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Kinetix 6000 Multi-axis
Servo Drive
Catalog Numbers
2094-AC05-MP5, 2094-AC05-M01,
2094-AC09-M02, 2094-AC16-M03,
2094-AC32-M05, 2094-BC01-MP5,
2094-BC01-M01, 2094-BC02-M02,
2094-BC04-M03, 2094-BC07-M05
2094-AC05-MP5-S, 2094-AC05-M01-S,
2094-AC09-M02-S, 2094-AC16-M03 -S,
2094-AC32-M05-S, 2094-BC01-MP5-S,
2094-BC01-M01-S, 2094-BC02-M02-S,
2094-BC04-M03-S, 2094-BC07-M05-S
2094-AMP5, 2094-AM01, 2094-AM02,
2094-AM03, 2094-AM05, 2094-BMP5,
2094-BM01, 2094-BM02, 2094-BM03,
2094-BM05
2094-AMP5-S, 2094-AM01-S,
2094-AM02-S, 2094-AM03-S,
2094-AM05-S, 2094-BMP5-S,
2094-BM01-S, 2094-BM02-S,
2094-BM03-S, 2094-BM05-S
2094-BSP2
User Manual
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://literature.rockwellautomation.com) 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.
IMPORTANT
ATTENTION
Identifies information that is critical for successful application and understanding of the product.
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 consequence
SHOCK HAZARD
Labels may be located 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 located on or inside the equipment, for example, a drive or motor, to alert people that surfaces may be at dangerous temperatures.
Allen-Bradley, CompactLogix, ControlLogix, DriveExplorer, Kinetix, RSLogix, RSLogix 5000, SoftLogix, SCANport, and Rockwell
Automation are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Table of Contents
Start
Preface
About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . . 9
Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . 9
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Chapter 1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
About the Kinetix 6000 Drive System . . . . . . . . . . . . . . . . . . 12
Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . 16
Agency Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
CE Requirements (System without LIM) . . . . . . . . . . . . . . 17
CE Requirements (System with LIM) . . . . . . . . . . . . . . . . 17
3
Planning the Kinetix 6000 Drive
System Installation
Kinetix 6000 Connector Data
Chapter 2
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
System Design Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . 20
System Mounting Requirements. . . . . . . . . . . . . . . . . . . . 20
Transformer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Circuit Breaker/Fuse Selection. . . . . . . . . . . . . . . . . . . . . 22
Enclosure Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Minimum Clearance Requirements . . . . . . . . . . . . . . . . . 26
Minimizing Electrical Noise . . . . . . . . . . . . . . . . . . . . . . . . . 27
Bonding Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Bonding Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . 29
Establishing Noise Zones . . . . . . . . . . . . . . . . . . . . . . . . 30
Cable Categories for Kinetix 6000 Systems . . . . . . . . . . . . 37
Noise Reduction Guidelines for Drive Accessories . . . . . . 39
Mounting the Kinetix 6000 Drive
System
Chapter 3
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Using 2094 Mounting Brackets . . . . . . . . . . . . . . . . . . . . 43
Installing the 2094 Power Rail . . . . . . . . . . . . . . . . . . . . . 44
Determining Mounting Order . . . . . . . . . . . . . . . . . . . . . . . . 44
Mounting the Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Mounting the External Shunt Module . . . . . . . . . . . . . . . . . . 48
Chapter 4
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Locating IAM/AM Connectors and Indicators. . . . . . . . . . . . . 50
Safe-off Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . 52
I/O Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Motor Feedback Connector Pinouts . . . . . . . . . . . . . . . . . 55
Auxiliary Feedback Connector Pinouts . . . . . . . . . . . . . . 57
IAM Input Connector Pinouts . . . . . . . . . . . . . . . . . . . . . 58
IAM and AM Motor Power and Brake Connector Pinouts . 59
Publication 2094-UM001A-EN-P — September 2006
4 Table of Contents
Understanding IAM/AM Signal Specifications. . . . . . . . . . . . 60
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
SERCOS Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Contactor Enable Relay . . . . . . . . . . . . . . . . . . . . . . . . . 63
Motor/Resistive Brake Relay . . . . . . . . . . . . . . . . . . . . . 64
Control Power Input . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Understanding Feedback Specifications. . . . . . . . . . . . . . . . 66
Motor and Auxiliary Feedback Specifications . . . . . . . . . 66
Feedback Power Supply . . . . . . . . . . . . . . . . . . . . . . . . 67
Locating Shunt Module Connectors and Indicators. . . . . . . . 68
Connecting the Kinetix 6000 Drive
System
Chapter 5
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Understanding Basic Wiring Requirements . . . . . . . . . . . . . 69
Building Your Own Cables . . . . . . . . . . . . . . . . . . . . . . 70
Routing Power and Signal Wiring . . . . . . . . . . . . . . . . . 70
Determining Your Type of Input Power . . . . . . . . . . . . . . . 71
Grounded Power Configurations . . . . . . . . . . . . . . . . . . 71
Ungrounded Power Configurations . . . . . . . . . . . . . . . . 73
DC Common Bus Configurations . . . . . . . . . . . . . . . . . . . . 74
Common Bus Fusing Requirements . . . . . . . . . . . . . . . . 75
Setting the Ground Jumper in Ungrounded
Power Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Setting the Ground Jumper . . . . . . . . . . . . . . . . . . . . . . 76
Grounding Your Kinetix 6000 System . . . . . . . . . . . . . . . . . 78
Grounding Your System to the Subpanel . . . . . . . . . . . . 78
Grounding Multiple Subpanels . . . . . . . . . . . . . . . . . . . 79
Power Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . 80
Wiring Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Wiring the LIM Connectors . . . . . . . . . . . . . . . . . . . . . . . . . 84
Wiring the Auxiliary Input Power (APL) Connector. . . . . 84
Wiring the VAC LINE (IPL) Connector . . . . . . . . . . . . . . 85
Wiring the VAC LOAD (OPL) Connector . . . . . . . . . . . . 86
Wiring the Control Power Output (CPL) Connector . . . . 87
Wiring the Auxiliary Power Output (P2L) Connector . . . 88
Wiring the Brake Power Output (24V dc) Connector . . . 89
Wiring the IAM/AM Connectors . . . . . . . . . . . . . . . . . . . . . 90
Wiring the Control Power (CPD) Connector . . . . . . . . . . 90
Wiring the Input Power (IPD) Connector . . . . . . . . . . . . 91
Wiring the Contactor Enable (CED) Connector . . . . . . . . 93
Wiring the Safe-off (SO) Connector . . . . . . . . . . . . . . . . 94
Wiring the Motor Power (MP) Connector . . . . . . . . . . . . 95
Wiring the Motor/Resistive Brake (BC) Connector . . . . . 101
Applying the Motor Cable Shield Clamp . . . . . . . . . . . . . . . 103
Understanding Feedback and I/O Cable Connections . . . . . 104
Flying-lead Feedback Cable Pin-outs . . . . . . . . . . . . . . . 105
Publication 2094-UM001A-EN-P — September 2006
Table of Contents 5
Configure and Startup the
Kinetix 6000 Drive System
Wiring Feedback and I/O Connectors. . . . . . . . . . . . . . . . . 108
Connecting Premolded Motor Feedback Cables . . . . . . . 108
Wiring Panel-mounted Breakout Board Kits . . . . . . . . . . 109
Wiring Low-profile Connector Kits . . . . . . . . . . . . . . . . 110
Understanding External Shunt Module Connections. . . . . . . 113
Understanding Resistive Brake Module Connections . . . . . . 114
Connecting Your SERCOS Fiber-optic Cables . . . . . . . . . . . 115
Chapter 6
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Configure the IAM/AM . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Configure the Logix SERCOS interface Module . . . . . . . . . . 125
Configure the Logix Controller . . . . . . . . . . . . . . . . . . . 125
Configure the Logix Module . . . . . . . . . . . . . . . . . . . . . 126
Configure the Kinetix 6000 Modules . . . . . . . . . . . . . . . 128
Configure the Motion Group . . . . . . . . . . . . . . . . . . . . . 132
Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . 133
Download the Program. . . . . . . . . . . . . . . . . . . . . . . . . 134
Apply Power to the Kinetix 6000 Drive. . . . . . . . . . . . . . . . 135
Test and Tune the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Test the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Tune the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Troubleshooting the Kinetix 6000
Drive System
Chapter 7
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Interpreting Status Indicators . . . . . . . . . . . . . . . . . . . . . . . 146
Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
IAM/AM Status Indicators . . . . . . . . . . . . . . . . . . . . . . . 152
SM Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Troubleshooting General System Problems . . . . . . . . . . . . . 155
Understanding Logix/Drive Fault Behavior . . . . . . . . . . 157
Supplemental Troubleshooting Information . . . . . . . . . . . . 160
Tools for Changing Parameters . . . . . . . . . . . . . . . . . . . 160
Using Analog Test Points to Monitor System Variables . . 161
Removing and Replacing the
Kinetix 6000 Drive Modules
Chapter 8
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Removing Power Rail Modules . . . . . . . . . . . . . . . . . . . . . . 164
Replacing Power Rail Modules . . . . . . . . . . . . . . . . . . . . . . 165
Removing the Power Rail . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Replacing the Power Rail . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Publication 2094-UM001A-EN-P — September 2006
6 Table of Contents
Appendix A
Specifications and Dimensions
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Power Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Integrated Axis Module (converter) Power Specifications 170
Axis Module (inverter) Power Specifications. . . . . . . . . . 172
Shunt Module Power Specifications . . . . . . . . . . . . . . . . 173
Circuit Breaker/Fuse Specifications . . . . . . . . . . . . . . . . 177
Contactor Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Transformer Specifications for Control Power Input . . . . 179
Power Dissipation Specifications. . . . . . . . . . . . . . . . . . . . . 180
General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Maximum Feedback Cable Lengths . . . . . . . . . . . . . . . . 181
Environmental Specifications . . . . . . . . . . . . . . . . . . . . . 181
Weight Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Certifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
AC Line Filter Specifications . . . . . . . . . . . . . . . . . . . . . . . . 183
External Shunt Module Specifications . . . . . . . . . . . . . . . . . 184
Product Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Interconnect Diagrams
Appendix B
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Power Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . 193
DC Common Bus Wiring Examples . . . . . . . . . . . . . . . . 197
Shunt Module Wiring Examples . . . . . . . . . . . . . . . . . . . 201
Axis Module/Motor Wiring Examples . . . . . . . . . . . . . . . 204
Controlling a Brake Example . . . . . . . . . . . . . . . . . . . . . 210
System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Upgrading Firmware
Appendix C
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Using ControlFLASH Software to Upgrade Drive Firmware. . 216
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
Selecting the Drive to Upgrade . . . . . . . . . . . . . . . . . . . 217
Configuring Logix Communications . . . . . . . . . . . . . . . . 218
Flashing Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Troubleshooting ControlFLASH . . . . . . . . . . . . . . . . . . . 222
Verifying the Firmware Upgrade . . . . . . . . . . . . . . . . . . 223
Using DriveExplorer Software to Upgrade Drive Firmware . . 224
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
Selecting Axis Modules to Upgrade . . . . . . . . . . . . . . . . 224
HyperTerminal Configuration . . . . . . . . . . . . . . . . . . . . 226
Flashing Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Publication 2094-UM001A-EN-P — September 2006
Table of Contents 7
DC Common Bus Applications
Appendix D
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Calculating Total Bus Capacitance . . . . . . . . . . . . . . . . . . . 232
Calculating Additional Bus Capacitance . . . . . . . . . . . . . . . 232
Kinetix 6000 Capacitance Values . . . . . . . . . . . . . . . . . . . . 233
Common Bus Capacitance Example . . . . . . . . . . . . . . . . . . 234
Setting the Additional Bus Capacitance Parameter . . . . . . . . 235
Removing SERCOS Communication . . . . . . . . . . . . . . . . 235
Setting the Additional Bus Capacitance Parameter . . . . . 236
Saving the Add Bus Cap Parameter to
Non-Volatile Memory. . . . . . . . . . . . . . . . . . . . . . . . . 237
Reconnecting SERCOS Communication . . . . . . . . . . . . . 238
Integrating Resistive Brake
Modules with Kinetix 6000 Drives
Appendix E
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Understanding Safety Precautions . . . . . . . . . . . . . . . . . . . . 240
Safety Standards for Reference . . . . . . . . . . . . . . . . . . . 240
Background on Safety Design . . . . . . . . . . . . . . . . . . . . 241
Stop Categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
Risk Assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Control Reliability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
Resistive Brake Module Wiring Examples . . . . . . . . . . . . . . 243
Setting the RBM Delay Time Using DriveExplorer . . . . . . . . 252
Removing SERCOS Communication . . . . . . . . . . . . . . . . 252
Setting the RBM Delay Time Parameter . . . . . . . . . . . . . 253
Saving the Delay Time Parameter to
Non-Volatile Memory. . . . . . . . . . . . . . . . . . . . . . . . . 254
Reconnecting SERCOS Communication . . . . . . . . . . . . . 255
Publication 2094-UM001A-EN-P — September 2006
8 Table of Contents
Publication 2094-UM001A-EN-P — September 2006
9
Preface
Read this preface to familiarize yourself with the rest of the manual.
About This Publication
This manual provides detailed installation instructions for mounting, wiring, and troubleshooting your Kinetix 6000 drive, and system integration for your drive/motor combination with a Logix controller.
Who Should Use this
Manual
This manual is intended for engineers or technicians directly involved in the installation and wiring of the Kinetix 6000 drive, and programmers directly involved in the operation, field maintenance, and integration of the Kinetix 6000 drive with a SERCOS interface module.
If you do not have a basic understanding of the Kinetix 6000 drive, contact your local Rockwell Automation sales representative before using this product, for information on available training courses.
Conventions Used in This
Manual
The conventions starting below are used throughout this manual.
•
Bulleted lists such as this one provide information, not procedural steps
•
Numbered lists provide sequential steps or hierarchical information
•
Acronyms for the Kinetix 6000 drive components, shown in the table below, are used throughout this manual.
Kinetix 6000 Component Catalog Numbers
Integrated Axis Module 2094x C xx -M xx
Axis Module
Shunt Module
2094x M xx
2094-BSP2
Power Rail
Power Rail (slim)
Power Rail Slot Filler
Line Interface Module
Resistive Brake Module
2094-PR
2094x L
2090-XB x
2094-PRS
2094-PRF xx xx x
and -
xx x L xx Sxx
PR
PRS
PRF
LIM
RBM
Acronym
IAM
AM
SM
Publication 2094-UM001A-EN-P — September 2006
10
Additional Resources
The following documents contain additional information concerning related Allen-Bradley products.
For Read This Document
Information on the installation of your Bulletin 2094 Power Rail Kinetix 6000 Power Rail Installation Instructions
Information on the installation and troubleshooting of your
Bulletin 2094 Line Interface Module (LIM)
Information on the installation of Bulletin 2094 Mounting
Brackets
Line Interface Module Installation Instructions
2094 Mounting Bracket Installation Instructions
Information on the installation and wiring of Bulletin 2090
Resistive Brake Modules
Information on proper handling, installing, testing, and troubleshooting fiber-optic cables
Resistive Brake Module Installation Instructions
Fiber-optic Cable Installation and Handling Instructions
Information on installing, configuring, and how to calculate the data needed to correctly select a 1336 dynamic brake
1336 Dynamic Braking Installation Instructions
Information, examples, and techniques designed to minimize system failures caused by electrical noise
System Design for Control of Electrical Noise Reference
Manual
EMC Noise Management DVD
Information on wiring and troubleshooting your Kinetix 6000 safety drive
Specifications, motor/servo-drive system combinations, and accessories for Kinetix motion control products
Drive and motor sizing with application analysis software
Information on configuring and troubleshooting your
ControlLogix and CompactLogix SERCOS interface modules
Information on configuring and troubleshooting your SoftLogix
PCI card
Kinetix Safe-off Feature Safety Reference Manual
Kinetix Motion Control Selection Guide
Motion Analyzer CD, v4.2 or later
Motion Modules in Logix5000 Control Systems User
Manual
SoftLogix Motion Card Setup and Configuration Manual
Information on installing, configuring, programming, and operating a ControlLogix system
More detailed information on the use of ControlLogix motion features and application examples
ControlLogix Controllers User Manual
ControlLogix Motion Module Programming Manual
The instructions needed to program a motion application
Logix5000 Controllers Motion Instructions Reference
Manual
For ControlFLASH information not specific to any drive family ControlFLASH Firmware Upgrade Kit User Manual
Online product selection and system configuration tools, including AutoCAD (DXF) drawings
Rockwell Automation Configuration and Selection Tools website
For declarations of conformity (DoC) currently available from
Rockwell Automation
Rockwell Automation Product Certification website
An article on wire sizes and types for grounding electrical equipment
A glossary of industrial automation terms and abbreviations
National Electrical Code
Rockwell Automation Industrial Automation Glossary
Publication Number
2094-IN003
2094-IN005
2094-IN008
2090-IN009
2090-IN010
1336-5.64
GMC-RM001
GMC-SP001
GMC-RM002
GMC-SG001
PST-SG003
LOGIX-UM002
1784-UM003
1756-UM001
1756-RM086
1756-RM007
1756-6.5.6
http://www.ab.com/ e-tools http:// www.rockwellautomation.
com/products/certification
Published by the National
Fire Protection Association of Boston, MA.
AG-7.1
You can view or download publications at http://literature.rockwellautomation.com. To order paper copies of technical documentation, contact your local Rockwell Automation distributor or sales representative.
Publication 2094-UM001A-EN-P — September 2006
Introduction
Chapter
1
Start
Use this chapter to become familiar with the Kinetix 6000 drive components. This chapter also reviews design and installation requirements for Kinetix 6000 drive systems.
Topic
About the Kinetix 6000 Drive System
Page
11 Publication 2094-UM001A-EN-P — September 2006
12 Start
About the Kinetix 6000
Drive System
The Kinetix 6000 multi-axis servo drive is designed to provide a
Kinetix Integrated Motion solution for applications with output power requirements between 3 and 45 kW (4 and 49 A).
Kinetix 6000 Drive System Overview
Kinetix 6000
Component
Catalog Numbers Description
Integrated Axis
Module
Axis Module
Shunt Module
Power Rail
Power Rail Slot
Filler
Logix Controller
Platform
RSLogix 5000
Software
Servo Motors
Cables
AC Line Filters
Line Interface
Module
External Shunt
Modules
Resistive Brake
Module
2094-
2094x x
C
C xx xx
2094-BM
2094M
2094-BSP2
2094-PRS
2094-PR
2094-PRF
1756-M
2090-XB xx
-M
-M xx-xx xx xx
(1)
SE module
1768-M04SE module
1784-PM16SE PCI card
9324-RLD300ENE
MP-Series, 1326AB,
TL-Series,
F- and Y-Series
2094-
2094x x x
L
L x xx xx xx xx x
S
-S
2094-XL75S-C x
-S
(1)
Motor Power, Feedback, and Brake cables
Fiber-optic cables
2090-XXLF-
1394-SR xxxx xxxx
1336-MOD-K xxxx
Integrated Axis Module (IAM), with safe-off feature available with 230V and 460V ac input power and contains an inverter and converter.
Integrated Axis Module (IAM), available with 230V and 460V ac input power and contains an inverter and converter.
Axis Module (AM), with safe-off feature is a shared dc bus inverter (230V and 460V). The AM must be used with an IAM.
Axis Module (AM), is a shared dc bus inverter (230V and 460V). The AM must be used with an IAM.
Shunt Module (SM), This module mounts to the power rail and provides additional shunting capability in regenerative applications.
Power Rail (PR) consists of copper bus bars and a circuit board with connectors for each module. The power rail provides power and control signals from the converter section to adjacent inverters. The IAM,
AM, SM, and PRF modules mount to the power rail.
Power Rail Slot Filler (PRF) is used when one or more slots on the power rail are empty after all the power rail components are installed. One PRF module is required for each empty slot.
SERCOS interface module/PCI card serves as a link between the ControlLogix/CompactLogix/SoftLogix platform and Kinetix 6000 drive system. The communication link uses the IEC 61491 SErial Real-time
COmmunication System (SERCOS) protocol over a fiber-optic cable.
RSLogix 5000 provides support for programming, commissioning, and maintaining the Logix family of controllers.
Compatible servo motors include the MP-Series (Low Inertia, Integrated Gear, Food Grade, and Stainless
Steel) 230 and 460V motors; TL-Series motors; 1326AB (M2L/S2L) and 1326AB (resolver) motors; F- and
Y-Series motors.
Motor power, feedback, and brake cables include integral molded, bayonet style, quick connect/ quick-release connectors at the motor. Power and brake cables have flying leads on the drive end and straight connectors that connect to servo motors. Standard feedback cables have angled connectors
(45º) on the drive end and straight connectors that connect to servo motors. Optional feedback cables have a straight connector on the motor end and flying leads that wire to a low-profile connector kit on the drive end.
SERCOS fiber-optic cables are available in enclosure only, PVC, nylon, and glass with connectors at both ends.
Bulletin 2090-XXLFxxxx three-phase ac line filters are required to meet CE and available for use in 230V and 460V systems.
Line Interface Module (LIM), contains the circuit breakers, ac line filter (2094-AL09 and -BL02 only), power supplies, and safety contactor required for Kinetix 6000 operation. This module does not mount to the power rail. Individual components can be purchased separately in place of the LIM.
Bulletin 1394 external passive shunt modules can be used when the IAM/AM internal shunt and power rail mounted shunt module (2094-BSP2) capability is exceeded.
Bulletin 1336 external active shunt modules can be used when the internal shunt resistor (IAM/AM) capability is exceeded.
Resistive Brake Module (RBM), includes a safety contactor for use in a control circuit. Contactors and resistors reside in this module such that the motor leads can be disconnected from the drive with the permanent magnet motor brought to an immediate stop. This module does not mount to the power rail.
(1)
Refer to the Kinetix Safe-off Feature Safety Reference Manual, publication GMC-RM002, for more information.
Publication 2094-UM001A-EN-P — September 2006
Start 13
Typical Kinetix 6000 system installations include three-phase ac configurations, with and without the line interface module (LIM), and dc common bus configurations.
SHOCK HAZARD
To avoid personal injury due to electrical shock, place a slot filler module (catalog number 2094-PRF) in all empty slots on the power rail.
Any power rail connector without a module installed will disable the Kinetix 6000 three-phase power, however control power is still present.
Typical Kinetix 6000 System Installation (with LIM)
SERCOS interface TM
CP OK
Logix Controller Programming Network
Logix SERCOS interface Module
Logix Platform
(ControlLogix is shown)
RSLogix 5000
Software
Kinetix 6000 Multi-axis Servo Drive System
Tx (rear)
Rx (front)
SERCOS Fiber-optic Ring
2090-SC xxx-x AC Line Filter
2090-XXLFxxxx
Three-phase
Input Power
115/230V Control Power
Integrated
Axis Module
2094x C xx -M xx -S
MAIN VAC
Line Interface Module
(optional component)
2094x L xx S
To input sensors and control string.
MP-Series, TL-Series, 1326AB (M2L/S2L),
Fand Y-Series Motors
(MPLxxxx motors shown)
Power Rail
2094-PRS x
I/O Connections
Motor Feedback Cable
2090-XXNF xx -S xx
Low Profile Connector Kits for
I/O, Motor Feedback, and Aux Feedback
2090-K6CK-D xxx
Shunt Module
(optional component)
2094-BSP2
Slot Filler
Module
(required to fill any unused slots)
2094-PRF
Axis Modules (5)
2094x M xx -S
Motor Power Cable
2090-XXNP xx xx S xx
Publication 2094-UM001A-EN-P — September 2006
14 Start
Line
Disconnect
Device
Input
Fusing
Magnetic
Contactor
Three-phase
Input Power
I/O Connections
To input sensors and control string.
Typical Kinetix 6000 System Installation (without LIM)
Logix Controller Programming Network
Logix SERCOS interface Module
Logix Platform
(ControlLogix is shown)
RSLogix 5000
Software
Kinetix 6000 Multi-axis Servo Drive System
Single-phase
Control Power
SERCOS Fiber-optic Ring
2090-SC xxx-x
AC Line Filter
2090-XXLFxxxx
Shunt Module
(optional component)
2094-BSP2
Integrated
Axis Module
2094x C xx -M xx -S
Power Rail
2094-PRS x
Slot Filler
Module
(required to fill any unused slots)
2094-PRF
Motor Feedback Cable
2090-XXNF xx -S xx
Low Profile Connector Kits for
I/O, Motor Feedback, and Aux Feedback
2090-K6CK-D xxx
Axis Modules (5)
2094x M xx -S
Motor Power Cable
2090-XXNP xx xx S xx
MP-Series, TL-Series, 1326AB (M2L/S2L),
F- and Y-Series Motors
(MPLxxxx motors shown)
Publication 2094-UM001A-EN-P — September 2006
Start 15
Three-phase
Input Power
Typical DC Common Bus System Installation
Kinetix 6000 Multi-axis Servo Drive System
Logix Controller Programming Network
Logix SERCOS interface Module
AC Line Filter
2090-XXLFxxxx
SERCOS interface
CP OK
Logix Platform
(ControlLogix is shown)
Tx (rear)
Rx (front)
RSLogix 5000
Software
Line Interface Module
(optional component)
2094x L xx S
115/230V Control Power
SERCOS Fiber-optic Ring
2090-SC xxx-x Shunt Module
(optional component)
2094-BSP2
2094-
Axis Module x
Integrated
C xx -M xx -S
Slot Filler Module
(required to fill any unused slots)
2094-PRF
Power Rail
(2094-PRS x is shown)
DC Common Bus Motors and other details common to both three-phase ac and dc common bus configurations are removed.
SERCOS Fiber-optic Ring
2090-SC xxx-x
Axis Modules (5)
2094x M xx -S
Integrated
Axis Module
2094x C xx -M xx -S
Slot Filler Module
(required to fill any unused slots)
2094-PRF
Power Rail
(2094-PRS x is shown)
Axis Modules (5)
2094x M xx -S
In the example above, the leader IAM is connected to the follower
IAM via the dc common bus. When planning your panel layout, you must calculate the total bus capacitance of your dc common bus system to ensure that the leader IAM is sized sufficiently to pre-charge the entire system.
Refer to Appendix D, beginning on page 231, for more information.
IMPORTANT
If total bus capacitance of your system exceeds the leader IAM pre-charge rating and input power is applied, the IAM seven-segment LED indicator will display error code E90
(pre-charge timeout fault). To correct this condition, you must replace the leader IAM with a larger module or decrease the total bus capacitance by removing axis modules.
Publication 2094-UM001A-EN-P — September 2006
16 Start
Catalog Number
Explanation
Kinetix 6000 drive catalog numbers and descriptions are listed in the table below.
Kinetix 6000 Drive Catalog Numbers
Integrated Axis Modules (230V
Kinetix 6000, IAM, 230V, 3 kW converter, 5 A inverter
Kinetix 6000, IAM, 230V, 3 kW converter, 9 A inverter
Kinetix 6000, IAM, 230V, 6 kW converter, 15 A inverter
Kinetix 6000, IAM, 230V, 11 kW converter, 24 A inverter
Kinetix 6000, IAM, 230V, 23 kW converter, 49 A inverter
Integrated Axis Modules (460V)
Kinetix 6000, IAM, 460V, 6 kW converter, 4 A inverter
Kinetix 6000, IAM, 460V, 6 kW converter, 9 A inverter
Kinetix 6000, IAM, 460V, 15 kW converter, 15 A inverter
Kinetix 6000, IAM, 460V, 28 kW converter, 30 A inverter
Kinetix 6000, IAM, 460V, 45 kW converter, 49 A inverter
Axis Modules (230V)
Kinetix 6000, AM, 230V, 5 A
Kinetix 6000, AM, 230V, 9 A
Kinetix 6000, AM, 230V, 15 A
Kinetix 6000, AM, 230V, 24 A
Kinetix 6000, AM, 230V, 49 A
Axis Modules (460V)
Kinetix 6000, AM, 460V, 4 A
Kinetix 6000, AM, 460V, 9 A
Kinetix 6000, AM, 460V, 15 A
Kinetix 6000, AM, 460V, 30 A
Kinetix 6000, AM, 460V, 49 A
Shunt Module
Kinetix 6000, SM, 230V/460V, 200W
Catalog Number
(with safe-off feature)
2094-AC05-MP5-S
2094-AC05-M01-S
2094-AC09-M02-S
2094-AC16-M03-S
2094-AC32-M05-S
2094-BC01-MP5-S
2094-BC01-M01-S
2094-BC02-M02-S
2094-BC04-M03-S
2094-BC07-M05-S
2094-AMP5-S
2094-AM01-S
2094-AM02-S
2094-AM03-S
2094-AM05-S
2094-BMP5-S
2094-BM01-S
2094-BM02-S
2094-BM03-S
2094-BM05-S
N/A
Catalog Number
(without safe-off feature)
2094-AC05-MP5
2094-AC05-M01
2094-AC09-M02
2094-AC16-M03
2094-AC32-M05
2094-BC01-MP5
2094-BC01-M01
2094-BC02-M02
2094-BC04-M03
2094-BC07-M05
2094-AMP5
2094-AM01
2094-AM02
2094-AM03
2094-AM05
2094-BMP5
2094-BM01
2094-BM02
2094-BM03
2094-BM05
2094-BSP2
Agency Compliance
Publication 2094-UM001A-EN-P — September 2006
If this product is installed within the European Union or EEC regions and has the CE mark, the following regulations apply.
ATTENTION
Meeting CE requires a grounded system, and the method of grounding the ac line filter and drive must match. Failure to do this renders the filter ineffective and may cause damage to the filter.
For grounding examples, refer to Grounded Power
Start 17
For more information on electrical noise reduction, refer to the System
Design for Control of Electrical Noise Reference Manual, publication
GMC-RM001.
CE Requirements (System without LIM)
To meet CE requirements when your Kinetix 6000 system does not include the line interface module (LIM), the following requirements apply.
•
Install an ac line filter (2090-XXLFxxxx ) as close to the integrated axis module (IAM) as possible.
•
Use 2090 series motor power cables or use connector kits and terminate the cable shields to the chassis clamp provided.
•
Combined motor power cable length for all axes on the same dc bus must not exceed 240 m (787 ft) with 460V systems or 160 m
(525 ft) with 230V systems. Drive-to-motor power cables must not exceed 90 m (295.5 ft).
•
Use 2090 series motor feedback cables or use connector kits and properly terminate the feedback cable shield. Drive-to-motor feedback cables must not exceed 90 m (295.5 ft).
•
Install the Kinetix 6000 system inside an enclosure. Run input power wiring in conduit (grounded to the enclosure) outside of the enclosure. Separate signal and power cables.
Refer to Chapter 5, beginning on page 69, for wiring instructions and
the Kinetix Motion Control Selection Guide, publication GMC-SG001, for catalog numbers.
CE Requirements (System with LIM)
To meet CE requirements when your Kinetix 6000 system includes the line interface module (LIM), follow all the requirements as stated in
CE Requirements (System without LIM) and these additional
requirements as they apply to the ac line filter.
•
Install the LIM (2094-AL09 or -BL02) as close to the integrated axis module (IAM) as possible.
•
Install the LIM (2094-AL xx S, -BL xx S or -XL75S-C x ) with line filter
(2090-XXLFxxxx ) as close to the IAM as possible.
When the LIM (2094-AL xx S, -BL xx S or -XL75S-C x ) supports two
IAMs, each IAM requires an ac line filter installed as close to the
IAM as possible.
Publication 2094-UM001A-EN-P — September 2006
18 Start
Publication 2094-UM001A-EN-P — September 2006
Introduction
Chapter
2
Planning the Kinetix 6000 Drive System
Installation
This chapter describes system installation guidelines used in preparation for mounting your Kinetix 6000 drive components.
Topic
Page
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.
19 Publication 2094-UM001A-EN-P — September 2006
20 Planning the Kinetix 6000 Drive System Installation
System Design Guidelines
Use the information in this section when designing your enclosure and planning to mount your system components on the panel.
For on-line product selection and system configuration tools, including AutoCAD (DXF) drawings of the product, refer to http://www.ab.com/e-tools.
System Mounting Requirements
•
In order to comply with UL and CE requirements, the Kinetix 6000 system must be enclosed in a grounded conductive enclosure offering protection as defined in standard EN 60529 (IEC 529) to
IP55 such that they are not accessible to an operator or unskilled person. A NEMA 4X enclosure exceeds these requirements providing protection to IP66.
•
The panel you install inside the enclosure for mounting your system components must be on a flat, rigid, vertical surface that won’t be subjected to shock, vibration, moisture, oil mist, dust, or corrosive vapors.
•
Size the drive enclosure so as not to exceed the maximum ambient temperature rating. Consider heat dissipation specifications for all drive components.
•
Segregate input power wiring and motor power cables from control wiring and motor feedback cables. Use shielded cable for power wiring and provide a grounded 360° clamp termination.
•
Use high-frequency (HF) bonding techniques to connect the modules, enclosure, machine frame, and motor housing, and to provide a low-impedance return path for high-frequency (HF) energy and reduce electrical noise.
Refer to the System Design for Control of Electrical Noise
Reference Manual, publication GMC-RM001, to better understand the concept of electrical noise reduction.
Publication 2094-UM001A-EN-P — September 2006
Planning the Kinetix 6000 Drive System Installation 21
Transformer Selection
The integrated axis module (IAM) does not require an isolation transformer for three-phase input power. However, a transformer may be required to match the voltage requirements of the controller to the available service.
To size a transformer for the main ac power inputs, refer to the Circuit
Breaker/Fuse Specifications on page 177 and Transformer
Specifications for Control Power Input on page 179.
IMPORTANT
If using an autotransformer, make sure that the phase to neutral/ground voltages do not exceed the input voltage ratings of the drive.
IMPORTANT
Use a form factor of 1.5 for three-phase power (where form factor is used to compensate for transformer, drive module and motor losses, and to account for utilization in the intermittent operating area of the torque speed curve).
Example: Sizing a transformer to the voltage requirements of a
2094-AC05-M01 Integrated Axis Module:
2094-AC05-M01 = 3 kW continuous x 1.5 = 4.5 KVA transformer
Publication 2094-UM001A-EN-P — September 2006
22 Planning the Kinetix 6000 Drive System Installation
Circuit Breaker/Fuse Selection
The Kinetix 6000 system utilizes internal short circuit output protection and is suitable for use on a circuit capable of delivering up to 100,000 amperes, when protected by class CC, J, L, and R fuses.
Circuit breakers with adequate widthstand and interrupt ratings, as defined in NEC 2002, article 110.9 and 110.10, are also permitted.
The Bulletin 140M product may be another acceptable means of protection with the Kinetix 6000 system. As with fuses and circuit breakers, you must make sure that the selected components are properly coordinated and meet applicable codes. When applying the
140M product, evaluation of the short circuit available current is critical and must be kept below the short circuit rating of the 140M product. As long as you do this review, and the conditions for use are met, the 140M product is appropriate for use with the Kinetix 6000 system.
The line interface modules (LIM), (models 2094-AL09 and -BL02) contain supplementary protection devices. When these models are used, protection on the line side of the LIM with a maximum let through current of 5000 amperes is required. Fuses must be class J or
CC only.
Overcurrent protection must be adequately coordinated per NEC
2002, article 240.
In most cases, fuses selected to match the drive input current rating will meet the NEC requirements and provide the full drive capabilities.
Dual element, time delay (slow acting) fuses should be used to avoid nuisance trips during the inrush current of power initialization.
Refer to Circuit Breaker/Fuse Specifications on page 177 for
recommended circuit breakers and fuses.
Refer to Power Specifications on page 170 for input current and inrush
current specifications for your IAM.
Publication 2094-UM001A-EN-P — September 2006
Planning the Kinetix 6000 Drive System Installation 23
Enclosure Selection
The following example is provided to assist you in sizing an enclosure for your Kinetix 6000 system. The example system consists of the following components:
•
6-axis Kinetix 6000 servo drive system
•
Line Interface Module (LIM)
•
ControlLogix chassis and modules (controller)
Size the Kinetix 6000 servo drive and LIM and use the results to predict the amount of heat dissipated into the enclosure. You will also need heat dissipation data from other equipment inside the enclosure
(such as ControlLogix controller). Once the total amount of heat dissipation (in watts) is known, the minimum enclosure size can be calculated.
Kinetix 6000 System Heat Dissipation Example
Enclosure Component Description Loading
(1)
2094-AC09-M02
2094-AM02
2094-AM02
2094-AM01
2094-AM01
2094-AM01
2094-AL09
Integrated axis module (IAM),
200/230V
Axis module (AM), 200/230V, 15 A
Axis module (AM), 200/230V, 15 A
Axis module (AM), 200/230V, 9 A
Axis module (AM), 200/230V, 9 A
Axis module (AM), 200/230V, 9 A
2094-PR6
2090-XB33-32
Power rail, 230V, 6 axis
Resistive brake module (RBM), 33 A, 32
Ω
Total Kinetix 6000 system wattage
6 kW (converter section) 20%
15A (inverter section) 40%
60%
60%
Line interface module (LIM), 200/230V, 6 kW, 6 A; 24V dc 3 A
N/A
N/A
40%
40%
20%
100%
(1)
69
69
62
72
0
30
572
Heat Dissipation
(1) watts
33
73
82
82
Publication 2094-UM001A-EN-P — September 2006
24 Planning the Kinetix 6000 Drive System Installation
ControlLogix System Heat Dissipation Example
Enclosure
Component
1756-M08SE
1756-L55M12
1756-IB16D
1756-OB16D
1756-ENBT
Backplane total
Description
8-axis SERCOS interface module
5555 ControlLogix processor
16 -point input module
16 -point output module
Ethernet communications module
1756-PB72 24V dc ControlLogix power supply
1756-A7 7-slot mounting chassis
Total ControlLogix system wattage
Backplane Power
Load
(1) watts
3.2
4.5
0.84
4.64
4.0
17.18
(2)
N/A
N/A
(1)
For ControlLogix module specifications, refer to the ControlLogix Selection Guide, publication 1756-SG001.
(2)
Real power heat dissipation is determined by applying the backplane power load (17.18W) to the graph below.
N/A
25
(2)
N/A
34.1
5.8
3.3
0
0
0
Heat Dissipation
(1) watts
Publication 2094-UM001A-EN-P — September 2006
ControlLogix Real Power
1756-P B72
1756-P B75 dc
Backplane
Power Load
(watts)
75
60
45
30
15
0
0 20 40 60 80
Real Power (watts)
100
For backplane power loading requirements of other ControlLogix power supplies, refer to the ControlLogix Selection Guide, publication
1756-SG001.
In this example, the amount of power dissipated inside the cabinet is the sum of the Kinetix 6000 system value (572 W) and the
ControlLogix system value (34 W) for a total of 606 W.
With no active method of heat dissipation (such as fans or air conditioning) either of the following approximate equations can be used.
Metric Standard English
A
=
0.38
Q
1.8
T
–
1.1
A
=
4.08
Q
T – 1.1
Where T is temperature difference between inside air and outside ambient (°C), Q is heat generated in enclosure (Watts), and A is enclosure surface area (m
2
). The exterior surface of all six sides of an enclosure is calculated as
A = 2dw + 2dh + 2wh
Where d (depth), w (width), and h (height) are in meters.
Where T is temperature difference between inside air and outside ambient (°F), Q is heat generated in enclosure (Watts), and A is enclosure surface area (ft²). The exterior surface of all six sides of an enclosure is calculated as
A = (2dw + 2dh + 2wh) / 144
Where d (depth), w (width), and h (height) are in inches.
Planning the Kinetix 6000 Drive System Installation 25
The maximum ambient rating of the Kinetix 6000 system is 50 °C
(122 °F) and if the maximum environmental temperature is 30 °C
(86 °F) then Q=606 and T=20 in the equation below.
A =
0.38 606
1.8 20 –
)
1.1
≈ m 2
In this example, the enclosure must have an exterior surface of 6.59 meters
2
. If any portion of the enclosure is not able to transfer heat, it should not be included in the calculation.
Since the minimum cabinet depth to house the 230V drive (selected for this example) is 200 mm (7.9 in.), then the cabinet needs to be approximately 2100 mm (high) x 1250 mm (wide) x 200 mm (deep).
2 x (0.2 x 1.25) + 2 x (0.2 x 2.1) + 2 x (1.25 x 2.1) = 6.59
m
2
Because this cabinet size is considerably larger than what is necessary to house the system components, it may be more efficient to provide a means of cooling in a smaller cabinet. Contact your cabinet manufacturer for options available to cool your cabinet.
Publication 2094-UM001A-EN-P — September 2006
26 Planning the Kinetix 6000 Drive System Installation
Minimum Clearance Requirements
This section provides information to assist you in sizing your cabinet and positioning your Kinetix 6000 system components.
IMPORTANT
Mount the module in an upright position. Do not mount the module on its side.
Minimum Clearance Requirements
Clearance above for airflow and installation.
Integrated Axis Module (IAM)
(2094-AC05-M xx is shown mounted on power rail)
Clearance left of the module is not required.
(1)
Clearance right of the module is not required.
(1)
(2094-PRS x
Power Rail
is shown)
Clearance below for airflow and installation.
(1)
The power rail (slim), catalog number 2094-PRS x , does not extend left or right of the first or last module
(respectively). When using power rail (catalog number 2094-PR x ) the power rail extends approximately
25.4 mm (1.0 in.) left of the IAM and right of the last module mounted on the rail.
Minimum Clearance Dimensions
Cat. No.
2094-AC05, -AC09, -AMP5, -AM01, -AM02
2094-BC01, -BC02, -BMP5, -BM01, -BM02
2094-BSP2
2094-AC16, -AC32, -AM03, -AM05
2094-BC04, -BC07, -BM03, -BM05
Clearance Above, Min Clearance Below, Min Cabinet Depth Clearance, Min
200 mm (7.9 in.)
50.8 mm (2.0 in.) 50.8 mm (2.0 in.)
272 mm (10.7 in.)
305 mm (12.0 in.) 50.8 mm (2.0 in.)
200 mm (7.9 in.)
272 mm (10.7 in.)
IMPORTANT
Although clearance left and right of the power rail is not necessary for ventilation, additional clearance is required when mounted adjacent to noise sensitive equipment or clean wireways.
Refer to page 180 for power dissipation specifications.
Publication 2094-UM001A-EN-P — September 2006
Minimizing Electrical
Noise
Planning the Kinetix 6000 Drive System Installation 27
This section outlines best practices which minimize the possibility of noise-related failures as they apply specifically to Kinetix 6000 system installations. For more information on the concept of high-frequency
(HF) bonding, the ground plane principle, and electrical noise reduction, refer to the System Design for Control of Electrical Noise
Reference Manual, publication GMC-RM001.
Bonding Modules
Bonding is the practice of connecting metal chassis, assemblies, frames, shields, and enclosures to reduce the effects of electromagnetic interference (EMI).
Unless specified, most paints are not conductive and act as insulators.
To achieve a good bond between power rail and the subpanel, surfaces need to be paint-free or plated. Bonding metal surfaces creates a low-impedance return path for high-frequency energy.
IMPORTANT
To improve the bond between the power rail and subpanel, construct your subpanel out of zinc plated (paint-free) steel.
Improper bonding blocks the direct return path and allows high-frequency energy to travel elsewhere in the cabinet. Excessive high-frequency energy can effect the operation of other microprocessor controlled equipment.
Publication 2094-UM001A-EN-P — September 2006
28 Planning the Kinetix 6000 Drive System Installation
The illustrations that follow show details of recommended bonding practices for painted panels, enclosures, and mounting brackets.
Recommended Bonding Practices for Painted Panels
Subpanel
Star Washer
Nut
Stud-mounting the Subpanel to the Enclosure Back Wall
Back Wall of
Enclosure
Welded Stud
Use a wire brush to remove paint from threads to maximize ground connection.
Use plated panels or scrape paint on front of panel.
Stud-mounting a Ground Bus or Chassis to the Subpanel
Subpanel
Mounting Bracket or
Ground Bus
Welded Stud
Flat Washer
Nut
Star Washer
Scrape Paint
Flat Washer
If the mounting bracket is coated with a non-conductive material
(anodized or painted), scrape the material around the mounting hole.
Bolt-mounting a Ground Bus or Chassis to the Back-panel
Subpanel
Bolt
Tapped Hole
Ground Bus or
Mounting Bracket
Nut
Flat Washer
Nut
Flat Washer
Star Washer
Scrape paint on both sides of panel and use star washers.
Star Washer
Star Washer
If the mounting bracket is coated with a non-conductive material
(anodized or painted), scrape the material around the mounting hole.
Publication 2094-UM001A-EN-P — September 2006
Planning the Kinetix 6000 Drive System Installation 29
Bonding Multiple Subpanels
Bonding multiple subpanels creates a common low impedance exit path for the high frequency energy inside the cabinet. Subpanels that are not bonded together may not share a common low impedance path. This difference in impedance may affect networks and other devices that span multiple panels.
