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

Kinetix 350 Single-axis
EtherNet/IP Servo Drives

Catalog Numbers 2097-V31PR0-LM, 2097-V31PR2-LM,
2097-V32PR0-LM, 2097-V32PR2-LM, 2097-V32PR4-LM,
2097-V34PR6-LM
User Manual Original Instructions

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

Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you
install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions in addition to
requirements of all applicable codes, laws, and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by suitably trained
personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any
particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: ;?qTh?? ?Identifies information about practices or circumstances that can cause an explosion in a hazardous
environment, which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT Identifies information that is critical for successful application and understanding of the product.
These labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous
voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may
reach dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential
Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory
requirements for safe work practices and for Personal Protective Equipment (PPE).
The following icon may appear in the text of this document.
Identifies information that is useful and can help to make a process easier to do or easier to understand.
Rockwell Automation recognizes that some of the terms that are currently used in our industry and in this publication are not in alignment with the
movement toward inclusive language in technology. We are proactively collaborating with industry peers to find alternatives to such terms and
making changes to our products and content. Please excuse the use of such terms in our content while we implement these changes.
2 Rockwell Automation Publication 2097-UM002E-EN-P - December 2022

Table of Contents
Preface
Summary of Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Chapter 1
Start About the Kinetix 350 Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
CE Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Chapter 2
Install the Kinetix 350 Drive System Design Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
System System Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Circuit Breaker/Fuse Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Contactor Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Transformer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Transformer Specifications for Input Power . . . . . . . . . . . . . . . . . 19
Enclosure Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Power Dissipation Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . 21
Electrical Noise Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Bonding Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Bonding Multiple Subpanels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Establish Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Cable Categories for Kinetix 350 Drive Components. . . . . . . . . 27
Noise Reduction Guidelines for Drive Accessories. . . . . . . . . . . . 27
Mount Your Kinetix 350 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Chapter 3
Kinetix 350 Drive Connector Data Kinetix 350 Drive Connectors and Indicators . . . . . . . . . . . . . . . . . . . 32
Safe Torque Off Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . 33
I/O Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Motor Feedback (MF) Connector Pinout . . . . . . . . . . . . . . . . . . . 35
Ethernet Communication Connector Pinout . . . . . . . . . . . . . . . . 35
AC Input Power Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . 36
Back-up Power Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Shunt Resistor and DC Bus Connector Pinout. . . . . . . . . . . . . . . 36
Motor Power Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Control Signal Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Motor Brake Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Ethernet Communication Specifications . . . . . . . . . . . . . . . . . . . . 41
24V DC Back-up Power Specifications . . . . . . . . . . . . . . . . . . . . . . 41
Rockwell Automation Publication 2097-UM002E-EN-P - December 2022 3

Table of Contents
Motor Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Feedback Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Chapter 4
Connect the Kinetix 350 Drive Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
System Recommended Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Route Power and Signal Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Determine the Input Power Configuration . . . . . . . . . . . . . . . . . . . . . . 50
Three-phase Power Wired to Three-phase Drives . . . . . . . . . . . . 51
Single-phase Power Wired to Single-phase Drives . . . . . . . . . . . . 52
Voltage Doubler Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Isolation Transformer in Grounded Power Configurations . . . 53
Three-phase Power Wired to Single-phase Drives . . . . . . . . . . . . 53
Voiding of CE Compliance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Grounding Your Kinetix 350 Drive System. . . . . . . . . . . . . . . . . . . . . . 56
Ground Your Drive to the System Subpanel . . . . . . . . . . . . . . . . . 56
Ground Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Power Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Wiring Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Wiring the Kinetix 350 Drive Connectors. . . . . . . . . . . . . . . . . . . . . . . 60
Wire the Safe Torque Off (STO) Connector . . . . . . . . . . . . . . . . 60
Wire the Back-up Power (BP) Connector . . . . . . . . . . . . . . . . . . . 60
Wire the Input Power (IPD) Connector. . . . . . . . . . . . . . . . . . . . . 61
Wire the Motor Power (MP) Connector . . . . . . . . . . . . . . . . . . . . 62
Apply the Motor Cable Shield Clamp. . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Feedback and I/O Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Flying-lead Feedback Cable Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . 69
Wiring the Feedback and I/O Connectors . . . . . . . . . . . . . . . . . . . . . . 70
Wire the I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Wire the Low-profile Connector Kit . . . . . . . . . . . . . . . . . . . . . . . . 71
Shunt Resistor Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Chapter 5
Configure and Start up the Keypad Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Kinetix 350 Drive System Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Configure the Kinetix 350 Drive Ethernet IP Address . . . . . . . . . . . . 79
Ethernet Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Kinetix 350 Drive Ethernet Port Configuration . . . . . . . . . . . . . . 79
Obtain the Kinetix 350 Drives’ Current Ethernet Settings . . . . 79
Configure the IP Address Manually (Static Address) . . . . . . . . . 80
Configure the IP Address Automatically (Dynamic Address). . 81
Configure the Logix 5000 EtherNet/IP Controller. . . . . . . . . . . . . . . 82
Configure the Logix 5000 Controller . . . . . . . . . . . . . . . . . . . . . . . 82
Configure the Kinetix 350 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Configure the Motion Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Table of Contents
Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Apply Power to the Kinetix 350 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Test and Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Test the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Disable EnableInputChecking by Using a Logix Designer Message
Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Chapter 6
Kinetix 350 Drive Safe Torque Off Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Feature Important Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Safety Category 3 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Stop Category Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Performance Level and Safety Integrity Level (SIL) CL2 . . . . . 100
Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Troubleshoot the Safe Torque Off Function . . . . . . . . . . . . . . . . 101
PFD and PFH Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
PFD and PFH Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Safe Torque Off Connector Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
STO Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Wiring Your Safe Torque Off Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . 103
European Union Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Safe Torque Off Wiring Requirements . . . . . . . . . . . . . . . . . . . . . 104
Kinetix 350 Drive Safe Torque Off Feature. . . . . . . . . . . . . . . . . . . . . 105
Safe Torque Off Feature Bypass. . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Kinetix 350 Drive Safe Torque Off Wiring Diagrams . . . . . . . . . . . 107
Safe Torque Off Signal Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Safety Input and Output Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Chapter 7
Troubleshoot the Kinetix 350 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Drive Interpret Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Four-digit Display Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
General System Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Logix 5000 Controller and Drive Behavior . . . . . . . . . . . . . . . . . . . . . 124
Kinetix 350 Drive Exception Behavior . . . . . . . . . . . . . . . . . . . . . 124
Web Server Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

Table of Contents
Appendix A
Interconnect Diagrams Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Shunt Resistor Wiring Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Kinetix 350 Drive/Rotary Motor Wiring Examples . . . . . . . . . . . . . 134
Kinetix 350 Drive/Actuator Wiring Examples . . . . . . . . . . . . . . . . . . 137
Motor Brake Currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Appendix B
Upgrade the Kinetix 350 Drive Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Firmware Configure Logix 5000 Communication . . . . . . . . . . . . . . . . . . . . . . . . 143
Update Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Verify the Firmware Update. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Appendix C
Leakage Current Specifications Leakage Current Specifications Table . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

Preface
This manual provides detailed installation instructions for mounting, wiring,

and troubleshooting your Kinetix® 350 drive; and system integration for your
drive/motor combination with a Logix5000™ controller.
Rockwell Automation recognizes that some of the terms that are currently used
in our industry and in this publication are not in alignment with the movement
toward inclusive language in technology. We are proactively collaborating with
industry peers to find alternatives to such terms and making changes to our
products and content. Please excuse the use of such terms in our content while
we implement these changes
Summary of Changes This publication contains the following new or updated information. This list
includes substantive updates only and is not intended to reflect all changes.
Topic Page
Added the Bulletin 140M to 140MT Motor Protection Circuit Breakers Migration Profile 7
publication information to the Additional Resources table.
Updated all 140M-C and 140M-D devices (which reached End of Life) to the equivalent 17
140MT device in Table 7 - Fuse and Circuit Breaker (CB) Specifications.
Updated European Union Directives references in the Wiring Your Safe Torque Off Circuit 103
section.
Updated the description of the Feedback Loss (F 43) fault in Table 46 - F xx Fault Codes. 116
Conventions These conventions are used throughout this manual:

• Bulleted lists such as this one provide information, not procedural steps.
• Numbered lists provide steps or hierarchical information.
Additional Resources These documents contain additional information concerning related products
from Rockwell Automation. You can view or download publications at
rok.auto/literature.
Table 1 - Additional Resources

Resource Description
Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001 Product specifications for Kinetix VPL, VPC, VPF, VPH, and VPS; Kinetix MPL, MPM,
MPF, and MPS; Kinetix TLY and TL; Kinetix HPK; and Kinetix MMA rotary motors.
Kinetix Linear Motion Specifications Technical Data, publication KNX-TD002 Product specifications for Kinetix MPAS and MPMA linear stages, Kinetix MPAR and
MPAI electric cylinders, and Kinetix LDC and LDL linear motors.
Kinetix Rotary and Linear Motion Cable Specifications Technical Data, Product specifications for Kinetix 2090 motor and interface cables.
publication KNX-TD004
Kinetix 3, 300, 350, 2000, 6000, 6200, 6500, 7000 Servo Drives Specifications Technical Provides product specifications for Kinetix Integrated Motion over the EtherNet/IP™
Data, publication KNX-TD005 network (Kinetix 6500 and Kinetix 350), Integrated Motion over Sercos interface
(Kinetix 6200, Kinetix 6000, Kinetix 2000, and Kinetix 7000), and component
(Kinetix 3) servo drive families.
Kinetix 350 Single-axis EtherNet/IP Servo Drive Installation Instructions, Information to help you install your Kinetix 350 drive system.
publication 2097-IN008
Kinetix 300 Shunt Resistor Installation Instructions, publication 2097-IN002 Information to help you install and wire the Kinetix 300 shunt resistors.

Preface
Table 1 - Additional Resources (Continued)

Resource Description
Kinetix 300 AC Line Filter Installation Instructions, publication 2097-IN003 Information to help you install and wire the Kinetix 300 AC line filter.
Kinetix 300 I/O Terminal Expansion Block Installation Instructions, Information to help you install and wire the Kinetix 300 I/O terminal expansion
publication 2097-IN005 block.
Encoder Output Emulator Module Installation Instructions, Information to help you install and wire Encoder Output Emulator Module.
Bulletin 140M to 140MT Motor Protection Circuit Breakers Migration Profile, publication Provides detailed migration solutions for obsolete 140M motor protection devices
MIGRAT-PP049 to 140MT motor protection devices.
CompactLogix L3ER Controllers User Manual, publication 1769-UM021 Information to help you install, configure, program, and operate a CompactLogix™
system.
Stratix 2000 Ethernet Unmanaged Switches Installation Instructions, Information to help you install and operate a Stratix 2000 Ethernet Switches.
Ethernet/IP Benefits of Industrial Connectivity in Industrial Apps White Paper, publication Provides general guidelines and theory for Ethernet/IP industrial systems.
1585-WP001A
Industrial Ethernet Media, publication 1585-BR001 This brochure provides connectivity solutions for Ethernet networks and integrated
architecture.
Guidance for Selecting Cables for EtherNet/IP Networks White Paper, This guide is arranged to help you select cables that are based on your application,
publication ENET-WP007 environmental conditions, and mechanical requirements
Integrated Motion on SERCOS and EtherNet/IP Systems - Analysis and Comparison White This white paper compares and contrasts SERCOS and EtherNet/IP networks with a
Paper, publication MOTION-WP007 ControlLogix® controller.
System Design for Control of Electrical Noise Reference Manual, Information, examples, and techniques that are designed to minimize system
publication GMC-RM001 electrical noise failures.
Kinetix Motion Control Selection Guide, publication KNX-SG001 Specifications, motor/servo-drive system combinations, and accessories for Kinetix
motion control products.
Motion Analyzer software, download at https://motionanalyzer.rockwellautomation.com This program helps you choose drive and motor size by using application analysis
software.
ControlLogix Controllers User Manual, publication 1756-UM001 Information to help you install, configure, program, and operate a ControlLogix
system.
Integrated Motion on the EtherNet/IP Network: Configuration and Startup User Manual, Information to help you configure and troubleshoot your ControlLogix and
publication MOTION-UM003 CompactLogix EtherNet/IP network modules.
Motion System Tuning Application Techniques, publication MOTION-AT005 Information on tuning a Kinetix drive system.
842E-CM Integrated Motion Encoder on EtherNet/IP Information to help you install, wire, and troubleshoot an integrated motion
User Manual. Publication 842E-UM002A encoder on EtherNet/IP network.
ControlFLASH Firmware Upgrade Kit User Manual, publication 1756-UM105 For ControlFLASH™ information not specific to any drive family.
EtherNet/IP Network Devices User Manual, ENET-UM006 Describes how to configure and use EtherNet/IP devices to communicate on the
EtherNet/IP network.
Ethernet Reference Manual, ENET-RM002 Describes basic Ethernet concepts, infrastructure components, and infrastructure
features.
Safety Guidelines for the Application, Installation, and Maintenance of Solid-state Control, Designed to harmonize with NEMA Standards Publication No. ICS 1.1-1987 and
publication SGI-1.1 provides general guidelines for the application, installation, and maintenance of
solid-state control in the form of individual devices or packaged assemblies
incorporating solid-state components.
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines for installing a Rockwell Automation industrial system.
Product Certifications website, rok.auto/certifications. Provides declarations of conformity, certificates, and other certification details.

Chapter 1
Start
Topic Page
About the Kinetix 350 Drive System 10
Catalog Number Explanation 13
Agency Compliance 14

Chapter 1 Start
About the Kinetix 350 Drive The Kinetix® 350 single-axis EtherNet/IP™ servo drive is designed to provide a
solution for applications with output power requirements between
System 0.4…3.0 kW (2…12 A rms).
Table 2 - Kinetix 350 Drive System Overview

Kinetix 350 System Cat. No. Description
Component
Kinetix 350 Integrated 2097-V3xPRx-LM Kinetix 350 integrated motion on EtherNet/IP drives with Safe Torque Off feature are available with 120/240V or
Motion on EtherNet/IP Servo 480V AC input power.
Drive
AC Line Filters 2090 Kinetix 2090 and Bulletin 2097-Fx AC line filters are required to meet CE with Kinetix 350 drives without an
2097-Fx integrated line filter. Bulletin 2097 filters are available in foot mount and side mount.
Shunt Module 2097-Rx Bulletin 2097 shunt resistors connect to the drive and provides shunt capability in regenerative applications.
Terminal block for I/O 2097-TB1 50-pin terminal block. Use with IOD connector for control interface connections.
connector
Stratix® 2000 Ethernet Switch 1783-US05T An Ethernet switch divides an Ethernet network into segments and directs network traffic efficiently.
Logix PAC® Controller Bulletin 5069 EtherNet/IP networking with CompactLogix™ 5370 and CompactLogix 5380 controllers with embedded dual-
Platforms Bulletin 1768 and 1769 port. 1769-L3x controllers with embedded single port. 1768-L4x controller and 1768-L4xS safety controller with
1768-ENBT EtherNet/IP communication module.
1756-EN2T, 1756-EN2TR, EtherNet/IP network communication modules for use with ControlLogix® 5570 and ControlLogix 5580 controllers.
and 1756-EN3TR module
Studio 5000® Environment or — RSLogix 5000 software (version 20 or earlier) and the Studio 5000 Logix Designer® application (version 21 or later)
RSLogix 5000® Software are used to program, commission, and maintain the Logix family of controllers.
Encoder Output Module 2198-ABQE The Allen-Bradley encoder output module is a DIN rail mounted EtherNet/IP network-based standalone module
capable of outputting encoder pulses to a customer-supplied peripheral device (cameras, for example, used in
line-scan vision systems).
Rotary Servo Motors Kinetix MP, Kinetix TL Compatible rotary motors include the Kinetix MP (MPL, MPM, MPF, and MPS) and Kinetix TL (TLY) motors.
Linear Stages Kinetix MP (Ballscrew) Compatible linear stages include Kinetix MPAS stages.
Electric Cylinders Kinetix MP, Kinetix TL Compatible electric cylinders include Kinetix MP (MPAR, TLAR, and MPAI) and Kinetix TL electric cylinders.
Encoder 842E-CM Integrated Motion Encoder on EtherNet/IP network.
Cables Motor/brake and feedback Motor power/brake and feedback cables include SpeedTec and threaded DIN connectors at the motor. Power/
cables brake cables have flying leads on the drive end and straight connectors that connect to servo motors. Feedback
cables have flying leads that wire to low-profile connector kits on the drive end and straight connectors on the
motor end.
Communication cables 1585J-M8CBJM-x (shielded) or 1585J-M8UBJM-x (high-flex shielded) Ethernet cable.

Start Chapter 1
Figure 1 - Typical Kinetix 350 Drive Installation
Line
Input Disconnect
Fusing Device
Three-phase
Input Power
2097-Rx
Shunt Resistor
2097-V3xxxx-LM 2097-Fx (optional equipment)
Kinetix 350 Drive AC Line Filter (optional equipment)
2097-F1 Filter Shown
24V DC Control Back-up
Power Supply
2097-TB1 Terminal (optional equipment)
Expansion Block
Kinetix MP Integrated Linear Stages

2090-K2CK-D15M (MPAS-B9xxx ballscrew shown)
Low-profile Connector Kit
Kinetix 2090
Kinetix 2090 Motor Power Cables
Motor Feedback Cables Kinetix MP and Kinetix TL Electric Cylinders
(MPAR-Bxxxx electric cylinders shown)
Kinetix MP and Kinetix TL
Rotary Motors
(MPL-Bxxxx motors shown) Kinetix MP Heavy-duty Electric Cylinders
(MPAI-Bxxxx electric cylinders shown)
(1) See Ethernet Cable Connections on page 72 for information on how to use an unmanaged switch in your application.

Chapter 1 Start
Figure 2 - Typical K350 Communication Configuration
CompactLogix™ Controller System

1769-L33ERM Shown
1 2
P
W
R
1783-US08T
3
5
4
6
Stratix® 2000 Switch
1585J-M8CBJM-x (shielded) or
7 8
PanelView™ Plus Compact

Display Terminal 11585J-M8UBJM-x (high-flex shielded)
Ethernet Cable
MOD
NET RSLogix 5000® Software
(version 20.00.00 or later) or the
2198-ABQE Studio 5000 Logix Designer® Application
Encoder Output Module OUTPUT-A OUTPUT-B
2097-V3xxxx-LM
1734-AENT POINT I/O™
Kinetix 350 Drive
EtherNet/IP Adapter
842E-CM Integrated Motion Line Scan

Encoder on EtherNet/IP Cameras
See Encoder Output Module Installation Instructions, publication

2198-UM003. For information to help you install and wire the 2198-ABQE
Encoder Output Module.

Start Chapter 1
Catalog Number Explanation Kinetix 350 drive catalog numbers and descriptions are listed in these tables.
Table 3 - Kinetix 350 Drives (Single-phase)

Continuous Output
Cat. No. Input Voltage Features
Current A (0-pk)
2097-V31PR0-LM 120V, 1 Ø 2.8 • 120V Doubler mode
2097-V31PR2-LM 240V, 1 Ø 5.7 • Safe Torque Off
2097-V32PR0-LM 2.8
• Integrated AC line filter
2097-V32PR2-LM 240V, 1 Ø 5.7 • Safe Torque Off
2097-V32PR4-LM 11.3
Table 4 - Kinetix 350 Drives (Single/Three-phase)

Continuous Output
Current A (0-pk)
2097-V33PR1-LM 2.8
2097-V33PR3-LM 120V, 1 Ø 5.7
240V, 1 Ø Safe Torque Off
2097-V33PR5-LM 240V, 3 Ø 11.3
2097-V33PR6-LM 17.0
Table 5 - Kinetix 350 Drives (Three-phase)

Continuous Output
Current A (0-pk)
2097-V34PR3-LM 2.8
2097-V34PR5-LM 480V, 3 Ø 5.7 Safe Torque Off
2097-V34PR6-LM 8.5
Table 6 - Kinetix 350 Drive Accessories

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

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

grounding the AC line filter and drive must match. Failure to do this renders
the filter ineffective and can cause damage to the filter. For grounding
examples, see Grounding Your Kinetix 350 Drive System on page 56.
For more information on electrical noise reduction, see the System Design for
Control of Electrical Noise Reference Manual, publication GMC-RM001.
CE Requirements
To meet CE requirements, these requirements apply:

• Install an AC line filter (Kinetix 2090 or 2097) as close to the drive as
possible.
• Use Kinetix 2090 motor power cables or use connector kits and
terminate the cable shields to the subpanel with the clamp provided.
• Use Kinetix 2090 motor feedback cables or use connector kits and
properly terminate the feedback cable shield. Drive-to-motor power and
feedback cables must not exceed 20 m (65.6 ft).
• Install the Kinetix 350 system inside an enclosure. Run input power
wiring in conduit (grounded to the enclosure) outside of the enclosure.
Separate signal and power cables.
• Isolate input power wiring and motor power cables from control wiring
and motor feedback cables. Use shielded cable for power wiring and
provide a grounded 360° clamp termination.
See Appendix A on page 129 for interconnect diagrams, including input power
wiring and drive/motor interconnect diagrams.

Chapter 2
Install the Kinetix 350 Drive System
Topic Page
System Design Guidelines 15
Electrical Noise Reduction 22
Mount Your Kinetix 350 Drive 30
ATTENTION: Plan the installation of your system so that you can cut, drill,
tap, and weld with the system that is removed from the enclosure. Because
the system is of the open type construction, be careful to keep any metal
debris from falling into it. Metal debris or other foreign matter can become
lodged in the circuitry, which can result in damage to components.
System Design Guidelines Use the information in this section when designing your enclosure and
planning to mount your system components on the panel.
For online product selection and system configuration tools, including

AutoCAD (DXF) drawings of the product, refer to: rok.auto/systemtools
System Mounting Requirements

• To comply with UL and CE requirements, the Kinetix® 350 system must
be enclosed in a grounded conductive enclosure. It must that offer
protection as defined in standard EN 60529 (IEC 529) to IP4X such
that they are not accessible to an operator or unskilled person. A NEMA
4X enclosure exceeds these requirements providing protection to IP66.
• The panel that you install inside the enclosure for mounting your system
components must be on a flat, rigid, vertical surface that won’t be
subjected to shock, vibration, moisture, oil mist, dust, or corrosive
vapors.
• Size the drive enclosure so as not to exceed the maximum ambient
temperature rating. Consider heat dissipation specifications for all drive
components.
• Isolate input power wiring and motor power cables from control wiring
and motor feedback cables. Use shielded cable for power wiring and
provide a grounded 360° clamp termination.

Chapter 2 Install the Kinetix 350 Drive System
• Use high-frequency (HF) bonding techniques to connect the enclosure,

machine frame, and motor housing, and to provide a low-impedance
return path for high-frequency (HF) energy and reduce electrical noise.
• Use Kinetix 2090 motor feedback cables or use connector kits and
properly terminate the feedback cable shield. Drive-to-motor power and
feedback cables must not exceed 20 m (65.6 ft).
IMPORTANT System performance was tested at these cable length specifications. These
limitations are also a CE requirement.
See the System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001, to understand the concept of electrical noise
reduction better.
Circuit Breaker/Fuse Selection
The Kinetix 350 drives use internal solid-state motor short-circuit protection
and, when protected by suitable branch circuit protection, are rated for use on
a circuit capable of delivering up to 100,000 A (fuses) and 65,000 A (circuit
breakers).
IMPORTANT Do not use circuit protection devices on the output of an AC drive as an

isolating disconnect switch or motor overload device. These devices are
designed to operate on sine wave voltage and the drive's PWM waveform
does not allow it to operate properly. As a result, damage to the device
occurs.
Make sure that the selected components are properly coordinated and meet
acceptable codes including any requirements for branch circuit protection.
Evaluation of the short-circuit available current is critical and must be kept
below the short-circuit current rating of the circuit breaker.
See the Kinetix 3, 300, 350, 2000, 6000, 6200, 6500, 7000 Servo Drives
Specifications Technical Data, publication KNX-TD005, for input current
and inrush current specifications for your Kinetix 350 drive.
See Fuse and Circuit Breaker (CB) Specifications on page 17 for

recommended circuit breakers and fuses.

