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Kinetix 6000 Multi-axis Servo Drive User Manual

1. IAM inverter or AM M PF A Bxxx and MPS A Bxxx Note 15 Servo Motors with Motor Feedback High Resolution Feedback MF Connector Cable ids K IAM AM amp Note 10 Shield 155 BLACK SIN 1 4 Green Yellow Me 2 gt gt WHT BLACK SIN 2 i 13 Blue C W lt lt w l 3 RED COS 3 3 Motor Power W lt lt GND 4 gt gt cos 4 Connector 12 Black B V lt V Three phase m 5 1 Brown NU U Motor Power GREEN 6 U S LS lt lt 6 4 7GREEN XX DATA 10 7 Motor Feedback CODE Motor 9 5 GRAY 45VDC 14 MF Connector Note 16 Feedback 10 5 WHGRAY XX Ecom 16 10 11 ORANGE 9VDC 7 1 Motor Resistive is 13 gt WHI ORANGE XX TS HR 12 Brake BC Connector H 13 MBRK Bek A GF eR o gt V 14 5 f White F 3 Thermostat 15 MBRK Ho COM 777 d 4 Refer to low profil t T SON E User Supplied Motor Brake T lustration ower lft PWR lt 24V dc 1 2A max for proper grounding technique e 2 BR EL DBRK lt 2090 XXNFMF S 1 Resistive Brake flying lead Feedback Cable DBRK H Brt Connections Notes 16 17 21 Grounding Technique for Feedback Cable Shield Clamp C Exposed shield secured under clamp Clamp Screws 2 Turn clamp over to Low Profile Connector 2090 K6CK D15M shown PS hol
2. Bonded Cabinet Ground _ Ground Grid or Connect to power rail ground stud Power Distribution Ground X Publication 2094 UM001A EN P September 2006 72 Connecting the Kinetix 6000 Drive System Ground Grid or Power Distribution Ground Publication 2094 UM001A EN P September 2006 Grounded B Phase Power Configuration Delta Secondary Integrated Axis Module Top View 2094 9 is shown Transformer Delta Secondary DC DC eet n Transformer 13 lt 3 i L2 CONT EN CONT 12 L RX T i Connect to power rail ground stud Bonded Cabinet Ground The integrated axis module IAM has a factory installed ground jumper configured for grounded power distribution IMPORTANT If you determine that you have grounded power distribution in your plant you do not need to modify your IAM Connecting the Kinetix 6000 Drive System 73 Ungrounded Power Configurations Ungrounded power configurations are allowed but you must jumper across a 120 resistor internal to the IAM to prevent high electrostatic build up The ungrounded power co
3. Bulletin 1394 External Shunt Module 1394 SR9AF 900 W External Shunt 11 ii OO l v vU 4 SM 2094 BSP2 200 W Shunt Module AM 2094 AM02 No Internal Shunt AM 2094 50 W Internal Shunt AM 2094 50 W Internal Shunt IAM 2094 16 100 W Internal Shunt Publication 2094 UM001A EN P September 2006 Specifications and Dimensions 177 Circuit Breaker Fuse Specifications While circuit breakers offer some convenience there are limitations for their use Circuit breakers do not handle high current inrush as well as fuses The Kinetix 6000 needs to be protected by a device having a short circuit interrupt current rating of the service capacity provided or a maximum of 100 000 A If an upstream circuit protection device is rated for the overload current and short circuit rating a supplementary circuit protection device such as the 1492 product can be used as the only Kinetix 6000 branch circuit protection device The upstream fully rated device let through must be less than or equal to the 10 kA interrupt rating of the 1492 circuit protection device The wiring interconnection in the figures below provide examples of the needed protection and follows UL and NEC codes Full compliance is dependent on final wiring design and installation Circuit Protection under NEC 1999 110 10 preferred fully rate
4. C ON 14037 1 99 0602 203290002 14 1nduj Aieipixny 2e A0EZ 20290005 141 eseud eaiu 4 suonaeuuo J8MOg J010A V amp f E 39907 ii 71 5 1 m M E 20290007 281 suonaauuo 1004 203990009 181 suon3auuo e ug dwejg pia ys age 810N 19 45 0488 2OOOEIX OG0Z NRSA URSIN peius pnig punog z uH 7 10138uu0 032 8 a 100 9 qeu3 20320100 7 13 1109 INDE gaz 1100 01 N3 1409 101 i 1 1037 i TI8VN3 Nd uvae 000 o 1 1 a nv i 1 1 soysauuog 124 yuga 71 21 XNY anding noez Ee i Vr Xn 1 Wo9 JE Y Ti NO 0 1 yuan 1 79 9xyeg 9 S A SIS Y IOJON Gl CaM 0 z OMEN y NEUE ssi p 99 01 anding z ZNO2 0 i 1 L I I H n H 9 v i Za Zi IH J0138uuo7 S amay 7 real iH 7 aseyd ouy 201290
5. AF Pin Description Signal AF Pin Description Signal 1 Sine differential input SINE 9 Reserved 2 Sine differential input 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 45V EPWR 5V 7 Encoder power 49V EPWR 9V 15 Reserved 8 Reserved TTL or Sine Cosine with Index Pulse AFPin Description Signal AF Pin Description Signal 1 Sine differential input A SINE 9 Reserved 2 Sine differential input A SINE 10 Index pulse 3 B Cosine differential input B COS 11 Reserved 4 B Cosine differential input B COS 2 Reserved 5 Index pulse 13 Reserved 6 Common ECOM 14 Encoder power 45V EPWR 5V 7 Encoder power 49V EPWR 9V 15 Reserved 8 Reserved Pin Orientation for 15 pin Auxiliary Feedback AF Connector 15 pin Auxiliary Feedback Connector Pin 6 Pin 11 Pin 1 Pin 15 Pin 5 Pin 10 Publication 2094 UM001A EN P September 2006 58 Kinetix 6000 Connector Data IAM Input Connector Pinouts Control Power Connector CPD Pin Description Signal 1 CTRL 2 Control power VAC input ______ _ 2 CTRL 1 DC Bus and Input Power Connector IPD Pin Description Signal 1 An integral unregulated power supply DC consisting
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7. gt PRF 2094 PRF N A AM 2094 1320 uF AM 2094 1320 uF IAM 2094 AC16 M03 Converter 1320 pF Publication 2094 UM001A EN P September 2006 IAM 2094 16 Inverter 1320 uF Setting the Additional Bus Capacitance Parameter DC Common Bus Applications 235 In this procedure you will set the Add Bus Cap parameter using DriveExplorer software The following hardware and software tools are required to provide the necessary communication link between your personal computer and the Kinetix 6000 drive system running DriveExplorer software Description Catalog Numbers Version DriveExplorer Software ma 9306 4EXPO2ENE 2 01 or later Serial to SCANport Adapter 2 3 1203 SSS Series B 3 004 or later RSLogix 5000 Software 9324 RLD300NE 15 0 or later Refer to DriveExplorer Getting Results Manual publication 9306 6 8001 for instructions 2 Additional information regarding these communication and software tools is available at http www ab com support abdrives 3 Refer to 1203 SSS Series FRN 3 xxx User Manual publication 20 for instructions To avoid personal injury or equipment damage at least one end ATTENTION of a SERCOS fiber optic cable must be disconnected from the drive This ensures that motion will not occur while changes are being made to the Add Bus Cap parameter Removing SERCOS Commun
8. Bulkhead Adapter a Transmit Receive 4 SERCOS Fiber optic Ring amp E gt SERCOS Ring Receive Transmit Receive N Transmit SERCOS Fiber optic B Bulkhead Adapter Kinetix 6000 System Mae aie Mam Tal Kinetix 6000 System Publication 2094 UM001A EN P September 2006 18 Connecting the Kinetix 6000 Drive System Publication 2094 UM001A EN P September 2006 Introduction Chapter 6 Configure and Startup the Kinetix 6000 Drive System This chapter provides procedures for configuring your Kinetix 6000 system components with your Logix SERCOS module Topic age Introduction Configure the 120 Configure the Logix SERCOS interface Module 125 Apply Power to the Kinetix 6000 Drive 135 Test and Tune the Axes 138 Publication 2094 UM001A EN P September 2006 120 Configure and Startup the Kinetix 6000 Drive System Configure the Publication 2094 UM001A EN P September 2006 Follow these steps to configure the IAM AM 1 Verify that there is no power applied to the IAM AM and that the SERCOS fiber optic cables are plugged into the Tx and Rx connectors To verify your fiber optic cable connections refer to Connecting Your SERCOS Fiber optic Cables on page 115 To Configure Begin With Th
9. Seg ARSY 20290002 141 aseud aaJu ni ZV 1109 Y LU al 1109 iZ SL El 01 c 7 10 3 uu09 039 L N3 INOJ 7 20 02 UM Ol 10 28UU0 o t 1VI N09 90 ajqeug 10126100 INOS 7 100 1 HE y 1 15 02 L i Gp 1 vxnv 011 5 QTIHS 5 1 1 109 3u8 1 9 1 ev 109 7 Juga i 1 T IIHS 8 L 10129UU07 9g exeg i ANSIS Y IOJON 204290009 81 WOO SUOI 28UUO noauuo 0 JHN H WO 7 203990009 194 1 z 109 anding op vz 0219 0602 YMd 10 3 uu09 pg INduy 1 ADEZ Aretixny 9 it 1029000 21 G e hi a gi n 1 Hl 61 eseud aaJu 10 99UU09 140 Z NON pue T inding LH enu Way snggq 790 13047 8 0604 30 T f LWL c 103290009 099 2 149 10290007 Jamog 21819 M 108009 7 yndjng 40 98UU09 28 101360002 181 60 TVt Suonoeuuo 1004 suonaauuo aq due 9nPpoly zepa sur pietus ODDO ea duie
10. Axis Modules 5 Low Profile Connector Kits for 1 0 Motor Feedback and Aux Feedback 2090 K6CK Dxxx 45 E a MP Series TL Series 1326AB M2L S2L F and Y Series Motors MPL xxxx motors shown E Publication 2094 UM001A EN P September 2006 2094 xMxx S Motor Power Cable 2090 XXNPxx xxSxx Typical DC Common Bus System Installation Kinetix 6000 M ulti axis Servo Drive System Line Interface Module optional component 2094 xLxxS Integrated Axis Module 2094 xCxx Mxx S Power Rail 2094 PRSx is shown DC Common Bus Logix Controller Programming Network Start 15 E Logix SERCOS interface Module ia Three phase AC Line Filter Input Power 2090 XXLF xxxx ES Logix Platform RSLogix 5000 Te ControlLogix is shown Software mt J EE 115 230V Control Power SERCOS Fiber optic Ring 2090 5 Shunt Module optional component 2094 5 2 Integrated E Axis Module El B gl rl Slot Filler Module 2094 5 E E E E required to fill any unused slots fi Power Rail
11. Kinetix 6000 Y Series 230V IAM inverter or AM Servo Motors with Note 15 Incremental Feedback Motor Feedback Cable Shield ME Connector 0 Clamp j 1 Note 10 I sp 5 lt 9 BLACK f 1 3 Motor w 3 3 lt lt GND 10 44 WHT BLACK AM 2 otor Power 4 MP Connector y 2 2 81 2 lt Three phase 1 yy reo BM 3 5 U LL uses 724 Motor Power 12 55 wmno XX BM 4 Motor Feedbac 13 CREEN IM 5 g MF Connector S AT GREEN XX M 10 POORNE n 15 WHT BLUE 1 12 9 Motor Power and Brake Cable Motor gt 10 Note 16 Feedback 17 gt BLUE XX 2 13 11 19 gt BROWN 53 8 12 B wayOwN XX 13 lt lt xis 22 GRAY 5VDC 14 m Motor 14 otor Resistive Black 7 3 Brake 23 4 wHr GRY _ XX ECOM 6 15 rake BC Connector y lt lt T DAAN 6 gt H MBRK Refer to low profile connector MBRK illustration below _ COM User Supplied for e PWR B o e 24V de 1 2A E 2 BR otes 16 17 1 DBRK t Resistive Brake Grounding Technique for DBRK lt lt BR 3 Connections Feedback Cable Shield Publication 2094 UM001A EN P September 2006 Low Profile Connector 2090 K6CK D15M shown Clamp Turn clamp over to hold Exposed shield and drain wire Y small cables secure secured under clamp p q 7 Clamp Screws 2 Controlling a Brake Example The relay
12. Motion Allowed Jumper Wiring Plug Header Safe off SO Kinetix 6000 Connector Data 53 Headers in this table extend the safe off SO connector signals for use in wiring single and multiple safe off drive configurations or to jumper around not use the safe off feature IAM AM Safe off 9 pin SO Connector Also Applies to These Connector Pin 50 Connector Headers Description Signal 1 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 Wiring plug header One side of the normally closed monitoring contact of relay 1 FDBK1 4 First drive wiring header Other side of the normally closed monitoring contact of relay 1 FDBK1 5 2090 XNSM W Coil of safety relay 2 SAFETY ENABLE2 6 Return for safety relay coil power both relays SAFETY ENABLE 7 Coil of safety relay 1 SAFETY ENABLE1 8 Wiring plug header Power for continuous enable of the safety function 500 mA max 241 9 Motion allowed jumper Power return used for continuous enable of safety function 24V_COM IMPORTANT must come from an external source Pins 50 8 and 9 24V4 are only used by the motion allowed jumper When wiring to the wiring plug header the 24V supply Refer to the Kinetix Safe off Feature Safety Reference Manual publication GMC RMO002 for more information on safe off headers Publication 2094 UM001A
13. LL 1uauoduio 18SM sayeoipyy 6L SL L 6 a3Sn LON Q3Sn LON SENI WOO ano ano 01 x 196 m 3 34017 1VISd01S mofo Sraroczr 9owedandui x amp o1onmo September 2006 Publication 2094 252 Integrating Resistive Brake Modules with Kinetix 6000 Drives Setting the RBM Delay Time Using DriveExplorer Publication 2094 UM001A EN P September 2006 In this procedure you will break SERCOS ring communications set the delay time parameter using DriveExplorer software and re establish SERCOS communication For This Revision of RSLogix 5000 Softw Do This vM 12 Proceed with these instructions using DriveExplorer to set the RBM delay time parameter Go to Configure Axis Properties on page 133 and use v13 or later RSLogix 5000 software to set the RBM delay time parameter The following hardware and software tools are required to provide the necessary communication link between your personal computer and the Kinetix 6000 drive system running RSLogix 5000 software Description Catalog Numbers Version DriveExplorer Software 1 2 9306 4EXPO2ENE 2 01 or later Serial to SCANport Adapter 9 1203 SSS Series B 3 004 or later RSLogix 5000 Software 9324 RLD300NE 11 0
14. 20 Transformer 5 21 Circuit Breaker Fuse 5 22 Enclosure 5 1 23 Minimum Clearance Requirements 26 Minimizing Electrical Noise 27 Bonding 27 Bonding Multiple 5 29 Establishing Noise Zones 30 Cable Categories for Kinetix 6000 Systems 37 Noise Reduction Guidelines for Drive Accessories 39 Chapter 3 Introducos wt ves aaa 43 Using 2094 Mounting Brackets 43 Installing the 2094 Power 1 44 Determining Mounting 44 Mounting 45 Mounting the External Shunt Module 48 Chapter 4 Introducerea ose ie d ee ode Bol BO do ds 49 Locating IAM AM Connectors and Indicators 50 Safe off Connector 52 I O Connector Pinout ida v bo tee a te gore BA 54 Motor Feedback Connector 55 Auxiliary Feedback Connector Pinouts 97 IAM Input Connector Pinouts 58 IAM and AM Motor Power and Brake Connector Pinouts 59 Publication 2094 UM001A EN P September 2006 4 Table of Contents Connecting the Kinetix 6000 Dri
15. spy 0000 xHeUDI Uonnqusng juauodwoy paljddns sajearpu y 0350 LON 0351 LON G3Sn LON SI N9 SENI SI QN9 VI QN9 ELNI EL 0N9 ZL GN9 LENI L1VISIU8 gt OL NI OL GN9 olvis C amp N 6 N9 8 N 8 0N9 LN LOND 9 9 0 9 SN S N9 ENON N N9 dL CN CN9 Od VN 17049 O N 0 0 9 rdu x amp o10nu0 01 September 2006 Publication 2094 UM001A EN P Integrating Resistive Brake Modules with Kinetix 6000 Drives 248 The example diagram below shows Kinetix 6000 IAM and LIM 2094 ALxxS BLxxS and XL75S wired with the Bulletin 2090 RBM in a category 3 configuration Example Category 3 Configuration per EN 954 1 iring RBM W ION suaquunu ajqea Jamod 104 g xipuaddy ui sajdwexa fum aui 0 juauodwo paijddns sajearpu 10128uu0 81 suonaauuo 0 1 ral 0219 0602 2 yg ndu AQEZ anu gH
16. ottom Screw 2 Swing the front panel open to the right as shown and locate the ground jumper IMPORTANT Do not attempt to remove the front panel from the IAM The front panel LEDs and switches are also connected to the IAM with a ribbon cable The ribbon cable will act like a hinge and allow you to swing the front panel open and access the ground jumper 3 Determine if you have a 230V system or 460V system For This IAM Move the Ground J umper From 2094 ACxx Mxx S 230V P16 to P17 2094 BC xx Mxx S 460 P14 to P12 4 Replace the IAM front panel and two screws Apply 1 6 Nm 14 Ib in torque 5 Mount the IAM back on the power rail Refer to Mounting the Modules on page 45 for instructions Publication 2094 UM001A EN P September 2006 78 Connecting the Kinetix 6000 Drive System Grounding Your All equipment and components of a machine or process system Kinetix 6000 System should have a common earth ground point connected to chassis A grounded system provides a ground path for short circuit protection Grounding your modules and panels minimize shock hazard to personnel and damage to equipment caused by short circuits transient overvoltages and accidental connection of energized conductors to the equipment chassis ATTENTION The National Electrical Code contains grounding requirements conventions and definitions Follow all applicable local codes and regulations to safely ground your
17. Ch1 Gain 0 0060 AM 1 10382 AnaQut Ch1 Value 0 0000 1 0 683 AnaQut Ch2 Selec 84 i i 1 0 684 AnaQut Ch2 Gain 0 1000 1 0 983 AnaQut Ch2 Value 0 0000 1 0 1 Group Digital Outputs Digital Inputs Analog Outputs Diagnostics SCANp Data In Publication 2094 UM001A EN P September 2006 Troubleshooting the Kinetix 6000 Drive System 161 Changing Parameters Using the HIM When using the HIM to monitor or change parameters use the up and down arrows and v to arrive at selections Refer to the instructions that came with your HIM for more information Follow these steps to monitor or change parameters using the HIM 1 2 3 Select parameter Press J Select I O AM1 Group for IAM Press 1 Select Analog Outputs Press J a Analog Output 1 is displayed Press J b For Analog Output 2 use arrows to select Press 1 Press Sel Enter parameter number Press 4 Using Analog Test Points to Monitor System Variables There are two analog output test points accessible from the IOD 26 pin connector on the IAM and AM IAM AM 1 0 26 pin IOD Connector IOD Pin Description Signal 23 Analog output 0 DACO 24 Analog output common DAC_COM 25 Analog output 1 26 Analog output common DAC_COM Pin Orientation for 26 pin 1 0 IOD Connector 26 pin 1 0 Connector Pin 1 Refer to Analog Outputs on page 62 for signal specifications
18. uoynqysng juauodwoy paljddns sajearpu y L1VISIH8 gt O1VISNY8 dL Od WO 01 0350 LON 0351 LON G3Sn LON SI N9 SENI SI QN9 VI QN9 ELNI L N9 ZL GN9 LENI OL NI OL GN9 amp N 6 N9 8 N 8 0N9 LN L N9 9 9 N9 SN S N9 iN v ON9 N N9 CN C N9 VN 17049 O N 0 0 9 rdu x amp o10nu0 September 2006 Publication 2094 UM001A EN P Integrating Resistive Brake Modules with Kinetix 6000 Drives 246 The example diagram below shows Kinetix 6000 IAM AM and LIM 2094 AL09 and BL02 wired with the Bulletin 2090 RBM in a category 2 configuration Example Category 2 Configuration per EN 954 1 iring RBM W Z 810N suaquunu Jamod 10 g xipuaddy ui aui 0 1uauoduio paijddng Jesf seeatpu suonaeuuo 10404 dwejg pjeius Plats IION IION 0488
19. Black 4 lt SS BLACK XX 54 2 11 a 4 D BLACK 51 3 n e COM 2 User Supplied E gt gt RED X8 BF 13 1 PWR EN 24V dc 1 2A max Motor Feedback gt gt TE 5 14 L 2 BR gt gt 15 S Resistive Brake B gt gt we XX m 10 DBRK 88 3 Connections n I XXX KI O flying lead Feedback Cable Motor Resistive K2 Thermostat Note 16 TS 6 Brake BC Connector V XX TS 7 5 XX Shielded Cable J 1 Wiring the therma switch on 1326AB resolver based motors requires the use of the Low Profile connector kit 2090 K6CK D15MF and wire extension to the power connector Pins 16 17 and S are filtered to prevent noise transmission back to the drive Refer to the Kinetix 6000 User Manual publication 2094 UM001 for wiring instructions and a diagram Publication 2094 UM001A EN P September 2006 Interconnect Diagrams 209 AM 230V Wiring Example with F Series Motors Kinetix 6000 F Series 230V IAM inverter or AM Servo Motors with Note 15 Incremental Feedback Cable Shield 0 Clamp 1 Note 10 Green Yellow D 1 1 Blue C w l Motor Feedback 3 GND Motor Power T B lt lt V MF Connector MP Connector V lt lt Three phase IAM AM U 3 Brown A
20. 110 Understanding External Shunt Module Connections 113 Understanding Resistive Brake Module Connections 114 Connecting Your SERCOS Fiber optic Cables 115 Chapter 6 Int Uc EOD Nip e dca GAP S Be op ICE PE W PUE A 119 Configure the IAM AM 120 Configure the Logix SERCOS interface Module 125 Configure tbe Logix GController Sea dy gx HE ets 125 Configure the Logix 126 Configure the Kinetix 6000 Modules 128 Configure tbe Motion or e 132 Configure Axis 133 Download the 134 Apply Power to the Kinetix 6000 135 Test and Tune 138 Test the AXES y PE rr 138 Tune the Ture miak dicho PEDI Pcr 141 Chapter 7 oia Sa Ae Bese ded LEY 145 Safety Precautions 4 32 rati ou Pe PR IEEE 145 Interpreting Status Indicators 146 BOR OCS CECI 146 IAM AM Status Indicators 2 152 SM Status Indicators epe rp Asem ond 153 Troubleshooting General System Problems 155 Understanding Logix Drive Fault Behavior 157 Supplemental Troubleshooting Information 160 Tools for Changing
21. To input sensors Low Profile Connector Kits for and control string Motor Feedback Cable 1 0 Motor M Feedback Motor Power Cable 2090 XXNF Sx 1 1 2090 5 MP Series TL Series 1326AB M2L S2L F and Y Series Motors MPL xxxx motors shown Publication 2094 UM001A EN P September 2006 14 Start Typical Kinetix 6000 System Installation without Three phase Input Power Pr Logix Controller Programming Network Logix SERCOS interface Module Logix Platform ControlLogix is shown Line Disconnect Device RSLogix 5000 Software Input Fusing Single phase Control Power Magnetic Contactor AC Line Filter 2090 XXLF oxx Integrated Axis Module 2094 5 Power Rail 2094 PRSx 1 0 Connections To input sensors and control string Motor Feedback Cable 2090 5 J Kinetix 6000 M ulti axis Servo Drive System SERCOS Fiber optic Ring 2090 5 I Shunt Module optional component 1 2094 BSP2 Slot Filler Module required to fill any unused slots 3 2094 PRF oO
22. x Buisn4 3nduj Z SIJON 2H 09 suu 09 Jo ZH 06 suu 2e 6 01 eseud eau 4 LNV LYHOdNI September 2006 Publication 2094 Interconnect Diagrams 201 Shunt Module Wiring Examples Shunt Module Wired for Internal Operation default configuration Kinetix 6000 Shunt Module 2094 B SP2 COL INT External Shunt Resistor RC Connector External Thermal Switch TS Connector Shunt Wiring Example with External Passive Shunt Kinetix 6000 Shunt Module 2094 B SP2 External Shunt Resistor RC Connector External Thermal Switch TS Connector External Passive Shunt M odule COL INT Resistor DC Lo TS2 Thermal Switch x Refer to External Shunt Module Specifications on page 184 for a list of external passive shunt module catalog numbers available for the Kinetix 6000 drives IMPORTANT Only passive shunts with a thermal switch are wired to the TS connector on the Kinetix 6000 shunt module If your external passive shunt does not have a thermal switch leave the jumper default configuration in place on the TS connector Publication 2094 UM001A EN P September 2006 202 Kinetix 6000 2094 xx DC Bus Connections Three phase Input IPD Connections Integrated
23. SERCOS Fiber optic Ring When connecting 2094 BM03 and BM05 double wide axis modules use 2090 SCEPO 2 0 2 m 7 0 in cables When connecting 2094 AMxx BMP5 BM01 and BM02 single wide axis modules use 2090 SCEPO 1 0 1 m 5 1 in cables Fiber optic Cable Example 3 double w ide modules 1756 M16SE SERCOS Interface Module Logix Platform ControlLogix is shown SERCOS Fiber optic Ring 0 2m 0 1m 7 0 in 5 1 in Kinetix 6000 System 5 axis power rail 006 IMPORTANT Clean the fiber optic cable connectors prior to installation Dust in the connectors can reduce signal strength For more information refer to Fiber optic Cable Installation and Handling Instructions publication 2090 1 010 Publication 2094 UM001A EN P September 2006 Connecting the Kinetix 6000 Drive System 117 In this example the second Kinetix 6000 system is located in a separate cabinet and connected with bulkhead adapters To avoid signal loss do not use bulkhead adapters to connect IMPORTANT glass cables Only use bulkhead adapters for making plastic to plastic cable connections Fiber optic Cable Example 4 bulkhead adapters 1756 MxxSE SERCOS 1 Interface Module Cabinet a Yrs Les i 1 Logix Platform ControlLogix is shown SERCOS Fiber optic
24. c mm ES 120V ac T 50 60 Hz N Ground Jumper Note 11 Refer to Attention statement Note 13 Indicates User Supplied Component Publication 2094 UM001A EN P September 2006 197 Interconnect Diagrams DC Common Bus Wiring Examples Leader IAM Wiring Example with Single Follow er IAM 0 1 WIT 40 Burs Ajajes ayy yum ui ejqeua 101261002 F X INVI pue sapeay aui aW VL ION 10138uu0 040 NI 109 7 juauodwog sajeaipuy qeuj103800 1309 T vl 910N 1020000 039 N 09 7 103201007 NJ INOJ 10129uuo7 9g 9 BANSISAY JO O 1 8 Z SION FS e Agza vze 10 10 28UUO ayes 9 9NISISO hio lt SNY 98 AvgZ 7661 NISISAY JO O 20290009 LIN 101281002 Jamog 1nduj 10 ddl indui lt WI 1ndu aseud aa1u 1 seyd ET lt TLS pe d 1 gt 91 90N zi 3 suonaauuog lt A 203290007 dN sng 9d 5d 10290000 IN ooN M mog ow indu l rS JN aseyd aaly v
25. pmspunug e ley Jamog 07 Sx ONO JO 0dgAI2OOV EGO spy ODOD DI Sng punoJp jeuiqe papuog September 2006 Publication 2094 247 Integrating Resistive Brake Modules with Kinetix 6000 Drives Z ssaquunu Bojeje ajqeo Jamod 10 g xipuaddy sajdwexa ay 0 WN i ang M J8MOg J0 0JA 201290009 781 Suoroaauuo 1040 4 201290009 181 5 290 07 BAL pIatus Plats 9 30N 30N 1 199 2 SMPo MASSA umena ly 1VISNOO Zv 1 15 00 C gt dad C al NON i dad J0 3euuo 58 9 gt uve AANSISOY JO O 203290002 28 D7 Suor3auuo 0 1 TUN 9 0219 0602 203290002 91 1ndu Aeiixny ION 9 qe aaeyieu 0 Ng Ld03t L 8HNDOCOB0Z A YLIN N n v Ii LL 8 nri 8 7 UIN A a INU 7 A JN e J8MOdg 104014 3 z M n M t gt Tr y O patys LION 1 sxy 20Na JO tE
26. AM 230V Wiring Example with M P Series MPL A and MPG A Motors 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 Cable LE MF Connector 0 IAM AM 1 4 Green Yellow D A BLACK SIN 1 2 gt gt 3 3 1 Blue C lt lt w i GND ae XX SIN 2 Motor Power W lt lt COS 3 4 MP Connector V 2 2 Black B V C s RED 5 lt lt Three phase D WHT RED COS 4 U 3 Brown A Motor Power gt gt 6 MINER lt gt GREEN DATA 5 x XXo XX oy Farh WHT GREEN XX DATA 10 onnector 16 Motor Feedback gt GRAY 5VDC 14 L WHT GRAY ECOM 6 10 gt Motor Resistive N ORANGE 9VDC 7 11 2090 UXNBMP 18Sxx Brake 12 Brake BC Connector n B R ORANGE TS 11 6 Black C BR 13 BRK gt Y 5 BLUE TS 14 5 White A BR 15 BRK lt lt Thermostat P ptu COM Lr ox User Supplied Motor Brake gt gt v L 1 efer to low profile connector 17171 PWR TNI 24V dc 1 2A illustration lower left m for proper grounding technique DBRK lt BR Resistive Brake E C ti 2090 XXNFMP S DBRK flying lead Feedback Cable
27. Compatible Brake Motors Coil Current Compatible Brake Motors Coil Current F 6100 6200 and 6300 1 30 A MPL x520 x540 x560 x580 1 1 05 1 28 MPF B540 H 6100 6200 and 6300 1 13 A 1326 5 and 7 1 20A 1 Applies to 230V and 460V motors Coil Currents Rated at 21 3 A and lt 3 0 Compatible Brake Motors Coil Current Compatible Brake Motors Coil Current 2204 MPL B640 B660 B680 B860 B880 H 8350 and 8500 B960 B980 1 91 2 19 A Publication 2094 UM001A EN P September 2006 212 Interconnect Diagrams System B lock Diagra ms This section provides block diagrams of the Kinetix 6000 modules For block diagrams of the line interface module LIM and resistive brake module RBM refer to Additional Resources on page 10 for the documentation available for those products IAM AM inverter Block Diagram Motor Shield Clamp el B Shunt Circuit 460V only 0 Three phase Motor Output Inverter Section gh Motor Resistive Brake Connections Chassis 12 Control 24V Customer 1 0 9V 5V Motor Feedback Choke 460V only Common Mode 5 ID GSHUNT 2 2 Publication 2094 September 2006 213 Interconnect Diagrams IAM converter Block Diagra
28. Specifications pount Drive Peak Peak Cont Shipping Bussmann atalog Number Voltage Resistance Power Current Power Weight Replacement Fuse Vac Q kW A kg Ib 230 41 0 101 25 FNO R 20 R1 1394 SR9A 4 300 3 63 8 460 60 0 20 0 FWP50A14F 230 410 101 25 FNO R 20 R1 394 SR9AF 4 900 3 63 8 460 160 0 20 0 FWP50A14F 230 41 0 101 25 FNO R 20 R1 1 394 SR36A 4 1800 8 6 19 460 60 0 20 0 FWP50A14F 230 41 0 101 25 FNO R 25 R1 394 SR36AF 4 3600 9 0 20 460 60 0 20 0 FWP50A14F 1 Requires the use of FNQ fuse with an adapter allow the smaller body fuse to fit the larger FWP fuse holder Bulletin 1336 external active shunt modules wire directly to the dc bus External Active Shunt M odule Specifications Specifications cvs Shunt Module inni Kinetix 6000 Drives Drive Peak Peak Continuous Shipping Fuse Replacement Catalog Number Voltage Resistance Power Current Power Weight Q kW A W kg Ib 1336 MOD KA005 28 0 6 15 375 A50P10 2094 230V 1336 MOD KA010 13 2 12 30 750 6 8 15 50 20 1336 MOD KB005 104 0 6 7 5 375 A600 2094 1336 MOD KB010 460V 52 0 12 15 750 A600 1336 MOD KB050 10 0 60 76 3750 33 8 75 700535 Refer to the Common DC Bus Selection Guide publication DRIVES SGO001 for dimensions and catalog number information for the Bulletin 1336 active shunt modules Publicat
29. 183 External Shunt Module Specifications 184 Product 185 Appendix B MEMEO MUCHO iiri tp tee RAE EU Odd E tuns 191 Wining Examples a create fea Ra PEG Le ae De 192 Power Wiring Examples 193 DC Common Bus Wiring Examples 197 Shunt Module Wiring 1 201 Axis Module Motor Wiring Examples 204 Controlling Brake 210 System Block Diagrams 212 Appendix C eaa a p eue Shot eise Koo S 215 Using ControlFLASH Software to Upgrade Drive Firmware 216 Before You 216 Selecting the Drive to 217 Configuring Logix Communications 218 Flashin ber e e 220 Troubleshooting ControlFLASH 222 Verifying the Firmware Upgrade or x 223 Using DriveExplorer Software to Upgrade Drive Firmware 224 Before You 224 Selecting Axis Modules to Upgrade 224 HyperTerminal Configuration 226 Flashing Firmware 228 DC Common Bus Applications Integrating Resistive Brake Modules with Kinetix 6000 Drives Table of Contents 7 Appendix D Introd uc ofi doo
30. 4 0 12 Connecting the Kinetix 6000 Drive System Strip Length mm in 16 0 0 63 Strip Length mm in 10 0 0 38 85 Line Interface Module Top View 2094 XL75S Cx is shown Torque Value Nm Ib in 2 7 24 Torque Value Nm Ib in 1 5 1 8 13 2 15 9 Publication 2094 UM001A EN P September 2006 86 Connecting the Kinetix 6000 Drive System Wiring the VAC LOAD OPL Connector Line Interface OPL connector Line Interface Module Top View 2094 XL75S Cx is shown Line interface modules 2094 ALxxS BLxxS and XL75S Cx are capable of connecting to two IAMs providing each IAM has its own line filter and the maximum current specification is not exceeded IMPORTANT Refer to Power Wiring Examples on page 194 for an example of the LIM wired to two IAMs VAC LOAD OPL Connector 2094 ALxxS BLxxS or XL75S Cx Recommended Wire Size Strip Length Torque Value Three phase Supply OPL Pin Signal mm AWG lin Nm Ib in L1 4 LT 3 2525 16 0 27 L3 2 13 14 4 0 63 24 LOAD OPL Connector 2094 AL09 A Recommended Wire Size Strip Length Torque Value Three phase Supply OPL Pin Signal mm AWG lin Nm Ib in L1 1 LT 2 2 2 25 25 16 0 27 13 3 13 14 4 0 63 24 E 4 E LOAD OPL Connector 2094 BL02 A A Recommended Wire Size St
31. 50 8 mm 2 0 in 272 mm 10 7 in IMPORTANT Although clearance left and right of the power rail is not necessary for ventilation additional clearance is required when mounted adjacent to noise sensitive equipment or clean wireways Refer to page 180 for power dissipation specifications Publication 2094 UM001A EN P September 2006 Minimizing Electrical Noise Planning the Kinetix 6000 Drive System Installation 27 This section outlines best practices which minimize the possibility of noise related failures as they apply specifically to Kinetix 6000 system installations For more information on the concept of high frequency HF bonding the ground plane principle and electrical noise reduction refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 Bonding Modules Bonding is the practice of connecting metal chassis assemblies frames shields and enclosures to reduce the effects of electromagnetic interference EMD Unless specified most paints are not conductive and act as insulators To achieve a good bond between power rail and the subpanel surfaces need to be paint free or plated Bonding metal surfaces creates a low impedance return path for high frequency energy IMPORTANT To improve the bond between the power rail and subpanel construct your subpanel out of zinc plated paint free steel Improper bonding blocks the direct return path and
32. OC3OEDCOGU JOqAI 29 JO ANOV tE F PON cg ARSS SMPOW spo paeau umena September 2006 Publication 2094 245 Z 810N siaquinu Jamod 1 10 10 g xipuaddy sajdwexa ay 0 Integrating Resistive Brake Modules with Kinetix 6000 Drives WN ang M J8MOg J0 0JA 201290009 781 Suoroaauuo 1040 4 201290009 181 5 290 07 BAL Palys AON 1 45 ejqen IION 1 99 6 Seg anasissd ING Ol ly 1VISNOO Zv 1 15 00 C gt ouad NON i dad J0 3euuo 58 9 gt uve AANSISOY JO O 203290002 28 D7 Suor3auuo 0 1 TOUS 0219 0602 203290002 91 1ndu Aeiixny ION 9 qe aaeyieu 0 Ng 03t L 8HNXOC060Z A YLIN N n vI 8 nri 8 7 YLIN A a INU 7 A JN e J8MOdg 104014 3 z N M n M t ty y rH patys LION 1 sxy 20Na JO tE spy 0000 xHeUDI
33. Power Rail Note Bonded Cabinet Ground Bus o Ground Stud Cable Shield Clamp 10 gt Three phase Motor Power Connections gt Note 16 gt 6 BR E lt lt Motor Brake Bre 3 Connections 3 From P1L connector LIM gt n 4 1 13 Motor Power V 2 1 U CTRL2 Control Power From CPL connector LIM 5221 CTRL CPD Connector 0 oe 2 DC Bus 1 DC ang 3 Three phase Three phase 4 Input IPD From OPL connector LIM AC Line Filter 5 Connector C gt 3 12 11 MBRK MBRK L Motor Resistive COM Brake BC Connector PWR iw DBRK L DBRK From IOL connector LIM gt and CED connector IAM_1 5 4 CONT EN Contactor Enable CONT CED Connector Note 14 2 BR 1 lt Resistive Brake lt Connections Publication 2094 UM001A EN P September 2006 196 Interconnect Diagrams The configuration on this page does not include a LIM You must supply input power components The single phase and three phase line filters are wired downstream of fusing and the M1 contactor ATTENTION Wiring the contactor enable CED relay is required To avoid injury or damage to the drive wire the contactor ena
34. Wires Low profile Connector Low profile Connector Drain Wire Wire Insulation Foil Shield za Mounting m Braided Shield gt Screws Pin 1 Pin 11 Outer Insulation 128 Pin6 Drain wire only with 1326 CCUx xxx cable folded back under clamp Shield Clamp 2 IT aT clamp over to hold small wires secure Exposed Braid under clamp 015141812 1110 9 8 7 6 5 4 3 2 1 Refer to Chapter 4 for feedbac signal descriptions Tie Wrap Refer to Wiring Examples beginning on page 192 for the motor feedback y interconnect drawing for your application 5 9LZL Pins S 16 and 17 are only included on H 2090 K6CK D15MF Low Profile connectors and used for thermal switch connections to 1326AB 1326 CCUx xxx Feedback Cable resolver based motors After filtering these pins connect to MF 11 and 6 Thermal Switch Wires IMPORTANT The purpose of the cable shield clamp is to provide a proper ground and improve system performance not stress relief Clamping the exposed braid under the shield clamp is critical Turn clamp over if necessary to ensure a proper ground Publication 2094 UM001A EN P September 2006 112 Connecting the Kinetix 6000 Drive System Wiring 26 Pin 0 Ca
35. tac de eno a OU capot OR de e D CR 251 Before You Besit ouo sa ted Me 251 Calculating Total Bus Capacitance 232 Calculating Additional Bus Capacitance 232 Kinetix 6000 Capacitance Values 233 Common Bus Capacitance Example 234 Setting the Additional Bus Capacitance Parameter 235 Removing SERCOS 235 Setting the Additional Bus Capacitance Parameter 236 Saving the Add Bus Cap Parameter to Non Volatile 237 Reconnecting SERCOS Communication 238 Appendix E Introd Uc ofi ss peep 239 Befort You BeSIficr qe e S oed sei ie ase 239 Understanding Safety 240 Safety Standards for Reference 240 Background on Safety 241 Stop Categories 241 Risk Assessment g ake Ge BONG SER BREESE 242 Control 243 Resistive Brake Module Wiring 1 243 Setting the RBM Delay Time Using DriveExplorer 252 Removing SERCOS Communication 252 Setting the RBM Delay Time Parameter 253 Saving the Delay Time Parameter to Non Volatile 254 Reconnecting SERCOS Communication 255 Publi
36. 1 0 100 Connector ______ gt Auxiliary Feedback AF Connector Motor Feedback MF Connector Mounting Screw gt Publication 2094 UM001A EN P September 2006 52 Kinetix 6000 Connector Data Integrated Axis M odule Axis Module Connectors Designator Description Connector erg 100 User 1 0 drive 26 pin high density D shell Motor feedback 15 pin high density D shell female AF Auxiliary feedback 15 pin high density D shell male IAM AM CPD Control input power drive 2 position plug header IAM bin Input Power drive 230V and 6 position plug header IAM ini bus ee Power drive 460V and 6 position plug header IAM CED Contactor enable 2 position plug header IAM MP Motor power 4 position plug header IAM AM BC Dynamic motor brake 6 position plug header IAM AM 50 Safe off 9 position plug header Tx and Rx SERCOS transmit and receive SERCOS fiber optic 2 IAM AM DPI DPI DPI IAM Safe off Connector Pinout Each IAM 2094 xCxx Mxx S and AM 2094 xMxx S ships with the 9 pin wiring plug header and motion allowed jumper installed in the safe off SO connector With the motion allowed jumper installed the safe off feature is not used Motion Allow ed J umper Kinetix 6000 IAM AM Kinetix 6000 AM is shown Publication 2094 UM001A EN P September 2006 Safe off S0 Connector
37. Where T is temperature difference between inside air and outside ambient F Q is heat generated in enclosure Watts and A is enclosure surface area 2 The exterior surface of all six sides of an enclosure is calculated as A 2dw 2dh 2wh 2dw 2dh 2wh 144 Where d depth w width and h height are in meters Where d depth w width and h height are in inches Planning the Kinetix 6000 Drive System Installation 25 The maximum ambient rating of the Kinetix 6000 system is 50 C 122 F and if the maximum environmental temperature is 30 C 86 F then Q 606 and T 20 in the equation below _ 038 606 _ 2 8 20 11 In this example the enclosure must have an exterior surface of 6 59 meters If any portion of the enclosure is not able to transfer heat it should not be included in the calculation Since the minimum cabinet depth to house the 230V drive selected for this example is 200 mm 7 9 in then the cabinet needs to be approximately 2100 mm high x 1250 mm wide x 200 mm deep 2 x 0 2 x 1 25 2 x 0 2 x 2 1 2 x 1 25 x 2 1 6 59m Because this cabinet size is considerably larger than what is necessary to house the system components it may be more efficient to provide a means of cooling in a smaller cabinet Contact your cabinet manufacturer for options available to cool your cabinet Publication 2094 UM001A EN P September 2006 26 Planning t
38. is beneath the less noisy modules C O analog encoder registration etc grey wireway e The dirty zone D is above and below the power supply and noisy modules black wireway The SERCOS fiber optic cables are immune to electrical noise Establishing Noise Zones ControlLogix Dirty Wireway Clean Wireway Route dirty wireways directly above the ControlLogix rack shielded by the chassis AC Line Filter Spare Slots C Line Filter Power Supply Dirty 1 0 Clean 1 0 Connections Segregated 54V de 1 0 ac 1 0 Analog Encoder not in wireway Registration Cable Categories for Kinetix 6000 Systems The table below indicates the zoning requirements of cables connecting to the Kinetix 6000 drive components Integrated Axis Module converter side Zone Method Wire Cable Connector m plity lean Ferrite Shielded CTRL 1 and 2 CPD DC DC unshielded cable X L1 L2 L3 shielded cable IPD X X L1 L2 L3 unshielded cable X CONT EN and CONT EN contactor CED X DPI DPI X X Publication 2094 UM001A EN P September 2006 38 Planning the Kinetix 6000 Drive System Installation Integrated Axis Module or Axis Module inverter side Zone Method Wire Cable Connector Very Dirty Clean Ferrite Shielded U
39. 0 22 0 25 Thermal switch xs Ys 0 75 18 19 22 105 C 221 F 600V Publication 2094 UM001A EN P September 2006 82 Connecting the Kinetix 6000 D Publication 2094 UM001A EN P September 2006 rive System Refer to Power Specifications on page 170 for additional information Refer to Power Wiring Examples on page 193 for interconnect diagrams ATTENTION This drive contains ESD Electrostatic Discharge sensitive parts and assemblies You are required to follow static control precautions when you install test service or repair this assembly If you do not follow ESD control procedures components can be damaged If you are not familiar with static control procedures refer to Allen Bradley publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook ATTENTION To avoid personal injury and or equipment damage ensure installation complies with specifications regarding wire types conductor sizes branch circuit protection and disconnect devices The National Electrical Code NEC and local codes outline provisions for safely installing electrical equipment To avoid personal injury and or equipment damage ensure motor power connectors are used for connection purposes only Do not use them to turn the unit on and off To avoid personal injury and or equipment damage ensure shielded power cables are grounded to prevent pote
40. 02 02 5 is shown Publication 2094 UM001A EN P September 2006 These procedures assume you have mounted your Kinetix 6000 system completed all power wiring and are ready to connect your feedback and I O cables For This Connection Go to Premoldedcable Premolded Motor Feedback Cables on page 108 Panel mounted breakout board Wiring Panel mounted Breakout Board Kits on page 109 Low profile connector Wiring Low profile Connector Kits on page 110 Connecting Premolded Motor Feedback Cables Motor feedback cables with premolded connectors plug directly into 15 pin motor feedback MF connectors on either the IAM or AM no wiring is necessary IMPORTANT When using Bulletin 2090 cables with premolded connectors tighten the mounting screws finger tight to improve system performance Integrated Axis M odule Axis Module MF connector Integrated Axis Module Side View 2094 BC02 M02 S is shown Premolded Connector 2090 UXNFBMP Sxx cable Motor Feedback MF Connector Connecting the Kinetix 6000 Drive System 109 Wiring Panel mounted Breakout Board Kits The panel mounted breakout board kit catalog number 2090 UXBK D15xx includes a DIN rail breakout board and cable The cable connects between the breakout board and the motor feedback MF connector Wires from your flying lead motor feedback cable connect to the termi
41. 02 Kinetix 6000 460VAC AM 4A 6A 2094 5 04 1756 ENBT A 10 Locate your servo drive by expanding the ethernet node Logix backplane and SERCOS interface module 11 Select the servo drive to flash 12 Click OK 13 Minimize the RSLinx application dialog and return to your RSLogix 5000 project dialog Publication 2094 UM001A EN P September 2006 220 Upgrading Firmware Flashing Firmware The Firmware Revision dialog opens with the current firmware revision listed Firmware Revision Catalog Number 2094 01 5 SerialNumber 00000000 Current Revision 1 88 1 C on t rol Select the new revision for this update Show All Hes tion r Current Folder 1 contro 1 lt Next gt Cancel Help 1 Select the firmware revision for the upgrade 2 Click Next The Summary dialog opens DANGER The target module is about to be update with new firmware During the update the module will be unable to perform its normal control function Please make sure that all processes Con trol affected by this equipment have been suspended and that all safety critical functions are not affected To abort this firmware update press Cancel now To begin the update now press Finish Catalog Number 2094 BC01 MP5 SerialNumber 00000000 Current Revision 1 88 New Revision 1 89 More Info lt Back Finish Cancel H
