How it Works
Allen-Bradley
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2094-BC01-MP5
User Manual
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Allen-Bradley 2094-AC09-M02-S, 2094-AC05-MP5-S, 2094-AC05-M01-S, 2094-AC16-M03, 2094-AC16-M03-S User Manual

...
User Manual
Original Instructions
Kinetix 6000 Multi-axis Servo Drives
Catalog Numbers 2094-ACxx-Mxx-S, 2094-BCxx-Mxx-S, 2094-AMxx-S, 2094-BMxx-S 2094-ACxx-Mxx, 2094-BCxx-Mxx, 2094-AMxx, 2094-BMxx, 2094-BSP2, 2094-PRF, 2094-SEPM-B24-S
Important User Information
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).
Table of Contents
Summary of Changes
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
Preface
Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Chapter 1
Start IAM/AM Module Series Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
About the Kinetix 6000 Drive Systems. . . . . . . . . . . . . . . . . . . . . . . . . . 14
Typical Hardware Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Typical Communication Configurations . . . . . . . . . . . . . . . . . . . . . . . . 19
Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Kinetix Drive Component Compatibility . . . . . . . . . . . . . . . . . . . . . . . 21
Kinetix 6000M Integrated Drive-Motor System Compatibility . . . 21
Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
CE Requirements (system without LIM module). . . . . . . . . . . . . 22
CE Requirements (system with LIM module). . . . . . . . . . . . . . . . 23
Chapter 2 Plan the Kinetix 6000 Drive System Installation
System Design Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
System Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Transformer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
AC Line Filter Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Circuit Breaker/Fuse Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Enclosure Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . 33
Electrical Noise Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Bonding Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Bonding Multiple Subpanels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Establishing Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Cable Categories for Kinetix 6000 Systems . . . . . . . . . . . . . . . . . . 45
Noise Reduction Guidelines for Drive Accessories. . . . . . . . . . . . 47
Mount the Kinetix 6000 Drive System
Chapter 3
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Using the 2094 Mounting Brackets . . . . . . . . . . . . . . . . . . . . . . . . . 51
Installing the 2094 Power Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Determine Mounting Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Mount Modules on the Power Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
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Table of Contents
Chapter 4
Connector Data and Feature Descriptions
2094 IAM/AM Module Connector Data . . . . . . . . . . . . . . . . . . . . . . . 58
Safe Torque-off Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . 60
I/O Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Motor Feedback Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . 62
Auxiliary Feedback Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . 64
IAM Input Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
IAM and AM Motor Power and Brake Connector Pinout . . . . 66
Control Signal Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Sercos Communication Specifications. . . . . . . . . . . . . . . . . . . . . . . 68
Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Contactor Enable Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Power and Relay Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Motor/Resistive Brake Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Input Power Cycle Capability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Peak Enhancement Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Control Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Feedback Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Absolute Position Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Motor Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Feedback Power Supply Specifications. . . . . . . . . . . . . . . . . . . . . . . 80
Auxiliary Position Feedback Encoders. . . . . . . . . . . . . . . . . . . . . . . 81
Connect the Kinetix 6000 Drive System
Chapter 5
Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Building Your Own Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Routing the Power and Signal Cables. . . . . . . . . . . . . . . . . . . . . . . . 84
Determine the Input Power Configuration . . . . . . . . . . . . . . . . . . . . . . 85
Grounded Power Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Ungrounded Power Configurations. . . . . . . . . . . . . . . . . . . . . . . . . 87
DC Common Bus Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Common Bus Fusing Requirements. . . . . . . . . . . . . . . . . . . . . . . . . 89
Set the Ground Jumper in Select Power Configurations . . . . . . . . . . 89
Set the Ground Jumper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Grounding the Kinetix 6000 Drive System . . . . . . . . . . . . . . . . . . . . . . 95
Ground the Power Rail to the System Subpanel . . . . . . . . . . . . . . 95
Ground Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Power Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Power Wiring Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Wiring the IAM/AM Module Connectors . . . . . . . . . . . . . . . . . . . . . 100
Wire the Control Power (CPD) Connector . . . . . . . . . . . . . . . . 100
Wire the Input Power (IPD) Connector. . . . . . . . . . . . . . . . . . . . 101
Wire the Contactor Enable (CED) Connector. . . . . . . . . . . . . . 103
Wiring the Safe Torque-off (STO) Connector . . . . . . . . . . . . . . 104
Wire the Motor Power (MP) Connector . . . . . . . . . . . . . . . . . . . 105
4 Rockwell Automation Publication 2094-UM001J-EN-P - March 2017
Table of Contents
Wire the Motor/Resistive Brake (BC) Connector . . . . . . . . . . . 113
Apply the Motor Cable Shield Clamp. . . . . . . . . . . . . . . . . . . . . . . . . . 116
Feedback and I/O Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . 117
Flying-lead Feedback Cable Pinouts . . . . . . . . . . . . . . . . . . . . . . . . 119
Wiring the Feedback and I/O Connectors . . . . . . . . . . . . . . . . . . . . . 122
Connect Premolded Motor Feedback Cables . . . . . . . . . . . . . . . 122
Connect Panel-mounted Breakout Board Kits . . . . . . . . . . . . . . 123
Wire Low-profile Connector Kits. . . . . . . . . . . . . . . . . . . . . . . . . . 124
External Shunt Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 127
IPIM Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
RBM Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Sercos Fiber-optic Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . 130
Kinetix 6000M Integrated Drive-Motor Sercos Connections . . . . 133
Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Chapter 6
Configure and Start the Kinetix 6000 Drive System
Troubleshooting the Kinetix 6000 Drive System
Configure the Kinetix 6000M Integrated Drive-Motor System. . . 135
Configure the Drive Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Configure the Logix5000 Sercos interface Module . . . . . . . . . . . . . . 142
Configure the Logix5000 Controller . . . . . . . . . . . . . . . . . . . . . . . 142
Configure the Logix5000 Module. . . . . . . . . . . . . . . . . . . . . . . . . . 144
Configure the Kinetix 6000 Drive Modules. . . . . . . . . . . . . . . . . 146
Configure the Motion Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Apply Power to the Kinetix 6000 Drive . . . . . . . . . . . . . . . . . . . . . . . . 155
Test and Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Test the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Configure Drive Parameters and System Variables . . . . . . . . . . . . . . 162
Tools for Changing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Monitor System Variables with Analog Test Points. . . . . . . . . . 163
Chapter 7
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Interpret Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Kinetix 6000M IDM System Error Codes . . . . . . . . . . . . . . . . . . 166
Kinetix 6000 Drive System Error Codes . . . . . . . . . . . . . . . . . . . . 167
IAM/AM Module Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . 172
Shunt Module Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
General System Anomalies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Logix5000/Drive Fault Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Rockwell Automation Publication 2094-UM001J-EN-P - March 2017 5
Table of Contents
Chapter 8
Remove and Replace the Kinetix 6000 Drive Modules