Multiple Subpanels and Cabinet Recommendations
Bond the top and bottom of each subpanel to the cabinet using
25.4 mm (1.0 in.) by 6.35 mm (0.25 in.) wire braid.
Cabinet ground bus bonded to the subpanel.
Scrape the paint around each fastener to maximize metal to metal contact.
Publication 2094-UM001A-EN-P — September 2006
30 Planning the Kinetix 6000 Drive System Installation
Establishing Noise Zones
D
Observe the following guidelines when a LIM (2094-AL xx S, -BL xx S, or
-XL75S-C x ) is used in the Kinetix 6000 system and mounted left of the
IAM with the ac (EMC) line filter mounted above the LIM:
•
The clean zone (C) is to the right and beneath the Kinetix 6000 system (grey wireway).
•
The dirty zone (D) is to the left and above the Kinetix 6000 system, and above and below the LIM (black wireway).
•
The very dirty zone (VD) is from the filter output to IAM. Shielded cable is required on the EMC filter (load side) and the braided shield attached to the clamp provided.
•
The SERCOS fiber-optic cables are immune to electrical noise.
Establishing Noise Zones (LIM mounted left of IAM)
Dirty Wireway Clean Wireway
D VD
AC Line Filter
Motor Power Cables
D D D
VAC Load
D
VAC Line
Very Dirty Filter/IAM Connections
Segregated (not in wireway)
VD
D
Fiber-optic Cable
MAIN VAC
No sensitive equipment within
150 mm (6.0 in.).
(2)
Kinetix 6000 System
D
Line Interface Module
I/O
(1) and Feedback Cables
C
D
Route 24V dc I/O shielded cable.
Route encoder/analog/registration shielded cables.
(1)
If IAM/AM I/O cable contains (dirty) relay wires, route cable with LIM I/O cable in dirty wireway.
(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.
Publication 2094-UM001A-EN-P — September 2006
Planning the Kinetix 6000 Drive System Installation 31
Clean Wireway
Observe the following guidelines when a LIM (2094-AL xx S, -BL xx S, or
-XL75S-C x ) is used in the Kinetix 6000 system and mounted right of the IAM with the ac (EMC) line filter mounted behind the IAM:
•
The clean zone (C) is to the left and beneath the Kinetix 6000 system (grey wireway).
•
The dirty zone (D) is to the right and above the Kinetix 6000 system, and above and below the LIM (black wireway).
•
The very dirty zone (VD) is from the filter output to IAM. Shielded cable is required on the EMC filter (load side) and the braided shield attached to the clamp provided.
•
The SERCOS fiber-optic cables are immune to electrical noise.
Establishing Noise Zones (LIM with EMC filter behind IAM)
Dirty Wireway
Very Dirty Filter/IAM Connections
Segregated (not in wireway)
Motor Power Cables
D D D
VAC Line
D
VD
Fiber-optic
Cable
Control VAC,
AUX VAC Output, and 24V dc Brake
D
I/O
No sensitive equipment within
150 mm (6.0 in.).
(2)
VD D VAC Load
D
AC Line Filter
MAIN VAC
C
I/O
(1) and Feedback Cables
C
Kinetix 6000
System Line Interface Module
D
Route encoder/analog/registration shielded cables.
Route 24V dc I/O shielded cable.
(1)
If IAM/AM I/O cable contains (dirty) relay wires, route cable with LIM I/O cable in dirty wireway.
(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.
Publication 2094-UM001A-EN-P — September 2006
32 Planning the Kinetix 6000 Drive System Installation
Clean Wireway
Observe the following guidelines when a LIM (2094-AL xx S or
-XL xx S-C x ) is used in the Kinetix 6000 system and mounted right of the drive with the ac (EMC) line filter mounted behind the LIM:
•
The clean zone (C) is to the left and beneath the Kinetix 6000 system (grey wireway).
•
The dirty zone (D) is to the right and above the Kinetix 6000 system, and above and below the LIM (black wireway).
•
The very dirty zone (VD) is from the filter output to drive.
Shielded cable is required on the EMC filter (load side) and the braided shield attached to the clamp (when provided).
Establishing Noise Zones (EMC filter behind LIM)
Dirty Wireway
Motor Power Cables
D
Very Dirty Filter/IAM Connections
Segregated (not in wireway)
VD
D D D
VAC Line
LIM
VAC Load
LIM
Control VAC,
Auxiliary VAC, and 24V dc Brake
No sensitive equipment within
150 mm (6.0 in.).
(2)
VD
MAIN VAC
D
LIM
I/O
Kinetix 6000
System
C
I/O
(1) and Feedback Cables
C
AC (EMC)
Line Filter
LIM
Line Interface Module
(2094-AL xx S shown)
LIM
2094 Mounting
Brackets
(3) x2
D
Route encoder/analog/registration shielded cables.
Route 24V dc I/O shielded cable.
(1)
If drive system I/O cable contains (dirty) relay wires, route cable with LIM I/O cable in dirty wireway.
(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.
(3)
Only the 2094-AL xx S and -XL75S-C x Line Interface Modules are compatible with the 2094 Mounting Brackets.
The 2094-BL xx S, -AL09, and -BL02 models are not compatible.
Publication 2094-UM001A-EN-P — September 2006
Planning the Kinetix 6000 Drive System Installation 33
Observe the following guidelines when a LIM (2094-AL xx S, -BL xx S, or
-XL75S-C x ) is used in a dc common bus configuration and the follower IAM is mounted below the leader IAM:
Keep the dc common bus cable (very dirty) segregated from all other cables (not in a wireway).
Establishing Noise Zones (dc common bus)
Dirty Wireway Clean Wireway
D VD
AC Line Filter
Very Dirty Filter/IAM Connections
Segregated (not in wireway)
VAC Line, AUX VAC Output, 24V
VAC Load
D
VAC Line
D
VD
Motor Power Cables
D D D
Fiber-optic Cable
MAIN VAC
No sensitive equipment within
150 mm (6.0 in.).
(2)
Kinetix 6000 System
(leader IAM)
I/O
(1) and Feedback Cables
D
Line Interface Module
D
C
D D D
VD
Fiber-optic Cable
Very Dirty DC Bus Connections
Segregated (not in wireway)
No sensitive equipment within
150 mm (6.0 in.).
(2)
Kinetix 6000 System
(follower IAM)
I/O
(1) and Feedback Cables
C
Route 24V dc I/O shielded cable.
Route encoder/analog/registration shielded cables.
(1)
If IAM/AM I/O cable contains (dirty) relay wires, route cable with LIM I/O cable in dirty wireway.
(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.
Publication 2094-UM001A-EN-P — September 2006
34 Planning the Kinetix 6000 Drive System Installation
Observe the following guidelines when a LIM (2094-AL09 or -BL02) is used in the Kinetix 6000 system and mounted left of the IAM:
This layout is preferred due to the reduced size of the very dirty zone.
•
The clean zone (C) is to the right and beneath the Kinetix 6000 system (grey wireway).
•
The dirty zone (D) is to the left and above the Kinetix 6000 system, and above and below the LIM (black wireway).
•
The very dirty zone (VD) is limited to where the LIM VAC output jumpers over to the IAM. Shielded cable is required only if the very dirty cables enter a wireway.
•
The SERCOS fiber-optic cables are immune to electrical noise.
Establishing Noise Zones (LIM mounted left of IAM)
Dirty Wireway
Very Dirty Filter/IAM Connections
(1)
D
Motor Power Cables
Clean Wireway
Fiber-optic Cable
D
D
VD
D
Line Interface Module
D
C
No sensitive equipment within
150 mm (6.0 in.).
(2)
C
Kinetix 6000
System
I/O
(1) and Feedback Cables
Route encoder/analog/registration shielded cables.
Route 24V dc I/O shielded cable.
(1)
If IAM/AM I/O cable contains (dirty) relay wires, route cable with LIM I/O cable in dirty wireway.
(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.
Publication 2094-UM001A-EN-P — September 2006
Planning the Kinetix 6000 Drive System Installation 35
Observe the following guidelines when a LIM (2094-AL09 or -BL02) is used in the Kinetix 6000 system and mounted above the IAM:
•
The clean zone (C) is to the right and beneath the Kinetix 6000 system (grey wireway).
•
The dirty zone (D) is to the left and above the Kinetix 6000 system, and above and below the LIM (black wireway).
•
The LIM VAC output is very dirty (VD). Use shielded cable with a braid clamp attached at both ends of the cable to reduce the rating to dirty (D).
•
The SERCOS fiber-optic cables are immune to electrical noise.
Establishing Noise Zones (LIM mounted above IAM)
Dirty Wireway Clean Wireway
D VD
Very dirty LIM/IAM connections must be shielded with braid clamp at both ends.
(1)
D
Line Interface Module
Motor Power Cables
D Fiber-optic Cable
No sensitive equipment within
150 mm (6.0 in.).
(2)
C
Kinetix 6000
System
C
D
I/O
(2) and Feedback Cables
Route encoder/analog/registration shielded cables.
Route 24V dc I/O shielded cable.
(1)
For examples of shield clamp attachment, refer to the System Design for Control of Electrical Noise Reference
Manual, publication GMC-RM001.
(2)
If IAM/AM I/O cable contains (dirty) relay wires, route cable in dirty wireway.
(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.
Publication 2094-UM001A-EN-P — September 2006
36 Planning the Kinetix 6000 Drive System Installation
Observe the following guidelines when individual input power components are used in the Kinetix 6000 system and the LIM
(2094x L xx or x L xx Sxx ) is not used:
•
The clean zone (C) is beneath the Kinetix 6000 system and includes the I/O wiring, feedback cable, and dc filter (grey wireway).
•
The dirty zone (D) is above the Kinetix 6000 system (black wireway) and includes the circuit breakers, transformer, 24V dc power supply, contactors, ac line filter, and motor power cables.
•
The very dirty zone (VD) is limited to where the ac line (EMC) filter VAC output jumpers over to the IAM. Shielded cable is required only if the very dirty cables enter a wireway.
•
The SERCOS fiber-optic cables are immune to electrical noise.
Establishing Noise Zones (No LIM)
Dirty Wireway
(1)
Very Dirty Filter/IAM Connections
Segregated (not in wireway)
D
Clean Wireway
Motor Power Cables
D D
Contactors
VD
(2)
Circuit
Breaker 24V Motor
Brake PS
AC
Line Filter
XFMR
(4)
DC
Filter
(3)
C
Kinetix 6000 System
I/O
(1) and Feedback Cables
(2)
C
D
Route 24V dc I/O shielded cable.
Route encoder/analog/registration shielded cables.
(1)
If IAM/AM I/O cable contains (dirty) relay wires, route cable in dirty wireway.
(2)
When space to the right of the IAM does not permit 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.
(3)
This is a clean 24V dc available for any device that may require 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.
Publication 2094-UM001A-EN-P — September 2006
Planning the Kinetix 6000 Drive System Installation 37
Observe the following guidelines when installing your 1756-M xx SE
SERCOS interface module:
•
The clean zone (C) is beneath the less noisy modules (I/O, analog, encoder, registration, etc. (grey wireway).
•
The dirty zone (D) is above and below the power supply and noisy modules (black wireway).
•
The SERCOS fiber-optic cables are immune to electrical noise.
Establishing Noise Zones (ControlLogix)
D
Dirty Wireway
(1)
Clean Wireway
Route dirty wireways directly above the ControlLogix rack
(shielded by the chassis).
AC Line
Filter
D
Spare Slots
C
Line Filter/Power Supply
Connections Segregated
(not in wireway)
Dirty I/O
(24V dc I/O, ac I/O)
Clean I/O
(Analog, Encoder
Registration)
Cable Categories for Kinetix 6000 Systems
The table below indicates the zoning requirements of cables connecting to the Kinetix 6000 drive components.
Integrated Axis Module (converter side)
Wire/Cable
CTRL 1 and 2
DC-/DC+ (unshielded cable)
L1, L2, L3 (shielded cable)
L1, L2, L3 (unshielded cable)
CONT EN- and CONT EN+ (M1 contactor)
DPI
Connector
Very
Dirty
CPD
X
IPD
X
CED
DPI
Zone
Dirty
X
Clean
Method
Ferrite
Sleeve
Shielded
Cable
X
X
X
X
X
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38 Planning the Kinetix 6000 Drive System Installation
Integrated Axis Module or Axis Module (inverter side)
Wire/Cable Connector
U, V, W (motor power)
MBRK-, MBRK+ (motor brake)
MBRK-, MBRK+ (motor brake)
1326AB motors with resolver feedback
DBRK-, DBRK+ (resistive brake)
COM, PWR (24V dc), filtered
(1)
COM, PWR (24V dc), unfiltered
(2)
COM, PWR (24V dc), safety enable, and feedback signals for safe-off feature
Motor feedback
Auxiliary feedback
Registration and analog outputs
Others
Fiber-optic
MP
BC
SO
MF
AF
IOD
Rx and Tx
(1)
This is a clean 24V dc available for any device that may require it.
(2)
This is a dirty 24V dc available for motor brakes and contactors.
Very
Dirty
Zone
Dirty
X
X
X
X
X
X
X
Clean
Method
Ferrite
Sleeve
Shielded
Cable
X
X
X
X
X
No Restrictions
X
X
X
X
Line Interface Module
Wire/Cable
VAC line (main input)
230V ac input
VAC load (shielded option)
VAC load (unshielded option)
Control power output
MBRK PWR, MBRK COM
Status I/O
Auxiliary 230V ac
Connector
Very
Dirty
IPL
APL
OPL
CPL
P1L/PSL
IOL
P2L
X
Zone
Dirty
X
X
X
Clean
Method
Ferrite
Sleeve
Shielded
Cable
X
X
X
X
X
Wire/Cable
External Shunt Resistor Kit
COL, DC+ (shielded option)
COL, DC+ (unshielded option)
Thermal switch
Fan (if present)
Connector
Very
Dirty
RC
TS
N/A
X
Zone
Dirty
X
Clean
Method
Ferrite
Sleeve
Shielded
Cable
X
X
X
X
Publication 2094-UM001A-EN-P — September 2006
Planning the Kinetix 6000 Drive System Installation 39
Wire/Cable
Resistive Brake Module
Resistive brake module coil power
Resistive brake module I/O
Resistive brake module drive and motor power
230V power
Connections
TB3-6 and TB3-7
TB1-1...-5 and TB3-8
TB1 and TB2
TB4
Very
Dirty
Zone
Dirty
X
X
X
X
Clean
Method
Ferrite
Sleeve
Shielded
Cable
X
Noise Reduction Guidelines for Drive Accessories
When mounting an ac (EMC) line filter or external shunt resistor refer to the sections below for guidelines designed to reduce system failures caused by excessive electrical noise.
AC Line Filters
Observe the following guidelines when mounting your ac (EMC) line
filter (refer to the figure on page 36 for an example):
•
Mount the ac line filter on the same panel as the Kinetix 6000 drive and as close to the power rail as possible.
•
Good HF bonding to the panel is critical. For painted panels, refer
•
Segregate input and output wiring as far as possible.
IMPORTANT
CE test certification applies only to ac line filter and single power rail. Sharing a line filter with multiple power rails may perform satisfactorily, but the user takes legal responsibility.
Publication 2094-UM001A-EN-P — September 2006
40 Planning the Kinetix 6000 Drive System Installation
External Shunt Resistor
Observe the following guidelines when mounting your external shunt resistor outside the enclosure:
•
Mount circuit components and wiring in the very dirty zone or in an external shielded enclosure. Run shunt power and fan wiring inside metal conduit to minimize the effects of EMI and RFI.
•
Mount resistors (other than metal-clad) in a shielded and ventilated enclosure outside the cabinet
•
Keep unshielded wiring as short as possible. Keep shunt wiring as flat to the cabinet as possible.
•
Route thermal switch and fan wires separate from shunt power.
External Shunt Resistor Outside the Enclosure
Customer-supplied
Metal Enclosure
150 mm (6.0 in.) clearance (min) on all four sides of the shunt module.
Shunt thermal Switch and Fan Wires (when present)
Dirty Wireway
D
Shunt Power Wiring Methods:
Twisted pair in conduit (1st choice).
Shielded twisted pair (2nd choice).
Twisted pair, two twists per foot (min) (3rd choice).
(1)
D
Very Dirty Connections Segregated
(not in wireway)
Motor Power Cables
1394 Digital Servo Controller
300W Shunt Module
ALLEN-BRADLEY
BULLETIN 1394 300W SHUNT MODULE
CAT.
PART SER.
INPUT DC INPUT AC
FOR FUSE REPLACEMENT USE:
BUSSMAN CAT. NO.
FOR USE WITH 1394-SJT22-X SYSTEM MODULE
VD
D
D
2094-BSP2
Shunt Module
VD
Metal Conduit
(where required by local code)
Clean Wireway
D
D Line Interface Module
Route 24V dc I/O shielded cable.
Enclosure
C
No sensitive equipment within
150 mm (6.0 in.).
Kinetix 6000
System
C
I/O and Feedback Cables
Route encoder/analog/registration shielded cables.
Publication 2094-UM001A-EN-P — September 2006
Planning the Kinetix 6000 Drive System Installation 41
When mounting your shunt module inside the enclosure, follow these additional guidelines:
•
Metal-clad modules can be mounted anywhere in the dirty zone, but as close to the Kinetix 6000 system as possible.
•
Shunt power wires can be run with motor power cables.
•
Keep unshielded wiring as short as possible. Keep shunt wiring as flat to the cabinet as possible.
•
Separate shunt power cables from other sensitive, low voltage signal cables.
External Shunt Resistor Inside the Enclosure
Dirty Wireway Clean Wireway
Enclosure
D
150 mm (6.0 in.) clearance (min) on all four sides of the shunt module.
1394 Digital Servo Controller
300W Shunt Module
ALLEN-BRADLEY
BULLETIN 1394 300W SHUNT MODULE
CAT.
PART SER.
INPUT DC INPUT AC
FOR FUSE REPLACEMENT USE:
BUSSMAN CAT. NO.
FOR USE WITH 1394-SJT22-X SYSTEM MODULE
Shunt thermal Switch and Fan Wires (when present)
Very Dirty Connections Segregated
(not in wireway)
Motor Power Cables D
VD
Shunt Power Wiring Methods:
Twisted pair in conduit (1st choice).
Shielded twisted pair (2nd choice).
Twisted pair, two twists per foot (min) (3rd choice).
D
VD
D
2094-BSP2
Shunt Module
No sensitive equipment within
150 mm (6.0 in.).
Kinetix 6000
System
C C
D
D
Line Interface Module
Route 24V dc I/O shielded cable.
I/O and Feedback Cables
Route encoder/analog/registration shielded cables.
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42 Planning the Kinetix 6000 Drive System Installation
Resistive Brake Modules
Observe the following guidelines when mounting your resistive brake module (RBM):
•
Mount circuit components and wiring in the dirty zone or in an external shielded enclosure. If mounting the RBM in a separate ventilated shielded enclosure, run wiring inside metal conduit to minimize the effects of EMI and RFI.
•
Keep unshielded wiring as short as possible. Keep wiring as flat to the cabinet as possible.
•
Route RBM power and I/O cables separate from other sensitive low voltage signal cables.
Establishing Noise Zones (RBM mounted above AM)
Dirty Wireway Clean Wireway
D
D
RBM I/O
Very Dirty LIM/IAM Connections
Segregated (not in wireway)
Fiber-optic
Cable
LIM VAC Input Power
D
Motor Power
Cables
D VD
D
Line Interface Module
D
No sensitive equipment within
150 mm (6.0 in.).
C
Kinetix 6000
System
IAM/AM Feedback and
(clean) I/O
LIM and IAM/AM (dirty) I/O
Motor Brake and Thermal Switch
The thermal switch and brake are mounted inside the motor, but how you connect to the axis module depends on the motor series.
Refer to Wiring the Motor/Resistive Brake (BC) Connector on page
101 for wiring guidelines. Refer to Axis Module/Motor Wiring
Examples beginning on page 204 for the interconnect diagram of your
drive/motor combination.
Publication 2094-UM001A-EN-P — September 2006
43
Introduction
Chapter
3
Mounting the Kinetix 6000 Drive System
This chapter provides the system installation procedures for mounting your Kinetix 6000 drive components to the panel.
Topic
Mounting the External Shunt Module
Page
The procedures in this chapter assume you have prepared your panel 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 IAM, AM, SM, LIM, RBM, or power rail 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.
Using 2094 Mounting Brackets
Bulletin 2094 mounting brackets can be used to mount the power rail or line interface module over the ac line filter. Refer to the 2094
Mounting Brackets Installation Instructions, publication 2094-IN008, when using mounting brackets with your Kinetix 6000 drive system.
Publication 2094-UM001A-EN-P — September 2006
44 Mounting the Kinetix 6000 Drive System
Installing the 2094 Power Rail
The Kinetix 6000 power rail comes in lengths to support one integrated axis module (IAM), and up to seven additional axis modules (AM) or shunt module (SM). The connector pins for each slot are covered by a protective boot. The boot 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 boots until the module for each slot is ready for mounting.
Determining Mounting
Order
Integrated Axis Module
2094-AC09-M02
Mount IAM, AM, SM, and slot filler (PRF) modules in the order (left to right) as shown in the figure below. Mount axis modules according to power utilization (highest to lowest) from left to right starting with the highest power utilization. If power utilization is unknown, position axis modules (highest to lowest) from left to right based on amp rating.
Module Mounting Order
Highest Power Utilization or Amp Rating Lowest Power Utilization or Amp Rating
Axis Module
2094-AM02
Axis Module
2094-AM02
Axis Module
2094-AM02
Axis Module
2094-AM01
Axis Module
2094-AM01
Shunt Module
2094-BSP2
Slot Filler Module
2094-PRF
Publication 2094-UM001A-EN-P — September 2006
Mounting the Kinetix 6000 Drive System 45
IMPORTANT
The integrated axis module (IAM) must be positioned in the leftmost slot of the power rail. Position your axis modules (AM), shunt module (SM), and slot fillers (PRF) to the right of the IAM.
The SM must be installed to the right of the last AM. Only slot filler modules may be installed to the right of the SM.
Do not mount the SM on power rails with a follower IAM.
Common-bus follower IAMs will disable the internal, rail mounted, and external shunt modules.
SHOCK HAZARD
To avoid personal injury due to electrical shock, place a slot filler module (catalog number 2094-PRF) in all empty slots on the power rail.
Any power rail connector without a module installed will disable the Kinetix 6000 system, however control power will still be present.
Mounting the Modules
Follow these steps to mount the IAM, AM, SM, and PRF modules. All modules mount to the power rail using the same technique
(integrated axis module is shown).
1.
Remove the protective boots from the power rail connectors.
IMPORTANT
The IAM must be positioned in the leftmost slot of the power rail. Position your axis modules, shunt module, and slot fillers to the right of the IAM.
2.
Determine the next available slot and module for mounting.
3.
Remove the label (applied to back and side of module) covering the pins that mate with the power rail.
ATTENTION
To avoid damage to the pins located on the back of each module (IAM, AM, SM, and PRF) and to make sure that module pins mate properly with the power rail, hang
modules as shown in Steps 4...7.
The power rail must be mounted vertically on the panel before hanging modules on the power rail. Do not mount modules if the power rail is horizontal.
Publication 2094-UM001A-EN-P — September 2006
46 Mounting the Kinetix 6000 Drive System
4.
Hang the mounting bracket from the slot on the power rail.
Mounting Bracket
Slots for additional axis modules, shunt module, or slot filler.
Power Rail Slot
Integrated Axis Module
Power Rail
5.
Pivot module downward and align the guide pins on the power rail with the guide pin holes in the back of the module.
Pivot module downward and align with guide pins.
Guide Pin
Holes
Guide Pins
Power rail
(side view) in upright vertical position.
Integrated Axis Module
(side view)
Integrated Axis Module
(rear view)
TIP
The IAM can have two or three power rail connectors and guide pins, the AM can have one or two, all other modules have one.
Publication 2094-UM001A-EN-P — September 2006
Mounting the Kinetix 6000 Drive System 47
6.
Gently push the module against the power rail connectors and into the final mounting position.
Bracket secured in slot.
Power Rail
Integrated Axis Module
7.
Use 2.26 Nm (20 lb-in.) torque to tighten the mounting screws.
Bottom front view of double-wide IAM or AM
(AM is shown).
Bottom front view of single-wide AM, SM, or PRF
(AM is shown).
Mounting Screws
IMPORTANT
There are two mounting screws when mounting
2094-AC32-M05, -BC04-M03, and -BC07-M05 (double-wide)
IAMs and 2094-AM05, -BM03, and -BM05 (double-wide) AMs.
8.
Determine if you have additional modules to mount
.
If You
Have additional modules to mount
Do not have additional modules to mount
Then
Return to Step 1 and complete installation of
your next AM, SM, or PRF module.
Go to Mounting the External Shunt Module.
Publication 2094-UM001A-EN-P — September 2006
48 Mounting the Kinetix 6000 Drive System
Mounting the External
Shunt Module
If your Kinetix 6000 drive requires a means of dissipating regenerative energy that exceeds the capacity of the 2094 shunt module, install a
Bulletin 1394 external shunt module.
BURN HAZARD
To avoid the hazard of shock or burn and ignition of flammable material, appropriate guarding must be provided. These resistors can reach temperatures in excess of 350
°
C (662
°
F).
Install per local codes.
Follow these steps to install your external shunt module.
1.
Layout the position for your shunt module in the enclosure.
Follow the panel layout recommendations as shown in External
2.
Attach the shunt resistor to the cabinet. The recommended mounting hardware is M6 metric (1/4 in.) bolts.
Follow the recommended high-frequency (HF) bonding
techniques as shown in the Bonding Modules on page 27.
3.
Tighten all mounting fasteners.
For external shunt module mounting dimensions, refer to the Kinetix
Motion Control Selection Guide, publication GMC-SG001.
Publication 2094-UM001A-EN-P — September 2006
Introduction
Chapter
4
Kinetix 6000 Connector Data
This chapter provides power, feedback, and I/O connector locations and signal descriptions for your Kinetix 6000 drive.
Topic
Locating IAM/AM Connectors and Indicators
Understanding IAM/AM Signal Specifications
Understanding Feedback Specifications
Locating Shunt Module Connectors and Indicators
Page
49 Publication 2094-UM001A-EN-P — September 2006
50 Kinetix 6000 Connector Data
Locating IAM/AM
Connectors and Indicators
Although the physical size of the 460V modules is larger than the 230V modules, the location of the connectors and indicators is identical.
Integrated Axis Module Connectors and Indicators
Integrated Axis Module, Top View
(2094-AM05-MP5-S is shown)
Control Power
(CPD) Connector
Motor Cable
Shield Clamp
DC Bus / AC Input Power
(IPD) Connector
Contactor Enable
(CED) Connector
Safe-off
(SO) Connector
(present only on the 2094x C xx -M xx -S)
CTRL 2
CTRL 1
DC-
DC+
L3
L2
L1
CONT EN-
CONT EN+
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
Motor Power
(MP) Connector
Motor/Resistive Brake
(BC) Connector
RX
DPI
TX BAUD
RATE
SERCOS Baud Rate and Optical Power Switches
SERCOS Transmit (Tx) Connector
DPI Connector
SERCOS Receive (Rx) Connector
Integrated Axis Module, Front View
(2094-AC05-MP5x is shown)
I/O (IOD) Connector
Mounting Screw
SERCOS
Node Address Switch
Seven-segment
Fault Status LED
Drive Status LED
COMM Status LED
Bus Status LED
Auxiliary Feedback (AF) Connector
Motor Feedback (MF) Connector
Publication 2094-UM001A-EN-P — September 2006
Kinetix 6000 Connector Data
Axis Module Connectors and Indicators
Axis Module, Top View
(2094-AMP5-S is shown)
Motor Cable
Shield Clamp
(present only on the 2094-
Safe-off
(SO) Connector x M xx -S)
RX
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
Motor Power
(MP) Connector
Motor/Resistive Brake
(BC) Connector
TX
BAUD
RATE
SERCOS Baud Rate and Optical Power Switches
SERCOS Transmit (Tx) Connector
SERCOS Receive (Rx) Connector
51
Axis Module, Front View
(2094-AMP5 is shown)
I/O (IOD) Connector
Mounting Screw
Seven-segment
Fault Status LED
Drive Status LED
COMM Status LED
Bus Status LED
Auxiliary Feedback (AF) Connector
Motor Feedback (MF) Connector
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52 Kinetix 6000 Connector Data
Integrated Axis Module/Axis Module Connectors
Designator Description
IPD
CED
MP
BC
SO
IOD
MF
AF
CPD
Tx and Rx
DPI
User I/O (drive)
Motor feedback
Auxiliary feedback
Control input power (drive)
VAC Input Power (drive) 230V and dc bus
VAC Input Power (drive) 460V and dc bus
Contactor enable
Motor power
Dynamic/motor brake
Safe-off
SERCOS transmit and receive
DPI
Connector
26-pin high-density D-shell
15-pin high-density D-shell (female)
15-pin high-density D-shell (male)
2-position plug/header
6-position plug/header
6-position plug/header
2-position plug/header
4-position plug/header
6-position plug/header
9-position plug/header
SERCOS fiber-optic (2)
DPI
IAM
IAM
IAM/AM
IAM/AM
IAM/AM
IAM/AM
IAM
Present on
IAM or AM
IAM/AM
IAM/AM
IAM/AM
IAM
IAM
Safe-off Connector Pinout
Each IAM (2094x C xx -M xx -S) and AM (2094x M xx -S) ships with the
(9-pin) wiring plug header and motion allowed jumper installed in the safe-off (SO) connector. With the motion allowed jumper installed, the safe-off feature is not used.
Motion Allowed Jumper
Kinetix 6000 IAM/AM
(Kinetix 6000 AM is shown)
Safe-off
(SO) Connector
1
1 2
3 4
5 6
7 8
9
Motion Allowed Jumper
Wiring Plug Header
Publication 2094-UM001A-EN-P — September 2006
Kinetix 6000 Connector Data 53
Headers in this table extend the safe-off (SO) connector signals for use in wiring single and multiple safe-off drive configurations, or to jumper around (not use) the safe-off feature.
IAM/AM Safe-off 9-pin (SO) Connector
7
8
9
5
6
3
4
1
2
Safe-off (SO)
Connector Pin
Also Applies to These
SO Connector Headers
Description
•
Wiring plug header
•
First-drive wiring header
(2090-XNSM-W)
•
•
Wiring plug header
Motion allowed jumper
One side of the normally-closed monitoring contact of relay 2
Other side of the normally-closed monitoring contact of relay 2
One side of the normally-closed monitoring contact of relay 1
Other side of the normally-closed monitoring contact of relay 1
Coil of safety-relay 2
Return for safety-relay coil power (both relays)
Coil of safety relay 1
Power for continuous enable of the safety function, 500 mA max
Power return used for continuous enable of safety function
Signal
FDBK2+
FDBK2-
FDBK1+
FDBK1-
SAFETY ENABLE2+
SAFETY ENABLE-
SAFETY ENABLE1+
24V+
24V_COM
IMPORTANT
Pins SO-8 and -9 (24V+) are only used by the motion allowed jumper. When wiring to the wiring plug header, the 24V supply must come from an external source.
Refer to the Kinetix Safe-off Feature Safety Reference Manual, publication GMC-RM002, for more information on safe-off headers.
Publication 2094-UM001A-EN-P — September 2006
54 Kinetix 6000 Connector Data
I/O Connector Pinout
IAM/AM I/O 26-pin (IOD) Connector
8
9
10
11
12
13
6
7
4
5
2
3
IOD Pin Description
1 Hardware enable 24V dc power supply
Hardware enable input
Common
Home switch 24V dc power supply
Home switch input
Signal
+24V_PWR
ENABLE
+24V_COM
+24V_PWR
HOME
Common +24V_COM
Positive overtravel 24V dc power supply +24V_PWR
Positive overtravel limit switch input
Common
Negative overtravel 24V dc power supply
Negative overtravel limit switch input
Common
24V registration power
OT+
+24V_COM
+24V_PWR
OT-
+24V_COM
REG_24V
21
22
23
24
25
26
17
18
19
20
IOD Pin Description
14 High speed registration 1 input
15
16
Common for registration
24V registration power
High speed registration 2 input
Common for registration
Reserved
Reserved
Reserved
Reserved
Analog output 0
Analog output common
Analog output 1
Analog output common
Signal
REG1
REG_COM
REG_24V
REG2
REG_COM
—
—
—
—
DAC0
DAC_COM
DAC1
DAC_COM
IMPORTANT
Signals +24V_PWR and +24V_COM are a 24V dc source you can use only for the inputs listed above.
Pin Orientation for 26-pin I/O (IOD) Connector
26-pin IAM/AM
I/O Connector
Pin 26
Pin 18
Pin 9
Pin 19
Pin 10
Pin 1
Publication 2094-UM001A-EN-P — September 2006
Kinetix 6000 Connector Data 55
Motor Feedback Connector Pinouts
Stegmann Hiperface (SRS/SRM)
3
6
7
4
5
8
MF Pin Description
1 Sine differential input+
2 Sine differential input-
Cosine differential input+
Cosine differential input-
Hiperface data channel
Common
Encoder power (+9V)
Reserved
(1)
Not applicable unless motor has integrated thermal protection.
Signal
SINE+
SINE-
COS+
COS-
DATA+
ECOMM
EPWR_9VM
—
12
13
14
15
MF Pin Description
9 Reserved
10
11
Hiperface data channel
Motor thermal switch (normally closed)
(1)
Reserved
Reserved
Encoder power (+5V)
Reserved
Signal
—
DATA-
TS
—
—
EPWR_5VM
—
TTL or Sine/Cosine with Index Pulse and Hall Commutation
6
7
4
5
8
MF Pin Description
1
2
3
AM+ / Sine differential input+
AM- / Sine differential input-
BM+ / Cosine differential input+
Signal
AM+ / SINE+
AM- / SINE-
BM+ / COS+
BM- / Cosine differential input-
Index pulse+
Common
Encoder power (+9V)
BM- / COS-
IM+
ECOMM
EPWR_9VM
Single-ended 5V hall effect commutation S3
(1)
Not applicable unless motor has integrated thermal protection.
12
13
14
15
MF Pin Description
9
10
11
Reserved
Index pulse-
Motor thermal switch (normally closed)
(1)
Signal
—
IM-
TS
Single-ended 5V hall effect commutation S1
Single-ended 5V hall effect commutation S2
Encoder power (+5V)
Reserved
EPWR_5VM
—
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56 Kinetix 6000 Connector Data
Resolver Transmitter (transformation ratio = 0.25)
MF Pin
1
2
3
6
7
4
5
8
Description
Sine differential input+
Sine differential input-
Cosine differential input+
Cosine differential input-
Resolver excitation
Common
Encoder power (+9V)
Reserved
Signal
S2
S4
S1
S3
R1
ECOMM
EPWR_9VM
—
MF Pin Description
9 Reserved
10
11
Resolver excitation
Motor thermal switch
(normally closed)
(1) (2)
12
13
14
15
Reserved
Reserved
Encoder power (+5V)
Reserved
Signal
—
R2
TS
—
—
EPWR_5VM
—
(1)
Not applicable unless motor has integrated thermal protection.
(2)
When using 1326AB (resolver-based) motors, use Low-profile Connector Kit (2090-K6CK-D15MF) that connects the filtered thermal switch (pins 16 and 17) to MF-11 and
MF-6.
IMPORTANT
To meet CE requirements, combined motor power cable length for all axes on the same dc bus must not exceed 240 m (787 ft) with 460V systems or 160 m (525 ft) with 230V systems.
Drive-to-motor power cables must not exceed 90 m (295.5 ft).
Pin Orientation for 15-pin Motor Feedback (MF) Connector
15-pin IAM/AM
Motor Feedback Connector
Pin 15
Pin 11
Pin 6
Pin 10
Pin 5
Pin 1
Publication 2094-UM001A-EN-P — September 2006
6
7
4
5
8
2
3
AF Pin
1
Description
Sine differential input+
Sine differential input-
Cosine differential input+
Cosine differential input-
Hiperface data channel
Common
Encoder power (+9V)
Reserved
6
7
4
5
8
2
3
AF Pin
1
Description
A+ / Sine differential input+
A- / Sine differential input-
B+ / Cosine differential input+
B- / Cosine differential input-
Index pulse+
Common
Encoder power (+9V)
Reserved
Kinetix 6000 Connector Data 57
Auxiliary Feedback Connector Pinouts
For TTL devices, the position count will increase when A leads B. For sinusoidal devices, the position count will increase when cosine leads sine.
Stegmann Hiperface (SRS and SRM only)
Signal
SINE+
SINE-
COS+
COS-
DATA+
ECOM
EPWR_9V
—
12
13
14
15
AF Pin
9
10
11
Description
Reserved
Hiperface data channel
Reserved
Reserved
Reserved
Encoder power (+5V)
Reserved
Signal
—
DATA-
—
—
—
EPWR_5V
—
TTL or Sine/Cosine with Index Pulse
Signal
A+ / SINE+
A- / SINE-
B+ / COS+
B- / COS-
I+
ECOM
EPWR_9V
—
12
13
14
15
AF Pin
9
10
11
Description
Reserved
Index pulse-
Reserved
Reserved
Reserved
Encoder power (+5V)
Reserved
Signal
—
I-
—
—
—
EPWR_5V
—
Pin Orientation for 15-pin Auxiliary Feedback (AF) Connector
15-pin IAM/AM
Auxiliary Feedback Connector
Pin 6
Pin 11
Pin 15
Pin 1
Pin 5
Pin 10
Publication 2094-UM001A-EN-P — September 2006
58 Kinetix 6000 Connector Data
IAM Input Connector Pinouts
Control Power Connector
CPD Pin
1
2
Description
Control power VAC input
Signal
CTRL 2
CTRL 1
DC Bus and Input Power Connector
3
4
5
6
IPD Pin
1
2
Description
An integral, unregulated power supply, consisting of ac line input, three-phase bridge rectifier, and filter capacitors.
Chassis ground.
Signal
DC-
DC+
Three-phase input power.
L3
L2
L1
Contactor Enable Connector
CED Pin
1
2
Description
Relay-driven dry contact used in the safety string for a three-phase power contactor.
Signal
CONT EN-
CONT EN+
Publication 2094-UM001A-EN-P — September 2006
Kinetix 6000 Connector Data
IAM and AM Motor Power and Brake Connector Pinouts
Motor Power Connector
3
2
1
MP Pin
4
Description
Chassis ground
Three-phase motor power
Signal
W
V
U
59
IMPORTANT
To meet CE requirements, combined motor power cable length for all axes on the same dc bus must not exceed 240 m (787 ft) with 460V systems or 160 m (525 ft) with 230V systems.
Drive-to-motor power cables must not exceed 90 m (295.5 ft).
Motor Brake/Resistive Brake Connector
5
4
BC Pin
6
Description
Motor brake connections
3
2
1
Motor brake common
+24V brake input power (from LIM or customer supplied)
Resistive brake module (RBM) connections (from RBM and safety string)
Signal
MBRK-
MBRK+
COM
PWR
DBRK-
DBRK+
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60 Kinetix 6000 Connector Data
Understanding IAM/AM
Signal Specifications
A description of the Kinetix 6000 IAM/AM input/output (IOD),
SERCOS, contactor enable (CED), brake (BC), and control power
(CPD) connectors is provided on the following pages.
Digital Inputs
Two fast registration inputs and four other inputs are available for the machine interface on the integrated sxis module (IAM) and axis module (AM). Each IAM and AM supplies 24V dc @ 500 mA for the purpose of registration, home, enable, over-travel positive, and over-travel negative inputs. These are sinking inputs that require a sourcing device. A 24V power and common connection is provided for each input.
IMPORTANT
To improve registration input EMC performance, refer to the
System Design for Control of Electrical Noise Reference
Manual, publication GMC-RM001.
IMPORTANT
Overtravel limit input devices must be normally closed.
IOD Pin
IOD-2
IOD-5
IOD-14
IOD-17
IOD-8
IOD-11
Signal
ENABLE
HOME
REG1
REG2
OT+
OT-
Understanding Digital Inputs
Description
Capture
Time
Optically isolated, single-ended active high signal. Current loading is nominally 10 mA. A 24V dc input is applied to this terminal to enable each axis.
Optically isolated, single-ended active high signal. Current loading is nominally 10 mA. Home switch (normally open contact) inputs for each axis require 24V dc (nominal).
Fast registration inputs are required to inform the motor interface to capture the positional information with less than 3 μ s uncertainty. Optically isolated, single-ended active high signal. Current loading is nominally
10 mA. A 24V dc input is applied to this terminal to enable each axis.
Overtravel detection is available as an optically isolated, single-ended active high signal. Current loading is nominally 10 mA per input. The pos/ neg limit switch (normally closed contact) inputs for each axis require 24V dc (nominal).
20 ms
20 ms
500 ns
20 ms
Digital Input Specifications
Parameter
On-state voltage
On-state current
Description
Current flow to guarantee an on-state.
Min
ENABLE, HOME, and OT+/OT10.8V
Voltage applied to the input, with respect to IOCOM, to guarantee an on-state.
REG1 and REG2 21.6V
3.0 mA
Off-state voltage
Voltage applied to the input, with respect to IOCOM, to guarantee an off-state.
-1.0V
Edge/Level
Sensitive
Level
Level
Edge
Level
Max
26.4V
26.4V
10.0 mA
3.0V
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Kinetix 6000 Connector Data 61
Enable, Home, and Overtravel Digital Input Circuits
24V dc
(1)
I/O SUPPLY
IOD-1, -4, -7, -10
INPUT
IOD-2, -5, -8, -11
VCC
3k
Ω
0.1
μ
F 511
Ω
IO_COM
IOD-3, -6, -9, -12
Customer-supplied Input Device
1k
Ω
Kinetix 6000 IAM/AM
(1)
24V dc source (range) = 21.6V - 26.4V (supplied by drive, not to exceed 500 mA total).
Maximum current input = 10 mA
CTRL_INPUT
Registration Digital Input Circuits
IOD-13, -16
+24V dc
I/O SUPPLY
INPUT
IOD-14, -17
3k
Ω
0.001
μ
F
IO_COM
Customer-supplied Registration
Input Device
IOD-15, -18
Kinetix 6000 IAM/AM
511
Ω
HCPL-0631
VCC
1k
Ω
REG_INPUT
SERCOS Connections
Two fiber-optic connectors (transmit and receive) are provided on the integrated axis module (IAM) and axis module (AM).
SERCOS Communications Specifications
Specification
Data Rates
Node Addresses
Description
2, 4, and 8 Mbps
01...99
(1)
(1)
Node address assignments begin with the integrated axis module (IAM). Node addresses for additional axes on the same power rail are assigned by incrementing from left to right (starting with the IAM address).
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62 Kinetix 6000 Connector Data
Analog Outputs
The integrated axis module (IAM) and axis module (AM) include two analog outputs (IOD-23 and -25) that can be configured through software to represent drive variables.
Analog Output Circuit
Oscilloscope
Kinetix 6000 IAM/AM CH1 CH2
2.5V = 0 ref
2.5V
DAC
(second channel not shown)
IMPORTANT
Output values can vary during power-up until the specified power supply voltage is reached.
Analog Output Specifications
Parameter Description
Resolution
Number of states that the output signal is divided into, which is 2
(to the number of bits)
.
Output current
Output signal range
Current capability of the output.
Range of the output voltage.
Offset error Deviation when the output should be at 0V.
Bandwidth Frequency response of the analog output
Min
—
0
0
— dc
Max
±11 bits
+2 mA
+5V
1 mV
7.2k Hz (3 db)
For configuration/setup of the analog outputs, refer to Supplemental
Troubleshooting Information beginning on page 160.
Publication 2094-UM001A-EN-P — September 2006
Kinetix 6000 Connector Data 63
Contactor Enable Relay
Contactor enable is a relay-driven contact used in the safety control string to protect the drive electronics during certain fault conditions. It is capable of handling 120V ac or 24V dc at 1 A or less. Contactor enable is a function of the converter and is not available in the axis modules. An active state indicates the drive is operational and does not have a fault.
ATTENTION
Wiring the contactor enable relay is required. To avoid personal injury or damage to the drive, wire the contactor enable relay into your safety control string so that:
• three-phase power is removed from the drive in the event of shutdown fault conditions.
• drive operation is prevented when the Power Rail is not fully populated.
• control power is applied to the drive prior to three-phase power.
Refer to IAM Wiring Example (without LIM) on page 196 for a
wiring example.
IMPORTANT
All power rail slots must have a module installed or the contactor enable relay will not close.
