Document Outline

• Front Cover
• Important User Information
• Summary of Changes
  • New and Updated Information
• Table of Contents
• Preface
  • About This Publication
  • Who Should Use This Manual
  • Conventions Used in This Manual
  • Additional Resources
• Chapter 1 - Start
  • About the Kinetix 6200 and Kinetix 6500 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)
• Chapter 2 - Planning the Kinetix 6200 and Kinetix 6500 Drive System Installation
  • System Design Guidelines
    • System Mounting Requirements
    • Transformer 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 6200 and Kinetix 6500 Systems
    • Noise Reduction Guidelines for Drive Accessories
      • AC Line Filters
      • External Shunt Modules
      • Resistive Brake Modules
      • Motor Brake and Thermal Switch
• Chapter 3 - Mounting the Kinetix 6200 and Kinetix 6500 Drive System
  • Before You Begin
    • Using the 2094 Mounting Brackets
    • Installing the 2094 Power Rail
  • Determine Mounting Order
  • Mount Modules on the Power Rail
  • Mount the Control Modules
• Chapter 4 - Kinetix 6200 and Kinetix 6500 Connector Data
  • 2094 Power Module and Control Module Features
    • I/O, Safety, and Auxiliary Feedback Connector Pinout
    • Motor Feedback Connector Pinout
    • Ethernet Communication Connector Pinout
    • IAM Input Connector Pinout
    • IAM and AM Motor Power and Brake Connector Pinout
  • Control Signal Specifications
    • Digital Inputs
    • Ethernet Communication Specifications
    • Sercos Communication Specifications
    • Contactor Enable Relay
  • Power and Relay Specifications
    • Motor/Resistive Brake Relay
    • Input Power Cycle Capability
    • Peak Current Specifications
    • Control Power
  • Feedback Specifications
    • Absolute Position Feature
    • Motor Feedback Specifications
    • Auxiliary Position Feedback Specifications
  • Safe Speed Monitoring Safety Features
  • Safe Torque-off Safety Features
• Chapter 5 - Connecting the Kinetix 6200 and Kinetix 6500 Drive System
  • Basic Wiring Requirements
    • Building Your Own Cables
    • Routing the Power and Signal Cables
  • Determine the Input Power Configuration
    • Grounded Power Configurations
    • Ungrounded Power Configurations
  • DC Common Bus Configurations
    • Common Bus Fusing Requirements
  • Setting the Ground Jumper in Ungrounded Power Configurations
    • Set the Ground Jumper
  • Grounding the Modular 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
    • Wire the Motor Power (MP) Connector
      • Cable Shield 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
• Chapter 6 - Configure and Start the Kinetix 6200 Drive System
  • Configure the Kinetix 6000M Integrated Drive-Motor System
  • Configure the Drive Modules
  • Configure the Logix Sercos interface Module
    • Configure the Logix Controller
    • Configure the Logix Module
    • Configure the Kinetix 6200 Drive Modules
    • Configure the Motion Group
    • Configure Axis Properties
    • Download the Program
  • Apply Power to the Kinetix 6200 Drive
  • Test and Tune the Axes
    • Test the Axes
    • Tune the Axes
• Chapter 7 - Configure and Start the Kinetix 6500 Drive System
  • Configure the Drive Modules
  • Configure the Logix EtherNet/IP Module
    • Configure the Logix Controller
    • Configure the Logix Module
    • Configure the Kinetix 6500 Drive Modules
    • Configure the Motion Group
    • Configure Axis Properties
    • Download the Program
  • Apply Power to the Kinetix 6500 Drive
  • Test and Tune the Axes
    • Test the Axes
    • Tune the Axes
• Chapter 8 - Troubleshooting the Kinetix 6200 and Kinetix 6500 Drive System
  • Safety Precautions
  • Interpret Status Indicators
    • Kinetix 6000M IDM System Error Codes
    • Four-character Display Messages
    • Fault Codes
    • Control Module Status Indicators
    • Shunt Module Status Indicators
  • General System Anomalies
  • Logix Controller and Drive Behavior
    • Kinetix 6500 Drive Exception Behavior
    • Kinetix 6200 Drive Fault Behavior
    • Drive Exception/Fault Behavior
• Chapter 9 - Removing and Replacing the Kinetix 6200 and Kinetix 6500 Drive Modules
  • Before You Begin
  • Remove Kinetix 6200 and Kinetix 6500 Drive Modules
    • Remove the Control Module
    • Remove the Drive Modules
  • Replace Kinetix 6200 and Kinetix 6500 Drive Modules
    • Replace the Drive Modules
    • Replace the Control Modules
  • Remove the Power Rail
  • Replace the Power Rail
• Appendix A - 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
• Appendix B - Upgrading the Drive Firmware
  • Upgrade Kinetix 6000M System Firmware
  • Upgrade Drive Firmware with ControlFLASH Software
    • Before You Begin
    • Configure Logix Communication
    • Upgrade Firmware
    • Verify the Firmware Upgrade
• Appendix C - DC Common Bus Applications
  • Before You Begin
  • Calculate Total Bus Capacitance
  • Calculate Additional Bus Capacitance
  • Bulletin 2094 Drive Capacitance Values
  • Common Bus Capacitance Example
• Appendix D - Changing the Default IDN Parameter Values
  • Before You Begin
  • Change IDN Parameter Values
    • Read the Present IDN Parameter Value
    • Calculate/Select the New IDN Value
    • Write the New IDN Parameter Value
• Appendix E - RBM Module Interconnect Diagrams
  • Before You Begin
  • RBM Module Wiring Examples
• Index