Rockwell Automation Allen-Bradley Kinetix 6000 Reference Manual
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Rockwell Automation Allen-Bradley Kinetix 6000 Reference Manual

Migration guidelines
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Reference Manual
Original Instructions
Migration Guidelines:
Kinetix 6000 Servo Drives to Kinetix 5700 Servo Drives

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Summary of Contents for Rockwell Automation Allen-Bradley Kinetix 6000

  • Page 1 Reference Manual Original Instructions Migration Guidelines: Kinetix 6000 Servo Drives to Kinetix 5700 Servo Drives...
  • Page 2 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.

  • Page 3: Table Of Contents

    AC Input Power Wiring ........31 DC Common-bus Configurations ......31 Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 4 ............67 Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 5: Preface

    These conventions are used throughout this manual: Conventions Used in This • Bulleted lists such as this one provide information, not procedural steps Manual • Numbered lists provide sequential steps or hierarchical information Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 6: Before You Begin

    Create a user account at https://motionanalyzer.rockwellautomation.com. IMPORTANT Not all third-party motors are supported by Kinetix 5700 drives. Check with your Rockwell Automation representative to see if your third-party motor is compatible with the Kinetix 5700 drives. Controller Files...

  • Page 7: Kinetix 5700 Servo Drives

    • Support for permanent-magnet servo motors and actuators • Support for induction motors with open-loop frequency control or closed-loop control • Integrated motion and integrated safety on the EtherNet/IP network Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 8: Kinetix 5700 Drive Module Components

    (required with two or three 2198-P208 DC-bus power supplies) • Bulletin 2198 24V DC input power shared-bus connection system For detailed Kinetix 5700 drive system requirements, refer to the Kinetix 5700 Drive Systems Design Guide, publication KNX-RM010. Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 9: Catalog Number Explanation

    Whether you choose to migrate all at once or use our unique, phased approach to help minimize the costs, risks, and complexities that are involved with legacy products and systems, Rockwell Automation has the tools and the experience to guide you through the transition.

  • Page 10: Additional Resources

    Information on tuning a Kinetix drive system. Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines for installing a Rockwell Automation industrial system. You can view or download publications at http://www.rockwellautomation.com/global/literature-library/overview.page. To order paper copies of technical documentation, contact your local Allen-Bradley distributor or Rockwell Automation sales representative.

  • Page 11: System Replacement Considerations

    Cable Lengths Control Power Physical Dimensions Circuit Protection Control Signals Safe Torque-off Safety Features Accessories To review servo drive specifications for all Kinetix drive families, see Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003. Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 12: Checklist For Kinetix 6000 Servo Drive System Migration

    Chapter 1 System Replacement Considerations Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 13: Compare Drive Family System Components

    System Replacement Considerations Chapter 1 Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 14 Chapter 1 System Replacement Considerations Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 15 System Replacement Considerations Chapter 1 Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 16 Chapter 1 System Replacement Considerations Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 17 System Replacement Considerations Chapter 1 Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 18: Communication

    Ethernet Design Considerations Reference Manual, 1756-EN2T , 1756-EN2TR, and 1756-EN3TR communication modules Communication Modules publication ENET-RM002 Stratix 5700 Switch Configuration Quick Start, Ethernet Switches Stratix® 5700 switches. publication IASIMP-QS040 (1) Firmware revision 4.00 or later. Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 19: Rotary And Linear Motion

    Use the universal feedback connector kit in the following types of installations: • New installations with Kinetix 5700 servo drives and the compatible motors and actuators • Existing motor/actuator installations when upgrading with Kinetix 5700 servo drives Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 20: 2198-H2Dck Hiperface-To-Dsl Feedback Converter Kit

    15-pin universal feedback (UFB) connector is already in use for another compatible feedback type. In most cases, Encompass partner motors are compatible with the converter kit. Check with your local Allen-Bradley distributor or Rockwell Automation sales representative to evaluate compatibility. Cable Lengths...

