Rockwell Automation Allen-Bradley 2094-BC01-M01-S Page 277 User Manual Download

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Rockwell Automation Publication 2094-UM001D-EN-P - May 2010

277

Index

unknown axis

161

general system anomalies

abnormal noise

axis unstable

erratic operation

feedback noise

motor accel/decel

motor overheating

motor velocity

no rotation

Logix/drive fault behavior

169

programmable fault action

safety precautions

shunt module

bus status indicator

shunt fault status indicator

166

temperature status indicator

shutdown

status only

stop motion

tuning axes

bandwidth

151

tune tab

150

typical installation

DC common bus

SERCOS

with LIM

without LIM

ungrounded power configuration

units tab

144

unknown axis

161

using analog test points

154

weight specifications

192

who should use this manual

wiring

building your own cables

earth ground

external shunt resistor

120

ground jumper setting

grounded power configuration

I/O connections

110

IAM

BC connector

106

CED connector

CPD connector

IPD connector

MP connector

SO connector

input power type

low profile connectors

117

motor cable shield clamp

motor power

requirements

IAM

IAM/AM

shunt module

resistive brake module

121

routing power and signal wiring

safe-off feature

SERCOS fiber optic cables

122

ungrounded power configuration

wiring guidelines

Xmodem

243

Summary of Contents for Allen-Bradley 2094-BC01-M01-S

Page 1: ...User Manual Kinetix 6000 Multi axis Servo Drives Catalog Numbers 2094 ACxx Mxx S 2094 BCxx Mxx S 2094 AMxx S 2094 BMxx S 2094 ACxx Mxx 2094 BCxx Mxx 2094 AMxx 2094 BMxx 2094 BSP2 2094 PRF...

Page 2: ...uits 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...

Page 3: ...Number Explanation 19 Drive Component Compatibility 20 Chapter 4 Peak Enhancement Specifications 69 Chapter 5 Set the Ground Jumper 84 MP Series Bulletin MPL Motor Connectors 100 Motor Power Cable Com...

Page 4: ...4 Rockwell Automation Publication 2094 UM001D EN P May 2010 Summary of Changes Notes...

Page 5: ...ule 21 CE Requirements system with LIM module 22 Chapter 2 Planning the Kinetix 6000 Drive System Installation Introduction 23 System Design Guidelines 24 System Mounting Requirements 24 Transformer S...

Page 6: ...3 Absolute Position Feature 73 Feedback Power Supply Specifications 75 Auxiliary Position Feedback Encoders 76 Chapter 5 Connecting the Kinetix 6000 Drive System Introduction 77 Basic Wiring Requireme...

Page 7: ...gure and Start Up the Kinetix 6000 Drive System Introduction 127 Configure the Drive Modules 128 Configure the Logix SERCOS interface Module 133 Configure the Logix Controller 133 Configure the Logix...

Page 8: ...reaker Fuse Specifications 187 Contactor Ratings 188 Transformer Specifications for Control Power Input 188 Power Dissipation Specifications 189 General Specifications 190 Maximum Feedback Cable Lengt...

Page 9: ...ate Total Bus Capacitance 246 Calculate Additional Bus Capacitance 247 Bulletin 2094 Drive Capacitance Values 247 Common Bus Capacitance Example 248 Set the Additional Bus Capacitance Parameter with D...

Page 10: ...10 Rockwell Automation Publication 2094 UM001D EN P May 2010 Table of Contents Notes...

Page 11: ...interface module If you do not have a basic understanding of the Kinetix 6000 drives contact your local Rockwell Automation sales representative for information on available training courses Conventio...

Page 12: ...to select a 1336 chopper module and external resistor System Design for Control of Electrical Noise Reference Manual publication GMC RM001 Information examples and techniques designed to minimize sys...

Page 13: ...nce 21 IAM Module Cat No AM Module Cat No Peak Current Rating Series A inverter Series B inverter 2094 BC01 MP5 S 2094 BMP5 S 150 250 2094 BC01 M01 S 2094 BM01 S 150 250 2094 BC02 M02 S 2094 BM02 S 15...

Page 14: ...otary Servo Motors MP Series TL Series RDD Series 1326AB F Series Compatible rotary motors include the MP Series Bulletin MPL MPM MPF and MPS 230 and 460V motors RDD Series TL Series 1326AB M2L S2L an...

Page 15: ...ogix 5000 Software Logix Controller Programming Network Kinetix 6000 Multi axis Servo Drive System 2094 xLxxS Line Interface Module optional component 2094 xMxx x Axis Modules 5 Three phase Input Powe...

Page 16: ...Module Logix Platform ControlLogix is shown Logix Controller Programming Network 2094 xMxx x Axis Modules 5 2094 xCxx Mxx x Integrated Axis Module 2094 BSP2 Shunt Module optional component 2090 XXLF...

Page 17: ...e Module optional component DC Common Bus Motors and other details common to both three phase AC and DC common bus configurations are removed 2094 xMxx x Axis Modules 5 2094 xCxx Mxx x Integrated Axis...

Page 18: ...in 0 1 m 5 1 in 6200 6200 SAFE SPEED 6200 6200 SAFE SPEED Logix SERCOS interface Module Logix Platform ControlLogix is shown RSLogix 5000 Software 2090 SCxxx x SERCOS Fiber optic Cable Logix Controll...

Page 19: ...kW converter 9 A inverter 2094 BC01 M01 S 1 2094 BC01 M01 Kinetix 6000 IAM 460V 15 kW converter 15 A inverter 2094 BC02 M02 S 1 2094 BC02 M02 Kinetix 6000 IAM 460V 28 kW converter 30 A inverter 2094 B...

Page 20: ...ble 5 IAM and AM Module Network Compatibility For additional information on the 2094 BCxx Mxx M IAM and 2094 BMxx M AM modules refer to the Kinetix 6200 and Kinetix 6500 Multi axis Servo Drives User M...

Page 21: ...r 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...

Page 22: ...irements as they apply to the AC line filter Install the LIM module catalog numbers 2094 AL09 or 2094 BL02 as close to the IAM module as possible Install the LIM module catalog numbers 2094 ALxxS 2094...

Page 23: ...pic Page Introduction 23 System Design Guidelines 24 Electrical Noise Reduction 31 ATTENTION Plan the installation of your system so that you can perform all cutting drilling tapping and welding with...

Page 24: ...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 specific...

Page 25: ...ecifications on page 187 and Transformer Specifications for Control Power Input on page 188 Example Sizing a transformer to the voltage requirements of a 2094 BC01 M01 S Integrated Axis Module 2094 BC...

Page 26: ...65 000 A 460V or 100 000 A 230V Refer to the Line Interface Module Installation Instructions publication 2094 IN005 for power specifications and more information on using the LIM module The Bulletin 1...

Page 27: ...at dissipation in watts is known you can calculate the minimum enclosure size Table 6 Bulletin 2094 System Heat Dissipation Example Enclosure Component Description Loading 1 Heat Dissipation 1 watts 2...

Page 28: ...et IP communication module 4 0 0 Backplane total 17 18 2 N A 1756 PB72 24V DC ControlLogix power supply N A 25 2 1756 A7 7 slot mounting chassis N A N A Total ControlLogix system wattage 34 1 1 For Co...

Page 29: ...tion of the enclosure is not able to transfer heat it should not be included in the calculation Because the minimum cabinet depth to house the 460V drive selected for this example is 302 mm 11 9 in th...

Page 30: ...dule is not required 1 Clearance above for airflow and installation Clearance left of the module is not required 1 Kinetix 6000 IAM Module 2094 BC01 Mxx x is shown mounted on power rail Power Rail 209...

Page 31: ...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 i...

Page 32: ...onductive material anodized or painted scrape the material around the mounting hole Star Washer Nut Nut Flat Washer Mounting Bracket or Ground Bus Use a wire brush to remove paint from threads to maxi...

