or damage to equipment, apply ATTENTION cnh24V ENABLE signa to the ais you aretestng 6. Click the desired tab (Marker/Moror Feedback/Motor and Feedback), In chis example, the Motor and Feedback testis chosen. 7. Click Stare acl Automation ablation 2057-UMOO2C ENP - December 2013 8Chapter Canigue ane tart Up the fine 350 Dive Sytem ‘The RSLogix 5000 - Motor and Feedback Test dialog box appears. The “Test State is Executing. 2 i a he ‘When the rest completes successfully, the Test State changes from Executing to Passed rs 8. Click OK, “This dialogbox appears asking ifthe direction was correct, a A) bitectmentetndetetay te | th | cons 9. Click Yes. Ifthe test fails, this dialog box appears. FE] es er of 1 a. Click OK, D. Verify the Axis status indicator tured solid green during the test. «. Verify that the drive ENABLE signal is applied to the axis you are testing or that the enableInputChecking attribute is set to zero, 4. Verify the unit values entered in the Scaling category. ¢. Return to main step 6 and run the test again. % Rectal utmation Pabon 257-UNODICEN?-Decerber201ofigre and Sat Up theKinetix3500hne Stem Chapter Tune the Axes ‘This is abasic procedure for simple systems. Ifyou have a complicated system refer co CIP Motion Configuration and Startup User Manual, publication Motion-UM003, Follow these steps to tune the aes. 1. Verify the load is sil removed fron [ATTENTION: To reduce the posibiity of unpredictable motor vertical loads, then e-attach the load an perform the tuning procedure again to provide an acurateoperatioal response. the axis being tuned, 2. Click Autotune category. (cial a ee) se ON mess A prem ti peasant ’ eecistawren awe Tame e+] Festa (iaitementact ear Poe [are Jira To {eomtineton 5 Mange tmioureTeePate [se fe Tea Fe = Cheeuintors F Unactiteere —|Roaes eaanrans one =] TrePuenane gel FET « Patni tet tanta | roams Spat [SO * Penns False Tai: [ROT + ie ts Checks nest aois =] © fee oot | isos | ten 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 setting appropriate for your application, Forward Uni-directional is default. 5. Edit other fields as appropriate for your application and click Apply. acl utomation ablation 2057-UMAO2CEN-P- December 2013 7Ghapters onfgure and Start Up thee 350 rine System 6 Waive ENABLE Then Tad re Hop 28700 Wate Disable eblenputhecingby wing proce on gage 1) ATTENTION: To avoid personal injury or damage to equipment, apply ‘only 24V ENABLE signal to the ais you are esting, 7. Click Start ‘The RSLogix-- Auroeune dialog box appears. When the test completes, the “Test State changes from Executing to Success. (siahxl —— er SS ee ee ae oreo C Metrwihoate Ureaslesvare | Spaneie omar leouiane w= [gph + rtm ser Twecaee_| Sent [SO —— + Fri Tron [oO + 8 stn Fvwcaewcirst =] & | _ Com it Taned 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, ‘Ar 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 seleetions 1 It your application requires stricter performance you can further improve performance wth manual tuning, 9. Click OK to close the RSLogix 5000 - Aurorune dialog box 10. Click OK to close the Axis Properties dialog box. Rectal utmation Pabon 257-UNODICEN?-Decerber201ofigre and Sat Up theKinetix35005ne Stem Chapters LL. If che test fails, cis dialog box appears Fsiconc0) ox ap a. Click OK. b. Make an adjustment co motor velocity ¢. Refer to the appropriate Logix5000 motion module user manual for ‘more information, 4. Return to step 7 and run the test again, 12, Repeat Test and Tune the Axes for each axis, acl Automation ablation 2057-UMOO2C ENP - December 2013Chapter Congue ane tart Up the fine 350 Dive Sytem DisableEnablelnputChecking Ths procore sends aL 955000 messager dinblethe EnsblsinpxChecking by Usinga Logix Designer *utcintheKinesix350 drive Message Instruction 1. From the Controller Organizer, choose “Tasks> MainiTask> MainProgram> MainRoutine 2. Create a MSG instruction rung as shown, eels mes Sore ° Nessa cova eansencecinats Poo a 3. Set the values in the Message Configuration as shown, augcte|cmmedn|T | =] Soe [amen =] Staten fausiesDatos] Seueelrak FO $F oT et Boe Te Ie — AMET te Neato 4, Click the Communications tab and browse to the drive tag, inthis ease K350, as shown, Ceondon Corin ere Se AB |” Castration mar reser re Fe] SF iecencinencin tu 2 Bttene 5. When the progeam isin Run mode, trigger the rung to run the instruetion The drive docs not check the enable input signal on IOD-29 Enable to 1OD -26 Common, This MSG instruction is executed only once as isa 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 Flement register, EnablelnpurChecking from 0 to 1 and trigger the run again. 100 Rectal utmaton Pubaion 287-UNOOICEN?-Deceber 2013Chapter 6 Certification Kinetix 350 Drive Safe Torque-off Feature Peg a “PbandPoenins Wem —OS~—“—sSSd “Sietowuestomedobe «dt “Wing WousatetouectGat «dL nema dieeTowectiewe «LT “RrenasODmesateToue-otWengOagnms 08 “SteToquetSgmalspefatons ‘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 TOV Rheinland group has approved the Kinctix 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 tobe the safe state. All of the examples related to I/O included in this manual aze based on achieving de ‘energization asthe safe state for typical machine safery 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 ertification of the machine to che 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 al utomatenPublain 287-UMOO2CAN-P- December 2013 mChapter 6 Kinet aS0DrveSfelrquaf ese Description of Operation 1. Safety Category 3 Requirements Safety-related parts are designed with these attributes: + Assingle faule in any of these parts does not lead to the loss of the safety function + Assingle faul is detected whenever reasonably practicable + Accumulation of undetected faults can lead to the Loss of the safecy function. Stop Category Definition Stop category O is achieved with imunediate removal of power tothe actuator IMPORTANT Inthe event odie or control falar, the mostlikely stop category iscategory 0 When designing the machine application, consider timing and distance fra coast stop. For more infomation regarding stop categories, refer to EN 602041 Performance Level and Safety Integrity Level (SIL) CL2 For safety-related control systems, Performance Level (PL), according to ISO 13849-1, and SUL levels, according to EN 61508 and EN 62061, include a rating. of the systems ability to perform its safety functions. All ofthe safety-related components ofthe 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 complese information on requirements for PL and SIL determination, 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 safery enable inputs, all ofthe 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 clectrieal ourput, which can be required for some applications. Under normal drive operation, the safe torque-off switches are energized. IFcither of the safety enable inputs are de-energized, the gate control cicut is disabled. To rect ISO 13849-1 (PLd) both safety channels must be used and monitored. ATTENTION: Permanent magnet motors an inthe event oftwo simultaneous faulsin the IT cut, resultin arottion ofupto 180 electrical degrees Rectal utmaton Pubaion 287-UNOOICEN?