Page 1 Kinetix 6000 Multi-axis Servo Drives 2094-ACxx-Mxx-S, 2094-BCxx-Mxx-S, 2094-AMxx-S, 2094-BMxx-S 2094-ACxx-Mxx, 2094-BCxx-Mxx, 2094-AMxx, 2094-BMxx 2094-BSP2, 2094-PRF, 2094-SEPM-B24-S User Manual Original Instructions...
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
I/O Connector Pinout ........61 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 4 Flying-lead Feedback Cable Pinouts ......116 Wiring the Feedback and I/O Connectors ..... 119 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 5 Replace the Power Rail........183 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 6 Set Gains with Sercos IDN Write Messages..... 248 Compensate for High Frequency Resonances ....249 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 7 ............. . .283 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 8 Table of Contents Notes: Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 9: Preface
Integrated Axis Module 2094-xCxx-Mxx-x Axis Module 2094-xMxx-x Line Interface Module 2094-xLxx and 2094-xLxxS-xx Resistive Brake Module 2090-XBxx-xx Acronym Kinetix 6000M Drive Modules Cat. No. Integrated Drive-Motor MDF-SBxxxxx IPIM IDM Power Interface Module 2094-SEPM-B24-S Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 10: Additional Resources
SoftLogix Motion Card Setup and Configuration Manual, publication 1784-UM003 Provides information on configuring and troubleshooting SoftLogix PCI cards. ControlFLASH Firmware Upgrade Kit User Manual, publication 1756-QS105 For ControlFLASH™ information not specific to any drive family. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 11 Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines for installing a Rockwell Automation industrial system. Product Certifications website, rok.auto/certifications. Provides declarations of conformity, certificates, and other certification details.
Page 12 Preface Notes: Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 13 Topic Page IAM/AM Module Series Changes About the Kinetix 6000 Drive Systems Typical Hardware Configurations Typical Communication Configurations Catalog Number Explanation Kinetix Drive Component Compatibility Kinetix 6000M Integrated Drive-Motor System Compatibility Agency Compliance Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 14: Iam/Am Module Series Changes
Same as Series B, except STO relays changed from mechanical to solid state to add robustness. 250% 1.125 or later Solid state Same as Series C, except the Series D product requires drive firmware revision 1.154.01, or later. 1.154.01 or later Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 15: About The Kinetix 6000 Drive Systems
Resistive Brake 2090-XBxx-xx such that the motor leads can be disconnected from the drive with the permanent magnet motor brought to an immediate stop. Module This module does not mount to the power rail. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 16: Typical Hardware Configurations
LDL-Series Linear Motors (LDL-xxxxxxxx linear motor shown) Kinetix MPAR Electric Cylinders (MPAR-Bxxxx electric cylinder shown) LDAT-Series Linear Thrusters (LDL-Sxxxxxx-xBx linear thrusters only) (1) Kinetix RDB direct-drive motors require the 2090-K6CK-KENDAT low-profile feedback module. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 17 LDL-Series Linear Motors (LDL-xxxxxxxx linear motor shown) Kinetix MPAR Electric Cylinders (MPAR-Bxxxx electric cylinder shown) LDAT-Series Linear Thrusters (LDL-Sxxxxxx-xBx linear thrusters only) (1) Kinetix RDB direct-drive motors require the 2090-K6CK-KENDAT low-profile feedback module. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 18 (MPL-Bxxxx motor shown) MDF-SBxxxxx-Qx8xB-S Drive-Motor Unit MDF-SBxxxxx-Qx8xB-S Drive-Motor Unit 2090-Series Motor Power Cables For more information on Kinetix 6000M integrated drive-motor system installation, refer to the Kinetix 6000M Integrated Drive-Motor System User Manual, publication 2094-UM003. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 19 E90 (precharge timeout fault). To correct this condition, you must replace the leader IAM module with a larger module or decrease the total bus capacitance by removing the IPIM module or AM modules. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 20: Typical Communication Configurations
IAM Module 6200 6200 6200 6200 SAFE SPEED SAFE SPEED 2094-SEPM-B24-S IPIM Module 2094-BMxx-S Double-wide AM Module 2094-BMxx-S Single-wide AM Module 2094-BMxx-M Single-wide AM Power Modules with 2094-SE02F-M00-Sx Control Modules 2094-BMxx-S Single-wide AM Module Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 21: Catalog Number Explanation
Table 6 - Kinetix 6000 Drive Component Catalog Numbers Drive Components Cat. No. Integrated power interface (IPIM) module, 400V-class, 15 kW, 24 A (rms) 2094-SEPM-B24-S Kinetix 6000 shunt module, 200/400V-class, 200 W 2094-BSP2 Kinetix 6000 slot-filler module, 200/400V-class 2094-PRF Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 22: Kinetix Drive Component Compatibility
2094-SE02F-M00-Sx Sercos interface 2094-BCxx-Mxx-M (IAM power module) 2094-EN02D-M01-Sx EtherNet/IP network Not 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. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 23: Agency Compliance
(grounded to the enclosure) outside of the enclosure. Separate signal and power cables. Refer to Appendix A on page 185 for interconnect diagrams, including input power wiring and drive/motor interconnect diagrams. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 24: Ce Requirements (System With Lim Module)
IAM module as possible. When the LIM module (catalog numbers 2094-ALxxS, 2094-BLxxS, or 2094-XL75S-Cx) supports two IAM modules, each IAM module requires an AC line filter installed as close to the IAM module as possible. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 25 Because the system is of the open type construction, be careful to keep any metal debris from falling into it. Metal debris or other foreign matter can become lodged in the circuitry, which can result in damage to components. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 26: System Design Guidelines
(HF) energy and reduce electrical noise. Refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001, to better understand the concept of electrical noise reduction. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 27: Transformer Selection
2.7 (5.9) 2090-XXLF-X330B 500V AC 2094-BC02-M02-S 50/60 Hz 2094-BC04-M03-S 5.2 (11.4) 2090-XXLF-375B 2094-BC07-M05-S 9.5 (20.9) 2090-XXLF-3100 Refer to the Kinetix Motion Accessories Specifications Technical Data, publication KNX-TD004, for additional AC line filter specifications. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 28: Circuit Breaker/Fuse Options
2094-IN005, for power specifications and more information on using the LIM module. Refer to Input Power Circuit Protection (without LIM) on page 29 when your drive system does not include the LIM module. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 29 Plan the Kinetix 6000 Drive System Installation Chapter 2 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 30: Enclosure Selection
Power rail, 460V, 6 axis Resistive brake module (RBM), 33 A, 32  2090-XB33-32 Total Kinetix 6000 system wattage (1) To determine heat dissipation specifications for your drive system components, refer to Table 14 page Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 31 Bulletin 2094 system is 50 °C (122 °F) and if the maximum environmental temperature is 30 °C (86 °F), then T=20 in the equation below. 0.38 (612) = 6.66 m 1.8 (20) - 1.1 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 32 (1) Power dissipation for the Bulletin 2094 control modules, catalog numbers 2094-SE02F-M00-Sx and 2094-EN02D-M01-Sx, is included in the IAM and AM power module specifications. (2) Internal shunt power is not included in the calculations and must be added based on utilization. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 33: Minimum Clearance Requirements
272 mm (10.7 in.) 2094-SEPM-B24-S 263 mm (10.3 in.) (1) Minimum cabinet depth is based on the use of 2090-K6CK-xxxx low-profile connector kits. Other means of making feedback connections can require additional clearance. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 34: Electrical Noise Reduction
Improper bonding of metal surfaces blocks the direct return path and allows high-frequency energy to travel elsewhere in the cabinet. Excessive high- frequency energy can effect the operation of other microprocessor controlled equipment. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 35 Flat Washer Star Washer Flat Washer If the mounting bracket is coated with a non-conductive material (anodized Star Washer or painted), scrape the material around the mounting hole. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 36: Hf Bond For Multiple Subpanels
Wire Braid 25.4 mm (1.0 in.) by 6.35 mm (0.25 in.) Cabinet ground bus bonded to the subpanel. Wire Braid 25.4 mm (1.0 in.) by Paint removed 6.35 mm (0.25 in.) from cabinet. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 37: Establish Noise Zones
(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. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 38 (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. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 39 System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001. (3) Only the 2094-ALxxS and 2094-XL75S-Cx LIM modules are compatible with the 2094 mounting brackets. The 2094-BLxxS, 2094- AL09, and 2094-BL02 LIM modules are not compatible. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 40 (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. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 41 (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. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 42 (3) 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. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 43 (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. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 44 (3) This is a clean 24V DC available for any device that requires it. The 24V enters the clean wireway and exits to the right. (4) This is a dirty 24V DC available for motor brakes and contactors. The 24V enters the dirty wireway and exits to the left. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 45: Cable Categories For Kinetix 6000 Systems