Install the Kinetix 350 Drive System Chapter 2
Table 7 - Fuse and Circuit Breaker (CB) Specifications

UL Applications IEC (non-UL) Applications
Drive Motor
Drive Cat. No. Phase Fuses
Voltage (Bussmann) Miniature CB (1) Protection CB, (1) (2) Miniature CB (1) Motor Protection CB (1)
Cat. No. Self-protected CMC Cat. No. Cat. No.
Cat. No. Cat. No.
Single-phase
120V KTK-R-20 (20 A) 1489-M1C200 140MT-D9E-C20 1489-M1C200 1492-SPM1D200 140MT-D9E-C20
2097-V31PR0-LM (voltage doubler)
120/240V Single-phase KTK-R-10 (10 A) 1489-M1C100 140MT-C3E-C10 1489-M1C100 1492-SPM1D100 140MT-C3E-C10
Single-phase
120V KTK-R-30 (30 A) 1489-M1C300 140M-F8E-C32 1489-M1C300 1492-SPM1D300 140M-F8E-C32
2097-V31PR2-LM (voltage doubler)
120/240V Single-phase KTK-R-20 (20 A) 1489-M1C200 140MT-D9E-C20 1489-M1C200 1492-SPM1D200 140MT-D9E-C20
2097-V32PR0-LM KTK-R-20 (20 A) 1489-M1C150 140MT-D9E-C16 1489-M1C150 1492-SPM1D150 140MT-D9E-C16
2097-V32PR2-LM 240V Single-phase KTK-R-20 (20 A) 1489-M1C200 140MT-D9E-C20 1489-M1C200 1492-SPM1D200 140MT-D9E-C20
2097-V32PR4-LM KTK-R-30 (30 A) 1489-M1C300 140M-F8E-C32 1489-M1C300 1492-SPM1D320 140M-F8E-C32
2097-V33PR1-LM
240V Three-phase KTK-R-15 (15 A) 1489-M3C150 140MT-D9E-C16 1489-M3C150 1492-SPM3D150 140MT-D9E-C16
2097-V33PR3-LM
120/240V Single-phase KTK-R-30 (30 A) 1489-M1C300 140M-F8E-C32 1489-M1C300 1492-SPM1D300 140M-F8E-C32
2097-V33PR5-LM
120/240V Single-phase LPJ-40SP (40 A) N/A N/A N/A

2097-V33PR6-LM Class J 140M-F8E-C32 140M-F8E-C32
240V Three-phase KTK-R-30 (30 A) 1489-M3C300 1489-M3C300 1492-SPM3D300
2097-V34PR3-LM KTK-R-10 (10 A) 1489-M3C100 140MT-C3E-C10 1489-M3C100 1492-SPM3D100 140MT-C3E-C10
2097-V34PR5-LM 480V Three-phase KTK-R-10 (10 A) 1489-M3C100 140MT-C3E-C10 1489-M3C100 1492-SPM3D100 140MT-C3E-C10
2097-V34PR6-LM KTK-R-20 (20 A) 1489-M3C200 140MT-D9E-C20 1489-M3C200 1492-SPM3D200 140MT-D9E-C20
(1) Bulletin 1492 and 1489 circuit protection devices have lower short-circuit current ratings than Bulletin 140M devices.
See https://www.rockwellautomation.com/en-us/products/hardware.html for product literature with specific short-circuit ratings.
(2) For UL applications, Bulletin 140M devices are applied as self-protected combination motor controllers.

Contactor Ratings
Table 8 - Kinetix 350 Drives (120/240V)
Drive
Cat. No. AC Coil Contactor DC Coil Contactor
Voltage
120V 100-C23x10 100-C23Zx10
2097-V31PR0-LM
240V 100-C12x10 100-C12Zx10
120V 100-C30x10 100-C30Zx10
2097-V31PR2-LM
240V 100-C23x10 100-C23Zx10
Table 9 - Kinetix 350 Drives (240V)

Drive
Voltage
2097-V32PR0-LM 240V 100-C23x10 100-C23Zx10
2097-V32PR2-LM 240V 100-C23x10 100-C23Zx10
2097-V32PR4-LM 240V 100-C30x10 100-C30Zx10
120V 100-C23x10 100-C23Zx10
2097-V33PR1-LM
240V 100-C16x10 100-C16Zx10
120V 100-C23x10 100-C23Zx10
2097-V33PR3-LM
240V 100-C16x10 100-C16Zx10
120V 100-C30x10 100-C30Zx10
2097-V33PR5-LM
240V 100-C23x10 100-C23Zx10
120V N/A N/A
2097-V33PR6-LM
240V 100-C30x10 100-C30Zx10
Table 10 - Kinetix 350 Drives (480V)

Drive
Voltage
2097-V34PR3-LM 100-C12x10 100-C12Zx10
2097-V34PR5-LM 480V 100-C12x10 100-C12Zx10
2097-V34PR6-LM 100-C23x10 100-C23Zx10
Transformer Selection
The Kinetix 350 drive does not require an isolation transformer for three-
phase input power. However, a transformer can be required to match the
voltage requirements of the controller to the available service.
To choose the size of a transformer for the main AC power inputs, refer to on
page 17 and Transformer Specifications for Input Power on page 19.
IMPORTANT If you are using an autotransformer, make sure that the phase to neutral/
ground voltages do not exceed the input voltage ratings of the drive.

IMPORTANT Use a form factor of 1.5 for single and three-phase power (where form factor
is used to compensate for transformer, drive, and motor losses, and to
account for utilization in the intermittent operating area of the torque speed
curve).
For example, to choose the size of a transformer for the voltage
requirements of catalog number
2097-V34PR6-LM = 3 kW continuous x 1.5 = 4.5 KVA transformer.
Transformer Specifications for Input Power

Attribute Value (460V system)
Input volt-amperes 750VA
Input voltage 480V AC
Output voltage 120…240V AC
Enclosure Selection
This example is provided to assist you in choosing the size of the enclosure for
your Bulletin 2097 drive system. You need heat dissipation data from all
components that are planned for your enclosure to calculate the enclosure size.
See Power Dissipation Specifications on page 20 for your drive.
With no active method of heat dissipation (such as fans or air conditioning),

either of the following approximate equations can be used.
Metric Standard English
0.38Q 4.08Q
A= A=
1.8T - 1.1 T - 1.1
Where T is temperature difference between inside air Where T is temperature difference between inside air
and outside ambient (°C), Q is heat that is generated in and outside ambient (°F), Q is heat that is generated in
enclosure (Watts), and A is enclosure surface area (m2). enclosure (Watts), and A is enclosure surface area (ft2).
The exterior surface of all six sides of an enclosure is The exterior surface of all six sides of an enclosure is
calculated as calculated as
A = 2dw + 2dh + 2wh A = (2dw + 2dh + 2wh) /144
Where d (depth), w (width), and h (height) are in Where d (depth), w (width), and h (height) are in
meters. inches.
If the maximum ambient rating of the Kinetix 350 drive system is 40 °C

(104 °F) and if the maximum environmental temperature is 20 °C (68 °F), then
T=20. In this example, the total heat dissipation is 416 W (sum of all
components in enclosure). So, in the equation below, T=20 and Q=416.
0.38 (416) 2
A= = 4.53 m
1.8 (20) - 1.1

In this example, the enclosure must have an exterior surface of at least 4.53 m2.
If any portion of the enclosure is not able to transfer heat, exclude heat in the
calculation.
Because the minimum cabinet depth to house the Kinetix 350 system (selected
for this example) is 332 mm (13 in.), the cabinet must be approximately 2000 x
700 x 332 mm (78.7 x 27.6 x 13.0 in.) HxWxD.
2 x (0.332 x 0.70) + 2 x (0.332 x 2.0) + 2 x (0.70 x 2.0) = 4.59 m2
Because this cabinet size is considerably larger than what is necessary to house
the system components, it can be more efficient to provide a means of cooling
in a smaller cabinet. Contact your cabinet manufacturer for options available to
cool your cabinet.
Power Dissipation Specifications
This table shows the maximum power dissipation of each drive. Use this table
to size an enclosure and calculate required ventilation for your Kinetix 350
drive system.
Cat. No. Power Dissipation, W
2097-V31PR0-LM 28
2097-V31PR2-LM 39
2097-V32PR0-LM 28
2097-V32PR2-LM 39
2097-V32PR4-LM 67
2097-V33PR1-LM 28
2097-V33PR3-LM 39
2097-V33PR5-LM 67
2097-V33PR6-LM 117
2097-V34PR3-LM 39
2097-V34PR5-LM 58
2097-V34PR6-LM 99

Minimum Clearance Requirements
This section provides information to help you choose the size of your cabinet
and the placement of your Kinetix 350 system components.
IMPORTANT Mount the module in an upright position as shown. Do not mount the drive
module on its side.
Figure 3 illustrates minimum clearance requirements for proper airflow and

installation:
• Additional clearance is required depending on the accessory items
installed.
• An additional 9.7 mm (0.38 in.) clearance is required left of the drive if
the I/O expansion terminal block is used.
• An additional 26 mm (1.0 in.) clearance is required right of the drive
when the heatsink is present.
• An additional 36 mm (1.42 in.) is required right of the drive when the
side-mount line filter is present. An additional 50 mm (2.0 in.) is
required behind the drive when the rear-mount line filter is present.
• An additional 5.0 mm (0.19 in.) clearance is required in front of the
drive when the 2090-K2CK-D15M feedback connector kit is used.
• Additional clearance is required for the cables and wires that are
connected to the top, front, and bottom of the drive.
• An additional 150 mm (6.0 in.) is required when the drive is mounted
next to noise sensitive equipment or clean wireways.
See the Kinetix 3, 300, 350, 2000, 6000, 6200, 6500, 7000 Servo Drives
Specifications Technical Data, publication KNX-TD005, for Kinetix 350
drive dimensions.
Figure 3 - Minimum Clearance Requirements
25.0 mm (1.0 in.) Clearance Drive A

for Airflow and Installation Cat. No.
2097-V31PR0-LM 185 (7.29)
A 2097-V31PR2-LM 185 (7.29)
2097-V32PR0-LM 230 (9.04)
2097-V32PR2-LM 230 (9.04)
2097-V32PR4-LM 230 (9.04)
3 mm (0.12 in.) 3 mm (0.12 in.) 2097-V33PR1-LM 185 (7.29)
Side Clearance Side Clearance
2097-V33PR3-LM 185 (7.29)
2097-V33PR5-LM 185 (7.29)
2097-V33PR6-LM 230 (9.04)
2097-V34PR3-LM 185 (7.29)
2097-V34PR5-LM 185 (7.29)
25.0 mm (1.0 in.) Clearance
2097-V34PR6-LM 230 (9.04)
for Airflow and Installation
See page 20 for power dissipation specifications.

Electrical Noise Reduction This section outlines practices that minimize the possibility of noise-related
failures as they apply specifically to Kinetix 350 system installations. For more
information on the concept of high-frequency (HF) bonding, the ground
plane principle, and electrical noise reduction, refer to the System Design for
Control of Electrical Noise Reference Manual, publication GMC-RM001.
Bonding Drives
Bonding is the practice where you connect metal chassis, assemblies, frames,
shields, and enclosures to reduce the effects of electromagnetic interference
(EMI).
Unless specified, most paints are not conductive and act as insulators. To
achieve a good bond between drive and the subpanel, surfaces must be paint-
free or plated. Bonded metal surfaces create a low-impedance return path for
high-frequency energy.
IMPORTANT To improve the bond between the drive and subpanel, construct your
subpanel out of zinc-plated (paint-free) steel.
Improper bonding of metal surfaces blocks the direct return path and lets high-
frequency energy travel elsewhere in the cabinet. Excessive high-frequency
energy can affect the operation of other microprocessor-controlled equipment.

These illustrations show recommended bonding practices for painted panels,

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

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

Subpanel
Bolt
Tapped Hole
Ground Bus or Nut

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

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

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

Establish Noise Zones
Observe these guidelines when individual input power components are used in
the Kinetix 350 system:
• The clean zone (C) exits left of the Kinetix 350 system and includes the
I/O wiring, feedback cable, Ethernet cable, and DC filter (gray
wireway).
• The dirty zone (D) exits right of the Kinetix 350 system (black wireway)
and includes the circuit breakers, transformer, 24V DC power supply,
contactors, AC line filter, motor power, and safety cables.
• The very dirty zone (VD) is limited to where the AC line (EMC) filter
VAC output jumpers over to the drive. Shielded cable is required only if
the very dirty cables enter a wireway.
Figure 6 - Noise Zones (Kinetix 2090 AC line filters)

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

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

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

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

D D
Contactors
Very Dirty Zone

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

Ethernet filters mount to side,
(shielded) as shown, or behind
Cable the drive.
DC XFMR
Filter
No sensitive
equipment within (3)
150 mm (6.0 in.).(2)

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

shielded cables. Shielded Cable
(2) For tight spaces, use a grounded steel shield. For examples, refer to the System Design for Control of Electrical Noise Reference
Manual, publication GMC-RM001.
(3) This voltage is a clean 24V DC available for any device that requires it. The 24V enters the clean wireway and exits to the left.
(4) This voltage is a dirty 24V DC available for motor brakes and contactors. The 24V enters the dirty wireway and exits to the right.

Cable Categories for Kinetix 350 Drive Components
This table indicates the zoning requirements of cables that are connected to the
Kinetix 350 drive components.
Table 11 - Kinetix 350 Drive Components

Zone Method
Wire/Cable Connector Very Ferrite Shielded
Dirty Clean
Dirty Sleeve Cable
L1, L2, L3 (unshielded cable) IPD X
U, V, W (motor power) MP X X
B+-, B-, BR (shunt resistor) BC X
24V DC BP X
Control COM, 24V DC control, safety enable, and STO X
feedback signals for Safe Torque Off feature
Motor feedback MF X X
Registration X X
IOD
Others X
Ethernet Port 1 X X
Noise Reduction Guidelines for Drive Accessories
See this section when mounting an AC line filter or shunt resistor module for
guidelines that are designed to reduce system failures that excessive electrical
noises cause.
AC Line Filters
If you are using a Kinetix 2090 line filter, mount the filter on the same panel as
the Kinetix 350 drive, and as close to the drive as possible.
Observe these guidelines when mounting your AC line filter:

• Good HF bonding to the panel is critical. For painted panels, refer to
the examples on page 22.
• Isolate input and output wiring as far as possible.

Shunt Resistors
Observe these guidelines when mounting your shunt resistor outside the
enclosure:
• Mount the shunt resistor and wiring in the very dirty zone or in an
external shielded enclosure.
• Mount the resistors in a shielded and ventilated enclosure outside the
cabinet.
• Keep the unshielded wiring as short as possible. Keep shunt wiring as flat
to the cabinet as possible.
Figure 8 - Shunt Resistor Outside the Enclosure
Shunt Wiring Methods: 150 mm (6.0 in.)

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

Enclosure
D D
Contactor
No sensitive
equipment within
150 mm (6.0 in.).(2) VD VD 24V Motor
Brake PS
Kinetix 350 Drive Very dirty connections Circuit
segregated (not in wireway). Breaker
Ethernet
(shielded) AC Line
Cable Filter DC
Filter XFMR
I/O (1), Ethernet, and

C Feedback Cables C
Route Encoder/Analog/Registration I/O (1), Motor Power and Safety Cables Route 24V DC I/O
Shielded Cables Shielded Cable
(2) When space does not permit 150 mm (6.0 in.) clearance, install a grounded steel shield between the drive and clean wireway.
For examples, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001.

When mounting your shunt module inside the enclosure, follow these
additional guidelines:
• Mount the shunt resistor anywhere in the dirty zone, but as close to the
Kinetix 350 drive as possible.
• Shunt wires can be run with motor power cables.
• Keep unshielded wiring as short as possible. Keep the shunt wiring as flat
to the cabinet as possible.
• Separate the shunt wires from other sensitive, low-voltage signal cables.
Figure 9 - Shunt Resistor inside the Enclosure
Clean Wireway Shunt Wiring Methods: Dirty Wireway

Enclosure
Twisted pair in conduit (first choice).
Shielded twisted pair (second choice).
Twisted pair, two twists per foot (min) (third choice).
D D
Contactor
Very dirty zone
segregated (not in wireway).
VD 24V Motor
VD Brake PS
Circuit
Kinetix 350 Breaker
Drive
Ethernet
(shielded) AC Line DC
Cable Filter Filter XFMR
No sensitive
equipment within
150 mm (6.0 in.).(2) I/O (1), Ethernet, and Feedback
C Cables C
D D
Route Encoder/Analog/Registration I/O (1), Motor Power, and Safety Cables Route 24V DC I/O
Shielded Cables
Shielded Cable
(2) When space does not permit 150 mm (6.0 in.) clearance, install a grounded steel shield between the drive and clean wireway.
For examples, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001.
Motor Brake
The brake is mounted inside the motor and how you connect to the drive
depends on the motor series.
See Kinetix 350 Drive/Rotary Motor Wiring Examples that begin on page 134
for the interconnect diagram of your drive/motor combination.

Mount Your Kinetix 350 Drive This procedure assumes that you have prepared your panel and understand
how to bond your system. For installation instructions regarding other
equipment and accessories, refer to the instructions that came with those
products.
ATTENTION: This drive contains electrostatic discharge (ESD) sensitive parts

and assemblies. You are required to follow static control precautions when
you install, test, service, or repair this assembly. If you do not follow ESD
control procedures, components can be damaged. If you are not familiar with
static control procedures, refer to Guarding Against Electrostatic Damage,
publication 8000-4.5.2, or any other applicable ESD Protection Handbook.
Follow these steps to mount your Kinetix 350 drive.
1. Lay out the position for the Kinetix 350 drive and accessories in the
enclosure.
See Establish Noise Zones on page 25 for panel layout
recommendations. Mounting hole dimensions for the Kinetix 350 drive
are shown in the Kinetix 3, 300, 350, 2000, 6000, 6200, 6500, 7000
Servo Drives Specifications Technical Data, publication KNX-TD005.
2. Attach the Kinetix 350 drive to the cabinet, first by using the upper
mounting slots of the drive and then the lower.
The recommended mounting hardware is M4 (#6-32) steel machine
screws that are torqued to 1.1 N•m (9.8 lb•in). Observe bonding
techniques as described in Bonding Drives on page 22.
IMPORTANT To improve the bond between the Kinetix 350 drive and subpanel,
construct your subpanel out of zinc-plated (paint-free) steel.
3. Tighten all mounting fasteners.

Chapter 3
Kinetix 350 Drive Connector Data
Topic Page
Kinetix 350 Drive Connectors and Indicators 32
Control Signal Specifications 37
Motor Feedback Specifications 42

Chapter 3 Kinetix 350 Drive Connector Data
Kinetix 350 Drive Connectors Although the physical size of the Kinetix® 350 drives vary, the location of the
connectors and indicators is identical.
and Indicators
Figure 10 - Kinetix 350 Drive Connector and Indicators
10
2
3
4
5 13
6 14
350
12
8
15
1
11
10
Kinetix 350 Drive, Top View Kinetix® 350 Drive, Front View Kinetix 350 Drive, Bottom View
(2097-V33PR5-LM drive is shown) (2097-V33PR5-LM drive is shown) (2097-V33PR5-LM drive is shown)
Item Description Item Description

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

Designator Description Connector
IPD AC input power 3-position or 4-position plug/header
PORT1 Ethernet communication port RJ45 Ethernet
IOD I/O SCSI 50-pin high-density connector
MF Motor feedback 15-pin high-density D-shell (male)
BP Back-up power 2-pin quick-connect terminal block
BC Shunt Resistor and DC Bus 7-pin quick-connect terminal block
MP Motor power 6-pin quick-connect terminal block
STO Safe torque off (STO) Terminal 6-pin quick-connect terminal block

Kinetix 350 Drive Connector Data Chapter 3
Safe Torque Off Connector Pinout
The Kinetix 350 drive ships with the (6-pin) wiring-plug header that connects
your Safe Torque Off (STO) connector. If your system does not use the Safe
Torque Off feature, follow the instructions in Safe Torque Off Feature Bypass
starting on page 105 to wire the drive with motion-allowed jumpers.
Figure 11 - Safe Torque Off Connector
Bottom view of the Kinetix 350 drive.

(2097-V33PR5-LM drive is shown)
Safe Torque Off

trol
V D C con (STO) Connector
+24 rol COM
Cont
1 2
tus
y sta
Safet ty input 1
Safe ty COM 2
3 4
Safe ty input
Safe
5 6
Wiring Plug Header
Table 13 - Kinetix 350 Drive Safe Torque Off Connector Pinout

STO Pin Description Signal
1 +24V DC output from the drive +24V DC control
2 +24V DC output common Control COM
3 Safety status Safety Status
4 Safety input 1 (+24V DC to enable) Safety Input 1
5 Safety common Safety COM
IMPORTANT Use only pins STO-1 (+24V DC Control) and STO-2 (Control COM) of the
motion-allowed jumpers to enable the drive when the Safe Torque Off
function is not used. When the Safe Torque Off function is in operation, the
24V supply must come from an external source.

I/O Connector Pinout

IOD Pin Description Signal
1…25 Reserved Reserved
26 +/- Overtravel, enable, and home common COM
27 Negative hardware overtravel NEG_OT
28 Positive hardware overtravel POS_OT
29 Drive enable ENABLE
30 Home switch HOME_SW
31…35 Reserved —
36 Registration common REG_COM
39 Registration input REG
43 Motor brake release positive MTR_BRAKE+
44 Motor brake release negative MTR_BRAKE-
Figure 12 - Pin Orientation for 50-pin SCSI I/O (IOD) Connector
26 1
50 25

Motor Feedback (MF) Connector Pinout

MF Pin Description Signal MF Pin Description Signal
Sine differential input+ SIN+ Reserved
1 9 —
AM+ differential input+ AM+
Sine differential input- SIN- Data differential input - DATA-
2 10
AM- differential input- AM- Index pulse- IM-
Cosine differential input+ COS+ Motor thermal switch
3 11 TS
BM+ differential input+ BM+ (normally closed) (1)
Cosine differential input- COS- Single-ended 5V Hall effect
4 12 S1
BM- differential input- BM- commutation
Data differential input + DATA+ Single-ended 5V Hall effect
5 13 S2
Index pulse+ IM+ commutation
6 Common ECOM 14 Encoder power (+5V) EPWR_5V (2)
7 Encoder power (+9V) EPWR_9V (2) 15 Reserved —
Single-ended 5V Hall effect
8 S3
commutation
(1) Not applicable unless the motor has integrated thermal protection.
(2) Encoder power supply uses either 5V or 9V DC based on the encoder/motor used.
IMPORTANT Drive-to-motor power and feedback cable length must not exceed 20 m
(65.6 ft). System performance was tested at these specifications and also
apply when meeting CE requirements.
Figure 13 - Pin Orientation for 15-pin Motor Feedback (MF) Connector
Pin 10
Pin 15 Pin 5
Pin 11 Pin 1
Pin 6
Ethernet Communication Connector Pinout
Port 1 Pin Description Signal Port 1 Pin Description Signal

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

AC Input Power Connector Pinout

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

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

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

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

Control Signal Specifications This section provides a description of the Kinetix 350 drive I/O (IOD),
communication, shunt resistor and DC bus (BC), and back-up power (BP)
connectors.
Digital Inputs
Five fixed inputs are available for the machine interface on the Kinetic 350
drive.
IMPORTANT To improve registration input EMC performance, refer to the System Design
for Control of Electrical Noise Reference Manual, publication GMC-RM001.
IMPORTANT Overtravel limit input devices must be normally closed.
The five digital inputs (IOD-27…IOD-30 and IOD-39) have fixed pin
assignments.
Table 14 - Understanding Digital Inputs
Capture Edge/Level
IOD Pin Signal Description Time Sensitive
Optically isolated, single-ended active high signal. Current loading is nominally 9 mA. A 24V
IOD-29 ENABLE 0.5 ms Level
DC input is applied to this terminal to enable the axis.
Optically isolated, single-ended active high signal. Current loading is nominally 9 mA. Home
IOD-30 HOME 0.5 ms Edge
switch (normally open contact) inputs axis require 24V DC (nominal).
Optically isolated, single-ended active high signal. Current loading is nominally 9 mA.
IOD-39 REG A 24V DC input is applied or removed from this terminal to trigger registration event. Fast 5 µs Edge
registration inputs are required to ensure that the motor interface can capture the positional
information with less than 5 µs uncertainty.
NEG_OT Overtravel detection is available as an optically isolated, single-ended active high signal.
IOD-27
IOD-28 Current loading is nominally 9 mA per input. The positive/negative limit switch (normally 1 ms Level
POS_OT closed contact) inputs for axis require 24V DC (nominal).

