Rockwell Automation Allen-Bradley Kinetix 6000 User Manual Download Page 5

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Publication 2094-UM001A-EN-P — September 2006

Table of Contents

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

Configure and Startup the
Kinetix 6000 Drive System

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

Chapter 7

Troubleshooting the Kinetix 6000
Drive System

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

Chapter 8

Removing and Replacing the
Kinetix 6000 Drive Modules

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

Summary of Contents for Allen-Bradley Kinetix 6000

Page 1: ...C05 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 A...

Page 2: ...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 A...

Page 3: ...m 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 Gui...

Page 4: ...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 Powe...

Page 5: ...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 Chapter 7...

Page 6: ...ecifications 183 External Shunt Module Specifications 184 Product Dimensions 185 Appendix B Interconnect Diagrams Introduction 191 Wiring Examples 192 Power Wiring Examples 193 DC Common Bus Wiring Ex...

Page 7: ...g the Add Bus Cap Parameter to Non Volatile Memory 237 Reconnecting SERCOS Communication 238 Appendix E Integrating Resistive Brake Modules with Kinetix 6000 Drives Introduction 239 Before You Begin 2...

Page 8: ...Publication 2094 UM001A EN P September 2006 8 Table of Contents...

Page 9: ...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 Convent...

Page 10: ...Safe off Feature Safety Reference Manual GMC RM002 Specifications motor servo drive system combinations and accessories for Kinetix motion control products Kinetix Motion Control Selection Guide GMC...

Page 11: ...his chapter to become familiar with the Kinetix 6000 drive components This chapter also reviews design and installation requirements for Kinetix 6000 drive systems Topic Page Introduction 11 About the...

Page 12: ...ntrollers Servo Motors MP Series 1326AB TL Series F and Y Series Compatible servo motors include the MP Series Low Inertia Integrated Gear Food Grade and Stainless Steel 230 and 460V motors TL Series...

Page 13: ...x SERCOS interface Module Logix Controller Programming Network Kinetix 6000 Multi axis Servo Drive System Line Interface Module optional component 2094 xLxxS Axis Modules 5 2094 xMxx S Three phase Inp...

Page 14: ...x Sxx Power Rail 2094 PRSx MP Series TL Series 1326AB M2L S2L F and Y Series Motors MPL xxxx motors shown I O Connections To input sensors and control string Axis Modules 5 2094 xMxx S Shunt Module op...

Page 15: ...grated Axis Module 2094 xCxx Mxx S Power Rail 2094 PRSx is shown Axis Modules 5 2094 xMxx S Shunt Module optional component 2094 BSP2 Slot Filler Module required to fill any unused slots 2094 PRF Inte...

Page 16: ...x 6000 IAM 460V 6 kW converter 9 A inverter 2094 BC01 M01 S 2094 BC01 M01 Kinetix 6000 IAM 460V 15 kW converter 15 A inverter 2094 BC02 M02 S 2094 BC02 M02 Kinetix 6000 IAM 460V 28 kW converter 30 A i...

Page 17: ...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 condui...

Page 18: ...Publication 2094 UM001A EN P September 2006 18 Start...

Page 19: ...e Introduction 19 System Design Guidelines 20 Minimizing Electrical Noise 27 ATTENTION Plan the installation of your system so that you can perform all cutting drilling tapping and welding with the sy...

Page 20: ...viding 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 oi...

Page 21: ...ecifications on page 177 and Transformer Specifications for Control Power Input on page 179 Example Sizing a transformer to the voltage requirements of a 2094 AC05 M01 Integrated Axis Module 2094 AC05...

Page 22: ...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 inter...

Page 23: ...dissipation in watts is known the minimum enclosure size can be calculated Kinetix 6000 System Heat Dissipation Example Enclosure Component Description Loading 1 Heat Dissipation 1 watts 2094 AC09 M02...

Page 24: ...ns 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 ControlLogix module...

Page 25: ...le 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 approxi...

Page 26: ...he module in an upright position Do not mount the module on its side Clearance right of the module is not required 1 Clearance above for airflow and installation Clearance left of the module is not re...

Page 27: ...e 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 ins...

Page 28: ...aterial 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 maximize ground...

Page 29: ...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 Cab...

Page 30: ...attached to the clamp provided The SERCOS fiber optic cables are immune to electrical noise Establishing Noise Zones LIM mounted left of IAM 1 If IAM AM I O cable contains dirty relay wires route cab...

Page 31: ...COS fiber optic cables are immune to electrical noise Establishing Noise Zones LIM with EMC filter behind IAM 1 If IAM AM I O cable contains dirty relay wires route cable with LIM I O cable in dirty w...

Page 32: ...y 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 Contr...

Page 33: ...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 MAIN VAC Line Interface...

Page 34: ...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 1 If IAM AM I O cable contains dirty relay w...

Page 35: ...ishing Noise Zones LIM mounted above IAM 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 cab...

Page 36: ...les are immune to electrical noise Establishing Noise Zones No LIM 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 15...

Page 37: ...s 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 1 D D C AC Line Filter Spar...

Page 38: ...re 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 any device that ma...

Page 39: ...lter 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 28 Segregate input...

Page 40: ...e 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 USE WITH 1394 SJT22 X SYSTEM MODULE CAT PART SER INPUT DC INPUT AC F...

