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Kinetix 6000M Integrated Drive

1. Patchcords Input Assignments a E 1 Overtravel NC 8711S N12BP18 D4 Input Assignments 2 Overtravel NC 4 Proximity Sensors gt S E 1 Registration 2 NO 3 Home N0 2 Registration 1 NO 1 2 3 1 2 Figure 17 Digital Inputs Used for Home Overtravel and Registration Functions Digital Inputs Input Assignment MDF SBxxxxx IDM Unit 1 2 3 cn Tt 3 Home NO E o Sensors Input Assignments a oa as IO N m 2A Registration 1 NO a 20 D em ol OEN pen 28 Overtravel NC id oS ecko T aoee oe e mm 1A Overtravel NC E P OP s Om 1B Registration 2 NO mice 889D x4ACDx x B79D x4ACDM x 90 y4ACDx x NO or 879D F4DM Patchcords V cable 889D x4ACDx Vx NC Splitter Patchcords 48 Rockwell Automation Publication 2094 UM003B EN P February 2015 Kinetix 6000M System Connector Data Chapter 4 Table 14 Understanding the Digital Inputs Capture Edge Level Pin Connector Signal Description Time Sensitive 4 3 HOME Optically isolated single ended active high signal Current 30 ms Level loading is nominally 10 mA Home switch normally open
2. Digital Inputs Cy 2090 CTHP8 2090 CTSRP terminators required on last IDM unit 2094 PRF Slot filler Module required for unused slots Bulletin 2090 Hybrid Cables Bulletin 2090 MDF SBxxxxx IDM Unit MDF SBxxxxx IDM Unit MDF SBxxxxx IDM Unit MDF SBxxxxx IDM Unit Bulletin 2090 Motor Power Cables 13 Chapter1 Start In the following example the leader AM module is connected to the follower IAM module via the DC common bus When planning your panel layout you must calculate the total bus capacitance of your DC common bus system to be sure that the leader IAM module is sized sufficiently to pre charge the entire system See the Kinetix 6000 Multi axis Servo Drives User Manual publication 2094 UM001 or the Kinetix 6200 and Kinetix 6500 Modular Multi axis Servo Drives User Manual publication 2094 UM002 for further information IMPORTANT _ Iftotal bus capacitance of your system exceeds the leader IAM module pre charge rating and input power is applied the IAM module status indicator displays an error code To correct this condition you must replace the leader IAM module with a larger module or decre
3. I 24 gt IPIM V h V ine V 3 5 IDM1 IDM2 IDM3 v IDM 1 IPIM IDM2 v IDM3 The specified voltage range for the IDM units is 32 44V DC The IPIM module output voltage specification is 40 4 41 7V DC See the Kinetix Rotary Motion Specifications Technical Data publication GMC TD001 The equations below illustrate three options for estimating the IDM unit control power load current assuming a range of 32 42 V DC using the simplified system Steps 2 and 3 should be applied iteratively to get the best estimate see next step e Dividing the total IDM unit load power by 32V DC assumes that all the IDM units are at the end of the total cable length and the load current is sufficiently high to result in the maximum allowable voltage drop at the end of the cable This is a very conservative method that always results in an overestimate of the load current Rockwell Automation Publication 2094 UM003B EN P February 2015 Kinetix 6000M System Sizing Appendix D e Dividing the total IDM unit load power by 42V DC assumes that all the IDM units are at the IPIM module and experience no voltage drop from the hybrid cable This is a very liberal method that always results in an underestimate of the load current e Dividing the total IDM unit load power by 37V DC represents more of an average situation where all the IDM units experience half the maximum
4. las lala Gale laa Oo oO oO IMPORTANT The l AM must be positioned in the leftmost slot of the power rail Position your other modules to the right of the IAM module Mount modules according to power utilization highest to lowest from left to right starting with the highest power utilization If power utilization is unknown position modules highest to lowest from left to right based on continuous power rating kW See page 30 The shunt module must be installed to the right of the last module Only slot filler modules can be installed to the right of the shunt module Do not mount the shunt module on power rails with a follower IAM module Common bus follower IAM modules disable the internal rail mounted and external shunt modules 2094 PRF slot filler module in all empty slots on the power rail Any power rail connector without a module installed will disable the drive system however control power will still be present A SHOCK HAZARD To avoid personal injury due to electrical shock place a Rockwell Automation Publication 2094 UM003B EN P February 2015 31 Chapter 3 32 Mounting the Kinetix 6000M System Mount the IPIM Module All modules mount to the power rail using the same technique 1 Determine the next available slot and modu
5. 1 There is no option for making your own hybrid or IDM network cables Rockwell Automation Publication 2094 UM003B EN P February 2015 Chapter 3 Mounting the Kinetix 6000M System This chapter provides the system installation procedures for mounting your Kinetix 6000M integrated drive motor IDM unit and your power interface module IPIM Topic Page Mounting the IPIM Module 30 Installing the IDM Unit 33 This procedure assumes that you have prepared your panel mounted your Bulletin 2094 power rail and understand how to bond your system For installation instructions regarding equipment and accessories that are not included here refer to the instructions that came with those products wiring of the Bulletin 2094 power rail and modules before applying power Once power is applied connector terminals can have voltage present even when not in use A SHOCK HAZARD To avoid hazard of electrical shock perform all mounting and 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 ATTENTION Plan the installation of your system so that you can perform all Rockwell Automation Publication 2094 UM003B EN P February 2015 29 Chapter3 Mounting the Kinetix 6000
6. r 24V DC i 1 1 0 SUPPLY O70 gt INPUT Y 2 49k Q 0 001 uF S 1 27kQ y be 10_COM l Customer supplied Device IDM Rockwell Automation Publication 2094 UM003B EN P February 2015 49 Chapter4 Kinetix 6000M System Connector Data Power Specifications 50 Brake Override Input brake override must only be used for machine assembly when the IPIM module i ATTENTION To guard against personal injury and or component damage the is not connected to the IDM unit The brake override connection is made on two dedicated pins of the hybrid input connector The hybrid cable has no connection on those pins The brake override may only be activated when the hybrid input cable is not connected A brake override cable is attached at the location where the hybrid input cable would normally be attached Two connections are required for the motor brake override input power Connections are rated for 24V and current as shown in the following table An active signal releases the motor brake Table 16 Brake Specification Specification Value Nominal brake voltage 24V DC Minimum voltage 21 6V DC Maximum voltage 27 6V DC Maximum brake current 650 mA Peak Duty Cycle Table 17 Peak Duty Cycle Definition of Terms Term Definition Continuous Current Rating Icont The maximum value of current that can be output continuously Peak Current Rating lpymay The maximum value of peak curr
7. a n mn Power Rail 8 Repeat the previous steps for each module being installed A A ATTENTION Do not attempt to open or modify the IDM unit This manual describes modifications that you can perform in the field Do not attempt other changes Only a qualified Allen Bradley employee can service an IDM unit Failure to observe these safety procedures could result in personal injury or damage to equipment ATTENTION Damage can occur to the bearings and the feedback device if a sharp impact is applied to the shaft during installation of couplings and pulleys or to remove the shaft key Damage to the feedback device can also result from applying leverage from the faceplate to remove devices mounted on the shaft Do not strike the shaft key couplings or pulleys with tools during installation or removal Use a wheel puller to apply pressure from the user end of the shaft to remove any friction fit or stuck device from the shaft Failure to observe these safety procedures could result in damage to the IDM unit Rockwell Automation Publication 2094 UM003B EN P February 2015 33 Chapter3 Mounting the Kinetix 6000M System Aligning the IDM Unit The IDM unit can be mounted in any position and has a mounting pilot that aids in aligning the unit on a machine A shaft seal that helps protect the motor against fine dust and fluids is factory installed and should be replaced at regular intervals Preferred faste
8. Digital Inputs MDF SBxxxxx IDM Unit 2090 CTHP8 2090 CTSRP terminators required on last IDM unit Bulletin 2090 Motor Power Cables Rockwell Automation Publication 2094 UM003B EN P February 2015 3 Phase Input Power Magnetic Contactor one Disconnect Device Input Fusing Control Power gt 2 Start Figure 3 Typical 2094 Power Rail with Kinetix 6000M System without LIM 2090 XXLF xxxx Line Filter required for CE 2094 SEPM B24 S IPIM Module 2094 BSP2 Shunt Module optional component Chapter 1 orn E be Ej a 2090 XXLF xxxx Eil pe AC Line Filter required for CE 2094 Drive System Kinetix 6000 shown 2094 PRSx Power Rail 2090 K6CK Dxxxx Low Profile Connector Kits for 1 0 Motor Feedback and Aux Feedback oone To Input Sensors and Control String Bulletin 2090 Motor Feedback Cables Rockwell Automation Publication 2094 UM003B EN P February 2015 Network Cables D Digital Inputs 4 Digital Inputs Digital Inputs
9. FW Version TAXX XX IP Address 192 169 1 111 Next the home screen displays the address of each connected IDM unit IPIM 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 info tools 00908 Ifan IDM unit is reporting a fault the IDM address is either underlined or outlined It is outlined for severe faults and underlined for less severe faults Information Display Use the arrows to select IPIM or a specific IDM unit _ _ UPIM 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 info tools 0009 IPIM selected IDM unit 8 selected IPIM 01 02 03 04 05 06 E09 10 11 12 13 14 15 16 info 038098 Pressing info displays a new screen with detailed information about the IPIM module or selected IDM unit IPIM IP Addr 192 168 1 1 Bus Reg Cap 33 Bus Voltage 600V Active Faults A V home tools 0009 IPIM Information IDM8 Status Stopped Safety Safe off Sercos Phase 4 Active Faults A V home tools 09099 IDM Information Rockwell Automation Publication 2094 UM003B EN P February 2015 67 Chapter 6 68 Configuring the Kinetix 6000M System The following information is displayed IPIM Information IDM Informatio
10. IDM System 2 Muit7 EF IDM System 1 72 33 IDM unit 8 20 IDM unit 1 E 21 IDM unit 2 22 DM unit 3 23 IDM unit 4 Rockwell Automation Publication 2094 UM003B EN P February 2015 Add on Profiles Configure the Logix Sercos Interface Module Configuring the Kinetix 6000M System Chapter 6 To select the IPIM module in RSLogix 5000 software version 20 you must load an Add on Profile from www ab com To navigate to the Add on Profiles follow this path e Technical Support e Software Updates Firmware and Other Downloads e RSLogix 5000 I O Modules Add on Profiles You will be required to establish a login and provide the serial number of your drive to access the download file This procedure assumes that you have wired your Kinetix drive system and have configured the communication rate and optical power switches For help using RSLogix 5000 software as it applies to configuring the ControlLogix CompactLogix or SoftLogix sercos modules refer to Additional Resources on page 7 IMPORTANT RSLogix 5000 software version 20 000 or later is required Configure the Logix Controller Follow these steps to configure the Logix controller 1 Apply power to your Logix chassis containing the sercos interface module PCI card and open your RSLogix 5000 software 2 From the File menu choose New The New Control
11. e Check for a fault e Check the wiring The IDM unit has malfunctioned Replace the IDM unit The coupling between IDM unit and machine has broken for example the IDM unit moves but the load machine does not 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 Presence of noise on wires cables Recommended grounding per installation instructions have not been followed e Verify grounding Route wire away from noise sources Refer to System Design for Control of Electrical Noise publication GMC RM001 Line frequency may be present e Verify grounding Route wire away from noise sources Sercos ring not phasing up Duplicate node settings Change the node address Incompatible data rates 92 Rockwell Automation Publication 2094 UM003B EN P February 2015 Verify that the data rate is set to 8 Mbps for all Kinetix 6000 modules Condition No rotation Troubleshooting the Kinetix 6000M System Potential Cause The IDM unit connections are loose or open Chapter 7 Possible Solution Check IDM unit wiring and connections Foreign matter is lodged in the IDM unit Remove foreign matter The IDM unit load is excessive Verify the servo system sizing The bearings are worn Return th
12. Ethernet MAC Address IP Address Product Revision Catalog Number IPIM Serial Number Status Uptime 00 00 BC C9 9A 1D 10 91 84 199 1 002 008 2094 SEPM B24 5 80323DD0 Monitoring O days Oh 07m 575 Resources Visit AB com for additional information ee e E 3 Selecting IPIM Indicators provides indicator status Control bus E Module status W Network Status o DC Bus Ethernet Address MAC IP Address Subnet Mask Default Gatevay Primary Name Server Rockwell a Control bus present no major faults Operating normally No active connections OC bus present all IDMs disabled no major faults Seconds Between Refresh IS Disable Refresh with 0 00 00 BC C9 9A 1D 10 91 84 199 255 255 252 0 10 91 84 1 169 254 1 1 Secondary Name Server 0 0 0 0 Default Domain Name Host Name Name Resolution IPIM IPIM DNS Disabled Obtain Network Configuration DHCP Disabled Autonegotiate Status Port Speed Duplex Mode Disabled 100 Mbps Full 1 Internet Explorer version 6 0 or greater or Mozilla Firefox version 4 0 or greater is required Rockwell Automation Publication 2094 UM003B EN P February 2015 Chapter 8 Removing and Replacing the Kinetix 6000M IPIM Module This chapter provides removal and replacement procedures for your Kinetix 6000M IPIM module Refer to your Kinetix 6000 Multi axis Servo Drives User Manual publication 2094 UM001 or Kinet
13. Grounding the IDM System 54 IMPORTANT IDM system wiring differs from common PWM servo system wiring configurations in the following ways e Hybrid and network cables can be tie wrapped together and occupy the same cable run e Hybrid and network cables do not require physical segregation as a result of more effective wire shielding and improved grounding techniques This exception applies only to the hybrid and network cables that connect to an IPIM module or between IDM units and does not apply to cabling elsewhere in a Kinetix drive system Refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 for more information National Electrical Code local electrical codes special operating temperature duty cycles or system configurations take precedence over the information presented above and the values and methods provided in the document referenced above Routing the Power and Signal Cables Be aware that when you route power and signal wiring on a machine or system radiated noise from nearby relays transformers and other electronic devices can be induced into I O communication or other sensitive low voltage signals This can cause system faults and communication anomalies The hybrid cables and network cables are UL Listed with 1000V and 105 C 221 F insulation ratings and can be routed in a common wireway IMPORTANT Building your own cables is not an option for the hybrid
14. 4 Safety Enable Input 1 SAFETY ENABLE 1 SAFETY ENABLE 1 5 Safety Enable Common SAFETY ENABLE SAFETY ENABLE 6 Safety Enable Input 2 SAFETY ENABLE 2 SAFETY ENABLE 2 7 IDM CAN Bus Hi IDM CAN HI IDM CAN HI 8 IDM CAN Bus Lo IDM CAN LO IDM CAN LO 9 System OK from IPIM or prior IDM IDM SYSOKIN IDM SYSOKOUT 10 System OK return to IPIM IDM SYSOKRTN IDM SYSOKRTN Rockwell Automation Publication 2094 UM003B EN P February 2015 Kinetix 6000M System Connector Data Chapter 4 IDM Network Input and Output Connector Pinouts The following pinout information is provided for IDM unit network connectors Network Input Connector Output Connector Input Connector Da Network 20 Output 5 Connector O O 40 on Signal Name Signal Name 1 RX TX 2 RTN TX RTN RX 3 RTN TX RTN RX 4 RX TX 5 REF REF Digital Input Connectors Digital In Three digital input connectors allow sensors to be easily connected to the system without the need to route cables back to the control enclosure Digital In 1 Digital In 2 The connectors accommodate common input functions including the following e Home negative overtravel and positive overtravel inputs e Two registration inputs If the digital inputs are not being used for their assigned functions they can also be used as general purpose inputs by reading the status of their tags in the application program 24V DC is supplied
15. IDM network output connector to IDM unit Input and output connecting points forthe IDM 39 network cables IDM network input connector from IPIM module or previous IDM unit Drive status indicator Provides communication status for the IDM unit 91 Network status indicator Provides general status for the IDM unit 91 HOME Digital Input connector 3 Digital input for home 45 REG1 0T Digital Input connector 2 Registration1 positive overtravel digital input 45 REG2 0T Digital Input connector 1 Registration2 negative overtravel digital input 45 Node address switch 10 10 s digit most Sets the IDM network node address 70 significant Node address switch 1 1 s digit least significant Rockwell Automation Publication 2094 UM003B EN P February 2015 43 Chapter4 Kinetix 6000M System Connector Data IDM Unit Connector and Signal Descriptions Hybrid Cable Connector The following information provides connector pinouts for the IDM unit hybrid connectors Hybrid Input Connector Input Connector Output Connector Pin Description Signal Name Signal Name A DC Bus DC DC B DC Bus DC DC C Control Power 42V DC 4 42V D Control Power 42V DC 42V COM 42V COM E Chassis Ground a L 1 Reserved Reserved Reserved 2 Brake Override 24V Supply BRAKE 24V 3 Brake Override Supply Common BRAKE 24V COM
16. voltage applied to IDM i I Total IDM unit control power load current out of the IPIM Rockwell Automation Publication 2094 UM003B EN P February 2015 129 Appendix D 130 Kinetix 6000M System Sizing It is important to understand that each IDM unit passes the load current for all IDM units farther down the daisy chain The voltage applied at each IDM unit is dependent on voltage drop in the IDM unit control power conductors of the hybrid cable Therefore the total cable length between an IDM unit and the IPIM module affect the voltage applied to that IDM unit Also the number of IDM units between an IDM unit and the IPIM module and the cable length between each IDM unit also affects the voltage applied to the IDM unit An accurate calculation requires modeling the system IMPORTANT Motion Analyzer version 6 000 or later contains a detailed model and accurately predicts the IDM unit control power load current and the minimum IDM unit control power voltage at the last IDM unit connected to each IDM unit This example illustrates a simplified load estimation method The simplifying assumption is that all the IDM units are connected at the end of the hybrid cable so the entire cable length supports the total IDM unit control power current This also means that the voltage applied at each IDM unit is the same and all IDM units experience the maximum voltage drop The figure below illustrates a real system vs the simplified system
17. voltage drop This is a reasonable compromise between the other two extremes V32 I xWi xWi V37 V42 I IMPORTANT Confirm that the IDM control power current load is less than the specified limit for the IPIM module 6 5 A See the Kinetix Rotary Motion Specifications Technical Data publication GMC TD001 Repeat this procedure for all IPIM modules connected to the power rail Example Using the three equations from this step the following IDM unit control power load currents are calculated IDM Unit Control Power Voltage IDM Unit Control Power Load Current Estimate V DC 32 3 05 37 2 64 42 2 32 The IDM unit control power current load is less than the specified limit for the IPIM module for all the load current estimates so this is a valid system configuration Rockwell Automation Publication 2094 UM003B EN P February 2015 131 Appendix D 132 Kinetix 6000M System Sizing Step 3 Confirm that all IDM units connected to each IPIM module will have sufficient control power voltage This is a complicated calculation to do accurately for the same reasons stated in step 2 The purpose of this step is to confirm that the last IDM unit in the daisy chain has sufficient voltage to operate An estimate of the applied voltage assuming all the IDM units are at the end of the total cable length can be calculated as shown below This calculation results in a very conservative estimate It is
18. 1024 2048 Position at Power Down Rockwell Automation Publication 2094 UM003B EN P February 2015 Basic Wiring Requirements Chapter 5 Connecting the Kinetix 6000M System This chapter provides procedures for wiring the integrated drive motor system components Tre age Grounding the IDM System 54 General IDM System Wiring 56 How to Bypass an IDM Unit 58 The Sercos Fiber optic Ring 59 Ethernet Cable Connections 63 This section contains basic wiring information for the Kinetix 6000M integrated drive motor system See the Kinetix 6000 user manual publication 2094 UM001 or the Kinetix 6200 user manual publication 2094 UM002 for specific wiring information 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 ATTENTION Plan the installation of your system so that you can perform all wiring of the Bulletin 2094 power rail and IPIM modules prior to applying power Once power is applied connector terminals may have voltage present even when not in use A SHOCK HAZARD To avoid hazard of electrical shock perform all mounting and Rockwell Automation Publication 2094 UM003B EN P February 2015 53 Chapter5 Connecting the Kinetix 6000M System
19. 5 Remove the Hardware Enable Input connection if one exists 6 Observe the three sercos indicators on the Logix sercos module Three Sercos Indicators Status Do This Wait for steady green on all three Flashing green and red Establishing communication indicators Steady green Communication ready Go to Test and Tune the Axes on page 83 Not flashing green and red Go to the appropriate Logix manual for not steady green Sercosmoduleds fadited specific instructions and troubleshooting 82 Rockwell Automation Publication 2094 UM003B EN P February 2015 Configuring the Kinetix 6000M System Chapter 6 Test and Tune the Axes This procedure assumes that you have configured your Kinetix 6000M system your Logix sercos interface module and applied power to the system 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 7 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 and choose Properties The Axis Properties dialog box opens 9 Axis Properties Axis_1_ 5 x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag Test Increment 20 Posit
20. Selection Description IP Address Edits the IP address Subnet mask Edits the subnet mask Gateway address Edits gateway address Primary address Edits primary name server IP address Secondary Name Server Edit the secondary name server IP address Sercos light intensity Selects high or low intensity Changes to the light intensity will take effect immediately and be stored in nonvolatile memory The default setting is High IPIM fault help Displays help text for the selected IPIM fault IDM fault help Displays help text for the selected IDM fault Rockwell Automation Publication 2094 UM003B EN P February 2015 Configuring the Kinetix 6000M System Chapter 6 Configuring the IPIM Module You can include the IPIM module in your RSLogix 5000 project by connecting it to aconfigured Ethernet module in the Logix chassis and adding it under the Ethernet module in the I O configuration tree As a result you can view the IPIM module status information in RSLogix 5000 software and use it in your Logix program To select the IPIM module in RSLogix 5000 software version 20 you must load an Add on Profile see page 73 Setting the IPIM Module Network Address To perform monitoring diagnostics and upgrade firmware it is necessary to program the following using the LCD display e Mode Static or DHCP e IP address e Gateway e Subnet mask Settings are stored in nonvolatile memory You can select a static address or enable DHCP IP ad
21. Set Custom Stop Action Disable Drive zl Custom Stop Action Attributes x Disable Drive Disable Drive StoppingTorque 424 24243 Disable Drive StoppingTimeLimit 10 0 s REAL Disable Drive BrakeEngageDelayTime 0 0 s REAL BrakeReleaseDelayTime 0 0 s REAL Disable Drive fResistiveBrakeContactDelay 0 0 s REAL Disable Drive Shutdown Close Cancel Help 9 Click Set Custom Stop Action The Custom Stop Action Attributes dialog box opens and lets you set delay times for IDM units 10 Configure the delay times a Type the Brake Engage Delay Time b Type the Brake Release Delay Time Cat No Brake Engage Delay Brake Release Delay ms ms MDF SB1003 20 50 MDF SB1153 25 110 MDF SB1304 c Click Close 11 Click OK 12 Repeat step 1 through step 11 for each IDM unit 13 Verify your Logix program and save the file Download the Program After completing the Logix configuration you must download your program to the Logix processor Rockwell Automation Publication 2094 UM003B EN P February 2015 81 Chapter6 Configuring the Kinetix 6000M System Apply Power to the System This procedure assumes that you have wired and configured your Kinetix drive system with or without the LIM module and your sercos interface module input power has been removed Before working on the IPIM module or disconnecting connecting any IDM unit wait the full
22. as es Flashing Green Module is in standby mode configuration may be required Solid Green Module is operating correctly Flashing Red A recoverable fault has occurred Solid Red An unrecoverable fault has occurred Alternating Green Red Self test mode during powerup Network Network Status Off Not powered or no IP address Stat a Flashing Green No connections but an IP address has been obtained Solid Green An established connection exists Flashing Red A connection has timed out Solid Red Duplicate IP is present Alternating Green Red Self test mode during powerup DC Bus Status of the DC Off DC Bus is not present B i Flashing Green DC bus is present and all IDM units are disabled Solid Green DC bus is present and at least one IDM unit is enabled 90 Rockwell Automation Publication 2094 UM003B EN P February 2015 Indicator Port 1 Port 2 Status of the Off Indication Troubleshooting the Kinetix 6000M System Chapter 7 Description Port is not connected EtherNet IP ports Flashing Green Port is connected and communication is occurring Solid Green Port is connected but no communication is not occurring 1 A reset or cycling the power may clear a recoverable fault depending on the state of the IDM An unrecoverable fault will require power cycling and or modifying the hardware configuration while unpowered to clear the fault IDM Unit Status Indicators IDM unit fault desc