-Deceber 2013Keneic3S0Drive Safe Terue-afFeature Chapter Troubleshooting the Safe Torque-off Function torque-off function, After troubleshooting, a proof test safety function must be ATTENTION: The safe torque-off faults detected upon demand by the safe A performed to very comec operation PFD and PFH Definitions Safery-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 ona 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 SL value for a low demand safety-related system is directly related to order- ‘ofmagnitude ranges ofits average probability of failure to satisfactorily perform its safety fanction 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 PF for 20-year Proof Test Interval ‘iibate Valve Pres) 38 Fiore 12 acl utomation ablation 2057-UMAO2CEN-P- December 2013 108Chapter 6 Kinet 3S0DrveSfeTorquaf ese Safe Torque-off Connector Data 104 This section provides safe torque-off (STO) connector and header information for the Kinetix 350 drive safe torque-off STO Connector Pinouts Headers extend the STO connector signals for use in wiring ot to defeat (not use) the safe torque-off function. Figure 46 -6-pin Safe Torque-off (STO) Connector sateToqe-tt / (510 connecter inti Dr, Bato ew (QU5-V22PR-M is show ‘STOPin | Desoption Signal T “A Opt om te ve TeV 0Cora 7 “FRAT DCatpat amon nro 7 Satya “Ste Sas 7 ‘Saety ing ena Sey gat? 5 Safety common Safety (OM 6 ‘aety input DCta ena ‘Satey put Rectal utmation Pabon 257-UNODICEN?-Decerber201Keneix3S0Dsve Safe True Feature Chapter Wiring Your Safe Torque-off Circuit ‘This section provides guidelines for wiring your Kinevix 350 safe rorque-off drive connections, European Union Directives [If chis 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 MOOL EMC Directive ‘This unitis tested to meet Council Directive 2004/108/EC Electromagnetic Compatibility (EMC) by using these standards, in whole or in part: + EN 6180-3 - Adjustable Speed Flectrical Power Drive Systems, Part 3- EMC Product Standard including specific test methods + EN 61000-6-4 EMC - Emission Standard, Part 2 - Industrial Enviconment 'N 61000-6-2 EMC - Immunity Standard, Pare 2 - Industrial Environment “The product described in this manual is intended for use in an industrial Econtormity Conformity withthe Low Volage Diteetive and Fletromagnetie Compatbilty (EMC) Dircetive is demonstrated by using harmonized European Norm ( standards published in the Official Journal of the European Communities safe torque-off circuit complies with the EN standards when installed according instructions found in this manual, CE Declarations of Conformity are available online a: huep://wwwrockwellautomation com/products/certification/ee. Low Voltage Directive “These units are tested to mect Council Directive 2006/95/EC Low Voltage Directive. The EN 60204-I Safety of Machinery Electrical Equipment of ‘Machines, Part I-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. acl Automaton Pblatin2057-UMOO2CEN-P- December 2013 usChapter 6 Kinet 3S0Drve Safe rqueaf ese Safe Torque-off Wiring Requirements ‘These ae the safe vorque-off (STO) wiring requirements. Wire must be copper with 75 *C (167 °F) minimum rating IMPORTANT The National Electrical Code and loca electrical codes take precedence over the values and methods provided IMPORTANT Stranded wires must terminate with ferulesto prevent shortcuts, per table 7 of N 13849, Figure 47 -Safe Torque-off (STO) Terminal Plug Table 40- Safe Torque-off(STO) Terminal Plug Wing Saf Torque of ST) Connector Recommended Wire Sze Teanded Wire saa Strip Length TorqueVahe Pin Sigoal withFerute i Wire rnin) Nin me ANG) wen) Sioa WDCC 510.2 Ceotstcat 5103 Safety Stats , , no Skygos, rst) 15008 ora) si0s Satety 510-5 Safty paz IMPORTANT Use only pins STO-1(+24V DC Control) and STO-2 (Control COM) of the motion- allowed jumpers to defeat the safe torque-off function. When the safe torgue- offfunctionisin operation, the 24V supply must come from an exteral source. IMPORTANT Tobe ure cf system performance run wires and ables inthe witeways.as established inthe user manual for your dive 16 Rectal utmaton Pubaion 257-UNODICEN?-Decerber 2013Keneix3S0Dsve Safe True Feature Chapter Kinetix 350 Drive Safe Torque-off Feature ‘The safe torque-off circuit, when used with suitable safety components, provides protection according to ISO 13849-1 (PLd). The safe torque-off option is just ‘one safety control system. All components in the system must be chosen and applied correedy to achieve the desired evel of operator safeguarding. ‘The safe torque-off circuit is designed to safely remove power from the gate firing suits of the drives ourput power devices (IGBI). This prevents chem 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 rect che stop and protection-against-restar requirements of ISO 13849-1 ATTENTION: This optonis suitable for performing mechanical workon only A the drive system or affected area of machine. doesnot provide electrical safety ‘SHOCK HAZARD: In Safe Torque-off mode, hazardous valtages can stllbe preset atthe motor. To avoid an electric shock hazard, disconnect powerto the ‘motor and verify that the voltage i zero before performing any work onthe 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 a 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. -$T0 Motion-allowed Jumpers sor [QO so |Q so 1@ sor |@|—4 sos 1@ sos |B IMPORTANT Use oly pins STO-1(+-24V DC Control) and STO-2 (Control COM) ofthe motion allowed jumpers to defeat the safe torque-off function. When the safe orque- function iin operation, the 24V supply must come fom an external source. acl Automaton Pblatin2057-UMOO2CEN-P- December 2013 wChapter 6 Kinet 3S0DrveSfelrquaf eee Kinetix 350 Drive Safe Torque-off Wiring Diagrams ‘This section provides typical wiring diagrams for the Kinetix 350 drive safe torque-off feature with other Allen-Bradley safety products, For additional information regarding Allen-Bradley safety products, including safety relays, light curtain, and gate interlock applications, refer to the Safety Products Catalog, website