Rockwell Automation Allen-Bradley 2094-BM01-S User Manual

User Manual
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

Rockwell Automation Allen-Bradley 2094-BM01-S Specifications

General

Product Series	2094
Model	2094-BM01-S
Type	Servo Drive
Communication Protocol	EtherNet/IP
Product Type	Servo Drive
Communication	EtherNet/IP
Series	2094

Summary

Important User Information

Summary of Changes

Chapter 1 Start

Introduction

Introduces the chapter on Kinetix 6000 drive system design and installation requirements.

IAM/AM Module Series Change

Details peak current ratings and changes for Kinetix 6000 IAM/AM modules (series A and B).

About the Kinetix 6000 Drive Systems

Provides an overview of the Kinetix 6000 multi-axis servo drives and their applications.

Typical Hardware Configurations

Illustrates common Kinetix 6000 system installations with AC and DC common-bus configurations.

Catalog Number Explanation

Lists and explains Kinetix 6000 drive catalog numbers and component part numbers.

Agency Compliance

Outlines CE requirements for Kinetix 6000 systems, detailing necessary measures for compliance.

Chapter 2 Planning the Kinetix 6000 Drive System Installation

Introduction

Introduces system installation guidelines for Kinetix 6000 drive components.

System Design Guidelines

Provides guidance on enclosure design, mounting, cable length, and wiring segregation for Kinetix 6000 systems.

Circuit Breaker/Fuse Selection

Guides the selection of circuit breakers and fuses for Kinetix 6000 drive systems, including LIM modules.

Electrical Noise Reduction

Outlines best practices for minimizing noise-related failures in Kinetix 6000 installations, focusing on bonding techniques.

Chapter 3 Mounting the Kinetix 6000 Drive System

Introduction

Introduces system installation procedures for mounting Kinetix 6000 drive components.

Determine Mounting Order

Explains how to determine the mounting order for IAM, AM, shunt, and slot-filler modules on the power rail.

Mount Modules on the Power Rail

Provides step-by-step instructions for mounting IAM, AM, shunt, and slot-filler modules onto the Bulletin 2094 power rail.

Chapter 4 Kinetix 6000 Connector Data

Introduction

Introduces chapter on power, feedback, and I/O connector locations and signal descriptions.

IAM/AM Module Features

Illustrates and identifies features and indicators for IAM/AM modules, including connector locations.

Motor Feedback Connector Pinout

Provides pinouts for various motor feedback connector types (Stegmann Hiperface, TTL, Resolver).

IAM Input Connector Pinout

Lists pinouts for Control Power and DC Bus/Input Power connectors on IAM modules.

Control Signal Specifications

Describes digital inputs, SERCOS communication, analog outputs, and contactor enable relay specifications.

Peak Enhancement Specifications

Details specifications for peak inverter overload and current ratings, including software/firmware requirements.

Chapter 5 Connecting the Kinetix 6000 Drive System

Basic Wiring Requirements

Covers fundamental wiring information for Kinetix 6000 drive modules, including safety precautions.

Determine the Input Power Configuration

Guides the determination of input power configuration (grounded vs. ungrounded) for Kinetix 6000 systems.

DC Common Bus Configurations

Explains the roles of leader and follower IAM modules in DC common-bus configurations and their configuration requirements.

Grounding the Kinetix 6000 Drive System

Covers essential grounding practices for Kinetix 6000 system components for safety and protection.

Power Wiring Requirements

Lists requirements for wire type, size, strip length, and torque for IAM module power connections.

Wiring the IAM/AM Module Connectors

Offers examples and tables for wiring IAM/AM module connectors, covering various power and control signals.

SERCOS Fiber-optic Cable Connections

Explains how to connect SERCOS fiber-optic cables between Logix modules and Kinetix 6000 drive systems for communication.

Chapter 6 Configure and Start Up the Kinetix 6000 Drive System

Introduction

Introduces procedures for configuring Kinetix 6000 system components with Logix SERCOS modules.

Configure the Drive Modules

Guides the configuration of IAM and AM modules, including setting node addresses and DIP switches for SERCOS communication.

Configure the Logix SERCOS interface Module

Details configuring the Logix controller and SERCOS interface module, including communication settings and axis assignments.

Configure Axis Properties

Guides the configuration of axis properties, including motor selection, feedback types, and custom stop actions.

Apply Power to the Kinetix 6000 Drive

Provides steps for safely applying power to the Kinetix 6000 system after configuration.

Test and Tune the Axes

Outlines procedures for testing axis connections and tuning drive parameters for optimal performance using RSLogix 5000.

Chapter 7 Troubleshooting the Kinetix 6000 Drive System

Introduction

Introduces troubleshooting tables for Kinetix 6000 system components.

Safety Precautions

Highlights critical safety precautions to follow when troubleshooting Kinetix 6000 drives, emphasizing hazardous voltages.

Interpret Status Indicators

Explains how to interpret drive status indicators and provides a list of error codes and their resolutions.

General System Anomalies

Addresses common system anomalies that may not trigger fault codes but require troubleshooting for performance improvement.

