Rockwell Automation Allen-Bradley Kinetix 6000 User Manual

Kinetix 6000 Multi-axis
Servo Drive
Catalog Numbers
2094-AC05-MP5, 2094-AC05-M01,
2094-AC09-M02, 2094-AC16-M03,
2094-AC32-M05, 2094-BC01-MP5,
2094-BC01-M01, 2094-BC02-M02,
2094-BC04-M03, 2094-BC07-M05
2094-AC05-MP5-S, 2094-AC05-M01-S,
2094-AC09-M02-S, 2094-AC16-M03 -S,
2094-AC32-M05-S, 2094-BC01-MP5-S,
2094-BC01-M01-S, 2094-BC02-M02-S,
2094-BC04-M03-S, 2094-BC07-M05-S
2094-AMP5, 2094-AM01, 2094-AM02,
2094-AM03, 2094-AM05, 2094-BMP5,
2094-BM01, 2094-BM02, 2094-BM03,
2094-BM05
2094-AMP5-S, 2094-AM01-S,
2094-AM02-S, 2094-AM03-S,
2094-AM05-S, 2094-BMP5-S,
2094-BM01-S, 2094-BM02-S,
2094-BM03-S, 2094-BM05-S
2094-BSP2
User Manual

Rockwell Automation Allen-Bradley Kinetix 6000 Specifications

General

Brand	Rockwell Automation
Model	Allen-Bradley Kinetix 6000
Category	Servo Drives
Language	English

Summary

Chapter 1 Start

Introduction to Kinetix 6000 Drive Systems

Provides an overview of Kinetix 6000 drive components and system requirements.

Kinetix 6000 Drive System Overview

Details the Kinetix 6000 servo drive system and its components.

Kinetix 6000 Catalog Number Explanation

Explains the structure and meaning of Kinetix 6000 drive catalog numbers.

Agency Compliance for Kinetix 6000

Outlines regulatory requirements such as CE marking for the Kinetix 6000 system.

Chapter 2 Planning the Kinetix 6000 Drive System Installation

System Design and Installation Guidelines

Provides guidelines for designing enclosures and mounting system components.

Minimizing Electrical Noise in Kinetix 6000 Systems

Outlines best practices to minimize noise-related failures in Kinetix 6000 systems.

Transformer Selection for Kinetix 6000

Discusses transformer selection for AC power inputs and control power.

Circuit Breaker and Fuse Selection

Details requirements and recommendations for circuit breaker and fuse selection.

Kinetix 6000 Enclosure Selection Guide

Provides an example for sizing an enclosure based on system heat dissipation.

Minimum Clearance Requirements for Kinetix 6000

Lists minimum clearance dimensions required for Kinetix 6000 system components.

Chapter 3 Mounting the Kinetix 6000 Drive System

Determining the Correct Module Mounting Order

Specifies the correct order for mounting IAM, AM, SM, and PRF modules on the power rail.

Mounting Kinetix 6000 Modules on Power Rail

Provides step-by-step instructions for mounting IAM, AM, SM, and PRF modules onto the power rail.

Mounting the External Shunt Module

Details the procedure for installing an external shunt module for regenerative energy dissipation.

Chapter 4 Kinetix 6000 Connector Data

Locating IAM and AM Module Connectors

Shows the physical location of connectors and indicators on IAM/AM modules.

Safe-off Connector Pinout for IAM/AM

Details the pinout for the Safe-off (SO) connector on IAM/AM modules.

I/O Connector Pinout for IAM/AM

Provides the pinout for the IAM/AM I/O 26-pin connector.

Motor Feedback Connector Pinouts

Lists pinouts for Stegmann Hiperface and TTL/Sine/Cosine motor feedback connectors.

Auxiliary Feedback Connector Pinouts

Provides pinouts for auxiliary feedback connectors (Stegmann Hiperface and TTL/Sine/Cosine).

IAM Input Connector Pinouts

Details pinouts for IAM input connectors (CPD, IPD, CED).

IAM and AM Motor Power and Brake Connector Pinouts

Lists pinouts for motor power (MP) and brake connectors on IAM/AM modules.

SERCOS Fiber-Optic Connections

Explains SERCOS fiber-optic connections and specifications.

Analog Outputs on IAM/AM Modules

Describes analog outputs on IAM/AM modules and their specifications.

Contactor Enable Relay Functionality

Explains the function and output specifications of the contactor enable relay.

Motor/Resistive Brake Relay Operation

Details the motor/resistive brake relay function and output specifications.

Control Power Input Requirements

Explains the requirements for AC input power for IAM logic circuitry.

Motor and Auxiliary Feedback Specifications

Details specifications for AM, BM, and IM input encoder signals.

Feedback Power Supply Details

Describes the +5V and +9V DC power generated for feedback signals.

Shunt Module Connector Pinouts

Details the pinouts for shunt module connectors (RC and TS).

Chapter 5 Connecting the Kinetix 6000 Drive System

Understanding Basic Kinetix 6000 Wiring Requirements

Contains basic wiring information for the Kinetix 6000 drive.

Determining Input Power Type for Kinetix 6000

Guides the user to determine the type of input power for connecting to the Kinetix 6000 system.

