Rockwell-automation 2093-xxxx Kinetix 2000 Multi-axis Servo Drive User Manual de usuario Pagina 1

Kinetix 2000 Multi-axis Servo Drive Catalog Numbers 2093-AC05-MP1, 2093-AC05-MP2, 2093-AC05-MP5 2093-AM01, 2093-AM02 2093-AMP1, 2093-AMP2, 2093-AMP5 2

Publication 2093-UM001A-EN-P — March 2007 10Additional ResourcesThe following documents contain additional information concerning related Allen-Bradle

Publication 2093-UM001A-EN-P — January 2007100 Connecting the Kinetix 2000 Drive SystemIn this example, two Logix modules are installed in separate Lo

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 101In this example, the second Kinetix 2000 system is loca

Publication 2093-UM001A-EN-P — January 2007102 Connecting the Kinetix 2000 Drive System2093-AMP1 2093-AMP2 2093-AMP5 2093-AM01 2093-AM02 2090-SCEP0-2

103 Publication 2093-UM001A-EN-P — March 2007Chapter 6Configure and Startup the Kinetix 2000 Drive System IntroductionThis chapter provides procedures

Publication 2093-UM001A-EN-P — March 2007104 Configure and Startup the Kinetix 2000 Drive System2. Set the base node address for the IAM by rotating t

Publication 2093-UM001A-EN-P — March 2007Configure and Startup the Kinetix 2000 Drive System 1055. Repeat steps 3 and 4 for each axis module.

Publication 2093-UM001A-EN-P — March 2007106 Configure and Startup the Kinetix 2000 Drive SystemKinetix 2000 (two-axis) system 2 power rail contains o

Publication 2093-UM001A-EN-P — March 2007Configure and Startup the Kinetix 2000 Drive System 107interface modules to control axes from a singl

Publication 2093-UM001A-EN-P — March 2007108 Configure and Startup the Kinetix 2000 Drive SystemNode Addressing Example 4In Example 4, xxxxx system 1

Publication 2093-UM001A-EN-P — March 2007Configure and Startup the Kinetix 2000 Drive System 109Configure the Logix SERCOS Interface ModuleThi

11 Publication 2093-UM001A-EN-P — March 2007Chapter 1Start IntroductionUse this chapter to become familiar with the Kinetix 2000 drive components. Thi

Publication 2093-UM001A-EN-P — March 2007110 Configure and Startup the Kinetix 2000 Drive System4. Click OK. 5. From the Edit menu, choose Controller

Publication 2093-UM001A-EN-P — March 2007Configure and Startup the Kinetix 2000 Drive System 111The Select Module dialog opens.2. Expand the M

Publication 2093-UM001A-EN-P — March 2007112 Configure and Startup the Kinetix 2000 Drive System6. Select the Connection tab to verify that both Inhib

Publication 2093-UM001A-EN-P — March 2007Configure and Startup the Kinetix 2000 Drive System 11310. Set the Cycle Time according to the table

Publication 2093-UM001A-EN-P — March 2007114 Configure and Startup the Kinetix 2000 Drive SystemThe Select Module dialog opens.2. Expand the Drives ca

Publication 2093-UM001A-EN-P — March 2007Configure and Startup the Kinetix 2000 Drive System 1158. Select the Associated Axes tab.9. Click the

Publication 2093-UM001A-EN-P — March 2007116 Configure and Startup the Kinetix 2000 Drive System14. Verify the axis name assigned to both the primary

Publication 2093-UM001A-EN-P — March 2007Configure and Startup the Kinetix 2000 Drive System 11716. Select the Power tab.17. Set Input Power t

Publication 2093-UM001A-EN-P — March 2007118 Configure and Startup the Kinetix 2000 Drive SystemConfigure the Motion GroupFollow these steps to config

Publication 2093-UM001A-EN-P — March 2007Configure and Startup the Kinetix 2000 Drive System 1191. Right-click an axis in the DriveExplorer so

Publication 2093-UM001A-EN-P — March 200712 StartAbout the Kinetix 2000 Drive SystemThe Kinetix 2000 multi-axis servo drive is designed to provide a K

Publication 2093-UM001A-EN-P — March 2007120 Configure and Startup the Kinetix 2000 Drive System2. If incorrect, click the Calculate button to determi

Publication 2093-UM001A-EN-P — March 2007Configure and Startup the Kinetix 2000 Drive System 1219. Select the Fault Actions tab and edit the d