23. the changes do not take effect until the next power cycle See Figure 31 and remove the two protective covers to gain access to the switches Using a small screwdriver rotate the switches to the proper setting Replace covers and torque to 0 6 Nem 5 lbein repeat for any other units Figure 31 Node Address Switches S1 1 s Digit least significant 10 10 s Digit most significant Rockwell Automation Publication 2094 UM003B EN P February 2015 Configuring the Kinetix 6000M System Chapter 6 In the following example Figure 32 the Kinetix 6000 power rail contains two single wide axis modules and one IDM system A sercos node address is not assigned to the slot filler or the IPIM module However the system identifies both modules with slot locations Node addresses 02 and 05 are available for any of the IDM units but to avoid confusion the node addressing for the IDM units was started at 20 Unlike axis modules each IDM unit has switches that determine its node address In example 1 the IDM unit node addressing is sequential but it does not have to be IMPORTANT IMPORTANT Creating a duplicate node address between the axis modules mounted on the power rail and the IDM system generates error code E50 Each node address on the sercos ring must be unique within the range of 01 99 Slot filler modules must be used to fill any unoccupied slot on the power rail However you can
24. 0 0 to 1 0 Minimum Clearance Requirements This section provides information to assist you in sizing your cabinet and positioning your IDM unit Figure 7 illustrates minimum clearance requirements for proper airflow and installation e More clearance is required for the cables and wires that are connected to the top and front of the module e More clearance that is left and right of the power rail is required when the module is mounted near noise sensitive equipment or clean wireways Table 9 Minimum Cabinet Depth Cat No Cabinet Depth Min 2094 SEPM B24 S 272 mm 10 7 in Rockwell Automation Publication 2094 UM003B EN P February 2015 25 Chapter2 Planning the Kinetix 6000M System Installation Figure 7 Minimum IPIM Module Clearance Requirements 50 8 mm 2 0 in clearance for airflow and installation _ AG AG E 287 mm Al 0000 11 3 in 2 i Clearance left of the i Clearance right of the module is not required 0 CES module is not required 1 Power Rail o g 2094 PRSx 50 8 mm 2 0 in clearance for airflow and installation 1 The power rail slim catalog number 2094 PRSx extends left and right of the first and last module 5 0 mm 0 20 in The Bulletin 2094 PRx power rail extends approximately 25 4 mm 1 0 in left of the IAM module and right of the la
25. 2090 CTSRP IDM Unit MDF SBxxxx Network Cable to v First IDM Unit IDM Unit 2090 CNSSPxS MDF SBxxxx Rockwell Automation Publication 2094 UM003B EN P February 2015 11 Figure 2 Typical 2094 Power Rail with Kinetix 6000M System with LIM ow F F Chapter1 Start 2090 XXLF xxxx AC Line Filter a required for CE ai a 3 Phase Input Power gt 2094 BLxxS Line Interface Module optional component 12 Control Power 2094 Drive System Kinetix 6000 shown gt 2094 PRSx Power Rail 2090 K6CK Dxxxx Low Profile Connector Kits for 1 0 Motor Feedback and Aux Feedback k 3 2094 BSP2 Shunt Module optional component 2094 SEPM B24 S IPIM Module 2094 PRF _ _ _ Slot filler Module required for unused slots el Bulletin 2090 Hybrid Cables To Input Sensors j and Control String Bulletin 2090 Motor Feedback Cables Bulletin 2090 Network Cables Digital Inputs MDF SBxxxxx IDM Unit Digital Inputs MDF SBxxxxx IDM Unit Digital Inputs MDF SBxxxxx IDM Unit
26. 2094 UM003B EN P February 2015 Troubleshooting the Kinetix 6000M System Chapter 7 Figure 34 Message Configuration Write Message Configuration Write_IPIM_Slot Configuration Communication Tag Message Type SERCO e pee iy Service Data Type L Identification oe m Source Number P_ wl gt g Length Element 7 Operation Value Data Type INT Source O Enable Enable Waiting Start Done Done Length 2 Eror Code Extended Error Code C Timed Out Error Path Error Text 1 Set the Source field to a tag that contains the slot location for the IPIM module The slot location valid range is 2 8 assuming an 8 slot power rail The IAM module is always in slot 1 2 Set the path field on the communication tab to the IAM module on the power rail where the IPIM module is located Set the read message configuration parameters as shown Figure 35 Figure 35 Message Configuration Read Message Configuration Read_IPIM_status Configuration Communication Tag Message Type SERCOS IDN Read v Service Data Destination IPIM_Status Type Identification p y New Tag Number P m Element 7 Operation Value Data Type INT Enable Enable Waiting Start Done Done Length 2 Eror Code Extended Error Code C Timed Out Error Path Eror Text C Cca O o
27. Ce 1 Set the Source field to a tag where the IPIM module status will be stored 2 Set the path field on the communication tab to the IAM module on the power rail where the IPIM module is located See the user manual for your Kinetix 6000 or Kinetix 6200 drive system for further information on reading and writing IDNs Rockwell Automation Publication 2094 UM003B EN P February 2015 89 Chapter7 Troubleshooting the Kinetix 6000M System Interpret Status Indicators When a fault condition is detected the appropriate status indicator will illuminate IDM unit or IPIM module and the IPIM module will annunciate the fault on its front panel display See Figure 36 for IPIM status indicator descriptions and Figure 37 for IDM unit indicators IPIM Module Status Indicators IPIM module fault descriptions types and actions start on page 94 Figure 36 IPIM Display and Status Indicators IPIM 01 02 03 04 05 06 07 08 09 10 11 12 Control Bus m Module Status m OOOO Network Status m DCBus m Port M 4 Port2 M Control Bus M Module Status Network Status TA DCBus Porti M Port2 M Indicator Indication Description Control Status of the off Control bus is not present B Control B us ee Solid Green Control bus is present Solid Red A fault has occurred Module IPIM Module Off Power is not applied to the module Stat Stat
28. Display IDMStatus Programmable RSLogix Drive Fault Indicator Potential Cause Possible Solution Fault Action Fault Behavior E04 Motor Overtemp Flashing Excessive IDM unit temperature e Lower ambient temperature increase IDM Yes Decel Disable MotorOvertempFault Red unit cooling E05 Power Fault Flashing Operation above the IGBT e Operate within the instantaneous power No Coast Disable DriveOvercurrentFault Red instantaneous current rating or IPIM rating Open Contactor module power supply undervoltage Reduce acceleration rates Enable If fault persists replace IDM unit Rockwell Automation Publication 2094 UM003B EN P February 2015 95 Chapter 7 Troubleshooting the Kinetix 6000M System Table 22 Exception Fault Behavior Continued RSLogix IPIM Display IDMStatus Programmable RSLogix Drive Fault Indicator Potential Cause Possible Solution Fault Action Fault Behavior E06 Positive Negative Hard Flashing Axis moved beyond the physical travel Verify motion profile Yes Decel Disable Overtravel Red limits in the positive negative e Verify axis configuration in software Pos NegHardOvertravelFault direction E09 Bus Under Voltage Flashing DC bus voltage fell below the Disable prior to removing power No Coast Disable DriveUndervoltageFault Red undervoltage limit while the axis was e Check wiring Open Contactor enabled Enab
29. EN P February 2015 27 Chapter 2 28 Planning the Kinetix 6000M System Installation Figure 9 Noise Zones Bulletin 2094 power rail with IPIM module Dirty Wireway Clean Wireway Very Dirty Filter IAM Connections Segregated not in wireway Motor and Hybrid Cables Fiber optic Cables and IPIM Communication Wires No sensitive equipment within 150 mm 6 0 in G 2094 BL02 or 2094 BLxxS Line Interface Module Kinetix 6000 System C 1 0 o Feedback and Network Cables Route 24V DC 1 0 Route encoder analog registration shielded cable shielded cables 1 If drive system 1 0 cable contains dirty relay wires route cable with LIM module 1 0 cable in dirty wireway 2 When space does not permit the 150 mm 6 0 in segregation use a grounded steel shield instead For examples refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 Cable Categories for Kinetix 6000M System Zoning requirements of cables connecting to the IDM system components are shown in Table 10 Table 10 IPIM Module Zoning Requirements Zone Method Wire Cable Very Dirty Dirty Clean Ferrite Sleeve Shielded Cable X X Hybrid DC bus power control power inter module communication and safe X X off X Enable input X X Fiber optic No restrictions Ethernet network X X IDM network X X
30. Enable Input me Connector com COM O MDF SBxxxxx Qx8xA S Kinetix 6000M IDM Unit Hybrid Cable Output Connector s gt Network Cable Output Connector Digital Input Connector 1 Digital Input Connector 2 Digital Input Connector 3 1 0 24V Overtravel gt 1 2 3 1 0 24V COM 4 Registration 2 La y SUE Shield 1 0 24V Overtravel 1 0 24V COM Registration 1 mie wir Shield Rockwell Automation Publication 2094 UM003B EN P February 2015 2090 CTHP8 Terminator 2090 CTHP8 Terminator or 2090 CHBP8S8 12AAxx Hybrid Cable to Next IDM Unit 2090 CTSRP Terminator 1 2 3 i 4 2090 CTSRP Terminator or 2090 CNSxPxS AAxx Network Cable to Next IDM Unit gt To Sensor gt m Sensor gt To Sensor Before You Begin Appendix C Upgrading the Kinetix 6000M System Firmware This appendix provides procedures for upgrading firmware for the Kinetix 6000M integrated drive motor IDM units and IDM power interface modules IPIM Topic Page Before You Begin 115 Configure Logix Communication 116 IPIM Module Firmware Upgrade 117 IDM Unit Firmware Upgrade 121 Verify the Firmware Upgrade 126 Upgrading firmware for the Kinetix 6000M system is done by using ControlFLASH software The procedure for upgrading the IDM units uses the sercos interface similar
31. Modular Multi axis Servo Drives User Manual publication 2094 UM002 the total control power load current for the AM and AMs is 2 25 A The value calculated in the previous step for the IPIM is 2 32 A resulting in a total control power load current of 4 57 A The control power load current is less than the maximum current specification for the IAM and power rail 6 0 A so this is a valid system configuration 136 Rockwell Automation Publication 2094 UM003B EN P February 2015 Kinetix 6000M System Sizing Appendix D Step 6 Determine if a LIM can be used to supply the IAM control power load current or if individual discrete components must be used In order to use a LIM for the control power interface to the IAM the control power load current calculated in step 5 must be less than the values listed in the Line Interface Module LIM Installation Instructions publication 2094 IN005 If control power load current exceeds the LIM rating separate discrete components must be used for filtering fusing and disconnection of control power Refer to the Kinetix 6000 Multi axis Servo Drives User Manual publication 2094 UM001 or the Kinetix 6200 and Kinetix 6500 Modular Multi axis Servo Drives User Manual publication 2094 UM002 for further information Step 7 Estimate the DC bus load current for each IPIM One method to estimate the DC bus load current is to analyze the motion profile of each IDM unit axis and estimate the RMS power per m
32. P February 2015 A about this publication 7 absolute position 52 accel decel anomalies 92 accessories catalog number explanation 17 acronyms 7 additional resources 7 add on profiles 73 agency compliance 19 aligning the IDM unit 34 applying power 82 axis module axis properties 80 axis unstable 92 bandwidth 86 brake override input 50 bypass IDM unit 58 C cable length IDM units 19 restrictions 21 cable shield clamp 55 cables categories 28 fiber optic cable length 59 catalog number accessories 17 explanations 17 IDM unit 17 IPIM module 17 31 replacement parts 17 categories cable 28 category 3 requirements 104 stop category definitions 104 CE comply with CE 108 conformity 108 meet requirements 108 requirements 19 certification PL and SIL 104 TUV Rheinland 103 user responsibilities 103 damp cable shield 55 clearance requirements IDM unit 26 IPIM module 25 Index communication configurations typical 16 CompactLogix sercos module 115 compatibility component 18 DriveExplorer 18 human interface module HIM 18 software 18 compliance agency 19 CE 19 configuring axis properties 80 delay times 81 drive modules 77 logix controller 73 node address 70 sercos 73 75 configuring the IDM system 65 connecting Ethernet cables 63 connector descriptions DC bus 39 enable 41 EtherNet IP 42 hybrid 39 network 42 safe torque off 40 sercos 41 ControlFLASH firmware upgrade 115 softwa
33. RA DU002 available at http www rockwellautomation com literature Rockwell Automation maintains current product environmental information on its website at http www rockwellautomation com rockwellautomation about us sustainability ethics product environmental compliance page Rockwell Otomasyon Ticaret A Kar Plaza Is Merkezi E Blok Kat 6 34752 erenk y stanbul Tel 90 216 5698400 www rockwellautomation com 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 NV Pegasus Park De Kleetlaan 12a 1831 Diegem 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 2887 4788 Fax 852 2508 1846 Publication 2094 UM003B EN P February 2015 Supersedes Publication 2094 UM003A EN P May 2012 Copyright 2015 Rockwell Automation Inc All rights reserved Printed in the U S A
34. aie AS OO LEMI ControlLogix Ethernet Ports The 1756 EN2T modules have only one port E Bottom Views Port 1 Front 1756 EN2TR and 1756 EN3TR modules have two T I a Port 2 Rear a m Rockwell Automation Publication 2094 UM003B EN P February 2015 63 Chapter5 Connecting the Kinetix 6000M System Notes 64 Rockwell Automation Publication 2094 UM003B EN P February 2015 Configure the Kinetix 6000M Integrated Drive motor System Chapter 6 Configuring the Kinetix 6000M System This chapter provides procedures for configuring your Kinetix 6000M system components with your Logix sercos module Topic Page Understanding the IPIM Module Display 66 Configuring the IPIM Module 69 Configuring the IDM Unit 70 Add on Profiles 73 Configure the Logix Sercos Interface Module 73 Apply Power to the System 82 Test and Tune the Axes 83 TIP Before you begin make sure you know the catalog number for each IDM unit IPIM module and the Logix module in your motion control application Configuration for the Kinetix 6000M integrated drive motor system follows a procedure similar to what is described in the Kinetix 6000 Multi axis Servo Drives User Manual and Kinetix 6200 and Kinetix 6500 Modular Multi axis Servo Drives User Manual You will assign each IDM unit a node address and configure the IDM system in RSLogix 5000 software The IPIM module does not require configuration for your IDM units to be configur
35. and network cables used in the IDM system See Electrical Noise Reduction on page 27 for examples of routing high and low voltage cables in wireways See the System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 for more information All equipment and components of a machine or process system should have a common earth ground point connected to chassis A grounded system provides a ground path for short circuit protection Grounding your modules and panels minimize shock hazard to personnel and damage to equipment caused by short circuits transient overvoltages and accidental connection of energized conductors to the equipment chassis conventions and definitions Follow all applicable local codes and regulations i ATTENTION The National Electrical Code contains grounding requirements to safely ground your system For CE grounding requirements refer to Agency Compliance on page 19 Rockwell Automation Publication 2094 UM003B EN P February 2015 Connecting the Kinetix 6000M System Chapter 5 shield is not grounded Verify that there is a connection to ground for all shields in the hybrid cable Failure to observe these safety procedures could result in personal injury or damage to equipment f ATTENTION High voltage can build up on the shields of a hybrid cable if the Signal integrity is very important for successful operation of an integrated drive motor system You must be sure that all
36. capacitance 14 training 7 Rockwell Automation Publication 2094 UM003B EN P February 2015 141 Index troubleshooting ControlFLASH 121 125 disable drive 95 error code E49 105 general system anomalies 92 abnormal noise 93 accel decel 92 axis unstable 92 IDM unit overheating 93 no rotation 93 noise 92 sercos 92 velocity 92 Logix drive fault behavior 95 safe torque off 105 safety precautions 87 shutdown 95 status only 95 stop motion 95 tuning axes bandwidth 86 tune tab 85 typical communication configurations 16 typical hardware configurations 11 typical installation common bus 15 with LIM 12 without LIM 13 U units tab 80 Ww web browser viewing status 97 wiring Ethernet cables 63 general system 56 grounding 54 hybrid connector 57 network cables 58 requirements 53 routing power and signal wiring 54 safe torque off circuit 107 142 Rockwell Automation Publication 2094 UM003B EN P February 2015 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support you can find technical and application notes sample code and links to software service packs You can also visit our Support Center at https rockwellautomation custhelp com for software updates support chats and forums technical information FAQs and to sign up for product notification updates In addition we offer multiple s
37. conservative because it assumes the load current for all IDM units is carried by the total cable length which overestimates the voltage drop on the cable significantly Where Vy voltage at the last Nth IDM unit actually at all IDM units in the simplified system I load current calculated in step 2 L total hybrid cable length out to IDM unit N in meters Rc resistance of the hybrid cable control power conductors in ohms meter 0 0274275 IMPORTANT Confirm that Vy is greater than the minimum voltage specification for the IDM 32V DC See the Kinetix Rotary Motion Specifications Technical Data publication GMC 1D001 A better result may be obtained if step 2 and step 3 are repeated iteratively The voltage determined for step 3 should be equal to the voltage value used in step 2 This gives the most accurate value for the simplified system Rockwell Automation Publication 2094 UM003B EN P February 2015 Kinetix 6000M System Sizing Appendix D Example The equations in step 3 are applied to augment the table from the previous step shown below The estimate of the voltage assuming all IDM units are at the end of the total cable length is included in the last column Average IDM Unit Control IDM Unit Control Power Load Power Voltage Estimate Current Voltage Estimate at Last all IDM VDC A Unit s 32 3 05 36 0 37 2 64 36 8 42 2 32 37 4 This illustrates how the 32V average voltage estimate is a poo
38. contact inputs for each axis require 24V DC nominal 4 1 2 REG1 Fast registration inputs are required to inform the motor 500 ns Edge REG2 interface to capture the positional information with less than 4 us uncertainty Optically isolated single ended active high signal Current loading is nominally 10 mA A 24V DC input is applied to this terminal 2 1 2 OT Overtravel detection is available as an optically isolated 30 ms Level ol single ended active high signal Current loading is nominally 10 mA per input The pos neg limit switch normally closed contact inputs for each axis require 24V DC nominal Table 15 Digital Input Specifications Parameter Description Min Max On state voltage Voltage applied to the input with HOME and 0T 0T 21 6V 26 4V respect to IOCOM to assure an on state REG1 and REG2 21 6V 26 4V On state current Current flow to guarantee an on state 3 0mA 10 0 mA Off state voltage Voltage applied to the input with respect to IOCOM to assure an 1 0V 3 0V off state Figure 18 Standard Digital Input Circuits E 2w I 1 0 SUPPLY i Lo nT y 3kQ 0 1 nF 511Q Y 1 10_COM Customer supplied Input Device 1 IDM 1 24V DC source range 21 6V 26 4V supplied by IPIM not to exceed 250 mA total Maximum current input 10 mA Figure 19 High Speed Digital Input Circuits
39. eetiety 70 Setting the Node Address lt ovictiss iuliwis ake Geoee wes taaoenetes 70 Addo PEOIES 3 bce 3 Satie Baviadan ts eS dees tance aR R ENEN 73 Configure the Logix Sercos Interface Module 0008 73 Configure the Logix Conttolletinw civiviccusonotcvess wetheeede 73 Configure the Logix Module n unsnsunsnsnrsrrrrerererrrene 75 Configure the IDM Units sascccaismasacionink apuicastee eame won einen 77 Configure the Motion Groupies e154 chris shake tasees toe evened 79 Configure Axis Pro pertlesaysacasd raveewedneewsowas wat wninet 80 Download the Pro Grattan kaid lt wd sthwsha none otiacn a Semteaihe wid veaiting s 81 Apply Power to the Systeiting sic peeediaad biacedvlyee etedsaddehele 82 Test and Tune the Axes 0 golds Apa eval ceecderee walsh eee eu or dec es 83 OU Se eS oes ai eid oS as ae ent ee ant N 83 URC ARE INNES ea oho AA gaan dais areca NEE AE 85 Chapter 7 Safety PrecauniOny es x eera inaa aA EEEE EE avd aad aerate 87 IDM System Error Codes og soutcnin unde devas tesehenuncnaa penser 87 Reading the Fault Status of the IPIM Module 88 Interpret Status Indicatots o4 iasdcvinsy hse ede eas oe 90 IPIM Module Status Indicators ccccccececcecneceeees 90 IDM Unit Status Indicators occ c kt Shades Ge otene chats 91 General System Anomalies ia5dacs cain s nase sens oeces wea cent ones 92 IPIM Module Fault Diagnosis ss 23 5S siete cnadlabsico tes caxenbies 93 IPIM Module Fault Fy pests occ
40. endanger the machine or operator if power is not removed as quickly as possible Disable Drive The axis is disabled as defined in the Table 22 Stop Motion The axis decelerates at the maximum deceleration rate set in RSLogix 5000 software gt Axis Properties gt Dynamics tab Once the axis has come to a stop the servo loops remain enabled but no further motion can be generated until the fault is reset This is the gentlest stopping mechanism in response to a fault It is usually used for less severe faults Status Only System continues to operate Status is displayed on the IPIM module Only selected faults are programmable Table 22 indicates which faults have a programmable RSLogix Fault Action Faults that do not have a programmable fault action will have the Shutdown action described in Table 21 Figure 38 RSLogix 5000 Axis Properties Fault Actions Tab o Axis Properties Axis_1 General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Zi Set Custom Stop Action p Drive Thermal Disable Drive Drive Fault Action Attribute for EEE commen otor ermal Y IDM Overtemp fault E04 Feedback Noise Disable Drive Zi Feedback Disable Drive Fi Position Error Disable Drive Zi Cancel Apply Help Table 22 Exception Fault Behavior 3 RSLogix IPIM
41. for the IDM system Topic IPIM Module and IDM Unit Wiring Example Rockwell Automation Publication 2094 UM003B EN P February 2015 Appendix B Page 114 113 AppendixB Interconnect Diagram 2094 SEPM B24 S Kinetix 6000M IPIM Module Cable Shield Clamp e7 Figure 43 IPIM Module and IDM Unit Wiring Example 2090 CHBIFS8 12AAxx Hybrid Cable Hybrid Cable Input Connector DC Bus T Connector 7 3 cach lt lt 7 F 2 Blue d an White Blue lt D z 4 Drain SH2 pes intermodule Or E White Brown lt 8 Communication c 12 Brown 7 Connector oyr 7 White Pink Z 9 RTN ani KAN n 10 Orange 4 11 Violet lt 5 LE 12 Yellow lt lt 6 SE2 lt 2090 CNSSPxS AAxx Network Cable EtherNet IP Connectors 2 114 To Ethernet Module or Switch TX 1 Blue RX 1 RTN_RX 2 White Brown RTN_TX 2 Network Cable ag Ry 3 Brown RINTX gt gt 3 Output Connector gt 3 E TX S 4 White Blue RX lt lt 4 REF 5 Green REF 5 N g gt Network Cable P4 1 s Input Connector 2 rae F1 4 safe off ts To Safe off Connector SE2 F gt contol Graat SE 7 SE1 i x FS 24 B i 1 24V
42. in Table 7 and Table 8 To size the enclosure you need heat dissipation data from all equipment inside the enclosure such as the Logix controller LIM module IAM Once the total amount of heat dissipation in watts is known you can calculate the minimum enclosure size See the Kinetix 6000 Multi axis Servo Drives User Manual publication 2094 UM001 or the Kinetix 6200 and Kinetix 6500 Modular Multi axis Servo Drives User Manual publication 2094 UM002 for further information Rockwell Automation Publication 2094 UM003B EN P February 2015 Planning the Kinetix 6000M System Installation Chapter 2 Table 7 Power Dissipation Specifications Percent of DC Bus Current Power Dissipation as of DC Bus Current Output Rating Watts Heat Dissipation Formula 0 Y 33 952 3 18x 1 xis percent of DC bus current output rating any value from 0 0 to 1 0 Table 8 Power Dissipation Specifications Percent of IPIM Module Control Power Power Dissipation as of IPIM Module Control Power Output Rating Control Power Input Watts Frequency Voltage Hz AC 20 40 60 80 100 Heat Dissipation Formulas 120V 22 29 38 48 61 Y 23 76 20 73x 16 54 50 240V 34 42 52 63 76 Y 18 56x2 30 19x 27 41 120V 23 27 32 39 46 Y 14 57x7 11 40x 20 01 60 240V 38 49 62 76 92 Y 19 63x7 43 22x 28 75 1 xis percent of IPIM module control power output rating any value from
43. or 40 6 Result is an IAM control power load current of 2 32 A and an IPIM module heat dissipation value of 29 W Rockwell Automation Publication 2094 UM003B EN P February 2015 135 AppendixD Kinetix 6000M System Sizing Step 5 Sum the IAM control power load current for all devices on the power rail and confirm that the total IAM control power load current is less than the specified IAM and power rail limit e Calculate the total LAM control power load current by summing the load current calculated in step 4 for all IPIM modules e Use the Control Power Current Requirements table in the Kinetix 6000 Multi axis Servo Drives User Manual publication 2094 UM001 or the Kinetix 6200 and Kinetix 6500 Modular Multi axis Servo Drives User Manual publication 2094 UM002 to select the control power current requirements for the AM and any AMs on the power rail e Sum these two values for the total control power current requirement The control power load current calculated in step 5 must be less than the values in Control Power Input Power Specifications table in the Kinetix 6000 Multi axis Servo Drives User Manual publication 2094 UM001 or the Kinetix 6200 and Kinetix 6500 Modular Multi axis Servo Drives User Manual publication 2094 UMO002 Example From the Control Power Input Power Specifications table in the Kinetix 6000 Multi axis Servo Drives User Manual publication 2094 UM001 or the Kinetix 6200 and Kinetix 6500
