Rockwell Automation MDF-SB1304F User Manual
User Manual
Kinetix 6000M Integrated Drive-Motor System
Catalog Numbers 2094-SEPM-B24-S, MDF-SB1003P, MDF-SB1153H, MDF-SB1304F
Important User Information
IMPORTANT
Solid-state equipment has operational characteristics differing from those of electromechanical equipment. Safety
Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1
your local Rockwell Automation® sales office or online at http://www.rockwellautomation.com/literature/
important differences between solid-state equipment and hard-wired electromechanical devices. Because of this difference,
and also because of the wide variety of uses for solid-state equipment, all persons responsible for applying this equipment
must satisfy themselves that each intended application of this equipment is acceptable.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the
use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or
software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
available from
) describes some
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment,
which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous
voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may
reach dangerous temperatures.
Identifies information that is critical for successful application and understanding of the product.
Allen-Bradley, Rockwell Software, Rockwell Automation, Kinetix, On-Machine, ControlLogix, CompactLogix, SoftLogix, RSLinx, RSLogix, DriveExplorer, ControlFLASH and TechConnect are trademarks of
Rockwell Automation , Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Table of Contents
Preface
Start
Planning the Kinetix 6000M System
Installation
About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Chapter 1
About the Kinetix 6000M System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Typical Hardware Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Typical Communication Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Catalog Number Explanations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Component Compatibility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
CE Requirements (system without LIM module). . . . . . . . . . . . . . . . 19
CE Requirements (system with LIM module). . . . . . . . . . . . . . . . . . . 19
Chapter 2
Cable Length Restrictions and System Sizing . . . . . . . . . . . . . . . . . . . . . . . 21
IPIM Module Design Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
System Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Circuit Breaker/Fuse Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Enclosure Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
IDM Unit Design Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Minimum Clearance Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Electrical Noise Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Cable Categories for Kinetix 6000M System . . . . . . . . . . . . . . . . . . . . 28
Mounting the Kinetix 6000M System
Chapter 3
Mounting the IPIM Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Using the 2094 Mounting Brackets . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Installing the 2094 Power Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Determine Mounting Order. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Mount the IPIM Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Installing the IDM Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Aligning the IDM Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Mount and Connect the IDM Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Rockwell Automation Publication 2094-UM003A-EN-P - May 2012 3
Table of Contents
Chapter 4
Kinetix 6000M System Connector
Data
Connecting the Kinetix 6000M
System
IPIM Module Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . 38
IPIM Module Connector and Signal Descriptions . . . . . . . . . . . . . . . . . . 39
Hybrid Cable DC Bus Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Hybrid Cable Communication Signals Connector . . . . . . . . . . . . . . 39
Safe Torque-off Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Sercos Fiber-optic Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Enable Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
EtherNet/IP Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
IPIM Module Network Connector Pinouts. . . . . . . . . . . . . . . . . . . . . 42
IDM Unit Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
IDM Unit Connector and Signal Descriptions. . . . . . . . . . . . . . . . . . . . . . 44
Hybrid Cable Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
IDM Network Input and Output Connector Pinouts . . . . . . . . . . . 45
Digital Input Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Power Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Brake Override Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Peak Duty Cycle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Feedback Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Absolute Position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Chapter 5
Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Routing the Power and Signal Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Grounding the IDM System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Apply the Cable Shield Clamp. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
General IDM System Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Hybrid Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Network Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
How to Bypass an IDM Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
The Sercos Fiber-optic Ring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Ethernet Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
4 Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
Chapter 6
Table of Contents
Configuring the Kinetix 6000M
System
Configure the Kinetix 6000M Integrated Drive-motor System . . . . . . . 65
Understanding the IPIM Module Display . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Startup Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Information Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Tools Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Configuring the IPIM Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Setting the IPIM Module Network Address . . . . . . . . . . . . . . . . . . . . 69
Configuring the IDM Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Setting the Node Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Add-on Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Configure the Logix Sercos Interface Module . . . . . . . . . . . . . . . . . . . . . . . 73
Configure the Logix Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Configure the Logix Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Configure the IDM Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Configure the Motion Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Download the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Apply Power to the System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Test and Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Test the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Tune the Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Troubleshooting the Kinetix 6000M
System
Removing and Replacing the
Kinetix 6000M IPIM Module
Chapter 7
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
IDM System Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Reading the Fault Status of the IPIM Module. . . . . . . . . . . . . . . . . . . 88
Interpret Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
IPIM Module Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
IDM Unit Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
General System Anomalies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
IPIM Module Fault Diagnosis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
IPIM Module Fault Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
IDM Unit Fault Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Logix Controller/IDM Unit Fault Behavior . . . . . . . . . . . . . . . . . . . . 95
Use a Web Browser to Monitor System Status . . . . . . . . . . . . . . . . . . . . . . 97
Chapter 8
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Remove the IPIM Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Replace the IPIM Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Rockwell Automation Publication 2094-UM003A-EN-P - May 2012 5
Table of Contents
Appendix A
Using the Safe Torque-off Feature
with the Kinetix 6000M System
Interconnect Diagram
Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Important Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Category 3 Requirements According to EN ISO 13849-1 . . . . . . . 104
Stop Category Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Performance Level (PL) and Safety Integrity Level (SIL) . . . . . . . . 104
Description of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Troubleshooting the Safe Torque-off Function . . . . . . . . . . . . . . . . 105
PFD, PFH, and MTTFd Definitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
PFD, PFH, and MTTFd Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Wiring Your Safe Torque-off Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
European Union Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
IDM Safe Torque-off Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Safe Torque-off Feature Bypass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
IDM System Safe Torque-off Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Cascading the Safe Torque-off Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Safe Torque-off Signal Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Appendix B
Upgrading the Kinetix 6000M System
Firmware
Kinetix 6000M System Sizing
Index
Appendix C
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Configure Logix Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
IPIM Module Firmware Upgrade. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
IDM Unit Firmware Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Verify the Firmware Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Appendix D
Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Manually Sizing the Kinetix 6000M System . . . . . . . . . . . . . . . . . . . . . . . 128
6 Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
Preface
About This Publication
Conventions Used in This Manual
This manual provides detailed installation instructions for mounting, wiring, and
troubleshooting the Kinetix® 6000M Integrated Drive-Motor (IDM) system
including the IDM Power Interface Module (IPIM).