Connector Very Ferrite Shielded Dirty Clean Dirty Sleeve Cable CTRL 1 and 2 DC-/DC+ (unshielded cable) L1, L2, L3 (shielded cable) L1, L2, L3 (unshielded cable) CONT EN- and CONT EN+ (M1 contactor) Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 46 Aux power output Table 19 - Shunt Module Zone Method Wire/Cable Connector Very Ferrite Shielded Dirty Clean Dirty Sleeve Cable COL, DC+ (shielded option) COL, DC+ (unshielded option) Thermal switch Fan (if present) Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 47: Noise Reduction Guidelines For Drive Accessories
• Segregate input and output wiring as far as possible. IMPORTANT CE test certification applies only to AC line filter and single power rail. Sharing a line filter with multiple power rails can perform satisfactorily, but the user takes legal responsibility. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 48 Motor Power Cables 2094-BSP2 Shunt Module No sensitive equipment within 150 mm (6.0 in.). Kinetix 6000 System Line Interface Module I/O and Feedback Cables Enclosure Route 24V DC I/O Route encoder/analog/registration shielded cable. shielded cables. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 49 Motor Power Cables 2094-BSP2 Shunt Module No sensitive equipment within 150 mm (6.0 in.). Kinetix 6000 System Line Interface Module I/O and Feedback Cables Route 24V DC I/O Route encoder/analog/registration shielded cable. shielded cables. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 50 Refer to Wire the Motor/Resistive Brake (BC) Connector on page 110 wiring guidelines. Refer to Axis Module/Rotary Motor Wiring Examples beginning on page 196 for the interconnect diagram of your drive/motor combination. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 51: Before You Begin
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 Kinetix 6000 drive system. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 52: Install The 2094 Power Rail
2094-BM02-S 2094-BM03-S 2094-BM05-S Continuous Power 1.8 kW 3.9 kW 6.6 kW 13.5 kW 22.0 kW Output, nom Table 24 - Kinetix 6000M (400V-class) IPIM Module Attribute 2094-SEPM-B24-S Continuous Power Output, nom 15.0 kW Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 53 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. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 54: Mount Modules On The Power Rail
3. Hang the mounting bracket from the slot on the power rail. Mounting Bracket Power Rail Slot Kinetix 6000 IAM, AM, IPIM, Slots for additional axis modules, Shunt, or Slot-filler Module shunt module, or slot-filler modules. (IAM module is shown) Power Rail Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 55 5. Gently push the module against the power rail connectors and into the final mounting position. Bracket secured in slot. Kinetix 6000 IAM, AM, IPIM, Shunt, or Slot-filler Module (IAM module is shown) Power Rail Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 56 2094-BC04-M03-x, and 2094-BC07-M05-x (double-wide) IAM modules, and 2094-BM03-x and 2094-BM05-x (double-wide) AM modules. Repeat step 1 through step 6 for each AM, IPIM, shunt, or slot-filler module in your Bulletin 2094 drive system. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 57: Connector Data And Feature Descriptions
Feedback Specifications For the Kinetix 6000M integrated drive-motor (IDM) unit and IDM power interface module (IPIM) connector locations and signal descriptions, refer to the Kinetix 6000M Integrated Drive-Motor System User Manual, publication 2094-UM003. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 58: 2094 Iam/Am Module Connector Data
Drive status indicator Motor/resistive brake (BC) connector COMM status indicator Sercos communication rate and Bus status indicator optical power switches Sercos transmit (Tx) connector Motor feedback (MF) connector DPI connector Auxiliary feedback (AF) connector Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 59: Item Description
VAC input power (drive) and DC bus 6-position plug/header Contactor enable 2-position plug/header Motor power 4-position plug/header IAM/AM Motor/Resistive brake 6-position plug/header IAM/AM Safe torque-off 9-position plug/header IAM/AM Tx and Rx Sercos transmit and receive Sercos fiber-optic (2) IAM/AM Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 60: Safe Torque-Off Connector Pinout
When wiring to the wiring-plug header, the 24V supply must come from an external source. Refer to the Kinetix Safe Torque-off Feature Safety Reference Manual, publication GMC-RM002, for more information on wiring safe torque-off headers. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 61: I/O Connector Pinout
IMPORTANT Signals +24V_PWR and +24V_COM are a 24V DC source you can use only for the inputs listed above. Figure 26 - Pin Orientation for 26-pin I/O (IOD) Connector Pin 18 Pin 9 Pin 26 Pin 19 Pin 1 Pin 10 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 62: Motor Feedback Connector Pinout
(1) Not applicable unless the motor has integrated thermal protection. Common (TS-) signal for thermal switch is tied to MF-6 (ECOM) in Bulletin 2090 cables. (2) If using 1326AB (resolver-based) motors, use 2090-K6CK-D15MF Low-profile Connector Kits that connect the filtered thermal switch (pins 16 and 17) to MF-11 and MF-6. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 63 System performance was tested at these cable length specifications. These limitations also apply when meeting CE requirements. Figure 27 - Pin Orientation for 15-pin Motor Feedback (MF) Connector Pin 10 Pin 15 Pin 5 Pin 11 Pin 1 Pin 6 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 64: Auxiliary Feedback Connector Pinout
5V or 9V supply, but not both. Figure 28 - Pin Orientation for 15-pin Auxiliary Feedback (AF) Connector Pin 6 Pin 11 Pin 1 Pin 15 Pin 5 Pin 10 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 65: Iam Input Connector Pinout
Chassis ground. Three-phase input power. Table 36 - Contactor Enable Connector CED Pin Description Signal CONT EN- Relay-driven dry contact used in the control string for a three- phase power contactor. CONT EN+ Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 66: Iam And Am Motor Power And Brake Connector Pinout
BC Pin Description Signal MBRK- Motor brake connections MBRK+ Motor brake common +24V brake input power (from LIM module or customer supplied) DBRK- RBM module connections (from RBM module and safety string) DBRK+ Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 67: Control Signal Specifications
REG1 and REG2 21.6V 26.4V On-state current Current flow to guarantee an on-state. 3.0 mA 10.0 mA Off-state voltage Voltage applied to the input, with respect to IOCOM, to guarantee an off-state. -1.0V 3.0V Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 68: Sercos Communication Specifications
Each IDM unit has it’s own node address switches and can be set to any valid address. However, node addresses for the IAM and AM modules on the power rail and for IDM units must be unique. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 69: Analog Outputs
1000 2094-xCxx-Mxx or 2094-xMxx -10,000 -1000 10,000 10.0 1000 2094-xCxx-Mxx-S or 2094-xMxx-S -10,000 -1000 For configuration/set up of the analog outputs, refer to Configure Drive Parameters and System Variables beginning on page 160. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 70: Contactor Enable Relay
Current flow when the relay is closed – current On-state 1  Contact resistance when the relay is closed – resistance Off-state Voltage across the contacts when the relay is open – 120V AC or 24V DC voltage Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 71: Power And Relay Specifications
Control Control Board Board MBRK– (BC-6) DBRK– (BC-2) Motor Brake Circuitry Resistive Brake Module Circuitry Kinetix 6000 Kinetix 6000 IAM/AM Module IAM/AM Module 24V COM (BC-4) 24V COM (BC-4) (1) Noise suppression device. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 72 3. Use the motion instruction Motion Axis Stop (MAS) to decelerate the servo motor to 0 rpm. 4. Use the motion instruction Motion Servo Off (MSF) to engage the brake and disable drive. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 73: Input Power Cycle Capability
For example, in a 4 axis system with a 2094-BC02-M02-S IAM module and 2,000 μF total capacitance, the calculated capability is 0.52 x 10,000/2000 = 2.6 cycles per minute. However, this value is reduced to 2.0 by the 4 axes per system limitation. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 74: Peak Enhancement Specifications
250% 200% 250% 2094-BC02-M02-S 150% 250% 200% 250% 2094-BC04-M03-S 150% 250% 200% 250% 2094-BC07-M05-S 150% 200% 200% 300% 2094-BMP5-S 150% 250% 2094-BM01-S 150% 250% 2094-BM02-S 150% 250% 2094-BM03-S 150% 250% 2094-BM05-S 150% 200% Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 75 Loading Profile of the drive. Application Period (T) The sum of the times at I ) and I Base (1) All current values are specified as RMS. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 76 Applies to these Kinetix 6000 drives: 2094-BC07-M05-S, 2094-BM05-S 100% % Base Current (I Base Cont (1) Base current (I ) and peak current (I ) are a percentage of the continuous drive current rating (I Base Cont Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 77: Control Power
For Kinetix 6000M systems, calculate the sum of the control power current requirements for each IPIM module on the power rail and add that value with the appropriate value from Table 52 for the number of axes on the power rail. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 78: Feedback Specifications
Heidenhain EnDat RDB-Bxxxxxx-7 4096 (±2048) Figure 37 - Absolute Position Limits (measured in turns) 4096 Turns 2048 Turns 1024 Turns +512 -2048 -1024 +128 +1024 +2048 -512 -256 -128 +256 Position at Power Down Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 79: Motor Feedback Specifications
Peak-to-peak input voltages of the Sine or Cosine inputs. 0.8V (p-p) 1.2V (p-p) input voltage Table 57 - Specifications for Heidenhain EnDat Encoders Order Command Set Description Designation EnDat 2.2 EnDat 01 1V p-p Sin/Cos, <2 MHz clock frequency Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 80: Feedback Power Supply Specifications
