Rockwell Automation 2094-EN02D-M01-Sx User Manual
User Manual
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
IMPORTANT
Solid-state equipment has operational characteristics differing from those of electromechanical equipment. Safety
Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1
your local Rockwell Automation® sales office or online at http://www.rockwellautomation.com/literature/
important differences between solid-state equipment and hard-wired electromechanical devices. Because of this difference,
and also because of the wide variety of uses for solid-state equipment, all persons responsible for applying this equipment
must satisfy themselves that each intended application of this equipment is acceptable.
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.
available from
) describes some
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.
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.
Identifies information that is critical for successful application and understanding of the product.
Allen-Bradley, CompactLogix, ControlFLASH, ControlLogix, Guardmaster, HPK-Series, Integrated Architecture, Kinetix, LDC-Series, LDL-Series, MP-Series, PanelView, POINT I/O, PowerFlex, RSLinx, RSLogix,
SoftLogix, RDD -Series, Rockwell Automation, Rockwell Software, Stratix, and TechConnect are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
This manual contains new and updated information.
Summary of Changes
New and Updated Information
Much information regarding the Kinetix® 6000M integrated drive-motor (IDM)
system has been added to this manual, however, the focus in this manual is on
how the IDM system affects the overall operation of the Kinetix 6200 drive
system.
For mounting, wiring, configuring, and troubleshooting information specific to
the Kinetix 6000M integrated drive-motor systems, refer to the Kinetix 6000M
Integrated Drive-Motor System User Manual, publication 2094-UM003
.
This revision also includes the following new and updated information:
• Bulletin 2090-K6CK-D44S0 connector kit and 2090-CS0DSDS-AAxx
cable for cascading safe torque-off signals
• Motor connector and cable changes for the Bulletin MPL-A/B15xxx and
MPL-A/B2xxx low-inertia motors and MPAR-A/B1xxx and
MPAR-A/B2xxx electric cylinders with SpeedTec DIN (M7) connectors
• MPAI-A/B2xxxx (frame 64 and 144) heavy-duty electric cylinders
Section Topic Page
Preface Added acronyms for the Kinetix 6000M integrated drive-motor (IDM) system. 11
Added the IPIM module to About the Kinetix 6200 and Kinetix 6500 Drive Systems. 14
Chapter 1
Chapter 2
Chapter 3
Chapter 5
Chapter 6
Chapter 8
Added the Kinetix 6000M integrated drive-motor (ID M) to typical system installatio n
diagrams and catalog number explanation.
Added the IPIM module to Minimum Clearance Requirements. 35
Added the IPIM module to Es tablishing Noise Zones. 45
Added the IPIM module to Determine Mounting Order. 56
Revised motor power, brake, and feedback cable compatibility tables to include the
MPL-A/B15xxx-xx7xAA and MPL-A/B2xxx-xx7xAA low-inertia motors and
MPAR-A/B1xxx and MPAR-A/B2xxx electric cylinders with SpeedTec (M7) connectors.
Added 2090-K6CK-D44S0 with 2090-CS0DSDS-AAxx cable for cascading safe torqueoff signals from drive-to-drive.
Added IPIM Module Connections with summary of installation connections and links
to other diagrams and publications with additional information.
Added Kinetix 6000M Integrated Drive-Motor Sercos Connections 134
Added Ethernet Cable Connections 135
Updated the introduction with an overview of IDM system configuration. 139
Updated the introduction with an overview of the IDM system troubleshooting 196
14…18
111, power
116, brake
119, feedback
119…127
129
Rockwell Automation Publication 2094-UM002E-EN-P - May 2012 3
Summary of Changes
Section Topic Page
Updated existing circular DIN (SpeedTec) interconnect diagram with Bulletin
Appendix A
Appendix B
Appendix C
MPL-A/B15xxx-xx7xAA and MPL-A/B2xxx-xx7xAA low-inertia motors with SpeedTec
(M7) connectors.
Updated the MP-Series™ (Bulletin MPAI) electric cylinders interconnect diagram
with frame 64 and 144 cable catalog numbers.