Page 33: ...ifference in impedance may affect networks and other devices that span multiple panels Bond the top and bottom of each subpanel to the cabinet by using 25 4 mm 1 0 in by 6 35 mm 0 25 in wire braid As...

Page 34: ...he clamp provided The SERCOS fiber optic cables are immune to electrical noise but due to their delicate nature route them in the clean zone Figure 9 Noise Zones LIM mounted left of IAM module 1 If dr...

Page 35: ...optic cables are immune to electrical noise but due to their delicate nature route them in the clean zone Figure 10 Noise Zones LIM with EMC filter behind IAM module 1 If drive system I O cable contai...

Page 36: ...EMC filter behind LIM module 1 If drive system I O cable contains dirty relay wires route cable with LIM module I O cable in dirty wireway 2 When space does not permit the 150 mm 6 0 in segregation us...

Page 37: ...use a grounded steel shield instead For examples refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 C D VD D D D VD D C VD D D D D D D C C MAIN VAC Line...

Page 38: ...une to electrical noise but due to their delicate nature route them in the clean zone This layout is preferred due to the reduced size of the very dirty zone Figure 13 Noise Zones LIM mounted left of...

Page 39: ...icate nature route them in the clean zone Figure 14 Noise Zones LIM mounted above IAM module 1 For examples of shield clamp attachment refer to the System Design for Control of Electrical Noise Refere...

Page 40: ...o their delicate nature route them in the clean zone Figure 15 Noise Zones without LIM module 1 If drive system I O cable contains dirty relay wires route cable in dirty wireway 2 When space to the ri...

Page 41: ...16 Noise Zones ControlLogix chassis Cable Categories for Kinetix 6000 Systems These tables indicate the zoning requirements of cables connecting to the Kinetix 6000 drive components Table 9 IAM Module...

Page 42: ...r safe off feature SO X Motor feedback MF X X Auxiliary feedback AF X X Registration and analog outputs IOD X X Others X Fiber optic Rx and Tx No Restrictions 1 This is a clean 24V DC available for an...

Page 43: ...ine 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 to the examples on page 32 Segregate...

Page 44: ...Outside the Enclosure C D D D D D VD C VD D 1394 Digital Servo Controller 300W Shunt Module BULLETIN 1394 300W SHUNT MODULE ALLEN BRADLEY FOR USEWITH 1394 SJT22 X SYSTEM MODULE CAT PART SER INPUT DC...

Page 45: ...D D D VD C VD 1394 Digital Servo Controller 300W Shunt Module BULLETIN 1394 300W SHUNT MODULE ALLEN BRADLEY FOR USEWITH 1394 SJT22 X SYSTEM MODULE CAT PART SER INPUT DC INPUT AC FOR FUSE REPLACEMENT...

Page 46: ...other sensitive low voltage signal cables Figure 19 Noise Zones RBM mounted above AM module Motor Brake and Thermal Switch The thermal switch and brake are mounted inside the motor but how you connect...

Page 47: ...ter Refer to the 2094 Mounting Brackets Installation Instructions publication 2094 IN008 when using mounting brackets with your Kinetix 6000 drive system Topic Page Introduction 47 Determine Mounting...

Page 48: ...etermine Mounting Order Mount IAM AM shunt and slot filler modules in the order left to right as shown Mount axis modules according to power utilization highest to lowest from left to right starting w...

Page 49: ...IAM module Common bus follower IAM modules will disable the internal rail mounted and external shunt modules SHOCK HAZARD To avoid personal injury due to electrical shock place a 2094 PRF slot filler...

Page 50: ...ller modules Power Rail Slot Mounting Bracket Power Rail Kinetix 6000 IAM AM Shunt or Slot filler Module IAM module is shown Guide Pin Holes Power rail side view in upright vertical position Guide Pin...

Page 51: ...lot filler module in your Bulletin 2094 drive system Power Rail Bracket secured in slot Kinetix 6000 IAM AM Shunt or Slot filler Module IAM module is shown Bottom front view of single wide AM shunt or...

Page 52: ...52 Rockwell Automation Publication 2094 UM001D EN P May 2010 Chapter 3 Mounting the Kinetix 6000 Drive System Notes...

Page 53: ...a Introduction This chapter provides power feedback and I O connector locations and signal descriptions for your Kinetix 6000 drive Topic Page Introduction 53 Power Module and Control Module Features...

Page 54: ...OD connector 4 Control power CPD connector 14 SERCOS node address switch 5 Motor cable shield clamp 15 Seven segment fault status indicator 6 Motor power MP connector 16 Drive status indicator 7 Motor...

Page 55: ...k AF connector BAUD RATE TX RX W V U MBRK MBRK COM PWR DBRK DBRK 1 2 3 4 1 2 3 4 5 6 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 14 10 11 12 13 15 8 9 Kinetix 6000 AM Module Top View 2094 AM01 S module is shown K...

Page 56: ...Plug Header Kinetix 6000 IAM AM Module AM module is shown Safe off SO Connector Safe off SO Connector Pin Also Applies to These SO Connector Headers Description Signal 1 Wiring plug header First drive...

Page 57: ...PWR 17 High speed registration 2 input REG2 5 Home switch input HOME 18 Common for registration REG_COM 6 Common 24V_COM 19 Reserved 7 Positive overtravel 24V DC power supply 24V_PWR 20 Reserved 8 Pos...

Page 58: ...AM Sine differential input AM SIN 10 Index pulse IM 3 BM Cosine differential input BM COS 11 Motor thermal switch normally closed 1 TS 4 BM Cosine differential input BM COS 12 Single ended 5V hall ef...

Page 59: ...N 8 Serial data clock signal CLK 2 Sine differential input SIN 9 Serial data differential signal DATA 3 Cosine differential input COS 10 Serial data differential signal DATA 4 Cosine differential inpu...

Page 60: ...tial input COS 11 Reserved 4 Cosine differential input COS 12 Reserved 5 Hiperface data channel DATA 13 Reserved 6 Common ECOM 14 Encoder power 5V EPWR_5V 1 7 Encoder power 9V EPWR_9V 1 15 Reserved 8...

Page 61: ...ble Connector CPD Pin Description Signal 1 Control power VAC input CTRL 2 2 CTRL 1 IPD Pin Description Signal 1 An integral unregulated power supply consisting of AC line input three phase bridge rect...

Page 62: ...r 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 System perform...

Page 63: ...ingle ended active high signal Current loading is nominally 10 mA A 24V DC input is applied to this terminal to enable each axis 20 ms Level IOD 5 HOME Optically isolated single ended active high sign...

Page 64: ..._INPUT INPUT IO_COM I O SUPPLY IOD 1 4 7 10 IOD 2 5 8 11 IOD 3 6 9 12 1k Kinetix 6000 IAM AM Module Customer supplied Input Device 24V DC 1 3k 511 VCC REG_INPUT INPUT IO_COM HCPL 0631 I O SUPPLY 24V D...

Page 65: ...cond channel not shown IMPORTANT Output values can vary during powerup until the specified power supply voltage is reached Parameter Description Min Max Resolution Number of states that the output sig...

Page 66: ...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...

Page 67: ...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 Rotary Motor Wiring Examples beginning on pa...

Page 68: ...this value is reduced to 2 0 by the 4 axes per system limitation Attribute Description IAM AM Module Value Max Series A Value Max Series B On state current 1 Current flow when the relay is closed 209...

Page 69: ...or later 2094 BC02 M02 S 2094 BM02 S 16 or later 1 111 or later 2094 BC04 M03 S 2094 BM03 S 17 or later 1 117 or later 2094 BC07 M05 S 2094 BM05 S 17 or later 1 117 or later Kinetix 6000 Drives Cat N...

Page 70: ...Period and is defined as Time at Peak TPK The time at peak current IPK for a given loading profile Must be less than or equal to TPKmax Peak Current IPK The level of peak current for a given loading...