Publication 2093-UM001A-EN-P — March 2007122 Configure and Startup the Kinetix 2000 Drive System13. Repeat steps 1...12 for each axis module (2093-AMP

Publication 2093-UM001A-EN-P — March 2007Configure and Startup the Kinetix 2000 Drive System 123Apply Power to theKinetix 2000 DriveThis proce

Publication 2093-UM001A-EN-P — March 2007124 Configure and Startup the Kinetix 2000 Drive SystemThe Fault Status LED indicator initially flash the SER

Publication 2093-UM001A-EN-P — March 2007Configure and Startup the Kinetix 2000 Drive System 1257. Observe the three SERCOS LED indicators on

Publication 2093-UM001A-EN-P — March 2007126 Configure and Startup the Kinetix 2000 Drive SystemTest and Tune the AxesThis procedure assumes that you

Publication 2093-UM001A-EN-P — March 2007Configure and Startup the Kinetix 2000 Drive System 1274. Select 2.0 as the number of revolutions for

Publication 2093-UM001A-EN-P — March 2007128 Configure and Startup the Kinetix 2000 Drive SystemThe Online Command - Apply Test dialog opens (Feedback

Publication 2093-UM001A-EN-P — March 2007Configure and Startup the Kinetix 2000 Drive System 1292. Select the Tune tab.3. Enter values for Tra

Publication 2093-UM001A-EN-P — March 2007Start 13Typical Kinetix 2000 system installations include three-phase ac configurations, with and wit

Publication 2093-UM001A-EN-P — March 2007130 Configure and Startup the Kinetix 2000 Drive SystemThe Tune Bandwidth dialog opens.Actual bandwidth value

Publication 2093-UM001A-EN-P — March 2007Configure and Startup the Kinetix 2000 Drive System 13112. Determine if your test completed successfu

Publication 2093-UM001A-EN-P — March 2007132 Configure and Startup the Kinetix 2000 Drive System

133 Publication 2093-UM001A-EN-P — March 2007Chapter 7Troubleshooting the Kinetix 2000 Drive System IntroductionThis chapter provides troubleshooting

Publication 2093-UM001A-EN-P — March 2007134 Troubleshooting the Kinetix 2000 Drive SystemInterpreting Status IndicatorsUse these troubleshooting tabl

Publication 2093-UM001A-EN-P — March 2007Troubleshooting the Kinetix 2000 Drive System 135E05DriveOvercurrentFault(Power Fault)Self-protection

Publication 2093-UM001A-EN-P — March 2007136 Troubleshooting the Kinetix 2000 Drive SystemE18OverSpeedFault(Overspeed Fault)Motor speed has exceeded 1

Publication 2093-UM001A-EN-P — March 2007Troubleshooting the Kinetix 2000 Drive System 137E37PowerPhaseLossFault(Phase Loss Flt)• One or more

Publication 2093-UM001A-EN-P — March 2007138 Troubleshooting the Kinetix 2000 Drive SystemE67DriveHardFault(Task init)Operating system failedSoftware

Publication 2093-UM001A-EN-P — March 2007Troubleshooting the Kinetix 2000 Drive System 139IAM/AM Status IndicatorsDrive Status LED IndicatorCo

Publication 2093-UM001A-EN-P — March 200714 StartTypical Kinetix 2000 System Installation (without LIM)SERCOS interfaceTMTx (rear)Rx (front)OKCP1 2

Publication 2093-UM001A-EN-P — March 2007140 Troubleshooting the Kinetix 2000 Drive SystemSM Status IndicatorsEach of the shunt module LED indicators

Publication 2093-UM001A-EN-P — March 2007Troubleshooting the Kinetix 2000 Drive System 141Bus Status LED IndicatorTemperature Fault LED Indica

Publication 2093-UM001A-EN-P — March 2007142 Troubleshooting the Kinetix 2000 Drive SystemContactor Enable Status Use this table for troubleshooting f

Publication 2093-UM001A-EN-P — March 2007Troubleshooting the Kinetix 2000 Drive System 143Troubleshooting General System ProblemsUse the table

Publication 2093-UM001A-EN-P — March 2007144 Troubleshooting the Kinetix 2000 Drive SystemPresence of noise on command or motor feedback signal wires.