42. 160 Using Analog Test Points to Monitor System Variables 161 Chapter 8 163 Betore You Ge ots RO deti e o qnd ene 163 Removing Power Rail 164 Replacing Power Rail 165 Removing tbe Power 166 Replacing the Power 167 Publication 2094 UM001A EN P September 2006 6 Table of Contents Specifications and Dimensions Interconnect Diagrams Upgrading Firmware Publication 2094 UM001A EN P September 2006 Appendix A Introduction ir a No GL CR dene eode dae 169 Power Specifications cis Nerea ae P CU ERR p EA I UP ESSE d 170 Integrated Axis Module converter Power Specifications 170 Axis Module inverter Power Specifications 172 Shunt Module Power Specifications a i o oec 173 Circuit Breaker Fuse Specifications 177 GOntactor Ratings ses oes e BEE ee 179 Transformer Specifications for Control Power Input 179 Power Dissipation Specifications rey eso ek 180 General Specifications 181 Maximum Feedback Cable Lengths 181 Environmental Specifications cose ee eas 181 Weight Specifications 182 tera Goch bo ERG obsceno DU o 182 AC Line Filter 5 5
43. Axis 1 X HI Node 129 lt none gt Auxiliary Axis Status Offline Cancel Publication 2094 UM001A EN P September 2006 130 Configure and Startup the Kinetix 6000 Drive System Publication 2094 UM001A EN P September 2006 With drive firmware revision 1 80 or later and RSLogix 5000 software revision 13 or later it is possible to configure the auxiliary axis feedback port as a Feedback Only axis With this feature each IAM inverter or AM can be configured to appear as two axes nodes on the SERCOS ring The base node is the servo axis utilizing the motor feedback and the base node plus 128 is a feedback only axis utilizing the auxiliary feedback port as shown below Wil Module Properties SE MOD 2094 16 1 1 General Connection Associated Axes Power Module Info Node 1 _ E New Axis 129 Axis 1 Aux E Auxiliary Axis Status Offline If an axis is associated to the auxiliary axis node then the Axis Configuration on the General tab of the Axis Properties dialog is set to Feedback Only as shown below Axis Properties Axis_1 Fault Actions Motor Feedback Hookup Drive Mator Homing Units Conversion Motion Planner General Aux Feedback Feedback Only E IM IAM 7 2094 4C16 M03 Axis Configuration Motion Group New Group Associate
44. Condition Axis or system is unstable Potential Cause The position feedback device is incorrect or open Use the tables below for troubleshooting general system faults Possible Resolution Check wiring Unintentionally in torque mode Check to see what primary operation mode was programmed Motor tuning limits are set too high Run Tune in RSLogix 5000 software Position loop gain or position controller accel decel rate is improperly set Run Tune in RSLogix 5000 software Improper grounding or shielding techniques are causing noise to be transmitted into the position feedback or velocity command lines causing erratic axis movement heck wiring and ground Motor Select limit is incorrectly set servo motor is not matched to axis module e Check setups e Run Tune in RSLogix 5000 software Mechanical resonance Notch filter or output filter may be required refer to Axis Properties dialog Output tab in RSLogix 5000 software You cannot obtain the motor acceleration deceleration that you want Torque 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 inertia is excessive e Check motor size vs application need e Review servo system sizing The system friction torque 15 excessive Check motor size
45. Kinetix 6000 IAM AM SERCOS Connections Two fiber optic connectors transmit and receive are provided on the integrated axis module IAM and axis module AM SERCOS Communications Specifications Specification Description Data Rates 2 4 and 8 Mbps Node Addresses 01 99 1 Node address assignments begin with the integrated axis module IAM Node addresses for additional axes on the same power rail are assigned by incrementing from left to right starting with the IAM address Publication 2094 UM001A EN P September 2006 62 Kinetix 6000 Connector Data Analog Outputs The integrated axis module IAM and axis module AM include two analog outputs IOD 23 and 25 that can be configured through software to represent drive variables Analog Output Circuit Oscilloscope 2 5V 0 ref CH2 2 5V i o DAC AWW IMPORTANT Output values can vary during power up until the specified power supply voltage is reached Analog Output Specifications Parameter Description Min Max Resolution Number of states that the output signal is divided 411 bits into which is 2 to the number of bits E Output current Current capability of the output 0 2mA Output signal range Range of the output voltage 0 5V Offset error Deviation when the output should be at OV 1mV Bandwidth Frequency response of the analog output dc 7 2k Hz 3 db For configuration se
46. Publication 2094 UM001A EN P September 2006 162 Troubleshooting the Kinetix 6000 Drive System Parameters begin with a variable to identify a specific axis by slot number as follows e IAM 0 for parameters 0 999 e 1st AM 1 for parameters 1000 1999 e 2nd AM 2 for parameters 2000 2999 and so on e 7th AM 7 for parameter 7000 7999 Monitor System Variables Controlling Parameter Scale Parameter Analog Output Parameter Number 0 Default Value 0 Parameter Number Default Value 1 x681 xx4 x682 0 0060 2 X683 xx84 x684 0 1000 1 x slot number The value entered in Scale Parameter will scale the analog output so that you can get a full scale reading of the specific parameter for the dynamic range or values you are testing Monitor Dynamic System Variables Attribute Parameter Number Velocity feedback 2 0 Velocity commanded 2 Xx36 Torque feedback 3 84 Torque commanded 3 Xx80 Following error 4 189 X slot number Velocity Command and Feedback scaling value is 0 25V 1000 rpm using default scaling Torque Command and Feedback scaling value is 0 25V 100 rated motor current or amplifier rating whichever is less using default scaling Output scaling is dependant on feedback device and drive resolution Publication 2094 UM001A EN P September 2006 Introduction Before You Begin Chapter 8 Removing and Replacing the Kinetix 600
47. category 3 configuration The example diagram below shows Kinetix 6000 IAM and LIM RBM W Integrating Resistive Brake Modules with Kinetix 6000 Drives 250 juauodwoy peijddng S LIPU 6 0000 NyC Ex 5 WOO AvC 9 7 ev 102 JIGVNI 10120uu05 109 t E aot 27 INVISNOO p INO 7 zu STR C N3 100 OI 101 0 1 HS 92 01 101291100 039 9jqeu3 201261007 gt Ol YMd 1038uuo 1 w09 Suoro8uuo 0 1 yuan _ aye1g i S eAnsiseu 1010 A ERR INO H p 154 WOJ JHN MANO 02 8 0602 UNUS Vp 103 uu0 Indu 1ndu eseud eaiu H 9 19 ze H a 7 SUN adindu amp l ti el sjequinu Bojejeo eseud aeJu z 10120uuo Jamod 104 g
48. e Keep unshielded wiring as short as possible Keep shunt wiring as flat to the cabinet as possible e Separate shunt power cables from other sensitive low voltage signal cables External Shunt Resistor Inside the Enclosure Dirty Wireway Clean Wireway Enclosure 150 mm 6 0 in clearance min on all four sides of the shunt module Shunt thermal Switch and Fan Wires when present VD Shunt Power Wiring Methods Twisted pair in conduit 1st choice Very Dirty Connections Segregated Shielded twisted pair 2nd choice not in wireway Twisted pair two twists per foot min 3rd choice D Motor Power Cables D 2094 BSP2 D vn Shunt Module Came No sensitive equipment within Ei 150 mm 6 0 i EL 3 mm 6 0 in T aar Kinetix 6000 2 8 System o D Line Interface Module C C D 1 0 and Feedback Cables Route 24V dc 0 Route encoder analog registration shielded cable shielded cables Publication 2094 UM001A EN P September 2006 42 Planning the Kinetix 6000 Drive System Installation Publication 2094 UM001A EN P September 2006 Resistive Brake Modules Observe the following guidelines when mounting your resistive brake module RBM e Mount circuit components and wiring in the dirty zone or in an external shielded enclosure If mounting the RBM in a separate ventilated shielded enc
49. hardware overtravel 147 hookup fault 149 Ifbk HW fault 149 illegal hall state 147 IPM fault 147 memory init 150 module mismatch 150 motor encoder error 148 motor feedback loss 147 motor jumps when first enabled 146 motor overtemp 146 mtr fdbk noise fault 149 NV mem init 150 objects init 150 overspeed fault 148 power indicator not on 146 power phase loss 149 pre charge fault 148 pre charge timeout flt 151 safe off HW fault 149 SCANport comm 150 self sense fault 149 SERCOS init 150 SERCOS ring fault 149 SERCOS same addr 149 shunt module fault 151 shunt time out 150 software overtravel 148 task init 150 unknown axis 149 general system problems 155 abnormal noise 156 axis unstable 155 erratic operation 156 feedback noise 156 motor accel decel problems 155 motor overheating 156 motor velocity 155 no rotation 156 Logix drive fault behavior 157 programmable fault action 157 shunt fault LED 154 shunt module 153 shutdown 157 Publication 2094 UM001A EN P September 2006 264 Index Publication 2094 UM001A EN P September 2006 status only 157 stop motion 157 supplemental troubleshooting information 160 changing parameters 160 using analog test points 161 temperature fault LED 154 tuning axes bandwidth 142 tune tab 141 typical installation DC common bus 15 with LIM 13 without LIM 14 U ungrounded power configuration 73 units tab 133 unknown axis 149 W weight specifications 182 who should use this m
50. 0to7 N A 0 N A 2 50 9 AC16 M03 S 200 plus AC32 M05 S ACxx Mxx S 0106 2094 BSP2 2875 14 1 57 200 N A 2 200 plus ACxx Mxx S 300 1394 SR9A 300 ACxx Mxx S 900 1394 SR9AF 900 6 0106 2094 BSP2 4 101 3 4 ACxx Mxx S 1800 1394 SR36A 1800 ACxx Mxx S 3600 1394 SR36AF 3600 V Refer to page 184 for external shunt module specifications Module not part of system configuration B 50 or the sum of the AM internal shunt ratings 4 200 plus the sum of the AM internal shunt ratings 200 plus the sum of the IAM 2094 16 and AC32 M05 only and AM internal shunt ratings 6 Use of external shunt disables shunts internal to IAM and AM IMPORTANT Publication 2094 UM001A EN P September 2006 The Kinetix 6000 shunt module catalog number 2094 BSP2 used in combination with the 2094 AC09 MO02 IAM disables the shunt resistor internal to that IAM This situation is unique to the 2094 AC09 MO02 IAM Shunt resistors internal to adjacent AMs are not disabled Refer to the 2094 09 02 example on page 175 Kinetix 6000 230V Shunt Power Example B 300 W Continuous Shunt Power i i Specifications and Dimensions 175 In the example below the continuous shunt power is 300 W The 50 W resistor in the IAM is disabled when used in combination with the 2094 BSP2 SM This example is unique to the 2094 AC09 M02 IAM 230V Shunt Pow er
51. 10129109 042 11919 ih lt 21 8910 n pue I gt lt SINH 9 96 91 0N lt l 700 i d 10210 eseud ejBuis Suon3auuo 7 203290002 dN 50 Jamog Jojo lt t M 100W Bog T plays 4 jo Y 0142 11812 7 LO 07u09 1819 OL a10N punog 9 L Jamog sng punoJp en ami gt 009 JO ON OOW TENE papuog OL pms puno e Be ley lt HeubDi sng punolg XAN LOH JO 2OqgAL2CON G0 Jeuiqe papuog INVI AMOJ Sng September 2006 Publication 2094 198 Interconnect Diagrams Leader IAM Wiring Example with Multiple Follower IAM gt Follower gt DC Bus Connections gt To Follower Control Power Kinetix 6000 Common Bus Leader IAM gt Connections 2094 ACxx M xx or BCxx M xx Bonded Cabinet Ground Bus Power Rail o 9 Ground Stud Note 10 2 Cable Shield Clamp Single phase Input e Gm 2 Control Power 95 264V ac RMS 2 Notes 1 2 CTRL1 CPD Connector L 5 Note 4 Jg Three phase 1 DC Motor Power W gt Motor Power 2 MP Connector V 2 Connections DC DC Bus 1 Note 16 U a Three phi Thr
52. 206 MPL A 205 MPL B 204 TL Series 207 Y Series 210 power and brake pin outs 59 power wiring 1326AB 98 MP 96 97 Y Series 100 shield clamp wiring 103 testing 138 tuning 138 mounting your drive external shunt resistor 48 module mounting order 44 mounting modules 45 mtr fdbk noise fault 149 no communication 152 no rotation 156 node address 129 noise abnormal 156 feedback 156 reduction 39 zones 30 NV mem init 150 0 objects init 150 optical power level 121 128 overspeed fault 148 Index 261 overview 11 panel requirements 20 panel mounted breakout kit 109 parameters changing 160 pin outs auxiliary feedback connector 57 I O connector IAM AM 54 input connector IAM 58 motor and brake connector 59 motor feedback connector 55 105 safe off connector 52 shunt module connector 68 planning your installation 19 power dissipation specifications 180 power indicator not on 146 power phase loss 149 power rail connecting braided strap 78 removing 166 removing modules 164 replacing 167 power supply feedback 67 power up 135 pre charge 15 74 pre charge fault 148 pre charge flt 151 premolded feedback cables 108 publications related 10 R RBM 42 related publications 10 relay output 210 removing modules 164 replacing modules 165 resistive brake module interconnect diagrams 243 setting the RBM delay time 252 wiring 114 risk assessment 242 routing power and signal wiring Publicatio
53. 2094 BM03 S 458 10 1 2094 BM05 S 4 98 11 0 2094 PR1 1 04 2 3 2094 PR2 1 41 3 1 Power Rails 2094 PR4 2 18 4 8 2094 PR6 2 90 6 4 2094 PR8 3 63 8 0 SM 460V 2094 BSP2 3 10 6 8 Slot Filler Module 2094 PRF 0 45 1 0 Standards UL Lis ed to U S and Canadian safety standards UL 508 C File E59272 CE European Union 89 336 EEC EMC Directive compliant with EN 6 Adjus 800 3 2004 able Speed Electrical Power Drive Systems Part 3 EMC Product Standard including specific test methods European Union 73 23 EEC Low Voltage Directive compliant with e EN 60204 1 1997 Safety of Machinery Elec e EN 50178 1997 Electronic Equipment for use rical Equipmen in Power Instal of Machines ations 1 Functional Safety e EN 60204 1 1997 Safety of Machinery Elec e 61508 Part 1 7 2000 Functional Safety o rical Equipmen Electrical Elec Programmable Electronic Safety related Systems e EN954 1 1996 Safety of machinery Safety re Part 1 General principles for design Publication 2094 UM001A EN P September 2006 of Machines ronic ated parts of control systems Refer to http www rockwellautomation com products certification for Declarations of Conformity Certificates AC Line Filter Specifications AC Line Filter Catalog Number 2090 XXLF X330B Specifications and Dimensions 183 The tables below contain specifications for ac
54. 2094 shunt modules the IAM bus regulator capacity attribute displays the shunt module or passive shunt module utilization instead of the IAM internal shunt resistor utilization DC common bus applications must calculate Total Bus IMPORTANT 0 Capacitance and Additional Bus Capacitance and set the Add Bus Cap parameter x x x599 using DriveExplorer software Refer to the Appendix D beginning on page 231 for more information 12 Click OK 13 Repeat steps 1 9 for each 2094 xMxx axis module Publication 2094 UM001A EN P September 2006 132 Configure and Startup the Kinetix 6000 Drive System Publication 2094 UM001A EN P September 2006 Configure the Motion Group Follow these steps to configure the motion group 1 Right click Motion Groups in the explorer dialog and select New Motion Group The New Tag dialog opens Name the new motion group Click OK New group appears under the Motion Groups folder Right click the new motion group and select Properties The Motion Group Properties dialog opens Motion Group Properties IM Motion Axis Assignment Attribute Tag Unassigned Assigned Add gt lt Remove Select the Axis Assignment tab and move your axes created earlier from Unassigned to Assigned Select the Attribute tab and edit the default values as appropriate for your application Click OK Configure and Startup the Kinetix 6000 Drive System 133 Configur
55. 2887 4788 Fax 852 2508 1846 Publication 2094 UM001A EN P September 2006 Supersedes Publication 2094 IN001G EN P and 2094 INO02E EN P Copyright 2006 Rockwell Automation Inc All rights reserved Printed in the U S A
56. 4 64 3 3 1756 ENBT Ethernet communications module 40 0 Backplane total 17 18 2 N A 756 PB72 24V de ControlLogix power supply N A 25 2 1756 A7 7 slot mounting chassis N A N A Total ControlLogix system wattage 34 1 1 2 Publication 2094 UM001A EN P September 2006 ControlLogix Real Power 1756 P B72 Backplane 1756 P B75 Power Load dc watts For ControlLogix module specifications refer to the ControlLogix Selection Guide publication 1756 56001 Real power heat dissipation is determined by applying the backplane power load 17 18W to the graph below 75 45 30 15 0 0 20 40 60 Real Power 80 100 watts For backplane power loading requirements of other ControlLogix power supplies refer to the ControlLogix Selection Guide publication 1756 56001 In this example the amount of power dissipated inside the cabinet is the sum of the Kinetix 6000 system value 572 W and the ControlLogix system value 34 W for a total of 606 W With no active method of heat dissipation such as fans or air conditioning either of the following approximate equations can be used Metric _ 0 380 187 11 Standard English 4 080 Where is temperature difference between inside air and outside ambient C Q is heat generated in enclosure Watts and A is enclosure surface area m2 The exterior surface of all six sides of an enclosure is calculated as
57. 460V systems or 160 m 525 ft with 230V systems Drive to motor power cables must not exceed 90 m 295 5 ft e Use 2090 series motor feedback cables or use connector kits and properly terminate the feedback cable shield Drive to motor feedback cables must not exceed 90 m 295 5 ft e Install the Kinetix 6000 system inside an enclosure Run input power wiring in conduit grounded to the enclosure outside of the enclosure Separate signal and power cables Refer to Chapter 5 beginning on page 69 for wiring instructions and the Kinetix Motion Control Selection Guide publication GMC SG001 for catalog numbers CE Requirements System with LIM To meet CE requirements when your Kinetix 6000 system includes the line interface module LIM follow all the requirements as stated in CE Requirements System without LIM and these additional requirements as they apply to the ac line filter e Install the LIM 2094 ALOO or BLO2 as close to the integrated axis module IAM as possible e Install the LIM 2094 ALxxS BLxxS or XL75S Cx with line filter 2090 XXLF xxxx as close to the IAM as possible When the LIM 2094 ALxxS BLxxS or XL75S Cx supports two IAMs each IAM requires an ac line filter installed as close to the IAM as possible Publication 2094 UM001A EN P September 2006 18 Start Publication 2094 UM001A EN P September 2006 Chapter 2 Planning the Kinetix 6000 Drive System Installation Intro
58. 6000 system and above and below the LIM black wireway The very dirty zone VD is from the filter output to IAM Shielded cable is required on the EMC filter load side and the braided shield attached to the clamp provided The SERCOS fiber optic cables are immune to electrical noise Establishing Noise Zones LIM with EM C filter behind IAM 1 2 Clean Wireway Dirty Wireway n Motor Power Cables D Very Dirty Filter IAM Connections Segregated not in wireway D D D VAC Line Control VAC AUX VAC Output and 24V dc Brake Fiber optic Cable co D VO 4 gt IH IB No sensitive VAC Load equipment within 150 mm 6 0 2 D Jala als ala AC Line Filter o Kinetix 6000 System Line Interface Module 10 and Feedback Cables C D Route encoder analog registration Route 24V dc 1 0 shielded cables shielded cable If IAM AM 1 0 cable contains dirty relay wires route cable with 1 0 cable in dirty wireway When space does not permit the 150 mm 6 0 in segregation use a grounded steel shield instead For examples refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RMOOT Publication 2094 UM001A EN P September 2006 32 Planning the Kinetix 6000 Drive System Installation Observe the following guidelines when a LIM 2094 ALxxS or XLxxS Cx is used in the
59. 9 Determine if your test completed successfully If Then Your test completes successtully this dialog appears 1 Click OK 2 Remove Hardware Enable Input signal 100 2 3 Go to Tune the Axes N Apply test completed successfully Feedback polarity has been updated X 1 Click OK Your test failed this dialog appears 2 Verify the Bus Status LED turned solid green during the test Test command cannot be completed 3 Verify that the Hardware Enable Input signal ponere 100 2 is applied to the axis you are testing 4 Verify conversion constant entered the Error 16382 0 Conversion tab 5 Return to main Step 6 and run the test again Publication 2094 UM001A EN P September 2006 Configure and Startup the Kinetix 6000 Drive System 141 Tune the Axes Follow these steps to tune the axes 1 Verify the load is still removed from the axis being tuned ATTENTION To reduce the possibility of unpredictable motor response tune your motor with the load removed first then re attach the load and perform the tuning procedure again to provide an accurate operational response 2 Select the Tune tab Axis Properties Axis 1 m ni xj General Motion Planner Units Orive Motor Motor Feedback AuxFeedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag Travel Limit foo Position Units
60. AB Allen Bradley Kinetix 6000 ulti axis Servo Drive Catalog Numbers 2094 AC05 M P5 2094 05 01 2094 A C09 M 02 2094 16 03 2094 AC32 M 05 2094 B CO1 M P5 2094 B 01 01 2094 B C02 M 02 2094 B C04 M 03 2094 B C07 M 05 2094 AC05 M P5 S 2094 AC05 M 01 5 2094 AC09 M 02 5 2094 AC16 M 03 5 2094 AC32 M 05 5 2094 01 5 5 2094 B 01 01 5 2094 B C02 M 02 5 2094 B C04 M 03 5 2094 B C07 M 05 5 2094 AM P5 2094 AM 01 2094 AM 02 2094 AM 03 2094 AM 05 2094 P5 2094 BM 01 2094 B M 02 2094 B M 03 2094 BM 05 2094 AM P5 S 2094 01 5 2094 AM 02 5 2094 AM 03 5 2094 05 5 2094 BM P5 S 2094 01 5 2094 02 5 2094 03 5 2094 05 5 2094 5 2 User Manual Rockwell Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI 1 1 available from your local Rockwell Automation sales office or online at http literature rockwellautomation com describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended applicatio
61. Axis Module Interconnect Diagrams IAM Wiring Example with Single External Active Shunt Slave In Slave In Master Out Master Out DC Bus DC moja gt N gt L3 L2 L1 gt Contactor Enable CONT EN DC Bus Input Fusing Note 23 1 Single phase Input L 115VacRMS 3E 2 50 609 1 TB3 a CED Connector T Note 14 CONT EN Indicates User Supplied Component Shunt chassis ground screw External Active Shunt M 1336 M 00 TB1 Fault Relay Note 24 1336 Master CR1 Refer to Attention statement Note 13 CR1 M1 O N 24V ac dc or Lt START STOP 120V 50 60 Hz Notes 8 14 lt Refer to External Shunt Module Specifications on page 184 for a list of external active shunt module catalog numbers available for the Kinetix 6000 drives 1336 Active Shunt Input Fuse Specifications Active Shunt Module Description Input Current Requirements Input current requirement to power logic for fault 1336 Kx005 or Kx010 contact operation 0 05 Input current requirement to power fan and logic for 1336 KB050 fault contact operation 0 65 A 1336 Active Shunt Fault Relay S
62. B ha Tighten the connector screws Gently pull on each wire to make sure it does not come of its terminal Re insert and tighten any loose wires A Insert the connector plug into the module connector Publication 2094 UM001A EN P September 2006 84 Connecting the Kinetix 6000 Drive System Wiring the LIM Connectors L1 This section provides examples and wiring tables to assist you in making connections to the line interface module LIM connectors Wiring the Auxiliary Input Pow er APL Connector The Auxiliary Input Power APL connector is present only on the 2094 XL75S Cx models Line Interface M odule APL connector Line Interface Module Top View 2094 XL75S Cx is shown Auxiliary Input Power APL Connector Torque Value Nm Ib in 0 5 0 6 2 Recommended Single phase Supply APL Pin Wire Size Strip Length mm AWG mm in 0 28 44 53 Publication 2094 September 2006 Wiring the LINE IPL Connector Line Interface M odule IPL connector VAC LINE IPL Connector 2094 AL09 ALxxS BLxxS and XL75S Cx Three phase Supply IPL Pin Signal L1 4 L1 L2 3 L2 L3 2 L3 l 1 VAC LINE IPL Connector 2094 B L02 Three phase Supply IPL Pin Signal L1 1 L1 L2 2 L2 L3 3 L3 4 Recommended Wire Size mm AWG 2 5 25 14 4 Recommended Wire Size mm AWG
63. Circuit Breaker 2 Fuse Shawmut Fuse N A 50 20 1 1492 CB2H060 FWH 35B A50P35 4 FWH 60B A50P60 4 1492 SP2D200 FWH 125B A50P125 4 N A A100P20 1 1492 CB2H060 FWJ 40A A100P40 1 FWJ 70A A100P70 1 FWJ 125A A100P125 1 1 When using Bulletin 1492 circuit protection devices the maximum short circuit current available from the source is limited to 5000 A ATTENTION Publication 2094 UM001A EN P September 2006 A Bulletin 1492 and 140M circuit breakers should not be used on the output of an ac drive as an isolating disconnect switch or motor overload device These devices are designed to operate on sine wave voltage and the drive s PWM waveform does not allow it to operate properly As a result damage to the device will occur Catalog Number Contactor Ratings Specifications and Dimensions 179 The table below lists the recommended contactor ratings for integrated axis modules installed without a line interface module Catalog Number 230V IAM Contactor 460V IAM Contactor 2094 ACO5 MP5 S 00 C23x10 ac coil 2094 BC01 MP5 S 100 C23x10 ac coil 2094 AC05 M01 S 2094 BC01 M01 S 00 37 10 coil 100 C37x10 coil 00 372x10 dc 2094 BC02 M02 S 499 372x10 de coil a 00 C72x10 ac coil 5 100 C60x10 ac coil 2084 16 03 5 00 C727x10 dc coi 2094 BC04 M03 S 499 C602x10 dc coil 00 C85x10 ac
64. Drive System IAM AM Power Wiring Requirements 81 Connects to Terminals Recommended Catalog Number Description Wire Size Strip Length Torque Value Pin Signal AWG mm in Nm Ib in 2094 AC05 M o S 2094 AC09 M o S 2094 BC01 Mxx S Motor power E 2094 BCO2 Mxx S cable 10 0 38 2094 AMP5 S 1 5 on motor drive 7 AMO2 S BMP5 S MP 4 l combination BM01 S and BM02 S MP 3 Motor power 2 V 6 10 max 2094 16 5 MP 1 U 12 15 2094 AC32 M o S 10 0 38 10 6 13 2 2094 AMO03 S AM05 S 2094 BC04 Mxx S 2 4 3 0 2094 BCO7 Mxx S 25 4 max 16 0 63 21 6 26 5 2094 BM03 S BM05 S BC 6 MBRK IAM or AM BC 5 MBRK 230 or 460V BC 4 COM 0 22 0 25 2094 XC Mbo S and Brake power PWR 0 75 18 10 0 38 18 22 2094 xMxx S BC 2 DBRK BC 1 DBRK FDBK2 FDBK2 Lae FDBK1 503 FDBK1 0 75 18 IAM or AM 04 SAFETY stranded wire 230 or 460V j ENABLE2 with ferrule 2094 xCxxMax S and Safeoff SAFETY 2094 xMxx S 0 ENABLE 1 5 16 d SAFETY solid wire 80 3 ENABLE1 24V 24V_COM Shunt M odule Power Wiring Requirements Connects to Terminals Recommended Module Description Wire Size Torque Value Pin Signal mm AWG Nm Ib in RC 1 D 1394 5 5 A 12 15 External passive RC 2 INT 10 8 10 6 13 2 SM 230 460V shunt module ACS COL 2094 BSP2 TS 1 TS
65. Drivers Available Driver Types Ethernet devices Add New Configured Drivers Name and Description J Status Configure Startup Start Stop Delete 3 Click the Add New button The Add New RSLinx Classic Driver dialog opens 4 Name the new driver Add New RSLinx Classic Driver Choose name for the new driver 15 characters maximum Cancel AB ETH 1 mE 5 Click OK Publication 2094 UM001A EN P September 2006 Upgrading Firmware 219 The Configure driver dialog opens Configure driver _ 1 Station Mapping Add New Delete 6 Enter the IP address of your Logix ethernet module The IP address shown is an example Yours will be different 7 Click OK 8 Click Close in the Configure Drivers dialog 9 Select RSWho from the Communication menu The drive selection dialog opens Select the 2094 8 01 5 device to update and click OK Autobrowse Browsing node 9 not found 8 Workstation Hmm Linx Gateways Ethernet 55 AB ETH 5 Ethernet E fj 192 168 5 10 1756 ENBT 4 1756 H Backplane 1756 A7 4 E 00 1756 1625 LOGIX5562 SAFETY Ped311 Cartoner 01 1756 LSP LOGIX SAFETY 1756 L5P B 556X SAF R16 D5 56 02 1756 DNB 1756 DNB DeviceNet Scanner 03 1756 5 3 Axis SERCOS interface 5 SERCOS interface SERCOS network DA 00 1756 M035E 01 Kinetix 6000 460VAC IAM 6kW PS 4A 6A 2094 1 5
66. EN P September 2006 54 Kinetix 6000 Connector Data 1 0 Connector Pinout IAM AM 1 0 26 pin 100 Connector 10D Pin Description Signal IOD Pin Description Signal 1 Hardware enable 24V dc power supply 24V PWR 14 High speed registration 1 input REG1 2 Hardware enable input ENABLE Common for registration REG COM 3 Common 24V COM 6 24V registration power REG 24V 4 Home switch 24V dc power supply 241 PWR 17 High speed registration 2 input REG2 5 Home switch input HOME 18 Common for registration REG COM 6 Common 24V COM 9 Reserved 7 Positive overtravel 24V dc power supply 24V_PWR 20 Reserved 8 Positive overtravel limit switch input OT 21 Reserved 9 24V_COM 22 Reserved 10 Negative overtravel 24V dc power supply 24V_PWR 23 Analog output 0 DACO 11 Negative overtravel limit switch input OT 24 Analog output common DAC_COM 12 Common 24V_COM 25 Analog output 1 13 24V registration power REG 24V 26 Analog output common DAC COM IMPORTANT Pin Orientation for 26 pin 1 0 IOD Connector 26 pin IAM AM 1 0 Connector Publication 2094 UM001A EN P September 2006 Pin 26 Pin 18 Ping Pin 1 Signals 24V_PWR and 24V COM are a 24V dc source you can use only for the inputs listed above Kinetix 6000 Connect
67. Kinetix 6000 Drives beginning on page 239 for wiring examples Brake Relay Circuit Kinetix 6000 IAM AM e 1 EE 1 DBRK DBRK MBRK MBRK PWR BC 4 BC 2 BC 1 BC 6 BC 5 BC 3 f Noise suppression device Brake Relay Output Specifications Parameter Description IAM AM Max 2094 AC05 Mxx 09 2094 5 AM02 A 2094 BC01 Mxx BC02 Mxx carene Current flow when the 2094 5 BM01 BM02 relay is closed 2094 AC16 Mxx AC32 Mxx 4 2094 AM03 AM05 i 2094 BC04 Mxx BC07 Mxx 30A 2094 BM03 BM05 On state resistance Contact resistance when the relay is closed 1Q Off state voltage Voltage across the contacts when the relay is open 30V f For motors requiring more than the maximum current specified a relay must be added Control Power Input Kinetix 6000 Connector Data 65 The integrated axis module IAM requires ac input power for logic circuitry IMPORTANT Examples beginning on page 193 The control power input requires an ac EMC line filter for CE certification For wiring examples refer to Power Wiring IMPORTANT Source 2094 ACxx Mxx 230V IAM control power from the three phase input power line to line Supplying 230V control power from any other source requires an isolation transformer If used do not ground either leg of the isolation transform
68. Master Out 4 Master Out 5 DC Bus 5 DC Bus Single phase Input 1 115V ac RMS t 1 40 1 TB3 50 60 Hz EE S Fusing Note 4 3 nput Fusing l Fault Relay Note 24 Note 23 4 T Shunt Chassis 1336 Slave Indicates User Supplied Component Ground Screw FFP DTE 203 Publication 2094 UM001A EN P September 2006 204 Interconnect Diagrams Axis Module M otor Wiring Examples AM 460V Wiring Example with M P Series MPL B and MPG B Motors Kinetix 6000 IAM inverter or AM Note 15 M PL B3xx B4xx B45xx B5xx B6xx B8xx B9xx and MPG B 460V Servo Motors with Motor Feedback Cable Shield High Resolution Feedback MF Connector 0 Clamp IAM AM Note 10 1 Green Yellow D A BLACK SIN 1 2 lt lt gt gt A 3 Notor Power 1 Blue lt W l GND B gt gt ve BLACK XX SIN 2 4 MP Connector 2 Black 2 2 V Threephase Cosy RED COS 3 eect 3 Brown A lt U Motor Power LD y XX COS 4 otor Feedbac E GREEN DATA 5 MF Connector E F 4 4
69. P ECOM Reserved Reserved 6 R TS TS TS 11 5 TS TS TS T Reserved Reserved S1 12 U Reserved Reserved S2 13 V Reserved Reserved S3 8 2090 C DN FDM P Sxx Feedback Cable Motor Drive MF reds Comer S2 1 B S4 2 C 1 3 D S3 4 G R1 5 H R2 10 R TS 11 S TS 6 Publication 2094 UM001A EN P September 2006 106 Connecting the Kinetix 6000 Drive System 2090 XXN FM F Sxx Feedback Cable Motors with High Resolution Feedback Motors with Incremental Encoder Feedback Motor M PL A15xxx V E Drive MF Connector MPL B15xxx V E M PL A2xxx V E MPL A15xxx H Connector Pin MPL B2xxx V E M PF MPS A3xx M S MPL A2xxx H Pin MPF M PS Bxxx M S MPF MPS A4xx M S MPL B 15xxx H MPF A5xx M S MPF MPS A45xx M S MPL B2xxx H MPS A5xx M S 1 Sine Sine AM 1 2 Sine Sine AM 2 3 Cos Cos BM 3 4 Cos Cos BM 4 5 Data Data IM 5 6 Data Data IM 10 9 Reserved EPWR_5V EPWR_5V 14 10 Reserved ECOM ECOM 6 11 EPWR_9V Reserved Reserved 7 12 ECOM Reserved Reserved 6 13 TS TS TS 11 14 TS TS TS 15 Reserved Reserved S1 12 16 Reserved Reserved S2 13 17 Reserved Reserved 53 8 Publication 2094 UM001A EN P September 2006 2090 5 xx Feedback Cable Incremental Encoder Motor Drive MF Connector Fee
70. Status LED indicator Off No ring present Go to IAM AM Status Indicators on page 152 1 Verify Hardware Enable Input 100 2 is open 2 Verify MSO instruction is not commanded in RSLogix Steady green Axis is enabled when status should be disabled 5000 software Bus 3 Return to Apply Power to the Kinetix 6000 Drive on page 135 Flashing green Bus is up axis is disabled normal status Go to Step 7 1 Off DC bus is not present Go to IAM AM Status Indicators on page 152 The follower IAM has a 2 5 second delay after dc bus voltage is applied before the Bus Status LED begins flashing This provides the common bus leader time to complete pre charge 7 Observe the three SERCOS LED indicators on the SERCOS module Three SERCOS LED Indicators Status Flashing green and red Do This Establishing communication Wait for steady green on all three LED indicators Steady green Communication ready Go to Test and Tune the Axes Not flashing green and red not steady green SERCOS module is faulted Go to the appropriate Logix manual for specific instructions and troubleshooting Publication 2094 UM001A EN P September 2006 138 Configure and Startup the Kinetix 6000 Drive System Test and Tune the Axes Publication 2094 UM001A EN P September 2006 This procedure assumes that you have configured your Kinetix 6000 drive your SERCOS interface module and applied power to the sy
71. T 2094 PRSx is shown E J oO J S x e Axis Modules 5 Motors and other details common to both three phase ac and dc common bus configurations are removed 2094 9 SERCOS Fiber optic Ring 2090 SCxxx x gen unused slots 2094 PRF ni MES MERE 2094 xMxx S Slot Filler Module required to fill any Axis Modules 5 In the example above the leader IAM is connected to the follower IAM via the dc common bus When planning your panel layout you must calculate the total bus capacitance of your dc common bus system to ensure that the leader IAM is sized sufficiently to pre charge the entire system Refer to Appendix D beginning on page 231 for more information IMPORTANT If total bus capacitance of your system exceeds the leader IAM pre charge rating and input power is applied the IAM seven segment LED indicator will display error code E90 pre charge timeout fault To correct this condition you must replace the leader IAM with a larger module or decrease the total bus capacitance by removing axis modules Publication 2094 UM001A EN P September 2006 16 Start Catalog Number Kinetix 6000 drive catalog numbers and descriptions are listed in the Explanation table below Kinetix 6000 Drive Cata
72. TIP Because IAM and AM parameters reside in the RSLogix 5000 software you do not need to perform any tuning or setup procedures Removing the Power Rail This assumes you have removed all modules from the power rail Follow these steps to remove the power rail 1 Disconnect the braided grounding strap from the grounding stud located on the right side of the power rail Braided Ground Strap 100 mm 3 9 in Bonded Cabinet Ground Power Rail 2094 PRx A B e e e e i g fy g o o e Braided Ground Strap Power Rail A y 100 mm 3 9 in 2094 PRSx o o 9 o E E m B z e a 2 Bonded Cabinet Ground g g g g g o Li Li Li Li L Li J a L o o o o 2 Loosen the mounting bolts removing the bolts is not necessary 3 Lift the power rail up and off of the mounting bolts Publication 2094 UM001A EN P September 2006 Replacing the Power Rail Removing and Replacing the Kinetix 6000 Drive Modules 16 This procedure assumes you do not need to change the location of the power rail on the panel and you intend to reuse the mounting bolts of the power rail you just removed IMPORTANT If y
73. Three phase _ 4 Ground 3 Three phase IH 13 eee onnector or324 528V gt 1I 2 195 264V RMS 12 s Note1 I or 324 528V ac RMS 1 11 1 Input Fusing 1 MBRK_PWR 7 24V dc Output MBRK_COM 3 PSL Connector PWR 1 BR MBRK_COM MBRK lt Motor Brake MBRK 5 4 BR Connections 4 Motor Resistive COM 3 Brake BC Connector PWR 2 BR io_pwr 226 DBRK EDES Resistive Brake BR Connections DBRK 1 0 0 STOP E Connector 13 Note 13 14 COIL A1 10 COM 2022 1 CONT EN Contactor Enable COIL A2 4 2 CONT EN J CED Connector Note 14 Indicates User Supplied Component Publication 2094 UM001A EN P September 2006 Interconnect Diagrams Multiple IAM Wiring Example with LIM 2094 ALxxS BLxxS XL75S Kinetix 6000 Integrated Axis Module 2094 ACxx M xx or BCxx M xx IAM 1 VAC LINE Three phase IPL Input 195 264V ac RMS or 324 528V ac RMS Note 1 Auxiliary Power Single phase APL Input 93 121V ac RMS or 196 253V ac RMS this connector is present only on the 2094 XL75S Cx Note 1 Power Rail Note 10 Ground Stud Cable Shield Clamp Line Int
74. Total Bus Capacitance 232 Calculating Additional Bus Capacitance 232 Kinetix 6000 Capacitance Values 233 Common Bus Capacitance Example 234 Setting the Additional Bus Capacitance Parameter 235 These procedures assume you have mounted and wired your Kinetix 6000 dc common bus system IMPORTANT Drive firmware v1 071 or later is required to use the RBM with the Kinetix 6000 drives Before you set the Additional Bus Capacitance Add Bus Cap parameter in DriveExplorer you need to calculate the following values e Total bus capacitance e Additional bus capacitance Publication 2094 UM001A EN P September 2006 232 DC Common Bus Applications Calculating Total Bus Capacitance Calculating Additional Bus Capacitance Publication 2094 UM001A EN P September 2006 Total bus capacitance is the sum of all capacitance values for your Kinetix 6000 common bus modules Specifically this includes the capacitance values for each of these modules Leader IAM converter and inverter Each follower IAM converter and inverter Each AM on the follower IAM power rails Each AM and SM Cif present on the leader IAM power rail Refer to Kinetix 6000 Capacitance Values on page 233 for IAM AM SM capacitance values IMPORTANT When total bus capacitance exceeds the leader IAM maximum value the IAM fault status LED indicator displays error code E90 pre charge time out fault and the drive is disabled Maxim
75. WHT GREEN XX DATA 10 Note 16 Motor Feedback x GRAY 5VDC 14 i L ar WHT GRAY XX ECOM 6 T Motor Resistive 2090 UXNBMP 18Sxx Brake Cable N ORANGE 9VDC 7 Brake BC C 2 D BC Connector Note 16 CUM S wuronwGE TS m C BR 13 MBRK lt lt 4H BLUE TS 14 5 White A 3 gt gt 15 MBRK 7 lt lt Thermostat TEE on COM m User Supplied Motor Brake LE os gt 3 24V dc 2 max Refer to low profile connector PWR illustration lower left a Ee 2 BR for proper grounding technique DBRK Resistive Brake oer cel fei Notes 16 17 19 MPL B 3xx B4xx B45xx 460V Servo Motors with Resolver Feedback Motor Feedback n MF Connector IAM AM Grounding Technique for e lt W l GND Feedback Cable Shield A Sy ace 2 2090 K6CK DI5M shown gt MIRA B 5 wmmex si 2 C RED 51 3 D 4 WHT RED 53 4 Motor Feedback G YELLOW R1 5 H 4 XX 2 I 10 Clamp R LUE TS 11 Exposed shield secured N Thermostat aft gt ST S 5 gt WHT BLUE TS 6 Clamp Screws 2 Timas ENS Refer to low profile connector small Secure C 44 BR illustration lower left 77 5 f ding technique FE Brake Or proper grounding technique lt lt 2090 CDNFDMP Sxx flying lead Feedback Cable Notes 16 17 Publication 2094 UM001A EN P September 2006 Interconnect Diagrams 205
76. allows high frequency energy to travel elsewhere in the cabinet Excessive high frequency energy can effect the operation of other microprocessor controlled equipment Publication 2094 UM001A EN P September 2006 28 Planning the Kinetix 6000 Drive System Installation The illustrations that follow show details of recommended bonding practices for painted panels enclosures and mounting brackets Recommended Bonding Practices for Painted Panels Stud mounting the Subpanel to the Enclosure Back Wall Back Wall of Enclosure Subpanel Star washer SS Welded Stud Use a wire brush to remove paint from threads to maximize ground connection Use plated panels or scrape paint on front of panel Stud mounting a Ground Bus or Chassis to the Subpanel Subpanel Mounting Bracket or Ground Bus Welded Stud Flat Washer Scrape Paint Flat Washer If the mounting bracket is coated with a non conductive material anodized or painted scrape the Star Washer material around the mounting hole Bolt mounting a Ground Bus or Chassis to the Back panel Ground Bus or Mounting Bracket Flat Washer Q Star Washer Publication 2094 UM001A EN P September 2006 Subpanel Tapped Hole ae Star Washer Scrape paint on both sides of panel and use star washers Star Washer Flat Washer If the mounting bracket is coated with a non conductive material anodized or painted scrape the material around the mountin
77. as effects of vibration loss of power supply and external fields Category 1 All conditions of Category B apply but the safety related part of the control system must use well tried principles and components refer to 7 2 2 prEN951 1 The use of single electronic components electronic logic or software is not considered adequate even at this level Category 2 All conditions of Category B apply but in addition the machine shall be prevented from starting if a fault is detected upon power up This suggests the use of an interface relay with redundancy and self checking on energization Single channel operation is permitted providing that the input devices E Stop buttons gate switches etc are tested for operation on a regular basis If regular testing cannot be guaranteed then the designer has little choice but to opt for two channel control Category 3 All conditions of Category B apply but the complete safety control system shall be designed so that any single fault shall not lead to the loss of the safety function and where practical the single fault shall be detected This now calls for not only redundancy in the interface relay but also in the input devices pointing to dual channel systems Resistive Brake Module Wiring Examples Note Information Integrating Resistive Brake Modules with Kinetix 6000 Drives 243 Category 4 All the conditions of Category B apply and in addition any single fault must be detected
