Rockwell Automation 2094-xMxx-S User Manual

User Manual

Kinetix 6000 Multi-axis Servo Drives

Catalog Numbers
2094-ACxx-Mxx-S, 2094-BCxx-Mxx-S, 2094-AMxx-S, 2094-BMxx-S
2094-ACxx-Mxx, 2094-BCxx-Mxx, 2094-AMxx, 2094-BMxx,
2094-BSP2, 2094-PRF, 2094-SEPM-B24-S

Important User Information

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, DriveExplorer, Guardmaster, HPK-Series, Integrated Architecture, Kinetix, LDC-Series, LDL-Series, Logix5000,
MP-Series, RSLinx, RSLogix, SCANport, SoftLogix, RDD-Series, Rockwell Automation, Rockwell Software, Studio 5000, TechConnect, and TL-Series 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

This table contains the changes made to this revision.

Top ic Pa ge

Studio 5000™ Logix Designer application is the rebranding of RSLogix™ 5000 software. General
references to RSLogix 5000 software have been replaced by the Logix Designer application.
References to specific RSLogix 5000 software versions did not change.

Updated references to safe-off (SO) as safe torque-off (STO), per EN61800-5-2.

Updated references to series A and B drives. The 230V drive modules previously labeled as series A
are now series A and C. The 460V drives previously labeled as series B are now series B and C.

Added LDAT-Series linear thrusters to system overview table. 16

Added LDAT-Series linear thrusters to typical system installation diagrams. 17…18

Updated System Mounting Requirements for enclosure rating from IP2x to IP54. 26

Added AC line filter selection table. 27

Updated safe torque-off (STO) connector pinout table with series C descriptions for safety enable
inputs.

Updated motor/resistive brake circuitry diagram and text with changes for the new solid-state relay. 71

Added the LDAT-Series linear thruster interconnect diagram with Kinetix® 6000 drive. 207

Added the Configure the Load Observer Feature appendix. 235

12

Throughout
this manual

Throughout
this manual

60

Rockwell Automation Publication 2094-UM001H-EN-P - June 2013 3

Summary of Changes

Notes:

4 Rockwell Automation Publication 2094-UM001H-EN-P - June 2013

Table of Contents

Preface

About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Studio 5000 Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Chapter 1

Start

Planning the Kinetix 6000 Drive
System Installation

IAM/AM Module Series Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

About the Kinetix 6000 Drive Systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Typical Hardware Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Typical Communication Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Kinetix Drive Component Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Kinetix 6000M Integrated Drive-Motor System Compatibility . . . . . . 23

Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

CE Requirements (system without LIM module) . . . . . . . . . . . . . . . 24

CE Requirements (system with LIM module). . . . . . . . . . . . . . . . . . . 24

Chapter 2

System Design Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

System Mounting Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Transformer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

AC Line Filter Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Circuit Breaker/Fuse Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Enclosure Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Electrical Noise Reduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Bonding Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Bonding Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Establishing Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Cable Categories for Kinetix 6000 Systems . . . . . . . . . . . . . . . . . . . . . 45

Noise Reduction Guidelines for Drive Accessories. . . . . . . . . . . . . . . 47

Mounting the Kinetix 6000 Drive
System

Chapter 3

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Using the 2094 Mounting Brackets . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Installing the 2094 Power Rail. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Determine Mounting Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Mount Modules on the Power Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Rockwell Automation Publication 2094-UM001H-EN-P - June 2013 5

Table of Contents

Chapter 4
Connector Data and Feature
Descriptions

2094 IAM/AM Module Connector Data . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Safe Torque-off Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

I/O Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Motor Feedback Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Auxiliary Feedback Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . 64

IAM Input Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

IAM and AM Motor Power and Brake Connector Pinout. . . . . . . . 66

Control Signal Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Sercos Communication Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Contactor Enable Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Power and Relay Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Motor/Resistive Brake Relay. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Input Power Cycle Capability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Peak Enhancement Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Control Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Absolute Position Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Motor Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Feedback Power Supply Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . 79

Auxiliary Position Feedback Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Connecting the Kinetix 6000 Drive
System

Chapter 5

Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Building Your Own Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Routing the Power and Signal Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Determine the Input Power Configuration . . . . . . . . . . . . . . . . . . . . . . . . . 83

Grounded Power Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Ungrounded and High-impedance Grounded

Power Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

DC Common Bus Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Common Bus Fusing Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Setting the Ground Jumper in Ungrounded Power Configurations . . . 87

Set the Ground Jumper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Grounding the Kinetix 6000 Drive System . . . . . . . . . . . . . . . . . . . . . . . . . 93

Ground the Power Rail to the System Subpanel . . . . . . . . . . . . . . . . . 93

Ground Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Power Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Power Wiring Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Wiring the IAM/AM Module Connectors . . . . . . . . . . . . . . . . . . . . . . . . . 98

Wire the Control Power (CPD) Connector . . . . . . . . . . . . . . . . . . . . 98

Wire the Input Power (IPD) Connector. . . . . . . . . . . . . . . . . . . . . . . . 99

Wire the Contactor Enable (CED) Connector. . . . . . . . . . . . . . . . . 101

Wiring the Safe Torque-off (STO) Connector . . . . . . . . . . . . . . . . . 102

6 Rockwell Automation Publication 2094-UM001H-EN-P - June 2013

Configure and Start the
Kinetix 6000 Drive System

Table of Contents

Wire the Motor Power (MP) Connector . . . . . . . . . . . . . . . . . . . . . . 103

Wire the Motor/Resistive Brake (BC) Connector. . . . . . . . . . . . . . 111

Apply the Motor Cable Shield Clamp. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

Feedback and I/O Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Flying-lead Feedback Cable Pinouts. . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Wiring the Feedback and I/O Connectors . . . . . . . . . . . . . . . . . . . . . . . . 120

Connect Premolded Motor Feedback Cables . . . . . . . . . . . . . . . . . . 120

Connect Panel-mounted Breakout Board Kits . . . . . . . . . . . . . . . . . 121

Wire Low-profile Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

External Shunt Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

IPIM Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

RBM Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

Sercos Fiber-optic Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

Kinetix 6000M Integrated Drive-Motor Sercos Connections . . . . . . . 131

Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

Chapter 6

Configure the Kinetix 6000M Integrated Drive-Motor System . . . . . 133

Configure the Drive Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

Configure the Logix5000 Sercos interface Module . . . . . . . . . . . . . . . . . 140

