Allen-Bradley Kinetix 6000M IDM Power Interface Module Installation Instructions
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Installation Instructions
Kinetix 6000M Integrated Drive-Motor
Power Interface Module
Catalog Number 2094-SEPM-B24-S
Topic
Feature and Connector Identification
Page
About the Integrated Drive-Motor Power Interface Module
The Kinetix® 6000M Integrated Drive-Motor (IDM) system uses the 2094-SEPM-B24-S IDM
Power Interface Module (IPIM) to connect IDM units to 400V-class Kinetix 6000 or
Kinetix 6200 multi-axis drive systems. The IDM Power Interface Module occupies a single slot on Kinetix 6000 power rails.
The IDM system is controlled by a real-time sercos II network. The sercos II fiber-optic cables connect to the IPIM module, which passes real time data to the IDM units by a daisy chained network cable. A network terminator is required at the last IDM unit.
A hybrid cable provides a means to pass inter-module communication signals and power to each
IDM unit. The network cable and hybrid cable are daisy chained from one IDM unit to another, with a terminator required at the last IDM unit (see
IPIM and IDM Interconnect on page 3 ).
Up to 16 IDM units may be daisy chained to an IPIM module (depending on load conditions).
Terminator connectors for the hybrid and network connections are included with each IPIM.
Mount the IPIM module on the power rail in order of decreasing power utilization. See
Determining Mounting Order on page 5
for detailed information.
Refer to the Kinetix 6000M Integrated Drive-Motor System User Manual, publication
2094-UM003 , for detailed information on wiring, applying power, troubleshooting, and integration with ControlLogix®, CompactLogix™, or SoftLogix™ controller platforms.
2 Kinetix 6000M Integrated Drive-Motor Power Interface Module
Important User Information
Solid-state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the
Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1
available from your local Rockwell Automation® sales office or online at http://www.rockwellautomation.com/literature/ ) describes some important differences between solid-state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid-state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard and recognize the consequences.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures.
IMPORTANT
Identifies information that is critical for successful application and understanding of the product.
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Kinetix 6000M Integrated Drive-Motor Power Interface Module 3
IPIM and IDM Interconnect
(Catalog numbers are in parenthesis.)
IPIM to IDM Hybrid Cable
(2090-CHBIFS8-12AAxx)
IPIM Module
IDM to IDM Hybrid Cable
(2090-CHBP8S8-12AAxx)
Hybrid Terminator
Last IDM Unit
(2090-CTHP8)
Network Cable
(2090-CNSRPRS-AAxx)
PORT 1 PORT 2 NETWORK
Network Terminator
Last IDM Unit
(2090-CTSRP)
IDM Unit
IDM Unit
Catalog Number Explanation
This publication applies to the following Kinetix 6000M system component.
Cat. No.
Description
2094-SEPM-B24-S 400V-class IDM Power Interface Module with sercos interface
Network Cable to First
IDM
(2090-CNSSPRS-AAxx)
Software and Firmware Requirements
You must have this version of software/firmware, which can be downloaded from: http://www.rockwellautomation.com/support/downloads.html
Product
RSLogix™ 5000
Kinetix 6000
Kinetix 6200
Version
20.00 or later. If you are using version 20.00, you need version 1.x of the add-on profile.
1.123 or later
1.045 or later
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4 Kinetix 6000M Integrated Drive-Motor Power Interface Module
Before You Begin
Remove all packing material, wedges, and braces from within and around the components. After unpacking, check the item nameplate catalog number against the purchase order.
Parts List
Component Ships with
IPIM module • Wiring plug connector set for DC bus, enable, and hybrid power/communication
• Wiring plug header and motion-allowed jumper for safe-off connector
• A 2090-CTHP8 hybrid terminator and 2090-CTSRP network terminator
• These installation instructions, publication 2094-IN016
Install the IPIM Module
This procedure assumes you have prepared your panel, mounted your Bulletin 2094 power rail, and understand how to bond your system. For installation instructions regarding equipment and accessories not included here, refer to the instructions that came with those products.