Contactor Enable Relay Circuit
CONT EN+
Normally
Open
Relay
Kinetix 6000 IAM
CONT EN-
Contactor Enable Relay Output Specifications
Parameter Description
On-state current
On-state resistance
Current flow when the relay is closed
Contact resistance when the relay is closed
Off-state voltage
Voltage across the contacts when the relay is open
Min
—
—
—
Max
1 A
1
Ω
120V ac or
24V dc
Publication 2094-UM001A-EN-P — September 2006
64 Kinetix 6000 Connector Data
Motor/Resistive Brake Relay
Two connections are required for the (customer-supplied) motor/ resistive brake input power (BC-3 and -4) and two connections each for the motor and resistive brake output, as shown in the figure below. Connections are rated for +24V and current as shown in the table below.
An active signal releases the motor brake (BC-5 and -6). The brake signal is the same as the contactor enable signal, with the addition of the turn-on and turn-off delays specified by the brake active delay and brake inactive delay (configurable in RSLogix 5000 software). Refer to
Axis Module/Motor Wiring Examples beginning on page 204 and
Controlling a Brake Example on page 210 for wiring examples.
The resistive brake relay (BC-1 and -2) controls the resistive brake module (RBM) contactor. The RBM is wired between the drive and motor, using an internal contactor to switch the motor between the drive and a resistive load. The RBM contact delay is the time it takes to fully close the contactor across the motor power input lines, and
must be configured in RSLogix 5000 software. Refer to Integrating
Resistive Brake Modules with Kinetix 6000 Drives beginning on page
Brake Relay Circuit
Kinetix 6000 IAM/AM
Publication 2094-UM001A-EN-P — September 2006
1 1
COM
(BC-4)
(1)
Noise suppression device.
DBRK-
(BC-2)
DBRK+
(BC-1)
MBRK-
(BC-6)
MBRK+
(BC-5)
PWR
(BC-3)
Brake Relay Output Specifications
Parameter
On-state current
(1)
On-state resistance
Off-state voltage
Description
Current flow when the relay is closed
IAM/AM
2094-AC05-M xx , -AC09-M xx ,
2094-AMP5, -AM01, -AM02
2094-BC01-M xx , -BC02-M xx ,
2094-BMP5, -BM01, -BM02
2094-AC16-M xx , -AC32-M xx ,
2094-AM03, -AM05
2094-BC04-M xx , -BC07-M xx ,
2094-BM03, -BM05
Contact resistance when the relay is closed
Voltage across the contacts when the relay is open
(1)
For motors requiring more than the maximum current specified, a relay must be added.
Max
1.0 A
1.3 A
3.0 A
1
Ω
30V
Kinetix 6000 Connector Data 65
Control Power Input
The integrated axis module (IAM) requires ac input power for logic circuitry.
IMPORTANT
The control power input requires an ac (EMC) line filter for CE
certification. For wiring examples, refer to Power Wiring
Examples beginning on page 193.
IMPORTANT
Source 2094-AC xx -M xx (230V) IAM control power from the three-phase input power (line-to-line). Supplying 230V control power from any other source requires an isolation transformer.
If used, do not ground either leg of the isolation transformer output. Control power isolation, via a step-down transformer, is required for all 460V applications.
Refer to Transformer Specifications for Control Power Input on page 179.
Control Power Current Specifications
Specification
Input voltage
Input power frequency
Description
95...264V ac rms, single-phase
47...63 Hz
Control Power Current Requirements
4
5
2
3
6
7
0
1
Number of Axis
Modules
(1)
Current Requirements
(110/115V ac input)
750 mA
1.5 A
2.25 A
3 A
3.75 A
4.5 A
5.25 A
6 A
Current Requirements
(220/230V ac input)
350 mA
700 mA
1 A
1.35 A
1.7 A
2 A
2.4 A
3 A
Input VA
150 VA
200 VA
275 VA
350 VA
450 VA
550 VA
650 VA
750 VA
(1)
This number does not include the axis module (inverter section) that resides inside the integrated axis module.
Publication 2094-UM001A-EN-P — September 2006
66 Kinetix 6000 Connector Data
Understanding Feedback
Specifications
The integrated axis module (IAM) and axis module (AM) can accept motor and auxiliary feedback signals from the following types of encoders:
•
Stegmann Hiperface
•
TTL or Sine/Cosine with index pulse and Hall commutation
•
Resolver Transmitter TR = 0.25 (motor feedback only)
TIP
Auto-configuration in RSLogix 5000 software of intelligent absolute, high-resolution, and incremental encoders is possible only with Allen-Bradley motors.
+
-
1k
Ω
Drive
Motor and Auxiliary Feedback Specifications
AM, BM, and IM input encoder signals are filtered using analog and digital filtering. The inputs also include illegal state change detection.
AM, BM, and IM Motor Encoder Input Circuits
1k
Ω
56 pF
1k Ω
1k
Ω
1k Ω
56 pF
1k
Ω
56 pF
1k
Ω
56 pF
100 pF
100 pF
10k
Ω
10k Ω
+
-
+5 V
10k Ω
10k Ω
1k Ω
1k Ω
56 pF
56 pF
Drive
AM and BM Channel Inputs
IM Channel Input
Motor Encoder Feedback Specifications
Specification
Encoder types
Maximum input frequency
Commutation feedback
Description
Incremental, A quad B, sine/cosine, intelligent, resolver, and absolute
5.0 MHz (TTL input) per channel
250 kHz (sine/cosine input)
Hall sensor
Publication 2094-UM001A-EN-P — September 2006
Kinetix 6000 Connector Data 67
AM, BM, and IM Input Specifications for TTL Encoders
Parameter
AM, BM, and IM
On-state input voltage
AM, BM, and IM
Off-state input voltage
Common mode input voltage
DC current draw
AM, BM input signal frequency
IM pulse width
AM, BM phase error
2.5 MHz line frequency
AM, BM phase error
1 MHz line frequency
Description
Input voltage difference between the plus (+) input and the minus (-) input that is detected as an on-state.
Input voltage difference between the plus (+) input and the minus (-) input that is detected as an off-state.
Potential difference between any encoder signal and logic ground.
Current draw into the + or - input.
Frequency of the AM or BM signal inputs. The count frequency is 4 times this frequency, since the circuitry counts all four transitions.
Pulse width of the index input signal. Since the index is active for a percentage of a revolution, the speed will determine the pulse width.
Amount that the phase relationship between the AM and BM inputs can deviate from the nominal 90°.
Amount that the phase relationship between the AM and BM inputs can deviate from the nominal 90°.
Min
+1.0V
-1.0V
-7.0V
-30 mA
—
125 nS
-22.5°
-45°
—
+22.5°
+45°
Parameter
Sine/cosine input signal frequency
Sine/cosine input voltage
AM, BM, and IM Input Specifications for Sine/Cosine Encoders
Description Min
Frequency of the Sine or Cosine signal inputs.
Peak-to-peak input voltages of the Sine or Cosine inputs.
—
0.5V (p-p)
Max
250 kHz
2.0V (p-p)
Max
+7.0V
-7.0V
+12.0V
30 mA
5.0 MHz
Feedback Power Supply
The IAM and AM power circuit board generates +5V and +9V dc for motor and auxiliary feedback power. Short circuit protection and separate common mode filtering for each channel is included.
Motor and Auxiliary Feedback Power Specifications
Supply
+5V dc
+9V dc
Reference
EPWR_5V
EPWR_9V
Voltage
Min
5.13
8.3
Nominal
5.4
9.1
Max
5.67
9.9
(1)
400 mA on the 5V supply split in any manner between the channels with no load on the 5V supply.
(2)
275 mA on the 9V supply split in any manner between the channels with no load on the 9V supply.
(3)
300 mA on the 5V supply on one channel with 150 mA on the 9V supply on the second channel.
Current mA
Min
10
10
Max
400
(1) (3)
275
(2) (3)
Publication 2094-UM001A-EN-P — September 2006
68 Kinetix 6000 Connector Data
Locating Shunt Module
Connectors and Indicators
The Kinetix 6000 shunt module (2094-BSP2) is suitable for both 230V and 460V applications.
Locating Shunt Module Connectors and Indicators
Shunt Module, Front View
(2094-BSP2)
Motor Cable
Shield Clamp
COL
INT
DC+
TS2
TS1
External Shunt Resistor
(RC) Connector
External Thermal Switch
(TS) Connector
Shunt Module, Front View
(2094-BSP2)
Shunt Fault LED
Over-Temp Fault LED
Bus Status LED
Mounting Screw
Shunt Module Connectors
Designator Description
RC External shunt resistor connector
TS Thermal switch connector
Connector
Three-position connector housing
Two-position connector housing
External Shunt Resistor Three-pin (RC) Connector Pinout
2
3
RC Pin
1
Description
External shunt resistor connection
Internal shunt connection
Shunt collector connection
Signal
DC+
INT
COL
External Thermal Switch Two-pin (TS) Connector Pinout
TS Pin
1
2
Description
External passive shunt module thermal switch connections
Signal
TS1
TS2
Refer to Understanding External Shunt Module Connections on page
113 when wiring the RC and TS connectors.
Publication 2094-UM001A-EN-P — September 2006
Chapter
5
Connecting the Kinetix 6000 Drive System
Introduction
Understanding Basic
Wiring Requirements
This chapter provides procedures for wiring your Kinetix 6000 system components and making cable connections.
Topic
Understanding Basic Wiring Requirements
Determining Your Type of Input Power
Setting the Ground Jumper in Ungrounded Power Configurations
Grounding Your Kinetix 6000 System
Applying the Motor Cable Shield Clamp
Understanding Feedback and I/O Cable Connections
Understanding External Shunt Module Connections
Understanding Resistive Brake Module Connections
Connecting Your SERCOS Fiber-optic Cables
Page
This section contains basic wiring information for the Kinetix 6000 drive.
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.
69
SHOCK HAZARD
To avoid hazard of electrical shock, perform all mounting and wiring of IAM, AM, SM, LIM, RBM, or power rail prior to applying power. Once power is applied, connector terminals may have voltage present even when not in use.
Publication 2094-UM001A-EN-P — September 2006
70 Connecting the Kinetix 6000 Drive System
IMPORTANT
This section contains common PWM servo system wiring configurations, size, and practices that can be used in a majority of applications. National Electrical Code, local electrical codes, special operating temperatures, duty cycles, or system configurations take precedence over the values and methods provided.
Building Your Own Cables
IMPORTANT
Factory-made cables are designed to minimize EMI and are recommended over hand-built cables to optimize system performance.
•
Connect the cable shield to the connector shells on both ends of the cable with a complete 360° connection.
•
Use a twisted pair cable whenever possible. Twist differential signals with each other and twist single-ended signals with the appropriate ground return.
Refer to the Kinetix Motion Control Selection Guide, publication
GMC-SG001 for low profile connector kit, drive-end (mating) connector kit, and motor-end connector kit catalog numbers.
Routing Power and Signal Wiring
Be aware that when you route power and signal wiring on a machine or system, radiated noise from nearby relays, transformers, and other electronic drives can be induced into motor or encoder feedback signals, input/output communications, or other sensitive low voltage signals. This can cause system faults and communication problems.
Refer to Minimizing Electrical Noise on page 27 for examples of
routing high and low voltage cables in wireways. Refer to the System
Design for Control of Electrical Noise Reference Manual, publication
GMC-RM001, for more information.
Publication 2094-UM001A-EN-P — September 2006
Connecting the Kinetix 6000 Drive System 71
Determining Your Type of
Input Power
Before wiring input power to your Kinetix 6000 system, you must determine the type of input power you are connecting to. The IAM is designed to operate in both grounded and ungrounded environments.
ATTENTION
When using a LIM with your Kinetix 6000 drive, the VAC LINE input power must come from a grounded configuration (refer to the figure below).
When not using a LIM with your Kinetix 6000 drive, ungrounded configurations are permitted, but you must set the jumper to prevent high electrostatic build-up.
Refer to Setting the Ground Jumper in Ungrounded Power
Configurations on page 75 for more information.
Grounded Power Configurations
The grounded (WYE) power configuration lets you ground your three-phase power at a neutral point. This type of grounded power configuration is preferred.
Grounded Power Configuration (WYE Secondary)
Integrated Axis Module, Top View
(2094-AC xx -M xxS is shown)
Three-phase
Input VAC
Phase Ground
Transformer (WYE) Secondary
L3
Transformer
L2
L1
Bonded Cabinet
Ground
Ground Grid or
Power Distribution Ground
CTRL 2
CTRL 1
DC-
DC+
L3
L2
L1
CONT EN-
CONT EN+
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
RX
DPI
TX BAUD
RATE
Connect to power rail ground stud.
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72 Connecting the Kinetix 6000 Drive System
Grounded (B-Phase) Power Configuration (Delta Secondary)
Integrated Axis Module, Top View
(2094-BC xx -M xxS is shown)
Transformer (Delta) Secondary
Transformer
L3
L2
L1
CTRL 2
CTRL 1
DC-
DC+
L3
L2
L1
CONT EN-
CONT EN+
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
RX
DPI
TX BAUD
RATE
Bonded Cabinet
Ground
Connect to power rail ground stud.
Ground Grid or
Power Distribution Ground
The integrated axis module (IAM) has a factory-installed ground jumper configured for grounded power distribution.
IMPORTANT
If you determine that you have grounded power distribution in your plant, you do not need to modify your IAM.
Publication 2094-UM001A-EN-P — September 2006
Connecting the Kinetix 6000 Drive System 73
Three-phase
Input VAC
Chassis Ground
Ungrounded Power Configurations
Ungrounded power configurations are allowed, but you must jumper across a 120 k
Ω
resistor (internal to the IAM) to prevent high electrostatic build-up. The ungrounded power configuration (shown below) does not provide a neutral ground point. The IAM has a ground jumper set for grounded power distribution (default configuration).
IMPORTANT
If you determine that you have ungrounded power distribution in your facility, you need to move the default jumper (configured for grounded power) to the ungrounded power position to prevent electrostatic buildup inside the IAM.
Refer to Setting the Ground Jumper in Ungrounded Power
Configurations on page 75 for more information.
Ungrounded Power Configuration
Integrated Axis Module, Top View
(2094-BC xx -M xxS is shown)
Transformer
L3
L2
L1
CTRL 2
CTRL 1
DC-
DC+
L3
L2
L1
CONT EN-
CONT EN+
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
RX
DPI
TX BAUD
RATE
Bonded Cabinet
Ground
Ground Grid or
Power Distribution Ground
Connect to power rail ground stud.
ATTENTION
Ungrounded systems do not reference each phase potential to a power distribution ground. This can result in an unknown potential to earth ground.
Publication 2094-UM001A-EN-P — September 2006
74 Connecting the Kinetix 6000 Drive System
DC Common Bus
Configurations
When an integrated axis module (IAM) is used in a dc common bus configuration, the IAM is known as a leader IAM or follower IAM. The
IAM (non-common bus) and leader IAM have identical three-phase input power connections. The leader IAM is responsible for discharging the dc bus, and for providing common bus follower drives with dc bus pre-charge, bus regulation, phase-loss detection, and ground fault detection. Follower IAMs do not have three-phase input power connections, but have dc bus connections from a leader IAM.
This IAM
IAM
Leader IAM
Follower IAM
IAM Terminology and Use
Is Wired
With three-phase input power.
With three-phase input power, but has dc common bus connections to a follower IAM.
Without three-phase input power, but has dc common bus connections from a leader IAM.
And is
Not wired in common bus mode.
Wired in common bus mode.
Wired in common bus mode and configured using RSLogix 5000 software.
IMPORTANT
Use Kinetix 6000 drive firmware v1.85 and RSLogix 5000 software v15 or later, for dc common bus power configurations.
The Kinetix 6000 leader IAM can operate with non-Kinetix 6000 follower drives, as can the Kinetix 6000 follower IAM operate with non-Kinetix 6000 common bus leader drives. However, non-Kinetix
6000 leader and follower drives must meet the same functional requirements as the Kinetix 6000 leader and follower IAMs.
IMPORTANT
Any non-Kinetix 6000 common bus leader that does not provide pre-charge is required to add an additional external pre-charge circuit before connecting to any Kinetix 6000 common bus follower IAM.
Integrated Axis Module
(2094x C xx -M xxS)
Common Bus Leader IAM
Typical DC Common Bus Configuration
Axis Module
(2094x M xxS)
Integrated Axis Module
(2094x C xx -M xxS)
Common Bus Follower IAM
Axis Module
(2094x M xxS)
Bonded Cabinet
Ground
Three-phase
Input Power
DC Common Bus
Connections
CTRL 2
CTRL 1
DC-
DC+
L3
L2
L1
CONT EN-
CONT EN+
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
RX
DPI
TX BAUD
RATE
RX
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
TX
BAUD
RATE
RX
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
TX
BAUD
RATE
N.C.
N.C.
N.C.
CTRL 2
CTRL 1
DC-
DC+
L3
L2
L1
CONT EN-
CONT EN+
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
RX
DPI
TX BAUD
RATE
RX
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
TX
BAUD
RATE
RX
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
TX
BAUD
RATE
Publication 2094-UM001A-EN-P — September 2006
Connecting the Kinetix 6000 Drive System 75
Common Bus Fusing Requirements
When using a Kinetix 6000 leader IAM, dc bus fuses are only required when wiring to more than one Kinetix 6000 follower IAM. When wiring multiple follower IAMs, terminal blocks are required to extend the dc common bus power to additional drives. Fuses should be installed in both lines of the dc bus between the dc bus terminal block and each follower IAM. These fuses should be rated based on the dc input current of each follower IAM.
When using a non-Kinetix 6000 common bus leader, dc bus fuses are required in both lines of the dc bus, between the common bus leader and follower IAM. These fuses should be rated based on the leader’s dc output current. When using more than one follower IAM, fuses should be installed in both lines of the dc bus between the non-Kinetix 6000 common bus leader and the terminal block as well as between the dc bus terminal block and each follower IAM.
Refer to Circuit Breaker/Fuse Specifications on page 177 for
Setting the Ground Jumper in Ungrounded Power
Configurations
Setting the ground jumper is only necessary when using an ungrounded power configuration. Setting the jumper involves removing the IAM from the power rail, opening the IAM, and moving the jumper.
Setting the ground jumper is best done when the integrated axis module (IAM) is removed from the power rail and placed face-up on a solid surface equipped as a grounded static safe workstation.
ATTENTION
To avoid personal injury and/or equipment damage, remove the
IAM from the power rail before setting the ground jumper.
To remove the IAM from the power rail, refer to Removing Power Rail
IMPORTANT
If you have grounded power distribution, you do not need to set
the ground jumper. Go to Grounding Your Kinetix 6000 System on page 78
.
Publication 2094-UM001A-EN-P — September 2006
76
P17
P16
P15
Connecting the Kinetix 6000 Drive System
When using ungrounded input power in common bus configurations, use the table below to determine where to set the ground jumper.
Ground Jumper to Set
When Leader Drive is
Kinetix 6000 IAM
Kinetix 6000 IAM non-Kinetix 6000 IAM
And Follower Drive is
Kinetix 6000 IAM non-Kinetix 6000 IAM
Kinetix 6000 IAM
Then Set the Jumper in This
Drive
Leader Drive.
Leader Drive.
Follower Drive (if no setting exists in the leader drive).
Setting the Ground Jumper
Follow these steps to set the ground jumper.
1.
Remove the top and bottom front panel screws.
Refer to the appropriate figure for your 230V or 460V IAM.
Setting the Ground Jumper (230V IAM)
Top Screw
Integrated Axis Module (230V)
2094-AC xx -M xx -S
Ground jumper set for ungrounded configuration.
Ground jumper set for grounded configuration
(default setting).
Front Panel (opened) Bottom Screw
Publication 2094-UM001A-EN-P — September 2006
Connecting the Kinetix 6000 Drive System
Setting the Ground Jumper (460V IAM)
Top Screw
77
Integrated Axis Module (460V)
2094-BC xx -M xx -S
P14
P12
P13
Ground jumper set for ungrounded configuration.
Ground jumper set for grounded configuration
(default setting)
Front Panel (opened)
Bottom Screw
2.
Swing the front panel open to the right, as shown, and locate the ground jumper.
IMPORTANT
Do not attempt to remove the front panel from the IAM.
The front panel LEDs and switches are also connected to the IAM with a ribbon cable. The ribbon cable will act like a hinge and allow you to swing the front panel open and access the ground jumper.
3.
Determine if you have a 230V system or 460V system.
For This IAM
2094-AC xx -M xx -S (230V)
2094-BC xx -M xx -S (460V)
Move the Ground Jumper From
P16 to P17
P14 to P12
4.
Replace the IAM front panel and two screws.
Apply 1.6 Nm (14 lb-in) torque.
5.
Mount the IAM back on the power rail.
Refer to Mounting the Modules on page 45 for instructions.
Publication 2094-UM001A-EN-P — September 2006
78 Connecting the Kinetix 6000 Drive System
Grounding Your
Kinetix 6000 System
All equipment and components of a machine or process system should have a common earth ground point connected to chassis. A grounded system provides a ground path for short circuit protection.
Grounding your modules and panels minimize shock hazard to personnel and damage to equipment caused by short circuits, transient overvoltages, and accidental connection of energized conductors to the equipment chassis.
ATTENTION
The National Electrical Code contains grounding requirements, conventions, and definitions. Follow all applicable local codes and regulations to safely ground your system.
For CE grounding requirements, refer to Agency Compliance on page 16.
2094 Power Rail
(2094-PRS x shown)
Ground Stud
2094 Power Rail on 2094 Mounting Brackets
(2094-PRS x shown)
Ground Stud
Braided
Ground Strap
PR
PRS
PR/PRS
Grounding Your System to the Subpanel
The 2094 power rail (2094-PR x or 2094-PRS x ) ships with a braided ground strap, 100 mm (3.9 in.), that connects to the bonded cabinet ground bus. Connect the other end to either the power rail ground stud or mounting bracket ground stud, if mounting brackets are used.
Connecting the Braided Ground Strap Examples
Braided
Ground Strap
Bonded Cabinet
Ground Bus
Ground Grid or Power
Distribution Ground
LIM
Line Interface Module on 2094 Mounting Brackets
(2094-AL xx S shown)
2094 Mounting Bracket
(2094-XNBRKT-1)
Braided
Ground Strap
LIM
2094 Mounting Bracket
(2094-XNBRKT-1)
Ground Stud
Bonded Cabinet
Ground Bus
Ground Grid or Power
Distribution Ground
Bonded Cabinet
Ground Bus
Ground Grid or Power
Distribution Ground
Publication 2094-UM001A-EN-P — September 2006
Connecting the Kinetix 6000 Drive System 79
For power rail dimensions, refer to the Kinetix 6000 Power Rail
Installation Instructions, publication 2094-IN003.
For mounting bracket dimensions, refer to the 2094 Mounting
Brackets Installation Instructions, publication 2094-IN008.
IMPORTANT
When 2094 mounting brackets are used to mount the power rail or LIM over the ac line filter, the braided ground strap must be removed from the power rail and attached to a mounting bracket ground stud.
Grounding Multiple Subpanels
Extending the chassis ground to multiple subpanels is illustrated in the figure below. High-frequency (HF) bonding is not illustrated.
Subpanels Connected to a Single Ground Point
Follow NEC and applicable local codes.
Bonded Ground Bus
Ground Grid or Power
Distribution Ground
For HF bonding information, refer to Bonding Multiple Subpanels on page 29.
Publication 2094-UM001A-EN-P — September 2006
80 Connecting the Kinetix 6000 Drive System
Power Wiring
Requirements
Wire should be copper with 75
°
C (167
°
F) minimum rating. Phasing of main ac power is arbitrary and earth ground connection is required for safe and proper operation.
IMPORTANT
The National Electrical Code and local electrical codes take precedence over the values and methods provided.
IAM Power Wiring Requirements
Module
IAM
(230V)
IAM
(460V)
Catalog Number
2094-AC05-M xx -S
2094-AC09-M xx -S
2094-AC16-M xx -S
2094-AC32-M xx -S
2094-BC01-M xx -S
2094-BC02-M xx -S
2094-BC04-M xx -S
2094-BC07-M xx -S
Description
DC bus and
(1)
VAC input power
Connects to Terminals
Pin
IPD-1
IPD-2
IPD-3
IPD-4
IPD-5
IPD-6
Signal
DC-
DC+
L3
L2
L1
Recommended
Wire Size mm
2
10 (8)
25 (4)
10 (8)
25 (4)
(AWG)
2.5 (14)
4.0 (12)
Strip Length mm (in.)
10 (0.38)
16 (0.63)
10 (0.38)
16 (0.63)
Torque Value
Nm (lb-in)
0.5 - 0.6
(4.4 - 5.3)
2.4 - 3.0
(21.6 - 26.5)
1.2 - 1.5
(10.6 - 13.2)
2.4 - 3.0
(21.6 - 26.5)
IAM
(230V or 460V)
2094x C xx -M xx -S
Control input power
Contactor Enable
CPD-1
CPD-2
CED-1
CED-2
CTRL 2
CTRL 1
CONT EN-
CONT EN+
2.5 (14)
2.5 (14)
(2)
10 (0.38)
0.5 - 0.6
(4.4 - 5.3)
0.5 - 0.6
(4.4 - 5.3)
(1)
(2)
DC common bus connections (leader IAM to follower IAM) should be kept as short as possible.
The actual gauge of the contactor enable wiring depends on the system configuration. Consult your machine builder, the NEC, and applicable local codes.
ATTENTION
To avoid personal injury and/or equipment damage, make sure 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.
To avoid personal injury and/or equipment damage, make sure motor power connectors are used for connection purposes only.
Do not use them to turn the unit on and off.
To avoid personal injury and/or equipment damage, make sure shielded power cables are grounded to prevent potentially high voltages on the shield.
Publication 2094-UM001A-EN-P — September 2006
Connecting the Kinetix 6000 Drive System 81
Module
IAM or AM
Catalog Number
IAM/AM Power Wiring Requirements
Description
Connects to Terminals
Pin Signal
Recommended
Wire Size mm
2
(AWG)
Strip Length mm (in.)
2094-AC05-M xx -S
2094-AC09-M xx -S
2094-BC01-M xx -S
2094-BC02-M xx -S
2094-AMP5-S, -AM01-S ,
-AM02-S, -BMP5-S,
-BM01-S , and -BM02-S
2094-AC16-M xx -S
2094-AC32-M xx -S
2094-AM03-S, -AM05-S
2094-BC04-M xx -S
2094-BC07-M xx -S
2094-BM03-S, -BM05-S
Motor power
MP-4
MP-3
MP-2
MP-1
W
V
U
Motor power cable depends on motor/drive combination.
6 (10) max
10 (0.38)
10 (0.38)
25 (4) max 16 (0.63)
IAM or AM
(230 or 460V)
2094x C xx -M xx -S and
2094x M xx -S
IAM or AM
(230 or 460V)
2094x C xx -M xx -S and
2094x M xx -S
Brake power
Safe-off
SO-1
SO-2
SO-3
SO-4
SO-5
SO-6
SO-7
SO-8
SO-9
BC-6
BC-5
BC-4
BC-3
BC-2
BC-1
MBRK-
MBRK+
COM
PWR
DBRK-
DBRK+
FDBK2+
FDBK2-
FDBK1+
FDBK1-
SAFETY
ENABLE2+
SAFETY
ENABLE-
SAFETY
ENABLE1+
24V +
24V_COM
0.75 (18) 10 (0.38)
0.75 (18)
(stranded wire with ferrule)
1.5 (16)
(solid wire)
7.0 (0.275)
Module
SM (230/460V)
2094-BSP2
Shunt Module Power Wiring Requirements
Description
1394-SRxxxx
External passive shunt module
Thermal switch
Connects to Terminals
Pin Signal
RC-1
RC-2
RC-3
TS-1
TS-2
DC+
INT
COL
TS1
TS2
(1)
105 °C (221 °F), 600V.
1.2 - 1.5
(10.6 - 13.2)
2.4 - 3.0
(21.6 - 26.5)
Recommended
Wire Size mm
2
(AWG)
Torque Value
Nm (lb-in)
10 (8)
(1)
0.75 (18)
Torque Value
Nm (lb-in)
0.5 - 0.6
(4.4 - 5.3)
0.22 - 0.25
(1.9 - 2.2)
0.235 (2.0)
1.2 - 1.5
(10.6 - 13.2)
0.22 - 0.25
(1.9 - 2.2)
Publication 2094-UM001A-EN-P — September 2006
82 Connecting the Kinetix 6000 Drive System
Refer to Power Specifications on page 170 for additional information.
Refer to Power Wiring Examples on page 193 for interconnect
diagrams.
ATTENTION
This drive contains ESD (Electrostatic Discharge) sensitive parts and assemblies. You are required to follow static control precautions when you install, test, service, or repair this assembly. If you do not follow ESD control procedures, components can be damaged. If you are not familiar with static control procedures, refer to Allen-Bradley publication
8000-4.5.2, Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook.
ATTENTION
To avoid personal injury and/or equipment damage, ensure 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.
To avoid personal injury and/or equipment damage, ensure motor power connectors are used for connection purposes only.
Do not use them to turn the unit on and off.
To avoid personal injury and/or equipment damage, ensure shielded power cables are grounded to prevent potentially high voltages on the shield.
Publication 2094-UM001A-EN-P — September 2006
Wiring Guidelines
Connecting the Kinetix 6000 Drive System 83
Use these guidelines as a reference when wiring the connectors on your Kinetix 6000 drive modules or line interface module (LIM).
IMPORTANT
Refer to page 50 for the connector locations of the Kinetix 6000
drive modules.
When tightening screws to secure the wires, refer to the tables
beginning on page 80 for torque values.
When removing insulation from wires, refer to the tables
beginning on page 80 for strip lengths.
IMPORTANT
To ensure system performance, run wires and cables in the
wireways as established in Establishing Noise Zones on page
Refer to the Line Interface Module Installation Instructions, publication
2094-IN005, for LIM power wiring requirements and connector
locations. Refer to Wiring Examples beginning on page 192 for
interconnect diagrams including the LIM.
Follow these steps when wiring the connectors on your Kinetix 6000 drive modules or line interface module (LIM).
1.
Prepare the wires for attachment to each connector plug by removing insulation equal to the recommended strip length.
IMPORTANT
Use caution not to nick, cut, or otherwise damage strands as you remove the insulation.
2.
Route the cable/wires to your Kinetix 6000 drive module or LIM.
3.
Insert wires into connector plugs.
Refer to connector pinout tables in Chapter 4 or the interconnect
4.
Tighten the connector screws.
5.
Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten any loose wires.
6.
Insert the connector plug into the module connector.
Publication 2094-UM001A-EN-P — September 2006
84 Connecting the Kinetix 6000 Drive System
Wiring the LIM Connectors
This section provides examples and wiring tables to assist you in making connections to the line interface module (LIM) connectors.
Wiring the Auxiliary Input Power (APL) Connector
The Auxiliary Input Power (APL) connector is present only on the
2094-XL75S-C x models.
Line Interface Module (APL connector)
Line Interface Module, Top V iew
(2094-XL75 S -C x is shown)
1 2 L2/N
L1
Auxiliary Input Power (APL) Connector
Single-phase Supply APL Pin
L1
L2
1
2
Signal
L1
L2/N
Recommended
Wire Size mm
2
(AWG)
Strip Length mm (in.)
0.2-4.0
(24-10)
7.0
(0.28)
Torque Value
Nm (lb-in)
0.5 - 0.6
(4.4 - 5.3)
Publication 2094-UM001A-EN-P — September 2006
Connecting the Kinetix 6000 Drive System
Wiring the VAC LINE (IPL) Connector
Line Interface Module (IPL connector)
85
Line Interface Module, Top V iew
(2094-XL75 S -C x is shown)
1 2 3 4
L3
L2
L1
L1
L2
L3
VAC LINE (IPL) Connector
2094-AL09, -AL xx S, -BL xx S, and -XL75S-C x
Three-phase Supply IPL Pin Signal
Recommended
Wire Size mm
2
(AWG)
Strip Length mm (in.)
4
3
2
1
L1
L2
L3
2.5-25
(14-4)
16.0
(0.63)
VAC LINE (IPL) Connector
2094-BL02
Recommended
Wire Size mm
2
(AWG)
Strip Length mm (in.)
Three-phase Supply IPL Pin
L1
L2
L3
1
2
3
4
Signal
L1
L2
L3
4.0
(12)
10.0
(0.38)
Torque Value
Nm (lb-in)
2.7
(24)
Torque Value
Nm (lb-in)
1.5 - 1.8
(13.2 - 15.9)
Publication 2094-UM001A-EN-P — September 2006
86 Connecting the Kinetix 6000 Drive System
Wiring the VAC LOAD (OPL) Connector
Line Interface Module (OPL connector)
1 2 3 4
L3
L2
L1
Line Interface Module, Top V iew
(2094-XL75 S -C x is shown)
IMPORTANT
Line interface modules (2094-AL xx S, -BL xx S, and -XL75S-C x ) are capable of connecting to two IAMs, providing each IAM has its own line filter and the maximum current specification is not exceeded.
Refer to Power Wiring Examples
the LIM wired to two IAMs.
L1
L2
L3
VAC LOAD (OPL) Connector (2094-AL xx S, -BL xx S, or -XL75S-C x )
Three-phase Supply OPL Pin Signal
Recommended Wire Size mm
2
(AWG)
Strip Length mm (in.)
4
3
2
1
L1’
L2’
L3’
2.5-25
(14-4)
16.0
(0.63)
VAC LOAD (OPL) Connector (2094-AL09)
Three-phase Supply OPL Pin
L1
L2
L3
1
2
3
4
Signal
L1’
L2’
L3’
Recommended Wire Size mm
2
(AWG)
Strip Length mm (in.)
2.5-25
(14-4)
16.0
(0.63)
L1
L2
L3
VAC LOAD (OPL) Connector (2094-BL02)
Three-phase Supply OPL Pin Signal
Recommended Wire Size mm
2
(AWG)
Strip Length mm (in.)
4
3
2
1
L1’
L2’
L3’
4.0
(12)
10.0
(0.38)
Torque Value
Nm (lb-in)
2.7
(24)
Torque Value
Nm (lb-in)
2.7
(24)
Torque Value
Nm (lb-in)
1.5 - 1.8
(13.2 - 15.9)
Publication 2094-UM001A-EN-P — September 2006
Connecting the Kinetix 6000 Drive System
Wiring the Control Power Output (CPL) Connector
Line Interface Module (CPL connector)
Line Interface Module, Top V iew
(2094-XL75 S -C x is shown)
1 2
87
CTRL
2
CTRL
1
Control Power Output (CPL) Connector
2094-AL xx S, -BL xx S, -XL75S-C x
CPL Pin
1
2
Signal
CTRL 1
CTRL 2
Recommended
Wire Size mm
2
(AWG)
0.2-4.0
(24-10)
Strip Length mm (in.)
7.0
(0.28)
Control Power Output (CPL) Connector
2094-AL09 and -BL02
CPL Pin
2
1
Signal
L1
L2/N
Recommended
Wire Size mm
2
(AWG)
2.5
(14)
Strip Length mm (in.)
10.0
(0.38)
Torque Value
Nm (lb-in)
0.5 - 0.6
(4.4 - 5.3)
Torque Value
Nm (lb-in)
0.5 - 0.6
(4.4 - 5.3)
Publication 2094-UM001A-EN-P — September 2006
88 Connecting the Kinetix 6000 Drive System
Wiring the Auxiliary Power Output (P2L) Connector
Line Interface Module (P2L connector)
Line Interface Module, Top V iew
(2094-XL75 S -C x is shown)
1 2 3 4
AUX
2_L2
AUX2_L1
AUX
1_L2
AUX
1_L1
1
2
3
4
Auxiliary Power Output (P2L) Connector
2094-AL xx S, -BL xx S, -XL75S-C x
P2L Pin Signal
Recommended
Wire Size mm
2
(AWG)
AUX1_L1
AUX1_L2
AUX2_L1
AUX2_L2
0.2-4.0
(24-10)
Strip Length mm (in.)
7.0
(0.28)
Torque Value
Nm (lb-in)
0.5 - 0.6
(4.4 - 5.3)
Publication 2094-UM001A-EN-P — September 2006
Connecting the Kinetix 6000 Drive System
Wiring the Brake Power Output (24V dc) Connector
Line Interface Module (24V connector)
Line Interface Module, Top V iew
(2094-XL75 S -C x is shown)
89
1 2 3 4 5 6
IO_P
W
R2
W
R2
IO_P
W
R2
IO_P
IO_COM2
1
2
3
4
5
6
Brake Power Output (24V dc) Connector
2094-AL xx S, -BL xx S, -XL75S-C x
P1L Pin Signal
Recommended
Wire Size mm
2
(AWG)
IO_PWR2
IO_COM2
IO_PWR2
IO_COM2
IO_PWR2
IO_COM2
0.08-1.5
(28-16)
Strip Length mm (in.)
7.0
(0.28)
3
4
1
2
Brake Power Output (24V dc) Connector
2094-AL09 and -BL02
PSL Pin Signal
Recommended
Wire Size mm
2
(AWG)
MBRK PWR
MBRK COM
MBRK PWR
MBRK COM
2.5
(14)
Strip Length mm (in.)
10.0
(0.38)
Torque Value
Nm (lb-in)
0.22-0.25 (1.9-2.2)
Torque Value
Nm (lb-in)
0.5 - 0.6
(4.4 - 5.3)
Publication 2094-UM001A-EN-P — September 2006
90
Wiring the IAM/AM
Connectors
Connecting the Kinetix 6000 Drive System
This section provides examples and wiring tables to assist you in making connections to the integrated axis module (IAM) connectors.
Wiring the Control Power (CPD) Connector
This example applies to an integrated axis module (IAM), leader IAM, or follower IAM.
Integrated Axis Module (CPD connector)
Integrated Axis Module, Top V iew
(2094-BC02-M02S is shown)
1 2 CTRL
2
CTRL
1
IMPORTANT
LIM models (2094-AL75S and BL75S) will supply up to eight axes. LIM models (2094-XL75S-C x ) will supply up to sixteen axes.
IMPORTANT
Source the 230V IAM control power from the three-phase input power (line-to-line). Supplying 230V control power from any other source requires an isolation transformer. If used, do not ground either output leg of the isolation transformer.
Refer to Control Power Input on page 65 for more information
and IAM Wiring Example (without LIM) on page 196 for the
interconnect drawing.
Control Power (CPD) Connector
CPL Connector (LIM) or Other Single-phase Input
2094-AL xx S, -BL xx S,
-XL75S-C x
2094-AL09 and -BL02
CPL Pin
1
2
Signal
CTRL 1
CTRL 2
CPL Pin
2
1
Signal
L1
L2/N
CPD Connector (IAM)
CPD Pin
1
2
Signal
CTRL 2
CTRL 1
Recommended
Wire Size mm
2
(AWG)
Strip Length mm (in.)
2.5 (14) 10 (0.38)
Torque Value
Nm (lb-in)
0.5 - 0.6
(4.4 - 5.3)
Publication 2094-UM001A-EN-P — September 2006
Connecting the Kinetix 6000 Drive System 91
Wiring the Input Power (IPD) Connector
This example applies to an integrated axis module (IAM) or leader
IAM (dc common bus).
Integrated Axis Module (IPD connector)
Integrated Axis Module, Top View
(2094-BC02-M02-S is shown)
DC+
L3
L2
L1
Input Power (IPD) Connections
2
3
OPL Pin
1
OPL Connector (LIM) or Other Three-phase Input
2094-AL09
2094-BL02, -AL xx S, -BL xx S, or -XL75S-C x
Signal
L1’
L2’
L3’
OPL Pin
4
3
2
Signal
L1’
L2’
L3’
5
4
IPD Pin
6
IPD Connector
(IAM or leader IAM)
Signal
L1
L2
L3
4
N/A
1 3
2
1
DC+
DC-
Termination Specifications
Integrated Axis Module
Cat. No.
Input VAC
2094-AC05-M xx -S
2094-AC09-M xx -S
2094-AC16-M xx -S
2094-AC32-M xx -S
2094-BC01-M xx -S
2094-BC02-M xx -S
2094-BC04-M xx -S
2094-BC07-M xx -S
230V ac
460V ac
Recommended
Wire Size mm
2
(AWG)
Strip Length mm (in.)
2.5 (14) 10 (0.38)
10 (8)
25 (4)
4.0 (12)
10 (8)
25 (4)
16 (0.63)
10 (0.38)
16 (0.63)
Torque Value
Nm (lb-in)
0.5 - 0.6
(4.4 - 5.3)
2.4 - 3.0
(21.6 - 26.5)
1.2 - 1.5
(10.6 - 13.2)
2.4 - 3.0
(21.6 - 26.5)
Publication 2094-UM001A-EN-P — September 2006
92 Connecting the Kinetix 6000 Drive System
This example applies to a follower IAM (dc common bus).
Integrated Axis Module (IPD connector)
Integrated Axis Module, Top View
(2094-BC02-M02-S is shown)
DC+
L3
L2
L1
Input Power (IPD) Connections
3
2
1
5
4
IPD Pin
6
IPD Connector
(IAM or follower IAM)
Signal
N.C.
N.C.
N.C.
DC+
DC-
IMPORTANT
Do not connect three-phase input power to the follower IAM.
Termination Specifications
Integrated Axis Module
Cat. No.
Input VAC
2094-AC05-M xx -S
2094-AC09-M xx -S
2094-AC16-M xx -S
2094-AC32-M xx -S
2094-BC01-M xx -S
2094-BC02-M xx -S
2094-BC04-M xx -S
2094-BC07-M xx -S
230V ac
460V ac
Recommended
Wire Size mm
2
(AWG)
Strip Length mm (in.)
2.5 (14) 10 (0.38)
10 (8)
25 (4)
4.0 (12)
10 (8)
25 (4)
16 (0.63)
10 (0.38)
16 (0.63)
Torque Value
Nm (lb-in)
0.5 - 0.6
(4.4 - 5.3)
2.4 - 3.0
(21.6 - 26.5)
1.2 - 1.5
(10.6 - 13.2)
2.4 - 3.0
(21.6 - 26.5)
Publication 2094-UM001A-EN-P — September 2006
Connecting the Kinetix 6000 Drive System 93
Wiring the Contactor Enable (CED) Connector
This example applies to any integrated axis module (IAM), leader
IAM, or follower IAM.
Integrated Axis Module (CPD connector
)
Integrated Axis Module, Top V iew
(2094-BC02-M02S is shown)
1 2
CONT EN-
CONT EN+
ATTENTION
Wiring the contactor enable relay is required. To avoid personal injury or damage to the drive, wire the contactor enable relay into your safety control string.
Refer to Contactor Enable Relay on page 63.
In common bus configurations, the contactor enable (CED) connections for leader and follower drives must be wired in series to the safety control string.
For interconnect diagrams, refer to Wiring Examples beginning on page 192.
Contactor Enable (CED) Connector
IO_COM1
LIM I/O (IOL) Connector or
Other Control String
2094-AL xx S, -BL xx S,
-XL75S-C x
2094-AL09 and -BL02
IO_COM
COIL_E2 COIL_A2
CED Pin
1
2
Signal
CONT EN-
CONT EN+
Recommended
Wire Size mm
2
(AWG)
2.5 (14)
(1)
Strip Length mm (in.)
10 (0.38)
Torque Value
Nm (lb-in)
0.5 - 0.6
(4.4 - 5.3)
(1)
The actual gauge of the contactor enable wiring depends on the system configuration. Consult your machine builder, the NEC, and applicable local codes.
Publication 2094-UM001A-EN-P — September 2006
94 Connecting the Kinetix 6000 Drive System
Wiring the Safe-off (SO) Connector
This example applies to any integrated axis module (IAM) or axis module (AM) equipped with the safe-off (SO) connector.
Integrated Axis Module (CED connector)
Kinetix 6000 IAM/AM
(Kinetix 6000 AM is shown)
Safe-off
(SO) Connector
1
1 2
3 4
5 6
7 8
9
Motion Allowed Jumper
Wiring Plug Header
Publication 2094-UM001A-EN-P — September 2006
Each IAM and AM ships with the (9-pin) wiring plug header and motion allowed jumper installed in the safe-off connector. With the motion allowed jumper installed, the safe-off feature is not used.
Pinouts for the safe-off (SO) connector are shown on page 52.
IMPORTANT
Pins SO-8 and -9 (24V+) are only used by the motion allowed jumper. When wiring to the wiring plug header, the 24V supply must come from an external source.
Safe-off (SO) Connector
CED Pin
6
7
8
9
3
4
5
1
2
Signal
FDBK2+
FDBK2-
FDBK1+
FDBK1-
SAFETY ENABLE2+
SAFETY ENABLE-
SAFETY ENABLE1+
24V +
24V_COM
Recommended
Wire Size mm
2
(AWG)
Strip Length mm (in.)
