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254 Rockwell Automation Publication 2094-UM002G-EN-P - August 2016

Appendix A Interconnect Diagrams

System Block Diagrams

This section provides block diagrams of the Kinetix 6200 and Kinetix 6500

drive modules. For block diagrams of the LIM module, refer to Additional

Resources on page 12

for the documentation available for those products.

Figure 113 - IAM/AM Power 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
- Additional Resources12
Chapter 1 About the Kinetix 6200 and Kinetix 6500 Drive Systems14
- Typical Hardware Configurations15
- Typical Communication Configurations19
- Catalog Number Explanation23
- Kinetix Drive Component Compatibility24
- Kinetix 6000M Integrated Drive-Motor System Compatibility24
- Agency Compliance25
  - CE Requirements (System Without LIM Module)25
  - CE Requirements (System with LIM Module)26
- System Design Guidelines28
Chapter 228
- System Mounting Requirements28
- Transformer Selection29
- AC Line Filter Selection29
- Circuit Breaker/Fuse Options30
- Enclosure Selection32
- Minimum Clearance Requirements35
- Electrical Noise Reduction36
Chapter 3 Before You Begin53
- Using the 2094 Mounting Brackets53
- Installing the 2094 Power Rail54
- Determine Mounting Order54
- Mount Modules on the Power Rail55
- Mount the Control Modules58
Chapter 4 2094 Power Module and Control Module Features62
- I/O, Safety, and Auxiliary Feedback Connector Pinout65
- Motor Feedback Connector Pinout66
- Ethernet Communication Connector Pinout67
- IAM Input Connector Pinout67
- IAM and am Motor Power and Brake Connector Pinout68
- Control Signal Specifications69
- Power and Relay Specifications73
- Feedback Specifications79
- Safe Speed Monitor Safety Features88
- Safe Torque off Safety Features89
Connector Data and Feature Descriptions62
Chapter 5 Basic Wiring Requirements91
- Building Your Own Cables92
- Routing the Power and Signal Cables92
- Determine the Input Power Configuration93
  - Grounded Power Configurations93
  - Ungrounded Power Configurations95
- DC Common Bus Configurations96
  - Common Bus Fusing Requirements97
- Set the Ground Jumper in Select Power Configurations97
  - Set the Ground Jumper99
- Grounding the Modular Drive System101
  - Ground the Power Rail to the System Subpanel101
  - Ground Multiple Subpanels102
- Power Wiring Requirements103
- Power Wiring Guidelines105
- Wiring the IAM/AM Module Connectors106
- Apply the Motor Cable Shield Clamp119
- Feedback and I/O Cable Connections120
  - Flying-Lead Feedback Cable Pinouts122
- Wiring the Feedback and I/O Connectors124
- External Shunt Module Connections129
- IPIM Module Connections130
- RBM Module Connections131
- Sercos Fiber-Optic Cable Connections132
- Kinetix 6000M Integrated Drive-Motor Sercos Connections135
- Ethernet Cable Connections136
Connect the Kinetix 6200 and Kinetix 6500 Drive System91
Chapter 6141
- Configure the Kinetix 6000M Integrated Drive-Motor System141
- Configure the Drive Modules142
- Kinetix 6200 Drive System Configure the Drive Modules142
- Configure the Logix5000 Sercos Interface Module148
- Apply Power to the Kinetix 6200 Drive161
- Test and Tune the Axes163
  - Test the Axes163
  - Tune the Axes165
- Configure the Drive Modules169
Configure and Start the Kinetix 6200 Drive System141
Kinetix 6500 Drive System171
Chapter 7 Configure the Logix Ethernet/Ip Module173
- Configure the Logix Controller173
- Configure the Logix Module175
- Configure the Kinetix 6500 Drive Modules177
- Configure the Motion Group183
- Configure Axis Properties184
- Download the Program188
- Apply Power to the Kinetix 6500 Drive189
- Test and Tune the Axes191
  - Test the Axes191
  - Tune the Axes194
- Safety Precautions197
Chapter 8 Interpret Status Indicators198
- Kinetix 6000M IDM System Error Codes198
- Four-Character Display Messages198
- And Kinetix 6500 Drive System Interpret Status Indicators198
- Fault Codes200
- Control Module Status Indicators210
- Shunt Module Status Indicators211
- General System Anomalies213
- Logix5000 Controller and Drive Behavior215
- Before You Begin223
Chapter 9 Remove Kinetix 6200 and Kinetix 6500 Drive Modules224
- Remove the Control Module225
- Remove the Drive Modules226
- Replace Kinetix 6200 and Kinetix 6500 Drive Modules227
  - Replace the Drive Modules227
  - Replace the Control Modules228
- Remove the Power Rail228
- Replace the Power Rail229
Appendix A Interconnect Diagram Notes232
- Power Wiring Examples233
  - DC Common Bus Wiring Examples237
  - Shunt Module Wiring Examples241
- Axis Module/Rotary Motor Wiring Examples242
- Axis Module/Linear Motor/Actuator Wiring Examples247
- Kinetix 6000M Integrated Drive-Motor Wiring Example252
- Controlling a Brake Example253
- System Block Diagrams254
Upgrade Kinetix 6000M System Firmware257
Appendix B Upgrade Drive Firmware with Controlflash Software258
- Before You Begin258
- Configure Logix5000 Communication259
- Upgrade Firmware261
- Verify the Firmware Upgrade265
- Rockwell Automation Publication 2094-UM002G-EN-P - August266
Before You Begin267
Appendix C268
- Calculate Total Bus Capacitance268
- Calculate Additional Bus Capacitance269
- Bulletin 2094 Drive Capacitance Values269
- Common Bus Capacitance Example270
Appendix D271
- Benefits271
- How It Works271
- Configuration272
- Setting Gains with Sercos IDN Write Messages284
- Compensate for High Frequency Resonances285
Configure the Load Observer Feature271
Appendix E Overview287
- Web-Server Interface Categories288
- Home Category289
- Diagnostics Category290
- Fault Logs Category300
  - Configure Fault Log300
- Data Logs Category301
  - Temperatures301
- Administrative Settings Category302
- Browse Power Rail Category302
- Safety Category303
- Before You Begin307
Web Server Interface287
Appendix F Change IDN Parameter Values308
- Read the Present IDN Parameter Value308
- Calculate/Select the New IDN Value310
- Write the New IDN Parameter Value311
- Before You Begin313
Appendix G RBM Module Wiring Examples314
Appendix H EC Type - Examination Certificate317
- EC Declaration of Conformity319
Index327
- Rockwell Automation Publication 2094-UM002G-EN-P - August328

Brand	Allen-Bradley
Model	Kinetix 6200
Category	Servo Drives
Language	English

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