SHOCK HAZARD: To avoid hazard of electrical shock, perform all mounting and wiring of the
Bulletin 2094 power rail and drive modules prior to applying power. Once power is applied, connector terminals may have voltage present even when not in use.
ATTENTION: Plan the installation of your system so that you can perform all cutting, drilling, tapping, and welding with the system removed from the enclosure. Because the system is of the open type construction, be careful to keep any metal debris from falling into it. Metal debris or other foreign matter can become lodged in the circuitry, which can result in damage to components.
The Bulletin 2094 power rail comes in lengths to support one IAM module and up to seven additional modules. A maximum of four IPIM modules can be mounted to a single power rail.
The connector pins for each slot are covered by a protective cover. The cover is designed to protect the pins from damage and make sure that no foreign objects lodge between the pins during installation. Refer to the Kinetix 6000 Power Rail Installation Instructions, publication
2094-IN003 , when installing your power rail.
ATTENTION: To avoid damage to the power rail during installation, do not remove the protective covers until the module for each slot is ready for mounting.
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Kinetix 6000M Integrated Drive-Motor Power Interface Module 5
Determining Mounting Order
Refer to the
diagram below and mount the modules in the order (left to right) shown. Install modules according to power utilization (highest to lowest) from left to right starting with the highest power utilization. If power utilization is unknown, position modules (highest to lowest) from left to right based on the IPIM or AM module continuous power rating (kW).
Power utilization is the average power (kW) consumed by a servo axis. If the servo axis has been sized by using Motion Analyzer software, version 6.000 or later, the calculated axis power required can be used for power utilization. If the servo axis has not been sized in Motion
Analyzer, the following table showing the maximum continuous power for IPIM and AM modules can be used to determine desired location on a power rail.
Module Type and Continuous Power Output
2094-BM05-S
Axis Module
22.0 kW
2094-SEPM-B24-S
IPIM Module
15.0 kW
2094-BM03-S
Axis Module
13.5 kW
2094-BM02-S
Axis Module
6.6 kW
2094-BM01-S
Axis Module
3.9 kW
2094-BMP5-S
Axis Module
1.8 kW
The IPIM module may be installed on a power rail with an IAM module configured as a common bus follower, but you will be responsible for configuring the leader for the appropriate additional capacitance in the follower power rail, including the IPIM module.
Module Mounting Order Example
Highest Power Utilization
Integrated Axis
Module
Axis Modules
IPIM Module
Lowest Power Utilization
Axis Modules
Shunt
Module
Slot Filler
Module
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6 Kinetix 6000M Integrated Drive-Motor Power Interface Module
IMPORTANT
The IAM must be positioned in the leftmost slot of the power rail. Position your other modules to the right of the IAM module.
Mount modules according to power utilization (highest to lowest) from left to right starting with the highest power utilization. If power utilization is unknown, position modules (highest to lowest) from left to right based on continuous power rating (kW). Refer to
.
The shunt module must be installed to the right of the last module. Install only slot-filler modules to the right of the shunt module.
Do not mount the shunt module on power rails with a follower IAM module. Common bus follower IAM modules disable the internal, rail mounted, and external shunt modules.
SHOCK HAZARD: To avoid personal injury due to electrical shock, place a 2094-PRF slot-filler module in all empty slots on the power rail. Any power rail connector without a module installed will disable the drive system, however, control power will still be present.
Mount the IPIM Module
All modules mount to the power rail by using the same technique.
1.
Remove the protective covers from the power rail connectors.
2.
Determine the next available slot and module for mounting.
3.
Inspect the module connector pins and power rail connectors and remove any foreign objects.
ATTENTION: To avoid damage to the pins located on the back of the module and to make sure that module pins mate properly with the power rail, hang modules as shown.
4.
Hang the module mounting bracket from the slot on the power rail.
Mounting Bracket
Slots for Additional Modules
Power Rail Slot
Power Rail
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Kinetix 6000M Integrated Drive-Motor Power Interface Module 7
5.
Pivot module downward and align the guide pin on the power rail with the guide pin hole in the back of the module.
Power Rail
Guide Pin
Pivot module downward and align with pin.