Page 41: ...D 1394 Digital Servo Controller 300W Shunt Module BULLETIN 1394 300W SHUNT MODULE ALLEN BRADLEY FOR USE WITH 1394 SJT22 X SYSTEM MODULE CAT PART SER INPUT DC INPUT AC FOR FUSE REPLACEMENT USE BUSSMAN...

Page 42: ...ther sensitive low voltage signal cables Establishing Noise Zones RBM mounted above AM Motor Brake and Thermal Switch The thermal switch and brake are mounted inside the motor but how you connect to t...

Page 43: ...Brackets Installation Instructions publication 2094 IN008 when using mounting brackets with your Kinetix 6000 drive system Topic Page Introduction 43 Determining Mounting Order 44 Mounting the Modules...

Page 44: ...ng Order 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 star...

Page 45: ...talled 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 pe...

Page 46: ...he module Slots for additional axis modules shunt module or slot filler Power Rail Slot Mounting Bracket Power Rail Integrated Axis Module Guide Pin Holes Power rail side view in upright vertical posi...

Page 47: ...Axis Module Bracket secured in slot Bottom front view of single wide AM SM or PRF AM is shown Mounting Screws Bottom front view of double wide IAM or AM AM is shown IMPORTANT There are two mounting sc...

Page 48: ...out recommendations as shown in External Shunt Resistor on page 40 2 Attach the shunt resistor to the cabinet The recommended mounting hardware is M6 metric 1 4 in bolts Follow the recommended high fr...

Page 49: ...rovides power feedback and I O connector locations and signal descriptions for your Kinetix 6000 drive Topic Page Introduction 49 Locating IAM AM Connectors and Indicators 50 Understanding IAM AM Sign...

Page 50: ...trol Power CPD Connector DC Bus AC Input Power IPD Connector Contactor Enable CED Connector Integrated Axis Module Top View 2094 AM05 MP5 S is shown Motor Power MP Connector Motor Resistive Brake BC C...

Page 51: ...BC Connector SERCOS Transmit Tx Connector SERCOS Receive Rx Connector Axis Module Top View 2094 AMP5 S is shown Axis Module Front View 2094 AMP5 is shown Drive Status LED COMM Status LED Bus Status LE...

Page 52: ...tor feedback 15 pin high density D shell female IAM AM AF Auxiliary feedback 15 pin high density D shell male IAM AM CPD Control input power drive 2 position plug header IAM IPD VAC Input Power drive...

Page 53: ...One side of the normally closed monitoring contact of relay 2 FDBK2 2 Other side of the normally closed monitoring contact of relay 2 FDBK2 3 One side of the normally closed monitoring contact of rela...

Page 54: ...istration 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 Positive overtravel limi...

Page 55: ...M 14 Encoder power 5V EPWR_5VM 7 Encoder power 9V EPWR_9VM 15 Reserved 8 Reserved 1 Not applicable unless motor has integrated thermal protection MF Pin Description Signal MF Pin Description Signal 1...

Page 56: ...tation R1 13 Reserved 6 Common ECOMM 14 Encoder power 5V EPWR_5VM 7 Encoder power 9V EPWR_9VM 15 Reserved 8 Reserved 1 Not applicable unless motor has integrated thermal protection 2 When using 1326AB...

Page 57: ...SINE 10 Hiperface data channel DATA 3 Cosine differential 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...

Page 58: ...cription 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 rectifier and filter capacito...

Page 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 powe...

Page 60: ...gle 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 signal...

Page 61: ...ons Specifications 3k 0 1 F 511 VCC CTRL_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 Customer supplied Input Device 24V dc 1 3k 511 VCC REG_INPUT INPUT...

Page 62: ...ormation beginning on page 160 CH1 CH2 2 5V 0 ref DAC 2 5V Oscilloscope Kinetix 6000 IAM AM second channel not shown IMPORTANT Output values can vary during power up until the specified power supply v...

Page 63: ...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 dri...

Page 64: ...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...

Page 65: ...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 t...

Page 66: ...digital filtering The inputs also include illegal state change detection AM BM and IM Motor Encoder Input Circuits Motor Encoder Feedback Specifications TIP Auto configuration in RSLogix 5000 softwar...

Page 67: ...ts The count frequency is 4 times this frequency since the circuitry counts all four transitions 5 0 MHz IM pulse width Pulse width of the index input signal Since the index is active for a percentage...

Page 68: ...e RC and TS connectors 1 2 3 1 2 COL INT DC TS2 TS1 Mounting Screw Shunt Module Front View 2094 BSP2 Shunt Module Front View 2094 BSP2 External Shunt Resistor RC Connector External Thermal Switch TS C...

Page 69: ...90 Applying the Motor Cable Shield Clamp 103 Understanding Feedback and I O Cable Connections 104 Understanding External Shunt Module Connections 113 Understanding Resistive Brake Module Connections 1...

Page 70: ...ransformers 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 commun...

Page 71: ...ith 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 p...

Page 72: ...D RATE TX RX DPI 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 1 2 3 4 5 6 7 8 9 Transformer Delta Secondary Bonded Cabinet Gro...

Page 73: ...ed 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 Conf...