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Remove Kinetix 6000 Drive Modules . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Replace Kinetix 6000 Drive Modules . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Remove the Power Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Replace the Power Rail. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Appendix A
Interconnect Diagrams Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
DC Common Bus Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . 193
Shunt Module Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Axis Module/Rotary Motor Wiring Examples . . . . . . . . . . . . . . . . . . 198
Axis Module/Linear Motor/Actuator Wiring Examples . . . . . . . . . 207
Kinetix 6000M Integrated Drive-Motor Wiring Example. . . . . . . . 212
Controlling a Brake Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Appendix B
Upgrade the Drive Firmware Upgrade Kinetix 6000M System Firmware . . . . . . . . . . . . . . . . . . . . . 217
Upgrade Drive Firmware with ControlFLASH Software . . . . . . . . 218
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Configure Logix5000 Communication. . . . . . . . . . . . . . . . . . . . . 219
Upgrade Firmware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Verify the Firmware Upgrade. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
Appendix C
DC Common Bus Applications Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
Calculate Total Bus Capacitance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Calculate Additional Bus Capacitance . . . . . . . . . . . . . . . . . . . . . . . . . 229
Bulletin 2094 Drive Capacitance Values. . . . . . . . . . . . . . . . . . . . . . . . 229
Common Bus Capacitance Example . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
Set the Additional Bus Capacitance Parameter. . . . . . . . . . . . . . . . . . 231
Remove Sercos Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Set the Additional Bus Capacitance Parameter . . . . . . . . . . . . . . 232
Save the Add Bus Cap Parameter to Nonvolatile Memory. . . . 233
Verify the Parameter Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Reconnect Sercos Communication. . . . . . . . . . . . . . . . . . . . . . . . . 235
Appendix D
Configure the Load Observer Feature
Benefits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
How it Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Remaining IDN Parameter Descriptions . . . . . . . . . . . . . . . . . . . 240
Out-of-Box Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
6 Rockwell Automation Publication 2094-UM001J-EN-P - March 2017
Table of Contents
Auto-tune Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
Tuning Mode Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
Manual Tuning for Further Optimization . . . . . . . . . . . . . . . . . . 248
Setting Gains with Sercos IDN Write Messages . . . . . . . . . . . . . . . . . 250
Compensate for High Frequency Resonances . . . . . . . . . . . . . . . . . . . 251
Appendix E
Changing the Default IDN Parameter Values
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
Change IDN Parameter Values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
Read the Present IDN Parameter Value . . . . . . . . . . . . . . . . . . . . 254
Calculate the New IDN Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
Write the New IDN Parameter Value . . . . . . . . . . . . . . . . . . . . . . 257
Appendix F
Enhanced Peak Performance Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
Enhanced Peak Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
Enhanced Peak Example Calculation. . . . . . . . . . . . . . . . . . . . . . . 264
Change the Drive Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
Sercos IDN Write Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
DriveExplorer Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
Appendix G
RBM Module Interconnect Diagrams
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
RBM Module Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
Index
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
Rockwell Automation Publication 2094-UM001J-EN-P - March 2017 7
Table of Contents
Notes:
8 Rockwell Automation Publication 2094-UM001J-EN-P - March 2017
Summary of Changes
This manual contains new and updated information as indicated in the following table.
Top ic Pag e
Updated the internal solid-state motor short-circuit protection rating to include 200,000 A (fuses) and 65,000 A (circuit breakers).
Added Mersen HSJ fuses for 2094-BCxx-Mxx-S integrated axis module DC-bus power.
Updated absolute position examples table. 78
Updated auxiliary feedback encoders table with Bulletin 847H and 847T catalog numbers. 81
Added IMPORTANT information for calculating the control power current load. 100
Added error code E31. 168
Added error code E55. 169
Added error code E31 fault behavior. 178
Added error code E55 fault behavior. 179
Updated notes 19 and 20 with new compatibility for Bulletin MPAS linear actuators. 188
Added IMPORTANT information regarding message instruction. 241
28
Rockwell Automation Publication 2094-UM001J-EN-P - March 2017 9
Summary of Changes
Notes:
10 Rockwell Automation Publication 2094-UM001J-EN-P - March 2017
Preface
This manual provides detailed installation instructions for mounting, wiring, and troubleshooting Kinetix® 6000 drives; and system integration for your drive and motor/actuator combination with a Logix5000™ controller.
For information on wiring and troubleshooting your Kinetix 6000 servo drive with the safe torque-off feature, refer to the Kinetix Safe Torque-off Feature Safety Reference Manual, publication GMC-RM002
This manual is intended for engineers or technicians directly involved in the installation and wiring of the Kinetix 6000 drives; and programmers directly involved in the operation, field maintenance, and integration of these drives with a Sercos interface module.
If you do not have a basic understanding of the Kinetix 6000 drives, contact your local Rockwell Automation sales representative for information on available training courses.
.
Conventions Used in This Manual
The conventions starting below are used throughout this manual.
• Bulleted lists such as this one provide information, not procedural steps.
• Numbered lists provide sequential steps or hierarchical information.
• Acronyms for the Kinetix 6000 drive modules are shown in these tables and are used throughout this manual.
Acronym Kinetix 6000 Drive Modules Cat. No.
IAM Integrated Axis Module 2094-xCxx-Mxx-x
AM Axis Module 2094-xMxx-x
LIM Line Interface Module 2094-xLxx and 2094-xLxxS-xx
RBM Resistive Brake Module 2090-XBxx-xx
Acronym Kinetix 6000M Drive Modules Cat. No.
IDM Integrated Drive-Motor MDF-SBxxxxx
IPIM IDM Power Interface Module 2094-SEPM-B24-S
IMPORTANT Throughout this publication, when the IAM or AM module catalog
number is followed by -x, for example 2094-BMP5-x, the variable (x) indicates that the drive module may or may not include the safe torque-off feature.
Rockwell Automation Publication 2094-UM001J-EN-P - March 2017 11
Preface
Additional Resources
These documents contain additional information concerning related products from Rockwell Automation.
Resource Description
Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001
Kinetix Linear Motion Specifications Technical Data, publication KNX-TD002
Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003
Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004
Line Interface Module Installation Instructions, publication 2094-IN005
Fiber-optic Cable Installation and Handling Instructions, publication 2090-IN010
System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001
Kinetix 6000M Integrated Drive-Motor User Manual, publication 2094-UM003
Kinetix Safe Torque-off Feature Safety Reference Manual, publication GMC-RM002
Kinetix Motion Control Selection Guide, publication KNX-SG001
Kinetix 6000 and Kinetix 6200/6500 Drive Systems Design Guide, publication KNX-RM003
Motion Analyzer System Sizing and Selection Tool website https://motionanalyzer.rockwellautomation.com/
Rockwell Automation® Configuration and Selection Tools, website http://ab.rockwellautomation.com
Rockwell Automation Product Certification, website http://www.rockwellautomation.com/global/certification/overview.page
Sercos and Analog Motion Configuration User Manual, publication MOTION-UM001
Motion Coordinate System User Manual, publication MOTION-UM002
SoftLogix Motion Card Setup and Configuration Manual, publication 1784-UM003
ControlFLASH Firmware Upgrade Kit User Manual, publication 1756-QS105
Rockwell Automatio n Industrial Automation Glossary, publication AG-7 .1
Provides product specifications for MP-Series™ (Bulletin MPL, MPM, MPF, MPS), Kinetix 6000M (Bulletin MDF), TL-Series™, RDD-Series™, and HPK-Series™ rotary motors.