Publication 2093-UM001A-EN-P — March 2007Troubleshooting the Kinetix 2000 Drive System 145Logix/Drive Fault BehaviorThis section provides the

Publication 2093-UM001A-EN-P — March 2007146 Troubleshooting the Kinetix 2000 Drive SystemMotFeedbackFault(Mtr Fdbk AQB)E20 Motor encoder has encounte

Publication 2093-UM001A-EN-P — March 2007Troubleshooting the Kinetix 2000 Drive System 147DriveHardFault(Task init)E67 Operating system failed

Publication 2093-UM001A-EN-P — March 2007148 Troubleshooting the Kinetix 2000 Drive System

149 Publication 2093-UM001A-EN-P — March 2007Chapter 8Removing and Replacing the Kinetix 2000 Drive ModulesIntroductionThis chapter provides remove an

Publication 2093-UM001A-EN-P — March 2007Start 15Typical DC Common Bus System InstallationIn the example above, a leader IAM is connected to a

Publication 2093-UM001A-EN-P — March 2007150 Removing and Replacing the Kinetix 2000 Drive ModulesRemove Modules from the Power RailFollow these steps

Publication 2093-UM001A-EN-P — March 2007Removing and Replacing the Kinetix 2000 Drive Modules 151Replace Modules on the Power Rail Follow the

Publication 2093-UM001A-EN-P — March 2007152 Removing and Replacing the Kinetix 2000 Drive ModulesReplace the Power RailThis procedure assumes you do

153 Publication 2093-UM001A-EN-P — March 2007Appendix ASpecifications and Dimensions Introduction This appendix provides product specifications and mo

Publication 2093-UM001A-EN-P — March 2007154 Specifications and DimensionsPower SpecificationsThis section contains power specifications for your IAM

Publication 2093-UM001A-EN-P — March 2007Specifications and Dimensions 155Inverter Power Specifications The following tables list power specif

Publication 2093-UM001A-EN-P — March 2007156 Specifications and DimensionsAuxiliary Control Power SpecificationsThis section lists auxiliary control p

Publication 2093-UM001A-EN-P — March 2007Specifications and Dimensions 157Shunt Module Power SpecificationsThe table below lists the power spe

Publication 2093-UM001A-EN-P — March 2007158 Specifications and DimensionsCircuit Protection under NEC 1999 110-10 (allowed but no longer preferred)Us

Publication 2093-UM001A-EN-P — March 2007Specifications and Dimensions 159DC Common Bus Fuse SpecificationsContactor RatingsThe table below li

Publication 2093-UM001A-EN-P — March 200716 StartCatalog Number ExplanationKinetix 2000 drive catalog numbers and descriptions are listed in the table

Publication 2093-UM001A-EN-P — March 2007160 Specifications and DimensionsPower Dissipation Specifications Use the following table to size an enclosur

Publication 2093-UM001A-EN-P — March 2007Specifications and Dimensions 161General SpecificationsThis section contains general specifications f

Publication 2093-UM001A-EN-P — March 2007162 Specifications and DimensionsEnvironmental SpecificationsWeight SpecificationsAttribute Operational Rang

Publication 2093-UM001A-EN-P — March 2007Specifications and Dimensions 163CertificationsLine Filter SpecificationsLine filters are required to

Publication 2093-UM001A-EN-P — March 2007164 Specifications and DimensionsProduct DimensionsThis section contains product dimensions for your Kinetix

Publication 2093-UM001A-EN-P — March 2007Specifications and Dimensions 165Shunt Module Dimensions 2093-ASP06Modules are shown mounted to the p

Publication 2093-UM001A-EN-P — March 2007166 Specifications and DimensionsPower Rail Dimensions 2093-PRS1, 2093-PRS2, 2093-PRS3, 2093-PRS4, 2093-PRS5,

167 Publication 2093-UM001A-EN-P — March 2007Appendix BInterconnect DiagramsIntroductionThis appendix provides wiring examples and system block diagra

Publication 2093-UM001A-EN-P — March 2007168 Interconnect DiagramsWiring ExamplesThis appendix provides wiring examples to assist you in wiring the Ki

Publication 2093-UM001A-EN-P — March 2007Interconnect Diagrams 169Power Wiring ExamplesSingle IAM Wiring Example with LIM 2094-AL09 L3L2L124-2

Publication 2093-UM001A-EN-P — March 2007Start 17Agency ComplianceIf this product is installed within the European Union or EEC regions and ha

Publication 2093-UM001A-EN-P — March 2007170 Interconnect DiagramsMultiple IAM Wiring Example with LIM 2094-ALxxS or 2094-XL75S-C2 CTRL 1CTRL 2123456L

