Page 1 Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives Catalog Numbers 2094-BC01-MP5-M, 2094-BC01-M01-M, 2094-BC02-M02-M, 2094-BC04-M03-M, 2094-BC07-M05-M 2094-BMP5-M, 2094-BM01-M, 2094-BM02-M, 2094-BM03-M, 2094-BM05-M, 2094-SE02F-M00-S0, 2094-SE02F-M00-S1, 2094-EN02D-M01-S0, 2094-EN02D-M01-S1, 2094-BSP2, 2094-PRF, 2094-SEPM-B24-S 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 Control Module Features ........62 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 4 Wire the Feedback and I/O Connectors ......118 Connect Premolded Motor Feedback Cables....118 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 5 Shunt Module Status Indicators ......199 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 6 Configuration ..........254 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 7 Change CIP Attributes......... . 300 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 8 ............311 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 9 EtherNet/IP™ communication module or controller. If you do not have a basic understanding of Kinetix 6200 and Kinetix 6500 servo drives, contact your local Rockwell Automation sales representative for information on available training courses. Download Firmware, AOP,...
Page 10 Kinetix 6000, Kinetix 2000, and Kinetix 7000), and component (Kinetix 3) servo drive families. Kinetix Servo Drive Performance Specifications per Ecodesign Regulation (EU) 2019/ Provides energy efficiency performance data for Rockwell Automation Kinetix Servo drives. 1781 technical data, publication KNX-TD006 This data supports IE2 compliance of Kinetix Servo drives per EU 2019/1781.
Page 11 Provides online product selection and system configuration tools, including AutoCAD (DXF) Rockwell Automation Product Selection website, rok.auto/systemtools drawings. Product Certifications website, rok.auto/certifications Provides declarations of conformity, certificates, and other certification details. You can view or download publications at rok.auto/literature. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 12 Preface Notes: Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 13 Kinetix® 6200/6500 drive systems. Topic Page About the Kinetix 6200 and Kinetix 6500 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-UM002I-EN-P - December 2022...
Page 14 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-UM002I-EN-P - December 2022...
Page 15 Kinetix RDB Direct Drive Motors (RDB-Bxxxx motor shown) Kinetix LDC Linear Motors (LDC-Cxxxxxxx linear motor shown) Kinetix MPAI Heavy Duty Electric Cylinders (MPAI-Bxxxx electric cylinders shown) Kinetix MPAR Electric Cylinders (MPAR-Bxxxx electric cylinder shown) Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 16 Kinetix RDB Direct Drive Motors Kinetix LDC Linear Motors (RDB-Bxxxx motor shown) (LDC-Cxxxxxxx linear motor shown) Kinetix MPAI Heavy Duty Electric Cylinders (MPAI-Bxxxx electric cylinders shown) Kinetix MPAR Electric Cylinders (MPAR-Bxxxx electric cylinder shown) Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 17 MDF-SBxxxxx-Qx8xB-S Drive-Motor Unit MDF-SBxxxxx-Qx8xB-S Drive-Motor Unit Kinetix 2090 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-UM002I-EN-P - December 2022...
Page 18 To correct this condition, you must replace the leader IAM power module with a larger module or decrease the total bus capacitance by removing the IPIM module or AM power modules. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 19 2094-BMxx-M Double-wide AM Power Module with 2094- 2094-SEPM-B24-S IPIM Module SE02F-M00-Sx Control Module 2094-BMxx-S Single-wide AM Modules 2094-BMxx-M Single-wide AM Power Module with 2094-SE02F-M00-Sx Control Module 2094-BMxx-M Single-wide AM Power Module with 2094-SE02F-M00-Sx Control Module Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 20 0.3 m (1.0 ft) Ethernet cable 2094-BMxx-M Axis Modules (5) with for drive-to-drive connections. 2094-EN02D-M01-Sx Control Modules (5) PanelView™ Plus 1734-AENT POINT I/O™ 1783-ETAP Display Terminal EtherNet/IP Adapter Modules PowerFlex® 755 Drive Modules Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 21 Kinetix 6500 Modular Multi-axis Servo Drive System 2094-BCxx-Mxx-M Integrated Axis Module with 2094-EN02D-M01-Sx Control Module 1595J-M8CBJM-x Ethernet (shielded) Cable 1585J-M8CBJM-OM3 0.3 m (1.0 ft) Ethernet cable 2094-BMxx-M Axis Modules (5) with for drive-to-drive connections. 2094-EN02D-M01-Sx Control Modules (5) Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 22 0.3 m (1.0 ft) Ethernet cable 2094-EN02D-M01-Sx Control Modules (5) for drive-to-drive connections. 1783-EMS PanelView Plus Stratix™ Switch Display Terminal 1734-AENT POINT I/O EtherNet/IP Adapter PowerFlex 755 PowerFlex 755 Drive Module Drive Module Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 23 Table 4 - Kinetix 6000 Drive Component Catalog Numbers Drive Components Cat. No. Integrated power interface (IPIM) module, 400V-class, 15 kW, 24 A (rms) 2094-SEPM-B24-S Kinetix 6000 shunt module, 200/400V-class, 200 W 2094-BSP2 Kinetix 6000 slot-filler module, 200/400V-class 2094-PRF Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 24 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-UM002I-EN-P - December 2022...
Page 25 When the LIM module (catalog numbers 2094-BL S or 2094-XL75S-C ) 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-UM002I-EN-P - December 2022...
Page 26 Chapter 1 Start Notes: Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 27 Consider heat dissipation specifications for all drive components. • Combined motor power cable lengths for all axes and hybrid cable lengths for all IDM units on the same DC bus must not exceed 240 m (787 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 28 For example, to size a transformer to the voltage requirements of a 2094-BC01-M01-M integrated axis module: 2094-BC01-M01-M = 6 kW continuous x 1.5 = 9.0 KVA transformer Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 29 2.7 (5.9) 2090-XXLF-X330B 500V AC 2094-BC02-M02-M 50/60 Hz 2094-BC04-M03-M 5.2 (11.4) 2090-XXLF-375B 2094-BC07-M05-M 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-UM002I-EN-P - December 2022...
Page 30 2094-IN005, for power specifications and more information on using the LIM module. Refer to Input Power Circuit Protection (without LIM) on page 31 when your drive system does not include the LIM module. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 31 140M-F8E-C32 2094-BC02-M02-M 360…480V 1492-SPM3D400 140M-F8E-C45 2094-BC04-M03-M 360…480V – 140G-G6C3-C50 – – 2094-BC07-M05-M 360…480V 140G-G6C3-C90 Refer to the Kinetix Servo Drives Technical Data, publication KNX-TD003, for additional power specifications for your IAM power module. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 32 (2) Real power heat dissipation is determined by applying the backplane power load (17.18W) to the graph below. Figure 9 - ControlLogix Real Power 1756-P B72 Backplane 1756-P B75 Power Load (watts) Real Power (watts) Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 33 Because this cabinet size is considerably larger than what is necessary to house the system components, consider some means of cooling in a smaller cabinet to be more efficient. Contact your cabinet manufacturer for options available to cool your cabinet. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 34 (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-UM002I-EN-P - December 2022...
Page 35 272 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-UM002I-EN-P - December 2022...
Page 36 (paint-free) steel. 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 affect the operation of other microprocessor-controlled equipment. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 37 Flat Washer Star Washer Flat Washer If the mounting bracket is coated with a non- conductive material (anodized or painted), scrape the Star Washer material around the mounting hole. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 38 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 6.35 mm (0.25 in.) Paint removed from cabinet. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 39 (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-UM002I-EN-P - December 2022...
