Rockwell Automation Allen-Bradley Kinetix 6000 2094-PRF Manuals

Manuals and User Guides for Rockwell Automation Allen-Bradley Kinetix 6000 2094-PRF. We have 1 Rockwell Automation Allen-Bradley Kinetix 6000 2094-PRF manual available for free PDF download: User Manual

Rockwell Automation Allen-Bradley Kinetix 6000 2094-PRF User Manual (292 pages)

Multi-axis Servo Drives

Brand: Rockwell Automation | Category: Servo Drives | Size: 19 MB

Table of Contents
3
Preface
9
Download Firmware, AOP, EDS, and Other Files
9
Summary of Changes
9
Conventions Used in this Manual
9
Additional Resources
10
IAM/AM Module Series Changes
14
About the Kinetix 6000 Drive Systems
15
Typical Hardware Configurations
16
Typical Communication Configurations
20
Catalog Number Explanation
21
Kinetix Drive Component Compatibility
22
Kinetix 6000M Integrated Drive-Motor System Compatibility
22
Agency Compliance
23
CE Requirements (System Without LIM Module)
23
CE Requirements (System with LIM Module)
24
System Design Guidelines
26
System Mounting Requirements
26
Transformer Selection
27
AC Line Filter Selection
27
Circuit Breaker/Fuse Options
28
Enclosure Selection
30
Minimum Clearance Requirements
33
Electrical Noise Reduction
34
HF Bond for Modules
34
HF Bond for Multiple Subpanels
36
Establish Noise Zones
37
Cable Categories for Kinetix 6000 Systems
45
Noise Reduction Guidelines for Drive Accessories
47
Before You Begin
51
Use the 2094 Mounting Brackets
51
Install the 2094 Power Rail
52
Determine Mounting Order
52
Mount Modules on the Power Rail
54
Connector Data and Feature Descriptions
57
2094 IAM/AM Module Connector Data
58
Item Description
59
Safe Torque-Off Connector Pinout
60
I/O Connector Pinout
61
Motor Feedback Connector Pinout
62
Auxiliary Feedback Connector Pinout
64
IAM Input Connector Pinout
65
IAM and am Motor Power and Brake Connector Pinout
66
Control Signal Specifications
67
Digital Inputs
67
Sercos Communication Specifications
68
Analog Outputs
69
Contactor Enable Relay
70
Power and Relay Specifications
71
Motor/Resistive Brake Relay
71
Input Power Cycle Capability
73
Peak Enhancement Specifications
74
Control Power
77
Feedback Specifications
78
Absolute Position Feature
78
Motor Feedback Specifications
79
Feedback Power Supply Specifications
80
Auxiliary Position Feedback Encoders
80
Connect the Kinetix 6000 Drive System
81
Basic Wiring Requirements
81
Building Your Own Cables
82
Routing the Power and Signal Cables
82
Determine the Input Power Configuration
83
Grounded Power Configurations
83
Ungrounded Power Configurations
85
DC Common Bus Configurations
86
Common Bus Fusing Requirements
87
Set the Ground Jumper in Select Power Configurations
87
Set the Ground Jumper
88
Grounding the Kinetix 6000 Drive System
93
Ground the Power Rail to the System Subpanel
93
Ground Multiple Subpanels
94
Power Wiring Requirements
95
Power Wiring Guidelines
97
Wiring the IAM/AM Module Connectors
98
Wire the Control Power (CPD) Connector
98
Wire the Input Power (IPD) Connector
99
Wire the Contactor Enable (CED) Connector
101
Wiring the Safe Torque-Off (STO) Connector
102
Wire the Motor Power (MP) Connector
103
Wire the Motor/Resistive Brake (BC) Connector
110
Apply the Motor Cable Shield Clamp
113
Feedback and I/O Cable Connections
114
Flying-Lead Feedback Cable Pinouts
116
Wiring the Feedback and I/O Connectors
119
Connect Premolded Motor Feedback Cables
119
Connect Panel-Mounted Breakout Board Kits
120
Wire Low-Profile Connector Kits
121
External Shunt Module Connections
124
IPIM Module Connections
125
RBM Module Connections
126
Sercos Fiber-Optic Cable Connections
127
Kinetix 6000M Integrated Drive-Motor Sercos Connections
130
Ethernet Cable Connections
131
Configure the Kinetix 6000M Integrated Drive-Motor System
133
Configure and Start the Kinetix 6000 Drive System
133
Configure the Drive Modules
134
Configure the Logix 5000 Sercos Interface Module
140
Configure the Logix 5000 Controller
140
Configure the Logix 5000 Module
142
Configure the Kinetix 6000 Drive Modules
144
Configure the Motion Group
148
Configure Axis Properties
149
Download the Program
152
Apply Power to the Kinetix 6000 Drive
153
Test and Tune the Axes
155
Test the Axes
155
Tune the Axes
157
Configure Drive Parameters and System Variables
160
Tools for Changing Parameters
160
Monitor System Variables with Analog Test Points
161
Safety Precautions
163
Interpret Status Indicators
164
Kinetix 6000M IDM System Error Codes
164
Kinetix 6000 Drive System Error Codes
165
IAM/AM Module Status Indicators
170
Shunt Module Status Indicators
171
General System Anomalies
173
Logix 5000/Drive Fault Behavior
175
Before You Begin
179
Remove Kinetix 6000 Drive Modules
180
Replace Kinetix 6000 Drive Modules
181
Remove the Power Rail
182
Replace the Power Rail
183
Interconnect Diagrams
185
Interconnect Diagram Notes
186
Power Wiring Examples
187
DC Common Bus Wiring Examples
191
Shunt Module Wiring Examples
195
Axis Module/Rotary Motor Wiring Examples
196
Axis Module/Linear Motor/Actuator Wiring Examples
205
Kinetix 6000M Integrated Drive-Motor Wiring Example
210
Brake Current Example
211
System Block Diagrams
212
Upgrade Kinetix 6000M System Firmware
215
Upgrade the Drive Firmware
215
Upgrade Drive Firmware with Controlflash Software
216
Before You Begin
216
Configure Logix 5000 Communication
217
Upgrade Firmware
219
Verify the Firmware Upgrade
223
Before You Begin
225
Calculate Total Bus Capacitance
226
Calculate Additional Bus Capacitance
227
Bulletin 2094 Drive Capacitance Values
227
Common Bus Capacitance Example
228
Set the Additional Bus Capacitance Parameter
229
Remove Sercos Communication
229
Set the Additional Bus Capacitance Parameter
230
Save the Add Bus Cap Parameter to Nonvolatile Memory
231
Verify the Parameter Changes
232
Reconnect Sercos Communication
233
Benefits
235
How It Works
235
Configure the Load Observer Feature
235
Configuration
236
Remaining IDN Parameter Descriptions
238
Out-Of-Box Gain Settings
240
Auto-Tune Gain Settings
242
Tuning Mode Summary
246
Manual Tuning for Further Optimization
246
Set Gains with Sercos IDN Write Messages
248
Compensate for High Frequency Resonances
249
Before You Begin
251
Change IDN Parameter Values
252
Read the Present IDN Parameter Value
252
Calculate the New IDN Value
254
Write the New IDN Parameter Value
255
Before You Begin
257
Enhanced Peak Example
259
Enhanced Peak Example Calculation
262
Change the Drive Parameter
264
Sercos IDN Write Instruction
264
Driveexplorer Software
265
Before You Begin
267
RBM Module Wiring Examples
268
History of Changes
279
Index
283
Troubleshooting
289

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