Allen-Bradley 2094-BM02-S User Manual

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Kinetix 6000 Multi-axis Servo Drives

Catalog Numbers

2094-ACxx-Mxx-S, 2094-BCxx-Mxx-S, 2094-AMxx-S, 2094-BMxx-S

2094-ACxx-Mxx, 2094-BCxx-Mxx, 2094-AMxx, 2094-BMxx,

2094-BSP2, 2094-PRF, 2094-SEPM-B24-S

User Manual

Original Instructions

Table of Contents

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

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Allen-Bradley 2094-BM02-S Specifications

General

Manufacturer	Allen-Bradley
Model	2094-BM02-S
Product Type	Servo Drive
Communication Protocol	EtherNet/IP
Type	Servo Drive
Axis	Single axis
Safety	Safe Torque-Off
Feedback Type	Resolver, Incremental Encoder
Protection Features	Overcurrent, Overvoltage, Overtemperature, Short Circuit

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