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Kinetix 6500
User Manual
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Table of contents
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Rockwell Automation Kinetix 6200, Kinetix 6500 User Manual

Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives
Catalog Numbers 2094-BC01-MP5-M, 2094-BC01-M01-M, 2094-BC02-M02-M, 2094-BC04-M03-M, 2094-BC07-M05-M 2094-BMP5-M, 2094-BM01-M, 2094-BM02-M, 2094-BM03-M, 2094-BM05-M, 2094-SE02F-M00-S0, 2094-SE02F-M00-S1, 2094-EN02D-M01-S0, 2094-EN02D-M01-S1, 2094-BSP2, 2094-PRF, 2094-SEPM-B24-S
Original Instructions
Kinetix 6200 and Kinetix 6500 Modular 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.
WA RN I NG : 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-UM002H-EN-P - March 2021

Table of Contents

Preface
Download Firmware, AOP, EDS, and Other Files . . . . . . . . . . . . . . . . . . . . 9
Summary of Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Chapter 1
Start About the Kinetix 6200 and Kinetix 6500 Drive Systems . . . . . . . . . . . . 14
Typical Hardware Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Typical Communication Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Kinetix Drive Component Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Kinetix 6000M Integrated Drive-Motor System Compatibility. . . . . . . 24
Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
CE Requirements (system without LIM module). . . . . . . . . . . . . . . . 25
CE Requirements (system with LIM module) . . . . . . . . . . . . . . . . . . . 25
Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation
Mount the Kinetix 6200 and Kinetix 6500 Drive System
Chapter 2
System Design Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
System Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Transformer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
AC Line Filter Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Circuit Breaker/Fuse Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Enclosure Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Electrical Noise Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Bond Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Bond Multiple Subpanels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Establish Noise Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Cable Categories for Kinetix 6200 and Kinetix 6500 Systems. . . . . 47
Noise Reduction Guidelines for Drive Accessories . . . . . . . . . . . . . . 49
Chapter 3
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Install 2094 Mounting Brackets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Install the 2094 Power Rail. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Determine Mounting Order. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Mount Modules on the Power Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Mount the Control Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Rockwell Automation Publication 2094-UM002H-EN-P - March 2021 3
Table of Contents
Chapter 4
Connector Data and Feature Descriptions
2094 Power Module and Control Module Features. . . . . . . . . . . . . . . . . . 62
I/O, Safety, and Auxiliary Feedback Connector Pinout. . . . . . . . . . . 65
Motor Feedback Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Ethernet Communication Connector Pinout . . . . . . . . . . . . . . . . . . . 67
IAM Input Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
IAM and AM Motor Power and Brake Connector Pinout . . . . . . . . . 68
Control Signal Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Ethernet Communication Specifications. . . . . . . . . . . . . . . . . . . . . . . 71
Sercos Communication Specifications. . . . . . . . . . . . . . . . . . . . . . . . . 71
Contactor Enable Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Power and Relay Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Motor/Resistive Brake Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Input Power Cycle Capability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Peak Current Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Control Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Feedback Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Absolute Position Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Motor Feedback Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Auxiliary Position Feedback Specifications. . . . . . . . . . . . . . . . . . . . . 83
Safe Speed Monitor Safety Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Safe Torque Off Safety Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Connect the Kinetix 6200 and Kinetix 6500 Drive System
Chapter 5
Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Build Your Own Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Route the Power and Signal Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Determine the Input Power Configuration . . . . . . . . . . . . . . . . . . . . . . . . 88
Grounded Power Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Ungrounded Power Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
DC Common Bus Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Common Bus Fusing Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Set the Ground Jumper in Select Power Configurations. . . . . . . . . . . . . 93
Set the Ground Jumper. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Ground the Modular Drive System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Ground the Power Rail to the System Subpanel . . . . . . . . . . . . . . . . . 96
Ground Multiple Subpanels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Power Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Power Wiring Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Wire the IAM/AM Module Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Wire the Control Power (CPD) Connector. . . . . . . . . . . . . . . . . . . . . 101
Wire the Input Power (IPD) Connector . . . . . . . . . . . . . . . . . . . . . . . 102
Wire the Contactor Enable (CED) Connector . . . . . . . . . . . . . . . . . . 104
Wire the Motor Power (MP) Connector . . . . . . . . . . . . . . . . . . . . . . . 105
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
4 Rockwell Automation Publication 2094-UM002H-EN-P - March 2021
Configure and Start the Kinetix 6200 Drive System
Table of Contents
Wire the Feedback and I/O Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Connect Premolded Motor Feedback Cables. . . . . . . . . . . . . . . . . . . 118
Connect Panel-mounted Breakout Board Kits . . . . . . . . . . . . . . . . . 119
Wire Low-profile Connector Kits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
External Shunt Module Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
IPIM Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
RBM Module Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Sercos Fiber-optic Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Kinetix 6000M Integrated Drive-Motor Sercos Connections . . . . . . . 129
Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Chapter 6
Configure the Kinetix 6000M Integrated Drive-Motor System. . . . . . 135
Configure the Drive Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Configure the Logix 5000 Sercos interface Module . . . . . . . . . . . . . . . . 142
Configure the Logix 5000 Controller . . . . . . . . . . . . . . . . . . . . . . . . . 142
Configure the Logix 5000 Controller Module . . . . . . . . . . . . . . . . . . 144
Configure the Kinetix 6200 Drive Modules . . . . . . . . . . . . . . . . . . . . 146
Configure the Motion Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Apply Power to the Kinetix 6200 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Test and Tune the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Test the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Tune the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Configure and Start the Kinetix 6500 Drive System
Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System
Chapter 7
Configure the Drive Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Configure the Logix EtherNet/IP Module. . . . . . . . . . . . . . . . . . . . . . . . . 165
Configure the Logix Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Configure the Logix Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Configure the Kinetix 6500 Drive Modules . . . . . . . . . . . . . . . . . . . . 169
Configure the Motion Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Apply Power to the Kinetix 6500 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Test and Tune the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Test the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Tune the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Chapter 8
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Interpret Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Kinetix 6000M IDM System Error Codes. . . . . . . . . . . . . . . . . . . . . . 188
Four-character Display Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Control Module Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Shunt Module Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Rockwell Automation Publication 2094-UM002H-EN-P - March 2021 5
Table of Contents
General System Anomalies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Logix 5000 Controller and Drive Behavior . . . . . . . . . . . . . . . . . . . . . . . . 202
Kinetix 6500 Drive Exception Behavior . . . . . . . . . . . . . . . . . . . . . . . 202
Kinetix 6200 Drive Fault Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Drive Exception/Fault Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Chapter 9
Remove and Replace the Kinetix 6200 and Kinetix 6500 Drive Modules
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Remove Kinetix 6200 and Kinetix 6500 Drive Modules. . . . . . . . . . . . . 210
Remove the Control Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Remove the Drive Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Replace Kinetix 6200 and Kinetix 6500 Drive Modules . . . . . . . . . . . . . 213
Replace the Drive Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Replace the Control Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Remove the Power Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Replace the Power Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Appendix A
Interconnect Diagrams Interconnect Diagram Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
DC Common Bus Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Shunt Module Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
Axis Module/Rotary Motor Wiring Examples . . . . . . . . . . . . . . . . . . . . . 226
Axis Module/Linear Motor/Actuator Wiring Examples. . . . . . . . . . . . . 231
Kinetix 6000M Integrated Drive-Motor Wiring Example . . . . . . . . . . 236
Brake Control Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
System Block Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Appendix B
Upgrade the Drive Firmware Upgrade Kinetix 6000M System Firmware . . . . . . . . . . . . . . . . . . . . . . . 241
Upgrade Kinetix 6200 and Kinetix 6500 Drive Firmware . . . . . . . . . . . 242
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Configure Logix 5000 Communication . . . . . . . . . . . . . . . . . . . . . . . 243
Upgrade Firmware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
Verify the Firmware Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
Appendix C
DC Common-bus Applications Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
Calculate Total Bus Capacitance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
Calculate Additional Bus Capacitance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
Bulletin 2094 Drive Capacitance Values . . . . . . . . . . . . . . . . . . . . . . . . . . 251
Common Bus Capacitance Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
Appendix D
Configure the Load Observer Feature
Benefits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
How it Works. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
6 Rockwell Automation Publication 2094-UM002H-EN-P - March 2021
Table of Contents
Remaining IDN Parameter Descriptions. . . . . . . . . . . . . . . . . . . . . . 256
Out-of-Box Gain Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
Auto-tune Gain Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
Tuning Mode Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
Manual Tuning for Further Optimization . . . . . . . . . . . . . . . . . . . . . 263
Setting Gains with Sercos IDN Write Messages . . . . . . . . . . . . . . . . . . . 265
Compensate for High Frequency Resonances . . . . . . . . . . . . . . . . . . . . . 266
Appendix E
Web Server Interface Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
Web Server Interface Categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
Home Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
Diagnostics Category. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
Drive Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
Drive Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
Motor Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
Network Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
Ethernet Statistics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
CIP Statistics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
Encoder Statistics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
Peak Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
Monitor Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
Oscilloscope. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
Fault Logs Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
Configure Fault Log. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
Data Logs Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Temperatures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Administrative Settings Category. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
Browse Power Rail Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
Safety Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
Safety Main . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
Safety Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
Configuration Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
Change Safety Password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
Appendix F
Change Kinetix 6200 Default IDN Parameter Values
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
Change IDN Parameter Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
Read the Present IDN Parameter Value . . . . . . . . . . . . . . . . . . . . . . . 290
Calculate/Select the New IDN Value . . . . . . . . . . . . . . . . . . . . . . . . . . 292
Write the New IDN Parameter Value . . . . . . . . . . . . . . . . . . . . . . . . . 293
Appendix G
Kinetix 6500 CIP Axis Attributes Standard Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
Kinetix 6500 Drive Specific Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
Change CIP Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
Rockwell Automation Publication 2094-UM002H-EN-P - March 2021 7
Table of Contents
Appendix H
RBM Module Interconnect Diagrams
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
RBM Module Wiring Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
Appendix I
History of Changes History of Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
8 Rockwell Automation Publication 2094-UM002H-EN-P - March 2021

