Rockwell Automation Kinetix 6000 User Manual
Kinetix 6000 Multi-axis Servo Drives
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
User Manual
Original Instructions
Kinetix 6000 Multi-axis Servo Drives User Manual
Important User Information
Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize
themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to
be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be
impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use
or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for
actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software
described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is
prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may
lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or
economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT
Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may
be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach
dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc
Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements
for safe work practices and for Personal Protective Equipment (PPE).
2 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020
Table of Contents
Preface
Download Firmware, AOP, EDS, and Other Files. . . . . . . . . . . . . . . . . 9
Summary of Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Chapter 1
Start IAM/AM Module Series Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
About the Kinetix 6000 Drive Systems. . . . . . . . . . . . . . . . . . . . . . . . . . 15
Typical Hardware Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Typical Communication Configurations . . . . . . . . . . . . . . . . . . . . . . . . 20
Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Kinetix Drive Component Compatibility . . . . . . . . . . . . . . . . . . . . . . . 22
Kinetix 6000M Integrated Drive-Motor System Compatibility . . . 22
Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
CE Requirements (system without LIM module). . . . . . . . . . . . . 23
CE Requirements (system with LIM module). . . . . . . . . . . . . . . . 24
Plan the Kinetix 6000 Drive
System Installation
Mount the Kinetix 6000 Drive
System
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
HF Bond for Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
HF Bond for Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Establish Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Cable Categories for Kinetix 6000 Systems . . . . . . . . . . . . . . . . . . 45
Noise Reduction Guidelines for Drive Accessories. . . . . . . . . . . . 47
Chapter 3
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Use the 2094 Mounting Brackets . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Install the 2094 Power Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Determine Mounting Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Mount Modules on the Power Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Connector Data and Feature
Descriptions
Chapter 4
2094 IAM/AM Module Connector Data . . . . . . . . . . . . . . . . . . . . . . . 58
Safe Torque-off Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . 60
I/O Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Rockwell Automation Publication 2094-UM001K-EN-P - August 2020 3
Table of Contents
Motor Feedback Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . 62
Auxiliary Feedback Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . 64
IAM Input Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
IAM and AM Motor Power and Brake Connector Pinout . . . . 66
Control Signal Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Sercos Communication Specifications. . . . . . . . . . . . . . . . . . . . . . . 68
Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Contactor Enable Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Power and Relay Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Motor/Resistive Brake Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Input Power Cycle Capability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Peak Enhancement Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Control Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Feedback Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Absolute Position Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Motor Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Feedback Power Supply Specifications. . . . . . . . . . . . . . . . . . . . . . . 80
Auxiliary Position Feedback Encoders . . . . . . . . . . . . . . . . . . . . . . . 80
Connect 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 Power Configurations. . . . . . . . . . . . . . . . . . . . . . . . . 85
DC Common Bus Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Common Bus Fusing Requirements. . . . . . . . . . . . . . . . . . . . . . . . . 87
Set the Ground Jumper in Select 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
Wire the Motor Power (MP) Connector . . . . . . . . . . . . . . . . . . . 103
Wire the Motor/Resistive Brake (BC) Connector . . . . . . . . . . . 110
Apply the Motor Cable Shield Clamp. . . . . . . . . . . . . . . . . . . . . . . . . . 113
Feedback and I/O Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . 114
Flying-lead Feedback Cable Pinouts . . . . . . . . . . . . . . . . . . . . . . . . 116
Wiring the Feedback and I/O Connectors . . . . . . . . . . . . . . . . . . . . . 119
4 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020
Configure and Start the
Kinetix 6000 Drive System
Table of Contents
Connect Premolded Motor Feedback Cables . . . . . . . . . . . . . . . 119
Connect Panel-mounted Breakout Board Kits . . . . . . . . . . . . . . 120
Wire Low-profile Connector Kits. . . . . . . . . . . . . . . . . . . . . . . . . . 121
External Shunt Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 124
IPIM Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
RBM Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Sercos Fiber-optic Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . 127
Kinetix 6000M Integrated Drive-Motor Sercos Connections . . . . 130
Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Chapter 6
Configure the Kinetix 6000M Integrated Drive-Motor System. . . 133
Configure the Drive Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Configure the Logix 5000 Sercos interface Module. . . . . . . . . . . . . . 140
Configure the Logix 5000 Controller . . . . . . . . . . . . . . . . . . . . . . 140
Configure the Logix 5000 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
Troubleshoot the Kinetix 6000
Drive System
Remove and Replace the
Kinetix 6000 Drive Modules
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
Logix 5000/Drive Fault Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Chapter 8
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
Rockwell Automation Publication 2094-UM001K-EN-P - August 2020 5
Table of Contents
Appendix A
Interconnect Diagrams 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
Brake Current Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Appendix B
Upgrade the Drive Firmware Upgrade Kinetix 6000M System Firmware . . . . . . . . . . . . . . . . . . . . . 215
Upgrade Drive Firmware with ControlFLASH Software . . . . . . . . 216
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
Configure Logix 5000 Communication . . . . . . . . . . . . . . . . . . . . 217
Upgrade Firmware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Verify the Firmware Upgrade. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Appendix C
DC Common-bus Applications 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
Appendix D
Configure the Load Observer
Feature
Benefits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
How it Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
Remaining IDN Parameter Descriptions . . . . . . . . . . . . . . . . . . . 238
Out-of-Box Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
Auto-tune Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Tuning Mode Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
Manual Tuning for Further Optimization . . . . . . . . . . . . . . . . . . 246
Set Gains with Sercos IDN Write Messages. . . . . . . . . . . . . . . . . . . . . 248
Compensate for High Frequency Resonances . . . . . . . . . . . . . . . . . . . 249
6 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020
Appendix E
Table of Contents
Change Default IDN Parameter
Values
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
Change IDN Parameter Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
Read the Present IDN Parameter Value . . . . . . . . . . . . . . . . . . . . 252
Calculate the New IDN Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
Write the New IDN Parameter Value . . . . . . . . . . . . . . . . . . . . . . 255
Appendix F
Enhanced Peak Performance Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
Enhanced Peak Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
Enhanced Peak Example Calculation . . . . . . . . . . . . . . . . . . . . . . . 262
Change the Drive Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
Sercos IDN Write Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
DriveExplorer Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
Appendix G
RBM Module Interconnect
Diagrams
History of Changes
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
RBM Module Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
Appendix H
History of Changes
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .279
Index
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .283
Rockwell Automation Publication 2094-UM001K-EN-P - August 2020 7
Table of Contents
Notes:
8 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020
Preface
This manual provides detailed installation instructions for mounting, wiring,
and troubleshooting Kinetix® 6000 drives; and system integration for your
drive and motor/actuator combination with a Logix 5000™ 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.