78. at or before the next call on the safety system or an accumulation of three faults shall not lead to the loss of the safety function Control Reliability In the United States the AMT has promoted a concept called Control Reliability as part of the ANSI B11 TR3 standard This standard has similar requirements to those in the Machinery Directive EN954 1 Category 3 risk standard Control Reliability is defined as the ability of a safety system to go into a safe state in the event of a failure In other words the safety system must bring the machine to a safe state in the event of a single fault This section provides interconnect diagrams to assist you in wiring a Kinetix 6000 system which includes an RBM The notes in the table below apply to the following RBM interconnect example diagrams ATTENTION The National Electrical Code and local electrical codes take precedence over the values and methods provided Implementation of these codes is the responsibility of the machine builder 1 Cable shield clamp must be used in order to meet CE requirements No external connection to ground required For motor cable specifications refer to the Kinetix Motion Control Selection Guide publication GMC SG001 The signal can be wired to a ControlLogix input as overtemp warning in user program Firmware version 1 071 or later is required to use the DBRK outputs on the Kinetix 6000 IAM or AM The safety relay time del
79. be rated based on the leader s dc output current When using more than one follower IAM fuses should be installed in both lines of the dc bus between the non Kinetix 6000 common bus leader and the terminal block as well as between the dc bus terminal block and each follower IAM Refer to Circuit Breaker Fuse Specifications on page 177 for recommended fuse sizes Refer to DC Common Bus Wiring Examples on page 197 for interconnect diagrams Setting the ground jumper is only necessary when using an ungrounded power configuration Setting the jumper involves removing the IAM from the power rail opening the IAM and moving the jumper Setting the ground jumper is best done when the integrated axis module IAM is removed from the power rail and placed face up on a solid surface equipped as a grounded static safe workstation To avoid personal injury and or equipment damage remove the ATTENTION IAM from the power rail before setting the ground jumper To remove the IAM from the power rail refer to Removing Power Rail Modules on page 164 If you have grounded power distribution you do not need to set IMPORTANT I IMPORTANT the ground jumper Go to Grounding Your Kinetix 6000 System on page 78 Publication 2094 UM001A EN P September 2006 76 Connecting the Kinetix 6000 Drive System When using ungrounded input power in common bus configurations use the table below to determine where to set the ground jumper Ground J umper
80. coil 100 C72x10 coil 2094 2 05 5 00 C857x10 dc coi 2094 BC07 M05 S 100 C77710 dc coil Transformer Specifications for Control Power Input Attribute Input volt amperes Value 460V system 750VA Input voltage 460V ac Output voltage 120 240V ac Publication 2094 UM001A EN P September 2006 180 Specifications and Dimensions Power Dissipation Use the following table to size an enclosure and calculate required ecifications ventilation for your Kinetix 6000 drive system Usage as of Rated Power Output Kinetix 6000 Modules watts 20 40 60 80 100 Integrated axis module IAM converter 1 2094 05 5 5 2094 05 01 5 i A gt 2094 09 02 5 33 51 69 87 105 2094 16 03 5 18 38 60 83 108 2094 2 05 5 31 64 102 144 190 2094 1 5 5 2094 1 01 5 P i gt 2094 BC02 M02 S 20 30 40 50 60 2094 BC04 M03 S 22 43 65 86 108 2094 07 05 5 44 77 111 144 177 Integrated axis module IAM Inverter axis module AM 1 2094 05 5 5 or AMP5 S 60 65 70 75 80 2094 05 01 5 or 1 5 62 69 76 83 90 2094 AC09 M02 S or 2 5 64 73 82 91 100 2094 16 03 5 5 50 72 99 130 165 2094 AC32 M05 S or AM05 S 106 160 220 285 356 2094 BC01 MP5 S or BMP5 S 75 7 80 9 86 92 98 2094 BC01 M01 S
81. dus AM Inverter 460V viu 2094 BCO1 MP5 S 2094 BMP5 S 75 2094 BC01 MO01 S 2094 8 01 5 150 2094 BC02 M02 S 220 2094 8 02 5 270 2094 BC04 M03 S 940 2094 8 03 5 840 2094 BC07 M05 S 1410 2094 BM05 S 1175 SM 230 460V M odule Capacitance uF 470 SM 230 460V 2094 BSP2 Publication 2094 UM001A EN P September 2006 234 DC Common Applications Common Bus Capacitance Example AC Line Filter Three phase 4 Input Power Line Interface Module optional component Kinetix 6000 230V In the example below the sum of the leader IAM power rail modules capacitance 6530 uF and the follower IAM power rail modules capacitance 5280 pF equals 11 810 pF total bus capacitance The sum of the follower IAM power rail modules equal 5280 pF additional bus capacitance Calculating Common Bus Capacitance 8 E 11 810 pF Total Bus Capacitance PRF 2094 PRF N A SM 2094 BSP2 470 Leader IAM A AM 2094 02 780 pF AM 2094 AM03 1320 pF DC Common Bus AM 2094 AMO3 1320 pF IAM 2094 AC16 M03 Converter 1320 uF IAM 2094 AC16 M03 Inverter 1320 uF Kinetix 6000 230V Follower IAM Exi Exi 5280 uF Additional Bus Capacitance J d i ics
82. information for accessing and changing parameters not accessible through RSLogix 5000 software Tools for Changing Parameters Most parameters are accessible through RSLogix 5000 software Alternatives include the DPI compatible Human Interface Module HIM and DriveExplorer software Catalog Number Firmware Revision 9306 4EXPO2ENE 1203 SSS Series B 3 004 or later Description DriveExplorer software 0 2 01 later Serial to SCANport adapter 1 2 HIM Full numeric LCD HIM 20 HIM A3 2 N A Refer to DriveExplorer Getting Results Manual publication 9306 GR001 for instructions Compatible catalog numbers include all 20 HIM Ax Changing Parameters Using DriveExplorer To navigate using DriveExplorer refer to the example dialog below In this example the I O Interface group folder is open the Analog Outputs parameter is selected and the parameter elements are displayed in the box to the right IMPORTANT Parameters are read only when the SERCOS ring is active You must break the SERCOS ring to change parameters To save changes perform a non volatile save NVS prior to cycling power DriveExplorer Example lolx 23 DriveE xplorer Beta Fie Edit Explore Actions Help amp se Devices Value Node 1 2094D SERVO AnaQut Chi Selec Ej 0 2094D SERVO Config 0000 T0582
83. inputs and four other inputs are available for the machine interface on the integrated sxis module IAM and axis module AM Each IAM and AM supplies 24V dc 500 mA for the purpose of registration home enable over travel positive and over travel negative inputs These are sinking inputs that require a sourcing device A 24V power and common connection is provided for each input IMPORTANT To improve registration input EMC performance refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 IMPORTANT Overtravel limit input devices must be normally closed Understanding Digital Inputs Capture Edge Level 100 Pin Signal Description Time Sensitive Optically isolated single ended active high signal Current loading is 00 2 ENABLE nominally 10 mA 24V dc input is applied to this terminal to enable each 20 ms Level axis Optically isolated single ended active high signal Current loading is 00 5 nominally 10 mA Home switch normally open contact inputs for each axis 20 ms Level require 24V dc nominal Fast registration inputs are required to inform the motor interface to OD 14 REG1 capture the positional information with less than 3 us uncertainty Optically 500 ns Faas 00 17 REG2 isolated single ended active high signal Current loading is nominally 9 10 mA 24V dc input is applied to this terminal to enable e
84. mA on the 9V supply on the second channel Publication 2094 UM001A EN P September 2006 68 Kinetix 6000 Connector Data Locating Shunt Module Connectors and Indicators The Kinetix 6000 shunt module 2094 BSP2 is suitable for both 230V and 460V applications Locating Shunt Module Connectors and Indicators Publication 2094 UM001A EN P September 2006 Shunt Module Front View Motor Cable 2094 BSP2 Shield Clamp je COE External Shunt Resistor 4 RC Connector Shunt Module Front View External Thermal Switch 2094 BSP2 TS Connector N Shunt Fault LED EMIL Over Temp Fault LED Bus Status LED Mounting Screw Shunt M odule Connectors RC External shunt resistor connector Three position connector housing TS Thermal switch connector Two position connector housing External Shunt Resistor Three pin RC Connector Pinout RC Pin Description Signal 1 External shunt resistor connection DC 2 Internal shunt connection INT 3 Shunt collector connection COL External Thermal Switch Two pin TS Connector Pinout TS1 External passive shunt module thermal 2 switch connections 152 Refer to Understanding External Shunt Module Connections on page 113 when wiring the RC and TS connectors Chapter 5 Connecting the Kinetix 6000 Drive System Introduction This chapter provides procedures for wiring your Kinetix 600
85. may not be the same as the E stop function of a machine Publication 2094 UM001A EN P September 2006 242 Integrating Resistive Brake Modules with Kinetix 6000 Drives Publication 2094 UM001A EN P September 2006 Risk Assessment The European safety standard EN 1050 and U S technical report ANSI B11 TR3 explain the process of risk assessment which must be conducted by the machine builder This is done by analyzing the tasks that people perform on and around the machine This includes functions such as operation set up and maintenance For the purpose of this appendix the light curtain or gate interlock is intended to focus on the operation and perhaps loading unloading of a machine Additional protective measures must be identified by the risk assessment Machinery Directive EN 954 1 Safety Related Parts of Control Systems defines how to determine the safety requirements by categorizing the risk This standard outlines the design of fail safe control circuits by categorizing five levels of risk It is deemed the machine designers responsibility to objectively identify a risk level for a particular machine and design all safety related systems to that level The five categories are as follows Category B Safety devices and control systems as a minimum must be designed selected and assembled to meet the operational requirements of design limits and influence of the processed materials and other external influences listed
86. or 01 5 95 120 145 170 195 2094 02 02 5 or BM02 S 98 126 154 182 210 2094 BC04 M03 S or BM03 S 95 132 171 212 256 2094 BC07 M05 S or BM05 S 118 182 251 326 406 Shunt module SM 2094 BSP2 68 21 174 227 280 V Internal shunt power is not included in the calculations and must be added based on utilization Publication 2094 UM001A EN P September 2006 Specifications and Dimensions 181 ifi This section contains general specifications for your Kinetix 6000 eneral specifications 5 p system components Maximum Feedback Cable Lengths Although motor feedback cables are available in standard lengths up to 90 m 295 3 ft the drive motor feedback combination may limit the maximum cable length as shown in the tables below These tables assume the use of recommended 2090 series cables MP Series MPL and MPG Motors MPG A MPG B MPL A 230V M otors MPL B 460V Motors 230V Motors 460V Motors Absolute Absolute Absolute Absolute High resolution Incremental High resolution 0 Incremental Resolver 3 High resolution High resolution m ft m ft m ft m ft m ft m ft m ft 30 98 4 30 98 4 90 295 3 30 98 4 90 295 3 30 98 4 60 196 8 1 Refers to MPL A BxxxS M single turn or multi turn low inertia motors with absolute high resolution feedback 0 Refers to MPL A BxxxH low inertia motors with 2000 line incremental feedback 81 Refers to MPL
87. over to the IAM Shielded cable is required only if the very dirty cables enter a wireway The SERCOS fiber optic cables are immune to electrical noise Establishing Noise Zones No LIM Dirty Wireway Clean Wireway Very Dirty Filter IAM Connections Segregated not in wireway I D Motor Power Cables g D D 2 Contactors Circuit Breaker 24V Motor ule AC El Brake PS Z Line Filter 8 L 4 LJ z z UA AME Dc Kinetix 6000 System o 1 1 Filter 2 E Pl c 1 0 and Feedback Cables c D Route 24V dc 1 0 Route encoder analog registration shielded cable shielded cables If IAM AM 1 0 cable contains dirty relay wires route cable in dirty wireway When space to the right of the IAM does not permit 150 mm 6 0 in segregation use a grounded steel shield instead For examples refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RMOOT This is a clean 24V dc available for any device that may require it The 24V enters the clean wireway and exits to the right This is a dirty 24V dc available for motor brakes and contactors The 24V enters the dirty wireway and exits to the left Planning the Kinetix 6000 Drive System Installation 37 Observe the following guidelines when installing your 1756 MxxSE SERCOS interface module e The clean zone
88. panel you install inside the enclosure for mounting your system components must be on a flat rigid vertical surface that won t be subjected to shock vibration moisture oil mist dust or corrosive vapors e Size the drive enclosure so as not to exceed the maximum ambient temperature rating Consider heat dissipation specifications for all drive components e Segregate input power wiring and motor power cables from control wiring and motor feedback cables Use shielded cable for power wiring and provide a grounded 360 clamp termination Use high frequency bonding techniques to connect the modules enclosure machine frame and motor housing and to provide a low impedance return path for high frequency HF energy and reduce electrical noise Refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 to better understand the concept of electrical noise reduction Planning the Kinetix 6000 Drive System Installation 21 Transformer Selection The integrated axis module IAM does not require an isolation transformer for three phase input power However a transformer may be required to match the voltage requirements of the controller to the available service To size a transformer for the main ac power inputs refer to the Circuit Breaker Fuse Specifications on page 177 and Transformer Specifications for Control Power Input on page 179 IMPORTANT If using an autotransf
89. power E67 7 Operating system failed Task init P ae to hardware failure e f fault persists replace module DriveHardFault TS E68 SCANport Comm DPI communication failed The DPI device or cable is faulty Check DPI connections DriveHardFault Load default parameters save to E69 Non volatile memory is corrupt due to control board hardware failure non volatile memory and recycle power or Objects Init reset the drive DriveHardFault Load default parameters save to E70 memory is corrupt due to control board software error non volatile memory and recycle power or NV Mem Init reset the drive DriveHardFault Cycle power E71 RAM or Flash memory validation failure UU Memory Init e f fault persists replace module The fan on the IAM or an AM failed Replace the failed module een temperatures Check the cabinet temperature Inverter thermal switch E72 Fault The machine duty cycle requires an RMS tripped d Change the command profile to reduce Drive Overtemp i SPINE ER Md the continuous rating seat at increase The airflow access to the Kinetix 6000 Check airflow and re route cables away system is limited or blocked from the Kinetix 6000 system Comm nicate Power rail CAN communications failed Check module for proper mount E73 Backplane Comm Power rail connection shorted or open fall and module for foreign e Check for proper motor sizing DriveO
90. present in the motor e Remove the loose parts e Return motor for repair e Replace motor Abnormal noise Through bolts or coupling is loose Tighten bolts The bearings are worn Return motor for repair Mechanical resonance Notch filter may be required refer to Axis Properties dialog Output tab in RSLogix 5000 software Motor power phases U and V U and W or V and W reversed Check and correct motor power wiring Erratic operation Motor locks into position runs Sine Cosine or Rotor leads are reversed in the feedback cable without control or with connector Check and correct motor feedback wiring reduced torque Publication 2094 UM001A EN P September 2006 Sine Cosine Rotor lead sets of resolver feedback are reversed Check and correct motor feedback wiring Troubleshooting the Kinetix 6000 Drive System 157 Understanding Logix Drive Fault Behavior This section provides the drive fault actions and indicates whether the fault action is programmable Drive Fault Action Definitions Drive Fault Action Definition The drive disables and the contactor enable relay opens Uncontrolled Shutdown stop motor coasts to a stop Disable Drive The drive is disabled Uncontrolled Stop motor coasts to a stop Logix configuration for velocity loop Kp Ki is followed When zero speed is Stop Motion reached or stopping time is exceeded the drive is disabled St
91. provides troubleshooting tables and for your Kinetix 6000 system components Topic Page Introduction 145 Safety Precautions 145 Interpreting Status Indicators 146 Supplemental Troubleshooting Information 160 Observe the following safety precautions when troubleshooting your Kinetix 6000 drive ATTENTION Capacitors on the dc bus may retain hazardous voltages after input power has been removed Before working on the drive measure the dc bus voltage to verify it has reached a safe level or wait the full time interval as indicated in the warning on the front of the drive Failure to observe this precaution could result in severe bodily injury or loss of life ATTENTION A ATTENTION A Do not attempt to defeat or override the drive fault circuits You must determine the cause of a fault and correct it before you attempt to operate the system Failure to correct the fault could result in personal injury and or damage to equipment as a result of uncontrolled machine operation Provide an earth ground for test equipment oscilloscope used in troubleshooting Failure to ground the test equipment could result in personal injury Publication 2094 UM001A EN P September 2006 146 Troubleshooting the Kinetix 6000 Drive System Interpreting Status Indicators Error Fault Message Code RSLogix Refer to these troubleshooting tables to identify faults potential causes and the appropria
92. recommended cable bend radius Power Rail This view illustrates the additional clearance required for premolded cable connectors 2090 UXNFBxx Sxx premolded connector Feedback Cable Modules are shown mounted to the power rail and the dimensions reflect that in the depth of the module AM Dimensions A B C E F Kinetix 6000 AM mm in mm in mm in mm in mm in 2094 AM03 S 198 7 8 176 7 0 70 2 8 302 11 9 420 16 5 2094 AM05 S 2094 BM03 S 256 10 1 374 14 7 272 10 7 249 9 8 141 5 5 2094 BM05 S 318 12 5 436 17 2 Publication 2094 UM001A EN P September 2006 Specifications and Dimensions 189 Shunt Module Dimensions 2094 BSP2 263 249 10 3 Dimensions are in millimeters inches n 9 8 123 43 2 48 20 CT P 4 8 oats 1 7 Lil Modules are shown mounted to the power rail and the dimensions reflect that in the depth of the module N Power Rail Publication 2094 UM001A EN P September 2006 190 Specifications and Dimensions Publication 2094 UM001A EN P September 2006 Appendix B Interconnect Diagrams Introduction This appendix provides wiring examples and system block diagrams for your Kinetix 6000 system components Toric Tae Introduction 191 Wiring Examples 192 Power Wiring Examples 193 DC Common Bus Wiring Examples 197 Shu
93. steel shield instead For examples refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RMOOT Only the 2094 ALxxS and XL75S Cx Line Interface Modules are compatible with the 2094 Mounting Brackets The 2094 BLxxS ALO9 and BL02 models are not compatible Planning the Kinetix 6000 Drive System Installation 33 Observe the following guidelines when a LIM 2094 ALxxS BLxxS or XL75S Cx is used in a dc common bus configuration and the follower IAM is mounted below the leader IAM Keep the dc common bus cable very dirty segregated from all other cables not in a wireway Establishing Noise Zones dc common bus Dirty Wireway Clean Wireway D ii AC Line Filter ES Motor Power Cables Very Dirty Filter IAM Connections P d D D D Segregated not in wireway VAC Line AUX VAC Output 24V VD Fiber optic Cable VAC Load D D VAC Line El i lt lt gt No sensitive c equipment within 150 mm 6 0 in 2 Kinetix 6000 System UA T L E 77 1 0 and Feedback Cables D Line Interface Module D C D D D vo A Fiber optic Cable Very Dirty DC Bus Connections P d Segregated not in wireway 8 al No sensitive equipment within 12 150 mm 6 0 in 2 Hi Hi Kinetix 6000 System follower IAM ag 1 0 1 and Feedback
94. system For CE grounding requirements refer to Agency Compliance on page 16 Grounding Your System to the Subpanel The 2094 power rail 2094 PRx or 2094 PRSx ships with a braided ground strap 100 mm 3 9 in that connects to the bonded cabinet ground bus Connect the other end to either the power rail ground stud or mounting bracket ground stud if mounting brackets are used Connecting the Braided Ground Strap Examples Braided 2094 PowerRail TA Ground Strap 2094 PRSx shown z Bonded Cabinet Ground 3 Line Interface Module on 2094 M ounting Brackets 90000000 Ground Grid or Power 2094 ALxxS show Distribution Ground Ground Stud X 2094 Mounting Bracket 2094 XNBRKT 1 2094 Pow er Rail on 2094 Mounting Brackets Ground Stud 2094 PRSx show n 3 Bonded Cabinet Ground Bus Braided Ground Strap o 1m Ground Stud H Bonded Cabinet Ground Grid or Power Braided Ground Strap Distribution Ground id 20000 re Ground Bus Ground Grid or Power Distribution Ground XX Publication 2094 UM001A EN P September 2006 Connecting the Kinetix 6000 Drive System 79 For power rail dimensions refer to the Kinetix 6000 Power Rail Installation Instructions publication 2094 1 003 For mounting bracket dimensions refer to the 2094 Mounting Brackets Installation Instructions publication 2094 IN008 When 2094 mounting b
95. t Tuning Speed o 0 Position Units s DANGER This tuning A procedure may cause axis motion with the controller Torque Force 1000 Rated in program mode Direction Forward Unidirectional Forward Uni direchional Damping Factor Forward Bi direcbonal Reverse Uni directional Tune Reverse Bi directional Position Error Integrator Velocity Error Integrator Friction Compensation Velocity Feediorward Acceleration Feedforward Torque Ofset Output Filter a gu 3 Enter values for Travel Limit and Speed In this example Travel Limit 5 and Speed 10 Actual value of programmed units depend on your application 4 Select setting for Direction Forward Uni directional is default 5 Check Tune boxes as appropriate for your application 6 Apply Hardware Enable Input signal IOD 2 for the axis you are tuning To avoid personal injury or damage to equipment apply ATTENTION 24V ENABLE signal 100 2 only to the axis you are tuning 7 Select the Start Tuning button to auto tune your axis Publication 2094 UM001A EN P September 2006 142 Configure and Startup the Kinetix 6000 Drive System The Online Command Tune Servo dialog opens When the test completes the Command Status changes from Executing to Command Complete 8 Click OK The Tune Bandwidth dialog opens 84 10144 215 2997 ress
96. the Kinetix 6000 Drive System 135 Apply Power to the Kinetix 6000 Drive This procedure assumes that you have wired and configured your Kinetix 6000 system with or without the LIM and your SERCOS interface module To avoid hazard of electrical shock perform all mounting and wiring of IAM AM SM LIM RBM or power rail prior to A applying power Once power is applied connector terminals may have voltage present even when not in use Refer to the Line Interface Module Installation Instructions publication 2094 13005 when troubleshooting the LIM status indicators and for the location of LIM circuit breakers connectors and status indicators Follow these steps to apply power to the Kinetix 6000 system 1 Disconnect the load to the motor ATTENTION To avoid personal injury or damage to equipment disconnect the load to the motor Make sure each motor is free of all linkages when initially applying power to the system 2 Determine your source of control power If Your Control Power Then 1 Verify that CB1 CB2 and CB3 are in the OFF position Apply three phase input power to the LIM VAC Line connector 2 Is sourced from a LIM 3 Set CB3 to the ON position 4 Set CB2 to the ON position 5 Go to main Step 3 1 Apply 95 264V ac control power to the IAM CPD connector Is not sourced from a 2 Go to main Step 3 Publication 2094 UM001A EN P September 2006 136 Configure a
97. vs application need Available current is insufficient to supply the correct accel decel rate e Check motor size vs application need e Review servo system sizing Acceleration limit is incorrect Verify limit settings and correct them as necessary Velocity Limit limits are incorrect Verify limit settings and correct them as necessary Motor does not respond to a velocity command The axis cannot be enabled for 1 5 seconds after disabling Disable the axis wait for 1 5 seconds and enable the axis nable signal has not been applied or the enable wiring is incorrect e Check the controller e Check the wiring The motor wiring 15 open Check the wiring The motor thermal switch has tripped e Check for a fault e Check the wiring The motor has malfunctioned Repair or replace the motor The coupling between motor and machine has broken i e the motor moves but the load machine doesn t Check and correct the mechanics Primary operation mode is set incorrectly Check and properly set the limit Velocity or current limits are set incorrectly Check and properly set the limits Publication 2094 UM001A EN P September 2006 156 Troubleshooting the Kinetix 6000 Drive System Condition Potential Cause been followed Recommended grounding per installation instructions have not Possible Resolution e Verify groundin
98. x 2 0 2 2 2 Monitor For Help press F1 IAM 1 10610 Drive Pwr Supply Data R 10521 Slave Node List 1 icta iid 7 0708 00000011 0 xes to Flas 1050 AB Application SERCOS Spind Local DPI Publication 2094 UM001A EN P September 2006 226 Upgrading Firmware Publication 2094 UM001A EN P September 2006 8 Double click Axes to Flash The Axis to Flash dialog opens v 9 Click check each axis to flash Example above shows two axes to flash checked 10 Select OK The Axes to Flash parameter is set 11 Close DriveExplorer HyperTerminal Configuration Follow these steps to begin a new HyperTerminal session 1 From the Windows Start menu select Programs Accessories HyperTerminal HyperTerminal The New Connection dialog opens 2 Type a the new HyperTerminal file and choose an icon for the connection Upgrading Firmware 227 3 Select OK The following dialog opens 4 Select the appropriate COM port 5 Select OK The following dialog opens 6 Select the properties as shown above or as appropriate for your 1203 SSS SCANport adapter Bits per second of HyperTerminal must match the IMPORTANT IMPORTANT 1203 SSS SCANport adapter setting for connection to occur 7 Select OK 8 HyperTermi
99. 0 Drive Modules This chapter provides remove and replace procedures for your Kinetix 6000 system components Toric age 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 Electrostatic Discharge sensitive parts and assemblies You are required to follow static control precautions when you install test service or repair this assembly If you do not follow ESD control procedures components can be damaged If you are not familiar with static control procedures refer to Allen Bradley publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook You will need the following tools available before you begin removal and replacement procedures e A flat blade screw driver e A small flat blade screw driver 3 5 mm 0 14 in e Voltmeter Publication 2094 UM001A EN P September 2006 164 Removing Power Rail Removing and Replacing the Kinetix 6000 Drive Modules Follow these steps to remove modules from the power rail Modules 1 Verify that all control and input power has been removed from the system ATTENTION To avoid shock hazard or personal injury assure that all power has been removed before proceeding This system may have m
100. 0 W 22 300 W Internal shunt resistor 115 28 75 Q Shunt on 805V dc Shunt off 755V dc Efficiency 97 Capacitance 75 uF 150 uF 270 uF 840 uF 1175 uF Capacitive energy absorption 10 J 19 J 35 J 108 J 152 J 1 Bandwidth values vary based on tuning parameters and mechanical components 2 Peak current duration equals 2 5 seconds Shunt M odule Kinetix 6000 Drives Catalog Number 2094 ACxx Mxx S 2094 BSP2 or 2094 BC xx Mxx S Shunt Power Specifications 2094 rail mounted Shunt M odule Specifications Specifications Drive Voltage Vac 230 460 Resistance Q 28 75 Peak Peak Power Current kW A 57 14 22 5 28 Continuous Power 200 Fuse Replacement N A no internal fuse For External Shunt Module Specifications refer to page 184 Publication 2094 UM001A EN P September 2006 174 Specifications and Dimensions In the table below the 230V system specifications are given for the IAM internal shunt resistors the Kinetix 6000 2094 BSP2 SM and the Bulletin 1394 passive external shunt modules Shunt M odule 230V System Specifications Shunt Specifications Syst Kinetix 6000 Number of f ystem 230V IAM Axis Modules Peak Peak Continuaug Chere Passive Continiious 2094 Quantity Catalog Resistance Current Power Power Number Q A kW ACO5 MP5 S 0 AC05 M01 S 0 ACO9 MO2 S
101. 0 XXLF xxxx three phase ac line filters are required to meet CE and available for use in 230V AC Line Filters 2090 XXLF xxxx and 460V systems iiie intertace 2094 xLxx Line Interface Module contains the circuit breakers ac line filter 2094 09 and BL02 only 2094 xLxxS power supplies and safety contactor required for Kinetix 6000 operation This module does not mount to Module 2094 XL75S Cx the power rail Individual components can be purchased separately in place of the LIM External Shunt Modules 1394 SRxxxx Bulletin 1394 external passive shunt modules can be used when the IAM AM internal shunt and power rail mounted shunt module 2094 BSP2 capability is exceeded 1336 MOD Kxxxx Bulletin 1336 external active shunt modules can be used when the internal shunt resistor capability is exceeded Resistive Brake Module 2090 Resistive Brake Module RBM includes a safety contactor for use in a control circuit Contactors and resistors reside in this module such that the motor leads can be disconnected from the drive with the permanent magnet motor brought to an immediate stop This module does not mount to the power rail V Refer to the Kinetix Safe off Feature Safety Reference Manual publication GMC RMO02 for more information Publication 2094 UM001A EN P September 2006 Start 13 Typical Kinetix 6000 system installations include three phase ac
102. 0 system components and making cable connections TPage Introduction 189 Understanding Basic Wiring Requirements 69 Determining Your Type of Input Power 71 Setting the Ground Jumper in Ungrounded Power Configurations 75 Grounding Your Kinetix 6000 System 78 Power Wiring Requirements 80 Wiring Guidelines 83 Wiring the LIM Connectors 84 Wiring the IAM AM Connectors 90 Applying the Motor Cable Shield Clamp 103 Understanding Feedback and 1 0 Cable Connections 104 Understanding External Shunt Module Connections 113 Understanding Resistive Brake Module Connections 114 Connecting Your SERCOS Fiber optic Cables 115 Understa nding Basic This section contains basic wiring information for the Kinetix 6000 drive Wiring Requirements ATTENTION Plan the installation of your system 50 that you can perform all cutting drilling tapping and welding with the system removed from the enclosure Because the system is of the open type construction be careful to keep any metal debris from falling into it Metal debris or other foreign matter can become lodged in the circuitry which can result in damage to components To avoid hazard of electrical shock perform all mounting and wiring of IAM AM SM LIM RBM or power rail prior to A applying power Once power is applied connector terminals may have voltage present even when not in use Publication 2094 UM001A EN P September 2
103. 00 W 22 300 W Internal shunt resistor 115 Q 28 75 Q Shunt on 805V de Shunt off 755V dc Continuous power output to bus 6 kW 15 kW 27 6 kW 45 kW Peak power output 12 kW 30 kW 55 2 kW 90 kW Efficiency 95 Converter inductance 250 uH 125 uH 75 uH Converter capacitance 110 uF 220 uF 940 uF 1410 uF 2094 xC xx integrated axis modules 2 Intermittent output current duration equals 250 ms imited to 2 contactor cycles per minute with up to 4 axis modules or 1 con actor cycle per minute with 5 to 8 axis modules Publication 2094 UM001A EN P September 2006 172 Specifications and Dimensions Axis Module inverter Power Specifications The following tables list power specifications for the Kinetix 6000 axis modules The specifications apply to the axis module specified in the column heading by catalog number and the same axis module inverter section that resides within an integrated axis module AM inverter 230V Power Specifications Description Specification 2094 AM P5 S 2094 AM 01 5 2094 AM 02 5 2094 AM 03 5 2094 AM 05 5 2094 AC05 M P5 S 2094 05 01 5 2094 AC09 M 02 5 2094 16 03 5 2094 AC32 M 05 5 Bandwidth Velocity loop 500 Hz Current loop 1300 Hz PWM frequency 8 kHz 4 kHz Nominal input voltage 325V de Continuous current rms 37A 6 0A 10 6A 173A 34 6A Continuous current 0 pk 52A 85A 15 0
104. 001A EN P September 2006 222 Upgrading Firmware 7 The Update Status dialog opens and indicates success or failure as described below Flashing If 1 Update complete appears in a GREEN status dialog Succeeded 2 Go to Step 8 1 Update failure appears in a RED status dialog Failed 2 Go to Troubleshooting ControlFLASH update status x Catalog Number 2094 BC01 MP5 Seid Nube 00000000 __ Current Revision 1 88 View Log New Revision 1 89 Status Help 8 Select OK The ControlFLASH software returns to the Welcome screen where you can flash another drive or select Cancel to exit the program Troubleshooting ControlFLASH If your Update Status dialog in Step 7 indicated failure check the following items and begin the process again at Step 1 e Control 24V power lost at drive SERCOS ring is down seven segment LED no longer displays fixed 2 3 or 4 e Logix chassis lost power e Bad flashdata checksum Publication 2094 UM001A EN P September 2006 Upgrading Firmware 223 Verifying the Firmware Upgrade Follow these steps to verify your firmware upgrade was successful This procedure is optional 1 Return to the RSLinx Classic software and expand the dialog tree to gain access to your drive module as you did earlier Select the 2094 BC01 MP5 device to update and click OK Autobrowse Workstation Linx Gateways Ethernet 5 85 AB ETH 5 Ethern
105. 002 140 pe Faq L yndyng eseud ae1u L sng 20 2 30 ge A n 305 20129000 7 A poeni L a Gene nie x ree ____ 101990007 d Z S X v T Jamo 1010 aS 0 Sixy JOqAI2OO 40 9npoty spo Haul 0009 DI Sng punoJp jouiqe papuog September 2006 Publication 2094 UM001A EN P 249 Integrating Resistive Brake Modules with Kinetix 6000 Drives AVISdOLS O1VISAH8 0102 0318VN3 ES pp e e vz Lea pei ge sc oc ac x G 9JON eKCBETHSIAI Jnsauupaeney Aogpeurg uoInvr Aer Adres 1G 1 ves EES CS MS 215 IIS ZSS 1 LYMd 0 8 419594 b Ol 4E imu Lmala x Uleun 961 LuMd 01 LL 1uauoduio 18SM sayeoipyy 6L SL L 6 a3Sn LON Q3Sn LON SENI 1VISd01S mofo Sraroczr 9owedandui x amp o1onmo September 2006 Publication 2094 Example Category 3 Configuration per 954 1 iring 2094 AL09 and BL02 wired with the Bulletin 2090 RBM in a
106. 006 70 Connecting the Kinetix 6000 0 Publication 2094 UM001A EN P September 2006 rive System IMPORTANT This section contains common PWM servo system wiring configurations size and practices that can be used ina majority of applications National Electrical Code local electrical codes special operating temperatures duty cycles or system configurations take precedence over the values and methods provided Building Your Own Cables IMPORTANT Factory made cables are designed to minimize EMI and are recommended over hand built cables to optimize system performance e Connect the cable shield to the connector shells on both ends of the cable with a complete 360 connection e Use a twisted pair cable whenever possible Twist differential signals with each other and twist single ended signals with the appropriate ground return Refer to the Kinetix Motion Control Selection Guide publication GMC SG001 for low profile connector kit drive end mating connector kit and motor end connector kit catalog numbers Routing Power and Signal Wiring Be aware that when you route power and signal wiring on a machine or system radiated noise from nearby relays transformers and other electronic drives can be induced into motor or encoder feedback signals input output communications or other sensitive low voltage signals This can cause system faults and communication problems Refer to Minimizing Electrical Noise on page 2
107. 1 0 100 Connector Shield Clamp Motor Power lt Motor Resistive Brake BC Connector SERCOS Baud Rate and Optical Power Switches SERCOS Transmit Tx Connector DPI Connector SERCOS Receive Rx Connector SERCOS Node Address Switch Seven segment Fault Status LED Drive Status LED COMM Status LED Bus Status LED Auxiliary Feedback AF Connector Motor Feedback MF Connector Mounting Screw Publication 2094 UM001A EN P September 2006 Kinetix 6000 Connector Data 51 Axis Module Connectors and Indicators Axis Module Top View 2094 AMP5 S is shown Motor Cable Shield Clamp Motor Power MP Connector Safe off gt Motor Resistive Brake SO Connector BC Connector present only on the 2094 xMxx S gt BAUD RATE SERCOS Baud Rate and Optical Power Switches SERCOS Transmit Tx Connector SERCOS Receive Rx Connector Axis Module Front View 2094 AMP5 is shown Seven segment Fault Status LED ton Drive Status LED fon COMM Status LED fon Bus Status LED
108. 130 IAM 120 optical power level 121 SERCOS module 125 connecting contactor enable 93 external shunt resistor 113 feedback 104 I O 104 motor brake 101 motor shield clamp 103 panel mounted breakout kit 109 premolded feedback cables 108 SERCOS cables 115 connector designators axis module 52 integrated axis module 52 shunt module 68 connector locations axis module 51 integrated axis module 50 shunt module 68 contactor enable relay 63 wiring 93 contactor specifications 179 control power input specifications 65 control 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 coordinated system time master 126 CPLD FLT 151 cycle time 128 D DACO 161 DACI 161 data rate 128 data type 129 date and time tab 126 DC common bus configuring 131 follower IAM 15 74 fuse requirements 75 interconnect diagram 197 198 200 leader IAM 15 74 pre charge 15 74 setting the add bus cap parameter 235 total bus capacitance 15 typical installation 15 delay times 134 digital I O not working correctly 146 digital inputs 60 dimensions AM 187 188 IAM 185 186 SM 189 dip switches 128 disable drive 157 download program 134 drive enable fault 149 drive overcurrent 147 drive overtemp 148 150 drive status LED 137 152 drive tab 133 drive undervoltage 148 DriveExplorer flashing firmware 228 sof
109. 1B3 8 X Resistive brake module drive and motor power TB and 2 X X 230V power TB4 Noise Reduction Guidelines for Drive Accessories When mounting an ac EMC line filter or external shunt resistor refer to the sections below for guidelines designed to reduce system failures caused by excessive electrical noise AC Line Filters Observe the following guidelines when mounting your ac EMC line filter refer to the figure on page 36 for an example e Mount the ac line filter on the same panel as the Kinetix 6000 drive and as close to the power rail as possible Good HF bonding to the panel is critical For painted panels refer to the examples on page 28 e Segregate input and output wiring as far as possible IMPORTANT CE test certification applies only to ac line filter and single power rail Sharing a line filter with multiple power rails may perform satisfactorily but the user takes legal responsibility Publication 2094 UM001A EN P September 2006 40 Planning the Kinetix 6000 Drive System Installation External Shunt Resistor Observe the following guidelines when mounting your external shunt resistor outside the enclosure e Mount circuit components and wiring in the very dirty zone or in an external shielded enclosure Run shunt power and fan wiring inside metal conduit to minimize the effects of EMI and RFI e Mount resistors other than metal clad in a shielded and ventil
110. 24V connector Brake Power Output 24V dc Connector 2094 ALxxS BLxxS XL75S Cx Recommended Pin Signal Wire Size Strip Length Torque Value mm AWG mm in Nm Ib in 1 0 PWR2 2 0 COM2 3 O_PWR2 0 08 1 5 7 0 1 0 28 16 0 28 0 22 0 25 1 9 2 2 5 0 PWR2 6 0 COM2 Brake Pow er Output 24V dc Connector 2094 AL09 and B L02 Recommended PSL Pin Signal Wire Size Strip Length Torque Value mm AWG mm in Nm Ib in 1 MBRK PWR 2 MBRK COM 25 10 0 05 06 4 MBRK COM Publication 2094 UM001A EN P September 2006 90 Connecting the Kinetix 6000 Drive System W iring the This section provides examples and wiring tables to assist you in Connectors making connections to the integrated axis module IAM connectors Wiring the Control Power CPD Connector This example applies to an integrated axis module IAM leader IAM or follower IAM Integrated Axis Module CPD connector LIM models 2094 755 and 81755 will supply 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 any other source requires an isolation transformer If used do not ground either output leg of the isolation transformer Refer to Control Power Input on page 65 for more information and IAM Wir
