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Kinetix 6000
Allen-Bradley Kinetix 6000 User Manual
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Kinetix 6000 Multi-axis Servo Drives
Catalog Numbers
2094-AC
xx
-M
xx
-S, 2094-BC
xx
-M
xx
-S, 2094-AM
xx
-S, 2094-BM
xx
-S
2094-AC
xx
-M
xx
, 2094-BC
xx
-M
xx
, 2094-AM
xx
, 2094-BM
xx
,
2094-BSP2, 2094-PRF, 2094-SEPM-B24-S
User Manual
Original Instructions
2
Table of Contents
Default Chapter
3
Table of Contents
3
Summary of Changes
9
Conventions Used in this Manual
11
Preface
11
Additional Resources
12
Chapter 1 IAM/AM Module Series Changes
13
About the Kinetix 6000 Drive Systems
14
Typical Hardware Configurations
15
Typical Communication Configurations
19
Catalog Number Explanation
20
Kinetix Drive Component Compatibility
21
Kinetix 6000M Integrated Drive-Motor System Compatibility
21
Agency Compliance
22
CE Requirements (System Without LIM Module)
22
CE Requirements (System with LIM Module)
23
System Design Guidelines
26
Chapter 2
26
System Mounting Requirements
26
Transformer Selection
27
AC Line Filter Selection
27
Circuit Breaker/Fuse Options
28
Enclosure Selection
30
Minimum Clearance Requirements
33
Electrical Noise Reduction
34
Bonding Modules
34
Bonding Multiple Subpanels
36
Establishing Noise Zones
37
Cable Categories for Kinetix 6000 Systems
45
Noise Reduction Guidelines for Drive Accessories
47
Chapter 3 Before You Begin
51
Using the 2094 Mounting Brackets
51
Installing the 2094 Power Rail
52
Determine Mounting Order
52
Mount Modules on the Power Rail
54
Chapter 4 2094 IAM/AM Module Connector Data
58
Safe Torque-Off Connector Pinout
60
I/O Connector Pinout
61
Motor Feedback Connector Pinout
62
Auxiliary Feedback Connector Pinout
64
IAM Input Connector Pinout
65
IAM and am Motor Power and Brake Connector Pinout
66
Control Signal Specifications
67
Digital Inputs
67
Sercos Communication Specifications
68
Analog Outputs
69
Contactor Enable Relay
70
Power and Relay Specifications
71
Motor/Resistive Brake Relay
71
Input Power Cycle Capability
73
Peak Enhancement Specifications
74
Control Power
77
Feedback Specifications
78
Absolute Position Feature
78
Motor Feedback Specifications
79
Feedback Power Supply Specifications
80
Auxiliary Position Feedback Encoders
81
Connector Data and Feature Descriptions
58
Chapter 5 Basic Wiring Requirements
83
Building Your Own Cables
84
Routing the Power and Signal Cables
84
Determine the Input Power Configuration
85
Grounded Power Configurations
85
Ungrounded Power Configurations
87
DC Common Bus Configurations
88
Common Bus Fusing Requirements
89
Set the Ground Jumper in Select Power Configurations
89
Set the Ground Jumper
90
Grounding the Kinetix 6000 Drive System
95
Ground the Power Rail to the System Subpanel
95
Ground Multiple Subpanels
96
Power Wiring Requirements
97
Power Wiring Guidelines
99
Wiring the IAM/AM Module Connectors
100
Wire the Control Power (CPD) Connector
100
Wire the Input Power (IPD) Connector
101
Wire the Contactor Enable (CED) Connector
103
Wiring the Safe Torque-Off (STO) Connector
104
Wire the Motor Power (MP) Connector
105
Rockwell Automation Publication 2094-UM001J-EN-P - March
106
Wire the Motor/Resistive Brake (BC) Connector
113
Apply the Motor Cable Shield Clamp
116
Feedback and I/O Cable Connections
117
Flying-Lead Feedback Cable Pinouts
119
Wiring the Feedback and I/O Connectors
122
Connect Premolded Motor Feedback Cables
122
Connect Panel-Mounted Breakout Board Kits
123
Wire Low-Profile Connector Kits
124
External Shunt Module Connections
127
IPIM Module Connections