Page 74: ...IAM Without three phase input power but has dc common bus connections from a leader IAM Wired in common bus mode and configured using RSLogix 5000 software IMPORTANT Use Kinetix 6000 drive firmware v...

Page 75: ...tix 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 recommended fuse sizes...

Page 76: ...o the appropriate figure for your 230V or 460V IAM Setting the Ground Jumper 230V IAM When Leader Drive is And Follower Drive is Then Set the Jumper in This Drive Kinetix 6000 IAM Kinetix 6000 IAM Lea...

Page 77: ...on page 45 for instructions P13 P14 P12 Integrated Axis Module 460V 2094 BCxx Mxx S Bottom Screw Front Panel opened Ground jumper set for grounded configuration default setting Ground jumper set for u...

Page 78: ...rail ground stud or mounting bracket ground stud if mounting brackets are used Connecting the Braided Ground Strap Examples ATTENTION The National Electrical Code contains grounding requirements conve...

Page 79: ...ding 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 For HF bonding information re...

Page 80: ...6 26 5 2094 BC07 Mxx S 25 4 IAM 230V or 460V 2094 xCxx Mxx S Control input power CPD 1 CTRL 2 2 5 14 10 0 38 0 5 0 6 4 4 5 3 CPD 2 CTRL 1 Contactor Enable CED 1 CONT EN 2 5 14 2 0 5 0 6 4 4 5 3 CED 2...

Page 81: ...13 2 2094 BC04 Mxx S 2094 BC07 Mxx S 2094 BM03 S BM05 S 25 4 max 16 0 63 2 4 3 0 21 6 26 5 IAM or AM 230 or 460V 2094 xCxx Mxx S and 2094 xMxx S Brake power BC 6 BC 5 BC 4 BC 3 BC 2 BC 1 MBRK MBRK COM...

Page 82: ...res 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 ensur...

Page 83: ...oute 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 diagrams in Appendix B 4 Tighten the...

Page 84: ...ctors Wiring the Auxiliary Input Power APL Connector The Auxiliary Input Power APL connector is present only on the 2094 XL75S Cx models Line Interface Module APL connector Auxiliary Input Power APL C...

Page 85: ...E IPL Connector 2094 BL02 L3 L2 L1 1 2 3 4 Line Interface Module Top View 2094 XL75S Cx is shown Three phase Supply IPL Pin Signal Recommended Wire Size mm2 AWG Strip Length mm in Torque Value Nm lb i...

Page 86: ...ach IAM has its own line filter and the maximum current specification is not exceeded Refer to Power Wiring Examples on page 194 for an example of the LIM wired to two IAMs Three phase Supply OPL Pin...

Page 87: ...BLxxS XL75S Cx Control Power Output CPL Connector 2094 AL09 and BL02 CTRL 2 CTRL 1 1 2 Line Interface Module Top View 2094 XL75S Cx is shown CPL Pin Signal Recommended Wire Size mm2 AWG Strip Length...

Page 88: ...ace Module P2L connector Auxiliary Power Output P2L Connector 2094 ALxxS BLxxS XL75S Cx AUX2_L2 AUX2_L1 AUX1_L2 AUX1_L1 1 2 3 4 Line Interface Module Top View 2094 XL75S Cx is shown P2L Pin Signal Rec...

Page 89: ...09 and BL02 IO_PWR2 IO_COM2 IO_PWR2 IO_COM2 IO_PWR2 IO_COM2 1 2 3 4 5 6 Line Interface Module Top View 2094 XL75S Cx is shown P1L Pin Signal Recommended Wire Size mm2 AWG Strip Length mm in Torque Val...

Page 90: ...y up to eight axes LIM models 2094 XL75S Cx 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 a...

Page 91: ...r Other Three phase Input IPD Connector IAM or leader IAM 2094 AL09 2094 BL02 ALxxS BLxxS or XL75S Cx OPL Pin Signal OPL Pin Signal IPD Pin Signal 1 L1 4 L1 6 L1 2 L2 3 L2 5 L2 3 L3 2 L3 4 L3 4 1 3 N...

Page 92: ...or IAM or follower IAM IPD Pin Signal 6 N C 5 N C 4 N C 3 2 DC 1 DC IMPORTANT Do not connect three phase input power to the follower IAM Integrated Axis Module Cat No Input VAC Recommended Wire Size m...

Page 93: ...r 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 safet...

Page 94: ...fe 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 1 M...

Page 95: ...rive 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...

Page 96: ...tor Motor Catalog Number Motor Power Cable Catalog Number MP Series Low Inertia MPL A B3xxx A B4xxx A B45xxx A B5xxx B6xxx B8xxx B9xxx S M 2090 XXNPMP xxSxx MP Series Integrated Gear MPG A BxxxxS M 13...

Page 97: ...is mounted to an IAM Cables attach to the clamp on each AM in the same way Motor Motor Catalog Number Motor Power Cable Catalog Number MP Series Low Inertia MPL A B15xxx and MPL A B2xxx V E 2090 XXNPM...

Page 98: ...xxxx 21 1326 CPx1 xxx IMPORTANT Drive end preparation is required for these cables Refer to page 99 for drive end pinouts and cable preparation BAUD RATE TX RX DPI DC DC L3 L2 L1 CONT EN CONT EN CTRL...