http://wwwab.com/catalogs “The drive is shown in a single-axis relay configuration for category 0 stop pet EN-60204-1 Safety of Machinery Directive. These are examples, however, and user applications can differ based on the required overall mact performance level requirements. IMPORTANT The Knetx350 dive mets the requirements of 0 13849-1 Safety of Machinery, Safty-tlated Parts of Control Systems category (CAT 3), performance level (Pd and Safety Integrity Level (IL) 2 per EN 61800-5- 22007. Dual inputs ad drive monitoring of the safe trque-of cuit TO-4 and T0-6, are done to prevent dive enable ether or both ofthese inputs do not function Itissuggestd to evaluate te entre machine performance evel equired with ariskassessment and cuit analysis. Contact your local distributor or Rockwell Automation als for more information Figure 49-Single-ais Relay Configuration (Stop Category 0) with AutomaticReset 7 Alexey exe 2706 any ce 21 stare ans) 5 Tein ste harliay Signal Seog one Send ' qd DL Fe ear Signal tone Suelo 0 t vcr i ‘etc * VOC eri Freya t =f Sieiy onan pos Seid | Ache Autmaton ubetion 257-UNGOXCEN? December 2013Keneix3S0Dsve Safe True Feature Chapter Safe Torque-off Signal Specifications ‘This table provides specifications for the safe torque-off signals used in the Kinetix 350 servo drives. ‘eibate Safety inputs Tepatinpedaace ‘ey saa OuiguTed apabty Digital apats an voage Valve Tue compat wth gl -nded put (+24¥00 Enable tage range 20. 24¥0€ Disable valagerange: 0... 0¥DC or Titel Open Cec ier grand Teoma ove 1) Sey apa et degen acl Automaton Pblatin2057-UMOO2CEN-P- December 2013 109Chapter 6 Kinet 3S0DrveSfeTorquaf ese Notes: no Rectal utmation Pabon 257-UNODICEN?-Decerber201Chapter 7 Troubleshoot the Kinetix 350 Drive Page es “TepetSausndats SSC~<“—~s‘sSC~«wS ‘eer te Bebair a ogn0 Conard De Bair B WesweneteOS™~—SOSC«i Safety Precautions Observe the following safety precausions when troubleshooting your Kinetix 350 drive power hasbeen removed. Before working onthe dive, measure the DC bus voltage to veiyit has reached a safe level or walt the full ime interval as indicated inthe watning onthe front ofthe dive Failure ta observe tis precaution couldresultin severe bodily injury or loss of if, A ATTENTION: Capacitors on the DCbus can etainhazardous ollagesafter input ‘must determine the cause of afaultand correct itbefore you attempt to operate the sytem Failure to correc the fault could result in personal injury andor damage to equipment asa result of uncontrolled machine operation, A ATTENTION: Do not attempt to defeat or override the drive fault cuts. You troubleshooting, Failure to ground the test equipment could result in personal A ATTENTION: Provide an earth ground for est equipment (osalosope) used in Injury acl utomatenPublain 287-UMOD2AN-P- December 2013 mGhapter7—Tublestoattheintix350 Dre Interpret Status Indicators m Refer to these troubleshooting tables to identify faults, potential causes, and the appropriate actions to resolve the fault. Ifthe 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 faule and a stare 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 srolls 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-dgit Display Messages Prion Device Condit Display Digit (lowers higher). adres Tava) ema Becatng dence iest ae ‘Walt for connection to cote ae Grfguing deve tbs a 4 Wag or group sndrenatin a Waitag or DCBurto cage a Dec aperatona + “arnt ade oe 3 ‘ani ade eam Som ‘aude Fie 2 Thiaukeade- cata Fear Baterr Lar Poveron Sees POT ear Pa 1 Ththlzaon ude cat Ta Nadel a 7 Rectal utmation Pabon 257-UNODICEN?-Decerber201Troubleshoot ineti3S0ve Chapter? Table 43 - Scand Sco Start Inhibit Codes: Error Codes ‘The following list helps you resolve memory anomalies. ‘When a fauleis detected, the status indicator displays an E and a ewo-digit error code until the anomaly is cleared trror | Anomaly Possible Cause ‘AaionSehation Cole B___[Menorymedleerar | Badmenory mode eacereney nodule 6 | Bnkimenowymodule. | ABhrk WIM module hasbeen | Pshand ald the dives eteiay tated the die bot sted ata) on te cies fontpe ul the re shows "BUSY. Th llmak the ve format theblankmemnonmodilefor sage with thee 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. Thisis repeated until the fault code is cleared Table 42 Fault Code Summary TahGdetye beh oa - dint prevent tev ar eabing seb Standard asa see abe and ated. ecu diver cel tomato. Unecvrale ers that ecard ring he Power on Se Tet POST) Rete sof Astaro, ‘raat prevent paral opetion and co doag the etalzation proce ‘rama prevent ara opeation the dv Nadel Tryp a au fer ‘hata sere vent she asa en, roan | BRE, en yapom Peta case ruse Resttion son ‘hes enable input Theat able ipa Ass Enable ope is not active, BILE pe 7 Dasketiepucheng abe byusng emerge mst acl Automaton ablation 2057-UMAO2CEN-P- December 2013 mChapter Toublstoattheinetx350 Deve Table 43 - Ssxand Sew Start Inhibit Codes Tor agtbipay | LGR Prenton Patt Posteo ‘0 vr tantgd ar «yet bee , anon Tepeamaacarion | see so Feedage Cenfguton os et ahha is + Rep rer tang cones wm ama Cepewtcyanrn | eaterieamiraanane | la Wanner “ ‘Saletarue ft configured. ewer struc. “Use fmpes te bypas safety cca Table Fafa codes foraging | SO Pestana Penal cue Pusan ia egatatseze Staten. Inpope omecin Cheng ISIS aD (ete poe spp the Hace need etre pg (het clef. mn) xe Owrempexue ota empaths ‘ae Highmaterabinttepeatze sees Cor fecha omc he Sand OM wg. ‘animoustoqe cg ere bertenpesue Laveranbiet tempest st Very ropenartas been Eo Mv ThemalPoecon Thermal no re naorndarsat sheep hse 1 fs ing Tremadine dark eam Fscaretecedg he carusraigef tenet (ange comand peoretue Orne ‘ede expt tat ewer rarer ted ofbetee! cece ete owe suze) posh ater Tey enya nr pou e indconee vg shred italy, Tene na pane cake te ‘ota emir at restr pase phasesatopen mataipeseomet ope, Tediveempeze weigh ‘Ge rchgpev or dcie fn ates lng street Inset pean eu erp anbincenseatt i Wwe ete See tnt $sobre Poesia in ‘eter he peas Tec, Pobainlicaoo, ‘pen bee arson tog petat tearing peat pone rs Redaction te, vee iesampins Tesavelpeer ad te dene as por acanoty Secombe aC both, aed ‘eau setae eee eee emi, stand hen rep lee ‘Be A gra 1 Rectal utmaton Pubaion 287-UNOOICEN?