Torque Value
Nm (lb-in)
0.75 (18)
(stranded wire with ferrule)
1.5 (16)
(solid wire)
7.0 (0.275) 0.235 (2.0)
To wire the safe-off connector in single axis or multi-axis configurations, refer to the Kinetix Safe-off Feature Safety Reference
Manual, publication GMC-RM002.
Connecting the Kinetix 6000 Drive System 95
Wiring the Motor Power (MP) Connector
This example applies to axis modules (AM) and the inverter section of integrated axis modules (IAM).
Integrated Axis Module/Axis Module (MP connector)
Integrated Axis Module, Top V iew
(2094-BC02-M02S is shown)
W
V
U
1 2 3 4
Cable S hield Clamp
Cable Shield Terminations
Factory supplied motor power cables for MP-Series, TL-Series,
1326AB, F-, and Y-Series motors are shielded, and the braided cable shield must terminate at the drive during installation. A small portion of the cable jacket must be removed to expose the shield braid. The exposed area must be clamped (using the clamp provided) on top of the IAM or AM and the power wires terminated in the motor power
(MP) connector plug.
SHOCK HAZARD
To avoid hazard of electrical shock, ensure shielded power cables are grounded at a minimum of one point for safety.
IMPORTANT
For TL- and Y-Series motors, also connect the 152 mm (6.0 in.) termination wire to the closest earth ground.
Refer to Pigtail Terminations on page 100 for more information.
Publication 2094-UM001A-EN-P — September 2006
96 Connecting the Kinetix 6000 Drive System
Motor Power Cables with Three-phase Wires Only
Motor
MP-Series Low Inertia
MP-Series Integrated Gear
1326AB (M2L/S2L)
TL-Series
F-Series
Motor Catalog Number
Motor Power Cable
Catalog Number
MPL-A/B3 xxx , -A/B4 xxx , -A/B45 xxx ,
-A/B5 xxx , -B6 xxx , -B8 xxx , -B9 xxx , S/M
MPG-A/B xxxx S/M
1326AB-B xxxx -M2L/S2L
TL-A xxxx -H
Fxxxx
2090-XXNPMPxx S xx
2090-XXNPT-16S xx
2090-XXNPHFxx S xx
These cables only contain the three-phase wires and the motors have a separate connector for brake connections. Thermal switch wires are included in the feedback cable.
IMPORTANT
No drive-end preparation is required for these cables.
Motor Power Terminations (three-phase wires only)
Motor Cable
Shield Clamp
Cable Clamp
(with tie wrap)
CTRL 2
CTRL 1
DC-
DC+
L3
L2
L1
CONT EN-
CONT EN+
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
RX
DPI
TX
BAUD
RATE
Motor Power (MP) Connector Plug
The cable shield clamp shown above is mounted to an IAM. Cables attach to the clamp on each AM in the same way.
IMPORTANT
Securing the cable shield in the clamp with a tie wrap is recommended to improve stress relief.
Publication 2094-UM001A-EN-P — September 2006
Connecting the Kinetix 6000 Drive System 97
Motor Power Cables with Three-phase and Brake Wires
Motor
MP-Series Low Inertia
MP-Series Food Grade
MP-Series Stainless Steel
Y-Series
Motor Catalog Number
Motor Power Cable
Catalog Number
MPL-A/B15 xxx and MPL-A/B2 xxx V/E
MPF-A/B xxxx S/M
MPS-A/B xxxx S/M
Yxxxx
2090-XXNPMFxx S xx
2090-XXNPY-16S xx
These MP-Series brake wires have a shield braid (shown below as gray) that folds back under the cable clamp before the conductors are attached to the motor brake (BC) connector. Y-Series brake wires are not shielded and do not require routing under the cable clamp.
The thermal switch wires for the MP-Series motors are included in the feedback cable.
Refer to Axis Module/Motor Wiring Examples beginning on page 204
for interconnect diagrams.
IMPORTANT
No drive-end preparation is required for these cables.
Refer to page 99 for drive-end cable pinouts.
Motor Power Terminations (three-phase and brake wires)
Motor Cable
Shield Clamp
(with tie wrap)
MP-Series Cable Brake Wires
Y-Series brake wires are not shielded and do not require routing under the cable clamp.
CTRL 2
CTRL 1
DC-
DC+
L3
L2
L1
CONT EN-
CONT EN+
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
RX
DPI
TX BAUD
RATE
Motor Power
(MP) Connector
Resistive/Motor Brake
(BC) Connector
The cable shield clamp shown above is mounted to an IAM. Cables attach to the clamp on each AM in the same way.
IMPORTANT
Securing the cable shield in the clamp with a tie wrap is recommended to improve stress relief.
Publication 2094-UM001A-EN-P — September 2006
98 Connecting the Kinetix 6000 Drive System
Motor Power Cables with Three-phase, Brake, and Thermal Switch Wires
Motor
1326AB (resolver)
Motor Catalog Number
1326AB-B xxxx -21
Motor Power Cable
Catalog Number
1326-CP x 1xxx
The 1326AB (resolver) power cable contains the three-phase wires, brake wires, and thermal switch wires. To improve the EMC performance of your system, route the wires as shown.
IMPORTANT
Drive-end preparation is required for these cables.
Refer to page 99 for drive-end pinouts and cable preparation.
Low-profile motor feedback connector
(2090-K6CK-D15MF) pins 16, 17, and S provide filtering for 1326-CP x 1xxx cables
(refer to page 111 for an illustration).
Motor Power Terminations (three-phase, brake, and thermal switch wires)
MF-16
MF-17
MF-S
Thermal Switch
Wires
Terminal Block (mounted on DIN rail)
Refer to page 28 for treatment of painted panels.
Thermal Switch Wires
Keep wires separated as much as possible.
Cable Clamp
(with tie wrap)
CTRL 1
CTRL 2
DC-
DC+
L3
L2
L1
CONT EN-
CONT EN+
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
RX
DPI
TX BAUD
RATE
Motor Power
(MP) Connector
Resistive/Motor Brake
(BC) Connector
The cable shield clamp shown above is mounted to an IAM. Cables attach to the clamp on each AM in the same way.
IMPORTANT
Securing the cable shield in the clamp with a tie wrap is recommended to improve stress relief.
Publication 2094-UM001A-EN-P — September 2006
Outer Insulation
Motor Power Cable
Exposed Braid
25.4 mm (1.0 in.)
Connecting the Kinetix 6000 Drive System 99
Shield Clamp Cable Preparation (1326-CP x 1xxx )
Cable Pinouts (2090-XXNPY-16S xx, and 2090-XXNPMFxx S xx )
Strip Length 10 mm (0.375 in.)
1326AB (resolver) Motors
(1326-CP x 1xxx cable)
Y-Series Motors
(2090-XXNPYxx S xx cable)
MPL-A/B15 xx , MPL-A/B2 xx ,
MPF-A/B and MPS-A/B Motors
(2090-XXNPMFxx S xx cable)
9 Black
5 Black
Thermal switch wires
4 Black
Brake wires
6 Black
N/A
1 White
2 Red
Spare wire set
3 Black
2 Black Motor
Power
Wires
1 Black
Grn/Yel
7 Black
9 Black
Brake wires
3 Black
2 Black
1 Black
Motor
Power
Wires
Grn/Yel
BR+
White
Brake wires
BR-
Black
U Brown
V Black Motor
Power
Wires
W Blue
Grn/Yel
105 mm (4.1 in.)
130 mm (5.1 in.)
Refer to Axis Module/Motor Wiring Examples beginning on page 204
for interconnect diagrams.
Motor Power (MP) Connector
1326AB (resolver) and Y-Series
1 / Black
2 / Black
3 / Black
Green/Yellow
Servo Motor
1326AB (M2L/S2L), F-, TL-, and MP-Series
U / Brown
V / Black
W / Blue
Green/Yellow
1
2
3
4
MP Connector (IAM/AM)
MP Pin Signal
U
V
W
Termination Specifications
IAM/AM
Cat. No.
2094-AC05-M xx -S
2094-AC09-M xx -S
2094-BC01-M xx -S
2094-BC02-M xx -S
2094-AMP5-S, -AM01-S , -AM02-S,
-BMP5-S, -BM01-S , and -BM02-S
2094-AC16-M xx -S
2094-AC32-M xx -S
2094-AM03-S, -AM05-S
2094-BC04-M xx -S
2094-BC07-M xx -S
2094-BM03-S, -BM05-S
Recommended
Wire Size mm
2
(AWG)
Strip Length mm (in.)
Motor power cable depends on motor/drive combination.
10 (0.38)
6 (10) max
10 (0.38)
25 (4) max 16 (0.63)
Torque Value
Nm (lb-in)
0.5 - 0.6
(4.4 - 5.3)
1.2 - 1.5
(10.6 - 13.2)
2.4 - 3.0
(21.6 - 26.5)
Publication 2094-UM001A-EN-P — September 2006
100 Connecting the Kinetix 6000 Drive System
Pigtail Terminations
TL- and Y-Series motors have a short pigtail cable which connects to the motor, but is not shielded. The preferred method for grounding the TL- and Y-Series motor power cable on the motor side is to expose a section of the cable shield and clamp it directly to the machine frame. The motor power cable also has a 150 mm (6.0 in.) shield termination wire with a ring lug that connects to the closest earth ground. Use this method in addition to the cable clamp. The termination wire may be extended to the full length of the motor pigtail if necessary, but it is best to connect the supplied wire directly to ground without lengthening.
Motor Power Cable
Pigtail Terminations
Cable Braid Clamped to Machine Frame.
(1)
Connectors
Pigtail Cable
Machine Frame
(1)
150 mm (6.0) Termination
TL-Series or
Y-Series
Motor
(1)
(1)
Remove paint from machine frame to ensure proper HF-bond between machine frame and motor case, shield clamp, and ground stud.
Publication 2094-UM001A-EN-P — September 2006
Connecting the Kinetix 6000 Drive System 101
Wiring the Motor/Resistive Brake (BC) Connector
This example applies to axis modules (AM) and the inverter section of integrated axis modules (IAM).
Integrated Axis Module/Axis Module (BC connector)
Integrated Axis Module, Top V iew
(2094-BC02-M02S is shown)
1 2 3 4 5 6
MBRK-
MBRK+
COM
P W
R
DBRK-
DBRK+
Motor/Resistive Brake
(BC) Connector
Wiring 24V dc Brake Input Power Connections
IMPORTANT
If your system includes a line interface module (LIM), you can source the 24V dc from the LIM (P1L or PSL connector).
Motor/Resistive Brake (BC) Connector
2
2094-AL xx S, -BL xx S,
-XL75S-C x
P1L Pin
1
Signal
IO_PWR2
IO_COM2
2094-AL09 and -BL02
PSL Pin
1
2
Signal
MBRK PWR
MBRK COM
BC Connector (IAM/AM)
BC Pin
3
4
Signal
PWR
COM
Wiring the Resistive Brake Module (RBM) Connections
Motor/Resistive Brake (BC) Connector
TB3 Pin
6
7
RBM I/O Connections
Signal
COIL_A1
COIL_A2
1
2
MP Pin
BC Connector (IAM/AM)
Signal
(1)
DBRK+
DBRK-
(1)
Firmware version 1.071 or later, is required to use the DBRK outputs on the Kinetix 6000 IAM/AM.
Publication 2094-UM001A-EN-P — September 2006
102 Connecting the Kinetix 6000 Drive System
Wiring the Motor Brake Connections
The procedure for wiring your motor brake varies slightly, depending on the motor series you are using. Refer to the table below to determine where the brake wires for your servo motor are located and for the appropriate brake cable or connector kit catalog number.
Motor Series
MPL-A/B3 xxx , MPL-A/B4 xxx ,
MPL-A/B45 xxx , MPL-A/B5 xxx ,
MPL-B6 xxx , MPL-B8 xxx ,
MPL-B9 xxx , and MPG-A/B
1326AB (M2L/S2L)
TL-A xxxx -H
F-Series
MPL-A/B15 xxx, MPL-A/B2 xxx ,
MPF-A/B and MPS-A/B
1326AB (resolver)
Y-Series
Brake Wires
The motor has a brake connector. Brake wires are in the brake cable.
The motor does not have a brake connector. Brake wires are included in the power cable.
Cable Catalog Number
2090-UXNBMP-18S
2090-DANBT-18S xx xx brake cable brake cable
Straight brake connector kit 9101-0330
2090-XXNPMFxx S xx power cable
1326-CP x 1xxx power cable
2090-XXNPY-16S xx power cable
IMPORTANT
Use surge suppression when controlling a brake coil. Refer to
Controlling a Brake Example on page 210.
Brake Cable Preparation
Outer Insulation
Strip Length 10 mm (0.375 in.)
Brake Cable
BR+
BR-
105 mm (4.1 in.)
Motor/Resistive Brake (BC) Connector
2090-UXNBMP-18S xx
Brake Cable
Motor Brake Wires
2090-DANBT-18S xxx
Brake Cable
2090-XXNPMFxx S xx
Power Cable
1326-CP x 1xxx
Power Cable
A / BR+
C / BR-
1 / BR+
2 / BR-
F/+ / BR+
G/- / BR-
6 / B1
4 / B2
BC Connector (IAM/AM)
2090-XXNPY-16S xx
Power Cable
BC Pin Signal
7 / BR+
9 / BR-
5
6
MBRK+
MBRK-
Termination Specifications
BC Connector (IAM/AM)
BC Pin Signal
BC-6
BC-5
BC-4
BC-3
BC-2
BC-1
MBRK-
MBRK+
COM
PWR
DBRK-
DBRK+
Recommended
Wire Size mm
2
(AWG)
Strip Length mm (in.)
0.75 (18) 10 (0.38)
Torque Value
Nm (lb-in)
0.22 - 0.25
(1.9 - 2.2)
Publication 2094-UM001A-EN-P — September 2006
Connecting the Kinetix 6000 Drive System 103
Applying the Motor Cable
Shield Clamp
This procedure assumes you have completed wiring your motor power (MP) connector and are ready to apply the motor cable shield clamp.
Follow these steps to apply the motor cable shield clamp.
1.
Use a small flat blade screwdriver to depress the spring loaded clamping plate.
Flat Blade Screwdriver
3.5 mm (0.14 in.) tip
Cable Clamp
Exposed Braid
(under clamp)
Vertical Cable Clamp
Orientation Example
Screwdriver tip in slot
2.
Position the exposed portion of the cable braid directly in line with the clamp.
3.
Release the spring, making sure the cable and cable braid are held secure by the clamp.
4.
Attach tie wrap around cable and clamp for additional strain relief.
Motor
Cable
Outer Insulation
Cable Clamp
Horizontal Cable Clamp Orientation Example
Outer Insulation
Tie Wrap
Cable Clamp
Exposed Braid
(under clamp)
Motor Cable
Vent holes on top of IAM/AM
5.
Repeat Steps 1...4 for each AM and IAM.
Publication 2094-UM001A-EN-P — September 2006
104 Connecting the Kinetix 6000 Drive System
Understanding Feedback and I/O Cable Connections
Factory made cables with premolded connectors are designed to minimize EMI and are recommended over hand-built cables to improve system performance. However, other options are available for building your own feedback and I/O cables.
Options for Connecting Motor Feedback and I/O
Connection Option
Connector Kit
Catalog Number
Cable Using this Type of Cable
Premolded connectors N/A
2090-K6CK-D15M
Low-profile connector
2090-K6CK-D15MF
2090-K6CK-D15F
2090-K6CK-D26M
Panel-mounted breakout board kits
2090-UXBK-D15
(1)
Not compatible with 1326-CCU x-xxx cable.
xx
(1)
Motor feedback
Motor feedback
Auxiliary feedback
I/O interface
Motor feedback
Refer to the table below for the premolded motor feedback cable available for your motor.
Refer to the table below for the flying-lead cable available for your motor.
1326-CCU x-xxx.
User-supplied flying-lead cable.
User-supplied flying-lead cable.
Refer to the table below for the flying-lead cable available for your motor.
Motor Feedback Cables for Specific Motor/Feedback Combinations
Motor Series Feedback Type
Premolded
Feedback Cable
Flying-Lead
Pinout
MPL-A xxxx S/M
MPL-B xxxx S/M
MPL-A3 xxx -H
MPL-A4 xxxH
MPL-A45 xxxH
MPL-A5 xxxH
MPG-A xxxxS/M
MPG-B xxxxS/M
MPL-B xxxxR
MPL-A15 xxx -H
MPL-A2 xxxH
MPL-B15 xxx -H
MPL-B2 xxxH
MPL-A xxxxV/E
MPL-B xxxxV/E
MPF-A xxxxS/M
MPF-B xxxxS/M
MPS-A xxxxS/M
MPS-B xxxxS/M
TL-A xxxx -H
1326AB-B xxxx -M2L/S2L
1326AB-B xxxx -21
F-Series
Y-Series
High-resolution encoder
Incremental encoder
High-resolution encoder
Motor resolver
Incremental encoder
High-resolution encoder
Incremental encoder
High-resolution encoder
Motor resolver
Incremental encoder
2090-UXNFBMP-S xx 2090-XXNFMP-S xx
N/A
N/A
2090-CDNFDMP-S xx
2090-XXNFMF-S xx
2090-XXNFT-S xx N/A
2090-UXNFBMP-S xx 2090-XXNFMP-S xx
N/A 1326-CCU x-xxx
2090-UXNFBHF-S xx 2090-XXNFHF-S xx
2090-UXNFBY-S xx 2090-XXNFY-S xx
Publication 2094-UM001A-EN-P — September 2006
Connecting the Kinetix 6000 Drive System 105
Flying-lead Feedback Cable Pin-outs
2090-XXNFMP-S xx Feedback Cable
T
U
V
R
S
N
P
K
L
E
F
C
D
A
B
Motors with High Resolution Feedback
Motor
Connector
Pin
MPL-B xxx -M/-S
MPL-A5 xxx -M/-S
1326AB-B xxx -M2L/-S2L
Sine+
Sine-
Cos+
Cos-
Data+
Data-
Reserved
Reserved
EPWR_9V
ECOM
TS+
TS-
Reserved
Reserved
Reserved
EPWR_5V
ECOM
Reserved
Reserved
TS+
TS-
Reserved
Reserved
Reserved
MPL-A3 xxx -M/-S
MPL-A4 xxx -M/-S
MPL-A45 xxx -M/-S
MPG-A/B xxx -M/-S
Sine+
Sine-
Cos+
Cos-
Data+
Data-
S1
S2
S3
IM+
IM-
EPWR_5V
ECOM
Reserved
Reserved
TS+
TS-
AM+
AM-
BM+
BM-
Motors with Incremental
Encoder Feedback
MPL-A3 xxx -H
MPL-A4 xxx -H
MPL-A45 xxx -H
MPL-A5 xxx -H
Drive MF
Connector
Pin
12
13
8
7
6
11
–
5
10
14
6
3
4
1
2
2090-CDNFDMP-S xx Feedback Cable
R
S
G
H
C
D
A
B
Motor
Connector
Pin
Resolver Feedback
MPL-B xxxx -R Motors
S2
S4
S1
S3
R1
R2
TS+
TS-
3
4
5
10
1
2
Drive MF
Connector
Pin
11
6
Publication 2094-UM001A-EN-P — September 2006
106 Connecting the Kinetix 6000 Drive System
2090-XXNFMF-S xx Feedback Cable
15
16
17
11
12
13
14
5
6
9
10
3
4
1
2
Motor
Connector
Pin
MPL-B15 xxx -V/-E
MPL-B2 xxx -V/-E
MPF/MPS-B xxx -M/-S
MPF-A5 xx -M/-S
Sine+
Sine-
Cos+
Cos-
Data+
Data-
Reserved
Reserved
EPWR_9V
ECOM
TS+
TS-
Reserved
Reserved
Reserved
Motors with High Resolution Feedback
EPWR_5V
ECOM
Reserved
Reserved
TS+
TS-
Reserved
Reserved
Reserved
MPL-A15 xxx -V/-E
MPL-A2 xxx -V/-E
MPF/MPS-A3 xx -M/-S
MPF/MPS-A4 xx -M/-S
MPF/MPS-A45 xx -M/-S
MPS-A5 xx -M/-S
Sine+
Sine-
Cos+
Cos-
Data+
Data-
Motors with Incremental
Encoder Feedback
MPL-A15 xxx -H
MPL-A2 xxx -H
MPL-B15 xxx -H
MPL-B2 xxx -H
S1
S2
S3
Reserved
Reserved
TS+
TS-
AM+
AM-
BM+
BM-
IM+
IM-
EPWR_5V
ECOM
12
13
8
7
6
11
–
5
10
14
6
3
4
1
2
Drive MF
Connector
Pin
Publication 2094-UM001A-EN-P — September 2006
Connecting the Kinetix 6000 Drive System 107
2090-XXNFHF-S xx Feedback Cable
N
P
L
M
J
K
G
H
R
S
T
E
F
C
D
A
B
Motor
Connector
Pin
Incremental Encoder
Feedback
F-Series Motors
AM+
AM-
BM+
BM-
IM+
IM-
Reserved
Reserved
EPWR_5VM
EPWR_5VM
ECOMM
ECOMM
S2
S3
TS+
TS-
S1
13
8
11
6
12
6
6
14
14
–
–
5
10
3
4
1
2
Drive MF
Connector
Pin
2090-XXNFY-S xx Feedback Cable
15
17
19
22
23
11
12
13
14
Motor
Connector
Pin
Incremental Encoder
Feedback
Y-Series Motors
9
10
AM+
AM-
BM+
BM-
IM+
IM-
S1
S2
S3
EPWR_5VM
ECOMM
24 Drain
Reserved Reserved
Reserved Reserved
Reserved Reserved
Reserved Reserved
5
10
12
13
3
4
1
2
8
14
6
Drive MF
Connector
Pin
Connector
Housing
7
9
11
15
1326-CCUxxx Feedback Cable
G
H
E
F
C
D
A
B
Motor
Connector
Pin
Resolver Feedback
1326AB-B xxxx -21
R1
R2
–
S1
S3
–
S2
S4
4
–
–
3
1
2
Drive MF
Connector
Pin
(1)
5
10
1326-CP x 1xxx Power Cable
5
9
–
Motor
Connector
Pin
Thermal Switch
Connections
1326AB-B xxxx -21
TS+
TS-
Shield
Drive MF
Connector
Pin
16
17
S
(2)
(1)
(2)
Thermal switch wires (5 and 9) are in the motor power cable (1326-CP x 1xxx ). Use Low Profile connector kit (2090-K6CK-D15MF) and reference figure
Publication 2094-UM001A-EN-P — September 2006
108 Connecting the Kinetix 6000 Drive System
Wiring Feedback and I/O
Connectors
These procedures assume you have mounted your Kinetix 6000 system, completed all power wiring, and are ready to connect your feedback and I/O cables.
For This Connection
Premolded cable
Panel-mounted breakout board
Low-profile connector
Go to
Connecting Premolded Motor Feedback Cables on page 108.
Wiring Panel-mounted Breakout Board Kits on page 109.
Wiring Low-profile Connector Kits on page 110.
Integrated Axis Module, Front View
(2094-BC02-M02-S is shown)
Connecting Premolded Motor Feedback Cables
Motor feedback cables with premolded connectors plug directly into
15-pin motor feedback (MF) connectors on either the IAM or AM (no wiring is necessary).
IMPORTANT
When using Bulletin 2090 cables with premolded connectors, tighten the mounting screws (finger tight) to improve system performance.
Integrated Axis Module/Axis Module (MF connector)
Integrated Axis Module, Side View
(2094-BC02-M02-S is shown)
Premolded Connector
(2090-UXNFBMP-S xx cable)
Motor Feedback (MF) Connector
Publication 2094-UM001A-EN-P — September 2006
Integrated Axis Module, Front View
(2094-BC02-M02-S is shown)
Connecting the Kinetix 6000 Drive System 109
Wiring Panel-mounted Breakout Board Kits
The panel-mounted breakout board kit (catalog number
2090-UXBK-D15 xx ) includes a (DIN rail) breakout board and cable.
The cable connects between the breakout board and the motor feedback (MF) connector. Wires from your flying-lead motor feedback cable connect to the terminals.
Integrated Axis Module/Axis Module (MF connector)
Integrated Axis Module, Side View
(2094-BC02-M02-S is shown)
2090-UXBC-D15 xx
Breakout Cable
Motor Feedback (MF) Connector
2090-UXBB-D15
Panel-mounted Breakout Board
Wire Terminations
IMPORTANT
The panel-mounted breakout board kit (2090-UXBK-D15 xx ) is not compatible with 1326-CCU x-xxx cable.
Publication 2094-UM001A-EN-P — September 2006
110 Connecting the Kinetix 6000 Drive System
Wiring Low-profile Connector Kits
Low-profile connector kits (2090-K6CK-D xxx ) are suitable for motor feedback (MF), auxiliary feedback (AF), and I/O connections (IOD) on any IAM or AM. They also apply to I/O connections (IOL) on the
2094-AL09 and 2094-BL02 line interface module (LIM).
Integrated Axis Module/Axis Module (MF connector)
Integrated Axis Module, Front View
(2094-BC02-M02-S is shown)
Integrated Axis Module, Side View
(2094-BC02-M02-S is shown)
2090-XXNFMP-S xx (flying-lead)
Feedback Cable with
K6CK-D15M xx
Low-profile Connector Kit
Bare Wires
Wire Insulation
Foil Shield
Braided Shield
Outer Insulation
Motor Feedback (MF) Connector
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 Nm (3.5 lb-in) torque.
2090-XXNF xx-Sxx
Wiring (15-Pin) Flying-lead Feedback Cable Connections
2090-XXNF xx -S xx or 2090-CDNFDMP-S xx Feedback Cable
15-pin (male) Motor Feedback
Low-profile Connector
15-pin (female) Auxiliary Feedback
Low-profile Connector
Mounting
Screws
Pin 10
Pin 5
Pin 1
Pin 15
Pin 11
Pin 6
Pin 1
Pin 5
Pin 10
Pin 6
Pin 11
Pin 15
Shield Clamp
Tie
Wrap
Refer to Chapter 4 for feedback
signal descriptions.
Refer to Wiring Examples beginning on page 192 for the motor feedback
interconnect drawing for your application.
Exposed Braid under clamp
Turn clamp over to hold small wires secure.
2090-XXNF xx-Sxx or
2090-CDNFDMP-S xx Feedback Cable
Publication 2094-UM001A-EN-P — September 2006
Connecting the Kinetix 6000 Drive System 111
Bare Wires
Drain Wire
Wire Insulation
Foil Shield
Braided Shield
Outer Insulation
Drain wire (only with 1326-CCU x-xxx cable) folded back under clamp.
Shield Clamp
Turn clamp over to hold small wires secure.
Wiring (15-Pin) Flying-lead Feedback Cable Connections
1326-CCU x-xxx Motor Feedback Cable
15-pin (male) Motor Feedback
Low-profile Connector
15-pin (female) Auxiliary Feedback
Low-profile Connector
1326-CCU x-xxx
Mounting
Screws
Pin 10
Pin 5
Pin 1
Pin 15
Pin 11
Pin 6
Pin 1
Pin 5
Pin 10
Pin 6
Pin 11
Pin 15
Tie
Wrap
Refer to Chapter 4 for feedback
signal descriptions.
Refer to Wiring Examples beginning on page 192 for the motor feedback
interconnect drawing for your application.
Exposed Braid under clamp
1326-CCU x-xxx Feedback Cable
Pins S, 16, and 17 are only included on
2090-K6CK-D15MF Low Profile connectors and used for thermal switch connections to 1326AB
(resolver-based) motors. After filtering, these pins connect to MF-11 and -6.
Thermal Switch Wires
IMPORTANT
The purpose of the cable shield clamp is to provide a proper ground and improve system performance, not stress relief.
Clamping the exposed braid under the shield clamp is critical.
Turn clamp over, if necessary, to ensure a proper ground.
Publication 2094-UM001A-EN-P — September 2006
112 Connecting the Kinetix 6000 Drive System
Wiring (26-Pin) I/O Cable Connections
Mounting
Screws
Pin 18
Pin 9
Pin 26
Pin 1 Pin 19
Pin 10
26-pin (male) I/O
Low Profile Connector
12 11 10
Tie Wrap
Slot
Turn clamp over to hold small wires secure.
Discrete I/O Wire Three Conductor
I/O Cables
IMPORTANT
Clamping the exposed braid under the shield clamp is critical.
Turn clamp over, if necessary, to ensure a proper ground.
Publication 2094-UM001A-EN-P — September 2006
Connecting the Kinetix 6000 Drive System 113
Understanding External
Shunt Module Connections
Follow these guidelines when wiring your external active or passive shunt resistor kit.
IMPORTANT
When tightening screws to secure the wires, refer to the tables
beginning on page 80 for torque values.
IMPORTANT
To ensure system performance, run wires and cables in the
wireways as established in Chapter 2.
This Shunt Module Cat. No.
Power rail mounted shunt module.
2094-BSP2
External passive shunt connected to the power rail shunt module.
1394-SR xxxx
External active shunt connected to the dc bus.
1336-MOD-K xxxx
Shunt Module Wiring
With This Module Do This
N/A
•
Verify the internal shunt jumper is in place between RC-2 and RC-3, as shown in the figure below.
•
Verify the thermal switch jumper is in place between TS-1 and TS-2, as shown in the figure below.
SM
2094-BSP2
IAM
2094x C xx -M xx
•
Remove the internal shunt jumper between RC-2 and RC-3.
•
Remove the thermal switch jumper between TS-1 and TS-2
(if your shunt module includes a thermal switch).
•
Refer to External Shunt Resistor on page 40 and Mounting the External
•
Refer to Locating Shunt Module Connectors and Indicators on page 68.
•
Refer to Shunt Module Wiring Examples on page 201.
•
Refer to External Shunt Resistor on page 40.
•
Refer to Shunt Module Wiring Examples on page 201.
•
Refer to the installation instructions provided with your Bulletin 1336 shunt module, publication 1336-5.64.
Shunt Module Jumper Settings
Shunt Module, Top View
(2094-BSP2)
Cable Shield
Clamp
External Shunt Resistor
(RC) Connector
External Thermal Switch
(TS) Connector
COL
INT
DC+
TS2
TS1
COL
INT
DC+
TS2
TS1
Jumper
(1)
(1)
These are the default jumper settings.
Publication 2094-UM001A-EN-P — September 2006
114 Connecting the Kinetix 6000 Drive System
Understanding Resistive
Brake Module Connections
Follow these guidelines when wiring your Bulletin 2090 Resistive
Brake Module (RBM).
IMPORTANT
To ensure system performance, run wires and cables in the
wireways as established in Chapter 2.
If your application requires an RBM and you are wiring to a Kinetix
6000 IAM/AM drive, then refer to the following:
•
Resistive Brake Modules on page 42.
•
Resistive brake module to Kinetix 6000 drive interface cable
(catalog number 2090-XXNRBxx F x P x ).
•
2090 RBM in a category 2 configuration. in Appendix E.
•
The installation instructions provided with your RBM, publication
2090-IN009.
Resistive Brake Module Connections
I/O
(TB3) Connections
Motor Power
Cable Clamp
(exposed shield braid under clamp)
CTRL 2
CTRL 1
DC-
DC+
L3
L2
L1
CONT EN-
CONT EN+
Tie Wrap
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
RX
DPI
TX
BAUD
RATE
2094x C xx -M xx IAM or
2094x M xx AM (top view)
2090-XB xx-xx
Resistive Brake Module
(front view)
Drive Connection
(TB1) Connector
Exposed Shield Braid
Under Clamp
2090-XXNRBxx FvP x
RBM/Kinetix 6000 Interface Cable
Contactor Status LED
Motor Connection
(TB2) Connector
Motor Cable
Shield Clamps
Bulletin 2090 Motor Power Cable
To Motor
Publication 2094-UM001A-EN-P — September 2006
Connecting the Kinetix 6000 Drive System 115
Connecting Your SERCOS
Fiber-optic Cables
CompactLogix Platform
1768-M04SE SERCOS interface Module
Front View
Tx (rear)
Rx (front)
This procedure assumes you have your Logix SERCOS interface module/PCI card and Kinetix 6000 IAM/AM modules mounted and are ready to connect the fiber-optic cables.
The SERCOS fiber-optic ring is connected using the SERCOS receive
(Rx) and transmit (Tx) connectors. Refer to page 50 to locate the
SERCOS connectors on your Kinetix 6000 IAM/AM. Refer to the figure below to locate the connectors on your SERCOS interface module or
PCI card.
Plastic cable is available in lengths up to 32 m (105.0 ft). Glass cable is available in lengths between 50 m (164.2 ft) and 200 m (656.7 ft).
CompactLogix, ControlLogix, and SoftLogix SERCOS Connector Locations
SERCOS interface TM
CP OK
ControlLogix Platform
1756-M xx SE SERCOS interface Module
RSLogix 5000 Software
Tx (rear)
Rx (front)
Front View
D
E F
0
9A 8
1 2 3
67
OK
SoftLogix Platform
1756-PM16SE SERCOS interface PCI Card
(as viewed from the back of your PC)
TX
CP
SERCOS Transmit Connector, Tx
RX
SERCOS Receive Connector, Rx
Bottom View SERCOS Receive Connector, Rx (front)
SERCOS Transmit Connector, Tx (rear)
Connect the cable from transmit on the Logix module to receive on the IAM, then transmit to receive (drive to drive), and from transmit on the last drive back to receive on the Logix module.
SoftLogix and ControlLogix platforms are used in the examples beginning below, however, all platforms connect in the same manner.
Fiber-optic Cable Example 1 (basic SERCOS ring connections)
Transmit
Receive
E
F
OK
CP
TX
RX
SoftLogix Platform
1784-PM16SE SERCOS interface PCI Card
Receive
SERCOS fiber-optic ring
Transmit Receive Transmit
Kinetix 6000
System
Kinetix 6000
System
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116 Connecting the Kinetix 6000 Drive System
IMPORTANT
The CompactLogix platform (1768-M04SE) is limited to four axes per module.
In this example, two Logix modules are installed in separate Logix chassis.
Fiber-optic Cable Example 2 (two Logix chassis)
1756-M xx SE SERCOS interface Modules
SERCOS interface TM
CP
OK Logix Platform
(ControlLogix is shown)
Transmit
Tx (rear)
Rx (front)
Receive
SERCOS interface TM
CP OK
Transmit
Tx (rear)
Rx (front)
Receive
Transmit
SERCOS Fiber-optic Ring
Receive
Kinetix 6000
System
Receive
Transmit
SERCOS Fiber-optic Ring
When connecting 2094-BM03 and -BM05 (double-wide) axis modules, use 2090-SCEP0-2, 0.2 m (7.0 in.) cables. When connecting
2094-AM xx , -BMP5, -BM01 and -BM02 (single-wide) axis modules, use
2090-SCEP0-1, 0.1 m (5.1 in.) cables.
Fiber-optic Cable Example 3 (double-wide modules)
1756-M16SE SERCOS
Interface Module
Logix Platform
(ControlLogix is shown)
SERCOS interface TM
CP OK
SERCOS Fiber-optic Ring
0.2 m
(7.0 in.)
0.1 m
(5.1 in.)
Tx (rear)
Rx (front)
Kinetix 6000 System
(5-axis power rail)
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.
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Connecting the Kinetix 6000 Drive System 117
In this example, the second Kinetix 6000 system is located in a separate cabinet and connected with bulkhead adapters.
IMPORTANT
To avoid signal loss, do not use bulkhead adapters to connect glass cables. Only use bulkhead adapters for making plastic-to-plastic cable connections.
SERCOS int erfac e TM
CP OK
Fiber-optic Cable Example 4 (bulkhead adapters)
1756-M xx SE SERCOS
Interface Module
Logix Platform
(ControlLogix is shown)
Cabinet
SERCOS Fiber-optic
Bulkhead Adapter
Transmit
Tx (rear )
Rx (fron t)
Receive
Receive
SERCOS Fiber-optic Ring
Transmit
SERCOS Ring
SERCOS Fiber-optic
Bulkhead Adapter
Receive
Kinetix 6000
System
Transmit
Kinetix 6000
System
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118 Connecting the Kinetix 6000 Drive System
Publication 2094-UM001A-EN-P — September 2006
Introduction
Chapter
6
Configure and Startup the
Kinetix 6000 Drive System
This chapter provides procedures for configuring your Kinetix 6000 system components with your Logix SERCOS module.
Topic
Configure the Logix SERCOS interface Module
Apply Power to the Kinetix 6000 Drive
Page
119 Publication 2094-UM001A-EN-P — September 2006
120 Configure and Startup the Kinetix 6000 Drive System
Configure the IAM/AM
Follow these steps to configure the IAM/AM.
1.
Verify that there is no power applied to the IAM/AM and that the
SERCOS fiber-optic cables are plugged into the Tx and Rx connectors.
To verify your fiber-optic cable connections, refer to Connecting
Your SERCOS Fiber-optic Cables on page 115.
To Configure
The integrated axis module (IAM)
An axis module (AM)
Begin With
2.
Set the base node address for the IAM by setting the SERCOS
Node Address switch.
Valid node addresses are 01...99. The left hand switch sets the most significant digit (MSD) and the right hand switch sets the least significant digit (LSD).
To
Increment the (MSD/LSD) node address
Decrement the (MSD/LSD) node address
Press
The plus (+) switch.
The minus (-) switch.
Decrements MSD
MSD
Increments MSD
Decrements LSD
LSD
Increments LSD
Setting the base node address on the IAM determines the node address for the IAM inverter. Node addressing for all slot locations on the same power rail increment (from the IAM inverter) left to right.
3.
Cycle control power to initialize the IAM.
IMPORTANT
The base node address setting only takes effect after the
IAM is initialized.
IMPORTANT
When two or more IAMs are connected to the same
SERCOS interface module, each node address must be unique.
Refer to the node addressing examples on pages 122 and
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Integrated Axis Module, Top View
(2094-AC xx -M xx )
Configure and Startup the Kinetix 6000 Drive System 121
4.
Set the SERCOS baud rate using DIP switches 2 and 3.
For This Baud Rate
4 Mbps
8 Mbps
Set Switch 2
OFF
ON
Set Switch 3
ON
OFF
5.
Set the SERCOS optical power level to High using DIP switch 1.
For This Optical Power Level
Low
High
Set Switch 1
OFF
ON
ON
OFF
DIP Switches Set for
4 Mbps Applications
(high power setting)
3 2 1
ON
OFF
DIP Switches Set for
8 Mbps Applications
(high power setting)
3 2 1
Switch in OFF Position
Note: Switch numbers as seen on the IAM are upside down in this orientation.
turned around for clarity.
SERCOS Baud Rate and Optical Power Switches
6.
Repeat Steps 4 and 5 for each 2094-
x M xx axis module.
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122 Configure and Startup the Kinetix 6000 Drive System
Node Addressing Example 1
1756-M xx SE SERCOS interface Module
SERCOS interface TM
CP OK
Logix Platform
(ControlLogix is shown)
Transmit
Tx (rear)
Rx (front)
Receive
SERCOS Fiber-optic Ring
Receive
Kinetix 6000
System 1
(6-axis power rail)
Receive Transmit
Transmit
Kinetix 6000
System 2
(2-axis power rail)
15 = Slot Filler Node Address
14 = Shunt Module Node Address
13 = AM (axis 4) Node Address
12 = AM (axis 3) Node Address
11 = AM (axis 2) Node Address
10 = IAM (axis 1) Base Node Address
17 = AM (axis 2) Node Address
16 = IAM (axis 1) Base Node Address
In Example 1, the Kinetix 6000 (6-axis) System 1 power rail contains one IAM, three AMs, one SM, and one slot filler module. The shunt module and slot filler modules are assigned a node address, but they do not use it.
Kinetix 6000 (2-axis) System 2 power rail contains one IAM and one
AM. The base node address of the IAM (system 2) must be set for an address of
≥
16 or
≤
8.
IMPORTANT
The node address for each axis module is determined by the base node-address switch setting on the IAM.
Do not position axis modules to the right of shunt or slot filler modules. The added distance between non-adjacent axes can increase electrical noise and impedance, and requires longer fiber-optic cable lengths.
IMPORTANT
Slot filler modules must be used to fill any unoccupied slot on the power rail. However, the slot fillers may also be removed and replaced by an axis or shunt module in the future.
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Configure and Startup the Kinetix 6000 Drive System
SERCOS interface TM
CP OK
Node Addressing Example 2
1756-M xx SE SERCOS interface Module 1
ControlLogix Chassis
Transmit
Tx (rear)
Rx (front)
Receive
SERCOS Fiber-Optic rings
1756-M xx SE SERCOS interface Module 2
SERCOS interface TM
CP OK
ControlLogix Chassis
Tx (rear)
Rx (front)
Transmit Receive
Transmit Receive
Transmit
Kinetix 6000
(8-axis power rail)
Receive
123
08 = Slot Filler node address
07 = AM (axis 7) node address
06 = AM (axis 6) node address
05 = AM (axis 5) node address
04 = AM (axis 4) node address
03 = AM (axis 3) node address
02 = AM (axis 2) node address
01 = IAM (axis 1) base node address
In the example above, SERCOS interface module 1 controls axes
1 to 4 and module 2 controls axes 5 to 7. The slot filler module is assigned a node address, but does not use it.
You can mount the two SERCOS interface modules in two separate
ControlLogix chassis (as shown above) or you can mount them in the same chassis.
Utilizing two SERCOS interface modules to control axes from a single
Kinetix 6000 power rail allows you to reduce the cycle times.
IMPORTANT
Slot Filler modules must be used to fill any unoccupied slot on the power rail. However, the slot fillers may also be removed and replaced by an axis or shunt module in the future.
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124 Configure and Startup the Kinetix 6000 Drive System
Kinetix 6000
(8-axis power rail)
Node Addressing Example 3
1756-M xx SE SERCOS interface Module
SERCOS interface TM
CP OK
Logix Platform
(ControlLogix is shown)
Transmit
Tx (rear)
Rx (front)
Receive
SERCOS Fiber-optic Ring
Receive Transmit
08 = Slot Filler Node Address
07 = AM (axis 4) Node Address
06 = Not Used (AM Rightmost Slot)
05 = AM (axis 3) Node Address
04 = Not Used (AM Rightmost Slot)
03 = AM (axis 2) Node Address
02 = Not Used (IAM Rightmost Slot)
01 = IAM (axis 1) Base Node Address
In Example 2, the Kinetix 6000 (8-axis) power rail contains a double-wide IAM, two double-wide AMs, one single-wide AM, and one slot filler module. The slot filler module is assigned a node address, but does not use it.
The leftmost slot of a double-wide module determines the node address. So, in the example above, node addresses 02, 04, and 06 (the rightmost slots of the double-wide modules) are not used.
IMPORTANT
Slot filler modules must be used to fill any unoccupied slot on the power rail. However, the slot fillers may also be removed and replaced by an axis or shunt module in the future.
IMPORTANT
Do not position axis modules to the right of shunt or slot filler modules. The added distance between non-adjacent axes can increase electrical noise and impedance, and requires longer fiber-optic cable lengths.
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Configure and Startup the Kinetix 6000 Drive System 125
Configure the Logix
SERCOS interface Module
This procedure assumes that you have wired your Kinetix 6000 system and have configured the baud rate and optical power switches.
IMPORTANT
In order for the Kinetix 6000 drive to communicate with the
SERCOS interface module (indicated by the three LED indicators on the module going solid green), your RSLogix 5000 software must be revision 11.0 or later.
For greater detail on the RSLogix 5000 software as it applies to configuring the ControlLogix, CompactLogix, or SoftLogix SERCOS
modules, refer to Additional Resources on page 10.
Configure the Logix Controller
Follow these steps to configure the Logix controller.
1.
Apply power to your Logix chassis/personal computer containing the SERCOS interface module and open your RSLogix 5000 software.
2.
From the File menu, choose New.
The New Controller dialog opens.
3.
Configure the new controller.
a. Select controller type.
b. Select RSLogix 5000 software revision.
c. Name the file.
d. Select the Logix chassis size.
e. Select the Logix processor slot.
4.
Click OK.
5.
From the Edit menu, choose Controller Properties.
The Controller Properties dialog opens.
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126 Configure and Startup the Kinetix 6000 Drive System
6.
Select the Date and Time tab.
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7.
Check the box Make this controller the Coordinated System Time master.
IMPORTANT
Only one ControlLogix processor can be assigned as the
Coordinated System Time master.
8.
Click OK.
Configure the Logix Module
Follow these steps to configure the Logix module.
1.
Right-click on I/O Configuration in the explorer dialog and select
New Module.
The Select Module dialog opens.
2.
Expand the Motion category and select 1756-M xx SE, -L60M03SE,
1768-M04SE, or 1784-PM16SE as appropriate for your actual hardware configuration.
3.
Click OK.