Page 99: ...in Outer Insulation 105 mm 4 1 in 130 mm 5 1 in Strip Length 10 mm 0 375 in 1326AB resolver Motors 1326 CPx1 xxx cable Y Series Motors 2090 XXNPY xxSxx cable MPL A B15xx MPL A B2xx MPF A B and MPS A...

Page 100: ...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 lengt...

Page 101: ...C Connector Integrated Axis Module Top View 2094 BC02 M02 S is shown MBRK MBRK COM PWR DBRK DBRK 1 2 3 4 5 6 Motor Resistive Brake BC Connector IMPORTANT If your system includes a line interface modul...

Page 102: ...x brake cable F Series Straight brake connector kit 9101 0330 MPL A B15xxx MPL A B2xxx MPF A B and MPS A B The motor does not have a brake connector Brake wires are included in the power cable 2090 XX...

Page 103: ...on 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 cla...

Page 104: ...K6CK D26M I O interface User supplied flying lead cable Panel mounted breakout board kits 2090 UXBK D15xx 1 Motor feedback Refer to the table below for the flying lead cable available for your motor 1...

Page 105: ...MPL A3xxx M S MPL A4xxx M S MPL A45xxx M S MPG A Bxxx M S MPL A3xxx H MPL A4xxx H MPL A45xxx H MPL A5xxx H A Sine Sine AM 1 B Sine Sine AM 2 C Cos Cos BM 3 D Cos Cos BM 4 E Data Data IM 5 F Data Data...

Page 106: ...M S MPF A5xx M S MPL A15xxx V E MPL A2xxx V E MPF MPS A3xx M S MPF MPS A4xx M S MPF MPS A45xx M S MPS A5xx M S MPL A15xxx H MPL A2xxx H MPL B15xxx H MPL B2xxx H 1 Sine Sine AM 1 2 Sine Sine AM 2 3 Co...

Page 107: ...6 M ECOMM 6 24 Drain Connector Housing N S2 13 P S3 8 Reserved Reserved 7 R TS 11 Reserved Reserved 9 S TS 6 Reserved Reserved 11 T S1 12 Reserved Reserved 15 1326 CCU xxx Feedback Cable 1326 CPx1 xxx...

Page 108: ...wiring is necessary Integrated Axis Module Axis Module MF connector For This Connection Go to Premolded cable Connecting Premolded Motor Feedback Cables on page 108 Panel mounted breakout board Wirin...

Page 109: ...e 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 Front View 2094 BC02 M02...

Page 110: ...lead Feedback Cable with K6CK D15Mxx Low profile Connector Kit IMPORTANT Tightening the mounting screws is essential to ensure shield integrity of the low profile connector covers with the drive feedb...

Page 111: ...ion 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...

Page 112: ...n 19 13 14 15 16 17 18 19 20 21 22 23 S 24 25 26 S 10 11 12 1 2 3 4 5 6 7 8 9 26 pin male I O Low Profile Connector Discrete I O Wire Tie Wrap Slot Three Conductor I O Cables Turn clamp over to hold s...

Page 113: ...n TS 1 and TS 2 as shown in the figure below Externalpassiveshunt connected to the power rail shunt module 1394 SRxxxx SM 2094 BSP2 Remove the internal shunt jumper between RC 2 and RC 3 Remove the th...

Page 114: ...0 RBM in a category 2 configuration in Appendix E The installation instructions provided with your RBM publication 2090 IN009 Resistive Brake Module Connections IMPORTANT To ensure system performance...

Page 115: ...eceive 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 beginnin...

Page 116: ...r module SERCOS interfaceTM Tx rear Rx front OK CP SERCOS interfaceTM Tx rear Rx front OK CP Kinetix 6000 System 1756 MxxSE SERCOS interface Modules Transmit Receive Receive Transmit Transmit SERCOS F...

Page 117: ...id 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 Tx rear Rx fron t OK CP 1756 MxxSE...

Page 118: ...Publication 2094 UM001A EN P September 2006 118 Connecting the Kinetix 6000 Drive System...

Page 119: ...ystem Introduction This chapter provides procedures for configuring your Kinetix 6000 system components with your Logix SERCOS module Topic Page Introduction 119 Configure the IAM AM 120 Configure the...

Page 120: ...ts the least significant digit 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 fro...

Page 121: ...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 numbers shown above are...

Page 122: ...ress 12 AM axis 3 Node Address 11 AM axis 2 Node Address 10 IAM axis 1 Base Node Address Logix Platform ControlLogix is shown SERCOS Fiber optic Ring 1756 MxxSE SERCOS interface Module 17 AM axis 2 No...

Page 123: ...duce the cycle times SERCOS interfaceTM Tx rear Rx front OK CP SERCOS interfaceTM Tx rear Rx front OK CP 08 Slot Filler node address 07 AM axis 7 node address 06 AM axis 6 node address 05 AM axis 5 no...

Page 124: ...e 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 No...

Page 125: ...he 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...

Page 126: ...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 cat...

Page 127: ...odule 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 Prop...

Page 128: ...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 th...

Page 129: ...rive 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 butto...

Page 130: ...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...

Page 131: ...l not accept Internal none 2094 BSP2 or 1394 SRxxxx selection if dc bus voltage is present without having three phase power applied 2 Drive will not accept CommonBus Follow selection if three phase po...

Page 132: ...elect 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 Mot...