Preface

This manual provides detailed installation instructions to mount, wire, and troubleshoot the Kinetix® 6200 and Kinetix 6500 servo drives, and system integration for your drive and motor/actuator combination with a Logix 5000™ controller.
For information on wiring, configuring, and troubleshooting the Safe Speed Monitor functions, refer to the Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual, publication 2094-RM001
For information on wiring, configuring, and troubleshooting the Safe Torque Off functions, refer to the Kinetix 6200 and Kinetix 6500 Safe Torque-off Safety Reference Manual, publication 2094-RM002
This manual is intended for engineers or technicians directly involved in the installation and wiring of the Kinetix 6200 and Kinetix 6500 drives, and programmers directly involved in the operation, field maintenance, and integration of these drives with the EtherNet/IP™ communication module or controller.
If you do not have a basic understanding of Kinetix 6200 and Kinetix 6500 servo drives, contact your local Rockwell Automation sales representative for information on available training courses.
.
.

Download Firmware, AOP, EDS, and Other Files

Summary of Changes

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.
Top ic Page
Added IMPORTANT statement regarding motor feedback loss. 80 Added FLT M18…TORQUE PROVE fault code. 194 Added FLT M18…TORQUE PROVE drive behavior. 206 Added Appendix G - Kinetix 6500 CIP™ Axis Attributes. 295 Added Appendix I - History of Changes. 307
.
Rockwell Automation Publication 2094-UM002H-EN-P - March 2021 9
Preface