Configure the Logix5000 Controller. . . . . . . . . . . . . . . . . . . . . . . . . . 140

Configure the Logix5000 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

Configure the Kinetix 6000 Drive Modules. . . . . . . . . . . . . . . . . . . . 144

Configure the Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

Configure Axis Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

Apply Power to the Kinetix 6000 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

Test and Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

Test the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

Configure Drive Parameters and System Variables . . . . . . . . . . . . . . . . . 160

Tools for Changing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

Monitor System Variables with Analog Test Points . . . . . . . . . . . . 161

Troubleshooting the Kinetix 6000
Drive System

Chapter 7

Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

Interpret Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

Kinetix 6000M IDM System Error Codes . . . . . . . . . . . . . . . . . . . . . 164

Kinetix 6000 Drive System Error Codes. . . . . . . . . . . . . . . . . . . . . . . 165

IAM/AM Module Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . 170

Shunt Module Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

General System Anomalies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

Logix5000/Drive Fault Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

Rockwell Automation Publication 2094-UM001H-EN-P - June 2013 7

Table of Contents

Chapter 8
Removing and Replacing the
Kinetix 6000 Drive Modules

Interconnect Diagrams

Upgrading the Drive Firmware

Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

Remove Kinetix 6000 Drive Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

Replace Kinetix 6000 Drive Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

Remove the Power Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

Replace the Power Rail. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

Appendix A

Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

DC Common Bus Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . 191

Shunt Module Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195

Axis Module/Rotary Motor Wiring Examples . . . . . . . . . . . . . . . . . . . . . 196

Axis Module/Linear Motor/Actuator Wiring Examples . . . . . . . . . . . . 205

Kinetix 6000M Integrated Drive-Motor Wiring Example. . . . . . . . . . . 210

Controlling a Brake Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212

Appendix B

Upgrade Kinetix 6000M System Firmware . . . . . . . . . . . . . . . . . . . . . . . . 215

Upgrade Drive Firmware with ControlFLASH Software . . . . . . . . . . . 216

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216

Configure Logix5000 Communication . . . . . . . . . . . . . . . . . . . . . . . . 217

Upgrade Firmware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

Verify the Firmware Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223

DC Common Bus Applications

Appendix C

Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225

Calculate Total Bus Capacitance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226

Calculate Additional Bus Capacitance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

Bulletin 2094 Drive Capacitance Values. . . . . . . . . . . . . . . . . . . . . . . . . . . 227

Common Bus Capacitance Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228

Set the Additional Bus Capacitance Parameter . . . . . . . . . . . . . . . . . . . . . 229

Remove Sercos Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229

Set the Additional Bus Capacitance Parameter . . . . . . . . . . . . . . . . . 230

Save the Add Bus Cap Parameter to Nonvolatile Memory. . . . . . . 231

Verify the Parameter Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232

Reconnect Sercos Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233

8 Rockwell Automation Publication 2094-UM001H-EN-P - June 2013

Appendix D

Table of Contents

Configure the Load Observer Feature

Changing the Default IDN Parameter
Values

Enhanced Peak Performance

Benefits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

How it Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236

Out-of-Box Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239

Auto-tune Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

Tuning Mode Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244

Manual Tuning for Further Optimization . . . . . . . . . . . . . . . . . . . . . 244

Setting Gains with Sercos IDN Write Messages. . . . . . . . . . . . . . . . . . . . 246

Compensate for High Frequency Resonances. . . . . . . . . . . . . . . . . . . . . . 247

Appendix E

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249

Change IDN Parameter Values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250

Read the Present IDN Parameter Value . . . . . . . . . . . . . . . . . . . . . . . 250

Calculate the New IDN Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252

Write the New IDN Parameter Value . . . . . . . . . . . . . . . . . . . . . . . . . 253

Appendix F

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

Enhanced Peak Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257

Enhanced Peak Example Calculation. . . . . . . . . . . . . . . . . . . . . . . . . . 260

Change the Drive Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262

Sercos IDN Write Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262

DriveExplorer Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263

RBM Module Interconnect Diagrams

Appendix G

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265

RBM Module Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266

Index

Rockwell Automation Publication 2094-UM001H-EN-P - June 2013 9

Table of Contents

Notes:

10 Rockwell Automation Publication 2094-UM001H-EN-P - June 2013

Preface

IMPORTANT

About This Publication

Audience

Conventions Used in This Manual

This manual provides detailed installation instructions for mounting, wiring, and
troubleshooting Kinetix 6000 drives; and system integration for your drive and
motor/actuator combination with a Logix controller.

For information on wiring and troubleshooting your Kinetix 6000 servo drive
with the safe torque-off feature, refer to the Kinetix Safe Torque-off Feature
Safety Reference Manual, publication GMC-RM002

This manual is intended for engineers or technicians directly involved in the
installation and wiring of the Kinetix 6000 drives; and programmers directly
involved in the operation, field maintenance, and integration of these drives with
a sercos interface module.

If you do not have a basic understanding of the Kinetix 6000 drives, contact your
local Rockwell Automation sales representative for information on available
training courses.

The conventions starting below are used throughout this manual.

• Bulleted lists such as this one provide information, not procedural steps.

• Numbered lists provide sequential steps or hierarchical information.

• Acronyms for the Kinetix 6000 drive modules are shown in the table

below and are used throughout this manual.

.

Kinetix 6000 Drive Modules Cat. No. Acronym

Integrated Axis Module 2094-xCxx-Mxx-x IAM

Axis Module 2094-xMxx-x AM

Line Interface Module 2094-xLxx and 2094-xLxxS-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

Throughout this publication, when the IAM or AM module catalog
number is followed by -x, for example 2094-BMP5-x, the variable (x)
indicates that the drive module may or may not include the safe
torque-off feature.

Rockwell Automation Publication 2094-UM001H-EN-P - June 2013 11

Preface

Studio 5000 Environment

The Studio 5000 Engineering and Design Environment combines engineering
and design elements into a common environment. The first element in the
Studio 5000 environment is the Logix Designer application. The Logix Designer
application is the rebranding of RSLogix 5000 software and will continue to be
the product to program Logix5000 controllers for discrete, process, batch,
motion, safety, and drive-based solutions.

The Studio 5000 environment is the foundation for the future of Rockwell
Automation® engineering design tools and capabilities. It is the one place for
design engineers to develop all the elements of their control system.

Additional Resources

These documents contain additional information concerning related products
from Rockwell Automation.