-Deceber 2013Troubleshoot neti 3S0D0ve Chapter? Table 44 FacFault Codes (continued) it Dis Rstogix 5000 potential Cause ssible Resalution Fouign ply] Sgn S08 Pete Ca Pose es Sant Tae et amp eatin sex | etme nec sabine ambieniemeerte | ane Serve rvs Speciat (eave rag. Technical Da, if tpt Ie ip ae cy Temaneaa oie | canoe comin gan coninuourating fe cane] Eine ie Tears de | Oedatondenar aly eminent” | tnt m ineterersioncan | nceerbaretengerreccrst | terete | eH Ine ronson i ‘Motor brake on Teen motor bake oft Seager | wate nan Sewn Soe ° in soveraige wehinegoronrpeme techs | Psu tems]. Gat mei rene " _valage is bebow limits. belew 1370 ie drop. Bcouvagteeopens | nan eenghpme Seow Tanger Caerentnctpne: | Wertena dren » Tebuntneionnandainetcey | Remgerensema pt | yes ugesuen rnd! 5 Bas Oveotage le teu reheat rose J Sop een tkton ova ae amaoew ster is er 820% a 7 Sunes Se reeemae tbemlaregaineemece ute ae te secon Sines ensedbciagionn |” Cetera * + tatienten eababe wate | ere eins et soso Saeko ey ine Te Seo Terminator’ | Grate wion vetnkin 6 Syicieerneesie | enldeapccstonheca deca | ned wh mip a actuters) enced a factory set iit enced ‘ey mate encede win, i Fete Teteaiddeietdacnel Toscano | ientabnliaenie ale 0 Hedrreovva-totne | smedacund esol sn + Orc, teres | nares | Sut a Teta detec | Reps allie 1 vain ose Harare Oertael-Hegs the negate deci, “ " rarmnaicongan | Seana nea Tapp atta [ WE Fst ‘Excessive Psion Err ‘Postion enar bit was exceeded + Incest fee frvad go Neoniaiyten anal setae Ince foeigererriterine. + Get poton kop, Very mealies whet + Gaerne es. acl Automaton Pblatin2057-UMOO2CEN-P- December 2013 nsChapter Tublstoattheinetx350 Deve Table 44- Fax Fault Codes (continued) Four tig Display togixs000 Fault Message Problem er Symptom Potential Cause Pose Reselation crn eho bevy fl hop Patil fede Pe alng adi) Inger sed rere Taare ernie Gackt kop ig Ver sega whos oniy de enable int wad. ‘The DrveEnabletepettranstioned | Very that Drve Enable hardware inputs ‘The contoder has requested the dive to ‘User configured sftwar aise Fen Conroe Initated Exception eee need Gedin et configured sftware ‘Clear soft overtravel faut (het eet figutn, Cut etd, Table 45 -FeanFault Codes Stegix5000 Four ig Dipl Problem or Symptom Potential Cause Posible Resolution isitDisnlay | FautMersage Syme Ta Terenas Mourotagencenpubewih aerate Wrngmatrenredediogie | Goneappoprat ne Voor tatty TWebaieywageena bated not 0s ree gays | testo emp uta pee es net cede peitentorelegebe | ile Weta pears Pele ate, ‘ane, * Geetbater nein Tarde belo TWetatey wpe barber feo Lppsiesuln Ti mtn wh. | eccr slow eng ahaa poe on fect aust abltepstn best Ta Tae area Get ana peas on A Teoneeieaie 2% ate Det ene scented an eee re (ecntlpo k ‘ ™ _ + ele tie 6 Rectal utmation Pabon 257-UNODICEN?-Decerber201Table 46 law Fault Codes Toableshot the finetix350 ie Chapter? rorigtbiy | LOS, Pretener symptom Patents Posie Rewton f Cecksum ere ity rele + Replace motriffattng contre. epee xe soba ate aavinaner abet, | eleteteée soinyatsene «Ree tage ccc ka NorFesedconmmnicees — | onmnatenwtdasnarmade coin | Gweced ateidecin i ‘Startup bbe estab shed on the motor feedback Tamra otras |etwlmmennone wes ronesangioed | eas icemteepsn roe |g eta ‘Status messages ofthe format Lax indicate an unrecoverable exror while starting the drive. Reload firmware and restart che drive, if status message repeats contact Rockwell Automation technical support to return drive for repair. Table 47 Loo Fault Codes our digit cause Tues sharpe Display Message mH Tadd Status messages ofthe format Pex indicate an unrecoverable error during the Power on Self Test (POST). Contact Rockwell Automation technical support to return drive for repair, Table 48 -PexcFault Codes Fourdigit cue Display Mesage Pear Taree “hoot C=C Ra Tesaed | | “poo _* Rare fle ts acl Automation Pubetion 2097-UMQ2C- = December 2013 Fao epee aes [Deir Dram-resre—e Weteaniaes ”Chapter Tublstoattheinetx350 Deve Table 49-nF ax Fault Codes stogir S000 Fourplay | PSL 500, Problem er Symptom Potential ause PesbleReseation enorme a es fenchemoten ee fever dec sheen ‘ Ue tcerperperomane 0 oe peat sorclonmeate detente ewok eqoner resent, Segue wg fe awe wo esl eset pve dvs, Nosy enter ede antlpor ore tive Fepiccanoimsdefpen oa cesar ae Tew rts cesar open teed apilen, ede antlponr ore The doe a tel ade pln, re Fepluesve 0 Fone Fa ede antlponr ore Nenalontecwneta marta. | furor congone ne epee ede antlponr orb ‘ea fat er waded te yen npn fe ‘crtoleetine ge " Fephceonolnscefpaen ne Rectal utmation Pabon 257-UNODICEN?-Decerber201Troableshotthe inet 3S000ve Chapter? Status Indicators Table 50 Drive Status Indicator “Status ———_=«( Description “OH _____| Nopower Apay poner Herainggenired | Seles (power-up diagnstic) Wait orsteady green “Tesing geen __| Sandy evr at ature) Vai rsa gee “Sradygeen__| Noma epraton sus “Tasingred__| Mineral eave Rete tear aol nesage “Sradyed—__| Nara norco) Refer feardgamesage Table S1 Axis Status Indicator ‘Satu Descipti of oF Fasredigeen Sette of Tiaeaen-brnatom ang gen Tseaon- bsp of Sadown barn ang aber Shatdewn-barap of Pretarge-burnalup Fasting ante Fasting een Sal green ashing red Sel d Stata stoped Stoning Stating ain Teg Teorng apr faked Terng apr fae 1) Teas athe dn mera While mine esa ae te dre tat er ae istzwsinda Wher ar fl cee sete, anomaly ld ges ats ocatendae ngeste, ering eee. eal shige tates incarnation anges aang ere tndanamal hganber cian cheer tro ambeco ‘ie dv se defies ands Was ns canst si ge stu car nn hag tatening ante geese ge wea neal hing gen as Pc nein geo erainganieratt geo acl Automation ablation 2057-UMOO2C ENP - December 2013 neChapter Toublstoattheinetx350 Deve Table 52 -Network Status Indicators ‘Sata of ‘Atemaing eed Tasng geen “wey geen Raningied Seeded [Psciotion [NopoweroraolPederessdefneds [setermedeipowerupdagnertsl [ Standby device nt configured or connection natestablished onal opratin Dec hast as one tabshed connection Tecate nina fuer amecionineout aches, Te recerabe ajar fate IMPORTANT Under some aut condition, two reset commands can be required to clear dive. ‘Table 3 Port 1 Ethernet Communication Status Indicators | ov 4 Tansee ~«@d eae S*dY Descipton ok partner present niparne preset communion curing apres pet no commana no Rectal utmaton Pubaion 287-UNOOICEN?-Deceber 2013Troubleshoot neti 3S0D0ve Chapter? General System Behavior to improve performance. Table 54 -General System Behavior ese events do not always result in a fault code, but can require troubleshooting ond Aust suse Peele a ese Tein een OTF Geis stayed eke ines Teer Tannen og Tes gor eron on ARTE PTR Tne Toe Taps gong 9 lng ues cvsg nen Weep Reudornetgomnd nes uigeretcns | ving and gee ator Seke intisincarecty st serv metriot matched as maul + Gees + Ru Tuein Logic S00 stare Tet ero apt er canbe eq fer tos Yucanet obtain theretor alert deeeravon tayo esha esnance Properties dog, Output a inf 000, sofa Tera Lit are to ow el tha cant it ae propery Irate motor selected inconiguatn, Selec he oe mar and Tne nag Desrer pleaton gan, Thesgteminerta ieee Gece de vera appaton ee Revie sero sytem sing The ten Fician rq reese ‘ecko sie ear appleain eed valet carestsinsfceti supply the comet acelecel te 7 Ghee de vera appaton ees Revie sere sytem sing Tecan inner er li eingsand ane them acer Vela init nis areneorect es i eings and anette ace Not des notrespand toa loty command Theanisanot beable for seconde dablag Diabet ai, war vecand and enable te Enablesgnalhasnt been appledor the enable wing sncrect 7 Gheckte conte 2 Gheckthe wing The rterngir apn Gece wig Terterthemal swith stipe. 