Page 71: ...percentage of the continuous drive current rating ICont Base Current I I 0 60 100 50 45 40 35 30 25 20 15 10 5 0 80 20 40 I 150 I 200 I 250 Legend Maximum Duty Cycle D max Cont PK PK PK 1 Base Applie...

Page 72: ...ol Power Input on page 188 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 machi...

Page 73: ...in EnDat high resolution encoders is also accepted but only when using drive firmware revision 1 116 and the 2090 K6CK KENDAT low profile feedback module for EnDat to Hiperface conversion Absolute Pos...

Page 74: ...Figure 36 AM BM and IM Motor Encoder Input Circuits Table 42 Motor Encoder Feedback Specifications 10k 10k 5 V 1k 1k 56 pF 56 pF 10k 1k 1k 10k 1k 1k 1k 1k 1k 100 pF 100 pF 56 pF 56 pF 56 pF 56 pF Driv...

Page 75: ...0V DC current draw Current draw into the or input 30 mA 30 mA AM BM input signal frequency Frequency of the AM or BM signal inputs The count frequency is 4 times this frequency because the circuitry c...

Page 76: ...ncoders Cat No Description 842HR MJDZ115FWYD multi turn 842HR SJDZ115FWYD single turn Size 25 sine cosine square flange 3 8 in shaft 5V or 9V DC digital RS 485 interface M23 17 pin connector 844D B5CC...

Page 77: ...ply the Motor Cable Shield Clamp 109 Feedback and I O Cable Connections 110 Wiring the Feedback and I O Connectors 115 External Shunt Module Connections 120 RBM Module Connections 121 SERCOS Fiber opt...

Page 78: ...arby relays transformers and other electronic drives can be induced into motor or encoder feedback signals input output communication or other sensitive low voltage signals This can cause system fault...

Page 79: ...diagrams with and without the LIM module ATTENTION When using a LIM module with your IAM module the VAC LINE input power must come from a grounded configuration refer to the figure below When not usi...

Page 80: ...iagrams with and without the LIM module L3 L1 L2 DC DC L3 L2 L1 CONT EN CONT EN W V U MBRK MBRK COM PWR DBRK DBRK CTRL 2 CTRL 1 1 2 3 4 1 2 3 4 5 6 1 2 1 2 3 4 5 6 1 2 BAUD RATE TX RX DPI 1 2 3 4 5 6...

Page 81: ...ungrounded or high impedance grounded power distribution in your facility you need to move the default jumper configured for grounded power to the ungrounded power position to prevent electrostatic b...

Page 82: ...IAM module Wired in Common bus mode Follower IAM Without three phase input power but has DC common bus connections from a leader IAM module Wired in Common bus mode and configured by using RSLogix 500...

Page 83: ...non Kinetix 6000 common bus leader and the terminal block as well as between the DC bus terminal block and each follower IAM module Refer to Circuit Breaker Fuse Specifications on page 187 for recomme...

Page 84: ...charge ESD 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 compon...

Page 85: ...tix 6000 Drive Modules on page 175 IAM Module series A Configuration Grounded default Ungrounded 2094 ACxx Mxx x 230V P15 and P16 P15 and P17 2094 BC01 MP5 x 460V P13 and P14 P13 and P12 2094 BC01 M01...

Page 86: ...IAM modules P17 P16 P15 Top Screw 2094 ACxx Mxx x IAM Module 230V Bottom Screw Front Panel opened Ground jumper set for grounded configuration default setting Ground jumper set for ungrounded configur...

Page 87: ...ting Ground jumper set for ungrounded configuration Top Screw Bottom Screw Front Panel opened Ground jumper set for grounded configuration default setting Ground jumper set for ungrounded configuratio...

Page 88: ...the Ground Jumper 460V Series B IAM modules P16 P17 P18 P19 behind P18 P18 P19 Bottom Screw Front Panel opened Ground jumper set for grounded configuration default setting Ground jumper set for ungro...

Page 89: ...tud if mounting brackets are used Figure 44 Connecting the Braided Ground Strap Examples For power rail dimensions refer to the Kinetix 6000 Power Rail Installation Instructions publication 2094 IN003...

Page 90: ...ultiple subpanels Figure 45 Subpanels Connected to a Single Ground Point High frequency HF bonding is not illustrated For HF bonding information refer to Bonding Multiple Subpanels on page 33 IMPORTAN...

Page 91: ...1 5 10 6 13 2 2094 BC04 M03 x 10 6 8 10 16 0 63 2 4 3 0 21 6 26 5 2094 BC07 M05 x 30 3 2094 xCxx Mxx x Control input power CPD 1 CTRL 2 4 2 5 12 14 10 0 38 0 5 0 6 4 4 5 3 CPD 2 CTRL 1 Contactor Enab...

Page 92: ...4 AM05 x 2094 BM03 x 10 1 5 8 16 10 0 38 1 2 1 5 10 6 13 2 2094 BC07 M05 x 2094 BM05 x 30 2 5 3 14 16 0 63 2 4 3 0 21 6 26 5 IAM or AM 230 or 460V 2094 xCxx Mxx x and 2094 xMxx x Brake power BC 6 BC 5...

Page 93: ...or the interconnect diagrams in Appendix B 4 Tighten the connector screws 5 Gently pull on each wire to make sure it does not come out of its terminal reinsert and tighten any loose wires 6 Insert the...

Page 94: ...V applications Source 2094 ACxx Mxx S 230V IAM module control power from the three phase input power line to line Supplying control power from any other source requires an isolation transformer If use...

Page 95: ...on or damage to equipment DC DC L3 L2 L1 1 2 3 4 5 6 Kinetix 6000 IAM Module Top View OPL Connector LIM module or Other Three phase Input IPD Connector IAM or leader IAM module 2094 AL09 LIM Module 20...

Page 96: ...ose wiring can cause explosion or damage to equipment DC DC L3 L2 L1 1 2 3 4 5 6 Kinetix 6000 IAM Module Top View IPD Connector IAM or follower IAM module IPD Pin Signal 6 N C 5 N C 4 N C 3 2 DC 1 DC...

Page 97: ...efer to Contactor Enable Relay on page 66 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 inte...

Page 98: ...7 Safe off SO Connector 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 1 2 3 4 5 6 7 8 9...

Page 99: ...ed to expose the shield braid The exposed area must be clamped with the clamp provided on top of the IAM or AM modules and the power wires terminated in the motor power MP connector plug ATTENTION Mak...

Page 100: ...ith cables designed for motors equipped with bayonet connectors specified by 2 in the catalog number The motors with bayonet connectors are being discontinued Table 58 MP Series Bulletin MPL Motor Cat...

Page 101: ...AA MPL B960C xx2xAA MPL B980B xx2xAA and MPL B980C xx2xAA N A 2090 XXxPMP xxSxx 2 MPL B960D xx2xAA MPL B980D xx2xAA 2090 MCNPMP 6Sxx 1326AB M2L S2L 1326AB Bxxxx M2L S2L 2090 XXxPMP xxSxx 2 F Series F...

Page 102: ...ning on page 212 for interconnect diagrams Figure 54 Motor Power Terminations cables without brake wires The cable shield clamp shown above is mounted to an IAM module Cables attach to the clamp on ea...

Page 103: ...amples beginning on page 212 for interconnect diagrams Figure 55 Motor Power Terminations cables with brake wires The cable shield clamp shown above is mounted to an IAM module Cables attach to the cl...

Page 104: ...tach to the clamp on each AM module in the same way DC DC L3 L2 L1 CONT EN CONT EN CTRL 1 CTRL 2 W V U MBRK MBRK COM PWR DBRK DBRK 1 2 3 4 1 2 3 4 5 6 BAUD RATE TX RX DPI Thermal Switch Wires Keep wir...

Page 105: ...mm 1 0 in Outer Insulation 105 mm 4 1 in 130 mm 5 1 in Strip Length see table below Servo Motor MP Connector IAM AM module 1326AB resolver All Other Motors MP Pin Signal 1 Black U Brown 1 U 2 Black V...

