Allen-Bradley Kinetix 350 IP Servo Drives User Manual

Allen-Bradley Kinetix 350 IP Servo Drives

About the Kinetix 350 Drive System

Table 2 – Kinetix 350 Drive System Overview

Figure 1 – Typical Kinetix 350 Drive Installation

(1) See Ethernet Cable Connections on page 74 for information on how to use an unmanaged switch in your application.

Figure 2 – Typical K350 Communication Configuration

See Encoder Output Module Installation Instructions, publication 2198-UM003. For information to help you install and wire the 2198-ABQE Encoder Output Module.

Catalog Number Explanation

Kinetix 350 drive catalog numbers and descriptions are listed in these tables.
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

CE Requirements

To meet CE requirements, these requirements apply:

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

Install the Kinetix 350 Drive System

System Mounting Requirements

• To comply with UL and CE requirements, the Kinetix® 350 system must be enclosed in a grounded conductive enclosure. It must 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.
• Segregate input power wiring and motor power cables from control wiring and motor feedback cables. Use shielded cable for power wiring and provide a grounded 360° clamp termination.
• Use high-frequency (HF) bonding techniques to connect the enclosure, machine frame, and motor housing, and to provide a low-impedance return path for high-frequency (HF) energy and reduce electrical noise.
• Use 2090 series motor feedback cables or use connector kits and properly terminate the feedback cable shield. Drive-to-motor power and feedback cables must not exceed 20 m (65.6 ft).

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).

Make sure the selected components are properly coordinated and meet acceptable codes including any requirements for branch circuit protection. Evaluation of the short-circuit available current is critical and must be kept below the short-circuit current rating of the circuit breaker. See the Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 for input current and inrush current specifications for your Kinetix 350 drive.
See Fuse and Circuit Breaker (CB) Specifications on page 19 for recommended circuit breakers and fuses.

Table 7 – Fuse and Circuit Breaker (CB) Specifications

(1) Bulletin 1492 and 1489 circuit protection devices have lower short-circuit current ratings than Bulletin 140M devices. See http://ab.rockwellautomation.com/allenbradley/productdirectory.page? for product literature with specific short-circuit ratings.
(2) For UL applications, Bulletin 140M devices are applied as self-protected combination motor controllers.

Contactor Ratings

Table 8 – Kinetix 350 Drives (120/240V)

Table 9 – Kinetix 350 Drives (240V)

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.

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.
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-sensitiveequipment or clean wire ways.

See Kinetix 350 Drive Power Specifications in Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003 for Kinetix 350 drive dimensions.

Figure 3 – Minimum Clearance Requirements

• 
  

  Drive Cat. No.	A
  2097-V31PR0-LM	185 (7.29)
  2097-V31PR2-LM	185 (7.29)
  2097-V32PR0-LM	230 (9.04)
  2097-V32PR2-LM	230 (9.04)
  2097-V32PR4-LM	230 (9.04)
  2097-V33PR1-LM	185 (7.29)
  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)
  2097-V34PR6-LM	230 (9.04)

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 the drive and the subpanel, surfaces must be paint free or plated. Bonded metal surfaces create a low-impedance return path for high-frequency energy.
Improper 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.

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.

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

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 Bulletin 2090 line filter, mount the filter on the same panel as the Kinetix 350 drive, and as close to the drive as possible. Observe these guidelines when mounting your AC line filter:

• Good HF bonding to the panel is critical. For painted panels, refer to the examples on page 24.
• Segregate input and output wiring as far as possible.

Shunt Resistors

Observe these guidelines when mounting your shunt resistor outside the enclosure:

• Mount shunt resistor and wiring in the very dirty zone or in an external shielded enclosure.
• Mount resistors in a shielded and ventilated enclosure outside the cabinet.
• Keep unshielded wiring as short as possible. Keep shunt wiring as flat to the cabinet as possible.

Figure 8 – Shunt Resistor Outside the Enclosure

When mounting your shunt module inside the enclosure, follow these additional guidelines:

• Mount the shunt resistor anywhere in the dirty zone, but as close to the Kinetix 350 drive as possible.
• Shunt wires can be run with motor power cables.
• Keep unshielded wiring as short as possible. Keep shunt wiring as flat to the cabinet as possible.
• Separate shunt wires from other sensitive, low-voltage signal cables.

Figure 9 – Shunt Resistor inside the Enclosure

Kinetix 350 Drive Connectors and Indicators

Although the physical size of the Kinetix® 350 drives vary, the location of the connectors and indicators is identical.
Figure 10 – Kinetix 350 Drive Connector and Indicators

Table 12 – Kinetix 350 Drive Connectors

Safe Torque-off Connector Pinout

The Kinetix 350 drive ships with the (6-pin) wiring plug header that connects your safety circuit to the Kinetix 350 drive safe torque-off (STO) connector. If your system does not use the safe torque-off feature, follow the instructions in Safe Torque-off Feature Bypass starting on page 107 to wire the drive with motion-allowed jumpers.

Table 13 – Kinetix 350 Drive Safe Torque-off Connector Pinout

I/O Connector Pinout

Figure 12 – Pin Orientation for 50-pin SCSI I/O (IOD) Connector

Motor Feedback (MF) Connector Pinout

• Not applicable unless motor has integrated thermal
•  
• Encoder power supply uses either 5V or 9V DC based on encoder/motor
  

  MF Pin	Description	Signal
  9	Reserved	—
  10	Data differential input – Index pulse-	DATA- IM-
  11	Motor thermal switch (normally closed) (1)	TS
  12	Single-ended 5V Hall effect commutation	S1
  13	Single-ended 5V Hall effect commutation	S2
  14	Encoder power (+5V)	EPWR_5V (2)
  15	Reserved	—

  

Ethernet Communication Connector Pinout

AC Input Power Connector Pinout

Connect the Kinetix 350 Drive System

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 24 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 Configuration

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. 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.

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.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.

Single-phase Power Wired to Single-phase Drives

These examples illustrate grounded single-phase power that is wired to single phase Kinetix 350 drives when phase-to-phase voltage is within drive specifications.

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

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.

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.
5. Applies to 2097-V32PRx-LM drive modules.

Flying-lead Feedback Cable Pin-outs

Troubleshoot the Kinetix 350 Drive

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 is multiple fault, the messages are displayed in a round-robin fashion. Only two messages scroll in this manner. When a fault is annunciated, the entire fault text scrolls on the display regardless of when the fault is cleared

The IP address is always an active condition, meaning that it scrolls with the axis state as long as there are no higher priority messages to display. See the table on Four-digit Display Messages for a description of the messages that scroll across the display during powerup.

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.

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Allen-Bradley Kinetix 350 IP Servo Drives -FAQs