Publication 2093-UM001A-EN-P — March 2007Interconnect Diagrams 171WVUDC-DC+L3L2L112121234PWRMBRK+MBRK-COMBR+BR-CONT EN+CONT EN-UVWL1L2L3DC+DC-

Publication 2093-UM001A-EN-P — March 2007172 Interconnect DiagramsThe configuration on this page does not include a LIM. You must supply input power c

Publication 2093-UM001A-EN-P — March 2007Interconnect Diagrams 173The configuration on this page does not include a LIM. You must supply input

Publication 2093-UM001A-EN-P — March 2007174 Interconnect DiagramsDC Common Bus Wiring ExamplesLeader IAM Wiring Example with Single Follower IAMCONT

Publication 2093-UM001A-EN-P — March 2007Interconnect Diagrams 175Leader IAM Wiring Example with Multiple Follower IAMCONT EN+CONT EN-UVWL1L2L

Publication 2093-UM001A-EN-P — March 2007176 Interconnect DiagramsUVWL1L2L3DC+DC-CTRL 1CTRL 212123456121234N.C.N.C.N.C.UVWL1L2L3DC+DC-CTRL 1CTRL 21212

Publication 2093-UM001A-EN-P — March 2007Interconnect Diagrams 177Shunt Module Wiring ExamplesShunt Module Wired for Internal Operation (defau

Publication 2093-UM001A-EN-P — March 2007178 Interconnect DiagramsAxis Module/Motor Wiring ExamplesWiring Example for MP-Series Low Inertia and Gear M

Publication 2093-UM001A-EN-P — March 2007Interconnect Diagrams 179Wiring Example for MP-Series Food Grade and Stainless Steel Motor (MPF-A and

Publication 2093-UM001A-EN-P — March 200718 StartCE Requirements (System with LIM)To meet CE requirements when your Kinetix 2000 system includes the l

Publication 2093-UM001A-EN-P — March 2007180 Interconnect DiagramsWiring Example for TL-Series Motor with 230V Axis Module (IAM or AM) BR+BR-12SD+SD-+

Publication 2093-UM001A-EN-P — March 2007Interconnect Diagrams 181AM (230V) Wiring Example with Y-Series MotorControlling a Brake ExampleThe r

Publication 2093-UM001A-EN-P — March 2007182 Interconnect DiagramsCoil Currents Rated at < 1.0 AThis example shows a motor brake configuration usin

Publication 2093-UM001A-EN-P — March 2007Interconnect Diagrams 183System Block DiagramsThis section provides block diagrams of the Kinetix 200

Publication 2093-UM001A-EN-P — March 2007184 Interconnect DiagramsIAM (converter) Block DiagramL1L2L3120KCONT_EN2CONT_EN1GSHUNTSYS_OKDC+DC-CHASSISCTRL

Publication 2093-UM001A-EN-P — March 2007Interconnect Diagrams 185Shunt Module Block DiagramAUX+AUX-DC+CHASSIS GROUNDDC-SYS_OK_INSYS_OK_OUTGSH

Publication 2093-UM001A-EN-P — March 2007186 Interconnect Diagrams

187 Publication 2093-UM001A-EN-P — March 2007Appendix CUpgrading Firmware Introduction This appendix provides procedures for upgrading firmware. The p

Publication 2093-UM001A-EN-P — March 2007188 Upgrading FirmwareSelecting Software Tools to Upgrade the Kinetix 2000 Drive Firmware In this section you

Publication 2093-UM001A-EN-P — March 2007Upgrading Firmware 1895. Open the DriveExplorer software. 6. Select Connect and Configure Communicati

19 Publication 2093-UM001A-EN-P — March 2007Chapter 2Planning the Kinetix 2000 Drive System Installation Introduction This chapter describes system in

Publication 2093-UM001A-EN-P — March 2007190 Upgrading Firmware9. Expand Node 1: 2093D SERVO to examine the Kinetix 2000 system configuration. 10. Dou

Publication 2093-UM001A-EN-P — March 2007Upgrading Firmware 19112. Double-click on Parameter List to display the parameter functions. Each par

Publication 2093-UM001A-EN-P — March 2007192 Upgrading FirmwareAxis 2, parameter 30, move to 1:0.1030. To view parameter 31 for Axis 2 move to 1:0.103

Publication 2093-UM001A-EN-P — March 2007Upgrading Firmware 193Using Drive Executive to Setup the Kinetix 2000 Drives to Flash Follow these st