Provides product specifications for Bulletin MPAS and MPMA linear stages, Bulletin MPAR, MPAI, and TLAR electric cylinders, and LDC-Series™ and LDL-Series™ linear motors.
Provides product specifications for Kinetix Integrated Motion over the EtherNet/IP network, Integrated Motion over Sercos interface, EtherNet/IP networking, and component servo drive families.
Provides product specifications for Bulletin 2090 motor and interface cables, low-profile connector kits, drive power components, and other servo drive accessory items.
Provides information on the installation and troubleshooting of Bulletin 2094 line interface modules (LIM).
Provides information on proper handling, installing, testing, and troubleshooting fiber­optic cables.
Provides information, examples, and techniques designed to minimize system failures caused by electrical noise.
Provides information on installing, configuring, startup, troubleshooting, and applications for your Kinetix 6000M integrated drive-motor (IDM) system.
Provides information on wiring and troubleshooting your Kinetix 6000 servo drives with the safe torque-off feature.
Provides overview of Kinetix servo drives, motors, actuators, and motion accessories designed to help make initial decisions for the motion control products best suited for your system requirements.
Provides information to determine and select the required (drive specific) drive module, power accessor y, connector kit, motor cable, and interface cable catalog numbers for your drive and motor/actuator motion control system. Includes system performance specifications and torque/speed curves (rotary mot ion) and force/velocity curves (linear motion) for your motion application.
Comprehensive motion application sizing tool used for analysis, optimization, selection, and validation of your Kinetix Motion Control system.
Provides online product selection and system configuration tools, including AutoCad (DXF) drawings.
For product certifications and declarations of conformity (DoC) currently available from Rockwell Autom ation.
Provides information on configuring and troubleshooting your ControlLogix®, CompactLogix™, and SoftLogix™ Sercos interface modules.
Provides information to create a motion coordinate system with Sercos or analog motion modules.
Provides information on configuring and troubleshooting SoftLogix PCI cards.
For ControlFLASH™ information not specific to any drive family.
A glossary of industrial automation terms and abbreviations.
You can view or download publications at
http://www.rockwellautomation.com/literature
technical documentation, contact your local Allen-Bradley distributor or Rockwell Automation sales representative.
12 Rockwell Automation Publication 2094-UM001J-EN-P - March 2017
. To order paper copies of
Chapter 1
Start
Use this chapter to become familiar with the design and installation requirements for Kinetix® 6000 drive systems.
Top ic Pa ge
IAM/AM Module Series Changes 13
About the Kinetix 6000 Drive Systems 14
Typical Hardware Configur ations 15
Typical Communication Configurations 19
Catalog Number Explanation 20
Kinetix Drive Component Compatibility 21
Kinetix 6000M Integrated Drive-Motor System Compatibility 21
Agenc y Compliance 22
IAM/AM Module Series Changes
Series B drives included the peak current enhancement and applied to only the 460V (series A) IAM and AM modules. The peak current ratings of the Kinetix 6000 (460V) drives are configured at the factory as 150% of continuous current. However, you can program 460V AM modules and the equivalent IAM (inverter) modules, for up to 250% of continuous inverter current.
Table 1 - Kinetix 6000 Enhanced Peak Performance Series Change
IAM Module Cat. No.
2094-BC01-MP5-S 2094-BMP5-S 150% 250%
2094-BC01-M01-S 2094-BM01-S 150% 250%
2094-BC02-M02-S 2094-BM02-S 150% 250%
2094-BC04-M03-S 2094-BM03-S 150% 250%
2094-BC07-M05-S 2094-BM05-S 150% 200%
AM Module Cat. No.
Series A (inverter) Series B and C (inverter)
Peak Current Rating
IMPORTANT Before your drive can deliver enhanced peak performance, you must enable the peak enhancement feature by configuring
your drive with DriveExplorer™ software or the Logix Designer application. Refer to Appendix F on page 259
to recalculate torque and acceleration or deceleration limit values, and paste them into the
appropriate Axis Properties dialog box in the Logix Designer application. For more information on setting axis properties, refer to Configure Axis Properties on page 151
.
In series C drives, a mechanical relay for the brake circuit and another for the safe torque-off inputs are replaced by solid-state relays and apply to the 230V (series A) and 460V (series B) IAM and AM modules. All wiring is consistent with previous series releases.
Rockwell Automation Publication 2094-UM001J-EN-P - March 2017 13
Chapter 1 Start
About the Kinetix 6000 Drive Systems
The Kinetix 6000 multi-axis servo drives are designed to provide a Kinetix Integrated Motion solution for your drive/motor/actuator applications.
Table 2 - Kinetix 6000 Drive System Overview
System Component
Integrated Axis Module
Axis Module
Shunt Module 2094-BSP2 The Bulletin 2094 shunt module mounts to the power rail and provides additional shunting in regenerative applications.
Kinetix 6000M IDM System
Power Rail
Slot-filler Module
Logix5000™ Controllers
Studio 5000® Environment
Rotary Servo Motors
Linear Motors LDC-Series™, LDL-Series™ Compatible motors include LDC-Series iron core (200V and 400V-class) and LDL-Series ironless (200V-class) linear motors.
Linear Actuators
Cables
AC Line Filters 2090-XXLF-xxxx Bulletin 2090-XXLF-xxxx three-phase AC line filters are required to meet CE in all 200V and 400V-class drive systems.
Line Interface Modules
External Shunt Modules
Resistive Brake Module
Cat. No. Description
2094-xCxx-Mxx-S
2094-xCxx-Mxx
2094-xMxx-S
2094-xMxx
2094-SEPM-B24-S Bulletin MDF
2094-PRSx 2094-PRx
2094-PRF
1756-MxxSE modules 1768-M04SE module 1784-PM16SE PCI card
1756-ENxTx modules The Kinetix 6000M IPIM module connects to the EtherNet/IP network for monitoring, diagnostics, and firmware upgrades.
9324-RLD300xxE
MP-Series™, TL-Series™, RDD-Series™, 1326AB,
es
F-Seri
MP-Series
LDAT-Series LDAT-Series integrated linear actuators are compatible with 200V and 400V-class drive systems.
2090-Series power and feedback cables
Kinetix 6000M integrated drive-motor cables
Communication
2094-xLxx 2094-xLxxS 2094-XL75S-Cx
1394-SRxxxx
2090-XBxx-xx
Integrated Axis Modules (IAM) with the safe torque-off feature with 200V or 400V-class AC input power. Contains an inverter and converter section. The peak enhancement feature is available on 400V-class (series B and C) IAM modules.