For information on wiring and troubleshooting the safe-off feature on your
integrated drive-motor system, refer to Appendix A
.
This manual is intended for engineers or technicians directly involved in the
installation, wiring, and programming of the Kinetix 6000M integrated drivemotor system.
If you do not have a basic understanding of the Kinetix drives, contact your local
Rockwell Automation sales representative for information on available training
courses.
The conventions listed 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 and Kinetix 6200 system components and
Kinetix 6000M integrated drive-motor are shown in the table below and
are used throughout this manual.
Additional Resources
Acronym Kinetix Modules Cat. No.
IDM Integrated drive-motor MDF-SBxxxxx-Qx8xA-S
IPIM IDM power interface module 2094-SEPM-B24-S
IAM Integrated axis module 2094-BCxx-Mxx-x
AM Axis module 2094-BMxx-x
LIM Line interface module 2094-BLxx and 2094-BLxxS-xx
These documents contain additional information concerning related
Rockwell Automation products.
Resource Description
Kinetix 6000M IPIM-to-IDM Hybrid Cable Installation Instructions,
publication 2090-IN031
Kinetix 6000M IDM-to-IDM Hybrid Cable Installation Instructions,
publication 2090-IN032
Kinetix 6000M IDM Network Cable Installation Instructions,
publication 2090-IN034
Kinetix 6000M Manual Brake Release Cable Installation
Instructions, publication 2090-IN037
Provides detailed cable information.
Rockwell Automation Publication 2094-UM003A-EN-P - May 2012 7
Preface
Resource Description
Kinetix 6000M IPIM Hybrid Terminator Installation Instructions,
publication 2090-IN035
Kinetix 6000M Network Terminator Installation Instructions,
publication 2090-IN036
Kinetix 6000M Hybrid Power Coupler Installation Instructions,
publication 2090-IN038
Kinetix 6000M Bulkhead Cable Adapter Kit Installation
Instructions, publication 2090-IN039
Kinetix 6000M Integrated Drive-Motor Installation Instructions,
publication MDF-IN001
Kinetix 6000M Integrated Drive-Motor Power Interface Module
Installation Instructions, publication 2094-IN016
Kinetix 6000 Multi-axis Servo Drives User Manual, publication
2094-UM001
Kinetix 6200 and Kinetix 6500 Modular
Multi-axis Servo Drives User Manual, publication 2094-UM002
Fiber-optic Cable Installation and Handling Instructions,
publication 2090-IN010
System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001
EMC Noise Management DVD, publication GMC-SP004
Kinetix Rotary Motion Specifications, publication GMC-TD001 Provides IPIM module and IDM unit specifications.
Kinetix Motion Accessories Specifications, publication GMC-TD004
Kinetix Safe-off Feature Safety Reference Manual, publication
GMC-RM002
Kinetix Motion Control Selection Guide, publication GMC-SG001 Provides specifications, motor/servo-drive system
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
Rockwell Automation Industrial Automation Glossary, publication
AG-7. 1
Rockwell Automation Configuration and Selection Tools website:
http://www.rockwellautomation.com/en/e-tools
Rockwell Automation Product Certification website:
http://www.rockwellautomation.com/products/certification
Provides detailed terminator information.
Provides installation information for the Hybrid
Power Coupler.
Provides installation information for the Bulkhead
Cable Adapter.
Provides installation information for the IDM unit.
Provides information on the installation of the IPIM
module.
Provides detailed information about the Kinetix
6000 drives.
Provides detailed information about the Kinetix
6200 drives.
Provides information on proper handling, installing,
testing, and troubleshooting fiber-optic cables.
Provides information, examples, and techniques
designed to minimize system malfunctions caused
by electrical noise.
Provides product specifications for Bulletin 2090
motor and interface cables, low-profile connector
kits, drive power components, and other servo drive
accessory items.
Provides information on wiring and
troubleshooting your Kinetix 6000 servo drives with
the safe-off feature.
combinations, and accessories for Kinetix motion
control products.
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.
A glossary of industrial automation terms and
abbreviations.
Motion Analyzer application analysis software for
drive/motor sizing.
Online product selection and system configuration
tools, including AutoCAD (DXF) drawings.
For declarations of conformity (DoC ) currently
available from Rockwell Automation.
You can view or download publications at
http:/www.rockwellautomation.com/literature/
technical documentation, contact your local Allen-Bradley® distributor or
Rockwell Automation sales representative.
8 Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
. To order paper copies of
Chapter 1
Start
Use this chapter to become familiar with the design and installation requirements
for the Kinetix 6000M integrated drive-motor system.
Top ic Pa ge
About the Kinetix 6000M System 9
Typical Ha rdware Configurations 11
Typical Communication Configurations 16
Catalog Number Explanations 17
Component Compatibility 18
Agenc y Compliance 19
About the Kinetix 6000M System
The Kinetix 6000M integrated drive-motor system is designed to provide a
Kinetix Integrated Motion solution for your applications. Ta b l e 1
lists the
components that can be used to build an integrated solution.
