Page 1 User Manual Original Instructions Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives Catalog Numbers 2094-BC -M -M, 2094-BM -M 2094-SE02F-M00-S , 2094-EN02D-M01-S , 2094-BSP2, 2094-PRF, 2094-SEPM-B24-S...
Page 2 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.
Page 3: Table Of Contents
Additional Resources ......... . 12 Chapter 1 About the Kinetix 6200 and Kinetix 6500 Drive Systems ..14 Start Typical Hardware Configurations .
Page 4 Basic Wiring Requirements ........91 Connect the Kinetix 6200 and Building Your Own Cables .
Page 5 Download the Program ........160 Apply Power to the Kinetix 6200 Drive ......161 Test and Tune the Axes.
Page 6 Kinetix 6500 Drive Exception Behavior ....215 Kinetix 6200 Drive Fault Behavior ......217 Drive Exception/Fault Behavior .
Page 7 Table of Contents Appendix C Before You Begin..........267 DC Common Bus Applications Calculate Total Bus Capacitance .
Page 8 Table of Contents Appendix F Before You Begin..........307 Changing the Default IDN Change IDN Parameter Values .
Page 9: Summary Of Changes
Updated Symptom and Resolution columns for INHIBIT S04 fault code. Added INHIBIT M07 fault code. Added Appendix D, Configure the Load Observer Feature Updated the torque low-pass filter bandwidth value for Kinetix 6200 drives and removed references to Kinetix 6000 drive firmware revisions. Added Appendix E, Web Server Interface...
Page 10 Summary of Changes Notes: Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 11: Conventions Used In This Manual
EtherNet/IP™ communication module. If you do not have a basic understanding of the Kinetix 6200 and Kinetix 6500 drives, contact your local Rockwell Automation sales representative for information on available training courses.
Page 12: Additional Resources
Kinetix 6000M Integrated Drive-Motor User Manual, publication 2094-UM003 Kinetix 6000M integrated drive-motor (IDM) system. Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Servo Drives Safety Reference Manual, Information on wiring, configuring, and troubleshooting the Safe Speed Monitor features of publication 2094-RM001 your Kinetix 6200 and Kinetix 6500 drives.
Page 13 Chapter Start Use this chapter to become familiar with the design and installation requirements for Kinetix 6200 and Kinetix 6500 drive systems. Topic Page About the Kinetix 6200 and Kinetix 6500 Drive Systems Typical Hardware Configurations Typical Communication Configurations Catalog Number Explanation...
Page 14: About The Kinetix 6200 And Kinetix 6500 Drive Systems
Line interface modules (LIM) include the circuit breakers, AC line filter (catalog number 2094-BL02 only), power supplies, and Line Interface 2094-xLxxS safety contactor required for Kinetix 6200 and Kinetix 6500 operation. The LIM module does not mount to the power rail. You can Modules 2094-XL75S-Cx purchase individual components separately in place of the LIM module.
Page 15: Typical Hardware Configurations
2094-PRF slot-filler module in all empty slots on the power rail. Any power rail connector without a module installed disables the Bulletin 2094 system; however, control power is still present. Figure 1 - Typical Kinetix 6200 or Kinetix 6500 System Installation (with LIM) 2090-XXLF-xxxx Three-phase...
Page 16 Chapter 1 Start Figure 2 - Typical Kinetix 6200 or Kinetix 6500 System Installation (without LIM) Three-phase Input Power Line Disconnect Device 2090-XXLF-xxxx AC Line Filter Circuit (required for CE) Protection Single-phase Control Power Magnetic 2090-XXLF-xxxx Contactor Kinetix 6200 or Kinetix 6500 Modular Servo Drive System...
Page 17 Figure 3 - Typical Kinetix 6000M Integrated Drive-Motor System Installation 2094-SEPM-B24-S IPIM Module Three-phase Input Power 2094-BSP2 Shunt Module (optional component) Kinetix 6200 Modular 2094-PRF Servo Drive System Slot Filler Module (required to fill any unused slots) 2094-PRSx Power Rail...
Page 18 Start Figure 4 - Typical DC Common Bus System Installation 2090-XXLF-xxxx Three-phase AC Line Filter Input Power (required for CE) Kinetix 6200 or Kinetix 6500 Modular Servo Drive System 115/230V Control Power 2094-BSP2 Shunt Module (optional component) 2094-BCxx-Mxx-M 2094-PRF IAM Power Module...
Page 19: Typical Communication Configurations
Chapter 1 In this example, drive-to-drive sercos cables and catalog numbers are shown Typical Communication when Kinetix 6000, Kinetix 6000M, and Kinetix 6200 drive modules exist on Configurations the same power rail. The Kinetix 6200 control modules use sercos interface for configuring the Logix5000 module and the EtherNet/IP network for diagnostics and configuring safety functions.
Page 20 Chapter 1 Start The Kinetix 6500 control modules can use any Ethernet topology including star, linear, and device-level ring (DLR). DLR is an ODVA standard and provides fault tolerant connectivity. TIP 1756-EN2F modules are available for applications that require fiber-optic cable for noise immunity.
Page 21 Start Chapter 1 In this example, the devices are connected by using device-level ring (DLR) topology. DLR topology is fault redundant. For example, if a device in the ring is disconnected, the rest of the devices in the ring continue to maintain communication.
Page 22 Chapter 1 Start In this example, the devices are connected by using star topology. Each device is connected directly to the switch, making this topology fault tolerant. The 2094 power rail modules and other devices operate independently. The loss of one device does not impact the operation of the other devices.
Page 23: Catalog Number Explanation
All power modules are compatible with the Kinetix 6200 and Kinetix 6500 control modules. Table 2 - Kinetix 6200 and Kinetix 6500 Drive Catalog Numbers Integrated Axis Modules (460V) Cat. No.
Page 24: Kinetix Drive Component Compatibility
AM modules, refer to the Kinetix 6000 Multi-axis Servo Drives User Manual, publication 2094-UM001. Bulletin 2094 power rails with Kinetix 6000 (series B and C) or Kinetix 6200 Kinetix 6000M Integrated drives are compatible with Kinetix 6000M integrated drive-motor (IDM) Drive-Motor System systems.
Page 25: Agency Compliance
Control of Electrical Noise Reference Manual, publication GMC-RM001. CE Requirements (system without LIM module) To meet CE requirements when your Kinetix 6200 and Kinetix 6500 system does not include the LIM module, these requirements apply. • Install 2090-XXLF-xxxx AC line filters for three-phase input power and single-phase control power (for example, Schaffner P/N FN 355-10-05 or Roxburgh P/N RES5F08) as close to the IAM module as possible.
Page 26: Ce Requirements (System With Lim Module)
Chapter 1 Start CE Requirements (system with LIM module) To meet CE requirements when your Kinetix 6200 and Kinetix 6500 system includes the LIM module, follow all the requirements as stated in Requirements (system without LIM module) and these additional requirements as they apply to the AC line filter.
Page 27 Chapter Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation This chapter describes system installation guidelines used in preparation for mounting your Kinetix 6200 and Kinetix 6500 drive components. Topic Page System Design Guidelines Electrical Noise Reduction ATTENTION: Plan the installation of your system so that you can perform all cutting, drilling, tapping, and welding with the system removed from the enclosure.
Page 28: System Design Guidelines
AutoCAD (DXF) drawings of the product, refer to http://www.rockwellautomation.com/en/e-tools. System Mounting Requirements • To comply with UL and CE requirements, the Kinetix 6200 and Kinetix 6500 drive systems must be enclosed in a grounded conductive enclosure offering protection as defined in standard EN 60529 (IEC 529) to IP54 such that they are not accessible to an operator or unskilled person.
Page 29: Transformer Selection
Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Chapter 2 Transformer Selection The IAM power module does not require an isolation transformer for three- phase input power. However, a transformer can be required to match the voltage requirements of the controller to the available service.
Page 30: Circuit Breaker/Fuse Options
Chapter 2 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Circuit Breaker/Fuse Options The 2094-BCxx-Mxx-M and 2094-BMxx-M drive modules, and the Kinetix 6000M integrated drive-motor system (2094-SEPM-B24-S IPIM module and MDF-SBxxxxx IDM units) use internal solid-state motor short-...
Page 31 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Chapter 2 Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 32: Enclosure Selection
Chapter 2 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Enclosure Selection This example is provided to assist you in sizing an enclosure for your Bulletin 2094 drive system. The example system consists of these components: • 6-axis Bulletin 2094 servo drive system •...
Page 33 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Chapter 2 Table 10 - ControlLogix System Heat Dissipation Example Enclosure Backplane Power Load Heat Dissipation Description Component watts watts 1756-M08SE 8-axis sercos interface module 1756-L5563 L63 ControlLogix processor 1756-IB16D 16 -point input module 0.84...
Page 34 Chapter 2 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation In this example, the enclosure must have an exterior surface of 6.66 m . If any portion of the enclosure is not able to transfer heat, do not include that portion in the calculation.
Page 35: Minimum Clearance Requirements
Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Chapter 2 Minimum Clearance Requirements This section provides information to assist you in sizing your cabinet and positioning your Bulletin 2094 system components. IMPORTANT Mount the module in an upright position. Do not mount the module on its side.
Page 36: Electrical Noise Reduction
This section outlines best practices that minimize the possibility of noise- Electrical Noise Reduction related failures as they apply specifically to Kinetix 6200 and Kinetix 6500 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-RM001.
Page 37 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Chapter 2 These illustrations show details of recommended bonding practices for painted panels, enclosures, and mounting brackets. Figure 11 - Recommended Bonding Practices for Painted Panels Stud-mounting the Subpanel Stud-mounting a Ground Bus...
Page 38: Bonding Multiple Subpanels
Chapter 2 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Bonding Multiple Subpanels Bonding multiple subpanels creates a common low impedance exit path for the high frequency energy inside the cabinet. If subpanels are not bonded together, and do not share a common low impedance path, the difference in impedance can affect networks and other devices that span multiple panels: •...
Page 39: Establishing Noise Zones
Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Chapter 2 Establishing Noise Zones Observe these guidelines when the 2094-BLxxS or 2094-XL75S-Cx LIM module is used in the Bulletin 2094 system and mounted left of the IAM module with the AC (EMC) line filter mounted above the LIM module: •...
Page 40 Chapter 2 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Observe these guidelines when the 2094-BLxxS or 2094-XL75S-Cx LIM module is used in the Bulletin 2094 system and mounted right of the IAM module with the AC (EMC) line filter mounted behind the IAM module: •...
Page 41 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Chapter 2 Observe these guidelines when the 2094-BLxxS or 2094-XL75S-Cx LIM module is used in the Bulletin 2094 system and mounted right of the drive with the AC (EMC) line filter mounted behind the LIM module: •...
Page 42 Chapter 2 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Keep the DC common-bus cable (very dirty) segregated from all other cables (not in a wireway) when the 2094-BLxxS or 2094-XL75S-Cx LIM module is used in a DC common-bus configuration and the follower IAM module is mounted below the leader IAM module.
Page 43 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Chapter 2 Observe these guidelines when the 2094-BL02 LIM module is used in the Bulletin 2094 system and mounted left of the IAM module: • The clean zone (C) is to the right and beneath the Bulletin 2094 system (gray wireway).
Page 44 Chapter 2 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Observe these guidelines when the 2094-BL02 LIM module is used in the Bulletin 2094 system and mounted above the IAM module: • The clean zone (C) is to the right and beneath the Bulletin 2094 system (gray wireway).
Page 45 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Chapter 2 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: •...
Page 46 Chapter 2 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Observe these guidelines when individual input power components are used in the Bulletin 2094 system and the Bulletin 2094 LIM module is not used: • The clean zone (C) is beneath the Bulletin 2094 system and includes the I/O wiring, feedback cable, and DC filter (gray wireway).
Page 47: Cable Categories For Kinetix 6200 And Kinetix 6500 Systems
Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Chapter 2 Observe these guidelines when installing your Logix5000™ sercos interface module: • The clean zone (C) is beneath the less noisy modules (I/O, analog, encoder, registration, an so forth (gray wireway).
Page 48 Chapter 2 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Table 14 - AM Power Module or Axis Module (inverter side) Zone Method Wire/Cable Connector Very Ferrite Shielded Dirty Clean Dirty Sleeve Cable U, V, W (motor power)
Page 49: Noise Reduction Guidelines For Drive Accessories
46 for an example): • Mount the AC line filter on the same panel as the Kinetix 6200 and Kinetix 6500 drive and as close to the power rail as possible. • Good HF bonding to the panel is critical. For painted panels, refer to...
Page 50 Chapter 2 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation External Shunt Modules Observe these guidelines when mounting your external shunt module outside the enclosure: • Mount circuit components and wiring in the very dirty zone or in an external shielded enclosure.
Page 51 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Chapter 2 When mounting your shunt module inside the enclosure, follow these additional guidelines: • Mount metal-clad modules anywhere in the dirty zone, but as close to the Bulletin 2094 drive system as possible.
Page 52 Chapter 2 Plan the Kinetix 6200 and Kinetix 6500 Drive System Installation Resistive Brake Modules Observe these guidelines when mounting your RBM module: • Mount circuit components and wiring in the dirty zone or in an external shielded enclosure. If mounting the RBM module in a separate ventilated shielded enclosure, run wiring inside metal conduit to minimize the effects of EMI and RFI.
Page 53: Chapter 3 Before You Begin