Updated the MP-Series (Bulletin MPAR) electric cylinders interconnect diagram with
cable catalog number changes for SpeedTec (M7) connector
Added Kinetix 6000M Integrated Drive-Motor Wiring Example. 251
Added Bulletin MDF catalog numbers to Controlling a Brake Example 252
Added an overview for IDM system firmware upgrades. 257
Updated the procedure and tables with IPIM module values. 267
244
248
4 Rockwell Automation Publication 2094-UM002E-EN-P - May 2012
Start
Table of Contents
Preface
About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Chapter 1
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). . . . . . . . . . . . . . . . . . . 25
Planning the Kinetix 6200 and
Kinetix 6500 Drive System
Installation
Mounting the Kinetix 6200 and
Kinetix 6500 Drive System
Chapter 2
System Design Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
System Mounting Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Transformer 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. . . . . . . . . . . . . . . 50
Chapter 3
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Using the 2094 Mounting Brackets . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Installing the 2094 Power Rail. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Determine Mounting Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Mount Modules on the Power Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Mount the Control Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Kinetix 6200 and Kinetix 6500
Connector Data
Chapter 4
2094 Power Module and Control Module Features . . . . . . . . . . . . . . . . . 64
I/O, Safety, and Auxiliary Feedback Connector Pinout . . . . . . . . . . 67
Motor Feedback Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Ethernet Communication Connector Pinout . . . . . . . . . . . . . . . . . . . 69
Rockwell Automation Publication 2094-UM002E-EN-P - May 2012 5
Table of Contents
IAM Input Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
IAM and AM Motor Power and Brake Connector Pinout. . . . . . . . 70
Control Signal Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Ethernet Communication Specifications . . . . . . . . . . . . . . . . . . . . . . . 73
Sercos Communication Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Contactor Enable Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Power and Relay Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Motor/Resistive Brake Relay. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Input Power Cycle Capability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Peak Current Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Control Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Absolute Position Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Motor Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Auxiliary Position Feedback Specifications. . . . . . . . . . . . . . . . . . . . . . 88
Safe Speed Monitoring Safety Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Safe Torque-off Safety Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Connecting 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
Setting the Ground Jumper in Ungrounded Power Configurations . . . 97
Set the Ground Jumper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Grounding the Modular Drive System . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Ground the Power Rail to the System Subpanel . . . . . . . . . . . . . . . . 100
Ground Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Power Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Power Wiring Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Wiring the IAM/AM Module Connectors . . . . . . . . . . . . . . . . . . . . . . . . 105
Wire the Control Power (CPD) Connector . . . . . . . . . . . . . . . . . . . 105
Wire the Input Power (IPD) Connector. . . . . . . . . . . . . . . . . . . . . . . 106
Wire the Contactor Enable (CED) Connector. . . . . . . . . . . . . . . . . 108
Wire the Motor Power (MP) Connector . . . . . . . . . . . . . . . . . . . . . . 109
Wire the Motor/Resistive Brake (BC) Connector . . . . . . . . . . . . . . 115
Apply the Motor Cable Shield Clamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Feedback and I/O Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Flying-lead Feedback Cable Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Wiring the Feedback and I/O Connectors. . . . . . . . . . . . . . . . . . . . . . . . . 123
Connect Premolded Motor Feedback Cables. . . . . . . . . . . . . . . . . . . 123
Connect Panel-mounted Breakout Board Kits . . . . . . . . . . . . . . . . . 124
6 Rockwell Automation Publication 2094-UM002E-EN-P - May 2012
Configure and Start the
Kinetix 6200 Drive System
Table of Contents
Wire Low-profile Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
External Shunt Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
IPIM Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
RBM Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Sercos Fiber-optic Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Kinetix 6000M Integrated Drive-Motor Sercos Connections . . . . . . . 134
Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Chapter 6
Configure the Kinetix 6000M Integrated Drive-Motor System . . . . . 139
Configure the Drive Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Configure the Logix Sercos interface Module . . . . . . . . . . . . . . . . . . . . . . 146
Configure the Logix Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Configure the Logix Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
Configure the Kinetix 6200 Drive Modules. . . . . . . . . . . . . . . . . . . . 150
Configure the Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Configure Axis Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Apply Power to the Kinetix 6200 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Test and Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Test the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Configure and Start the
Kinetix 6500 Drive System
Troubleshooting the Kinetix 6200
and Kinetix 6500 Drive System
Chapter 7
Configure the Drive Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Configure the Logix EtherNet/IP Module . . . . . . . . . . . . . . . . . . . . . . . . 171
Configure the Logix Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Configure the Logix Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Configure the Kinetix 6500 Drive Modules. . . . . . . . . . . . . . . . . . . . 175
Configure the Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Configure Axis Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Apply Power to the Kinetix 6500 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Test and Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Test the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Chapter 8