Table 15 - Understanding Digital Input Functions
Function Description Behavior

If the controller configuration specifies checking of the enable input, an By default drive enable input checking is enabled. If the checking is
active state enables the power electronics to control the motor and an authorized and the input is disabled the drive issues a Drive Enable
inactive state helps prevent motion. Start Inhibit and you are not able to issue a Servo On instruction
The drive generates an exception if the input is inactive when the from the controller.
Enable controller commands motion and has authorized checking. The drive To disable the Enable function:
behavior in this situation is programmable. • Tie input to 24V DC
• Write a Logix Designer message instruction that changes
enableInputChecking or Attribute 736 to zero, see instructions
on page 97
An active state indicates to a homing sequence that the referencing
Home sensor has been seen. Typically, a transition of this signal is used to
establish a reference position for the machine axis.
The function is always inactive unless armed by the controller.
An inactive-to-active transition (also known as a positive transition) or
Registration active-to-inactive transition (also known as a negative transition) is
used to latch position values for use in registration moves.
If the controller configuration specifies checking of the hardware
overtravel inputs, an inactive state indicates that a position limit has
been exceeded in the positive direction.
Positive overtravel
The drive generates an exception if the input is inactive when the
controller authorizes checking. The drive behavior in this situation is The function is always active.
programmable. To disable function:
If the controller configuration specifies checking of the hardware • Tie input to 24V
overtravel inputs, an inactive state indicates that a position limit has • Set to only Fault Status
been exceeded in the negative direction.
Negative overtravel
The drive generates an exception if the input is inactive when the
controller authorizes checking. The drive behavior in this situation is
programmable.
Table 16 - Digital Input Specifications

Attribute Value
Type Active high, single-ended, current sinking
Functions Enable, Home, Positive overtravel, Negative overtravel, Registration
Input current (with 24V applied) 9 mA, max
On-state input voltage 4.2…24V @ 2…9 mA total
Off-state input voltage 0…2.5V
Pulse reject filtering (only Registration functions) 120 ns, nom
Pulse reject filtering, default (all other input functions, can be configured) 1.0 ms, nom
Propagation delay (only Registration function) 5 µs
Registration repeatability 200 ns
Input reaction time (Disable) 2 ms, max
Input reaction time (Enable, Positive overtravel inputs) 2 ms, max
The digital inputs are optically isolated and sink up to 24V DC. Electrical
details are shown in Table 15 on page 38. You can configure the inputs for PNP
sourcing or NPN sinking.

Figure 15 - Sourcing of Digital Inputs
+24V 1.2 kΩ
ENABLE, HOME_SW,
POS_OT, or NEG_OT
1.2 kΩ
ENABLE, HOME_SW,
POS_OT, or NEG_OT
GND COM
Figure 16 - Sinking of Digital Inputs
GND 1.2 kΩ
ENABLE, HOME_SW,
POS_OT, or NEG_OT
1.2 kΩ
ENABLE, HOME_SW,
POS_OT, or NEG_OT
+24V COM

Figure 17 - Sourcing of Registration Digital Input
1.2 kΩ
+24V
REG
1.2 kΩ
REG
GND REG_COM
Figure 18 - Sinking of Registration Digital Input
GND 1.2 kΩ
REG
1.2 kΩ
REG
+24V REG_COM
Motor Brake Output
The two digital outputs (IOD-43 and IOD-44) have fixed pin assignments for
motor brake function.
Attribute Value
Circuit type Optically isolated open collector/emitter
Voltage, max 30V DC
Current, max 100 mA
The following schematic shows how to wire your motor brake.

Figure 19 - Brake Wiring Schematic
Kinetix 350 Drive
24V DC
43
MTR_BRAKE +
44
MTR_BRAKE -
CR1
Motor Brake
White 7 BR+
Black 9 BR-
24V DC COM
Use these guidelines to wire your brake:

• Connect a diode, 1N4004, an MOV (199-MSMD1), or equivalent, as
shown, to both the relay and the motor brake coils.
• Wire the output as sourcing.
• The motor brake output is active on enable.
• Set the motor engage and disengage times that are based on the motor
selected.
Ethernet Communication Specifications
An RJ45 10 Mbit Ethernet connector (port 1) is provided on the Kinetix 350

drive. It is fully compliant to the EtherNet/IP™ standard. Restrict the location
of all Ethernet cabling to clean zones with minimal electromagnetic
interference.
Attribute Value
Communication 100BASE-TX, full-duplex
Auto MDI/MDIX crossover detection/correction Yes
Rockwell Automation® CAT5E shielded, 100 m
Cabling (328 ft), max
24V DC Back-up Power Specifications
The Kinetix 350 drive can use an external power supply to power the logic and
communication circuits. If an independent 24V (@ 1 A) power supply is
connected to the BP connector, the logic and communication circuits remain
active during a mains input power loss.
Attribute Value
Input voltage 20…26V DC
Current 500 mA
Inrush, max 30 A

Motor Feedback The drive accepts motor feedback signals from the following types of encoders
with these general specifications.
Specifications
Table 17 - Motor Feedback General Specifications
Attribute Value
• Stegmann Hiperface
Feedback device support • Generic TTL Incremental
• Tamagawa 17 bit Serial
Power supply (EPWR5V) 5.13…5.67V, 400 mA, max
Power supply (EPWR9V) 8.3…9.9V, 275 mA, max
Single-ended, under 500 Ω = no fault, over
Thermostat 10 kΩ = fault
The Kinetix 350 drives support multiple types of feedback devices by using the
15-pin (MF) motor feedback connector and shared connector pins in many
cases.
Table 18 - Motor Feedback Signals by Device Type
MF Pin Stegmann Hiperface Generic TTL Incremental Tamagawa 17 bit Serial

1 SIN+ AM+ —
2 SIN- AM- —
3 COS+ BM+ —
4 COS- BM- —
5 DATA+ IM+ DATA+
6 ECOM ECOM ECOM
7 EPWR9V — —
8 — S3 —
9 — — —
10 DATA- IM- DATA-
11 TS TS TS
12 — S1 —
13 — S2 —
14 EPWR5V EPWR5V EPWR5V
15 — — —

Figure 20 is the motor thermostat interface schematic. Although the

thermostat signal is shown for all feedback types, some motors do not support
this feature because it is not part of the feedback device.
Figure 20 - Motor Thermostat Interface
+5V +5V
6.81 kΩ
1 kΩ
TS
0.01 µF
Kinetix 350 Drive
Table 19 - Motor Thermostat State Specifications

State Resistance at TS (1)
No Fault 500 Ω
Fault 10 kΩ
(1) Resistance is measured between TS (MF pin 11) and ECOM (MF pin 6)

Table 20 - Stegmann Hiperface Specifications

Attribute Value
Protocol Hiperface
Memory support Not programmed, or programmed with Allen-Bradley® motor data
Hiperface data communication RS-485, 9600 bps, 8 data bits, no parity
Sine/Cosine interpolation 2048 counts/sine period
Input frequency (AM/BM) 250 kHz, max
Input voltage (AM/BM) 0.6…1.2V, p-p, measured at the drive inputs
Line loss detection (AM/BM) Average (sin2+ cos2)> constant
Figure 21 - Stegmann Hiperface Interface, SIN and COS Signals
47 pF
Kinetix 350 Drive

26.7 kΩ
1 kΩ 10 kΩ
+
to A/D Converter
-
56 pF 1 kΩ 10 kΩ
56 pF
+5V
1 kΩ
SIN+ or
COS+
1 kΩ +
1 kΩ to AqB Counter
-
SIN- or 1 kΩ
COS- 56 pF
1 kΩ 56 pF
Figure 22 - Stegmann Hiperface Interface, DATA Signals
+5V
10 kΩ
1 kΩ
DATA+ +
- to AqB Counter
1 kΩ
DATA-
56 pF
56 pF
10 Ω
Shaded area indicates components that are part of the circuit, but support
other feedback device types (not used for Stegmann Hiperface support).
to UART
Kinetix 350 Drive from UART

from UART

Table 21 - Generic TTL Incremental Specifications

Attribute Value
TTL incremental encoder support 5V, differential A quad B
Quadrature interpolation 4 counts/square wave period
Differential input voltage 1.0…7.0V
(AM, BM, and IM)
DC current draw 30 mA, max
(AM, BM, and IM)
Input signal frequency 5.0 MHz, max
(AM, BM, and IM)
Edge separation 42 ns min, between any two edges
(AM and BM)
Line loss detection Average (AM2+ BM2)> constant
(AM and BM)
Hall inputs Single-ended, TTL, open collector, or none
(S1, S2, and S3)
Figure 23 - Generic TTL Incremental, AM and BM Signals
Kinetix 350 Drive 47 pF
26.7 kΩ
1 kΩ 10 kΩ
-
to A/D Converter
+
1 kΩ 10 kΩ
56 pF 56 pF
Shaded area indicates components that are part of the circuit, but support other
feedback device types (not used for Generic TTL incremental support).
AM+ or 1 kΩ
BM+
+
1 kΩ - to AqB Counter
AM- or 1 kΩ
BM- 56 pF
56 pF

Figure 24 - Generic TTL Interface, IM Signals
+5V
10 kΩ
1 kΩ
MTR_IM+
+
- to AqB Counter
1 kΩ
MTR_IM-
56 pF
56 pF
10 kΩ
Shaded area indicates components that are part of the circuit, but support other feedback
device types (not used for Generic TTL incremental support).
to UART
from UART
from UART
Kinetix 350 Drive
Figure 25 - Generic TTL Interface, S1, S2, or S3 Signals
+5V +5V
1 kΩ
S1,
S2,
or S3 1 kΩ
56 pF
Kinetix 350 Drive
Table 22 - Tamagawa 17-bit Serial Specifications

Attribute Value
Tamagawa model support TS5669N124
Protocol Tamagawa proprietary
Memory support Programmed with Allen-Bradley motor data
Differential input voltage 1.0…7.0V
Data communication 2.5 Mbps, 8 data bits, no parity
Battery 3.6V, on external to drive in low-profile connector kit
See Figure 22 for the Tamagawa 17-bit serial interface schematic. It is identical
to the Stegmann Hiperface (DATA) signals schematic.

Feedback Power Supply
The Kinetix 350 drive generates +5V and +9V DC for motor feedback power.
Short circuit protection and separate common mode filtering for each channel
is included.
Table 23 - Motor Feedback Power Specifications

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

Notes:

Chapter 4
Connect the Kinetix 350 Drive System
Topic Page
Basic Wiring Requirements 49
Grounding Your Kinetix 350 Drive System 56
Power Wiring Requirements 58
Wiring Guidelines 59
Wiring the Kinetix 350 Drive Connectors 60
Apply the Motor Cable Shield Clamp 67
Feedback and I/O Cable Connections 68
Wiring the Feedback and I/O Connectors 70
Shunt Resistor Connections 72
Ethernet Cable Connections 72
Basic Wiring Requirements This section contains basic information on how to wire the Kinetix® 350 drive.
SHOCK HAZARD: To avoid a hazard of electrical shock, perform all mounting

and wiring of the Bulletin 2097 drive before you apply power. Once power is
applied, connector terminals can have voltage present even when not in use.
IMPORTANT This section contains common PWM servo system wiring configurations,
size, and practices that can be used in most applications. National Electrical
Code, local electrical codes, special operating temperatures, duty cycles, or
system configurations take precedence over the values and methods
provided.

Chapter 4 Connect the Kinetix 350 Drive System
Recommended Cables
The Motor Power Cable Compatibility table on page 63 and Motor Feedback
Cables for Specific Motor/Feedback Combinations table on page 68 show the
cables that Rockwell Automation® recommends you use with the Kinetix® 350
drive.
IMPORTANT Factory-made cables are designed to minimize EMI and are recommended
over hand-built cables to optimize system performance.
If it is necessary for you to build or modify your own cable, follow these
guidelines:
• Connect the cable shield to the connector shells on both ends of the
cable with a complete 360° connection.
• Use twisted-pair cable whenever possible. Twist differential signals with
each other and twist single-ended signals with the appropriate ground
return.
See the Kinetix Motion Control Selection Guide, publication

KNX-SG001, for low-profile connector kit, drive-end (mating) connector kit,
and motor-end connector kit catalog numbers.
Route Power and Signal Wiring
When you route power and signal wiring on a machine or system, radiated
noise from nearby relays, transformers, and other electronic drives can be
induced into motor or encoder feedback signals, input/output
communication, or other sensitive low voltage signals. Radiated noise can cause
system faults and communication anomalies.
See Electrical Noise Reduction on page 22 for examples of routing high and
low voltage cables in wireways. See the System Design for Control of Electrical
Noise Reference Manual, publication GMC-RM001, for more information.
Determine the Input Power This section contains examples of typical single-phase and three-phase facility
input power that is wired to single-phase and three-phase Kinetix 350 drives.
Configuration
The grounded power configuration lets you ground your single-phase or three-
phase power at a neutral point. Match your secondary to one of the examples
and be certain to include the grounded neutral connection. See Table 68 on
page 152 for leakage currents.

Connect the Kinetix 350 Drive System Chapter 4
Three-phase Power Wired to Three-phase Drives
These examples illustrate grounded three-phase power that is wired to three-

phase Kinetix 350 drives when phase-to-phase voltage is within drive
specifications.
Figure 27 - Three-phase (400/480V) Power Configuration (Wye Secondary)

Transformer (wye) Secondary 2097-V34PRx-LM
L3 IPD
L3 L3
AC Line L3
Feeder and branch short circuit Kinetix 350 Drives
L2 Filter
protection is not illustrated. L2 L2 L2 Three-phase AC Input
L1 L1 L1 L1
Input Fusing M1 E
Contactor
Bonded Cabinet Ground Bus
Ground Grid or
Power Distribution Ground
ATTENTION: For the 480V Kinetix 350 drives to meet proper voltage
creepage and clearance requirements, each phase voltage to ground must be
less than or equal to 300V AC rms. This requirement means that the power
system must use a center grounded wye secondary configuration for 400/
480V AC mains.
See Appendix C for leakage currents.
Figure 28 - Three-phase (240V) Power Configuration (Delta Secondary)

Transformer (Delta) Secondary 2097-V33PRx-LM
L3 IPD
L3 L3
L3
AC Line (1) Kinetix 350 Drives
Feeder and branch short circuit Filter
L2 L2 L2 Three-phase AC Input
protection is not illustrated.
L2 L1 L1 L1
Input Fusing M1 E
Contactor
L1
Ground Grid or Power Distribution Ground
(1) Leakage current from the line filter, in this configuration, typically is higher than a balanced (center ground) configuration.
Figure 29 - Three-phase (240V) Power Configuration (Delta Secondary)

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

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

specifications.
IMPORTANT The 2097-V32PRx-LM models have integrated AC line filters and do not
require the AC line filter that is shown in this diagram.
Figure 30 - Single-phase Grounded Power Configurations
Transformer Secondary 2097-V31PRx-LM 2097-V32PRx-LM

L1 IPD IPD
L1 L1 L1 L1
AC Line Kinetix 350 Drives
240V AC Filter Single-phase AC Input
L2 L2 L2/N L2
Output
Input Fusing M1
L2 Contactor E

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

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

Ground Grid or
(1) This configuration applies to voltage-doubler operation for 2097-V31PRx-LM drives.
If you reduce transformer output, the motor speed is reduced. Feeder and
branch short circuit protection is not illustrated.
Voltage Doubler Operation
You can wire the 2097-V31PRx-LM drives with 120V input voltage and
achieve twice the output voltage. To use the voltage-doubler circuit, connect
the 120V single-phase input power to the IPD-L1 and IPD-N terminals.
For Kinetix 350 drive power specifications, refer to the Kinetix 3, 300, 350,
2000, 6000, 6200, 6500, 7000 Servo Drives Specifications Technical Data,
publication KNX-TD005. For Kinetix 350 drive input wiring diagrams, refer
to Power Wiring Examples on page 131.

Isolation Transformer in Grounded Power Configurations
When you are using an isolation transformer, attach the chassis ground wire to
the neutral connection. This grounded neutral connection does the following:
• Helps prevent the system from floating and avoids any high voltages that
can otherwise occur, for example due to static electricity
• Provides a solid earth path for fault conditions
ATTENTION: If the supply transformer is an auto transformer (not

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

specifications.
Figure 31 - Single-phase Amplifiers on Three-phase Power (Wye)
Transformer 2097-V32PRx-LM
(wye) Secondary L1 IPD Kinetix 350 Drives
L1
L1 L2 L2 (System A)
Input Fusing M1 (1) Single-phase AC Input
L2
IPD
L2
L1
Kinetix 350 Drives
L3 L3 L2 (System B)
L3 IPD
L1 Kinetix 350 Drives
Grounded Neutral L1 L2 (System C)
Bonded Cabinet
Ground Bus
Ground Grid or
(1) Contactors (MI, M2, and M3) can be optional. For more information, see Understanding the Machinery Directive, publication
SHB-900. AC line filter is optional, but is required for CE compliance.
Feeder short circuit protection is not illustrated.

This example illustrates grounded three-phase power that is wired to single-

phase Kinetix 350 drives when phase-to-phase voltage exceeds drive
specifications.
A neutral must be connected when single-phase drives are attached to a three-

phase isolating transformer secondary. It is not necessary that all three-phases
be loaded with drives, but each drive must have its power return via the neutral
connection
.
ATTENTION: Failure to connect the neutral can result in supply voltage

swings at the individual drives. This condition occurs when the neutral point
moves vectorially as a result of load variations that individual drives
experience. The supply voltage swing can cause undervoltage and
overvoltage trips on the drives, and the drive can be damaged if the
overvoltage limit is exceeded.
Figure 32 - Single-phase Amplifiers (One AC Line Filter Per Drive)
Transformer (wye) Secondary 2097-V31PRx-LM 2097-V33PRx-LM

IPD IPD
L1 Kinetix 350 Drives
L1 L1 L1 L1 (System A)
AC Line N L2 Single-phase AC Input
Filter
L2
L2 E L2
L3 IPD IPD
Kinetix 350 Drives
L1 L1 L1 L1 (System A)
AC Line N L2 Single-phase AC Input
Filter
L2 E L2
Grounded Neutral IPD IPD
L1 L1 Kinetix 350 Drives
L1 L1 (System A)
Input Fusing M1 AC Line Single-phase AC Input
Contactor N L2
Filter
L2 E L2
Grounded
Neutral
Feeder and branch short circuit protection is not illustrated.
IMPORTANT An AC line filter for each drive is the preferred configuration and required for
CE compliance.

Voiding of CE Compliance
The three-phase and neutral in-line filter applications that are described Three-
phase Power Wired to Single-phase Drives on page 53 are not adequate for CE
compliance for EMC. Therefore, EMC validity and CE marking by Rockwell
Automation is voided when three-phase and neutral in line filters are used.
ATTENTION: The three-phase isolation transformer and neutral in-line filter

applications that are described in this document have not been tested for
EMC by Rockwell Automation. The products that are used in such
installations are not considered CE marked by Rockwell Automation.
If this three-phase isolation transformer and neutral in-line filter application is
used, the responsibility for EMC validation lies with the user and CE marking of
the system becomes your responsibility.
If CE compliance is a customer requirement, use single-phase line filters that
Rockwell Automation has tested and are specified for the product. See the
Kinetix 3, 300, 350, 2000, 6000, 6200, 6500, 7000 Servo Drives Specifications
Technical Data, publication KNX-TD005, for catalog numbers.

Grounding Your Kinetix 350 All equipment and components of a machine or process system must have a
common earth ground point that is connected to their chassis. A grounded
Drive System system provides a safety ground path for short circuit protection. Grounding
your modules and panels minimize shock hazard to personnel and damage to
equipment caused by short circuits, transient overvoltages, and accidental
connection of energized conductors to the equipment chassis. For CE
grounding requirements, refer to CE Requirements in Chapter 1.
IMPORTANT To improve the bond between the Kinetix 350 drive and subpanel, construct
your subpanel out of zinc-plated (paint-free) steel.
Ground Your Drive to the System Subpanel
ATTENTION: The National Electrical Code contains grounding requirements,

conventions, and definitions. Follow all applicable local codes and
regulations to ground your system safely. See the Figure 33 for details on
grounding your Kinetix 350 drive. See Appendix A for the power wiring
diagram for your Kinetix 350 drive.
If the Kinetix 350 drive is mounted on a painted subpanel, ground the drive to
a bonded cabinet ground bus by using a braided ground strap or 4.0 mm2
(12 AWG) solid copper wire 100 mm (3.9 in.) long.
Figure 33 - Connecting the Braided Ground Strap Example
Braided Bonded Cabinet

Ground Strap Ground Bus
Ground Stud Ground Grid or Power

Distribution Ground
For drive dimensions, refer to Product Dimensions in the Kinetix 3, 300, 350,
publication KNX-TD005.

Figure 34 - Chassis Ground Configuration (Multiple Kinetix 350 Drives on One Panel)
Chassis Ground Chassis Ground
Chassis Ground
Chassis Ground
Bonded Ground Bar
(optional)
Bonded Cabinet
Ground Bus Ground Grid or Power
Distribution Ground
Always follow NEC and
applicable local codes.
Ground Multiple Subpanels
To ground multiple subpanels, refer to the Figure 35 HF bonding is not

illustrated. For information, see Bonding Multiple Subpanels on page 24.
Figure 35 - Subpanels Connected to a Single Ground Point
Bonded Ground
Bus
Ground Grid or Power

Distribution Ground
Always follow NEC and
applicable local codes.

Power Wiring Requirements The wire must be made of copper with 75 °C (167 °F) minimum rating.
Phasing of main AC power is arbitrary and an earth ground connection is
required for safe and proper operation. See Power Wiring Examples on
page 131 for interconnect diagrams.
IMPORTANT The National Electrical Code and local electrical codes take precedence over
the values and methods provided.
Table 24 - Kinetix 350 Drive Power Wiring Requirements
Terminals Recommended Wire Size Strip Length Torque Value

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

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

that the installation complies with specifications regarding wire types,
conductor sizes, branch circuit protection, and disconnect devices. The
National Electrical Code (NEC) and local codes outline provisions for safely
installing electrical equipment.
To avoid personal injury and/or equipment damage, make sure that motor
power connectors are used for only connection purposes. Do not use them to
turn the unit on and off.
To avoid personal injury and/or equipment damage, make sure that shielded
power cables are grounded to help prevent potentially high voltages on the
shield.
Wiring Guidelines Use these guidelines as a reference when wiring the connectors on your
Kinetix 350 drive power modules.
IMPORTANT For connector locations of the Kinetix 350 drives, refer to Kinetix 350 Drive
Connectors and Indicators on page 32.
When you tighten screws to secure the wires, refer to the tables that begin
on page 58 for torque values.
When you remove insulation from wires, refer to the tables that begin on
page 58 for strip lengths.
IMPORTANT To improve system performance, run wires and cables in the wireways as
established in Establish Noise Zones on page 25.
Follow these steps when wiring the connectors on your Kinetix 350 drive
modules.
1. Prepare the wires for attachment to each connector plug by removing

insulation equal to the recommended strip length.
IMPORTANT Use caution not to nick, cut, or otherwise damage strands as you
remove the insulation.
2. Route the cable/wires to your Kinetix 350 drive.