Page 106: ...module is shown Motor Resistive Brake BC Connector IMPORTANT If your system includes a LIM module you can source the 24V DC from the LIM module P1L or PSL connector Table 62 Motor Resistive Brake BC C...

Page 107: ...L B6xxx xx2xAA MPL B8xxx xx2xAA MPL B9xxx xx2xAA Bayonet The motor has a brake connector Brake wires are in the brake cable 2090 UXxBMP 18Sxx brake cable 2 1326AB M2L S2L F Series Straight brake conne...

Page 108: ...Brake Cable Motor Brake Wires BC Connector IAM AM module 2090 UXxBMP 18Sxx Brake Cable 2090 XXNPMF xxSxx 2090 CPBMxDF xxAFxx Power Cable 2090 CPBM6DF 16AAxx Power Cable 1326 CPx1T L xxx Power Cable B...

Page 109: ...Attach tie wrap slide open clamp only around cable and clamp for additional strain relief 5 Repeat steps 1 4 for each IAM and AM module TIP Your drive may be equipped with either the pivot open or sl...

Page 110: ...ile connector kit 2090 K6CK D15M Motor feedback 2090 K6CK D26M I O interface User supplied flying lead cable 2090 K6CK D15F Auxiliary feedback User supplied flying lead cable 2090 K6CK D15MF Motor fee...

Page 111: ...xAA MPL B9xxx S Mx7xAA High resolution encoder 2090 XXNFMF Sxx 1 standard 2090 CFBM7DF CDAFxx 1 continuous flex MPL A3xxx Hx7xAA MPL A4xxx Hx7xAA MPL A45xxx Hx7xAA Incremental encoder MPL B3xxx Rx4xAA...

Page 112: ...PWR_5V EPWR_5V 14 L Reserved ECOM ECOM 6 N EPWR_9V Reserved Reserved 7 P ECOM Reserved Reserved 6 R TS TS TS 11 S TS TS TS T Reserved Reserved S1 12 U Reserved Reserved S2 13 V Reserved Reserved S3 8...

Page 113: ...x H MPL A4xxx H MPL A45xxx H MPL B3xxx MPL B9xxx M S MPL A5xxx M S 1326AB Bxxx M2L S2L Linear Motors N A LDC Cxxxx and LDL xxxx LDC Cxxxx and LDL xxxx Linear Actuators MPAS Bxxxxx VxxSxA MPAR Bxxxx MP...

Page 114: ...ck Cable Table 77 1326 CPx1T L xxx Power Cable Rotary Motor Connector Pin Resolver Feedback 1326AB Bxxxx 21 Drive MF Connector Pin 1 Rotary Motor Connector Pin Thermal Switch Connections 1326AB Bxxxx...

Page 115: ...tors on either the IAM or AM modules no wiring is necessary Figure 60 IAM AM Module MF connector For This Connection Go to Premolded cable Connect Premolded Motor Feedback Cables on page 115 Panel mou...

Page 116: ...ur flying lead motor feedback cable connect to the terminals Figure 61 IAM AM Module MF connector 2090 UXBC D15xx Breakout Cable 2090 UXBB D15 Panel mounted Breakout Board Wire Terminations Motor Feed...

Page 117: ...tible motors with incremental or high resolution feedback 2090 XXxFMP Sxx 2090 XXNFMF Sxx 2090 XXNFHF Sxx 2090 CFBMxDF CxAxxx Low profile connector kit for motor feedback 15 pin male D sub Use with Ki...

Page 118: ...for the motor feedback interconnect drawing for your application 2090 K6CK D15x Low profile Connector Kit Bulletin 2090 Feedback Cable Bulletin 2090 Feedback Cable Refer to Low Profile Connector Kit I...

Page 119: ...Insulation Braided Shield Foil Shield Wire Insulation Drain Wire Bare Wires Drain wire only with 1326 CCUT L xxx cable folded back under clamp Turn clamp over to hold small wires secure Mounting Screw...

Page 120: ...rnalpassiveshunt module connected to the power rail shunt module 1394 SRxxxx 2094 BSP2 Shunt module Remove the internal shunt jumper between RC 2 and RC 3 Remove the thermal switch jumper between TS 1...

Page 121: ...ppendix F beginning on page 259 The installation instructions provided with your RBM module publication 2090 IN009 Figure 69 RBM Module Connections IMPORTANT To be sure of system performance run wires...

Page 122: ...module 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 following examples however...

Page 123: ...ptic ring Kinetix 6000 System Transmit Receive IMPORTANT The CompactLogix platform catalog number 1768 M04SE is limited to four axes per module SERCOS interfaceTM Tx rear Rx front OK CP SERCOS interfa...

Page 124: ...74 Fiber optic Cable Example Logix Platform with Bulkhead Adapters SERCOS interfaceTM Tx rear Rx front OK CP 0 1 m 5 1 in 0 2 m 7 1 in 1756 M16SE SERCOS Interface Module SERCOS Fiber optic Ring Kinet...

Page 125: ...r optic Connector Bracket ATTENTION To avoid damage to the equipment verify that power is not applied to the system when installing the kit Mount the IAM and AM modules to the power rail before attemp...

Page 126: ...126 Rockwell Automation Publication 2094 UM001D EN P May 2010 Chapter 5 Connecting the Kinetix 6000 Drive System Notes...

Page 127: ...with your Logix SERCOS module Topic Page Introduction 127 Configure the Drive Modules 128 Configure the Logix SERCOS interface Module 133 Apply Power to the Kinetix 6000 Drive 146 Test and Tune the Ax...

Page 128: ...git LSD Setting the base node address on the IAM module determines the node address for the IAM inverter module Node addressing for all slot locations on the same power rail increment from the IAM inv...

Page 129: ...Set Switch 2 Set Switch 3 4 Mbps OFF ON 8 Mbps ON OFF For This Optical Power Level Set Switch 1 Low OFF High ON Note Switch numbers as seen on the IAM are upside down in this orientation Switch numbe...

Page 130: ...on 04 AM Module axis 4 node address 03 AM Module axis 3 node address 02 AM Module axis 2 node address 01 IAM Module axis 1 base node address Logix Platform ControlLogix is shown SERCOS Fiber optic Rin...

Page 131: ...Slot filler module slot location 07 AM module axis 7 node address 06 AM module axis 6 node address 05 AM module axis 5 node address 04 AM module axis 4 node address 03 AM module axis 3 node address 0...

Page 132: ...ot filler module node address 07 AM module axis 4 node address 06 Not Used AM module rightmost slot 05 AM module axis 3 node address 04 Not Used AM module rightmost slot 03 AM module axis 2 node addre...

Page 133: ...refer to Additional Resources on page 12 Configure the Logix Controller Follow these steps to configure the Logix controller 1 Apply power to your Logix chassis containing the SERCOS interface module...

Page 134: ...ontroller Properties dialog box opens 6 Click the Date Time tab 7 Check Enable Time Synchronization This assigns the controller as the Grandmaster clock The motion modules set their clocks to the modu...

Page 135: ...Organizer and choose New Module The Select Module dialog box opens 2 Expand the Motion category and select 1756 MxxSE 1756 L60M03SE 1768 M04SE or 1784 PM16SE as appropriate for your actual hardware c...

Page 136: ...ow 9 Verify that the Transmit Power setting high or low matches Optical Power DIP switch 1 as set on the IAM and AM modules 10 Enter the Transition to Phase setting The Transition to Phase default set...

Page 137: ...dule you just created and choose New Module The Select Module dialog box opens 2 Expand the Drives category and select drive components appropriate for your actual hardware configuration 3 Click OK Th...

Page 138: ...et the node address in the software to match the node setting on the drive Refer to Configure the Drive Modules step 2 on page 128 c Check Open Module Properties 5 Click OK 6 Click the Associated Axes...

Page 139: ...pply if you made changes 13 Click the Power tab TIP With drive firmware revision 1 80 or later and RSLogix 5000 software version 13 or later it is possible to configure the Auxiliary Axis feedback por...