Conventions Used in This Manual

Additional Resources

Table 1 - Additional Resoures
The conventions starting below are used throughout this manual.
• Bulleted lists such as this one provide information, not procedural steps.
• Numbered lists provide sequential steps or hierarchical information.
• Acronyms for the Kinetix 6200 and Kinetix 6500 drive modules are shown in the table below and are used throughout this manual.
Acronym
IAM Integrated Axis Module 2094-xBCxx-Mxx-xM AM Axis Module 2094-xBMxx-xM LIM Line Interface Module 2094-xBLxx and 2094-xBLxxS-xx RBM Resistive Brake Module 2090-XBxx-xx
Acronym Kinetix 6000M Drive Modules Cat. No.
IDM Integrated Drive-Motor MDF-SBxxxxx IPIM IDM Power Interface Module 2094-SEPM-B24-S
Kinetix 6200 and Kinetix 6500 Drive Modules
Cat. No.
These documents contain additional information concerning related products from Rockwell Automation.
Resource Description
Kinetix Rotary Motion Specifications, publication KNX-TD001
Kinetix Linear Motion Specifications, publication KNX-TD002
Kinetix Servo Drives Specifications, publication KNX-TD003
Kinetix Motion Accessories Specifications, publication KNX-TD004
Kinetix 6000 Power Rail Installation Instructions, publication 2094-IN003 Provides information on the installation of Bulletin 2094 power rail. Kinetix 6000 Shunt Module Installation Instructions, publication 2094-IN004 Slot-filler Module Installation Instructions, publication 2094-IN006
Line Interface Module Installation Instructions, publication 2094-IN005
2094 Mounting Bracket Installation Instructions, publication 2094-IN008 Resistive Brake Module Installation Instructions, publication 2090-IN009
Fiber-optic Cable Installation and Handling Instructions, publication 2090-IN010
External Shunt Modules Installation Instructions, publication 2090-IN004
System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001
Servo Drive Installation Best Practices Application Technique, publication MOTION-AT004
Vertical Load and Holding Brake Management Application Technique, publication MOTION-AT003
Kinetix 6000M Integrated Drive-Motor User Manual, publication 2094-UM003
Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Servo Drives Safety Reference Manual, publication 2094-RM001
Kinetix 6200 and Kinetix 6500 Safe Torque-off Servo Drives Safety Reference Manual, publication 2094-RM002
Product specifications for Kinetix MPL, MPM, MPF, MPS, TL/TLY, RDB, HPK and Kinetix 6000M (Bulletin MDF) rotary motors.
Product specifications for Kinetix MPAS and MPMA linear stages, Kinetix MPAR, MPAI, and TLAR electric cylinders, and LDC-Series™ and LDL-Series™ linear motors.
Product specifications for Kinetix Integrated Motion over the EtherNet/IP network, Integrated Motion over Sercos interface, EtherNet/IP networking, and component servo drive families.
Product specifications for 2090-Series motor and interface cables, low-profile connector kits, drive power components, and other servo drive accessory items.
Provides information on the installation of Bulletin 2094 shunt module. Provides information on the installation of Bulletin 2094 slot-filler module. Provides information to install and troubleshoot Bulletin 2094 line interface modules
(LIM). Provides information to install Bulletin 2094 mounting brackets. Provides information on the installation of Bulletin 2090 Resistive Brake Modules. Provides information to properly handle, install, test, and troubleshoot fiber-optic
cables. Provides information on the installation of 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 vertical loads and how the servo motor holding-brake option can be used to help keep a load from falling.
Provides information to install, configure, startup, and troubleshoot your Kinetix 6000M integrated drive-motor (IDM) system.
Provides information to install, configure, and troubleshoot the Safe Speed Monitor features of your Kinetix 6200 and Kinetix 6500 drives.
Provides information to install, configure, and troubleshoot the safe torque-off features of your Kinetix 6200 and Kinetix 6500 drives.
10 Rockwell Automation Publication 2094-UM002H-EN-P - March 2021
Table 1 - Additional Resoures (continued)
Resource Description
Kinetix 6000 and Kinetix 6200/6500 Drive Systems, publication KNX-RM003
Kinetix Motion Control Selection Guide, publication KNX-SG001
Access Motion Analyzer from:
https://motionanalyzer.rockwellautomation.com
Rockwell Automation Product Selection website, rok.auto/systemtools
Product Certifications website, rok.auto/certifications Provides declarations of conformity, certificates, and other certification details.
Sercos and Analog Motion Configuration User Manual, publication MOTION-UM001
Motion Coordinate System User Manual, publication MOTION-UM002
Integrated Motion on the EtherNet/IP Network Configuration and Startup User Manual, publication MOTION-UM003
Integrated Motion on the EtherNet/IP Network Reference Manual, publication
MOTION-RM003
EtherNet/IP Network Devices User Manual, ENET-UM006
Ethernet Reference Manual, ENET-RM002
SoftLogix Motion Card Setup and Configuration Manual, publication 1784-UM003
ControlFLASH Firmware Upgrade Kit User Manual, publication 1756-UM105
Rockwell Automation Industrial Automation Glossary, publication AG-7.1 A glossary of industrial automation terms and abbreviations.
.
System design guide to select the required (drive specific) drive module, power accessory, connector kit, motor cable, and interface cable catalog numbers for your drive and motor/actuator motion control system.
Overview of Kinetix servo drives, motors, actuators, and motion accessories designed to help make initial decisions for the motion control products best suited for your system requirements.
Provides 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.
Provides information to configure and troubleshoot ControlLogix®, CompactLogix™, and SoftLogix™ Sercos interface modules.
Information to create a motion coordinate system with Sercos or analog motion modules.
Information on how to configure and troubleshoot your ControlLogix and CompactLogix EtherNet/IP network modules.
Information on the AXIS_CIP_DRIVE attributes and the configuration software control modes and methods.
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.
Information on configuring and troubleshooting SoftLogix PCI cards. Provides information on how to upgrade your drive firmware by using ControlFLASH™
software.
Preface
You can view or download publications at rok.auto/literature.
Rockwell Automation Publication 2094-UM002H-EN-P - March 2021 11
Preface
Notes:
12 Rockwell Automation Publication 2094-UM002H-EN-P - March 2021
Chapter 1
Start
Use this chapter to become familiar with the design and installation requirements for Kinetix® 6200/6500 drive systems.
Top ic Pa ge
About the Kinetix 6200 and Kinetix 6500 Drive Systems 14 Typical Hardware Configurations 15 Typical Communication Configurations 19 Catalog Number Explanation 23 Kinetix Drive Component Compatibility 24 Kinetix 6000M Integrated Drive-Motor System Compatibility 24 Agency Compliance 25
Rockwell Automation Publication 2094-UM002H-EN-P - March 2021 13
Chapter 1 Start