4.5…5.5V line driver, TTL (B-Leads-A, 847T-DN1A-RH02048 CW, Z gated with BN), MS connector, 10-pin Refer to the Kinetix Motion Accessories Technical Data, publication KNX-TD004, for more information on these Allen-Bradley encoders. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 81: Connect The Kinetix 6000 Drive System
SHOCK HAZARD: To avoid hazard of electrical shock, perform all mounting and wiring of the Bulletin 2094 power rail and drive modules prior to applying power. Once power is applied, connector terminals can have voltage present even when not in use. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 82: Building Your Own Cables
Refer to Electrical Noise Reduction on page 34 for examples of routing high and low voltage cables in wireways. Refer to the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001, for more information. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 83: Determine The Input Power Configuration
The IAM module has a factory-installed ground jumper for grounded power distribution. IMPORTANT If you determine that you have grounded power distribution in your facility, you do not need to move the ground jumper. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 84 Connect to power rail ground stud. Bonded Cabinet Ground Ground Grid or Power Distribution Ground IMPORTANT Even though impedance-grounded and corner-grounded power configurations have a ground connection, treat them as ungrounded when installing Kinetix 6000 drive systems. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 85: Ungrounded Power Configurations
This can result in an unknown potential to earth ground. Refer to Power Wiring Examples beginning on page 187 for input power interconnect diagrams with and without the LIM module. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 86: Dc Common Bus Configurations
DBRK - Input Power CONT EN+ DBRK + CONT EN+ DBRK + BAUD BAUD BAUD BAUD BAUD BAUD RATE RATE RATE RATE RATE RATE Kinetix 6000 DC Common Bus N.C. Connections N.C. N.C. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 87: Common Bus Fusing Requirements
If you do not follow ESD control procedures, components can be damaged. If you are not familiar with static control procedures, refer to Guarding Against Electrostatic Damage, publication 8000-4.5.2, or any other applicable ESD awareness handbook. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 88: Set The Ground Jumper
180. 2. Remove the top and bottom front-panel screws. Refer to the figures beginning on page 90 (230V IAM module) or page 91 (460V IAM module) for an illustration of your actual hardware. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 89 5. Replace the IAM module front panel and two screws. Apply 1.6 N•m (14 lb•in) torque. 6. Mount the IAM module back on the power rail. For detailed instructions, refer to Replace Kinetix 6000 Drive Modules page 181. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 90 (default setting). Front Panel (opened) Bottom Screw IMPORTANT Use the default jumper setting or remove the jumper entirely for grounded power configurations. Move the jumper, as shown above, for ungrounded power. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 91 Ground jumper set for ungrounded configuration. Front Panel (opened) Bottom Screw IMPORTANT Use the default jumper setting or remove the jumper entirely for grounded power configurations. Move the jumper, as shown above, for ungrounded power. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 92 Figure 45 - Setting the Ground Jumper (460V Series B, C, and D IAM modules) (behind P18) Top Screw 2094-BC01-MP5-S, 2094-BC01-M01-S, 2094-BC02-M02-S, 2094-BC04-M03-S, or 2094-BC07-M05-S Ground jumper set IAM Module (460V) for grounded configuration (default setting). Ground jumper set for ungrounded configuration. Front Panel (opened) Bottom Screw Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 93: Grounding The Kinetix 6000 Drive System
Ground Grid or Power Ground Stud Bonded Cabinet Distribution Ground Ground Bus Braided Ground Strap Ground Grid or Power Distribution Ground For power rail dimensions, refer to the Kinetix 6000 Power Rail Installation Instructions, publication 2094-IN003. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 94: Ground Multiple Subpanels
Follow NEC and applicable local codes. Bonded Ground Bus Ground Grid or Power Distribution Ground High-frequency (HF) bonding is not illustrated. For HF bonding information, refer to HF Bond for Multiple Subpanels on page Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 95: Power Wiring Requirements
Do not use them to turn the unit on and off. ATTENTION: To avoid personal injury and/or equipment damage, make sure shielded power cables are grounded to prevent potentially high voltages on the shield. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 96 N•m (lb•in) Signal (AWG) RC-1 1394-SRxxxx 1.2…1.5 RC-2 10 (8) External passive shunt module (10.6…13.2) 2094-BSP2 Shunt module RC-3 (200/400V-class) TS-1 0.22…0.25 Thermal switch 0.75 (18) (1.9…2.2) TS-2 (1) 105 °C (221 °F), 600V. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 97: Power Wiring Guidelines
4. Tighten the connector screws. 5. Gently pull on each wire to make sure it does not come out of its terminal; reinsert and tighten any loose wires. 6. Insert the connector plug into the module connector. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 98: Wiring The Iam/Am Module Connectors
2094-XL75S-Cx LIM Module LIM Module mm (in.) N•m (lb•in) (AWG) CPL Pin Signal CPL Pin Signal CPD Pin Signal CTRL 1 CTRL 2 0.5…0.6 2.5 (14) 10 (0.38) (4.4…5.3) CTRL 2 L2/N CTRL 1 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 99: Wire The Input Power (Ipd) Connector
4.0 (12) 230V AC 2094-AC16-M03-x 10 (8) 2.4…3.0 16 (0.63) (21.6…26.5) 2094-AC32-M05-x 30 (3) 2094-BC01-Mxx-x 1.2…1.5 2.5 (14) 10 (0.38) 2094-BC02-M02-x (10.6…13.2) 460V AC 2094-BC04-M03-x 6 (10) 2.4…3.0 16 (0.63) (21.6…26.5) 2094-BC07-M05-x 30 (3) Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 100 4.0 (12) 230V AC 2094-AC16-M03-x 10 (8) 2.4…3.0 16 (0.63) (21.6…26.5) 2094-AC32-M05-x 30 (3) 2094-BC01-Mxx-x 1.2…1.5 2.5 (14) 10 (0.38) 2094-BC02-M02-x (10.6…13.2) 460V AC 2094-BC04-M03-x 6 (10) 2.4…3.0 16 (0.63) (21.6…26.5) 2094-BC07-M05-x 30 (3) Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 101: Wire The Contactor Enable (Ced) Connector
2.5 (14) 10 (0.38) (4.4…5.3) COIL_E2 COIL_A2 CONT EN+ (1) The actual gauge of the contactor enable wiring depends on the system configuration. Consult your machine builder, the NEC, and applicable local codes. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 102: Wiring The Safe Torque-Off (Sto) Connector
1.5 (16) (solid wire) SAFETY ENABLE1+ 24V + 24V_COM To wire the safe torque-off connector in single axis or multi-axis configurations, refer to the Kinetix Safe Torque-off Feature Safety Reference Manual, publication GMC-RM002. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 103: Wire The Motor Power (Mp) Connector
IAM or AM modules and the power wires terminated in the motor power (MP) connector plug. SHOCK HAZARD: To avoid hazard of electrical shock, make sure shielded power cables are grounded at a minimum of one point for safety. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 104 Side View SpeedTec (M7) Connectors Feedback Power and Brake Connector Connector Side View Kinetix MPAR and MPAS linear actuators and Kinetix MPS) stainless-steel motors have also transitioned from threaded (M4) to SpeedTec (M7) connectors. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 105 MPL-A/B15xxx-xx4xAA, MPL-A/B2xxx-xx4xAA Circular Kinetix MPS MPS-A/Bxxxx 2090-XXNPMF-xxSxx (standard) or 2090-CPWM4DF-xxAFxx (threaded) 2090-CPBM4DF-xxAFxx (continuous-flex) (continuous-flex) Kinetix MPAS MPAS-A/Bxxxx Kinetix MPAR MPAR-A/B1xxx and MPAR-A/B2xxx (series A) Circular 2090-CPWM6DF-16AAxx Kinetix TLY TLY-Axxxx-H 2090-CPBM6DF-16AAxx (standard) Plastic (standard) Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 106 IAM/AM Module (IAM module is shown) BAUD RATE The cable shield clamp shown above is mounted to an IAM module. Cables attach to the clamp on each AM module in the same way. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 107 DBRK - CONT EN+ DBRK + BAUD RATE The cable shield clamp shown above is mounted to an IAM module. Cables attach to the clamp on each AM module in the same way. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 108 The cable shield clamp shown above is mounted to an IAM module. Cables attach to the clamp on each AM module in the same way. IMPORTANT We recommend securing the cable shield in the clamp with a tie wrap to improve stress relief. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 109 2094-BC02-M02-x, 2094-BM02-x 6 (10) max 2094-AC16-M03-x, 2094-AM03-x 1.2…1.5 10 (8) max 10 (0.38) 2094-AC32-M05-x, 2094-AM05-x (10.6…13.2) 1.2…1.5 2094-BC04-M03-x, 2094-BM03-x 10 (8) max 10 (0.38) (10.6…13.2) 2.4…3.0 2094-BC07-M05-x, 2094-BM05-x 30 (3) max 16 (0.63) (21.6…26.5) Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 110: Wire The Motor/Resistive Brake (Bc) Connector
RBM Module I/O Connections (IAM/AM modules) TB3 Pin Signal MP Pin Signal COIL_A1 DBRK+ COIL_A2 DBRK- (1) Firmware revision 1.071 or later is required to use the DBRK outputs on the Kinetix 6000 IAM/AM module. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 111 MPAR-A/B1xxx, MPAR-A/B2xxx (series B), MPAR-A/B3xxx, MPAI-A/Bxxx (1) You must remove the motor-side o-ring when using 2090-CFBM7xx-xxAxxx cables. IMPORTANT Use surge suppression when controlling a brake coil. Refer to Brake Current Example on page 211. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 112 BC Connector (IAM/AM module) Recommended Strip Length Torque Value Wire Size mm (in.) N•m (lb•in) BC Pin Signal (AWG) BC-6 MBRK- BC-5 MBRK+ BC-4 0.22…0.25 0.75 (18) 10 (0.38) BC-3 (1.9…2.2) BC-2 DBRK- BC-1 DBRK+ Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 113: Apply The Motor Cable Shield Clamp
IAM/AM module. Exposed Braid Outer Insulation (under clamp) Motor Cable Pivot-open Cable Clamp Vent holes on top of IAM/AM module. 5. Repeat step 1 through step 4 for each IAM, AM, or IPIM module. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 114: Feedback And I/O Cable Connections