3. Insert wires into connector plugs.
See connector pinout tables in Chapter 3 or the interconnect diagrams
in Appendix A.
4. Tighten the connector screws.
5. Gently pull on each wire to make sure it does not come out of its
terminal; reinsert and tighten any loose wires.
6. Insert the connector plug into the module connector.

Wiring the Kinetix 350 Drive This section provides examples and wiring tables to assist you when you make
connections to the Kinetix 350 drive.
Connectors
Wire the Safe Torque Off (STO) Connector
For the Safe Torque Off (STO) connector pinouts, feature descriptions, and
wiring information, see Chapter 6 on page 99.
Wire the Back-up Power (BP) Connector
Kinetix 350 Drive, Front View
+ +24V DC
24
- -24V DC
Table 25 - Back-up Power (BP) Connector

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

Wire the Input Power (IPD) Connector
Kinetix 350
Drive
L2 L2/N L3
L2 L2/N L3
L1 L1 L2
L1 L1 L2
PE N L1
N L1
PE PE
Table 26 - Input Power (IPD) Connector

Recommended
Drive Cat. No. Terminals Wire Size Strip Length Torque Value
mm (in.) N•m (lb•in)
mm2(AWG)
2097-V31PR0-LM
2097-V32PR0-LM
2097-V32PR2-LM
2097-V33PR1-LM 2.5 (14) 7 (0.28) 0.5 (4.5)
2097-V33PR3-LM
2097-V34PR3-LM L3 L2/N L2
2097-V34PR5-LM L2 L1 L1
2097-V34PR6-LM L1 N PE (3)
PE (1) PE (2)
2097-V32PR4-LM 4.0 (12) 7 (0.28) 0.5 (4.5)
2097-V33PR5-LM
2097-V31PR2-LM 0.56…0.79
6.0 (10) 7 (0.28)
2097-V33PR6-LM (5.0…7.0)
(1) Applies to 2097-V33PRx-LM, and 2097-V34PRx-LM drive modules.

Wire the Motor Power (MP) Connector
Connections to the motor power (MP) connector include rotary motors and
rotary motor driven actuators.
Kinetix 350 Drive

PE Bottom View
W
V
V
U
U
Table 27 - Motor Power (MP) Termination Specifications

mm2(AWG)
2097-V31PR0-LM
2097-V31PR2-LM
2097-V32PR0-LM
2097-V32PR2-LM
2097-V32PR4-LM PE
2097-V33PR1-LM W 2.5 (14)
2097-V33PR3-LM 7 (0.28) 0.5 (4.5)
V
2097-V33PR5-LM U
2097-V34PR3-LM
2097-V34PR5-LM
2097-V34PR6-LM
2097-V33PR6-LM 4.0 (12)
Cable Shield Terminations
Factory-supplied motor power cables for Kinetix MP and Kinetix TL motors

and actuator are shielded. The braided cable shield must terminate near the
drive during installation. Remove a small portion of the cable jacket to expose
the shield braid and clamp the exposed shield to the panel.
ATTENTION: To avoid a hazard of electrical shock, be sure that shielded

power cables are grounded at a minimum of one point for safety.
IMPORTANT For Kinetix TL motors, also connect the 152 mm (6.0 in.) termination wire to
the closest earth ground.
See Pigtail Terminations on page 63 for more information.

Pigtail Terminations
Kinetix TL motors have a short pigtail cable that connects to the motor, but is
not shielded. The preferred method for grounding the Kinetix TL power cable
on the motor side is to expose a section of the cable shield and clamp it directly
to the machine frame. The motor power cable also has a 150 mm (6.0 in.)
shield termination wire with a ring lug that connects to the closest earth
ground. Use this method and the cable clamp. The termination wire can be
extended to the full length of the motor pigtail if necessary, but it is best to
connect the supplied wire directly to ground without lengthening.
Figure 36 - Pigtail Terminations

Cable Braid Clamped (1) Connectors
Motor Power Cable to Machine Frame Pigtail Cable
Kinetix TL
Motor
150 mm (6.0 in.) Termination
Machine Frame (1) (1)
(1) Remove paint from machine frame to be sure of proper HF-bond between machine frame, motor case, shield clamp, and ground
stud.Motor Power Cable Compatibility
Table 28 - Motor Power Cable Compatibility

Motor Power Cables Motor Power Cables
Motor/Actuator Connector Motor/Actuator Cat. No. (with Brake Wires) (without Brake Wires)
2090-XXNPMF-xxSxx
MPL-A/B15xxx-4xAA and (standard) 2090-CPWM4DF-xxAFxx
MPL-A/B2xxx-4xAA 2090-CPBM4DF-xxAFxx (continuous-flex)
(continuous-flex)
Kinetix MPL
2090-CPBM7DF-xxAAxx (1) 2090-CPWM7DF-xxAAxx (1)
MPL-A/B3xxx-7xAA, (standard) (standard)
MPL-A/B4xxx-7xAA, and 2090-CPBM7DF-xxAFxx (1) 2090-CPWM7DF-xxAFxx (1)
MPL-A/B45xxx-7xAA (continuous-flex) (continuous-flex)
Kinetix MPS MPS-A/Bxxxx 2090-XXNPMF-xxSxx
Circular DIN
(standard) 2090-CPWM4DF-xxAFxx
Kinetix MPAS MPAS-A/Bxxxx 2090-CPBM4DF-xxAFxx (continuous-flex)
Kinetix MPAR MPAR-A/B1xxx and MPAR-A/B2xxx (continuous-flex)
Kinetix MPM MPM-A/Bxxxx

2090-CPBM7DF-xxAAxx (1) 2090-CPWM7DF-xxAAxx (1)
Kinetix MPF MPF-A/Bxxxx (standard) (standard)
Kinetix MPAR MPAR-A/B3xxx 2090-CPBM7DF-xxAFxx (1) 2090-CPWM7DF-xxAFxx (1)
(continuous-flex) (continuous-flex)
Kinetix MPAI MPAI-A/Bxxxx
Kinetix TLY TLY-Axxxx
Circular Plastic 2090-CPBM6DF-16AAxx (standard) 2090-CPWM6DF-16AAxx (standard)
Kinetix TLAR TLAR-Axxxx
(1) You must remove the motor-side o-ring when you are using 2090-CPxM7DF-xxAxx cables.

This diagram shows an example of three-phase power wires for motors/

actuators that have no brakes. Thermal switch wires are included in the
feedback cable.
See Kinetix 350 Drive/Rotary Motor Wiring Examples that start on page 134
for interconnect diagrams.
Figure 37 - Motor Power Terminations (Only Three-phase Wires)
Motor Power (MP) Connector Plug
Motor Cable
Shield Clamp
Kinetix 350 Drive
The cable shield clamp that is shown in Figure 37 is mounted to the subpanel.
Ground and secure the motor power cable in your system following
instructions on page 67.

This diagram shows an example of wiring with three-phase power wires and
brake wires. The brake wires have a shield braid that is shown in Figure 38 as
gray, which folds back under the cable clamp before the conductors are
attached to the motor brake circuit. Thermal switch wires are included in the
feedback cable.
See Kinetix 350 Drive/Rotary Motor Wiring Examples that begin on page 134
for interconnect diagrams.
Figure 38 - Motor Power Terminations (Three-phase and Brake Wires)
3 7
8
4
1
To Motor
Item Description Item Description

1 (1) 24V power supply 5 I/O (IOD) connector(2)
2 (1) Relay and diode assembly (3) 6 2097-V3xPRx-LM Kinetix 350 drive
3 Minimize unshielded wires in brake circuit 7 Motor power (MP) connector
4 Kinetix MP cable brake wires 8 Cable clamp (4)
(1) User supplied. Size as required by motor brake, See Motor Brake Currents on page 140.
(2) Pins 43 and 44 are configured as MTR_ BRAKE+ and MTR_BRAKE- Common respectively. Wire the output as sourcing and set brake engage and
disengage times for the motor selected. Motor brake is active on enable.
(3) Diode 1N4004 (1 A @ 400V DC) or equivalent. See Interconnect Diagram Notes that being on page 131.
(4) Exposed shield under clamp and place within 50…75 mm (2…3 in.) of drive, see page 67 for details.

Cable shield and lead preparation are provided with most Allen-Bradley® cable
assemblies. Follow these guidelines if your motor power cable shield and wires
require preparation.
Figure 39 - Cable Shield and Lead Preparation

Strip Length (See Table 30)
U
Outer Insulation
V
W
Motor Power Cable
Exposed Braid As required, to have ground clamp within

25.4 mm (1.0 in.) 50…75 mm (2…3 in.) of the drive.
See Shunt Resistor Wiring Example that being on page 133 for interconnect
diagrams.
Table 29 - Motor Power (MP) Connector
Kinetix MP or Kinetix TL Servo Terminal

Motor
U / Brown U
V / Black V
W / Blue W
Green/Yellow
Table 30 - Motor Power (MP) Termination Specifications

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

Apply the Motor Cable Shield This procedure assumes that you have completed wiring your motor power
(MP) connector and are ready to apply the cable shield clamp.
Clamp
Follow these steps to apply the motor cable shield clamp.
1. Locate a suitable position to install the cable shield clamp within

50…75 mm (2…3 in.) of the drive.
Motor Power Ground

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

provide metal-to-metal contact.
2. Lay out and drill holes for the cable clamp.
3. Locate the position on the motor power cable that comes under the
clamp and remove about an inch of the cable jacket to expose the shield
braid.
4. Position the exposed portion of the cable braid directly in line with the
clamp.
5. Clamp the exposed shield to the panel by using the clamp and two
#6-32 x 1 screws provided.
6. Repeat step 1…step 5 for each Kinetix 350 drive you are installing.

Feedback and I/O Cable Factory made cables with premolded connectors are designed to minimize
EMI and are recommended over hand-built cables to improve system
Connections performance. However, other options are available for building your own
feedback and I/O cables.
Table 31 - Options for Connecting Motor Feedback and I/O
Connection Option Cat. No. Cable By Using This Type of Cable
See the table Table 32 for the premolded motor feedback
Premolded connectors N/A Motor feedback cable available for your motor.
See the table Table 32 for the flying-lead cable available for
Low-profile connector 2090-K2CK-D15M Motor feedback your motor.
I/O Terminal Block 2097-TB1 I/O interface User-supplied flying-lead cable.
Table 32 - Motor Feedback Cables for Specific Motor/Feedback Combinations

Feedback Cable
Motor Cat. No. Feedback Type
Premolded Flying Lead
MPL-A/B15xxx-V/Ex4xAA,
High-resolution encoder 2090-XXNFMF-Sxx (standard)
MPL-A/B2xxx-V/Ex4xAA
N/A 2090-CFBM4DF-CDAFxx
MPL-A/B15xxx-Hx4xAA, (continuous-flex)
MPL-A/B2xxx-Hx4xAA
MPL-A/B3xxx-Hx7xAA, Incremental encoder 2090-XXNFMF-Sxx (standard)
MPL-A/B4xxx-Hx7xAA, N/A 2090-CFBM7DF-CDAFxx (1)
MPL-A/B45xxx-Hx7xAA (continuous-flex)
MPL-A/B3xxx-M/Sx7xAA,
MPL-A/B4xxx-M/Sx7xAA, High-resolution encoder
MPL-A/B45xxx-M/Sx7xAA
MPM-A/Bxxxxx-M/S 2090-CFBM7DD-CEAAxx (1) (standard) 2090-CFBM7DF-CEAAxx (1) (standard)
2090-CFBM7DD-CEAFxx (continuous- 2090-CFBM7DF-CEAFxx (1) (
(1)
MPF-A/Bxxxx-M/S flex) continuous-flex)
MPAR-A/B3xxxx
MPAI-A/Bxxxx
High-resolution encoder
MPS-A/Bxxxx-M/S
2090-XXNFMF-Sxx (standard)
MPAS-A/Bxxxx-V/A
N/A 2090-CFBM4DF-CDAFxx
MPAR-A/B1xxxx, (continuous-flex)
MPAR-A/B2xxxx
TLY-Axxxx-B
High-resolution encoder
TLAR-Axxxxx 2090-CFBM6DD-CCAAxx (standard) 2090-CFBM6DF-CBAAxx (standard)
TLY-Axxxx-H Incremental encoder
(1) You must remove the motor-side O-ring when you are using 2090-CPxM7DF-xxAxx cables.

Flying-lead Feedback Cable Pinouts

Table 33 - 2090-XXNFMF-Sxx or 2090-CFBMxDF-xxAxxx Feedback Cable
Incremental
High-resolution Feedback Drive MF
Connector Pin Feedback
Connector Pin
9V Encoder 5V Encoder 5V Encoder
1 Sin+ Sin+ AM+ 1
2 Sin- Sin- AM- 2
3 Cos+ Cos+ BM+ 3
4 Cos- Cos- BM- 4
5 Data+ Data+ IM+ 5
6 Data- Data- IM- 10
9 Reserved EPWR_5V EPWR_5V 14
10 Reserved ECOM ECOM 6
11 EPWR_9V Reserved Reserved 7
12 ECOM Reserved Reserved 6
13 TS+ TS+ TS+ 11
14 TS- TS- TS- –
15 Reserved Reserved S1 12
Table 34 - 2090-CFBM6DF-CBAAxx Feedback Cable
High Resolution Incremental Feedback

Drive MF
Connector Pin TLY-Axxxx-B TLY-Axxxx-H Connector Pin
TLAR-Axxxxx
6 BAT+ Reserved BAT+
9 AM+ 1
10 AM- 2
Reserved
11 BM+ 3
12 BM- 4
13 DATA+ IM+ 5
14 DATA- IM- 10
15 S1 12
17 Reserved S2 13
19 S3 8
22 EPWR 5V EPWR 5V 14
23 ECOM and BAT- ECOM 6
24 Shield Shield Connector housing

Wiring the Feedback and I/O These procedures assume that you have mounted your Kinetix 350 system,
completed the power wiring, and are ready to connect motor feedback.
Connectors
Wire the I/O Connector
Connect your I/O wires to the IOD connector by using the 2097-TB1 I/O
Terminal Expansion Block. See the Kinetix 300 I/O Terminal Expansion
Block Installation Instructions, publication 2097-IN005.
Figure 40 - Kinetix 350 Drive (IOD Connector and Terminal Block)

)
1
30
2097-TB1
I/O Terminal
Expansion Block
I/O (IOD)
Connector
11
40 12
20
21
50 29
GND

Wire the Low-profile Connector Kit
The 2090-K2CK-D15M low-profile connector kit is suitable for terminating

flying-lead motor feedback cables. Use it with the Kinetix 350 drive and all
motors with incremental or high-resolution feedback. It has a 15-pin, male, D-
sub connector and is compatible with all Kinetix 2090 feedback cables.
TLY-Axxxx-B rotary motors and TLAR-Axxxxx electric cylinders also require

the 2090-DA-BAT2 battery to back up the high-resolution encoder.
Figure 41 - Kinetix 350 Drive (MF Connector)

)
Kinetix 350 Drive, Side View

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

with flying-lead feedback cable.
Motor Feedback (MF) Connector
Figure 42 - Wiring (15-pin) Flying-lead Feedback Cable Connections

2090-K2CK-D15M Connector Kit
15-pin (male) Motor Feedback

Bare Wires Low-profile Connector
Wire Insulation Mounting Pin 10

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

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

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

Shunt Resistor Connections Follow these guidelines when wiring your 2097-Rx shunt resistor.
IMPORTANT When tightening screws to secure the wires, refer to the tables that begin on
page 58 for torque values.
IMPORTANT To improve system performance, run wires and cables in the wireways as
established in Chapter 2.
• See Shunt Resistors on page 28 for noise zone considerations.

• See Shunt Resistor Wiring Example on page 133.
• See the installation instructions that are provided with your Bulletin
2097 shunt resistor, publication 2097-IN002.
Figure 43 - Shunt/DC Bus (BC) Connector
Kinetix 350 Drive

Front view is shown.
+
+
SH Shunt/DC Bus
(BC) Connector
-
-
Table 35 - Shunt Resistor Power Wiring Requirements

Recommended Wire
Connects to Torque Value
Accessory Description Size
Terminals N•m (lb•in)
mm2(AWG)
+
2097-Rx Shunt resistor 2.5 (14) 0.5 (4.5)
SH
Ethernet Cable Connections This guideline assumes that you have your Logix5000™ Ethernet/IP™ module
and Kinetix 350 drive that is mounted and ready to connect the network
cables.
IMPORTANT Connection to a larger network through an unmanaged switch without

Internet Group Management Protocol Snooping could cause degradation to
the larger network. Network switches without IEEE-1588 impacts the overall
system accuracy. Your overall network topology, number of connected nodes
and choice of Ethernet switch affects motion performance. For more detailed
information on how to design your network, consult the Converged
Plantwide Ethernet (CPwE) Design and Implementation Guide, publication
ENET-TD001.
The EtherNet/IP network is connected by using the Port 1 connector. See

page 32 to locate the Ethernet connector on your Kinetix 350 drive. See

Figure 44 to locate the connector on your Logix5000™ communication

module.
Shielded Ethernet cable is available in lengths up to 78 m (256 ft). However,

the total length of Ethernet cable connecting drive-to-drive, drive-to-
controller, or drive-to-switch must not exceed 100 m (328 ft).
If the entire channel is constructed of stranded cable (no fixed cable), then this
equation is for calculating maximum length:
Maximum Length = (113-2N)/y, meters

where N = the number of connections in the channel
and y = the loss factor that is compared to fixed cable (typically 1.2…1.5).
Figure 44 - CompactLogix Ethernet Port Location
CompactLogix™ Controller Platform

1769-L33ERM Shown
The Ethernet ports are on

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

controller and to configure your Kinetix 350 drive.
Figure 45 - Ethernet Wiring Example - External Switch
CompactLogix Controller Platform

1769-L33ERM Shown
Personal Computer
1783-US05T
Stratix 2000 1
2
P
W
R
Switch (1)
3
Kinetix 350 Drives
(1) See Ethernet Cable Connections on page 72 for information on how to use an unmanaged switch in your application.

Notes:

Chapter 5
Configure and Start up the

Kinetix 350 Drive System
Topic Page
Keypad Input 76
Configure the Kinetix 350 Drive Ethernet IP Address 79
Configure the Logix 5000 EtherNet/IP Controller 82
Apply Power to the Kinetix 350 Drive 91
Test and Tune the Axes 92
Disable EnableInputChecking by Using a Logix Designer Message Instruction 97
TIP Before you begin make sure that you know the catalog number for the
drive, the Logix 5000® controller, and the servo motor/actuator in your
motion control application.

Chapter 5 Configure and Start up the Kinetix 350 Drive System
Keypad Input The Kinetix® 350 drive is equipped with a diagnostic status indicator and three
push buttons that are used to select displayed information and to edit a limited
set of parameter values. Parameters can be scrolled by using . To view a
value, press . To return back to Scroll mode press .
After pressing on editable parameters, the yellow status indicator D blinks

indicating that the parameter value can be changed. Use to change the
value. Press to store the new setting and return back to Scroll mode.
Table 36 - Status Display Information

Status Indicator Description
StAt Return to drive status.
Hx.xx Hardware revision. For example, H2.00.
Fx.xx Firmware revision. For example, F2.06.
Ht Heatsink temperature. Heatsink temperature is shown in ºC if greater than 40 ºC.
Otherwise ‘LO (low) is displayed.
buS Displays drive DC bus voltage.
Curr Displays motor phase current (RMS). Shows current value if drive is enabled, otherwise
shows DiS.
dHCP Ethernet DHCP Configuration: 0=’dHCP’ is disabled; 1=’dHCP’ is enabled.
IP_1 Lets you modify the first octet of the IP address.
IP_2 Lets you modify the second octet of the IP address.
IP_3 Lets you modify the third octet of the IP address.
IP_4 Lets you modify the fourth octet of the IP address.
nEt1 Lets you modify the first octet of the netmask.
nEt2 Lets you modify the second octet of the netmask.
nEt3 Lets you modify the third octet of the netmask.
nEt4 Lets you modify the fourth octet of the netmask.
gat1 Lets you modify the first octet of the gateway.
gat2 Lets you modify the second octet of the gateway.
gat3 Lets you modify the third octet of the gateway.
gat4 Lets you modify the fourth octet of the gateway.

Configure and Start up the Kinetix 350 Drive System Chapter 5
Status Indicators
The Kinetix 350 drive has four status indicators and a four-digit display on the
top front panel as shown Figure 46. These status indicators and the display are
used to monitor the system status, activity, and troubleshoot faults.
Figure 46 - Front Panel Display
Table 37 - Status Indicators

Status Function Description
Indicator
D Data entry Yellow status indicator flashes when changing.
Indicates the state of the Network. See Network State
N Network state Status Indicator on page 78. The bicolored status indicator
shows red, green, or amber.
Indicates the state of the Network. See Module State
M Module state Status Indicator on page 77. The bicolored status indicator
shows red, green, or amber.
Indicates the state of the Network. See Axis State Status
A Axis state Indicator on page 78. The bicolored status indicator shows
red, green, or amber.
Table 38 - Module State Status Indicator

Status Indicator State
Off Power off
Flash red/green Drive self-testing
Flashing green Standby
Steady green Operational
Flashing red Major recoverable fault
Steady red Major nonrecoverable fault

Table 39 - Axis State Status Indicator

Off Off
Flash red/green Self test
Off Initialization - bus not up
Flashing green Initialization - bus up
Off Shutdown - bus not up
Flashing yellow (1) Shutdown - bus up
Off Precharge - bus not up
Flashing yellow (1) Start inhibit
(1) (2)
Flashing green Stopped
Stopping
Starting
Steady green (1) (2)
Running
Testing
Aborting
Flashing red
Major faulted
Aborting
Steady red
Major faulted
(1) The axis and the drive define minor fault conditions. While a minor fault does not affect the drive status
indicator, it does affect the axis status indicator. When a minor fault condition is detected, a normally
steady green status indicator indication changes to alternating red-green-red-green, a normally flashing
green status indicator indication changes to alternating red-off-green-off, and a normally flashing yellow
indications changes to red-off-amber-off.
(2) The drive also defines alarm conditions. When an alarm condition is detected, a normally steady green
status indicator indication changes to alternating amber-green-amber green while a normally flashing
green status indicator indication changes to alternating amber-off-green-off.
Table 40 - Network State Status Indicator

Steady off Not powered, no IP address
Flashing green No connections
Steady green Connected
Flashing red Connection timeout
Steady red Duplicate IP
Flashing green and red Self-test

Configure the Kinetix 350 This section offers guidance on how to configure your Ethernet connection to
the Kinetix 350 drive.
Drive Ethernet IP Address
Ethernet Connection
Configuration, programming, and diagnostics of the Kinetix 350 drive are

performed over the standard 10/100 Mbps Ethernet communication port by
using the Studio 5000 Logix Designer® application.
The Kinetix 350 drive and your personal computer must be configured to
operate on the same Ethernet network. The IP addresses of the Kinetix 350
drive, the personal computer, or both drive and personal computer can require
configuring to enable Ethernet communication between the two devices.
IMPORTANT Any changes that are made to the Ethernet communication settings on the
Kinetix 350 drive do not take effect until the drive is powered off and
powered on again. Until the power is cycled, the drive continues to use its
previous settings.
Kinetix 350 Drive Ethernet Port Configuration
The IP address of the Kinetix 350 drive is composed of four suboctets that are
separated by three dots to conform to the Class C Subnet structure. Each
suboctet can be configured with number from 1 to 254. As shipped from the
factory the default IP address of a drive is 192.168.124.200.
There are two methods of changing the current IP address. An address can be
assigned to the drive automatically (dynamic IP address) when the drive is
connected to a DHCP (Dynamic Host Configuration Protocol) enabled
server, or you can manually assign an IP address to the drive (static IP address).
Both methods of configuring the drive’s IP address are shown here.
Obtain the Kinetix 350 Drives’ Current Ethernet Settings

The current Ethernet setting and IP address of the Kinetix 350 drive can be
obtained from the drive display and keypad. Press on the display and
use to access parameters IP_1, IP_2, IP_3, and IP_4. Each of these
parameters contains one suboctet of the full IP address, for example, if the
drive default (factory set) address parameters:
• IP_1 = 192
• IP_2 = 168
• IP_3 = 124
• IP_4 = 200

By accessing these four parameters, the full IP address on the drive can be
obtained.
If parameters IP_1, IP_2, IP_3, and IP_4 all contain ‘----‘ rather than a
numerical values it means that the drive has DHCP enabled and the DHCP
server has yet to assign the drive its dynamic IP address. As soon as the server
assigns an IP address the drive displays the address in the IP_1, IP_2, IP_3, and
IP_4 parameters. See Configure the IP Address Automatically (Dynamic
Address) on page 81.
Configure the IP Address Manually (Static Address)
When connecting directly from the Kinetix 350 drive to the personal
computer without a server or when connecting to a private network, where all
devices have static IP addresses, assign the IP address of the Kinetix 350 drive
manually.
To assign the address manually, disable the DHCP mode. Do following the
steps by using the drive keypad.
1. Press .
2. Use to access parameter DHCP.