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-UM002I-EN-P - December 2022...
Page 41 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-UM002I-EN-P - December 2022...
Page 42 (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-UM002I-EN-P - December 2022...
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-UM002I-EN-P - December 2022...
Page 44 (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-UM002I-EN-P - December 2022...
Page 45 (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-UM002I-EN-P - December 2022...
Page 46 (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-UM002I-EN-P - December 2022...
Page 47 DBRK-, DBRK+ (resistive brake) MBRK-, MBRK+ (motor brake) (1) This is a clean 24V DC available for any device that requires it. (2) This is a dirty 24V DC available for motor brakes and contactors. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 48 Dirty Clean Ferrite Sleeve Shielded Cable Resistive brake module coil power TB3-6 and TB3-7 TB1-1…TB1-5 Resistive brake module I/O and TB3-8 Resistive brake module drive and motor power TB1 and TB2 230V power Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 49 IMPORTANT CE and UK 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-UM002I-EN-P - December 2022...
Page 50 Motor Power Cables No sensitive equipment within 150 mm (6.0 in.). 2094-BSP2 Shunt Module Line Interface Module Kinetix 6200 or Kinetix 6500 System Clean I/O, Feedback, and Ethernet Cables Dirty I/O and Safety Cables Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 51 Motor Power Cables No sensitive equipment within 150 mm (6.0 in.). 2094-BSP2 Shunt Module Line Interface Module Kinetix 6200 or Kinetix 6500 System Clean I/O, Feedback, and Ethernet Cables Dirty I/O and Safety Cables Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 52 Refer to Wire the Motor/Resistive Brake (BC) Connector on page 111 for wiring guidelines. Refer to Axis Module/Rotary Motor Wiring Examples beginning on page 226 for the interconnect diagram of your drive/motor combination. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 53 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 6200 and Kinetix 6500 drive system. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 54 2094-BM02-M 2094-BM03-M 2094-BM05-M Continuous Power 1.8 kW 3.9 kW 6.6 kW 13.5 kW 22.0 kW Output, nom Table 23 - Kinetix 6000M (400V-class) IPIM Module Attribute 2094-SEPM-B24-S Continuous Power Output, nom 15.0 kW Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 55 1. Remove the protective covers from the power rail connectors. IMPORTANT The IAM module must be positioned in the leftmost slot of the power rail. Position your axis modules, shunt module, and slot-filler modules to the right of the IAM module. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 56 (AM power module is shown) (IAM power module is shown) The IAM module can have two or three power rail connectors and guide pins, the AM module can have one or two, all other modules have one. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 57 IMPORTANT There are two mounting screws when mounting 2094-BC04-M03-M, and 2094-BC07-M05-M (double-wide) IAM modules, and 2094-BM03-M and 2094- BM05-M (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-UM002I-EN-P - December 2022...
Page 58 IAM or AM Power Module (IAM power module is shown) Captive Screw Threaded Hole in Tongue Signal Connectors Power-applied Indicator 2094-SE02F-M00-Sx Mounting Hooks or 2094-EN02D-M01-Sx Control Module Mounting Studs (other mounting stud is hidden from view) Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 59 (IAM power module is shown) 2094-SE02F-M00-Sx or 2094-EN02D-M01-Sx Control Module 6. Repeat step 2 through step 5 to mount a control module onto each IAM and AM power module installed on your Bulletin 2094 power rail. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 60 Chapter 3 Mount the Kinetix 6200 and Kinetix 6500 Drive System Notes: Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 61 Safe Torque Off Safety Features 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-UM002I-EN-P - December 2022...
Page 62 AM Power Module, Front View (2094-BMP5-M is shown) MBRK - MBRK + Item Description DBRK - DBRK + Motor cable shield clamp Motor power (MP) connector Motor/resistive brake (BC) connector Power-applied indicator Mounting screw Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 63 IPIM module as the Ethernet port on the Kinetix 6200 control module. Refer to the Kinetix 6000M Integrated Drive-Motor User Manual, publication 2094- UM003, for more information. 2094-SEPM-B24-S IPIM Module, Bottom View Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 64 Contactor enable 2-position plug/header Motor power 4-position plug/header IAM/AM Motor/Resistive brake 6-position plug/header IAM/AM Tx and Rx Sercos transmit and receive Sercos fiber-optic (2) Control PORT1 and PORT2 EtherNet/IP network RJ45 Ethernet (2) Control Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 65 5V or 9V supply, but not both. Refer to Additional Resources on page 10 for links to Kinetix 6200 and Kinetix 6500 safety reference manuals. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 66 System performance was tested at these cable length specifications. These limitations also apply when meeting CE and UK requirements. Figure 31 - 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-UM002I-EN-P - December 2022...
Page 67 Chassis ground. Three-phase input power. Table 27 - 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-UM002I-EN-P - December 2022...
Page 68 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-UM002I-EN-P - December 2022...
Page 69 You can change the digital input default settings on Kinetix 6500 control modules by using the Logix Designer application. Refer to Configure the Drive Modules page 161 for more information on changing default values. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 70 (1) The default settings are overwritten by the Logix Designer configuration settings during phase-up or through Sercos IDN Write instruction. Refer to Appendix F on page 289 for information on changing default settings. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 71 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-UM002I-EN-P - December 2022...
Page 72 On-state current Current flow when the relay is closed – On-state Contact resistance when the relay is closed – 1  resistance Off-state voltage Voltage across the contacts when the relay is open – 120V AC or 24V DC Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 73 Resistive Brake Module Circuitry Bulletin 2094 Bulletin 2094 IAM/AM Power Module IAM/AM Power Module 24V COM (BC-4) 24V COM (BC-4) (1) Noise suppression device. IMPORTANT Motor parking-brake switching frequency must not exceed 10 cycles/min. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 74 4. Use the motion instruction Motion Axis Stop (MAS) to decelerate the servo motor to 0 rpm. 5. Use the motion instruction Motion Servo Off (MSF) to engage the brake and disable drive. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 75 For example, in a 4 axis system with a 2094-BC02-M02-M IAM power 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-UM002I-EN-P - December 2022...
Page 76 Loading Profile of the drive. The sum of the times at I ) and I Application Period (T) Base (1) All current values are specified as RMS. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 77 Bulletin 2094 power modules: 2094-BC07-M05-M, 2094-BM05-M 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-UM002I-EN-P - December 2022...
Page 78 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 38 for the number of axes on the power rail. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 79 4096 (±2048) 1024 (±512) Figure 39 - Absolute Position Limits (measured in turns) 4096 Turns 2048 Turns 1024 Turns +128 +512 -2048 -1024 -512 -256 -128 +256 +1024 +2048 Position at Power Down Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 80 ) > constant Noise filtering (AM and BM) Two-stage coarse count pulse reject filter with rejected pulse tally Position compare between incremental accumulator and serial data Incremental position verification performed every 50 ms or less Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 81 Protocol Tamagawa proprietary Memory support Programmed with Allen-Bradley motor data Differential input voltage 1.0…7.0V Data communication 2.5 Mbps, 8 data bits, no parity Battery 3.6V, located external to drive in low-profile connector kit Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 82 A one-time procedure must be executed via message instructions to program the blob file in the encoder (using a Kinetix 6500 drive) so that it can be operated like any other Rockwell Automation® motor. This is similar to the Hiperface encoder third-party motor requirement, except that a Commissioning/ Kinetix 6500 drive is used instead of a Kinetix 6000 drive.