Table 1 - System Component Overview
System Component Cat. No. Description
IDM Unit MDF-SBxxxxx-Qx8xA-S Integrated drive-motor (IDM) unit with the safe -off feature. The unit contains a servo drive and motor.
IDM Power Interface
Module (IPIM)
IDM Hybrid Cables From the IPIM module to the first IDM unit:
IDM Network Cables From the IPIM module to the first IDM unit:
Integrated Axis Module 2094-BCxx-Mxx-S (Kinetix 6000)
Axis Module 2094-BMxx-S (Kinetix 6000)
Shunt Module 2094-BSP2 The Bulletin 2094 shunt module mounts to the power rail and provides additional shunting capability in
2094-SEPM-B24-S 460V AC integrated drive-motor power interface module that resides on the power rail and provides
2090-CHBIFS8-12AAxx
From IDM unit to IDM unit:
2090-CHBP8S8-12AAxx
2090-CNSSPRS-AAxx,
2090-CNSSPSS-AAxx
From IDM unit to IDM unit:
2090-CNSSPRS-AAxx,
2090-CNSSPSS-AAxx,
2090-CNSRPSS-AAxx,
2090-CNSRPRS-AAxx
2094-BCxx-Mxx-M (Kinetix 6200)
2094-BMxx-M (Kinetix 6200)
power and communications to the IDM units. The module also monitors power output and provides
overload protection.
Hybrid cable provides power and inter-module communication to each IDM unit via daisy chain.
Required to daisy chain the Kinetix 6000M network.
460V Integrated Axis Modules (IAM) contains an inverter and converter section.
Axis Modules (AM) are a shared DC-bus inverter rated for 460V input power. The AM module must be
used with an IAM module.
regenerative applications.
Rockwell Automation Publication 2094-UM003A-EN-P - May 2012 9
Chapter 1 Start
System Component Cat. No. Description
Power Rail 2094-PRSx 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 IPIM, IAM and AM power modules, shunt module, slot-filler modules mount to the power
rail.
Power Rail Slot-filler
Module
Logix Controller Platform 1756-Mxx SE CompactLogix module
2094-PRF 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 network interface module/PCI card serves as a link between the ControlLogix/CompactLogix/
1768-M04SE ControlLogix module
1784-PM16SE PCI option card
SoftLogix platform 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.
RSLogix 5000 Software 9324-RLD300ENE RSLogix 5000 software provides support for programming, commissioning, and maintaining the Logix
family of controllers. Version 20 or later is required when using the Kinetix 6000M integrated drive-
motor system.
Line Interface Modules 2094-BLxxS
2094-XL75S-Cx
Line interface modules (LIM) include the circuit breakers, AC line filter (catalog number 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.
IDM Unit Digital Input
Cables
889D DC Micro Allows use of sensors (see Digital Input Connectors
Quick Selection Guide, public ation CNSYS-BR001, or the On-Machine™ Connectivity Catalog, publication
on page 45). Also refer to the Connection Systems
M117-CA001.
Safe-Off Wiring
(1)
Headers
For first drive in multiple safety drive
configurations: 2090-XNSM-W
Required for various installations of the IPIM module into the Kinetix 6000 servo drive systems.
Middle header for drive-to-drive connections in
multiple safety drive configurations with three
or more drives:
2090-XNSM-M
Safe-off te rminating header for the last drive in
multiple safety drive configurations:
2090-XNSM-T
Sercos Interface Cables Network fiber-optic plastic cables, regular duty:
2090-SCEPx-x
Required for various installations of the IPIM module into the Kinetix 6000 and Kinetix 6200 servo drive
systems.
2090-SCVPx-x
2090-SCNPx-x (harsh duty)
Network fiber-optic glass cables:
2090-SCVGx-x
Network fiber optic cable bulkhead adapter:
2090-S-BLHD (2 per pack)
EtherNet/IP Interface
Cables
RJ45-to-RJ45:
1585J-M8CBJM-xx:
Required for various installations of the IPIM module into the Kinetix 6200 servo drive systems.
RJ45 Insulation Displacement Connector:
1585J-M8CC-H
Cable, shielded: 1585-C8CB-Sxxx
Cascaded Safety Cables 1202-Cxx (xx = length) Required accessory to support cascaded safety wiring across multiple modules on the 2094 power rail.
Bulkhead Adapter Kits Network cable: 2090-CBUSPSS Provides wall-mount connectors for hybrid and network cables. The connector kit allows signals to pass
Hybrid cable: 2090-KPB47-12CF
through a cabinet wall or other physical barrier.
(1) Refer to Appendix A for safety information.
10 Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
Start Chapter 1
PORT 1 PORT 2 NETWORK
IDM-to-IDM Hybrid Cable
(2090-CHBP8S8-12AAxx)
IPIM Module
(2094-SEPM-B24-S)
IDM Unit
(MDF-SBxxxx)
Network Terminator
Last IDM Unit
(2090-CTSRP)
Network Cable
(2090-CNSxPxS)
Network Cable to
First IDM Unit
(2090-CNSSPxS)
Ter m in at o r
Last IDM Unit
(2090-CTHP8)
IPIM-to-IDM Hybrid Cable
(2090-CHBIFS8-12AAxx)
Catalog numbers are in parenthesis
IDM Unit
(MDF-SBxxxx)
Typical Hardware Configurations
SHOCK HAZARD: To avoid personal injury due to electrical shock, place a
2094-PRF slot-filler module in all empty slots on the power rail.