Guide Pin Hole
Fuse A ccess
See U ser Manual B efore Remo ving
Rear View Side View
6.
Gently push the module against the power rail connectors and into the final mounting position.
7.
Tighten the mounting screws.
Bracket Secured in Slot
Flat
2.26 N•m (20 lb•in)
Power Rail
8.
Repeat the above steps for each module being installed.
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8 Kinetix 6000M Integrated Drive-Motor Power Interface Module
Feature and Connector Identification
➍
SE2 SE-
SE1
SH3 RT
N
OUT
CN+ CN-
SH2
4242+
SH1
➎
➏
➐
➑
➒
➓
ETHERNET 1
ETHERNET 2
NETWORK
➊
➋
➌
Item Description
➊
Hybrid cable DC bus connector
➋
Hybrid cable communication signals connector
➌
Safe-off connector
➍
Enable connector
➎
Sercos RX and TX fiber-optic connectors
➏
LCD display
Item Description
➐
Navigation buttons
➑
Status indicators
(1)
➒
EtherNet/IP ports
➓
IDM network cable connector
Fuse holder
Hybrid cable shield clamp
(1) Refer to the Kinetix 6000M Integrated Drive-Motor System User Manual, publication 2094-UM003, for details.
ATTENTION: To avoid damage to the sercos RX and TX connectors, use only finger-tight torque when attaching the fiber-optic cables to the modules. Do not use a wrench or any other mechanical assistance. For more information, refer to Fiber-optic Cable Installation and Handling
Instructions, publication 2090-IN010 .
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Kinetix 6000M Integrated Drive-Motor Power Interface Module 9
Wiring
ATTENTION: To avoid personal injury and/or equipment damage, make sure that installation complies with specifications regarding wire types, conductor sizes, branch circuit protection, and disconnect devices. The National Electrical Code (NEC) and local codes outline provisions for safely installing electrical equipment.
Interconnecting the IPIM Module and IDM Units
A hybrid cable, catalog number 2090-CHBIFS8-12AA xx, transfers DC bus power and inter-module communication signals from the IPIM module to the first IDM unit. Additional
IDM units are daisy chained by using a 2090-CHBP8S8-12AA
DC+
PE
DC-
DC+ (brown)
PE (green)
DC- (grey)
SE2
SE-
SH3
RTN
OUT
SE1
CN-
CN+
SH2
42-
42+
42- (white/blue)
42+ (blue)
CN- (blue)
CN+ (white)
SH2 (drain)
RTN (pink)
OUT (white/pink)
SE1 (orange)
SE2 (yellow)
SE- (violet)
SH3 (drain)
The IDM system network is routed by using
2090-CNS xPxS-AAxx cables. A 2090-CNSSPRS-AAxx or 2090-CNSSPSS-AA
xx cable is required for connection to the IPIM module.
PORT 1 PORT 2 NETWORK
2090-CNSSPRS-AAxx or
2090-CNSSPSS-AAxx
2090-CNSSPRS-AAxx
2090-CNSSPSS-AAxx
When installing network cables, torque the connector plug to 0.8…1.2 N•m (7.1…10.6 lb•in) to fully seat the contacts and secure the connection.
Publication 2094-IN016A-EN-P - February 2012
10 Kinetix 6000M Integrated Drive-Motor Power Interface Module
1
2
3
Wiring the Connectors
You can wire the connectors by using the following guidelines.
Hybrid Cable DC Bus Connector
This connector supplies the DC bus voltage. Three wires from the Hybrid
Power and Communication cable (catalog number 2090-CHBIFS8-12AA xx) are used to extend this voltage to the first IDM unit.
Terminal Description
DC Bus Supply (-)
PE Ground
DC bus supply (+)
Signal
DC-
PE
DC+
1
DC-
PE
DC+
DC-
PE
DC+
Strip Length
mm (in.)
9.7 (0.38)
Torque
N•m (lb•in)
0.75 (6.6)
Hybrid Cable Communication Signals Connector
The hybrid communication connector extends control power, communication, and safety signals to the first IDM unit. The
2090-CHBIFS8-12AA xx cable interfaces with this connector.