Table 1 - Additional Resources

Resource Description

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 2090-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 Safe Torque-off Feature Safety Reference Manual, publication GMC-RM002

Provides information on the installation and troubleshooting of Bulletin 2094 line
interface modules (LIM).

Provides information on the installation of Bulletin 2094 mounting brackets.

Provides information on the installation and wiring of Bulletin 2090 Resistive Brake
Modules.

Provides information on proper handling, installing, testing, and troubleshooting fiber­optic cables.

Provides information on mounting and wiring the Bulletin 1394 shunt modules with
Bulletin 2094 servo drive systems.

Provides information, examples, and techniques designed to minimize system failures
caused by electrical noise.

Provides information on installing, configuring, startup, troubleshooting, and
applications for your Kinetix 6000M integrated drive-motor (IDM) system.

Provides information on wiring and troubleshooting your Kinetix 6000 servo drives with
the safe torque-off feature.

12 Rockwell Automation Publication 2094-UM001H-EN-P - June 2013

Table 1 - Additional Resources (continued)

Resource Description

Kinetix Motion Control Selection Guide, publication GMC-SG001

Kinetix 6000 and Kinetix 6200/6500 Drive Systems Design Guide, publication GMC-RM003

Kinetix Rotary Motion Specifications Technical Data, publication GMC-TD001

Kinetix Linear Motion Specifications Technical Data, publication GMC-TD002

Kinetix Servo Drives Specifications Technical Data, publication GMC-TD003

Kinetix Motion Accessories Specifications Technical Data, publication GMC-TD004

Download Motion Analyzer software from:

http://www.ab.rockwellautomation.com/motion-control/motion-analyzer-software

Rockwell Automation Configuration and Selection Tools, website http://www.ab.com

Rockwell Automation Product Certification,
website http://www.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 Provides information on configuring and troubleshooting SoftLogix PCI cards.

ControlFLASH Firmware Upgrade Kit User Manual, publication 1756-QS105 For ControlFLASH™ information not specific to any drive family.

National Electrical Code, published by the National Fire Protection Association of Boston,
MA

Rockwell Automatio n Industrial Automation Glossary, publication AG-7 .1

Provides overview of Kinetix servo drives, motors, actuators, and motion accessories
designed to help make initial decisions for the motion control products best suited for
your system requirements.

Provides information to determine and select the required (drive specific) drive module,
power accessory, connector kit, motor cable, and interface cable catalog numbers for your
drive and motor/actuator motion control system. Includes system performance
specifications and torque/speed cur ves (rotary motion) and force/velocity cur ves (linear
motion) for your motion application.

Provides product specifications for MP-Series™ (Bulletin MPL, MPM, MPF, MPS),
Kinetix 6000M (Bulletin MDF), TL-Series™, RDD-Series™, and HPK-Series™ rotary motors.

Provides product specifications for Bulletin MPAS and MPMA linear stages, Bulletin
MPAR, MPAI, and TLAR electric cylinders, and LDC-Series™ and LDL-Series™ linear motors.

Provides product specifications for Kinetix Integrated Motion over the EtherNet/IP
network, Integrated Motion over sercos interface, EtherNet/IP networking, and
component servo drive families.

Provides product specifications for Bulletin 2090 motor and interface cables, low-profile
connector kits, drive power components, and other servo drive accessory items.

Comprehensive motion application sizing tool used for analysis, optimization, selection,
and validation of your Kinetix Motion Control system.

Provides online product selection and system configuration tools, including AutoCad
(DXF) drawings.

For declarations of conformity (DoC) currently available from Rockwell Automation.

Provides information on configuring and troubleshooting your ControlLogix®,
CompactLogix™, and SoftLogix™ sercos interface modules.

Provides information to create a motion coordinate system with sercos or analog motion
modules.

Provides information on configuring and troubleshooting your ControlLogix and
CompactLogix EtherNet/IP network modules.

An article on wire sizes and types for grounding electrical equipment.

A glossary of industrial automation terms and abbreviations.

Preface

You can view or download publications at

http://www.rockwellautomation.com/literature

. To order paper copies of
technical documentation, contact your local Allen-Bradley distributor or
Rockwell Automation sales representative.

Rockwell Automation Publication 2094-UM001H-EN-P - June 2013 13

Preface

Notes:

14 Rockwell Automation Publication 2094-UM001H-EN-P - June 2013

Chapter 1

IMPORTANT

Start

Use this chapter to become familiar with the design and installation requirements
for Kinetix 6000 drive systems.

Top ic Pa ge

IAM/AM Module Series Changes 15

About the Kinetix 6000 Drive Systems 16

Typical Ha rdware Configurations 17

Typical Communication Configurations 21

Catalog Number Explanation 22

Kinetix Drive Component Compatibility 23

Kinetix 6000M Integrated Drive-Motor System Compatibility 23

Agenc y Compliance 24

IAM/AM Module Series Changes

Before your drive can deliver enhanced peak performance, you must enable the peak enhancement feature by configuring your
drive with DriveExplorer™ software or the Logix Designer application.

Refer to Appendix
appropriate Axis Properties dialog box in the Logix Designer application.

For more information on setting axis properties, refer to Configure Axis Properties on page 149

Series B drives included the peak current enhancement and applied to only the
460V (series A) IAM and AM modules. The peak current ratings of the
Kinetix 6000 (460V) drives are configured at the factory as 150% of continuous
current. However, you can program 460V AM modules and the equivalent IAM
(inverter) modules, for up to 250% of continuous inverter current.

Table 2 - Kinetix 6000 Enhanced Peak Performance Series Change

IAM Module
Cat. No.

2094-BC01-MP5-S 2094-BMP5-S 150% 250%

2094-BC01-M01-S 2094-BM01-S 150% 250%

2094-BC02-M02-S 2094-BM02-S 150% 250%

2094-BC04-M03-S 2094-BM03-S 150% 250%

2094-BC07-M05-S 2094-BM05-S 150% 200%

AM Module
Cat. No.

Series A (inverter) Series B and C (inverter)

Peak Current Rating

F on page 255 to recalculate torque and acceleration or deceleration limit values, and paste them into the

.

In series C drives, a mechanical relay for the brake circuit and another for the safe
torque-off inputs are replaced by solid-state relays and apply to the 230V
(series A) and 460V (series B) IAM and AM modules. All wiring is consistent
with previous series releases.