Any power rail connector without a module installed will disable the 3-phase
power; however, control power is still present.
Figure 1 - Typical Kinetix 6000M Integrated Drive-motor System
Rockwell Automation Publication 2094-UM003A-EN-P - May 2012 11
Chapter 1 Start
2094-BLxxS
Line Interface Module
(optional component)
3-Phase
Input Power
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 for
unused slots)
To Input Sensors
and Control String
Control Power
2090-K6CK-Dxxxx
Low Profile Connector
Kits for I/O, Motor
Feedback, and Aux
Feedba ck
Bulletin 2090
Motor Feedback Cables
Bulletin 2090
Hybrid Cables
Bulletin 2090
Network Cables
2094-SEPM-B24-S
IPIM Module
Bulletin 2090
Motor Power Cables
MDF-SBxxxxx
IDM Unit
MDF-SBxxxxx
IDM Unit
MDF-SBxxxxx
IDM Unit
MDF-SBxxxxx
IDM Unit
Digital
Inputs
Digital
Inputs
Digital
Inputs
Digital
Inputs
2094 Drive System
(Kinetix 6000 shown)
2090-CTHP8, 2090-CTSRP terminators required on last IDM unit.
Figure 2 - Typical 2094 Power Rail with Kinetix 6000M System (with LIM)
MAIN VAC
12 Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
3-Phase Input Power
Line
Disconnect
Device
Input
Fusing
Magnetic
Contactor
2094-BSP2
Shunt Module
(optional component)
2094-PRF
Slot-filler Module
(required for
unused slots)
To Input Sensors
and Control String
Control
Power
2090-K6CK-Dxxxx
Low Profile Connector Kits for I/O,
Motor Feedback, and Aux Feedback
Bulletin 2090
Motor Feedback Cables
2094-SEPM-B24-S
IPIM Module
Bulletin 2090
Motor Power Cables
Digital
Inputs
2090-XXLF-xxxx
AC Lin e Filter
(required for CE)
2090-XXLF-xxxx
Line Filter
(required for CE)
Digital
Inputs
Digital
Inputs
Digital
Inputs
MDF-SBxxxxx
IDM Unit
MDF-SBxxxxx
IDM Unit
MDF-SBxxxxx
IDM Unit
MDF-SBxxxxx
IDM Unit
2094-PRSx
Power Rai l
2094 Drive System
(Kinetix 6000 shown)
Bulletin 2090
Hybrid Cables
Bulletin 2090
Network Cables
2090-CTHP8, 2090-CTSRP terminators required on last IDM unit.
Start Chapter 1
Figure 3 - Typical 2094 Power Rail with Kinetix 6000M System (without LIM)
Rockwell Automation Publication 2094-UM003A-EN-P - May 2012 13
Chapter 1 Start
IMPORTANT
In the following example, the leader IAM module is connected to the follower
IAM module via the DC common-bus. When planning your panel layout, you
must calculate the total bus capacitance of your DC common-bus system to be
sure that the leader IAM module is sized sufficiently to pre-charge the entire
system.
Refer to the Kinetix 6000 Multi-axis Servo Drives User Manual, publication
2094-UM001,
Drives User Manual, publication 2094-UM002
or the Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo
, for further information.
If total bus capacitance of your system exceeds the leader IAM module precharge rating and input power is applied, the IAM module status indicator will
display an error code.
To correct this condition, you must replace the leader IAM module with a larger
module or decrease the total bus capacitance by removing AM or IPIM modules.
14 Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
MAIN VAC
3-phase
Input Power
Control Power
2094-BCxx-Mxx-S
IAM Module
Common Bus Leader
2094-PRSx Power R ail
2094-BCxx-Mxx-S
IAM Module
Common Bus Follower
2094-PRF
Slot-filler Module
(required to fill
unused slots)
2094-BLxxS
Line Interface Module
(optional component)
DC Common Bus
2090-XXLF-xxxx
AC Line Filter (required for CE)
2094-BSP2
Shunt Module
(optional component)
To I nput Se nso rs
and Control String
2094-SEPM-B24-S
IPIM Module
Bulletin 2090
Motor Feedback Cables
Bulletin 2090
Motor Power Cables
MDF-SBxxxxx
IDM Unit
MDF-SBxxxxx
IDM Unit
Bulletin 2090
Hybrid Cables
Bulletin 2090
Network Cables
Digital
Inputs
Digital
Inputs
2090-CTHP8, 2090-CTSRP terminators required on last IDM unit.
Start Chapter 1
Figure 4 - Typical Kinetix 6000 with Kinetix 6000M System Common Bus
Rockwell Automation Publication 2094-UM003A-EN-P - May 2012 15
Chapter 1 Start
SERCOS interface
Tx (rear)
Rx (front)
OK
CP
TXRX
TX
RX
TXRX
Logix Sercos Interface Module
Logix Platform
(Control Logix is shown)
RSLogix 5000
Software
Bulletin 2090
Sercos Fiber-optic Cable
Logix Controller Programming Network
2094-BCxx-Mxx-S
IAM Module
Single-wide
2094-BCxx-Mxx-S
IAM Module
Kinetix 6000 Double-wide
2094-BCxx-Mxx-S
IAM Module
2094-BMxx-S Double-wide
AM Module
2094-BMxx-S
Single-wide AM
Module
Kinetix 6200
Kinetix 6000
2094-PRSx
Power Rail
2094-SEPM-B24-S
IPIM Module
IPIM Module
Network Connectors (top view)
➋➊➋
➊
➊➋
Recommended Fiber-optic Cables
Number Cable Length Catalog Number
➊ 0.1 m (5.1 in.) 2090-SCxx0-1
➋ 0.2 m (7.1 in.) 2090-SCxx0-2
➊➊
MDF-SBxxxxx
IDM Unit
MDF-SBxxxxx
IDM Unit
Bulletin 2090
Network Cables
Digital
Inputs
Digital
Inputs
EtherNet/IP Module
Bulletin 1585
Ethernet (shielded) Cable
2094-BMxx-M Single-wide
AM Power Modules with
2094-SE02F-M00-Sx
Control Modules
Typical Communication Configurations
The Kinetix 6000M IPIM module uses the EtherNet/IP network to report
diagnostics to the controller and for firmware upgrades via ControlFLASH™
software. For more information on Ethernet cables, refer to the Industrial
Ethernet Media Brochure, publication 1585-BR001
Figure 5 - Typical Kinetix 6000M, Kinetix 6000 and Kinetix 6200 Network Configuration
.