Page 83 4.5…5.5V line driver, TTL (B-Leads-A, CW, Z 847T-DN1A-RH02048 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-UM002I-EN-P - December 2022...
Page 84 (IOD-17 and IOD-18) is required to support the safety inputs and outputs. Table 51 - Safety I/O Power Supply Specifications Attribute Value 21.6…28.8V DC (24V nom) Voltage rating per IEC/EN 60204 and IEC/EN 61558-1 Current rating 0.105 A max Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 85 Figure 64 on page 122 for more information. Refer to the Kinetix 6200 and Kinetix 6500 Safe Torque-off Safety Reference Manual, publication 2094-RM002, for more information on configuring and wiring the safety functions. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 86 Chapter 4 Connector Data and Feature Descriptions Notes: Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 87 National Electrical Code, local electrical codes, special operating temperatures, duty cycles, or system configurations take precedence over the values and methods provided. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 88 ATTENTION: For EN/IEC 61800-3 category C3 compliance, use the appropriate AC line filter with a grounded WYE configuration. The use of a line filter in an ungrounded, corner-grounded, or impedance-grounded configuration can affect the line filter components and result in equipment damage. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 89 IMPORTANT If you determine that you have grounded power distribution in your facility, you do not need to move the ground jumper. Refer to Power Wiring Examples beginning on page 217 for input power interconnect diagrams with and without the LIM module. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 90 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 6200 and Kinetix 6500 drive systems. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 91 This can result in an unknown potential to earth ground. Refer to Power Wiring Examples beginning on page 217 for input power interconnect diagrams with and without the LIM module. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 92 CONT EN- CONT EN- CONT EN+ CONT EN+ Bulletin 2094 2094-BMxx-M Power Modules or 2094-BMxx-M Power Modules or Power Module N.C. 2094-SEPM-B24-S IPIM Modules 2094-SEPM-B24-S IPIM Modules DC Common Bus N.C. Connections N.C. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 93 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-UM002I-EN-P - December 2022...
Page 94 IAM module with a ribbon cable. The ribbon cable acts like a hinge and lets you swing the front panel open to access the ground jumper. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 95 (default setting). Front Panel (removed) Bottom Screw Ground jumper set for ungrounded configuration. IMPORTANT Use the default jumper setting for grounded power configurations. Move the jumper, as shown above, for ungrounded power. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 96 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-UM002I-EN-P - December 2022...
Page 97 Figure 47 - Subpanels Connected to a Single Ground Point 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 Bond Multiple Subpanels on page Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 98 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-UM002I-EN-P - December 2022...
Page 99 N•m (lb•in) (AWG) Signal RC-1 1394-SRxxxx 1.2…1.5 RC-2 10 (8) 2094-BSP2 External passive shunt module (10.6…13.2) 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-UM002I-EN-P - December 2022...
Page 100 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-UM002I-EN-P - December 2022...
Page 101 CTRL 1 CTRL 2 0.5…0.6 2.5 (14) 10 (0.38) (4.4…5.3) CTRL 2 L2/N CTRL 1 (1) The Bulletin 2094 power modules are compatible with only the 2094-BL02, 2094-BLxxS, and 2094-XL75-Cx (460V) LIM modules. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 102 Wire Size IAM Module Cat. No. Input VAC mm (in.) N•m (lb•in) (AWG) 2094-BC01-Mxx-M 1.2…1.5 2.5 (14) 10 (0.38) 2094-BC02-M02-M (10.6…13.2) 460V AC 2094-BC04-M03-M 6 (10) 2.4…3.0 16 (0.63) (21.6…26.5) 2094-BC07-M05-M 30 (3) Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 103 Wire Size IAM Module Cat. No. Input VAC mm (in.) N•m (lb•in) (AWG) 2094-BC01-Mxx-M 1.2…1.5 2.5 (14) 10 (0.38) 2094-BC02-M02-M (10.6…13.2) 460V AC 2094-BC04-M03-M 6 (10) 2.4…3.0 16 (0.63) (21.6…26.5) 2094-BC07-M05-M 30 (3) Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 104 (1) The Bulletin 2094 power modules are compatible with only the 2094-BL02, 2094-BLxxS, and 2094-XL75-Cx (460V) LIM modules. (2) 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-UM002I-EN-P - December 2022...
Page 105 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-UM002I-EN-P - December 2022...
Page 106 SpeedTec (M7) Connectors Power and Brake Feedback Connector Connector Side View Kinetix MPAR and Kinetix MPAS linear actuators and Kinetix MPS stainless- steel motors have also transitioned from threaded (M4) to SpeedTec (M7) connectors. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 107 Kinetix MPAS (direct drive) MPAS-Bxxxxx-ALMx2C Does not apply. These devices do not include LDAT-Sxxxxxx-xDx a brake option. Kinetix LDAT LDAT-Sxxxxxx-xBx Kinetix LDC LDC-Cxxxxxx (1) You must remove the motor-side o-ring when using 2090-CPxM7DF-xxAxxx cables. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 108 CONT EN+ IAM/AM Power Module (IAM module is shown) 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-UM002I-EN-P - December 2022...
Page 109 DBRK - DBRK + CONT EN- CONT EN+ 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-UM002I-EN-P - December 2022...
Page 110 2094-BC01-Mxx-M, 2094-BMP5-M, 2094-BM01-M 0.5…0.6 drive combination. 10 (0.38) 2094-BC02-M02-M, 2094-BM02-M (4.4…5.3) 6 (10) max 1.2…1.5 2094-BC04-M03-M, 2094-BM03-M 10 (8) max 10 (0.38) (10.6…13.2) 2.4…3.0 2094-BC07-M05-M, 2094-BM05-M 30 (3) max 16 (0.63) (21.6…26.5) Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 111 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 6200 and Kinetix 6500 IAM/AM power module. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 112 MPAR-B1xxx, MPAR-B2xxx (series B), MPAR-B3xxx, MPAI-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 Control Example on page 237. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 113 BC Connector (IAM/AM module) Recommended Wire Strip Length Torque Value 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-UM002I-EN-P - December 2022...
Page 114 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-UM002I-EN-P - December 2022...