Refer to Flying-lead Feedback Cable Pinouts beginning on page 116 for the motor-to-drive feedback cable pinout used in your application. Refer to Kinetix MP Motor and Actuator Connectors on page 104 for more information on circular DIN and bayonet connectors. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 115 (1) These motors/linear thrusters are equipped with SpeedTec DIN connectors, however, the feedback option requires the additional conductors supplied with the cables listed. (2) You must remove the motor-side o-ring when using 2090-CFBM7xx-xxAxxx cables. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 116: Flying-Lead Feedback Cable Pinouts
Table 91 - 2090-CDNFDMP-Sxx Feedback Cable Resolver Feedback Motor DIN Drive MF Motor Bayonet Resolver Feedback Drive MF MPL-Bxxxx-Rx7xAA Connector Pin Connector Pin Connector Pin MPL-Bxxxx-Rx2xAA Connector Pin MPM-xxxxxx-2 EPWR_9V EPWR_9V ECOM ECOM Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 117 Table 93 - 2090-CFBM6DF-CBAAxx Feedback Cable Incremental Feedback Drive MF Incremental Feedback Drive MF Rotary Motor Rotary Motor Connector Pin Connector Pin Connector Pin Connector Pin TLY-Axxxx-H TLY-Axxxx-H EPWR_5V ECOM Connector Shield housing Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 118 (1) For termination of individual drain wires, use Low Profile connector kit (catalog number 2090-K6CK-D15MF) and reference figure on page 123. (2) Thermal switch wires (5 and 9) are in the motor power cable (catalog number1326-CPx1T-L-xxx). Use Low Profile connector kit (catalog number 2090-K6CK-D15MF) and reference figure on page 123. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 119: Wiring The Feedback And I/O Connectors
(finger tight) to improve system performance. Figure 61 - IAM/AM Module (MF connector) Kinetix 6000, Side View Kinetix 6000, Front View (IAM module is shown) (IAM module is shown) 2090-CFBM7DD-CDAAxx Cable (premolded connector) Motor Feedback (MF) Connector Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 120: Connect Panel-Mounted Breakout Board Kits
Panel-mounted Breakout Board Refer to CN2 Motor Feedback Breakout Board Installation Instructions, publication 2090-IN006, for Wire Terminations connector breakout board specifications. IMPORTANT The panel-mounted breakout board kit (2090-UXBK-D15xx) is not compatible with 1326-CCUT-L-xxx cable. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 121: Wire Low-Profile Connector Kits
(IAM module is shown) Kinetix 6000, Front View (IAM module is shown) 2090-Kxxx-Dxxx Low-profile Connector Kit I/O (IOD) Connector with flying-lead Feedback or I/O Cable Motor Feedback (MF) Connector Auxiliary Feedback (AF) Connector Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 122 Shield Clamp Refer to Low Profile EnDat Feedback Modules Exposed Braid Under Clamp Installation Instructions, publication 2090-IN020, for connector kit specifications. Turn clamp over to hold Bulletin 2090 small wires secure. Feedback Cable Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 123 Low Profile Connector Kit) Refer to Low Profile Connector Kit Installation Instructions, publication 2094-IN007, for connector kit specifications. Tie Wrap Slot Turn clamp over to hold small wires secure. Three Conductor Discrete I/O Wire I/O Cables Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 124: External Shunt Module Connections
Figure 68 - Shunt Module Jumper Settings Kinetix 6000 Shunt Module, Top View Cable Shield (catalog number 2094-BSP2) Clamp Jumpers External Shunt Resistor (RC) Connector External Thermal Switch (TS) Connector (1) These are the default jumper settings. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 125: Ipim Module Connections
Network Cable PORT 1 PORT 2 NETWORK IDM Network Ethernet Connector Connectors • Digital Input Connectors (1, 2, 3) (not in view) • Network Node Address Switches (S1, S10) • Status Indicators (D, N) Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 126: Rbm Module Connections
MBRK + CONT EN- DBRK - CONT EN+ DBRK + Exposed Shield Braid BAUD Motor Cable Under Clamp RATE Shield Clamps 2090-XXNRB-xxF0Px Bulletin 2090 Motor Power Cable RBM/Kinetix 6000 Interface Cable To Motor Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 127: Sercos Fiber-Optic Cable Connections
For more information, refer to Fiber-optic Cable Installation and Handling Instructions, publication 2090-IN010. SoftLogix and ControlLogix controllers are used in the following examples; however, CompactLogix controllers connect in the same manner. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 128 Sercos Fiber-optic Ring IMPORTANT Clean the fiber-optic cable connectors prior to installation. Dust in the connectors can reduce signal strength. For more information, refer to Fiber- optic Cable Installation and Handling Instructions, publication 2090-IN010. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 129 (ControlLogix controller is shown) Sercos Fiber-optic Bulkhead Adapter Tx (rear) Rx (front) Transmit Receive Sercos Fiber-optic Ring Sercos Ring Transmit Receive Transmit Receive Sercos Fiber-optic Bulkhead Adapter Kinetix 6000 Kinetix 6000 System System Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 130: Kinetix 6000M Integrated Drive-Motor Sercos Connections
(not shown for simplicity) connected to the IPIM module, are also part of this Sercos ring. For more Kinetix 6000 IDM system examples including the IDM units, refer to the Kinetix 6000M Integrated Drive-Motor System User Manual, publication 2094-UM003. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 131: Ethernet Cable Connections
LNK1 LNK2 NET OK ControlLogix Ethernet Ports Front Views The 1756-EN2T modules have only one port, 00:00:BC:2E:69:F6 1 (Front) 1756-EN2TR and 1756-EN3TR modules have two. 2 (Rear) Port 1, Front Bottom Views Port 2, Rear Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 132 Chapter 5 Connect the Kinetix 6000 Drive System Notes: Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 133: Configure The Kinetix 6000M Integrated Drive-Motor System
IPIM module firmware by using ControlFLASH™ software. For system configuration and startup procedures specific to the IDM system, refer to the Kinetix 6000M Integrated Drive-Motor System User Manual, publication 2094-UM003. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 134: Configure The Drive Modules
(from the IAM inverter) left to right. 3. Cycle control power to initialize the IAM module. IMPORTANT The base node address setting takes effect only after the IAM power module is initialized. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 135 Kinetix 6000 IAM/AM Module, (AM module is shown) Sercos Communication Rate and Optical Power Switches Switch in OFF Position Switch in ON Position 6. Repeat step 4 step 5 for each 2094-xMxx-x AM module. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 136 IMPORTANT Slot-filler modules must be used to fill any unoccupied slot on the power rail. However, you can replace slot-filler modules with AM modules or the 2094-BSP2 shunt module (maximum one 2094-BSP2 shunt module per power rail). Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 137 IMPORTANT Slot-filler modules must be used to fill any unoccupied slot on the power rail. However, you can replace slot-filler modules with AM modules or the 2094-BSP2 shunt module (maximum one 2094-BSP2 shunt module per power rail). Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 138 IMPORTANT Slot-filler modules must be used to fill any unoccupied slot on the power rail. However, you can replace slot-filler modules with AM modules or the 2094-BSP2 shunt module (maximum one 2094-BSP2 shunt module per power rail). Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 139 IMPORTANT Slot-filler modules must be used to fill any unoccupied slot on the power rail. However, you can replace slot-filler modules with AM modules or the 2094-BSP2 shunt module (maximum one 2094-BSP2 shunt module per power rail). Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 140: Configure The Logix 5000 Sercos Interface Module
Type the file Name. d. From the Chassis Type pull-down menu, choose the chassis. e. Enter the Logix 5000 processor slot. 4. Click OK. 5. From the Edit menu, choose Controller Properties. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 141 This assigns the controller as the Grandmaster clock. The motion modules set their clocks to the module you assign as the Grandmaster. IMPORTANT You can assign only one module in the Logix 5000 chassis as the Grandmaster clock. 8. Click OK. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 142: Configure The Logix 5000 Module
Enter the Logix 5000 Sercos module slot (leftmost slot = 0). c. Check Open Module Properties. 5. Click OK. Your new module appears under the I/O Configuration folder in the Controller Organizer and the Module Properties dialog box opens. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 143 The Transition to Phase default setting is 4 (phase 4). The Transition to Phase setting stops the ring in the phase specified. 11. Click OK. 12. Repeat step 1 through step 11 for each Logix 5000 module. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 144: Configure The Kinetix 6000 Drive Modules
Type the module Name. b. Enter the Node address. Set the node address in the software to match the node setting on the drive. Refer to Configure the Drive Modules, step 2, on page 134. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 145 8. Type the axis Name. AXIS_SERVO_DRIVE is the default Data Type. 9. Click OK. The axis appears under the Ungrouped Axes folder in the Controller Organizer. 10. Assign your axis to Node 1. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 146 (1) Drive does not accept Internal, <none>, 2094-BSP2, or 1394-SRxxxx selection if DC bus voltage is present without having three-phase power applied. (2) Drive does not accept CommonBus Follow selection if three-phase power or DC bus power is applied. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 147 Refer to Appendix E beginning on page 251, for more information on setting the Add Bus Cap parameter. 16. Click OK. 17. Repeat step 1 through step 10 for each Bulletin 2094 AM module and each IDM unit. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 148: Configure The Motion Group