Configure and Startup the Kinetix 6000 Drive System 127
The New Module dialog opens. Your new module appears under the I/O Configuration folder in the explorer dialog.
4.
Configure the new module.
a. Name the module.
b. Select the slot where your module resides (leftmost slot = 0).
c. Select an Electronic Keying option (select Disable Keying if unsure).
d. Check the box Open Module Properties.
5.
Click OK.
The Module Properties dialog opens.
6.
Select the SERCOS Interface tab and reference the table below.
Logix SERCOS Module
1756-M03SE or
1756-L60M03SE
1756-M08SE
1756-M16SE or
1784-PM16SE
1768-M04SE
Number of Axes
Up to 3
Up to 8
Up to 16
Up to 4
Data Rate
4 or 8 Mbps
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128 Configure and Startup the Kinetix 6000 Drive System
7.
Verify that the Data Rate setting matches DIP switches 2 and 3
(baud rate) as set on the IAM and AMs, or use the Auto Detect setting.
8.
Set the Cycle Time according to the table below.
Data Rate
4 Mbps
8 Mbps
Number of Axes up to 2 up to 4 up to 8
No support for axes 9...16
up to 4 up to 8 up to 16
Cycle Time
0.5 ms
1 ms
2 ms
0.5 ms
1 ms
2 ms
The number of axes/module is limited to the number of axes as
9.
Verify that the Optical Power setting (high or low) matches DIP switch 1 as set on the IAM and AMs.
10.
Set Transition to Phase.
Transition to Phase default setting is 4 (phase 4). The Transition to
Phase setting will stop the ring in the phase specified.
11.
Click OK.
12.
Repeat steps 1...11 for each Logix module.
Configure the Kinetix 6000 Modules
Follow these steps to configure the Kinetix 6000 modules.
1.
Right-click the new Logix module you just created and select New
Module.
The Select Module dialog opens.
2.
Expand the Drives category and select your 2094x C xx -M xx (IAM) or 2094x M xx (AM) as appropriate for your actual hardware configuration.
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Configure and Startup the Kinetix 6000 Drive System 129
3.
Click OK.
The New Module dialog opens.
a. Name the module.
b. Set the Node address.
Set the node address in the software to match the node setting on
the drive. Refer to Configure the IAM/AM, Step 2, on page 120.
c. Select an Electronic Keying option.
d. Check the box Open Module Properties.
4.
Click OK.
5.
Select the Associated Axes tab.
6.
Click the New Axis button.
The New Tag dialog opens.
7.
Add the axis.
a. Name the axis.
b. Select AXIS_SERVO_DRIVE as the Data Type.
8.
Click OK.
The axis appears under the Ungrouped Axes folder in the explorer dialog.
9.
Assign your axis to the node address (as shown in the dialog below).
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130 Configure and Startup the Kinetix 6000 Drive System
With drive firmware revision 1.80 or later, and RSLogix 5000 software revision 13 or later, it is possible to configure the auxiliary axis feedback port as a Feedback Only axis. With this feature, each IAM (inverter) or AM can be configured to appear as two axes/nodes on the SERCOS ring. The base node is the servo axis utilizing the motor feedback, and the base node (plus 128) is a feedback only axis utilizing the auxiliary feedback port (as shown below).
If an axis is associated to the auxiliary axis node, then the Axis
Configuration on the General tab of the Axis Properties dialog is set to Feedback Only (as shown below).
Publication 2094-UM001A-EN-P — September 2006
10.
Select the Power tab.
Configure and Startup the Kinetix 6000 Drive System 131
11.
Select the Bus Regulator Catalog Number or other as appropriate for your actual hardware configuration.
If your IAM is
Configured as an IAM or
Leader IAM (common bus)
(1)
Configured as a Follower IAM
(2)
And your hardware configuration includes this shunt option
Internal shunts only
Bulletin 2094 (rail mounted) shunt module
Bulletin 1394 passive shunt module (connected to the
2094-BSP2)
Bulletin 1336 active shunt module
N/A. Shunts are disabled on Follower IAM
Then select
Internal or <none>
2094-BSP2
1394-SR xxxx
Internal or <none>
CommonBus Follow
(1)
Drive will not accept Internal, <none>, 2094-BSP2, or 1394-SR xxxx selection if dc bus voltage is present without having three-phase power applied.
(2)
Drive will not accept CommonBus Follow selection if three-phase power is applied.
ATTENTION
To avoid damage to your Bulletin 1394 external shunt module, verify that the proper 230V or 460V fuse is installed prior to applying power.
Refer to Circuit Breaker/Fuse Specifications on page 177,
for more information.
IMPORTANT
When configured to use the Bulletin 1394 or 2094 shunt modules, the IAM bus regulator capacity attribute displays the shunt module or passive shunt module utilization instead of the IAM internal shunt resistor utilization.
IMPORTANT
DC common bus applications must calculate Total Bus
Capacitance and Additional Bus Capacitance and set the
Add Bus Cap parameter ( x:x:x 599) using DriveExplorer software.
Refer to the Appendix D beginning on page 231, for more
information.
12.
Click OK.
13.
Repeat steps 1...9 for each 2094-
x M xx axis module.
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132 Configure and Startup the Kinetix 6000 Drive System
Configure the Motion Group
Follow these steps to configure the motion group.
1.
Right-click Motion Groups in the explorer dialog and select New
Motion Group.
The New Tag dialog opens.
2.
Name the new motion group.
3.
Click OK.
New group appears under the Motion Groups folder.
4.
Right-click the new motion group and select Properties.
The Motion Group Properties dialog opens.
Publication 2094-UM001A-EN-P — September 2006
5.
Select the Axis Assignment tab and move your axes (created earlier) from Unassigned to Assigned.
6.
Select the Attribute tab and edit the default values as appropriate for your application.
7.
Click OK.
Configure and Startup the Kinetix 6000 Drive System 133
Configure Axis Properties
Follow these steps to configure axis properties.
1.
Right-click on an axis in the explorer dialog and select Properties.
The Axis Properties dialog opens.
2.
Select the Drive/Motor tab and edit the default values as appropriate for your application.
a. Set the Kinetix 6000 Amplifier (2094x C xx -M xx ).
b. Set the Motor Catalog Number.
For amplifier and motor catalog numbers refer to the amplifier and motor name plate.
c. Set Drive Enable Input Checking.
When checked (default), means a hard drive-enable input signal is required. Uncheck to remove that requirement.
3.
Select the Motor Feedback tab and verify the Feedback Type shown is appropriate for your actual hardware configuration.
4.
Select the Units tab and edit default values as appropriate for your application.
5.
Select the Conversion tab and edit default values as appropriate for your application.
6.
Select the Fault Actions tab and click the Set Custom Stop Action... tab.
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134 Configure and Startup the Kinetix 6000 Drive System
The Custom Stop Action Attributes dialog opens.
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The Custom Stop Action Attributes window lets you set delay times for servo motors and resistive brake modules. For recommended motor brake delay times, refer to the Kinetix
Motion Control Selection Guide, publication GMC-SG001.
7.
Configure the delay times.
a. Set the Brake Engage Delay Time.
b. Set the Brake Release Delay Time.
c. Set the Resistive Brake Contact Delay time (0 - 1000 ms range).
TIP
The recommended delay time for 2090-XB33xx and
-XB120xx resistive brake modules is 71 ms.
If you are using RSLogix 5000 v12 or earlier, refer to
Setting the RBM Delay Time Using DriveExplorer on page
d. Click Close.
8.
Click OK.
9.
Repeat steps 1...8 for each 2094-
x M xx axis module.
10.
Verify your Logix program and save the file.
Download the Program
After completing the Logix configuration you must download your program to the Logix processor.
Apply Power to the
Kinetix 6000 Drive
Configure and Startup the Kinetix 6000 Drive System 135
This procedure assumes that you have wired and configured your
Kinetix 6000 system (with or without the LIM) and your SERCOS interface module.
SHOCK HAZARD
To avoid hazard of electrical shock, perform all mounting and wiring of IAM, AM, SM, LIM, RBM, or power rail prior to applying power. Once power is applied, connector terminals may have voltage present even when not in use.
Refer to the Line Interface Module Installation Instructions, publication
2094-IN005, when troubleshooting the LIM status indicators, and for the location of LIM circuit breakers, connectors, and status indicators.
Follow these steps to apply power to the Kinetix 6000 system.
1.
Disconnect the load to the motor.
ATTENTION
To avoid personal injury or damage to equipment, disconnect the load to the motor. Make sure each motor is free of all linkages when initially applying power to the system.
2.
Determine your source of control power.
If Your Control Power Then
1. Verify that CB1, CB2, and CB3 are in the OFF position.
2. Apply three-phase input power to the LIM VAC Line connector.
Is sourced from a LIM
Is not sourced from a LIM
3. Set CB3 to the ON position.
4. Set CB2 to the ON position.
1. Apply (95...264V ac) control power to the IAM (CPD connector).
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136 Configure and Startup the Kinetix 6000 Drive System
3.
Observe the IAM/AM logic power LED indicator.
Seven-segment
Fault Status LED Indicator
Logic Power
LED Indicator
If the Logic Power LED Indicator is Then
ON
1. Check your control power connections.
Not ON
4.
Determine your source of three-phase input power.
If Your Three-phase
Power
Then
Is sourced from a LIM
Is not sourced from a LIM
1. Set CB1 to the ON position.
2. Verify the Hardware Enable Input signal (IOD pin 2) for each axis is at 0 volts.
Remove the connection between IOD-1 and IOD-2 if one exists.
1. Apply 195...265V ac (230V) or 324...528V ac (460V) input power to the IAM (IPD connector).
2. Verify the Hardware Enable Input signal (IOD pin 2) for each axis is at 0 volts.
Remove the connection between IOD-1 and IOD-2 if one exists.
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Configure and Startup the Kinetix 6000 Drive System 137
5.
Observe the IAM/AM fault status LED indicator.
The status LED indicator will first flash the SERCOS node address, then cycle through phases until final configuration (phase 4) is reached.
IAM/AM Fault Status LED Indicator
Actively cycling (phase 0)
Displaying a fixed 1 (phase 1)
Displaying a fixed 2 (phase 2)
Displaying a fixed 3 (phase 3)
Displaying a fixed 4 (phase 4)
Flashing an E followed by two numbers
Status
The drive is looking for a closed SERCOS ring. Wait for phase 1 or take corrective action until you reach phase 1.
The drive is looking for active nodes. Wait for phase 2 or take corrective action until you reach phase 2.
The drive is configuring nodes for communication. Wait for phase 3 or take corrective action until you reach phase 3.
The drive is configuring device specific parameters. Wait for phase 4 or take corrective action until you reach phase 4.
The drive is configured and active.
Drive is faulted.
Do This
Check fiber-optic connections.
Check node addressing.
Check program motor and drive configuration against installed hardware.
Check motor catalog number against selection.
(1)
Go to Error Codes on page 146.
(1)
You can get diagnostic information from the module by highlighting the module name in RSLogix 5000 software. A Pseudo Key Failure often indicates that the motor selection does not match the motor installed.
6.
Observe the three status LED indicators on the front of the IAM/
AM.
Status LED
Indicator
Condition Status Do This
Drive
Comm
Bus
Off
Steady red
Flashing green
Steady green
Off
Steady green
Flashing green
(1)
Off
Normal condition
Drive is faulted
Establishing communication with network
Communication is ready
No ring present
Axis is enabled when status should be disabled
Bus is up, axis is disabled (normal status)
DC bus is not present
Observe the Comm Status LED indicator.
Go to IAM/AM Status Indicators on page 152.
Wait for steady green.
Observe the Bus Status LED indicator.
Go to IAM/AM Status Indicators on page 152.
1. Verify Hardware Enable Input (IOD-2) is open.
2. Verify MSO instruction is not commanded in RSLogix
5000 software.
3. Return to Apply Power to the Kinetix 6000 Drive on page
Go to IAM/AM Status Indicators on page 152.
(1)
The follower IAM has a 2.5 second delay after dc bus voltage is applied before the Bus Status LED begins flashing. This provides the common bus leader time to complete pre-charge.
7.
Observe the three SERCOS LED indicators on the SERCOS module.
Three SERCOS LED Indicators Status
Flashing green and red Establishing communication
Communication ready Steady green
Not flashing green and red/ not steady green
SERCOS module is faulted
Do This
Wait for steady green on all three LED indicators.
Go to the appropriate Logix manual for specific instructions and troubleshooting.
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138 Configure and Startup the Kinetix 6000 Drive System
Test and Tune the Axes
This procedure assumes that you have configured your Kinetix 6000 drive, your SERCOS interface module, and applied power to the system.
IMPORTANT
Before proceeding with testing and tuning your axes, verify that the IAM and AM seven-segment and status LED indicators are
as described in Step 6 on page 137.
For help using RSLogix 5000 software as it applies to testing and tuning your axes with ControlLogix, CompactLogix, or SoftLogix
SERCOS modules, refer to Additional Resources on page 10.
Test the Axes
Follow these steps to test the axes.
1.
Verify the load was removed from each axis.
2.
Right-click an axis in your Motion Group folder in the explorer dialog and select Axis Properties.
The Axis Properties dialog appears.
3.
Select the Hookup tab.
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Configure and Startup the Kinetix 6000 Drive System 139
4.
Select 2.0 as the number of revolutions for the test (or another number more appropriate for your application).
This Test
Test Marker
Test Feedback
Test Command & Feedback
Performs this Test
Verifies marker detection capability as you rotate the motor shaft.
Verifies feedback connections are wired correctly as you rotate the motor shaft.
Verifies motor power and feedback connections are wired correctly as you command the motor to rotate.
Also, lets you define polarity.
5.
Apply Hardware Enable Input signal (IOD-2) for the axis you are testing.
ATTENTION
To avoid personal injury or damage to equipment, apply
24V ENABLE signal (IOD-2) only to the axis you are testing.
6.
Select the Test (Marker/Feedback/Command & Feedback) button to verify connections.
The Online Command dialog opens. Follow the on-screen test instructions. When the test completes, the Command Status changes from Executing to Command Complete.
7.
Click OK.
The Online Command - Apply Test dialog opens (Feedback and
Command & Feedback tests only). When the test completes, the
Command Status changes from Executing to Command Complete.
8.
Click OK.
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140 Configure and Startup the Kinetix 6000 Drive System
9.
Determine if your test completed successfully.
If
Your test completes successfully, this dialog appears.
Then
1. Click OK.
2. Remove Hardware Enable Input signal (IOD-2).
Your test failed, this dialog appears.
1. Click OK.
2. Verify the Bus Status LED turned solid green during the test.
3. Verify that the Hardware Enable Input signal
(IOD-2) 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.
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Configure and Startup the Kinetix 6000 Drive System 141
Tune the Axes
Follow these steps to tune the axes.
1.
Verify the load is still removed from the axis being tuned.
ATTENTION
To reduce the possibility of unpredictable motor response, tune your motor with the load removed first, then re-attach the load and perform the tuning procedure again to provide an accurate operational response.
2.
Select the Tune tab.
3.
Enter values for Travel Limit and Speed. In this example, Travel
Limit = 5 and Speed = 10.
Actual value of programmed units depend on your application.
4.
Select setting for Direction (Forward Uni-directional is default).
5.
Check Tune boxes as appropriate for your application.
6.
Apply Hardware Enable Input signal (IOD-2) for the axis you are tuning.
ATTENTION
To avoid personal injury or damage to equipment, apply
24V ENABLE signal (IOD-2) only to the axis you are tuning.
7.
Select the Start Tuning button to auto-tune your axis.
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142 Configure and Startup the Kinetix 6000 Drive System
The Online Command - Tune Servo dialog opens. When the test completes, the Command Status changes from Executing to
Command Complete.
8.
Click OK.
The Tune Bandwidth dialog opens.
Publication 2094-UM001A-EN-P — September 2006
Actual bandwidth values (Hz) depend on your application and may require adjustment once motor and load are connected.
Record your bandwidth data for future reference.
9.
Click OK.
The Online Command - Apply Tune dialog opens. When the test completes, the Command Status changes from Executing to
Command Complete.
10.
Click OK.
Configure and Startup the Kinetix 6000 Drive System 143
11.
Determine if your test completed successfully.
If
Your test completes successfully, this dialog appears.
Then
1. Click OK.
2. Remove the Hardware Enable Input signal (IOD-2) applied earlier.
Your test failed, this dialog appears.
1. Click OK.
2. Make an adjustment to motor velocity.
3. Refer to appropriate Logix motion module setup and configuration manual for more information.
4. Return to Step 7 and run the test again.
12.
Repeat Test and Tune the Axes for each axis.
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144 Configure and Startup the Kinetix 6000 Drive System
Publication 2094-UM001A-EN-P — September 2006
Introduction
Safety Precautions
Chapter
7
Troubleshooting the Kinetix 6000 Drive
System
This chapter provides troubleshooting tables and for your
Kinetix 6000 system components.
Topic
Interpreting Status Indicators
Supplemental Troubleshooting Information
Page
Observe the following safety precautions when troubleshooting your
Kinetix 6000 drive.
ATTENTION
Capacitors on the dc bus may retain hazardous voltages after input power has been removed. Before working on the drive, measure the dc bus voltage to verify it has reached a safe level or wait the full time interval as indicated in the warning on the front of the drive. Failure to observe this precaution could result in severe bodily injury or loss of life.
ATTENTION
Do not attempt to defeat or override the drive fault circuits. You must determine the cause of a fault and correct it before you attempt to operate the system. Failure to correct the fault could result in personal injury and/or damage to equipment as a result of uncontrolled machine operation.
ATTENTION
Provide an earth ground for test equipment (oscilloscope) used in troubleshooting. Failure to ground the test equipment could result in personal injury.
145 Publication 2094-UM001A-EN-P — September 2006
146 Troubleshooting the Kinetix 6000 Drive System
Interpreting Status
Indicators
Refer to these troubleshooting tables to identify faults, potential causes, and the appropriate actions to resolve the fault. If the fault persists after attempting to troubleshoot the system, please contact your Rockwell Automation sales representative for further assistance.
Error
Code
Fault Message
RSLogix (HIM)
E00
BusUndervoltage
Fault
(Blown fuse)
E04
MotorOvertemp
Fault
(Motor Overtemp)
Error Codes
The following list of problematic symptoms (no error code shown) and faults with assigned error codes is designed to help you resolve anomalies.
When a fault is detected, the seven-segment LED indicator will display an E followed by the flashing of the two-digit error code, one digit at a time. This is repeated until the error code is cleared.
Seven-segment LED Indicator Error Codes
Problem or Symptom Potential Cause
Power (PWR) indicator not
ON
No ac power or auxiliary logic power.
Internal power supply malfunction.
Motor jumps when first enabled
Motor wiring error.
Digital I/O not working correctly
Incorrect motor chosen.
I/O power supply disconnected.
A blown fuse was detected on the inverter PCB
Blown fuse.
Motor thermal switch tripped
•
High motor ambient temperature and/or
•
Excessive current
Motor wiring error.
Incorrect motor selection.
Possible Resolution
Verify ac control power is applied to the
Kinetix 6000 system.
Call your Rockwell Automation sales representative to return module for repair.
•
Check motor wiring.
•
Run Hookup test in RSLogix 5000 software.
Verify the proper motor is selected.
Verify connections and I/O power source.
Call your Rockwell Automation sales representative to return module for repair.
•
Operate within (not above) the continuous torque rating for the ambient temperature
40 °C (104 °F) maximum.
•
Lower ambient temperature, increase motor cooling.
Check motor wiring at MF connector on the
IAM/AM.
Verify the proper motor has been selected.
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Troubleshooting the Kinetix 6000 Drive System 147
Error
Code
E05
E06
HardOvertravel
Fault
(+/- Hard Overtravel)
E07
MotFeedbackFault
(Motor Feedback Loss)
E09
E10
E11
Fault Message
RSLogix (HIM)
DriveOvercurrent
Fault
(Power Fault)
BusUndervoltage
Fault
(Bus Undervoltage)
DriveOvervoltage
Fault
(Bus Overvoltage)
MotFeedbackFault
(Illegal Hall State)
Problem or Symptom Potential Cause Possible Resolution
Self-protection of the
Intelligent Power Module
(IPM) is indicating a major power related fault condition.
Axis moved beyond the physical travel limits in the positive/negative direction.
Motor cables shorted.
Motor winding shorted internally.
Kinetix 6000 temperature too high.
Operation above continuous power rating and/or product environmental ratings.
Kinetix 6000 has a short circuit, overcurrent, or failed component.
Dedicated overtravel input is inactive.
The feedback wiring is open, shorted, or missing.
With three-phase power present, the dc bus voltage is below limits.
DC bus voltage fell below the undervoltage limit while an axis on the follower power rail was enabled.
•
DC bus voltage for 460V system is below 275V
•
DC bus voltage for 230V system is below 137V
Excessive regeneration of power.
Verify continuity of motor power cable and connector.
Disconnect motor power cables from the motor. If the motor is difficult to turn by hand, it may need to be replaced.
•
Check for clogged vents or defective fan.
•
Make sure cooling is not restricted by insufficient space around the unit.
•
Verify ambient temperature is not too high.
•
Operate within the continuous power rating.
•
Reduce acceleration rates.
Remove all power and motor connections, and preform a continuity check from the dc bus to the U, V, and W motor outputs. If a continuity exists, check for wire fibers between terminals, or send drive in for repair.
•
Check wiring.
•
Verify motion profile.
•
Verify axis configuration in software.
•
Check motor encoder wiring.
•
Run Hookup test in RSLogix 5000 software.
•
Verify voltage level of the incoming ac power.
•
Check ac power source for glitches or line drop.
•
Install an uninterruptible power supply
(UPS) on your ac input.
Disable follower axis before removing power.
The dc bus voltage is above limits.
When the motor is driven by an external mechanical power source, it may regenerate too much peak energy through the drive power supply. The system faults to save itself from an overload.
•
DC bus voltage for 460V system is over 820V
•
DC bus voltage for 230V system is over 410V
•
Change the deceleration or motion profile.
•
Use a larger system (motor and Kinetix
6000 drive).
• Install shunt module.
Verify input is within specifications.
State of Hall feedback inputs is incorrect.
Bad connections.
•
Verify the Hall wiring at the MF connector on the IAM/AM.
•
Verify 5V power supply to the encoder.
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148 Troubleshooting the Kinetix 6000 Drive System
Error
Code
E16
E18
E19
E20
E21
E30
E34
E35
E36
Fault Message
RSLogix (HIM)
Softovertravel
Fault
(+/- Software
Overtravel)
OverSpeedFault
(Overspeed Fault)
PositionErrorFault
(Follow Error)
MotFeedbackFault
(Mtr Fdbk AQB)
AuxFeedbackFault
(Aux Feedback Comm)
MotFeedbackFault
(Motor Feedback Comm)
GroundShortFault
(Ground Fault)
DriveUndervoltage
Fault
(Pre-charge Fault)
DriveOvertemp
Fault
(System
Overtemperature)
Problem or Symptom
Converter thermal switch tripped.
Potential Cause
Excessive heat exists in the power circuitry.
Possible Resolution
Axis position exceeded maximum software setting.
•
Verify motion profile.
•
Verify overtravel settings are appropriate.
Motor speed has exceeded 150% of maximum rated speed. The 100% trip point is dictated by the lesser of the user velocity limits or the motor rated base speed.
Position error limit was exceeded.
Motor Encoder State Error
The motor encoder encountered an illegal transition.
•
Check cables for noise.
•
Check tuning.
•
Increase the feed forward gain.
•
Increase following error limit or time.
•
Check position loop tuning.
•
Verify sizing of system.
•
Verify mechanical integrity of system within specification limits.
•
Use shielded cables with twisted pair wires.
•
Route the feedback away from potential noise sources.
•
Check the system grounds.
•
Replace the motor/encoder.
Communication was not established with an intelligent encoder.
Communication was not established with an intelligent encoder.
Excessive ground current in the converter was detected.
Converter pre-charge cycle failed.
Wiring error.
Motor internal ground short.
Internal malfunction.
Grounded control power terminal
(applies to 230V systems only)
Low ac input voltage.
Internal malfunction.
Verify auxiliary encoder wiring.
•
Verify motor selection.
•
Verify the motor supports automatic identification.
•
Verify motor encoder wiring.
•
Check motor power wiring.
•
Check input power wiring.
Replace motor.
Disconnect motor power cable from drive and enable drive with current limit set to 0.
If fault clears, then a wiring error or motor internal problem exists. If fault remains, call your sales representative.
•
Remove ground from control power input.
•
Source control power from three-phase
input power (refer to page 196).
•
Add isolation transformer for control power.
Check input ac voltage on all phases.
Call your sales representative.
•
Reduce acceleration rates.
•
Reduce duty cycle (ON/OFF) of commanded motion.
•
Increase time permitted for motion.
•
Use larger Kinetix 6000 converter.
•
Check for clogged vents or defective fan.
•
Make sure cooling is not restricted by insufficient space around the unit.
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Troubleshooting the Kinetix 6000 Drive System 149
Error
Code
E37
E38
E39
E43
E49
Fault Message
RSLogix (HIM)
PowerPhaseLoss
Fault
(Phase Loss Flt)
SERCOSFault
(SERCOS Ring Flt)
DriveHardFault
(Self Sense Flt)
DriveEnableInput
Fault
(Drive Enable Flt)
DriveHardFault
(Safe-off HW Flt)
E50
E54
E60
SERCOSFault
(SERCOS Same ADDR)
DriveHardFault
(Ifbk HW Fault)
DriveHardFault
(Unknown Axis)
E61
E62
E63
AuxFeedbackFault
(Aux Fdbk AQB)
AuxFeedbackFault
(Aux Fdbk Loss)
AuxFeedbackNoise
(Aux Fdbk Noise)
Problem or Symptom Potential Cause
Duplicate node address detected on SERCOS ring.
Possible Resolution
•
One or more phases of the input ac power is missing.
•
Axis was enabled when main (three-phase) power was removed.
•
Common bus follower axis was enabled when dc bus power was removed.
The SERCOS ring is not active after being active and operational.
Cable disconnected.
•
•
Check input ac voltage on all phases.
Disable axis before removing power.
Check that fiber-optic cable is present and connected properly.
Self-sensing Commutation
Startup Error
Missing Drive Enable Input
Signal
Safe-off function mismatch. Drive will not allow motion.
Motion required for self-sensing startup commutation was obstructed.
•
An attempt was made to enable the axis through software while the Drive
Enable hardware input was inactive.
•
The Drive Enable input transitioned from active to inactive while the axis was enabled.
•
Loose wiring at SO connector.
•
Cable/header not seated properly in
SO connector.
•
Safe-off circuit missing +24V dc.
•
Verify that there are no impediments to motion at startup, such as hard limits.
•
Increase self-sensing current if high friction or load conditions exist.
•
Check motor or encoder wiring using wiring diagnostics.
•
Disable the Drive Enable Input fault.
•
Verify that Drive Enable hardware input is active whenever the drive is enabled through software.
•
Verify wire terminations, cable/header connections, and +24V.
•
Reset error and run proof test.
•
If error persists, return the drive to
Rockwell Automation.
Verify that each SERCOS drive is assigned a unique node address.
Current feedback hardware fault detected.
Illegal ID bits detected
Auxiliary Encoder State
Error
The auxiliary encoder encountered an illegal transition.
The feedback wiring is open, shorted, or missing.
Noise on auxiliary feedback cable.
E64
MotorFeedbackNoise
(Mtr Fdbk Noise)
Noise on motor feedback cable.
Recommended grounding, per installation instructions, has not been followed.
E65
No Fault Message
(condition indicated by on-screen message)
(Hookup Fault)
Hookup procedure failed Motor or feedback device malfunction.
Replace the module
Replace the module
•
Use shielded cables with twisted pair wires.
•
Route the feedback away from potential noise sources.
•
Check the system grounds.
•
Replace the motor/encoder.
Check the motor feedback cable connectors/wiring to the IAM/AM and motor.
•
Verify grounding.
•
Route feedback cable away from noise sources.
•
Refer to System Design for Control of
Electrical Noise Reference Manual, publication GMC-RM001.
• Check motor power/feedback wiring.
•
Refer to on-screen message for resolution.
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150 Troubleshooting the Kinetix 6000 Drive System
Error
Code
E66
E67
E68
E69
E70
E71
E72
E73
E74
E75
E76
E77
E78
Fault Message
RSLogix
Fault
(HIM)
No Fault Message
(condition indicated by on-screen message)
(Atune Flt)
DriveHardFault
(Task init)
DriveHardFault
(SCANport Comm)
DriveHardFault
(Objects Init)
DriveHardFault
(NV Mem Init)
DriveHardFault
(Memory Init)
DriveOvertemp
Fault
(Drive Overtemp)
Communicate
(Backplane Comm)
DriveOvercurrent
Fault
(Bus OverCurrent)
DriveOvervoltage
(Shunt Time Out)
DriveHardFault
(CAN Init)
DriveHardFault
(Module Mismatch)
DriveHardFault
(SERCOS Init)
Problem or Symptom Potential Cause Possible Resolution
Autotune procedure failed
Operating system failed
Motor or feedback device malfunction.
Software initialization fault detected due to hardware failure.
•
Check motor power/feedback wiring.
•
Refer to on-screen message for resolution.
•
Perform Hookup in RSLogix 5000 software.
•
Consult RSLogix 5000 help screen.
•
Cycle power.
•
If fault persists, replace module.
DPI communication failed The DPI device or cable is faulty.
Non-volatile memory is corrupt due to control board hardware failure.
Non-volatile memory is corrupt due to control board software error.
RAM or Flash memory validation failure
The fan on the IAM or an AM failed.
The cabinet ambient temperature is above rating.
Inverter thermal switch tripped
The machine duty cycle requires an RMS current exceeding the continuous rating of the controller.
The airflow access to the Kinetix 6000 system is limited or blocked.
Power rail CAN communications failed.
Power rail connection shorted or open.
DC link current exceeds rating.
Motor or transmission malfunction.
IAM not properly sized.
The IAM, AM, or SM has exceeded its shunt resistor continuous rating.
DPI hardware initialization fault detected.
Control board hardware failure.
Check DPI connections.
Load default parameters, save to non-volatile memory, and recycle power or reset the drive.
Load default parameters, save to non-volatile memory, and recycle power or reset the drive.
•
Cycle power.
•
If fault persists, replace module.
Replace the failed module.
Check the cabinet temperature.
Change the command profile to reduce speed or increase time.
Check airflow and re-route cables away from the Kinetix 6000 system.
Check module for proper mount.
Check power rail and module for foreign objects.
•
Check for proper motor sizing.
•
Check/replace transmission device.
•
Check/replace motor.
•
Check for proper IAM sizing.
•
Install larger kW rated IAM.
•
Use a properly sized shunt or modify duty cycle of the application.
•
System uses internal shunt and requires external shunt for additional capacity.
• Reset System.
• If fault persists, replace system module.
Either 230V AM is installed on power rail with 460V IAM, or 460V AM is installed on power rail with 230V IAM.
Replace mismatched module.
Control hardware fault detected.
•
Cycle power.
•
If fault persists, replace module.
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Troubleshooting the Kinetix 6000 Drive System
Error
Code
Fault Message
RSLogix (HIM)
Problem or Symptom Potential Cause
Shunt module temperature fault LED indicator is steady red.
E79
DriveOvervoltage
Fault
(Shunt Module Flt)
Shunt module shunt fault LED indicator is steady red.
Module missing from power rail.
E80
E81
E90
DriveHardFault
(CPLD Flt)
DriveHardFault
(Common Bus Flt)
DriveHardFault
(Pre-charge Timeout Flt)
All others
RESERVED
Control hardware fault detected.
Follower IAM detected ac input power being applied.
Pre-charge resistor power exceeds the resistor rating.
Possible Resolution
151
Refer to Temperature Fault LED Indicator on page 154.
Refer to Shunt Fault LED Indicator on page
• Install missing module on power rail.
• Fill empty slot with slot filler module.
Replace module.
Remove ac input power connections from follower IAM.
Allow resistor to cool.
Call your local Rockwell Automation sales representative.
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152 Troubleshooting the Kinetix 6000 Drive System
IAM/AM Status Indicators
Drive Status LED Indicator
Drive Status LED
Indicator
Off
Steady Red
Status
Normal, no faults
Drive faulted
Potential Cause
N/A
Seven-segment LED displays error code
Possible Resolution
N/A
Refer to seven-segment error code and Error
Codes section beginning on page 146.
Comm Status LED Indicator
Comm Status LED
Indicator
Steady Green
Status Potential Cause
Flashing Green
Off
Communication ready
Establishing communication
No communication
(1)
No faults or failures.
System is still in the process of establishing
SERCOS communication.
Node address setting on the drive module does not match SERCOS controller configuration.
Loose fiber-optic connection.
Broken fiber-optic cable.
Receive fiber-optic cable connected to
SERCOS transmit connector and vice versa.
(1)
Refer to Fiber-optic Cable Installation and Handling Instructions, publication 2090-IN010, for more information.
Bus Status LED Indicator
Possible Resolution
N/A
Wait for steady green LED indicator.
Verify proper node switch setting.
Verify proper fiber-optic cable connections.
Replace fiber-optic cable.
Check proper SERCOS fiber-optic cable connections.
Bus Status LED
Indicator
Steady Green
Flashing Green
Off
Status
Bus power is present, axis enabled.
No faults or failures.
Bus power is present, axis disabled.
No faults or failures.
Bus power not present.
Bus power is present in follower IAM.
Condition
Normal when:
•
24V is applied to Hardware Enable Input (IOD-2).
•
MSO instruction is commanded in RSLogix 5000 software.
Normal when:
• 24V is not applied to Hardware Enable Input (IOD-2).
• MSO instruction is not commanded in RSLogix 5000 software.
• Normal when bus power is not applied.
•
Fault exists, refer to seven segment error code and Error Codes section beginning on page 146.
•
Follower IAM is not configured as CommonBus Follow in RSLogix 5000 software.
• After dc bus voltage is applied, a 2.5 second delay before the LED indicator begins flashing green is normal operation to provide common bus leader time to complete pre-charge.
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Troubleshooting the Kinetix 6000 Drive System 153
SM Status Indicators
Each of the shunt module LED indicators provide specific troubleshooting information.
Module
SM
IAM/AM
General Shunt Module Troubleshooting
Status
Fault is latched
Fault is cleared
Disabled (for dc bus regulation)
Under These Conditions
Until fault condition is corrected and cleared.
•
Using RSLogix MASR, MAFR, MGSR commands or the HIM (red stop button).
•
Only after the dc bus is discharged (SM Bus Status LED is flashing).
•
Drive must be configured with 2094-BSP2 or Bulletin 1394 external shunt module.
•
When the 2094-BSP2 shunt module is used on a 230V system.
•
When either 230V or 460V system is configured with a Bulletin
1394 external shunt module.
•
When configured in common bus follower mode.
Enabled to discharge the dc bus
Disabled from discharging the dc bus
Drive (IAM or leader IAM) three-phase power is removed.
When configured in common bus follower mode.
IMPORTANT
Under some fault conditions, two reset commands may be required to clear drive and SM faults.
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154 Troubleshooting the Kinetix 6000 Drive System
Bus Status LED
Flashing
Steady Green
Off
Temp Fault LED
Off
Steady Red
Shunt Fault LED
Off
Steady Red
Bus Status LED Indicator
Status Potential Cause
Normal condition when control power is applied and bus voltage is less than
60V dc.
Normal condition when control power is applied and bus voltage is greater than 60V dc.
Control power is not present Internal power supply failure
Possible Resolution
N/A
N/A
Replace shunt module.
Status
Normal condition
SM internal temperature exceeds operating temperature specification
Temperature Fault LED Indicator
Potential Cause
Shunt module fan failed
Shunt module temperature exceeds rating
External over temperature condition
External temperature switch is open
TS jumper is not present
Possible Resolution
N/A
Replace shunt module.
• Allow shunt module to cool.
• Reset faults.
• Verify IAM bus regulator configuration.
• Allow shunt module to cool.
• Reset faults.
• Verify IAM bus regulator configuration.
Install jumper.
Shunt Fault LED Indicator
Status
Normal condition
Shorted internal or external shunt resistor
Potential Cause Possible Resolution
N/A
Mis-wired shunt jumper or other short on RC connector
Mis-wired (shorted) external shunt wiring
• Correct mis-wire (shorted) condition.
• If problem persists, replace shunt module.
SM Status LED
• Bus Status
• Temperature Fault
• Shunt Fault
Status
All three SM status LED indicators flash simultaneously
All SM Status LED Indicators
Potential Cause
Shunt module hardware failure
Possible Resolution
• Cycle power.
• If problem persists, replace shunt module.
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Troubleshooting the Kinetix 6000 Drive System 155
Troubleshooting General
System Problems
Use the tables below for troubleshooting general system faults.
Condition
Axis or system is unstable.
You cannot obtain the motor acceleration/deceleration that you want.
Motor does not respond to a velocity command.
Potential Cause
The position feedback device is incorrect or open.
Unintentionally in torque mode.
Incorrect motor selected in configuration.
The system inertia is excessive.
The system friction torque is excessive.
Available current is insufficient to supply the correct accel/decel rate.
Acceleration limit is incorrect.
Velocity Limit limits are incorrect.
Possible Resolution
Check wiring.
Check to see what primary operation mode was programmed.
Run Tune in RSLogix 5000 software.
Motor tuning limits are set too high.
Position loop gain or position controller accel/decel rate is improperly set.
Run Tune in RSLogix 5000 software.
Improper grounding or shielding techniques are causing noise to be transmitted into the position feedback or velocity command lines, causing erratic axis movement.
Check wiring and ground.
Motor Select limit is incorrectly set (servo motor is not matched to axis module).
Mechanical resonance
•
Check setups.
•
Run Tune in RSLogix 5000 software.
Notch filter or output filter may be required
(refer to Axis Properties dialog, Output tab in
RSLogix 5000 software).
Torque Limit limits are set too low.
Verify that current limits are set properly.
Select the correct motor and run Tune in
RSLogix 5000 software again.
•
Check motor size vs. application need.
•
Review servo system sizing.
Check motor size vs. application need.
•
Check motor size vs. application need.
•
Review servo system sizing.
Verify limit settings and correct them, as necessary.
Verify limit settings and correct them, as necessary.
The axis cannot be enabled for 1.5 seconds after disabling.
Enable signal has not been applied or the enable wiring is incorrect.
The motor wiring is open.
The motor thermal switch has tripped.
Disable the axis, wait for 1.5 seconds, and enable the axis.
•
Check the controller.
•
Check the wiring.
Check the wiring.
•
Check for a fault.
•
Check the wiring.
Repair or replace the motor.
The motor has malfunctioned.
The coupling between motor and machine has broken (i.e., the motor moves, but the load/machine doesn’t).
Check and correct the mechanics.
Primary operation mode is set incorrectly.
Velocity or current limits are set incorrectly.
Check and properly set the limit.
Check and properly set the limits.
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156 Troubleshooting the Kinetix 6000 Drive System
Condition
Presence of noise on command or motor feedback signal wires.
No rotation
Motor overheating
Abnormal noise
Erratic operation - Motor locks into position, runs without control or with reduced torque.
Potential Cause
Recommended grounding per installation instructions have not been followed.
Line frequency may be present.
Variable frequency may be velocity feedback ripple or a disturbance caused by gear teeth or ballscrew balls etc. The frequency may be a multiple of the motor power transmission components or ballscrew speeds resulting in velocity disturbance.
The motor connections are loose or open.
Foreign matter is lodged in the motor.
The motor load is excessive.
The bearings are worn.
The motor brake is engaged (if supplied).
The motor is not connect to the load.
The duty cycle is excessive.
Possible Resolution
•
Verify grounding.
•
Route wire away from noise sources.
•
Refer to System Design for Control of
Electrical Noise, publication GMC-RM001.
•
Verify grounding.
•
Route wire away from noise sources.
•
Decouple the motor for verification.
•
Check and improve mechanical performance of the gearbox, ballscrew, etc.
Check motor wiring and connections.
Remove foreign matter.
Verify the servo system sizing.
Return the motor for repair.
•
Check brake wiring and function.
•
Return the motor for repair.
Check coupling.
Change the command profile to reduce accel/ decel or increase time.
The rotor is partially demagnetized causing excessive motor current.
Motor tuning limits are set too high.
Return the motor for repair.
Loose parts are present in the motor.
Through bolts or coupling is loose.
The bearings are worn.
Mechanical resonance
Run Tune in RSLogix 5000 software again.
•
Remove the loose parts.
•
Return motor for repair.
•
Replace motor.
Tighten bolts.
Return motor for repair.
Notch filter may be required (refer to Axis
Properties dialog, Output tab in RSLogix 5000 software).
Check and correct motor power wiring.
Motor power phases U and V, U and W, or V and W reversed.
Sine, Cosine or Rotor leads are reversed in the feedback cable connector.
Sine, Cosine, Rotor lead sets of resolver feedback are reversed.
Check and correct motor feedback wiring.
Check and correct motor feedback wiring.
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Troubleshooting the Kinetix 6000 Drive System 157
Understanding Logix/Drive Fault Behavior
This section provides the drive fault actions and indicates whether the fault action is programmable.
Drive Fault Action Definitions
Drive Fault Action
Shutdown
Disable Drive
Stop Motion
Status Only
Definition
The drive disables and the contactor enable relay opens. Uncontrolled stop, motor coasts to a stop.
The drive is disabled. Uncontrolled Stop, motor coasts to a stop.
Logix configuration for velocity loop Kp/Ki is followed. When zero speed is reached or stopping time is exceeded, the drive is disabled. Stopping time and stopping torque are configurable parameters in RSLogix 5000.
Drive continues to operate. Status is provided by seven-segment Fault
Status LED Indicator, Drive Status LED Indicator, and DPI (if used).
Logix/Drive Fault Behavior
Fault Message RSLogix
(HIM)
BusUndervoltageFault
(Blown fuse)
Error
Code
E00
Description
MotorOvertempFault
(Motor Overtemp)
DriveOvercurrentFault
(Power Fault)
HardOvertravelFault
(+/- Hard Overtravel)
MotFeedbackFault
(Motor Feedback Loss)
BusUndervoltageFault
(Bus Under Voltage)
DriveOvervoltageFault
(Bus Overvoltage)
MotFeedbackFault
(Illegal Hall State)
SoftovertravelFault
(+/- Software Overtravel)
OverSpeedFault
(Overspeed Fault)
PositionErrorFault
(Follow Error)
E04
E05
E06
E07
E09
E10
E11
E16
E18
E19
Drive Fault
Action
A blown fuse was detected in the inverter pcb.
SHUTDOWN
The motor thermal switch was tripped.
Firmware I
2 t protection does not generate a fault, rather it dynamically folds back current when 110% of motor rating is reached. Setting the Motor Thermal fault action to Status Only will bypass this function.
An instantaneous over-current was detected in the inverter power section.
STOP
SHUTDOWN
Axis moved beyond the physical travel limits in the positive/negative direction. This fault can be configured for status only.
STOP
The feedback wiring is open, shorted or missing.
DISABLE
With 3 phase present, the dc bus voltage is below limits. The trip point is 275V and 137V dc for 460V/230V drives respectively.
DC bus voltage is below limits when any axis on common bus follower power rail was enabled.
SHUTDOWN
The dc bus voltage is above limits. The trip point is 820V and 410V dc for 460V/230V drives respectively.
SHUTDOWN
State of Hall feedback inputs in incorrect.
DISABLE
Axis position exceeded maximum software setting in the positive/ negative direction. This fault can be configured for status only.
Axis position error limit has been exceeded. This fault can be configured for status only.
STOP
Axis speed has reached 150% of the maximum rated setting. The
100% trip point is dictated by the lesser of the user velocity limits or the motor rated base speed.
DISABLE
STOP
RSLogix
Programmable
Fault Action?
N
Y
N
Y
N
N
N
N
Y
N
Y
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158 Troubleshooting the Kinetix 6000 Drive System
Fault Message RSLogix
(HIM)
MotFeedbackFault
(Mtr Fdbk AQB)
AuxFeedbackFault
(Aux Feedback Comm)
MotFeedbackFault
(Motor Feedback Comm)
GroundShortFault
(Ground Fault)
DriveUndervoltageFault
(Precharge Fault)
DriveOvertempFault
(System Overtemperature)
Error
Code
E20
E21
E30
E34
E35
E36
PowerPhaseLossFault
(Phase Loss Flt)
E37
Description
Motor encoder has encountered an illegal state transition.
Excessive ground current in the converter was detected.
The converter pre-charge cycle has failed.
Drive Fault
Action
DISABLE
Communication was not established with an intelligent (Stegmann) encoder on the Auxiliary feedback port.
STOP
Communication was not established with an intelligent (Stegmann) encoder on the Motor feedback port.
STOP
SHUTDOWN
SHUTDOWN
RSLogix
Programmable
Fault Action?