Page 140: ...sent without having three phase power applied 2 Drive will not accept CommonBus Follow selection if three phase power or DC bus power is applied To avoid damage to your Bulletin 1394 external shunt mo...

Page 141: ...nd choose New Motion Group The New Tag dialog box opens 2 Type the new motion group Name 3 Click OK The new motion group appears under the Motion Groups folder 4 Right click the new motion group and c...

Page 142: ...n on the General tab of the Axis Properties dialog box to Feedback Only IAM Module Cat No AM Module Cat No Peak Current Rating Series A inverter Series B inverter 2094 BC01 MP5 S 2094 BMP5 S 150 250 2...

Page 143: ...uration is Aux Feedback Only This is the only choice if the amplifier is using the primary node for Servo motor configuration 3 Click the Aux Feedback tab 4 From the Feedback Type pull down menu choos...

Page 144: ...log Number dialog box opens 4 Select the motor catalog number appropriate for your application To verify the motor catalog number refer to the motor name plate 5 Click OK 6 On the Drive Motor tab chec...

Page 145: ...tions tab 13 Click Set Custom Stop Action The Custom Stop Action Attributes dialog box opens and lets you set delay times for servo motors and RBM modules For recommended motor brake delay times refer...

Page 146: ...cators Follow these steps to apply power to the Kinetix 6000 drive system 1 Disconnect the load to the motor 2 Determine your source of control power SHOCK HAZARD To avoid hazard of electrical shock p...

Page 147: ...at 0 volts Remove the connection between IOD 1 and IOD 2 if one exists 3 Go to main step 5 IAM AM Fault Status Indicator Status Do This Actively cycling phase 0 The drive is looking for a closed SERCO...

Page 148: ...g 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 12 Test the Axes Follow these ste...

Page 149: ...es from Executing to Command Complete 7 Click OK The Online Command Apply Test dialog box opens Feedback and Command Feedback tests only When the test completes the Command Status changes from Executi...

Page 150: ...Enable Input signal IOD 2 3 Go to Tune the Axes on page 150 Your test failed this dialog box opens 1 Click OK 2 Verify the Bus status indicator turned solid green during the test 3 Verify that the Ha...

Page 151: ...application 6 Apply Hardware Enable Input signal IOD 2 for the axis you are tuning 7 Click Start Tuning to auto tune your axis The Online Command Tune Servo dialog box opens When the test completes t...

Page 152: ...k OK 12 Determine if your test completed successfully 13 Repeat Test and Tune the Axes for each axis If Then Your test completes successfully this dialog box opens 1 Click OK 2 Remove the Hardware Ena...

Page 153: ...er soft refer to the example dialog box 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...

Page 154: ...e 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 Monitor System Variables with Ana...

Page 155: ...es 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 For linear scali...

Page 156: ...156 Rockwell Automation Publication 2094 UM001D EN P May 2010 Chapter 6 Configure and Start Up the Kinetix 6000 Drive System Notes...

Page 157: ...s 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...

Page 158: ...rror Code Displayed Power PWR indicator not ON No AC power or auxiliary logic power Verify AC control power is applied to the Kinetix 6000 system Internal power supply malfunction Call your Rockwell A...

Page 159: ...otFeedbackFault Motor Feedback Loss The feedback wiring is open shorted or missing Check motor encoder wiring Run Hookup test in RSLogix 5000 software E09 BusUndervoltage Fault Bus Undervoltage With t...

Page 160: ...r Verify motor selection Verify the motor supports automatic identification Verify motor encoder wiring E34 GroundShortFault Ground Fault Excessive ground current in the converter was detected Wiring...

Page 161: ...roperly in SO connector Safe off circuit missing 24V DC Verify wire terminations cable header connections and 24V Reset error and run proof test If error persists return the drive to Rockwell Automati...

Page 162: ...S current exceeding the continuous rating of the controller Change the command profile to reduce speed or increase time The airflow access to the Kinetix 6000 system is limited or blocked Check airflo...

Page 163: ...94 shunt module is missing from power rail Install missing module on power rail Fill empty slot with slot filler module E80 DriveHardFault CPLD Flt Control hardware fault detected Replace module E81 D...

Page 164: ...ing on the drive module does not match SERCOS controller configuration Verify proper node switch setting Steady green Communication ready No faults or failures N A 1 Refer to Fiber optic Cable Install...

Page 165: ...y after the DC bus is discharged bus status indicator is flashing Drive must be configured with 2094 BSP2 shunt module or Bulletin 1394 external shunt module IAM AM Disabled for DC bus regulation When...

Page 166: ...perating temperature specification Shunt module fan failed Replace shunt module Shunt module temperature exceeds rating Wait for shunt module to cool Reset faults Verify IAM module bus regulator confi...

Page 167: ...e Limit limits are set too low Verify that current limits are set properly Incorrect motor selected in configuration Select the correct motor and run Tune in RSLogix 5000 software again The system ine...

Page 168: ...urn the motor for repair The motor brake is engaged if supplied Check brake wiring and function Return the motor for repair The motor is not connect to the load Check coupling Motor overheating The du...

Page 169: ...Properties Fault Actions Tab Drive Fault Action Definition Shutdown The drive disables and the contactor enable relay opens Uncontrolled stop motor coasts to a stop Disable Drive The drive is disabled...

Page 170: ...was enabled DriveOvervoltageFault Bus Overvoltage E10 The DC bus voltage is above limits The trip point is 820V and 410V DC for 460V 230V drives respectively SHUTDOWN No MotFeedbackFault Illegal Hall...

Page 171: ...HardFault Ifbk HW Fault E54 Current feedback hardware fault detected SHUTDOWN No DriveHardFault Unknown Axis E60 Invalid module type identified by firmware when applying power SHUTDOWN No AuxFeedbackF...

Page 172: ...DriveHardFault SERCOS Init E78 Control hardware fault detected SHUTDOWN No DriveOvervoltageFault Shunt Module Flt E79 Power rail mounted shunt module fault Displayed on IAM module seven segment fault...

Page 173: ...Introduction 173 Before You Begin 173 Remove Kinetix 6000 Drive Modules 174 Replace Kinetix 6000 Drive Modules 175 Remove the Power Rail 176 Replace the Power Rail 177 ATTENTION This drive contains el...

Page 174: ...ide pins module will pivot on top bracket 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 Mor...

Page 175: ...the power rail with the guide pin holes in the back of the drive module refer to the figure above 5 Use 2 26 N m 20 lb in torque to tighten the mounting screw 6 Reconnect the module connectors Power...

Page 176: ...ve the power rail 1 Disconnect the braided grounding strap from the grounding stud located on the right side of the power rail 2 Loosen the mounting bolts removing the bolts is not necessary 3 Lift th...

Page 177: ...Tighten the mounting bolts 3 Reattach the braided grounding strap to the power rail grounding stud refer to page 176 IMPORTANT If you need to change the location of the power rail or if you are instal...

Page 178: ...178 Rockwell Automation Publication 2094 UM001D EN P May 2010 Chapter 8 Removing and Replacing the Kinetix 6000 Drive Modules Notes...

Page 179: ...appendix provides product specifications and mounting dimensions for your Kinetix 6000 system components Topic Page Introduction 179 Power Specifications 180 Power Dissipation Specifications 189 Gene...

Page 180: ...Nominal bus output voltage 325V DC Line loss ride through 20 ms Continuous output current to bus Adc 10 A 19 A 36 A 71 A Peak output current to bus Adc 3 20 A 38 A 72 A 142 A Bus overvoltage 415V DC B...

Page 181: ...he completion of pre charge Internal shunt Continuous power Peak power 50 W 5 6 kW 200 W 22 5 kW Internal shunt resistor 115 28 75 Shunt on 805V DC Shunt off 755V DC Continuous power output to bus 6 k...