3. Check that this parameter is set to a value of 0.
4. If the DHCP parameter is set to 1, then use and to set to 0.

5. Cycle power to the drive.
The change takes effect.
When DHCP is disabled and the power is cycled to the drive, it reverts to its
previous static IP address.
If you are connecting multiple drives to the personal computer, create a unique
IP address for each drive. Do it by using the keypad on each drive to change the
IP_4 parameter. IP_4 is the only octet that can be changed via the keypad.
IP_1, IP2, and IP_3 are read-only accessed this way. The dive power must be
cycled for any changes to take effect.

Configure the IP Address Automatically (Dynamic Address)
When connecting a Kinetix 350 drive to a network domain with a DHCP

enabled server, the IP address of the Kinetix 350 drive is assigned automatically.
To have the address that is assigned automatically, the drive must have its
DHCP mode enabled. Follow these steps by using the drive keypad and
display.
1. Press .
2. Use the to access parameter DHCP.

3. Check that this parameter is set to 1.
4. If the DHCP parameter is set to 0, use and to set the parameter

to 1.
5. Cycle power to the drive to make this change take effect.
When the Kinetix 350 drive is waiting for an IP address to be assigned to it by

the server it displays ‘----‘ in each of the four octet parameters (IP_1, IP_2,
IP_3, and IP_4) on its display. Once the server assigns the address, it appears in
these parameters. If this parameter continues to display ‘----‘, then it is likely
that a connection between the drive and server has not been established, or the
server is not DHCP enabled.
DHCP can be enabled through the Logix Designer application. If you choose
to configure the drive by using a manual (static) IP address, you can switch over
to an automatic (dynamic) address once configuration is complete. See Obtain
the Kinetix 350 Drives’ Current Ethernet Settings on page 79 for information
on how to enable the DHCP from within the Logix Designer application.
TIP A useful feature of the Logix Designer application and communication

interface to the Kinetix 350 drive is the ability to assign the drive a name
(text string). This name can then be used to discover the drive’s IP address
and is useful when the drive has its IP address that is assigned automatically
by the server for easy connection.

Configure the Logix 5000 This procedure assumes that you have wired your Kinetix 350 drive system and
are using Logix Designer application version 21.00.00 or later.
EtherNet/IP Controller
For help with using Logix Designer application as it applies to the
configuration of the ControlLogix® EtherNet/IP™ controller, refer to
Additional Resources on page 7.
Configure the Logix 5000 Controller
Follow these steps to configure the Logix 5000 controller.
1. Apply power to your Logix 5000 controller that contains the EtherNet/
IP port and open your Studio 5000® environment.
2. Click New Project.

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

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

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

8. Check Enable Time Synchronization.

Enable Time Synchronization permits the controller to participate in

the ControlLogix Time Synchronization. The controller also
participates in an election in the Logix 5000 system for the best
Grandmaster clock.
ATTENTION: Do not change the Grandmaster clock when motion is active.

Time must be universally understood by all Integrated Motion on the
EtherNet/IP Motion Devices. A change in the wall clock of the Grandmaster
can introduce a clock skew between the Integrated Motion on the
EtherNet/IP Motion devices. When clock skew is present the drive can go to
sleep, jump, or move rapidly. Results can be a nuisance motion or motion
that can damage equipment.
9. Click OK.
Configure the Kinetix 350 Drive
IMPORTANT To configure Kinetix 350 drive (catalog numbers 2097-V3xPRx-LM) you must
be using RSLogix 5000® software, version 20 or later, or Logix Designer
application.
Follow these steps to configure the Kinetix 350 drive.
1. Right-click the Logix 5000 EtherNet/IP controller that you created and
choose New Module.
The Select Module dialog box appears.
2. Clear the Module Type Category Filter and check the Motion category.

3. Select your 2097-V3xPRx-LM drive as appropriate for your actual

hardware configuration and click Create.
The New Module dialog box appears.
4. Configure the new drive.

a. Enter the drive Name.
b. Click an Ethernet Address option.
In this example, the Private Network address is selected.

c. Enter the address of your EtherNet/IP drive.
In this example, the last octet of the address is 1. This octet must
match the base node address of the drive.
5. Click Change in the Module Definition area.
The Module Definition dialog box appears.
6. From the Power Structure pull-down menu, choose the Bulletin 2097
drive appropriate for your application.
In the example, the 2097-V3xPRx-LM module is chosen.
7. To close the Module Definition dialog box, click OK.
8. To close the Module Properties dialog box, click OK.

The 2097-V3xPRx-LM drive appears under the EtherNet/IP module in

the I/O Configuration folder.
9. Right-click the 2097-V3xPRx-LM module that you created and choose
Properties.
The Module Properties dialog box appears.
10. Click the Associated Axes tab.
11. Click New Axis.

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

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

Configure the Motion Group
Follow these steps to configure the motion group.
1. Right-click Motion Groups in the Controller Organizer and choose

New Motion Group.
The New Tag dialog box appears.
2. Type the new motion group Name.

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

Configure Axis Properties
To configure axis properties for your motor or actuator follow these

instructions. If you are using an Integrated Motion Encoder on EtherNet/IP,
catalog number 842E-CM for an axis refer to 842E-CM Integrated Motion
Encoder on EtherNet/IP User Manual, publication 842E-UM002.
1. Right-click an axis in the Controller Organizer and choose Properties.

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

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

To verify the motor catalog number, refer to the motor nameplate.
6. To close the Change Catalog Number dialog box, click OK.

7. Click Apply.
Motor data specific to your motor appears in the Motor category.
8. Click the Scaling category and edit the default values as appropriate for
your application.
9. Click Apply, if you make changes.

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

12. Click Actions category.

The Actions to Take Upon Conditions dialog box appears.
From this dialog box, you can program actions and change the action for
exceptions (faults).
13. Click Parameters.
The Motion Axis Parameters dialog box appears.
From this dialog box, you can set delay times for servo motors. For
recommended motor brake delay times, refer to the Kinetix Motion
Control Selection Guide, publication KNX-SG001.
14. Click OK.
15. Verify your Logix 5000 program and save the file.

Download the Program
After completing the Logix 5000 configuration, you must download your
program to the Logix 5000 processor.
Apply Power to the This procedure assumes that you have wired and configured your Kinetix 350
drive system and your Ethernet/IP interface controller.
Kinetix 350 Drive
SHOCK HAZARD: To avoid hazard of electrical shock, perform all mounting and
wiring of the Bulletin 2097 drive before you apply power. Once power is applied,
connector terminals can have voltage present even when not in use.
Follow these steps to apply power to the Kinetix 350 drive system.
1. Disconnect the load to the motor.

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

the load to the motor; including vertical loads. Make sure that each motor is
free of all linkages when you initially apply power to the system.
2. Determine the source of the drive logic power.

If Your Logic Power Then
Is from (24V DC) back-up power Apply (24V DC) back-up power to the drive (BP connector).
Mains input power Apply 120, 240, or 460V AC mains input power to the drive (IPD
connector).
3. Apply 120, 240, or 460V AC mains input power to the Kinetix 350
drive IPD connector.
4. Observe the four-digit status indicator.
Four Character Data Entry Status
Status Indicator Indicator
If the Status Indicator is Then

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

5.
If Your Logic Power Then
Apply 120, 240, or 460V AC mains input power to the drive
Is from (24V DC) back-up power (IPD connector)
Mains input power Go to step 5
6.
If Drive ENABLE is Then
Hard wired Apply 24V DC
Not used Disable enableInputChecking by using procedure on page 97
7. Observe the status indicator on the front of the Kinetix 350 drive.
Status Indicator Condition Status Do This
Steady green Operational condition Observe the Axis, status indicator page 78
Module
Steady or flashing red Drive is faulted Go to Module State Status Indicator on page 77
Steady green or amber, flashing Operational condition Observe the Network, status indicator page 78
Axis
Steady or flashing red Axis is faulted Go to Axis State Status Indicator on page 78
Steady green Communication is ready Go to Test and Tune the Axes on page 92
Network
Any state other than steady green Communication error Go to Network State Status Indicator on page 78
Test and Tune the Axes This procedure assumes that you have configured your Kinetix 350 drive, your
ControlLogix EtherNet/IP controller, and applied power to the system. See
Motion System Tuning Application Techniques, publication MOTION-
AT005 for more information on Kinetix servo drive tuning.
.
IMPORTANT Before proceeding with testing and tuning your axes, verify that the drive
status indicators are operating as described in Status Indicators on page 120
For help with using Logix Designer application as it applies to testing and
tuning your axes with ControlLogix EtherNet/IP controller, refer to
Additional Resources on page 7.
Test the Axes
Follow these steps to test the axes.
1. Verify that the load was removed from each axis.

2. Right-click an axis in your Motion Group folder and choose Properties.
The Axis Properties dialog box appears.

3. Click Hookup Tests category.
4. Type 2.0 as the number of revolutions for the test or another number
more appropriate for your application.
This Test Performs this Test
Verifies marker detection capability as you rotate the motor
Marker shaft.
Verifies that the feedback connections are wired correctly as
Motor Feedback you rotate the motor shaft.
Verifies that motor power and feedback connections are wired
Motor and Feedback correctly as you command the motor to rotate.
5.
ATTENTION: To avoid personal injury or damage to equipment, apply the

24V ENABLE signal only to the axis you are testing.
6. Click the desired tab (Marker/Motor Feedback/Motor and Feedback).

In this example, the Motor and Feedback test is chosen.
7. Click Start.

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

Tune the Axes
The following is a basic procedure for simple systems. If you have a complicated
system, see Integrated Motion on the EtherNet/IP Network: Configuration
and Startup, publication MOTION-UM003 and Motion System Tuning
Application Techniques, publication MOTION-AT005.
Follow these steps to tune the axes.
1. Verify that the load is still removed from the axis being tuned.
ATTENTION: To reduce the possibility of unpredictable motor response, tune

your motor with the load removed first, including vertical loads, then
reattach the load and perform the tuning procedure again to provide an
accurate operational response
2. Click Autotune category.
3. Type values for Travel Limit and Speed.

In this example, Travel Limit = 5 and Speed = 10. The actual value of
programmed units depends on your application.
4. From the Direction pull-down menu, choose a setting appropriate for
your application.
Forward Uni-directional is default.
5. Edit other fields as appropriate for your application and click Apply.

6. Configure the drive ENABLE.

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

24V ENABLE signal only to the axis you are testing.
7. Click Start.
The RSLogix - Autotune dialog box appears. When the test completes,
the Test State changes from Executing to Success.
.
Tuned values populate the Loop and Load parameter tables. Actual
bandwidth values (Hz) depend on your application and can require
adjustment once motor and load are connected.
At this point, you can compare existing and tuned values for your gains
and inertias with the prospective tune values.
8. Accept the new values and apply them to the controller.
Now you can run the system with the new gain set and evaluate
performance. You can improve the performance by adjusting application
type, loop response, and/or load coupling selections.
TIP If your application requires stricter performance, you can further improve
performance with manual tuning.
9. To close the RSLogix 5000 Autotune dialog box, click OK.
10. To close the Axis Properties dialog box, click OK.
11. If the test fails, this dialog box appears.
a. Click OK.
b. Make motor velocity adjustments.
c. See the appropriate Logix 5000 motion module user manual for
more information.
d. Return to step 7 and run the test again.
12. Repeat Test and Tune the Axes for each axis.

Disable EnableInputChecking This procedure sends a Logix 5000 message to disable the
EnableInputChecking attribute in the Kinetix 350 drive.
by Using a Logix Designer
Message Instruction 1. From the Controller Organizer, choose Tasks > MainTask >
MainProgram > MainRoutine.
2. Create an MSG instruction rung as shown.
3. Set the values in the Message Configuration as shown.
4. Click the Communications tab and browse to the drive tag, in this case
K350, as shown.
5. When the program is in Run mode, trigger the rung to run the
instruction.
The drive does not check the enable input signal on IOD-29 Enable to
IOD -26 Common. This MSG instruction is executed only once as it is
a persistent type instruction and gets saved to the drive nonvolatile
memory. To re-enable the enable input signal checking on IOD-29
Enable to IOD-26 Common, change the Source Element register,
EnableInputChecking from 0 to 1 and trigger the run again.

Notes:

Chapter 6
Kinetix 350 Drive Safe Torque Off Feature
Topic Page
Certification 99
Description of Operation 100
PFD and PFH Definitions 101
PFD and PFH Data 101
Safe Torque Off Connector Data 102
Wiring Your Safe Torque Off Circuit 103
Kinetix 350 Drive Safe Torque Off Feature 105
Kinetix 350 Drive Safe Torque Off Wiring Diagrams 107
Safe Torque Off Signal Specifications 108
Certification The Safe Torque Off circuit is type-approved and certified for use in safety
applications up to and including ISO 13849-1 Performance Level d (PLd)
safety category 3.
The TÜV Rheinland group has approved the Kinetix® 350 drives for use in
safety-related applications up to ISO 13849-1 Performance Level d (PLd)
safety category 3, in which the de-energized state is considered to be the safe
state. All examples that are related to I/O included in this manual are based on
achieving de-energization as the safe state for typical machine safety systems.
Important Safety Considerations
You are responsible for the following:

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

Chapter 6 Kinetix 350 Drive Safe Torque Off Feature
Safety Category 3 Requirements
Safety-related parts are designed with these attributes:

• A single fault in any of these parts does not lead to the loss of the safety
function
• A single fault is detected whenever reasonably practicable
• Accumulation of undetected faults can lead to the loss of the safety
function.
Stop Category Definition
Stop category 0 is achieved with immediate removal of power to the actuator.
IMPORTANT If there is a drive or control failure, the most likely stop category is category
0. When designing the machine application, consider timing and distance
for a coast-to-stop. For more information regarding stop categories, refer to
EN 60204-1.
Performance Level and Safety Integrity Level (SIL) CL2
For safety-related control systems, Performance Level (PL), according to

EN ISO 13849-1, and SIL levels, according to EN 61508 and EN 62061,
include a rating of the systems ability to perform its safety functions. All safety-
related components of the control system must be included in both a risk
assessment and the determination of the achieved levels.
See the EN ISO 13849-1, EN 61508, and EN 62061 standards for complete
information on requirements for PL and SIL determination.
Description of Operation The Safe Torque Off feature provides a method, with sufficiently low
probability of a dangerous failure on demand, to force the power-transistor
control signals to a disabled state. When disabled, or any time power is
removed from the safety enable inputs, all drives output-power transistors are
released from the ON state, effectively removing motive power generated by
the drive. This results in a condition where the motor is in a coasting condition
(stop category 0). Disabling the power transistor output does not provide
mechanical isolation of the electrical output, which can be required for some
applications.
Under normal drive operation, the Safe Torque Off switches are energized. If
either of the safety enable inputs are de-energized, the gate control circuit is
disabled. To meet EN ISO 13849-1 (PLd) both safety channels must be used
and monitored.

Kinetix 350 Drive Safe Torque Off Feature Chapter 6
ATTENTION: Permanent magnet motors can, if there are of two

simultaneous faults in the IGBT circuit, result in a rotation of up to 180
electrical degrees.
Troubleshoot the Safe Torque Off Function
ATTENTION: When the Safe Torque Off function is activated, the drive posts
a Start Inhibit (Sc05). After troubleshooting, a proof test safety function
must be performed to verify correct operation.
PFD and PFH Definitions Safety-related systems can be classified as operating in either a Low Demand
mode, or in a High Demand/Continuous mode:
• Low Demand mode: where the frequency of demands for operation that
is made on a safety-related system is no greater than one per year or no
greater than twice the proof test frequency.
• High Demand/Continuous mode: where the frequency of demands for
operation that is made on a safety-related system is greater than once per
year or greater than twice the proof test interval.
The SIL value for a low demand safety-related system is directly related to
order-of-magnitude ranges of its average probability of failure to perform its
safety function on demand satisfactorily or, simply, average probability of a
dangerous 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 41 - PFD and PFH for 20-year Proof Test Interval

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

Safe Torque Off Connector This section provides Safe Torque Off (STO) connector and header
information for the Kinetix 350 drive Safe Torque Off.
Data
STO Connector Pinouts
Headers extend the STO connector signals for use in wiring or to defeat (not
use) the Safe Torque Off function.
Figure 47 - 6-pin Safe Torque Off (STO) Connector
1 2
Safe Torque Off STO
(STO) Connector 3 4 5 6
Kinetix 350 Drive, Bottom View

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

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

Wiring Your Safe Torque Off This section provides guidelines for wiring your Kinetix 350 Safe Torque Off
drive connections.
Circuit
European Union Directives
If this product is installed within the European Union or EEC regions and has
the CE marking, the following restrictions apply.
For more information on the concept of electrical noise reduction, refer to

System Design for Control of Electrical Noise Reference Manual, publication
GMC-RM001.
EMC Directive
This unit is tested to meet Council Directive 2014/30/EU Electromagnetic

Compatibility (EMC) by using these standards, in whole or in part:
• EN 61800-3 - Adjustable Speed Electrical Power Drive Systems,
Part 3 - EMC Product Standard including specific test methods
• EN 61000-6-4 EMC - Emission Standard, Part 2 - Industrial
Environment
• EN 61000-6-2 EMC - Immunity Standard, Part 2 - Industrial
Environment
The product that is described in this manual is intended for use in an industrial
environment.
CE Conformity
Conformity with the Low Voltage Directive and Electromagnetic

Compatibility (EMC) Directive is demonstrated by using harmonized
European Norm (EN) standards that are published in the Official Journal of
the European Communities. The Safe Torque Off circuit complies with the
EN standards when installed according to instructions found in this manual.
CE Declarations of Conformity are available online at:

rok.auto/certifications.
Low Voltage Directive
These units are tested to meet Council Directive 2014/35/EU Low Voltage
Directive. The EN 60204-1 Safety of Machinery-Electrical Equipment of
Machines, Part 1-Specification for General Requirements standard applies in
whole or in part.

Safe Torque Off Wiring Requirements
The following are the Safe Torque Off (STO) wiring requirements. The wire
must be copper with 75 °C (167 °F) minimum rating.
IMPORTANT The National Electrical Code and local electrical codes take precedence over
the values and methods provided.
IMPORTANT Stranded wires must terminate with ferrules to help prevent short circuits,
per table D7 of EN ISO 13849.
Figure 48 - Safe Torque Off (STO) Terminal Plug
ol
contr
2 4 V DC M
+ rol CO
Cont
1 2
tus
y sta
Safet ty input 1
Safe ty COM 2
3 4
Safe ty input
Safe
5 6
Table 42 - Safe Torque Off (STO) Terminal Plug Wiring

Safe Torque Off (STO) Connector Recommended Wire Size
Stranded Wire Strip Length Torque Value
Solid Wire mm (in.) N•m (lb•in)
Pin Signal with Ferrule
mm2(AWG)
mm2(AWG)
STO-1 +24V DC Control
STO-2 Control COM
STO-3 Safety Status 0.75 (18) 1.5 (16) 6 (0.25) 0.2 (1.8)
STO-5 Safety COM
motion-allowed jumpers to defeat the Safe Torque Off function. When the
Safe Torque Off function is in operation, the 24V supply must come from an
external source.
IMPORTANT To be sure of system performance, run wires and cables in the wireways as
established in the user manual for your drive.

Kinetix 350 Drive Safe Torque The Safe Torque Off circuit, when used with suitable safety components,
provides protection according to EN ISO 13849-1 (PLd). The Safe Torque
Off Feature Off option is just one safety control system. All components in the system must
be chosen and applied correctly to achieve the desired level of operator
safeguarding.
The Safe Torque Off circuit is designed to remove power safely from the gate
firing circuits of the drives output power devices (IGBTs). This helps prevent
them from switching in the pattern necessary to generate AC power to the
motor.
You can use the Safe Torque Off circuit in combination with other safety
devices to meet the stop and protection-against-restart requirements of EN
ISO 13849-1.
ATTENTION: This option is suitable for performing mechanical work on only

the drive system or affected area of a machine. It does not provide electrical
safety.
SHOCK HAZARD: In Safe Torque Off mode, hazardous voltages can still be
present at the motor. To avoid an electric shock hazard, disconnect power to
the motor and verify that the voltage is zero before performing any work on
the motor.
Safe Torque Off Feature Bypass
The drive is supplied from the factory with the Safe Torque Off circuit
enabled. The drive is not operational until +24V is present at terminals STO-4
and
STO-6. When safety connections are not required, the drive can be operated
with the safety circuit disabled.
Use jumper wires, as shown, to defeat the Safe Torque Off function.

Figure 49 - STO Motion-allowed Jumpers
STO-1
STO-2
STO-3
STO-4
STO-5
STO-6
motion-allowed jumpers to defeat the Safe Torque Off function. When the
Safe Torque Off function is in operation, the 24V supply must come from an
external source.

Kinetix 350 Drive Safe Torque This section provides typical wiring diagrams for the Kinetix 350 drive Safe
Torque Off feature with other Allen-Bradley safety products.
Off Wiring Diagrams
For additional information regarding Allen-Bradley safety products, including
safety relays, light curtain, and gate interlock applications, refer to the Safety
Products website https://www.rockwellautomation.com/en-us/products/
hardware/allen-bradley/safety-products.html.
The drive is shown in a single-axis relay configuration for category 0 stop per
EN-60204-1 Safety of Machinery Directive. Figure 50 and Figure 51 are
examples, however, and user applications can differ based on the required
overall machine-performance level requirements.
IMPORTANT The Kinetix 350 drive meets the requirements of EN ISO 13849-1 Safety of
Machinery, Safety-related Parts of Control Systems, category (CAT 3),
Performance Level (PL)d and Safety Integrity Level (SIL) 2 per EN 61800-5-
2:2007. Dual inputs and drive monitoring of the Safe Torque Off circuit, STO-
4 and ST0-6, are done to help prevent drive enable if either or both of these
inputs do not function.
It is suggested to evaluate the entire machine Performance Level that is
required with a risk assessment and circuit analysis. Contact your local
distributor or Rockwell Automation Sales for more information.
Figure 50 - Single-axis Relay Configuration (Stop Category 0) with Automatic Reset
External +24V Allen-Bradley® External 24V COM

Monitoring Safety Relay
MSR127RP (440R-N23135)
440R-D22R2 Kinetix 350 Drive

A1 A2
S11 Y32 Auxiliary Signal

Safe Torque Off to PLC
Demand S21 L12
DI L11
S12
Input 1
S22 Safe Torque Off (STO)
S32
Connector with
Input 2
Wiring Header
+ - S42 1
+24V DC
S34 2
COM
3
CR1 Status
13 14 4
Safety Input 1
5
Safety Common
23 24 6
Safety Input 2
Pins 1 and 2 are not used when using Safety Inputs.

Pin 3 is a sinking output.