111. 460V 4 2094 BMP5 S 2094 5 inetix 6000 AM 460V 2094 BM01 S 2094 BM01 Kinetix 6000 AM 460V 15 2094 BM02 S 2094 BM02 inetix 6000 AM 460V 30 A 2094 BM03 S 2094 BM03 inetix 6000 AM 460V 49 A 2094 BM05 S 2094 BM05 Shunt M odule inetix 6000 SM 230V 460V 200W N A 2094 BSP2 Agency Compliance If this product is installed within the European Union or EEC regions and has the CE mark the following regulations apply Meeting CE requires a grounded system and the method of ATTENTION grounding the ac line filter and drive must match Failure to do this renders the filter ineffective and may cause damage to the filter For grounding examples refer to Grounded Power Configurations on page 71 Publication 2094 UM001A EN P September 2006 Start 17 For more information on electrical noise reduction refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 CE Requirements System without LIM To meet CE requirements when your Kinetix 6000 system does not include the line interface module LIM the following requirements apply e Install an ac line filter 2090 XXLF xxxx as close to the integrated axis module IAM as possible e Use 2090 series motor power cables or use connector kits and terminate the cable shields to the chassis clamp provided e Combined motor power cable length for all axes on the same dc bus must not exceed 240 m 787 ft with
112. 5 4 21 6 26 5 2094 BC01 Mxx S 12 15 2094 02 5 4 0 12 0 0 38 10 6 13 2 460V ac 2094 BC04 Mxx S 10 8 m 24 30 2094 BC07 Mxx S 25 4 21 6 26 5 Publication 2094 UM001A EN P September 2006 92 Connecting the Kinetix 6000 Drive System This example applies to a follower IAM dc common bus Integrated Axis Module IPD connector Integrated Axis Module Top View 2094 BC02 M02 S is shown Input Power IPD Connections IPD Connector IAM or follower IAM IPD Pin Signal N C N C N C L DC DC N wo e IMPORTANT Do not connect three phase input power to the follower IAM Termination Specifications Recommended i tii Module Input VAC Wire Size Strip Length Torque Value ROM mm AWG mm in Nm Ib in 2094 05 5 0 5 0 6 2094 ACO9 NbocS 25 14 0 0 38 4A 5 3 2094 16 8 mew 2094 AC32 Mxx S 25 4 21 6 26 5 2094 BC01 Mxx S 12 15 2094 BC02 Mxx S 40112 0 0 38 10 6 13 2 2084 BC04 MxxS ae 2094 BC07 Mxx S 25 4 21 6 26 5 Publication 2094 UM001A EN P September 2006 Connecting the Kinetix 6000 Drive System Wiring the Contactor Enable CED Connector 93 This example applies to any integrated axis module IAM leader IAM or follower IAM Integrated Axis Module CPD conne
113. 7 for examples of routing high and low voltage cables in wireways Refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 for more information Determining Your Type of Input Power CTRL 2 Transformer WYE Secondary j CTRL 1 imm x C oc L3 Js DC Transformer es L2 Eej X 12 5 Three phase 11 Input VAC FBI concen Phase Ground Connecting the Kinetix 6000 Drive System 71 Before wiring input power to your Kinetix 6000 system you must determine the type of input power you are connecting to The IAM is designed to operate in both grounded and ungrounded environments ATTENTION When using a LIM with your Kinetix 6000 drive the VAC LINE input power must come from a grounded configuration refer to the figure below When not using a LIM with your Kinetix 6000 drive ungrounded configurations are permitted but you must set the jumper to prevent high electrostatic build up Refer to Setting the Ground Jumper in Ungrounded Power Configurations on page 75 for more information Grounded Pow er Configurations The grounded WYE power configuration lets you ground your three phase power at a neutral point This type of grounded power configuration is preferred Grounded Power Configuration WYE Secondary Integrated Axis Module Top View 2094 5 is shown
114. A current On state Contact resistance when the relay is closed 1Q resistance Off state 120V voltage Voltage across the contacts when the relay is open 24V de Publication 2094 UM001A EN P September 2006 64 Publication 2094 September 2006 Kinetix 6000 Connector Data Motor Resistive Brake Relay Two connections are required for the customer supplied motor resistive brake input power BC 3 and 4 and two connections each for the motor and resistive brake output as shown in the figure below Connections are rated for 24V and current as shown in the table below An active signal releases the motor brake BC 5 and 6 The brake signal is the same as the contactor enable signal with the addition of the turn on and turn off delays specified by the brake active delay and brake inactive delay configurable in RSLogix 5000 software Refer to Axis Module Motor Wiring Examples beginning on page 204 and Controlling a Brake Example on page 210 for wiring examples The resistive brake relay BC 1 and 2 controls the resistive brake module RBM contactor The RBM is wired between the drive and motor using an internal contactor to switch the motor between the drive and a resistive load The RBM contact delay is the time it takes to fully close the contactor across the motor power input lines and must be configured in RSLogix 5000 software Refer to Integrating Resistive Brake Modules with
115. A 24 5 A 48 9 A Peak current rms 2 74A 120A 212A 346A 51 9A Peak current 0 pk 10 5 A 1704 30 0 48 9 A 734 A Continuous power out nom 1 2 kW 1 9 kW 3 4 kW 5 5 kW 11 0 kW Internal shunt Continuous power N A 50 W Peak power N A 1400 W Internal shunt resistor N A 1150 Shunt on N A 405V dc Shunt off N A 375V dc Efficiency 98 Capacitance 390 uF 660 uF 780 uF 1320 uF 2640 uF Capacitive energy absorption 15J 25 J 29 J 50 J 99 J 1 2 Peak current duration equals 2 5 seconds Publication 2094 UM001A EN P September 2006 Bandwidth values vary based on tuning parameters and mechanical components Specifications and Dimensions 173 AM inverter 460V Power Specifications Description Specification 2094 BM P5 S 2094 B M 01 5 2094 02 5 2094 01 5 5 2094 BCO1 M 01 5 2094 BC02 M 02 5 2094 03 5 2094 05 5 2094 C04 M 03 5 2094 07 05 5 Bandwidth Velocity loop 500 Hz Current loop 1300 Hz PWM frequency 8 kHz 4 kHz Nominal input voltage 650V dc Continuous current rms 28A 6 1 A 10 3 A 21 2 A 34 6 A Continuous current sine 0 p 40A 86A 146A 30 0A 48 9 A Peak current rms 2 42A 92A 155A 318A 519A Peak current 0 pk 2 59A 129A 21 8A 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 Internal shunt Continuous power 50 W 200 W Peak power 560
116. A BxxxR low inertia motors with 2 pole resolver feedback V Refers to MPG A BxxxS M single turn or multi turn integrated gear motors with absolute high resolution feedback M P Series M PF and MPS 1326AB and TL F and Y Series Motors MPF A and MPS A MPF B and MPS B 1326AB M2L S2L 1326AB F and Y Series TL Series 230V Motors 460V M otors 460V M otors 460V Motors 230V Motors 230V Motors Absolute Absolute Absolute High resolution 2 High resolution High resolution 9 Resolver Incremental 5 Incremental 6 m ft m ft m ft m ft m ft m ft 30 98 4 90 295 3 90 295 3 90 295 3 30 98 4 30 98 4 ll Refers to MPF A BxxxxS M single turn or multi turn food grade motors with absolute high resolution feedback 2 Refers to MPS A BxxxxS M single turn or multi turn stainless steel motors with absolute high resolution feedback 8 Refers to 1326AB Bxxxx 2L S2L single turn or multi turn motors with absolute high resolution feedback V Refers to 1326AB Bxxxx 21 motors with resolver feedback 5 Refers to F and Y Series motors with incremental optical encoder feedback 6 Refers to TL Axxxx H low inertia motors with incremental feedback Environmental Specifications Specification Operational Range Storage Range non operating Ambient Temperature 0 50 C 32 122 F 40 70 C 40 158 F Relative Humidity 5 95 noncondensin
117. ANT No drive end preparation is required for these cables Refer to page 99 for drive end cable pinouts Motor Power Terminations three phase and brake wires Motor Cable Shield Clamp MP Series Cable Brake Wires with tie wrap Y Series brake wires are not shielded and do not require routing under the cable clamp CTRL 2 CTRL 1 Motor Power MP Connector L3 12 L1 Resistive Motor Brake BC Connector CONT CONT EN ejejejejeje eje E The cable shield clamp shown above is mounted to an IAM Cables attach to the clamp on each AM in the same way IMPORTANT Securing the cable shield in the clamp with a tie wrap Is recommended to improve stress relief Publication 2094 UM001A EN P September 2006 98 Connecting the Kinetix 6000 Drive System Motor Power Cables with Three phase Brake and Thermal Switch Wires Motor Power Cable Catalog Number 1326AB resolver 1326 21 1326 1 Motor Motor Catalog Number The 1326AB resolver power cable contains the three phase wires brake wires and thermal switch wires To improve the EMC performance of your system route the wires as shown IMPORTANT Drive end preparation is required for these cables Refer to page 99 for drive end pinou
118. Actual bandwidth values Hz depend on your application and may require adjustment once motor and load are connected Record your bandwidth data for future reference 9 Click OK The Online Command Apply Tune dialog opens When the test completes the Command Status changes from Executing to Command Complete 10 Click OK Publication 2094 UM001A EN P September 2006 Configure and Startup the Kinetix 6000 Drive System 143 11 Determine if your test completed successfully If Then Your test completes successfully this dialog appears 1 Click OK 2 Remove the Hardware Enable Input signal 10072 applied earlier Apply tune completed successfully Tune dependent attributes have been updated Refer to Help for a list of dependent attributes 3 Go to Step 12 X Your test failed this dialog appears 1 Click OK 2 Make an adjustment to motor velocity i Tune command cannot be completed Refer to appropriate Logix motion module setup Command timed out and configuration manual for more information oK 4 Return to Step 7 and run the test again Error 16382 0 12 Repeat Test and Tune the Axes for each axis Publication 2094 UM001A EN P September 2006 144 Configure and Startup the Kinetix 6000 Drive System Publication 2094 UM001A EN P September 2006 Chapter Introduction Safety Precautions Troubleshooting the Kinetix 6000 Drive System This chapter
119. C16 Mxx S 6 10 max 12 15 2094 AC32 Mxx S 10 0 38 10 6 13 2 2094 AMO3 S AM05 S 2094 BC04 Mxx S 2094 BC07 Mxx S 25 4 max 16 0 63 21 6 28 5 2094 BM03 S BM05 S Publication 2094 UM001A EN P September 2006 100 Connecting the Kinetix 6000 Drive System Pigtail Terminations TL and Y Series motors have a short pigtail cable which connects to the motor but is not shielded The preferred method for grounding the TL and Y Series motor power cable on the motor side is to expose a section of the cable shield and clamp it directly to the machine frame The motor power cable also has a 150 mm 6 0 in shield termination wire with a ring lug that connects to the closest earth ground Use this method in addition to the cable clamp The termination wire may be extended to the full length of the motor pigtail if necessary but it is best to connect the supplied wire directly to ground without lengthening Motor Power Cable Pigtail Terminations Cable Braid Clamped to Machine Frame Connectors Machine Frame Publication 2094 UM001A EN P September 2006 1 1 Pigtail Cable 150 mm 6 0 Termination TL Series or Y Series Motor 1 Remove paint from machine frame to ensure proper HF bond between machine frame and motor case shield clamp and ground stud Connecting the Kinetix 6000 Drive System 101 Wiring the M otor R
120. C32 Mxx S i 25 4 21 6 26 5 2094 BCO1 MxxS _ VAC input power IPD 4 3 12 15 a 2094 BC02 Mxx S id 2 40112 10 0 38 10 6 13 2 460V 2094 BC04 Mxx S 10 8 m 24 30 2094 BC07 Mxx S 25 4 21 6 26 5 CPD 1 CTRL 2 Control input power 2 5 14 dr e IAM 2094 xCxx Max S uu 10 0 38 in XUXX IVIXX 230V or 460V CED 1 CONT EN 0 5 0 6 Contactor Enable 2 5 14 2 44 53 CED 2 CONT EN 4 4 5 3 DC common bus connections leader IAM to 2 The actual gauge of the contactor enable wi follower IAM should be kept as short as possible ing depends on the system configuration Consult your machine builder the NEC and applicable local codes ATTENTION A Publication 2094 UM001A EN P September 2006 To avoid personal injury and or equipment damage make sure installation complies with specifications regarding wire types conductor sizes branch circuit protection and disconnect devices The National Electrical Code NEC and local codes outline provisions for safely installing electrical equipment To avoid personal injury and or equipment damage make sure motor power connectors are used for connection purposes only Do not use them to turn the unit on and off To avoid personal injury and or equipment damage make sure shielded power cables are grounded to prevent potentially high voltages on the shield Module IAM or AM Connecting the Kinetix 6000
121. Cables C Route 24V dc 1 0 Route encoder analog registration shielded cable shielded cables p oar IAM AM 1 0 cable contains dirty relay wires route cable with LIM 1 0 cable in dirty wireway 7 When space does not permit the 150 mm 6 0 in segregation use a grounded steel shield instead For examples refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 Publication 2094 UM001A EN P September 2006 34 Planning the Kinetix 6000 Drive System Installation Publication 2094 UM001A EN P September 2006 Observe the following guidelines when a LIM 2094 AL09 or BL02 is used in the Kinetix 6000 system and mounted left of the IAM This layout is preferred due to the reduced size of the very dirty zone e The clean zone C is to the right and beneath the Kinetix 6000 system grey wireway e The dirty zone D is to the left and above the Kinetix 6000 system and above and below the LIM black wireway e The very dirty zone VD is limited to where the LIM VAC output jumpers over to the IAM Shielded cable is required only if the very dirty cables enter a wireway e The SERCOS fiber optic cables are immune to electrical noise Establishing Noise Zones LIM mounted left of IAM Dirty Wireway Clean Wireway Very Dirty Filter IAM Connections Segregated not in wireway D Motor Power Cables D D Fiber optic Cable VD 4 No sensitive e
122. Example 2094 AC09 M 02 ES gt eC 00910000009 SM 2094 BSP2 200 W Shunt Module AM 2094 AMP5 No Internal Shunt AM 2094 50 W Internal Shunt AM 2094 50 W Internal Shunt IAM 2094 AC09 M02 50 W Internal Shunt In the table below the 460V system specifications are given for the IAM internal shunt resistors the Kinetix 6000 2094 BSP2 SM and the Bulletin 1394 passive external shunt modules Shunt M odule 460V System Specifications Module not part of system configuration B 50 plus the sum of the AM internal shunt ratings 4 200 plus the sum of the AM internal shunt ratings un Shunt Module Specifications Kinetix 6000 Number of System 460V IAM Axis Modules Peak Peak Continuous External Continuous 2094 Quantity Catalog Resistance Current Power Power Passive Shunt Power Number Q A kW Ww Shunt Module w BCO1 MP5 S 50 plus 9 BC01 MO01 S 50 plus 9 02 02 0107 N A 2 E N A 50 plus 9 BC04 M03 S d 200 plus BCO7 M05 S E BCxx Mxx S 1106 2094 BSP2 2875 28 225 200 N A 2 200 plus BCxx Mxx S 300 1394 SR9A 300 8 BCxx Mxx S 900 1394 SR9AF 900 6 cu eec tig 2094 BSP2 4 201 3 162 BCxx Mxx S 1800 1394 SR36A 1800 9 BCxx Mxx S 3600 1394 SR36AF 3600 6 V Refer to p
123. FLASH the firmware update tool ControlFLASH needs the following information from you before it can i begin updating a device The Catalog Number ofthe target device 2 The Network Configuration parameters optional 3 The Network Path to the target device 4 The Firmware Revision for this update View Log lt Back Nest Cancel Help 2 Click Next The Catalog Number dialog opens Catalog Number Enter the catalog number of the target device 2094 01 5 Ertila 2034 2 2094 2094 AMD5 2094 5 2094 BC01 M01 2094 BC02 M02 2094 BMP5 lt Back Next gt Help 3 Select the catalog number of your drive module to flash 4 Click Next 5 Minimize the RSLogix 5000 project dialog Publication 2094 UM001A EN P September 2006 218 Upgrading Firmware Configuring Logix Communications This procedure assumes that your communication method to the Logix controller is using the Ethernet protocol It is also assumed that your Logix Ethernet module has already been configured For more information refer to the ControlLogix System User Manual publication 1756 0 001 Follow these steps to configure Logix communications 1 Open the RSLinx Classic software and select Configure Drivers from the Communications menu The Configure Drivers dialog opens 2 Select Ethernet devices from the Available Driver Types menu Configure
124. Kinetix 6000 system and mounted right of the drive with the ac EMC line filter mounted behind the LIM The clean zone C is to the left and beneath the Kinetix 6000 system grey wireway The dirty zone D is to the right and above the Kinetix 6000 system and above and below the LIM black wireway The very dirty zone VD is from the filter output to drive Shielded cable is required on the EMC filter load side and the braided shield attached to the clamp when provided Establishing Noise Zones EMC filter behind Clean Wireway Dirty Wireway Motor Power Cables D D D D Control VAC eu ET Auxiliary Very Dirty Filter IAM Connections Segregated not in wireway VAC Line VAC Load and 24V dc Brake VD S 4 gt a No sensitive d E E 5 D ri equipment within 150 mm 6 0 in VD 00 LA mom f Fe Line Filter Kinetix 6000 B System m 5 LJ gt 1 VN Line Interface Module 1 0 and Feedback Cables 2094 ALxx shown 2094 bid ad Brackets 2 Route encoder analog registration Route 24V dc 1 0 shielded cables shielded cable 1 2 3 Publication 2094 UM001A EN P September 2006 If drive system 1 0 cable contains dirty relay wires route cable with LIM 1 0 cable in dirty wireway When space does not permit the 150 mm 6 0 in segregation use a grounded
125. Li 2094 01 5 230 shown f o 2090 XXNF x Sxx flying lead Feedback Cable with 2090 K6CK D15Mxx Low profile Connector Kit N Power Rail 62 Important Additional clearance below the connector 2 45 is necessary to provide the recommended cable bend radius This view illustrates the additional clearance required for premolded cable connectors 2090 UXNFBxx Sxx premolded connector Feedback Cable Modules are shown mounted to the power rail and the dimensions reflect that in the depth of the module AM Dimensions Kinetix 6000AM m n mm n mm Gin 2094 AMP5 S 2094 AMO1 S 19878 176 7 0 5120 206 82 231 9 1 2094 AMO2 S 2094 BMP5 S 2094 BM01 S 272 10 7 249488 010 256 10 1 281 11 0 2094 BM07 S Publication 2094 UM001A EN P September 2006 188 Specifications and Dimensions Axis Module Dimensions 2094 03 5 and 05 5 230V 2094 BM 03 S and BM 05 5 460V A Dimensions in millimeters inches a B E 6 zi E 2090 XXNFxx S xx flying lead Feedback Cable with 2090 K6CK D15M xx Low profile Connector Kit 1045 Important Additional clearance below the connector is necessary to provide the
126. MF Connector 0 oo esi 4 Green Yellow D A BLACK SIN 1 2 lt lt gt gt WHT BLACK 3 Power 3 1 Blue C w il GND s SIN 2 W COS 4 MP Connector V 2 2 Black B lt lt C gt gt RED 3 5 Three phase D WHT RED XX COS 4 u 3 Brown A lt lt Motor Power gt T 6 E gt GREEN DATA 5 7 ne F S DATA 10 8 onnector Note 16 Motor Feedback K 14 LS XX ECOM 6 11 Motor Resistive 2080 UXNBMP 18S x Brake Cable N ORANGE 9VDC 7 gt gt Brake BC Connector Note 16 R WHT ORANGE TS 1 ie C 77 BR i e BRK ur F lt lt TY yl nut TS ite 15 BRK lt lt ue Thermostat COM User Supplied Motor Brake i gt PM Refer to the Kinetix 6000 User Manual PWR EM 24V dc 1 2 max ice publication 2094 BR for proper grounding technique DBRK P Resistive Brake 3 Connections 2090 XXNFMP Sxx DBRK flying lead Feedback Cable Note 16 17 Kinetix 6000 1326AB Servo Motors with IAM inverter or AM Resolver Feedback Note 15 1326 CPx1 xxx Motor Power Cable Note 16 Cable Shield Clam TM A BS 1 1 4 Braided Shield lt lt 2 3 Black 3 Bd GND 3 Motor Power 2 9 2 lt lt 2 1 MP Connector ac lt lt Three phase 5 Motor Feedback U Black lt lt Motor Power Motor Feedback 6 Connector MF Connector i 8 ane 6 Black 6 B1 IAM AM 9 S 3 Brake 2 5 SHEEN gt 5 82 otor Brake 10
127. ND gt 1 Motor Power W 7 em 3 BM 3 MP Connector V ia Three phase 4 gt gt WHT RED XX 4 u Brown U Motor Power gt 6 y B GREEN IM 5 7 Motor Feedback 10 5 51 XX M 10 8 Connector Note 16 7 gt GRAY 5VDC 14 9 Motor Feedback g 5 SL wien ECOM 6 i otor Resistive 2090 DANBT 9S BLUE 11 Motor Brake 12 Brake BC Connector ps 6 gt gt WHT BLUE XX 51 12 13 6 Black 11 YELLOW 52 13 2 BR gt 14 5 WEE lt q T 15 5 5 XX 3 8 BRK 1 ptor Brake 9 GREEN id 4 lt lt gt SHIELD COM User Supplied EE to ee Js D 4 24V dc 1 2A max i 2 BR 2090 XXNFT Sxx Feedback Cable __ DBRK Resistive Brake with BR Connections Publication 2094 UM001A EN P September 2006 208 Interconnect Diagrams Kinetix 6000 IAM inverter or AM Note 15 AM 460V Wiring Example with 1326AB Motors 1326AB 2L S2L Servo Motors with High Resolution Feedback Motor Feedback Cable Shield
128. Notes 16 17 20 MPL A3xx A4xx A45xx and A5xx 230V Servo Motors with Motor Feedback Incremental Feedback MF Connector IAM AM D lt lt 5 gt BLACK AM A 1 WHT BLACK XX 2 Grounding Technique for C eU GND gt gt Feedback Cable Shield B RED BM 3 ow Profile Connector lt q Three phase D SS WHT RED BM _ 4 2090 K6CK D15M shown A cet Motor Power me gt gt F WHT GREEN XX IM 10 gt gt Motor Feedback K gt GRAY 45VDC 14 L 551 werennv _ ECOM 6 Clamp N gt MI 7 Exposed shield secured gt R gt gt WHT ORANGE XX TS 11 91 Thermostat iY Clamp Screws 2 T S BLUE TS 2 gt Turn clamp over to hold 9 T _ 51 liu small cables secure Motor Brake U gt gt W S2 13 V gt gt 53 8 5 gt COM Refer to low profile connector 77 illustration lower left for proper grounding technique 2090 XXNFMP Sxx flying lead Feedback Cable Notes 16 17 Publication 2094 UM001A EN P September 2006 206 Interconnect Diagrams Kinetix 6000 AM Wiring Example with MP Series MPL A B MPF A B and MPS A B Motors 15 and A B2xx
129. PAR Motor Power 2090 XXNPH HF xxSxx 5 BLACK 1 Motor Feedback Motor Power Cable B gt WHT BLACK XX AM 2 otor Feedbac Note 16 RED BM 3 9 MF Connector gt WUT RED B 11 9101 0330 Brake Cable Connector Kit GREEN 12 Note 16 Motor Feedback WHT GREEN XX IM 10 13 6 Black B BR R WHT BROWN TS 11 14 5 White A lt lt Motor Brake P 44 BROWN XX 53 r1 8 Sm 4 lt Ks VDC 14 0 COM ENS User Supplied J 5 GRAY 38 24 dc 1 2A max PWR go Pure T4 WHT GRAY ECOM 116 DBRK Resistive Brake gt gt m 57 13 LY 3 Connections d XX si 12 Motor Resistive H gt gt MOLEN Brake BC Connector Thermostat SY a 4 S gt LWHTMOLET TS 6 Refer to low profile connector Ri illustration below Grounding Technique for Feedback Cable Shield Exposed shield secured gt under clamp Clamp Screws 2 Clamp roper grounding technique 2090 XXNFHF Sxx flying lead Feedback Cable Note 16 17 Low Profile Connector 2090 K6CK D15M shown clamp over to hold small cables secure Publication 2094 UM001A EN P September 2006 210 Interconnect Diagrams AM 230V Wiring Example with Y Series M otors
130. Parameter Number 30 Version Data Axis Number 0 IAM axis 1 1 AM axis 2 2 AM axis 3 3 AM axis 4 DPI Port Number Netw ork Node Number 4 Select Devices Node Product Axis Group Config and navigate to the Config parameters as shown below lolx 23 DriveExplorer File Edit Explore Actions Help Devices Node 1 20940 SERVO 1 Config Options 00 0000 0 20940 SERVO Config 00C 1 0 1601 Soft Ovrtrvl Act Drive Action E IAM 1 0 1602 Pos Err Flt Act Drive Action 1 0 1603 Hard Ovrtrvl Act Drive Action Gi IAM Diags 1 0 1604 FdbkNse Flt Act Status Only ETIAM Group 1 0 1605 Dr Therm Flt Act Drive Action IAM 1 0 1606 Mt Therm Flt Act Drive Action E Axis 2 1 0 1607 Enable Swtch Act Drive Action Axis 2 Diags 1 0 1384 HeatSink Temp 0 degC Axis 2 Group 1 0 1528 Enable Brake Sol 0 Drive Data 1 0 1207 Drive Off Delay 0 0 msec Motor Data 1 0 1206 Dri 0 0 msec Motor Config 0 1641 RBM Delay 0 0 msec Feedback Aux Feedback Homing Probe Config Probe Data Torque Config Torque Data Velocity Config Velocity Tune Velocity Data Position Config Position Tune Position Data Acceleration Servo Loop Auto Tune Hookup Fault Status Publication 2094 UM001A EN P September 2006 254 Integrating Resistive Brake Modules with Kinetix 6000 Drives 5 Double click the x x x641 RBM Delay parameter The command dialog for parame
131. Rockwell Automation Configuration and Selection Tools website http www ab com e tools For declarations o f conformity DoC currently available from Rockwell Automa ion Rockwell Automation Product Certification website http www rockwellautomation com products certification An article on wire equipment sizes and types for grounding electrical National Electrical Code Published by the National Fire Protection Association of Boston MA A glossary of industrial automation terms and abbreviations Publication 2094 U Rockwell Automation Industrial Automation Glossary You can view or download publications at http literature rockwellautomation com To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative M001A EN P September 2006 AG 7 1 Chapter 1 Introduction Start Use this chapter to become familiar with the Kinetix 6000 drive components This chapter also reviews design and installation requirements for Kinetix 6000 drive systems Topic Page Introduction 11 About the Kinetix 6000 Drive System 12 Catalog Number Explanation 16 Agency Compliance 16 Publication 2094 UM001A EN P September 2006 12 Start About the Kinetix 6000 Drive System Kinetix 6000 The Kinetix 6000 multi axis servo drive is designed to provide a Kinetix Integrated Motion solu
132. SP2 SM Power Rail 2094 PRx PR Power Rail slim 2094 PRSx PRS Power Rail Slot Filler 2094 PRF PRF Line Interface Module 2094 xLxx and xLxxS xx LIM Resistive Brake Module 2090 XB xx xx RBM Publication 2094 UM001A EN P September 2006 10 Additional Resources related Allen Bradley products The following documents contain additional information concerning For Read This Document Publication Number Information on the installation of your Bulletin 2094 Power Rail Kinetix 6000 Power Rail Installation Instructions 2094 IN003 Information on the installation and troubleshooting of your Bulletin 2094 Line Interface Module LIM Line Interface Module Installation Instructions 2094 IN005 iM on the installation of Bulletin 2094 Mounting 2094 Mounting Bracket Installation Instructions 2094 IN008 ation and wiring of Bulletin 2090 Resistive Brake Module Installation Instructions 2090 IN009 Information on proper handling installing testing and 7 roubleshooting fiber optic cables Fiber optic Cable Installation and Handling Instructions 2090 IN010 Information on installing configuring and how to calculate the data needed to correctly select 1336 dynamic brake 1336 Dynamic Braking Installation Instructions 1336 5 64 System Design for Control of Electrical Noise Reference Information exa
133. Since the index is IM pulse width active for a percentage of a revolution the speed will 125 nS determine the pulse width AM BM phase error Amount that the phase relationship between the AM 275 422 5 2 5 MHz line frequency and BM inputs can deviate from the nominal 909 AM BM phase error Amount that the phase relationship between the AM 45 445 1 MHz line frequency and BM inputs can deviate from the nominal 909 AM BM and IM Input Specifications for Sine Cosine Encoders Parameter Description Min Max Sine cosine input signal Frequency of the Sine or Cosine signal inputs 250 kHz frequency Sine cosine Peak to peak input voltages of the Sine or Cosine input voltage inputs 0 5V 2 0V p p Feedback Power Supply The IAM and AM power circuit board generates 5V and 9V for motor and auxiliary feedback power Short circuit protection and separate common mode filtering for each channel is included Motor and Auxiliary Feedback Power Specifications Voltage CurrentmA Supply Reference Min Nominal Max Min Max 45V dc EPWR 5V 5 13 54 5 67 10 400 1 3 9V de EPWR 9V 83 9 1 9 9 10 275 2 3 100 mA on the 5V supply split in any manner between the channels with no load on the 5V supply 2 275 on the 9V supply split in any manner between the channels with no load on the supply B 300 mA on the 5V supply on one channel with 150
134. Slot Filler node address 07 AM axis 7 node address 06 AM axis 6 node address 05 AM axis 5 node address 04 AM axis 4 node address 03 AM axis 3 node address 02 AM axis 2 node address IAM axis 1 base node address In the example above SERCOS interface module 1 controls axes 1to 4 and module 2 controls axes 5 to 7 The slot filler module is assigned a node address but does not use it You can mount the two SERCOS interface modules in two separate ControlLogix chassis as shown above or you can mount them in the same chassis Utilizing two SERCOS interface modules to control axes from a single Kinetix 6000 power rail allows you to reduce the cycle times IMPORTANT Slot Filler modules must be used to fill any unoccupied slot on the power rail However the slot fillers may also be removed and replaced by an axis or shunt module in the future Publication 2094 UM001A EN P September 2006 124 Configure and Startup the Kinetix 6000 Drive System Node Addressing Example 3 6 Yo 1756 MxxSE SERCOS interface Module Logix Platform ControlLogix is shown Transmit Receive SERCOS Fiber optic Ring Receive Transmit Kinetix 6000 8 axis power rail COE CORE 20208 v v A 08 S
135. Specifications and Dimensions This section contains power specifications for your Kinetix 6000 system components Integrated Axis Module converter Power Specifications IAM 230V Power Specifications Description 2094 05 P5 S 2094 05 01 5 2094 09 02 5 2094 AC16 M 03 S 2094 AC32 M 05 5 AC input voltage 195 264V rms three phase 230V nom AC input frequency 47 63 Hz Main ac input current 1 Nom rms 10A 19A 36A 71A Max inrush 0 20A 33A 65A 120A DC input voltage common bus follower 275 375V dc DC input current common bus follower 10 A 19A 36A Control power ac input voltage 95 264V rms single phase 230V nom Control power ac input current Nom 220 230V ac rms 3A 3A Nom 110 115V ac rms 6A 6A Max inrush 0 20A 83 A 2 Nominal bus output voltage 325V de Line loss ride through 20 ms oa current 10A 19A 36 A Med ie dd current 20A 38 A 72 142 Bus overvoltage 425V de Bus undervoltage 138V dc Internal shunt Continuous power N A 50W 200 W 200 W Peak power N A 8000 W 5600 W 5600 W Internal shunt resistor N A 20 Q 28 75 Q 28 75 Q Shunt on N A 405V dc Shunt off N A 375V dc Continuous power output to bus 3 kW 6 kW 11 3 kW 22 5 kW Peak power output 6 kW 12 kW 22 6 kW 45 0 kW Efficiency 95 Converter inductance N A 150 uH 75 uH Converter c
136. TT 4 oe Motor Resistive T COM 3 Brake BC Connector PWR 2 _ DBRK 1 L__ DBRK I 1 CONT EN Contactor Enable 2 CED Connector CONT EN Note 14 Kinetix 6000 Common Bus Follower IAM Bonded Cabinet 2094 ACxx M xx or BCxx M xx Ground Bus Power Rail o 9 Ground Stud Note 10 E Cable Shield Clamp CTRL 2 Control Power CTRL CPD Connector i 4 3 1 DC Motor Power wW 2 MP Connector V 2 gt DC DC Bus 1 and U DC Bus Fusing 4 Three phase Note 2 13 Input IPD N C EN 2 6 6 11 r3 MBRK 5 LT 4 eH Motor Resistive COM 3 Brake BC Connector PWR 2 2 4 DBRK 1 E DBRK 1 Contactor Enable 2 CONT EN J CED Connector Note 14 Indicates User Supplied Component 199 Three phase Motor Power Connections Note 16 Three phase Motor Power Connections Note 16 Publication 2094 UM001A EN P September 2006 Interconnect Diagrams 200 le Follower IAM ing Example with S iring 8720M C RPS Leader Drive W aui 1u8 aJd pue ia wod sng Ip ay BAOWA 01 e MOJJE 01 0009 pue 544 3 407 28 y BULLS ejqeua 101263002 By saues ut uos 9 650 154 ue jo peeisui uonnqusnd e asn
137. The connector pins for each slot are covered by a protective boot The boot is designed to protect the pins from damage and make sure that no foreign objects lodge between the pins during installation Refer to the Kinetix 6000 Power Rail Installation Instructions publication 2094 IN003 when installing your power rail ATTENTION To avoid damage to the power rail during installation do not remove the protective boots until the module for each slot is ready for mounting Mount IAM AM SM and slot filler PRF modules in the order left to right as shown in the figure below Mount axis modules according to power utilization highest to lowest from left to right starting with the highest power utilization If power utilization is unknown position axis modules highest to lowest from left to right based on amp rating Module Mounting Order Highest Power Utilization or Amp Rating Lowest Power Utilization or Amp Rating 4 Integrated Axis Module Axis Module Axis Module Axis Module Axis Module Axis Module Shunt Module Slot Filler Module 2094 AC09 M02 2094 02 2094 02 2094 AM02 2094 AMO1 2094 AMO1 2094 BSP2 2094 PRF oo Publication 2094 UM001A EN P Septe
138. V W motor power MP MBRK MBRK motor brake MBRK MBRK motor brake X X 1326AB motors with resolver feedback DBRK DBRK resistive brake BC COM PWR 24V dc filtered X COM PWR 24V dc unfiltered 2 X COM PWR 24V dc safety enable and 50 X eedback signals for safe off feature Motor feedback MF Auxiliary feedback AF Registration and analog outputs X Others X Fiber optic Rx and Tx No Restrictions This is a clean 24V dc available for any device that may require it 2 This isa dirty 24V dc available for motor brakes and contactors Line Interface Module Zone Method Wire Cable Connector Very Clean Ferrite Shielded VAC line main input IPL X 230V ac input APL VAC load shielded option X X VAC load unshielded option n X Control power output CPL X MBRK PWR MBRK COM P1L PSL X Status 1 0 IOL X Auxiliary 230V ac P2L X External Shunt Resistor Kit Zone M ethod Wire Cable Connector m pire Ferrite Shielded COL DC shielded option X X COL DC unshielded option Thermal switch TS Fan if present N A Publication 2094 UM001A EN P September 2006 Planning the Kinetix 6000 Drive System Installation 39 Resistive Brake Module Zone Method Wire Cable Connections Ver Ferrite Shielded Dirty Dirty Clean Cleeve Cable Resistive brake module coil power TB3 6 and TB3 7 X TB1 1 5 Resistive brake module 1 0 and
139. Wiring Plug Header Each IAM and AM ships with the 9 pin wiring plug header and motion allowed jumper installed in the safe off connector With the motion allowed jumper installed the safe off feature is not used Pinouts for the safe off SO connector are shown on page 52 Pins 50 8 and 9 24V4 are only used by the motion allowed IMPORTANT jumper When wiring to the wiring plug header the 24V supply must come from an external source Safe off SO Connector Recommended CED Pin Signal Wire Size Strip Length Torque Value mm AWG mm in Nm Ib in 1 FDBK2 2 FDBK2 3 FDBK1 0 75 18 4 FDBK1 stranded wire 5 SAFETY ENABLE2 With ferrule 7 0 0 275 0 235 2 0 6 SAFETY ENABLE 1 5 16 solid wire 7 SAFETY ENABLE1 8 24V 9 24V_COM 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 RMO002 Publication 2094 UM001A EN P September 2006 Connecting the Kinetix 6000 Drive System 95 Wiring the Motor Power Connector This example applies to axis modules AM and the inverter section of integrated axis modules IAM Integrated Axis M odule Axis Module MP connector Integrated Axis Module Top View EN 2094 BC02 M02 S is shown Cable Shield Clamp Cable Shield Terminations Factory supplied motor power cables f
140. ach axis Overtravel detection is available as an optically isolated single ended 00 8 OT active high signal Current loading is nominally 10 mA per input The pos 20 ms lev l OD 11 OT neg limit switch normally closed contact inputs for each axis require 24V dc nominal Digital Input Specifications Parameter Description Min Max On state voltage Voltage applied to the input with respect ENABLE HOME and OT OT 10 8V 26 4V to to guarantee an on state REG1 and REG2 21 6V 26 On state current Current flow to guarantee an on state 3 0 mA 10 0 mA Off state voltage PIRE to the input with respect to IOCOM to guarantee an AQV 30V Publication 2094 UM001A EN P September 2006 Kinetix 6000 Connector Data 61 1 0 SUPPLY Enable Home and Overtravel Digital Input Circuits 24 de 100 1 4 7 10 100 2 5 8 11 Loo INPUT 10 COM 0 1 uF 5110 Pi 3k Q s K gt gt CTRL_INPUT Customer supplied Input Device 1 0 SUPPLY 100 3 6 9 12 1kQ V Kinetix 6000 IAM AM Le 24V dc source range 21 6V 26 4V supplied by drive not to exceed 500 mA total Maximum current input 10 mA Registration Digital Input Circuits i T 24V dc INPUT VCC t D 10 COM 0 001 uF 5110 Y gt gt REG INPUT HCPL 0631 Customer supplied Registration Input Device
141. age 184 for external shunt module specifications 200 plus the sum of the IAM and AM internal shunt ratings 6 Use of external shunt disables shunts internal to IAM and AM Publication 2094 UM001A EN P September 2006 176 Kinetix 6000 230V Shunt Power Example 500 W Continuous Shunt Power Kinetix 6000 230V Shunt Power Example 900 W Continuous Shunt Power Specifications and Dimensions In the example below the sum of the IAM AMs and SM equal 500 W of continuous shunt power Shunt power adds up the same way for 460V IAM AM and TIP SM systems too Shunt Power Example without external shunt Ea IK Clee NISI 0 010 SM 2094 BSP2 200 W Shunt Module A AM 2094 02 No Internal Shunt AM 2094 AM03 50 W Internal Shunt AM 2094 AM03 50 W Internal Shunt IAM 2094 16 03 200 W Internal Shunt In the example below the system is identical to that shown the example above except the Kinetix 6000 2094 BSP2 shunt module is wired to a Bulletin 1394 external shunt module The IAM and AM internal shunt power is disabled and the continuous shunt power is equal to that of the external shunt module alone The external shunt disables the internal shunt capacity of 460V TIP IAM AM and SM systems too Shunt Power Example with external shunt
142. al Support at 440 646 5800 C K6k_Firmware Files 2094_ER1 056_2002_05_ Browse Protocol xmodem Sod 6 Browse for your firmware upgrade file 7 Select Xmodem protocol 8 Select Send Publication 2094 UM001A EN P September 2006 230 Upgrading Firmware The flash upgrade operation begins and the following dialog opens To avoid unrecoverable fault to drive modules do not ewe interrupt control power to IAM power to the 1203 SSS SCANport adapter or power to your PC while the flash upgrade operation is in progress The flash operation completes and the following dialog opens 2151 alel el DPI Host Flash Program Updated Press any key to continue 9 Close the HyperTerminal session 10 Verify that parameter 30 for each axis module is now upgraded to the new firmware revision 11 Return to DriveExplorer refer to Selecting Axis Modules to Upgrade Step 5 to see the linear list of parameters Publication 2094 UM001A EN P September 2006 Appendix D Introduction Before You Begin DC Common Bus Applications This appendix provides integration procedures specific to the Kinetix 6000 multi axis servo drive systems configured for dc common bus The procedure involves calculating capacitance values and setting the Add Bus Cap parameter using DriveExplorer software __ age Introduction Before You Begin 231 Calculating
143. and select Connect from the Explore menu The DriveExplorer software proceeds to read your system 5 Double click 2094D SERVO Config 0000 The linear list of parameters dialog appears e DriveExplorer Beta File Edit Explore Actions Help Devices H H Node 1 2094D SERVO Reserved 0 Linear List Legend 20BAD CERVOI 0000 ON Lt MDT x xxx IAM 1 tan e I See Pwr Supply Data Reserved 0 Reserved 0 Parameter Number mt es MST Errors 38064 z onfiguration MD 8 30 Version Data Monitor ersion Data VERS 01 056 Axis Number AM 1 Diags Reserved IAM ae 1 AM 1 Group Prime DP Mode 0 0000 0000 0000 0010 5 8 1 0 AM 1 Group Prime Made 0 0000 0000 0000 0010 1 AM axis 2 3 IAM 2 Reserved 0 i Reserved 0 7 n axis AM 2 Diags Velocity Command 0 0000 axis 4 g head Velocity Offset 0 0000 E Limit 0 6000 0000 rpm DPI Port Number 2 1203 555 85232 DF1 Mel Limit 0 6000 0000 Netw ork Node Number custom views mi 2 For Help press F1 Local DPI 6 Scroll down to parameter x x 30 Version Data and record the version VERS xx xxx of each axis module 7 Double click Configuration The following dialog opens File Edit Explore Actions Help inl
144. anual 9 wiring building your own cables 70 contactor 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 connector 91 MP connector 95 SO connector 94 IAM with LIM 24V connector 89 APL connector 84 CPL connector 87 IPL connector 85 OPL connector 86 P2L connector 88 input power determining type 71 low profile connectors 110 motor brake 101 motor cable shield clamp 103 motor power 96 97 98 100 requirements 69 IAM 80 IAM AM 81 SM 81 resistive brake module 114 routing power and signal wiring 70 safe off feature 94 SERCOS fiber optic cables 115 ungrounded power configuration 73 X Xmodem 229 Rockwell Automation Support www rockwellautomation com Rockwell Automation provides technical information on the Web to assist you in using its products At http support rockwellautomation com you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect Support programs For more information contact your local distributor or Rockwell Automation representative or visit http support rockwellautomatio
145. apacitance 270 uF 540 uF 1320 uF 1980 uF 2094 xC xx integrated axis modules are 2 3 imited to 2 contactor cycles per minute with up to 4 axis modules or 1 con Maximum inrush duration is less than 1 2 line cycle Intermittent output current duration equals 250 ms Publication 2094 UM001A EN P September 2006 actor cycle per minute wi th 5 to 8 axis modules Specification Specifications and Dimensions IAM 460V Power Specifications Description 171 2094 BC01 M P5 S 2094 BC01 M 01 5 2094 B C02 M 02 5 2094 BC04 M 03 5 2094 07 05 5 AC input voltage 324 528V rms three phase 360 480V nom AC input frequency 47 63 Hz Main ac input current 1 Nom rms 10A 24A 44 A inrush 0 10A 20A 34A 56 A DC input voltage common bus follower 458 747V de DC input current common bus follower 10A 24A 43 A 71A Control power ac input voltage 95 264V rms single phase 230V Control power ac input current Nom 220 230V ac rms 3A Nom Q 110 115V ac rms 6A Max inrush 0 25A Nominal bus output voltage 650V dc Line loss ride through 20 ms SUE M current 10A 24 A 43 A AA C Intermittent output current o bus Aye 2 20A 48 A 86 A 142 Bus overvoltage 825V de Bus undervoltage 275V de Internal shunt Continuous power 50 W 200 W Peak power 56
146. at steps 1 11 for each Logix module Configure the Kinetix 6000 M odules Follow these steps to configure the Kinetix 6000 modules 1 Right click the new Logix module you just created and select New Module The Select Module dialog opens Expand the Drives category and select your 2094 xCxx Mxx or 2094 xMxx AM as appropriate for your actual hardware configuration Configure and Startup the Kinetix 6000 Drive System 129 Click OK The New Module dialog opens a Name the module b Set the Node address Set the node address in the software to match the node setting on the drive Refer to Configure the IAM AM Step 2 on page 120 c Select an Electronic Keying option d Check the box Open Module Properties Click OK Select the Associated Axes tab Wi Module Properties SE MOD 2094 16 1 1 General Connection Associated Axes Power Module Info Node 1 lt none gt p Node 129 lt none gt Auxiliary Axis Status Offline Cancel Apply Click the New Axis button The New Tag dialog opens Add the axis a Name the axis b Select AXIS_SERVO_DRIVE as the Data Type Click OK The axis appears under the Ungrouped Axes folder in the explorer dialog Assign your axis to the node address as shown in the dialog below Wil Module Properties SE MOD 2094 16 1 1 General Connection Associated Axes Power Module Info Node 1