128
RBM Module Connections
129
Sercos Fiber-Optic Cable Connections
130
Kinetix 6000M Integrated Drive-Motor Sercos Connections
133
Ethernet Cable Connections
134
Connect the Kinetix 6000 Drive System
83
Chapter 6
135
Configure the Kinetix 6000M Integrated Drive-Motor System
135
Configure the Drive Modules
136
Kinetix 6000 Drive System Configure the Drive Modules
136
Configure the Logix5000 Sercos Interface Module
142
Configure the Logix5000 Controller
142
Configure the Logix5000 Module
144
Configure the Kinetix 6000 Drive Modules
146
Configure the Motion Group
150
Configure Axis Properties
151
Download the Program
154
Apply Power to the Kinetix 6000 Drive
155
Test and Tune the Axes
157
Test the Axes
157
Tune the Axes
159
Configure Drive Parameters and System Variables
162
Tools for Changing Parameters
162
Monitor System Variables with Analog Test Points
163
Configure and Start the Kinetix 6000 Drive System
135
Chapter 7
165
Safety Precautions
165
Interpret Status Indicators
166
Kinetix 6000M IDM System Error Codes
166
Drive System Interpret Status Indicators
166
Kinetix 6000 Drive System Error Codes
167
IAM/AM Module Status Indicators
172
Shunt Module Status Indicators
173
General System Anomalies
175
Logix5000/Drive Fault Behavior
177
Troubleshooting the Kinetix 6000 Drive System
165
Chapter 8 Before You Begin
181
Before You Begin
181
Remove Kinetix 6000 Drive Modules
182
Replace Kinetix 6000 Drive Modules
183
Remove the Power Rail
184
Replace the Power Rail
185
Appendix A Interconnect Diagram Notes
188
Power Wiring Examples
189
DC Common Bus Wiring Examples
193
Shunt Module Wiring Examples
197
Axis Module/Rotary Motor Wiring Examples
198
Axis Module/Linear Motor/Actuator Wiring Examples
207
Kinetix 6000M Integrated Drive-Motor Wiring Example
212
Controlling a Brake Example
213
System Block Diagrams
214
Upgrade Kinetix 6000M System Firmware
217
Appendix B Upgrade Drive Firmware with Controlflash Software
218
Before You Begin
218
Configure Logix5000 Communication
219
Upgrade Firmware
221
Verify the Firmware Upgrade
225
Before You Begin
227
Appendix C
228
Calculate Total Bus Capacitance
228
Calculate Additional Bus Capacitance
229
Bulletin 2094 Drive Capacitance Values
229
Common Bus Capacitance Example
230
Set the Additional Bus Capacitance Parameter
231
Remove Sercos Communication
231
Set the Additional Bus Capacitance Parameter
232
Save the Add Bus Cap Parameter to Nonvolatile Memory
233
Verify the Parameter Changes
234
Reconnect Sercos Communication
235
Benefits
237
Appendix D
237
How It Works
237
Configuration
238
Remaining IDN Parameter Descriptions
240
Out-Of-Box Gain Settings
242
Rockwell Automation Publication 2094-UM001J-EN-P - March
243
Auto-Tune Gain Settings
244
Tuning Mode Summary
248
Manual Tuning for Further Optimization
248
Setting Gains with Sercos IDN Write Messages
250
Compensate for High Frequency Resonances
251
Appendix E before You Begin
253
Change IDN Parameter Values
254
Read the Present IDN Parameter Value
254
Calculate the New IDN Value
256
Write the New IDN Parameter Value
257
Appendix F before You Begin
259
Enhanced Peak Example
261
Enhanced Peak Example Calculation
264
Change the Drive Parameter
266
Sercos IDN Write Instruction
266
Driveexplorer Software
267
Appendix G before You Begin
269
RBM Module Wiring Examples
270
Index
281
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Allen-Bradley Kinetix 6000 Specifications
General
Brand
Allen-Bradley
Model
Kinetix 6000
Category
Servo Drives
Language
English
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