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2094-IN002A-EN-P Kinetix 6000 Integration Manual

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1. Note 9 2 i Green Yellow D lt lt Motor Feedback 3 Motor Power W lt W i GND 4 2 Black V 5 V vs i m Three Phase BLACK SING 1 6 U lt lt Motor Power B 201 wia XX SIN 2 7 Motor Feedback 2090 Motor Power Cable C gt gt RED COS 3 MF Connector Note 14 p 55 cos 4 10 m Motor Feedback gt GREEN DATA 5 11 Motor Resistive 2090 UXNBMP 18Sxx Brake Cable F S WHTGREEN XX_DATA 10 Brake BC Connector Note 14 _ 12 gt gt GRAY 14 13 BRK 6 Black C lt lt BR L ECOM 6 ic DD A Motor Brake avoc 15 1 o SS WHT ORANGE XX TS 11 Xr COM P X User Supplied Thermostat H PWR gt AN dc 1 2A max dS os zl 2 BR Refer to the DBRK Resistive Brake gt gt Kinetix 6000 Installation Manual DBRK Je BR Connections publication 2094 001 for proper 2090 XXNFMP Sxx flying lead Feedback Cable Note 14 15 Kinetix 6000 1326AB SERVO MOTORS IAM inverter or AM WITH RESOLVER FEEDBACK Note 13 1326 CPx1 xxx Motor Power Cab
2. suonaeuuo 10404 J0 2euuo 14 98 02 203290005 1 9584 9911 sng punoig Lumad oI E pm 1 1102 12 SL ST LYMd 01 LMd 01 F cu 3 2 SL 2 gt 203290002 099 MMi 8 1 10129000 ly 1V1SNO2 f 9 qeu3 10128102 N3 00 977 02 01 101 zy 1 15 02 i G pw Y 01715088 THS G lt 21 exnv y 109 9 ct LT 2 10peuuo 174 1 NON n 1109 7 8 c Z ZI 1 anding noez 1 SINS Fg 2 98 ao VT 8 5 101 i 12 203290005 g I suonaauuo 0 ano 0l v c 01 ne 9 v 114 a a Ol indingopAvz m 71450 218 0602 ZuMd 01 i 40139uu07 rg Indu l 062 Merny i 1 1 1 A TT 10 38UU07 6 EL ag indu 61 l 4 Y 7 910 eseug e T 8 i 10120000 140 T 9 qe aAu 01 gY pue 190 14037 L BYNXX 0602 83 2 oT INYO n n 1 _ efr z 10290005 dN 2 5
3. 0219 0602 40128uU0 1 C ON WEY 14049 L BUNXX 0602 ang M IN X Fg 2 0 suonaeuuo J8MOg J010A E a Er n TES 1 m M v T m 20290007 291 Suorj3auuo 10 0 201290007 181 suonaeuuo dwejg 5 age 810N 19 45 0 Wa xx XX8X 0607 JINGOW 8 3ALLSIS3H 0602 dwejg 81482 pnig punog 10 54 18 54 7 604 JINON 39V3831NI N Z1 10128uuo 14 samog indu AQez 10 33uu09 032 8 73 102 9 qeu3 103981005 7 13 1102 rd INDE 109 01 guo N3 1 02 Sel 01 101 0 1 LINO NZ 9g anon 5 7 3IeVN3 10190uuog wearer 000 0 1 L 41 zxnv on Polk ELU soysauu0g 3uaa lt 7 1 1 2e m CH VT w
4. DC Bus 1 DC Bus Connections DC 2 X X X 4 DC Bus L 3 Input Fusing 2 24 19 1 Three Phase L3 Single Phase Input t L Connections T 6 50 60 Hz Lo 3 TB3 Fault Relay Note 20 4 RENI LT Shunt chassis 1336 Master ground screw Contactor Enable CONT EN w Refer to Attention statement Note 11 CED Connector CONT EN ii 9 s Note 12 cri 1 24V ac d O OB aie Tue cri 120V ac INDICATES USER SUPPLIED COMPONENT START e 9 60 Fi Notes 7 12 7 lt 1336 Active Shunt Input Fuse Specifications Active Shunt Module Input Current 1336 Description Requirements Input current requirement to power logic for fault 005 or 010 contact operation 0 05A Input current requirement to power fan and logic for 050 fault contact operation 0 65A 1336 Active Shunt Fault Relay Specifications Parameter Description 120V ac 30V ac On State Current Current flow when the contact is closed 0 6A 2 0A On State Resistance Contact resistance maximum 50 mOhms 50 mOhms Off State Voltage Voltage across the contacts when the relay is open 120V ac 30V ac Publication 2094 INOO2E EN P September 2005 Interconnect Diagrams A 15 In the figure below the Kinetix 6000 IAM is shown without a LIM wired with a Bulletin 1336 external active shunt master and
5. SERCOS Transmit Tx Connector DPI Connector SERCOS Receive Rx Connector SERCOS Node Address Switch Seven Segment Fault Status LED Drive Status LED COMM Status LED Bus Status LED Auxiliary Feedback AF Connector Mounting Screw Motor Feedback MF Connector Note Power feedback and I O connectors are shown however for wiring information refer to the Kinetix 6000 Multi Axis Servo Drive Installation Manual publication 2094 IN001 Publication 2094 INOO2E EN P September 2005 1 4 Commission Your Kinetix 6000 Locate AM Connectors and Indicators and indicators is identical Figure 1 2 Kinetix 6000 Axis Modules 2094 AMxx and BMxx Axis Module top view 2094 BMP5 S is shown Safe Off SO Connector present only on the 2094 BMxx S Axis Module front view 2094 AM01 is shown 1 0 100 Connector Mounting Screw Motor Cable Shield Clamp X c zur MBRK MBRK COM PWR DBRK 68196876871 Use the figure below to locate the Axis Module connectors indicators Although the physical size of the 2094 460V AM is larger than the 2094
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7. IAM inverter or AM WITH INCREMENTAL FEEDBACK Note 13 n Motor Feedback Cable Shield MF Connector Clamp IAM AM Note 9 4 Green Yellow 4 1 BLACK AM 1 lt lt gt gt D 3 Blue 3 GND 2 gt WHT BLACK Cs AM 2 Motor Power lt lt 3 3 MP Connector V Three Phase 4 gt WHT RED XX BM 4 U 1 U Brown U Motor Power IM 2090 XXNPT 16Sxx 3 y pf GREEN 5 Motor Feedback ile 5 WHT GREEN XX 10 MF Connector Note 14 7 yy GRAY 5VDC 4 Motor Feedback 8 5 WHT GRAY XX ECOM 6 otor Resistive A DAMM E BLUE Motor Brake Cable Brake BC Connector Note 14 6 gt wewe XX Si 6 Black 11 YELLOW 52 BRK 2 BR gt 15 WHT YELLOW 3 _t 5 Motor Brake gt gt XC BRK 1 4 4 BR 9 or COM x UserSuppied WL J e 3 24 de 12A max p ue 2 BR 2090 XXNFT Sxx Feedback Cable cae DBRK lt Resistive Brake with pie molea conortar DBRK BR Connections Publication 2094 INOO2E EN P September 2005 20 Interconnect Diagrams Kinetix 6000 Note 13 Cable Shield Clamp IAM inverter or AM In the figure below the Kinetix 6000 axis module 460V is shown connected to 1326AB Bxxxx 460V servo motors Figure A 17 Axis Module to 1326AB Motor Interconnect Diagram 1326AB M2L S2L SERVO MOTORS WITH HIGH RESOLUTION FEEDBACK
8. 80d 919 9 9 September 2005 Publication 2094 INO02E EN P LIM Block Diagram 2094 09 Figure A 29 Interconnect Diagrams A 32 28 1 1081NO2 42 3d Woo Woo Mua semog yz A UMd tud WOO UMd XH H XUSIN l zn _ 258 l 108110 20 0 1 254 3 3d W09 01 A ddng samog vg J v _ UN ol t 9 0 1 d QVAQEZ 291 14 eur I 15 eseug ajDuis uMd Ol i 01 01 J N WOd 01 NOJ Ol 09 01 umd Ol 227 Ly_IWLSNOO 100 IE IVISNOO E 27 102 18 12 1VISNO9 34 LL_IWLSNOO YN LL 1VISNO2 eB 2 a 1102 ly 71
9. 2 2 EXtOt CONSE ied acer eo e qos Ere Plo De Nc 2 3 Troubleshoot IAM AM Status 2 8 Drive tatus vente ie Wes 2 8 Gomm b5tatus LED pels ee eS WE ES 2 8 Publication 2094 INOO2E EN P September 2005 ii Table of Contents Interconnect Diagrams Publication 2094 INOO2E EN P September 2005 Bus Status LED opus CY ES 2 9 Troubleshoot SM Status 2 10 General Shunt Module Troubleshooting 2 10 B s Status LED s Re c or E ees 2 11 Temperature Fault 2 11 Shunt LED e mts 2 11 Troubleshoot LIM Status LEDs 2 12 Troubleshoot RBM Status 2 12 24V dc Status 2 12 230V ac Auxiliary Power Status LED 2 13 Troubleshoot General System Problems 2 14 Understand Logix Drive Fault Behavior 2 16 Supplemental Troubleshooting Information 2 19 Tools for Changing Parameters 2 19 Using Analog Test Points to Monitor System Variables 2 20 Replace Kinetix 6000 System Components 2 22 Before You 2 22 Remove Modules from the Power 2 23 Replace Power Rail
10. 6000 Kinetix 6000 Installation Manual 2094 IN001 Installation instructions for the LIM and removal replacement Kinetix 6000 Line Interface Module Installation 2094 14005 procedures selected internal components Instructions Information on wiring and troubleshooting your Kinetix 6000 safety drive Kinetix Safe Off Feature Safety Reference Manual GMC RM002 A description and specifications for the 2094 family including motors y f and motoraktassorias Kinetix Motion Control Selection Guide GMC SG001 Drive and motor sizing with application analysis software a ped cD PST SG003 Kinetix 6000 user documentation and CAD files Kinetix 6000 User Documentation and CAD Files CD 2094 1001 2 ControlLogix Motion Module Programming Manual 1756 RM086 ControlLogix SERCOS interface module installation instructions SERCOS interface Module Installation Instructions 756 IN572 SoftLogix SERCOS interface PCI card installation instructions interface Card Installation 784 IN041 The instructions needed to program a motion application Motion Instructions 1756 RM007 nformation on configuring and troubleshooting your ControlLogix SERCOS and analog motion modules Logix5000 Motion Modules User Manual 756 UM006 nformation on configuring and troubleshooting your SoftLogix SoftLogix Motion Card Setup and Configuration 1784 UM003 card Manual
11. September 2005 Publication 2094 INO02E EN P 36 Interconnect Diagrams Publication 2094 INOO2E EN P September 2005 Appendix B Chapter Objectives Upgrade Drive Firmware Using DriveExplorer Upgrade Your Kinetix 6000 Firmware This appendix provides a procedure for upgrading the Kinetix 6000 firmware using DriveExplorer Upgrading axis module firmware using DriveExplorer via the DPI port involves setting the Axes to Flash parameter configuring a HyperTerminal session and flashing the firmware Before You Begin Before you begin this procedure make sure you have the following Description Catalog Numbers Firmware DriveExplorer Software 9306 4EXPO2ENE 2 01 Smart Self Powered DPI Serial Converter 1203 555 Series 3 004 Firmware upgrade file for Kinetix 6000 N A N A Personal computer with HyperTerminal N A N A 1 Refer to DriveExplorer Getting Results Manual publication 9306 GR001 for instructions Contact Rockwell Automation Technical Support at 440 646 5800 for firmware upgrade file Select Axis Modules to Upgrade In this procedure you will use DriveExplorer software to set the Axes to Flash parameter x708 and allow selective axis module upgrading Note You will save time by selecting only the axis module s that require a firmware upgrade Publication 2094 INOO2E EN P September 2005 2 Upgrade Your Kinetix 6000 Firmwar
12. B 1 Select Axis Modules to Upgrade B 1 HyperTerminal ConfreuratiOri zoe xe o B 4 Flash Your Firmware B 5 Appendix C Chapter Objectives Ee dr EON C 1 Before You Bestia eq qu ee OE Y al C 1 Understand Safety C 2 Safety Standards for Reference C 2 Background on Safety C 3 Stop Categories quw ec E ES YU RU ERE Risk ASsessmeb a 2 135 UE bende Ro E C 4 Control Reliability ua wk ee eee Rae d C 5 Resistive Brake Module Interconnect Diagram Notes C 5 Resistive Brake Module Interconnect Diagrams C 6 Set the RBM Delay Time Using DriveExplorer C 14 Remove SERCOS Communication C 14 Set the RBM Delay Time Parameter C 15 Save the Delay Time Parameter to Non Volatile MEMORY saeh Meek aS C 16 Reconnect SERCOS Communication 55127 Appendix 0 Chapter D 1 Before You Bestia ano etse x ed od ER D 1 Calculate Total Bus Capacitance D 2 Calculate Additional Bus Capacitance D 3 Kinetix 6000 Capacitance D 3 Common Bus Capacitance Example D 4 Set the Additional Bus Capacitance Parameter
13. modules must be used to fill any unoccupied slot on the power rail However the slot fillers may also be removed and replaced by an axis or shunt module in the future Publication 2094 INOO2E EN P September 2005 Kinetix 6000 8 axis power rail Commission Your Kinetix 6000 1 13 Figure 1 11 Node Addressing Example 3 1756 MxxSE SERCOS interface Module ControlLogix Chassis Transmit Receive Receive SERCOS Fiber Optic ring om Transmit LLL LT ss 08 Slot Filler node address 07 AM axis 4 node address 06 Not Used AM right most slot 05 AM axis 3 node address 04 Not Used AM right most slot 03 AM axis 2 node address 02 Not Used IAM right most slot 01 IAM axis 1 base node address In the example above the Kinetix 6000 8 axis power rail contains a double wide IAM two double wide AMs one single wide AM and one slot filler module The slot filler module is assigned a node address but does not use it The left most slot of a double wide module determines the node address So in the example above node addresses 02 04 and 06 the right most slots of the double wide modules are not used
14. slot Filler modules must be used to fill any unoccupied slot on the power rail However the slot fillers may also be removed and replaced by an axis or shunt module in the future Publication 2094 INOO2E EN P September 2005 1 14 Commission Your Kinetix 6000 3 Set the SERCOS baud rate using DIP switches 2 and 3 as shown in Figure 1 12 Refer to the table below for baud rate switch settings FF ON 4M baud O 8M baud ON OFF 4 Set the SERCOS optical power level to High using DIP switch 1 as shown in Figure 1 12 Refer to the table below for optical power level switch setting For this optical power level Low OFF High ON Figure 1 12 SERCOS Baud Rate and Optical Power DIP Switches P switches set for baud applications high power setting DIP switches set for D Integrated Axis Module top view 4M baud applications 2094 ACxx M xx high power setting 5 Switch in ON position SERCOS Baud Rate and Optical Power Switches Publication 2094 INOO2E EN P September 2005 Commission Your Kinetix 6000 1 15 Configure Your Axis Module s This procedure assumes you have configured your IAM Use the following procedure to configure your axis module s In this procedure you will set the baud rate and optical power level switches for your IAM and each AM Taira The node
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16. 203290007 S LIN 101203002 Jamod 10 v v lt INT andu gt Huan aseld T S lt 0 an gt ION 9 Z 9 suonjauuo 7 A 203290402 sng od 70 2 10129000 6 IN ooN lt g M mog ow 0 1190 fl FON aseyg ooly ME Y awawi 111800 lt 74812 2 SNH 28 792 656 g 90 17 19 04 04u09 lt indu Suoij3euuo 2 2039290007 70 Jamog JN lt M 2030 alys age c v soysauuog 040 _ 110 platys 19 04 0 0 21812 pnis punog l ley samog Sng dwejg jeuiqe pepuog plats Sjqe XXIN XXJ 9 10 60 Po pms punog e o 30 31 SNA emod 0009 sng punog XX N XX 9g 10 Xx W XX 2 1602 ORIRE INVI 43M07104 SNE NOWINOD 0009 September 2005 Publication 2094 002 9 Interconnect Diagrams In the figure below the 8720MC RPS regenerative power supply and Kinetix 6000 460V Follower IAM are shown Figure A 6 le Follower IAM Power Diagram ive with Sing Non Kinetix 6000 Leader Dr nt oanp Sune Joye s lt 4 1038Uu0 2g 9 9Ansisu 10 0 N T
17. 5 Apply Hardware Enable Input signal IOD 2 for the axis you testing To avoid personal injury or damage to equipment apply 24V ENABLE signal IOD 2 only to the axis you are testing Publication 2094 INOO2E EN P September 2005 Commission Your Kinetix 6000 1 35 6 Select the Test Marker Feedback Command amp Feedback button to verify connections The Online Command window opens Follow the on screen test instructions When the test completes the Command Status changes from Executing to Command Complete Online Command Encoder Test Command Status Command Complete OK i Move axis manually in positive direction Stop ait for command to complete Check for errors if command fails Help 7 Select 8 Online Command Apply Test window opens Feedback and Command amp Feedback tests only When the test completes the Command Status changes from Executing to Command Complete Online Command Apply Test Command Status Command Complete OK ait for command to complete Stol G Check for errors if command fails Los 9 Select OK Your test completes successfully this window 1 Select OK APPS Remove Hardware Enable Input Sena On d Apply test completed successfully Feedback polarity has been updated Go to Tune Your Axes 1 Select OK Verify the Bus Status LED turned solid green during the test Verify that the
18. ERE Ho 13 5 OL M W nyw 189 m T 73 102 13 102 VISNOO S UNO O gud VS SNO yud OI gug WOJO vud 102 oe zu Ol Eud 22 102 34 2 01 JVA 240 1 b 01 Uld i i zv 1100 e O ISMLVLS T9 IVISNOO Lue 1 LLI 1 ansmeswz LVISNOO 1 1 2 N 72 1115802 2 2 S ane ju i 2171715 02 e a wo 3 80d 5 e lt x Olt Sz 01 CWO 01 S E i5 ZHMd Ol Eud Gir E 2400 01 T Uld Sis 5 Ol S ud E 71502 Ol 9 ud G9 LNdLNO 0 1 33V8 114 8 THL uig 2 21819 ES 1 41 0 HMd 1081NO2 749 149 LT zxnv Zi 2XNV Zi p Uld 1141010 12 es 1 15 09
19. 0602 Xnv u V HII n IAYO n 1 n IN A HIN a JAC A 7 z A 10138Uu0 dN M 1 100 QNS Sir m M a T Y T 201290005 281 Suoroauuo 1070 4 20290007 181 Suonaeuuo suonoeuuo J8MOg J0 0JA duie 5 5 9 30N 1199 9 060 3100IN JAILSISJY 0602 3 patys LION 1 sixy XXING 10 XXINW 1602 JINGOW SIXV 0009 uoynqysng 2 1 04 102 04 44 5 YSN S31VOIONI x 1102 01 45 LON 0351 LON SENI ELNI LENI LIVISNY8 gt 01 01715048 amp N 8 N LN 9 SN ENON N CN OdIA DIU8 VN O N 918I 95 1 1 01002 September 2005 Publication 2094 INO02E EN P Integrate Resistive Brake Modules with Kinetix 6000 Drives C 8 The example diagram below shows Kinetix 6000 IAM AM and LIM 2094 AL09 and BL02 wired with the Bulletin 2090 RBM 2 igure F Example RBM Interconnection Diagram Category 2 Configuration per EN954 1 INANOdWIO9 GAlddNS YISN SALVIIGNI x 010
20. Edit View Call Transfer Help sls cls 1203 3335 Smart Self powered Serial Converter DPI Revision 3 003 Build 9 Main Menu Enter Number for Selection 1 gt Display Setup Parameters 2 gt Display Event Queue 3 gt Flash Upgrade Flash Upgrade Enter Number for Selection 0 gt 2094D SERVO 2 gt This 1203 888 You have chosen to update 0 gt 2094D SERVO To update the FLASH memory you need a terminal program capable of downloading a binary file using the XMODEM protocol and a FLASH update file from Rockwell Automation When you press Y to signal that you are ready to proceed the terminal program will start displaying the letter C This signals the XMODEM protocol that the download may proceed You then have one minute to start the transfer Press CTRL X to cancel an update started by mistake Are you ready to proceed Y N Connected 0 09 13 Auto detect 38400 8 N 1 SCROLL CAPS Print echo Enter Y As indicated in the text the program begins displaying the character C Note Program times out after 60 seconds If program times out before you complete steps 5 7 return to step 1 5 Goto the Transfer menu and select Send File The Send File window opens Browse for your firmware upgrade file Folder C XKBk Firmware Files Filename Firmware upgrade file as provided by Rockwell EKEk Firmware Fies12094_ER1 056_2002_05_ Automation Technical Support at 44
21. Troubleshoot RBM Status The Resistive Brake Module RBM contactor status LED is visible from LEDs If the Status LED is Steady Green the front of the RBM Use the table below for troubleshooting the RBM status LEDs 24V dc Status LED The 24V dc Status LED is on when 24V is applied between COIL A1 and COIL A2 e g a Brake Enable signal is received from the drive RBM Contactor Status is Potential Cause is Possible Resolution is Contactor engaged direct connection between drive and No faults or failures N A motor Contactor disengaged e Monitor CONSTAT 41 42 status to verify lack of no connection between drive and Contactor failure drive motor power output is NC motor e Contact representative e Verify ground wiring Recommended grounding e Route wires away from noise sources Blinking Green Contactor rapidly engaging not followed Refer to System Design for Control of Electrical Noise audible clicking disengaging Reference Manual publication 001 contol circuit improperly Verify control wiring and programming No faults or failures N A e 424V supply is off Contactor disengaged VE us connection open between drive and 24V not applied between Verify wiring motor COIL_A1 and COIL_A2 Drive not enabled Publication 2094 00 Contact A B representative T1 Fault thermostat open Duty cycle exceeded allow RBM
22. Kinetix 6000 INTEGRATED AXIS MODULE 2094 ACxx M xx or BCxx Mxx Power Rail Bonded Cabinet Ground o L Ground Stud Note 9 Kinetix 6000 Cable Shield LINE INTERFACE MODULE Clamp 2094 AL09 or BL02 4 3 Three Phase Single Phase CPL Output 1 1 Motor Power W gt Motor Power 195 264V ac RMS 2 Bn ra MP Connector V 2 gt Connections Notes 1 H CTRL 1 1 14 H DC 4 pce DC Bus 3 and Ground Ll 3 Phase VAC LINE Three Phase IPL Input VAC LOAD 3 Phase OPL Output E 4 13 Input IPD 195 264V ac RMS 195 264V RMS gt 5 or 324 528V ac RMS or 324 528V ac RMS 12 6 12 1 Note1 11 L1 1 MBRK PWR 2 24V dc Output MBRK COM 3 PSL Connector MBRK PWR FE 6 MBRK COM MBRK BR Motor Brake MBRK 5 4 Connections 4 24 26 Motor Resistive COM 5 Brake BC Connector PWR 2 BR 1 0 101 STOP 227 Resistive Brake Connector BR Connections Note 11 12 COL AT H Don lt 0 COM 2022 1 CONT EN 4 Contactor Enable COL 2 4 2 CONT INDICATES USER SUPPLIED COMPONENT Publication 2094 INOO2E EN P September 2005 4 Interconnec
23. USA 888 232 9183 CANADA 805 828 2505 Over 100 years cumulative experience 24 hour rush turnaround technical support service Established in 1993 The leading independent repairer of servo motors and drives in North America Visit us on the web Www servo repair com www servorepair ca www ferrocontrol com www sandvikrepair com www accuelectric com Scroll down to view your document For 24 7 repair services USA 1 888 932 9183 Canada 1 905 829 2505 Emergency After hours 1 416 624 0386 Servicing USA and Canada Allen Bradley Kinetix 6000 Multi Axis Servo Drive Catalog Numbers 2094 AC05 MP5 05 01 09 02 AC16 M03 AC32 M05 2094 BC01 MP5 BC01 M01 02 02 BC04 M03 07 05 2094 BC01 MP5 S BC01 M01 S BC02 M02 S BC04 M03 S BC07 M05 S 2094 5 01 02 AMO3 05 2094 BMP5 BM01 BM02 05 2094 PRS1 PRS2 PRS3 PRS4 PRS5 PRS6 PRS7 PRS8 2094 PR1 PR2 PR4 PR6 PR8 2094 PRF 2094 AL09 AL75S 2094 BL02 BL75S 2094 XL75S C1 2094 XL75S C2 2094 BSP2 Integration Manual Rockwell Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls Publication SGI 1 1 available from your l
24. If your Kinetix 6000 system Includes a 2094 xLxx or xLxxS xx LIM oy Apply Power to Your Kinetix 6000 with Does not include 2094 or xLxxS xx LIM m ATTENTION To avoid hazard of electrical shock perform all mounting and wiring of IAM AM SM LIM RBM or power rail prior to applying power Once power is applied connector terminals may have voltage present even when not in use Apply Power to Your Kinetix 6000 with LIM This procedure assumes that you have wired and configured your Kinetix 6000 Gncluding the LIM and your SERCOS interface module TITIO Follow this procedure if your Kinetix 6000 system includes a Line Interface Module LIM To apply power to your Kinetix 6000 system 1 Ensure 1 CB2 and CB3 on the LIM are in the OFF position refer to figures 1 4 and 1 5 for the location of the CB1 CB2 and CB2 2 Disconnect the load to the motor s Ensure each motor is free of all linkages when initially applying power to the system ATTENTION To avoid personal injury or damage to equipment disconnect the load to the motor s 3 Apply three phase input power to the LIM VAC Line connector 4 Set CB3 on the LIM to the ON position If the Brake Power Status LED is Solid green Commission Your Kinetix 6000 1 27 5 Observe the Brake Power Status LED on the LIM 2094 xLxx only Refer to Figure 1 4 for the location of the Brake Power Status LED Brake power
25. noo itta a 18 04 04002 1 Y ils u N 3 29114 90218 4 jo AlddNS cen pispa 3ALLVH3N393H 4 2102 8 sng sng T XX N XX 99 7602 jauiqe papuog jeuiqe papuog INVI H3M0TIOJ SN NOWINOD 0009 Z S810N ZH 09 SNH 2 10 ZH 06 SINH 92 91 01 1ndu eseug eaiu Publication 2094 INO02E EN P September 2005 10 Interconnect Diagrams In the figure below a Kinetix 6000 Leader IAM is connected to two Follower IAMs via the DC common bus Figure A 7 Leader IAM with Multiple Follower IAM Diagram ToFollower gt DC Bus Connections gt To Follower Control Power gt Connections Kinetix 6000 COMMON BUS LEADER IAM 2094 ACxx M xx or BCxx Mxx Bonded Cabinet Ground Bus Power Rail o 9 Ground Stud Note 9 A Cable Shield Clamp Single Phase Input 4 1 CTRL2 Control Power 95 264V ac RMS 2 Notes 1 2 cmi CPD Connector L Note 4 1 Three Phase 1 Motor Power W gt Motor Power DC 2 2 DG DC Bus MP Connector V ote 3 and U 3 Phi Three Phase Input from LIM SI 13 Input PD or input power contactor M1 5 195 264V ac RMS gt L2 Con
26. o b 67 T Ol ELNI 19598 amp 12 6L u E 1 8053 9 9 o El T 9 WO L P wo pino 17189015 x Uleun i 9181 96 1 LUAM OI 82148 g 09 INO September 2005 Publication 2094 INO02E EN P 4 C igure Example RBM Interconnection Diagram Category 3 Configuration per EN954 1 The example diagram below shows Kinetix 6000 IAM and LIM 2094 AL09 and BL02 wired with the Bulletin 2090 RBM Integrate Resistive Brake Modules with Kinetix 6000 Drives F C 12 Agez 1N3NOdIAOO 13114405 u3sn S3IVOIONI 2 9 ANvC E 5 9 8IoN 7 24 100 318VN3 10120uu05 109 Bl t ama aon o N3 1802 EL Woo oi c LNVISNOO v cC 2 22 02 S ma C YMd Ol HS 00 7 97 0 101291109 039 5 NON 101260100 zi 9 uM Ol 1038uuo 1 W09 Suoro8uuo 0 1 wan _ i 5 ANSIS Y IQON i b gL 488A A09 H Fa UMd AYAN 154 NOJ
27. ontiguration MDT 30 Version Data Monitor Version Data VERS 01 056 i AM 1 Diags 1 Group Prime OP Mode 0 0000 0000 0000 0010 5 8 1 0 AM 1 Group Prime OP Mode 0 0000 0000 0000 0010 1 eed anis 1 AM 2 Diags Velocity Command 0 0000 rpm roup il 3 AM axis 4 AM 2G Velocity Offset 00000 DPI Port Number 2 1209 056 A232 DFI Vamo 5000 0000 Limit E h Network Node Number custom For Help press F1 Local DPI 2 7 Scroll down to parameter 30 Version Data record the version VERS xx xxx of each axis module 8 Double click on Configuration The following window opens Beta File Explore Actions SH 0 2 5 0 sine 2 0 20940 SERVO Config 00 For Help press F1 3 IAM 1 R Pwr Supply Data R Slave Node List Shunt Data R 1 0 529 Auto Ref Enabled 0 S 14 0708 AxestoFlash 0000 0011 Sates 10501 Application SERCOS Spind Monitor Local DPI 9 Double click Axes to Flash The Axis to Flash window opens Bit Selection Advanced N 2 0 1 1 Bite 1 Axis 2 2 Axis 3 M etic Bead 3 Axis 4 Biti 4 Asis5 merz 5 Axis 6 6 Asis 7 B Suec Defaut 7 Axis 8 OK Apply 10 Chec