147. ated enclosure outside the cabinet e Keep unshielded wiring as short as possible Keep shunt wiring as flat to the cabinet as possible e Route thermal switch and fan wires separate from shunt power External Shunt Resistor Outside the Enclosure Customer supplied Metal Enclosure 150 mm 6 0 in clearance min on all four sides of the shunt module 4 Metal Conduit where required by local code Shunt thermal Switch and Fan Wires when present i Clean Wirewa Dirty Wireway Shunt Power Wiring Methods Twisted pair in conduit 1st choice Shielded twisted pair 2nd choice Twisted pair two twists per foot min 3rd choice D VD Very Dirty Connections Segregated not in wireway D Motor Power Cables D D 2094 BSP2 VD Shunt Module E No sensitive equipment within 150 mm 6 0 in Kinetix 6000 le System o v D Line Interface Module C C D 1 0 and Feedback Cables Route 24V dc 1 0 Enclosure Route encoder analog registration shielded cable shielded cables Publication 2094 UM001A EN P September 2006 Planning the Kinetix 6000 Drive System Installation 41 When mounting your shunt module inside the enclosure follow these additional guidelines e Metal clad modules can be mounted anywhere in the dirty zone but as close to the Kinetix 6000 system as possible e Shunt power wires can be run with motor power cables
148. ay should be set beyond the time required to stop and disable the axis when running at full speed wy Drive Enable Input Checking must be selected when configuring Axis Properties in RSLogix 5000 software Publication 2094 UM001A EN P September 2006 Integrating Resistive Brake Modules with Kinetix 6000 Drives 244 2094 ALxxS BLxxS and XL75S wired with the Bulletin 2090 RBM The example diagram below shows Kinetix 6000 IAM AM and LIM in a category 2 configuration Example Category 2 Configuration per EN 954 1 iring RBM W Z 810N suaquunu ajqea Jamod 10 10 g X puaddy ui sajdwexa ay 0 1uauoduio paljddns Jesf saqyeaipuy y O 9 101290005 14 indy 3e 0 2 10404 1 13 109 81 S 01 01 E Z Si 7 opus 0 2 19 100915 g HO casui ayqeug 1onaeq
149. bk E61 Auxiliary encoder has encountered an illegal state transition DISABLE N AuxFeedbackFault Aux Fdbk Loss E62 The feedback wiring is open shorted or missing DISABLE N AuxFeedbackNoise Aux Fdbk Noise E63 Presence of noise on auxiliary feedback cable DISABLE Y MotorFeedbackNoise Mtr Fdbk Noise E64 Presence of noise on motor feedback cable No den d condition indicate y E65 Hookup procedure failed DISABLE N on screen message Hookup Fault Publication 2094 UM001A EN P September 2006 Troubleshooting the Kinetix 6000 Drive System 159 RSLogix Fault Message RSLogix Error Descripti Drive Fault escription Programmable HIM Code Action Fault Action No dB condition indicate M reen message y E66 Autotune procedure failed DISABLE N Atune Flt DriveHardFault e E67 Operating system failed SHUTDOWN N Task init DriveHardFault SCANport Comm E68 DPI communication failed STOP DriveHardFault E69 Non volatile memory attribute out of range SHUTDOWN N Objects Init DriveHardFault 4 E70 Non volatile memory corrupted SHUTDOWN N NV Mem Init DriveHardFault E71 RAM or flash memory validation failure SHUTDOWN Memory Init DriveOvertempFault Inverter temperature limit exceeded Drive 0 72 Firmware It protection does not generate fault rather it SHUTDOWN Y Drive Overtemp dynamically
150. ble Connections Pintg Ping Pin 26 Mounting Screws Pin 1 Pin 19 10 n O 26 pin male 1 0 2222 22 Low Profile Connector 2759972856 Tie Wrap Slot 2 Turn clamp over to hold small wires secure 5 26 25 24 S 2322 21 201918 1716 15 14 13 Three Conductor Discrete 1 0 Wire 1 0 Cables IMPORTANT Clamping the exposed braid under the shield clamp is critical Turn clamp over if necessary to ensure a proper ground Publication 2094 UM001A EN P September 2006 Understanding External Shunt Module Connections Connecting the Kinetix 6000 Drive System 113 Follow these guidelines when wiring your external active or passive shunt resistor kit IMPORTANT When tightening screws to secure the wires refer to the tables beginning on page 80 for torque values IMPORTANT To ensure system performance run wires and cables in the wireways as established in Chapter 2 Shunt odule Wiring This ShuntModule Cat No With This Module Do This e Verify the internal shunt jumper is in place between RC 2 and RC 3 as shown in the figure below poan 2094 BSP2 N A 9 n B shu
151. ble relay into your safety control string Refer to Contactor Enable Relay on page 63 for more information IAM Wiring Example without LIM Kinetix 6000 Integrated Axis Module 2094 AC oc M xx or B CX M xx Bonded Cabinet Ground Bus Power Rail d Ground Stud O Chassis 9 TUE Note 10 Single phase Input IL 1 apa CTRL 2 conc 7 Cable Shield E 95 264V ac RMS 3 onnector Notes 1 2 E Note 3 Clamp Input Fusing Isolation ransformer s gt Three phase Note 5 Motor Power 3 gt Motor Power MP Connector V 2 gt Connections 1 1 Note 16 A U 2 US Note 4 3 Der and Threenhase Three phase Three phase Input IL 4 13 Input IPD 195 264V ac RMS Note 3 5 Connector 6 BR or 324 528V ac RMS Ci ate JAE MBRK Motor Brake Notes 1 2 gt IL u MBRK 5 42 Connections Input Fusing 1 a 4 ___ lt Notes 8 9 Motor Resistive COM oat em Brake BC Connector PWR 3 2 pe DBRK L Resistive Brake Notes 8 14 1 Connections 9 1 anes Enable Deni T CED Connector STOP START CONT Note 14 24V ac dc
152. cation 2094 UM001A EN P September 2006 8 Table of Contents Publication 2094 UM001A EN P September 2006 Preface About This Publication Who Should Use this M anual Conventions Used in This M anual Read this preface to familiarize yourself with the rest of the manual This manual provides detailed installation instructions for mounting wiring and troubleshooting your Kinetix 6000 drive and system integration for your drive motor combination with a Logix controller This manual is intended for engineers or technicians directly involved in the installation and wiring of the Kinetix 6000 drive and programmers directly involved in the operation field maintenance and integration of the Kinetix 6000 drive with a SERCOS interface module If you do not have a basic understanding of the Kinetix 6000 drive contact your local Rockwell Automation sales representative before using this product for information on available training courses The conventions starting below are used throughout this manual e Bulleted lists such as this one provide information not procedural steps e Numbered lists provide sequential steps or hierarchical information e Acronyms for the Kinetix 6000 drive components shown in the table below are used throughout this manual Kinetix 6000 Component Catalog Numbers Acronym Integrated Axis Module 2094 IAM Axis Module 2094 xMxx AM Shunt Module 2094 B
153. coder signals are filtered using analog and digital filtering The inputs also include illegal state change detection AM BM and IM Motor Encoder Input Circuits 5V 10k Q Drive AM and BM Channel Inputs IM Channel Input Publication 2094 UM001A EN P September 2006 Motor Encoder Feedback Specifications Specification Description Incremental A quad B sine cosine intelligent resolver and Encoder types absolute 5 0 MHz TTL input per channel Maximum input frequency 250 kHz sine cosine input Commutation feedback Hall sensor Kinetix 6000 Connector Data 67 AM BM and IM Input Specifications for TTL Encoders Parameter Description Min Max AM BM and IM Input voltage difference between the plus input and 40V 47 0V On state input voltage the minus input that is detected as an on state 4 AM BM and IM Input voltage difference between the plus input and AQV J0V Off state input voltage the minus input that is detected as an off state Potential difference between any encoder signal and input voltage logic ground 7 0 12 0 DC current draw Current draw into the or input 30 mA 30 mA Frequency of the AM or BM signal inputs The count AM BM input frequency is 4 times this frequency since the circuitry 5 0 MHz signal frequenc de g q y counts all four transitions Pulse width of the index input signal
154. configurations with and without the line interface module LIM and dc common bus configurations SHOCK HAZARD filler To avoid personal injury due to electrical shock place a slot module catalog number 2094 PRF in all empty slots on the power rail Any power rail connector without a module installed will disab powe le the Kinetix 6000 three phase power however control ris still present Typical Kinetix 6000 System Installation with LIM Logix Controller Programming Network Logix SERCOS interface Module ro i Logix Platform ControlLogix is shown RSLogix 5000 d 3 Software Kinetix 6000 Multi axis Servo Drive System AC Line Filter 2090 XXLF oxx S SERCOS Fiber optic Ring 2090 SCxxx x 7 7 T 7 7 Th h 1 1 Shunt Module ree phase optional component Input Power 115 230V Control Power i rd p Integrated Axis Module TORT B B B Slot Filler 2094 xCxx Mxx S 8 8 E E 8 Module Line Interface Module required to optional component fill any unused 2094 xLxxS slots 2094 PRF Power Rail 2094 PRSx 1 0 Connections Saes Modules 5
155. ctive action until you reach phase 1 Check fiber optic connections The drive is looking for active nodes Wait phase 2 Displaying fixed 1 phase 1 take corrective action until you reach phase 2 Check node addressing The drive is configuring nodes for communication Wait for Check program motor and drive Displaying a fixed 2 phase 2 phase 3 or take corrective action until you reach phase 3 configuration against installed hardware The drive is configuring device specific parameters Wait for Check motor catalog number against Displaying a fixed 3 phase 3 phase 4 or take corrective action until you reach phase 4 selection 1 Displaying a fixed 4 phase 4 The drive is configured and active Go to Step 6 Flashing an E followed by two numbers Drive 15 faulted Go to Error Codes on page 146 1 get diagnostic information from the module by highlighting the module name RSLogix 5000 software Pseudo Key Failure often indicates that motor selection does not match the motor installed 6 Observe the three status LED indicators on the front of the AM epee Condition Status Do This f off Normal condition Observe the Comm Status LED indicator Bis Steady red Drive is faulted Go to IAM AM Status Indicators on page 152 Flashing green Establishing communication with network Wait for steady green Comm Steady green Communication is ready Observe the Bus
156. ctive axes in any controller in this chassis or chassis synchronized by SynchLink may Q Is the master experience unexpected motion Synchronized with a master Duplicate master detected Q Timer hardware faulted Cancel Apply Help Check the box Make this controller the Coordinated System Time master IMPORTANT Only one ControlLogix processor can be assigned as the Coordinated System Time master Click OK Configure the Logix Module Follow these steps to configure the Logix module 1 Right click on I O Configuration in the explorer dialog and select New Module The Select Module dialog opens Expand the Motion category and select 1756 MxxSE L60MO3SE 1768 4 or 1784 PM16SE as appropriate for your actual hardware configuration Click OK Configure and Startup the Kinetix 6000 Drive System 127 The New Module dialog opens Your new module appears under the I O Configuration folder in the explorer dialog New Module Type 1756 M16SE 16 Axis SERCOS Interface Vendor Allen Bradley Name IM 1 Slot 1 Description Revision 5 Electronic Keying Disable Keying Open Module Properties Configure the new module a Name the module b Select the slot where your module resides leftmost slot 0 c Select an Electronic Keying option select Disable Keying if unsure d Check the box Open Module Properties Click OK The Module Properties dialog
157. ctor Integrated Axis Module Top View 2094 BC02 M02 S is shown ATTENTION into your safety control string Refer to Contactor Enable Relay on page 63 Wiring the contactor enable relay is required To avoid personal injury or damage to the drive wire the contactor enable relay In common bus configurations the contactor enable CED connections for leader and follower drives must be wired in series to the safety control string For interconnect diagrams refer to Wiring Examples beginning on page 192 Contactor Enable CED Connector LIM 1 0 IOL Connector or Other Control String CED Pin Signal 2094 ALxxS BLxxS 2094 0109 and BL02 l0 COMI I0 COM 1 CONT EN COIL E2 COIL A2 2 CONT EN Recommended Wire Size mm AWG 25 14 0 Strip Length mm in 10 0 38 Torque Value Nm Ib in 0 5 0 6 4 4 5 3 1 The actual gauge of the contactor enable wiring depends on the system configuration Consult your machine builder the NEC and applicable local codes Publication 2094 UM001A EN P September 2006 94 Connecting the Kinetix 6000 Drive System Wiring the Safe off SO Connector This example applies to any integrated axis module IAM or axis module AM equipped with the safe off SO connector Integrated Axis Module CED connector Kinetix 6000 IAM AM Kinetix 6000 AM is shown Motion Allowed Jumper Safe off S0 Connector
158. d small cables secure Publication 2094 UM001A EN P September 2006 M PL A B 15xx and A B2xx Servo Motors with Incremental Feedback Motor Feedback MF Connector IAM AM 1 gt gt BLACK AM 1 WHT BLACK 2 5 _ 2 GND 3 BM 3 LV 4 WHT RED BM 4 Three phase gt gt Motor Power Ds GREEN IM 5 6 WHT GREEN IM 10 Motor ae Feedback 3 gt GRAY ae WHT GRAY 5 XX EM 6 1 gt ORANGE 3 WHT ORANGE T Thermostat _ O XX lt BR AY 4 _ swe TS zin d 5 wereur XX s 2 YELLOW Motor Brake gt gt E Note 22 7 gt gt WHUYELOW XO T T 8 gt gt Refer to low profile connector illustration lower left for proper grounding technique 2090 XXNFMF Sxx flying lead Feedback Cable Notes 16 17 Interconnect Diagrams 207 AM 230V Wiring Example with TL Series Motors Kinetix 6000 TL Series 230V Servo Motors IAM inverter or AM with Incremental Feedback Motor Feedback Cable Shield MF Connector 0 Clamp IAM AM Note 1 1 4 Green Yellow 1 BLACK AM 1 2 2 gt TI WHUBAOK XX AM 2 3 3 Blue w l G
159. d Dimensions Integrated Axis Module Dimensions 2094 AC16 M 03 S and AC32 M 05 S 230V 2094 04 03 5 and B C07 M 05 5 460V Es Power Rail This view illustrates the additional clearance required for premolded cable connectors Dimensions are in millimeters inches Important Additional clearance below the connector is necessary to provide the recommended cable bend radius 2090 XXNFxx S xx flying lead Feedback Cable with 2090 K6CK D15Mxx Low profile Connector Kit 2090 UXNFBxx S xx premolded connector Feedback Cable Modules are shown mounted to the power rail and the dimensions reflect that in the depth of the module IAM Dimensions B E F Kinetix 6000 IAM mm in mm in mm in mm in mm in 2094 AC16 M03 S 125 4 9 198 7 8 176 7 0 302 11 9 420 16 5 2094 AC32 M05 S 196 7 7 2094 BC04 M03 S 256 10 1 374 14 7 272 10 7 249 9 8 196 7 7 2094 BC07 M05 S 318 12 5 436 17 2 Publication 2094 UM001A EN P September 2006 Specifications and Dimensions 187 Axis Module Dimensions 2094 AM 5 5 01 5 and AM 02 5 230V 2094 BM P5 S 01 5 and BM 02 5 460V B 20 0 8 89 0 35 7 Dimensions are in millimeters inches 70 2 76
160. d Module Module Module Type Node 10 Select the Power tab E Module Properties SE_MOD 2094 16 1 1 General Connection Associated Axes Power Module Info lt none gt vi Bus Regulator Catalog Number Status Offline Configure and Startup the Kinetix 6000 Drive System 131 11 Select the Bus Regulator Catalog Number or other as appropriate for your actual hardware configuration If your IAM is coe hardware configuration includes this shunt Then select Internal shunts only Internal or lt none gt Confioured IAM Bulletin 2094 rail mounted shunt module 2094 BSP2 onfigured as an Leader IAM bus 1 Bulletin 1394 passive shunt module connected to the eader common bus 2094 BSP2 1394 SRxxxx Bulletin 1336 active shunt module Internal or lt none gt Configured as a Follower IAM 2 N A Shunts are disabled on Follower IAM CommonBus Follow Drive will not accept Internal none 2094 BSP2 or 1394 SRxxxx selection if dc bus voltage is present without having three phase power applied 7 prive will not accept CommonBus Follow selection if three phase power is applied To avoid damage to your Bulletin 1394 external shunt ATTENTION module verify that the proper 230V or 460V fuse is installed prior to applying power gt Refer to Circuit Breaker Fuse Specifications on page 177 for more information IMPORTANT When configured to use the Bulletin 1394 or
161. d devices Required Protection under 110 10 of NEC 1999 Preferred Fully Rated Breakers Breakers Selected for Device Protection Fully Rated Short Circuit Interrupt Capability Fully Rated Fused Disconnect Fully Rated Breaker Required Protection a Breakers Selected for Device Protection Fully Rated Short Circuit Interrupt Capability i under 110 10 of 7 Fully Rated Fully Rated NEC 1999 M E Fused Fused Disconnect Preferred Fully FUE Disconnect Rated Breakers Q Uy dte Fully Rated Distributi Breaker Breaker istribution Blocks 5 Drive Drive Drive Circuit Protection under NEC 1999 110 10 allowed but no longer preferred Required Protection Required Protection under 110 10 of 1 f Traditional under 110 10 of 9 Traditional NEC 1999 Current Limit NEC 1999 S ao Limit eee a nee or Alipwen Bit No Longer Preferred Breaker No Longer Preferred e e Breaker Distribution Distribution Rated for Rated for Blocks Blocks Short Circuit e Short Circuit 9 Available Available Breakers Selected Limiting to Limiting to for Device Protection Short Circuit Breakers Selected Short Circuit With Limited Short Rating of Down for Device Protection Rating of Down Circuit Interrupt Stream Breaker With Limited Short 5 Stream Breaker Capability Circuit Interru
162. dback Connector Pin F Series Motors Pin A AM 1 B AM 2 C BM 3 D BM 4 E IM 5 F IM 10 G Reserved H Reserved J EPWR_5VM 14 K EPWR_5VM 14 L ECOMM 6 M ECOMM 6 N S2 13 P 53 8 R TS 11 5 TS 6 T S1 12 1326 CCU xxx Feedback Cable Comer Comector R1 5 B R2 10 C D S1 3 E 53 4 F _ G S2 1 H S4 2 1 For termination of individual drain wires use Connecting the Kinetix 6000 Drive System 107 2090 XXNFY Sxx Feedback Cable Motor Incremental Encoder Drive Connector Feedback Connector Pin Y Series Motors Pin 9 AM 1 0 AM 2 11 BM 3 12 BM 4 13 IM 5 14 IM 10 15 S1 12 17 S2 13 9 S3 8 22 EPWR_5VM 14 23 ECOMM 6 24 Drain Reserved 7 Reserved Reserved 9 Reserved Reserved 11 Reserved Reserved 15 1326 CPx1 xxx Power Cable Motor Thermal Switch Drive MF Connector Connections Connector Pin 1326AB Bxxxx 21 Pin 2 5 TS 16 9 TS 17 Shield 5 Low Profile connector kit 2090 K6CK D15MF and reference figure on 111 Thermal switch wires 5 and 9 are in the motor power cable 1326 CPx1 xxx Use Low Profile connector kit 2090 K6CK D15MF and reference figure on page 111 Publication 2094 UM001A EN P September 2006 108 Connecting the Kinetix 6000 Drive System Wiring Feedback and 1 0 Connectors Integrated Axis Module Front View 2094
163. duction This chapter describes system installation guidelines used in preparation for mounting your Kinetix 6000 drive components Topic Page 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 system removed from the enclosure Because the system is of the open type construction be careful to keep any metal debris from falling into it Metal debris or other foreign matter can become lodged in the circuitry which can result in damage to components Publication 2094 UM001A EN P September 2006 20 Planning the Kinetix 6000 Drive System Installation System Design Guidelines Publication 2094 UM001A EN P September 2006 Use the information in this section when designing your enclosure and planning to mount your system components on the panel For on line product selection and system configuration tools including AutoCAD DXF drawings of the product refer to http www ab com e tools System M ounting Requirements In order to comply with UL and CE requirements the Kinetix 6000 system must be enclosed in a grounded conductive enclosure offering protection as defined in standard EN 60529 529 to IP55 such that they are not accessible to an operator or unskilled person A NEMA 4X enclosure exceeds these requirements providing protection to IP66 The
164. e Axis Properties Follow these steps to configure axis properties 1 Right click on an axis in the explorer dialog and select Properties The Axis Properties dialog opens Axis Properties Axis_1 Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Amplifier Catalog Number 2994 4C16 M03 E Motor Catalog Number Change Catalog Loop Configuration PosiionSewo _______ Drive Resolution oon Drive Counts per MoterRev _ Calculate Drive Enable Input Checking Drive Enable Input Fault Real Time Axis Infomation Attribute 1 _________ Attribute 2 m rl Cancel Apply Help Select the Drive Motor tab and edit the default values as appropriate for your application a Set the Kinetix 6000 Amplifier 2094 b Set the Motor Catalog Number For amplifier and motor catalog numbers refer to the amplifier and motor name plate c Set Drive Enable Input Checking When checked default means a hard drive enable input signal is required Uncheck to remove that requirement Select the Motor Feedback tab and verify the Feedback Type shown is appropriate for your actual hardware configuration Select the Units tab and edit default values as appropriate for your application Select the Conversion tab and edit default values as appro
165. e integrated axis module IAM Step 2 An axis module AM Step 4 Set the base node address for the IAM by setting the SERCOS Node Address switch Valid node addresses are 01 99 The left hand switch sets the most significant digit MSD and the right hand switch sets the least significant digit LSD To Press Increment the 50 50 node address The plus switch Decrement the MSD LSD node address The minus switch Decrements MSD Decrements LSD MSD LSD Increments MSD Increments LSD Setting the base node address on the IAM determines the node address for the IAM inverter Node addressing for all slot locations on the same power rail increment from the IAM inverter left to right Cycle control power to initialize the IAM IMPORTANT The base node address setting only takes effect after the IAM is initialized When two or more IAMs are connected to the same IMPORTANT SERCOS interface module each node address must be unique Refer to the node addressing examples on pages 122 and 124 Configure and Startup the Kinetix 6000 Drive System 121 4 Set the SERCOS baud rate using DIP switches 2 and 3 For This Baud Rate SetSwitth2 SetSwitch 3 4 Mbps OFF ON 8 Mbps ON OFF 5 Set the SERCOS optical power level to High using DIP switch 1 For This Optical Power Level SetSwitch 1 Low OFF High ON DIP Switches Set for DIP Switches Set for Integrated Axis Module T
166. ee phase Input from LIM Sm 13 ingut PD or Input Power Contactor M1 5 195 264V ac RMS gt L2 Connector 0r324 528V ac RMS 2 L1 m MBRK 5 Notes 1 2 7 8 __ __ MBRK 4 COM Motor Resistive 3 Brake BC Connector PWR 2 2 DBRK I 1 DBRK CONT EN j Contactor Enable 2 CONT EN T CED Connector Note 14 with the safety control Publication 2094 UM001A EN P September 2006 Wire the leader and follower IAM contactor enable terminals in series gt To Follower Control Circuit Connections string or LIM 1 0 2 From Leader Control Power Connections From Leader DC Bus Connections From Leader Control Circuit Connections Interconnect Diagrams Kinetix 6000 Common Bus Follower IAM Bonded Cabinet 2094 ACxx M xx or BCxx M xx Ground Bus Power Rail Ground Stud Cable Shield Clamp Note 4 gt e Control Power CPD Connector ma Note 4 Rowe rar 1 Motor Power 1 L 2 DC DCE MP Connector DC us gt spe DC Bus Fusing 4 Three phase Note 2 N C 4 13 Input IPD N C 5 L2 Connector 6 6 NC 11 MBRK lt 5
167. elp 3 Confirm the drive catalog number and firmware revision Publication 2094 UM001A EN P September 2006 4 5 Upgrading Firmware 221 Click Finish This ControlFLASH warning dialog opens Summary DANGER The target module is about to be update with new firmware During the update the module will be unable to perform its normal control function Please make sure that all processes affected by this equipment have been suspended ControlFLASH 2 Are you sure you want to begin updating the target device Yes No More Info lt Back Finish Cancel Help Click Yes Conly if you are ready This ControlFLASH warning dialog opens ControlFLASH E xj AN Flashing the Drive Will Cause All Motion to Stop on the SERCOS Ring Cancel Acknowledge the warning and click OK The Progress dialog opens and flashing begins Catalog Number 2094 BC01 MP5 Serial Number 00000000 Current Revision 1 88 New Revision 1 89 Transmitting block 2751 of 5377 ai 8 8 Cancel The drive module seven segment LED indicator changes from the fixed 2 3 or 4 to F which indicates that flashing is in progress After the flash information is sent to the drive the drive resets and performs diagnostic checking Catalog Number 2094 01 5 SerialNumber 00000000 Current Revision 1 88 New Revision 1 89 Transmitting block 5377 of 5377 Publication 2094 UM
168. eparation is required for these cables M otor Power Terminations three phase wires only Motor Cable Shield Clamp Cable Clamp with tie wrap CTRL 2 CTRL 1 Motor Power MP Connector Plug DC DC E 13 12 L1 CONT EN CONT EN 22 eje The cable shield clamp shown above is mounted to an IAM Cables attach to the clamp on each AM in the same way IMPORTANT Securing the cable shield in the clamp with a tie wrap is recommended to improve stress relief Connecting the Kinetix 6000 Drive System 97 Motor Power Cables with Three phase and Brake Wires Motor Motor Catalog Number Coles MP Series Low Inertia MPL A B15xxx and MPL A B2xxx V E MP Series Food Grade MPF A BxxxxS M 2090 XXNPMEF xxS xx MP Series Stainless Steel MPS A BxxxxS M Y Series 2090 165 These MP Series brake wires have a shield braid shown below as gray that folds back under the cable clamp before the conductors are attached to the motor brake BC connector Y Series brake wires are not shielded and do not require routing under the cable clamp The thermal switch wires for the MP Series motors are included in the feedback cable Refer to Axis Module Motor Wiring Examples beginning on page 204 for interconnect diagrams IMPORT
169. er output Contro required for al power isolation via a step down transformer is 460V applications Refer to Transformer Specifications for Control Power Input on page 179 Control Power Current Specifications Specification Input voltage Description 95 264V ac rms single phase Input power frequency 47 63 Hz Control Power Current Requirements Number of Axis Current Requirements Current Requirements M odules 0 110 115V ac input 220 230V ac input Put VA 0 750 350 150 1 15A 700 mA 200 VA 2 225A 1A 275 VA 3 3A 135A 350 VA 4 375A 17 450 5 45A 2A 550 VA 6 525A 24A 650 VA 7 6A 3A 750 VA This number does not include the axis module inverter section that resides inside the integrated axis module Publication 2094 UM001A EN P September 2006 66 Kinetix 6000 Connector Data Understanding Feedback Specifications The integrated axis module IAM and axis module AM can accept motor and auxiliary feedback signals from the following types of encoders e Stegmann Hiperface e TTL or Sine Cosine with index pulse and Hall commutation e Resolver Transmitter TR 0 25 motor feedback only TIP Auto configuration in RSLogix 5000 software of intelligent absolute high resolution and incremental encoders is possible only with Allen Bradley motors M otor and Auxiliary Feedback Specifications AM BM and IM input en
170. erface Module 4 T ree phase 2094 ALxxS BLxxS or Motor Power w 15 Motor Power XL75S Cx MP Connector V 2 Connections Note 4 1 Note 16 Control Power 1 Control Power U Single phase CPL Output 2 CPD Connector 195 264V ac RMS Note 1 CPD Connector AM 2 gt Note 6 7 1 DC 2 DG DC Bus Note 4 and 1 l VAC LOAD Three phase 1 E 3 l Three phase _2 13 OPL Output T 2 Three phase 4 3 Input IPD 3 195 264V ac RMS 3 AC Line Filter 5 Connector F L2 or 324 528V ac RMS L2 1 3 12 Note1 11 Epp 11 To IPD Connector IAM 2 7 Note 7 1 gt 2 i I0 PwR2 gt TBC Connector I0 Note 7 3 24V dc PIL Output _IO_PWR2 10 COM2 10 PWR2 EN 10 COM2 6 Motor Brake Connections 6 MBRK gm DE MBRK rt 4 Motor Resistive COM 3 Brake BC Connector 2 BR io_pwri 25 lt lt L 2 3 1 0 101 STOP Resistive Brake Connector 7 Connections Note 13 14 E1 ZEE I0 COMI CONT EN Contactor Enable E2 CONTEN L CED Connector Indicates User Supplied Component Publication 2094 UM001A EN P September 2006 Note 14 To CED Connector Interconnect Diagrams 195 Kinetix 6000 Integrated Axis Module 2094 ACxx M xx or BCxx M xx IAM 2
171. esignators 51 52 dimensions 187 188 status indicators 152 wiring requirements 81 axis properties 133 axis unstable 155 B backplane comm 150 bandwidth 142 base node address 120 example with double wide modules 124 example with two ControlLogix chassis 123 Index example with two power rails 122 baud rate 121 block diagrams converter 213 inverter 212 safe off feature 214 shunt module 214 blown fuse 146 bonding EMI ElectroMagnetic Interference 27 examples 28 high frequency energy 29 subpanels 29 braided strap 78 brake 210 brake relay 64 building your own cables 70 bus overcurrent 150 overvoltage 147 regulator 131 status LED 152 154 undervoltage 147 C cables building your own cables 70 categories 37 fiber optic cable length 115 maximum fdbk cable length 181 shield clamp 103 shield EMC 96 97 98 CAN init 150 capacitance values 233 catalog number axis module 16 integrated axis module 16 shunt module 16 CB1 CB2 CB3 135 CE compliance 16 certifications specifications 182 changing parameters DriveExplorer 160 HIM 161 circuit breaker LIM 135 selection 22 Publication 2094 UM001A EN P September 2006 258 Publication 2094 September 2006 Index specifications 177 clamp 103 comm status LED 152 common bus refer to DC common bus common bus flt 151 configuration 225 configuring AM 120 base node address 120 baud rate IAM 121 delay times 134 feedback only axis
172. esistive Brake BC Connector This example applies to axis modules AM and the inverter section of integrated axis modules IAM Integrated Axis Module Axis Module BC connector w Integrated Axis Module Top View X 2094 BC02 M02 S is shown Motor Resistive Brake BC Connector Wiring 24V dc Brake Input Power Connections IMPORTANT Motor Resistive Brake BC Connector If your system includes a line interface module LIM you can source the 24V dc from the LIM P1L or PSL connector 2094 AL09 and 02 BC Connector P1LPin Signal PSLPin Signal BC Pin Signal 1 I0 PWR2 1 MBRK PWR 3 PWR 2 10 COM2 2 MBRK COM 4 COM Wiring the Resistive Brake Module RBM Connections Motor Resistive Brake BC Connector RBM 1 0 Connections BC Connector IAM AM TB3Pin Signal MP Pin Signal 6 COIL A1 1 DBRK 7 COIL_A2 2 DBRK 1 Firmware version 1 071 or later is required to use the DBRK outputs on the Kinetix 6000 IAM AM Publication 2094 UM001A EN P September 2006 102 Connecting the Kinetix 6000 Drive System Wiring the Motor Brake Connections The procedure for wiring your motor brake varies slightly depending on the motor series you are using Refer to the table below to determine where the brake wires for your servo motor are located and for the appropriate brake cable or connector kit catalog number Motor Series MPL A B3xxx MPL A B4
173. esolution encoder Premolded 2090 UXNFBMP Sxx Flying Lead 2090 XXNFMP S xx Pinout page 105 MPL Bxxxx R Motor resolver N A 2090 CDNFDMP S xx page 105 MPL A15xxx H MPL A2xxx H MPL B15xxx H MPL B2xxx H Incremental encoder MPL A xxxx V E MPL Bxxxx V E MPF Axxxx S M MPF Bxxxx S M High resolution encoder MPS Axxxx S M MPS Bxxxx S M N A 2090 XXNFMF Sxx page 106 TL Axxxx H Incremental encoder 2090 XXNFT S xx N A page 106 1326AB Bxxxx M2L S2L High resolution encoder 2090 UXNFBMP Sxx 2090 XXNFMP S xx page 105 1326 21 Motor resolver N A 1326 107 F Series Incremental encoder Y Series 2090 UXNFBHF Sxx 2090 XXNFHF Sxx page 107 Publication 2094 UM001A EN P September 2006 2090 UXNFBY Sxx 2090 XXNFY Sxx page 107 Connecting the Kinetix 6000 Drive System 105 Flying lead Feedback Cable Pin outs 2090 XXN FM P Sxx Feedback Cable ss Motors with High Resolution Feedback iner mene are rr irem 1326AB Bxxx M2L S2L MPL A45xxx M S M PL A45xxx H MPG A Bxxx M S M PL A5xxx H 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 IM 10 Reserved EPWR_5V EPWR_5V 14 L Reserved ECOM ECOM 6 N EPWR 9V Reserved Reserved 7
174. et HB g 192 168 5 10 1756 1756 amp Backplane 1756 A7 4 E 00 1756 1625 LOGIX5562 SAFETY Ped311 Cartoner 01 1756 LSP LOGIX SAFETY 1756 L5P B 556X SAF R16 05 56 E 02 1756 DNB 1756 DNB DeviceNet Scanner B 03 1756 MO3SE 3 Axis SERCOS interface 6 SERCOS interface SERCOS network E Browsing node 9 not found 00 1756 MO3SE 01 Kinetix 6000 4607 IAM 6kW PS 4A 6A 2094 01 5 02 Kinetix 6000 4607 AM 44 64 2094 BMPS 8 04 1756 2 Right click the drive module and select Drive Properties The Drive Properties dialog opens AB_ETH 2 10 91 36 169 Backplane C 2 xl Device Name 2094 8001 MP5 Vendor Allen Bradley Company Product Type fi 15 Product Code ss Serial Number 00000000 Faults Close Help 3 Verify the new firmware revision level 4 Click Close Publication 2094 UM001A EN P September 2006 224 Upgrading Firmware Using DriveExplorer Softw are to Upgrade Drive Firmware Publication 2094 UM001A EN P September 2006 Upgrading axis module firmware using DriveExplorer involves setting the Axes to Flash parameter configuring a HyperTerminal session and flashing the firmware Before You Begin You will need the following software and information before you begin Description Catalog Numbers Firmw are Revision DriveExplorer Software 9306 4EXPO2ENE 2 01 or later Serial to SCAN
175. folds back current when 11096 of drive rating is reached Communicate E73 Power rail backplane CAN communications failed STOP N Backplane Comm DriveOvercurrentFault E74 The converter has exceeded its converter rating SHUTDOWN N Bus OverCurrent DriveOvervoltageFault The IAM AM or SM has exceeded its shunt resistor continuous 9 75 rating SHUTDOWN for IAM DISABLE for AM IAM also provides SHUTDOWN N Shunt Time Out fault handling for shunt module DriveHardFault E76 Fither DPI or backplane CAN initialization failure SHUTDOWN N Can Init DriveHardFault Generated by IAM if the power rating of an AM on the same power Module Mismatch En rail does not match with IAM input power rating SHUTDOWN DriveHardFault SERCOS Init E78 Control hardware fault detected SHUTDOWN N DriveOvervoltageFault Power rail mounted shunt module fault Displayed on IAM Shunt Module Fit E79 seven segment fault status LED indicator SHUTDOWN HardwareFault E80 Control hardware fault detected SHUTDOWN N CPLD Fit HardwareFault E81 Common bus follower IAM detected ac input power being applied SHUTDOWN N Common Bus Flt HardwareFault E90 Pre charge resistor power exceeds the resistor rating SHUTDOWN N Pre charge Timeout Flt All RESERVED Others Publication 2094 UM001A EN P September 2006 160 Troubleshooting the Kinetix 6000 Drive System Supplemental Troubleshooting Information Method DriveExplorer This section provides
176. g e Route wire away from noise sources e Refer to System Design for Control of Electrical Noise publication GMC RMO01 Presence of noise on command or motor feedback signal wires Line frequency may be present e Verify grounding e Route wire away from noise sources Variable frequency may be velocity feedback ripple or a disturbance caused by gear teeth or ballscrew balls etc The frequency may be a multiple of the motor power transmission components or ballscrew speeds resulting in velocity disturbance e Decouple the motor for verification e Check and improve mechanical performance of the gearbox ballscrew etc The motor connections are loose or open Check motor wiring and connections Foreign matter is lodged in the motor Remove foreign matter The motor load is excessive Verify the servo system sizing No rotation The bearings are worn Return the motor for repair The motor brake is engaged if supplied e Check brake wiring and function e Return the motor for repair The motor is not connect to the load Check coupling The duty cycle is excessive Motor overheating Change the command profile to reduce accel decel or increase time Current The rotor is partially demagnetized causing excessive motor Return the motor for repair Motor tuning limits are set too high Run Tune in RSLogix 5000 software again Loose parts are
177. g 5 95 noncondensing Altitude 1000 m 3281 ft 3000 m 9843 ft during transport Vibration 5 55 Hz 0 35 mm 0 014 in double amplitude continuous displacement 55 500 Hz 2 0 g peak constant acceleration Shock 15g 11 ms half sine pulse 3 pulses in each direction of 3 mutually perpendicular directions Publication 2094 UM001A EN P September 2006 182 Specifications and Dimensions Weight Specifications Value Approx Kinetix 6000 Catalog Number 5 Module kg Ib 2094 AC05 MP5 S 2 23 4 9 2094 AC05 MO1 S 2 21 5 0 IAM 230V 2094 AC09 M02 S 2 31 5 1 2094 AC16 M03 S 4 71 10 4 2094 AC32 M05 S 7 43 16 4 2094 AMP5 S 1 46 3 2 2094 AM01 S 1 50 3 3 AM 230V 2094 AM02 S 1 54 3 4 2094 AM03 S 3 13 6 9 2094 AM05 S 3 18 7 0 2094 PRS1 1 05 2 3 2094 PRS2 1 59 3 5 2094 PRS3 2 14 4 7 Power Rails 2094 PRS4 2 67 5 9 Slim 2094 PRS5 3 11 6 8 2094 PRS6 3 55 7 8 2094 PRS7 3 99 8 8 2094 PRS8 4 43 9 7 Certifications Certification 0 when productis marked c UL us ae Catalog Number g Ib 2094 BCO1 MP5 S 4 98 11 0 2094 01 01 5 5 03 11 1 2094 802 M02 S 5 08 112 2094 BC04 M03 S 8 60 21 1 2094 BC07 M05 S 10 1 22 3 2094 BMP5 S 244 5 4 2094 BM01 S 2 49 5 5 rm 2094 BM02 S 254 5 6
178. g hole Planning the Kinetix 6000 Drive System Installation 29 Bonding Multiple Subpanels Bonding multiple subpanels creates a common low impedance exit path for the high frequency energy inside the cabinet Subpanels that are not bonded together may not share a common low impedance path This difference in impedance may affect networks and other devices that span multiple panels Multiple Subpanels and Cabinet Recommendations Bond the top and bottom of each subpanel to the cabinet using 25 4 mm 1 0 in by 6 35 mm 0 25 in wire braid Cabinet ground bus bonded to the subpanel IXXXXXXYO 90000000 Scrape the paint around each fastener to maximize metal to metal contact Publication 2094 UM001A EN P September 2006 30 Planning the Kinetix 6000 Drive System Installation Establishing Noise Zones Observe the following guidelines when a LIM 2094 ALxxS BLxxS or XL75S Cx is used in the Kinetix 6000 system and mounted left of the IAM with the ac EMC line filter mounted above the LIM The clean zone C is to the right and beneath the Kinetix 6000 system grey wireway The dirty zone D is to the left and above the Kinetix 6000 system and above and below the LIM black wireway The very dirty zone VD is from the filter output to IAM Shielded cable is required on the EMC filter load side and the braided shield attached to the clamp p
179. g trom e Install missing module on power rail 9 Fill empty slot with slot filler module DriveHardFault E80 CPLD Control hardware fault detected Replace module DriveHardFault Remove ac input power connections from E81 Common Bus Fit Follower IAM detected ac input power being applied follower IAM DriveHardFault E90 Pre charge resistor power exceeds the resistor rating Allow resistor to cool Pre charge Timeout Flt All Call your local Rockwell Automation sales others RESERVED representative Publication 2094 UM001A EN P September 2006 152 Troubleshooting the Kinetix 6000 Drive System Status Indicators Drive Status LED Indicator Drive Status LED Indicator Potential Cause Possible Resolution Off Normal no faults N A N A Refer to seven segment error code and Error Codes section beginning on page 146 Steady Red Drive faulted Seven segment LED displays error code Comm Status LED Indicator Comm Status LED Indicator Status Potential Cause Possible Resolution Steady Green Communication ready faults or failures N A System is still in the process of establishing Wai TM SERCOS communication for steady green LED indicator stablishing Flashing Green communication Node address setting on the drive module does not match SERCOS controller Verify proper node switch setting configuration Loose fiber optic c
180. he Kinetix 6000 Drive System Installation Minimum Clearance Requirements This section provides information to assist you in sizing your cabinet and positioning your Kinetix 6000 system components IMPORTANT Mount the module in an upright position Do not mount the module on its side Minimum Clearance Requirements Integrated Axis Module IAM 2094 AC05 Mxx is shown mounted on power rail Clearance left of the D module is not required 1 Power Rail 2094 PRSx is shown Clearance above for airflow and installation 5 D J Clearance right of the module is not required 1 Clearance below for airflow and installation The power rail slim catalog number 2094 PRSx does not extend left or right of the first or last module respectively When using power rail catalog number 2094 PRx the power rail extends approximately 25 4 mm 1 0 in left of the IAM and right of the last module mounted on the rail Minimum Clearance Dimensions Cat No 2094 ACO5 ACO9 AMP5 02 2094 BC01 BC02 BMP5 BM02 2094 BSP2 Clearance Above Min 50 8 mm 2 0 in Clearance Below Min Cabinet Depth Clearance Min 200 mm 7 9 in 50 8 mm 2 0 in 272 mm 10 7 in 2094 AC16 AC32 AM05 2094 BC04 BC07 BM05 305 mm 12 0 in 200 mm 7 9 in
181. ication Follow these steps to remove break SERCOS communications 1 Remove three phase and control power from the Kinetix 6000 drive system 2 Remove one of the SERCOS fiber optic cables Fiber optic cable connections Tx and Rx are located on the top of each IAM AM 3 Re apply three phase and control power Publication 2094 UM001A EN P September 2006 236 DC Common Bus Applications Setting the Additional Bus Capacitance Parameter Follow these steps to set the Additional Bus Capacitance parameter 1 Start your DriveExplorer software 2 From the menu bar choose Explore VConnect Local or enter Ctrl L from the keyboard DriveExplorer software will read your system 3 Observe the Linear List of parameters as grouped by Node Port and Axis hierarchy as shown below Linear List Legend e Parameter Number 30 Version Data Axis Number 0 IAM axis 1 1 AM axis 2 2 AM axis 3 3 AM axis 4 DPI Port Number Netw ork Node Number 4 Select Devices Node Product and navigate to the parameter x x x599 as shown below 22 DriveExplorer File Edit Explore Actions Help 15 Devices Node 1 20940 SERVO 0 Shunt Ws 2094D SERVO Config 0000 10 shunt l IAM 10 S 0 unt Power Hite Shunt Res p Bus Reg ID IAM Add Bus Cap 1203 555 RS232 DF1 D Reserved Custom Views 0 Soft Ovrtrvl Act Drive Action New Custom view 0 Pos Err Flt Act Dri