44. ranges of its average probability of failure to satisfactorily perform its safety function on demand or simply average probability of failure on demand PFD The SIL value for a High Demand Continuous mode safety related system is directly related to the probability of a dangerous failure occurring per hour PFH These PFD and PFH calculations are based on the equations from EN 61508 and show worst case values This table provides data for a 20 year proof test interval and demonstrates the worst case effect of various configuration changes on the data Determination of safety parameters is based on the assumption that the system operates in high demand mode and that the safety function will be requested at least once a year Table 23 PFD and PFH for 20 year Proof Test Interval Attribute Value PFH 1e 9 0 35 PFD 1e 3 0 062 Proof test years 20 Refer to Safe Torque off Connector on page 40 for wiring details IMPORTANT The National Electrical Code and local electrical codes take precedence over the values and methods provided IMPORTANT Tobe sure of system performance run wires and cables in the wireways as established in the user manual IMPORTANT Pins 8 and 9 24V are used only by the motion allowed jumper When wiring to the wiring plug header the 24V supply for an external safety device that triggers the safe torque off request must come from an external source otherwise system performance will be jeopa
45. replace slot filler modules with AM modules or the 2094 BSP2 shunt module maximum one 2094 BSP2 shunt module per power rail Figure 32 Node Addressing Example 1 1756 MxxSE Sercos Sercos Fiber optic Ring Interface Module Logix Platform ControlLogix controller is shown Transmit Receive Base Node Address Switches MDF SBxxxxx IDM Unit 0 1m 5 1 in Transmit Kinetix 6000 System 5 axis power rail Te i 05 Slot filler module slot location 04 AM module axis 3 node address 03 AM module axis 2 node address 02 IPIM module slot location 01 IAM module axis 1 base node address Network Node Address Switches covers removed D N OO 20 IDM unit 1 21 IDM unit 2 m 22 IDM unit3 23 IDM unit 4 Rockwell Automation Publication 2094 UM003B EN P February 2015 71 Chapter6 Configuring the Kinetix 6000M System 1756 MxxSE Sercos Interface Module In example 2 Figure 33 the Ki
46. safety circuit is limited due to the current carrying capacity of the cascaded safety wiring Use the following equation to calculate the number of IDM units that can be added to a cascaded safety chain if Kinetix 6000 S safety accessories are used Rockwell Automation Publication 2094 UM003B EN P February 2015 Safe Torque off Signal Specifications Using the Safe Torque off Feature with the Kinetix 6000M System Appendix A m 16 n x3 where m maximum number of IDM units n number of Kinetix 6000 S modules in the safety chain EXAMPLE Using Figure 42 n equals 5 since there are 5 Kinetix 6000 S modules in the system The maximum number of IDM units that can be connected to the cascaded safety circuit through one or more IPIM modules is m 16 5 x3 33 This table provides specifications for the safe torque off signals used Attribute Value Safety inputs Input current less than10 mA Input ON voltage range 18 26 4V DC Maximum input OFF voltage 5V DC Input OFF current 2 mA Vin less than 5V DC Pulse rejection width 700 us External power supply SELV PELV Input type Optically isolated and reverse voltage protected Rockwell Automation Publication 2094 UM003B EN P February 2015 111 AppendixA Using the Safe Torque off Feature with the Kinetix 6000M System Notes 112 Rockwell Automation Publication 2094 UM003B EN P February 2015 Interconnect Diagram This appendix provides a wiring example
47. the IDM unit To avoid an electric shock hazard disconnect power to the system and verify that the voltage is zero before performing any work on the IDM unit Safe Torque off Feature Bypass Each IPIM module 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 Motion allowed Jumper Installed Safe off feature bypassed Figure 42 shows a typical safe torque off configuration Refer to Kinetix Safe off Feature Safety Reference Manual publication GMC RM002 for further information and wiring diagrams For additional information regarding Allen Bradley safety products including safety relays light curtain and gate interlock applications refer to the Safety Products Catalog website http www ab com catalogs Rockwell Automation Publication 2094 UM003B EN P February 2015 109 AppendixA Using the Safe Torque off Feature with the Kinetix 6000M System Safe off Control Circuit Figure 42 Typical Kinetix 6000M and Kinetix 6000 Safe off Configuration Middle drive Headers Connections i g lt 2090 XNSM M gt Last drive Head U e
48. the LIM module catalog numbers 2094 BLxxS or 2094 XL75S Cx with line filter catalog number 2090 XXLF xxxx as close to the IAM module as possible When the LIM module catalog numbers 2094 BLxxS or 2094 XL75S Cx supports two IAM modules each IAM module requires an AC line filter that is installed as close to the IAM module as possible Rockwell Automation Publication 2094 UM003B EN P February 2015 19 Chapter1 Start Notes 20 Rockwell Automation Publication 2094 UM003B EN P February 2015 Cable Length Restrictions and System Sizing Chapter 2 Planning the Kinetix 6000M System Installation This chapter describes system installation guidelines that are used in preparation for mounting your Kinetix 6000M components Topic Page Cable Length Restrictions and System Sizing 21 IPIM Module Design Guidelines 22 IDM Unit Design Guidelines 26 Electrical Noise Reduction 27 cutting drilling tapping and welding with the system removed from the ATTENTION Plan the installation of your system so that you perform all 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 This section provides guidelines for sizing an IDM system For accurate detailed sizing use Motion Analyzer software version 6 000 or later For more infor
49. to axis modules However upgrading firmware on the IPIM module is accomplished over the EtherNet IP network You need the following software and information before you begin Firmware Revision or Description Cat No Software Version ControlLogix sercos module 1756 MxxSE 20 007 or later CompactLogix sercos module 1768 M04SE 20 007 or later SoftLogix sercos PCI card 1784 PM16SE 20 007 or later RSLinx software 2 590 or later ControlFLASH software kit From website Catalog number of the targeted IPIM module and IDM unit you want to upgrade Network path to the targeted IPIM module and IDM unit 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 Quick Start publication 1756 05105 2 Version 20 000 may be used if the motion database has been updated IMPORTANT Control power must be present prior to upgrading your IPIM module or IDM units firmware upgrade due to unpredictable motor activity do not apply 3 phase AC i ATTENTION To avoid personal injury or damage to equipment during the or common bus DC input power to the IAM module Rockwell Automation Publication 2094 UM003B EN P February 2015 115 AppendixC Upgrading the Kinetix 6000M System Firmware Configure Logix This pro
50. to next receiver and cable type glass or plastic 11 Enter the Transition to Phase setting The Transition to Phase default setting is 4 phase 4 The Transition to Phase setting stops the ring in the phase specified 12 Click OK 13 Repeat step 1 through step 12 for each Logix module 76 Rockwell Automation Publication 2094 UM003B EN P February 2015 Configuring the Kinetix 6000M System Chapter 6 Configure the IDM Units Follow these steps to configure the IDM units 1 Right click the Logix module you just created and choose New Module The Select Module dialog box opens Catalog Module Discovery Favorites Clear Filters Show Filters Catalog Number 8720MC B027 8720MC 460 VAC 750VDC SERCOS Drive 274 Cont 414 Peak Allen Bradley 8720MC B034 8720MC 460 VAC 750VDC SERCOS Drive 344 Cont 514 Peak Allen Bradley 8720MC B042 8720MC 460 VAC 750VDC SERCOS Drive 424 Cont 634 Peak Allen Bradley 8720MC B048 8720MC 460 VAC 750VDC SERCOS Drive 484 Cont 724 Peak Allen Bradley 8720MC D065 8720MC 750VDC SERCOS Drive 654 Cont 98A Peak Allen Bradley 8720MC D078 8720MC 750VDC SERCOS Drive 784 Cont 117A Peak Allen Bradley 8720MC D097 8720MC 750VDC SERCOS Drive 97A Cont 1454 Peak Allen Bradley 8720MC D120 8720MC 750VDC SERCOS Drive 120A Cont 1804 Peak Allen Bradley 8720MC D149 8720MC 750VDC SERCOS Drive 149A Cont 2244 Peak Allen Bradley AZ20MC D180 2720 vp BOOS Driv
51. 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 and that all safety critical functions are not affected To abort this firmware update press Cancel now To begin the update now press Finish ControlFLASH x Are you sure you want to begin 7 updating the target device Control 13 Click Yes only if you are ready This ControlFLASH warning dialog box opens xl dd Flashing the IPIM Will Halt Drive Operation on Power Rail Cancel 14 Acknowledge the warning and click OK 120 Rockwell Automation Publication 2094 UM003B EN P February 2015 Upgrading the Kinetix 6000M System Firmware Appendix C The Progress dialog box opens and upgrading begins Catalog Number 2094 SEPM B24 S SerialNumber 00000000 Current Revision 1 002 00 New Revision 1 002 20 Waiting for transfer delay 2 seconds After the upgrade information is sent to the IPIM module the module resets and performs diagnostic checking Progress Catalog Number 2094 SEPM B24 S SerialNumber 00000000 Current Revision 1 002 00 New Revision 1 002 20 Polling for power up Time left until abort 120 seconds S 15 Wait for the Progress dialog box to timeout It is normal for this process to take several minutes IMPORTANT Do not cycle power to the drive during this process or the firmw
52. 0 44 30 13 saako unts Bales lO Table 25 Max Cable Length per IPIM Module using Motion Analyzer Digital Input Load 50 Number of IDM Units 110 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 ses a AT o 25 so 75 100 100 100 100 100 100 100 100 100 100 100 100 100 i N i 1 25 50 75 100 100 100 100 100 100 100 100 100 100 100 100 100 9 n x y ji 2 so 75 100 100 100 100 100 100 100 100 100 100 100 100 f 100 1 K if 5 3 75 100 100 100 100 100 100 100 100 100 100 100 100 96 i 40 tk s i 4 100 100 100 100 100 100 100 100 F100 100 95 oo ar X YTY Y E 100 100 100 98 97 96 96 88 65 42 15 v 5 6 100 95 89 86 80 63 42 20 Sa aN ag as ee ag 7 93 80 60 42 2 Total Number of IDM Units Wofiae WN Unis TBoleIDMUs 2Brte IDM Unis 54 27 wr amemus o Taake Unts gt Bre nts 134 Rockwell Automation Publication 2094 UM003B EN P February 2015 Kinetix 6000M System Sizing Appendix D Step 4 Estimate the IAM control power load current and the power dissipation for each IPIM module based on the total IDM unit control power load See the Kinetix Rotary Motion Specifications Technical Data publication GMC TD
53. 001 for specifications on IPIM module dissipation and IPIM module control power loading This information is also shown below The table below contains equations that can be used to calculate the IAM control power load for each IPIM module and the heat dissipation for each IPIM module The input value x is the total IDM unit control power load current as a percentage provided by the IPIM module This value in amps was calculated in step 2 The value from step 2 must be divided by the rated IPIM module control power load current 6 5 A IAM Control Power Interface IAM Control Power Current IPIM Heat Dissipation 2 120V AC 50 Hz Y 3 91x 0 77 Y 23 76x 20 73x 16 54 240V AC 50 Hz Y 2 39x 0 60 Y 18 56x 30 19x 27 41 120V AC 60 Hz Y 3 72x 0 83 Y 14 57x 11 40x 20 01 240V AC 60 Hz Y 2 45x 0 61 Y 19 63x 43 22x 28 75 1 Y IAM control power current x Total IDM unit control power load current percentage value from step 2 2 Y IPIM module heat dissipation from control power load x Total IDM unit control power load current percentage value from step 2 Make these calculations for all IPIM modules connected to the power rail The control power load current values will be used to confirm the system sizing for the IAM power rail and LIM in a later step Example Using the equations provided determine values for e Control power 120V AC 60 Hz e IDM control power load current 2 64 A
54. 03 Resettable DC Bus Overload Excessive RMS current usage by IDM units Reduce the amount of current required by the IDM units or add an additional IPIM module to the Kinetix 6000 rail IPIM FLT 04 Resettable DC Fuse Blown Wiring error or DC bus short Check wiring and IDM units for DC bus integrity Once the wiring issue or damaged IDM unit has been removed and replaced change the DC fuse IPIMFLT05 Resettable DC Fuse Blown Wiring error or DC bus short Check wiring and IDM units for DC bus integrity Once the wiring issue or damaged IDM unit has been removed and replaced change the DC fuse IPIMFLT06 Not Resettable Control Power Excessive control power usage by the IDM Check for control power wiring shorts Reduce number of ID units Reduce the Overcurrent units number of power cycles IPIMFLTO7 Resettable DC Bus Excessive instantaneous current usage by Reduce number of IDM units per IPIM module or modify motion profiles to Overcurrent IDM units reduce current draw IPIMFLTO8 Resettable Bus Regulator Thermal model of IPIM shunt indicates Modify the IDM unit or Kinetix 6000 motion profiles and or applications to Thermal Overload overheating due to excessive current reduce the regenerative energy Add external shunt modules regeneration IPIMFLTO9 Resettable Overtemp Excessive temperature measured in the Verify ambient operating conditions Replace the IPIM module IPIM module IPIMFLT 10 Resettable Open DC Bus IDM unit hy
55. 15 16 info tools 0000 Navigation Buttons _ Status Indicators see page 90 Oooo0oaaq The soft menu provides a changing selection that will correspond to the current display Use the navigation buttons to perform the following actions Selecting either arrow will move the selection to the next or previous item or value Depending on the menu displayed both arrows may not be shown AV Selecting either arrow will move the selection to the next menu item It will also change a selected value Depending on the menu or item displayed both arrows may not be shown back Discards changes and returns to the previous screen or home cancel Discards any changes and returns to the home display enter Accepts current selection value info Selects the Information display for the IPIM or a selected IDM unit home Selecting home will discard changes and return to the home display tools Displays the tools menu save Accepts the current selection value 66 Rockwell Automation Publication 2094 UM003B EN P February 2015 Startup Sequence Configuring the Kinetix 6000M System Chapter 6 On initial powerup the IPIM module performs a self test of the system Upon successful completion the following confirmation is displayed followed by the firmware version and IP address Running Self Tests OK
56. 2094 XL75S Cx LIM modules contain branch circuit rated devices suitable for use on a circuit capable of delivering up to 65 000 A 400V class See the Line Interface Module Installation Instructions publication 2094 IN005 for power specifications and more information on using the LIM module Fuse Location and Replacement The IPIM module uses internal fuses see Figure 6 for short circuit protection of the DC bus The recommended fuse is Bussmann FWP 50A14Fa A fuse replacement kit catalog number 2094 SEPM FUSE is also available Rockwell Automation Publication 2094 UM003B EN P February 2015 23 Chapter 2 24 Planning the Kinetix 6000M System Installation Figure 6 IPIM Fuse Location power has been removed Before working on the IDM system wait the full time interval as indicated in the warning on the IPIM module Failure to observe this precaution could result in severe bodily injury or loss of life ATTENTION Capacitors on the DC bus can retain hazardous voltages after input To replace the fuses follow these steps 1 Make sure that all power to the power rail has been removed 2 Wait the full time interval as indicated in the warning on the IPIM module 3 Loosen the captive screws 4 Grasp the top and bottom edges of the fuse holder and pull straight out 5 Replace the fuses Enclosure Selection Heat dissipation of the IPIM module is shown
57. 55735 Safety Controller Allen Bradley 1756174 ContolLogw5574 Controller Allen Bradley 1756175 ControlLogx5575 Controller Allen Bradley 1756 M024E 2 Axis Analog Encoder Servo Allen Bradley 1756 M024S 2 Axis Analog SSI Servo Allen Bradley 1756 M03SE 3 Axis SERCOS Interface Allen Bradley qj 1756 M08SE 8 Axis SERCOS Interface Allen Bradley 1756 M08SEG 756 MI6SE 8 As Generic SERCOS Interface Allen Bradley terface 16 Axis erf aci 1756 MODULE Generic 1756 Module Allen Bradley 1756 016 16 Point 74V 265V AC Output Allen Bradley 1756 04161 16 Point 74V 265V AC Isolated Output Allen Bradley 1756 048 8 Point 74V 265V AC Output Allen Bradley y Hsp phat eee oe REA oft 122 of 122 Module Types Found Add to Favorites I Close on Create Create Close Help dA 2 Scroll to select the sercos module as appropriate for your actual hardware configuration In this example the 1756 M16SE module is selected 3 Click Create The New Module dialog box opens A x Type 1756 M16SE 16 Axis SERCOS Interface Vendor Allen Bradley Name UM_SERCOS Slot 2 A Revision po fi a Electronic Keying Compatible Keying z IV Open Module Properties OK Cancel Help 4 Configure the new module Description a Type the module Name b Enter the Logix sercos module slot leftmost slot 0 c Check Open Module Properties 5 Click OK Your new module appears under the I O Configuration folder in the Controller Organi
58. 90 CHBIFS8 12AAxx Hybrid Cable DG brown PE green DC grey sng a 42 white blue 42 blue CN white brown CN brown SH2 drain RTN pink OUT white pink SE1 orange SE2 yellow SE violet SH3 drain JaMmod uonepjunwiwo 1 Route the cable wires to the module 2 Insert wires into connector plugs 3 Tighten the connector screws See page 39 for torque specifications Jo yU0 4 Gently pull on each wire to make sure it does not come out of its terminal reinsert and tighten any loose wires 5 Insert the connector plug into the module connector Rockwell Automation Publication 2094 UM003B EN P February 2015 57 Chapter5 Connecting the Kinetix 6000M System Figure 24 Hybrid Cable Installed Hybrid Cable Hybrid Cable DC Bus Connector Hybrid Cable Communication Signals Connector Network Cable The IDM system network is routed by using 2090 CNSxPxS AAxx cables A 2090 CNSSPRS AAxx or 2090 CNSSPSS AAxx cable is required for connection to the IPIM module 2090 CNSSPRS AAxx 2090 CNSRPSS AAxx 2090 CNSRPRS AAxx 2090 CNSSPSS AAxx 1 Not for connection to an IPIM module When installing network cables torque the connector plug to 0 8 1 2 Nem 7 1 10 6 lbein to fully seat the contacts and secure the connection How to Bypass an IDM Unit A 2090 CCPPS85S coupler cable joins two hybrid cables to bypass an IDM unit or extend t
59. 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 Click the Tune tab e Axis Properties Axis_1 zoj x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Travel Limit feo Position Units Start Tuning Speed 10 0 Position Units s DANGER Starting tuning procedure with controller Torque Force 100 0 Rated Direction j Forward Uni directional Damping Factor fos Tune I Position Error Integrator Velocity Error Integrator J Friction Compensation J Velocity Feedforward I Acceleration Feedforward I Torque Offset T Output Filter Cancel Apply Help 3 Type values for Travel Limit and Speed In this example Travel Limit 5 and Speed 10 The actual values of programmed units depend on your application 4 From the Direction pull down menu choose a setting Forward Uni directional is default 5 Check Tune boxes as appropriate for your application 6 Apply Hardware Enable Input signal for the axis you are tuning IMPORTANT Hardware Enable input for IDM units is on the IPIM module 7 Click Start Tuning to autotune your axis The Online Command Tune Servo dialog bo
60. Each ring has its own 1756 MO8SE sercos module in the ControlLogix controller chassis IMPORTANT It is not required that all Kinetix 6000 drives be on the same sercos ring however it is required that all IDM units be on the same sercos ring as the IPIM module they are connected to Figure 27 Kinetix 6000M Network Cable Example IPIM Module to IDM Units 2 sercos rings 1756 MO8SE Sercos Interface Modules Logix Platform e gt ControlLogix controller is shown Sercos Fiber optic Ring 2 i Sercos Fiber optic Ring 1 Bulletin 2090 Power Brake Cables 2094 BCxx Mxx x 0000 5000 2094 SEPM B24 S 2094 BMxx x IPIM Modules AM Modules sesi 6000 400V class IAM Module mom Bulletin 2090 Feedback Cables Bulletin 2090 Network Cables Bulletin 2090 Hybrid Cables Compatible 400V class Rotary Linear Motors or Actuators Bulletin MPL motors are shown Bulletin 209 Network Cables Bulletin 2090 Hybrid Cables Rockwell Automation Publication 2094 UM003B EN P February 2015 IDM System 1 2090 CTHP8 2090 CTSRP terminators required on last IDM unit IDM System 2 61 Chapter5 Connecting the Kine
61. He l Oja First drive Wiring Head eaea EE a II Drive to Drive Safe off Cables 4999 97 Ug lta 1202 C03 _ 1202 02 1202 C10 1202 03 Ag lta D hanp leg i C E zi eee al A Al i E g i E E ED System 1 Kinetix 6000 and Kinetix 6000M Systems Network Cable 2090 CNSxPxS Cascading the Safe Torque off Signal 110 IDM Unit IPIM to IDM Hybrid Cable System 2 2090 CHBIFS8 12AAxx Kinetix 6000 Drive System IDM to IDM Hybrid Cable 2090 CHBP8S8 12AAxx IMPORTANT When using the Kinetix 6000M system in a cascaded system with Kinetix 6000 drives the IPIM module only forwards the safety feedback monitoring signals Additionally it is absolutely necessary that the safety feedback connections be cascaded through each drive on the power rail so that any safety device can recognize when the Kinetix 6000 drive opens the feedback contactor in the cascaded safety string The total number of IAM AM and IPIM modules in a single cascaded
62. Hybrid Cables Bulletin 2090 Hybrid Cables Bulletin 2090 Hybrid Cables g 2090 CTHP8 2090 CTSRP i terminators required on last IDM IDM System 2 IDM System 3 IDM System 4 unit IDM System 1 62 Rockwell Automation Publication 2094 UM003B EN P February 2015 Connecting the Kinetix 6000M System Chapter 5 Ethernet Cable Connections This procedure assumes you have your ControlLogix or CompactLogix EtherNet IP module and Bulletin 2094 control modules mounted and are ready to connect the Ethernet network cables The EtherNet IP network is connected by using the PORT 1 and or PORT 2 connectors The IPIM module uses the EtherNet IP network only for configuring the Logix program See page 42 to locate the Ethernet connector on your IPIM module See the Figure 29 to locate the connector on your EtherNet IP controller module Figure 29 ControlLogix and CompactLogix Ethernet Port Locations EtherNet P ControlLogix Platform eme CompactLogix 5370 L1 L2 and L3 Controllers 1756 ENxT EtherNet IP Module is Shown Gm 1769 L3xERM Controller is Shown 1 O m Ga Allen Bradley A Front Views a
63. M Hybrid Terminator Installation Instructions publication 2090 IN035 Kinetix 6000M Network Terminator Installation Instructions publication 2090 IN036 Description Provides detailed terminator information Kinetix 6000M Hybrid Power Coupler Installation Instructions publication 2090 IN038 Provides installation information for the Hybrid Power Coupler Kinetix 6000M Bulkhead Cable Adapter Kit Installation Instructions publication 2090 IN039 Provides installation information for the Bulkhead Cable Adapter Kinetix 6000M Integrated Drive Motor Installation Instructions publication MDF IN001 Provides installation information for the IDM unit Kinetix 6000M Integrated Drive Motor Power Interface Module Installation Instructions publication 2094 IN016 Provides information on the installation of the IPIM module Kinetix 6000 Multi axis Servo Drives User Manual publication 2094 UM001 Provides detailed information about the Kinetix 6000 drives Kinetix 6200 and Kinetix 6500 Modular Multi axis Servo Drives User Manual publication 2094 UM002 Provides detailed information about the Kinetix 6200 drives Fiber optic Cable Installation and Handling Instructions publication 2090 IN010 Provides information on proper handling installing testing and troubleshooting fiber optic cables System Design for Control of Electrical Noise Reference Manual publication GMC RM001 EMC Noise Man
64. M System Mounting the IPIM Module 30 Using the 2094 Mounting Brackets You can use Bulletin 2094 mounting brackets to mount the power rail or LIM module over the AC line filter See the 2094 Mounting Brackets Installation Instructions publication 2094 IN008 when using mounting brackets with your system Installing the 2094 Power Rail The Bulletin 2094 power rail comes in lengths to support one IAM module and up to seven additional modules A maximum of four IPIM modules can be mounted to one power rail The connector pins for each slot are covered by a protective cover The cover is designed to help protect the pins from damage and make sure that no foreign objects lodge between the pins during installation See the Kinetix 6000 Power Rail Installation Instructions publication 2094 IN003 when installing your power rail remove the protective covers until the module for each slot is ready for ATTENTION To avoid damage to the power rail during installation do not mounting Determine Mounting Order See the Module Mounting Order Example diagram on page 31 and mount the modules in the order left to right shown Install modules according to power utilization highest to lowest from left to right starting with the highest power utilization If power utilization is unknown position modules highest to lowest from the left to the right based on the IPIM or AM continuous power rating kW Power utilization is the aver
65. M module rating is 12 93 24 53 9 MDF SB1003 No 1 10 2 04 MDF SB1304 No 1 39 2 57 MDF SB1304 Yes 1 24 2 30 MDF SB1003 No 1 10 2 04 MDF SB1153 No 1 15 2 13 Total 12 93 The DC bus current is less than the continuous current specification for the IPIM module so this is a valid system configuration Step 8 Estimate the IPIM module dissipation for the DC bus load current and the total IPIM module dissipation from the IDM unit control power and DC bus load current See the Kinetix Rotary Motion Specifications Technical Data publication GMC TD001 for specifications on IPIM module dissipation This information is also shown in the equation below This equation can be used to estimate the dissipation in watts of the IPIM module as a function of the DC bus load current expressed as a percentage of the maximum rating 24 A rms Dissipation 33 95x 3 18x Combine the dissipation value calculated from this equation with the dissipation from the total IDM system control power load current value from step 4 This is the total dissipation for the IPIM module Repeat for each IPIM module Example The DC bus current was calculated as 12 93 A or 53 9 of the IPIM rating The dissipation for this DC bus current value is 11 7 W The dissipation calculated for the total IDM control power step 4 is 29 W Therefore the total dissipation for the IPIM is 40 7 W Rockwell Automation Publication 2094 UM003B EN