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Interpret Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
Kinetix 6000M IDM System Error Codes . . . . . . . . . . . . . . . . . . . . . 196
Four-character Display Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Control Module Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Shunt Module Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
General System Anomalies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Rockwell Automation Publication 2094-UM002E-EN-P - May 2012 7
Table of Contents
Removing and Replacing the
Kinetix 6200 and Kinetix 6500 Drive
Modules
Interconnect Diagrams
Logix Controller and Drive Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Kinetix 6500 Drive Exception Behavior . . . . . . . . . . . . . . . . . . . . . . . 214
Kinetix 6200 Drive Fault Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
Drive Exception/Fault Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
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 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 . . . . . . . 251
Controlling a Brake Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
Appendix B
Upgrading the Drive Firmware
Upgrade Kinetix 6000M System Firmware . . . . . . . . . . . . . . . . . . . . . . . . 257
Upgrade Drive Firmware with ControlFLASH Software . . . . . . . . . . . 258
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
Configure Logix Communication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
Upgrade Firmware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
Verify the Firmware Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
Appendix C
DC Common Bus Applications
8 Rockwell Automation Publication 2094-UM002E-EN-P - May 2012
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
Table of Contents
Changing the Default IDN Parameter
Values
RBM Module Interconnect Diagrams
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
Change IDN Parameter Values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
Read the Present IDN Parameter Value . . . . . . . . . . . . . . . . . . . . . . . 272
Calculate/Select the New IDN Value . . . . . . . . . . . . . . . . . . . . . . . . . 274
Write the New IDN Parameter Value . . . . . . . . . . . . . . . . . . . . . . . . . 275
Appendix E
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
RBM Module Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
Index
Rockwell Automation Publication 2094-UM002E-EN-P - May 2012 9
Table of Contents
Notes:
10 Rockwell Automation Publication 2094-UM002E-EN-P - May 2012
Preface
About This Publication
Who Should Use This Manual
This manual provides detailed installation instructions for mounting, wiring, and
troubleshooting Kinetix 6200 and Kinetix 6500 (Bulletin 2094) drives; and
system integration for your drive and motor/actuator combination with a Logix
controller.
For information on wiring, configuring, and troubleshooting the safe-speed
monitoring 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.
Kinetix 6200 and Kinetix 6500 Drive
Modules
Integrated Axis Module 2094-BCxx-Mxx-MIAM
Axis Module 2094-BMxx-M AM
Line Interface Module 2094-BLxx and 2094-BLxxS-xx LIM
Resistive Brake Module 2090-XBxx-xx RBM
Kinetix 6000M Drive Modules Cat. No. Acronym
Integrated Drive-Motor MDF-SBxxxxx IDM
IDM Power Interface Module 2094-SEPM-B24-S IPIM
Cat. No. Acronym
Rockwell Automation Publication 2094-UM002E-EN-P - May 2012 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
EMC Noise Management DVD, publication GMC-SP004
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 Safet y Reference Manual,
publication 2094-RM002
Kinetix 6000 and Kinetix 6200/6500 Drive Systems,
publication GMC-RM003
Kinetix Motion Control Selection Guide, publication GMC-SG001
Kinetix Rotary Motion Specifications, publication GMC-TD001
Kinetix Linear Motion Specifications, publication GMC-TD002
Kinetix Servo Drives Specifications, publication GMC-TD003
Kinetix Motion Accessories Specifications, publication GMC-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
SoftLogix Motion Card Setup and Configuration Manual, publication 1784-UM003
ControlFL ASH Firmware Upg rade Kit User Ma nual, public ation 1756-QS105
National Electrical Code, published by the National Fire Protection Association of Boston, MA An article on wire sizes and types for grounding electrical equipment.
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 Bulletin 2 094 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 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-Serie s™, 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 mot ion coordinate system with sercos or analog motion modules.
Information on configuring and troubleshooting your ControlLogix and CompactLogix
EtherNet/IP network modules.
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-UM002E-EN-P - May 2012
. To order paper copies of
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 Ha rdware Configurations 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-UM002E-EN-P - May 2012 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 Rai l
Power Rai l
Slot-filler Module
Logix Controller
Platform
RSLogix™ 5000
Software
Rotary Servo
Motors
Linear Motors LDC-Series Compatible motors include LDC-Series iron core (400V-class) linear motors.
Linear Actuators MP-Series
Cables
AC Line Filters 2090-XXLF-xxxx
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-RLD300ENE RSLogix 5000 software provides support for programming, commissioning, and maintaining the Logix family of controllers.
MP-Series, RDD-Series
1326AB
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 monitoring 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 platform 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.
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 Bul letin 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 s
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.
Bulletin 2090-XXLF-xxxx three-phase AC line filters are required to meet CE and available for use in all Kinetix 6200 and
Kinetix 6500 (400V-class) drive systems.
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 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 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 control circuit. Contactors and resistors 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.
ervo motors. Feedback cables have flying leads that wire
14 Rockwell Automation Publication 2094-UM002E-EN-P - May 2012
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
MAIN VAC
Typical Kinetix 6200 and Kinetix 6500 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 will disable the threephase power; however, control power is still present.
Figure 1 - Typical Kinetix 6200 or Kinetix 6500 System Installation (with LIM)
m
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D
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00
55
C-M07
. LD
XXXX X XXXX
. NO
NO.