182. ing Example without LIM on page 196 for the interconnect drawing Control Power CPD Connector CPL Connector LIM or Other Single phase Input 2094 ALxxS BLxxS CPD Connector IAM 1755 2094 109 and BL02 Recommended Wire Size Strip Length Torque Value CPL Pin Signal CPL Pin Signal CPD Pin Signal mm AWG mm in Nm Ib in 1 dmi 2 n a oee foo J 2 5 14 10 0 38 A E 2 CTRL 2 1 L2 N 2 CTRL 1 4 4 5 3 Publication 2094 UM001A EN P September 2006 Connecting the Kinetix 6000 Drive System 91 Wiring the Input Power IPD Connector This example applies to an integrated axis module IAM or leader IAM dc common bus Integrated Axis Module IPD connector Integrated Axis Module Top View 2094 BC02 M02 S is shown Input Power IPD Connections OPL Connector LIM or Other Three phase Input 2094 8 L02 ALxxS BLxxS i or ALXXS BLxxS IAM or leader IAM 2094 109 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 L 1 L 3 i 2 DC N A 1 DC Termination Specifications Recommended a Module Input VAC Wire Size Strip Length Torque Value 594 mm AWG mm in Nm Ib in 2094 ACO5 Mxx S 0 5 0 6 2094 ACO9 Mxx S 25 14 0 0 38 04 53 2094 6 5 MEM ETT T 16 0 63 216 265 2094 AC32 M o S 2
183. ion 2094 UM001A EN P September 2006 Specifications and Dimensions 185 Product Dimensions This section contains product dimensions for your Kinetix 6000 system components Integrated Axis Module Dimensions 2094 AC05 M P5 S AC05 M 01 5 and AC09 M 02 5 230V 2094 B 01 P5 S BC01 M 01 5 and 02 02 5 460V Dimensions in millimeters inches B 125 20 F 49 08 E 2094 AC05 M01 S 230V shown B E 2090 XXNEFxx S xx flying lead 1 Feedback Cable with 2090 K6CK D15Mxx Low profile Connector Kit O 70 45j Important Additional clearance below the connector is necessary to provide the recommended cable bend This view illustrates the additional clearance required for premolded cable connectors radius 2090 UXNFBxx S premolded connector Feedback Cable Modules are shown mounted to the power rail and the dimensions reflect that in the depth of the module IAM Dimensions my B D E F Kinetix 6000 IAM mm in mm in mm in mm in mm in 2094 AC05 MP5 S 2094 AC05 MO01 S 198 7 8 176 7 0 51 2 0 206 8 2 231 9 1 2094 AC09 M02 S 2094 BC01 MP5 S 2094 BC01 M01 S 272 10 7 249 9 8 0 0 256 10 1 281 11 0 2094 BC02 M02 S Publication 2094 UM001A EN P September 2006 186 Specifications an
184. is d Logix 4 module PCI card and Kinetix 6000 IAM AM modules mounted and are Fiber optic Cables ready to connect the fiber optic cables The SERCOS fiber optic ring is connected using the SERCOS receive Rx and transmit Tx connectors Refer to page 50 to locate the SERCOS connectors on your Kinetix 6000 IAM AM Refer to the figure below to locate the connectors on your SERCOS interface module or PCI card Plastic cable is available in lengths up to 32 m 105 0 ft Glass cable is available in lengths between 50 m 164 2 ft and 200 m 656 7 ft CompactLogix ControlLogix and SoftLogix SERCOS Connector Locations CompactLogix Platform 1768 MO4SE SERCOS interface Module ControlLogix Platform 1756 MxxSE SERCOS interface Module m SERCOS iterace L m 0 on RSLogix 5000 Software SoftLogix Platform 1756 SERCOS interface PCI Card as viewed from the back of your PC Front View Tx rear TX Rx front O SERCOS Transmit Connector Tx Tread Front View RX Rx front i O SERCOS Receive Connector Rx O Bottom View O O SERCOS Receive Connector Rx front O SERCOS Transmit Connector Tx rear pae EUR Connect the cable from transmit on the Logix module to receive on the IAM then transmit to receive drive to drive a
185. iveExplorer 252 These procedures assume you have mounted and wired your resistive brake module RBM with the Kinetix 6000 drive system For RBM installation instructions refer to the Resistive Brake Module Installation Instructions publication 2090 13009 IMPORTANT Drive firmware vi 071 or later is required to use the RBM with the Kinetix 6000 drives Publication 2094 UM001A EN P September 2006 240 Integrating Resistive Brake Modules with Kinetix 6000 Drives Understanding Safety Precautions Publication 2094 UM001A EN P September 2006 The following precautions apply to resistive brake module RBM installations as shown in the interconnect diagrams Be sure to read and thoroughly understand them before proceeding ATTENTION The interconnection diagrams should be used as a general recommendation on how the safety control circuit may be implemented Actual applications may vary due to requirements based on the machine builders risk assessment The machine builder must perform a risk assessment and determine a category level of safety that must be applied to the machine Safety Standards for Reference EN 1050 Safety of Machinery Principles for Risk Assessment e EN 60204 1 Safety of Machinery Electrical Equipment of Machines e 292 1 2 Safety of Machinery Basic Concepts General Principles for Design e EN 954 1 Safety of Machinery Safety Related Parts of Control Systems e NFPA 79 E
186. k the motor feedback cable E62 The feedback wiring is open shorted or missing connectors wiring to the and Aux Fdbk Loss Ux 088 motor E63 AuxFeedbackNoise Noise on auxiliary e Verify grounding feedback cable Aux Fdbk Noise Recomended grou ding per Hout Teed cable away from noise installation instructions has not been Esi MotorFeedbackNoise Noise on motor feedback followed e Refer to System Design for Control of Mtr Fdbk Noise cable Electrical Noise Reference Manual publication GMC RMO01 No Fault Message condition indicated Check motor power feedback wiring E65 by on screen Hookup procedure failed Motor or feedback device malfunction message Hookup Fault e Refer to on screen message for resolution Publication 2094 UM001A EN P September 2006 150 Error Code Troubleshooting the Kinetix 6000 Drive System Fault Message RSLogix HIM No Fault Message condition indicated Problem or Symptom Potential Cause Possible Resolution e Check motor power feedback wiring e Refer to on screen message for resolution E66 by on screen Autotune procedure failed Motor or feedback device malfunction message Perform Hookup in RSLogix 5000 Atune Fit software e Consult RSLogix 5000 help screen DriveHardFault Software initialization fault detected due Cycle
187. le ON OFF of commanded motion DriveOvertemp eb e Increase time permitted for motion E36 Fault Converter thermal switch Excessive heat exists in the power ih System tripped circuitry e Use larger Kinetix 6000 converter Overtemperature e Check for clogged vents or defective Publication 2094 UM001A EN P September 2006 fan e Make sure cooling is not restricted by insufficient space around the unit Troubleshooting the Kinetix 6000 Drive System 149 Error Fault Message Code RSLogix HIM Problem or Symptom Potential Cause Possible Resolution PhaseL e or more phases of the input ac power is missing owerPhaseLoss Fault e Axis was enabled when main three phase power was removed Check input ac voltage on all phases Phase Loss Fit e Common bus follower axis was enabled when dc bus power was Disable axis before removing power removed SERCOSFault The SERCOS ring is not Check that fiber onti 4 cable is present and E38 SERCOS Ring Flt active Cable disconnected connected properly e Verify that there are no impediments to motion at startup such as hard limits E39 DriveHardFault Self sensing Commutation Motion required for self sensing startup e Increase self sensing current if high Self Sense Fit Startup Error commutation was obstructed friction or load conditions exist Check motor o
188. lectrical Standard for Industrial Machinery e ANSI B11 TR3 Risk Assessment and Risk Reduction A guide to estimate evaluate and reduce risks associated with machine tools Integrating Resistive Brake Modules with Kinetix 6000 Drives 241 Background on Safety Design There are numerous safety standards regarding machine design including OSHA NFPA AMT CENELEC and ISO In Europe CENELEC and ISO coordinate the development of standards to which products can satisfy the laws of the Machinery Directive In the United States Standard Development Organizations SDO like the NFPA and AMT sponsor the development of standards to help companies meet OSHA requirements Stop Categories One of the most basic safety functions is stopping the machine The stopping function of a machine must fall into one of three categories EN60204 1 and NFPA79 The categories are as follows e Stop Category 0 Stopping by immediate removal of power to the machine actuators Stop Category 1 A controlled stop with power to the machine actuators to achieve the stop and then removal of power when the stop is achieved Stop Category 2 A controlled stop with power left available to the machine actuators E Stops are a special case of stops and have additional requirements to those stated above This appendix is intended to show how a light curtain or gate interlock might interface with one axis of motion control to achieve a machine stop and this stop
189. les D Fiber optic Cable 8 p m i sensitive equipment within 150 mm 6 0 in 2 Kinetix 6000 System C C 1 0 2 and Feedback Cables Route encoder analog registration shielded cables Route 24V dc 1 0 shielded cable For examples of shield clamp attachment refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 If IAM AM 1 0 cable contains dirty relay wires route cable in dirty wireway When space does not permit the 150 mm 6 0 in segregation use a grounded steel shield instead For examples refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RMOOT Publication 2094 UM001A EN P September 2006 36 Planning the Kinetix 6000 Drive System Installation Publication 2094 UM001A EN P September 2006 Observe the following guidelines when individual input power components are used in the Kinetix 6000 system and the LIM 2094 xLxx or xLxxS xx is not used The clean zone is beneath the Kinetix 6000 system and includes the I O wiring feedback cable and dc filter grey wireway e The dirty zone D is above the Kinetix 6000 system black wireway and includes the circuit breakers transformer 24V dc power supply contactors ac line filter and motor power cables The very dirty zone VD is limited to where the ac line EMC filter VAC output jumpers
190. lication 2094 UM001A EN P September 2006 104 Understanding Feedback and 1 0 Cable Connections Connecting the Kinetix 6000 Drive System Connection Option Premolded connectors for building your own feedback and I O cables Options for Connecting Motor Feedback and 1 0 Connector Kit Catalog Number Cable N A Motor feedback Using this Type of Cable Factory made cables with premolded connectors are designed to minimize EMI and are recommended over hand built cables to improve system performance However other options are available Refer to the table below for the premolded motor feedback cable available for your motor 2090 K6CK D15M Refer to the table below for the flying lead cable available for your motor Motor feedback Low profile connector 2090 K6CK D15MF 1326 CCU xo 2090 K6CK D15F Auxiliary feedback User supplied flying lead cable 2090 K6CK D26M 1 0 interface User supplied flying lead cable Panel mounted breakout 2090 UXBK D15xx Motor feedback Refer to the table below for the flying lead board kits 11 Not compatible with 1326 CCUx xxx cable Motor Series MPL AxxxxS M MPL BxxxxS M cable available for your motor M otor Feedback Cables for Specific Motor Feedback Combinations Feedback Type Feedback Cable High resolution encoder MPL A3xxx H MPL A4xxx H MPL A45xxx H MPL A5xxx H Incremental encoder MPG Axxxx S M MPG Bxxxx S M High r
191. line filters available for Kinetix 6000 servo drive systems AC Line Filter Specifications Specifications 2090 XXLF 375 2090 XXLF 375B 2090 XXLF 3100 Voltage 500V ac 50 60 Hz Phase Three Power Leakage Weight Current Loss Current k Ib Humidity W mA 9 30A 50 C 2 7 122 F 38 64 5 9 75A 50 50 5 2 122 F 5 Yu 11 4 40 RH 100A 50 C 95 122 7 73 20 9 AC Line Filter Selection AC Line Filter Drive Catalog Number Catalog Number 2094 AC05 MP5 S 2094 AC05 M01 S 2090 XXLF X330B 2094 AC09 M02 S 2094 16 5 2090 XXLF 375 2094 AC32 M05 S 2090 XXLF 3100 2094 BC01 MP5 S 2094 BC01 M01 S 2090 XXLF X330B 2094 BC02 M02 S 2094 BC04 M03 S 2090 XXLF 375B 2094 BC07 M05 S 2090 XXLF 3100 Vibration 10 200 Hz Q 18g Operating Temperature 25 to 85 13 to 185 F Publication 2094 UM001A EN P September 2006 184 Specifications and Dimensions External Shunt Module Specifications External shunt modules are used with Kinetix 6000 drives when regenerative loads exceed the capacity of the internal IAM or AM shunt resistor Passive shunt modules wire to the Kinetix 6000 rail mounted shunt module catalog number 2094 BSP2 External Passive Shunt Module Specifications
192. log Numbers Catalog Number Catalog Number Integrated Axis Modules 230V with safe off feature without safe off feature inetix 6000 IAM 230V 3 kW converter 5 A inverter 2094 AC05 MP5 S 2094 AC05 MP5 inetix 6000 IAM 230V 3 kW converter 9 A inverter 2094 AC05 M01 S 2094 AC05 M01 Kinetix 6000 IAM 230V 6 kW converter 15 A inverter 2094 AC09 M02 S 2094 AC09 M02 inetix 6000 IAM 230V 11 kW converter 24 A inverter 2094 AC16 M03 S 2094 16 inetix 6000 IAM 230V 23 kW converter 49 A inverter 2094 AC32 M05 S 2094 AC32 M05 Integrated Axis Modules 460V inetix 6000 IAM 460V 6 kW converter 4 A inverter 094 BC01 MP5 S 2094 BC01 MP5 inetix 6000 IAM 460V 6 kW converter 9 A inverter 094 BC01 M01 S 2094 BC01 M01 inetix 6000 IAM 460V 28 kW converter 30 A inverter 094 BC04 M03 S 2094 BC04 M03 2 2 Kinetix 6000 IAM 460V 15 kW converter 15 A inverter 2094 02 02 5 2094 02 02 2 2 inetix 6000 IAM 460 45 kW converter 49 A inverter 094 BC07 M05 S 2094 BC07 M05 Axis M odules 230V inetix 6000 AM 230V 5 A 2094 5 5 2094 5 inetix 6000 AM 230V 2094 01 5 2094 AM01 Kinetix 6000 AM 230V 15 2094 02 5 2094 02 inetix 6000 230V 24 A 2094 03 5 2094 inetix 6000 AM 230V 49 2094 05 5 2094 AM05 Axis Modules 460V inetix 6000 AM
193. losure run wiring inside metal conduit to minimize the effects of EMI and RFI e Keep unshielded wiring as short as possible Keep wiring as flat to the cabinet as possible e Route RBM power and I O cables separate from other sensitive low voltage signal cables Establishing Noise Zones RBM mounted above AM Dirty Wireway Clean Wireway RBM 1 0 Very Dirty LIM IAM Connections Segregated not in wireway Fiber optic Cable LIM VAC Input Power Motor Power Cables D VD pas El No sensitive 8 d equipment within 150 mm 6 0 in Line Interface Module C IAM AM Feedback and clean 1 0 LIM and IAM AM dirty 1 0 Motor Brake and Thermal Switch The thermal switch and brake are mounted inside the motor but how you connect to the axis module depends on the motor series Refer to Wiring the Motor Resistive Brake BC Connector on page 101 for wiring guidelines Refer to Axis Module Motor Wiring Examples beginning on page 204 for the interconnect diagram of your drive motor combination Chapter 3 M ounting the Kinetix 6000 Drive System Introduction This chapter provides the system installation procedures for mounting your Kinetix 6000 drive components to the panel Topic Page Introduction 43 Determining Mounting Order 44 Mounting the Modules 45 Mounting the External Shunt Module 48 The procedures in this chapter assume yo
194. lot Filler Node Address 07 AM axis 4 Node Address 06 Not Used AM Rightmost Slot 05 AM axis 3 Node Address 04 Not Used AM Rightmost Slot 03 AM axis 2 Node Address 02 Not Used IAM Rightmost Slot 01 IAM axis 1 Base Node Address In Example 2 the Kinetix 6000 8 axis power rail contains a double wide IAM two double wide AMs one single wide AM and one slot filler module The slot filler module is assigned a node address but does not use it The leftmost slot of a double wide module determines the node address So in the example above node addresses 02 04 and 06 the rightmost slots of the double wide modules are not used IMPORTANT Slot filler modules must be used to fill any unoccupied slot on the power rail However the slot fillers may also be removed and replaced by an axis or shunt module in the future IMPORTANT Do not position axis modules to the right of shunt or slot filler Publication 2094 UM001A EN P September 2006 modules The added distance between non adjacent axes can increase electrical noise and impedance and requires longer fiber optic cable lengths Configure the Logix SERCOS interface Module Configure and Startup the Kinetix 6000 Drive System 125 This procedure assumes that you have wired your Kinetix 6000 system and have configured the baud rate and optical power switches In order for the Kinetix 6000 drive to communicate with the IMPORTANT SERCOS inte
195. lt The dc bus voltage is above limits The trip point is 820V 410V dc Bus Overvoltage E10 for 460V 230V drives respectively SHUTDOWN N MotFeedbackFault Illegal Hall State E11 State of Hall feedback inputs in incorrect DISABLE N SoftovertravelFault E16 Axis position exceeded maximum software setting in the positive STOP Y Software Overtravel negative direction This fault can be configured for status only OverSpeedFault Axis speed has reached 150 of the maximum rated setting The Voie Fault E18 100 trip point is dictated by the lesser of the user velocity limits or DISABLE N the motor rated base speed PositionErrorFault E19 Axis position error limit has been exceeded This fault can be STOP Y Follow Error configured for status only Publication 2094 UM001A EN P September 2006 158 Troubleshooting the Kinetix 6000 Drive System RSLogix Fault Message RSLogix Error Descripti Drive Fault escription Programmable HIM Code Action Fault Action MotFeedbackFault Mtr Fdbk E20 Motor encoder has encountered an illegal state transition DISABLE N AuxFeedbackFault E21 Communication was not established with an intelligent Stegmann STOP N Aux Feedback Comm encoder on the Auxiliary feedback port MotFeedbackFault E30 Communication was not established with an intelligent Stegmann STOP N Motor Feedback Comm encoder on the Mot
196. m pepunoJ 3jnejep ur uwous 1aduinf punoJg 818118A02 AQEZ uo 1uasaJd JeuJ8X8 10 40128UUO 5 AQ9r uo 1uasaJd Yul 1 AQEZ UO 3uasaJd synoJro JUNYs pue 131417394 18119AU02 A09t uo Ajuo 3 183 DIAZ tv 2 1 1012818 8507 04007 9 109 SAS sng uowwog INJ INO noir 1 NJ 1 09 LN CD gem oa i L 1810 ie LJP nun IER 1 M0d 0J1U07 996 1 10 ul 90 aseud aaJu September 2006 Publication 2094 214 Interconnect Diagrams 8 9 4 Motion Allowed Jumper Wiring Header POWER RAIL SYSOK GSHUNT 2 8 Kinetix 6000 drives with the safe off feature ships with the wiring header and motion allowed jumper installed In this configuration as illustrated below the safe off feature is not used Safe off Feature Block Diagram Safe Off Option Safe Off SO r 4i Gate Control Power Supply 9 pin Co
197. m fdbk cable length 181 power AM 230V 172 AM 460V 173 IAM 230V 170 IAM 460V 171 SM 173 power dissipation 180 SERCOS connections 61 shunt module system 174 transformer 179 weight 182 status indicators 146 status LEDs 137 152 status only 157 stop categories 241 stop motion 157 supplemental troubleshooting information 160 surge suppression 102 switches base node address 120 baud rate 121 optical power level 121 system block diagrams converter 213 inverter 212 safe off feature 214 shunt module 214 system ground 78 system mounting requirements 20 system overview 12 DC common bus 15 with LIM 13 without LIM 14 T task init 150 temperature fault LED 154 testing axes hookup tab 138 thermal switch 42 total bus capacitance 15 calculating 232 example 234 training 9 transformer sizing 21 transformer specifications 179 troubleshooting bus status LED 152 154 comm status 152 disable drive 157 drive status LED 152 error codes 146 fault action 157 general atune fault 150 aux fdbk noise fault 149 aux feedback AQB 149 aux feedback loss 149 auxiliary encoder error 148 backplane comm 150 blown fuse 146 bus overcurrent 150 bus overvoltage 147 bus undervoltage 147 CAN init 150 common bus flt 151 CPLD FLT 151 digital I O not working correctly 146 drive enable fault 149 drive overcurrent 147 drive overtemp 148 150 drive undervoltage 148 Index 263 encoder communication fault 148 follow error 148 ground fault 148
198. mber 2006 Mounting the Modules IMPORTANT SHOCK HAZARD Mounting the Kinetix 6000 Drive System 45 The integrated axis module IAM must be positioned in the leftmost slot of the power rail Position your axis modules AM shunt module SM and slot fillers PRF to the right of the IAM The SM must be installed to the right of the last AM Only slot filler modules may be installed to the right of the SM Do not mount the SM on power rails with a follower IAM Common bus follower IAMs will disable the internal rail mounted and external shunt modules To avoid personal injury due to electrical shock place a slot filler module catalog number 2094 PRF in all empty slots on the power rail Any power rail connector without a module installed will disable the Kinetix 6000 system however control power will still be present Follow these steps to mount the IAM AM SM and PRF modules All modules mount to the power rail using the same technique integrated axis module is shown 1 Remove the protective boots from the power rail connectors IMPORTANT The IAM must be positioned in the leftmost slot of the power rail Position your axis modules shunt module and slot fillers to the right of the IAM 2 Determine the next available slot and module for mounting 3 Remove the label applied to back and side of module covering the pins that mate with the power rail ATTENTION To avoid damage to the pins located o
199. mended high frequency HF bonding techniques as shown in the Bonding Modules on page 27 3 Tighten all mounting fasteners For external shunt module mounting dimensions refer to the Kinetix Motion Control Selection Guide publication GMC SGO01 Chapter 4 Kinetix 6000 Connector Data Introduction This chapter provides power feedback and I O connector locations and signal descriptions for your Kinetix 6000 drive Tage Introduction 3 0 Locating IAM AM Connectors and Indicators 50 Understanding IAM AM Signal Specifications 60 Understanding Feedback Specifications 66 Locating Shunt Module Connectors and Indicators 68 Publication 2094 UM001A EN P September 2006 50 Kinetix 6000 Connector Data Locating Connectors and Indicators Although the physical size of the 460V modules is larger than the 230V modules the location of the connectors and indicators is identical Integrated Axis Module Connectors and Indicators Integrated Axis Module Top View 2094 AM05 MP5 S is shown Control Power CPD Connector DC AC Input Power IPD Connector Contactor Enable CED Connector Safe off CTRL 2 CTRL 1 DC DC dE 13 12 L1 CONT EN CONT EN 7 SO Connector present only on the 2094 xC xx M xx S Integrated Axis Module Front View 2094 AC05 MP5 x is shown
200. module SERCOS interface module PCI card serves as a link between the ControlLogix CompactLogix SoftLogix platform and Kinetix 6000 drive system The communication link uses the IEC 61491 SErial Real time Platform 1784 PM16SE PCI card COmmunication System SERCOS protocol over a fiber optic cable RSLogix 5000 RSLogix 5000 provides support for programming commissioning and maintaining the Logix family of Software 9324 RLD300ENE controllers 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 motors 1326AB M2L S2L and 1326AB resolver motors F and Y Series motors Cables Motor Power Feedback and Brake cables Motor power feedback and brake cables include integral molded bayonet style quick connect quick release connectors at the motor Power and brake cables have flying leads on the drive end and straight connectors that connect to servo motors Standard feedback cables have angled connectors 45 on the drive end and straight connectors that connect to servo motors Optional feedback cables have a straight connector on the motor end and flying leads that wire to a low profile connector kit on the drive end Fiber optic cables SERCOS fiber optic cables are available in enclosure only PVC nylon and glass with connectors at both ends Bulletin 209
201. module with both hands and gently pull the module away from the connectors enough to clear the guide pins module will pivot on top bracket 7 Lift the bracket out of the power rail slot and remove module from the power rail Guide Pins Integrated Axis Module side view Power Rail side view 3 Follow these steps to replace the power rail modules 1 Determine your power rail replacement If you are Then Replacing a power rail module on the existing power rail Go to Step 3 Replacing a power rail module on a new power rail Go to Step 2 2 Prepare to mount your replacement module by removing the protective boots from the power rail connector 3 Hang the mounting bracket from the slot on the power rail IMPORTANT Power rail must be in vertical orientation before replacing modules or pins may not seat properly 4 Align the guide pins on the power rail with the guide pin holes in the back of the module refer to the figure above TIP The IAM can have two or three power rail connectors and guide pins the AM can have one or two all other modules have only one connector and one guide pin 5 Use 2 26 Nm 20 Ib in torque to tighten the mounting screw 6 Re connect the module connectors Publication 2094 UM001A EN P September 2006 166 Removing and Replacing the Kinetix 6000 Drive Modules 7 Re apply power to the system 8 Verify that the system is operating properly
202. mples and techniques designed to minimize Manual GMC RM001 system failures caused by electrical noise EMC Noise Management DVD GMC SP001 Information on wiring and troubleshooting your Kinetix 6000 Kinetix Safe off Feature Safety Reference Manual GMC RM002 safety drive Specifications motor servo drive system combinations and em accessories for Kinetix motion control products Kinetix Motion Control Selection Guide GMC S6G001 Drive and motor sizing with application analysis software Motion Analyzer CD v4 2 or later PST SG003 Information on configuring and troubleshooting your Motion Modules in Logix5000 Control Systems User LOGIX UMOO2 ControlLogix and CompactLogix SERCOS interface modules Manual E ion on configuring and troubleshooting your SoftLogix SoftLogix Motion Card Setup and Configuration Manual 784 UM003 car Information on installing configuring programming and ControlLogix Controllers User Manual 1756 UM001 operating a ControlLogix system More detailed information on the use of ControlLogix motion features and application examples ControlLogix Motion Module Programming Manual 756 RM086 The instructions needed to program a motion application ee Controllers Motion Instructions Reference 1756 8 007 For ControlFLASH information not specific to any drive family ControlFLASH Firmware Upgrade Kit User Manual 1756 6 5 6 Online product se ection and system configuration tools including AutoCAD DXF drawings
203. n Description Signal MF Pin Description Signal 1 Sine differential input 52 9 Reserved 2 Sine differential input S4 10 Resolver excitation R2 ae ae Motor thermal switch 3 Cosine differential input 51 11 normally closed 112 TS 4 Cosine differential input S3 12 Reserved 5 Resolver excitation R1 13 Reserved 6 Common ECOMM 14 Encoder power 45V EPWR 5VM 7 Encoder power 49V EPWR 9VM 15 Reserved 8 Reserved 1 Not applicable unless motor has integrated thermal protection 2 When using 1326AB resolver based motors use Low profile Connector Kit 2090 K6CK D15MF that connects the filtered thermal switch pins 16 and 17 to MF 11 and MF 6 Publication 2094 UM001A EN P September 2006 To meet CE requirements combined motor power cable length IMPORTANT for all axes on the same dc bus must not exceed 240 m 787 ft with 460V systems or 160 m 525 ft with 230V systems Drive to motor power cables must not exceed 90 m 295 5 ft Pin Orientation for 15 pin Motor Feedback MF Connector 15 pin Motor Feedback Connector Pin10 Pin 5 Pin 15 Pin 11 Pin6 Pin 1 Kinetix 6000 Connector Data 57 Auxiliary Feedback Connector Pinouts For TTL devices the position count will increase when A leads B For sinusoidal devices the position count will increase when cosine leads sine Stegmann Hiperface SRS and SRM only
204. n 2094 UM001A EN P September 2006 262 Publication 2094 September 2006 Index 70 RSLinx software 216 RSLogix 5000 software 125 160 216 224 235 252 5 safe off block diagram 214 motion allowed jumper 52 94 pin outs AM 52 pin outs IAM 52 wiring 94 safe off HW fault 149 safety control reliability 243 risk assessment 242 standards 240 stop categories 241 SCANport comm 150 SCANport DPI adapter 224 235 252 SCANport DPI connector 224 self sense fault 149 SERCOS connecting cables 115 connections 61 SERCOS init 150 SERCOS module 125 properties 127 SERCOS ring fault 149 SERCOS same addr 149 setting the add bus cap parameter 235 seven segment status LED 137 shield clamp 103 shunt fault LED 154 shunt module 214 catalog number 16 connector designators 68 connector locations 68 dimensions 189 interconnect diagram 201 202 203 pin 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 ac line filters 183 certifications 182 circuit breakers 177 contactor ratings 179 environmental 181 182 external active shunt resistor 184 external passive shunt resistor 184 feedback motor and auxiliary 66 power supply 67 fuses 177 I O analog outputs 62 brake relay 64 contactor enable relay 63 control power input 65 digital inputs 60 maximu
205. n com Installation Assistance If you experience a problem with a hardware module within the first 24 hours of installation please review the information that s contained in this manual You can also contact a special Customer Support number for initial help in getting your module up and running United States 1 440 646 3223 Monday Friday 8am 5pm EST Outside United Please contact your local Rockwell Automation representative for any States technical support issues New Product Satisfaction Return Rockwell tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning it may need to be returned United States Contact your distributor You must provide a Customer Support case number see phone number above to obtain one to your distributor in order to complete the return process Outside United Please contact your local Rockwell Automation representative for States return procedure Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852
206. n of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss IMPORTANT Identifies information that is critical for successful application and understanding of the product Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence ATTENTION Labels may be loca
207. n the back of each A module IAM AM SM and and to make sure that module pins mate properly with the power rail hang modules as shown in Steps 4 7 The power rail must be mounted vertically on the panel before hanging modules on the power rail Do not mount modules if the power rail is horizontal Publication 2094 UM001A EN P September 2006 46 Mounting the Kinetix 6000 Drive System 4 Hang the mounting bracket from the slot on the power rail Slots for additional axis modules shunt module or slot filler Integrated Axis Module Power Rail 5 Pivot module downward and align the guide pins on the power rail with the guide pin holes in the back of the module Pivot module downward and align with guide pins Guide Pin Holes Power rail ee Axis Module vertical position side view Integrated Axis Module rear view TIP The IAM can have two or three power rail connectors and guide pins the AM can have one or two all other modules have one Publication 2094 UM001A EN P September 2006 Mounting the Kinetix 6000 Drive System 47 6 Gently push the module against the power rail connectors and into the final mounting position Power Rail Integrated Axis Module Bottom front view of single wide AM SM or PRF AM is shown Bottom f
208. nal configuration is complete Publication 2094 UM001A EN P September 2006 228 Upgrading Firmware Flashing Firmware This procedure assumes you have identified which axis modules require flashing have set the Axes to Flash parameter and have configured a HyperTerminal session IM PORTANT You must also know where to find your firmware upgrade file 1 Press ENTER The HyperTerminal main menu opens K6K HyperT erminal File Edit View Call Transfer Help iol x Dis als 2al en 1203 888 Smart Self powered Serial Converter DPI Revision 3 003 Main Menu Enter Number for Selection 1 gt Display Setup Parameters 2 gt Display Event Queue 3 gt Flash Upgrade Connected 0 05 10 Auto detect 38400 8 N 1 SCROLL CAPS NUM Capture Print echo 2 Enter 3 The following dialog opens K6K HyperTerminal File Edi View Call Transfer Help Build 9 Ne ioj x Dis 2181 cl l 1203 888 Smart Self powered Serial Converter DPI Main Menu Enter Number for Selection 1 gt Display Setup Parameters 2 gt Display Event Queue 3 gt Flash Upgrade Revision 3 003 Flash Upgrade Enter Number for Selection 0 gt 2094D SERVO 2 gt This 1203 888 Connected 0 07 18 Auto detect 38400 8 N 1 SCROLL CAPS NUM Capture Print echo 3 Enter 0 Publication 2094 UM001A EN P September 2006 Build 9 NI Upgrading Firmware 229 The foll
209. nals Integrated Axis M odule Axis Module MF connector Integrated Axis Module Front View Integrated Axis Module Side View 2094 BC02 MO2 S is shown 2094 BC02 MO02 S is shown 2090 UXBC D15xx Breakout Cable Motor Feedback MF Connector 2090 UXBB D15 26 Panel mounted Breakout Board Wire Terminations The panel mounted breakout board kit 2090 UXBK D15xx is IMPORTANT not compatible with 1326 CCUx xxx cable Publication 2094 UM001A EN P September 2006 10 Connecting the Kinetix 6000 Drive System Integrated Axis Module Front View 2094 02 02 5 is shown Wiring Low profile Connector Kits Low profile connector kits 2090 K6CK D xxx are suitable for motor feedback MF auxiliary feedback AF and I O connections any IAM or AM They also apply to I O connections COL on the 2094 AL09 and 2094 BL02 line interface module LIM Integrated Axis M odule Axis Module MF connector Integrated Axis Module Side View 2094 02 02 5 is shown 2090 XXNFMP Sxx flying lead veio Foil Shield Braided Shield Outer Insulation 2090 XXNFxx Sxx S Shield Clamp NS ps Turn clamp over to hold small wires secure Exposed Braid under clamp P
210. nd Startup the Kinetix 6000 Drive System 3 Observe the IAM AM logic power LED indicator H Seven segment Fault Status LED Indicator Logic Power LED Indicator If the Logic Power LED Indicator 15 Then ON Go to Step 4 1 Check your control power connections Not ON 2 Go back to main Step 2 4 Determine your source of three phase input power If Your Three phase Power Then 1 Set CB1 to the ON position 2 Verify the Hardware Enable Input signal IOD pin 2 for each Is sourced from a LIM axis is at 0 volts Remove the connection between 100 1 and 100 2 if one exists 3 Go to main Step 5 1 Apply 195 265V ac 230V or 324 528V ac 460V input power to the IAM IPD connector 2 Verify the Hardware Enable Input signal IOD pin 2 for each Is not sourced from a LIM axis is at 0 volts Remove the connection between 100 1 and 100 2 if one exists 3 Go to main Step 5 Publication 2094 UM001A EN P September 2006 Configure and Startup the Kinetix 6000 Drive System 137 5 Observe the IAM AM fault status LED indicator The status LED indicator will first flash the SERCOS node address then cycle through phases until final configuration phase 4 is reached IAM AM Fault Status LED Indicator Status Do This The drive is looking for closed SERCOS ring Wait for Actively cycling phase 0 phase 1 or take corre
211. nd from transmit on the last drive back to receive on the Logix module SoftLogix and ControlLogix platforms are used in the examples beginning below however all platforms connect in the same manner Fiber optic Cable Example 1 basic SERCOS ring connections SoftLogix Platform 1784 PM16SE SERCOS interface PCI Card x SERCOS fiber optic ring Receive K Kinetix 6000 J Kinetix 6000 System Qao dam a dea Aae faa Transmit Receive x Transmit Receive Transmit Publication 2094 UM001A EN P September 2006 116 Connecting the Kinetix 6000 Drive System IMPORTANT The CompactLogix platform 1768 MOASE is limited to four axes per module In this example two Logix modules are installed in separate Logix chassis Fiber optic Cable Example 2 two Logix chassis 1756 MxxSE SERCOS interface Modules a Logix Platform F ControlLogix is shown Transmit Receive Transmit Receive Transmit Receive gt SERCOS Fiber optic Ring Receive Transmit Kinetix 6000 System E Wem ate Ata a it
212. nfiguration shown below does not provide a neutral ground point The IAM has a ground jumper set for grounded power distribution default configuration IMPORTANT determine that you have ungrounded power distribution in your facility you need to move the default jumper configured for grounded power to the ungrounded power position to prevent electrostatic buildup inside the IAM Refer to Setting the Ground Jumper in Ungrounded Power Configurations on page 75 for more information Ungrounded Power Configuration Integrated Axis Module Top View 2094 BC xx Mxx S is shown zi lt E Transformer Bor Apa lt H CONT EN CONT EN 1 RH 9 G y 5 Three phase InputVAC Chassis Ground 879 yt 5 123456 0 Bonded Cabinet Ground Connect to power rail ground stud Ground Grid or Power Distribution Ground ATTENTION Ungrounded systems do not reference each phase potential to a power distribution ground This can result in an unknown potential to earth ground Publication 2094 UM001A EN P September 2006 74 Connecting the Kinetix 6000 Drive System DC Common Bus Configura
213. nnector ENABLE1 Gate Control Safety Monitor Circuit CCP uC Gate Control Enable Signal 24V DRIVE ENABLE 24V_COM Shunt Module Block Diagram Internal or External Shunt Resistor Shunt Circuit SMPS 5V Control 15V IGBT 24V Control Publication 2094 UM001A EN P September 2006 Appendix C Upgrading Firmware Introduction This appendix provides procedures for upgrading firmware using either ControlFLASH or DriveExplorer software Topic Page Introduction 215 Using ControlFLASH Software to Upgrade Drive Firmware 216 Using DriveExplorer Software to Upgrade Drive Firmware 224 Publication 2094 UM001A EN P September 2006 216 Upgrading Firmware Using ControlFLASH Upgrading axis module firmware using ControlFLASH software involves selecting the drive to flash configuring your Logix to Upgrade Drive communications and flashing the firmware are Before You Begin You will need the following software and information before you begin Description Catalog Number Firmware Revision RSLogix 5000 software 9324 RLD300NE 15 x or later ControlLogix SERCOS module software eee 1756 L60MO3SE 15 4 or later CompactLogix SERCOS module software 1768 15 35 or later SoftLogix SERCOS PCI card software 1784 PM16SE 15 33 or later RSLinx software 2 50 or later Co
214. nt Module Wiring Examples 201 Axis Module Motor Wiring Examples 204 Controlling a Brake Example 210 System Block Diagrams 212 Publication 2094 UM001A EN P September 2006 192 Interconnect Diagrams W iring Exa mples This appendix provides wiring examples to assist you in wiring the Note Kinetix 6000 system The notes below apply to the wiring examples on the pages that follow Information For power wiring specifications refer to Power Wiring Requirements on page 80 2 For input fuse and circuit breaker sizes refer to Circuit Breaker Fuse Specifications on page 177 3 Place EMC line filters as close to the drive as possible and do not route very dirty wires in wireway If routing in wireway is unavoidable use shielded cable with shields grounded to the drive chassis and filter case For ac line filter specifications refer to AC Line Filter Specifications on page 183 4 Terminal block is required to make connections 5 2094 BCxx Mxx 460V IAM requires step down transformer for single phase control power input Source 2094 ACxx Mxx 230V IAM control power from the three phase input power line to line Supplying 230V control power from any other source requires an isolation transformer If used do not ground either leg of the isolation transformer output 6 LIM models 2094 ALxxS and BLxxS can supply a maximum of eight axes LIM model
215. nt module e Verify the thermal switch jumper is in place between TS 1 and TS 2 as shown in the figure below e Remove the internal shunt jumper between RC 2 and RC 3 e Remove the thermal switch jumper between TS 1 and TS 2 External passive shunt if your shunt module includes a thermal switch connected to the SM 1394 SRxxxx e Refer to External Shunt Resistor on page 40 and Mounting the External shunt 2094 BSP2 Shunt Module on page 48 e Refer to Locating Shunt Module Connectors and Indicators on page 68 e Refer to Shunt Module Wiring Examples on page 201 e Refer to External Shunt Resistor on page 40 External active shunt T connected fa tim d 1336 MOD Kxxxx e Refer to Shunt Module Wiring Examples 201 bus e Refer to the installation instructions provided with your Bulletin 1336 shunt module publication 1336 5 64 Shunt Module J umper Settings Shunt Module Top View 2094 BSP2 Cable Shie External Shunt Resistor RC Connector External Thermal Switch TS Connector These are the default jumper settings Publication 2094 UM001A EN P September 2006 114 Connecting the Kinetix 6000 Drive System Understanding Resistive Brake Module Connections Motor Power Cable Clamp exposed shield braid under clamp CTRL 2 CTRL1 DC DC CONT EN CONT EN Tie W
216. ntially high voltages on the shield Wiring Guidelines Connecting the Kinetix 6000 Drive System 83 Use these guidelines as a reference when wiring the connectors on your Kinetix 6000 drive modules or line interface module LIM IMPORTANT Refer to page 50 for the connector locations of the Kinetix 6000 drive modules When tightening screws to secure the wires refer to the tables beginning on page 80 for torque values When removing insulation from wires refer to the tables beginning on page 80 for strip lengths IMPORTANT To ensure system performance run wires and cables in the wireways as established in Establishing Noise Zones on page 30 Refer to the Line Interface Module Installation Instructions publication 2094 IN005 for LIM power wiring requirements and connector locations Refer to Wiring Examples beginning on page 192 for interconnect diagrams including the LIM Follow these steps when wiring the connectors on your Kinetix 6000 drive modules or line interface module LIM A Prepare the wires for attachment to each connector plug by removing insulation equal to the recommended strip length IMPORTANT Use caution not to nick cut or otherwise damage strands as you remove the insulation Route the cable wires to your 6000 drive module or LIM gt Insert wires into connector plugs Refer to connector pinout tables in Chapter 4 or the interconnect diagrams in Appendix