Page 133: ...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...

Page 134: ...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 d Click Close 8 Click OK 9 Repeat steps 1 8 for each 2094...

Page 135: ...rmine your source of control power 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 con...

Page 136: ...ower connections 2 Go back to main Step 2 If Your Three phase Power Then Is 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 vo...

Page 137: ...ror 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 n...

Page 138: ...our 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 a...

Page 139: ...uting 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 Co...

Page 140: ...log appears 1 Click OK 2 Remove Hardware Enable Input signal IOD 2 3 Go to Tune the Axes Your test failed this dialog appears 1 Click OK 2 Verify the Bus Status LED turned solid green during the test...

Page 141: ...lect 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 7 Select the...

Page 142: ...from Executing to Command Complete 8 Click OK The Tune Bandwidth dialog opens Actual bandwidth values Hz depend on your application and may require adjustment once motor and load are connected Record...

Page 143: ...each axis If Then Your test completes successfully this dialog appears 1 Click OK 2 Remove the Hardware Enable Input signal IOD 2 applied earlier 3 Go to Step 12 Your test failed this dialog appears 1...

Page 144: ...Publication 2094 UM001A EN P September 2006 144 Configure and Startup the Kinetix 6000 Drive System...

Page 145: ...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 obs...

Page 146: ...WR 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 Automation sales representat...

Page 147: ...n in software E07 MotFeedbackFault 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...

Page 148: ...intelligent encoder Verify motor selection Verify the motor supports automatic identification Verify motor encoder wiring E34 GroundShortFault Ground Fault Excessive ground current in the converter wa...

Page 149: ...ble header not seated properly 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 dri...

Page 150: ...t temperature The machine duty cycle requires an RMS current exceeding the continuous rating of the controller Change the command profile to reduce speed or increase time The airflow access to the Kin...

Page 151: ...l Install missing module on power rail Fill empty slot with slot filler module E80 DriveHardFault CPLD Flt Control hardware fault detected Replace module E81 DriveHardFault Common Bus Flt Follower IAM...

Page 152: ...er optic cable Replace fiber optic cable Receive fiber optic cable connected to SERCOS transmit connector and vice versa Check proper SERCOS fiber optic cable connections 1 Refer to Fiber optic Cable...

Page 153: ...r the dc bus is discharged SM Bus Status LED is flashing Drive must be configured with 2094 BSP2 or Bulletin 1394 external shunt module IAM AM Disabled for dc bus regulation When the 2094 BSP2 shunt m...

Page 154: ...ion Shunt module fan failed Replace shunt module Shunt module temperature exceeds rating Allow shunt module to cool Reset faults Verify IAM bus regulator configuration External over temperature condit...

Page 155: ...fy 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 inertia is excessive Check motor size...

Page 156: ...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 duty c...

Page 157: ...ermal fault action to Status Only will bypass this function STOP Y DriveOvercurrentFault Power Fault E05 An instantaneous over current was detected in the inverter power section SHUTDOWN N HardOvertra...

Page 158: ...HardFault Self Sense Flt E39 Self sensing commutation fault detected DISABLE N DriveEnableInputFault Drive Enable Flt E43 Generated when Enable input switches off when drive is enabled STOP Y DriveHar...

Page 159: ...has exceeded its converter rating SHUTDOWN N DriveOvervoltageFault Shunt Time Out E75 The IAM AM or SM has exceeded its shunt resistor continuous rating SHUTDOWN for IAM DISABLE for AM IAM also provi...

Page 160: ...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 DriveExplorer Example Method Desc...

Page 161: ...log 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...

Page 162: ...r values you are testing Monitor Dynamic System Variables Analog Output Controlling Parameter Scale Parameter Parameter Number 1 Default Value 1 Parameter Number 1 Default Value 1 x681 xx40 x682 0 006...

Page 163: ...Page 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 ATTENTION This drive contains ESD E...

Page 164: ...r of each module 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 swi...

Page 165: ...rail connector 3 Hang the mounting bracket from the slot on the power rail 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 5 Use 2...

Page 166: ...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 the power rail...

Page 167: ...mounting bolts 3 Re attach the braided grounding strap to the power rail grounding stud refer to page 166 IMPORTANT If you need to change the location of the power rail or if you are installing a powe...

Page 168: ...Publication 2094 UM001A EN P September 2006 168 Removing and Replacing the Kinetix 6000 Drive Modules...

Page 169: ...ix provides product specifications and mounting dimensions for your Kinetix 6000 system components Topic Page Introduction 169 Power Specifications 170 Power Dissipation Specifications 180 General Spe...

Page 170: ...ac rms Nom 110 115V ac rms Max inrush 0 pk 3 A 6 A 20 A 3 A 6 A 83 A 2 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 Intermi...

Page 171: ...rms Max inrush 0 pk 3 A 6 A 25 A Nominal bus output voltage 650V dc Line loss ride through 20 ms Continuous output current to bus Adc 10 A 24 A 43 A 71 A Intermittent output current to bus Adc 2 20 A...

Page 172: ...4 AC32 M05 S Bandwidth 1 Velocity loop Current loop 500 Hz 1300 Hz PWM frequency 8 kHz 4 kHz Nominal input voltage 325V dc Continuous current rms 3 7 A 6 0 A 10 6 A 17 3 A 34 6 A Continuous current 0...