28. or Ground 7 Power Rail Non Kinetix 6000 Ground Stud Note 9 COMMON BUS LEADER B Cable Shield Bonded Cabinet Clamp Ground Bus Ground Stud Single hase miut CTRL Contral Power o 5 gt Notes 1 2 CTRL 1 CPD Connector 4 3 gt Three Phase 1 Motor Power Ww gt Motor Power DC Bus Pre charge TT 7 DC DC Bus Connector V 2 EN Connections Connections DC Circuitry tI Dc Connections 1 Note 14 IFL U gt DC Bus Fusing 4 Ground N C Fl L3 3 Phase N C 12 Input IPD N C E 11 Connector MBRK iS 5 T al 4 Three Phase Input gt from input 12 Motor Resistive 3 power contactor M1 Gar Brake BC Connector 9 1 PWR Notes 1 2 7 8 otes DBRK lt 1 L DBRK 4 lt 1 CONT EN Contactor Enable 2 CONT EN T CED Connector Note 12 DRIVE OK Contactor Enable INDICATES USER SUPPLIED COMPONENT DRIVE OK Wire the Leader and Follower AM contactor enable terminals in series with the safety control string or LIM 1 0 2 Publication 2094 INOO2E EN P September 2005 Interconnect Diagrams A 13 Shunt Module Interconnect Diagrams In the figure below the Kinetix 6000 Shunt Module is shown wired for internal shunt operation This is the factory default jumper setting Figure A 9 Internal Shunt Module Interconnect Diagram
29. 2 24 Remove the Power Rail 2 25 Replace the Power 2 26 Remove the Line Interface 2 27 Replace the Line Interface Module 2 28 Appendix Chapter Objectives s AOI A 1 Kinetix 6000 Interconnect Diagram A 1 Power Interconnect A 3 DC Common Bus Interconnect Diagrams A 8 Shunt Module Interconnect Diagrams A 13 1336 Active Shunt Input Fuse Specifications A 14 1336 Active Shunt Fault Relay Specifications A 14 AM Motor Interconnect A 16 Controlling Brake Example A 24 System Block Diagtafmis i RE RESET see A 26 IAM AM Inverter Block Diagram A 26 IAM Converter Block 27 Safe Off Feature Block Diagram A 28 SM Block Diagram A 28 LM Block Ves gcn ac rassa tg 29 RBM Block Diagrams 34 Upgrade Your Kinetix 6000 Firmware Integrate Resistive Brake Modules with Kinetix 6000 Drives DC Common Bus Applications Table of Contents iii Appendix B Chapter 1 Upgrade Drive Firmware Using DriveExplorer B 1 Before You
30. D 5 Remove SERCOS Communication D 5 Set the Additional Bus Capacitance Parameter D 6 Save the Add Bus Cap Parameter to Non Volatile eee Goes RUE KU T D 7 Reconnect SERCOS Communication D 8 Publication 2094 INOO2E EN P September 2005 Table of Contents Publication 2094 INOO2E EN P September 2005 Preface Introduction Who Should Use this Manual Purpose of this Manual Read this preface to familiarize yourself with the rest of the manual This preface contains the following topics e Who Should Use this Manual e Purpose of this Manual e Contents of this Manual e Product Receiving and Storage Responsibility Related Documentation e Conventions Used in this Manual This manual is intended for engineers or programmers directly involved in the operation field maintenance and integration of the Kinetix 6000 multi axis servo drive with the SERCOS interface module If you do not have a basic understanding of the Kinetix 6000 contact your local Allen Bradley representative for information on available training courses before using this product This manual provides the startup configuration and troubleshooting procedures for the Kinetix 6000 The purpose of this manual is to assist you in the integration of your Kinetix 6000 servo drive with the ControlLogix 1756 MxxSE SERCOS interface module or SoftLogix 1784 165
31. Kinetix 6000 SHUNT MODULE 2094 BSP2 COL INT DC External Shunt Resistor RC Connector External Thermal Switch TS Connector In the figure below the Kinetix 6000 shunt module is shown wired with an external passive shunt resistor IMPORTANT Only passive shunts with a thermal switch are wired to the TS connector on the Kinetix 6000 shunt module If your external passive shunt does not have a thermal switch leave the factory installed jumper in place on the TS connector Figure A 10 External Passive Shunt Module Interconnect Diagram EXTERNAL PASSIVE SHUNT RESISTOR Kinetix 6000 SHUNT MODULE 2094 BSP2 3 External Shunt Resistor COL 2 RC Connector INT Resistor DC External Thermal Switch TS2 E XX EV Thermal TS C t i TS Connector E Switch Publication 2094 INOO2E EN P September 2005 14 Interconnect Diagrams In the figure below the Kinetix 6000 IAM without the LIM is shown wired with a Bulletin 1336 external active shunt Figure A 11 External Active Shunt Module Interconnect Diagram EXTERNAL ACTIVE SHUNT RESISTOR 1336 MOD Kxxxx Kinetix 6000 INTEGRATED AXIS MODULE 2094 Slave In Slave In Master Out 4 Master Out 1 oja gt N gt
32. XX 5 15 K ole 4 4 PE User Supplied C lt lt N C 4 pe VDC 24V dc 1 2A L PWR WHUGRAY 6 DBRK lt Resistive Brake gt gt 1 C gt gt BLUE 52 3 DBRK onnections T 221 X os 2 Motor Resistive y ES Brake BC Connector Thermostat TY 8 S gt WHT VIOLET TS 6 Refer to Low Profile Connector illustration below Publication 2094 INOO2E EN P September 2005 for proper grounding technique 2090 XXNFN Sxx flying lead Feedback Cable Note 14 15 Grounding Technique for Feedback Cable Shield Low Profile Connector 2090 K6CK D15M shown Clamp Exposed shield secured under clamp Clamp screws 2 N 7 N Turn clamp over to hold 4 small cables secure gt Interconnect Diagrams A 23 In the figure below the Kinetix 6000 axis module 230V is shown connected to Y Series 230V servo motors Figure A 20 Axis Module to Y Series Motor Interconnect Diagram Kinetix 6000 Y Series 230V IAM inverter or AM SERVO MOTORS WITH Note 13 INCREMENTAL FEEDBACK Cable Shield Clamp N Note 9 TE 4 Green Yellow 4 lt
33. kinetix ooo L Ms una dig Figure 1 9 Node Addressing Example 1 1756 MxxSE SERCOS I interface Module ie ControlLogix Chassis Transmit Receive sercos Fiber Optic ring 4 Receive Transmit 8 1 6000 Receive Transmit 2 6000 System 1 ali e AM 2 node address oe s it IAM axis 1 base node address A 15 Slot Filler node address 14 Shunt Module node address 13 AM axis 4 node address 12 AM axis 3 node address 11 AM axis 2 node address 10 IAM axis 1 base node address In the example above Kinetix 6000 6 axis System 1 power rail contains one IAM three AMs one SM and one slot filler module The shunt module and slot filler slots are assigned a node address but they do not use it Kinetix 6000 2 axis System 2 power rail contains one IAM and one AM The base node address of the IAM system 2 must be set for an address of 216 or lt 8 Publication 2094 INOO2E EN P September 2005 1 12 Commission Your Kinetix 6000 Dono position axis modules to the right of shunt or slot filler modules The added distance between non adjacent
34. 3 Black 3 lt w l Motor Feedback Motor Power W 2 GND MF Connector MP Connector V Three Phase IAM AM U L 1 2 U Motor Power 9 A 1 Motor Feedbac 10 AM 112 Connector Pigtail gt gt 11 s gt RED BM 3 Motor e Cable 12 gt 4 WHT RED 4 13 GREEN IM 5 14 WHT GREEN IM 10 Black es BR Patel TE 4 WHT BLUE 51 12 Motor Resistive zt 7 BR 3 Motor 17 gt P BLUE X 52 13 Brake BC Connector lt E Brake gt B 19 gt gt BROWN ay 53 8 MBRK 255 WHT BROWN 5 22 GRAY 5VDC 14 MBRK 23 4 WHT GRAY XX ECOM 6 1 COM 7 User WA bss sss eoe DRAIN 24V dc 1 2A max T 2 BR Refer to Low Profile Connector DBRK lt Resistive Brake ilustration below 1 C ti for proper grounding technique DBRK onnections 2090 XXNFY Sxx flying lead Feedback Cable Notes 14 15 16 Grounding Technique for Feedback Cable Shield Low Profile Connector 2090 K6CK D15M shown Clamp Exposed shield and drain wire secured under clamp Clamp screws 2 Turn clamp over to hold small cables secure Publication 2094 INOO2E EN P September 2005 24 Interconnect Diagrams Controlling a Brake Example The relay output of the Kinetix 6000 MBRK BC 5 and 6 is suitable for directly controlling a motor brake subject to the relay voltag
35. Connections Note 14 Motor Brake Connections BR 4 User Supplied 3 4 24V dc 1 2A maximum Resistive Brake Isolation Motor Power Transformer MP Connector Notes 5 6 DC Bus and UNT 3 Phase Three Phase Input ree Phase ILI Input IPD MBRK 195 264V ac RMS AC Line Filter l or 324 528V ac RMS Note 3 IH SEM Notes 1 2 gt 3 H Motor Resistive COM Input Fusing M1 Brake BC Connector PWR Notes 7 8 DBRK DBRK Notes 7 12 1 gt CONTEN Contactor Enable LT CED Connector STOP START Note 12 24V ac dc aj Publication 2094 INOO2E EN P September 2005 HER 120V ac 50 60 Hz M1 Refer to Attention statement Note 11 Ground Jumper Note 10 Connections EI BR rere INDICATES USER SUPPLIED COMPONENT Bonded Cabinet Ground Bus Interconnect Diagrams The configuration on this page does not include a LIM You must supply input power components The diagram below is not preferred because two line filters are required The single phase and three phase line filters are wired downstream of fusing and the M1 contactor ATTENTION Wiring the Contactor Enable relay is required To avoid injury or damage to the drive wire the Contactor Enable r
36. September 2005 Appendix C Integrate Resistive Brake Modules with Kinetix 6000 Drives Chapter Objectives This appendix provides Bulletin 2090 Resistive Brake Module RBM integration procedures specific to the Allen Bradley Kinetix 6000 multi axis servo drive systems using drive firmware v1 071 or above The procedure involves setting the time delay parameter using RSLogix 5000 Before You Begin These procedures assume you have mounted and wired your RBM with your Kinetix 6000 drive system The following publications are available to assist you with RBM installation Title Publication Number Kinetix 6000 Installation Manual 2094 001 Resistive Brake Module Installation Instructions 2090 009 Publication 2094 INOO2E EN P September 2005 C 2 Integrate Resistive Brake Modules with Kinetix 6000 Drives Understand Safety Precautions Publication 2094 INOO2E EN P September 2005 The following precautions apply to resistive brake module installation as shown in the interconnect diagrams Be sure to read and thoroughly understand them before proceeding ATTENTION The interconnection diagrams should be used as a general recommendation on how the safety control circuit may be implemented Actual applications may vary due to requirements based on the machine builders risk assessment The machine builder must perform a risk assessment and determine a category level of safety that must be applied to the mac
37. S 19119AU02 09 uo Ajuo 1u8saud 183 JWI z 1013819 501 18 04 04109 INDnHS9 SAS 2041 z 1unus v punoJt ZN3 109 z N3 130 X0ud 1ndu J8MOg 01407 g jul Od 19114 pu9 suonaauuo sng uowwog 3v 9seug a8Jt September 2005 Publication 2094 INO02E EN P Interconnect Diagrams Safe Off Feature Block Diagram The Kinetix 6000 Safe Off drives ship with the wiring header and motion allowed jumper installed as shown in the figure below With the motion allowed jumper installed the safe off feature is not used Figure A 24 Safe Off Feature Block Diagram Safe Off Option Safe Off 50 ut ae 9 pin Connector i ower supply Safety Monitor Gate Control uC Circuit CCP Motion Allowed Jumper 2 Gate Control 2090 XNSS MA Fnable Signal Wiring Header 2090 XNSS WP 24 COM SM Block Diagram Figure A 25 Shunt Module Block Diagram Internal or External Shunt Resistor POWER RAIL com SMPS GSHUNT 2 5V Control 15V IGBT 24V Control Shunt Circuit Chassis Publication 2094 INOO2E EN P September 2005 29
38. The motor thermal switch has tripped e Check for a fault e Check the wiring The motor has malfunctioned Repair or replace the motor The coupling between motor and machine has broken i e the motor moves but the load machine doesn t Check and correct the mechanics Primary operation mode is set incorrectly Check and properly set the limit Velocity or current limits are set incorrectly Publication 2094 INOO2E EN P September 2005 Check and properly set the limit s Condition Presence of noise on Command or motor feedback signal wires Troubleshoot Your Kinetix 6000 Potential Cause is Recommended grounding per installation instructions have not been followed 2 15 Possible Resolution is e Verify grounding e Route wire away from noise sources e Refer to System Design for Control of Flectrical Noise publication GMC RMO001 Line frequency may be present e Verify grounding e Route wire away from noise sources Variable frequency may be velocity feedback ripple or a disturbance caused by gear teeth or ballscrew balls etc The frequency may be a multiple of the motor power transmission components or ballscrew speeds resulting in velocity disturbance e Decouple the motor for verification e Check and improve mechanical performance of the gearbox ballscrew etc No Rotation The motor connections are loose or open Check motor wir
39. 2 Click on Save changes are saved to non volatile memory the following cautionary message window opens Non Volatile Memory 20940 SERVO Config 000 D Caution N This action will overwrite existing device values that are currently saved in the product s non volatile memory Continue Publication 2094 IN002E EN P September 2005 Integrate Resistive Brake Modules with Kinetix 6000 Drives C 17 3 Click on Yes to complete saving changes to non volatile memory The following confirmation message window opens Save to non volatile memory was successful OK 4 Click OK Have another RBM in the Go to Set the RBM Delay Time Kinetix 6000 system Parameter step 4 1 Close DriveExplorer Do not have another RBM in the Kinetix 6000 system 2 to Reconnect SERCOS Communication Reconnect SERCOS Communication To reconnect SERCOS communication 1 Remove three phase and control power from the Kinetix 6000 drive system 2 Replace the SERCOS fiber optic cable s removed earlier Fiber optic cable connections Tx and Rx are located on the top of each IAM AM 3 Re apply three phase and control power Publication 2094 INOO2E EN P September 2005 18 Integrate Resistive Brake Modules with Kinetix 6000 Drives Publication 2094 INOO2E EN P September 2005 Appendix D Chapter Objectives Before You Begin DC Common Bus Applications This appendix provide
40. 3 12 L1 6 BR MBRK lt lt Motor Brake MBRK 5 BR il Connections 4 Ee COM Motor Resistive 3 From P1L connector LIM Brake BC Connector PWR 4d 2 BR DBRK 1 lt Resistive Brake DBRK lt BR Connections From IOL connector LIM H CONT EN Contactor Enable and CED connector IAM 1 CONT EN Connector Note 12 Publication 2094 INOO2E EN P September 2005 6 Interconnect Diagrams Bonded Cabinet Ground Bus The configuration on this page does not include a LIM You must supply input power components The diagram below is preferred because one three phase line filter is utilized by both control power and main input power connections The three phase line filter is wired upstream of fusing and the 1 contactor ATTENTION Wiring the Contactor Enable relay is required To avoid injury or damage to the drive wire the Contactor Enable relay into your safety control string Figure A 3 IAM Power Interconnect Diagram IAM without LIM Preferred Power Rail Chassis Single Phase Input 95 264V ac RMS Notes 1 2 Input Fusing Ground Stud Control Power CPD Connector Kinetix 6000 INTEGRATED AXIS MODULE 2094 ACxx M xx or BCxx Mxx Cable Shield Clamp Three Phase Motor Power
41. Interconnect Diagrams LIM Block Diagrams Figure A 26 LIM Block Diagram 2094 AL75S Ol LU Ol Z Uld M 3 dd 0L y ui 4 6 maf See me E m X EA 11 oe ipn guid 9 iud Ol somog yor i i aur ONY 714 154 m Gi zn 112 Uld p i ND olll LT zxnv pue LT 1 108110 Md 1081N02 240 10 10 ft ef 34 6 LT zxnv uid 71 ZXnV M 5 T Zuid Sle Z aur a LXV Uid x5 eDejs aseyg H Zi ixnv t Uid Oir T 1 zv 1109 27 i i 108110
42. Publication 2094 INOO2E EN P September 2005 SERCOS module is faulted Go to the appropriate Logix motion module setup and configuration manual for specific instructions and troubleshooting Test and Tune Your Axes Detailed information on configuring and troubleshooting your ControlLogix motion module Commission Your Kinetix 6000 1 33 This procedure assumes that you have configured your Kinetix 6000 your SERCOS interface module and applied power to the system Before proceeding with testing and tuning your axes verify that the IAM and AM status LEDs are as described in the table below Status LED Must be Status Drive Off Normal condition Comm Steady green Communication is ready Bus Flashing green Bus is up axis is disabled normal status Seven Segment Displaying a fixed 4 phase 4 The drive is configured and active For greater detail on the RSLogix 5000 software as it applies to ControlLogix and SoftLogix modules refer to the table below for the appropriate publication Refer to this Document Publication Number Logix5000 Motion Modules User Manual 1756 0 006 Detailed information on configuring and troubleshooting your SoftLogix PCI card SoftLogix Motion Card Setup and Configuration Manual 1784 0 003 If you have already tested and tuned your Logix module using one of the setup and configuration manuals listed above you are finished commissi
43. SERCOS PCI card Publication 2094 INOO2E EN P September 2005 Contents of this Manual Product Receiving and Storage Responsibility Publication 2094 INOO2E EN P September 2005 Refer to the following listing for the descriptive contents of this installation manual Chapter Title Contents Describes the purpose background and scope of Preface this manual Also specifies the audience for whom this manual is intended Provides steps to follow when configuring your Eta Kinetix 6000 the Logix SERCOS interface Chapter 1 Commission Your Kinetix 6000 module and when applying power to the Kinetix 6000 for the first time Provides diagnostic aids that help isolate Chapter 2 Troubleshoot Your Kinetix 6000 problems with your drive and Kinetix 6000 removal replacement procedures Provides interconnect diagrams between the Kinetix 6000 and the Line Interface Module Appendix Interconnect Diagrams Shunt Module Resistive Brake Module and servo motors AnnendixB Upgrade Your Kinetix 6000 Provides steps to follow when you need to pp Firmware upgrade flash your IAM and AM firmware Integrate Resistive Brake Provides safety precautions interconnect Appendix C Modules with Kinetix 6000 diagrams and procedures specific to configuring Drives the RBM with the Kinetix 6000 Explains how to calculate capacitance values Appendix D DC Common Bus Applications and set the Add Bus Cap parame
44. 107014 9 TIN JOO sr LOT joo emm Y Y Y Y z ED gt une LL gt cv A god e HR 3 vua n Zl M 8 199 OONN SFL QNn089 10128uu0 191 Suon3auuo September 2005 Publication 2094 002 35 Interconnect Diagrams RBM Block Diagram 2090 XB120 xx Figure A 32 994 1 eee 71 5 eV 1102 IV 109 5 IWLSNOOD Ly 1715509 46 51 4 SL 201290007 8 SuOIJIaUUD 0 1 ed 031 511815 AYZ 031 511815 062 DIVE A M dL A ANU N ANU A auNnou9 aNnoy9 10290009 741 10290009 181 suonaauuo 10 0 8Jnso u3 suonaauuo fats TIE SIG
45. 1V1SNO9 1715 09 1 15 02 LIM Block Diagram 2094 XL75S Cx Figure A 28 4 1 az smeis PASA f je Y N TFAA 101 89d 2 jd N EN mm ROT Y Z2 L a1 2 2 4 INO 01 mjs ttn 1 199 Ol Jamog VOZ 14114 154 aseyg 8 2 LT zxnv pue LT LxXnv Sh zxnv pue zi 1 i i bud i Z Uld 1 34 INANI Md 14 1 i i i T i 291 Z T 15 aseyd ojBuis fz u 29 Idy i i i 8 WV i yug INO i eug IN WHEW i 11 2 2 2 3d IN Waly OO WE INT VA LL 1VISNOO 8 1 IZ 1 15 02 g E LE 1VISNOJ af ES 1V1SN09 C 7 m 1 lt i i T i z gud 13 1102 zug 23 100 i Jd ud j QV012VA 190 i 102 E vS 1 15 02 v LVISNOO a 1 ZZ 1 15 02 l 21 LVISNOO 140
46. 3 4 A 6 A 7 8 9 10 12 interconnect diagrams 2094 with H Series motor A 21 2094 with MPG A motor A 17 A 18 A 19 2094 with MPG B motor 16 2094 with MPL A motor A 17 A 18 A 19 2094 with MPL B motor A 16 2094 with N Series motor A 22 2094 with Y Series motor A 23 2094 with1326AB motor A 20 controlling a brake example A 25 notes A 1 C 5 power DC common bus A 8 A 9 A 10 A 12 power IAM with LIM A 3 A 4 power IAM without LIM A 6 A 7 RBM C 6 shunt module A 13 A 14 A 15 introduction P 1 inverter A 26 IPM fault see troubleshooting K Kinetix 6000 axis properties 1 24 configuring 1 9 Installation Manual P 3 Line Interface Module Installation Instructions P 3 module properties 1 20 troubleshooting 2 1 user documentation and CAD files CD P 3 Kinetix Motion Control Selection Guide P 3 Kinetix Safe Off Feature Reference Manual P 3 LED 24V power LIM 2 12 brake power LIM 1 27 2 12 bus status 1 29 1 32 2 9 2 11 comm status 1 29 1 31 2 8 drive status 1 29 1 31 2 8 I O power LIM 1 27 2 12 logic power 1 28 1 30 2 2 RBM 230V status 2 13 RBM 24V status 2 12 SERCOS 1756 module 1 32 SERCOS interface module 1 29 Index 1 3 seven segment 1 28 shunt fault 2 11 status 1 28 1 31 1 33 2 2 temperature fault 2 11 LIM 1 26 line interface module brake power LED 1 27 connector designators 1 6 connector locations 1 6 1 8 I O power LED 1 27 interconnect diagram A 3 A 4 A 6 A 7
47. 5 flying lead Feedback Cable Note 14 15 Grounding Technique for Feadback Cable Siield Low Profile Connector 2090 K6CK D15M shown Clamp Exposed shield secured gt under clamp Clamp screws 2 clamp over to hold small cables secure Publication 2094 INOO2E EN P September 2005 22 Interconnect Diagrams Kinetix 6000 IAM inverter or AM Note 13 Cable Shield In the figure below the Kinetix 6000 axis module 230V is shown connected to N Series 230V servo motors Figure A 19 Axis Module to N Series Motor Interconnect Diagram N Series 230V SERVO MOTORS WITH INCREMENTAL FEEDBACK Clamp Note 9 E amp 2 I 4 Green Yellow D 13 1 81 Motor Feedback 3 Motor Power W lt MF Connector 4 2 2 Black B V MF MP Connector lt i Three Phase 6 U lt lt MotorRower A BLACK AM 1 2090 XXNPN xxSxx gt gt 7 Motor Power Cable WHT BLACK 2 Motor Feedback 14 C RED BM 3 MF Connector D 4 WHT RED BM 4 1 9101 1698 araka Cable Connector Kit Motor Feedback W 5 12 55 13 6 Black B 22 BR R WHT BROWN TS 11 MBRK 14 Msn 5 White A lt 3 Motor Brake V
48. 728 Vd H 1 1 1 1 1 1 i i 1 q HIHS LZ Uld VS IWISNOO ozu oz H IE a 8 1 15 02 OQ x N0 eu 6l Ud xr W Ev Fer zug WISN erug Le etd IE lvisnoo ztud 2 5 77 WISNOO or pO E 1502 sw OTS x L IVISNOJ 1915502 271502 4 LEIVISNOS 0 7 LVISNOO zug 0 o bx o gus ow o oe sud 0 T Bo sw 2j 102 2 T ul NY 1 T 5 woo or vug 2 i 3 109 fa 2 cud LMd 01 2 aq HNO 01 Zud i 2401 1 01 5 10 2 102 101 i 0 I SNLVLS 101 571715 02 Hd 1 ansmeswz 27171800 i ZZ 1VISNOO e x e eyieyu 7171 15 02 994 lt GIG G G lt September 2005 Publication 2094 INO02E EN P Interconnect Diagrams A 30 Figure A 27 LIM Block Diagram 2094 BL75S ZNOJ 01 ZuMd 01 2109 Ol ZuMd 01 uld 202 01 y Uld 01 Guld 202 01 guld ZuMd 01 01 01 104100 0 1 ONY
49. Bonded Cabinet Ground MM oT 8 e9 o o o o 5 5 09972 e o o o Figure 2 6 Removing Ground Strap 2094 PRSx 4 Braided Ground Strap 100 mm 3 9 in o o o 9 o m m 1 bs 2 Bonded Cabinet Ground x x E o a H a a 2 E E a a o o o o O o o o O 2 Loosen the mounting bolts removing the bolts is not necessary 3 Lift the power rail up and off of the mounting bolts Publication 2094 INOO2E EN P September 2005 2 26 Troubleshoot Your Kinetix 6000 Replace the Power Rail Publication 2094 INOO2E EN P September 2005 This procedure assumes you do not need to change the location of the power rail on the panel and you intend to reuse the mounting bolts of the power rail you just removed IMPORTANT you need to change the location of the power rail or if you are installing a power rail designed for additional or fewer modules than you removed refer to the Kinetix 6000 Multi Axis Servo Drive Installation Manual publication 2094 IN001 for complete installation instructions ATTENTION To avoid damage to Power Rail during installation do not remove the protective boots until the module for each slot is read
50. Mtr Fdbk Motor Encoder State Error illegal transition potential noise sources Check the system grounds e Replace the motor encoder AuxFeedbackFault E21 Communication was not established with an intelligent encoder Verify auxiliary encoder wiring Aux Feedback Comm Publication 2094 INOO2E EN P September 2005 Troubleshoot Your Kinetix 6000 2 5 Error Fault Message ES Code RSLogix HIM Problem or Symptom is Potential Cause is Possible Resolution is e Verify motor selection MotFeedbackFault NC E Verify the motor supports automatic E30 Motor Feedback Comm Communication was not established with an intelligent encoder identification e Verify motor encoder wiring e Check motor power wiring Wiring error Check input power wiring refer to Kinetix 6000 Installation Manual publication 2094 001 Motor internal ground short Replace motor Disconnect motor power cable from drive and enable drive with current limit set to 0 E34 GroundShortFault eo seus d DIA M Internal malfunction If fault clears then a wiring error or motor Ground Fault detected internal problem exists If fault remains call your representative e Remove ground from control power input Grounded control power terminal e Wire control power to use main power applies to 230V systems only as shown in Figure A 3 e Add isolation transformer