217. ntrolFLASH software kit 1 4 00 09 or later Catalog number of the targeted Kinetix 6000 IAM AM you want to flash Network path to the targeted Kinetix 6000 1 Download the ControlFLASH kit from http support rockwellautomation com controlflash Contact Rockwell Automation Technical Support at 440 646 5800 for assistance For more ControlFLASH information not drive specific refer to the ControlFLASH Firmware Upgrade Kit User Manual publication 1756 6 5 6 IMPORTANT Control power 24V dc must be present at CPD 1 and 2 prior to flashing your drive The seven segment LED on the IAM inverter or AM to upgrade must be displaying a fixed 2 3 or 4 before beginning this procedure ATTENTION To avoid personal injury or damage to equipment during the firmware upgrade due to unpredictable motor activity do not apply three phase ac or common bus dc input power to the drive The ControlFLASH utility software can be accessed by either of these methods Select ControlFLASH from the Tools menu in your RSLogx 5000 software Select ControlFLASH from the Windows Start button Program Files Flash Tools Publication 2094 UM001A EN P September 2006 Upgrading Firmware 217 Selecting the Drive to Upgrade Follow these steps to upgrade flash your drive firmware 1 Open your ControlFLASH software The Welcome to ControlFLASH dialog opens Welcome to ControlFLASH Welcome to Control
218. o need heat dissipation data from other equipment inside the enclosure such as ControlLogix controller Once the total amount of heat dissipation in watts is known the minimum enclosure size can be calculated Kinetix 6000 System Heat Dissipation Example Heat Dissipation Enclosure Component Description Loading Walls Integrated axis module IAM al 33 inverter section 40 73 2094 AM02 Axis module AM 200 230V 15 A 60 82 2094 AM02 Axis module AM 200 230V 15 A 6096 82 2094 AM01 Axis module AM 200 230V 9 40 69 2094 AM01 Axis module AM 200 230V 9 40 69 2094 AM01 Axis module AM 200 230V 9 20 62 2094 09 Line interface module LIM 200 230V 6 kW 6 24V dc 3A 100 72 2094 PR6 Power rail 230V 6 axis N A 0 2090 XB33 32 Resistive brake module RBM 33 A 32 Q N A 30 Total Kinetix 6000 system wattage 572 1 determine heat dissipati on specifications for the Kinetix 6000 components refer to Power Dissipation Specifications on page 180 Publication 2094 UM001A EN P September 2006 24 Planning the Kinetix 6000 Drive System Installation ControlLogix System Heat Dissipation Example Psion E 1756 8 axis SERCOS interface module 3 2 0 756 L55M12 5555 ControlLogix processor 4 5 0 756 IB16D 16 point input module 0 84 5 8 1756 08160 16 point output module
219. oes not provide pre charge 15 required to add an additional external pre charge circuit before connecting to any Kinetix 6000 common bus follower IAM Typical DC Common Bus Configuration Integrated Axis Module Axis Module Integrated Axis Module Axis Module 2094 xC xx Mxx S Common Bus Leader IAM Common Bus Follower IAM 2094 xMxx S 2094 xCxx Mxx S 2094 xM xx S Bonded Cabinet Ground Three phase Input Power DC Common Bus Connections Publication 2094 UM001A EN P September 2006 Setting the Ground J umper in Ungrounded Power Configurations Connecting the Kinetix 6000 Drive System 75 Common Bus Fusing Requirements When using a Kinetix 6000 leader IAM dc bus fuses are only required when wiring to more than one Kinetix 6000 follower IAM When wiring multiple follower IAMs terminal blocks are required to extend the dc common bus power to additional drives Fuses should be installed in both lines of the dc bus between the dc bus terminal block and each follower IAM These fuses should be rated based on the dc input current of each follower IAM When using a non Kinetix 6000 common bus leader dc bus fuses are required in both lines of the dc bus between the common bus leader and follower IAM These fuses should
220. of ac line input three phase 2 bridge rectifier and filter capacitors DC 3 Chassis ground 4 13 5 Three phase input power L2 6 L1 Contactor Enable Connector 1 Relay driven dry contact used in the CONT EN safety string for a three phase power 2 contactor CONT EN Publication 2094 UM001A EN P September 2006 Kinetix 6000 Connector Data 59 IAM and AM Motor Power and Brake Connector Pinouts Motor Power Connector MP Pin Description 4 Chassis ground Signal 3 2 1 Three phase motor power Sy up IMPORTANT To meet CE requirements combined motor power cable length for all axes on the same dc bus must not exceed 240 m 787 ft with 460V systems or 160 m 525 ft with 230V systems Drive to motor power cables must not exceed 90 m 295 5 ft Motor Brake Resistive Brake Connector BC Pin Description Signal 6 MBRK Motor brake connections 5 MBRK 4 Motor brake common COM 24V brake input power from LIM or 3 customer supplied PWR 2 Resistive brake module RBM DBRK connections from RBM and safety 1 string DBRK Publication 2094 UM001A EN P September 2006 60 Kinetix 6000 Connector Data Understanding IAM AM Signal Specifications A description of the Kinetix 6000 IAM AM input output IOD SERCOS contactor enable brake BO and control power CPD connectors is provided on the following pages Digital Inputs Two fast registration
221. ol power is not present Internal power supply failure Replace shunt module Temperature Fault LED Indicator Temp Fault LED Status Potential Cause Possible Resolution Off Normal condition N A Shunt module fan failed Replace shunt module Allow shunt module to cool temperature specification Shunt module temperature exceeds rating e Reset faults Verify IAM bus regulator configuration Steady Red Allow shunt module to cool External over temperature External temperature switch is open Reset faults condition Verify IAM bus regulator configuration TS jumper is not present Install jumper Shunt Fault LED Indicator Shunt Fault LED Status Potential Cause Possible Resolution Off Normal condition N A Mis wired shunt jumper or other short on RC T un Steady Red Shorted internal or external connector Correct mis wire shorted condition shunt resistor f problem persists replace shunt module Mis wired shorted external shunt wiring All SM Status LED Indicators SM Status LED Potential Cause Possible Resolution Bus Status All three SM status LED RD Cycle power e Temperature Fault indicators flash Shunt module hardware failure nda e Shunt Fault simultaneously e f problem persists replace shunt module Publication 2094 UM001A EN P September 2006 Troubleshooting the Kinetix 6000 Drive System 155 Troubleshooting General System Problems
222. oltage is system faults to save itself from an e Install shunt module Bus Overvoltage overload e DC bus voltage for 460V system is over 820V bei NUT 2209 Verify input is within specifications e DC bus voltage for 230V system is over 410V e Verify the Hall wiring at the MF E11 MotFeedbackFault State of Hall feedback Bad connections connector on the IAM AM Illegal Hall State inputs is incorrect e Verify 5V power supply to the encoder Publication 2094 UM001A EN P September 2006 148 Troubleshooting the Kinetix 6000 Drive System pelea i Problem or Symptom Potential Cause Possible Resolution e Verify motion profile E16 D Axis position exceeded maximum software setting e Verify overtravel settings are Overtravel appropriate OverSpeedFault Motor speed has exceeded 150 of maximum rated speed The 100 Check cables for noise E18 trip point is dictated by the lesser of the user velocity limits or the Overspeed Fault motor rated base speed Check tuning e Increase the feed forward gain e Increase following error limit or time PositionErrorFault T iti i E19 Position error limit was exceeded Check position loop tuning Follow Error e Verify sizing of system e Verify mechanical integrity of system within specification limits e Use shielded cables with twisted pair wires M otFeedbackFault The motor encoder enco
223. on and safety performance categories For more information refer to Understanding the Machinery Directive publication SHB 900 14 ATTENTION Wiring the contactor enable relay is required To avoid personal injury or damage to the drive wire the contactor enable relay into your safety control string Refer to Contactor Enable Relay on page 63 for more information The recommended minimum wire size for wiring the safety circuit to the contactor enable connector is 1 5 mm 16 AWG 15 The Kinetix 6000 axis module referenced is either an individual axis module 2094 xM xx or the same axis module that resides within an integrated axis module 2094 16 For motor cable specifications refer to the Kinetix Motion Control Selection Guide publication GMC SG001 17 Wire colors are for flying lead cable 2090 XXNFxx Sxx and may vary from the premolded connector cable 2090 UXNFBxx Sxx 18 Y Series feedback cables have a drain wire that must be folded back under the low profile connector clamp 9 Only the MPG Bxxx encoder uses the 5V dc supply MPL B3xx B4xx B45xx 5 B6xx 8 B9xx encoders use the 9V dc supply 20 MPL A3xx A4xx A45xx and MPG Axxx encoders use the 5V dc supply Only the MPL A5xx encoder uses the 49V dc supply 21 MPL A15xx A2xx MPF A3xx A4xx A45xx and MPS Axxx encoders use the 5V dc supply MPL B15xx B2xx MPF Abxx Bxxx and MPS Bxxx encoders use 9V dc 22 Brake wires on MPF A B5
224. onnection Verify proper fiber optic cable connections Off N aormantation tl Broken fiber optic cable Replace fiber optic cable Receive fiber optic cable connected to Check proper SERCOS fiber optic cable SERCOS transmit connector and vice versa connections Refer to Fiber optic Cable Installation and Handling Instructions publication 2090 IN010 for more information Bus Status LED Indicator Bus Status LED x Indicator Status Condition B sd bled Normal when US power IS present axis enabled e 24V is applied to Hardware Enable Input IOD 2 Steady Green faults or failures Ph 5 P e MSO instruction is commanded in RSLogix 5000 software B TN Normal when US power IS present axis disabled e 24V is not applied to Hardware Enable Input 100 2 Flashing Green No faults or failures pp 6 p e MSO instruction is not commanded in RSLogix 5000 software e Normal when bus power is not applied Bus power not present e Fault exists refer to seven segment error code and Error Codes section beginning on page 146 Off e Follower IAM is not configured as CommonBus Follow in RSLogix 5000 software Bus power is present in follower IAM e After dc bus voltage is applied a 2 5 second delay before the LED indicator begins flashing green is normal operation to provide common bus leader time to complete pre charge Publication 2094 UM001A EN P September 2006 Troubleshoo SM Status Indicators
225. op View 4 Mbps Applications 8 Mbps Applications 2094 high power setting high power setting ON OFF Switch in ON Position SERCOS Baud Rate and Optical Power Switches 6 Repeat Steps 4 and 5 for each 2094 xMxx axis module Publication 2094 UM001A EN P September 2006 122 Configure and Startup the Kinetix 6000 Drive System Node Addressing Example 1 1756 MxxSE SERCOS l interface Module 5 15 Logix Platform ControlLogix is shown W es e Transmit Receive sercos Fiber optic Ring Receive QD Transmit 1 E Kinetix 6000 Receive Transmit System 2 be 2 axis power rail Kinetix 6000 System 1 6 axis power rail daa 17 AM axis 2 Node Address s T s 16 IAM axis 1 Base Node Address 15 Slot Filler Node Address 14 Shunt Module Node Address 13 AM axis 4 Node Address 12 AM axis 3 Node Address 11 2 AM axis 2 Node Address 10 IAM axis 1 Base Node Address In Example 1 the Kinetix 6000 6 axis System 1 power rail contains one IAM three AMs one SM and one slot filler module The shunt module and slot filler modules are assigned a node addres
226. opens Select the SERCOS Interface tab and reference the table below E Module Properties Local 1 1756 M16SE 15 1 General Connection SERCOS Interface SERCOS Interface Info Module Info Backplane Data Rate Auto Detect v Mb Cycle Time 2 ms Transmit Power High m Transition To Phase a Status Offline Cancel Apply Help Logix SERCOS Module Number of Axes Data Rate 17581 0 0 Up to 3 1756 Up to 8 1756 M16SE or 4 or 8 Mbps 1784 PM16SE Up to 16 1768 MO4SE Up to 4 Publication 2094 UM001A EN P September 2006 128 Configure and Startup the Kinetix 6000 Drive System Publication 2094 UM001A EN P September 2006 7 Verify that the Data Rate setting matches DIP switches 2 and 3 baud rate as set on the IAM and AMs or use the Auto Detect setting 8 Set the Cycle Time according to the table below 10 11 12 Data Rate NumberofAxes Tuto2 05m 4 Mbps up to 4 1ms up to 8 2ms No support for axes 9 16 up to 4 0 5 ms 8 Mbps up to 8 1 ms up to 16 2ms The number of axes module is limited to the number of axes as shown in Step 6 Verify that the Optical Power setting high or low matches DIP switch 1 as set on the IAM and AMs Set Transition to Phase Transition to Phase default setting is 4 phase 4 The Transition to Phase setting will stop the ring in the phase specified Click OK Repe
227. opping time and stopping torque are configurable parameters in RSLogix 5000 Drive continues to operate Status is provided by seven segment Fault Status Only Status LED Indicator Drive Status LED Indicator and DPI if used Logix Drive Fault Behavior RSLogix RSLogix Cone Description e rogrammanle Fault Action BusUndervoltageFault Blown fuse 9 E00 A blown fuse was detected in the inverter pcb SHUTDOWN N The motor thermal switch was tripped MotorOvertempFault Firmware It protection does not generate a fault rather it Motor 0 E04 dynamically folds back current when 11096 of motor rating is STOP Y Motor Overtemp reached Setting the Motor Thermal fault action to Status Only will bypass this function DriveOvercurrentFault i idea E05 over current was detected in the inverter power SHUTDOWN N HardOvertravelFault 06 Axis moved beyond the physical travel limits in the positive negative STOP Y 4 Hard Overtravel direction This fault can be configured for status only MotFeedbackFault Motor Feedback Losi E07 The feedback wiring is open shorted or missing DISABLE N With 3 phase present the dc bus voltage is below limits The trip BusUndervoltageFault e point is 275V and 137V dc for 460V 230V drives respectively Under Voltage DC bus voltage is below limits when any axis on common bus follower power rail was enabled DriveOvervoltageFau
228. or 12 0 Personal computer with HyperTerminal N A N A 1 Refer to DriveExplorer Getting Results Manual publication 9306 6 8001 for instructions 2 Additional information regarding these communication and software tools is available at http www ab com support abdrives B Refer to 1203 SSS Series FRN 3 xxx User Manual publication 20 for instructions To avoid personal injury or equipment damage at least one end ATTENTION of a SERCOS fiber optic cable must be disconnected from the drive This ensures that motion will not occur while changes are being made to the time delay parameter Removing SERCOS Communication Follow these steps to remove break SERCOS communications 1 Remove three phase and control power from the Kinetix 6000 drive system 2 Remove one of the SERCOS fiber optic cables Fiber optic cable connections Tx and Rx are located on the top of each IAM AM 3 Re apply three phase and control power Integrating Resistive Brake Modules with Kinetix 6000 Drives 253 Setting the RBM Delay Time Parameter Follow these steps to set the RBM delay time parameter 1 Start your DriveExplorer software 2 From the menu bar choose Explore Connect Local or enter Ctrl L from the keyboard DriveExplorer software will read your system 3 Observe the Linear List of parameters as grouped by Node Port and Axis hierarchy as shown below Linear List Legend X xxx to
229. or Data 55 Motor Feedback Connector Pinouts Stegmann Hiperface SRS SRM MFPin Description Signal MFPin Description Signal 1 Sine differential input SINE 9 Reserved 2 Sine differential input SINE 0 Hiperface data channel DATA 3 Cosine differential input COS 1 Motor thermal switch normally closed TS 4 Cosine differential input COS 2 Reserved 5 Hiperface data channel DATA 13 Reserved 6 Common ECOMM 14 Encoder power 45V EPWR_5VM 7 Encoder power 9V EPWR 9VM 15 Reserved 8 Reserved 1 Not applicable unless motor has integrated thermal protection TTL or Sine Cosine with Index Pulse and Hall Commutation MFPin Description Signal MFPin Description Signal 1 AM Sine differential input SINE 9 Reserved 2 AM Sine differential input AM SINE 0 Index pulse IM 3 BM Cosine differential input BM COS 11 Motor thermal switch normally closed TS 4 BM Cosine differential input BM COS 2 Single ended 5V hall effect commutation S1 5 Index pulse IM 13 Single ended 5V hall effect commutation 52 6 Common ECOMM 4 Encoder power 5V EPWR_5VM 7 Encoder power 9V EPWR_SVM 5 Reserved 8 Single ended 5V hall effect commutation S3 1 Not applicable unless motor has integrated thermal protecti on Publication 2094 UM001A EN P September 2006 56 Kinetix 6000 Connector Data Resolver Transmitter transformation ratio 0 25 MFPi
230. or MP Series TL Series 1326AB F and Y Series motors are shielded and the braided cable shield must terminate at the drive during installation A small portion of the cable jacket must be removed to expose the shield braid The exposed area must be clamped using the clamp provided on top of the IAM or AM and the power wires terminated in the motor power MP connector plug TAAA avoid hazard of electrical shock ensure shielded power cables are grounded at a minimum of one point for safety IMPORTANT For TL and Y Series motors also connect the 152 mm 6 0 in termination wire to the closest earth ground Refer to Pigtail Terminations on page 100 for more information Publication 2094 UM001A EN P September 2006 96 Connecting the Kinetix 6000 Drive System Publication 2094 UM001A EN P September 2006 Motor Power Cables with Three phase Wires Only Motor Power Cable Motor Motor Catalog Number Catalog Number A B4xxx A B45 xxx MP Series Low Inertia A BEjxoxx BBxxx BBxxx BOxxx S M MP Series Integrated Gear MPG A BxxxxS M 2090 XXNPMP xxS xx 1326AB M2L S2L 1326AB Bxxxx M2L S2L TL Series TL Axxxx H 2090 XXNPT 16S xx F Series F XXXX 2090 XXNPHF xxS xx These cables only contain the three phase wires and the motors have a separate connector for brake connections Thermal switch wires are included in the feedback cable IMPORTANT No drive end pr
231. or feedback port GroundShortFault Ground Fault E34 Excessive ground current in the converter was detected SHUTDOWN N DriveUndervoltageFault Fault 9 E35 The converter pre charge cycle has failed SHUTDOWN N DriveOvertempFault 7 Sistem E36 Converter internal temperature limit exceeded SHUTDOWN N e One or more phases of the input AC power is missing Pow erPhaseLossFault E37 e Axis was enabled when main three phase power was removed SHUTDOWN STOP N Phase Loss Fit Common bus follower axis was enabled when dc bus power was removed ERCOSFault His Flt E38 The SERCOS ring is not active after being active and operational STOP N DriveHardFault Self Sense Fit E39 Self sensing commutation fault detected DISABLE N DriveEnablelnputFault ae dan E43 Generated when Enable input switches off when drive is enabled STOP Y Safe off function mismatch Drive will not allow motion Refer to the DriveHardFault E49 Kinetix Safe off Feature Safety Reference Manual publication SHUTDOWN N Safe Off HW Fit GMC RMO002 for more information Applies to IAM 2094 xCxx Mxx S and AM 2094 xMxx S with safe off feature ERCOSFault pe a ADDR E50 Duplicate node address detected on SERCOS ring STOP N DriveHardFault HW Fault E54 Current feedback hardware fault detected SHUTDOWN N DriveHardFault Unknown Axis E60 Invalid module type identified by firmware when applying power SHUTDOWN N AuxFeedbackFault Aux Fd
232. ormer make sure that the phase to neutral ground voltages do not exceed the input voltage ratings of the drive IMPORTANT Use a form factor of 1 5 for three phase power where form factor is used to compensate for transformer drive module and motor losses and to account for utilization in the intermittent operating area of the torque speed curve Example Sizing a transformer to the voltage requirements of a 2094 ACO5 MOI Integrated Axis Module 2094 AC05 M01 3 kW continuous x 1 5 4 5 transformer Publication 2094 UM001A EN P September 2006 22 Planning the Kinetix 6000 Drive System Installation Publication 2094 UM001A EN P September 2006 Circuit Breaker Fuse Selection The Kinetix 6000 system utilizes internal short circuit output protection and is suitable for use on a circuit capable of delivering up to 100 000 amperes when protected by class CC J L and R fuses Circuit breakers with adequate widthstand and interrupt ratings as defined in NEC 2002 article 110 9 and 110 10 are also permitted The Bulletin 140M product may be another acceptable means of protection with the Kinetix 6000 system As with fuses and circuit breakers you must make sure that the selected components are properly coordinated and meet applicable codes When applying the 140M product evaluation of the short circuit available current is critical and must be kept below the short circuit rating of the 140M product As long as y
233. ou do this review and the conditions for use are met the 140M product is appropriate for use with the Kinetix 6000 system The line interface modules LIM models 2094 ALO9 and BL02 contain supplementary protection devices When these models are used protection on the line side of the LIM with a maximum let through current of 5000 amperes is required Fuses must be class J or CC only Overcurrent protection must be adequately coordinated per NEC 2002 article 240 In most cases fuses selected to match the drive input current rating will meet the NEC requirements and provide the full drive capabilities Dual element time delay slow acting fuses should be used to avoid nuisance trips during the inrush current of power initialization Refer to Circuit Breaker Fuse Specifications on page 177 for recommended circuit breakers and fuses Refer to Power Specifications on page 170 for input current and inrush current specifications for your IAM Planning the Kinetix 6000 Drive System Installation 23 Enclosure Selection The following example is provided to assist you in sizing an enclosure for your Kinetix 6000 system The example system consists of the following components e 6 axis Kinetix 6000 servo drive system e Line Interface Module LIM e ControlLogix chassis and modules controller Size the Kinetix 6000 servo drive and LIM and use the results to predict the amount of heat dissipated into the enclosure You will als
234. ou need to change the location of the power rail or if you are installing a power rail designed for additional or fewer modules than you removed refer to Kinetix 6000 Power Rail Installation Instructions publication 2094 IN003 ready for mounting ATTENTION To avoid damage to the power rail during installation do not remove the protective boots until the module for each slot 15 Follow these steps to replace the power rail Align the replacement power rail over the existing mounting bolts IMPORTANT To improve the bond between the power rail and subpanel construct your subpanel out of zinc plated paint free steel Tighten the mounting bolts w Re attach the braided grounding strap to the power rail grounding stud refer to page 166 Publication 2094 UM001A EN P September 2006 168 Removing and Replacing the Kinetix 6000 Drive Modules Publication 2094 UM001A EN P September 2006 Appendix A Specifications and Dimensions Introduction This appendix provides product specifications and mounting dimensions for your Kinetix 6000 system components Topic Page Introduction 69 Power Specifications 170 Power Dissipation Specifications 180 General Specifications 181 AC Line Filter Specifications 83 External Shunt Module Specifications 184 Product Dimensions 185 Publication 2094 UM001A EN P September 2006 170 Power Specifications Specification
235. output of the Kinetix 6000 drive BC 5 and 6 is suitable for directly controlling a motor brake subject to the relay voltage limit of 30V dc and the relay current limit as shown in the table below Brake Relay Current Limit Kinetix 6000 IAM AM 2094 AC05 M xx AC09 M xx 094 AMP5 AMO01 AM02 Brake Current Rating Max 10 94 094 BMPS 1 M BC02 Mxx BM01 BM02 094 AC 6 AC32 Mxx 094 AMO5 13A 094 BC04 Mxx BC07 Mxx 094 BM03 BM05 3 0A Interconnect Diagrams 211 IMPORTANT For brake requirements outside of these limits an external relay must be used Coil Currents Rated at lt 1 0 A Compatible Brake Motors Current Compatible Brake Motors Coil Current 048A 1326 0 88 MPL x2xx 0 51 A F 4030 4050 and 4075 0 69 A MPL MPF MPS x310 x320 x330 0 50 A Y 1002 and 1003 0 26 A MPL x420 x430 x4520 x4530 x4540 der Y 2006 and 2012 0 31 A MPF x430 x4530 x4540 1 Y 3023 0 37 A 004 11 0 33A TL A110P H A120P H and A130P H 0 208 A 010 1 TL A220P H and A230P H 0 375 A MPG x025 xs TL A2530P H and A2540P H 0 396 A MPG x050 0 50 TL A410P H 0 746 MPG x110 1 1 0A 1 Applies to 230V and 460V motors Coil Currents Rated at gt 1 0 A and lt 1 3
236. owing dialog opens HyperTerminal m x File Edi View Call Transfer Help Dias e sole i 1203 888 Smart Self powered Serial Converter DPI Revision 3 003 Build 9 Main Menu Enter Number for Selection 1 gt Display Setup Parameters 2 gt Display Event Queue 3 gt Flash Upgrade Flash Upgrade Enter Number for Selection 0 gt 2094D SERVO 2 gt This 1203 8838 You have chosen to update 0 gt 2094D SERVO To update the FLASH memory you need a terminal program capable of downloading a binary file using the XMODEM protocol and a FLASH update file from Rockwell Automation When you press Y to signal that you are ready to proceed the terminal program will start displaying the letter C This signals the XMODEM protocol that the download may proceed You then have one minute to start the transfer Press CTRL X to cancel an update started by mistake Are you ready to proceed Y N Connected 0 03 13 Auto detect 38400 8 N 1 SCROLL CAPS NUM Capture Print echo 4 Enter Y As indicated in the text the program begins displaying the character TIP Program times out after 60 seconds If program times out before you complete steps 5 8 return to Step 1 5 From the Transfer menu select Send File The Send File dialog opens Send File 2 Folder C K6k_Firmware Files d Filename Firmware upgrade file as provided by Rockwell EKEk Fimware Fies 2094_ R1 056_2002_05_ Automation Technic
237. pecifications Parameter Description 120V ac 30V ac Current flow when the contact is On state current 20A On state resistance Contact resistance max 50 m Q 50m Voltage across the contacts Off state voltage when the relay is open 120V ac 30V ac Publication 2094 UM001A EN P September 2006 Integrated Axis Module 2094 xCxx M xx Interconnect Diagrams IAM Wiring Example with Multiple External Active Shunts Kinetix 6000 External Active Shunt M odule 1336 M OD Kxxxx 4 Slave In 1 Slave In 2 Master Out 3 4 1 Note 4 E Master Out DC Bus DC Bus Connections XX 6 TB1 pc 12 DC Bus L 3 Three phase 13 4 1 Input IPD 5 TB3 Connections 2 3 4 Fault Relay Note 24 Shunt Chassis 1336 Master Ground Screw 1 H Contactor Enable CONT EN 3 7 External Active CED Connector CONT EN Shunt M odule 1336 M OD Kxxxx Slave In Notes 8 14 Slave In 24V STOP _ START Master Out AV ac dc ae FA or gt en 515 Master Out 120V ac we m 5 yc Bus 50 60 Hz x 6 TB1 e DC Bus Refer to Attention statement Note 13 Note 4 1 TB3 2 3 JL Fault Relay Note 24 4 LT Shunt Chassis 1336 Slave Ground Screw External Active Shunt M odule 1336 M OD Kxxxx Slave In Slave In
238. port Adapter 1203 SSS Series B 3 004 or later RSLogix 5000 Software 9324 RLD300NE 11 0 or later Firmware upgrade file for your Kinetix 6000 drive 2 Personal computer with HyperTerminal software V Refer to DriveExplorer Getting Results Manual publication 9306 6 8001 for instructions V Contact Rockwell Automation Technical Support at 440 646 5800 for firmware upgrade file IMPORTANT Control power 24V dc must be present at CPD 1 and 2 prior to flashing your drive ATTENTION To avoid personal injury or damage to equipment during the firmware upgrade due to unpredictable motor activity do not apply three phase ac or common bus dc input power to the drive Do not establish communications with the Logix SERCOS interface module Selecting Axis Modules to Upgrade In this procedure you will use DriveExplorer software to set the Axes to Flash parameter x708 and select the axis module to upgrade TIP You will save time by selecting only the axis modules that require a firmware upgrade Follow these steps to set the Axes to Flash parameter 1 Connect the 1203 SSS serial cable to the appropriate COM port on your personal computer 2 Connect the 1203 SSS SCANport cable to the SCANport DPI connector on your IAM Upgrading Firmware 225 3 Verify that the 1203 SSS has power by observing the LED indicated in the figure below SCANport DPI communication 4 Open the DriveExplorer software
239. priate for your application Select the Fault Actions tab and click the Set Custom Stop Action tab Publication 2094 UM001A EN P September 2006 134 Configure and Startup the Kinetix 6000 Drive System Publication 2094 UM001A EN P September 2006 The Custom Stop Action Attributes dialog opens Custom Stop Action Attributes E StoppingTorque 291 2458 Rated REAL StoppingTimeLimit 100 s REAL BrakeEngageDelayTime 00s REAL BrakeReleaseDelayTime 00s REAL ResistiveBrakeContactDelay 00s REAL Close Cancel Help mes _ The Custom Stop Action Attributes window lets you set delay times for servo motors and resistive brake modules For recommended motor brake delay times refer to the Kinetix Motion Control Selection Guide publication GMC SG001 7 Configure the delay times a Setthe Brake Engage Delay Time b Set the Brake Release Delay Time c Setthe Resistive Brake Contact Delay time 0 1000 ms range TIP The recommended delay time for 2090 XB33 xx and XB120 xx resistive brake modules is 71 ms If you are using RSLogix 5000 v12 or earlier refer to Setting the RBM Delay Time Using DriveExplorer on page 252 d Click Close 8 Click OK 9 Repeat steps 1 8 for each 2094 xMxx axis module 10 Verify your Logix program and save the file Dow nload the Program After completing the Logix configuration you must download your program to the Logix processor Configure and Startup
240. pt Capability Drive Drive Drive Publication 2094 UM001A EN P September 2006 178 Catalog Number 2094 ACO5 MP5 S Specifications and Dimensions Use class CC J L or R fuses with current rating as indicated in the table below The following fuse examples and Allen Bradley circuit breakers are recommended for use with integrated axis modules 2094 xCxx Mxx S when the Line Interface Module LIM is not used IMPORTANT Fuse Specifications Input Power Line Interface Modules 2094 ALxxS BLxxS and XL75S Cx provide branch circuit protection to the IAM Follow all applicable NEC and local codes Control Input Power DC Common Bus Fuse 094 AC05 M01 S Bussmann Fuse KTK R 20 20 A Allen Bradley Circuit Breaker 0 1492 CB3H300 140M F8E C16 094 AC09 M02 S KTK R 30 30 A 1492 CB3H400 140M F8E C20 094 AC16 M03 S LPJ 45SP 45 A N A 140U H6C3 C50 LPJ 80SP 80 A N A 140U H6C3 C90 094 BC01 MP5 S 094 01 01 5 KTK R 20 20 1492 CB3H300 140M F8E C32 2 2 2 2094 AC32 M05 S 2 2 2 094 02 02 5 KTK R 30 30 1492 CB3H400 140M F8E C45 2094 BC04 M03 S LPJ 45SP 45 A N A 2094 07 05 5 LPJ 80SP 80 A 140U H6C3 C50 140U H6C3 C90 Bussmann Fuse FNQ R 10 10 A Allen Bradley Bussmann Ferraz
241. que Value BC Pin Signal AWG mm in Nm Ib in BC 6 MBRK BC 5 MBRK BC 4 COM 0 22 0 25 BC 3 PWR 10 0 38 1 9 2 2 BC 2 DBRK BC 1 DBRK Connecting the Kinetix 6000 Drive System 103 Applying the Motor Cable This assumes you have ee your pn MP connector and are ready to apply the motor cable shie Shield Clamp zn clamp Follow these steps to apply the motor cable shield clamp 1 Use a small flat blade screwdriver to depress the spring loaded clamping plate Fat Blade Screwdriver 3 5 mm 0 14 in tip Cable Clamp Screwdriver tip in slot 2 Position the exposed portion of the cable braid directly in line with the clamp 3 Release the spring making sure the cable and cable braid are held secure by the clamp 4 Attach tie wrap around cable and clamp for additional strain relief Exposed Braid Outer Insulation under clamp Perd 47 Horizontal Cable Clamp Orientation Example b Cable Clamp Tie W E Outer Insulation le Wrap Cable Clamp 5 y Exposed Braid Vertical Cable Clamp under clamp Orientation Example Motor Cable 4 HHHHB gg zs lt Vent holes on top of IAM AM 5 Repeat Steps 1 4 for each AM and IAM EXC Pub
242. quipment within LE 150 mm 6 0 in 2 ooo Es Kinetix 6000 System DD Line Interface Module C C 1 0 1 and Feedback Cables Route 24V dc 1 0 Route encoder analog registration shielded cable shielded cables p oar IAM AM 1 0 cable contains dirty relay wires route cable with LIM 1 0 cable in dirty wireway 7 When space does not permit the 150 mm 6 0 in segregation use a grounded steel shield instead For examples refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RMOOT Planning the Kinetix 6000 Drive System Installation 35 Observe the following guidelines when LIM 2094 AL09 or BL02 is used in the Kinetix 6000 system and mounted above the IAM The clean zone C is to the right and beneath the Kinetix 6000 system grey wireway The dirty zone D is to the left and above the Kinetix 6000 system and above and below the LIM black wireway The LIM VAC output is very dirty VD Use shielded cable with a braid clamp attached at both ends of the cable to reduce the rating to dirty D The SERCOS fiber optic cables are immune to electrical noise Establishing Noise Zones LIM mounted above IAM 1 2 3 Dirty Wireway Clean Wireway D VD lt Very dirty LIM IAM connections must be shielded with braid clamp at both ends 1 Line Interface Module Motor Power Cab
243. r Wiring 80 Wiring Guidelines 83 Wiring the LIM 84 Wiring the Auxiliary Input Power APL Connector 84 Wiring the VAC LINE IPL Connector 85 Wiring the VAC LOAD OPL Connector 86 Wiring the Control Power Output CPL Connector 87 Wiring the Auxiliary Power Output P2L Connector 88 Wiring the Brake Power Output 24V dc Connector 89 Wiring the IAM AM Connectors 90 Wiring the Control Power CPD Connector 90 Wiring the Input Power UPD Connector 91 Wiring the Contactor Enable CED Connector 93 Wiring the Safe off SO Connector 94 Wiring the Motor Power MP Connector 95 Wiring the Motor Resistive Brake BC Connector 101 Applying the Motor Cable Shield Clamp 103 Understanding Feedback and I O Cable Connections 104 Flying lead Feedback Cable Pin outs 105 Configure and Startup the Kinetix 6000 Drive System Troubleshooting the Kinetix 6000 Drive System Removing and Replacing the Kinetix 6000 Drive Modules Table of Contents 5 Wiring Feedback and I O 108 Connecting Premolded Motor Feedback Cables 108 Wiring Panel mounted Breakout Board Kits 109 Wiring Low profile Connector Kits
244. r encoder wiring using wiring diagnostics e An attempt was made to enable the e Disable the Drive Enable Input fault is through software while the Drive DriveEnablelnput as hann Verify that Drive Enable hardware input E43 Fault Missing Drive Enable Input is active whenever the drive is enabled Drive Enable Flt Signal e The Drive Enable input transitioned through software from active to inactive while the axis was enabled e Loose wiring at SO connector Verify wire terminations cable header DriveHardFault Safe off function Cable header not seated properly in cannectionssand E49 Safe off HW Fit mismatch Drive will not SO connector e Reset error and run proof test alow motion Safe off circuit missing 24V dc e f error persists return the drive to Rockwell Automation SERCOSFault 4 Verify that each SERCOS drive is assigned E50 SERCOS Same ADDR Duplicate node address detected on SERCOS ring a unique node address DriveHardFault E54 HW Fault Current feedback hardware fault detected Replace the module DriveHardFault E60 Umi Axis Illegal ID bits detected Replace the module Use shielded cables with twisted pair wires E61 AuxFeedbackFault Auxiliary Encoder State The auxiliary encoder encountered an Route the feedback away from Aux Fdbk AQB Error illegal transition potential noise sources e Check the system grounds e Replace the motor encoder AuxFeedbackFault Chec
245. rackets are used to mount the power rail IMPORTANT or LIM over the ac line filter the braided ground strap must be removed from the power rail and attached to a mounting bracket ground stud Grounding Multiple Subpanels Extending the chassis ground to multiple subpanels is illustrated in the figure below High frequency bonding is not illustrated Subpanels Connected to a Single Ground Point Follow NEC and applicable local codes Bonded Ground Bus N Eug L Ground Grid or Power Distribution Ground For HF bonding information refer to Bonding Multiple Subpanels on page 29 Publication 2094 UM001A EN P September 2006 80 Connecting the Kinetix 6000 Drive System Power W iring Wire should be copper with 75 C 167 F minimum rating Phasing Requirements of main ac power is arbitrary and earth ground connection is required q for safe and proper operation IMPORTANT The National Electrical Code and local electrical codes take precedence over the values and methods provided IAM Power Wiring Requirements Connects to Terminals Recommended Module Catalog Number Description Wire Size Strip Length Torque Value Pin Signal AWG mm in Nm Ib in 2094 AC05 M o S 0 5 0 6 m 2094 AC09 M oc S 25014 10 0 38 4 4 5 3 230V 2094 AC16 Mxx S IPD 1 10 8 eats 24 30 IPD 2 DC 48 2094 A
246. rap E U MBRK DBRK SESS BAUD RATE Follow these guidelines when wiring your Bulletin 2090 Resistive Brake Module IMPORTANT To ensure system performance run wires and cables in the wireways as established in Chapter 2 If your application requires an RBM and you are wiring to a Kinetix 6000 IAM AM drive then refer to the following e Resistive Brake Modules on page 42 e Resistive brake module to Kinetix 6000 drive interface cable catalog number 2090 XXNRB xxFxPx e The The example diagram below shows Kinetix 6000 IAM AM and LIM 2094 ALxxS BLxxS and XL75S wired with the Bulletin 2090 RBM in a category 2 configuration in Appendix E e installation instructions provided with your RBM publication 2090 13009 Resistive Brake Module Connections 1 0 v cn TB3 Connections 2094 xCoo M xx IAM ol lt Contactor Status LED 2094 AM top view 2090 XBxx xx Resistive Brake Module front view Drive Connection Motor Connection 1 Connector lt __ 1B2 Connector Exposed Shield Braid Under Clamp Motor Cable Shield Clamps 2090 XXNRB xxFvPx RBM Kinetix 6000 Interface Cable Bulletin 2090 Motor Power Cable To Motor Publication 2094 UM001A EN P September 2006 Connecting the Kinetix 6000 Drive System 115 Connecting Your SERCOS you ra
247. rface module indicated by the three LED indicators on the module going solid green your RSLogix 5000 software must be revision 11 0 or later For greater detail on the RSLogix 5000 software as it applies to configuring the ControlLogix CompactLogix or SoftLogix SERCOS modules refer to Additional Resources on page 10 Configure the Logix Controller Follow these steps to configure the Logix controller 1 Apply power to your Logix chassis personal computer containing the SERCOS interface module and open your RSLogix 5000 software 2 From the File menu choose New The New Controller dialog opens 3 Configure the new controller a Select controller type b Select RSLogix 5000 software revision c Name the file d Select the Logix chassis size e Select the Logix processor slot 4 Click OK 5 From the Edit menu choose Controller Properties The Controller Properties dialog opens Publication 2094 UM001A EN P September 2006 126 Configure and Startup the Kinetix 6000 Drive System Publication 2094 UM001A EN P September 2006 6 Select the Date and Time tab Controller Properties IM_L63 8 23 General Serial System Protocol User Protocol Major Faults Minor Faults Date Time Advanced SFCExecution File Redundancy Nonvolatile Memory Memory z e Fx Make this controller Coordinated A DANGER If CST master is cleared online System Time master a
248. rip Length Torque Value Three phase Supply OPL Pin Signal mm AWG Nm Ib in L1 4 LT 2 3 2 40 100 15 18 L3 2 13 12 0 38 13 2 15 9 Publication 2094 UM001A EN P September 2006 Connecting the Kinetix 6000 Drive System 87 Wiring the Control Pow er Output CPL Connector Line Interface Module CPL connector Line Interface Module Top View 2094 XL75S Cx is shown Control Power Output CPL Connector 2094 ALxxS BLxxS XL75S Cx Recommended CPL Pin Wire Size Strip Length Torque Value mm AWG mm in Nm Ib in 1 70 05 06 2 0 28 44 53 Control Power Output CPL Connector 2094 AL09 and B L02 Recommended CPL Pin Wire Size Strip Length Torque Value mm AWG mm in Nm Ib in 2 25 10 0 05 06 1 0 38 44 5 3 Publication 2094 UM001A EN P September 2006 88 Connecting the Kinetix 6000 Drive System Wiring the Auxiliary Pow er Output P2L Connector Publication 2094 UM001A EN P September 2006 Line Interface Module P2L connector Auxiliary Power Output P2L Connector 2094 ALxxS BLxxS XL75S Cx Rec ommended P2L Pin Signal Wire Size Strip Length Torque Value mm AWG mm in Nm Ib in 1 L1 2 AUXI L2 0 2 4 0 7 0 0 5 0 6 3 AU Li 24 10 0 28 4 4 5 3 4 AUX2 12 Connecting the Kinetix 6000 Drive System 89 Wiring the Brake Power Output 24V dc Connector Line Interface M odule
249. ront view of double wide IAM or AM AM is shown t Mounting Screws There are two mounting screws when mounting IMPORTANT 2094 AC32 M05 BC04 MO03 and BC07 M05 double wide IAMs and 2094 AM05 and BM05 double wide AMs 8 Determine if you have additional modules to mount Return to Step 1 and complete installation of Have additional modules to mount your next AM SM or PRF module Do not have additional modules to mount Go to Mounting the External Shunt Module Publication 2094 UM001A EN P September 2006 48 Mounting the Kinetix 6000 Drive System M ounting the External Shunt M odule Publication 2094 UM001A EN P September 2006 If your Kinetix 6000 drive requires a means of dissipating regenerative energy that exceeds the capacity of the 2094 shunt module install a Bulletin 1394 external shunt module To avoid the hazard of shock or burn and ignition of flammable material appropriate guarding must be provided These N resistors can reach temperatures in excess of 350 C 662 F Install per local codes Follow these steps to install your external shunt module 1 Layout the position for your shunt module in the enclosure Follow the panel layout recommendations as shown in External 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 recom