N
N
N
N
N
Converter internal temperature limit exceeded.
SHUTDOWN N
•
One or more phases of the input AC power is missing.
•
Axis was enabled when main (three-phase) power was removed.
•
Common bus follower axis was enabled when dc bus power was removed.
SHUTDOWN/ STOP N
The SERCOS ring is not active after being active and operational.
STOP N
SERCOSFault
(SERCOS Ring Flt)
DriveHardFault
(Self Sense Flt)
DriveEnableInputFault
(Drive Enable Flt)
DriveHardFault
(Safe-Off HW Flt)
SERCOSFault
(SERCOS Same ADDR)
DriveHardFault
(Ifbk HW Fault)
DriveHardFault
(Unknown Axis)
AuxFeedbackFault
(Aux Fdbk AQB)
AuxFeedbackFault
(Aux Fdbk Loss)
AuxFeedbackNoise
(Aux Fdbk Noise)
MotorFeedbackNoise
(Mtr Fdbk Noise)
No Fault Message
(condition indicated by on-screen message)
(Hookup Fault)
E38
E39
E43
E49
E50
E54
E60
E61
E62
E63
E64
E65
Self-sensing commutation fault detected.
Generated when Enable input switches off when drive is enabled.
Safe-off function mismatch. Drive will not allow motion. Refer to the
Kinetix Safe-off Feature Safety Reference Manual, publication
GMC-RM002, for more information. Applies to IAM
(2094x C xx -M xx -S) and AM (2094x M xx -S) with safe-off feature.
Duplicate node address detected on SERCOS ring.
Current feedback hardware fault detected.
Invalid module type identified by firmware when applying power.
Auxiliary encoder has encountered an illegal state transition.
The feedback wiring is open, shorted or missing.
Presence of noise on auxiliary feedback cable.
Presence of noise on motor feedback cable.
Hookup procedure failed.
DISABLE
STOP
SHUTDOWN
STOP
SHUTDOWN
SHUTDOWN
DISABLE
DISABLE
DISABLE
DISABLE
N
Y
N
N
N
N
N
N
Y
N
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Troubleshooting the Kinetix 6000 Drive System 159
Fault Message RSLogix
(HIM)
No Fault Message
(condition indicated by on-screen message)
(Atune Flt)
DriveHardFault
(Task init)
DriveHardFault
(SCANport Comm)
DriveHardFault
(Objects Init)
DriveHardFault
(NV Mem Init)
DriveHardFault
(Memory Init)
DriveOvertempFault
(Drive Overtemp)
Communicate
(Backplane Comm)
DriveOvercurrentFault
(Bus OverCurrent)
DriveOvervoltageFault
(Shunt Time Out)
DriveHardFault
(Can Init)
DriveHardFault
(Module Mismatch)
DriveHardFault
SERCOS Init
DriveOvervoltageFault
(Shunt Module Flt)
HardwareFault
(CPLD Flt)
HardwareFault
(Common Bus Flt)
HardwareFault
(Pre-charge Timeout Flt)
RESERVED
Error
Code
E66
E67
E68
E69
E70
E71
E72
E73
E74
E75
E76
E77
E78
E79
E80
E81
E90
All
Others
Description
Autotune procedure failed.
Operating system failed.
DPI communication failed.
Non-volatile memory attribute out of range.
Non-volatile memory corrupted.
RAM or flash memory validation failure.
Inverter temperature limit exceeded.
Firmware I
2 t protection does not generate a fault, rather it dynamically folds back current when 110% of drive rating is reached.
Power rail backplane CAN communications failed.
The converter has exceeded its converter rating.
The IAM, AM, or SM has exceeded its shunt resistor continuous rating. SHUTDOWN for IAM, DISABLE for AM. IAM also provides fault handling for shunt module.
Either DPI or backplane CAN initialization failure.
SHUTDOWN
SHUTDOWN
SHUTDOWN
Generated by IAM if the power rating of an AM on the same power rail does not match with IAM input power rating.
SHUTDOWN
Control hardware fault detected.
Power rail mounted shunt module fault. Displayed on IAM seven-segment fault status LED indicator.
Control hardware fault detected.
Common bus follower IAM detected ac input power being applied.
Pre-charge resistor power exceeds the resistor rating.
Drive Fault
Action
DISABLE
SHUTDOWN
STOP
SHUTDOWN
SHUTDOWN
SHUTDOWN
SHUTDOWN
STOP
SHUTDOWN
SHUTDOWN
SHUTDOWN
SHUTDOWN
SHUTDOWN
Y
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
RSLogix
Programmable
Fault Action?
N
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160
Supplemental
Troubleshooting
Information
Troubleshooting the Kinetix 6000 Drive System
This section provides information for accessing and changing parameters not accessible through RSLogix 5000 software.
Tools for Changing Parameters
Most parameters are accessible through RSLogix 5000 software.
Alternatives include the DPI compatible Human Interface Module
(HIM) and DriveExplorer software.
Method
DriveExplorer
HIM
Description
DriveExplorer software
(1)
Catalog Number
9306-4EXP02ENE
Serial to SCANport adapter 1203-SSS (Series B)
Full numeric LCD HIM 20-HIM-A3
(2)
(1)
(2)
Refer to DriveExplorer Getting Results Manual, publication 9306-GR001, for instructions.
Compatible catalog numbers include all 20-HIM-A x .
Firmware Revision
2.01 or later
3.004 or later
N/A
Changing Parameters Using DriveExplorer
To navigate using DriveExplorer, refer to the example dialog below.
In this example, the I/O Interface group folder is open, the Analog
Outputs parameter is selected, and the parameter elements are displayed in the box to the right.
IMPORTANT
Parameters are read-only when the SERCOS ring is active. You must break the SERCOS ring to change parameters.
To save changes, perform a non-volatile save (NVS) prior to cycling power.
DriveExplorer Example
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Troubleshooting the Kinetix 6000 Drive System 161
Changing Parameters Using the HIM
When using the HIM to monitor or change parameters, use the up and down arrows (
∧ and
∨
) to arrive at selections. Refer to the instructions that came with your HIM for more information.
Follow these steps to monitor or change parameters using the HIM.
1.
Select parameter. Press
↵
.
2.
Select I/O AM1 Group (for IAM). Press
↵
.
3.
Select Analog Outputs. Press
↵
.
a. Analog Output 1 is displayed. Press
↵
.
b. For Analog Output 2 use arrows to select. Press
↵
.
4.
Press Sel.
5.
Enter parameter number. Press
↵
.
Using Analog Test Points to Monitor System Variables
There are two analog output test points accessible from the IOD
26-pin connector on the IAM and AM.
IAM/AM I/O 26-pin (IOD) Connector
IOD Pin Description
23 Analog output 0
24
25
26
Analog output common
Analog output 1
Analog output common
Signal
DAC0
DAC_COM
DAC1
DAC_COM
Pin Orientation for 26-pin I/O (IOD) Connector
26-pin IAM/AM
I/O Connector
Pin 26
Pin 18
Pin 9
Pin 19
Pin 10
Pin 1
Refer to Analog Outputs on page 62 for signal specifications.
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162 Troubleshooting the Kinetix 6000 Drive System
Parameters begin with a variable to identify a specific axis by slot number, as follows:
•
IAM = 0 for parameters 0...999
•
1st AM = 1 for parameters 1000...1999
•
2nd AM = 2 for parameters 2000...2999 and so on...
•
7th AM = 7 for parameter 7000...7999
Monitor System Variables
Analog
Output
1
2
Controlling Parameter
Parameter Number
(1)
Default Value
(1) x 681 x 683 xx xx
40
84
(1) x = slot number
Scale Parameter
Parameter Number
(1)
Default Value x 682 x 684
0.0060
0.1000
The value entered in Scale Parameter will scale the analog output so that you can get a full scale reading of the specific parameter for the dynamic range or values you are testing.
Monitor Dynamic System Variables
Attribute
Velocity feedback
(2)
Velocity commanded
(2)
Torque feedback
(3))
Torque commanded
(3)
Following error
(4))
Parameter Number xx xx xx xx x
40
36
84
80
189
(1)
(1) x = slot number.
(2)
Velocity Command and Feedback scaling value is 0.25V = 1000 rpm (using default scaling).
(3)
Torque Command and Feedback scaling value is 0.25V = 100% rated motor current or amplifier rating
(whichever is less) using default scaling.
(4)
Output scaling is dependant on feedback device and drive resolution.
Publication 2094-UM001A-EN-P — September 2006
Introduction
Before You Begin
Chapter
8
Removing and Replacing the Kinetix 6000
Drive Modules
This chapter provides remove and replace procedures for your
Kinetix 6000 system components.
Topic
Page
ATTENTION
This drive contains ESD (Electrostatic Discharge) sensitive parts and assemblies. You are required to follow static control precautions when you install, test, service, or repair this assembly. If you do not follow ESD control procedures, components can be damaged. If you are not familiar with static control procedures, refer to Allen-Bradley publication
8000-4.5.2, Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook.
You will need the following tools available before you begin removal and replacement procedures:
•
A flat blade screw driver
•
A small flat blade screw driver, 3.5 mm (0.14 in.)
•
Voltmeter
163 Publication 2094-UM001A-EN-P — September 2006
164 Removing and Replacing the Kinetix 6000 Drive Modules
Removing Power Rail
Modules
Follow these steps to remove modules from the power rail.
1.
Verify that all control and input power has been removed from the system.
ATTENTION
To avoid shock hazard or personal injury, assure that all power has been removed before proceeding. This system may have multiple sources of power. More than one disconnect switch may be required to de-energize the system.
2.
Allow five minutes for the dc bus to completely discharge before proceeding.
ATTENTION
This product contains stored energy devices. To avoid hazard of electrical shock, verify that all voltage on capacitors has been discharged before attempting to service, repair, or remove this unit. You should only attempt the procedures in this document if you are qualified to do so and are familiar with solid-state control equipment and the safety procedures in publication NFPA 70E.
3.
Label and remove all connectors from the module (IAM, AM, or
SM) you are removing.
To identify each connector, refer to page 50 (IAM/AM) or page 68
(SM). The slot filler module has no connectors aside from the connections to the power rail.
4.
Remove the motor cable from the cable shield clamp, as shown in the examples below.
Vertical Cable Clamp
Orientation Example
Motor
Cable
Use flat blade screwdriver with
3.5 mm (0.14 in.) tip to depress spring and remove cable.
Horizontal Cable Clamp
Orientation Example
Cable Clamp
Cable Clamp
Screwdriver Tip in Slot
Vent Holes on Top of IAM/AM
5.
Loosen the mounting screw (bottom center of each module).
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Removing and Replacing the Kinetix 6000 Drive Modules 165
6.
Grasp top and bottom of the module with both hands and gently pull the module away from the connectors enough to clear the guide pins (module will pivot on top bracket).
7.
Lift the bracket out of the power rail slot and remove module from the power rail.
Guide Pins
Power Rail
(side view)
Integrated Axis Module
(side view)
Replacing Power Rail
Modules
Follow these steps to replace the power rail modules.
1.
Determine your power rail replacement.
If you are Then
Replacing a power rail module on the existing power rail
Replacing a power rail module on a new power rail
2.
Prepare to mount your replacement module by removing the protective boots from the power rail connector.
3.
Hang the mounting bracket from the slot on the power rail.
IMPORTANT
Power rail must be in vertical orientation before replacing modules or pins may not seat properly.
4.
Align the guide pins on the power rail with the guide pin holes in the back of the module (refer to the figure above).
TIP
The IAM can have two or three power rail connectors and guide pins, the AM can have one or two, all other modules have only one connector and one guide pin.
5.
Use 2.26 Nm (20 lb-in) torque to tighten the mounting screw.
6.
Re-connect the module connectors.
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166 Removing and Replacing the Kinetix 6000 Drive Modules
7.
Re-apply power to the system.
8.
Verify that the system is operating properly.
TIP
Because IAM and AM parameters reside in the RSLogix
5000 software, you do not need to perform any tuning or setup procedures.
Removing the Power Rail
This procedure assumes you have removed all modules from the power rail.
Follow these steps to remove the power rail.
1.
Disconnect the braided grounding strap from the grounding stud located on the right side of the power rail.
Braided Ground Strap
100 mm (3.9 in.)
Bonded Cabinet Ground
Power Rail
2094-PR x
Power Rail
2094-PRS x
Braided Ground Strap
100 mm (3.9 in.)
Bonded Cabinet Ground
2.
Loosen the mounting bolts (removing the bolts is not necessary).
3.
Lift the power rail up and off of the mounting bolts.
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Removing and Replacing the Kinetix 6000 Drive Modules 167
Replacing the Power Rail
This procedure assumes you do not need to change the location of the power rail on the panel and you intend to reuse the mounting bolts of the power rail you just removed.
IMPORTANT
If you need to change the location of the power rail, or if you are installing a power rail designed for additional or fewer modules than you removed, refer to Kinetix 6000 Power Rail
Installation Instructions, publication 2094-IN003.
ATTENTION
To avoid damage to the power rail during installation, do not remove the protective boots until the module for each slot is ready for mounting.
Follow these steps to replace the power rail.
1.
Align the replacement power rail over the existing mounting bolts.
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.
Re-attach the braided grounding strap to the power rail grounding
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168 Removing and Replacing the Kinetix 6000 Drive Modules
Publication 2094-UM001A-EN-P — September 2006
Introduction
Appendix
A
Specifications and Dimensions
This appendix provides product specifications and mounting dimensions for your Kinetix 6000 system components.
Topic
Power Dissipation Specifications
External Shunt Module Specifications
Page
169 Publication 2094-UM001A-EN-P — September 2006
170 Specifications and Dimensions
Power Specifications
This section contains power specifications for your Kinetix 6000 system components.
Integrated Axis Module (converter) Power Specifications
IAM (230V) Power Specifications
Specification
Description
2094-AC05-MP5-S 2094-AC05-M01-S 2094-AC09-M02-S 2094-AC16-M03-S 2094-AC32-M05-S
AC input voltage
AC input frequency
Main ac input current
(1)
Nom (rms)
Max inrush (0-pk)
Control power ac input voltage
195...264V rms three-phase (230V nom)
47...63 Hz
10 A
20 A
DC input voltage (common bus follower) 275...375V dc
DC input current (common bus follower) 10 A
95...264V rms single-phase (230V nom)
19 A
33 A
19 A
36 A
65 A
36 A
71 A
120 A
71 A
Control power ac input current
Nom (@ 220/230V ac) rms
Nom (@ 110/115V ac) rms
Max inrush (0-pk)
Nominal bus output voltage
Line loss ride through
Continuous output current to bus (A dc
)
Intermittent output current to bus (A dc
)
(3)
Bus overvoltage
Bus undervoltage
Internal shunt
Continuous power
Peak power
Internal shunt resistor
Shunt on
Shunt off
Continuous power output to bus
Peak power output
Efficiency
Converter inductance
Converter capacitance
3 A
6 A
20 A
325V dc
20 ms
10 A
20 A
425V dc
138V dc
N/A
N/A
N/A
N/A
N/A
3 kW
6 kW
95%
N/A
270
μ
F
19 A
38 A
50 W
8000 W
20
Ω
405V dc
375V dc
6 kW
12 kW
540
μ
F
3 A
6 A
83 A
36 A
72 A
(2)
200 W
5600 W
28.75
Ω
11.3 kW
22.6 kW
150
μ
1320
H
μ
F
71 A
142 A
200 W
5600 W
28.75
22.5 kW
45.0 kW
75
μ
1980
H
μ
Ω
F
(1)
(2)
(3)
All 2094x C xx integrated axis modules are limited to 2 contactor cycles per minute (with up to 4 axis modules), or 1 contactor cycle per minute (with 5 to 8 axis modules).
Maximum inrush duration is less than 1/2 line cycle.
Intermittent output current duration equals 250 ms.
Publication 2094-UM001A-EN-P — September 2006
Specifications and Dimensions 171
IAM (460V) Power Specifications
Specification
AC input voltage
AC input frequency
Main ac input current
(1)
Nom (rms)
Max inrush (0-pk)
324...528V rms
47...63 Hz three-phase (360...480V nom)
Control power ac input voltage
10 A
10 A
DC input voltage (common bus follower) 458...747V dc
DC input current (common bus follower) 10 A
95...264V rms single-phase (230V nom)
Description
2094-BC01-MP5-S 2094-BC01-M01-S 2094-BC02-M02-S 2094-BC04-M03-S 2094-BC07-M05-S
24 A
20 A
24 A
44 A
34 A
43 A
71 A
56 A
71 A
Control power ac input current
Nom (@ 220/230V ac) rms
Nom (@ 110/115V ac) rms
Max inrush (0-pk)
Nominal bus output voltage
Line loss ride through
Continuous output current to bus (A dc
)
Intermittent output current to bus (A dc
)
(2)
3 A
6 A
25 A
650V dc
20 ms
10 A
20 A
24 A
48 A
43 A
86 A
71 A
142 A
825V dc
275V dc
Bus overvoltage
Bus undervoltage
Internal shunt
Continuous power
Peak power
Internal shunt resistor
Shunt on
Shunt off
Continuous power output to bus
Peak power output
Efficiency
Converter inductance
Converter capacitance
50 W
5600 W
115
805V dc
755V dc
6 kW
Ω
12 kW
95%
250
μ
H
110
μ
F
15 kW
30 kW
220
μ
F
200 W
22,300 W
28.75
27.6 kW
55.2 kW
125
940
μ
μ
Ω
H
F
45 kW
90 kW
75
μ
1410
H
μ
F
(1)
(2)
All 2094x C xx integrated axis modules are limited to 2 contactor cycles per minute (with up to 4 axis modules), or 1 contactor cycle per minute (with 5 to 8 axis modules).
Intermittent output current duration equals 250 ms.
Publication 2094-UM001A-EN-P — September 2006
172 Specifications and Dimensions
Axis Module (inverter) Power Specifications
The following tables list power specifications for the Kinetix 6000 axis modules. The specifications apply to the axis module specified in the column heading by catalog number and the same axis module
(inverter section) that resides within an integrated axis module.
AM (inverter) 230V Power Specifications
Specification
2094-AMP5-S
(2094-AC05-MP5-S)
2094-AM01-S
(2094-AC05-M01-S)
Description
2094-AM02-S
(2094-AC09-M02-S)
2094-AM03-S
(2094-AC16-M03-S)
2094-AM05-S
(2094-AC32-M05-S)
Bandwidth
(1)
Velocity loop
Current loop
PWM frequency
Nominal input voltage
Continuous current (rms)
Continuous current (0-pk)
Peak current (rms)
(2)
Peak current (0-pk)
(2)
Continuous power out (nom)
Internal shunt
Internal shunt resistor
Shunt on
Continuous power
Peak power
Shunt off
Efficiency
Capacitance
Capacitive energy absorption
500 Hz
1300 Hz
8 kHz
325V dc
3.7 A
5.2 A
7.4 A
10.5 A
1.2 kW
N/A
N/A
N/A
N/A
N/A
98%
390
15 J
μ
F
6.0 A
8.5 A
12.0 A
17.0 A
1.9 kW
660
μ
F
25 J
(1)
(2)
Bandwidth values vary based on tuning parameters and mechanical components.
Peak current duration equals 2.5 seconds.
4 kHz
10.6 A
15.0 A
21.2 A
30.0 A
3.4 kW
780
29 J
μ
F
17.3 A
24.5 A
34.6 A
48.9 A
5.5 kW
50 W
1400 W
115
405V dc
375V dc
1320
50 J
Ω
μ
F
34.6 A
48.9 A
51.9 A
73.4 A
11.0 kW
2640
99 J
μ
F
Publication 2094-UM001A-EN-P — September 2006
Specifications and Dimensions 173
AM (inverter) 460V Power Specifications
Specification
2094-BMP5-S
(2094-BC01-MP5-S)
2094-BM01-S
(2094-BC01-M01-S)
Description
2094-BM02-S
(2094-BC02-M02-S)
Bandwidth
(1)
Velocity loop
Current loop
PWM frequency
Nominal input voltage
Continuous current (rms)
Continuous current (sine)
0-pk
Peak current (rms)
(2)
Peak current (0-pk)
(2)
Continuous power out (nom)
Internal shunt
Continuous power
Peak power
Internal shunt resistor
Shunt on
Shunt off
Efficiency
Capacitance
Capacitive energy absorption
500 Hz
1300 Hz
8 kHz
650V dc
2.8 A
4.0 A
4.2 A
5.9 A
1.8 kW
50 W
5600 W
115 Ω
805V dc
755V dc
97%
75
μ
F
10 J
6.1 A
8.6 A
9.2 A
12.9 A
3.9 kW
150
μ
F
19 J
(1)
(2)
Bandwidth values vary based on tuning parameters and mechanical components.
Peak current duration equals 2.5 seconds.
4 kHz
10.3 A
14.6 A
15.5 A
21.8 A
6.6 kW
270
35 J
μ
F
2094-BM03-S
(2094-BC04-M03-S)
2094-BM05-S
(2094-BC07-M05-S)
21.2 A
30.0 A
31.8 A
45.0 A
13.5 kW
200 W
22,300 W
28.75 Ω
840
μ
F
108 J
34.6 A
48.9 A
51.9 A
73.4 A
22.0 kW
1175
152 J
μ
F
Shunt Module Power Specifications
Kinetix 6000 Drives
Shunt Module
Catalog Number
2094-AC or
2094-BC xx xx
-M
-M xx xx
-S
-S
2094-BSP2
Drive
Voltage
V ac
230
460
2094 (rail-mounted) Shunt Module Specifications
Resistance
Ω
Specifications
Peak
Power kW
5.7
Peak
Current
A
14
28.75
22.5
28
Continuous
Power
W
Fuse Replacement
200 N/A (no internal fuse)
For External Shunt Module Specifications, refer to page 184.
Publication 2094-UM001A-EN-P — September 2006
174 Specifications and Dimensions
In the table below, the 230V system specifications are given for the
IAM internal shunt resistors, the Kinetix 6000 (2094-BSP2) SM, and the
Bulletin 1394 passive external shunt modules.
Shunt Module (230V) System Specifications
Kinetix 6000
(230V) IAM
2094-
Number of
Axis Modules
Quantity
AC05-MP5-S
AC05-M01-S
AC09-M02-S
AC16-M03-S
0 to 7
AC32-M05-S
AC xx -M xx -S 0 to 6
AC xx -M xx -S
AC xx -M xx -S
0 to 6
AC xx -M xx -S
AC xx -M xx -S
Shunt Module Specifications
Catalog
Number
N/A
(2)
2094-BSP2
2094-BSP2
Resistance
Ω
–
–
–
–
–
28.75
4
Peak
Current
A
–
–
–
–
–
14.1
101.3
–
–
–
5.7
–
–
Peak
Power kW
41
(4)
(5)
(6)
(1)
(2)
(3)
Refer to page 184 for external shunt module specifications.
Module not part of system configuration.
50 or the sum of the AM internal shunt ratings.
200 plus the sum of the AM internal shunt ratings.
200 plus the sum of the IAM (2094-AC16-M03 and -AC32-M05 only) and AM internal shunt ratings.
Use of external shunt disables shunts internal to IAM and AM.
300
900
1800
3600
–
–
–
200
–
–
Continuous
Power
W
External Passive
Shunt Module
(1)
N/A
(2)
N/A
(2)
1394-SR9A
1394-SR9AF
1394-SR36A
1394-SR36AF
System
Continuous
Shunt Power
W
0
0
50
(3)
200 plus
(4)
200 plus
(5)
300
(6)
900
(6)
1800
(6)
3600
(6)
IMPORTANT
The Kinetix 6000 shunt module, catalog number 2094-BSP2, used in combination with the 2094-AC09-M02 IAM, disables the shunt resistor internal to that IAM. This situation is unique to the 2094-AC09-M02 IAM. Shunt resistors internal to adjacent AMs are not disabled.
Refer to the 2094-AC09-M02 example on page 175.
Publication 2094-UM001A-EN-P — September 2006
Specifications and Dimensions 175
In the example below, the continuous shunt power is 300 W. The
50 W resistor in the IAM is disabled when used in combination with the (2094-BSP2) SM. This example is unique to the 2094-AC09-M02
IAM.
230V Shunt Power Example (2094-AC09-M02)
Kinetix 6000 (230V) Shunt Power Example
300 W Continuous Shunt Power
SM (2094-BSP2) 200 W Shunt Module
AM (2094-AMP5) No Internal Shunt
AM (2094-AM03) 50 W Internal Shunt
AM (2094-AM03) 50 W Internal Shunt
IAM (2094-AC09-M02) 50 W Internal Shunt
In the table below, the 460V system specifications are given for the
IAM internal shunt resistors, the Kinetix 6000 (2094-BSP2) SM, and the
Bulletin 1394 passive external shunt modules.
Shunt Module (460V) System Specifications
Kinetix 6000
(460V) IAM
2094-
Number of
Axis Modules
Quantity
BC01-MP5-S
BC01-M01-S
BC02-M02-S
BC04-M03-S
0 to 7
BC07-M05-S
BC xx -M xx -S 1 to 6
BC xx -M xx -S
BC xx -M xx -S
1 to 6
BC xx -M xx -S
BC xx -M xx -S
Catalog
Number
N/A
(2)
2094-BSP2
2094-BSP2
–
–
–
–
Ω
–
Shunt Module Specifications
Resistance
Peak
Current
A
–
–
Peak
Power kW
–
–
–
–
–
–
28.75
4
(1)
(2)
(3)
(4)
(5)
(6)
Refer to page 184 for external shunt module specifications.
Module not part of system configuration.
50 plus the sum of the AM internal shunt ratings.
200 plus the sum of the AM internal shunt ratings.
200 plus the sum of the IAM and AM internal shunt ratings.
Use of external shunt disables shunts internal to IAM and AM.
–
28
201.3
–
22.5
162
300
900
1800
3600
–
–
–
200
–
–
Continuous
Power
W
External
Passive
Shunt Module
(1)
N/A
(2)
N/A
(2)
1394-SR9A
1394-SR9AF
1394-SR36A
1394-SR36AF
System
Continuous
Shunt Power
W
50 plus
(3)
50 plus
(3)
50 plus
(3)
200 plus
200 plus
300
900
(6)
(6)
1800
3600
(6)
(6)
(4)
(5)
Publication 2094-UM001A-EN-P — September 2006
176 Specifications and Dimensions
In the example below, the sum of the IAM, AMs, and SM equal 500 W of continuous shunt power.
TIP
Shunt power adds up the same way for 460V (IAM, AM, and
SM) systems too.
Shunt Power Example (without external shunt)
Kinetix 6000 (230V) Shunt Power Example
500 W Continuous Shunt Power
SM (2094-BSP2) 200 W Shunt Module
AM (2094-AM02) No Internal Shunt
AM (2094-AM03) 50 W Internal Shunt
AM (2094-AM03) 50 W Internal Shunt
IAM (2094-AC16-M03) 200 W Internal Shunt
In the example below, the system is identical to that shown in the example above, except the Kinetix 6000 (2094-BSP2) shunt module is wired to a Bulletin 1394 external shunt module. The IAM and AM internal shunt power is disabled and the continuous shunt power is equal to that of the external shunt module alone.
TIP
The external shunt disables the internal shunt capacity of 460V
(IAM, AM, and SM) systems too.
Shunt Power Example (with external shunt)
Kinetix 6000 (230V) Shunt Power Example
900 W Continuous Shunt Power
Shunt Module
ALLEN-BRADLEY
BULLETIN 1394 300W SHUNT MODULE
CAT.
INPUT DC
PART
INPUT AC
FOR FUSE REPLACEMENT USE:
SER.
BUSSMAN CAT. NO.
FOR USE WITH 1394-SJT22-X SYSTEM MODULE
Bulletin 1394 External Shunt Module
(1394-SR9AF) 900 W External Shunt
SM (2094-BSP2) 200 W Shunt Module
AM (2094-AM02) No Internal Shunt
AM (2094-AM03) 50 W Internal Shunt
AM (2094-AM03) 50 W Internal Shunt
IAM (2094-AC16-M03) 100 W Internal Shunt
Publication 2094-UM001A-EN-P — September 2006
Required Protection under 110-10 of
NEC 1999
Preferred Fully
Rated Breakers
Breakers Selected for Device Protection
Fully Rated Short Circuit
Interrupt Capability
Specifications and Dimensions 177
Drive
Circuit Breaker/Fuse Specifications
Fully Rated
Fused
Disconnect
Fully Rated
Breaker
While circuit breakers offer some convenience, there are limitations for their use. Circuit breakers do not handle high current inrush as well as fuses. The Kinetix 6000 needs to be protected by a device having a short circuit interrupt current rating of the service capacity provided or a maximum of 100,000 A.
If an upstream circuit protection device is rated for the overload current and short circuit rating, a supplementary circuit protection device (such as the 1492 product) can be used as the only
Kinetix 6000 branch circuit protection device. The upstream fully rated device let-through must be less than or equal to the 10 kA interrupt rating of the 1492 circuit protection device.
The wiring interconnection in the figures below provide examples of the needed protection and follows UL and NEC codes. Full compliance is dependent on final wiring design and installation.
Circuit Protection under NEC 1999 110-10 (preferred fully rated devices)
Fully Rated
Fused
Disconnect
Fully Rated
Breaker
Distribution
Blocks
Required Protection under 110-10 of
NEC 1999
Preferred Fully
Rated Breakers
Fully Rated
Fused
Disconnect
Fully Rated
Breaker
Breakers Selected for Device Protection
Fully Rated Short Circuit
Interrupt Capability
Drive Drive
Required Protection under 110-10 of
NEC 1999
Allowed But
No Longer Preferred
Breakers Selected for Device Protection
With Limited Short
Circuit Interrupt
Capability
Drive
Distribution
Blocks
Circuit Protection under NEC 1999 110-10 (allowed but no longer preferred)
Distribution
Blocks
Traditional
Current Limit
Fused
Disconnect or
Breaker
Rated for
Short Circuit
Available
Limiting to
Short Circuit
Rating of Down
Stream Breaker
Required Protection under 110-10 of
NEC 1999
Allowed But
No Longer Preferred
Breakers Selected for Device Protection
With Limited Short
Circuit Interrupt
Capability
Traditional
Current Limit
Fused
Disconnect or
Breaker
Rated for
Short Circuit
Available
Limiting to
Short Circuit
Rating of Down
Stream Breaker
Drive Drive
Publication 2094-UM001A-EN-P — September 2006
178 Specifications and Dimensions
Use class CC, J, L, or R fuses, with current rating as indicated in the table below. The following fuse examples and Allen-Bradley circuit breakers are recommended for use with integrated axis modules
(2094x C xx -M xx -S) when the Line Interface Module (LIM) is not used.
IMPORTANT
Line Interface Modules (2094-AL xx S, -BL xx S, and -XL75S-C x ) provide branch circuit protection to the IAM. Follow all applicable NEC and local codes.
Fuse Specifications
Catalog Number
Bussmann
Fuse
V ac Input Power
Allen-Bradley
Circuit Breaker
(1)
2094-AC05-MP5-S
2094-AC05-M01-S
KTK-R-20 (20 A) 1492-CB3H300 140M-F8E-C16
2094-AC09-M02-S KTK-R-30 (30 A) 1492-CB3H400 140M-F8E-C20
2094-AC16-M03-S LPJ-45SP (45 A) N/A 140U-H6C3-C50
2094-AC32-M05-S LPJ-80SP (80 A) N/A
2094-BC01-MP5-S
140U-H6C3-C90
KTK-R-20 (20 A) 1492-CB3H300 140M-F8E-C32
2094-BC01-M01-S
2094-BC02-M02-S KTK-R-30 (30 A) 1492-CB3H400 140M-F8E-C45
2094-BC04-M03-S LPJ-45SP (45 A)
N/A
140U-H6C3-C50
2094-BC07-M05-S LPJ-80SP (80 A) 140U-H6C3-C90
Fuse
Control Input Power
Bussmann
FNQ-R-10 (10 A)
Allen-Bradley
Circuit Breaker
(1)
1492-CB2H060
1492-SP2D200
1492-CB2H060
N/A
N/A
DC Common Bus Fuse
Bussmann
Fuse
FWH-35B
FWH-60B
FWH-125B
FWJ-40A
FWJ-70A
FWJ-125A
Ferraz
Shawmut Fuse
A50P20-1
A50P35-4
A50P60-4
A50P125-4
A100P20-1
A100P40-1
A100P70-1
A100P125-1
(1)
When using Bulletin 1492 circuit protection devices, the maximum short circuit current available from the source is limited to 5000 A.
ATTENTION
Bulletin 1492 and 140M circuit breakers should not be used on the output of an ac drive as an isolating disconnect switch or motor overload device. These devices are designed to operate on sine wave voltage and the drive’s PWM waveform does not allow it to operate properly. As a result, damage to the device will occur.
Publication 2094-UM001A-EN-P — September 2006
Specifications and Dimensions 179
Contactor Ratings
The table below lists the recommended contactor ratings for integrated axis modules installed without a line interface module.
Catalog Number
230V IAM
2094-AC05-MP5-S
2094-AC05-M01-S
2094-AC09-M02-S
2094-AC16-M03-S
2094-AC32-M05-S
Contactor
100-C23x10 (ac coil)
100-C23Zx10 (dc coil)
100-C37x10 (ac coil)
100-C37Zx10 (dc coil)
100-C72x10 (ac coil)
100-C72Zx10 (dc coil)
100-C85x10 (ac coil)
100-C85Zx10 (dc coil)
Catalog Number
460V IAM
2094-BC01-MP5-S
2094-BC01-M01-S
2094-BC02-M02-S
2094-BC04-M03-S
2094-BC07-M05-S
Contactor
100-C23x10 (ac coil)
100-C23Zx10 (dc coil)
100-C37x10 (ac coil)
100-C37Zx10 (dc coil)
100-C60x10 (ac coil)
100-C60Zx10 (dc coil)
100-C72x10 (ac coil)
100-C72Zx10 (dc coil)
Transformer Specifications for Control Power Input
Attribute
Input volt-amperes
Input voltage
Output voltage
Value (460V system)
750VA
460V ac
120...240V ac
Publication 2094-UM001A-EN-P — September 2006
180 Specifications and Dimensions
Power Dissipation
Specifications
Use the following table to size an enclosure and calculate required ventilation for your Kinetix 6000 drive system.
Kinetix 6000 Modules
20%
Integrated axis module (IAM converter)
(1)
2094-AC05-MP5-S
2094-AC05-M01-S
19
2094-AC09-M02-S
2094-AC16-M03-S
2094-AC32-M05-S
2094-BC01-MP5-S
2094-BC01-M01-S
2094-BC02-M02-S
2094-BC04-M03-S
2094-BC07-M05-S
33
18
31
15
20
22
44
Integrated axis module (IAM Inverter) or axis module (AM)
(1)
2094-AC05-MP5-S or -AMP5-S
2094-AC05-M01-S or -AM01-S
60
62
2094-AC09-M02-S or -AM02-S
2094-AC16-M03-S or -AM03-S
2094-AC32-M05-S or -AM05-S
2094-BC01-MP5-S or -BMP5-S
64
50
106
75.7
2094-BC01-M01-S or -BM01-S
2094-BC02-M02-S or -BM02-S
2094-BC04-M03-S or -BM03-S
2094-BC07-M05-S or -BM05-S
Shunt module (SM)
2094-BSP2
95
98
95
118
68
40%
23
51
38
64
20
30
43
77
65
69
73
72
160
80.9
120
126
132
182
121
Usage as % of Rated Power Output
(watts)
(1)
Internal shunt power is not included in the calculations and must be added based on utilization.
60%
27
69
60
102
25
40
65
111
70
76
82
99
220
86
145
154
171
251
174
80%
31
87
83
144
30
50
86
144
227
285
92
170
182
75
83
91
130
212
326
100%
35
35
60
108
177
105
108
190
356
98
195
210
80
90
100
165
256
406
280
Publication 2094-UM001A-EN-P — September 2006
General Specifications
Specifications and Dimensions 181
This section contains general specifications for your Kinetix 6000 system components.
Maximum Feedback Cable Lengths
Although motor feedback cables are available in standard lengths up to 90 m (295.3 ft), the drive/motor/feedback combination may limit the maximum cable length, as shown in the tables below. These tables assume the use of recommended 2090 series cables.
MP-Series (MPL and MPG) Motors
MPL-A (230V) Motors MPL-B (460V) Motors
Absolute
High-resolution
(1) m (ft)
30 (98.4)
Incremental
(2) m (ft)
30 (98.4)
Absolute
High-resolution
(1) m (ft)
90 (295.3)
Incremental m (ft)
30 (98.4)
(2)
Resolver
(3) m (ft)
90 (295.3)
(1)
(2)
(3)
(4)
Refers to MPL-A/B xxx S/M (single-turn or multi-turn) low inertia motors with absolute high-resolution feedback.
Refers to MPL-A/B xxx H low inertia motors with 2000-line incremental feedback.
Refers to MPL-A/B xxx R low inertia motors with 2-pole resolver feedback.
Refers to MPG-A/B xxx S/M (single-turn or multi-turn) integrated gear motors with absolute high-resolution feedback.
MPG-A
(230V) Motors
Absolute
High-resolution
(4) m (ft)
30 (98.4)
MPG-B
(460V) Motors
Absolute
High-resolution
(4) m (ft)
60 (196.8)
MP-Series (MPF and MPS), 1326AB, and TL-, F-, and Y-Series Motors
MPF-A and MPS-A
(230V) Motors
Absolute
High-resolution
(1) (2) m (ft)
30 (98.4)
MPF-B and MPS-B
(460V) Motors
Absolute
High-resolution m (ft)
(1) (2)
90 (295.3)
1326AB (M2L/S2L)
(460V) Motors
Absolute
High-resolution
(3) m (ft)
90 (295.3)
1326AB
(460V) Motors
Resolver
(4) m (ft)
90 (295.3)
F- and Y-Series
(230V) Motors
Incremental
(5) m (ft)
30 (98.4)
(1)
(2)
(3)
(4)
(5)
(6)
Refers to MPF-A/B xxxx S/M (single-turn or multi-turn) food grade motors with absolute high-resolution feedback.
Refers to MPS-A/B xxxx S/M (single-turn or multi-turn) stainless steel motors with absolute high-resolution feedback.
Refers to 1326AB-B xxxx -M2L/S2L (single-turn or multi-turn) motors with absolute high-resolution feedback.
Refers to 1326AB-B xxxx -21 motors with resolver feedback.
Refers to F- and Y-Series motors with incremental (optical encoder) feedback.
Refers to TL-A xxxxH low inertia motors with incremental feedback.
TL-Series
(230V) Motors
Incremental
(6) m (ft)
30 (98.4)
Environmental Specifications
Specification
Ambient Temperature
Relative Humidity
Altitude
Vibration
Shock
Operational Range
0
...
50
°
C (32
...
122
°
F)
5...95% noncondensing
Storage Range (non-operating)
-40
...
70
°
C (-40
...
158
°
F)
5...95% noncondensing
1000 m (3281 ft) 3000 m (9843 ft) during transport
5...55 Hz @ 0.35 mm (0.014 in.) double amplitude, continuous displacement; 55...500 Hz @ 2.0 g peak constant acceleration
15 g, 11 ms half-sine pulse (3 pulses in each direction of 3 mutually perpendicular directions)
Publication 2094-UM001A-EN-P — September 2006
182 Specifications and Dimensions
Weight Specifications
Kinetix 6000
Module
IAM
(230V)
AM
(230V)
Power Rails
(Slim)
Catalog Number
2094-AC05-MP5-S
2094-AC05-M01-S
2094-AC09-M02-S
2094-AC16-M03-S
2094-AC32-M05-S
2094-AMP5-S
2094-AM01-S
2094-AM02-S
2094-AM03-S
2094-AM05-S
2094-PRS1
2094-PRS2
2094-PRS3
2094-PRS4
2094-PRS5
2094-PRS6
2094-PRS7
2094-PRS8
1.50 (3.3)
1.54 (3.4)
3.13 (6.9)
3.18 (7.0)
1.05 (2.3)
1.59 (3.5)
2.14 (4.7)
2.67 (5.9)
Value, Approx.
kg (lb)
2.23 (4.9)
2.27 (5.0)
2.31 (5.1)
4.71 (10.4)
7.43 (16.4)
1.46 (3.2)
3.11 (6.8)
3.55 (7.8)
3.99 (8.8)
4.43 (9.7)
Kinetix 6000
Module
IAM
(460V)
AM
(460V)
Power Rails
Catalog Number
2094-BC01-MP5-S
2094-BC01-M01-S
2094-BC02-M02-S
2094-BC04-M03-S
2094-BC07-M05-S
2094-BMP5-S
2094-BM01-S
2094-BM02-S
2094-BM03-S
2094-BM05-S
2094-PR1
2094-PR2
2094-PR4
2094-PR6
2094-PR8
2.49 (5.5)
2.54 (5.6)
4.58 (10.1)
4.98 (11.0)
1.04 (2.3)
1.41 (3.1)
2.18 (4.8)
2.90 (6.4)
3.63 (8.0)
Value, Approx.
kg (lb)
4.98 (11.0)
5.03 (11.1)
5.08 (11.2)
9.60 (21.1)
10.1 (22.3)
2.44 (5.4)
SM (460V) 2094-BSP2
Slot Filler Module 2094-PRF
3.10 (6.8)
0.45 (1.0)
Certifications
Certification
(1)
(when product is marked) c-UL-us
Standards
CE
Functional Safety
UL Listed to U.S. and Canadian safety standards (UL 508 C File E59272).
European Union 89/336/EEC EMC Directive compliant with EN 61800-3:2004:
Adjustable Speed Electrical Power Drive Systems - Part 3; EMC Product
Standard including specific test methods.
European Union 73/23/EEC Low Voltage Directive compliant with:
•
EN 60204-1:1997 - Safety of Machinery - Electrical Equipment of Machines.
•
EN 50178:1997 - Electronic Equipment for use in Power Installations.
•
EN 60204-1:1997 - Safety of Machinery - Electrical Equipment of Machines.
•
IEC 61508: Part 1-7:2000 - Functional Safety of Electrical/Electronic/
Programmable Electronic Safety-related Systems.
• EN954-1:1996 - Safety of machinery. Safety related parts of control systems.
Part 1: General principles for design.
(1)
Refer to http://www.rockwellautomation.com/products/certification for Declarations of Conformity Certificates.
Publication 2094-UM001A-EN-P — September 2006
Specifications and Dimensions 183
AC Line Filter
Specifications
The tables below contain specifications for ac line filters available for
Kinetix 6000 servo drive systems.
AC Line Filter
Catalog Number
Voltage
2090-XXLF-X330B
2090-XXLF-375
2090-XXLF-375B
2090-XXLF-3100
500V ac
50/60 Hz
Three
Phase
AC Line Filter Specifications
Current
30A @ 50° C
(122° F)
75A @ 50° C
(122° F)
57
100A @ 50° C
(122° F)
75
Power
Loss
W
38
Specifications
Leakage
Current mA
Weight kg (lb)
64
2.7
(5.9)
50
108
5.2
(11.4)
73
9.5
(20.9)
Humidity Vibration
Operating
Temperature
90% RH
10-200 Hz
@ 1.8 g
-25 to 85° C
(-13 to 185 ° F)
AC Line Filter Selection
Drive Catalog Number
2094-AC05-MP5-S
2094-AC05-M01-S
2094-AC09-M02-S
2094-AC16-M03-S
2094-AC32-M05-S
2094-BC01-MP5-S
2094-BC01-M01-S
2094-BC02-M02-S
2094-BC04-M03-S
2094-BC07-M05-S
AC Line Filter
Catalog Number
2090-XXLF-X330B
2090-XXLF-375
2090-XXLF-3100
2090-XXLF-X330B
2090-XXLF-375B
2090-XXLF-3100
Publication 2094-UM001A-EN-P — September 2006
184 Specifications and Dimensions
External Shunt Module
Specifications
External shunt modules are used with Kinetix 6000 drives when regenerative loads exceed the capacity of the internal (IAM or AM) shunt resistor.
Passive shunt modules wire to the Kinetix 6000 (rail mounted) shunt module, catalog number 2094-BSP2.
External Passive Shunt Module Specifications
External Shunt
Catalog Number
1394-SR9A
1394-SR9AF
1394-SR36A
1394-SR36AF
Drive
Voltage
V ac
230
(1)
460
230
(1)
460
230
(1)
460
230
(1)
460
Resistance
Ω
4
4
4
4
Peak
Power kW
41.0
160.0
41.0
160.0
41.0
160.0
41.0
160.0
Specifications
Peak
Current
A
Cont.
Power
W
101.25
20.0
101.25
20.0
300
900
101.25
20.0
101.25
20.0
1800
3600
Shipping
Weight kg (lb)
3.63 (8)
3.63 (8)
8.6 (19)
9.0 (20)
(1)
Requires the use of an FNQ fuse with an adapter to allow the smaller body fuse to fit the larger FWP fuse holder.