Integrated Axis Modules (IAM), with 200V or 400V-class AC input power (does not include the safe torque-off or peak-enhanced feature). Contains an inverter and converter section.
Axis Modules (AM) with safe torque-off are shared DC-bus inverters and rated for 200 or 400V-class operation. The AM module must be used with an IAM module. The peak enhancement feature is available on 400V-class (series B and C) AM modules.
Axis Modules (AM) are shared DC-bus inverters rated for 200V or 400V-class input power (does not include the safe torque-off or peak-enhanced feature). The AM module must be used with an IAM module.
The Kinetix 6000M integrated drive-motor (IDM) system consists of the IDM power interface module (IPIM) and up to 16 (Bulletin MDF) IDM units. The IPIM module mounts on the Bulletin 2094 power rail and provides power and communication to the IDM units. The IPIM module also monitors power output and provides overload protection.
The Bulletin 2094 power rail consists of copper bus bars and a circuit board with connectors for each module. The power rail provides power and control signals from the converter section to adjacent inverters. The IAM and AM power modules, shunt module, slot-filler modules mount to the power rail.
The Bulletin 2094 slot-filler module is used when one or more slots on the power rail are empty after all the other power rail modules are installed. One slot-filler module is required for each empty slot.
The Sercos interface module/PCI card serves as a link between the ControlLogix®/CompactLogix™/SoftLogix™ controllers and the Kinetix 6000 drive system. The communication link uses the IEC 61491 SErial Real-time COmmunication System (Sercos) protocol over a fiber-optic cable.
The Studio 5000 Logix Designer® application provides support for programming, commissioning, and maintaining the Logix5000 family of controllers.
C
ompatible rotary motors include the MP-Series (Bulletin MPL, MPM, MPF, and MPS) 200V and 400V-class motors; RDD-Series;
TL-Series; 1326AB (M2L/S2L) and 1326AB (resolver); and F-Series motors.
Compatible actuators include MP-Series (200V and 400V-class) Bulletin MPAS single-axis and Bulletin MPMA multi-axis integrated linear stages, and MP-Series (200V and 400V-class) Bulletin MPAR and MPAI electric cylinders.
Bulletin 2090 power and feedback cables are available with bayonet, threaded, and SpeedTec connectors. Power/brake cables have flying leads on the drive end and straight connectors that connect to servo motors. Feedback cables have flying leads that wire to low-profile connector kits on the drive end and straight connectors on the motor end.
Bulletin 2090 integrated drive-motor (IDM) hybrid and network cables connect between the 2094 IPIM module and the Kinetix 6000M IDM units. Bulletin 889D and 879D cables connect between digital input connectors and sensors.
Bulletin 2090 Sercos fiber-optic cables are available as enclosure only, PVC, nylon, and glass with connectors at both ends.
Ethernet cables are available in standard lengths for Kinetix 6000M IPIM modules. Shielded cable is recommended.
Line interface modules (LIM) include the circuit breakers, AC line filter (catalog numbers 2094-AL09 and 2094-BL02 only), power supplies, and safety contactor required for Kinetix 6000 operation. The LIM module does not mount to the power rail. You can purchase individual components separately in place of the LIM module.
You can use Bulletin 1394 external passive shunt modules when the IAM/AM module internal shunt and power rail mounted 2094-BSP2 shunt module capability is exceeded.
Resistive Brake Modules (RBM) include a safety contactor for use in a con trol circuit. Contactors and resisto rs reside in this module such that the motor leads can be disconnected from the drive with the permanent magnet motor brought to an immediate stop. This module does not mount to the power rail.
14 Rockwell Automation Publication 2094-UM001J-EN-P - March 2017
Start Chapter 1
CAT. NO. LDC-M075500 SERIAL NO. XXXX X XXXX
SERIES A
www.ab.com
MADE IN USA
Kinetix 6000 Multi-axis Servo Drive System
2094-xLxxS Line Interface Module (optional component)
2094-xMxx-S Axis Modules (5)
Three-Phase
Input Power
2094-xCxx-Mxx-S
IAM Module
2094-BSP2 Shunt Module (optional component)
2090-XXLF-xxxx
AC Lin e Filter
(required for CE)
2094-PRSx
Power Rail
2094-PRF Slot-filler Module (required to fill any unused slots)
I/O Connections
To I np ut S en sor s
and Control String
115/230V
Control Power
2090-K6CK-Dxxx
Low Profile Connector Kits for
I/O, Motor Feedback, and Aux Feedback
Bulletin 2090
Motor Feedback Cables
Bulletin 2090
Motor Power Cables
MP-Series Integrated Linear Stages (MPAS-B9xxx ballscrew shown)
MP-Series and TL-Series Rotary Motors
(MPL-Bxxxx motors shown)
MP-Series Electric Cylinders (MPAR-Bxxxx electric cylinder shown)
LDC-Series Linear Motors
(LDC-Cxxxxxxx linear motor shown)
RDD-Series Direct Drive Motors
(1)
(RDB-Bxxxx motor shown)
MP-Series Heavy Duty Electric Cylinders (MPAI-Bxxxx electric cylinders shown)
LDL-Series Linear Motors
(LDL-xxxxxxxx linear motor shown)
LDAT-Series Linear Thrusters
(LDL-Sxxxxxx-xBx linear thrusters only)
Typical Hardware Configurations
Typical Kinetix 6000 system installations include three-phase AC configurations, with and without the line interface module (LIM), and DC common-bus configurations.
SHOCK HAZARD: To avoid personal injury due to electrical shock, place a 2094-PRF slot-filler module in all empty slots on the power rail. Any power rail connector without a module installed disables the Bulletin 2094 system; however, control power is still present.
Figure 1 - Typical Kinetix 6000 System Installation (with LIM)
(1) RDD-Series direct-drive motors require the 2090-K6CK-KENDAT low-profile feedback module.
Rockwell Automation Publication 2094-UM001J-EN-P - March 2017 15
Kinetix 6000 Multi-axis Servo Drive System
Line Disconnect Device
Magnetic Contac tor
Input Fusing
Three-phase Input Power
Single-phase
Control Power
2094-xCxx-Mxx-S
IAM Module
2094-PRSx
Power Rail
I/O Connections
To I np ut S en sor s
and Control String
2094-xMxx-S Axis Modules (5)
2094-BSP2 Shunt Module (optional component)
2094-PRF Slot-filler Module (required to fill any unused slots)
2090-K6CK-Dxxx
Low Profile Connector Kits for
I/O, Motor Feedback, and Aux Feedback
2090-XXLF-xxxx
AC Lin e Filter
(required for CE)
MP-Series and TL-Series Rotary Motors
(MPL-xxxx motors shown)
MP-Series Integrated Linear Stages (MPAS-B9xxx ballscrew shown)
Bulletin 2090
Motor Feedback Cables
Bulletin 2090
Motor Power Cables
MP-Series Electric Cylinders (MPAR-Bxxxx electric cylinder shown)
MP-Series Heavy Duty Electric Cylinders (MPAI-Bxxxx electric cylinders shown)
RDD-Series Direct Drive Motors
(1)
(RDB-Bxxxx motor shown)
LDC-Series Linear Motors
(LDC-Cxxxxxxx linear motor shown)
LDL-Series Linear Motors
(LDL-xxxxxxxx linear motor shown)
2090-XXLF-xxxx
AC Lin e Filter
(required for CE)
LDAT-Series Linear Thrusters
(LDL-Sxxxxxx-xBx linear thrusters only)
Chapter 1 Start
Figure 2 - Typical Kinetix 6000 System Installation (without LIM)
www.ab.com
MADE IN USA
CAT. NO. LDC-M075500 SERIAL NO. XXXX X XXXX
SERIES A
(1) RDD-Series direct-drive motors require the 2090-K6CK-KENDAT low-profile feedback module.