Publication 2093-UM001A-EN-P — March 2007194 Upgrading Firmware6. Configure the RS232 DF1 Device as shown. The baud rate for a 1203-SSS device is ofte

Publication 2093-UM001A-EN-P — March 2007Upgrading Firmware 1958. A successful connection results in the following display. If unsuccessful,

Publication 2093-UM001A-EN-P — March 2007196 Upgrading Firmware10. A second Caution will appear, that also should be ignored by clicking OK.11. Open R

Publication 2093-UM001A-EN-P — March 2007Upgrading Firmware 19713. Select the workstation (01 in the preceding diagram) and click OK. Drive Ex

Publication 2093-UM001A-EN-P — March 2007198 Upgrading Firmware14. Successful uploading of the Kinetix 2000 parameters results in the following screen

Publication 2093-UM001A-EN-P — March 2007Upgrading Firmware 19916. Expand 1203-SSS in the device workspace. Double-click on the Linear List to

Important User InformationSolid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines

Publication 2093-UM001A-EN-P — March 200720 Planning the Kinetix 2000 Drive System Installation• Size the drive enclosure so as not to exceed the maxi

Publication 2093-UM001A-EN-P — March 2007200 Upgrading FirmwareDrive Executive parameters are identical to those in Drive Explorer, but the format is

Publication 2093-UM001A-EN-P — March 2007Upgrading Firmware 20119. Select the axes to flash, and then click OK. Drive Executive does not flash

Publication 2093-UM001A-EN-P — March 2007202 Upgrading FirmwareUsing Hyperterminal to FLASH the Kinetix 2000 DriveThis section provides instructions o

Publication 2093-UM001A-EN-P — March 2007Upgrading Firmware 2035. Select the appropriate COM port. Be sure the port is not tied to another pro

Publication 2093-UM001A-EN-P — March 2007204 Upgrading FirmwareYou may notice that the baud rate is the same setting as used with Drive Explorer or Dr

Publication 2093-UM001A-EN-P — March 2007Upgrading Firmware 2052. Enter 3) to select Flash Upgrade. The following dialog opens. 3. Enter 0), a

Publication 2093-UM001A-EN-P — March 2007206 Upgrading Firmware6. Browse for your firmware upgrade file. For Hyperterminal, the file must be a binary

Publication 2093-UM001A-EN-P — March 2007Upgrading Firmware 207When the firmware flashing has started this dialog opens. When the firmware fla

Publication 2093-UM001A-EN-P — March 2007208 Upgrading Firmware11. Return to Drive Explorer or Drive Executive to verify that parameter 30 for each ax

209 Publication 2093-UM001A-EN-P — March 2007Appendix DDC Common Bus ApplicationsIntroductionThis appendix provides integration procedures specific to

Publication 2093-UM001A-EN-P — March 2007Planning the Kinetix 2000 Drive System Installation 21Circuit Breaker/Fuse SelectionThe Kinetix 2000

Publication 2093-UM001A-EN-P — March 2007210 DC Common Bus ApplicationsCalculating Total Bus CapacitanceTotal bus capacitance is the sum of all capaci

Publication 2093-UM001A-EN-P — March 2007DC Common Bus Applications 211Kinetix 2000 Capacitance Values Use the tables below when calculating t

Publication 2093-UM001A-EN-P — March 2007212 DC Common Bus ApplicationsCommon Bus Capacitance Example In the example below, the sum of the leader IAM

Publication 2093-UM001A-EN-P — March 2007DC Common Bus Applications 213Setting the Additional Bus Capacitance ParameterIn this procedure you w

Publication 2093-UM001A-EN-P — March 2007214 DC Common Bus ApplicationsDriveExplorer software will read your system.3. Observe the Linear List of para

Publication 2093-UM001A-EN-P — March 2007DC Common Bus Applications 2156. Select the Value Edit tab and enter the Add Bus Cap Value (μF). 7. C

Publication 2093-UM001A-EN-P — March 2007216 DC Common Bus ApplicationsReconnect SERCOS Communication Follow these steps to reconnect SERCOS communica

217 Publication 2093-UM001A-EN-P — March 2007IndexNumerics1203-SSS serial cable 188, 19315-pin panel-mount breakout kit 971756L60M03SE 1091756-MxxSE 1

Publication 2093-UM001A-EN-P — March 2007218specifications 157coil current 182comm status LED 139common bus (refer to DC common bus)common bus flt 139

Publication 2093-UM001A-EN-P — March 2007 219drive tab 119drive undervoltage 136DriveExplorersoftware 213Eearth ground 71electromagnetic compat