.
Download Firmware, AOP,
EDS, and Other Files
Summary of Changes
Top ic Page
Updated IAM/AM Module Series Changes with changes for Series D drives. 14
Updated Determine the Input Power Configuration with changes in the use of AC line filters. 83
Added History of Changes appendix. 279
Conventions Used in This
Manual
Download firmware, associated files (such as AOP, EDS, and DTM), and
access product release notes from the Product Compatibility and Download
Center at rok.auto/pcdc
This publication contains the following new or updated information. This list
includes substantive updates only and is not intended to reflect all changes.
The conventions starting below are used throughout this manual.
• Bulleted lists such as this one provide information, not procedural steps.
• Numbered lists provide sequential steps or hierarchical information.
• Acronyms for the Kinetix 6000 drive modules are shown in these tables
and are used throughout this manual.
.
Acronym Kinetix 6000 Drive Modules Cat. No.
IAM Integrated Axis Module 2094-xCxx-Mxx-x
AM Axis Module 2094-xMxx-x
LIM Line Interface Module 2094-xLxx and 2094-xLxxS-xx
RBM Resistive Brake Module 2090-XBxx-xx
Acronym Kinetix 6000M Drive Modules Cat. No.
IDM Integrated Drive-Motor MDF-SBxxxxx
IPIM IDM Power Interface Module 2094-SEPM-B24-S
Rockwell Automation Publication 2094-UM001K-EN-P - August 2020 9
Preface
IMPORTANT Throughout this publication, when the IAM or AM module catalog
number is followed by -x, for example 2094-BMP5-x, the variable
(x) indicates that the drive catalog number (using this example) is
either 2094-BMP5-S or 2094-BMP5.
Additional Resources
These documents contain additional information concerning related products
from Rockwell Automation.
Table 1 - Additional Resources
Resource Description
Kinetix Rotary Motion Specifications Technical Data, publication KNX-TD001
Kinetix Linear Motion Specifications Technical Data, publication KNX-TD002
Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003
Kinetix Motion Accessories Specifications Technical Data,
publication KNX-TD004
Line Interface Module Installation Instructions, publication 2094-IN005
2094 Mounting Bracket Installation Instructions, publication 2094-IN008
Resistive Brake Module Installation Instructions, publication 2090-IN009 Provides information on the installation and wiring of Bulletin 2090 Resistive Brake Modules.
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
Servo Drive Installation Best Practices Application Technique,
publication MOTION-AT004
Kinetix 6000M Integrated Drive-Motor User Manual,
publication 2094-UM003
Kinetix Safe Torque-off Feature Safety Reference Manual,
publication GMC-RM002
Kinetix Motion Control Selection Guide, publication KNX-SG001
Kinetix 6000 and Kinetix 6200/6500 Drive Systems Design Guide,
publication KNX-RM003
Motion Analyzer System Sizing and Selection Tool
website https://motionanalyzer.rockwellautomation.com/
Rockwell Automation® Configuration and Selection Tools,
website http://ab.rockwellautomation.com
Rockwell Automation Product Certification,
website http://www.rockwellautomation.com/global/certification/overview.page
Sercos and Analog Motion Configuration User Manual,
publication MOTION-UM001
Motion Coordinate System User Manual, publication MOTION-UM002
SoftLogix Motion Card Setup and Configuration Manual, publication 1784-UM003
ControlFLASH Firmware Upgrade Kit User Manual, publication 1756-QS105
Provides product specifications for Kinetix MPL, MPM, MPF, MPS, Kinetix 6000M (Bulletin
MDF), Kinetix TL and TLY, Kinetix RDB, and Kinetix HPK rotary motors.
Provides product specifications for Kinetix MPAS and MPMA linear stages, Kinetix MPAR and
MPAI 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 2090-Series motor and interface cables, low-profile
connector kits, drive power components, and other servo drive accessory items.
Provides information on the installation and troubleshooting of Bulletin 2094 line interface
modules (LIM).
Provides information on the installation of Bulletin 2094 mounting brackets.
Provides information on proper handling, installing, testing, and troubleshooting fiber-optic
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.
Best practice examples to help reduce the number of potential noise or electromagnetic
interference (EMI) sources in your system and to make sure that the noise sensitive
components are not affected by the remaining noise.
Provides information on installing, configuring, startup, troubleshooting, and applications for
your Kinetix 6000M integrated drive-motor (IDM) system.
Provides information on wiring and troubleshooting your Kinetix 6000 servo drives with the
safe torque-off feature.
Provides overview of Kinetix servo drives, motors, actuators, and motion accessories designed
to help make initial decisions for the motion control products best suited for your system
requirements.