Chapter Mount the Kinetix 6200 and Kinetix 6500 Drive System This chapter provides the system installation procedures for mounting your Kinetix 6200 and Kinetix 6500 drive components on the Bulletin 2094 power rail. Topic Page Before You Begin Determine Mounting Order...
Page 54: Installing The 2094 Power Rail
Chapter 3 Mount the Kinetix 6200 and Kinetix 6500 Drive System Installing the 2094 Power Rail The Bulletin 2094 power rail comes in lengths to support one IAM module and up to seven additional AM/IPIM modules, or up to six additional AM/ IPIM modules and one shunt module.
Page 55: Mount Modules On The Power Rail
Mount the Kinetix 6200 and Kinetix 6500 Drive System Chapter 3 Figure 25 - Module Mounting Order Example Highest Power Utilization Lowest Power Utilization Integrated Axis Module Axis Module Axis Module Shunt Module IPIM Module Axis Module Axis Module Slot-filler Module...
Page 56 Chapter 3 Mount the Kinetix 6200 and Kinetix 6500 Drive System 2. Determine the next available slot and module for mounting. ATTENTION: To avoid damage to the pins on the back of each IAM, AM, IPIM, shunt, and slot-filler module and to make sure that...
Page 57 Mount the Kinetix 6200 and Kinetix 6500 Drive System Chapter 3 TIP The IAM module can have two or three power rail connectors and guide pins, the AM module can have one or two, all other modules have one. 5. Gently push the module against the power rail connectors and into the final mounting position.
Page 58: Mount The Control Modules
Chapter 3 Mount the Kinetix 6200 and Kinetix 6500 Drive System The IAM and AM power modules are equipped with two mounting hooks Mount the Control Modules and a threaded hole. The control module has two mounting studs, guide pins, and a captive screw for mating the control module with a power module.
Page 59 Mount the Kinetix 6200 and Kinetix 6500 Drive System Chapter 3 3. Guide the control module mounting studs so they engage with the power module hooks. Mounting Stud IAM or AM Power Module (right side) (IAM power module is shown)
Page 60 Chapter 3 Mount the Kinetix 6200 and Kinetix 6500 Drive System Notes: Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 61 Chapter Connector Data and Feature Descriptions This chapter illustrates drive connectors and indicators, including connector pinouts, and provides descriptions for Kinetix 6200 and Kinetix 6500 drive features. Topic Page 2094 Power Module and Control Module Features Control Signal Specifications Power and Relay Specifications...
Page 62: Connector Data And Feature Descriptions
IPIM module features and indicators, refer to the Kinetix 6000M Integrated Drive-Motor System User Manual, publication 2094-UM003. Figure 26 - IAM Power Module Features and Indicators Kinetix 6200 or Kinetix 6500 IAM Power Module, Top View (2094-BC01-MP5-M is shown) Kinetix 6200 or Kinetix 6500...
Page 63 (1) The Kinetix 6000M IPIM module has two Ethernet ports. They (2094-SE02F-M00-S1 is shown) provide the same function on the IPIM module as the Ethernet port on the Kinetix 6200 control module. Refer to the Kinetix 6000M Integrated Drive-Motor User Manual, publication 2094-UM003, for more information.
Page 64 Ethernet (PORT1) connector Kinetix 6500 Ethernet (PORT2) connector Control Module, Bottom View (2094-EN02D-M01-S1 is shown) Table 22 - Kinetix 6200 and Kinetix 6500 Power Module and Control Module Connectors Designator Description Connector Module User I/O (drive), safety, and auxiliary feedback...
Page 65: I/O, Safety, And Auxiliary Feedback Connector Pinout
5V or 9V supply, but not both. Refer to Additional Resources on page 12 for links to Kinetix 6200 and Kinetix 6500 safety reference manuals. Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 66: Motor Feedback Connector Pinout
Chapter 4 Connector Data and Feature Descriptions Figure 30 - Pin Orientation for 44-pin I/O, Safety, and Auxiliary Feedback (IOD) Connector Pin 30 Pin 15 Pin 44 Pin 31 Pin 1 Pin 16 Motor Feedback Connector Pinout MF Pin Description Signal MF Pin Description...
Page 67: Ethernet Communication Connector Pinout
Connector Data and Feature Descriptions Chapter 4 Ethernet Communication Connector Pinout ATTENTION: To avoid damage to components, determine which power supply your encoder requires and connect to either the 5V or 9V supply, but not both. Description Signal Transmit+ Transmit- Receive+ Reserved —...
Page 68: Iam And Am Motor Power And Brake Connector Pinout
Chapter 4 Connector Data and Feature Descriptions IAM and AM Motor Power and Brake Connector Pinout Table 26 - Motor Power Connector MP Pin Description Signal Chassis ground Three-phase motor power IMPORTANT Combined motor-power cable length for all axes on the same DC bus must not exceed 240 m (787 ft) with 460V systems.
Page 69: Control Signal Specifications
Connector Data and Feature Descriptions Chapter 4 This section provides a description of the Kinetix 6200 and Kinetix 6500 drive Control Signal Specifications I/O (IOD), communication, contactor enable (CED), brake (BC), and control power (CPD) connectors. Digital Inputs Four assignable inputs are available for the machine interface on the control module.
Page 70 Chapter 4 Connector Data and Feature Descriptions Table 29 - Understanding Digital Input Functions Function Description Default Behavior Value If the controller configuration specifies checking of the enable input, an active state enables the power electronics to control the motor and an inactive state The function is always inactive.
Page 71: Ethernet Communication Specifications
100 ns, max variation Cabling CAT5e shielded, 100 m (328 ft) max Sercos Communication Specifications The Rx and Tx sercos connectors are provided on the Kinetix 6200 control module for communication with the Logix5000™ controller. Attribute Value Data rates 4 and 8 Mbps, selectable via DIP switch...
Page 72: Contactor Enable Relay
Chapter 4 Connector Data and Feature Descriptions Contactor Enable Relay Contactor enable is a relay-driven contact used in the three-phase power- enable control string to protect the drive electronics during certain fault conditions. It is capable of handling 120V AC or 24V DC at 1 A or less. Contactor enable is a function of the converter and is not available in the axis modules.
Page 73: Power And Relay Specifications
Connector Data and Feature Descriptions Chapter 4 This section provides a description of the Bulletin 2094 power module brake Power and Relay relay (BC), input power (IPD), motor power (MP), and control power (CPD) Specifications connectors. Motor/Resistive Brake Relay The brake option is a spring-set holding brake that releases when voltage is applied to the brake coil in the motor.
Page 74 253 for brake coil currents. IMPORTANT Holding brakes that are available on Allen-Bradley® rotary motors are designed to hold a motor shaft at 0 rpm for up to the rated brake- holding torque, not to stop the rotation of the motor shaft, or be used as a safety device.
Page 75: Input Power Cycle Capability
Connector Data and Feature Descriptions Chapter 4 Input Power Cycle Capability The power cycle capability is inversely proportional to the system capacitance (including DC bus follower), but cannot exceed 2 contactor cycles per minute with up to 4 axes or 1 contactor cycle per minute with 5…8 axes. The cycle capability also depends on the converter power rating and the total system capacitance.
Page 76: Peak Current Specifications
Chapter 4 Connector Data and Feature Descriptions Peak Current Specifications Figure 36 - Load Duty-cycle Profile Example Cont D = T x 100% Base Table 34 - Peak Duty Cycle Definition of Terms Term Definition Continuous Current Rating (I The maximum value of current that can be output continuously. Cont The maximum value of peak current that the drive can output.
Page 77 Connector Data and Feature Descriptions Chapter 4 Figure 37 - Peak Inverter Overload (T < 2.0 s) Legend = 150% = 200% = 250% Applies to these Bulletin 2094 power modules: 2094-BC01-MP5-M, 2094-BMP5-M, 2094-BC01-M01-M, 2094-BM01-M, 2094-BC02-M02-M, 2094-BM02-M, 2094-BC04-M03-M, 2094-BM03-M 100% % Base Current (I Base Cont...
Page 78: Control Power
Chapter 4 Connector Data and Feature Descriptions Control Power The IAM power module requires AC input power for logic circuitry. IMPORTANT The control power input requires an AC (EMC) line filter for CE certification. For filter examples, refer to Agency Compliance on page IMPORTANT 2094-BCxx-Mxx-M (460V) IAM modules require a step down transformer for single-phase control power input.
Page 79: Feedback Specifications
(1) The EPWR_5V and EPWR_9V power supplies are shared between the motor feedback interface and the auxiliary feedback interface on the I/O (IOD) connector. TIP Auto-configuration in the Logix Designer application of intelligent absolute, high- resolution, incremental, and EnDat encoders is possible only with Allen-Bradley motors.
Page 80: Motor Feedback Specifications
Chapter 4 Connector Data and Feature Descriptions Motor Feedback Specifications The Kinetix 6200 and Kinetix 6500 control modules support multiple types of feedback devices by using the 15-pin (MF) motor feedback connector and sharing connector pins in many cases. Table 39 - Motor Feedback Signals by Device Type...
Page 81 Table 40 - Stegmann Hiperface Specifications Attribute Value Protocol Hiperface Memory support Not programmed, or programmed with Allen-Bradley motor data Hiperface data communication 9600 baud, 8 data bits, no parity Sine/cosine interpolation 2048 counts/sine period Input frequency (AM/BM) 250 kHz, max Input voltage (AM/BM) 0.6...1.2V, p-p, measured at the drive inputs...
Page 82 Commutation verification transition Hall inputs Single-ended, TTL, open collector, or none (MTR_S1, MTR_S2, and MTR_S3) Figure 43 - Generic TTL Incremental, MTR_AM and MTR_BM Signals Kinetix 6200 or Kinetix 6500 220 pF Control Module 2 kΩ 1 kΩ to A/D Converter 1 kΩ...
Page 83 Connector Data and Feature Descriptions Chapter 4 Figure 44 - Generic TTL Interface, MTR_IM Signals Kinetix 6200 or Kinetix 6500 Control Module 1 kΩ MTR_IM+ 121 Ω to AqB Counter 1 kΩ MTR_IM- 56 pF 56 pF Shaded area indicates components that are part of the circuit, but support other feedback device types (not used for Generic TTL incremental support).
Page 84 Attribute Value Tamagawa model support TS5669N124 Protocol Tamagawa proprietary Memory support Programmed with Allen-Bradley motor data Differential input voltage 1.0…7.0V Data communication 2.5 Mbps, 8 data bits, no parity Battery 3.6V, located external to drive in low-profile connector kit Refer to page 81 for the Tamagawa 17-bit serial interface schematic.
Page 85 EnDat sine/cosine interface schematic. It is identical to the Stegmann Hiperface (MTR_SIN and MTR_COS) schematic. Figure 46 - EnDat Sine/Cosine and EnDat Digital Interface Schematic for Serial Communication Kinetix 6200 or Kinetix 6500 Control Module Shaded area indicates components that are part of the circuit, but support other feedback device types (not used for EnDat support).
Page 86: Auxiliary Position Feedback Specifications
• For EnDat Sine/Cosine encoders, use Kinetix 6200 drive firmware revision 1.35 or later • For or EnDat Digital encoders, use Kinetix 6200 drive firmware revision 1.40 or later IMPORTANT To make sure your drive and motor integration is successful, refer to commissioning notes relative to EnDat encoders on third-party motors.
Page 87 Allen-Bradley Bulletin 842HR, 844D, 847H, and 847T encoders are the preferred encoders for auxiliary feedback connections. Table 48 - Allen-Bradley Auxiliary Feedback Encoders Cat.
Page 88: Safe Speed Monitor Safety Features
Chapter 4 Connector Data and Feature Descriptions Kinetix 6200 and Kinetix 6500 control modules with Safe Speed Monitoring, Safe Speed Monitor Safety catalog number 2094-xx02x-Mxx-S1, incorporate Safe Torque Off Features functionality as well as Safe Speed Monitor and door control/monitoring.
Page 89: Safe Torque Off Safety Features
AND with its internal Door Control signal to form the cascaded Door Control output. (1) Use of this input is optional. Refer to the Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual, publication 2094-RM001, for more information on configuring and wiring the safety functions.
Page 90 Chapter 4 Connector Data and Feature Descriptions Notes: Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 91: Connect The Kinetix 6200 And Kinetix 6500 Drive System
Sercos Fiber-optic Cable Connections Kinetix 6000M Integrated Drive-Motor Sercos Connections Ethernet Cable Connections This section contains basic wiring information for the Kinetix 6200 and Basic Wiring Requirements Kinetix 6500 drive modules. ATTENTION: Plan the installation of your system so that you can perform all cutting, drilling, tapping, and welding with the system removed from the enclosure.
Page 92: Building Your Own Cables
Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System SHOCK HAZARD: To avoid hazard of electrical shock, perform all mounting and wiring of the Bulletin 2094 power rail and drive modules prior to applying power. Once power is applied, connector terminals can have voltage present even when not in use.
Page 93: Determine The Input Power Configuration
Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 Before wiring input power to your Kinetix 6200 or Kinetix 6500 system, you Determine the Input Power must determine the type of input power you are connecting to. The IAM...
Page 94 Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System Figure 48 - Corner-grounded Power Configuration (Delta Secondary) Bulletin 2094 IAM Power Module, Top View CTRL 2 CTRL 1 Transformer (Delta) Secondary Transformer MBRK - Three-phase MBRK + AC Line Filter...
Page 95: Ungrounded Power Configurations
Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 Ungrounded Power Configurations The ungrounded power configuration (Figure 50) does not provide a neutral ground point. Ungrounded, impedance-grounded, and corner-grounded power configurations are allowed, but you must move a jumper (internal to the IAM power module) across a 120 kΩ...
Page 96: Dc Common Bus Configurations
Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System When the IAM power module is used in a DC common-bus configuration, the DC Common Bus IAM module is known as a leader IAM or follower IAM module. The IAM...
Page 97: Common Bus Fusing Requirements
Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 Common Bus Fusing Requirements When using a Bulletin 2094 leader IAM power module, DC-bus fuses are required only when wiring to more than one Bulletin 2094 follower IAM module. When wiring multiple follower IAM modules, terminal blocks are required to extend the DC common-bus power to additional drives.
Page 98 Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System When using ungrounded input power in common-bus configurations, use this table to determine where to set the ground jumper. Table 52 - Ground Jumper to Set Leader Drive Follower Drive...
Page 99: Set The Ground Jumper
Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 Set the Ground Jumper ATTENTION: To avoid personal injury, the ground jumper access area must be kept closed when power is applied. If power was present and then removed, wait at least 5 minutes for the DC-bus voltage to dissipate and verify that no DC-bus voltage exists before accessing the ground jumper.
Page 100 Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System Figure 52 - Setting the Ground Jumper (460V IAM power modules) Removable Jumper (behind P18) 2094-BC01-MP5-M, 2094-BC01-M01-M, 2094-BC02-M02-M, Top Screw 2094-BC04-M03-M, or 2094-BC07-M05-M IAM Power Module (460V) Ground jumper set for grounded configuration (default setting).
Page 101: Grounding The Modular Drive System
Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 All equipment and components of a machine or process system must have a Grounding the Modular Drive common earth ground point connected to chassis. A grounded system provides System a ground path for short circuit protection.
Page 102: Ground Multiple Subpanels
Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System For mounting bracket dimensions, refer to the 2094 Mounting Brackets Installation Instructions, publication 2094-IN008. IMPORTANT When 2094 mounting brackets are used to mount the power rail or LIM module over the AC line filter, the braided ground strap must be removed from the power rail and attached to a mounting bracket ground stud.
Page 103: Power Wiring Requirements
Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 Wire must be copper with 75 °C (167 °F) minimum rating. Phasing of main Power Wiring Requirements AC power is arbitrary and earth ground connection is required for safe and proper operation.
Page 104 Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System Table 55 - IAM/AM Power Wiring Requirements Connects to Terminals Recommended Strip Length Torque Value Bulletin 2094 Drive Wire Size Description Cat. No. mm (in.) N•m (lb•in) Signal (AWG)
Page 105: Power Wiring Guidelines
For IPIM module power wiring guidelines, refer to the Kinetix 6000M Integrated Drive-Motor System User Manual, publication 2094-UM003. IMPORTANT For connector locations of the Kinetix 6200 and Kinetix 6500 drive modules, refer to 2094 Power Module and Control Module Features on...
Page 106: Wiring The Iam/Am Module Connectors
Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System This section provides examples and wiring tables to assist you in making Wiring the IAM/AM Module connections to the IAM and AM power modules. Connectors Wire the Control Power (CPD) Connector This example applies to any IAM, leader IAM, or follower IAM power module.
Page 107: Wire The Input Power (Ipd) Connector
Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 Wire the Input Power (IPD) Connector This example applies to any IAM module or common-bus leader IAM power module. ATTENTION: Make sure the input power connections are correct when wiring the IPD connector plug and that the plug is fully engaged in the module connector.
Page 108 Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System This example applies to a common-bus follower IAM power module. ATTENTION: Make sure the common-bus power connections are correct when wiring the IPD connector plug and that the plug is fully engaged in the module connector.
Page 109: Wire The Contactor Enable (Ced) Connector
Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 Wire the Contactor Enable (CED) Connector This example applies to any IAM, common-bus leader IAM, or common-bus follower IAM power module. Figure 58 - IAM Power Module (CED connector)
Page 110: Wire The Motor Power (Mp) Connector
Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System Wire the Motor Power (MP) Connector Connections to the motor power (MP) connector include rotary motors, linear motors, and motor driven actuators. ATTENTION: Make sure the motor power connections are correct when wiring the MP connector plug and that the plug is fully engaged in the module connector.
Page 111 Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 MP-Series Motor and Actuator Connectors Bulletin MPL motors equipped with circular DIN connectors (specified by 4 or 7 in the catalog number) are not compatible with cables designed for motors equipped with bayonet connectors (specified by 2 in the catalog number).
Page 112 Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System Motor Power Wiring Examples The procedure for wiring motor power varies slightly, depending on the motor family. The cables compatible with your motor or actuator depend on the connectors installed on the motor or actuator. Refer to MP-Series Motor and...
Page 113 Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 Table 66 - Motor Power Cable Compatibility - SpeedTec DIN Connectors Connector Motor Power Cables Motor Power Cables Motor/Actuator Motor/Actuator Cat. No. Type (with brake wires) (without brake wires)
Page 114 Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System These cables contain three-phase power wires and brake wires. The brake wires have a shield braid (shown below as gray) that folds back under the cable clamp before the conductors are attached to the motor brake (BC) connector.
Page 115 Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 Cable shield and lead preparation is provided with most Allen-Bradley® cable assemblies. Follow these guidelines if your motor power cable shield and wires require preparation. Figure 63 - Cable Shield and Lead Preparation...
Page 116: Wire The Motor/Resistive Brake (Bc) Connector
TB3 Pin Signal MP Pin Signal COIL_A1 DBRK+ COIL_A2 DBRK- (1) Firmware revision 1.071 or later is required to use the DBRK outputs on the Kinetix 6200 and Kinetix 6500 IAM/AM power module. Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 117: Rockwell Automation Publication 2094-Um002G-En-P - August
Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 Motor Brake Connections The procedure for wiring your motor brake varies slightly, depending on the motor family. The cables compatible with your motor or actuator depend on the connectors installed on the motor or actuator. Refer to MP-Series Motor...
Page 118 Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System Figure 65 - Brake Cable Preparation Outer Insulation Strip Length 10 mm (0.375 in.) Brake Cable 105 mm (4.1 in.) Table 74 - Motor/Resistive Brake (BC) Connector BC Connector...
Page 119: Apply The Motor Cable Shield Clamp
Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 This procedure assumes you have completed wiring your motor power (MP) Apply the Motor Cable Shield connector and are ready to apply the cable shield clamp. Clamp TIP Your drive can be equipped with either the pivot-open or slide-open cable clamp.
Page 120: Feedback And I/O Cable Connections
Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System Factory made cables with premolded connectors are designed to minimize Feedback and I/O Cable EMI and are recommended over hand-built cables to improve system Connections performance. However, other options are available for building your own feedback and I/O cables.
Page 121 Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 Refer to MP-Series Motor and Actuator Connectors on page 111 for more information on circular DIN and bayonet connectors. Table 78 - Motor Feedback Cable Compatibility - Threaded DIN Connectors...
Page 122: Flying-Lead Feedback Cable Pinouts
Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System Flying-lead Feedback Cable Pinouts Refer to the following tables for the motor-to-drive feedback cable pinout used in your application. Table 80 - 2090-XXxFMP-Sxx Feedback Cable Bayonet High-resolution Feedback Connector...
Page 123 Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 Table 81 - 2090-XXNFMF-Sxx or 2090-CFBMxDF-xxAxxx Feedback Cables Circular DIN High-resolution Feedback Incremental Feedback Connector Pin MPL-B15xxx…MPL-B2xxx-V/Ex4/7xAA MPL-B15xxx-Hx4/7xAA MPF/MPS-Bxxx-M/S MPL-B2xxx-Hx4/7xAA Rotary Motors RDB-Bxxxxx-3/7 MPL-A3xxx-Hx7xAA Drive MF MPL-B3xxx…MPL-B9xxx-M/Sx7xAA MPL-A4xxx-Hx7xAA Connector Pin...
Page 124: Wiring The Feedback And I/O Connectors
Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System These procedures assume you have mounted your Kinetix 6200 and Wiring the Feedback and I/O Kinetix 6500 system, completed all power wiring, and are ready to connect Connectors your feedback and I/O cables.
Page 125: Connect Panel-Mounted Breakout Board Kits
Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 Connect Panel-mounted Breakout Board Kits The 2090-UXBK-D15xx panel-mounted breakout board kit includes a DIN- rail breakout board and cable. The cable connects between the breakout board and the motor feedback (MF) connector. Wires from your flying-lead motor feedback cable connect to the terminals.
Page 126: Wire Low-Profile Connector Kits
2090-K6CK-D44M Customer supplied making I/O, safety, and auxiliary feedback connections. Low-profile connector kit for I/O and cascading Safe Torque Off signals (44-pin, male, D-sub). For use with any Kinetix 6200 2090-K6CK-D44S0 2090-CS0DSDS-AAxx or Kinetix 6500 (Safe Torque Off, -S0 control module).
Page 127 Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 Figure 69 - Wiring (15-pin) Flying-lead Feedback Cable Connections 2090-K6CK-D15M Connector Kit 15-pin (male) Motor Feedback Low-profile Connector Bare Wires Wire Insulation Pin 10 Pin 5 Pin 15 Foil Shield...
Page 128 Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System Figure 71 - Wiring (44-pin) I/O and Cascading Safe Torque Off Feedback Connections 2090-K6CK-D44S0 Connector Kit 2090-K6CK-D44S0 Low-profile Connector Kit Motion-allowed Jumper Installation (applies to 2094-xx02x-M0x-S0 Refer to Chapter 4...
Page 129: External Shunt Module Connections
Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 Follow these guidelines when wiring your external passive shunt module. External Shunt Module Connections IMPORTANT When tightening screws to secure the wires, refer to the tables beginning on page 103 for torque values.
Page 130: Ipim Module Connections
Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System An overview of the Kinetix 6000M integrated drive-motor (IDM) system IPIM Module Connections connections are shown here. • Refer to Chapter 2 page 27, for noise zone considerations. • Refer to Appendix A, on...
Page 131: Rbm Module Connections
If your application requires an RBM module and you are wiring to a Bulletin 2094 IAM/AM power module, then refer to the following: • Cable Categories for Kinetix 6200 and Kinetix 6500 Systems on page 47 to establish noise zones when mounting the RBM module on your panel.
Page 132: Sercos Fiber-Optic Cable Connections
Connect the Kinetix 6200 and Kinetix 6500 Drive System This procedure assumes you have your Logix5000™ sercos interface module/ Sercos Fiber-optic Cable PCI card and Kinetix 6200 control modules mounted and are ready to connect Connections the fiber-optic cables. The sercos fiber-optic ring is connected by using the sercos receive (Rx) and transmit (Tx) connectors.
Page 133 Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 Figure 77 - Fiber-optic Cable Example - SoftLogix Platform SoftLogix Platform 1784-PM16SE Sercos Transmit interface PCI Card Receive 0.2 m Sercos Fiber-optic Ring (7.1 in.) Receive Receive Transmit Transmit...
Page 134 SAFE SPEED SAFE SPEED SAFE SPEED In this example, the second Kinetix 6200 system is mounted in a separate cabinet and connected with bulkhead adapters. IMPORTANT To avoid signal loss, do not use bulkhead adapters to connect glass cables. Use only bulkhead adapters for making plastic-to-plastic cable connections.
Page 135: Kinetix 6000M Integrated Drive-Motor Sercos Connections
Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 The Kinetix 6200 sercos ring includes the Kinetix 6000M integrated drive- Kinetix 6000M Integrated motor (IDM) units and IDM power interface modules (IPIM). Fiber-optic Drive-Motor Sercos connections are made from drive-to-drive and drive-to-IPIM module. IDM Connections network connections continue from the IPIM module to the IDM units.
Page 136: Ethernet Cable Connections
Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System This procedure assumes you have your ControlLogix or CompactLogix Ethernet Cable Connections EtherNet/IP module and Bulletin 2094 control modules mounted and are ready to connect the Ethernet network cables.
Page 137 Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 In this example, all devices are connected in linear topology. The Kinetix 6500 control module includes dual-port connectivity for drive-to-drive connections. Figure 83 - Ethernet Wiring Example - Linear...
Page 138 Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System In this example, the drives are connected by using device-level ring (DLR) topology. DLR topology is fault redundant. For example, if a device in the ring is disconnected, the rest of the devices in the ring continue to maintain communication.
Page 139 Connect the Kinetix 6200 and Kinetix 6500 Drive System Chapter 5 In this example, the devices are connected by using star topology. Each device is connected directly to the switch, making this topology fault tolerant. The 2094 power rail modules and other devices operate independently. The loss of one device does not impact the operation of the other devices.
Page 140 Chapter 5 Connect the Kinetix 6200 and Kinetix 6500 Drive System Notes: Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 141: Configure And Start The Kinetix 6200 Drive System
Chapter Configure and Start the Kinetix 6200 Drive System This chapter provides procedures for configuring the Kinetix 6200 system components with your Logix5000™ sercos communication module. Topic Page Configure the Kinetix 6000M Integrated Drive-Motor System Configure the Drive Modules Configure the Logix5000 Sercos interface Module...
Page 142: Configure The Drive Modules
Chapter 6 Configure and Start the Kinetix 6200 Drive System Follow these steps to configure the IAM power module and the control Configure the Drive Modules modules attached to your IAM and AM power modules. IMPORTANT If you have one or more IDM power interface modules (IPIM) on your...
Page 143 Configure and Start the Kinetix 6200 Drive System Chapter 6 IMPORTANT When two or more IAM power modules are connected to the same sercos interface module, each node address must be unique. Refer to the node addressing examples beginning on page 144.
Page 144 002 = Control module (AM axis 2) node address 001 = Control module (IAM axis 1) base node address In Example 1, the Kinetix 6200 (6-axis) drive system 1 power rail contains four control modules, one shunt module, and one slot-filler module. The shunt module and slot-filler modules are not assigned a sercos node address, but the system identifies them with a slot location.
Page 145 Configure and Start the Kinetix 6200 Drive System Chapter 6 Figure 87 - Node Addressing Example 2 1756-MxxSE Sercos 1756-MxxSE Sercos interface Module 1 interface Module 2 SERCOS interface SERCOS interface Logix Platform Logix Platform (ControlLogix is shown) (ControlLogix is shown)