Figure 51 - Single-axis Relay Configuration (Stop Category 0) with Manual Reset
External +24V Allen-Bradley External 24V COM

Monitoring Safety Relay
MSR127RP (440R-N23135)
440R-D22R2 Kinetix 350 Drive
A1 A2
S11 Y32 Auxiliary Signal

Safe Torque Off to PLC
Demand S21 L12
DI L11
S12
Input 1
S22
Safe Torque Off (STO)
S32 Connector with
Input 2 Wiring Header
+ - S42 1
+24V DC
S34 2
COM
Reset 3
CR1 Status
13 14 4
Safety Input 1
5
Safety Common
23 24 6
Safety Input 2
Pins 1 and 2 are not used when using Safety Inputs.

Pin 3 is a sinking output.
Safe Torque Off Signal This table provides specifications for the Safe Torque Off signals that are used
in the Kinetix 350 servo drives.
Specifications
Attribute Value
Insulated, compatible with single-ended output (+24V DC)
Safety inputs (1) Enable voltage range: 20…24V DC
Disable voltage range: 0…1.0V DC
Input impedance 6.8 kΩ
Safety status Isolated Open Collector (Emitter is grounded.)
Output load capability 100 mA
Digital outputs max voltage 30V DC
(1) Safety inputs are not designed for pulse testing.

Safety Input and Output The following are generic safety input and output schematics for the
Kinetix 350 drive.
Schematics
Figure 52 - Safety Input
Safety Input 1/2 1 A C 4

STO-4/6
2 3
K E COM
Safety COM
STO-5 SAFETYCOM
Figure 53 - Safety Status Output - Sinking Type
Safety Status 4 C A 1
STO-3 C
B 3 2
E K COM
E
Safety COM
STO-5
SAFETYCOM

Notes:

Chapter 7
Troubleshoot the Kinetix 350 Drive
Topic Page
Safety Precautions 111
Interpret Status Indicators 112
General System Behavior 121
Logix 5000 Controller and Drive Behavior 124
Web Server Interface 128
Safety Precautions Observe the following safety precautions when troubleshooting your
Kinetix® 350 drive.
ATTENTION: Capacitors on the DC bus can retain hazardous voltages after

input power has been removed. Before working on the drive, measure the DC
bus voltage to verify it has reached a safe level or wait the full-time interval
as indicated in the warning on the front of the drive. Failure to observe this
precaution could result in severe bodily injury or loss of life.
ATTENTION: Do not attempt to defeat or override the drive fault circuits. You
must determine the cause of a fault and correct it before you attempt to
operate the system. Failure to correct the fault could result in personal injury
and/or damage to equipment as a result of uncontrolled machine operation.
ATTENTION: Provide an earth ground for test equipment (oscilloscope) used

in troubleshooting. Failure to ground the test equipment could result in
personal injury.

Chapter 7 Troubleshoot the Kinetix 350 Drive
Interpret Status Indicators See these troubleshooting tables to identify faults, potential causes, and the
appropriate actions to resolve the fault. If the fault persists after attempting to
troubleshoot the system, 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 are to be displayed, for
example, when the drive has both a fault and a start inhibit, only the higher
priority message is displayed. When messages of equal priority are needed, for
example, when there are multiple faults, the messages are displayed in a round-
robin fashion. Only two messages scroll in this manner. When a fault is
annunciated, the entire fault text scrolls on the display regardless of when the
fault is cleared
The IP address is always an active condition, meaning that it scrolls with the
axis state as long as there are no higher priority messages to display.
See the table on Four-digit Display Messages for a description of the messages
that scroll across the display during powerup.
Table 43 - Four-digit Display Messages
Priority
Device Condition Display Digit (Lower Is
Higher)
IP address (always active) xxx.xxx.xxx.xxx
Executing device self-test -08-
Waiting for connection to controller -00-
Configuring device attributes -01- 4
Waiting for group synchronization -02-
Waiting for DC Bus to charge -03-
Device is operational -04-
Start inhibit code S xx
3
Start inhibit code - custom Scxx
Axis fault code F xx
2
Axis fault code - custom Fcxx
Boot error Lxxx
Power on Self Test (POST) error Pxxx 1
Initialization fault code - custom Icxx
Node fault code nFxx 1

Troubleshoot the Kinetix 350 Drive Chapter 7
Error Codes
The following list helps you resolve memory anomalies.
When a fault is detected, the status indicator displays an E and a two-digit

error code until the anomaly is cleared.
Error Anomaly Possible Cause Action/Solution

Code
E38 Memory module error. Bad memory module. Replace memory module.
E76 Blank memory module. A Blank MEM module has been Push and hold the drive's enter key
inserted into the drive. (bottom most red button) on the drive's
front display until the drive shows bUSY.
This makes the drive format the blank
memory module for usage with the drive.
Fault Codes
These fault code tables are designed to help you resolve anomalies. When a
fault is detected, the four-digit status indicator scrolls the display message. The
display is repeated until the fault code is cleared.
Table 44 - Fault Code Summary
Fault Code Type Description

S xx
Conditions that prevent the drive from enabling, see Table 45.
Scxx
F xx
Standard axis fault, see Table 46 and Table 47.
Fcxx
Unrecoverable errors that occur during the boot process.
Lxxx
Return drive to Rockwell Automation.
Unrecoverable errors that occurred during the Power on Self Test (POST). Return drive
Pxxx to Rockwell Automation.
Icxx Anomalies that prevent normal operation and occur during the initialization process.
Anomalies that prevent normal operation of the drive. Node Fault. This type of fault
nFxx that impacts the servo drive not just the axis of motion.

Table 45 - S xx and Scxx Start Inhibit Codes

RSLogix 5000® and Logix
Four-digit Display Problem or Symptom Potential Cause Possible Resolution
Designer Fault Message
• Check wiring and 24V source for drive
ENABLE Input.
The axis enable input is
S 01 Axis enable input. Axis Enable Input is not active. • Disable enableInputChecking
deactivated.
attribute by using a message
instruction.
The associated motor has not been
S 02 Motor not configured. • Cycle power or reset the drive.
configured for use.
Faulty intelligent encoder or incorrect • Check that proper motor has been
The associated feedback device has not selected in Logix Designer
been configured for use or the motor file. Application.
S 03 Feedback not configured. configuration does not match what is • Replace motor if faulting continues.
connected.
No power or safety circuitry not The safety function has disabled the • Apply 24V sources to safety circuit.
Sc05 Safe torque off.
configured. power structure. • Use jumpers to bypass safety circuit.
Table 46 - F xx Fault Codes

RSLogix 5000 and Logix
• Check wiring of S1,S2, and S3
F 02 Illegal Hall State State of Hall feedback inputs is incorrect. Improper connections. • Check the power supply to the
encoder.
• Check motor wire phasing.
F 03 Motor Overspeed Motor speed has exceeded 125% of maximum rated speed. • Check cables for noise.
• Check tuning.
• Check motor wiring at motor
feedback (MF) connector.
• Check TS+ and COM wiring.
The motor thermostat, motor thermistor, or • Operate within (not above) the
encoder temperature sensor indicates that the High motor ambient temperature continuous torque rating for the
F 05 Motor Overtemperature ambient temperature.
motor factory temperature limit has been and/or Excessive Current.
exceeded. • Lower ambient temperature or
increase motor cooling.
• Verify that the proper motor has
been selected.
The thermal model for the motor indicates that The machine duty cycle requires
Change the command profile to reduce
F 07 Motor Thermal Protection the temperature has exceeded 110% of its an RMS current that exceeds the
speed or increase time.
rating. continuous rating of the motor.

Table 46 - F xx Fault Codes (Continued)

Verify continuity of motor power cable
Motor cables that are shorted.
and connector.
Disconnect motor power cables from the
motor. Use multimeter to check that the
Motor winding shorted internally.
resistance of phase-to-phase is not open
and that phase-to-ground is open.
• Check for clogged vents or defective
fan.
• Make sure that cooling is not
restricted by insufficient space
around the unit.
The drive temperature is too high. • Verify that ambient temperature is
within the specification. See Kinetix
The drive fault output indicates that the power 350 Drive Power Specifications in
transistors were turned off because of the Kinetix 3, 300, 350, 2000, 6000,
F 10 Inverter Overcurrent
overcurrent, overtemperature, or power supply 6200, 6500, 7000 Servo Drives
problems. Specifications Technical Data,
publication KNX-TD005.
Operation above continuous • Operate within the continuous
power rating and/or product power rating.
environmental ratings. • Reduce acceleration rates.
Remove all power and motor
connections, and perform a continuity
The drive has a short circuit, check from the DC bus to the U, V, and W
overcurrent, or failed component. motor outputs. If a continuity exists,
check for wire fibers between terminals,
or send the drive in for repair.
Check AM+, AM -, BM +, and BM-
Loss of TTL signal
signals.
Drive fan failed. Replace the failed drive.
Check the cabinet temperature. See the
The cabinet ambient temperature Kinetix 3, 300, 350, 2000, 6000, 6200,
is above rating. 6500, 7000 Servo Drives Specifications
Technical Data, publication KNX-TD005.
F 11 Inverter Overtemperature Inverter thermal switch tripped.
The machine duty cycle requires
Change the command profile to reduce
an RMS current that exceeds the
speed or increase time.
continuous rating of the controller.
The airflow access to the drive Check airflow and reroute cables away
system is limited or blocked. from the drive system.
The machine duty cycle requires
The thermal model for the power transistors Change the command profile to reduce
an RMS current that exceeds the
F 13 Inverter Thermal Protection indicates that the temperature has exceeded speed or increase time.
continuous rating of the controller.
110% of its rating.
Motor brake on. Turn off motor brake.
DC bus voltage for a 460V system • Verify the voltage level of the
is below 275V. incoming AC power.
With three-phase power present, the DC bus DC bus voltage for a 230V system • Check AC power source for glitches
F 33 Bus Undervoltage or line drop.
voltage is below limits. is below 137V.
DC bus voltage for a 120V system • Install an uninterpretable power
is below 80V supply (UPS) on your AC input.


Change the deceleration or motion
Excessive regeneration of power.
profile.
When the motor is driven by an
external mechanical power source,
The DC bus voltage is measured above a factory it can regenerate too much peak
F 35 Bus Overvoltage Use a larger system (motor and drive).
limit. energy through the drive power
supply. The system faults to save
itself from an overload.
DC bus voltage for 460V
Install shunt resistor.
system is over 820V.
• On sin/cos encoders, the sum of the square
of the sin/cos signals has been measured
below a factory limit.
• On TTL encoders, the absolute value of the • Check motor encoder wiring.
The motor feedback wiring is
differential A/B signals is below a factory • Run Hookup test in RSLogix 5000
limit. open, shorted, or missing.
software.
• On a motor with incremental feedback, the
Hall effect signals are missing or have an
invalid state.
• Use shielded cables, route feedback
away from potential noise sources.
• Check system grounds, replace
motor/encoder.
• Verify reason for fault with Attribute
#2703 Feedback Signal Loss Fault
F 43 Feedback Loss Reason. Access via MSG: Get
Attribute Single.
Value Description
• The number of illegal state transitions of Excessive noise on feedback
the motor AQB encoder feedback signals 0 Feedback signal is lost
has exceeded the limit. signals
1 Wrong or invalid state of Hall
feedback detected
2 Feedback signal Sin or Cos
peak to-peak amplitude is
outside of defined limits
(min-max)
3 Feedback Noise count is more
than the limit
Feedback Serial Comms The number of consecutive missed or corrupted Communication was not
• Verify motor selection.
F 45 (only Kinetix TL motors and serial data packets from the feedback device established with an intelligent
• Verify motor encoder wiring.
actuators) has exceeded a factory set limit. encoder.
Call your Rockwell Automation sales
The feedback device has detected an internal
F 47 Feedback Self Test Damage to feedback device. representative to return the motor for
error.
repair.
Axis that is moved beyond the physical travel
F 50 Hardware Overtravel - Positive • Check wiring.
limits in the positive direction. Dedicated overtravel input is
• Verify motion profile.
Axis that is moved beyond the physical travel inactive.
F 51 Hardware Overtravel - Negative • Verify axis configuration in software.
limits in the negative direction.
Check all wiring at the motor feedback
Partial loss of feedback signals.
(MF) connector.
Improperly sized drive or motor. Verify the sizing of the system.
• Increase the feed forward gain.
F 54 Excessive Position Error Position error limit was exceeded. • Increase following error limit or
time.
Mechanical system out of
• Check position loop tuning.
specifications.
• Verify mechanical integrity of
system within specification limits.
• Check motor power wiring.


Check all wiring at motor feedback (MF)
Partial loss of feedback signals.
connector.
• Increase velocity error limit or time.
Improperly sized drive or motor. • Check velocity loop tuning.
Velocity Error value of the velocity control loop • Verify sizing of system.
F 55 Excessive Velocity Error has exceeded the configured value for Velocity
Error Tolerance. • Increase velocity error limit or time.
• Check velocity loop tuning.
Mechanical system out of • Verify mechanical integrity of
specifications. system within specification limits.
• Check motor power wiring.
• Reduce acceleration.
• Overly aggressive motion • Verify that Overtorque settings are
profile. appropriate.
Motor torque has exceeded a user- • Mechanical binding. • Verify sizing of system.
F 56 Overtorque Limit programmable setting. • Verify torque offset
Mechanical system out of Verify mechanical integrity of system
specifications. within specification limits.
• Improperly configured limit.
• Improperly configured
• Verify that Overtorque settings are
motion. appropriate.
Motor torque has fallen below a user- • Improperly drive/motor
F 57 Undertorque Limit • Verify sizing of system.
programmable setting. sizing.
Mechanical system out of Verify mechanical integrity of system
specifications. within specification limits.
An attempt was made to enable
the axis through software while • Check wiring of drive enable input.
the Drive Enable hardware input • Check 24V source.
The hardware enable input was deactivated was inactive.
F 61 Drive Enable Input while the drive was enabled. This is applicable
when only drive enable input is used. The Drive Enable input that has
Verify that Drive Enable hardware input
transitioned from active to
is active whenever the drive is enabled
inactive while the axis was
through the software.
enabled.
• Move axis out of soft overtravel
range.
The controller has requested the drive to User configured software • Clear soft overtravel fault.
F 62 Controller Initiated Exception
generate an exception. overtravel.
• Check soft overtravel configuration.
• Consult controller documentation.
Table 47 - Fc xx Fault Codes

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

Table 48 - Ic xx Fault Codes

The motor data that is stored in a smart encoder • Cycle power or reset the drive.
Ic 01 Boot Block Check Sum Fault Faulty intelligent encoder.
has a checksum error. • Replace motor if faulting continues.
• Cycle power or reset the drive.
Faulty intelligent encoder or • Check validity of the motion
Ic 02 Motor Data Range Error Data within a motor data blob is out of range. database.
incorrect motor file.
• Replace motor if faulting continues.
An incorrect motor has been
Motor Feedback Communication Communication with a smart encoder could not Check motor selection.
Ic 03 selected or connected.
Startup be established on the motor feedback port.
Faulty wiring. Check motor encoder wiring.
Mechanical movement of the
The motor absolute encoder was not able to
machine has caused excessive Allow machine motion to stop before
Ic 06 Motor Absolute Startup Speed determine the position after powerup due to
rotation of the motor during powerup.
motor speed greater than 100 rpm.
powerup.
Status messages of the format Lxxx indicate an unrecoverable error while

starting the drive. Reload the firmware and restart the drive. If a status message
repeats, contact Rockwell Automation technical support to return the drive for
repair.
Table 49 - Lxxx Fault Codes

Four-digit Cause
Display Message
L001 Identity block corrupted
L002 Firmware file load failed
L004 Firmware not programmed (drive is new)
L008 DSP load operation failed
Status messages of the format Pxxx indicate an unrecoverable error during the
Power-on Self Test (POST). Contact Rockwell Automation technical support
to return the drive for repair.
Table 50 - Pxxx Fault Codes

Four-digit Cause
Display Message
P001 SDRAM test failed
P002 FPGA load operation failed
P004 DPRAM Test failed
P005 DSP I/F to DPram - no DSP response
P006 I/F to DPram failed
P007 Firmware file md5 test failure

Table 51 - nF xx Fault Codes

• Remove unnecessary network devices
from the motion network.
Excessive network traffic. • Change the network topology so that
fewer devices share common paths.
Several consecutive updates from the controller • Use faster/higher performance
nF 01 Control Update Fault have been lost. network equipment.
• Isolate signal wiring from power
wiring.
Noisy environment.
• Use shielded cables.
• Add snubbers to power devices.
• Recycle control power or reset the
drive.
nF 02 Processor Watchdog Fault The watchdog-circuit monitoring processor operation detected a problem.
• Replace the control module if the
problem persists.
The drive has an internal hardware problem. drive.
• Replace the drive.
nF 03 Hardware Fault
Nonvolatile write or write to memory failed. Faulty memory component. drive.
• Replace the drive if problem persists.
A data format error was discovered in the drive.
nF 04 Data Format Error Faulty memory component.
controller-to-drive message. • Replace the control module if problem
persists.

Status Indicators
Table 52 - Drive Status Indicator
Status Description
Off No power. Apply power.
Alternating green/red Self-test (power-up diagnostics). Wait for steady green.
Flashing green Standby (device not configured). Wait for steady green.
Steady green Normal operation, no faults.
Flashing red Minor fault (recoverable). See four-digit fault message.
Steady red Major fault (non-recoverable). See four-digit fault message.
Table 53 - Axis Status Indicator

Status Description
Off Off
Flash red/green Self test
Off Initialization - bus not up
Flashing green Initialization - bus up
Off Shutdown - bus not up
Flashing yellow (1) Shutdown - bus up
Off Precharge - bus not up
Flashing yellow (1) Start inhibit
Flashing green (1) (2) Stopped
Stopping
Starting
Steady green (1) (2)
Running
Testing
Aborting
Flashing red
Major faulted
Aborting
Steady red
Major faulted
(1) The axis and the drive define minor fault conditions. While a minor fault does not affect the drive status indicator, it does affect
the axis status indicator. When a minor fault condition is detected, a normally steady green status indicator indication changes
to alternating red-green-red-green, a normally flashing green status indicator indication changes to alternating red-off-green-
off, and a normally flashing yellow indications changes to red-off-amber-off.
(2) The drive also defines alarm conditions. When an alarm condition is detected, a normally steady green status indicator
indication changes to alternating amber-green-amber green while a normally flashing green status indicator indication changes
to alternating amber-off-green-off.

Table 54 - Network Status Indicators

Status Description
Off No power or no IP address defined.
Alternating green/red Self-test mode (power-up diagnostics).
Flashing green Standby (device that is not configured, or connection not
established).
Steady green Normal operation. Device has at least one established connection.
Flashing red Recoverable minor fault or connection timeout.
Steady red Nonrecoverable major fault or duplicate IP address.
IMPORTANT Under some fault conditions, two reset commands can be required to clear
the drive.
Table 55 - Port 1 Ethernet Communication Status Indicators

Status Description
Off No link partner present.
Flashing green Link partner present, communication occurring.
Steady green Link partner present, no communication occurring.
General System Behavior These events do not always result in a fault code, but can require
troubleshooting to improve performance.
Table 56 - General System Behavior

Condition Potential Cause Possible Resolution
The position feedback device is incorrect or open. Check wiring.
Check to see what primary operation mode was
Unintentionally in Torque mode. programmed.
Motor tuning limits are set too high. Run Tune in RSLogix 5000 software.
Position loop gain or position controller accel/decel rate is improperly set. Run Tune in RSLogix 5000 software.
Axis or system is unstable. Improper grounding or shielding techniques are causing noise to be transmitted
into the position feedback or velocity command lines, causing erratic axis Check wiring and ground.
movement.
Motor Select limit is incorrectly set (servo motor is not matched to axis module). •• Check setups.
Run Tune in RSLogix 5000 software.
Notch filter or output filter can be required (refer to Axis
Mechanical resonance. Properties dialog box, Output tab in RSLogix 5000
software).

Table 56 - General System Behavior (Continued)

Torque Limit limits are set too low. Verify that current limits are set properly.
Select the correct motor and run Tune in Logix Designer
Incorrect motor that is selected in configuration. Application again.
• Check motor size versus application need.
The system inertia is excessive.
You cannot obtain the motor • Review servo system sizing.
acceleration/deceleration that you The system friction torque is excessive. Check motor size versus application need.
want.
• Check motor size versus application need.
Available current is insufficient to supply the correct accel/decel rate. • Review servo system sizing.
Acceleration limit is incorrect. Verify limit settings and correct them, as necessary.
Velocity Limit limits are incorrect. Verify limit settings and correct them, as necessary.
Disable the axis, wait for 1.5 seconds, and enable the
The axis cannot be enabled for 1.5 seconds after disabling. axis.
• Check the controller.
Enable signal has not been applied or the enable wiring is incorrect. • Check the wiring.
The motor wiring is open. Check the wiring.
Motor does not respond to a • Check for a fault.

The motor thermal switch has tripped.
velocity command. • Check the wiring.
The motor has malfunctioned. Repair or replace the motor.
The coupling between motor and machine has broken (for example, the motor Check and correct the mechanics.
moves, but the load/machine does not).
Primary operation mode is set incorrectly. Check and properly set the limit.
Velocity or current limits are set incorrectly. Check and properly set the limits.
• Verify grounding.
• Route wire away from noise sources.
Recommended grounding per installation instructions have not been followed. • See System Design for Control of Electrical Noise,
publication GMC-RM001.
Presence of noise on command or • Verify grounding.
motor feedback signal wires. Line frequency can be present. • Route wire away from noise sources.
Variable frequency can be velocity feedback ripple or a disturbance that is • Decouple the motor for verification.
caused by gear teeth or ballscrew balls, and so forth. The frequency can be a • Check and improve mechanical performance, for
multiple of the motor power transmission components or ballscrew speeds example, the gearbox or ballscrew mechanism.
resulting in velocity disturbance.
The motor connections are loose or open. Check motor wiring and connections.
Foreign matter is lodged in the motor. Remove foreign matter.
The motor load is excessive. Verify the servo system sizing.
No rotation The bearings are worn. Return the motor for repair.
• Check brake wiring and function.
The motor brake is engaged (if supplied). • Return the motor for repair.
The motor is not connected to the load. Check coupling.
Change the command profile to reduce accel/decel or
The duty cycle is excessive.
Motor overheating increase time.
The rotor is partially demagnetized causing excessive motor current. Return the motor for repair.