66. Name Signal Name 1 24V 24V 24V 2 Overtravel Overtravel Reserved 3 24V COM 24V COM 24V COM 4 Registration 2 Registration 1 HOME 5 Shield Chassis Ground Shield Chassis Ground Shield Chassis Ground The IDM unit only supports PNP active high or sourcing inputs Single Normally Closed NC Sensor Connection Normally closed sensors are used for limit overtravel switches on the IDM unit Any 4 pin or 5 pin M12 A code 1 1 pass through cable can be used to connect a normally closed sensor See Figure 13 Figure 13 Single NC Sensor Connection Example 889D x4ACDx xx Patchcord 1 1 0 24V 1 m p ERE 2 Normally Closed Unit n PNP Sensor e 5 5 Rockwell Automation Publication 2094 UM003B EN P February 2015 Kinetix 6000M System Connector Data Chapter 4 Single Normally Open NO Sensor Connection Normally open sensors are used for registration or home switches on the IDM unit Any 4 pin or 5 pin M12 A code 1 1 pass through cable can be used to connect a normally open sensor See Figure 14 Figure 14 Single NO Sensor Connection Example 889D x4ACDx xx Patchcord i 1 0 24V i IDM d TODA COM Z Normally Open Unit Signal PNP Sensor el5 5je Combined NC amp NO Sensor Connection There may be applications where two sensors must be connected to a one input
67. P February 2015 Strip Length mm in 9 7 0 38 Strip Length mm in 6 4 0 25 Chapter 4 Torque Nem Ibein 0 75 6 6 Torque Nem Ibein 0 235 2 0 39 Chapter4 Kinetix 6000M System Connector Data 40 Safe Torque off Connector This connector provides a termination point for connecting safety devices such as emergency stop switches light curtains and floor mats The redundant safety device outputs should be connected to Safety Enable Input 1 and 2 with reference to Safety Enable Common Remove the motion allowed jumper before connecting any safety devices Wiring Plug Header Each IPIM module ships with the wiring plug header and motion allowed jumper installed in the safe torque off connector IMPORTANT defeated IMPORTANT With the motion allowed jumper installed the safe torque off function is Pins 8 and 9 24V are used only by the motion allowed jumper When wiring to the wiring plug header the 24V supply for an external safety device that triggers the safe torque off request must come from an external source otherwise system performance will be jeopardized This connector extends the safe off signals for use in wiring single and multiple safe torque off configurations or to bypass not use the safe torque off function See page 107 for further information Strip Min Max Length Torque Wire Size Terminal Desc
68. PIM w Safe off Table 3 Integrated Drive motor IDM Cat No No Brake MDF SB1003P QJ82B S Cat No with Brake MDF SB1003P QJ84B S Description 460V IEC 100 mm 5000 rpm Keyed MDF SB1003P QK82B S MDF SB1003P QK84B S 460V IEC 100 mm 5000 rpm Smooth MDF SB1153H QU82B S MDF SB1153H QU84B S 460V IEC 115 mm 3500 rpm Keyed MDF SB1153H QK82B S MDF SB1153H QK84B S 460V IEC 115 mm 3500 rpm Smooth MDF SB1304F QJ82B S MDF SB1304F QU84B S 460V IEC 130 mm 3000 rpm Keyed MDF SB1304F QK82B S MDF SB1304F QK84B S Table 4 Replacement Parts 460V IEC 130 mm 3000 rpm Smooth Cat No Description Shaft seal kit for MPF SST A3B3 MDF SB1003 MPF SST A4B4 MDF SB1153 MPF SST A45B45 MDF SB1304 2094 XNIPIM IPIM module connectors includes hybrid DC bus hybrid communication safe off and enable 2094 SEPM FUSE Fuses for IPIM module 6 each MDF SB NODECVR IDM unit node address switch covers 1485 M12 IDM unit digital input connector covers Terminator 2090 CTHP8 Hybrid 2090 CTSRP Network Table 5 Accessories Cat No MPS AIR PURGE Description Positive air pressure kit Rockwell Automation Publication 2094 UM003B EN P February 2015 17 Chapter1 Start Com ponent Compatibility The Kinetix 6000M integrated drive motor system is compatible with e 400V class Series B Kinetix 6000 drive systems e 400V class Kinetix 6200
69. RTANT Clean the fiber optic cable connectors before installation Dust in the connectors can reduce signal strength For more information see Fiber Optic Cable Installation and Handling Instructions publication 2090 IN010 The IPIM module has fiber optic cable connectors positioned identical to the Kinetix 6000 2094 BMxx S drives the IPIM module uses the same fiber optic cable lengths as the drive modules In the following example Figure 25 all of the drive modules and the IPIM module are on the same sercos ring The ring begins and ends at the 1756 M16SE sercos module IDM units connected to the IPIM module not shown for simplicity are also part of this sercos ring Figure 25 Fiber optic Cable Example Logix Platform with IPIM Module 1756 M16SE Sercos Interface Module Sercos Fiber optic Ring 6 Logix Platform p F 0 1m 5 1in AN Kinetix 6000 System a 4 axis power rail 2094 SEPM B24 S IPIM Module 2094 BMxx x Single wide AM Modules Rockwell Automation Publication 2094 UM003B EN P February 2015 59 Chapter5 Connecting the Kinetix 6000M System In this five axis Bulletin 2094 power rail configuration the AM module and two AM modules power three of the axes and two IPIM modules are each connected to four IDM units All eleven axes are on the same sercos ring IMPORTANT It is not required that all Kinetix 6000 drives be on the same sercos ring however it is required that a
70. SB1003P Qxx2x 5S SerialNumber 00000000 Current Revision 1 005 Con trol m Select the new revision for this update Revision 1 005 Restrictions prisin gt About Info al I Show all revisions m Current Folder c program files contralflash 8 Select the firmware revision to upgrade 9 Click Next Rockwell Automation Publication 2094 UM003B EN P February 2015 123 Appendix C 124 Upgrading the Kinetix 6000M System Firmware The Summary dialog box 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 affected by this equipment have been suspended and that all safety critical functions are not affected To abort this firmware update press coi now To begin the update now press inis Catalog Number MDx SB1003P Qxx2x 5 SerialNumber 00000000 Current Revision 1 000 New Revision 1 005 10 Confirm the IDM unit catalog number and firmware revision 11 Click Finish This ControlFLASH warning dialog box 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 affected by this equipment have been suspended and that all safety critical functions are not affecte
71. The Firmware Revision for this update cme ie 2 Click Next The Catalog Number dialog box opens Enter the catalog number of the target device MDx SB1 003P Qxx2x S 1763 L33ER Control MDx SB 1003P Dard 5 MDx SB1153H Qxx2x 5 MDx SB1153H Oxxdx S X MDx SB1304F Qxx2x S MDx SB1304F Oxx4x S 3 Select your IDM unit 4 Click Next Rockwell Automation Publication 2094 UM003B EN P February 2015 Upgrading the Kinetix 6000M System Firmware Appendix C The Select Device to Update dialog box opens xl IV Autobrowse Pa Browsing node 127 not found Workstation USMEQISTO89 00 13 28 1756 M165E MDx 56100 MDx 58130 Z Linx Gateways Ethernet Za AB_ETH 2 Ethernet s AB_ETH 3 Ethernet 10 91 15 140 Panelview 10 91 15 141 1756 EN2 Gf 10 91 15 142 1756 EN2 Backplane 1756 410 00 1756 L75 Loc H a 4 01 1756 M16SE A 02 1756 M165E Ela SERCOS inte 00 1756 13 1756 module MDx 5B1003P Qxx2 28 1756 03 1756 M16SE 04 1756 M16SE 05 1756 M16SE 09 1756 EN2T 1 10 91 15 144 1794 AEN H 10 91 15 145 1794 AEN DAE F Cancel 5 Expand your Ethernet node Logix backplane and EtherNet IP network module 6 Select the IDM unit to upgrade 7 Click OK The Firmware Revision dialog box opens Firmware Revision Catalog Number MDx
72. User Manual Allen Bradley Kinetix 6000M Integrated Drive Motor System Catalog Numbers 2094 SEPM B24 S MDF SB1003P MDF SB1153H MDF SB1304F Allen Bradley Rockwell Software Automation Important User Information Read this document and the documents listed in the additional resources section about installation configuration and operation of this equipment before you install configure operate or maintain this product Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes laws and standards Activities including installation adjustments putting into service use assembly disassembly and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice If this equipment is used in a manner not specified by the manufacturer the protection provided by the equipment may be impaired 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 Automatio
73. age power kW consumed by a servo axis If the servo axis has been sized by using Motion Analyzer software version 6 000 or later the calculated axis power required can be used for power utilization If the servo axis has not been sized in Motion Analyzer use Table 11 showing the maximum continuous power for IPIM and AM modules to determine the desired location on a power rail Table 11 Module Type and Continuous Power Output 2094 BM05 S 2094 SEPM B24 S 2094 BM03 S 2094 BM02 S 2094 BM01 S 2094 BMP5 S Axis Module IPIM Module Axis Module Axis Module Axis Module Axis Module 22 0 kW 15 0 kW 13 5 kW 6 6 kW 3 9 kW 1 8 kW The IPIM module can be installed on a power rail with an IAM module configured as a common bus follower but you will be responsible for configuring the leader for the appropriate additional capacitance in the follower power rail including the IPIM module Rockwell Automation Publication 2094 UM003B EN P February 2015 Mounting the Kinetix 6000M System Chapter 3 Figure 10 Module Mounting Order Example Highest Power Utilization Lowest Power Utilization Integrated Axis lt 2 ________ gt Shunt Slot Filler Module IPIM Module Axis Modules Module Module l l D 4a 49 40 40 26 AA lolol tesco H E B g E E E i E E
74. agement DVD publication GMC SP004 Provides information examples and techniques designed to minimize system malfunctions caused by electrical noise Kinetix Rotary Motion Specifications publication GMC TD001 Provides IPIM module and IDM unit specifications Kinetix Motion Accessories Specifications publication GMC 1D004 Provides product specifications for Bulletin 2090 motor and interface cables low profile connector kits drive power components and other servo drive accessory items Kinetix Safe off Feature Safety Reference Manual publication GMC RM002 Provides information on wiring and troubleshooting your Kinetix 6000 servo drives with the safe off feature Kinetix Motion Control Selection Guide publication GMC SG001 Provides specifications motor servo drive system combinations and accessories for Kinetix motion control products Sercos and Analog Motion Configuration User Manual publication MOTION UMO001 Provides information on configuring and troubleshooting your ControlLogix CompactLogix and SoftLogix sercos interface modules Motion Coordinate System User Manual publication MOTION UM002 Provides information to create a motion coordinate system with sercos or analog motion modules SoftLogix Motion Card Setup and Configuration Manual publication 1784 UM003 Provides information on configuring and troubleshooting SoftLogix PCI cards Rockwell Automation Industr
75. are upgrade will not complete successfully 16 The Update Status dialog box opens and indicates success or failure as described below Upgrading Status If Sines 1 Update complete appears in a GREEN Status dialog box 2 Go to step 17 1 Update failure appears in a RED Status dialog box Failure 2 Refer to ControlFLASH Firmware Upgrade Kit Quick Start publication 1756 05105 for troubleshooting information Update Status xj Catalog Number 2094 SEPM B24 S SerialNumber 00000000 Current Revision 1 002 00 View Log New Revision 4 992 20 Status Help 17 Click OK IDM Unit Firmware Upgrade Follow these steps to select the IDM unit to upgrade Rockwell Automation Publication 2094 UM003B EN P February 2015 121 Appendix C 122 Upgrading the Kinetix 6000M System Firmware 1 Open your ControlFLASH software You can access the ControlFLASH software by either of these methods e From the Tools menu in RSLogix 5000 software choose ControlFLASH e Choose Start gt Programs gt FLASH Programming Tools gt ControlFLASH The Welcome to ControlFLASH dialog box opens Welcome to ControlFLASH Welcome to ControlFLASH the firmware update tool ControlFLASH needs the following information from you before it can i begin updating a device Con tr al 1 The Catalog Number of the target device 2 The Network Configuration parameters optional 3 The Network Path to the target device 4
76. ase the total bus capacitance by removing AM or IPIM modules 14 Rockwell Automation Publication 2094 UM003B EN P February 2015 Start Chapter 1 Figure 4 Typical Kinetix 6000 with Kinetix 6000M System Common Bus 2090 XXLF xxxx AC Line Filter required for CE 2094 BSP2 3 phase Control Power 2094 SEPM B24 S Shunt Module Input Power IPIM Module optional component 4g Ag Ta a 2094 BCxx Mxx S a ese 2094 PRF IAM Module 2 J J Slot filler Module Common Bus Leader required to fill unused slots 2094 PRSx Power Rail 2094 BLxxS Line Interface Module DC Common Bus optional component 2094 BCxx Mxx S IAM Module Common Bus Follower Bulletin 2090 Hybrid Cables Bulletin 2090 Network Cables Digital y__ Inputs J To Input Sensors and Control String Digital Inputs MDF SBxxxxx IDM Unit J 2090 CTHP8 2090 CTSRP terminators required on last IDM unit Bulletin 2090 Motor Fe
77. at each input for the purpose of registration home enable overtravel positive and overtravel negative inputs These are sinking inputs that require a sourcing device A 24V DC power and common connection is provided for each input A total of 200 mA is supplied for all three input connectors Rockwell Automation Publication 2094 UM003B EN P February 2015 45 Chapter 4 46 Kinetix 6000M System Connector Data IDM units have three 5 pin M12 digital input connectors Allen Bradley Bulletin 889D DC micro style patchcords splitters and V cables are available with straight and right angle connectors for making connections from the IDM unit to input sensors For the most popular patchcord specifications refer to the Connection Systems Quick Selection Guide publication CNSYS BROO1 For complete information see On Machine Connectivity publication M117 CA001 IMPORTANT Unused input connectors must have protective covers installed to maintain the IDM IP rating Torque each cover to 0 6 Nem 5 Ibein to help ensure a tight seal IMPORTANT To improve registration input EMC performance refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 IMPORTANT Overtravel limit input devices must be normally closed Digital Input Connector 1 Digital Input Connector 2 Digital Input Connector 3 Overtravel Registration2 Overtravel Registration1 Home Pin Signal Name Signal
78. ault Behavior Continued RSLogix IPIM Display IDMStatus Programmable RSLogix Drive Fault Indicator Potential Cause Possible Solution Fault Action Fault Behavior E66 Autotune Flashing Autotune procedure failed e Check IDM unit power feedback wiring No Coast Disable DriveHardFault Red Refer to RSLogix 5000 on screen message for resolution e Perform Hookup Test in RSLogix 5000 software e Consult RSLogix 5000 help screen E67 Task Init Solid Red Operating system failed Cycle power No Coast Disable DriveHardFault If fault persists replace module Open Contactor Enable E69 Objects Init Solid Red Nonvolatile memory is corrupt dueto Load default parameters save to No Coast Disable DriveHardFault control board hardware failure nonvolatile memory and recycle power or Open Contactor reset the IPIM module Enable E70 NV Mem Init Solid Red Nonvolatile memory is corrupt dueto Load default parameters save to No Coast Disable DriveHardFault control board software error nonvolatile memory and recycle power or Open Contactor reset the IPIM module Enable E71 Memory Init Solid Red RAM or nonvolatile memory validation Cycle power No Coast Disable DriveHardFault failure e If fault persists replace module Open Contactor Enable E72 Drive Overtemperature Flashing Excessive heat in the circuitry e Replace the failed module Yes Decel Disable DriveOvertempFault Red Check the ambient temperatu
79. brid cable disconnected Check hybrid cable connections at the IPIM module and each IDM unit IPIMFLT 11 Not Resettable Runtime Error Unexpected firmware error Reboot Not Resettable Display is blank Corrupted Main Firmware Replace IPIM module and Module Status is Solid Red Table 20 IPIM Initialization Fault Types Descriptions and Actions IPIM INIT FLT 03 IAM Version Resettable IAM module firmware version does not support IPIM modules Possible Solution Update IAM module firmware IPIMINIT FLT 05 Not 94 Resettable Custom Logic Watchdog Main firmware has lost communication Cycle power on the IPIM module Check for firmware updates Contact Allen Bradley Technical Support Rockwell Automation Publication 2094 UM003B EN P February 2015 IDM Unit Fault Diagnosis Troubleshooting the Kinetix 6000M System Chapter 7 Logix Controller IDM Unit Fault Behavior These RSLogix 5000 fault actions are configurable from the Axis Properties dialog box Fault Actions tab Table 21 Fault Action Definitions Fault Action Shutdown Definition Axis is disabled as defined in Table 22 In addition the axis in Logix enters the Shutdown state which disables any axes that are using this axis as a camming or gearing master The AxisHomedStatus tag for the faulted axis is cleared Shutdown is the most severe action to a fault and it is usually reserved for faults that could
80. cables are properly grounded through the IPIM module to the ground plane of the Kinetix drive system e Verify that every cable shield directly connects to chassis ground e Clamp the exposed section of the hybrid cable shield in the cable chassis ground connection on the drive See Apply the Cable Shield Clamp Figure 21 Hybrid Cable Shields ma Power Wires and Ground i UO CO il m Grouped Signal Wires and Shields Cable insulation is removed to expose the overall shield of the cable Apply the Cable Shield Clamp The cable shield clamp assures a solid bond to the shield and secures the cable 1 Depress the spring loaded clamp 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 Outer Insulation Exposed Braid under clamp me fy r Rockwell Automation Publication 2094 UM003B EN P February 2015 55 Chapter5 Connecting the Kinetix 6000M System General IDM System Wiring 56 A A IMPORTANT ATTENTION Arcing or unexpected motion can occur if cables are connected or disconnected while power is applied to the IDM system Before working on the system disconnect power and wait the full time interval indicated on the IPIM module warning label or verify the DC bus v
81. cedure assumes that your communication method to the Logix Communication controller is using the Ethernet protocol It is also assumed that your Logix Ethernet module has already been configured For more information refer to the ControlLogix System User Manual publication 1756 UM001 Follow these steps to configure Logix communication 1 Open your RSLinx Classic software 2 From the Communications pull down menu choose Configure Drivers The Configure Drivers dialog box opens Configure Drivers Available Driver Types Ethernet devices Configured Drivers Name and Description Configure Startup Start Stop Delete 3 From the Available Drive Types pull down menu choose Ethernet devices 4 Click Add New The Add New RSLinx Classic Driver dialog box opens 5 Type the new driver name Add New RSLinx Classic Driver Choose a name for the new driver 15 characters maximum AB_ETH 1 Ee 6 Click OK The Configure driver dialog box opens Configure driver AB_ETH 1 Station Mapping Station Host Name Add New 10 91 36 82 Delete 7 Type the IP address of your Logix Ethernet module The IP address shown is an example Yours will be different 116 Rockwell Automation Publication 2094 UM003B EN P February 2015 Upgrading the Kinetix 6000M System Firmware Appendix C IPIM Module Firmware Upgrade 8 Click OK The new Ethernet driver appears under Configure
82. cked default means a hard drive enable input signal is required Uncheck to remove that requirement TIP The drive enable input signal is located on the IPIM module 3 Click Apply 4 Click the Units tab and edit default values as appropriate for your application 5 Click the Conversion tab and edit default values as appropriate for your application se Axis Properties Axis_1 P lol x Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag General Motion Planner Units Drive Motor Motor Feedback AuxFeedback Conversion Positioning Mode Rotary hd i f2o0000 0 Drive Counts 1 0 Position Units Conversion Constant 200000 0 Based on 200000 Counts Motor Rev os n Drive Counts Unwind Position Unwind 200000 Based on 200000 Counts Motor Rev 0K Cancel amy Heb 6 From the Positioning Mode pull down menu and choose Rotary 7 Click Apply 80 Rockwell Automation Publication 2094 UM003B EN P February 2015 Configuring the Kinetix 6000M System Chapter 6 8 Click the Fault Actions tab 6 Axis Properties axis A 01 x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Drive Enable Input Drive Thermal Motor Thermal Feedback Noise Feedback Position Error Soft Gyertravel Phase Loss Disable Drive z
83. connector Typically a limit switch NC is connected to pin 2 and a registration switch NO to pin 4 of the connector In the figure below the 889D x4ACDx xx patchcord swaps the NC signal from pin 2 to pin 4 The micro splitter then swaps it back for proper connection to pin 2 of the IDM input connector The NO sensor goes straight through on pin 4 Figure 15 Combined NO amp NC Sensor Connection Using a Micro Splitter 879D F5DM DC Micro Splitter or 889D x4ACDx xx 879 F5xCDM xx Cable Patchcord 889D x4ACDx xx 1 0 24V i Patchcord OZV COM 2 Normally Open Signal i PNP Sensor i ire sle IDM 1 0 24V COM Unit 4 NO Sensor 5 1 0 24V i Signal 0 24V COM 2 Normally Closed i PNP Sensor B 5 e 889D x4ACDx Vxx Patchcord Rockwell Automation Publication 2094 UM003B EN P February 2015 47 Chapter4 Kinetix 6000M System Connector Data Digital Input Cable Examples Figure 16 Digital Inputs Used for Home and Overtravel Functions MDF SBxxxxx IDM Units PANS La Digital Inputs ols 1 2 3 lt q _ 889D x4ACDx xx
84. d To abort this firmware update press Cancel now To begin the update now press Finish ControlFLASH xj Are you sure you want to begin 7 updating the target device 12 Click Yes only if you are ready This ControlFLASH warning dialog box opens xi A Flashing the Drive Will Cause All Motion to Stop on the SERCOS Ring Cancel 13 Acknowledge the warning and click OK Rockwell Automation Publication 2094 UM003B EN P February 2015 Upgrading the Kinetix 6000M System Firmware Appendix C The Progress dialog box opens and upgrading begins Catalog Number MDx SB1304F Qxx2x 5 SerialNumber 00000000 Current Revision 1 000 New Revision 1 005 Transmitting block 624 of 5377 WE S After the upgrade information is sent to the IDM unit the unit resets and performs diagnostic checking Progress Catalog Number MDx SB1304F Qxx2x S Serial Number 00000000 Current Revision 1 000 New Revision 1 005 Transmitting block 5377 of 5377 14 Wait for the Progress dialog box to time out It is normal for this process to take several minutes IMPORTANT Do not cycle power to the drive during this process or the firmware upgrade will not complete successfully 15 The Update Status dialog box opens and indicates success or failure as described below Upgrading Status If Siite 1 Update complete appears in a GREEN Status dialog box 2 Goto step 16 1 Update failure appears in a RED S
85. d Drivers aixi r Available Driver Types a lose Ethemet devices RZ Add New Help r Configured Drivers Name and Description Status AB_ETH 1_A B Ethernet RUNNING Running Configure LocalSubnet 4 B Ethernet RUNNING Running Startup Start Stop Delete ekeke be 9 Click Close 10 Minimize the RSLinx application dialog box IMPORTANT The IPIM module will not accept a firmware upgrade request when it has an active CIP 1 0 connection An active CIP I O connection exists when the IPIM module has been integrated into the I O configuration tree in RSLogix 5000 software The IPIM module only accepts a firmware upgrade request when the connection is inhibited The connection can be inhibited from I O Configuration gt Enet Module gt IPIM Module Properties gt Connection tab see below The IPIM module always accepts a firmware upgrade request if it is connected to a Logix Ethernet module but has not been integrated in the I O configuration tree Additionally the firmware upgrade can be accomplished by disconnecting the IPIM module from the Logix Ethernet module and establishing a direct connection to a computer with ControlFLASH software E Module Properties EN2T 2094 SEPM B24 S 1 1 reer Y General Connection Module Info Intemet Protocol Port Configuration Network Requested Packet Interval RPI 20 0 E ms 6 0 750 0 O Inhibit Module C Major Fault On Controller If Co
86. dressing may also be changed through the Module Configuration dialog in RSLinx software Changes to the IP addressing take effect immediately The default configuration of the IP address is the static address 192 168 1 1 See Understanding the IPIM Module Display on page 66 for programming guidelines Follow these steps to program the network settings 1 Apply control power N After initialization is complete and the home screen is displayed select tools gt Network configuration gt Net mode Use the arrow keys to select Static or DHCP Press save Select tools gt Network configuration gt Net mode gt Static IP Use the right arrow to select the first digit to change N WD Wn HR W Use the up arrow to increment the value until the desire value is displayed Then use the right arrow to select the next digit and so on Continue until the IP address is correct 8 Press save 9 Repeat step 1 through step 8 to set the subnet mask and gateway address 10 Save your settings and remove control power Rockwell Automation Publication 2094 UM003B EN P February 2015 69 Chapter6 Configuring the Kinetix 6000M System Configuring the IDM Unit 70 Setting the Node Address The node address is set by switches on each IDM unit This address is the actual sercos node address not an offset from the IAM module The address is read at power up so if the switch settings are changed while power is applied
87. drive systems IMPORTANT Kinetix 6500 EtherNet IP control modules catalog numbers 2094 EN02D MO01 Sx are not compatible with the Kinetix 6000M IPIM or Kinetix 6000 Kinetix 6200 IAM and AM modules on the same Bulletin 2094 power rail IMPORTANT The IDM system cannot be accessed with DriveExplorer or a human interface module HIM However all IDM units respond to a Stop command from a HIM Table 6 IDM System Compatibility Component Requires module after installation of an appropriate EDS file RSLogix 5000 software 20 010 or later IPIM AOP Add on Profile 1X Kinetix 6000 drive firmware 1 123 or later Kinetix 6200 drive firmware 1 045 or later ControlLogix EtherNet IP modules All 1756 Ethernet modules 1756 ENBT 1756 EN2T 1 Version 20 000 can be used if the motion database is updated to version 8 120 For detailed information about updating the motion database refer to RA Knowledgebase article 490160 18 Rockwell Automation Publication 2094 UM003B EN P February 2015 Agency Compliance Start Chapter 1 If this product is installed within the European Union and has the CE mark the following regulations apply grounding the AC line filter and IDM must match Failure to do so renders the filter ineffective and can damage the filter See Grounding the IDM System on page 54 ATTENTION Meeting CE requires a grounded system and the method of For more information on electrical noise reduction refe