Provides information to determine and select the required (drive specific) drive module, power
accessory, connec tor kit, motor cable, and interface cable catalog numbers for your drive and
motor/actuator motion control system. Includes system performance specifications and
torque/speed curves (rotary motion) and force/velocity curves (linear motion) for your motion
application.
Comprehensive motion application sizing tool used for analysis, optimization, selection, and
validation of your Kinetix Motion Control system.
Provides online product selection and system configuration tools, including AutoCad (DXF)
drawings.
For product certifications and declarations of conformity (DoC) currently available from
Rockwell 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 SoftLogix PCI cards.
For ControlFLASH™ information not specific to any drive family.
10 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020
Table 1 - Additional Resources (continued)
Resource Description
EtherNet/IP Network Devices User Manual, ENET-UM006
Ethernet Reference Manual, ENET-RM002
Industrial Components Preventive Maintenance, Enclosures, and Contact Ratings
Specifications, publication IC-TD002
Safety Guidelines for the Application, Installation, and Maintenance of Solid-State
Control, publication SGI-1.1
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1
Product Certifications website, rok.auto/certifications
. Provides declarations of conformity, certificates, and other certification details.
Describes how to configure and use EtherNet/IP devices to communicate on the EtherNet/IP
network.
Describes basic Ethernet concepts, infrastructure components, and infrastructure features.
Provides a quick reference tool for Allen-Bradley industrial automation controls and
assemblies.
Designed to harmonize with NEMA Standards Publication No. ICS 1.1-1987 and provides
general guidelines for the application, installation, and maintenance of solid-state control in
the form of individual devices or packaged assemblies incorporating solid-state components.
Provides general guidelines for installing a Rockwell Automation in dustrial system.
You can view or download publications at rok.auto/literature.
Preface
Rockwell Automation Publication 2094-UM001K-EN-P - August 2020 11
Preface
Notes:
12 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020
Chapter 1
Start
Use this chapter to become familiar with the design and installation
requirements for Kinetix® 6000 drive systems.
Top ic Pa ge
IAM/AM Module Series Changes 14
About the Kinetix 6000 Drive Systems 15
Typical Hardware Con figurations 16
Typical Communication Configurations 20
Catalog Number Explanation 21
Kinetix Drive Component Compatibility 22
Kinetix 6000M Integrated Drive-Motor System Compatibility 22
Agenc y Compliance 23
Rockwell Automation Publication 2094-UM001K-EN-P - August 2020 13
Chapter 1 Start
IAM/AM Module Series
Changes
Kinetix 6000 series B and later (460V) drives include the peak current
enhancement. 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, C, D (inverter)
Peak Current Rating
IMPORTANT Before your drive can deliver enhanced peak performance, you must enable the peak enhancement feature by configuring
your drive with DriveExplorer™ software or the Logix Designer application.
Refer to Appendix F on page 257
to recalculate torque and acceleration or deceleration limit values, and paste them into the
appropriate Axis Properties dialog box in the Logix Designer application.
For more information on setting axis properties, refer to Configure Axis Properties on page 149
.
In series C and D drives, a mechanical relay for the brake circuit and another
for the safe torque-off inputs are replaced by solid-state relays to add
robustness. All wiring is consistent with previous series releases.
Table 3 - Series Change History
Product
Series
A
B Same as Series A, except peak motor current rating increased from 150% to 250%.
C Same as S eries B, except STO relays changed from mechanical to solid state to add robustness.
D Same as Series C, except the Series D product requires drive firmware revision 1.154.01, or later. 1.154.01 or later
Series Change Description
Original release. The peak motor current was limited to 150%. Mechanical relays were used for the Safe
Torque Off (STO) and motor brake circuits.
Peak Current
Rating
150%
250%
STO Relay Type
Mechanical
Solid state
Firmware
Required
1.090 or later
1.111.01 or later
1.125 or later
14 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020
Start Chapter 1
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 4 - Kinetix 6000 Drive System Overview
System
Component
Integrated Axis
Module
Axis Module
Shunt Module 2094-BSP2 The Bulletin 2094 shunt module mounts to the power rail and provides additional shunting in regenerative applications.
Kinetix 6000M
IDM System
Power Rail
Slot-filler
Module
Logix 5000™
Controllers
Studio 5000®
Environment
Rotary Servo
Motors
Linear Motors LDC-Series™, LDL-Series™ Compatible motors include LDC-Series iron core (200V and 400V-class) and LDL-Series ironless (200V-class) linear motors.
Linear
Actuators
Cables
AC Line Filters 2090-XXLF-xxxx Bulletin 2090-XXLF-xxxx three-phase AC line filters are required to meet CE in all 200V and 400V-class drive systems.
Line Interface
Modules
External Shunt
Modules
Resistive Brake
Module
Cat. No. Description
2094-xCxx-Mxx-S
2094-xCxx-Mxx
2094-xMxx-S
2094-xMxx
2094-SEPM-B24-S
Bulletin MDF
2094-PRSx
2094-PRx
2094-PRF
1756-MxxSE modules
1768-M04SE module
1784-PM16SE PCI card
1756-ENxTx modules The Kinetix 6000M IPIM module connects to the EtherNet/IP network for monitoring, diagnostics, and firmware upgrades.
9324-RLD300xxE
Kinetix MP, Kinetix TL/TLY,
Kinetix RDB, 1326AB,
F-Series
Kinetix MP
LDAT-Series LDAT-Series integrated linear actuators are compatible with 200V and 400V-class drive systems.