250. rovided The SERCOS fiber optic cables are immune to electrical noise Establishing Noise Zones LIM mounted left of IAM Dirty Wireway Clean Wireway D E B D EH E VD ge ACLineFilter gs Motor Power Cables B E VAC Load very Dirty Filter IAM Connections Segregated not in wireway D Vi Fiber optic Cable VAC Line D co 5 No sensitive equipment within 150 mm 6 0 2 i B Kinetix 6000 System oO L3 Line Interface Module 1 0 Feedback Cables D D Route 24V dc 1 0 Route encoder analog registration shielded cable shielded cables Publication 2094 UM001A EN P September 2006 1 2 If IAM AM 1 0 cable contains dirty relay wires route cable with LIM 1 0 cable in dirty wireway When space does not permit the 150 mm 6 0 in segregation use a grounded steel shield instead For examples refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RMOOT Planning the Kinetix 6000 Drive System Installation 31 Observe the following guidelines when a LIM 2094 ALxxS BLxxS or XL75S Cx is used in the Kinetix 6000 system and mounted right of the IAM with the ac EMO line filter mounted behind the IAM The clean zone C is to the left and beneath the Kinetix 6000 system grey wireway The dirty zone D is to the right and above the Kinetix
251. s but they do not use it Kinetix 6000 2 axis System 2 power rail contains one IAM and one AM The base node address of the IAM system 2 must be set for an address of 216 or lt 8 The node address for each axis module is determined by the pentane base node address switch setting on the IAM Do not position axis modules to the right of shunt or slot filler modules The added distance between non adjacent axes can increase electrical noise and impedance and requires longer fiber optic cable lengths IMPORTANT Slot filler modules must be used to fill any unoccupied slot on the power rail However the slot fillers may also be removed and replaced by an axis or shunt module in the future Publication 2094 UM001A EN P September 2006 Configure and Startup the Kinetix 6000 Drive System 123 Node Addressing Example 2 1756 MxxSE SERCOS 1756 MxxSE SERCOS interface Module 1 interface Module 2 ControlLogix Chassis ControlLogix Chassis Transmit Receive Transmit Receive Receive SERCOS Fiber Optic rings 4 N Transmit Receive Transmit Kinetix 6000 8 axis power rail LLL dese a aa ata ua A t 08
252. s 2094 XL75S Cx can supply a maximum of sixteen axes For common bus systems with more than sixteen axes multiple LIMs or control power transformers are required 7 LIM models 2094 ALxxS BLxxS and XL75S Cx are capable of connecting to two IAMs providing each IAM has its own line filter and the maximum current specification is not exceeded 8 Contactor coil M1 needs integrated surge suppressors for ac coil operation Refer to Contactor Ratings on page 179 9 Drive Enable input must be opened when main power is removed or a drive fault will occur A delay of at least 1 0 second must be observed before attempting to enable the drive after main power is restored 10 Cable shield clamp must be used in order to meet CE requirements No external connection to ground is required 11 Default configuration for jumper is for grounded power at user site Ungrounded sites must jumper the bleeder resistor to prevent high electrostatic buildup Refer to Determining Your Type of Input Power on page 71 for more 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 8720MC Regenerative Power Supply Installation Manual publication 8720MC RM001 13 ATTENTION Implementation of safety circuits and risk assessment is the responsibility of the machine builder Please reference international standards EN 1050 and EN 954 estimati
253. 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 overview 11 specifications enclosure sizing 180 system overview 12 L leader IAM 15 74 LED bus status 152 154 comm status 152 drive status 137 152 logic power 136 SERCOS interface module 137 seven segment 137 shunt fault 154 status 137 temperature fault 154 line interface module circuit breakers 135 interconnect diagram 193 194 196 three phase power 136 wiring 24V connector 89 wiring APL connector 84 wiring CPL connector 87 wiring IPL connector 85 wiring OPL connector 86 wiring P2L connector 88 logic power LED 136 low profile connector kits wiring 110 M maintenance 146 maximum fdbk cable length 181 specifications 181 memory init 150 module mismatch 150 module mounting order 44 module properties IAM 129 SERCOS module 127 monitor system variables 161 motion allowed jumper 52 94 motion group properties 132 motor accel decel problems 155 motor and feedback tab 133 motor brake 42 motor encoder error 148 motor feedback loss 147 motor jumps when first enabled 146 motor overheating 156 motor overtemp 146 motor velocity 155 motors brake wiring 101 feedback pin outs 55 105 feedback specifications 66 ground termination 95 interconnect diagram 1326AB 208 F Series 209 MPG A 205 MPG B 204 MPL MPF MPS
254. st Marker motor shaft Verifies feedback connections are wired correctly as Test Feedback you rotate the motor shaft Verifies motor power and feedback connections are Test Command amp Feedback wired correctly as you command the motor to rotate Also lets you define polarity 5 Apply Hardware Enable Input signal IOD 2 for the axis you are testing To avoid personal injury or damage to equipment apply ATTENTION 24V ENABLE signal IOD 2 only to the axis you are testing 6 Select the Test Marker Feedback Command amp Feedback button to verify connections The Online Command dialog opens Follow the on screen test instructions When the test completes the Command Status changes from Executing to Command Complete Online Command Encoder Test x Command Status Command Complete Move axis manually in positive direction ait for command to complete Check for errors if command fails Stop G 7 The Online Command Apply Test dialog opens Feedback Command amp Feedback tests only When the test completes the Command Status changes from Executing to Command Complete Online Command Apply Test x Command Status Command Complete OK i ait for command to complete Stop Check for errors if command fails Help 8 Click OK Publication 2094 UM001A EN P September 2006 140 Configure and Startup the Kinetix 6000 Drive System
255. stem Before proceeding with testing and tuning your axes verify that IMPORTANT the IAM and AM seven segment and status LED indicators are as described in Step 6 on page 137 For help using RSLogix 5000 software as it applies to testing and tuning your axes with ControlLogix CompactLogix or SoftLogix SERCOS modules refer to Additional Resources on page 10 Test the Axes Follow these steps to test the axes 1 Verify the load was removed from each axis 2 Right click an axis in your Motion Group folder in the explorer dialog and select Axis Properties The Axis Properties dialog appears 3 Select the Hookup tab e Axis Properties Axis_1 ioj xj Dynamics Gains Output Limits Offset Fault Actions Tag General Units Conversion Drive Motor Feedback Homing Hookup Tune Test Increment B 0 Revs Test Marker Drive Polarity Positive Test Feedback Test Command amp Feedback DANGER These tests may cause axis motion with the controller in program mode Modifying polarity determined after executing the Test Command amp Feedback test may cause axis runaway condition A Cancel Apply Configure and Startup the Kinetix 6000 Drive System 139 4 Select 2 0 as the number of revolutions for the test another number more appropriate for your application This Test Performs this Test Verifies marker detection capability as you rotate the Te
256. t connector pin outs IAM 58 input power source 136 input power wiring 3 phase delta 72 determining input power 71 ground jumper setting 75 grounded power configuration 71 ungrounded power configuration 73 installing drive accessories noise zones ac line filters 39 external shunt resistor 40 motor brake 42 RBM 42 thermal switch 42 installing your drive 19 bonding examples 28 bonding subpanels 29 cable categories 37 circuit breakers 22 Publication 2094 UM001A EN P September 2006 260 Publication 2094 September 2006 Index enclosure selection 23 fuse selection 22 HF bonding 27 noise zones 30 system mounting requirements 20 transformer 21 integrated axis module catalog number 16 configuring 120 connector designators 52 connector locations 50 dimensions 185 186 interconnect diagram 193 194 196 197 198 200 status indicators 152 wiring BC connector 101 wiring CED connector 93 wiring CPD connector 90 wiring IPD connector 91 wiring MP connector 95 wiring requirements 80 81 wiring SO connector 94 interconnect diagrams 2094 with 1326AB motor 208 2094 with F Series motor 209 2094 with MPG A motor 205 2094 with MPG B motor 204 2094 with MPL MPF MPS motor 206 2094 with MPL A motor 205 2094 with MPL B motor 204 2094 with TL Series motor 207 2094 with Y Series motor 210 notes 192 243 power DC common bus 197 198 200 power IAM with LIM 193 194 power IAM without LIM 196 RBM 243
257. te actions to resolve the fault If the fault persists after attempting to troubleshoot the system please contact your Rockwell Automation sales representative for further assistance Error Codes The following list of problematic symptoms no error code shown and faults with assigned error codes is designed to help you resolve anomalies When a fault is detected the seven segment LED indicator will display an E followed by the flashing of the two digit error code one digit at a time This is repeated until the error code is cleared Seven segment LED Indicator Error Codes Problem or Symptom Power PWR indicator not ON Potential Cause No ac power or auxiliary logic power Possible Resolution Verify ac control power is applied to the Kinetix 6000 system Internal power supply malfunction Call your Rockwell Automation sales representative to return module for repair Motor jumps when first enabled Motor wiring error e Check motor wiring e Run Hookup test in RSLogix 5000 software Incorrect motor chosen Verify the proper motor is selected Digital 1 0 not working correctly 1 0 power supply disconnected Verify connections 1 0 power source BusUndervoltage Eoo Fault A blown fuse was detected pi fuse Call your Rockwell Automation sales on the inverter PCB representative to return module for repair Blown fuse e Operate within not above the 4 contin
258. ted on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present Labels may be located on or inside the equipment for example a drive or motor to alert people that surfaces may be at dangerous temperatures Allen Bradley CompactLogix ControlLogix DriveExplorer Kinetix RSLogix RSLogix 5000 SoftLogix SCANport and Rockwell Automation are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Start Planning the Kinetix 6000 Drive System Installation M ounting the Kinetix 6000 Drive System Kinetix 6000 Connector Data Table of Contents Preface About This Publication a 1 b 4545 or Rotor Poe aed 9 Who Should Use this 9 Conventions Used in This Manual 9 Additional 10 Chapter 1 sorsok v optet c RATES Ld ee 11 About the Kinetix 6000 Drive System 12 Catalog Number Explanation 16 Agency Compl eus ex d ea ack Se eco eee AS ped PR 16 CE Requirements System without LIM 17 CE Requirements System with 17 Chapter 2 Introduction rond Ba 19 System Design Guidelines 20 System Mounting
259. ter x641 RBM Delay opens CT x Value Edit Advanced NAA Value 71 0 msec Read Intemal Value 710 Hex Dec Min 00 1000 0 Default 00 Select Detauit OK 6 Select the Value Edit tab and enter the delay time Value ms The recommended RBM delay time is 71 ms 7 Click OK The RBM delay time is changed but not saved in non volatile memory Saving the Delay Time Parameter to Non Volatile Memory Follow these steps to save the delay time parameter to non volatile memory 1 From the menu bar choose Actions Non Volatile Memory The following message dialog opens Non olatile Memory 20940 SER O Config 0000 xi Save current device values to non volatile memory Recall device values from non volatile memory Recall Reset device values to defaults Load Defaults Close 2 Click Save Publication 2094 UM001A EN P September 2006 Integrating Resistive Brake Modules with Kinetix 6000 Drives 255 The changes are saved to non volatile memory and the following cautionary message dialog opens Non Volatile Memory 20940 SERVO Config 0000 Caution A This action will overwrite existing device values that are currently saved in the product s non volatile memory Continue 3 Click Yes The save to non volatile memory is complete and the following confirmation message dialog opens x Save to non volatile memory was successf
260. ting the Kinetix 6000 Drive System 153 Each of the shunt module LED indicators provide specific troubleshooting information General Shunt Module Troubleshooting Module Status Under These Conditions Fault is latched Until fault condition is corrected and cleared e Using RSLogix MASR MAFR MGSR commands or the HIM red stop button SM e Only after the bus is discharged SM Bus Status LED is flashing e Drive must be configured with 2094 BSP2 or Bulletin 1394 external shunt module e When the 2094 BSP2 shunt module is used on a 230V system Disabled for dc bus e When either 230V 460V system is configured with a Bulletin regulation 1394 external shunt module IAM AM e When configured in common bus follower mode Enabled to discharge the dc bus Drive IAM or leader IAM three phase power is removed Disabled from discharging the dc bus When configu red in common bus follower mode IMPORTANT Under some fault conditions two reset commands may be required to clear drive and SM faults Publication 2094 UM001A EN P September 2006 154 Troubleshooting the Kinetix 6000 Drive System Bus Status LED Indicator Bus Status LED Status Potential Cause Possible Resolution Flashing condition when control power is applied and bus voltage 15 less than N A Normal condition when control power is applied and bus voltage is greater Steady Green than 60V dc N A Off Contr
261. tion for applications with output power requirements between 3 and 45 kW 4 and 49 A Kinetix 6000 Drive System Overview Component Catalog Numbers Description Integrated Axis Module IAM with safe off feature available with 230V and 460V ac input power and 1 Integrated Axis 2094 xCxx Mxx contains an inverter and converter Module 5 5 2 PES Integrated Axis Module IAM available with 230V and 460V ac input power and contains an inverter 2094 xCxx Mxx and converter Axis Module AM with safe off feature is a shared dc bus inverter 230V and 460V The AM must be 1 Axis Module 2094 BMxS 1 used with an IAM 2094 xMxx Axis Module AM is a shared dc bus inverter 230V and 460V The AM must be used with an IAM 1 Shunt Module SM This module mounts to the power rail and provides additional shunting capability in Shunt Module 2094 BSP2 regenerative applications 2094 PRSX Power Rail PR consists of copper bus bars and a circuit board with connectors for each module The Power Rail 2094 PRX power rail provides power and control signals from the converter section to adjacent inverters The IAM AM SM and PRF modules mount to the power rail Power Rail Slot 2094 PRF Power Rail Slot Filler PRF is used when one or more slots on the power rail are empty after all the Filler power rail components are installed One PRF module is required for each empty slot Logix Controller 1756 MxxSE module 1768 MO4SE
262. tions This IAM IAM When an integrated axis module IAM is used in a dc common bus configuration the IAM is known as a leader IAM or follower IAM The IAM non common bus and leader IAM have identical three phase input power connections The leader IAM is responsible for discharging the dc bus and for providing common bus follower drives with dc bus pre charge bus regulation phase loss detection and ground fault detection Follower IAMs do not have three phase input power connections but have dc bus connections from a leader IAM IAM Terminology and Use Is Wired Andis With three phase input power Not wired in common bus mode Leader IAM With three phase input power but has dc common Wired in common bus mode bus connections to a follower IAM Follower IAM Without three phase input power but has de Wired in common bus mode and common bus connections from a leader IAM configured using RSLogix 5000 software IMPORTANT Use Kinetix 6000 drive firmware v1 85 and RSLogix 9000 software v15 or later for dc common bus power configurations The Kinetix 6000 leader IAM can operate with non Kinetix 6000 follower drives as can the Kinetix 6000 follower IAM operate with non Kinetix 6000 common bus leader drives However non Kinetix 6000 leader and follower drives must meet the same functional requirements as the Kinetix 6000 leader and follower IAMs IMPORTANT Any non Kinetix 6000 common bus leader that d
263. to Set When Leader Drive is And Follower Drive is umper in This Kinetix 6000 IAM Kinetix 6000 IAM Leader Drive Kinetix 6000 IAM non Kinetix 6000 IAM Leader Drive ES Follower Drive if no setting non Kinetix 6000 IAM Kinetix 6000 IAM exists in the leader drive Setting the Ground J umper Follow these steps to set the ground jumper 1 Remove the top and bottom front panel screws Refer to the appropriate figure for your 230V or 460V IAM Setting the Ground J umper 230V IAM Top Screw du 00000000 17 f P16 i E CO Integrated Axis Module 230 sd 2094 ACxx Mxx S P15 4 e SS 0 Ground jumper set Soo for ungrounded configuration IN Ground jumper set for grounded configuration vas default setting J Front Panel opened w Bottom Screw Publication 2094 UM001A EN P September 2006 Connecting the Kinetix 6000 Drive System 77 Setting the Ground J umper 460V IAM Top Screw Integrated Axis Module 460V 2094 BCxx Mxx S Ground jumper set for ungrounded configuration i Ground jumper set L for grounded configuration N default setting Front Panel opened
264. ts 2090 XXNPY 16Sxx and 2090 XXNPM F xxSxx Strip Length 10 mm 0 375 in lt 99 1326AB resolver Motors Y Series Motors MPL A B 15xx M PL A B 2xx 1326 CPx1 xxx cable 2090 XXNPY xxSxx cable MPF A B and M PS A B Motors i DAK CANE 2090 XXNPMF xxSxx cable 9 Black Thermal 1 White Spare switch N A wire 5 Black wires 2 Red set 4 Black 7 Black White Brake Brake BR Brake wires wires wires 6 Black 9 BR Black 3 Black 3 Black U Brown 2 Black Motor 2 Black Motor V Black Motor Power Power Power Wires Wires Wires 1 Black 1 Black W Blue Grm Yel Grn Yel lt ___ 105 mm 4 1 in 130 mm 511 y Refer to Axis Module Motor Wiring Examples beginning on page 204 for interconnect diagrams Motor Power MP Connector Servo M otor MP Connector IAM AM 1326AB resolver 1326AB M2L S2L F TL and Y Series and MP Series MP Pin Signal 1 Black U Brown 1 U 2 Black V Black 2 V 3 Black W Blue 3 W Green Yellow L Green Yellow 4 Termination Specifications Recommended d Wire Size Strip Length Torque Value mm AWG mm in Nm Ib in 2094 AC05 Mxx S 2094 AC09 M o S 2094 BC01 Mxx S Motor power 10 0 38 0 5 0 6 2094 BC02 Mxx S cable depends on 44 5 3 2094 AMP5 S AM01 S AM02 S motor drive BMP5 S BM01 S BM02 S combination 2094 A
265. ts and cable preparation Motor Power Terminations three phase brake and thermal switch wires Low profile motor feedback connector 16 2090 K6CK D15MF pins 16 17 and S MF 17 Thermal Switch provide filtering for 1326 CPx1 xxx cables Wires refer to page 111 for an illustration MF S OI OJO OQO Terminal Block mounted on DIN rail L pz Refer to page 28 for treatment of painted panels OJOJO OJOJ O Cable Clamp Thermal Switch Wires gt with tie wrap CTRL j wie Motor Power DC MP Connector 24 6 1 12 u MBRK gt Resistive Motor Brake CONT EN DBRK a BC Connector CONT EN DBRK O Keep wires separated as much as possible The cable shield clamp shown above is mounted to an IAM Cables attach to the clamp on each AM in the same way IMPORTANT Securing the cable shield in the clamp with a tie wrap Is recommended to improve stress relief Publication 2094 UM001A EN P September 2006 Outer Insulation N Motor Power Cable Exposed Braid 25 4 mm 1 0 in Connecting the Kinetix 6000 Drive System Shield Clamp Cable Preparation 1326 CPx1 xxx Cable Pinou
266. tup of the analog outputs refer to Supplemental Troubleshooting Information beginning on page 160 Publication 2094 UM001A EN P September 2006 Kinetix 6000 Connector Data 63 Contactor Enable Relay Contactor enable is a relay driven contact used in the safety control string to protect the drive electronics during certain fault conditions It is capable of handling 120V ac or 24V dc at 1 A or less Contactor enable is a function of the converter and is not available in the axis modules An active state indicates the drive is operational and does not have a fault ATTENTION Wiring the contactor enable relay is required To avoid personal injury or damage to the drive wire the contactor enable relay into your safety control string so that e three phase power is removed from the drive in the event of shutdown fault conditions e drive operation is prevented when the Power Rail is not fully populated e control power is applied to the drive prior to three phase power Refer to IAM Wiring Example without LIM on page 196 for a wiring example IMPORTANT All power rail slots must have a module installed or the contactor enable relay will not close Contactor Enable Relay Circuit Normally TM CONTEN Open Relay CONT EN Kinetix 6000 IAM Contactor Enable Relay Output Specifications Parameter Description Min Max On state Current flow when the relay is closed 1
267. tware 160 224 235 252 E earth ground 78 EMC cable shield 96 97 98 motor ground termination 95 EMI ElectroMagnetic Interference bonding 27 enclosure requirements 20 selection 23 sizing Kinetix 6000 180 encoder communication fault 148 environmental specifications 181 182 erratic operation 156 error codes 146 establishing communications 152 external active shunt resistor specifications 184 external passive shunt resistor specifications 184 external shunt resistor 40 48 wiring 113 F fault action 157 fault action programmable 157 fault actions tab 133 feedback only axis 130 feedback power supply 67 feedback tab 133 fiber optic signals 61 fiber optic cables drive to drive 116 receive and transmit connectors 115 firmware upgrade file 229 flashing axes 224 firmware 220 228 flashing firmware ControlFLASH 220 DriveExplorer 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 Index 259 71 grounding multiple subpanels 79 H hardware enable input 139 141 hardware overtravel 147 headers motion allowed jumper 52 HF bonding 27 high frequency energy 29 HIM 160 hookup fault 149 hookup tab 138 human interface module HIM 160 hyperterminal 226 I O connections 104 pin outs AM 54 pin outs IAM 54 specifications 60 I O connector 161 Ifbk HW fault 149 illegal hall state 147 inpu
268. u have prepared your panel and understand how to bond your system For installation instructions regarding equipment and accessories not included here refer to the instructions that came with those products To avoid hazard of electrical shock perform all mounting and wiring of IAM AM SM LIM RBM or power rail prior to applying power Once power is applied connector terminals may have voltage present even when not in use 4 Plan the installation of your system 50 that you can perform all cutting drilling tapping and welding with the system removed from the enclosure Because the system is of the open type construction be careful to keep any metal debris from falling into it Metal debris or other foreign matter can become lodged in the circuitry which can result in damage to components Using 2094 M ounting Brackets Bulletin 2094 mounting brackets can be used to mount the power rail or line interface module over the ac line filter Refer to the 2094 Mounting Brackets Installation Instructions publication 2094 IN008 when using mounting brackets with your Kinetix 6000 drive system Publication 2094 UM001A EN P September 2006 44 Mounting the Kinetix 6000 Drive System Determining Mounting Order Installing the 2094 Power Rail The Kinetix 6000 power rail comes in lengths to support one integrated axis module AM and up to seven additional axis modules AM or shunt module SM
269. ublication 2094 UM001A EN P September 2006 Feedback Cable with K6CK D15Mxx Low profile Connector Kit Motor Feedback MF Connector IMPORTANT Tightening the mounting screws 15 essential to ensure shield integrity of the low profile connector covers with the drive feedback connector D shells Use 0 4 Nm 3 5 Ib in torque Wiring 15 Pin Flying lead Feedback Cable Connections 2090 XXN Fxx S xx or 2090 CDN FDM P S xx Feedback Cable 15 pin male Motor Feedback 15 pin female Auxiliary Feedback Low profile Connector Low profile Connector Pin10 Pin 6 Pin5 Pin 15 i i Mount ng In In Pin 1 Pin 11 A Pin 1 Pin 11 Pin5 Pin 15 Pin 6 i L o Pin 10 Tie Wrap Refer to Chapter 4 for feedback signal descriptions Refer to Wiring Examples beginning on page 192 for the motor feedback interconnect drawing for your application 015141312 1110987654321 2 2090 XXNEFxx Sxx or 2090 CDNFDMP Sxx Feedback Cable Connecting the Kinetix 6000 Drive System 111 Wiring 15 Pin Flying lead Feedback Cable Connections 1326 CCUx xxx Motor Feedback Cable 15 pin male Motor Feedback 15 pin female Auxiliary Feedback
270. ublication 2094 UM001A EN P September 2006 238 DC Common Bus Applications Publication 2094 UM001A EN P September 2006 The save to non volatile memory is complete and the following confirmation message dialog opens DriveExplorer x Save to non volatile memory was successful OK Click OK Close the DriveExplorer software Reconnecting SERCOS Communication Follow these steps to reconnect SERCOS communication 1 Remove three phase and control power from the Kinetix 6000 drive system Replace the SERCOS fiber optic cable removed earlier Fiber optic cable connections Tx and Rx are located on the top of each IAM AM Re apply three phase and control power Appendix E Introduction Before You Begin Integrating Resistive Brake Modules with Kinetix 6000 Drives This appendix provides Bulletin 2090 Resistive Brake Module RBM integration procedures and interconnect diagrams specific to Kinetix 6000 multi axis servo drive systems The procedure involves setting the time delay parameter using either RSLogix 5000 or DriveExplorer software Introduction 239 Before You Begin 239 Understanding Safety Precautions 240 Resistive Brake Module Wiring Examples 243 The example diagram below shows Kinetix 6000 IAM AM and LIM 2094 ALxxS BLxxS and XL75S wired with the Bulletin 2090 RBM in a category 2 244 configuration Setting the RBM Delay Time Using Dr
271. ul OK 4 Click 5 Determine if you have another RBM to configure Have another RBM in the Kinetix 6000 Go to Setting the RBM Delay Time Parameter Step 4 system Do not have another RBM in the Close the DriveExplorer software Kinetix 6000 system Go to Reconnecting SERCOS Communication Reconnecting SERCOS Communication Follow these steps to reconnect SERCOS communication 1 Remove three phase and control power from the Kinetix 6000 drive system 2 Replace the SERCOS fiber optic cable removed earlier Fiber optic cable connections Tx and Rx are located on the top of each 3 Re apply three phase and control power Publication 2094 UM001A EN P September 2006 256 Integrating Resistive Brake Modules with Kinetix 6000 Drives Publication 2094 UM001A EN P September 2006 Numerics 1203 SSS serial cable 224 227 1756 MxxSE 125 1768 MO4SE 125 1784 168 125 26 pin I O connector 161 A about this publication 9 ac line filters noise reduction 39 specifications 183 acronyms 9 additional bus capacitance calculating 232 example 234 additional resources 10 analog outputs 62 analog test points DACO 161 DACI 161 applying power 135 atune fault 150 aux fdbk noise fault 149 aux feedback AQB 149 aux feedback loss 149 auxiliary encoder error 148 auxiliary feedback pin outs 57 specifications 66 axes to flash 224 226 axis module catalog number 16 configuring 120 connector d
272. ultiple sources of power More than one disconnect switch may be required to de energize the system 2 Allow five minutes for the dc bus to completely discharge before proceeding ATTENTION This product contains stored energy devices To avoid hazard of electrical shock verify that all voltage on capacitors has been discharged before attempting to service repair or remove this unit You should only attempt the procedures in this document if you are qualified to do so and are familiar with solid state control equipment and the safety procedures in publication NFPA 70E 3 Label and remove all connectors from the module IAM AM or SM you are removing To identify each connector refer to page 50 or page 68 SM The slot filler module has no connectors aside from the connections to the power rail 4 Remove the motor cable from the cable shield clamp as shown in the examples below Use flat blade screwdriver with Vertical Cable Clamp Motor 3 5 mm 0 14 in tip to depress Horizontal Cable Clamp Orientation Example Cable spring and remove cable Orientation Example il Cable Clamp 4 hd S Cable Clamp i Ro UUUU Ven 5 Publication 2094 UM001A EN P September 2006 Screwdriver Tip in Slot Holes on Top of IAM AM Loosen the mounting screw bottom center of each module Replacing Power Rail Modules Removing and Replacing the Kinetix 6000 Drive Modules 165 6 Grasp top and bottom of the
273. um Bus Maximum Bus Leader IAM 230V Capacitance Leader IAM 460V Capacitance pF pF 2094 AC05 MP5 S 2094 BC01 MP5 S 7145 4585 2094 AC05 M01 S 2094 BC01 M01 S 2094 AC09 M02 S 15 295 2094 BC02 M02 S 8955 2094 AC16 M03 S 34 400 2094 BC04 M03 S 8955 2094 AC32 M05 S 62 825 2094 07 05 5 17 915 IMPORTANT If your total bus capacitance value exceeds the value in the table above you must increase the size of the leader IAM or decrease the total bus capacitance by removing axis modules Additional bus capacitance is the sum of all follower IAM and AM capacitance values for your Kinetix 6000 common bus modules Specifically this includes the capacitance values for each of these modules e Each follower IAM converter and inverter e Each AM on the follower IAM power rails Enter the additional bus capacitance values in Step 6 of Setting the Additional Bus Capacitance Parameter DC Common Bus Applications 233 Kinetix 6000 Capac itance Use the tables below when calculating total bus capacitance and Values additional bus capacitance for your Kinetix 6000 common bus application IAM 230V Modules IAM Converter 230V AM Inverter 230V oo 2094 AC05 MP5 S 2094 5 390 2094 AC05 M01 S a 2094 AM01 S 660 2094 AC09 M02 S 540 2094 AMO2 S 780 2094 16 03 5 1320 2094 AM03 S 1320 2094 AC32 M05 S 1980 2094 AM05 S 2640 460V Modules IAM Converter 460V
274. untered an Route the feedback away from E20 Mtr Fdbk AQB Motor Encoder State Error illegal transition potential noise sources e Check the system grounds e Replace the motor encoder AuxFeedbackFault e T x m E21 Aux Feedback Communication was not established with an intelligent encoder Verify auxiliary encoder wiring e Verify motor selection M otFeedbackFault Verify the motor supports automatic E30 Communication was not established with an intelligent encoder pp Motor Feedback Comm 9 identification e Verify motor encoder wiring e Check motor power wiring Wiring error e Check input power wiring Motor internal ground short Replace motor Disconnect motor power cable from drive and enable drive with current limit set to 0 Internal malfunction If fault clears then a wiring error or motor E34 GroundS hortFault UE internal problem exists If fault remains Ground Fault detected call your sales representative e Remove ground from control power input Grounded control power terminal e Source control power from three phase applies to 230V systems only input power refer to page 196 e Add isolation transformer for control power DriveUndervoltage Low ac input voltage Check input ac voltage on all phases 35 Fault Converter pre charge cycle Pre charge Fault failed Internal malfunction Call your sales representative e Reduce acceleration rates e Reduce duty cyc
275. uo 00 000 OY nop o HE y 1 15 02 gt i v 01vIS3ug 1 IIHS 5 lt ye n 5 j iV 100 mm zaad a 201290002 124 jp ev 109 7 Xuga PV anding 7g 4 10 38UU0 3g 21g oNnsisau 1010A 102 10 20UU0 81 suonoeuuo 0 NEN Ban lt anog 01 cr aM I E H lt AUG 40j2euuo 114 1 ZUMd Ol indingap ayz i gt 2N09 0i 0219 0602 01 10338uu0 78 Ndu 1 141 0 3ndu seyd 14 1 f ok So H on 1 20129000 a G 5 a i c a andu 71 i 8 m Z aseud aeiuj 101290007 140 ZH eaeyigju o1 pue 90 inding AN ow 14031 8 0602 sng 3q exny od F 3Nud n A 11010 1180 7 71 3AuU A 7 7 A a 10 28UU0 049 TW 7 zum 201290007 149 Minua 1 M0d inding aseug ajBur n M e E M END 3 0 ys T t Y OF ZD S 101290009 281 10138UU0 181 JO Sota Suomoauuo J010A suonaauuo Aug duel Depaul 19 45 0009 dwejg dwejg ION an peius pilus pms e _ _ ley 1 sng 0488 0 Sixy jeuiqe
276. uous torque rating for the e ambient temperature ambient temperature 40 104 F maximum otorUvertem i Fault Motor thermal switch Lower ambient temperature increase Motor Overtemp tripped Publication 2094 UM001A EN P September 2006 motor cooling Motor wiring error Check motor wiring at MF connector on the IAM AM Incorrect motor selection Verify the proper motor has been selected Troubleshooting the Kinetix 6000 Drive System 147 oe Problem Symptom Potential Cause Possible Resolution Verify continuity of motor power cable and Motor cables shorted connector Disconnect motor power cables from the Motor winding shorted internally motor If the motor is difficult to turn by hand it may need to be replaced e Check for clogged vents or defective fan Kinetix 6000 temperature too high M ee Make sure cooling is not restricted by Self protection of the insufficient space around the unit DriveOvercurrent Intelligent Power Module E05 Fault IPM is indicating a major e Verify ambient temperature is not too Power Fault power related fault high condition Operation above continuous power rating ape and or product environmental ratings s E within the continuous power e Reduce acceleration rates Remove all power and motor connections and preform a continuit
277. ve System Publication 2094 UM001A EN P September 2006 Understanding IAM AM Signal Specifications 60 Digital Inputs oe OES 60 SERCOS Connections 61 sce xd atts ed Bie US t OAS 62 Contactor Enable 63 Motor Resistive Brake Relay 64 Control Power 65 Understanding Feedback 66 Motor and Auxiliary Feedback Specifications 66 Feedback Power 5 67 Locating Shunt Module Connectors and Indicators 68 Chapter 5 69 Understanding Basic Wiring Requirements 69 Building Your Own Cables dO oc 70 Routing Power and Signal Wiring 70 Determining Your Type of Input 71 Grounded Power Configurations 71 Ungrounded Power Configurations 73 DC Common Bus Configurations 74 Common Bus Fusing Requirements 75 Setting the Ground Jumper in Ungrounded Power Configurations ec br ette eg 75 Setting the Ground 76 Grounding Your Kinetix 6000 System 78 Grounding Your System to the Subpanel 78 Grounding Multiple Subpanels 79 Powe
278. ve Action Compare Results 0 Hard Ovrtryl Act Drive Action Fdbk Nse Fit Act Status Only Nr Therm Flt Act Drive Artian _ For Help press F1 Local DPI 5 Double click the x x x599 Add Bus Cap parameter Publication 2094 UM001A EN P September 2006 DC Common Bus Applications 237 The command dialog for parameter 599 Add Bus Cap opens 599 Add Bus Cap Value Edit Advanced Value Intemal Value 1780 Dec C Oct Default Select Defauit OK Cancel 6 Select the Value Edit tab and enter the Add Bus Cap Value UF 7 Click OK The RBM delay time is changed but not saved in non volatile memory Saving the Add Bus Cap Parameter to Non Volatile Memory Follow these steps to save the Add Bus Cap parameter to non volatile memory 1 From the menu bar choose Actions Non Volatile Memory The following message dialog opens Non olatile Memory 20940 SER O Config 0000 E xi Save current device values to non volatile memory Recall device values from non volatile memory Recall Reset device values to defaults Load Defaults Close 2 Click Save The changes are saved to non volatile memory and the following cautionary message dialog opens Non Volatile Memory 20940 SERVO Config 0000 Caution A This action will overwrite existing device values that are currently saved in the product s non volatile memory Continue 3 Click Yes P
279. vercurrent Motor or transmission malfunction e Check replace transmission device E 4 Fault current exceeds e Check replace motor Bus OverCurrent e Check for proper IAM sizing IAM not properly sized e Install larger kW rated IAM e Use a properly sized shunt or modify DriveOvervoltage duty cycle of the application E75 Fault The IAM AM or SM has exceeded its shunt resistor continuous rating System uses internal shunt and Shunt Time Out requires external shunt for additional capacity Reset System DriveHardFault DPI hardware initialization 76 CAN Init fault detested Control board hardware failure f fault persists replace system module DriveHardFault Either 230V AM is installed on power rail with 460V IAM or 460V AM Module Mismatch is installed on power rail with 230V IAM Replace mismatched module DriveHardFault e Cycle power E78 Control hardware fault detected aga SERCOS Init Publication 2094 UM001A EN P September 2006 e f fault persists replace module Troubleshooting the Kinetix 6000 Drive System 151 oe Sax HM Problem or Symptom Potential Cause Possible Resolution Refer to Temperature Fault LED Indicator Shunt module temperature fault LED indicator is steady red on page 154 DriveOvervoltage 79 Fault Shunt module shunt fault LED indicator is steady red i to Shunt Fault LED Indicator on page Shunt Module Flt Modil missin
280. xipuaddy 4 ION pue T anding RUM ui 0 18434 ajqeg o1 WEY 90 db r 9 1409 1 0602 30 I n 3Nud n n ft s soyoauu0g 090 21019 A YLIN A INYO A 10128000 143 M 8 YIN M m a M 1819 eseug ejBuis NS 9 Un ANd 203290005 dN T gt T 19M0g JO O 203290009 281 203290009 191 dato aAug patys dwejg ION pieius 7 aged pnis punog Sng punong 0 Wad 0 sixy jeuiqe papuog oxocxepc oa 2OgAI20OH JO 2OdgAI2CON p60C eg angsissy 9PPOIA sp pae Hayu ogo uneimna ODOD Xn9upi September 2006 Publication 2094 251 Integrating Resistive Brake Modules with Kinetix 6000 Drives O1VISAH8 0102 0318VN3 AVISdOLS ES pp vz nd Lu pea no ac n pa cKOBETHSIAI Jnsciuupaeney Aogpeurg uoIryr Adres G IJN 1G 1 ves EES cS MS 2151 115 295 W 0 419594 Ol
281. xx motors are labeled plus and minus All other MP Series motor brake wires are labeled F and G 23 Refer to 1336 Active Shunt Input Fuse Specifications for input fuse specifications Current requirements are for master only shunt applications For master slave applications you must multiply the current requirement by the number of shunt units 24 Refer to 1336 Active Shunt Fault Relay Specifications for fault relay specifications This normally closed contact TTL compatible is closed when 115V ac is applied and opens when a shunt fault or loss of power occurs Publication 2094 UM001A EN P September 2006 Interconnect Diagrams 193 Power Wiring Examples Single IAM Wiring Example with LIM 2094 AL09 or B L02 Kinetix 6000 Integrated Axis Module 2094 ACxx M xx or BCxx M xx Power Rail Note 10 Bonded Cabinet e Ground Stud H Cable Shield Ground Bus Clamp UE Line Interface Module 2094 AL09 or B L02 gt Three phase Motor Power Connections Motor Power MP Connector s lt Note 16 Single phase CPL Output CTRL2 Control Power 195 264V ac RMS CPD C t Notes 1 CTRL 1 onnector E DC lt 0 2 VAC LINE
282. xxx MPL A B45xxx MPL A B5xxx MPL B6 xxx MPL B8 xxx MPL B9xxx and MPG A B 1326AB M2L S2L Brake Wires The motor has a brake connector Brake wires are in the brake cable Cable Catalog Number 2090 UXNBMP 18S xx brake cable TL AXxxx H 2090 DANBT 18S xx brake cable F Series Straight brake connector kit 9101 0330 MPL A B15xxx MPL A B2 xxx MES The motor doesnot have 2090 XXNPME xxSxx power cable a brake connector Brake 1326AB resolver wires are included in the 1326 CPx1 xxx power cable power cable Y Series 2090 XXNPY 16S xx power cable IMPORTANT Use surge suppression when controlling a brake coil Refer to Controlling a Brake Example on page 210 Brake Cable Preparation Outer Insulation E Brake Ca ble Strip Length 10 mm 0 375 in i BR BR 105 mm 4 1 9 Motor Resistive Brake BC Connector Publication 2094 UM001A EN P September 2006 Motor Brake Wires BC Connector IAM AM 2090 UXNBM P 18Sxx 2090 DANBT 18S xxx 2090 XXNPM F xxSxx 1326 CPx1 xxx 2090 XXNPY 16Sxx BC Pin Signal Brake Cable Brake Cable Power Cable Power Cable Power Cable g A BR 1 F 6 B1 7 5 C BR 2 BR G BR 4 82 9 BR 6 MBRK Termination Specifications BC Connector IAM AM Recommended Wire Size Strip Length Tor
283. y check from the dc Kinetix 6000 has a short circuit bus to the U V and W motor outputs If a overcurrent or failed component continuity exists check for wire fibers between terminals or send drive in for repair HardOvertravel Axis moved beyond the Checkwiring E06 Fault physical travel limits in the Dedicated overtravel input is inactive e Verify motion profile Hard Overtravel positive negative direction e Verify axis configuration in software MotFeedbackFault pee m e Check motor encoder wiring E07 Motor Feedback Loss The feedback wiring is open shorted or missing e Run Hookup test in RSLogix 5000 software e Verify voltage level of the incoming ac power With three phase power present the bus voltage power source for glitches BusUndervolta is below limits e DC bus voltage for 460V system is Fault ervoltage below 275V Install an uninterruptible power supply Bus Undervoltage e DC bus voltage for 230V system is input DC bus voltage fell below below 137V the undervoltage limit the vend follower axis before removing follower power rail was enabled Excessive regeneration of power e Change the deceleration or motion When the motor is driven by an external profile mechanical power source it may T regenerate too much peak energy system Kinetix DriveOvervoltage through the drive power supply The E10 Fault The de bus v

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