Page 146 002 = Not Used (IAM module rightmost slot) 001 = IAM module (axis 1) base node address In this example, the Kinetix 6200 (8-axis) power rail contains a double-wide IAM module, two double-wide AM modules, one single-wide AM module, and one slot-filler module. The slot-filler module is not assigned a sercos node address, but the system identifies it with a slot location.
Page 147 22 = IDM unit 3 23 = IDM unit 4 In this example, the Kinetix 6200 (5-axis) power rail contains two single-wide axis modules and one IDM system. Neither the slot-filler or IPIM module is assigned a sercos node address, but the system identifies them with a slot location.
Page 148: Configure The Logix5000 Sercos Interface Module
Chapter 6 Configure and Start the Kinetix 6200 Drive System This procedure assumes that you have wired your Kinetix 6200 system and Configure the Logix5000 have configured the communication rate and optical power switches. Sercos interface Module For help with using the Logix Designer application as it applies to configuring the ControlLogix, CompactLogix™, or SoftLogix™...
Page 149 Configure and Start the Kinetix 6200 Drive System Chapter 6 The Controller Properties dialog box opens. 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.
Page 150: Configure The Logix5000 Module
Chapter 6 Configure and Start the Kinetix 6200 Drive System Configure the Logix5000 Module Follow these steps to configure the Logix5000 module. 1. Right-click I/O Configuration in the Controller Organizer and choose New Module. The Select Module dialog box opens.
Page 151 Configure and Start the Kinetix 6200 Drive System Chapter 6 6. Click the sercos Interface tab and reference the table below. Logix5000 Sercos Module Number of Axes Data Rate 1756-M03SE or Up to 3 1756-L60M03SE 1756-M08SE Up to 8 4 or 8 Mbps...
Page 152: Configure The Kinetix 6200 Drive Modules
SBxxxxx) you must be using the Logix Designer application or RSLogix 5000 software, version 20.01 or later. For Kinetix 6200 drive modules, selection is based on your control module and power module combination. In this example, the 2094- SE02F-M00-S1 control module and 2094-BC02-M02-M IAM power module are selected.
Page 153 Configure and Start the Kinetix 6200 Drive System Chapter 6 The New Module dialog box opens. 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 the drive.
Page 154 Chapter 6 Configure and Start the Kinetix 6200 Drive System 8. Type the axis Name. AXIS_SERVO_DRIVE is the default Data Type. 9. Click OK. The axis appears under the Ungrouped Axes folder in the Controller Organizer. 10. Assign your axis to Node 1.
Page 155 Configure and Start the Kinetix 6200 Drive System Chapter 6 14. From the Bus Regulator Catalog Number pull-down menu, choose the shunt option appropriate for your actual hardware configuration. If your IAM power module is And your hardware configuration includes this shunt option...
Page 156: Configure The Motion Group
Chapter 6 Configure and Start the Kinetix 6200 Drive System 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.
Page 157: Configure Axis Properties
Configure and Start the Kinetix 6200 Drive System Chapter 6 Configure Axis Properties Follow these steps to configure Axis properties for motor feedback. 1. Right-click an axis in the Controller Organizer and choose Properties. The Axis Properties dialog box opens.
Page 158 Chapter 6 Configure and Start the Kinetix 6200 Drive System 6. On the Drive/Motor tab, check Drive Enable Input Checking. When checked (default), means a hard drive-enable input signal is required. Uncheck to remove that requirement. 7. Click Apply. 8. Click the Motor Feedback tab and verify the Feedback Type shown is appropriate for your actual hardware configuration.
Page 159 Configure and Start the Kinetix 6200 Drive System Chapter 6 14. Configure the delay times. a. Type the Brake Engage Delay Time. b. Type the Brake Release Delay Time. c. Set the Resistive Brake Contact Delay time (0 - 1000 ms range).
Page 160: Download The Program
Chapter 6 Configure and Start the Kinetix 6200 Drive System The Drive/Motor tab displays the amplifier being used and the Loop Configuration is Aux Feedback Only. This is the only choice if the amplifier is using the primary node for Servo (motor) configuration.
Page 161: Apply Power To The Kinetix 6200 Drive
Configure and Start the Kinetix 6200 Drive System Chapter 6 This procedure assumes that you have wired and configured your Kinetix 6200 Apply Power to the system (with or without the LIM module) and your sercos interface module. Kinetix 6200 Drive ATTENTION: Capacitors on the DC bus can retain hazardous voltages after input power has been removed.
Page 162 Chapter 6 Configure and Start the Kinetix 6200 Drive System 4. Determine your source of three-phase input power. If Your Three-phase Then Power 1. Set CB1 to the ON position. Is sourced from a 2. Verify the Hardware Enable Input signal for each axis is at 0 volts.
Page 163: Test And Tune The Axes
Configure and Start the Kinetix 6200 Drive System Chapter 6 These procedures assume that you have configured your Kinetix 6200 drive, Test and Tune the Axes your Logix5000 sercos interface module, and applied power to the system. For help with using the Logix Designer application, as it applies to testing and...
Page 164 Chapter 6 Configure and Start the Kinetix 6200 Drive System 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. 7. Click OK. The Online Command - Apply Test dialog box opens (Feedback and Command &...
Page 165: Tune The Axes
Configure and Start the Kinetix 6200 Drive System Chapter 6 Tune the Axes The load observer feature (available with drive firmware revision 1.049 or later) can provide good performance without having to tune your axis. Using load observer with auto-tuned gains can maximize system performance. Refer...
Page 166 Chapter 6 Configure and Start the Kinetix 6200 Drive System The Online Command - Tune Servo dialog box opens. When the test completes, the Command Status changes from Executing to Command Complete. 8. Click OK. The Tune Bandwidth dialog box opens.
Page 167 Configure and Start the Kinetix 6200 Drive System Chapter 6 12. Determine if your test completed successfully. Then Your test completes successfully, this dialog box opens. 1. Click OK. 2. Remove the Hardware Enable Input signal applied earlier. 3. Go to step Your test failed, this dialog box opens.
Page 168 Chapter 6 Configure and Start the Kinetix 6200 Drive System Notes: Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 169: Configure The Drive Modules
Chapter Configure and Start the Kinetix 6500 Drive System This chapter provides procedures for configuring your Kinetix 6500 system components with your ControlLogix® EtherNet/IP module. Topic Page Configure the Drive Modules Configure the Logix EtherNet/IP Module Apply Power to the Kinetix 6500 Drive Test and Tune the Axes TIP Before you begin make sure you know the catalog number for each drive component, the Logix module, and the servo motor/actuator in your motion...
Page 170 Chapter 7 Configure and Start the Kinetix 6500 Drive System 2. Set the base node address for the IAM power module by setting the Node Address switches. Valid node addresses for EtherNet/IP network communication are 001…254. The left switch sets the most significant digit (MSD) and the right switch sets the least significant digit (LSD).
Page 171: Kinetix 6500 Drive System
Configure and Start the Kinetix 6500 Drive System Chapter 7 Figure 90 - Node Addressing Example 1 1756-ENxT EtherNet/IP Module ControlLogix Platform Kinetix 6500 Drive Kinetix 6500 Drive System 1 System 2 (6-axis power rail) (2-axis power rail) Base node address 0 0 1 0 0 7 set to 007.
Page 172 Chapter 7 Configure and Start the Kinetix 6500 Drive System Figure 91 - Node Addressing Example 2 1756-ENxT EtherNet/IP Module 1 1756-ENxT EtherNet/IP Module 2 ControlLogix Platform ControlLogix Platform 1595J-M8CBJM-x (shielded) Ethernet Cable Kinetix 6500 Drive System (8-axis power rail) 0 0 1 Base node address set to 001.
Page 173: Configure The Logix Ethernet/Ip Module
Configure and Start the Kinetix 6500 Drive System Chapter 7 This procedure assumes that you have wired your Kinetix 6500 drive system. Configure the Logix EtherNet/IP Module For help using the Logix Designer application as it applies to configuring the ControlLogix EtherNet/IP modules, refer to Additional Resources on page Configure the Logix Controller...
Page 174 Chapter 7 Configure and Start the Kinetix 6500 Drive System The Controller Properties dialog box opens. 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.
Page 175: Configure The Logix Module
Configure and Start the Kinetix 6500 Drive System Chapter 7 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. 2.
Page 176 Chapter 7 Configure and Start the Kinetix 6500 Drive System 4. Configure the new module. a. Type the module Name. b. Enter the Logix EtherNet/IP module slot (leftmost slot = 0). c. Select an Ethernet Address option. In this example, the Private Network address is selected. d.
Page 177: Configure The Kinetix 6500 Drive Modules
Configure and Start the Kinetix 6500 Drive System Chapter 7 Configure the Kinetix 6500 Drive Modules IMPORTANT To configure Kinetix 6500 drive modules (catalog numbers 2094-EN02D- M01-Sx, 2094-BCxx-Mxx-M, and 2094-BMxx-M) you must be using the Logix Designer application or RSLogix 5000® software, version 18 or later. Follow these steps to configure the Kinetix 6500 drive modules.
Page 178 Chapter 7 Configure and Start the Kinetix 6500 Drive System 4. Configure the new control module. a. Type the module Name. b. Select an Ethernet Address option. In this example, the Private Network address is selected. TIP To configure the IP address without using the private network, refer to the Rockwell Automation Knowledgebase (520452).
Page 179 Configure and Start the Kinetix 6500 Drive System Chapter 7 11. Click the Associated Axes tab. 12. Click New Axis. The New Tag dialog box opens. 13. Type the axis Name. AXIS_CIP_DRIVE is the default Data Type. 14. Click OK. The new axis (Axis_1) appears under Motion Groups>Ungrouped Axes in the Controller Organizer and is assigned as Axis 1.
Page 180 Chapter 7 Configure and Start the Kinetix 6500 Drive System TIP It is possible to configure Axis 2 as a Feedback Only axis. With this optional feature, you can configure each control module to appear as two axes on the EtherNet/IP network.
Page 181 Configure and Start the Kinetix 6500 Drive System Chapter 7 17. From the Digital Input 1 pull-down menu, choose Unassigned. This removes the Enable assignment from IOD-41. 18. Click Apply. 19. Click the Power tab. 20. From the Bus Regulator Action pull-down menu, choose the shunt option appropriate for your actual hardware configuration.
Page 182 Chapter 7 Configure and Start the Kinetix 6500 Drive System IMPORTANT When configured to use the Bulletin 1394 or 2094 shunt modules, the IAM bus regulator capacity attribute displays the utilization of total shunt power available (as a percent) based on the power rail configuration.
Page 183: Configure The Motion Group
Configure and Start the Kinetix 6500 Drive System Chapter 7 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. 2.
Page 184: Configure Axis Properties
Chapter 7 Configure and Start the Kinetix 6500 Drive System Configure Axis Properties Follow these steps to configure auxiliary axis properties. 1. Right-click an auxiliary axis in the Controller Organizer and choose Properties. 2. Click the Master Feedback category. 3. Configure the auxiliary axis feedback. a.
Page 185 Configure and Start the Kinetix 6500 Drive System Chapter 7 Follow these steps to configure axis properties. 1. Right-click an axis in the Controller Organizer and choose Properties. 2. Click the Motor category. The Motor Device Specification dialog box opens. 3.
Page 186 Chapter 7 Configure and Start the Kinetix 6500 Drive System 7. Click Apply. Motor data specific to your motor appears in the Motor category. 8. Click the Scaling category and edit the default values as appropriate for your application. 9. Click Apply, if you make changes. 10.
Page 187 Configure and Start the Kinetix 6500 Drive System Chapter 7 12. Click the Actions category. The Actions to Take Upon Conditions dialog box opens. From this dialog box, you can program actions and change the action for exceptions (faults). Refer to Logix5000 Controller and Drive Behavior page 215 for more information.
Page 188: Download The Program
Chapter 7 Configure and Start the Kinetix 6500 Drive System From this dialog box you can set delay times for servo motors and RBM modules. For recommended motor brake delay times, refer to the Kinetix Rotary Motion Specifications Technical Data, publication GMC-TD001.
Page 189: Apply Power To The Kinetix 6500 Drive
Configure and Start the Kinetix 6500 Drive System Chapter 7 This procedure assumes that you have wired and configured your Kinetix 6500 Apply Power to the system (with or without the LIM module) and your EtherNet/IP module. Kinetix 6500 Drive SHOCK HAZARD: To avoid hazard of electrical shock, perform all mounting and wiring of the Bulletin 2094 power rail and drive modules prior to applying power.
Page 190 Chapter 7 Configure and Start the Kinetix 6500 Drive System 4. Determine your source of three-phase input power. If Your Three-phase Power Then 1. Set CB1 to the ON position. Is sourced from a 2. Verify the Hardware Enable Input signal for each axis is at 0 volts. LIM module 3.
Page 191: Test And Tune The Axes
Configure and Start the Kinetix 6500 Drive System Chapter 7 This procedure assumes that you have configured your Kinetix 6500 drive, Test and Tune the Axes your ControlLogix EtherNet/IP module, and applied power to the system. IMPORTANT Before proceeding with testing and tuning your axes, verify that the control module status indicators are operating as described in Control Module Status Indicators...
Page 192 Chapter 7 Configure and Start the Kinetix 6500 Drive System 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 Verifies marker detection capability as you rotate the motor Marker shaft.
Page 193 Configure and Start the Kinetix 6500 Drive System Chapter 7 9. Click OK. This dialog box opens asking if the direction was correct. 10. Click Yes. 11. If the test fails, this dialog box opens. a. Click OK. b. Verify the Bus status indicator turned solid green during the test. c.
Page 194: Tune The Axes
Chapter 7 Configure and Start the Kinetix 6500 Drive System Tune the Axes The load observer feature (available with drive firmware revision 2.001 or later) can provide good performance without having to tune your axis. Using load observer with auto-tuned gains can maximize system performance. Refer to Motion System Tuning Application Techniques, publication MOTION- AT005, for more load observer information.