2090-Series power and
feedback cables
Kinetix 6000M integrated
drive-motor cables
Communication
2094-xLxx
2094-xLxxS
2094-XL75S-Cx
1394-SRxxxx
2090-XBxx-xx
Integrated Axis Modules (IAM) with the safe torque-off feature with 200V or 400V-class AC input power. Contains an inverter and
converter section. The peak enhancement feature is available on 400V-class (series B, C, and D) 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, C, and D) AM modules.
Axis Modules (AM) are shared DC-bus inverters rated for 200V or 400V-class input power (does not include the safe torque-off or
peak-enhanced feature). The AM module must be used with an IAM module.
The Kinetix 6000M integrated drive-motor (IDM) system consists of the IDM power interface module (IPIM) and up to 16
(Bulletin MDF) IDM units. The IPIM module mounts on the Bulletin 2094 power rail and provides power and communication to
the IDM units. The IPIM module also monitors power output and provides overload protection.
The Bulletin 2094 power rail consists of copper bus bars and a circuit board with connectors for each module. The power rail
provides power and control signals from the converter section to adjacent inverters. The IAM and AM power modules, shunt
module, slot-filler modules mount to the power rail.
The Bulletin 2094 slot-filler module is used when one or more slots on the power rail are empty after all the other power rail
modules are installed. One slot-filler module is required for each empty slot.
The Sercos interface module/PCI card serves as a link between the ControlLogix®/CompactLogix™/SoftLogix™ controllers and the
Kinetix 6000 drive system. The communication link uses the IEC 61491 SErial Real-time COmmunication System (Sercos) protocol
over a fiber-optic cable.
The Studio 5000 Logix Designer® application provides support for programming, commissioning, and maintaining the Logix 5000
family of controllers.
Compatible rotary motors include the Kinetix MPL, MPM, MPF, and MPS 200V and 400V-class motors; Kinetix RDB; Kinetix TL and
TLY; 1326AB (M2L/S2L) and 1326AB (resolver); and F-Series motors.
Compatible actuators include Kinetix MPAS (200V and 400V-class) single-axis and Kinetix MPMA multi-axis integrated linear
stages, and Kinetix MPAR and MPAI (200V and 400V-class) electric cylinders.
2090-Series power and feedback cables are available with bayonet, threaded, and SpeedTec connec tors. Power/brake cables have
flying leads on the drive end and straight connectors that connect to servo motors. Feedback cables have flying leads that wire to
low-profile connector kits on the drive end and straight connectors on the motor end.
Bulletin 2090 integrated drive-motor (IDM) hybrid and network cables connect between the 2094 IPIM module and the
Kinetix 6000M IDM units. Bulletin 889D and 879D cables connect between digital input connectors and sensors.
Bulletin 2090 Sercos fiber-optic cables are available as enclosure only, PVC, nylon, and glass with connectors at both ends.
Ethernet cables are available in standard lengths for Kinetix 6000M IPIM modules. Shielded cable is recommended.
Line interface modules (LIM) include the circuit breakers, AC line filter (catalog numbers 2094-AL09 and 2094-BL02 only), power
supplies, and safety contactor required for Kinetix 6000 operation. The LIM module does not mount to the power rail. You can
purchase individual components separately in place of the LIM module.
You can use Bulletin 1394 external passive shunt modules when the IAM/AM module internal shunt and power rail mounted
2094-BSP2 shunt module capability is exceeded.
Resistive Brake Modules (RBM) include a safety contactor for use in a con trol circuit. Contactors and resisto rs reside in this module
such that the motor leads can be disconnected from the drive with the permanent magnet motor brought to an immediate stop.
This module does not mount to the power rail.
Rockwell Automation Publication 2094-UM001K-EN-P - August 2020 15
Chapter 1 Start
C
A
T.
N
O
.
L
D
C
-
M
075500
S
E
R
I
A
L
N
O
.
X
X
X
X
X
X
X
X
X
S
E
R
I
E
S
A
w
w
w
.
a
b
.
c
o
m
M
A
D
E
I
N
U
S
A
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
2090-Series
Motor Feedback Cables
2090-Series
Motor Power Cables
Kinetix MPAS Integrated Linear Stages
(MPAS-B9xxx ballscrew shown)
Kinetix MP and Kinetix TL/TLY Rotary Motors
(MPL-Bxxxx motors shown)
Kinetix MPAR Electric Cylinders
(MPAR-Bxxxx electric cylinder shown)
LDC-Series Linear Motors
(LDC-Cxxxxxxx linear motor shown)
Kinetix RDB Direct-drive Motors
(1)
(RDB-Bxxxx motor shown)
Kinetix MPAI 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) Kinetix RDB direct-drive motors require the 2090-K6CK-KENDAT low-profile feedback module.
16 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020
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)
Kinetix MP and Kinetix TL/TLY Rotary Motors
(MPL-xxxx motors shown)
Kinetix MPAS Integrated Linear Stages
(MPAS-B9xxx ballscrew shown)
2090-Series
Motor Feedback Cables
2090-Series
Motor Power Cables
Kinetix MPAR Electric Cylinders
(MPAR-Bxxxx electric cylinder shown)
Kinetix MPAI Heavy Duty Electric Cylinders
(MPAI-Bxxxx electric cylinders shown)
Kinetix RDB 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)
Start Chapter 1
Figure 2 - Typical Kinetix 6000 System Installation (without LIM)
m
o
c
.
b
a
.
w
A
S
w
U
w
N
I
E
D
A
M
X
X
075500
X
M
X
X
C
X
D
X
L
.
X
O
X
.
N
O
T.
N
A
L
C
A
I
R
E
S
A
S
E
I
R
E
S
(1) Kinetix RDB direct-drive motors require the 2090-K6CK-KENDAT low-profile feedback module.
