Allen-Bradley 2094-PRF, 2094-SEPM-B24-S, 2094-BSP2 User Manual
User Manual
Original Instructions
Kinetix 6200 and Kinetix 6500 Modular
Multi-axis Servo Drives
Catalog Numbers
2094-BCxx-Mxx-M, 2094-BMxx-M
2094-SE02F-M00-Sx, 2094-EN02D-M01-Sx,
2094-BSP2, 2094-PRF, 2094-SEPM-B24-S
Important User Information
Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to
familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws,
and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are
required to be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may
be impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from
the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or
software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous
environment, which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous
voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may
reach dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to
potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL
Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).
Table of Contents
Summary of Changes
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
Preface
Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Chapter 1
Start About the Kinetix 6200 and Kinetix 6500 Drive Systems . . . . . . . . . 14
Typical Hardware Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Typical Communication Configurations . . . . . . . . . . . . . . . . . . . . . . . . 19
Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Kinetix Drive Component Compatibility . . . . . . . . . . . . . . . . . . . . . . . 24
Kinetix 6000M Integrated Drive-Motor System Compatibility . . . 24
Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
CE Requirements (system without LIM module). . . . . . . . . . . . . 25
CE Requirements (system with LIM module). . . . . . . . . . . . . . . . 26
Chapter 2
Plan the Kinetix 6200 and
Kinetix 6500 Drive System
Installation
System Design Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
System Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Transformer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
AC Line Filter Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Circuit Breaker/Fuse Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Enclosure Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . 35
Electrical Noise Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Bonding Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Bonding Multiple Subpanels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Establishing Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Cable Categories for Kinetix 6200 and Kinetix 6500 Systems . 47
Noise Reduction Guidelines for Drive Accessories. . . . . . . . . . . . 49
Mount the Kinetix 6200 and
Kinetix 6500 Drive System
Chapter 3
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Using the 2094 Mounting Brackets . . . . . . . . . . . . . . . . . . . . . . . . . 53
Installing the 2094 Power Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Determine Mounting Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Mount Modules on the Power Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Mount the Control Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Rockwell Automation Publication 2094-UM002G-EN-P - August 2016 3
Table of Contents
Chapter 4
Connector Data and Feature
Descriptions
2094 Power Module and Control Module Features . . . . . . . . . . . . . . 62
I/O, Safety, and Auxiliary Feedback Connector Pinout . . . . . . . 65
Motor Feedback Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . 66
Ethernet Communication Connector Pinout . . . . . . . . . . . . . . . . 67
IAM Input Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
IAM and AM Motor Power and Brake Connector Pinout . . . . 68
Control Signal Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Ethernet Communication Specifications . . . . . . . . . . . . . . . . . . . . 71
Sercos Communication Specifications. . . . . . . . . . . . . . . . . . . . . . . 71
Contactor Enable Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Power and Relay Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Motor/Resistive Brake Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Input Power Cycle Capability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Peak Current Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Control Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Feedback Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Absolute Position Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Motor Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Auxiliary Position Feedback Specifications. . . . . . . . . . . . . . . . . . . 86
Safe Speed Monitor Safety Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Safe Torque Off Safety Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Connect the Kinetix 6200 and
Kinetix 6500 Drive System
Chapter 5
Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Building Your Own Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Routing the Power and Signal Cables. . . . . . . . . . . . . . . . . . . . . . . . 92
Determine the Input Power Configuration . . . . . . . . . . . . . . . . . . . . . . 93
Grounded Power Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Ungrounded Power Configurations. . . . . . . . . . . . . . . . . . . . . . . . . 95
DC Common Bus Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Common Bus Fusing Requirements. . . . . . . . . . . . . . . . . . . . . . . . . 97
Set the Ground Jumper in Select Power Configurations . . . . . . . . . . 97
Set the Ground Jumper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Grounding the Modular Drive System . . . . . . . . . . . . . . . . . . . . . . . . . 101
Ground the Power Rail to the System Subpanel . . . . . . . . . . . . . 101
Ground Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Power Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Power Wiring Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Wiring the IAM/AM Module Connectors . . . . . . . . . . . . . . . . . . . . . 106
Wire the Control Power (CPD) Connector . . . . . . . . . . . . . . . . 106
Wire the Input Power (IPD) Connector. . . . . . . . . . . . . . . . . . . . 107
Wire the Contactor Enable (CED) Connector. . . . . . . . . . . . . . 109
Wire the Motor Power (MP) Connector . . . . . . . . . . . . . . . . . . . 110
Wire the Motor/Resistive Brake (BC) Connector . . . . . . . . . . . 116
4 Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
Configure and Start the
Kinetix 6200 Drive System
Table of Contents
Apply the Motor Cable Shield Clamp. . . . . . . . . . . . . . . . . . . . . . . . . . 119
Feedback and I/O Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . 120
Flying-lead Feedback Cable Pinouts . . . . . . . . . . . . . . . . . . . . . . . . 122
Wiring the Feedback and I/O Connectors . . . . . . . . . . . . . . . . . . . . . 124
Connect Premolded Motor Feedback Cables . . . . . . . . . . . . . . . 124
Connect Panel-mounted Breakout Board Kits . . . . . . . . . . . . . . 125
Wire Low-profile Connector Kits. . . . . . . . . . . . . . . . . . . . . . . . . . 126
External Shunt Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 129
IPIM Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
RBM Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Sercos Fiber-optic Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . 132
Kinetix 6000M Integrated Drive-Motor Sercos Connections . . . . 135
Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Chapter 6
Configure the Kinetix 6000M Integrated Drive-Motor System. . . 141
Configure the Drive Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Configure the Logix5000 Sercos interface Module . . . . . . . . . . . . . . 148
Configure the Logix5000 Controller . . . . . . . . . . . . . . . . . . . . . . . 148