16 Rockwell Automation Publication 2094-UM001J-EN-P - March 2017
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Three-phase Input Power
Kinetix 6000 Multi-axis
Servo Drive System
2094-BSP2 Shunt Module (optional component)
2094-SEPM-B24-S IPIM Module
2094-PRSx
Power Rail
2094-PRF Slot Filler Module (required to fill any unused slots)
To Input Sensors
and Control String
2090-K6CK-Dxxxx
Low Profile Connector Kits for I/O,
Motor Feedback, and Aux Feedback
Compatible Rotary Motors,
Linear Motors, and Linear Actuators
(MPL-Bxxxx motor shown)
Bulletin 2090
Motor Feedback Cables
Bulletin 2090
Motor Power Cables
Bulletin 2090 Hybrid Cables
Bulletin 2090 Network Cables
MDF-SBxxxxx-Qx8xB-S Drive-Motor Unit
MDF-SBxxxxx-Qx8xB-S Drive-Motor Unit
MDF-SBxxxxx-Qx8xB-S Drive-Motor Unit
MDF-SBxxxxx-Qx8xB-S Drive-Motor Unit
This configuration illustrates the Kinetix 6000M integrated drive-motor (IDM) system with IDM power interface module (IPIM) installed on the Bulletin 2094 power rail. The IPIM module is included in the drive-to-drive fiber-optic cable installation along with the axis modules.
Figure 3 - Typical Kinetix 6000M Integrated Drive-Motor System Installation
For more information on Kinetix 6000M integrated drive-motor system installation, refer to the Kinetix 6000M Integrated Drive-Motor System User Manual, publication 2094-UM003
.
Rockwell Automation Publication 2094-UM001J-EN-P - March 2017 17
Chapter 1 Start
Kinetix 6000 Multi-axis Servo Drive System
Three- phase Input Power
115/230V Control Power
2094-BCxx-Mxx-S
IAM Module
Common Bus Leader
2094-PRSx
Power Rail
2094-BMxx-S Axis Modules (5)
2094-BSP2 Shunt Module (optional component)
2094-PRF Slot-filler Module (required to fill any unused slots)
2094-BCxx-Mxx-S
IAM Module
Common Bus Follower
2094-PRSx Power Rail
2094-BMxx-S Axis Modules (5)
2094-PRF Slot-filler Module (required to fill any unused slots)
2094-BLxxS Line Interface Module (optional component)
DC Common Bus
2090-XXLF-xxxx
AC Lin e Filter
(required for CE)
2094-SEPM-B24-S IPIM Module
Figure 4 - Typical (400V-class) DC Common Bus System Installation
In the example above, the leader IAM module is connected to the follower IAM module via the DC common-bus. The follower system also includes the Kinetix 6000M integrated drive-motor (IDM) power interface module (IPIM) that supports up to 16 IDM units.
When planning your panel layout, you must calculate the total bus capacitance of your DC common-bus system to be sure that the leader IAM module is sized sufficiently to precharge the entire system. Refer to Appendix
page 227,
for more information.
IMPORTANT If total bus capacitance of your system exceeds the leader IAM module
precharge rating and input power is applied, the IAM module seven­segment status indicator displays error code E90 (precharge timeout fault).
C, beginning on
To correct this condition, you must replace the leader IAM module with a larger module or decrease the total bus capacitance by removing the IPIM module or AM modules.
18 Rockwell Automation Publication 2094-UM001J-EN-P - March 2017
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SERCOS interface
Tx (rear)
Rx (front)
OK
CP
0.2 m
(7.1 in.)
0.1 m
(5.1 in.)
0.1 m
(5.1 in.)
62006200
SAFE SPEED
62006200
SAFE SPEED
0.1 m
(5.1 in.)
0.2 m
(7.1 in.)
TX RX
TX
RX
Logix5000 Sercos interface Module
Logix5000 Controller (ControlLogix controller is shown)
The Logix Designer
Application
2090-SCxxx-x
Sercos Fiber-optic Cable
Logix5000 Controller Programming Network
2094-xMxx-S Axis Modules (5)
2094-xCxx-Mxx-S
IAM Module
0.1 m (5.1 in.)
Kinetix 6000 Drive-to-Drive Sercos Cables
Kinetix 6000 Single-wide
2094-BCxx-Mxx-S
IAM Module
Kinetix 6000 Double-wide
2094-BCxx-Mxx-S
IAM Module
2094-BMxx-S Single-wide AM Module
2094-BMxx-S Double-wide AM Module
2094-BMxx-M Single-wide AM Power Modules
with 2094-SE02F-M00-Sx Control Modules
2094-SEPM-B24-S IPIM Module
2094-BMxx-S Single-wide AM Module
Kinetix 6200 (top view) Sercos Connectors
Kinetix 6000 and
Kinetix 6000M (top view)
Sercos Connectors
2094-PRSx
Power Rail
Typical Communication Configurations
In this example, drive-to-drive Sercos cables and catalog numbers are shown when Kinetix 6000, Kinetix 6000M, and Kinetix 6200 drive modules exist on the same power rail.
The Kinetix 6200 control modules use Sercos interface for configuring the Logix5000 module and the EtherNet/IP network for diagnostics and configuring safety functions. An Ethernet cable is connected to each control module during safety configuration. For more information on Ethernet cables, refer to the Industrial Ethernet Media Brochure, publication 1585-BR001
Figure 5 - Typical Kinetix 6000 and Kinetix 6200 Communication (Sercos)
.