Rockwell Automation Publication 2094-UM001K-EN-P - August 2020 17
Chapter 1 Start
Three-phase
Input Power
Kinetix 6000 Multi-axis
Servo Drive System
2094-BSP2
Shunt Module
(optional component)
2094-SEPM-B24-S
IPIM Module
2094-PRSx
Power Rail
2094-PRF
Slot Filler Module
(required to fill any
unused slots)
To Input Sensors
and Control String
2090-K6CK-Dxxxx
Low Profile Connector Kits for I/O,
Motor Feedback, and Aux Feedback
Compatible Rotary Motors,
Linear Motors, and Linear Actuators
(MPL-Bxxxx motor shown)
2090-Series
Motor Feedback Cables
2090-Series
Motor Power Cables
2090-Series Hybrid Cables
2090-Series
Network Cables
MDF-SBxxxxx-Qx8xB-S
Drive-Motor Unit
MDF-SBxxxxx-Qx8xB-S
Drive-Motor Unit
MDF-SBxxxxx-Qx8xB-S
Drive-Motor Unit
MDF-SBxxxxx-Qx8xB-S
Drive-Motor Unit
This configuration illustrates the Kinetix 6000M integrated drive-motor
(IDM) system with IDM power interface module (IPIM) installed on the
Bulletin 2094 power rail. The IPIM module is included in the drive-to-drive
fiber-optic cable installation along with the axis modules.
Figure 3 - Typical Kinetix 6000M Integrated Drive-Motor System Installation
For more information on Kinetix 6000M integrated drive-motor system
installation, refer to the Kinetix 6000M Integrated Drive-Motor System User
Manual, publication 2094-UM003
.
18 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020
Figure 4 - Typical (400V-class) DC Common Bus System Installation
Kinetix 6000 Multi-axis Servo Drive System
Three- phase
Input Power
115/230V Control Power
2094-BCxx-Mxx-S
IAM Module
Common Bus Leader
2094-PRSx
Power Rail
2094-BMxx-S
Axis Modules (5)
2094-BSP2
Shunt Module
(optional component)
2094-PRF
Slot-filler Module
(required to fill
any unused slots)
2094-BCxx-Mxx-S
IAM Module
Common Bus Follower
2094-PRSx
Power Rail
2094-BMxx-S
Axis Modules (5)
2094-PRF
Slot-filler Module
(required to fill
any unused slots)
2094-BLxxS
Line Interface Module
(optional component)
DC Common Bus
2090-XXLF-xxxx
AC Lin e Filter
(required for CE)
2094-SEPM-B24-S
IPIM Module
Start Chapter 1
In the example above, the leader IAM module is connected to the follower
IAM module via the DC common-bus. The follower system also includes the
Kinetix 6000M integrated drive-motor (IDM) power interface module
(IPIM) that supports up to 16 IDM units.
When planning your panel layout, you must calculate the total bus capacitance
of your DC common-bus system to be sure that the leader IAM module is sized
sufficiently to precharge the entire system. Refer to Appendix
page 225,
for more information.
IMPORTANT If total bus capacitance of your system exceeds the leader IAM module
precharge rating and input power is applied, the IAM module sevensegment status indicator displays error code E90 (precharge timeout fault).
C, beginning on
To correct this condition, you must replace the leader IAM module with a
larger module or decrease the total bus capacitance by removing the IPIM
module or AM modules.
Rockwell Automation Publication 2094-UM001K-EN-P - August 2020 19
Chapter 1 Start
6200
6200
Logix 5000 Sercos interface Module
Logix 5000 Controller
(ControlLogix controller is shown)
The Logix Designer
Application
2090-SCxxx-x
Sercos Fiber-optic Cable
Logix 5000 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
SERCOS interface
CP
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 5000 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)
OK
Tx (rear)
Rx (front)
.
0.2 m
(7.1 in.)
TX
RX
(5.1 in.)
RX
0.1 m
(5.1 in.)
TX
6200
6200
SAFE SPEED
SAFE SPEED
0.1 m
0.2 m
(7.1 in.)
0.1 m
(5.1 in.)
20 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020
Start Chapter 1
Catalog Number Explanation
Integrated Axis Modules (230V)
Kinetix 6000, IAM, 200V-class, 3 kW conver ter, 5 A inver ter 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 inverter 2094-BC01-MP5-S
Kinetix 6000, IAM, 400V-class, 6 kW conver ter, 9 A inverter 2094-BC01-M01-S
Kinetix 6000, IAM, 400V-class, 15 kW converter, 15 A inverter 2094-BC02-M02-S
Kinetix 6000, IAM, 400V-class, 28 kW converter, 30 A inverter 2094-BC04-M03-S
Kinetix 6000, IAM, 400V-class, 45 kW converter, 49 A inverter 2094-BC07-M05-S
Axis Modules (230V)
Kinetix 6000, AM, 200V-class, 5 A 2094-AMP5-S 2094-AMP5
Kinetix 6000, AM, 200V-class, 9 A 2094-AM01-S 2094-AM01
Kinetix 6000, AM, 200V-class, 15 A 2094-AM02-S 2094-AM02
Kinetix 6000, AM, 200V-class, 24 A 2094-AM03-S 2094-AM03
Kinetix 6000, AM, 200V-class, 49 A 2094-AM05-S 2094-AM05
Axis Modules (460V)
Kinetix 6000, AM, 400V-class, 4 A 2094-BMP5-S
Kinetix 6000, AM, 400V-class, 9 A 2094-BM01-S
Kinetix 6000, AM, 400V-class, 15 A 2094-BM02-S
Kinetix 6000, AM, 400V-class, 30 A 2094-BM03-S
Kinetix 6000, AM, 400V-class, 49 A 2094-BM05-S
(1) You can configure the peak inver ter current rating of this 460V (series B, C, and D) IAM or AM module for 250% of continuous inverter current.