5. Click the Axis Assignment tab and move your axes (created earlier) from Unassigned to Assigned. 6. Click the Attribute tab and edit the default values as appropriate for your application. 7. Click OK. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 149: Configure Axis Properties
3. Click Change Catalog. The Change Catalog Number dialog box opens. 4. Select the motor catalog number appropriate for your application. To verify the motor catalog number, refer to the motor name plate. 5. Click OK. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 150 11. Click Apply if you made changes. 12. Click the Fault Actions tab. 13. Click Set Custom Stop Action. The Custom Stop Action Attributes dialog box opens and lets you set delay times for servo motors and RBM modules. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 151 The Axis Properties dialog box opens on the General tab. If an axis is associated to the auxiliary axis node, set the Axis Configuration on the General tab of the Axis Properties dialog box to Feedback Only. 2. Click the Drive/Motor tab. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 152: Download The Program
5. Click OK. 6. Verify your Logix 5000 program and save the file. Download the Program After completing the Logix 5000 configuration you must download your program to the Logix 5000 processor. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 153: Apply Power To The Kinetix 6000 Drive
1. Check your control power connections. Not ON 2. Go back to main step (1) If your 2094 drive system includes a Kinetix 6000M IDM system, observe the drive status indicator and verify that it is Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 154 Go to Test and Tune the Axes on Steady green Communication ready page 155. Go to the appropriate Logix 5000 Not flashing green and red/ Sercos module is faulted manual for specific instructions not steady green and troubleshooting. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 155: Test And Tune The Axes
5. Apply Hardware Enable Input signal (IOD-2) for the axis you are testing. ATTENTION: To avoid personal injury or damage to equipment, apply 24V ENABLE signal (IOD-2) only to the axis you are testing. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 156 4. Verify conversion constant entered in the Conversion tab. 5. Return to main step 6 and run the test again. (1) The hardware enable input for IDM units is on the IPIM module. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 157: Tune The Axes
ATTENTION: To avoid personal injury or damage to equipment, apply 24V ENABLE signal (IOD-2) only to the axis you are tuning. IMPORTANT Hardware Enable input for IDM units is on the IPIM module. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 158 9. Record your bandwidth data for future reference. 10. Click OK. The Online Command - Apply Tune dialog box opens. When the test completes, the Command Status changes from Executing to Command Complete. 11. Click OK. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 159 4. Return to step 7 and run the test again. (1) The hardware enable input for IDM units is on the IPIM module. 13. Repeat Test and Tune the Axes for each axis. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 160: Configure Drive Parameters And System Variables
IMPORTANT Parameters are read-only when the Sercos ring is active. You must break the Sercos ring to change parameters. To save changes, perform a nonvolatile save (NVS) prior to cycling power. Figure 82 - DriveExplorer Software Example Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 161: Monitor System Variables With Analog Test Points
DAC_COM Figure 83 - Pin Orientation for 26-pin I/O (IOD) Connector Pin 18 Pin 9 Pin 26 Pin 19 Pin 1 Pin 10 Refer to Analog Outputs on page 69 for signal specifications. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 162 For linear scaling specifications, refer to the table on page Table 103 - Monitor Dynamic System Variables Attribute Parameter Number Velocity feedback xx40 Velocity commanded xx36 Torque feedback xx84 Torque commanded xx80 (1) x = slot number. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 163: Safety Precautions
ATTENTION: Provide an earth ground for test equipment (oscilloscope) used in troubleshooting. Failure to ground the test equipment could result in personal injury. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 164: Interpret Status Indicators
Refer to these troubleshooting tables to identify faults, potential causes, and the appropriate actions to resolve the fault. If the fault persists after attempting to troubleshoot the system, please contact your Rockwell Automation sales representative for further assistance. Kinetix 6000M IDM System Error Codes The IAM module reports a single, generic IPIM Fault whenever a fault occurs on any IPIM in the same backplane as the IAM module.
Page 165: Kinetix 6000 Drive System Error Codes
• Verify axis configuration in software. • Check motor encoder wiring. MotFeedbackFault The feedback wiring is open, shorted, or missing. • Run Hookup test in the Logix Designer (Motor Feedback Loss) application. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 166 If fault remains, call your sales representative. • Remove ground from control power input. Grounded control power terminal • Source control power from three-phase input (applies to 230V systems only) power (refer to diagram on page 190). Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 167 (Aux Fdbk Noise) Recommended grounding, per installation • Refer to System Design for Control of Electrical instructions, has not been followed. MotorFeedbackNoise Noise Reference Manual, publication Noise on motor feedback GMC-RM001. cable. (Mtr Fdbk Noise) Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 168 Either 230V AM module is installed on power rail with 460V IAM module, or 460V Replace mismatched module. AM module is installed on power rail with 230V IAM module. (Module Mismatch) DriveHardFault • Cycle power. Control hardware fault detected. • If fault persists, replace module. (Sercos Init) Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 169 Refer to the troubleshooting chapter in the IPIMFault A fault has occurred in one or more IPIM modules on the power rail. Kinetix 6000M Integrated Drive-Motor System (IPIM Module Flt) User Manual, publication 2094-UM003. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 170: Iam/Am Module Status Indicators
• MSO instruction is not commanded in the Logix Designer application. Normal when: Bus power is present, axis enabled. Steady green • 24V is applied to Hardware Enable Input (IOD-2). No faults. • MSO instruction is commanded in the Logix Designer application. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 171: Shunt Module Status Indicators
Drive (IAM or leader IAM module) three-phase power is removed. DC bus. Disabled from discharging When configured in Common-bus Follower mode. the DC bus. IMPORTANT Under some fault conditions, two reset commands can be required to clear drive and shunt module faults. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 172 Potential Cause Possible Resolution Indicator • Bus Status All three status indicators flash • Cycle power. • Over-Temp Fault Shunt module hardware failure. simultaneously. • If anomaly persists, replace shunt module. • Shunt Fault Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 173: General System Anomalies
The frequency can be a multiple of • Check and improve mechanical performance, for the motor power transmission components or ballscrew speeds resulting in example, the gearbox or ballscrew mechanism. velocity disturbance. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 174 Motor power phases U and V, U and W, or V and W reversed. Check and correct motor power wiring. position, runs without control or Sine, Cosine or Rotor leads are reversed in the feedback cable connector. Check and correct motor feedback wiring. with reduced torque. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 175: Logix 5000/Drive Fault Behavior
176, the controlling attribute is given for programmable fault actions. All faults that are not configurable have a fault action of Shutdown. Figure 84 - Axis Properties - Fault Actions Tab Drive Fault Action/Attribute for Motor Overtemp fault (E04). Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 176 Excessive ground current in the converter was detected. contactor enable relay) (Ground Fault) DriveUndervoltageFault Coast/Disable (open The converter precharge cycle has failed. contactor enable relay) (Precharge Fault) DriveOvertempFault Coast/Disable (open Converter internal temperature limit exceeded. contactor enable relay) (System Overtemperature) Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 177 (Atune Flt) DriveHardFault Coast/Disable (open Operating system failed. contactor enable relay) (Task init) DriveHardFault DPI communication failed. Decel/Disable (SCANport Comm) DriveHardFault Coast/Disable (open Nonvolatile memory attribute out of range. contactor enable relay) (Objects Init) Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 178 (2) The Logix 5000 Drive Thermal Fault Action is tied to the drive thermostat fault. The drive always folds back the current when the I T calculation indicates that the drive has exceeded 110% of its rating. The I T calculation never generates a fault. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 179: Before You Begin
Guarding Against Electrostatic Damage, publication 8000-4.5.2, or any other applicable ESD awareness handbook. These tools are required before you begin removal and replacement Before You Begin procedures: • Screwdriver, 3.5 mm (0.14 in.) • Voltmeter Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 180: Remove Kinetix 6000 Drive Modules
5. Loosen the mounting screw (bottom center of each module). 6. Grasp the top and bottom of the module with both hands and gently pull the module away from the connectors enough to clear the guide pins (module pivots on top bracket). Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 181: Replace Kinetix 6000 Drive Modules
AM module can have one or two, all other modules have only one connector and one guide pin. 5. Use 2.26 N•m (20 lb•in) torque to tighten the mounting screw. 6. Reconnect the module connectors. 7. Reapply power to the system. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 182: Remove The Power Rail