Rockwell Automation Publication 2094-UM001J-EN-P - March 2017 19
Chapter 1 Start
Catalog Number Explanation
Integrated Axis Modules (230V)
Kinetix 6000, IAM, 200V-class, 3 kW converter, 5 A inverter 2094-AC05-MP5-S 2094-AC05-MP5
Kinetix 6000, IAM, 200V-class, 3 kW converter, 9 A inverter 2094-AC05-M01-S 2094-AC05-M01
Kinetix 6000, IAM, 200V-class, 6 kW converter, 15 A inverter 2094-AC09-M02-S 2094-AC09-M02
Kinetix 6000, IAM, 200V-class, 11 kW converter, 24 A inverter 2094-AC16-M03-S 2094-AC16-M03
Kinetix 6000, IAM, 200V-class, 23 kW converter, 49 A inverter 2094-AC32-M05-S 2094-AC32-M05
Integrated Axis Modules (460V)
Kinetix 6000, IAM, 400V-class, 6 kW converter, 4 A inverter 2094-BC01-MP5-S
Kinetix 6000, IAM, 400V-class, 6 kW converter, 9 A inverter 2094-BC01-M01-S
Kinetix 6000, IAM, 400V-class, 15 kW converter, 15 A inverter 2094-BC02-M02-S
Kinetix 6000, IAM, 400V-class, 28 kW converter, 30 A inverter 2094-BC04-M03-S
Kinetix 6000, IAM, 400V-class, 45 kW converter, 49 A inverter 2094-BC07-M05-S
Axis Modules (230V)
Kinetix 6000, AM, 200V-class, 5 A 2094-AMP5-S 2094-AMP5
Kinetix 6000, AM, 200V-class, 9 A 2094-AM01-S 2094-AM01
Kinetix 6000, AM, 200V-class, 15 A 2094-AM02-S 2094-AM02
Kinetix 6000, AM, 200V-class, 24 A 2094-AM03-S 2094-AM03
Kinetix 6000, AM, 200V-class, 49 A 2094-AM05-S 2094-AM05
Axis Modules (460V)
Kinetix 6000, AM, 400V-class, 4 A 2094-BMP5-S
Kinetix 6000, AM, 400V-class, 9 A 2094-BM01-S
Kinetix 6000, AM, 400V-class, 15 A 2094-BM02-S
Kinetix 6000, AM, 400V-class, 30 A 2094-BM03-S
Kinetix 6000, AM, 400V-class, 49 A 2094-BM05-S
(1) You can configure the peak inverter current rating of this 460V (series B and C) IAM or AM module for 250% of continuous inverter current. (2) You can configure the peak inverter current rating of this 460V (series B and C) IAM or AM module for 200% of continuous inverter current. Refer to Peak Enhancement
Specifications on page 74, for more information on drive performance in the peak-enhanced mode.
Kinetix 6000 (Bulletin 2094) drive catalog numbers and descriptions are listed in the tables below.
IMPORTANT Throughout this publication, when the IAM or AM module catalog number
is followed by -x, for example 2094-BMP5-x, the variable (x) indicates that the drive module may or may not include the safe torque-off feature.
Table 3 - Kinetix 6000 Drive Catalog Numbers
Cat. No. (with safe torque-off feature)
(1)
(1)
(1)
(1)
(2)
(1)
(1)
(1)
(1)
(2)
Cat. No. (without safe torque- off feature)
2094-BC01-MP5
2094-BC01-M01
2094-BC02-M02
2094-BC04-M03
2094-BC07-M05
2094-BMP5
2094-BM01
2094-BM02
2094-BM03
2094-BM05
Table 4 - Kinetix 6000 Drive Component Catalog Numbers
Drive Components Cat. No.
Integrated power interface (IPIM) module, 400V-class, 15 kW, 24 A (rms) 2094-SEPM-B24-S
Kinetix 6000 shunt module, 200/400V-class, 200 W 2094-BSP2
Kinetix 6000 slot-filler module, 200/400V-class 2094-PRF
20 Rockwell Automation Publication 2094-UM001J-EN-P - March 2017
Start Chapter 1
Kinetix Drive Component Compatibility
IAM Module Control Module
2094-BCxx-Mxx-S (series B and C)
2094-BCxx-Mxx-M (IAM power module)
N/A
2094-SE02F-M00-Sx Sercos interface
2094-EN02D-M01-Sx EtherNet/IP network
The 2094-BCxx-Mxx-M and 2094-BMxx-M power modules contain the same power structure as the 2094-BCxx-Mxx-S and 2094-BMxx-S drive modules. Because of this, the 2094-BSP2 shunt module, 2094-PRF slot-filler module, and 2094-PRSx power rails are supported by both drive families.
In addition, 2094-BMxx-M AM power modules with Sercos interface are supported on power rails with a 2094-BCxx-Mxx-S IAM drive module. Conversely, 2094-BMxx-S AM drive modules are supported on power rails with a 2094-BCxx-Mxx-M IAM power module with Sercos interface.
IMPORTANT Kinetix 6500 EtherNet/IP control modules (catalog numbers
2094-EN02D-M01-Sx) are not compatible with IAM/AM modules on the same Bulletin 2094 power rail with Kinetix 6000 or Kinetix 6200 Sercos drives.
Table 5 - IAM and AM Module/Network Compatibility
2094-BMxx-M
2094-BMxx-S Kinetix 6000 AM Module
Fully compatible Fully compatible Not compatible
Not compatible Not compatible Fully compatible
2094-SE02F-M00-Sx Kinetix 6200 Control Module
AM Power Modules
2094-EN02D-M01-Sx Kinetix 6500 Control Module
Kinetix 6000M Integrated Drive-Motor System Compatibility
For additional information on the 2094-BCxx-Mxx-M (IAM) and 2094-BMxx-M (AM) modules, refer to the Kinetix 6200 and Kinetix 6500 Multi-axis Servo Drives User Manual, publication 2094-UM002
.
Bulletin 2094 power rails with Kinetix 6000 (series B and C) or Kinetix 6200 drives are compatible with Kinetix 6000M integrated drive-motor (IDM) systems. The IDM power interface module (IPIM) mounts to the power rail and connects to as many as 16 IDM units.
Table 6 - IPIM Module Compatibility
IAM Module Control Module
2094-BCxx-Mxx-S (series B and C)
2094-BCxx-Mxx-M (IAM power module)
N/A
2094-SE02F-M00-Sx Sercos interface
2094-EN02D-M01-Sx EtherNet/IP network Not compatible
2094-SEPM-B24-S IDM Power Interface Module (IPIM)
Fully compatible
For more information on Kinetix 6000M integrated drive-motor system installation, refer to the Kinetix 6000M Integrated Drive-Motor System User Manual, publication 2094-UM003
.
Rockwell Automation Publication 2094-UM001J-EN-P - March 2017 21
Chapter 1 Start
Agency Compliance
If this product is installed within the European Union and has the CE mark, the following regulations apply.
ATT EN TI ON : Meeting CE requires a grounded system, and the method of grounding the AC line filter and drive must match. Failure to do this renders the filter ineffective and can cause damage to the filter. For grounding examples, refer to Grounded Power Configurations on page 85
For more information on electrical noise reduction, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001
.
CE Requirements (system without LIM module)
To meet CE requirements when your Kinetix 6000 system does not include the LIM module, these requirements apply.