Page 173: ...8 6 A 14 6 A 30 0 A 48 9 A Peak current rms 2 4 2 A 9 2 A 15 5 A 31 8 A 51 9 A Peak current 0 pk 2 5 9 A 12 9 A 21 8 A 45 0 A 73 4 A Continuous power out nom 1 8 kW 3 9 kW 6 6 kW 13 5 kW 22 0 kW Inter...

Page 174: ...7 200 N A 2 200 plus 5 ACxx Mxx S 0 to 6 2094 BSP2 4 101 3 41 300 1394 SR9A 300 6 ACxx Mxx S 900 1394 SR9AF 900 6 ACxx Mxx S 1800 1394 SR36A 1800 6 ACxx Mxx S 3600 1394 SR36AF 3600 6 1 Refer to page 1...

Page 175: ...M 2094 AC09 M02 50 W Internal Shunt Kinetix 6000 460V IAM 2094 Number of Axis Modules Quantity Shunt Module Specifications External Passive Shunt Module 1 System Continuous Shunt Power W Catalog Numbe...

Page 176: ...systems too 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 Intern...

Page 177: ...ircuit Protection under NEC 1999 110 10 allowed but no longer preferred Required Protection under 110 10 of NEC 1999 Preferred Fully Rated Breakers Distribution Blocks Fully Rated Fused Disconnect Ful...

Page 178: ...2094 AC05 M01 S 2094 AC09 M02 S KTK R 30 30 A 1492 CB3H400 140M F8E C20 FWH 35B A50P35 4 2094 AC16 M03 S LPJ 45SP 45 A N A 140U H6C3 C50 1492 SP2D200 FWH 60B A50P60 4 2094 AC32 M05 S LPJ 80SP 80 A N...

Page 179: ...100 C23x10 ac coil 100 C23Zx10 dc coil 2094 BC01 MP5 S 100 C23x10 ac coil 100 C23Zx10 dc coil 2094 AC05 M01 S 2094 BC01 M01 S 2094 AC09 M02 S 100 C37x10 ac coil 100 C37Zx10 dc coil 2094 BC02 M02 S 100...

Page 180: ...94 BC02 M02 S 20 30 40 50 60 2094 BC04 M03 S 22 43 65 86 108 2094 BC07 M05 S 44 77 111 144 177 Integrated axis module IAM Inverter or axis module AM 1 2094 AC05 MP5 S or AMP5 S 60 65 70 75 80 2094 AC0...

Page 181: ...ti turn integrated gear motors with absolute high resolution feedback MPF A and MPS A 230V Motors MPF B and MPS B 460V Motors 1326AB M2L S2L 460V Motors 1326AB 460V Motors F and Y Series 230V Motors T...

Page 182: ...2 90 6 4 2094 PRS5 3 11 6 8 2094 PR8 3 63 8 0 2094 PRS6 3 55 7 8 2094 PRS7 3 99 8 8 SM 460V 2094 BSP2 3 10 6 8 2094 PRS8 4 43 9 7 Slot Filler Module 2094 PRF 0 45 1 0 Certification 1 when product is...

Page 183: ...ht kg lb Humidity Vibration Operating Temperature 2090 XXLF X330B 500V ac 50 60 Hz Three 30A 50 C 122 F 38 64 2 7 5 9 90 RH 10 200 Hz 1 8 g 25 to 85 C 13 to 185 F 2090 XXLF 375 75A 50 C 122 F 57 50 5...

Page 184: ...eplacement Fuse Resistance Peak Power kW Peak Current A Cont Power W Shipping Weight kg lb 1394 SR9A 230 1 4 41 0 101 25 300 3 63 8 FNQ R 20 R1 1 460 160 0 20 0 FWP50A14F 1394 SR9AF 230 1 4 41 0 101 2...

Page 185: ...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 2090 XXNFxx Sxx flying lead Feedback Cable...

Page 186: ...g lead Feedback Cable with 2090 K6CK D15Mxx Low profile Connector Kit 2090 UXNFBxx Sxx premolded connector Feedback Cable Power Rail Important Additional clearance below the connector is necessary to...

Page 187: ...XNFxx Sxx flying lead Feedback Cable with 2090 K6CK D15Mxx Low profile Connector Kit 2090 UXNFBxx Sxx premolded connector Feedback Cable Power Rail Important Additional clearance below the connector i...

Page 188: ...ng lead Feedback Cable with 2090 K6CK D15Mxx Low profile Connector Kit 2090 UXNFBxx Sxx premolded connector Feedback Cable Power Rail Important Additional clearance below the connector is necessary to...

Page 189: ...nsions 189 Shunt Module Dimensions 2094 BSP2 Modules are shown mounted to the power rail and the dimensions reflect that in the depth of the module 263 10 3 70 2 76 256 10 1 20 0 8 43 1 7 249 9 8 123...

Page 190: ...Publication 2094 UM001A EN P September 2006 190 Specifications and Dimensions...

Page 191: ...iring examples and system block diagrams for your Kinetix 6000 system components Topic Page Introduction 191 Wiring Examples 192 Power Wiring Examples 193 DC Common Bus Wiring Examples 197 Shunt Modul...

Page 192: ...re information 12 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 872...