7 Gheckora fa (heck the wg The tars nafnctaned Tapa areca heres The oping between nstorandmacie has ble foreapl thence Ghedkandcanectthe means, raves buh asmahine does). Pinary operation male iseinconecly (eckand propery sehen Tel orcaent inks are eine Ceckand proper helm Presence of raise onconmandor ctereedbacksltalwies Aecarended grounding pr istalatin strctonshave at bee olive 7 ey ganding 1 ute ie ay fam nie sears, 1 Retr. Sse Designer Cone e Ec Na, publaton Line fequncy can be preset Yes gounding + Route ne aay om ne sources, Tatbleequncy ante lai edb pple oa dstrbance asedby sear tenthor alice ball, ao foth The eguency can beams of themotr poner varsmision ompanetsr alba speeds reukingin ely dara Decoupe the taro vrication * Ghedkand prove mechanical pertamance. fo ‘arp the gear or balscew mechani, acl Automaton Pblatin2057-UMOO2CEN-P- December 2013 mChapter Tublestoattheinetx350 Deve Table 54-General System Behavior Potential ure PosbleRessaton Theor anne ae bao open ‘Ghent wrng wd connects, Foreign materi ged teat, Feoveforeign mater Thenerledivxevive Weiter pte ng Nartaton Theberge are worn, Feta motarforepa otrbake engaged supped > Ghee bake wing and incon Theretorbrakeengage supe + Return hero arepait Thersorisnatcannecto the bd hed pling Theeay ek ocenne ‘ange onmand ple toedue acl eclar Motor cert inareaetine, The aa sparta demagnetied ang excessne motor caent Tear motor orapa Ttartaing Eee oo igh Tun ane ogi 00 tae > Remove elooe pars Loosepars re preset inte eter Retummotorfrepa Repeater oneal ie Toghbalis er oaplng she Tightens Theberge are worn, Tetum tr rrp Hechaialsonance. Toth ite can be equed teria operas logo, Our tabin 5.9 500 oe Eratcopertion-Wator, losin postion, rs vithout arith reed ue Tarpon pase U and Vand W erV and W revere Get and cores mot poner wag Sin crear ead ae reve nthe feedback able anes, Gheckand coed metered wing Since oar eds fea endback ae evened (he and cored metered ting Te matin oma motor wih aTTL cece uss enabled ad thee re rota Sinead ane spa arebolen Geek wing m Rectal utmation Publaion 257-UNOOICEN?-Decerber2013Troableshotthe inet 3S000ve Chapter? Logix5000 Controller and Drive Behavior By using Logix Designer Application, you can configure how the Bulletin 2097 lives respond when a drive fault/exception occurs. 1 The borfaults are always generated after powerup, but before the dive is enabled, sothe stopping behavior does nt apply Kinetix 350 Drive Exception Behavior For Kinctix 350 drives, you can configure exception behavior in RSLogix 5000 software from the Axis Properties dialog box, Actions category: Table 55 -Kinetic350 rive Exception Action Definitions Def The contol ample gor the xcept condton Fase excep a fundamental othe operation ofthe planner goreisal an aaltle opto, The contallerstthe socted inthe tien lr Salus wordbt des na ctherve ate ats behavior ite lo ifthe ception so fundamertalto the rv, zm nt nara option Whe an exception acon sto lathe Alarm goes aay by self enteral odin hs ceed Tau Sas Orisa the onl oe the asscated ithe Moto Fu Stas wort butdes otherwise afecansbehavirHoweve an eal Faur Reset reures| tadertheaultone the exepna condition as cared tbe xeptinis 0 fandarentalto the ri Flt tus Only! an aaable opin fal Status Only The contr st the cated the Maton Fa Satu wordandinstat the Walon Planet priem acne tp fal plamedetn athe congue maximum Stop Planner deceleration rate a exit al est srnaed to dea theft anethe excepted ‘anton hs dared the excep 0 fovamental the ie, tp Paes naan able opin, Wen the xpton curs the asocated tine Tau Sas words andthe ws cones tastopby wing thestoporg action defined bythe re othe arta exestion Sop ive thatocaed. Theres ra conver basedcanguatin seat wha thestpgng acon iy thesteppng actions device pendent Whe th xp acute dive ngs the malaria spy sing the lpping aan Stutdoun Sefnedy the ore an top Drv) ante power module dbl Opt anal, Fe Shutdown Acionatrbueis congue for rp DBs he contactor pers. a eri Shutdown Resets equed a restr the det operton acl Automation ablation 2057-UMOO2C ENP - December 2013 mGhapter7—Tublestoattheintix350 Dre Only selected drives faults can be configured. In the Drive Behavior, Exx Fault ‘Gades tables, the controlling atribute is given for programmable fault actions. Figure S0-RSLogix $000 Axis Propertis- Actions Category [fmeibeatbeae_a] ian HsaDmstieioe [ome 3] ead SU meiistseee [> a Agee icine sree ‘aie ot, Vesti Sls aURe Best Stopping Met (onlymajer faut) Exception Descption Permaner: magnet meer ommaraion oben detec Far ple Fo oterCommrain egal sate 11 e000 fra UW ommatan dence, Tas exceptions |DsaleCoast supped fool TL ators with alsenson, Talore as xed is maim ven by he Noto Overped Facoy int atte asacated withthe mete ype. Ts exception ro Meter Ovesped trigeshe ert dectlFequery exceeds S00 Hear themcoris | DPmBeICsst commando go 125% os mana peed Tatar ener far ecewded satay se trmperur it gen Fos oxo Overtempeatue ata Overtenpeatae actor Limit ote cegracerthemal swith | DsaleCoast hastippd Tatar heal adel har ceded sacar steal capac in or ote Thermal Over gqvenby Meter TermalOveoadactry Lt Ths s18°C(25 7) | Dee Disable Ferheinet 50 ve, Teer ret as exceed the factory se peak or stataneous caret ne lover Overcoret Tic Tiina 0% fhe ated vec oracle pate Diablos Teer emperatue av exceeded frst empratue Ft en by mu overt Overtemperature Inverter Overtegerature Fay Limi Detected when 2 neta Disables temperate snr senses 108206 Terr thermal model ha eceded sacar ethemal apace re Inverter ThemalOesad en iverer Teal Oka Far Lint Tis thshalessetie 108 | DsableCoas Cash, DBs valage eves the aye Fg by Br UndeoTage ra Bustnderotage Fac Ut Ths iis set a5 a em vtageas termined | Dee Disable enpomeup DCBusvage levels Bove the faa sel guenby Bus Overokage Bs Bus renalage Factory Lint For 240 ves the ts 4200 Fr 0 Gives the bats | DsableCast at ms Rectal utmation Pabon 257-UNODICEN?