Grounding the Kinetix 6000 System

Details the importance and methods of grounding the Kinetix 6000 system components.

Kinetix 6000 Power Wiring Requirements

Outlines requirements for power wiring, including wire types and torque values.

General Kinetix 6000 Wiring Guidelines

Provides general guidelines for wiring Kinetix 6000 drive modules and LIM connectors.

Wiring the Line Interface Module (LIM) Connectors

Offers examples and tables for making connections to Line Interface Module (LIM) connectors.

Wiring the IAM/AM Module Connectors

Provides examples and tables for making connections to IAM/AM module connectors.

Applying the Motor Cable Shield Clamp

Details the procedure for applying the motor cable shield clamp for proper grounding.

Connecting SERCOS Fiber-optic Cables

Guides users on connecting fiber-optic cables for SERCOS communication.

Chapter 6 Configure and Startup the Kinetix 6000 Drive System

Configuring the IAM/AM Modules

Guides users through configuring the IAM/AM modules, including node address and DIP switch settings.

Configuring the Logix SERCOS Interface Module

Details procedures for configuring Logix controllers and modules for SERCOS communication.

Applying Power to the Kinetix 6000 Drive System

Outlines the steps for safely applying power to the Kinetix 6000 drive system.

Testing and Tuning the Drive Axes

Provides procedures for testing and tuning the axes of the Kinetix 6000 drive system.

Chapter 7 Troubleshooting the Kinetix 6000 Drive System

Kinetix 6000 Drive Safety Precautions

Lists essential safety precautions to observe when troubleshooting Kinetix 6000 drives.

Interpreting Kinetix 6000 Status Indicators

Explains how to interpret status indicators and troubleshooting tables for faults.

Kinetix 6000 Drive Error Codes

Lists common error codes, symptoms, potential causes, and resolutions for Kinetix 6000 drives.

Understanding Logix and Drive Fault Behavior

Explains drive fault actions and their programmability, linking faults to actions.

Troubleshooting General System Problems

Provides tables for diagnosing and resolving general system faults and anomalies.

Supplemental Troubleshooting Information

Provides information for accessing and changing parameters not available via RSLogix 5000.

Chapter 8 Removing and Replacing Kinetix 6000 Drive Modules

Before You Begin Module Removal/Replacement

Lists the necessary tools required before starting removal and replacement procedures.

Removing Power Rail Modules

Provides step-by-step instructions for removing modules from the power rail.

Replacing Power Rail Modules

Details the procedure for replacing modules onto the power rail.

Removing the Power Rail Assembly

Outlines the steps to remove the power rail assembly from the panel.

Replacing the Power Rail Assembly

Provides instructions for installing a replacement power rail.

Appendix A Specifications and Dimensions

Kinetix 6000 Power Specifications

Lists detailed power specifications for IAM and AM modules.

Kinetix 6000 Power Dissipation Specifications

Provides power dissipation data for Kinetix 6000 modules to aid enclosure sizing.

General Kinetix 6000 Specifications

Covers environmental specs, feedback cable lengths, and vibration/shock ratings.

AC Line Filter Specifications

Details specifications for AC line filters used with Kinetix 6000 servo drive systems.

External Shunt Module Specifications

Lists specifications for external shunt modules used with Kinetix 6000 drives.

Kinetix 6000 Product Dimensions

Provides physical dimensions for IAM and AM modules.

Appendix B Interconnect Diagrams

General Wiring Examples Notes

Provides general notes and information applicable to all wiring examples.

Kinetix 6000 Power Wiring Examples

Offers wiring examples for power connections to Kinetix 6000 systems.

DC Common Bus Wiring Examples

Illustrates wiring examples for DC common bus configurations.

Kinetix 6000 Shunt Module Wiring Examples

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

Kinetix 6000 Axis Module/Motor Wiring Examples

Provides wiring examples for connecting axis modules to various MP-Series motors.

Controlling a Brake Example

Demonstrates wiring for controlling the motor brake function.

Kinetix 6000 System Block Diagrams

Presents block diagrams of Kinetix 6000 modules for system overview.

Appendix C Upgrading Firmware

Upgrading Drive Firmware with ControlFLASH

Details the process of upgrading drive firmware using ControlFLASH software.

Upgrading Drive Firmware with DriveExplorer

Outlines procedures for upgrading drive firmware using DriveExplorer software.

Appendix D DC Common Bus Applications

Calculating Total Bus Capacitance for DC Common Bus

Guides users on calculating total bus capacitance for Kinetix 6000 common bus modules.

Setting the Additional Bus Capacitance Parameter

Details how to set the Add Bus Cap parameter using DriveExplorer software.

Appendix E Integrating Resistive Brake Modules with Kinetix 6000 Drives

Understanding Safety Precautions for RBM Integration

Lists precautions for RBM installations and relevant safety standards.

Resistive Brake Module Wiring Examples

Provides interconnect diagrams for wiring RBMs with Kinetix 6000 systems.

Setting the RBM Delay Time Using DriveExplorer

Guides users on setting the RBM delay time parameter using DriveExplorer.