Page 193: ...ED 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 Conne...

Page 194: ...e phase Motor Power Connections 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 Rai...

Page 195: ...onnector 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 Connector Three pha...

Page 196: ...ngle 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 Rail G...

Page 197: ...DC Bus and 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 Cabi...

Page 198: ...ns Note 16 Motor Power MP Connector Cable Shield Clamp Note 10 Kinetix 6000 Common Bus Leader IAM 2094 ACxx Mxx or BCxx Mxx Power Rail Ground Stud DC Bus and Three phase Input IPD Connector Single pha...

Page 199: ...r 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 Kinetix 6000 Common Bus Follower IAM 2...

Page 200: ...Motor Power 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 seri...

Page 201: ...INT DC TS2 TS1 2 1 3 2 1 Kinetix 6000 Shunt Module 2094 BSP2 External Shunt Resistor RC Connector External Thermal Switch TS Connector COL INT DC 2 1 3 2 1 TS2 TS1 COL DC Kinetix 6000 Shunt Module 209...

Page 202: ...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 Single phase Input 115V ac RMS 50 60 Hz Input Fusing Note 23 Contactor Enable C...

Page 203: ...ule 1336 MOD Kxxxx Kinetix 6000 Integrated Axis Module 2094 xCxx Mxx External Active Shunt Module 1336 MOD Kxxxx External Active Shunt Module 1336 MOD Kxxxx Indicates User Supplied Component Refer to...

Page 204: ...netix 6000 IAM inverter or AM Note 15 MPL B3xx B4xx B45xx B5xx B6xx B8xx B9xx and MPG B 460V Servo Motors with High Resolution Feedback Motor Feedback MF Connector 2090 XXNPMP xxSxx Motor Power Cable...

Page 205: ...or Cable Shield Clamp Note 10 Kinetix 6000 IAM inverter or AM Note 15 MPL A3xx A4xx A45xx A5xx and MPG Axxx 230V Servo Motors with High Resolution Feedback Motor Feedback MF Connector 2090 XXNPMP xxSx...

Page 206: ...e BC Connector Motor Power MP Connector Cable Shield Clamp Note 10 Kinetix 6000 IAM inverter or AM Note 15 MPL A B15xx and A B2xx MPF A Bxxx and MPS A Bxxx Servo Motors with High Resolution Feedback M...

Page 207: ...llow Blue Black Brown Black White W V U MBRK MBRK COM PWR DBRK DBRK BR BR GREEN SHIELD Motor Brake Three phase Motor Power Motor Feedback TL Series 230V Servo Motors with Incremental Feedback Motor Fe...

Page 208: ...wn Black White Green Yellow Braided Shield Black Black Black GND GND W V U BR BR MBRK MBRK COM PWR DBRK DBRK TS BLUE COM Motor Brake Resistive Brake Connections Motor Resistive Brake BC Connector Moto...

Page 209: ...stive Brake BC Connector Motor Power MP Connector Note 10 Note 15 Motor Feedback MF Connector User Supplied 24V dc 1 2A max Kinetix 6000 IAM inverter or AM Cable Shield Clamp Motor Brake Three phase M...

Page 210: ...ctions Motor Resistive Brake BC Connector Motor Power MP Connector Note 10 Note 15 Motor Feedback MF Connector User Supplied 24V dc 1 2A max Kinetix 6000 IAM inverter or AM Cable Shield Clamp Motor Br...

Page 211: ...530 x4540 1 0 64 A Y 2006 and 2012 0 31 A MPF x430 x4530 x4540 1 Y 3023 0 37 A MPG x004 1 0 33 A TL A110P H A120P H and A130P H 0 208 A MPG x010 1 0 45 A TL A220P H and A230P H 0 375 A MPG x025 1 TL A...

Page 212: ...dule RBM refer to Additional Resources on page 10 for the documentation available for those products IAM AM inverter Block Diagram POWER RAIL DC DC W V U CTRL 1 CTRL 2 SYSOK CONV_ID 5 GSHUNT 2 CAN 2 D...

Page 213: ...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 EMC filter present o...

Page 214: ...iagram 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 uC Gate Control Enable...

Page 215: ...mware Introduction This appendix provides procedures for upgrading firmware using either ControlFLASH or DriveExplorer software Topic Page Introduction 215 Using ControlFLASH Software to Upgrade Drive...

Page 216: ...le software 1768 M04SE 15 35 or later SoftLogix SERCOS PCI card software 1784 PM16SE 15 33 or later RSLinx software 2 50 or later ControlFLASH software kit 1 1 Download the ControlFLASH kit from http...

Page 217: ...ade Follow these steps to upgrade flash your drive firmware 1 Open your ControlFLASH software The Welcome to ControlFLASH dialog opens 2 Click Next The Catalog Number dialog opens 3 Select the catalog...

Page 218: ...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...

Page 219: ...rs 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 et...

Page 220: ...ading 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 3 Con...

Page 221: ...dy 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 o...

Page 222: ...gram 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 i...

Page 223: ...r 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...

Page 224: ...your IAM Description Catalog Numbers Firmware Revision DriveExplorer Software 1 1 Refer to DriveExplorer Getting Results Manual publication 9306 GR001 for instructions 9306 4EXP02ENE 2 01 or later Se...