Page 115 2090-XXNFMF-Sxx MPL-B15xxx-Hx4xAA Incremental encoder Circular (standard) or MPL-B2xxx-Hx4xAA – (threaded) DIN 2090-CFBM4DF-CDAFxx MPS-Bxxxx-S/M (continuous-flex) MPAS-Bxxxxx-V/A High-resolution encoder MPAR-B1xxxx-V and MPAR-B2xxxx-V (series A) (1) You must remove the motor-side o-ring when using 2090-CFBM7xx-xxAxxx cables. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 116 (1) You must remove the motor-side o-ring when using 2090-CFBM7xx-xxAxxx cables. (2) These motors/linear thrusters are equipped with SpeedTec DIN connectors, however, the feedback option requires the additional conductors supplied with the cables listed. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 117 Data- Reserved Reserved CLK+ Reserved Reserved CLK- Reserved EPWR_5V EPWR_5V Reserved ECOM ECOM EPWR_9V Reserved Reserved ECOM Reserved Reserved – Reserved Reserved Reserved Reserved Reserved Reserved (1) Applies to RDB-Bxxxxx-3/7 direct-drive motors only. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 118 Kinetix 6200 or Kinetix 6500, Side View Kinetix 6200 or Kinetix 6500, Front View (IAM power module with (IAM power module with control module is shown) control module is shown) Premolded Connector (2090-UXNFBMP-Sxx Cable Motor Feedback (MF) Connector Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 119 (IAM power module with control module is shown) 2090-UXBC-D15xx Breakout Cable Motor Feedback (MF) Connector 2090-UXBB-D15 Refer to CN2 Motor Feedback Breakout Board Installation Panel-mounted Breakout Board Instructions, publication 2090-IN006, for connector specifications. Wire Terminations Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 120 Safe Torque Off Signals Installation Instructions, publication 2090-IN043, for connector specifications. IMPORTANT Tightening the mounting screws is essential to ensure shield integrity of the low-profile connector covers with the drive feedback connector D-shells. Use 0.4 N•m (3.5 lb•in) torque. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 121 Turn clamps over for smaller diameter cables. Refer to Low Profile 44-pin Connector Kit Installation Instructions, Safety Wires Aux Feedback and I/O and Cables publication 2090-IN021, for connector kit specifications. Wires and Cables Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 122 Cascading Connector Kits (3) Feedback Connector Kits (3) Input cable from previous Output cable to next 2094 power rail or 2094 power rail or other cascading device. other cascading device. 2090-CS0DSDS-AAxx Cascading Safe Torque Off Cables Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 123 Figure 66 - 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-UM002I-EN-P - December 2022...
Page 124 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-UM002I-EN-P - December 2022...
Page 125 MBRK - MBRK + DBRK - DBRK + CONT EN- CONT EN+ Exposed Shield Braid Motor Cable Under Clamp Shield Clamps 2090-XXNRB-xxF0Px RBM/Kinetix 2094 Interface Cable Kinetix 2090 Motor Power Cable To Motor Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 126 Instructions, publication 2090-IN010. SoftLogix and ControlLogix controllers are used in the following examples; however, CompactLogix controllers connect in the same manner. When connecting 2094-SE02F-M00-Sx control modules, use 2090-SCEP0-2, 0.2 m (7.1 in.) cables. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 127 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-UM002I-EN-P - December 2022...
Page 128 6200 6200 6200 6200 6200 6200 6200 6200 6200 6200 6200 SAFE SPEED SAFE SPEED SAFE SPEED SAFE SPEED SAFE SPEED SAFE SPEED SAFE SPEED SAFE SPEED Kinetix 6200 Kinetix 6200 System System Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 129 (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-UM002I-EN-P - December 2022...
Page 130 (DLR), and star network configurations. IMPORTANT When using an external Ethernet switch for routing traffic between the controller and the drive, switches with IEEE-1588 time synchronization features must be used. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 131 ControlLogix Platform Kinetix 6500 Modular Multi-axis Servo Drive System Kinetix 6500 Drive System 1585J-M8CBJM-x Ethernet (shielded) Cable 1585J-M8CBJM-OM3 0.3 m (1.0 ft) Ethernet Cable PORT 1 PORT 2 2094-EN02D-M01-Sx Control Modules (bottom view) Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 132 ControlLogix Platform Kinetix 6500 Modular Multi-axis Servo Drive System Kinetix 6500 Drive System 1585J-M8CBJM-x Ethernet (shielded) Cable 1585J-M8CBJM-OM3 0.3 m (1.0 ft) Ethernet Cable PORT 1 PORT 2 2094-EN02D-M01-Sx Control Modules (bottom view) Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 133 Kinetix 6500 Modular Multi-axis Servo Drive System Kinetix 6500 Drive System 1783-EMS Stratix™ Switch 1585J-M8CBJM-x Ethernet (shielded) Cable 1585J-M8CBJM-OM3 0.3 m (1.0 ft) Ethernet Cable PORT 1 Out to other Ethernet PORT 2 devices. 2094-EN02D-M01-Sx Control Modules (bottom view) Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 134 Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System Notes: Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 135 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-UM002I-EN-P - December 2022...
Page 136 IMPORTANT When two or more IAM power modules are connected to the same Sercos interface module, each node address must be unique. Refer to the node addressing examples beginning on page 138. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 137 (high power setting) (high power setting) Switch in ON Position Sercos Communication Rate and Optical Power Switches Switch in OFF Position 5. Repeat step 4 for each 2094-BMxx-M axis module with 2094-SE02F-M00-Sx control module. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
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 power modules or the 2094-BSP2 shunt module (maximum one 2094-BSP2 shunt module per power rail). Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
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 power modules or the 2094-BSP2 shunt module (maximum one 2094-BSP2 shunt module per power rail). Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 140 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 power modules or the 2094-BSP2 shunt module (maximum one 2094-BSP2 shunt module per power rail). Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 141 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 power modules or the 2094-BSP2 shunt module (maximum one 2094-BSP2 shunt module per power rail). Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 142 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-UM002I-EN-P - December 2022...
Page 143 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-UM002I-EN-P - December 2022...
Page 144 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-UM002I-EN-P - December 2022...
Page 145 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-UM002I-EN-P - December 2022...
Page 146 For Kinetix 6200 and Kinetix 6500 drive modules, selection is based on your control module and power module combination. In this example, the 2094-SE02F-M00-S1 control module and 2094-BC02-M02-M IAM power module are selected. 3. Click OK. The New Module dialog box opens. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 147 7. Click New Axis. The New Tag dialog box opens. 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. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 148 (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) To use the 2094-BSP2 shunt module with 2094-BCxx-Mxx-M power modules, you must be using Motion Database 5.12.1 or later. Contact Rockwell Automation Technical Support for more information.
Page 149 Add Bus Cap parameter. 16. Click OK. 17. Repeat step 1 through step 16 for each Bulletin 2094 AM power module and control module combination, and each IDM unit. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 150 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-UM002I-EN-P - December 2022...
Page 151 8. Click the Motor Feedback tab and verify the Feedback Type shown is appropriate for your actual hardware configuration. 9. Click the Units tab and edit default values as appropriate for your application. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 152 Click Close to close the Custom Stop Action Attributes dialog box. 15. Click Apply. 16. Repeat step 1 through step 15 for each Bulletin 2094 AM power module and control module combination. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 153 The Drive/Motor tab displays the amplifier being used and the Loop Configuration is Aux Feedback Only. This is the only choice if the amplifier is using the primary node for Servo (motor) configuration. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 154 6. Click OK. 7. 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-UM002I-EN-P - December 2022...
Page 155 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 on. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 156 Go to Test and Tune the Axes on Steady green Communication ready page 157. 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-UM002I-EN-P - December 2022...