• Install 2090-XXLF-xxxx AC line filters for three-phase input power and single-phase control power (for example, Schaffner P/N FN 355-10-05 or Roxburgh P/N RES5F08) as close to the IAM module as possible.
• Use 2090 series motor power cables or use connector kits and terminate the cable shields to the chassis clamp provided.
• Combined motor power cable lengths for all Kinetix 6000 axes and hybrid cable lengths for all IDM units on the same DC bus must not exceed 240 m (787 ft) with 400V-class systems or 160 m (525 ft) with 200V-class systems. Drive-to-motor power cables must not exceed 90 m (295.5 ft).
• Use 2090 series motor feedback cables or use connector kits and properly terminate the feedback cable shield. Drive-to-motor feedback cables must not exceed 90 m (295.5 ft).
• Install the Kinetix 6000 system inside an enclosure. Run input power wiring in conduit (grounded to the enclosure) outside of the enclosure. Separate signal and power cables.
.
Refer to Appendix A on page 187 power wiring and drive/motor interconnect diagrams.
22 Rockwell Automation Publication 2094-UM001J-EN-P - March 2017
for interconnect diagrams, including input
Start Chapter 1
CE Requirements (system with LIM module)
To meet CE requirements when your Kinetix 6000 system includes the LIM module, follow all the requirements as stated in CE Requirements (system
without LIM module) and these additional requirements as they apply to the
AC line filter.
• Install the LIM module (catalog numbers 2094-AL09 or 2094-BL02) as close to the IAM module as possible.
• Install the LIM module (catalog numbers 2094-ALxxS, 2094-BLxxS, or 2094-XL75S-Cx) with line filter (catalog number 2090-XXLF-xxxx) as close to the IAM module as possible.
When the LIM module (catalog numbers 2094-ALxxS, 2094-BLxxS, or 2094-XL75S-Cx) supports two IAM modules, each IAM module requires an AC line filter installed as close to the IAM module as possible.
Rockwell Automation Publication 2094-UM001J-EN-P - March 2017 23
Chapter 1 Start
Notes:
24 Rockwell Automation Publication 2094-UM001J-EN-P - March 2017
Chapter 2
Plan the Kinetix 6000 Drive System Installation
This chapter describes system installation guidelines used in preparation for mounting your Kinetix® 6000 drive components.
Top ic Pa ge
System Design Guidelines 26
Electrical Noise Reduction 34
ATT EN TI ON : Plan the installation of your system so that you can perform all cutting, drilling, tapping, and welding with the system removed from the enclosure. Because the system is of the open type construction, be careful to keep any metal debris from falling into it. Metal debris or other foreign matter can become lodged in the circuitry, which can result in damage to components.
Rockwell Automation Publication 2094-UM001J-EN-P - March 2017 25
Chapter 2 Plan the Kinetix 6000 Drive System Installation
System Design Guidelines
Use the information in this section when designing your enclosure and planning to mount your system components on the panel.
For on-line product selection and system configuration tools, including AutoCAD (DXF) drawings of the product, refer to
http://www.rockwellautomation.com/en/e-tools
.
System Mounting Requirements
• To comply with UL and CE requirements, the Kinetix 6000 drive system must be enclosed in a grounded conductive enclosure offering protection as defined in standard EN 60529 (IEC 529) to IP54 such that they are not accessible to an operator or unskilled person. A NEMA 4X enclosure exceeds these requirements providing protection to IP66.
• The panel you install inside the enclosure for mounting your system components must be on a flat, rigid, vertical surface that won’t be subjected to shock, vibration, moisture, oil mist, dust, or corrosive vapors.
• Size the drive enclosure so as not to exceed the maximum ambient temperature rating. Consider heat dissipation specifications for all drive components.
• Combined motor power cable lengths for all axes and hybrid cable lengths for all IDM units on the same DC bus must not exceed 240 m (787 ft) with 400V-class systems or 160 m (525 ft) with 200V-class systems. Drive-to-motor power cables must not exceed 90 m (295.5 ft).
IMPORTANT System performance was tested at these cable length specifications.
These limitations also apply when meeting CE requirements.
• 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 modules, enclosure, machine frame, and motor housing, and to provide a low­impedance return path for high-frequency (HF) energy and reduce electrical noise.
Refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001 reduction.
, to better understand the concept of electrical noise
26 Rockwell Automation Publication 2094-UM001J-EN-P - March 2017
Plan the Kinetix 6000 Drive System Installation Chapter 2
Transformer Selection
The IAM module does not require an isolation transformer for three-phase input power. However, a transformer can be required to match the voltage requirements of the controller to the available service.
To size a transformer for the main AC power inputs, refer to the Kinetix 6000 power specifications in the Kinetix Servo Drives Technical Data, publication KNX-TD003
IMPORTANT If 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 three-phase power (where form factor is used to
compensate for transformer, drive module, and motor losses, and to account for utilization in the intermittent operating area of the torque speed curve).
For example, to size a transformer to the voltage requirements of a 2094-BC01-M01-S integrated axis module: 2094-BC01-M01-S = 6 kW continuous x 1.5 = 9.0 KVA transformer
.
AC Line Filter Selection
These AC line filters are available for your servo drive input power.
Table 7 - Kinetix 6000 (three-phase) AC Line Filter Selection
Drive Cat. No.
2094-AC05-MP5-S
2094-AC09-M02-S
2094-AC16-M03-S 75 5.2 (11.4) 2090-XXLF-375
2094-AC32-M05-S 100 9.5 (20.9) 2090-XXLF-3100
2094-BC01-MP5-S
2094-BC02-M02-S
2094-BC04-M03-S 75 5.2 (11.4) 2090-XXLF-375B
2094-BC07-M05-S 100 9.5 (20.9) 2090-XXLF-3100
Volt age
500V AC 50/60 Hz
500V AC 50/60 Hz
Current
A @ 50 °C (122 °F)
30 2.7 (5.9) 2090-XXLF-X330B2094-AC05-M01-S
30 2.7 (5.9) 2090-XXLF-X330B2094-BC01-M01-S
Refer to the Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004
, for additional AC line filter specifications.
Weight, a pprox
kg (lb)
AC Line Filter Cat. No.
Rockwell Automation Publication 2094-UM001J-EN-P - March 2017 27
Chapter 2 Plan the Kinetix 6000 Drive System Installation
Circuit Breaker/Fuse Options
The 2094-xCxx-Mxx-S and 2094-xMxx-S drive modules, and the Kinetix 6000M integrated drive-motor system (2094-SEPM-B24-S IPIM module and MDF-SBxxxxx IDM units) use internal solid-state motor short­circuit protection and, when protected by suitable branch circuit protection, are rated for use on a circuit capable of delivering up to 200,000 A (fuses) and 65,000 A (circuit breakers).
Table 8 - Control and DC-bus Circuit Protection Specifications
IAM Module Cat. No.