88. e power rail Motion Analyzer software version 6 000 or later sizing analysis accounts for control power and DC bus power 3 The total number of axes that are connected in the safe off circuit IPIM Module Design Use the information in this section when designing your enclosure and planning Guidelines to mount your system components For online product selection and system configuration tools including AutoCAD DXF drawings of the product refer to http www rockwellautomation com en e tools System Mounting Requirements e To comply with UL and CE requirements the Kinetix 6000M power interface module must be part of a Kinetix 6000 or Kinetix 6200 system that is enclosed in a grounded conductive enclosure offering protection as defined in standard EN 60529 IEC 529 to IP2X such that they are not accessible to an operator or unskilled person A NEMA 4X enclosure exceeds these requirements providing protection to IP66 e The panel that you install inside the enclosure for mounting your system components must be on a flat rigid vertical surface that is not subjected to shock vibration moisture oil mist dust or corrosive vapors e Size the enclosure so as not to exceed the maximum ambient temperature rating Consider heat dissipation specifications for all components e Use high frequency HF bonding techniques to connect the modules enclosure machine frame and motor housing and to provide a low impedance return path
89. e 1804 Con 04 Pe Allen Bradley MDx SB1003P Qxx2x S Kinetix 6000M SERCOS Integrated Drive Motor 400V Non Brake Allen Bradley MDx SB1003P Qxx4x S Kinetix 6000M SERCOS Integrated Drive Motor 400V Brake illen Bradley MDx SB1153H Qxx2x S Kinetix 6000M SERCOS Integrated Drive Motor 400V Non Brake Allen Bradley MDx SB1153H Oxxdx S Kinetix 6000M SERCOS Integrated Drive Motor 400V Brake llen Bradley MDx SB1304F Qxx2x 5 Kinetix 6000M SERCOS Integrated Drive Motor 400V Non Brake MDx 5B1304F Qxx4x S Kinetix 6000M SERCOS Integrated Drive Motor 400V Brake AlenBradey 7 gt 109 of 109 Module Types Found Add to Favorites T Close on Create Create Close Help yy A 2 Scroll to select the IDM unit appropriate for your actual hardware configuration IMPORTANT To configure IDM units catalog numbers MDF SBxxxxx you must be using RSLogix 5000 software version 20 010 or later Version 20 000 can be used if the motion database has been updated 3 Click Create The New Module dialog box opens x Type MDx SB1153H Qxx2s S Kinetix 6000M SERCOS Integrated Drive Motor 400V Non Brake Vendor Allen Bradley Name IDM_1 Node 11 re a Revision i fi a Electronic Keying Compatible Keying x IV Open Module Properties OK Cancel Help Description 4 Configure the new module a Type the module Name b Enter the Node address Set the node address in the software to match the node setting on
90. e IDM unit for repair The IDM unit brake is engaged if supplied e Check brake wiring and function e Return the IDM unit for repair The IDM unit is not connected to the load Check coupling IDM unit overheating The duty cycle is excessive Change the command profile to reduce accel decel or increase time The rotor is partially demagnetized causing excessive IDM unit current Return the IDM unit for repair Abnormal noise IPIM Module Fault Diagnosis IDM unit tuning limits are set too high Run Tune in RSLogix 5000 software Loose parts are present in the IDM unit e Remove the loose parts e Return IDM unit for repair e Replace IDM unit Through bolts or coupling is loose Tighten bolts The bearings are worn Return IDM unit for repair Mechanical resonance Notch filter may be required refer to Axis Properties dialog box Output tab in RSLogix 5000 software When a fault condition is detected it is added to a fault log opens the power rail SYSOK and reports the fault to the IAM module This causes a loss of bus power to all modules on the Bulletin 2094 power rail and associated IDM units If an IPIM module fault is detected the fault will be displayed on the IPIM module In addition the IPIM module will display IDM unit faults The IAM module generates a fault whenever an IPIM module fault occurs regardless of the state of the contactor IDM un
91. e energized If either of the safety enable inputs are de energized then all of the output power transistors will turn off The safe torque off response time is less than 12 ms Rockwell Automation Publication 2094 UM003B EN P February 2015 AN A Using the Safe Torque off Feature with the Kinetix 6000M System Appendix A ATTENTION Permanent magnet motors may in the event of two simultaneous faults in the IGBT circuit result in a rotation of up to 180 electrical degrees ATTENTION If any of the safety enable inputs de energize then the SafeOffModeActiveStatus bit of the drive status word in the Axis Tag structure will be set to 1 It will reset to 0 when both safety enable inputs are energized within 1 second see Figure 39 The safety fault occurs after 1 second Figure 39 System Operation when Inputs are Meeting Timing Requirements SAFETY ENABLE1 SAFETY ENABLE2 SafeOffModeActiveStatus 24V DC ov DC 24V DC ov DC DriveHardFault o 213 0O O Item Description o At least one input is switched off SafeOffModeActiveStatus bit is set to 1 2 Second input is switched off within 1 second First input is switched on 4 Second input is switched on within 1 second of the first input Both inputs change state within 1 second therefore DriveHardFault is not posted 6 SafeOffModeActiveStatus bit set back to 0 if events 3 and 4 occur within a 1 second ti
92. ed in the sercos ring However you can include the IPIM module in your RSLogix 5000 project by connecting it to a configured Ethernet module in the Logix chassis and adding it under the Ethernet module in the I O configuration tree An Add on Profile is also needed to use the IPIM module in the RSLogix 5000 project and as a result you can view IPIM module status information in RSLogix 5000 software and use it in your Logix program The Ethernet connection is also used to upgrade the IPIM module firmware by using ControlFLASH software TIP The factory default communication rate for all Kinetix 6000 modules is 4 Mbps The modules must be changed to 8 Mbps to be compatible with the Kinetix 6000M Rockwell Automation Publication 2094 UM003B EN P February 2015 65 Chapter6 Configuring the Kinetix 6000M System Understanding the IPIM The IPIM module has six status indicators see Interpret Status Indicators on Module Display page 90 and a four line LCD display The indicators and display are used to monitor the system status set network parameters and troubleshoot faults Four navigation buttons are located directly below the display and are used to select items from a soft menu Figure 30 IPIM Module LCD Display IPIM 01 02 03 04 05 06 07 08 09 10 11 12 Ssg O 13 14 15 16 info tools P PIM 07 o8 09 10 1 12 Soft Menu 13 14
93. edback Cables Bulletin 2090 Motor Power Cables Rockwell Automation Publication 2094 UM003B EN P February 2015 15 Chapter1 Start Typical Communication Configurations Network Connectors top view The Kinetix 6000M IPIM module uses the EtherNet IP network to report diagnostics to the controller and for firmware upgrades via ControlFLASH software For more information on Ethernet cables refer to the Industrial Ethernet Media Brochure publication 1585 BROO1 Figure 5 Typical Kinetix 6000M Kinetix 6000 and Kinetix 6200 Network Configuration Logix Controller Programming Network Kinetix 6200 Kinetix 6000 0 1 m 5 1 in IPIM Module 2090 SCxx0 1 2 0 2 m 7 1 in 2090 SCxx0 2 EtherNet IP M
94. eeoee 108 Safe Torque off Feature Bypass ay 4 sec essa iees 109 IDM System Safe Torque off Example ta foc cv apie ede ean ie 109 Cascading the Sate Torque off Signal i cicc sey iagniweetasaecest 110 Safe Torque off Signal Specifications lt wigs saesdiag cones san caires 111 Appendix B Appendix C Before You Begins ibis satanic ceive ths kasesi sey baie i irin 115 Configure Logix Communication dcenivecdivese ins cee veuerics 116 IPIM Module Firmware Upgrade ccc cece cece eee eens 117 IDM Unit Firmware U patade ds ciucomatiswore vaeheeetensmewednas 121 Verify the Firmware Upgrades ayers ve lciets Uhlan ts neve llet 126 Appendix D D finitions Sadaiss pteewreda io ea AE EEEE EA E E 127 Manually Sizing the Kinetix 6000M System 0 0000 eae 128 6 Rockwell Automation Publication 2094 UM003B EN P November 2014 About This Publication Conventions Used in This Manual Additional Resources Preface This manual provides detailed installation instructions for mounting wiring and troubleshooting the Kinetix 6000M Integrated Drive Motor IDM system including the IDM Power Interface Module IPIM For information on wiring and troubleshooting the safe off feature on your integrated drive motor system refer to Appendix A This manual is intended for engineers or technicians that are directly involved in the installation wiring and programming of the Kinetix 6000M integrated drive motor system I
95. ent that the drive can output This rating is valid only for overload times less than Tpxmay Duty Cycle D The ratio of time at peak to the Application Period and is defined as D ix x 100 Time at Peak Tpx The time at peak current lpg for a given loading profile Must be less than or equal to Tpxmay Peak Current lp The level of peak current for a given loading profile Ip must be less than or equal to the Peak Current Rating Tpyjyay of the drive Base Current Ipace The level of current between the pulses of peak current for a given loading profile Igace must be less than or equal to the continuous current rating Icont of the drive Loading Profile The loading profile is comprised of lpk Ibase Tpg and D or T values and completely specify the operation of the drive in an overload situation These values are collectively defined as the Loading Profile of the drive Application Period T The sum of the times at Ip Tpy and Ibase 1 All current values are specified as rms Rockwell Automation Publication 2094 UM003B EN P February 2015 Kinetix 6000M System Connector Data Chapter 4 MDF 1003 Peak Inverter Overload Tp lt 2 0 s 35 pk 200 Ipk 350 Ipk 471 30 25 20 15 10 Maximum Duty Cycle Dmax 5 0 0 20 40 60 80 100 Base Current IBase Icont MDF 1153 Peak Inverte
96. er rail and provides additional shunting capability in Rockwell Automation Publication 2094 UM003B EN P February 2015 regenerative applications Chapter1 Start System Component Cat No Description Power Rail 2094 PRSx The Bulletin 2094 power rail consists of copper bus bars and a circuit board with connectors for each module The power rail provides power and control signals from the converter section to adjacent inverters The IPIM IAM and AM power modules shunt module slot filler modules mount to the power rail Power Rail Slot filler 2094 PRF The Bulletin 2094 slot filler module is used when one or more slots on the power rail are empty after all Module other power rail modules are installed One slot filler module is required for each empty slot Logix Controller Platform 1756 Mxx SE CompactLogix module 1768 MO04SE ControlLogix module 1784 PM16SE PCI option card The network interface module PCl card serves as a link between the ControlLogix CompactLogix SoftLogix platform and the Kinetix 6000 drive system The communication link uses the IEC 61491 Serial Real time Communication System sercos protocol over a fiber optic cable RSLogix 5000 Software 9324 RLD300ENE RSLogix 5000 software provides support for programming commissioning and maintaining the Logix family of controllers Version 20 000 or later is required when using the Kinetix 6000M integrated drive motor system Line Interface Modu
97. f you do not have a basic understanding of the Kinetix drives contact your local Rockwell Automation sales representative for information on available training courses The following conventions 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 and Kinetix 6200 system components and Kinetix 6000M integrated drive motor are shown in the following table and are used throughout this manual Acronym Kinetix Modules Cat No IDM Integrated drive motor MDF SBxxxxx Qx8xA S IPIM IDM power interface module 2094 SEPM B24 S IAM Integrated axis module 2094 BOxx Mxx x AM Axis module 2094 BMxx x LIM Line interface module 2094 BLxx and 2094 BLxxS xx These documents contain additional information concerning related Rockwell Automation products Resource Description Kinetix 6000M IPIM to IDM Hybrid Cable Installation Instructions Provides detailed cable information publication 2090 IN031 Kinetix 6000M IDM to IDM Hybrid Cable Installation Instructions publication 2090 IN032 Kinetix 6000M IDM Network Cable Installation Instructions publication 2090 IN034 Rockwell Automation Publication 2094 UM003B EN P February 2015 Kinetix 6000M Manual Brake Release Cable Installation Instructions publication 2090 IN037 Preface Resource Kinetix 6000M IPI
98. for high frequency HF energy and reduce electrical noise 22 Rockwell Automation Publication 2094 UM003B EN P February 2015 Planning the Kinetix 6000M System Installation Chapter 2 e Combined motor power cable lengths for all axes and hybrid cable lengths for all IDM units on the same DC bus must not exceed 240 m 787 ft with 400V class systems Drive to motor power cables must not exceed 90 m 295 5 ft IMPORTANT System performance was tested at these cable length specifications These limitations also apply when meeting CE requirements See the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 to better understand the concept of electrical noise reduction Circuit Breaker Fuse Options The 2094 SEPM B24 S IPIM module and the MDF SBxxxxx IDM units use internal solid state motor short circuit protection and when protected by suitable branch circuit protection are rated for use on a circuit capable of delivering up to 200 000 A Fuses or circuit breakers with adequate withstand and interrupt ratings as defined in NEC or applicable local codes are permitted The 2094 BL02 LIM module contains supplementary protection devices and when protected by suitable branch circuit protection are rated for use on a circuit capable of delivering up to 5000 A When these modules are used protection on the line side of the LIM module is required Fuses must be class J or CC only The 2094 BLxxS and
99. he length of a cable This can be desired when performing maintenance on a unit or to simply extend a hybrid cable IDM to IDM cable lengths should not exceed 25 m 82 0 ft during normal operation when a coupling cable is used The IDM network cables can be joined to together without the need of a coupler to bypass an IDM unit or extend network cables 58 Rockwell Automation Publication 2094 UM003B EN P February 2015 Connecting the Kinetix 6000M System Chapter 5 The Sercos Fiber optic Ring ControlLogix controller is shown The sercos fiber optic ring is connected by using the sercos receive RX and transmit TX connectors See Sercos Fiber optic Connectors on page 41 for details See the documentation supplied with your Logix sercos interface module or PCI card for connector locations 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 Connect the cable from transmit on the Logix module to receive on the first IPIM module then transmit to receive module to module and from transmit on the last module back to receive on the Logix module finger tight torque when attaching the fiber optic cables Do not use a wrench or any other mechanical assistance For more information see Fiber Optic Cable Installation and Handling Instructions publication 2090 IN010 ATTENTION To avoid damage to the sercos RX and TX connectors use only IMPO
100. ial Automation Glossary publication AG 7 1 A glossary of industrial automation terms and abbreviations Rockwell Automation Configuration and Selection Tools website http www rockwellautomation com en e tools Motion Analyzer application analysis software for drive motor sizing Online product selection and system configuration tools including AutoCAD DXF drawings Rockwell Automation Product Certification website http www rockwellautomation com products certification You can view or download publications at For declarations of conformity DoC currently available from Rockwell Automation http www rockwellautomation com literature To order paper copies of technical documentation contact your local Allen Bradley distributor or Rockwell Automation sales representative Rockwell Automation Publication 2094 UM003B EN P February 2015 About the Kinetix 6000M System System Component IDM Unit Start Chapter 1 Use this chapter to become familiar with the design and installation requirements for the Kinetix 6000M integrated drive motor system Topic Page About the Kinetix 6000M System 9 Typical Hardware Configurations 11 Typical Communication Configurations 16 Catalog Number Explanations 17 Component Compatibility 18 Agency Compliance 19 The Kinetix 6000M integrated drive motor system is designed to provide a Kinetix Integrated Motion solution for your applica
101. ibute vae Data rates 8 Mbps fixed Light intensity Adjustable low or high power selectable via the keypad LCD display see page 68 Cyclic update period 500 us minimum Node addresses Assigned on each IDM unit see page 70 The IPIM module does not have a sercos address since it is not a sercos device Enable Input One digital input is supplied to enable all connected IDM units The enable status is transmitted to all of the IDM units Strip Min Max Length Torque Wire Size Terminal Description Signal mm in Nem Ibein mm AWG 1 24V DC Enable Supply ENABLE 24V 7 0 0 235 2 0 0 14 1 5 0 275 30 14 2 Enable Input ENABLE INPUT EN 3 24V DC Common ENABLE 24V COM 1 Maximum minimum that the connector will accept these are not recommendations Table 13 Enable Input Specifications IDM Unit Reaction Edge Level Signal Description Time Sensitive ENABLE Optically isolated single ended active high signal Current loading is 30 ms Level nominally 10 mA A 24V DC input is applied to this terminal to enable all modules The reaction time for all IDM units connected to the IPIM is 30 ms maximum Rockwell Automation Publication 2094 UM003B EN P February 2015 41 Chapter 4 42 Kinetix 6000M System Connector Data EtherNet IP Connectors Two connectors are provided for firmware upgrades troubleshooting and integration with Logix The Ethernet ports also s
102. ical orientation before replacing drive modules or pins may not seat properly 3 Pivot module downward and align the guide pin on the power rail with the guide pin hole in the back of the module refer to the figure above 4 Gently push the module against the power rail connectors and into the final mounting position 5 Use 2 26 Nem 20 lbein torque to tighten the mounting screw 6 Reconnect the module connectors 7 Reapply power to the system 8 Verify that the system is operating properly Rockwell Automation Publication 2094 UM003B EN P February 2015 101 Chapter8 Removing and Replacing the Kinetix 6000M IPIM Module Notes 102 Rockwell Automation Publication 2094 UM003B EN P February 2015 Certification Appendix A Using the Safe Torque off Feature with the Kinetix 6000M System This appendix introduces you to how the safe torque off feature meets the requirements of Performance Level d PLd and Category 3 Cat3 per EN ISO 13849 1 and SIL CL 2 per IEC EN 61508 EN 61800 5 2 and EN 62061 Tre ag Certification 103 Description of Operation 104 PFD PFH and MTTFd Definitions 107 PFD PFH and MTTFd Data 107 Wiring Your Safe Torque off Circuit 107 IDM Safe Torque off Feature 108 IDM System Safe Torque off Example 109 Cascading the Safe Torque off Signal 110 Safe Torque off Signal Specifications 111 The TUV Rheinland group has approved the Kinetix 6000 integrated drive motor system for u
103. ion Units Test Marker Drive Polarity Positive v Test Feedback Test Command amp Feedback DANGER Executing test with controller in Program or Run Mode may cause axis motion Modifying polarity after executing Test Command amp Feedback test may cause axis runaway condition Cancel Apply Help 3 Click the Hookup tab 4 Type 2 0 as the number of revolutions for the test or another number more appropriate for your application This Test Performs this Test Test Marker Verifies marker detection capability as you rotate the motor shaft Test Feedback Verifies feedback connections are wired correctly as you rotate the motor shaft Verifies motor power and feedback connections are wired correctly as you Test Command amp Feedback command the motor to rotate 5 Apply Hardware Enable Input signal for the axis you are testing IMPORTANT Hardware Enable input for IDM units is on the IPIM module Rockwell Automation Publication 2094 UM003B EN P February 2015 83 Chapter6 Configuring the Kinetix 6000M System 6 Select the desired Test Marker Feedback Command amp Feedback to verify connections The Online Command dialog box opens Follow the on screen test instructions When the test completes the Command Status changes from Executing to Command Complete Command Status Command Complete OK Move axis manually in positive direction Stop ait for command to complete G Chec
104. ions iicece en iieateio dd io ie eed bE 52 Absolute Positioned sc se tit taken Eie a teen em orders 52 Chapter 5 Basic Wiring Requirements n tircsiai so agate eee eee Senay 4 53 Routing the Power and Signal Cables 00 0 cece eae 54 Grounding the IDM System in5cys 2555 cance thts oo dds oes parades 54 Apply the Cable Shield Clamp o paces neo eei oda ieas pies 55 General IDM System Wiring dies a oleh clc eee idee aged eile 56 Hybrid Gable miskruier sneren td Vas dee I A 56 Network CA Oia sc Saturn Sele sae oyu e hee A ara 58 How to Bypass an LD MU nite iscsi nil dade Moret dh 58 The Sercos Fiber optic Ring 25 1595 casa stone vs Syotawsnaks cas eenwes 59 Ethernet Cable Connections 2 055 9585 yen oxemudanastses eps aseiaanes 63 Rockwell Automation Publication 2094 UM003B EN P November 2014 Configuring the Kinetix 6000M System Troubleshooting the Kinetix 6000M System Removing and Replacing the Kinetix 6000M IPIM Module Table of Contents Chapter 6 Configure the Kinetix 6000M Integrated Drive motor System 65 Understanding the IPIM Module Display 00008 66 Startlip Sequences risian a 75595940 pee AEI tess LE UTTERED 67 Information Display nnee emenn teen n O EES 67 Toob Me N a E a A este ache aces 68 Configuring the IPIM Module 00 cece eee rererere 69 Setting the IPIM Module Network Address 008 69 Configuring the IDM Unit ccs ye era iel ces tata os neve
105. it Flashing Missing IPIM module Enable input e Disable the IPIM module Enable hardware Yes Decel Disable DriveEnablelnputFault Red signal input fault e Verify that IPIM module Enable hardware input is active whenever the IPIM module is enabled E48 Internal Solid Red Noise or hardware failure on the I2Cor Power Cycle No Coast Disable Communications Fault SPI bus If fault persists replace IDM unit Open Contactor DriveHardFault Enable E49 Safety Fault Flashing Safe off input timing mismatch Verify wire terminations cable header No Coast Disable DriveHardFault Red connections and 24V Open Contactor e Reset error and run proof test Enable e If fault persists replace module E50 Sercos Same Addr Solid Red Duplicate node address detected on Verify that each sercos module is assigned No Decel Disable SercosRingFault sercos ring a unique node address E54 Current Feedback Solid Red Excessive feedback current was Power Cycle No Coast Disable Hardware Fault detected If fault persists replace IDM unit Open Contactor DriveHardFault Enable E65 Hookup Flashing Hookup procedure failed e Check IDM unit power feedback wiring No Coast Disable DriveHardFault Red Refer to RSLogix 5000 on screen message for resolution 96 Rockwell Automation Publication 2094 UM003B EN P February 2015 Troubleshooting the Kinetix 6000M System Chapter 7 Table 22 Exception F
106. it faults are not displayed by the IAM module Issuing a fault reset command to the IAM module will also send a fault reset command to the IPIM module The IPIM module maintains a log of the last 50 faults reported by the IPIM module or any of the connected IDM units Each fault contains the source of the fault IDM unit number or IPIM module the fault number and a time stamp with the cumulative power on time of the IPIM module Rockwell Automation Publication 2094 UM003B EN P February 2015 93 Chapter7 Troubleshooting the Kinetix 6000M System IPIM Module Fault Types The IPIM has two fault types resettable and non resettable When an IPIM module fault occurs the fault is reported to the IAM module The IAM module reports an IPIM fault to the Logix controller Resettable faults when the IPIM module fault is cleared from the IAM module the fault is removed from its display if the condition has been removed Non resettable faults the control power must be cycled and the fault may be cleared if the condition that created the fault has been removed Table 19 IPIM Fault Types Descriptions and Actions Fault Type Description Potential Cause Possible Solution IPIMFLTO1 Resettable Backplane Comm Lost backplane communication with IAM Verify control power to IAM module module IPIMFLTO2 Resettable IDM Comm Lost communication with IDM unit Verify control power to IDM units IPIMFLT
107. ix 6200 and Kinetix 6500 Modular Multi axis Servo Drives User Manual publication 2094 UM002 for other replacement procedures Topic Page Before You Begin 99 Remove the IPIM Module 100 Replace the IPIM Module 101 A ATTENTION This drive contains electrostatic discharge ESD sensitive parts and assemblies You are required to follow static control precautions when you install test service or repair this assembly If you do not follow ESD control procedures components can be damaged If you are not familiar with static control procedures refer to Guarding Against Electrostatic Damage publication 8000 4 5 2 or any other applicable ESD awareness handbook Before You Begin You will need these tools available before you begin removal and replacement procedures e A small screwdriver 3 5 mm 0 14 in e Voltmeter Rockwell Automation Publication 2094 UM003B EN P February 2015 99 Chapter8 Removing and Replacing the Kinetix 6000M IPIM Module Remove the IPIM Module Follow these steps to remove your IPIM module from the Bulletin 2094 power rail 1 Verify that all control and input power has been removed from the system ATTENTION To avoid shock hazard or personal injury assure that all rN power has been removed before proceeding This system may have multiple sources of power More than one disconnect switch may be required to de energize the system 2 Wait five minutes for the DC bus to discharge completel
108. k for errors if command fails Help 7 Click OK The Online Command Apply Test dialog box opens Feedback and Command amp Feedback tests only When the test completes the Command Status changes from Executing to Command Complete Command Status Command Complete OK rs ait for command to complete Gi eck for errors if command fails r Help 8 Click OK 9 Determine if your test completed successfully If Then Your test completes successfully this dialog box opens 1 Click OK 2 Remove Hardware Enable Input signal 3 Go to Tune the Axes on page 85 AN Apply test completed successfully Feedback polarity has been updated x a 1 Click OK Your test failed this dialog box opens i a 9 p 2 Verify the Bus status indicator turned solid green during the test 3 Verify that the Hardware Enable Input 0 E Test command cannot be completed signal is applied to the axis you are G Command timed out Test Increment maybe to large ith PP y 4 Verify conversion constant entered in the OK Help Conversion tab Error 16382 0 5 Return to main step 6 and run the test again 1 The hardware enable input for IDM units is on the IPIM module 84 Rockwell Automation Publication 2094 UM003B EN P February 2015 Configuring the Kinetix 6000M System Chapter 6 Tune the Axes Follow these steps to tune the axes 1 Verify the load is still removed from the axis being tuned