51. configuration manual for specific instructions and troubleshooting Publication 2094 INOO2E EN P September 2005 1 30 Commission Your Kinetix 6000 Publication 2094 INOO2E EN P September 2005 Apply Power to Your Kinetix 6000 without LIM This procedure assumes that you have wired and configured your Kinetix 6000 and SERCOS interface module Follow this procedure if your Kinetix 6000 system does not include a Line Interface Module LIM To apply power to your Kinetix 6000 system 1 Disconnect the load to the motor s ATTENTION To avoid personal injury or damage to equipment disconnect the load to the motor s Ensure each motor is free of all linkages when initially applying power to the system 2 Apply 95 264V ac control power to the IAM CPD connector and observe the logic power LED as shown in the figure below Figure 1 14 Logic Power and Status LED Display Seven Segment Fault Status LED gt LJ Logic Power LED If the Logic Power LED Go to main step 3 1 Check your control power connections 2 Repeat main step 2 Note The seven segment LED will first flash the SERCOS node address then cycle through phases until final configuration phase 4 is reached seven segment status LED on your 2094 2094 xMxx Commission Your Kinetix 6000 3 Apply 195 265V ac 230V or 324 528V ac 460V input
52. removing 2 27 replacing 2 28 system block diagram A 29 A 30 A 31 A 32 A 33 Literature Library P 3 logic power 1 30 2 2 logic power LED 1 28 Logix5000 Controllers Motion Instructions Reference Manual 3 Logix5000 Motion Modules User Manual P 3 1 16 1 33 loop configuration 1 24 maintenance 2 2 memory init 2 6 module mismatch 2 7 module properties 1756 SERCOS interface 1 18 IAM 1 20 Motion Analyzer CD P 3 Motion Control Selection Guide P 3 motion group properties 1 23 motor accel decel problems 2 14 motor and feedback tab 1 24 motor encoder error 2 4 motor feedback loss 2 4 motor jumps when first enabled 2 3 motor overheating 2 15 motor overtemp 2 3 motor velocity 2 14 motors interconnect diagram 1326AB A 20 H Series A 21 Publication 2094 INOO2E EN P September 2005 4 Index Publication 2094 INOO2E EN P September 2005 MPG A A 17 A 18 A 19 MPG B A 16 MPL A 17 18 19 MPL B 16 N Series 22 Y Series A 23 testing 1 33 tuning 1 33 MOV A 25 mtr fdbk noise fault 2 6 National Electrical Code P 3 no communication 2 8 no rotation 2 15 node address 1 20 noise abnormal 2 15 feedback 2 15 NV mem init 2 6 0 objects init 2 6 optical power level 1 14 1 15 1 19 overspeed fault 2 4 P parameters changing 2 19 power indicator not on 2 3 power phase loss 2 5 power rail removing 2 25 removing modules 2 23 replacing 2 26 power up 1 26 precautions general startup 1 1 prec
53. zud UMd H UMd JUAN uid Q z zn IXL 104100 0 1 154 m 34 VAOSL 1154 dd NOEZ 0 A097 7 a a W09 Ol A ddns samog v9 Y _ r o en 01 7 Ne 1944 eur eseug e Buis i z 82 01 227 a 107 27 1102 3i 180 7 0 1915802 P WOIVING a aC 71 1 15 02 gt a A 1Z_LVISNOO 12 LVISNOO 210 ZZ 1 15 02 15 02 1 16 1VISNO9 ue 2 1 15 02 403114 eur ly_1VISNOO ly 191502 eDejs eseug aeu 8 uid ZZ IWISNOD Zud ea 1V 1102 H ud ZL _IWISNOD guid 101 2 a m 79 100 Iv bole gZ l 9 N Uld 34 Zuid T Ne Mes NIS NE L 882 001 AfldNI INN IVA J N Uld 10 7 7 O ISNLVLS 101 9 t z 1102 d 1 1 15 02 7 T 5031 511015 AvZ 1 15 02 z7 gud 140 41 l 244 ZZ 1 15 09 rud ZL LVISNOO 114100 GVO1OVA 740 1 September 2005 Publication 2094 INO02E EN P RBM Block Diagrams RBM Block Diagram 2090 XB33 xx Figure A 31 Interconnect Diagrams A 34 IIHS 07 1109 WW 1109 GT3IHS V 1 15 092 Ly IVISNO 70 51 12 SL 40128uu07 g Suonoeuuo 0 1 031 SMIS Avc SIN A aNnou9 10 99UU04 281 5 2 2
54. 0 Drive Data 1 0 1207 Drive Off Delay 0 0 msec Motor Data Geb Dn msec Motor Config 10 1641 RBM Delay 0 0 msec gt Feedback Aux Feedback Homing Probe Config Probe Data Torque Config Torque Data Velocity Config Velocity Tune Velocity Data Position Config Position Tune Position Data Acceleration Servo Loop Auto Tune Hookup Fault Status Publication 2094 INOO02E EN P September 2005 C 16 Integrate Resistive Brake Modules with Kinetix 6000 Drives 5 Double click on the 641 RBM Delay parameter The command window for parameter x641 RBM Delay opens gj Value Edit Advanced NAA n 0 msec Head Internal Value n 0 Hex C Oct 00 1000 0 Default 0 0 Select Defauit OK 6 Click on the Value Edit tab and enter the delay time Value ms The recommended RBM delay time is 71 ms 7 Select OK The RBM delay time is changed but not saved in non volatile memory Save the Delay Time Parameter to Non Volatile Memory To save the delay time parameter to non volatile memory 1 Click Actions Non Volatile Memory the menu bar following message window opens Non olatile Memory 20940 SER O Config 000 xj Save current device values to non volatile memory Recall device values from non volatile memory Recall Reset device values to defaults Load Defaults Close
55. 11 Uld 21819 Ajddng 180g VOZ 154 T zxnv pue LT LXnv 108110 1081NOO 142 ZT zxnv pue ZT Lxnv dd 6 01 6 KH T8 el 8 Fe as alc 4 Aj 9 181 aur 9Dejs eseug eau 8 NOEZ AOSV ail 1 1 Hie OVAOEZ o1 aur eDejs aseyg 1 ziv 109 HL 104110 YMd Zd zi i 5 i 75 1715 02 8 Y Uid ES IVISNOO woo gu W WH novi l zug Z 1 15 02 74 102 3d jug lE 1 15 02 OR gt o W NN ZZ 1 15 02 E _ Ag Woo WIV j IZ 1 15 02 suud 15 02 LIL 1VISN09 8 Wav ZI IVISNO9 VISNOD X lo H IVISNOD eiui LE IVISNO iyo el E 10 i 1 oA A WOO INHIV 2194 Ni E 10
56. 2 70 Ajuo xx 0z LaX 060Z TET 10138uu0 dl 10 28uuo 91 1ndu eseug eaiu 1 1 1 ZON 4 E ajqeo 09 1 1070W 10 LOONI V60Z 101290005 14 uoneaiqnd enuejy 1 7 NON pue 1 T nding LH 0009 xiaury AY 0 19J8y 9 qe 01 Wad 90 Ld03t 1 99 060 90 n 3Nud n n V 20129000 IN g z i a pus M 218412 183 M UIN M 3Nud M M BB 0 9 9 101290400 ug 2018 pue 601 0602 9001290007 281 204091100 181 dwe JINGOIW 39V3U31NI INIT 1010 100 3 00 bi 9 anug 0009 dwe 9 LIN dwejg 5 31929 pilus 9 pnis 30N ley Jamog S saabnc 0 Wau 0 sixy 18 XX XX8X 060Z XXIN XX g 10 Xx N XX N t60Z JINON 31788 3ALLSIS3U JINON SIXV 031V8931NI 0602 unejng 0009 September 2005 Publication 2094
57. 3 aid M M t 0 a T Y T 201290005 281 Suoroauuo 1070 4 20290007 181 Suonaeuuo suonoeuuo J8MOg J0 0JA duie 5 5 9 30N 1199 9 060 3100IN JAILSISJY 0602 3 patys LION 1 sixy XXING 10 XXINW 1602 JINGOW SIXV 0009 Uonnqusng 2 1 04 102 04 44 5 YSN S31VOIONI x 1102 01 45 LON 0351 LON SENI ELNI LENI LIVLSNY8 gt 01 01715048 amp N 8 N LN 9 SN ENON N CN VN O N 918I 95 1 1 01002 September 2005 Publication 2094 INO02E EN P Integrate Resistive Brake Modules with Kinetix 6000 Drives C 10 The example diagram below shows Kinetix 6000 IAM and LIM 2094 AL75S BL75S and XL75S wired with the Bulletin 2090 RBM Figure C 3 Example RBM Interconnection Diagram Category 3 Configuration per EN954 1 INANOdWIO9 0304405 H3Sfl S31VOIONI x ZION 8 482 Jamod 101001 10 100 1 7602 uoneaiqnd jenueJA 0009 AY 01 Wy LNVLSNOO Zy LNVLSNOD 10128uu0 81 suonaauuo 0 1
58. AMxx 230V AM the location of the connectors Motor Power MP Connector Motor Resistive Brake BC Connector SERCOS Baud Rate and Optical Power Switches SERCOS Transmit Tx Connector SERCOS Receive Rx Connector Seven Segment Fault Status LED ton Drive Status LED fon COMM Status LED ion Bus Status LED Auxiliary Feedback AF Connector Motor Feedback MF Connector Note Power feedback and I O connectors are shown however for wiring information refer to the Kinetix 6000 Multi Axis Servo Drive Installation Manual publication 2094 13001 Publication 2094 INOO2E EN P September 2005 Commission Your Kinetix 6000 1 5 Understand SM Connectors Use the table below and Figure 1 3 to locate the Shunt Module Motor Cable Shield Clamp connectors and indicators Locate Shunt Module Connectors RC External Shunt Resistor Connector 3 position connector housing TS External Thermal Switch Connector 2 position connector housing Figure 1 3 Kinetix 6000 Shunt Modules 2094 BSP2 Shunt Module top view External Shunt Resistor RC Connector External Thermal Switch TS Connector Shunt Module front view Shunt Fault LED Over Temp Fault LED Bus Status LED Mounting Screw Note Power connectors are shown however for wiring information refer to the Kinetix 6000 Multi Axis
59. Enoe Integrator Friction Compensation Velocity Feedtorwad Acceleration Feedforward Output Filter ea mue Enter values for Travel Limit and Speed In this example Travel Limit 5 and Speed 10 Note Actual value of programmed units depend on your application Select setting for Direction Forward Uni directional is default Check Tune boxes as appropriate for your application Apply Hardware Enable Input signal IOD 2 for the axis you tuning To avoid personal injury or damage to equipment apply 24V ENABLE signal IOD 2 only to the axis you are tuning Commission Your Kinetix 6000 1 37 7 Select the Start Tuning button to auto tune your axis The Online Command Tune Servo window opens When the test completes the Command Status changes from Executing to Command Complete 8 Select OK The Tune Bandwidth window opens 8410144 215 2997 High Application applying Lowy Ress Note Actual bandwidth values Hz depend on your application and may require adjustment once motor and load are connected Record your bandwidth data for future reference 9 Select OK 10 The Online Command Apply Tune window opens When the test completes the Command Status changes from Executing to Command Complete Publication 2094 002 September 2005 1 38 Commission Your Kinetix 6000 11 Select OK Y
60. Servo Drive Installation Manual publication 2094 IN001 Publication 2094 INOO2E EN P September 2005 1 6 Commission Your Kinetix 6000 Understand Connectors the tables below and figures 1 4 and 1 5 to locate the Line and Indicators Interface Module connectors Line Interface Module Connectors The following table describes the Line Interface Module connectors used with catalog numbers 2094 AL75S BL75S and XL75S Cx Designator Description Connector IOL Status 1 0 LIM 21 pin plugable terminal block IPL VAC LINE Input Power LIM 4 position plug header OPL VAC LOAD Output Power 4 position plug header PIL Brake and 1 0 Power Output 24V dc 6 position plug header P2L Auxiliary Power Output 230V ac 4 position plug header CPL Control Power Output LIM 2 position plug header APL Auxiliary Power Input LIM 2 position plug header 1 Auxiliary Power Input APL connector is only present on the 2094 XL75S Cx model The following table describes the Line Interface Module connectors used with catalog numbers 2094 AL09 and BL02 Designator Description Connector IOL Status 1 0 LIM 26 pin high density D shell IPL VAC LINE Input Power LIM 4 position terminals OPL VAC LOAD Output Power 4 position terminals PSL Brake and 1 0 Power Output 24V dc 4 position plug header CPL Control Power Output LIM 2 position plug header Publication 2094 IN002E E
61. XL75S Cx model Control Power Output CPL Connector 230V ac Auxiliary Power Output 21 Connector 24V dc Brake Power Output Connector Line Interface Module top view 2094 XL75S Cx is shown 1 0 Power Status LED 1 0 IOL Connector Line Interface Module front view 2094 XL75S Cx is shown Nr IOL Connector as viewed from side Locate SERCOS Interface Fiber Optic Connectors Front View Bottom View Rx front ControlLogix 1756 MxxSE SERCOS interface Module O SERCOS Receive Connector Rx front SERCOS Transmit Connector Tx rear Commission Your Kinetix 6000 1 9 Use the figure below to locate the SERCOS interface fiber optic connectors The fiber optic ring is connected using the SERCOS Receive and Transmit connectors Note Plastic cable is available in lengths up to 32 m 105 0 ft Glass cable is available in lengths up to 200 m 656 7 ft Figure 1 6 ControlLogix and SoftLogix SERCOS Connector Locations SoftLogix ox 1784 PMI6SE SERCOS interface PCI Card as viewed from the back of your PC RSLogix 5000 SERCOS Transmit Connector Tx O SERCOS Receive Connector Rx Configure Your Kinetix 6000 These procedures assume you have completed mounting wiring and connecting your SERCOS interface module and Kinetix 6000 drive as described in the Kinetix 6000 Multi Axis Servo Drive
62. for control power DriveUndervoltage Low AC input voltage Check input AC voltage on all phases E35 Fault Converter pre charge cycle Pre charge Fault failed Internal malfunction Call your A B representative e Reduce acceleration rates e Reduce duty cycle ON OFF o commanded motion DriveOvertemp e Increase time permitted for motion E36 Fault Converter thermal switch Excessive heat exists in the power System tripped circuitry e Use larger Kinetix 6000 converter Overtemperature e Check for clogged vents or defective fan e Ensure cooling is not restricted by insufficient space around the unit P Phasel e One or more phases of the input AC power is missing E37 Fault oer e Axis was enabled when main 3 phase power was removed Check input AC voltage on all phases Phase Loss Fit Common bus follower axis was enabled when DC bus power was Disable axis before removing power removed SERCOSFault The SERCOS ring is not har nnt E38 active after being active Cable disconnected Check that fiber optic cable is present and SERCOS Ring FIt and operational connected properly e Verify that there are no impediments to motion at startup such as hard limits DriveHardFault Self sensing Commutation Motion required for self sensing startup e Increase self sensing current if high E39 Self Sense Fit Startup Error commutation was obstructed friction or load conditions exist e Check motor or encoder wiring u
63. function DriveOvercurrentFault E05 An instantaneous over current was detected in the inverter power SHUTDOWN N Power Fault Section HardOvertravelFault E06 Axis moved beyond the physical travel limits in the positive negative STOP Y 4 Hard Overtravel direction This fault can be configured for status only MotFeedbackFault RALIS E07 The feedback wiring is open shorted or missing DISABLE N With 3 phase present the DC bus voltage is below limits The trip BusUndervoltageFault HE point is 275V and 137V DC for 460V 230V drives respectively SHUTDOWN T Bus Under Voltage DC bus voltage is below limits when any axis on common bus follower power rail was enabled DriveOvervoltageFault The DC bus voltage is above limits The trip point is 820V and 410V Bus Overvoltage E10 DC for 460V 230V drives respectively SHUTDOWN MotFeedbackFault Ret E11 State of Hall feedback inputs in incorrect DISABLE N SoftovertravelFault E16 Axis position exceeded maximum software setting in the positive STOP y Software Overtravel negative direction This fault can be configured for status only OverSpeedFault Axis speed has reached 150 of the maximum rated setting The aeo 18 100 trip point is dictated by the lesser of the user velocity limits DISABLE N Overspeed Fault the motor rated base speed PositionErrorFault E19 Axis position error limit has been exceeded This fault can be STOP Y Follow Error configured for statu
64. is ready Go to step 6 Not solid green If the I O Power Status LED is Solid green Brake power fault Go to Troubleshoot LIM Status LEDs on page 2 12 6 Observe the I O Power Status LED on the LIM Refer to Figure 1 4 2094 xLxx or Figure 1 5 2094 xLxxS xx for the location of the I O Power Status LED I O power is ready Go to step 7 Not solid green I O power fault Go to Troublesboot LIM Status LEDs on page 2 12 7 Set CB2 on the LIM to the ON position 8 Set CB1 on the LIM to the ON position 9 Verify the Hardware Enable Input signal IOD pin 2 for each axis is at 0 volts If the Hardware Enable Input signal is 0 volts Go to step 10 24 volts 1 Remove connection between IOD 1 and IOD 2 2 Go to step 10 Publication 2094 INOO2E EN P September 2005 The seven segment status LED on your 2094 xCxx Mxx IAM 2094 Commission Your Kinetix 6000 10 Observe the IAM AM front panel logic power LED as shown in the figure below Figure 1 13 Logic Power and Status LED Display Seven Segment Fault Status LED If the Logic Power LED 7 LI Go to step 11 Logic Power LED connections 2 Repeat step 10 1 Check your control power 11 Observe the IAM AM front panel seven segment status LED display as shown in Figure 1 13 Note The seven segment LED will first flash the SERCOS node address then
65. service or repair this assembly If you do not follow ESD control procedures components can be damaged If you are not familiar with static control procedures refer to Allen Bradley publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook Before You Begin Before you replace modules be sure to have the following e A flat blade screw driver small flat blade screw driver 3 5 mm 0 14 in e Voltmeter Publication 2094 INOO2E EN P September 2005 Troubleshoot Your Kinetix 6000 2 23 Remove Modules from the Power Rail To remove module s from the power rail 1 Verify that all control and input power has been removed from the system ATTENTION To avoid shock hazard or personal injury assure that all power has been removed before proceeding This system may have multiple sources of power More than one disconnect switch may be required to de energize the system 2 Allow five minutes for the DC bus to completely discharge before proceeding ATTENTION This product contains stored energy devices To avoid hazard of electrical shock verify that all voltage on capacitors has been discharged before attempting to service repair or remove this unit You should only attempt the procedures in this document if you are qualified to do so and are familiar with solid state control equipment and the safety procedures in publication NFPA 70 3 Labe
66. the Power tab L Module Properties SE_MOD 2094 16 1 1 General Connection Associated Axes Power Module Info Bus Regulator Catalog Number lt none gt Status Offline Publication 2094 002 September 2005 1 22 Commission Your Kinetix 6000 11 Select the Bus Regulator Catalog Number or other as appropriate for your actual hardware configuration If your IAM is And your hardware configuration Then select includes this shunt option Internal shunts only Internal or none Bulletin 2094 rail mounted shunt module 2094 BSP2 Configured as an IAM or Leader IAM common bus Bulletin 1394 passive shunt module connected to the 2094 BSP2 1394 S Rxxxx Bulletin 1336 active shunt module Internal or none Configured as a Follower IAM N A Shunts are disabled on Follower IAM CommonBus Follow 1 2 Drive will not accept Internal none 2094 BSP2 or 1394 SRxxxx selection if DC Bus voltage is present without having three phase power applied Drive will not accept CommonBus Follow selection if three phase power is applied ATTENTION To avoid damage to your Bulletin 1394 external shunt module verify that the proper 230V or 460V fuse is installed prior to applying power Refer to the Kinetix 6000 Multi Axis Servo Drive Installation Instructions publication 2094 001 for fuse specifications gt When conf
67. the bolts is not necessary Lift the LIM up and off of the mounting bolts Publication 2094 IN002E EN P September 2005 2 28 Troubleshoot Your Kinetix 6000 Replace the Line Interface Module Publication 2094 INOO2E EN P September 2005 This procedure assumes you do not need to change the location of the LIM on the panel and you intend to reuse the mounting bolts of the LIM you just removed you need to change the location of the LIM refer to the Kinetix 6000 Multi Axis Servo Drive Installation Manual publication 2094 INOO1 for complete installation instructions i M Align the replacement LIM over the existing mounting bolts IMPORTANT To improve the bond between the LIM and subpanel construct your subpanel out of zinc plated paint free steel Tighten the mounting bolts Re connect the LIM wires and connectors To locate wires and connectors refer to page 1 6 Re apply power to the LIM Verify that the LIM is operating properly Chapter Objectives Kinetix 6000 Interconnect Diagram Notes Appendix A Interconnect Diagrams This appendix contains the following interconnect diagrams Power Interconnect Diagrams DC Common Bus Interconnect Diagrams Shunt Module Interconnect Diagrams AM Motor Interconnect Diagrams Controlling a Brake Example System Block Diagrams This section provides interconnect diagram notes to assist you in wiring the
68. two slave units Figure A 12 External Active Shunt Module Interconnect Diagram Kinetix 6000 INTEGRATED AXIS MODULE 2094 EXTERNAL SHUNT RESISTOR 1336 MOD Kxxxx Slave In 1 Slave In 2 3 Master Out CENE Note 4 Master Out s DC Bus eal 5 DC Bi Connections 2 x 5 TB1 DC DC Bus L 3 Three Phase 13 4 1 Input IPD 5 2 TB3 Connections 12 u 8 3 4 Fault Relay Note 20 Shunt chassis 1336 Master ground screw Contactor Enable CONT EN EXTERNAL ACTIVE SHUNT CED Conector T CONT EN RESISTOR 1336 MOD Kxxxx Slave In 3 2 Notes 7 12 Slave In 5 STOP bad Master Out ac dc L is CR1 Master Out 120V ac 1 1 5 5 506 50 60 2 6 1 e DC Bus gt 9 9 Refer to Attention statement Note 11 Note 4 1 TB3 2 3 4 Fault Relay Note 20 Shunt chassis 1336 Slave ground screw EXTERNAL ACTIVE SHUNT RESISTOR 1336 MOD Kxxxx 1 Slave In 2 2 Slave In Is Master Out 4 4 Master Out 5 M DC Bi coe 1 1 1 4 DC Bus Single Phase Input 1777n 1 115Vac RMS 1 1 41 gt TB3 50 60 Hz d c
69. 0 Auxiliary Power Input APL Connector VAC Line IPL Connector VAC Load OPL Connector Main VAC Publication 2094 INOO2E EN P September 2005 Use the figure below to locate the Line Interface Module connectors and indicators Kinetix 6000 Line Interface Modules 2094 AL75S BL75S and XL75S Cx Figure 1 5 e e 4 C 12 a C 296 DEG 5 eC Fr T LI p s t qr gus eI PEHD E 5 co Su 2 C AD 8 gt C D kd 5 at gt E e OD AA p gt 1 gt 8 xt gt 7 SL N 3 3 g Slur A 2 1 _______7 Sa EE OFF CB1 ON MAIN VAC Fuse Block Control AUX VAC 1 9 1 Auxiliary Power Input APL connector is only present the 2094
70. 0 646 5800 C K6k_Firmware Files 2094_ER1 056_2002_05_ Browse Protocol modem Y Publication 2094 002 September 2005 Upgrade Your Kinetix 6000 Firmware B 7 6 Select Xmodem protocol 7 Select Send The flash upgrade operation begins and the following window opens Sending FimwareFiles2094 ERT 056 2002 05 16 Packet 03 Error checking Retries p Total retries File 413k of 513K Elapsed 00 05 18 Remaining 00 01 15 Throughput 1328 cps Cancel cps bps ATTENTION To avoid unrecoverable fault to modules do not interrupt control power to IAM power to the 1203 SSS DPI adapter or power to your PC while the flash upgrade operation is in progress 8 The flash operation completes and the following window opens v K6K HyperTerminal _ ol x File Edit View Call Transfer Help DPI Host Flash Program Updated Press any key to continue NIS I Connected 0 32 32 Auto detect 384008N 1 SCROLL CAPS NUM Capture Prnt echo 9 Close the HyperTerminal session 10 Verify that parameter 30 for each axis module is now upgraded to the new firmware revision Return to DriveExplorer refer to Select Axis Modules to Upgrade step 6 to see the linear list of parameters Publication 2094 INOO02E EN P September 2005 8 Upgrade Your Kinetix 6000 Firmware Publication 2094 INOO2E EN P
71. 0 Hz 1 Ground Jumper Note 10 Refer to Attention statement Note 11 INDICATES USER SUPPLIED COMPONENT Publication 2094 INOO2E EN P September 2005 Interconnect Diagrams A 8 The interconnect wiring for common bus configurations is shown DC Common Bus beginning below The example on this page shows a Kinetix 6000 Leader IAM and Follower IAM connected via the DC common bus Figure A 5 Interconnect Diagrams Leader IAM with Single Follower Power Interconnect Diagram lt 40 Ajgjes aug pim 5998 ui 101261002 pue ayy M ZL ION 10 9uu0 090 c N3 INOI 7 1N3NOdINOO 03114405 S31VOIONI C FNTINOD gt gt lL eh ON gt ua 10138000 032 _ 4 N3 7 2 9 qeu3 1008102 NJ INO2 UMd 1 38 exea woo AANSISAY JO O 1 LJ ad 5 87172 SON gt an sny 805 07610 YMd 10 33uu09 28 84219 9 9 SINY 797 561 AANSISAY JO O lt
72. 002 C 13 Integrate Resistive Brake Modules with Kinetix 6000 Drives 01715388 01102 0318VN3 1 154015 INO rri wz 3N 1ejseuipieng Aa peag uojv Aejay Lea oc x 04 109 0304405 531 9 x OSN LON i w e ves ses zs zs zis us 255 w SN LON o 5 67 Ymd 0 T Ol ELNI 19598 amp 12 6L u E 1 8053 9 9 o El T 9 WO L P wo Dono 17189015 x Uleun i 9181 96 1 uMd 0l 82148 g 09 INO September 2005 Publication 2094 INO02E EN P 14 Integrate Resistive Brake Modules with Kinetix 6000 Drives Set the RBM Delay Time Using DriveExplorer Publication 2094 INOO2E EN P September 2005 In this procedure you will break SERCOS ring communications set the delay time parameter using DriveExplorer software and re establish SERCOS communication If you are using this version Then of RSLogix 5000 software Proceed with these instru
73. 1326AB B4xxx 0 88A Applies to 230V and 460V motors Coil Currents Rated gt 1 0A and lt 1 3A Interconnect Diagrams A 25 Coil Currents Rated gt 1 0A and lt 1 3A Compatible Brake Motors Coil Current Compatible Brake Motors Coil Current F 6100 6200 and 6300 1 30A MPL x520 x540 x560 x580 1 05 to 1 28A MPF B540 H 6100 6200 and 6300 1 13A 1326AB B5xxx and B7 xxx 1 20 Coil Currents Rated gt 1 3A and lt 3 0A Applies 230V and 460V motors Coil Currents Rated gt 1 3A and lt 3 0A Compatible Brake Motors Coil Current 8350 and 8500 2 20A Compatible Brake Motors Coil Current MPL B640 B660 B680 B860 B880 B960 B980 1 91 to 2 19A Figure A 21 shows an example configuration using MBRK and external relay to control a motor brake which exceeds the drive IAM internal relay rating Figure A 21 Example Configuration Controlling a Motor Brake Kinetix 6000 IAM inverter or AM Note MBRK 5 5 MBRK 4 9 CoM User Supplied pwr 3 lt 24V dc 3 0A max Z L 7 DBRK Motor Resistive 1 Brake BC Connector C SZ NT Brake MI SERVO Feedback MOTOR Power 1 For Motor Resistive Brake BC connector specifications refer to the Kinetix 6000 Installa