Rockwell Automation Publication 2094-UM001H-EN-P - June 2013 15

Chapter 1 Start

About the Kinetix 6000 Drive Systems

The Kinetix 6000 multi-axis servo drives are designed to provide a Kinetix
Integrated Motion solution for your drive/motor/actuator applications.

Table 3 - Kinetix 6000 Drive System Overview

System
Component

Integrated Axis
Module

Axis Module

Shunt Module 2094-BSP2 The Bulletin 2094 shunt module mounts to the power rail and provides additional shunting in regenerative applications.

Kinetix 6000M
IDM System

Power Rai l

Slot-filler
Module

Logix5000™
Controllers

Studio 5000
Environment

Rotary Servo
Motors

Linear Motors LDC-Series, LDL-Series Compatible motors include LDC-Series iron core (200V and 400V-class) and LDL-Series ironless (200V-class) linear motors.

Linear
Actuators

Cables

AC Line Filters 2090-XXLF-xxxx Bulletin 2090-XXLF-xxxx three-phase AC line filters are required to meet CE in all 200V and 400V-class drive systems.

Line Interface
Modules

External Shunt
Modules

Resistive Brake
Module

Cat. No. Description

2094-xCxx-Mxx-S

2094-xCxx-Mxx

2094-xMxx-S

2094-xMxx

2094-SEPM-B24-S
Bulletin MDF

2094-PRSx
2094-PRx

2094-PRF

1756-MxxSE modules
1768-M04SE module
1784-PM16SE PCI card

1756-ENxTx modules
CompactLogix 5370 controllers

9324-RLD300xxE

MP-Series, TL-Series,
RDD-Series, 1326AB, F-Series

MP-Series

LDAT-Series LDAT-Series integrated linear actuators are compatible with 200V and 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

(1) (2)

(1) (2)

Integrated Axis Modules (IAM) with the safe torque-off fea ture with 200V or 400V-c lass AC input power. Contains an inver ter and
converter section. The peak enhancement feature is available on 400V-class (series B and C) IAM modules.

Integrated Axis Modules (IAM), with 200V or 400V-class AC input power (does not include the safe torque-off or peak-enhanced
feature). Contains an inverter and converter section.

Axis Modules (AM) with safe torque-off are shared DC-bus inverters and rated for 200 or 400V-class operation. The AM module
must be used with an IAM module. The peak enhancement feature is available on 400V-class (series B and C) AM mo dules.

Axis Modules (AM) are shared DC-bus inverters rated for 200V or 400V-class input power (does not include the safe torque-off or
peak-enhanced feature). The AM module must be used with an IAM module.

The Kinetix 6000M integrated drive-motor (IDM) system consists of the IDM power interface module (IPIM) and up to 16
(Bulletin MDF) IDM units. The IPIM module mounts on the Bulletin 2094 power rail and provides power and communication to
the IDM units. The IPIM module also monitors power output and provides overload protection.

The Bulletin 2094 power rail consists of copper bus bars and a circuit board with connectors for each module. The power rail
provides power and control signals from the converter section to adjacent inverters. The IAM and AM power modules, shunt
module, slot-filler modules mount to the power rail.

The Bulletin 2094 slot-filler module is used when one or more slots on the power rail are empty after all the other power rail
modules are installed. One slot-filler module is required for each empty slot.

The sercos interface module/PCI card serves as a link between the ControlLogix/CompactLogix/SoftLogix controllers and the
Kinetix 6000 drive system. The communication link uses the IEC 61491 SErial Real-time COmmunication System (sercos) protocol
over a fiber-optic cable.

The Kinetix 6000M IPIM module connects to the EtherNet/IP network for monitoring, diagnostics, and firmware upgrades.

The 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) 200V and 400V-class motors; RDD-Series;
TL-Series; 1326AB (M2L/S2L) and 1326AB (resolver); and F-Series motors.

Compatible actuators include MP-Series (200V and 400V-class) Bulletin MPAS single-axis and Bulletin MPMA multi-axis
integrated linear stages, and MP-Series (200V and 400V-class) Bulletin MPAR and MPAI electric cylinders.

Bulletin 2090 motor/actuator cables are available with bayonet, threaded, and SpeedTec connectors. Power/brake cables have
flying leads on the drive end and straig ht connectors that connec t 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.

letin 2090 ser

Bul

Ethernet cables are available in standard lengths for Kinetix 6000M IPIM modules. Shielded cable is recommended.

Line interface modules (LIM) include the circuit breakers, AC line filter (catalog numbers 2094-AL09 and 2094-BL02 only), power
supplies, and safety contactor required for Kinetix 6000 operation. The LIM module does not mount to the power rail. You can
purchase individual components separately in place of the LIM module.

You can use Bulletin 1394 external passive shunt modules when the IAM/AM module internal shunt and power rail mounted
2094-BSP2 shunt module capability is exceeded.

Resistive Brake Modules (RBM) include a safety contactor for use in a control circuit. Contactors and resistors reside in this module
such that the motor leads can be disconnected from the drive with the permanent ma gnet motor brought to an immediate stop.
This module does not mount to the power rail.

cos fiber-optic cables are available as enclosure only, PVC, nylon, and glass with connectors at both ends.

(1) Refer to the Kinetix Safe Torque-off Feature Safety Reference Manual, publication GMC-RM002, for more information.
(2) Refer to Peak Enhancement Specifications on page 73

16 Rockwell Automation Publication 2094-UM001H-EN-P - June 2013

for more information on drive performance in the Peak-enhanced mode.