Page 225: ...proceeds to read your system 5 Double click 2094D SERVO Config 0000 The linear list of parameters dialog appears 6 Scroll down to parameter x x 30 Version Data and record the version VERS xx xxx of ea...

Page 226: ...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...

Page 227: ...ppropriate 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 7 Select OK 8 HyperTerminal configuration is comp...

Page 228: ...es 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 main menu opens 2 Enter 3 Th...

Page 229: ...he character C 5 From the Transfer menu select Send File The Send File dialog opens 6 Browse for your firmware upgrade file 7 Select Xmodem protocol 8 Select Send TIP Program times out after 60 second...

Page 230: ...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 li...

Page 231: ...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 you need to calculate the following values Total...

Page 232: ...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...

Page 233: ...er 230V Capacitance F AM Inverter 230V Capacitance F 2094 AC05 MP5 S 270 2094 AMP5 S 390 2094 AC05 M01 S 2094 AM01 S 660 2094 AC09 M02 S 540 2094 AM02 S 780 2094 AC16 M03 S 1320 2094 AM03 S 1320 2094...

Page 234: ...apacitance Calculating Common Bus Capacitance PRF 2094 PRF N A SM 2094 BSP2 470 F AM 2094 AM02 780 F AM 2094 AM03 1320 F AM 2094 AM03 1320 F IAM 2094 AC16 M03 Converter 1320 F IAM 2094 AC16 M03 Invert...

Page 235: ...ons Tx and Rx are located on the top of each IAM AM 3 Re apply three phase and control power Description Catalog Numbers Version DriveExplorer Software 1 2 1 Refer to DriveExplorer Getting Results Man...

Page 236: ...al 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 4 Select Devices Nod...

Page 237: ...e 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 F...

Page 238: ...ck 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 syste...

Page 239: ...ume 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 public...

Page 240: ...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...

Page 241: ...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 re...

Page 242: ...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 powe...

Page 243: ...s 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 ATTEN...

Page 244: ...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 BCxx Mxx Axis_0 Cable Shield Clamp 2090 XXNRB 1...

Page 245: ...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 Note 1 Auxiliary 230V ac Input...

Page 246: ...OIL_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 BCxx Mxx Axis_0 Cable Shield Clamp 2090 XXNRB 14F0P7 RBM to...

Page 247: ...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 Note 1 Auxiliary 230V ac Input...

Page 248: ...L2 N 1 2 1 2 3 4 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 BCxx Mxx Axis_0 Cable Shield Clamp 2090 XXNR...

Page 249: ...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 12 14 16 18 20 22 24 26 28 30 3...

Page 250: ...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 BCxx Mxx Axis_0 Cable Shield Clamp 2090 XXNRB 14F0P7 RBM...

Page 251: ...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 12 14 16 18 20 22 24 26 28 30...

Page 252: ...of RSLogix 5000 Software Do This v11 or v12 Proceed with these instructions using DriveExplorer to set the RBM delay time parameter v13 or later Go to Configure Axis Properties on page 133 and use RS...

Page 253: ...e 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...

Page 254: ...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...

Page 255: ...ure 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 ca...

Page 256: ...Publication 2094 UM001A EN P September 2006 256 Integrating Resistive Brake Modules with Kinetix 6000 Drives...

Page 257: ...nstable 155 B backplane comm 150 bandwidth 142 base node address 120 example with double wide modules 124 example with two ControlLogix chassis 123 example with two power rails 122 baud rate 121 block...

Page 258: ...ontrol reliability 243 ControlFLASH flashing firmware 220 software kit 216 controller properties 125 controlling a brake 210 conventions used in this manual 9 conversion tab 133 converter 213 coordina...

Page 259: ...er 228 follow error 148 follower IAM 15 74 fuse selection 22 fuse specifications 177 G ground fault 148 ground jumper setting 75 grounded power configuration 71 grounding multiple subpanels 79 H hardw...

Page 260: ...243 shunt module 201 202 203 interpreting status indicators 146 inverter 212 IPM fault 147 K Kinetix 6000 additional resources 10 axis properties 133 capacitance values 233 module properties 129 overv...

Page 261: ...it 150 O objects init 150 optical power level 121 128 overspeed fault 148 overview 11 P panel requirements 20 panel mounted breakout kit 109 parameters changing 160 pin outs auxiliary feedback connect...

Page 262: ...outs 68 system specifications 174 troubleshooting 153 wiring requirements 81 shunt time fault 151 shunt time out 150 shutdown 157 software RSLogix 5000 125 160 software overtravel 148 specifications a...

Page 263: ...ve overcurrent 147 drive overtemp 148 150 drive undervoltage 148 encoder communication fault 148 follow error 148 ground fault 148 hardware overtravel 147 hookup fault 149 Ifbk HW fault 149 illegal ha...

Page 264: ...or enable 93 earth ground 78 external shunt resistor 113 ground jumper setting 75 grounded power configuration 71 I O connections 104 IAM BC connector 101 CED connector 93 CPD connector 90 IPD connect...

Page 265: ...Publication 2094 UM001A EN P September 2006 265 Notes...

Page 266: ...Publication 2094 UM001A EN P September 2006 266 Notes...

Page 267: ...Publication 2094 UM001A EN P September 2006 267 Notes...

Page 268: ...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...

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