Power Rail 100 mm (3.9 in.) 2094-PRSx Bonded Cabinet Ground 2. Loosen the mounting bolts (removing the bolts is not necessary). 3. Lift the power rail up and off of the mounting bolts. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 183: Replace The Power Rail
IMPORTANT To improve the bond between the power rail and subpanel, construct your subpanel out of zinc plated (paint-free) steel. 2. Tighten the mounting bolts. 3. Reattach the braided grounding strap to the power rail grounding stud (refer to page 182). Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 184 Chapter 8 Remove and Replace the Kinetix 6000 Drive Modules Notes: Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 185: Interconnect Diagrams
Kinetix® 6000 drive system components. Topic Page Interconnect Diagram Notes Power Wiring Examples Axis Module/Rotary Motor Wiring Examples Axis Module/Linear Motor/Actuator Wiring Examples Kinetix 6000M Integrated Drive-Motor Wiring Example Brake Current Example System Block Diagrams Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 186: Interconnect Diagram Notes
MPAS-Bxxx (ballscrew) encoders use the +9V DC supply. Brake connector pins are labeled plus (+) and minus (-) or F and G respectively. Power connector pins are labeled U, V, W, and GND or A, B, C, and D respectively. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 187: Power Wiring Examples
IO_PWR Resistive Brake Connections DBRK + I/O (IOL) STOP * Connector Notes 13, 14 COIL_A1 20-22 Contactor Enable IO_COM CONT EN- (CED) Connector COIL_A2 CONT EN+ Note 14 * Indicates User Supplied Component Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 188 Resistive Brake Connector Connections COIL_E1 Notes 13, 14 2, 4, 6 CONT EN- IO_COM1 Contactor Enable (CED) Connector CONT EN+ COIL_E2 Note 14 To CED Connector * Indicates User Supplied Component IAM_2 Note 7 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 189 Motor/Resistive From P1L connector, LIM Brake (BC) Connector DBRK - Resistive Brake Connections DBRK + From IOL connector, LIM CONT EN- Contactor Enable (CED) Connector and CED connector, IAM_1 CONT EN+ Note 14 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 190 STOP * Note 14 24V AC/DC CR1 * 120V AC M1 * CR1 * 50/60 Hz Ground Jumper Note 11 CR1 * * Indicates User Supplied Component Refer to Attention statement (Note 13). Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 191: Dc Common Bus Wiring Examples
Interconnect Diagrams Appendix A DC Common Bus Wiring Examples Figure 88 - Leader IAM Module with Single Follower IAM Module Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 192 Contactor Enable CONT EN- (CED) Connector CONT EN+ Note 14 To Follower Control Circuit Connections Wire the leader and follower IAM contactor enable terminals in series with the control string or LIM I/O. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 193 N.C. MBRK - MBRK + Motor/Resistive Brake (BC) Connector DBRK - DBRK + From Leader Control Circuit Contactor Enable CONT EN- (CED) Connector Connections CONT EN+ Note 14 * Indicates User Supplied Component Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 194 Appendix A Interconnect Diagrams Figure 90 - 8720MC-RPS Leader Drive with Single Follower IAM Module Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 195: Shunt Module Wiring Examples
Kinetix 6000 shunt module. If your external passive shunt does not have a thermal switch, leave the jumper (default configuration) in place on the TS connector. Refer to the External Shunt Module Installation Instructions, publication 2090-IN004, for additional installation information. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 196: Axis Module/Rotary Motor Wiring Examples
Turn clamp over to hold for proper grounding technique. small cables secure. Motor Brake 2090-CDNFDMP-Sxx Refer to Low Profile Connector Kit Installation Instructions, (flying-lead) Feedback Cable publication 2094-IN007, for connector kit specifications. Note 16 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 197 (lower left) small cables secure. for proper grounding technique. Refer to Low Profile Connector Kit Installation Instructions, 2090-XXxFMP-Sxx publication 2094-IN007, for connector kit specifications. (flying-lead) Feedback Cable Notes 16, 17, 19, 20 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 198 (lower left) for proper grounding technique. Refer to Low Profile Connector Kit Installation Instructions, publication 2094-IN007, for connector kit specifications. 2090-XXNFMF-Sxx (standard) or 2090-CFBM4DF-CDAFxx (continuous-flex) (flying-lead) Feedback Cable Note 16, 19, 20 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 199 (lower left) for proper grounding technique. Refer to Low Profile Connector Kit Installation Instructions, 2090-XXNFMF-Sxx (standard) or publication 2094-IN007, for connector kit specifications. 2090-CFBM7DF-CDAFxx (continuous-flex) (flying-lead) Feedback Cable Note 16, 19, 20 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 200 Low-profile Connector Kit Clamp Exposed shield secured under clamp. Clamp Screws (2) Turn clamp over to hold small cables secure. Refer to Low Profile Connector Kit Installation Instructions, publication 2094-IN007, for connector kit specifications. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 201 Low-profile Feedback Module Clamp Exposed shield secured under clamp. Clamp Screws (2) Turn clamp over to hold small cables secure. Refer to Low Profile EnDat Feedback Module Installation Instructions, publication 2090-IN020, for connector kit specifications. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 202 Low-profile Connector Kit Clamp Exposed shield secured under clamp. Clamp Screws (2) Turn clamp over to hold small cables secure. Refer to Low Profile Connector Kit Installation Instructions, publication 2094-IN007, for connector kit specifications. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 203 Pins 16, 17, and S are filtered to prevent noise transmission back to the drive. Refer to page 123 for wiring instructions and a diagram. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 204 Low-profile Connector Kit Clamp Exposed shield secured under clamp. Clamp Screws (2) Turn clamp over to hold small cables secure. Refer to Low Profile Connector Kit Installation Instructions, publication 2094-IN007, for connector kit specifications. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 205: Axis Module/Linear Motor/Actuator Wiring Examples
Clamp Screws (2) 2090-XXNFMF-Sxx (standard) or Turn clamp over to hold 2090-CFBM7DF-CDAFxx (continuous-flex) small cables secure. (flying-lead) Feedback Cable Refer to Low Profile Connector Kit Installation Instructions, Note 16 publication 2094-IN007, for connector kit specifications. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 206 2094-IN007, for connector kit specifications. MPAI-B5xxxx 2090-CPxM7DF-14AAxx 2090-CFBM7DF-CEAAxx (standard) or (standard) or MPAI-A5xxxx 2090-CPxM7DF-14AFxx 2090-CFBM7DF-CEAFxx (continuous-flex) (continuous-flex) (1) Kinetix MPAR (series A) electric cylinders have threaded (M4) connectors and require threaded (M4) cable connectors. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 207 Low-profile Connector Kit Clamp Exposed shield secured under clamp. Clamp Screws (2) Turn clamp over to hold small cables secure. Refer to Low Profile Connector Kit Installation Instructions, publication 2094-IN007, for connector kit specifications. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 208 Low-profile Connector Kit Clamp Exposed shield secured under clamp. Clamp Screws (2) Turn clamp over to hold small cables secure. Refer to Low Profile Connector Kit Installation Instructions, publication 2094-IN007, for connector kit specifications. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 209 Low-profile Connector Kit Clamp Exposed shield secured under clamp. Clamp Screws (2) Turn clamp over to hold small cables secure. Refer to Low Profile Connector Kit Installation Instructions, publication 2094-IN007, for connector kit specifications. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 210: Kinetix 6000M Integrated Drive-Motor Wiring Example
To Sensor Connector 2 Registration 1 +24V Enable Input Shield Connector – I/O 24V+ Reserved Digital Input To Sensor EtherNet/IP To Ethernet Module I/O 24V COM Connector 3 Connectors (2) or Switch Home Shield Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 211: Brake Current Example
MPL-B640, MPL-B660, MPL-B680 1.91…2.19 A MPL-B860, MPL-B880 2.05…2.50 A MPM-x215 1.84…2.25 A MPL-B960, MPL-B980 IMPORTANT Because the coil current for MPL-B960 and MPL-B980 motors is rated 3.85…4.70 A, an external relay must be used. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 212: System Block Diagrams
This section provides block diagrams of the Kinetix 6000 drive modules. For block diagrams of the LIM module and RBM module, refer to Additional Resources page 10. for the documentation available for those products. Figure 108 - IAM/AM Module (inverter) Block Diagram Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 213 Interconnect Diagrams Appendix A Figure 109 - IAM Module (converter) Block Diagram Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 214 Appendix A Interconnect Diagrams Figure 110 - Shunt Module Block Diagram Internal or External Shunt Resistor SYSOK Shunt Circuit SMPS GSHUNT (2) +5V (Control) +/-15V (IGBT) 24V (Control) Chassis Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 215: Upgrade Kinetix 6000M System Firmware
IMPORTANT DriveExplorer™ software does not apply to Kinetix 6000M firmware upgrades. For the firmware upgrade procedure specific to the IDM system, refer to the Kinetix 6000M Integrated Drive-Motor System User Manual, publication 2094-UM003. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 216: Upgrade Drive Firmware With Controlflash Software
Catalog number of the targeted IAM/AM module you want to upgrade Network path to the targeted IAM/AM module. (1) Download the ControlFLASH kit from http://support.rockwellautomation.com/controlflash. Contact Rockwell Automation Technical Support at (440) 646-5800 for assistance. For more ControlFLASH information (not drive specific), refer to the ControlFLASH Firmware Upgrade Kit User Manual, publication 1756-UM105.