Publication 2093-UM001A-EN-P — March 200722 Planning the Kinetix 2000 Drive System Installationdissipation data from other equipment inside the enclos

Publication 2093-UM001A-EN-P — March 2007220installing drive accessoriesac line filters 36motor brake 36thermal switch 36installing your drive 19bondi

Publication 2093-UM001A-EN-P — March 2007 221interconnect diagram 169, 170three-phase power 124wiring 24V connector 80wiring APL connector 77wi

Publication 2093-UM001A-EN-P — March 2007222problems, general 143programmingfault actions 145publications, related 10Rreducing electrical noise 36refe

Publication 2093-UM001A-EN-P — March 2007 223power dissipation 160SERCOS connections 53transformer 159status indicators 134status LEDs 123, 139

Publication 2093-UM001A-EN-P — March 2007224erratic operation 144feedback noise 144motor accel/decel problems 143motor overheating 144motor velocity 1

Publication 2093-UM001A-EN-P — March 2007 Copyright © 2007 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.Rockwell Automation Su

Publication 2093-UM001A-EN-P — March 2007Planning the Kinetix 2000 Drive System Installation 23For backplane power loading requirements of oth

Publication 2093-UM001A-EN-P — March 200724 Planning the Kinetix 2000 Drive System InstallationMinimum Clearance RequirementsThis section provides inf

Publication 2093-UM001A-EN-P — March 2007Planning the Kinetix 2000 Drive System Installation 25Refer to page 160 for power dissipation specifi

Publication 2093-UM001A-EN-P — March 200726 Planning the Kinetix 2000 Drive System InstallationMinimizing Electrical NoiseThis section outlines best p

Publication 2093-UM001A-EN-P — March 2007Planning the Kinetix 2000 Drive System Installation 27Recommended Bonding Practices for Painted Panel

Publication 2093-UM001A-EN-P — March 200728 Planning the Kinetix 2000 Drive System InstallationMultiple Subpanels and Cabinet RecommendationsEstablish

Publication 2093-UM001A-EN-P — March 2007Planning the Kinetix 2000 Drive System Installation 29Establishing Noise Zones (LIM mounted left of I

3 Publication 2093-UM001A-EN-P — March 2007Table of ContentsPrefaceAbout This Publication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Publication 2093-UM001A-EN-P — March 200730 Planning the Kinetix 2000 Drive System InstallationObserve the following guidelines when a LIM (2094-ALxxS

Publication 2093-UM001A-EN-P — March 2007Planning the Kinetix 2000 Drive System Installation 31Observe the following guidelines when a LIM (20

Publication 2093-UM001A-EN-P — March 200732 Planning the Kinetix 2000 Drive System InstallationObserve the following guidelines when a LIM (2094-ALxxS

Publication 2093-UM001A-EN-P — March 2007Planning the Kinetix 2000 Drive System Installation 33(1)Very Dirty connections must be shielded with

Publication 2093-UM001A-EN-P — March 200734 Planning the Kinetix 2000 Drive System InstallationObserve the following guidelines when installing a 1756

Publication 2093-UM001A-EN-P — March 2007Planning the Kinetix 2000 Drive System Installation 35Integrated Axis Module or Axis Module (Inverter

Publication 2093-UM001A-EN-P — March 200736 Planning the Kinetix 2000 Drive System InstallationNoise Reduction Guidelines for Drive AccessoriesWhen mo

37 Publication 2093-UM001A-EN-P — March 2007Chapter 3Mounting the Kinetix 2000 Drive System Introduction This chapter provides the system installation

Publication 2093-UM001A-EN-P — March 200738 Mounting the Kinetix 2000 Drive SystemRefer to the Kinetix 2000 Power Rail Installation Instructions, publ

Publication 2093-UM001A-EN-P — March 2007Mounting the Kinetix 2000 Drive System 392093-PRS8S Module Configuration The 2093-PRS8S power rail is

Publication 2093-UM001A-EN-P — March 20074 Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Publication 2093-UM001A-EN-P — March 200740 Mounting the Kinetix 2000 Drive SystemMount the Modules Follow these steps to mount the IAM, AM, SM, and S

Publication 2093-UM001A-EN-P — March 2007Mounting the Kinetix 2000 Drive System 41The module is fully seated when each locking clip snaps into

Publication 2093-UM001A-EN-P — March 200742 Mounting the Kinetix 2000 Drive SystemSegregating Power and Logic Wires Segregate input power wiring and m