-Decerber201Toableshot the finetix350 ie Chapter? Table 56--Drive Behavior, Fc Fault Codes (continued) 9 wcapion -cipion Bes oppig Het FeurdigitDipley | xcept Desc (oly mfrfet erm AE aoe gal am afd ie we pe eed cx mig rset tented Spey be cette lage kvl ‘8 Feedback Sigal ess the signals are below the Feechac SignallossFactory Limit The offending | PSable/Coast ter al nee taser ace TWerunbe see sede oreseal apa oe : ataates seen cutn fo afencdnceas eed Fe OR | aay « Feedback Dat ‘Lass Factory Limit. The offending feedback channel is encoded in the Deabic soc Fa am Sih Code Tete eta uri 7 Deval Tiled derbi eed teal eo Segrana neo | ag “ Feedback Device Failure ‘eturn an error code and Tamagawa encoders have an eror lag. DsableCoat 0 Hania Oem ostne | Moved esha te awit detent ciate st Horan Over esatve et eccceccelantoane NUTETeONS | pecuDsate an ; TP ror pton cl bop ard se Exes Posten roe Tet rw a hepa DectDsale rst . THe ey revo he lot anal aparece 8 Exes Veley Er congres ae foVetyEreToleance Decelable : : Ta oqiear ioe oe wr deaednainon owueelsPey | paarpaaye 5 Over ii eres Deal : comune Tarot deprtbcnv readme Tome | ocaineawe 7 Undertarque ‘by Undertorque Limit. Decl Disab a Eatirp Dace Erte ey cae ean aig mae Decale fa eretenned yin | repent pealy owe Dat 1) When aT cadres ga ise deuce. eda IMPORTANT Table 7 -Drive Behavior, Fax Custom Fault Codes yaad cn, ply er ce ber ct bt ‘The faut detection abity of TL encodersisnotas advanced a with Stegmann hiperface or Tamagawa 17-bit seria encoders. When a TL encoder losesits AI B signals, the Knetx 350 dive isunable to detec ths direct. Instead teles ‘ona secondary fault to detec the condition, typically excessive postion or velocity ero. There are some cases, particularly in Torque mode whee the faultisn't detected at al In this case the motor coasts toa stop, buts stile ‘enabled in Logix Designer application. vdghDiply | fxeption “anton est Stopping Method Fourdigit Display | Except Descipti reasueyta a at Noterorage Minath Thematarvaltage compa wih the applied Sve vege Diabet Theater tage ona baer iced motor ender ow enough ach 05 Feedback Bates *hatabslte pation et egeavalable Ts acs when the batery | Dce¥Dsabe istaolow and encoder ain power asbeenreroed Thebatey vege ona bate ached motor encdeisbelowa cation Fes Feedback BateyLow lee Ts cas when theater stoTon Buran paver bas ntye_| DeceUDsabe been removed acl Automaton Pblatin2057-UMOO2CEN-P- December 2013 usChapter Toublstoattheinetx350 Deve ‘Table $7 Drive Behavier, Fa Custom Fault Codes ‘Dupay | tention vcrption Best topping Method Feurigt Display | Exception Description (only Majer Fauk) rH Taesretretecnaone —_|eptnerestnorphaetastem biermmantelwapee | paicae Ta Fue ror Funnel Diabet ma Produc Spec Prec Speci faid exeptonsby ub ole Diabet A node faule is a faule chae impacts the whole drive ‘Table 8 -Drive Behavior, nar Node Fault Codes Feurdigit splay | Name Description The Coed enneton Uplate Ful code bed nde at panes ‘rom the cma aer he conte fv conection have been ccs teas determined te Cn pate ely igh Lint. bute vale. vo Cott Cannecton Update Fut Dales The Proceso Wath Fuh ode nates hath proceso asocate ad Proceso Wath Fault iththedevie nde hasexpeencedan exes veodcondtan at | Dsale/Cast hs ppd theasscted pacer wachdog mechanism. The adver Fa code dias thatthe ctl appr hardware ch v3 Harare Fu astherPCAer AICasoated wih the device nodenasexperenceda | Dsable/aas faatcnaon, Ths ocr when the EP mace as Bee emo “sal ade nae that rar Fas ocaedin the ta oat soe Data eemat Ero bezween he comer andthe device, suchas aFornat Reson Dallas amatch vas ‘envel ometon os Fue The Contel Ganecten Les au ode dates tate Noten ate | ejay tadvecanneton fem he cote hastined ut ns Rectal utmaton Pubaion 287-UNOOICEN?-Deceber 2013Teabloot the Knetin350 re Chapter? 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 che IP address of the drive Figure 51-Main Page acl Automation ablation 2057-UMAC2C ENP December 2013 uwChapter Tublstoattheinetx350 Deve Notes: me Rectal utmation Pabon 257-UNODICEN?-Decerber201Appendix. A Interconnect Diagrams Peg TTurometDagemutes—SSsS~—~SsSs~—CSsSs~S Foueiagbanpes —SCS~“‘sS*S*~‘“‘*‘“‘~‘C~s~i~i~CSt~S*«*r “inet 350DmreFRtan MotorWengeampls etre rei 9 “Goemtkagens Cd acl utomatenPablan 2087-UMOO2CEN-P- December 2013 nsAppendix ercnnectiagtans Interconnect Diagram Notes | This appendix provides wiring examples assist you in wiring the Kinecix 350 system. The notes below apply to the wiring examples on the pages that follow. Tete | tformation T_ |For power ing peat ero Per Wig Regents ne. 7 __|Fripat ean rea beer es ref to Cea Beale ue Seca on. 3] Place A) ete a ese tobe rive as posible and do nctroute vey ty wiesin the weewa. roan in wrens ravodable use shld abe ith ‘held grounded the ive chs ana ter cae For AC ier specication fe tone 350 Drve Per Special Serv Drives Specs Tecnica ata, pubic GCTDOS Tis te des at appt 2087-V2PReM ds becatsthey have negated Cn ier _[Temialock reed io make conection S| conectr at eedsiteated urge suppress fr Aca operation Refer Contactar Rags on | eto he Motor Brat Cameleon gage 10 siete nepal fr yourappleation andra detaled chemical mplementtn 7 [Dre rablenpet ste pened hen wan pow eave ora ive a acs Ady fala 10 scam be oredr ae oe éiveatermai powers restr + | Cblestield damp mute wed omeet Erequremens. Netra nnecton te grounds rected 3 _| Feroter ale specications fr tthe iets Notion cess pean Tenia Data plication GUCTDOO 10 Materpwe abe (rag mabe 250 P Nar and 280-CPVSD-T6 Rave ah wie at muse fled ack under the abe ela 11) Poa MP Ac MP, PS WAR Ra MPT on rd WPAS a, encodes se the +5V DCs MPL Bex MPM Bo, MPF a, MPS, WEAR er MP, nd PAS Be, econ se +9700 12] Bake oper pis re abeed ps] and minus) or Fan respective Power onecor pis ar bed, Wand Dar ABC andDrepece no Rectal utmaton Pubaion 287-UNOOICEN?-Deceber 2013IneoonetDiagrams Append Power Wiring Examples ‘You must supply input power components. The single-phase and three-phase ine filters are wired downstream of fusing and the MI 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-V33PRiLM drives are wired for single-phase 120V operation. Figure 53 -Kinetix350 Drive (120V single-phase input power) Mevebenuaniewertne Tear Va PReand 2097-Vi2PReAM Kinet 350 Drives Fe | souasee Acne " | sis Sales Apa md (optional * a _| Sales ca “ ioe vt a " | mov camnecse ed ee ‘abet: |= omecios scams F=—> AccapPowwe [Tang] —<_ erst cenecat [aac] —< 28000 LA teeghse z Net ove - Canecens Ueteadebgee hc ‘aes wenraounie | 2—2[_6 | vou, Ching she gel acl Automation ablation 2057-UMOO2C ENP - December 2013 mAppendix ercnnectiagtans In this example, single-phase 240V AC is applied to 2097-V31PRx-LM and 2097-V32PRe-LI IMPORTANT M drives. ‘The 2097-V32PRx-LM modelshave integrated AC line filters and do nat requre the ACline iter shown inthis diagram Figure 54-Kinetix 350 Drives (240V single-phase input power TAPS TAT ATATT nnn sranhae Md ST ccsesatits 5000 scunerte | [ seine a nae She phase lg — = 7 | alana 27 = nce stoner Coron Tl] —< tecspnee m Rectal utmaton Pubaion 287-UNOOICEN?