Start Chapter 1

MAIN VAC

CAT. NO. LDC-M075500
SERIAL NO. XXXX X XXXX

SERIES A

www.ab.com

MADE IN USA

Kinetix 6000 Multi-axis Servo Drive System

2094-xLxxS
Line Interface Module
(optional component)

2094-xMxx-S
Axis Modules (5)

Three-Phase

Input Power

2094-xCxx-Mxx-S

IAM Module

2094-BSP2
Shunt Module
(optional component)

2090-XXLF-xxxx

AC Lin e Filter

(required for CE)

2094-PRSx

Power Rail

2094-PRF
Slot-filler Module
(required to fill any
unused slots)

I/O Connections

To I np ut S en sor s

and Control String

115/230V

Control Power

2090-K6CK-Dxxx

Low Profile Connector Kits for

I/O, Motor Feedback, and Aux Feedback

Bulletin 2090

Motor Feedback Cables

Bulletin 2090

Motor Power Cables

MP-Series Integrated Linear Stages
(MPAS-B9xxx ballscrew shown)

MP-Series and TL-Series Rotary Motors

(MPL-Bxxxx motors shown)

MP-Series Electric Cylinders
(MPAR-Bxxxx electric cylinder shown)

LDC-Series Linear Motors

(LDC-Cxxxxxxx linear motor shown)

RDD-Series Direct Drive Motors

(1)

(RDB-Bxxxx motor shown)

MP-Series Heavy Duty Electric Cylinders
(MPAI-Bxxxx electric cylinders shown)

LDL-Series Linear Motors

(LDL-xxxxxxxx linear motor shown)

LDAT-Series Linear Thrusters

(LDL-Sxxxxxx-xBx linear thrusters only)

Typical Hardware Configurations

Typical Kinetix 6000 system installations include three-phase AC configurations,
with and without the line interface module (LIM), and DC common-bus
configurations.

SHOCK HAZARD: To avoid personal injury due to electrical shock, place a
2094-PRF slot-filler module in all empty slots on the power rail. Any power rail
connector without a module installed disables the Bulletin 2094 system;
however, control power is still present.

Figure 1 - Typical Kinetix 6000 System Installation (with LIM)

(1) RDD-Series direct-drive motors require the 2090-K6CK-KENDAT low-profile feedback module.

Rockwell Automation Publication 2094-UM001H-EN-P - June 2013 17

Kinetix 6000 Multi-axis Servo Drive System

Line
Disconnect
Device

Magnetic
Contac tor

Input
Fusing

Three-phase
Input Power

Single-phase

Control Power

2094-xCxx-Mxx-S

IAM Module

2094-PRSx

Power Rail

I/O Connections

To I np ut S en sor s

and Control String

2094-xMxx-S
Axis Modules (5)

2094-BSP2
Shunt Module
(optional component)

2094-PRF
Slot-filler Module
(required to fill
any unused slots)

2090-K6CK-Dxxx

Low Profile Connector Kits for

I/O, Motor Feedback, and Aux Feedback

2090-XXLF-xxxx

AC Lin e Filter

(required for CE)

MP-Series and TL-Series Rotary Motors

(MPL-xxxx motors shown)

MP-Series Integrated Linear Stages
(MPAS-B9xxx ballscrew shown)

Bulletin 2090

Motor Feedback Cables

Bulletin 2090

Motor Power Cables

MP-Series Electric Cylinders
(MPAR-Bxxxx electric cylinder shown)

MP-Series Heavy Duty Electric Cylinders
(MPAI-Bxxxx electric cylinders shown)

RDD-Series Direct Drive Motors

(1)

(RDB-Bxxxx motor shown)

LDC-Series Linear Motors

(LDC-Cxxxxxxx linear motor shown)

LDL-Series Linear Motors

(LDL-xxxxxxxx linear motor shown)

2090-XXLF-xxxx

AC Lin e Filter

(required for CE)

LDAT-Series Linear Thrusters

(LDL-Sxxxxxx-xBx linear thrusters only)

Chapter 1 Start

Figure 2 - Typical Kinetix 6000 System Installation (without LIM)

www.ab.com

MADE IN USA

CAT. NO. LDC-M075500
SERIAL NO. XXXX X XXXX

SERIES A

(1) RDD-Series direct-drive motors require the 2090-K6CK-KENDAT low-profile feedback module.

18 Rockwell Automation Publication 2094-UM001H-EN-P - June 2013

Start Chapter 1

Three-phase
Input Power

Kinetix 6000 Multi-axis

Servo Drive System

2094-BSP2
Shunt Module
(optional component)

2094-SEPM-B24-S
IPIM Module

2094-PRSx
Power Rai l

2094-PRF
Slot Filler Module
(required to fill any
unused slots)

To Input Sensors

and Control String

2090-K6CK-Dxxxx

Low Profile Connector Kits for I/O,

Motor Feedback, and Aux Feedback

Compatible Rotary Motors,

Linear Motors, and Linear Actuators

(MPL-Bxxxx motor shown)

Bulletin 2090

Motor Feedback Cables

Bulletin 2090

Motor Power Cables

Bulletin 2090 Hybrid Cables

Bulletin 2090
Network Cables

MDF-SBxxxxx-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-UM001H-EN-P - June 2013 19

Chapter 1 Start

Kinetix 6000 Multi-axis Servo Drive System

Three-p hase
Input Power

115/230V Control Power

2094-BCxx-Mxx-S

IAM Module

Common Bus Leader

2094-PRSx

Power Rail

2094-BMxx-S
Axis Modules (5)

2094-BSP2
Shunt Module
(optional component)

2094-PRF
Slot-filler Module
(required to fill
any unused slots)

2094-BCxx-Mxx-S

IAM Module

Common Bus Follower

2094-PRSx

Power Rail

2094-BMxx-S
Axis Modules (5)

2094-PRF
Slot-filler Module
(required to fill
any unused slots)

2094-BLxxS
Line Interface Module
(optional component)

DC Common Bus

2090-XXLF-xxxx

AC Lin e Filter

(required for CE)

2094-SEPM-B24-S
IPIM Module

IMPORTANT

Figure 4 - Typical (400V-class) DC Common Bus System Installation

In the example above, the leader IAM module is connected to the follower IAM
module via the DC common-bus. The follower system also includes the
Kinetix 6000M integrated drive-motor (IDM) power interface module (IPIM)
that supports up to 16 IDM units.

When planning your panel layout, you must calculate the total bus capacitance of
your DC common-bus system to be sure that the leader IAM module is sized
sufficiently to pre-charge the entire system. Refer to Appendix C

page 225,

for more information.

If total bus capacitance of your system exceeds the leader IAM module pre­charge rating and input power is applied, the IAM module seven-segment
status indicator displays error code E90 (pre-charge timeout fault).

, beginning on

To correct this condition, you must replace the leader IAM module with a larger
module or decrease the total bus capacitance by removing the IPIM module or
AM modules.

20 Rockwell Automation Publication 2094-UM001H-EN-P - June 2013

Start Chapter 1

SERCOS interface

Tx (rear)

Rx (front)

OK

CP

0.2 m

(7.1 in.)