Page 217: Configure Logix 5000 Communication
3. From the Available Drive Types pull-down menu, choose Ethernet devices. 4. Click Add New. The Add New RSLinx Classic Driver dialog box opens. 5. Type the new driver name. 6. Click OK. The Configure driver dialog box opens. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 218 7. Type the IP address of your Logix 5000 Ethernet module. The IP address shown is an example. Yours will be different. 8. Click OK. The new Ethernet driver appears under Configured Drivers. 9. Click Close. 10. Minimize the RSLinx application dialog box. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 219: Upgrade Firmware
The Welcome to ControlFLASH dialog box opens. 2. Click Next. The Catalog Number dialog box opens. 3. Select your drive module. In this example, the 2094-BC01-MP5 IAM module is selected. 4. Click Next. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 220 5. Expand your Ethernet node, Logix 5000 backplane, and EtherNet/IP network module. 6. Select the servo drive to upgrade. 7. Click OK. The Firmware Revision dialog box opens. 8. Select the firmware revision to upgrade. 9. Click Next. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 221 10. Confirm the drive catalog number and firmware revision. 11. Click Finish. This ControlFLASH warning dialog box opens. 12. Click Yes (only if you are ready). This ControlFLASH warning dialog box opens. 13. Acknowledge the warning and click OK. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 222 Success 2. Go to step 1. Update failure appears in a RED Status dialog box. Failure 2. Refer to ControlFLASH Firmware Upgrade Kit Quick Start, publication 1756-QS105, for troubleshooting information. 16. Click OK. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 223: Verify The Firmware Upgrade
3. Expand your Ethernet node, Logix 5000 backplane, and EtherNet/IP network module. 4. Right-click the drive module and choose Device Properties. The Device Properties dialog box opens. 5. Verify the new firmware revision level. 6. Click Close. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 224 Appendix B Upgrade the Drive Firmware Notes: Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 225: Before You Begin
Before you set the Additional Bus Capacitance (Add Bus Cap) parameter in DriveExplorer software or the Logix Designer application, you need to calculate these values: • Total bus capacitance • Additional bus capacitance Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 226: Calculate Total Bus Capacitance
IMPORTANT If your total bus capacitance value exceeds the value in the table above, you must increase the size of the leader IAM module or decrease the total bus capacitance by removing other modules on the power rail. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 227: Calculate Additional Bus Capacitance
2094-BM01-x 2094-BC02-M02-x 2094-BM02-x 2094-BC04-M03-x 2094-BM03-x 2094-BC07-M05-x 1410 2094-BM05-x 1175 Table 124 - Shunt Module (200/400V-class) Capacitance Shunt Module (200/400V-class) μF 2094-BSP2 Table 125 - IPIM Module (400V-class) Capacitance IPIM Module (400V-class) μF 2094-SEPM-B24-S Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 228: Common Bus Capacitance Example
Kinetix 6000 (230V) Follower IAM Module 5280 μF Additional Bus Capacitance 2094-PRF Slot-filler Module, N/A 2094-AM03-x AM Module, 1320 μF 2094-AM03-x AM Module, 1320 μF 2094-AC16-M03-x IAM Converter, 1320 μF 2094-AC16-M03-x IAM Inverter, 1320 μF Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 229: Set The Additional Bus Capacitance Parameter
Kinetix 6500 drive system. 2. Remove one of the Sercos fiber-optic cables. Fiber-optic cable connections (Tx and Rx) are on the top of each IAM and AM module. 3. Re-apply three-phase and control power. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 230: Set The Additional Bus Capacitance Parameter
2 = AM (axis 3) 3 = AM (axis 4) DPI Port Number Network Node Number 4. Choose Devices>Node>Product and navigate to the parameter x:x:x599 as shown below. 5. Double-click the x:x:x599 Add Bus Cap parameter. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 231: Save The Add Bus Cap Parameter To Nonvolatile Memory
1. From the Actions menu, choose Nonvolatile Memory. This message dialog box opens. 2. Click Save. The changes are saved to nonvolatile memory and this cautionary message dialog box opens. 3. Click Yes. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 232: Verify The Parameter Changes
Bus Cap value just like you did in Set the Additional Bus Capacitance Parameter on page 230. 4. Verify the new parameter value. In this example, the new value is 1780 μF. 5. Close the DriveExplorer software. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 233: Reconnect Sercos Communication
1. Remove three-phase and control power from the Kinetix 6000 drive system. 2. Replace the Sercos fiber-optic cable removed earlier. Fiber-optic cable connections (Tx and Rx) are on the top of each IAM and AM module. 3. Re-apply three-phase and control power. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 234 Appendix C DC Common-bus Applications Notes: Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 235: Benefits
This deviation represents the reaction torque placed on the motor shaft by the load mechanics. It is estimated in real time and compensated by closed loop operation. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 236: Configuration
Acceleration Feedback bandwidth must be decreased significantly for stable operation. The Load Observer Only setting is similar, Acceleration Reference to but without the additional phase lag (delay) created by necessary filtering. load observer Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 237 Figure 116 - Velocity Estimate Only Configuration (Value 3) Mechanics Servo Drive Position Command Control Loops Power Conversion Unloaded Motor – – Acceleration Reference Torque Estimate Torque Load Velocity Estimate Load Observer Position Feedback Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 238: Remaining Idn Parameter Descriptions
Feedback Gain (Kof ) and the Load Observer Input Gain (Kou). They are automatically set internally based on the Load Observer Configuration. However, when in Acceleration Feedback mode, Kof can also be set manually by IDN P-434 with typical values between zero and one. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 239 (1) Operation before firmware revision 1.116. (2) Operation with firmware revision 1.116 or later. Refer to Appendix E on page 251 for more information on changing IDN parameter values with read/write messages in the Logix Designer application. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 240: Out-Of-Box Gain Settings
The current Velocity Proportional Gain (Initial Kvp) value is used to recalculate other gain values. 4. Make the following calculations: a. Load Observer Bandwidth: Kop = Velocity Proportional Gain x 2.56 b. Velocity Loop Bandwidth: Kvp = Kop/4 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 241 IDN P-432 = Kop c. IDN P-433 = 0 d. IDN P-065 = 1 7. Click the Output tab in the Axis Properties dialog box and verify these settings. a. Load Inertia Ratio = 0 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 242: Auto-Tune Gain Settings
1. Click the Tune tab in the Axis Properties dialog box and perform Auto- tune. For variable inertia loads, perform Auto-tune at the point of lowest mechanical inertia. If you manually calculate the Load Inertia Ratio, use the minimum load inertia. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 243 Refer to Compliant Mechanical Loads on page 244, for compliant applications. Rigid Mechanical Loads Follow these steps if the load is rigid. 1. Calculate the Load Observer Bandwidth. Load Observer Bandwidth: Kop = Velocity Proportional Gain 4000 4000 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 244 Kvp = Velocity Proportional Gain/(Load Inertia Ratio + 1) d. Velocity Integral Bandwidth: Kvi = Velocity Integral Gain/(Load Inertia Ratio + 1) e. Load Observer Bandwidth: Kop = Kvp 4z (R+1) 4000 4000 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 245 Sercos IDN P-065 has an impact on how the Low-pass Output Filter functions. Refer to Torque Low-pass Filter Bandwidth on page 239 more information. 5. Refer to Compensate for High Frequency Resonances on page 249, to tune-out resonant frequencies. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 246: Tuning Mode Summary
Gain x N • Load Observer Integral Gain = Load Observer Integral Gain x N • Velocity Proportional Gain = Velocity Proportional Gain x N • Velocity Integral Gain = Velocity Integral Gain x N Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 247 Decrease the gains by using the previous equations with an N = 0.5. A typical range of values for the Position Integral Gain is given: 0  Position Integral Gain  Position Proportional Gain /4000 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 248: Set Gains With Sercos Idn Write Messages
Sercos IDN P:0:431. 2. If the value is not what you want, latch it and write the new value back to the drive at the same address, again as type INT. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 249: Compensate For High Frequency Resonances
• If an audible high frequency resonance is present during the move sequence, use an FFT smart phone or tablet application to identify the dominant resonant frequencies. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 250 Filter Frequency to the lowest resonant frequency. c. If the problem persists, also check Enable Low-pass Output Filter and set the Low-pass Output Filter Frequency to the next largest resonant frequency. d. Click OK. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 251: Before You Begin
TIP You can also set the Additional Bus Capacitance parameter by using DriveExplorer™ software (refer to Appendix C), the Logix Designer application, or RSLogix 5000® software, version 20.00 or later, from I/O configuration>Sercos module>Drive module properties>Power tab (refer to Chapter Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 252: Change Idn Parameter Values
Read the Present IDN Parameter Value Follow these steps to read the present IDN value. 1. Start your Logix Designer application program. 2. Configure a Message Configuration (MSG) instruction to read your present IDN parameter values. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 253 In this example, the tag name is Read_Value. 6. Click OK. In this example, the MSG instruction reads the P-0-99 IDN value and places it in the destination as specified by the new tag. 7. Click the Communication tab. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 254: Calculate The New Idn Value