About the Kinetix 6200 and Kinetix 6500 Drive Systems

The Kinetix 6200 and Kinetix 6500 modular multi-axis servo drives are designed to provide a Kinetix Integrated Motion solution for your drive/ motor/actuator applications.
Table 2 - Kinetix 6200 and Kinetix 6500 Drive System Overview
System Component
Integrated Axis Module
Axis Module 2094-BMxx-M
Control Module
Shunt Module 2094-BSP2 The Bulletin 2094 shunt module mounts to the power rail and provides additional shunting in regenerative applications.
Kinetix 6000M IDM System
Power Rail
Slot-filler Module
Logix 5000™ Controllers
Studio 5000® Environment
Rotary Servo Motors
Linear Motors LDC-Series™ Compatible motors include LDC-Series iron core (400V-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 400V-class drive systems.
Line Interface Modules
External Shunt Modules
Resistive Brake Module
Cat. No. Description
2094-BCxx-Mxx-M
2094-SE02F-M00-Sx Interchangeable modular components for wiring I/O, safety, and feedback options using Sercos interface. 2094-EN02D-M01-Sx Interchangeable modular components for wiring I/O, safety, and feedback options using EtherNet/IP networking.
2094-SEPM-B24-S Bulletin MDF
2094-PRSx 2094-PRx
2094-PRF
1756-MxxSE modules 1768-M04SE module 1784-PM16SE PCI card
1756-ENxTx modules
9324-RLD300xxE
Kinetix MP, Kinetix RDB, 1326AB
Kinetix MP
LDAT-Series LDAT-Series integrated linear actuators are compatible with 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 (power) Modules (IAM) with Safe Speed Monitor are available with 400V-class AC input power and contains an inverter and converter section. The IAM power module requires one control module.
Axis (power) Modules (AM) are a shared DC-bus inverter rated for 400V-class input power. The AM power modules each require one control module and must be used with an IAM power module.
The Kinetix 6000M integrated drive-motor (IDM) system consists of the IDM power interface module (IPIM) and up to 16 (Bulletin MDF) IDM units. The IPIM module mounts on the Bulletin 2094 power rail and provides power and communication to the IDM units. The IPIM module also monitors power output and provides overload protection.
The Bulletin 2094 power rail consists of copper bus bars and a circuit board with connectors for each module. The power rail provides power and control signals from the converter section to adjacent inverters. The IAM and AM power modules, shunt module, slot-filler modules mount to the power rail.
The Bulletin 2094 slot-filler module is used when one or more slots on the power rail are empty after all the other power rail modules are installed. One slot-filler module is required for each empty slot.
The Sercos interface module/PCI card serves as a link between the ControlLogix®/CompactLogix™/SoftLogix™ controllers and the Kinetix 6200 drive system. The communication link uses the IEC 61491 SErial Real-time COmmunication System (Sercos) protocol over a fiber-optic cable.
The EtherNet/IP network module serves as a link between the ControlLogix platform and Kinetix 6500 drive system. Linear, device-level ring (DLR), and star topology is supported. The Kinetix 6000M IPIM module connects to the EtherNet/IP network for monitoring, diagnostics, and firmware upgrades.
The Studio 5000 Logix Designer® application provides support for programming, commissioning, and maintaining the Logix 5000 family of controllers.
Compatible rotary motors include the Kinetix MPL, MPM, MPF, and MPS; Kinetix RDB; and 1326AB (M2L/S2L) 400V-class motors.
Compatible actuators include Kinetix MPAS (400V-class) single-axis and Kinetix MPMA multi-axis integrated linear stages, and Kinetix MPAR and MPAI (400V-class) electric cylinders.
2090-Series power and feedback cables are available with bayonet, threaded, and SpeedTec connectors. Power/brake cables have flying leads on the drive end and straight connectors that connect to servo motors. Feedback cables have flying leads that wire to low-profile connector kits on the drive end and straight connectors on the motor end.
2090-Series integrated drive-motor (IDM) hybrid and network cables connect between the 2094 IPIM module and the Kinetix 6000M IDM units. Bulletin 889D and 879D cables connect between digital input connectors and sensors.
Bulletin 2090 Sercos fiber-optic cables are available as enclosure only, PVC, nylon, and glass with connectors at both ends. Ethernet cables are available in standard lengths for Kinetix 6500, Kinetix 6200, and Kinetix 6000M IPIM modules. Shielded
cable is recommended.
Line interface modules (LIM) include the circuit breakers, AC line filter (catalog number 2094-BL02 only), power supplies, and safety contactor required for Kinetix 6200 and Kinetix 6500 operation. The LIM module does not mount to the power rail. You can purchase individual components separately in place of the LIM module.
You can use Bulletin 1394 external passive shunt modules when the IAM/AM power module internal shunt and power rail mounted 2094-BSP2 shunt module capability is exceeded.
Resistive Brake Modules (RBM) include a safety contactor for use in a control circuit. Contactors and resistors reside in this module such that the motor leads can be disconnected from the drive with the permanent magnet motor brought to an immediate stop. This module does not mount to the power rail.
14 Rockwell Automation Publication 2094-UM002H-EN-P - March 2021
Start Chapter 1
C
A
T.
N
O
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L
D
C
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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 6200 or Kinetix 6500 Multi-axis Servo Drive System
2094-BLxxS Line Interface Module (optional component)
2094-BMxx-M AM Power Modules (5) with Bulletin 2094 Control Modules (5)
Three-phase
Input Power
2094-BCxx-Mxx-M IAM Power Module
with
Bulletin 2094
Control Module
2094-BSP2 Shunt Module (optional component)
2090-XXLF-xxxx
AC Line Filter
(required for CE)
2094-PRSx
Power Rail
2094-PRF Slot Filler Module (required to fill any unused slots)
I/O Connections
To Input Sensors
and Control String
115/230V Control Power
2090-K6CK-Dxxxx
Low Profile Connector Kits for I/O, Safety,
Motor Feedback, and Aux Feedback
Kinetix MPAS Integrated Linear Stages (MPAS-B9xxx ballscrew shown)
Kinetix MPL Rotary Motors
(MPL-Bxxxx motors shown)
Bulletin 2090
Motor Feedback Cables
Bulletin 2090
Motor Power Cables
Kinetix MPAR Electric Cylinders
(MPAR-Bxxxx electric cylinder shown)
LDC-Series Linear Motors
(LDC-Cxxxxxxx linear motor shown)
Kinetix RDB Direct Drive Motors (RDB-Bxxxx motor shown)
Kinetix MPAI Heavy Duty Electric Cylinders (MPAI-Bxxxx electric cylinders shown)