Table 56 - General System Behavior (Continued)

Motor tuning limits are set too high. Run Tune in RSLogix 5000 software.
• Remove the loose parts.
Loose parts are present in the motor. • Return motor for repair.
• Replace motor.
Abnormal noise Through bolts or coupling is loose. Tighten bolts.
The bearings are worn. Return motor for repair.
Notch filter can be required (refer to Axis Properties
Mechanical resonance. dialog box, Output tab in RSLogix 5000 software).
Erratic operation - Motor Motor power phases U and V, U and W, or V and W reversed. Check and correct motor power wiring.
locks into position, runs Sine, cosine, or rotor leads are reversed in the feedback cable connector. Check and correct motor feedback wiring.
without control or with
reduced torque. Sine, cosine, rotor lead sets of resolver feedback are reversed. Check and correct motor feedback wiring.
No motion from a motor with a TTL Sine and cosine signals are broken. Check feedback wiring.
encoder, axis is enabled and there
are no faults

Logix 5000 Controller and By using Logix Designer application, you can configure how the Bulletin 2097
drives respond when a drive fault/exception occurs.
Drive Behavior
TIP The Ixx faults are always generated after powerup, but before the drive is
enabled, so the stopping behavior does not apply.
Kinetix 350 Drive Exception Behavior
For Kinetix 350 drives, you can configure exception behavior in RSLogix 5000
software from the Axis Properties dialog box, Actions category.
Table 57 - Kinetix 350 Drive Exception Action Definitions

Exception Action Definition
The controller completely ignores the exception condition. For some exceptions that are
Ignore fundamental to the operation of the planner, Ignore is not an available option.
The controller sets the associated bit in the Motion Alarm Status word but does not
otherwise affect axis behavior. Like Ignore, if the exception is so fundamental to the drive,
Alarm Alarm is not an available option. When an exception action is set to Alarm, the Alarm goes
away by itself when the exceptional condition has cleared.
Fault Status Only instructs the controller to set the associated bit in the Motion Fault Status
word, but does not otherwise affect axis behavior. However, an explicit Fault Reset is
Fault Status Only required to clear the fault once the exceptional condition has cleared. If the exception is so
fundamental to the drive, Fault Status Only is not an available option.
The controller sets the associated bit in the Motion Fault Status word and instructs the
Motion Planner to perform a controlled stop of all planned motion at the configured
Stop Planner maximum deceleration rate. An explicit Fault Reset is required to clear the fault once the
exceptional condition has cleared. If the exception is so fundamental to the drive, Stop
Planner is not an available option.
When the exception occurs, the associated bit in the Fault Status word is set and the axis
comes to a stop by using the stopping action that is defined by the drive for the particular
Stop Drive exception that occurred. There is no controller-based configuration to specify what the
stopping action is, the stopping action is device-dependent.
When the exception occurs, the drive brings the motor to a stop by using the stopping
action that is defined by the drive (as in Stop Drive) and the power module is disabled.
Shutdown Optionally, if the Shutdown Action attribute is configured for Drop DC Bus, the contactor
opens. An explicit Shutdown Reset is required to restore the drive to operation.
IMPORTANT The fault detection ability of TTL encoders is not as advanced as with
Stegmann Hiperface or Tamagawa 17-bit serial encoders. When a TTL
encoder loses its A/B signals, the Kinetix 350 drive is unable to detect this
fault directly. Instead it relies on a secondary fault to detect the condition,
typically excessive position or velocity error. There are some cases,
particularly in Torque mode where the fault isn't detected at all. In this case,
the motor coasts to a stop, but is still enabled in Logix Designer application.

Only selected drives faults can be configured. In the Drive Behavior, F xx Fault
Codes tables, the controlling attribute is given for programmable fault actions.
Figure 54 - RSLogix 5000 Axis Properties - Actions Category
Table 58 - Drive Behavior, F xx Fault Codes

Best Stopping Method
Four-digit Display Exception Description (Only Major Fault)
Permanent magnet motor commutation problem detected. For example,
F 02 Motor Commutation illegal state 111 or 000 for a UVW commutation device. This exception is Disable/Coast
supported for only TTL motors with Hall sensors.
Motor speed has exceeded its maximum limit that is given by the Motor
Overspeed Factory Limit attribute that is associated with the motor type.
F 03 Motor Overspeed Disable/Coast
This exception triggers when either the electrical frequency exceeds 500 Hz
or the motor is command to go 125% of its max rated speed.
Motor temperature has exceeded its factory set temperature limit that is
F 05 Motor Overtemperature given by Motor Overtemperature Factory Limit, or the integral motor Disable/Coast
thermal switch has tripped.
Motor thermal model has exceeded its factory set thermal capacity limit
F 07 Motor Thermal Overload that is given by Motor Thermal Overload Factory Limit. This limit is 108 °C Decel/Disable
(226 °F) for the Kinetix 350 drive.
Inverter current has exceeded the factory set peak or instantaneous current
F 10 Inverter Overcurrent Disable/Coast
limit. This limit is set to 450% of the rated drive current for a single phase.
Inverter temperature has exceeded its factory set temperature limit that is
F 11 Inverter Overtemperature given by Inverter Overtemperature Factory Limit. Detected when an internal Disable/Coast
temperature sensor senses 108 °C (226 °F).
Inverter thermal model has exceeded its factory set thermal capacity limit
F 13 Inverter Thermal Overload that is given by Inverter Thermal Overload Factory Limit. This threshold is set Disable/Coast
to 108 °C (226 °F).
DC Bus voltage level is below the factory set limit that is given by Bus
F 33 Bus Undervoltage Undervoltage Factory Limit. This limit is set at 75% of the nominal voltage Decel/Disable
as determined on powerup.
DC Bus voltage level is above the factory set limit that is given by Bus
F 35 Bus Overvoltage Overvoltage Factory Limit. For 240V drives the limit is 420V. For 480V drives, Disable/Coast
the limit is 840V.

Table 58 - Drive Behavior, F xx Fault Codes (Continued)

One or more A/B channel signals from a feedback device are open, shorted,
(1) missing, or severely attenuated. Specifically, the detected voltage levels of
F 43 Feedback Signal Loss Disable/Coast
the signals are below the Feedback Signal Loss Factory Limit. The offending
feedback channel is encoded in the associated Fault/Alarm Sub Code.
The number of consecutive missed or corrupted serial data packets over the
serial data channel from a feedback device has exceeded the Feedback Data
F 45 Feedback Data Loss Disable/Coast
Loss Factory Limit. The offending feedback channel is encoded in the
associated Fault/Alarm Sub Code. The threshold is set at four misses.
The feedback device has detected an internal error. Stegmann encoders
F 47 Feedback Device Failure Disable/Coast
return an error code and Tamagawa encoders have an error flag.
Axis that is moved beyond the physical travel limits in the positive direction
F 50 Hardware Overtravel Positive Decel/Disable
and activated the Positive Overtravel limit switch.
Axis that is moved beyond the physical travel limits in the negative direction
F 51 Hardware Overtravel Negative Decel/Disable
and activated the Negative Overtravel limit switch.
F 54 (1) The Position Error value of the position control loop has exceeded the
Excessive Position Error Decel/Disable
configured value for Position Error Tolerance.
The Velocity Error value of the velocity control loop has exceeded the
F 55 (1) Excessive Velocity Error Decel/Disable
configured value for Velocity Error Tolerance.
Motor torque has risen above user-defined maximum torque level that is
F 56 Overtorque Limit Decel/Disable
given by Overtorque Limit.
Motor torque has dropped below user-defined minimum torque level that is
F 57 Undertorque Limit Decel/Disable
given by Undertorque Limit.
F 61 Enable Input Deactivated Enable has been deactivated while the axis is in Running state. Decel/Disable
F 62 Controller Initiated Exception Exception generated specifically by controller. Disable/Coast
(1) When a TTL encoder loses its A/B signals, it is not detected directly. Instead a secondary fault to detect the condition, typically excessive position or velocity error. In this case, the motor coasts to a stop,
but is still be enabled in Logix Designer application.
IMPORTANT The fault detection ability of TTL encoders is not as advanced as with
Stegmann Hiperface or Tamagawa 17-bit serial encoders. When a TTL
encoder loses its A/B signals, the Kinetix 350 drive is unable to detect this
fault directly. Instead it relies on a secondary fault to detect the condition,
typically excessive position or velocity error. There are some cases,
particularly in Torque mode where the fault isn't detected at all. In this case,
the motor coasts to a stop, but is still enabled in Logix Designer application.
Table 59 - Drive Behavior, Fcxx Custom Fault Codes

Fc02 Motor Voltage Mismatch The motor voltage is incompatible with the applied drive voltage. Disable/Coast
The battery voltage on a battery-backed motor encoder is low enough
Fc05 Feedback Battery Loss such that absolute position is not longer available. This fault occurs when Decel/Disable
the battery is too low and encoder main power has been removed.
The battery voltage on a battery-backed motor encoder is below a
Fc06 Feedback Battery Low caution level. This fault occurs when the battery is too low, but main Decel/Disable
power has not yet been removed.

Table 59 - Drive Behavior, Fcxx Custom Fault Codes (Continued)

Current in one or more phases have been lost or remains below a preset
Fc14 Excessive Current Feedback Offset Disable/Coast
level.
Fc26 Runtime Error Runtime Assertions have been detected. Disable/Coast
Fc63 Product Specific Product Specific (exotic) exceptions by Sub Code. Disable/Coast
A node fault is a fault that impacts the whole drive.
Table 60 - Drive Behavior, nFxx Node Fault Codes

Four-digit Display Name Description Best Stopping Method
The Control Connection Update Fault code is used to indicate that updates
from the controller over the controller to drive connection have been
nF01 Control Connection Update Fault Disable/Coast
excessively late as determined by the Controller Update Delay High Limit
attribute value.
The Processor Watchdog Fault code indicates that the processor that is
associated with the device node has experienced an excessive overload
nF02 Processor Watchdog Fault Disable/Coast
condition that has tripped the associated processor watchdog
mechanism.
The Hardware Fault code indicates that the critical support hardware such
as the FPGA or ASIC associated with the device node has experienced a
nF03 Hardware Fault Disable/Coast
fault condition. This fault occurs when the EPM module has been
removed.
This fault code indicates that an error has occurred in the data format
nF04 Data Format Error between the controller and the device, such as a Format Revision Disable/Coast
mismatch.
The Control Connection Loss fault code indicates that the Motion
nF06 Control Connection Loss Fault Disable/Coast
controller to drive connection from the controller has timed out.

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

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

Appendix A Interconnect Diagrams
Interconnect Diagram Notes This appendix provides wiring examples to assist you in wiring the Kinetix® 350
system. These notes apply to the wiring examples on the pages that follow.
Note Information
1 For power wiring specifications, refer to Power Wiring Requirements on page 58.
2 For input fuse and circuit breaker sizes, refer to on page 16.
3 Place the AC (EMC) line filters as close to the drive as possible and do not route very dirty wires in the wireway. If routing in a wireway is unavoidable, use shielded cable
with shields that are grounded to the drive chassis and filter case. For AC line filter specifications, refer to Kinetix 350 Drive Power Specifications in Kinetix Servo Drives
Specifications Technical Data, publication KNX-TD003.This filter does not apply to 2097-V32PRx-LM drives because they have integrated AC line filters.
4 Terminal block is required to make connections.
5 Contactor coil (M1) needs integrated surge suppressors for AC coil operation. See on page 16
6 See the Motor Brake Currents table on page 140 to size the interposing relay for your application and for a detailed schematic of brake implementation.
7 Drive Enable input must be opened when main power is removed, or a drive fault occurs. A delay of at least 1.0 second must be observed before attempting to enable the
drive after main power is restored.
8 Cable shield clamp must be used to meet CE requirements. No external connection to ground is required.
9 For motor cable specifications, refer to the Kinetix Rotary and Linear Motion Cable Specifications Technical Data, publication KNX-TD004.
10 Motor power cables (catalog numbers 2090-XXNPMF-xxSxx and 2090-CPBM6DF-16AAxx) have a drain wire that must be folded back under the cable shield clamp.
11 MPL-Axxx and MPL-B15xxx-H...MPL-B45xxx-H, MPM-Axxx, MPF-Axxx, MPS-Axxx, MPAR-Axxx, MPAI-Axxx, and MPAS-Axxx, encoders use the +5V DC supply.
12 MPL-B15xxx-S/M...MPL-B45xxx-S/M, MPM-Bxxx, MPF-Bxxx, MPS-Bxxx, MPAR-Bxxx, MPAI-Bxxx, and MPAS-Bxxx, encoders use +9V DC.
13 Brake connector pins are labeled plus (+) and minus (-) or F and G respectively. Power connector pins are labeled U, V, W, and GND or
A, B, C, and D respectively.

Interconnect Diagrams Appendix A
Power Wiring Examples You must supply input power components. The single-phase and three-phase
line filters are wired downstream of fusing and the M1 contactor.
In this example, the 2097-V31PRx-LM drives are wired to use the voltage
doubling circuit. The 120V input voltage provides 240V output to motors.
The 2097-V33PRx-LM drives are wired for single-phase 120V operation.
Figure 57 - Kinetix 350 Drive (120V Single-phase Input Power)
See table on page 130 for note information.

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

+ Connections
and DC Bus SH
(BC) Connector -
-
Back-up Power +24V DC User-supplied

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

Cable Shield
29
to control ENABLE to EN I/O (IOD) Clamp
drive.
26
ACOM
Connector Note 8
Note 4
* Indicates User Supplied Component
In this example, single-phase 240V AC is applied to 2097-V31PRx-LM and

2097-V32PRx-LM drives.
IMPORTANT The 2097-V32PRx-LM models have integrated AC line filters and do not
require the AC line filter that is shown in this diagram.

Figure 58 - Kinetix 350 Drives (240V Single-phase Input Power)
2097-V31PRx-LM, 2097-V32PRx-LM
See table on page 130 for note information. 2097-V33PRx-LM and
Kinetix 350 Drive
Ground Stud
Bonded Cabinet
Ground Bus * 2097-V31PRx-LM 2097-V32PRx-LM
PE PE
Mains
AC Line Filter N Single-phase
L1 (Optional) AC Input
Single-phase AC Input Note 3 L1 L1 (IPD) Connector
120/240V rms AC, 50/60 Hz L2/N
Notes 1, 2 L2/N L2
Input Fusing *
Fuse Disconnect M1 *
Shunt Resistor
+ Shunt Resistor
or Circuit Breakers Notes 5, 7 +
and DC Bus Connections
SH
(BC) Connector -
-

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

to control ENABLE to EN Cable Shield
26 Connector Clamp
drive. ACOM
Note 4 Note 8
In this example, three-phase 240V AC is applied to 2097-V33PR x-LM drives

and 480V AC is applied to 2097-V34PRx-LM drives.

Figure 59 - Kinetix 350 Drive (240/480V three-phase Input Power)
2097-V33PRx-LM and
2097-V34PRx-LM
Kinetix 350 Drive
+ Shunt
Shunt Resistor
Ground Stud + Resistor
and DC Bus
SH Connections
(BC) Connector -
-
Bonded Cabinet
Ground Bus *
PE
Mains
L1 AC Line Filter
Three-phase AC Input (optional) L1 Three-phase Input
240/480V rms AC, 50/60 Hz Note 3 (IPD) Connector
L2
Notes 1, 2 L2
L3
L3
Input Fusing * M1 *
Fuse Disconnect
Notes 5, 7 (BP) Connector -24V DC +24V DC
or Circuit Breakers
U Three-phase
Motor Power V Motor Power
(MP) Connector W Connections
Use discrete logic or PLC to 29 Note 9
control ENABLE to drive
EN I/O (IOD) PE
26 Connector
ACOM
Note 4
Cable Shield
Clamp
Note 8
IMPORTANT For the 480V Kinetix 350 drives to meet EN ISO 13849-1 (PLd) spacing
requirements, each phase voltage to ground must be less than or equal to
300V AC rms. This requirement means that the power system must use
center grounded wye secondary configuration for 400/480V AC mains.
Shunt Resistor Wiring Example
See the Kinetix 350 Drive Power Specifications in the Kinetix 3, 300, 350,
publication KNX-TD005, for the Bulletin 2097-Rx shunt resistors available
for the Kinetix 350 drives. See the Shunt Resistor Installation Instructions,
publication 2097-IN002, for additional installation information.
Figure 60 - Shunt Resistor Wiring Example
2097-V3xPRx-LM 2097-Rx
Kinetix 350 Drive Shunt
Resistor
+
Shunt/DC Bus +
(BC) Connector (1) SH
-
-
(1) This connector is for the shunt resistor, not the motor brake.

Kinetix 350 Drive/Rotary These wiring diagrams apply to Kinetix 350 drives with compatible rotary
motors.
Motor Wiring Examples
IMPORTANT The Kinetix MP motor wiring examples on this page apply to motors
equipped with circular DIN (threaded) connectors.
Figure 61 - Kinetix MP (MPL-A/B and MPS-A/B) Motors
MPL-A/B15xxx and MPL-A/B2xxx See table on page 130 for note information.
2097-V3xPRx-LM 2090-XXNPMF-xxSxx (standard)
Kinetix 350 Drives or 2090-CPBM4DF-xxAFxx and MPS-A/Bxxx
(continuous-flex) Servo Motors with
Motor Power Cable High-Resolution Feedback 2090-K2CK-D15M
Notes 9, 10 Connector Kit
0 SHIELD 1 SIN+ BLACK 1
1 WHT/BLACK
GREEN/YELLOW D/ 2 SIN- 2
2
3 BLUE C/W W 3 COS+ RED 3
Motor Power W GND
Three-phase 4 COS- WHT/RED 4
4 BLACK B/V V
(MP) Connector V
5 BROWN A/U U
Motor Power 5 DATA+ GREEN 5
6 U WHT/GREEN
6 DATA- 10
7 Motor 9 +5VDC GRAY 14
Motor Feedback Use
8 2090-CPWM4DF-xxAFxx Feedback 10 ECOM WHT/GREY 6
9
(MF) Connector Note 13
cable for continuous-flex
11 +9VDC ORANGE 7
10 non-brake applications.
Thermostat 13 TS WHT/ORANGE 11
11
12 See Low Profile Connector
BLACK G/- BR- 14 illustration (lower left)
13
Motor for proper ground technique.
14 WHITE F/+ BR+ Brake 12
15 COM
2090-XXNFMF-Sxx (standard) or
2090-CFBM4DF-CDAFxx (continuous-flex)
I/O (IOD) (flying-lead) Feedback Cable
OUT4-E
Connector Notes 9, 11, 12
Note 4 OUT4-C
Cable Shield
CR1 Clamp
Note 8
MPL-A/B15xx and MPL-A/B2xx
Note 6 Servo Motors with
Incremental Feedback
2090-K2CK-D15M
Connector Kit
24V DC
24V DC COM
1 AM+ BLACK 1
User Supplied 2 AM- WHT/BLACK 2
24V DC W
C GND 3 BM+ RED 3
V Three-phase 4 BM- WHT/RED 4
B
U
Motor Power GREEN
A 5 IM+ 5
6 IM- WHT/GREEN 10
Ground Technique for Motor
9 +5VDC GRAY 14
Feedback Cable Shield Feedback
Low Profile Connector 10 ECOM WHT/GREY 6
(2090-K2CK-D15M shown) 11 – ORANGE 7
BR- 14
G Motor WHT/BLUE
15 S1 12
Clamp BR+ Brake
F 16 S2 YELLOW 13
Exposed shield that is secured
17 S3 WHT/YELLOW 8
under clamp.
12 COM
Clamp Screws (2)
See low profile connector
Turn clamp over to hold
illustration (lower left)
small cables secure.
for proper grounding technique.
2090-XXNFMF-Sxx (non-flex) or
(flying-lead) Feedback Cable
Note 9, 11

IMPORTANT The Kinetix MP motor wiring examples on this page apply to motors
equipped with circular DIN (SpeedTec) connectors.
Figure 62 - Kinetix MP (MPL-A/B, MPM-A/B, MPF-A/B, and MPS-A/B) Motors
2097-V3xPRx-LM MPL-A/B15xxx…MPL-A/B45xxx See table on page 130 for note information.

Kinetix 350 Drives MPM-A/Bxxx, MPF-A/Bxxx
Servo Motors with
High-Resolution Feedback 2090-K2CK-D15M
Connector Kit
0 SHIELD 1 SIN+ BLACK 1
1 WHT/BLACK
GREEN/YELLOW D/ 2 SIN- 2
2
3 BLUE C/W W 3 COS+ RED 3
Motor Power W GND
BLACK Three-phase 4 COS- WHT/RED 4
4 B/V V
(MP) Connector V
5 BROWN A/U U
Motor Power 5 DATA+ GREEN 5
6 U WHT/GREEN
6 DATA- 10
7 2090-CPxM7DF-xxAAxx
Motor Feedback (standard) or Motor 9 +5VDC GRAY 14
8 Feedback ECOM WHT/GREY
(MF) Connector 2090-CPxM7DF-xxAFxx 10 6
9 (continuous-flex)
Note 13
11 +9VDC ORANGE 7
10 Motor Power Cable
11 Notes 9 Thermostat 13 TS WHT/ORANGE 11
12 See Low Profile connector
BLACK G/- BR- 14
13 Motor illustration (lower left)
14 WHITE for proper ground technique.
F/+ BR+ Brake 12
15 COM
2090-CFBM7DF-CEAAxx (standard) or
2090-CFBM7DF-CEAFxx (continuous-flex)
I/O (IOD) (flying-lead) Feedback Cable
OUT4-E
Connector Notes 9, 11, 12
Note 4 OUT4-C
Cable Shield
CR1 Clamp
Note 8 MPL-A/B15xx…MPL-A/B45xx
Note 6 Servo Motors with
Incremental Feedback
2090-K2CK-D15M
Connector Kit
24V DC
24V DC COM BLACK
1 AM+ 1
User Supplied 2 AM-
WHT/BLACK 2
24V DC W GND RED
C 3 BM+ 3
V Three-phase 4 BM- WHT/RED 4
B
Motor Power GREEN
A U 5 IM+ 5
IM- WHT/GREEN
6 10
Ground Technique for Motor
Feedback Cable Shield Low Profile Connector Feedback 9 +5VDC GRAY 14
(2090-K2CK-D15M shown) ECOM WHT/GREY
10 6
11 – ORANGE 7
BR- 14
G Motor WHT/BLUE
15 S1 12
Clamp F
BR+ Brake
16 S2 YELLOW 13
17 S3 WHT/YELLOW 8
under clamp.
12 COM
Clamp Screws (2)
Turn clamp over to hold See Low Profile Connector
small cables secure. illustration (lower left)
for proper ground technique.
2090-XXNFMF-Sxx (standard) or
Note 9, 11

Figure 63 - Kinetix 350 Drive with Kinetix TL (TLY-A) Motors

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

Feedback Cable Shield Low Profile Connector
(2090-K2CK-D15M shown) 5
3 W GND
13 DATA+ GREEN 5
Only 3.6V battery (2090-DA-BAT2) 2 V
required for use with TLY-Axxxx-B motors
14 DATA- WHT/GREEN 10
1 U
(high-resolution 17-bit encoders). 22 +5VDC GRAY 14
23 ECOM WHT/GRAY 6
Exposed shield that is secured BAT+
under clamp. 6 ORANGE BAT+
Clamp BAT- WHT/ORANGE BAT-
24 SHIELD
Clamp Screws (2)
Turn clamp over to hold See low-profile connector
small cables secure. illustration (lower left)
BR- for proper grounding technique.
9
BR+ 2090-CFBM6DF-CBAAxx (flying-lead) or
7 2090-CFBM6DD-CCAAxx (with drive-end connector)
Feedback Cable
Note 9

Kinetix 350 Drive/Actuator These wiring diagrams apply to Kinetix 350 drives with compatible linear
actuators.
Wiring Examples
Figure 64 - Kinetix 350 Drive with Kinetix MP (MPAS-A/B) Linear Stages
2097-V3xPRx-LM MPAS-A/Bxxxxx-VxxSxA See table on page 130 for note information.

2090-CPxM7DF-xxAAxx (standard) or
Kinetix 350 Drives 2090-CPxM7DF-xxAFxx (continuous-flex) Ballscrew Linear Stages
Motor Power Cable
Note 9 with
Use 2090-CPWM4DF-xxAFxx
High-Resolution Feedback 2090-K2CK-D15M
cable for continuous-flex non-brake
applications. Connector Kit
1 Shield Three-phase SIN+
1 BLACK 1
2 Motor Power SIN-
Green/Yellow D 2 WHT/BLACK 2
3
4 Motor Power Blue C W GND 3 COS+ RED 3
W COS-
5 (MP) Connector Black B V 4 WHT/RED 4
V
6 Brown A U 5 DATA+ GREEN 5
7 U 6 DATA- WHT/GREEN 10
Motor
8 9 +5VDC 14
Feedback
9 Motor Feedback
GRAY
10 ECOM WHT/GRAY 6
10 (MF) Connector
11 +9VDC ORANGE 7
11
12
13
14 Black G BR- 14
15 White F BR+
12 COM
Motor Brake See low profile connector
I/O (IOD) 44
MTR_BRAKE -
Connector 43 Cable Shield 2090-CFBM7DF-CEAAxx (standard) or
Note 4 MTR_BRAKE + Clamp 2090-CFBM7DF-CEAFxx (continuous-flex)
Note 8 Notes 9, 11, 12
CR1
Note 6
24V DC
24V DC COM
User Supplied
24V DC

Feedback Cable Shield Low Profile Connector
(2090-K2CK-D15M shown)
Clamp
under clamp.
Clamp Screws (2)

Figure 65 - Kinetix 350 Drive with Kinetix MP (MPAR and MPAI) Electric Cylinders

2097-V3xPRx-LM MPAR-A/Bxxxxx-xxx See table on page 130 for note information.