16 Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
Start Chapter 1
Catalog Number Explanations
Kinetix 6000M catalog numbers and descriptions are listed in the tables below.
Table 2 - Power Interface Module (IPIM)
Cat. No. Description
2094-SEPM-B24-S 460V IDM Power Interface Module (IPIM) w/Safe-off
Table 3 - Integrated Drive-motor (IDM)
Cat. No. (No Brake) Cat. No. (with Brake) Description
MDF-SB1003P-QJ82A-S MDF-SB1003P-QJ84A-S 460V, IEC 100 mm, 5000 rpm, Keyed
MDF-SB1003P-QK82A-S MDF-SB1003P-QK84A-S 460V, IEC 100 mm, 5000 rpm, Smooth
MDF-SB1153H-QJ82A-S MDF-SB1153H-QJ84A-S 460V, IEC 115 mm, 3500 rpm, Keyed
MDF-SB1153H-QK82A-S MDF-SB1153H-QK84A-S 460V, IEC 115 mm, 3500 rpm, Smooth
MDF-SB1304F-QJ82A-S MDF-SB1304F-QJ84A-S 460V, IEC 130 mm, 3000 rpm, Keyed
MDF-SB1304F-QK82A-S MDF-SB1304F-QK84A-S 460V, IEC 130 mm, 3000 rpm, Smooth
Table 4 - Replacement Parts
Cat. No. Description
Shaft seal kit for:
MPF-SST-A3B3
MPF-SST-A4B4
MPF-SST-A45B45
2094-XNIPIM IPIM module connectors; includes hybrid DC bus,
2094-SEPM-FUSE Fuses for IPIM module, 6 each.
MDF-SB-NODECVR IDM unit node address switch covers.
1485-M12 IDM unit digital input connector covers.
2090-CTHP8
2090-CTSRP
MDF-SB1003
MDF-SB1153
MDF-SB1304
hybrid communication, safe-off, and enable.
Ter m in at o r:
Hybrid
Network
Table 5 - Accessories
Cat. No. Description
MPS-AIR-PURGE Positive air pressure kit.
Rockwell Automation Publication 2094-UM003A-EN-P - May 2012 17
Chapter 1 Start
IMPORTANT
IMPORTANT
Component Compatibility
The Kinetix 6000M integrated drive-motor system is compatible with:
• 400V-class Series B Kinetix 6000 drive systems
• 400V-class Kinetix 6200 drive systems
Kinetix 6500 EtherNet/IP control modules (catalog numbers 2094-EN02DM01-Sx) are not compatible with the Kinetix 6000M IPIM or Kinetix 6000/
Kinetix 6200 IAM and AM modules on the same Bulletin 2094 power rail.
The IDM system cannot be accessed with DriveExplorer™ or a human interface
module (HIM). However, all IDM units will respond to a Stop command from a
HIM.
Table 6 - IDM System Compatibility
Component Requires
RSLinx® software version RSLinx version 2.59 or greater will fully support the IPIM
RSLogix™ 5000 software 20.01
IPIM AOP (Add-On Profile) 1.x
Kinetix 6000 drive firmware 1.123 or later
Kinetix 6200 drive firmware 1.045 or later
ControlLogix EtherNet/IP modules All 1756 Ethernet modules; 1756-ENBT, 1756-EN2T
module after installation of an appropriate EDS file
(1)
or later
(1) Version 20.00 may be used if the motion database is updated to version 8.12. For detailed information about updating the motion
database, refer to RA Knowledgebase
article 490160.
18 Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
Start Chapter 1
Agency Compliance
If this product is installed within the European Union and has the CE mark, the
following regulations apply.
ATT EN TI ON : Meeting CE requires a grounded system, and the method of
grounding the AC line filter and IDM must match. Failure to do this renders the
filter ineffective and may cause damage to the filter.
Refer to Grounding the IDM System
For more information on electrical noise reduction, refer to the System Design
for Control of Electrical Noise Reference Manual, publication GMC-RM001
on page 54.
.
CE Requirements (system without LIM module)
To meet CE requirements when your system does not include the LIM module,
these requirements apply:
• Install an AC line filter (catalog number 2090-XXLF-xxxx) as close to the
IAM module as possible.
• Use line filters for 3-phase input power and single-phase control power.
• Use 2090 series cables.
• Use 889 series sensor cables.
• Combined motor power cable length for all axes on the same power rail
must not exceed 240 m (787 ft).
• Combined cable length for all IDM units connected to a single IPIM
module is 100 m (328 ft).
