Rockwell Automation 2094-EN02D-M01-Sx Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives User Manual - Manual (Page 145)

Rockwell Automation Publication 2094-UM002E-EN-P - May 2012 145
Configure and Start the Kinetix 6200 Drive System Chapter 6
Figure 88 - Node Address Example 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.
Node addressing on the power rail is no different than the previous examples.
Node address 002 and 005 are available for any of the IDM units, but to avoid
confusion, the node addressing for the IDM units was started at 20. Unlike the
axis modules, each IDM unit has switches that determine its node address. In this
example, the IDM unit node addressing is sequential, but it doesn’t have to be.
SERCOS interface TM
Tx (rear) Rx (front)
OK CP
0.1 m
(5.1 in.)
8 9 0 12 34 5 6 7
8 9 0 12 34 5 6 7
D
S1
S10
N
1 2
3
8 9
0
12
34
5
6 7
8 9
0
12
34
5
6 7
8 9
0
12
34
5
6 7
8 9
0
12
34
5
6 7
8 9
0
12
34
5
6 7
8 9
0
12
34
5
6 7
8 9
0
12
34
5
6 7
8 9
0
12
34
5
6 7
S1
S10
S1
S10
S1
S10
6200 6200 SAFE SPEED 6200 6200 SAFE SPEED
0.2 m
(7.1 in.)
6200 6200 SAFE SPEED
0 0 1
1756-MxxSE Sercos
Interface Module Sercos Fiber-optic Ring
Logix Platform
(ControlLogix controller is shown)
Kinetix 6000 System
(5-axis power rail)
005 = Slot-filler module slot location
004 =AM module (axis 3) node address
003 = AM module (axis 2) node address
002 = IPIM module slot location
001 = IAM module (axis 1) base node address
Network Node Address
Switches (covers removed)
Receive
Transmit
Transmit
Receive
Base Node Address
Switches
MDF-SBxxxxx
IDM Unit
20 = IDM unit 1
21 = IDM unit 2
23 = IDM unit 4
22 = IDM unit 3
IMPORTANT Creating a duplicate node address between the axis modules mounted on the
power rail and the IDM system (in the same sercos ring) generates error code
NODE FLT 133. Each node address on the sercos ring must be unique within the
range of 001…099. Axes on the same power rail as the IPIM module do not
have to be in the same sercos ring as the IDM units.
IMPORTANT Slot-filler modules must be used to fill any unoccupied slot on the power rail.
However, you can replace slot-filler modules with AM power modules or the
2094-BSP2 shunt module (maximum one 2094-BSP2 shunt module per power
rail).