Configure the Logix5000 Module. . . . . . . . . . . . . . . . . . . . . . . . . . 150
Configure the Kinetix 6200 Drive Modules. . . . . . . . . . . . . . . . . 152
Configure the Motion Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Apply Power to the Kinetix 6200 Drive . . . . . . . . . . . . . . . . . . . . . . . . 161
Test and Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Test the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Configure and Start the
Kinetix 6500 Drive System
Chapter 7
Configure the Drive Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Configure the Logix EtherNet/IP Module. . . . . . . . . . . . . . . . . . . . . . 173
Configure the Logix Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Configure the Logix Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Configure the Kinetix 6500 Drive Modules. . . . . . . . . . . . . . . . . 177
Configure the Motion Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Apply Power to the Kinetix 6500 Drive . . . . . . . . . . . . . . . . . . . . . . . . 189
Test and Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Test the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
Rockwell Automation Publication 2094-UM002G-EN-P - August 2016 5
Table of Contents
Chapter 8
Troubleshoot the Kinetix 6200
and Kinetix 6500 Drive System
Remove and Replace the
Kinetix 6200 and Kinetix 6500
Drive Modules
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Interpret Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Kinetix 6000M IDM System Error Codes . . . . . . . . . . . . . . . . . . 198
Four-character Display Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Control Module Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . 210
Shunt Module Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
General System Anomalies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Logix5000 Controller and Drive Behavior. . . . . . . . . . . . . . . . . . . . . . 215
Kinetix 6500 Drive Exception Behavior . . . . . . . . . . . . . . . . . . . . 215
Kinetix 6200 Drive Fault Behavior. . . . . . . . . . . . . . . . . . . . . . . . . 217
Drive Exception/Fault Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Chapter 9
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Remove Kinetix 6200 and Kinetix 6500 Drive Modules . . . . . . . . . 224
Remove the Control Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
Remove the Drive Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
Replace Kinetix 6200 and Kinetix 6500 Drive Modules. . . . . . . . . . 227
Replace the Drive Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
Replace the Control Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Remove the Power Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Replace the Power Rail. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
Appendix A
Interconnect Diagrams Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
DC Common Bus Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . 237
Shunt Module Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
Axis Module/Rotary Motor Wiring Examples . . . . . . . . . . . . . . . . . . 242
Axis Module/Linear Motor/Actuator Wiring Examples . . . . . . . . . 247
Kinetix 6000M Integrated Drive-Motor Wiring Example. . . . . . . . 252
Controlling a Brake Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
Appendix B
Upgrade the Drive Firmware Upgrade Kinetix 6000M System Firmware . . . . . . . . . . . . . . . . . . . . . 257
Upgrade Drive Firmware with ControlFLASH Software . . . . . . . . 258
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
Configure Logix5000 Communication. . . . . . . . . . . . . . . . . . . . . 259
Upgrade Firmware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
Verify the Firmware Upgrade. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
6 Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
Table of Contents
Appendix C
DC Common Bus Applications Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
Calculate Total Bus Capacitance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
Calculate Additional Bus Capacitance . . . . . . . . . . . . . . . . . . . . . . . . . 269
Bulletin 2094 Drive Capacitance Values. . . . . . . . . . . . . . . . . . . . . . . . 269
Common Bus Capacitance Example . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
Appendix D
Configure the Load Observer
Feature
Benefits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
How it Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
Remaining IDN Parameter Descriptions . . . . . . . . . . . . . . . . . . . 274
Out-of-Box Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
Auto-tune Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
Tuning Mode Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
Manual Tuning for Further Optimization . . . . . . . . . . . . . . . . . . 282
Setting Gains with Sercos IDN Write Messages . . . . . . . . . . . . . . . . . 284
Compensate for High Frequency Resonances . . . . . . . . . . . . . . . . . . . 285
Appendix E
Web Server Interface Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
Web-server Interface Categories . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
Home Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
Diagnostics Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
Drive Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
Drive Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
Motor Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
Network Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
Ethernet Statistics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
CIP Statistics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
Encoder Statistics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
Peak Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
Monitor Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
Oscilloscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
Fault Logs Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
Configure Fault Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
Data Logs Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
Temperatures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
Administrative Settings Category. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
Browse Power Rail Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
Safety Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
Safety Main . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
Safety Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
Configuration Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
Change Safety Password. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Rockwell Automation Publication 2094-UM002G-EN-P - August 2016 7
Table of Contents
Appendix F
Changing the Default IDN
Parameter Values
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Change IDN Parameter Values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Read the Present IDN Parameter Value . . . . . . . . . . . . . . . . . . . . 308
Calculate/Select the New IDN Value . . . . . . . . . . . . . . . . . . . . . . 310
Write the New IDN Parameter Value . . . . . . . . . . . . . . . . . . . . . . 311
Appendix G
RBM Module Interconnect
Diagrams
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
RBM Module Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
Appendix H
EC Certifications EC Type - Examination Certificate . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
EC Declaration of Conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
Index
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
8 Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
Summary of Changes
This manual contains new and updated information as indicated in the
following table.