1
42-
SH2
CN-
CN+
OUT
RTN
SH3
SE1
SE-
SE2
Terminal Description
6
7
4
5
1
2
3
10
11
8
9
12
Shield
Control Power +42V DC
Control Power -42V DC
CAN Bus Shield
IDM CAN Bus Lo
IDM CAN Bus Hi
System OK out to IDMs
System OK return from IDMs
Safety Shield
Safety Enable Input 1
Safety Enable Common
Safety Enable Input 2
Publication 2094-IN016A-EN-P - February 2012
Signal
–
42+
42-
IDM CAN SHIELD
IDM CAN LO
IDM CAN HI
IDM SYSOKOUT
IDM SYSOKRTN
SAFETY SHIELD
SAFETY ENABLE 1+
SAFETY ENABLE-
SAFETY ENABLE 2+
–
42+
42-
SH2
CN-
CN+
OUT
RTN
SH3
SE1
SE-
SE2
Strip Length
mm (in.)
6.4 (0.25)
Torque
N•m (lb•in)
0.235 (2.0)
Kinetix 6000M Integrated Drive-Motor Power Interface Module 11
Safe-off Connector
Motion-allowed Jumper
(not installed)
Each IPIM module ships with the wiring-plug header and motion-allowed jumper installed in the
Safe-off Connector. With the jumper installed, the safe-off feature is not used.
1
F2-
F1+
F1-
SE2
SE-
SE1
Wiring Plug Header
This connector extends the safe-off signals for use in wiring single and multiple safe-off drive configurations, or to jumper around (not use) the safe-off feature. Refer to the Integrated
Drive-Motor System User Manual, publication 2094-UM003 , for further information.
Terminal
7
8
5
6
3
4
1
2
Description Signal
9
Feedback Monitoring 2+
Feedback Monitoring 2-
Feedback Monitoring 1+
Feedback Monitoring 1-
Safety Enable Input 2
Safety Enable Common
Safety Enable Input 1
Safety Bypass Supply, +24V DC,
320 mA max
Safety Bypass supply, Common
FDBK2+
FDBK2-
FDBK1+
FDBK1-
SAFETY ENABLE2+
SAFETY ENABLE-
SAFETY ENABLE1+
24+
24V COM 24-
(1) Maximum/minimum that the connector will accept—these are not recommendations.
F1+
F1-
SE2
SE-
Strip
Length
mm (in.)
Torque
N•m (lb•in)
Min/Max
Wire Size
(1)
mm
2
(AWG)
F2+ 7.0 (0.275) 0.235 (2.0) 0.14…1.5
(30…14)
F2-
SE1
24+
Enable Input
One digital input is supplied to enable all connected IDM units. The enable status is transmitted to all of the IDM units through the CAN bus.
EN
+
-
1
Terminal Description Signal
1
2
3
+24V DC Enable Supply
Enable Input
24V DC Common
ENABLE 24V+
ENABLE INPUT
ENABLE 24V COM -
+
EN
(1) Maximum/minimum that the connector will accept—these are not recommendations.
Strip Length
mm (in.)
7.0 (0.275)
Torque
N•m (lb•in)
Min/Max
Wire Size
(1)
mm
2
(AWG)
0.235 (2.0) 0.14…1.5
(30…14)
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12 Kinetix 6000M Integrated Drive-Motor Power Interface Module
Dimensions
263 (10.3)
249 (9.8)
70 (2.76)
Fuse Access
See User Manual Before Removing
Power Rail
PORT 1 PORT 2 NETWORK
256
(10.1)
287
(11.3)
Power Rail
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Kinetix 6000M Integrated Drive-Motor Power Interface Module 13
Additional Resources
These documents contain additional information concerning related products from
Rockwell Automation.
Resource
Kinetix 6000M Integrated Drive-Motor User Manual, publication 2094-UM003
Kinetix 6000 Multi-axis Servo Drive User Manual, publication
2094-UM001
Kinetix 6200 and Kinetix 6500 Multi-axis Servo Drive User
Manual, publication 2094-UM002
Description
Information on installing, configuring, startup, troubleshooting, and applications for your IDM drive system.