-Deceber 2013 vextoww FTE Bue (PY Goanecin a Connections io ooIrene Diagrams Appendix In this example, three-phase 240V AC is applied to 2097-V33PR.xLM drives and 480V AC is applied to 2097-V34PRx-LM drives Figure 55 -Kinetix 350 Drive (240/480V three-phase input power) 2087.V53PRIM and 2097-V34PReIM anebeeagne itn desrsnarnett shan Shot est Fo] ernest tte te 2qcemnecer [= ao SS as ‘weephase Input >—o. " 7] Thee tsp 29880 ms AC S60 i 1 comer cr 2 Bada ower er a eer i (PI Connecter }— =10t THA ieeshse Morne [> otePane enue bgeunca » weirs, | Comnecins ‘comiaeéie | —_{ © |vowor x oo > |ceoeter 7 “ atest ca IMPORTANT For the 480V Kinetic 350 dives to meet 150 13849-1 (PLA) spadng requirements each phase voltage to ground must bees than or equal to 300¥ 'NCims, Thismeans thatthe power system must us center grounded wye secondary configuration for 400/480 AC mais. Shunt Resistor Wiring Example Refer to the Kinetix 350 Drive Power Specifications in Kinetix Servo Drives Specifications Technical Data, publication GMC-TD003 for che Bulletin 2097- Re shunt resistors available for the Kinetix 350 drives. Refer to the Shunt Resistor Installation Instructions, publication 2097-INOO2, installation information. Figure 56- Shunt Resistor Wiring ample 2097 VaR Ninetix350 Drive additional aos me Shunt Resistor Ty icecream acl utomation ablation 2057-UMAO2CEN-P- December 2013 1mAppendix ercnnectiagtans Motor Wiring Examples motors, Figure 57 -MP-Series (Bulletin MPL, MPM, MPF, and MPS) Motors. coer "ea ‘rie eunttsonninte ie 8 Does a rE ann a rast ov Serve Motors with aii, metre noc a Wish een etc mck : oa Three phase 1 su sme ! iets @eg| aston — [233 ae 9 : a | Tn eh (MP) Connector |W a >: 1 ret tea [3a ss 3 | tne we 13 ee CHT ‘ ft Mens [3 ar CHT] 3 f a Wu we ‘ a3 ou sh verte — 2 nant i000 (a sommes, meet TCE rhe ash ‘Gable Shield ween one Tm AFCA PLA wm Welt area ete Se trot ‘wroe Income ednd omc ‘net h od, Fpbeoctt it Ce too Ge we Th 5 CLE teestne [3 3s 0 a] 1 fe tree FT ws TT Teesaacabested IR) sy etecanece te [33s 9 (om Hl Thermostat w tu . Programs>FLASH Programming Tools> ControlFLASH. "The Welcome to ControlFLASH dialog box appears UN issarc renee eng seis ne athe lee atte UMoRimoe Rewer iavenaae 2. Click Next. The Catalog Number dialog box appears. ra PUSH me M6 Rectal utmation Pabon 257-UNODICEN?-Decerber201Upgrade te Kinetic 350i mare Appendix B 3. Select your drive module and click Next. The Select Device to Update dialog box appears. a] tomrereaiimeTent 5 i ra reseweua eseweum [yasEyatia 1ARCWERIA ESN ee | 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. COUTTS ieerevncuta nuns BOY fecus [rsns | 6. Select the firmware revision to upgrade and click Next. ‘The Summary dialog box appears tas ade acl Automation ablation 2057-UMOO2C ENP - December 2013 urUpgrade the Kinetic 350 Dive erware 7. Confirm the drive catalog number and firmware revision and click Finish ‘This ControlFLASH warning dialog box appears seeeteaeet —» JES 8. Click Yes (when ready) ‘The Progress dialog box appears and upgrading begins. 2 aeceesapte Traahoigdde 22 Mh 2004728 ‘The drive four-digit status indicator changes to -PS- and scrolls IP address, which indicates that upgrading is in progress. After the upgrade information i sent to the drive, the drive resets and performs diagnostic check in It displays 350, -08-, and scroll -00-and the IP address. Caseetines arnoue Pebgtacinern. Tella Dice, « forthe Progeess dialog box to time out. Iris normal for this process to take several minutes, IMPORTANT —_Donot cycle power tothe drive during ths processor the fmware upgrade isnot completed succesfully Rectal utmaton Pubaion 287-UNOOICEN?-Deceber 2013Upgrade te Kinetic 350i mare Appendix B 10. ‘The Updace Status dialog box appears and indicates success or failure as, described below. Upgrading Saar See rae 0 1. Update cole ppeatsin a RLU Stas alg box 2 Gateseal 1, Update ature appa ine REDS dal box 2. Refer ContFLASH Fre Uprade Ki Quck tart, pubiatin 8.05105 forrbleshoctng infra, LL. Click OK. a acl Automation ablation 2057-UMOO2C ENP - December 2013 weAppendix B Upgrade the inei3800rve Ferre Verify the Firmware Upgrade Follow these steps to verify your firmware upgrade was success m1, Vetying the frmmare upgrades optional. 1. Open your RSLinx software. 2. From the Communications pull-down menu, choose RSWho. cae 5 5 ees. ERR SE, Eee 1b 3. Expand your Ethemet node, Logix5000 backplane, and EcherNet/IP network module, 4. Right-click the drive module and choose Device Properties. ‘The Device Properties dialog box appears ne [RT eee aS Pate fgets em iS 5. Verify che new firmware revision level, 6. Click Close. 150 Rectal utmation Pabon 257-UNODICEN?-Decerber201Index Numerics 1120/240V single-phase input power 132 ‘120V single-phase input power 131 .240/480V three-phase input power 133 A about this publication 9 ‘ACinput power Pinout 40 actions tab 92 actuators Interconnect diagram PAL 137 ANDAR 137 PAS 136 TUR 38 additional resources 10 lication Logs Designer 84 as properis 90 stausindators 119 axis unstable 121 backup power 45 Pinout 40 block diagrams power block dlagram 140 vokage-doublr lock diagram 141 bond 26 EMI (elecromagneticinteterence) 25, high equenc energy 27 subpanels 27 brake curents 139 build your own cables 52 ¢ cables build your own cables 52 Ethernet cable length 75 length, E18 motor feedback 71 motor power 6 shield camp 70 catalog numbers 14 category3 requirements 102 stop category definitions 102 « complance 15, 57 comply with E105, conformity 105 ialdae complance 57 meet requirements 105 certification TU Rheinland 101 wer responsbities 101 circuit breaker seleion 19 specications 20 damp 70 ddeanzone 28 ddearance requirements 24 ‘configure a properties 90 ely times $2 drive modules 87 EterNet/P controler 84 connect Ethemet 75 enteral shunt restr 75 feeabac71 vont motor sield damp 70, connector designators 36 Focations 36, 104 contactor specifications 2. ControlFLASH fimvare upgrade 143 troubleshooting 9 verify upgrade 150 ‘controller properties 85 ‘conventions used in this manual 9 data ype sé date/time tab 85, Aelay times 92 Aigital inputs #1 sirty zone 28 download program 93 Wire BP connector 63 wir PD connector 64 wire MP connector 85 wire STO conned 6 wing requirements 60 rive status indicator 120 EMC deat 105, ‘motor ground termination 65 ‘oto ground termination at