Page 182: ...6 0 3 0 750 1 Refer to Control Power on page 72 for more information Attribute 2094 AMP5 x 2094 AC05 MP5 x 2094 AM01 x 2094 AC05 M01 x 2094 AM02 x 2094 AC09 M02 x 2094 AM03 x 2094 AC16 M03 x 2094 AM05...

Page 183: ...2 Series A drives Series B drives 3 4 2 A 7 0 A 9 2 A 15 3 A 15 5 A 25 8 A 31 8 A 53 0 A 51 9 A 69 2 A Peak current 0 pk 2 Series A drives Series B drives 3 5 9 A 9 9 A 12 9 A 21 6 A 21 8 A 36 4 A 45...

Page 184: ...e Shunt Module 1 Cat No System Continuous Shunt Power W Resistance Peak Current A Peak Power kW Continuous Power W AC05 MP5 x 0 to 7 N A 2 N A 2 0 AC05 M01 x 0 AC09 M02 x 50 3 AC16 M03 x 200 plus 4 AC...

Page 185: ...x AM Module 50 W Internal Shunt 2094 AC09 M02 x IAM Module 50 W Internal Shunt IAM Module 2094 Number of Axis Modules Qty Shunt Module Cat No Shunt Module Specifications External Passive Shunt Module...

Page 186: ...ms too Kinetix 6000 460V Shunt Power Example 400 W Continuous Shunt Power 2094 BSP2 200 W Shunt Module 2094 BMP5 x AM Module 50 W Internal Shunt 2094 BM01 x AM Module 50 W Internal Shunt 2094 BM01 x A...

Page 187: ...C Common Bus Fuse Bussmann Fuse Allen Bradley Circuit Breaker Bussmann Fuse Allen Bradley Circuit Breaker Bussmann Fuse Ferraz Shawmut Fuse Disconnect Magnetic Contactor 2094 AC05 MP5 x KTK R 20 20 A...

Page 188: ...C05 MP5 x 100 C23x10 AC coil 100 C23Zx10 DC coil 2094 AC05 M01 x 2094 AC09 M02 x 100 C37x10 AC coil 100 C37Zx10 DC coil 2094 AC16 M03 x 100 C72x10 AC coil 100 C72Zx10 DC coil 2094 AC32 M05 x 100 C85x1...

Page 189: ...18 21 25 29 34 2094 BC01 M01 x 33 2094 BC02 M02 x 36 44 54 64 75 2094 BC04 M03 x 50 67 87 110 135 2094 BC07 M05 x 71 101 137 179 226 IAM inverter module or AM module 2 2094 AC05 MP5 x or 2094 AMP5 x...

Page 190: ...able Lengths for Compatible Rotary Motors Motor Cat No Absolute High resolution 5V Encoder m ft Absolute High resolution 9V Encoder m ft Incremental TTL 5V Encoder m ft Resolver m ft MPL A15xxx MPL A2...

Page 191: ...bsolute High resolution 9V Encoder m ft Absolute High resolution 5V Encoder m ft Incremental TTL 5V Encoder m ft MPMA Axxxx or MPAS Axxxx V ballscrew 30 98 4 MPMA Bxxxxx or MPAS Bxxxxx A direct drive...

Page 192: ...7 Agency Certification 1 Standards c UL us 2 UL Listed to U S and Canadian safety standards UL 508C File E59272 Solid state motor overload protection provides dynamic fold back of motor current when 1...

Page 193: ...litude continuous displacement 55 500 Hz 2 0 g peak constant acceleration Shock 15 g 11 ms half sine pulse 3 pulses in each direction of 3 mutually perpendicular directions AC Line Filter Cat No Volta...

Page 194: ...ipping Weight kg lb Bussmann Replacement Fuse 1394 SR9A 230 1 4 41 0 101 25 300 3 63 8 FNQ R 20 R1 1 460 160 0 200 FWP50A14F 1394 SR9AF 230 1 4 41 0 101 25 900 3 63 8 FNQ R 20 R1 1 460 160 0 200 FWP50...

Page 195: ...125 4 9 20 0 8 Dimensions are in millimeters inches Important Additional clearance below the connector is necessary to provide the recommended cable bend radius Bulletin 2090 flying lead Feedback Cab...

Page 196: ...lead Feedback Cable with 2090 K6CK xxxx Low profile Connector Kit 2090 UXNFBxx Sxx premolded connector Feedback Cable Power Rail Important Additional clearance below the connector is necessary to prov...

Page 197: ...hes Bulletin 2090 flying lead Feedback Cable with 2090 K6CK xxxx Low profile Connector Kit 2090 UXNFBxx Sxx premolded connector Feedback Cable Power Rail Important Additional clearance below the conne...

Page 198: ...flying lead Feedback Cable with 2090 K6CK xxxx Low profile Connector Kit 2090 UXNFBxx Sxx premolded connector Feedback Cable Power Rail Important Additional clearance below the connector is necessary...

Page 199: ...ck diagrams for your Kinetix 6000 system components Topic Page Introduction 199 Interconnect Diagram Notes 200 Power Wiring Examples 201 DC Common Bus Wiring Examples 205 Shunt Module Wiring Examples...

Page 200: ...ur A delay of at least 1 0 second must be observed before attempting to enable the drive after main power is restored 10 Cable shield clamp must be used to meet CE requirements No external connection...

Page 201: ...CED Connector Note 14 Motor Brake Connections Resistive Brake Connections 24V DC Output PSL Connector Motor Resistive Brake BC Connector Three phase Motor Power Connections Note 16 Motor Power MP Conn...

Page 202: ...nections Note 16 Motor Power MP Connector Cable Shield Clamp Note 10 Bonded Cabinet Ground Bus VAC LINE Three phase IPL Input 195 264V AC RMS or 324 528V AC RMS Note 1 Power Rail Ground Stud VAC LOAD...

Page 203: ...ctor LIM From IOL connector LIM and CED connector IAM_1 Control Power CPD Connector Contactor Enable CED Connector Note 14 Motor Brake Connections Resistive Brake Connections Motor Resistive Brake BC...

Page 204: ...1 Single phase Input 95 264V AC RMS Notes 1 2 Isolation Transformer Note 5 Three phase Input 195 264V AC RMS or 324 528V AC RMS Notes 1 2 Bonded Cabinet Ground Bus Control Power CPD Connector Power Ra...

Page 205: ...d Three phase Input IPD Connector Contactor Enable CED Connector Note 14 Motor Resistive Brake BC Connector Three phase Motor Power Connections Note 16 Cable Shield Clamp Note 10 Bonded Cabinet Ground...

Page 206: ...16 Motor Power MP Connector Cable Shield Clamp Note 10 2094 ACxx Mxx x or 2094 BCxx Mxx x Common bus Leader IAM Module Power Rail Ground Stud DC Bus and Three phase Input IPD Connector Single phase In...

Page 207: ...onnector Contactor Enable CED Connector Note 14 Motor Resistive Brake BC Connector Three phase Motor Power Connections Note 16 Motor Power MP Connector Cable Shield Clamp Note 10 2094 ACxx Mxx x or 20...

Page 208: ...wer MP Connector Refer to Attention statement Note 13 Note 14 Single phase Input 95 264V AC RMS Notes 1 2 M1 Note 8 IMPORTANT Use a pushbutton circuit instead of an SPST toggle switch in series with t...

Page 209: ...nal Passive Shunt Refer to the External Shunt Module Installation Instructions publication 2090 IN004 for additional installation information COL INT DC TS2 TS1 2 1 3 2 1 2094 BSP2 Kinetix 6000 Shunt...

Page 210: ...nt Note 13 STOP START CR1 CR1 CR1 M1 Notes 8 14 24V AC DC or 120V AC 50 60 Hz DC Bus Connections Three phase Input IPD Connections Contactor Enable CED Connector Note 14 1336 Master Shunt chassis grou...

Page 211: ...E11 EXT Resistors E12 AUX Cont AUX Cont Slave In Slave In Master Out Master Out TB1 2094 xCxx Mxx x IAM Module DC Bus Connections Three phase Input IPD Connections Contactor Enable CED Connector Note...