43 Publication 2093-UM001A-EN-P — March 2007Chapter 4Kinetix 2000 Connector DataIntroductionThis chapter provides power, feedback, and I/O connector l

Publication 2093-UM001A-EN-P — March 200744 Kinetix 2000 Connector DataAxis Module Connectors and IndicatorsIndicators: Drive Status LEDCOMM Status LE

Publication 2093-UM001A-EN-P — March 2007Kinetix 2000 Connector Data 45Integrated Axis Module/Axis Module Connectors Integrated Axis Module/Ax

Publication 2093-UM001A-EN-P — March 200746 Kinetix 2000 Connector DataI/O Connector Pinouts IAM/AM I/O and Auxiliary Feedback 44-pin (IOD/AF) Connect

Publication 2093-UM001A-EN-P — March 2007Kinetix 2000 Connector Data 47Auxiliary Feedback Device Pinouts The table shows the connections made

Publication 2093-UM001A-EN-P — March 200748 Kinetix 2000 Connector DataMotor Feedback Connector PinoutsThe table shows the connections made to the dri

Publication 2093-UM001A-EN-P — March 2007Kinetix 2000 Connector Data 49IAM Input Connector PinoutsThese connections have removable wiring plug

Publication 2093-UM001A-EN-P — March 2007 5Wiring 15-pin Panel-mounted Breakout Kit . . . . . . . . . . . . . . . . . 97Wiring 44-pin Panel-mo

Publication 2093-UM001A-EN-P — March 200750 Kinetix 2000 Connector DataIAM and AM Motor Power and Brake Connector Pinouts These connections have remov

Publication 2093-UM001A-EN-P — March 2007Kinetix 2000 Connector Data 51IAM/AM Signal Specifications Explained A description of the Kinetix 200

Publication 2093-UM001A-EN-P — March 200752 Kinetix 2000 Connector DataEnable and Home Digital Input Circuits (1)24V dc source (range) = 21.6…26.4V (s

Publication 2093-UM001A-EN-P — March 2007Kinetix 2000 Connector Data 53SERCOS Connections Two fiber-optic connectors (transmit and receive) ar

Publication 2093-UM001A-EN-P — March 200754 Kinetix 2000 Connector DataContactor Enable Relay CircuitContactor Enable Relay Output Specifications Moto

Publication 2093-UM001A-EN-P — March 2007Kinetix 2000 Connector Data 55Brake Relay Circuit(1)Noise suppression device.Brake Relay Output Speci

Publication 2093-UM001A-EN-P — March 200756 Kinetix 2000 Connector DataNumber of Axis Modules (1) Current Requirements(115V ac input)Current Requireme

Publication 2093-UM001A-EN-P — March 2007Kinetix 2000 Connector Data 57Feedback Specifications ExplainedThe integrated axis module (IAM) and a

Publication 2093-UM001A-EN-P — March 200758 Kinetix 2000 Connector DataMotor Encoder Feedback Specifications The following specifications apply to bot

Publication 2093-UM001A-EN-P — March 2007Kinetix 2000 Connector Data 59AM, BM, and IM Input Specifications for TTL Encoders AM, BM, and IM Inp

Publication 2093-UM001A-EN-P — March 20076 Appendix A Specifications and DimensionsIntroduction . . . . . . . . . . . . . . . . . . . . . . . .

Publication 2093-UM001A-EN-P — March 200760 Kinetix 2000 Connector DataLocating Shunt Module Connectors and IndicatorsThe Kinetix 2000 shunt module (2

61 Publication 2093-UM001A-EN-P — January 2007Chapter 5Connecting the Kinetix 2000 Drive SystemIntroductionThis chapter provides procedures for wiring

Publication 2093-UM001A-EN-P — January 200762 Connecting the Kinetix 2000 Drive SystemBuilding Your Own Cables• Connect the cable shield to the connec

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 63Determining Your Type of Input Power Before wiring input

Publication 2093-UM001A-EN-P — January 200764 Connecting the Kinetix 2000 Drive SystemGrounded Three-phase Power Configuration (WYE secondary)Grounded

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 65Ungrounded Three-phase Power ConfigurationsUngrounded po

Publication 2093-UM001A-EN-P — January 200766 Connecting the Kinetix 2000 Drive SystemGrounded Single-phase Power Configurations Common single-phase p

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 67DC Common Bus ConfigurationsWhen an integrated axis modu

Publication 2093-UM001A-EN-P — January 200768 Connecting the Kinetix 2000 Drive SystemCommon Bus Fusing RequirementsWhen using a Kinetix 2000 leader I

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 69Setting the Ground Jumper in Ungrounded Power Configurat

Publication 2093-UM001A-EN-P — March 2007 7Appendix DDC Common Bus ApplicationsIntroduction. . . . . . . . . . . . . . . . . . . . . . . . . .