Page 195 Configure and Start the Kinetix 6500 Drive System Chapter 7 6. Determine your need for a hardware enable input at IOD-41 on the I/O connector. Digital input 1 (IOD-41) is configured as Enable in the Logix Designer application by default. You may have changed that on page 181.
Page 196 Chapter 7 Configure and Start the Kinetix 6500 Drive System 11. If the test fails, this dialog box opens. a. Click OK. b. Make an adjustment to motor velocity. c. Refer to the appropriate Logix motion module user manual for more information.
Page 197: Safety Precautions
Chapter Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System This chapter provides troubleshooting tables for your Kinetix 6200 and Kinetix 6500 system components. Topic Page Safety Precautions Interpret Status Indicators General System Anomalies Logix5000 Controller and Drive Behavior Observe the following safety precautions when troubleshooting your Safety Precautions Kinetix 6200 and Kinetix 6500 drive.
Page 198: Interpret Status Indicators
Chapter 8 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Refer to these troubleshooting tables to identify faults, potential causes, and Interpret Status Indicators the appropriate actions to resolve the fault. If the fault persists after attempting to troubleshoot the system, please contact your Rockwell Automation sales representative for further assistance.
Page 199 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Chapter 8 Refer to the table on page 190 for a description of the messages that scroll across the display during powerup. Table 85 - Four-character Display Messages Display String Maximum...
Page 200: Fault Codes
This is repeated until the fault code is cleared. For information on troubleshooting SAFE FLT fault codes, refer to the Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual, publication 2094-RM001. Table 86 - Fault Code Summary...
Page 201 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Chapter 8 Table 87 - FLT Sxx Fault Codes (continued) Four-character Display Message Logix Designer Fault Message Problem or Symptom Potential Cause Possible Resolution The motor thermostat, motor • Operate within (not above) the continuous...
Page 202 Chapter 8 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Table 87 - FLT Sxx Fault Codes (continued) Four-character Display Message Logix Designer Fault Message Problem or Symptom Potential Cause Possible Resolution • Reduce acceleration rates. • Reduce duty cycle (ON/OFF) of commanded motion.
Page 203 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Chapter 8 Table 87 - FLT Sxx Fault Codes (continued) Four-character Display Message Logix Designer Fault Message Problem or Symptom Potential Cause Possible Resolution The motor feedback wiring is FLT S41…MTR AQB STATE FL Motor Feedback State Error •...
Page 204 Chapter 8 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Table 87 - FLT Sxx Fault Codes (continued) Four-character Display Message Logix Designer Fault Message Problem or Symptom Potential Cause Possible Resolution FLT S52…POS SW OTRAVEL Software Overtravel - Positive (Kinetix 6200 drives only) •...
Page 205 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Chapter 8 Table 88 - FLT Mxx Fault Codes Four-character Display Message Logix Designer Fault Message Problem or Symptom Potential Cause Possible Resolution Extremely light or heavy load Clear faults and re-try.
Page 206 Chapter 8 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Table 88 - FLT Mxx Fault Codes (continued) Four-character Display Message Logix Designer Fault Message Problem or Symptom Potential Cause Possible Resolution Cycle control power. FLT M28…SAFETY COMM Internal Safety Communication Communication with the safety hardware within the drive malfunctioned.
Page 207 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Chapter 8 Table 89 - INIT FLT Fault Codes (continued) Four-character Display Message Logix Designer Fault Message Problem or Symptom Potential Cause Possible Resolution • Flash control module with correct INIT FLT M12…INVALID KCL REV Invalid KCL revision The FPGA image is incompatible with hardware operation.
Page 208 Chapter 8 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Table 90 - NODE FLT Fault Codes (continued) Four-character Display Message Logix Designer Fault Message Problem or Symptom Potential Cause Possible Resolution The drive has an internal hardware problem. The nn sub-code is defined as •...
Page 209 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Chapter 8 Table 92 - INHIBIT Fault Codes Four-character Display Message Logix Designer Fault Message Problem or Symptom Potential Cause Possible Resolution • Confirm that the digital input When Enable Input Checking is enabled, the drive displays Axis Enable Input...
Page 210: Control Module Status Indicators
Chapter 8 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Control Module Status Indicators Table 94 - Drive Status Indicator (sercos control modules) Condition Drive Status Possible Resolution No power Apply power. Alternating green/red Self-test (power-up diagnostics) Wait for steady green.
Page 211: Shunt Module Status Indicators
Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Chapter 8 Table 97 - Safety Lock Status Indicator Condition Status No power or safety circuitry not configured. Flashing amber Safety circuitry configured, but not locked. Steady amber Safety circuitry locked.
Page 212 Chapter 8 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Table 101 - Bus Status Indicator Bus Status Indicator Status Potential Cause Possible Resolution Flashing Normal condition when control power is applied and bus voltage is less than 60V DC.
Page 213: General System Anomalies
Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Chapter 8 These anomalies do not always result in a fault code, but may require General System Anomalies troubleshooting to improve performance. Table 105 - General System Anomalies Condition Potential Cause Possible Resolution The position feedback device is incorrect or open.
Page 214 Chapter 8 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Table 105 - General System Anomalies (continued) Condition Potential Cause Possible Resolution The motor connections are loose or open. Check motor wiring and connections. Foreign matter is lodged in the motor.
Page 215: Logix5000 Controller And Drive Behavior
Drive Behavior drive actions that apply depends on the whether you are using an integrated motion on EtherNet/IP (Kinetix 6500) servo drive or sercos (Kinetix 6200) servo drive. TIP The INIT FLT xxx faults are always generated after powerup, but before the drive is enabled, so the stopping behavior does not apply.
Page 216 Chapter 8 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Only selected drive exceptions are configurable. In the Drive Exception/Fault Behavior tables beginning on page 218, the controlling attribute is given for programmable fault actions. Figure 92 - Logix Designer Axis Properties - Actions Category This dialog box applies to Kinetix 6500 (EtherNet/IP network) servo drives.
Page 217: Kinetix 6200 Drive Fault Behavior
Chapter 8 Kinetix 6200 Drive Fault Behavior For Kinetix 6200 (sercos) drives, you can configure fault behavior in the Logix Designer application from the Axis Properties dialog box, Fault Actions tab. Table 107 - Kinetix 6200 Drive Fault Action Definitions...
Page 218: Drive Exception/Fault Behavior
Chapter 8 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Drive Exception/Fault Behavior Table 108 - Drive Behavior, FLT Sxx Fault Codes Logix Designer Integrated Motion Four-character Display Message Description Sercos Fault Behavior Fault Message Exception Behavior FLT S02…MTR COMMUTATION Illegal Hall State The motor encoder Hall inputs are all high or all low.
Page 219 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Chapter 8 Table 108 - Drive Behavior, FLT Sxx Fault Codes (continued) Logix Designer Integrated Motion Four-character Display Message Description Sercos Fault Behavior Fault Message Exception Behavior Blown Fuse Coast/Disable (open Coast/Disable (open FLT S38…FUSE BLOWN...
Page 220 Chapter 8 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Table 109 - Drive Behavior, FLT Mxx Fault Codes Logix Designer Integrated Motion Four-character Display Message Description Sercos Fault Behavior Fault Message Exception Behavior FLT M01…SELF SENSING Self-sensing Startup Fault The self-sensing commutation start-up algorithm failed.
Page 221 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Chapter 8 Table 110 - Drive Behavior, NODE FLT Fault Codes Logix Designer Integrated Motion and Four-character Display Message Description Fault Message Sercos Drive Behavior NODE FLT 01…LATE CTRL UPDATE Control Update Fault Several consecutive updates from the controller have been lost.
Page 222 Chapter 8 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System Table 111 - Drive Behavior, SAFE FLT Fault Codes (continued) Logix Designer Integrated Motion and Four-character Display Message Description Fault Message Sercos Drive Behavior Feedback Position Compare SAFE FLT 08…DUAL FB POSITION A position miss-compare was detected between the two feedback devices.
Page 223: Before You Begin
Chapter Remove and Replace the Kinetix 6200 and Kinetix 6500 Drive Modules This chapter provides remove and replace procedures for your Kinetix 6200 and Kinetix 6500 system components. Topic Page Before You Begin Remove Kinetix 6200 and Kinetix 6500 Drive Modules...
Page 224: Remove Kinetix 6200 And Kinetix 6500 Drive Modules
Chapter 9 Remove and Replace the Kinetix 6200 and Kinetix 6500 Drive Modules Follow these steps to remove the control modules, power modules, IPIM, Remove Kinetix 6200 and shunt, and slot-filler modules from the Bulletin 2094 power rail. Kinetix 6500 Drive Modules 1.
Page 225: Remove The Control Module
Drive Modules on page 226. This procedure assumes that you are starting with the Kinetix 6200 or Kinetix 6500 drive system mounted on the power rail. Follow these steps to remove the control module. 1. Loosen the captive screw on top of the control module.
Page 226: Remove The Drive Modules
Chapter 9 Remove and Replace the Kinetix 6200 and Kinetix 6500 Drive Modules Remove the Drive Modules You can remove the control module from the power module (to replace the power module) or you can remove the control module and power module as a single unit.
Page 227: Replace Kinetix 6200 And Kinetix 6500 Drive Modules
Remove and Replace the Kinetix 6200 and Kinetix 6500 Drive Modules Chapter 9 Follow these steps to replace control modules, power modules, shunt modules, Replace Kinetix 6200 and and slot-filler modules from the Bulletin 2094 power rail. Kinetix 6500 Drive Modules Replace the Drive Modules Follow these steps to replace the drive modules.
Page 228: Replace The Control Modules
Chapter 9 Remove and Replace the Kinetix 6200 and Kinetix 6500 Drive Modules Replace the Control Modules Refer to Mount the Control Modules page 58 to replace your control modules. Follow these steps when you have finished replacing your control modules.
Page 229: Replace The Power Rail
Remove and Replace the Kinetix 6200 and Kinetix 6500 Drive Modules Chapter 9 This procedure assumes you do not need to change the location of the power Replace the Power Rail rail on the panel and you intend to reuse the mounting bolts of the power rail you just removed.
Page 230 Chapter 9 Remove and Replace the Kinetix 6200 and Kinetix 6500 Drive Modules Notes: Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 231 Appendix Interconnect Diagrams This appendix provides wiring examples and system block diagrams for your Kinetix 6200 and Kinetix 6500 system components. Topic Page Interconnect Diagram Notes Power Wiring Examples Axis Module/Rotary Motor Wiring Examples Axis Module/Linear Motor/Actuator Wiring Examples Kinetix 6000M Integrated Drive-Motor Wiring Example...
Page 232: Interconnect Diagram Notes
Appendix A Interconnect Diagrams This appendix provides wiring examples to assist you in wiring the Interconnect Diagram Notes Kinetix 6200 and Kinetix 6500 drive systems. These notes apply to the wiring examples on the following pages. Note Information For power wiring specifications, refer to Power Wiring Requirements on page 103.
Page 233: Power Wiring Examples
Interconnect Diagrams Appendix A These examples apply to power wiring configurations with and without the Power Wiring Examples Bulletin 2094 line interface module (LIM), DC common bus wiring, and shunt module wiring. Figure 94 - Single IAM Module with 2094-BL02 LIM Module 2094-BCxx-Mxx-M IAM Power Module Refer to table on...
Page 234 Appendix A Interconnect Diagrams Figure 95 - Multiple IAM Module with LIM Module 2094-BCxx-Mxx-M IAM Power Module Refer to table on page 232 for note information. (IAM_1) Note 10 Bonded Cabinet Power Rail Ground Bus* Ground Stud Cable Shield Clamp 2094-BLxxS, or 2094-XL75S-Cx Three-phase Line Interface Module...
Page 235 Interconnect Diagrams Appendix A Figure 95 - Multiple IAM Module with LIM Module (continued) 2094-BCxx-Mxx-M Refer to table on page 232 for note information. IAM Power Module (IAM_2) Power Rail Note 10 Ground Stud Bonded Cabinet Cable Shield Ground Bus* Clamp Three-phase Motor Power...
Page 236 Appendix A Interconnect Diagrams This configuration does not include a LIM module. You must supply input power components. The single-phase and three-phase line filters are wired downstream of fusing and the M1 contactor. ATTENTION: Wiring the contactor enable (CED) relay is required. To avoid injury or damage to the drive, wire the contactor enable relay into your control string.
Page 237: Dc Common Bus Wiring Examples
Interconnect Diagrams Appendix A DC Common Bus Wiring Examples Figure 97 - Leader IAM Module with Single Follower IAM Module Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 238 Appendix A Interconnect Diagrams Figure 98 - Leader IAM Module with Multiple Follower IAM Modules To Follower DC Bus Connections Refer to table on page 232 for note information. To Follower Control Power Connections 2094-BCxx-Mxx-M Common-bus Leader IAM Power Module Bonded Cabinet Ground Bus * Power Rail...
Page 239 Interconnect Diagrams Appendix A Figure 98 - Leader IAM Module with Multiple Follower IAM Modules (continued) 2094-BCxx-Mxx-M Refer to table on page 232 for note information. Common-bus Follower IAM Power Module Bonded Cabinet Ground Bus * Power Rail Ground Stud Cable Shield Clamp Note 4...
Page 240 Appendix A Interconnect Diagrams Figure 99 - 8720MC-RPS Leader Drive with Single Follower IAM Module Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 241: Shunt Module Wiring Examples
Refer to Kinetix Motion Accessories Technical Data, publication KNX- TD004 for the Bulletin 1394 external shunt module catalog numbers available for the Kinetix 6200 and Kinetix 6500 drive systems. Figure 100 - Shunt Module Wired for Internal Operation (default configuration) 2094-BSP2 Kinetix 6000...
Page 242: Axis Module/Rotary Motor Wiring Examples