  • Page 21: Single Cables

    For more information, see Guidance for Selecting Cables for EtherNet/IP Networks, publication ENET-WP007. IMPORTANT Shielded Ethernet cable (catalog number 1585J-M8CBJM-x) is required for all integrated motion over the EtherNet/IP network applications and to meet EMC specifications. Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 22: Control Power

    Kinetix 6000 servo drives and Kinetix 5700 servo drives. Verify that you have chosen the correct sizes when selecting and installing Kinetix 5700 servo drives. See Circuit Breaker and Fuse Considerations page 35 for more information. Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 23: Control Signals

    Digital input1= Enable Registration 2 (REG2) Digital input2 = Home Digital input3 = Registration 1 Positive overtravel (OT+) Digital input4 = Registration 2 Negative overtravel (OT-) Regeneration OK Bus capacitor OK Shunt thermal switch OK Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 24: Dual Position Loop/Auxiliary Feedback

    LOGIX 5000 safety controller to control the STO functionality and to reduce wiring. For the safe torque-off connector pinout, installation, and wiring information, see the related chapter in the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002. Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 25: Important Safety Considerations

    • Kinetix 5700 Drive Systems Design Guide, Additional resources • Kinetix 6000 Drive Systems Design publication KNX-RM010 Guide, publication KNX-RM003 • Stop Cat. 0 or 1 via a Kinetix Drive with Integrated Safe Torque Off on EtherNet/IP publication SAFETY-AT135 Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 26: Accessories

    CSxM1DG cables have flying-lead feedback conductors for connection to a customer-supplied 2198-KITCON-DSL feedback connector kit. 1585J-M8CBJM-x Communication Ethernet cables are available in standard lengths. Shielded 1585J-M8UBJM-x Cables cable is required to meet EMC specifications. 1585J-M8CB-x Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 27: Servo Drive And System Comparison

    With Motion Analyzer, you have access to Rockwell Automation® motors and drives, and an array of Encompass™ partner products to choose from. The goal is to make the sizing and selection process easier and to help you build a better machine.

  • Page 28: Output Current Comparison

    (2) These Kinetix 5700 replacement (inverter) drives require a properly sized DC-bus power supply (converter) to deliver the required level of peak and continuous current to the motor. IMPORTANT We recommend Motion Analyzer, the Rockwell Automation online system sizing tool, to select the Kinetix 5700 replacement drives for your Kinetix 6000 drive system.

  • Page 29: Dimension Comparison

    (2) A negative value (-) indicates that the height, width, or depth of the Kinetix 5700 servo drive is shorter, narrower, or shallower than the comparable Kinetix 6000 servo drive. When planning your panel layout, see the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002, for clearance requirements. Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 30 I/O-A I/O-B I/O-A I/O-B UFB-A UFB-B UFB-A UFB-B UFB-A UFB-B UFB-A UFB-B MF-B MF-B MF-A MF-B MF-A MF-B MF-A MF-A (1) For alternate mounting options, refer to your local Rockwell Automation authorized distributor. Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 31: Ac Input Power Wiring

    To compare input wiring and terminal pinouts, refer to these user manuals for pinout tables and interconnect diagrams. • Kinetix 6000 Servo Drives User Manual, publication 2094-UM001 • Kinetix 5700 Servo Drives User Manual, publication 2198-UM002 Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 32 (required for CE) IMPORTANT Axis motoring and regeneration power requirement determines the size of the DC-bus power supply, and the shunt and capacitance requirement. See Motion Analyzer for sizing your Kinetix 5700 application. Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 33 Magnetic (M1) Contactor 2198-DB290-F AC Line Filter Bonded Cabinet Ground Bus IMPORTANT When two or three DC-bus power supplies are wired together in the same drive cluster, they must all be catalog number 2198-P208. Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 34: Contactor Enable Relay