Typical Hardware Configurations

Typical Kinetix 6200 and Kinetix 6500 system installations include three­phase AC configurations, with and without the line interface module (LIM), and DC common-bus configurations.
SHOCK HAZARD: To avoid personal injury due to electrical shock, place a 2094-PRF slot-filler module in all empty slots on the power rail. Any power rail connector without a module installed disables the Bulletin 2094 system; however, control power is still present.
Figure 1 - Typical Kinetix 6200 or Kinetix 6500 System Installation (with LIM)
Rockwell Automation Publication 2094-UM002H-EN-P - March 2021 15
Chapter 1 Start
C
A
T
.
N
O
.
L
D
C
-
M
075500
S
E
R
I
AL
N
O
.
X
X
X
X
X
X
X
X
X
S
E
R
I
E
S
A
w
ww
.
a
b
.
c
o
m
M
A
D
E
I
N
U
S
A
Kinetix 6200 or Kinetix 6500 Modular Servo Drive System
Three-phase
Input Power
Single-phase
Control Power
I/O Connections
To Input Sensors
and Control String
2090-K6CK-Dxxxx
Low Profile Connector Kits for I/O, Safety,
Motor Feedback, and Aux Feedback
Kinetix MPL Rotary Motors
(MPL-Bxxxx motors shown)
Bulletin 2090
Motor Feedback Cables
Bulletin 2090
Motor Power Cables
Line
Disconnect
Device
Magnetic
Contactor
Circuit
Protection
2094-BMxx-M AM Power Modules (5) with Bulletin 2094 Control Modules (5)
2094-BCxx-Mxx-M IAM Power Module
with
Bulletin 2094
Control Module
2094-BSP2 Shunt Module (optional component)
2090-XXLF-xxxx
AC Line Filter
(required for CE)
2094-PRSx
Power Rail
2094-PRF Slot Filler Module (required to fill any unused slots)
Kinetix MPAS Integrated Linear Stages (MPAS-B9xxx ballscrew shown)
LDC-Series Linear Motors
(LDC-Cxxxxxxx linear motor shown)
Kinetix RDB Direct Drive Motors (RDB-Bxxxx motor shown)
Kinetix MPAR Electric Cylinders
(MPAR-Bxxxx electric cylinder shown)
Kinetix MPAI Heavy Duty Electric Cylinders (MPAI-Bxxxx electric cylinders shown)
2090-XXLF-xxxx
AC Line Filter
(required for CE)
Figure 2 - Typical Kinetix 6200 or Kinetix 6500 System Installation (without LIM)
16 Rockwell Automation Publication 2094-UM002H-EN-P - March 2021
Start Chapter 1
Three-phase
Input Power
Kinetix 6200 Modular
Servo Drive System
2094-BSP2 Shunt Module (optional component)
2094-SEPM-B24-S IPIM Module
2094-PRSx
Power Rail
2094-PRF Slot Filler Module (required to fill any unused slots)
To Input Sensors
and Control String
2090-K6CK-Dxxxx
Low Profile Connector Kits for I/O, Safety,
Motor Feedback, and Aux Feedback
Compatible Rotary Motors,
Linear Motors, and Linear Actuators
(MPL-Bxxxx motor shown)
Bulletin 2090
Motor Feedback Cables
Bulletin 2090
Motor Power Cables
Bulletin 2090 Hybrid Cables
Bulletin 2090 Network Cables
MDF-SBxxxxx-Qx8xB-S Drive-Motor Unit
MDF-SBxxxxx-Qx8xB-S Drive-Motor Unit
MDF-SBxxxxx-Qx8xB-S Drive-Motor Unit
MDF-SBxxxxx-Qx8xB-S Drive-Motor Unit
This configuration illustrates the Kinetix 6000M integrated drive-motor (IDM) system with IDM power interface module (IPIM) installed on the Bulletin 2094 power rail. The IPIM module is included in the drive-to-drive fiber-optic cable installation along with the axis modules.
Figure 3 - Typical Kinetix 6000M Integrated Drive-Motor System Installation
Rockwell Automation Publication 2094-UM002H-EN-P - March 2021 17
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
.
Chapter 1 Start
Three-phase Input Power
115/230V Control Power
DC Common Bus
Kinetix 6200 or Kinetix 6500 Modular Servo Drive System
2094-BLxxS Line Interface Module (optional component)
2094-BMxx-M AM Power Modules (5) with Bulletin 2094 Control Modules (5)
2094-BCxx-Mxx-M
IAM Power Module
with
Bulletin 2094
Control Module
2094-BSP2 Shunt Module (optional component)
2090-XXLF-xxxx
AC Line Filter
(required for CE)
2094-PRSx
Power Rail
2094-PRF Slot Filler Module (required to fill any unused slots)
2094-BMxx-M AM Power Modules (5) with Bulletin 2094 Control Modules (5)
2094-BCxx-Mxx-M IAM Power Module
with
Bulletin 2094
Control Module
2094-PRSx
Power Rail
2094-PRF Slot Filler Module (required to fill any unused slots)
2094-SEPM-B24-S IPIM Module
Figure 4 - Typical DC Common Bus System Installation
In the example above, the leader IAM module is connected to the follower IAM module via the DC common-bus. The follower system also includes the Kinetix 6000M integrated drive-motor (IDM) power interface module (IPIM) that supports up to 16 IDM units.
When planning your panel layout, you must calculate the total bus capacitance of your DC common-bus system to be sure that the leader IAM module is sized sufficiently to precharge the entire system. Refer to Appendix
page 249,
for more information.
C, beginning on
IMPORTANT If total bus capacitance of your system exceeds the leader IAM power
module precharge rating, the IAM module four-character display scrolls a power cycle user limit condition. If input power is applied, the display scrolls a power cycle fault limit condition.
To correct this condition, you must replace the leader IAM power module with a larger module or decrease the total bus capacitance by removing the IPIM module or AM power modules.
18 Rockwell Automation Publication 2094-UM002H-EN-P - March 2021
Start Chapter 1
6200
6200
6200
6200
6200
6200
6200
6200
6200
6200
6200
Logix 5000 Sercos interface Module
Logix 5000 Platform (ControlLogixis shown)
Logix Designer
Application
2090-SCxxx-x
Sercos Fiber-optic Cable
Logix Controller Programming Network
2094-BMxx-M AM Power Modules (5) with 2094-SE02F-M00-Sx Control Modules (5)
2094-BCxx-Mxx-M IAM Power Module
with
2094-SE02F-M00-Sx
Control Module
Ethernet (RJ45) connections are
required only for programming the
2094-SE02F-M00-S1
safety configuration.
1585J-M8TBJM-x
Ethernet Cable
0.2 m (7.1 in.)
Kinetix 6200 Drive-to-Drive Sercos Cables
Kinetix 6200 Single-wide
2094-BCxx-Mxx-M IAM Power Module
with
2094-SE02F-M00-Sx
Control Module
Kinetix 6200 Double-wide
2094-BCxx-Mxx-M IAM Power Module
2094-SE02F-M00-Sx
Control Module
2094-BMxx-M Single-wide AM Power Module with
2094-SE02F-M00-Sx Control Module
2094-BMxx-M Double-wide AM Power Module with
2094-SE02F-M00-Sx Control Module
Kinetix 6200 (top view)
Sercos Connectors
2094-PRSx
Power Rail
2094-BMxx-M Single-wide AM Power Module with
2094-SE02F-M00-Sx Control Module
2094-SEPM-B24-S IPIM Module
2094-BMxx-S Single-wide AM Modules
Kinetix 6000 and Kinetix 6000M (top view) Sercos Connectors