Top ic Pag e
Added publication MOTION-RM003 to Additional Resources. 12
Added line-filter part numbers for systems without LIM modules and single-phase control
power.
Updated the internal solid-state motor short-circuit protection rating to include 200,000 A
(fuses) and 65,000 A (circuit breakers).
Corrected errors in the Absolute Position Feature table and figure. 79
Updated all instances of EnDat 2.1 and EnDat 2.2 to read EnDat Sine/Cosine and EnDat
Digital, respectively.
Added a footnote regarding supported model ECI119 in Tabl e 4 6
Corrected pinouts in Auxiliary Feedback Signals by Device Type table (pins 6…15). Also,
added footnote and ATTENTION for wiring encoder power.
Updated intro text in Tune the Axes with reference to Kinetix® 6200 drive firmware 1.049
and link to Appendix D
Updated FLT S47 fault code Possible Resolutions and added sub-code definitions. 203
Updated Symptom and Resolution columns for INHIBIT S04 fault code. 209
Added INHIBIT M07 fault code. 209
Added Appendix D
Updated the torque low-pass filter bandwidth value for Kinetix 6200 drives and removed
references to Kinetix 6000 drive firmware revisions.
Added Appendix E
Added Appendix H, EC Certifications 317
,
, Configure the Load Observer Feature 271
, Web Server Interface 287
.86
25
30
79 and throughout
87
165
275
Rockwell Automation Publication 2094-UM002G-EN-P - August 2016 9
Summary of Changes
Notes:
10 Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
Preface
This manual provides detailed installation instructions for mounting, wiring,
and troubleshooting Kinetix 6200 and Kinetix 6500 (Bulletin 2094) servo
drives; and system integration for your drive and motor/actuator combination
with a Logix5000™ controller.
For information on wiring, configuring, and troubleshooting the Safe Speed
Monitor functions, refer to the Kinetix 6200 and Kinetix 6500 Safe Speed
Monitoring Safety Reference Manual, publication 2094-RM001
For information on wiring, configuring, and troubleshooting the Safe Torque
Off functions, refer to the Kinetix 6200 and Kinetix 6500 Safe Torque-off
Safety Reference Manual, publication 2094-RM002
.
This manual is intended for engineers or technicians directly involved in the
installation and wiring of the Kinetix 6200 and Kinetix 6500 drives; and
programmers directly involved in the operation, field maintenance, and
integration of these drives with a sercos interface or EtherNet/IP™
communication module.
If you do not have a basic understanding of the Kinetix 6200 and Kinetix 6500
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 6200 and Kinetix 6500 drive modules are
shown in the table below and are used throughout this manual.
Acronym
IAM Integrated Axis Module 2094-xBCxx-Mxx-xM
AM Axis Module 2094-xBMxx-xM
LIM Line Interface Module 2094-xBLxx and 2094-xBLxxS-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
Kinetix 6200 and Kinetix 6500
Drive Modules
Cat. No.
Rockwell Automation Publication 2094-UM002G-EN-P - August 2016 11
Preface
Additional Resources
These documents contain additional information concerning related products
from Rockwell Automation.
Resource Description
Kinetix 6000 Power Rail Installation Instructions, publication 2094-IN003
Kinetix 6000 Shunt Module Installation Instructions, publication 2094-IN004
Slot-filler Module Installation Instructions, publication 2094-IN006
Line Interface Module Installation Instructions, publication 2094-IN005
2094 Mounting Bracket Installation Instructions, publication 2094-IN008
Resistive Brake Module Installation Instructions, publication 2090-IN009
Fiber-optic Cable Installation and Handling Instructions, publication 2090-IN010
External Shunt Modules Installation Instructions, publication 209 0-IN004
System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001
Kinetix 6000M Integrated Drive-Motor User Manual, publication 2094-UM003
Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Ser vo Drives Safety Reference Manual,
publication 2094-RM001
Kinetix 6200 and Kinetix 6500 Safe Torque-off Servo Drives Safety Reference Manual,
publication 2094-RM002
Kinetix 6000 and Kinetix 6200/6500 Drive Systems, publication GMC-RM003
Kinetix Motion Control Selection Guide, publication KNX-SG001
Kinetix Rotary Motion Specifications, publication GMC-TD001
Kinetix Linear Motion Specifications, publication GMC-TD002
Kinetix Servo Drives Specifications, publication KNX-TD003
Kinetix Motion Accessories Specifications, publication KNX-TD004
Rockwell Automation® Configuration and Selection Tools
website http://ww w.rockwellautomation.com/en/e-tools
Rockwell Automation Product Certification,
website http://ww w.rockwellautomation.com/products/certification
Sercos and Analog Motion Configuration User Manual, publication MOTION-UM001
Motion Coordinate System User Manual, publication MOTION-UM002
Integrated Motion on the EtherNet/IP Network Configuration and Startup User Manual,
publication MOTION-UM003
Integrated Motion on the EtherNet/IP Network Reference Manual, publication MOTION-RM003
SoftLogix Motion Card Setup and Configuration Manual, publication 1784-UM003
ControlFL ASH Firmware Upg rade Kit User Ma nual, public ation 1756-QS105
Rockwell Automation Industrial Automation Glossary, publication AG-7.1
Information on the installation of your Bulletin 2094 power rail.