    • Keep unshielded wiring as short as possible, not to exceed 3 m (9.8 ft) and keep shunt wiring as flat to the cabinet as possible • Separate shunt power cables from other sensitive low-voltage signal cables Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 35: Circuit Breaker And Fuse Considerations

    Make sure that the selected components are properly coordinated and meet acceptable codes including any requirements for branch circuit protection. Evaluation of the short-circuit available current is critical and must be kept below the short-circuit current rating of the circuit breaker. Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 36 Chapter 2 Servo Drive and System Comparison Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 37 Servo Drive and System Comparison Chapter 2 Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 38: System Layouts And Cables

    Encoder feedback, bayonet connector connector Power-only, threaded Continuous-flex 2090-CPWM4DF-xxAFxx connector 2090-CFBM4DF-CDAFxx Encoder feedback, threaded connector Power-only, bayonet 2090-XXTPMP-xxSxx connector (1) Refer to the Kinetix Motion Control Accessories Technical Data, publication KNX-TD004, for cable specifications. Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 39: Single Cables

    2090-CSxM1DG motor cables. Provides Hiperface-to-DSL feedback conversion for use with compatible 400V-class 2198-H2DCK motors and actuators. (1) Refer to the Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003, for kit specifications. Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 40: Typical System Layouts

    Bulletin 2090 Motor Power Cables 2094-BCxx-Mxx-S IAM Module 2094-PRSx Power Rail 2094-PRSx Power Rail 2094-K6CK-xxxx Low-profile Connector Kits for I/O, Motor Feedback, and Auxiliary Feedback 2094-BMxx-S Axis Module Bulletin 2090 Motor Feedback Cables Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 41 AC Input Power Digital Inputs to Sensors and Control String I/O-A I/O-B I/O-A I/O-B 10 5 UFB-A UFB-B UFB-A UFB-B MF-A MF-B MF-A MF-B MBRK Compatible Motors and Actuators (Kinetix VP servo motor is shown) Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 42: Compare Drive Family Features

    • 2198 external passive-shunt resistors • 1394 external passive-shunt resistors • 2198 AC (EMC) line filters • 1321 line reactors • 2090 AC (EMC) line filters • 2198 encoder output module (1) Module firmware 4.00 or later. Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 43: System Replacement Examples

    2198-Pxxx DC-bus power supply. Motion Analyzer also provides information on motoring versus regenerative power and whether a shunt module, shunt resistor, and/or capacitor module is needed. Access Motion Analyzer at: https://motionanalyzer.rockwellautomation.com. Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 44 Figure 8 - Kinetix 5700 Axis as Configured in Motion Analyzer Figure 9 - Compare Kinetix 6000 and Kinetix 5700 Axes Configured in Motion Analyzer Kinetix 6000 System Performance Kinetix 5700 System Performance Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 45: Module Mounting Order

    1756-M16SE Sercos Interface Module Sercos Fiber-optic Ring LOGIX 5000 Controller SERCOS interface 0.2 m 0.1 m (ControlLogix® controller is shown) (7.1 in.) (5.1 in.) Tx (rear) Rx (front) Kinetix 6000 System (5-axis power rail) Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 46: Kinetix 5700 Ethernet Topology

    Point Bus Link 1 Status Activity/ Status System Power EtherNet/IP Adapter Field Power OUTPUT-A OUTPUT-B Link 2 Activity/ Status MF-A MF-B MF-A MF-B MF-A MF-B PanelView™ Plus MBRK Display Terminal Line Scan Cameras Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 47 I/O-B I/O-A I/O-B 10 5 10 5 Line Scan UFB-A UFB-B UFB-A UFB-B UFB-A UFB-B 1585J-M8CBJM-OM15 Cameras 0.15 m (6 in.) Ethernet cable for drive-to-drive connections. MF-A MF-B MF-A MF-B MF-A MF-B MBRK Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 48 2198-ABQE Encoder Output Module MBRK OUTPUT-A OUTPUT-B 1585J-M8CBJM-OM15 0.15 m (6 in.) Ethernet cable for drive-to-drive connections. 1783-BMS Stratix® 5700 Switch PanelView Plus Display Terminal Line Scan Cameras 1734-AENTR POINT I/O EtherNet/IP Adapter Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 49: Axis Configuration In Studio 5000 Logix Designer