Bussmann
Replacement Fuse
FNQ-R-20-R1
(1)
FWP50A14F
FNQ-R-20-R1
(1)
FWP50A14F
FNQ-R-20-R1
(1)
FWP50A14F
FNQ-R-25-R1
(1)
FWP50A14F
Bulletin 1336 external active shunt modules wire directly to the dc bus.
Kinetix 6000 Drives
2094-AC
2094-BC xx xx
-M
-M xx xx
Shunt Module
Catalog Number
Drive
Voltage
V ac
1336-MOD-KA005
1336-MOD-KA010
1336-MOD-KB005
1336-MOD-KB010
1336-MOD-KB050
230V
460V
External Active Shunt Module Specifications
Resistance
Ω
28.0
13.2
104.0
52.0
10.0
6
12
6
12
60
Specifications
Peak
Power kW
Peak
Current
A
15
30
7.5
15
76
Continuous
Power
W
Shipping
Weight kg (lb)
375
750
375
750
3750
6.8 (15)
Fuse Replacement
A50P10
A50P20
A60Q
A60Q
33.8 (75) A70QS35
Refer to the Common DC Bus Selection Guide, publication
DRIVES-SG001, for dimensions and catalog number information for the Bulletin 1336 active shunt modules.
Publication 2094-UM001A-EN-P — September 2006
Specifications and Dimensions 185
Product Dimensions
A
20
(0.8)
B
This section contains product dimensions for your Kinetix 6000 system components.
8.9
(0.35)
Integrated Axis Module Dimensions
2094-AC05-MP5-S, AC05-M01-S, and -AC09-M02-S (230V)
2094-BC01-MP5-S, -BC01-M01-S, and -BC02-M02-S (460V)
Dimensions are in millimeters (inches)
125
(4.9)
F
2094-AC05-M01-S (230V)
(shown)
E
Power Rail
D
This view illustrates the additional clearance required for premolded cable connectors.
2090-XXNF xx -S xx (flying lead)
Feedback Cable with
2090-K6CK-D15M xx
Low-profile Connector Kit
62
(2.45) Important: Additional clearance below the connector is necessary to provide the recommended cable-bend radius.
2090-UXNFB xx -S xx (premolded connector) Feedback Cable
Modules are shown mounted to the power rail and the dimensions reflect that in the depth of the module.
IAM Dimensions
Kinetix 6000 IAM
2094-AC05-MP5-S
2094-AC05-M01-S
2094-AC09-M02-S
2094-BC01-MP5-S
2094-BC01-M01-S
2094-BC02-M02-S
A mm (in.)
198 (7.8)
272 (10.7)
B mm (in.)
176 (7.0)
249 (9.8)
D mm (in.)
51 (2.0)
0 (0)
E mm (in.)
206 (8.2)
256 (10.1)
F mm (in.)
231 (9.1)
281 (11.0)
Publication 2094-UM001A-EN-P — September 2006
186 Specifications and Dimensions
A
B
Integrated Axis Module Dimensions
2094-AC16-M03-S and -AC32-M05-S (230V)
2094-BC04-M03-S and -BC07-M05-S (460V)
Dimensions are in millimeters (inches)
C
8.9
(0.35)
2094-BC04-M03-S (460V) shown
E
F
Power Rail
This view illustrates the additional clearance required for premolded cable connectors.
2090-XXNF xx -S xx (flying lead) Feedback Cable with
2090-K6CK-D15M xx Low-profile Connector Kit
62
(2.45)
Important: Additional clearance below the connector is necessary to provide the recommended cable-bend radius.
2090-UXNFB xx -S xx (premolded connector) Feedback Cable
Modules are shown mounted to the power rail and the dimensions reflect that in the depth of the module.
IAM Dimensions
Kinetix 6000 IAM
2094-AC16-M03-S
2094-AC32-M05-S
2094-BC04-M03-S
2094-BC07-M05-S
A mm (in.)
198 (7.8)
272 (10.7)
B mm (in.)
176 (7.0)
249 (9.8)
C mm (in.)
125 (4.9)
196 (7.7)
196 (7.7)
E mm (in.)
302 (11.9)
256 (10.1)
318 (12.5)
F mm (in.)
420 (16.5)
374 (14.7)
436 (17.2)
Publication 2094-UM001A-EN-P — September 2006
A
20
(0.8)
B
8.9
(0.35)
Specifications and Dimensions
Axis Module Dimensions
2094-AMP5-S, -AM01-S, and -AM02-S (230V)
2094-BMP5-S, -BM01-S, and -BM02-S (460V)
Dimensions are in millimeters (inches) 70
(2.76)
2094-AM01-S (230V) shown
E
F
187
2090-XXNF xx -S xx (flying lead)
Feedback Cable with 2090-K6CK-D15M xx
Low-profile Connector Kit
D
Power Rail
This view illustrates the additional clearance required for premolded cable connectors.
62
(2.45)
Important: Additional clearance below the connector is necessary to provide the recommended cable-bend radius.
2090-UXNFB xx -S xx (premolded connector) Feedback Cable
Modules are shown mounted to the power rail and the dimensions reflect that in the depth of the module.
AM Dimensions
Kinetix 6000 AM
2094-AMP5-S
2094-AM01-S
2094-AM02-S
2094-BMP5-S
2094-BM01-S
2094-BM02-S
A mm (in.)
198 (7.8)
272 (10.7)
B mm (in.)
176 (7.0)
249 (9.8)
D mm (in.)
51 (2.0)
0 (0)
E mm (in.)
206 (8.2)
256 (10.1)
F mm (in.)
231 (9.1)
281 (11.0)
Publication 2094-UM001A-EN-P — September 2006
188 Specifications and Dimensions
A
B
Axis Module Dimensions
2094-AM03-S and -AM05-S (230V)
2094-BM03-S and -BM05-S (460V)
Dimensions are in millimeters (inches)
C
8.9
(0.35)
2094-BM03-S (460V) shown
E
F
Power Rail
This view illustrates the additional clearance required for premolded cable connectors.
2090-XXNF xx -S xx (flying lead) Feedback Cable with
2090-K6CK-D15M xx Low-profile Connector Kit
62
(2.45)
Important: Additional clearance below the connector is necessary to provide the recommended cable-bend radius.
2090-UXNFB xx -S xx (premolded connector) Feedback Cable
Modules are shown mounted to the power rail and the dimensions reflect that in the depth of the module.
AM Dimensions
Kinetix 6000 AM
2094-AM03-S
2094-AM05-S
2094-BM03-S
2094-BM05-S
A mm (in.)
198 (7.8)
272 (10.7)
B mm (in.)
176 (7.0)
249 (9.8)
C mm (in.)
70 (2.8)
141 (5.5)
E mm (in.)
302 (11.9)
256 (10.1)
318 (12.5)
F mm (in.)
420 (16.5)
374 (14.7)
436 (17.2)
Publication 2094-UM001A-EN-P — September 2006
Specifications and Dimensions
Shunt Module Dimensions
2094-BSP2
249
(9.8)
20
(0.8)
263
(10.3)
123
(4.8)
Dimensions are in millimeters (inches)
20
(0.8)
70
(2.76)
43
(1.7)
256
(10.1)
281
(11.0)
189
Power Rail
Modules are shown mounted to the power rail and the dimensions reflect that in the depth of the module.
Publication 2094-UM001A-EN-P — September 2006
190 Specifications and Dimensions
Publication 2094-UM001A-EN-P — September 2006
Introduction
Appendix
B
Interconnect Diagrams
This appendix provides wiring examples and system block diagrams for your Kinetix 6000 system components.
Topic
Axis Module/Motor Wiring Examples
Page
191 Publication 2094-UM001A-EN-P — September 2006
192 Interconnect Diagrams
Wiring Examples
This appendix provides wiring examples to assist you in wiring the
Kinetix 6000 system. The notes below apply to the wiring examples on the pages that follow.
16
17
18
19
20
21
7
8
9
4
5
2
3
Note Information
1
For power wiring specifications, refer to Power Wiring Requirements on page 80.
For input fuse and circuit breaker sizes, refer to Circuit Breaker/Fuse Specifications on page 177.
Place ac (EMC) line filters as close to the drive as possible and do not route very dirty wires in wireway. If routing in wireway is unavoidable, use
Terminal block is required to make connections.
2094-BC xx -M xx (460V) IAM requires step down transformer for single-phase control power input. Source 2094-AC power from the three-phase input power (line-to-line). Supplying 230V control power from any other source requires an isolation transformer. If used, do not ground either leg of the isolation transformer output.
xx -M xx (230V) IAM control
6
10
11
LIM models 2094-AL xx S and -BL xx S can supply a maximum of eight axes. LIM models 2094-XL75S-C x can supply a maximum of sixteen axes. For common bus systems with more than sixteen axes, multiple LIMs (or control power transformers) are required.
LIM models 2094-AL xx S, -BL xx S, and -XL75S-C x are capable of connecting to two IAMs, providing each IAM has its own line filter and the maximum current specification is not exceeded.
Drive Enable input must be opened when main power is removed, or a drive fault will occur. A delay of at least 1.0 second must be observed before attempting to enable the drive after main power is restored.
Cable shield clamp must be used in order to meet CE requirements. No external connection to ground is required.
12
Default configuration for jumper is for grounded power at user site. Ungrounded sites must jumper the bleeder resistor to prevent high
Leave jumper between PR2 and PR3 as shown to utilize the internal pre-charge resistor. Remove jumper when external pre-charge/circuit is required. For more information, refer to the 8720MC Regenerative Power Supply Installation Manual, publication 8720MC-RM001.
13
ATTENTION
Implementation of safety circuits and risk assessment is the responsibility of the machine builder. Please reference international standards EN 1050 and EN 954 estimation and safety performance categories. For more information refer to Understanding the Machinery Directive, publication SHB-900.
14
ATTENTION
Wiring the contactor enable relay is required. To avoid personal injury or damage to the drive,
circuit to the contactor enable connector is 1.5 mm
2
(16 AWG).
15
22
23
24
The Kinetix 6000 axis module referenced is either an individual axis module (2094x M xx ) or the same axis module that resides within an integrated axis module (2094x C xx -M xx ).
For motor cable specifications, refer to the Kinetix Motion Control Selection Guide, publication GMC-SG001.
Wire colors are for flying lead cable (2090-XXNF xx -S xx ) and may vary from the premolded connector cable (2090-UXNFB xx -S xx ).
Y-Series feedback cables have a drain wire that must be folded back under the low-profile connector clamp.
Only the MPG-B xxx encoder uses the +5V dc supply. MPL-B3 xx , -B4 xx , -B45 xx , -B5 xx , -B6 xx , -B8 xx , -B9 xx , encoders use the +9V dc supply.
MPL-A3 xx , -A4 xx , -A45 xx , and MPG-A xxx encoders use the +5V dc supply. Only the MPL-A5 xx encoder uses the +9V dc supply.
MPL-A15 xx , -A2 xx , MPF-A3 xx, -A4 xx, -A45 xx, and MPS-A xxx encoders use the +5V dc supply. MPL-B15 xx , -B2 xx , MPF -A5 xx, -B xxx, and
MPS-B xxx encoders use +9V dc.
Brake wires on MPF-A/B5 xx motors are labeled plus (+) and minus (-). All other MP-Series motor brake wires are labeled F and G.
For master/slave applications, you must multiply the current requirement by the number of shunt units.
115V ac is applied and opens when a shunt fault or loss of power occurs.
Publication 2094-UM001A-EN-P — September 2006
Interconnect Diagrams
Power Wiring Examples
Bonded Cabinet
Ground Bus*
VAC LINE Three-phase
(IPL) Input
195...264V ac RMS or 324...528V ac RMS
Input Fusing *
L3
L2
L1
Single IAM Wiring Example with LIM (2094-AL09 or -BL02)
Line Interface Module
2094-AL09 or -BL02
Single-phase (CPL) Output
195...264V ac RMS
L2
L1
1
2
Ground
VAC LOAD Three-phase
(OPL) Output
195...264V ac RMS or 324...528V ac RMS
L3'
L2'
L1'
24V dc Output
(PSL) Connector
MBRK_PWR
MBRK_COM
MBRK_PWR
MBRK_COM
3
4
1
2
Kinetix 6000
Integrated Axis Module
2094-AC xx -M xx or -BC xx -M xx
Power Rail
Ground Stud
Cable Shield
Clamp
Motor Power
(MP) Connector
W
V
U
2
1
4
3
1
2
CTRL 2
CTRL 1
3
4
1
2
5
6
DC-
DC+
L3
L2
L1
Control Power
(CPD) Connector
DC Bus and
Three-phase
Input (IPD)
Connector
I/O (IOL)
Connector
Motor/Resistive
Brake (BC) Connector
IO_PWR
24-26
COIL_A1
IO_COM
COIL_A2
13
20-22
4
STOP *
1
2
CONT EN-
CONT EN+
Contactor Enable
(CED) Connector
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
3
2
1
6
5
4
Three-phase
Motor Power
Connections
BR-
BR+
Motor Brake
Connections
BR-
BR+
Resistive Brake
Connections
* Indicates User Supplied Component
193
Publication 2094-UM001A-EN-P — September 2006
194 Interconnect Diagrams
Bonded Cabinet
Ground Bus*
VAC LINE Three-phase
(IPL) Input
195...264V ac RMS or 324...528V ac RMS
3
4
1
2
L3
L2
L1
Multiple IAM Wiring Example with LIM (2094-AL xx S, -BL xx S, or -XL75S)
Line Interface Module
2094-AL xx S, -BL xx S, or
-XL75S-C x
Control Power
Single-phase (CPL) Output
195...264V ac RMS
CTRL 2
CTRL 1
1
2
VAC LOAD Three-phase
(OPL) Output
195...264V ac RMS or 324...528V ac RMS
L3'
L2'
L1'
3
4
1
2
Kinetix 6000
Integrated Axis Module
2094-AC xx -M xx or -BC xx -M xx
(IAM_1)
Power Rail
Ground Stud
Cable Shield
Clamp
1
2
CTRL 2
CTRL 1
Control Power
(CPD) Connector
Motor Power
(MP) Connector
W
V
U
2
1
4
3
To CPD Connector
IAM_2
Three-phase
AC Line Filter
To IPD Connector
IAM_2
5
6
3
4
1
2
DC-
DC+
L3
L2
L1
DC Bus and
Three-phase
Input (IPD)
Connector
Three-phase
Motor Power
Connections
Auxiliary Power
Single-phase (APL) Input
93...121V ac RMS or 196...253V ac RMS
(this connector is present only on the 2094-XL75S-C x )
1
2
L1
L2/N
24V dc (P1L) Output
IO_PWR2
IO_COM2
IO_PWR2
IO_COM2
IO_PWR2
IO_COM2
5
6
3
4
1
2
To BC Connector
IAM_2
IO_PWR1
1, 3, 5
I/O (IOL)
Connector
COIL_E1
IO_COM1
COIL_E2
7
2, 4, 6
8
STOP *
1
2
CONT EN-
CONT EN+
Motor/Resistive
Brake (BC) Connector
Contactor Enable
(CED) Connector
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
2
1
4
3
6
5
Motor Brake
Connections
BR-
BR+
BR-
BR+
Resistive Brake
Connections
* Indicates User Supplied Component
To CED Connector
IAM_2
Publication 2094-UM001A-EN-P — September 2006
Interconnect Diagrams 195
Bonded Cabinet
Ground Bus*
From CPL connector, LIM
From OPL connector, LIM
Kinetix 6000
Integrated Axis Module
2094-AC xx -M xx or -BC xx -M xx
(IAM_2)
Power Rail
Ground Stud
Cable Shield
Clamp
1
2
CTRL 2
CTRL 1
Control Power
(CPD) Connector
Motor Power
(MP) Connector
W
V
U
4
3
2
1
Three-phase
AC Line Filter
3
4
1
2
5
6
DC-
DC+
L3
L2
L1
DC Bus and
Three-phase
Input (IPD)
Connector
Three-phase
Motor Power
Connections
From IOL connector, LIM and CED connector, IAM_1
Motor/Resistive
Brake (BC) Connector
1
2
CONT EN-
CONT EN+
Contactor Enable
(CED) Connector
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
3
2
1
6
5
4
BR-
BR+
Motor Brake
Connections
BR-
BR+
From P1L connector, LIM
Resistive Brake
Connections
Publication 2094-UM001A-EN-P — September 2006
196 Interconnect Diagrams
The configuration on this page does not include a LIM. You must supply input power components. The single-phase and three-phase line filters are wired downstream of fusing and the M1 contactor.
ATTENTION
Wiring the contactor enable (CED) relay is required. To avoid injury or damage to the drive, wire the contactor enable relay into your safety control string.
Refer to Contactor Enable Relay on page 63, for more
information.
IAM Wiring Example (without LIM)
Kinetix 6000
Integrated Axis Module
2094-AC xx -M xx or -BC xx -M xx
Power Rail
Ground Stud
Bonded Cabinet Ground Bus *
Chassis
Three-phase Input
195...264V ac RMS or 324...528V ac RMS
Single-phase Input
95...264V ac RMS
CR1 *
Input Fusing *
Isolation
Transformer *
Input Fusing * M1 *
STOP *
Single-phase
AC Line Filter
Three-phase
AC Line Filter
START *
1
2
CTRL 2
CTRL 1
1
4
5
2
3
6
DC-
DC+
L3
L2
L1
DC Bus and
Three-phase
Input (IPD)
Connector
Motor/Resistive
Brake (BC) Connector
1
2
CONT EN-
CONT EN+
Control Power
(CPD) Connector
Contactor Enable
(CED) Connector
Cable Shield
Clamp
Motor Power
(MP) Connector
W
V
U
2
1
4
3
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
4
3
6
5
2
1
24V ac/dc or
120V ac
50/60 Hz M1 * CR1 *
CR1 *
Refer to Attention
Ground Jumper
BR-
BR+
BR-
BR+
Three-phase
Motor Power
Connections
Motor Brake
Connections
User Supplied
24V dc (1.2A maxi)
Resistive Brake
Connections
* Indicates User Supplied Component
Publication 2094-UM001A-EN-P — September 2006
Interconnect Diagrams
DC Common Bus Wiring Examples
Leader IAM Wiring Example with Single Follower IAM
197
Publication 2094-UM001A-EN-P — September 2006
198 Interconnect Diagrams
Leader IAM Wiring Example with Multiple Follower IAM
Bonded Cabinet
Ground Bus *
Single-phase Input
95...264V ac RMS
Three-phase Input from LIM or Input Power Contactor (M1)
195...264V ac RMS or 324...528V ac RMS
Kinetix 6000
Common Bus Leader IAM
2094-AC xx -M xx or -BC xx -M xx
Power Rail
Ground Stud
Cable Shield
Clamp
1
2
CTRL 2
CTRL 1
1
4
5
2
3
6
DC-
DC+
L3
L2
L1
Control Power
(CPD) Connector
DC Bus and
Three-phase
Input (IPD)
Connector
Motor Power
(MP) Connector
Motor/Resistive
Brake (BC) Connector
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
2
1
4
3
4
3
6
5
2
1
1
2
CONT EN-
CONT EN+
Contactor Enable
(CED) Connector
Three-phase
Motor Power
Connections
To Follower
DC Bus Connections
To Follower
Control Power
Connections
Wire the leader and follower IAM contactor enable terminals in series with the safety control string or LIM I/O.
To Follower
Control Circuit
Connections
Publication 2094-UM001A-EN-P — September 2006
Interconnect Diagrams 199
From Leader
Control Power
Connections
From Leader
DC Bus Connections
From Leader
Control Circuit
Connections
DC Bus Fusing *
Kinetix 6000
Common Bus Follower IAM
2094-AC xx -M xx or -BC xx -M xx
Bonded Cabinet
Ground Bus *
N.C.
N.C.
N.C.
Power Rail
Ground Stud
Cable Shield
Clamp
1
2
CTRL 2
CTRL 1
3
4
1
2
5
6
DC-
DC+
L3
L2
L1
Control Power
(CPD) Connector
DC Bus and
Three-phase
Input (IPD)
Connector
Motor Power
(MP) Connector
Motor/Resistive
Brake (BC) Connector
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
2
1
4
3
4
3
6
5
2
1
1
2
CONT EN-
CONT EN+
Contactor Enable
(CED) Connector
Three-phase
Motor Power
Connections
DC Bus Fusing *
Kinetix 6000
Common Bus Follower IAM
2094-AC xx -M xx or -BC xx -M xx
Bonded Cabinet
Ground Bus *
N.C.
N.C.
N.C.
Power Rail
Ground Stud
Cable Shield
Clamp
1
2
CTRL 2
CTRL 1
3
4
1
2
5
6
DC-
DC+
L3
L2
L1
Control Power
(CPD) Connector
DC Bus and
Three-phase
Input (IPD)
Connector
Motor Power
(MP) Connector
Motor/Resistive
Brake (BC) Connector
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
2
1
4
3
3
2
1
6
5
4
1
2
CONT EN-
CONT EN+
Contactor Enable
(CED) Connector
* Indicates User Supplied Component
Three-phase
Motor Power
Connections
Publication 2094-UM001A-EN-P — September 2006
200 Interconnect Diagrams
8720MC-RPS Leader Drive Wiring Example with Single Follower IAM
Publication 2094-UM001A-EN-P — September 2006
Interconnect Diagrams
Shunt Module Wiring Examples
Shunt Module Wired for Internal Operation (default configuration)
Kinetix 6000
Shunt Module
2094-BSP2
External Shunt Resistor
(RC) Connector
External Thermal Switch
(TS) Connector
COL
INT
DC+
3
2
1
TS2
TS1
2
1
201
Shunt Module Wiring Example with External Passive Shunt
Kinetix 6000
Shunt Module
2094-BSP2
External Shunt Resistor
(RC) Connector
COL
INT
DC+
3
2
1
COL
DC+
External Passive
Shunt Module
Resistor
External Thermal Switch
(TS) Connector
TS2
TS1
2
1
Thermal
Switch
Refer to External Shunt Module Specifications on page 184, for a list of
external passive shunt module catalog numbers available for the
Kinetix 6000 drives
IMPORTANT
Only passive shunts with a thermal switch are wired to the TS connector on the 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.
Publication 2094-UM001A-EN-P — September 2006
202 Interconnect Diagrams
Kinetix 6000
Integrated Axis Module
2094x C xx -M xx
IAM Wiring Example with Single External Active Shunt
DC Bus
Connections
Three-phase
Input (IPD)
Connections
L3
L2
L1
DC-
DC+
4
5
6
1
2
3
Single-phase Input
115V ac RMS
50/60 Hz
External Active
Shunt Module (1336-MOD-K xxxx )
Input Fusing*
3
4
1
2
3
4
1
2
5
6
(+) Slave In
(–) Slave In
(–) Master Out
(+) Master Out
(–) DC Bus
(+) DC Bus
TB3
TB1
Fault Relay
1336 Master
Shunt chassis ground screw
Contactor Enable
(CED) Connector
CONT EN-
CONT EN+
1
2
* Indicates User Supplied Component
Refer to Attention
CR1*
CR1*
M1*
CR1*
START* STOP*
24V ac/dc or
120V ac
50/60 Hz
Refer to External Shunt Module Specifications on page 184 for a list of
external active shunt module catalog numbers available for the
Kinetix 6000 drives.
1336 Active Shunt Input Fuse Specifications
Active Shunt Module
1336-K x 005 or K x 010
1336-KB050
Description
Input Current
Requirements
Input current requirement to power logic for fault contact operation.
Input current requirement to power fan and logic for fault contact operation.
0.05 A
0.65 A
1336 Active Shunt Fault Relay Specifications
Parameter
On-state current
On-state resistance
Off-state voltage
Description
Current flow when the contact is closed
Contact resistance (max)
Voltage across the contacts when the relay is open
120V ac
0.6 A
50 m
Ω
120V ac
30V ac
2.0 A
50 m
Ω
30V ac
Publication 2094-UM001A-EN-P — September 2006
Interconnect Diagrams
Kinetix 6000
Integrated Axis Module
2094x C xx -M xx
DC Bus
Connections
Three-phase
Input (IPD)
Connections
L3
L2
L1
DC-
DC+
3
4
1
2
5
6
24V ac/dc or
120V ac
50/60 Hz
Contactor Enable
(CED) Connector
CONT EN-
CONT EN+
1
2
STOP* START*
CR1*
M1*
CR1*
CR1*
Refer to Attention
IAM Wiring Example with Multiple External Active Shunts
1
2
3
4
External Active
Shunt Module (1336-MOD-K xxxx )
(+) Slave In
(–) Slave In
(–) Master Out
(+) Master Out
3
4
1
2
5
6
(–) DC Bus
(+) DC Bus
TB1
TB3
Shunt Chassis
Ground Screw
1336 Master
3
4
1
2
External Active
Shunt Module (1336-MOD-K xxxx )
(+) Slave In
(–) Slave In
(–) Master Out
(+) Master Out
1
2
3
4
5
6
(–) DC Bus
(+) DC Bus
TB1
TB3
Shunt Chassis
Ground Screw
1336 Slave
203
Single-phase Input
115V ac RMS
50/60 Hz
Input Fusing*
* Indicates User Supplied Component
3
4
1
2
External Active
Shunt Module (1336-MOD-K xxxx )
(+) Slave In
(–) Slave In
(–) Master Out
(+) Master Out
1
2
3
4
5
6
(–) DC Bus
(+) DC Bus
TB1
TB3
Shunt Chassis
Ground Screw
1336 Slave
Publication 2094-UM001A-EN-P — September 2006
204 Interconnect Diagrams
Axis Module/Motor Wiring Examples
AM (460V) Wiring Example with MP-Series (MPL-B and MPG-B) Motors
Kinetix 6000
IAM (inverter) or AM
MPL-B3 xx , -B4 xx , -B45 xx ,
-B5 xx , -B6 xx , -B8 xx ,
-B9 xx , and MPG-B
(460V) Servo Motors with
High Resolution Feedback
11
12
13
14
7
8
9
10
15
5
6
3
4
0
1
2
Cable Shield
Clamp
Motor Power
(MP) Connector
Motor Feedback
(MF) Connector
Motor/Resistive
Brake (BC) Connector
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
2
1
4
3
Green/Yellow
1/Blue
2/Black
3/Brown
2090-XXNPMPxx S xx
Motor Power Cable
D
C
B
A
4
3
6
5
2
1
2090-UXNBMP-18S xx Brake Cable
Black
White
BR-
BR+
User Supplied
24V dc (1.2A max)
Resistive Brake
Connections
C
A
BR-
BR+
Motor Brake
W
V
U
GND
Three-phase
Motor Power
Motor Feedback
Thermostat
P
A
B
N
R
E
F
K
L
C
D
S
BLACK
WHT/BLACK
RED
WHT/RED
GREEN
WHT/GREEN
GRAY
WHT/GRAY
ORANGE
WHT/ORANGE
BLUE
SIN+
SIN-
COS+
COS-
DATA+
DATA-
+5VDC
ECOM
+9VDC
TS+
Motor Feedback
(MF) Connector
(IAM/AM)
3
4
1
2
5
10
14
6
7
11
TS-
COM
Refer to low profile connector illustration (lower left) for proper grounding technique.
2090-XXNFMP-S xx
(flying-lead) Feedback Cable
Grounding Technique for
Feedback Cable Shield
Low Profile Connector
(2090-K6CK-D15M shown)
Clamp
Exposed shield secured under clamp.
Clamp Screws (2)
Turn clamp over to hold small cables secure.
MPL-B3 xx , -B4 xx , -B45 xx ,
(460V) Servo Motors with Resolver Feedback
C
A
D
C
B
A
W
V
U
GND
Three-phase
Motor Power
Motor Feedback
A
B
C
D
G
H
R
Thermostat
S
BR-
BR+
Motor Brake
BLACK
WHT/BLACK
RED
WHT/RED
YELLOW
WHT/YELLOW
BLUE
WHT/BLUE TS-
Refer to low profile connector illustration (lower left) for proper grounding technique.
2090-CDNFDMP-S xx
(flying-lead) Feedback Cable
S2
S4
S1
S3
R1
R2
TS+
Motor Feedback
(MF) Connector
(IAM/AM)
1
2
3
4
5
10
11
6
Publication 2094-UM001A-EN-P — September 2006
Interconnect Diagrams 205
AM (230V) Wiring Example with MP-Series (MPL-A and MPG-A) Motors
Kinetix 6000
IAM (inverter) or AM
Cable Shield
Clamp
9
10
11
12
7
8
5
6
13
14
15
0
3
4
1
2
Motor Power
(MP) Connector
Motor Feedback
(MF) Connector
Motor/Resistive
Brake (BC) Connector
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
MPL-A3 xx , -A4 xx , -A45 xx ,
-A5 xx , and MPG-A xxx
(230V) Servo Motors with
High Resolution Feedback
2
1
4
3
4
3
6
5
2
1
Green/Yellow
1/Blue
2/Black
3/Brown
2090-XXNPMPxx S xx
Motor Power Cable
2090-UXNBMP-18S xx Brake Cable
Black
White
User Supplied
24V dc (1.2A max)
C
A
D
C
B
A
W
V
U
GND
Three-phase
Motor Power
Motor Feedback
N
R
A
B
K
L
E
F
C
D
BR-
BR+
S
Thermostat
P
Motor Brake
BR-
BR+
Resistive Brake
Connections
BLACK
WHT/BLACK
RED
WHT/RED
GREEN
WHT/GREEN
GRAY
WHT/GRAY
ORANGE
WHT/ORANGE
BLUE
SIN+
SIN-
COS+
COS-
DATA+
DATA-
+5VDC
ECOM
+9VDC
TS+
Motor Feedback
(MF) Connector
(IAM/AM)
3
4
1
2
5
10
14
6
7
11
TS-
COM
Refer to low profile connector illustration (lower left) for proper grounding technique.
2090-XXNFMP-S xx
(flying-lead) Feedback Cable
MPL-A3 xx , -A4 xx , -A45 xx , and -A5 xx
(230V) Servo Motors with
Incremental Feedback
Grounding Technique for
Feedback Cable Shield
Low Profile Connector
(2090-K6CK-D15M shown)
D
C
B
A
Clamp
Exposed shield secured under clamp.
Clamp Screws (2)
Turn clamp over to hold small cables secure.
C
A
W
V
U
BR-
BR+
GND
Three-phase
Motor Power
Motor Feedback
N
R
E
F
C
D
K
L
A
B
Thermostat
Motor Brake
U
V
P
S
T
BLACK
WHT/BLACK
RED
WHT/RED
GREEN
WHT/GREEN
GRAY
WHT/GRAY
ORANGE
WHT/ORANGE
BLUE
WHT/BLUE
YELLOW
WHT/YELLOW
TS-
S1
S2
S3
COM
Refer to low profile connector illustration (lower left) for proper grounding technique.
2090-XXNFMP-S xx
(flying-lead) Feedback Cable
AM+
AM-
BM+
BM-
IM+
IM-
+5VDC
ECOM
–
TS+
Motor Feedback
(MF) Connector
(IAM/AM)
1
2
3
4
5
10
14
6
7
11
12
13
8
Publication 2094-UM001A-EN-P — September 2006
206 Interconnect Diagrams
10
11
12
13
8
9
6
7
14
15
4
5
2
3
0
1
Kinetix 6000
IAM (inverter) or AM
Cable Shield
Clamp
Motor Power
(MP) Connector
Motor Feedback
(MF) Connector
Motor/Resistive
Brake (BC) Connector
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
2
1
4
3
6
5
4
3
2
1
AM Wiring Example with MP-Series (MPL-A/B, MPF-A/B, and MPS-A/B) Motors
MPL-A/B15 xx and -A/B2 xx ,
MPF-A/B xxx and MPS-A/B xxx
Servo Motors with
High Resolution Feedback
Shield
Green/Yellow
Blue
Black
Brown
2090-XXNPMFxx S xx
Motor Power Cable
Black
White
User Supplied
24V dc (1.2A max)
D/
C/W
B/V
A/U
G/-
F/+
W
GND
V
U
Three-phase
Motor Power
BR-
BR+
Motor
Feedback
1
2
3
4
9
10
5
6
11
13
14
Thermostat
12
Motor Brake
BR-
BR+
Resistive Brake
Connections
BLACK
WHT/BLACK
RED
WHT/RED
GREEN
WHT/GREEN
GRAY
WHT/GRAY
ORANGE
WHT/ORANGE
BLUE
SIN+
SIN-
COS+
COS-
DATA+
DATA-
+5VDC
ECOM
+9VDC
TS+
Motor Feedback
(MF) Connector
(IAM/AM)
3
4
1
2
5
10
14
6
7
11
TS-
COM
Refer to low profile connector illustration (lower left) for proper grounding technique.
2090-XXNFMF-S xx
(flying-lead) Feedback Cable
MPL-A/B15 xx and -A/B2 xx
Servo Motors with
Incremental Feedback
Grounding Technique for
Feedback Cable Shield
Low Profile Connector
(2090-K6CK-D15M shown)
D/
C/W
B/V
A/U
Clamp
Exposed shield secured under clamp.
Clamp Screws (2)
Turn clamp over to hold small cables secure.
G/-
F/+
W
V
U
GND
Three-phase
Motor Power
Motor
Feedback
Thermostat
BR-
BR+
Motor Brake
1
2
3
4
5
6
9
10
11
13
14
15
16
17
12
BLACK
WHT/BLACK
RED
WHT/RED
GREEN
WHT/GREEN
GRAY
WHT/GRAY
ORANGE
WHT/ORANGE
BLUE
WHT/BLUE
YELLOW
WHT/YELLOW
TS-
S1
S2
S3
COM
Refer to low profile connector illustration (lower left) for proper grounding technique.
2090-XXNFMF-S xx
(flying-lead) Feedback Cable
AM+
AM-
BM+
BM-
IM+
IM-
+5VDC
ECOM
–
TS+
Motor Feedback
(MF) Connector
(IAM/AM)
3
4
1
2
5
10
14
6
11
12
13
8
Publication 2094-UM001A-EN-P — September 2006
Interconnect Diagrams 207
Kinetix 6000
IAM (inverter) or AM
10
11
12
13
8
9
6
7
14
15
4
5
2
3
0
1
Cable Shield
Clamp
Motor Power
(MP) Connector
Motor Feedback
(MF) Connector
Motor/Resistive
Brake (BC) Connector
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
2
1
4
3
2
1
4
3
6
5
AM (230V) Wiring Example with TL-Series Motors
TL-Series (230V) Servo Motors with Incremental Feedback
Green/Yellow
Blue
Black
Brown
2090-XXNPT-16S xx
Motor Power Cable
2090-DANBT-18S xx
Motor Brake Cable
Black
White
BR-
BR+
User Supplied
24V dc (1.2A max)
Resistive Brake
Connections
4
3
2
1
2
1
W
V
U
GND
Three-phase
Motor Power
Motor Feedback
3
4
1
2
7
8
5
10
BR-
BR+
Motor Brake
6
11
15
9
BLACK
WHT/BLACK
RED
WHT/RED
GREEN
WHT/GREEN
GRAY
WHT/GRAY
BLUE
WHT/BLUE
YELLOW
WHT/YELLOW
GREEN
AM+
AM-
BM+
BM-
IM+
IM-
+5VDC
ECOM
Motor Feedback
(MF) Connector
(IAM/AM)
1
2
3
4
5
10
14
6
S1
S2
S3
SHIELD
12
13
8
2090-XXNFT-S xx Feedback Cable with pre-molded connector
Publication 2094-UM001A-EN-P — September 2006
208 Interconnect Diagrams
AM (460V) Wiring Example with 1326AB Motors
Kinetix 6000
IAM (inverter) or AM
1326AB (M2L/S2L)
Servo Motors with
High Resolution Feedback
11
12
13
14
7
8
9
10
15
5
6
3
4
0
1
2
Cable Shield
Clamp
Motor Power
(MP) Connector
Motor Feedback
(MF) Connector
Motor/Resistive
Brake (BC) Connector
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
2
1
4
3
6
5
4
3
2
1
Green/Yellow
1/Blue
2/Black
3/Brown
2090-XXNPMPxx S xx
Motor Power Cable
2090-UXNBMP-18S xx Brake Cable
Black
White
User Supplied
24V dc (1.2A max)
C
A
D
C
B
A
W
V
U
GND
Three-phase
Motor Power
Motor Feedback
A
B
N
R
K
L
E
F
C
D
BR-
BR+
S
Thermostat
P
Motor Brake
BR-
BR+
Resistive Brake
Connections
BLACK
WHT/BLACK
RED
WHT/RED
GREEN
WHT/GREEN
GRAY
WHT/GRAY
ORANGE
WHT/ORANGE
BLUE
SIN+
SIN-
COS+
COS-
DATA+
DATA-
–
ECOM
+9VDC–
TS+
Motor Feedback
(MF) Connector
(IAM/AM)
3
4
1
2
5
10
14
6
7
11
TS-
COM
Refer to the Kinetix 6000 User Manual, publication 2094-UM001, for proper grounding technique.
2090-XXNFMP-S xx
(flying-lead) Feedback Cable
Kinetix 6000
IAM (inverter) or AM
10
11
12
13
8
9
6
7
14
15
4
5
2
3
0
1
Cable Shield
Clamp
Motor Power
(MP) Connector
Motor Feedback
(MF) Connector
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
Motor/Resistive
Brake (BC) Connector
1326-CP x 1xxx Motor Power Cable
1326AB Servo Motors with
Resolver Feedback
2
1
4
3
4
3
6
5
2
1
Green/Yellow
Braided Shield
Black
Black
Black
Black
Black
User Supplied
24V dc (1.2A max)
BR-
BR+
Resistive Brake
Connections
8
7
3
2
1
4
6 B1
B2
T3
T2
GND
T1
Three-phase
Motor Power
Motor Brake
Motor Feedback
G
H
D
E
A
B
GREEN
BLACK
BLACK
RED
BLACK
WHITE
S2
S4
S1
S3
R1
R2
Motor Feedback
(MF) Connector
(IAM/AM)
3
4
5
1
2
10
5
9
K1
K2 Thermostat
(1)
1326-CCUxxx
(flying-lead) Feedback Cable
TS+
TS-
16
17
S
Shielded Cable
(1)
Wiring the thermal switch on 1326AB (resolver-based) motors requires the use of the Low Profile connector kit
(2090-K6CK-D15MF) and wire extension to the power connector. Pins 16, 17, and S are filtered to prevent noise transmission back to the drive. Refer to the Kinetix 6000 User Manual, publication 2094-UM001, for wiring instructions and a diagram.
Publication 2094-UM001A-EN-P — September 2006
Interconnect Diagrams 209
AM (230V) Wiring Example with F-Series Motors
Kinetix 6000
IAM (inverter) or AM
9
10
11
12
7
8
5
6
13
14
15
0
3
4
1
2
Cable Shield
Clamp
Motor Power
(MP) Connector
Motor Feedback
(MF) Connector
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
Motor/Resistive
Brake (BC) Connector
W
V
U
2
1
4
3
Green/Yellow
1/Blue
2/Black
3/Brown
2090-XXNPH/HFxx S xx
Motor Power Cable
2
1
5
4
6
9101-0330 Brake Cable Connector Kit
Black
White
3
User Supplied
24V dc (1.2A max)
BR-
BR+
Resistive Brake
Connections
B
A
D
C
B
A
F-Series (230V)
Servo Motors with
Incremental Feedback
W
V
U
GND
Three-phase
Motor Power
BR-
BR+
Motor Feedback
Motor Brake
Thermostat
A
B
N
T
H
L
M
K
J
R
P
E
F
C
D
S
BLACK
WHT/BLACK
RED
WHT/RED
GREEN
WHT/GREEN
WHT/BROWN
BROWN
GRAY
WHT/GRAY
BLUE
WHT/BLUE
VIOLET
ECOM
S2
S1
–
WHT/VIOLET TS-
Refer to low profile connector illustration (below) for proper grounding technique.
AM+
AM-
BM+
BM-
IM+
IM-
TS+
S3
Motor Feedback
(MF) Connector
(IAM/AM)
3
4
1
2
5
10
11
8
+5VDC 14
6
13
12
6
2090-XXNFHF-S xx
(flying-lead) Feedback Cable
Grounding Technique for
Feedback Cable Shield
Low Profile Connector
(2090-K6CK-D15M shown)
Clamp
Exposed shield secured under clamp.
Clamp Screws (2)
Turn clamp over to hold small cables secure.
Publication 2094-UM001A-EN-P — September 2006
210 Interconnect Diagrams
AM (230V) Wiring Example with Y-Series Motors
Kinetix 6000
IAM (inverter) or AM
Y-Series (230V)
Servo Motors with
Incremental Feedback
10
11
12
13
8
9
6
7
14
15
4
5
2
3
0
1
Cable Shield
Clamp
Motor Power
(MP) Connector
Motor Feedback
(MF) Connector
Motor/Resistive
Brake (BC) Connector
W
V
U
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
4
3
2
1
6
5
4
3
2
1
Green/Yellow
3/Black
2/Black
1/Black
2090-XXNPYxx S xx
Motor Power and Brake Cable
BR-
BR+
Black
Black
5
3
2
1
9
7
User Supplied
24V dc (1.2A max)
Resistive Brake
Connections
Pigtail
W
V
U
BR-
BR+
GND
Three-phase
Motor Power
Motor
Feedback
Motor
Brake
Pigtail
13
14
15
17
19
–
22
23
24
9
10
11
12
Grounding Technique for
Feedback Cable Shield
BLACK
WHT/BLACK
RED
WHT/RED
GREEN
WHT/GREEN
WHT/BLUE
BLUE
BROWN
WHT/BROWN
GRAY
WHT/GRAY
AM+
AM-
BM+
BM-
IM+
IM-
S1
S2
S3
–
+5VDC
ECOM
DRAIN
Motor Feedback
(MF) Connector
(IAM/AM)
12
13
8
5
10
3
4
1
2
14
6
Refer to low profile connector illustration (below) for proper grounding technique.
2090-XXNFY-S xx
(flying-lead) Feedback Cable
Low Profile Connector
(2090-K6CK-D15M shown)
Clamp
Exposed shield and drain wire secured under clamp.
Clamp Screws (2)
Turn clamp over to hold small cables secure.
Publication 2094-UM001A-EN-P — September 2006
Controlling a Brake Example
The relay output of the Kinetix 6000 drive (MBRK± BC-5 and -6) is suitable for directly controlling a motor brake, subject to the relay voltage limit of 30V dc, and the relay current limit as shown in the table below.
Brake Relay Current Limit
Kinetix 6000 IAM/AM
2094-AC05-M xx , -AC09-M xx ,
2094-AMP5, -AM01, -AM02
2094-BC01-M xx , -BC02-M xx ,
2094-BMP5, -BM01, -BM02
2094-AC16-M xx , -AC32-M xx ,
2094-AM03, -AM05
2094-BC04-M xx , -BC07-M xx ,
2094-BM03, -BM05
Brake Current Rating, Max
1.0 A
1.3 A
3.0 A
Interconnect Diagrams 211
IMPORTANT
For brake requirements outside of these limits, an external relay must be used.
Coil Currents Rated at < 1.0 A
Compatible Brake Motors
MPLx 15 xx
(1)
MPLx 2 xx
(1)
MPL/MPF/MPSx 310, x 320, x 330
(1)
MPLx 420, x 430, x 4520, x 4530, x 4540
(1)
MPFx 430, x 4530, x 4540
(1)
MPGx 004
(1)
MPGx 010
(1)
MPGx 025
(1)
MPGx 050
(1)
MPGx 110
(1)
(1)
Applies to 230V and 460V motors.
Coil Current
0.48 A
0.51 A
0.50 A
0.64 A
0.33 A
0.45 A
0.50 A
1.0 A
Compatible Brake Motors
F-6100, -6200, and -6300
H-6100, -6200, and -6300
Compatible Brake Motors
1326AB-B4 xxx
F-4030, -4050, and -4075
Y-1002 and -1003
Y-2006 and -2012
Y-3023
TL-A110P-H, -A120P-H, and -A130P-H
TL-A220P-H and -A230P-H
TL-A2530P-H and -A2540P-H
TL-A410P-H
1.13 A
Coil Currents Rated at >1.0 A and
≤
1.3 A
Coil Current
1.30 A
Compatible Brake Motors
MPLx 520, x 540, x 560, x 580
(1)
MPF-B540
1326AB-B5 xxx , and -B7 xxx
(1)
Applies to 230V and 460V motors.