Information on the installation of your Bulletin 2094 shunt module.
Information on the installation of Bulletin 2094 slot-filler module.
Information on the installation and troubleshooting of Bulletin 2094 line interface modules
(LIM).
Information on the installation of Bulletin 2094 mounting brackets.
Information on the installation and wiring of Bulletin 2090 Resistive Brake Modules.
Information on proper handling, installing, testing, and troubleshooting fiber-optic cables.
Information on mounting and wiring the Bulletin 1394 shunt modules with Bulle tin 2094 servo
drive systems.
Information, examples, and techniques designed to minimize system failures caused by
electrical noise.
Information on installing, configuring, startup, troubleshooting, and applications for your
Kinetix 6000M integrated drive-motor (IDM) system.
Information on wiring, configuring, and troubleshooting the Safe Speed Monitor features of
your Kinetix 6200 and Kinetix 6500 drives.
Information on wiring, configuring, and troubleshooting the safe torque-off features of your
Kinetix 6200 and Kinetix 6500 drives.
System design guide to select the required (drive specific) drive module, power accessory,
connector kit, motor cable, and interface cable catalog numbers for your drive and motor/
actuator motion control system.
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.
Product specifications for MP-Series™ (Bulletin MPL, MPM, MPF, MPS), Kinetix 6000M
(Bulletin MDF), TL-Series™, RDD-Series™, and HPK-Series™ rotary motors.
Product specifications for Bulletin MPAS and MPMA linear stages, Bulletin MPAR, MPAI, and
TLAR electric cylinders, and LDC-Series™ and LDL-Series™ linear motors.
Product specifications for Kinetix Integrated Motion over the EtherNet/IP network, Integrated
Motion over sercos interface, EtherNet/IP networking, and component servo drive families.
Product specifications for Bulletin 2090 motor and inter face cables, low-profile connector kits,
drive power components, and other servo drive accessory items.
Motion Analyzer application analysis software for drive/motor sizing and online product
selection and system configuration tools, including AutoCAD (DXF) files.
For declarations of conformity (DoC) currently available from Rockwell Automation.
Information on configuring and troubleshooting your ControlLogix®, CompactLogix™, and
SoftLogix™ sercos interface modules.
Information to create a motion coordinate system with sercos or analog motion modules.
Information on configuring and troubleshooting your ControlLogix and CompactLogix
EtherNet/IP network modules.
Information on descriptions of the AXIS_CIP_DRIVE attributes and the Studio 5000 Logix
Designer® application Control Modes and Methods.
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/global/literature-library/overview.page
To order paper copies of technical documentation, contact your local
Allen-Bradley distributor or Rockwell Automation sales representative.
12 Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
.
Chapter 1
Start
Use this chapter to become familiar with the design and installation
requirements for Kinetix 6200 and Kinetix 6500 drive systems.
Top ic Pa ge
About the Kinetix 6200 and Kinetix 6500 Drive Systems 14
Typical Hardware Configur ations 15
Typical Communication Configurations 19
Catalog Number Explanation 23
Kinetix Drive Component Compatibility 24
Kinetix 6000M Integrated Drive-Motor System Compatibility 24
Agenc y Compliance 25
Rockwell Automation Publication 2094-UM002G-EN-P - August 2016 13
Chapter 1 Start
About the Kinetix 6200 and
Kinetix 6500 Drive Systems
The Kinetix 6200 and Kinetix 6500 modular multi-axis servo drives are
designed to provide a Kinetix Integrated Motion solution for your drive/
motor/actuator applications.
Table 1 - Kinetix 6200 and Kinetix 6500 Drive System Overview
System
Component
Integrated Axis
Module
Axis Module 2094-BMxx-M
Control 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™ Compatible motors include LDC-Series iron core (400V-class) linear motors.
Linear
Actuators
Cab
es
l
AC Line Filters 2090-XXLF-xxxx Bulletin 2090-XXLF-xxxx three-phase AC line filters are required to meet CE in all 400V-class drive systems.