Appendix A Interconnect Diagrams These examples apply to Kinetix 6200 and Kinetix 6500 drives with Axis Module/Rotary Motor Allen-Bradley® rotary motors. Wiring Examples IMPORTANT The Bulletin MPL motor wiring examples on this page apply to motors equipped with bayonet connectors.
Page 243 Interconnect Diagrams Appendix A IMPORTANT The Bulletin MPL motor wiring examples on this page apply to motors equipped with circular DIN (threaded) connectors. Figure 103 - AM Module with MP-Series (Bulletin MPL-B and MPS-B) Motors MPL-B15xx…MPL-B2xx IAM (inverter) or Refer to table on page 232 for note information.
Page 244 Appendix A Interconnect Diagrams IMPORTANT The Bulletin MPL motor wiring examples on this page apply to motors equipped with circular DIN (SpeedTec) connectors. Figure 104 - AM Module with MP-Series Motors (Bulletin MPL-B, MPM-B, MPF-B, and MPS-B) MPL-B15xx…MPL-B9xx, MPM-Bxxx, IAM (inverter) or Refer to table on page 232 for note information.
Page 245 Interconnect Diagrams Appendix A Figure 105 - AM Module with RDD-Series™ Direct Drive Motors RDB-Bxxxx Direct Drive IAM (inverter) or AM Refer to table on page 232 for note information. Servo Motors with Power Module High Resolution Feedback Note 15 2090-K6CK-D15M Cable Shield Feedback Module...
Page 246 Appendix A Interconnect Diagrams Figure 106 - AM Module (460V) Wiring Examples with 1326AB Motors 1326AB (M2L/S2L) IAM (inverter) or AM Refer to table on page 232 for note information. Servo Motors with Power Module High Resolution Feedback Note 15 Cable Shield 2090-K6CK-D15M Clamp...
Page 247: Axis Module/Linear Motor/Actuator Wiring Examples
Interconnect Diagrams Appendix A These examples apply to Kinetix 6200 and Kinetix 6500 drives with Axis Module/Linear Motor/ Allen-Bradley linear motors and actuators. Actuator Wiring Examples Figure 107 - AM Module with MP-Series Integrated Linear Stages MPAS-Bxxxxx-VxxSxA Refer to table on page 232 for note information.
Page 248 Appendix A Interconnect Diagrams Figure 108 - AM Module with MP-Series Electric Cylinders MPAR-Bxxxxx (series B) and Refer to table on page 232 for note information. IAM (inverter) or AM MPAI-Bxxxxx Power Module Electric Cylinders with Note 15 High Resolution Feedback 2090-K6CK-D15M Cable Shield Connector Kit...
Page 249 Interconnect Diagrams Appendix A Table 112 - MP-Series Electric Cylinder Power and Feedback Cables MP-Series Electric Cylinder Power Cable Feedback Cable Cat. No. Cat. No. Cat. No. MPAR-B1xxx (series A) 2090-XXNPMF-16Sxx (standard) or 2090-XXNFMF-Sxx (standard) or 2090-CPxM4DF-16AFxx (continuous-flex) 2090-CFBM4DF-CDAFxx (continuous-flex) MPAR-B2xxx (series A) MPAR-B1xxx (series B) MPAR-B2xxx (series B)
Page 250 Appendix A Interconnect Diagrams Figure 110 - AM Module with LDC-Series™ Linear Motors (cable connectors) IAM (inverter) or AM LDC-Cxxxxxx-xHTx1 Refer to table on page 232 for note information. Power Module Linear Motor Coil with Sin/Cos or TTL External Encoder Note 15 and Cable Connectors Cable Shield...
Page 251 Motor Power WHITE (MP) Connector Three-phase Motor Power BLACK Thermostat BLACK POWER WHITE Hall Effect BLUE Module ORANGE BLACK Kinetix 6200 or Kinetix 6500 Control Module (AM+) (AM+) SIN+ SIN+ 2090-K6CK-D15M (AM-) (AM-) SIN- SIN- Connector Kit COS+ (BM+) COS+...
Page 252: Kinetix 6000M Integrated Drive-Motor Wiring Example
Drive-Motor Wiring Example ATTENTION: When using the Kinetix 6000M IDM system, with Kinetix 6200 drives, the IPIM module only forwards the safety- feedback monitoring signals to the adjacent (downstream) drive on the power rail. To avoid personal injury due to unexpected motion, make sure that the safety-feedback connections are fed through each drive on the power rail so that safety devices can recognize when the Kinetix 6200 drive opens the feedback contactor in the cascaded safety string.
Page 253: Controlling A Brake Example
Interconnect Diagrams Appendix A The relay output of the Bulletin 2094 IAM/AM module (MBRK± BC-5 and Controlling a Brake Example BC-6) is suitable for directly controlling a motor brake, subject to the relay voltage limit of 30V DC, and the relay current limit as shown below. Table 113 - Brake Relay Current Limit Bulletin 2094 IAM/AM Power Module Brake Current Rating, max...
Page 254: System Block Diagrams
Appendix A Interconnect Diagrams This section provides block diagrams of the Kinetix 6200 and Kinetix 6500 System Block Diagrams drive modules. For block diagrams of the LIM module, refer to Additional Resources on page 12 for the documentation available for those products.
Page 255 Interconnect Diagrams Appendix A Figure 114 - IAM Power Module (converter) Block Diagram Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 256 Appendix A Interconnect Diagrams Figure 115 - Shunt Module Block Diagram Internal or External Shunt Resistor SYSOK Shunt Circuit SMPS GSHUNT (2) +5V (Control) +/-15V (IGBT) 24V (Control) Chassis Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 257: Upgrade Kinetix 6000M System Firmware
Appendix Upgrade the Drive Firmware This appendix provides procedures for upgrading firmware by using ControlFLASH™ software. Topic Page Upgrade Kinetix 6000M System Firmware Upgrade Drive Firmware with ControlFLASH Software Upgrading firmware for the Kinetix 6000M integrated drive-motor (IDM) Upgrade Kinetix 6000M system is done by using ControlFLASH software.
Page 258: Upgrade Drive Firmware With Controlflash Software
ControlFLASH software kit 4.00.00 or later Catalog numbers of the targeted Kinetix 6200 drive module you want to flash. Network path to the targeted Kinetix 6200 drive module you want to flash. Table 117 - Kinetix 6500 (EtherNet/IP network) System Requirements Description Cat.
Page 259: Configure Logix5000 Communication
Upgrade the Drive Firmware Appendix B IMPORTANT Control power must be present at CPD-1 and CPD-2 prior to upgrading your target drive. For sercos drives, the four-character status indicator on the target IAM (inverter) module or AM module must be scrolling CP-2, CONFIGURING, STOPPED, RUNNING, or PRE-CHARGE before beginning this procedure.
Page 260 6. Click OK. The Configure driver dialog box opens. 7. Type the IP address. For Kinetix 6200 drive systems, type the IP address of your Logix Ethernet module. For Kinetix 6500 drive systems, type the IP address of your IAM power module.
Page 261: Upgrade Firmware
The Catalog Number dialog box opens. 3. Select your drive module. In this example, the Kinetix 6500 control module is selected. If you are flashing a Kinetix 6200 control module, you’ll select your Bulletin 2094 power module and control module combination. 4. Click Next.
Page 262 Appendix B Upgrade the Drive Firmware The Select Device to Update dialog box opens. 5. Expand your Ethernet node, Logix5000 backplane, and EtherNet/IP network module. 6. Select the servo drive to upgrade. 7. Click OK. The Firmware Revision dialog box opens. 8.
Page 263 12. Click Yes (only if you are ready). This ControlFLASH warning dialog box opens. In this example, the warning applies to the Kinetix 6500 control modules. If you are flashing a Kinetix 6200 control module, the warning will be different. 13. Acknowledge the warning and click OK.
Page 264 Appendix B Upgrade the Drive Firmware After the flash information is sent to the drive, the drive resets and performs diagnostic checking. 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.
Page 265: Verify The Firmware Upgrade
Upgrade the Drive Firmware Appendix B Verify the Firmware Upgrade Follow these steps to verify your firmware upgrade was successful. TIP Verifying the firmware upgrade is optional. 1. Open your RSLinx software. 2. From the Communications pull-down menu, choose RSWho. 3.
Page 266: Rockwell Automation Publication 2094-Um002G-En-P - August
Appendix B Upgrade the Drive Firmware Notes: Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 267: Before You Begin
Appendix DC Common Bus Applications This appendix provides information and an example for calculating additional bus capacitance specific to the Kinetix 6200 and Kinetix 6500 modular drive systems configured for DC common bus. Topic Page Before You Begin Calculate Total Bus Capacitance...
Page 268: Calculate Total Bus Capacitance
Appendix C DC Common Bus Applications Total bus capacitance is the sum of all capacitance values for your Bulletin 2094 Calculate Total Bus common-bus modules. Specifically, this includes the capacitance values for Capacitance each of these modules: • Leader IAM (converter and inverter) module •...
Page 269: Calculate Additional Bus Capacitance
• Each AM module on the follower IAM module power rail • Each IPIM module on the follower IAM module power rail If you are using Kinetix 6200 (sercos) drives or Kinetix 6500 (integrated motion on EtherNet/IP) drives, calculate additional bus capacitance in this appendix and enter the value in Module Properties>Power tab>Bus...
Page 270: Common Bus Capacitance Example
Appendix C DC Common Bus Applications In this example, the sum of the leader IAM power rail modules capacitance Common Bus Capacitance (1335 µF) and the follower IAM power rail modules capacitance (790 µF) Example equals 2125 µF total bus capacitance. The sum of the follower IAM module power rail equals 790 µF additional bus capacitance.
Page 271: Configure The Load Observer Feature
Appendix Configure the Load Observer Feature The load observer feature is a control loop inside the Kinetix 6200 drive (firmware revision 1.049 or later) that estimates the mechanical load on the motor and compensates for it, thereby forcing the motor to behave as if it is unloaded and relatively easy to control.
Page 272: Configuration
Appendix D Configure the Load Observer Feature Figure 118 - Load Observer and Control Loop Signals Relationship Block Diagram Mechanics Servo Drive Power Conversion Control Loops Unloaded Motor – – Acceleration Reference Torque Estimate Torque Load Velocity Estimate Load Observer Position Feedback Load observer also generates a Velocity Estimate signal that you can apply to the velocity loop.
Page 273 Configure the Load Observer Feature Appendix D The following figures illustrate the high-level operation of each observer mode. Figure 119 - Load Observer Disabled Configuration (Value 0) Mechanics Servo Drive Position Command Control Loops Power Conversion Unloaded Motor – – Acceleration Reference Torque Estimate Torque Load...
Page 274: Remaining Idn Parameter Descriptions
Appendix D Configure the Load Observer Feature Figure 123 - Acceleration Feedback Configuration (Value 4) Mechanics Servo Drive Position Command Control Loops Power Conversion Unloaded Motor – – Acceleration Reference Torque Estimate Torque Load Velocity Estimate Load Observer Position Feedback You can configure the load observer feature in a variety of ways by writing to a set of configuration IDN parameters.
Page 275 Configure the Load Observer Feature Appendix D Table 123 - Load Observer Gain Parameters Name Units Format Value, min Value, max P:0:432 Load Observer Bandwidth (Kop) Rad/s 12,500 16 bit 65,535 P:0:433 Load Observer Integral Bandwidth (Koi) Rad/s unsigned int P:0:434 Load Observer Feedback Gain (Kof) –...
Page 276: Out-Of-Box Gain Settings
Logix Designer application and accessing drive IDN parameters. 1. Create a new axis with type AXIS_SERVO_DRIVE. If you need more information to create a new axis, refer to Configure the Kinetix 6200 Drive Modules on page 152. 2. Click the Drive/Motor tab in the Axis Properties dialog box and add a motor.
Page 277 Configure the Load Observer Feature Appendix D c. Position Loop Bandwidth: Kpp = Kvp/4 2.56 Initial 5. Configure these settings and values on the Gains tab. a. Position Proportional Gain = Kpp b. Velocity Proportional Gain = Kvp c. Velocity Feedforward Gain = 100% d.
Page 278: Auto-Tune Gain Settings
Appendix D Configure the Load Observer Feature b. Enable Low-pass Output Filter = Unchecked 8. If required, reduce the Maximum Acceleration and Maximum Deceleration values to meet application requirements and protect the drive and motor from overload. Acceleration limits, by default, are set to their maximum value, providing the best performance for a Load Inertia Ratio of zero.
Page 279 Configure the Load Observer Feature Appendix D 2. Click the Output tab in the Axis Properties dialog box and verify that the Load Inertia Ratio > 0. 3. Click the Gains tab in the Axis Properties dialog box. The current Position and Velocity gain values are used to recalculate other gain values.
Page 280 Appendix D Configure the Load Observer Feature 2. Configure these IDN parameter values. a. IDN P-431 = 2 (Load Observer with Velocity Estimate) b. IDN P-432 = Kop c. IDN P-433 = 0 d. IDN P-065 = 1 3. If the Low-pass Output Filter is enabled, verify that the Low-pass Output Filter Bandwidth is ≥...
Page 281 Configure the Load Observer Feature Appendix D a. Set the Position Proportional Gain = Kpp b. Position Integral gain = Kpi c. Velocity Proportional Gain = Kvp d. Velocity Integral Gain = Kvi To manually increase the gains by some factor to optimize the response, refer to Manual Tuning for Further Optimization on page 282.
Page 282: Tuning Mode Summary
Appendix D Configure the Load Observer Feature Tuning Mode Summary This table summarizes the primary difference between the two tuning modes. Table 126 - Tuning Mode Comparison Tuning Mode Description Out-of-box or unknown load Load Observer Bandwidth Kop = 4 times the new Velocity Proportional Gain, Kvp Load Inertia Ratio = 0 Auto-tuning or known load Load Observer Bandwidth = Velocity Proportional Gain...
Page 283 Configure the Load Observer Feature Appendix D d. Decrease the gains by using the previous equations with N = 0.5. A typical range of values for various integral gains are given: • 0 ≤ Load Observer Integral Gain ≤ Load Observer Proportional Gain/4 •...
Page 284: Setting Gains With Sercos Idn Write Messages
Appendix D Configure the Load Observer Feature Write the Load Observer Configuration attribute and the Load Observer gains Setting Gains with Sercos IDN each time the drive gets initialized after applying power. Write Messages The Sercos IDN write instruction is accomplished by using RSLogix 5000® software or the Logix Designer application.
Page 285: Compensate For High Frequency Resonances
Configure the Load Observer Feature Appendix D 3. Verify the change with another sercos IDN Read Message from IDN P:0:431. TIP The procedure for setting each of the gains is similar. Approximately 15% of all motion applications exhibit a high-frequency Compensate for High resonance that is apparent by an audible high-frequency squealing of the load Frequency Resonances...
Page 286 Appendix D Configure the Load Observer Feature 3. Click the Output tab in the Axis Properties dialog box. a. Check Enable Notch Filter Frequency and set the Notch Filter Frequency to the resonant frequency with the largest amplitude. b. If multiple resonances have nearly the same amplitude, set the Notch Filter Frequency to the lowest resonant frequency.
Page 287: Web Server Interface
