Document Outline

• Front Cover
• Important User Information
• Summary of Changes
  • New and Updated Information
• Table of Contents
• Preface
  • About This Publication
  • Audience
  • Conventions Used in This Manual
  • Studio 5000 Environment
  • Additional Resources
• Ch1 - Start
  • IAM/AM Module Series Changes
  • About the Kinetix 6000 Drive Systems
  • Typical Hardware Configurations
  • Typical Communication Configurations
  • Catalog Number Explanation
  • Kinetix Drive Component Compatibility
  • Kinetix 6000M Integrated Drive-Motor System Compatibility
  • Agency Compliance
    • CE Requirements (system without LIM module)
    • CE Requirements (system with LIM module)
• Ch2 - Planning the Kinetix 6000 Drive System Installation
  • System Design Guidelines
    • System Mounting Requirements
    • Transformer Selection
    • AC Line Filter Selection
    • Circuit Breaker/Fuse Options
      • Circuit Breaker and Fuse Specifications
    • Enclosure Selection
    • Minimum Clearance Requirements
  • Electrical Noise Reduction
    • Bonding Modules
    • Bonding Multiple Subpanels
    • Establishing Noise Zones
    • Cable Categories for Kinetix 6000 Systems
    • Noise Reduction Guidelines for Drive Accessories
      • AC Line Filters
      • External Shunt Modules
      • Resistive Brake Modules
      • Motor Brake and Thermal Switch
• Ch3 - Mounting the Kinetix 6000 Drive System
  • Before You Begin
    • Using the 2094 Mounting Brackets
    • Installing the 2094 Power Rail
  • Determine Mounting Order
  • Mount Modules on the Power Rail
• Ch4 - Connector Data and Feature Descriptions
  • 2094 IAM/AM Module Connector Data
    • Safe Torque-off Connector Pinout
    • I/O Connector Pinout
    • Motor Feedback Connector Pinout
    • Auxiliary Feedback Connector Pinout
    • IAM Input Connector Pinout
    • IAM and AM Motor Power and Brake Connector Pinout
  • Control Signal Specifications
    • Digital Inputs
    • Sercos Communication Specifications
    • Analog Outputs
    • Contactor Enable Relay
  • Power and Relay Specifications
    • Motor/Resistive Brake Relay
    • Input Power Cycle Capability
    • Peak Enhancement Specifications
    • Control Power
  • Feedback Specifications
    • Absolute Position Feature
    • Motor Feedback Specifications
    • Feedback Power Supply Specifications
    • Auxiliary Position Feedback Encoders
• Ch5 - Connecting the Kinetix 6000 Drive System
  • Basic Wiring Requirements
    • Building Your Own Cables
    • Routing the Power and Signal Cables
  • Determine the Input Power Configuration
    • Grounded Power Configurations
    • Ungrounded and High-impedance Grounded Power Configurations
  • DC Common Bus Configurations
    • Common Bus Fusing Requirements
  • Setting the Ground Jumper in Ungrounded Power Configurations
    • Set the Ground Jumper
  • Grounding the Kinetix 6000 Drive System
    • Ground the Power Rail to the System Subpanel
    • Ground Multiple Subpanels
  • Power Wiring Requirements
  • Power Wiring Guidelines
  • Wiring the IAM/AM Module Connectors
    • Wire the Control Power (CPD) Connector
    • Wire the Input Power (IPD) Connector
    • Wire the Contactor Enable (CED) Connector
    • Wiring the Safe Torque-off (STO) Connector
    • Wire the Motor Power (MP) Connector
      • Cable Shield Terminations
      • Pigtail Terminations
      • MP-Series (Bulletin MPL) Motor Connectors
      • Motor Power Wiring Examples
    • Wire the Motor/Resistive Brake (BC) Connector
      • 24V DC Brake Input Power Connections
      • RBM Module Connections
      • Motor Brake Connections
  • Apply the Motor Cable Shield Clamp
  • Feedback and I/O Cable Connections
    • Flying-lead Feedback Cable Pinouts