Publication 2093-UM001A-EN-P — January 200770 Connecting the Kinetix 2000 Drive SystemIAM Ground Jumper Connections 2. Move the jumper wire to connect

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 71Grounding Your SystemAll equipment and components of a m

Publication 2093-UM001A-EN-P — January 200772 Connecting the Kinetix 2000 Drive SystemGrounding Multiple SubpanelsExtending the chassis ground to mult

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 73Power Wiring RequirementsWire should be copper with 75 °

Publication 2093-UM001A-EN-P — January 200774 Connecting the Kinetix 2000 Drive SystemIAM/AM Power Wiring RequirementsShunt Module Power Wiring Requir

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 75ATTENTIONTo avoid personal injury and/or equipment damag

Publication 2093-UM001A-EN-P — January 200776 Connecting the Kinetix 2000 Drive SystemWiring GuidelinesUse these guidelines as a reference when wiring

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 77Wiring the LIM Connectors This section provides examples

Publication 2093-UM001A-EN-P — January 200778 Connecting the Kinetix 2000 Drive SystemVAC LINE (IPL) Connector (2094-AL09, 2094-ALxxS, and 2094-XL75S-

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 79Wiring the Control Power Output (CPL) Connector Line Int

Publication 2093-UM001A-EN-P — March 20078

Publication 2093-UM001A-EN-P — January 200780 Connecting the Kinetix 2000 Drive SystemAuxiliary Power Output (P2L) Connector2094-ALxxS, 2094-XL75S-CxW

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 81Wiring the IAM/AM ConnectorsThis section provides exampl

Publication 2093-UM001A-EN-P — January 200782 Connecting the Kinetix 2000 Drive SystemWiring the Input Power (IPD) ConnectorThis example applies to an

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 83This example applies to a follower IAM (dc common bus).

Publication 2093-UM001A-EN-P — January 200784 Connecting the Kinetix 2000 Drive SystemWiring the Contactor Enable (CED) ConnectorThis example applies

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 85Wiring the Motor Power (MP) Connector This example appli

Publication 2093-UM001A-EN-P — January 200786 Connecting the Kinetix 2000 Drive SystemMotor Power Cables with Three-phase Wires OnlyThese cables only

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 87The MP-Series brake wires have a shield braid (shown bel

Publication 2093-UM001A-EN-P — January 200788 Connecting the Kinetix 2000 Drive SystemCable Pinouts (2090-XXNPMF-xxSxx and 2090-XXNPY-16Sxx)Refer to A

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 89connects to the closest earth ground. The termination wi

9 Publication 2093-UM001A-EN-P — March 2007PrefaceRead this preface to familiarize yourself with the rest of the manual. About This PublicationThis ma

Publication 2093-UM001A-EN-P — January 200790 Connecting the Kinetix 2000 Drive SystemIf the number of axes and other unique 24V power loads unique to

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 91Motor Brake (BC) Connector Termination SpecificationsMo

Publication 2093-UM001A-EN-P — January 200792 Connecting the Kinetix 2000 Drive SystemFeedback and I/O Cable ConnectionsFactory made cables with premo

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 93Flying-lead Feedback Cable Pin-outs2090-XXNFMP-Sxx Feedb

Publication 2093-UM001A-EN-P — January 200794 Connecting the Kinetix 2000 Drive System13 TS+ TS+ TS+ 1114 TS- TS- TS- –15 Reserved Reserved S1 1216 Re

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 95Wiring Feedback and I/O ConnectorsThese procedures assum

Publication 2093-UM001A-EN-P — January 200796 Connecting the Kinetix 2000 Drive System15-pin Connector Kit and Flying Lead Cable attached to MF Connec

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 97Wiring 15-pin Panel-mounted Breakout KitA panel-mounted

Publication 2093-UM001A-EN-P — January 200798 Connecting the Kinetix 2000 Drive SystemShunt Module ConnectionsFollow these guidelines when wiring your

Publication 2093-UM001A-EN-P — January 2007Connecting the Kinetix 2000 Drive System 99Connecting Your SERCOS Fiber-optic CablesThis procedure