74. 19 04 0400 61419 E ano M M d 10440 7 yndjng eseug ajBuis v T suonaauuog 204290007 291 104290002 191 019 pu 601 604 1 1010 500029000 10704 Suo3auuo eAuq ee algen JINON 39V3831NI 0009 piaius pjeius pnis punoJr ION ION ley Jamog 9 0 Wad 0 sxy XX XX 4X 0602 XX N XX 3g 10 XX N XX 3X t60Z TINON 3ALLSIS3H JINGOW SIXV GILVYDILNI 0602 0009 September 2005 Publication 2094 INO02E EN P C 9 Integrate Resistive Brake Modules with Kinetix 6000 Drives ly 1VISNOO Zv 1VISNOO i gt v LIVISYa S dad 9 910N L 7 1 dad J013euuo 58 8 D mE 9AJ1SIS9u 1010 AI 201290005 g V Ssuon3auuo 0 1 S 9 0 0219 0602 203290002 91 Ndu c ION syaquunu jqe 101001 104 000 7602 NON uonearqnd enuejy 15 01 gY 0009 XHAULY Y 01 eH Ld03t L 88NOCOB0Z Xnv n i YIN N IAYO n n IN A UIN A a JAC A 7 z A 10138Uu0 dN M J8MOdg 104014 aNd
75. 2 0 0060 2 X683 84 X684 0 1000 1 slot number The value entered in Scale Parameter will scale the analog output so that you can get a full scale reading of the specific parameter for the dynamic range or values you are testing To monitor dynamic system variables on analog outputs use the values shown in the table below Attribute Parameter Number Velocity Feedback 40 Velocity Commanded xx36 Torque Feedback Torque Commanded 80 Following Error x189 1 Velocity Command and Feedback scaling value is 0 25V 1000 rpm using default scaling c Torque Command and Feedback scaling value is 0 25V 10096 rated motor current or amplifier rating whichever is less using default scaling 3 Output scaling is dependant on feedback device and drive resolution y slot number Publication 2094 INOO2E EN P September 2005 2 22 Troubleshoot Your Kinetix 6000 Replace Kinetix 6000 Use these procedures to System Components e Determine what you need to replace modules e Remove a module from the Power Rail e Install a replacement Power Rail module e Remove the Power Rail e Install a replacement Power Rail e Remove the Line Interface Module e Install a replacement Line Interface Module ATTENTION This drive contains ESD Electrostatic Discharge sensitive parts and assemblies You are required to follow static control precautions when you install test
76. 320 32 05 1980 05 2640 IAM AM 460V Modules IAM Converter 460V Capacitance AM Inverter 460V Capacitance 2094 uF 2094 uF BC01 MP5 m BMP5 75 01 01 01 150 02 02 220 02 270 04 03 940 03 840 07 05 1410 05 1175 SM 230 460V Module SM 230 460V 2094 BSP2 Capacitance uF 470 Publication 2094 IN002E EN P September 2005 0 4 DC Common Bus Applications Common Bus Capacitance Example In the figure below the sum of the Leader IAM power rail modules capacitance 6530 pF and the Follower IAM power rail modules capacitance 5280 uF equals 11810 pF Total Bus Capacitance The sum of the Follower IAM power rail modules equal 5280 pF Additional Bus Capacitance Figure D 1 Calculating Common Bus Capacitance B m Filter E Three Phase Input Power Kinetix 6000 230V 4 Leader IAM j CC 11810 Total Bus Capacitance Line Interface Modul 2 00 o CT v v v component PRF 2094 PRF 6 4 SM 2094 BSP2 470 pF A A A AM 2094 02 780 uF AM 2094 03 1320 DC Common Bus AM 2094 03 1320 IAM 2094 16 03 Converter 1320 uF IAM 2094 16 03 Inverter 1320 uF Kinetix 6000 230 Follower IAM 5280 pF Addi
77. 90 CDNFDMP Sxx flying lead Feedback Cable Notes 14 15 Publication 2094 INOO2E EN P September 2005 Interconnect Diagrams A 17 In the figure below the Kinetix 6000 axis module 230V is shown connected to MP Series Low Inertia MPL and Integrated Gear MPG 230V servo motors Figure A 14 Axis Module to MP Series 230V Motor Interconnect Diagram for proper grounding technique 2090 XXNFMP Sxx flying lead Feedback Cable Notes 14 15 Kinetix 6000 MPL A and MPG A 230V IAM inverter or AM SERVO MOTORS WITH Note 13 HIGH RESOLUTION FEEDBACK Cable Shield K Clamp Note 9 Green Yellow D 2 m lt lt al Motor Feedback 3 MotorPower W lt lt W GND MF Connector MP Connector y 2 2 Black BLE 5 1 3 Brown A U 6 U mede lt lt Motor Power DES T SIN 1 7 Motor Feedback Motor Power Cable B WHT BLACK SIN 2 8 MF Connector Note 14 C s RED COS 3 9 WHT RED 11 GREEN 5 12 Brake BC Connector Mis ali 2 5 WHT GREEN __ __ 10 13 BRK 6 Black C lt lt BR K gt g
78. Axis Module Connectors 1 2 Locate IAM Connectors and Indicators 1 3 Locate AM Connectors and 5 1 4 Understand SM Connectors 1 5 Locate Shunt Module Connectors 1 5 Understand LIM Connectors and Indicators 1 6 Line Interface Module 1 6 Locate SERCOS Interface Fiber Optic Connectors 1 9 Configure Your Kinetix 6000 1 9 Configure Your Integrated Axis Module 1 10 Configure Your Axis 9 1 15 Configure Your Logix SERCOS interface Module 1 16 Configure Your Logix s us e EFE ex 1 16 Configure Your Logix 1 17 Configure Your Kinetix 6000 Modules 1 19 Configure the Motion 1 23 Configure Axis 5 1 24 Download Your Program 1 25 Apply Power to Your Kinetix 6000 1 26 Apply Power to Your Kinetix 6000 with LIM 1 26 Apply Power to Your Kinetix 6000 without LIM 1 30 Test and Tune Your 1 33 Test YOUr AXES Red dee 1 33 YOU AXOSS uer pecu oe V Na ewe 1 36 Chapter 2 Chapter 2 1 Safety is quu sci pee Str eg ba oh o pa tdg 2 2 General
79. C Resistive Motor Brake 6 position connector housing IAM AM S0 Safe Off 9 position plug header IAM AM Tx and Rx SERCOS Transmit and Receive SERCOS fiber optic 2 IAM AM DPI DPI DPI IAM Publication 2094 INOO2E EN P September 2005 Commission Your Kinetix 6000 1 3 Locate IAM Connectors and Use the figure below to locate the Integrated Axis Module connectors and indicators Although the physical size of the 2094 460V IAM is larger than the 2094 ACxx Mxx 230V IAM the location of the connectors and indicators is identical Indicators Integrated Axis Module top view 2094 BM01 MP5 S is shown Figure 1 1 Kinetix 6000 Integrated Axis Modules 2094 and BCxx M xx Control Power 27 gt 2 CPD Connector nlf CTRL 1 DC DC DC Bus AC Input Power 28 IPD Connector alls xeu xeu Contactor Enable lt conten Connector LEN Safe Off SO Connector present only on the 2094 BC xx Mxx S Integrated Axis Module front view 2094 05 01 is shown 1 0 100 Connector Motor Power lt Motor Resistive Brake BC Connector SERCOS Baud Rate 5 and Optical Power Switches
80. Dur Set IZ 1 15 02 v N Z1 J N H o JN SEU IE 1VISN02 cr EISOD NH ae e ZE 5 00 guid lv LWISNOO Zv 15 02 ZZ 1 15 02 Lud 2111809 gud eld J N l 100 vug Dub S Zuid 9 N Uld 34 td 9 N LAdNIANITOVA Id 9 N L Uld ld Q KM en aie aii in Or 189 O ISR1VIS wv 9 z 1no n 2 102 110 zi 41 LVISNOO 8031 811015 Apz 287171800 72 1 18 02 ZL LVISNOO 108110 0 012 240 l September 2005 Publication 2094 IN002E EN P 33 Interconnect Diagrams Figure A 30 LIM Block Diagram 2094 BL02 H zuid YIMOd 109100 142 289 id Woo y Uld Woo WAN Adding somog yz A JIN Uld AE 777 1 INO
81. E Aiit AR l 0J1UO0 nain aseud a Dul mE M z n 20100 d 10200 1 inding T Y Y 9 54 1 20290009 291 10129uu02 181 10 S65 18 59 7 600 1010 4 suonaeuuo JINGOW 32 48 1 0009 duie 8N 5 pms e o 1 ION ION ley samog pof 0 Wad 0 sxy XX XX AX 0602 XX N XX 3g 10 XX N XX 3X b60Z AVY 3ALLSIS3H JINON SIXV 031V4931NI 0602 3 0009 jeuiqe pepuog September 2005 Publication 2094 002 C 7 Integrate Resistive Brake Modules with Kinetix 6000 Drives 01 LdIALDIHS ly 1VISNOO 2 Zv 1VISNOO gt Y 715088 S u8a 9 910N L 1 gt dd J013euuo 58 8 D mE 9AJ1SIS9u 1010 AI 201290005 g Suon3auuo 0 1 4 J 4 2 0 0219 0602 10128uu07 1 4 ION Bojeye9 104 000 7602 NON enuey uoneyersuy 9 qe 01 gY 0009 BY 01 199g 29 14037 1 99
82. Feedback MF Connector IAM AM 1 BLACK SIN 1 0 69 gt WHT BLACK E Grounding Technique for lt lt l 2 OX SIN 2 Feedback Cable Shield GND 3 5 RED COS 3 Low Profile Connector BV 4 WHT RED XX COS 4 2090 K6CK D15M shown lt 4 Three Phase gt A U lt 4 Power 5 gt GREEN DATA 5 6 WHT GREEN DATA 10 Motor 4 gt gt GRAY Feedback 7 gt gt WHT GRAY ECOM gt gt 5 Clamp Exposed shield secured gt ORANGE 9VDC Thermostat under clamp y ST y G BR Clamp screws 2 Bos Turn clamp over to hold S F lt lt small cables secure lt lt BR Motor Brake Note 18 Publication 2094 INOO2E EN P September 2005 WHT ORANGE C TS 11 BLUE 14 55 4 15 12 gt Refer to Low Profile Connector illustration lower left for proper grounding technique 2090 5 flying lead Feedback Cable Notes 14 15 gt Kinetix 6000 Interconnect Diagrams A 19 In the figure below the Kinetix 6000 axis module 230V is shown connected to TL Series 230V servo motors Figure A 16 Axis Module to TL Series 230V Motor Interconnect Diagram TL Series 230V MOTORS
83. Go to Troubleshoot IAM AM Status LEDs on page 2 8 If the Comm Status LED is Flashing green 5 Observe the Comm Status LED Establishing communication with network Wait for steady green Steady green Communication is ready Go to step 6 Off No ring present Go to Troubleshoot IAM AM Status LEDs on page 2 8 Publication 2094 INOO2E EN P September 2005 1 32 Commission Your Kinetix 6000 If the Bus Status LED is 6 Observe the Bus Status LED Steady green DC bus is present Axis is enabled when status should be disabled 1 Verify Hardware Enable Input IOD 2 is open 2 Verify MSO instruction is not commanded in RSLogix 5000 3 Return to Apply Power to Your Kinetix 6000 without LIM on page 1 30 Flashing green Bus is up axis is disabled normal status Go to step 7 Off If the three SERCOS LEDs are Flashing green and red DC bus is not present 1 The flas Follower IAM has a 2 5 second delay after DC Bu Go to Troubleshoot IAM AM Status LEDs on page 2 8 s voltage is applied before the Bus Status LED begins hing This provides the common bus leader time to complete pre charge 7 Observe the three SERCOS LEDs on the SERCOS module Establishing communication Wait for steady green on all three LEDs Steady green Communication ready Go to Test and Tune Your Axes Not flashing green and red not steady green
84. Hardware Enable Test command cannot be completed Input signal IOD 2 is applied to Command timed out Test Increment maybe to large the axis you are testing ox Verify conversion constant entered in the Conversion tab Your test failed this widow appears Error 16382 0 Return to step 6 and run the test again Publication 2094 INOO2E EN P September 2005 1 36 Commission Your Kinetix 6000 Publication 2094 INOO2E EN P September 2005 Tune Your Axes To tune your axes 1 Verify the load is still removed from the axis being tuned To reduce the possibility of unpredictable motor response tune your motor with the load removed first then re attach the load and perform the tuning procedure again to provide an accurate operational response Select the Tune tab Axis Properties Axis_1 inl xj General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Fault Actions Tag Travel Limit 0 0 Pasition Units j Speed 0 0 Position Units s DANGER This tuning 4 procedure may cause axis T motion with the controller orque Force 1000 Rated n program mode Direction Forward Uni direchonal Forward Uni directional Damping Factor Forward Bi directional Reverse Uni drectional Tune Reverse Bi directional Position Error Integrator Velocity
85. Install jumper Shunt Fault LED Use the table below for troubleshooting the Shunt Fault LED on your Kinetix 6000 SM 2094 BSP2 he MUR Fault Status is Potential Cause is Possible Resolution is Off Normal condition N A Mis wired shunt jumper or other short on RC ee m Steady Red Shorted internal or external connector Correct mis wire shorted condition shunt resistor Mis wired shorted external shunt wiring f problem persists replace shunt module Publication 2094 INOO2E EN P September 2005 2 12 Troubleshoot Your Kinetix 6000 Troubleshoot LIM Status The following troubleshooting table applies to the following Line LEDs Interface Module status LEDs e 24 Power status LED 2094 AL75S BL75S XL75S Cx Brake Power status LED 2094 AL09 and 02 e I O Power status LED 2094 AL09 and BLO2 If the Status LED is Status is Potential Cause is Possible Resolution is Steady Green Normal 24V power enabled N A N A e 24V power disabled e Set breaker to on position 81755 and CB3 is open e f breaker continues to trip call your Allen Bradley representative to return module for repair Off Brake power disabled 2094 ALO8 and BL02 ea e Correct polarity 24V polarity is E 5 1 0 power disabled reversed at load If polarity is correct and LED is not steady green call your 2094 09 and BLO2 Allen Bradley representative to return module for repair
86. Installation Manual publication 2094 IN001 The procedures in this section apply to Kinetix 6000 drive components and describe how to Configure your Kinetix 6000 and AM s e Configure your SERCOS interface module using RSLogix 5000 software Download your program to your Logix controller e Apply power to your Kinetix 6000 drive components e Test and tune your motor using RSLogix 5000 software These procedures assume you have connected the fiber optic cables between your IAM 2094 xCxx Mxx inverter section axis modules 2094 xMxx and the ControlLogix chassis with 1756 MxxSE interface module or personal computer with 1784 PM16SE PCI card Publication 2094 INOO2E EN P September 2005 1 10 Commission Your Kinetix 6000 Configure Your Integrated Axis Module To configure your IAM 1 Verify that there is no power applied to the IAM and that the SERCOS fiber optic cables are plugged into the Tx and Rx connectors To verify your fiber optic cable connections refer to the Kinetix 6000 Multi Axis Servo Drive Installation Manual publication 2094 IN001 2 Set the base node address for the IAM by setting the SERCOS Node Address switch Valid node addresses are 01 99 The left hand switch sets the most significant digit MSD and the right hand switch sets the least significant digit LSD Refer to the table below for switch operation Refer to for switch location Increment the MSD LSD node address The p
87. Kinetix 6000 system The notes apply to the interconnect diagrams on the pages that follow ATTENTION The National Electrical Code and local electrical codes take precedence over the values and methods provided Implementation of these codes is the responsibility of the machine builder Publication 2094 002 September 2005 Note Interconnect Diagrams Information For power wiring specifications refer to Kinetix 6000 Installation Manual publication 2094 001 2 For input fuse and circuit breaker sizes refer to Kinetix 6000 Installation Manual publication 2094 1 001 3 For AC line filter specifications refer to Kinetix 6000 Installation Manual publication 2094 IN001 4 Terminal block is required to make connections 5 2094 460 IAM requires step down transformer for single phase control power input Source 2094 ACxx Mxx 230V IAM control power from the three phase input power line to line Supplying 230V control power from any other source requires an isolation transformer If used do not ground either leg of the isolation transformer output 6 LIM models 2094 AL75S and BL75S can supply a maximum of eight axes models 2094 XL75S Cx can supply a maximum of sixteen axes For common bus systems with more than sixteen axes multiple LIMs or control power transformers are required 7 Contactor coil M1 needs integrat
88. Logix 5000 software as it applies to ControlLogix and SoftLogix modules refer to the table below for the appropriate publication Publication Number Refer to this Document Logix5000 Motion Modules User Manual 1756 UM006 Detailed information on configuring and troubleshooting your SoftLogix PCI card Publication 2094 INOO2E EN P September 2005 SoftLogix Motion Card Setup and Configuration Manual 1784 UM003 If you have already configured your Logix module using one of the setup and configuration manuals listed above go directly to Apply Power to Your Kinetix 6000 page 1 26 If not go to Configure Your Logix Controller beginning below Configure Your Logix Controller To configure your Logix controller 1 Apply power to your Logix chassis PC containing the SERCOS interface module and open your RSLogix 5000 software 2 Select New in the File menu The New Controller window opens e Select controller type e Select RSLogix 5000 revision e Name the file e Select the Logix chassis size e Select the Logix processor slot 3 Select OK 4 Select Controller Properties in the edit menu The Controller Properties window opens Commission Your Kinetix 6000 1 17 5 Select the Date and Time tab General Serial Port System Protocol User Protocol Major Faults Minor Faults Date Time Advanced SFC Execution File Redundancy Nonvolatile Memory Memory gl E Lx Mak
89. N P September 2005 Commission Your Kinetix 6000 1 7 VAC Line IPL Connector Brake Power Status LED 1 0 Power Status LED 1 0 101 Connector Use the figure below to locate the Line Interface Module connectors and indicators Figure 1 4 Kinetix 6000 Line Interface Modules 2094 AL09 and BL02 ji e Line Interface Module top view C 3 5 gt C 3 lt C 2094 09 is shown C J C gt gt C C D ue 3 J gt e J 56 Je 2 XC e a 0 3 gt C gt gt up 5 Control Power Load C NEED 0 GS CA gl 8 CPL Connector C 3 56 J C C C 1 gt Co gt DI b 116 e sn 9 19 Ej SE f gt m TT E M Em S gs T1 8 vac too 5 LG m EE 8 Monk PWN 2 w Ed amp OPL Connector 3 8 E Line Interface Module front view 2094 09 is shown MAIN AUX VAC r BRAKE 0 VAC Control AUX Brake 1 0 Publication 2094 INOO2E EN P September 2005 1 8 Commission Your Kinetix 600
90. P September 2005 Troubleshoot SM Status LEDs Status is All three SM status LEDs flash simultaneously Publication 2094 INOO2E EN P September 2005 Troubleshoot Your Kinetix 6000 Each of the shunt module LEDs provide specific troubleshooting information as described in Bus Status LED Temperature Fault LED Shunt Fault LED IMPORTANT Use of the Kinetix 6000 rail mounted shunt module catalog number 2094 BSP2 requires IAM AM firmware revision 1 068 or above General Shunt Module Troubleshooting Shunt Module Faults are Under these Conditions Latched Until fault condition is corrected and cleared e Using RSLogix MASR MGSR commands or the HIM red stop button Cleared e Only after the DC bus is discharged SM Bus Status LED is IAM AM Internal Shunts are Disabled for DC Bus regulation flashing e Drive must be configured with 2094 BSP2 or Bulletin 1394 external shunt module Under these Conditions e When the 2094 BSP2 shunt module is used on a 230V system e When either 230V or 460V system is configured with a Bulletin 1394 external shunt module e When configured in common bus follower mode Enabled to discharge the DC Bus Drive IAM or IAM Leader three phase power is removed Disabled from discharging the DC bus IMPORTANT When configured in common bus follower mode Under some fault conditions two reset commands may be required to cl
91. RL T CTRL1 CPD Connector Note 1 gt To CPD connector gt IAM 2 Note 6 1 DC 2 DC Bus 1 Note4 3 De and VACLOAD 4 3 Phase 3 Phase OPL Output 13 2 4 13 Input IPD 195 264V ac RMS 3 AC Line Filter 5 Connector or 324 528V ac RMS 12 i Note 3 41 2 Note 1 Lt 11 To IPD connector IAM 2 1 10 PWR2 2 To BC connector IAM 2 10 COM2 3 24V de PIL Output 0 PWR2 7 10 COM2 10 PWR2 ss 10 COM2 Motor Brake Connections 6 k MBRK F 88 5 MBRK BI 4 COM Motor Resistive 3 Brake BC Connector PWR ah BR H3S K L erk 7 910R Resistive Brake Note 11 12 E1 j Connections 2 4 6 10 2 CONT EN L Contactor Enable COIL E2 CONTEN 3 Connector Interconnect Diagrams Kinetix 6000 INTEGRATED AXIS MODULE 2094 AC xx M xx or IAM_2 Power Rail Note 9 Ground Stud Cable Shield Clamp Motor Power MP Connector Bonded Cabinet Ground o gt Three Phase Motor Power Connections Note 14 Control Power From CPL connector LIM CTRL CPD Connector Toe 2 DC Bus DC and 3 3 Three Phase 4 Input IPD From OPL connector LIM 27 AC Line Filter 5 Connector CD
92. TA 5 11 Motor Resistive 2090 UXNBMP 18S xx Brake Cable Es p WHT GREEN XX_DATA 10 Brake BC Connector Note 14 12 C 2 gt GRAY W 5VDC 14 13 Black lt lt WHT GRAY ECOM 6 BRK gt m White A lt lt Ny 1 ORANGE 9VDC 7 2 1 COM HE User Supplied 9 d pase M T 3 24V dc 1 2A max Thermostat SY 5 Refer to Low Profile Connector PWR s illustration lower left mE BR for proper grounding technique ma NE Resistive Brake P lt Connections DBRK 209 5 Grounding Technique for Feedback Cable Shield Clamp Exposed shield secured under clamp Clamp screws 2 flying lead Feedback Cable Notes 14 15 17 MPL B 460V SERVO MOTORS WITH RESOLVER FEEDBACK otor D MF Connector lt q 7 Low Profile Connector B 5 as gt gt WX 52 Three Phase B WHT BLACK 54 2 2090 K6CK D15M shown A Motor Power 5 d 5 WHT RED D S XX 53 4 Motor Feedback G gt YELLOW R1 5 WHT YELLOW 5 10 R BLUE 11 Q gt gt Thermostat au ubi 5 TS 6 Turn clamp over to hold 8 Refer to Low Profile Connector small cables secure C lt q BR illustration lower left Motor Brake for proper grounding technique 20
93. Tel 1 414 212 5200 Fax 1 414 212 5201 Headquarters for Allen Bradley Products Rockwell Software Products and Global Manufacturing Solutions Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Rockwell Automation SA NV Vorstlaan Boulevard du Souverain 36 BP 3A B 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation 27 F Citicorp Centre 18 Whitfield Road Causeway Bay Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Headquarters for Dodge and Reliance Electric Products Americas Rockwell Automation 6040 Ponders Court Greenville SC 29615 4617 USA Tel 1 864 297 4800 Fax 1 864 281 2433 Europe Rockwell Automation Briihlstra amp e 22 D 74834 Elztal Dallau Germany Tel 49 6261 9410 Fax 49 6261 17741 Asia Pacific Rockwell Automation 55 Newton Road 11 01 02 Revenue House Singapore 307987 Tel 65 351 6723 Fax 65 355 1733 Publication 2094 INOO2E EN P September 2005 Supersedes Publication 2094 IN002D EN P July 2005 Copyright 2005 Rockwell Automation All rights reserved Printed in USA
94. address for each axis module is determined by the base node address switch setting on the IAM Refer to Figure 1 9 To configure your Axis Module s 1 Verify that there is no power applied to the IAM and that the SERCOS fiber optic cables are plugged into the Tx and Rx connectors To verify your fiber optic cable connections refer to the 6000 Multi Axis Servo Drive Installation Manual publication 2094 IN001 2 Setthe SERCOS baud rate using DIP switches 2 and 3 as shown in Figure 1 12 page 1 14 Refer to the table below for the baud rate switch settings FF ON 4M baud 8 3 Set the optical power level to High using DIP switch 1 as shown in Figure 1 12 Refer to the table below for optical power level switch setting For this optical power level Low OFF High ON Publication 2094 INOO2E EN P September 2005 1 16 Commission Your Kinetix 6000 Configure Your Logix SERCOS interface Module Detailed information on configuring and troubleshooting your ControlLogix motion module This procedure assumes that you have wired your Kinetix 6000 system and have configured the Kinetix 6000 baud rate and optical power switches dn order for the Kinetix 6000 to communicate with the SERCOS interface module indicated by the three LEDs on the module going solid green your RSLogix 5000 software must be version 11 0 or above For greater detail on the RS
95. all 20 Changing Parameters Using DriveExplorer To navigate using DriveExplorer refer to the figure below In this example the I O Interface group folder is open the Analog Outputs parameter is selected and the parameter elements are displayed in the box to the right Parameters are read only when SERCOS ring is active You must break SERCOS ring to change parameters To save changes perform a non volatile save NVS prior to cycling power Figure 2 1 DriveExplorer Example DriveExplorer Beta of x File Edit Explore Actions Help se eae H E Devices E Node 1 20940 SERVO i AnaQut Chi Selec 0 20940 SERVO Config 0000 1 0 682 Gain 0 0060 AM 1 1038 Value 0 0000 1 0 683 AnaOut Ch2 Selec 84 A 5 1 0 684 AnaDut Ch2 Gain 0 1000 1 0 983 AnaQut Ch2 Value 0 0000 140 1 Group Digital Outputs Digital Inputs Analog Outputs Diagnostics SCANp Data In Publication 2094 INOO2E EN P September 2005 2 20 Troubleshoot Your Kinetix 6000 Publication 2094 INOO2E EN P September 2005 Changing Parameters Using the HIM When using the HIM to monitor or change parameters use the up and down arrows and v to arrive at selections Refer to the instructions that came with your HIM for more information To monitor or change parameters using the HIM 1 Select parameter Pr
96. and ground Motor Select limi to axis module is incorrectly set servo motor is not matched e Check setups e Run Tune in RSLogix 5000 Mechanical resonance Notch filter or output filter may be required refer to Axis Properties window Output tab in RSLogix 5000 You cannot obtain the motor acceleration deceleration that you want Torque Limit limits are set too low Verify that current limits are set properly Incorrect motor selected in configuration Select the correct motor and run Tune in RSLogix 5000 again The system inertia is excessive e Check motor size vs application need e Review servo system sizing The system friction torque is excessive Check motor size vs application need Available current is insufficient to supply the correct accel decel rate e Check motor size vs application need e Review servo system sizing Acceleration limit is incorrect Verify limit settings and correct them as necessary Velocity Limit limits are incorrect Verify limit settings and correct them as necessary Motor does not respond to a Velocity Command The axis cannot be enabled for 1 5 seconds after disabling Disable the axis wait for 1 5 seconds and enable the axis Enable signal has not been applied or the enable wiring is incorrect e Check the controller e Check the wiring The motor wiring is open Check the wiring