109. le E10 Bus Over Voltage Flashing The DC bus voltage is above limits e Change the deceleration or motion profile No Coast Disable DriveOvervoltageFault Red Usea larger IDM unit Open Contactor e Install shunt module Enable E16 Positive Negative Soft Flashing Positive Negative software overtravel Verify motion profile Yes Decel Disable Overtravel Red limit exceeded Verify overtravel settings are appropriate Pos NegSoftOvertravelFault E18 Over Speed Flashing Excessive IDM unit speed e Check tuning No Coast Disable OverspeedFault Red e Verify user limit E19 Follow Error Flashing Excessive position error Increase the feed forward gain Yes Coast Disable PositionErrorFault Red Increase following error limit or time Check position loop tuning e Verify sizing of system Verify mechanical integrity of system within specification limits E30 Motor Feedback Comm Flashing Error communicating with position Cycle power No Decel Disable MotFeedbackFault Red feedback device If fault persists replace IDM unit E37 Phase Loss Flashing Problem with the AC power connection Check IAM input AC voltage on all phases No Decel Disable PowerPhaseLossFault Red on IAM module Disable the IDM unit before removing power E38 Sercos Ring Flt Flashing Lost sercos communications e Check that sercos cable is present and No Decel Disable SercosFault Red connected properly E43 Drive Enable F
110. le for mounting See Determine Mounting Order on page 30 2 Remove the protective covers from the power rail connectors 3 Inspect the module connector pins and power rail connectors and remove any foreign objects and to make sure that module pins mate properly with the power rail i ATTENTION To avoid damage to the pins on the back of each module hang modules as explained below The power rail must be mounted vertically on the panel before hanging modules on the power rail 4 Hang the module mounting bracket from the slot on the power rail Mounting Bracket Slots for Additional Modules Power Rail 5 Pivot module downward and align the guide pin on the power rail with the guide pin hole in the back of the module Power Rail Pivot module ray downward and align A got with pin Guide Pin Guide Pin Hole Rear View Side View 6 Gently push the module against the power rail connectors and into the final mounting position Rockwell Automation Publication 2094 UM003B EN P February 2015 Installing the IDM Unit Mounting the Kinetix 6000M System Chapter 3 7 Tighten the mounting screws Bracket secured in slot ey A m B Flat 2 26 Nem 20 Ibin
111. ler dialog box opens xl Vendor Allen Bradley Type 1756161 ControlLogix5561 Controller OK Revision 20 Cancel I Redundancy Enabled Help Name JUM_SERCOS Description 7 Chassis Type 1756 47 7 Slot ControlLoaix Chassis M Slot fo I Safety Partner Slot lt none Create In EARSLoagix 5000 UM Browse Security Authority No Protection Ss F Use only the selected Security Authority for Authentication and Authorization 3 Configure the new controller Rockwell Automation Publication 2094 UM003B EN P February 2015 73 Chapter6 Configuring the Kinetix 6000M System a From the Type pull down menu choose the controller type b From the Revision pull down menu choose the revision V20 c Type the file Name d From the Chassis Type pull down menu choose the chassis e Enter the Logix processor slot 4 Click OK 5 From the Edit menu choose Controller Properties The Controller Properties dialog box opens f Controller Properties UM_SERCOS Ioj x Advanced SFC Execution File Redundancy Nonvolatile Memory Memoy Security General Serial Port System Protocol User Protocol Major Faults Minor Faults Date Time i The Date and Time displayed here is Controller local time not workstation local time Use these fields to configure Time attributes of the Controller Set Date Time and Zone from Workstation e Date and Time J Change Date and Time je Time Zone J e F Adj
112. les 2094 BLxxS 2094 XL755 Cx Line interface modules LIM include the circuit breakers AC line filter catalog number 2094 BL02 only power supplies and safety contactor required for Kinetix 6000 operation The LIM module does not mount to the power rail You can purchase individual components separately in place of the LIM module IDM Unit Digital Input Cables 889D DC Micro Allows use of sensors see Digital Input Connectors on page 45 Also refer to the Connection Systems Quick Selection Guide publication CNSYS BR001 or the On Machine Connectivity Catalog publication M117 CA001 Safe Off Wiring Headers For first drive in multiple safety drive configurations 2090 XNSM W Middle header for drive to drive connections in multiple safety drive configurations with three or more drives 2090 XNSM M Safe off terminating header for the last drive in multiple safety drive configurations 2090 XNSM T Required for various installations of the IPIM module into the Kinetix 6000 servo drive systems Sercos Interface Cables Network fiber optic plastic cables regular duty 2090 SCEPx x 2090 SCVPx x 2090 SCNPx x harsh duty Network fiber optic glass cables 2090 SCVGx x Network fiber optic cable bulkhead adapter 2090 S BLHD 2 per pack Required for various installations of the IPIM module into the Kinetix 6000 and Kinetix 6200 servo drive systems EtherNet IP Interface Cables RJ45
113. ll IDM units be on the same sercos ring as the IPIM module they are connected to Figure 26 Kinetix 6000M Network Cable Example IPIM Module to IDM Units 1 sercos ring 1756 M16SE Sercos Sercos Fiber optic Ring Interface Module Logix Platform ControlLogix controller is shown 60 F e000 900 al al 1 2094 SEPM B24 S 2094 BMxx x PIM Modules AM Modules 2094 BCxx Mxx x e 400V class IAM Module l daa aa v oO oO Oo v Q l x L Bulletin 2090 Bulletin 2090 Network Cables Bulletin 2090 Hybrid Cables Network Cables Bulletin 2090 Hybrid Cables IDM System 1 Rockwell Automation Publication 2094 UM003B EN P Feb IDM System 2 ruary 2015 Bulletin 2090 Power Brake Cables Bulletin 2090 Feedback Cables Compatible 400V class Rotary Linear Motors or Actuators Bulletin MPL motors are shown 2090 CTHP8 2090 CTSRP terminators required on last IDM unit Connecting the Kinetix 6000M System Chapter 5 This configuration has the same drive modules and IPIM modules as shown in Figure 26 except the five modules are split between two sercos rings
114. llowed jumper 40 heat dissipation 24 hookup tab 83 human interface compatibility 18 hybrid cable connectors 44 hybrid connector 39 IDM fault diagnosis 95 IDM system connector data 37 firmware upgrade 115 IDM unit aligning 34 cable length 19 catalog number explanation 17 connectors 43 digital input connectors 45 hybrid cable connectors 44 indicators 43 91 installing 33 mounting 34 network cable connectors 45 overheating 93 sensor connections 46 information display 67 installing your IDM system 21 33 clearance requirements 25 26 enclosure selection 24 mounting requirements 22 integrated axis module axis properties 80 interconnect diagram IDM system 113 interpreting status indicators 90 IPIM module catalog number explanation 17 31 connectors 38 display 66 fault diagnosis 93 fault types 94 indicators 38 initialization faults 94 network address setting 69 replacement 100 ISO 13849 1 CAT 3 requirements 104 stop category definitions 104 Rockwell Automation Publication 2094 UM003B EN P February 2015 L leader IAM 14 low voltage directive 108 M manually sizing the IDM system 128 module mounting order 30 module properties drive modules 77 sercos 75 module status indicator 90 motion group properties 79 motion allowed jumper 40 109 mounting the IPIM module 30 32 module mounting order 30 mounting brackets 30 power rail 30 network address IPIM 69 network cable connector IDM unit 45 IPIM module 42
115. machine application timing and distance should be considered for a coast to stop For more information regarding stop categories refer to EN 60204 1 Performance Level PL and Safety Integrity Level SIL For safety related control systems Performance Level PL according to EN ISO 13849 1 and SIL levels according to EN 61508 and EN 62061 include a rating of the systems ability to perform its safety functions All of the safety related components of the control system must be included in both a risk assessment and the determination of the achieved levels Refer to the EN ISO 13849 1 EN 61508 and EN 62061 standards for complete information on requirements for PL and SIL determination The safe torque off feature provides a method with sufficiently low probability of failure to force the power transistor control signals to a disabled state When disabled or any time power is removed from the safety enable inputs all of the IDM output power transistors are released from the On state This effectively removes power generated by each IDM unit connected to a single IPIM module and using connections to an external safety device E stop light curtains and so on This results in a condition where the IDM unit is coasting stop category 0 Disabling the power transistor output does not provide mechanical isolation of the electrical output which may be required for some applications Under normal operation the safe torque off inputs ar
116. mation and a sizing estimation method refer to Kinetix 6000M System Sizing on page 127 When sizing your system note the following Motion Analyzer software version 6 000 or later should be used for sizing your system Maximum cable length between IDM units is 25 m 82 ft Combined cable length for all IDM units that are connected to one IPIM module is 100 m 328 ft Combined motor power and hybrid cable length for all axes on the same power rail must not exceed 240 m 787 ft The number of IDM units also depends on the use of the safe off function See Using the Safe Torque off Feature with the Kinetix 6000M System on page 103 for details Rockwell Automation Publication 2094 UM003B EN P February 2015 21 Chapter2 Planning the Kinetix 6000M System Installation The following items limit the number of IDM units that can be used in a system 1 The IDM unit control power load which consists of three load sources e internal load constant e parking brake load e digital input loading These items also affect the total control power load e The cable lengths between IDM units e IDM units with brakes and their location in the daisy chain e IDM units that use digital inputs 2 The continuous and intermittent load on the DC bus of all AM modules and IDM units IMPORTANT The Kinetix 6000 or Kinetix 6200 IAM module supplying DC bus power to the IDM units should be sized to support all IDM units that are connected to th
117. me interval Troubleshooting the Safe Torque off Function Error Code E49 Fault Message RSLogix HIM DriveHardFault safe torque off HW Fit Anomaly Safe torque off function mismatch System will not allow motion Safe torque off mismatch is detected when safety inputs are in a different state for more than 1 second Potential Cause e Loose wiring at safe torque off connector Miswiring of the safe torque off connector Cable header not seated properly in safe torque off connector e Safe torque off circuit missing 24V DC Rockwell Automation Publication 2094 UM003B EN P February 2015 Possible Resolution e Verify wire terminations cable header connections and 24V e Reset error and run proof test e If error persists return the module to Rockwell Automation 105 AppendixA Using the Safe Torque off Feature with the Kinetix 6000M System Figure 40 demonstrates when the safe torque off mismatch is detected and a DriveHardFault is posted Figure 40 System Operation in the Event that the Safety Enable Inputs Mismatch 24V DC SAFETY ENABLE1 ov DC 24V DC l SAFETY ENABLE2 DriveHardFault 1 Second ese x z SafeOffModeActiveStatus 0 When one safety input is turned off the second input must also be turned off otherwise a fault is asserted see Figure 41 The fault is asserted even if the first safety input is turned on again Fig
118. module 5 Click Next 118 Rockwell Automation Publication 2094 UM003B EN P February 2015 Upgrading the Kinetix 6000M System Firmware The Select Device to Update dialog box opens Select the 2094 SEPM B24 S device to update and click OK Browsing node 10 91 15 156 found IV Autobrowse Pe Eg HI Workstation USMEQISTO89 es Linx Gateways Ethernet AB_ETH 2 Ethernet Z AB_ETH 3 Ethernet PanelView Plus 1756 EN2T C 10 91 15 140 10 91 15 141 10 91 15 142 1756 EN2T C 15 158 2094 SEPI 15 159 2094 SEPI 1 Ethernet he gt 10 91 15 144 1794 AENT B 10 91 15 140 Panelview F aA 10 91 15 141 1756 EN2 i i E 5 10 91 15 142 1756 EN2 H E 10 91 15 144 1794 AEN 10 91 15 145 10 91 15 146 10 91 15 150 10 91 15 151 110 91 15 145 1794 AEN 1794 AENT B 1794 AENT B IDM Power IDM Power H a 115 146 1794 AEN a a 15 150 2094 SEPM B24 5 IDM Power Interface Module i i 115 151 2094 SEPI za Bd 10 91 15 152 10 91 15 153 10 91 15 154 10 91 15 155 115 152 2094 SEPI 15 153 2094 SEPI IDM Power IDM Power IDM Power IDM Power 115 154 2094 SEPI i 115 155 2094 SEPI 15 156 2094 SEPL 10 91 15 156 10 91 15 157 10 91 15 158 10 91 15 159 115 157 2094 SEPI IDM Power IDM Power IDM Power IDM Power 6 Expand you
119. n Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations WARNING Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence SHOCK HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present BURN HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures gt adda IMPORTANT Identifies information that is critical for successful application and understanding of the product Allen Bradley Rockwell Software Rockwell Automation Kinetix On Machine ControlLogix CompactLogix SoftLogix RSLinx RSLogix DriveExplorer and ControlFLASH are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are p
120. n Module IP Address Status Displays IDM status values Status 0K Standby OK but no CIP connection Faulted Init Fault Requires reboot Bus Reg Cap Percent of shunt capacity being used Safety Motion allowed or Safe off Active Active faults one per line will be Sercos Current sercos phase of the IDM 0 5 Faults displayed Phase Utilization Percent of continuous DC bus current Active Faults Active faults one per line will be displayed Tools Menu The tools menu provides network setup sercos light intensity adjustment and fault help Network configuration Sercos light intensity IPIM fault help IDM fault help A V back enter 0999 To edit a menu item or value use the arrow keys to select the desired item then press enter The up arrow lets you increment the value that is highlighted Values will roll over when reaching the end of the list Network configuration Sercos light intensity IPIM fault help IDM fault help A V back enter 009089 Network mode m Subnet mask Gateway address A V bak Static IP enter 111 222 333 444 Use the right arrow to move enter A cancel save and the up arrow to change value 0008 00098 The tools menu provides viewing editing of the following
121. neetinn paveranakels 11 Typical Communication Configurations 00 cece eee ee 16 Catalog Number Explanations si it vote couggile su meiesee autres 17 Component Compatibility lt c 00nasss sentence cetdesneedes Peters 18 Agency Compliance occ kacagdavebinowm syd des VEREER baw 19 CE Requirements system without LIM module 19 CE Requirements system with LIM module 19 Chapter 2 Cable Length Restrictions and System Sizing 00 ee0ee 21 IPIM Module Design Gidelings s0 2 0 s lt ssoesSsetanenreenavaeses 22 System Mounting Requirements can caeeess osewhawnsioes 22 Circuit Breaker Fuse Options 22 300 i2dsteae eked es aes 23 PAclostite ScleCHON ey wach thideawtsit hates Pease eat tata ded 24 Minimum Clearance Requirements 200s ee ee eee eee 25 IDM Unit Design Guidelines ac duacow acer ne iine rererere 26 Minimum Clearance Requirements cisico 2tgauiideuneaedcts 26 Electrical Noise Reduction lt chececiies naaaaes eas dasissaeas 27 Cable Categories for Kinetix 6000M System 008 28 Chapter 3 Mounting the IPIM Module 6 cs cce cry oS anene cece Hee es 30 Using the 2094 Mounting Brackets c h awasGe avecteededve sotpten s 30 Installing the 2094 Power Rail scividsssaveocenaestesdedee s 30 Determine Mounting Order cas csactiwienctbasietveonaieeaees 30 Mount the IPIM Module 3 1 5555 panceacsescedcasees corners 32 Installing the IDM Unit ivscesqordensc
122. ners are stainless steel The installation must comply with all local regulations The installer also must use equipment and installation practices that promote electromagnetic compatibility and safety ATTENTION Unmounted IDM units disconnected mechanical couplings loose A N shaft keys and disconnected cables are dangerous if power is applied Disassembled equipment should be appropriately identified tagged out and access to electrical power restricted locked out Before applying power remove the shaft key and other mechanical couplings that could be thrown from the shaft Failure to observe these safety procedures could result in personal injury or damage to equipment Mount and Connect the IDM Unit To install the IDM unit follow these procedures and recommendations disconnected while power is applied to the IDM system Before working on the system disconnect power and wait the full time interval indicated on the IPIM module warning label or verify the DC bus voltage at the IPIM module measures less than 50V DC Failure to observe this precaution could result in severe bodily injury or loss of life and damage to the product will occur ATTENTION Arcing or unexpected motion can occur if cables are connected or ATTENTION Do not strike the shaft couplings or pulleys with tools during A N installation or removal Damage can occur to the motor bearings and the feedback device if you apply a sharp impact to the shaf
123. netix 6000 power rail contains two single wide axis modules and two IDM systems A sercos node address is not assigned to the slot filler or the IPIM module but the system identifies both with slot locations Node addressing for the IDM system example 2 is similar to the first Each IDM unit has switches that determine its node address In this example the IDM unit node addressing starts at 30 and is sequential IMPORTANT Creating a duplicate node address between the axis modules mounted on the power rail and the IDM system generates error code E50 Each node address on the sercos ring must be unique within the range of 01 99 Figure 33 Node Addressing Example 2 Sercos Fiber optic Ring Ol na Logix Platform 0 1m ControlLogix controller is shown Receive 5 1 in Transmit al P Transmit Receive Kinetix 6000 System i F 6 axis power rail aa aia lai av ol a L Base Node Address A 06 Slot filler module slot location Switches 05 AM module axis 3 node address 04 AM module axis 2 node address 03 IPIM module slot location 02 IPIM module slot location MDF SBxxxxx 01 IAM module axis 1 base node address IDM Unit Network Node Address Switches covers removed 30 IDM unit 5 31 IDM unit 6
124. network cables 58 network status N indicator 91 network status indicator IPIM module 90 node address 77 example 71 72 noise 92 93 P panel requirements 22 peak duty cycle 50 PFD PFH and MTTFd definition 107 planning your installation 21 port status indicator 91 power rail 30 power specifications 50 power up 82 pre charge 14 publications related 7 related publications 7 replacement parts catalog number explanation 17 replacing the IPIM module 100 routing power and signal wiring 54 RSLinx software 115 RSLogix 5000 software 73 115 Index S safe torque off bypass 109 connector 40 feature IDM unit 108 motion allowed jumper 109 operation 104 PFD PFH and MTTFd 107 specifications 111 troubleshooting 105 wiring 107 safety products catalog 109 sensor connections 46 sercos connectors 41 sercos module 73 75 shutdown 95 SoftLogix sercos PCI card 115 software RSLogix 5000 73 software compatibility 18 specifications brake override input 50 digital input 49 duty cycle 50 feedback 52 safe torque off 111 startup sequence 67 status indicators DC bus IPIM 90 drive status D IDM 91 IPIM 90 module IPIM 90 network N IDM 91 network IPIM 90 port IPIM 91 status only 95 stop motion 95 system components 9 system mounting requirements 22 system overview common bus 15 with LIM 12 without LIM 13 system sizing 21 127 T testing and tuning 83 testing axes hookup tab 83 tools menu 68 total bus
125. nnection Fails While in Run Mode V Use Unicast Connection over EtherNet IP Module Fault Status Running Rockwell Automation Publication 2094 UM003B EN P February 2015 117 AppendixC Upgrading the Kinetix 6000M System Firmware Follow these steps to select the IPIM module to upgrade 1 Make sure the IPIM module will accept a firmware request prior to attempting the firmware upgrade see page 117 2 Open your ControlFLASH software You can access the ControlFLASH software by either of these methods e From the Tools menu in RSLogix 5000 software choose ControlFLASH e Choose Start gt Programs gt FLASH Programming Tools gt ControlFLASH The Welcome to ControlFLASH dialog box opens Welcome to ControlFLASH Welcome to ControlFLASH the firmware update tool ControlFLASH needs the eae from you before it can i egin updating a device Contro l 1 The Catalog Number of the target device 2 The Network Configuration parameters optional 3 The Network Path to the target device 4 The Firmware Revision for this update coct_ e 3 Click Next The Catalog Number dialog box opens catalog number Enter the catalog number of the target device 2034 SEPM B 24 5 1769 L33ER 1769 L33ERM Control 1784 PM16SE MDx SB1003P Qxx2x 5 MDx SB1003P Qxx4x 5 MDx SB1153H Qxx2x S MDx SB1153H Oxx4x S MDx SB1304F Qxx2x S MDx SB1304F Oxxds S Be 4 Select your IPIM
126. o Drives User Manual publication 2094 UMO001 or the Kinetix 6200 and Kinetix 6500 Modular Multi axis Servo Drives User Manual publication 2094 U M002 for information on best practices that 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 Observe these guidelines when your system includes the 2094 SEPM B24 S IPIM module In this example a 2094 BL02 LIM module is used in the Bulletin 2094 system and mounted left of the IAM module e Establish clean C and dirty zones D similar to other Bulletin 2094 drive systems e The sercos fiber optic cables are immune to electrical noise but due to their delicate nature route them in the clean zone e IPIM communication wires are noise sensitive and belong with the fiber optic cables in the clean zone e Ethernet cables are noise sensitive and belong in the clean zone e IDM network cables although noise sensitive by nature are shielded and designed to be routed with the hybrid cable outside of the enclosure e The Bulletin 2090 hybrid cable is dirty and belongs in the dirty zone This layout is preferred due to the reduced size of the very dirty zone Rockwell Automation Publication 2094 UM003B
127. odule Pg Logix Sercos Interface Module ay EE SEE Logix Platform RSLogix 5000 ControlLogix is shown Software Bulletin 1585 ah Se Bulletin 2090 Ethernet shielded Cable Sercos Fiber optic Cable 2094 SEPM B24 S 0 IPIM Module D p 2094 BCxx Mxx S E 0000 fal IAM Module i ay 2094 PRS aa Bulletin 2090 i o Tit Network Cables Power Rail n 04 Digital Inputs MDF SBxxxxx IDM Unit Digital a Inputs 2 o MDF SBxxxxx mAn p mj AA fe 8 fe fe iA o w Single wide 2094 BMxx M Single wide 2094 BCxx Mxx S AM Power Modules with IAM Module 2094 SE02F M00 Sx Control Modules 16 2094 BMxx S Kinetix 6000 Double wide 2094 BMxx S Double wide Single wide AM 2094 BCxx Mxx S AM Module Module IAM Module Rockwell Automation Publication 2094 UM003B EN P February 2015 IDM Unit Catalog Number Explanations Start Chapter 1 Kinetix 6000M catalog numbers and descriptions are listed in the following tables Table 2 Power Interface Module IPIM Cat No 2094 SEPM B24 S Description 460V IDM Power Interface Module I
128. oltage at the IPIM module measures less than 50V DC Failure to observe this precaution could result in severe bodily injury or loss of life and damage to the product will occur ATTENTION Be sure that installed cables are restrained to prevent uneven tension or flexing at the cable connectors Provide support at 3 m 10 ft intervals throughout the cable run Excessive and uneven lateral force at the cable connectors may result in the connector s environmental seal opening and closing as the cable flexes or wires separating at the cable gland Failure to observe these safety procedures could result in damage to the motor and its components Building your own cables is not an option for the hybrid and network cables used in the IDM system Always form a drip loop in the cables directly before each cable enters and exits the IDM unit A drip loop is a low spot in the cable that lets liquids gather and drip off the cable rather than flow along the cable to an electrical connection or the motor Connect the network and hybrid cables only after the IDM unit is mounted A ATTENTION Cable connectors must be properly aligned before the connection is secured with the recommended degrees of turn or torque value Improper connector alignment is indicated by the need for excessive force such as the use of tools to fully seat connectors Failure to observe these safety procedures could result in damage to the IDM unit cables and connec
129. or General Requirements standard applies in whole or in part Additionally the standard EN 50178 Electronic Equipment for use in Power Installations apply in whole or in part Refer to the Kinetix Rotary Motion Specifications Technical Data publication GMC TD001 for environmental and mechanical specifications The safe torque off circuit when used with suitable safety components provides protection according to EN ISO 13849 1 PLd Cat3 or according to EN 62061 SIL2 The safe torque off option is just one safety control system All components in the system must be chosen and applied correctly to achieve the desired level of operator safeguarding The safe torque off circuit is designed to safely turn off all of the output power transistors You can use the safe torque off circuit in combination with other safety devices to achieve the stop and protection against restart as specified in IEC 60204 1 Rockwell Automation Publication 2094 UM003B EN P February 2015 IDM System Safe Torque off Example Using the Safe Torque off Feature with the Kinetix 6000M System Appendix A Refer to the Kinetix Safe off Feature Safety Reference Manual publication GMC RM002 for wiring examples ATTENTION This option may be suitable for performing mechanical work on the drive system or affected area of a machine only It does not provide A electrical safety SHOCK HAZARD In Safe Torque off mode hazardous voltages may still be present at