motor 65 EM (electromagnetic interference) bonding 25, EN 61508 102 EN 2061 102 enable time synchronization 85 enablelnputChecking 5,100 acl utomatenPablaion 287-UMAO2CEN-P- December 2013 181enclosure requitements 17 sang 21 ‘erratic operation 122 Ethernet ‘abl length 75 cables 45 connecor 75 pinouts 38 wig 75 F fault code summary 113, fault codes 113 fault status only 123 feedback connections 71 feedback power supply 50 firmware upgrade 183 very upgrade 150 selection 19 specications 20 rmutipe subpanels $8 syste to subpanel 58 inded power configuration 53 H hardware enable input 95,58 HF bonding 25 high frequency energy 27 hookup test 95, vo specications 41 \Voconnections 71 VO connector wiring 73 backup power 45 pinouts 38 input power wiring Se phase Dela 53 5-phase WE 3 etemine input power 52 sunded power configuration $3 singlephase 54 volage double single-haseampliirson3-phasepowerss, 56 install drive accessories VO terminal bloc 73 low-profile connector kis 74 shunt resistor 75 install your drive tnd subpanes 27 ‘cut breakers 18 fuse selection 19 HF bonding 25 system mounting requirements 17 transformer 19| integrated axis module ais properties 90, stausingcatars 19 Interconnect diagrams 120/240 single-phase input power 132 12 single-phase input power 131 2087 with MPA actuator 137 2087 with MPAR acuator 137 2097 wth MPAS actuator 136 2087 with NPLMPMIMPEIMS motor 134 2097 with TLAR actuator 138 2097 wth TL motor 35 240/480 three-phase input power 133 nates 130 shunt resistor 3 interpreting statusi 150 13848-1 3 requirements 102 slop category deftons 102 L Logix Designer application £4 low profile connector kts witng 74 low voltage directive 105, ‘module properties drive modules 87 Properties 89 pinouts 38 speciiations general 46 therastat 47 ing 71 power pinouts 40 ting 86 ab 90 xcelféecel problems 121 brake curens 138 feedback pinouts 72 ground termination 65 interconnect diagram MPUMPM/MF,MPS 134 12 Rectal utmation Pabon 257-UNODICEN?-Decerber201qs cverheating 122 power wiring ‘phase and brake 68 Bephase only 67 Tseries 65 shield amp wing 70 tes 9 tune se veocty 121 mount Kinetic 350 drive 33, MSG instruction 199 N network status indicator 120 noise 8 abnormal 122 feedback 121 panel requirements 17 parameters 92 pinouts ‘ACinput power (PD) 40 backeup power (8) 40 Ethernet [Port 1} 38 Vvo(wo) 38 motor feedback (MF 38 motor feedback connector 72 rmatr power (NP) 40, safetorqueoff (S10) 37 hunt resistor and DCbus (BO 40 er block diagram 140, et supply, feedback 50 clearance 24 Rus Ethernet comector75 route power and signal wiring 52 bypass 107 eonnecer location 104 operation 02,107 PrD and ri data 103, ED and FH definition 103 pinouts 37 specications 108 ‘roubleshoating 103 wiring diagram 108 wing requirements 106 safety products catalog 108, shield clamp 70 shunt resistor 31 inteconnect diagram 133 wiring requirements shunt resistor and DCbus pinouts 40 shun/DC bus connector 75 shutdown 123 specications backup power 45 cheat eaker 20 contactor ratings 2 Aligtal inputs 41 feedback power supely 50 fuse20 rmotarfedback 6 genericTTL 48 ‘Stegmann 47 Tamagaa so motor therestat interface 47 safetorgue-af 108 transformer 23 status indicators 112,119 dive status 20 PORT status 120 Stegmann 45 5000 environment 84 system block diagrams owe block dagram 140, ‘lage doubler black diagram 141 system mounting requirements 17 system overview 12 agra 8 T Tamagawa 46 testares hookup test 95 transformer siting 19 specications 23 acl Automation ablation 2057-UMOO2C ENP - December 2013 1154 ‘troubleshooting 120 Contra FLASH 149 dive statusindctor 120 exception behavior 123 fauftade summary 113 fault codes 13 fault status only 123 four-igit dsl messages 112 general sstem problems 121 abnormal aise 122 ais unstable 127 eratic operation 122 feedback nose 121 motor acel/decel 121 ‘motor overheating 122 ‘motor velocity 121 noratation 122 Logie fal behavior 123 network stats nicator 120 PORT 1 statusinicetor 120 safe torque-off 103 safety precautions 111 shutsoun 123 stop drive 123 stop planner 123 tuneaxes auotunetab 97 v voltage doubler block diagram 141 operation 54 ower diagram 131 w witing build your on ables 52 diagram safe torque-ff 108 ‘tive 8 comector 8 IPD connector 5 MP connector 65 STO connector 63 Ethernet connections 75 grounded power configuration 53 Sounding drive 58 ‘uidelines 62 oconnector3 input power determine type 2 low profile connectors 74 rotor able shield clamp 70 motor feedback 71 motor power 65, 67, 68 requitement SI, 196 dave 89 shunt tessa 61 route power and signal wing 2 shunt essor 75 Rectal utmation Pabon 257-UNODICEN?-Decerber201acl Automation ablation 2057-UMOO2C ENP - December 2013 155Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products. ‘Ac huep://wwwtockwellautomation,com/support you can find technical and application notes, sample code, and links to sofeware serviee packs. You ean also visit our Support Center at https://rockwellautomation.custhelp.com/ for software updates, support chats and forums, echnical information, FAQs, and to sign up for product notification updates. In addition, we offer multiple support programs for instalation, configuration, and troubleshooting, For more information, contact your local distributor or Rockwell Automation representative, of visit hup,//www.zockwellautomation,com/services/online-phone Installation Assistance Ifyou experience a problem within the first 4 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, Toted Sater Canad Tanase ‘uuide United Sates or Ganda | Use the ete ocr tb Tan eciwelastman anode maton apgenineriew sat oF ent your al Ravel Avtamatinrepesertatie New Product Satisfaction Return Rockwell Automation test all ofits products to help ensure that they are fully operational when shipped from the manufacturing facility. However, ifyour product is not functioning and needs to be returned, follow these procedures. Dated Sates Cetactour dstibtr Younus provide a Caster Sport se nurber (alte hone urbe above To oBan one your dstrourto compete the ret paces, aide ned ater Pes contac your loa Rawal Ronan repeseave ferret proce Documentation Feedback ‘Your comments will help us serve your documentation needs better. Ifyou have any suggestions on how to improve this document, complete this form, publication RA-DUO02, available at http://www:rockwellautomation,com/literature/ Rockwell Ocomasyon Ticaret A$. Kar Plaza ly Merkeat E Blok Kac6 34752 Igerenky, Istanbul, Tel: +90 (216) 5698400 www.rockwellautomation.com Power, Contrl and Information Solutions Headquarters Fectwel Autamation ublatien 2057-UMOU2CEN-?-Deceber 2073 ‘smth Ae aren vind te ek