Page 157 5. Apply Hardware Enable Input signal for the axis you are testing. ATTENTION: To avoid personal injury or damage to equipment, apply 24V ENABLE signal only to the axis you are testing. 6. Click the desired test (Marker/Feedback/Command & Feedback) to verify connections. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 158 3. Verify that the Hardware Enable Input signal is applied to the axis you are testing. 4. Verify conversion constant entered in the Conversion tab. 5. Return to main step 6 and run the test again. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 159 IMPORTANT Hardware Enable input for IDM units is on the IPIM module. 7. Click Start Tuning to auto-tune your axis. The Online Command - Tune Servo dialog box opens. When the test completes, the Command Status changes from Executing to Command Complete. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 160 3. Refer to the appropriate Logix 5000 motion module user manual for more information. 4. Return to step 7 and run the test again. 13. Repeat Test and Tune the Axes for each axis. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 161 001…254. The left switch sets the most significant digit (MSD) and the right switch sets the least significant digit (LSD). Press Increment the (MSD/LSD) node address The plus (+) switch. Decrement the (MSD/LSD) node address The minus (-) switch. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 162 The node address scrolls across the four-character display. If your IAM power module base node address is 001, then the node address for the adjacent AM control module is 192.168.1.2, and so on. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 163 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 power modules or the 2094-BSP2 shunt module (maximum one 2094-BSP2 shunt module per power rail). Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 164 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 power modules or the 2094-BSP2 shunt module (maximum one 2094-BSP2 shunt module per power rail). Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 165 Type the file Name. d. From the Chassis Type pull-down menu, choose the chassis. e. Enter the Logix processor slot (leftmost slot = 0). 4. Click OK. 5. From the Edit menu, choose Controller Properties. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 166 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 chassis as the Grandmaster clock. 8. Click OK. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 167 In this example, the Private Network address is selected. d. Enter the address of your EtherNet/IP module. In this example, the last octet of the address is 100. 5. Click Change in the Module Definition area. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 168 9. Click OK to close the New Module dialog box. Your new module appears under the I/O Configuration folder in the Controller Organizer. 10. Repeat step 1 through step 9 for each Logix module. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 169 In this example, the Private Network address is selected. To configure the IP address without using the private network, refer to Knowledgebase Technote: Kinetix 6500: Procedure for Setting the Ethernet IP address. c. Enter the address of your EtherNet/IP module. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 170 The 2094-EN02D-M01-S1 module appears under the EtherNet/IP module in the I/O Configuration folder. 10. Right-click the 2094-EN02D-M01-S1 module you just created and choose Properties. The Module Properties dialog box opens. 11. Click the Associated Axes tab. 12. Click New Axis. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 171 Axis 1 is the servo axis using the motor feedback port, and Axis 2 is a feedback-only axis using the auxiliary feedback port. Axis 2 is configured identical to Axis 1 by clicking New Axis and creating a new tag. 15. Click Apply. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 172 They can also be unassigned, if your application does not use them or you want to remove the default assignments. 17. From the Digital Input 1 pull-down menu, choose Unassigned. This removes the Enable assignment from IOD-41. 18. Click Apply. 19. Click the Power tab. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 173 Refer to Appendix F beginning on page 289, for more information on setting the Add Bus Cap parameter. 22. Click OK. 23. Repeat step 1 through step 18 for each 2094-EN02D-M01-Sx control module. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 174 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-UM002I-EN-P - December 2022...
Page 175 From the Startup Method pull-down menu, choose the auxiliary feedback startup method. IMPORTANT The Aux Feedback tab must be configured for the auxiliary feedback type being used. In this example, a Hiperface feedback device is being used. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 176 The drive catalog number populates the Module Type and Power Structure fields. 5. Click Apply. 6. Click the Motor category. The Motor Device Specification dialog box opens. 7. From the Data Source pull-down menu, choose Catalog Number. 8. Click Change Catalog. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 177 Motor data specific to your motor appears in the Nameplate / Datasheet - Phase to Phase parameters field. 12. Click the Scaling category and edit the default values as appropriate for your application. 13. Click Apply, if you make changes. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 178 From this dialog box, you can program actions and change the action for exceptions (faults). Refer to Logix 5000 Controller and Drive Behavior page 202 for more information. 17. Click the Exceptions category. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 179 18. Select the Parameter List category. The Motion Axis Parameters dialog box opens. 19. From the Parameter Group pull-down menu, choose the appropriate group. By default, all parameters are shown in the dialog box. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 180 Is not sourced from a 1. Apply (95…264V AC) control power to the IAM module (CPD connector). LIM module 2. Go to main step 3. 3. Observe the control module four-character status display. Four-character Status Display Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 181 Control Module Status Indicators page 198. For help using the Logix Designer application as it applies to testing and tuning your axes with ControlLogix EtherNet/IP modules, refer to Additional Resources on page Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 182 Because the drive is rotating the motor, this test Motor and Feedback requires full bus power to run. Run the Motor Feedback test before running this test to verify that the feedback is being read correctly. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 183 Verify that the Hardware Enable Input signal is applied to the axis you are testing. c. Verify unit values entered in the Scaling category. d. Return to step 7 and run the test again. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 184 Digital input 1 (IOD-41) is configured as Enable in the Logix Designer application by default. You may have changed that on page 172. If Digital Input 1 is configured as Then Enable Go to step Unassigned Go to step Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 185 Refer to the appropriate Logix motion module user manual for more information. d. Return to step 8 and run the test again. 12. Repeat Test and Tune the Axes for each axis. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 186 Chapter 7 Configure and Start the Kinetix 6200 and Kinetix 6500 Drive System Notes: Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 187 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-UM002I-EN-P - December 2022...
Page 188 The IP address is displayed only once after powerup and an IP address has been acquired. The safety signature ID is displayed for 20 seconds when a new safety configuration is applied from the safety configuration tool. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 189 These fault code tables are designed to help you resolve anomalies. When a fault is detected, the four-character status indicator scrolls the display message. This is repeated until the fault code is cleared. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 190 The thermal model for the motor FLT S08…MTR OVERLOAD UL rating of the motor. Motor Thermal Protection indicates that the temperature has (Kinetix 6500 drives only) exceeded a user programmable limit. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 191 Check input AC voltage on all phases that the DC bus did not reach an FLT S25…PRECHARGE FAILURE Pre-charge Failure appropriate voltage level after charging Internal malfunction. Call your sales representative. for a period of time. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 192 • Verify the motor supports automatic established with an intelligent feedback device has exceeded a user set identification. FLT S46…AUX FDBK COMM UL encoder. Aux Feedback Serial Comms limit. • Verify motor encoder wiring. (Kinetix 6500 drives only) Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 193 Axis 2 also configured for FLT S60…ILLEGAL MODE Illegal Control mode • Verify Axis 1 and Axis 2 have identical feedback attempted. Feedback Only operation, but configuration for aux feedback. with different feedback attribute values. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 194 With power off, reseat power module in Communication over the backplane detected FLT M27…BACKPLANE COMM Backplane COM Poor module connection. rail and control module in power a problem. module. Faulty module. Replace module. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 195 IAM module. Unknown module is detected on the modular • Recycle control power. INIT FLT M20…UNKNOWN MODULE Unknown Axis on Backplane Faulty Module. backplane. • Replace module. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 196 • Recycle control power or reset the A power-up test of the DRAM indicated a drive. NODE FLT 128…DRAM TEST DRAM Test Fault Faulty memory component. memory problem. • Replace Control module if problem persists. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 197 Does not apply (Kinetix 6200 drives only) cycled too frequently. minute maximum. due to excessive power cycling. (1) Use the Sercos Read IDN message instruction to check the status of this fault condition. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 198 • 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. No major faults. • MSO instruction is commanded in the Logix Designer application. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 199 Drive (IAM or leader IAM module) three-phase power is removed. Disabled from discharging the DC bus. When configured in Common-bus Follower mode. IMPORTANT Under some fault conditions, two reset commands can be required to clear drive and shunt module faults. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 200 Motor Select limit is incorrectly set (servo motor is not matched to axis module). • Run Tune in the Logix Designer application. Notch filter or output filter may be required (refer to Axis Mechanical resonance. Properties dialog box, Output tab in the Logix Designer application). Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 201 Check and correct motor power wiring. locks into position, runs without control or with Sine, Cosine or Rotor leads are reversed in the feedback cable connector. Check and correct motor feedback wiring. reduced torque. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 202 Shutdown Reset is required to restore the drive to operation. Only selected drive exceptions are configurable. In the Drive Exception/Fault Behavior tables beginning on page 204, the controlling attribute is given for programmable fault actions. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 203 Only selected drive faults are configurable. In the Drive Exception/Fault Behavior tables beginning on page 204, the controlling attribute is given for programmable fault actions. All faults that are not configurable have a fault action of Shutdown. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 204 – (Kinetix 6500 drives only) has exceeded a user-programmable limit. All three AC input phases are detected as absent when an axis is FLT S22…AC POWER LOSS AC Power Loss Coast/Disable Decel/Disable enabled. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 205 The hardware enable input was deactivated while the drive was FLT S61…ENABLE INPUT Drive Enable Input Decel/Disable Decel/Disable enabled. FLT S62…CONTROLLER Controller Initiated Exception The controller has requested the drive to generate an exception. Coast/Disable – (Kinetix 6500 drives only) Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 206 Multiple inputs have been assigned the same function. Coast/Disable (open FLT M68…IPIM IPIM Module Fault A fault has occurred in one or more IPIM modules on the power rail. – contactor enable relay) Applies to the IAM module. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 207 SAFE FLT 09…SS IN nn SS Input Fault Coast-Disable 03: Input 1 failed pulse test. 04: Input 1 failed optocoupler test. 05: Input 3 failed optocoupler test. 06: Input 4 failed optocoupler test. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 208 Coast-Disable SAFE FLT 28…ENCODER 2 VOLTAGE Encoder 2 Voltage Fault Encoder voltage is outside of the limits. Coast-Disable (1) The Safe Stop fault behavior is determined by parameter settings in the safety configuration. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 209 Guarding Against Electrostatic Damage, publication 8000-4.5.2, or any other applicable ESD awareness handbook. Before You Begin These tools are required before you begin removal and replacement procedures: • Screwdriver, 3.5 mm (0.14 in.) • Voltmeter Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 210 Motor Orientation Examples spring and remove cable. Orientation Example Cable Pry back with thumb. Cable Clamp Slide-open Pivot-open Cable Clamp Cable Clamp Screwdriver Tip in Slot Vent Holes on Top of IAM/AM Module Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 211 Bulletin 2094 IAM or Captive Screw AM Power Module (IAM power module is shown) Control Module Pulling Away From Signal Connector Guide Pin Alignment Mounting Stud and Hook Bulletin 2094 Control Module Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 212 3. Lift the bracket out of the power rail slot and remove the module from the power rail. Bulletin 2094 Power Module (side view) (IAM power module is shown) Guide Pins Power Rail (side view) Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 213 (web page) can be from the previous control module of the same IP address. To correct this condition, go to Internet Explorer/Tools/Internet Options and under Browsing history, click Delete, to delete temporary files, cookies, and web form information. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 214 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 214). Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 215 Kinetix® 6200 and Kinetix 6500 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 Control Example System Block Diagrams Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 216 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-UM002I-EN-P - December 2022...
Page 217 IO_PWR Resistive Brake DBRK + Connections I/O (IOL) STOP * Connector COIL_A1 Notes 13, 14 20-22 Contactor Enable IO_COM CONT EN- (CED) Connector CONT EN+ COIL_A2 Note 14 * Indicates User Supplied Component Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 218 Resistive Brake Connector Connections COIL_E1 Notes 13, 14 2, 4, 6 Contactor Enable IO_COM1 CONT EN- (CED) Connector CONT EN+ COIL_E2 Note 14 To CED Connector * Indicates User Supplied Component IAM_2 Note 7 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 219 From P1L connector, LIM Motor/Resistive Brake (BC) Connector Resistive Brake DBRK - Connections DBRK + From IOL connector, LIM Contactor Enable CONT EN- and CED connector IAM_1 (CED) Connector CONT EN+ Note 14 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 220 START * 24V AC/DC Note 14 CR1 * 120V AC M1 * CR1 * Ground 50/60 Hz Jumper CR1 * Note 11 Refer to Attention statement (Note 13). * Indicates User Supplied Component Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 221 Interconnect Diagrams Appendix A DC Common Bus Wiring Examples Figure 90 - Leader IAM Module with Single Follower IAM Module Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 222 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-UM002I-EN-P - December 2022...
Page 223 N.C. MBRK - MBRK + Motor/Resistive Brake (BC) Connector DBRK - DBRK + From Leader Control Contactor Enable CONT EN- Circuit Connections (CED) Connector CONT EN+ Note 14 * Indicates User Supplied Component Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 224 Appendix A Interconnect Diagrams Figure 92 - 8720MC-RPS Leader Drive with Single Follower IAM Module Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 225 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-UM002I-EN-P - December 2022...
Page 226 Refer to Low Profile Connector Kit Installation Instructions, publication Motor Brake 2094-IN007, for connector kit specifications. Refer to low-profile connector illustration (lower left) for proper grounding technique. 2090-XXxFMP-Sxx (flying-lead) Feedback Cable Notes 16, 17 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 227 (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 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 228 (lower left) Refer to Low Profile Connector Kit Installation Instructions, publication for proper grounding technique. 2094-IN007, for connector kit specifications. 2090-XXNFMF-Sxx (standard) or 2090-CFBM7DF-CDAFxx (continuous-flex) (flying-lead) Feedback Cable Note 16 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 229 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 Connector Kit Installation Instructions, publication 2094- IN007, for connector kit specifications. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 230 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-UM002I-EN-P - December 2022...
Page 231 Clamp Screws (2) Turn clamp over to hold 2090-XXNFMF-Sxx (standard) or small cables secure. 2090-CFBM7DF-CDAFxx (continuous-flex) (flying-lead) Feedback Cable Refer to Low Profile Connector Kit Installation Instructions, publication Note 16 2094-IN007, for connector kit specifications. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 232 2090-CFBM7DF-CEAFxx under clamp. MPAI-B3xxxx (continuous-flex) (continuous-flex) Clamp Screws (2) MPAI-B4xxxx Turn clamp over to hold small cables secure. MPAI-B5xxxx fer to Low Profile Connector Kit Installation Instructions, publication 2094-IN007, for connector kit specifications. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 233 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-UM002I-EN-P - December 2022...
Page 234 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-UM002I-EN-P - December 2022...
Page 235 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-UM002I-EN-P - December 2022...
Page 236 To Sensor Connector 2 Registration 1 +24V Enable Input Shield Connector – I/O 24V+ Reserved Digital Input EtherNet/IP To Sensor To Ethernet Module I/O 24V COM Connector 3 Connectors (2) or Switch Home Shield Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 237 MPS-B4540, MPM-B130, MDF-SB1153, MDF-SB1304 1326AB-B4xxx 0.88 A  Table 117 - Coil Currents Rated at >1.0 A and  1.3 A Compatible Brake Motors Coil Current MPL-B520, MPL-B540, and MPM-B165 1.05…1.28 A 1326AB-B5xxx 1.20 A Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 238 This section provides block diagrams of the Kinetix 6200 and Kinetix 6500 drive modules. For block diagrams of the LIM module, refer to Additional Resources on page 10 for the documentation available for those products. Figure 106 - IAM/AM Power Module (inverter) Block Diagram Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 239 Interconnect Diagrams Appendix A Figure 107 - IAM Power Module (converter) Block Diagram Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 240 Appendix A Interconnect Diagrams Figure 108 - 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-UM002I-EN-P - December 2022...