  • Wiring the Feedback and I/O Connectors
    • Connect Premolded Motor Feedback Cables
    • Connect Panel-mounted Breakout Board Kits
    • Wire Low-profile Connector Kits
  • External Shunt Module Connections
  • IPIM Module Connections
  • RBM Module Connections
  • Sercos Fiber-optic Cable Connections
  • Kinetix 6000M Integrated Drive-Motor Sercos Connections
  • Ethernet Cable Connections
• Ch6 - Configure and Start the Kinetix 6000 Drive System
  • Configure the Kinetix 6000M Integrated Drive-Motor System
  • Configure the Drive Modules
  • Configure the Logix5000 Sercos interface Module
    • Configure the Logix5000 Controller
    • Configure the Logix5000 Module
    • Configure the Kinetix 6000 Drive Modules
    • Configure the Motion Group
    • Configure Axis Properties
    • Download the Program
  • Apply Power to the Kinetix 6000 Drive
  • Test and Tune the Axes
    • Test the Axes
    • Tune the Axes
  • Configure Drive Parameters and System Variables
    • Tools for Changing Parameters
      • Change Parameters with DriveExplorer Software
      • Change Parameters with the HIM Module
    • Monitor System Variables with Analog Test Points
• Ch7 - Troubleshooting the Kinetix 6000 Drive System
  • Safety Precautions
  • Interpret Status Indicators
    • Kinetix 6000M IDM System Error Codes
    • Kinetix 6000 Drive System Error Codes
    • IAM/AM Module Status Indicators
    • Shunt Module Status Indicators
  • General System Anomalies
  • Logix5000/Drive Fault Behavior
• Ch8 - Removing and Replacing the Kinetix 6000 Drive Modules
  • Before You Begin
  • Remove Kinetix 6000 Drive Modules
  • Replace Kinetix 6000 Drive Modules
  • Remove the Power Rail
  • Replace the Power Rail
• AppA - Interconnect Diagrams
  • Interconnect Diagram Notes
  • Power Wiring Examples
    • DC Common Bus Wiring Examples
    • Shunt Module Wiring Examples
  • Axis Module/Rotary Motor Wiring Examples
  • Axis Module/Linear Motor/ Actuator Wiring Examples
  • Kinetix 6000M Integrated Drive-Motor Wiring Example
  • Controlling a Brake Example
  • System Block Diagrams
• AppB - Upgrading the Drive Firmware
  • Upgrade Kinetix 6000M System Firmware
  • Upgrade Drive Firmware with ControlFLASH Software
    • Before You Begin
    • Configure Logix5000 Communication
    • Upgrade Firmware
    • Verify the Firmware Upgrade
• AppC - DC Common Bus Applications
  • Before You Begin
  • Calculate Total Bus Capacitance
  • Calculate Additional Bus Capacitance
  • Bulletin 2094 Drive Capacitance Values
  • Common Bus Capacitance Example
  • Set the Additional Bus Capacitance Parameter
    • Remove Sercos Communication
    • Set the Additional Bus Capacitance Parameter
    • Save the Add Bus Cap Parameter to Nonvolatile Memory
    • Verify the Parameter Changes
    • Reconnect Sercos Communication
• AppD - Configure the Load Observer Feature
  • Benefits
  • How it Works
  • Configuration
    • Out-of-Box Gain Settings
    • Auto-tune Gain Settings
      • Rigid Mechanical Loads
      • Compliant Mechanical Loads
    • Tuning Mode Summary
    • Manual Tuning for Further Optimization
  • Setting Gains with Sercos IDN Write Messages
  • Compensate for High Frequency Resonances
• AppE - Changing the Default IDN Parameter Values
  • Before You Begin
  • Change IDN Parameter Values
    • Read the Present IDN Parameter Value
    • Calculate the New IDN Value
    • Write the New IDN Parameter Value
• AppF - Enhanced Peak Performance
  • Before You Begin
  • Enhanced Peak Example
    • Enhanced Peak Example Calculation
  • Change the Drive Parameter
    • Sercos IDN Write Instruction
    • DriveExplorer Software
• AppG - RBM Module Interconnect Diagrams
  • Before You Begin
  • RBM Module Wiring Examples
• Index
• Back Cover