(2) You can configure the peak inver ter current rati ng of this 460V (series B, C, and D) IAM or AM module for 200% of continuous inverter current. Refer to Peak Enhancement
Specifications on page 74, for more information on drive performance in the peak-enhanced mode.
Kinetix 6000 (Bulletin 2094) drive catalog numbers and descriptions are listed
in the tables below.
IMPORTANT Throughout this publication, when the IAM or AM module catalog number
is followed by -x, for example 2094-BMP5-x, the variable (x) indicates that
the drive module may or may not include the safe torque-off feature.
Table 5 - Kinetix 6000 Drive Catalog Numbers
Cat. No.
(with safe torque-off feature)
(1)
(1)
(1)
(1)
(2)
(1)
(1)
(1)
(1)
(2)
Cat. No.
(without safe torque- off feature)
2094-BC01-MP5
2094-BC01-M01
2094-BC02-M02
2094-BC04-M03
2094-BC07-M05
2094-BMP5
2094-BM01
2094-BM02
2094-BM03
2094-BM05
Table 6 - 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-UM001K-EN-P - August 2020 21
Chapter 1 Start
Kinetix Drive Component
Compatibility
IAM Module Control Module
2094-BCxx-Mxx-S
(series B, C, and D)
2094-BCxx-Mxx-M
(IAM power module)
N/A
2094-SE02F-M00-Sx
Sercos interface
2094-EN02D-M01-Sx
EtherNet/IP network
The 2094-BCxx-Mxx-M and 2094-BMxx-M power modules contain the same
power structure as the 2094-BCxx-Mxx-S and 2094-BMxx-S drive modules.
Because of this, the 2094-BSP2 shunt module, 2094-PRF slot-filler module,
and 2094-PRSx power rails are supported by both drive families.
In addition, 2094-BMxx-M AM power modules with Sercos interface are
supported on power rails with a 2094-BCxx-Mxx-S IAM drive module.
Conversely, 2094-BMxx-S AM drive modules are supported on power rails
with a 2094-BCxx-Mxx-M IAM power module with Sercos interface.
IMPORTANT Kinetix 6500 EtherNet/IP control modules (catalog numbers
2094-EN02D-M01-Sx) are not compatible with IAM/AM modules on the
same Bulletin 2094 power rail with Kinetix 6000 or Kinetix 6200 Sercos
drives.
Table 7 - IAM and AM Module/Network Compatibility
2094-BMxx-M
2094-BMxx-S
Kinetix 6000 AM Module
Fully compatible Fully compatible Not compatible
Not compatible Not compatible Fully compatible
2094-SE02F-M00-Sx
Kinetix 6200 Control Module
AM Power Modules
2094-EN02D-M01-Sx
Kinetix 6500 Control Module
Kinetix 6000M Integrated
Drive-Motor System
Compatibility
For additional information on the 2094-BCxx-Mxx-M (IAM) and
2094-BMxx-M (AM) modules, refer to the Kinetix 6200 and Kinetix 6500
Multi-axis Servo Drives User Manual, publication 2094-UM002
.
Bulletin 2094 power rails with Kinetix 6000 (series B, C, and D) 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 8 - IPIM Module Compatibility
IAM Module Control Module
2094-BCxx-Mxx-S
(series B, C, and D)
2094-BCxx-Mxx-M
(IAM power module)
N/A
2094-SE02F-M00-Sx Sercos interface
2094-EN02D-M01-Sx EtherNet/IP network Not compatible
2094-SEPM-B24-S
IDM Power Interface Module (IPIM)
Fully compatible
For more information on Kinetix 6000M integrated drive-motor system
installation, refer to the Kinetix 6000M Integrated Drive-Motor System User
Manual, publication 2094-UM003
.
22 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020
Start Chapter 1
Agency Compliance
If this product is installed within the European Union and has the CE mark,
the following regulations apply.
ATT EN TI ON : Meeting CE requires a grounded system, and the method of
grounding the AC line filter and drive must match. Failure to do this renders
the filter ineffective and can cause damage to the filter. For grounding
examples, refer to Grounded Power Configurations on page 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 (for example, Schaffner P/N FN 355-10-05
or Roxburgh P/N RES5F08) as close to the IAM module as possible.
• Use 2090 series motor power cables or use connector kits and terminate
the cable shields to the chassis clamp provided.
• Combined motor power cable lengths for all Kinetix 6000 axes and
hybrid cable lengths for all IDM units on the same DC bus must not
exceed 240 m (787 ft) with 400V-class systems or 160 m (525 ft) with
200V-class systems. Drive-to-motor power cables must not exceed 90 m
(295.5 ft).
• Use 2090 series motor feedback cables or use connector kits and
properly terminate the feedback cable shield. Drive-to-motor feedback
cables must not exceed 90 m (295.5 ft).
• Install the Kinetix 6000 system inside an enclosure. Run input power
wiring in conduit (grounded to the enclosure) outside of the enclosure.
Separate signal and power cables.
.
Refer to Appendix A on page 185
power wiring and drive/motor interconnect diagrams.
Rockwell Automation Publication 2094-UM001K-EN-P - August 2020 23
for interconnect diagrams, including input
Chapter 1 Start
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-UM001K-EN-P - August 2020
Chapter 2
Plan the Kinetix 6000 Drive System Installation
This chapter describes system installation guidelines used in preparation for
mounting your Kinetix® 6000 drive components.
