Rockwell Automation 2094-xMxx-S Kinetix 6000 Multi-axis Servo Drives User Manual - Manual (Page 139)

Rockwell Automation Publication 2094-UM001H-EN-P - June 2013 139
Configure and Start the Kinetix 6000 Drive System Chapter 6
Figure 83 - Node Addressing Example 4
In this example, the Kinetix 6000 (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 02 and 05 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.)
0 1
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
1756-MxxSE Sercos
Interface Module Sercos Fiber-optic Ring
Logix5000 Controller
(ControlLogix controller is shown)
Kinetix 6000 System
(5-axis power rail)
05 = Slot-filler module slot location
04 =AM module (axis 3) node address
03 = AM module (axis 2) node address
02 = IPIM module slot location
01 = 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
E50. Each node address on the sercos ring must be unique within the range of
01…99. 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 modules or the 2094-
BSP2 shunt module (maximum one 2094-BSP2 shunt module per power rail).