Line Interface
Modules
External Shunt
Modules
Resistive Brake
Module
Cat. No. Description
2094-BCxx-Mxx-M
2094-SE02F-M00-Sx Interchangeable modular components for wiring I/O, safety, and feedback options using sercos interface.
2094-EN02D-M01-Sx Interchangeable modular components for wiring I/O, safety, and feedback options using EtherNet/IP networking.
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
CompactLogix 5370
controllers
9324-RLD300xxE
MP-Series™, RDD-Series™
1326AB
MP-Series
LDAT-Series LDAT-Series integrated linear actuators are compatible with 400V-class drive systems.
2090-Series motor/
actuator cables
Kinetix 6000M integrated
drive-motor cables
Communication
2094-xLxx
2094-xLxxS
2094-XL75S-Cx
1394-SRxxxx
2090-XBxx-xx
Integrated Axis (power) Modules (IAM) with Safe Speed Monitor are available with 400V-class AC input power and contains an
inverter and converter section. The IAM power module requires one control module.
Axis (power) Modules (AM) are a shared DC-bus inverter rated for 400V-class input power. The AM power modules each require
one control module and must be used with an IAM power 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 6200 drive system. The communication link uses the IEC 61491 SErial Real-time COmmunication System (sercos) protocol
over a fiber-optic cable.
The EtherNet/IP network module serves as a link between the ControlLogix platform and Kinetix 6500 drive system. Linear,
device-level ring (DLR), and star topology is supported. The Kinetix 6000M IPIM module connects to the EtherNet/IP network for
monitoring, diagnostics, and firmware upgrades.
The Studio 5000 Logix Designer® application provides support for programming, commissioning, and maintaining the Logix5000
family of controllers.
Compatible rotary motors include the MP-Series (Bulletin MPL, MPM, MPF, and MPS), RDD-Series (Bulletin RDB), and 1326AB
(M2L/S2L) 400V-class motors.
Compatible actuators include MP-Series (400V-class) Bulletin MPAS single-axis and Bulletin MPMA multi-axis integrated linear
stages, and MP-Series (400V-class) Bulletin MPAR and MPAI electric cylinders.
Bulletin 2090 motor/actuator 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 6500, Kinetix 6200, and Kinetix 6000M IPIM modules. Shielded cable
is recommended.
Line interface modules (LIM) include the circuit breakers, AC line filter (catalog number 2094-BL02 only), power supplies, and
safety contactor required for Kinetix 6200 and Kinetix 6500 operation. The LIM module does not mount to th e 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 power 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-UM002G-EN-P - August 2016
Start Chapter 1
Kinetix 6200 or Kinetix 6500 Multi-axis Servo Drive System
2094-BLxxS
Line Interface Module
(optional component)
2094-BMxx-M
AM Power Modules (5) with
Bulletin 2094
Control Modules (5)
Three-phase
Input Power
2094-BCxx-Mxx-M
IAM Power Module
with
Bulletin 2094
Control Module
2094-BSP2
Shunt Module
(optional component)
2090-XXLF-xxxx
AC Line Fi lter
(required for CE)
2094-PRSx
Power Rail
2094-PRF
Slot Filler Module
(required to fill any
unused slots)
I/O Connections
To Input Sensors
and Control String
115/230V Control Power
2090-K6CK-Dxxxx
Low Profile Connector Kits for I/O, Safety,
Motor Feedback, and Aux Feedback
MP-Series Integrated Linear Stages
(MPAS-B9xxx ballscrew shown)
MP-Series Rotary Motors
(MPL-Bxxxx motors shown)
Bulletin 2090
Motor Feedback Cables
Bulletin 2090
Motor Power Cables
MP-Series Electric Cylinders
(MPAR-Bxxxx electric cylinder shown)
LDC-Series Linear Motors
(LDC-Cxxxxxxx linear motor shown)
RDD-Series Direct Drive Motors
(RDB-Bxxxx motor shown)
MP-Series Heavy Duty Electric Cylinders
(MPAI-Bxxxx electric cylinders shown)
Typical Hardware
Configurations
Typical Kinetix 6200 and Kinetix 6500 system installations include threephase 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 6200 or Kinetix 6500 System Installation (with LIM)
www.ab.com