Page 212: ...Motors with High Resolution Feedback Motor Feedback MF Connector 2090 XXxPMP xxSxx Motor Power Cable Note 16 Three phase Motor Power Motor Feedback Thermostat 2090 UXxBMP 18Sxx Brake Cable Note 16 Use...

Page 213: ...nverter or AM Module Note 15 MPL A3xx MPL A5xx 230V Servo Motors with High Resolution Feedback Motor Feedback MF Connector 2090 XXxPMP xxSxx Motor Power Cable Note 16 Three phase Motor Power Motor Fee...

Page 214: ...esolution Feedback Motor Feedback MF Connector Three phase Motor Power Motor Feedback Thermostat User Supplied 24V DC Three phase Motor Power Motor Feedback Thermostat MPL A B15xx and MPL A B2xx MPL A...

Page 215: ...Connector Three phase Motor Power Motor Feedback Thermostat User Supplied 24V DC Refer to low profile connector illustration lower left for proper grounding technique Grounding Technique for Feedback...

Page 216: ...ack Motor Feedback MF Connector Three phase Motor Power Motor Feedback Thermistor 2090 K6CK KENDAT Feedback Module Refer to low profile connector illustration lower left for proper grounding technique...

Page 217: ...r 2090 CFBM6DD CCAAxx with drive end connector Feedback Cable Note 16 17 Resistive Brake Connections Motor Resistive Brake BC Connector Motor Power MP Connector Cable Shield Clamp Note 10 IAM inverter...

Page 218: ...Sxx Motor Power Cable Note 16 Three phase Motor Power Motor Feedback Thermostat 2090 UXxBMP 18Sxx Brake Cable Note 16 User Supplied 24V DC 2090 XXxFMP Sxx flying lead Feedback Cable Note 16 17 Cable S...

Page 219: ...ote 10 Note 15 Motor Feedback MF Connector User Supplied 24V DC Cable Shield Clamp Motor Brake Three phase Motor Power Motor Feedback Thermostat F Series 230V Servo Motors with Incremental Feedback 20...

Page 220: ...back Motor Feedback MF Connector Three phase Motor Power Motor Feedback Thermostat User Supplied 24V DC Three phase Motor Power Motor Feedback Thermostat MPAS A Bxxxxx ALMx2C Direct Drive Linear Stage...

Page 221: ...onnector illustration lower left for proper grounding technique Grounding Technique for Feedback Cable Shield Turn clamp over to hold small cables secure Exposed shield secured under clamp Clamp Screw...

Page 222: ...inear Motor Coil with Sin Cos or TTL External Encoder and Cable Connectors Three phase Motor Power Motor Feedback Thermostat Refer to low profile connector illustration lower left for proper grounding...

Page 223: ...xxxxxxx xHTx1 Linear Motor Coil with Sin Cos or TTL External Encoder and Flying lead Cables Three phase Motor Power Motor Feedback MF Connector Thermostat Grounding Technique for Feedback Cable Shield...

Page 224: ...1 Coil Current Compatible Brake Motors Coil Current MPL x1510 MPL x1520 MPL x1530 0 43 0 53 A TLY A110T H TLY A120T H and TLY A130T H 0 18 0 22 A MPL x210 MPL x220 MPL x230 0 46 0 56 A TLY A220T H an...

Page 225: ...refer to Additional Resources on page 12 for the documentation available for those products Figure 109 IAM AM Module inverter Block Diagram POWER RAIL DC DC W V U CTRL 1 CTRL 2 SYSOK CONV_ID 5 GSHUNT...

Page 226: ...wer Connections POWER RAIL Control Power Loss Detector Rectifier Circuit 2 EMC Filter 1 DC Link Inductor 3 Ground Jumper 4 Gnd Flt CT Chassis Three phase AC Input Control Power AC Input DROK CONT_EN 1...

Page 227: ...ure Block Diagram Figure 112 Shunt Module Block Diagram K1 K2 K1 A K2 A K2 C K1 C 24V M Safe Off Option 6 5 7 3 4 1 2 8 9 Wiring Header Motion allowed Jumper Gate Control Power Supply Safety Monitor u...

Page 228: ...228 Rockwell Automation Publication 2094 UM001D EN P May 2010 Appendix B Interconnect Diagrams Notes...

Page 229: ...inetix 6000 Drive Firmware Introduction This appendix provides procedures for upgrading firmware by using either ControlFLASH or DriveExplorer software Topic Page Introduction 229 Upgrade Drive Firmwa...

Page 230: ...2 50 or later ControlFLASH software kit 1 1 Download the ControlFLASH kit from http support rockwellautomation com controlflash Contact Rockwell Automation Technical Support at 440 646 5800 for assist...

Page 231: ...t module has already been configured For more information refer to the ControlLogix System User Manual publication 1756 UM001 Follow these steps to configure Logix communication 1 Open your RSLinx Cla...

Page 232: ...000 Drive Firmware The Configure driver dialog box opens 7 Type the IP address of your Logix Ethernet module The IP address shown is an example Yours will be different 8 Click OK The new Ethernet driv...

Page 233: ...t the drive module to upgrade 1 Open your ControlFLASH software You can access the ControlFLASH utility software by either of these methods From the Tools menu in RSLogix 5000 software choose ControlF...

Page 234: ...module In this example the 2094 BC01 MP5 IAM module is selected 4 Click Next The Select Device to Update dialog box opens 5 Expand your Ethernet node Logix backplane and EtherNet IP network module 6...

Page 235: ...Drive Firmware Appendix C The Summary dialog box opens 10 Confirm the drive catalog number and firmware revision 11 Click Finish This ControlFLASH warning dialog box opens 12 Click Yes only if you are...

Page 236: ...ash information is sent to the drive the drive resets and performs diagnostic checking 14 Wait for the Progress dialog box to time out 15 The Update Status dialog box opens and indicates success or fa...

Page 237: ...re upgrade was successful 1 Open your RSLinx software 2 From the Communications pull down menu choose RSWho 3 Expand your Ethernet node Logix backplane and EtherNet IP network module 4 Right click the...

Page 238: ...the SCANport DPI connector on your IAM module Description Cat No Firmware Revision DriveExplorer Software 1 1 Refer to DriveExplorer Getting Results Manual publication 9306 GR001 for instructions 930...

Page 239: ...er software proceeds to read your system 5 Double click 2094D SERVO Config 0000 The linear list of parameters dialog box appears 6 Scroll down to parameter x x 30 Version Data and record the version V...

Page 240: ...two axes to flash checked 10 Click OK The Axes to Flash parameter is set 11 Close DriveExplorer software HyperTerminal Configuration Follow these steps to begin a new HyperTerminal session 1 From the...

Page 241: ...nect Using pull down menu choose the appropriate COM port 5 Click OK This dialog box opens 6 Choose the properties as shown above or as appropriate for your 1203 SSS SCANport adapter 7 Click OK 8 Hype...

Page 242: ...re This procedure assumes that you have identified which axis modules require flashing have set the Axes to Flash parameter and have configured a HyperTerminal session 1 Press ENTER The HyperTerminal...

Page 243: ...laying the character C 5 From the Transfer menu choose Send File The Send File dialog box opens 6 Browse for your firmware upgrade file 7 From the Protocol pull down menu choose Xmodem 8 Click Send TI...

Page 244: ...rminal session 10 Verify that parameter 30 for each axis module is now upgraded to the new firmware revision Return to DriveExplorer software refer to Select Axis Modules to Upgrade page 239 to see th...

Page 245: ...tware Before You Begin These procedures assume you have mounted and wired your Kinetix 6000 DC common bus system Before you set the Additional Bus Capacitance Add Bus Cap parameter in DriveExplorer or...

Page 246: ...tance of your system exceeds the leader IAM module pre charge rating and input power is applied the IAM module seven segment status indicator will display error code E90 pre charge timeout fault To co...