0.1 m

(5.1 in.)

0.1 m

(5.1 in.)

62006200

SAFE SPEED

62006200

SAFE SPEED

0.1 m

(5.1 in.)

0.2 m

(7.1 in.)

TX
RX

TX

RX

Logix5000 Sercos interface Module

Logix5000 Controller
(ControlLogix controller is shown)

The Logix Designer

Application

2090-SCxxx-x

Sercos Fiber-optic Cable

Logix5000 Controller Programming Network

2094-xMxx-S
Axis Modules (5)

2094-xCxx-Mxx-S

IAM Module

0.1 m (5.1 in.)

Kinetix 6000 Drive-to-Drive Sercos Cables

Kinetix 6000 Single-wide

2094-BCxx-Mxx-S

IAM Module

Kinetix 6000 Double-wide

2094-BCxx-Mxx-S

IAM Module

2094-BMxx-S Single-wide AM Module

2094-BMxx-S Double-wide AM Module

2094-BMxx-M Single-wide AM Power Modules

with 2094-SE02F-M00-Sx Control Modules

2094-SEPM-B24-S IPIM Module

2094-BMxx-S Single-wide AM Module

Kinetix 6200 (top view)
Sercos Connectors

Kinetix 6000 and

Kinetix 6000M (top view)

Sercos Connectors

2094-PRSx

Power Rail

Typical Communication Configurations

In this example, drive-to-drive sercos cables and catalog numbers are shown when
Kinetix 6000, Kinetix 6000M, and Kinetix 6200 drive modules exist on the same
power rail.

The Kinetix 6200 control modules use sercos interface for configuring the
Logix5000 module and the EtherNet/IP network for diagnostics and
configuring safety functions. An Ethernet cable is connected to each control
module during safety configuration. For more information on Ethernet cables,
refer to the Industrial Ethernet Media Brochure, publication 1585-BR001

Figure 5 - Typical Kinetix 6000 and Kinetix 6200 Communication (sercos)

.

Rockwell Automation Publication 2094-UM001H-EN-P - June 2013 21

Chapter 1 Start

IMPORTANT

Catalog Number Explanation

Integrated Axis Modules (230V)

Kinetix 6000, IAM, 200V-class, 3 kW conver ter, 5 A inverter 2094-AC05-MP5-S 2094-AC05-MP5

Kinetix 6000, IAM, 200V-class, 3 kW converter, 9 A inverter 2094-AC05-M01-S 2094-AC05-M01

Kinetix 6000, IAM, 200V-class, 6 kW converter, 15 A inverter 2094-AC09-M02-S 2094-AC09-M02

Kinetix 6000, IAM, 200V-class, 11 kW converter, 24 A inverter 2094-AC16-M03-S 2094-AC16-M03

Kinetix 6000, IAM, 200V-class, 23 kW converter, 49 A inverter 2094-AC32-M05-S 2094-AC32-M05

Integrated Axis Modules (460V)

Kinetix 6000, IAM, 400V-class, 6 kW conver ter, 4 A inver ter 2094-BC01-MP5-S

Kinetix 6000, IAM, 400V-class, 6 kW conver ter, 9 A inver ter 2094-BC01-M01-S

Kinetix 6000, IAM, 400V-class, 15 kW converter, 15 A inverter 2094-BC02-M02-S

Kinetix 6000, IAM, 400V-class, 28 kW converter, 30 A inverter 2094-BC04-M03-S

Kinetix 6000, IAM, 400V-class, 45 kW converter, 49 A inverter 2094-BC07-M05-S

Axis Modules (230V)

Kinetix 6000, AM, 200V-class, 5 A 2094-AMP5-S 2094-AMP5

Kinetix 6000, AM, 200V-class, 9 A 2094-AM01-S 2094-AM01

Kinetix 6000, AM, 200V-class, 15 A 2094-AM02-S 2094-AM02

Kinetix 6000, AM, 200V-class, 24 A 2094-AM03-S 2094-AM03

Kinetix 6000, AM, 200V-class, 49 A 2094-AM05-S 2094-AM05

Axis Modules (460V)

Kinetix 6000, AM, 400V-class, 4 A 2094-BMP5-S

Kinetix 6000, AM, 400V-class, 9 A 2094-BM01-S

Kinetix 6000, AM, 400V-class, 15 A 2094-BM02-S

Kinetix 6000, AM, 400V-class, 30 A 2094-BM03-S

Kinetix 6000, AM, 400V-class, 49 A 2094-BM05-S

Kinetix 6000 (Bulletin 2094) drive catalog numbers and descriptions are listed in
the tables below.

Throughout this publication, when the IAM or AM module catalog number is
followed by -x, for example 2094-BMP5-x, the variable (x) indicates that the
drive module may or may not include the safe torque-off feature.

Table 4 - Kinetix 6000 Drive Catalog Numbers

Cat. No.
(with safe torque-off feature)

(1)

(1)

(1)

(1)

(2)

(1)

(1)

(1)

(1)

(2)

Cat. No.
(without safe torque-o ff feature)

2094-BC01-MP5

2094-BC01-M01

2094-BC02-M02

2094-BC04-M03

2094-BC07-M05

2094-BMP5

2094-BM01

2094-BM02

2094-BM03

2094-BM05

(1) You can configure the peak inver ter current rating of this 46 0V (series B and C) IAM or AM module for 250% of continuous inverter current.
(2) You can configure the peak inver ter current rating of this 46 0V (series B and C) IAM or AM module for 200% of continuous inverter current. Refer to Peak Enhancement

Specifications on page 73, for more information on drive performance in the peak-enhanced mode.

Table 5 - Kinetix 6000 Drive Component Catalog Numbers

Drive Components Cat. No.

Integrated power inter face (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

22 Rockwell Automation Publication 2094-UM001H-EN-P - June 2013

Start Chapter 1

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 6 - 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-M (IAM) and
2094-BMxx-M (AM) modules, refer to the Kinetix 6200 and Kinetix 6500
Multi-axis Servo Drives User Manual, publication 2094-UM002

.

Bulletin 2094 power rails with Kinetix 6000 (series B and C) or Kinetix 6200
drives are compatible with Kinetix 6000M integrated drive-motor (IDM)
systems. The IDM power interface module (IPIM) mounts to the power rail and
connects to as many as 16 IDM units.

Table 7 - 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 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

.