Page 241 IPIM module is accomplished over the EtherNet/IP™ network. 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-UM002I-EN-P - December 2022...
Page 242 STOPPED, RUNNING, or PRE-CHARGE before beginning this procedure. For EtherNet/IP drives, the four-character status indicator on target the IAM (inverter) module or AM module must be scrolling STANDBY, CONFIGURING, CONNECTING, STOPPED, RUNNING, or PRE-CHARGE before beginning this procedure. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 243 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-UM002I-EN-P - December 2022...
Page 244 You can access the ControlFLASH software by either of these methods: • From the Tools menu in the Logix Designer application, choose ControlFLASH. • Choose Start>Programs>FLASH Programming Tools> ControlFLASH. The Welcome to ControlFLASH dialog box opens. 2. Click Next. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 245 The Select Device to Update dialog box opens. 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. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 246 In this example, the warning applies to the Kinetix 6500 control modules. If you are flashing a Kinetix 6200 control module, the warning will be different. 13. Acknowledge the warning and click OK. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 247 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-UM002I-EN-P - December 2022...
Page 248 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-UM002I-EN-P - December 2022...
Page 249 Kinetix 6500 DC common-bus system. Before you set the Additional Bus Capacitance (Add Bus Cap) parameter in the Logix Designer application, you need to calculate these values: • Total bus capacitance • Additional bus capacitance Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 250 If your total bus capacitance value exceeds the value in the table above, you IMPORTANT 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-UM002I-EN-P - December 2022...
Page 251 2094-BM03-M 2094-BC07-M05-M 1410 2094-BM05-M 1175 Table 122 - Shunt Module (400V-class) Capacitance Shunt Module (200/400V-class) Cat. No. µF 2094-BSP2 Table 123 - IPIM Module (400V-class) Capacitance IPIM Module (400V-class) Cat. No. µF 2094-SEPM-B24-S Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 252 Bulletin 2094 Follower IAM Power Module 790 µF Additional Bus Capacitance 2094-PRF Slot-filler Module, N/A 2094-BM01-M AM Module, 150 µF 2094-BM01-M AM Module, 150 µF 2094-BC02-M02-M IAM Converter, 220 µF 2094-BC02-M02-M IAM Inverter, 270 µF Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 253 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-UM002I-EN-P - December 2022...
Page 254 The Load Observer Only setting Acceleration Reference to is similar, but without the additional phase lag (delay) created by necessary filtering. load observer Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 255 Figure 115 - 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-UM002I-EN-P - December 2022...
Page 256 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-UM002I-EN-P - December 2022...
Page 257 > 0 Filter bypassed > 0 Limited to 10,430 Hz Refer to Appendix F on page 289 for more information on changing IDN parameter values with read/write messages in the Logix Designer application. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 258 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-UM002I-EN-P - December 2022...
Page 259 IDN P-065 = 1 7. Click the Output tab in the Axis Properties dialog box and verify these settings. a. Load Inertia Ratio = 0 b. Enable Low-pass Output Filter = Unchecked Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 260 2. Click the Output tab in the Axis Properties dialog box and verify that the Load Inertia Ratio > 0. 3. Click the Gains tab in the Axis Properties dialog box. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 261 Sercos IDN P-065 has an impact on how the Low-pass Output Filter functions. Refer to Torque Low-pass Filter Bandwidth on page 257 more information. 4. Refer to Compensate for High Frequency Resonances on page 266, to tune-out resonant frequencies. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 262 Velocity Proportional Gain = Kvp d. Velocity Integral Gain = Kvi To manually increase the gains by some factor to optimize the response, refer to Manual Tuning for Further Optimization on page 263. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 263 3. Manually tune the velocity loop. a. Make note of the Position and Feedforward Gains. You must change them temporarily to isolate the velocity loop and later restore them to the original values. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 264 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-UM002I-EN-P - December 2022...
Page 265 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-UM002I-EN-P - December 2022...
Page 266 • 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-UM002I-EN-P - December 2022...
Page 267 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-UM002I-EN-P - December 2022...
Page 268 Appendix D Configure the Load Observer Feature Notes: Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 269 Though optional, you can configure a password to help protect the system configuration from unauthorized modifications. Use the Change Safety Password page to change the password. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 270 Temperatures Administrative settings Device Identity Browse power rail Safety Main Safety Configuration Safety configuration Configuration Summary Change Safety Password (1) The Safety Configuration section is only visible with 2094-SE02F-M00-S1 and 2094-EN02D-M01-S1 control modules. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 271 Safety Signature ID Advanced safety signature identifier – – Safety Lock Status Advanced safety lock status – – Uptime Cumulative time with control power applied Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 272 State of the NETWORK status indicator on EtherNet/IP models. – – SAFETY LOCK Status State of the SAFETY LOCK status indicator on Safe Speed Monitor (-S1) models. – – DC BUS Status State of the DC BUS status indicator. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 273 I/O Board Hardware Version PCBA part number and revision Power Module Part Number / Revision Final assembly part number and revision Control Module Part Number / Revision Final assembly part number and revision Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 274 Motor serial number from encoder-based motor BLOB. Motor Manufacturing Date Code Manufacturing date code from encoder-based motor BLOB. Cumulative number of motor revolutions since last motor catalog number or serial Cumulative Motor Revolutions number change. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 275 IP address of the SMTP server Obtain Network Configuration IP settings Static or Automatic. Autonegotiate Status Negotiation status bits of the Ethernet link object Port Speed 10 Mbps or 100 Mbps Duplex Mode Full duplex or half duplex Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 276 Out NUcast Packets Out Errors Out Errors Broadcast Storms Observed Storm Protection Diagnostics Multicast Storms Observed (1) Apply to Port 1 and Port 2. (2) Port 2 attributes do not apply to 2094-SE02F-M00-Sx (Sercos) drives. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 277 Open Errors Total errors since powerup – – Connection Closes Total connection closed since powerup – – Close Errors Total connection closed since powerup – – Connection Timeouts Connection timeout since powerup – – Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 278 Motor Encoder Missed Communication Cumulative number of missed motor-encoder communication responses since the last Cycles control power cycle. Auxiliary Encoder Missed Cumulative number of missed motor-encoder communication responses since the last Communication Cycles control power cycle. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 279 Position Error, Positive Minimum negative value of the position error since control power was last applied. Position Error, Negative (1) This field also includes a button that lets you reset the peak to zero. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 280 Safety Outputs Motor duty cycle SS Output 0 Digital Inputs SS Output 1 Input 1 SLS Output 0 Input 2 SLS Output 1 Input 3 DC Output 0 Input 4 DC Output 1 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 281 Table 140 - Trigger and Collected Data Attributes Motion Attributes Digital Inputs Position Command Input 1 Position feedback Input 2 Velocity Command Input 3 Velocity feedback Input 4 Current Command Current feedback Commutation angle Bus voltage Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 282 A maximum of four channels can be selected for each mode. Once you have selected the channels, click Apply to save the settings to the drive. These settings are persistent over power cycles. Figure 130 - Fault Logs>Configure Fault Log Tab Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 283 An 8-sample non-volatile log of power module catalog number or serial number changes. Power Module Connection Each log entry stores the power module catalog number, serial number, CIP time stamp, and local time stamp. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 284 Figure 133 - Power Rail Tab Table 144 - Power Rail Features SERCOS EtherNet/IP (2094-SE02F-M00-Sx) (2094-EN02D-M01-Sx) Field Name Description Browse Power Rail Link to all the AM modules that are connected to the same network. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 285 Click Lock or Unlock to change the lock status of the safety circuitry, prompting for the Lock and Unlock Lock/Unlock password, if necessary. The safety circuitry must be unlocked before a – – safety configuration can be applied. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 286 The date and time portions of the safety signature are the same date and time as the original drive that was used to generate the configuration file. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 287 For more information on how to configure the safety functions, refer to the Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Multi-axis Servo Drives Safety Reference Manual, publication 2094-RM001. Figure 136 - Configuration Summary Tab Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 288 Figure 137 - Change Safety Password Tab For more information on how to configure the safety functions, refer to the Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Multi-axis Servo Drives Safety Reference Manual, publication 2094-RM001. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 289 IDN values return to default settings whenever the Sercos ring phases up. If IMPORTANT your program includes a message instruction to change default IDN values, you must re-execute that instruction during phase-up to maintain those values. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 290 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-UM002I-EN-P - December 2022...