Typical Communication Configurations

In this example, drive-to-drive Sercos cables and catalog numbers are shown when Kinetix 6000, Kinetix 6000M, and Kinetix 6200 drive modules exist on the same power rail.
The Kinetix 6200 control modules use Sercos interface for configuring the 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)
SERCOS interface
OK
CP
Tx (rear)
Rx (front)
6200
SAFE SPEED
6200
6200
SAFE SPEED
SAFE SPEED
.
6200
6200
SAFE SPEED
6200
SAFE SPEED
SAFE SPEED
TX
RX
RX
0.1 m
(5.1 in.)
TX
0.2 m
(7.1 in.)
0.3 m
(12.0 in.)
0.2 m
(7.1 in.)
6200
SAFE SPEED
6200
SAFE SPEED
6200
SAFE SPEED
6200
6200
SAFE SPEED
SAFE SPEED
Rockwell Automation Publication 2094-UM002H-EN-P - March 2021 19
Chapter 1 Start
Logix 5000 Platform (ControlLogixis shown)
Logix Designer
Application
Kinetix 6500 Modular Multi-axis Servo Drive System
1595J-M8CBJM-x
Ethernet (shielded) Cable
1756-ENxT EtherNet/IP Module
1734-AENT POINT I/O™
EtherNet/IP Adapter
ControlLogix Controller Programming Network
PanelView™ Plus Display Terminal
1783-ETAP
Modules
PowerFlex® 755
Drive Modules
2094-BMxx-M Axis Modules (5) with
2094-EN02D-M01-Sx Control Modules (5)
2094-BCxx-Mxx-M
Integrated
Axis Module
with
2094-EN02D-M01-Sx
Control Module
1585J-M8CBJM-OM3
0.3 m (1.0 ft) Ethernet cable
for drive-to-drive connections.
The Kinetix 6500 control modules can use any Ethernet topology including star, linear, and device-level ring (DLR). DLR is an ODVA standard and provides fault tolerant connectivity.
1756-EN2F modules are available for applications that require fiber-optic cable for noise immunity.
In this example, all devices are connected in linear topology. The Kinetix 6500 control module includes dual-port connectivity. Devices without dual ports should include the 1783-ETAP module or be connected at the end of the line.
• Up to 64 devices in linear configurations.
• No redundancy. If any device becomes disconnected, all the devices downstream loose communication.
Figure 6 - Kinetix 6500 Linear Communication Installation (EtherNet/IP network)
20 Rockwell Automation Publication 2094-UM002H-EN-P - March 2021
Start Chapter 1
Logix 5000 Platform (ControlLogixis shown)
Logix Designer
Application
Kinetix 6500 Modular Multi-axis Servo Drive System
1595J-M8CBJM-x
Ethernet (shielded) Cable
1756-ENxTR EtherNet/IP Module
1734-AENT POINT I/O
EtherNet/IP Adapter
ControlLogix Controller Programming Network
1783-ETAP
Module
PowerFlex 755
Drive Module
2094-BMxx-M Axis Modules (5) with
2094-EN02D-M01-Sx Control Modules (5)
2094-BCxx-Mxx-M
Integrated
Axis Module
with
2094-EN02D-M01-Sx
Control Module
1585J-M8CBJM-OM3
0.3 m (1.0 ft) Ethernet cable
for drive-to-drive connections.
In this example, the devices are connected by using device-level ring (DLR) topology. DLR topology is fault redundant. For example, if a device in the ring is disconnected, the rest of the devices in the ring continue to maintain communication.
• Up to 64 devices in the DLR configurations.
• All Devices in a DLR ring should have dual-port connectivity or be connected in the ring by using a 1783-ETAP module.
Figure 7 - Kinetix 6500 Ring Communication Installation (EtherNet/IP network)
755
Rockwell Automation Publication 2094-UM002H-EN-P - March 2021 21
Chapter 1 Start
Logix 5000 Platform (ControlLogixis shown)
Logix Designer
Application
Kinetix 6500 Modular Multi-axis Servo Drive System
2094-BMxx-M Axis Modules (5) with
2094-EN02D-M01-Sx Control Modules (5)
2094-BCxx-Mxx-M
Integrated
Axis Module
with
2094-EN02D-M01-Sx
Control Module
1595J-M8CBJM-x
Ethernet (shielded) Cable
1756-ENxT EtherNet/IP Module
1734-AENT POINT I/O EtherNet/IP Adapter
ControlLogix Controller Programming Network
PanelView Plus Display Terminal
PowerFlex 755
Drive Module
1783-EMS
Stratix™ Switch
PowerFlex 755
Drive Module
1585J-M8CBJM-OM3
0.3 m (1.0 ft) Ethernet cable
for drive-to-drive connections.
In this example, the devices are connected by using star topology. Each device is connected directly to the switch, making this topology fault tolerant. The 2094 power rail modules and other devices operate independently. The loss of one device does not impact the operation of the other devices.
Figure 8 - Kinetix 6500 Star Communication Installation (EtherNet/IP network)
755755
22 Rockwell Automation Publication 2094-UM002H-EN-P - March 2021
Start Chapter 1