Rockwell Automation Publication 2094-UM001H-EN-P - June 2013 23

Chapter 1 Start

Agency Compliance

If this product is installed within the European Union and has the CE mark, the
following regulations apply.

ATT EN TI ON : Meeting CE requires a grounded system, and the method of
grounding the AC line filter and drive must match. Failure to do this renders the
filter ineffective and can cause damage to the filter.
For grounding examples, refer to Grounded Power Configurations on page 83

For more information on electrical noise reduction, refer to the System Design
for Control of Electrical Noise Reference Manual, publication GMC-RM001

.

.

CE Requirements (system without LIM module)

To meet CE requirements when your Kinetix 6000 system does not include the
LIM module, these requirements apply.

• Install 2090-XXLF-xxxx AC line filters for three-phase input power and
single-phase control power as close to the IAM module as possible.

• Use 2090 series motor power cables or use connector kits and terminate
the cable shields to the chassis clamp provided.

• Combined motor power cable lengths for all Kinetix 6000 axes and hybrid
cable lengths for all IDM units on the same DC bus must not exceed
240 m (787 ft) with 400V-class systems or 160 m (525 ft) with 200V-class
systems. Drive-to-motor power cables must not exceed 90 m (295.5 ft).

• Use 2090 series motor feedback cables or use connector kits and properly
terminate the feedback cable shield. Drive-to-motor feedback cables must
not exceed 90 m (295.5 ft).

• Install the Kinetix 6000 system inside an enclosure. Run input power
wiring in conduit (grounded to the enclosure) outside of the enclosure.
Separate signal and power cables.

Refer to Appendix
power wiring and drive/motor interconnect diagrams.

A on page 185 for interconnect diagrams, including input

CE Requirements (system with LIM module)

To meet CE requirements when your Kinetix 6000 system includes the LIM
module, follow all the requirements as stated in CE Requirements (system

without LIM module) and these additional requirements as they apply to the AC

line filter.

• Install the LIM module (catalog numbers 2094-AL09 or 2094-BL02) as
close to the IAM module as possible.

• Install the LIM module (catalog numbers 2094-ALxxS, 2094-BLxxS, or
2094-XL75S-Cx) with line filter (catalog number 2090-XXLF-xxxx) as
close to the IAM module as possible.

When the LIM module (catalog numbers 2094-ALxxS, 2094-BLxxS, or
2094-XL75S-Cx) supports two IAM modules, each IAM module requires
an AC line filter installed as close to the IAM module as possible.

24 Rockwell Automation Publication 2094-UM001H-EN-P - June 2013

Chapter 2

Planning the Kinetix 6000 Drive System
Installation

This chapter describes system installation guidelines used in preparation for
mounting your Kinetix 6000 drive components.

Top ic Pa ge

System Design Guidelines 26

Electrical Noise Reduction 34

ATT EN TI ON : Plan the installation of your system so that you can perform all
cutting, drilling, tapping, and welding with the system removed from the
enclosure. Because the system is of the open type construction, be careful to
keep any metal debris from falling into it. Metal debris or other foreign matter
can become lodged in the circuitry, which can result in damage to components.

Rockwell Automation Publication 2094-UM001H-EN-P - June 2013 25

Chapter 2 Planning the Kinetix 6000 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 6000 drive system
must be enclosed in a grounded conductive enclosure offering protection
as defined in standard EN 60529 (IEC 529) to IP54 such that they are not
accessible to an operator or unskilled person. A NEMA 4X enclosure
exceeds these requirements providing protection to IP66.

• The panel you install inside the enclosure for mounting your system
components must be on a flat, rigid, vertical surface that won’t be subjected
to shock, vibration, moisture, oil mist, dust, or corrosive vapors.

• Size the drive enclosure so as not to exceed the maximum ambient
temperature rating. Consider heat dissipation specifications for all drive
components.

• Combined motor power cable lengths for all axes and hybrid cable lengths
for all IDM units on the same DC bus must not exceed 240 m (787 ft)
with 400V-class systems or 160 m (525 ft) with 200V-class systems. Drive­to-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.

• Segregate input power wiring and motor power cables from control wiring
and motor feedback cables. Use shielded cable for power wiring and
provide a grounded 360° clamp termination.

• Use high-frequency (HF) bonding techniques to connect the modules,
enclosure, machine frame, and motor housing, and to provide a low­impedance return path for high-frequency (HF) energy and reduce
electrical noise.

Refer to the System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001
reduction.

, to better understand the concept of electrical noise

26 Rockwell Automation Publication 2094-UM001H-EN-P - June 2013

Planning the Kinetix 6000 Drive System Installation Chapter 2

IMPORTANT

IMPORTANT

Transformer Selection

The IAM module does not require an isolation transformer for three-phase input
power. However, a transformer can be required to match the voltage
requirements of the controller to the available service.

To size a transformer for the main AC power inputs, refer to the Kinetix 6000
power specifications in the Kinetix Servo Drives Technical Data, publication

GMC-TD003

For example, to size a transformer to the voltage requirements of a
2094-BC01-M01-S integrated axis module:
2094-BC01-M01-S = 6 kW continuous x 1.5 = 9.0 KVA transformer

.

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).

AC Line Filter Selection

These AC line filters are available for your servo drive input power.

Table 8 - Kinetix 6000 (three-phase) AC Line Filter Selection

Drive
Cat. No.

2094-AC05-MP5-S

2094-AC09-M02-S

2094-AC16-M03-S 75 5.2 (11.4) 2090-XXLF-375

2094-AC32-M05-S 100 9.5 (20.9) 2090-XXLF-3100

2094-BC01-MP5-S

2094-BC02-M02-S

2094-BC04-M03-S 75 5.2 (11.4) 2090-XXLF-375B

2094-BC07-M05-S 100 9.5 (20.9) 2090-XXLF-3100

Voltag e

500V AC
50/60 Hz

500V AC
50/60 Hz

Current

A @ 50 °C (122 °F)

30 2.7 (5.9) 2090-XXLF-X330B2094-AC05-M01-S

30 2.7 (5.9) 2090-XXLF-X330B2094-BC01-M01-S

Refer to the Kinetix Motion Accessories Specifications Technical Data,
publication GMC-TD004

, for additional AC line filter specifications.

Weight, a pprox

kg (lb)

AC Line Filter
Cat. No.