97. ation 8 56001 15 Wire colors are for flying lead cable 2090 XXNFxx Sxx and may vary from the premolded connector cable 2090 UXNFBxx Sxx 16 Y Series feedback cables have a drain wire that must be folded back under the Low Profile connector clamp 7 Only the MPG Bxxx encoder uses the 5V dc supply MPL Bxxx encoders use the 9V dc supply 18 Brake wires on MPF MPS A B5xx motors are labeled plus and minus All other MP Series Food Grade and Stainless Steel motor brake wires are labeled F and G 19 Refer to Kinetix 6000 Installation Manual publication 2094 IN001 for input fuse specifications Current requirements are for master only shunt applications For master slave applications you must multiply the current requirement by the number of shunt units 20 Refer to Kinetix 6000 Installation Manual publication 2094 001 for fault relay specifications This normally closed contact TTL compatible is closed when 115V ac is applied and opens when a shunt fault or loss of power occurs Publication 2094 INOO2E EN P September 2005 Interconnect Diagrams A 3 Power Interconnect Diagrams The interconnect wiring for an IAM is shown beginning below In the configuration below the IAM has input power brake power and the start stop string wired from a LIM 2094 AL09 or BLO2 The 2094 xLxx LIM contains an AC line filter so an external filter is not required Figure A 1 IAM Power Interconnect Diagram IAM with LIM
98. atus Only Nr Therm FlF act Drive fiction For Help press F1 Local DPI Publication 2094 INOO2E EN P September 2005 DC Common Bus Applications D 7 5 Double click on the x x x599 Add Bus Cap parameter The command window for parameter 599 Add Bus Cap opens 599 Add Bus Cap Value Edit Advanced Value 1780 uF 1780 HESS UM Internal Value C Hex Dec C Oct Min 0 65535 Default 0 Select Default Click on the Value Edit tab and enter the Add Bus Cap Value uF Select OK The Add Bus Cap parameter is changed but not saved in non volatile memory Go to Save the Add Bus Cap Parameter to Non Volatile Memory Save the Add Bus Cap Parameter to Non Volatile Memory To save the Add Bus Cap parameter to non volatile memory 1 Click on Actions Non Volatile Memory in the menu bar The following message window opens Non Volatile Memory 20940 SERVO Config 000 Save current device values to non volatile memory Recall device values from non volatile memory Recall Reset device values to defaults Load Defaults Close Publication 2094 INOO2E EN P September 2005 0 8 DC Common Bus Applications Publication 2094 INOO2E EN P September 2005 2 3 4 5 Click on Save The changes saved to non volatile memory the following cautionary message window opens Non Volatile Memory 20940 SERVO Config 000 Ca
99. axes can increase electrical noise and impedance and requires longer fiber optic cable lengths Figure 1 10 Node Addressing Example 2 1756 MxxSE SERCOS 1756 MxxSE SERCOS i interface Module 1 interface Module 2 eS _ 5 ControlLogix Chassis ControlLogix Chassis Transmit Receive Transmit Receive SERCOS Fiber Optic rings 4 N Transmit Receive Receive Transmit Kinetix 6000 pi 8 axis power rail v Teo To v Tv A 08 Slot Filler node address 07 AM axis 7 node address 06 AM axis 6 node address 05 AM axis 5 node address 04 AM axis 4 node address 03 AM axis 3 node address 02 AM axis 2 node address 01 IAM axis 1 base node address In the example above SERCOS interface module 1 controls axes 1 to 4 and module 2 controls axes 5 to 7 The slot filler module is assigned a node address but does not use it Note You can mount the two SERCOS interface modules in two separate ControlLogix chassis as shown above or you can mount them in the same chassis Utilizing two SERCOS interface modules to control axes from a single Kinetix 6000 power rail allows you to reduce the cycle times
100. back are reversed Check and correct motor feedback wiring Publication 2094 INOO2E EN P September 2005 Understand Logix Drive Fault Behavior Troubleshoot Your Kinetix 6000 This section provides the drive fault actions and indicates whether the fault action is programmable The following drive fault action definitions apply Drive Fault Action Definition The drive disables and the contactor enable relay opens Uncontrolled Shutdown stop motor coasts to a stop Disable Drive The drive is disabled Uncontrolled Stop motor coasts to a stop Logix configuration for velocity loop Kp Ki is followed When zero speed is reached or stopping time is exceeded the drive is disabled Stop Motion Mr E 5 Note Stopping time and stopping torque are configurable parameters RSLogix 5000 Status Onl Drive continues to operate Status is provided by 7 Segment Fault Status LED Drive Status LED DPI if used 5 RSLogix M Message RSLogix pie Description eae Programmable Fault Action BusUndervoltageFault voti E00 A blown fuse was detected in the inverter pcb SHUTDOWN N The motor thermal switch was tripped MotorOvertempFault Note Firmware 14 protection does not generate a fault rather it Motor Overtemp 04 dynamically folds back current when 110 of motor rating is STOP Y reached Setting the Motor Thermal fault action to Status Only will bypass this
101. chieved Stop Category 2 A controlled stop with power left available to the machine actuators E Stops are a special case of stops and have additional requirements to those stated above This appendix is intended to show how a light curtain or gate interlock might interface with one axis of motion control to achieve a machine stop and this stop may not be the same as the E stop function of a machine Publication 2094 INOO2E EN P September 2005 C 4 Integrate Resistive Brake Modules with Kinetix 6000 Drives Publication 2094 INOO2E EN P September 2005 Risk Assessment The European safety standard EN 1050 and U S technical report ANSI B11 TR3 explain the process of risk assessment which must be conducted by the machine builder This is done by analyzing the tasks that people perform on and around the machine This includes functions such as operation set up and maintenance For the purpose of this appendix the light curtain or gate interlock is intended to focus on the operation and perhaps loading unloading of a machine Additional protective measures must be identified by the risk assessment Machinery Directive EN 954 1 Safety Related Parts of Control Systems defines how to determine the safety requirements by categorizing the risk This standard outlines the design of fail safe control circuits by categorizing five levels of risk It is deemed the machine designers responsibility to objectively identify a risk lev
102. connections DriveHardFault Load default parameters save to E69 Non volatile memory is corrupt due to control board hardware failure non volatile memory and recycle power Objects Init reset the drive DriveHardFault Load default parameters save to E70 Non volatile memory is corrupt due to control board software error non volatile memory and recycle power or NV Mem Init reset the drive DriveHardFault Cycle power E71 SEM RAM or Flash memory validation failure n Memory Init e f fault persists replace module Publication 2094 INOO2E EN P September 2005 Troubleshoot Your Kinetix 6000 Problem or Symptom is Potential Cause is Possible Resolution is The fan on the IAM or an AM failed Replace the failed module eon a temperature is Check the cabinet temperature DriveOvert E72 Fault feet thermal switch The machine duty cycle requires an RMS Change the command profile to reduce Drive Overtemp PEE the continuous rating speed or increase time The airflow access to the Kinetix 6000 is Check airflow and re route cables away limited or blocked from the Kinetix 6000 Communicate Power rail CAN communications failed Check module for proper mount E73 Backplane Comm Power rail connection shorted or open eo rail and module for foreign e Check for proper motor sizing DriveOvercu
103. ctions using v11 or v2 set the RBM delay time parameter DriveExplorer to v13 or above Go to Configure Axis Properties on page 1 24 and use RSLogix 5000 to set the RBM delay time parameter The following hardware and software tools are required to provide the necessary communication link between your PC and the Kinetix 6000 drive system running RSLogix 5000 Description Catalog Numbers Version DriveExplorer Software 1 3 9306 4EXPO2ENE 2 01 or above Serial to SCANport Adapter 2 3 1203 555 Series 3 004 RSLogix 5000 Software 9324 RLD300NE 11 0 or 12 0 Personal computer with HyperTerminal N A N A Refer to DriveExplorer Getting Results Manual publication 9306 GR001 for ins 2 Refer to 1203 SSS Series FRN 3 xxx User Manual publication 200MM U ructions 001 for instructions 3 Additional information regarding these communication and software tools is available at www ab com support abdrives To avoid personal injury or equipment damage at least one end of a SERCOS fiber optic cable must be disconnected from the drive This ensures that motion will not occur while changes are made to the time delay parameter Remove SERCOS Communication To remove break SERCOS communications 1 Remove three phase and control power from the Kinetix 6000 drive system 2 Remove one of the SERCOS fiber optic cables Fiber optic cable connections Tx and Rx are located on th
104. ctor Disengaged No faults or failures N A e Monitor CONSTAT 41 42 status to Contactor failure verify lack of drive motor power Contactor Engaged contacts welded together output is NC e Contact A B representative Off LED failure e Contact representative unintended Refer to 24V dc Status LED Contactor Disengaged 24V signal not functioning properly troubleshooting table on page 2 12 Contactor failure coil damaged Contact A B representative No 230V ac signal e Verify wiring e Verify 230V ac source Publication 2094 INOO2E EN P September 2005 2 14 Troubleshoot Your Kinetix 6000 Troubleshoot General System Problems Condition Axis or System is unstable Use the tables below for troubleshooting general system faults For a list of Bulletin 1756 product manuals refer to Related Documentation in the Preface Potential Cause is The position feedback device is incorrect or open Possible Resolution is Check wiring Unintentionally in torque mode Check to see what primary operation mode was programmed Motor tuning limits are set too high Run Tune in RSLogix 5000 Position loop gain or position controller accel decel rate is improperly set Run Tune in RSLogix 5000 Improper grounding or shielding techniques are causing noise to be transmitted into the position feedback or velocity command lines causing erratic axis movement Check wiring
105. cycle through phases until final configuration Actively cycling phase 0 phase 4 is reached Status The drive is looking for a closed SERCOS ring Wait for phase 1 or take corrective action until you reach phase 1 Do This Check fiber optic connections Displaying a fixed 1 phase 1 The drive is looking for active nodes Wait for phase 2 or take corrective action until you reach phase 2 Check node addressing Displaying a fixed 2 phase 2 The drive is configuring nodes for communication Wait for phase 3 or take corrective action until you reach phase 3 Check program motor and drive configuration against installed hardware Displaying a fixed 3 phase 3 The drive is configuring device specific parameters Wait for phase 4 or take corrective action until you reach phase 4 Check motor catalog number against selection Displaying a fixed 4 phase 4 The drive is configured and active Go to step 12 Flashing an E followed by two numbers Drive is faulted Go to Error Codes on page 2 3 1 You can get diagnostic information from the module by highlighting the module name in RSLogix 5000 A Pseudo Key Failure often indicates that the motor selection does not match the motor installed Publication 2094 INOO2E EN P September 2005 Commission Your Kinetix 6000 12 Observe the Drive Status LED Go to step 13 Normal condition Drive is fau
106. d a MySupport feature that you can customize to make the best use of these tools For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect Support programs For more information contact your local distributor or Rockwell Automation representative or visit http support rockwellautomation com Installation Assistance If you experience a problem with a hardware module within the first 24 hours of installation please review the information that s contained in this manual You can also contact a special Customer Support number for initial help in getting your module up and running United States 1 440 646 3223 Monday Friday 8am 5pm EST Outside United Please contact your local Rockwell Automation representative for any States technical support issues New Product Satisfaction Return Rockwell tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned United States Contact your distributor You must provide a Customer Support case number see phone number above to obtain one to your distributor in order to complete the return process Outside United Please contact your local Rockwell Automation representative for States return procedure Rockwell Automation 777 East Wisconsin Avenue Suite 1400 Milwaukee WI 53202 5302 USA
107. e To set the Axes to Flash parameter 1 Apply 95 264V AC to the IAM control power CPD connector ATTENTION To avoid injury or damage to equipment due to unpredictable motor activity do not apply AC input three phase power or establish communications with the 1756 MxxSE SERCOS interface module 2 Connect the 1203 SSS serial cable to the appropriate COM port on your personal computer 3 Connect the 1203 SSS DPI cable to the DPI connector on your IAM 4 Verify that the 1203 SSS has power by observing the LED indicated in Figure B 1 Figure B 1 1203 SSS DPI Adapter DPI communication 5 Start the DriveExplorer software Click on Explore Connect DriveExplorer proceeds to read your system Publication 2094 INOO2E EN P September 2005 Upgrade Your Kinetix 6000 Firmware 6 Double click on 2094D SERVO Config 0000 The linear list of parameters appears as shown in the window below itai Beta File Edit Explore Actions Help iol x 2 e Sls 0 8 Devices Node 1 20940 SERVO Reserved 0 Linear List Legend 0 20940 SERVO Config 0000 ON P x IAM 1 eservei LL as Pwr Supply Data Reserved 0 Shunt Data Hleseived 0 Parameter Number MST Errors 39064
108. e Programming Manual P 3 conventions used in this manual 4 conversion tab 1 24 converter A 27 coordinated system time master 1 17 CPLD FLT 2 7 cycle time 1 19 D DACO 2 20 2 20 data rate 1 19 data type 1 20 date and time tab 1 17 DC common bus configuring 1 22 interconnect diagram A 8 A 9 A 10 A 12 setting the add bus cap parameter D 5 digital I O not working correctly 2 3 dip switches 1 19 disable drive 2 16 documentation files P 3 download program 1 25 drive enable fault 2 5 drive overcurrent 2 3 drive overtemp 2 5 2 7 drive status LED 1 29 1 31 2 8 drive tab 1 24 drive undervoltage 2 5 DriveExplorer 2 19 B 1 C 14 D 5 E encoder communication fault 2 5 erratic operation 2 15 error codes 2 3 establishing communications 2 8 F fault action 2 16 fault action programmable 2 16 fault actions tab 1 25 feedback only axis 1 21 feedback tab 1 24 fiber optic cables receive and transmit connectors 1 9 Fiber Optic Cable Installation Instructions P 3 firmware upgrade file B 6 flyback diodes A 25 follow error 2 4 G ground fault 2 5 H hardware overtravel 2 4 HIM 2 19 hookup fault 2 6 hookup tab 1 34 human interface module 2 19 hyperterminal B 4 I O connector 2 20 I O power LED 1 27 2 12 Ifbk HW Fault 2 6 illegal hall state 2 4 integrated axis module configuring 1 10 connector designators 1 2 connector locations 1 3 interconnect diagram
109. e limit of 30V dc and the relay current limit as shown in the table below Kinetix 6000 IAM AM E 94 AC05 Mxx AC09 Mxx 94 AMP5 01 AM02 1 0 e 94 BC01 Mxx BC02 Mxx 94 BMP5 BM01 BM02 Maximum Brake Current Rating cc 94 AC16 Mxx AC32 Mxx 94 AM03 05 1 3A 2 2 2 2 2 2 2 2 IMPORTANT 94 BC04 Mxx BC07 Mxx 94 03 BM05 3 0A an example For brake requirements outside of these limits an external relay must be used refer to Figure A 21 for The following tables list Allen Bradley motors and brake coil current ratings Coil Currents Rated at 1 0A Compatible Brake Motors Coil Current F 4030 4050 and 4075 0 69A H 3007 and 3016 0 60A H 4030 4050 and 4075 0 69A N 2302 and 2304 0 28A N 3406 3412 4214 and 4220 0 36A N 5630 5637 and 5647 0 71A Y 1002 and 1003 0 26A Y 2006 and 2012 0 31A Y 3023 0 37A TL A110P H A120P H and A130P H 0 208A TL A220P H and A230P H 0 375A TL A2530P H and A2540P H 0 396A TL A410P H 0 746A Publication 2094 INOO2E EN P September 2005 Coil Currents Rated at 1 0A Compatible Brake Motors Coil Current MPL MPF MPS x310 x320 x330 0 50A MPL x420 430 4520 x4530 4540 MPF x430 x4530 x4540 ae MPG x004 0 33A MPG x010 MPG x025 dis MPG x050 0 504 MPG x110 1 0A
110. e this controller the Coordinated A DANGER If CST master is cleared online System Time master active axes in any controller in this chassis or chassis synchronized by SynchLink may Is the master experience unexpected motion Synchronized with a master Duplicate master detected Q Timer hardware faulted Cancel Apply Help 6 Check the box Make this controller the Coordinated System 7 Time master IMPORTANT Only one ControlLogix processor can be assigned as the Coordinated System Time master Select OK Configure Your Logix Module To configure your Logix module 1 Right click on I O Configuration in the explorer window select New Module The Select Module window opens Expand the Motion category and select 1756 MxxSE L60MOSSE or 1784 PM16SE as appropriate for your actual hardware configuration Publication 2094 INOO2E EN P September 2005 1 18 Commission Your Kinetix 6000 Publication 2094 INOO2E EN P September 2005 Select OK The New Module window opens Your new module appears under the I O Configuration folder in the explorer window x Type 1756 M16SE 16 Axis SERCOS Interface Vendor Allen Bradley Name Slot 1 Description Revision 5 Electronic Keying Disable Keying Open Module Properties OK Cancel Help Name the module Select the slot where your module resides left most slot 0 e Select an E
111. e top of each 3 Re apply three phase and control power Integrate Resistive Brake Modules with Kinetix 6000 Drives C 15 Set the RBM Delay Time Parameter To set the RBM delay time parameter 1 Start the DriveExplorer software 2 Click on Explore Connect Local in the menu bar or enter Ctrl L from the keyboard DriveExplorer will read your system 3 Observe the Linear List of parameters as grouped by Node Port and Axis hierarchy as shown below Linear List Legend x xxx Parameter Number 30 Version Data Axis Number 0 IAM axis 1 1 AM axis 2 2 AM axis 3 3 AM axis 4 DPI Port Number Network Node Number 4 Click on Devices Node Product Axis Group Config and navigate to the Config parameters as shown below alolx Eile Edit Explore Actions Help 0261 El Devices Node 1 20940 SERVO 1 Config Options 00 0000 1 0 20940 SERVO Config 00C 1 0 1601 Soft Ovrtrvl Act Drive Action 8 IAM 1 0 1602 Pos Err Flt Act Drive Action 1 0 1603 Hard Ovrtrvl Act Drive Action B IAM Diags 1 0 1604 Fit Act Status Only E TAM Group 1 0 1605 Therm Flt Act Drive Action 1 0 1606 Mt Therm Fit Act Drive Action E Axis 2 1 0 1607 Enable Swtch Act Drive Action E Axis 2 Diags 1 0 1384 HeatSink Temp 0 degC E Axis 2 Group 1 0 1528 Enable Brake Sol
112. ear drive and SM faults The following table applies when all three SM LEDs are flashing Potential Cause is Shunt module hardware failure Possible Resolution is Cycle power f problem persists replace shunt module If the Bus Status LED is Troubleshoot Your Kinetix 6000 2 11 Bus Status LED Use the table below for troubleshooting the Bus Status LED on your Kinetix 6000 SM 2094 BSP2 Status is Potential Cause is Normal condition when control power is applied and bus voltage is less than Possible Resolution is Flashing BOV de N A Normal condition when control power is applied and bus voltage is greater Steady Green than 60V N A Off Control power is not present Internal power supply failure Replace shunt module Temperature Fault LED Use the table below for troubleshooting the Temperature Fault LED on your Kinetix 6000 SM 2094 BSP2 femp Fault Status is Potential Cause is Possible Resolution is Off Normal condition N A Shunt module fan failed Replace shunt module SM internal temperature exceeds operating e Allow shunt module to cool temperature specification Shunt module temperature exceeds rating e Reset faults Verify IAM bus regulator configuration Steady Red Allow shunt module to cool External over temperature External temperature switch is open Reset faults condition Verify IAM bus regulator configuration TS jumper is not present
113. ed surge suppressors for AC coil operation 8 Drive Enable input must be opened when main power is removed or a drive fault will occur A delay of at least 1 0 second must be observed before attempting to enable the drive after main power is restored 9 Cable shield clamp must be used in order to meet CE requirements No external connection to ground required 10 Jumper is factory set indicating grounded system at user site Ungrounded sites must jumper the bleeder resistor to prevent high electrostatic buildup Refer to Kinetix 6000 Installation Manual publication 2094 IN001 for more information 11 ATTENTION Implementation of safety circuits and risk assessment is the responsibility of the machine builder Please reference international standards EN 1050 and EN 954 estimation and safety performance categories For more information refer to Understanding the Machinery Directive publication SHB 900 12 ATTENTION Wiring the Contactor Enable relay is required To avoid injury or damage to the drive wire the Contactor Enable relay into your safety control string The recommended minimum wire size for wiring the safety circuit to the contactor enable connector is 1 5 mm 16 AWG 13 The Kinetix 6000 axis module referenced is either an individual axis module 2094 xM xx or the same axis module that resides within an integrated axis module 2094 xCoo Mx 14 For motor cable specifications refer to the Kinetix Motion Control Selection Guide public
114. el for a particular machine and design all safety related systems to that level The five categories are as follows Category B Safety devices and control systems as a minimum must be designed selected and assembled to meet the operational requirements of design limits and influence of the processed materials and other external influences listed as effects of vibration loss of power supply and external fields Category 1 All conditions of Category B apply but the safety related part of the control system must use well tried principles and components refer to 7 2 2 prEN951 1 The use of single electronic components electronic logic or software is not considered adequate even at this level Category 2 All conditions of Category B apply but in addition the machine shall be prevented from starting if a fault is detected upon power up This suggests the use of an interface relay with redundancy and self checking on energization Single channel operation is permitted providing that the input devices E Stop buttons gate switches etc are tested for operation on a regular basis If regular testing cannot be guaranteed then the designer has little choice but to opt for two channel control Category 3 conditions of Category B apply but the complete safety control system shall be designed so that any single fault shall not lead to the loss of the safety function and where practical the single fault shall be detected This n
115. elay into your safety control string Figure A 4 IAM Power Interconnect Diagram IAM without LIM Alternate Kinetix 6000 INTEGRATED AXIS MODULE 2094 or Power Rail 9 Ground Stud ro Chassis 5 18 1 Note 9 Single Phase Input LI etie ite Control Power Cable Shield 95264Vac RMS ATT Ned Clam Notes 1 2 Input Fusing Isolation Eli Transformer Three Phase Note 5 Motor Power gt Motor Power MP Connector V 2 gt Connections 1 14 2 DC Bus Note 4 31 and 3 Phase Three Phase Input gt e Three Phase 41 Input IPD 195 264V ac RMS Line Filter 5 ij Connector 6 BR or 324 528V ac RMS Note 3 6 MBRK lt Motor Brake Notes 1 2 gt LL Fe ro MBRK 5 lt BR Connections Input Fusing 1 4 lt Notes 7 8 Motor Resistive ru COM 3 Brake BC Connector PWR lt c 12 maximum SL Me BR DBRK x Resistive Brake Notes 7 12 61 DBRK 4 1 lt Connections gt CONT EN _ Contactor Enable CED Connector STOP START GONTENS Note 12 24V ac dc CRI A Ol 120V 42 50 6