Determine the sum of all capacitance values for the follower IAM module, each AM module, and each IPIM module on the follower IAM power rail. Refer to Calculate Additional Bus Capacitance on page 227 for more information. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 255: Write The New Idn Parameter Value
In this example, the tag name is Write_Value. 5. Click OK. In this example, the new tag creates a source value (that you entered) that the MSG instruction uses to overwrite the existing P-0-099 IDN value. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 256 TIP To verify your Sercos IDN Write instruction was successful, you can perform another Sercos IDN Read instruction for the IDN in question. 10. Click OK to close the Message Configuration dialog box. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 257: Before You Begin
Cat. No. Cat. No. Series A (inverter) Series B, C, and D (inverter) 2094-BC01-MP5-S 2094-BMP5-S 150% 250% 2094-BC01-M01-S 2094-BM01-S 150% 250% 2094-BC02-M02-S 2094-BM02-S 150% 250% 2094-BC04-M03-S 2094-BM03-S 150% 250% 2094-BC07-M05-S 2094-BM05-S 150% 200% Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 258 Drive and Motor tabs to A (RMS). Pause your mouse over A (0-pk) and use the pull-down menu to change the units to A (RMS). Refer to Figure 120 for an example. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 259: Enhanced Peak Example
1. Navigate to Axis Properties and click the Limits tab. Default Peak Torque Limit Value 2. Overwrite the existing Peak Torque Limit (TorqueLimitBipolar) value. In this example, the calculated value is 178.1. 3. Click Set Custom Limits. Default TorqueLimit Values Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 260 To calculate the maximum acceleration and deceleration from Torque use this equation. Torque Accel TorqueScaling If autotune cannot be performed, enter the data for the LoadInertiaRatio, DriveResolution, and ConversionConstant as shown step 5 through step Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 261 If you plan to change those values, enter the new values into the dialog boxes. Otherwise, use the defaults. 9. Click the Conversion tab. ConversionConstant value used in this example. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 262: Enhanced Peak Example Calculation
Setting the values for AccelerationLimitBipolar, AccelerationLimitPositive, and AccelerationLimitNegative requires one more calculation by using this formula. AccelerationLimitPositive = AccelerationLimitBipolar = -AccelerationLimitNegative AccelerationLimitBipolar = 2 • MaximumAcceleration = 668.18 PU/s 2 0.85 5. Click the Limits tab. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 263 In this example, the calculated value is 668.18. 8. Overwrite the existing AccelerationLimitPositive and AccelerationLimitNegative values. In this example, the calculated values are +668.18 and -668.18 (respectively). 9. Repeat this process for each IAM and AM module in your system. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 264: Change The Drive Parameter
Sercos IDN P:0:7. 2. If the value of bit zero is zero, latch it and write the new value back to the drive at the same address, again as type INT. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 265: Driveexplorer Software
1. Connect a 1203-SSS Serial to SCANport adapter to the drive by using DriveExplorer software. 2. Change parameter P507 [Drv Peak Rating] from 150% to 250% (or 200% if applicable). 3. Save device values to nonvolatile memory. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 266 Appendix F Enhanced Peak Performance Notes: Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 267: Before You Begin
For Kinetix 6000 drive systems, you can set the delay time for your RBM module in the Logix Designer application. Refer to Configure Axis Properties page 149. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 268: Rbm Module Wiring Examples
This example diagram shows 2094-xCxx-Mxx-S and 2094-xMxx-S drives (with safe torque-off ) and 2094-ALxxS, 2094-BLxxS, and 2094-XL75S LIM Examples modules wired with the Bulletin 2090 RBM module. Figure 122 - RBM Wiring Example Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 269 RBM Module Interconnect Diagrams Appendix G RBM Wiring Example (continued) Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 270 This example diagram shows 2094-xCxx-Mxx and 2094-xMxx drives (without safe torque-off ) and 2094-ALxxS, 2094-BLxxS, and 2094-XL75S LIM modules wired with the Bulletin 2090 RBM module. Figure 123 - RBM Wiring Example, Category 2 Configuration per ISO 13849 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 271 RBM Module Interconnect Diagrams Appendix G RBM Wiring Example, Category 2 Configuration per ISO 13849 (continued) Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 272 This example diagram shows 2094-xCxx-Mxx and 2094-xMxx drives (without safe torque-off ) and 2094-AL09 and 2094-BL02 LIM modules wired with the Bulletin 2090 RBM module. Figure 124 - RBM Wiring Example, Category 2 Configuration per ISO 13849 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 273 RBM Module Interconnect Diagrams Appendix G RBM Wiring Example, Category 2 Configuration per ISO 13849 (continued) Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 274 This example diagram shows 2094-xCxx-Mxx drives (without safe torque-off ) and 2094-ALxxS, 2094-BLxxS, and 2094-XL75S LIM modules wired with the Bulletin 2090 RBM module. The example continues on page 275. Figure 125 - RBM Wiring Example, Category 3 Configuration per ISO 13849 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 275 RBM Module Interconnect Diagrams Appendix G RBM Wiring Example, Category 3 Configuration per ISO 13849 (continued) Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 276 This example diagram shows 2094-xCxx-Mxx drives (without safe torque-off ) and 2094-AL09 and 2094-BL02 LIM modules wired with the Bulletin 2090 RBM module. Figure 126 - RBM Wiring Example, Category 3 Configuration per ISO 13849 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 277 RBM Module Interconnect Diagrams Appendix G RBM Wiring Example, Category 3 Configuration per ISO 13849 (continued) Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 278 Appendix G RBM Module Interconnect Diagrams Notes: Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 279: History Of Changes
Updated the ControlLogix 1756-ENxT EtherNet/IP module line art with new design Updated sercos optical power DIP switch settings Updated error code E05 possible resolutions with ‘reduce deceleration rates’ Updated resolver motor feedback pinout with correct wire color for TS+ signal Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 280 Added Kinetix 6000M Integrated Drive-Motor Sercos Connections Added Ethernet Cable Connections Updated the introduction with an overview of IDM system configuration. Updated the introduction with an overview of the IDM system troubleshooting Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 281 Updated brake cable catalog numbers with standard (non-flex) SpeedTec DIN cables. Updated feedback cable catalog numbers with standard (non-flex) SpeedTec DIN cables. Removed Bulletin 1336 external active shunt modules. Added reference to Rockwell Automation Encompass partner solutions. Added tables to distinguish the dimensional differences between series A and series B drives. Updated dimension drawings with power rail and cable clamp redesign features.
Page 282 Interconnect diagrams for Kinetix MPAR electric cylinders; LDC-Series and LDL-Series linear motors. Coil current ratings for motor brake applications. Changing default IDN parameter values using Sercos Read and Write instructions. Wiring examples for Kinetix 6000 drives with and without the safe-off feature. Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 283: Index
180 DriveExplorer 160 replacing on power rail 181 HIM 161 series change 14 circuit breaker status indicators 170 LIM 153 wiring requirements 96 selection 28 axis unstable 173 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 284 143 PORT1 and PORT2 connectors 131 external shunt resistor 48 wiring 124 DAC0 161 DAC1 161 data fault rate 143 action tab 150 type 145 fault action 176 date/time tab 141 programmable 176 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 285 (Koi) 238 HIM 160 hookup fault 168 tab 155 human interface module (HIM) 160 connections 114 I/O connector 161 pinouts, AM 61 pinouts, IAM 61 specifications 67 IDM fault codes 164 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 286 125 properties IPM fault 165 drive modules 144 ISO 13849 270 sercos module 142 monitor system variables 161 Motion Analyzer 10 motion group properties 148 Kinetix 6000M system motion-allowed jumper 60 compatibility 22 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 287 153 node address 144 precharge 19 noise fault 167 abnormal 174 timeout flt 169 feedback 173 premolded feedback cables 119 reduction 47 zones 37 publications, related 10 NV mem init 168 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 288 172 thermal switch 50 temperature status indicator 172 torque estimate 235 time out 168 troubleshooting 171 total bus capacitance 19 wiring requirements 96 calculating 226 shutdown 175 example 228 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 289: Troubleshooting
IPD connector 99 sercos same addr 167 MP connector 103 shunt module fault 169 shunt time out 168 software overtravel 166 task init 168 unknown axis 167 general system anomalies 173 abnormal noise 174 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 290 IAM 95 IAM/AM 96 shunt module 96 resistive brake module 126 routing power and signal wiring 82 safe torque-off feature 102 sercos fiber optic cables 127 ungrounded power configuration 85 wiring guidelines 97 Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 291 Kinetix 6000 Multi-axis Servo Drives User Manual Notes: Rockwell Automation Publication 2094-UM001K-EN-P - August 2020...
Page 292 Allen-Bradley, CompactLogix, ControlFLASH, ControlLogix, DriveExplorer, expanding human possibility, Guardmaster, Integrated Architecture, Kinetix, LDC-Series, LDL-Series, Logix 5000, Rockwell Automation, Rockwell Software, RSLinx, RSLogix 5000, SCANport, SoftLogix, Studio 5000 Logix Designer, and Studio 5000 are trademarks of Rockwell Automation, Inc. EtherNet/IP is a trademark of ODVA, Inc.

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Rockwell Automation Allen-Bradley Kinetix 6000 2094-AC M S Series User Manual

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