Compatible Brake Motors
H-8350 and -8500
Coil Currents Rated at >1.3 A and
≤
3.0 A
Coil Current
2.20 A
Compatible Brake Motors
MPL-B640, -B660, -B680, -B860, -B880,
-B960, -B980
Coil Current
0.88 A
0.69 A
0.26 A
0.31 A
0.37 A
0.208 A
0.375 A
0.396 A
0.746 A
Coil Current
1.05...1.28 A
1.20 A
Coil Current
1.91...2.19 A
Publication 2094-UM001A-EN-P — September 2006
212 Interconnect Diagrams
System Block Diagrams
This section provides block diagrams of the Kinetix 6000 modules. For block diagrams of the line interface module (LIM) and resistive brake
module (RBM), refer to Additional Resources on page 10 for the
documentation available for those products.
IAM/AM (inverter) Block Diagram
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IAM (converter) Block Diagram
Interconnect Diagrams 213
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214 Interconnect Diagrams
Kinetix 6000 drives with the safe-off feature ships with the wiring header and motion allowed jumper installed. In this configuration, as illustrated below, the safe-off feature is not used.
Safe-off Feature Block Diagram
8
9
Safe-Off Option
Safe-Off (SO)
9-pin Connector
+24V
+24V_COM
K1-C
3
4
FDBK1+
FDBK1-
7
ENABLE1+
6
ENABLE-
5 ENABLE2+
1
2
FDBK2+
FDBK2-
K1
K2
K1-A
K2-A
K2-C
Motion Allowed Jumper
Wiring Header +24V
DRIVE ENABLE
+24V_COM
Gate Control
Power Supply
Safety Monitor uC
Gate Control
Circuit (CCP)
Gate Control
Enable Signal
M
Shunt Module Block Diagram
DC+
Internal or External
Shunt
Resistor
SYSOK
GSHUNT (2)
POWER
RAIL
DC-
CTRL 1
CTRL 2
SMPS
+5V (Control)
+/-15V (IGBT)
24V (Control)
Chassis
Shunt Circuit
Publication 2094-UM001A-EN-P — September 2006
Introduction
Appendix
C
Upgrading Firmware
This appendix provides procedures for upgrading firmware using either ControlFLASH or DriveExplorer software.
Topic
Using ControlFLASH Software to Upgrade Drive Firmware
Using DriveExplorer Software to Upgrade Drive Firmware
Page
215 Publication 2094-UM001A-EN-P — September 2006
216 Upgrading Firmware
Using ControlFLASH
Software to Upgrade Drive
Firmware
Upgrading axis module firmware using ControlFLASH software involves selecting the drive to flash, configuring your Logix communications, and flashing the firmware.
Before You Begin
You will need the following software and information before you begin.
Description
RSLogix 5000 software
ControlLogix SERCOS module software
Catalog Number
9324-RLD300NE
1756-M xx SE
1756-L60M03SE
CompactLogix SERCOS module software
SoftLogix SERCOS PCI card software
RSLinx software
ControlFLASH software kit
(1)
1768-M04SE
1784-PM16SE
Catalog number of the targeted Kinetix 6000 IAM/AM you want to flash
Network path to the targeted Kinetix 6000 IAM/AM
Firmware Revision
15.
x or later
15.32 or later
15.4 or later
15.35 or later
15.33 or later
2.50 or later
4.00.09 or later
(1)
Download the ControlFLASH kit from http://support.rockwellautomation.com/controlflash. Contact Rockwell
Automation Technical Support at (440) 646-5800 for assistance.
For more ControlFLASH information (not drive specific), refer to the ControlFLASH Firmware Upgrade Kit User
Manual, publication 1756-6.5.6.
IMPORTANT
Control power (24V dc) must be present at CPD-1 and -2 prior to flashing your drive.
The seven-segment LED on the IAM (inverter) or AM to upgrade must be displaying a fixed 2, 3, or 4 before beginning this procedure.
ATTENTION
To avoid personal injury or damage to equipment during the firmware upgrade due to unpredictable motor activity, do not apply three-phase ac or common bus dc input power to the drive.
The ControlFLASH utility software can be accessed by either of these methods.
•
Select ControlFLASH from the Tools menu in your RSLogx 5000 software.
•
Select ControlFLASH from the Windows Start button/Program
Files/Flash Tools.
Publication 2094-UM001A-EN-P — September 2006
Upgrading Firmware
Selecting the Drive to Upgrade
Follow these steps to upgrade (flash) your drive firmware.
1.
Open your ControlFLASH software.
The Welcome to ControlFLASH dialog opens.
217
2.
Click Next.
The Catalog Number dialog opens.
3.
Select the catalog number of your drive module to flash.
4.
Click Next.
5.
Minimize the RSLogix 5000 project dialog.
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218 Upgrading Firmware
Configuring Logix Communications
This procedure assumes that your communication method to the
Logix controller is using the Ethernet protocol. It is also assumed that your Logix Ethernet module has already been configured.
For more information, refer to the ControlLogix System User Manual, publication 1756-UM001.
Follow these steps to configure Logix communications.
1.
Open the RSLinx Classic software and select Configure Drivers from the Communications menu.
The Configure Drivers dialog opens.
2.
Select Ethernet devices from the Available Driver Types menu.
Publication 2094-UM001A-EN-P — September 2006
3.
Click the Add New button.
The Add New RSLinx Classic Driver dialog opens.
4.
Name the new driver.
5.
Click OK.
The Configure driver dialog opens.
Upgrading Firmware 219
6.
Enter the IP address of your Logix ethernet module.
The IP address shown is an example. Yours will be different.
7.
Click OK.
8.
Click Close in the Configure Drivers dialog.
9.
Select RSWho from the Communication menu.
The drive selection dialog opens.
10.
Locate your servo drive by expanding the ethernet node, Logix backplane, and SERCOS interface module.
11.
Select the servo drive to flash.
12.
Click OK.
13.
Minimize the RSLinx application dialog and return to your
RSLogix 5000 project dialog.
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220 Upgrading Firmware
Flashing Firmware
The Firmware Revision dialog opens with the current firmware revision listed.
1.
Select the firmware revision for the upgrade.
2.
Click Next.
The Summary dialog opens.
Publication 2094-UM001A-EN-P — September 2006
3.
Confirm the drive catalog number and firmware revision.
Upgrading Firmware
4.
Click Finish. This ControlFLASH warning dialog opens.
221
5.
Click Yes (only if you are ready).
This ControlFLASH warning dialog opens.
6.
Acknowledge the warning and click OK.
The Progress dialog opens and flashing begins.
The drive module seven-segment LED indicator changes from the fixed 2, 3, or 4 to F which indicates that flashing is in progress.
After the flash information is sent to the drive, the drive resets and performs diagnostic checking.
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222 Upgrading Firmware
7.
The Update Status dialog opens and indicates success or failure as described below.
Flashing
Succeeded
Failed
If
1. Update complete appears in a GREEN status dialog.
1. Update failure appears in a RED status dialog.
2. Go to Troubleshooting ControlFLASH.
8.
Select OK.
The ControlFLASH software returns to the Welcome screen where you can flash another drive or select Cancel to exit the program.
Troubleshooting ControlFLASH
If your Update Status dialog in Step 7 indicated failure, check the
following items and begin the process again at Step 1:
•
Control (24V) power lost at drive.
•
SERCOS ring is down (seven-segment LED no longer displays fixed 2, 3, or 4).
•
Logix chassis lost power.
•
Bad flashdata checksum.
Publication 2094-UM001A-EN-P — September 2006
Upgrading Firmware 223
Verifying the Firmware Upgrade
Follow these steps to verify your firmware upgrade was successful.
This procedure is optional.
1.
Return to the RSLinx Classic software and expand the dialog tree to gain access to your drive module, as you did earlier.
2.
Right-click the drive module and select Drive Properties.
The Drive Properties dialog opens.
3.
Verify the new firmware revision level.
4.
Click Close.
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224 Upgrading Firmware
Using DriveExplorer
Software to Upgrade Drive
Firmware
Upgrading axis module firmware using DriveExplorer involves setting the Axes to Flash parameter, configuring a HyperTerminal session, and flashing the firmware.
Before You Begin
You will need the following software and information before you begin.
Description
DriveExplorer Software
(1)
Catalog Numbers
9306-4EXP02ENE
Serial to SCANport Adapter
RSLogix 5000 Software
1203-SSS (Series B)
9324-RLD300NE
Firmware upgrade file for your Kinetix 6000 drive (IAM/AM)
(2)
Personal computer with HyperTerminal software
Firmware Revision
2.01 or later
3.004 or later
11.0 or later
(1)
(2)
Refer to DriveExplorer Getting Results Manual, publication 9306-GR001, for instructions.
Contact Rockwell Automation Technical Support at (440) 646-5800 for firmware upgrade file.
IMPORTANT
Control power (24V dc) must be present at CPD-1 and -2 prior to flashing your drive.
ATTENTION
To avoid personal injury or damage to equipment during the firmware upgrade due to unpredictable motor activity, do not apply three-phase ac or common bus dc input power to the drive. Do not establish communications with the Logix SERCOS interface module.
Selecting Axis Modules to Upgrade
In this procedure you will use DriveExplorer software to set the Axes to Flash parameter ( x 708) and select the axis module to upgrade.
TIP
You will save time by selecting only the axis modules that require a firmware upgrade.
Publication 2094-UM001A-EN-P — September 2006
Follow these steps to set the Axes to Flash parameter.
1.
Connect the 1203-SSS serial cable to the appropriate COM port on your personal computer.
2.
Connect the 1203-SSS SCANport cable to the SCANport/DPI connector on your IAM.
Upgrading Firmware 225
3.
Verify that the 1203-SSS has power by observing the LED indicated in the figure below.
SCANport/DPI communication
4.
Open the DriveExplorer software and select Connect from the
Explore menu.
The DriveExplorer software proceeds to read your system.
5.
Double-click 2094D SERVO Config 0000.
The linear list of parameters dialog appears.
Linear List Legend
N: P. x xxx
Parameter Number
30 = Version Data
Axis Number
0 = IAM (axis 1)
1 = AM (axis 2)
2 = AM (axis 3)
3 = AM (axis 4)
DPI Port Number
Network Node Number
6.
Scroll down to parameter x:x.
30 (Version Data) and record the version (VERS: xx.xxx
) of each axis module.
7.
Double-click Configuration.
The following dialog opens.
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226 Upgrading Firmware
8.
Double-click Axes to Flash.
The Axis to Flash dialog opens.
9.
Click (check) each axis to flash.
Example above shows two axes to flash checked.
10.
Select OK.
The Axes to Flash parameter is set.
11.
Close DriveExplorer.
HyperTerminal Configuration
Follow these steps to begin a new HyperTerminal session.
1.
From the Windows Start menu, select Programs\Accessories\
HyperTerminal\HyperTerminal.
The New Connection dialog opens.
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2.
Type a name the new HyperTerminal file and choose an icon for the connection.
3.
Select OK.
The following dialog opens.
Upgrading Firmware 227
4.
Select the appropriate COM port.
5.
Select OK.
The following dialog opens.
6.
Select the properties as shown above or as appropriate for your
1203-SSS SCANport adapter.
IMPORTANT
Bits per second of HyperTerminal must match the
1203-SSS SCANport adapter setting for connection to occur.
7.
Select OK.
8.
HyperTerminal configuration is complete.
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228 Upgrading Firmware
Flashing Firmware
This procedure assumes you have identified which axis modules require flashing, have set the Axes to Flash parameter, and have configured a HyperTerminal session.
IMPORTANT
You must also know where to find your firmware upgrade file.
1.
Press ENTER.
The HyperTerminal main menu opens.
2.
Enter 3.
The following dialog opens.
3.
Enter 0.
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The following dialog opens.
Upgrading Firmware 229
4.
Enter Y.
As indicated in the text, the program begins displaying the character C.
TIP
Program times-out after 60 seconds. If program times-out
before you complete steps 5...8, return to Step 1.
5.
From the Transfer menu select Send File.
The Send File dialog opens.
Firmware upgrade file, as provided by Rockwell
Automation Technical Support at (440) 646-5800.
6.
Browse for your firmware upgrade file.
7.
Select Xmodem protocol.
8.
Select Send.
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230 Upgrading Firmware
The flash upgrade operation begins and the following dialog opens.
Publication 2094-UM001A-EN-P — September 2006
ATTENTION
To avoid unrecoverable fault to drive modules, do not interrupt control power to IAM, power to the 1203-SSS
SCANport adapter, or power to your PC while the flash upgrade operation is in progress.
The flash operation completes and the following dialog opens.
9.
Close the HyperTerminal session.
10.
Verify that parameter 30 for each axis module is now upgraded to the new firmware revision.
11.
Return to DriveExplorer (refer to Selecting Axis Modules to
Upgrade, Step 5) to see the linear list of parameters.
Introduction
Before You Begin
Appendix
D
DC Common Bus Applications
This appendix provides integration procedures specific to the Kinetix
6000 multi-axis servo-drive systems configured for dc common bus.
The procedure involves calculating capacitance values and setting the
Add Bus Cap parameter using DriveExplorer software.
Topic
Calculating Total Bus Capacitance
Calculating Additional Bus Capacitance
Kinetix 6000 Capacitance Values
Common Bus Capacitance Example
Setting the Additional Bus Capacitance Parameter
Page
These procedures assume you have mounted and wired your
Kinetix 6000 dc common bus system.
IMPORTANT
Drive firmware v1.071 or later is required to use the RBM with the Kinetix 6000 drives.
Before you set the Additional Bus Capacitance (Add Bus Cap) parameter in DriveExplorer, you need to calculate the following values.
•
Total bus capacitance
•
Additional bus capacitance
231 Publication 2094-UM001A-EN-P — September 2006
232 DC Common Bus Applications
Calculating Total Bus
Capacitance
Total bus capacitance is the sum of all capacitance values for your
Kinetix 6000 common bus modules. Specifically, this includes the capacitance values for each of these modules.
•
Leader IAM (converter and inverter)
•
Each AM and SM (if present) on the leader IAM power rail
•
Each follower IAM (converter and inverter)
•
Each AM on the follower IAM power rails
Refer to Kinetix 6000 Capacitance Values on page 233 for IAM/AM/SM
capacitance values.
IMPORTANT
When total bus capacitance exceeds the leader IAM maximum value, the IAM fault status LED indicator displays error code
E90 (pre-charge time-out fault) and the drive is disabled.
Leader IAM (230V)
2094-AC05-MP5-S
2094-AC05-M01-S
2094-AC09-M02-S
2094-AC16-M03-S
2094-AC32-M05-S
Maximum Bus
Capacitance
µF
7145
15,295
34,400
62,825
Leader IAM (460V)
2094-BC01-MP5-S
2094-BC01-M01-S
2094-BC02-M02-S
2094-BC04-M03-S
2094-BC07-M05-S
Maximum Bus
Capacitance
µF
4585
8955
8955
17,915
IMPORTANT
If your total bus capacitance value exceeds the value in the table above, you must increase the size of the leader IAM or decrease the total bus capacitance by removing axis modules.
Calculating Additional Bus
Capacitance
Additional bus capacitance is the sum of all follower IAM and AM capacitance values for your Kinetix 6000 common bus modules.
Specifically, this includes the capacitance values for each of these modules.
•
Each follower IAM (converter and inverter)
•
Each AM on the follower IAM power rails
Enter the additional bus capacitance values in Step 6 of Setting the
Additional Bus Capacitance Parameter.
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DC Common Bus Applications 233
Kinetix 6000 Capacitance
Values
Use the tables below when calculating total bus capacitance and additional bus capacitance for your Kinetix 6000 common bus application.
IAM/AM (230V) Modules
IAM Converter (230V)
Capacitance
µF
2094-AC05-MP5-S
2094-AC05-M01-S
2094-AC09-M02-S
2094-AC16-M03-S
2094-AC32-M05-S
270
540
1320
1980
AM Inverter (230V)
2094-AMP5-S
2094-AM01-S
2094-AM02-S
2094-AM03-S
2094-AM05-S
Capacitance
µF
390
660
780
1320
2640
IAM/AM (460V) Modules
IAM Converter (460V)
Capacitance
µF
2094-BC01-MP5-S
2094-BC01-M01-S
2094-BC02-M02-S
2094-BC04-M03-S
2094-BC07-M05-S
110
220
940
1410
SM (230/460V) Module
SM (230-460V)
2094-BSP2
Capacitance
μ
F
470
AM Inverter (460V)
2094-BMP5-S
2094-BM01-S
2094-BM02-S
2094-BM03-S
2094-BM05-S
Capacitance
µF
75
150
270
840
1175
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234 DC Common Bus Applications
Common Bus Capacitance
Example
In the example below, the sum of the leader IAM power rail modules capacitance (6530 µF) and the follower IAM power rail modules capacitance (5280 µF) equals 11,810 µF total bus capacitance.
The sum of the follower IAM power rail modules equal 5280 µF additional bus capacitance.
Calculating Common Bus Capacitance
AC Line
Filter
Three-phase
Input Power
Kinetix 6000 (230V)
Leader IAM
MAIN VAC
11,810 µF Total Bus Capacitance
Line Interface
Module
(optional component)
DC Common Bus
PRF (2094-PRF) N/A
SM (2094-BSP2) 470 µF
AM (2094-AM02) 780 µF
AM (2094-AM03) 1320 µF
AM (2094-AM03) 1320 µF
IAM (2094-AC16-M03) Converter 1320 µF
IAM (2094-AC16-M03) Inverter 1320 µF
Kinetix 6000 (230V)
Follower IAM
5280 µF Additional Bus Capacitance
PRF (2094-PRF) N/A
AM (2094-AM03) 1320 µF
AM (2094-AM03) 1320 µF
IAM (2094-AC16-M03) Converter 1320 µF
IAM (2094-AC16-M03) Inverter 1320 µF
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DC Common Bus Applications 235
Setting the Additional Bus
Capacitance Parameter
In this procedure you will set the Add Bus Cap parameter using
DriveExplorer software.
The following hardware and software tools are required to provide the necessary communication link between your personal computer and the Kinetix 6000 drive system running DriveExplorer software.
Description
DriveExplorer Software
(1) (2)
Serial to SCANport Adapter
(2) (3)
RSLogix 5000 Software
Catalog Numbers
9306-4EXP02ENE
1203-SSS (Series B)
9324-RLD300NE
Version
2.01 or later
3.004 or later
15.0 or later
(1)
Refer to DriveExplorer Getting Results Manual, publication 9306-GR001, for instructions.
(2)
Additional information regarding these communication and software tools is available at http://www.ab.com/support/abdrives.
(3)
Refer to 1203-SSS (Series B) FRN 3.
xxx User Manual, publication 20COMM-UM001, for instructions.
ATTENTION
To avoid personal injury or equipment damage, at least one end of a SERCOS fiber-optic cable must be disconnected from the drive. This ensures that motion will not occur while changes are being made to the Add Bus Cap parameter.
Removing SERCOS Communication
Follow these steps to remove (break) SERCOS communications.
1.
Remove three-phase and control power from the Kinetix 6000 drive system.
2.
Remove one of the SERCOS fiber-optic cables.
Fiber-optic cable connections (Tx and Rx) are located on the top of each IAM/AM.
3.
Re-apply three-phase and control power.
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236 DC Common Bus Applications
Setting the Additional Bus Capacitance Parameter
Follow these steps to set the Additional Bus Capacitance parameter.
1.
Start your DriveExplorer software.
2.
From the menu bar choose Explore\Connect\Local or enter Ctrl-L from the keyboard.
DriveExplorer software will read your system.
3.
Observe the Linear List of parameters as grouped by Node, Port, and Axis hierarchy as shown below.
Linear List Legend
N: P. x xxx
Parameter Number
30 = Version Data
Axis Number
0 = IAM (axis 1)
1 = AM (axis 2)
2 = AM (axis 3)
3 = AM (axis 4)
DPI Port Number
Network Node Number
4.
Select Devices\Node\Product\ and navigate to the parameter x:x:x 599 as shown below.
Publication 2094-UM001A-EN-P — September 2006
5.
Double-click the x:x:x 599 Add Bus Cap parameter.
DC Common Bus Applications 237
The command dialog for parameter x 599 - Add Bus Cap opens.
6.
Select the Value Edit tab and enter the Add Bus Cap Value (
μ
F ).
7.
Click OK.
The RBM delay time is changed, but not saved in non-volatile memory.
Saving the Add Bus Cap Parameter to Non-Volatile Memory
Follow these steps to save the Add Bus Cap parameter to non-volatile memory.
1.
From the menu bar choose Actions\Non-Volatile Memory.
The following message dialog opens.
2.
Click Save.
The changes are saved to non-volatile memory and the following cautionary message dialog opens.
3.
Click Yes.
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238 DC Common Bus Applications
The save to non-volatile memory is complete and the following confirmation message dialog opens.
4.
Click OK.
5.
Close the DriveExplorer software.
Reconnecting SERCOS Communication
Follow these steps to reconnect SERCOS communication.
1.
Remove three-phase and control power from the Kinetix 6000 drive system.
2.
Replace the SERCOS fiber-optic cable removed earlier.
Fiber-optic cable connections (Tx and Rx) are located on the top of each IAM/AM.
3.
Re-apply three-phase and control power.
Publication 2094-UM001A-EN-P — September 2006
Introduction
Before You Begin
Appendix
E
Integrating Resistive Brake Modules with Kinetix 6000 Drives
This appendix provides Bulletin 2090 Resistive Brake Module (RBM) integration procedures and interconnect diagrams specific to
Kinetix 6000 multi-axis servo-drive systems. The procedure involves setting the time delay parameter using either RSLogix 5000 or
DriveExplorer software.
Topic
Understanding Safety Precautions
Resistive Brake Module Wiring Examples
The example diagram below shows Kinetix 6000 IAM, AM, and LIM (2094-ALxxS,
-BLxxS, and -XL75S) wired with the Bulletin 2090 RBM in a category 2 configuration.
Setting the RBM Delay Time Using DriveExplorer
Page
These procedures assume you have mounted and wired your resistive brake module (RBM) with the Kinetix 6000 drive system. For RBM installation instructions, refer to the Resistive Brake Module
Installation Instructions, publication 2090-IN009.
IMPORTANT
Drive firmware v1.071 or later is required to use the RBM with the Kinetix 6000 drives.
239 Publication 2094-UM001A-EN-P — September 2006
240
Understanding Safety
Precautions
Integrating Resistive Brake Modules with Kinetix 6000 Drives
The following precautions apply to resistive brake module (RBM) installations as shown in the interconnect diagrams. Be sure to read and thoroughly understand them before proceeding.
ATTENTION
The interconnection diagrams should be used as a general recommendation on how the safety control circuit may be implemented. Actual applications may vary due to requirements based on the machine builders risk assessment. The machine builder must perform a risk assessment and determine a category level of safety that must be applied to the machine.
Safety Standards for Reference
•
EN 1050 Safety of Machinery - Principles for Risk Assessment
•
EN 60204-1 Safety of Machinery - Electrical Equipment of
Machines
•
EN 292-1/2 Safety of Machinery - Basic Concepts, General
Principles for Design
•
EN 954-1 Safety of Machinery - Safety Related Parts of Control
Systems
•
NFPA 79 Electrical Standard for Industrial Machinery
•
ANSI B11.TR3 Risk Assessment and Risk Reduction. A guide to estimate, evaluate, and reduce risks associated with machine tools.
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Integrating Resistive Brake Modules with Kinetix 6000 Drives 241
Background on Safety Design
There are numerous safety standards regarding machine design including OSHA, NFPA, AMT, CENELEC and ISO. In Europe, CENELEC and ISO coordinate the development of standards to which products can satisfy the laws of the Machinery Directive. In the United States,
Standard Development Organizations (SDO) like the NFPA and AMT sponsor the development of standards to help companies meet OSHA requirements.
Stop Categories
One of the most basic safety functions is stopping the machine. The stopping function of a machine must fall into one of three categories
(EN60204-1 and NFPA79). The categories are as follows:
•
Stop Category 0 : Stopping by immediate removal of power to the machine actuators.
•
Stop Category 1 : A controlled stop with power to the machine actuators to achieve the stop and then removal of power when the stop is achieved.
•
Stop Category 2 : A controlled stop with power left available to the machine actuators.
E-Stops are a special case of stops, and have additional requirements to those stated above. This appendix is intended to show how a light curtain or gate interlock might interface with one axis of motion control to achieve a machine stop and this stop may not be the same as the E-stop function of a machine.
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242 Integrating Resistive Brake Modules with Kinetix 6000 Drives
Risk Assessment
The European safety standard (EN 1050) and U.S. technical report
(ANSI B11.TR3) explain the process of risk assessment, which must be conducted by the machine builder. This is done by analyzing the tasks that people perform on and around the machine. This includes functions such as operation, set up, and maintenance. For the purpose of this appendix, the light curtain or gate interlock is intended to focus on the operation and perhaps loading/unloading of a machine.
Additional protective measures must be identified by the risk assessment.
Machinery Directive EN 954-1 Safety Related Parts of Control Systems defines how to determine the safety requirements by categorizing the risk. This standard outlines the design of fail-safe control circuits by categorizing five levels of risk. It is deemed the machine designers responsibility to objectively identify a risk level for a particular machine and design all safety related systems to that level. The five categories are as follows:
Category B : Safety devices and control systems, as a minimum, must be designed, selected, and assembled to meet the operational requirements of design limits and influence of the processed materials and other external influences listed as: effects of vibration, loss of power supply, and external fields.
Category 1 : All conditions of Category B apply, but the safety related part of the control system must use well tried principles and components (refer to 7.2.2: prEN951-1). The use of single electronic components, electronic logic or software is not considered adequate, even at this level.
Category 2 : All conditions of Category B apply, but in addition, the machine shall be prevented from starting if a fault is detected upon power up. This suggests the use of an interface relay with redundancy and self-checking on energization. Single channel operation is permitted providing that the input devices (E-Stop buttons, gate switches, etc.) are tested for operation on a regular basis. If regular testing cannot be guaranteed, then the designer has little choice but to opt for two channel control.
Category 3 : All conditions of Category B apply, but the complete safety control system shall be designed so that any single fault shall not lead to the loss of the safety function and, where practical, the single fault shall be detected. This now calls for not only redundancy in the interface relay but also in the input devices pointing to dual channel systems.
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Integrating Resistive Brake Modules with Kinetix 6000 Drives 243
Category 4 : All the conditions of Category B apply and, in addition, any single fault must be detected at or before the next call on the safety system, or an accumulation of three faults shall not lead to the loss of the safety function.
Control Reliability
In the United States the AMT has promoted a concept called Control
Reliability as part of the ANSI B11.TR3 standard. This standard has similar requirements to those in the Machinery Directive EN954-1
Category 3 risk standard.
Control Reliability is defined as the ability of a safety system to go into a safe state in the event of a failure. In other words, the safety system must bring the machine to a safe state in the event of a single fault.
Resistive Brake Module
Wiring Examples
This section provides interconnect diagrams to assist you in wiring a
Kinetix 6000 system which includes an RBM. The notes in the table below apply to the following RBM interconnect example diagrams.
ATTENTION
The National Electrical Code and local electrical codes take precedence over the values and methods provided.
Implementation of these codes is the responsibility of the machine builder.
4
5
6
Note Information
1
2
3
Cable shield clamp must be used in order to meet CE requirements. No external connection to ground required.
For motor cable specifications, refer to the Kinetix Motion Control Selection Guide, publication GMC-SG001.
The BRKTMP0 signal can be wired to a ControlLogix input as overtemp warning in user program.
Firmware version 1.071 or later is required to use the DBRK outputs on the Kinetix 6000 IAM or AM.
The safety relay time delay should be set beyond the time required to stop and disable the axis when running at full speed.
Drive Enable Input Checking must be selected when configuring Axis Properties in RSLogix 5000 software.
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The example diagram below shows Kinetix 6000 IAM, AM, and LIM
(2094-AL xx S, -BL xx S, and -XL75S) wired with the Bulletin 2090 RBM in a category 2 configuration.
RBM Wiring Example (Category 2 Configuration per EN954-1)
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246 Integrating Resistive Brake Modules with Kinetix 6000 Drives
The example diagram below shows Kinetix 6000 IAM, AM, and LIM
(2094-AL09 and -BL02) wired with the Bulletin 2090 RBM in a category 2 configuration.
RBM Wiring Example (Category 2 Configuration per EN954-1)
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248 Integrating Resistive Brake Modules with Kinetix 6000 Drives
The example diagram below shows Kinetix 6000 IAM and LIM
(2094-AL xx S, -BL xx S, and -XL75S) wired with the Bulletin 2090 RBM in a category 3 configuration.
RBM Wiring Example (Category 3 Configuration per EN954-1)
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250 Integrating Resistive Brake Modules with Kinetix 6000 Drives
The example diagram below shows Kinetix 6000 IAM and LIM
(2094-AL09 and -BL02) wired with the Bulletin 2090 RBM in a category 3 configuration.
RBM Wiring Example (Category 3 Configuration per EN954-1)
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252 Integrating Resistive Brake Modules with Kinetix 6000 Drives
Setting the RBM Delay Time
Using DriveExplorer
In this procedure you will break SERCOS ring communications, set the delay time parameter using DriveExplorer software, and re-establish
SERCOS communication.
For This Revision of
RSLogix 5000 Software v11 or v12 v13 or later
Do This
Proceed with these instructions using DriveExplorer to set the RBM delay time parameter.
Go to Configure Axis Properties on page 133 and use
RSLogix 5000 software to set the RBM delay time parameter.
The following hardware and software tools are required to provide the necessary communication link between your personal computer and the Kinetix 6000 drive system running RSLogix 5000 software.
Description
DriveExplorer Software
(1) (2)
Catalog Numbers
9306-4EXP02ENE
Serial to SCANport Adapter
(2) (3)
RSLogix 5000 Software
1203-SSS (Series B)
9324-RLD300NE
Personal computer with HyperTerminal N/A
Version
2.01 or later
3.004 or later
11.0 or 12.0
N/A
(1)
Refer to DriveExplorer Getting Results Manual, publication 9306-GR001, for instructions.
(2)
Additional information regarding these communication and software tools is available at http://www.ab.com/support/abdrives.
(3)
Refer to 1203-SSS (Series B) FRN 3.
xxx User Manual, publication 20COMM-UM001, for instructions.
ATTENTION
To avoid personal injury or equipment damage, at least one end of a SERCOS fiber-optic cable must be disconnected from the drive. This ensures that motion will not occur while changes are being made to the time delay parameter.
Removing SERCOS Communication
Follow these steps to remove (break) SERCOS communications.
1.
Remove three-phase and control power from the Kinetix 6000 drive system.
2.
Remove one of the SERCOS fiber-optic cables.
Fiber-optic cable connections (Tx and Rx) are located on the top of each IAM/AM.
3.
Re-apply three-phase and control power.
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Integrating Resistive Brake Modules with Kinetix 6000 Drives 253
Setting the RBM Delay Time Parameter
Follow these steps to set the RBM delay time parameter.
1.
Start your DriveExplorer software.
2.
From the menu bar choose Explore\Connect\Local or enter Ctrl-L from the keyboard.
DriveExplorer software will read your system.
3.
Observe the Linear List of parameters as grouped by Node, Port, and Axis hierarchy as shown below.
Linear List Legend
N: P. x xxx
Parameter Number
30 = Version Data
Axis Number
0 = IAM (axis 1)
1 = AM (axis 2)
2 = AM (axis 3)
3 = AM (axis 4)
DPI Port Number
Network Node Number
4.
Select Devices\Node\Product\Axis x Group\Config and navigate to the Config parameters as shown below.
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254 Integrating Resistive Brake Modules with Kinetix 6000 Drives
5.
Double-click the x:x:x 641 RBM Delay parameter.
The command dialog for parameter x 641 - RBM Delay opens.
Publication 2094-UM001A-EN-P — September 2006
6.
Select the Value Edit tab and enter the delay time Value (ms).
The recommended RBM delay time is 71 ms.
7.
Click OK.
The RBM delay time is changed, but not saved in non-volatile memory.
Saving the Delay Time Parameter to Non-Volatile Memory
Follow these steps to save the delay time parameter to non-volatile memory.
1.
From the menu bar choose Actions\Non-Volatile Memory.
The following message dialog opens.
2.
Click Save.
Integrating Resistive Brake Modules with Kinetix 6000 Drives 255
The changes are saved to non-volatile memory and the following cautionary message dialog opens.
3.
Click Yes.
The save to non-volatile memory is complete and the following confirmation message dialog opens.
4.
Click OK.
5.
Determine if you have another RBM to configure.
If you
Have another RBM in the Kinetix 6000 system
Do not have another RBM in the
Kinetix 6000 system
Then
Go to Setting the RBM Delay Time Parameter (Step 4).
Close the DriveExplorer software.
Go to Reconnecting SERCOS Communication.
Reconnecting SERCOS Communication
Follow these steps to reconnect SERCOS communication.
1.
Remove three-phase and control power from the Kinetix 6000 drive system.
2.
Replace the SERCOS fiber-optic cable removed earlier.
Fiber-optic cable connections (Tx and Rx) are located on the top of each IAM/AM.
3.
Re-apply three-phase and control power.
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257
Numerics
1203-SSS serial cable
,
1756-M xx SE
1768-M04SE
1784-PM16SE
26-pin I/O connector
A
about this publication
ac line filters noise reduction
specifications
acronyms
additional bus capacitance calculating
example
additional resources
analog outputs
analog test points
DAC0
DAC1
applying power
atune fault
aux fdbk noise fault
aux feedback AQB
aux feedback loss
auxiliary encoder error
auxiliary feedback pin-outs
specifications
axes to flash
,
axis module catalog number
configuring
connector designators
dimensions
,
status indicators
wiring requirements
axis properties
axis unstable
B
backplane comm
bandwidth
base node address
example with double-wide modules
example with two
ControlLogix chassis
Index example with two power rails
baud rate
block diagrams converter
inverter
safe-off feature
shunt module
blown fuse
bonding
EMI (ElectroMagnetic
Interference)
examples
high frequency energy
subpanels
braided strap
brake
brake relay
building your own cables
bus overcurrent
overvoltage
regulator
status LED
undervoltage
C
cables building your own cables
categories
fiber optic cable length
maximum fdbk cable length
shield clamp
shield, EMC
CAN init
capacitance values
catalog number axis module
integrated axis module
shunt module
CB1, CB2, CB3
CE compliance
certifications specifications
changing parameters
DriveExplorer
HIM
circuit breaker
LIM
selection
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258 Index
Publication 2094-UM001A-EN-P — September 2006 specifications
clamp
comm status LED
common bus (refer to DC common bus)
common bus flt
configuration
configuring
AM
base node address
baud rate, IAM
delay times
feedback only axis
IAM
optical power level
SERCOS module
connecting contactor enable
external shunt resistor
feedback
I/O
motor brake
motor shield clamp
panel-mounted breakout kit
premolded feedback cables
SERCOS cables
connector designators axis module
integrated axis module
shunt module
connector locations axis module
integrated axis module
shunt module
contactor enable relay
wiring
contactor specifications
control power input specifications
control reliability
ControlFLASH flashing firmware
software kit
controller properties
controlling a brake
conventions used in this manual
conversion tab
converter
coordinated system time master
CPLD FLT
cycle time
D
DAC0
DAC1
data rate
data type
date and time tab
DC common bus configuring
follower IAM
fuse requirements
interconnect diagram
,
,
leader IAM
pre-charge
setting the add bus cap parameter
total bus capacitance
typical installation
delay times
digital I/O not working correctly
digital inputs
dimensions
AM
IAM
SM
dip switches
disable drive
download program
drive enable fault
drive overcurrent
drive overtemp
drive status LED
drive tab
drive undervoltage
DriveExplorer flashing firmware
software
,
E
earth ground
EMC cable shield
,
,
motor ground termination
Index 259
EMI (ElectroMagnetic
Interference) bonding
enclosure requirements
selection
sizing, Kinetix 6000
encoder communication fault
environmental specifications
erratic operation
error codes
establishing communications
external active shunt resistor specifications
external passive shunt resistor specifications
external shunt resistor
,
wiring
grounding multiple subpanels
H
hardware enable input
hardware overtravel
headers motion allowed jumper
HF bonding
high frequency energy
HIM
hookup fault
hookup tab
human interface module (HIM)
hyperterminal
F
fault action
fault action, programmable
fault actions tab
feedback only axis
feedback power supply
feedback tab
fiber optic signals
fiber-optic cables drive-to-drive
receive and transmit connectors
firmware upgrade file
flashing axes
firmware
flashing firmware
ControlFLASH
DriveExplorer
follow error
follower IAM
,
fuse selection
fuse specifications
G
ground fault
ground jumper setting
grounded power configuration
I
I/O connections
pin-outs, AM
pin-outs, IAM
specifications
I/O connector
Ifbk HW fault
illegal hall state
input connector pin-outs
IAM
input power source
input power wiring
3-phase delta
determining input power
ground jumper setting
grounded power configuration
ungrounded power configuration
installing drive accessories noise zones ac line filters
external shunt resistor
motor brake
RBM
thermal switch
installing your drive
bonding examples
bonding subpanels
cable categories
circuit breakers
Publication 2094-UM001A-EN-P — September 2006
260 Index
Publication 2094-UM001A-EN-P — September 2006 enclosure selection
fuse selection
HF bonding
noise zones
system mounting requirements
transformer
integrated axis module catalog number
configuring
connector designators
connector locations
dimensions
,
interconnect diagram
,
status indicators
wiring BC connector
wiring CED connector
wiring CPD connector
wiring IPD connector
wiring MP connector
wiring requirements
,
wiring SO connector
interconnect diagrams
2094 with 1326AB motor
2094 with F-Series motor
2094 with MPG-A motor
2094 with MPG-B motor
2094 with MPL/MPF/MPS motor
2094 with MPL-A motor
2094 with MPL-B motor
2094 with TL-Series motor
2094 with Y-Series motor
notes
power, DC common bus
,
power, IAM with LIM
power, IAM without LIM
RBM
shunt module
interpreting status indicators
inverter
IPM fault
K
Kinetix 6000 additional resources
axis properties
capacitance values
module properties
overview
specifications enclosure sizing
system overview
L
leader IAM
,
LED bus status
comm status
drive status
,
logic power
SERCOS interface module
seven-segment
shunt fault
status
temperature fault
line interface module circuit breakers
interconnect diagram
,
,
three-phase power
wiring 24V connector
wiring APL connector
wiring CPL connector
wiring IPL connector
wiring OPL connector
wiring P2L connector
logic power LED
low profile connector kits wiring
M
maintenance
maximum fdbk cable length
specifications
memory init
module mismatch
module mounting order
module properties
IAM
SERCOS module
monitor system variables
motion allowed jumper
,
motion group properties
motor accel/decel problems
motor and feedback tab
motor brake
motor encoder error
Index 261 motor feedback loss
motor jumps when first enabled
motor overheating
motor overtemp
motor velocity
motors brake wiring
feedback pin-outs
,
feedback specifications
ground termination
interconnect diagram
1326AB
F-Series
MPG-A
MPG-B
MPL/MPF/MPS
MPL-A
MPL-B
TL-Series
Y-Series
power and brake pin-outs
power wiring
1326AB
MP
Y-Series
shield clamp wiring
testing
tuning
mounting your drive external shunt resistor
module mounting order
mounting modules
mtr fdbk noise fault
N
no communication
no rotation
node address
noise abnormal
feedback
reduction
zones
NV mem init
O
objects init
optical power level
,
overspeed fault
overview
P
panel requirements
panel-mounted breakout kit
parameters, changing
pin-outs auxiliary feedback connector
I/O connector
IAM/AM
input connector
IAM
motor and brake connector
motor feedback connector
,
safe-off connector
IAM/AM
shunt module connector
planning your installation
power dissipation specifications
power indicator not on
power phase loss
power rail connecting braided strap
removing
removing modules
replacing
power supply, feedback
power up
pre-charge
,
pre-charge fault
pre-charge flt
premolded feedback cables
publications, related
R
RBM
related publications
relay output
removing modules
replacing modules
resistive brake module interconnect diagrams
setting the RBM delay time
wiring
risk assessment
routing power and signal wiring
Publication 2094-UM001A-EN-P — September 2006
262 Index
Publication 2094-UM001A-EN-P — September 2006
RSLinx software
RSLogix 5000 software
,
S
safe-off block diagram
motion allowed jumper
,
pin-outs, AM
pin-outs, IAM
wiring
safe-off HW fault
safety control reliability
risk assessment
standards
stop categories
SCANport comm
SCANport/DPI adapter
,
,
SCANport/DPI connector
self sense fault
SERCOS connecting cables
connections
SERCOS init
SERCOS module
properties
SERCOS ring fault
SERCOS same addr
setting the add bus cap parameter
seven-segment status LED
shield clamp
shunt fault LED
shunt module
catalog number
connector designators
connector locations
dimensions
interconnect diagram
,
pin-outs
system specifications
troubleshooting
wiring requirements
shunt time fault
shunt time out
shutdown
software
RSLogix 5000
,
software overtravel
specifications ac line filters
certifications
circuit breakers
contactor ratings
environmental
external active shunt resistor
external passive shunt resistor
feedback motor and auxiliary
power supply
fuses
I/O analog outputs
brake relay
contactor enable relay
control power input
digital inputs
maximum fdbk cable length
power
AM 230V
AM 460V
IAM 230V
IAM 460V
SM
power dissipation
SERCOS connections
shunt module, system
transformer
weight
status indicators
status LEDs
status only
stop categories
stop motion
supplemental troubleshooting information
surge suppression
switches base node address
baud rate
optical power level
system block diagrams converter
inverter
Index 263 safe-off feature
shunt module
system ground
system mounting requirements
system overview
DC common bus
with LIM
without LIM
T
task init
temperature fault LED
testing axes hookup tab
thermal switch
total bus capacitance
calculating
example
training
transformer sizing
transformer specifications
troubleshooting bus status LED
,
comm status
disable drive
drive status LED
error codes
fault action
general atune fault
aux fdbk noise fault
aux feedback AQB
aux feedback loss
auxiliary encoder error
backplane comm
blown fuse
bus overcurrent
bus overvoltage
bus undervoltage
CAN init
common bus flt
CPLD FLT
digital I/O not working correctly
drive enable fault
drive overcurrent
drive overtemp
drive undervoltage
encoder communication fault
follow error
ground fault
hardware overtravel
hookup fault
Ifbk HW fault
illegal hall state
IPM fault
memory init
module mismatch
motor encoder error
motor feedback loss
motor jumps when first enabled
motor overtemp
mtr fdbk noise fault
NV mem init
objects init
overspeed fault
power indicator not on
power phase loss
pre-charge fault
pre-charge timeout flt
safe-off HW fault
SCANport comm
self sense fault
SERCOS init
SERCOS ring fault
SERCOS same addr
shunt module fault
shunt time out
software overtravel
task init
unknown axis
general system problems
abnormal noise
axis unstable
erratic operation
feedback noise
motor accel/decel problems
motor overheating
motor velocity
no rotation
Logix/drive fault behavior
programmable fault action
shunt fault LED
shunt module
shutdown
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264 Index status only
stop motion
supplemental troubleshooting information
changing parameters
using analog test points
temperature fault LED
tuning axes bandwidth
tune tab
typical installation
DC common bus
with LIM
without LIM
U
ungrounded power configuration
units tab
unknown axis
W
weight specifications
who should use this manual
wiring building your own cables
contactor enable
earth ground
external shunt resistor
ground jumper setting
grounded power configuration
I/O connections
IAM
BC connector
CED connector
CPD connector
IPD connector
MP connector
SO connector
IAM with LIM
24V connector
APL connector
CPL connector
IPL connector
OPL connector
P2L connector
input power determining type
low profile connectors
motor brake
motor cable shield clamp
motor power
requirements
IAM
IAM, AM
SM
resistive brake module
routing power and signal wiring
safe-off feature
SERCOS fiber optic cables
ungrounded power configuration
X
Xmodem
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Notes:
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267
Publication 2094-UM001A-EN-P — September 2006
Rockwell Automation
Support
Rockwell Automation provides technical information on the Web to assist you in using its products. At http://support.rockwellautomation.com, you can find technical manuals, a knowledge base of FAQs, 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.
For an additional level of technical phone support for installation, configuration, and troubleshooting, we offer TechConnect Support programs.
For more information, contact your local distributor or Rockwell Automation representative, or visit http://support.rockwellautomation.com.
Installation Assistance
If you experience a problem with a hardware module 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 module up and running.
United States
Outside United
States
1.440.646.3223
Monday – Friday, 8am – 5pm EST
Please contact your local Rockwell Automation representative for any technical support issues.
New Product Satisfaction Return
Rockwell 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, it may need to be returned.
United States
Outside United
States
Contact your distributor. You must provide a Customer Support case number (see phone number above to obtain one) to your distributor in order to complete the return process.
Please contact your local Rockwell Automation representative for return procedure.
Publication 2094-UM001A-EN-P — September 2006
Supersedes Publication 2094-IN001G-EN-P and 2094-IN002E-EN-P Copyright © 2006 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.

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