MADE IN USA
CAT. NO. LDC-M075500
SERIAL NO. XXXX X XXXX
SERIES A
Rockwell Automation Publication 2094-UM002G-EN-P - August 2016 15
CAT. NO. LDC-M075500
SERIAL NO. XXXX X XXXX
SERIES A
www.ab.com
MADE IN USA
Kinetix 6200 or Kinetix 6500 Modular Servo Drive System
Three- phase
Input Power
Single-phase
Control Power
I/O Connections
To Input Sensors
and Control String
2090-K6CK-Dxxxx
Low Profile Connector Kits for I/O, Safety,
Motor Feedback, and Aux Feedback
MP-Series Rotary Motors
(MPL-Bxxxx motors shown)
Bulletin 2090
Motor Feedback Cables
Bulletin 2090
Motor Power Cables
Line
Disconnect
Device
Magnetic
Contac tor
Circuit
Protection
2094-BMxx-M
AM Power Modules (5) with
Bulletin 2094
Control Modules (5)
2094-BCxx-Mxx-M
IAM Power Module
with
Bulletin 2094
Control Module
2094-BSP2
Shunt Module
(optional component)
2090-XXLF-xxxx
AC Line Filt er
(required for CE)
2094-PRSx
Power Rail
2094-PRF
Slot Filler Module
(required to fill any
unused slots)
MP-Series Integrated Linear Stages
(MPAS-B9xxx ballscrew shown)
LDC-Series Linear Motors
(LDC-Cxxxxxxx linear motor shown)
RDD-Series Direct Drive Motor
(RDB-Bxxxx motor shown)
MP-Series Electric Cylinders
(MPAR-Bxxxx electric cylinder shown)
MP-Series Heavy Duty Electric Cylinders
(MPAI-Bxxxx electric cylinders shown)
2090-XXLF-xxxx
AC Line Filter
(required for CE)
Chapter 1 Start
Figure 2 - Typical Kinetix 6200 or Kinetix 6500 System Installation (without LIM)
16 Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
Start Chapter 1
Three-phase
Input Power
Kinetix 6200 Modular
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, Safety,
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-UM002G-EN-P - August 2016 17
Chapter 1 Start
Three-phase
Input Power
115/230V Control Power
DC Common Bus
Kinetix 6200 or Kinetix 6500 Modular Servo Drive System
2094-BLxxS
Line Interface Module
(optional component)
2094-BMxx-M
AM Power Modules (5) with
Bulletin 2094 Control Modules (5)
2094-BCxx-Mxx-M
IAM Power Module
with
Bulletin 2094
Control Module
2094-BSP2
Shunt Module
(optional component)
2090-XXLF-xxxx
AC Line Filt er
(required for CE)
2094-PRSx
Power Rail
2094-PRF
Slot Filler Module
(required to fill any
unused slots)
2094-BMxx-M
AM Power Modules (5) with
Bulletin 2094 Control Modules (5)
2094-BCxx-Mxx-M
IAM Power Module
with
Bulletin 2094
Control Module
2094-PRSx
Power Rail
2094-PRF
Slot Filler Module
(required to fill any
unused slots)
2094-SEPM-B24-S
IPIM Module
Figure 4 - Typical 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 pre-charge the entire system. Refer to Appendix
page 267,
for more information.
IMPORTANT If total bus capacitance of your system exceeds the leader IAM power
module pre-charge rating, the IAM module four-character display scrolls a
C, beginning on
power cycle user limit condition. If input power is applied, the display scrolls
a power cycle fault limit condition.
To correct this condition, you must replace the leader IAM power module
with a larger module or decrease the total bus capacitance by removing the
IPIM module or AM power modules.
18 Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
Start Chapter 1
SERCOS interface
Tx (rear)
Rx (front)
OK
CP
62006200
SAFE SPEED
62006200
SAFE SPEED
0.2 m
(7.1 in.)
0.1 m
(5.1 in.)
62006200
SAFE SPEED
62006200
SAFE SPEED
62006200
SAFE SPEED
62006200
SAFE SPEED
62006200
SAFE SPEED
62006200
SAFE SPEED
0.3 m
(12.0 in.)
0.2 m
(7.1 in.)
TX
RX
TX
RX
62006200
SAFE SPEED
62006200
SAFE SPEED
62006200
SAFE SPEED
Logix5000 Sercos interface Module
Logix5000 Platform
(Control Logix is shown)
Logix Designer
Application
2090-SCxxx-x
Sercos Fiber-optic Cable
Logix Controller Programming Network
2094-BMxx-M
AM Power Modules (5)
with 2094-SE02F-M00-Sx
Control Modules (5)
2094-BCxx-Mxx-M
IAM Power Module
with
2094-SE02F-M00-Sx
Control Module
Ethernet (RJ45) connections are
required only for programming
the 2094-SE02F-M00-S1
safety configuration.
1585J-M8TBJM-x
Ethernet Cable
0.2 m (7.1 in.)