Page 291 In this example, the MSG instruction reads the P-0-052 IDN value, which is tied to digital input 1 (IOD-41), and places it in the destination as specified by the new tag. 7. Click the Communication tab. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 292 AM module, and each IPIM module on the follower IAM power rail. Refer to Calculate Additional Bus Capacitance on page 251 for more information. Changing the digital input assignments does not require calculations, only the selection of new values. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 293 In this example, the new tag creates a source value (that you entered) that the MSG instruction uses to overwrite the existing P-0-052 IDN value and is tied to digital input 1 (IOD-41). 6. Click the Communication tab. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 294 The MSG instruction writes the new IDN value to your drive. 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-UM002I-EN-P - December 2022...
Page 295 The Torque Prove feature is not able to detect all possible motor wiring problems. Perform the appropriate Hookup tests to verify proper motor wiring. Torque Prove is primarily meant to detect a loose or broken motor connection. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 296 Illegal SS_Stop_Type value 1010 Illegal SS_Deceleration_Tolerance value 1025 Illegal Feedback_Mode value 1026 Illegal Encoder_1_Type value 1027 Illegal FB1_Resolution value 1031 Illegal Encoder_1_Voltage value 1032 Illegal Encoder_2_Voltage value 1036 Illegal Over_Speed_Reaction_Time value 1088 Illegal MP_Out_Mode value Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 297 The Self-Sensing Procedure is strongly dependent on the magnitude of the load connected to the motor and mechanical connection. A higher torque can induce oscillations in the load. It is also dependent on the encoder resolution. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 298 Current Decel Stopped Velocity attribute, for the Current Decel Stopped Time to satisfy the zero speed criteria. When the zero speed criteria are met, this results in action to engage the mechanical brake. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 299 However, use of the holding brake as a stopping brake creates rotational mechanical backlash that is potentially damaging to the system, increases brake pad wear, and reduces brake life. Refer to Vertical Load and Holding Brake Management Application Technique, publication MOTION-AT003, for more information. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 300 Table 163 - Settings for Read CIP_Axis_Drive MSG Instruction Attribute Value Message Type CIP Generic Service Service Type Set Attribute Single Class Instance Attribute Hex value of attribute Destination Element User tag with datatype from attribute definition Communication Path Drive module Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 301 IMPORTANT Attributes that are set with SSV or MSG instructions are not retained through a drive power cycle. They revert back to their default values upon power up and must be set again. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 302 Appendix G Kinetix 6500 CIP Axis Attributes Notes: Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 303 Logix Designer application. Refer to Configure Axis Properties page 151. For Kinetix 6500 drive systems, you can set the delay time for your RBM module in the Logix Designer application. Refer to Configure Axis Properties page 175. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 304 RBM Module Interconnect Diagrams RBM Module Wiring This example diagram shows 2094-BCxx-Mxx-M and 2094-BMxx-M drives and Examples 2094-BLxxS or 2094-XL75S LIM modules wired with the Bulletin 2090 RBM module. Figure 143 - RBM Wiring Example Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 305 RBM Module Interconnect Diagrams Appendix H RBM Wiring Example (continued) Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 306 Appendix H RBM Module Interconnect Diagrams Notes: Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 307 Updated system diagrams including the line interface module (LIM) with new LIM artwork Corrected Bulletin MDF drive-motor catalog number Added AC Line Filter Selection table Updated Circuit Breaker/Fuse Options section Updated auxiliary feedback connector pinout tables with 5V/9V footnote Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 308 Added Kinetix 6000M Integrated Drive-Motor Wiring Example. Added Bulletin MDF catalog numbers to Controlling a Brake Example Added an overview for IDM system firmware upgrades. Updated the procedure and tables with IPIM module values. Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 309 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. Updated dimension drawings with power rail and cable clamp redesign features.
Page 310 Interconnect diagrams for Kinetix RDB direct-drive motors Coil current ratings for Kinetix MPM motor brake applications Revised ControlFLASH procedure to include Kinetix 6500 drives Revised Calculating Additional Bus Capacitance procedure to include Kinetix 6500 drives Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 311 210 change safety password 288 replacing on power rail 213 CIP attribute changes status indicators 198 wiring requirements 99 GSV 300 axis unstable 200 MSG 300 SSV 300 bandwidth 160 Kop 256 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 312 128 download Motion Analyzer 11 connector designators drive axis module 64 compatibility 24 control module 64 indicators tab 272 integrated axis module 64 information tab 273 status indicator 156 tab 151 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 313 30 AC line filters 49 external shunt resistor 50 low-profile connector kits 120 motor brake 52 gains 256 RBM 52 general thermal switch 52 category 176 get system value (GSV) 300 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 314 144 compatibility 24 monitor signals 280 connector designators 63 Motion Analyzer mounting 55 download 11 removing from power rail 212 motion group properties 150 wiring 124 Kinetix 6000M system compatibility 24 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 315 88 reduction 49 RSLinx software 242 zones 39 RSLogix 5000 software 242 OK status indicator 181 Safe Speed Monitor 84 oscilloscope 281 Safe Torque Off 85 panel mounted breakout kit 119 requirements 27 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 316 81 transmit power level 145 Tamagawa 81 motor thermal 80 peak enhancement 76 power cycling 75 dissipation 34 safety 84 I/O power supply 84 modes of operation 85 sercos connections 71 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 317 88 UK compliance 25 sercos fiber optic cables 126 ungrounded power configuration 91 ungrounded power configuration 91 wiring guidelines 100 units tab 151 velocity estimate 254 feedback 254 Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 318 Index Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 319 Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives User Manual Notes: Rockwell Automation Publication 2094-UM002I-EN-P - December 2022...
Page 320 Rockwell Automation maintains current product environmental compliance information on its website at rok.auto/pec. Allen-Bradley, CompactLogix, ControlFLASH, ControlLogix, expanding human possibility, Guardmaster, Integrated Architecture, Kinetix, Logix 5000, PanelView, POINT I/O, PowerFlex, Rockwell Automation, RSLinx, RSLogix 5000, SoftLogix, Studio 5000 Logix Designer, Studio 5000, and Stratix are trademarks of Rockwell Automation, Inc.

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Rockwell Automation 2094-BC01-MP5-M User Manual

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