    2198-UM002, for troubleshooting tables to identify faults, potential causes, and the appropriate actions to resolve the fault. Review the Integrated Motion on the EtherNet/IP Network Reference Manual, publication MOTION-RM003, for understanding all the CIP Motion™ protocol exceptions. Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 50: Tuning

    • Adjusts the torque low-pass filter, the control loop gains, and the load observer bandwidth from the current values until the identified HF resonances are suppressed or until a LF resonance or instability is attenuated enough to make the system stable. Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 51: Replacement Example #1

    In this example, the Kinetix 6000 8-axis power rail (with 6 axes) consists of the following drive modules: • 2094-BC07-M05-S (double-wide) IAM • 2094-BM03-S (double-wide) AM • 2094-BM02-S AM • 2094-BM01-S AM • 2094-BMP5-S AM(2x) Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 52 I/O Connector Kits and 2090-K6CK-D15M Feedback Connector Kits To Input Sensors and Control String 2094-BMxx-S Axis Modules (5) Bulletin 2090 Bulletin 2090 Motor Feedback Cables Motor Power Cables 1326AB Torque-plus Servo Motors (1326AB-Bxxxx-x2L servo motors shown) Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 53: Kinetix 5700 Drive System

    UFB-A UFB-B 324…528V AC Three-phase Input Power MF-A MF-B MF-A MF-B MF-A MF-B Line Disconnect Device MBRK Circuit Protection Magnetic (M1) Contactor 2198-DB80-F Bonded Cabinet AC Line Filter Ground Bus (required for CE) Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 54: Hardwired Safe Torque-Off Configuration

    Digital Inputs to Sensors and Control String I/O-A I/O-B I/O-A I/O-B I/O-A I/O-B 10 5 UFB-A UFB-B UFB-A UFB-B UFB-A UFB-B MF-A MF-B MBRK Compatible Motors and Actuators (Kinetix VP servo motor is shown) Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 55: Circuit Protection

    AC Line Filter Specifications These AC line filters are available for your servo drive input power. Table 23 - AC Line Filter Specifications Drive Cat. No. AC Line Filter Cat. No. 2094-BC07-M05-S 2090-XXLF-3100 2198-P141 2198-DB80-F Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 56: Transformer Specifications

    85 mm 2198-S086-ERS3 DC-bus links (55, 85, and 100 mm) and end caps 2198-BARCON-xxDC200 2198-Dxxx-ERS3 for the DC-bus shared-bus connection system Shared-bus connector kits (required and included with each respective 2198-KITCON-ENDCAP200 2198-Sxxx-ERS3 drive module). Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 57: Cable Accessories

    • Keep the Bulletin 1326AB motors and use the Vega resolver converter kit (model 2792503) and custom motor file from Encompass™ partner Elwood Corporation. See your local Rockwell Automation authorized distributor for details on the Kinetix 5700 drives with Bulletin 1326AB motors migration path.

  • Page 58: Replacement Example #2

    • Four (AM modules) catalog number 2094-BMP5-S The Line Interface Module (LIM) is catalog number 2094-BL75S with: • Configurable branch circuit protection • 75 A AC output current • External AC line filter • 24V DC @ 20 A Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 59 2090-K6CK-D15M 2094-PRS8 Feedback Connector Kits Power Rail 2094-BMxx-S To Input Sensors Axis Modules (7) and Control String Bulletin 2090 Bulletin 2090 Motor Feedback Cables Motor Power Cables MP-Series Rotary Motors (MPL-Bxxxx motors shown) Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 60: Kinetix 5700 Drive System