Kinetix 6200 Drive-to-Drive Sercos Cables
Kinetix 6200 Single-wide
2094-BCxx-Mxx-M
IAM Power Module
with
2094-SE02F-M00-Sx
Control Module
Kinetix 6200 Double-wide
2094-BCxx-Mxx-M
IAM Power Module
2094-SE02F-M00-Sx
Control Module
2094-BMxx-M Single-wide AM Power Module with
2094-SE02F-M00-Sx Control Module
2094-BMxx-M Double-wide AM Power Module with
2094-SE02F-M00-Sx Control Module
Kinetix 6200 (top view)
Sercos Connectors
2094-PRSx
Power Rail
2094-BMxx-M Single-wide AM Power Module
with 2094-SE02F-M00-Sx Control Module
2094-SEPM-B24-S IPIM Module
2094-BMxx-S Single-wide AM Modules
Kinetix 6000 and Kinetix 6000M
(top view) Sercos Connectors
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-UM002G-EN-P - August 2016 19
Chapter 1 Start
Logix5000 Platform
(Contro lLogix is shown)
Logix Designer
Application
Kinetix 6500 Modular Multi-axis Servo Drive System
1595J-M8CBJM-x
Ethernet (shielded) Cable
1756-ENxT EtherNet/IP Module
1734-AENT POINT I/O™
EtherNet/IP Adapter
ControlLogix Controller Programming Network
Panel View™ Pl us
Display Terminal
1783-ETAP
Modules
PowerFlex® 755
Drive Modules
2094-BMxx-M Axis Modules (5) with
2094-EN02D-M01-Sx Control Mo dules (5)
2094-BCxx-Mxx-M
Integrated
Axis Module
with
2094-EN02D-M01-Sx
Control Module
1585J-M8CBJM-OM3
0.3 m (1.0 ft) Ethernet cable
for drive-to-drive connections.
The Kinetix 6500 control modules can use any Ethernet topology including
star, linear, and device-level ring (DLR). DLR is an ODVA standard and
provides fault tolerant connectivity.
TIP 1756-EN2F modules are available for applications that require fiber-optic
cable for noise immunity.
In this example, all devices are connected in linear topology. The Kinetix 6500
control module includes dual-port connectivity. Devices without dual ports
should include the 1783-ETAP module or be connected at the end of the line.
• Up to 64 devices in linear configurations.
• No redundancy. If any device becomes disconnected, all the devices
downstream loose communication.
Figure 6 - Kinetix 6500 Linear Communication Installation (EtherNet/IP network)
20 Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
Start Chapter 1
Logix5000 Platform
(Control Logix is shown)
Logix Designer
Application
Kinetix 6500 Modular Multi-axis Servo Drive System
1595J-M8CBJM-x
Ethernet (shielded) Cable
1756-ENxTR EtherNet/IP Module
1734-AENT POINT I/O
EtherNet/IP Adapter
ControlLogix Controller Programming Network
1783-ETAP
Module
PowerFlex 755
Drive Module
2094-BMxx-M Axis Modules (5) with
2094-EN02D-M01-Sx Control Modules (5)
2094-BCxx-Mxx-M
Integrated
Axis Module
with
2094-EN02D-M01-Sx
Control Module
1585J-M8CBJM-OM3
0.3 m (1.0 ft) Ethernet cable
for drive-to-drive connections.
In this example, the devices are connected by using device-level ring (DLR)
topology. DLR topology is fault redundant. For example, if a device in the ring
is disconnected, the rest of the devices in the ring continue to maintain
communication.
• Up to 64 devices in the DLR configurations.
• All Devices in a DLR ring should have dual-port connectivity or be
connected in the ring by using a 1783-ETAP module.
Figure 7 - Kinetix 6500 Ring Communication Installation (EtherNet/IP network)
755
Rockwell Automation Publication 2094-UM002G-EN-P - August 2016 21
Chapter 1 Start
Logix5000 Platform
(Control Logix is shown)
Logix Designer
Application
Kinetix 6500 Modular Multi-axis Servo Drive System
2094-BMxx-M Axis Modules (5) with
2094-EN02D-M01-Sx Control Modules (5)
2094-BCxx-Mxx-M
Integrated
Axis Module
with
2094-EN02D-M01-Sx
Control Module
1595J-M8CBJM-x
Ethernet (shielded) Cable
1756-ENxT EtherNet/IP Module
1734-AENT POINT I/O
EtherNet/IP Adap ter
ControlLogix Controller Programming Network
Panel View Plus
Display Terminal
PowerFlex 755
Drive Module
1783-EMS
Stratix™ Switch
PowerFlex 755
Drive Module
1585J-M8CBJM-OM3
0.3 m (1.0 ft) Ethernet cable
for drive-to-drive connections.
In this example, the devices are connected by using star topology. Each device is
connected directly to the switch, making this topology fault tolerant. The
2094 power rail modules and other devices operate independently. The loss of
one device does not impact the operation of the other devices.
Figure 8 - Kinetix 6500 Star Communication Installation (EtherNet/IP network)
755755
22 Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
Start Chapter 1
Catalog Number Explanation
Kinetix 6200 and Kinetix 6500 (Bulletin 2094) modular drive catalog
numbers and descriptions are listed in the tables below. All power modules are
compatible with the Kinetix 6200 and Kinetix 6500 control modules.
Table 2 - Kinetix 6200 and Kinetix 6500 Drive Catalog Numbers
Integrated Axis Modules (460V) Cat. No.