• Install the Kinetix 6x00 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 the Kinetix 6000 Multi-axis Servo Drives User Manual, publication
2094-UM001
Drives User Manual, publication 2094-UM002
including input power wiring.
, or the Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo
, for interconnect diagrams,
CE Requirements (system with LIM module)
To meet CE requirements when your system includes the LIM module, follow all
the requirements as stated in CE Requirements (system without LIM module)
and these additional requirements as they apply to the AC line filter.
• Install the LIM module (catalog numbers 2094-BL02) as close to the IAM
module as possible.
• Install the LIM module (catalog numbers 2094-BLxxS, or 2094-XL75S-
Cx) with line filter (catalog number 2090-XXLF-xxxx) as close to the
IAM module as possible.
When the LIM module (catalog numbers 2094-BLxxS, or 2094-XL75SCx) supports two IAM modules, each IAM module requires an AC line
filter installed as close to the IAM module as possible.
Rockwell Automation Publication 2094-UM003A-EN-P - May 2012 19
Chapter 1 Start
Notes:
20 Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
Chapter 2
Planning the Kinetix 6000M System Installation
This chapter describes system installation guidelines used in preparation for
mounting your Kinetix 6000M components.
Top ic Pag e
Cable Length Restrictions and System Sizing 21
IPIM Module Design Guidelines 22
IDM Unit Design Guidelines 26
Electrical Noise Reduction 27
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.
Cable Length Restrictions and System Sizing
This section provides guidelines for sizing an IDM system. For accurate, detailed
sizing, use Motion Analyzer software version 6.000 or later. For additional
information and a sizing estimation method, refer to Kinetix 6000M System
Sizing on page 127.
When sizing your system, please note the following:
• Motion Analyzer software (version 6.000 or later), should be used for
sizing your system.
• Maximum cable length between IDM units is 25 m (82 ft).
• Combined cable length for all IDM units connected to a single IPIM
module is 100 m (328 ft).
• Combined motor power and hybrid cable length for all axes on the same
power rail must not exceed 240 m (787 ft).
• The number of IDM units also depends on the use of the safe-off function.
Refer to Using the Safe Torque-off Feature with the Kinetix 6000M
System on page 103 for details.
Rockwell Automation Publication 2094-UM003A-EN-P - May 2012 21
Chapter 2 Planning the Kinetix 6000M System Installation
IMPORTANT
The following items limit the number of IDM units that can be used in a system.
1. The IDM unit control power load which consists of three load sources:
• internal load (constant)
• parking brake load
• digital input loading.
These items also affect the total control power load:
• The cable lengths between IDM units
• IDM units with brakes and their location in the daisy chain
• IDM units that use digital inputs.
2. The continuous and intermittent load on the DC bus of all AM modules
and IDM units.
The Kinetix 6000 or Kinetix 6200 IAM module supplying DC bus power to the
IDM units should be sized to support all IDM units connected to the power rail.
Motion Analyzer software (version 6.000 or later) sizing analysis accounts for
control power and DC bus power.
IPIM Module Design Guidelines
3. The total number of axes connected in the safe-off circuit.
Use the information in this section when designing your enclosure and planning
to mount your system components.
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 6000M power
interface module must be part of a Kinetix 6000 or Kinetix 6200 system
that is enclosed in a grounded conductive enclosure offering protection as
defined in standard EN 60529 (IEC 529) to IP2X such that they are not
accessible to an operator or unskilled person. A NEMA 4X enclosure
exceeds these requirements providing protection to IP66.
• The panel you install inside the enclosure for mounting your system
components must be on a flat, rigid, vertical surface that won’t be subjected
to shock, vibration, moisture, oil mist, dust, or corrosive vapors.
• Size the enclosure so as not to exceed the maximum ambient temperature
rating. Consider heat dissipation specifications for all components.
• 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.
22 Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
Planning the Kinetix 6000M System Installation Chapter 2
IMPORTANT
• Combined motor power cable lengths for all axes and hybrid cable lengths
for all IDM units on the same DC bus must not exceed 240 m (787 ft)
with 400V-class systems. Drive-to-motor power cables must not exceed
90 m (295.5 ft).
System performance was tested at these cable length specifications. These
limitations also apply when meeting CE requirements.
Refer to the System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001
reduction.
, to better understand the concept of electrical noise
Circuit Breaker/Fuse Options
The 2094-SEPM-B24-S IPIM module and the MDF-SBxxxxx IDM units use
internal solid-state motor short-circuit protection and when protected by
suitable branch circuit protection, are rated for use on a circuit capable of
delivering up to 200,000 A. Fuses or circuit breakers, with adequate withstand
and interrupt ratings, as defined in NEC or applicable local codes, are permitted.
The 2094-BL02 LIM module contains supplementary protection devices and,
when protected by suitable branch circuit protection, are rated for use on a
circuit capable of delivering up to 5000 A. When these modules are used,
protection on the line side of the LIM module is required. Fuses must be class J or
CC only.
The 2094-BLxxS, and 2094-XL75S-Cx LIM modules contain branch circuit
rated devices suitable for use on a circuit capable of delivering up to 65,000 A
(400V-class).
Refer to the Line Interface Module Installation Instructions, publication 2094-
IN005, for power specifications and more information on using the LIM
module.
Fuse Location and Replacement
The IPIM module uses internal fuses (see Figure 6) for short-circuit protection
of the DC bus. The recommended fuse is Bussmann FWP-50A14Fa. A fuse
replacement kit (catalog number 2094-SEPM-FUSE) is also available.