Top ic Pa ge
System Design Guidelines 26
Electrical Noise Reduction 34
ATT EN TI ON : Plan the installation of your system so that you can perform all
cutting, drilling, tapping, and welding with the system removed from the
enclosure. Because the system is of the open type construction, be careful to
keep any metal debris from falling into it. Metal debris or other foreign
matter can become lodged in the circuitry, which can result in damage to
components.
Rockwell Automation Publication 2094-UM001K-EN-P - August 2020 25
Chapter 2 Plan the Kinetix 6000 Drive System Installation
System Design Guidelines
Use the information in this section when designing your enclosure and
planning to mount your system components on the panel.
For on-line product selection and system configuration tools, including
AutoCAD (DXF) drawings of the product, refer to
http://www.rockwellautomation.com/en/e-tools
.
System Mounting Requirements
• To comply with UL and CE requirements, the Kinetix 6000 drive
system must be enclosed in a grounded conductive enclosure offering
protection as defined in standard EN 60529 (IEC 529) to IP54 such
that they are not accessible to an operator or unskilled person. A NEMA
4X enclosure exceeds these requirements providing protection to IP66.
• The panel you install inside the enclosure for mounting your system
components must be on a flat, rigid, vertical surface that won’t be
subjected to shock, vibration, moisture, oil mist, dust, or corrosive
vapors.
• Size the drive enclosure so as not to exceed the maximum ambient
temperature rating. Consider heat dissipation specifications for all drive
components.
• Combined motor power cable lengths for all axes and hybrid cable
lengths for all IDM units on the same DC bus must not exceed 240 m
(787 ft) with 400V-class systems or 160 m (525 ft) with 200V-class
systems. Drive-to-motor power cables must not exceed 90 m (295.5 ft).
IMPORTANT System performance was tested at these cable length specifications.
These limitations also apply when meeting CE requirements.
• Segregate input power wiring and motor power cables from control
wiring and motor feedback cables. Use shielded cable for power wiring
and provide a grounded 360° clamp termination.
• Use high-frequency (HF) bonding techniques to connect the modules,
enclosure, machine frame, and motor housing, and to provide a lowimpedance return path for high-frequency (HF) energy and reduce
electrical noise.
Refer to the System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001
reduction.
, to better understand the concept of electrical noise
26 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020
Plan the Kinetix 6000 Drive System Installation Chapter 2
Transformer Selection
The IAM module does not require an isolation transformer for three-phase
input power. However, a transformer can be required to match the voltage
requirements of the controller to the available service.
To size a transformer for the main AC power inputs, refer to the
Kinetix 6000 power specifications in the Kinetix Servo Drives Technical Data,
publication KNX-TD003
IMPORTANT If using an autotransformer, make sure that the phase to neutral/ground
voltages do not exceed the input voltage ratings of the drive.
IMPORTANT Use a form factor of 1.5 for three-phase power (where form factor is used to
compensate for transformer, drive module, and motor losses, and to account
for utilization in the intermittent operating area of the torque speed curve).
For example, to size a transformer to the voltage requirements of a
2094-BC01-M01-S integrated axis module:
2094-BC01-M01-S = 6 kW continuous x 1.5 = 9.0 KVA transformer
.
AC Line Filter Selection
These AC line filters are available for your servo drive input power.
Table 9 - Kinetix 6000 (three-phase) AC Line Filter Selection
Drive
Cat. No.
2094-AC05-MP5-S
2094-AC09-M02-S
2094-AC16-M03-S 75 5.2 (11.4) 2090-XXLF-375
2094-AC32-M05-S 100 9.5 (20.9) 2090-XXLF-3100
2094-BC01-MP5-S
2094-BC02-M02-S
2094-BC04-M03-S 75 5.2 (11.4) 2090-XXLF-375B
2094-BC07-M05-S 100 9.5 (20.9) 2090-XXLF-3100
Volt age
500V AC
50/60 Hz
500V AC
50/60 Hz
Current
A @ 50 °C (122 °F)
30 2.7 (5.9) 2090-XXLF-X330B2094-AC05-M01-S
30 2.7 (5.9) 2090-XXLF-X330B2094-BC01-M01-S
Refer to the Kinetix Motion Accessories Specifications Technical Data,
publication KNX-TD004
, for additional AC line filter specifications.
Weight, approx
kg (lb)
AC Line Filter
Cat. No.
Rockwell Automation Publication 2094-UM001K-EN-P - August 2020 27
Chapter 2 Plan the Kinetix 6000 Drive System Installation
Circuit Breaker/Fuse Options
The 2094-xCxx-Mxx-S and 2094-xMxx-S drive modules, and the
Kinetix 6000M integrated drive-motor system (2094-SEPM-B24-S IPIM
module and MDF-SBxxxxx IDM units) use internal solid-state motor shortcircuit protection and, when protected by suitable branch circuit protection,
are rated for use on a circuit capable of delivering up to 200,000 A (fuses) and
65,000 A (circuit breakers).
Table 10 - Control and DC-bus Circuit Protection Specifications
IAM Module
Cat. No.
2094-AC05-MP5-S
2094-AC05-M01-S
2094-AC09-M02-S FWH-35B A50P35-4
2094-AC16-M03-S
2094-AC32-M05-S FWH-125B A50P125-4
2094-BC01-MP5-S
2094-BC01-M01-S
2094-BC02-M02-S FWJ-40A A70QS40-4 HSJ40
2094-BC04-M03-S FWJ-70A A70QS70-4 HSJ70
2094-BC07-M05-S FWJ-125A A70QS125-4 HSJ125
(1) Use FNQ-R-7.5 circuit breaker for higher single -cycle inrush current capability. This is recommended when the continuous control-power current exceeds 3.0 A.