IAM power module, 400V-class, 6 kW converter, 4 A (0-pk) inverter 2094-BC01-MP5-M
IAM power module, 400V-class, 6 kW converter, 9 A (0-pk) inverter 2094-BC01-M01-M
IAM power module, 400V-class, 15 kW converter, 15 A (0-pk) inverter 2094-BC02-M02-M
IAM power module, 400V-class, 28 kW converter, 30 A (0-pk) inverter 2094-BC04-M03-M
IAM power module, 400V-class, 45 kW converter, 49 A (0-pk) inverter 2094-BC07-M05-M
Axis Modules (460V)
AM power module, 400V-class, 4 A (0-pk) 2094-BMP5-M
AM power module, 400V-class, 9 A (0-pk) 2094-BM01-M
AM power module, 400V-class, 15 A (0-pk) 2094-BM02-M
AM power module, 400V-class, 30 A (0-pk) 2094-BM03-M
AM power module, 400V-class, 49 A (0-pk) 2094-BM05-M
Kinetix 6200 Control Modules
Control module, sercos interface, Safe Torque Off 2094-SE02F-M00-S0
Control module, sercos interface, Safe Speed Monitor 2094-SE02F-M00-S1
Kinetix 6500 Control Modules
Control module, EtherNet/IP network, Safe Torque Off 2094-EN02D-M01-S0
Control module, EtherNet/IP network, Safe Speed Monitor 2094-EN02D-M01-S1
Table 3 - 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
Rockwell Automation Publication 2094-UM002G-EN-P - August 2016 23
Chapter 1 Start
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 4 - 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-S IAM and 2094-BMxx-S
AM modules, refer to the Kinetix 6000 Multi-axis Servo Drives User Manual,
publication 2094-UM001
.
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 5 - 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
.
24 Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
Start Chapter 1
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 93
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 6200 and Kinetix 6500 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 6200 and
Kinetix 6500 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.
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 6200 and Kinetix 6500 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 231
power wiring and drive/motor interconnect diagrams.
Rockwell Automation Publication 2094-UM002G-EN-P - August 2016 25
for interconnect diagrams, including input
Chapter 1 Start
CE Requirements (system with LIM module)
To meet CE requirements when your Kinetix 6200 and Kinetix 6500 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-BL02) as close to the
IAM module as possible.
• Install the LIM module (catalog numbers 2094-BLxxS or 2094-XL75SCx) with line filter (catalog number 2090-XXLF-xxxx) as close to the
IAM module as possible.
When the LIM module (catalog numbers 2094-BLxxS or 2094-XL75SCx) supports two IAM modules, each IAM module requires an AC line
filter installed as close to the IAM module as possible.
26 Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
Chapter 2
Plan the Kinetix 6200 and Kinetix 6500 Drive
System Installation
This chapter describes system installation guidelines used in preparation for
mounting your Kinetix 6200 and Kinetix 6500 drive components.
Top ic Pa ge
System Design Guidelines 28
Electrical Noise Reduction 36
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-UM002G-EN-P - August 2016 27
Chapter 2 Plan the Kinetix 6200 and Kinetix6500 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 6200 and
Kinetix 6500 drive systems 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. 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.
• Combined length of Ethernet cables on Kinetix 6500 systems
connecting drive-to-drive, drive-to-controller, or drive-to-switch must
not exceed 100 m (328 ft).
• 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
28 Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Chapter 2
Transformer Selection
The IAM power module does not require an isolation transformer for threephase 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 6200/6500 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-M integrated axis module:
2094-BC01-M01-M = 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 6 - Kinetix 6200/6500 (three-phase) AC Line Filter Selection
Drive
Cat. No.
2094-BC01-MP5-M
2094-BC02-M02-M
2094-BC04-M03-M 75 5.2 (11.4) 2090-XXLF-375B
2094-BC07-M05-M 100 9.5 (20.9) 2090-XXLF-3100
Volt age
500V AC
50/60 Hz
Current
A @ 50 °C (122 °F)
30 2.7 (5.9) 2090-XXLF-X330B2094-BC01-M01-M
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-UM002G-EN-P - August 2016 29
Chapter 2 Plan the Kinetix 6200 and Kinetix6500 Drive System Installation
Circuit Breaker/Fuse Options
The 2094-BCxx-Mxx-M and 2094-BMxx-M 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 7 - Control and DC-bus Circuit Protection Specifications
IAM Module
Cat. No.
2094-BC01-MP5-S
2094-BC01-M01-S
2094-BC02-M02-S FWJ-40A A70QS40-4
2094-BC04-M03-S FWJ-70A A70QS70-4
2094-BC07-M05-S FWJ-125A A70QS125-4
(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) or
FNQ-R-7.5 (7.5 A)
Control Input Power DC-bus Power
(1)
Allen-Bradley® Circuit Breaker
(non-UL)
1492-SPM2D060 or
1492-SPM1D150
(2)
Bussmann Fuse Mersen Fuse
FWJ-20A14F DCT20-2
Input Power Circuit Protection (LIM)
The 2094-BL02 line interface module (LIM) contains supplementary
protection devices and, when protected by suitable branch circuit protection, is
rated for use on a circuit capable of delivering up to 5000 A. When this module
is used, protection on the line side of the LIM module is required. Fuses must
be class J or CC only.
The 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).
(3)
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 31
drive system does not include the LIM module.
30 Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
when your
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