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214 Rockwell Automation Publication 2094-UM001J-EN-P - March 2017

Appendix A Interconnect Diagrams

System Block Diagrams

This section provides block diagrams of the Kinetix 6000 drive modules. For

block diagrams of the LIM module and RBM module, refer to Additional

Resources on page 12

for the documentation available for those products.

Figure 110 - IAM/AM Module (inverter) Block Diagram

POWER

RAIL

DC+

DC-

CTRL 1

CTRL 2

SYSOK

CONV_ID (5)

GSHUNT (2)

CAN (2)

DBRK

MBRK

FUSE_OK

SMPS

PWR

Three-phase Motor Output

Motor/Resistive Brake Connections

Shunt Circuit

(460V only)

Inverter Section

Motor Shield Clamp

Common Mode

Choke

(460V only)

+/-12V (Control)

+24V (Customer I/O)

+9V, +5V (Motor Feedback)

Chassis

Default Chapter3
- Table of Contents3
Summary of Changes9
- Conventions Used in this Manual11
Preface11
- Additional Resources12
Chapter 1 IAM/AM Module Series Changes13
- About the Kinetix 6000 Drive Systems14
- Typical Hardware Configurations15
- Typical Communication Configurations19
- Catalog Number Explanation20
- Kinetix Drive Component Compatibility21
- Kinetix 6000M Integrated Drive-Motor System Compatibility21
- Agency Compliance22
  - CE Requirements (System Without LIM Module)22
  - CE Requirements (System with LIM Module)23
- System Design Guidelines26
Chapter 226
- System Mounting Requirements26
- Transformer Selection27
- AC Line Filter Selection27
- Circuit Breaker/Fuse Options28
- Enclosure Selection30
- Minimum Clearance Requirements33
- Electrical Noise Reduction34
Chapter 3 Before You Begin51
- Using the 2094 Mounting Brackets51
- Installing the 2094 Power Rail52
- Determine Mounting Order52
- Mount Modules on the Power Rail54
Chapter 4 2094 IAM/AM Module Connector Data58
- Safe Torque-Off Connector Pinout60
- I/O Connector Pinout61
- Motor Feedback Connector Pinout62
- Auxiliary Feedback Connector Pinout64
- IAM Input Connector Pinout65
- IAM and am Motor Power and Brake Connector Pinout66
- Control Signal Specifications67
- Power and Relay Specifications71
- Feedback Specifications78
Connector Data and Feature Descriptions58
Chapter 5 Basic Wiring Requirements83
- Building Your Own Cables84
- Routing the Power and Signal Cables84
- Determine the Input Power Configuration85
  - Grounded Power Configurations85
  - Ungrounded Power Configurations87
- DC Common Bus Configurations88
  - Common Bus Fusing Requirements89
- Set the Ground Jumper in Select Power Configurations89
  - Set the Ground Jumper90
- Grounding the Kinetix 6000 Drive System95
  - Ground the Power Rail to the System Subpanel95
  - Ground Multiple Subpanels96
- Power Wiring Requirements97
- Power Wiring Guidelines99
- Wiring the IAM/AM Module Connectors100
- Apply the Motor Cable Shield Clamp116
- Feedback and I/O Cable Connections117
  - Flying-Lead Feedback Cable Pinouts119
- Wiring the Feedback and I/O Connectors122
- External Shunt Module Connections127
- IPIM Module Connections128
- RBM Module Connections129
- Sercos Fiber-Optic Cable Connections130
- Kinetix 6000M Integrated Drive-Motor Sercos Connections133
- Ethernet Cable Connections134
Connect the Kinetix 6000 Drive System83
Chapter 6135
- Configure the Kinetix 6000M Integrated Drive-Motor System135
- Configure the Drive Modules136
- Kinetix 6000 Drive System Configure the Drive Modules136
- Configure the Logix5000 Sercos Interface Module142
- Apply Power to the Kinetix 6000 Drive155
- Test and Tune the Axes157
  - Test the Axes157
  - Tune the Axes159
- Configure Drive Parameters and System Variables162
  - Tools for Changing Parameters162
  - Monitor System Variables with Analog Test Points163
Configure and Start the Kinetix 6000 Drive System135
Chapter 7165
- Safety Precautions165
- Interpret Status Indicators166
- General System Anomalies175
- Logix5000/Drive Fault Behavior177
Troubleshooting the Kinetix 6000 Drive System165
Chapter 8 Before You Begin181
- Before You Begin181
- Remove Kinetix 6000 Drive Modules182
- Replace Kinetix 6000 Drive Modules183
- Remove the Power Rail184
- Replace the Power Rail185
Appendix A Interconnect Diagram Notes188
- Power Wiring Examples189
  - DC Common Bus Wiring Examples193
  - Shunt Module Wiring Examples197
- Axis Module/Rotary Motor Wiring Examples198
- Axis Module/Linear Motor/Actuator Wiring Examples207
- Kinetix 6000M Integrated Drive-Motor Wiring Example212
- Controlling a Brake Example213
- System Block Diagrams214
Upgrade Kinetix 6000M System Firmware217
Appendix B Upgrade Drive Firmware with Controlflash Software218
- Before You Begin218
- Configure Logix5000 Communication219
- Upgrade Firmware221
- Verify the Firmware Upgrade225
Before You Begin227
Appendix C228
- Calculate Total Bus Capacitance228
- Calculate Additional Bus Capacitance229
- Bulletin 2094 Drive Capacitance Values229
- Common Bus Capacitance Example230
- Set the Additional Bus Capacitance Parameter231
- Benefits237
Appendix D237
- How It Works237
- Configuration238
- Setting Gains with Sercos IDN Write Messages250
- Compensate for High Frequency Resonances251
Appendix E before You Begin253
- Change IDN Parameter Values254
Appendix F before You Begin259
- Enhanced Peak Example261
  - Enhanced Peak Example Calculation264
- Change the Drive Parameter266
  - Sercos IDN Write Instruction266
  - Driveexplorer Software267
Appendix G before You Begin269
- RBM Module Wiring Examples270
Index281

Brand	Allen-Bradley
Model	2094-BC02-M02-S
Category	Servo Drives
Language	English

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