116. elf Sense Flt DriveEnablelnputFault in Eds n E43 Generated when Enable input switches off when drive is enabled STOP Y Safe off function mismatch Drive will not allow motion Refer to the DriveHardFault E49 Kinetix Safe Off Feature Safety Reference Manual publication SHUTDOWN N Safe Off HW Fit GMC RM002 for more information Applies to IAM 2094 5 and AM 2094 xMxx S with Safe Off feature SERCOSFault SERCOS ADDR E50 Duplicate node address detected on SERCOS ring STOP N E54 _ Current feedback hardware fault detected SHUTDOWN N urrent feedback hardware fault detected Ifbk HW Fault DriveHardFault p E60 Invalid module type identified by firmware during power on SHUTDOWN AuxFeedbackFault i AO dn E61 Auxiliary encoder has encountered an illegal state transition DISABLE AuxFeedbackFault ee quis E62 The feedback wiring is open shorted or missing DISABLE N Aux Fdbk Loss AuxFeedbackNoi us Pu RSS ins E63 Presence of noise on auxiliary feedback cable nes E64 Presence of noise on motor feedback cable Mtr Fdbk Noise No Fault Message condition indicated by E65 Hookup procedure failed DISABLE N on screen message Hookup Fault Publication 2094 INOO2E EN P September 2005 Troublesh oot Your Kinetix 6000 RSLogix Fault Message RSLogix Error m Drive Fault HIM Code D
117. ervoltage Eog Fault 8 A blown fuse was detected Blown fuse Call your Allen Bradley representative to Blown fuse on the inverter PCB return module for repair e Operate within not above the continuous torque rating for the e a eee ambient temperature 40 104 F maximum otor vertem Fault P Motor thermal switch e Excessive current Lower ambient temperature increase tripped motor cooling Motor Overtemp T Check motor wiring at MF connector on the Motor wiring error IAM AM Incorrect motor selection Verify the proper motor has been selected Verify continuity of motor power cable and Motor cables shorted connector Disconnect motor power cables from the Motor winding shorted internally motor If the motor is difficult to turn by hand it may need to be replaced e Check for clogged vents or defective fan Kinetix 6000 temperature too high E e Ensure cooling is not restricted by elf protection of the i ici DriveOvercurtent intelligent Bower Module insufficient space around the unit E05 Fault IPM is indicating a major e Verify ambient temperature is not too Power Fault power related fault condition Operation above continuous power rating and or product environmental ratings high e Operate within the continuous power rating e Reduce acceleration rates Kinetix 6000 has a short circuit overcurrent or failed component Remove a
118. escription Action Programmable No Fault Message dition indicated b dion marsa Y 66 Autotune procedure filed DISABLE N Atune Flt DriveHardFault E67 Operating System Failed SHUTDOWN N Task init DriveHardFault E E68 DPI Communication Failed STOP N DriveHardFault dis pu ay E69 Non Volatile Memory attribute out of range SHUTDOWN N Objects Init DriveHardFault E R E70 Non Volatile Memory Corrupted SHUTDOWN N NV Mem Init DriveHardFault Macs E71 RAM or Flash memory validation failure SHUTDOWN N Memory Init Inverter temperature limit exceeded DriveOvertempFault E72 Note Firmware It protection does not generate a fault rather it SHUTDOWN Y Drive Overtemp dynamically folds back current when 11096 of drive rating is reached C icat 73 Power Rail Backplane CAN communications failed STOP N Backplane Comm DriveO tFault E74 The converter has exceeded its converter rating SHUTDOWN N Bus OverCurrent on i cii The IAM AM or SM has exceeded its shunt resistor continuous riveOvervoltageFault rating Shunt Time Out ES Note SHUTDOWN for IAM DISABLE for AM IAM also provides N fault handling for Shunt Module DriveHardFault RUTAS E76 Either DPI Backplane CAN initialization failure SHUTDOWN N Can Init DriveHardFault Generated by IAM if the power rating of one of the 5 on the Module Mismatch BE power rail does not match with IAM input power
119. ess J 2 Select I O AMI Group for IAM Press 1 3 Select Analog Outputs Press 1 e Analog Output 1 is displayed Press J e Analog Output 2 use arrows to select Press J 4 Press Sel 5 Enter parameter number Press 1 Using Analog Test Points to Monitor System Variables There are two analog output test points accessible from the IOD 26 pin connector on each IAM and AM refer to figures and 1 2 for connector locations 10D Pin Description Signal 23 Analog Output 0 DACO 24 Analog Output Common DAC COM 25 Analog Output 1 26 Analog Output Common DAC_COM Figure 2 2 Pin Orientation for 26 pin 1 0 100 Connector 26 pin IAM AM 1 0 Connector Pin 18 Pin 26 tan A Pin 19 Pin 1 Pin 10 Refer to the Kinetix 6000 Multi Axis Servo Drive Installation Manual publication 2094 001 for analog output specifications Troubleshoot Your Kinetix 6000 2 21 Parameters begin with a variable to identify a specific axis by slot number as follows 2nd AM 2 for parameters 2000 2999 and so on 0 for parameters 0 999 e 1st AM 1 for parameters 1000 1999 7th AM 7 for parameter 7000 7999 Use the two analog output test points to monitor system variables as shown in the table below Controlling Parameter Scale Parameter Analog Output Parameter Number Default Value Parameter Number Default Value 1 x681 Xx40 X68
120. faults 4 Select OK HyperTerminal configuration is complete Flash Your Firmware This procedure assumes you have identified which axis module s require flashing have set the Axes to Flash parameter and have configured a HyperTerminal session You must also know where to find your firmware upgrade file 1 Press ENTER The HyperTerminal main menu opens HyperTerminal m x Ele Edi View Call Transfer Help 1203 888 Smart Self powered Serial Converter DPI Revision 3 003 Build 9 Main Menu Enter Number for Selection 1 Display Setup Parameters 2 gt Display Event Queue 3 gt Flash Upgrade S E Connected 0 05 10 Auto detect _ 384008N 1 SCROLL CAPS NUM Capture Print echo Publication 2094 INOO2E EN P September 2005 6 Upgrade Your Kinetix 6000 Firmware 2 Enter 3 The following window opens HyperT erminal ol x Edit View Call Transfer Help 218 soll Al 1203 888 Smart Self powered Serial Converter DPI Main Menu Enter Number for Selection 1 gt Display Setup Parameters 2 gt Display Event Queue 3 gt Flash Upgrade Revision 3 003 Build 9 Flash Upgrade Enter Number for Selection 0 gt 2094D SERVO 2 gt This 1203 888 Connected 0 07 18 Auto detect 38400 8 N 1 SCROLL CAPS NUM Print echo 2 3 Enter 0 following window opens v K6K HyperTerminal
121. harge fault 2 5 purpose of this manual P 1 related documentation P 3 relay output A 24 removing components 2 22 LIM 2 27 modules 2 23 replacing components 2 22 LIM 2 28 power rail modules 2 24 resistive brake module interconnect diagrams C 6 setting the RBM delay time C 14 system block diagram A 34 A 35 Resistive Brake Module Installation Instructions P 3 risk assessment C 4 Rockwell Automation Product Certification P 3 RSLogix 5000 software 1 16 2 19 C 14 D 5 5 safe off block diagram A 28 safe off HW fault 2 6 safety control reliability C 5 risk assessment C 4 standards C 2 stop categories C 3 safety reference manual P 3 SCANport comm 2 6 SCANport DPI adapter C 14 D 5 self sense fault 2 5 SERCOS init 2 7 SERCOS interface module installation instructions P 3 SERCOS ring fault 2 5 SERCOS same addr 2 6 setting the add bus cap parameter D 5 seven segment status LED 1 28 1 30 shunt fault LED 2 11 shunt module A 28 connector designators 1 5 connector locations 1 5 interconnect diagram 13 A 14 A 15 shunt module troubleshooting 2 10 shunt time fault 2 7 shunt time out 2 7 shutdown 2 16 SoftLogix Motion Card Setup Configuration Manual P 3 1 16 1 33 software RSLogix 5000 1 16 2 19 software overtravel 2 4 start up procedure 1 1 status LEDs 1 28 1 31 1 33 2 2 status only 2 16 stop categories C 3 stop motion 2 16 storage P 2 supplemental troubleshooting information 2 19 surge suppre
122. he following safety precautions when troubleshooting your Kinetix 6000 drive ATTENTION DC bus capacitors may retain hazardous voltages after input power has been removed but will normally discharge in several seconds Before working on the drive measure the DC bus voltage to verify it has reached a safe level or wait the full time interval listed on the warning on the front of the drive Failure to observe this precaution could result in severe bodily injury or loss of life Do not attempt to defeat or override the drive fault circuits You must determine the cause of a fault and correct it before you attempt to operate the system If you do not correct a drive or system malfunction it could result in personal injury and or damage to equipment as a result of uncontrolled machine system operation If you use an oscilloscope or chart recorder for troubleshooting you must properly ground it The oscilloscope chassis can be at a potentially fatal voltage if you do not properly ground it Always connect the oscilloscope chassis to an earth ground General Troubleshooting Refer to the Error Codes section to identify problems potential causes and appropriate actions to resolve the problems If problems persist after attempting to troubleshoot the system please contact your Allen Bradley representative for further assistance To determine if your Kinetix 6000 drive has an error refer to the table below If the Logic Power LED i
123. hine Safety Standards for Reference e EN 1050 Safety of Machinery Principles for Risk Assessment e EN 60204 1 Safety of Machinery Electrical Equipment of Machines e EN 292 1 2 Safety of Machinery Basic Concepts General Principles for Design e EN 954 1 Safety of Machinery Safety Related Parts of Control Systems e NFPA 79 Electrical Standard for Industrial Machinery e ANSI B11 TR3 Risk Assessment and Risk Reduction A guide to estimate evaluate and reduce risks associated with machine tools Integrate Resistive Brake Modules with Kinetix 6000 Drives C 3 Background on Safety Design There are numerous safety standards regarding machine design including OSHA NFPA AMT CENELEC and ISO In Europe CENELEC and ISO coordinate the development of standards to which products can satisfy the laws of the Machinery Directive In the United States Standard Development Organizations SDO like the NFPA and AMT sponsor the development of standards to help companies meet OSHA requirements Stop Categories One of the most basic safety functions is stopping the machine The stopping function of a machine must fall into one of three categories 60204 1 and NFPA79 The categories are as follows Stop Category 0 Stopping by immediate removal of power to the machine actuators Stop Category 1 A controlled stop with power to the machine actuators to achieve the stop and then removal of power when the stop is a
124. ic cable connected to Check proper SERCOS fiber optic cable SERCOS transmit connector and vice versa connections 1 Refer to Fiber Optic Cable Installation and Handling Instructions publication 2090 010 for more information Publication 2094 INOO2E EN P September 2005 Bus Status LED Troubleshoot Your Kinetix 6000 2 9 Use the table below for troubleshooting the Bus Status LED on your 6000 IAM 2094 or 2094 Status is Condition If the Bus Status LED is Steady Green Bus power is present axis enabled No faults or failures Normal when e 24 15 applied to Hardware Enable Input IOD 2 e MSO instruction is commanded in RSLogix 5000 software Flashing Green Bus power is present axis disabled No faults or failures Normal when e 24 15 not applied to Hardware Enable Input 100 2 e MSO instruction is not commanded in RSLogix 5000 software Off Bus power not present e Norma when bus power is not applied Fault exists refer to seven segment Error Code and General Troubleshooting beginn ng on page 2 2 Bus power is present in Follower IAM e Follower IAM is not configured as Common Bus Follower in RSLogix 5000 e After DC bus voltage is applied a 2 5 second delay before the LED begins lashing green is normal operation to provide common bus leader time to complete pre charge Publication 2094 INOO2E EN
125. igured to use the Bulletin 1394 or 2094 shunt modules the IAM bus regulator capacity attribute displays the shunt module or passive shunt module utilization instead of the IAM internal shunt resistor utilization Common Bus applications must calculate Total Bus Capacitance and Additional Bus Capacitance and set the Add Bus Cap parameter x x x599 using DriveExplorer software Refer to Appendix D for the procedures 12 Select OK 13 Repeat steps 1 9 for each 2094 xMxx Axis Module Publication 2094 INOO2E EN P September 2005 Commission Your Kinetix 6000 1 23 Configure the Motion Group To configure the motion group 1 Right click Motion Groups in the explorer window select New Motion Group The New Tag window opens Name the new motion group Select OK New group appears under the Motion Groups folder Right click on the new motion group and select Properties The Motion Group Properties window opens olx Axis Assignment Attribute Tag Unassigned Assigned Axis 1 Axis 1 Aux Axis 2 Add gt lt Remove OK Cw Help Select the Axis Assignment tab and move your axes created earlier from Unassigned to Assigned Select the Attribute tab and edit the default values as appropriate for your application Select OK Publication 2094 IN002E EN P September 2005 1 24 Commission Your Kinetix 6000 Configure Axis Propertie
126. ing and connections Foreign matter is lodged in the motor Remove foreign matter The motor load is excessive Verify the servo system sizing The bearings are worn Return the motor for repair The motor brake is engaged if supplied e Check brake wiring and function e Return the motor for repair The motor is not connect to the load Check coupling Motor Overheating The duty cycle is excessive Change the command profile to reduce accel decel or increase time The rotor is partially demagnetized causing excessive motor current Return the motor for repair Abnormal Noise Motor tuning limits are set too high Run Tune in RSLogix 5000 again Loose parts are present in the motor e Remove the loose parts e Return motor for repair e Replace motor Through bolts or coupling is loose Tighten bolts The bearings are worn Return motor for repair Mechanical resonance Notch filter may be required refer to Axis Properties window Output tab in RSLogix 5000 Erratic Operation Motor locks into position runs without control or with reduced torque Motor power phases U and V U and W or V and W reversed Check and correct motor power wiring Sine Cosine or Rotor leads are reversed in the feedback cable connector Check and correct motor feedback wiring Sine Cosine Rotor lead sets of resolver feed
127. installation and wiring of Bulletin 2090 Resistive Resistive Brake Module Installation Instructions 2090 009 nformation on proper handling installing testing and Fiber Optic Cable Installation and Handling 2090 010 troubleshooting fiber optic cables Instructions nformation examples and techniques designed to minimize system failures caused by electrical noise System Design for Control of Electrical Noise GMC RM001 For declarations of conformity DoC currently available from Rockwell www ab com Automation Rockwell Automation Product Certification website certification ce docs An article on wire sizes and types for grounding electrical equipment National Electrical Code Published by the National Fire Protection Association of Boston MA A glossary of industrial automation terms and abbreviations Allen Bradley Industrial Automation Glossary AG 7 1 Publication 2094 INOO2E EN P September 2005 Conventions Used in this Manual Publication 2094 INOO2E EN P September 2005 The following conventions are used throughout this manual e Bulleted lists such as this one provide information not procedural steps e Numbered lists provide sequential steps or hierarchical information e Words that you type or select appear in bold When we refer you to another location the section or chapter name appears in italics e Acronyms for the Kinetix 6000 components shown in the table belo
128. k each axis to flash example above shows two axes to flash 11 Select OK The Axes to Flash parameter is set 12 Close DriveExplorer Publication 2094 INO02E EN P September 2005 B 4 Upgrade Your Kinetix 6000 Firmware Publication 2094 INOO2E EN P September 2005 HyperTerminal Configuration To open and begin a new HyperTerminal session 1 From the Windows Start menu select Programs NV Accessories V HyperTerminal HyperTerminal The New Connection window opens Connection Description 2 x hh New Connection Enter a name and choose an icon for the connection Name Name the new HyperTerminal file e Choose an icon for the connection Select OK The following window opens Connect To 2 xi Enter details for the phone number that you want to dial Country code United States of America 1 Area code 414 Phone number Connect using com OK Cancel Select the appropriate port Select OK The following window opens Select the following properties as shown or as appropriate for your 1203 SSS DPI adapter Bits per second of HyperTerminal must match the 1203 SSS DPI adapter setting for connection to occur Upgrade Your Kinetix 6000 Firmware B 5 COM1 Properties 2 Port Settings Bits second gt Data bits s 5 Stop bits fi Elow control konz x Restore De
129. l and remove all connectors from the module or SM you are removing To identify each connector refer to Commission Your Kinetix 6000 pages 1 3 to 1 5 Note The Slot Filler module has no connectors aside from the connections to the power rail 4 Remove the motor cable from the cable shield clamp as shown in the figure below Figure 2 3 Depressing the Spring Clamp Vertical Cable Clamp Motor Orientation Example Cable Use flat blade screwdriver with 3 5 mm 0 14 in tip to depress spring and remove cable Horizontal Cable Clamp Orientation Example Cable Clamp J UYY Cable Clamp Screwdriver tip in slot Vent holes on top of IAM AM Publication 2094 002 September 2005 2 24 Troubleshoot Your Kinetix 6000 Replace Power Rail Modules Publication 2094 INOO2E EN P September 2005 5 Loosen the mounting screw bottom center of each module 6 Grasp top and bottom of the module with both hands and gently pull the module away from the connectors enough to clear the guide pin s module will pivot on top bracket Lift the bracket out of the power rail slot and remove module from the power rail Figure 2 4 Removing Module from Power Rail Guide Pin s Integrated Axis Module Power Rail side view side view 5 To replace the power rail module s 1 Replacing a p
130. l equipment and safety procedures in publication NFPA 70 or applicable local codes should attempt this procedure ATTENTION This drive contains ESD Electrostatic Discharge sensitive parts and assemblies You are required to follow static control precautions when you install test service or repair this assembly If you do not follow ESD control procedures components can be damaged If you are not familiar with static control procedures refer to Allen Bradley publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook Publication 2094 002 September 2005 1 2 Commission Your Kinetix 6000 Understand IAM AM Connectors The following table provides a brief description of the Kinetix 6000 IAM AM connectors Integrated Axis Module Axis Module Connectors n Present on Designator Description Connector IAM or AM 100 User 1 0 drive 26 pin high density D shell IAM AM MF Motor Feedback 15 pin high density D shell male IAM AM AF Auxiliary Feedback 15 pin high density D shell female IAM AM CPD Control Input Power drive 2 position connector housing IAM ME and VAC Input Power drive 6 position connector housing IAM IPD and Input Power drive 6 position connector housing IAM CED Contactor Enable 2 position connector housing IAM MP Motor Power 4 position connector housing IAM AM B
131. le Note 14 Cable Shield LAC 0 Green Yellow 8 lt lt 1 7 4 Braided Shield 7 Y 2 vu Black 3 3 Motor Power W lt lt AND 2 Black 2 T2 4 Connector lt lt Three Phase 5 Motor Feedback U lt lt 1 Motor Power Motor Feedback MF Connector MF Connector 8 MBRK 6 Black 6 lt lt GREEN S2 9 Motor Brake 10 MBRK 5 Black 4 BLACK XX S4 2 11 4 BLACK 51 3 12 COM I lt User Supplied RED S3 BINE 13 PWR L lt 24V dc 1 2A max Motor Feedback gt gt gt BR A gt gt BLACK R1 5 15 T LENS Bs jl Resistive Brake Bs WHE AX m 10 DBRK Connections m a 5 lt lt K1 O flying lead Feedback Cable Motor Resistive 4 K2 Thermostat 14 TS 6 Brake BC Connector V lt lt XX TS 7 XX Shielded Cable xX 1 Wiring the thermal switch on 1326AB resolver based motors requires the use of the Low Profile connector kit 2090 K6CK D15MF and wire extension to the power connector Pins 16 17 and S are filtered to prevent noise transmission back to the drive Refer to the Kinetix 6000 Installation Manual publication 2094 001 for wiring instructions and a diagram Publication 2094 INOO2E EN P September 2005 Cable Shield gt Kinetix 6000 IAM inverter or AM Note 13 Clamp Interconnect Diagrams A 21 In the figure bel
132. lectronic Keying option select Disable Keying if unsure Check the box Open Module Properties Select OK The Module Properties window opens Select the SERCOS Interface tab and reference the table below Li General Connection SERCOS Interface SERCOS Interface Info Module Info Backplane Data Rate Auto Detect Mb Cycle Time 2 v ms Transmit Power High Y Transition To Phase 4 4 Status Offline Cancel Help Logix SERCOS Module Number of Axes Data Rate 1756 MO3SE or 1756 L60MO3SE 1756 085 4 or 8 Mbits s 1756 165 or 1784 PM16SE Commission Your Kinetix 6000 1 19 6 Select Data Rate Cycle Time and Optical Power settings e Ensure the Data Rate setting matches DIP switches 2 and 3 baud rate as set on the IAM and AM s or use the Auto Detect setting e Set the Cycle Time according to the table below Data Rate Number of Axes Cycle Time up to 2 0 5 ms up to 4 1 ms 4 Mbits s up to 8 2 ms No support for axes 9 to 16 up to 4 0 5 ms 8 Mbits s up to 8 1 ms up to 16 2 ms Note The number of axes module is limited to the number of axes as shown in step 5 e Ensure the Optical Power setting high or low matches DIP switch 1 as set on the IAM and AM s e Transition to Phase default setting is 4 phase 4 The Transition to Phase setting will stop the ring in the phase specified 7 Select OK 8 Repeat s
133. legal transition potential noise sources e Check the system grounds e Replace the motor encoder AuxFeedbackFault Check the motor feedback cable E62 The feedback wiring is open shorted or missing connectors wiring to the and Aux Fdbk Loss motor t63 AuxFeedbackNoise Noise on auxiliary e Verify grounding Aux Fdbk Noise feedback cable aronnding pei e Route feedback cable away from noise installation instructions has not been eee MotorFeedbackNoise Noise on motor feedback followed e Refer to System Design for Control of Mtr Fdbk Noise cable Electrical Noise Reference Manual publication GMC RMOO No Fault Message condition indicated Check motor power feedback wiring E65 Hookup procedure failed Motor or feedback device malfunction e Refer to on screen message for resolution Hookup Fault No Fault Message e Check motor power feedback wiring condition indicated Refer to on screen message for E66 by on screen Autotune procedure failed Motor or feedback device malfunction resolution message e Perform Hookup in RSLogix 5000 Atune Flt e Consult RSLogix 5000 help screen DriveHardFault Software initialization fault detected due Cycle power E67 Operating system failed Task init P gay to hardware failure e f fault persists replace module DriveHardFault E68 de DPI communication failed The DPI device or cable is faulty Check DPI
134. ll power and motor connections and preform a continuity check from the DC bus to the U V and W motor outputs If a continuity exists check for wire fibers between terminals or send drive in for repair Publication 2094 INOO2E EN P September 2005 Troubleshoot Your Kinetix 6000 Error Fault Message Problem or Symptom is Potential Cause is Possible Resolution is Code RSLogix HIM HardOvertravel Axis moved beyond the e Check wiring E06 Fault physical travel limits in the Dedicated overtravel input is inactive e Verify motion profile Hard Overtravel positive negative direction Verify axis configuration in software MotFeedbackFault UN A e Check motor encoder wiring E07 The feedback wiring is open shorted or missing Motor Feedback Loss e Run Hookup test in RSLogix 5000 e Verify voltage level of the incoming AC power E dd Check AC power source for glitches or BusUndervolt voltage is below limits DC bus voltage for 460V system is ndervoltage below 275V e Install an uninterruptible power supply E09 DCb for 230V UPS your AC input Bus Undervoltage us voltage for system is DC bus voltage fell below below 137V eee Disable follower axis before removing follower power rail was power enabled Excessive regeneration of power e Change the deceleration or motion When the motor is driven b
135. lted Go to Troubleshoot IAM AM Status LEDs on page 2 8 13 Observe the Comm Status LED If the Comm Status LED is Flashing green Establishing communication with network Wait for steady green Steady green Communication is ready Go to step 14 Off 14 No ring present Observe the Bus Status LED Go to Troubleshoot IAM AM Status LEDs on page 2 8 If the Bus Status LED is Status Do This Steady green Axis is enabled when status should be disabled 1 Verify Hardware Enable Input IOD 2 is open 2 Verify MSO instruction is not commanded in RSLogix 5000 3 Return to Apply Power to Your Kinetix 6000 witb LIM on page 1 26 Flashing green Bus is up axis is disabled normal status Go to step 15 Off The flas DC bus is not present Go to Troublesboot IAM AM Status LEDs on page 2 8 Follower IAM has a 2 5 second delay after DC Bus voltage is applied before the Bus Status LED begins hing This provides the common bus leader time to complete pre charge 15 Observe the three SERCOS LEDs on the SERCOS module If the three SERCOS LEDs are Flashing green and red Establishing communication Wait for steady green on all three LEDs Steady green Communication ready Go to Test and Tune Your Axes Not flashing green and red not steady green SERCOS module is faulted Go to the appropriate Logix motion module setup and