Rockwell Automation Publication 2094-UM003A-EN-P - May 2012 23
Chapter 2 Planning the Kinetix 6000M System Installation
Figure 6 - IPIM Fuse Location
ATT EN TI ON : Capacitors on the DC bus may retain hazardous voltages after
input power has been removed. Before working on the IDM system, measure
the DC bus voltage to verify it has reached a safe level or wait the full time
interval as indicated in the warning on the IPIM module. Failure to observe this
precaution could result in severe bodily injury or loss of life.
To replace the fuses, follow these steps.
1. Ensure that all power to the power rail has been removed.
2. Measure the DC bus voltage to verify it has reached a safe level or wait the
full time interval as indicated in the warning on the IPIM module.
3. Loosen the captive screws.
4. Grasp the top and bottom edges of the fuse holder and pull straight out.
5. Replace the fuses.
Enclosure Selection
Heat dissipation of the IPIM module is shown in Ta b l e 7 and Ta b l e 8 . To size the
enclosure you will need heat dissipation data from all equipment inside the
enclosure (such as the Logix controller, LIM module, IAM). Once the total
amount of heat dissipation (in watts) is known, you can calculate the minimum
enclosure size.
Refer to the Kinetix 6000 Multi-axis Servo Drives User Manual, publication
2094-UM001
, or the Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo
Drives User Manual, publication 2094-UM002
24 Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
, for further information.
Planning the Kinetix 6000M System Installation Chapter 2
Table 7 - Power Dissipation Specifications - Percent of DC Bus Current
Power Dissipation as % of DC Bus Current Output Rating
Watts
20% 40% 60% 80% 100%
2 7 142538Y = 33.95x2 + 3.18x
(1) x is percent of DC bus current output rating: any value between 0.0 and 1.0.
Heat Dissipation Formula
Table 8 - Power Dissipation Specifications - Percent of IPIM Module Control Power
(1)
Power Dissipation as % of IPIM Module Control
Control Power Input
Frequenc yHzVolt age
AC 20% 40% 60% 80% 100%
50
60
(1) x is percent of IPIM module control power output rating: any value between 0.0 and 1.0.
120V 22 29 38 48 61 Y = 23.76x
240V 34 42 52 63 76 Y = 18.56x
120V 23 27 32 39 46 Y = 14.57x2 + 11.40x + 20.01
240V 38 49 62 76 92 Y = 19.63x2 + 43.22x + 28.75
Power Out put Rati ng
Watts
Heat Dissipatio n Formulas
2
+ 20.73x + 16.54
2
+ 30.19x + 27.41
Minimum Clearance Requirements
This section provides information to assist you in sizing your cabinet and
positioning your IDM unit.
Figure 7
installation:
illustrates minimum clearance requirements for proper airflow and
• Additional clearance is required for the cables and wires connected to the
top and front of the module.
• Additional clearance left and right of the power rail is required when the
module is mounted adjacent to noise sensitive equipment or clean
wireways.
(1)
Table 9 - Minimum Cabinet Depth
Cat. No. Cabinet Depth, Min
2094-SEPM-B24-S 272 mm (10.7 in.)
Rockwell Automation Publication 2094-UM003A-EN-P - May 2012 25
Chapter 2 Planning the Kinetix 6000M System Installation
Clearance right of the
module is not required
(1)
50.8 mm (2.0 in.) clearance for
airflow and installation
Clearance left of the
module is not required
(1)
Power Rail
(2094-PRSx)
50.8 mm (2.0 in.) clearance for
airflow and installation
(1) The power rail (slim), catalog number 2094-PRSx, extends left and right of the first and last module 5.0 mm (0.20
in.). The Bulletin 2094-PRx power rail extends approximately 25.4 mm (1.0 in.) left of the IAM module and right of
the last module mounted on the rail.
(2) Dimension applies to the following modules:
IPIM module 2094-SEPM-B24-S
IAM module (Series B) 2094- BC01-Mxx-x and 2094-BC02-M02-x
AM module (Series B) 2094-BMP5-x, 2094-BM01-x, 2094-BM02-x
287 mm
(11.3 in.)
(2)
Figure 7 - Minimum IPIM Module Clearance Requirements
IDM Unit Design Guidelines
Minimum Clearance Requirements
Figure 8 illustrates minimum IDM unit clearance requirements for proper
airflow and installation.
BURN HAZARD: Outer surfaces of the motor can reach high temperatures,
125 °C (275 °F), during motor operation.
Take precautions to prevent accidental contact with hot surfaces. Consider IDM unit
surface temperature when selecting motor mating connections and cables.
Failure to observe these safety procedures could result in personal injury or
damage to equipment.
Additionally, consider the following items:
• Obtain the specified motor thermal rating by mounting the motor on a
surface with heat dissipation equivalent to a 304.8 x 304.8 x 12.7 mm
(12 x 12 x 0.5 in.) aluminum heatsink.
• Do not install the motor in an area with restricted airflow, and keep other
heat producing devices away from the motor.
26 Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
Planning the Kinetix 6000M System Installation Chapter 2
100.0 mm (3.9 in.)
100.0 mm (3.9 in.)
100.0 mm (3.9 in.)
Figure 8 - Minimum IDM Unit Clearance Requirements
Electrical Noise Reduction
Refer to the Kinetix 6000 Multi-axis Servo Drives User Manual, publication
2094-UM001
Drives User Manual, publication 2094-UM002
, or the Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo
, for information on best practices
that minimize the possibility of noise-related failures as they apply specifically to
Kinetix 6000 system installations. For more information on the concept of highfrequency (HF) bonding, the ground plane principle, and electrical noise
reduction, refer to the System Design for Control of Electrical Noise Reference
Manual, publication GMC-RM001
.