Rockwell Automation Publication 2094-UM001H-EN-P - June 2013 27

Chapter 2 Planning the Kinetix 6000 Drive System Installation

Circuit Breaker/Fuse Options

The 2094-xCxx-Mxx-S and 2094-xMxx-S drive modules and the Kinetix 6000M
integrated drive-motor system (2094-SEPM-B24-S IPIM module and
MDF-SBxxxxx IDM units) use internal solid-state motor short-circuit
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-AL09 and 2094-BL02 LIM modules contain supplementary
protection devices and, when protected by suitable branch circuit protection, are
rated for use on a circuit capable of delivering up to 5000 A. When these modules
are used, protection on the line side of the LIM module is required. Fuses must be
class J or CC only.

The 2094-ALxxS, 2094-BLxxS, and 2094-XL75S-Cx LIM modules contain
branch circuit rated devices suitable for use on a circuit capable of delivering up
to 65,000 A (400V-class) or 100,000 A (200V-class).

Refer to the Line Interface Module Installation Instructions, publication

2094-IN005

, for power specifications and more information on using the LIM

module.

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 meets the NEC requirements or applicable local codes, and provide the full
drive capabilities. Use dual element, time delay (slow-acting) fuses to avoid
nuisance trips during the inrush current of power initialization.

28 Rockwell Automation Publication 2094-UM001H-EN-P - June 2013

Planning the Kinetix 6000 Drive System Installation Chapter 2

IMPORTANT

Circuit Breaker and Fuse Specifications

While circuit breakers offer some convenience, there are limitations for their use.
Circuit breakers do not handle high current inrush as well as fuses.

Make sure the selected components are properly coordinated and meet
acceptable codes including any requirements for branch circuit protection.
Evaluation of the short-circuit available current is critical and must be kept below
the short-circuit current rating of the circuit breaker.

The following fuse examples and Allen-Bradley® circuit breakers are
recommended for use with 2094-xCxx-Mxx-S IAM modules when the Line
Interface Module (LIM) is not used.

LIM Modules (catalog numbers 2094-ALxxS, 2094-BLxxS, and 2094-XL75S-Cx) provide branch circuit protection to the IAM
module. Follow all applicable NEC and local codes.

Table 9 - Kinetix 6000 Circuit Breaker and Fuse Selection

V AC Input Power Control Input Power DC Common Bus Fuse

IAM Module
Cat. No.

2094-AC05-MP5-S

2094-AC05-M01-S

2094-AC09-M02-S KTK-R-30 (30 A) 1492-SP3D400 140M-F8E-C20 FWH-35B A50P35-4

2094-AC16-M03-S LPJ-45SP (45 A) N/A 140U-H6C3-C50

2094-AC32-M05-S LPJ-80SP (80 A) N/A 140U-H6C3-C90 FWH-125B A50P125-4

2094-BC01-MP5-S

2094-BC01-M01-S

2094-BC02-M02-S KTK-R-30 (30 A) 1492-SP3D400 140M-F8E-C45 FWJ-40A A70QS40-4

2094-BC04-M03-S LPJ-45SP (45 A)

2094-BC07-M05-S LPJ-80SP (80 A) 140U-H6C3-C90 FWJ-125A A70QS125-4

Bussmann
Fuse

KTK-R-20 (20 A) 1492-SP3D300 140M-F8E-C16

KTK-R-20 (20 A) 1492-SP3D300 140M-F8E-C32

Allen-Bradley Circuit Breaker

Disconnect

N/A

Magnetic
Contactor

140U-H6C3-C50 FWJ-70A A70QS70-4

Bussmann Fuse

FNQ-R-10 (10 A)

FNQ-R-10 (10 A) or
FNQ-R-7.5 (7.5 A)

Allen-Bradley

(1)

Circuit Breaker

1492-SP2D060

1492-SP2D200

1492-SP2D060 or
1492-SP1D150

(2)

Bussmann
Fuse

N/A A50P20-1

FWH-60B A50P60-4

FWJ-20A14F DCT20-2

Ferraz Shawmut
Fuse

(1) Use FNQ-R-7.5 fuse for higher single-cycle inrush current capability. This is recommended when the continuous control power current exceeds 3.0 A.
(2) Use 1492-SP1D150 circuit breaker for higher single-cycle inrush current capability. This is recommended when the continuous control power current exceeds 3.0 A.

Refer to the Kinetix Servo Drives Technical Data, publication GMC-TD003, for
additional power specifications for your IAM module.

Rockwell Automation Publication 2094-UM001H-EN-P - June 2013 29

Chapter 2 Planning the Kinetix 6000 Drive System Installation

Enclosure Selection

This example is provided to assist you in sizing an enclosure for your Bulletin
2094 drive system. The example system consists of these components:

Size the Bulletin 2094 servo drive and LIM module and use the results to predict
the amount of heat dissipated into the enclosure. You also need heat dissipation
data from other equipment inside the enclosure (such as the ControlLogix
controller). Once the total amount of heat dissipation (in watts) is known, you
can calculate the minimum enclosure size.

Table 10 - Bulletin 2094 System Heat Dissipation Example

Enclosure Component Description Loading

2094-BC02-M02-x

2094-BM02-x Axis module (AM), 400/460V, 15 A 60% 93

2094-BM02-x Axis module (AM), 400/460V, 15 A 60% 93

2094-BM01-x Axis module (AM), 400/460V, 9 A 40% 73

2094-BM01-x Axis module (AM), 400/460V, 9 A 40% 73

2094-BM01-x Axis module (AM), 400/460V, 9 A 20% 57

2094-BL25S Line interface module (LIM), 400/460V, 25 A; 24V DC 20 A 100% 43

2094-PRS6 Power rail, 460V, 6 axis N/A 0
2090-XB33-32 Resistive brake module (RBM), 33 A, 32 Ω N/A 30

Total Kinetix 6000 system wattage 578

Integrated axis module (IAM),
400/460V

• 6-axis Bulletin 2094 servo drive system

• Line Interface Module (LIM)

• ControlLogix chassis and modules (controller)

(1)

15 kW (converter section) 20% 44

15 A (inverter section) 40% 72

Heat Dissipation
watts

(1)

(1) To determine heat dissipation specifications for your drive system components, refer to Ta bl e 12 on page 32.

30 Rockwell Automation Publication 2094-UM001H-EN-P - June 2013