    • 2198-CAPMOD-1300 capacitor module (1 per cluster) • 2198-CAPMOD-DCBUS-IO extension module (1 per cluster) IMPORTANT You are limited to a 200 A DC-Bus on your overall Kinetix 5700 servo drives system. Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 61 UFB-B UFB-A UFB-B Control String Input Power MF-A MF-B MF-A MF-B MF-A MF-B Line Disconnect Device MBRK Circuit Protection Magnetic (M1) Contactor Bonded Cabinet 2198-DB80-F Ground Bus AC Line Filter (required for CE) Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 62: Integrated Safe Torque-Off Configuration

    UFB-B UFB-A UFB-B Safety Program Module Definition Configured with MF-A MF-A MF-B MF-B MF-A MF-A MF-B MF-B MF-A MF-B Safety only Connection MBRK Compatible Motors and Actuators (Kinetix VP servo motor is shown) Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 63: Circuit Protection

    AC Line Filter Specifications These AC line filters are available for your servo drive input power. Table 30 - AC Line Filter Specifications Drive Cat. No. AC Line Filter Cat. No. 2094-BC07-M05-S 2090-XXLF-3100 2198-P208 2198-DB80-F Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 64: Transformer Specifications

    85 mm DC-bus links (55, 85, and 100 mm) and end caps 2198-BARCON-xxDC200 2198-Dxxx-ERS3 for the DC-bus shared-bus connection system Shared-bus connector kits (required and included with each respective 2198-KITCON-ENDCAP200 2198-Sxxx-ERS3 drive module). Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...

  • Page 65: Cable Accessories

    2198-D032-ERS3 (1 axis) 2094-BM02-S (2x) 1326AB-B410G (2x) 2198-D032-ERS3 2094-BM01-S (2x) 1326AB-B515G (2x) 2198-D020-ERS3 2094-BM02-S (2x) MPM-B1153E (2x) 2198-D032-ERS3 Dual-axis inverters 2198-D020-ERS3 2094-BM01-S (3x) MPM-B1651F (3x) 2198-D032-ERS3 (1 axis) 2198-D012-ERS3 2094-BMP5-S (4x) LDC-C030100-DHTxx (4x) 2198-D012-ERS3 Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 66 1557J-M8CBJM-x Ethernet cable (1) Use Vega resolver converter kit (model 2792503) and custom motor file from Encompass partner Elwood Corporation. See your local Rockwell Automation authorized distributor for details on the Kinetix 5700 drives with Bulletin 1326AB motors migration path.

  • Page 67: Index

    Kinetix 5700 8 configuration extended DC-bus 61 GuardLogix 18 safe torque off 62 connector kit 2198-K57CK-D15M 16 2198-KITCON-DSL 16 hardwired STO mode 54 contactor-enable relay 34 HF bonding 6 control power 22 HPK-Series 15 Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 68 50 topology migration linear 46 checklist 12 ring 47 compare systems 13 star 48 services 9 Motion Analyzer 6 motor brake 24 mounting order 45 MP-Series 15 output current specifications 28 power 42 Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 69 18 fiber-optic cables 45 servo motor support 19 shared-bus connectors 24V 14 DC-bus 14 short-circuit current rating 35 shunt modules 13 single-axis inverters 13 sizing 43 extended DC-bus 33 slot filler module 14 Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 70 Index Notes: Rockwell Automation Publication 2198-RM002A-EN-P - October 2017...
  • Page 72 Allen-Bradley, CompactLogix, ControlLogix, DPI, DriveExplorer, Encompass, GuardLogix, HPK-Series, Integrated Architecture, Kinetix, LDC-Series, LOGIX 5000, MP-Series, PanelView, POINT Guard I/O, POINT I/O, RDD-Series, Rockwell Automation, Rockwell Software, RSLogix 5000, SoftLogix, Stratix, Studio 5000, and Studio 5000 Logix Designer, are trademarks of Rockwell Automation, Inc.

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