Page 247: ...Capacitance Values Use these tables when calculating total bus capacitance and additional bus capacitance for your Bulletin 2094 common bus application Table 125 IAM AM 230V Modules Table 126 IAM AM 4...

Page 248: ...s Capacitance MAIN VAC LIM Module optional component Three phase Input Power Kinetix 6000 230V Leader IAM Module AC Line Filter Kinetix 6000 230V Follower IAM Module 5280 F Additional Bus Capacitance...

Page 249: ...AM AM module 3 Re apply three phase and control power TIP You can also set the Add Bus Cap parameter by changing IDN parameter values Refer to Appendix E on page 253 for more information Description C...

Page 250: ...choose Connect Local or press Ctrl L DriveExplorer software will read your system 3 Observe the Linear List of parameters as grouped by Node Port and Axis hierarchy as shown below 4 Choose Devices Nod...

Page 251: ...ue F 7 Click OK The RBM module delay time is changed but not saved in non volatile memory Save the Add Bus Cap Parameter to Non volatile Memory Follow these steps to save the Add Bus Cap parameter to...

Page 252: ...ns 4 Click OK 5 Close the DriveExplorer software Reconnect SERCOS Communication Follow these steps to reconnect SERCOS communication 1 Remove three phase and control power from the Kinetix 6000 drive...

Page 253: ...ta such as scaling and loop gains and real time loop closure information is configured this way Table 128 IDN Instruction Format in the IEC Standard Document There are default parameters in the Logix...

Page 254: ...parameter values Read the Present IDN Parameter Value Follow these steps to read the present IDN value 1 Start your RSLogix 5000 software application program 2 Configure a Message Configuration MSG in...

Page 255: ...AM power module a From the Message Type pull down menu choose SERCOS IDN Read b From the Identification Number pull down menus choose P 0 99 3 Click New Tag 4 The New Tag dialog box opens 5 Type the n...

Page 256: ...n 2094 module to read the MSG instruction 10 Click OK Calculate the New IDN Value Changing the additional bus capacitance value requires calculations Determine the sum of all capacitance values for th...

Page 257: ...write the IDN parameter value required for your application In this example the Message Configuration MSG instruction is set to write the additional bus capacitance of your leader IAM power module a F...

Page 258: ...overwrite the existing P 0 099 IDN value 6 Click the Communication tab The Communication tab opens 7 Click Browse 8 Select your Bulletin 2094 module 9 Click OK The MSG instruction writes the new IDN v...

Page 259: ...BM module installation instructions refer to the Resistive Brake Module Installation Instructions publication 2090 IN009 For Kinetix 6000 drive systems you can set the delay time for your RBM module i...

Page 260: ...e 1 Note 4 Note 1 Auxiliary 230V AC Input TB4 Connector 2090 XB120 xx only Kinetix 6000 Integrated Axis Module 2094 ACxx Mxx S or 2094 BCxx Mxx S Axis_0 Cable Shield Clamp 2090 XXNRB 14F0P7 RBM to Dri...

Page 261: ...ons Bulletin 2090 Resistive Brake Module 2090 XBxx xx RBM_1 Note 1 Note 3 Indicates User Supplied Component Refer to the wiring examples in Appendix B for motor power cable catalog numbers Note 2 ATTE...

Page 262: ...2 3 4 C L1 L2 N 1 2 1 2 3 4 Note 1 Note 4 Note 1 Auxiliary 230V AC Input TB4 Connector 2090 XB120 xx only Kinetix 6000 Integrated Axis Module 2094 ACxx Mxx or 2094 BCxx Mxx Axis_0 Cable Shield Clamp...

Page 263: ...15 NOT USED NOT USED 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 IO_COM BRKSTAT0 BRKSTAT1 BRKTMP0 BRKTMP1 D 2 1 L2 L1 C A Note 3 Note 1 Note 4 N...

Page 264: ...IL_A1 COIL_A2 A Note 1 Note 4 Note 1 Auxiliary 230V AC Input TB4 Connector 2090 XB120 xx only Kinetix 6000 Integrated Axis Module 2094 ACxx Mxx or 2094 BCxx Mxx Axis_0 Cable Shield Clamp 2090 XXNRB 14...

Page 265: ...N 15 NOT USED NOT USED 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 IO_COM BRKSTAT0 BRKSTAT1 BRKTMP0 BRKTMP1 B 2 1 L2 L1 A Note 3 Note 1 Note 4 No...

Page 266: ...4 1 2 3 4 IO_PWR1 IO_COM1 COIL_E1 COIL_E2 Note 1 Note 4 Note 1 Auxiliary 230V AC Input TB4 Connector 2090 XB120 xx only Kinetix 6000 Integrated Axis Module 2094 ACxx Mxx or 2094 BCxx Mxx Axis_0 Cable...

Page 267: ...GND 1 GND 1 GND 1 GND 2 GND 2 GND 2 GND 2 GND 3 GND 3 GND 3 GND 3 NOT USED NOT USED IN 0 IN 1 IN 2 IN 3 IN 4 IN 5 IN 6 IN 7 IN 8 IN 9 IN 10 IN 11 IN 12 IN 13 IN 14 IN 15 NOT USED NOT USED 2 4 6 8 10...

Page 268: ...D 2 1 L2 L1 Note 1 Note 4 Note 1 Auxiliary 230V AC Input TB4 Connector 2090 XB120 xx only Kinetix 6000 Integrated Axis Module 2094 ACxx Mxx or 2094 BCxx Mxx Axis_0 Cable Shield Clamp 2090 XXNRB 14F0P...

Page 269: ...1 GND 1 GND 1 GND 1 GND 2 GND 2 GND 2 GND 2 GND 3 GND 3 GND 3 GND 3 NOT USED NOT USED IN 0 IN 1 IN 2 IN 3 IN 4 IN 5 IN 6 IN 7 IN 8 IN 9 IN 10 IN 11 IN 12 IN 13 IN 14 IN 15 NOT USED NOT USED 2 4 6 8 1...

Page 270: ...270 Rockwell Automation Publication 2094 UM001D EN P May 2010 Appendix F RBM Module Interconnect Diagrams Notes...

Page 271: ...ications 460V 183 removing from power rail 174 replacing on power rail 175 series change 13 status indicators 164 wiring requirements 92 axis unstable 167 B backplane comm 162 bandwidth 151 base node...

Page 272: ...manual 11 conversion tab 145 converter 226 CPLD FLT 163 cycle time 136 D DAC0 154 DAC1 154 data rate 136 data type 138 date time tab 134 DC common bus capacitance values 247 configuring 140 follower I...

Page 273: ...IDN changing values 253 read value 254 write value 257 Ifbk HW fault 161 illegal hall state 159 input connector pin outs IAM 61 input power source 147 input power wiring 3 phase delta 80 determining...

Page 274: ...183 motion group properties 141 motion allowed jumper 56 98 motor and feedback tab 144 motor encoder error 160 motor feedback loss 159 motor jumps when first enabled 158 motor overtemp 158 motors acc...

Page 275: ...software 133 153 230 238 249 S safe off block diagram 227 motion allowed jumper 56 98 pin outs AM 56 pin outs IAM 56 wiring 98 safe off HW fault 161 safety safety lock status indicator 148 SCANport c...

Page 276: ...ing 11 transformer sizing 25 transformer specifications 188 transmit power level 136 troubleshooting bus status indicator 164 comm status indicator 164 ControlFLASH 236 disable drive 169 drive status...

Page 277: ...SERCOS 18 with LIM 15 without LIM 16 U ungrounded power configuration 81 units tab 144 unknown axis 161 using analog test points 154 W weight specifications 192 who should use this manual 11 wiring b...

Page 278: ...278 Rockwell Automation Publication 2094 UM001D EN P May 2010 Index Notes...

Page 279: ......

Page 280: ...information that is contained in this manual You can contact Customer Support for initial help in getting your product up and running New Product Satisfaction Return Rockwell Automation tests all of...

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