Rockwell Automation 2094-xMxx-S Kinetix 6000 Multi-axis Servo Drives User Manual User Manual

Kinetix 6000 multi-axis servo drives

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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

This manual is related to the following products:

2094-xCxx-Mxx-S Kinetix 6000 Multi-axis Servo Drives User Manual 2094-xMxx Kinetix 6000 Multi-axis Servo Drives User Manual 2094-xCxx-Mxx Kinetix 6000 Multi-axis Servo Drives User Manual

Table of contents

Document Outline

Front Cover
Important User Information
Summary of Changes
- New and Updated Information
Table of Contents
Preface
- About This Publication
- Audience
- Conventions Used in This Manual
- Studio 5000 Environment
- Additional Resources
Ch1 - Start
- IAM/AM Module Series Changes
- About the Kinetix 6000 Drive Systems
- Typical Hardware Configurations
- Typical Communication Configurations
- Catalog Number Explanation
- Kinetix Drive Component Compatibility
- Kinetix 6000M Integrated Drive-Motor System Compatibility
- Agency Compliance
  - CE Requirements (system without LIM module)
  - CE Requirements (system with LIM module)
Ch2 - Planning the Kinetix 6000 Drive System Installation
- System Design Guidelines
- Electrical Noise Reduction
Ch3 - Mounting the Kinetix 6000 Drive System
- Before You Begin
  - Using the 2094 Mounting Brackets
  - Installing the 2094 Power Rail
- Determine Mounting Order
- Mount Modules on the Power Rail
Ch4 - Connector Data and Feature Descriptions
- 2094 IAM/AM Module Connector Data
- Control Signal Specifications
- Power and Relay Specifications
- Feedback Specifications
Ch5 - Connecting the Kinetix 6000 Drive System
- Basic Wiring Requirements
  - Building Your Own Cables
  - Routing the Power and Signal Cables
- Determine the Input Power Configuration
  - Grounded Power Configurations
  - Ungrounded and High-impedance Grounded Power Configurations
- DC Common Bus Configurations
  - Common Bus Fusing Requirements
- Setting the Ground Jumper in Ungrounded Power Configurations
  - Set the Ground Jumper
- Grounding the Kinetix 6000 Drive System
  - Ground the Power Rail to the System Subpanel
  - Ground Multiple Subpanels
- Power Wiring Requirements
- Power Wiring Guidelines
- Wiring the IAM/AM Module Connectors
- Apply the Motor Cable Shield Clamp
- Feedback and I/O Cable Connections
  - Flying-lead Feedback Cable Pinouts
- Wiring the Feedback and I/O Connectors
- External Shunt Module Connections
- IPIM Module Connections
- RBM Module Connections
- Sercos Fiber-optic Cable Connections
- Kinetix 6000M Integrated Drive-Motor Sercos Connections
- Ethernet Cable Connections
Ch6 - Configure and Start the Kinetix 6000 Drive System
- Configure the Kinetix 6000M Integrated Drive-Motor System
- Configure the Drive Modules
- Configure the Logix5000 Sercos interface Module
- Apply Power to the Kinetix 6000 Drive
- Test and Tune the Axes
  - Test the Axes
  - Tune the Axes
- Configure Drive Parameters and System Variables
  - Tools for Changing Parameters
    - Change Parameters with DriveExplorer Software
    - Change Parameters with the HIM Module
  - Monitor System Variables with Analog Test Points
Ch7 - Troubleshooting the Kinetix 6000 Drive System
- Safety Precautions
- Interpret Status Indicators
- General System Anomalies
- Logix5000/Drive Fault Behavior
Ch8 - Removing and Replacing the Kinetix 6000 Drive Modules
- Before You Begin
- Remove Kinetix 6000 Drive Modules
- Replace Kinetix 6000 Drive Modules
- Remove the Power Rail
- Replace the Power Rail
AppA - Interconnect Diagrams
- Interconnect Diagram Notes
- Power Wiring Examples
  - DC Common Bus Wiring Examples
  - Shunt Module Wiring Examples
- Axis Module/Rotary Motor Wiring Examples
- Axis Module/Linear Motor/ Actuator Wiring Examples
- Kinetix 6000M Integrated Drive-Motor Wiring Example
- Controlling a Brake Example
- System Block Diagrams
AppB - Upgrading the Drive Firmware
- Upgrade Kinetix 6000M System Firmware
- Upgrade Drive Firmware with ControlFLASH Software
AppC - DC Common Bus Applications
- Before You Begin
- Calculate Total Bus Capacitance
- Calculate Additional Bus Capacitance
- Bulletin 2094 Drive Capacitance Values
- Common Bus Capacitance Example
- Set the Additional Bus Capacitance Parameter
AppD - Configure the Load Observer Feature
- Benefits
- How it Works
- Configuration
- Setting Gains with Sercos IDN Write Messages
- Compensate for High Frequency Resonances
AppE - Changing the Default IDN Parameter Values
- Before You Begin
- Change IDN Parameter Values
AppF - Enhanced Peak Performance
- Before You Begin
- Enhanced Peak Example
  - Enhanced Peak Example Calculation
- Change the Drive Parameter
  - Sercos IDN Write Instruction
  - DriveExplorer Software
AppG - RBM Module Interconnect Diagrams
- Before You Begin
- RBM Module Wiring Examples
Index
Back Cover