CAT
SERIAL
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SERIE
Rockwell Automation Publication 2094-UM002E-EN-P - May 2012 15
CAT. NO. LDC-M075500
SERIAL NO. XXXX X XXXX
SERIES A
www.ab.com
MADE IN USA
Kinetix 6200 or Kinetix 6500 Multi-axis Servo Drive System
Three-p hase
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
Input
Fusing
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 Filter
(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-UM002E-EN-P - May 2012
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-Qx8xA-S
Drive-Motor Unit
MDF-SBxxxxx-Qx8xA-S
Drive-Motor Unit
MDF-SBxxxxx-Qx8xA-S
Drive-Motor Unit
MDF-SBxxxxx-Qx8xA-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-UM002E-EN-P - May 2012 17
Chapter 1 Start
Three-phase
Input Power
115/230V Control Power
DC Common Bus
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)
2094-BCxx-Mxx-M
IAM Power Module
with
Bulletin 2094
Control Module
2094-BSP2
Shunt Module
(optional component)
2090-XXLF-xxxx
AC Line Filter
(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
IMPORTANT
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.
If total bus capacitance of your system exceeds the leader IAM power module
pre-charge rating, the IAM module four-character display scrolls a power cycle
C, beginning on
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-UM002E-EN-P - May 2012
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
Logix Sercos interface Module
Logix Platform
(Control Logix is shown)
RSLogix 5000
Software
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 Logix
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-UM002E-EN-P - May 2012 19
Chapter 1 Start
TIP
Logix Platform
(Contro lLogix is shown)
RSLogix 5000
Software
Kinetix 6500 Modular Multi-axis Servo Drive System
1585J-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 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.
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.
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-UM002E-EN-P - May 2012
Start Chapter 1
ControlLogix Platform
RSLogix 5000
Software
Kinetix 6500 Modular Multi-axis Servo Drive System
1585J-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-UM002E-EN-P - May 2012 21
Chapter 1 Start
ControlLogix Platform
RSLogix 5000
Software
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
1585J-M8CBJM-x
Ethernet (shielded) Cable
1756-ENxT EtherNet/IP Module
1734-AENT POINT I/O
EtherNet/IP Adapter
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-UM002E-EN-P - May 2012
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 monitoring 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 monitoring 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-UM002E-EN-P - May 2012 23
Chapter 1 Start
IMPORTANT
Kinetix Drive Component Compatibility
IAM Module Control Module
2094-xCxx-Mxx-S N/A
2094-SE02F-M00-Sx
2094-BCxx-Mxx-M
(IAM power module)
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.
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-xMxx-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) 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) N/A
2094-BCxx-Mxx-M
(IAM power module)
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 c ompatible
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-UM002E-EN-P - May 2012
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 may 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 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. Driveto-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.
for interconnect diagrams, including input
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-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-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.
Rockwell Automation Publication 2094-UM002E-EN-P - May 2012 25
Chapter 1 Start
Notes:
26 Rockwell Automation Publication 2094-UM002E-EN-P - May 2012
Chapter 2
Planning 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-UM002E-EN-P - May 2012 27
Chapter 2 Planning the Kinetix 6200 and Kinetix 6500 Drive System Installation
IMPORTANT
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 IP2X
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).
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-UM002E-EN-P - May 2012
Planning the Kinetix 6200 and Kinetix 6500 Drive System Installation Chapter 2
IMPORTANT
IMPORTANT
Transformer Selection
The IAM power module does not require an isolation transformer for threephase input power. However, a transformer may 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 GMC-TD003
If using an autotransformer, make sure that the phase to neutral/ground
voltages do not exceed the input voltage ratings of the drive.
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
.
Rockwell Automation Publication 2094-UM002E-EN-P - May 2012 29
Chapter 2 Planning the Kinetix 6200 and Kinetix 6500 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 or circuit
breakers, with adequate withstand and interrupt ratings, as defined in NEC or
applicable local codes, are permitted.
The 2094-BL02 LIM module 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).
Refer to the Line Interface Module Installation Instructions, publication
2094-IN005
module.
, for power specifications and more information on using the LIM
The Bulletin 140M and 140U products are another acceptable means of
protection. As with fuses and circuit breakers, you must make sure that the
selected components are properly coordinated and meet applicable codes
including any requirements for branch circuit protection. When applying the
140M/140U product, evaluation of the short circuit available current is critical
and must be kept below the short circuit current rating of the 140M/140U
product.
In most cases, class CC, J, L, and R fuses selected to match the drive input current
rating will meet the NEC requirements or applicable local codes, and provide the
full drive capabilities. Dual element, time delay (slow-acting) fuses should be
used to avoid nuisance trips during the inrush current of power initialization.
30 Rockwell Automation Publication 2094-UM002E-EN-P - May 2012
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