130. otion cycle Motion Analyzer performs this analysis and it can be challenging for complex motion profiles Another option is to use the continuous output power specification for each IDM unit Once an output power value is determined for each IDM unit use the equation below to calculate a DC bus load current value for each IDM unit This equation neglects the effect of voltage drop over the hybrid cable DC bus However this affect is much less significant compared to the IDM control power voltage drop so ignoring it does not have a large impact on the estimation Pout ee a bus Na Vpus Where Ibus IDM unit DC bus current load Pour IDM unit average shaft output power n efficiency 80 average Vous DC bus voltage at the IPIM nodule Calculate the total bus current by summing the Ij current values for all the IDM units connected to an IPIM module IMPORTANT __ The total bus current must be less than the maximum current specification for the IPIM module 24 Arms See the Kinetix Rotary Motion Specifications Technical Data publication GMC TD001 Rockwell Automation Publication 2094 UM003B EN P February 2015 137 Appendix D 138 Kinetix 6000M System Sizing Example The six IDM units in this example are listed below with the corresponding output power The equation for bus current is used to calculate the bus current values for each IDM unit The DC bus voltage is 675V DC The DC bus current as a percentage of the IPI
131. overtime ar ent tionereeaseedeneds 94 IDM Unit Fault Diagnosis acted waves ches eee nd a aewretmwraecers 95 Logix Controller IDM Unit Fault Behavior 44 95 Use a Web Browser to Monitor System Status 0 eee ee eee 97 Chapter 8 Before You Begin sis osisisere reneis aa e e TEPEE a A 99 Remove the IPIM Module ase cessas 00d 8 tare trode bie aa dae web edeo eer 100 Replace the IPIM Modules ccciic echoi ii viein vec evabea kid 101 Rockwell Automation Publication 2094 UM003B EN P November 2014 5 Table of Contents Using the Safe Torque off Feature with the Kinetix 6000M System Interconnect Diagram Upgrading the Kinetix 6000M System Firmware Kinetix 6000M System Sizing Index Appendix A Certificationeesii4 sii auae EE E A ee eee ae 103 Important Safety Considerations i 2 rissa sk ysccaton ce eae eree 103 Category 3 Requirements According to EN ISO 13849 1 104 Stop Category Definition specsemanpaagndann suaperieawendanss 104 Performance Level PL and Safety Integrity Level SIL 104 Description of Operation wi 220 4 eines dd ec ees 104 Troubleshooting the Safe Torque off Function 105 PFD PFH and MTTFd Dehinitions 44 esa aii Abe ee cae 107 PED PEH and Nid Dates 28 territories see 107 Wiring Your Safe Torque off Circuit 0 0 0 0 00 e cece eee eee 107 European Union Directivesic i5 feicie ies ae ep veered 108 IDM Sate Torque off Feature 2 01 24 veges ecu ce ecerees
132. p and choose Properties The Motion Group Properties dialog box opens amp Motion Group Properties UM_Motie 0 x Axis Assignment Attribute Tag Unassigned Assigned E Add gt lt Remove Add gt OK Cancel Apply Help 5 Click the Axis Assignment tab and move your axes created earlier from Unassigned to Assigned 6 Click the Attribute tab and edit the default values as appropriate for your application 7 Click OK Rockwell Automation Publication 2094 UM003B EN P February 2015 79 Chapter6 Configuring the Kinetix 6000M System Configure Axis Properties Follow these steps to configure the Axis properties 1 Right click an axis in the Controller Organizer and choose Properties The Axis Properties dialog box opens ee Te 10 x Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag General Motion Planner Units Drive Motor Motor Feedback AuxFeedback Conversion Amplifier Catalog Number 45 4 581 1539H Qex2e S Motor Catalog Number MDxSBTISSH Om2e Loop Configuration JPostionSevo O YS Drive Resolution jaooo Drive Counts Motor Rev 7 Calculate IV Drive Enable Input Checking Change Catalog I Drive Enable Input Fault Real Time Axis Information Attribute 1 nono o Attribute 2 eroro o Cancel Apply Help 2 On the Drive Motor tab check Drive Enable Input Checking When che
133. r Ethernet node and EtherNet IP network module 7 Select the IPIM module to upgrade 8 Click OK The Firmware Revision dialog box opens Firmware Re Catalog Number 2094 SEPM B24 5 SerialNumber 00000000 Current Revision 1 002 20 r Select the new revision for this update Restrictions About Info J Show all revisions m Current Folder JEL c program files controlflash Next gt 9 Select the firmware revision to upgrade 10 Click Next Rockwell Automation Publication 2094 UM003B EN P February 2015 Cancel Help Appendix C 119 AppendixC Upgrading the Kinetix 6000M System Firmware The Summary dialog box 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 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 SEPM B24 5 SerialNumber 00000000 Current Revision 1 002 00 New Revision 1 002 20 Control 11 Confirm the IPIM module catalog number and firmware revision 12 Click Finish This ControlFLASH warning dialog box opens DANGER The target module is about to be update with new firmware During the
134. r Overload Tp lt 2 0 s 35 30 pk 200 pk 350 25 W552 _ pk 443 20 15 10 Maximum Duty Cycle Dmax 5 0 0 20 40 60 80 100 Base Current IBase Icont MDF 1304 Peak Inverter Overload Tp lt 2 0 s 35 Ipk 200 OT Sas pk 344 30 mmm m eee 25 20 15 10 Maximum Duty Cyce Dmax 5 0 0 20 40 60 80 100 Base Current IBase Icont Rockwell Automation Publication 2094 UM003B EN P February 2015 51 Chapter4 Kinetix 6000M System Connector Data Feedback Specifications 52 Kinetix 6000M integrated drive motors are available with high performance digital encoders with multi turn high resolution feedback e 524 288 counts per revolution e High resolution absolute position feedback within 4096 turns The IDM unit does not support an auxiliary feedback device Absolute Position The drive s absolute position feature tracks the position of the motor within the multi turn retention limits while the drive is powered off The absolute position feature is available on all IDM units Table 18 Absolute Position Designator Examples Encoder Type Motor Cat No Designator Motor Cat No Example Hengstler BiSS MDF SB1003P Q Figure 20 Absolute Position Retention Limits lt gt 2048 1024
135. r choice for this system configuration Using 32V as the applied IDM unit voltage for the load current calculation results in a calculated voltage at end of the total cable length of 36V so the 32V estimate is obviously too small Using 37V as the applied IDM unit voltage for the load current calculation results in a calculated voltage at the end of the total cable length of 36 8V Therefore 37V is close to the best possible value and a load current value of 2 64 A will be used for the remainder of this example The total IDM unit load current as a percentage is 2 64 6 5 40 6 The voltage at the end of the total cable length is greater than the minimum voltage specification for the IDM unit so this is a valid system configuration Using a more sophisticated model the IDM unit control power load current was calculated to be 2 42 A and the voltage at the last IDM unit to be 40 15V The total IDM unit control power usage was 103 W compared to 97 5 W calculated in step 1 The additional 5 5 W are losses in the hybrid cable This illustrates how using the simplified system for sizing overestimates the total IDM unit control power current and the voltage drop along the hybrid cable Table 24and Table 25 show the maximum cable length per IPIM module using Motion Analyzer The following is assumed e All IDM units are MDF SB1304 highest brake load e Cable length is identical between all IDM units e Minimum cable length is1 m 3 3 ft e Eve
136. r current consumed by all IDM units and connected to a single IPIM module e IPIM module control power load current Total IDM unit control power load current same as above Rockwell Automation Publication 2094 UM003B EN P February 2015 127 AppendixD Kinetix 6000M System Sizing Manually Sizing the Kinetix 6000M System 128 Step 1 Calculate the IDM unit control power load current for each IDM unit There are three components to the control power load current for each IDM unit e Constant power load e Digital input loads e Brake loads Refer to the IDM unit constant load brake load and control power load specifications shown below IDM Unit with Constant Control Power Load Brake Control Power Load Output Power Rating Cat No Brake W W kW MDF SB1003 No 8 0 1 10 MDF SB1003 Yes 8 15 1 02 MDF SB1153 No 8 0 1 15 MDF SB1153 Yes 8 19 5 1 00 MDF SB1304 No 8 0 1 39 MDF SB1304 Yes 8 19 5 1 24 The digital input load is calculated as follows Digital Input Watts linputs Ven Where x inputs The sum of all load currents on the digital input power supply to power the sensor and or the sensor input current V 24V n power supply efficiency 80 IMPORTANT Confirm that the total IDM unit control power load is less than the specified limit for the IPIM module output rating 270 W See the Kinetix Rotary Motion Specifications Technical Data publication GMC TD001 IMPORTANT Confi
137. r to the System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 CE Requirements system without LIM module To meet CE requirements when your system excludes the LIM module these requirements apply e Install an AC line filter catalog number 2090 XXLF xxxx as close to the IAM module as possible e Use line filters for 3 phase input power and single phase control power e Use 2090 series cables e Use 889 series sensor cables e Combined motor power cable length for all axes on the same power rail must not exceed 240 m 787 ft e Combined cable length for all IDM units that are connected to one IPIM module is 100 m 328 ft e Install the Kinetix 6x00 system inside an enclosure Run input power wiring in conduit grounded to the enclosure outside of the enclosure Separate signal and power cables See the Kinetix 6000 Multi axis Servo Drives User Manual publication 2094 UM001 or the Kinetix 6200 and Kinetix 6500 Modular Multi axis Servo Drives User Manual publication 2094 UM002 for interconnect diagrams including input power wiring CE Requirements system with LIM module To meet CE requirements when your system includes the LIM module follow the requirements as stated in CE Requirements system without LIM module and these additional requirements as they apply to the AC line filter e Install the LIM module catalog numbers 2094 BL02 as close to the IAM module as possible e Install
138. rdized Rockwell Automation Publication 2094 UM003B EN P February 2015 107 AppendixA Using the Safe Torque off Feature with the Kinetix 6000M System IDM Safe Torque off Feature 108 European Union Directives If this product is installed within the European Union or EEC regions and has the CE mark the following regulations apply CE Conformity Conformity with the Low Voltage Directive and Electromagnetic Compatibility EMC Directive is demonstrated by using harmonized European Norm EN standards published in the Official Journal of the European Communities The safe torque off circuit complies with the EN standards when installed according to instructions found in this manual EMC Directive This unit is tested to meet Council Directive 2004 108 EC Electromagnetic Compatibility EMC by using these standards in whole or in part e EN 61800 3 Adjustable Speed Electrical Power Drive Systems Part 3 EMC Product Standard including specific test methods e EN 61326 2 1 EMC Immunity requirements for safety related systems The product described in this manual is intended for use in an industrial environment CE Declarations of Conformity are available online at http www rockwellautomation com products certification ce Low Voltage Directive These units are tested to meet Council Directive 2006 95 EC Low Voltage Directive The EN 60204 1 Safety of Machinery Electrical Equipment of Machines Part 1 Specification f
139. re Change the command profile to reduce speed or increase time e Check the mounting clearance E76 CAN Init Solid Red CAN hardware initialization fault Reset System No Coast Disable DriveHardFault detected e If fault persists replace system module Open Contactor Enable E78 Sercos Init Solid Red Sercos hardware fault detected Cycle power No Coast Disable DriveHardFault e If fault persists replace module Open Contactor Enable E109 IGBT Over temperature Flashing Excessive IGBT temperature e Lower ambient temperature No Coast Disable DriveOvertempFault Red Reduce motion profile Open Contactor Enable Use a Web Browser to The IPIM module supports a basic web interface for common status reporting and network configuration attributes including Monitor System Status 2 g e Diagnostics e IPIM Indicators e IPIM Information e Network Settings e Ethernet Statistics e CIP Statistics e Monitor Signals e Fault Log e Browse IDMs e IDM Indicators e Monitor IDM Signals Rockwell Automation Publication 2094 UM003B EN P February 2015 97 Troubleshooting the Kinetix 6000M System To access the web interface 1 Using an Ethernet cable connect your computer to one of the Ethernet ports on the IPIM module refer to Figure 11 on page 38 for location 2 Open a web browser program and enter the IP address of the IPIM module The Home screen will be displayed 2094 SEPM B24 S E TETE
140. re kit 115 troubleshooting 121 125 verify upgrade 126 controller properties 74 ControlLogix sercos module 115 conventions used in this manual 7 conversion tab 80 cycle time 76 D data rate 76 data type 78 date time tab 74 DC bus connector 39 DC bus status indicator 90 DC common bus follower IAM 14 leader IAM 14 pre charge 14 total bus capacitance 14 delay times 81 Rockwell Automation Publication 2094 UM003B EN P February 2015 139 Index 140 digital input cable examples 48 connectors 45 sensor connections 46 specifications 49 disable drive 95 display information 67 startup 67 tools 68 download program 81 drive status D indicator 91 DriveExplorer 18 electrical noise reduction 27 EMC directive 108 EN 61508 104 EN 62061 104 enable connector 41 enable time synchronization 74 enclosure requirements 22 selection 24 error codes IDM system 87 EtherNet IP connecting cables 63 connector 42 PORT1 and PORT2 connectors 63 exception fault behavior 95 F fault action tab 81 fault diagnosis 93 fault reset 93 fault status reading 88 fault types IPIM module 94 feedback specifications 52 fiber optic RX and TX connectors 41 59 fiber optic cables example 59 60 61 62 firmware upgrade 115 verify upgrade 126 follower IAM 14 fuse catalog number 23 location 23 replacement 24 type 23 G grounding the IDM system 54 hardware configurations typical 11 hardware enable input 83 85 headers motion a
141. reset instruction to the IAM module The integration of the IPIM module into the Logix environment through the EtherNet IP network provides additional capabilities you may choose to take advantage of in your Logix program Reading the Fault Status of the IPIM Module The IAM module supports two IDNs to allow reading the fault status from the IPIM P 0 113 and P 0 114 Both of these IDNs have a data type of INT To read the fault status from an IPIM module first write the slot number of the IPIM module you want to read to IDN P 0 114 The left most slot the slot occupied by the IAM module is slot 1 and the slot numbers increment as you move to the right After the slot number has been written the IPIM module fault status can be obtained by reading IDN P 0 113 The 16 bit value returned is a bitfield representing the state of the IPIM faults as follows Value IPIM diagnostics 1 active 0 inactive Bit 0 Backplane Communication error Bit 1 IDM Communication error Bit 2 Bus Overload excessive current usage by IDMs Bit 3 DC Fuse open Bit 4 DC Fuse open Bit 5 Control Power Overload Bit 6 DC Bus Overcurrent Error instantaneous overcurrent Bit 7 Shunt Overload Bit 8 Overtemp Error Bit 9 Open DC Bus Error Bits 10 15 Reserved Not Used Setting the Message Configuration Parameters Set the write message configuration parameters as shown in Figure 34 Rockwell Automation Publication
142. ription Signal mm in Nem Ibein mm AWG 1 Feedback Monitoring2 FDBK2 F2 7 0 0 235 2 0 0 14 1 5 ns T 0 275 30 14 2 Feedback Monitoring 2 FDBK2 F2 3 Feedback Monitoring 1 FDBK1 F1 4 Feedback Monitoring 1 FDBK1 F1 5 Safety Enable Input 2 SAFETY ENABLE 2 SE2 6 Safety Enable Common SAFETY ENABLE SE 7 Safety Enable Input 1 SAFETY ENABLE 1 SE1 8 Safety Bypass Supply 24V 24 Q 24 DC 320 mA max 9 Safety Bypass supply 2av com 24 Common 1 2 See page 107 for information on the proper use of these terminals Feedback monitoring terminals are provided for compatibility with the Kinetix 6000 safety connector only 3 Maximum minimum that the connector will accept these are not recommendations Rockwell Automation Publication 2094 UM003B EN P February 2015 Kinetix 6000M System Connector Data Chapter 4 Sercos Fiber optic Connectors Yy dy The sercos fiber optic ring is connected by using ne l the sercos receive RX and transmit TX d i connectors Receive Transmit finger tight torque when attaching the fiber optic cables Do not use a wrench or any other mechanical assistance For more information see Fiber Optic Cable Installation and Handling Instructions publication 2090 IN010 ATTENTION To avoid damage to the sercos RX and TX connectors use only Table 12 Sercos Specifications Attr
143. riptions and actions start on page 95 Figure 37 IDM Unit Indicators Drive Status D Network Status N Indicator Indication Description Network Provides communication Off Communication is not active Status N status for the IDM unit Flashing green Communication is being established 1 s interval Solid green Communication has been established Solid red A duplicate address exists Fast flashing green Firmware update in process 0 5 s interval Slow flashing green Firmware update in process on another IDM 2 s interval Drive Provides general status off Power is not applied Status D for the IDM unit Flashing green Module is in standby mode Solid green Module is operating Flashing red Recoverable fault has occurred Solid red Unrecoverable or hardware fault has occurred 1 Areset or cycling the power may clear a recoverable fault depending on the state of the IDM An unrecoverable fault will require power cycling and or modifying the hardware configuration while unpowered to clear the fault Rockwell Automation Publication 2094 UM003B EN P February 2015 91 Chapter7 Troubleshooting the Kinetix 6000M System General System Anomalies troubleshooting to improve performance Condition Axis or system is unstable Potential Cause Unintentionally in Torque mode These anomalies do not alway
144. rm that the I inputs the Kinetix Rotary Motion Specifications Technical Data publication GMC TD001 value is less than the specified limit 200 mA See Rockwell Automation Publication 2094 UM003B EN P February 2015 Kinetix 6000M System Sizing Appendix D Example Example System e Common bus leader IAM module e Two AM modules e One IPIM module e Six IDM units shown below e 72 total meters of hybrid cable e Control power 120V AC 60 Hz e Main power 480V AC gt 675V DC For this example assume that each digital input uses 50 mA at 24V DC IDM Unit Cat Digital with Constant Load DigInputLoad Brake Load Total Load No Inputs Brake W W w w MDF SB1153 2 Yes 8 3 0 19 5 30 5 MDF SB1003 0 No 8 0 0 8 MDF SB1304 3 No 8 45 0 12 5 MDF SB1304 0 Yes 8 0 19 5 27 5 MDF SB1003 0 No 8 0 0 8 MDF SB1153 2 No 8 3 0 0 11 Total IDM Unit Control Power Load 97 5 The total IDM control power load is less than the specified limit for the IPIM so this is a valid system configuration Step 2 Estimate the IDM system control power load current for all IDM units connected to each IPIM module Estimating the load current for each IDM depends on the IDM control power voltage applied to each IDM The loads calculated in step 1 are specified in watts so the load current is estimated as Wi j Vi Where I IDM unit control power load current for IDM i W load watts for IDM i V
145. roperty of their respective companies New and Updated Information Summary of Changes This manual contains new and updated information This table contains the changes made to this revision Topic Page Corrected references to catalog numbers in the Integrated Drive motor IDM 17 table Corrected the connector information in the Understanding the Digital Inputs 49 table Added an important message that prohibits building hybrid and network cables 54 used in the IDM system Added an important message that provides additional information about the 110 safety feedback connections required in a cascaded system Updated the IPIM Module and IDM Unit Wiring Example figure by replacing PE 114 with the ground symbol and indicating two EtherNet IP connectors Rockwell Automation Publication 2094 UM003B EN P November 2014 Summary of Changes Notes 8 Rockwell Automation Publication 2094 UM003B EN P November 2014 Preface Start Planning the Kinetix 6000M System Installation Mounting the Kinetix 6000M System Table of Contents Important User Information 2134 20 44 ifacat Bree sot eine Seowdedw et 2 About This Publication cick detente ell cl vi tet ee be Un okay 7 Conventions Used in This Mantial S lt oscse tee nerpsuen cecseeeen ss 7 Additional R s rcesi eesin eroian EN E 7 Chapter 1 About the Kinetix 6000M System i wivesasce seve eeenstareeseiwe se 9 Typical Hardware Conficurations incite
146. rovides connector locations and signal descriptions for your Kinetix 6000M integrated drive motor system Topic Page IPIM Module Connectors and Indicators 38 IPIM Module Connector and Signal Descriptions 39 IDM Unit Connectors and Indicators 43 IDM Unit Connector and Signal Descriptions 44 Power Specifications 50 Feedback Specifications 52 Rockwell Automation Publication 2094 UM003B EN P February 2015 37 Chapter4 Kinetix 6000M System Connector Data IPIM Module Connectors and Indicators 38 Figure 11 Module Connectors and Indicators Item Description See page oO Hybrid cable DC bus connector Termination point for DC and PE 39 e Hybrid cable communication signals Connection point for IDM unit power and 39 connector communication Safe off connector Termination point for safety signals 40 4 Enable connector Enable input to the IDM system 41 Sercos fiber optic connectors Transmit and receive fiber optic connectors 41 O LCD display Allows Ethernet configuration and system status 66 7 Navigation buttons Four buttons provide access and navigation 66 when using the LCD display Status indicators 90 DC Bus DC bus status Control Bus Control bus status present faulted Port 1 and Port 2 Communication status of the EtherNet IP ports Module Status IPIM module status operating standby faulted Network Status Indicates IDM system network statu
147. ry other IDM unit includes a brake starting with 2 e When the number of brake IDM units are greater than 1 2 the total units they are placed at the end of the daisy chain IMPORTANT When using the simplified system to calculate cable length the resulting maximum cable lengths will be much shorter Rockwell Automation Publication 2094 UM003B EN P February 2015 133 AppendixD Kinetix 6000M System Sizing Table 24 Max Cable Length per IPIM Module using Motion Analyzer no digital inputs Number of IDM Units 110 1 2 3 4 5 6 7 8 9 of 1 2 3 4 5 1 90 0 25 50 75 100 100 100 100 100 100 100 100 100 100 100 100 100 80 1 25 50 75 100 100 100 100 100 100 100 100 100 100 100 100 100 3 Nn Ss 60 Z 2 50 75 100 100 100 100 100 100 100 100 100 100 100 100 100 7 3 75 100 100 100 100 100 100 100 100 100 100 100 100 100 El 40 v 2 E 4 100 100 100 100 100 100 100 100 100 100 100 100 100 S 5 100 100 100 100 100 100 100 100 100 100 100 100 10 2 0 i 5 6 100 100 100 100 100 100 100 95 84 72 61 aaa ah a a a a ae a rt ea ag a 7 100 94 88 85 83 n 59 42 27 Total Number of IDM Units No Brake IDM Units 1Brake IDM Units 2Brake IDM Units 3Brake nits 4Brake nit 5 Brake nits 8 92 7 6
148. s EtherNet IP ports Two Ethernet ports are provided 42 IDM network cable connector Connection point for network cable to first IDM 42 unit Rockwell Automation Publication 2094 UM003B EN P February 2015 IPIM Module Connector and Signal Descriptions Hybrid Cable DC Bus Connector Kinetix 6000M System Connector Data This connector supplies the DC bus voltage Three wires from the hybrid power and communication cable catalog number 2090 CHBIFS8 12AA xx are used to extend this voltage to the first IDM unit Terminal Description Signal 1 DC bus supply DC DC 2 Chassis ground alin di 3 DC bus supply DC DC Hybrid Cable Communication Signals Connector The hybrid communication connector extends control power communication and safety signals to the first IDM unit The 2090 CHBIFS8 12AAxx cable interfaces with this connector Terminal Description Signal 1 Shield SH1 2 Control Power 42V DC 4 42 3 Control Power 42V DC 42V COM 42 4 CAN Bus Shield IDM CAN SHIELD SH2 5 IDM CAN Bus Lo IDM CAN LO CN 6 IDM CAN Bus Hi IDM CAN HI N 7 System OK out to IDMs IDM SYSOKOUT OUT 8 System OK return from IDMs IDM SYSOKRTN RTN 9 Safety Shield SAFETY SHIELD SH3 10 Safety Enable Input 1 SAFETY ENABLE 1 SE1 11 Safety Enable Common SAFETY ENABLE SE 12 Safety Enable Input 2 SAFETY ENABLE 2 SE2 Rockwell Automation Publication 2094 UM003B EN
149. s eiesmvegee tokens ens ees penees 33 Aligning the IDM Unit suss ctcuts wars fovidewa wuiievawienalangerndaatad 34 Mount and Connect the IDM Unit a24is4e09 cs eee a eae ss 34 Rockwell Automation Publication 2094 UM003B EN P November 2014 3 Table of Contents Kinetix 6000M System Connector Data Connecting the Kinetix 6000M System Chapter 4 IPIM Module Connectors and Indicators 0 cece e eee eee 38 IPIM Module Connector and Signal Descriptions 39 Hybrid Gable DC Bus Connector 2 14 lt 1429 Se208s108 325256008 39 Hybrid Cable Communication Signals Connector 39 Safe I orquezofC onnectore 4 0 vin eehuee eh Ae ater dare 40 Sercos Fiber optic Connectors iieci0 igen dee ia 4 Priable Input diate tat onde cheer ense oa be E A G 41 EnieeNct LPC onnectors civ eeaeee aa 25 nena kstiout 42 IPIM Module Network Connector Pinouts 006 42 IDM Unit Connectors and Indicators 0 6 sees eee eee ee eee 43 IDM Unit Connector and Signal Descriptions 0006 44 Hybrid Cable Contisetote 24i0ni cere cdeseutesicyae ee eren 44 IDM Network Input and Output Connector Pinouts 45 Digital Input Connectors wis sense ev anrwd apes vege yews ene ohne 45 Power Specifications 0 JiA fe ecl2 bet cheno e et Lie te ee eo nelly 50 Brake Override lipit eontaetanauts poy sateen Sou eae 50 Peak D ty Cyclen dra Be ciate and ute che ra Echinacea cid rerio 50 Feedback Specificat
150. s result in a fault code but may require Possible Solution Check to see what primary operation mode was programmed IDM unit 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 Mechanical resonance Notch filter or output filter may be required refer to Axis Properties dialog box Output tab in RSLogix 5000 software You cannot obtain the acceleration deceleration that you want Torque Limit limits are set too low Verify that current limits are set properly The system inertia is excessive e Check IDM unit size versus application need e Review servo system sizing The system friction torque is excessive Check IDM unit size versus application need Available current is insufficient to supply the correct accel decel rate e Check IDM size versus 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 IDM unit 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 The IDM wiring is open Replace the IDM unit The IDM thermal switch has tripped