Logix/Drive Fault Behavior

Details the behavior of RSLogix 5000 fault actions and their programmable attributes for Kinetix 6000 drives.

Chapter 8 Removing and Replacing the Kinetix 6000 Drive Modules

Introduction

Introduces procedures for removing and replacing Kinetix 6000 system components.

Before You Begin

Lists necessary tools for module removal and replacement procedures, emphasizing ESD precautions.

Remove Kinetix 6000 Drive Modules

Provides step-by-step instructions for safely removing drive modules from the Bulletin 2094 power rail.

Replace Kinetix 6000 Drive Modules

Guides the process of mounting replacement drive modules onto the Bulletin 2094 power rail, ensuring proper seating.

Remove the Power Rail

Details the procedure for removing the Bulletin 2094 power rail after modules are removed.

Replace the Power Rail

Provides instructions for reinstalling the power rail onto the panel.

Appendix A Specifications and Dimensions

Introduction

Introduces product specifications and mounting dimensions for Kinetix 6000 system components.

Power Specifications

Contains detailed power specifications for IAM and AM modules (230V and 460V), including input voltage, current, and output capabilities.

Power Dissipation Specifications

Provides power dissipation values for various modules to aid in enclosure sizing and ventilation calculations.

General Specifications

Includes general specifications such as maximum feedback and power cable lengths, weight, and certifications.

Maximum Feedback Cable Lengths

Lists maximum allowable lengths for feedback cables based on motor type and encoder technology.

Maximum Power Cable Length

Specifies maximum combined and individual drive-to-motor power cable lengths for Kinetix 6000 systems.

AC Line Filter Specifications

Lists electrical and environmental specifications for AC line filters compatible with Kinetix 6000 servo drive systems.

External Shunt Module Specifications

Details electrical and physical specifications for Bulletin 1394 passive and Bulletin 1336 active shunt modules.

Product Dimensions

Provides product dimensions and mounting diagrams for IAM and AM modules, including required clearances.

Appendix B Interconnect Diagrams

Introduction

Introduces wiring examples and system block diagrams for Kinetix 6000 system components.

Interconnect Diagram Notes

Provides important notes and references crucial for understanding the interconnect diagrams and wiring procedures.

Power Wiring Examples

Offers wiring examples for IAM modules with LIM modules, illustrating power connections.

DC Common Bus Wiring Examples

Illustrates wiring examples for DC common-bus configurations, detailing leader/follower IAM module connections.

Shunt Module Wiring Examples

Shows wiring examples for shunt modules, covering both internal and external passive shunt configurations.

Axis Module/Rotary Motor Wiring Examples

Provides detailed wiring examples for AM modules with various MP-Series rotary motors, including feedback connections.

Axis Module/Linear Motor/Actuator Wiring Examples

Details wiring examples for AM modules with MP-Series integrated linear stages and electric cylinders.

Controlling a Brake Example

Illustrates how to control a motor brake using the Kinetix 6000 relay output, including current limits.

System Block Diagrams

Presents functional block diagrams for IAM/AM modules and related system components.

Appendix C Upgrading the Kinetix 6000 Drive Firmware

Introduction

Introduces procedures for upgrading drive firmware using ControlFLASH or DriveExplorer software.

Upgrade Drive Firmware with ControlFLASH Software

Guides firmware upgrades using ControlFLASH software, covering communication setup, module selection, and flashing.

Upgrade Drive Firmware with DriveExplorer Software

Details firmware upgrade procedures using DriveExplorer software, including Axis to Flash parameter and HyperTerminal configuration.

Appendix D DC Common Bus Applications

Introduction

Introduces integration procedures for Kinetix 6000 multi-axis drive systems configured for DC common bus.

Calculate Total Bus Capacitance

Explains how to calculate total bus capacitance by summing capacitance values of leader IAM, AM, and shunt modules.

Calculate Additional Bus Capacitance

Details how to calculate additional bus capacitance from follower IAM and AM modules for common-bus systems.

Set the Additional Bus Capacitance Parameter with DriveExplorer Software

Guides setting the Add Bus Cap parameter in DriveExplorer software for DC common-bus systems.

Appendix E Changing the Default IDN Parameter Values

Introduction

Introduces procedures for changing IDN parameter values for Kinetix 6000 SERCOS drive systems.

Change IDN Parameter Values

Details the process of determining if IDN parameter changes are needed and how to implement them.

Read the Present IDN Parameter Value

Explains how to read current IDN parameter values using RSLogix 5000 MSG instructions.

Calculate the New IDN Value

Guides the calculation of new IDN values based on system capacitance for common-bus configurations.

Write the New IDN Parameter Value

Details how to write new IDN parameter values using RSLogix 5000 MSG instructions.

Appendix F RBM Module Interconnect Diagrams

Introduction

Introduces interconnect diagrams for Bulletin 2090 RBM modules with Kinetix 6000 servo-drive systems.

RBM Module Wiring Examples

Provides wiring examples for RBM modules with Kinetix 6000 drives and LIM modules, covering different configurations.