Catalog Number Explanation

Kinetix 6200 and Kinetix 6500 (Bulletin 2094) modular drive catalog numbers and descriptions are listed in the tables below. All power modules are compatible with the Kinetix 6200 and Kinetix 6500 control modules.
Table 3 - Kinetix 6200 and Kinetix 6500 Drive Catalog Numbers
Integrated Axis Modules (460V) Cat. No.
IAM power module, 400V-class, 6 kW converter, 4 A (0-pk) inverter 2094-BC01-MP5-M IAM power module, 400V-class, 6 kW converter, 9 A (0-pk) inverter IAM power module, 400V-class, 15 kW converter, 15 A (0-pk) inverter 2094-BC02-M02-M
IAM power module, 400V-class, 28 kW converter, 30 A (0-pk) inverter 2094-BC04-M03-M IAM power module, 400V-class, 45 kW converter, 49 A (0-pk) inverter 2094-BC07-M05-M
Axis Modules (460V)
AM power module, 400V-class, 4 A (0-pk) 2094-BMP5-M AM power module, 400V-class, 9 A (0-pk) 2094-BM01-M AM power module, 400V-class, 15 A (0-pk) 2094-BM02-M AM power module, 400V-class, 30 A (0-pk) 2094-BM03-M AM power module, 400V-class, 49 A (0-pk) 2094-BM05-M
Kinetix 6200 Control Modules
Control module, Sercos interface, Safe Torque Off 2094-SE02F-M00-S0 Control module, Sercos interface, Safe Speed Monitor 2094-SE02F-M00-S1
Kinetix 6500 Control Modules
Control module, EtherNet/IP network, Safe Torque Off 2094-EN02D-M01-S0 Control module, EtherNet/IP network, Safe Speed Monitor 2094-EN02D-M01-S1
2094-BC01-M01-M
Table 4 - Kinetix 6000 Drive Component Catalog Numbers
Drive Components Cat. No.
Integrated power interface (IPIM) module, 400V-class, 15 kW, 24 A (rms) 2094-SEPM-B24-S Kinetix 6000 shunt module, 200/400V-class, 200 W 2094-BSP2 Kinetix 6000 slot-filler module, 200/400V-class 2094-PRF
Rockwell Automation Publication 2094-UM002H-EN-P - March 2021 23
Chapter 1 Start

Kinetix Drive Component Compatibility

Table 5 - IAM and AM Module/Network Compatibility
IAM Module Control Module
2094-BCxx-Mxx-S (series B, C, and D)
2094-BCxx-Mxx-M (IAM power module)
–
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.
2094-BMxx-M
2094-BMxx-S Kinetix 6000 AM Module
Fully compatible Fully compatible Not compatible
Not compatible Not compatible Fully compatible
2094-SE02F-M00-Sx Kinetix 6200 Control Module
AM Power Modules
2094-EN02D-M01-Sx Kinetix 6500 Control Module

Kinetix 6000M Integrated Drive-Motor System Compatibility

For additional information on the 2094-BCxx-Mxx-S IAM and 2094-BMxx-S AM modules, refer to the Kinetix 6000 Multi-axis Servo Drives User Manual, publication 2094-UM001
.
Bulletin 2094 power rails with Kinetix 6000 (series B, 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 6 - IPIM Module Compatibility
IAM Module Control Module
2094-BCxx-Mxx-S (series B, C, and D)
2094-BCxx-Mxx-M (IAM power module)
–
2094-SE02F-M00-Sx Sercos interface 2094-EN02D-M01-Sx EtherNet/IP network Not compatible
2094-SEPM-B24-S IDM Power Interface Module (IPIM)
Fully compatible
For more information on Kinetix 6000M integrated drive-motor system installation, refer to the Kinetix 6000M Integrated Drive-Motor System User Manual, publication 2094-UM003
.
24 Rockwell Automation Publication 2094-UM002H-EN-P - March 2021
Start Chapter 1

Agency Compliance If this product is installed within the European Union and has the CE mark,

the following regulations apply.
ATTENTION: 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 89
For more information on electrical noise reduction, refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001

CE Requirements (system without LIM module)

To meet CE requirements when your Kinetix 6200 and Kinetix 6500 system does not include the LIM module, these requirements apply.
• Install 2090-XXLF-xxxx AC line filters for three-phase input power and single-phase control power (for example, Schaffner P/N FN 355-10-05 or Roxburgh P/N RES5F08) as close to the IAM module as possible.
• Use 2090 series motor power cables or use connector kits and terminate the cable shields to the chassis clamp provided.
• Combined motor power cable lengths for all Kinetix 6200 and Kinetix 6500 axes and hybrid cable lengths for all IDM units on the same DC bus must not exceed 240 m (787 ft) with 400V-class systems. Drive-to­motor power cables must not exceed 90 m (295.5 ft).
• Use 2090 series motor feedback cables or use connector kits and properly terminate the feedback cable shield. Drive-to-motor feedback cables must not exceed 90 m (295.5 ft).
• Install the Kinetix 6200 and Kinetix 6500 system inside an enclosure. Run input power wiring in conduit (grounded to the enclosure) outside of the enclosure. Separate signal and power cables.
.
.
Refer to Appendix A on page 215 power wiring and drive/motor interconnect diagrams.
for interconnect diagrams, including input

CE Requirements (system with LIM module)

To meet CE requirements when your Kinetix 6200 and Kinetix 6500 system includes the LIM module, follow all the requirements as stated in CE
Requirements (system without LIM module) and these additional
requirements as they apply to the AC line filter.
• Install the LIM module (catalog numbers 2094-BL02) as close to the IAM module as possible.
• Install the LIM module (catalog numbers 2094-BLxxS or 2094-XL75S-Cx) with line filter (catalog number 2090-XXLF-xxxx) as close to the IAM module as possible.
When the LIM module (catalog numbers 2094-BLxxS or 2094-XL75S-Cx) supports two IAM modules, each IAM module requires an AC line filter installed as close to the IAM module as possible.
Rockwell Automation Publication 2094-UM002H-EN-P - March 2021 25
Chapter 1 Start
Notes:
26 Rockwell Automation Publication 2094-UM002H-EN-P - March 2021
Chapter 2
Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation
This chapter describes system installation guidelines used in preparation for mounting your Kinetix® 6200/6500 drive components.
Top ic Pa ge
System Design Guidelines 28 Electrical Noise Reduction 36
ATTENTION: 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-UM002H-EN-P - March 2021 27
Chapter 2 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation

System Design Guidelines Use the information in this section when designing your enclosure and

planning to mount your system components on the panel.
For on-line product selection and system configuration tools, including AutoCAD (DXF) drawings of the product, refer to
http://www.rockwellautomation.com/en/e-tools

System Mounting Requirements

• To comply with UL and CE requirements, the Kinetix 6200 and Kinetix 6500 drive systems must be enclosed in a grounded conductive enclosure offering protection as defined in standard EN 60529 (IEC 529) to IP54 such that they are not accessible to an operator or unskilled person. A NEMA 4X enclosure exceeds these requirements providing protection to IP66.
• The panel you install inside the enclosure for mounting your system components must be on a flat, rigid, vertical surface that won’t be subjected to shock, vibration, moisture, oil mist, dust, or corrosive vapors.
• Size the drive enclosure so as not to exceed the maximum ambient temperature rating. Consider heat dissipation specifications for all drive components.
• Combined motor power cable lengths for all axes and hybrid cable lengths for all IDM units on the same DC bus must not exceed 240 m (787 ft) with 400V-class systems. Drive-to-motor power cables must not exceed 90 m (295.5 ft).
.
IMPORTANT System performance was tested at these cable length
specifications. These limitations also apply when meeting CE requirements.
• Combined length of Ethernet cables on Kinetix 6500 systems connecting drive-to-drive, drive-to-controller, or drive-to-switch must not exceed 100 m (328 ft).
• Segregate input power wiring and motor power cables from control wiring and motor feedback cables. Use shielded cable for power wiring and provide a grounded 360° clamp termination.
• Use high-frequency (HF) bonding techniques to connect the modules, enclosure, machine frame, and motor housing, and to provide a low­impedance return path for high-frequency (HF) energy and reduce electrical noise.
Refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001 reduction.
, to better understand the concept of electrical noise
28 Rockwell Automation Publication 2094-UM002H-EN-P - March 2021
Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Chapter 2

Transformer Selection

The IAM power module does not require an isolation transformer for three­phase input power. However, a transformer can be required to match the voltage requirements of the controller to the available service.
To size a transformer for the main AC power inputs, refer to the Kinetix 6200/6500 power specifications in the Kinetix Servo Drives Technical Data, publication KNX-TD003
IMPORTANT If using an autotransformer, make sure that the phase to neutral/
ground voltages do not exceed the input voltage ratings of the drive.
IMPORTANT Use a form factor of 1.5 for three-phase power (where form factor is
used to compensate for transformer, drive module, and motor losses, and to account for utilization in the intermittent operating area of the torque speed curve).
For example, to size a transformer to the voltage requirements of a 2094-BC01-M01-M integrated axis module: 2094-BC01-M01-M = 6 kW continuous x 1.5 = 9.0 KVA transformer
.

AC Line Filter Selection

These AC line filters are available for your servo drive input power.
Table 7 - Kinetix 6200/6500 (three-phase) AC Line Filter Selection
Drive Cat. No.
2094-BC01-MP5-M
2094-BC02-M02-M 2094-BC04-M03-M 75 5.2 (11.4) 2090-XXLF-375B 2094-BC07-M05-M 100 9.5 (20.9) 2090-XXLF-3100
Vol tag e
500V AC 50/60 Hz
Refer to the Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004
, for additional AC line filter specifications.
Current
A @ 50 °C (122 °F)
30 2.7 (5.9) 2090-XXLF-X330B2094-BC01-M01-M
Weight, approx
kg (lb)
AC Line Filter Cat. No.
Rockwell Automation Publication 2094-UM002H-EN-P - March 2021 29
Chapter 2 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation

Circuit Breaker/Fuse Options

The 2094-BCxx-Mxx-M and 2094-BMxx-M drive modules, and the Kinetix 6000M integrated drive-motor system (2094-SEPM-B24-S IPIM module and MDF-SBxxxxx IDM units) use internal solid-state motor short­circuit protection and, when protected by suitable branch circuit protection, are rated for use on a circuit capable of delivering up to 200,000 A (fuses) and 65,000 A (circuit breakers).
Table 8 - Control and DC-bus Circuit Protection Specifications
IAM Module Cat. No.
2094-BC01-MP5-M 2094-BC01-M01-M 2094-BC02-M02-M FWJ-40A A70QS40-4 HSJ40 2094-BC04-M03-M FWJ-70A A70QS70-4 HSJ70 2094-BC07-M05-M FWJ-125A A70QS125-4 HSJ125
(1) Use FNQ-R-7.5 circuit breaker for higher single -cycle inrush current capability. This is recommended when the continuous control-power current exceeds 3.0 A. (2) Use 1492-SPM1D150 circuit breaker for higher single -cycle inrush current capability. This is recommended when the continuous control-power current exceeds 3.0 A. (3) Mersen fuses were formerly known as Ferraz Shawmut.
Bussmann Fuse
FNQ-R-10 (10 A) or FNQ-R-7.5 (7.5 A)
Control Input Power DC-bus Power
(1)
Allen-Bradley® Circuit Breaker (non-UL)
1492-SPM2D060 or 1492-SPM1D150
(2)
Bussmann Fuse
FWJ-20A14F DCT20-2 HSJ20
Mersen Fuse
Input Power Circuit Protection (LIM)
The 2094-BL02 line interface module (LIM) contains supplementary protection devices and, when protected by suitable branch circuit protection, is rated for use on a circuit capable of delivering up to 5000 A. When this module is used, protection on the line side of the LIM module is required. Fuses must be class J or CC only.
The 2094-BLxxS and 2094-XL75S-Cx LIM modules contain branch circuit rated devices suitable for use on a circuit capable of delivering up to 65,000 A (400V­class).
(3)
Refer to the Line Interface Module Installation Instructions, publication
2094-IN005
, for power specifications and more information on using the LIM
module.
Refer to Input Power Circuit Protection (without LIM) on page 31 drive system does not include the LIM module.
30 Rockwell Automation Publication 2094-UM002H-EN-P - March 2021
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