151. se in safety related applications up to EN ISO 13849 1 performance level d PLd and category 3 SIL CL 2 per IEC EN 61508 EN 61800 5 2 and EN 62061 in which removing the motion producing power is considered to be the safe state Important Safety Considerations The system user is responsible for the following e Validation of any sensors or actuators connected to the system e Completing a machine level risk assessment e Certification of the machine to the desired EN ISO 13849 1 performance level or EN 62061 SIL level e Project management and proof testing Rockwell Automation Publication 2094 UM003B EN P February 2015 103 AppendixA Using the Safe Torque off Feature with the Kinetix 6000M System Description of Operation 104 Category 3 Requirements According to EN ISO 13849 1 Safety related parts are designed with these attributes e A single fault in any of these parts does not lead to the loss of the safety function e A single fault is detected whenever reasonably practicable e Accumulation of undetected faults can lead to the loss of the safety function which results in failure to remove motion producing power from the motor Stop Category Definition Stop category 0 as defined in EN 60204 or Safe Torque Off as defined by EN 61800 5 2 is achieved with immediate removal of motion producing power to the actuator IMPORTANT Inthe event ofa malfunction the most likely stop category is category 0 When designing the
152. st module that is mounted on the rail 2 Dimension applies to the following modules IPIM module 2094 SEPM B24 S IAM module Series B 2094 BC01 Mxx x and 2094 BC02 M02 x AM module Series B 2094 BMP5 x 2094 BM01 x 2094 BM02 x IDM Unit Design Guidelines Minimum Clearance Requirements Figure 8 illustrates minimum IDM unit clearance requirements for proper airflow and installation 125 C 275 F during motor operation Take precautions to prevent accidental contact with hot surfaces Consider IDM unit surface temperature when selecting motor mating connections and cables A BURN HAZARD Outer surfaces of the motor can reach high temperatures Failure to observe these safety procedures could result in personal injury or damage to equipment Additionally consider the following items e Obtain the specified motor thermal rating by mounting the motor on a surface with heat dissipation equivalent to a 304 8 x 304 8 x 12 7 mm 12 x 12 x 0 5 in aluminum heatsink e Do not install the motor in an area with restricted airflow and keep other devices that produce heat away from the motor 26 Rockwell Automation Publication 2094 UM003B EN P February 2015 Electrical Noise Reduction Planning the Kinetix 6000M System Installation Chapter 2 Figure 8 Minimum IDM Unit Clearance Requirements 100 0 mm 3 9 in t P ai gt 100 0 mm 3 9 in i 100 0 mm 3 9 in See the Kinetix 6000 Multi axis Serv
153. t during installation of couplings and pulleys or a shaft key Failure to observe these safety procedures could result in damage to the motor and its components i ATTENTION The IDM unit is not for direct connection to an AC power line IDM units are designed for connection to an IPIM module that controls the application of power Failure to observe these safety precautions could result in damage to the motor and equipment 34 Rockwell Automation Publication 2094 UM003B EN P February 2015 Mounting the Kinetix 6000M System Chapter 3 1 Allow sufficient clearances around the IDM unit for it to stay within its specified operating temperature range See page 27 for details BURN HAZARD Outer surfaces of the IDM unit can reach high temperatures A 125 C 275 F during motor operation Take precautions to prevent accidental contact with hot surfaces Consider IDM unit surface temperature when selecting motor mating connections and cables Failure to observe these safety procedures could result in personal injury or damage to equipment 2 Determine the radial and axial shaft load limitations of your motor See the Kinetix Rotary Motion Specifications Technical Data publication GMC TD001 for specifications 3 Set the node address for the IDM unit See Setting the Node Address on page 70 4 If sufficient mounting clearance is provided rotate the hybrid cable connectors into position prior to installing If the moun
154. t to operate the system Failure to correct the fault could result in personal injury and or damage to equipment as a result of uncontrolled machine operation ATTENTION Provide an earth ground for test equipment oscilloscope used in troubleshooting Failure to ground the test equipment could result in personal injury The IAM module reports a single generic IPIM fault whenever a fault occurs on any IPIM module in the same backplane as the IAM module All IPIM faults result in an open contactor The Logix Axis Tag for this fault is IPIMFault The IPIM module is not a sercos device so the IAM module reports any IPIM faults to the Logix motion subsystem IPIM faults are reset by performing a fault reset on the IAM module Issuing a fault reset command to the IAM module also generates a fault reset to all the IPIM modules in the same backplane as the IAM Detailed information about the IPIM fault status may be obtained by messaging to the IAM Rockwell Automation Publ ication 2094 UM003B EN P February 2015 87 Chapter 7 88 Troubleshooting the Kinetix 6000M System Connecting the IPIM module into the Logix environment as an EtherNet IP device does not disable fault reporting through the IAM module Only the IAM fault reporting lets the Logix motion subsystem take action based on the IPIM module fault status PIM faults are also reported to Logix over the Ethernet connection However IPIM faults must be reset by applying a fault
155. tatus dialog box Failure 2 Refer to ControlFLASH Firmware Upgrade Kit Quick Start publication 1756 05105 for troubleshooting information Update Status E xj Catalog Number MDx SB1304F Oxx2x 5 SerialNumber 00000000 Current Revision 1 000 View Log New Revision 4 995 Status Help 16 Click OK Rockwell Automation Publication 2094 UM003B EN P February 2015 125 AppendixC Upgrading the Kinetix 6000M System Firmware Verify the Firmware Upg rade Follow these steps to verify your firmware upgrade was successful This procedure uses an IDM unit as an example but applies to IPIM modules too TIP Verifying the firmware upgrade is optional 1 Open your RSLinx software 2 From the Communications pull down menu choose RSWho XVS RSLinx Classic Gateway RSWho 1 4 l0 x s File Edit view Communications Station DDE OPC Security Window Help la x 2 S18 Blk x Browsing node 163 not found t Workstation USMEQISTO89 a Linx Gateways Ethernet gs AB_ETH 2 Ethernet AB_ETH 3 Ethernet E 10 91 15 140 PanelView Plus 1500 Panelview Plus E i 10 91 15 141 1756 EN2T 1756 EN2T C S f Ss 00 13 28 1756 M165E MDx 568100 MDx 5B130 10 91 15 142 1756 EN2T 1756 EN2T C Backplane 1756 A10 4 00 1756 L75 LOGIX5575 EndNode_o 01 1756 M165E 16 Axis SERCOS interface 02 1756 M165E 16 Axis SERCOS interface B os SERCOS in
156. terface SERCOS network 00 1756 M165E 13 1756 module MDx 5B1003P Qxx2 28 1756 module MDx 5B1304F Qxx2 y 03 1756 M165E 16 Axis SERCOS interface oft ee SS EEE as l E For Help press F1 Mum 03 26 12 _ 03 74 3 Expand your Ethernet node Logix backplane and EtherNet IP network module 4 Right click the device IPIM or IDM and choose Device Properties The Device Properties dialog box opens Device Name MDx SB1 O03P Oxx2 Vendor Allen Bradley Company Product Type ie Product Code 288 Revision 1 005 Serial Number 00000000 AB_ETH 3 10 91 15 142 Backplane 2 SERCGS ine Faults 5 Verify the new firmware revision level 6 Click Close 126 Rockwell Automation Publication 2094 UM003B EN P February 2015 Definitions Appendix D Kinetix 6000M System Sizing It is recommended that Motion Analyzer version 6 000 or greater be used for sizing your system If manual calculation is desired the following procedure can be used Topic Page Definitions 127 Manually Sizing the Kinetix 6000M System 128 e Control power 120 240 single phase AC voltage connected to the IAM unit e IDM system control power 42V DC nominal voltage from the IPIM module that is connected to all IDM units e IDM system control power load current IDM unit control power current consumed by any single IDM unit e Total IDM system control power load current Total IDM unit control powe
157. the IDM unit See Setting the Node Address on page 70 c Check Open Module Properties 5 Click OK Rockwell Automation Publication 2094 UM003B EN P February 2015 77 Chapter6 Configuring the Kinetix 6000M System 6 Click the Associated Axes tab 7 Click New Axis The New Tag dialog box opens AxIS_SERVO_DRIVE fa UM_SERCOS 8 Type the axis Name AXIS_SERVO_DRIVE is the default Data Type 9 Click Create The axis appears under the Ungrouped Axes folder in the Controller Organizer 10 Assign your axis to Node 1 TIP Auxiliary feedback is not supported by the IDM units 11 Click OK 12 Repeat step 1 through step 11 for each IDM unit 78 Rockwell Automation Publication 2094 UM003B EN P February 2015 Configuring the Kinetix 6000M System Chapter 6 Configure the Motion Group Follow these steps to configure the motion group 1 Right click Motion Groups in the Controller Organizer and choose New Motion Group The New Tag dialog box opens x Name JUMMoton Create M Description a Cancel Help I Usage romao a Type Base x Connection Alias For OOo Data Type MOTION_GROUP Scope i UM_SERCOS Enema Read w rite E Style I Constant J Open MOTION_GROUP Configuration 2 Type the new motion group Name 3 Click OK The new motion group appears under the Motion Groups folder 4 Right click the new motion grou
158. 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 i ATTENTION Capacitors on the DC bus may retain hazardous voltages after See the Chapter 4 for connector locations and Chapter 7 when troubleshooting the IPIM module and IDM unit status indicators Follow these steps to apply power to the Kinetix 6000M system 1 Disconnect the load to the IDM units ATTENTION To avoid personal injury or damage to equipment rN disconnect the load to the IDM units Make sure each IDM unit is free of all linkages when initially applying power to the system 2 Apply control power and 3 phase power to your Kinetix drive system and observe the status indicators on your Kinetix 6000 or Kinetix 6200 drive modules See the user manual for your Kinetix 6000 or Kinetix 6200 drive system for the proper status indicator response When the drive system is powered up and has reached sercos phase 4 continue to step 3 3 Observe the IDM unit drive status indicator and verify with the following table Indication Status Do This Flashing green Module is in standby mode Go to Test and Tune the Axes on Solid green Module is operating page 83 Solid or flashing red Fault has occurred Refer to Chapter 7 4 Verify the Hardware Enable Input signal is at 0 volts The Hardware Enable input for the IDM system is on the IPIM module see page 41
159. ting clearance is restricted rotate after installing motor installation and remain in that position without further adjustment Strictly limit the applied forces and the number of times the connector is rotated to make sure that connectors meet the specified IP ratings ATTENTION Connectors are designed to be rotated into a fixed position during Apply force only to the connector and cable plug Do not apply force to the cable extending from the cable plug No tools for example pliers or vise grips should be used to assist with the rotation of the connector Failure to observe safety precautions could result in damage to the IDM unit and its components 5 Position the IDM unit on the machine in any position TIP IDM units with a brake may require use of the manual brake release cable to release the brake prior to rotating the shaft so the IDM unit will align with the machine mounts See the Manual Brake Release Cable Installation Instructions publication 2090 IN037 for details on using this cable 6 Properly mount and align the IDM unit using stainless steel bolts See the Kinetix Rotary Motion Specifications Technical Data publication GMC TDO001 for dimensions Rockwell Automation Publication 2094 UM003B EN P February 2015 35 Chapter3 Mounting the Kinetix 6000M System Notes 36 Rockwell Automation Publication 2094 UM003B EN P February 2015 Chapter 4 Kinetix 6000M System Connector Data This chapter p
160. tions Table 1 lists the components that can be used to build an integrated solution Table 1 System Component Overview Cat No MDF SBxxxxx Qx8xA S Description Integrated drive motor IDM unit with the safe off feature The unit contains a servo drive and motor IDM Power Interface 2094 SEPM B24 S 460V AC integrated drive motor power interface module that resides on the power rail and provides Module IPIM power and communications to the IDM units The module also monitors power output and provides overload protection IDM Hybrid Cables From the IPIM module to the first IDM unit Hybrid cable provides power and inter module communication to each IDM unit via daisy chain 2090 CHBIFS8 12AAxx From IDM unit to IDM unit 2090 CHBP8S8 12AAxx IDM Network Cables From the IPIM module to the first IDM unit Required to daisy chain the Kinetix 6000M network 2090 CNSSPRS AAxx 2090 CNSSPSS AAxx From IDM unit to IDM unit 2090 CNSSPRS AAxx 2090 CNSSPSS AAxx 2090 CNSRPSS AAxx 2090 CNSRPRS AAxx Integrated Axis Module 2094 BCxx Mxx S Kinetix 6000 460V Integrated Axis Modules IAM contains an inverter and converter section 2094 BOxx Mxx M Kinetix 6200 Axis Module 2094 BMxx S Kinetix 6000 Axis Modules AM are a shared DC bus inverter rated for 460V input power The AM module must be 2094 BMxx M Kinetix 6200 used with an IAM module Shunt Module 2094 BSP2 The Bulletin 2094 shunt module mounts to the pow
161. tix 6000M System In this configuration the 8 axis Bulletin 2094 power rail has four drive modules and four IPIM modules Each IPIM module is connected to four IDM units There are five sercos rings and each ring has its own 1756 MO8SE sercos module in the ControlLogix controller chassis IMPORTANT It is not required that all Kinetix 6000 drives be on the same sercos ring however it is required that all IDM units be on the same sercos ring as the IPIM module they are connected to Figure 28 Kinetix 6000M Network Cable Example IPIM Module to IDM Units 5 sercos rings 1756 MO08SE Sercos Interface Modules A A he bb H Logix Platform ControlLogix controller is shown Sercos Fiber optic Ring 5 Sercos Fiber optic Ring 4 Sercos Fiber optic Ring 3 Sercos Fiber optic Ring 2 Sercos Fiber optic Ring 1 Bulletin 2090 Power Brake Cables e000 e000 e000 2094 SEPM B24 S IPIM Modules e000 2094 BMxx x AM Modules UGE 2094 BOw Mxx x 400V class IAM Module J Bulletin 2090 Feedback Cables Compatible 400V class Rotary Linear Motors or Actuators Bulletin MPL motors are shown Bulletin 2090 Hybrid Cables Bulletin 2090 Network Cables Bulletin 2090 Network Cables Bulletin 2090 Network Cables Bulletin 2090 Hybrid Cables Bulletin2090 f
162. to RJ45 1585J M8CBJM xx RJ45 Insulation Displacement Connector 1585J M8CC H Cable shielded 1585 C8CB Sxxx Required for various installations of the IPIM module into the Kinetix 6200 servo drive systems Cascaded Safety Cables 1202 Cxx xx length Required accessory to support cascaded safety wiring across multiple modules on the 2094 power rail Bulkhead Adapter Kits Network cable 2090 CBUSPSS Hybrid cable 2090 KPB47 12CF 1 See Appendix A for safety information 10 Provides wall mount connectors for hybrid and network cables The connector kit allows signals to pass through a cabinet wall or other physical barrier Rockwell Automation Publication 2094 UM003B EN P February 2015 Typical Hardware Configurations Start Chapter 1 2094 PRF slot filler module in all empty slots on the power rail Any power rail connector without a module installed will disable the 3 phase power however control power is still present SHOCK HAZARD To avoid personal injury due to electrical shock place a Figure 1 Typical Kinetix 6000M Integrated Drive motor System Catalog numbers areia parentheses IPIM to IDM Hybrid Cable IPIM Module 2090 CHBIFS8 12AAxx 2094 SEPM B24 5 IDM to IDM Hybrid Cable 2090 CHBP8S8 12AAxx Terminator Last IDM Unit 2090 CTHP8 Network Cable 2090 CNSxPxS Network Terminator Last IDM Unit
163. tor components Hybrid Cable A hybrid cable catalog number 2090 CHBIFS8 12A Axx transfers DC bus power and inter module communication signals from the IPIM module to the first IDM unit Additional IDM units are daisy chained by using a 2090 CHBP8S88 12A Axx cable as shown in Figure 22 A ATTENTION Verify that all connections are correct when wiring the connector plugs and that the plugs are fully engaged in the module connectors Incorrect wiring polarity or loose wiring can cause explosion or damage to equipment Rockwell Automation Publication 2094 UM003B EN P February 2015 Connecting the Kinetix 6000M System Chapter 5 Figure 22 IDM System Wiring Catalog numbers are in parentheses IPIM to IDM Hybrid Cable o IPIM Module IDM to IDM Hybrid Cable AA 2090 CHBP8S8 12AAxx Hybrid Terminator Last IDM Unit 2090 CTHP8 oooooo Network Cable 2090 CNSRPRS AAxx Network Terminator Last IDM Unit 2090 CTSRP IDM Unit Pian 2090 CNSSPRS AAxx The colored rings on the hybrid cable connector and the mating cable must match red to red or green to green Network Cable to First IDM Hand tighten the knurled collar on a hybrid cable approximately 45 degrees to fully seat and lock the connector Wiring the Connectors Use these guidelines as a reference when wiring the hybrid cable to the IPIM module Figure 23 20
164. une completed successfully Tune dependent attributes have been updated Refer to Help for a list of dependent attributes 3 Goto step 13 Your test failed this dialog box opens 1 Click OK 2 Make an adjustment to motor velocity 3 See the appropriate Logix motion module Gi Tune command cannot be completed user manual for more information Command timed out Error 16382 0 4 Return to step 7 and run the test again OK Help 1 The hardware enable input for IDM units is on the IPIM module 13 Repeat Test and Tune the Axes for each axis Rockwell Automation Publication 2094 UM003B EN P February 2015 Safety Precautions IDM System Error Codes Chapter 7 Troubleshooting the Kinetix 6000M System Topic Page Safety Precautions 87 IDM System Error Codes 87 Interpret Status Indicators 90 General System Anomalies 92 IPIM Module Fault Diagnosis 93 IDM Unit Fault Diagnosis 95 Use a Web Browser to Monitor System Status 97 A A A ATTENTION Capacitors on the DC bus may retain hazardous voltages after input power has been removed Before working on the IDM system wait the full time interval as indicated in the warning on the front of the IPIM module Failure to observe this precaution could result in severe bodily injury or loss of life ATTENTION Do not attempt to defeat or override the fault circuits You must determine the cause of a fault and correct it before you attemp
165. upport a web browser interface to provide access to status information for the IPIM module and IDM units EtherNet IP Ports 8 pin Control Module Ethernet Connector 8 I Pin Signal Description Signal Name 1 Transmit TD 2 Transmit TD 3 Receive RD 4 Reserved 5 Reserved 6 Receive RD 7 Reserved 8 Reserved IPIM Module Network Connector Pinouts The IDM system network is routed by using 2090 CNSxPxS AAxx cables A 2090 CNSSPRS AAxx or 2090 CNSSPSS AAxx cable is required for connection to the IPIM module The connector type is B coded M12 IDM Network Connector Pin Signal Description 1 Transmit TX to IDM unit Signal Name TX 2 Return RX from IDM unit RTN RX 3 Return RX from IDM unit RTN RX 4 Transmit TX to IDM unit TX 5 Reference signal REF Rockwell Automation Publication 2094 UM003B EN P February 2015 IDM Unit Connectors and Indicators Kinetix 6000M System Connector Data Figure 12 Integrated Drive motor Unit Features Connectors and Indicators Chapter 4 Item Description See page Hybrid cable input connector from IPIM Input and output connecting points for the 39 module or previous IDM unit Hybrid Power and Communication cables Hybrid cable output connector to IDM unit
166. upport programs for installation configuration and troubleshooting For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com services online phone Installation Assistance If you experience a problem within the first 24 hours of installation review the information that is contained in this manual You can contact Customer Support for initial help in getting your product up and running United States or Canada 1 440 646 3434 Outside United States or Canada Use the Worldwide Locator at http www rockwellautomation com rockwellautomation support overview page or contact your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to help ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure Documentation Feedback Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication
167. ure 41 System Operation in the Event that the Safety Enable Inputs Mismatch Momentarily 24V DC SAFETY ENABLE1 ov DC 24V DC SAFETY ENABLE2 DriveHardFault 1 Second pocee SafeOffModeActiveStatus 0 safe torque off function After troubleshooting a safety function must be ATTENTION The safe torque off fault E49 is detected upon demand of the A executed to verify correct operation IMPORTANT The Safe Torque Off fault E49 can be reset only if both inputs are in the off state for more than 1 second After the E49 reset requirement is satisfied an MASR command in RSLogix software should be issued to reset the DriveHardFault 106 Rockwell Automation Publication 2094 UM003B EN P February 2015 PFD PFH and MTTFd Definitions PFD PFH and MTTFd Data Wiring Your Safe Torque off Circuit Using the Safe Torque off Feature with the Kinetix 6000M System Appendix A Safety related systems can be classified as operating in either a Low Demand mode or in a High Demand Continuous mode e Low Demand mode where the frequency of demands for operation made on a safety related system is no greater than one per year or no greater than twice the proof test frequency e High Demand Continuous mode where the frequency of demands for operation made on a safety related system is greater than once per year The SIL value for a low demand safety related system is directly related to order of magnitude
168. ust for Daylight Saving 00 00 e Time Synchronize f Aa DANGER If time synchronization is IV Enable Time Synchronization a disabled online active axes in any controller in this chassis or any other synchronized device may experience 3 Lae unexpected motion Safety controllers may Is a synchronized time slave fault if no other time master exists in the Duplicate CST master detected local chassis CST Mastership disabled No CST master Advanced OQ Is the system time master Cancel Apply Help 6 Click the Date Time tab 7 Check Enable Time Synchronization This assigns the controller as the Grandmaster clock The motion modules set their clocks to the module you assign as the Grandmaster IMPORTANT You can assign only one module in the Logix chassis as the Grandmaster clock 8 Click OK 74 Rockwell Automation Publication 2094 UM003B EN P February 2015 Configuring the Kinetix 6000M System Chapter 6 Configure the Logix Module Follow these steps to configure the Logix module 1 Right click I O Configuration in the Controller Organizer and choose New Module The Select Module dialog box opens Catalog Module Discovery Favortes Clear Fiters Show Fers Number Descripti Vendor a 17564172 ControlLogw5572 Controller Allen Bradley 17561725 ContolLoge5572S Safety Controller Allen Bradley 1756173 ControlLogx5573 Controller Allen Bradley 17564735 Controll ogx
169. x opens When the test completes the Command Status changes from Executing to Command Complete Online Command Tune Servo x Command Status Command Complete o i ait for command to complete after axis motion Stop Check for errors if command fails dill Help Rockwell Automation Publication 2094 UM003B EN P February 2015 85 Chapter 6 86 Configuring the Kinetix 6000M System 8 Click OK The Tune Bandwidth dialog box opens Tune Results x Position Loop Bandwidth jz 923622 Hertz Load Inertia Ratio foo Load Inertia Motor Inertia DANGER The Bandwidth determined by the tune process is the maximum bandwidth Increasing the bandwidth may cause loop instability OK Cancel Help Actual bandwidth values Hz depend on your application and may require adjustment once motor and load are connected 9 Record your bandwidth data for future reference 10 Click OK The Online Command Apply Tune dialog box opens When the test completes the Command Status changes from Executing to Command Complete Online Command Apply Tune x Command Status Command Complete i ait for command to complete t heck for errors if command fails ate Help mio 11 Click OK 12 Determine if your test completed successfully If Then Your test completes successfully this dialog box opens 1 Click OK 2 Remove the Hardware Enasle Ingutsignal A applied earlier o Apply t
170. y before proceeding hazard of electrical shock verify that all voltage on capacitors has been discharged before attempting to service repair or remove this unit You should attempt the procedures in this document only if you are qualified to do so and are familiar with solid state control equipment and the safety procedures in publication NFPA 70E i ATTENTION This product contains stored energy devices To avoid 3 Label and remove all connectors from the IPIM module you are removing To identify each connector refer to page 38 4 Remove the hybrid cable from the cable shield clamp as shown 5 Loosen the mounting screw bottom center of module 6 Grasp the top and bottom of the module with both hands and gently pull the module away from the connectors enough to clear the guide pins module will pivot on top bracket 100 Rockwell Automation Publication 2094 UM003B EN P February 2015 Ts Removing and Replacing the Kinetix 6000M IPIM Module Chapter 8 Lift the bracket out of the power rail slot and remove the module from the power rail Power Rail Guide Pin Pivot Module Upward Side View Replace the IPIM Module Follow these steps to replace the IPIM module on the Bulletin 2094 power rail 1 Inspect the module connector pins and power rail connectors and remove any foreign objects 2 Hang the module mounting bracket from the slot on the power rail IMPORTANT Power rails must be in vert
171. zer and the Module Properties dialog box opens Rockwell Automation Publication 2094 UM003B EN P February 2015 75 Chapter6 Configuring the Kinetix 6000M System TIP The IDM system data rate is fixed at 8 Mbps 6 Verify that the data rate DIP switches on the IAM module and any AM modules on the same sercos ring are set to 8 Mbps 7 Click the SERCOS Interface tab General Connection SERCOS Interface SERCOS Interface Info Module Info Backplane Data Rate Auto Detect Yf Mb Cycle Time 2 vj ms Transmit Power High had Transition To Phase 4 a Status Offline Cancel Apply Help 8 From the Data Rate pull down menu choose 8 Mb or choose the Auto Detect setting 9 From the Cycle Time pull down menu choose the Cycle Time according to the following table Data Rate Number of Axes Cycle Time Up to 4 0 5 ms 8 Mbps o Upto 8 1ms Upto 16 2ms 1 The Kinetix 6000M system supports only 8 Mbps TIP The factory default data rate setting for all Kinetix 6000 modules is 4 Mbps TIP The number of axes module is limited to the number of axes as shown in the following table Logix Sercos Module Number of Axes Data Rate 1756 M03SE or 1756 L60M03SE Upto3 1756 M08SE Up to 8 8 Mbps 1756 M16SE or 1784 PM16SE Up to 16 1768 M04SE Up to 4 10 From the Transmit Power pull down menu choose High The default setting is High however this setting is dependent on the cable length distance

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