Name: Allen-Bradley Kinetix 6200
Brand: Allen-Bradley
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256 Rockwell Automation Publication 2094-UM002G-EN-P - August 2016

Appendix A Interconnect Diagrams

Figure 115 - Shunt Module Block Diagram

POWER

RAIL

DC+

DC-

CTRL 2

SYSOK

GSHUNT (2)

SMPS

CTRL 1

Shunt Circuit

Internal

or External

Shunt

Resistor

+5V (Control)

+/-15V (IGBT)

24V (Control)

Chassis

Default Chapter3
- Table of Contents3
Summary of Changes9
- Conventions Used in this Manual11
- Additional Resources12
Chapter 1 About the Kinetix 6200 and Kinetix 6500 Drive Systems14
- Typical Hardware Configurations15
- Typical Communication Configurations19
- Catalog Number Explanation23
- Kinetix Drive Component Compatibility24
- Kinetix 6000M Integrated Drive-Motor System Compatibility24
- Agency Compliance25
  - CE Requirements (System Without LIM Module)25
  - CE Requirements (System with LIM Module)26
- System Design Guidelines28
Chapter 228
- System Mounting Requirements28
- Transformer Selection29
- AC Line Filter Selection29
- Circuit Breaker/Fuse Options30
- Enclosure Selection32
- Minimum Clearance Requirements35
- Electrical Noise Reduction36
Chapter 3 Before You Begin53
- Using the 2094 Mounting Brackets53
- Installing the 2094 Power Rail54
- Determine Mounting Order54
- Mount Modules on the Power Rail55
- Mount the Control Modules58
Chapter 4 2094 Power Module and Control Module Features62
- I/O, Safety, and Auxiliary Feedback Connector Pinout65
- Motor Feedback Connector Pinout66
- Ethernet Communication Connector Pinout67
- IAM Input Connector Pinout67
- IAM and am Motor Power and Brake Connector Pinout68
- Control Signal Specifications69
- Power and Relay Specifications73
- Feedback Specifications79
- Safe Speed Monitor Safety Features88
- Safe Torque off Safety Features89
Connector Data and Feature Descriptions62
Chapter 5 Basic Wiring Requirements91
- Building Your Own Cables92
- Routing the Power and Signal Cables92
- Determine the Input Power Configuration93
  - Grounded Power Configurations93
  - Ungrounded Power Configurations95
- DC Common Bus Configurations96
  - Common Bus Fusing Requirements97
- Set the Ground Jumper in Select Power Configurations97
  - Set the Ground Jumper99
- Grounding the Modular Drive System101
  - Ground the Power Rail to the System Subpanel101
  - Ground Multiple Subpanels102
- Power Wiring Requirements103
- Power Wiring Guidelines105
- Wiring the IAM/AM Module Connectors106
- Apply the Motor Cable Shield Clamp119
- Feedback and I/O Cable Connections120
  - Flying-Lead Feedback Cable Pinouts122
- Wiring the Feedback and I/O Connectors124
- External Shunt Module Connections129
- IPIM Module Connections130
- RBM Module Connections131
- Sercos Fiber-Optic Cable Connections132
- Kinetix 6000M Integrated Drive-Motor Sercos Connections135
- Ethernet Cable Connections136
Connect the Kinetix 6200 and Kinetix 6500 Drive System91
Chapter 6141
- Configure the Kinetix 6000M Integrated Drive-Motor System141
- Configure the Drive Modules142
- Kinetix 6200 Drive System Configure the Drive Modules142
- Configure the Logix5000 Sercos Interface Module148
- Apply Power to the Kinetix 6200 Drive161
- Test and Tune the Axes163
  - Test the Axes163
  - Tune the Axes165
- Configure the Drive Modules169
Configure and Start the Kinetix 6200 Drive System141
Kinetix 6500 Drive System171
Chapter 7 Configure the Logix Ethernet/Ip Module173
- Configure the Logix Controller173
- Configure the Logix Module175
- Configure the Kinetix 6500 Drive Modules177
- Configure the Motion Group183
- Configure Axis Properties184
- Download the Program188
- Apply Power to the Kinetix 6500 Drive189
- Test and Tune the Axes191
  - Test the Axes191
  - Tune the Axes194
- Safety Precautions197
Chapter 8 Interpret Status Indicators198
- Kinetix 6000M IDM System Error Codes198
- Four-Character Display Messages198
- And Kinetix 6500 Drive System Interpret Status Indicators198
- Fault Codes200
- Control Module Status Indicators210
- Shunt Module Status Indicators211
- General System Anomalies213
- Logix5000 Controller and Drive Behavior215
- Before You Begin223
Chapter 9 Remove Kinetix 6200 and Kinetix 6500 Drive Modules224
- Remove the Control Module225
- Remove the Drive Modules226
- Replace Kinetix 6200 and Kinetix 6500 Drive Modules227
  - Replace the Drive Modules227
  - Replace the Control Modules228
- Remove the Power Rail228
- Replace the Power Rail229
Appendix A Interconnect Diagram Notes232
- Power Wiring Examples233
  - DC Common Bus Wiring Examples237
  - Shunt Module Wiring Examples241
- Axis Module/Rotary Motor Wiring Examples242
- Axis Module/Linear Motor/Actuator Wiring Examples247
- Kinetix 6000M Integrated Drive-Motor Wiring Example252
- Controlling a Brake Example253
- System Block Diagrams254
Upgrade Kinetix 6000M System Firmware257
Appendix B Upgrade Drive Firmware with Controlflash Software258
- Before You Begin258
- Configure Logix5000 Communication259
- Upgrade Firmware261
- Verify the Firmware Upgrade265
- Rockwell Automation Publication 2094-UM002G-EN-P - August266
Before You Begin267
Appendix C268
- Calculate Total Bus Capacitance268
- Calculate Additional Bus Capacitance269
- Bulletin 2094 Drive Capacitance Values269
- Common Bus Capacitance Example270
Appendix D271
- Benefits271
- How It Works271
- Configuration272
- Setting Gains with Sercos IDN Write Messages284
- Compensate for High Frequency Resonances285
Configure the Load Observer Feature271
Appendix E Overview287
- Web-Server Interface Categories288
- Home Category289
- Diagnostics Category290
- Fault Logs Category300
  - Configure Fault Log300
- Data Logs Category301
  - Temperatures301
- Administrative Settings Category302
- Browse Power Rail Category302
- Safety Category303
- Before You Begin307
Web Server Interface287
Appendix F Change IDN Parameter Values308
- Read the Present IDN Parameter Value308
- Calculate/Select the New IDN Value310
- Write the New IDN Parameter Value311
- Before You Begin313
Appendix G RBM Module Wiring Examples314
Appendix H EC Type - Examination Certificate317
- EC Declaration of Conformity319
Index327
- Rockwell Automation Publication 2094-UM002G-EN-P - August328

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