2094-AC05-MP5-S
2094-AC05-M01-S
2094-AC09-M02-S FWH-35B A50P35-4
2094-AC16-M03-S
2094-AC32-M05-S FWH-125B A50P125-4
2094-BC01-MP5-S
2094-BC01-M01-S
2094-BC02-M02-S FWJ-40A A70QS40-4 HSJ40
2094-BC04-M03-S FWJ-70A A70QS70-4 HSJ70
2094-BC07-M05-S FWJ-125A A70QS125-4 HSJ125
(1) Use FNQ-R-7.5 circuit breaker for higher single -cycle inrush current capability. This is recommended when the continuous control-power current exceeds 3.0 A. (2) Use 1492-SPM1D150 circuit breaker for higher single -cycle inrush current capability. This is recommended when the continuous control-power current exceeds 3.0 A. (3) Mersen fuses were formerly known as Ferraz Shawmut.
Bussmann Fuse
FNQ-R-10 (10 A)
FNQ-R-10 (10 A) or FNQ-R-7.5 (7.5 A)
Control Input Power DC-bus Power
Allen-Bradley® Circuit Breaker
(1)
(non-UL)
1492-SPM2D060
1492-SPM2D200
1492-SPM2D060 or 1492-SPM1D150
(2)
Bussmann Fuse Mersen Fuse
N/A A50P20-1
FWH-60B A50P60-4
FWJ-20A14F DCT20-2 HSJ20
Input Power Circuit Protection (LIM)
The 2094-AL09 and 2094-BL02 line interface modules (LIM) contain supplementary protection devices and, when protected by suitable branch circuit protection, are rated for use on a circuit capable of delivering up to 5000 A. When these modules are used, protection on the line side of the LIM module is required. Fuses must be class J or CC only.
(3)
The 2094-ALxxS, 2094-BLxxS, and 2094-XL75S-Cx LIM modules contain branch circuit rated devices suitable for use on a circuit capable of delivering up to 65,000 A (400V-class) or 100,000 A (200V-class).
Refer to the Line Interface Module Installation Instructions, publication
2094-IN005
, for power specifications and more information on using the LIM
module.
Refer to Input Power Circuit Protection (without LIM) on page 29 drive system does not include the LIM module.
28 Rockwell Automation Publication 2094-UM001J-EN-P - March 2017
when your
Plan the Kinetix 6000 Drive System Installation Chapter 2
Molded Case CB
Cat. No.
Motor Protection CB
Cat. No.
Miniature CB
Cat. No.
Molded Case CB
Cat. No.
140M-F8E-C16
1492-SPM3D300 1489-M3D300
NA2094-AC05-M01-S 230V
140G-G6C3-C50
NA2094-BC01-M01-S 360…480V
140G-G6C3-C50
140M-F8E-C32
N/A N/A NA
NA
140G-G6C3-C50
140G-G6C3-C90 140G-G6C3-C90
1492-SPM3D300 1489-M3D300
NA
140G-G6C3-C50
N/A N/A NA
140G-G6C3-C90 140G-G6C3-C90
Input Power Circuit Protection (without LIM)
The fuses and Allen-Bradley circuit breakers shown in Ta b l e 9 are recommended for use with 2094-xCxx-Mxx-S IAM
modules when the line interface module (LIM) is not used.
140M-F8E-C16
Motor Protection CB,
Self-protected CMC
Miniature CB
Cat. No.
Cat. No.
module. Follow all applicable NEC and local codes.
IMPORTANT LIM Modules (catalog numbers 2094-ALxxS, 2094-BLxxS, and 2094-XL75S-Cx) provide branch circuit protection to the IAM
140M-F8E-C16 140M-F8E-C16
1489-M3D300
1489-M3D400 140M-F8E-C20 1492-SPM3D400 1489-M3D400 140M- F8E-C20
N/A NA
Table 9 - Input Power Circuit Protection Specifications
KTK-R-20 (20 A)
Class CC
KTK-R-30 (30 A)
Class CC
LPJ-45SP (45 A)
Fuses (Bussmann)
Cat. No.
KTK-R-20 (20 A)
Class CC
Drive Voltage
(three-phase)
nom
Class J
LPJ-80SP (80 A)
Class J
140M-F8E-C32
KTK-R-20 (20 A)
Class CC
1489-M3D300
KTK-R-20 (20 A)
140M-F8E-C32 140M-F8E-C32
Class CC
1489-M3D400 140M-F8E-C45 1492-SPM3D400 1489-M3D400 140M-F8E-C45
KTK-R-30 (30 A)
Class CC
N/A NA
IAM module.
Refer to the Kinetix Servo Drives Technical Data, publication KNX-TD003, for additional power specifications for your
LPJ-45SP (45 A)
Class J
LPJ-80SP (80 A)
Class J
Kinetix 6000 Drives UL Applications IEC (non-UL) Applications
IAM Module
2094-AC09-M02-S 230V
Cat. No.
2094-AC05-MP5-S 230V
2094-AC16-M03-S 230V
2094-AC32-M05-S 230V
2094-BC01-MP5-S 360…480V
2094-BC02-M02-S 360…480V
2094-BC04-M03-S 360…480V
2094-BC07-M05-S 360…480V
Rockwell Automation Publication 2094-UM001J-EN-P - March 2017 29
Chapter 2 Plan the Kinetix 6000 Drive System Installation
Enclosure Selection
This example is provided to assist you in sizing an enclosure for your Bulletin 2094 drive system. The example system consists of these components:
• 6-axis Bulletin 2094 servo drive system
• Line Interface Module (LIM)
• ControlLogix® chassis and modules (controller)
Size the Bulletin 2094 servo drive and LIM module and use the results to predict the amount of heat dissipated into the enclosure. You also need heat dissipation data from other equipment inside the enclosure (such as the ControlLogix controller). Once the total amount of heat dissipation (in watts) is known, you can calculate the minimum enclosure size.
Table 10 - Bulletin 2094 System Heat Dissipation Example
Enclosure Component Description Loading
2094-BC02-M02-x
2094-BM02-x Axis module (AM), 400/460V, 15 A 60% 93
2094-BM02-x Axis module (AM), 400/460V, 15 A 60% 93
2094-BM01-x Axis module (AM), 400/460V, 9 A 40% 73
2094-BM01-x Axis module (AM), 400/460V, 9 A 40% 73
2094-BM01-x Axis module (AM), 400/460V, 9 A 20% 57
2094-BL25S Line interface module (LIM), 400/460V, 25 A; 24V DC 20 A 100% 43
2094-PRS6 Power rail, 460V, 6 axis N/A 0
2090-XB33-32 Resistive brake module (RBM), 33 A, 32 Ω N/A 30
Total Kinetix 6000 system wattage 578
(1) To determine heat dissipation specifications for your drive system components, refer to Tabl e 12 on page 32.
Integrated axis module (IAM), 400/460V
15 kW (converter section) 20% 44
15 A (inverter sect ion) 40% 72
(1)
Heat Dissipation watts
(1)
30 Rockwell Automation Publication 2094-UM001J-EN-P - March 2017
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