(2) Use 1492-SPM1D150 circuit breaker for higher single -cycle inrush current capability. This is recommen ded when the continuous control-powe r current exceeds 3.0 A.
(3) Mersen fuses were formerly known as Ferraz Shawmut.
Bussmann Fuse
FNQ-R-10 (10 A)
FNQ-R-10 (10 A) or
FNQ-R-7.5 (7.5 A)
Control Input Power DC-bus Power
Allen-Bradley® Circuit Breaker
(1)
(non-UL)
1492-SPM2D060
1492-SPM2D200
1492-SPM2D060 or
1492-SPM1D150
(2)
Bussmann Fuse Mersen Fuse
N/A A50P20-1
FWH-60B A50P60-4
FWJ-20A14F DCT20-2 HSJ20
Input Power Circuit Protection (LIM)
The 2094-AL09 and 2094-BL02 line interface modules (LIM) contain
supplementary protection devices and, when protected by suitable branch
circuit protection, are rated for use on a circuit capable of delivering up to 5000
A. When these modules are used, protection on the line side of the LIM
module is required. Fuses must be class J or CC only.
(3)
The 2094-ALxxS, 2094-BLxxS, and 2094-XL75S-Cx LIM modules contain
branch circuit rated devices suitable for use on a circuit capable of delivering up
to 65,000 A (400V-class) or 100,000 A (200V-class).
Refer to the Line Interface Module Installation Instructions, publication
2094-IN005
, for power specifications and more information on using the LIM
module.
Refer to Input Power Circuit Protection (without LIM) on page 29
drive system does not include the LIM module.
28 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020
when your
Plan the Kinetix 6000 Drive System Installation Chapter 2
Molded Case CB
Cat. No.
Motor Protection CB
Cat. No.
Miniature CB
Cat. No.
Molded Case CB
Cat. No.
–2094-AC05-M01-S 230V
140M-F8E-C16
1492-SPM3D300 1489-M3D300
–
140G-G6C3-C50
140M-F8E-C20
–
––
140G-G6C3-C50
140G-G6C3-C90 140G-G6C3-C90
–2094-BC01-M01-S 360…480V
140M-F8E-C32
1492-SPM3D300 1489-M3D300
–
140G-G6C3-C50
140M-F8E-C45
–
––
140G-G6C3-C50
140G-G6C3-C90 140G-G6C3-C90
Input Power Circuit Protection (without LIM)
The fuses and Allen-Bradley circuit breakers shown in Ta b l e 1 1 are recommended for use with 2094-xCxx-Mxx-S IAM
modules when the line interface module (LIM) is not used.
IMPORTANT LIM Modules (catalog numbers 2094-ALxxS, 2094-BLxxS, and 2094-XL75S-Cx) provide branch circuit protection to the IAM
Motor Protection CB,
Self-protected CMC
Cat. No.
140M-F8E-C32 140M-F8E-C32
140M-F8E-C16 140M-F8E-C16
140M-F8E-C16
140M-F8E-C20 1492-SPM3D400
–
140M-F8E-C32
140M-F8E-C45 1492-SPM3D400
–
module. Follow all applicable NEC and local codes.
–
Refer to the Kinetix Servo Drives Technical Data, publication KNX-TD003, for additional power specifications for your
IAM module.
LPJ-45SP (45 A)
Class J
LPJ-80SP (80 A)
KTK-R-30 (30 A)
Class CC
2094-BC02-M02-S 360…480V
Class J
2094-BC04-M03-S 360…480V
2094-BC07-M05-S 360…480V
Table 11 - Input Power Circuit Protection Specifications
Miniature CB
Cat. No.
Fuses (Bussmann)
Cat. No.
Drive Voltage
(three-phase)
nom
Kinetix 6000 Drives UL Applications IEC (non-UL) Applications
IAM Module
Cat. No.
Rockwell Automation Publication 2094-UM001K-EN-P - August 2020 29
1489-M3D300
KTK-R-20 (20 A)
Class CC
KTK-R-20 (20 A)
Class CC
2094-AC05-MP5-S 230V
KTK-R-30 (30 A)
–
LPJ-45SP (45 A)
Class J
LPJ-80SP (80 A)
Class CC
2094-AC09-M02-S 230V
Class J
2094-AC16-M03-S 230V
2094-AC32-M05-S 230V
1489-M3D300
KTK-R-20 (20 A)
KTK-R-20 (20 A)
Class CC
Class CC
2094-BC01-MP5-S 360…480V
Chapter 2 Plan the Kinetix 6000 Drive System Installation
Enclosure Selection
This example is provided to assist you in sizing an enclosure for your Bulletin
2094 drive system. The example system consists of these components:
• 6-axis Bulletin 2094 servo drive system
• Line Interface Module (LIM)
• ControlLogix® chassis and modules (controller)
Size the Bulletin 2094 servo drive and LIM module and use the results to
predict the amount of heat dissipated into the enclosure. You also need heat
dissipation data from other equipment inside the enclosure (such as the
ControlLogix controller). Once the total amount of heat dissipation (in watts)
is known, you can calculate the minimum enclosure size.
Table 12 - 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 N/A 30
Total Kinetix 6000 system wattage 578
(1) To determine heat dissipation specifications for your drive system components, refer to Tab le 1 4 on page 32.
Integrated axis module (IAM),
400/460V
15 kW (converter section) 20% 44
15 A (inverter sect ion) 40% 72
(1)
Heat Dissipation
watts
(1)
30 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020
Loading...