136. lus switch Decrement MSD LSD node address The minus switch Figure 1 7 Setting the Base Address Switches Decrements MSD Decrements LSD MSD Increments MSD Increments LSD Setting the base node address on the IAM determines the node address for the IAM inverter Node addressing for all slot locations on the same power rail increment from the IAM inverter left to right ter setting the base node address always cycle control power to initialize the IAM IMPORTANT When two or more IAMs are connected to the same SERCOS interface module each node address must be unique Refer to figures 1 9 1 10 and 1 11 for examples of how node addresses are assigned Publication 2094 INOO2E EN P September 2005 Commission Your Kinetix 6000 1 11 Refer to Figure 1 8 for an example of the fiber optic ring connections between the Kinetix 6000 drive s and the SoftLogix PCI card Although Figure 1 8 only illustrates the SERCOS fiber optic ring with the SoftLogix PCI card node addressing for SoftLogix is done the same way as shown in the three ControlLogix examples Figure 1 8 Fiber Optic Ring Connection SoftLogix 1784 PM16SE SERCOS interface PCI Card ojl b SERCOS fiber optic ring 4 Kinetic ooo0 LI f Wala laa aa fenia to v Transmit Receive a Transmit Receive Transmit
137. nections from Common Bus FLT put p g app iec Follower IAM DriveHardFault 90 Timecut ELT Pre charge resistor power exceeds the resistor rating Allow resistor to cool All Call your local Allen Bradley others RESERVED representative Publication 2094 INOO2E EN P September 2005 2 8 Troubleshoot Your Kinetix 6000 Troubleshoot IAM AM Drive Status LED Status LEDs Use the table below for troubleshooting the Drive Status LED on your Kinetix 6000 IAM 2094 or 2094 Off Normal no faults N A N A Refer to the section Error Codes and continue Steady Red Drive faulted Seven segment LED displays error code troubleshooting Comm Status LED Use the table below for troubleshooting the Comm Status LED on your Kinetix 6000 IAM 2094 or AM 2094 og Status Status is Potential Cause is Possible Resolution is Steady Green Communication ready No faults or failures N A System is still in the process of establishing SERCOS communication Wait for steady green LED status Establishing Flashing Green communication Node address setting on the drive module does not match SERCOS controller Verify proper node switch setting configuration Loose fiber optic connection Verify proper fiber optic cable connections Off 1 Broken fiber optic cable Replace fiber optic cable Receive fiber opt
138. nector 6 0r324 528V ac RMS 2 3 l1 MBRK I 5 Notes 1 2 7 8 M ENT E m E 4 2 COM Motor Resistive 3 Brake BC Connector 9 1 PWR 2 _ DBRK lt 1 DBRK lt CONT EN 1 Contactor Enable 2 CONT EN T CED Connector Note 12 To Follower Control Circuit Connections Wire the Leader and Follower IAM contactor enable terminals in series with the safety control string or LIM 1 0 gt Publication 2094 INOO2E EN P September 2005 From Leader Control Power Connections From Leader DC Bus Connections From Leader Control Circuit Connections Bonded Cabinet Ground Bus Interconnect Diagrams Kinetix 6000 COMMON BUS FOLLOWER IAM 2094 or Power Rail Ground Stud Note 9 2 Cable Shield Clamp Note 4 gt a 1 Control Power 1 2 CPD Connector ma Note 4 Sees 5 1 Motor Power gt 1 2 DC DCB MP Connector DC us 1 i SEI DC Bus Fusing 4 3 2 N C Input IPD N C 5 L2 Connector 6 6 NC 1 MBRK lt 5 LP 4 eq Mo
139. o Seem c Notes 3 Input Fusing i Fault Relay Note 20 19 _ 4 T Shunt chassis 1336 Slave INDICATES USER SUPPLIED COMPONENT ground screw Publication 2094 INOO2E EN P September 2005 16 Interconnect Diagrams AM Motor Interconnect This section contains the motor power brake and feedback signal Diagrams Kinetix 6000 IAM inverter or AM Note 13 Cable Shield Clamp interconnect diagrams between an Axis Module and MP Series 1326AB or F H N and Y Series servo motors In the figure below the Kinetix 6000 axis module 460V is shown connected to MP Series Low Inertia and Integrated Gear 460V motors Figure A 13 Axis Module to MP Series 460V Motor Interconnect Diagram MPL B and MPG B 460V SERVO MOTORS WITH HIGH RESOLUTION FEEDBACK 0 1 Note 9 2 4 Green Yellow D lt Motor Feedback 3 Motor Power W me lt W GND 4 2 2 Black B lt lt V Three Phase 5 1 3 Brown A 2 U Motor Power A gt gt BLACK SIN 1 6 U WHT BLACK Motor Feedback dU SU B gt SIN 2 MF Connector Motor Power Cable gt gt RED COS 3 5 Note 14 gt gt WHT RED XX COS 4 10 T Motor Feedback E gt GREEN DA
140. o ControlLogix chassis 1 12 1 13 example with two power rails 1 11 baud rate 1 14 1 15 block diagrams converter A 27 inverter A 26 LIM A 29 A 30 A 31 A 32 Index 33 34 35 safe off feature A 28 shunt module A 28 blown fuse 2 3 brake A 24 brake power LED 1 27 2 12 bus overvoltage 2 4 undervoltage 2 4 bus overcurrent 2 7 bus regulator 1 22 bus status LED 1 29 1 32 2 9 2 11 C cables fiber optic cable length 1 9 CAD files P 3 can init 2 7 1 CB2 CB3 1 26 certifications Rockwell Automation Product Certification P 3 changing parameters DriveExplorer 2 19 HIM 2 20 circuit breakers 1 26 comm status LED 1 29 1 31 2 8 commissioning your Kinetix 6000 1 1 common bus see DC common bus Common Bus FLT 2 7 component removal and replacement 2 22 configuring AM 1 15 base node address 1 10 baud rate AM 1 15 baud rate IAM 1 14 feedback only axis 1 21 IAM 1 10 Kinetix 6000 1 9 optical power level 1 14 1 15 SERCOS module 1 16 connector designators axis module 1 2 integrated axis module 1 2 line interface module 1 6 Publication 2094 INOO2E EN P September 2005 2 Index Publication 2094 INOO2E EN P September 2005 shunt module 1 5 connector locations axis module 1 4 integrated axis module 1 3 line interface module 1 6 1 8 shunt module 1 5 contents of manual P 2 control reliability C 5 controller properties 1 16 controlling a brake A 24 Controllogix Motion Modul
141. ocal Rockwell Automation sales office or online at http www rockwellautomation com literature describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations IMPORTANT Identifies information that is critical for successful application and understanding of the product Identifies information about practices or circum
142. oning your Kinetix 6000 system If not go to Test Your Axes beginning below Test Your Axes To test your axes 1 Verify the load was removed from each axis 2 Right click on an axis in your Motion Group folder in the explorer window and select Axis Properties The Axis Properties window appears Publication 2094 INOO2E EN P September 2005 1 34 Commission Your Kinetix 6000 3 Select the Hookup tab Axis Properties Axis 1 B x Dynamics Gains Output Limits Offset Fault Actions Tag General Units Conversion Drive Motor Feedback Homing Hookup Tune Test Increment B 0 Revs Test Marker Drive Polarity Test Feedback Test Command amp Feedback DANGER These tests may cause axis motion with the controller in program mode Modifying polarity determined after executing the Test Command amp Feedback test may cause axis runaway condition Cancel Apply 4 Select 2 0 as the number of revolutions for the test another number more appropriate for your application This Test Performs this Test Verifies marker detection capability Test Marker as you rotate the motor shaft Verifies feedback connections are Test Feedback wired correctly as you rotate the motor shaft Verifies motor power and feedback Test Command amp connections are wired correctly as Feedback you command the motor to rotate Also allows you to define polarity
143. oo 1 3 NO 0 1 98 exe1g 9 5 g uM o Fl eNO 0 20291009 114 g Md Ol andino ap z 2102 0 203290007 141 Ol aseug aaJu H 9 V Y 10 38Uu0 aL e andy 01 y zel NES oseupoon 10100uu02 140 pue aa 1 yndyng eseug eeJu sng 30 30 ge A n L 10138UU0 040 21819 X 203290009 142 7 04009 1810 yndyng LLL dI v T Jamo 2030 oe 0009 J9M0g 0 sixy XX N XX2g 10 XX N XX V b60Z JINGOW SIXV d31V8931NI 0009 M o punog yaulgeg papuog September 2005 Publication 2094 INO02E EN P C 11 Integrate Resistive Brake Modules with Kinetix 6000 Drives 01715388 01102 0318VN3 1 154015 INO riri wz S JON 90819511 1 Aejay Lea pei sc oc ac IN3NOdIAOS 0304405 S31VOIONI x oe OSN LON i w ez e ves ses zs zs zis us zs w SN LON
144. opriate for your application Commission Your Kinetix 6000 1 25 6 Select the Fault Actions tab and click on the Set Custom Stop Action tab The Custom Stop Action Attributes window opens StoppingTorque 291 2458 Rated StoppingTimeLimit 10 0 BrakeEngageDelayTime 00s BrakeReleaseDelayTime 005 ResistiveBrakeContactDelay 005 Close The Custom Stop Action Attributes window allows you to set delay times for servo motors and resistive brake modules For recommended motor brake delay times refer to the Kinetix Motion Control Selection Guide publication GMC SG001 e Set the Brake Engage Delay Time e Set the Brake Release Delay Time e Set the Resistive Brake Contact Delay time 0 1000 ms range Note The recommended delay time for 2090 XB33 xx and 120 resistive brake modules is 71 ms Note If you are using RSLogix 5000 v12 or lower refer to Set the RBM Delay Time Using DriveExplorer on page C 14 e Select Close 7 Select OK 8 Repeat steps 1 7 for each axis module 9 Verify your Logix program and save the file Download Your Program After completing the Logix configuration you must download your program to the Logix processor Publication 2094 INOO2E EN P September 2005 1 26 Commission Your Kinetix 6000 Apply Power to Your Kinetix 6000 Publication 2094 INOO2E EN P September 2005 Use the table below to determine where to begin applying power to your Kinetix 6000
145. our test completes successfully this window appears RSLogix 5000 Apply tune completed successfully Tune dependent attributes have been updated Refer to Help for a list of dependent attributes Select OK Remove the Hardware Enable Input signal IOD 2 applied earlier Go to step 12 Your test failed this widow appears RSLogix 5000 xj 1 Tune command cannot be completed Command timed out OK Error 16382 0 1 Select OK Make an adjustment to motor velocity Refer to appropriate Logix motion module setup and configuration manual for more information Return to step 7 and run the test again 12 Repeat Test and Tune Your Axes for each axis Publication 2094 INOO2E EN P September 2005 Chapter Objectives Chapter 2 Troubleshoot Your Kinetix 6000 This chapter provides a description of maintenance and troubleshooting activities for the Kinetix 6000 This chapter includes e Safety Precautions e General Troubleshooting e Troubleshoot IAM AM Status LEDs e Troubleshoot SM Status LEDs e Troubleshoot LIM Status LEDs e Troubleshoot RBM Status LEDs e Troubleshoot General System Problems e Understand Logix Drive Fault Behavior e Supplemental Troubleshooting Information e Replace Kinetix 6000 System Components Publication 2094 IN002E EN P September 2005 2 2 Troubleshoot Your Kinetix 6000 Safety Precautions Observe t
146. ove break SERCOS communications 1 Remove three phase and control power from the Kinetix 6000 drive system 2 Remove one of the SERCOS fiber optic cables Fiber optic cable connections Tx and Rx are located on the top of each IAM AM 3 Re apply three phase and control power Publication 2094 INOO2E EN P September 2005 0 6 DC Common Bus Applications Set the Additional Bus Capacitance Parameter To set the Additional Bus Capacitance parameter 1 Start the DriveExplorer software 2 Click on Explore Connect Local in the menu bar or enter Ctrl L from the keyboard DriveExplorer will read your system 3 Observe the Linear List of parameters as grouped by Node Port and Axis hierarchy as shown below Linear List Legend Parameter Number 30 Version Data Axis Number 0 IAM axis 1 1 AM axis 2 2 AM axis 3 3 AM axis 4 DPI Port Number Network Node Number 4 Click on Devices Node Product and navigate to the parameter x x x599 as shown below DriveExplorer File Edit Explore Actions Help x n amp sS Ie 229 Devices Node 1 20940 SERVO Shunt Ws Shunt Ks A Shunt Power TAM Diags Shunt Res TAM Group Bus Reg ID 4 TAM I O Add Bus Cap 0 2 1203 555 RS232 DF1 Reserved U Custom Views Soft Ovrtrvl Act Drive Action Mew Custom View Pos Err Flt Act Drive Action Compare Results Hard Ovrtryl Act Drive Action Fdbk Nse Flt Act St
147. ow the Kinetix 6000 axis module 230V is shown connected to H and F Series 230V servo motors Figure A 18 Axis Module to H F Series Motor Interconnect Diagram H F Series 230V SERVO MOTORS WITH INCREMENTAL FEEDBACK Note 9 L 4 Green Yellow 2 13 1 Blue w l GND Motor Feedback Motor Power W lt MP Connector 24 ae B lt H three Ph AMA U 1 3 Brown A lt lt U Motor Power E T f 1 2090 XXNPH HF xxSxx Motor Power Cable WHT BLACK XX AM 2 Motor Feedback Note 14 C n BM 3 MF Connector 5 WHURND XX BM H 1 9101 0330 Brake Cable Connector Kit E GREEN IM 5 on onnector Ki Motor Feedback E 4 WHT GREEN XX IM 10 MBRK 6 Black B lt lt BR R y WHT BROWN TS 11 5 White A 3 5 BROWN 93 8 MBRK lt lt lk 4 ____ 14 COM ____ _ User Supplied Js 5VDC PWR gt gt H WHI GRAY ECOM 6 al 2 BR M 55 DBRK FR NE Resistive Brake gt 57 13 DBRK H BR 3 Connections 5 CT XX SI Motor Resistive Hs vom E Brake BC Connector Thermostat TY 5 5 gt WHT VIOLET TS 6 Refer to Low Profile Connector Ei illustration below f S r proper grounding technique 2090
148. ow calls for not only redundancy in the interface relay but also in the input devices pointing to dual channel systems Resistive Brake Module Interconnect Diagram Notes Note Information Integrate Resistive Brake Modules with Kinetix 6000 Drives C 5 Category 4 All the conditions of Category B apply and in addition any single fault must be detected at or before the next call on the safety system or an accumulation of three faults shall not lead to the loss of the safety function Control Reliability In the United States the AMT has promoted a concept called Control Reliability as part of the ANSI B11 TR3 standard This standard has similar requirements to those in the Machinery Directive EN954 1 Category 3 risk standard Control Reliability is defined as the ability of a safety system to go into a safe state in the event of a failure In other words the safety system must bring the machine to a safe state in the event of a single fault This section provides interconnect diagrams to assist you in wiring a Kinetix 6000 system which includes an RBM The notes in the table below apply to the following example RBM interconnect diagrams ATTENTION The National Electrical Code and local electrical codes take precedence over the values and methods provided Implementation of these codes is the responsibility of the machine builder 1 Cable shield clamp must be used in order to meet CE requirements No external connection to g
149. ower rail module on the existing power rail Go to step 3 Replacing a power rail module on a new power rail Go to step 2 Prepare to mount your replacement module by removing the protective boots from the power rail connector Hang the mounting bracket from the slot on the power rail IMPORTANT Power rail must be in vertical orientation before replacing modules or pins may not seat properly Align the guide pin s on the power rail with the guide pin hole s in the back of the module refer to Figure 2 4 Note The IAM can have two or three power rail connectors and guide pins the AM can have one or two all other modules have only one connector and one guide pin Troubleshoot Your Kinetix 6000 2 25 5 Use 2 26 N m 20 lb in torque to tighten the mounting screw 6 Re connect the module connectors 7 Re apply power to the system 8 Verify that the system is operating properly Note Because IAM and AM parameters reside in the RSLogix 5000 software you do not need to perform any tuning or setup procedures Remove the Power Rail This procedure assumes you have disconnected all power from the power rail modules and removed all modules from the power rail To remove the power rail 1 Disconnect the braided grounding strap from the grounding stud on the right side of the power rail as shown in the figures below Figure 2 5 Removing Ground Strap 2094 PRx Braided Ground Strap 100 mm 3 9 in
150. power to the IAM IPD connector and observe the front panel seven segment Status LED display as shown in Figure 1 14 Actively cycling phase 0 The drive is looking for a closed SERCOS ring Wait for phase 1 or take corrective action until you reach phase 1 Do This Check fiber optic connections Displaying a fixed 1 phase 1 The drive is looking for active nodes Wait for phase 2 or take corrective action until you reach phase 2 Check node addressing Displaying a fixed 2 phase 2 The drive is configuring nodes for communication Wait for phase 3 or take corrective action until you reach phase 3 Check program motor and drive configuration against installed hardware Displaying a fixed 3 phase 3 The drive is configuring device specific parameters Wait for phase 4 or take corrective action until you reach phase 4 Check motor catalog number against selection Displaying a fixed 4 phase 4 The drive is configured and active Go to step 4 Flashing an E followed by two numbers Drive is faulted Go to Error Codes on page 2 3 1 You can get diagnostic information from the module by highlighting the module name in RSLogix 5000 A Pseudo Key Failure often indicates that the motor selection does not match the motor installed 4 Observe the Drive Status LED If the Drive Status LED is Normal condition Do This Go to step 5 Drive is faulted
151. r code E90 pre charge timeout fault and the drive is disabled Maximum Bus Maximum Bus Leader IAM 230V Capacitance Leader IAM 460V Capacitance 2094 2094 uF uF 05 5 BCO1 MP5 7145 4585 05 01 01 01 09 02 15295 02 02 8955 16 03 34400 04 03 8955 32 05 62825 07 05 17915 IMPORTANT If your total bus capacitance value exceeds the value in the table above you must increase the size of the Leader IAM or decrease the total bus capacitance by removing axis modules DC Common Applications Calculate Additional Bus Capacitance D 3 Additional bus capacitance is the sum of all Follower IAM and AM capacitance values for your Kinetix 6000 common bus modules Specifically this includes the capacitance values for the following modules e Each Follower IAM converter and inverter e Each AM on the Follower IAM power rails Enter the additional bus capacitance value in step 6 of Set the Additional Bus Capacitance Parameter Kinetix 6000 Capacitance Values Use the tables below when calculating total bus capacitance and additional bus capacitance for your Kinetix 6000 common bus application IAM AM 230V Modules IAM Converter 230V Capacitance AM Inverter 230V Capacitance 2094 uF 2094 uF 05 5 on AMP5 390 05 01 01 660 09 02 540 02 780 AC16 M03 1320 03 1
152. rade MPF and MP Series Stainless Steel MPS servo motors Figure A 15 Axis Module to MP Series Food Grade and Stainless Steel Motors Kinetix 6000 MPF A or MPS A 230V IAM inverter or AM SERVO MOTORS WITH Note 13 HIGH RESOLUTION FEEDBACK Motor Feedback Cable Shield 0 Clamp Shield 1 Note 9 1 Ss BLACK SIN N 1 Ha Green Yellow p Q lt lt 2 551 XX SIN 2 3 Motor Power w 13 lt n l GND 1 gt gt uem XX a 3 MP Connector V 2 Black B V PARS Three Phase gt gt 1 Brown NU U Motor Power 5 GREEN DATA 5 6 U TUM lt lt 8 4 WHT GREEN XX DATA 10 7 Motor Feedback cit Power Coble Motor 9 y SL ay 5VDC 14 MF Connector Note 14 Feedback 10 5 WHT GRAY XX ECOM 6 10 11 ORANGE W 11 otor Resistive 13 WHT ORANGE TS 11 12 Brake BC Connector Pe gt gt i poms 5 me p 107 PIE o gt 14 Whit F Missi U ite BR rf RN 4 Motor Brake FH e 1 User Supplied PWR 24V dc 1 2A max for proper grounding technique DBRK i 2090 5 BR nj Resistive Brake flying lead Feedback Cable DBRK Connections Notes 14 15 MPF B or MPS B 460V SERVO MOTORS WITH HIGH RESOLUTION FEEDBACK Motor
153. rating SHUTDOWN i DriveHardFault 2 E78 Control hardware fault detected SHUTDOWN N DriveOvervoltageFault Power Rail mounted Shunt Module Fault Displayed on IAM Shunt Module Fit E79 7 segment fault status LED SHUTDOWN Hard Fault x 80 Control hardware fault detected SHUTDOWN N Hard Fault ere es E81 Common Bus Follower IAM detected AC input power being applied SHUTDOWN N Common Bus FLT Hard Fault ae E90 Pre charge resistor power exceeds the resistor rating SHUTDOWN N Pre charge Timeout FLT All RESERVED Others Publication 2094 IN002E EN P September 2005 Supplemental Troubleshooting Information Troubleshoot Your Kinetix 6000 2 19 This section provides information for accessing and changing parameters not accessible through RSLogix 5000 software Tools for Changing Parameters Most parameters are accessible through RSLogix 5000 software Alternatives to RSLogix 5000 software for changing parameters include the DPI compatible Human Interface Module HIM and DriveExplorer software Refer to the table below for catalog numbers Method Description Catalog Number Firmware Revision DriveExplorer Software 9306 4EXPO2ENE 2 01 or later DriveExplorer Serial to SCANport Adapter 1203 555 Series 3 004 or later HIM Full Numeric LCD HIM 20 HIM A3 2 N A 1 Refer to DriveExplorer Getting Results Manual publication 9306 GR001 for instructions Compatible catalog numbers include
154. round required For motor cable specifications refer to the Kinetix Motion Control Selection Guide publication 8 56001 The signal can be wired to a ControlLogix input as overtemp warning in user program Firmware version 1 071 or higher is required to use the DBRK outputs on the Kinetix 6000 IAM or AM The safety relay time delay should be set beyond the time required to stop and disable the axis when running at full speed o gt Drive Enable Input Checking must be selected in Axis Properties Publication 2094 INOO2E EN P September 2005 Integrate Resistive Brake Modules with Kinetix 6000 Drives C 6 The example diagram below shows Kinetix 6000 IAM AM and LIM Resistive Brake Module Interconnect Diagrams 2094 1 755 BL75S and XL75S wired with the Bulletin 2090 RBM Figure C 1 Example RBM Interconnection Diagram Category 2 Configuration per EN954 1 Z Bojejeo 1 10 000 7602 enueyy 0009 XHAULY AU 01 19 9 INANOdWIO9 04 44 5 YISN S3IVOIONI x
155. rrent Motor or transmission malfunction e Check replace transmission device Fault DC link current exceeds E74 rating e Check replace motor Bus OverCurrent Vidrio Bone sed e Check for proper IAM sizing e Install larger kW rated IAM e Use a properly sized shunt or modify DriveOvervoltage duty cycle of the application E75 Fault The IAM or SM has exceeded its shunt resistor continuous rating e System uses internal shunt and Shunt Time Out requires external shunt for additional capacity Reset System DriveHardFault initializati E76 Can Init eae Control board hardware failure e If fault persists replace system DriveHardFault Either 230V AM is installed on power rail with 460V IAM or 460V AM E77 Module Mismatch is installed on power rail with 230V IAM Replace mismatched module DriveHardFault e Cycle power E78 dg Control hardware fault detected td SERCOS Init e f fault persists replace module MT ture Fault LED bn Refer to Temperature Fault LED on page 2 11 DriveOvervoltage 279 Fault LED status Refer to Shunt Fault LED on page 2 11 Shunt Module Fit Install missing module on power rail Module missing from power rail 3 Fill empty slot with slot filler module DriveHardFault E80 wi Control hardware fault detected Replace module E81 Drivel raul Follower IAM detected AC input power being applied Remove AC input power con
156. s To configure axis properties 1 Publication 2094 INOO2E EN P September 2005 Right click on an axis in the explorer window and select Properties The Axis Properties window opens TTE Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Amplifier Catalog Number 2034 ______ Motor Catalog Number Change Catalog Loop Configuration Position Servo Drive Resolution 200000 Drive Counts Motor Rev X Calculate Drive Enable Input Checking Drive Enable Input Fault Real Time Axis Infomation Attribute 1 none 4 Attribute 2 lt none gt Cancel Help Select the Drive Motor tab Set the Kinetix 6000 Amplifier 2094 e Set the Motor Catalog Number e Set Loop Configuration to Position Servo e Drive Enable Input Checking when checked default means a hard drive enable input signal is required Uncheck to remove that requirement Note For amplifier and motor catalog numbers refer to the amplifier and motor name plate Select the Motor Feedback tab and verify the Feedback Type shown is appropriate for your actual hardware configuration Select the Units tab and edit default values as appropriate for your application Select the Conversion tab and edit default values as appr