Observe these guidelines when your system includes the 2094-SEPM-B24-S
IPIM module. In this example, a 2094-BL02 LIM module is used in the Bulletin
2094 system and mounted left of the IAM module:
• Establish clean (C) and dirty zones (D) similar to other Bulletin 2094
drive systems.
• The sercos fiber-optic cables are immune to electrical noise, but due to
their delicate nature, route them in the clean zone.
• IPIM communication wires are noise sensitive and belong with the fiberoptic cables in the clean zone.
• Ethernet cables are noise sensitive and belong in the clean zone.
• IDM network cables, although noise sensitive by nature, are shielded and
designed to be routed with the hybrid cable outside of the enclosure.
• The Bulletin 2090 hybrid cable is dirty and belongs in the dirty zone.
This layout is preferred due to the reduced size of the very dirty zone.
Rockwell Automation Publication 2094-UM003A-EN-P - May 2012 27
Chapter 2 Planning the Kinetix 6000M System Installation
2094-BL02 or 2094-BLxxS
Line Interface Module
Kinetix 6000
System
Dirty Wireway
Clean Wireway
I/O
(1)
, Feedback, and
Network Cables
Motor and Hybrid Cables
Very Dirty Filter/IAM Connections
Segregated (not in wireway)
Route 24V DC I/O
shielded cable.
Route encoder/analog/registration
shielded cables.
Fiber-optic Cables and
IPIM Communication Wires
No sensitive
(2)
equipment within
150 mm (6.0 in.).
D
Figure 9 - Noise Zones (Bulletin 2094 power rail with IPIM module)
D
D
(1) If drive system I/O cable contains (dirty) relay wires, route cable with LIM module I/O c able in dirty wireway.
(2) When space does not permit the 150 mm (6.0 in.) segregation, use a grounded steel shield instead. For examples, refer to the
System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001
VD
D
D
CC
.
Cable Categories for Kinetix 6000M System
C
Zoning requirements of cables connecting to the IDM system components are
shown in Ta b l e 1 0
Table 10 - IPIM Module Zoning Requirements
Wire/Cable
Hybrid DC bus power, control power,
inter-module communication, and safe-
(1)
off
Enable input X X
Fiber-optic No restrictions
Ethernet network X X
IDM network
(1) There is no option for making your own hybrid or IDM network cables.
(1)
.
Zone Method
Very Dirty Dirty Clean Ferrite Sleeve Shielded Cable
XX
XX
X
XX
28 Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
Chapter 3
Mounting the Kinetix 6000M System
This chapter provides the system installation procedures for mounting your
Kinetix 6000M integrated drive-motor (IDM) unit and your power interface
module (IPIM).
Top ic Pa ge
Mounting the IPIM Module 30
Installing the IDM Unit 33
This procedure assumes you have prepared your panel, mounted your Bulletin
2094 power rail, and understand how to bond your system. For installation
instructions regarding equipment and accessories not included here, refer to the
instructions that came with those products.
SHOCK HAZARD: To avoid hazard of electrical shock, perform all mounting and
wiring of the Bulletin 2094 power rail and modules prior to applying power.
Once power is applied, connector terminals may have voltage present even
when not in use.
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-UM003A-EN-P - May 2012 29
Chapter 3 Mounting the Kinetix 6000M System
Mounting the IPIM Module
Using the 2094 Mounting Brackets
You can use Bulletin 2094 mounting brackets to mount the power rail or LIM
module over the AC line filter. Refer to the 2094 Mounting Brackets Installation
Instructions, publication 2094-IN008
, when using mounting brackets with your
system.
Installing the 2094 Power Rail
The Bulletin 2094 power rail comes in lengths to support one IAM module and
up to seven additional modules. A maximum of four IPIM modules can be
mounted to a single power rail. The connector pins for each slot are covered by a
protective cover. The cover is designed to protect the pins from damage and make
sure that no foreign objects lodge between the pins during installation. Refer to
the Kinetix 6000 Power Rail Installation Instructions, publication 2094-IN003
when installing your power rail.
ATT EN TI ON : To avoid damage to the power rail during installation, do not
remove the protective covers until the module for each slot is ready for
mounting.
,
Determine Mounting Order
Refer to the Module Mounting Order Example diagram on page 31 and mount
the modules in the order (left to right) shown. Install modules according to
power utilization (highest to lowest) from left to right starting with the highest
power utilization. If power utilization is unknown, position modules (highest to
lowest) from left to right based on the IPIM or AM continuous power rating
(kW).
Power utilization is the average power (kW) consumed by a servo axis. If the
servo axis has been sized by using Motion Analyzer software, version 6.000 or
later, the calculated axis power required can be used for power utilization. If the
servo axis has not been sized in Motion Analyzer, use Ta b l e 1 1
maximum continuous power for IPIM and AM modules, to determine the
desired location on a power rail.
Table 11 - Module Type and Continuous Power Output
2094-BM05-S
Axis Module
22.0 kW 15.0 kW 13.5 kW 6.6 kW 3.9 kW 1.8 kW
2094-SEPM-B24-S
IPIM Module
2094-BM03-S
Axis Module
2094-BM02-S
Axis Module
The IPIM module may be installed on a power rail with an IAM module
configured as a common bus follower, but you will be responsible for configuring
the leader for the appropriate additional capacitance in the follower power rail,
including the IPIM module.
, showing the
2094-BM01-S
Axis Module
2094-BMP5-S
Axis Module
30 Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
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