Chapter 7 (for EtherNet/IP drives) for more information on setting the node address of your Kinetix 6200 servo drive or Ethernet address of your Kinetix 6500 servo drive. The web-server interface provides a Home page that displays the current status...
Page 288: Web-Server Interface Categories
Appendix E Web Server Interface Web-server Interface Categories Table 127 describes how the categories are organized on the web-server interface. Table 127 - Web-server Interface Categories Main Categories Sub-categories Page Home Drive Indicators Drive Information Motor Information Network Settings Ethernet Statistics Diagnostics CIP Statistics Encoder Statistics...
Page 289: Home Category
Web Server Interface Appendix E From the Home tab, you can monitor many of the drive characteristics. Home Category Figure 125 - Home Tab Table 128 - Home Features SERCOS EtherNet/IP (2094-SE02F-M00-Sx) (2094-EN02D-M01-Sx) Field Name Description Device Name User-defined information from the device identity page. –...
Page 290: Diagnostics Category
Appendix E Web Server Interface The Diagnostics category includes several tabs for monitoring drive, motor, Diagnostics Category network, encoder, and signal status. Drive Indicators From the Drv. Ind tab, you can monitor the control module status indicators. Figure 126 - Diagnostics>Drv. Ind Tab Table 129 - Drive Indicators Features SERCOS EtherNet/IP...
Page 291: Drive Information
Web Server Interface Appendix E Drive Information From the Drv. Info tab, you can monitor data that can assist with troubleshooting drive faults. Figure 127 - Diagnostics>Drv. Info Tab Table 130 - Drive Information Features SERCOS EtherNet/IP (2094-SE02F-M00-Sx) (2094-EN02D-M01-Sx) Field Name Description Main Power Cycles Cumulative number of main power cycles...
Page 292: Motor Information
Appendix E Web Server Interface Motor Information From the Mot. Info tab, you can monitor data that can assist with troubleshooting drive faults. Figure 128 - Diagnostics>Mtr. InfoTab Table 131 - Motor Information Features SERCOS EtherNet/IP (2094-SE02F-M00-Sx) (2094-EN02D-M01-Sx) Field Name Description Motor Catalog Number Motor catalog number and series from encoder-based motor BLOB.
Page 293: Network Settings
Web Server Interface Appendix E Network Settings From the Net. Set tab, you can monitor the EtherNet/IP network settings. Figure 129 - Diagnostics>Net. Set Tab Table 132 - Network Settings Features SERCOS EtherNet/IP (2094-SE02F-M00-Sx) (2094-EN02D-M01-Sx) Field Name Description Ethernet Address (MAC) Media Access Control (MAC) hardware address IP Address IP address of the drive...
Page 294: Ethernet Statistics
Appendix E Web Server Interface Ethernet Statistics The Enet. Stat tab displays counters that assist with troubleshooting EtherNet/IP network problems. The interface counters reflect the state of the packets received and transmitted to the local MAC address, but do not include packets that traverse the switch, destined for another device.
Page 295: Cip Statistics
Web Server Interface Appendix E CIP Statistics The CIP. Stat tab displays counters that assist with troubleshooting EtherNet/IP network problems. Figure 131 - Diagnostics>CIP. Stat Tab Table 134 - CIP Statistics Features SERCOS EtherNet/IP (2094-SE02F-M00-Sx) (2094-EN02D-M01-Sx) Field Name Description Current TCP Connections Current TCP connection –...
Page 296: Encoder Statistics
Appendix E Web Server Interface Encoder Statistics The Enc. Stat tab displays counters that assist with troubleshooting motor encoder problems. Figure 132 - Diagnostics>Enc. Stat Tab Table 135 - Encoder Statistics Features SERCOS EtherNet/IP (2094-SE02F-M00-Sx) (2094-EN02D-M01-Sx) Field Name Description Rejected LF Motor Enc Pulses, Ch. A Cumulative number of rejected encoder pulses since the last control power cycle.
Page 297: Peak Detection
Web Server Interface Appendix E Peak Detection The Peak. Det tab displays attributes that have integrated peak detection for troubleshooting. All peaks are measured with 5 ms resolution. Figure 133 - Diagnostics>Peak. Det Tab Table 136 - Peak Detection Features SERCOS EtherNet/IP (2094-SE02F-M00-Sx)
Page 298: Monitor Signals
Appendix E Web Server Interface Monitor Signals The Mon. Sig tab displays dynamic attributes that can assist field troubleshooting. Figure 134 - Diagnostics>Mon. Sig Tab Table 137 - Dynamic Attributes Motion Attributes Safety Inputs Position Command SS Input 0 Position feedback SS Input 1 Velocity Command SS Input 2...
Page 299: Oscilloscope
Web Server Interface Appendix E Oscilloscope The Scope tab provides a data collection mechanism for viewing up to four channels of dynamic attribute data collected synchronously. The triggering methods are positive edge, negative edge, and immediate, with programmable trigger thresholds. The capture can be done in either single-shot or continuous mode.
Page 300: Fault Logs Category
Appendix E Web Server Interface The Fault Log tab provides access to faults logged by the drive for future Fault Logs Category retrieval. Each log in the list is a link and you can view the details. You can configure individual channels in the fault log via the Configure Fault Log page. All logs can be exported separately into spreadsheets.
Page 301: Data Logs Category
Web Server Interface Appendix E The Data Logs pages provides access to data that is logged by the drive for Data Logs Category future retrieval. Temperatures The Temperatures tab reports temperatures from the control module, power module, and encoder. Figure 138 - Data Logs>Temperatures Tab Table 140 - Temperatures Features SERCOS EtherNet/IP...
Page 302: Administrative Settings Category
Appendix E Web Server Interface From the Administrative Settings web pages, you can update the drive Administrative Settings identification settings. Category The Device Identity tab lets you update the device description and name that appears on the Home page. By default, all the fields are blank on first power up (or if they have never been updated).
Page 303: Safety Category
This appendix provides an overview of the safety configuration web pages. For Safety Category information on how to configure the safety functions, refer to the Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Multi-axis Servo Drives Safety Reference Manual, publication 2094-RM001.
Page 304: Safety Configuration
The 2094-SE02F-M00-S1 and 2094-EN02D-M01-S1 control modules require a safety configuration. For an example of how to configure the safety functions, refer to the Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Multi-axis Servo Drives Safety Reference Manual, publication 2094-RM001. Figure 142 - Safety Tab...
Page 305: Configuration Summary
The reports can be saved or printed from within the Configuration Summary page. For more information on how to configure the safety functions, refer to the Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Multi-axis Servo Drives Safety Reference Manual, publication 2094-RM001. Figure 143 - Configuration Summary Tab...
Page 306: Change Safety Password
Figure 144 - Change Safety Password Tab For more information on how to configure the safety functions, refer to the Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Multi-axis Servo Drives Safety Reference Manual, publication 2094-RM001. Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 307: Before You Begin
Appendix Changing the Default IDN Parameter Values This appendix provides a procedure, specific to the Kinetix 6200 (sercos) drive systems, for changing IDN parameter values to non-default values when your application does not match the default configuration. The procedure also applies when one or more Kinetix 6000M IDM systems are present.
Page 308: Change Idn Parameter Values
Appendix F Changing the Default IDN Parameter Values Use this flowchart to determine if changing your default configuration is required. Figure 145 - Configuration Flowchart Start Read the present IDN default parameter value by using the sercos IDN Read instruction. page 308 Calculate/select the correct IDN value for your application.
Page 309 Changing the Default IDN Parameter Values Appendix F In this example, the Message Configuration (MSG) instruction is set to read the digital input assignments of your control module. a. From the Message Type pull-down menu, choose sercos IDN Read. b. From the Identification Number pull-down menus, choose P-0-052. This example is for reading the assignment for IOD-41 (Enable is the default setting, 1 is the Enable IDN value).
Page 310: Calculate/Select The New Idn Value
Appendix F Changing the Default IDN Parameter Values 8. Click Browse. 9. Select the Bulletin 2094 module to read the MSG instruction. 10. Click OK. Calculate/Select the New IDN Value Changing the additional bus capacitance value requires calculations. Determine the sum of all capacitance values for the follower IAM module, each AM module, and each IPIM module on the follower IAM power rail.
Page 311: Write The New Idn Parameter Value
Changing the Default IDN Parameter Values Appendix F Write the New IDN Parameter Value Follow these steps to write the new IDN parameter value. 1. Configure a Message Configuration (MSG) instruction to write the IDN parameter value required for your application. In this example, the Message Configuration (MSG) instruction is set to write the digital input assignments of your control module.
Page 312 Appendix F Changing the Default IDN Parameter Values In this example, the new tag creates a source value (that you entered) that the MSG instruction uses to overwrite the existing P-0-052 IDN value and is tied to digital input 1 (IOD-41). 6.
Page 313: Before You Begin
The machine builder must perform a risk assessment and determine a category level of safety that must be applied to the machine. For Kinetix 6200 drive systems, you can set the delay time for your RBM module in the Logix Designer application. Refer to Configure Axis Properties page 157.
Page 314: Rbm Module Wiring Examples
Appendix G RBM Module Interconnect Diagrams This example diagram shows 2094-BCxx-Mxx-M and 2094-BMxx-M drives RBM Module Wiring and 2094-BLxxS or 2094-XL75S LIM modules wired with the Bulletin 2090 Examples RBM module. Figure 146 - RBM Wiring Example Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 315 RBM Module Interconnect Diagrams Appendix G RBM Module Example (continued) Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 316 Appendix G RBM Module Interconnect Diagrams Notes: Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 317: Ec Type - Examination Certificate
Appendix EC Certifications This appendix provides Kinetix 6200 and Kinetix 6500 servo drive certification information. Topic Page EC Type - Examination Certificate EC Declaration of Conformity For product certifications currently available from Rockwell Automation®, go EC Type - Examination to http://www.rockwellautomation.com/products/certification.
Page 318 Appendix H EC Certifications Figure 148 - Safe Speed Monitor Certificate Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 319: Ec Declaration Of Conformity
EC Certifications Appendix H For all declarations of conformity (DoC) currently available from EC Declaration of Conformity Rockwell Automation, go to http://www.rockwellautomation.com/ rockwellautomation/certification/overview.page. Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 320 Appendix H EC Certifications Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 321 EC Certifications Appendix H Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 322 Appendix H EC Certifications Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 323 EC Certifications Appendix H Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 324 Appendix H EC Certifications Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 325 EC Certifications Appendix H Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 326 Appendix H EC Certifications Notes: Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 327: Index
Index Numerics base node address, sercos 142 example with double-wide modules 146 1756-EN2T 173 example with IDM system 147 1756-EN2TR 173 example with two ControlLogix chassis 145 1756-EN3TR 173 example with two power rails 144 baud rate 143 1756-MxxSE 148 bayonet connector 111 1768-M04SE 148 block diagrams...
Page 328: Rockwell Automation Publication 2094-Um002G-En-P - August
Index configuration 272 conversion tab 158 summary tab 305 converter 255 configure fault log 300 cycle time 151 configuring axis properties 157 delay times 159 drive modules 153 data EtherNet/IP 173 rate 151 feedback only axis 154 type 154 configuring EtherNet/IP date/time tab 149 base node address 170 DC common bus...
Page 329 Index EtherNet/IP connecting cables 136 connections 71 connections 120 module 173 pinouts 65 module properties 175 specifications 69 PORT1 and PORT2 connectors 136 IDM fault codes 198 external shunt resistor 50 IDM system wiring 129 compatibility 24 configuring sercos 141 firmware upgrade 257 interconnect diagram 252 fault...
Page 330 Index integrated axis module linear motors axis properties 157 LDC-Series 250 catalog number 23 load inertia ratio 271 configuring EtherNet/IP 169 load observer configuring sercos 142 acceleration connector designators 64 feedback 274 connector locations 62 reference 271 interconnect diagram 233 actual position feedback 271 auto-tuning 282 mounting 55...
Page 331 Index DIN-style 111 pinouts overheating 214 I/O, safety, aux fdbk 65 power and brake pinouts 68 input connector, IAM 67 power wiring motor and brake connector 68 3-phase and brake 114 motor feedback connector 66 3-phase only 113 planning your installation 27 shield clamp wiring 119 PORT 1 status indicator 162 tab 185...
Page 332 Index shunt module 256 surge suppression 117 bus status indicator 212 switches catalog number 23 base node address 142 interconnect diagram baud rate 143 2094 241 optical power level 143 passive 241 system mounting 55 components 14 removing from power rail 226 ground 101 replacing on power rail 227 mounting requirements 28...
Page 333 Index no rotation 214 ignore 215 web server Logix/drive fault behavior 215 categories 288 network status indicator 211 change safety password 306 OK status indicator 211 CIP statistics 295 PORT 1 status indicator 211 configuration summary 305 PORT 2 status indicator 211 configure fault log 300 safety lock status indicator 211 device identity 302...
Page 334 Index Notes: Rockwell Automation Publication 2094-UM002G-EN-P - August 2016...
Page 336 Rockwell Automation maintains current product environmental information on its website at http://www.rockwellautomation.com/rockwellautomation/about-us/sustainability-ethics/product-environmental-compliance.page. Allen-Bradley, CompactLogix, ControlFLASH, ControlLogix, Guardmaster, HPK-Series, Integrated Architecture, Kinetix, LDC-Series, LDL-Series, Logix5000, MP-Series, PanelView, POINT I/O, PowerFlex, RDD-Series, Rockwell Automation, Rockwell Software, RSLinx, RSLogix 5000, SoftLogix, Studio 5000 Logix Designer, Studio 5000, Stratix, and TL-Series are trademarks of Rockwell Automation, Inc.