157. s ON and the Status LED display on your Is Then Your Kinetix 6000 drive is ready but SERCOS 2094 xC xx Mxx x IAM Actively cycling segments in a full circle communications is not available Displaying a fixed 4 Your Kinetix 6000 drive is ready All drives Flashing an E followed by two numbers Your Kinetix 6000 drive has an error Proceed to the section Error Codes Publication 2094 INOO2E EN P September 2005 Troubleshoot Your Kinetix 6000 2 3 Error Codes The following list of problematic symptoms no error code shown and problems with assigned error codes is designed to help you resolve problems When a fault is detected the 7 segment LED will display an E followed by the flashing of the two digit error code one digit at a time This is repeated until the problem is cleared ee Problem or Symptom is Potential Cause is Possible Resolution is Verify AC control power is applied to the No AC power or auxiliary logic power Power PWR indicator not Kinetix 6000 ON Call your Allen Bradley representative to Internal power supply malfunction return module for repair e Check motor wiring otor wiring error when first d Run Hookup test in RSLogix 5000 Incorrect motor chosen Verify the proper motor is selected not working 1 0 power supply disconnected Verify connections and 1 0 power source BusUnd
158. s integration procedures specific to the Kinetix 6000 multi axis servo drive systems configured for DC common bus and using drive firmware v1 85 or above The procedure involves calculating capacitance values and setting the Add Bus Cap parameter using DriveExplorer software These procedures assume you have mounted and wired your Kinetix 6000 DC common bus system Refer to the Kinetix 6000 Installation Manual publication 2094 IN001 for mounting and wiring information Before you set the Additional Bus Capacitance Add Bus Cap parameter in DriveExplorer you need to calculate the following values using the tables provided e Total Bus Capacitance e Additional Bus Capacitance Publication 2094 INOO2E EN P September 2005 0 2 DC Common Bus Applications Publication 2094 INOO2E EN P September 2005 Calculate Total Bus Capacitance Total bus capacitance is the sum of all capacitance values for your Kinetix 6000 common bus modules Specifically this includes the capacitance values for the following modules Leader IAM converter and inverter Each Follower IAM converter and inverter Each AM on the Follower IAM power rails Each AM and SM Cif present on the Leader IAM power rail Refer to 6000 Capacitance Values on page D 3 for IAM AM SM capacitance values IMPORTANT When total bus capacitance exceeds the Leader IAM maximum value given in the table below the IAM seven segment LED displays erro
159. s only Publication 2094 INOO2E EN P September 2005 Troubleshoot Your 6000 2 17 2 RSLogix Fault Message RSLogix Error Descrinti Drive Fault ption Programmable HIM Code Action Fault Action MotFeedbackFault P Re dis E20 Motor encoder has encountered an illegal state transition DISABLE N AuxFeedbackFault E21 Communication was not established with an intelligent i e STOP N Aux Feedback Comm Stegmann encoder on the Auxiliary feedback port MotFeedbackFault E30 Communication was not established with an intelligent i e STOP N Motor Feedback Comm Stegmann encoder on the Motor feedback port G dShortFault an Pd dis E34 Excessive ground current in the converter was detected SHUTDOWN N DriveUndervoltageFault beds E35 The converter pre charge cycle has failed SHUTDOWN N Precharge Fault DriveOvertempFault 6 Converter internal temperature limit exceeded SHUTDOWN N System Overtemperature e One or more phases of the input AC power is missing PowerPhaseLossFault E37 Axis was enabled when main 3 phase power was removed SHUTDOWN STOP N Phase Loss Fit Common bus follower axis was enabled when DC bus power was removed SERCOSFault SERCOS am Flt E38 The SERCOS ring is not active after being active and operational STOP N DriveHardFault 9 Self sensing commutation fault detected DISABLE N S
160. safe off HW fault 2 6 SCANport comm 2 6 self sense fault 2 5 SERCOS init 2 7 SERCOS ring fault 2 5 SERCOS same addr 2 6 shunt module fault 2 7 shunt time out 2 7 software overtravel 2 4 Publication 2094 INOO2E EN P September 2005 6 Index Publication 2094 INOO2E EN P September 2005 task init 2 6 unknown axis 2 6 general system problems 2 14 abnormal noise 2 15 axis unstable 2 14 erratic operation 2 15 feedback noise 2 15 motor accel decel problems 2 14 motor overheating 2 15 motor velocity 2 14 no rotation 2 15 I O power LED 2 12 Logix drive fault behavior 2 16 programmable fault action 2 16 RBM 230V status LED 2 13 RBM 24V status LED 2 12 shunt fault LED 2 11 shunt module 2 10 shutdown 2 16 status only 2 16 stop motion 2 16 supplemental troubleshooting information 2 19 changing parameters 2 19 using analog test points 2 20 temperature fault LED 2 11 troubleshooting your Kinetix 6000 2 1 tuning axes bandwidth 1 37 tune tab 1 36 U units tab 1 24 unknown axis 2 6 user manuals P 3 W who should use this manual P 1 X Xmodem B 7 Rockwell Automation Support www rockwellautomation com Corporate Headquarters Rockwell Automation provides technical information on the web to assist you in using its products At http support rockwellautomation com you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs an
161. sing wiring diagnostics e An attempt was made to enable the e Disable the Drive Enable Input fault is through software while the Drive DriveEnablelnput E aris e Verify that Drive Enable hardware input E43 Fault Missing Drive Enable Input Enable haraiware mput wasinactive is active whenever the drive is enabled Drive Enable Flt Signal The Drive Enable input transitioned from active to inactive while the axis was enabled through software Publication 2094 IN002E EN P September 2005 Troubleshoot Your Kinetix 6000 a Problem or Symptom is Potential Cause is Possible Resolution is E49 DriveHardFault For symptom cause and resolution of this error code refer to the Kinetix Safe Off Feature Safety Reference Manual Safe Off HW Fit publication GMC RM002 Applies to IAM 2094 xC xx Mxx S and AM 2094 xMxx S with Safe Off feature SERCOSFault f Verify that each SERCOS drive is assigned E50 SERCOS Same ADDR Duplicate node address detected on SERCOS ring a unique node address DriveHardFault E54 Current feedback hardware fault detected Replace the module DriveHardFault E60 UE m Illegal ID bits detected Replace the module e Use shielded cables with twisted pair wires 61 AuxFeedbackFault Auxiliary Encoder State The auxiliary encoder encountered an Route the feedback away from Aux Fdbk AQB Error il
162. ssion A 25 switches base node address 1 10 baud rate 1 14 1 15 optical power level 1 14 1 15 system block diagrams converter A 27 inverter A 26 LIM A 29 A 30 A 31 A 32 A 33 RBM A 34 A 35 safe off feature A 28 shunt module A 28 System Design for Control of Electrical Noise P 3 T task init 2 6 temperature fault LED 2 11 testing axes hookup tab 1 34 total bus capacitance calculating D 2 example D 4 troubleshooting 2 2 24V power LED 2 12 brake power LED 2 12 bus status LED 2 9 2 11 comm status 2 8 disable drive 2 16 drive status LED 2 8 error codes 2 3 fault action 2 16 general atune fault 2 6 Index 1 5 aux fdbk noise fault 2 6 aux feedback AQB 2 6 aux feedback loss 2 6 auxiliary encoder error 2 4 backplane comm 2 7 blown fuse 2 3 bus overcurrent 2 7 bus undervoltage 2 4 can init 2 7 Common Bus FLT 2 7 CPLD FLT 2 7 digital I O not working correctly 2 3 drive enable fault 2 5 drive overcurrent 2 3 drive overtemp 2 5 2 7 drive undervoltage 2 5 encoder communication fault 2 5 follow error 2 4 ground fault 2 5 hardware overtravel 2 4 hookup fault 2 6 Ifbk HW Fault 2 6 illegal hall state 2 4 IPM fault 2 3 memory init 2 6 module mismatch 2 7 motor encoder error 2 4 motor feedback loss 2 4 motor jumps when first enabled 2 3 motor overtemp 2 3 mtr fdbk noise fault 2 6 NV mem init 2 6 objects init 2 6 overspeed fault 2 4 power indicator not on 2 2 power phase loss 2 5 precharge fault 2 5
163. stances that can lead to personal injury or death property damage or economic loss Attentions help you ATTENTION e identify a hazard e avoid a hazard recognize the consequence Labels may be located on or inside the equipment 2 drive or motor to alert people that dangerous voltage may be present LD Eva Labels may be located or inside the equipment e g drive or motor to alert people that surfaces may be dangerous temperatures Allen Bradley A B ControlLogix and Kinetix are registered trademarks of Rockwell Automation DriveExplorer RSLogix RSLogix 5000 SoftLogix and SCANport are trademarks of Rockwell Automation Trademarks not belonging to Rockwell Automation are property of their respective companies Commission Your Kinetix 6000 Troubleshoot Your Kinetix 6000 Table of Contents Preface Introduction a see gelbe ti Deeb hee bh de ihn P 1 Who Should Use this 1 P 1 Purpose of this Manual P 1 Contents of this 1 P 2 Product Receiving and Storage Responsibility P 2 Related Documentation P 3 Conventions Used in this Manual oir T P 4 Chapter 1 Chapter qe tton x e ede 1 1 General Startup Precautions Li ee a im o Rte ocio 1 1 Understand IAM AM Connectors 1 2 Integrated Axis Module
164. t GRAY 5VDC 14 14 5 White A BRA 3 Motor Brake LS WHT GRAY XX ECOM 6 5 p BRK 4 lt lt gt JT m 7 4 User Supplied BS SL warvonance XX TS 11 PWR 24V de 1 2A max Thermostat aie 7 BR ub S gt Refer to Low Profile Connector DBRK Resistive Brake illustration lower left for proper grounding technique DBRK lt Connections 5 2090 XXNFMP Sxx flying lead Feedback Cable Notes 14 15 MPL A 230V SERVO MOTORS Motor Feedback MF C t WITH INCREMENTAL FEEDBACK 1 4 4 BLACK AM 1 WHT BLACK AM 2 Grounding Technique for C a GND B gt gt A H Feedback Cable Shield yy a 3 NEN ree Phase D E 2090 K6CK D15M shown A Kani Motor Power 221 gt gt GREEN W IM 5 WHT GREEN Motor Feedback gt gt otor Feedback y gt GRAY 45VDC 14 LS ST XX ECOM 6 Clamp N y gt ORANGE 7 Exposed shield secured gt R gt WHT ORANGE XX TS 1 Thermostat iY Clamp screws 2 oO 5 gt Sle BLUE Turn clamp over to hold S T gt WHT BLUE XX S1 12 small cables secure Motor Brake U syl mE X 52 13 gt 53 8 gt gt Refer to Low Profile Connector illustration lower left Publication 2094 INOO2E EN P September 2005 18 Interconnect Diagrams In the figure below the Kinetix 6000 axis module is shown connected to MP Series Food G
165. t Diagrams In the configuration below two IAMs have input power brake power and the start stop string wired from the same LIM 2094 AL75S BL75S or XL75S Cx 2094 xL75S xx LIM does not contain an AC line filter so an external filter is added between the LIM and IAM Figure A 2 IAM Power Interconnect Diagram IAM with LIM Kinetix 6000 INTEGRATED AXIS MODULE 2094 or BCxx Mxx IAM_1 Bonded Cabinet Power Rail Note 9 Ground Bus VAC LINE 3 Phase IPL Input 195 264V ac RMS or 324 528V ac RMS Note 1 Auxiliary Power Single Phase APL Input 93 121V ac RMS or 196 253V ac RMS This connector is present only on the 2094 XL75S Cx Note 1 INDICATES USER SUPPLIED COM Kinetix 6000 Ground Stud Cable Shield Clamp Publication 2094 INOO2E EN P September 2005 PONENT Note 12 To CED connector IAM 2 4 1 LINE INTERFACE MODULE inus 3 otor Power lotor Power 2094 AL75S BL75S or XL75S Cx MP Connector 2 gt Connections 1 _ Note4 1 U 1 14 Single es DIE CTRL 2 2 CTRL2 Control Power V 195 264V RMS CT
166. ted Axes Power Module Info Node 1 _ Ass 1 E Node 129 lt none gt Auxiliary Axis Status Offline Cancel Apply Help Commission Your Kinetix 6000 1 21 With drive firmware version 1 80 or above and RSLogix 5000 software version 13 or above it is possible to configure the auxiliary axis feedback port as a Feedback Only axis With this feature each IAM inverter or AM can be configured to appear as two axes nodes on the SERCOS ring The base node is the servo axis utilizing the motor feedback and the base node plus 128 is a feedback only axis utilizing the auxiliary feedback port as shown below Module Properties SE_MOD 2094 16 03 1 1 General Connection Associated Axes Power Module Info Node 1 Axis_1 gl New Axis Node 129 Axis 1 Aux p Auxiliary Axis Help Status Offline Cancel If an axis is associated to the auxiliary axis node then the Axis Configuration on the General tab of the Axis Properties page is set to Feedback Only as shown below 2 Axis Properties Axis_1 Conversion Homing Hookup Fault Actions General Motion Planner Unis D ve Moter Motor Feedback Aux Feedback Asis Configuration Feedback Only Motion Group New Group Associated Module Module Module 2084 AC16 MU3 Node fi X OK Cancel 9 Select OK 10 Select
167. teps 1 7 for each Logix module Configure Your Kinetix 6000 Modules To configure your Kinetix 6000 modules 1 Right click on the new Logix module you just created and select New Module The Select Module window opens 2 Select your 2094 or 2094 AM as appropriate for your actual hardware configuration Publication 2094 INOO2E EN P September 2005 1 20 Commission Your Kinetix 6000 Publication 2094 002 September 2005 Select OK The Module Properties window opens e Name the module e Set the Node address Note Set node address in the software to match the node setting on the drive Refer to Configure Your Integrated Axis Module step 2 on page 1 10 e Select an Electronic Keying option e Check the box Open Module Properties Select OK Select the Associated Axes tab Module Properties SE_MOD 2094 16 03 1 1 General Connection Associated Axes Power Module Info Node 1 lt none gt X Node 129 lt none gt al Auxiliary Axis Status Offline Cancel Apply Help Select the New Axis button The New Tag window opens e Name the axis e Select AXIS_SERVO_DRIVE as the Data Type Select OK The axis appears under the Ungrouped Axes folder in the explorer window Assign your axis to the node address as shown in the window below Module Properties SE_MOD 2094 16 03 1 1 General Connection Associa
168. ter for DC common bus applications You the customer are responsible for thoroughly inspecting the equipment before accepting the shipment from the freight company Check the item s you receive against your purchase order If any items are obviously damaged it is your responsibility to refuse delivery until the freight agent has noted the damage on the freight bill Should you discover any concealed damage during unpacking you are responsible for notifying the freight agent Leave the shipping container intact and request that the freight agent make a visual inspection of the equipment Store the product in its shipping container prior to installation If you are not going to use the equipment for a period of time store using the following guidelines e Use a clean dry location e Maintain an ambient temperature range of 40 to 70 C 40 to 158 F e Maintain a relative humidity range of 596 to 95 non condensing e Store it where it cannot be exposed to a corrosive atmosphere e Store it in a non construction area Related Documentation The following documents contain additional information concerning related Allen Bradley products To obtain a copy contact your local Allen Bradley office distributor or download them from www rockwellautomation com literature For The instructions needed for the installation and wiring of the Kinetix Read This Document Catalog Number
169. tion Manual publication 2094 001 ATTENTION avoid damage to the brake contactor surge suppression flyback diode or MOV rated at appropriate voltage must be used when controlling a brake coil Publication 2094 INOO2E EN P September 2005 This section provides block diagrams of the Kinetix 6000 modules Inverter Block Diagram Inverter Block Diagram Figure A 22 Interconnect Diagrams System Block Diagrams A 26 107014 AG 46 0 1 21812 010 s 104009 AZ L L 2 59 Auo SdINS i N3119 unus 9 ANOO u3MOd A09 UE YS ad ee 11 11 0 tt J3 0 8 gt jnding JoJo seyd 38141 suomauuo 3ASIS Y INON September 2005 Publication 2094 IN002E EN P 27 Interconnect Diagrams IAM Converter Block Diagram Figure A 23 Converter Block Diagram amod Aure uonisod ynejap 0126 uwous jeduinf punoJr y S19110Au02 10227 uo 1ueseJd Jul 20 10 5103290007 AQgr uo 1ueseJd 1 JQ PUAU p AQgz UO Auo 1uesaJd pue 191414394 7
170. tional Bus Capacitance E PRF 2094 PRF AM 2094 1320 AM 2094 1320 uF IAM 2094 16 03 Converter 1320 IAM 2094 16 03 Inverter 1320 pF Publication 2094 INOO2E EN P September 2005 Set the Additional Bus Capacitance Parameter DC Common Bus Applications D 5 In this procedure you will set the Add Bus Cap parameter using DriveExplorer software The following hardware and software tools are required to provide the necessary communication link between your PC and the Kinetix 6000 drive system running DriveExplorer Description Catalog Numbers Version DriveExplorer Software 1 3 9306 4EXPO2ENE 2 01 or above Serial to SCANport Adapter 2 3 1203 555 Series 3 004 RSLogix 5000 Software 9324 RLD300NE 15 0 or above 1 Refer to DriveExplorer Getting Results Manual publication 9306 68001 for instructions 2 Refer to 1203 SSS Series B FRN 3 xxx User Manual publication 20COMM UM001 for instructions 3 Additional information regarding these communication and software tools is available at www ab com support abdrives To avoid personal injury or equipment damage at least one end of a SERCOS fiber optic cable must be disconnected from the drive This ensures that motion will not occur while changes are made to the Add Bus Cap parameter Remove SERCOS Communication To rem
171. to cool 2E EN P September 2005 If 230V Status LED is Steady Green 230V ac Auxiliary Power Status LED Troubleshoot Your Kinetix 6000 Note The 230V ac Auxiliary Power Status LED only applies to 2090 XB120 xx RBMs The 230V ac Status LED is on when 230V ac is applied to L1 and L2 TB4 and the contactor is engaged by applying 24V across COIL_A1 and COIL_A2 e g a Brake Enable signal is received from the drive Contactor Status is Contactor Engaged direct connection between drive and motor Potential Cause is No faults or failures Possible Resolution is N A Contactor Disengaged no connection between drive and motor Contactor failure e Monitor CONSTAT_41 42 status to verify lack of drive motor power output is NC e Contact A B representative Blinking Green audible clicking Contactor rapidly engaging disengaging Grounding e Verify ground wiring e Route wires away from noise sources e Refer to System Design for Control of Electrical Noise Reference Manual publication GMC RM001 230V ac is varying e Check VAC loading e Check VAC source e Verify wiring Control circuit improperly wired Verify control wiring and programming Contactor failure e Monitor CONSTAT 41 42 status to verify lack of drive motor power Off Contactor Engaged contacts welded together output is NC intended e Contact A B representative Conta
172. tor Resistive T COM 3 Brake BC Connector 6 PWR 2 DBRK L 1 LL DBRK 4 I CONT EN Contactor Enable CONT EN 57 Connector Note 12 Kinetix 6000 COMMON BUS FOLLOWER IAM 2094 or Bonded Cabinet Ground Bus Power Rail Ground Stud 9 gt Cable Shield Clamp Control Power 2 CPD Connector 1 Motor Power L 2 DC MP Connector IL DC DC Bus 3 1 and DC Bus Fusing 4 3 Phase Note 2 N C Input IPD N C 2 5 12 Connector 6 6 NC 4 MBRK lt 5 MBRK aie 4 Motor Resistive COM 3 Brake BC Connector PWR 2 Z DBRK lt 1 lt Contactor Enable lt 2 CONT EN T Connector Note 12 INDICATES USER SUPPLIED COMPONENT A 11 Three Phase Motor Power Connections Note 14 Three Phase Motor Power Connections Note 14 Publication 2094 INOO2E EN P September 2005 12 Interconnect Diagrams In the figure below a non Kinetix 6000 leader drive and Kinetix 6000 Follower IAM are shown Figure A 8 Non Kinetix 6000 Leader Drive with Single Follower IAM Power Diagram Kinetix 6000 COMMON BUS FOLLOWER IAM Bonded Cabinet 2094
173. ution A This action will overwrite existing device values that are currently saved in the product s non volatile memory Continue Click on Yes to complete saving changes to non volatile memory The following confirmation message window opens Save to non volatile memory was successful OK Click OK Close DriveExplorer Go to Reconnect SERCOS Communication Reconnect SERCOS Communication To reconnect SERCOS communication 1 Remove three phase and control power from the Kinetix 6000 drive system Replace the SERCOS fiber optic cable s removed earlier Fiber optic cable connections Tx and Rx are located on the top of each IAM AM Re apply three phase and control power Numerics 1203 SSS serial cable B 2 B 4 16 axis SERCOS interface PCI card installation instructions 3 1756 module properties 1 18 1756 MxxSE interface module 1 9 1 16 1784 PM16SE PCI card 1 9 24V power LED 2 12 26 pin I O connector 2 20 A acronyms P 4 additional bus capacitance calculating D 3 example D 4 analog test points DACO 2 20 2 20 applying power 1 26 with LIM 1 26 without LIM 1 30 atune fault 2 6 aux fdbk noise fault 2 6 aux feedback AQB 2 6 aux feedback loss 2 6 auxiliary encoder error see troubleshooting axis module connector designators 1 2 connector locations 1 4 axis properties 1 24 axis unstable 2 14 B backplane comm 2 7 bandwidth 1 37 base node address 1 10 example with tw
174. w are used throughout this manual Kinetix 6000 Component Catalog Numbers Acronym Power Rail 2094 Power Rail slim 2094 PRSx PRS Power Rail Slot Filler 2094 PRF PRF Integrated Axis Module 2094 IAM Axis Module 2094 xMxx AM Line Interface Module 2094 xLxx and xLxxS xx LIM Shunt Module 2094 BSP2 SM Resistive Brake Module 2090 XB RBM Chapter Objectives General Startup Precautions Chapter 1 Commission Your Kinetix 6000 This chapter provides you with information to apply power and configure your Kinetix 6000 This chapter includes General Startup Precautions e Understand IAM AM SM and LIM Connectors e Locate Connectors and Indicators e Locate SERCOS Interface Fiber Optic Connectors e Configure Your Kinetix 6000 e Configure Your Logix SERCOS interface Module e Apply Power to Your Kinetix 6000 e Test and Tune Your Axes Note Some of the procedures in this chapter include information regarding integration with other products The following precautions pertain to all of the procedures in this chapter Be sure to read and thoroughly understand them before proceeding ATTENTION This product contains stored energy devices To avoid hazard of electrical shock verify that all voltages on the system bus network have been discharged before attempting to service repair or remove this unit Only qualified personnel familiar with solid state contro
175. y an external profile IN d neal bid e Use a larger system motor and Kinetix DriveOvervoltage through the Kinetix 6000 s power supply 6000 E10 Fault TRE DE bus vlade 5 The system faults to save itself froman e Install shunt module Bus Overvoltage overload e DC bus voltage for 460V system is over 820V DCb Verify input is within specifications us voltage for system is over 410V e Verify the Hall wiring at the MF E11 MotFeedbackFault State of Hall feedback Bad connections connector on the IAM AM Illegal Hall State inputs is incorrect e Verify 5V power supply to the encoder e Verify motion profile E16 Axis position exceeded maximum software setting Verify overtravel settings are Overtravel appropriate OverSpeedFault Motor speed has exceeded 150 of maximum rated speed The 100 Check cables for noise 18 trip point is dictated by the lesser of the user velocity limits or the Overspeed Fault motor rated base speed Check tuning e Increase the feed forward gain e Increase following error limit or time PositionErrorFault iti i E19 Position error limit was exceeded Check position loop tuning Follow Error e Verify sizing of system e Verify mechanical integrity of system within specification limits e Use shielded cables with twisted pair wires MotFeedbackFault The motor encoder encountered an Route the feedback away from E20
176. y for mounting To replace the power rail 1 Align the replacement power rail over the existing mounting bolts 10 improve the bond between the power rail and subpanel construct your subpanel out of zinc plated paint free steel 2 Tighten the mounting bolts 3 Re attach the braided grounding strap to the power rail grounding stud refer to figures 2 5 and 2 6 Remove the Line Interface Module Troubleshoot Your Kinetix 6000 2 27 To remove the Line Interface Module LIM 1 Verify that all input power has been removed from the LIM ATTENTION avoid shock hazard or personal injury assure that all power has been removed before proceeding This system may have multiple sources of power More than one disconnect switch may be required to de energize the system 2 Allow five minutes for the DC bus to completely discharge before proceeding ATTENTION A To avoid hazard of electrical shock verify that all voltage on the capacitors has been discharged before attempting to service repair or remove this unit This product contains stored energy devices You should only attempt the procedures in this document if you are qualified to do so and familiar with solid state control equipment and the safety procedures in publication NFPA 70E Label and remove all connectors and wires from the LIM To identify each connector refer to page 1 6 Loosen the mounting bolts removing

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