Kinetix 350 Drives and MPAI-A/Bxxx
See Kinetix MP Electric Cylinder Power
and Feedback Cables, Table 61 Electric Cylinder with 2090-K2CK-D15M
Notes 9, 10 High-Resolution Feedback Connector Kit
0 Shield
Three-phase 1 SIN+ BLACK 1
1
Green/Yellow D Motor Power 2 SIN- WHT/BLACK 2
2
3 Motor Power Blue C W 3 COS+ RED 3
W GND
4 (MP) Connector 4 COS- WHT/RED 4
V
Black B V
5 U 5 DATA+ GREEN 5
U
Brown A
6 6 DATA- WHT/GREEN 10
7 Motor 9 +5VDC GRAY 14
8 Motor Feedback Feedback 10 ECOM WHT/GRAY 6
9 (MF) Connector
10 11 +9VDC ORANGE 7
11
12
13 Black G BR- 14 COM
14 12
White F BR+
15 See low profile connector
Motor Brake illustration below
44 See Kinetix MP Electric Cylinder Power and

I/O (IOD) MTR_BRAKE - Cable Shield Feedback Cables, Table 61
Connector 43 Clamp
Note 4 MTR_BRAKE + Note 8
Notes 9,11, 12
CR1
Note 6
24V DC
24V DC COM
User Supplied
24V DC Table 61 - Kinetix MP Electric Cylinder Power and Feedback Cables
Low Profile Connector
(2090-K2CK-D15M shown) Kinetix MP Electric Power Cable Feedback Cable
Frame
Cylinder Cat. No. Cat. No. Cat. No.

Feedback Cable Shield MPAR-A/B1xxx (series A) 32 2090-XXNPMF-16Sxx 2090-XXNFMF-Sxx
(standard) (standard)
MPAR-A/B2xxx (series A) 40 2090-CPxM4DF-16AFxx 2090-CFBM4DF-CDAFxx
(continuous-flex) (continuous-flex)
MPAR-A/B1xxx (series B) 32
Clamp MPAR-A/B2xxx (series B) 40
under clamp. MPAR-A/B3xxx 63 2090-CPxM7DF-16AAxx
Clamp Screws (2) (standard)
MPAI-A/B2xxxx 64
Turn clamp over to hold 2090-CPxM7DF-16AFxx 2090-CFBM7DF-CEAAxx
small cables secure. MPAI-A/B3xxxx 83 (continuous-flex) (standard)
MPAI-A/B4xxxx 110 2090-CFBM7DF-CEAFxx
(continuous-flex)
MPAI-B5xxxx
2090-CPxM7DF-14AAxx
144 (standard)
MPAI-A5xxxx
2090-CPxM7DF-14AFxx
(continuous-flex)

Figure 66 - Kinetix 350 Drive with Kinetix TL (TLAR) Electric Cylinders
2097-V3xPRx-LM TLAR-Axxxxx-B (230V)

Kinetix 350 Drives Servo Motors with
2090-CPBM6DF-16AAxx
Motor Power and Brake Cable High-Resolution Feedback
Notes 9, 10
Use 2090-CPWM6DF-16AAxx
cable for non-brake applications.
0 Three-phase
1 GREEN/YELLOW
Motor Power
5
2 2090-K2CK-D15M
3 Motor Power BLUE 3 W GND
W Connector Kit
4 (MP) Connector BLACK 2 V
V
5 BROWN 1 U
U 13 DATA+ GREEN 5
6
Motor Feedback 14 DATA- WHT/GREEN 10
7
8
(MF) Connector Motor 22 +5VDC GRAY 14
9 Feedback 23 ECOM WHT/GRAY 6
10 6 BAT+ ORANGE BAT+
11 BAT- WHT/ORANGE BAT-
12 24 SHIELD
13 BLACK 9 BR-
14 See low-profile connector
WHITE 7 BR+ illustration (lower left)
15 for proper grounding technique.
Motor Brake
2090-CFBM6DF-CBAAxx (flying-lead) or
2090-CFBM6DD-CCAAxx (with drive-end connector)
I/O (IOD) MTR_BRAKE - 44 Cable Shield Feedback Cable
Connector Note 9
43 Clamp
Note 4 MTR_BRAKE + Note 8
CR1
Note 6
24V DC
24V DC COM
User Supplied
24V DC

Low Profile Connector
Feedback Cable Shield
(2090-K2CK-D15M shown)
3.6V battery (2090-DA-BAT2)

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

under clamp.
Clamp
Clamp Screws (2)


Motor Brake Currents Use these coil current values to size the interposing relay that is required for
your application. See the interconnect diagram for your Kinetix 350 drive/
motor beginning on page 134 for typical motor brake circuitry. See Kinetix
Rotary Motion Specifications Technical Data, publication KNX-TD001 for
more information on Motor Holding brake specifications.
Table 62 - Motor Brake Coil Currents

Compatible Brake Motors/Actuators (1) Coil Current
MPL-x1510, MPL-x1520, MPL-x1530 0.43…0.53 A
MPL-x210, MPL-x220, MPL-x230 0.46…0.56 A
MPL/MPF-x310, MPL/MPF-x320, MPL/MPF-x330
MPM-x115 0.45…0.55 A
MPS-x330
MPL-x420, MPL-x430, MPL-x4520, MPL-x4530, MPL-x4540,
MPL-B4560
MPM-x130 0.576…0.704 A
MPF-x430, MPF-x4530, MPF-x4540
MPS-x4540
TLY-A110T, TLY-A120T, and TLY-A130T 0.18…0.22 A
TLY-A220T and TLY-A230T 0.333…0.407 A
TLY-A2530P, TLY-A2540P, and TLY-A310M 0.351…0.429 A
(1) Use of the variable x indicates that this specification applies to 230V and 460V motors.

System Block Diagrams
Three-phase Motor Output
U V W
Brake Connector
L1 and L2 inputs apply to
2097-V32PRx-LM servo drives. B+ BR B-
DC+
L1
2097-Rx (1)
Shunt
Figure 67 - Power Block Diagram
L2
Shunt
Transistor
L3
L1, L2, and L3 inputs apply to

and 2097-V34PRx-LM, servo drives.
2097-V33PRx-LM and 2097-V34PRx-LM servo drives. DC- Inverter Section
Rockwell Automation Publication 2097-UM002E-EN-P - December 2022

Chassis
(1) The 2097-Rx shunt module is external to the Kinetix 350 drive.
Interconnect Diagrams
This power block diagram applies to 2097-V32PRx-LM, 2097-V33PRx-LM,
141
Appendix A
This power block diagram applies to 2097-V31PRx-LM, servo drives. The

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

Appendix B
Upgrade the Kinetix 350 Drive Firmware
Topic Page
Before You Begin 143
Configure Logix 5000 Communication 143
Update Firmware 145
Verify the Firmware Update 149
Upgrading axis module firmware by using ControlFLASH™ software involves

configuring your Logix5000™ communication, selecting the drive to update, and
updating the firmware.
Before You Begin You need the following software and information before you begin.
Table 67 - Kinetix 350 System Requirements
Description Cat. No. Firmware Revision

RSLogix 5000® software or Studio 5000 Logix 9324-RLD300NE 20.x or later
Designer® application v21 or later
RSLinx® software 2.58 or later
ControlFLASH firmware update kit(1) 8.00.017 or later
Catalog numbers of the targeted Kinetix® 350 drive you want to upgrade.
Network path to the targeted Kinetix 350 drive module you want to upgrade.
(1) Download the ControlFLASH software kit from the Product Compatibility and Download Center at: rok.auto/pcdc. For more
ControlFLASH software information (not Kinetix 350 specific), refer to the ControlFLASH Firmware Upgrade Kit User Manual,
publication 1756-UM105.
IMPORTANT Input power or back-up power must be present at the IPD or BP connector
before upgrading your target drive.
ATTENTION: To avoid personal injury or damage to equipment during the

firmware update due to unpredictable motor activity, do not apply three-phase
AC.
Configure Logix 5000 This procedure assumes that you are communicating to the Logix 5000
controller by using the Ethernet protocol. It is also assumed that your Logix 5000
Communication Ethernet module has already been configured.

Appendix B Upgrade the Kinetix 350 Drive Firmware
For more information, see the ControlLogix® System User Manual, publication
1756-UM001.
Follow these steps to configure Logix 5000 communication.
1. Open your RSLinx® Classic software.

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

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

8. Click OK.
The new Ethernet driver appears under Configured Drivers.
9. Click Close.
10. Minimize the RSLinx application dialog box.
Update Firmware Follow these steps to select the drive module to upgrade.
1. Open your ControlFLASH software.

You can access the ControlFLASH software by either of these methods:
• In RSLogix 5000® software from the Tools menu, choose
ControlFLASH.
• Choose Start > Programs > FLASH Programming Tools >
ControlFLASH.

The Welcome to ControlFLASH dialog box appears.
2. Click Next.
The Catalog Number dialog box appears.

3. Select your drive module and click Next.

The Select Device to Update dialog box appears.
4. Expand your Ethernet node, Logix 5000 backplane, and EtherNet/IP™

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

The Summary dialog box appears.

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

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

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

10. The Update Status dialog box appears and indicates success or failure as
described here.
Status If
Success 1. Update complete appears in a GREEN Status dialog box.
2. Go to step 11.
Failure 1. Update failure appears in a RED Status dialog box.
2. See ControlFLASH firmware update Kit Quick Start, publication 1756-
QS105, for troubleshooting information.
11. Click OK.
Verify the Firmware Update Follow these steps to verify that your firmware update was successful.
TIP Verifying that the firmware update is optional.
Open your RSLinx software.

12. From the Communications pull-down menu, choose RSWho.
13. Expand your Ethernet node, Logix 5000 backplane, and EtherNet/IP
network module.
14. Right-click the drive module and choose Device Properties.

The Device Properties dialog box appears.
15. Verify the new firmware revision level.

16. Click Close.

Appendix C
Leakage Current Specifications
Leakage Current This appendix contains a table of the leakage currents to be expected for center,
wye, and delta corner-grounded Kinetix® 350 drives used with or without
Specifications Table mains filters.

Table 68 - Leakage Current Specifications
152
Mains Input - Nominal Line Mains Input - High Line (Nominal +10%)
Appendix C
Typical Leakage (Calculated) Fault Leakage (Calculated)

Single-phase Three-phase Single-phase Three-phase
Corner Ground Corner Ground
Center Ground Wye Center Ground Wye
Delta Delta
AC Input Continuous
Number of With External No External With External No External
Catalog No. Drive Description Voltage Output Current No External Filter No External Filter
Phases Filter Filter Filter Filter
(rms) (rms)
120V 7 mA pk — — — 7 mA pk — — —
2097-V31PR0-LM 2A
120/240V, 240V 7 mA pk — — — 8 mA pk — — —
single-phase,
doubler 120V 6 mA pk — — — 7 mA pk — — —
2097-V31PR2-LM 4A
240V 1 7 mA pk — — — 8 mA pk — — —
2097-V32PR0-LM 2A 27 mA pk — — — 29 mA pk — — —
208/240V,
2097-V32PR2-LM single-phase, with 240V 4A 26 mA pk — — — 28 mA pk — — —
integrated filter
2097-V32PR4-LM 8A 26 mA pk — — — 29 mA pk — — —
1 18 mA pk — — — 20 mA pk — — —
— 2 mA pk — — — 2 mA pk — —
2097-V33PR1-LM 2A
3 — — 1 mA pk — — — 1 mA pk —
— — — 29 mA pk — — — 31 mA pk
1 18 mA pk — — — 19 mA pk — — —
— 2 mA pk — — — 3 mA pk — —
2097-V33PR3-LM 4A
3 — — 1 mA pk — — — 1 mA pk —
208/240V,

240V — — — 28 mA pk — — — 31 mA pk
single/three-phase
1 17 mA pk — — — 19 mA pk — — —
— 2 mA pk — — — 3 mA pk — —
2097-V33PR5-LM 8A
3 — — 2 mA pk — — — 2 mA pk —
— — — 28 mA pk — — — 30 mA pk
1 19 mA pk — — — 20 mA pk — — —
2097-V33PR6-LM 12 A — 3 mA pk — — — 3 mA pk — —
3
— — 12 mA pk — — — 13 mA pk —
Table 68 - Leakage Current Specifications (Continued)
Mains Input - Nominal Line Mains Input - High Line (Nominal +10%)
Typical Leakage (Calculated) Fault Leakage (Calculated)
Single-phase Three-phase Single-phase Three-phase
Corner Ground Corner Ground
Center Ground Wye Center Ground Wye
Delta Delta
AC Input Continuous
Number of With External No External With External No External
Catalog No. Drive Description Voltage Output Current No External Filter No External Filter
Phases Filter Filter Filter Filter
(rms) (rms)
— 16 mA pk — — — 17 mA pk — —
2097-V34PR3-LM 2A
— — 5 mA pk — — — 5 mA pk —
400/480V, — 15 mA pk — — — 17 mA pk — —
2097-V34PR5-LM three-phase 480V 4A 3
— — 3 mA pk — — — 4 mA pk —
— 16 mA pk — — — 18 mA pk — —
2097-V34PR6-LM 6A
— — 4 mA pk — — — 5 mA pk —

153
Appendix C
Appendix C Leakage Current Specifications
Notes:

Index
Numerics certification
TÜV Rheinland 99
120/240V single-phase input power 132 user responsibilities 99
120V single-phase input power 131 circuit breaker
240/480V three-phase input power 133 selection 16
circuit breaker specifications
Kinetix 350 17
A clamp 67
AC input power clean zone 25
pinouts 36 clearance requirements 21
actions tab 89 configure
actuators axis properties 88
interconnect diagram delay times 90
Kinetix MPAI 137 drive modules 85
Kinetix MPAR 137 EtherNet/IP controller 82
Kinetix MPAS 137 connect
Kinetix TLAR 139 Ethernet 72
additional resources 7 external shunt resistor 72
application feedback 68
Logix Designer 82 I/O 68
apply power 91 motor shield clamp 67
axis module connector
axis properties 88 designators 32
status indicators 120 locations 32, 102
axis unstable 121 contactor specifications 18
ControlFLASH
firmware upgrade 143
B troubleshooting 149
controller properties 83
back-up power 41
pinouts 36 conventions used in this manual 7
block diagrams
power block diagram 141 D
voltage-doubler block diagram 142
bond 23 data type 86
EMI (electromagnetic interference) 22 date/time tab 83
high frequency energy 24 delay times 90
subpanels 24 digital inputs 37
brake currents 140
dirty zone 25
build your own cables 50
download program 91
drive
C wire BP connector 60
wire IPD connector 61
cables wire MP connector 62
build your own cables 50 wire STO connector 60
Ethernet cable length 73 wiring requirements 58
length, UL, CE 16 drive status indicator 121
motor feedback 68
motor power 63
shield clamp 67 E
catalog numbers 13
EMC
category 3
directive 103
requirements 100 motor ground termination 62
stop category definitions 100
motor ground termination at motor 62
CE
EMI (electromagnetic interference)
compliance 14, 55
comply with CE 103 bonding 22
EN 61508 100
conformity 103
meet requirements 103 EN 62061 100
EN ISO 13849-1 CAT 3
requirements 100
stop category definitions 100
Index
enable time synchronization 83 install your drive

enableInputChecking 93, 97 bond subpanels 24
enclosure circuit breakers 16
requirements 15 fuse selection 16
sizing 19 HF bonding 22
erratic operation 123 system mounting requirements 15
transformer 18
Ethernet integrated axis module
cable length 73 axis properties 88
cables status indicators 120
RJ45 connector 72 interconnect diagrams
pinouts 35
wiring 72 120/240V single-phase input power 132
120V single-phase input power 131
2097 with Kinetix MPAI actuator 137
F 2097 with Kinetix MPAR actuator 137
2097 with Kinetix MPAS actuator 137
fault code summary 113 2097 with Kinetix MPL/MPM/MPF/MPS motor
fault codes 113 134
fault status only 124 2097 with Kinetix TLAR actuator 139
feedback connections 68 2097 with Kinetix TLY motor 136
240/480V three-phase input power 133
feedback power supply 47 notes 130
firmware upgrade 143 shunt resistor 133
fuse interpreting status indicators 112
selection 16
fuse specifications
Kinetix 350 17 K
Kinetix 350
specifications
G circuit breaker/fuse 17
generic TTL incremental 42
ground
multiple subpanels 57 L
system to subpanel 56 Logix Designer application 82
grounded power configuration 51 low profile connector kits
wiring 71
low voltage directive 103
H
hardware enable input 93, 96
HF bonding 22 M
high frequency energy 24 module properties
hookup test 93 drive modules 85
motion group properties 87
motor feedback
I pinouts 35
I/O specifications
specifications 37 general 42
I/O connections 68 thermostat 43
wiring 68
I/O connector wiring 70 motor power
I/O specifications pinouts 36
back-up power 41 wiring 63
pinouts 34 motor tab 88
input power wiring motors
3-phase Delta 51 accel/decel problems 122
3-phase Wye 51 brake currents 140
determine input power 50 feedback pinouts 69
grounded power configuration 51 ground termination 62
single-phase 52 interconnect diagram
voltage doubler 52 Kinetix MPL/MPM/MPF/MPS 134
single-phase amplifiers on 3-phase power 53, Kinetix TLY 136
54 overheating 122
install drive accessories power wiring
I/O terminal block 70 3-phase and brake 65
low-profile connector kits 71 3-phase only 64
shunt resistor 72

Index
Kinetix TL 63 shunt resistor 28

shield clamp wiring 67 interconnect diagram 133
test 92 wiring requirements 72
tune 92 shunt resistor and DC bus
velocity 122 pinouts 36
mount shunt/DC bus connector 72
Kinetix 350 drive 30 shutdown 124
MSG instruction 97
software
Logix Designer application 10
N RSLogix 5000 10
specifications
network status indicator 121 back-up power 41
noise 25 contactor ratings 18
abnormal 123 digital inputs 37
feedback 122 feedback
power supply 47
Kinetix 350
P circuit breaker/fuse 17
panel motor feedback 42
generic TTL 45
requirements 15 Stegmann 44
parameters 90 Tamagawa 46
PFD and PFH data 101 motor thermostat interface 43
PFD and PFH definition 101 safe torque-off 108
pinouts transformer 19
AC input power (IPD) 36 status indicators 112, 120
back-up power (BP) 36 drive status 121
Ethernet (Port 1) 35 PORT 1 status 121
I/O (IOD) 34 Stegmann 42
motor feedback (MF) 35 stop drive 124
motor feedback connector 69 stop planner 124
motor power (MP) 36 Studio 5000 environment 82
safe torque-off (STO) 33
shunt resistor and DC bus (BC) 36 Studio 5000 Logix Designer 10
PORT 1 status indicator 121 system block diagrams
power block diagram 141 power block diagram 141
power supply, feedback 47 voltage-doubler block diagram 142
system mounting requirements 15
powerup 91
system overview 10
publications, related 7
diagram 11
R T
related publications 7 Tamagawa 42
requirements test axes
clearance 21 hookup test 93
RJ45 transformer
Ethernet connector 72 sizing 18
route power and signal wiring 50 specifications 19
RSLogix 5000 software 10 troubleshooting 121
ControlFLASH 149
drive status indicator 121
S exception behavior 124
safe torque-off fault code summary 113
bypass 105 fault codes 113
connector location 102 fault status only 124
operation 100, 105 four-digit display messages 112
PFD and PFH data 101 general system problems 121
PFD and PFH definition 101 abnormal noise 123
pinouts 33 axis unstable 121
specifications 108 erratic operation 123
troubleshooting 101 feedback noise 122
wiring diagram 107 motor accel/decel 122
wiring requirements 104 motor overheating 122
safety products catalog 107 motor velocity 122
shield clamp 67

Index
no rotation 122
Logix/drive fault behavior 124
network status indicator 121
PORT 1 status indicator 121
safe torque-off 101
safety precautions 111
shutdown 124
stop drive 124
stop planner 124
tune axes
autotune tab 95
V
voltage doubler
block diagram 142
operation 52
power diagram 131
W
wiring
build your own cables 50
diagram, safe torque-off 107
drive
BP connector 60
IPD connector 61
MP connector 62
STO connector 60
Ethernet connections 72
grounded power configuration 51
grounding drive 56
guidelines 59
I/O connector 70
input power
determine type 50
low profile connectors 71
motor cable shield clamp 67
motor feedback 68
motor power 63, 64, 65
requirements 49, 104
drive 58
shunt resistor 72
route power and signal wiring 50
shunt resistor 72

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

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Publication 2097-UM002E-EN-P - December 2022

Supersedes Publication 2097-UM002D-EN-P - April 2017 Copyright © 2022 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.

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Kinetix 350 Single-axis

EtherNet/IP Servo Drives

User Manual Original Instructions

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2 Rockwell Automation Publication 2097-UM002E-EN-P - December 2022

Rockwell Automation Publication 2097-UM002E-EN-P - December 2022 3

Motor Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

4 Rockwell Automation Publication 2097-UM002E-EN-P - December 2022

Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Rockwell Automation Publication 2097-UM002E-EN-P - December 2022 5

6 Rockwell Automation Publication 2097-UM002E-EN-P - December 2022

This manual provides detailed installation instructions for mounting, wiring,

Conventions These conventions are used throughout this manual:

Table 1 - Additional Resources

Rockwell Automation Publication 2097-UM002E-EN-P - December 2022 7

Table 1 - Additional Resources (Continued)

8 Rockwell Automation Publication 2097-UM002E-EN-P - December 2022

Rockwell Automation Publication 2097-UM002E-EN-P - December 2022 9

Table 2 - Kinetix 350 Drive System Overview

10 Rockwell Automation Publication 2097-UM002E-EN-P - December 2022

Figure 1 - Typical Kinetix 350 Drive Installation

Kinetix MP Integrated Linear Stages

Rockwell Automation Publication 2097-UM002E-EN-P - December 2022 11

Figure 2 - Typical K350 Communication Configuration

CompactLogix™ Controller System

PanelView™ Plus Compact

842E-CM Integrated Motion Line Scan

See Encoder Output Module Installation Instructions, publication

12 Rockwell Automation Publication 2097-UM002E-EN-P - December 2022

Table 3 - Kinetix 350 Drives (Single-phase)

Table 4 - Kinetix 350 Drives (Single/Three-phase)

Table 5 - Kinetix 350 Drives (Three-phase)

Table 6 - Kinetix 350 Drive Accessories

Rockwell Automation Publication 2097-UM002E-EN-P - December 2022 13

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

To meet CE requirements, these requirements apply:

14 Rockwell Automation Publication 2097-UM002E-EN-P - December 2022

Install the Kinetix 350 Drive System

For online product selection and system configuration tools, including

System Mounting Requirements

Rockwell Automation Publication 2097-UM002E-EN-P - December 2022 15

• Use high-frequency (HF) bonding techniques to connect the enclosure,

Circuit Breaker/Fuse Selection

IMPORTANT Do not use circuit protection devices on the output of an AC drive as an

See Fuse and Circuit Breaker (CB) Specifications on page 17 for

16 Rockwell Automation Publication 2097-UM002E-EN-P - December 2022

Table 7 - Fuse and Circuit Breaker (CB) Specifications

120/240V Single-phase LPJ-40SP (40 A) N/A N/A N/A

Rockwell Automation Publication 2097-UM002E-EN-P - December 2022 17

Table 9 - Kinetix 350 Drives (240V)

Table 10 - Kinetix 350 Drives (480V)

18 Rockwell Automation Publication 2097-UM002E-EN-P - December 2022

Transformer Specifications for Input Power

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

Metric Standard English

If the maximum ambient rating of the Kinetix 350 drive system is 40 °C

Rockwell Automation Publication 2097-UM002E-EN-P - December 2022 19

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