This manual is also suitable for:

2094-bcxx-mxx-m series 2094-en02d-m01-sx series 2094-bsp2 Kinetix 6500 2094-prf 2094-sepm-b24-s ... Show all

Allen-Bradley Kinetix 6200 User Manual

Summary of Changes

Chapter 1 About the Kinetix 6200 and Kinetix 6500 Drive Systems

Chapter 2

Chapter 3 Before You Begin

Chapter 4 2094 Power Module and Control Module Features

Connector Data and Feature Descriptions

Chapter 5 Basic Wiring Requirements

Connect the Kinetix 6200 and Kinetix 6500 Drive System

Chapter 6

Configure and Start the Kinetix 6200 Drive System

Kinetix 6500 Drive System

Chapter 7 Configure the Logix Ethernet/Ip Module

Chapter 8 Interpret Status Indicators

Chapter 9 Remove Kinetix 6200 and Kinetix 6500 Drive Modules

Appendix A Interconnect Diagram Notes

Upgrade Kinetix 6000M System Firmware

Appendix B Upgrade Drive Firmware with Controlflash Software

Before You Begin

Appendix C

Appendix D

Configure the Load Observer Feature

Appendix E Overview

Web Server Interface

Appendix F Change IDN Parameter Values

Appendix G RBM Module Wiring Examples

Appendix H EC Type - Examination Certificate

Index

Quick Links

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Summary of Contents for Allen-Bradley Kinetix 6200