Information on installing, configuring, startup, troubleshooting, and applications for your Kinetix 6000 servo drive system.
Information on installing, configuring, startup, troubleshooting, and applications for your Kinetix 6200 or
Kinetix 6500 servo drive system.
Kinetix 6000 Power Rail Installation Instructions, publication
2094-IN003
Kinetix 6000 Shunt Module Installation Instructions, publication 2094-IN004
Line Interface Module Installation Instructions, publication
2094-IN005
2094 Mounting Bracket Installation Instructions, publication
2094-IN008
Information on the installation of your Bulletin 2094 Power
Rail.
Information on the installation of your Bulletin 2094 Shunt
Module.
Information on the installation and troubleshooting of your
Bulletin 2094 Line Interface Module (LIM).
Information on the installation of Bulletin 2094 Mounting
Brackets.
Information, examples, and techniques designed to minimize system failures caused by electrical noise.
System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001
EMC Noise Management DVD, publication GMC-SP001
Kinetix Safe-off Feature Safety Reference Manual, publication
GMC-RM002
Information on wiring and troubleshooting your Kinetix 6000 safety drive.
Kinetix Rotary Motion Technical Data, publication GMC-TD001 Catalog number information and specifications for
Allen-Bradley rotary motors.
Rockwell Automation Configuration and Selection Tools, website http://rockwellautomation.com/en/e-tools
Rockwell Automation Product Certification, website http://rockwellautomation.com/products/certification
National Electrical Code, published by the National Fire
Protection Association of Boston, MA
Rockwell Automation Industrial Automation Glossary, publication AG-7.1
Online product selection and system configuration tools, including AutoCAD (DXF) drawings.
For declarations of conformity (DoC) currently available from
Rockwell Automation.
An article on wire sizes and types for grounding electrical equipment.
A glossary of industrial automation terms and abbreviations.
You can view or download publications at http://www.rockwellautomation.com/literature/ . To order paper copies of technical documentation, contact your local Allen-Bradley distributor or
Rockwell Automation sales representative.
Publication 2094-IN016A-EN-P - February 2012
14 Kinetix 6000M Integrated Drive-Motor Power Interface Module
Notes:
Publication 2094-IN016A-EN-P - February 2012
Notes:
Kinetix 6000M Integrated Drive-Motor Power Interface Module 15
Publication 2094-IN016A-EN-P - February 2012
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Rockwell Automation provides technical information on the Web to assist you in using its products.
At http://www.rockwellautomation.com/support , you can find technical manuals, technical and application notes, sample code and links to software service packs, and a MySupport feature that you can customize to make the best use of these tools. You can also visit our Knowledgebase at http://www.rockwellautomation.com/knowledgebase for FAQs, technical information, support chat and forums, software updates, and to sign up for product notification updates.
For an additional level of technical phone support for installation, configuration and troubleshooting, we offer TechConnect sm
support programs. For more information, contact your local distributor or Rockwell Automation representative, or visit http://www.rockwellautomation.com/support/ .
Installation Assistance
If you experience a problem within the first 24 hours of installation, please review the information that's contained in this manual.
You can also contact a special Customer Support number for initial help in getting your product up and running.
United States or Canada
Outside United States or
Canada
1.440.646.3434
Use the Worldwide Locator at http://www.rockwellautomation.com/support/americas/phone_en.html
, or contact your local
Rockwell Automation representative.
New Product Satisfaction Return
Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility.
However, if your product is not functioning and needs to be returned, follow these procedures.
United States
Outside United States
Contact your distributor. You must provide a Customer Support case number (call the phone number above to obtain one) to your distributor to complete the return process.
Please contact your local Rockwell Automation representative for the return procedure.
Documentation Feedback
Your comments will help us serve your documentation needs better. If you have any suggestions on how to improve this document, complete this form, publication RA-DU002 , available at http://www.rockwellautomation.com/literature/ .
Allen-Bradley, Rockwell Software, Rockwell Automation, CompactLogix, ControlLogix, Kinetix, SoftLogix, RSLogix, and TechConnect are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
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